NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 340 * Raw log
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• Previous call tries 1 • 104.35 of 575.00 AH used of 24V (81.85% remains)
• Surface angle -58.8 deg, depth 0.66 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.05 (SM_CC=425)
• GPS1 time: 18 s
• GPS2 time: 2 s • Transponder ping count: 1
• Time spent turning 0 s

Statistics * Plot
t(s) depth(m) w(cm/s) num pts t(s) GC phase pitch roll VBD pit rol VBD volts
ctl(cm) t(s) A pos(AD) rate t(s) A pos(AD) rate ctl(cc) t(s) A pos(AD) rate eff r e r e r e pitrollvbd flags
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.90 - - - 85.59 VBD -1.25 - - 172.75 - - - 2122.06 - -77.86 78.11 0.005 2496.81 - - - - - - - - - - 15.55
85.86 3.33 -3.32 15 117.72 -1.25 13.90 0.262 1835.50 119.6 4.26 0.153 662.56 -342.6 -77.86 8.22 0.007 2817.66 39.0 -3.086 - - - - - - 15.60 15.56 15.59
155.45 18.57 -21.31 29 161.24 roll -1.25 - - 1836.31 - 3.62 0.056 2117.75 402.0 -77.86 - - 2816.94 - - - - - - - - - 15.65 -
340.53 55.32 -20.15 66 341.86 no move -1.25 - - 1836.06 - - - 2116.75 - -77.86 - - 2815.09 - - - - - - - - - - -
520.56 83.69 -14.47 102 521.88 no move -1.25 - - 1835.94 - - - 2117.12 - -77.86 - - 2816.22 - - - - - - - - - - -
705.59 108.65 -13.28 133 706.92 no move -1.25 - - 1835.56 - - - 2116.62 - -77.86 - - 2817.41 - - - - - - - - - - -
1005.62 141.79 -10.63 163 1006.95 no move -1.25 - - 1836.25 - - - 2116.75 - -77.86 - - 2817.94 - - - - - - - - - - -
1305.66 173.69 -10.87 193 1306.98 no move -1.25 - - 1835.81 - - - 2116.62 - -77.86 - - 2818.06 - - - - - - - - - - -
1605.71 206.98 -11.49 223 1611.43 roll -1.25 - - 1835.31 - 3.70 0.121 3472.88 366.6 -77.86 - - 2817.41 - - - - - - - - - 15.96 -
1664.66 214.47 -13.27 235 1671.49 roll -1.25 - - 1834.44 - 3.48 0.061 2081.88 -399.7 -77.86 - - 2819.94 - - - - - - - - - 15.97 -
1970.80 247.67 -11.17 266 1972.12 no move -1.25 - - 1835.56 - - - 2081.62 - -77.86 - - 2817.72 - - - - - - - - - - -
2270.86 280.53 -11.02 296 2272.18 no move -1.25 - - 1836.25 - - - 2082.12 - -77.86 - - 2817.84 - - - - - - - - - - -
2570.92 313.33 -10.77 326 2572.24 no move -1.25 - - 1835.94 - - - 2082.31 - -77.86 - - 2818.34 - - - - - - - - - - -
2870.98 346.22 -10.76 356 2872.31 no move -1.25 - - 1836.19 - - - 2082.31 - -77.86 - - 2817.88 - - - - - - - - - - -
3171.05 378.88 -10.76 386 3176.82 roll -1.25 - - 1835.69 - 4.12 0.160 664.56 -344.1 -77.86 - - 2815.91 - - - - - - - - - 15.94 -
3240.05 387.39 -12.83 400 3246.82 roll -1.25 - - 1835.56 - 3.58 0.059 2116.19 405.5 -77.86 - - 2818.91 - - - - - - - - - 15.98 -
3546.12 419.06 -10.08 431 3551.90 roll -1.25 - - 1834.50 - 4.20 0.156 663.38 -345.9 -77.86 - - 2818.91 - - - - - - - - - 15.94 -
3605.05 426.09 -12.12 443 3611.90 roll -1.25 - - 1835.88 - 3.55 0.058 2117.75 409.7 -77.86 - - 2817.28 - - - - - - - - - 15.98 -
3911.18 456.22 -9.78 474 3912.51 no move -1.25 - - 1835.75 - - - 2117.88 - -77.86 - - 2815.69 - - - - - - - - - - -
4211.28 485.67 -9.88 504 4217.02 roll -1.25 - - 1835.81 - 4.20 0.159 663.25 -346.3 -77.86 - - 2815.56 - - - - - - - - - 15.94 -
4300.08 496.07 -11.96 522 4307.00 roll -1.25 - - 1835.62 - 3.55 0.060 2117.88 409.8 -77.86 - - 2816.53 - - - - - - - - - 15.98 -
4606.28 525.85 -8.96 553 4612.06 roll -1.25 - - 1835.25 - 4.14 0.161 663.75 -351.2 -77.86 - - 2816.66 - - - - - - - - - 15.94 -
4651.31 530.75 -10.39 562 4655.95 roll -1.25 - - 1833.88 - 3.52 0.061 2119.56 413.6 -77.86 - - 2816.56 - - - - - - - - - 15.98 -
4961.32 560.78 -9.20 594 4962.65 no move -1.25 - - 1835.12 - - - 2120.38 - -77.86 - - 2815.69 - - - - - - - - - - -
5261.35 588.61 -8.40 624 5262.68 no move -1.25 - - 1835.75 - - - 2120.50 - -77.86 - - 2813.94 - - - - - - - - - - -
5561.39 616.44 -9.56 654 5567.19 roll -1.25 - - 1835.06 - 4.21 0.165 663.88 -346.0 -77.86 - - 2815.03 - - - - - - - - - 15.94 -
5646.41 625.33 -11.74 671 5652.10 roll -1.25 - - 1836.00 - 3.56 0.064 2118.25 408.5 -77.86 - - 2813.22 - - - - - - - - - 15.99 -
5951.44 651.94 -9.02 702 5952.77 no move -1.25 - - 1835.81 - - - 2118.12 - -77.86 - - 2814.88 - - - - - - - - - - -
6251.47 678.14 -9.29 732 6252.80 no move -1.25 - - 1835.75 - - - 2117.62 - -77.86 - - 2814.50 - - - - - - - - - - -
6551.50 704.46 -9.30 762 6552.83 no move -1.25 - - 1835.88 - - - 2118.12 - -77.86 - - 2814.25 - - - - - - - - - - -
6851.55 731.01 -8.73 792 6852.88 no move -1.25 - - 1836.06 - - - 2118.00 - -77.86 - - 2813.75 - - - - - - - - - - -
7151.57 756.23 -8.59 822 7152.90 no move -1.25 - - 1835.81 - - - 2118.44 - -77.86 - - 2811.59 - - - - - - - - - - -
7451.61 779.49 -7.82 852 7452.93 no move -1.25 - - 1835.88 - - - 2117.88 - -77.86 - - 2812.78 - - - - - - - - - - -
7751.64 803.11 -7.83 882 7752.97 no move -1.25 - - 1836.12 - - - 2118.25 - -77.86 - - 2812.88 - - - - - - - - - - -
8051.70 827.34 -8.86 912 8053.02 no move -1.25 - - 1836.06 - - - 2117.69 - -77.86 - - 2812.31 - - - - - - - - - - -
8351.76 851.01 -7.62 942 8353.08 no move -1.25 - - 1836.00 - - - 2118.06 - -77.86 - - 2812.53 - - - - - - - - - - -
8651.82 873.77 -7.25 972 8653.16 no move -1.25 - - 1835.81 - - - 2117.75 - -77.86 - - 2811.72 - - - - - - - - - - -
8951.88 897.18 -8.59 1002 8953.21 no move -1.25 - - 1835.94 - - - 2118.25 - -77.86 - - 2809.78 - - - - - - - - - - -
9251.94 920.53 -9.48 1032 9253.27 no move -1.25 - - 1835.94 - - - 2118.25 - -77.86 - - 2811.44 - - - - - - - - - - -
9552.00 940.96 -7.10 1062 9557.72 roll -1.25 - - 1835.38 - 3.71 0.138 3472.25 365.0 -77.86 - - 2809.22 - - - - - - - - - 16.03 -
9607.04 945.30 -6.24 1073 9611.70 roll -1.25 - - 1834.81 - 3.55 0.076 2087.06 -390.2 -77.86 - - 2811.81 - - - - - - - - - 16.06 -
9917.10 966.86 -7.10 1105 9918.42 no move -1.25 - - 1835.81 - - - 2087.31 - -77.86 - - 2810.66 - - - - - - - - - - -
10217.15 987.14 -6.53 1135 10218.48 no move -1.25 - - 1835.38 - - - 2087.00 - -77.86 - - 2809.16 - - - - - - - - - - -
10267 end dive: TARGET_DEPTH_EXCEEDED
10267 begin apogee
10268.43 990.95 -7.48 1140 10339.13 -0.25 1.75 0.154 2078.31 138.8 0.07 0.306 2186.31 1418.7 - 66.25 2.291 2499.66 -4.7 0.336 - - - - - - 15.98 15.59 12.50
10340 end apogee: CONTROL_FINISHED_OK
10340 begin climb
10340.87 992.02 - 1147 10418.51 1.25 2.51 0.095 2447.75 147.2 - - 2186.50 - 77.86 71.68 2.248 2181.41 -4.4 0.326 - - - - - - 15.55 - 12.85
10717.21 959.62 10.08 1185 10718.54 VBD 1.25 - - 2447.50 - - - 2186.75 - 77.86 - - 2170.62 - - - - - - - - - - -
11017.23 932.87 7.80 1215 11018.56 VBD 1.25 - - 2448.00 - - - 2186.81 - 77.86 - - 2166.69 - - - - - - - - - - -
11317.26 906.01 8.60 1245 11322.89 done 1.25 - - 2447.38 - 3.69 0.133 3473.25 348.6 77.86 - - 2167.38 - - - - - - - - - 15.81 -
11442.29 891.97 11.46 1270 11446.86 done 1.25 - - 2447.19 - 3.36 0.067 2184.94 -383.4 77.86 - - 2168.16 - - - - - - - - - 15.88 -
11752.33 862.50 9.51 1302 11753.66 VBD 1.25 - - 2447.69 - - - 2184.88 - 77.86 - - 2165.78 - - - - - - - - - - -
12052.39 835.56 8.72 1332 12058.12 done 1.25 - - 2446.06 - 3.65 0.132 3471.81 352.6 77.86 - - 2164.97 - - - - - - - - - 15.93 -
12117.52 828.88 9.61 1345 12121.93 done 1.25 - - 2447.44 - 3.29 0.065 2183.25 -391.7 77.86 - - 2165.47 - - - - - - - - - 15.92 -
12427.41 801.40 9.07 1377 12428.74 VBD 1.25 - - 2445.25 - - - 2183.88 - 77.86 - - 2164.41 - - - - - - - - - - -
12727.44 776.10 9.00 1407 12733.06 done 1.25 - - 2447.62 - 3.65 0.131 3472.12 352.9 77.86 - - 2164.16 - - - - - - - - - 15.96 -
12882.48 761.71 9.17 1438 12887.02 done 1.25 - - 2446.00 - 3.24 0.064 2183.69 -397.7 77.86 - - 2164.34 - - - - - - - - - 15.98 -
13192.51 735.73 8.91 1470 13193.84 VBD 1.25 - - 2448.06 - - - 2183.62 - 77.86 - - 2163.28 - - - - - - - - - - -
13492.55 711.85 7.61 1500 13498.15 done 1.25 - - 2448.38 - 3.59 0.132 3472.00 358.9 77.86 - - 2161.56 - - - - - - - - - 15.99 -
13661.43 696.75 8.77 1534 13668.30 done 1.25 - - 2447.88 - 3.26 0.063 2183.25 -395.3 77.86 - - 2162.59 - - - - - - - - - 15.99 -
13967.62 674.37 7.20 1565 13973.37 done 1.28 - - 2447.62 - 3.61 0.129 3470.81 356.7 77.86 - - 2162.69 - - - - - - - - - 15.96 -
14022.64 669.64 7.81 1576 14027.18 done 1.28 - - 2447.75 - 3.21 0.061 2181.94 -401.5 77.86 - - 2162.53 - - - - - - - - - 16.01 -
14332.67 646.77 6.58 1608 14334.00 VBD 1.32 - - 2448.06 - - - 2181.56 - 77.86 - - 2162.34 - - - - - - - - - - -
14632.73 623.96 7.00 1638 14634.06 VBD 1.35 - - 2447.12 - - - 2181.88 - 77.86 - - 2162.69 - - - - - - - - - - -
14932.78 603.00 6.83 1668 14938.68 1.39 0.18 0.117 2487.62 225.0 4.13 0.143 736.38 -350.0 77.86 - - 2160.78 - - - - - - - - 15.99 15.93 -
15067.84 590.59 9.64 1695 15073.45 done 1.39 - - 2487.19 - 3.67 0.061 2218.81 403.9 77.86 - - 2159.09 - - - - - - - - - 15.97 -
15372.91 567.05 6.76 1726 15374.24 VBD 1.43 - - 2488.25 - - - 2218.38 - 77.86 - - 2160.66 - - - - - - - - - - -
15672.95 544.14 7.78 1756 15674.28 VBD 1.43 - - 2488.00 - - - 2218.75 - 77.86 - - 2160.38 - - - - - - - - - - -
15973.03 522.39 7.36 1786 15974.36 VBD 1.45 - - 2487.25 - - - 2218.12 - 77.86 - - 2160.44 - - - - - - - - - - -
16273.10 500.91 7.43 1816 16278.68 done 1.47 - - 2485.44 - 3.52 0.129 3472.88 356.5 77.86 - - 2160.78 - - - - - - - - - 15.97 -
16478.17 483.40 9.39 1857 16482.71 done 1.47 - - 2488.44 - 3.28 0.061 2180.75 -393.9 77.86 - - 2160.50 - - - - - - - - - 15.98 -
16788.20 462.14 6.39 1889 16789.53 VBD 1.52 - - 2488.31 - - - 2180.69 - 77.86 - - 2160.88 - - - - - - - - - - -
17088.24 443.01 6.29 1919 17094.06 1.57 0.19 0.097 2529.88 218.8 4.11 0.139 736.12 -351.5 77.86 - - 2158.88 - - - - - - - - 16.01 15.94 -
17273.36 428.87 7.25 1956 17278.90 done 1.59 - - 2530.00 - 3.66 0.059 2220.12 405.5 77.86 - - 2157.75 - - - - - - - - - 15.96 -
17578.33 409.63 5.80 1987 17605.38 VBD 1.69 - - 2528.31 - - - 2219.69 - 110.02 26.08 1.582 2050.81 -4.1 0.176 - - - - - - - - 12.77
17898.35 382.19 9.65 2019 17899.68 no move 1.69 - - 2530.44 - - - 2220.62 - 110.02 - - 2045.78 - - - - - - - - - - -
18198.39 354.75 8.66 2049 18199.72 no move 1.69 - - 2529.88 - - - 2219.81 - 110.02 - - 2044.06 - - - - - - - - - - -
18498.42 328.21 7.78 2079 18499.74 no move 1.69 - - 2530.81 - - - 2220.44 - 110.02 - - 2044.81 - - - - - - - - - - -
18798.45 302.38 8.61 2109 18799.78 no move 1.69 - - 2530.31 - - - 2220.38 - 110.02 - - 2044.88 - - - - - - - - - - -
19098.49 275.25 9.04 2139 19099.82 no move 1.69 - - 2530.19 - - - 2220.00 - 110.02 - - 2042.91 - - - - - - - - - - -
19398.52 249.04 8.05 2169 19399.85 no move 1.69 - - 2530.25 - - - 2220.50 - 110.02 - - 2043.25 - - - - - - - - - - -
19698.55 222.99 8.63 2199 19704.26 roll 1.69 - - 2529.62 - 4.20 0.133 736.44 -353.3 110.02 - - 2043.19 - - - - - - - - - 15.93 -
19763.64 216.92 9.95 2212 19769.19 done 1.69 - - 2530.69 - 3.66 0.059 2220.88 405.6 110.02 - - 2041.31 - - - - - - - - - 15.95 -
20068.62 193.16 7.37 2243 20070.10 1.71 0.15 0.104 2563.56 219.1 - - 2220.75 - 110.02 - - 2043.12 - - - - - - - - 15.95 - -
20368.65 171.13 7.10 2273 20374.22 done 1.74 - - 2561.62 - 3.49 0.121 3471.62 358.4 110.02 - - 2043.28 - - - - - - - - - 15.94 -
20593.72 152.44 7.58 2318 20598.39 done 1.74 - - 2563.81 - 3.24 0.056 2177.69 -399.4 110.02 - - 2043.00 - - - - - - - - - 15.93 -
20903.79 131.45 7.20 2350 20909.46 done 1.76 - - 2562.94 - 4.09 0.133 736.12 -352.5 110.02 - - 2042.25 - - - - - - - - - 15.89 -
21002.72 123.48 7.82 2370 21009.59 done 1.76 - - 2563.62 - 3.66 0.056 2222.81 406.2 110.02 - - 2042.16 - - - - - - - - - 15.93 -
21308.90 109.08 4.48 2401 21360.09 1.92 0.25 0.083 2613.94 201.3 4.24 0.128 735.12 -350.9 160.98 42.53 1.256 1843.19 -4.7 0.068 - - - - - - 15.97 15.76 12.59
21412.88 101.16 10.57 2422 21419.67 roll 1.92 - - 2614.69 - 3.68 0.053 2222.44 404.2 160.98 - - 1839.12 - - - - - - - - - 15.77 -
21719.05 75.60 8.33 2482 21725.02 roll 1.92 - - 2614.62 - 4.18 0.127 735.19 -355.8 160.98 - - 1836.88 - - - - - - - - - 15.81 -
21949.12 65.89 2.74 2528 22016.29 2.15 0.28 0.076 2669.06 194.4 3.62 0.053 2228.44 412.5 236.82 61.63 1.184 1534.28 -4.9 0.045 - - - - - - 15.86 15.80 12.66
22194.17 46.68 8.15 2577 22200.05 roll 2.15 - - 2669.44 - 4.24 0.127 736.00 -352.0 236.82 - - 1526.59 - - - - - - - - - 15.66 -
22269.20 43.21 4.87 2592 22311.72 done 2.28 - - 2667.50 - 3.64 0.054 2224.38 408.9 282.17 37.78 1.125 1350.00 -4.7 0.030 - - - - - - - 15.68 12.62
22489.57 19.75 14.23 2636 22495.33 roll 2.28 - - 2669.25 - 3.44 0.115 3472.25 362.8 282.17 - - 1343.03 - - - - - - - - - 15.68 -
22644 end climb: SURFACE_DEPTH_REACHED
22644 begin surface coast
22664 end surface coast: CONTROL_FINISHED_OK
22664 begin surface
SM 0.61 - - - - 172.9 118.08 1.092 767.2 6.5 16.06 0.058 766.8 47.7 - 3.52 0.055 767.6 217.1 -0.246 - - 12.68 15.71 15.74 -