NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 348 * Raw log
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• Previous call tries 2 • 106.83 of 575.00 AH used of 24V (81.42% remains)
• Surface angle -55.6 deg, depth 0.73 m • Intended pitch -20.4 deg, speed -8.049 cm/s
• VBD pumped to 424.76 (SM_CC=425)
• GPS1 time: 71 s
• GPS2 time: 3 s • Transponder ping count: 3
• 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
6.89 - - - 85.55 VBD -1.25 - - 172.88 - - - 2118.94 - -77.86 78.03 0.005 2470.03 - - - - - - - - - - 15.58
85.81 3.22 -3.63 15 117.61 -1.25 13.97 0.264 1835.56 119.0 3.88 0.124 3471.94 348.7 -77.86 8.97 0.007 2818.16 38.8 -3.020 - - - - - - 15.63 15.57 15.58
180.35 22.25 -20.66 34 186.13 roll -1.25 - - 1835.56 - 3.63 0.060 2085.12 -382.0 -77.86 - - 2817.31 - - - - - - - - - 15.74 -
365.42 58.34 -18.14 71 371.22 roll -1.25 - - 1835.06 - 3.88 0.112 3473.44 357.8 -77.86 - - 2818.06 - - - - - - - - - 15.80 -
520.44 84.11 -14.23 102 526.22 roll -1.25 - - 1836.00 - 3.62 0.059 2084.25 -383.8 -77.86 - - 2818.00 - - - - - - - - - 15.85 -
710.48 107.37 -11.43 134 716.26 roll -1.25 - - 1835.50 - 4.20 0.156 663.94 -338.2 -77.86 - - 2817.12 - - - - - - - - - 15.78 -
875.52 128.76 -11.70 167 881.13 roll -1.25 - - 1835.56 - 3.60 0.054 2118.88 404.1 -77.86 - - 2818.66 - - - - - - - - - 15.84 -
1180.55 160.24 -10.55 198 1181.88 no move -1.25 - - 1835.75 - - - 2118.56 - -77.86 - - 2817.47 - - - - - - - - - - -
1480.58 193.11 -10.48 228 1486.27 roll -1.25 - - 1835.38 - 3.64 0.118 3474.56 372.5 -77.86 - - 2817.00 - - - - - - - - - 15.93 -
1585.60 205.81 -12.23 249 1590.37 roll -1.25 - - 1835.44 - 3.54 0.061 2083.12 -393.1 -77.86 - - 2817.91 - - - - - - - - - 15.97 -
1895.65 240.53 -11.65 281 1896.98 no move -1.25 - - 1835.31 - - - 2082.44 - -77.86 - - 2817.34 - - - - - - - - - - -
2195.71 274.01 -10.98 311 2197.04 no move -1.25 - - 1835.56 - - - 2082.50 - -77.86 - - 2817.47 - - - - - - - - - - -
2495.77 305.98 -10.42 341 2497.10 no move -1.25 - - 1835.38 - - - 2082.38 - -77.86 - - 2817.56 - - - - - - - - - - -
2795.83 337.61 -10.49 371 2797.16 no move -1.25 - - 1835.81 - - - 2082.81 - -77.86 - - 2817.41 - - - - - - - - - - -
3095.89 367.41 -9.86 401 3097.22 no move -1.25 - - 1835.31 - - - 2081.31 - -77.86 - - 2817.09 - - - - - - - - - - -
3395.96 396.18 -9.97 431 3401.74 roll -1.25 - - 1835.06 - 4.14 0.162 664.56 -342.2 -77.86 - - 2817.66 - - - - - - - - - 15.93 -
3484.92 406.24 -10.78 449 3491.78 roll -1.25 - - 1835.56 - 3.62 0.060 2120.88 402.3 -77.86 - - 2817.56 - - - - - - - - - 15.98 -
3791.06 436.30 -9.76 480 3792.39 no move -1.25 - - 1835.12 - - - 2120.56 - -77.86 - - 2816.16 - - - - - - - - - - -
4091.11 464.97 -9.12 510 4096.91 roll -1.25 - - 1835.50 - 4.26 0.160 663.56 -342.0 -77.86 - - 2814.53 - - - - - - - - - 15.94 -
4179.98 475.13 -12.40 528 4186.91 roll -1.25 - - 1834.88 - 3.59 0.060 2115.25 404.4 -77.86 - - 2818.38 - - - - - - - - - 15.99 -
4486.18 503.78 -9.33 559 4487.50 no move -1.25 - - 1835.62 - - - 2115.31 - -77.86 - - 2815.25 - - - - - - - - - - -
4786.21 531.43 -9.30 589 4787.54 no move -1.25 - - 1835.44 - - - 2115.62 - -77.86 - - 2814.91 - - - - - - - - - - -
5086.24 560.36 -10.39 619 5092.04 roll -1.25 - - 1835.38 - 4.29 0.164 663.19 -338.6 -77.86 - - 2814.97 - - - - - - - - - 15.94 -
5175.19 570.52 -12.27 637 5182.05 roll -1.25 - - 1835.94 - 3.61 0.061 2118.56 403.1 -77.86 - - 2814.69 - - - - - - - - - 15.99 -
5481.29 599.48 -9.68 668 5482.62 no move -1.25 - - 1835.50 - - - 2118.19 - -77.86 - - 2814.31 - - - - - - - - - - -
5781.32 626.43 -9.41 698 5782.65 no move -1.25 - - 1835.94 - - - 2118.56 - -77.86 - - 2813.16 - - - - - - - - - - -
6081.36 651.92 -8.76 728 6087.16 roll -1.25 - - 1834.56 - 4.29 0.169 664.44 -339.0 -77.86 - - 2814.62 - - - - - - - - - 15.94 -
6150.29 659.29 -10.54 742 6157.15 roll -1.25 - - 1835.44 - 3.62 0.065 2118.81 401.8 -77.86 - - 2813.28 - - - - - - - - - 16.00 -
6456.40 682.98 -6.86 773 6457.73 no move -1.25 - - 1835.38 - - - 2118.62 - -77.86 - - 2813.03 - - - - - - - - - - -
6756.44 706.28 -7.51 803 6757.77 no move -1.25 - - 1836.38 - - - 2118.00 - -77.86 - - 2812.69 - - - - - - - - - - -
7056.48 730.70 -7.11 833 7062.28 roll -1.25 - - 1834.44 - 4.30 0.172 664.50 -338.0 -77.86 - - 2813.62 - - - - - - - - - 15.93 -
7131.49 738.29 -10.75 848 7137.19 roll -1.25 - - 1835.62 - 3.60 0.067 2115.75 403.1 -77.86 - - 2810.06 - - - - - - - - - 15.99 -
7436.53 763.49 -8.18 879 7437.85 no move -1.25 - - 1835.69 - - - 2115.12 - -77.86 - - 2811.75 - - - - - - - - - - -
7736.56 788.86 -8.07 909 7737.89 no move -1.25 - - 1835.31 - - - 2115.44 - -77.86 - - 2811.38 - - - - - - - - - - -
8036.59 815.94 -9.14 939 8037.92 no move -1.25 - - 1836.06 - - - 2115.25 - -77.86 - - 2809.69 - - - - - - - - - - -
8336.63 841.47 -8.36 969 8337.95 no move -1.25 - - 1834.56 - - - 2115.56 - -77.86 - - 2813.09 - - - - - - - - - - -
8636.69 865.74 -7.54 999 8642.40 roll -1.25 - - 1835.25 - 3.73 0.136 3471.06 363.4 -77.86 - - 2810.53 - - - - - - - - - 16.04 -
8715.71 873.04 -9.95 1015 8722.48 roll -1.25 - - 1835.81 - 3.52 0.075 2085.75 -393.6 -77.86 - - 2810.06 - - - - - - - - - 16.05 -
9021.79 895.63 -7.41 1046 9023.11 no move -1.25 - - 1835.69 - - - 2085.19 - -77.86 - - 2809.12 - - - - - - - - - - -
9321.84 919.40 -8.09 1076 9327.78 roll -1.25 - - 1834.56 - 4.26 0.180 663.62 -333.7 -77.86 - - 2809.91 - - - - - - - - - 15.91 -
9366.88 924.09 -11.69 1085 9372.56 roll -1.25 - - 1835.56 - 3.62 0.068 2115.00 400.9 -77.86 - - 2809.03 - - - - - - - - - 15.99 -
9671.93 948.50 -6.67 1116 9677.73 roll -1.25 - - 1835.75 - 4.29 0.176 664.81 -338.0 -77.86 - - 2807.75 - - - - - - - - - 15.92 -
9740.86 956.20 -11.30 1130 9747.72 roll -1.25 - - 1835.75 - 3.64 0.071 2114.06 398.1 -77.86 - - 2809.34 - - - - - - - - - 15.99 -
10047.01 981.29 -7.79 1161 10048.34 no move -1.25 - - 1835.56 - - - 2113.81 - -77.86 - - 2809.09 - - - - - - - - - - -
10156 end dive: TARGET_DEPTH_EXCEEDED
10156 begin apogee
10158.28 990.71 -8.03 1172 10228.63 -0.25 1.76 0.154 2079.44 138.6 0.07 0.313 2186.62 1040.1 - 65.16 2.295 2501.69 -4.7 0.345 - - - - - - 15.97 15.57 12.66
10230 end apogee: CONTROL_FINISHED_OK
10230 begin climb
10230.39 992.87 - 1179 10308.96 1.25 2.53 0.095 2449.12 146.1 - - 2186.56 - 77.86 71.38 2.244 2180.94 -4.5 0.336 - - - - - - 15.61 - 12.77
10607.11 961.81 10.32 1217 10608.44 VBD 1.25 - - 2447.94 - - - 2185.25 - 77.86 - - 2170.94 - - - - - - - - - - -
10907.14 932.69 10.14 1247 10908.47 VBD 1.25 - - 2448.75 - - - 2185.88 - 77.86 - - 2168.16 - - - - - - - - - - -
11207.17 903.07 10.01 1277 11208.50 VBD 1.25 - - 2448.25 - - - 2185.69 - 77.86 - - 2167.03 - - - - - - - - - - -
11507.21 875.96 9.31 1307 11508.54 VBD 1.25 - - 2448.50 - - - 2185.38 - 77.86 - - 2166.44 - - - - - - - - - - -
11807.24 851.25 8.17 1337 11812.87 done 1.25 - - 2447.56 - 3.66 0.134 3473.00 351.8 77.86 - - 2164.69 - - - - - - - - - 15.86 -
11926.11 840.45 10.17 1361 11932.98 done 1.25 - - 2449.06 - 3.30 0.066 2182.31 -391.1 77.86 - - 2164.91 - - - - - - - - - 15.87 -
12232.32 816.94 7.51 1392 12233.66 VBD 1.27 - - 2448.44 - - - 2182.31 - 77.86 - - 2163.75 - - - - - - - - - - -
12532.36 795.33 7.48 1422 12537.95 done 1.29 - - 2448.31 - 3.59 0.131 3472.81 359.5 77.86 - - 2163.72 - - - - - - - - - 15.89 -
12667.37 783.41 10.00 1449 12672.14 done 1.29 - - 2448.19 - 3.28 0.065 2181.75 -393.6 77.86 - - 2163.78 - - - - - - - - - 15.92 -
12977.41 759.96 7.94 1481 12978.75 VBD 1.29 - - 2449.00 - - - 2182.31 - 77.86 - - 2163.44 - - - - - - - - - - -
13277.44 736.50 7.74 1511 13278.77 VBD 1.29 - - 2448.94 - - - 2182.19 - 77.86 - - 2161.78 - - - - - - - - - - -
13577.48 712.62 8.37 1541 13578.81 VBD 1.29 - - 2449.00 - - - 2182.00 - 77.86 - - 2160.91 - - - - - - - - - - -
13877.52 688.45 8.99 1571 13878.85 VBD 1.29 - - 2448.75 - - - 2182.38 - 77.86 - - 2160.75 - - - - - - - - - - -
14177.58 664.90 7.08 1601 14178.91 VBD 1.31 - - 2448.44 - - - 2182.12 - 77.86 - - 2162.44 - - - - - - - - - - -
14477.60 642.24 6.62 1631 14478.93 VBD 1.36 - - 2448.12 - - - 2181.94 - 77.86 - - 2162.38 - - - - - - - - - - -
14777.64 620.02 7.41 1661 14783.29 1.38 0.16 0.124 2485.50 233.6 3.56 0.132 3473.88 362.9 77.86 - - 2160.62 - - - - - - - - 15.98 15.94 -
14912.68 608.27 9.31 1688 14917.31 done 1.38 - - 2485.19 - 3.30 0.063 2180.06 -392.1 77.86 - - 2162.22 - - - - - - - - - 16.01 -
15222.76 586.87 6.19 1720 15228.48 done 1.43 - - 2485.00 - 3.57 0.127 3470.81 361.6 77.86 - - 2161.66 - - - - - - - - - 15.95 -
15311.68 579.46 8.75 1738 15318.49 done 1.43 - - 2485.62 - 3.27 0.060 2180.88 -394.5 77.86 - - 2161.84 - - - - - - - - - 16.01 -
15617.85 559.53 6.52 1769 15623.61 done 1.48 - - 2484.88 - 4.09 0.143 737.25 -353.0 77.86 - - 2158.88 - - - - - - - - - 15.93 -
15726.72 550.62 8.41 1791 15733.67 done 1.48 - - 2484.94 - 3.66 0.060 2219.38 405.0 77.86 - - 2161.38 - - - - - - - - - 15.97 -
16032.96 530.40 6.55 1822 16037.52 done 1.52 - - 2485.50 - 3.45 0.128 3473.31 363.5 77.86 - - 2158.47 - - - - - - - - - 15.95 -
16223.02 515.94 7.71 1860 16227.57 done 1.52 - - 2485.44 - 3.25 0.062 2180.12 -397.9 77.86 - - 2159.94 - - - - - - - - - 15.95 -
16533.10 493.03 7.46 1892 16534.56 1.54 0.17 0.105 2522.06 215.4 - - 2180.12 - 77.86 - - 2158.78 - - - - - - - - 15.93 - -
16833.15 471.01 6.80 1922 16838.87 done 1.58 - - 2521.56 - 3.54 0.125 3472.12 365.0 77.86 - - 2160.59 - - - - - - - - - 15.95 -
16932.00 463.01 8.06 1942 16938.87 done 1.58 - - 2521.94 - 3.22 0.061 2179.19 -401.5 77.86 - - 2159.66 - - - - - - - - - 15.95 -
17238.21 441.36 7.21 1973 17239.54 VBD 1.60 - - 2522.38 - - - 2179.25 - 77.86 - - 2160.34 - - - - - - - - - - -
17538.24 421.87 5.55 2003 17568.93 1.71 0.20 0.098 2563.31 204.6 - - 2179.06 - 113.56 29.02 1.606 2037.66 -4.2 0.188 - - - - - - 16.00 - 12.68
17868.27 388.80 9.95 2036 17873.96 roll 1.71 - - 2562.44 - 4.12 0.141 736.25 -350.2 113.56 - - 2030.19 - - - - - - - - - 15.83 -
17977.20 374.71 13.54 2058 17984.19 done 1.71 - - 2562.50 - 3.67 0.060 2220.25 404.4 113.56 - - 2029.94 - - - - - - - - - 15.86 -
18283.33 343.88 9.57 2089 18287.91 done 1.71 - - 2563.56 - 3.46 0.124 3474.50 362.5 113.56 - - 2026.59 - - - - - - - - - 15.88 -
18407.18 330.26 12.01 2114 18414.19 done 1.71 - - 2563.75 - 3.25 0.059 2180.06 -398.3 113.56 - - 2028.97 - - - - - - - - - 15.90 -
18713.38 301.21 9.72 2145 18714.71 VBD 1.71 - - 2562.69 - - - 2180.44 - 113.56 - - 2028.75 - - - - - - - - - - -
19013.41 271.74 10.13 2175 19019.02 done 1.71 - - 2563.44 - 3.56 0.120 3474.62 363.5 113.56 - - 2026.41 - - - - - - - - - 15.92 -
19072.28 264.95 11.24 2187 19079.36 done 1.71 - - 2563.50 - 3.26 0.059 2179.50 -397.3 113.56 - - 2028.06 - - - - - - - - - 15.93 -
19378.46 234.48 9.52 2218 19379.79 VBD 1.71 - - 2563.75 - - - 2179.69 - 113.56 - - 2028.03 - - - - - - - - - - -
19678.49 206.90 8.48 2248 19684.10 done 1.71 - - 2563.00 - 3.53 0.118 3472.81 366.3 113.56 - - 2027.78 - - - - - - - - - 15.89 -
19763.58 198.63 9.26 2265 19768.05 done 1.71 - - 2563.88 - 3.24 0.057 2178.56 -399.5 113.56 - - 2028.28 - - - - - - - - - 15.94 -
20073.54 171.76 8.83 2297 20074.87 VBD 1.71 - - 2563.12 - - - 2178.62 - 113.56 - - 2026.34 - - - - - - - - - - -
20373.59 146.94 7.42 2327 20379.29 done 1.73 - - 2562.62 - 4.05 0.135 736.19 -356.2 113.56 - - 2028.28 - - - - - - - - - 15.91 -
20602.53 127.85 8.49 2373 20609.40 done 1.73 - - 2563.56 - 3.65 0.056 2224.06 407.6 113.56 - - 2026.47 - - - - - - - - - 15.92 -
20908.71 109.29 5.58 2404 20945.11 done 1.84 - - 2562.44 - 4.21 0.130 736.44 -353.4 148.88 30.07 1.248 1892.88 -4.4 0.066 - - - - - - - 15.77 12.70
21168.79 86.83 8.81 2456 21174.55 roll 1.84 - - 2563.38 - 3.66 0.056 2221.50 405.8 148.88 - - 1887.81 - - - - - - - - - 15.82 -
21353.88 73.23 6.36 2493 21355.37 pitch 1.89 0.21 0.090 2605.62 201.1 - - 2221.38 - 148.88 - - 1886.22 - - - - - - - - 15.88 - -
21533.96 69.79 1.12 2529 21621.91 2.18 0.40 0.072 2679.69 185.2 4.25 0.127 734.88 -349.8 247.76 79.78 1.222 1488.16 -5.0 0.048 - - - - - - 15.90 15.56 12.63
21734.74 55.20 10.27 2569 21740.63 roll 2.18 - - 2679.06 - 3.69 0.054 2224.38 403.7 247.76 - - 1485.03 - - - - - - - - - 15.63 -
21919.81 41.68 7.82 2606 21925.67 done 2.18 - - 2679.25 - 3.43 0.115 3472.06 363.8 247.76 - - 1481.31 - - - - - - - - - 15.68 -
22084.87 25.12 9.44 2639 22090.57 done 2.18 - - 2680.19 - 3.26 0.054 2177.62 -397.1 247.76 - - 1479.81 - - - - - - - - - 15.75 -
22269.94 2.93 12.09 2676 22271.27 VBD 2.18 - - 2678.62 - - - 2177.56 - 247.76 - - 1478.56 - - - - - - - - - - -
22279 end climb: SURFACE_DEPTH_REACHED
22279 begin surface coast
22294 end surface coast: CONTROL_FINISHED_OK
22294 begin surface
SM 0.35 - - - - 173.9 0.03 0.363 768.4 25613.3 17.17 0.118 774.4 45.1 - 0.22 0.111 762.4 3465.5 -1.117 - - 15.41 15.75 15.85 -