NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 352 * Raw log
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• Previous call tries 1 • 108.07 of 575.00 AH used of 24V (81.21% remains)
• Surface angle -63.6 deg, depth 0.71 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.78 (SM_CC=425)
• GPS1 time: 33 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
6.94 - - - 84.98 VBD -1.25 - - 173.19 - - - 2120.00 - -77.86 77.49 0.005 2470.06 - - - - - - - - - - 15.54
85.24 3.20 -3.70 15 117.19 -1.25 14.09 0.263 1836.69 118.1 4.30 0.156 663.44 -338.7 -77.86 9.15 0.007 2815.09 37.7 -2.914 - - - - - - 15.59 15.53 15.55
269.99 44.52 -23.39 52 275.79 roll -1.25 - - 1837.19 - 3.62 0.059 2118.81 402.0 -77.86 - - 2815.47 - - - - - - - - - 15.70 -
455.08 75.95 -15.15 89 460.95 roll -1.25 - - 1836.69 - 4.22 0.150 664.00 -344.7 -77.86 - - 2816.34 - - - - - - - - - 15.72 -
615.14 101.53 -14.97 121 620.74 roll -1.25 - - 1837.06 - 3.58 0.055 2121.50 407.1 -77.86 - - 2816.56 - - - - - - - - - 15.79 -
920.18 135.94 -10.68 152 925.96 roll -1.25 - - 1835.25 - 3.70 0.115 3474.25 365.6 -77.86 - - 2816.44 - - - - - - - - - 15.89 -
1089.15 155.39 -11.93 186 1095.98 roll -1.25 - - 1837.25 - 3.47 0.060 2083.00 -400.9 -77.86 - - 2818.94 - - - - - - - - - 15.91 -
1395.27 188.00 -10.74 217 1396.59 no move -1.25 - - 1836.94 - - - 2082.31 - -77.86 - - 2817.72 - - - - - - - - - - -
1695.30 219.53 -10.81 247 1696.63 no move -1.25 - - 1837.06 - - - 2082.62 - -77.86 - - 2817.62 - - - - - - - - - - -
1995.33 251.44 -10.42 277 1996.66 no move -1.25 - - 1837.06 - - - 2083.12 - -77.86 - - 2817.69 - - - - - - - - - - -
2295.37 283.11 -10.80 307 2296.69 no move -1.25 - - 1836.81 - - - 2083.00 - -77.86 - - 2817.62 - - - - - - - - - - -
2595.40 315.63 -10.23 337 2596.73 no move -1.25 - - 1836.81 - - - 2082.88 - -77.86 - - 2816.50 - - - - - - - - - - -
2895.44 346.93 -10.75 367 2896.77 no move -1.25 - - 1837.12 - - - 2083.00 - -77.86 - - 2816.06 - - - - - - - - - - -
3195.47 378.22 -10.45 397 3196.80 no move -1.25 - - 1837.00 - - - 2083.38 - -77.86 - - 2815.44 - - - - - - - - - - -
3495.50 408.71 -10.59 427 3496.83 no move -1.25 - - 1837.31 - - - 2083.19 - -77.86 - - 2817.25 - - - - - - - - - - -
3795.53 439.41 -10.05 457 3796.86 no move -1.25 - - 1837.06 - - - 2082.75 - -77.86 - - 2817.66 - - - - - - - - - - -
4095.57 469.71 -9.01 487 4096.90 no move -1.25 - - 1837.31 - - - 2083.19 - -77.86 - - 2817.28 - - - - - - - - - - -
4395.60 499.08 -9.90 517 4396.92 no move -1.25 - - 1837.25 - - - 2082.81 - -77.86 - - 2817.16 - - - - - - - - - - -
4695.63 527.27 -9.48 547 4696.96 no move -1.25 - - 1836.81 - - - 2082.19 - -77.86 - - 2815.81 - - - - - - - - - - -
4995.66 554.57 -9.21 577 5001.44 roll -1.25 - - 1837.31 - 4.16 0.168 663.44 -341.0 -77.86 - - 2818.41 - - - - - - - - - 15.94 -
5060.76 561.26 -11.37 590 5066.39 roll -1.25 - - 1836.75 - 3.61 0.063 2118.12 403.0 -77.86 - - 2815.22 - - - - - - - - - 15.99 -
5365.75 588.61 -9.51 621 5367.08 no move -1.25 - - 1837.38 - - - 2118.44 - -77.86 - - 2816.22 - - - - - - - - - - -
5665.81 615.22 -8.61 651 5667.14 no move -1.25 - - 1836.75 - - - 2118.12 - -77.86 - - 2816.00 - - - - - - - - - - -
5965.87 641.17 -8.34 681 5967.20 no move -1.25 - - 1836.38 - - - 2118.19 - -77.86 - - 2815.72 - - - - - - - - - - -
6265.95 665.29 -7.95 711 6271.75 roll -1.25 - - 1836.56 - 4.28 0.170 663.69 -339.8 -77.86 - - 2814.00 - - - - - - - - - 15.94 -
6321.04 670.34 -10.32 722 6326.65 roll -1.25 - - 1836.25 - 3.58 0.065 2116.56 405.8 -77.86 - - 2815.78 - - - - - - - - - 16.00 -
6626.04 694.19 -7.68 753 6627.37 no move -1.25 - - 1837.06 - - - 2117.44 - -77.86 - - 2815.78 - - - - - - - - - - -
6926.11 718.14 -9.02 783 6927.43 no move -1.25 - - 1836.75 - - - 2116.94 - -77.86 - - 2815.81 - - - - - - - - - - -
7226.16 742.80 -8.86 813 7227.49 no move -1.25 - - 1837.06 - - - 2117.19 - -77.86 - - 2815.16 - - - - - - - - - - -
7526.20 769.10 -8.81 843 7531.92 roll -1.25 - - 1836.69 - 3.72 0.132 3472.81 364.4 -77.86 - - 2817.25 - - - - - - - - - 16.03 -
7591.24 775.29 -9.86 856 7595.89 roll -1.25 - - 1836.88 - 3.43 0.071 2085.81 -404.4 -77.86 - - 2817.22 - - - - - - - - - 16.04 -
7901.26 801.86 -7.69 888 7902.59 no move -1.25 - - 1836.88 - - - 2085.81 - -77.86 - - 2813.19 - - - - - - - - - - -
8201.29 827.58 -8.55 918 8202.61 no move -1.25 - - 1837.00 - - - 2085.56 - -77.86 - - 2815.31 - - - - - - - - - - -
8501.32 852.09 -7.52 948 8502.65 no move -1.25 - - 1836.62 - - - 2085.75 - -77.86 - - 2813.16 - - - - - - - - - - -
8801.35 877.02 -8.66 978 8802.68 no move -1.25 - - 1836.81 - - - 2085.94 - -77.86 - - 2814.84 - - - - - - - - - - -
9101.38 901.17 -8.13 1008 9102.71 no move -1.25 - - 1836.88 - - - 2085.69 - -77.86 - - 2815.09 - - - - - - - - - - -
9401.42 923.88 -8.82 1038 9402.75 no move -1.25 - - 1836.94 - - - 2085.69 - -77.86 - - 2813.44 - - - - - - - - - - -
9701.45 946.64 -8.17 1068 9702.78 no move -1.25 - - 1836.94 - - - 2085.81 - -77.86 - - 2812.47 - - - - - - - - - - -
10001.49 968.97 -7.39 1098 10002.82 no move -1.25 - - 1836.94 - - - 2085.50 - -77.86 - - 2814.38 - - - - - - - - - - -
10282 end dive: TARGET_DEPTH_EXCEEDED
10282 begin apogee
10282.76 990.04 -6.16 1126 10353.31 -0.25 1.75 0.152 2080.00 138.9 0.08 0.309 2185.94 1255.5 - 65.86 2.309 2500.09 -4.8 0.346 - - - - - - 15.98 15.55 12.40
10355 end apogee: CONTROL_FINISHED_OK
10355 begin climb
10355.07 991.94 - 1133 10433.67 1.25 2.54 0.090 2448.88 145.2 - - 2186.44 - 77.86 72.30 2.229 2183.69 -4.4 0.329 - - - - - - 15.54 - 12.85
10731.78 960.72 8.22 1171 10733.11 VBD 1.25 - - 2448.75 - - - 2186.94 - 77.86 - - 2169.06 - - - - - - - - - - -
11031.58 933.06 8.79 1201 11032.91 VBD 1.25 - - 2448.81 - - - 2186.12 - 77.86 - - 2168.28 - - - - - - - - - - -
11331.61 906.44 8.57 1231 11332.95 VBD 1.25 - - 2449.12 - - - 2186.50 - 77.86 - - 2167.09 - - - - - - - - - - -
11631.65 879.19 8.29 1261 11637.27 done 1.25 - - 2446.31 - 3.66 0.136 3470.38 350.8 77.86 - - 2166.16 - - - - - - - - - 15.85 -
11776.68 863.66 10.98 1290 11781.25 done 1.25 - - 2448.94 - 3.32 0.068 2183.56 -387.6 77.86 - - 2166.25 - - - - - - - - - 15.90 -
12086.75 835.74 9.20 1322 12088.08 VBD 1.25 - - 2448.75 - - - 2183.69 - 77.86 - - 2163.75 - - - - - - - - - - -
12386.91 810.92 7.12 1352 12388.24 VBD 1.28 - - 2448.50 - - - 2184.19 - 77.86 - - 2164.25 - - - - - - - - - - -
12686.89 787.36 7.11 1382 12688.22 VBD 1.31 - - 2448.25 - - - 2183.88 - 77.86 - - 2164.22 - - - - - - - - - - -
12986.93 764.35 7.85 1412 12988.27 VBD 1.31 - - 2448.69 - - - 2184.00 - 77.86 - - 2162.03 - - - - - - - - - - -
13287.01 741.62 7.22 1442 13288.34 VBD 1.33 - - 2448.81 - - - 2183.81 - 77.86 - - 2163.44 - - - - - - - - - - -
13587.08 717.73 8.31 1472 13591.94 done 1.33 - - 2448.88 - 3.61 0.132 3472.81 357.1 77.86 - - 2163.75 - - - - - - - - - 15.99 -
13671.07 709.66 9.25 1489 13677.82 done 1.33 - - 2448.50 - 3.31 0.065 2182.56 -389.8 77.86 - - 2162.75 - - - - - - - - - 15.99 -
13977.15 685.18 9.10 1520 13978.49 VBD 1.33 - - 2448.56 - - - 2182.81 - 77.86 - - 2163.16 - - - - - - - - - - -
14277.20 661.08 7.80 1550 14278.53 VBD 1.33 - - 2449.56 - - - 2182.88 - 77.86 - - 2161.94 - - - - - - - - - - -
14577.25 638.24 6.96 1580 14578.59 VBD 1.37 - - 2449.31 - - - 2183.00 - 77.86 - - 2161.69 - - - - - - - - - - -
14877.28 616.74 6.92 1610 14878.75 1.40 0.19 0.108 2489.62 212.2 - - 2183.19 - 77.86 - - 2160.69 - - - - - - - - 16.00 - -
15177.30 592.33 8.39 1640 15178.63 VBD 1.40 - - 2489.12 - - - 2182.50 - 77.86 - - 2162.00 - - - - - - - - - - -
15477.35 569.61 7.37 1670 15483.12 done 1.42 - - 2488.94 - 4.16 0.144 736.06 -347.7 77.86 - - 2159.44 - - - - - - - - - 15.93 -
15546.19 563.17 8.87 1684 15553.21 done 1.42 - - 2488.75 - 3.64 0.061 2220.31 407.8 77.86 - - 2160.53 - - - - - - - - - 15.96 -
15852.43 542.21 6.77 1715 15853.76 VBD 1.46 - - 2489.19 - - - 2220.25 - 77.86 - - 2159.28 - - - - - - - - - - -
16152.44 522.38 6.27 1745 16157.15 done 1.51 - - 2488.62 - 3.42 0.128 3473.75 366.5 77.86 - - 2160.59 - - - - - - - - - 16.01 -
16252.53 515.09 6.80 1765 16257.05 1.55 0.16 0.104 2517.88 182.9 3.23 0.061 2178.62 -401.0 77.86 - - 2162.00 - - - - - - - - 15.90 16.02 -
16562.50 492.78 8.12 1797 16563.83 VBD 1.55 - - 2524.69 - - - 2179.31 - 77.86 - - 2160.69 - - - - - - - - - - -
16862.52 471.09 7.81 1827 16868.21 done 1.55 - - 2522.94 - 4.09 0.139 736.12 -352.9 77.86 - - 2159.72 - - - - - - - - - 15.93 -
16947.54 463.71 8.48 1844 16953.16 done 1.55 - - 2524.81 - 3.66 0.059 2222.06 406.0 77.86 - - 2158.91 - - - - - - - - - 15.96 -
17252.60 441.87 6.90 1875 17258.31 done 1.58 - - 2524.00 - 4.21 0.136 736.31 -352.9 77.86 - - 2157.81 - - - - - - - - - 15.93 -
17421.46 428.23 8.34 1909 17428.42 done 1.58 - - 2522.94 - 3.65 0.059 2222.00 407.0 77.86 - - 2160.59 - - - - - - - - - 15.96 -
17727.67 409.94 6.37 1940 17732.25 done 1.63 - - 2524.12 - 3.45 0.123 3472.19 362.4 77.86 - - 2157.47 - - - - - - - - - 16.01 -
17887.73 399.16 6.93 1972 17892.26 done 1.67 - - 2524.75 - 3.22 0.058 2178.38 -401.8 77.86 - - 2161.81 - - - - - - - - - 16.01 -
18197.79 380.69 5.82 2004 18229.26 1.76 0.27 0.086 2578.06 197.4 4.11 0.139 736.12 -350.9 109.65 25.75 1.555 2049.69 -4.4 0.180 - - - - - - 15.93 15.81 12.59
18267.79 374.36 11.54 2018 18273.42 roll 1.76 - - 2577.62 - 3.68 0.058 2222.25 403.8 109.65 - - 2047.16 - - - - - - - - - 15.83 -
18572.86 344.17 9.58 2049 18578.63 roll 1.76 - - 2576.75 - 4.20 0.134 735.31 -354.0 109.65 - - 2044.91 - - - - - - - - - 15.84 -
18737.93 325.70 11.04 2082 18743.58 done 1.76 - - 2577.81 - 3.68 0.059 2221.88 404.0 109.65 - - 2043.50 - - - - - - - - - 15.87 -
19042.99 299.30 7.87 2113 19044.32 VBD 1.76 - - 2577.81 - - - 2221.88 - 109.65 - - 2044.59 - - - - - - - - - - -
19343.04 274.65 7.56 2143 19347.62 done 1.76 - - 2577.50 - 3.45 0.124 3472.75 362.6 109.65 - - 2045.12 - - - - - - - - - 15.96 -
19476.93 261.63 9.81 2170 19483.80 done 1.76 - - 2577.25 - 3.25 0.058 2181.56 -397.3 109.65 - - 2045.06 - - - - - - - - - 15.98 -
19783.16 233.06 9.76 2201 19788.83 done 1.76 - - 2577.88 - 3.54 0.118 3472.31 364.6 109.65 - - 2045.44 - - - - - - - - - 15.92 -
19858.20 224.70 10.92 2216 19862.73 done 1.76 - - 2577.81 - 3.24 0.056 2179.00 -399.2 109.65 - - 2043.97 - - - - - - - - - 15.94 -
20168.22 196.76 8.07 2248 20169.55 VBD 1.76 - - 2577.75 - - - 2178.81 - 109.65 - - 2043.19 - - - - - - - - - - -
20468.25 172.47 8.06 2278 20469.58 VBD 1.76 - - 2577.81 - - - 2179.50 - 109.65 - - 2044.22 - - - - - - - - - - -
20768.29 149.17 7.72 2308 20773.98 done 1.76 - - 2576.75 - 3.60 0.118 3472.31 359.1 109.65 - - 2043.22 - - - - - - - - - 15.93 -
20873.32 140.58 7.83 2329 20877.87 done 1.76 - - 2578.12 - 3.24 0.056 2178.50 -399.3 109.65 - - 2044.28 - - - - - - - - - 15.99 -
21183.37 122.31 4.80 2361 21224.18 VBD 1.90 - - 2578.00 - - - 2179.38 - 156.06 39.15 1.274 1861.88 -4.7 0.076 - - - - - - - - 12.63
21523.47 94.53 8.58 2402 21529.17 done 1.90 - - 2577.88 - 3.59 0.118 3472.62 360.2 156.06 - - 1856.22 - - - - - - - - - 15.82 -
21753.47 75.88 6.85 2448 21759.21 1.94 0.19 0.092 2617.94 210.8 3.25 0.056 2178.19 -398.3 156.06 - - 1856.44 - - - - - - - - 15.77 15.86 -
21938.50 66.73 4.67 2485 21985.18 2.08 0.17 0.097 2654.19 213.2 3.62 0.114 3472.12 357.4 204.23 39.93 1.196 1666.34 -4.8 0.045 - - - - - - 15.88 15.70 12.72
22208.56 41.89 6.48 2539 22214.24 roll 2.13 - - 2654.69 - 3.28 0.054 2177.50 -394.7 204.23 - - 1661.97 - - - - - - - - - 15.81 -
22393.60 39.56 0.88 2576 22485.75 2.44 0.50 0.072 2738.50 167.6 3.68 0.113 3471.62 351.7 306.63 83.56 1.159 1249.56 -4.9 0.028 - - - - - - 15.82 15.51 12.57
22488.69 34.66 9.03 2595 22494.42 roll 2.44 - - 2738.00 - 3.30 0.052 2180.62 -391.2 306.63 - - 1248.97 - - - - - - - - - 15.58 -
22673.63 5.54 16.89 2632 22679.37 roll 2.44 - - 2738.38 - 3.59 0.112 3471.94 359.7 306.63 - - 1244.53 - - - - - - - - - 15.64 -
22699 end climb: SURFACE_DEPTH_REACHED
22699 begin surface coast
22709 end surface coast: CONTROL_FINISHED_OK
22709 begin surface
SM 0.48 - - - - 175.4 - 0.015 768.3 - 16.79 0.057 774.0 46.1 - 3.49 0.055 762.7 217.5 -0.194 - - 30.36 15.63 15.72 -