NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 353 * Raw log
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• Previous call tries 4 • 108.38 of 575.00 AH used of 24V (81.15% remains)
• Surface angle -61.8 deg, depth 1.11 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.67 (SM_CC=425)
• GPS1 time: 20 s
• GPS2 time: 2 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
6.93 - - - 90.07 VBD -1.25 - - 174.06 - - - 2117.94 - -77.86 82.55 0.005 2591.75 - - - - - - - - - - 15.58
90.36 3.69 -4.84 16 118.10 -1.25 13.97 0.260 1835.88 119.0 4.34 0.158 664.62 -334.9 -77.86 5.53 0.009 2815.31 40.4 -2.800 - - - - - - 15.60 15.54 15.59
185.86 27.57 -24.72 35 191.67 roll -1.25 - - 1834.94 - 3.65 0.057 2116.81 397.9 -77.86 - - 2817.62 - - - - - - - - - 15.71 -
370.95 59.94 -13.52 72 372.28 no move -1.25 - - 1835.69 - - - 2116.69 - -77.86 - - 2817.22 - - - - - - - - - - -
551.01 86.04 -13.20 108 556.81 roll -1.25 - - 1836.06 - 3.71 0.116 3472.75 365.5 -77.86 - - 2816.81 - - - - - - - - - 15.81 -
611.06 94.01 -12.73 120 616.80 roll -1.25 - - 1835.50 - 3.52 0.059 2082.00 -395.1 -77.86 - - 2818.47 - - - - - - - - - 15.86 -
801.08 117.22 -12.54 144 806.81 roll -1.25 - - 1835.38 - 3.82 0.114 3473.12 364.2 -77.86 - - 2815.94 - - - - - - - - - 15.89 -
856.12 124.55 -13.42 155 860.77 roll -1.25 - - 1835.81 - 3.47 0.059 2082.62 -400.7 -77.86 - - 2819.72 - - - - - - - - - 15.90 -
1166.16 159.74 -11.15 187 1167.49 no move -1.25 - - 1835.75 - - - 2082.31 - -77.86 - - 2815.75 - - - - - - - - - - -
1466.19 191.29 -10.41 217 1471.92 roll -1.25 - - 1835.06 - 3.83 0.117 3474.44 363.5 -77.86 - - 2817.78 - - - - - - - - - 15.96 -
1511.22 196.57 -10.95 226 1515.88 roll -1.25 - - 1835.88 - 3.47 0.061 2082.00 -401.3 -77.86 - - 2819.44 - - - - - - - - - 15.96 -
1821.24 227.87 -9.58 258 1822.57 no move -1.25 - - 1835.62 - - - 2082.19 - -77.86 - - 2817.47 - - - - - - - - - - -
2121.27 257.75 -10.26 288 2127.00 roll -1.25 - - 1835.75 - 3.85 0.118 3473.38 361.3 -77.86 - - 2818.62 - - - - - - - - - 15.99 -
2166.44 262.98 -11.93 297 2171.96 roll -1.25 - - 1836.25 - 3.48 0.063 2084.38 -399.1 -77.86 - - 2815.66 - - - - - - - - - 15.99 -
2471.31 294.40 -10.01 328 2477.02 roll -1.25 - - 1835.25 - 3.79 0.119 3473.88 366.6 -77.86 - - 2817.00 - - - - - - - - - 16.00 -
2516.33 299.34 -10.77 337 2520.98 roll -1.25 - - 1835.94 - 3.49 0.063 2083.69 -398.3 -77.86 - - 2817.81 - - - - - - - - - 16.00 -
2826.36 330.19 -10.09 369 2827.68 no move -1.25 - - 1836.25 - - - 2083.25 - -77.86 - - 2817.75 - - - - - - - - - - -
3126.39 362.11 -10.59 399 3127.72 no move -1.25 - - 1835.56 - - - 2083.75 - -77.86 - - 2817.38 - - - - - - - - - - -
3426.42 394.01 -10.41 429 3427.75 no move -1.25 - - 1836.12 - - - 2083.62 - -77.86 - - 2817.22 - - - - - - - - - - -
3726.46 424.32 -9.99 459 3727.78 no move -1.25 - - 1835.88 - - - 2084.06 - -77.86 - - 2816.97 - - - - - - - - - - -
4026.49 454.66 -10.21 489 4032.28 roll -1.25 - - 1835.44 - 4.09 0.165 664.62 -347.1 -77.86 - - 2815.25 - - - - - - - - - 15.94 -
4121.51 465.60 -12.95 508 4127.20 roll -1.25 - - 1836.00 - 3.60 0.061 2119.06 404.0 -77.86 - - 2813.75 - - - - - - - - - 15.99 -
4426.55 494.73 -9.51 539 4427.88 no move -1.25 - - 1835.50 - - - 2119.19 - -77.86 - - 2813.84 - - - - - - - - - - -
4726.58 523.97 -10.13 569 4732.38 roll -1.25 - - 1835.50 - 4.24 0.164 664.56 -343.1 -77.86 - - 2814.53 - - - - - - - - - 15.93 -
4771.61 529.27 -11.20 578 4776.26 roll -1.25 - - 1835.38 - 3.56 0.060 2117.25 408.1 -77.86 - - 2814.78 - - - - - - - - - 15.99 -
5081.62 560.90 -9.12 610 5082.95 no move -1.25 - - 1835.81 - - - 2117.50 - -77.86 - - 2813.12 - - - - - - - - - - -
5381.67 590.39 -9.67 640 5387.46 roll -1.25 - - 1835.81 - 4.22 0.167 662.94 -344.7 -77.86 - - 2815.09 - - - - - - - - - 15.93 -
5416.69 593.93 -10.11 647 5422.37 roll -1.25 - - 1835.56 - 3.56 0.062 2117.56 408.6 -77.86 - - 2812.69 - - - - - - - - - 15.99 -
5721.74 622.03 -8.94 678 5723.08 no move -1.25 - - 1835.62 - - - 2118.19 - -77.86 - - 2812.50 - - - - - - - - - - -
6021.80 648.36 -8.85 708 6027.61 roll -1.25 - - 1835.75 - 4.21 0.169 664.38 -345.3 -77.86 - - 2814.00 - - - - - - - - - 15.94 -
6110.76 658.08 -10.24 726 6117.60 roll -1.25 - - 1834.62 - 3.57 0.064 2117.44 407.0 -77.86 - - 2814.59 - - - - - - - - - 15.99 -
6416.90 684.86 -8.50 757 6418.23 no move -1.25 - - 1836.12 - - - 2117.88 - -77.86 - - 2813.72 - - - - - - - - - - -
6716.96 710.85 -9.06 787 6718.29 no move -1.25 - - 1835.50 - - - 2117.75 - -77.86 - - 2813.12 - - - - - - - - - - -
7017.02 735.08 -7.70 817 7018.35 no move -1.25 - - 1835.50 - - - 2118.12 - -77.86 - - 2813.12 - - - - - - - - - - -
7317.08 758.77 -7.66 847 7318.41 no move -1.25 - - 1835.94 - - - 2117.88 - -77.86 - - 2810.81 - - - - - - - - - - -
7617.14 783.37 -8.97 877 7622.94 roll -1.25 - - 1835.56 - 4.26 0.175 663.69 -341.4 -77.86 - - 2813.78 - - - - - - - - - 15.93 -
7662.17 787.71 -9.98 886 7667.85 roll -1.25 - - 1836.25 - 3.61 0.069 2116.38 402.4 -77.86 - - 2811.41 - - - - - - - - - 15.99 -
7967.19 814.87 -9.88 917 7968.52 no move -1.25 - - 1835.50 - - - 2116.75 - -77.86 - - 2811.62 - - - - - - - - - - -
8267.21 841.57 -9.92 947 8268.54 no move -1.25 - - 1835.50 - - - 2116.25 - -77.86 - - 2811.69 - - - - - - - - - - -
8567.25 867.19 -9.17 977 8568.58 no move -1.25 - - 1835.75 - - - 2117.25 - -77.86 - - 2811.28 - - - - - - - - - - -
8867.29 892.66 -9.34 1007 8868.62 no move -1.25 - - 1836.31 - - - 2117.00 - -77.86 - - 2809.56 - - - - - - - - - - -
9167.32 916.93 -7.58 1037 9168.65 no move -1.25 - - 1836.19 - - - 2116.81 - -77.86 - - 2809.44 - - - - - - - - - - -
9467.36 940.59 -7.35 1067 9468.69 no move -1.25 - - 1835.69 - - - 2117.00 - -77.86 - - 2808.75 - - - - - - - - - - -
9767.39 963.57 -8.46 1097 9768.72 no move -1.25 - - 1835.38 - - - 2116.69 - -77.86 - - 2808.94 - - - - - - - - - - -
10067.43 985.67 -8.21 1127 10068.76 no move -1.25 - - 1835.50 - - - 2117.06 - -77.86 - - 2809.88 - - - - - - - - - - -
10137 end dive: TARGET_DEPTH_EXCEEDED
10137 begin apogee
10138.69 991.02 -8.47 1134 10208.88 -0.25 1.77 0.156 2080.62 138.5 0.07 0.317 2187.25 1002.7 - 64.94 2.314 2498.47 -4.8 0.347 - - - - - - 15.98 15.56 12.55
10210 end apogee: CONTROL_FINISHED_OK
10210 begin climb
10210.64 992.59 - 1141 10289.60 1.25 2.56 0.095 2448.19 143.6 - - 2187.12 - 77.86 72.83 2.236 2182.44 -4.3 0.325 - - - - - - 15.62 - 12.89
10587.57 960.83 9.20 1179 10588.90 VBD 1.25 - - 2448.38 - - - 2187.25 - 77.86 - - 2170.69 - - - - - - - - - - -
10887.51 934.38 8.34 1209 10893.13 done 1.25 - - 2445.31 - 3.66 0.137 3471.38 350.9 77.86 - - 2168.06 - - - - - - - - - 15.73 -
11002.54 922.25 10.63 1232 11007.09 done 1.25 - - 2448.44 - 3.30 0.069 2184.50 -390.0 77.86 - - 2167.84 - - - - - - - - - 15.79 -
11312.57 894.16 8.60 1264 11313.91 VBD 1.25 - - 2448.00 - - - 2185.25 - 77.86 - - 2165.44 - - - - - - - - - - -
11612.61 869.32 8.17 1294 11613.94 VBD 1.25 - - 2447.62 - - - 2185.25 - 77.86 - - 2166.22 - - - - - - - - - - -
11912.64 844.01 8.81 1324 11913.97 VBD 1.25 - - 2448.12 - - - 2185.56 - 77.86 - - 2165.19 - - - - - - - - - - -
12212.70 819.20 8.61 1354 12217.45 done 1.25 - - 2448.88 - 3.63 0.133 3472.44 354.5 77.86 - - 2165.16 - - - - - - - - - 15.90 -
12322.74 808.32 10.32 1376 12327.29 done 1.25 - - 2447.94 - 3.29 0.066 2181.12 -392.5 77.86 - - 2165.50 - - - - - - - - - 15.94 -
12632.81 780.80 8.82 1408 12634.14 VBD 1.25 - - 2448.44 - - - 2180.88 - 77.86 - - 2162.97 - - - - - - - - - - -
12932.87 755.26 8.04 1438 12934.20 VBD 1.25 - - 2447.75 - - - 2181.31 - 77.86 - - 2163.59 - - - - - - - - - - -
13232.93 730.36 7.74 1468 13234.27 VBD 1.25 - - 2448.00 - - - 2181.50 - 77.86 - - 2163.59 - - - - - - - - - - -
13533.00 706.72 7.61 1498 13534.33 VBD 1.25 - - 2447.94 - - - 2181.62 - 77.86 - - 2161.66 - - - - - - - - - - -
13833.06 683.78 7.90 1528 13837.82 done 1.25 - - 2448.88 - 3.62 0.132 3474.19 357.1 77.86 - - 2160.41 - - - - - - - - - 15.95 -
13943.10 674.31 8.70 1550 13947.79 done 1.25 - - 2448.12 - 3.27 0.064 2180.75 -395.5 77.86 - - 2163.16 - - - - - - - - - 16.00 -
14253.18 650.70 6.99 1582 14254.51 VBD 1.28 - - 2447.94 - - - 2180.81 - 77.86 - - 2162.31 - - - - - - - - - - -
14553.19 628.89 7.73 1612 14554.52 VBD 1.28 - - 2448.06 - - - 2181.12 - 77.86 - - 2161.97 - - - - - - - - - - -
14853.23 606.09 7.59 1642 14858.87 done 1.28 - - 2446.81 - 3.61 0.129 3472.50 357.7 77.86 - - 2160.56 - - - - - - - - - 15.96 -
15028.28 591.77 8.51 1677 15032.96 done 1.28 - - 2448.12 - 3.25 0.063 2179.81 -397.8 77.86 - - 2163.06 - - - - - - - - - 16.02 -
15338.33 570.00 6.50 1709 15339.66 VBD 1.33 - - 2448.19 - - - 2180.31 - 77.86 - - 2160.66 - - - - - - - - - - -
15638.36 550.32 7.04 1739 15639.70 VBD 1.36 - - 2448.06 - - - 2180.25 - 77.86 - - 2161.41 - - - - - - - - - - -
15938.40 530.96 6.25 1769 15939.89 1.42 0.22 0.104 2493.06 204.5 - - 2179.81 - 77.86 - - 2161.81 - - - - - - - - 16.00 - -
16238.43 511.46 6.77 1799 16239.77 VBD 1.45 - - 2493.31 - - - 2180.06 - 77.86 - - 2160.41 - - - - - - - - - - -
16538.47 492.66 5.74 1829 16570.80 done 1.55 - - 2492.38 - 3.60 0.130 3472.25 358.9 110.76 27.17 1.686 2046.56 -4.2 0.207 - - - - - - - 15.83 12.67
16663.57 482.22 9.87 1854 16668.11 roll 1.55 - - 2493.19 - 3.30 0.062 2182.31 -390.9 110.76 - - 2045.41 - - - - - - - - - 15.90 -
16973.62 454.73 8.89 1886 16974.94 no move 1.55 - - 2493.19 - - - 2182.25 - 110.76 - - 2043.03 - - - - - - - - - - -
17273.64 428.31 8.74 1916 17274.97 no move 1.55 - - 2492.69 - - - 2182.38 - 110.76 - - 2040.34 - - - - - - - - - - -
17573.69 403.11 8.46 1946 17575.02 no move 1.55 - - 2491.88 - - - 2182.31 - 110.76 - - 2041.12 - - - - - - - - - - -
17873.76 378.90 8.02 1976 17875.09 no move 1.55 - - 2492.81 - - - 2182.88 - 110.76 - - 2039.47 - - - - - - - - - - -
18173.82 354.61 8.41 2006 18175.15 no move 1.55 - - 2492.69 - - - 2182.81 - 110.76 - - 2040.81 - - - - - - - - - - -
18473.89 328.31 8.29 2036 18479.50 roll 1.55 - - 2492.75 - 3.61 0.127 3472.44 357.2 110.76 - - 2039.38 - - - - - - - - - 15.96 -
18642.87 312.32 8.98 2070 18649.65 roll 1.55 - - 2492.81 - 3.29 0.060 2179.50 -393.0 110.76 - - 2040.62 - - - - - - - - - 15.99 -
18949.03 289.34 7.23 2101 18955.15 1.58 0.19 0.101 2531.25 202.3 4.11 0.139 735.50 -351.3 110.76 - - 2038.84 - - - - - - - - 15.95 15.91 -
19127.94 271.64 9.77 2137 19134.88 done 1.58 - - 2531.38 - 3.70 0.059 2221.44 401.6 110.76 - - 2039.12 - - - - - - - - - 15.90 -
19434.17 249.19 7.22 2168 19435.50 VBD 1.60 - - 2531.75 - - - 2222.62 - 110.76 - - 2037.97 - - - - - - - - - - -
19734.20 228.19 7.36 2198 19735.53 VBD 1.62 - - 2531.69 - - - 2222.81 - 110.76 - - 2038.12 - - - - - - - - - - -
20034.23 206.90 6.95 2228 20038.83 done 1.66 - - 2532.31 - 3.45 0.124 3472.06 362.1 110.76 - - 2041.09 - - - - - - - - - 15.99 -
20264.28 187.12 8.39 2274 20268.83 done 1.66 - - 2531.75 - 3.28 0.057 2179.19 -394.2 110.76 - - 2038.78 - - - - - - - - - 15.98 -
20574.32 165.53 6.56 2306 20575.65 VBD 1.70 - - 2532.06 - - - 2179.19 - 110.76 - - 2038.62 - - - - - - - - - - -
20874.36 144.00 7.25 2336 20880.00 1.72 0.16 0.112 2567.75 223.1 3.58 0.119 3472.06 361.1 110.76 - - 2037.19 - - - - - - - - 15.97 15.95 -
21103.30 125.77 8.07 2382 21110.10 done 1.72 - - 2567.56 - 3.28 0.056 2178.88 -394.3 110.76 - - 2038.69 - - - - - - - - - 16.00 -
21409.44 115.30 2.18 2413 21480.90 1.98 0.32 0.084 2626.19 183.2 - - 2178.75 - 194.52 67.81 1.273 1706.12 -4.9 0.075 - - - - - - 15.95 - 12.69
21779.50 78.47 10.75 2468 21785.48 done 1.98 - - 2626.69 - 4.17 0.133 736.25 -345.9 194.52 - - 1697.88 - - - - - - - - - 15.75 -
21959.54 61.22 10.02 2504 21965.31 done 1.98 - - 2625.88 - 3.68 0.055 2222.25 403.8 194.52 - - 1697.22 - - - - - - - - - 15.76 -
22144.59 58.76 0.49 2541 22237.25 2.30 0.46 0.066 2706.38 175.0 3.54 0.118 3471.69 352.9 302.47 85.46 1.175 1265.84 -5.0 0.043 - - - - - - 15.87 15.54 12.63
22290.04 48.78 13.24 2570 22295.88 roll 2.30 - - 2706.38 - 3.33 0.054 2181.75 -387.4 302.47 - - 1262.75 - - - - - - - - - 15.62 -
22475.11 25.41 13.50 2607 22476.44 no move 2.30 - - 2705.75 - - - 2182.25 - 302.47 - - 1260.31 - - - - - - - - - - -
22615 end climb: SURFACE_DEPTH_REACHED
22615 begin surface coast
22625 end surface coast: CONTROL_FINISHED_OK
22625 begin surface
SM 0.50 - - - - 175.3 - 2.768 768.8 - 16.48 0.059 767.4 46.6 - 0.23 0.099 770.1 3348.3 -1.728 - - 30.36 15.77 15.78 -