NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 357 * Raw log
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• Previous call tries 2 • 109.62 of 575.00 AH used of 24V (80.94% remains)
• Surface angle -56.4 deg, depth 0.80 m • Intended pitch -20.4 deg, speed -8.049 cm/s
• VBD pumped to 424.71 (SM_CC=425)
• GPS1 time: 20 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.93 - - - 84.99 VBD -1.25 - - 173.00 - - - 2119.88 - -77.86 77.50 0.005 2470.75 - - - - - - - - - - 15.55
85.26 3.38 -3.93 15 117.16 -1.25 13.96 0.254 1836.81 119.2 4.34 0.155 663.81 -335.5 -77.86 8.85 0.007 2817.62 39.2 -3.204 - - - - - - 15.61 15.51 15.55
164.92 20.56 -21.62 31 170.71 roll -1.25 - - 1837.19 - 3.67 0.056 2116.94 395.9 -77.86 - - 2818.81 - - - - - - - - - 15.68 -
350.01 57.32 -18.91 68 351.34 no move -1.25 - - 1837.00 - - - 2116.81 - -77.86 - - 2816.66 - - - - - - - - - - -
530.08 83.18 -12.50 104 535.88 roll -1.25 - - 1837.19 - 3.77 0.115 3473.00 359.7 -77.86 - - 2817.91 - - - - - - - - - 15.79 -
590.12 91.74 -14.56 116 595.87 roll -1.25 - - 1836.50 - 3.51 0.059 2083.25 -395.9 -77.86 - - 2819.19 - - - - - - - - - 15.85 -
780.16 114.49 -11.34 142 781.49 no move -1.25 - - 1836.75 - - - 2082.88 - -77.86 - - 2817.19 - - - - - - - - - - -
1080.19 147.11 -10.40 172 1081.51 no move -1.25 - - 1836.69 - - - 2083.44 - -77.86 - - 2817.41 - - - - - - - - - - -
1380.22 179.67 -10.52 202 1385.95 roll -1.25 - - 1835.06 - 3.83 0.115 3473.38 362.9 -77.86 - - 2817.88 - - - - - - - - - 15.94 -
1405.25 182.40 -10.80 207 1409.89 roll -1.25 - - 1836.81 - 3.47 0.060 2084.19 -400.3 -77.86 - - 2817.47 - - - - - - - - - 15.95 -
1715.27 215.30 -10.46 239 1716.60 no move -1.25 - - 1837.44 - - - 2084.00 - -77.86 - - 2817.72 - - - - - - - - - - -
2015.30 247.71 -10.51 269 2016.63 no move -1.25 - - 1837.06 - - - 2083.88 - -77.86 - - 2817.59 - - - - - - - - - - -
2315.33 279.22 -10.60 299 2316.66 no move -1.25 - - 1837.19 - - - 2084.19 - -77.86 - - 2817.75 - - - - - - - - - - -
2615.36 311.48 -10.35 329 2616.69 no move -1.25 - - 1836.94 - - - 2083.88 - -77.86 - - 2817.34 - - - - - - - - - - -
2915.40 343.40 -10.95 359 2916.72 no move -1.25 - - 1837.12 - - - 2084.12 - -77.86 - - 2817.84 - - - - - - - - - - -
3215.43 373.60 -9.39 389 3221.22 roll -1.25 - - 1836.88 - 4.16 0.161 664.69 -341.2 -77.86 - - 2820.03 - - - - - - - - - 15.93 -
3260.46 379.22 -11.92 398 3266.05 roll -1.25 - - 1836.62 - 3.56 0.059 2120.75 409.0 -77.86 - - 2815.78 - - - - - - - - - 15.97 -
3565.48 411.07 -10.62 429 3566.81 no move -1.25 - - 1837.06 - - - 2120.12 - -77.86 - - 2817.56 - - - - - - - - - - -
3865.51 442.99 -11.24 459 3866.83 no move -1.25 - - 1836.88 - - - 2120.06 - -77.86 - - 2817.25 - - - - - - - - - - -
4165.54 473.47 -9.90 489 4171.48 roll -1.25 - - 1834.81 - 4.26 0.161 663.25 -342.0 -77.86 - - 2816.38 - - - - - - - - - 15.94 -
4284.41 487.57 -12.84 513 4291.33 roll -1.25 - - 1836.81 - 3.59 0.061 2118.06 405.2 -77.86 - - 2816.28 - - - - - - - - - 15.98 -
4590.60 517.54 -8.80 544 4591.93 no move -1.25 - - 1837.19 - - - 2118.06 - -77.86 - - 2816.06 - - - - - - - - - - -
4890.63 545.23 -9.59 574 4891.96 no move -1.25 - - 1837.19 - - - 2117.88 - -77.86 - - 2816.31 - - - - - - - - - - -
5190.68 573.05 -9.33 604 5192.00 no move -1.25 - - 1836.81 - - - 2118.31 - -77.86 - - 2815.81 - - - - - - - - - - -
5490.74 600.57 -9.45 634 5492.07 no move -1.25 - - 1837.00 - - - 2117.75 - -77.86 - - 2814.19 - - - - - - - - - - -
5790.80 626.87 -9.23 664 5792.13 no move -1.25 - - 1836.56 - - - 2118.38 - -77.86 - - 2814.91 - - - - - - - - - - -
6090.86 652.27 -8.84 694 6096.69 roll -1.25 - - 1837.00 - 4.32 0.167 663.50 -336.8 -77.86 - - 2814.16 - - - - - - - - - 15.93 -
6145.96 657.18 -10.45 705 6151.60 roll -1.25 - - 1836.88 - 3.61 0.062 2117.19 402.7 -77.86 - - 2812.50 - - - - - - - - - 15.99 -
6450.95 681.51 -7.55 736 6452.28 no move -1.25 - - 1837.00 - - - 2117.62 - -77.86 - - 2814.12 - - - - - - - - - - -
6751.01 705.86 -8.71 766 6752.34 no move -1.25 - - 1837.00 - - - 2117.44 - -77.86 - - 2814.00 - - - - - - - - - - -
7051.07 729.63 -7.52 796 7052.40 no move -1.25 - - 1836.69 - - - 2117.19 - -77.86 - - 2812.44 - - - - - - - - - - -
7351.13 753.12 -7.40 826 7356.95 roll -1.25 - - 1837.06 - 4.32 0.171 663.75 -336.4 -77.86 - - 2810.44 - - - - - - - - - 15.93 -
7430.07 760.72 -9.87 842 7437.00 roll -1.25 - - 1837.06 - 3.62 0.067 2115.25 401.0 -77.86 - - 2813.34 - - - - - - - - - 15.99 -
7736.20 784.14 -7.10 873 7737.52 no move -1.25 - - 1836.75 - - - 2115.50 - -77.86 - - 2812.75 - - - - - - - - - - -
8036.23 808.57 -8.63 903 8037.56 no move -1.25 - - 1837.00 - - - 2115.81 - -77.86 - - 2812.53 - - - - - - - - - - -
8336.25 833.80 -8.26 933 8337.58 no move -1.25 - - 1837.38 - - - 2116.19 - -77.86 - - 2811.72 - - - - - - - - - - -
8636.29 861.74 -9.09 963 8642.09 roll -1.25 - - 1836.94 - 4.29 0.175 665.00 -338.3 -77.86 - - 2809.38 - - - - - - - - - 15.92 -
8695.30 867.71 -11.28 975 8702.09 roll -1.25 - - 1836.94 - 3.63 0.070 2114.44 399.3 -77.86 - - 2811.75 - - - - - - - - - 15.98 -
9001.34 894.63 -8.80 1006 9007.14 roll -1.25 - - 1835.44 - 4.27 0.175 664.50 -339.6 -77.86 - - 2810.97 - - - - - - - - - 15.92 -
9056.42 898.99 -9.14 1017 9062.05 roll -1.25 - - 1836.38 - 3.61 0.070 2115.75 402.0 -77.86 - - 2810.09 - - - - - - - - - 15.98 -
9361.39 922.31 -7.19 1048 9362.72 no move -1.25 - - 1837.06 - - - 2114.88 - -77.86 - - 2811.28 - - - - - - - - - - -
9661.42 944.36 -8.43 1078 9662.75 no move -1.25 - - 1837.25 - - - 2114.94 - -77.86 - - 2810.78 - - - - - - - - - - -
9961.46 964.70 -6.65 1108 9962.79 no move -1.25 - - 1837.50 - - - 2114.81 - -77.86 - - 2810.59 - - - - - - - - - - -
10261.50 984.37 -7.17 1138 10262.83 no move -1.25 - - 1836.88 - - - 2114.38 - -77.86 - - 2810.25 - - - - - - - - - - -
10351 end dive: TARGET_DEPTH_EXCEEDED
10351 begin apogee
10352.75 990.56 -7.33 1147 10423.29 -0.25 1.75 0.146 2081.00 139.5 0.07 0.319 2186.75 1033.9 - 64.89 2.304 2498.09 -4.8 0.350 - - - - - - 15.96 15.57 12.65
10424 end apogee: CONTROL_FINISHED_OK
10424 begin climb
10425.06 991.57 - 1154 10503.52 1.25 2.51 0.085 2448.88 146.6 - - 2186.00 - 77.86 71.57 2.236 2181.59 -4.4 0.332 - - - - - - 15.62 - 12.74
10801.56 957.27 10.41 1192 10802.89 VBD 1.25 - - 2449.00 - - - 2186.44 - 77.86 - - 2169.22 - - - - - - - - - - -
11101.58 927.50 11.32 1222 11107.35 done 1.25 - - 2448.94 - 3.65 0.136 3472.00 352.2 77.86 - - 2168.47 - - - - - - - - - 15.74 -
11196.60 917.69 9.65 1241 11201.17 done 1.25 - - 2449.19 - 3.31 0.067 2183.06 -389.4 77.86 - - 2169.41 - - - - - - - - - 15.79 -
11506.64 888.35 7.99 1273 11512.40 done 1.25 - - 2449.00 - 3.68 0.132 3472.56 350.4 77.86 - - 2167.03 - - - - - - - - - 15.80 -
11561.66 882.54 8.77 1284 11566.34 done 1.25 - - 2449.06 - 3.27 0.064 2184.62 -393.9 77.86 - - 2166.91 - - - - - - - - - 15.86 -
11871.70 854.31 8.63 1316 11873.04 VBD 1.25 - - 2448.75 - - - 2184.56 - 77.86 - - 2166.12 - - - - - - - - - - -
12171.76 829.65 7.87 1346 12177.54 done 1.25 - - 2448.25 - 3.68 0.133 3471.19 349.6 77.86 - - 2167.53 - - - - - - - - - 15.84 -
12270.64 819.88 9.96 1366 12277.52 done 1.25 - - 2449.06 - 3.26 0.064 2184.06 -394.8 77.86 - - 2164.66 - - - - - - - - - 15.93 -
12576.87 794.11 8.73 1397 12578.21 VBD 1.25 - - 2449.25 - - - 2184.19 - 77.86 - - 2164.28 - - - - - - - - - - -
12876.93 768.64 8.94 1427 12878.26 VBD 1.25 - - 2449.06 - - - 2184.62 - 77.86 - - 2164.09 - - - - - - - - - - -
13176.99 743.10 8.06 1457 13178.33 VBD 1.25 - - 2449.00 - - - 2184.25 - 77.86 - - 2162.06 - - - - - - - - - - -
13477.05 718.23 8.89 1487 13478.39 VBD 1.25 - - 2449.31 - - - 2184.38 - 77.86 - - 2163.72 - - - - - - - - - - -
13777.13 695.70 6.88 1517 13778.47 VBD 1.29 - - 2449.12 - - - 2183.94 - 77.86 - - 2161.53 - - - - - - - - - - -
14077.18 673.03 7.49 1547 14078.51 VBD 1.30 - - 2448.69 - - - 2184.56 - 77.86 - - 2162.94 - - - - - - - - - - -
14377.20 650.85 7.57 1577 14378.53 VBD 1.30 - - 2448.75 - - - 2184.69 - 77.86 - - 2162.97 - - - - - - - - - - -
14677.26 629.83 7.20 1607 14678.59 VBD 1.33 - - 2449.81 - - - 2184.62 - 77.86 - - 2162.66 - - - - - - - - - - -
14977.28 609.28 6.88 1637 14983.04 done 1.36 - - 2448.50 - 3.67 0.131 3473.62 351.2 77.86 - - 2162.72 - - - - - - - - - 15.96 -
15052.29 603.52 7.92 1652 15056.97 done 1.36 - - 2448.81 - 3.26 0.063 2180.31 -396.7 77.86 - - 2163.66 - - - - - - - - - 16.01 -
15362.40 579.98 7.64 1684 15368.17 done 1.36 - - 2448.44 - 4.11 0.144 736.19 -351.4 77.86 - - 2159.75 - - - - - - - - - 15.92 -
15451.17 572.37 8.93 1702 15458.12 done 1.36 - - 2448.81 - 3.66 0.061 2219.38 405.2 77.86 - - 2160.56 - - - - - - - - - 15.96 -
15757.39 550.12 7.10 1733 15763.17 1.39 0.17 0.097 2489.44 239.0 3.47 0.128 3472.31 361.1 77.86 - - 2161.81 - - - - - - - - 16.01 15.98 -
15976.40 530.68 8.42 1777 15983.26 done 1.39 - - 2489.56 - 3.23 0.062 2181.00 -399.8 77.86 - - 2160.88 - - - - - - - - - 16.01 -
16282.46 508.28 7.27 1808 16283.79 VBD 1.42 - - 2489.50 - - - 2182.00 - 77.86 - - 2160.72 - - - - - - - - - - -
16582.49 489.87 6.48 1838 16587.23 done 1.46 - - 2489.06 - 3.61 0.124 3472.31 357.4 77.86 - - 2159.34 - - - - - - - - - 15.94 -
16652.75 485.20 6.80 1852 16657.05 done 1.50 - - 2489.44 - 3.24 0.060 2179.94 -398.9 77.86 - - 2163.19 - - - - - - - - - 16.02 -
16962.55 465.81 6.43 1884 16968.28 1.55 0.17 0.106 2525.25 210.6 4.08 0.141 737.38 -353.6 77.86 - - 2160.00 - - - - - - - - 15.89 15.91 -
17107.58 453.96 8.19 1913 17113.21 done 1.55 - - 2525.50 - 3.69 0.058 2222.25 402.4 77.86 - - 2160.12 - - - - - - - - - 15.95 -
17412.65 431.86 6.88 1944 17418.45 done 1.58 - - 2523.88 - 4.19 0.135 736.19 -354.7 77.86 - - 2159.16 - - - - - - - - - 15.91 -
17571.49 419.04 7.71 1976 17578.42 done 1.58 - - 2524.94 - 3.67 0.059 2221.81 404.8 77.86 - - 2160.69 - - - - - - - - - 15.95 -
17877.72 400.55 5.79 2007 17904.24 VBD 1.68 - - 2526.50 - - - 2221.50 - 110.08 25.95 1.579 2049.16 -4.3 0.185 - - - - - - - - 12.62
18197.76 373.68 9.03 2039 18199.08 no move 1.68 - - 2526.69 - - - 2221.94 - 110.08 - - 2045.91 - - - - - - - - - - -
18497.82 346.42 8.72 2069 18499.15 no move 1.68 - - 2526.00 - - - 2221.75 - 110.08 - - 2043.44 - - - - - - - - - - -
18797.88 319.06 9.54 2099 18802.62 roll 1.68 - - 2526.25 - 3.53 0.125 3470.38 353.7 110.08 - - 2045.00 - - - - - - - - - 15.96 -
18941.78 305.04 9.47 2128 18948.65 roll 1.68 - - 2526.00 - 3.24 0.060 2180.31 -398.2 110.08 - - 2045.50 - - - - - - - - - 15.93 -
19248.00 280.33 8.01 2159 19249.33 no move 1.68 - - 2526.62 - - - 2179.94 - 110.08 - - 2044.25 - - - - - - - - - - -
19548.06 256.88 8.28 2189 19549.39 no move 1.68 - - 2525.69 - - - 2180.75 - 110.08 - - 2044.16 - - - - - - - - - - -
19848.12 232.22 7.87 2219 19849.45 no move 1.68 - - 2526.56 - - - 2180.06 - 110.08 - - 2043.81 - - - - - - - - - - -
20148.18 210.38 7.15 2249 20149.65 pitch 1.71 0.17 0.105 2562.88 213.6 - - 2180.12 - 110.08 - - 2043.81 - - - - - - - - 15.94 - -
20448.22 188.84 6.77 2279 20453.89 roll 1.75 - - 2561.81 - 3.62 0.122 3472.50 357.0 110.08 - - 2043.88 - - - - - - - - - 15.92 -
20537.14 181.54 8.42 2297 20543.94 roll 1.75 - - 2563.38 - 3.24 0.059 2179.31 -399.1 110.08 - - 2044.06 - - - - - - - - - 15.98 -
20843.28 159.74 7.13 2328 20848.94 roll 1.77 - - 2563.44 - 3.59 0.116 3472.56 360.2 110.08 - - 2044.75 - - - - - - - - - 15.92 -
21008.32 146.22 9.46 2361 21012.93 roll 1.77 - - 2561.31 - 3.25 0.057 2179.44 -397.9 110.08 - - 2044.59 - - - - - - - - - 15.97 -
21318.36 127.88 5.13 2393 21360.22 1.90 0.23 0.089 2608.25 204.1 4.10 0.134 736.12 -352.0 151.71 35.24 1.270 1880.25 -4.7 0.079 - - - - - - 15.92 15.78 12.58
21378.37 123.79 7.17 2405 21383.98 roll 1.93 - - 2608.12 - 3.67 0.055 2223.75 405.3 151.71 - - 1879.19 - - - - - - - - - 15.78 -
21683.40 95.82 8.70 2440 21689.15 roll 1.93 - - 2608.12 - 3.47 0.118 3471.62 359.6 151.71 - - 1875.56 - - - - - - - - - 15.89 -
21913.47 81.12 6.24 2486 21919.14 roll 1.98 - - 2607.94 - 3.22 0.053 2176.94 -402.1 151.71 - - 1876.09 - - - - - - - - - 15.91 -
22098.50 75.91 2.39 2523 22170.75 2.22 0.46 0.074 2688.25 174.6 3.68 0.114 3472.38 352.0 232.56 65.56 1.216 1550.72 -5.0 0.052 - - - - - - 15.83 15.64 12.69
22263.73 63.53 12.92 2556 22269.25 roll 2.22 - - 2687.88 - 3.30 0.055 2181.62 -391.1 232.56 - - 1547.12 - - - - - - - - - 15.72 -
22448.59 50.22 6.58 2593 22454.34 done 2.27 - - 2687.88 - 3.62 0.110 3471.25 356.3 232.56 - - 1544.66 - - - - - - - - - 15.74 -
22678.63 29.17 11.18 2639 22684.33 done 2.27 - - 2687.94 - 3.26 0.054 2180.44 -396.0 232.56 - - 1543.09 - - - - - - - - - 15.82 -
22863.67 13.55 8.69 2676 22869.51 done 2.27 - - 2688.38 - 4.08 0.130 736.31 -354.0 232.56 - - 1542.03 - - - - - - - - - 15.78 -
22898.69 9.38 12.53 2683 22904.55 done 2.27 - - 2688.44 - 3.68 0.053 2225.56 404.7 232.56 - - 1543.06 - - - - - - - - - 15.80 -
22978 end climb: SURFACE_DEPTH_REACHED
22978 begin surface coast
23003 end surface coast: CONTROL_FINISHED_OK
23003 begin surface
SM 0.43 - - - - 183.4 0.03 0.347 768.6 25620.0 16.45 0.068 770.4 46.8 - 0.35 0.097 766.8 2180.3 -0.988 - - 15.42 15.79 15.88 -