NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 37 * Raw log
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• Previous call tries 1 • 15.27 of 350.00 AH used of 24V (95.64% remains)
• Surface angle -65.0 deg, depth 1.29 m • Intended pitch -19.7 deg, speed -7.674 cm/s
VBD pumped to 425.01 (SM_CC=425)
• GPS1 time: 27 s
• GPS2 time: 3 s • Transponder ping count: 0
• 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
6.26 - - - 59.14 VBD -1.22 - - 180.12 - - - 2128.25 - -77.86 52.35 0.005 2090.97 - - - - - - - - - - 15.68
59.37 3.31 -4.85 10 101.12 -1.22 13.35 0.282 1844.19 124.6 3.32 0.130 3476.81 406.2 -77.86 19.05 0.006 2875.81 41.2 -3.754 - - - - - - 15.61 15.65 15.70
323.88 65.55 -17.42 63 329.55 roll -1.22 - - 1843.38 - 3.24 0.067 2091.56 -427.5 -77.86 - - 2878.56 - - - - - - - - - 15.80 -
508.98 90.94 -13.24 100 514.66 roll -1.22 - - 1844.25 - 3.38 0.124 3474.81 409.2 -77.86 - - 2878.31 - - - - - - - - - 15.84 -
622.96 108.72 -14.52 123 629.70 roll -1.22 - - 1844.12 - 3.25 0.068 2091.56 -425.6 -77.86 - - 2877.41 - - - - - - - - - 15.87 -
929.09 147.05 -11.85 154 930.42 no move -1.22 - - 1844.31 - - - 2090.88 - -77.86 - - 2878.25 - - - - - - - - - - -
1229.15 178.81 -10.01 184 1234.83 roll -1.22 - - 1844.31 - 3.65 0.177 661.88 -391.5 -77.86 - - 2876.47 - - - - - - - - - 15.93 -
1324.24 190.03 -11.97 203 1328.82 roll -1.22 - - 1844.06 - 3.38 0.069 2130.81 434.6 -77.86 - - 2878.97 - - - - - - - - - 15.97 -
1634.23 220.83 -10.15 235 1635.56 no move -1.22 - - 1844.12 - - - 2131.44 - -77.86 - - 2878.97 - - - - - - - - - - -
1934.25 251.82 -10.25 265 1939.95 roll -1.22 - - 1844.12 - 3.78 0.181 662.25 -388.7 -77.86 - - 2875.81 - - - - - - - - - 15.98 -
2003.23 260.93 -13.09 279 2009.97 roll -1.22 - - 1844.31 - 3.34 0.073 2130.62 439.6 -77.86 - - 2879.53 - - - - - - - - - 16.03 -
2309.31 293.13 -10.16 310 2310.64 no move -1.22 - - 1844.00 - - - 2130.94 - -77.86 - - 2878.06 - - - - - - - - - - -
2609.34 325.31 -10.21 340 2610.67 no move -1.22 - - 1843.56 - - - 2130.75 - -77.86 - - 2877.41 - - - - - - - - - - -
2909.38 357.18 -10.69 370 2910.71 no move -1.22 - - 1844.56 - - - 2130.69 - -77.86 - - 2877.47 - - - - - - - - - - -
3209.41 387.83 -10.52 400 3210.74 no move -1.22 - - 1844.06 - - - 2130.50 - -77.86 - - 2876.84 - - - - - - - - - - -
3509.45 417.52 -10.10 430 3515.16 roll -1.22 - - 1844.12 - 3.81 0.191 662.94 -385.2 -77.86 - - 2874.47 - - - - - - - - - 16.05 -
3584.52 426.30 -12.12 445 3589.08 roll -1.22 - - 1844.00 - 3.38 0.082 2127.88 433.4 -77.86 - - 2875.44 - - - - - - - - - 16.10 -
3894.50 457.48 -10.34 477 3900.21 roll -1.22 - - 1844.19 - 3.82 0.192 662.56 -383.6 -77.86 - - 2872.59 - - - - - - - - - 16.05 -
3929.51 460.99 -10.04 484 3934.12 roll -1.22 - - 1843.56 - 3.38 0.082 2127.69 433.5 -77.86 - - 2874.06 - - - - - - - - - 16.10 -
4239.54 490.27 -9.09 516 4240.87 no move -1.22 - - 1843.88 - - - 2128.00 - -77.86 - - 2873.72 - - - - - - - - - - -
4539.57 518.91 -10.13 546 4540.90 no move -1.22 - - 1844.12 - - - 2127.94 - -77.86 - - 2872.88 - - - - - - - - - - -
4839.61 548.44 -10.58 576 4845.32 roll -1.22 - - 1844.12 - 3.87 0.195 662.06 -378.8 -77.86 - - 2870.44 - - - - - - - - - 16.07 -
4904.68 555.69 -11.60 589 4909.26 roll -1.22 - - 1844.19 - 3.40 0.086 2126.81 430.8 -77.86 - - 2872.28 - - - - - - - - - 16.12 -
5214.66 587.07 -10.31 621 5215.99 no move -1.22 - - 1843.94 - - - 2126.56 - -77.86 - - 2870.47 - - - - - - - - - - -
5514.71 617.63 -10.30 651 5520.44 roll -1.22 - - 1843.88 - 3.90 0.198 664.19 -375.0 -77.86 - - 2871.25 - - - - - - - - - 16.08 -
5563.67 623.81 -12.32 661 5570.43 roll -1.22 - - 1843.56 - 3.40 0.088 2127.06 430.3 -77.86 - - 2870.38 - - - - - - - - - 16.12 -
5869.79 653.31 -9.07 692 5871.12 no move -1.22 - - 1843.75 - - - 2126.44 - -77.86 - - 2870.66 - - - - - - - - - - -
6169.85 681.51 -8.96 722 6175.58 roll -1.22 - - 1844.12 - 3.94 0.200 663.94 -371.2 -77.86 - - 2868.84 - - - - - - - - - 16.09 -
6268.82 692.87 -11.76 742 6275.61 roll -1.22 - - 1843.25 - 3.41 0.091 2124.50 428.3 -77.86 - - 2870.78 - - - - - - - - - 16.13 -
6574.95 719.56 -8.97 773 6576.28 no move -1.22 - - 1843.75 - - - 2124.81 - -77.86 - - 2867.44 - - - - - - - - - - -
6875.01 745.52 -8.89 803 6876.34 no move -1.22 - - 1844.06 - - - 2125.38 - -77.86 - - 2867.19 - - - - - - - - - - -
7175.08 771.21 -8.52 833 7180.81 roll -1.22 - - 1843.88 - 3.97 0.203 662.19 -368.6 -77.86 - - 2866.75 - - - - - - - - - 16.09 -
7230.16 776.76 -9.41 844 7234.74 roll -1.22 - - 1844.00 - 3.42 0.093 2125.94 428.0 -77.86 - - 2868.50 - - - - - - - - - 16.14 -
7540.17 803.63 -8.98 876 7541.49 no move -1.22 - - 1843.88 - - - 2125.62 - -77.86 - - 2867.81 - - - - - - - - - - -
7840.21 830.06 -8.51 906 7845.94 roll -1.22 - - 1843.75 - 3.97 0.205 664.56 -368.0 -77.86 - - 2865.09 - - - - - - - - - 16.09 -
7875.23 833.41 -10.12 913 7879.86 roll -1.22 - - 1843.81 - 3.42 0.093 2124.44 426.9 -77.86 - - 2868.38 - - - - - - - - - 16.14 -
8185.26 860.69 -8.37 945 8186.59 no move -1.22 - - 1843.69 - - - 2124.00 - -77.86 - - 2866.03 - - - - - - - - - - -
8485.31 886.56 -8.66 975 8486.64 no move -1.22 - - 1843.88 - - - 2124.38 - -77.86 - - 2866.66 - - - - - - - - - - -
8785.33 911.13 -8.88 1005 8786.66 no move -1.22 - - 1844.25 - - - 2124.50 - -77.86 - - 2866.31 - - - - - - - - - - -
9085.36 935.89 -8.00 1035 9086.69 no move -1.22 - - 1843.75 - - - 2124.69 - -77.86 - - 2864.03 - - - - - - - - - - -
9385.41 960.77 -7.03 1065 9386.73 no move -1.22 - - 1842.69 - - - 2124.25 - -77.86 - - 2866.25 - - - - - - - - - - -
9685.43 986.27 -9.01 1095 9686.76 no move -1.22 - - 1844.06 - - - 2124.62 - -77.86 - - 2863.97 - - - - - - - - - - -
9736 end dive: TARGET_DEPTH_EXCEEDED
9736 begin apogee
9736.62 990.99 -9.43 1100 9801.63 -0.25 1.62 0.165 2080.31 145.8 0.06 0.387 2136.19 192.8 - 62.22 2.316 2557.25 -4.9 0.348 - - - - - - 16.09 15.62 13.24
9804 end apogee: CONTROL_FINISHED_OK
9804 begin climb
9803.99 993.26 - 1106 9878.89 1.22 2.38 0.100 2439.88 151.1 - - 2136.00 - 77.86 71.00 2.260 2241.66 -4.4 0.323 - - - - - - 15.66 - 12.98
10176.94 968.36 8.01 1144 10181.49 done 1.22 - - 2438.94 - 3.42 0.153 3474.19 391.3 77.86 - - 2229.78 - - - - - - - - - 15.66 -
10260.84 961.44 8.73 1161 10267.62 done 1.22 - - 2440.12 - 3.28 0.085 2133.44 -408.8 77.86 - - 2227.66 - - - - - - - - - 15.72 -
10567.02 937.51 8.50 1192 10568.35 VBD 1.22 - - 2440.44 - - - 2133.56 - 77.86 - - 2223.53 - - - - - - - - - - -
10867.08 914.26 7.77 1222 10871.62 done 1.22 - - 2439.88 - 3.36 0.150 3473.88 398.9 77.86 - - 2224.78 - - - - - - - - - 15.88 -
10957.12 906.26 8.52 1240 10961.71 done 1.22 - - 2438.75 - 3.26 0.084 2134.00 -411.0 77.86 - - 2226.47 - - - - - - - - - 15.90 -
11267.18 879.77 8.44 1272 11268.51 VBD 1.22 - - 2439.25 - - - 2134.06 - 77.86 - - 2221.75 - - - - - - - - - - -
11567.22 853.57 9.28 1302 11568.56 VBD 1.22 - - 2440.00 - - - 2134.25 - 77.86 - - 2220.84 - - - - - - - - - - -
11867.25 828.62 8.23 1332 11868.58 VBD 1.22 - - 2439.62 - - - 2134.00 - 77.86 - - 2220.59 - - - - - - - - - - -
12167.30 806.36 7.02 1362 12168.63 VBD 1.23 - - 2439.56 - - - 2133.81 - 77.86 - - 2221.91 - - - - - - - - - - -
12467.33 786.60 6.61 1392 12468.67 VBD 1.25 - - 2439.75 - - - 2134.19 - 77.86 - - 2219.53 - - - - - - - - - - -
12767.37 768.36 6.43 1422 12771.93 done 1.28 - - 2440.31 - 3.32 0.148 3474.44 403.7 77.86 - - 2220.81 - - - - - - - - - 16.04 -
12781.25 767.63 5.81 1425 12788.15 done 1.32 - - 2439.94 - 3.18 0.077 2132.81 -421.9 77.86 - - 2220.91 - - - - - - - - - 16.05 -
13087.40 749.21 5.90 1456 13088.84 1.35 0.17 0.120 2476.75 216.5 - - 2132.44 - 77.86 - - 2220.59 - - - - - - - - 16.05 - -
13387.45 729.20 6.98 1486 13391.97 done 1.37 - - 2476.12 - 3.32 0.147 3474.25 404.2 77.86 - - 2221.28 - - - - - - - - - 16.06 -
13467.44 722.80 7.57 1502 13471.96 done 1.37 - - 2475.75 - 3.21 0.079 2131.56 -418.3 77.86 - - 2221.47 - - - - - - - - - 16.07 -
13777.49 701.88 6.12 1534 13778.82 VBD 1.40 - - 2476.56 - - - 2132.19 - 77.86 - - 2217.94 - - - - - - - - - - -
14077.52 683.43 5.91 1564 14078.85 VBD 1.43 - - 2476.88 - - - 2132.00 - 77.86 - - 2217.88 - - - - - - - - - - -
14377.55 665.20 5.95 1594 14378.89 VBD 1.47 - - 2476.44 - - - 2132.06 - 77.86 - - 2218.50 - - - - - - - - - - -
14677.58 646.95 6.73 1624 14682.12 done 1.49 - - 2477.12 - 3.33 0.147 3473.38 402.8 77.86 - - 2220.19 - - - - - - - - - 16.09 -
14817.61 637.92 6.37 1652 14822.21 1.51 0.17 0.117 2513.50 214.0 3.20 0.080 2131.06 -419.5 77.86 - - 2219.78 - - - - - - - - 16.08 16.10 -
15127.65 618.09 6.33 1684 15128.99 VBD 1.54 - - 2513.44 - - - 2131.69 - 77.86 - - 2218.19 - - - - - - - - - - -
15427.68 598.93 6.45 1714 15429.01 VBD 1.56 - - 2513.50 - - - 2131.62 - 77.86 - - 2219.09 - - - - - - - - - - -
15727.74 580.59 5.82 1744 15729.08 VBD 1.60 - - 2513.12 - - - 2131.38 - 77.86 - - 2216.91 - - - - - - - - - - -
16027.82 563.58 5.37 1774 16062.67 1.71 0.23 0.107 2558.19 196.0 3.78 0.173 686.44 -382.3 112.84 27.65 1.794 2099.38 -4.3 0.221 - - - - - - 16.10 15.88 13.21
16191.72 546.55 14.05 1807 16198.56 roll 1.71 - - 2558.44 - 3.43 0.074 2171.12 432.9 112.84 - - 2095.12 - - - - - - - - - 15.97 -
16497.91 514.90 10.52 1838 16502.44 roll 1.71 - - 2558.62 - 3.22 0.145 3474.25 404.7 112.84 - - 2093.69 - - - - - - - - - 15.98 -
16611.87 501.96 11.20 1861 16618.61 roll 1.71 - - 2558.25 - 3.17 0.079 2131.94 -423.4 112.84 - - 2093.94 - - - - - - - - - 16.01 -
16918.02 470.63 9.51 1892 16922.70 done 1.71 - - 2558.12 - 3.32 0.142 3474.25 404.3 112.84 - - 2092.59 - - - - - - - - - 16.01 -
17028.11 458.93 10.80 1914 17032.58 done 1.71 - - 2558.75 - 3.18 0.078 2130.81 -422.5 112.84 - - 2091.62 - - - - - - - - - 16.02 -
17338.13 429.00 9.37 1946 17342.68 done 1.71 - - 2558.31 - 3.31 0.141 3474.25 405.9 112.84 - - 2091.44 - - - - - - - - - 16.01 -
17412.03 421.56 10.58 1961 17418.95 done 1.71 - - 2558.88 - 3.15 0.077 2130.88 -426.5 112.84 - - 2091.00 - - - - - - - - - 16.04 -
17718.20 394.03 8.59 1992 17722.74 done 1.71 - - 2558.75 - 3.32 0.140 3473.94 404.5 112.84 - - 2091.94 - - - - - - - - - 16.03 -
17818.28 384.17 10.14 2012 17822.89 done 1.71 - - 2558.94 - 3.17 0.075 2128.94 -424.3 112.84 - - 2090.94 - - - - - - - - - 16.06 -
18128.27 358.99 7.72 2044 18129.60 VBD 1.71 - - 2560.06 - - - 2129.25 - 112.84 - - 2088.88 - - - - - - - - - - -
18428.31 335.91 7.81 2074 18429.64 VBD 1.71 - - 2560.00 - - - 2129.62 - 112.84 - - 2090.84 - - - - - - - - - - -
18728.34 312.32 7.90 2104 18732.89 done 1.71 - - 2559.06 - 3.32 0.140 3474.62 405.1 112.84 - - 2090.28 - - - - - - - - - 16.07 -
18938.39 295.40 8.27 2146 18942.90 done 1.71 - - 2559.12 - 3.17 0.075 2130.00 -424.2 112.84 - - 2090.34 - - - - - - - - - 16.07 -
19248.43 272.09 7.91 2178 19249.76 VBD 1.71 - - 2559.38 - - - 2130.06 - 112.84 - - 2090.50 - - - - - - - - - - -
19548.47 251.20 6.52 2208 19549.81 VBD 1.73 - - 2560.00 - - - 2129.75 - 112.84 - - 2088.97 - - - - - - - - - - -
19848.51 230.10 6.90 2238 19849.84 VBD 1.74 - - 2559.69 - - - 2130.12 - 112.84 - - 2088.75 - - - - - - - - - - -
20148.54 210.02 6.58 2268 20153.07 done 1.77 - - 2559.62 - 3.31 0.135 3475.31 406.4 112.84 - - 2091.41 - - - - - - - - - 16.08 -
20378.60 193.53 7.17 2314 20383.10 done 1.78 - - 2560.19 - 3.15 0.072 2128.75 -427.5 112.84 - - 2091.09 - - - - - - - - - 16.09 -
20688.63 175.19 5.31 2346 20724.04 1.88 0.22 0.106 2604.06 199.4 3.66 0.163 685.62 -394.3 148.75 29.81 1.351 1951.22 -4.7 0.101 - - - - - - 16.06 15.89 13.22
20772.49 167.97 9.94 2363 20779.32 roll 1.88 - - 2603.62 - 3.43 0.067 2177.06 434.8 148.75 - - 1949.84 - - - - - - - - - 15.96 -
21078.66 137.69 9.84 2394 21083.19 roll 1.88 - - 2603.31 - 3.20 0.136 3475.25 405.7 148.75 - - 1946.44 - - - - - - - - - 15.97 -
21308.78 117.43 6.14 2440 21313.28 done 1.91 - - 2603.50 - 3.16 0.070 2129.81 -425.8 148.75 - - 1945.34 - - - - - - - - - 16.01 -
21618.84 110.54 1.56 2472 21697.00 2.19 0.43 0.098 2674.94 166.1 3.78 0.161 684.75 -382.3 241.58 72.52 1.283 1574.12 -5.1 0.073 - - - - - - 16.00 15.67 13.20
21919.76 71.35 15.47 2532 21925.47 done 2.19 - - 2676.69 - 3.47 0.066 2174.94 429.4 241.58 - - 1566.47 - - - - - - - - - 15.81 -
22104.85 52.69 7.57 2569 22110.62 done 2.19 - - 2676.44 - 3.82 0.150 685.56 -389.9 241.58 - - 1564.16 - - - - - - - - - 15.81 -
22335.15 46.39 0.96 2615 22418.29 2.50 0.44 0.087 2750.25 167.7 3.42 0.063 2181.88 437.5 343.44 77.81 1.170 1159.34 -5.2 0.034 - - - - - - 15.85 15.89 13.05
22596.13 33.76 4.72 2667 22637.68 2.63 0.17 0.113 2784.00 198.5 3.92 0.149 686.38 -381.5 388.28 35.26 1.100 977.00 -5.2 0.026 - - - - - - 15.70 15.56 12.97
22696.09 23.92 14.01 2687 22701.92 roll 2.63 - - 2783.88 - 3.48 0.062 2176.62 428.2 388.28 - - 975.47 - - - - - - - - - 15.65 -
22851 end climb: SURFACE_DEPTH_REACHED
22852 begin surface coast
22861 end surface coast: CONTROL_FINISHED_OK
22862 begin surface
SM 2.77 - - - - 181.4 - 0.009 827.4 - 17.02 0.100 832.6 48.9 - 0.19 0.117 822.1 4308.5 -10.426 - - 30.36 15.69 15.74 -