NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 71 * Raw log
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• Previous call tries 1 • 25.85 of 350.00 AH used of 24V (92.61% remains)
• Surface angle -62.7 deg, depth 0.67 m • Intended pitch -20.5 deg, speed -8.049 cm/s
VBD pumped to 424.68 (SM_CC=425)
• GPS1 time: 70 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
6.37 - - - 69.38 VBD -1.26 - - 180.19 - - - 2120.19 - -77.86 62.46 0.005 2201.69 - - - - - - - - - - 15.66
69.64 3.03 -4.49 12 106.75 -1.26 13.73 0.274 1834.44 120.5 3.38 0.129 3474.31 400.6 -77.86 15.27 0.006 2816.44 40.3 -3.404 - - - - - - 15.62 15.64 15.68
329.53 59.54 -16.90 64 335.18 roll -1.26 - - 1834.56 - 3.39 0.066 2083.56 -410.3 -77.86 - - 2818.75 - - - - - - - - - 15.80 -
514.51 85.75 -12.86 101 520.23 roll -1.26 - - 1834.56 - 3.43 0.123 3474.75 405.6 -77.86 - - 2818.47 - - - - - - - - - 15.82 -
559.53 91.64 -13.26 110 565.22 roll -1.26 - - 1834.75 - 3.36 0.064 2082.44 -414.4 -77.86 - - 2817.91 - - - - - - - - - 15.85 -
749.53 115.09 -10.68 135 755.34 roll -1.26 - - 1834.44 - 3.93 0.173 663.56 -361.0 -77.86 - - 2818.84 - - - - - - - - - 15.86 -
774.56 117.89 -10.62 140 779.17 roll -1.26 - - 1834.69 - 3.39 0.062 2121.69 430.1 -77.86 - - 2819.12 - - - - - - - - - 15.88 -
1084.56 151.24 -10.89 172 1090.36 roll -1.26 - - 1833.56 - 3.99 0.169 663.31 -365.5 -77.86 - - 2818.31 - - - - - - - - - 15.90 -
1163.55 161.94 -14.07 188 1170.28 roll -1.26 - - 1833.12 - 3.41 0.066 2118.94 426.9 -77.86 - - 2819.25 - - - - - - - - - 15.93 -
1469.59 196.27 -10.90 219 1475.41 roll -1.26 - - 1834.31 - 4.02 0.171 663.62 -362.0 -77.86 - - 2817.06 - - - - - - - - - 15.95 -
1514.60 201.96 -12.95 228 1519.23 roll -1.26 - - 1833.25 - 3.40 0.067 2118.69 428.0 -77.86 - - 2820.09 - - - - - - - - - 15.97 -
1824.61 237.71 -11.44 260 1825.94 no move -1.26 - - 1834.44 - - - 2119.44 - -77.86 - - 2818.91 - - - - - - - - - - -
2124.63 271.11 -10.77 290 2130.45 roll -1.26 - - 1834.44 - 4.07 0.175 663.88 -357.6 -77.86 - - 2821.25 - - - - - - - - - 15.99 -
2149.65 274.27 -11.60 295 2154.28 roll -1.26 - - 1834.31 - 3.41 0.067 2118.06 426.4 -77.86 - - 2818.34 - - - - - - - - - 16.02 -
2459.66 307.20 -10.36 327 2460.99 no move -1.26 - - 1834.69 - - - 2117.69 - -77.86 - - 2818.03 - - - - - - - - - - -
2759.67 338.01 -9.56 357 2765.49 roll -1.26 - - 1834.50 - 4.05 0.177 662.44 -359.3 -77.86 - - 2817.66 - - - - - - - - - 16.02 -
2884.71 352.95 -12.82 382 2889.36 roll -1.26 - - 1833.06 - 3.41 0.072 2119.12 427.2 -77.86 - - 2817.94 - - - - - - - - - 16.05 -
3194.76 381.95 -9.25 414 3196.09 no move -1.26 - - 1834.19 - - - 2119.75 - -77.86 - - 2816.84 - - - - - - - - - - -
3494.81 410.90 -8.77 444 3500.63 roll -1.26 - - 1834.12 - 4.05 0.180 662.56 -359.8 -77.86 - - 2814.28 - - - - - - - - - 16.04 -
3533.78 415.85 -12.63 452 3540.55 roll -1.26 - - 1834.69 - 3.41 0.073 2118.00 426.8 -77.86 - - 2815.94 - - - - - - - - - 16.08 -
3839.89 444.24 -8.67 483 3844.43 roll -1.26 - - 1834.38 - 3.33 0.138 3474.12 407.2 -77.86 - - 2815.69 - - - - - - - - - 16.07 -
3879.90 448.59 -10.79 491 3884.45 roll -1.26 - - 1834.00 - 3.36 0.074 2085.44 -413.3 -77.86 - - 2817.84 - - - - - - - - - 16.07 -
4189.94 477.68 -9.05 523 4195.75 roll -1.26 - - 1832.75 - 3.93 0.188 662.44 -362.1 -77.86 - - 2813.50 - - - - - - - - - 16.05 -
4248.90 484.70 -11.28 535 4255.68 roll -1.26 - - 1834.44 - 3.42 0.077 2115.81 425.0 -77.86 - - 2814.75 - - - - - - - - - 16.10 -
4555.01 515.81 -9.53 566 4556.34 no move -1.26 - - 1834.44 - - - 2116.00 - -77.86 - - 2814.03 - - - - - - - - - - -
4855.06 546.38 -10.54 596 4856.39 no move -1.26 - - 1834.19 - - - 2116.25 - -77.86 - - 2811.31 - - - - - - - - - - -
5155.11 576.38 -9.61 626 5156.44 no move -1.26 - - 1834.38 - - - 2116.06 - -77.86 - - 2813.09 - - - - - - - - - - -
5455.17 607.32 -10.31 656 5460.99 roll -1.26 - - 1833.94 - 4.07 0.191 662.25 -357.2 -77.86 - - 2813.03 - - - - - - - - - 16.07 -
5480.20 610.02 -9.52 661 5484.89 roll -1.26 - - 1834.56 - 3.42 0.081 2115.38 424.9 -77.86 - - 2812.38 - - - - - - - - - 16.11 -
5790.21 639.99 -9.11 693 5794.77 roll -1.26 - - 1834.38 - 3.36 0.143 3474.75 404.6 -77.86 - - 2811.16 - - - - - - - - - 16.09 -
5814.08 642.93 -9.92 698 5820.91 roll -1.26 - - 1834.81 - 3.39 0.079 2087.19 -409.3 -77.86 - - 2810.91 - - - - - - - - - 16.11 -
6120.24 671.68 -9.56 729 6126.06 roll -1.26 - - 1834.00 - 4.01 0.196 663.69 -355.0 -77.86 - - 2808.62 - - - - - - - - - 16.08 -
6225.26 683.93 -12.02 750 6229.97 roll -1.26 - - 1833.81 - 3.46 0.086 2115.75 419.7 -77.86 - - 2811.97 - - - - - - - - - 16.12 -
6535.28 711.16 -8.07 782 6539.85 roll -1.26 - - 1834.81 - 3.36 0.144 3474.44 404.4 -77.86 - - 2810.31 - - - - - - - - - 16.10 -
6579.16 715.14 -9.59 791 6586.01 roll -1.26 - - 1833.06 - 3.43 0.080 2087.31 -404.4 -77.86 - - 2811.09 - - - - - - - - - 16.12 -
6885.32 740.00 -8.67 822 6889.92 roll -1.26 - - 1834.19 - 3.45 0.145 3472.94 401.6 -77.86 - - 2809.06 - - - - - - - - - 16.10 -
6915.33 742.43 -8.79 828 6919.90 roll -1.26 - - 1834.25 - 3.44 0.081 2085.62 -403.3 -77.86 - - 2808.97 - - - - - - - - - 16.12 -
7225.35 766.92 -8.09 860 7231.17 roll -1.26 - - 1834.38 - 4.05 0.200 663.94 -351.0 -77.86 - - 2806.91 - - - - - - - - - 16.07 -
7290.42 772.49 -10.37 873 7295.07 roll -1.26 - - 1834.06 - 3.43 0.088 2114.75 423.0 -77.86 - - 2811.59 - - - - - - - - - 16.12 -
7600.38 798.05 -7.61 905 7601.71 no move -1.26 - - 1834.25 - - - 2114.69 - -77.86 - - 2807.84 - - - - - - - - - - -
7900.39 824.69 -8.71 935 7901.73 no move -1.26 - - 1834.38 - - - 2114.69 - -77.86 - - 2806.28 - - - - - - - - - - -
8200.42 850.24 -8.10 965 8206.26 roll -1.26 - - 1834.19 - 4.11 0.200 663.19 -353.2 -77.86 - - 2810.06 - - - - - - - - - 16.08 -
8259.41 855.72 -9.49 977 8266.15 roll -1.26 - - 1834.00 - 3.46 0.091 2114.62 419.5 -77.86 - - 2807.97 - - - - - - - - - 16.12 -
8565.45 881.32 -7.89 1008 8570.05 roll -1.26 - - 1834.25 - 3.40 0.148 3472.81 399.5 -77.86 - - 2807.66 - - - - - - - - - 16.10 -
8595.46 884.70 -11.26 1014 8600.16 roll -1.26 - - 1834.50 - 3.42 0.082 2088.06 -404.9 -77.86 - - 2807.16 - - - - - - - - - 16.12 -
8905.47 908.07 -7.06 1046 8906.80 no move -1.26 - - 1834.38 - - - 2088.06 - -77.86 - - 2806.00 - - - - - - - - - - -
9205.48 931.16 -7.48 1076 9206.81 no move -1.26 - - 1834.12 - - - 2087.81 - -77.86 - - 2804.81 - - - - - - - - - - -
9505.51 954.31 -7.13 1106 9506.84 no move -1.26 - - 1834.75 - - - 2088.06 - -77.86 - - 2804.59 - - - - - - - - - - -
9805.52 977.25 -8.54 1136 9806.85 no move -1.26 - - 1834.00 - - - 2088.38 - -77.86 - - 2806.53 - - - - - - - - - - -
9976 end dive: TARGET_DEPTH_EXCEEDED
9976 begin apogee
9976.87 990.49 -8.31 1153 10046.71 -0.25 1.75 0.166 2080.00 140.6 0.06 0.346 2188.75 1672.8 - 64.03 2.278 2499.44 -4.8 0.349 - - - - - - 16.08 15.61 13.26
10048 end apogee: CONTROL_FINISHED_OK
10048 begin climb
10047.84 992.20 - 1160 10130.25 1.26 2.53 0.102 2449.00 145.8 4.26 0.173 737.88 -340.6 77.86 72.14 2.223 2180.59 -4.4 0.330 - - - - - - 15.64 15.22 12.94
10131.99 987.04 5.33 1170 10176.02 1.38 0.16 0.110 2480.44 196.5 3.64 0.069 2218.00 406.6 117.20 38.40 2.129 2020.69 -4.2 0.323 - - - - - - 15.30 15.31 12.80
10473.00 944.31 12.11 1208 10477.54 done 1.38 - - 2481.31 - 3.26 0.147 3471.81 384.6 117.20 - - 2010.78 - - - - - - - - - 15.61 -
10523.02 937.75 13.90 1218 10527.55 done 1.38 - - 2481.06 - 3.21 0.072 2185.19 -400.8 117.20 - - 2009.72 - - - - - - - - - 15.66 -
10833.07 897.34 13.06 1250 10837.61 done 1.38 - - 2482.75 - 3.30 0.146 3473.56 390.4 117.20 - - 2007.94 - - - - - - - - - 15.77 -
10863.16 893.07 15.56 1256 10867.61 done 1.38 - - 2482.38 - 3.19 0.073 2184.38 -404.1 117.20 - - 2005.56 - - - - - - - - - 15.80 -
11173.13 853.35 13.54 1288 11177.67 done 1.38 - - 2482.94 - 3.27 0.145 3474.94 394.7 117.20 - - 2004.78 - - - - - - - - - 15.86 -
11213.15 848.00 14.89 1296 11217.70 done 1.38 - - 2483.06 - 3.21 0.072 2184.12 -402.1 117.20 - - 2004.72 - - - - - - - - - 15.88 -
11523.19 808.70 12.11 1328 11524.52 VBD 1.38 - - 2482.81 - - - 2184.88 - 117.20 - - 2001.34 - - - - - - - - - - -
11823.22 772.45 12.14 1358 11827.76 done 1.38 - - 2482.81 - 3.23 0.144 3473.94 399.1 117.20 - - 2002.41 - - - - - - - - - 15.94 -
11837.08 770.10 12.80 1361 11843.88 done 1.38 - - 2482.44 - 3.12 0.070 2185.06 -413.1 117.20 - - 2003.91 - - - - - - - - - 15.96 -
12143.25 732.30 12.38 1392 12149.06 done 1.38 - - 2482.69 - 3.97 0.165 737.69 -364.6 117.20 - - 2000.44 - - - - - - - - - 15.97 -
12152.18 731.03 12.78 1394 12158.97 done 1.38 - - 2480.56 - 3.45 0.067 2218.50 429.2 117.20 - - 2002.03 - - - - - - - - - 15.98 -
12458.28 695.11 12.05 1425 12462.93 done 1.38 - - 2481.50 - 3.15 0.145 3473.69 398.5 117.20 - - 2002.16 - - - - - - - - - 15.99 -
12522.15 686.83 13.23 1438 12528.94 done 1.38 - - 2481.12 - 3.10 0.071 2183.00 -416.4 117.20 - - 2001.59 - - - - - - - - - 16.02 -
12828.31 651.24 11.07 1469 12829.64 VBD 1.38 - - 2482.75 - - - 2183.88 - 117.20 - - 1999.66 - - - - - - - - - - -
13128.33 617.82 10.91 1499 13129.66 VBD 1.38 - - 2482.44 - - - 2183.44 - 117.20 - - 1998.72 - - - - - - - - - - -
13428.34 585.66 11.28 1529 13429.67 VBD 1.38 - - 2480.38 - - - 2183.62 - 117.20 - - 1999.59 - - - - - - - - - - -
13728.37 554.45 10.45 1559 13732.91 done 1.38 - - 2482.69 - 3.20 0.143 3475.44 403.7 117.20 - - 1999.81 - - - - - - - - - 16.05 -
13762.23 549.80 13.41 1566 13769.04 done 1.38 - - 2482.75 - 3.15 0.069 2182.69 -410.4 117.20 - - 2000.19 - - - - - - - - - 16.07 -
14068.39 516.50 11.18 1597 14069.73 VBD 1.38 - - 2482.62 - - - 2182.62 - 117.20 - - 1999.84 - - - - - - - - - - -
14368.42 484.17 10.86 1627 14372.95 done 1.38 - - 2482.94 - 3.23 0.140 3473.88 399.8 117.20 - - 1999.50 - - - - - - - - - 16.06 -
14422.29 477.46 12.27 1638 14429.09 done 1.38 - - 2482.69 - 3.13 0.068 2182.06 -412.7 117.20 - - 1999.56 - - - - - - - - - 16.08 -
14728.45 445.02 10.57 1669 14732.98 done 1.38 - - 2483.62 - 3.22 0.138 3473.44 401.0 117.20 - - 1999.38 - - - - - - - - - 16.07 -
14752.31 442.34 11.49 1674 14759.11 done 1.38 - - 2482.56 - 3.14 0.067 2181.94 -411.3 117.20 - - 2000.16 - - - - - - - - - 16.07 -
15058.47 411.23 10.05 1705 15063.14 done 1.38 - - 2483.38 - 3.24 0.137 3475.00 399.1 117.20 - - 1998.75 - - - - - - - - - 16.07 -
15082.33 408.65 10.44 1710 15089.11 done 1.38 - - 2483.25 - 3.09 0.064 2180.81 -418.8 117.20 - - 1998.81 - - - - - - - - - 16.08 -
15388.49 380.46 9.62 1741 15389.82 VBD 1.38 - - 2483.56 - - - 2180.69 - 117.20 - - 1998.00 - - - - - - - - - - -
15688.51 355.39 7.69 1771 15689.84 VBD 1.38 - - 2482.94 - - - 2180.56 - 117.20 - - 1997.12 - - - - - - - - - - -
15988.54 331.63 7.53 1801 15994.31 done 1.39 - - 2483.56 - 3.87 0.157 737.69 -372.8 117.20 - - 2000.31 - - - - - - - - - 16.07 -
16023.54 328.23 8.20 1808 16028.10 done 1.39 - - 2484.00 - 3.42 0.062 2221.12 433.8 117.20 - - 1997.81 - - - - - - - - - 16.09 -
16333.56 301.82 8.78 1840 16334.89 VBD 1.39 - - 2483.94 - - - 2221.94 - 117.20 - - 1997.88 - - - - - - - - - - -
16633.57 276.71 8.75 1870 16639.38 done 1.39 - - 2483.94 - 3.99 0.149 736.88 -372.2 117.20 - - 1996.06 - - - - - - - - - 16.07 -
16678.59 272.04 11.05 1879 16683.17 done 1.39 - - 2483.50 - 3.44 0.062 2222.06 431.7 117.20 - - 1998.16 - - - - - - - - - 16.10 -
16988.61 244.31 9.39 1911 16993.12 done 1.39 - - 2483.88 - 3.11 0.134 3474.00 402.6 117.20 - - 1998.06 - - - - - - - - - 16.07 -
17088.63 234.35 9.71 1931 17093.13 done 1.39 - - 2483.88 - 3.12 0.063 2179.00 -415.1 117.20 - - 1997.59 - - - - - - - - - 16.10 -
17398.64 207.52 8.04 1963 17403.16 done 1.39 - - 2483.94 - 3.20 0.131 3473.94 404.7 117.20 - - 1999.44 - - - - - - - - - 16.09 -
17478.66 200.09 9.28 1979 17483.16 done 1.39 - - 2483.56 - 3.10 0.062 2179.62 -417.5 117.20 - - 1999.19 - - - - - - - - - 16.10 -
17788.69 176.96 6.45 2011 17793.21 done 1.44 - - 2483.88 - 3.17 0.128 3474.06 408.3 117.20 - - 1997.31 - - - - - - - - - 16.08 -
17812.54 175.29 6.05 2016 17839.86 1.53 0.16 0.117 2518.06 213.6 3.10 0.060 2179.12 -417.7 146.19 22.01 1.300 1902.78 -4.3 0.097 - - - - - - 16.06 16.10 13.20
18138.71 145.38 9.50 2051 18140.04 no move 1.53 - - 2517.81 - - - 2179.50 - 146.19 - - 1898.41 - - - - - - - - - - -
18438.76 119.65 7.65 2081 18440.09 no move 1.53 - - 2518.06 - - - 2179.00 - 146.19 - - 1897.72 - - - - - - - - - - -
18738.84 97.38 6.17 2115 18744.60 roll 1.58 - - 2517.75 - 3.88 0.148 736.38 -371.8 146.19 - - 1898.78 - - - - - - - - - 16.02 -
18968.96 84.11 4.69 2161 19015.53 1.73 0.25 0.093 2568.12 201.5 3.41 0.063 2223.81 436.2 194.76 39.67 1.212 1704.72 -4.9 0.057 - - - - - - 16.03 16.02 13.15
19193.95 66.75 8.53 2206 19199.75 roll 1.73 - - 2568.31 - 3.99 0.141 736.81 -372.7 194.76 - - 1698.53 - - - - - - - - - 15.87 -
19424.10 49.39 7.24 2252 19429.75 done 1.75 - - 2567.69 - 3.44 0.060 2224.44 432.5 194.76 - - 1699.12 - - - - - - - - - 15.94 -
19609.11 40.62 5.78 2289 19645.13 done 1.85 - - 2567.44 - 4.01 0.141 737.00 -370.9 227.57 27.45 1.122 1571.12 -4.7 0.028 - - - - - - - 15.82 13.19
19849.17 27.10 3.83 2337 19906.02 2.04 0.43 0.083 2640.25 169.3 3.46 0.058 2227.38 430.7 288.64 50.40 1.117 1322.88 -4.9 0.020 - - - - - - 15.88 15.89 13.09
20084.28 23.59 0.44 2384 20178.19 2.37 0.48 0.082 2718.50 163.0 4.13 0.141 737.62 -360.7 398.69 87.14 1.095 875.19 -5.1 0.019 - - - - - - 15.79 15.50 13.07
20266 end climb: SURFACE_DEPTH_REACHED
20266 begin surface coast
20276 end surface coast: CONTROL_FINISHED_OK
20276 begin surface
SM 0.61 - - - - 181.4 - 2.816 768.7 - 16.60 0.084 775.1 46.7 - 3.26 0.056 762.3 232.6 -0.259 - - 30.36 15.62 15.63 -