NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 100 * Raw log
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• Previous call tries 4 • 33.77 of 350.00 AH used of 24V (90.35% remains)
• Surface angle -62.3 deg, depth 1.09 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.58 (SM_CC=425)
• GPS1 time: 16 s
• GPS2 time: 4 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
6.43 - - - 77.40 VBD -1.25 - - 177.75 - - - 2114.81 - -77.86 70.44 0.005 2393.22 - - - - - - - - - - 15.68
77.71 3.11 -3.74 9 109.59 -1.25 13.66 0.272 1836.12 121.4 3.54 0.129 3474.44 384.1 -77.86 10.38 0.007 2817.22 40.8 -3.030 - - - - - - 15.63 15.66 15.71
172.37 27.95 -29.18 28 178.09 roll -1.25 - - 1836.81 - 3.41 0.070 2084.38 -407.6 -77.86 - - 2817.19 - - - - - - - - - 15.74 -
357.39 59.57 -12.59 65 363.20 roll -1.25 - - 1837.06 - 3.90 0.168 662.25 -364.6 -77.86 - - 2816.31 - - - - - - - - - 15.78 -
412.41 67.11 -13.97 76 418.13 roll -1.25 - - 1836.94 - 3.45 0.062 2119.81 422.5 -77.86 - - 2817.31 - - - - - - - - - 15.82 -
597.42 85.47 -10.28 113 603.15 roll -1.25 - - 1836.88 - 3.41 0.124 3473.81 397.1 -77.86 - - 2818.34 - - - - - - - - - 15.84 -
761.31 104.53 -10.72 146 768.17 roll -1.25 - - 1836.81 - 3.29 0.064 2081.38 -423.2 -77.86 - - 2817.69 - - - - - - - - - 15.89 -
1067.49 134.41 -9.99 177 1073.20 roll -1.25 - - 1837.06 - 3.74 0.168 663.38 -379.1 -77.86 - - 2817.28 - - - - - - - - - 15.91 -
1262.54 158.65 -12.57 216 1267.14 roll -1.25 - - 1836.75 - 3.44 0.066 2119.81 423.4 -77.86 - - 2819.09 - - - - - - - - - 15.92 -
1572.56 191.01 -10.67 248 1573.88 no move -1.25 - - 1836.94 - - - 2119.31 - -77.86 - - 2818.47 - - - - - - - - - - -
1872.58 223.91 -11.16 278 1878.31 roll -1.25 - - 1836.75 - 3.86 0.168 662.19 -377.5 -77.86 - - 2818.72 - - - - - - - - - 15.96 -
1951.51 234.46 -15.20 294 1958.34 roll -1.25 - - 1836.94 - 3.42 0.066 2120.81 426.5 -77.86 - - 2817.78 - - - - - - - - - 16.01 -
2257.63 268.49 -11.01 325 2258.96 no move -1.25 - - 1836.62 - - - 2121.12 - -77.86 - - 2818.16 - - - - - - - - - - -
2557.66 301.65 -11.35 355 2558.98 no move -1.25 - - 1837.12 - - - 2120.88 - -77.86 - - 2818.12 - - - - - - - - - - -
2857.69 336.33 -11.63 385 2859.02 no move -1.25 - - 1837.25 - - - 2120.38 - -77.86 - - 2817.88 - - - - - - - - - - -
3157.75 370.55 -11.11 415 3162.39 roll -1.25 - - 1836.94 - 3.45 0.135 3473.88 392.3 -77.86 - - 2817.38 - - - - - - - - - 16.03 -
3217.78 376.78 -10.28 427 3222.39 roll -1.25 - - 1836.62 - 3.29 0.074 2082.44 -422.9 -77.86 - - 2818.41 - - - - - - - - - 16.06 -
3527.82 409.24 -9.69 459 3533.57 roll -1.25 - - 1837.00 - 3.82 0.179 663.38 -371.5 -77.86 - - 2814.06 - - - - - - - - - 16.04 -
3622.86 421.24 -13.07 478 3627.45 roll -1.25 - - 1836.69 - 3.43 0.070 2119.19 424.4 -77.86 - - 2818.03 - - - - - - - - - 16.08 -
3932.92 451.92 -9.64 510 3934.25 no move -1.25 - - 1836.88 - - - 2119.38 - -77.86 - - 2816.09 - - - - - - - - - - -
4232.97 481.28 -9.97 540 4234.30 no move -1.25 - - 1837.12 - - - 2119.56 - -77.86 - - 2815.09 - - - - - - - - - - -
4533.02 510.04 -8.94 570 4534.35 no move -1.25 - - 1837.19 - - - 2119.12 - -77.86 - - 2814.94 - - - - - - - - - - -
4833.08 538.08 -9.11 600 4834.40 no move -1.25 - - 1837.00 - - - 2119.25 - -77.86 - - 2813.94 - - - - - - - - - - -
5133.12 564.67 -8.86 630 5138.86 roll -1.25 - - 1836.69 - 3.89 0.186 662.44 -374.5 -77.86 - - 2812.12 - - - - - - - - - 16.07 -
5178.15 569.38 -11.22 639 5182.80 roll -1.25 - - 1837.31 - 3.44 0.077 2119.19 423.5 -77.86 - - 2813.25 - - - - - - - - - 16.10 -
5488.19 597.71 -9.35 671 5489.52 no move -1.25 - - 1836.75 - - - 2119.06 - -77.86 - - 2812.84 - - - - - - - - - - -
5788.39 626.74 -9.94 701 5793.88 roll -1.25 - - 1836.75 - 3.49 0.142 3472.88 387.9 -77.86 - - 2811.81 - - - - - - - - - 16.09 -
5823.23 630.19 -9.85 708 5827.88 roll -1.25 - - 1836.50 - 3.32 0.077 2084.94 -418.1 -77.86 - - 2812.59 - - - - - - - - - 16.12 -
6133.26 660.45 -9.90 740 6134.59 no move -1.25 - - 1836.62 - - - 2083.94 - -77.86 - - 2811.56 - - - - - - - - - - -
6433.29 687.58 -10.03 770 6434.62 no move -1.25 - - 1836.69 - - - 2084.94 - -77.86 - - 2810.16 - - - - - - - - - - -
6733.33 713.76 -8.42 800 6739.01 roll -1.25 - - 1835.69 - 3.59 0.145 3471.62 386.3 -77.86 - - 2810.75 - - - - - - - - - 16.08 -
6778.35 717.83 -9.42 809 6782.96 roll -1.25 - - 1836.38 - 3.30 0.081 2085.69 -420.0 -77.86 - - 2811.69 - - - - - - - - - 16.10 -
7088.37 746.43 -9.22 841 7089.70 no move -1.25 - - 1837.12 - - - 2085.75 - -77.86 - - 2809.97 - - - - - - - - - - -
7388.40 771.93 -8.31 871 7389.73 no move -1.25 - - 1836.75 - - - 2084.88 - -77.86 - - 2808.06 - - - - - - - - - - -
7688.43 796.44 -7.64 901 7694.18 roll -1.25 - - 1836.94 - 3.92 0.196 664.38 -362.4 -77.86 - - 2807.06 - - - - - - - - - 16.08 -
7763.52 803.90 -11.34 916 7769.13 roll -1.25 - - 1835.69 - 3.55 0.086 2115.88 408.9 -77.86 - - 2809.12 - - - - - - - - - 16.12 -
8068.48 826.00 -7.02 947 8074.25 roll -1.25 - - 1836.75 - 3.97 0.192 662.56 -366.1 -77.86 - - 2807.03 - - - - - - - - - 16.08 -
8173.51 835.54 -8.69 968 8178.19 roll -1.25 - - 1837.19 - 3.52 0.086 2113.81 412.3 -77.86 - - 2806.69 - - - - - - - - - 16.11 -
8483.55 857.30 -6.66 1000 8484.88 no move -1.25 - - 1837.00 - - - 2113.94 - -77.86 - - 2807.94 - - - - - - - - - - -
8783.58 880.75 -7.53 1030 8784.91 no move -1.25 - - 1837.25 - - - 2113.75 - -77.86 - - 2805.50 - - - - - - - - - - -
9083.61 903.43 -7.25 1060 9088.28 roll -1.25 - - 1836.94 - 3.56 0.149 3472.19 381.6 -77.86 - - 2805.94 - - - - - - - - - 16.10 -
9157.55 910.00 -9.33 1075 9164.34 roll -1.25 - - 1836.69 - 3.37 0.086 2087.25 -411.0 -77.86 - - 2806.41 - - - - - - - - - 16.12 -
9463.66 932.49 -8.55 1106 9469.35 roll -1.25 - - 1836.75 - 3.62 0.148 3470.25 382.0 -77.86 - - 2805.41 - - - - - - - - - 16.10 -
9508.67 935.79 -7.33 1115 9513.29 roll -1.25 - - 1837.12 - 3.39 0.087 2086.81 -408.1 -77.86 - - 2806.28 - - - - - - - - - 16.11 -
9818.71 958.54 -8.39 1147 9824.38 roll -1.25 - - 1836.75 - 3.59 0.150 3472.56 386.0 -77.86 - - 2806.19 - - - - - - - - - 16.10 -
9863.76 961.47 -6.50 1156 9868.48 roll -1.25 - - 1836.19 - 3.37 0.086 2086.75 -411.2 -77.86 - - 2807.47 - - - - - - - - - 16.11 -
10173.79 984.24 -7.23 1188 10179.49 roll -1.25 - - 1837.06 - 3.63 0.150 3473.25 382.0 -77.86 - - 2805.28 - - - - - - - - - 16.10 -
10239 end dive: TARGET_DEPTH_EXCEEDED
10239 begin apogee
10243.69 990.04 -8.28 1201 10310.57 -0.25 1.73 0.171 2079.88 140.4 0.05 0.404 2212.94 -25206.2 - 63.72 2.303 2498.03 -4.8 0.346 - - - - - - 16.06 15.58 13.20
10314 end apogee: CONTROL_FINISHED_OK
10314 begin climb
10313.77 991.34 - 1208 10395.08 1.25 2.49 0.101 2447.94 147.8 4.24 0.168 736.25 -348.3 77.86 72.56 2.229 2178.72 -4.4 0.327 - - - - - - 15.62 15.22 12.91
10603.13 965.69 11.81 1265 10608.54 done 1.25 - - 2446.81 - 3.69 0.074 2214.50 400.6 77.86 - - 2168.28 - - - - - - - - - 15.60 -
10907.99 932.76 9.36 1296 10912.71 done 1.25 - - 2447.44 - 3.40 0.148 3472.31 369.9 77.86 - - 2166.75 - - - - - - - - - 15.74 -
11028.05 919.48 10.55 1320 11032.64 done 1.25 - - 2447.56 - 3.19 0.076 2184.56 -403.7 77.86 - - 2166.62 - - - - - - - - - 15.79 -
11338.09 888.99 9.25 1352 11342.82 done 1.25 - - 2448.62 - 3.43 0.146 3471.31 375.1 77.86 - - 2165.03 - - - - - - - - - 15.84 -
11458.14 876.19 10.90 1376 11462.74 done 1.25 - - 2447.75 - 3.15 0.074 2183.69 -408.8 77.86 - - 2165.53 - - - - - - - - - 15.89 -
11768.20 846.68 10.06 1408 11772.93 done 1.25 - - 2448.06 - 3.42 0.145 3472.00 376.7 77.86 - - 2163.41 - - - - - - - - - 15.92 -
11908.25 832.82 11.03 1436 11912.87 done 1.25 - - 2446.50 - 3.19 0.074 2183.25 -404.0 77.86 - - 2164.38 - - - - - - - - - 15.94 -
12218.28 806.90 7.69 1468 12224.09 done 1.25 - - 2447.56 - 3.94 0.166 735.75 -367.4 77.86 - - 2159.66 - - - - - - - - - 15.95 -
12313.30 798.56 8.35 1487 12318.91 done 1.25 - - 2445.94 - 3.56 0.072 2217.81 416.3 77.86 - - 2161.25 - - - - - - - - - 15.98 -
12618.35 773.29 8.28 1518 12619.68 VBD 1.25 - - 2448.44 - - - 2218.00 - 77.86 - - 2161.12 - - - - - - - - - - -
12918.38 747.94 9.32 1548 12924.17 done 1.25 - - 2448.00 - 3.87 0.162 736.88 -382.7 77.86 - - 2158.97 - - - - - - - - - 16.00 -
12977.24 741.96 12.14 1560 12984.13 done 1.25 - - 2446.88 - 3.54 0.071 2218.94 418.7 77.86 - - 2161.28 - - - - - - - - - 16.02 -
13283.42 715.43 8.41 1591 13288.12 done 1.25 - - 2448.44 - 3.31 0.144 3471.38 378.4 77.86 - - 2160.75 - - - - - - - - - 16.02 -
13383.51 706.49 8.32 1611 13387.97 done 1.25 - - 2448.06 - 3.13 0.072 2181.50 -412.1 77.86 - - 2161.53 - - - - - - - - - 16.03 -
13693.49 683.38 7.03 1643 13694.82 VBD 1.28 - - 2448.06 - - - 2181.50 - 77.86 - - 2160.28 - - - - - - - - - - -
13993.51 661.43 7.74 1673 13994.84 VBD 1.28 - - 2448.31 - - - 2182.25 - 77.86 - - 2160.25 - - - - - - - - - - -
14293.57 640.12 7.33 1703 14298.25 done 1.30 - - 2448.69 - 3.39 0.143 3472.56 380.6 77.86 - - 2159.44 - - - - - - - - - 16.05 -
14413.58 629.82 9.08 1727 14418.25 done 1.30 - - 2447.88 - 3.12 0.073 2182.75 -413.4 77.86 - - 2159.78 - - - - - - - - - 16.07 -
14723.62 606.44 7.71 1759 14724.95 VBD 1.30 - - 2447.88 - - - 2183.12 - 77.86 - - 2157.84 - - - - - - - - - - -
15023.66 584.19 7.22 1789 15029.44 done 1.33 - - 2447.75 - 3.86 0.162 736.69 -374.7 77.86 - - 2158.56 - - - - - - - - - 16.06 -
15068.67 580.50 8.34 1798 15074.40 done 1.33 - - 2448.06 - 3.54 0.068 2219.31 418.8 77.86 - - 2156.47 - - - - - - - - - 16.08 -
15373.71 560.66 6.17 1829 15379.55 1.39 0.17 0.113 2484.06 211.8 3.97 0.155 736.25 -373.6 77.86 - - 2157.59 - - - - - - - - 16.07 16.06 -
15422.54 556.80 8.17 1839 15429.49 done 1.39 - - 2482.06 - 3.51 0.065 2220.50 422.9 77.86 - - 2159.44 - - - - - - - - - 16.07 -
15728.79 538.20 5.41 1870 15760.45 VBD 1.50 - - 2484.00 - - - 2221.06 - 115.52 30.68 1.745 2026.44 -4.3 0.223 - - - - - - - - 13.28
16058.84 510.07 8.32 1903 16064.67 roll 1.50 - - 2481.69 - 4.03 0.155 736.25 -368.4 115.52 - - 2022.31 - - - - - - - - - 15.93 -
16107.79 504.76 10.12 1913 16114.62 done 1.50 - - 2483.62 - 3.57 0.066 2220.25 415.7 115.52 - - 2020.81 - - - - - - - - - 15.96 -
16413.93 474.36 10.04 1944 16418.75 done 1.50 - - 2483.62 - 3.29 0.139 3473.62 381.0 115.52 - - 2020.38 - - - - - - - - - 15.97 -
16517.88 462.87 10.96 1965 16524.65 done 1.50 - - 2483.81 - 3.15 0.069 2180.62 -410.5 115.52 - - 2020.16 - - - - - - - - - 16.00 -
16824.03 435.23 8.47 1996 16828.73 done 1.50 - - 2484.06 - 3.36 0.136 3472.62 384.5 115.52 - - 2019.44 - - - - - - - - - 16.00 -
17018.03 415.78 9.38 2035 17024.93 done 1.50 - - 2484.62 - 3.15 0.068 2180.94 -410.1 115.52 - - 2020.59 - - - - - - - - - 16.02 -
17324.20 390.44 7.43 2066 17325.53 VBD 1.52 - - 2484.50 - - - 2181.44 - 115.52 - - 2019.44 - - - - - - - - - - -
17624.23 367.78 7.39 2096 17630.06 1.54 0.17 0.112 2518.44 199.6 3.87 0.154 736.44 -373.4 115.52 - - 2017.53 - - - - - - - - 16.03 16.02 -
17713.08 358.40 11.14 2114 17720.01 done 1.54 - - 2520.00 - 3.52 0.065 2222.25 422.1 115.52 - - 2018.28 - - - - - - - - - 16.04 -
18019.28 332.46 8.80 2145 18020.62 VBD 1.54 - - 2519.75 - - - 2221.94 - 115.52 - - 2017.34 - - - - - - - - - - -
18319.31 306.44 8.95 2175 18324.00 done 1.54 - - 2519.81 - 3.22 0.133 3473.88 388.8 115.52 - - 2018.47 - - - - - - - - - 16.05 -
18543.21 284.18 10.82 2220 18550.05 done 1.54 - - 2518.56 - 3.14 0.066 2179.75 -412.1 115.52 - - 2018.75 - - - - - - - - - 16.05 -
18849.41 257.55 8.59 2251 18850.74 VBD 1.54 - - 2520.31 - - - 2180.00 - 115.52 - - 2018.59 - - - - - - - - - - -
19149.43 231.15 8.51 2281 19150.77 VBD 1.54 - - 2520.19 - - - 2180.88 - 115.52 - - 2017.47 - - - - - - - - - - -
19449.48 203.42 8.41 2311 19454.12 done 1.54 - - 2520.06 - 3.34 0.131 3474.81 387.4 115.52 - - 2019.12 - - - - - - - - - 16.06 -
19529.51 195.03 10.42 2327 19534.04 done 1.54 - - 2520.31 - 3.15 0.064 2179.06 -411.3 115.52 - - 2018.66 - - - - - - - - - 16.07 -
19839.54 169.93 7.87 2359 19845.32 done 1.54 - - 2519.44 - 3.88 0.147 736.69 -371.7 115.52 - - 2019.19 - - - - - - - - - 16.05 -
19974.56 157.43 9.12 2386 19979.14 done 1.54 - - 2519.94 - 3.48 0.062 2217.44 425.5 115.52 - - 2019.78 - - - - - - - - - 16.05 -
20284.60 133.09 7.61 2418 20289.27 done 1.54 - - 2520.25 - 3.15 0.129 3474.44 399.0 115.52 - - 2017.78 - - - - - - - - - 16.06 -
20398.53 123.66 7.89 2441 20405.29 done 1.54 - - 2520.19 - 3.10 0.063 2179.06 -417.9 115.52 - - 2018.41 - - - - - - - - - 16.07 -
20704.71 103.99 5.75 2472 20739.60 done 1.64 - - 2520.56 - 3.85 0.147 735.56 -374.9 148.40 27.58 1.221 1892.91 -4.6 0.065 - - - - - - - 15.89 13.20
20964.74 82.44 7.64 2524 20970.50 roll 1.64 - - 2521.00 - 3.53 0.062 2222.31 421.2 148.40 - - 1888.38 - - - - - - - - - 15.98 -
21149.84 76.87 2.40 2561 21222.02 1.88 0.47 0.083 2602.75 173.9 3.32 0.128 3473.25 376.8 229.07 64.43 1.199 1564.06 -5.0 0.054 - - - - - - 15.98 15.69 13.04
21274.87 70.57 7.43 2586 21280.66 roll 1.90 - - 2603.19 - 3.17 0.060 2178.31 -408.5 229.07 - - 1561.16 - - - - - - - - - 15.77 -
21459.90 55.21 9.24 2623 21465.62 done 1.90 - - 2603.38 - 3.37 0.124 3472.69 384.1 229.07 - - 1558.53 - - - - - - - - - 15.81 -
21690.03 34.39 4.96 2669 21731.48 2.03 0.18 0.108 2637.75 190.9 3.17 0.059 2177.81 -408.5 273.20 36.01 1.108 1386.47 -4.8 0.025 - - - - - - 15.84 15.87 13.10
21910.08 27.90 3.20 2713 21971.99 2.24 0.28 0.095 2689.00 183.0 3.38 0.126 3472.00 382.9 342.45 55.95 1.093 1103.56 -5.1 0.022 - - - - - - 15.79 15.59 13.01
22141 end climb: SURFACE_DEPTH_REACHED
22141 begin surface coast
22151 end surface coast: CONTROL_FINISHED_OK
22151 begin surface
SM 1.11 - - - - 180.4 - 2.795 769.1 - 16.15 0.077 770.6 47.7 - 3.41 0.065 767.7 224.1 -0.391 - - 30.36 15.72 15.73 -