NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 101 * Raw log
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• Previous call tries 1 • 34.09 of 350.00 AH used of 24V (90.26% remains)
• Surface angle -65.5 deg, depth 1.14 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.03 (SM_CC=425)
• GPS1 time: 36 s
• GPS2 time: 3 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
6.45 - - - 77.43 VBD -1.25 - - 179.31 - - - 2117.81 - -77.86 70.44 0.005 2382.81 - - - - - - - - - - 15.64
77.75 3.45 -4.11 9 109.61 -1.25 13.52 0.268 1835.69 122.5 3.53 0.129 3474.19 384.2 -77.86 10.64 0.007 2815.66 40.7 -3.325 - - - - - - 15.58 15.63 15.68
122.38 14.11 -22.66 18 128.10 roll -1.25 - - 1836.06 - 3.46 0.067 2085.00 -401.5 -77.86 - - 2816.88 - - - - - - - - - 15.69 -
307.38 51.50 -14.05 55 313.13 roll -1.25 - - 1835.50 - 3.57 0.124 3474.81 389.3 -77.86 - - 2817.62 - - - - - - - - - 15.75 -
537.43 88.33 -14.96 101 543.16 roll -1.25 - - 1834.31 - 3.43 0.066 2084.12 -405.4 -77.86 - - 2819.06 - - - - - - - - - 15.82 -
722.44 110.75 -11.50 129 728.04 roll -1.25 - - 1835.06 - 3.55 0.123 3473.38 391.3 -77.86 - - 2816.66 - - - - - - - - - 15.78 -
951.35 138.76 -12.98 175 958.23 roll -1.25 - - 1835.50 - 3.43 0.067 2083.31 -405.3 -77.86 - - 2820.09 - - - - - - - - - 15.92 -
1257.52 172.91 -11.37 206 1262.20 roll -1.25 - - 1835.06 - 3.55 0.126 3472.69 391.4 -77.86 - - 2817.81 - - - - - - - - - 15.94 -
1317.54 180.17 -12.30 218 1322.11 roll -1.25 - - 1834.50 - 3.37 0.067 2082.75 -412.4 -77.86 - - 2820.97 - - - - - - - - - 15.96 -
1627.56 214.59 -10.67 250 1633.38 roll -1.25 - - 1835.31 - 3.94 0.172 662.31 -360.5 -77.86 - - 2817.34 - - - - - - - - - 15.94 -
1732.58 227.90 -13.42 271 1737.17 roll -1.25 - - 1834.12 - 3.45 0.066 2119.62 422.4 -77.86 - - 2821.00 - - - - - - - - - 15.99 -
2042.61 259.95 -10.17 303 2043.93 no move -1.25 - - 1835.75 - - - 2119.56 - -77.86 - - 2819.50 - - - - - - - - - - -
2342.63 292.09 -10.99 333 2348.38 roll -1.25 - - 1835.50 - 3.99 0.169 662.44 -365.2 -77.86 - - 2817.31 - - - - - - - - - 15.97 -
2401.51 299.56 -13.82 345 2408.38 roll -1.25 - - 1835.75 - 3.46 0.067 2118.69 420.9 -77.86 - - 2819.50 - - - - - - - - - 16.03 -
2707.66 334.07 -11.01 376 2712.31 roll -1.25 - - 1835.62 - 3.43 0.133 3472.56 394.7 -77.86 - - 2818.44 - - - - - - - - - 16.01 -
2757.68 340.29 -12.58 386 2762.32 roll -1.25 - - 1835.56 - 3.38 0.070 2083.69 -410.9 -77.86 - - 2819.62 - - - - - - - - - 16.04 -
3067.69 374.12 -10.38 418 3069.02 no move -1.25 - - 1836.00 - - - 2083.75 - -77.86 - - 2818.97 - - - - - - - - - - -
3367.73 404.08 -9.40 448 3369.06 no move -1.25 - - 1836.25 - - - 2083.75 - -77.86 - - 2818.38 - - - - - - - - - - -
3667.78 435.25 -11.37 478 3673.51 roll -1.25 - - 1835.56 - 3.89 0.179 663.44 -365.1 -77.86 - - 2816.34 - - - - - - - - - 16.03 -
3692.80 437.92 -10.62 483 3697.37 roll -1.25 - - 1835.75 - 3.47 0.069 2116.81 418.8 -77.86 - - 2818.41 - - - - - - - - - 16.03 -
4002.84 470.77 -10.24 515 4008.59 roll -1.25 - - 1835.31 - 3.96 0.177 663.31 -367.0 -77.86 - - 2815.31 - - - - - - - - - 16.04 -
4141.75 487.57 -12.52 543 4148.63 roll -1.25 - - 1835.88 - 3.44 0.071 2119.00 423.2 -77.86 - - 2816.81 - - - - - - - - - 16.07 -
4447.95 516.78 -8.86 574 4453.70 roll -1.25 - - 1835.81 - 3.94 0.180 663.19 -369.5 -77.86 - - 2814.44 - - - - - - - - - 16.05 -
4482.97 520.30 -10.35 581 4487.76 roll -1.25 - - 1834.75 - 3.48 0.072 2117.94 418.0 -77.86 - - 2817.75 - - - - - - - - - 16.09 -
4793.00 548.86 -9.31 613 4794.33 no move -1.25 - - 1835.62 - - - 2118.00 - -77.86 - - 2815.81 - - - - - - - - - - -
5093.07 577.63 -9.30 643 5094.40 no move -1.25 - - 1835.25 - - - 2118.38 - -77.86 - - 2815.69 - - - - - - - - - - -
5393.10 604.15 -7.80 673 5398.93 roll -1.25 - - 1835.56 - 4.01 0.185 662.75 -363.0 -77.86 - - 2815.03 - - - - - - - - - 16.06 -
5438.13 608.19 -8.92 682 5442.77 roll -1.25 - - 1835.38 - 3.50 0.078 2117.94 415.8 -77.86 - - 2814.19 - - - - - - - - - 16.09 -
5748.17 631.69 -7.45 714 5753.93 roll -1.25 - - 1834.44 - 4.04 0.185 663.25 -360.1 -77.86 - - 2814.56 - - - - - - - - - 16.07 -
5867.13 643.53 -9.38 738 5873.95 roll -1.25 - - 1836.12 - 3.50 0.078 2117.88 415.6 -77.86 - - 2814.50 - - - - - - - - - 16.10 -
6173.23 668.42 -7.91 769 6174.56 no move -1.25 - - 1835.56 - - - 2118.06 - -77.86 - - 2814.31 - - - - - - - - - - -
6473.25 694.50 -7.98 799 6474.58 no move -1.25 - - 1835.31 - - - 2118.00 - -77.86 - - 2813.69 - - - - - - - - - - -
6773.27 719.30 -8.18 829 6779.04 roll -1.25 - - 1836.25 - 4.05 0.189 663.38 -359.2 -77.86 - - 2811.22 - - - - - - - - - 16.07 -
6802.22 722.67 -9.41 835 6809.01 roll -1.25 - - 1835.38 - 3.47 0.080 2117.38 419.0 -77.86 - - 2813.00 - - - - - - - - - 16.11 -
7108.30 748.27 -8.33 866 7114.07 roll -1.25 - - 1835.38 - 4.08 0.190 663.38 -356.4 -77.86 - - 2810.38 - - - - - - - - - 16.07 -
7173.37 754.22 -10.22 879 7177.97 roll -1.25 - - 1835.62 - 3.47 0.080 2117.94 419.2 -77.86 - - 2812.28 - - - - - - - - - 16.12 -
7483.34 780.33 -8.50 911 7484.66 no move -1.25 - - 1835.44 - - - 2118.00 - -77.86 - - 2811.31 - - - - - - - - - - -
7783.36 804.71 -7.69 941 7784.69 no move -1.25 - - 1835.88 - - - 2118.19 - -77.86 - - 2810.03 - - - - - - - - - - -
8083.39 827.48 -7.29 971 8089.15 roll -1.25 - - 1835.38 - 4.07 0.193 664.44 -357.2 -77.86 - - 2810.97 - - - - - - - - - 16.08 -
8118.40 830.40 -6.86 978 8123.07 roll -1.25 - - 1835.69 - 3.52 0.083 2117.31 412.7 -77.86 - - 2810.00 - - - - - - - - - 16.11 -
8428.42 853.62 -7.27 1010 8433.07 roll -1.25 - - 1835.44 - 3.48 0.148 3472.31 389.4 -77.86 - - 2809.94 - - - - - - - - - 16.09 -
8488.44 858.17 -7.56 1022 8493.08 roll -1.25 - - 1835.62 - 3.42 0.082 2087.69 -404.9 -77.86 - - 2811.28 - - - - - - - - - 16.11 -
8798.49 882.98 -8.44 1054 8799.82 no move -1.25 - - 1835.25 - - - 2086.81 - -77.86 - - 2808.66 - - - - - - - - - - -
9098.49 908.72 -8.97 1084 9099.82 no move -1.25 - - 1835.69 - - - 2086.44 - -77.86 - - 2807.28 - - - - - - - - - - -
9398.51 932.59 -6.57 1114 9404.27 roll -1.25 - - 1835.50 - 4.05 0.200 663.12 -351.4 -77.86 - - 2807.19 - - - - - - - - - 16.08 -
9453.54 938.71 -9.76 1125 9458.20 roll -1.25 - - 1835.38 - 3.51 0.087 2118.12 414.5 -77.86 - - 2807.97 - - - - - - - - - 16.12 -
9763.68 964.07 -9.98 1157 9769.33 roll -1.25 - - 1834.06 - 4.11 0.197 664.31 -353.7 -77.86 - - 2808.72 - - - - - - - - - 16.07 -
9818.62 968.27 -10.44 1168 9824.24 roll -1.25 - - 1835.56 - 3.51 0.089 2113.38 412.8 -77.86 - - 2806.25 - - - - - - - - - 16.11 -
10124 end dive: TARGET_DEPTH_EXCEEDED
10124 begin apogee
10124.82 991.07 -7.56 1199 10195.05 -0.25 1.72 0.163 2079.56 141.9 0.07 0.330 2186.56 1045.4 - 64.17 2.298 2498.38 -4.8 0.343 - - - - - - 16.07 15.59 13.12
10198 end apogee: CONTROL_FINISHED_OK
10199 begin climb
10198.25 992.61 - 1206 10280.50 1.25 2.50 0.105 2446.88 146.9 3.57 0.148 3473.38 360.5 77.86 71.42 2.248 2181.44 -4.4 0.325 - - - - - - 15.62 15.21 12.82
10348.27 979.89 11.39 1234 10352.81 roll 1.25 - - 2445.62 - 3.32 0.072 2184.12 -388.3 77.86 - - 2175.91 - - - - - - - - - 15.45 -
10658.51 948.12 9.51 1266 10664.12 done 1.25 - - 2447.12 - 4.07 0.169 737.44 -355.4 77.86 - - 2167.31 - - - - - - - - - 15.68 -
10723.38 940.68 11.45 1279 10728.93 done 1.25 - - 2445.81 - 3.61 0.072 2215.81 409.5 77.86 - - 2167.12 - - - - - - - - - 15.73 -
11028.34 910.65 10.58 1310 11029.68 VBD 1.25 - - 2446.69 - - - 2216.62 - 77.86 - - 2164.47 - - - - - - - - - - -
11328.37 882.24 9.20 1340 11329.70 VBD 1.25 - - 2446.56 - - - 2215.88 - 77.86 - - 2164.81 - - - - - - - - - - -
11628.40 854.43 9.12 1370 11633.11 done 1.25 - - 2446.69 - 3.27 0.146 3472.81 384.4 77.86 - - 2163.06 - - - - - - - - - 15.92 -
11748.42 843.33 9.13 1394 11752.96 done 1.25 - - 2446.75 - 3.18 0.074 2182.75 -405.7 77.86 - - 2163.34 - - - - - - - - - 15.95 -
12058.47 816.19 8.22 1426 12059.80 VBD 1.25 - - 2444.25 - - - 2183.25 - 77.86 - - 2163.47 - - - - - - - - - - -
12358.50 792.26 8.04 1456 12363.21 done 1.25 - - 2446.81 - 3.35 0.145 3474.81 385.5 77.86 - - 2161.69 - - - - - - - - - 15.98 -
12442.38 784.37 10.10 1473 12449.20 done 1.25 - - 2447.38 - 3.20 0.075 2183.81 -403.4 77.86 - - 2163.47 - - - - - - - - - 16.00 -
12748.55 759.60 7.92 1504 12749.88 VBD 1.25 - - 2447.50 - - - 2183.62 - 77.86 - - 2160.03 - - - - - - - - - - -
13048.59 733.04 9.53 1534 13054.40 done 1.25 - - 2447.81 - 3.97 0.165 737.19 -364.3 77.86 - - 2158.56 - - - - - - - - - 16.01 -
13187.46 719.43 10.31 1562 13194.38 done 1.25 - - 2446.94 - 3.54 0.072 2218.25 418.4 77.86 - - 2159.84 - - - - - - - - - 16.03 -
13493.69 694.44 7.81 1593 13498.48 done 1.25 - - 2446.69 - 3.26 0.144 3471.94 384.6 77.86 - - 2160.94 - - - - - - - - - 16.03 -
13567.52 687.49 9.32 1608 13574.34 done 1.25 - - 2446.12 - 3.17 0.073 2181.88 -407.0 77.86 - - 2160.56 - - - - - - - - - 16.05 -
13873.72 664.72 6.89 1639 13875.05 VBD 1.29 - - 2447.81 - - - 2182.31 - 77.86 - - 2160.06 - - - - - - - - - - -
14173.79 640.63 7.22 1669 14175.12 VBD 1.31 - - 2446.94 - - - 2182.38 - 77.86 - - 2158.53 - - - - - - - - - - -
14473.85 620.41 6.90 1699 14475.19 VBD 1.35 - - 2447.25 - - - 2182.12 - 77.86 - - 2159.72 - - - - - - - - - - -
14773.91 601.76 5.27 1729 14811.22 1.47 0.29 0.098 2502.12 189.2 3.41 0.144 3472.06 378.3 117.46 32.28 1.829 2020.59 -4.3 0.235 - - - - - - 16.07 15.82 13.24
14879.06 591.07 11.13 1750 14883.60 roll 1.47 - - 2503.00 - 3.23 0.070 2181.62 -399.5 117.46 - - 2017.84 - - - - - - - - - 15.90 -
15189.12 560.03 9.77 1782 15190.45 no move 1.47 - - 2503.31 - - - 2182.56 - 117.46 - - 2013.97 - - - - - - - - - - -
15489.19 528.70 10.01 1812 15490.52 VBD 1.47 - - 2503.00 - - - 2182.56 - 117.46 - - 2011.28 - - - - - - - - - - -
15789.22 496.18 10.92 1842 15794.20 done 1.47 - - 2503.75 - 3.35 0.141 3473.75 385.4 117.46 - - 2013.44 - - - - - - - - - 15.98 -
15943.11 475.83 12.46 1873 15950.09 done 1.47 - - 2501.94 - 3.19 0.071 2180.12 -405.5 117.46 - - 2012.62 - - - - - - - - - 16.00 -
16249.31 441.42 11.56 1904 16255.11 done 1.47 - - 2502.69 - 3.91 0.156 735.75 -369.4 117.46 - - 2011.75 - - - - - - - - - 16.00 -
16294.33 435.68 13.25 1913 16300.00 done 1.47 - - 2503.62 - 3.53 0.065 2219.75 420.4 117.46 - - 2009.25 - - - - - - - - - 16.03 -
16599.36 401.47 10.93 1944 16604.03 done 1.47 - - 2503.38 - 3.27 0.139 3472.69 383.2 117.46 - - 2011.88 - - - - - - - - - 16.01 -
16699.38 389.93 10.91 1964 16703.90 done 1.47 - - 2503.69 - 3.17 0.068 2180.38 -407.7 117.46 - - 2012.00 - - - - - - - - - 16.04 -
17009.41 359.21 9.58 1996 17010.74 VBD 1.47 - - 2504.00 - - - 2181.50 - 117.46 - - 2011.03 - - - - - - - - - - -
17309.47 333.16 8.47 2026 17315.39 done 1.47 - - 2504.38 - 3.91 0.154 736.62 -369.5 117.46 - - 2009.81 - - - - - - - - - 16.03 -
17408.31 324.02 8.61 2046 17415.22 done 1.47 - - 2504.00 - 3.53 0.065 2223.00 421.1 117.46 - - 2010.09 - - - - - - - - - 16.04 -
17714.52 301.84 6.82 2077 17715.86 VBD 1.50 - - 2503.75 - - - 2222.44 - 117.46 - - 2010.06 - - - - - - - - - - -
18014.54 279.61 7.78 2107 18015.87 VBD 1.50 - - 2503.56 - - - 2222.44 - 117.46 - - 2010.09 - - - - - - - - - - -
18314.58 256.68 7.40 2137 18315.91 VBD 1.52 - - 2503.81 - - - 2222.38 - 117.46 - - 2010.38 - - - - - - - - - - -
18614.60 232.55 8.20 2167 18619.28 done 1.52 - - 2503.06 - 3.22 0.136 3471.75 388.0 117.46 - - 2010.53 - - - - - - - - - 16.06 -
18794.65 214.43 10.33 2203 18799.18 done 1.52 - - 2502.75 - 3.13 0.066 2178.94 -413.0 117.46 - - 2010.97 - - - - - - - - - 16.07 -
19104.69 187.92 8.48 2235 19106.02 VBD 1.52 - - 2503.81 - - - 2180.12 - 117.46 - - 2010.25 - - - - - - - - - - -
19404.74 163.17 7.99 2265 19406.08 VBD 1.52 - - 2504.50 - - - 2180.12 - 117.46 - - 2010.25 - - - - - - - - - - -
19704.81 138.77 8.17 2295 19709.65 done 1.52 - - 2504.69 - 3.36 0.130 3472.06 384.5 117.46 - - 2010.00 - - - - - - - - - 16.07 -
19824.86 127.75 8.96 2319 19829.39 done 1.52 - - 2504.00 - 3.14 0.063 2179.19 -411.7 117.46 - - 2009.66 - - - - - - - - - 16.08 -
20134.93 101.84 8.74 2351 20136.26 VBD 1.52 - - 2503.81 - - - 2179.88 - 117.46 - - 2010.38 - - - - - - - - - - -
20435.03 86.76 2.95 2408 20498.01 1.74 0.36 0.086 2571.50 188.0 3.35 0.129 3474.31 386.4 190.29 57.99 1.220 1721.81 -5.0 0.059 - - - - - - 16.06 15.79 13.24
20500.93 84.16 3.63 2421 20557.63 1.93 0.23 0.100 2614.56 187.2 3.20 0.060 2179.62 -404.6 253.33 50.41 1.170 1467.50 -5.0 0.060 - - - - - - 15.82 15.85 13.13
20735.92 53.19 12.99 2468 20741.81 done 1.93 - - 2614.25 - 3.85 0.146 736.75 -374.8 253.33 - - 1459.72 - - - - - - - - - 15.73 -
20966.06 35.11 5.05 2514 21007.44 done 2.06 - - 2614.44 - 3.57 0.059 2224.75 416.8 296.11 34.24 1.099 1292.91 -4.9 0.026 - - - - - - - 15.81 13.05
21186.06 25.73 4.22 2558 21237.81 2.22 0.41 0.082 2685.62 173.6 3.30 0.128 3473.19 378.3 350.75 44.72 1.083 1069.69 -5.0 0.020 - - - - - - 15.76 15.59 13.03
21386 end climb: SURFACE_DEPTH_REACHED
21387 begin surface coast
21396 end surface coast: CONTROL_FINISHED_OK
21396 begin surface
SM 0.85 - - - - 177.9 - 0.012 767.3 - 16.11 0.069 765.7 47.5 - 3.44 0.063 768.9 222.6 -0.307 - - 30.36 15.71 15.73 -