NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 103 * Raw log
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• Previous call tries 1 • 34.72 of 350.00 AH used of 24V (90.08% remains)
• Surface angle -66.6 deg, depth 0.70 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.99 (SM_CC=425)
• GPS1 time: 17 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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
6.46 - - - 79.59 VBD -1.25 - - 177.81 - - - 2120.25 - -77.86 72.64 0.005 2445.06 - - - - - - - - - - 15.64
79.92 3.63 -4.50 14 111.67 -1.25 13.48 0.265 1835.69 123.0 3.51 0.128 3475.75 386.2 -77.86 8.88 0.007 2816.28 41.8 -3.622 - - - - - - 15.61 15.63 15.68
159.41 23.91 -26.93 30 165.18 roll -1.25 - - 1835.88 - 3.51 0.069 2084.88 -396.3 -77.86 - - 2816.09 - - - - - - - - - 15.72 -
344.44 58.40 -14.41 67 350.19 roll -1.25 - - 1835.69 - 3.56 0.124 3472.56 389.8 -77.86 - - 2817.78 - - - - - - - - - 15.77 -
384.45 64.49 -14.86 75 390.18 roll -1.25 - - 1835.50 - 3.48 0.064 2082.62 -399.4 -77.86 - - 2818.19 - - - - - - - - - 15.80 -
569.47 89.60 -11.96 112 575.22 roll -1.25 - - 1834.00 - 3.53 0.123 3474.31 394.2 -77.86 - - 2818.25 - - - - - - - - - 15.83 -
763.36 116.78 -13.85 151 770.24 roll -1.25 - - 1834.12 - 3.45 0.066 2083.31 -403.2 -77.86 - - 2819.44 - - - - - - - - - 15.87 -
1069.53 150.59 -10.18 182 1075.28 roll -1.25 - - 1836.06 - 3.94 0.169 663.25 -360.4 -77.86 - - 2817.69 - - - - - - - - - 15.90 -
1094.54 153.40 -10.35 187 1099.11 roll -1.25 - - 1835.69 - 3.45 0.062 2120.62 422.4 -77.86 - - 2819.88 - - - - - - - - - 15.94 -
1404.56 187.13 -10.85 219 1405.88 no move -1.25 - - 1835.75 - - - 2120.56 - -77.86 - - 2819.00 - - - - - - - - - - -
1704.57 219.65 -11.48 249 1710.41 roll -1.25 - - 1834.81 - 4.01 0.168 663.25 -363.4 -77.86 - - 2818.88 - - - - - - - - - 15.97 -
1879.62 243.83 -13.89 284 1884.19 roll -1.25 - - 1836.25 - 3.46 0.067 2120.94 421.3 -77.86 - - 2816.19 - - - - - - - - - 16.01 -
2189.63 279.14 -11.21 316 2195.39 roll -1.25 - - 1835.06 - 4.02 0.167 662.62 -362.8 -77.86 - - 2819.25 - - - - - - - - - 15.99 -
2248.55 287.59 -15.83 328 2255.38 roll -1.25 - - 1835.62 - 3.46 0.066 2121.06 421.5 -77.86 - - 2818.44 - - - - - - - - - 16.02 -
2554.66 321.18 -10.50 359 2555.99 no move -1.25 - - 1835.81 - - - 2121.38 - -77.86 - - 2818.50 - - - - - - - - - - -
2854.68 351.88 -10.81 389 2856.01 no move -1.25 - - 1835.75 - - - 2121.00 - -77.86 - - 2818.81 - - - - - - - - - - -
3154.77 383.30 -10.53 419 3156.09 no move -1.25 - - 1836.19 - - - 2120.69 - -77.86 - - 2817.53 - - - - - - - - - - -
3454.74 414.08 -10.40 449 3460.51 roll -1.25 - - 1834.38 - 4.03 0.174 663.56 -361.6 -77.86 - - 2816.94 - - - - - - - - - 16.04 -
3503.62 419.95 -11.85 459 3510.52 roll -1.25 - - 1835.88 - 3.46 0.070 2118.38 420.5 -77.86 - - 2816.81 - - - - - - - - - 16.07 -
3809.81 450.42 -9.82 490 3815.57 roll -1.25 - - 1835.44 - 4.03 0.176 663.19 -361.1 -77.86 - - 2816.81 - - - - - - - - - 16.05 -
3884.91 459.52 -12.02 505 3889.50 roll -1.25 - - 1835.44 - 3.45 0.070 2118.69 421.9 -77.86 - - 2817.41 - - - - - - - - - 16.08 -
4194.90 491.54 -10.01 537 4196.23 no move -1.25 - - 1835.94 - - - 2118.06 - -77.86 - - 2816.22 - - - - - - - - - - -
4494.94 521.29 -9.47 567 4500.71 roll -1.25 - - 1835.75 - 4.03 0.179 663.38 -361.0 -77.86 - - 2813.44 - - - - - - - - - 16.06 -
4539.97 526.43 -12.58 576 4544.61 roll -1.25 - - 1835.88 - 3.43 0.073 2117.31 423.9 -77.86 - - 2815.53 - - - - - - - - - 16.09 -
4850.01 556.84 -10.14 608 4851.34 no move -1.25 - - 1835.81 - - - 2118.06 - -77.86 - - 2815.25 - - - - - - - - - - -
5150.05 587.34 -10.89 638 5151.38 no move -1.25 - - 1835.50 - - - 2117.56 - -77.86 - - 2813.16 - - - - - - - - - - -
5450.10 617.11 -10.16 668 5451.43 no move -1.25 - - 1835.94 - - - 2117.56 - -77.86 - - 2813.78 - - - - - - - - - - -
5750.16 645.15 -8.86 698 5755.95 roll -1.25 - - 1833.88 - 4.11 0.186 662.69 -354.0 -77.86 - - 2813.44 - - - - - - - - - 16.07 -
5819.17 652.13 -10.83 712 5825.92 roll -1.25 - - 1835.94 - 3.48 0.080 2117.94 418.2 -77.86 - - 2812.34 - - - - - - - - - 16.11 -
6125.21 675.80 -7.49 743 6130.97 roll -1.25 - - 1835.62 - 4.07 0.185 663.06 -357.5 -77.86 - - 2811.50 - - - - - - - - - 16.08 -
6174.15 680.73 -10.51 753 6180.95 roll -1.25 - - 1834.56 - 3.46 0.079 2117.62 420.4 -77.86 - - 2812.91 - - - - - - - - - 16.10 -
6480.24 703.66 -8.11 784 6486.00 roll -1.25 - - 1835.88 - 4.06 0.186 663.75 -358.1 -77.86 - - 2809.59 - - - - - - - - - 16.08 -
6535.27 708.52 -8.88 795 6539.91 roll -1.25 - - 1836.06 - 3.46 0.080 2117.44 420.1 -77.86 - - 2811.75 - - - - - - - - - 16.11 -
6845.28 732.75 -8.42 827 6846.61 no move -1.25 - - 1835.75 - - - 2117.12 - -77.86 - - 2809.31 - - - - - - - - - - -
7145.30 757.66 -8.64 857 7146.63 no move -1.25 - - 1835.56 - - - 2116.69 - -77.86 - - 2810.84 - - - - - - - - - - -
7445.32 784.36 -8.50 887 7446.64 no move -1.25 - - 1835.38 - - - 2116.44 - -77.86 - - 2810.44 - - - - - - - - - - -
7745.36 808.88 -7.34 917 7746.69 no move -1.25 - - 1835.56 - - - 2117.00 - -77.86 - - 2809.81 - - - - - - - - - - -
8045.37 835.07 -8.49 947 8050.02 roll -1.25 - - 1835.62 - 3.42 0.152 3472.31 396.3 -77.86 - - 2809.72 - - - - - - - - - 16.10 -
8085.37 839.50 -10.98 955 8090.16 roll -1.25 - - 1835.62 - 3.43 0.084 2087.19 -403.8 -77.86 - - 2809.16 - - - - - - - - - 16.12 -
8395.39 864.91 -8.43 987 8396.71 no move -1.25 - - 1836.00 - - - 2087.31 - -77.86 - - 2807.91 - - - - - - - - - - -
8695.41 889.54 -8.37 1017 8701.16 roll -1.25 - - 1833.44 - 4.02 0.198 663.25 -354.2 -77.86 - - 2808.38 - - - - - - - - - 16.08 -
8800.42 899.61 -9.90 1038 8805.09 roll -1.25 - - 1835.50 - 3.50 0.088 2116.19 415.1 -77.86 - - 2808.97 - - - - - - - - - 16.12 -
9110.45 923.09 -6.20 1070 9111.77 no move -1.25 - - 1835.69 - - - 2116.19 - -77.86 - - 2807.72 - - - - - - - - - - -
9410.46 944.71 -7.16 1100 9411.79 no move -1.25 - - 1835.75 - - - 2116.44 - -77.86 - - 2805.53 - - - - - - - - - - -
9710.49 966.20 -7.21 1130 9711.82 no move -1.25 - - 1835.69 - - - 2115.88 - -77.86 - - 2806.09 - - - - - - - - - - -
10010.52 989.29 -5.36 1160 10011.85 no move -1.25 - - 1835.62 - - - 2116.12 - -77.86 - - 2807.22 - - - - - - - - - - -
10021 end dive: TARGET_DEPTH_EXCEEDED
10021 begin apogee
10021.74 990.71 -8.14 1161 10088.60 -0.25 1.72 0.162 2079.50 141.8 0.06 0.342 2186.25 1168.8 - 63.94 2.288 2498.91 -4.8 0.349 - - - - - - 16.07 15.59 13.14
10090 end apogee: CONTROL_FINISHED_OK
10090 begin climb
10089.84 992.60 - 1167 10166.75 1.25 2.50 0.104 2444.38 146.0 - - 2185.25 - 77.86 72.60 2.229 2181.81 -4.4 0.325 - - - - - - 15.63 - 12.93
10463.01 959.29 8.91 1205 10467.50 done 1.25 - - 2444.38 - 3.39 0.148 3475.00 380.5 77.86 - - 2168.56 - - - - - - - - - 15.65 -
10516.67 952.62 11.69 1216 10523.66 done 1.25 - - 2446.50 - 3.26 0.075 2185.56 -395.5 77.86 - - 2168.78 - - - - - - - - - 15.69 -
10822.87 921.99 9.46 1247 10824.20 VBD 1.25 - - 2446.62 - - - 2185.50 - 77.86 - - 2166.16 - - - - - - - - - - -
11122.92 892.69 9.12 1277 11124.25 VBD 1.25 - - 2446.56 - - - 2185.50 - 77.86 - - 2163.41 - - - - - - - - - - -
11422.99 865.51 8.13 1307 11424.32 VBD 1.25 - - 2446.88 - - - 2185.50 - 77.86 - - 2162.31 - - - - - - - - - - -
11723.04 838.71 8.56 1337 11729.01 done 1.25 - - 2446.81 - 4.01 0.167 736.12 -361.4 77.86 - - 2163.44 - - - - - - - - - 15.93 -
11791.98 832.02 9.08 1351 11798.82 done 1.25 - - 2446.19 - 3.55 0.071 2216.88 417.1 77.86 - - 2160.88 - - - - - - - - - 15.97 -
12098.12 803.51 9.92 1382 12099.45 VBD 1.25 - - 2447.06 - - - 2216.25 - 77.86 - - 2160.91 - - - - - - - - - - -
12398.16 776.34 9.22 1412 12402.84 done 1.25 - - 2447.12 - 3.18 0.146 3474.62 395.7 77.86 - - 2161.22 - - - - - - - - - 15.99 -
12498.22 766.32 10.18 1432 12502.74 done 1.25 - - 2447.00 - 3.17 0.072 2182.31 -407.7 77.86 - - 2161.31 - - - - - - - - - 16.01 -
12808.24 740.40 7.43 1464 12812.78 done 1.27 - - 2445.88 - 3.32 0.143 3472.31 388.6 77.86 - - 2161.84 - - - - - - - - - 16.01 -
12962.11 725.85 9.24 1495 12968.96 done 1.27 - - 2446.19 - 3.15 0.072 2182.19 -409.6 77.86 - - 2161.19 - - - - - - - - - 16.03 -
13268.33 700.26 7.09 1526 13269.67 VBD 1.30 - - 2446.81 - - - 2182.56 - 77.86 - - 2159.47 - - - - - - - - - - -
13568.34 676.32 8.70 1556 13574.29 done 1.30 - - 2447.00 - 3.91 0.161 736.31 -369.9 77.86 - - 2159.38 - - - - - - - - - 16.03 -
13723.39 660.92 10.24 1587 13727.96 done 1.30 - - 2445.25 - 3.47 0.069 2220.62 427.8 77.86 - - 2157.75 - - - - - - - - - 16.06 -
14033.41 635.23 7.59 1619 14034.74 VBD 1.30 - - 2447.50 - - - 2221.62 - 77.86 - - 2158.59 - - - - - - - - - - -
14333.44 612.64 7.35 1649 14338.09 done 1.32 - - 2445.44 - 3.18 0.143 3474.31 393.9 77.86 - - 2160.72 - - - - - - - - - 16.06 -
14433.46 604.34 8.11 1669 14437.98 done 1.32 - - 2446.31 - 3.17 0.071 2181.00 -408.0 77.86 - - 2160.59 - - - - - - - - - 16.08 -
14743.49 584.41 5.73 1701 14778.38 1.42 0.23 0.105 2492.69 201.7 3.96 0.158 735.94 -364.9 111.00 27.36 1.780 2046.00 -4.2 0.230 - - - - - - 16.07 15.85 13.18
14833.50 576.30 11.21 1719 14839.13 roll 1.42 - - 2494.31 - 3.56 0.068 2219.56 416.7 111.00 - - 2041.38 - - - - - - - - - 15.93 -
15138.52 546.05 10.04 1750 15143.13 roll 1.42 - - 2492.38 - 3.22 0.140 3472.19 389.0 111.00 - - 2041.38 - - - - - - - - - 15.95 -
15199.24 538.62 12.81 1762 15204.20 roll 1.42 - - 2492.69 - 3.18 0.068 2180.81 -406.1 111.00 - - 2040.09 - - - - - - - - - 15.97 -
15503.56 504.93 10.85 1793 15504.89 no move 1.42 - - 2494.06 - - - 2181.69 - 111.00 - - 2038.38 - - - - - - - - - - -
15803.59 474.33 10.14 1823 15804.92 VBD 1.42 - - 2493.88 - - - 2182.25 - 111.00 - - 2039.59 - - - - - - - - - - -
16103.60 444.65 9.26 1853 16108.30 done 1.42 - - 2494.12 - 3.34 0.139 3474.94 387.0 111.00 - - 2040.22 - - - - - - - - - 16.02 -
16223.62 431.83 10.48 1877 16228.16 done 1.42 - - 2494.31 - 3.19 0.070 2182.38 -405.2 111.00 - - 2038.94 - - - - - - - - - 16.04 -
16533.67 403.52 8.32 1909 16535.00 VBD 1.42 - - 2494.44 - - - 2182.62 - 111.00 - - 2038.06 - - - - - - - - - - -
16833.69 378.92 7.84 1939 16838.24 done 1.42 - - 2494.25 - 3.31 0.139 3475.75 390.7 111.00 - - 2037.81 - - - - - - - - - 16.03 -
16973.71 366.12 9.23 1967 16978.38 done 1.42 - - 2493.25 - 3.12 0.067 2180.69 -415.1 111.00 - - 2039.12 - - - - - - - - - 16.05 -
17283.77 342.19 7.96 1999 17285.10 VBD 1.42 - - 2494.06 - - - 2180.62 - 111.00 - - 2038.22 - - - - - - - - - - -
17583.81 318.78 8.12 2029 17588.36 done 1.42 - - 2493.81 - 3.26 0.135 3476.44 397.5 111.00 - - 2037.84 - - - - - - - - - 16.05 -
17783.91 301.95 8.54 2069 17788.44 done 1.42 - - 2494.25 - 3.13 0.066 2180.19 -414.1 111.00 - - 2038.28 - - - - - - - - - 16.06 -
18093.96 277.10 8.36 2101 18099.73 done 1.42 - - 2494.06 - 3.76 0.152 735.44 -384.2 111.00 - - 2035.22 - - - - - - - - - 16.05 -
18259.03 260.74 10.27 2134 18263.60 done 1.42 - - 2492.25 - 3.46 0.064 2222.31 429.7 111.00 - - 2034.38 - - - - - - - - - 16.07 -
18569.11 236.44 7.44 2166 18570.44 VBD 1.44 - - 2494.00 - - - 2223.25 - 111.00 - - 2036.25 - - - - - - - - - - -
18869.14 212.22 8.40 2196 18870.47 VBD 1.44 - - 2494.06 - - - 2223.69 - 111.00 - - 2035.72 - - - - - - - - - - -
19169.16 188.39 7.93 2226 19170.49 VBD 1.44 - - 2494.00 - - - 2223.50 - 111.00 - - 2036.47 - - - - - - - - - - -
19469.21 165.09 8.14 2256 19470.54 VBD 1.44 - - 2494.38 - - - 2223.12 - 111.00 - - 2036.97 - - - - - - - - - - -
19769.23 141.28 7.65 2286 19770.56 VBD 1.44 - - 2494.12 - - - 2223.62 - 111.00 - - 2036.66 - - - - - - - - - - -
20069.28 120.39 6.45 2316 20075.03 done 1.49 - - 2493.94 - 3.80 0.142 735.94 -391.5 111.00 - - 2037.56 - - - - - - - - - 16.06 -
20148.19 114.48 7.92 2332 20155.02 done 1.49 - - 2494.50 - 3.45 0.062 2223.88 431.3 111.00 - - 2036.69 - - - - - - - - - 16.08 -
20454.33 99.85 5.03 2363 20491.14 1.62 0.22 0.093 2540.62 209.6 - - 2223.56 - 154.12 35.72 1.223 1869.41 -4.7 0.064 - - - - - - 16.07 - 13.24
20669.34 82.35 8.75 2406 20675.19 roll 1.62 - - 2540.94 - 4.02 0.140 736.62 -369.9 154.12 - - 1864.62 - - - - - - - - - 15.92 -
20899.41 66.90 5.14 2452 20940.97 done 1.74 - - 2540.94 - 3.48 0.062 2227.12 428.3 195.65 34.21 1.172 1702.31 -4.7 0.045 - - - - - - - 15.97 13.09
21119.44 53.68 7.33 2496 21125.33 roll back 1.76 0.17 0.103 2576.19 207.4 4.05 0.140 736.75 -368.0 195.65 - - 1696.00 - - - - - - - - 15.88 15.85 -
21209.47 47.29 6.48 2514 21215.20 roll 1.81 - - 2576.75 - 3.51 0.059 2226.25 424.4 195.65 - - 1694.94 - - - - - - - - - 15.89 -
21394.51 42.66 2.23 2551 21467.83 2.06 0.40 0.082 2646.50 174.4 4.11 0.140 736.19 -362.5 278.72 66.49 1.148 1362.06 -5.0 0.031 - - - - - - 15.90 15.64 13.15
21470.59 39.59 4.09 2566 21522.52 2.23 0.22 0.098 2687.44 186.1 3.57 0.056 2224.56 416.9 335.18 45.45 1.095 1132.66 -5.0 0.030 - - - - - - 15.65 15.68 12.99
21700.62 16.41 12.54 2612 21706.43 roll 2.23 - - 2687.69 - 3.22 0.127 3476.19 388.7 335.18 - - 1127.62 - - - - - - - - - 15.67 -
21806 end climb: SURFACE_DEPTH_REACHED
21806 begin surface coast
21821 end surface coast: CONTROL_FINISHED_OK
21821 begin surface
SM 0.74 - - - - 177.8 2.08 0.276 767.5 369.0 15.99 0.069 768.6 48.1 - 3.44 0.064 766.3 221.8 -0.262 - - 12.82 15.72 15.75 -