NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 105 * Raw log
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• Previous call tries 1 • 35.36 of 350.00 AH used of 24V (89.90% remains)
• Surface angle -63.5 deg, depth 0.73 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.97 (SM_CC=425)
• GPS1 time: 19 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
6.45 - - - 77.45 VBD -1.25 - - 176.88 - - - 2115.25 - -77.86 70.47 0.005 2403.69 - - - - - - - - - - 15.66
77.77 3.62 -4.50 9 109.58 -1.25 13.56 0.266 1834.06 122.2 3.45 0.132 3475.44 394.3 -77.86 9.88 0.007 2818.44 42.0 -3.596 - - - - - - 15.57 15.63 15.69
187.36 31.93 -26.71 31 193.07 roll -1.25 - - 1835.75 - 3.43 0.069 2084.38 -405.6 -77.86 - - 2817.97 - - - - - - - - - 15.72 -
372.36 64.43 -14.24 68 378.19 roll -1.25 - - 1835.44 - 3.96 0.167 663.12 -358.9 -77.86 - - 2817.47 - - - - - - - - - 15.73 -
502.38 84.42 -14.04 94 508.12 roll -1.25 - - 1835.56 - 3.43 0.062 2120.44 424.9 -77.86 - - 2817.78 - - - - - - - - - 15.80 -
687.41 105.08 -9.82 126 688.74 no move -1.25 - - 1835.69 - - - 2120.44 - -77.86 - - 2817.88 - - - - - - - - - - -
987.43 135.14 -9.57 156 988.76 no move -1.25 - - 1835.88 - - - 2120.25 - -77.86 - - 2819.28 - - - - - - - - - - -
1287.45 166.30 -11.20 186 1292.09 roll -1.25 - - 1835.88 - 3.37 0.128 3475.56 402.2 -77.86 - - 2820.03 - - - - - - - - - 15.92 -
1367.48 176.19 -12.45 202 1372.12 roll -1.25 - - 1835.88 - 3.35 0.065 2081.19 -416.2 -77.86 - - 2819.50 - - - - - - - - - 15.97 -
1677.50 212.48 -11.29 234 1678.82 no move -1.25 - - 1836.00 - - - 2081.50 - -77.86 - - 2819.25 - - - - - - - - - - -
1977.51 246.15 -10.80 264 1983.28 roll -1.25 - - 1834.81 - 3.94 0.169 663.88 -359.8 -77.86 - - 2819.16 - - - - - - - - - 15.98 -
2046.44 255.43 -13.52 278 2053.25 roll -1.25 - - 1835.31 - 3.38 0.066 2121.62 431.3 -77.86 - - 2818.81 - - - - - - - - - 16.02 -
2352.55 289.10 -11.14 309 2353.88 no move -1.25 - - 1835.75 - - - 2121.25 - -77.86 - - 2819.19 - - - - - - - - - - -
2652.57 320.11 -10.30 339 2658.33 roll -1.25 - - 1835.94 - 3.99 0.168 663.19 -365.4 -77.86 - - 2817.59 - - - - - - - - - 16.02 -
2737.59 330.83 -13.05 356 2742.18 roll -1.25 - - 1834.50 - 3.45 0.069 2118.19 421.7 -77.86 - - 2820.28 - - - - - - - - - 16.04 -
3047.61 363.29 -9.99 388 3048.94 no move -1.25 - - 1835.88 - - - 2118.69 - -77.86 - - 2818.28 - - - - - - - - - - -
3347.69 394.36 -9.62 418 3349.02 no move -1.25 - - 1835.38 - - - 2119.06 - -77.86 - - 2817.91 - - - - - - - - - - -
3647.64 423.93 -9.38 448 3648.97 no move -1.25 - - 1836.00 - - - 2119.06 - -77.86 - - 2817.97 - - - - - - - - - - -
3947.67 452.97 -9.86 478 3953.43 roll -1.25 - - 1834.62 - 4.03 0.176 662.31 -361.5 -77.86 - - 2817.84 - - - - - - - - - 16.05 -
3982.69 456.78 -10.86 485 3987.34 roll -1.25 - - 1835.94 - 3.43 0.073 2120.38 425.1 -77.86 - - 2818.03 - - - - - - - - - 16.04 -
4292.70 486.12 -9.14 517 4294.03 no move -1.25 - - 1835.75 - - - 2120.25 - -77.86 - - 2816.62 - - - - - - - - - - -
4592.74 514.17 -9.79 547 4594.07 no move -1.25 - - 1835.94 - - - 2120.50 - -77.86 - - 2816.09 - - - - - - - - - - -
4892.78 539.91 -8.14 577 4894.11 no move -1.25 - - 1835.69 - - - 2120.44 - -77.86 - - 2815.53 - - - - - - - - - - -
5192.84 564.57 -8.07 607 5198.61 roll -1.25 - - 1835.75 - 4.04 0.181 663.62 -360.6 -77.86 - - 2812.94 - - - - - - - - - 16.07 -
5241.72 569.46 -9.75 617 5248.60 roll -1.25 - - 1836.00 - 3.43 0.075 2118.31 424.1 -77.86 - - 2815.94 - - - - - - - - - 16.11 -
5547.91 596.09 -8.27 648 5553.67 roll -1.25 - - 1834.62 - 4.05 0.184 663.31 -359.3 -77.86 - - 2814.44 - - - - - - - - - 16.07 -
5596.86 601.10 -10.31 658 5603.66 roll -1.25 - - 1835.62 - 3.45 0.076 2118.62 421.8 -77.86 - - 2815.16 - - - - - - - - - 16.10 -
5902.98 629.33 -8.33 689 5904.31 no move -1.25 - - 1835.56 - - - 2118.62 - -77.86 - - 2813.91 - - - - - - - - - - -
6203.02 659.25 -9.99 719 6207.67 roll -1.25 - - 1835.25 - 3.43 0.143 3472.88 394.8 -77.86 - - 2814.12 - - - - - - - - - 16.08 -
6286.99 667.82 -9.87 736 6293.77 roll -1.25 - - 1835.25 - 3.39 0.079 2085.75 -409.2 -77.86 - - 2813.34 - - - - - - - - - 16.10 -
6593.10 695.21 -8.56 767 6594.43 no move -1.25 - - 1835.50 - - - 2085.19 - -77.86 - - 2812.81 - - - - - - - - - - -
6893.14 720.29 -8.80 797 6894.47 no move -1.25 - - 1835.50 - - - 2085.88 - -77.86 - - 2812.91 - - - - - - - - - - -
7193.19 743.98 -7.87 827 7198.94 roll -1.25 - - 1835.50 - 3.98 0.194 663.00 -357.5 -77.86 - - 2811.34 - - - - - - - - - 16.07 -
7238.22 748.55 -9.75 836 7242.87 roll -1.25 - - 1835.06 - 3.45 0.083 2118.62 421.9 -77.86 - - 2811.91 - - - - - - - - - 16.11 -
7548.24 770.52 -6.58 868 7549.57 no move -1.25 - - 1835.50 - - - 2118.38 - -77.86 - - 2809.91 - - - - - - - - - - -
7848.26 790.14 -6.49 898 7849.59 no move -1.25 - - 1835.12 - - - 2119.31 - -77.86 - - 2809.34 - - - - - - - - - - -
8148.29 810.70 -6.19 928 8149.62 no move -1.25 - - 1835.81 - - - 2118.50 - -77.86 - - 2810.22 - - - - - - - - - - -
8448.30 834.76 -8.78 958 8449.63 no move -1.25 - - 1836.06 - - - 2118.88 - -77.86 - - 2810.22 - - - - - - - - - - -
8748.34 858.34 -8.85 988 8749.67 no move -1.25 - - 1835.62 - - - 2118.19 - -77.86 - - 2809.72 - - - - - - - - - - -
9048.37 882.35 -8.11 1018 9053.05 roll -1.25 - - 1835.44 - 3.41 0.149 3475.25 398.0 -77.86 - - 2808.72 - - - - - - - - - 16.09 -
9092.31 886.30 -8.35 1027 9099.27 roll -1.25 - - 1835.38 - 3.44 0.084 2086.81 -403.6 -77.86 - - 2809.19 - - - - - - - - - 16.11 -
9398.40 909.69 -8.03 1058 9399.73 no move -1.25 - - 1835.19 - - - 2086.75 - -77.86 - - 2809.16 - - - - - - - - - - -
9698.43 934.14 -7.75 1088 9699.76 no move -1.25 - - 1835.69 - - - 2086.44 - -77.86 - - 2808.28 - - - - - - - - - - -
9998.46 959.01 -7.90 1118 9999.79 no move -1.25 - - 1835.38 - - - 2086.44 - -77.86 - - 2806.44 - - - - - - - - - - -
10298.48 982.36 -7.06 1148 10299.81 no move -1.25 - - 1835.62 - - - 2087.25 - -77.86 - - 2806.25 - - - - - - - - - - -
10409 end dive: TARGET_DEPTH_EXCEEDED
10409 begin apogee
10409.73 990.35 -7.17 1159 10480.27 -0.25 1.74 0.163 2080.25 140.6 0.07 0.327 2186.31 1415.1 - 64.67 2.282 2499.69 -4.7 0.341 - - - - - - 16.07 15.61 13.20
10484 end apogee: CONTROL_FINISHED_OK
10484 begin climb
10483.48 991.69 - 1166 10565.97 1.25 2.53 0.103 2448.12 145.4 3.45 0.148 3472.38 372.8 77.86 72.49 2.229 2180.69 -4.4 0.324 - - - - - - 15.64 15.22 12.94
10603.75 982.94 10.39 1189 10608.45 roll 1.25 - - 2447.25 - 3.37 0.072 2185.94 -381.7 77.86 - - 2176.59 - - - - - - - - - 15.40 -
10913.80 951.80 9.59 1221 10915.13 VBD 1.25 - - 2447.25 - - - 2186.44 - 77.86 - - 2169.50 - - - - - - - - - - -
11213.86 922.23 8.55 1251 11219.69 done 1.25 - - 2446.06 - 4.07 0.166 737.56 -356.0 77.86 - - 2167.03 - - - - - - - - - 15.79 -
11318.90 910.08 10.30 1272 11324.51 done 1.25 - - 2447.38 - 3.53 0.074 2216.94 419.1 77.86 - - 2164.00 - - - - - - - - - 15.83 -
11623.98 880.31 9.12 1303 11625.31 VBD 1.25 - - 2447.62 - - - 2217.38 - 77.86 - - 2162.66 - - - - - - - - - - -
11924.03 854.00 7.89 1333 11928.72 done 1.25 - - 2447.69 - 3.21 0.147 3473.19 391.2 77.86 - - 2163.84 - - - - - - - - - 15.92 -
11984.15 847.32 12.40 1345 11988.68 done 1.25 - - 2447.25 - 3.21 0.072 2183.00 -401.9 77.86 - - 2163.31 - - - - - - - - - 15.94 -
12294.12 818.70 8.22 1377 12295.45 VBD 1.25 - - 2447.44 - - - 2183.00 - 77.86 - - 2160.88 - - - - - - - - - - -
12594.18 790.87 8.46 1407 12595.52 VBD 1.25 - - 2447.69 - - - 2183.19 - 77.86 - - 2160.97 - - - - - - - - - - -
12894.23 762.50 8.52 1437 12900.04 done 1.25 - - 2448.38 - 3.97 0.163 737.44 -364.2 77.86 - - 2160.75 - - - - - - - - - 15.99 -
13033.12 749.66 9.76 1465 13040.03 done 1.25 - - 2447.00 - 3.54 0.072 2218.06 418.3 77.86 - - 2160.47 - - - - - - - - - 16.01 -
13339.32 725.52 7.79 1496 13340.66 VBD 1.25 - - 2448.06 - - - 2218.44 - 77.86 - - 2158.69 - - - - - - - - - - -
13639.37 702.11 7.37 1526 13640.70 VBD 1.27 - - 2447.50 - - - 2218.38 - 77.86 - - 2159.75 - - - - - - - - - - -
13939.40 680.45 7.56 1556 13945.23 done 1.27 - - 2447.62 - 4.03 0.159 736.12 -367.8 77.86 - - 2158.19 - - - - - - - - - 16.03 -
13998.32 675.09 8.78 1568 14005.16 done 1.27 - - 2447.12 - 3.51 0.068 2218.75 422.4 77.86 - - 2160.62 - - - - - - - - - 16.05 -
14304.47 653.78 6.87 1599 14305.80 VBD 1.31 - - 2447.19 - - - 2218.75 - 77.86 - - 2158.00 - - - - - - - - - - -
14604.51 633.87 6.71 1629 14605.85 VBD 1.35 - - 2447.56 - - - 2218.31 - 77.86 - - 2158.75 - - - - - - - - - - -
14904.53 617.02 5.61 1659 14940.03 1.45 0.28 0.093 2500.94 190.6 4.07 0.157 738.12 -363.7 112.71 28.86 1.818 2038.22 -4.2 0.235 - - - - - - 16.06 15.85 13.09
14987.79 609.41 11.07 1673 14993.39 roll 1.45 - - 2499.94 - 3.57 0.069 2219.44 414.9 112.71 - - 2036.12 - - - - - - - - - 15.91 -
15292.87 580.03 10.11 1704 15298.62 roll 1.45 - - 2500.88 - 4.04 0.156 736.75 -367.0 112.71 - - 2032.31 - - - - - - - - - 15.94 -
15371.72 570.12 13.44 1720 15378.65 done 1.45 - - 2501.31 - 3.52 0.067 2219.94 421.4 112.71 - - 2033.31 - - - - - - - - - 15.97 -
15677.97 538.82 10.37 1751 15679.30 VBD 1.45 - - 2501.88 - - - 2219.50 - 112.71 - - 2031.03 - - - - - - - - - - -
15978.01 507.65 9.70 1781 15982.67 done 1.45 - - 2500.06 - 3.20 0.139 3473.12 391.8 112.71 - - 2033.41 - - - - - - - - - 15.99 -
16048.05 499.50 11.26 1795 16052.72 done 1.45 - - 2501.56 - 3.15 0.068 2180.50 -410.4 112.71 - - 2031.53 - - - - - - - - - 16.02 -
16358.11 469.35 9.88 1827 16359.44 VBD 1.45 - - 2501.62 - - - 2180.69 - 112.71 - - 2029.22 - - - - - - - - - - -
16658.16 440.46 9.64 1857 16663.97 done 1.45 - - 2501.75 - 3.91 0.153 735.44 -369.6 112.71 - - 2029.09 - - - - - - - - - 16.02 -
16723.25 433.19 11.39 1870 16728.85 done 1.45 - - 2501.12 - 3.49 0.063 2221.31 425.8 112.71 - - 2029.03 - - - - - - - - - 16.04 -
17028.24 407.93 8.02 1901 17029.57 VBD 1.45 - - 2501.75 - - - 2221.62 - 112.71 - - 2028.19 - - - - - - - - - - -
17328.27 383.04 8.37 1931 17329.60 VBD 1.45 - - 2501.69 - - - 2221.38 - 112.71 - - 2030.12 - - - - - - - - - - -
17628.30 358.04 8.31 1961 17629.64 VBD 1.45 - - 2501.94 - - - 2221.19 - 112.71 - - 2028.69 - - - - - - - - - - -
17928.37 331.11 8.53 1991 17929.70 VBD 1.45 - - 2501.50 - - - 2222.06 - 112.71 - - 2029.72 - - - - - - - - - - -
18228.37 304.57 8.07 2021 18234.17 done 1.45 - - 2501.31 - 3.99 0.148 734.38 -372.9 112.71 - - 2027.84 - - - - - - - - - 16.04 -
18457.26 281.39 9.90 2067 18464.17 done 1.45 - - 2501.25 - 3.49 0.066 2223.44 426.7 112.71 - - 2029.38 - - - - - - - - - 16.08 -
18763.44 256.85 8.16 2098 18764.77 VBD 1.45 - - 2501.31 - - - 2223.44 - 112.71 - - 2029.47 - - - - - - - - - - -
19063.48 233.70 7.35 2128 19068.13 done 1.47 - - 2501.62 - 3.15 0.134 3472.94 396.7 112.71 - - 2028.84 - - - - - - - - - 16.07 -
19147.33 226.19 9.09 2145 19154.16 done 1.47 - - 2501.50 - 3.12 0.063 2179.50 -414.6 112.71 - - 2029.38 - - - - - - - - - 16.08 -
19453.53 202.06 7.80 2176 19454.86 VBD 1.47 - - 2501.50 - - - 2180.19 - 112.71 - - 2029.25 - - - - - - - - - - -
19753.57 179.11 7.23 2206 19758.24 done 1.50 - - 2502.00 - 3.27 0.130 3474.62 395.9 112.71 - - 2029.00 - - - - - - - - - 16.07 -
19823.58 172.81 8.97 2220 19828.10 done 1.50 - - 2501.25 - 3.12 0.062 2178.00 -415.6 112.71 - - 2029.28 - - - - - - - - - 16.08 -
20133.60 148.81 8.00 2252 20139.39 done 1.50 - - 2501.75 - 3.85 0.146 735.31 -374.7 112.71 - - 2029.56 - - - - - - - - - 16.06 -
20258.66 138.67 7.71 2277 20264.35 done 1.50 - - 2500.31 - 3.48 0.061 2224.12 427.8 112.71 - - 2029.16 - - - - - - - - - 16.07 -
20563.69 119.03 6.07 2308 20569.48 done 1.56 - - 2501.38 - 3.93 0.138 735.81 -378.7 112.71 - - 2027.88 - - - - - - - - - 16.06 -
20678.71 110.02 7.13 2331 20683.27 done 1.59 - - 2501.38 - 3.48 0.059 2218.50 426.1 112.71 - - 2030.38 - - - - - - - - - 16.07 -
20983.80 97.16 3.31 2372 21045.81 1.79 0.45 0.082 2581.06 177.1 4.00 0.140 735.69 -370.7 180.32 54.42 1.230 1763.34 -4.9 0.064 - - - - - - 16.06 15.80 13.20
21233.92 74.75 9.33 2422 21239.58 roll 1.79 - - 2581.31 - 3.50 0.061 2224.75 425.4 180.32 - - 1756.38 - - - - - - - - - 15.90 -
21418.95 65.00 4.65 2459 21465.65 1.93 0.17 0.105 2616.00 204.1 3.19 0.129 3474.62 391.8 228.84 39.26 1.159 1564.38 -4.9 0.045 - - - - - - 15.91 15.72 13.08
21689.00 36.93 9.71 2513 21694.67 roll 1.93 - - 2615.81 - 3.16 0.060 2178.06 -410.3 228.84 - - 1560.06 - - - - - - - - - 15.85 -
21874.07 32.75 1.48 2550 21956.40 2.22 0.39 0.081 2684.25 175.5 3.34 0.123 3475.75 388.5 322.68 74.81 1.124 1184.09 -5.0 0.024 - - - - - - 15.87 15.57 13.03
22179.20 4.95 12.15 2611 22184.89 roll 2.22 - - 2684.75 - 3.20 0.061 2179.06 -405.2 322.68 - - 1179.22 - - - - - - - - - 15.75 -
22210 end climb: SURFACE_DEPTH_REACHED
22210 begin surface coast
22225 end surface coast: CONTROL_FINISHED_OK
22225 begin surface
SM 0.93 - - - - 177.6 - 0.014 767.5 - 16.14 0.077 764.0 47.3 - 0.22 0.117 771.1 3490.5 -2.836 - - 30.36 15.72 15.75 -