NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 108 * Raw log
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• Previous call tries 1 • 36.30 of 575.00 AH used of 24V (93.69% remains)
• Surface angle -64.9 deg, depth 0.73 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.02 (SM_CC=425)
• GPS1 time: 34 s
• GPS2 time: 2 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
6.45 - - - 74.48 VBD -1.25 - - 179.06 - - - 2116.69 - -77.86 67.50 0.005 2311.69 - - - - - - - - - - 15.65
74.75 3.35 -4.26 13 111.28 -1.25 13.65 0.273 1834.69 121.3 3.56 0.130 3472.25 380.8 -77.86 12.55 0.007 2817.56 40.3 -3.228 - - - - - - 15.57 15.62 15.68
209.04 36.04 -20.27 40 214.81 roll -1.25 - - 1835.19 - 3.47 0.066 2084.38 -400.0 -77.86 - - 2817.91 - - - - - - - - - 15.75 -
394.12 62.53 -10.95 77 395.45 no move -1.25 - - 1835.81 - - - 2083.38 - -77.86 - - 2817.38 - - - - - - - - - - -
574.17 83.95 -11.31 113 579.93 roll -1.25 - - 1835.62 - 3.52 0.124 3475.94 395.6 -77.86 - - 2818.16 - - - - - - - - - 15.83 -
778.15 108.52 -11.82 154 784.94 roll -1.25 - - 1835.81 - 3.37 0.066 2083.81 -413.1 -77.86 - - 2818.38 - - - - - - - - - 15.88 -
1084.24 137.76 -9.47 185 1085.57 no move -1.25 - - 1835.81 - - - 2083.94 - -77.86 - - 2819.12 - - - - - - - - - - -
1384.26 171.58 -12.20 215 1389.99 roll -1.25 - - 1835.56 - 3.90 0.169 663.44 -364.2 -77.86 - - 2817.16 - - - - - - - - - 15.94 -
1439.29 179.10 -14.22 226 1443.92 roll -1.25 - - 1835.19 - 3.40 0.065 2120.31 428.5 -77.86 - - 2819.00 - - - - - - - - - 15.96 -
1749.30 214.42 -10.67 258 1750.62 no move -1.25 - - 1835.69 - - - 2120.94 - -77.86 - - 2818.94 - - - - - - - - - - -
2049.32 244.99 -9.89 288 2050.64 no move -1.25 - - 1836.06 - - - 2120.50 - -77.86 - - 2819.09 - - - - - - - - - - -
2349.33 277.20 -10.64 318 2350.66 no move -1.25 - - 1835.62 - - - 2121.06 - -77.86 - - 2819.00 - - - - - - - - - - -
2649.36 308.61 -10.04 348 2650.69 no move -1.25 - - 1836.00 - - - 2120.81 - -77.86 - - 2818.97 - - - - - - - - - - -
2949.38 338.86 -10.31 378 2950.71 no move -1.25 - - 1835.44 - - - 2120.50 - -77.86 - - 2818.94 - - - - - - - - - - -
3249.40 371.12 -10.16 408 3255.15 roll -1.25 - - 1835.94 - 3.98 0.173 663.25 -366.1 -77.86 - - 2818.59 - - - - - - - - - 16.03 -
3324.49 380.82 -13.12 423 3330.01 roll -1.25 - - 1835.69 - 3.42 0.070 2118.88 425.6 -77.86 - - 2816.06 - - - - - - - - - 16.07 -
3629.44 413.12 -11.24 454 3630.77 no move -1.25 - - 1835.69 - - - 2119.00 - -77.86 - - 2818.44 - - - - - - - - - - -
3929.46 445.83 -11.05 484 3930.79 no move -1.25 - - 1835.56 - - - 2118.81 - -77.86 - - 2817.34 - - - - - - - - - - -
4229.48 478.15 -11.32 514 4235.24 roll -1.25 - - 1834.00 - 4.02 0.176 664.56 -361.8 -77.86 - - 2818.03 - - - - - - - - - 16.05 -
4354.51 493.41 -11.77 539 4359.16 roll -1.25 - - 1835.50 - 3.46 0.074 2118.31 420.2 -77.86 - - 2818.34 - - - - - - - - - 16.08 -
4664.53 525.45 -10.12 571 4670.32 roll -1.25 - - 1835.44 - 4.03 0.177 664.62 -360.7 -77.86 - - 2814.28 - - - - - - - - - 16.06 -
4753.39 535.60 -11.13 589 4760.37 roll -1.25 - - 1835.50 - 3.46 0.074 2117.12 419.8 -77.86 - - 2816.16 - - - - - - - - - 16.09 -
5059.57 565.84 -10.19 620 5060.90 no move -1.25 - - 1835.44 - - - 2116.75 - -77.86 - - 2816.25 - - - - - - - - - - -
5359.59 594.70 -9.75 650 5365.36 roll -1.25 - - 1835.94 - 4.05 0.180 663.38 -358.9 -77.86 - - 2814.53 - - - - - - - - - 16.07 -
5448.54 605.07 -11.99 668 5455.35 roll -1.25 - - 1835.75 - 3.49 0.074 2118.50 416.9 -77.86 - - 2815.62 - - - - - - - - - 16.10 -
5754.63 633.00 -8.76 699 5755.96 no move -1.25 - - 1835.50 - - - 2118.50 - -77.86 - - 2815.47 - - - - - - - - - - -
6054.65 659.08 -9.48 729 6055.98 no move -1.25 - - 1835.94 - - - 2118.38 - -77.86 - - 2813.41 - - - - - - - - - - -
6354.66 685.11 -8.73 759 6360.43 roll -1.25 - - 1835.75 - 4.09 0.185 663.19 -355.8 -77.86 - - 2812.09 - - - - - - - - - 16.08 -
6419.93 691.96 -10.65 772 6425.37 roll -1.25 - - 1836.19 - 3.55 0.080 2118.38 409.9 -77.86 - - 2813.91 - - - - - - - - - 16.11 -
6724.75 720.56 -9.16 803 6726.08 no move -1.25 - - 1835.50 - - - 2117.94 - -77.86 - - 2813.47 - - - - - - - - - - -
7024.78 748.27 -8.86 833 7026.11 no move -1.25 - - 1835.88 - - - 2117.94 - -77.86 - - 2811.62 - - - - - - - - - - -
7324.83 776.07 -8.79 863 7326.16 no move -1.25 - - 1835.62 - - - 2117.50 - -77.86 - - 2812.94 - - - - - - - - - - -
7624.88 802.07 -9.17 893 7626.21 no move -1.25 - - 1836.06 - - - 2117.88 - -77.86 - - 2810.09 - - - - - - - - - - -
7924.93 823.82 -7.46 923 7926.26 no move -1.25 - - 1835.75 - - - 2117.88 - -77.86 - - 2810.25 - - - - - - - - - - -
8224.98 846.14 -7.82 953 8226.31 no move -1.25 - - 1835.50 - - - 2118.12 - -77.86 - - 2811.34 - - - - - - - - - - -
8525.03 868.71 -7.74 983 8526.35 no move -1.25 - - 1835.38 - - - 2117.88 - -77.86 - - 2809.06 - - - - - - - - - - -
8825.07 890.90 -7.37 1013 8826.40 no move -1.25 - - 1835.44 - - - 2117.94 - -77.86 - - 2810.97 - - - - - - - - - - -
9125.12 914.01 -8.19 1043 9126.45 no move -1.25 - - 1835.44 - - - 2117.94 - -77.86 - - 2808.53 - - - - - - - - - - -
9425.17 937.07 -6.67 1073 9430.95 roll -1.25 - - 1835.94 - 4.12 0.197 663.50 -353.0 -77.86 - - 2810.00 - - - - - - - - - 16.08 -
9524.12 947.73 -10.68 1093 9530.94 roll -1.25 - - 1835.25 - 3.50 0.088 2115.50 414.9 -77.86 - - 2810.47 - - - - - - - - - 16.12 -
9830.22 970.77 -6.46 1124 9836.02 roll -1.25 - - 1835.38 - 4.07 0.196 663.19 -356.8 -77.86 - - 2808.12 - - - - - - - - - 16.08 -
9899.37 977.80 -8.89 1138 9905.99 roll -1.25 - - 1834.44 - 3.58 0.088 2116.06 405.8 -77.86 - - 2810.09 - - - - - - - - - 16.12 -
10076 end dive: TARGET_DEPTH_EXCEEDED
10076 begin apogee
10076.55 990.96 -5.92 1156 10146.59 -0.25 1.73 0.163 2080.31 142.1 0.07 0.333 2186.62 1008.0 - 64.65 2.287 2497.88 -4.8 0.350 - - - - - - 16.08 15.60 13.16
10148 end apogee: CONTROL_FINISHED_OK
10148 begin climb
10147.83 992.82 - 1163 10226.48 1.25 2.49 0.103 2448.19 147.7 - - 2187.25 - 77.86 72.30 2.232 2181.50 -4.4 0.326 - - - - - - 15.63 - 12.87
10525.31 959.94 9.86 1201 10526.65 VBD 1.25 - - 2448.19 - - - 2187.25 - 77.86 - - 2167.91 - - - - - - - - - - -
10825.34 931.38 9.12 1231 10826.67 VBD 1.25 - - 2447.56 - - - 2186.12 - 77.86 - - 2167.28 - - - - - - - - - - -
11125.37 903.48 9.58 1261 11131.23 done 1.25 - - 2447.19 - 4.04 0.165 737.38 -358.6 77.86 - - 2164.47 - - - - - - - - - 15.84 -
11224.23 891.69 9.84 1281 11231.16 done 1.25 - - 2447.44 - 3.62 0.074 2215.62 408.4 77.86 - - 2164.22 - - - - - - - - - 15.90 -
11530.43 861.10 10.53 1312 11531.76 VBD 1.25 - - 2447.94 - - - 2216.31 - 77.86 - - 2163.34 - - - - - - - - - - -
11830.46 830.65 10.63 1342 11831.80 VBD 1.25 - - 2448.25 - - - 2216.19 - 77.86 - - 2161.62 - - - - - - - - - - -
12130.50 800.82 9.40 1372 12135.05 done 1.25 - - 2447.06 - 3.29 0.144 3473.19 382.1 77.86 - - 2162.44 - - - - - - - - - 15.97 -
12214.38 791.39 10.68 1389 12221.24 done 1.25 - - 2448.50 - 3.21 0.072 2183.50 -401.8 77.86 - - 2162.31 - - - - - - - - - 16.00 -
12520.56 762.36 8.61 1420 12521.89 VBD 1.25 - - 2447.56 - - - 2183.44 - 77.86 - - 2160.38 - - - - - - - - - - -
12820.60 735.76 8.34 1450 12825.18 done 1.25 - - 2448.25 - 3.40 0.140 3473.44 379.4 77.86 - - 2162.56 - - - - - - - - - 16.02 -
12940.63 724.69 9.47 1474 12945.24 done 1.25 - - 2448.50 - 3.19 0.070 2183.62 -404.3 77.86 - - 2161.53 - - - - - - - - - 16.03 -
13250.68 697.81 8.81 1506 13252.01 VBD 1.25 - - 2448.44 - - - 2184.06 - 77.86 - - 2159.22 - - - - - - - - - - -
13550.74 674.28 7.47 1536 13552.08 VBD 1.27 - - 2448.06 - - - 2183.75 - 77.86 - - 2159.81 - - - - - - - - - - -
13850.80 649.88 7.67 1566 13856.61 done 1.27 - - 2448.19 - 3.95 0.159 736.06 -366.5 77.86 - - 2159.75 - - - - - - - - - 16.04 -
13965.85 640.06 9.10 1589 13971.47 done 1.27 - - 2448.56 - 3.56 0.066 2219.62 416.7 77.86 - - 2159.62 - - - - - - - - - 16.06 -
14270.93 618.99 6.32 1620 14272.27 VBD 1.32 - - 2448.12 - - - 2219.50 - 77.86 - - 2157.66 - - - - - - - - - - -
14570.98 598.99 6.83 1650 14576.79 done 1.36 - - 2446.00 - 4.05 0.153 736.00 -366.3 77.86 - - 2159.34 - - - - - - - - - 16.06 -
14766.05 583.24 7.69 1689 14771.65 done 1.36 - - 2448.50 - 3.59 0.068 2220.12 413.4 77.86 - - 2156.50 - - - - - - - - - 16.08 -
15071.12 562.63 7.04 1720 15076.73 1.39 0.17 0.110 2486.19 221.7 3.27 0.138 3472.38 383.0 77.86 - - 2159.16 - - - - - - - - 16.07 16.07 -
15200.06 550.53 9.40 1746 15206.84 done 1.39 - - 2486.81 - 3.18 0.066 2181.12 -406.1 77.86 - - 2158.84 - - - - - - - - - 16.08 -
15506.23 529.67 6.58 1777 15507.56 VBD 1.43 - - 2486.38 - - - 2180.31 - 77.86 - - 2157.28 - - - - - - - - - - -
15806.26 509.45 6.42 1807 15807.59 VBD 1.48 - - 2486.06 - - - 2180.12 - 77.86 - - 2159.06 - - - - - - - - - - -
16106.29 489.33 6.63 1837 16107.62 VBD 1.52 - - 2487.25 - - - 2180.81 - 77.86 - - 2156.91 - - - - - - - - - - -
16406.32 469.86 6.51 1867 16407.80 1.57 0.20 0.105 2527.25 200.0 - - 2180.69 - 77.86 - - 2159.31 - - - - - - - - 16.08 - -
16706.36 449.05 6.07 1897 16712.08 done 1.63 - - 2527.38 - 3.93 0.150 735.25 -367.8 77.86 - - 2157.19 - - - - - - - - - 16.08 -
16935.24 429.48 9.46 1943 16942.12 done 1.63 - - 2525.62 - 3.50 0.068 2220.94 424.5 77.86 - - 2159.22 - - - - - - - - - 16.08 -
17241.44 408.92 5.94 1974 17266.61 1.72 0.18 0.111 2564.81 217.7 - - 2221.38 - 108.02 24.13 1.564 2058.69 -4.2 0.182 - - - - - - 16.08 - 13.30
17561.46 379.74 9.13 2006 17562.79 no move 1.72 - - 2565.56 - - - 2221.75 - 108.02 - - 2053.78 - - - - - - - - - - -
17861.50 349.64 10.06 2036 17867.25 roll 1.72 - - 2565.44 - 4.02 0.146 736.31 -369.5 108.02 - - 2050.59 - - - - - - - - - 15.98 -
17986.52 335.25 11.59 2061 17992.13 roll 1.72 - - 2563.94 - 3.55 0.065 2221.00 418.2 108.02 - - 2050.62 - - - - - - - - - 16.01 -
18291.57 307.75 8.52 2092 18292.90 no move 1.72 - - 2562.38 - - - 2221.50 - 108.02 - - 2052.09 - - - - - - - - - - -
18591.59 281.29 9.54 2122 18597.34 done 1.72 - - 2564.44 - 3.99 0.143 736.38 -372.2 108.02 - - 2050.94 - - - - - - - - - 16.03 -
18736.63 266.59 10.13 2151 18742.22 done 1.72 - - 2564.75 - 3.49 0.063 2223.12 426.0 108.02 - - 2051.91 - - - - - - - - - 16.03 -
19041.81 239.32 8.61 2182 19043.14 VBD 1.72 - - 2565.44 - - - 2224.00 - 108.02 - - 2051.16 - - - - - - - - - - -
19341.72 215.69 8.54 2212 19347.56 done 1.72 - - 2564.94 - 3.97 0.138 735.44 -375.0 108.02 - - 2049.28 - - - - - - - - - 16.05 -
19570.66 194.20 9.39 2258 19577.55 done 1.72 - - 2565.38 - 3.49 0.062 2224.31 426.6 108.02 - - 2050.41 - - - - - - - - - 16.07 -
19876.87 170.29 8.12 2289 19882.54 done 1.72 - - 2565.62 - 3.98 0.138 735.06 -374.2 108.02 - - 2051.09 - - - - - - - - - 16.05 -
19955.74 162.85 9.65 2305 19962.65 done 1.72 - - 2565.81 - 3.49 0.059 2223.50 426.5 108.02 - - 2050.03 - - - - - - - - - 16.07 -
20261.98 138.89 8.50 2336 20267.72 done 1.72 - - 2563.69 - 3.96 0.137 735.25 -375.8 108.02 - - 2050.06 - - - - - - - - - 16.03 -
20357.03 130.19 8.68 2355 20362.61 done 1.72 - - 2564.31 - 3.49 0.061 2222.94 426.3 108.02 - - 2050.62 - - - - - - - - - 16.04 -
20662.10 107.93 7.11 2386 20663.43 VBD 1.75 - - 2565.62 - - - 2224.25 - 108.02 - - 2050.50 - - - - - - - - - - -
20962.23 92.99 4.88 2431 21003.02 1.88 0.19 0.104 2605.62 210.5 - - 2224.38 - 153.26 37.67 1.208 1875.00 -4.7 0.060 - - - - - - 16.06 - 13.18
21182.24 77.58 6.89 2475 21188.06 roll 1.92 - - 2604.75 - 4.01 0.137 735.38 -371.3 153.26 - - 1868.09 - - - - - - - - - 15.92 -
21412.35 66.71 4.10 2521 21464.06 2.09 0.25 0.089 2654.38 198.5 3.51 0.060 2227.88 425.2 209.68 45.53 1.166 1643.91 -4.9 0.047 - - - - - - 15.93 15.96 13.10
21642.31 47.34 10.33 2567 21648.14 roll 2.09 - - 2654.12 - 4.01 0.136 735.44 -372.2 209.68 - - 1638.62 - - - - - - - - - 15.82 -
21787.35 34.48 5.72 2596 21822.83 done 2.19 - - 2654.69 - 3.54 0.059 2226.88 421.3 242.91 27.88 1.091 1508.66 -4.7 0.025 - - - - - - - 15.86 13.09
22002.39 27.42 3.02 2639 22068.87 2.40 0.44 0.077 2730.12 171.4 3.26 0.127 3474.75 382.8 314.69 58.12 1.101 1217.06 -5.0 0.021 - - - - - - 15.82 15.59 13.02
22268 end climb: SURFACE_DEPTH_REACHED
22268 begin surface coast
22283 end surface coast: CONTROL_FINISHED_OK
22283 begin surface
SM 1.09 - - - - 178.9 2.08 0.280 767.3 341.0 16.50 0.084 771.6 46.7 - 3.45 0.061 763.1 220.2 -0.402 - - 12.76 15.71 15.76 -