NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 117 * Raw log
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• Previous call tries 1 • 39.15 of 575.00 AH used of 24V (93.19% remains)
• Surface angle -60.9 deg, depth 0.72 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.10 (SM_CC=425)
• GPS1 time: 33 s
• GPS2 time: 4 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
6.47 - - - 79.58 VBD -1.25 - - 177.88 - - - 2119.12 - -77.86 72.57 0.005 2412.62 - - - - - - - - - - 15.65
79.89 3.03 -3.43 14 111.62 -1.25 13.19 0.264 1836.62 125.8 3.47 0.126 3474.81 390.7 -77.86 10.18 0.007 2817.78 39.8 -2.855 - - - - - - 15.61 15.63 15.68
149.36 20.07 -26.27 28 155.08 roll -1.25 - - 1837.38 - 3.38 0.067 2084.88 -411.2 -77.86 - - 2816.59 - - - - - - - - - 15.71 -
334.40 56.72 -15.85 65 340.20 roll -1.25 - - 1836.31 - 3.86 0.168 663.12 -368.3 -77.86 - - 2820.12 - - - - - - - - - 15.73 -
374.42 63.77 -17.71 73 380.15 roll -1.25 - - 1837.06 - 3.44 0.061 2122.75 424.3 -77.86 - - 2817.12 - - - - - - - - - 15.79 -
559.43 86.17 -10.80 110 565.25 roll -1.25 - - 1836.75 - 3.95 0.161 662.38 -369.7 -77.86 - - 2817.97 - - - - - - - - - 15.81 -
624.46 94.69 -13.93 123 630.18 roll -1.25 - - 1836.81 - 3.42 0.061 2122.06 426.8 -77.86 - - 2818.84 - - - - - - - - - 15.85 -
814.46 116.65 -10.56 146 815.79 no move -1.25 - - 1836.75 - - - 2122.50 - -77.86 - - 2819.00 - - - - - - - - - - -
1114.47 148.37 -11.20 176 1115.81 no move -1.25 - - 1836.81 - - - 2122.06 - -77.86 - - 2819.59 - - - - - - - - - - -
1414.50 179.94 -10.99 206 1420.24 roll -1.25 - - 1837.06 - 3.93 0.164 662.31 -371.4 -77.86 - - 2816.97 - - - - - - - - - 15.93 -
1473.38 187.15 -11.86 218 1480.25 roll -1.25 - - 1836.62 - 3.42 0.064 2120.31 426.3 -77.86 - - 2819.72 - - - - - - - - - 15.97 -
1779.53 220.02 -11.21 249 1780.86 no move -1.25 - - 1836.81 - - - 2120.00 - -77.86 - - 2819.47 - - - - - - - - - - -
2079.55 250.72 -10.67 279 2080.88 no move -1.25 - - 1836.81 - - - 2120.31 - -77.86 - - 2819.16 - - - - - - - - - - -
2379.57 282.52 -10.94 309 2380.90 no move -1.25 - - 1836.69 - - - 2120.00 - -77.86 - - 2819.31 - - - - - - - - - - -
2679.58 314.77 -11.12 339 2685.33 roll -1.25 - - 1837.19 - 3.90 0.169 662.25 -373.8 -77.86 - - 2816.97 - - - - - - - - - 16.01 -
2734.61 321.41 -12.29 350 2739.18 roll -1.25 - - 1837.12 - 3.42 0.065 2120.56 426.4 -77.86 - - 2818.50 - - - - - - - - - 16.04 -
3044.62 354.52 -10.47 382 3045.95 no move -1.25 - - 1837.06 - - - 2120.62 - -77.86 - - 2818.72 - - - - - - - - - - -
3344.63 385.52 -10.92 412 3345.96 no move -1.25 - - 1836.75 - - - 2120.25 - -77.86 - - 2818.25 - - - - - - - - - - -
3644.65 416.86 -10.00 442 3645.98 no move -1.25 - - 1837.06 - - - 2120.25 - -77.86 - - 2817.34 - - - - - - - - - - -
3944.67 445.64 -9.32 472 3950.42 roll -1.25 - - 1836.69 - 3.95 0.174 663.06 -368.9 -77.86 - - 2816.31 - - - - - - - - - 16.05 -
4003.55 452.00 -10.30 484 4010.43 roll -1.25 - - 1837.25 - 3.43 0.070 2120.44 424.9 -77.86 - - 2816.94 - - - - - - - - - 16.07 -
4309.76 480.71 -9.77 515 4311.09 no move -1.25 - - 1837.06 - - - 2119.56 - -77.86 - - 2816.78 - - - - - - - - - - -
4609.77 509.21 -9.17 545 4611.10 no move -1.25 - - 1836.88 - - - 2119.94 - -77.86 - - 2815.75 - - - - - - - - - - -
4909.83 541.03 -10.14 575 4911.16 no move -1.25 - - 1836.75 - - - 2119.81 - -77.86 - - 2815.50 - - - - - - - - - - -
5209.88 572.62 -10.14 605 5215.63 roll -1.25 - - 1836.56 - 3.95 0.180 663.44 -368.7 -77.86 - - 2813.19 - - - - - - - - - 16.06 -
5274.92 580.40 -11.44 618 5279.57 roll -1.25 - - 1837.38 - 3.42 0.073 2117.88 425.3 -77.86 - - 2814.56 - - - - - - - - - 16.10 -
5584.96 610.83 -8.87 650 5586.29 no move -1.25 - - 1836.94 - - - 2118.50 - -77.86 - - 2814.81 - - - - - - - - - - -
5885.01 636.21 -8.06 680 5886.34 no move -1.25 - - 1836.69 - - - 2117.62 - -77.86 - - 2812.03 - - - - - - - - - - -
6185.07 660.57 -6.74 710 6190.81 roll -1.25 - - 1836.56 - 3.98 0.184 663.12 -365.5 -77.86 - - 2812.69 - - - - - - - - - 16.07 -
6244.02 666.21 -9.38 722 6250.96 roll -1.25 - - 1837.19 - 3.45 0.077 2116.62 421.3 -77.86 - - 2814.22 - - - - - - - - - 16.10 -
6550.13 689.84 -7.53 753 6555.88 roll -1.25 - - 1836.69 - 3.93 0.184 663.19 -369.8 -77.86 - - 2811.31 - - - - - - - - - 16.07 -
6619.16 695.81 -8.52 767 6625.90 roll -1.25 - - 1836.00 - 3.45 0.077 2116.56 421.3 -77.86 - - 2814.34 - - - - - - - - - 16.10 -
6925.19 719.44 -7.77 798 6930.94 roll -1.25 - - 1836.44 - 3.95 0.185 663.19 -367.9 -77.86 - - 2812.41 - - - - - - - - - 16.07 -
6974.14 724.18 -9.73 808 6980.94 roll -1.25 - - 1836.81 - 3.42 0.077 2117.19 425.1 -77.86 - - 2812.03 - - - - - - - - - 16.10 -
7280.23 749.59 -8.48 839 7281.56 no move -1.25 - - 1837.00 - - - 2116.88 - -77.86 - - 2810.41 - - - - - - - - - - -
7580.25 774.62 -8.82 869 7586.00 roll -1.25 - - 1836.75 - 3.96 0.186 663.25 -367.1 -77.86 - - 2811.59 - - - - - - - - - 16.07 -
7655.34 781.65 -9.85 884 7659.94 roll -1.25 - - 1837.12 - 3.46 0.080 2116.25 419.9 -77.86 - - 2810.66 - - - - - - - - - 16.11 -
7965.30 805.70 -7.35 916 7969.95 roll -1.25 - - 1836.94 - 3.41 0.144 3477.00 399.0 -77.86 - - 2810.84 - - - - - - - - - 16.09 -
8015.32 809.48 -7.69 926 8019.97 roll -1.25 - - 1836.75 - 3.38 0.080 2087.75 -411.0 -77.86 - - 2811.09 - - - - - - - - - 16.11 -
8325.33 829.81 -6.46 958 8331.00 roll -1.25 - - 1836.69 - 3.55 0.146 3471.88 389.9 -77.86 - - 2808.41 - - - - - - - - - 16.10 -
8380.35 834.33 -7.71 969 8385.14 roll -1.25 - - 1836.88 - 3.36 0.081 2086.00 -412.5 -77.86 - - 2810.09 - - - - - - - - - 16.11 -
8690.35 856.10 -7.77 1001 8691.68 no move -1.25 - - 1836.81 - - - 2085.69 - -77.86 - - 2810.25 - - - - - - - - - - -
8990.37 880.18 -7.64 1031 8991.70 no move -1.25 - - 1837.12 - - - 2085.75 - -77.86 - - 2808.88 - - - - - - - - - - -
9290.39 904.91 -8.94 1061 9291.72 no move -1.25 - - 1836.81 - - - 2085.94 - -77.86 - - 2808.94 - - - - - - - - - - -
9590.41 930.85 -9.11 1091 9591.73 no move -1.25 - - 1836.69 - - - 2085.81 - -77.86 - - 2807.16 - - - - - - - - - - -
9890.43 954.43 -8.09 1121 9896.18 roll -1.25 - - 1835.75 - 3.91 0.200 663.75 -363.7 -77.86 - - 2807.62 - - - - - - - - - 16.07 -
9939.38 958.90 -8.61 1131 9946.18 roll -1.25 - - 1835.81 - 3.47 0.088 2113.06 417.7 -77.86 - - 2810.88 - - - - - - - - - 16.11 -
10245.46 983.42 -6.96 1162 10246.79 no move -1.25 - - 1836.56 - - - 2113.56 - -77.86 - - 2808.03 - - - - - - - - - - -
10326 end dive: TARGET_DEPTH_EXCEEDED
10326 begin apogee
10326.70 990.79 -9.18 1170 10396.54 -0.25 1.68 0.162 2079.50 144.6 0.07 0.334 2184.88 1018.9 - 64.22 2.291 2500.50 -4.8 0.343 - - - - - - 16.07 15.59 13.18
10398 end apogee: CONTROL_FINISHED_OK
10398 begin climb
10397.82 992.33 - 1177 10478.03 1.25 2.44 0.100 2447.25 150.7 3.51 0.145 3470.81 366.4 77.86 72.18 2.236 2181.19 -4.4 0.325 - - - - - - 15.63 15.21 12.91
10529.85 982.04 9.24 1203 10536.49 roll 1.25 - - 2447.50 - 3.20 0.071 2184.06 -402.1 77.86 - - 2175.97 - - - - - - - - - 15.41 -
10835.84 950.02 9.54 1234 10837.18 VBD 1.25 - - 2448.06 - - - 2184.25 - 77.86 - - 2168.28 - - - - - - - - - - -
11135.89 919.02 9.93 1264 11137.23 VBD 1.25 - - 2447.94 - - - 2184.25 - 77.86 - - 2165.88 - - - - - - - - - - -
11435.95 888.57 9.78 1294 11437.28 VBD 1.25 - - 2446.44 - - - 2183.69 - 77.86 - - 2167.72 - - - - - - - - - - -
11736.00 858.12 9.63 1324 11737.34 VBD 1.25 - - 2447.94 - - - 2184.19 - 77.86 - - 2163.03 - - - - - - - - - - -
12036.05 829.77 8.73 1354 12037.39 VBD 1.25 - - 2448.38 - - - 2184.69 - 77.86 - - 2162.28 - - - - - - - - - - -
12336.10 803.40 8.05 1384 12340.67 done 1.25 - - 2448.00 - 3.33 0.144 3474.12 387.2 77.86 - - 2164.62 - - - - - - - - - 15.97 -
12430.00 794.84 9.26 1403 12436.81 done 1.25 - - 2448.44 - 3.09 0.073 2181.38 -418.4 77.86 - - 2163.34 - - - - - - - - - 15.98 -
12736.19 771.36 8.36 1434 12737.52 VBD 1.25 - - 2448.19 - - - 2182.12 - 77.86 - - 2161.91 - - - - - - - - - - -
13036.21 746.25 8.44 1464 13040.78 done 1.25 - - 2448.81 - 3.34 0.141 3473.62 386.7 77.86 - - 2162.28 - - - - - - - - - 16.00 -
13140.15 736.15 9.46 1485 13146.92 done 1.25 - - 2448.94 - 3.11 0.072 2181.50 -415.5 77.86 - - 2161.88 - - - - - - - - - 16.02 -
13446.29 710.58 7.17 1516 13447.63 VBD 1.28 - - 2449.00 - - - 2181.25 - 77.86 - - 2160.12 - - - - - - - - - - -
13746.31 683.81 9.03 1546 13747.64 VBD 1.28 - - 2448.88 - - - 2181.44 - 77.86 - - 2160.00 - - - - - - - - - - -
14046.34 655.93 9.34 1576 14047.67 VBD 1.28 - - 2448.44 - - - 2181.38 - 77.86 - - 2160.22 - - - - - - - - - - -
14346.40 629.69 8.37 1606 14352.32 done 1.28 - - 2448.50 - 3.81 0.159 736.44 -379.2 77.86 - - 2159.34 - - - - - - - - - 16.04 -
14435.23 620.79 9.84 1624 14442.13 done 1.28 - - 2448.62 - 3.47 0.069 2220.44 427.7 77.86 - - 2160.28 - - - - - - - - - 16.06 -
14741.43 597.03 7.77 1655 14746.61 done 1.28 - - 2448.06 - 3.90 0.155 736.25 -380.6 77.86 - - 2159.44 - - - - - - - - - 16.05 -
14876.46 585.56 8.83 1682 14882.06 done 1.28 - - 2448.44 - 3.49 0.067 2220.81 425.4 77.86 - - 2157.34 - - - - - - - - - 16.07 -
15181.51 564.60 6.31 1713 15182.85 VBD 1.33 - - 2448.75 - - - 2220.25 - 77.86 - - 2157.53 - - - - - - - - - - -
15481.54 545.77 6.04 1743 15506.46 1.42 0.21 0.096 2494.12 216.0 - - 2220.25 - 106.52 23.19 1.709 2062.81 -4.1 0.216 - - - - - - 16.07 - 13.09
15801.57 518.54 8.83 1775 15802.90 no move 1.42 - - 2495.50 - - - 2220.00 - 106.52 - - 2059.59 - - - - - - - - - - -
16101.59 491.03 9.68 1805 16106.17 roll 1.42 - - 2494.75 - 3.24 0.141 3475.56 387.5 106.52 - - 2059.66 - - - - - - - - - 15.99 -
16191.62 481.37 10.58 1823 16196.14 roll 1.42 - - 2495.81 - 3.12 0.069 2181.25 -414.8 106.52 - - 2059.50 - - - - - - - - - 15.99 -
16501.64 451.59 9.97 1855 16502.97 no move 1.42 - - 2495.00 - - - 2182.12 - 106.52 - - 2057.28 - - - - - - - - - - -
16801.67 424.00 9.02 1885 16803.00 no move 1.42 - - 2495.31 - - - 2182.06 - 106.52 - - 2057.00 - - - - - - - - - - -
17101.71 399.48 8.40 1915 17103.04 no move 1.42 - - 2495.56 - - - 2181.44 - 106.52 - - 2057.03 - - - - - - - - - - -
17401.76 375.86 8.10 1945 17403.09 VBD 1.42 - - 2495.31 - - - 2181.31 - 106.52 - - 2056.91 - - - - - - - - - - -
17701.83 354.32 6.98 1975 17703.16 VBD 1.45 - - 2495.25 - - - 2182.12 - 106.52 - - 2056.25 - - - - - - - - - - -
18001.88 332.60 7.32 2005 18007.66 done 1.47 - - 2495.38 - 3.81 0.152 735.25 -379.8 106.52 - - 2057.94 - - - - - - - - - 16.05 -
18070.89 326.14 9.35 2019 18077.63 done 1.47 - - 2494.75 - 3.47 0.066 2222.44 428.6 106.52 - - 2057.41 - - - - - - - - - 16.06 -
18376.95 303.88 7.75 2050 18381.47 done 1.47 - - 2494.94 - 3.18 0.135 3472.81 393.2 106.52 - - 2058.38 - - - - - - - - - 16.06 -
18577.03 286.19 9.45 2090 18581.68 done 1.47 - - 2494.94 - 3.08 0.066 2180.38 -419.6 106.52 - - 2057.84 - - - - - - - - - 16.07 -
18887.09 260.66 7.51 2122 18892.85 done 1.49 - - 2493.00 - 3.72 0.148 735.44 -388.4 106.52 - - 2057.47 - - - - - - - - - 16.02 -
19002.12 249.45 9.67 2145 19006.71 done 1.49 - - 2494.06 - 3.44 0.061 2221.06 431.9 106.52 - - 2057.16 - - - - - - - - - 16.08 -
19312.17 226.21 7.79 2177 19317.94 done 1.49 - - 2493.62 - 3.80 0.141 734.38 -391.2 106.52 - - 2057.06 - - - - - - - - - 16.05 -
19447.22 215.16 8.02 2204 19451.79 done 1.49 - - 2494.44 - 3.46 0.063 2217.38 428.6 106.52 - - 2057.78 - - - - - - - - - 16.07 -
19757.27 193.80 6.47 2236 19758.60 VBD 1.53 - - 2495.19 - - - 2222.06 - 106.52 - - 2054.78 - - - - - - - - - - -
20057.30 174.86 6.31 2266 20061.87 1.59 0.17 0.105 2535.62 237.8 3.12 0.132 3474.31 401.4 106.52 - - 2057.03 - - - - - - - - 16.06 16.03 -
20221.20 163.44 6.45 2299 20228.14 done 1.63 - - 2536.25 - 3.04 0.062 2177.25 -426.7 106.52 - - 2056.62 - - - - - - - - - 16.08 -
20527.38 148.58 4.44 2330 20578.41 1.79 0.23 0.096 2583.69 206.3 3.22 0.128 3476.25 403.4 158.00 42.91 1.304 1853.44 -4.7 0.089 - - - - - - 16.05 15.83 13.13
20801.27 118.31 13.22 2385 20808.08 roll 1.79 - - 2584.50 - 3.10 0.063 2179.94 -418.2 158.00 - - 1849.28 - - - - - - - - - 15.93 -
21107.48 88.08 8.03 2428 21113.26 done 1.79 - - 2583.00 - 3.76 0.144 735.56 -384.1 158.00 - - 1847.34 - - - - - - - - - 15.93 -
21182.55 80.89 9.97 2443 21188.22 done 1.79 - - 2583.06 - 3.45 0.059 2225.88 432.0 158.00 - - 1848.00 - - - - - - - - - 15.96 -
21367.59 71.31 3.85 2480 21423.94 1.97 0.20 0.096 2625.75 213.5 3.15 0.128 3475.81 396.8 217.94 48.22 1.190 1610.03 -4.9 0.049 - - - - - - 15.96 15.74 12.98
21632.61 46.91 9.60 2533 21638.29 roll 1.97 - - 2625.19 - 3.11 0.061 2179.75 -416.7 217.94 - - 1603.97 - - - - - - - - - 15.84 -
21817.63 35.50 7.69 2570 21823.33 done 1.97 - - 2625.44 - 3.28 0.123 3475.50 395.0 217.94 - - 1603.50 - - - - - - - - - 15.86 -
22047.71 32.49 0.14 2616 22146.24 2.31 0.47 0.073 2706.12 171.7 3.09 0.058 2176.50 -420.4 330.89 89.47 1.130 1151.03 -5.1 0.024 - - - - - - 15.87 15.91 13.09
22324.05 17.70 9.32 2671 22329.76 roll 2.31 - - 2706.50 - 3.32 0.122 3474.69 391.0 330.89 - - 1144.59 - - - - - - - - - 15.71 -
22444 end climb: SURFACE_DEPTH_REACHED
22444 begin surface coast
22454 end surface coast: CONTROL_FINISHED_OK
22454 begin surface
SM 0.95 - - - - 175.5 - 0.015 767.0 - 16.32 0.076 772.1 47.3 - 3.31 0.067 762.0 229.2 -0.332 - - 30.36 15.72 15.77 -