NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 126 * Raw log
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• Previous call tries 1 • 42.01 of 575.00 AH used of 24V (92.69% remains)
• Surface angle -65.2 deg, depth 1.34 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.71 (SM_CC=425)
• GPS1 time: 30 s
• GPS2 time: 2 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
6.50 - - - 74.51 VBD -1.25 - - 175.25 - - - 2079.31 - -77.86 67.44 0.005 2319.75 - - - - - - - - - - 15.65
74.78 3.21 -3.98 13 111.82 -1.25 13.54 0.260 1836.88 122.7 3.94 0.166 663.44 -359.4 -77.86 12.99 0.007 2815.41 38.2 -2.932 - - - - - - 15.61 15.65 15.67
334.71 62.93 -19.16 65 340.37 roll -1.25 - - 1837.19 - 3.45 0.061 2120.94 422.5 -77.86 - - 2816.31 - - - - - - - - - 15.77 -
519.66 92.46 -14.71 102 525.38 roll -1.25 - - 1836.62 - 3.40 0.123 3475.06 398.3 -77.86 - - 2818.50 - - - - - - - - - 15.82 -
589.69 102.16 -14.05 116 594.32 roll -1.25 - - 1837.19 - 3.38 0.061 2081.38 -412.3 -77.86 - - 2818.56 - - - - - - - - - 15.85 -
899.71 138.00 -13.06 148 901.04 no move -1.25 - - 1836.88 - - - 2080.94 - -77.86 - - 2818.59 - - - - - - - - - - -
1199.77 174.43 -11.37 178 1205.49 roll -1.25 - - 1837.00 - 3.84 0.165 662.38 -369.4 -77.86 - - 2816.41 - - - - - - - - - 15.91 -
1364.84 196.49 -13.21 211 1369.42 roll -1.25 - - 1837.06 - 3.42 0.063 2120.50 426.4 -77.86 - - 2819.78 - - - - - - - - - 15.96 -
1674.88 231.46 -10.09 243 1676.21 no move -1.25 - - 1837.12 - - - 2120.50 - -77.86 - - 2818.75 - - - - - - - - - - -
1974.93 262.43 -10.31 273 1976.26 no move -1.25 - - 1836.94 - - - 2119.56 - -77.86 - - 2818.62 - - - - - - - - - - -
2274.98 293.19 -11.04 303 2280.75 roll -1.25 - - 1836.88 - 3.98 0.165 663.25 -365.9 -77.86 - - 2818.12 - - - - - - - - - 16.00 -
2320.16 298.62 -12.86 312 2325.59 roll -1.25 - - 1836.62 - 3.41 0.063 2122.12 427.8 -77.86 - - 2816.66 - - - - - - - - - 16.02 -
2625.05 332.96 -11.36 343 2626.38 no move -1.25 - - 1837.06 - - - 2122.38 - -77.86 - - 2818.91 - - - - - - - - - - -
2925.10 367.43 -11.40 373 2926.43 no move -1.25 - - 1836.44 - - - 2121.81 - -77.86 - - 2818.31 - - - - - - - - - - -
3225.16 398.13 -10.57 403 3229.80 roll -1.25 - - 1837.19 - 3.37 0.134 3473.69 401.2 -77.86 - - 2817.91 - - - - - - - - - 16.05 -
3275.19 403.96 -12.08 413 3279.82 roll -1.25 - - 1836.38 - 3.35 0.068 2081.44 -415.6 -77.86 - - 2818.59 - - - - - - - - - 16.06 -
3585.21 435.80 -10.66 445 3586.54 no move -1.25 - - 1836.75 - - - 2081.62 - -77.86 - - 2817.41 - - - - - - - - - - -
3885.23 465.31 -9.83 475 3890.94 roll -1.25 - - 1835.38 - 3.76 0.177 662.75 -377.4 -77.86 - - 2816.53 - - - - - - - - - 16.04 -
4020.27 481.93 -13.07 502 4024.93 roll -1.25 - - 1836.81 - 3.43 0.069 2121.19 425.2 -77.86 - - 2819.12 - - - - - - - - - 16.07 -
4330.32 512.81 -9.84 534 4331.65 no move -1.25 - - 1836.38 - - - 2120.56 - -77.86 - - 2815.81 - - - - - - - - - - -
4630.32 539.99 -8.98 564 4636.08 roll -1.25 - - 1836.75 - 3.95 0.177 663.56 -368.9 -77.86 - - 2814.19 - - - - - - - - - 16.05 -
4679.27 544.93 -10.17 574 4686.08 roll -1.25 - - 1837.06 - 3.42 0.070 2118.19 425.3 -77.86 - - 2815.06 - - - - - - - - - 16.08 -
4985.38 572.90 -8.80 605 4986.70 no move -1.25 - - 1837.00 - - - 2118.06 - -77.86 - - 2813.75 - - - - - - - - - - -
5285.40 601.04 -9.31 635 5286.73 no move -1.25 - - 1837.12 - - - 2118.12 - -77.86 - - 2813.25 - - - - - - - - - - -
5585.43 628.89 -9.92 665 5586.76 no move -1.25 - - 1837.25 - - - 2118.06 - -77.86 - - 2813.88 - - - - - - - - - - -
5885.46 658.05 -10.37 695 5886.79 no move -1.25 - - 1836.88 - - - 2117.94 - -77.86 - - 2811.53 - - - - - - - - - - -
6185.48 685.13 -8.30 725 6186.81 no move -1.25 - - 1836.88 - - - 2118.00 - -77.86 - - 2812.00 - - - - - - - - - - -
6485.51 711.26 -8.13 755 6491.28 roll -1.25 - - 1837.19 - 4.01 0.184 662.12 -363.1 -77.86 - - 2810.03 - - - - - - - - - 16.07 -
6524.46 715.21 -8.95 763 6531.25 roll -1.25 - - 1836.75 - 3.45 0.075 2116.88 421.7 -77.86 - - 2814.09 - - - - - - - - - 16.11 -
6830.55 743.34 -8.91 794 6831.88 no move -1.25 - - 1836.88 - - - 2116.81 - -77.86 - - 2810.25 - - - - - - - - - - -
7130.58 771.13 -9.00 824 7131.91 no move -1.25 - - 1836.31 - - - 2116.75 - -77.86 - - 2811.00 - - - - - - - - - - -
7430.62 799.16 -8.56 854 7431.95 no move -1.25 - - 1836.88 - - - 2116.19 - -77.86 - - 2810.59 - - - - - - - - - - -
7730.65 824.98 -8.00 884 7731.97 no move -1.25 - - 1837.31 - - - 2116.50 - -77.86 - - 2808.31 - - - - - - - - - - -
8030.67 850.26 -9.11 914 8032.00 no move -1.25 - - 1837.12 - - - 2116.50 - -77.86 - - 2810.06 - - - - - - - - - - -
8330.71 875.01 -8.67 944 8332.04 no move -1.25 - - 1837.19 - - - 2116.69 - -77.86 - - 2807.91 - - - - - - - - - - -
8630.75 898.34 -7.07 974 8632.08 no move -1.25 - - 1837.12 - - - 2117.12 - -77.86 - - 2809.41 - - - - - - - - - - -
8930.80 920.32 -7.69 1004 8932.13 no move -1.25 - - 1837.06 - - - 2116.50 - -77.86 - - 2806.72 - - - - - - - - - - -
9230.85 941.55 -8.15 1034 9232.18 no move -1.25 - - 1836.75 - - - 2116.69 - -77.86 - - 2807.38 - - - - - - - - - - -
9530.90 960.42 -6.38 1064 9532.23 no move -1.25 - - 1836.81 - - - 2116.44 - -77.86 - - 2806.38 - - - - - - - - - - -
9830.95 981.83 -7.21 1094 9836.72 roll -1.25 - - 1836.81 - 4.01 0.194 664.19 -362.2 -77.86 - - 2805.47 - - - - - - - - - 16.08 -
9865.98 985.14 -7.10 1101 9870.70 roll -1.25 - - 1837.06 - 3.47 0.084 2115.00 418.1 -77.86 - - 2807.47 - - - - - - - - - 16.11 -
9946 end dive: TARGET_DEPTH_EXCEEDED
9946 begin apogee
9947.22 990.06 -6.27 1110 10014.34 -0.25 1.73 0.158 2080.12 140.5 0.07 0.327 2185.50 1007.1 - 64.08 2.287 2496.91 -4.8 0.352 - - - - - - 16.06 15.59 13.16
10016 end apogee: CONTROL_FINISHED_OK
10016 begin climb
10015.62 992.21 - 1116 10092.18 1.25 2.52 0.102 2446.88 145.5 - - 2185.94 - 77.86 72.39 2.230 2181.62 -4.4 0.325 - - - - - - 15.63 - 12.90
10388.66 957.09 11.32 1154 10390.00 VBD 1.25 - - 2447.19 - - - 2184.94 - 77.86 - - 2167.69 - - - - - - - - - - -
10688.61 928.07 9.73 1184 10693.52 done 1.25 - - 2446.69 - 3.30 0.144 3473.06 390.3 77.86 - - 2169.50 - - - - - - - - - 15.78 -
10742.48 922.43 10.86 1195 10749.34 done 1.25 - - 2445.50 - 3.21 0.072 2184.62 -401.4 77.86 - - 2167.41 - - - - - - - - - 15.80 -
11048.67 893.86 9.39 1226 11053.37 done 1.25 - - 2447.06 - 3.31 0.142 3472.69 389.1 77.86 - - 2164.75 - - - - - - - - - 15.86 -
11152.64 883.00 10.45 1247 11159.51 done 1.25 - - 2446.88 - 3.15 0.070 2183.00 -409.4 77.86 - - 2165.75 - - - - - - - - - 15.89 -
11458.74 853.54 8.26 1278 11460.08 VBD 1.25 - - 2446.81 - - - 2183.00 - 77.86 - - 2162.97 - - - - - - - - - - -
11758.80 824.44 8.82 1308 11763.50 done 1.25 - - 2446.56 - 3.33 0.142 3472.12 387.1 77.86 - - 2163.34 - - - - - - - - - 15.95 -
11848.85 814.76 11.38 1326 11853.36 done 1.25 - - 2447.12 - 3.18 0.070 2182.19 -405.6 77.86 - - 2162.94 - - - - - - - - - 15.96 -
12158.91 787.44 8.67 1358 12160.24 VBD 1.25 - - 2446.19 - - - 2183.19 - 77.86 - - 2162.44 - - - - - - - - - - -
12458.95 764.02 7.93 1388 12463.63 done 1.25 - - 2447.19 - 3.28 0.141 3472.75 393.2 77.86 - - 2161.62 - - - - - - - - - 16.00 -
12569.06 753.78 9.46 1410 12573.60 done 1.25 - - 2447.12 - 3.20 0.069 2182.25 -403.3 77.86 - - 2162.25 - - - - - - - - - 16.01 -
12879.08 726.99 9.03 1442 12884.88 done 1.25 - - 2447.19 - 3.91 0.158 736.38 -369.8 77.86 - - 2160.41 - - - - - - - - - 16.00 -
12924.11 722.43 8.81 1451 12929.70 done 1.25 - - 2447.06 - 3.48 0.065 2218.19 425.8 77.86 - - 2162.53 - - - - - - - - - 16.03 -
13229.14 694.92 9.38 1482 13230.47 VBD 1.25 - - 2447.50 - - - 2218.62 - 77.86 - - 2160.44 - - - - - - - - - - -
13529.19 668.96 8.97 1512 13530.52 VBD 1.25 - - 2446.94 - - - 2218.25 - 77.86 - - 2158.88 - - - - - - - - - - -
13829.25 646.48 7.14 1542 13830.58 VBD 1.28 - - 2447.50 - - - 2218.75 - 77.86 - - 2158.25 - - - - - - - - - - -
14129.26 624.65 7.78 1572 14135.08 done 1.28 - - 2447.06 - 3.92 0.155 736.25 -378.2 77.86 - - 2157.62 - - - - - - - - - 16.03 -
14204.36 618.44 9.05 1587 14209.01 done 1.28 - - 2447.81 - 3.45 0.065 2219.94 430.1 77.86 - - 2159.25 - - - - - - - - - 16.06 -
14514.35 598.39 6.23 1619 14515.68 VBD 1.33 - - 2446.69 - - - 2220.25 - 77.86 - - 2158.16 - - - - - - - - - - -
14814.38 579.24 7.02 1649 14820.18 done 1.37 - - 2446.81 - 3.90 0.153 735.31 -380.8 77.86 - - 2157.06 - - - - - - - - - 16.05 -
14919.38 570.53 8.67 1670 14923.97 done 1.37 - - 2447.81 - 3.43 0.064 2221.00 433.1 77.86 - - 2158.72 - - - - - - - - - 16.08 -
15229.42 546.90 7.85 1702 15230.75 VBD 1.37 - - 2447.06 - - - 2221.06 - 77.86 - - 2157.09 - - - - - - - - - - -
15529.47 524.18 7.54 1732 15530.93 1.38 0.17 0.112 2482.75 209.9 - - 2220.88 - 77.86 - - 2157.19 - - - - - - - - 16.08 - -
15829.50 501.47 7.08 1762 15834.01 done 1.41 - - 2481.69 - 3.14 0.137 3473.75 399.0 77.86 - - 2159.16 - - - - - - - - - 16.08 -
16059.55 484.31 8.24 1808 16064.07 done 1.41 - - 2483.69 - 3.14 0.066 2179.69 -412.1 77.86 - - 2158.72 - - - - - - - - - 16.07 -
16369.60 463.26 6.99 1840 16374.27 done 1.44 - - 2483.50 - 3.23 0.133 3473.31 400.5 77.86 - - 2159.09 - - - - - - - - - 16.08 -
16453.46 456.83 8.03 1857 16460.29 done 1.44 - - 2484.19 - 3.13 0.064 2178.75 -413.6 77.86 - - 2159.06 - - - - - - - - - 16.09 -
16759.65 437.35 6.33 1888 16760.98 VBD 1.49 - - 2483.75 - - - 2179.12 - 77.86 - - 2157.50 - - - - - - - - - - -
17059.69 419.17 5.79 1918 17086.45 1.59 0.26 0.093 2531.56 183.9 - - 2179.31 - 110.04 25.78 1.582 2050.28 -4.2 0.185 - - - - - - 16.08 - 13.13
17379.72 390.90 8.68 1950 17385.44 roll 1.59 - - 2532.94 - 3.83 0.150 735.06 -377.1 110.04 - - 2044.16 - - - - - - - - - 15.97 -
17608.67 366.24 11.66 1996 17615.55 roll 1.59 - - 2533.38 - 3.42 0.064 2223.00 435.1 110.04 - - 2044.78 - - - - - - - - - 15.99 -
17914.89 339.77 8.21 2027 17916.22 VBD 1.59 - - 2533.44 - - - 2223.44 - 110.04 - - 2041.75 - - - - - - - - - - -
18214.96 313.41 9.82 2057 18216.29 VBD 1.59 - - 2533.56 - - - 2223.50 - 110.04 - - 2042.69 - - - - - - - - - - -
18515.02 287.57 8.37 2087 18516.35 VBD 1.59 - - 2531.88 - - - 2222.81 - 110.04 - - 2041.84 - - - - - - - - - - -
18815.10 263.80 7.17 2117 18819.62 done 1.62 - - 2534.00 - 3.16 0.131 3474.00 395.9 110.04 - - 2042.56 - - - - - - - - - 16.04 -
19045.19 244.65 7.73 2163 19049.72 done 1.62 - - 2533.38 - 3.14 0.063 2179.00 -412.4 110.04 - - 2043.12 - - - - - - - - - 16.05 -
19355.27 222.16 7.23 2195 19359.92 done 1.64 - - 2533.75 - 3.26 0.128 3476.00 397.9 110.04 - - 2043.16 - - - - - - - - - 16.04 -
19455.28 213.36 8.47 2215 19460.07 done 1.64 - - 2533.88 - 3.12 0.061 2180.00 -415.4 110.04 - - 2042.38 - - - - - - - - - 16.06 -
19765.30 188.10 8.32 2247 19769.93 done 1.64 - - 2534.19 - 3.27 0.126 3473.38 395.5 110.04 - - 2042.44 - - - - - - - - - 16.06 -
19909.18 173.46 10.58 2276 19916.03 done 1.64 - - 2533.75 - 3.14 0.061 2179.38 -412.1 110.04 - - 2044.38 - - - - - - - - - 16.06 -
20215.40 150.62 6.78 2307 20216.73 VBD 1.68 - - 2534.00 - - - 2179.56 - 110.04 - - 2042.47 - - - - - - - - - - -
20515.42 130.17 5.27 2337 20557.04 1.80 0.26 0.097 2582.56 186.8 3.78 0.144 736.19 -381.8 149.67 33.35 1.270 1887.25 -4.7 0.080 - - - - - - 16.06 15.87 13.18
20779.37 106.21 8.63 2390 20786.48 roll 1.80 - - 2582.62 - 3.48 0.060 2222.69 427.2 149.67 - - 1883.44 - - - - - - - - - 15.96 -
21085.53 89.48 4.98 2442 21127.15 done 1.93 - - 2582.94 - 3.95 0.138 735.19 -376.6 193.42 36.14 1.198 1711.75 -4.8 0.059 - - - - - - - 15.79 13.13
21165.54 84.18 8.45 2458 21171.42 roll 1.93 - - 2582.81 - 3.47 0.056 2225.88 429.6 193.42 - - 1706.44 - - - - - - - - - 15.85 -
21350.58 71.36 6.10 2495 21352.06 pitch 1.99 0.25 0.091 2627.81 180.0 - - 2225.25 - 193.42 - - 1705.69 - - - - - - - - 15.87 - -
21530.62 58.81 6.75 2531 21536.28 done 2.03 - - 2628.44 - 3.11 0.124 3472.69 401.1 193.42 - - 1702.34 - - - - - - - - - 15.89 -
21760.67 46.35 4.05 2577 21812.42 2.20 0.28 0.091 2679.75 183.2 3.16 0.057 2178.25 -409.6 250.57 46.22 1.143 1479.66 -4.8 0.033 - - - - - - 15.91 15.94 13.05
21990.72 31.26 5.67 2623 22027.23 done 2.30 - - 2678.50 - 3.90 0.139 733.94 -370.3 284.55 28.82 1.083 1339.34 -4.9 0.024 - - - - - - - 15.67 12.97
22250.78 7.55 10.99 2675 22256.52 roll 2.30 - - 2680.00 - 3.47 0.059 2225.19 429.8 284.55 - - 1335.28 - - - - - - - - - 15.80 -
22311 end climb: SURFACE_DEPTH_REACHED
22311 begin surface coast
22331 end surface coast: CONTROL_FINISHED_OK
22331 begin surface
SM 1.24 - - - - 176.6 0.41 0.154 768.6 1874.6 16.08 0.076 765.9 47.6 - 0.33 0.090 771.4 2327.1 -3.277 - - 15.46 15.80 15.83 -