NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 210 * Raw log
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• Previous call tries 3 • 66.19 of 575.00 AH used of 24V (88.49% remains)
• Surface angle -61.6 deg, depth 0.15 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.77 (SM_CC=425)
• GPS1 time: 17 s
• GPS2 time: 3 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.58 - - - 89.76 VBD -1.25 - - 175.19 - - - 2119.25 - -77.86 82.61 0.005 2571.69 - - - - - - - - - - 15.64
90.03 3.55 -4.62 16 117.65 -1.25 13.84 0.265 1836.69 120.1 3.75 0.123 3472.00 360.7 -77.86 5.96 0.008 2816.41 41.1 -3.063 - - - - - - 15.63 15.63 15.67
235.40 38.17 -22.37 45 241.19 roll -1.25 - - 1836.88 - 3.56 0.064 2085.75 -389.4 -77.86 - - 2817.50 - - - - - - - - - 15.77 -
420.46 66.46 -13.57 82 426.26 roll -1.25 - - 1837.12 - 3.80 0.116 3472.19 364.9 -77.86 - - 2816.91 - - - - - - - - - 15.82 -
475.49 74.61 -14.55 93 481.21 roll -1.25 - - 1836.50 - 3.48 0.061 2083.25 -399.1 -77.86 - - 2818.31 - - - - - - - - - 15.83 -
660.53 97.90 -12.15 130 666.31 roll -1.25 - - 1835.88 - 3.74 0.117 3473.06 371.6 -77.86 - - 2819.69 - - - - - - - - - 15.87 -
710.54 103.81 -12.44 140 716.12 roll -1.25 - - 1837.44 - 3.49 0.059 2082.06 -398.6 -77.86 - - 2815.25 - - - - - - - - - 15.87 -
1015.56 136.38 -10.54 171 1021.27 roll -1.25 - - 1836.94 - 3.77 0.118 3474.25 369.3 -77.86 - - 2819.62 - - - - - - - - - 15.93 -
1090.59 145.61 -12.44 186 1096.17 roll -1.25 - - 1836.50 - 3.48 0.062 2083.75 -399.6 -77.86 - - 2816.66 - - - - - - - - - 15.93 -
1395.65 177.49 -10.45 217 1396.98 no move -1.25 - - 1836.44 - - - 2082.56 - -77.86 - - 2817.84 - - - - - - - - - - -
1695.73 210.42 -10.87 247 1697.05 no move -1.25 - - 1836.50 - - - 2083.31 - -77.86 - - 2817.81 - - - - - - - - - - -
1995.80 243.22 -10.73 277 1997.12 no move -1.25 - - 1836.62 - - - 2083.38 - -77.86 - - 2817.69 - - - - - - - - - - -
2295.88 275.96 -10.67 307 2297.21 no move -1.25 - - 1836.25 - - - 2083.88 - -77.86 - - 2817.75 - - - - - - - - - - -
2595.95 308.41 -10.88 337 2597.28 no move -1.25 - - 1836.94 - - - 2083.44 - -77.86 - - 2816.19 - - - - - - - - - - -
2896.02 339.96 -10.35 367 2897.35 no move -1.25 - - 1836.31 - - - 2083.56 - -77.86 - - 2817.25 - - - - - - - - - - -
3196.09 371.14 -9.70 397 3201.86 roll -1.25 - - 1836.62 - 4.09 0.168 662.94 -347.3 -77.86 - - 2817.59 - - - - - - - - - 16.03 -
3225.09 374.51 -9.25 403 3231.86 roll -1.25 - - 1837.00 - 3.57 0.064 2117.94 407.6 -77.86 - - 2816.28 - - - - - - - - - 16.05 -
3531.13 405.18 -9.79 434 3536.91 roll -1.25 - - 1837.06 - 4.14 0.165 663.19 -351.4 -77.86 - - 2814.19 - - - - - - - - - 16.03 -
3586.22 411.21 -11.85 445 3591.75 roll -1.25 - - 1837.12 - 3.54 0.063 2117.88 410.9 -77.86 - - 2813.91 - - - - - - - - - 16.07 -
3891.18 442.64 -10.60 476 3896.96 roll -1.25 - - 1836.69 - 4.14 0.166 663.75 -351.2 -77.86 - - 2816.03 - - - - - - - - - 16.04 -
3950.12 449.58 -12.45 488 3956.95 roll -1.25 - - 1835.94 - 3.53 0.060 2117.25 411.8 -77.86 - - 2818.09 - - - - - - - - - 16.07 -
4256.23 479.81 -9.09 519 4257.55 no move -1.25 - - 1836.38 - - - 2116.75 - -77.86 - - 2815.44 - - - - - - - - - - -
4556.26 505.71 -9.09 549 4557.58 no move -1.25 - - 1836.62 - - - 2117.50 - -77.86 - - 2813.97 - - - - - - - - - - -
4856.29 533.10 -9.80 579 4862.07 roll -1.25 - - 1837.38 - 4.16 0.171 664.00 -349.4 -77.86 - - 2812.16 - - - - - - - - - 16.05 -
4911.38 538.80 -11.36 590 4916.98 roll -1.25 - - 1837.38 - 3.53 0.065 2118.75 412.1 -77.86 - - 2813.88 - - - - - - - - - 16.08 -
5216.33 566.74 -9.40 621 5222.12 roll -1.25 - - 1836.31 - 4.16 0.172 663.19 -349.9 -77.86 - - 2813.06 - - - - - - - - - 16.05 -
5285.34 574.45 -11.26 635 5292.10 roll -1.25 - - 1836.25 - 3.60 0.065 2117.31 403.9 -77.86 - - 2814.81 - - - - - - - - - 16.09 -
5591.37 604.50 -10.76 666 5592.70 no move -1.25 - - 1837.06 - - - 2117.38 - -77.86 - - 2811.38 - - - - - - - - - - -
5891.42 635.06 -10.90 696 5897.20 roll -1.25 - - 1836.94 - 4.15 0.174 663.00 -350.5 -77.86 - - 2810.84 - - - - - - - - - 16.05 -
5986.42 646.22 -12.46 715 5992.13 roll -1.25 - - 1836.00 - 3.61 0.068 2116.44 402.6 -77.86 - - 2814.19 - - - - - - - - - 16.10 -
6291.46 677.84 -9.89 746 6292.79 no move -1.25 - - 1837.06 - - - 2116.12 - -77.86 - - 2810.97 - - - - - - - - - - -
6591.50 706.72 -10.47 776 6592.83 no move -1.25 - - 1836.75 - - - 2116.38 - -77.86 - - 2812.66 - - - - - - - - - - -
6891.52 733.91 -8.76 806 6892.85 no move -1.25 - - 1836.94 - - - 2116.75 - -77.86 - - 2809.41 - - - - - - - - - - -
7191.56 760.48 -9.07 836 7192.89 no move -1.25 - - 1836.75 - - - 2117.19 - -77.86 - - 2809.16 - - - - - - - - - - -
7491.60 785.45 -7.93 866 7497.40 roll -1.25 - - 1836.62 - 4.20 0.179 664.19 -346.0 -77.86 - - 2809.62 - - - - - - - - - 16.06 -
7550.54 791.44 -9.65 878 7557.39 roll -1.25 - - 1836.38 - 3.56 0.072 2115.88 407.8 -77.86 - - 2812.91 - - - - - - - - - 16.10 -
7856.70 815.88 -7.80 909 7858.03 no move -1.25 - - 1836.81 - - - 2115.56 - -77.86 - - 2808.72 - - - - - - - - - - -
8156.76 840.52 -8.55 939 8158.09 no move -1.25 - - 1837.00 - - - 2115.94 - -77.86 - - 2810.00 - - - - - - - - - - -
8456.85 864.42 -7.84 969 8458.18 no move -1.25 - - 1836.75 - - - 2115.62 - -77.86 - - 2808.25 - - - - - - - - - - -
8756.90 888.45 -7.32 999 8758.23 no move -1.25 - - 1836.75 - - - 2115.81 - -77.86 - - 2807.19 - - - - - - - - - - -
9056.98 912.85 -9.09 1029 9062.77 roll -1.25 - - 1836.38 - 4.20 0.182 663.50 -345.8 -77.86 - - 2810.38 - - - - - - - - - 16.06 -
9122.08 918.62 -9.69 1042 9127.70 roll -1.25 - - 1836.81 - 3.62 0.076 2115.88 401.2 -77.86 - - 2808.06 - - - - - - - - - 16.10 -
9427.07 943.09 -7.71 1073 9428.40 no move -1.25 - - 1836.75 - - - 2115.38 - -77.86 - - 2807.53 - - - - - - - - - - -
9727.10 966.67 -8.38 1103 9728.43 no move -1.25 - - 1836.62 - - - 2115.75 - -77.86 - - 2806.69 - - - - - - - - - - -
10027.13 988.79 -7.72 1133 10028.46 no move -1.25 - - 1836.56 - - - 2114.81 - -77.86 - - 2807.34 - - - - - - - - - - -
10047 end dive: TARGET_DEPTH_EXCEEDED
10047 begin apogee
10048.38 990.69 -8.36 1135 10117.90 -0.25 1.74 0.159 2080.50 140.2 0.07 0.325 2185.81 1014.3 - 63.92 2.304 2498.88 -4.8 0.349 - - - - - - 16.04 15.59 13.01
10119 end apogee: CONTROL_FINISHED_OK
10119 begin climb
10119.38 991.64 - 1142 10200.27 1.25 2.48 0.101 2446.19 147.5 3.78 0.140 3471.06 340.0 77.86 72.61 2.225 2181.88 -4.4 0.327 - - - - - - 15.63 15.23 12.94
10238.11 983.96 9.90 1165 10242.67 roll 1.25 - - 2447.12 - 3.35 0.067 2183.75 -384.3 77.86 - - 2176.25 - - - - - - - - - 15.41 -
10548.09 954.32 10.03 1197 10549.42 VBD 1.25 - - 2447.88 - - - 2184.19 - 77.86 - - 2167.22 - - - - - - - - - - -
10848.12 925.84 9.72 1227 10849.45 VBD 1.25 - - 2447.62 - - - 2183.88 - 77.86 - - 2167.34 - - - - - - - - - - -
11148.16 897.04 10.32 1257 11149.49 VBD 1.25 - - 2447.75 - - - 2184.25 - 77.86 - - 2164.12 - - - - - - - - - - -
11448.19 869.12 8.83 1287 11449.52 VBD 1.25 - - 2447.38 - - - 2184.00 - 77.86 - - 2163.50 - - - - - - - - - - -
11748.23 841.39 9.35 1317 11749.56 VBD 1.25 - - 2447.62 - - - 2184.56 - 77.86 - - 2162.22 - - - - - - - - - - -
12048.26 816.40 8.06 1347 12053.87 done 1.25 - - 2447.50 - 3.56 0.139 3472.62 361.8 77.86 - - 2161.75 - - - - - - - - - 15.96 -
12197.14 802.08 8.45 1377 12204.04 done 1.25 - - 2447.06 - 3.22 0.069 2184.94 -399.9 77.86 - - 2163.81 - - - - - - - - - 15.95 -
12503.35 776.63 6.89 1408 12504.69 VBD 1.29 - - 2447.50 - - - 2185.50 - 77.86 - - 2162.72 - - - - - - - - - - -
12803.38 751.83 8.79 1438 12804.71 VBD 1.29 - - 2447.31 - - - 2184.94 - 77.86 - - 2162.00 - - - - - - - - - - -
13103.41 728.02 8.12 1468 13109.24 done 1.29 - - 2447.12 - 4.09 0.155 736.38 -354.2 77.86 - - 2159.69 - - - - - - - - - 16.01 -
13248.45 715.15 8.57 1497 13254.07 done 1.29 - - 2447.12 - 3.65 0.068 2216.94 405.6 77.86 - - 2159.94 - - - - - - - - - 16.02 -
13553.50 690.68 7.34 1528 13554.84 VBD 1.31 - - 2447.38 - - - 2217.06 - 77.86 - - 2160.28 - - - - - - - - - - -
13853.51 666.67 8.63 1558 13854.84 VBD 1.31 - - 2447.38 - - - 2217.50 - 77.86 - - 2159.44 - - - - - - - - - - -
14153.55 643.73 8.01 1588 14154.88 VBD 1.31 - - 2447.69 - - - 2217.19 - 77.86 - - 2158.62 - - - - - - - - - - -
14453.62 621.66 7.20 1618 14454.96 VBD 1.33 - - 2447.88 - - - 2217.19 - 77.86 - - 2159.00 - - - - - - - - - - -
14753.64 599.11 8.23 1648 14759.42 done 1.33 - - 2446.06 - 4.14 0.151 736.56 -357.6 77.86 - - 2159.22 - - - - - - - - - 16.04 -
14838.67 592.14 9.04 1665 14844.43 done 1.33 - - 2447.69 - 3.61 0.066 2218.69 410.6 77.86 - - 2158.34 - - - - - - - - - 16.05 -
15143.74 568.99 7.71 1696 15145.08 VBD 1.33 - - 2447.31 - - - 2218.81 - 77.86 - - 2158.34 - - - - - - - - - - -
15443.82 547.99 6.93 1726 15449.58 done 1.37 - - 2445.69 - 4.11 0.149 736.19 -360.7 77.86 - - 2161.81 - - - - - - - - - 16.05 -
15602.78 533.86 8.73 1758 15609.63 done 1.37 - - 2447.62 - 3.68 0.065 2218.25 402.7 77.86 - - 2159.19 - - - - - - - - - 16.06 -
15908.93 510.10 8.06 1789 15910.26 VBD 1.37 - - 2447.69 - - - 2218.50 - 77.86 - - 2158.94 - - - - - - - - - - -
16209.00 489.19 6.19 1819 16214.65 1.42 0.22 0.095 2493.12 206.5 3.43 0.132 3471.56 365.3 77.86 - - 2159.44 - - - - - - - - 16.05 16.05 -
16437.93 469.20 8.14 1865 16444.76 done 1.42 - - 2494.12 - 3.18 0.064 2181.12 -405.8 77.86 - - 2158.88 - - - - - - - - - 16.05 -
16744.12 448.99 6.79 1896 16745.46 VBD 1.46 - - 2494.06 - - - 2182.06 - 77.86 - - 2157.69 - - - - - - - - - - -
17044.16 427.55 7.02 1926 17049.90 done 1.49 - - 2494.00 - 3.99 0.146 736.19 -362.4 77.86 - - 2156.72 - - - - - - - - - 16.05 -
17263.13 408.00 8.57 1970 17269.98 done 1.49 - - 2494.31 - 3.61 0.064 2220.38 411.1 77.86 - - 2157.84 - - - - - - - - - 16.07 -
17569.26 386.95 6.28 2001 17570.59 VBD 1.55 - - 2493.88 - - - 2221.00 - 77.86 - - 2156.03 - - - - - - - - - - -
17869.29 370.22 5.16 2031 17904.56 1.67 0.31 0.083 2555.19 197.8 - - 2220.88 - 119.13 33.46 1.555 2012.03 -4.3 0.172 - - - - - - 16.05 - 12.96
18199.33 338.60 10.66 2064 18200.66 no move 1.67 - - 2554.69 - - - 2221.00 - 119.13 - - 2006.09 - - - - - - - - - - -
18499.36 306.75 10.15 2094 18500.69 no move 1.67 - - 2554.69 - - - 2220.75 - 119.13 - - 2005.38 - - - - - - - - - - -
18799.38 276.57 9.38 2124 18800.71 VBD 1.67 - - 2554.00 - - - 2220.69 - 119.13 - - 2006.31 - - - - - - - - - - -
19099.44 247.97 9.84 2154 19105.31 done 1.67 - - 2553.31 - 4.06 0.139 735.19 -365.9 119.13 - - 2008.00 - - - - - - - - - 15.99 -
19164.50 240.11 12.07 2167 19170.05 done 1.67 - - 2554.00 - 3.62 0.061 2219.94 410.2 119.13 - - 2003.03 - - - - - - - - - 16.01 -
19469.47 211.75 9.28 2198 19470.80 VBD 1.67 - - 2554.00 - - - 2219.50 - 119.13 - - 2004.19 - - - - - - - - - - -
19769.50 184.31 8.31 2228 19770.83 VBD 1.67 - - 2552.94 - - - 2219.69 - 119.13 - - 2006.09 - - - - - - - - - - -
20069.53 158.72 8.78 2258 20070.86 VBD 1.67 - - 2555.12 - - - 2219.75 - 119.13 - - 2003.25 - - - - - - - - - - -
20369.56 131.78 8.66 2288 20370.89 VBD 1.67 - - 2554.69 - - - 2219.38 - 119.13 - - 2003.50 - - - - - - - - - - -
20669.62 112.30 5.76 2318 20701.92 done 1.77 - - 2553.25 - 3.39 0.126 3472.69 369.7 151.85 27.75 1.239 1881.03 -4.4 0.067 - - - - - - - 15.85 13.02
20834.73 100.60 7.05 2351 20839.33 roll 1.80 - - 2554.88 - 3.19 0.058 2180.06 -405.2 151.85 - - 1876.12 - - - - - - - - - 15.93 -
21139.85 84.04 4.63 2412 21186.79 1.94 0.35 0.084 2619.44 184.5 4.07 0.139 736.19 -354.8 200.66 40.52 1.211 1681.19 -4.8 0.056 - - - - - - 15.95 15.74 12.94
21250.07 76.03 9.52 2434 21255.63 roll 1.94 - - 2618.69 - 3.63 0.058 2220.06 408.8 200.66 - - 1677.94 - - - - - - - - - 15.82 -
21434.96 61.02 8.23 2471 21440.68 roll 1.94 - - 2618.69 - 3.42 0.122 3473.75 366.6 200.66 - - 1674.53 - - - - - - - - - 15.83 -
21484.97 56.64 8.80 2481 21490.67 done 1.94 - - 2618.50 - 3.21 0.057 2180.25 -403.0 200.66 - - 1674.00 - - - - - - - - - 15.87 -
21670.07 42.19 7.46 2518 21671.40 VBD 1.96 - - 2618.44 - - - 2180.50 - 200.66 - - 1672.00 - - - - - - - - - - -
21850.12 43.63 -1.50 2554 21961.72 2.37 0.62 0.074 2721.56 166.3 - - 2180.00 - 337.04 107.68 1.157 1125.66 -5.1 0.032 - - - - - - 15.90 - 12.98
22140.36 17.54 13.11 2612 22145.90 roll 2.37 - - 2721.50 - 3.57 0.115 3471.81 361.9 337.04 - - 1120.34 - - - - - - - - - 15.69 -
22205.17 7.95 13.58 2625 22211.00 roll 2.37 - - 2721.69 - 3.21 0.056 2185.06 -400.9 337.04 - - 1118.38 - - - - - - - - - 15.71 -
22245 end climb: SURFACE_DEPTH_REACHED
22245 begin surface coast
22255 end surface coast: CONTROL_FINISHED_OK
22255 begin surface
SM 0.12 - - - - 176.5 - 2.787 768.4 - 16.75 0.096 773.4 46.2 - 0.23 0.112 763.3 3304.7 -0.362 - - 30.36 15.69 15.73 -