NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 218 * Raw log
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• Previous call tries 3 • 68.69 of 575.00 AH used of 24V (88.05% remains)
• Surface angle -61.9 deg, depth 0.80 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.06 (SM_CC=425)
• GPS1 time: 23 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
6.67 - - - 74.51 VBD -1.25 - - 172.88 - - - 2122.06 - -77.86 67.25 0.005 2309.97 - - - - - - - - - - 15.62
74.79 3.19 -4.14 13 111.94 -1.25 13.79 0.260 1835.19 120.5 4.29 0.162 663.94 -339.9 -77.86 13.32 0.006 2817.88 38.1 -3.362 - - - - - - 15.62 15.61 15.65
184.71 27.24 -25.63 35 190.52 roll -1.25 - - 1835.69 - 3.70 0.057 2116.62 392.6 -77.86 - - 2818.81 - - - - - - - - - 15.75 -
369.81 60.88 -13.75 72 375.60 roll -1.25 - - 1835.81 - 3.76 0.115 3472.75 360.7 -77.86 - - 2817.53 - - - - - - - - - 15.81 -
419.84 68.26 -15.13 82 425.56 roll -1.25 - - 1835.69 - 3.42 0.057 2080.12 -407.2 -77.86 - - 2817.16 - - - - - - - - - 15.82 -
604.90 90.97 -11.51 119 606.22 no move -1.25 - - 1835.25 - - - 2079.75 - -77.86 - - 2817.84 - - - - - - - - - - -
790.02 115.49 -14.35 145 795.72 roll -1.25 - - 1836.00 - 4.05 0.157 662.88 -349.8 -77.86 - - 2815.53 - - - - - - - - - 15.87 -
844.98 124.00 -15.17 156 850.67 roll -1.25 - - 1834.38 - 3.61 0.053 2121.00 403.9 -77.86 - - 2820.31 - - - - - - - - - 15.91 -
1150.03 159.80 -10.52 187 1155.73 roll -1.25 - - 1835.56 - 3.67 0.118 3472.69 368.3 -77.86 - - 2817.62 - - - - - - - - - 15.94 -
1188.97 164.22 -11.51 195 1195.79 roll -1.25 - - 1835.69 - 3.45 0.057 2081.19 -403.3 -77.86 - - 2818.56 - - - - - - - - - 15.95 -
1495.11 196.14 -10.79 226 1496.44 no move -1.25 - - 1835.19 - - - 2081.62 - -77.86 - - 2818.31 - - - - - - - - - - -
1795.17 228.80 -10.61 256 1796.50 no move -1.25 - - 1834.62 - - - 2081.31 - -77.86 - - 2818.16 - - - - - - - - - - -
2095.21 261.50 -11.19 286 2096.53 no move -1.25 - - 1835.06 - - - 2081.12 - -77.86 - - 2818.12 - - - - - - - - - - -
2395.25 294.80 -10.90 316 2396.58 no move -1.25 - - 1835.69 - - - 2081.00 - -77.86 - - 2817.84 - - - - - - - - - - -
2695.28 327.83 -11.28 346 2696.61 no move -1.25 - - 1835.25 - - - 2081.12 - -77.86 - - 2817.84 - - - - - - - - - - -
2995.33 362.19 -11.72 376 2996.66 no move -1.25 - - 1834.88 - - - 2081.00 - -77.86 - - 2816.97 - - - - - - - - - - -
3295.38 395.22 -10.91 406 3296.70 no move -1.25 - - 1835.31 - - - 2081.06 - -77.86 - - 2816.22 - - - - - - - - - - -
3595.42 423.97 -9.28 436 3596.74 no move -1.25 - - 1835.56 - - - 2081.06 - -77.86 - - 2816.09 - - - - - - - - - - -
3895.46 451.80 -8.68 466 3901.23 roll -1.25 - - 1834.25 - 4.07 0.167 662.88 -348.4 -77.86 - - 2818.22 - - - - - - - - - 16.05 -
3950.49 457.97 -12.06 477 3956.16 roll -1.25 - - 1835.81 - 3.58 0.063 2118.69 406.7 -77.86 - - 2813.97 - - - - - - - - - 16.07 -
4255.52 486.75 -10.17 508 4256.85 no move -1.25 - - 1835.50 - - - 2119.12 - -77.86 - - 2815.06 - - - - - - - - - - -
4555.55 515.55 -8.91 538 4556.88 no move -1.25 - - 1835.88 - - - 2119.19 - -77.86 - - 2812.62 - - - - - - - - - - -
4855.60 544.19 -10.12 568 4856.93 no move -1.25 - - 1835.25 - - - 2119.00 - -77.86 - - 2812.06 - - - - - - - - - - -
5155.65 571.45 -9.67 598 5156.98 no move -1.25 - - 1835.88 - - - 2118.38 - -77.86 - - 2812.50 - - - - - - - - - - -
5455.68 598.63 -8.72 628 5461.47 roll -1.25 - - 1835.75 - 4.16 0.169 662.75 -349.9 -77.86 - - 2810.84 - - - - - - - - - 16.06 -
5500.71 603.61 -10.57 637 5506.40 roll -1.25 - - 1835.44 - 3.63 0.064 2119.62 401.3 -77.86 - - 2811.53 - - - - - - - - - 16.09 -
5805.77 634.13 -10.28 668 5807.10 no move -1.25 - - 1835.44 - - - 2119.12 - -77.86 - - 2812.41 - - - - - - - - - - -
6105.83 663.66 -10.04 698 6107.16 no move -1.25 - - 1835.56 - - - 2119.50 - -77.86 - - 2810.06 - - - - - - - - - - -
6405.90 690.94 -9.06 728 6407.23 no move -1.25 - - 1833.94 - - - 2119.12 - -77.86 - - 2813.59 - - - - - - - - - - -
6705.97 717.46 -8.35 758 6707.30 no move -1.25 - - 1835.81 - - - 2119.44 - -77.86 - - 2810.16 - - - - - - - - - - -
7006.03 741.62 -7.08 788 7007.36 no move -1.25 - - 1835.69 - - - 2118.94 - -77.86 - - 2809.38 - - - - - - - - - - -
7306.10 764.21 -7.31 818 7307.43 no move -1.25 - - 1835.25 - - - 2119.25 - -77.86 - - 2809.84 - - - - - - - - - - -
7606.17 786.11 -7.63 848 7607.50 no move -1.25 - - 1835.69 - - - 2119.19 - -77.86 - - 2808.59 - - - - - - - - - - -
7906.21 807.98 -6.89 878 7907.54 no move -1.25 - - 1835.81 - - - 2119.38 - -77.86 - - 2809.12 - - - - - - - - - - -
8206.25 829.09 -7.30 908 8207.58 no move -1.25 - - 1835.69 - - - 2120.38 - -77.86 - - 2808.84 - - - - - - - - - - -
8506.29 850.05 -6.85 938 8507.62 no move -1.25 - - 1835.38 - - - 2120.00 - -77.86 - - 2807.31 - - - - - - - - - - -
8806.33 871.44 -7.13 968 8812.04 roll -1.25 - - 1835.38 - 3.77 0.138 3472.44 358.7 -77.86 - - 2806.78 - - - - - - - - - 16.09 -
8921.34 881.31 -8.29 991 8926.00 roll -1.25 - - 1835.56 - 3.49 0.076 2086.12 -397.2 -77.86 - - 2810.28 - - - - - - - - - 16.10 -
9231.39 903.38 -7.43 1023 9232.72 no move -1.25 - - 1834.88 - - - 2085.94 - -77.86 - - 2809.66 - - - - - - - - - - -
9531.42 925.14 -7.19 1053 9532.75 no move -1.25 - - 1834.75 - - - 2085.31 - -77.86 - - 2809.62 - - - - - - - - - - -
9831.46 946.10 -6.47 1083 9832.79 no move -1.25 - - 1835.62 - - - 2086.31 - -77.86 - - 2805.38 - - - - - - - - - - -
10131.50 968.51 -7.59 1113 10132.83 no move -1.25 - - 1835.56 - - - 2085.56 - -77.86 - - 2806.03 - - - - - - - - - - -
10432 end dive: TARGET_DEPTH_EXCEEDED
10432 begin apogee
10432.79 990.82 -7.04 1143 10499.67 -0.25 1.72 0.157 2080.50 142.4 0.07 0.322 2185.56 1428.6 - 63.59 2.301 2498.44 -4.8 0.345 - - - - - - 16.04 15.60 12.94
10501 end apogee: CONTROL_FINISHED_OK
10501 begin climb
10501.18 992.17 - 1149 10583.28 1.25 2.48 0.099 2447.81 148.1 3.87 0.138 3471.88 332.4 77.86 71.41 2.242 2180.31 -4.5 0.327 - - - - - - 15.63 15.24 12.86
10624.97 982.99 10.87 1169 10631.78 roll 1.25 - - 2447.25 - 3.41 0.066 2184.50 -377.5 77.86 - - 2175.59 - - - - - - - - - 15.43 -
10931.12 953.67 9.20 1200 10932.45 VBD 1.25 - - 2448.44 - - - 2184.00 - 77.86 - - 2166.84 - - - - - - - - - - -
11231.18 924.00 9.38 1230 11232.51 VBD 1.25 - - 2447.19 - - - 2183.44 - 77.86 - - 2165.25 - - - - - - - - - - -
11531.21 895.75 9.03 1260 11532.55 VBD 1.25 - - 2447.50 - - - 2184.06 - 77.86 - - 2164.25 - - - - - - - - - - -
11831.25 867.43 9.58 1290 11832.58 VBD 1.25 - - 2447.62 - - - 2184.38 - 77.86 - - 2163.06 - - - - - - - - - - -
12131.28 841.91 7.85 1320 12132.61 VBD 1.25 - - 2447.50 - - - 2183.94 - 77.86 - - 2163.97 - - - - - - - - - - -
12431.31 816.83 9.09 1350 12436.97 done 1.25 - - 2445.75 - 3.65 0.136 3471.62 352.8 77.86 - - 2164.34 - - - - - - - - - 15.96 -
12600.27 800.25 9.46 1384 12607.06 done 1.25 - - 2447.62 - 3.29 0.067 2183.88 -391.4 77.86 - - 2163.12 - - - - - - - - - 15.98 -
12906.39 773.19 9.08 1415 12912.17 done 1.25 - - 2446.88 - 4.11 0.150 736.38 -352.2 77.86 - - 2162.75 - - - - - - - - - 15.98 -
13005.25 762.79 11.33 1435 13012.18 done 1.25 - - 2447.38 - 3.68 0.060 2217.44 402.5 77.86 - - 2160.28 - - - - - - - - - 16.01 -
13311.47 735.95 7.44 1466 13317.03 done 1.27 - - 2447.56 - 3.49 0.134 3472.75 359.7 77.86 - - 2160.44 - - - - - - - - - 16.01 -
13456.48 721.72 10.36 1495 13461.02 done 1.27 - - 2446.56 - 3.23 0.063 2181.31 -399.8 77.86 - - 2163.47 - - - - - - - - - 16.02 -
13766.51 693.95 8.76 1527 13767.85 VBD 1.27 - - 2447.25 - - - 2181.69 - 77.86 - - 2160.09 - - - - - - - - - - -
14066.54 669.21 8.58 1557 14067.88 VBD 1.27 - - 2447.88 - - - 2182.44 - 77.86 - - 2159.41 - - - - - - - - - - -
14366.58 644.10 8.57 1587 14367.91 VBD 1.27 - - 2446.06 - - - 2182.19 - 77.86 - - 2162.81 - - - - - - - - - - -
14666.63 621.42 7.38 1617 14672.51 done 1.29 - - 2447.25 - 4.05 0.146 737.38 -356.7 77.86 - - 2159.81 - - - - - - - - - 16.03 -
14771.63 612.32 8.43 1638 14777.26 done 1.29 - - 2446.62 - 3.68 0.060 2217.44 402.2 77.86 - - 2158.66 - - - - - - - - - 16.05 -
15076.69 590.72 6.41 1669 15082.27 done 1.34 - - 2446.06 - 3.51 0.133 3471.25 357.2 77.86 - - 2158.72 - - - - - - - - - 16.04 -
15155.69 584.71 7.44 1685 15162.39 done 1.36 - - 2447.50 - 3.20 0.061 2180.19 -403.5 77.86 - - 2159.56 - - - - - - - - - 16.05 -
15461.78 563.20 7.33 1716 15463.25 1.38 0.16 0.119 2480.44 205.9 - - 2181.00 - 77.86 - - 2157.72 - - - - - - - - 16.03 - -
15761.86 541.72 7.09 1746 15763.19 VBD 1.41 - - 2480.44 - - - 2180.56 - 77.86 - - 2158.53 - - - - - - - - - - -
16061.93 521.11 6.63 1776 16063.26 VBD 1.45 - - 2480.62 - - - 2180.12 - 77.86 - - 2158.72 - - - - - - - - - - -
16362.05 500.18 7.24 1806 16363.38 VBD 1.48 - - 2480.56 - - - 2180.56 - 77.86 - - 2157.88 - - - - - - - - - - -
16662.08 479.19 7.12 1836 16667.69 done 1.50 - - 2480.00 - 3.56 0.129 3472.12 362.8 77.86 - - 2157.94 - - - - - - - - - 16.06 -
16817.13 466.54 8.12 1867 16821.65 done 1.50 - - 2480.00 - 3.20 0.060 2180.00 -403.8 77.86 - - 2160.00 - - - - - - - - - 16.07 -
17127.20 445.23 6.19 1899 17128.69 1.56 0.22 0.099 2525.31 206.0 - - 2180.50 - 77.86 - - 2157.81 - - - - - - - - 16.04 - -
17427.24 424.53 7.19 1929 17428.57 VBD 1.58 - - 2524.88 - - - 2179.75 - 77.86 - - 2159.41 - - - - - - - - - - -
17727.26 405.30 6.61 1959 17728.60 VBD 1.63 - - 2526.31 - - - 2180.56 - 77.86 - - 2159.53 - - - - - - - - - - -
18027.30 387.79 5.72 1989 18059.68 1.73 0.20 0.101 2566.25 199.7 3.63 0.126 3471.12 355.5 111.07 26.73 1.546 2044.28 -4.3 0.179 - - - - - - 16.06 15.88 12.95
18102.50 382.01 9.17 2002 18106.98 roll 1.73 - - 2566.25 - 3.24 0.058 2179.44 -398.7 111.07 - - 2045.41 - - - - - - - - - 15.93 -
18412.51 353.07 9.92 2034 18418.29 roll 1.73 - - 2566.88 - 3.99 0.139 735.88 -361.8 111.07 - - 2039.12 - - - - - - - - - 15.94 -
18497.49 343.04 12.88 2051 18503.12 roll 1.73 - - 2566.88 - 3.67 0.054 2219.12 404.2 111.07 - - 2038.84 - - - - - - - - - 15.98 -
18802.54 314.92 9.41 2082 18808.12 done 1.73 - - 2566.25 - 3.49 0.128 3471.88 359.0 111.07 - - 2037.81 - - - - - - - - - 15.96 -
18871.40 307.80 10.75 2096 18878.26 done 1.73 - - 2566.06 - 3.20 0.059 2179.69 -403.8 111.07 - - 2038.91 - - - - - - - - - 16.00 -
19177.59 278.71 9.88 2127 19178.92 VBD 1.73 - - 2566.25 - - - 2179.75 - 111.07 - - 2039.00 - - - - - - - - - - -
19477.62 251.50 8.63 2157 19483.22 done 1.73 - - 2564.94 - 3.56 0.123 3472.38 363.1 111.07 - - 2041.06 - - - - - - - - - 16.01 -
19682.68 231.34 9.27 2198 19687.22 done 1.73 - - 2566.56 - 3.23 0.058 2178.81 -400.5 111.07 - - 2038.44 - - - - - - - - - 16.02 -
19992.72 204.23 8.39 2230 19994.05 VBD 1.73 - - 2566.88 - - - 2179.06 - 111.07 - - 2037.09 - - - - - - - - - - -
20292.78 181.43 8.14 2260 20294.11 VBD 1.73 - - 2565.88 - - - 2178.50 - 111.07 - - 2038.66 - - - - - - - - - - -
20592.83 157.97 8.25 2290 20598.51 done 1.73 - - 2567.38 - 3.99 0.136 736.38 -361.4 111.07 - - 2036.97 - - - - - - - - - 16.02 -
20771.76 141.64 8.24 2326 20778.68 done 1.73 - - 2567.00 - 3.65 0.056 2220.44 406.6 111.07 - - 2038.38 - - - - - - - - - 16.03 -
21077.99 122.62 5.33 2357 21118.86 done 1.84 - - 2566.94 - 4.16 0.133 736.50 -356.7 149.85 32.53 1.247 1887.47 -4.6 0.076 - - - - - - - 15.86 13.05
21343.06 97.09 11.03 2410 21348.83 roll 1.84 - - 2565.12 - 3.70 0.056 2220.62 401.1 149.85 - - 1884.91 - - - - - - - - - 15.94 -
21528.15 80.10 8.29 2447 21534.03 roll 1.84 - - 2567.06 - 4.11 0.131 736.69 -361.1 149.85 - - 1882.00 - - - - - - - - - 15.91 -
21628.17 72.24 8.25 2467 21633.95 roll 1.84 - - 2566.94 - 3.68 0.056 2221.31 403.4 149.85 - - 1882.38 - - - - - - - - - 15.95 -
21813.25 65.96 2.52 2504 21884.94 2.08 0.50 0.077 2653.81 173.7 3.49 0.120 3471.44 358.2 228.81 63.62 1.186 1567.34 -5.0 0.046 - - - - - - 15.94 15.69 12.98
21943.25 58.91 8.58 2530 21949.07 roll 2.08 - - 2654.50 - 3.24 0.056 2179.19 -398.8 228.81 - - 1562.31 - - - - - - - - - 15.76 -
22128.28 40.76 9.28 2567 22134.11 roll 2.08 - - 2654.62 - 4.04 0.133 736.50 -357.1 228.81 - - 1559.66 - - - - - - - - - 15.78 -
22358.55 39.12 -0.22 2613 22457.20 2.44 0.48 0.071 2738.81 175.4 3.66 0.052 2226.56 407.1 346.87 92.82 1.127 1085.47 -5.1 0.029 - - - - - - 15.81 15.85 12.93
22635.04 5.56 19.05 2668 22640.90 roll 2.44 - - 2739.00 - 4.22 0.129 736.44 -353.1 346.87 - - 1079.25 - - - - - - - - - 15.66 -
22655 end climb: SURFACE_DEPTH_REACHED
22655 begin surface coast
22665 end surface coast: CONTROL_FINISHED_OK
22665 begin surface
SM 0.89 - - - - 174.1 63.51 1.056 767.2 12.1 16.56 0.065 776.2 46.9 - 3.46 0.053 758.1 217.9 -0.374 - - 12.74 15.69 15.71 -