NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 228 * Raw log
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• Previous call tries 1 • 71.73 of 575.00 AH used of 24V (87.52% remains)
• Surface angle -64.5 deg, depth 0.74 m • Intended pitch -20.4 deg, speed -8.049 cm/s
• VBD pumped to 424.68 (SM_CC=425)
• GPS1 time: 33 s
• GPS2 time: 5 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
6.69 - - - 84.75 VBD -1.25 - - 171.81 - - - 2119.62 - -77.86 77.45 0.005 2467.06 - - - - - - - - - - 15.60
85.00 3.69 -7.08 15 116.83 -1.25 13.61 0.251 1836.75 122.3 4.26 0.161 664.00 -341.7 -77.86 8.71 0.007 2816.94 40.2 -3.570 - - - - - - 15.61 15.59 15.64
129.60 13.92 -20.63 24 135.37 roll -1.25 - - 1836.38 - 3.73 0.060 2116.06 389.3 -77.86 - - 2816.09 - - - - - - - - - 15.71 -
314.64 48.18 -15.83 61 320.42 roll -1.25 - - 1836.81 - 3.78 0.117 3472.81 358.9 -77.86 - - 2816.75 - - - - - - - - - 15.77 -
369.65 57.46 -16.87 72 375.39 roll -1.25 - - 1836.62 - 3.47 0.060 2084.12 -400.2 -77.86 - - 2816.97 - - - - - - - - - 15.79 -
554.69 85.05 -13.47 109 560.50 roll -1.25 - - 1836.00 - 3.86 0.116 3474.06 360.1 -77.86 - - 2817.12 - - - - - - - - - 15.83 -
619.73 94.63 -15.69 122 625.48 roll -1.25 - - 1836.19 - 3.52 0.060 2084.38 -394.8 -77.86 - - 2818.59 - - - - - - - - - 15.85 -
804.77 115.72 -10.28 145 806.09 no move -1.25 - - 1836.12 - - - 2083.94 - -77.86 - - 2817.38 - - - - - - - - - - -
1104.84 147.96 -11.21 175 1106.17 no move -1.25 - - 1836.56 - - - 2084.12 - -77.86 - - 2818.19 - - - - - - - - - - -
1404.91 180.00 -9.67 205 1406.24 no move -1.25 - - 1835.81 - - - 2084.38 - -77.86 - - 2818.25 - - - - - - - - - - -
1704.99 211.83 -10.65 235 1710.72 roll -1.25 - - 1835.44 - 3.83 0.121 3472.12 362.3 -77.86 - - 2820.16 - - - - - - - - - 15.98 -
1750.02 217.50 -12.90 244 1754.67 roll -1.25 - - 1836.44 - 3.47 0.064 2083.12 -400.3 -77.86 - - 2819.19 - - - - - - - - - 15.99 -
2060.08 251.15 -10.81 276 2061.41 no move -1.25 - - 1836.31 - - - 2083.50 - -77.86 - - 2817.56 - - - - - - - - - - -
2360.15 282.94 -10.92 306 2365.86 roll -1.25 - - 1835.94 - 3.80 0.122 3472.19 365.4 -77.86 - - 2820.56 - - - - - - - - - 16.02 -
2429.10 291.18 -11.17 320 2435.92 roll -1.25 - - 1836.31 - 3.47 0.065 2083.50 -400.2 -77.86 - - 2818.50 - - - - - - - - - 16.02 -
2735.21 324.14 -10.55 351 2736.54 no move -1.25 - - 1836.50 - - - 2083.75 - -77.86 - - 2818.34 - - - - - - - - - - -
3035.24 356.14 -11.02 381 3036.57 no move -1.25 - - 1835.94 - - - 2083.50 - -77.86 - - 2817.78 - - - - - - - - - - -
3335.28 388.03 -11.75 411 3341.01 roll -1.25 - - 1836.00 - 3.81 0.125 3472.12 364.5 -77.86 - - 2818.84 - - - - - - - - - 16.05 -
3400.30 395.75 -11.81 424 3404.96 roll -1.25 - - 1836.69 - 3.49 0.067 2083.31 -397.9 -77.86 - - 2818.88 - - - - - - - - - 16.06 -
3710.33 428.72 -9.76 456 3711.66 no move -1.25 - - 1836.38 - - - 2083.25 - -77.86 - - 2816.28 - - - - - - - - - - -
4010.35 459.66 -10.44 486 4016.08 roll -1.25 - - 1836.31 - 3.82 0.127 3471.94 363.5 -77.86 - - 2817.12 - - - - - - - - - 16.06 -
4095.46 469.41 -11.18 503 4100.10 roll -1.25 - - 1836.31 - 3.46 0.069 2084.25 -401.1 -77.86 - - 2817.31 - - - - - - - - - 16.07 -
4405.40 500.86 -10.36 535 4406.73 no move -1.25 - - 1836.44 - - - 2083.81 - -77.86 - - 2815.09 - - - - - - - - - - -
4705.43 529.82 -9.54 565 4706.76 no move -1.25 - - 1836.56 - - - 2083.94 - -77.86 - - 2816.34 - - - - - - - - - - -
5005.46 559.18 -9.92 595 5006.79 no move -1.25 - - 1836.38 - - - 2084.06 - -77.86 - - 2813.88 - - - - - - - - - - -
5305.49 589.74 -10.53 625 5306.82 no move -1.25 - - 1836.50 - - - 2083.81 - -77.86 - - 2815.00 - - - - - - - - - - -
5605.53 618.23 -9.24 655 5606.86 no move -1.25 - - 1836.75 - - - 2083.69 - -77.86 - - 2813.78 - - - - - - - - - - -
5905.56 645.04 -8.46 685 5911.30 roll -1.25 - - 1836.38 - 3.83 0.133 3471.88 362.5 -77.86 - - 2813.41 - - - - - - - - - 16.08 -
5970.60 651.63 -8.69 698 5976.26 roll -1.25 - - 1836.19 - 3.51 0.074 2085.38 -395.0 -77.86 - - 2814.75 - - - - - - - - - 16.08 -
6275.61 680.08 -9.48 729 6281.34 roll -1.25 - - 1835.25 - 3.82 0.132 3470.88 362.7 -77.86 - - 2816.00 - - - - - - - - - 16.07 -
6324.54 685.25 -10.06 739 6331.40 roll -1.25 - - 1836.19 - 3.51 0.072 2084.75 -394.9 -77.86 - - 2814.12 - - - - - - - - - 16.08 -
6630.65 714.04 -8.82 770 6631.98 no move -1.25 - - 1836.62 - - - 2085.44 - -77.86 - - 2812.19 - - - - - - - - - - -
6930.68 741.01 -9.00 800 6932.00 no move -1.25 - - 1836.50 - - - 2085.12 - -77.86 - - 2813.03 - - - - - - - - - - -
7230.75 767.46 -8.87 830 7232.08 no move -1.25 - - 1836.50 - - - 2085.06 - -77.86 - - 2810.88 - - - - - - - - - - -
7530.83 793.30 -8.35 860 7532.15 no move -1.25 - - 1836.50 - - - 2085.50 - -77.86 - - 2810.56 - - - - - - - - - - -
7830.90 818.12 -9.18 890 7836.64 roll -1.25 - - 1836.00 - 3.84 0.137 3472.44 361.2 -77.86 - - 2810.28 - - - - - - - - - 16.08 -
7885.94 823.64 -11.70 901 7890.59 roll -1.25 - - 1836.25 - 3.52 0.077 2087.44 -393.5 -77.86 - - 2812.88 - - - - - - - - - 16.08 -
8196.01 849.40 -7.39 933 8197.34 no move -1.25 - - 1836.25 - - - 2086.88 - -77.86 - - 2812.06 - - - - - - - - - - -
8496.07 874.35 -8.52 963 8497.40 no move -1.25 - - 1836.62 - - - 2087.38 - -77.86 - - 2811.47 - - - - - - - - - - -
8796.13 899.43 -8.49 993 8797.46 no move -1.25 - - 1836.62 - - - 2086.94 - -77.86 - - 2809.62 - - - - - - - - - - -
9096.19 923.10 -8.33 1023 9097.52 no move -1.25 - - 1836.56 - - - 2087.50 - -77.86 - - 2808.91 - - - - - - - - - - -
9396.23 948.38 -8.72 1053 9401.99 roll -1.25 - - 1836.31 - 3.88 0.142 3472.31 356.9 -77.86 - - 2809.81 - - - - - - - - - 16.08 -
9451.25 953.42 -8.73 1064 9456.06 roll -1.25 - - 1836.50 - 3.51 0.080 2087.25 -394.6 -77.86 - - 2810.78 - - - - - - - - - 16.08 -
9761.28 979.76 -8.20 1096 9762.61 no move -1.25 - - 1836.88 - - - 2087.69 - -77.86 - - 2809.31 - - - - - - - - - - -
9902 end dive: TARGET_DEPTH_EXCEEDED
9902 begin apogee
9902.57 990.84 -8.52 1110 9973.07 -0.25 1.72 0.150 2080.88 141.9 0.07 0.318 2185.31 1394.6 - 64.49 2.287 2498.06 -4.8 0.353 - - - - - - 16.03 15.59 12.92
9975 end apogee: CONTROL_FINISHED_OK
9975 begin climb
9974.59 992.38 - 1117 10054.42 1.25 2.49 0.096 2448.38 147.6 3.84 0.140 3470.62 334.7 77.86 71.29 2.238 2181.06 -4.4 0.332 - - - - - - 15.62 15.24 12.82
10106.15 983.16 8.95 1143 10112.90 roll 1.25 - - 2448.19 - 3.39 0.067 2185.62 -379.1 77.86 - - 2176.53 - - - - - - - - - 15.44 -
10412.21 954.49 8.80 1174 10418.01 done 1.25 - - 2448.38 - 4.22 0.159 737.25 -343.2 77.86 - - 2167.81 - - - - - - - - - 15.68 -
10487.23 946.35 10.64 1189 10493.02 done 1.25 - - 2448.50 - 3.75 0.064 2214.69 394.0 77.86 - - 2165.56 - - - - - - - - - 15.73 -
10792.27 918.12 8.73 1220 10793.61 VBD 1.25 - - 2448.31 - - - 2214.19 - 77.86 - - 2164.34 - - - - - - - - - - -
11092.30 891.44 9.39 1250 11093.63 VBD 1.25 - - 2447.88 - - - 2214.44 - 77.86 - - 2163.69 - - - - - - - - - - -
11392.33 865.81 9.24 1280 11393.67 VBD 1.25 - - 2448.44 - - - 2214.56 - 77.86 - - 2162.56 - - - - - - - - - - -
11692.37 839.29 8.74 1310 11693.70 VBD 1.25 - - 2448.12 - - - 2214.56 - 77.86 - - 2161.66 - - - - - - - - - - -
11992.41 815.70 8.06 1340 11993.74 VBD 1.25 - - 2448.12 - - - 2214.56 - 77.86 - - 2163.69 - - - - - - - - - - -
12292.44 791.66 8.38 1370 12298.06 done 1.25 - - 2447.62 - 3.52 0.138 3472.75 357.4 77.86 - - 2161.75 - - - - - - - - - 15.96 -
12401.36 781.45 10.11 1392 12408.16 done 1.25 - - 2447.75 - 3.27 0.068 2182.25 -394.6 77.86 - - 2162.69 - - - - - - - - - 15.99 -
12707.49 758.49 7.67 1423 12713.39 done 1.25 - - 2447.81 - 4.09 0.154 736.62 -353.5 77.86 - - 2159.84 - - - - - - - - - 15.99 -
12786.34 751.52 8.87 1439 12793.29 done 1.25 - - 2448.25 - 3.69 0.066 2215.88 400.9 77.86 - - 2160.38 - - - - - - - - - 16.01 -
13092.55 727.64 8.08 1470 13098.16 done 1.25 - - 2447.62 - 3.53 0.136 3472.44 356.0 77.86 - - 2159.84 - - - - - - - - - 16.01 -
13207.56 717.33 9.31 1493 13212.25 done 1.25 - - 2448.38 - 3.24 0.066 2184.25 -397.6 77.86 - - 2161.88 - - - - - - - - - 16.01 -
13517.59 691.85 7.96 1525 13523.38 done 1.25 - - 2448.19 - 4.11 0.153 737.44 -352.0 77.86 - - 2159.72 - - - - - - - - - 16.01 -
13612.61 683.45 8.91 1544 13618.40 done 1.25 - - 2448.38 - 3.73 0.063 2215.88 396.4 77.86 - - 2158.59 - - - - - - - - - 16.01 -
13917.67 661.44 6.55 1575 13919.00 VBD 1.30 - - 2448.38 - - - 2216.50 - 77.86 - - 2159.06 - - - - - - - - - - -
14217.70 641.88 6.25 1605 14223.46 done 1.35 - - 2448.62 - 4.18 0.150 737.31 -353.9 77.86 - - 2158.12 - - - - - - - - - 16.02 -
14312.72 634.97 7.64 1624 14318.37 done 1.35 - - 2448.00 - 3.72 0.062 2216.69 397.7 77.86 - - 2159.03 - - - - - - - - - 16.05 -
14617.81 615.05 6.75 1655 14623.44 1.39 0.17 0.106 2485.75 222.1 3.51 0.132 3472.19 357.7 77.86 - - 2161.78 - - - - - - - - 16.03 16.03 -
14742.83 605.17 7.64 1680 14747.38 done 1.39 - - 2485.50 - 3.20 0.063 2182.25 -403.1 77.86 - - 2159.53 - - - - - - - - - 16.04 -
15052.93 582.95 7.52 1712 15058.51 done 1.41 - - 2484.62 - 3.59 0.130 3472.75 359.5 77.86 - - 2161.75 - - - - - - - - - 16.04 -
15187.96 572.14 8.43 1739 15192.51 done 1.41 - - 2484.81 - 3.20 0.063 2181.38 -403.6 77.86 - - 2162.06 - - - - - - - - - 16.04 -
15498.05 551.05 6.11 1771 15499.38 VBD 1.46 - - 2485.94 - - - 2182.00 - 77.86 - - 2159.50 - - - - - - - - - - -
15798.10 529.48 6.91 1801 15803.86 done 1.50 - - 2484.62 - 4.05 0.147 736.44 -356.9 77.86 - - 2160.44 - - - - - - - - - 16.02 -
15863.18 523.51 8.85 1814 15868.76 done 1.50 - - 2484.75 - 3.71 0.061 2219.12 399.6 77.86 - - 2156.94 - - - - - - - - - 16.06 -
16168.20 499.76 7.23 1845 16169.53 VBD 1.52 - - 2485.31 - - - 2219.38 - 77.86 - - 2157.84 - - - - - - - - - - -
16468.24 478.02 6.73 1875 16469.72 1.56 0.20 0.098 2527.62 211.5 - - 2219.31 - 77.86 - - 2160.12 - - - - - - - - 16.02 - -
16768.26 456.26 6.52 1905 16769.59 VBD 1.61 - - 2527.94 - - - 2219.12 - 77.86 - - 2157.03 - - - - - - - - - - -
17068.29 436.07 6.04 1935 17091.94 VBD 1.70 - - 2527.88 - - - 2219.44 - 106.58 22.81 1.584 2063.03 -4.1 0.191 - - - - - - - - 12.92
17388.31 408.38 8.43 1967 17389.64 no move 1.70 - - 2527.69 - - - 2219.50 - 106.58 - - 2059.84 - - - - - - - - - - -
17688.35 382.69 8.14 1997 17689.68 no move 1.70 - - 2526.94 - - - 2219.38 - 106.58 - - 2058.69 - - - - - - - - - - -
17988.39 356.03 8.87 2027 17989.72 no move 1.70 - - 2528.06 - - - 2219.12 - 106.58 - - 2058.16 - - - - - - - - - - -
18288.44 330.05 8.49 2057 18294.14 roll 1.70 - - 2527.88 - 3.49 0.128 3471.44 358.8 106.58 - - 2058.75 - - - - - - - - - 16.00 -
18387.35 320.89 9.32 2077 18394.14 roll 1.70 - - 2527.88 - 3.21 0.062 2181.44 -401.9 106.58 - - 2060.78 - - - - - - - - - 16.00 -
18693.48 297.10 8.37 2108 18694.81 no move 1.70 - - 2527.31 - - - 2181.56 - 106.58 - - 2058.75 - - - - - - - - - - -
18993.63 274.35 7.39 2138 18995.09 pitch 1.71 0.17 0.110 2563.44 212.5 - - 2181.69 - 106.58 - - 2059.75 - - - - - - - - 16.02 - -
19293.55 249.40 8.05 2168 19294.88 no move 1.71 - - 2563.88 - - - 2181.44 - 106.58 - - 2059.75 - - - - - - - - - - -
19593.58 224.07 8.65 2198 19599.19 roll 1.71 - - 2564.69 - 3.58 0.123 3473.44 360.9 106.58 - - 2059.69 - - - - - - - - - 15.98 -
19738.62 210.68 9.54 2227 19743.15 roll 1.71 - - 2564.06 - 3.22 0.059 2179.62 -401.8 106.58 - - 2060.31 - - - - - - - - - 16.04 -
20048.63 185.17 8.33 2259 20054.23 roll 1.71 - - 2561.94 - 3.55 0.121 3474.06 364.6 106.58 - - 2061.72 - - - - - - - - - 16.01 -
20177.50 173.35 8.07 2285 20184.40 roll 1.71 - - 2564.06 - 3.21 0.059 2179.81 -403.2 106.58 - - 2059.50 - - - - - - - - - 16.04 -
20483.72 152.18 6.47 2316 20489.31 roll 1.76 - - 2564.12 - 3.55 0.118 3472.81 364.2 106.58 - - 2057.97 - - - - - - - - - 16.04 -
20712.67 134.60 8.04 2362 20719.51 roll 1.76 - - 2564.12 - 3.22 0.056 2178.62 -401.9 106.58 - - 2061.28 - - - - - - - - - 16.01 -
21018.87 118.14 4.62 2393 21060.80 1.91 0.23 0.097 2610.38 201.1 - - 2178.81 - 155.56 41.08 1.252 1865.34 -4.8 0.076 - - - - - - 16.02 - 12.93
21358.94 92.18 8.49 2436 21364.70 roll 1.91 - - 2610.38 - 3.58 0.118 3472.69 361.4 155.56 - - 1857.78 - - - - - - - - - 15.90 -
21589.06 72.46 6.77 2482 21594.74 done 1.95 - - 2610.00 - 3.24 0.056 2178.81 -399.3 155.56 - - 1858.78 - - - - - - - - - 15.94 -
21775.35 64.48 3.44 2519 21837.30 2.14 0.32 0.083 2668.62 183.2 3.60 0.117 3473.19 359.6 221.33 53.04 1.180 1597.91 -4.9 0.045 - - - - - - 15.93 15.70 12.95
21895.08 56.18 10.87 2543 21900.78 roll 2.14 - - 2669.94 - 3.30 0.056 2181.00 -391.6 221.33 - - 1592.41 - - - - - - - - - 15.78 -
22080.17 40.41 5.39 2580 22117.67 done 2.26 - - 2669.31 - 4.11 0.135 737.25 -351.3 259.35 31.69 1.096 1443.31 -4.7 0.029 - - - - - - - 15.66 12.80
22155.50 36.18 6.01 2595 22186.91 2.35 0.25 0.081 2718.88 198.3 3.78 0.053 2221.94 392.8 288.45 25.25 1.064 1323.75 -4.7 0.027 - - - - - - 15.72 15.74 12.73
22365.74 18.61 11.15 2637 22371.31 roll 2.35 - - 2719.38 - 3.53 0.119 3472.06 354.1 288.45 - - 1318.50 - - - - - - - - - 15.73 -
22435.56 10.18 11.50 2651 22441.39 roll 2.35 - - 2719.50 - 3.25 0.054 2181.94 -397.0 288.45 - - 1317.88 - - - - - - - - - 15.77 -
22501 end climb: SURFACE_DEPTH_REACHED
22501 begin surface coast
22511 end surface coast: CONTROL_FINISHED_OK
22511 begin surface
SM 0.46 - - - - 174.1 0.01 0.358 768.7 76870.0 16.81 0.105 769.4 45.8 - 0.23 0.107 768.1 3325.4 -1.461 - - 30.36 15.73 15.79 -