NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 229 * Raw log
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• Previous call tries 1 • 72.04 of 575.00 AH used of 24V (87.47% remains)
• Surface angle -62.3 deg, depth 0.77 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.66 (SM_CC=425)
• GPS1 time: 27 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
6.71 - - - 84.76 VBD -1.25 - - 173.19 - - - 2118.44 - -77.86 77.48 0.005 2479.34 - - - - - - - - - - 15.60
85.02 3.43 -4.02 15 116.77 -1.25 13.61 0.250 1835.56 122.1 3.80 0.121 3473.62 356.6 -77.86 8.30 0.007 2817.41 40.7 -3.367 - - - - - - 15.61 15.59 15.64
339.57 62.99 -16.82 66 345.36 roll -1.25 - - 1835.69 - 3.55 0.062 2084.38 -391.3 -77.86 - - 2819.53 - - - - - - - - - 15.79 -
524.62 88.97 -13.73 103 530.41 roll -1.25 - - 1835.50 - 3.87 0.114 3473.75 359.0 -77.86 - - 2818.47 - - - - - - - - - 15.83 -
618.47 101.36 -13.10 122 625.37 roll -1.25 - - 1836.12 - 3.49 0.061 2084.25 -398.1 -77.86 - - 2817.28 - - - - - - - - - 15.86 -
924.67 135.20 -10.47 153 930.39 roll -1.25 - - 1835.38 - 3.85 0.116 3473.00 360.7 -77.86 - - 2816.47 - - - - - - - - - 15.91 -
1019.70 146.16 -10.70 172 1025.29 roll -1.25 - - 1836.00 - 3.49 0.061 2083.75 -398.1 -77.86 - - 2820.47 - - - - - - - - - 15.93 -
1324.76 176.38 -10.55 203 1330.49 roll -1.25 - - 1835.44 - 3.84 0.117 3472.81 361.7 -77.86 - - 2820.84 - - - - - - - - - 15.95 -
1473.66 194.86 -13.02 233 1480.56 roll -1.25 - - 1835.44 - 3.46 0.062 2083.25 -401.6 -77.86 - - 2819.12 - - - - - - - - - 15.97 -
1779.88 229.05 -10.84 264 1781.21 no move -1.25 - - 1836.25 - - - 2083.06 - -77.86 - - 2818.34 - - - - - - - - - - -
2079.95 261.53 -10.79 294 2085.68 roll -1.25 - - 1835.81 - 3.84 0.120 3472.56 361.8 -77.86 - - 2817.81 - - - - - - - - - 16.00 -
2188.90 274.90 -11.80 316 2195.73 roll -1.25 - - 1835.88 - 3.48 0.065 2083.00 -399.3 -77.86 - - 2818.62 - - - - - - - - - 16.01 -
2495.05 306.60 -10.26 347 2500.82 roll -1.25 - - 1836.06 - 4.01 0.166 664.00 -353.9 -77.86 - - 2816.69 - - - - - - - - - 16.00 -
2540.08 312.00 -13.02 356 2545.78 roll -1.25 - - 1836.12 - 3.67 0.058 2117.62 396.1 -77.86 - - 2816.16 - - - - - - - - - 16.03 -
2845.15 342.46 -9.77 387 2846.47 no move -1.25 - - 1835.44 - - - 2117.12 - -77.86 - - 2818.38 - - - - - - - - - - -
3145.19 372.12 -9.56 417 3146.52 no move -1.25 - - 1835.81 - - - 2116.75 - -77.86 - - 2816.22 - - - - - - - - - - -
3445.22 402.90 -11.06 447 3446.55 no move -1.25 - - 1835.56 - - - 2117.00 - -77.86 - - 2817.88 - - - - - - - - - - -
3745.26 434.95 -10.68 477 3746.59 no move -1.25 - - 1835.62 - - - 2117.06 - -77.86 - - 2817.41 - - - - - - - - - - -
4045.29 463.65 -8.64 507 4046.62 no move -1.25 - - 1835.25 - - - 2117.06 - -77.86 - - 2814.97 - - - - - - - - - - -
4345.32 491.64 -9.06 537 4351.06 roll -1.25 - - 1835.75 - 3.72 0.129 3473.75 364.7 -77.86 - - 2818.00 - - - - - - - - - 16.06 -
4420.35 499.49 -9.69 552 4425.01 roll -1.25 - - 1835.44 - 3.51 0.069 2085.31 -395.6 -77.86 - - 2817.09 - - - - - - - - - 16.07 -
4730.37 529.12 -9.44 584 4731.70 no move -1.25 - - 1835.31 - - - 2084.69 - -77.86 - - 2814.88 - - - - - - - - - - -
5030.40 558.44 -10.01 614 5031.73 no move -1.25 - - 1836.25 - - - 2084.50 - -77.86 - - 2813.88 - - - - - - - - - - -
5330.44 587.83 -10.52 644 5331.76 no move -1.25 - - 1835.62 - - - 2084.56 - -77.86 - - 2814.06 - - - - - - - - - - -
5630.47 617.08 -9.61 674 5636.27 roll -1.25 - - 1835.81 - 3.87 0.129 3471.94 358.5 -77.86 - - 2816.88 - - - - - - - - - 16.08 -
5775.50 632.67 -11.26 703 5780.17 roll -1.25 - - 1835.88 - 3.52 0.071 2086.31 -393.6 -77.86 - - 2816.94 - - - - - - - - - 16.08 -
6085.53 661.60 -8.88 735 6091.31 roll -1.25 - - 1834.38 - 4.14 0.181 664.06 -343.5 -77.86 - - 2816.22 - - - - - - - - - 16.05 -
6120.54 665.22 -10.32 742 6126.38 roll -1.25 - - 1835.56 - 3.69 0.065 2114.69 393.1 -77.86 - - 2813.28 - - - - - - - - - 16.09 -
6425.57 692.89 -9.38 773 6431.29 roll -1.25 - - 1835.81 - 3.73 0.133 3472.69 364.1 -77.86 - - 2812.47 - - - - - - - - - 16.07 -
6470.59 696.46 -8.94 782 6475.23 roll -1.25 - - 1835.69 - 3.45 0.071 2086.69 -401.7 -77.86 - - 2814.69 - - - - - - - - - 16.08 -
6780.61 722.01 -8.18 814 6781.94 no move -1.25 - - 1836.00 - - - 2086.44 - -77.86 - - 2811.25 - - - - - - - - - - -
7080.65 745.95 -7.72 844 7081.98 no move -1.25 - - 1835.38 - - - 2085.56 - -77.86 - - 2811.75 - - - - - - - - - - -
7380.67 770.19 -7.73 874 7382.00 no move -1.25 - - 1835.81 - - - 2086.06 - -77.86 - - 2812.38 - - - - - - - - - - -
7680.73 793.61 -7.87 904 7682.06 no move -1.25 - - 1835.38 - - - 2086.00 - -77.86 - - 2811.91 - - - - - - - - - - -
7980.81 816.80 -7.46 934 7982.14 no move -1.25 - - 1835.75 - - - 2086.06 - -77.86 - - 2809.81 - - - - - - - - - - -
8280.88 839.07 -7.39 964 8282.20 no move -1.25 - - 1836.00 - - - 2086.06 - -77.86 - - 2810.31 - - - - - - - - - - -
8580.94 861.27 -7.09 994 8582.27 no move -1.25 - - 1835.62 - - - 2086.12 - -77.86 - - 2811.56 - - - - - - - - - - -
8881.01 885.83 -8.43 1024 8882.34 no move -1.25 - - 1835.50 - - - 2086.19 - -77.86 - - 2808.97 - - - - - - - - - - -
9181.08 910.59 -8.21 1054 9182.41 no move -1.25 - - 1836.00 - - - 2086.12 - -77.86 - - 2810.22 - - - - - - - - - - -
9481.16 935.05 -8.16 1084 9482.49 no move -1.25 - - 1835.62 - - - 2085.75 - -77.86 - - 2809.34 - - - - - - - - - - -
9781.21 956.90 -6.55 1114 9782.54 no move -1.25 - - 1835.88 - - - 2086.12 - -77.86 - - 2808.72 - - - - - - - - - - -
10081.24 978.04 -6.70 1144 10087.02 roll -1.25 - - 1835.88 - 4.12 0.192 663.75 -345.2 -77.86 - - 2809.75 - - - - - - - - - 16.05 -
10126.27 981.15 -7.40 1153 10131.96 roll -1.25 - - 1835.75 - 3.73 0.076 2114.69 389.0 -77.86 - - 2809.59 - - - - - - - - - 16.10 -
10252 end dive: TARGET_DEPTH_EXCEEDED
10252 begin apogee
10252.58 990.25 -7.76 1166 10322.48 -0.25 1.73 0.149 2080.62 141.5 0.07 0.325 2185.56 1012.4 - 64.40 2.291 2498.09 -4.8 0.353 - - - - - - 16.03 15.59 12.91
10324 end apogee: CONTROL_FINISHED_OK
10324 begin climb
10324.02 991.07 - 1173 10399.25 1.25 2.49 0.090 2448.06 147.6 - - 2186.94 - 77.86 71.39 2.239 2180.44 -4.4 0.332 - - - - - - 15.62 - 12.92
10692.06 954.49 10.70 1210 10693.40 VBD 1.25 - - 2448.44 - - - 2186.12 - 77.86 - - 2168.22 - - - - - - - - - - -
10992.11 922.69 11.03 1240 10998.05 done 1.25 - - 2449.06 - 4.24 0.159 736.06 -342.0 77.86 - - 2165.44 - - - - - - - - - 15.76 -
11037.20 918.00 10.01 1249 11042.77 done 1.25 - - 2448.75 - 3.78 0.063 2215.38 391.4 77.86 - - 2164.66 - - - - - - - - - 15.80 -
11342.19 893.42 7.84 1280 11346.92 done 1.25 - - 2448.81 - 3.58 0.134 3473.25 351.4 77.86 - - 2164.16 - - - - - - - - - 15.86 -
11572.28 871.97 9.51 1326 11576.82 done 1.25 - - 2448.75 - 3.24 0.068 2185.50 -397.5 77.86 - - 2167.78 - - - - - - - - - 15.90 -
11882.31 848.08 7.94 1358 11888.07 done 1.25 - - 2448.44 - 3.62 0.131 3472.44 355.5 77.86 - - 2161.22 - - - - - - - - - 15.93 -
12111.22 827.07 9.16 1404 12118.07 done 1.25 - - 2448.88 - 3.25 0.067 2184.12 -396.4 77.86 - - 2165.78 - - - - - - - - - 15.95 -
12417.40 803.38 7.79 1435 12423.19 done 1.25 - - 2449.00 - 3.61 0.133 3470.75 356.4 77.86 - - 2160.66 - - - - - - - - - 15.96 -
12646.30 783.34 10.23 1481 12653.15 done 1.25 - - 2447.75 - 3.23 0.067 2183.81 -398.4 77.86 - - 2165.06 - - - - - - - - - 15.98 -
12952.49 759.95 8.00 1512 12958.09 done 1.25 - - 2448.94 - 3.59 0.131 3471.81 358.8 77.86 - - 2161.84 - - - - - - - - - 15.99 -
13167.55 740.72 9.09 1555 13172.21 done 1.25 - - 2448.56 - 3.19 0.065 2182.31 -404.2 77.86 - - 2162.16 - - - - - - - - - 16.01 -
13477.57 716.20 7.95 1587 13483.17 done 1.25 - - 2450.12 - 3.60 0.131 3470.75 357.9 77.86 - - 2161.56 - - - - - - - - - 16.01 -
13706.47 695.85 8.80 1633 13713.32 done 1.25 - - 2447.75 - 3.22 0.065 2182.56 -400.1 77.86 - - 2163.75 - - - - - - - - - 16.02 -
14012.67 673.44 6.82 1664 14018.41 done 1.29 - - 2448.00 - 3.59 0.130 3471.94 359.2 77.86 - - 2160.16 - - - - - - - - - 16.02 -
14191.56 659.73 7.54 1700 14198.40 done 1.30 - - 2449.19 - 3.23 0.063 2182.44 -399.2 77.86 - - 2163.38 - - - - - - - - - 16.03 -
14497.76 637.45 7.63 1731 14503.37 done 1.30 - - 2448.31 - 3.57 0.128 3473.44 361.6 77.86 - - 2158.66 - - - - - - - - - 16.03 -
14726.78 618.20 8.57 1777 14733.70 done 1.30 - - 2448.62 - 3.23 0.062 2182.69 -399.6 77.86 - - 2162.84 - - - - - - - - - 16.04 -
15032.94 599.04 6.15 1808 15034.28 VBD 1.36 - - 2449.31 - - - 2182.88 - 77.86 - - 2159.16 - - - - - - - - - - -
15332.99 579.81 6.26 1838 15334.48 1.42 0.21 0.106 2492.69 206.6 - - 2182.75 - 77.86 - - 2159.41 - - - - - - - - 16.03 - -
15633.06 557.90 6.85 1868 15634.39 VBD 1.45 - - 2492.88 - - - 2182.06 - 77.86 - - 2158.47 - - - - - - - - - - -
15933.12 536.01 7.18 1898 15934.46 VBD 1.48 - - 2492.75 - - - 2182.00 - 77.86 - - 2160.06 - - - - - - - - - - -
16233.18 514.14 7.16 1928 16238.80 done 1.50 - - 2492.25 - 3.59 0.127 3471.44 359.2 77.86 - - 2158.09 - - - - - - - - - 16.06 -
16342.06 505.72 7.25 1950 16348.92 done 1.53 - - 2493.06 - 3.21 0.061 2181.12 -402.0 77.86 - - 2161.25 - - - - - - - - - 16.06 -
16648.24 483.35 7.17 1981 16653.97 done 1.55 - - 2492.69 - 3.58 0.123 3471.31 360.4 77.86 - - 2157.84 - - - - - - - - - 16.06 -
16847.15 467.28 8.31 2021 16854.00 done 1.55 - - 2493.12 - 3.22 0.058 2181.88 -400.4 77.86 - - 2160.88 - - - - - - - - - 16.05 -
17153.35 447.14 6.59 2052 17154.83 1.60 0.20 0.100 2535.38 211.3 - - 2181.75 - 77.86 - - 2160.62 - - - - - - - - 16.03 - -
17453.38 425.79 7.46 2082 17454.72 VBD 1.62 - - 2536.00 - - - 2181.62 - 77.86 - - 2158.84 - - - - - - - - - - -
17753.50 407.33 5.66 2112 17785.75 done 1.72 - - 2534.44 - 3.63 0.125 3472.19 355.5 111.99 27.23 1.585 2042.44 -4.3 0.185 - - - - - - - 15.87 12.89
17848.51 398.71 11.79 2131 17853.09 roll 1.72 - - 2535.75 - 3.28 0.059 2182.38 -393.2 111.99 - - 2040.78 - - - - - - - - - 15.94 -
18158.55 370.53 9.12 2163 18159.88 no move 1.72 - - 2536.19 - - - 2182.75 - 111.99 - - 2036.34 - - - - - - - - - - -
18458.58 341.31 9.87 2193 18459.91 no move 1.72 - - 2535.81 - - - 2182.62 - 111.99 - - 2035.03 - - - - - - - - - - -
18758.62 312.03 10.01 2223 18759.95 no move 1.72 - - 2535.88 - - - 2183.00 - 111.99 - - 2035.09 - - - - - - - - - - -
19058.66 284.47 8.93 2253 19059.99 no move 1.72 - - 2536.25 - - - 2183.12 - 111.99 - - 2034.62 - - - - - - - - - - -
19358.71 259.77 7.37 2283 19360.17 pitch 1.74 0.15 0.111 2570.25 226.7 - - 2182.94 - 111.99 - - 2035.72 - - - - - - - - 15.98 - -
19658.76 234.28 7.97 2313 19664.53 roll 1.74 - - 2570.50 - 4.06 0.141 736.12 -356.4 111.99 - - 2034.09 - - - - - - - - - 16.00 -
19803.82 219.55 10.39 2342 19809.46 done 1.74 - - 2570.44 - 3.74 0.057 2220.12 396.8 111.99 - - 2034.56 - - - - - - - - - 16.03 -
20108.89 193.92 8.31 2373 20114.58 done 1.74 - - 2570.06 - 4.13 0.134 735.38 -359.5 111.99 - - 2032.25 - - - - - - - - - 15.98 -
20287.80 177.32 9.26 2409 20294.86 done 1.74 - - 2570.06 - 3.70 0.056 2220.75 401.5 111.99 - - 2034.06 - - - - - - - - - 16.01 -
20594.03 154.08 7.01 2440 20599.70 done 1.77 - - 2571.19 - 4.06 0.133 736.12 -365.7 111.99 - - 2034.44 - - - - - - - - - 16.00 -
20679.04 147.08 8.37 2457 20684.69 done 1.77 - - 2569.94 - 3.70 0.056 2222.06 401.6 111.99 - - 2032.56 - - - - - - - - - 16.03 -
20984.12 129.71 5.24 2488 21025.59 1.89 0.16 0.107 2605.69 223.4 3.51 0.121 3471.62 356.0 152.06 33.62 1.268 1880.56 -4.5 0.078 - - - - - - 16.01 15.84 12.90
21094.14 119.55 11.41 2510 21098.67 roll 1.89 - - 2606.62 - 3.23 0.056 2179.69 -400.0 152.06 - - 1876.31 - - - - - - - - - 15.90 -
21399.22 92.70 7.47 2551 21405.06 roll 1.91 - - 2605.62 - 4.03 0.137 737.25 -357.9 152.06 - - 1873.78 - - - - - - - - - 15.90 -
21629.33 74.64 6.86 2597 21635.03 roll 1.94 - - 2606.44 - 3.71 0.058 2221.19 400.0 152.06 - - 1873.25 - - - - - - - - - 15.95 -
21814.31 69.10 2.42 2634 21886.50 2.18 0.40 0.068 2681.56 187.8 3.54 0.121 3472.31 353.4 232.37 64.58 1.192 1551.78 -5.0 0.049 - - - - - - 15.94 15.66 12.93
21989.52 51.52 14.00 2669 21995.01 roll 2.18 - - 2681.50 - 3.26 0.056 2182.12 -395.8 232.37 - - 1546.72 - - - - - - - - - 15.77 -
22174.37 36.40 4.79 2706 22221.06 done 2.32 - - 2681.38 - 4.11 0.135 736.56 -351.7 278.86 38.42 1.106 1363.94 -4.8 0.026 - - - - - - - 15.63 12.90
22444.41 7.42 13.30 2760 22450.33 roll 2.32 - - 2681.62 - 3.77 0.055 2220.62 393.6 278.86 - - 1358.28 - - - - - - - - - 15.78 -
22490 end climb: SURFACE_DEPTH_REACHED
22490 begin surface coast
22505 end surface coast: CONTROL_FINISHED_OK
22505 begin surface
SM 0.20 - - - - 172.6 0.69 0.150 768.8 1114.2 16.75 0.117 778.2 46.5 - 0.34 0.087 759.4 2222.4 -0.522 - - 15.43 15.74 15.81 -