NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 237 * Raw log
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• Previous call tries 2 • 74.45 of 575.00 AH used of 24V (87.05% remains)
• Surface angle -58.2 deg, depth 0.93 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.66 (SM_CC=425)
• GPS1 time: 23 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
6.71 - - - 84.75 VBD -1.25 - - 172.62 - - - 2117.88 - -77.86 77.44 0.005 2510.81 - - - - - - - - - - 15.61
85.01 3.75 -4.08 15 116.83 -1.25 13.61 0.256 1835.44 122.2 4.30 0.159 664.12 -338.1 -77.86 7.44 0.008 2817.84 41.3 -3.257 - - - - - - 15.64 15.62 15.65
139.58 16.83 -23.29 26 145.34 roll -1.25 - - 1836.31 - 3.68 0.054 2119.88 395.6 -77.86 - - 2817.66 - - - - - - - - - 15.73 -
324.63 55.35 -20.63 63 330.41 roll -1.25 - - 1835.75 - 3.74 0.115 3472.62 361.7 -77.86 - - 2816.78 - - - - - - - - - 15.79 -
554.68 97.33 -14.74 109 560.44 roll -1.25 - - 1835.69 - 3.53 0.058 2083.00 -393.7 -77.86 - - 2816.97 - - - - - - - - - 15.86 -
739.71 117.85 -10.43 130 745.43 roll -1.25 - - 1835.69 - 3.74 0.113 3472.38 371.5 -77.86 - - 2818.19 - - - - - - - - - 15.88 -
864.76 134.28 -14.50 155 869.45 roll -1.25 - - 1835.81 - 3.52 0.057 2083.69 -394.5 -77.86 - - 2817.62 - - - - - - - - - 15.93 -
1174.83 169.36 -11.05 187 1180.61 roll -1.25 - - 1835.81 - 4.11 0.158 663.94 -345.4 -77.86 - - 2820.19 - - - - - - - - - 15.92 -
1203.69 172.96 -11.98 193 1210.58 roll -1.25 - - 1835.94 - 3.46 0.051 2122.00 421.4 -77.86 - - 2818.19 - - - - - - - - - 15.95 -
1509.90 205.07 -10.34 224 1511.23 no move -1.25 - - 1835.62 - - - 2121.56 - -77.86 - - 2818.03 - - - - - - - - - - -
1809.95 238.95 -10.75 254 1811.28 no move -1.25 - - 1835.88 - - - 2122.06 - -77.86 - - 2818.88 - - - - - - - - - - -
2110.02 271.78 -10.64 284 2111.35 no move -1.25 - - 1836.25 - - - 2121.88 - -77.86 - - 2818.47 - - - - - - - - - - -
2410.08 302.87 -9.85 314 2415.78 roll -1.25 - - 1835.94 - 3.66 0.121 3472.75 369.1 -77.86 - - 2817.19 - - - - - - - - - 16.02 -
2459.03 308.44 -11.33 324 2465.86 roll -1.25 - - 1835.62 - 3.53 0.060 2083.00 -393.7 -77.86 - - 2818.81 - - - - - - - - - 16.04 -
2765.17 340.18 -10.49 355 2766.50 no move -1.25 - - 1835.81 - - - 2082.75 - -77.86 - - 2816.59 - - - - - - - - - - -
3065.20 370.04 -10.41 385 3070.93 roll -1.25 - - 1835.56 - 3.82 0.119 3472.56 363.8 -77.86 - - 2818.25 - - - - - - - - - 16.05 -
3164.13 381.23 -11.95 405 3170.98 roll -1.25 - - 1835.88 - 3.45 0.063 2083.38 -402.7 -77.86 - - 2817.47 - - - - - - - - - 16.05 -
3470.27 412.22 -10.12 436 3471.60 no move -1.25 - - 1835.88 - - - 2083.31 - -77.86 - - 2817.88 - - - - - - - - - - -
3770.30 442.92 -10.84 466 3771.63 no move -1.25 - - 1835.56 - - - 2082.50 - -77.86 - - 2817.38 - - - - - - - - - - -
4070.33 475.15 -10.69 496 4071.66 no move -1.25 - - 1835.94 - - - 2083.00 - -77.86 - - 2817.41 - - - - - - - - - - -
4370.37 508.39 -10.52 526 4371.70 no move -1.25 - - 1835.56 - - - 2083.75 - -77.86 - - 2815.25 - - - - - - - - - - -
4670.40 541.05 -10.25 556 4676.17 roll -1.25 - - 1835.94 - 4.09 0.171 664.12 -347.1 -77.86 - - 2814.72 - - - - - - - - - 16.05 -
4735.48 548.76 -11.66 569 4741.11 roll -1.25 - - 1835.19 - 3.63 0.059 2116.75 400.2 -77.86 - - 2818.22 - - - - - - - - - 16.08 -
5040.45 577.84 -8.68 600 5041.78 no move -1.25 - - 1835.25 - - - 2117.00 - -77.86 - - 2814.50 - - - - - - - - - - -
5340.48 603.51 -7.93 630 5346.20 roll -1.25 - - 1834.88 - 3.76 0.126 3472.06 360.4 -77.86 - - 2817.50 - - - - - - - - - 16.08 -
5389.42 608.34 -9.86 640 5396.23 roll -1.25 - - 1835.88 - 3.49 0.065 2085.06 -397.4 -77.86 - - 2816.06 - - - - - - - - - 16.08 -
5695.52 635.02 -8.64 671 5701.33 roll -1.25 - - 1836.12 - 3.85 0.124 3472.69 360.4 -77.86 - - 2812.59 - - - - - - - - - 16.08 -
5740.55 639.55 -10.50 680 5745.19 roll -1.25 - - 1835.75 - 3.50 0.066 2084.75 -396.6 -77.86 - - 2816.72 - - - - - - - - - 16.09 -
6050.57 666.38 -8.38 712 6051.90 no move -1.25 - - 1835.56 - - - 2084.38 - -77.86 - - 2814.28 - - - - - - - - - - -
6350.60 692.76 -8.09 742 6356.47 roll -1.25 - - 1835.56 - 3.86 0.130 3471.69 359.4 -77.86 - - 2815.41 - - - - - - - - - 16.08 -
6455.62 702.67 -9.92 763 6461.31 roll -1.25 - - 1835.44 - 3.54 0.069 2085.69 -391.5 -77.86 - - 2813.50 - - - - - - - - - 16.09 -
6760.66 728.31 -7.70 794 6766.40 roll -1.25 - - 1835.81 - 3.85 0.128 3470.88 359.8 -77.86 - - 2811.25 - - - - - - - - - 16.08 -
6809.59 733.18 -9.93 804 6816.43 roll -1.25 - - 1835.12 - 3.54 0.068 2087.12 -390.9 -77.86 - - 2813.69 - - - - - - - - - 16.09 -
7115.72 757.83 -8.41 835 7117.05 no move -1.25 - - 1835.56 - - - 2087.25 - -77.86 - - 2811.59 - - - - - - - - - - -
7415.77 783.09 -8.38 865 7417.10 no move -1.25 - - 1835.19 - - - 2087.31 - -77.86 - - 2810.75 - - - - - - - - - - -
7715.84 809.21 -8.84 895 7717.17 no move -1.25 - - 1835.75 - - - 2087.25 - -77.86 - - 2811.78 - - - - - - - - - - -
8015.90 834.99 -8.52 925 8021.69 roll -1.25 - - 1835.44 - 4.17 0.182 664.88 -341.1 -77.86 - - 2813.75 - - - - - - - - - 16.05 -
8120.94 845.54 -10.28 946 8126.67 roll -1.25 - - 1835.50 - 3.67 0.069 2113.56 394.7 -77.86 - - 2809.56 - - - - - - - - - 16.10 -
8426.00 871.11 -7.82 977 8427.33 no move -1.25 - - 1835.31 - - - 2113.56 - -77.86 - - 2809.69 - - - - - - - - - - -
8726.06 895.42 -7.88 1007 8727.39 no move -1.25 - - 1835.88 - - - 2114.00 - -77.86 - - 2811.09 - - - - - - - - - - -
9026.13 918.99 -7.71 1037 9031.92 roll -1.25 - - 1835.62 - 4.26 0.179 664.81 -340.2 -77.86 - - 2809.81 - - - - - - - - - 16.05 -
9121.16 927.54 -8.39 1056 9126.86 roll -1.25 - - 1834.88 - 3.66 0.069 2113.62 395.8 -77.86 - - 2812.88 - - - - - - - - - 16.09 -
9426.21 950.27 -7.47 1087 9431.92 roll -1.25 - - 1836.06 - 3.76 0.134 3473.31 361.6 -77.86 - - 2808.50 - - - - - - - - - 16.07 -
9471.23 953.61 -7.43 1096 9476.90 roll -1.25 - - 1836.06 - 3.52 0.072 2087.88 -393.6 -77.86 - - 2809.03 - - - - - - - - - 16.08 -
9776.25 975.47 -6.87 1127 9781.96 roll -1.25 - - 1834.50 - 3.80 0.133 3472.75 364.4 -77.86 - - 2812.31 - - - - - - - - - 16.08 -
9841.29 981.43 -8.50 1140 9846.97 roll -1.25 - - 1835.50 - 3.55 0.072 2086.25 -390.6 -77.86 - - 2807.97 - - - - - - - - - 16.08 -
9957 end dive: TARGET_DEPTH_EXCEEDED
9957 begin apogee
9957.54 990.13 -7.69 1152 10028.18 -0.25 1.73 0.154 2081.06 141.9 0.08 0.302 2186.69 1255.5 - 64.79 2.280 2499.88 -4.8 0.348 - - - - - - 16.03 15.59 12.87
10030 end apogee: CONTROL_FINISHED_OK
10030 begin climb
10029.73 992.39 - 1159 10104.61 1.25 2.48 0.098 2446.75 147.5 - - 2187.19 - 77.86 71.22 2.233 2179.44 -4.5 0.337 - - - - - - 15.63 - 12.89
10397.53 957.70 10.62 1196 10402.98 done 1.25 - - 2447.31 - 3.59 0.133 3471.25 357.7 77.86 - - 2172.28 - - - - - - - - - 15.66 -
10546.26 941.28 11.46 1226 10553.15 done 1.25 - - 2447.44 - 3.38 0.063 2185.25 -380.5 77.86 - - 2168.62 - - - - - - - - - 15.74 -
10852.46 909.88 10.54 1257 10858.06 done 1.25 - - 2446.69 - 3.58 0.130 3471.19 359.2 77.86 - - 2166.19 - - - - - - - - - 15.83 -
10951.31 899.29 11.61 1277 10958.34 done 1.25 - - 2446.56 - 3.32 0.061 2185.56 -387.2 77.86 - - 2167.62 - - - - - - - - - 15.85 -
11257.51 871.67 9.69 1308 11258.84 VBD 1.25 - - 2446.38 - - - 2185.62 - 77.86 - - 2164.34 - - - - - - - - - - -
11557.54 844.11 10.40 1338 11558.87 VBD 1.25 - - 2445.38 - - - 2184.94 - 77.86 - - 2166.62 - - - - - - - - - - -
11857.58 816.98 9.82 1368 11858.91 VBD 1.25 - - 2447.12 - - - 2185.69 - 77.86 - - 2162.44 - - - - - - - - - - -
12157.61 790.27 8.75 1398 12163.46 done 1.25 - - 2446.38 - 4.14 0.151 737.50 -349.8 77.86 - - 2162.06 - - - - - - - - - 15.96 -
12296.49 775.24 10.55 1426 12303.42 done 1.25 - - 2446.75 - 3.66 0.059 2217.69 404.4 77.86 - - 2161.50 - - - - - - - - - 16.00 -
12602.69 748.69 8.15 1457 12604.02 VBD 1.25 - - 2447.06 - - - 2217.62 - 77.86 - - 2159.91 - - - - - - - - - - -
12902.74 724.74 8.05 1487 12904.07 VBD 1.25 - - 2446.56 - - - 2217.31 - 77.86 - - 2160.62 - - - - - - - - - - -
13202.80 702.17 8.00 1517 13204.14 VBD 1.25 - - 2447.00 - - - 2217.88 - 77.86 - - 2161.25 - - - - - - - - - - -
13502.86 679.96 8.14 1547 13504.19 VBD 1.25 - - 2446.69 - - - 2217.56 - 77.86 - - 2161.28 - - - - - - - - - - -
13802.93 656.82 7.47 1577 13804.27 VBD 1.27 - - 2446.69 - - - 2217.88 - 77.86 - - 2159.53 - - - - - - - - - - -
14102.98 632.20 8.25 1607 14104.31 VBD 1.27 - - 2447.00 - - - 2217.94 - 77.86 - - 2159.50 - - - - - - - - - - -
14403.05 609.46 7.20 1637 14407.61 done 1.30 - - 2445.38 - 3.39 0.135 3471.62 369.8 77.86 - - 2161.97 - - - - - - - - - 16.05 -
14533.10 599.78 6.95 1663 14537.78 done 1.33 - - 2446.56 - 3.24 0.062 2182.81 -397.8 77.86 - - 2160.41 - - - - - - - - - 16.04 -
14843.17 580.28 5.82 1695 14874.55 1.42 0.23 0.100 2495.12 211.1 3.54 0.130 3472.19 364.2 109.67 26.08 1.748 2051.28 -4.2 0.234 - - - - - - 16.03 15.85 12.89
15097.06 554.22 12.18 1746 15103.95 roll 1.42 - - 2495.25 - 3.33 0.061 2182.88 -387.2 109.67 - - 2047.06 - - - - - - - - - 15.95 -
15403.26 523.76 10.58 1777 15404.59 no move 1.42 - - 2495.31 - - - 2182.94 - 109.67 - - 2046.44 - - - - - - - - - - -
15703.30 493.08 9.38 1807 15704.63 no move 1.42 - - 2495.12 - - - 2183.06 - 109.67 - - 2044.31 - - - - - - - - - - -
16003.33 463.91 9.41 1837 16004.66 no move 1.42 - - 2495.56 - - - 2183.12 - 109.67 - - 2043.72 - - - - - - - - - - -
16303.37 436.22 9.09 1867 16304.70 no move 1.42 - - 2494.75 - - - 2182.50 - 109.67 - - 2043.81 - - - - - - - - - - -
16603.40 409.45 8.78 1897 16604.73 VBD 1.42 - - 2495.44 - - - 2183.50 - 109.67 - - 2043.78 - - - - - - - - - - -
16903.43 384.03 7.92 1927 16904.76 VBD 1.42 - - 2495.12 - - - 2182.94 - 109.67 - - 2043.16 - - - - - - - - - - -
17203.47 360.44 7.88 1957 17208.19 done 1.42 - - 2495.44 - 3.48 0.126 3471.88 370.4 109.67 - - 2044.81 - - - - - - - - - 16.03 -
17327.34 349.90 9.01 1982 17334.21 done 1.42 - - 2494.06 - 3.29 0.058 2181.38 -392.2 109.67 - - 2046.75 - - - - - - - - - 16.04 -
17633.54 325.42 8.04 2013 17639.36 done 1.42 - - 2494.56 - 4.09 0.139 736.38 -353.3 109.67 - - 2044.59 - - - - - - - - - 16.03 -
17718.55 317.57 9.60 2030 17724.19 done 1.42 - - 2495.12 - 3.61 0.053 2223.25 411.9 109.67 - - 2043.75 - - - - - - - - - 16.02 -
18023.69 293.91 8.38 2061 18029.30 done 1.42 - - 2495.44 - 3.46 0.121 3472.19 361.0 109.67 - - 2043.31 - - - - - - - - - 16.04 -
18152.45 282.33 9.03 2087 18159.32 done 1.42 - - 2495.75 - 3.27 0.055 2181.56 -394.7 109.67 - - 2043.19 - - - - - - - - - 16.03 -
18458.65 258.43 7.83 2118 18459.98 VBD 1.42 - - 2495.12 - - - 2182.06 - 109.67 - - 2043.66 - - - - - - - - - - -
18758.68 235.52 7.79 2148 18760.01 VBD 1.42 - - 2495.38 - - - 2181.94 - 109.67 - - 2043.44 - - - - - - - - - - -
19058.76 213.95 7.38 2178 19060.10 VBD 1.44 - - 2495.25 - - - 2181.94 - 109.67 - - 2041.72 - - - - - - - - - - -
19358.83 193.53 7.11 2208 19364.64 done 1.47 - - 2495.56 - 4.05 0.135 735.62 -357.1 109.67 - - 2042.19 - - - - - - - - - 16.02 -
19513.88 181.91 8.05 2239 19519.50 done 1.47 - - 2495.25 - 3.65 0.054 2222.38 407.3 109.67 - - 2042.03 - - - - - - - - - 16.05 -
19818.95 164.85 5.99 2270 19845.57 VBD 1.56 - - 2495.62 - - - 2222.31 - 139.14 25.26 1.272 1930.88 -4.4 0.096 - - - - - - - - 12.93
20138.99 141.46 7.96 2302 20143.57 roll 1.56 - - 2495.75 - 3.46 0.120 3471.62 361.1 139.14 - - 1927.00 - - - - - - - - - 15.95 -
20369.11 120.70 8.15 2348 20373.63 roll 1.56 - - 2495.75 - 3.28 0.054 2180.56 -393.6 139.14 - - 1927.75 - - - - - - - - - 15.97 -
20679.17 103.69 3.56 2380 20736.99 1.75 0.43 0.077 2573.50 180.8 3.63 0.115 3471.38 355.6 203.20 52.38 1.212 1668.97 -4.9 0.071 - - - - - - 15.97 15.76 12.94
20959.83 81.29 7.89 2436 20965.54 roll 1.75 - - 2574.56 - 3.29 0.052 2180.19 -392.5 203.20 - - 1663.88 - - - - - - - - - 15.85 -
21144.92 68.14 7.01 2473 21150.66 done 1.78 - - 2574.50 - 3.56 0.111 3473.50 363.3 203.20 - - 1662.97 - - - - - - - - - 15.86 -
21189.97 64.86 7.29 2482 21195.77 done 1.81 - - 2572.38 - 3.28 0.050 2178.12 -394.9 203.20 - - 1663.19 - - - - - - - - - 15.88 -
21375.02 56.95 3.07 2519 21438.19 2.02 0.35 0.081 2638.94 190.2 4.14 0.131 736.19 -348.3 274.30 56.65 1.142 1380.38 -5.0 0.042 - - - - - - 15.89 15.67 12.88
21661.04 33.08 12.34 2576 21666.79 roll 2.02 - - 2639.44 - 3.68 0.050 2222.62 403.9 274.30 - - 1378.16 - - - - - - - - - 15.80 -
21847.37 13.92 10.91 2613 21851.05 no move 2.02 - - 2639.31 - - - 2221.88 - 274.30 - - 1376.06 - - - - - - - - - - -
21956 end climb: SURFACE_DEPTH_REACHED
21957 begin surface coast
21973 end surface coast: CONTROL_FINISHED_OK
21973 begin surface
SM 0.75 - - - - 175.3 0.76 0.146 768.8 1011.6 15.80 0.072 767.3 48.6 - 0.34 0.086 770.3 2265.6 -2.019 - - 15.47 15.80 15.88 -