NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 268 * Raw log
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• Previous call tries 2 • 83.97 of 575.00 AH used of 24V (85.40% remains)
• Surface angle -62.6 deg, depth 1.28 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.84 (SM_CC=425)
• GPS1 time: 20 s
• GPS2 time: 3 s • Transponder ping count: 3
• 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
6.78 - - - 79.85 VBD -1.25 - - 175.25 - - - 2115.31 - -77.86 72.50 0.005 2382.72 - - - - - - - - - - 15.63
80.11 3.07 -3.80 14 116.56 -1.25 13.67 0.260 1836.12 121.5 4.18 0.160 663.75 -347.3 -77.86 11.51 0.007 2816.22 37.7 -2.789 - - - - - - 15.64 15.61 15.65
339.32 60.98 -19.64 66 345.08 roll -1.25 - - 1836.62 - 3.57 0.056 2118.00 407.4 -77.86 - - 2818.59 - - - - - - - - - 15.81 -
524.35 87.61 -12.26 103 530.18 roll -1.25 - - 1836.25 - 4.10 0.151 663.75 -354.7 -77.86 - - 2816.88 - - - - - - - - - 15.83 -
579.36 95.05 -12.88 114 585.08 roll -1.25 - - 1837.25 - 3.49 0.052 2121.56 417.7 -77.86 - - 2816.12 - - - - - - - - - 15.86 -
764.37 117.06 -12.16 137 769.13 roll -1.25 - - 1836.50 - 3.64 0.116 3475.38 371.9 -77.86 - - 2817.16 - - - - - - - - - 15.87 -
884.38 132.59 -11.71 161 888.97 roll -1.25 - - 1837.50 - 3.41 0.058 2081.88 -408.7 -77.86 - - 2816.81 - - - - - - - - - 15.91 -
1194.41 166.10 -10.88 193 1200.19 roll -1.25 - - 1836.56 - 3.74 0.116 3473.38 372.1 -77.86 - - 2815.28 - - - - - - - - - 15.95 -
1309.42 180.10 -12.46 216 1314.01 roll -1.25 - - 1837.19 - 3.42 0.061 2082.50 -406.7 -77.86 - - 2817.88 - - - - - - - - - 15.96 -
1619.52 211.96 -10.53 248 1625.22 roll -1.25 - - 1837.44 - 3.73 0.117 3474.62 373.2 -77.86 - - 2817.31 - - - - - - - - - 15.98 -
1728.31 225.68 -13.47 270 1735.19 roll -1.25 - - 1837.25 - 3.42 0.063 2083.06 -406.9 -77.86 - - 2819.28 - - - - - - - - - 15.99 -
2034.49 259.78 -11.56 301 2040.26 roll -1.25 - - 1837.06 - 3.74 0.119 3473.38 371.7 -77.86 - - 2817.84 - - - - - - - - - 16.01 -
2099.52 267.95 -12.94 314 2104.07 roll -1.25 - - 1837.06 - 3.39 0.062 2082.94 -410.2 -77.86 - - 2816.56 - - - - - - - - - 16.01 -
2409.52 304.79 -11.91 346 2415.29 roll -1.25 - - 1836.50 - 3.73 0.119 3473.75 372.9 -77.86 - - 2819.03 - - - - - - - - - 16.02 -
2534.54 321.42 -13.33 371 2539.10 roll -1.25 - - 1836.31 - 3.38 0.064 2083.38 -411.4 -77.86 - - 2817.25 - - - - - - - - - 16.02 -
2844.56 358.24 -11.79 403 2850.37 roll -1.25 - - 1837.00 - 3.98 0.164 662.69 -357.0 -77.86 - - 2817.22 - - - - - - - - - 16.00 -
2929.66 369.29 -14.04 420 2935.17 roll -1.25 - - 1836.69 - 3.49 0.057 2120.38 417.7 -77.86 - - 2815.19 - - - - - - - - - 16.04 -
3234.59 401.92 -10.58 451 3240.36 roll -1.25 - - 1837.06 - 3.62 0.121 3474.06 373.9 -77.86 - - 2816.19 - - - - - - - - - 16.03 -
3269.61 405.62 -10.57 458 3274.17 roll -1.25 - - 1836.94 - 3.35 0.063 2081.56 -415.7 -77.86 - - 2816.19 - - - - - - - - - 16.05 -
3579.62 435.16 -8.99 490 3580.95 no move -1.25 - - 1837.25 - - - 2081.44 - -77.86 - - 2816.41 - - - - - - - - - - -
3879.64 462.96 -8.94 520 3885.32 roll -1.25 - - 1837.38 - 3.96 0.166 662.75 -358.3 -77.86 - - 2816.50 - - - - - - - - - 16.02 -
3934.66 469.23 -11.34 531 3940.27 roll -1.25 - - 1837.38 - 3.51 0.059 2117.94 414.6 -77.86 - - 2813.75 - - - - - - - - - 16.06 -
4239.68 498.35 -9.46 562 4245.37 roll -1.25 - - 1837.31 - 3.64 0.124 3472.12 372.0 -77.86 - - 2815.66 - - - - - - - - - 16.05 -
4324.78 508.12 -12.25 579 4329.29 roll -1.25 - - 1837.50 - 3.40 0.064 2083.38 -408.5 -77.86 - - 2814.81 - - - - - - - - - 16.06 -
4634.77 539.12 -9.65 611 4640.59 roll -1.25 - - 1836.75 - 4.01 0.168 663.69 -354.0 -77.86 - - 2813.03 - - - - - - - - - 16.03 -
4713.77 548.16 -12.23 627 4720.54 roll -1.25 - - 1837.00 - 3.51 0.059 2118.81 414.6 -77.86 - - 2814.84 - - - - - - - - - 16.06 -
5019.84 575.66 -8.65 658 5025.53 roll -1.25 - - 1836.75 - 3.63 0.125 3473.44 373.2 -77.86 - - 2813.28 - - - - - - - - - 16.06 -
5094.88 583.52 -11.80 673 5099.44 roll -1.25 - - 1836.88 - 3.38 0.064 2081.88 -411.7 -77.86 - - 2814.88 - - - - - - - - - 16.06 -
5404.92 610.48 -8.66 705 5410.70 roll -1.25 - - 1836.81 - 3.76 0.125 3472.62 369.9 -77.86 - - 2812.47 - - - - - - - - - 16.06 -
5433.78 613.33 -8.95 711 5440.65 roll -1.25 - - 1836.81 - 3.39 0.064 2085.06 -409.3 -77.86 - - 2813.53 - - - - - - - - - 16.05 -
5739.98 641.40 -9.67 742 5745.75 roll -1.25 - - 1836.69 - 3.74 0.124 3473.62 371.3 -77.86 - - 2811.59 - - - - - - - - - 16.07 -
5768.84 644.29 -8.99 748 5775.73 roll -1.25 - - 1837.00 - 3.39 0.064 2084.19 -409.9 -77.86 - - 2814.47 - - - - - - - - - 16.07 -
6075.03 672.26 -9.19 779 6080.73 roll -1.25 - - 1836.19 - 4.02 0.173 664.94 -353.0 -77.86 - - 2810.66 - - - - - - - - - 16.03 -
6140.12 678.53 -10.61 792 6145.65 roll -1.25 - - 1836.62 - 3.50 0.061 2118.19 415.2 -77.86 - - 2814.97 - - - - - - - - - 16.07 -
6445.10 704.90 -7.92 823 6449.85 roll -1.25 - - 1837.19 - 3.62 0.127 3473.88 374.5 -77.86 - - 2812.41 - - - - - - - - - 16.05 -
6485.13 708.51 -8.03 831 6489.69 roll -1.25 - - 1836.94 - 3.37 0.066 2083.94 -412.4 -77.86 - - 2813.44 - - - - - - - - - 16.07 -
6795.17 733.55 -8.13 863 6800.87 roll -1.25 - - 1836.94 - 4.01 0.175 664.50 -354.0 -77.86 - - 2810.75 - - - - - - - - - 16.03 -
6884.17 742.32 -9.68 881 6890.94 roll -1.25 - - 1837.00 - 3.51 0.061 2118.38 414.2 -77.86 - - 2812.00 - - - - - - - - - 16.07 -
7190.21 767.45 -8.49 912 7194.96 roll -1.25 - - 1836.50 - 3.62 0.128 3474.19 374.5 -77.86 - - 2813.47 - - - - - - - - - 16.06 -
7324.07 780.31 -10.35 939 7330.95 roll -1.25 - - 1837.44 - 3.40 0.069 2086.56 -408.1 -77.86 - - 2811.22 - - - - - - - - - 16.07 -
7630.25 806.31 -7.98 970 7636.08 roll -1.25 - - 1836.69 - 4.01 0.177 663.44 -354.9 -77.86 - - 2811.81 - - - - - - - - - 16.03 -
7705.33 812.91 -8.65 985 7710.85 roll -1.25 - - 1836.31 - 3.49 0.062 2118.31 416.9 -77.86 - - 2812.56 - - - - - - - - - 16.07 -
8010.28 836.66 -7.71 1016 8015.02 roll -1.25 - - 1836.75 - 3.60 0.129 3472.56 376.2 -77.86 - - 2810.31 - - - - - - - - - 16.05 -
8080.32 842.52 -8.51 1030 8084.86 roll -1.25 - - 1837.00 - 3.38 0.069 2084.88 -410.6 -77.86 - - 2810.91 - - - - - - - - - 16.07 -
8390.32 865.61 -7.19 1062 8396.00 roll -1.25 - - 1835.44 - 4.02 0.179 663.75 -353.5 -77.86 - - 2809.59 - - - - - - - - - 16.03 -
8455.40 871.33 -9.37 1075 8460.92 roll -1.25 - - 1836.31 - 3.50 0.063 2117.44 415.3 -77.86 - - 2808.81 - - - - - - - - - 16.07 -
8760.35 894.20 -7.36 1106 8766.19 roll -1.25 - - 1836.75 - 4.11 0.176 663.56 -353.7 -77.86 - - 2809.62 - - - - - - - - - 16.03 -
8795.37 897.18 -8.19 1113 8801.10 roll -1.25 - - 1836.69 - 3.51 0.065 2117.25 414.2 -77.86 - - 2809.03 - - - - - - - - - 16.07 -
9100.38 919.91 -7.43 1144 9106.14 roll -1.25 - - 1837.00 - 3.64 0.132 3472.31 372.3 -77.86 - - 2807.50 - - - - - - - - - 16.05 -
9225.39 930.98 -8.80 1169 9229.98 roll -1.25 - - 1836.81 - 3.40 0.071 2086.81 -407.5 -77.86 - - 2811.75 - - - - - - - - - 16.06 -
9535.41 956.34 -9.78 1201 9541.11 roll -1.25 - - 1836.94 - 4.07 0.182 663.38 -349.7 -77.86 - - 2809.38 - - - - - - - - - 16.03 -
9634.41 965.87 -10.12 1221 9641.18 roll -1.25 - - 1836.69 - 3.54 0.067 2115.94 410.3 -77.86 - - 2809.97 - - - - - - - - - 16.07 -
9940.45 988.86 -7.11 1252 9946.16 roll -1.25 - - 1836.44 - 4.14 0.177 664.44 -350.6 -77.86 - - 2807.59 - - - - - - - - - 16.02 -
9950 end dive: TARGET_DEPTH_EXCEEDED
9950 begin apogee
9955.03 990.06 -7.07 1254 10022.83 -0.25 1.75 0.162 2080.25 139.3 0.07 0.318 2182.94 21692.9 - 64.52 2.288 2496.62 -4.8 0.352 - - - - - - 16.00 15.58 12.82
10025 end apogee: CONTROL_FINISHED_OK
10025 begin climb
10024.44 991.52 - 1261 10104.16 1.25 2.55 0.095 2448.31 144.3 3.68 0.133 3472.06 350.3 77.86 71.18 2.234 2179.97 -4.4 0.333 - - - - - - 15.62 15.24 12.86
10111.94 985.90 6.86 1278 10116.44 roll 1.29 - - 2448.31 - 3.28 0.060 2182.88 -393.0 77.86 - - 2181.25 - - - - - - - - - 15.34 -
10421.95 953.00 11.32 1310 10427.77 done 1.29 - - 2446.00 - 4.07 0.151 737.25 -355.2 77.86 - - 2168.47 - - - - - - - - - 15.65 -
10527.01 939.87 14.27 1331 10532.76 done 1.29 - - 2447.88 - 3.63 0.058 2216.50 407.5 77.86 - - 2167.69 - - - - - - - - - 15.73 -
10832.05 906.76 11.54 1362 10836.62 done 1.29 - - 2448.19 - 3.45 0.134 3472.88 364.2 77.86 - - 2166.69 - - - - - - - - - 15.81 -
10882.07 901.25 11.11 1372 10886.59 done 1.29 - - 2448.00 - 3.18 0.062 2182.56 -405.8 77.86 - - 2167.28 - - - - - - - - - 15.83 -
11192.11 869.37 10.36 1404 11197.71 done 1.29 - - 2447.75 - 3.53 0.132 3472.75 365.5 77.86 - - 2166.22 - - - - - - - - - 15.88 -
11247.14 863.55 11.39 1415 11251.66 done 1.29 - - 2446.69 - 3.17 0.062 2182.75 -406.9 77.86 - - 2166.03 - - - - - - - - - 15.90 -
11557.17 833.44 10.21 1447 11563.00 done 1.29 - - 2447.94 - 4.01 0.150 736.62 -360.6 77.86 - - 2161.53 - - - - - - - - - 15.91 -
11622.27 827.01 11.11 1460 11627.94 done 1.29 - - 2448.75 - 3.58 0.056 2218.38 413.9 77.86 - - 2160.84 - - - - - - - - - 15.91 -
11927.22 798.89 9.30 1491 11931.82 done 1.29 - - 2448.50 - 3.44 0.133 3472.19 364.5 77.86 - - 2161.00 - - - - - - - - - 15.94 -
11987.25 792.92 9.32 1503 11991.90 done 1.29 - - 2449.06 - 3.15 0.061 2183.81 -409.0 77.86 - - 2164.72 - - - - - - - - - 15.96 -
12297.26 764.09 8.61 1535 12303.07 done 1.29 - - 2448.94 - 3.98 0.147 736.31 -363.7 77.86 - - 2163.88 - - - - - - - - - 15.96 -
12332.28 760.48 9.51 1542 12337.87 done 1.29 - - 2448.69 - 3.55 0.056 2218.44 417.5 77.86 - - 2160.59 - - - - - - - - - 15.99 -
12637.30 732.36 8.11 1573 12641.86 done 1.29 - - 2448.81 - 3.42 0.130 3473.62 367.0 77.86 - - 2161.97 - - - - - - - - - 15.98 -
12691.24 726.63 10.06 1584 12697.99 done 1.29 - - 2449.12 - 3.14 0.060 2182.12 -411.3 77.86 - - 2162.06 - - - - - - - - - 15.99 -
12997.34 699.29 7.55 1615 13002.93 done 1.30 - - 2449.25 - 3.53 0.129 3473.38 365.8 77.86 - - 2161.00 - - - - - - - - - 16.00 -
13142.36 684.45 9.76 1644 13146.91 done 1.30 - - 2448.56 - 3.13 0.061 2183.19 -412.2 77.86 - - 2162.88 - - - - - - - - - 16.00 -
13452.39 656.35 9.34 1676 13458.19 done 1.30 - - 2446.12 - 3.96 0.146 736.31 -365.4 77.86 - - 2161.59 - - - - - - - - - 15.98 -
13531.24 648.79 8.92 1692 13538.15 done 1.30 - - 2448.69 - 3.55 0.056 2221.12 418.3 77.86 - - 2162.66 - - - - - - - - - 16.01 -
13837.43 622.67 8.71 1723 13838.76 VBD 1.30 - - 2448.81 - - - 2221.25 - 77.86 - - 2160.66 - - - - - - - - - - -
14137.44 597.57 7.75 1753 14138.77 VBD 1.30 - - 2448.88 - - - 2221.12 - 77.86 - - 2159.22 - - - - - - - - - - -
14437.47 574.91 7.25 1783 14438.80 VBD 1.33 - - 2449.38 - - - 2221.19 - 77.86 - - 2159.47 - - - - - - - - - - -
14737.49 552.72 6.66 1813 14742.06 done 1.37 - - 2448.75 - 3.40 0.130 3473.06 368.2 77.86 - - 2161.69 - - - - - - - - - 16.03 -
14757.51 551.01 7.15 1817 14762.07 1.40 0.17 0.106 2487.56 228.3 3.12 0.057 2180.38 -414.3 77.86 - - 2160.78 - - - - - - - - 16.01 16.03 -
15067.53 528.86 6.76 1849 15073.09 done 1.43 - - 2487.44 - 3.49 0.124 3472.88 370.3 77.86 - - 2161.16 - - - - - - - - - 16.04 -
15166.46 520.33 8.14 1869 15173.34 done 1.43 - - 2488.00 - 3.12 0.058 2178.19 -415.0 77.86 - - 2160.44 - - - - - - - - - 16.03 -
15472.55 495.88 8.11 1900 15478.36 done 1.43 - - 2487.38 - 3.91 0.142 736.31 -368.8 77.86 - - 2159.16 - - - - - - - - - 16.02 -
15681.52 476.10 9.01 1942 15688.36 done 1.43 - - 2488.00 - 3.54 0.054 2221.62 419.6 77.86 - - 2160.78 - - - - - - - - - 16.06 -
15987.64 455.37 6.49 1973 15988.97 VBD 1.48 - - 2487.81 - - - 2222.31 - 77.86 - - 2159.12 - - - - - - - - - - -
16287.65 435.07 6.49 2003 16293.33 done 1.53 - - 2487.00 - 4.03 0.139 735.75 -368.9 77.86 - - 2159.03 - - - - - - - - - 16.01 -
16496.62 418.35 7.49 2045 16503.49 1.54 0.16 0.106 2523.75 229.7 3.51 0.053 2223.19 423.8 77.86 - - 2159.50 - - - - - - - - 16.01 16.04 -
16802.76 397.85 6.77 2076 16807.32 done 1.58 - - 2523.62 - 3.36 0.121 3473.25 372.0 77.86 - - 2158.59 - - - - - - - - - 16.01 -
16852.78 394.12 7.73 2086 16857.53 done 1.58 - - 2524.19 - 3.10 0.054 2176.69 -418.2 77.86 - - 2158.97 - - - - - - - - - 16.04 -
17162.82 375.38 5.71 2118 17195.20 done 1.68 - - 2523.81 - 3.92 0.140 736.19 -367.5 111.28 26.97 1.520 2045.25 -4.2 0.176 - - - - - - - 15.85 12.85
17381.94 354.16 11.56 2162 17388.76 roll 1.68 - - 2523.88 - 3.54 0.054 2221.12 419.5 111.28 - - 2041.88 - - - - - - - - - 15.92 -
17688.08 326.34 8.54 2193 17693.97 roll 1.68 - - 2524.62 - 4.01 0.135 736.56 -370.2 111.28 - - 2037.31 - - - - - - - - - 15.95 -
17727.01 322.36 10.55 2201 17733.83 roll 1.68 - - 2525.00 - 3.51 0.051 2223.81 423.7 111.28 - - 2039.19 - - - - - - - - - 15.96 -
18033.14 297.18 8.45 2232 18034.47 no move 1.68 - - 2524.44 - - - 2224.00 - 111.28 - - 2038.91 - - - - - - - - - - -
18333.17 272.28 8.95 2262 18337.76 roll 1.68 - - 2522.88 - 3.34 0.121 3472.81 373.9 111.28 - - 2039.50 - - - - - - - - - 15.96 -
18363.19 269.65 9.39 2268 18367.83 done 1.68 - - 2524.25 - 3.10 0.053 2177.69 -417.8 111.28 - - 2038.44 - - - - - - - - - 15.97 -
18673.23 244.88 8.32 2300 18678.96 done 1.68 - - 2524.31 - 3.93 0.137 736.19 -366.8 111.28 - - 2037.72 - - - - - - - - - 15.99 -
18778.26 235.04 9.22 2321 18783.86 done 1.68 - - 2524.50 - 3.54 0.052 2224.25 420.4 111.28 - - 2036.44 - - - - - - - - - 16.01 -
19083.29 210.64 7.77 2352 19089.04 done 1.68 - - 2523.69 - 4.01 0.132 735.75 -371.2 111.28 - - 2037.25 - - - - - - - - - 15.99 -
19312.30 190.21 7.96 2398 19319.07 done 1.68 - - 2523.62 - 3.54 0.051 2224.38 420.5 111.28 - - 2039.75 - - - - - - - - - 15.99 -
19618.37 169.50 6.34 2429 19623.99 1.73 0.22 0.095 2570.56 213.4 3.35 0.118 3473.81 373.0 111.28 - - 2036.75 - - - - - - - - 16.00 15.96 -
19727.21 160.57 8.23 2451 19734.18 done 1.73 - - 2570.38 - 3.11 0.053 2176.62 -417.1 111.28 - - 2037.78 - - - - - - - - - 16.02 -
20033.42 139.98 6.39 2482 20039.06 done 1.78 - - 2570.94 - 3.88 0.133 736.00 -371.3 111.28 - - 2035.94 - - - - - - - - - 16.00 -
20078.67 136.71 7.25 2491 20084.00 done 1.81 - - 2570.62 - 3.50 0.049 2225.88 425.7 111.28 - - 2036.97 - - - - - - - - - 16.03 -
20383.47 120.37 3.97 2522 20438.76 1.98 0.31 0.080 2630.50 193.2 3.35 0.119 3474.06 372.6 169.57 48.03 1.246 1806.69 -4.8 0.078 - - - - - - 16.01 15.78 12.82
20603.50 98.19 11.24 2566 20609.17 roll 1.98 - - 2630.25 - 3.13 0.054 2177.25 -414.3 169.57 - - 1802.78 - - - - - - - - - 15.87 -
20788.55 85.27 5.83 2603 20819.85 done 2.08 - - 2630.69 - 3.49 0.116 3472.81 371.2 201.20 26.60 1.153 1677.50 -4.7 0.059 - - - - - - - 15.75 12.80
21043.65 67.23 7.39 2654 21049.25 roll 2.10 - - 2630.62 - 3.12 0.052 2178.31 -414.9 201.20 - - 1672.94 - - - - - - - - - 15.84 -
21228.62 54.67 6.10 2691 21234.47 2.16 0.20 0.100 2672.81 211.0 3.94 0.132 736.44 -366.0 201.20 - - 1671.84 - - - - - - - - 15.85 15.83 -
21298.62 51.30 4.80 2705 21344.86 done 2.30 - - 2672.31 - 3.55 0.047 2227.56 420.0 247.64 38.16 1.124 1489.69 -4.8 0.037 - - - - - - - 15.88 12.81
21523.64 34.32 9.00 2750 21529.48 roll 2.30 - - 2672.38 - 4.07 0.128 735.75 -366.5 247.64 - - 1484.88 - - - - - - - - - 15.80 -
21753.78 12.04 9.51 2796 21759.49 roll 2.30 - - 2672.38 - 3.58 0.049 2224.50 415.9 247.64 - - 1482.94 - - - - - - - - - 15.85 -
21859 end climb: SURFACE_DEPTH_REACHED
21859 begin surface coast
21879 end surface coast: CONTROL_FINISHED_OK
21879 begin surface
SM 0.68 - - - - 175.4 - 0.010 768.1 - 16.11 0.078 766.8 47.6 - 0.33 0.082 769.4 2320.7 -1.967 - - 30.36 15.82 15.88 -