NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 309 * Raw log
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• Previous call tries 2 • 94.80 of 575.00 AH used of 24V (83.51% remains)
• Surface angle -60.9 deg, depth 0.87 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.04 (SM_CC=425)
• GPS1 time: 14 s
• GPS2 time: 4 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.80 - - - 80.22 VBD -1.25 - - 174.12 - - - 2116.06 - -77.86 72.82 0.005 2405.44 - - - - - - - - - - 15.59
80.48 3.43 -4.27 14 113.47 -1.25 13.85 0.260 1835.75 120.0 4.20 0.161 663.62 -345.8 -77.86 10.58 0.007 2813.97 38.6 -3.140 - - - - - - 15.61 15.58 15.63
196.22 28.71 -23.03 37 202.00 roll -1.25 - - 1835.81 - 3.63 0.057 2117.00 400.4 -77.86 - - 2816.25 - - - - - - - - - 15.75 -
381.28 62.64 -15.09 74 387.06 roll -1.25 - - 1835.56 - 3.70 0.114 3474.44 366.9 -77.86 - - 2817.22 - - - - - - - - - 15.79 -
421.29 69.69 -17.27 82 427.01 roll -1.25 - - 1835.81 - 3.48 0.058 2084.06 -399.5 -77.86 - - 2816.44 - - - - - - - - - 15.83 -
606.33 94.78 -12.27 119 612.12 roll -1.25 - - 1835.12 - 3.81 0.114 3474.06 364.8 -77.86 - - 2817.94 - - - - - - - - - 15.86 -
690.26 106.05 -13.08 136 697.09 roll -1.25 - - 1835.44 - 3.44 0.060 2082.38 -404.6 -77.86 - - 2818.25 - - - - - - - - - 15.87 -
996.38 141.55 -11.14 167 1002.02 roll -1.25 - - 1835.88 - 3.75 0.114 3472.88 370.8 -77.86 - - 2816.16 - - - - - - - - - 15.92 -
1225.35 168.25 -11.47 213 1232.18 roll -1.25 - - 1835.56 - 3.44 0.062 2082.44 -404.2 -77.86 - - 2817.75 - - - - - - - - - 15.95 -
1531.47 202.47 -11.57 244 1537.21 roll -1.25 - - 1835.88 - 3.76 0.116 3474.44 370.2 -77.86 - - 2815.53 - - - - - - - - - 15.98 -
1660.40 219.49 -13.47 270 1667.21 roll -1.25 - - 1835.69 - 3.40 0.062 2083.00 -409.2 -77.86 - - 2817.56 - - - - - - - - - 15.98 -
1966.53 252.70 -10.37 301 1972.27 roll -1.25 - - 1834.88 - 3.98 0.161 663.62 -356.6 -77.86 - - 2819.25 - - - - - - - - - 15.97 -
2025.40 260.04 -12.41 313 2032.30 roll -1.25 - - 1834.81 - 3.53 0.056 2118.81 412.2 -77.86 - - 2819.03 - - - - - - - - - 15.99 -
2331.59 293.21 -10.36 344 2337.35 roll -1.25 - - 1835.81 - 4.07 0.156 663.38 -357.6 -77.86 - - 2815.62 - - - - - - - - - 15.98 -
2390.51 300.59 -13.32 356 2397.38 roll -1.25 - - 1835.50 - 3.51 0.055 2119.81 414.9 -77.86 - - 2817.00 - - - - - - - - - 16.00 -
2696.66 331.92 -10.82 387 2697.99 no move -1.25 - - 1835.56 - - - 2119.38 - -77.86 - - 2817.88 - - - - - - - - - - -
2996.72 362.69 -10.39 417 3002.55 roll -1.25 - - 1834.56 - 4.05 0.159 663.62 -359.4 -77.86 - - 2819.41 - - - - - - - - - 16.00 -
3071.83 371.82 -12.23 432 3077.41 roll -1.25 - - 1836.06 - 3.50 0.059 2119.62 416.0 -77.86 - - 2815.09 - - - - - - - - - 16.03 -
3376.81 403.28 -10.14 463 3378.14 no move -1.25 - - 1835.06 - - - 2119.25 - -77.86 - - 2816.47 - - - - - - - - - - -
3676.87 433.09 -10.34 493 3678.20 no move -1.25 - - 1835.44 - - - 2120.12 - -77.86 - - 2814.59 - - - - - - - - - - -
3976.93 465.78 -10.56 523 3978.25 no move -1.25 - - 1835.31 - - - 2119.56 - -77.86 - - 2815.81 - - - - - - - - - - -
4276.99 497.71 -10.48 553 4278.31 no move -1.25 - - 1835.06 - - - 2118.69 - -77.86 - - 2815.09 - - - - - - - - - - -
4577.04 529.27 -10.48 583 4578.37 no move -1.25 - - 1835.12 - - - 2119.00 - -77.86 - - 2814.66 - - - - - - - - - - -
4877.11 560.12 -10.91 613 4882.80 roll -1.25 - - 1834.88 - 3.69 0.128 3473.12 367.0 -77.86 - - 2815.62 - - - - - - - - - 16.05 -
4932.14 565.75 -10.23 624 4936.78 roll -1.25 - - 1834.50 - 3.41 0.068 2086.00 -406.8 -77.86 - - 2817.25 - - - - - - - - - 16.05 -
5242.18 595.55 -9.39 656 5243.51 no move -1.25 - - 1835.38 - - - 2084.75 - -77.86 - - 2813.84 - - - - - - - - - - -
5542.21 622.26 -9.16 686 5543.54 no move -1.25 - - 1835.62 - - - 2085.00 - -77.86 - - 2814.25 - - - - - - - - - - -
5842.26 647.67 -8.91 716 5843.59 no move -1.25 - - 1835.50 - - - 2085.44 - -77.86 - - 2812.69 - - - - - - - - - - -
6142.30 671.46 -8.46 746 6143.62 no move -1.25 - - 1834.69 - - - 2085.31 - -77.86 - - 2811.88 - - - - - - - - - - -
6442.34 696.11 -8.54 776 6443.67 no move -1.25 - - 1835.69 - - - 2085.25 - -77.86 - - 2811.88 - - - - - - - - - - -
6742.38 721.79 -8.61 806 6743.71 no move -1.25 - - 1835.62 - - - 2085.75 - -77.86 - - 2811.09 - - - - - - - - - - -
7042.42 748.74 -8.97 836 7043.75 no move -1.25 - - 1835.38 - - - 2084.88 - -77.86 - - 2810.47 - - - - - - - - - - -
7342.46 775.71 -8.17 866 7343.79 no move -1.25 - - 1835.88 - - - 2085.69 - -77.86 - - 2810.97 - - - - - - - - - - -
7642.51 800.81 -8.30 896 7648.28 roll -1.25 - - 1834.12 - 4.06 0.180 663.81 -350.2 -77.86 - - 2812.84 - - - - - - - - - 16.03 -
7681.45 804.75 -9.30 904 7688.29 roll -1.25 - - 1835.62 - 3.62 0.071 2116.44 401.3 -77.86 - - 2811.88 - - - - - - - - - 16.07 -
7987.57 828.81 -7.13 935 7988.90 no move -1.25 - - 1836.06 - - - 2116.56 - -77.86 - - 2809.50 - - - - - - - - - - -
8287.61 852.17 -8.37 965 8288.93 no move -1.25 - - 1835.31 - - - 2116.50 - -77.86 - - 2809.12 - - - - - - - - - - -
8587.67 874.41 -8.37 995 8593.47 roll -1.25 - - 1835.38 - 4.22 0.179 663.56 -344.3 -77.86 - - 2808.62 - - - - - - - - - 16.02 -
8646.68 879.54 -10.51 1007 8653.47 roll -1.25 - - 1835.62 - 3.63 0.070 2115.94 400.1 -77.86 - - 2810.25 - - - - - - - - - 16.07 -
8952.76 902.72 -7.73 1038 8954.09 no move -1.25 - - 1835.12 - - - 2115.88 - -77.86 - - 2808.44 - - - - - - - - - - -
9252.83 924.40 -6.96 1068 9254.16 no move -1.25 - - 1835.38 - - - 2115.88 - -77.86 - - 2808.97 - - - - - - - - - - -
9552.89 947.21 -8.09 1098 9554.22 no move -1.25 - - 1835.06 - - - 2115.75 - -77.86 - - 2808.03 - - - - - - - - - - -
9853.09 970.68 -6.58 1128 9858.67 roll -1.25 - - 1835.69 - 3.78 0.137 3472.25 358.9 -77.86 - - 2807.19 - - - - - - - - - 16.04 -
9931.98 977.86 -8.85 1144 9938.73 roll -1.25 - - 1835.12 - 3.48 0.077 2087.75 -397.8 -77.86 - - 2808.84 - - - - - - - - - 16.06 -
10097 end dive: TARGET_DEPTH_EXCEEDED
10097 begin apogee
10099.34 991.24 -8.46 1161 10166.28 -0.25 1.76 0.156 2079.25 138.7 0.07 0.318 2185.31 1393.7 - 64.25 2.305 2497.25 -4.8 0.346 - - - - - - 16.00 15.59 12.86
10167 end apogee: CONTROL_FINISHED_OK
10167 begin climb
10167.95 992.62 - 1167 10244.13 1.25 2.52 0.095 2447.19 146.0 - - 2186.19 - 77.86 72.03 2.240 2179.62 -4.4 0.324 - - - - - - 15.62 - 12.85
10540.94 963.90 7.87 1205 10542.27 VBD 1.25 - - 2447.25 - - - 2185.50 - 77.86 - - 2167.44 - - - - - - - - - - -
10841.02 937.80 9.86 1235 10846.65 done 1.25 - - 2448.00 - 3.68 0.134 3472.50 349.7 77.86 - - 2165.75 - - - - - - - - - 15.78 -
10940.04 927.78 9.20 1255 10946.76 done 1.25 - - 2447.62 - 3.26 0.068 2183.00 -395.6 77.86 - - 2167.75 - - - - - - - - - 15.80 -
11246.12 901.51 7.58 1286 11247.45 VBD 1.25 - - 2447.56 - - - 2182.81 - 77.86 - - 2165.72 - - - - - - - - - - -
11546.17 877.91 7.02 1316 11547.50 VBD 1.28 - - 2446.94 - - - 2182.62 - 77.86 - - 2162.78 - - - - - - - - - - -
11846.20 854.31 7.82 1346 11847.53 VBD 1.28 - - 2447.81 - - - 2182.06 - 77.86 - - 2162.94 - - - - - - - - - - -
12146.25 830.91 7.30 1376 12147.58 VBD 1.31 - - 2446.50 - - - 2182.81 - 77.86 - - 2161.84 - - - - - - - - - - -
12446.27 805.55 8.43 1406 12447.60 VBD 1.31 - - 2447.81 - - - 2182.88 - 77.86 - - 2161.53 - - - - - - - - - - -
12746.31 781.43 7.33 1436 12747.64 VBD 1.33 - - 2447.50 - - - 2183.00 - 77.86 - - 2161.31 - - - - - - - - - - -
13046.33 756.38 8.85 1466 13047.66 VBD 1.33 - - 2447.50 - - - 2182.50 - 77.86 - - 2160.94 - - - - - - - - - - -
13346.38 733.30 7.11 1496 13347.71 VBD 1.36 - - 2447.31 - - - 2183.25 - 77.86 - - 2162.09 - - - - - - - - - - -
13646.40 711.06 7.63 1526 13647.73 VBD 1.36 - - 2447.12 - - - 2183.56 - 77.86 - - 2160.16 - - - - - - - - - - -
13946.43 688.00 7.76 1556 13952.06 done 1.36 - - 2447.38 - 3.62 0.131 3473.00 356.2 77.86 - - 2161.91 - - - - - - - - - 16.01 -
14021.46 681.55 9.49 1571 14025.99 done 1.36 - - 2446.44 - 3.20 0.065 2180.56 -403.9 77.86 - - 2164.06 - - - - - - - - - 16.01 -
14331.57 660.24 6.80 1603 14333.04 1.39 0.19 0.111 2487.81 217.7 - - 2180.38 - 77.86 - - 2159.25 - - - - - - - - 16.00 - -
14631.52 636.59 7.39 1633 14632.85 VBD 1.41 - - 2486.81 - - - 2180.94 - 77.86 - - 2160.81 - - - - - - - - - - -
14931.54 611.52 8.78 1663 14932.87 VBD 1.41 - - 2486.69 - - - 2180.69 - 77.86 - - 2161.00 - - - - - - - - - - -
15231.57 588.26 7.76 1693 15237.18 done 1.41 - - 2487.44 - 3.59 0.129 3472.88 359.9 77.86 - - 2159.66 - - - - - - - - - 16.03 -
15316.66 581.17 8.23 1710 15321.14 done 1.41 - - 2487.25 - 3.26 0.063 2179.88 -396.6 77.86 - - 2161.88 - - - - - - - - - 16.03 -
15626.63 558.54 7.64 1742 15627.96 VBD 1.41 - - 2486.94 - - - 2180.00 - 77.86 - - 2160.09 - - - - - - - - - - -
15926.71 539.39 6.29 1772 15928.05 VBD 1.47 - - 2488.00 - - - 2180.62 - 77.86 - - 2159.34 - - - - - - - - - - -
16226.78 520.84 6.69 1802 16228.11 VBD 1.51 - - 2487.62 - - - 2180.00 - 77.86 - - 2160.28 - - - - - - - - - - -
16526.85 501.25 6.16 1832 16528.32 1.56 0.18 0.101 2527.38 220.9 - - 2180.62 - 77.86 - - 2159.03 - - - - - - - - 16.03 - -
16826.92 480.87 6.31 1862 16832.60 done 1.62 - - 2526.38 - 4.03 0.142 736.50 -358.3 77.86 - - 2158.28 - - - - - - - - - 16.03 -
17042.00 461.44 8.52 1905 17047.61 done 1.62 - - 2527.44 - 3.67 0.061 2219.56 404.1 77.86 - - 2156.91 - - - - - - - - - 16.04 -
17347.07 439.75 6.68 1936 17348.40 VBD 1.66 - - 2526.88 - - - 2219.62 - 77.86 - - 2158.59 - - - - - - - - - - -
17647.13 417.98 7.36 1966 17648.46 VBD 1.68 - - 2526.69 - - - 2219.69 - 77.86 - - 2158.81 - - - - - - - - - - -
17947.16 399.08 6.66 1996 17948.63 1.72 0.18 0.101 2565.62 216.3 - - 2220.19 - 77.86 - - 2159.06 - - - - - - - - 16.02 - -
18247.22 380.13 6.33 2026 18252.91 done 1.77 - - 2566.06 - 3.46 0.126 3474.44 362.5 77.86 - - 2158.12 - - - - - - - - - 16.04 -
18416.17 368.69 6.40 2060 18422.95 done 1.82 - - 2564.69 - 3.21 0.061 2178.25 -403.8 77.86 - - 2161.91 - - - - - - - - - 16.05 -
18722.30 351.67 5.92 2091 18753.72 1.91 0.23 0.093 2612.19 206.5 4.05 0.140 736.06 -356.1 108.31 24.42 1.500 2057.56 -4.3 0.166 - - - - - - 16.02 15.86 12.72
18856.22 339.10 10.78 2118 18863.06 roll 1.91 - - 2611.12 - 3.68 0.058 2220.75 403.4 108.31 - - 2054.47 - - - - - - - - - 15.91 -
19162.34 308.59 9.72 2149 19166.92 roll 1.91 - - 2612.19 - 3.46 0.122 3472.88 361.9 108.31 - - 2050.44 - - - - - - - - - 15.96 -
19222.35 302.14 10.15 2161 19226.88 roll 1.91 - - 2611.81 - 3.22 0.059 2180.31 -401.4 108.31 - - 2053.44 - - - - - - - - - 15.96 -
19532.38 272.11 10.11 2193 19533.71 no move 1.91 - - 2610.69 - - - 2180.00 - 108.31 - - 2053.62 - - - - - - - - - - -
19832.41 243.85 8.95 2223 19838.01 roll 1.91 - - 2612.88 - 3.57 0.118 3472.19 362.0 108.31 - - 2049.72 - - - - - - - - - 15.97 -
20061.32 221.54 9.84 2269 20068.16 roll 1.91 - - 2613.12 - 3.21 0.059 2179.94 -402.6 108.31 - - 2052.41 - - - - - - - - - 16.00 -
20367.50 194.05 8.75 2300 20373.11 roll 1.91 - - 2612.38 - 3.55 0.116 3474.00 364.5 108.31 - - 2049.78 - - - - - - - - - 16.00 -
20416.37 189.41 9.77 2310 20423.21 roll 1.91 - - 2612.69 - 3.20 0.058 2179.25 -404.6 108.31 - - 2051.69 - - - - - - - - - 15.96 -
20723.77 164.92 7.70 2341 20729.15 roll 1.91 - - 2612.75 - 3.51 0.116 3473.62 368.8 108.31 - - 2050.00 - - - - - - - - - 16.00 -
20847.57 154.11 8.53 2366 20852.12 roll 1.91 - - 2612.31 - 3.21 0.057 2179.56 -403.1 108.31 - - 2051.56 - - - - - - - - - 16.00 -
21157.63 131.65 6.61 2398 21163.65 roll 1.95 - - 2613.44 - 3.97 0.133 736.19 -363.6 108.31 - - 2049.66 - - - - - - - - - 15.99 -
21386.70 122.25 2.97 2444 21454.23 2.17 0.34 0.075 2678.69 191.9 3.62 0.055 2224.69 411.2 180.82 59.47 1.278 1761.56 -4.8 0.077 - - - - - - 15.96 16.00 12.76
21752.79 92.59 7.88 2496 21758.53 done 2.17 - - 2677.88 - 3.44 0.117 3473.44 363.0 180.82 - - 1753.88 - - - - - - - - - 15.81 -
21982.89 74.82 8.89 2542 21988.59 done 2.17 - - 2678.31 - 3.22 0.055 2178.50 -402.2 180.82 - - 1751.47 - - - - - - - - - 15.87 -
22168.00 63.58 4.38 2579 22215.72 2.33 0.17 0.102 2710.31 188.2 3.56 0.113 3474.19 364.0 233.24 42.60 1.169 1548.34 -4.8 0.043 - - - - - - 15.88 15.70 12.73
22438.52 37.56 9.94 2633 22444.22 roll 2.33 - - 2710.94 - 3.23 0.054 2177.81 -401.4 233.24 - - 1543.34 - - - - - - - - - 15.82 -
22623.57 23.92 7.55 2670 22629.32 roll 2.33 - - 2710.69 - 3.56 0.111 3474.19 364.2 233.24 - - 1541.34 - - - - - - - - - 15.80 -
22848 end climb: SURFACE_DEPTH_REACHED
22848 begin surface coast
22868 end surface coast: CONTROL_FINISHED_OK
22868 begin surface
SM 0.88 - - - - 178.9 157.57 1.081 767.3 4.9 16.33 0.068 769.8 47.1 - 3.47 0.058 764.8 219.4 -0.340 - - 12.67 15.87 15.89 -