NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 315 * Raw log
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• Previous call tries 1 • 96.65 of 575.00 AH used of 24V (83.19% remains)
• Surface angle -59.3 deg, depth 0.66 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.75 (SM_CC=425)
• GPS1 time: 36 s
• GPS2 time: 3 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
6.88 - - - 85.40 VBD -1.25 - - 174.00 - - - 2118.06 - -77.86 77.97 0.005 2501.19 - - - - - - - - - - 15.55
85.66 3.33 -3.71 15 111.69 -1.25 13.90 0.260 1834.81 119.5 - - 2118.62 - -77.86 8.00 0.008 2817.25 39.5 -2.780 - - - - - - 15.60 - 15.61
289.47 44.58 -20.14 56 295.26 roll -1.25 - - 1835.50 - 3.76 0.118 3473.25 360.3 -77.86 - - 2817.34 - - - - - - - - - 15.76 -
399.50 66.69 -17.84 78 405.33 roll -1.25 - - 1836.00 - 3.53 0.061 2084.38 -393.4 -77.86 - - 2816.22 - - - - - - - - - 15.81 -
584.55 93.89 -13.99 115 590.38 roll -1.25 - - 1835.50 - 4.10 0.157 663.75 -346.5 -77.86 - - 2819.06 - - - - - - - - - 15.82 -
619.56 99.47 -15.56 122 625.31 roll -1.25 - - 1835.88 - 3.56 0.054 2118.56 408.7 -77.86 - - 2816.59 - - - - - - - - - 15.85 -
804.58 123.15 -11.90 141 810.26 roll -1.25 - - 1835.56 - 3.67 0.114 3473.38 369.2 -77.86 - - 2815.72 - - - - - - - - - 15.88 -
839.59 127.50 -12.53 148 844.23 roll -1.25 - - 1835.94 - 3.47 0.058 2082.12 -400.9 -77.86 - - 2816.81 - - - - - - - - - 15.89 -
1149.62 158.36 -9.61 180 1155.38 roll -1.25 - - 1835.94 - 4.03 0.156 663.56 -352.0 -77.86 - - 2817.44 - - - - - - - - - 15.90 -
1258.47 172.10 -13.02 202 1265.40 roll -1.25 - - 1835.88 - 3.55 0.055 2119.25 410.1 -77.86 - - 2817.50 - - - - - - - - - 15.94 -
1564.69 205.36 -10.73 233 1566.02 no move -1.25 - - 1835.69 - - - 2119.56 - -77.86 - - 2817.47 - - - - - - - - - - -
1864.72 236.38 -10.25 263 1866.05 no move -1.25 - - 1835.75 - - - 2119.38 - -77.86 - - 2817.44 - - - - - - - - - - -
2164.78 267.86 -10.01 293 2170.48 roll -1.25 - - 1835.94 - 3.66 0.120 3472.19 369.6 -77.86 - - 2819.16 - - - - - - - - - 15.99 -
2229.82 275.12 -11.51 306 2234.45 roll -1.25 - - 1835.44 - 3.48 0.062 2083.75 -399.0 -77.86 - - 2817.22 - - - - - - - - - 16.02 -
2539.87 306.34 -9.92 338 2545.58 roll -1.25 - - 1835.62 - 3.79 0.118 3472.00 366.3 -77.86 - - 2819.56 - - - - - - - - - 16.02 -
2588.82 311.65 -10.44 348 2595.64 roll -1.25 - - 1835.75 - 3.45 0.062 2081.88 -402.9 -77.86 - - 2817.31 - - - - - - - - - 16.02 -
2894.95 341.91 -10.01 379 2896.28 no move -1.25 - - 1835.75 - - - 2081.94 - -77.86 - - 2817.53 - - - - - - - - - - -
3195.01 373.12 -10.12 409 3196.34 no move -1.25 - - 1835.69 - - - 2082.25 - -77.86 - - 2816.28 - - - - - - - - - - -
3495.07 404.63 -11.00 439 3500.84 roll -1.25 - - 1835.50 - 4.05 0.163 662.38 -350.6 -77.86 - - 2817.91 - - - - - - - - - 16.01 -
3543.97 410.42 -11.92 449 3550.85 roll -1.25 - - 1835.44 - 3.56 0.060 2118.25 409.0 -77.86 - - 2817.38 - - - - - - - - - 16.04 -
3850.16 440.58 -10.46 480 3851.49 no move -1.25 - - 1836.19 - - - 2118.12 - -77.86 - - 2816.31 - - - - - - - - - - -
4150.21 469.37 -10.28 510 4151.54 no move -1.25 - - 1835.62 - - - 2117.44 - -77.86 - - 2815.75 - - - - - - - - - - -
4450.24 497.53 -8.90 540 4456.01 roll -1.25 - - 1835.75 - 4.17 0.163 662.88 -348.8 -77.86 - - 2817.81 - - - - - - - - - 16.02 -
4505.32 503.55 -11.26 551 4510.94 roll -1.25 - - 1835.75 - 3.56 0.059 2117.88 408.7 -77.86 - - 2813.44 - - - - - - - - - 16.05 -
4810.29 532.01 -10.18 582 4811.62 no move -1.25 - - 1836.06 - - - 2118.44 - -77.86 - - 2815.78 - - - - - - - - - - -
5110.33 561.80 -10.41 612 5116.11 roll -1.25 - - 1835.75 - 4.12 0.167 663.62 -353.1 -77.86 - - 2813.50 - - - - - - - - - 16.02 -
5159.27 567.07 -11.44 622 5166.09 roll -1.25 - - 1835.88 - 3.55 0.062 2118.81 409.9 -77.86 - - 2816.66 - - - - - - - - - 16.05 -
5465.37 595.01 -7.64 653 5466.70 no move -1.25 - - 1835.81 - - - 2118.81 - -77.86 - - 2813.50 - - - - - - - - - - -
5765.40 621.07 -8.52 683 5771.18 roll -1.25 - - 1835.69 - 4.16 0.169 663.44 -349.8 -77.86 - - 2812.28 - - - - - - - - - 16.02 -
5884.35 634.14 -10.45 707 5891.19 roll -1.25 - - 1835.69 - 3.57 0.065 2117.69 407.4 -77.86 - - 2813.38 - - - - - - - - - 16.05 -
6190.46 660.60 -8.21 738 6191.79 no move -1.25 - - 1835.88 - - - 2117.75 - -77.86 - - 2813.44 - - - - - - - - - - -
6490.49 685.23 -8.31 768 6496.20 roll -1.25 - - 1834.94 - 3.67 0.130 3473.50 369.4 -77.86 - - 2811.31 - - - - - - - - - 16.04 -
6565.52 691.94 -9.37 783 6570.16 roll -1.25 - - 1836.06 - 3.45 0.070 2085.06 -402.4 -77.86 - - 2813.16 - - - - - - - - - 16.06 -
6875.55 718.91 -7.96 815 6876.88 no move -1.25 - - 1835.50 - - - 2085.12 - -77.86 - - 2810.59 - - - - - - - - - - -
7175.58 746.46 -8.92 845 7181.34 roll -1.25 - - 1834.56 - 4.06 0.178 663.06 -350.3 -77.86 - - 2813.62 - - - - - - - - - 16.02 -
7310.61 759.99 -9.52 872 7315.30 roll -1.25 - - 1835.75 - 3.57 0.068 2113.19 406.2 -77.86 - - 2813.03 - - - - - - - - - 16.06 -
7620.66 787.48 -9.60 904 7621.98 no move -1.25 - - 1835.69 - - - 2115.00 - -77.86 - - 2812.22 - - - - - - - - - - -
7920.68 812.91 -7.98 934 7922.00 no move -1.25 - - 1835.88 - - - 2115.25 - -77.86 - - 2811.50 - - - - - - - - - - -
8220.73 839.96 -9.15 964 8222.06 no move -1.25 - - 1836.00 - - - 2115.44 - -77.86 - - 2811.28 - - - - - - - - - - -
8520.80 866.23 -8.17 994 8522.12 no move -1.25 - - 1836.12 - - - 2115.44 - -77.86 - - 2811.03 - - - - - - - - - - -
8820.86 890.76 -8.18 1024 8822.19 no move -1.25 - - 1835.44 - - - 2115.38 - -77.86 - - 2810.81 - - - - - - - - - - -
9120.93 913.91 -7.90 1054 9122.26 no move -1.25 - - 1835.69 - - - 2115.62 - -77.86 - - 2809.09 - - - - - - - - - - -
9420.99 936.42 -7.26 1084 9422.32 no move -1.25 - - 1835.44 - - - 2115.62 - -77.86 - - 2807.84 - - - - - - - - - - -
9721.05 960.14 -8.70 1114 9722.38 no move -1.25 - - 1835.44 - - - 2115.56 - -77.86 - - 2808.00 - - - - - - - - - - -
10021.12 983.05 -8.31 1144 10022.45 no move -1.25 - - 1835.62 - - - 2115.31 - -77.86 - - 2807.50 - - - - - - - - - - -
10121 end dive: TARGET_DEPTH_EXCEEDED
10122 begin apogee
10122.38 990.16 -6.91 1154 10192.24 -0.25 1.75 0.151 2080.44 139.9 0.07 0.320 2186.62 1018.7 - 64.15 2.295 2500.03 -4.8 0.350 - - - - - - 15.99 15.58 12.69
10194 end apogee: CONTROL_FINISHED_OK
10194 begin climb
10193.95 992.25 - 1161 10268.99 1.25 2.52 0.096 2447.62 145.7 - - 2186.81 - 77.86 71.02 2.244 2180.88 -4.5 0.336 - - - - - - 15.62 - 12.83
10561.81 961.51 7.93 1198 10563.14 VBD 1.25 - - 2447.88 - - - 2186.19 - 77.86 - - 2170.84 - - - - - - - - - - -
10861.86 933.79 8.78 1228 10863.19 VBD 1.25 - - 2448.06 - - - 2186.25 - 77.86 - - 2168.53 - - - - - - - - - - -
11161.92 904.45 9.73 1258 11167.54 done 1.25 - - 2447.31 - 3.62 0.135 3471.94 355.2 77.86 - - 2169.41 - - - - - - - - - 15.84 -
11276.97 891.73 10.64 1281 11281.52 done 1.25 - - 2447.69 - 3.26 0.068 2182.50 -395.5 77.86 - - 2168.69 - - - - - - - - - 15.87 -
11587.03 862.81 7.83 1313 11588.36 VBD 1.25 - - 2447.56 - - - 2182.56 - 77.86 - - 2164.88 - - - - - - - - - - -
11887.10 837.18 7.94 1343 11892.72 done 1.25 - - 2448.50 - 3.61 0.132 3472.50 357.3 77.86 - - 2167.16 - - - - - - - - - 15.93 -
11985.97 828.21 9.05 1363 11992.99 done 1.25 - - 2447.62 - 3.27 0.065 2182.69 -394.4 77.86 - - 2164.75 - - - - - - - - - 15.95 -
12292.21 804.26 7.32 1394 12293.54 VBD 1.27 - - 2447.88 - - - 2182.56 - 77.86 - - 2164.38 - - - - - - - - - - -
12592.23 779.72 9.06 1424 12593.56 VBD 1.27 - - 2447.94 - - - 2182.38 - 77.86 - - 2163.91 - - - - - - - - - - -
12892.28 754.57 8.28 1454 12893.61 VBD 1.27 - - 2448.06 - - - 2182.44 - 77.86 - - 2161.19 - - - - - - - - - - -
13192.30 727.10 9.80 1484 13198.13 done 1.27 - - 2447.56 - 4.09 0.150 736.25 -353.6 77.86 - - 2161.12 - - - - - - - - - 15.97 -
13311.24 714.50 10.60 1508 13318.11 done 1.27 - - 2448.19 - 3.67 0.063 2216.75 403.4 77.86 - - 2161.06 - - - - - - - - - 15.99 -
13617.39 689.38 7.46 1539 13618.72 VBD 1.29 - - 2448.25 - - - 2217.44 - 77.86 - - 2161.53 - - - - - - - - - - -
13917.42 668.20 6.71 1569 13918.75 VBD 1.33 - - 2448.19 - - - 2217.00 - 77.86 - - 2161.44 - - - - - - - - - - -
14217.45 650.77 6.27 1599 14218.92 1.39 0.17 0.105 2487.88 233.5 - - 2217.44 - 77.86 - - 2159.66 - - - - - - - - 15.99 - -
14517.49 632.09 6.72 1629 14518.82 VBD 1.43 - - 2487.94 - - - 2217.25 - 77.86 - - 2160.72 - - - - - - - - - - -
14817.52 610.34 7.55 1659 14818.85 VBD 1.44 - - 2487.44 - - - 2217.50 - 77.86 - - 2161.91 - - - - - - - - - - -
15117.54 586.35 7.90 1689 15123.13 done 1.44 - - 2487.12 - 3.47 0.129 3472.38 361.6 77.86 - - 2160.34 - - - - - - - - - 16.02 -
15246.41 574.53 9.61 1715 15253.27 done 1.44 - - 2488.00 - 3.27 0.063 2181.06 -394.9 77.86 - - 2162.81 - - - - - - - - - 16.01 -
15552.60 549.87 8.62 1746 15553.94 VBD 1.44 - - 2487.88 - - - 2181.31 - 77.86 - - 2161.12 - - - - - - - - - - -
15852.65 528.37 6.43 1776 15858.47 done 1.49 - - 2487.94 - 4.05 0.144 738.19 -356.3 77.86 - - 2159.12 - - - - - - - - - 16.01 -
15947.66 520.42 8.33 1795 15953.27 done 1.49 - - 2488.62 - 3.60 0.059 2220.00 411.6 77.86 - - 2158.28 - - - - - - - - - 16.02 -
16252.71 500.98 6.88 1826 16254.04 VBD 1.52 - - 2487.62 - - - 2219.38 - 77.86 - - 2160.09 - - - - - - - - - - -
16552.77 482.93 6.72 1856 16558.40 1.56 0.19 0.094 2528.75 216.5 3.41 0.125 3472.31 367.4 77.86 - - 2158.62 - - - - - - - - 15.98 15.98 -
16697.82 471.53 7.79 1885 16702.51 done 1.56 - - 2529.25 - 3.22 0.061 2180.94 -401.0 77.86 - - 2160.16 - - - - - - - - - 16.04 -
17007.91 450.14 7.05 1917 17013.56 done 1.59 - - 2529.44 - 4.00 0.141 737.25 -360.9 77.86 - - 2158.28 - - - - - - - - - 16.01 -
17136.77 439.30 8.64 1943 17143.69 done 1.59 - - 2529.75 - 3.58 0.059 2220.25 414.2 77.86 - - 2161.00 - - - - - - - - - 16.03 -
17443.01 419.78 5.96 1974 17474.26 done 1.68 - - 2528.50 - 3.45 0.126 3473.94 363.4 107.67 24.08 1.582 2062.56 -4.1 0.183 - - - - - - - 15.85 12.68
17553.10 410.91 9.06 1996 17557.58 roll 1.68 - - 2529.44 - 3.27 0.059 2180.62 -395.5 107.67 - - 2057.38 - - - - - - - - - 15.91 -
17863.10 383.19 8.85 2028 17868.78 roll 1.68 - - 2530.00 - 4.06 0.140 736.25 -355.8 107.67 - - 2057.53 - - - - - - - - - 15.93 -
18018.17 365.56 11.22 2059 18024.06 roll 1.68 - - 2529.75 - 3.64 0.059 2221.75 408.1 107.67 - - 2052.91 - - - - - - - - - 15.95 -
18323.21 335.43 9.98 2090 18324.54 no move 1.68 - - 2529.69 - - - 2221.88 - 107.67 - - 2054.44 - - - - - - - - - - -
18623.25 306.92 10.21 2120 18627.82 roll 1.68 - - 2528.50 - 3.44 0.124 3472.50 363.6 107.67 - - 2054.94 - - - - - - - - - 15.94 -
18693.28 299.40 10.60 2134 18697.82 roll 1.68 - - 2530.62 - 3.26 0.058 2180.06 -396.5 107.67 - - 2054.62 - - - - - - - - - 15.97 -
19003.31 271.54 8.59 2166 19004.64 no move 1.68 - - 2530.12 - - - 2180.25 - 107.67 - - 2053.91 - - - - - - - - - - -
19303.33 247.79 7.99 2196 19304.66 no move 1.68 - - 2530.19 - - - 2180.88 - 107.67 - - 2053.09 - - - - - - - - - - -
19603.39 225.19 7.54 2226 19604.72 no move 1.70 - - 2530.00 - - - 2180.19 - 107.67 - - 2052.84 - - - - - - - - - - -
19903.42 202.44 6.98 2256 19904.88 pitch 1.73 0.19 0.111 2567.06 195.1 - - 2180.12 - 107.67 - - 2055.72 - - - - - - - - 15.98 - -
20203.45 181.14 6.97 2286 20204.78 no move 1.76 - - 2568.75 - - - 2180.31 - 107.67 - - 2053.62 - - - - - - - - - - -
20503.51 159.30 7.04 2316 20509.21 roll 1.79 - - 2568.25 - 3.55 0.117 3472.12 363.9 107.67 - - 2053.66 - - - - - - - - - 16.00 -
20732.40 142.55 7.01 2362 20739.24 roll 1.82 - - 2568.81 - 3.26 0.056 2178.00 -397.0 107.67 - - 2053.50 - - - - - - - - - 16.02 -
21038.56 126.40 4.77 2393 21084.08 1.96 0.29 0.089 2622.75 186.0 3.60 0.116 3471.88 359.4 154.49 39.57 1.262 1869.97 -4.6 0.079 - - - - - - 15.99 15.82 12.75
21308.61 99.45 9.51 2447 21314.30 roll 1.96 - - 2623.88 - 3.26 0.055 2178.94 -396.6 154.49 - - 1863.62 - - - - - - - - - 15.89 -
21493.68 85.38 7.13 2484 21499.40 done 1.99 - - 2624.62 - 3.59 0.115 3472.19 360.2 154.49 - - 1862.72 - - - - - - - - - 15.88 -
21723.73 74.45 2.84 2530 21790.87 2.22 0.33 0.079 2685.88 185.6 3.25 0.054 2176.62 -398.6 228.81 59.78 1.189 1566.44 -5.0 0.052 - - - - - - 15.88 15.90 12.75
21968.79 52.29 9.24 2579 21974.57 roll 2.22 - - 2686.19 - 3.62 0.113 3472.19 357.9 228.81 - - 1560.84 - - - - - - - - - 15.77 -
22103.86 42.69 7.35 2606 22109.69 done 2.24 - - 2686.25 - 3.28 0.053 2178.06 -394.6 228.81 - - 1558.75 - - - - - - - - - 15.79 -
22288.94 31.90 5.83 2643 22321.33 done 2.33 - - 2686.25 - 4.04 0.133 736.31 -356.9 260.54 26.79 1.081 1436.34 -4.6 0.023 - - - - - - - 15.69 12.82
22399.10 20.90 12.96 2665 22404.88 roll 2.33 - - 2686.50 - 3.68 0.055 2222.62 403.9 260.54 - - 1435.06 - - - - - - - - - 15.78 -
22569 end climb: SURFACE_DEPTH_REACHED
22570 begin surface coast
22585 end surface coast: CONTROL_FINISHED_OK
22585 begin surface
SM 0.92 - - - - 175.2 0.03 0.344 768.4 25613.3 16.34 0.073 765.2 46.8 - 0.34 0.083 771.7 2258.9 -2.559 - - 15.43 15.78 15.85 -