NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 321 * Raw log
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• Previous call tries 1 • 98.47 of 575.00 AH used of 24V (82.87% remains)
• Surface angle -60.5 deg, depth 0.83 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.87 (SM_CC=425)
• GPS1 time: 24 s
• GPS2 time: 2 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.86 - - - 80.34 VBD -1.25 - - 174.19 - - - 2114.88 - -77.86 72.92 0.005 2416.62 - - - - - - - - - - 15.56
80.60 3.47 -4.10 14 112.50 -1.25 13.82 0.256 1834.56 120.1 3.83 0.121 3474.19 354.9 -77.86 9.98 0.007 2816.97 40.1 -3.355 - - - - - - 15.61 15.55 15.61
225.27 35.33 -19.16 43 231.02 roll -1.25 - - 1835.81 - 3.58 0.062 2084.06 -388.3 -77.86 - - 2816.66 - - - - - - - - - 15.76 -
410.32 68.95 -16.48 80 416.26 roll -1.25 - - 1835.88 - 4.21 0.156 664.75 -337.1 -77.86 - - 2817.16 - - - - - - - - - 15.78 -
510.34 85.59 -15.50 100 516.09 roll -1.25 - - 1836.06 - 3.53 0.054 2118.25 411.8 -77.86 - - 2818.00 - - - - - - - - - 15.83 -
700.38 108.80 -11.06 130 701.70 no move -1.25 - - 1835.75 - - - 2117.88 - -77.86 - - 2818.22 - - - - - - - - - - -
1000.40 139.91 -10.50 160 1006.03 roll -1.25 - - 1835.50 - 3.65 0.115 3473.31 371.4 -77.86 - - 2816.59 - - - - - - - - - 15.90 -
1165.44 158.82 -11.48 193 1170.09 roll -1.25 - - 1835.81 - 3.47 0.059 2082.00 -401.0 -77.86 - - 2819.22 - - - - - - - - - 15.93 -
1475.47 191.04 -11.08 225 1476.80 no move -1.25 - - 1835.56 - - - 2081.56 - -77.86 - - 2818.69 - - - - - - - - - - -
1775.50 225.29 -10.96 255 1776.83 no move -1.25 - - 1835.56 - - - 2081.62 - -77.86 - - 2818.25 - - - - - - - - - - -
2075.54 259.21 -11.38 285 2076.87 no move -1.25 - - 1835.81 - - - 2081.69 - -77.86 - - 2816.72 - - - - - - - - - - -
2375.57 291.95 -10.53 315 2381.31 roll -1.25 - - 1835.75 - 3.81 0.119 3474.69 365.6 -77.86 - - 2816.38 - - - - - - - - - 16.01 -
2440.60 299.51 -12.12 328 2445.24 roll -1.25 - - 1836.00 - 3.49 0.065 2082.69 -398.9 -77.86 - - 2818.75 - - - - - - - - - 16.01 -
2750.62 329.62 -9.58 360 2751.95 no move -1.25 - - 1835.44 - - - 2083.00 - -77.86 - - 2818.34 - - - - - - - - - - -
3050.66 359.09 -9.41 390 3051.99 no move -1.25 - - 1836.00 - - - 2082.94 - -77.86 - - 2817.12 - - - - - - - - - - -
3350.78 391.50 -10.79 420 3352.11 no move -1.25 - - 1836.00 - - - 2083.94 - -77.86 - - 2818.00 - - - - - - - - - - -
3650.78 423.82 -10.60 450 3652.11 no move -1.25 - - 1835.00 - - - 2082.94 - -77.86 - - 2817.31 - - - - - - - - - - -
3950.84 454.80 -10.14 480 3952.17 no move -1.25 - - 1836.06 - - - 2082.38 - -77.86 - - 2817.06 - - - - - - - - - - -
4250.90 483.77 -9.38 510 4252.23 no move -1.25 - - 1836.06 - - - 2082.81 - -77.86 - - 2816.69 - - - - - - - - - - -
4550.96 512.45 -9.28 540 4552.29 no move -1.25 - - 1836.12 - - - 2082.69 - -77.86 - - 2814.56 - - - - - - - - - - -
4851.02 542.18 -10.00 570 4856.81 roll -1.25 - - 1835.19 - 4.14 0.167 665.12 -342.4 -77.86 - - 2816.25 - - - - - - - - - 16.02 -
4919.96 550.01 -12.05 584 4926.83 roll -1.25 - - 1835.12 - 3.60 0.063 2116.81 403.2 -77.86 - - 2816.34 - - - - - - - - - 16.05 -
5226.12 580.67 -10.35 615 5227.45 no move -1.25 - - 1836.06 - - - 2116.75 - -77.86 - - 2813.59 - - - - - - - - - - -
5526.16 609.63 -9.66 645 5527.49 no move -1.25 - - 1835.38 - - - 2116.69 - -77.86 - - 2814.97 - - - - - - - - - - -
5826.27 637.19 -8.33 675 5827.60 no move -1.25 - - 1835.31 - - - 2117.38 - -77.86 - - 2813.06 - - - - - - - - - - -
6126.23 663.03 -8.08 705 6132.03 roll -1.25 - - 1835.62 - 4.24 0.170 663.25 -343.0 -77.86 - - 2815.59 - - - - - - - - - 16.02 -
6211.25 671.66 -9.17 722 6216.95 roll -1.25 - - 1835.62 - 3.61 0.066 2116.38 402.5 -77.86 - - 2811.47 - - - - - - - - - 16.05 -
6516.29 697.42 -7.65 753 6517.62 no move -1.25 - - 1835.62 - - - 2115.94 - -77.86 - - 2811.84 - - - - - - - - - - -
6816.32 721.67 -8.02 783 6817.65 no move -1.25 - - 1835.69 - - - 2116.00 - -77.86 - - 2811.19 - - - - - - - - - - -
7116.35 746.35 -7.74 813 7122.06 roll -1.25 - - 1835.19 - 3.74 0.131 3473.38 362.9 -77.86 - - 2810.62 - - - - - - - - - 16.04 -
7175.29 752.04 -10.20 825 7182.15 roll -1.25 - - 1835.81 - 3.53 0.072 2085.81 -393.1 -77.86 - - 2812.16 - - - - - - - - - 16.06 -
7481.40 774.98 -6.87 856 7482.73 no move -1.25 - - 1835.81 - - - 2085.38 - -77.86 - - 2811.56 - - - - - - - - - - -
7781.43 798.44 -7.50 886 7782.76 no move -1.25 - - 1835.88 - - - 2085.81 - -77.86 - - 2810.12 - - - - - - - - - - -
8081.46 820.59 -7.39 916 8082.78 no move -1.25 - - 1836.00 - - - 2086.06 - -77.86 - - 2811.81 - - - - - - - - - - -
8381.49 844.01 -8.97 946 8382.82 no move -1.25 - - 1835.56 - - - 2086.12 - -77.86 - - 2810.03 - - - - - - - - - - -
8681.53 867.77 -7.20 976 8682.86 no move -1.25 - - 1836.12 - - - 2086.31 - -77.86 - - 2809.28 - - - - - - - - - - -
8981.57 892.54 -7.82 1006 8982.90 no move -1.25 - - 1835.38 - - - 2085.56 - -77.86 - - 2811.03 - - - - - - - - - - -
9281.59 916.80 -8.18 1036 9287.39 roll -1.25 - - 1835.62 - 4.22 0.182 664.56 -336.7 -77.86 - - 2809.28 - - - - - - - - - 16.01 -
9336.68 921.72 -8.93 1047 9342.30 roll -1.25 - - 1836.25 - 3.62 0.073 2114.19 400.5 -77.86 - - 2812.50 - - - - - - - - - 16.05 -
9641.65 943.42 -7.39 1078 9642.98 no move -1.25 - - 1835.69 - - - 2114.19 - -77.86 - - 2808.72 - - - - - - - - - - -
9941.70 966.76 -7.32 1108 9947.54 roll -1.25 - - 1835.31 - 4.30 0.179 664.62 -337.1 -77.86 - - 2808.91 - - - - - - - - - 16.01 -
10000.63 971.83 -8.97 1120 10007.50 roll -1.25 - - 1835.81 - 3.65 0.074 2113.62 397.0 -77.86 - - 2810.91 - - - - - - - - - 16.05 -
10246 end dive: TARGET_DEPTH_EXCEEDED
10246 begin apogee
10248.01 990.13 -6.60 1145 10315.04 -0.25 1.75 0.150 2081.12 140.2 0.08 0.307 2186.81 914.9 - 64.29 2.318 2500.19 -4.8 0.348 - - - - - - 15.98 15.58 12.62
10316 end apogee: CONTROL_FINISHED_OK
10316 begin climb
10316.75 991.95 - 1151 10391.68 1.25 2.51 0.092 2447.62 146.0 - - 2186.44 - 77.86 71.10 2.250 2182.00 -4.5 0.333 - - - - - - 15.61 - 12.82
10689.95 959.84 10.43 1189 10691.28 VBD 1.25 - - 2447.69 - - - 2186.00 - 77.86 - - 2169.75 - - - - - - - - - - -
10989.80 930.78 10.78 1219 10991.13 VBD 1.25 - - 2447.50 - - - 2186.25 - 77.86 - - 2166.06 - - - - - - - - - - -
11289.87 901.68 9.49 1249 11291.20 VBD 1.25 - - 2446.56 - - - 2186.31 - 77.86 - - 2165.59 - - - - - - - - - - -
11589.93 873.01 10.34 1279 11595.85 done 1.25 - - 2447.31 - 4.19 0.153 737.94 -345.7 77.86 - - 2164.50 - - - - - - - - - 15.88 -
11668.87 863.92 11.64 1295 11675.74 done 1.25 - - 2447.88 - 3.67 0.063 2216.44 402.9 77.86 - - 2164.66 - - - - - - - - - 15.91 -
11975.03 834.68 9.66 1326 11976.36 VBD 1.25 - - 2447.94 - - - 2215.62 - 77.86 - - 2162.06 - - - - - - - - - - -
12275.09 807.21 8.12 1356 12280.67 done 1.25 - - 2447.31 - 3.49 0.134 3471.62 359.9 77.86 - - 2162.06 - - - - - - - - - 15.94 -
12383.96 796.26 9.65 1378 12390.83 done 1.25 - - 2448.00 - 3.26 0.067 2181.69 -395.7 77.86 - - 2165.41 - - - - - - - - - 15.96 -
12690.17 770.79 8.19 1409 12691.50 VBD 1.25 - - 2447.81 - - - 2182.19 - 77.86 - - 2161.72 - - - - - - - - - - -
12990.22 748.48 6.98 1439 12995.98 done 1.28 - - 2447.81 - 4.12 0.149 737.44 -350.7 77.86 - - 2160.09 - - - - - - - - - 15.97 -
13059.13 742.50 9.30 1453 13066.02 done 1.28 - - 2447.75 - 3.66 0.062 2216.75 404.2 77.86 - - 2162.47 - - - - - - - - - 15.99 -
13365.27 721.81 7.03 1484 13366.60 VBD 1.32 - - 2448.00 - - - 2216.88 - 77.86 - - 2159.69 - - - - - - - - - - -
13665.30 700.96 6.51 1514 13670.88 done 1.36 - - 2447.31 - 3.48 0.131 3472.56 360.8 77.86 - - 2161.38 - - - - - - - - - 15.99 -
13744.22 694.01 9.16 1530 13751.01 done 1.36 - - 2447.88 - 3.23 0.064 2181.81 -399.6 77.86 - - 2161.03 - - - - - - - - - 16.01 -
14050.33 669.87 7.79 1561 14051.66 VBD 1.36 - - 2448.06 - - - 2181.62 - 77.86 - - 2161.16 - - - - - - - - - - -
14350.37 645.99 7.74 1591 14356.15 done 1.36 - - 2447.62 - 4.11 0.147 736.94 -351.5 77.86 - - 2162.88 - - - - - - - - - 16.00 -
14455.39 635.51 9.45 1612 14461.01 done 1.36 - - 2446.56 - 3.62 0.061 2219.12 409.4 77.86 - - 2162.22 - - - - - - - - - 16.02 -
14760.43 609.77 7.72 1643 14761.77 VBD 1.36 - - 2448.06 - - - 2219.06 - 77.86 - - 2159.75 - - - - - - - - - - -
15060.46 586.15 7.77 1673 15066.34 done 1.36 - - 2447.69 - 4.17 0.144 736.25 -355.6 77.86 - - 2160.44 - - - - - - - - - 16.00 -
15225.51 571.62 9.21 1706 15231.12 done 1.36 - - 2448.50 - 3.62 0.061 2219.62 409.8 77.86 - - 2159.91 - - - - - - - - - 16.02 -
15530.56 550.76 6.52 1737 15536.19 1.41 0.20 0.095 2489.62 205.6 3.43 0.128 3473.44 365.5 77.86 - - 2158.53 - - - - - - - - 16.01 15.99 -
15629.39 542.49 7.87 1757 15636.27 done 1.41 - - 2489.75 - 3.23 0.062 2180.19 -400.4 77.86 - - 2159.84 - - - - - - - - - 16.02 -
15935.60 521.29 6.80 1788 15936.93 VBD 1.45 - - 2492.12 - - - 2180.44 - 77.86 - - 2159.75 - - - - - - - - - - -
16235.64 500.51 6.88 1818 16236.97 VBD 1.48 - - 2492.00 - - - 2180.25 - 77.86 - - 2159.78 - - - - - - - - - - -
16535.66 478.17 7.59 1848 16536.99 VBD 1.48 - - 2491.31 - - - 2180.44 - 77.86 - - 2158.03 - - - - - - - - - - -
16835.72 456.68 7.79 1878 16837.05 VBD 1.48 - - 2491.56 - - - 2180.31 - 77.86 - - 2159.75 - - - - - - - - - - -
17135.79 436.83 6.82 1908 17137.12 VBD 1.52 - - 2491.62 - - - 2180.62 - 77.86 - - 2159.84 - - - - - - - - - - -
17435.95 420.19 5.84 1938 17462.59 1.61 0.24 0.095 2539.69 200.3 - - 2180.38 - 109.45 25.53 1.582 2053.66 -4.2 0.186 - - - - - - 16.02 - 12.67
17755.91 393.42 9.57 1970 17757.24 no move 1.61 - - 2539.75 - - - 2181.19 - 109.45 - - 2048.16 - - - - - - - - - - -
18055.97 367.61 8.61 2000 18057.30 no move 1.61 - - 2540.25 - - - 2180.50 - 109.45 - - 2047.62 - - - - - - - - - - -
18356.03 341.59 8.84 2030 18357.36 no move 1.61 - - 2539.81 - - - 2181.06 - 109.45 - - 2046.00 - - - - - - - - - - -
18656.10 312.74 9.29 2060 18657.42 no move 1.61 - - 2540.50 - - - 2180.62 - 109.45 - - 2047.09 - - - - - - - - - - -
18956.15 285.90 8.85 2090 18957.48 no move 1.61 - - 2539.88 - - - 2181.12 - 109.45 - - 2045.19 - - - - - - - - - - -
19256.19 260.94 7.89 2120 19257.52 no move 1.61 - - 2539.75 - - - 2180.50 - 109.45 - - 2047.00 - - - - - - - - - - -
19556.23 235.14 8.97 2150 19561.84 roll 1.61 - - 2539.56 - 3.57 0.123 3474.31 362.4 109.45 - - 2046.22 - - - - - - - - - 16.02 -
19621.26 228.73 9.87 2163 19625.79 roll 1.61 - - 2539.56 - 3.26 0.059 2180.00 -397.0 109.45 - - 2049.06 - - - - - - - - - 16.02 -
19931.30 205.56 7.10 2195 19936.97 roll 1.64 - - 2540.19 - 4.05 0.137 736.50 -356.4 109.45 - - 2045.03 - - - - - - - - - 16.02 -
20026.30 197.41 8.60 2214 20032.07 done 1.64 - - 2539.88 - 3.61 0.056 2222.75 411.7 109.45 - - 2043.53 - - - - - - - - - 16.03 -
20331.37 176.73 6.89 2245 20335.92 done 1.68 - - 2539.12 - 3.42 0.120 3472.94 365.6 109.45 - - 2047.19 - - - - - - - - - 16.01 -
20561.42 160.55 6.85 2291 20565.94 done 1.71 - - 2539.81 - 3.21 0.056 2179.81 -402.8 109.45 - - 2044.97 - - - - - - - - - 16.03 -
20871.45 142.57 5.18 2323 20913.12 1.83 0.28 0.088 2593.94 193.3 4.08 0.136 737.50 -353.5 150.41 34.66 1.289 1885.53 -4.6 0.086 - - - - - - 16.01 15.84 12.75
21135.33 115.47 9.73 2376 21142.26 roll 1.83 - - 2594.00 - 3.65 0.055 2223.06 407.0 150.41 - - 1879.41 - - - - - - - - - 15.93 -
21441.56 99.63 4.05 2408 21493.43 2.01 0.20 0.094 2635.38 206.9 3.49 0.119 3473.75 358.4 207.56 46.59 1.228 1653.41 -4.9 0.066 - - - - - - 15.94 15.73 12.79
21716.58 75.13 10.51 2463 21722.28 roll 2.01 - - 2635.31 - 3.29 0.056 2180.62 -393.0 207.56 - - 1646.03 - - - - - - - - - 15.85 -
21901.63 60.29 7.39 2500 21907.37 done 2.03 - - 2634.75 - 3.59 0.114 3472.62 359.9 207.56 - - 1645.91 - - - - - - - - - 15.88 -
22131.69 46.34 4.61 2546 22178.31 2.17 0.19 0.094 2674.31 208.2 3.26 0.054 2179.00 -396.8 256.59 40.32 1.142 1453.06 -4.8 0.033 - - - - - - 15.87 15.91 12.73
22356.75 29.13 9.69 2591 22362.54 roll 2.17 - - 2674.00 - 3.61 0.114 3473.69 358.6 256.59 - - 1449.56 - - - - - - - - - 15.83 -
22456.78 17.69 12.00 2611 22462.49 roll 2.17 - - 2673.94 - 3.28 0.055 2181.19 -394.1 256.59 - - 1447.38 - - - - - - - - - 15.85 -
22601 end climb: SURFACE_DEPTH_REACHED
22601 begin surface coast
22616 end surface coast: CONTROL_FINISHED_OK
22616 begin surface
SM 1.02 - - - - 175.2 2.09 0.283 767.9 367.4 16.56 0.100 763.8 46.1 - 0.23 0.108 772.1 3342.7 -3.227 - - 12.64 15.82 15.87 -