NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 322 * Raw log
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• Previous call tries 1 • 98.78 of 575.00 AH used of 24V (82.82% remains)
• Surface angle -60.1 deg, depth 0.64 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.76 (SM_CC=425)
• GPS1 time: 20 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
6.89 - - - 85.00 VBD -1.25 - - 175.25 - - - 2116.81 - -77.86 77.52 0.005 2510.66 - - - - - - - - - - 15.56
85.27 3.46 -4.03 15 117.14 -1.25 13.96 0.263 1837.31 119.1 4.36 0.161 664.75 -333.0 -77.86 7.53 0.008 2816.72 40.6 -2.972 - - - - - - 15.60 15.55 15.59
189.90 28.08 -23.92 36 195.71 roll -1.25 - - 1836.75 - 3.63 0.058 2117.38 400.2 -77.86 - - 2817.00 - - - - - - - - - 15.74 -
375.00 64.78 -17.34 73 376.32 no move -1.25 - - 1837.19 - - - 2116.69 - -77.86 - - 2817.06 - - - - - - - - - - -
555.05 92.73 -14.32 109 556.38 no move -1.25 - - 1836.38 - - - 2116.75 - -77.86 - - 2817.31 - - - - - - - - - - -
735.18 115.05 -11.60 133 740.75 roll -1.25 - - 1837.00 - 3.73 0.117 3473.00 363.6 -77.86 - - 2815.56 - - - - - - - - - 15.87 -
964.12 142.82 -11.60 179 970.94 roll -1.25 - - 1837.00 - 3.48 0.061 2085.00 -398.9 -77.86 - - 2817.78 - - - - - - - - - 15.91 -
1270.23 172.17 -9.45 210 1275.95 roll -1.25 - - 1836.88 - 3.80 0.114 3472.81 365.2 -77.86 - - 2815.50 - - - - - - - - - 15.94 -
1399.11 187.59 -11.74 236 1406.04 roll -1.25 - - 1837.06 - 3.53 0.061 2083.25 -393.6 -77.86 - - 2817.50 - - - - - - - - - 15.95 -
1705.30 220.26 -9.77 267 1706.62 no move -1.25 - - 1836.25 - - - 2083.81 - -77.86 - - 2817.88 - - - - - - - - - - -
2005.33 252.87 -11.06 297 2006.66 no move -1.25 - - 1837.44 - - - 2083.50 - -77.86 - - 2818.34 - - - - - - - - - - -
2305.37 286.63 -11.19 327 2306.69 no move -1.25 - - 1837.31 - - - 2083.88 - -77.86 - - 2817.91 - - - - - - - - - - -
2605.39 318.69 -9.99 357 2611.18 roll -1.25 - - 1836.50 - 4.13 0.160 663.56 -343.9 -77.86 - - 2818.59 - - - - - - - - - 15.99 -
2654.26 324.85 -12.32 367 2661.17 roll -1.25 - - 1837.19 - 3.58 0.057 2118.00 406.3 -77.86 - - 2817.50 - - - - - - - - - 16.02 -
2960.45 357.04 -10.95 398 2961.77 no move -1.25 - - 1836.44 - - - 2118.56 - -77.86 - - 2817.47 - - - - - - - - - - -
3260.48 387.38 -10.70 428 3266.27 roll -1.25 - - 1836.81 - 4.20 0.159 663.88 -346.4 -77.86 - - 2817.94 - - - - - - - - - 16.00 -
3345.50 397.96 -12.36 445 3350.18 roll -1.25 - - 1837.50 - 3.56 0.059 2115.69 407.8 -77.86 - - 2817.97 - - - - - - - - - 16.03 -
3655.53 429.71 -10.31 477 3656.86 no move -1.25 - - 1837.19 - - - 2118.56 - -77.86 - - 2817.03 - - - - - - - - - - -
3955.57 459.37 -9.48 507 3961.44 roll -1.25 - - 1837.44 - 4.23 0.161 663.69 -343.9 -77.86 - - 2818.22 - - - - - - - - - 16.01 -
4010.65 465.62 -11.34 518 4016.27 roll -1.25 - - 1837.00 - 3.56 0.058 2116.19 408.0 -77.86 - - 2815.31 - - - - - - - - - 16.04 -
4315.62 496.61 -9.96 549 4316.94 no move -1.25 - - 1837.00 - - - 2115.38 - -77.86 - - 2815.97 - - - - - - - - - - -
4615.65 525.24 -9.30 579 4621.36 roll -1.25 - - 1837.12 - 3.73 0.127 3474.31 364.3 -77.86 - - 2816.22 - - - - - - - - - 16.03 -
4670.67 531.18 -10.00 590 4675.32 roll -1.25 - - 1836.88 - 3.49 0.067 2084.62 -398.2 -77.86 - - 2815.78 - - - - - - - - - 16.05 -
4980.70 561.25 -9.41 622 4986.48 roll -1.25 - - 1836.94 - 4.09 0.169 664.81 -347.1 -77.86 - - 2814.34 - - - - - - - - - 16.02 -
5025.73 566.15 -10.58 631 5031.40 roll -1.25 - - 1837.00 - 3.59 0.060 2115.75 404.2 -77.86 - - 2815.38 - - - - - - - - - 16.05 -
5330.78 594.33 -8.58 662 5332.11 no move -1.25 - - 1836.19 - - - 2115.75 - -77.86 - - 2814.31 - - - - - - - - - - -
5630.84 621.11 -8.62 692 5632.16 no move -1.25 - - 1837.19 - - - 2115.56 - -77.86 - - 2813.22 - - - - - - - - - - -
5930.90 648.16 -9.39 722 5932.23 no move -1.25 - - 1836.81 - - - 2116.25 - -77.86 - - 2812.38 - - - - - - - - - - -
6230.96 674.43 -8.24 752 6232.29 no move -1.25 - - 1836.81 - - - 2116.69 - -77.86 - - 2813.41 - - - - - - - - - - -
6531.02 701.30 -9.09 782 6536.85 roll -1.25 - - 1836.62 - 4.26 0.170 663.62 -341.1 -77.86 - - 2811.53 - - - - - - - - - 16.02 -
6556.04 703.77 -9.19 787 6561.72 roll -1.25 - - 1836.94 - 3.60 0.064 2116.31 403.5 -77.86 - - 2811.00 - - - - - - - - - 16.05 -
6861.09 731.04 -8.60 818 6866.90 roll -1.25 - - 1836.62 - 4.26 0.173 664.75 -340.7 -77.86 - - 2812.78 - - - - - - - - - 16.02 -
6906.12 735.46 -10.41 827 6911.79 roll -1.25 - - 1836.88 - 3.56 0.067 2115.81 407.6 -77.86 - - 2814.06 - - - - - - - - - 16.05 -
7211.17 761.18 -8.46 858 7216.98 roll -1.25 - - 1837.31 - 4.23 0.173 664.81 -343.0 -77.86 - - 2812.62 - - - - - - - - - 16.02 -
7276.26 767.14 -10.78 871 7281.88 roll -1.25 - - 1837.06 - 3.57 0.067 2117.00 406.8 -77.86 - - 2811.69 - - - - - - - - - 16.05 -
7581.23 790.50 -7.09 902 7582.56 no move -1.25 - - 1836.69 - - - 2117.62 - -77.86 - - 2812.16 - - - - - - - - - - -
7881.26 815.57 -8.66 932 7882.58 no move -1.25 - - 1836.81 - - - 2117.44 - -77.86 - - 2811.78 - - - - - - - - - - -
8181.29 841.28 -9.00 962 8182.62 no move -1.25 - - 1837.19 - - - 2117.56 - -77.86 - - 2811.22 - - - - - - - - - - -
8481.33 865.69 -7.12 992 8482.66 no move -1.25 - - 1837.06 - - - 2118.31 - -77.86 - - 2809.12 - - - - - - - - - - -
8781.37 891.61 -7.06 1022 8782.70 no move -1.25 - - 1837.62 - - - 2117.62 - -77.86 - - 2808.88 - - - - - - - - - - -
9081.40 915.86 -7.44 1052 9082.73 no move -1.25 - - 1836.19 - - - 2117.88 - -77.86 - - 2808.53 - - - - - - - - - - -
9381.44 940.21 -8.12 1082 9382.77 no move -1.25 - - 1837.06 - - - 2117.94 - -77.86 - - 2810.41 - - - - - - - - - - -
9681.48 963.98 -8.54 1112 9682.81 no move -1.25 - - 1836.88 - - - 2117.81 - -77.86 - - 2810.09 - - - - - - - - - - -
9981.51 986.92 -8.32 1142 9982.84 no move -1.25 - - 1836.88 - - - 2117.62 - -77.86 - - 2809.09 - - - - - - - - - - -
10032 end dive: TARGET_DEPTH_EXCEEDED
10032 begin apogee
10032.76 991.58 -9.32 1147 10103.13 -0.25 1.76 0.155 2080.00 138.1 0.07 0.318 2187.62 1000.0 - 64.68 2.311 2498.25 -4.8 0.349 - - - - - - 15.99 15.58 12.72
10105 end apogee: CONTROL_FINISHED_OK
10105 begin climb
10104.83 993.13 - 1154 10183.64 1.25 2.53 0.097 2448.94 145.8 - - 2187.25 - 77.86 71.95 2.245 2181.06 -4.4 0.330 - - - - - - 15.61 - 12.84
10481.65 960.64 9.26 1192 10482.98 VBD 1.25 - - 2448.69 - - - 2187.31 - 77.86 - - 2169.97 - - - - - - - - - - -
10781.59 931.33 7.67 1222 10787.21 done 1.25 - - 2447.88 - 3.65 0.135 3472.81 352.2 77.86 - - 2170.41 - - - - - - - - - 15.78 -
10930.47 914.25 12.62 1252 10937.34 done 1.25 - - 2449.00 - 3.32 0.069 2183.81 -388.3 77.86 - - 2168.50 - - - - - - - - - 15.82 -
11236.66 885.53 9.23 1283 11237.99 VBD 1.25 - - 2449.00 - - - 2183.69 - 77.86 - - 2166.62 - - - - - - - - - - -
11536.70 858.01 10.23 1313 11542.34 done 1.25 - - 2448.56 - 3.64 0.133 3470.75 353.6 77.86 - - 2165.66 - - - - - - - - - 15.90 -
11641.74 847.57 10.54 1334 11646.30 done 1.25 - - 2448.88 - 3.27 0.067 2184.38 -393.4 77.86 - - 2165.25 - - - - - - - - - 15.93 -
11951.81 819.97 8.46 1366 11953.15 VBD 1.25 - - 2448.75 - - - 2184.25 - 77.86 - - 2163.53 - - - - - - - - - - -
12251.89 795.96 7.22 1396 12253.22 VBD 1.28 - - 2448.81 - - - 2184.19 - 77.86 - - 2164.06 - - - - - - - - - - -
12551.93 771.08 8.92 1426 12553.27 VBD 1.28 - - 2448.81 - - - 2183.69 - 77.86 - - 2163.75 - - - - - - - - - - -
12852.00 745.68 8.34 1456 12853.33 VBD 1.28 - - 2448.38 - - - 2184.25 - 77.86 - - 2161.78 - - - - - - - - - - -
13152.05 721.49 8.18 1486 13157.68 done 1.28 - - 2449.88 - 3.63 0.132 3472.12 354.8 77.86 - - 2162.00 - - - - - - - - - 15.99 -
13237.16 714.18 8.80 1503 13241.64 done 1.28 - - 2449.12 - 3.24 0.065 2181.81 -398.2 77.86 - - 2163.78 - - - - - - - - - 15.99 -
13547.17 690.80 6.96 1535 13548.51 VBD 1.31 - - 2449.00 - - - 2182.12 - 77.86 - - 2161.31 - - - - - - - - - - -
13847.20 667.14 8.52 1565 13848.53 VBD 1.31 - - 2449.31 - - - 2181.88 - 77.86 - - 2162.97 - - - - - - - - - - -
14147.24 643.79 8.11 1595 14148.57 VBD 1.31 - - 2448.88 - - - 2182.50 - 77.86 - - 2161.06 - - - - - - - - - - -
14447.28 621.42 7.07 1625 14448.62 VBD 1.34 - - 2447.94 - - - 2181.75 - 77.86 - - 2162.59 - - - - - - - - - - -
14747.32 599.15 7.09 1655 14752.93 done 1.37 - - 2448.44 - 3.61 0.130 3473.00 357.7 77.86 - - 2162.00 - - - - - - - - - 16.02 -
14832.40 592.44 7.82 1672 14836.88 done 1.37 - - 2449.12 - 3.27 0.064 2181.94 -394.8 77.86 - - 2163.84 - - - - - - - - - 16.03 -
15142.41 571.96 6.43 1704 15143.89 1.42 0.22 0.105 2494.31 205.4 - - 2182.25 - 77.86 - - 2161.06 - - - - - - - - 16.01 - -
15442.40 548.43 7.81 1734 15443.73 VBD 1.42 - - 2493.81 - - - 2181.69 - 77.86 - - 2161.38 - - - - - - - - - - -
15742.43 526.73 7.63 1764 15743.76 VBD 1.42 - - 2493.94 - - - 2182.19 - 77.86 - - 2161.59 - - - - - - - - - - -
16042.48 506.25 6.72 1794 16048.06 done 1.46 - - 2490.81 - 3.60 0.128 3472.31 358.4 77.86 - - 2161.22 - - - - - - - - - 16.03 -
16111.34 500.69 8.63 1808 16118.45 done 1.46 - - 2493.75 - 3.26 0.061 2180.62 -396.2 77.86 - - 2162.22 - - - - - - - - - 16.04 -
16417.53 479.35 7.07 1839 16418.86 VBD 1.49 - - 2494.44 - - - 2180.62 - 77.86 - - 2160.78 - - - - - - - - - - -
16717.56 458.39 7.07 1869 16723.16 done 1.52 - - 2493.88 - 3.60 0.125 3472.06 358.7 77.86 - - 2162.06 - - - - - - - - - 16.03 -
16832.58 449.66 7.23 1892 16837.12 done 1.54 - - 2494.88 - 3.28 0.061 2180.75 -393.7 77.86 - - 2161.00 - - - - - - - - - 16.04 -
17142.62 431.45 6.13 1924 17144.09 1.60 0.19 0.098 2535.88 215.8 - - 2180.94 - 77.86 - - 2163.34 - - - - - - - - 16.01 - -
17442.69 410.55 7.09 1954 17444.02 VBD 1.63 - - 2536.25 - - - 2180.69 - 77.86 - - 2161.38 - - - - - - - - - - -
17742.69 391.00 6.56 1984 17744.02 VBD 1.67 - - 2536.19 - - - 2180.56 - 77.86 - - 2161.47 - - - - - - - - - - -
18042.74 374.24 5.00 2014 18079.81 1.80 0.25 0.091 2585.75 198.2 - - 2180.06 - 121.44 35.62 1.570 2004.34 -4.4 0.178 - - - - - - 16.01 - 12.77
18372.81 340.01 11.18 2047 18378.49 roll 1.80 - - 2585.75 - 4.09 0.140 736.31 -353.0 121.44 - - 1997.50 - - - - - - - - - 15.87 -
18501.76 322.04 13.85 2073 18508.64 roll 1.80 - - 2585.38 - 3.71 0.058 2219.81 399.9 121.44 - - 1997.12 - - - - - - - - - 15.93 -
18807.92 285.69 11.27 2104 18813.51 done 1.80 - - 2585.25 - 3.51 0.122 3472.19 356.8 121.44 - - 1994.69 - - - - - - - - - 15.94 -
18972.99 264.22 12.77 2137 18977.52 done 1.80 - - 2584.62 - 3.25 0.058 2180.81 -397.3 121.44 - - 1997.28 - - - - - - - - - 15.96 -
19283.04 232.21 10.60 2169 19288.67 done 1.80 - - 2583.69 - 3.58 0.118 3472.25 360.7 121.44 - - 1995.81 - - - - - - - - - 15.97 -
19441.95 213.79 11.70 2201 19448.81 done 1.80 - - 2586.69 - 3.26 0.058 2181.25 -396.0 121.44 - - 1996.72 - - - - - - - - - 15.97 -
19748.17 184.21 9.18 2232 19753.94 done 1.80 - - 2586.12 - 4.05 0.135 735.25 -357.0 121.44 - - 1993.66 - - - - - - - - - 15.97 -
19977.22 160.93 9.45 2278 19984.02 done 1.80 - - 2585.75 - 3.64 0.056 2221.88 408.4 121.44 - - 1994.72 - - - - - - - - - 15.98 -
20283.29 135.05 8.32 2309 20287.87 done 1.80 - - 2585.50 - 3.45 0.118 3472.00 362.4 121.44 - - 1994.38 - - - - - - - - - 15.98 -
20513.38 117.72 6.65 2355 20517.89 done 1.84 - - 2586.31 - 3.24 0.055 2179.06 -399.1 121.44 - - 1996.59 - - - - - - - - - 16.00 -
20823.40 106.81 2.23 2387 20896.90 2.09 0.40 0.079 2656.44 175.3 4.14 0.133 736.31 -348.5 204.54 66.83 1.263 1664.94 -5.0 0.071 - - - - - - 15.96 15.69 12.72
21119.81 74.59 13.09 2446 21125.52 roll 2.09 - - 2656.81 - 3.69 0.056 2221.75 402.6 204.54 - - 1660.06 - - - - - - - - - 15.81 -
21304.83 55.94 7.44 2483 21310.54 done 2.11 - - 2656.75 - 3.48 0.117 3473.50 359.7 204.54 - - 1657.12 - - - - - - - - - 15.82 -
21534.92 42.60 4.95 2529 21576.39 2.24 0.17 0.097 2691.06 201.8 3.23 0.054 2177.50 -401.2 248.71 36.53 1.135 1486.31 -4.7 0.030 - - - - - - 15.82 15.87 12.73
21755.01 29.27 7.20 2573 21756.34 no move 2.27 - - 2690.56 - - - 2177.94 - 248.71 - - 1480.34 - - - - - - - - - - -
21935.19 12.79 10.18 2609 21936.51 no move 2.27 - - 2691.56 - - - 2177.88 - 248.71 - - 1479.34 - - - - - - - - - - -
22045 end climb: SURFACE_DEPTH_REACHED
22045 begin surface coast
22060 end surface coast: CONTROL_FINISHED_OK
22060 begin surface
SM 0.82 - - - - 174.0 - 0.013 768.4 - 16.31 0.071 771.1 47.3 - 0.22 0.114 765.8 3480.9 -2.559 - - 30.36 15.80 15.86 -