NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 335 * Raw log
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• Previous call tries 2 • 102.80 of 575.00 AH used of 24V (82.12% remains)
• Surface angle -64.8 deg, depth 0.68 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.04 (SM_CC=425)
• GPS1 time: 30 s
• GPS2 time: 3 s • Transponder ping count: 1
• 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 - - - 85.50 VBD -1.25 - - 173.00 - - - 2126.00 - -77.86 78.07 0.005 2477.38 - - - - - - - - - - 15.58
85.77 3.39 -3.81 15 111.78 -1.25 13.90 0.258 1834.31 119.5 - - 2126.38 - -77.86 8.55 0.008 2817.75 39.8 -2.805 - - - - - - 15.62 - 15.60
289.55 44.38 -19.81 56 295.34 roll -1.25 - - 1836.00 - 3.72 0.118 3472.38 361.8 -77.86 - - 2817.28 - - - - - - - - - 15.78 -
359.57 60.10 -23.44 70 365.36 roll -1.25 - - 1836.06 - 3.62 0.064 2084.31 -383.4 -77.86 - - 2816.97 - - - - - - - - - 15.81 -
544.63 87.96 -11.88 107 545.96 no move -1.25 - - 1836.38 - - - 2084.75 - -77.86 - - 2816.84 - - - - - - - - - - -
724.67 108.78 -11.17 135 726.00 no move -1.25 - - 1835.81 - - - 2084.94 - -77.86 - - 2817.78 - - - - - - - - - - -
1024.75 143.44 -11.51 165 1030.47 roll -1.25 - - 1835.56 - 3.79 0.116 3474.69 366.7 -77.86 - - 2818.16 - - - - - - - - - 15.92 -
1143.64 157.65 -11.34 189 1150.56 roll -1.25 - - 1835.75 - 3.53 0.061 2082.75 -394.3 -77.86 - - 2818.19 - - - - - - - - - 15.93 -
1449.86 190.44 -10.26 220 1455.58 roll -1.25 - - 1835.81 - 3.77 0.116 3473.94 369.0 -77.86 - - 2818.19 - - - - - - - - - 15.96 -
1504.89 196.69 -11.48 231 1509.55 roll -1.25 - - 1834.19 - 3.52 0.061 2083.75 -394.9 -77.86 - - 2819.06 - - - - - - - - - 15.97 -
1814.95 227.23 -8.96 263 1816.28 no move -1.25 - - 1836.06 - - - 2083.44 - -77.86 - - 2818.16 - - - - - - - - - - -
2115.01 257.26 -9.87 293 2116.33 no move -1.25 - - 1835.75 - - - 2083.50 - -77.86 - - 2818.41 - - - - - - - - - - -
2415.06 288.70 -10.44 323 2416.39 no move -1.25 - - 1835.75 - - - 2083.12 - -77.86 - - 2817.81 - - - - - - - - - - -
2715.12 318.77 -9.97 353 2720.84 roll -1.25 - - 1835.56 - 3.79 0.120 3473.88 367.0 -77.86 - - 2816.06 - - - - - - - - - 16.02 -
2774.07 325.31 -11.24 365 2780.90 roll -1.25 - - 1834.50 - 3.51 0.063 2082.94 -396.3 -77.86 - - 2819.00 - - - - - - - - - 16.02 -
3080.18 356.88 -10.50 396 3081.51 no move -1.25 - - 1835.75 - - - 2083.38 - -77.86 - - 2818.47 - - - - - - - - - - -
3380.23 388.21 -10.33 426 3381.55 no move -1.25 - - 1835.31 - - - 2083.00 - -77.86 - - 2818.16 - - - - - - - - - - -
3680.28 418.65 -10.01 456 3686.04 roll -1.25 - - 1835.31 - 4.09 0.164 663.62 -347.0 -77.86 - - 2818.81 - - - - - - - - - 15.94 -
3729.14 424.29 -11.72 466 3736.05 roll -1.25 - - 1835.75 - 3.56 0.059 2117.81 408.5 -77.86 - - 2817.31 - - - - - - - - - 15.98 -
4035.33 455.18 -10.54 497 4036.65 no move -1.25 - - 1835.75 - - - 2118.06 - -77.86 - - 2817.50 - - - - - - - - - - -
4335.37 485.60 -9.91 527 4341.18 roll -1.25 - - 1835.38 - 4.24 0.163 664.50 -342.8 -77.86 - - 2815.47 - - - - - - - - - 15.94 -
4404.23 493.99 -12.78 541 4411.16 roll -1.25 - - 1835.81 - 3.58 0.061 2118.06 406.0 -77.86 - - 2816.62 - - - - - - - - - 16.00 -
4710.44 524.96 -9.91 572 4711.77 no move -1.25 - - 1835.75 - - - 2118.31 - -77.86 - - 2815.03 - - - - - - - - - - -
5010.47 554.50 -9.66 602 5016.28 roll -1.25 - - 1835.94 - 4.26 0.166 663.69 -341.5 -77.86 - - 2818.03 - - - - - - - - - 15.95 -
5065.55 560.61 -11.69 613 5071.17 roll -1.25 - - 1836.25 - 3.54 0.061 2117.94 410.8 -77.86 - - 2814.44 - - - - - - - - - 15.99 -
5370.53 590.70 -9.64 644 5371.86 no move -1.25 - - 1835.88 - - - 2117.44 - -77.86 - - 2816.22 - - - - - - - - - - -
5670.64 618.65 -9.28 674 5676.37 roll -1.25 - - 1834.06 - 4.22 0.168 664.62 -344.3 -77.86 - - 2815.47 - - - - - - - - - 15.95 -
5739.50 626.58 -12.03 688 5746.36 roll -1.25 - - 1835.31 - 3.56 0.064 2117.94 408.2 -77.86 - - 2816.47 - - - - - - - - - 16.00 -
6045.64 654.63 -8.98 719 6046.97 no move -1.25 - - 1835.75 - - - 2117.75 - -77.86 - - 2816.12 - - - - - - - - - - -
6345.70 681.98 -8.64 749 6347.02 no move -1.25 - - 1835.38 - - - 2117.88 - -77.86 - - 2815.75 - - - - - - - - - - -
6645.76 710.23 -9.67 779 6651.58 roll -1.25 - - 1833.88 - 4.25 0.172 664.50 -342.0 -77.86 - - 2815.12 - - - - - - - - - 15.94 -
6700.84 716.54 -13.24 790 6706.46 roll -1.25 - - 1835.69 - 3.57 0.066 2116.12 406.6 -77.86 - - 2813.66 - - - - - - - - - 16.00 -
7005.84 744.40 -9.29 821 7007.17 no move -1.25 - - 1835.81 - - - 2116.44 - -77.86 - - 2814.47 - - - - - - - - - - -
7305.91 770.69 -8.45 851 7307.23 no move -1.25 - - 1835.62 - - - 2116.19 - -77.86 - - 2814.94 - - - - - - - - - - -
7605.96 796.01 -9.16 881 7611.66 roll -1.25 - - 1835.81 - 3.69 0.134 3472.25 367.5 -77.86 - - 2816.47 - - - - - - - - - 16.02 -
7671.00 801.84 -8.76 894 7675.66 roll -1.25 - - 1835.25 - 3.51 0.074 2087.12 -394.6 -77.86 - - 2814.53 - - - - - - - - - 16.05 -
7981.06 827.12 -7.50 926 7986.78 roll -1.25 - - 1834.88 - 3.76 0.131 3473.19 368.6 -77.86 - - 2814.28 - - - - - - - - - 16.03 -
8066.31 835.21 -10.18 943 8071.76 roll -1.25 - - 1835.56 - 3.50 0.073 2086.00 -396.3 -77.86 - - 2812.84 - - - - - - - - - 16.06 -
8371.15 859.76 -7.07 974 8372.48 no move -1.25 - - 1836.12 - - - 2085.62 - -77.86 - - 2815.03 - - - - - - - - - - -
8671.20 884.55 -7.88 1004 8672.52 no move -1.25 - - 1835.19 - - - 2085.69 - -77.86 - - 2813.53 - - - - - - - - - - -
8971.24 909.00 -8.40 1034 8972.57 no move -1.25 - - 1836.00 - - - 2085.88 - -77.86 - - 2814.44 - - - - - - - - - - -
9271.29 933.10 -9.11 1064 9277.07 roll -1.25 - - 1835.06 - 4.16 0.184 664.62 -341.6 -77.86 - - 2813.56 - - - - - - - - - 15.92 -
9330.30 939.02 -10.13 1076 9337.08 roll -1.25 - - 1835.88 - 3.62 0.072 2113.56 400.3 -77.86 - - 2813.53 - - - - - - - - - 16.00 -
9636.34 963.20 -8.69 1107 9637.67 no move -1.25 - - 1835.44 - - - 2113.56 - -77.86 - - 2814.50 - - - - - - - - - - -
9936.39 985.67 -5.44 1137 9937.72 no move -1.25 - - 1835.69 - - - 2113.69 - -77.86 - - 2814.53 - - - - - - - - - - -
9996 end dive: TARGET_DEPTH_EXCEEDED
9996 begin apogee
9997.62 990.19 -6.80 1143 10068.17 -0.25 1.75 0.146 2080.69 140.0 0.07 0.315 2187.06 1048.1 - 65.20 2.330 2499.78 -4.8 0.341 - - - - - - 15.98 15.57 12.72
10069 end apogee: CONTROL_FINISHED_OK
10069 begin climb
10069.89 991.92 - 1150 10147.97 1.25 2.48 0.088 2447.56 147.9 - - 2187.50 - 77.86 71.36 2.255 2182.06 -4.5 0.326 - - - - - - 15.61 - 12.76
10446.43 958.24 11.00 1188 10447.76 VBD 1.25 - - 2448.62 - - - 2187.06 - 77.86 - - 2169.34 - - - - - - - - - - -
10746.46 928.77 8.86 1218 10747.79 VBD 1.25 - - 2448.25 - - - 2187.19 - 77.86 - - 2167.19 - - - - - - - - - - -
11046.48 900.00 9.42 1248 11052.11 done 1.25 - - 2448.56 - 3.62 0.134 3473.50 355.3 77.86 - - 2167.34 - - - - - - - - - 15.83 -
11131.57 891.27 10.41 1265 11136.08 done 1.25 - - 2447.94 - 3.31 0.066 2183.38 -389.8 77.86 - - 2167.78 - - - - - - - - - 15.84 -
11441.54 861.74 8.77 1297 11447.33 done 1.25 - - 2447.94 - 4.14 0.150 736.44 -349.5 77.86 - - 2163.47 - - - - - - - - - 15.82 -
11526.56 852.42 11.72 1314 11532.18 done 1.25 - - 2448.00 - 3.65 0.062 2217.31 405.7 77.86 - - 2162.41 - - - - - - - - - 15.85 -
11831.59 823.94 8.17 1345 11832.92 VBD 1.25 - - 2448.56 - - - 2217.06 - 77.86 - - 2164.03 - - - - - - - - - - -
12131.62 796.96 8.83 1375 12137.24 done 1.25 - - 2447.81 - 3.49 0.132 3473.06 359.9 77.86 - - 2161.25 - - - - - - - - - 15.94 -
12196.66 791.17 8.95 1388 12201.33 done 1.25 - - 2448.19 - 3.27 0.064 2181.88 -394.9 77.86 - - 2163.06 - - - - - - - - - 15.95 -
12506.75 765.71 7.14 1420 12512.33 done 1.28 - - 2447.94 - 3.60 0.131 3472.81 358.6 77.86 - - 2162.66 - - - - - - - - - 15.92 -
12645.62 751.80 10.89 1448 12652.48 done 1.28 - - 2448.06 - 3.26 0.065 2182.38 -395.8 77.86 - - 2162.41 - - - - - - - - - 15.98 -
12951.85 726.30 8.65 1479 12953.18 VBD 1.28 - - 2448.19 - - - 2182.00 - 77.86 - - 2161.25 - - - - - - - - - - -
13251.92 701.23 9.42 1509 13253.25 VBD 1.28 - - 2448.19 - - - 2182.19 - 77.86 - - 2160.25 - - - - - - - - - - -
13551.99 676.84 8.18 1539 13553.32 VBD 1.28 - - 2447.94 - - - 2181.69 - 77.86 - - 2161.84 - - - - - - - - - - -
13852.07 653.82 7.28 1569 13857.66 done 1.30 - - 2447.69 - 3.60 0.131 3472.50 358.6 77.86 - - 2161.91 - - - - - - - - - 15.95 -
13981.01 643.70 8.22 1595 13987.84 done 1.30 - - 2447.75 - 3.25 0.064 2181.31 -397.3 77.86 - - 2162.47 - - - - - - - - - 15.99 -
14287.16 623.55 6.40 1626 14288.49 VBD 1.35 - - 2447.81 - - - 2181.50 - 77.86 - - 2161.66 - - - - - - - - - - -
14587.19 605.36 5.59 1656 14622.48 1.46 0.28 0.096 2504.62 202.9 3.61 0.131 3471.44 357.3 112.90 29.35 1.823 2038.91 -4.2 0.231 - - - - - - 15.99 15.81 12.66
14687.20 596.30 9.92 1676 14691.75 roll 1.46 - - 2505.69 - 3.28 0.063 2182.00 -393.1 112.90 - - 2036.31 - - - - - - - - - 15.84 -
14997.23 564.26 11.05 1708 14998.56 no move 1.46 - - 2505.12 - - - 2182.31 - 112.90 - - 2033.41 - - - - - - - - - - -
15297.26 531.60 11.08 1738 15298.59 no move 1.46 - - 2504.75 - - - 2182.31 - 112.90 - - 2030.66 - - - - - - - - - - -
15597.71 498.23 11.47 1768 15603.04 done 1.46 - - 2505.25 - 3.60 0.127 3473.44 358.6 112.90 - - 2031.78 - - - - - - - - - 15.89 -
15692.52 485.91 12.64 1787 15697.87 done 1.46 - - 2504.94 - 3.30 0.062 2182.56 -391.2 112.90 - - 2029.94 - - - - - - - - - 15.96 -
15997.37 452.10 10.53 1818 15998.71 VBD 1.46 - - 2504.94 - - - 2181.88 - 112.90 - - 2030.09 - - - - - - - - - - -
16297.38 419.89 10.18 1848 16302.98 done 1.46 - - 2505.06 - 3.59 0.125 3473.06 359.7 112.90 - - 2031.25 - - - - - - - - - 15.91 -
16376.25 410.83 10.57 1864 16383.10 done 1.46 - - 2505.38 - 3.28 0.059 2181.81 -393.7 112.90 - - 2031.34 - - - - - - - - - 15.96 -
16682.53 380.20 10.17 1895 16683.86 VBD 1.46 - - 2505.56 - - - 2182.38 - 112.90 - - 2031.19 - - - - - - - - - - -
16982.46 352.96 9.21 1925 16983.79 VBD 1.46 - - 2505.38 - - - 2182.19 - 112.90 - - 2031.03 - - - - - - - - - - -
17282.49 327.39 9.32 1955 17288.26 done 1.46 - - 2505.88 - 4.02 0.139 737.25 -359.4 112.90 - - 2028.75 - - - - - - - - - 15.92 -
17367.51 319.80 9.37 1972 17373.13 done 1.46 - - 2505.38 - 3.62 0.057 2222.62 410.3 112.90 - - 2027.59 - - - - - - - - - 15.95 -
17672.55 296.75 7.69 2003 17673.88 VBD 1.46 - - 2505.38 - - - 2223.25 - 112.90 - - 2029.75 - - - - - - - - - - -
17972.57 274.23 7.58 2033 17973.90 VBD 1.46 - - 2505.38 - - - 2223.12 - 112.90 - - 2028.47 - - - - - - - - - - -
18272.62 252.59 7.36 2063 18277.21 done 1.48 - - 2505.19 - 3.43 0.122 3474.69 364.9 112.90 - - 2028.97 - - - - - - - - - 16.01 -
18352.64 246.55 7.76 2079 18357.31 done 1.48 - - 2505.44 - 3.23 0.057 2179.81 -400.9 112.90 - - 2029.91 - - - - - - - - - 15.99 -
18662.72 225.10 6.97 2111 18664.05 VBD 1.51 - - 2502.88 - - - 2179.50 - 112.90 - - 2029.59 - - - - - - - - - - -
18962.78 203.33 7.27 2141 18964.12 VBD 1.53 - - 2505.19 - - - 2179.69 - 112.90 - - 2029.28 - - - - - - - - - - -
19262.83 180.56 8.16 2171 19268.67 done 1.53 - - 2505.75 - 4.08 0.136 737.12 -353.6 112.90 - - 2027.84 - - - - - - - - - 15.93 -
19341.78 173.26 9.14 2187 19348.63 done 1.53 - - 2505.38 - 3.63 0.056 2223.50 409.5 112.90 - - 2029.78 - - - - - - - - - 15.94 -
19647.96 151.20 6.61 2218 19649.29 VBD 1.58 - - 2505.12 - - - 2223.25 - 112.90 - - 2028.38 - - - - - - - - - - -
19948.01 135.22 4.44 2248 19999.26 1.73 0.34 0.077 2570.12 191.2 4.24 0.131 736.31 -350.7 164.42 42.63 1.296 1827.94 -4.7 0.082 - - - - - - 16.00 15.77 12.71
20128.05 117.29 13.97 2284 20133.82 roll 1.73 - - 2570.06 - 3.67 0.056 2221.06 404.6 164.42 - - 1822.16 - - - - - - - - - 15.79 -
20433.15 89.02 8.69 2327 20434.48 VBD 1.73 - - 2570.38 - - - 2220.88 - 164.42 - - 1821.03 - - - - - - - - - - -
20613.20 77.37 4.20 2363 20664.95 1.90 0.19 0.094 2609.62 206.5 3.51 0.121 3471.50 356.3 219.42 44.88 1.216 1603.75 -4.8 0.051 - - - - - - 15.90 15.69 12.68
20888.26 57.86 5.51 2418 20924.57 done 2.01 - - 2609.06 - 3.29 0.055 2178.75 -392.9 255.74 30.75 1.151 1457.69 -4.7 0.040 - - - - - - - 15.80 12.37
21103.30 42.37 7.99 2461 21109.06 roll 2.01 - - 2610.00 - 3.57 0.114 3472.19 362.3 255.74 - - 1452.22 - - - - - - - - - 15.67 -
21333.35 20.85 9.65 2507 21339.05 roll 2.01 - - 2609.56 - 3.27 0.054 2180.69 -395.0 255.74 - - 1450.28 - - - - - - - - - 15.78 -
21518.39 5.24 9.11 2544 21524.14 roll 2.01 - - 2609.44 - 3.52 0.115 3473.12 367.2 255.74 - - 1449.81 - - - - - - - - - 15.76 -
21553 end climb: SURFACE_DEPTH_REACHED
21553 begin surface coast
21573 end surface coast: CONTROL_FINISHED_OK
21573 begin surface
SM 0.66 - - - - 176.5 140.07 1.114 767.3 5.5 15.70 0.067 766.2 48.8 - 3.57 0.059 768.3 214.2 -0.245 - - 12.79 15.77 15.85 -