NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 347 * Raw log
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• Previous call tries 4 • 106.52 of 575.00 AH used of 24V (81.48% remains)
• Surface angle -63.3 deg, depth 0.49 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.78 (SM_CC=425)
• GPS1 time: 29 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
6.90 - - - 90.06 VBD -1.25 - - 173.38 - - - 2080.12 - -77.86 82.61 0.005 2565.16 - - - - - - - - - - 15.60
90.34 3.58 -5.69 16 121.56 -1.25 13.88 0.263 1837.06 119.9 4.22 0.159 663.88 -335.6 -77.86 6.05 0.009 2817.09 41.6 -2.800 - - - - - - 15.64 15.56 15.59
214.35 33.44 -20.43 41 220.12 roll -1.25 - - 1837.56 - 3.66 0.058 2118.44 397.4 -77.86 - - 2816.91 - - - - - - - - - 15.72 -
399.39 67.44 -13.45 78 400.72 no move -1.25 - - 1836.50 - - - 2117.94 - -77.86 - - 2816.75 - - - - - - - - - - -
579.41 91.11 -12.27 114 580.74 no move -1.25 - - 1836.44 - - - 2117.88 - -77.86 - - 2816.97 - - - - - - - - - - -
764.51 112.23 -10.89 140 770.14 roll -1.25 - - 1836.88 - 3.65 0.117 3473.88 371.5 -77.86 - - 2815.91 - - - - - - - - - 15.87 -
843.39 122.08 -12.27 156 850.22 roll -1.25 - - 1836.62 - 3.54 0.058 2082.75 -393.0 -77.86 - - 2818.62 - - - - - - - - - 15.91 -
1149.49 154.55 -10.41 187 1150.82 no move -1.25 - - 1836.62 - - - 2083.25 - -77.86 - - 2816.97 - - - - - - - - - - -
1449.53 187.36 -11.11 217 1450.86 no move -1.25 - - 1837.62 - - - 2082.44 - -77.86 - - 2817.19 - - - - - - - - - - -
1749.56 221.47 -11.27 247 1750.89 no move -1.25 - - 1836.50 - - - 2082.94 - -77.86 - - 2817.31 - - - - - - - - - - -
2049.60 253.49 -10.34 277 2050.92 no move -1.25 - - 1836.62 - - - 2082.31 - -77.86 - - 2816.97 - - - - - - - - - - -
2349.63 284.16 -10.07 307 2350.96 no move -1.25 - - 1836.38 - - - 2083.00 - -77.86 - - 2817.41 - - - - - - - - - - -
2649.67 313.94 -9.95 337 2651.00 no move -1.25 - - 1837.12 - - - 2082.31 - -77.86 - - 2815.34 - - - - - - - - - - -
2949.73 343.56 -9.54 367 2951.06 no move -1.25 - - 1837.06 - - - 2082.25 - -77.86 - - 2817.22 - - - - - - - - - - -
3249.79 374.27 -10.17 397 3251.12 no move -1.25 - - 1836.62 - - - 2082.44 - -77.86 - - 2816.69 - - - - - - - - - - -
3549.85 404.65 -10.30 427 3551.18 no move -1.25 - - 1836.94 - - - 2081.75 - -77.86 - - 2815.81 - - - - - - - - - - -
3849.92 434.72 -10.38 457 3855.70 roll -1.25 - - 1837.44 - 4.16 0.162 663.50 -340.9 -77.86 - - 2814.09 - - - - - - - - - 15.94 -
3905.01 441.40 -13.43 468 3910.64 roll -1.25 - - 1837.38 - 3.62 0.061 2117.69 401.7 -77.86 - - 2814.38 - - - - - - - - - 15.99 -
4210.00 472.50 -9.85 499 4215.80 roll -1.25 - - 1836.75 - 4.21 0.160 663.69 -345.4 -77.86 - - 2814.81 - - - - - - - - - 15.93 -
4275.10 480.06 -12.51 512 4280.73 roll -1.25 - - 1837.06 - 3.61 0.058 2117.81 402.8 -77.86 - - 2813.06 - - - - - - - - - 15.99 -
4580.09 509.54 -9.82 543 4581.42 no move -1.25 - - 1836.75 - - - 2116.62 - -77.86 - - 2815.12 - - - - - - - - - - -
4880.14 537.79 -9.36 573 4881.47 no move -1.25 - - 1836.81 - - - 2117.00 - -77.86 - - 2814.09 - - - - - - - - - - -
5180.18 566.29 -10.44 603 5181.51 no move -1.25 - - 1836.88 - - - 2117.75 - -77.86 - - 2814.72 - - - - - - - - - - -
5480.21 594.92 -9.40 633 5486.01 roll -1.25 - - 1836.38 - 4.22 0.165 663.44 -344.6 -77.86 - - 2813.41 - - - - - - - - - 15.95 -
5559.15 603.96 -12.03 649 5566.01 roll -1.25 - - 1836.94 - 3.63 0.062 2115.06 399.9 -77.86 - - 2815.19 - - - - - - - - - 16.00 -
5865.27 631.95 -8.86 680 5871.07 roll -1.25 - - 1837.12 - 4.26 0.166 663.62 -340.7 -77.86 - - 2811.91 - - - - - - - - - 15.94 -
5914.27 637.11 -10.29 690 5921.04 roll -1.25 - - 1837.25 - 3.59 0.063 2117.94 405.1 -77.86 - - 2813.22 - - - - - - - - - 15.99 -
6220.31 662.72 -9.09 721 6221.64 no move -1.25 - - 1836.44 - - - 2117.44 - -77.86 - - 2813.19 - - - - - - - - - - -
6520.35 687.46 -9.15 751 6521.67 no move -1.25 - - 1836.75 - - - 2117.69 - -77.86 - - 2811.94 - - - - - - - - - - -
6820.38 712.13 -8.28 781 6821.71 no move -1.25 - - 1836.88 - - - 2116.81 - -77.86 - - 2812.72 - - - - - - - - - - -
7120.41 737.94 -8.18 811 7121.74 no move -1.25 - - 1836.50 - - - 2117.19 - -77.86 - - 2811.75 - - - - - - - - - - -
7420.45 763.44 -8.57 841 7421.78 no move -1.25 - - 1836.69 - - - 2117.12 - -77.86 - - 2811.47 - - - - - - - - - - -
7720.49 788.56 -7.88 871 7726.32 roll -1.25 - - 1836.94 - 4.34 0.173 664.56 -334.7 -77.86 - - 2810.16 - - - - - - - - - 15.94 -
7795.49 796.01 -10.67 886 7801.20 roll -1.25 - - 1836.75 - 3.63 0.067 2115.25 399.6 -77.86 - - 2810.25 - - - - - - - - - 16.00 -
8100.54 822.25 -8.94 917 8106.33 roll -1.25 - - 1835.81 - 4.30 0.171 664.69 -337.3 -77.86 - - 2812.97 - - - - - - - - - 15.93 -
8145.56 826.19 -9.79 926 8151.26 roll -1.25 - - 1836.75 - 3.62 0.067 2115.44 400.8 -77.86 - - 2809.38 - - - - - - - - - 16.00 -
8450.58 853.04 -8.23 957 8451.91 no move -1.25 - - 1836.69 - - - 2115.25 - -77.86 - - 2810.78 - - - - - - - - - - -
8750.61 877.95 -8.73 987 8751.94 no move -1.25 - - 1836.88 - - - 2115.50 - -77.86 - - 2808.81 - - - - - - - - - - -
9050.64 900.92 -6.99 1017 9051.97 no move -1.25 - - 1836.38 - - - 2115.38 - -77.86 - - 2810.34 - - - - - - - - - - -
9350.69 924.25 -8.00 1047 9352.02 no move -1.25 - - 1836.56 - - - 2115.25 - -77.86 - - 2809.88 - - - - - - - - - - -
9650.76 945.76 -8.29 1077 9656.58 roll -1.25 - - 1836.62 - 4.31 0.177 664.56 -336.6 -77.86 - - 2808.12 - - - - - - - - - 15.92 -
9715.78 951.29 -8.33 1090 9721.52 roll -1.25 - - 1836.44 - 3.67 0.073 2113.88 394.9 -77.86 - - 2810.97 - - - - - - - - - 15.99 -
10020.87 974.46 -5.79 1121 10022.20 no move -1.25 - - 1836.25 - - - 2113.69 - -77.86 - - 2809.38 - - - - - - - - - - -
10220 end dive: TARGET_DEPTH_EXCEEDED
10220 begin apogee
10222.13 990.07 -9.60 1141 10292.68 -0.25 1.75 0.154 2080.31 139.5 0.07 0.312 2186.75 1043.7 - 65.23 2.302 2498.34 -4.8 0.347 - - - - - - 15.98 15.58 12.61
10294 end apogee: CONTROL_FINISHED_OK
10294 begin climb
10294.43 991.38 - 1148 10373.04 1.25 2.51 0.092 2447.12 146.1 - - 2186.06 - 77.86 72.04 2.232 2182.41 -4.4 0.329 - - - - - - 15.61 - 12.83
10671.01 959.88 9.02 1186 10676.59 done 1.25 - - 2446.62 - 3.73 0.136 3472.81 345.0 77.86 - - 2168.94 - - - - - - - - - 15.61 -
10779.91 947.36 12.07 1208 10786.72 done 1.25 - - 2446.69 - 3.34 0.066 2183.56 -386.0 77.86 - - 2169.31 - - - - - - - - - 15.67 -
11086.06 919.51 8.58 1239 11087.39 VBD 1.25 - - 2446.88 - - - 2183.75 - 77.86 - - 2166.59 - - - - - - - - - - -
11386.11 891.96 8.93 1269 11387.45 VBD 1.25 - - 2446.12 - - - 2183.12 - 77.86 - - 2166.59 - - - - - - - - - - -
11686.16 865.99 8.66 1299 11691.78 done 1.25 - - 2445.88 - 3.68 0.134 3472.06 350.3 77.86 - - 2166.72 - - - - - - - - - 15.83 -
11855.13 849.65 9.47 1333 11861.94 done 1.25 - - 2446.94 - 3.32 0.066 2182.38 -388.5 77.86 - - 2165.41 - - - - - - - - - 15.85 -
12161.25 824.22 8.50 1364 12162.58 VBD 1.25 - - 2446.75 - - - 2182.12 - 77.86 - - 2164.25 - - - - - - - - - - -
12461.28 799.21 8.47 1394 12462.61 VBD 1.25 - - 2446.75 - - - 2182.69 - 77.86 - - 2164.12 - - - - - - - - - - -
12761.32 774.67 7.89 1424 12762.65 VBD 1.25 - - 2446.94 - - - 2182.06 - 77.86 - - 2163.75 - - - - - - - - - - -
13061.36 751.73 7.49 1454 13067.16 done 1.27 - - 2446.12 - 4.22 0.149 737.00 -342.4 77.86 - - 2163.84 - - - - - - - - - 15.88 -
13146.36 744.21 9.40 1471 13152.00 done 1.27 - - 2447.25 - 3.67 0.060 2218.12 403.6 77.86 - - 2160.28 - - - - - - - - - 15.93 -
13451.42 720.90 7.31 1502 13457.14 done 1.29 - - 2447.38 - 3.53 0.131 3471.88 355.2 77.86 - - 2159.75 - - - - - - - - - 15.92 -
13520.48 714.49 9.57 1516 13527.12 done 1.29 - - 2447.75 - 3.28 0.062 2181.31 -393.5 77.86 - - 2161.59 - - - - - - - - - 15.95 -
13826.46 691.60 7.50 1547 13827.79 VBD 1.31 - - 2446.19 - - - 2181.56 - 77.86 - - 2162.03 - - - - - - - - - - -
14126.48 669.60 7.68 1577 14132.26 done 1.31 - - 2447.12 - 4.18 0.146 736.38 -345.7 77.86 - - 2162.72 - - - - - - - - - 15.90 -
14195.33 663.80 8.65 1591 14202.27 done 1.31 - - 2447.44 - 3.68 0.060 2218.69 402.8 77.86 - - 2161.03 - - - - - - - - - 15.94 -
14501.56 642.01 7.05 1622 14507.14 done 1.34 - - 2447.81 - 3.53 0.130 3472.81 355.3 77.86 - - 2159.62 - - - - - - - - - 15.92 -
14610.52 632.86 8.09 1644 14617.26 done 1.34 - - 2447.62 - 3.28 0.062 2180.88 -393.9 77.86 - - 2160.97 - - - - - - - - - 15.95 -
14916.60 610.73 7.53 1675 14917.94 VBD 1.35 - - 2447.31 - - - 2180.44 - 77.86 - - 2160.94 - - - - - - - - - - -
15216.62 587.22 8.14 1705 15222.41 done 1.35 - - 2447.75 - 4.14 0.144 737.06 -348.6 77.86 - - 2158.88 - - - - - - - - - 15.92 -
15351.66 575.26 8.84 1732 15357.29 done 1.35 - - 2446.50 - 3.67 0.059 2219.31 403.9 77.86 - - 2160.09 - - - - - - - - - 15.96 -
15656.74 552.88 7.32 1763 15658.21 1.38 0.16 0.106 2483.81 233.2 - - 2219.25 - 77.86 - - 2158.19 - - - - - - - - 16.00 - -
15956.78 530.33 7.66 1793 15958.11 VBD 1.38 - - 2483.25 - - - 2219.00 - 77.86 - - 2160.25 - - - - - - - - - - -
16256.85 508.21 6.71 1823 16258.19 VBD 1.42 - - 2483.50 - - - 2219.56 - 77.86 - - 2159.25 - - - - - - - - - - -
16557.13 488.23 5.86 1853 16583.44 VBD 1.51 - - 2483.62 - - - 2218.56 - 109.13 25.53 1.665 2055.62 -4.1 0.201 - - - - - - - - 12.71
16876.97 460.09 9.34 1885 16882.76 roll 1.51 - - 2484.12 - 4.28 0.139 737.38 -346.1 109.13 - - 2046.78 - - - - - - - - - 15.84 -
16962.00 451.12 11.28 1902 16967.80 roll 1.51 - - 2483.31 - 3.71 0.059 2218.31 399.2 109.13 - - 2046.28 - - - - - - - - - 15.87 -
17267.07 421.65 9.52 1933 17272.67 done 1.51 - - 2483.12 - 3.53 0.126 3471.50 355.0 109.13 - - 2046.94 - - - - - - - - - 15.89 -
17366.01 411.35 9.95 1953 17372.82 roll 1.51 - - 2483.94 - 3.27 0.059 2179.94 -395.0 109.13 - - 2047.84 - - - - - - - - - 15.94 -
17672.15 384.28 8.59 1984 17673.49 VBD 1.51 - - 2484.50 - - - 2179.94 - 109.13 - - 2045.50 - - - - - - - - - - -
17972.21 360.36 7.41 2014 17973.68 1.53 0.16 0.105 2518.94 215.3 - - 2180.00 - 109.13 - - 2045.94 - - - - - - - - 15.96 - -
18272.22 336.07 7.67 2044 18273.55 VBD 1.53 - - 2518.19 - - - 2179.50 - 109.13 - - 2047.12 - - - - - - - - - - -
18572.28 312.33 7.52 2074 18573.61 VBD 1.54 - - 2517.88 - - - 2179.38 - 109.13 - - 2046.84 - - - - - - - - - - -
18872.29 288.39 7.99 2104 18873.62 VBD 1.54 - - 2518.88 - - - 2179.50 - 109.13 - - 2046.50 - - - - - - - - - - -
19172.33 265.70 7.84 2134 19173.66 VBD 1.54 - - 2519.44 - - - 2179.38 - 109.13 - - 2046.78 - - - - - - - - - - -
19472.36 242.49 7.98 2164 19473.69 VBD 1.54 - - 2518.44 - - - 2179.88 - 109.13 - - 2046.75 - - - - - - - - - - -
19772.44 219.98 7.45 2194 19773.77 VBD 1.56 - - 2518.75 - - - 2179.88 - 109.13 - - 2046.78 - - - - - - - - - - -
20072.43 197.44 7.61 2224 20073.76 VBD 1.56 - - 2518.62 - - - 2180.06 - 109.13 - - 2045.72 - - - - - - - - - - -
20372.48 176.76 6.99 2254 20378.09 done 1.59 - - 2518.56 - 3.61 0.122 3472.12 357.9 109.13 - - 2045.25 - - - - - - - - - 15.91 -
20601.39 160.55 6.16 2300 20608.22 done 1.65 - - 2518.75 - 3.30 0.057 2179.56 -391.7 109.13 - - 2047.72 - - - - - - - - - 15.95 -
20907.57 142.74 6.14 2331 20909.05 1.71 0.22 0.093 2561.88 196.0 - - 2179.62 - 109.13 - - 2045.81 - - - - - - - - 15.98 - -
21207.60 127.88 4.37 2361 21259.35 1.87 0.18 0.096 2602.12 223.6 3.62 0.118 3473.38 357.4 161.59 43.65 1.282 1841.12 -4.7 0.079 - - - - - - 15.99 15.74 12.66
21411.53 107.05 10.59 2402 21418.34 roll 1.87 - - 2603.19 - 3.33 0.055 2179.94 -388.4 161.59 - - 1834.81 - - - - - - - - - 15.79 -
21717.72 83.86 5.96 2455 21749.12 done 1.95 - - 2602.19 - 4.24 0.133 736.06 -340.5 191.37 25.22 1.179 1718.47 -4.6 0.055 - - - - - - - 15.70 12.67
21927.86 65.60 7.53 2497 21933.56 roll 1.97 - - 2602.81 - 3.70 0.054 2223.12 401.9 191.37 - - 1714.84 - - - - - - - - - 15.77 -
22112.88 58.13 3.60 2534 22170.78 2.16 0.40 0.070 2674.94 180.3 3.47 0.117 3472.69 360.1 254.84 52.37 1.178 1460.53 -4.9 0.041 - - - - - - 15.82 15.61 12.70
22393.58 35.71 11.10 2590 22399.30 roll 2.16 - - 2675.19 - 3.34 0.054 2178.69 -387.4 254.84 - - 1455.38 - - - - - - - - - 15.65 -
22578.63 16.33 9.64 2627 22584.37 roll 2.16 - - 2675.56 - 3.58 0.111 3472.25 361.3 254.84 - - 1453.38 - - - - - - - - - 15.75 -
22743 end climb: SURFACE_DEPTH_REACHED
22743 begin surface coast
22758 end surface coast: CONTROL_FINISHED_OK
22758 begin surface
SM 0.45 - - - - 181.5 0.82 0.142 768.3 937.0 16.95 0.112 768.8 45.4 - 3.54 0.056 767.9 215.9 -0.177 - - 15.43 15.71 15.79 -