NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 351 * Raw log
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• Previous call tries 1 • 107.76 of 575.00 AH used of 24V (81.26% remains)
• Surface angle -60.9 deg, depth 0.75 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.68 (SM_CC=425)
• GPS1 time: 18 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.93 - - - 85.00 VBD -1.25 - - 172.81 - - - 2117.75 - -77.86 77.51 0.005 2455.16 - - - - - - - - - - 15.54
85.26 3.23 -4.15 15 117.08 -1.25 13.99 0.260 1836.12 118.9 3.88 0.121 3473.25 349.4 -77.86 9.38 0.007 2815.91 38.5 -3.000 - - - - - - 15.60 15.52 15.57
164.90 20.16 -22.05 31 170.62 roll -1.25 - - 1835.81 - 3.63 0.062 2085.00 -382.4 -77.86 - - 2816.38 - - - - - - - - - 15.71 -
349.93 58.09 -20.74 68 355.74 roll -1.25 - - 1835.62 - 3.86 0.114 3472.75 359.5 -77.86 - - 2816.62 - - - - - - - - - 15.78 -
489.98 82.99 -15.64 96 495.75 roll -1.25 - - 1835.81 - 3.60 0.059 2082.06 -386.3 -77.86 - - 2818.19 - - - - - - - - - 15.82 -
675.05 105.15 -12.61 129 676.38 no move -1.25 - - 1835.94 - - - 2081.50 - -77.86 - - 2817.34 - - - - - - - - - - -
975.11 137.79 -10.04 159 980.90 roll -1.25 - - 1835.75 - 4.19 0.156 663.69 -338.4 -77.86 - - 2815.81 - - - - - - - - - 15.81 -
1060.14 148.57 -13.22 176 1065.85 roll -1.25 - - 1835.00 - 3.61 0.055 2119.19 403.2 -77.86 - - 2818.22 - - - - - - - - - 15.86 -
1365.18 182.41 -10.47 207 1366.51 no move -1.25 - - 1836.31 - - - 2119.25 - -77.86 - - 2817.38 - - - - - - - - - - -
1665.21 215.01 -11.29 237 1666.54 no move -1.25 - - 1835.50 - - - 2119.44 - -77.86 - - 2818.16 - - - - - - - - - - -
1965.25 246.45 -9.69 267 1966.58 no move -1.25 - - 1835.94 - - - 2119.19 - -77.86 - - 2817.88 - - - - - - - - - - -
2265.28 277.18 -10.11 297 2266.61 no move -1.25 - - 1835.56 - - - 2119.06 - -77.86 - - 2818.31 - - - - - - - - - - -
2565.31 307.23 -9.95 327 2566.64 no move -1.25 - - 1835.62 - - - 2119.19 - -77.86 - - 2818.22 - - - - - - - - - - -
2865.35 336.75 -9.81 357 2871.15 roll -1.25 - - 1835.06 - 4.29 0.157 662.62 -339.5 -77.86 - - 2818.50 - - - - - - - - - 15.92 -
2920.43 343.25 -12.25 368 2925.98 roll -1.25 - - 1835.69 - 3.62 0.059 2117.19 401.8 -77.86 - - 2820.34 - - - - - - - - - 15.97 -
3225.39 375.73 -10.94 399 3226.72 no move -1.25 - - 1836.31 - - - 2116.56 - -77.86 - - 2818.03 - - - - - - - - - - -
3525.42 406.97 -10.06 429 3526.75 no move -1.25 - - 1836.06 - - - 2116.88 - -77.86 - - 2818.19 - - - - - - - - - - -
3825.46 437.70 -9.77 459 3831.26 roll -1.25 - - 1835.12 - 4.28 0.160 664.62 -339.3 -77.86 - - 2816.00 - - - - - - - - - 15.93 -
3874.38 443.09 -11.27 469 3881.25 roll -1.25 - - 1835.44 - 3.61 0.061 2116.94 402.3 -77.86 - - 2818.50 - - - - - - - - - 15.98 -
4180.51 472.84 -9.07 500 4181.84 no move -1.25 - - 1835.50 - - - 2117.31 - -77.86 - - 2816.97 - - - - - - - - - - -
4480.54 501.08 -9.39 530 4481.86 no move -1.25 - - 1835.25 - - - 2117.31 - -77.86 - - 2815.53 - - - - - - - - - - -
4780.58 529.89 -9.85 560 4781.91 no move -1.25 - - 1836.12 - - - 2117.88 - -77.86 - - 2816.56 - - - - - - - - - - -
5080.61 558.40 -9.32 590 5086.41 roll -1.25 - - 1835.75 - 4.30 0.165 663.38 -338.3 -77.86 - - 2814.31 - - - - - - - - - 15.94 -
5145.69 565.65 -12.21 603 5151.31 roll -1.25 - - 1835.44 - 3.58 0.061 2118.12 406.4 -77.86 - - 2816.12 - - - - - - - - - 16.00 -
5450.67 593.33 -8.80 634 5456.39 roll -1.25 - - 1836.06 - 3.73 0.127 3473.44 363.4 -77.86 - - 2814.50 - - - - - - - - - 16.03 -
5495.70 597.92 -8.67 643 5500.35 roll -1.25 - - 1834.94 - 3.49 0.065 2085.88 -397.6 -77.86 - - 2816.91 - - - - - - - - - 16.04 -
5805.75 627.54 -9.58 675 5807.08 no move -1.25 - - 1835.56 - - - 2086.25 - -77.86 - - 2815.69 - - - - - - - - - - -
6105.81 655.54 -9.65 705 6107.14 no move -1.25 - - 1835.06 - - - 2086.25 - -77.86 - - 2815.09 - - - - - - - - - - -
6405.87 681.27 -8.41 735 6407.20 no move -1.25 - - 1835.75 - - - 2085.88 - -77.86 - - 2814.69 - - - - - - - - - - -
6705.93 707.94 -9.11 765 6707.26 no move -1.25 - - 1835.69 - - - 2086.75 - -77.86 - - 2812.47 - - - - - - - - - - -
7005.99 733.44 -8.66 795 7007.32 no move -1.25 - - 1835.94 - - - 2086.12 - -77.86 - - 2813.97 - - - - - - - - - - -
7306.05 758.63 -8.43 825 7307.38 no move -1.25 - - 1835.69 - - - 2085.88 - -77.86 - - 2812.72 - - - - - - - - - - -
7606.14 784.29 -8.57 855 7607.47 no move -1.25 - - 1835.75 - - - 2086.69 - -77.86 - - 2811.00 - - - - - - - - - - -
7906.16 810.37 -9.29 885 7911.91 roll -1.25 - - 1835.62 - 3.90 0.132 3473.31 355.5 -77.86 - - 2812.28 - - - - - - - - - 16.04 -
7961.19 815.53 -10.50 896 7966.86 roll -1.25 - - 1836.25 - 3.59 0.071 2084.94 -386.7 -77.86 - - 2811.00 - - - - - - - - - 16.05 -
8266.21 841.01 -8.54 927 8267.54 no move -1.25 - - 1835.69 - - - 2085.25 - -77.86 - - 2812.47 - - - - - - - - - - -
8566.24 866.36 -8.57 957 8572.05 roll -1.25 - - 1835.44 - 4.26 0.179 664.62 -333.5 -77.86 - - 2814.44 - - - - - - - - - 15.92 -
8615.39 871.02 -9.75 967 8622.03 roll -1.25 - - 1835.31 - 3.62 0.068 2117.19 401.3 -77.86 - - 2814.69 - - - - - - - - - 15.99 -
8921.29 895.50 -8.53 998 8922.62 no move -1.25 - - 1835.81 - - - 2117.12 - -77.86 - - 2812.34 - - - - - - - - - - -
9221.33 918.79 -8.15 1028 9222.65 no move -1.25 - - 1835.25 - - - 2116.69 - -77.86 - - 2811.81 - - - - - - - - - - -
9521.36 941.50 -8.82 1058 9522.69 no move -1.25 - - 1835.38 - - - 2117.00 - -77.86 - - 2811.78 - - - - - - - - - - -
9821.40 964.37 -9.43 1088 9827.21 roll -1.25 - - 1835.62 - 4.34 0.179 663.62 -334.9 -77.86 - - 2810.47 - - - - - - - - - 15.91 -
9866.50 968.21 -9.53 1097 9872.24 roll -1.25 - - 1835.38 - 3.63 0.072 2114.88 399.8 -77.86 - - 2813.31 - - - - - - - - - 15.99 -
10171 end dive: TARGET_DEPTH_EXCEEDED
10171 begin apogee
10172.69 990.22 -7.76 1128 10243.23 -0.25 1.77 0.155 2079.94 138.2 0.08 0.300 2186.06 889.7 - 65.08 2.308 2501.66 -4.8 0.347 - - - - - - 15.96 15.57 12.63
10244 end apogee: CONTROL_FINISHED_OK
10244 begin climb
10245.00 991.93 - 1135 10323.59 1.25 2.54 0.094 2446.75 144.4 - - 2186.19 - 77.86 72.68 2.235 2181.81 -4.4 0.330 - - - - - - 15.62 - 12.77
10621.55 958.54 11.16 1173 10622.88 VBD 1.25 - - 2448.38 - - - 2186.38 - 77.86 - - 2170.62 - - - - - - - - - - -
10921.51 931.24 10.20 1203 10922.84 VBD 1.25 - - 2448.44 - - - 2186.06 - 77.86 - - 2168.34 - - - - - - - - - - -
11221.54 905.77 8.07 1233 11222.88 VBD 1.25 - - 2448.06 - - - 2186.38 - 77.86 - - 2167.44 - - - - - - - - - - -
11521.58 879.42 8.28 1263 11522.91 VBD 1.25 - - 2447.88 - - - 2185.94 - 77.86 - - 2165.66 - - - - - - - - - - -
11821.61 854.55 7.63 1293 11822.94 VBD 1.25 - - 2447.88 - - - 2186.12 - 77.86 - - 2166.16 - - - - - - - - - - -
12121.65 830.51 8.65 1323 12127.45 done 1.25 - - 2448.50 - 4.22 0.152 737.81 -343.2 77.86 - - 2164.44 - - - - - - - - - 15.85 -
12236.70 819.51 9.96 1346 12242.33 done 1.25 - - 2447.62 - 3.67 0.063 2216.25 402.8 77.86 - - 2163.31 - - - - - - - - - 15.89 -
12541.77 795.32 7.64 1377 12543.10 VBD 1.25 - - 2448.38 - - - 2216.06 - 77.86 - - 2163.03 - - - - - - - - - - -
12841.82 772.46 7.69 1407 12847.43 done 1.25 - - 2448.06 - 3.55 0.133 3472.50 353.9 77.86 - - 2160.50 - - - - - - - - - 15.96 -
12950.70 762.75 9.33 1429 12957.58 done 1.25 - - 2447.38 - 3.29 0.066 2182.25 -392.2 77.86 - - 2165.19 - - - - - - - - - 15.94 -
13256.95 737.86 7.46 1460 13258.28 VBD 1.27 - - 2448.31 - - - 2182.38 - 77.86 - - 2162.44 - - - - - - - - - - -
13557.00 713.25 8.62 1490 13558.33 VBD 1.27 - - 2448.00 - - - 2181.94 - 77.86 - - 2162.38 - - - - - - - - - - -
13857.05 688.24 8.17 1520 13858.38 VBD 1.27 - - 2448.19 - - - 2181.88 - 77.86 - - 2161.03 - - - - - - - - - - -
14157.11 664.31 7.62 1550 14158.44 VBD 1.27 - - 2448.19 - - - 2182.25 - 77.86 - - 2161.91 - - - - - - - - - - -
14457.16 641.97 7.77 1580 14462.95 done 1.27 - - 2448.00 - 4.17 0.148 738.12 -346.3 77.86 - - 2159.69 - - - - - - - - - 15.92 -
14562.19 633.13 7.64 1601 14567.91 done 1.27 - - 2448.25 - 3.64 0.061 2219.38 406.9 77.86 - - 2159.31 - - - - - - - - - 15.96 -
14867.25 611.48 7.14 1632 14868.58 VBD 1.30 - - 2448.06 - - - 2219.31 - 77.86 - - 2160.69 - - - - - - - - - - -
15167.27 592.26 6.64 1662 15172.86 done 1.34 - - 2449.00 - 3.52 0.130 3472.94 356.1 77.86 - - 2159.88 - - - - - - - - - 16.01 -
15292.29 582.99 7.67 1687 15296.85 done 1.34 - - 2448.31 - 3.27 0.063 2180.00 -395.4 77.86 - - 2161.75 - - - - - - - - - 16.02 -
15602.34 563.19 6.59 1719 15603.81 1.38 0.17 0.114 2485.38 218.1 - - 2179.81 - 77.86 - - 2161.34 - - - - - - - - 15.93 - -
15902.37 541.82 7.46 1749 15903.70 VBD 1.40 - - 2485.69 - - - 2180.06 - 77.86 - - 2160.69 - - - - - - - - - - -
16202.40 519.56 7.11 1779 16203.73 VBD 1.43 - - 2483.69 - - - 2179.75 - 77.86 - - 2160.06 - - - - - - - - - - -
16502.43 495.62 8.23 1809 16508.04 done 1.43 - - 2485.50 - 3.60 0.127 3473.69 359.4 77.86 - - 2162.22 - - - - - - - - - 15.96 -
16607.45 486.63 8.66 1830 16612.00 done 1.43 - - 2483.75 - 3.28 0.061 2180.00 -394.4 77.86 - - 2161.88 - - - - - - - - - 16.03 -
16917.50 463.83 6.52 1862 16918.83 VBD 1.47 - - 2485.31 - - - 2180.44 - 77.86 - - 2159.28 - - - - - - - - - - -
17217.53 445.94 6.24 1892 17223.20 1.53 0.15 0.113 2519.50 227.9 3.61 0.123 3473.12 358.1 77.86 - - 2161.25 - - - - - - - - 15.99 15.97 -
17326.40 439.03 7.12 1914 17333.25 done 1.56 - - 2520.12 - 3.27 0.059 2179.94 -395.5 77.86 - - 2161.06 - - - - - - - - - 16.02 -
17632.59 421.20 6.29 1945 17633.92 VBD 1.61 - - 2520.38 - - - 2179.75 - 77.86 - - 2160.91 - - - - - - - - - - -
17932.62 404.07 5.78 1975 17965.05 1.71 0.20 0.099 2562.06 208.4 3.64 0.123 3470.88 354.7 110.30 26.49 1.584 2049.53 -4.2 0.181 - - - - - - 16.01 15.84 12.59
18097.86 388.14 11.59 2008 18102.40 roll 1.71 - - 2561.00 - 3.27 0.059 2182.31 -394.1 110.30 - - 2046.81 - - - - - - - - - 15.91 -
18407.92 355.59 10.05 2040 18409.25 no move 1.71 - - 2561.56 - - - 2182.75 - 110.30 - - 2042.50 - - - - - - - - - - -
18707.98 324.89 10.65 2070 18709.31 no move 1.71 - - 2561.19 - - - 2182.62 - 110.30 - - 2044.09 - - - - - - - - - - -
19008.04 293.55 9.91 2100 19009.37 no move 1.71 - - 2561.50 - - - 2183.00 - 110.30 - - 2043.72 - - - - - - - - - - -
19308.10 265.62 9.51 2130 19309.42 no move 1.71 - - 2561.38 - - - 2182.75 - 110.30 - - 2043.50 - - - - - - - - - - -
19608.15 238.83 8.67 2160 19613.76 roll 1.71 - - 2562.06 - 3.57 0.121 3472.56 361.3 110.30 - - 2042.22 - - - - - - - - - 15.92 -
19837.15 216.93 9.25 2206 19843.93 roll 1.71 - - 2561.88 - 3.29 0.058 2178.31 -393.4 110.30 - - 2044.28 - - - - - - - - - 15.98 -
20143.28 192.70 7.51 2237 20144.60 no move 1.72 - - 2561.81 - - - 2178.25 - 110.30 - - 2041.34 - - - - - - - - - - -
20443.30 169.90 7.99 2267 20449.13 roll 1.72 - - 2562.38 - 4.09 0.135 736.25 -352.6 110.30 - - 2041.19 - - - - - - - - - 15.91 -
20672.25 150.31 8.67 2313 20679.12 done 1.72 - - 2561.69 - 3.64 0.056 2223.62 408.6 110.30 - - 2043.78 - - - - - - - - - 15.93 -
20978.40 130.11 5.98 2344 21009.66 done 1.81 - - 2561.94 - 3.49 0.121 3471.62 357.6 139.91 25.75 1.260 1927.66 -4.5 0.079 - - - - - - - 15.83 12.65
21232.28 109.44 8.61 2395 21239.13 roll 1.81 - - 2562.31 - 3.25 0.055 2177.50 -398.2 139.91 - - 1923.84 - - - - - - - - - 15.92 -
21538.50 91.46 6.20 2440 21544.29 roll back 1.87 0.19 0.109 2602.31 210.5 3.60 0.116 3473.88 360.1 139.91 - - 1922.44 - - - - - - - - 15.89 15.85 -
21768.62 78.52 3.47 2486 21830.06 2.06 0.24 0.094 2647.62 188.8 3.26 0.053 2176.56 -398.0 205.22 53.74 1.225 1662.47 -4.8 0.052 - - - - - - 15.80 15.93 12.67
22008.58 61.83 8.28 2534 22009.90 no move 2.06 - - 2647.75 - - - 2176.50 - 205.22 - - 1656.41 - - - - - - - - - - -
22188.62 57.32 1.68 2570 22270.59 2.34 0.37 0.077 2713.31 177.2 4.20 0.133 737.31 -342.7 296.13 72.68 1.185 1291.78 -5.0 0.041 - - - - - - 15.80 15.49 12.70
22428.67 30.48 18.42 2618 22434.57 roll 2.34 - - 2713.38 - 3.73 0.054 2222.31 398.1 296.13 - - 1287.22 - - - - - - - - - 15.62 -
22603 end climb: SURFACE_DEPTH_REACHED
22603 begin surface coast
22613 end surface coast: CONTROL_FINISHED_OK
22613 begin surface
SM 0.86 - - - - 174.1 0.34 0.156 768.7 2260.9 16.70 0.067 768.6 46.0 - 0.34 0.087 768.9 2250.5 -2.274 - - 15.44 15.66 15.76 -