NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 356 * Raw log
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• Previous call tries 2 • 109.31 of 575.00 AH used of 24V (80.99% remains)
• Surface angle -60.3 deg, depth 0.85 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.81 (SM_CC=425)
• GPS1 time: 24 s
• GPS2 time: 2 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 - - - 90.04 VBD -1.25 - - 174.06 - - - 2118.69 - -77.86 82.54 0.005 2590.69 - - - - - - - - - - 15.55
90.31 3.60 -3.76 16 121.58 -1.25 14.03 0.262 1835.81 118.4 4.35 0.155 663.69 -334.5 -77.86 5.52 0.009 2816.56 40.9 -2.769 - - - - - - 15.60 15.53 15.58
154.38 19.36 -23.84 29 160.09 roll -1.25 - - 1835.88 - 3.65 0.057 2115.44 397.7 -77.86 - - 2817.28 - - - - - - - - - 15.67 -
339.38 56.42 -20.14 66 345.17 roll -1.25 - - 1835.06 - 3.72 0.116 3471.56 364.5 -77.86 - - 2817.22 - - - - - - - - - 15.73 -
354.39 59.83 -21.29 69 360.13 roll -1.25 - - 1835.81 - 3.51 0.062 2084.06 -395.3 -77.86 - - 2818.75 - - - - - - - - - 15.79 -
539.42 87.97 -12.54 106 545.28 roll -1.25 - - 1836.12 - 4.18 0.154 662.75 -340.0 -77.86 - - 2817.22 - - - - - - - - - 15.74 -
564.44 91.30 -12.99 111 570.20 roll -1.25 - - 1834.88 - 3.59 0.053 2120.31 406.0 -77.86 - - 2818.00 - - - - - - - - - 15.78 -
749.45 115.36 -12.15 136 755.14 roll -1.25 - - 1835.94 - 3.69 0.116 3472.75 366.5 -77.86 - - 2817.59 - - - - - - - - - 15.82 -
848.38 128.86 -13.86 156 855.22 roll -1.25 - - 1835.75 - 3.44 0.059 2081.69 -404.4 -77.86 - - 2817.66 - - - - - - - - - 15.88 -
1154.51 162.18 -10.24 187 1160.31 roll -1.25 - - 1835.38 - 4.11 0.154 664.62 -344.8 -77.86 - - 2817.16 - - - - - - - - - 15.83 -
1199.55 167.58 -13.09 196 1205.13 roll -1.25 - - 1835.75 - 3.54 0.056 2117.50 410.4 -77.86 - - 2819.62 - - - - - - - - - 15.88 -
1504.55 199.76 -10.00 227 1510.27 roll -1.25 - - 1835.88 - 3.71 0.118 3473.56 365.5 -77.86 - - 2815.50 - - - - - - - - - 15.90 -
1539.57 203.47 -10.60 234 1544.22 roll -1.25 - - 1836.44 - 3.43 0.060 2081.38 -405.9 -77.86 - - 2817.38 - - - - - - - - - 15.95 -
1849.60 234.08 -9.43 266 1850.93 no move -1.25 - - 1835.75 - - - 2081.69 - -77.86 - - 2815.59 - - - - - - - - - - -
2149.64 266.15 -10.62 296 2150.97 no move -1.25 - - 1835.88 - - - 2081.81 - -77.86 - - 2817.91 - - - - - - - - - - -
2449.70 299.47 -11.48 326 2451.03 no move -1.25 - - 1836.19 - - - 2081.44 - -77.86 - - 2817.53 - - - - - - - - - - -
2749.76 330.66 -10.14 356 2751.09 no move -1.25 - - 1836.00 - - - 2081.31 - -77.86 - - 2817.50 - - - - - - - - - - -
3049.83 359.44 -9.57 386 3055.61 roll -1.25 - - 1835.69 - 4.12 0.161 663.38 -344.2 -77.86 - - 2817.31 - - - - - - - - - 15.91 -
3134.86 368.95 -10.70 403 3140.48 roll -1.25 - - 1835.69 - 3.55 0.057 2119.31 410.1 -77.86 - - 2816.72 - - - - - - - - - 15.97 -
3439.94 397.20 -8.75 434 3441.26 no move -1.25 - - 1835.88 - - - 2119.19 - -77.86 - - 2817.47 - - - - - - - - - - -
3739.98 426.20 -9.33 464 3741.31 no move -1.25 - - 1836.00 - - - 2119.38 - -77.86 - - 2817.34 - - - - - - - - - - -
4040.05 456.08 -9.61 494 4041.37 no move -1.25 - - 1835.50 - - - 2119.69 - -77.86 - - 2816.94 - - - - - - - - - - -
4340.10 486.19 -9.56 524 4341.43 no move -1.25 - - 1835.94 - - - 2119.88 - -77.86 - - 2815.22 - - - - - - - - - - -
4640.14 514.13 -8.06 554 4645.95 roll -1.25 - - 1835.69 - 4.26 0.163 664.06 -341.7 -77.86 - - 2813.91 - - - - - - - - - 15.94 -
4699.15 520.61 -10.76 566 4705.92 roll -1.25 - - 1836.19 - 3.57 0.062 2118.56 407.4 -77.86 - - 2817.91 - - - - - - - - - 15.99 -
5005.18 546.82 -8.57 597 5006.51 no move -1.25 - - 1835.44 - - - 2119.06 - -77.86 - - 2813.62 - - - - - - - - - - -
5305.22 572.92 -8.43 627 5306.55 no move -1.25 - - 1835.81 - - - 2118.94 - -77.86 - - 2815.06 - - - - - - - - - - -
5605.25 599.73 -9.17 657 5606.58 no move -1.25 - - 1836.00 - - - 2118.94 - -77.86 - - 2813.81 - - - - - - - - - - -
5905.29 627.83 -9.34 687 5911.03 roll -1.25 - - 1836.31 - 4.28 0.167 663.75 -340.0 -77.86 - - 2812.97 - - - - - - - - - 15.94 -
5970.57 635.00 -11.34 700 5976.01 roll -1.25 - - 1835.25 - 3.57 0.063 2118.38 407.5 -77.86 - - 2813.75 - - - - - - - - - 15.99 -
6275.34 664.28 -9.94 731 6276.67 no move -1.25 - - 1834.62 - - - 2118.44 - -77.86 - - 2813.56 - - - - - - - - - - -
6575.37 691.96 -9.62 761 6576.70 no move -1.25 - - 1835.75 - - - 2119.12 - -77.86 - - 2814.22 - - - - - - - - - - -
6875.41 719.52 -9.96 791 6876.73 no move -1.25 - - 1835.56 - - - 2118.88 - -77.86 - - 2813.72 - - - - - - - - - - -
7175.44 746.98 -9.43 821 7176.76 no move -1.25 - - 1835.81 - - - 2119.19 - -77.86 - - 2813.47 - - - - - - - - - - -
7475.48 772.61 -8.55 851 7476.81 no move -1.25 - - 1835.69 - - - 2118.81 - -77.86 - - 2811.94 - - - - - - - - - - -
7775.51 798.02 -8.68 881 7776.83 no move -1.25 - - 1835.88 - - - 2118.62 - -77.86 - - 2812.72 - - - - - - - - - - -
8075.54 822.12 -7.47 911 8076.87 no move -1.25 - - 1835.75 - - - 2118.88 - -77.86 - - 2812.44 - - - - - - - - - - -
8375.57 845.26 -7.20 941 8376.90 no move -1.25 - - 1835.44 - - - 2118.75 - -77.86 - - 2810.22 - - - - - - - - - - -
8675.61 866.97 -7.18 971 8676.94 no move -1.25 - - 1835.81 - - - 2119.06 - -77.86 - - 2810.72 - - - - - - - - - - -
8975.68 889.28 -7.06 1001 8977.00 no move -1.25 - - 1835.62 - - - 2118.56 - -77.86 - - 2811.59 - - - - - - - - - - -
9275.73 912.46 -7.25 1031 9281.56 roll -1.25 - - 1835.25 - 4.33 0.177 664.62 -335.8 -77.86 - - 2811.62 - - - - - - - - - 15.92 -
9330.83 917.02 -9.06 1042 9336.49 roll -1.25 - - 1835.69 - 3.63 0.073 2115.56 399.7 -77.86 - - 2810.16 - - - - - - - - - 15.99 -
9635.83 940.93 -8.07 1073 9637.15 no move -1.25 - - 1835.81 - - - 2115.69 - -77.86 - - 2810.88 - - - - - - - - - - -
9935.88 965.88 -8.08 1103 9941.70 roll -1.25 - - 1835.19 - 4.30 0.177 664.75 -337.4 -77.86 - - 2811.59 - - - - - - - - - 15.91 -
9980.98 969.99 -10.04 1112 9986.60 roll -1.25 - - 1835.81 - 3.62 0.072 2114.75 400.6 -77.86 - - 2808.81 - - - - - - - - - 15.98 -
10225 end dive: TARGET_DEPTH_EXCEEDED
10225 begin apogee
10227.19 990.28 -7.53 1137 10297.36 -0.25 1.76 0.147 2081.00 139.3 0.06 0.336 2188.06 1221.8 - 64.99 2.308 2500.16 -4.7 0.345 - - - - - - 15.97 15.57 12.68
10298 end apogee: CONTROL_FINISHED_OK
10298 begin climb
10299.12 992.78 - 1144 10378.10 1.25 2.54 0.088 2447.31 144.2 - - 2186.81 - 77.86 72.70 2.231 2182.09 -4.4 0.329 - - - - - - 15.62 - 12.81
10676.10 962.60 9.08 1182 10680.99 done 1.25 - - 2447.81 - 3.67 0.135 3472.06 350.2 77.86 - - 2168.75 - - - - - - - - - 15.65 -
10726.04 957.44 9.85 1192 10730.72 done 1.25 - - 2447.88 - 3.30 0.067 2184.06 -390.3 77.86 - - 2171.62 - - - - - - - - - 15.65 -
11036.10 926.00 9.18 1224 11037.43 VBD 1.25 - - 2448.12 - - - 2184.69 - 77.86 - - 2167.97 - - - - - - - - - - -
11336.14 898.26 8.31 1254 11337.47 VBD 1.25 - - 2448.06 - - - 2184.94 - 77.86 - - 2165.38 - - - - - - - - - - -
11636.17 871.37 9.43 1284 11637.50 VBD 1.25 - - 2448.00 - - - 2185.12 - 77.86 - - 2166.50 - - - - - - - - - - -
11936.22 846.25 7.51 1314 11941.97 done 1.27 - - 2448.12 - 3.63 0.133 3473.12 354.8 77.86 - - 2164.41 - - - - - - - - - 15.89 -
12045.08 835.96 10.08 1336 12051.95 done 1.27 - - 2447.75 - 3.27 0.065 2182.94 -394.6 77.86 - - 2164.91 - - - - - - - - - 15.87 -
12351.29 812.29 6.90 1367 12352.62 VBD 1.30 - - 2448.19 - - - 2183.56 - 77.86 - - 2164.50 - - - - - - - - - - -
12651.31 789.84 7.42 1397 12657.06 done 1.32 - - 2448.12 - 3.62 0.133 3471.56 355.8 77.86 - - 2164.22 - - - - - - - - - 15.90 -
12706.35 784.94 10.17 1408 12711.06 done 1.32 - - 2448.56 - 3.25 0.064 2182.94 -396.5 77.86 - - 2164.91 - - - - - - - - - 15.95 -
13016.36 761.24 7.26 1440 13017.69 VBD 1.35 - - 2448.19 - - - 2183.50 - 77.86 - - 2163.56 - - - - - - - - - - -
13316.38 737.48 8.70 1470 13317.71 VBD 1.35 - - 2448.19 - - - 2183.38 - 77.86 - - 2163.28 - - - - - - - - - - -
13616.42 712.54 8.39 1500 13617.75 VBD 1.35 - - 2448.69 - - - 2183.75 - 77.86 - - 2163.12 - - - - - - - - - - -
13916.45 685.89 9.36 1530 13922.08 done 1.35 - - 2447.75 - 3.64 0.131 3472.31 354.0 77.86 - - 2163.41 - - - - - - - - - 15.94 -
14111.50 666.76 9.96 1569 14116.19 done 1.35 - - 2448.38 - 3.25 0.065 2182.62 -396.8 77.86 - - 2162.69 - - - - - - - - - 16.00 -
14421.53 641.73 8.26 1601 14422.86 VBD 1.35 - - 2448.56 - - - 2182.62 - 77.86 - - 2162.69 - - - - - - - - - - -
14721.56 619.14 7.93 1631 14722.89 VBD 1.35 - - 2447.69 - - - 2183.50 - 77.86 - - 2162.88 - - - - - - - - - - -
15021.60 599.15 5.74 1661 15056.47 1.44 0.25 0.090 2501.44 215.0 3.69 0.132 3472.38 349.3 110.79 27.25 1.806 2049.34 -4.2 0.234 - - - - - - 15.99 15.79 12.60
15135.45 588.28 10.66 1684 15142.31 roll 1.44 - - 2501.50 - 3.28 0.063 2184.81 -392.6 110.79 - - 2046.22 - - - - - - - - - 15.85 -
15441.67 557.81 9.84 1715 15443.00 no move 1.44 - - 2501.62 - - - 2184.56 - 110.79 - - 2042.94 - - - - - - - - - - -
15741.73 528.29 9.90 1745 15747.49 roll 1.44 - - 2501.06 - 3.67 0.129 3471.12 350.6 110.79 - - 2041.78 - - - - - - - - - 15.88 -
15876.79 514.00 9.68 1772 15881.47 roll 1.44 - - 2500.50 - 3.26 0.062 2182.94 -395.1 110.79 - - 2041.84 - - - - - - - - - 15.95 -
16186.85 484.79 9.21 1804 16188.19 VBD 1.44 - - 2502.31 - - - 2183.44 - 110.79 - - 2040.69 - - - - - - - - - - -
16486.91 457.45 8.76 1834 16491.67 roll 1.44 - - 2501.88 - 3.63 0.126 3472.12 355.0 110.79 - - 2041.50 - - - - - - - - - 15.94 -
16580.86 448.04 10.14 1853 16587.66 roll 1.44 - - 2501.88 - 3.24 0.060 2182.31 -398.1 110.79 - - 2040.22 - - - - - - - - - 15.96 -
16887.01 421.32 8.84 1884 16888.34 VBD 1.44 - - 2501.25 - - - 2182.69 - 110.79 - - 2040.72 - - - - - - - - - - -
17187.07 395.15 8.24 1914 17192.67 done 1.44 - - 2500.62 - 3.59 0.124 3473.44 359.5 110.79 - - 2038.84 - - - - - - - - - 15.99 -
17416.01 372.21 10.24 1960 17422.87 done 1.44 - - 2501.31 - 3.24 0.061 2182.31 -398.5 110.79 - - 2040.03 - - - - - - - - - 15.97 -
17722.19 344.99 8.80 1991 17723.53 VBD 1.44 - - 2501.69 - - - 2183.69 - 110.79 - - 2038.66 - - - - - - - - - - -
18022.22 320.03 8.30 2021 18023.55 VBD 1.44 - - 2501.88 - - - 2183.50 - 110.79 - - 2040.03 - - - - - - - - - - -
18322.26 293.80 8.91 2051 18323.59 VBD 1.44 - - 2501.75 - - - 2183.00 - 110.79 - - 2039.16 - - - - - - - - - - -
18622.31 269.06 7.26 2081 18623.64 VBD 1.47 - - 2501.75 - - - 2183.44 - 110.79 - - 2039.69 - - - - - - - - - - -
18922.32 246.32 7.64 2111 18923.65 VBD 1.47 - - 2499.44 - - - 2183.06 - 110.79 - - 2039.41 - - - - - - - - - - -
19222.37 223.19 7.36 2141 19223.71 VBD 1.49 - - 2501.69 - - - 2183.12 - 110.79 - - 2038.41 - - - - - - - - - - -
19522.41 201.39 7.07 2171 19527.16 done 1.52 - - 2501.31 - 3.60 0.122 3472.56 358.2 110.79 - - 2038.50 - - - - - - - - - 16.00 -
19562.43 198.92 6.98 2179 19567.08 done 1.55 - - 2502.19 - 3.24 0.058 2179.12 -399.2 110.79 - - 2040.78 - - - - - - - - - 16.00 -
19872.45 179.43 6.51 2211 19878.33 1.60 0.15 0.098 2539.06 245.8 4.07 0.135 736.69 -354.4 110.79 - - 2040.25 - - - - - - - - 15.98 15.93 -
19907.53 176.43 6.99 2218 19913.08 done 1.63 - - 2539.25 - 3.63 0.054 2222.94 409.4 110.79 - - 2036.72 - - - - - - - - - 15.95 -
20212.50 155.96 5.86 2249 20244.92 done 1.72 - - 2539.69 - 4.24 0.130 735.50 -350.8 142.04 26.81 1.286 1920.06 -4.4 0.089 - - - - - - - 15.83 12.73
20317.70 146.42 10.56 2270 20323.32 roll 1.72 - - 2539.25 - 3.66 0.054 2223.06 406.4 142.04 - - 1917.09 - - - - - - - - - 15.83 -
20622.76 116.04 9.20 2301 20624.09 no move 1.72 - - 2540.06 - - - 2222.88 - 142.04 - - 1914.09 - - - - - - - - - - -
20922.85 97.74 4.85 2336 20963.75 1.86 0.31 0.073 2600.81 196.0 - - 2223.19 - 187.78 38.43 1.227 1733.66 -4.7 0.063 - - - - - - 15.93 - 12.72
21142.89 81.32 8.37 2380 21148.79 roll 1.86 - - 2602.00 - 4.26 0.128 736.75 -348.9 187.78 - - 1727.69 - - - - - - - - - 15.73 -
21222.93 73.46 10.50 2396 21228.71 roll 1.86 - - 2601.19 - 3.67 0.055 2221.44 404.5 187.78 - - 1727.19 - - - - - - - - - 15.79 -
21408.03 59.46 5.04 2433 21444.77 VBD 1.99 - - 2601.12 - - - 2221.44 - 230.75 35.71 1.164 1559.22 -4.7 0.041 - - - - - - - - 12.72
21623.11 47.24 5.20 2476 21664.62 2.11 0.31 0.075 2660.94 193.0 3.50 0.119 3472.50 357.4 271.38 34.81 1.127 1392.28 -4.8 0.034 - - - - - - 15.78 15.62 12.62
21863.13 21.42 13.36 2524 21868.87 roll 2.11 - - 2660.88 - 3.30 0.055 2181.06 -391.3 271.38 - - 1388.41 - - - - - - - - - 15.74 -
22018 end climb: SURFACE_DEPTH_REACHED
22018 begin surface coast
22033 end surface coast: CONTROL_FINISHED_OK
22033 begin surface
SM 0.72 - - - - 174.0 0.54 0.148 768.2 1422.6 15.97 0.056 767.7 48.1 - 0.23 0.110 768.7 3327.8 -2.226 - - 15.43 15.80 15.81 -