NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 107 * Raw log
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• Previous call tries 1 • 35.99 of 575.00 AH used of 24V (93.74% remains)
• Surface angle -65.9 deg, depth 0.99 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.07 (SM_CC=425)
• GPS1 time: 19 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
6.31 - - - 79.44 VBD -1.25 - - 178.06 - - - 2119.25 - -77.86 72.57 0.005 2453.53 - - - - - - - - - - 15.65
79.76 3.81 -4.80 14 111.51 -1.25 13.59 0.267 1835.19 121.9 3.47 0.128 3473.62 390.3 -77.86 8.39 0.008 2815.97 43.2 -3.450 - - - - - - 15.59 15.62 15.68
334.32 64.94 -18.01 65 340.03 roll -1.25 - - 1835.06 - 3.49 0.066 2085.06 -397.9 -77.86 - - 2817.28 - - - - - - - - - 15.79 -
519.33 90.15 -11.64 102 520.66 no move -1.25 - - 1835.25 - - - 2084.69 - -77.86 - - 2817.84 - - - - - - - - - - -
704.35 108.69 -9.63 130 705.68 no move -1.25 - - 1835.00 - - - 2085.06 - -77.86 - - 2817.94 - - - - - - - - - - -
1004.37 144.63 -13.12 160 1010.12 roll -1.25 - - 1835.44 - 3.99 0.168 662.25 -356.6 -77.86 - - 2816.31 - - - - - - - - - 15.86 -
1089.39 156.53 -14.56 177 1093.99 roll -1.25 - - 1834.50 - 3.47 0.063 2119.31 419.9 -77.86 - - 2819.25 - - - - - - - - - 15.93 -
1399.42 192.15 -10.43 209 1405.19 roll -1.25 - - 1835.06 - 4.02 0.164 664.06 -362.0 -77.86 - - 2819.31 - - - - - - - - - 15.94 -
1444.44 197.53 -12.27 218 1449.01 roll -1.25 - - 1835.56 - 3.45 0.063 2119.75 421.9 -77.86 - - 2818.78 - - - - - - - - - 15.96 -
1754.52 228.86 -10.37 250 1755.85 no move -1.25 - - 1835.81 - - - 2119.81 - -77.86 - - 2818.75 - - - - - - - - - - -
2054.47 260.51 -10.74 280 2060.25 roll -1.25 - - 1834.88 - 4.01 0.166 661.19 -363.7 -77.86 - - 2819.16 - - - - - - - - - 15.98 -
2119.55 268.57 -12.77 293 2125.21 roll -1.25 - - 1835.56 - 3.48 0.066 2119.00 418.9 -77.86 - - 2818.69 - - - - - - - - - 16.01 -
2424.50 302.83 -11.13 324 2430.24 roll -1.25 - - 1835.38 - 4.00 0.167 662.88 -364.0 -77.86 - - 2818.75 - - - - - - - - - 16.00 -
2509.52 315.24 -16.32 341 2514.11 roll -1.25 - - 1835.75 - 3.47 0.066 2119.88 419.9 -77.86 - - 2817.88 - - - - - - - - - 16.04 -
2819.55 350.80 -10.76 373 2820.88 no move -1.25 - - 1835.88 - - - 2120.69 - -77.86 - - 2818.12 - - - - - - - - - - -
3119.59 380.31 -10.30 403 3120.92 no move -1.25 - - 1835.81 - - - 2120.25 - -77.86 - - 2817.78 - - - - - - - - - - -
3419.63 409.58 -9.36 433 3425.38 roll -1.25 - - 1835.75 - 3.97 0.173 660.94 -367.6 -77.86 - - 2816.22 - - - - - - - - - 16.04 -
3464.67 414.29 -10.69 442 3469.31 roll -1.25 - - 1835.38 - 3.48 0.067 2119.31 419.1 -77.86 - - 2818.59 - - - - - - - - - 16.06 -
3774.71 443.25 -9.51 474 3776.04 no move -1.25 - - 1835.88 - - - 2119.81 - -77.86 - - 2817.25 - - - - - - - - - - -
4074.76 471.16 -9.50 504 4076.08 no move -1.25 - - 1835.81 - - - 2119.94 - -77.86 - - 2816.81 - - - - - - - - - - -
4374.81 499.75 -9.20 534 4376.14 no move -1.25 - - 1835.56 - - - 2120.06 - -77.86 - - 2816.53 - - - - - - - - - - -
4674.86 527.54 -9.31 564 4676.19 no move -1.25 - - 1835.62 - - - 2120.38 - -77.86 - - 2815.91 - - - - - - - - - - -
4974.91 554.91 -8.69 594 4976.23 no move -1.25 - - 1835.81 - - - 2120.00 - -77.86 - - 2815.31 - - - - - - - - - - -
5274.96 581.55 -9.00 624 5276.29 no move -1.25 - - 1835.19 - - - 2119.25 - -77.86 - - 2815.12 - - - - - - - - - - -
5575.00 608.07 -8.99 654 5576.33 no move -1.25 - - 1835.56 - - - 2119.88 - -77.86 - - 2814.06 - - - - - - - - - - -
5875.05 633.98 -9.87 684 5876.38 no move -1.25 - - 1835.69 - - - 2120.00 - -77.86 - - 2814.03 - - - - - - - - - - -
6175.07 661.31 -9.27 714 6176.40 no move -1.25 - - 1835.56 - - - 2119.31 - -77.86 - - 2813.31 - - - - - - - - - - -
6475.10 688.18 -9.88 744 6480.86 roll -1.25 - - 1834.94 - 4.09 0.187 664.06 -355.8 -77.86 - - 2813.16 - - - - - - - - - 16.08 -
6520.12 692.64 -10.85 753 6524.76 roll -1.25 - - 1835.69 - 3.47 0.079 2116.81 418.7 -77.86 - - 2813.12 - - - - - - - - - 16.11 -
6830.13 719.99 -8.44 785 6831.46 no move -1.25 - - 1835.69 - - - 2116.69 - -77.86 - - 2812.47 - - - - - - - - - - -
7130.16 744.29 -8.03 815 7135.92 roll -1.25 - - 1834.94 - 4.05 0.187 664.56 -358.6 -77.86 - - 2812.19 - - - - - - - - - 16.08 -
7175.20 748.75 -10.35 824 7179.82 roll -1.25 - - 1836.31 - 3.47 0.080 2116.88 418.5 -77.86 - - 2810.62 - - - - - - - - - 16.12 -
7485.19 774.59 -8.47 856 7486.52 no move -1.25 - - 1835.88 - - - 2116.75 - -77.86 - - 2811.34 - - - - - - - - - - -
7785.21 800.60 -8.35 886 7786.54 no move -1.25 - - 1835.56 - - - 2116.88 - -77.86 - - 2809.81 - - - - - - - - - - -
8085.23 829.06 -9.77 916 8090.99 roll -1.25 - - 1834.81 - 4.08 0.191 663.19 -356.3 -77.86 - - 2810.53 - - - - - - - - - 16.08 -
8150.82 835.96 -11.46 929 8155.91 roll -1.25 - - 1835.19 - 3.50 0.084 2115.12 414.8 -77.86 - - 2809.97 - - - - - - - - - 16.12 -
8455.27 862.61 -7.95 960 8456.60 no move -1.25 - - 1835.62 - - - 2114.44 - -77.86 - - 2808.16 - - - - - - - - - - -
8755.30 887.11 -7.67 990 8756.62 no move -1.25 - - 1835.81 - - - 2115.19 - -77.86 - - 2807.91 - - - - - - - - - - -
9055.31 910.28 -7.27 1020 9056.64 no move -1.25 - - 1836.00 - - - 2114.81 - -77.86 - - 2809.81 - - - - - - - - - - -
9355.35 930.31 -7.12 1050 9360.02 roll -1.25 - - 1835.25 - 3.52 0.149 3472.81 385.8 -77.86 - - 2810.41 - - - - - - - - - 16.10 -
9419.29 934.87 -7.18 1063 9426.12 roll -1.25 - - 1835.38 - 3.44 0.085 2087.75 -402.6 -77.86 - - 2809.97 - - - - - - - - - 16.12 -
9725.39 955.99 -7.50 1094 9731.16 roll -1.25 - - 1835.50 - 4.03 0.198 664.94 -353.1 -77.86 - - 2808.72 - - - - - - - - - 16.08 -
9820.41 964.35 -10.39 1113 9826.09 roll -1.25 - - 1835.81 - 3.56 0.088 2113.44 406.9 -77.86 - - 2807.59 - - - - - - - - - 16.11 -
10125.43 987.05 -7.48 1144 10126.76 no move -1.25 - - 1835.56 - - - 2113.88 - -77.86 - - 2807.19 - - - - - - - - - - -
10165 end dive: TARGET_DEPTH_EXCEEDED
10165 begin apogee
10166.67 990.25 -8.67 1148 10237.20 -0.25 1.75 0.165 2079.19 139.2 0.06 0.359 2187.50 1227.0 - 64.81 2.281 2499.81 -4.7 0.345 - - - - - - 16.07 15.61 13.14
10238 end apogee: CONTROL_FINISHED_OK
10238 begin climb
10238.45 992.76 - 1155 10320.69 1.25 2.52 0.103 2447.69 146.2 3.60 0.146 3472.62 357.0 77.86 72.11 2.235 2181.16 -4.4 0.329 - - - - - - 15.63 15.22 12.90
10328.47 987.30 4.73 1166 10380.17 1.39 0.19 0.109 2482.88 185.2 3.33 0.069 2184.25 -386.9 125.21 45.90 2.153 1990.34 -4.2 0.320 - - - - - - 15.31 15.33 12.62
10678.47 941.00 13.90 1206 10679.80 VBD 1.39 - - 2484.56 - - - 2184.75 - 125.21 - - 1977.41 - - - - - - - - - - -
10978.50 899.46 13.12 1236 10979.83 VBD 1.39 - - 2484.31 - - - 2184.38 - 125.21 - - 1973.06 - - - - - - - - - - -
11278.60 860.50 12.85 1266 11284.11 done 1.39 - - 2485.69 - 3.45 0.144 3472.81 373.5 125.21 - - 1970.53 - - - - - - - - - 15.83 -
11363.56 848.42 14.01 1283 11368.08 done 1.39 - - 2484.94 - 3.24 0.074 2184.62 -397.6 125.21 - - 1973.56 - - - - - - - - - 15.87 -
11673.59 805.12 13.33 1315 11674.93 VBD 1.39 - - 2485.38 - - - 2184.50 - 125.21 - - 1971.09 - - - - - - - - - - -
11973.64 764.75 13.10 1345 11974.98 VBD 1.39 - - 2483.19 - - - 2184.56 - 125.21 - - 1970.88 - - - - - - - - - - -
12273.70 725.36 13.27 1375 12275.03 VBD 1.39 - - 2485.06 - - - 2184.81 - 125.21 - - 1969.88 - - - - - - - - - - -
12573.75 687.27 11.75 1405 12575.08 VBD 1.39 - - 2485.06 - - - 2184.81 - 125.21 - - 1969.09 - - - - - - - - - - -
12873.79 648.31 14.65 1435 12875.12 VBD 1.39 - - 2485.25 - - - 2184.38 - 125.21 - - 1968.94 - - - - - - - - - - -
13173.84 610.52 11.52 1465 13178.54 done 1.39 - - 2485.38 - 3.38 0.141 3471.81 380.9 125.21 - - 1968.78 - - - - - - - - - 16.02 -
13237.73 601.58 14.53 1478 13244.55 done 1.39 - - 2485.44 - 3.19 0.070 2184.75 -403.5 125.21 - - 1968.41 - - - - - - - - - 16.04 -
13543.93 566.15 11.07 1509 13545.26 VBD 1.39 - - 2485.31 - - - 2184.56 - 125.21 - - 1967.78 - - - - - - - - - - -
13843.98 530.96 12.24 1539 13845.32 VBD 1.39 - - 2485.38 - - - 2185.12 - 125.21 - - 1966.31 - - - - - - - - - - -
14144.03 497.81 10.48 1569 14148.73 done 1.39 - - 2484.94 - 3.38 0.140 3472.12 380.8 125.21 - - 1967.72 - - - - - - - - - 16.05 -
14194.06 492.20 10.87 1579 14198.65 done 1.39 - - 2485.19 - 3.17 0.067 2181.12 -407.3 125.21 - - 1967.03 - - - - - - - - - 16.04 -
14504.09 458.57 10.36 1611 14505.42 VBD 1.39 - - 2485.12 - - - 2181.38 - 125.21 - - 1966.72 - - - - - - - - - - -
14804.11 428.71 9.99 1641 14805.45 VBD 1.39 - - 2485.44 - - - 2181.81 - 125.21 - - 1965.69 - - - - - - - - - - -
15104.18 397.39 10.06 1671 15105.51 VBD 1.39 - - 2485.06 - - - 2181.50 - 125.21 - - 1964.94 - - - - - - - - - - -
15404.19 365.55 11.36 1701 15405.52 VBD 1.39 - - 2485.19 - - - 2181.12 - 125.21 - - 1966.66 - - - - - - - - - - -
15704.23 336.02 9.04 1731 15705.56 VBD 1.39 - - 2485.94 - - - 2181.12 - 125.21 - - 1966.47 - - - - - - - - - - -
16004.27 306.14 10.45 1761 16010.21 done 1.39 - - 2485.19 - 3.91 0.149 735.25 -369.8 125.21 - - 1965.62 - - - - - - - - - 16.06 -
16079.49 297.89 11.05 1776 16084.89 done 1.39 - - 2485.19 - 3.52 0.066 2220.25 421.9 125.21 - - 1964.75 - - - - - - - - - 16.09 -
16384.31 271.77 7.77 1807 16388.86 done 1.39 - - 2485.69 - 3.26 0.137 3472.25 384.0 125.21 - - 1965.81 - - - - - - - - - 16.06 -
16464.34 263.71 10.21 1823 16468.85 done 1.39 - - 2485.62 - 3.14 0.065 2180.50 -411.4 125.21 - - 1965.31 - - - - - - - - - 16.09 -
16774.36 233.82 9.70 1855 16775.69 VBD 1.39 - - 2485.44 - - - 2180.75 - 125.21 - - 1965.34 - - - - - - - - - - -
17074.38 205.28 10.03 1885 17078.96 done 1.39 - - 2485.50 - 3.34 0.131 3475.81 387.7 125.21 - - 1965.50 - - - - - - - - - 16.08 -
17204.41 191.00 10.98 1911 17209.14 done 1.39 - - 2485.44 - 3.17 0.063 2178.06 -409.4 125.21 - - 1964.84 - - - - - - - - - 16.08 -
17514.45 165.22 7.39 1943 17519.14 done 1.41 - - 2485.50 - 3.36 0.128 3474.19 385.8 125.21 - - 1964.84 - - - - - - - - - 16.08 -
17564.46 160.70 8.56 1953 17569.11 done 1.41 - - 2484.69 - 3.15 0.062 2179.81 -410.9 125.21 - - 1966.19 - - - - - - - - - 16.08 -
17874.49 134.16 8.85 1985 17880.28 done 1.41 - - 2485.44 - 3.87 0.146 736.38 -373.0 125.21 - - 1965.34 - - - - - - - - - 16.07 -
18043.37 118.18 9.26 2019 18050.27 done 1.41 - - 2485.25 - 3.55 0.061 2223.00 418.8 125.21 - - 1965.44 - - - - - - - - - 16.08 -
18349.57 97.07 6.65 2054 18355.25 done 1.46 - - 2484.25 - 3.22 0.129 3473.38 388.3 125.21 - - 1966.16 - - - - - - - - - 16.07 -
18579.65 82.16 5.74 2100 18611.07 1.56 0.19 0.102 2526.06 220.1 3.16 0.061 2177.62 -410.1 158.20 25.10 1.179 1853.00 -4.5 0.053 - - - - - - 16.04 16.08 13.20
18789.70 72.01 5.07 2142 18831.11 done 1.68 - - 2526.00 - 3.35 0.127 3474.38 387.1 200.71 35.26 1.174 1679.69 -4.9 0.051 - - - - - - - 15.81 13.17
18949.73 57.54 10.97 2174 18955.61 roll 1.68 - - 2526.12 - 3.08 0.061 2179.31 -420.5 200.71 - - 1676.59 - - - - - - - - - 15.89 -
19134.80 42.45 7.07 2211 19140.63 roll back 1.71 0.17 0.106 2562.62 214.7 3.87 0.143 736.75 -372.8 200.71 - - 1674.72 - - - - - - - - 15.89 15.89 -
19204.80 36.56 9.02 2225 19210.56 roll 1.71 - - 2563.31 - 3.56 0.057 2224.25 417.8 200.71 - - 1673.34 - - - - - - - - - 15.91 -
19389.89 29.21 3.13 2262 19451.18 1.92 0.27 0.092 2614.38 189.1 - - 2224.38 - 271.00 57.85 1.122 1393.78 -4.8 0.021 - - - - - - 15.94 - 13.09
19630.01 20.05 2.94 2310 19697.12 2.14 0.29 0.090 2667.06 181.7 4.10 0.140 736.75 -362.8 343.94 59.28 1.086 1098.06 -5.0 0.015 - - - - - - 15.80 15.59 13.02
19774.98 7.24 14.37 2339 19780.71 roll 2.14 - - 2666.81 - 3.58 0.058 2222.00 414.9 343.94 - - 1095.50 - - - - - - - - - 15.67 -
19814 end climb: SURFACE_DEPTH_REACHED
19814 begin surface coast
19830 end surface coast: CONTROL_FINISHED_OK
19830 begin surface
SM 0.45 - - - - 179.1 - 0.010 767.2 - 16.02 0.072 767.5 47.9 - 0.32 0.090 766.8 2385.1 -1.219 - - 30.36 15.67 15.71 -