NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 127 * Raw log
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• Previous call tries 1 • 42.33 of 575.00 AH used of 24V (92.64% remains)
• Surface angle -63.8 deg, depth 1.42 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.81 (SM_CC=425)
• GPS1 time: 15 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
6.49 - - - 74.50 VBD -1.25 - - 176.56 - - - 2116.75 - -77.86 67.43 0.005 2342.22 - - - - - - - - - - 15.63
74.78 3.52 -4.45 13 107.71 -1.25 13.54 0.263 1836.38 122.6 3.38 0.129 3475.56 402.0 -77.86 11.60 0.007 2814.38 40.7 -3.420 - - - - - - 15.57 15.61 15.67
245.47 42.77 -20.67 47 251.26 roll -1.25 - - 1836.25 - 3.46 0.065 2083.25 -402.4 -77.86 - - 2819.56 - - - - - - - - - 15.72 -
430.53 71.71 -14.45 84 431.86 no move -1.25 - - 1836.50 - - - 2083.50 - -77.86 - - 2817.53 - - - - - - - - - - -
610.56 98.00 -13.65 120 611.89 no move -1.25 - - 1836.38 - - - 2083.06 - -77.86 - - 2818.34 - - - - - - - - - - -
795.60 121.49 -12.93 140 796.92 no move -1.25 - - 1836.25 - - - 2083.25 - -77.86 - - 2818.78 - - - - - - - - - - -
1095.61 152.32 -8.49 170 1101.32 roll -1.25 - - 1836.88 - 3.77 0.167 663.25 -376.7 -77.86 - - 2821.44 - - - - - - - - - 15.90 -
1190.70 162.55 -11.08 189 1195.19 roll -1.25 - - 1834.50 - 3.39 0.063 2120.06 429.7 -77.86 - - 2818.97 - - - - - - - - - 15.93 -
1500.66 194.76 -10.84 221 1505.29 roll -1.25 - - 1836.75 - 3.34 0.127 3475.00 405.7 -77.86 - - 2819.28 - - - - - - - - - 15.95 -
1550.67 200.71 -12.33 231 1555.31 roll -1.25 - - 1836.31 - 3.35 0.064 2082.00 -415.8 -77.86 - - 2820.66 - - - - - - - - - 15.98 -
1860.71 236.90 -11.49 263 1862.04 no move -1.25 - - 1836.06 - - - 2081.44 - -77.86 - - 2819.28 - - - - - - - - - - -
2160.76 270.33 -11.12 293 2165.51 roll -1.25 - - 1836.19 - 3.45 0.130 3475.81 404.2 -77.86 - - 2820.38 - - - - - - - - - 16.01 -
2290.82 286.20 -11.75 319 2295.46 roll -1.25 - - 1836.12 - 3.36 0.068 2083.12 -414.5 -77.86 - - 2820.25 - - - - - - - - - 16.02 -
2600.87 320.64 -11.04 351 2602.20 no move -1.25 - - 1836.50 - - - 2084.06 - -77.86 - - 2818.72 - - - - - - - - - - -
2900.92 353.27 -10.29 381 2902.25 no move -1.25 - - 1836.12 - - - 2084.00 - -77.86 - - 2818.44 - - - - - - - - - - -
3200.97 382.95 -9.34 411 3202.29 no move -1.25 - - 1836.69 - - - 2083.62 - -77.86 - - 2817.97 - - - - - - - - - - -
3501.02 410.55 -9.62 441 3506.75 roll -1.25 - - 1834.25 - 3.85 0.175 663.25 -368.9 -77.86 - - 2818.03 - - - - - - - - - 16.03 -
3526.04 412.78 -9.99 446 3530.67 roll -1.25 - - 1836.56 - 3.38 0.066 2121.19 431.3 -77.86 - - 2818.03 - - - - - - - - - 16.06 -
3836.09 442.60 -9.76 478 3837.41 no move -1.25 - - 1836.38 - - - 2121.38 - -77.86 - - 2817.44 - - - - - - - - - - -
4136.15 472.75 -10.57 508 4140.78 roll -1.25 - - 1836.19 - 3.33 0.136 3474.81 406.4 -77.86 - - 2818.16 - - - - - - - - - 16.04 -
4180.09 478.12 -12.22 517 4186.89 roll -1.25 - - 1836.75 - 3.38 0.071 2084.25 -411.4 -77.86 - - 2816.69 - - - - - - - - - 16.07 -
4486.21 505.18 -8.48 548 4491.00 roll -1.25 - - 1836.50 - 3.45 0.136 3474.56 403.0 -77.86 - - 2816.44 - - - - - - - - - 16.07 -
4586.38 514.44 -9.58 568 4590.86 roll -1.25 - - 1836.81 - 3.36 0.072 2084.75 -413.6 -77.86 - - 2818.34 - - - - - - - - - 16.08 -
4896.27 540.23 -8.50 600 4897.59 no move -1.25 - - 1836.31 - - - 2085.06 - -77.86 - - 2815.38 - - - - - - - - - - -
5196.30 567.64 -9.49 630 5197.62 no move -1.25 - - 1836.38 - - - 2084.75 - -77.86 - - 2813.91 - - - - - - - - - - -
5496.32 598.74 -10.14 660 5497.65 no move -1.25 - - 1836.50 - - - 2084.38 - -77.86 - - 2814.56 - - - - - - - - - - -
5796.35 627.69 -8.48 690 5802.08 roll -1.25 - - 1835.62 - 3.85 0.186 663.25 -369.1 -77.86 - - 2812.31 - - - - - - - - - 16.06 -
5881.44 636.93 -9.88 707 5886.03 roll -1.25 - - 1836.81 - 3.44 0.074 2118.44 423.0 -77.86 - - 2814.22 - - - - - - - - - 16.10 -
6191.40 666.16 -10.38 739 6192.73 no move -1.25 - - 1836.12 - - - 2118.06 - -77.86 - - 2813.44 - - - - - - - - - - -
6491.43 692.67 -8.75 769 6492.76 no move -1.25 - - 1836.12 - - - 2118.44 - -77.86 - - 2810.91 - - - - - - - - - - -
6791.46 720.37 -8.99 799 6792.79 no move -1.25 - - 1836.19 - - - 2118.25 - -77.86 - - 2810.72 - - - - - - - - - - -
7091.51 746.75 -9.13 829 7092.83 no move -1.25 - - 1836.44 - - - 2118.25 - -77.86 - - 2812.06 - - - - - - - - - - -
7391.54 772.03 -9.75 859 7392.87 no move -1.25 - - 1835.75 - - - 2118.69 - -77.86 - - 2810.53 - - - - - - - - - - -
7691.58 797.92 -8.31 889 7696.23 roll -1.25 - - 1836.25 - 3.38 0.145 3473.94 401.0 -77.86 - - 2811.38 - - - - - - - - - 16.10 -
7761.60 805.08 -10.11 903 7766.25 roll -1.25 - - 1836.31 - 3.42 0.082 2086.12 -405.8 -77.86 - - 2813.19 - - - - - - - - - 16.11 -
8071.64 832.86 -8.47 935 8072.97 no move -1.25 - - 1836.00 - - - 2086.31 - -77.86 - - 2810.75 - - - - - - - - - - -
8371.67 858.16 -7.73 965 8373.00 no move -1.25 - - 1836.38 - - - 2086.31 - -77.86 - - 2808.28 - - - - - - - - - - -
8671.72 882.22 -7.73 995 8673.05 no move -1.25 - - 1836.75 - - - 2086.19 - -77.86 - - 2809.22 - - - - - - - - - - -
8971.77 904.12 -7.18 1025 8973.10 no move -1.25 - - 1836.31 - - - 2085.69 - -77.86 - - 2809.62 - - - - - - - - - - -
9271.81 926.83 -7.53 1055 9277.57 roll -1.25 - - 1835.75 - 3.90 0.198 663.94 -364.6 -77.86 - - 2809.97 - - - - - - - - - 16.08 -
9330.78 932.07 -10.47 1067 9337.58 roll -1.25 - - 1836.50 - 3.43 0.084 2116.00 423.3 -77.86 - - 2811.44 - - - - - - - - - 16.12 -
9636.94 956.24 -8.41 1098 9638.27 no move -1.25 - - 1836.38 - - - 2115.38 - -77.86 - - 2809.06 - - - - - - - - - - -
9936.98 979.70 -8.38 1128 9938.30 no move -1.25 - - 1835.69 - - - 2115.88 - -77.86 - - 2808.69 - - - - - - - - - - -
10077 end dive: TARGET_DEPTH_EXCEEDED
10077 begin apogee
10078.24 991.29 -8.79 1142 10145.16 -0.25 1.73 0.157 2080.88 141.7 0.07 0.334 2186.00 1001.7 - 63.97 2.298 2496.88 -4.9 0.351 - - - - - - 16.07 15.59 13.20
10147 end apogee: CONTROL_FINISHED_OK
10147 begin climb
10146.44 992.54 - 1148 10226.91 1.25 2.49 0.100 2448.88 147.8 3.46 0.145 3472.50 371.8 77.86 72.45 2.235 2180.34 -4.4 0.324 - - - - - - 15.63 15.22 12.93
10288.59 984.32 8.68 1176 10295.38 roll 1.25 - - 2448.31 - 3.29 0.070 2184.75 -391.4 77.86 - - 2174.97 - - - - - - - - - 15.44 -
10594.72 957.13 8.72 1207 10596.06 VBD 1.25 - - 2448.25 - - - 2184.75 - 77.86 - - 2168.03 - - - - - - - - - - -
10894.78 929.25 9.03 1237 10896.11 VBD 1.25 - - 2448.75 - - - 2184.88 - 77.86 - - 2165.34 - - - - - - - - - - -
11194.84 901.44 9.06 1267 11196.18 VBD 1.25 - - 2447.62 - - - 2184.38 - 77.86 - - 2163.56 - - - - - - - - - - -
11494.90 872.09 9.32 1297 11496.24 VBD 1.25 - - 2448.12 - - - 2185.12 - 77.86 - - 2163.75 - - - - - - - - - - -
11794.96 844.06 10.37 1327 11796.29 VBD 1.25 - - 2448.25 - - - 2185.12 - 77.86 - - 2164.31 - - - - - - - - - - -
12095.02 817.09 8.73 1357 12096.36 VBD 1.25 - - 2447.94 - - - 2185.06 - 77.86 - - 2162.47 - - - - - - - - - - -
12395.09 790.80 8.78 1387 12396.42 VBD 1.25 - - 2448.06 - - - 2184.75 - 77.86 - - 2162.09 - - - - - - - - - - -
12695.15 766.14 7.84 1417 12696.48 VBD 1.25 - - 2447.75 - - - 2185.19 - 77.86 - - 2161.41 - - - - - - - - - - -
12995.20 742.30 8.07 1447 12996.53 VBD 1.25 - - 2447.75 - - - 2185.06 - 77.86 - - 2160.53 - - - - - - - - - - -
13295.24 720.57 6.65 1477 13299.92 done 1.29 - - 2447.56 - 3.26 0.143 3473.62 395.3 77.86 - - 2162.94 - - - - - - - - - 16.03 -
13429.11 709.52 8.89 1504 13435.96 done 1.29 - - 2447.88 - 3.17 0.070 2182.38 -407.3 77.86 - - 2163.75 - - - - - - - - - 16.04 -
13735.33 687.23 6.89 1535 13736.66 VBD 1.33 - - 2447.62 - - - 2183.69 - 77.86 - - 2160.03 - - - - - - - - - - -
14035.37 664.08 7.64 1565 14040.06 done 1.33 - - 2448.12 - 3.33 0.139 3473.75 387.4 77.86 - - 2161.00 - - - - - - - - - 16.05 -
14225.61 646.60 9.27 1603 14229.93 done 1.33 - - 2448.06 - 3.15 0.067 2180.88 -410.4 77.86 - - 2160.97 - - - - - - - - - 16.06 -
14535.43 621.75 8.09 1635 14536.76 VBD 1.33 - - 2448.06 - - - 2181.44 - 77.86 - - 2159.72 - - - - - - - - - - -
14835.48 600.48 7.39 1665 14841.25 done 1.35 - - 2448.31 - 3.83 0.156 735.94 -377.4 77.86 - - 2157.50 - - - - - - - - - 16.05 -
14934.32 592.03 9.25 1685 14941.30 done 1.35 - - 2449.00 - 3.46 0.067 2220.88 429.2 77.86 - - 2159.94 - - - - - - - - - 16.08 -
15240.54 569.56 7.39 1716 15241.87 VBD 1.37 - - 2448.94 - - - 2220.75 - 77.86 - - 2158.03 - - - - - - - - - - -
15540.58 549.32 6.38 1746 15542.07 1.42 0.21 0.101 2492.50 207.4 - - 2221.25 - 77.86 - - 2160.47 - - - - - - - - 16.07 - -
15840.60 527.72 7.19 1776 15845.25 done 1.45 - - 2492.94 - 3.14 0.138 3472.31 398.4 77.86 - - 2158.91 - - - - - - - - - 16.08 -
15944.54 519.67 7.70 1797 15951.40 done 1.45 - - 2492.56 - 3.05 0.066 2179.31 -423.9 77.86 - - 2161.06 - - - - - - - - - 16.06 -
16250.64 499.50 7.57 1828 16251.97 VBD 1.45 - - 2492.62 - - - 2179.62 - 77.86 - - 2159.72 - - - - - - - - - - -
16550.68 481.43 5.88 1858 16576.72 VBD 1.54 - - 2492.06 - - - 2178.81 - 108.86 25.21 1.646 2057.19 -4.1 0.199 - - - - - - - - 13.16
16870.73 457.61 7.37 1890 16876.57 roll back 1.56 0.14 0.116 2526.19 243.8 3.82 0.152 735.12 -377.9 108.86 - - 2048.38 - - - - - - - - 15.98 15.95 -
17035.80 439.60 11.32 1923 17040.37 done 1.56 - - 2523.06 - 3.46 0.064 2218.31 428.7 108.86 - - 2047.88 - - - - - - - - - 16.00 -
17345.86 408.50 11.22 1955 17350.39 done 1.56 - - 2525.75 - 3.19 0.136 3473.12 393.4 108.86 - - 2047.91 - - - - - - - - - 16.01 -
17575.96 378.12 13.52 2001 17580.48 done 1.56 - - 2525.69 - 3.12 0.065 2180.50 -414.3 108.86 - - 2049.12 - - - - - - - - - 16.02 -
17886.03 345.14 9.57 2033 17890.70 done 1.56 - - 2525.69 - 3.30 0.131 3474.12 392.0 108.86 - - 2047.91 - - - - - - - - - 16.03 -
18116.12 322.52 10.44 2079 18120.65 done 1.56 - - 2525.88 - 3.12 0.064 2180.88 -414.5 108.86 - - 2048.34 - - - - - - - - - 16.05 -
18426.18 296.18 7.80 2111 18430.80 done 1.56 - - 2525.88 - 3.27 0.127 3473.56 395.3 108.86 - - 2047.56 - - - - - - - - - 16.05 -
18510.13 288.61 8.74 2128 18516.90 done 1.56 - - 2526.31 - 3.12 0.063 2179.62 -414.7 108.86 - - 2047.91 - - - - - - - - - 16.05 -
18816.24 261.12 9.92 2159 18822.03 done 1.56 - - 2525.88 - 3.79 0.145 736.56 -380.8 108.86 - - 2045.59 - - - - - - - - - 16.04 -
19045.24 237.93 8.79 2205 19052.04 done 1.56 - - 2525.75 - 3.45 0.061 2223.56 431.0 108.86 - - 2046.94 - - - - - - - - - 16.06 -
19351.36 217.49 6.93 2236 19357.08 done 1.59 - - 2525.94 - 3.88 0.137 735.00 -383.6 108.86 - - 2046.03 - - - - - - - - - 16.05 -
19426.56 211.39 7.93 2251 19431.94 done 1.59 - - 2525.12 - 3.44 0.058 2225.38 433.3 108.86 - - 2047.50 - - - - - - - - - 16.06 -
19731.39 187.44 7.85 2282 19735.92 done 1.59 - - 2525.56 - 3.15 0.128 3474.12 396.4 108.86 - - 2047.41 - - - - - - - - - 16.04 -
19945.28 169.64 8.25 2325 19952.12 done 1.59 - - 2525.50 - 3.12 0.060 2179.12 -415.1 108.86 - - 2047.88 - - - - - - - - - 16.06 -
20251.48 151.94 6.34 2356 20252.81 VBD 1.64 - - 2525.88 - - - 2179.69 - 108.86 - - 2047.22 - - - - - - - - - - -
20551.50 134.02 5.27 2386 20592.31 1.76 0.25 0.095 2575.94 200.2 3.30 0.128 3475.06 392.5 148.56 33.26 1.268 1893.50 -4.6 0.082 - - - - - - 16.06 15.87 13.22
20815.46 108.66 10.19 2439 20822.26 roll 1.76 - - 2576.62 - 3.15 0.060 2178.88 -411.5 148.56 - - 1887.69 - - - - - - - - - 15.96 -
21121.60 100.99 1.64 2470 21199.98 2.04 0.37 0.087 2639.94 171.1 3.73 0.143 734.50 -387.2 240.08 72.53 1.229 1519.94 -5.1 0.070 - - - - - - 15.97 15.64 13.06
21322.78 84.14 14.57 2510 21328.54 roll 2.04 - - 2640.38 - 3.53 0.059 2222.56 421.5 240.08 - - 1516.66 - - - - - - - - - 15.76 -
21507.87 60.50 12.51 2547 21509.20 VBD 2.04 - - 2639.50 - - - 2222.06 - 240.08 - - 1513.00 - - - - - - - - - - -
21687.94 41.79 9.18 2583 21693.64 done 2.04 - - 2640.31 - 3.21 0.127 3475.00 390.3 240.08 - - 1512.56 - - - - - - - - - 15.84 -
21752.97 34.98 10.53 2596 21758.65 done 2.04 - - 2640.50 - 3.14 0.059 2179.00 -412.7 240.08 - - 1510.53 - - - - - - - - - 15.88 -
21938.07 27.66 2.40 2633 22004.58 2.28 0.32 0.081 2699.12 183.2 - - 2178.69 - 320.75 64.26 1.120 1191.84 -5.0 0.020 - - - - - - 15.89 - 13.03
22183.09 10.61 10.79 2682 22184.42 no move 2.28 - - 2699.81 - - - 2179.50 - 320.75 - - 1186.66 - - - - - - - - - - -
22253 end climb: SURFACE_DEPTH_REACHED
22253 begin surface coast
22268 end surface coast: CONTROL_FINISHED_OK
22269 begin surface
SM 1.12 - - - - 176.6 2.16 0.324 768.2 355.6 16.11 0.072 770.1 47.8 - 0.21 0.113 766.4 3649.5 -3.697 - - 12.74 15.75 15.78 -