NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 216 * Raw log
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• Previous call tries 1 • 68.06 of 575.00 AH used of 24V (88.16% remains)
• Surface angle -62.9 deg, depth 0.70 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.45 (SM_CC=425)
• GPS1 time: 20 s
• GPS2 time: 5 s • Transponder ping count: 1
• 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
6.59 - - - 78.37 VBD -1.25 - - 173.88 - - - 2117.06 - -77.86 71.25 0.005 2347.47 - - - - - - - - - - 15.60
78.70 3.31 -4.52 9 115.10 -1.25 13.48 0.262 1836.06 123.3 3.82 0.126 3472.00 354.7 -77.86 12.32 0.007 2817.00 38.1 -3.028 - - - - - - 15.61 15.59 15.63
192.86 28.81 -24.58 32 198.67 roll -1.25 - - 1835.69 - 3.61 0.063 2084.12 -384.5 -77.86 - - 2816.81 - - - - - - - - - 15.73 -
377.97 61.00 -15.49 69 383.76 roll -1.25 - - 1835.62 - 3.84 0.115 3471.69 361.3 -77.86 - - 2817.25 - - - - - - - - - 15.79 -
482.99 78.31 -15.14 90 488.76 roll -1.25 - - 1836.06 - 3.55 0.060 2083.75 -391.0 -77.86 - - 2817.28 - - - - - - - - - 15.83 -
668.09 101.36 -10.80 126 673.78 roll -1.25 - - 1835.12 - 3.79 0.114 3472.69 366.5 -77.86 - - 2817.03 - - - - - - - - - 15.87 -
733.12 108.59 -11.18 139 737.78 roll -1.25 - - 1836.00 - 3.53 0.060 2082.38 -393.9 -77.86 - - 2816.56 - - - - - - - - - 15.88 -
1043.13 139.82 -9.46 171 1044.46 no move -1.25 - - 1835.38 - - - 2082.12 - -77.86 - - 2817.88 - - - - - - - - - - -
1343.17 171.22 -10.59 201 1348.95 roll -1.25 - - 1835.75 - 4.11 0.163 663.94 -345.1 -77.86 - - 2816.16 - - - - - - - - - 15.93 -
1418.18 180.96 -13.23 216 1423.89 roll -1.25 - - 1835.69 - 3.62 0.056 2116.88 401.4 -77.86 - - 2816.78 - - - - - - - - - 15.97 -
1723.23 215.54 -11.55 247 1724.55 no move -1.25 - - 1835.25 - - - 2116.94 - -77.86 - - 2818.22 - - - - - - - - - - -
2023.26 249.99 -10.95 277 2024.59 no move -1.25 - - 1835.81 - - - 2116.94 - -77.86 - - 2818.09 - - - - - - - - - - -
2323.29 285.71 -12.05 307 2324.62 no move -1.25 - - 1835.56 - - - 2116.81 - -77.86 - - 2818.19 - - - - - - - - - - -
2623.32 319.54 -11.12 337 2624.65 no move -1.25 - - 1835.44 - - - 2117.19 - -77.86 - - 2818.44 - - - - - - - - - - -
2923.36 350.51 -10.11 367 2929.16 roll -1.25 - - 1834.19 - 4.22 0.164 662.94 -344.6 -77.86 - - 2820.38 - - - - - - - - - 16.02 -
2998.37 358.92 -11.42 382 3004.01 roll -1.25 - - 1835.69 - 3.64 0.061 2116.56 399.3 -77.86 - - 2815.84 - - - - - - - - - 16.05 -
3303.41 387.24 -8.50 413 3304.74 no move -1.25 - - 1835.44 - - - 2117.00 - -77.86 - - 2817.06 - - - - - - - - - - -
3603.44 413.51 -8.74 443 3604.77 no move -1.25 - - 1835.50 - - - 2117.19 - -77.86 - - 2816.81 - - - - - - - - - - -
3903.47 440.75 -9.35 473 3909.28 roll -1.25 - - 1835.50 - 4.22 0.168 664.31 -344.3 -77.86 - - 2817.41 - - - - - - - - - 16.04 -
3948.50 445.93 -12.52 482 3954.19 roll -1.25 - - 1835.50 - 3.66 0.061 2118.69 397.4 -77.86 - - 2816.78 - - - - - - - - - 16.07 -
4253.52 474.79 -9.16 513 4254.85 no move -1.25 - - 1835.69 - - - 2117.56 - -77.86 - - 2816.28 - - - - - - - - - - -
4553.55 500.67 -7.83 543 4554.88 no move -1.25 - - 1834.75 - - - 2118.50 - -77.86 - - 2816.09 - - - - - - - - - - -
4853.58 527.29 -8.03 573 4859.36 roll -1.25 - - 1836.31 - 4.18 0.172 663.94 -348.0 -77.86 - - 2813.72 - - - - - - - - - 16.05 -
4918.67 534.15 -9.82 586 4924.30 roll -1.25 - - 1834.62 - 3.61 0.062 2116.44 402.4 -77.86 - - 2817.38 - - - - - - - - - 16.08 -
5223.66 561.16 -9.38 617 5229.44 roll -1.25 - - 1835.38 - 4.13 0.172 663.94 -351.7 -77.86 - - 2816.31 - - - - - - - - - 16.05 -
5272.61 566.28 -10.82 627 5279.45 roll -1.25 - - 1835.69 - 3.61 0.063 2118.06 402.8 -77.86 - - 2814.56 - - - - - - - - - 16.08 -
5578.75 592.36 -8.75 658 5580.08 no move -1.25 - - 1835.88 - - - 2118.12 - -77.86 - - 2812.09 - - - - - - - - - - -
5878.82 617.89 -8.45 688 5880.15 no move -1.25 - - 1835.19 - - - 2118.06 - -77.86 - - 2813.84 - - - - - - - - - - -
6178.90 643.24 -8.52 718 6180.23 no move -1.25 - - 1835.69 - - - 2118.00 - -77.86 - - 2812.47 - - - - - - - - - - -
6478.97 667.78 -7.95 748 6480.29 no move -1.25 - - 1835.19 - - - 2118.00 - -77.86 - - 2812.84 - - - - - - - - - - -
6779.03 692.27 -7.46 778 6780.36 no move -1.25 - - 1835.50 - - - 2118.25 - -77.86 - - 2811.59 - - - - - - - - - - -
7079.10 716.24 -8.00 808 7084.82 roll -1.25 - - 1835.69 - 3.73 0.136 3470.44 362.5 -77.86 - - 2810.44 - - - - - - - - - 16.08 -
7124.14 720.34 -9.76 817 7128.79 roll -1.25 - - 1835.75 - 3.51 0.073 2083.88 -395.0 -77.86 - - 2812.09 - - - - - - - - - 16.09 -
7434.15 745.41 -8.15 849 7435.48 no move -1.25 - - 1834.88 - - - 2084.00 - -77.86 - - 2812.19 - - - - - - - - - - -
7734.19 769.96 -8.54 879 7735.52 no move -1.25 - - 1835.44 - - - 2083.38 - -77.86 - - 2810.62 - - - - - - - - - - -
8034.22 793.59 -7.89 909 8035.55 no move -1.25 - - 1835.00 - - - 2084.31 - -77.86 - - 2810.66 - - - - - - - - - - -
8334.26 817.87 -7.99 939 8340.04 roll -1.25 - - 1834.94 - 4.16 0.186 664.81 -341.2 -77.86 - - 2809.41 - - - - - - - - - 16.05 -
8419.28 826.20 -9.85 956 8424.98 roll -1.25 - - 1835.25 - 3.65 0.072 2114.31 397.1 -77.86 - - 2808.50 - - - - - - - - - 16.09 -
8724.32 852.08 -7.99 987 8730.11 roll -1.25 - - 1835.12 - 4.22 0.181 662.81 -344.0 -77.86 - - 2808.34 - - - - - - - - - 16.05 -
8773.34 856.89 -9.59 997 8780.10 roll -1.25 - - 1835.81 - 3.62 0.072 2116.12 401.5 -77.86 - - 2809.78 - - - - - - - - - 16.09 -
9079.36 881.45 -8.22 1028 9080.69 no move -1.25 - - 1835.69 - - - 2116.69 - -77.86 - - 2810.16 - - - - - - - - - - -
9379.39 904.17 -7.53 1058 9380.72 no move -1.25 - - 1835.56 - - - 2115.31 - -77.86 - - 2809.09 - - - - - - - - - - -
9679.42 926.25 -7.23 1088 9685.22 roll -1.25 - - 1835.06 - 4.22 0.183 664.88 -343.7 -77.86 - - 2808.12 - - - - - - - - - 16.05 -
9744.51 932.22 -10.80 1101 9750.13 roll -1.25 - - 1835.31 - 3.62 0.074 2115.50 400.7 -77.86 - - 2808.03 - - - - - - - - - 16.09 -
10049.47 953.75 -6.68 1132 10050.81 no move -1.25 - - 1835.44 - - - 2115.38 - -77.86 - - 2809.56 - - - - - - - - - - -
10349.50 975.15 -7.51 1162 10350.83 no move -1.25 - - 1835.69 - - - 2115.56 - -77.86 - - 2808.47 - - - - - - - - - - -
10569 end dive: TARGET_DEPTH_EXCEEDED
10569 begin apogee
10570.84 990.38 -7.27 1184 10640.41 -0.25 1.72 0.156 2079.81 141.9 0.07 0.310 2186.19 1009.0 - 64.10 2.285 2499.69 -4.8 0.351 - - - - - - 16.03 15.59 13.01
10643 end apogee: CONTROL_FINISHED_OK
10643 begin climb
10643.90 990.89 - 1191 10724.75 1.25 2.53 0.099 2447.31 145.3 3.82 0.141 3471.94 336.6 77.86 71.93 2.232 2180.03 -4.4 0.331 - - - - - - 15.63 15.23 12.90
10792.50 978.23 11.33 1220 10797.08 roll 1.25 - - 2447.12 - 3.36 0.068 2185.62 -382.8 77.86 - - 2175.31 - - - - - - - - - 15.46 -
11102.54 945.01 8.91 1252 11103.88 VBD 1.25 - - 2447.19 - - - 2185.38 - 77.86 - - 2167.25 - - - - - - - - - - -
11402.58 913.59 10.34 1282 11408.36 done 1.25 - - 2447.25 - 4.18 0.159 738.56 -346.1 77.86 - - 2165.81 - - - - - - - - - 15.79 -
11467.66 905.58 14.12 1295 11473.23 done 1.25 - - 2447.44 - 3.72 0.064 2215.19 396.9 77.86 - - 2165.50 - - - - - - - - - 15.83 -
11772.66 876.25 8.91 1326 11773.99 VBD 1.25 - - 2447.81 - - - 2216.06 - 77.86 - - 2163.47 - - - - - - - - - - -
12072.71 848.64 9.45 1356 12074.04 VBD 1.25 - - 2447.62 - - - 2215.56 - 77.86 - - 2163.47 - - - - - - - - - - -
12372.77 822.22 7.64 1386 12378.38 done 1.25 - - 2447.12 - 3.54 0.140 3472.06 354.9 77.86 - - 2161.19 - - - - - - - - - 15.94 -
12467.89 812.33 9.42 1405 12472.36 done 1.25 - - 2447.31 - 3.26 0.068 2182.44 -395.6 77.86 - - 2162.91 - - - - - - - - - 15.96 -
12777.96 785.52 8.89 1437 12779.29 VBD 1.25 - - 2447.50 - - - 2183.00 - 77.86 - - 2161.44 - - - - - - - - - - -
13077.94 761.21 7.91 1467 13079.27 VBD 1.25 - - 2447.25 - - - 2182.62 - 77.86 - - 2160.44 - - - - - - - - - - -
13378.02 737.42 7.36 1497 13383.77 done 1.27 - - 2447.94 - 4.09 0.156 737.38 -353.4 77.86 - - 2159.84 - - - - - - - - - 15.97 -
13473.04 728.85 8.52 1516 13478.67 done 1.27 - - 2447.12 - 3.59 0.065 2217.12 412.2 77.86 - - 2161.31 - - - - - - - - - 16.01 -
13778.12 705.24 7.15 1547 13779.45 VBD 1.30 - - 2445.81 - - - 2217.25 - 77.86 - - 2163.19 - - - - - - - - - - -
14078.14 684.13 6.92 1577 14083.75 done 1.33 - - 2447.75 - 3.45 0.138 3470.38 363.2 77.86 - - 2158.78 - - - - - - - - - 16.02 -
14233.17 671.54 8.39 1608 14237.86 done 1.33 - - 2448.06 - 3.26 0.066 2183.62 -394.7 77.86 - - 2160.91 - - - - - - - - - 16.03 -
14543.23 648.38 7.19 1640 14544.56 VBD 1.36 - - 2447.38 - - - 2183.88 - 77.86 - - 2160.78 - - - - - - - - - - -
14843.25 628.05 7.02 1670 14848.93 1.39 0.18 0.112 2488.00 225.7 3.61 0.134 3470.94 356.5 77.86 - - 2158.97 - - - - - - - - 16.02 16.03 -
14942.10 620.13 7.90 1690 14948.96 done 1.39 - - 2487.75 - 3.24 0.066 2181.31 -398.0 77.86 - - 2160.28 - - - - - - - - - 16.02 -
15248.29 597.75 7.93 1721 15249.62 VBD 1.39 - - 2487.44 - - - 2180.56 - 77.86 - - 2158.78 - - - - - - - - - - -
15548.32 572.92 8.71 1751 15549.65 VBD 1.39 - - 2487.38 - - - 2181.19 - 77.86 - - 2159.78 - - - - - - - - - - -
15848.35 549.39 8.08 1781 15853.96 done 1.39 - - 2487.50 - 3.58 0.133 3470.62 360.2 77.86 - - 2159.78 - - - - - - - - - 16.05 -
15947.21 541.17 7.79 1801 15954.08 done 1.39 - - 2487.31 - 3.23 0.065 2182.06 -398.9 77.86 - - 2161.97 - - - - - - - - - 16.05 -
16253.43 520.07 5.94 1832 16278.71 VBD 1.48 - - 2486.69 - - - 2182.38 - 107.90 24.31 1.689 2058.41 -4.3 0.220 - - - - - - - - 13.04
16573.44 492.00 8.95 1864 16574.77 no move 1.48 - - 2487.81 - - - 2182.06 - 107.90 - - 2053.81 - - - - - - - - - - -
16873.48 466.40 8.38 1894 16874.81 no move 1.48 - - 2487.75 - - - 2182.31 - 107.90 - - 2053.12 - - - - - - - - - - -
17173.51 441.51 8.34 1924 17174.84 no move 1.48 - - 2487.56 - - - 2181.94 - 107.90 - - 2051.72 - - - - - - - - - - -
17473.54 417.16 7.55 1954 17479.15 roll 1.48 - - 2487.50 - 3.58 0.131 3472.75 360.6 107.90 - - 2050.97 - - - - - - - - - 15.99 -
17612.42 404.47 9.90 1982 17619.28 roll 1.48 - - 2487.81 - 3.29 0.063 2183.44 -391.9 107.90 - - 2052.75 - - - - - - - - - 16.01 -
17918.62 379.35 8.39 2013 17924.38 done 1.48 - - 2487.94 - 4.07 0.145 736.50 -355.5 107.90 - - 2051.66 - - - - - - - - - 15.98 -
17997.56 371.42 10.35 2029 18004.42 done 1.48 - - 2487.31 - 3.66 0.060 2219.38 405.2 107.90 - - 2052.66 - - - - - - - - - 16.02 -
18303.73 346.54 8.30 2060 18305.06 VBD 1.48 - - 2488.12 - - - 2219.56 - 107.90 - - 2051.47 - - - - - - - - - - -
18603.78 323.61 7.85 2090 18605.12 VBD 1.48 - - 2487.88 - - - 2220.06 - 107.90 - - 2050.78 - - - - - - - - - - -
18903.85 299.41 8.32 2120 18905.18 VBD 1.48 - - 2488.06 - - - 2219.94 - 107.90 - - 2050.69 - - - - - - - - - - -
19203.92 276.66 7.94 2150 19209.83 done 1.48 - - 2488.00 - 4.15 0.138 736.19 -357.5 107.90 - - 2050.03 - - - - - - - - - 16.03 -
19269.00 271.07 9.31 2163 19274.70 done 1.48 - - 2487.75 - 3.67 0.060 2218.44 403.9 107.90 - - 2049.38 - - - - - - - - - 16.03 -
19574.02 250.12 6.85 2194 19579.60 done 1.52 - - 2488.00 - 3.48 0.126 3471.50 360.1 107.90 - - 2049.16 - - - - - - - - - 16.02 -
19692.88 240.79 8.12 2218 19699.74 done 1.52 - - 2487.94 - 3.21 0.058 2177.81 -403.0 107.90 - - 2050.81 - - - - - - - - - 16.02 -
19999.11 220.96 6.60 2249 20004.92 1.56 0.18 0.102 2529.06 228.4 4.01 0.139 736.12 -359.5 107.90 - - 2050.09 - - - - - - - - 16.03 16.03 -
20104.14 211.49 8.74 2270 20110.01 done 1.56 - - 2528.38 - 3.63 0.057 2221.69 409.2 107.90 - - 2049.00 - - - - - - - - - 16.04 -
20409.18 188.37 7.40 2301 20410.51 VBD 1.58 - - 2527.56 - - - 2221.38 - 107.90 - - 2050.78 - - - - - - - - - - -
20709.21 165.84 6.76 2331 20710.54 VBD 1.62 - - 2528.62 - - - 2221.75 - 107.90 - - 2049.56 - - - - - - - - - - -
21009.24 147.23 5.69 2361 21039.92 1.72 0.17 0.103 2566.69 223.9 - - 2221.44 - 141.62 28.80 1.272 1921.28 -4.5 0.087 - - - - - - 16.04 - 12.97
21339.27 117.28 9.53 2394 21344.85 roll 1.72 - - 2565.56 - 3.48 0.123 3471.25 359.1 141.62 - - 1915.41 - - - - - - - - - 15.91 -
21418.21 108.29 11.00 2410 21424.98 roll 1.72 - - 2566.00 - 3.21 0.056 2179.62 -402.4 141.62 - - 1915.62 - - - - - - - - - 15.96 -
21724.41 90.72 4.14 2459 21771.42 1.89 0.19 0.102 2606.06 210.8 - - 2180.25 - 197.38 45.81 1.219 1693.31 -4.9 0.061 - - - - - - 15.96 - 12.97
21949.37 70.79 11.24 2504 21955.21 roll 1.89 - - 2606.12 - 4.07 0.135 736.38 -354.8 197.38 - - 1687.72 - - - - - - - - - 15.81 -
22114.42 54.17 8.02 2537 22120.18 done 1.89 - - 2605.88 - 3.63 0.052 2221.75 409.2 197.38 - - 1687.12 - - - - - - - - - 15.88 -
22299.49 43.34 6.48 2574 22305.19 done 1.93 - - 2606.06 - 3.43 0.118 3472.94 364.8 197.38 - - 1684.91 - - - - - - - - - 15.84 -
22524.54 41.68 -2.70 2619 22653.00 2.39 0.74 0.068 2729.81 167.2 3.21 0.052 2176.94 -403.7 350.92 120.68 1.144 1068.72 -5.1 0.031 - - - - - - 15.89 15.92 12.91
22830.85 8.86 13.86 2680 22836.61 roll 2.39 - - 2730.38 - 3.62 0.116 3471.81 357.7 350.92 - - 1062.41 - - - - - - - - - 15.66 -
22865.86 2.15 19.53 2687 22871.56 roll 2.39 - - 2730.62 - 3.28 0.053 2183.81 -392.7 350.92 - - 1061.66 - - - - - - - - - 15.70 -
22876 end climb: SURFACE_DEPTH_REACHED
22876 begin surface coast
22885 end surface coast: CONTROL_FINISHED_OK
22885 begin surface
SM 0.77 - - - - 175.1 - 2.788 769.7 - 16.69 0.082 778.3 46.6 - 0.24 0.108 761.0 3157.2 -2.301 - - 30.36 15.67 15.70 -