NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 219 * Raw log
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• Previous call tries 1 • 69.01 of 575.00 AH used of 24V (88.00% remains)
• Surface angle -64.4 deg, depth 0.66 m • Intended pitch -20.4 deg, speed -8.049 cm/s
• VBD pumped to 424.73 (SM_CC=425)
• GPS1 time: 15 s
• GPS2 time: 6 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
6.67 - - - 84.75 VBD -1.25 - - 172.75 - - - 2080.69 - -77.86 77.51 0.005 2513.53 - - - - - - - - - - 15.60
85.01 3.78 -5.03 15 116.30 -1.25 13.84 0.263 1836.94 120.2 3.93 0.124 3473.50 354.4 -77.86 7.21 0.008 2816.88 42.1 -3.352 - - - - - - 15.62 15.58 15.63
179.12 25.93 -22.97 34 184.85 roll -1.25 - - 1837.12 - 3.54 0.063 2082.81 -392.9 -77.86 - - 2816.81 - - - - - - - - - 15.73 -
364.14 60.11 -15.00 71 370.00 roll -1.25 - - 1837.00 - 4.14 0.162 663.88 -342.7 -77.86 - - 2817.16 - - - - - - - - - 15.77 -
469.18 77.41 -15.14 92 475.08 roll -1.25 - - 1836.94 - 3.60 0.056 2119.06 404.2 -77.86 - - 2817.75 - - - - - - - - - 15.83 -
654.22 98.56 -10.44 129 660.07 roll -1.25 - - 1836.94 - 4.16 0.153 663.62 -349.9 -77.86 - - 2817.56 - - - - - - - - - 15.84 -
684.24 102.34 -12.60 135 689.85 roll -1.25 - - 1837.00 - 3.62 0.054 2119.56 402.2 -77.86 - - 2816.84 - - - - - - - - - 15.87 -
989.25 135.52 -11.09 166 995.03 roll -1.25 - - 1836.94 - 4.16 0.155 662.69 -350.2 -77.86 - - 2818.31 - - - - - - - - - 15.90 -
1078.19 146.27 -12.45 184 1085.05 roll -1.25 - - 1837.25 - 3.62 0.055 2118.81 402.2 -77.86 - - 2817.38 - - - - - - - - - 15.93 -
1384.32 177.62 -9.46 215 1385.64 no move -1.25 - - 1836.75 - - - 2119.00 - -77.86 - - 2817.84 - - - - - - - - - - -
1684.35 208.57 -10.39 245 1690.27 roll -1.25 - - 1836.69 - 4.14 0.158 663.94 -351.5 -77.86 - - 2816.34 - - - - - - - - - 15.96 -
1813.22 224.88 -12.67 271 1820.14 roll -1.25 - - 1837.19 - 3.60 0.058 2119.31 404.3 -77.86 - - 2817.94 - - - - - - - - - 16.00 -
2119.42 258.14 -11.33 302 2125.12 roll -1.25 - - 1836.44 - 3.68 0.123 3473.94 368.1 -77.86 - - 2819.91 - - - - - - - - - 16.01 -
2174.45 264.53 -11.53 313 2179.10 roll -1.25 - - 1837.50 - 3.46 0.063 2082.88 -402.0 -77.86 - - 2817.72 - - - - - - - - - 16.02 -
2484.47 298.39 -10.03 345 2485.80 no move -1.25 - - 1837.12 - - - 2083.44 - -77.86 - - 2817.84 - - - - - - - - - - -
2784.50 329.14 -10.06 375 2785.83 no move -1.25 - - 1836.88 - - - 2083.25 - -77.86 - - 2817.06 - - - - - - - - - - -
3084.54 359.05 -9.87 405 3090.30 roll -1.25 - - 1836.88 - 4.07 0.165 664.19 -348.7 -77.86 - - 2815.78 - - - - - - - - - 16.02 -
3133.41 364.82 -11.74 415 3140.32 roll -1.25 - - 1836.75 - 3.61 0.059 2118.19 402.8 -77.86 - - 2817.75 - - - - - - - - - 16.06 -
3439.59 396.05 -10.07 446 3445.37 roll -1.25 - - 1836.88 - 4.14 0.163 662.81 -351.5 -77.86 - - 2816.56 - - - - - - - - - 16.03 -
3494.80 402.48 -12.39 457 3500.21 roll -1.25 - - 1835.75 - 3.59 0.059 2119.25 405.7 -77.86 - - 2819.03 - - - - - - - - - 16.08 -
3799.64 434.17 -9.84 488 3800.97 no move -1.25 - - 1836.62 - - - 2118.50 - -77.86 - - 2816.16 - - - - - - - - - - -
4099.67 465.32 -10.23 518 4105.45 roll -1.25 - - 1837.00 - 4.14 0.167 662.88 -351.6 -77.86 - - 2818.06 - - - - - - - - - 16.04 -
4148.62 470.83 -11.52 528 4155.45 roll -1.25 - - 1836.69 - 3.61 0.062 2118.56 403.2 -77.86 - - 2816.84 - - - - - - - - - 16.08 -
4454.74 502.10 -10.17 559 4456.07 no move -1.25 - - 1836.88 - - - 2118.38 - -77.86 - - 2813.75 - - - - - - - - - - -
4754.79 532.79 -10.22 589 4760.51 roll -1.25 - - 1836.75 - 3.72 0.130 3472.44 364.0 -77.86 - - 2813.75 - - - - - - - - - 16.07 -
4829.83 540.81 -10.80 604 4834.48 roll -1.25 - - 1837.00 - 3.41 0.069 2084.56 -407.0 -77.86 - - 2814.16 - - - - - - - - - 16.07 -
5139.89 570.77 -9.07 636 5141.22 no move -1.25 - - 1836.88 - - - 2083.94 - -77.86 - - 2813.78 - - - - - - - - - - -
5439.92 597.29 -8.18 666 5441.25 no move -1.25 - - 1836.62 - - - 2084.12 - -77.86 - - 2813.44 - - - - - - - - - - -
5739.97 622.93 -8.67 696 5741.30 no move -1.25 - - 1837.38 - - - 2084.19 - -77.86 - - 2812.66 - - - - - - - - - - -
6040.02 647.47 -8.32 726 6041.35 no move -1.25 - - 1836.75 - - - 2084.25 - -77.86 - - 2812.28 - - - - - - - - - - -
6340.07 672.32 -8.08 756 6341.40 no move -1.25 - - 1836.81 - - - 2083.81 - -77.86 - - 2810.47 - - - - - - - - - - -
6640.12 695.99 -7.37 786 6641.45 no move -1.25 - - 1836.81 - - - 2084.50 - -77.86 - - 2811.44 - - - - - - - - - - -
6940.17 719.51 -7.70 816 6941.50 no move -1.25 - - 1836.81 - - - 2084.31 - -77.86 - - 2810.50 - - - - - - - - - - -
7240.22 741.43 -7.47 846 7241.54 no move -1.25 - - 1836.38 - - - 2083.88 - -77.86 - - 2810.56 - - - - - - - - - - -
7540.26 763.81 -7.50 876 7546.02 roll -1.25 - - 1836.44 - 4.07 0.184 664.81 -348.7 -77.86 - - 2810.41 - - - - - - - - - 16.06 -
7615.34 770.16 -8.00 891 7620.98 roll -1.25 - - 1836.81 - 3.67 0.072 2115.50 395.3 -77.86 - - 2807.97 - - - - - - - - - 16.10 -
7920.31 793.28 -7.96 922 7926.02 roll -1.25 - - 1836.62 - 3.76 0.136 3471.75 360.7 -77.86 - - 2811.44 - - - - - - - - - 16.09 -
7995.51 799.90 -9.16 937 8000.99 roll -1.25 - - 1836.75 - 3.45 0.076 2084.25 -402.2 -77.86 - - 2808.03 - - - - - - - - - 16.09 -
8300.37 823.33 -7.35 968 8301.70 no move -1.25 - - 1836.69 - - - 2084.50 - -77.86 - - 2809.53 - - - - - - - - - - -
8600.41 846.56 -6.88 998 8606.20 roll -1.25 - - 1836.75 - 4.11 0.184 664.44 -345.5 -77.86 - - 2807.19 - - - - - - - - - 16.05 -
8649.36 851.38 -11.66 1008 8656.19 roll -1.25 - - 1837.06 - 3.66 0.072 2115.06 396.3 -77.86 - - 2811.19 - - - - - - - - - 16.09 -
8955.47 875.19 -7.71 1039 8956.79 no move -1.25 - - 1836.94 - - - 2115.44 - -77.86 - - 2808.84 - - - - - - - - - - -
9255.50 898.70 -8.34 1069 9256.83 no move -1.25 - - 1836.94 - - - 2115.31 - -77.86 - - 2806.62 - - - - - - - - - - -
9555.55 921.86 -7.66 1099 9556.88 no move -1.25 - - 1836.38 - - - 2115.50 - -77.86 - - 2806.72 - - - - - - - - - - -
9855.59 945.24 -8.06 1129 9861.31 roll -1.25 - - 1837.00 - 3.78 0.141 3471.06 358.6 -77.86 - - 2806.28 - - - - - - - - - 16.08 -
9920.61 951.22 -9.20 1142 9925.26 roll -1.25 - - 1836.81 - 3.44 0.078 2085.12 -402.9 -77.86 - - 2807.81 - - - - - - - - - 16.09 -
10230.67 977.60 -8.23 1174 10232.00 no move -1.25 - - 1836.94 - - - 2085.50 - -77.86 - - 2806.38 - - - - - - - - - - -
10391 end dive: TARGET_DEPTH_EXCEEDED
10391 begin apogee
10391.95 990.80 -8.03 1190 10462.28 -0.25 1.72 0.159 2080.12 141.4 0.06 0.326 2187.31 1696.8 - 64.06 2.286 2498.97 -4.8 0.351 - - - - - - 16.03 15.60 12.99
10464 end apogee: CONTROL_FINISHED_OK
10464 begin climb
10463.79 992.74 - 1197 10542.34 1.25 2.49 0.100 2448.38 147.9 - - 2186.50 - 77.86 72.12 2.230 2181.34 -4.4 0.331 - - - - - - 15.63 - 12.81
10840.74 962.03 9.42 1235 10842.07 VBD 1.25 - - 2448.38 - - - 2186.88 - 77.86 - - 2168.34 - - - - - - - - - - -
11140.77 933.24 9.91 1265 11146.42 done 1.25 - - 2447.88 - 3.71 0.138 3471.88 346.4 77.86 - - 2165.62 - - - - - - - - - 15.79 -
11215.88 924.93 11.35 1280 11220.36 done 1.25 - - 2448.25 - 3.26 0.069 2183.12 -395.3 77.86 - - 2167.12 - - - - - - - - - 15.81 -
11525.86 894.61 10.04 1312 11527.19 VBD 1.25 - - 2448.12 - - - 2183.94 - 77.86 - - 2163.84 - - - - - - - - - - -
11825.92 865.35 9.33 1342 11831.67 done 1.25 - - 2447.94 - 3.63 0.138 3472.38 354.9 77.86 - - 2163.00 - - - - - - - - - 15.91 -
11954.81 850.99 11.70 1368 11961.68 done 1.25 - - 2448.38 - 3.21 0.069 2184.00 -401.4 77.86 - - 2164.53 - - - - - - - - - 15.93 -
12261.03 820.84 8.03 1399 12262.36 VBD 1.25 - - 2448.25 - - - 2184.50 - 77.86 - - 2163.44 - - - - - - - - - - -
12561.08 792.98 8.08 1429 12562.42 VBD 1.25 - - 2448.44 - - - 2184.25 - 77.86 - - 2163.34 - - - - - - - - - - -
12861.14 767.69 8.14 1459 12866.75 done 1.25 - - 2448.06 - 3.63 0.137 3471.00 354.5 77.86 - - 2162.84 - - - - - - - - - 15.99 -
12920.02 761.80 9.80 1471 12926.85 done 1.25 - - 2447.56 - 3.20 0.067 2184.00 -402.2 77.86 - - 2162.88 - - - - - - - - - 15.99 -
13226.23 737.03 7.53 1502 13227.56 VBD 1.27 - - 2447.81 - - - 2184.38 - 77.86 - - 2160.94 - - - - - - - - - - -
13526.26 713.31 7.66 1532 13531.88 done 1.27 - - 2448.12 - 3.61 0.136 3471.12 356.4 77.86 - - 2164.16 - - - - - - - - - 16.01 -
13681.31 700.19 8.33 1563 13685.98 done 1.27 - - 2448.25 - 3.20 0.066 2181.88 -402.9 77.86 - - 2162.00 - - - - - - - - - 16.02 -
13991.36 677.95 7.02 1595 13997.11 done 1.30 - - 2447.44 - 4.06 0.152 738.00 -355.6 77.86 - - 2163.81 - - - - - - - - - 16.01 -
14106.37 667.90 8.78 1618 14112.15 done 1.30 - - 2448.50 - 3.66 0.063 2218.00 404.4 77.86 - - 2158.25 - - - - - - - - - 16.04 -
14411.44 645.58 6.83 1649 14417.00 done 1.34 - - 2448.12 - 3.48 0.136 3471.56 360.2 77.86 - - 2159.44 - - - - - - - - - 16.03 -
14536.44 635.30 8.87 1674 14540.97 done 1.34 - - 2447.44 - 3.19 0.065 2181.50 -404.4 77.86 - - 2162.62 - - - - - - - - - 16.04 -
14846.50 612.68 6.90 1706 14847.83 VBD 1.37 - - 2448.94 - - - 2181.50 - 77.86 - - 2158.50 - - - - - - - - - - -
15146.54 590.85 7.31 1736 15148.01 1.39 0.17 0.115 2486.62 221.6 - - 2182.00 - 77.86 - - 2158.97 - - - - - - - - 16.03 - -
15446.57 566.67 7.69 1766 15452.20 done 1.39 - - 2488.06 - 3.55 0.135 3472.50 363.5 77.86 - - 2159.16 - - - - - - - - - 16.05 -
15585.44 553.65 9.51 1794 15592.31 done 1.39 - - 2488.19 - 3.21 0.065 2182.62 -401.8 77.86 - - 2161.22 - - - - - - - - - 16.05 -
15891.66 530.33 7.43 1825 15892.99 VBD 1.41 - - 2487.50 - - - 2182.44 - 77.86 - - 2160.34 - - - - - - - - - - -
16191.92 508.35 7.15 1855 16193.25 VBD 1.44 - - 2488.06 - - - 2182.31 - 77.86 - - 2160.09 - - - - - - - - - - -
16491.76 487.52 6.76 1885 16497.49 done 1.48 - - 2485.44 - 4.00 0.148 737.38 -361.2 77.86 - - 2160.56 - - - - - - - - - 16.05 -
16576.77 480.49 8.08 1902 16582.40 done 1.48 - - 2487.44 - 3.62 0.062 2218.38 409.1 77.86 - - 2160.47 - - - - - - - - - 16.06 -
16881.86 458.80 6.73 1933 16883.19 VBD 1.52 - - 2488.00 - - - 2218.62 - 77.86 - - 2159.03 - - - - - - - - - - -
17181.91 436.64 7.52 1963 17183.25 VBD 1.53 - - 2487.38 - - - 2218.00 - 77.86 - - 2158.94 - - - - - - - - - - -
17481.97 415.01 7.50 1993 17483.44 1.55 0.17 0.104 2524.50 218.4 - - 2218.31 - 77.86 - - 2156.94 - - - - - - - - 16.05 - -
17782.07 392.97 7.12 2023 17783.40 VBD 1.58 - - 2525.31 - - - 2218.50 - 77.86 - - 2157.16 - - - - - - - - - - -
18082.12 373.47 6.43 2053 18087.69 done 1.62 - - 2524.88 - 3.47 0.131 3471.75 361.2 77.86 - - 2158.69 - - - - - - - - - 16.06 -
18267.20 360.01 7.23 2090 18271.71 done 1.65 - - 2525.38 - 3.17 0.063 2178.62 -407.9 77.86 - - 2159.50 - - - - - - - - - 16.06 -
18577.23 340.26 6.46 2122 18582.95 1.70 0.16 0.109 2561.00 222.6 3.97 0.143 736.44 -363.3 77.86 - - 2161.34 - - - - - - - - 16.05 16.04 -
18776.20 324.48 8.01 2162 18783.04 done 1.70 - - 2561.12 - 3.67 0.060 2220.12 404.3 77.86 - - 2157.78 - - - - - - - - - 16.07 -
19082.33 304.32 6.75 2193 19083.66 VBD 1.74 - - 2562.06 - - - 2220.38 - 77.86 - - 2156.62 - - - - - - - - - - -
19382.35 286.65 5.55 2223 19413.03 1.84 0.14 0.108 2595.75 240.6 - - 2220.62 - 113.56 28.33 1.436 2035.31 -4.3 0.144 - - - - - - 16.02 - 13.01
19712.40 254.21 10.62 2256 19717.97 roll 1.84 - - 2595.12 - 3.51 0.128 3470.69 356.1 113.56 - - 2030.09 - - - - - - - - - 15.93 -
19811.23 242.42 11.56 2276 19818.08 roll 1.84 - - 2595.44 - 3.18 0.061 2180.69 -405.7 113.56 - - 2031.66 - - - - - - - - - 15.97 -
20117.43 212.11 8.56 2307 20123.10 done 1.84 - - 2595.94 - 3.98 0.139 736.62 -362.8 113.56 - - 2029.53 - - - - - - - - - 15.97 -
20192.51 204.32 10.28 2322 20198.06 done 1.84 - - 2596.38 - 3.64 0.057 2221.88 408.0 113.56 - - 2026.59 - - - - - - - - - 15.97 -
20497.49 178.42 8.67 2353 20498.82 VBD 1.84 - - 2596.94 - - - 2221.12 - 113.56 - - 2028.59 - - - - - - - - - - -
20797.51 151.54 10.10 2383 20803.19 done 1.84 - - 2596.56 - 4.08 0.134 736.94 -363.8 113.56 - - 2030.84 - - - - - - - - - 16.00 -
20936.46 135.99 11.52 2411 20943.31 done 1.84 - - 2596.50 - 3.67 0.059 2221.50 404.5 113.56 - - 2027.97 - - - - - - - - - 16.02 -
21242.59 111.51 5.89 2442 21274.03 done 1.93 - - 2596.50 - 3.49 0.123 3472.06 358.3 144.33 26.44 1.224 1910.47 -4.4 0.068 - - - - - - - 15.86 12.95
21432.62 95.78 8.12 2480 21438.30 roll 1.93 - - 2596.44 - 3.18 0.057 2179.56 -406.4 144.33 - - 1906.16 - - - - - - - - - 15.91 -
21617.68 82.81 6.23 2517 21619.14 pitch 1.99 0.15 0.111 2629.19 218.3 - - 2179.50 - 144.33 - - 1906.84 - - - - - - - - 15.93 - -
21797.74 75.07 3.99 2553 21854.14 2.16 0.22 0.092 2673.88 203.1 4.03 0.136 736.56 -358.0 202.33 47.71 1.191 1674.38 -4.9 0.052 - - - - - - 15.94 15.72 12.96
21942.79 61.26 14.26 2582 21948.56 roll 2.16 - - 2673.69 - 3.72 0.056 2221.38 399.1 202.33 - - 1671.25 - - - - - - - - - 15.79 -
22127.85 43.93 7.69 2619 22133.71 roll 2.16 - - 2673.50 - 3.48 0.120 3472.19 359.4 202.33 - - 1667.69 - - - - - - - - - 15.83 -
22357.95 40.59 1.34 2665 22440.27 2.45 0.38 0.075 2741.38 178.6 3.19 0.055 2176.81 -406.1 298.13 76.86 1.131 1285.03 -5.0 0.030 - - - - - - 15.84 15.88 12.91
22618.08 17.42 13.55 2717 22623.92 roll 2.45 - - 2742.19 - 4.07 0.136 737.56 -353.6 298.13 - - 1278.34 - - - - - - - - - 15.70 -
22713 end climb: SURFACE_DEPTH_REACHED
22713 begin surface coast
22723 end surface coast: CONTROL_FINISHED_OK
22723 begin surface
SM 0.49 - - - - 172.9 0.10 0.207 768.5 7685.0 16.66 0.078 766.4 46.0 - 3.42 0.054 770.6 224.1 -0.208 - - 15.44 15.73 15.78 -