NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 233 * Raw log
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• Previous call tries 1 • 73.25 of 575.00 AH used of 24V (87.26% remains)
• Surface angle -60.7 deg, depth 0.89 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.10 (SM_CC=425)
• GPS1 time: 31 s
• GPS2 time: 2 s • Transponder ping count: 3
• 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
6.73 - - - 84.77 VBD -1.25 - - 174.06 - - - 2125.94 - -77.86 77.48 0.005 2497.06 - - - - - - - - - - 15.60
85.03 3.43 -3.83 15 116.79 -1.25 13.65 0.255 1835.62 121.7 3.78 0.118 3473.94 356.6 -77.86 7.96 0.008 2816.28 40.1 -2.852 - - - - - - 15.62 15.60 15.64
134.54 15.73 -24.21 25 140.30 roll -1.25 - - 1835.94 - 3.56 0.059 2084.44 -390.3 -77.86 - - 2816.47 - - - - - - - - - 15.71 -
319.60 53.92 -20.89 62 325.40 roll -1.25 - - 1835.75 - 3.86 0.113 3473.00 359.7 -77.86 - - 2816.88 - - - - - - - - - 15.78 -
374.62 63.71 -16.84 73 380.36 roll -1.25 - - 1835.69 - 3.52 0.058 2084.69 -394.4 -77.86 - - 2816.56 - - - - - - - - - 15.80 -
559.65 90.10 -13.72 110 565.46 roll -1.25 - - 1835.38 - 3.83 0.112 3473.50 362.6 -77.86 - - 2818.31 - - - - - - - - - 15.85 -
709.68 111.70 -13.00 140 715.29 roll -1.25 - - 1835.50 - 3.53 0.060 2083.50 -393.8 -77.86 - - 2815.91 - - - - - - - - - 15.87 -
1014.75 145.41 -11.67 171 1016.08 no move -1.25 - - 1835.44 - - - 2083.12 - -77.86 - - 2818.22 - - - - - - - - - - -
1314.81 179.84 -12.09 201 1316.14 no move -1.25 - - 1835.56 - - - 2083.25 - -77.86 - - 2818.31 - - - - - - - - - - -
1614.88 214.38 -10.50 231 1616.20 no move -1.25 - - 1835.62 - - - 2082.62 - -77.86 - - 2818.69 - - - - - - - - - - -
1914.95 244.11 -9.55 261 1916.28 no move -1.25 - - 1835.88 - - - 2083.12 - -77.86 - - 2818.22 - - - - - - - - - - -
2215.01 271.76 -9.14 291 2220.74 roll -1.25 - - 1835.88 - 3.82 0.121 3474.06 364.1 -77.86 - - 2817.06 - - - - - - - - - 16.02 -
2290.12 280.22 -11.02 306 2295.72 roll -1.25 - - 1835.56 - 3.55 0.064 2084.69 -391.4 -77.86 - - 2818.56 - - - - - - - - - 16.02 -
2595.11 312.15 -10.16 337 2596.43 no move -1.25 - - 1835.62 - - - 2083.69 - -77.86 - - 2818.22 - - - - - - - - - - -
2895.17 344.23 -11.16 367 2900.90 roll -1.25 - - 1835.38 - 3.83 0.121 3474.12 363.0 -77.86 - - 2816.09 - - - - - - - - - 16.04 -
2960.21 351.83 -11.88 380 2964.87 roll -1.25 - - 1835.88 - 3.53 0.065 2084.62 -393.6 -77.86 - - 2819.22 - - - - - - - - - 16.05 -
3270.25 383.63 -9.94 412 3271.58 no move -1.25 - - 1835.56 - - - 2084.19 - -77.86 - - 2816.09 - - - - - - - - - - -
3570.28 414.52 -10.39 442 3571.60 no move -1.25 - - 1835.50 - - - 2084.62 - -77.86 - - 2817.62 - - - - - - - - - - -
3870.31 445.57 -10.41 472 3876.04 roll -1.25 - - 1835.75 - 3.83 0.124 3471.75 362.2 -77.86 - - 2816.22 - - - - - - - - - 16.07 -
3905.33 449.60 -11.67 479 3909.99 roll -1.25 - - 1834.38 - 3.53 0.065 2083.81 -393.2 -77.86 - - 2819.28 - - - - - - - - - 16.06 -
4215.36 481.95 -10.65 511 4216.69 no move -1.25 - - 1836.00 - - - 2083.94 - -77.86 - - 2816.81 - - - - - - - - - - -
4515.39 511.75 -9.14 541 4521.12 roll -1.25 - - 1836.12 - 3.81 0.127 3471.12 364.1 -77.86 - - 2814.28 - - - - - - - - - 16.07 -
4590.47 519.81 -10.40 556 4596.08 roll -1.25 - - 1835.62 - 3.56 0.068 2085.38 -389.3 -77.86 - - 2816.50 - - - - - - - - - 16.07 -
4895.43 548.25 -9.29 587 4896.76 no move -1.25 - - 1835.94 - - - 2085.88 - -77.86 - - 2815.34 - - - - - - - - - - -
5195.46 576.32 -9.35 617 5196.79 no move -1.25 - - 1836.00 - - - 2085.44 - -77.86 - - 2813.50 - - - - - - - - - - -
5495.51 603.64 -8.84 647 5496.84 no move -1.25 - - 1835.50 - - - 2085.75 - -77.86 - - 2812.69 - - - - - - - - - - -
5795.55 630.49 -8.83 677 5796.88 no move -1.25 - - 1836.19 - - - 2085.88 - -77.86 - - 2813.31 - - - - - - - - - - -
6095.59 657.11 -9.49 707 6101.46 roll -1.25 - - 1835.50 - 3.85 0.131 3473.19 360.3 -77.86 - - 2813.75 - - - - - - - - - 16.08 -
6160.61 663.70 -10.11 720 6166.27 roll -1.25 - - 1835.56 - 3.56 0.073 2086.44 -389.5 -77.86 - - 2812.56 - - - - - - - - - 16.09 -
6465.64 691.66 -8.67 751 6466.97 no move -1.25 - - 1835.75 - - - 2086.75 - -77.86 - - 2811.03 - - - - - - - - - - -
6765.66 718.03 -8.37 781 6766.99 no move -1.25 - - 1835.44 - - - 2086.50 - -77.86 - - 2811.56 - - - - - - - - - - -
7065.71 743.15 -8.01 811 7067.03 no move -1.25 - - 1834.81 - - - 2086.25 - -77.86 - - 2814.53 - - - - - - - - - - -
7365.78 767.36 -8.53 841 7367.11 no move -1.25 - - 1835.31 - - - 2086.25 - -77.86 - - 2810.84 - - - - - - - - - - -
7665.84 792.29 -8.36 871 7667.17 no move -1.25 - - 1835.50 - - - 2086.00 - -77.86 - - 2809.94 - - - - - - - - - - -
7965.91 818.21 -9.02 901 7967.24 no move -1.25 - - 1835.88 - - - 2086.56 - -77.86 - - 2810.34 - - - - - - - - - - -
8265.97 843.70 -8.55 931 8272.09 roll -1.25 - - 1835.56 - 3.86 0.137 3472.12 359.0 -77.86 - - 2813.12 - - - - - - - - - 16.09 -
8324.92 849.76 -10.38 943 8331.90 roll -1.25 - - 1835.12 - 3.57 0.077 2085.25 -388.5 -77.86 - - 2812.31 - - - - - - - - - 16.09 -
8631.06 875.82 -8.12 974 8632.39 no move -1.25 - - 1835.69 - - - 2086.25 - -77.86 - - 2810.44 - - - - - - - - - - -
8931.13 900.17 -8.00 1004 8932.46 no move -1.25 - - 1835.38 - - - 2086.38 - -77.86 - - 2809.22 - - - - - - - - - - -
9231.20 923.57 -8.28 1034 9236.98 roll -1.25 - - 1835.44 - 4.13 0.189 664.62 -344.3 -77.86 - - 2807.53 - - - - - - - - - 16.05 -
9286.28 928.06 -10.15 1045 9291.92 roll -1.25 - - 1834.06 - 3.73 0.074 2113.12 388.3 -77.86 - - 2811.81 - - - - - - - - - 16.09 -
9591.25 949.11 -6.41 1076 9592.58 no move -1.25 - - 1835.50 - - - 2113.12 - -77.86 - - 2809.47 - - - - - - - - - - -
9891.29 969.46 -7.21 1106 9897.06 roll -1.25 - - 1835.56 - 4.20 0.184 664.75 -344.8 -77.86 - - 2807.44 - - - - - - - - - 16.05 -
9990.22 978.15 -9.53 1126 9997.09 roll -1.25 - - 1835.00 - 3.75 0.075 2113.50 386.3 -77.86 - - 2811.16 - - - - - - - - - 16.09 -
10177 end dive: TARGET_DEPTH_EXCEEDED
10177 begin apogee
10177.62 990.12 -6.77 1145 10247.81 -0.25 1.73 0.149 2079.69 141.4 0.07 0.308 2185.50 1028.6 - 64.32 2.296 2501.62 -4.8 0.344 - - - - - - 16.03 15.59 12.84
10251 end apogee: CONTROL_FINISHED_OK
10251 begin climb
10250.49 992.07 - 1152 10328.42 1.25 2.48 0.093 2449.44 149.1 - - 2185.31 - 77.86 71.58 2.233 2181.62 -4.5 0.329 - - - - - - 15.63 - 12.85
10626.37 956.80 10.00 1190 10627.70 VBD 1.25 - - 2448.81 - - - 2185.81 - 77.86 - - 2168.50 - - - - - - - - - - -
10926.39 927.06 8.82 1220 10927.72 VBD 1.25 - - 2448.00 - - - 2186.19 - 77.86 - - 2166.09 - - - - - - - - - - -
11226.42 897.36 10.98 1250 11227.75 VBD 1.25 - - 2449.12 - - - 2186.06 - 77.86 - - 2164.69 - - - - - - - - - - -
11526.45 870.69 9.05 1280 11527.79 VBD 1.25 - - 2448.12 - - - 2185.44 - 77.86 - - 2165.19 - - - - - - - - - - -
11826.49 843.51 9.27 1310 11832.25 done 1.25 - - 2448.69 - 3.62 0.135 3471.88 355.4 77.86 - - 2163.56 - - - - - - - - - 15.94 -
11905.41 834.85 10.54 1326 11912.22 done 1.25 - - 2448.75 - 3.30 0.066 2184.69 -390.1 77.86 - - 2164.12 - - - - - - - - - 15.94 -
12211.54 807.21 8.27 1357 12217.30 done 1.25 - - 2448.62 - 3.64 0.131 3472.50 353.8 77.86 - - 2164.72 - - - - - - - - - 15.97 -
12336.56 796.06 8.92 1382 12341.11 done 1.25 - - 2448.69 - 3.29 0.064 2184.12 -391.6 77.86 - - 2163.47 - - - - - - - - - 15.97 -
12646.62 771.00 7.31 1414 12652.36 done 1.27 - - 2448.69 - 3.62 0.130 3472.56 355.9 77.86 - - 2160.81 - - - - - - - - - 15.99 -
12701.63 766.88 8.40 1425 12706.19 done 1.27 - - 2449.06 - 3.28 0.062 2185.12 -392.5 77.86 - - 2165.25 - - - - - - - - - 16.00 -
13011.65 743.85 7.90 1457 13012.98 VBD 1.27 - - 2448.62 - - - 2184.50 - 77.86 - - 2161.41 - - - - - - - - - - -
13311.69 719.89 7.47 1487 13313.02 VBD 1.29 - - 2448.75 - - - 2185.00 - 77.86 - - 2160.81 - - - - - - - - - - -
13611.73 694.65 8.68 1517 13613.06 VBD 1.29 - - 2448.62 - - - 2185.00 - 77.86 - - 2160.28 - - - - - - - - - - -
13911.79 670.58 8.39 1547 13917.40 done 1.29 - - 2448.94 - 3.59 0.130 3472.19 358.5 77.86 - - 2162.09 - - - - - - - - - 16.03 -
14046.85 658.46 9.30 1574 14051.39 done 1.29 - - 2448.44 - 3.27 0.062 2184.25 -393.9 77.86 - - 2162.78 - - - - - - - - - 16.04 -
14356.93 636.48 6.62 1606 14358.26 VBD 1.33 - - 2449.19 - - - 2184.12 - 77.86 - - 2161.62 - - - - - - - - - - -
14657.00 615.96 7.14 1636 14658.33 VBD 1.36 - - 2449.12 - - - 2184.19 - 77.86 - - 2159.62 - - - - - - - - - - -
14957.05 595.58 6.05 1666 14981.96 1.45 0.25 0.097 2500.06 203.8 - - 2184.38 - 106.45 23.43 1.769 2062.94 -4.1 0.230 - - - - - - 16.04 - 12.89
15277.10 564.44 10.14 1698 15278.43 no move 1.45 - - 2500.19 - - - 2183.88 - 106.45 - - 2058.88 - - - - - - - - - - -
15577.17 534.52 10.29 1728 15583.05 roll 1.45 - - 2499.25 - 3.60 0.128 3471.44 357.7 106.45 - - 2060.72 - - - - - - - - - 15.98 -
15622.21 530.03 10.63 1737 15626.73 roll 1.45 - - 2500.12 - 3.29 0.060 2182.62 -391.7 106.45 - - 2061.09 - - - - - - - - - 15.98 -
15932.84 500.19 8.80 1769 15938.11 roll 1.45 - - 2500.00 - 3.60 0.126 3470.25 357.7 106.45 - - 2057.34 - - - - - - - - - 16.00 -
16001.10 492.66 9.95 1783 16008.09 roll 1.45 - - 2500.38 - 3.24 0.059 2183.50 -397.1 106.45 - - 2059.09 - - - - - - - - - 15.99 -
16307.28 462.85 9.80 1814 16308.61 no move 1.45 - - 2500.06 - - - 2183.00 - 106.45 - - 2059.25 - - - - - - - - - - -
16607.31 433.06 9.34 1844 16608.64 no move 1.45 - - 2500.31 - - - 2182.94 - 106.45 - - 2057.16 - - - - - - - - - - -
16907.35 406.35 8.74 1874 16912.08 roll 1.45 - - 2500.06 - 3.57 0.124 3471.75 361.0 106.45 - - 2058.19 - - - - - - - - - 16.01 -
17021.21 394.66 11.07 1897 17028.08 roll 1.45 - - 2500.38 - 3.24 0.059 2183.31 -397.7 106.45 - - 2060.31 - - - - - - - - - 16.03 -
17327.42 370.35 8.05 1928 17333.30 done 1.45 - - 2499.19 - 4.07 0.143 735.94 -355.6 106.45 - - 2060.47 - - - - - - - - - 16.00 -
17436.28 359.74 9.75 1950 17443.21 done 1.45 - - 2500.56 - 3.66 0.052 2220.44 405.6 106.45 - - 2057.41 - - - - - - - - - 16.04 -
17742.47 336.49 7.90 1981 17743.81 VBD 1.45 - - 2500.50 - - - 2219.62 - 106.45 - - 2054.81 - - - - - - - - - - -
18042.51 314.10 7.65 2011 18048.36 done 1.45 - - 2500.50 - 4.16 0.137 736.50 -356.5 106.45 - - 2054.50 - - - - - - - - - 16.01 -
18087.53 309.77 9.86 2020 18093.14 done 1.45 - - 2499.94 - 3.69 0.053 2222.00 402.6 106.45 - - 2056.72 - - - - - - - - - 16.05 -
18392.56 284.26 8.01 2051 18393.89 VBD 1.45 - - 2500.31 - - - 2221.81 - 106.45 - - 2054.72 - - - - - - - - - - -
18692.60 260.79 7.03 2081 18693.93 VBD 1.48 - - 2500.12 - - - 2222.06 - 106.45 - - 2056.25 - - - - - - - - - - -
18992.63 239.36 6.84 2111 18993.97 VBD 1.51 - - 2500.12 - - - 2221.94 - 106.45 - - 2055.28 - - - - - - - - - - -
19292.70 217.94 7.44 2141 19297.50 done 1.53 - - 2500.06 - 3.45 0.121 3472.25 362.4 106.45 - - 2056.94 - - - - - - - - - 16.05 -
19492.72 201.39 8.30 2181 19497.26 done 1.53 - - 2500.00 - 3.23 0.055 2179.50 -400.2 106.45 - - 2057.28 - - - - - - - - - 16.05 -
19802.79 181.41 5.77 2213 19836.27 1.63 0.22 0.091 2543.19 196.3 4.07 0.137 736.00 -354.7 139.00 27.74 1.314 1931.16 -4.5 0.104 - - - - - - 16.03 15.86 12.85
19854.04 177.47 7.37 2221 19859.67 roll 1.65 - - 2543.50 - 3.72 0.053 2221.25 399.3 139.00 - - 1928.34 - - - - - - - - - 15.94 -
20159.10 148.57 9.47 2252 20163.73 roll 1.65 - - 2542.06 - 3.47 0.119 3472.31 360.5 139.00 - - 1928.41 - - - - - - - - - 15.94 -
20253.03 138.81 10.49 2271 20259.83 roll 1.65 - - 2543.50 - 3.23 0.055 2181.62 -399.6 139.00 - - 1926.88 - - - - - - - - - 15.96 -
20559.20 116.58 5.77 2302 20594.04 done 1.75 - - 2543.12 - 3.59 0.117 3471.19 359.2 171.53 27.73 1.225 1799.69 -4.6 0.072 - - - - - - - 15.82 12.98
20819.34 94.29 9.00 2354 20824.97 roll 1.75 - - 2543.88 - 3.24 0.053 2180.38 -398.4 171.53 - - 1794.91 - - - - - - - - - 15.91 -
21004.31 84.94 4.01 2391 21060.75 1.92 0.39 0.076 2614.44 180.9 4.12 0.136 736.31 -350.5 229.21 47.09 1.197 1564.47 -4.9 0.058 - - - - - - 15.91 15.69 12.85
21154.33 75.47 6.58 2421 21160.10 roll 1.97 - - 2614.75 - 3.72 0.050 2222.44 399.5 229.21 - - 1560.50 - - - - - - - - - 15.79 -
21339.37 70.40 2.74 2458 21406.77 2.19 0.37 0.075 2682.06 181.9 3.56 0.117 3471.88 351.0 305.07 60.13 1.166 1255.44 -5.1 0.051 - - - - - - 15.82 15.57 12.82
21629.59 34.96 15.27 2516 21635.29 roll 2.19 - - 2681.31 - 3.29 0.054 2184.38 -391.3 305.07 - - 1249.31 - - - - - - - - - 15.74 -
21814.62 7.61 15.34 2553 21815.96 VBD 2.19 - - 2681.44 - - - 2184.00 - 305.07 - - 1248.28 - - - - - - - - - - -
21855 end climb: SURFACE_DEPTH_REACHED
21855 begin surface coast
21865 end surface coast: CONTROL_FINISHED_OK
21865 begin surface
SM 0.71 - - - - 174.2 98.44 1.079 767.0 7.8 15.95 0.065 776.0 48.7 - 0.23 0.103 758.0 3295.7 -2.322 - - 12.88 15.78 15.82 -