NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 270 * Raw log
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• Previous call tries 2 • 84.58 of 575.00 AH used of 24V (85.29% remains)
• Surface angle -62.7 deg, depth 1.12 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.71 (SM_CC=425)
• GPS1 time: 21 s
• GPS2 time: 2 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
6.71 - - - 84.89 VBD -1.25 - - 173.50 - - - 2115.50 - -77.86 77.60 0.005 2485.81 - - - - - - - - - - 15.60
85.16 3.39 -3.88 15 116.85 -1.25 13.64 0.260 1835.94 121.9 3.69 0.117 3474.50 368.3 -77.86 8.31 0.007 2816.19 39.8 -3.248 - - - - - - 15.62 15.59 15.65
289.65 49.89 -22.81 56 295.40 roll -1.25 - - 1836.06 - 3.43 0.061 2082.75 -405.8 -77.86 - - 2817.12 - - - - - - - - - 15.79 -
474.71 84.50 -14.71 93 480.49 roll -1.25 - - 1836.06 - 3.73 0.112 3472.94 372.7 -77.86 - - 2816.78 - - - - - - - - - 15.84 -
704.81 117.98 -13.01 139 709.46 roll -1.25 - - 1836.12 - 3.40 0.057 2081.75 -409.2 -77.86 - - 2816.62 - - - - - - - - - 15.88 -
1014.86 156.14 -12.12 171 1020.63 roll -1.25 - - 1835.25 - 3.71 0.112 3474.81 375.5 -77.86 - - 2816.59 - - - - - - - - - 15.93 -
1199.94 177.44 -11.06 208 1204.49 roll -1.25 - - 1835.69 - 3.37 0.057 2081.25 -413.5 -77.86 - - 2817.62 - - - - - - - - - 15.95 -
1509.98 209.70 -10.58 240 1515.74 roll -1.25 - - 1836.06 - 3.71 0.114 3474.50 375.5 -77.86 - - 2819.69 - - - - - - - - - 15.98 -
1558.85 215.17 -11.58 250 1565.71 roll -1.25 - - 1835.94 - 3.36 0.059 2080.69 -414.8 -77.86 - - 2820.12 - - - - - - - - - 15.97 -
1865.03 245.48 -9.96 281 1870.80 roll -1.25 - - 1835.81 - 3.71 0.116 3473.12 375.3 -77.86 - - 2818.84 - - - - - - - - - 16.00 -
1940.05 253.80 -11.36 296 1944.61 roll -1.25 - - 1835.75 - 3.34 0.060 2081.25 -416.7 -77.86 - - 2818.31 - - - - - - - - - 16.00 -
2250.07 286.89 -10.54 328 2255.82 roll -1.25 - - 1835.75 - 3.67 0.115 3473.50 379.4 -77.86 - - 2816.25 - - - - - - - - - 16.02 -
2328.95 296.42 -12.45 344 2335.80 roll -1.25 - - 1836.25 - 3.35 0.060 2080.19 -415.9 -77.86 - - 2817.91 - - - - - - - - - 16.01 -
2635.10 328.01 -9.73 375 2636.43 no move -1.25 - - 1835.62 - - - 2079.56 - -77.86 - - 2818.38 - - - - - - - - - - -
2935.12 357.92 -9.38 405 2936.45 no move -1.25 - - 1836.44 - - - 2080.00 - -77.86 - - 2816.31 - - - - - - - - - - -
3235.14 388.18 -10.57 435 3240.78 roll -1.25 - - 1835.19 - 3.70 0.120 3473.00 376.5 -77.86 - - 2818.88 - - - - - - - - - 16.05 -
3274.01 392.07 -10.06 443 3280.87 roll -1.25 - - 1835.88 - 3.35 0.063 2081.12 -415.5 -77.86 - - 2818.25 - - - - - - - - - 16.05 -
3580.17 420.35 -8.16 474 3581.50 no move -1.25 - - 1835.94 - - - 2080.69 - -77.86 - - 2817.69 - - - - - - - - - - -
3880.19 446.41 -8.51 504 3881.52 no move -1.25 - - 1835.69 - - - 2080.69 - -77.86 - - 2817.22 - - - - - - - - - - -
4180.21 473.69 -9.00 534 4181.54 no move -1.25 - - 1836.06 - - - 2080.62 - -77.86 - - 2814.94 - - - - - - - - - - -
4480.23 501.25 -8.96 564 4481.56 no move -1.25 - - 1835.69 - - - 2081.06 - -77.86 - - 2816.75 - - - - - - - - - - -
4780.26 528.51 -9.42 594 4786.03 roll -1.25 - - 1833.75 - 3.75 0.124 3472.50 371.1 -77.86 - - 2815.62 - - - - - - - - - 16.07 -
4885.27 538.80 -9.40 615 4889.99 roll -1.25 - - 1835.38 - 3.40 0.067 2082.75 -408.8 -77.86 - - 2816.12 - - - - - - - - - 16.07 -
5195.30 567.69 -9.16 647 5201.11 roll -1.25 - - 1835.56 - 3.98 0.174 663.62 -356.6 -77.86 - - 2813.91 - - - - - - - - - 16.03 -
5284.29 577.86 -11.34 665 5291.04 roll -1.25 - - 1835.62 - 3.50 0.059 2118.62 415.7 -77.86 - - 2815.56 - - - - - - - - - 16.07 -
5590.33 607.51 -9.27 696 5596.16 roll -1.25 - - 1835.44 - 4.09 0.168 663.31 -355.8 -77.86 - - 2813.16 - - - - - - - - - 16.04 -
5665.42 615.85 -10.87 711 5670.96 roll -1.25 - - 1836.12 - 3.48 0.058 2120.12 418.6 -77.86 - - 2815.41 - - - - - - - - - 16.07 -
5970.37 643.97 -9.37 742 5975.11 roll -1.25 - - 1833.94 - 3.62 0.126 3474.38 374.1 -77.86 - - 2814.94 - - - - - - - - - 16.05 -
6054.24 652.90 -11.87 759 6061.10 roll -1.25 - - 1835.38 - 3.40 0.066 2084.50 -408.8 -77.86 - - 2815.09 - - - - - - - - - 16.08 -
6360.40 678.24 -7.36 790 6366.24 roll -1.25 - - 1835.06 - 4.03 0.176 663.44 -352.6 -77.86 - - 2813.50 - - - - - - - - - 16.04 -
6439.41 686.32 -9.97 806 6446.15 roll -1.25 - - 1835.38 - 3.49 0.061 2120.38 417.5 -77.86 - - 2814.84 - - - - - - - - - 16.07 -
6745.44 710.87 -8.29 837 6750.19 roll -1.25 - - 1835.56 - 3.59 0.127 3473.94 377.0 -77.86 - - 2813.66 - - - - - - - - - 16.05 -
6829.32 719.37 -10.80 854 6836.17 roll -1.25 - - 1834.75 - 3.39 0.067 2083.69 -410.1 -77.86 - - 2814.22 - - - - - - - - - 16.07 -
7135.48 745.69 -9.06 885 7141.17 roll -1.25 - - 1835.69 - 4.05 0.176 663.88 -350.6 -77.86 - - 2813.31 - - - - - - - - - 16.03 -
7190.52 751.40 -10.43 896 7196.08 roll -1.25 - - 1835.06 - 3.49 0.061 2118.81 416.9 -77.86 - - 2812.09 - - - - - - - - - 16.07 -
7495.52 778.34 -8.99 927 7500.38 roll -1.25 - - 1834.88 - 3.60 0.127 3472.69 376.1 -77.86 - - 2811.75 - - - - - - - - - 16.05 -
7529.37 781.91 -10.18 934 7536.38 roll -1.25 - - 1835.19 - 3.37 0.067 2084.81 -411.8 -77.86 - - 2813.25 - - - - - - - - - 16.07 -
7835.56 808.90 -9.27 965 7836.89 no move -1.25 - - 1836.00 - - - 2084.31 - -77.86 - - 2812.62 - - - - - - - - - - -
8135.61 834.43 -8.67 995 8136.94 no move -1.25 - - 1835.94 - - - 2084.06 - -77.86 - - 2812.59 - - - - - - - - - - -
8435.66 860.85 -8.02 1025 8436.99 no move -1.25 - - 1836.00 - - - 2084.56 - -77.86 - - 2810.28 - - - - - - - - - - -
8735.71 886.38 -8.52 1055 8737.04 no move -1.25 - - 1835.31 - - - 2084.69 - -77.86 - - 2811.88 - - - - - - - - - - -
9035.76 910.80 -8.26 1085 9037.09 no move -1.25 - - 1835.38 - - - 2084.81 - -77.86 - - 2811.78 - - - - - - - - - - -
9335.81 935.49 -9.63 1115 9341.51 roll -1.25 - - 1835.50 - 4.05 0.185 663.69 -350.9 -77.86 - - 2812.97 - - - - - - - - - 16.03 -
9384.83 940.01 -10.98 1125 9391.58 roll -1.25 - - 1836.06 - 3.52 0.068 2117.56 413.0 -77.86 - - 2811.25 - - - - - - - - - 16.07 -
9690.90 963.46 -6.00 1156 9696.72 roll -1.25 - - 1835.88 - 4.18 0.181 663.62 -347.8 -77.86 - - 2810.09 - - - - - - - - - 16.03 -
9735.91 968.45 -10.85 1165 9741.50 roll -1.25 - - 1835.69 - 3.55 0.067 2116.69 409.3 -77.86 - - 2809.78 - - - - - - - - - 16.07 -
10020 end dive: TARGET_DEPTH_EXCEEDED
10020 begin apogee
10022.18 990.78 -7.97 1194 10092.46 -0.25 1.73 0.157 2080.50 141.5 0.07 0.315 2186.00 990.1 - 64.97 2.284 2498.47 -4.8 0.351 - - - - - - 16.01 15.59 12.85
10093 end apogee: CONTROL_FINISHED_OK
10094 begin climb
10094.07 992.19 - 1201 10174.89 1.25 2.48 0.097 2447.88 148.1 4.24 0.155 737.69 -341.6 77.86 71.87 2.227 2179.78 -4.4 0.333 - - - - - - 15.61 15.23 12.83
10226.51 982.55 12.04 1227 10233.44 roll 1.25 - - 2446.81 - 3.73 0.058 2215.12 396.1 77.86 - - 2174.91 - - - - - - - - - 15.44 -
10532.92 953.45 9.21 1258 10538.28 done 1.25 - - 2447.06 - 3.48 0.133 3471.62 361.1 77.86 - - 2169.12 - - - - - - - - - 15.69 -
10567.72 949.60 9.84 1265 10572.26 done 1.25 - - 2448.44 - 3.22 0.063 2182.44 -400.4 77.86 - - 2169.16 - - - - - - - - - 15.72 -
10877.77 920.18 10.64 1297 10883.60 done 1.25 - - 2449.12 - 4.07 0.155 736.75 -355.2 77.86 - - 2165.62 - - - - - - - - - 15.76 -
10946.78 911.49 12.53 1311 10953.56 done 1.25 - - 2448.88 - 3.57 0.058 2216.25 414.4 77.86 - - 2165.25 - - - - - - - - - 15.83 -
11252.84 882.70 8.89 1342 11257.42 done 1.25 - - 2448.94 - 3.43 0.133 3473.44 366.5 77.86 - - 2163.66 - - - - - - - - - 15.87 -
11316.72 876.20 9.68 1355 11323.56 done 1.25 - - 2448.81 - 3.17 0.063 2182.38 -407.3 77.86 - - 2164.81 - - - - - - - - - 15.89 -
11622.92 847.54 9.37 1386 11624.25 VBD 1.25 - - 2449.19 - - - 2182.25 - 77.86 - - 2161.88 - - - - - - - - - - -
11922.97 821.79 7.89 1416 11928.95 done 1.25 - - 2448.94 - 4.03 0.153 736.38 -358.8 77.86 - - 2162.88 - - - - - - - - - 15.93 -
11948.21 819.66 8.24 1421 11953.73 done 1.25 - - 2448.25 - 3.58 0.056 2218.19 413.9 77.86 - - 2160.38 - - - - - - - - - 15.96 -
12253.03 793.13 9.01 1452 12257.60 done 1.25 - - 2448.69 - 3.42 0.133 3473.56 367.1 77.86 - - 2162.41 - - - - - - - - - 15.97 -
12363.13 782.09 11.87 1474 12367.59 done 1.25 - - 2448.25 - 3.16 0.063 2182.62 -408.5 77.86 - - 2163.31 - - - - - - - - - 15.98 -
12673.09 755.28 9.20 1506 12674.43 VBD 1.25 - - 2448.56 - - - 2182.88 - 77.86 - - 2160.97 - - - - - - - - - - -
12973.14 730.79 8.10 1536 12978.97 done 1.25 - - 2448.94 - 4.01 0.151 736.38 -360.7 77.86 - - 2160.12 - - - - - - - - - 15.98 -
13028.22 725.75 9.44 1547 13033.90 done 1.25 - - 2449.38 - 3.55 0.056 2218.88 417.6 77.86 - - 2160.06 - - - - - - - - - 16.00 -
13333.20 699.96 7.91 1578 13334.53 VBD 1.25 - - 2448.75 - - - 2219.44 - 77.86 - - 2159.88 - - - - - - - - - - -
13633.24 676.58 7.59 1608 13639.13 done 1.25 - - 2446.62 - 4.08 0.146 736.12 -363.6 77.86 - - 2160.94 - - - - - - - - - 16.00 -
13688.45 671.65 8.31 1619 13693.99 done 1.25 - - 2447.00 - 3.54 0.055 2220.12 419.2 77.86 - - 2159.97 - - - - - - - - - 16.02 -
13993.29 647.21 7.81 1650 13999.12 done 1.25 - - 2448.81 - 4.03 0.144 736.50 -368.1 77.86 - - 2158.34 - - - - - - - - - 16.01 -
14088.31 638.02 9.77 1669 14093.92 done 1.25 - - 2446.25 - 3.53 0.054 2221.25 420.6 77.86 - - 2159.66 - - - - - - - - - 16.03 -
14393.36 613.06 7.92 1700 14397.91 done 1.25 - - 2448.69 - 3.37 0.127 3473.31 371.5 77.86 - - 2159.88 - - - - - - - - - 16.02 -
14423.36 610.67 7.73 1706 14427.89 done 1.25 - - 2447.00 - 3.12 0.057 2179.94 -414.5 77.86 - - 2160.56 - - - - - - - - - 16.02 -
14733.41 586.86 6.65 1738 14739.20 done 1.29 - - 2449.50 - 3.93 0.146 736.56 -367.3 77.86 - - 2159.06 - - - - - - - - - 16.02 -
14758.45 585.10 6.61 1743 14764.14 done 1.34 - - 2449.88 - 3.52 0.055 2221.88 422.0 77.86 - - 2157.62 - - - - - - - - - 16.03 -
15063.44 563.25 7.57 1774 15068.00 done 1.34 - - 2449.19 - 3.36 0.129 3474.44 372.8 77.86 - - 2161.28 - - - - - - - - - 16.02 -
15097.30 560.57 6.86 1781 15104.25 done 1.37 - - 2448.94 - 3.13 0.057 2180.62 -413.4 77.86 - - 2161.81 - - - - - - - - - 16.03 -
15403.49 539.69 7.14 1812 15409.34 1.40 0.19 0.113 2489.31 212.5 3.96 0.144 736.62 -364.6 77.86 - - 2158.84 - - - - - - - - 16.02 16.01 -
15552.43 525.48 10.30 1842 15559.26 done 1.40 - - 2489.00 - 3.54 0.054 2221.69 419.5 77.86 - - 2159.28 - - - - - - - - - 16.04 -
15858.57 501.12 7.81 1873 15864.33 done 1.40 - - 2486.94 - 4.05 0.140 736.62 -366.7 77.86 - - 2158.94 - - - - - - - - - 16.01 -
15887.50 498.03 8.47 1879 15894.33 done 1.40 - - 2489.31 - 3.51 0.054 2223.81 423.7 77.86 - - 2158.94 - - - - - - - - - 16.04 -
16193.62 474.17 8.19 1910 16198.31 done 1.40 - - 2489.25 - 3.30 0.123 3474.06 378.9 77.86 - - 2159.38 - - - - - - - - - 16.04 -
16283.68 466.42 8.55 1928 16288.18 done 1.40 - - 2489.56 - 3.12 0.056 2179.06 -415.1 77.86 - - 2160.78 - - - - - - - - - 16.03 -
16593.74 442.90 7.14 1960 16599.39 done 1.43 - - 2488.69 - 3.91 0.142 736.25 -369.0 77.86 - - 2156.53 - - - - - - - - - 16.01 -
16658.82 437.24 8.09 1973 16664.35 done 1.43 - - 2488.75 - 3.54 0.055 2222.81 419.9 77.86 - - 2156.38 - - - - - - - - - 16.05 -
16963.83 416.49 6.56 2004 16969.57 done 1.47 - - 2487.75 - 4.01 0.139 736.06 -370.8 77.86 - - 2156.97 - - - - - - - - - 16.03 -
17022.83 412.00 7.16 2016 17029.58 done 1.50 - - 2489.50 - 3.52 0.053 2222.81 422.4 77.86 - - 2157.69 - - - - - - - - - 16.04 -
17328.91 396.62 4.45 2047 17376.62 1.65 0.31 0.083 2549.06 192.1 3.39 0.124 3474.25 369.2 129.20 42.41 1.580 1970.84 -4.4 0.187 - - - - - - 16.04 15.78 12.79
17444.39 386.60 11.77 2070 17448.90 roll 1.65 - - 2549.88 - 3.15 0.056 2180.00 -410.9 129.20 - - 1967.94 - - - - - - - - - 15.85 -
17754.40 352.57 11.16 2102 17760.09 done 1.65 - - 2549.44 - 3.94 0.141 736.56 -366.4 129.20 - - 1964.34 - - - - - - - - - 15.89 -
17983.30 320.90 14.61 2148 17990.20 done 1.65 - - 2549.19 - 3.56 0.053 2222.94 417.5 129.20 - - 1964.38 - - - - - - - - - 15.92 -
18289.48 285.87 10.64 2179 18290.81 VBD 1.65 - - 2550.00 - - - 2223.31 - 129.20 - - 1963.22 - - - - - - - - - - -
18589.52 252.93 10.61 2209 18594.07 done 1.65 - - 2549.94 - 3.36 0.120 3472.19 371.7 129.20 - - 1962.88 - - - - - - - - - 15.97 -
18639.54 246.85 11.93 2219 18644.07 done 1.65 - - 2550.50 - 3.12 0.054 2178.62 -414.6 129.20 - - 1962.72 - - - - - - - - - 15.97 -
18949.61 215.27 9.74 2251 18954.21 done 1.65 - - 2549.94 - 3.46 0.116 3474.44 374.5 129.20 - - 1961.53 - - - - - - - - - 15.98 -
19009.64 208.09 12.54 2263 19014.27 done 1.65 - - 2549.56 - 3.10 0.053 2178.56 -418.0 129.20 - - 1962.22 - - - - - - - - - 15.99 -
19319.72 177.77 9.95 2295 19324.29 done 1.65 - - 2549.94 - 3.43 0.115 3473.06 377.4 129.20 - - 1963.78 - - - - - - - - - 15.94 -
19349.73 174.78 9.87 2301 19354.26 done 1.65 - - 2550.19 - 3.11 0.052 2177.12 -416.7 129.20 - - 1962.31 - - - - - - - - - 15.98 -
19659.80 144.28 9.03 2333 19664.38 done 1.65 - - 2550.00 - 3.42 0.114 3473.56 379.1 129.20 - - 1959.62 - - - - - - - - - 16.00 -
19719.83 138.47 8.99 2345 19724.33 done 1.65 - - 2550.56 - 3.10 0.051 2177.50 -418.1 129.20 - - 1962.12 - - - - - - - - - 16.01 -
20029.91 115.81 6.08 2377 20035.56 done 1.71 - - 2550.00 - 3.87 0.136 736.50 -372.4 129.20 - - 1960.59 - - - - - - - - - 15.99 -
20105.01 111.00 6.68 2392 20110.52 done 1.75 - - 2547.56 - 3.51 0.049 2226.38 424.5 129.20 - - 1961.44 - - - - - - - - - 16.00 -
20410.01 100.13 3.06 2423 20473.13 1.97 0.42 0.076 2626.88 188.9 3.34 0.119 3474.12 373.6 200.50 57.04 1.224 1680.91 -4.9 0.068 - - - - - - 15.99 15.74 12.82
20696.04 73.91 9.60 2480 20701.72 roll 1.97 - - 2626.88 - 3.14 0.053 2178.38 -412.7 200.50 - - 1675.62 - - - - - - - - - 15.85 -
20881.11 62.07 5.68 2517 20917.00 done 2.07 - - 2625.69 - 3.96 0.134 736.44 -364.1 234.35 27.93 1.122 1543.66 -4.7 0.044 - - - - - - - 15.71 12.83
21141.45 43.28 5.74 2569 21177.22 2.17 0.24 0.084 2674.50 203.4 3.56 0.050 2228.06 419.0 267.28 28.05 1.093 1409.12 -4.8 0.032 - - - - - - 15.80 15.83 12.81
21356.27 28.29 9.27 2612 21362.04 roll 2.17 - - 2673.88 - 4.05 0.128 736.31 -368.3 267.28 - - 1405.22 - - - - - - - - - 15.79 -
21421.28 20.07 13.03 2625 21426.96 roll 2.17 - - 2674.25 - 3.59 0.051 2223.81 414.3 267.28 - - 1405.44 - - - - - - - - - 15.80 -
21576 end climb: SURFACE_DEPTH_REACHED
21576 begin surface coast
21591 end surface coast: CONTROL_FINISHED_OK
21591 begin surface
SM 0.90 - - - - 179.3 2.05 0.244 768.6 374.9 15.90 0.060 772.1 48.6 - 0.33 0.084 765.1 2307.6 -2.527 - - 12.60 15.81 15.85 -