NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 560 * Raw log
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• Previous call tries 1 • 166.35 of 575.00 AH used of 24V (71.07% remains)
• Surface angle -58.7 deg, depth 0.29 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.75 (SM_CC=425)
• GPS1 time: 25 s
• GPS2 time: 2 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
7.34 - - - 81.64 VBD -1.25 - - 174.19 - - - 2136.50 - -77.86 73.69 0.005 2393.12 - - - - - - - - - - 15.05
81.91 3.11 -4.23 14 119.10 -1.25 14.78 0.256 1836.31 112.5 4.29 0.150 663.12 -343.4 -77.86 11.41 0.007 2816.28 37.1 -2.877 - - - - - - 15.25 15.03 15.18
146.85 13.88 -17.42 27 152.64 roll -1.25 - - 1836.00 - 3.65 0.051 2116.94 398.3 -77.86 - - 2816.59 - - - - - - - - - 15.51 -
331.96 47.18 -18.75 64 333.29 no move -1.25 - - 1835.81 - - - 2117.31 - -77.86 - - 2816.50 - - - - - - - - - - -
512.01 76.13 -11.45 100 517.81 roll -1.25 - - 1835.81 - 3.74 0.109 3474.38 362.9 -77.86 - - 2816.34 - - - - - - - - - 15.56 -
702.11 101.85 -12.50 138 706.76 roll -1.25 - - 1836.00 - 3.43 0.055 2080.88 -406.3 -77.86 - - 2817.19 - - - - - - - - - 15.67 -
1012.15 132.72 -10.16 170 1017.93 roll -1.25 - - 1835.56 - 4.04 0.148 663.31 -350.9 -77.86 - - 2814.97 - - - - - - - - - 15.53 -
1101.09 144.02 -12.70 188 1107.94 roll -1.25 - - 1835.50 - 3.56 0.046 2122.38 409.9 -77.86 - - 2817.06 - - - - - - - - - 15.73 -
1407.21 175.93 -10.69 219 1408.54 no move -1.25 - - 1835.50 - - - 2122.38 - -77.86 - - 2817.03 - - - - - - - - - - -
1707.24 207.23 -10.97 249 1708.56 no move -1.25 - - 1835.88 - - - 2122.50 - -77.86 - - 2816.88 - - - - - - - - - - -
2007.27 239.78 -10.99 279 2013.06 roll -1.25 - - 1836.00 - 4.18 0.147 661.06 -349.6 -77.86 - - 2815.00 - - - - - - - - - 15.56 -
2076.29 248.75 -13.42 293 2083.05 roll -1.25 - - 1836.00 - 3.58 0.051 2122.12 408.1 -77.86 - - 2816.88 - - - - - - - - - 15.78 -
2382.32 281.13 -10.36 324 2388.04 roll -1.25 - - 1835.25 - 3.73 0.112 3473.62 362.3 -77.86 - - 2815.28 - - - - - - - - - 15.64 -
2437.41 286.86 -11.16 335 2441.99 roll -1.25 - - 1835.88 - 3.41 0.055 2081.62 -408.2 -77.86 - - 2817.28 - - - - - - - - - 15.75 -
2747.36 316.49 -9.08 367 2748.69 no move -1.25 - - 1835.81 - - - 2080.50 - -77.86 - - 2816.53 - - - - - - - - - - -
3047.39 343.44 -9.76 397 3053.17 roll -1.25 - - 1836.31 - 4.03 0.150 662.06 -352.0 -77.86 - - 2817.28 - - - - - - - - - 15.56 -
3092.42 347.79 -10.54 406 3097.09 roll -1.25 - - 1835.75 - 3.55 0.049 2116.31 409.6 -77.86 - - 2815.69 - - - - - - - - - 15.79 -
3402.45 376.70 -9.81 438 3403.77 no move -1.25 - - 1835.44 - - - 2119.31 - -77.86 - - 2817.19 - - - - - - - - - - -
3702.47 405.46 -9.71 468 3703.80 no move -1.25 - - 1836.00 - - - 2119.50 - -77.86 - - 2817.00 - - - - - - - - - - -
4002.51 436.53 -10.02 498 4003.84 no move -1.25 - - 1835.88 - - - 2119.50 - -77.86 - - 2816.59 - - - - - - - - - - -
4302.55 466.46 -10.08 528 4303.88 no move -1.25 - - 1835.69 - - - 2119.19 - -77.86 - - 2815.69 - - - - - - - - - - -
4602.58 495.26 -9.02 558 4608.29 roll -1.25 - - 1835.56 - 3.80 0.119 3474.19 356.6 -77.86 - - 2815.44 - - - - - - - - - 15.62 -
4647.60 500.12 -12.03 567 4652.26 roll -1.25 - - 1835.81 - 3.43 0.062 2083.06 -405.6 -77.86 - - 2818.53 - - - - - - - - - 15.71 -
4957.63 528.07 -8.72 599 4958.96 no move -1.25 - - 1836.25 - - - 2083.38 - -77.86 - - 2815.94 - - - - - - - - - - -
5257.67 553.91 -9.00 629 5263.40 roll -1.25 - - 1835.75 - 3.89 0.118 3473.00 357.2 -77.86 - - 2813.31 - - - - - - - - - 15.61 -
5332.77 560.87 -9.42 644 5337.37 roll -1.25 - - 1835.50 - 3.43 0.062 2083.19 -405.2 -77.86 - - 2816.03 - - - - - - - - - 15.71 -
5642.76 588.52 -8.49 676 5644.09 no move -1.25 - - 1835.75 - - - 2083.12 - -77.86 - - 2815.06 - - - - - - - - - - -
5942.82 616.15 -9.35 706 5948.55 roll -1.25 - - 1835.69 - 3.88 0.118 3474.12 358.5 -77.86 - - 2816.72 - - - - - - - - - 15.59 -
6047.86 626.83 -10.07 727 6052.54 roll -1.25 - - 1835.81 - 3.46 0.064 2083.19 -402.0 -77.86 - - 2814.47 - - - - - - - - - 15.68 -
6357.93 654.76 -9.05 759 6359.26 no move -1.25 - - 1835.75 - - - 2082.25 - -77.86 - - 2813.09 - - - - - - - - - - -
6658.00 681.42 -8.56 789 6659.32 no move -1.25 - - 1835.75 - - - 2082.69 - -77.86 - - 2813.25 - - - - - - - - - - -
6958.06 708.12 -8.46 819 6963.81 roll -1.25 - - 1836.00 - 3.92 0.121 3473.12 354.7 -77.86 - - 2816.00 - - - - - - - - - 15.57 -
6993.09 711.50 -9.66 826 6997.74 roll -1.25 - - 1836.00 - 3.43 0.064 2083.38 -405.2 -77.86 - - 2813.56 - - - - - - - - - 15.67 -
7303.14 737.60 -7.34 858 7308.89 roll -1.25 - - 1834.81 - 3.91 0.120 3473.69 355.6 -77.86 - - 2811.94 - - - - - - - - - 15.56 -
7358.16 742.95 -9.20 869 7362.82 roll -1.25 - - 1836.12 - 3.42 0.063 2083.88 -406.4 -77.86 - - 2813.19 - - - - - - - - - 15.66 -
7668.19 768.30 -8.01 901 7673.94 roll -1.25 - - 1835.94 - 3.91 0.121 3471.88 355.0 -77.86 - - 2811.34 - - - - - - - - - 15.55 -
7723.22 773.01 -9.24 912 7727.86 roll -1.25 - - 1835.62 - 3.43 0.065 2085.69 -404.1 -77.86 - - 2813.03 - - - - - - - - - 15.64 -
8033.25 796.90 -7.25 944 8034.58 no move -1.25 - - 1835.75 - - - 2085.44 - -77.86 - - 2810.94 - - - - - - - - - - -
8333.27 819.32 -7.26 974 8339.02 roll -1.25 - - 1833.62 - 3.92 0.123 3472.56 353.9 -77.86 - - 2812.44 - - - - - - - - - 15.53 -
8382.28 823.75 -8.69 984 8389.03 roll -1.25 - - 1835.56 - 3.42 0.066 2085.69 -405.5 -77.86 - - 2814.53 - - - - - - - - - 15.62 -
8688.32 846.80 -7.40 1015 8694.29 roll -1.25 - - 1835.94 - 3.91 0.122 3474.50 355.2 -77.86 - - 2811.75 - - - - - - - - - 15.50 -
8767.39 854.00 -8.98 1031 8774.09 roll -1.25 - - 1836.25 - 3.41 0.065 2085.62 -407.3 -77.86 - - 2811.72 - - - - - - - - - 15.61 -
9073.37 874.92 -6.78 1062 9079.10 roll -1.25 - - 1835.56 - 3.88 0.123 3472.56 357.5 -77.86 - - 2811.00 - - - - - - - - - 15.51 -
9168.38 882.39 -7.08 1081 9173.04 roll -1.25 - - 1836.25 - 3.41 0.068 2084.50 -407.1 -77.86 - - 2811.16 - - - - - - - - - 15.62 -
9478.42 905.92 -7.31 1113 9479.75 no move -1.25 - - 1835.69 - - - 2084.62 - -77.86 - - 2811.44 - - - - - - - - - - -
9778.45 929.72 -8.01 1143 9784.37 roll -1.25 - - 1835.69 - 4.10 0.171 664.00 -346.5 -77.86 - - 2809.16 - - - - - - - - - 15.37 -
9853.54 937.07 -9.27 1158 9859.15 roll -1.25 - - 1836.12 - 3.60 0.061 2117.31 403.7 -77.86 - - 2808.97 - - - - - - - - - 15.66 -
10158.50 962.99 -9.30 1189 10159.83 no move -1.25 - - 1835.00 - - - 2116.81 - -77.86 - - 2812.53 - - - - - - - - - - -
10458.53 988.33 -8.51 1219 10459.86 no move -1.25 - - 1835.69 - - - 2116.88 - -77.86 - - 2809.31 - - - - - - - - - - -
10488 end dive: TARGET_DEPTH_EXCEEDED
10488 begin apogee
10489.78 990.49 -8.06 1222 10560.40 -0.25 1.88 0.144 2079.94 129.9 0.08 0.296 2186.75 873.4 - 67.86 2.279 2497.22 -4.6 0.349 - - - - - - 15.53 15.01 11.27
10562 end apogee: CONTROL_FINISHED_OK
10562 begin climb
10562.56 992.77 - 1229 10647.19 1.25 2.67 0.083 2448.00 137.9 3.88 0.128 3472.44 331.4 77.86 75.32 2.227 2178.81 -4.2 0.329 - - - - - - 15.11 14.70 12.14
10675.06 988.04 4.76 1244 10726.75 1.39 0.20 0.093 2485.81 189.0 3.34 0.060 2183.56 -385.9 124.84 46.69 2.164 1990.00 -4.0 0.322 - - - - - - 14.96 14.99 11.84
11025.02 947.32 12.87 1284 11030.84 done 1.39 - - 2486.00 - 4.09 0.144 736.94 -353.7 124.84 - - 1978.28 - - - - - - - - - 15.36 -
11090.25 938.06 15.63 1297 11095.75 done 1.39 - - 2485.69 - 3.70 0.055 2216.50 399.9 124.84 - - 1979.47 - - - - - - - - - 15.49 -
11395.11 898.94 13.23 1328 11400.95 done 1.39 - - 2486.12 - 4.16 0.144 736.88 -355.7 124.84 - - 1975.47 - - - - - - - - - 15.47 -
11480.13 885.96 16.62 1345 11485.83 done 1.39 - - 2485.94 - 3.65 0.055 2216.50 405.4 124.84 - - 1976.16 - - - - - - - - - 15.63 -
11785.17 847.33 13.44 1376 11786.51 VBD 1.39 - - 2485.62 - - - 2216.56 - 124.84 - - 1975.12 - - - - - - - - - - -
12085.20 811.89 11.90 1406 12091.18 done 1.39 - - 2485.94 - 4.09 0.142 736.12 -362.0 124.84 - - 1975.16 - - - - - - - - - 15.52 -
12130.23 805.18 13.87 1415 12135.91 done 1.39 - - 2485.50 - 3.64 0.055 2216.62 406.7 124.84 - - 1974.69 - - - - - - - - - 15.61 -
12435.25 767.40 11.94 1446 12439.99 done 1.39 - - 2486.69 - 3.53 0.127 3473.75 356.1 124.84 - - 1974.00 - - - - - - - - - 15.56 -
12505.27 758.45 12.92 1460 12509.80 done 1.39 - - 2486.06 - 3.14 0.061 2182.62 -411.2 124.84 - - 1973.22 - - - - - - - - - 15.71 -
12815.30 720.68 11.69 1492 12816.63 VBD 1.39 - - 2485.88 - - - 2182.81 - 124.84 - - 1973.31 - - - - - - - - - - -
13115.34 687.09 11.87 1522 13121.15 done 1.39 - - 2485.81 - 3.98 0.141 736.12 -363.5 124.84 - - 1971.03 - - - - - - - - - 15.53 -
13190.43 678.29 10.86 1537 13195.98 done 1.39 - - 2486.81 - 3.62 0.055 2217.44 409.2 124.84 - - 1971.03 - - - - - - - - - 15.74 -
13495.40 644.15 10.50 1568 13496.73 VBD 1.39 - - 2486.31 - - - 2217.75 - 124.84 - - 1971.56 - - - - - - - - - - -
13795.42 611.51 10.91 1598 13801.48 done 1.39 - - 2486.31 - 4.10 0.139 736.00 -361.4 124.84 - - 1972.06 - - - - - - - - - 15.51 -
13914.36 596.27 12.36 1622 13921.24 done 1.39 - - 2486.44 - 3.64 0.055 2219.50 407.6 124.84 - - 1971.22 - - - - - - - - - 15.73 -
14220.49 563.29 11.02 1653 14221.82 VBD 1.39 - - 2486.75 - - - 2219.94 - 124.84 - - 1970.22 - - - - - - - - - - -
14520.52 531.84 10.71 1683 14521.85 VBD 1.39 - - 2486.12 - - - 2219.69 - 124.84 - - 1969.62 - - - - - - - - - - -
14820.56 499.39 11.24 1713 14821.89 VBD 1.39 - - 2486.94 - - - 2219.81 - 124.84 - - 1970.47 - - - - - - - - - - -
15120.59 468.64 9.17 1743 15126.44 done 1.39 - - 2487.00 - 4.11 0.134 737.00 -360.8 124.84 - - 1969.19 - - - - - - - - - 15.50 -
15209.52 458.79 10.90 1761 15216.39 done 1.39 - - 2486.94 - 3.63 0.053 2219.88 408.5 124.84 - - 1969.78 - - - - - - - - - 15.64 -
15515.65 430.29 9.11 1792 15516.98 VBD 1.39 - - 2486.75 - - - 2219.62 - 124.84 - - 1970.28 - - - - - - - - - - -
15815.70 402.66 9.26 1822 15821.57 done 1.39 - - 2485.69 - 4.08 0.131 736.81 -363.4 124.84 - - 1970.31 - - - - - - - - - 15.49 -
15934.66 388.89 11.40 1846 15941.78 done 1.39 - - 2486.62 - 3.63 0.053 2221.75 409.1 124.84 - - 1970.00 - - - - - - - - - 15.73 -
16240.82 360.33 8.66 1877 16245.53 done 1.39 - - 2486.81 - 3.46 0.118 3474.00 361.9 124.84 - - 1970.69 - - - - - - - - - 15.51 -
16300.85 353.62 11.09 1889 16305.37 done 1.39 - - 2486.31 - 3.14 0.054 2179.06 -412.4 124.84 - - 1971.88 - - - - - - - - - 15.58 -
16610.91 324.88 8.29 1921 16612.24 VBD 1.39 - - 2486.56 - - - 2179.62 - 124.84 - - 1969.84 - - - - - - - - - - -
16910.96 300.06 8.96 1951 16916.78 done 1.39 - - 2486.12 - 3.96 0.134 735.00 -364.8 124.84 - - 1967.94 - - - - - - - - - 15.47 -
17016.01 289.58 9.93 1972 17020.77 done 1.39 - - 2487.00 - 3.62 0.053 2217.06 409.4 124.84 - - 1968.19 - - - - - - - - - 15.73 -
17326.08 266.04 7.93 2004 17327.41 VBD 1.39 - - 2486.81 - - - 2222.00 - 124.84 - - 1969.69 - - - - - - - - - - -
17626.15 242.88 7.51 2034 17627.48 VBD 1.41 - - 2487.06 - - - 2221.81 - 124.84 - - 1969.56 - - - - - - - - - - -
17926.17 220.67 7.67 2064 17932.02 done 1.41 - - 2486.69 - 4.14 0.129 735.25 -359.1 124.84 - - 1969.84 - - - - - - - - - 15.45 -
18095.14 203.29 9.63 2098 18102.00 done 1.41 - - 2486.81 - 3.64 0.052 2223.62 408.9 124.84 - - 1969.91 - - - - - - - - - 15.71 -
18401.28 179.44 7.48 2129 18407.11 done 1.43 - - 2486.31 - 4.12 0.126 736.25 -361.0 124.84 - - 1969.94 - - - - - - - - - 15.46 -
18506.28 170.88 8.30 2150 18511.91 done 1.43 - - 2485.81 - 3.63 0.050 2223.88 409.8 124.84 - - 1970.12 - - - - - - - - - 15.61 -
18811.33 149.50 6.63 2181 18816.03 done 1.47 - - 2486.00 - 3.46 0.112 3473.00 361.0 124.84 - - 1970.47 - - - - - - - - - 15.47 -
18915.18 141.98 7.24 2202 18922.02 done 1.49 - - 2485.38 - 3.14 0.049 2177.44 -412.6 124.84 - - 1969.69 - - - - - - - - - 15.69 -
19221.38 123.06 6.25 2233 19222.85 1.55 0.18 0.087 2525.00 220.1 - - 2177.50 - 124.84 - - 1969.19 - - - - - - - - 15.59 - -
19521.68 102.69 7.28 2263 19527.21 done 1.57 - - 2524.94 - 4.01 0.127 735.94 -359.5 124.84 - - 1971.69 - - - - - - - - - 15.44 -
19636.41 92.97 8.53 2286 19642.20 done 1.57 - - 2525.25 - 3.62 0.050 2224.38 411.2 124.84 - - 1969.72 - - - - - - - - - 15.60 -
19821.48 84.01 4.21 2323 19867.50 1.73 0.23 0.077 2570.75 197.8 - - 2224.81 - 179.71 43.74 1.191 1767.56 -4.6 0.057 - - - - - - 15.62 - 11.65
20046.51 68.23 7.29 2368 20052.36 roll 1.76 - - 2571.44 - 4.20 0.123 735.00 -354.7 179.71 - - 1762.09 - - - - - - - - - 15.26 -
20276.55 60.76 0.83 2414 20369.49 2.07 0.47 0.060 2650.12 167.4 3.64 0.047 2226.81 409.8 282.74 85.33 1.160 1346.47 -4.9 0.045 - - - - - - 15.30 15.51 11.93
20547.30 43.38 11.08 2468 20553.17 roll 2.07 - - 2650.50 - 4.22 0.123 736.94 -353.0 282.74 - - 1341.69 - - - - - - - - - 15.23 -
20642.31 29.94 15.31 2487 20648.09 roll 2.07 - - 2649.50 - 3.68 0.049 2222.44 403.7 282.74 - - 1341.25 - - - - - - - - - 15.49 -
20827.38 4.13 13.83 2524 20833.22 done 2.07 - - 2650.38 - 4.16 0.121 736.12 -357.3 282.74 - - 1338.66 - - - - - - - - - 15.31 -
20842 end climb: SURFACE_DEPTH_REACHED
20842 begin surface coast
20857 end surface coast: CONTROL_FINISHED_OK
20857 begin surface
SM 0.53 - - - - 174.1 - 2.664 768.4 - 16.96 0.057 763.6 45.0 - 3.39 0.046 773.2 226.9 -0.267 - - 30.36 15.55 15.60 -