NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1064 * Raw log
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• Previous call tries 2 • 292.29 of 575.00 AH used of 24V (49.17% remains)
• Surface angle -59.8 deg, depth -1.52 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.77 (SM_CC=475)
• GPS1 time: 26 s
• GPS2 time: 2 s • Transponder ping count: 7
• 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
8.29 - - - 100.53 VBD -1.59 - - 167.81 - - - 2079.44 - -74.33 91.79 0.005 2734.06 - - - - - - - - - - 14.69
100.75 5.51 -11.28 9 121.41 -1.59 13.89 0.244 1753.94 114.2 - - 2080.38 - -74.33 1.35 0.019 2803.75 51.6 -2.698 - - - - - - 14.97 - 14.87
178.66 25.86 -20.73 17 184.34 roll -1.59 - - 1753.94 - 3.86 0.109 3475.62 361.5 -74.33 - - 2801.69 - - - - - - - - - 15.29 -
237.59 38.73 -20.76 29 244.38 roll -1.59 - - 1752.62 - 3.41 0.054 2082.12 -408.7 -74.33 - - 2804.88 - - - - - - - - - 15.43 -
303.73 49.41 -16.37 36 309.39 roll -1.59 - - 1753.31 - 4.09 0.147 664.00 -346.7 -74.33 - - 2802.25 - - - - - - - - - 15.14 -
322.64 53.25 -18.47 40 329.41 roll -1.59 - - 1753.81 - 3.54 0.048 2122.12 411.9 -74.33 - - 2804.91 - - - - - - - - - 15.50 -
388.67 63.23 -14.59 47 390.00 no move -1.59 - - 1753.31 - - - 2122.06 - -74.33 - - 2803.38 - - - - - - - - - - -
448.69 70.54 -11.95 53 454.34 roll -1.59 - - 1753.81 - 3.63 0.102 3475.12 372.7 -74.33 - - 2802.38 - - - - - - - - - 15.32 -
477.60 74.75 -14.62 59 484.38 roll -1.59 - - 1753.62 - 3.38 0.051 2079.81 -412.8 -74.33 - - 2802.69 - - - - - - - - - 15.46 -
543.75 83.14 -12.90 66 545.07 no move -1.59 - - 1753.38 - - - 2080.00 - -74.33 - - 2802.84 - - - - - - - - - - -
603.71 90.58 -12.02 72 609.42 roll -1.59 - - 1752.62 - 4.08 0.145 663.94 -347.1 -74.33 - - 2802.62 - - - - - - - - - 15.15 -
622.68 93.01 -12.28 76 629.43 roll -1.59 - - 1753.56 - 3.51 0.045 2122.69 415.6 -74.33 - - 2803.12 - - - - - - - - - 15.54 -
688.75 99.89 -10.23 83 694.37 roll -1.59 - - 1753.50 - 3.64 0.105 3476.56 371.9 -74.33 - - 2801.59 - - - - - - - - - 15.31 -
753.72 107.64 -12.28 96 758.31 roll -1.59 - - 1753.62 - 3.39 0.053 2081.12 -411.6 -74.33 - - 2803.53 - - - - - - - - - 15.48 -
823.72 115.33 -11.17 104 825.04 no move -1.59 - - 1753.62 - - - 2081.25 - -74.33 - - 2803.31 - - - - - - - - - - -
883.73 121.87 -11.44 110 885.06 no move -1.59 - - 1753.38 - - - 2081.00 - -74.33 - - 2803.50 - - - - - - - - - - -
943.74 128.75 -11.73 116 949.39 roll -1.59 - - 1753.25 - 3.79 0.102 3476.69 368.3 -74.33 - - 2803.03 - - - - - - - - - 15.32 -
988.74 134.21 -12.70 125 993.33 roll -1.59 - - 1753.44 - 3.38 0.051 2081.12 -412.9 -74.33 - - 2803.72 - - - - - - - - - 15.48 -
1058.74 141.43 -10.19 133 1064.46 roll -1.59 - - 1753.88 - 4.09 0.146 662.50 -346.9 -74.33 - - 2801.22 - - - - - - - - - 15.14 -
1087.65 144.63 -10.81 139 1094.48 roll -1.59 - - 1753.62 - 3.52 0.046 2124.38 415.3 -74.33 - - 2803.28 - - - - - - - - - 15.54 -
1153.75 151.09 -10.08 146 1155.08 no move -1.59 - - 1753.94 - - - 2124.12 - -74.33 - - 2803.53 - - - - - - - - - - -
1273.76 162.50 -10.09 158 1279.52 roll -1.59 - - 1754.00 - 4.22 0.142 663.06 -346.2 -74.33 - - 2801.97 - - - - - - - - - 15.14 -
1292.67 164.71 -10.60 162 1299.49 roll -1.59 - - 1752.88 - 3.51 0.046 2124.56 416.4 -74.33 - - 2803.84 - - - - - - - - - 15.54 -
1418.78 177.54 -10.43 175 1420.10 no move -1.59 - - 1753.50 - - - 2124.56 - -74.33 - - 2802.31 - - - - - - - - - - -
1538.78 189.59 -10.67 187 1540.11 no move -1.59 - - 1753.31 - - - 2124.69 - -74.33 - - 2803.25 - - - - - - - - - - -
1658.79 202.49 -10.97 199 1660.12 no move -1.59 - - 1753.50 - - - 2124.44 - -74.33 - - 2803.78 - - - - - - - - - - -
1778.80 214.88 -10.10 211 1784.46 roll -1.59 - - 1753.12 - 3.67 0.105 3475.94 368.3 -74.33 - - 2802.62 - - - - - - - - - 15.30 -
1807.71 218.32 -10.63 217 1814.51 roll -1.59 - - 1752.50 - 3.38 0.051 2079.69 -413.1 -74.33 - - 2804.47 - - - - - - - - - 15.46 -
1933.81 231.59 -10.60 230 1939.47 roll -1.59 - - 1753.19 - 3.75 0.102 3477.31 372.7 -74.33 - - 2804.19 - - - - - - - - - 15.30 -
1952.73 233.85 -11.22 234 1959.50 roll -1.59 - - 1753.94 - 3.37 0.051 2081.06 -414.3 -74.33 - - 2803.19 - - - - - - - - - 15.46 -
2078.83 248.09 -11.61 247 2080.16 no move -1.59 - - 1753.69 - - - 2081.62 - -74.33 - - 2803.62 - - - - - - - - - - -
2218.84 263.65 -11.27 253 2224.50 roll -1.59 - - 1753.50 - 3.78 0.104 3474.38 368.5 -74.33 - - 2802.88 - - - - - - - - - 15.29 -
2267.75 269.23 -11.50 263 2274.54 roll -1.59 - - 1753.62 - 3.38 0.053 2079.56 -412.7 -74.33 - - 2803.84 - - - - - - - - - 15.45 -
2573.85 299.01 -9.63 274 2579.51 roll -1.59 - - 1753.31 - 3.79 0.104 3475.75 368.4 -74.33 - - 2802.38 - - - - - - - - - 15.27 -
2632.77 305.93 -11.34 286 2638.46 roll -1.59 - - 1752.56 - 3.40 0.054 2080.44 -410.4 -74.33 - - 2804.25 - - - - - - - - - 15.44 -
2958.87 341.01 -11.21 301 2960.20 no move -1.59 - - 1753.56 - - - 2079.94 - -74.33 - - 2802.75 - - - - - - - - - - -
3258.87 374.95 -11.29 311 3264.55 roll -1.59 - - 1752.00 - 3.84 0.108 3477.38 363.9 -74.33 - - 2803.91 - - - - - - - - - 15.25 -
3392.80 391.29 -13.34 338 3398.50 roll -1.59 - - 1753.81 - 3.41 0.056 2081.81 -409.3 -74.33 - - 2803.31 - - - - - - - - - 15.41 -
3703.90 420.49 -9.16 350 3709.58 roll -1.59 - - 1752.25 - 3.81 0.107 3475.38 365.8 -74.33 - - 2804.91 - - - - - - - - - 15.23 -
3732.83 422.42 -8.80 356 3738.52 roll -1.66 - - 1753.88 - 3.41 0.056 2080.94 -408.9 -97.33 - - 2803.03 - - - - - - - - - 15.40 -
4058.93 452.34 -9.03 371 4064.69 roll back -1.72 0.31 0.068 1703.25 -163.3 3.85 0.110 3475.38 362.2 -118.00 - - 2804.22 - - - - - - - - 15.64 15.22 -
4122.83 460.29 -13.19 384 4128.54 roll -1.72 - - 1703.38 - 3.43 0.057 2081.75 -406.3 -118.00 - - 2804.72 - - - - - - - - - 15.38 -
4443.95 496.78 -11.01 398 4445.27 no move -1.72 - - 1702.88 - - - 2081.44 - -118.00 - - 2802.81 - - - - - - - - - - -
4473 end dive: TARGET_DEPTH_EXCEEDED
4473 begin apogee
4475.08 500.24 -11.21 399 4544.41 -0.25 3.11 0.163 2078.81 120.9 0.09 0.234 2085.00 39.6 - 64.64 1.623 2497.56 -4.7 0.262 - - - - - - 15.12 14.94 10.48
4547 end apogee: CONTROL_FINISHED_OK
4547 begin climb
4547.46 502.61 - 401 4661.83 1.72 3.38 0.076 2563.38 143.4 - - 2085.19 - 118.00 109.12 1.588 2017.03 -4.4 0.251 - - - - - - 15.26 - 11.52
4953.96 464.67 11.08 415 4959.68 done 1.72 - - 2563.25 - 4.09 0.138 663.94 -347.5 118.00 - - 2007.25 - - - - - - - - - 15.24 -
5077.88 446.30 14.66 440 5083.60 done 1.72 - - 2563.19 - 3.54 0.045 2124.62 412.6 118.00 - - 2005.53 - - - - - - - - - 15.55 -
5399.00 411.86 10.64 454 5404.72 done 1.72 - - 2561.38 - 4.14 0.132 661.62 -353.4 118.00 - - 2003.28 - - - - - - - - - 15.24 -
5514.50 397.35 13.88 477 5519.64 done 1.72 - - 2564.00 - 3.52 0.045 2125.81 416.0 118.00 - - 2001.84 - - - - - - - - - 15.61 -
5839.08 367.08 9.33 492 5840.41 VBD 1.78 - - 2563.62 - - - 2125.19 - 118.00 - - 2001.94 - - - - - - - - - - -
6139.03 339.08 9.43 502 6144.76 done 1.83 - - 2562.44 - 4.16 0.132 662.31 -351.7 118.00 - - 2000.94 - - - - - - - - - 15.19 -
6267.94 323.93 13.25 528 6273.66 done 1.83 - - 2563.62 - 3.53 0.046 2126.25 414.7 118.00 - - 2001.62 - - - - - - - - - 15.59 -
6584.07 296.02 8.52 541 6615.71 1.90 0.23 0.066 2620.81 248.7 3.69 0.111 3474.31 365.3 143.82 22.68 1.359 1911.56 -4.0 0.156 - - - - - - 15.67 15.18 11.19
6658.02 287.47 12.96 556 6663.65 roll 1.90 - - 2620.06 - 3.40 0.053 2077.69 -410.8 143.82 - - 1911.62 - - - - - - - - - 15.56 -
6974.07 251.82 11.04 569 6979.82 roll 1.90 - - 2621.12 - 3.99 0.132 662.62 -354.7 143.82 - - 1906.34 - - - - - - - - - 15.26 -
7109.53 232.85 13.97 596 7114.70 roll 1.90 - - 2621.06 - 3.50 0.045 2126.94 418.4 143.82 - - 1905.31 - - - - - - - - - 15.61 -
7234.11 219.81 10.42 609 7239.74 roll 1.92 - - 2620.88 - 3.67 0.108 3473.62 366.9 143.82 - - 1905.09 - - - - - - - - - 15.31 -
7293.02 212.97 11.38 621 7299.79 roll 1.92 - - 2620.31 - 3.39 0.051 2076.62 -412.1 143.82 - - 1907.66 - - - - - - - - - 15.51 -
7419.13 200.21 10.50 634 7424.81 roll 1.94 - - 2620.94 - 3.97 0.128 662.62 -356.2 143.82 - - 1906.44 - - - - - - - - - 15.20 -
7588.12 181.13 11.18 668 7594.88 roll 1.94 - - 2620.69 - 3.51 0.044 2129.62 417.9 143.82 - - 1906.44 - - - - - - - - - 15.60 -
7714.19 168.96 9.97 681 7719.81 done 1.98 - - 2620.50 - 3.69 0.109 3474.00 364.3 143.82 - - 1903.97 - - - - - - - - - 15.27 -
7749.18 165.39 10.20 688 7753.77 done 2.00 - - 2620.94 - 3.40 0.053 2076.06 -411.2 143.82 - - 1906.25 - - - - - - - - - 15.51 -
7879.20 151.24 11.48 702 7884.89 done 2.00 - - 2619.19 - 4.00 0.129 661.38 -353.7 143.82 - - 1905.09 - - - - - - - - - 15.17 -
7994.73 137.82 11.52 725 7999.85 done 2.00 - - 2620.88 - 3.53 0.046 2127.88 415.4 143.82 - - 1903.38 - - - - - - - - - 15.59 -
8059.24 131.20 9.92 732 8064.94 done 2.04 - - 2620.88 - 4.09 0.124 661.50 -358.5 143.82 - - 1905.44 - - - - - - - - - 15.17 -
8224.76 113.10 10.64 765 8229.88 done 2.04 - - 2621.62 - 3.49 0.046 2128.25 420.3 143.82 - - 1903.31 - - - - - - - - - 15.60 -
8289.28 106.99 9.68 772 8290.61 VBD 2.08 - - 2621.69 - - - 2128.19 - 143.82 - - 1903.22 - - - - - - - - - - -
8349.29 101.18 9.80 778 8350.75 2.12 0.22 0.076 2670.81 223.3 - - 2128.62 - 143.82 - - 1903.56 - - - - - - - - 15.69 - -
8409.35 95.51 9.38 784 8414.92 done 2.17 - - 2670.00 - 3.62 0.107 3475.12 372.0 143.82 - - 1904.78 - - - - - - - - - 15.26 -
8434.34 93.49 8.93 789 8465.51 done 2.24 - - 2671.25 - 3.35 0.050 2076.50 -417.5 165.53 25.71 1.138 1825.00 -3.1 0.046 - - - - - - - 15.54 11.40
8524.29 84.82 10.68 801 8529.99 roll 2.24 - - 2672.06 - 3.92 0.129 661.69 -360.9 165.53 - - 1820.75 - - - - - - - - - 15.38 -
8753.25 63.13 6.98 847 8806.03 2.36 0.26 0.056 2728.69 217.8 3.51 0.046 2130.50 418.5 206.65 47.61 1.122 1656.19 -3.5 0.035 - - - - - - 15.37 15.59 11.70
8864.41 56.59 6.06 863 8926.75 done 2.51 - - 2729.75 - 4.14 0.124 662.56 -354.6 256.92 56.72 1.090 1452.50 -3.6 0.034 - - - - - - - 14.94 11.58
8995.42 44.23 12.79 889 9000.62 roll 2.51 - - 2729.62 - 3.55 0.046 2128.38 412.9 256.92 - - 1448.50 - - - - - - - - - 15.44 -
9059.98 37.43 10.78 896 9061.31 no move 2.51 - - 2729.94 - - - 2128.44 - 256.92 - - 1448.25 - - - - - - - - - - -
9120.01 31.58 9.82 902 9125.83 roll back 2.55 0.19 0.071 2775.88 241.8 3.64 0.106 3475.06 370.0 256.92 - - 1446.25 - - - - - - - - 15.51 15.28 -
9135.19 30.12 9.66 905 9140.59 roll 2.60 - - 2775.25 - 3.38 0.050 2074.75 -414.3 256.92 - - 1445.53 - - - - - - - - - 15.46 -
9200.06 25.17 7.60 912 9245.47 done 2.70 - - 2775.12 - 3.89 0.128 662.81 -363.0 291.81 37.88 1.037 1310.78 -3.6 0.016 - - - - - - - 15.04 11.42
9340.47 13.23 9.64 940 9345.67 roll back 2.74 0.18 0.072 2819.06 244.1 3.49 0.044 2131.19 420.7 291.81 - - 1308.12 - - - - - - - - 15.31 15.50 -
9405.03 7.34 9.28 947 9406.35 no move 2.80 - - 2821.19 - - - 2131.44 - 291.81 - - 1307.19 - - - - - - - - - - -
9464 end climb: SURFACE_DEPTH_REACHED
9464 begin surface coast
9484 end surface coast: CONTROL_FINISHED_OK
9484 begin surface
SM -0.55 - - - - 182.2 0.01 0.270 564.5 56450.0 17.94 0.063 566.9 31.6 - 0.11 0.132 562.1 5110.0 2.176 - - 30.36 15.33 15.55 -