NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1066 * Raw log
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• Previous call tries 1 • 292.78 of 575.00 AH used of 24V (49.08% remains)
• Surface angle -64.4 deg, depth -1.53 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.78 (SM_CC=475)
• GPS1 time: 31 s
• GPS2 time: 3 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 - - - 100.51 VBD -1.59 - - 165.25 - - - 2084.50 - -74.33 91.76 0.005 2689.16 - - - - - - - - - - 14.63
100.74 4.94 -10.47 9 126.58 -1.59 13.83 0.242 1753.81 114.9 4.10 0.147 660.75 -347.3 -74.33 2.30 0.013 2803.09 49.5 -3.393 - - - - - - 14.97 14.66 14.84
140.26 17.30 -26.97 17 145.44 roll -1.59 - - 1753.81 - 3.57 0.052 2119.62 408.6 -74.33 - - 2801.69 - - - - - - - - - 15.48 -
204.80 31.44 -21.35 24 206.13 no move -1.59 - - 1754.06 - - - 2119.75 - -74.33 - - 2802.44 - - - - - - - - - - -
264.82 41.99 -17.09 30 266.15 no move -1.59 - - 1753.81 - - - 2120.00 - -74.33 - - 2802.56 - - - - - - - - - - -
324.82 51.78 -16.26 36 326.15 no move -1.59 - - 1754.00 - - - 2120.00 - -74.33 - - 2802.94 - - - - - - - - - - -
384.83 61.35 -15.86 42 390.47 roll -1.59 - - 1753.44 - 3.67 0.107 3476.12 369.5 -74.33 - - 2802.78 - - - - - - - - - 15.31 -
439.83 69.62 -15.12 53 444.42 roll -1.59 - - 1754.12 - 3.39 0.052 2079.38 -412.0 -74.33 - - 2803.91 - - - - - - - - - 15.47 -
509.83 78.94 -13.15 61 511.15 no move -1.59 - - 1754.25 - - - 2079.94 - -74.33 - - 2802.84 - - - - - - - - - - -
569.85 86.25 -12.41 67 575.56 roll -1.59 - - 1754.31 - 4.07 0.145 662.88 -348.2 -74.33 - - 2802.94 - - - - - - - - - 15.16 -
608.75 91.28 -12.74 75 615.55 roll -1.59 - - 1753.19 - 3.50 0.046 2126.25 418.1 -74.33 - - 2803.75 - - - - - - - - - 15.52 -
674.92 98.66 -10.45 82 680.50 roll -1.59 - - 1753.56 - 3.60 0.104 3475.19 374.7 -74.33 - - 2803.59 - - - - - - - - - 15.32 -
749.86 107.11 -11.25 97 754.44 roll -1.59 - - 1754.12 - 3.37 0.052 2079.75 -414.1 -74.33 - - 2804.62 - - - - - - - - - 15.48 -
819.86 114.35 -10.09 105 821.19 no move -1.59 - - 1754.00 - - - 2079.56 - -74.33 - - 2803.59 - - - - - - - - - - -
879.88 120.14 -9.59 111 881.21 no move -1.59 - - 1753.94 - - - 2079.56 - -74.33 - - 2803.12 - - - - - - - - - - -
939.89 125.52 -8.78 117 946.64 done -1.66 - - 1752.81 - 4.04 0.149 661.81 -350.9 -97.54 0.58 0.037 2901.50 169.6 -103.712 - - - - - - - 14.31 14.13
985.33 130.48 -11.44 126 990.50 roll -1.66 - - 1754.12 - 3.48 0.046 2123.62 420.1 -97.54 - - 2900.16 - - - - - - - - - 15.56 -
1049.88 137.17 -10.32 133 1055.52 roll -1.66 - - 1754.06 - 3.59 0.104 3475.81 376.7 -97.54 - - 2899.44 - - - - - - - - - 15.32 -
1118.82 145.35 -11.99 147 1125.59 roll -1.66 - - 1754.38 - 3.37 0.051 2080.25 -414.1 -97.54 - - 2902.19 - - - - - - - - - 15.47 -
1184.90 152.40 -10.43 154 1190.76 roll -1.66 - - 1752.75 - 4.05 0.146 660.81 -350.5 -97.54 - - 2902.19 - - - - - - - - - 15.14 -
1200.36 154.24 -10.92 157 1205.65 roll -1.66 - - 1753.31 - 3.49 0.044 2124.75 419.5 -97.54 - - 2901.41 - - - - - - - - - 15.56 -
1324.92 168.33 -11.18 170 1330.56 roll -1.66 - - 1753.94 - 3.61 0.104 3477.44 374.7 -97.54 - - 2902.81 - - - - - - - - - 15.32 -
1369.92 173.98 -12.78 179 1374.51 roll -1.66 - - 1754.62 - 3.36 0.051 2081.00 -415.6 -97.54 - - 2901.97 - - - - - - - - - 15.48 -
1499.94 188.98 -11.08 193 1505.67 roll -1.66 - - 1754.25 - 4.07 0.146 663.12 -348.4 -97.54 - - 2901.94 - - - - - - - - - 15.13 -
1565.43 197.84 -14.00 206 1570.57 roll -1.66 - - 1753.31 - 3.51 0.047 2124.56 416.4 -97.54 - - 2901.53 - - - - - - - - - 15.56 -
1689.95 212.99 -12.39 219 1695.59 roll -1.66 - - 1754.06 - 3.63 0.105 3476.69 372.5 -97.54 - - 2900.25 - - - - - - - - - 15.30 -
1774.95 224.22 -12.46 236 1779.55 roll -1.66 - - 1754.06 - 3.38 0.052 2080.38 -413.1 -97.54 - - 2901.75 - - - - - - - - - 15.46 -
1904.99 240.10 -11.48 250 1910.64 roll -1.66 - - 1753.50 - 3.74 0.102 3475.00 372.9 -97.54 - - 2902.41 - - - - - - - - - 15.30 -
1963.90 248.27 -12.93 262 1970.66 roll -1.66 - - 1753.69 - 3.37 0.052 2082.50 -413.2 -97.54 - - 2902.66 - - - - - - - - - 15.44 -
2100.04 264.35 -11.81 268 2105.70 roll -1.66 - - 1754.06 - 4.07 0.149 663.56 -348.6 -97.54 - - 2903.19 - - - - - - - - - 15.09 -
2113.91 266.34 -11.66 271 2119.60 roll -1.66 - - 1754.19 - 3.46 0.045 2122.81 421.7 -97.54 - - 2902.91 - - - - - - - - - 15.53 -
2425.00 301.29 -11.08 283 2430.64 roll -1.66 - - 1753.62 - 3.62 0.107 3475.88 373.8 -97.54 - - 2900.19 - - - - - - - - - 15.27 -
2498.97 310.68 -11.52 298 2504.59 roll -1.66 - - 1753.25 - 3.38 0.053 2081.94 -412.4 -97.54 - - 2903.16 - - - - - - - - - 15.44 -
2810.02 344.51 -10.95 310 2815.68 roll -1.66 - - 1752.69 - 3.79 0.106 3476.88 368.1 -97.54 - - 2902.31 - - - - - - - - - 15.26 -
2835.07 347.18 -11.55 315 2839.61 roll -1.66 - - 1754.00 - 3.38 0.054 2081.81 -412.7 -97.54 - - 2902.44 - - - - - - - - - 15.44 -
3165.09 384.97 -11.43 331 3170.71 roll -1.66 - - 1753.06 - 3.81 0.107 3475.19 365.7 -97.54 - - 2901.53 - - - - - - - - - 15.24 -
3198.95 389.33 -12.05 338 3204.63 roll -1.66 - - 1754.06 - 3.40 0.056 2082.31 -409.7 -97.54 - - 2902.78 - - - - - - - - - 15.40 -
3520.06 427.55 -11.94 352 3521.38 no move -1.66 - - 1753.94 - - - 2081.94 - -97.54 - - 2901.75 - - - - - - - - - - -
3820.05 461.49 -11.48 362 3825.73 roll -1.66 - - 1753.19 - 3.84 0.109 3473.88 362.5 -97.54 - - 2901.31 - - - - - - - - - 15.21 -
3848.96 465.22 -12.41 368 3854.67 roll -1.66 - - 1753.88 - 3.41 0.056 2081.12 -408.4 -97.54 - - 2902.59 - - - - - - - - - 15.38 -
4174 end dive: TARGET_DEPTH_EXCEEDED
4175 begin apogee
4176.26 501.44 -11.07 383 4267.14 -0.25 2.54 0.144 2079.75 128.3 0.09 0.240 2086.06 54.9 - 83.63 1.643 2498.62 -4.8 0.266 - - - - - - 15.22 14.85 10.48
4270 end apogee: CONTROL_FINISHED_OK
4270 begin climb
4270.19 504.61 - 386 4370.76 1.66 3.27 0.072 2548.81 143.4 4.15 0.138 662.69 -343.0 97.54 89.59 1.588 2101.47 -4.4 0.254 - - - - - - 15.19 14.70 11.55
4397.97 496.38 10.37 412 4403.60 roll 1.68 - - 2549.44 - 3.57 0.044 2125.44 409.7 97.54 - - 2097.06 - - - - - - - - - 15.25 -
4719.01 467.13 9.79 426 4724.72 done 1.72 - - 2549.06 - 4.15 0.135 661.56 -352.7 97.54 - - 2089.72 - - - - - - - - - 15.25 -
4842.91 452.38 17.05 451 4848.63 done 1.72 - - 2548.94 - 3.52 0.045 2126.75 416.2 97.54 - - 2087.75 - - - - - - - - - 15.57 -
5164.04 425.23 8.56 465 5195.82 1.80 0.17 0.081 2592.81 258.1 4.11 0.134 662.69 -356.2 122.94 22.70 1.456 1997.75 -4.0 0.209 - - - - - - 15.66 15.15 11.39
5352.96 400.16 15.14 503 5358.68 roll 1.80 - - 2591.00 - 3.53 0.045 2126.56 414.7 122.94 - - 1993.25 - - - - - - - - - 15.59 -
5674.07 364.76 10.88 517 5679.77 done 1.80 - - 2591.06 - 4.09 0.130 660.81 -358.4 122.94 - - 1989.69 - - - - - - - - - 15.25 -
5838.00 344.70 13.01 550 5843.69 done 1.80 - - 2593.06 - 3.48 0.045 2126.88 421.3 122.94 - - 1990.56 - - - - - - - - - 15.57 -
6149.11 313.54 9.74 562 6154.80 done 1.84 - - 2592.62 - 4.09 0.129 661.31 -358.3 122.94 - - 1988.00 - - - - - - - - - 15.22 -
6378.05 286.82 11.39 608 6384.87 done 1.84 - - 2592.00 - 3.51 0.046 2126.25 417.4 122.94 - - 1988.66 - - - - - - - - - 15.57 -
6684.17 258.10 9.27 619 6689.88 done 1.90 - - 2591.75 - 4.11 0.129 662.44 -356.2 122.94 - - 1990.03 - - - - - - - - - 15.18 -
6733.08 252.54 11.30 629 6739.89 done 1.90 - - 2592.62 - 3.48 0.045 2128.19 421.2 122.94 - - 1988.44 - - - - - - - - - 15.58 -
7039.22 223.04 9.78 658 7044.93 done 1.94 - - 2589.94 - 4.11 0.128 662.69 -356.6 122.94 - - 1988.16 - - - - - - - - - 15.15 -
7164.67 208.92 10.63 683 7169.86 done 1.94 - - 2592.44 - 3.51 0.046 2126.75 417.1 122.94 - - 1987.25 - - - - - - - - - 15.60 -
7289.26 198.71 7.98 696 7319.89 2.03 0.25 0.065 2644.75 209.2 - - 2127.69 - 154.06 27.94 1.297 1871.66 -4.1 0.114 - - - - - - 15.66 - 11.10
7439.26 182.19 11.53 713 7444.97 roll 2.03 - - 2646.00 - 4.08 0.127 661.94 -359.3 154.06 - - 1868.84 - - - - - - - - - 15.32 -
7558.24 166.55 13.36 737 7564.99 roll 2.03 - - 2645.25 - 3.50 0.045 2127.88 418.8 154.06 - - 1866.75 - - - - - - - - - 15.58 -
7684.30 152.36 10.99 750 7690.01 roll 2.03 - - 2645.56 - 4.06 0.124 662.12 -361.0 154.06 - - 1864.47 - - - - - - - - - 15.26 -
7763.21 141.48 13.73 766 7770.02 roll 2.03 - - 2645.00 - 3.49 0.044 2129.25 420.4 154.06 - - 1866.03 - - - - - - - - - 15.58 -
7829.37 134.35 10.87 773 7830.70 no move 2.03 - - 2645.75 - - - 2129.50 - 154.06 - - 1864.09 - - - - - - - - - - -
7889.33 127.68 10.93 779 7890.66 no move 2.03 - - 2645.44 - - - 2129.06 - 154.06 - - 1863.97 - - - - - - - - - - -
7949.33 120.90 11.28 785 7950.66 no move 2.03 - - 2645.06 - - - 2129.69 - 154.06 - - 1865.25 - - - - - - - - - - -
8009.35 114.86 10.09 791 8014.98 roll 2.06 - - 2645.25 - 3.62 0.107 3475.88 371.9 154.06 - - 1864.00 - - - - - - - - - 15.29 -
8058.26 109.71 10.07 801 8065.03 roll 2.09 - - 2644.19 - 3.38 0.052 2077.31 -413.8 154.06 - - 1864.97 - - - - - - - - - 15.49 -
8124.43 104.52 8.27 808 8166.21 done 2.18 - - 2644.19 - 3.91 0.130 662.12 -361.9 182.34 32.65 1.160 1755.91 -3.3 0.054 - - - - - - - 15.12 11.46
8254.90 89.78 12.31 834 8260.06 roll 2.18 - - 2642.50 - 3.48 0.044 2129.06 421.5 182.34 - - 1753.22 - - - - - - - - - 15.57 -
8319.46 83.15 10.32 841 8325.22 roll back 2.20 0.17 0.077 2686.44 258.5 4.06 0.126 661.56 -361.5 182.34 - - 1752.44 - - - - - - - - 15.58 15.29 -
8404.94 73.46 10.29 858 8410.10 roll 2.22 - - 2689.06 - 3.49 0.047 2130.06 420.8 182.34 - - 1751.12 - - - - - - - - - 15.57 -
8469.49 68.44 7.51 865 8516.00 done 2.33 - - 2688.81 - 3.60 0.108 3475.75 373.8 218.14 41.69 1.121 1608.50 -3.4 0.038 - - - - - - - 15.06 11.64
8544.50 62.00 10.30 880 8549.08 roll 2.36 - - 2689.31 - 3.38 0.052 2076.69 -413.9 218.14 - - 1608.38 - - - - - - - - - 15.48 -
8614.51 54.93 9.85 888 8620.25 roll back 2.39 0.20 0.083 2731.88 212.9 3.89 0.129 662.06 -363.7 218.14 - - 1607.06 - - - - - - - - 15.47 15.28 -
8749.98 44.03 7.09 915 8801.17 done 2.51 - - 2732.12 - 3.48 0.045 2131.69 422.3 258.16 45.38 1.083 1446.66 -3.5 0.026 - - - - - - - 15.56 11.51
8859.55 35.56 9.19 931 8865.31 roll back 2.57 0.20 0.073 2780.38 241.3 4.03 0.125 661.75 -364.7 258.16 - - 1443.81 - - - - - - - - 15.46 15.28 -
8878.45 33.45 10.40 935 8885.24 roll 2.59 - - 2780.12 - 3.48 0.044 2131.38 422.3 258.16 - - 1445.38 - - - - - - - - - 15.49 -
8944.54 27.69 8.81 942 8975.81 done 2.66 - - 2780.25 - 3.57 0.106 3475.62 376.5 281.03 26.40 1.027 1352.75 -3.5 0.017 - - - - - - - 15.07 11.58
9184.58 6.50 9.66 990 9189.17 roll 2.70 - - 2779.81 - 3.39 0.052 2077.38 -412.5 281.03 - - 1350.44 - - - - - - - - - 15.49 -
9234 end climb: SURFACE_DEPTH_REACHED
9234 begin surface coast
9254 end surface coast: CONTROL_FINISHED_OK
9254 begin surface
SM -0.57 - - - - 165.2 0.01 0.353 564.5 56450.0 18.06 0.085 563.3 31.2 - 0.09 0.131 565.7 6247.9 2.779 - - 30.36 15.26 15.61 -