NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1088 * Raw log
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• Previous call tries 1 • 298.13 of 575.00 AH used of 24V (48.15% remains)
• Surface angle -62.0 deg, depth -1.44 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.83 (SM_CC=475)
• GPS1 time: 33 s
• GPS2 time: 2 s • Transponder ping count: 8
• 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
8.36 - - - 100.54 VBD -1.59 - - 169.00 - - - 2076.38 - -74.33 91.73 0.005 2715.69 - - - - - - - - - - 14.67
100.77 5.28 -10.59 9 126.57 -1.59 13.81 0.248 1753.75 114.8 3.93 0.148 661.62 -360.0 -74.33 1.74 0.016 2802.22 49.7 -2.956 - - - - - - 14.95 14.70 14.86
203.71 32.23 -22.56 30 210.53 roll -1.59 - - 1753.75 - 3.56 0.054 2119.88 409.6 -74.33 - - 2803.66 - - - - - - - - - 15.44 -
269.86 44.31 -17.76 37 271.19 no move -1.59 - - 1753.81 - - - 2120.06 - -74.33 - - 2802.81 - - - - - - - - - - -
329.82 54.30 -16.50 43 335.46 roll -1.59 - - 1754.19 - 3.65 0.108 3475.94 371.5 -74.33 - - 2801.19 - - - - - - - - - 15.27 -
454.84 76.19 -15.52 68 459.42 roll -1.59 - - 1753.50 - 3.37 0.056 2080.75 -414.0 -74.33 - - 2803.84 - - - - - - - - - 15.42 -
524.83 84.70 -12.00 76 530.50 roll -1.59 - - 1753.88 - 3.73 0.102 3475.38 373.9 -74.33 - - 2800.75 - - - - - - - - - 15.29 -
563.75 89.91 -13.55 84 570.54 roll -1.59 - - 1753.81 - 3.35 0.055 2081.56 -416.1 -74.33 - - 2803.22 - - - - - - - - - 15.40 -
629.90 98.00 -11.92 91 635.57 roll -1.59 - - 1754.19 - 3.98 0.148 661.62 -356.8 -74.33 - - 2801.25 - - - - - - - - - 15.10 -
695.32 105.66 -11.81 104 700.48 roll -1.59 - - 1752.62 - 3.50 0.048 2123.38 417.6 -74.33 - - 2803.78 - - - - - - - - - 15.51 -
759.92 112.20 -9.58 111 765.50 roll -1.59 - - 1753.38 - 3.58 0.103 3475.31 377.6 -74.33 - - 2801.44 - - - - - - - - - 15.28 -
788.77 115.29 -9.31 117 795.55 roll -1.59 - - 1754.44 - 3.33 0.053 2078.56 -419.4 -74.33 - - 2803.97 - - - - - - - - - 15.42 -
854.94 121.33 -8.80 124 860.57 done -1.66 - - 1753.88 - 3.68 0.104 3475.88 379.7 -97.37 0.58 0.039 2901.03 167.3 -93.764 - - - - - - - 14.54 14.33
893.79 125.75 -11.51 132 900.58 roll -1.66 - - 1753.75 - 3.32 0.053 2080.25 -420.4 -97.37 - - 2900.75 - - - - - - - - - 15.42 -
959.93 132.14 -9.62 139 965.53 roll -1.66 - - 1753.94 - 3.67 0.101 3476.75 380.5 -97.37 - - 2900.72 - - - - - - - - - 15.27 -
994.88 136.03 -11.12 146 999.50 roll -1.66 - - 1754.06 - 3.32 0.052 2079.62 -420.8 -97.37 - - 2900.91 - - - - - - - - - 15.44 -
1064.89 143.47 -10.73 154 1070.58 roll -1.66 - - 1753.75 - 3.94 0.146 661.81 -359.9 -97.37 - - 2901.06 - - - - - - - - - 15.08 -
1100.34 147.84 -12.71 161 1105.58 roll -1.66 - - 1753.81 - 3.46 0.047 2124.06 422.6 -97.37 - - 2898.72 - - - - - - - - - 15.51 -
1164.91 155.05 -10.77 168 1170.54 roll -1.66 - - 1753.50 - 3.57 0.104 3475.31 378.5 -97.37 - - 2900.16 - - - - - - - - - 15.27 -
1223.83 162.22 -12.53 180 1230.60 roll -1.66 - - 1753.94 - 3.33 0.053 2081.38 -418.6 -97.37 - - 2902.12 - - - - - - - - - 15.41 -
1349.93 176.60 -11.99 193 1355.62 roll -1.66 - - 1753.75 - 3.99 0.147 662.81 -355.5 -97.37 - - 2899.47 - - - - - - - - - 15.08 -
1388.84 181.53 -12.77 201 1395.63 roll -1.66 - - 1754.31 - 3.47 0.046 2122.75 420.7 -97.37 - - 2901.91 - - - - - - - - - 15.49 -
1514.95 195.20 -10.90 214 1520.57 roll -1.66 - - 1753.81 - 3.59 0.107 3476.00 376.9 -97.37 - - 2900.44 - - - - - - - - - 15.24 -
1559.94 200.84 -12.52 223 1564.54 roll -1.66 - - 1754.06 - 3.33 0.053 2080.12 -419.2 -97.37 - - 2901.53 - - - - - - - - - 15.42 -
1689.96 215.15 -11.44 237 1691.29 no move -1.66 - - 1753.69 - - - 2079.88 - -97.37 - - 2901.56 - - - - - - - - - - -
1809.96 228.54 -10.21 249 1815.61 roll -1.66 - - 1753.69 - 3.70 0.105 3474.81 377.0 -97.37 - - 2899.31 - - - - - - - - - 15.23 -
1858.88 234.78 -13.17 259 1865.66 roll -1.66 - - 1754.06 - 3.33 0.053 2082.06 -418.2 -97.37 - - 2901.78 - - - - - - - - - 15.40 -
1984.98 248.58 -10.94 272 1990.69 roll -1.66 - - 1753.44 - 4.02 0.149 662.00 -353.2 -97.37 - - 2900.62 - - - - - - - - - 15.04 -
2043.92 256.75 -13.73 284 2049.58 roll -1.66 - - 1753.88 - 3.48 0.048 2124.81 420.3 -97.37 - - 2901.97 - - - - - - - - - 15.48 -
2370.00 293.70 -11.47 299 2375.64 roll -1.66 - - 1753.81 - 3.61 0.109 3476.31 374.4 -97.37 - - 2899.78 - - - - - - - - - 15.21 -
2413.90 299.02 -13.24 308 2419.59 roll -1.66 - - 1753.88 - 3.33 0.054 2080.69 -419.1 -97.37 - - 2902.03 - - - - - - - - - 15.39 -
2725.00 332.07 -10.36 320 2730.66 roll -1.66 - - 1753.44 - 3.74 0.107 3475.25 372.9 -97.37 - - 2900.16 - - - - - - - - - 15.19 -
2768.91 337.11 -11.69 329 2774.60 roll -1.66 - - 1754.19 - 3.36 0.056 2079.94 -415.3 -97.37 - - 2901.34 - - - - - - - - - 15.36 -
3080.02 369.70 -10.66 341 3085.68 roll -1.66 - - 1753.75 - 3.76 0.109 3476.94 371.5 -97.37 - - 2901.69 - - - - - - - - - 15.18 -
3105.08 372.67 -11.12 346 3109.62 roll -1.66 - - 1753.38 - 3.36 0.056 2080.25 -415.7 -97.37 - - 2901.75 - - - - - - - - - 15.37 -
3435.08 407.64 -10.66 362 3440.69 roll -1.66 - - 1752.12 - 3.77 0.110 3474.75 369.9 -97.37 - - 2901.28 - - - - - - - - - 15.16 -
3483.95 413.37 -12.68 372 3490.72 roll -1.66 - - 1752.94 - 3.37 0.057 2080.19 -413.8 -97.37 - - 2903.22 - - - - - - - - - 15.34 -
3790.04 446.42 -10.48 383 3795.71 roll -1.66 - - 1753.44 - 3.79 0.111 3474.75 368.0 -97.37 - - 2901.38 - - - - - - - - - 15.14 -
3845.06 451.66 -11.39 394 3849.64 roll -1.66 - - 1753.56 - 3.37 0.058 2081.75 -413.4 -97.37 - - 2902.03 - - - - - - - - - 15.34 -
4175.16 483.43 -9.56 410 4180.73 roll -1.66 - - 1753.25 - 3.78 0.112 3474.56 368.5 -97.37 - - 2898.91 - - - - - - - - - 15.13 -
4249.03 491.48 -11.80 425 4254.66 roll -1.66 - - 1753.94 - 3.36 0.059 2081.31 -414.7 -97.37 - - 2900.84 - - - - - - - - - 15.31 -
4349 end dive: TARGET_DEPTH_EXCEEDED
4349 begin apogee
4351.21 501.58 -10.48 430 4441.50 -0.25 2.54 0.153 2079.44 128.1 0.09 0.237 2083.38 23.0 - 83.60 1.638 2500.16 -4.8 0.264 - - - - - - 15.11 14.86 10.72
4444 end apogee: CONTROL_FINISHED_OK
4444 begin climb
4444.58 504.12 - 433 4538.42 1.66 3.27 0.080 2546.75 142.9 - - 2083.12 - 97.37 89.58 1.585 2102.03 -4.4 0.255 - - - - - - 15.18 - 11.43
4856.65 469.98 9.69 451 4862.29 done 1.70 - - 2547.81 - 3.76 0.111 3472.38 369.5 97.37 - - 2089.38 - - - - - - - - - 15.30 -
4870.58 467.62 9.38 454 4876.23 done 1.76 - - 2547.56 - 3.37 0.055 2078.06 -413.7 97.37 - - 2090.53 - - - - - - - - - 15.44 -
5181.67 439.17 9.12 466 5187.37 1.81 0.19 0.102 2589.00 218.1 3.80 0.114 3475.88 367.8 97.37 - - 2086.97 - - - - - - - - 15.60 15.29 -
5225.58 435.19 8.16 475 5256.80 done 1.90 - - 2589.25 - 3.37 0.056 2077.88 -414.8 126.70 26.24 1.476 1982.50 -4.0 0.211 - - - - - - - 15.45 11.54
5566.67 397.82 11.19 493 5572.35 roll 1.90 - - 2589.31 - 3.88 0.138 661.75 -365.0 126.70 - - 1975.03 - - - - - - - - - 15.23 -
5742.13 375.87 11.74 528 5747.32 done 1.90 - - 2589.31 - 3.48 0.047 2125.88 420.7 126.70 - - 1973.72 - - - - - - - - - 15.58 -
6066.71 339.28 11.29 543 6072.41 done 1.90 - - 2588.19 - 4.03 0.130 660.69 -363.6 126.70 - - 1974.56 - - - - - - - - - 15.16 -
6265.65 313.60 12.65 583 6272.43 done 1.90 - - 2587.69 - 3.48 0.046 2126.81 421.3 126.70 - - 1973.97 - - - - - - - - - 15.55 -
6571.76 282.97 9.47 594 6573.09 VBD 1.95 - - 2589.12 - - - 2126.56 - 126.70 - - 1972.66 - - - - - - - - - - -
6871.76 252.31 10.30 604 6877.52 1.98 0.19 0.080 2629.06 210.2 4.09 0.131 661.69 -358.2 126.70 - - 1972.22 - - - - - - - - 15.68 15.10 -
7100.71 225.02 10.27 650 7107.50 done 2.00 - - 2629.19 - 3.50 0.048 2126.75 418.6 126.70 - - 1972.44 - - - - - - - - - 15.53 -
7226.81 212.37 9.68 663 7232.52 done 2.04 - - 2630.00 - 4.07 0.127 661.81 -359.9 126.70 - - 1970.81 - - - - - - - - - 15.09 -
7455.73 186.24 11.01 709 7462.68 done 2.04 - - 2630.56 - 3.52 0.046 2126.75 416.2 126.70 - - 1971.66 - - - - - - - - - 15.53 -
7581.86 174.48 9.50 722 7587.57 done 2.09 - - 2629.50 - 4.06 0.125 661.44 -360.9 126.70 - - 1969.72 - - - - - - - - - 15.09 -
7607.29 171.47 10.16 727 7612.45 done 2.12 - - 2629.94 - 3.50 0.044 2130.31 419.7 126.70 - - 1971.66 - - - - - - - - - 15.52 -
7731.87 159.82 9.39 740 7737.64 2.17 0.23 0.075 2680.00 217.7 4.08 0.127 661.94 -359.9 126.70 - - 1971.41 - - - - - - - - 15.67 15.09 -
7877.34 143.89 9.96 769 7882.50 done 2.21 - - 2680.06 - 3.51 0.048 2129.00 418.0 126.70 - - 1971.25 - - - - - - - - - 15.54 -
7941.89 137.68 9.06 776 7966.95 done 2.27 - - 2679.44 - 3.61 0.111 3474.31 372.7 147.06 19.09 1.186 1900.03 -3.7 0.078 - - - - - - - 15.20 11.16
7975.85 134.70 8.50 783 8007.08 2.35 0.19 0.086 2719.56 211.2 3.36 0.052 2074.94 -416.5 173.01 25.87 1.180 1794.09 -4.1 0.084 - - - - - - 15.39 15.58 11.71
8071.90 123.81 12.42 796 8077.59 roll 2.35 - - 2719.62 - 3.91 0.128 661.94 -361.4 173.01 - - 1790.41 - - - - - - - - - 15.33 -
8140.86 113.94 14.59 810 8147.61 roll 2.35 - - 2720.12 - 3.53 0.047 2126.62 414.9 173.01 - - 1789.44 - - - - - - - - - 15.53 -
8206.90 105.77 12.16 817 8212.60 roll 2.35 - - 2719.88 - 3.64 0.109 3475.94 370.7 173.01 - - 1787.56 - - - - - - - - - 15.29 -
8241.91 101.18 12.57 824 8246.50 roll 2.35 - - 2719.62 - 3.38 0.053 2077.06 -413.9 173.01 - - 1788.09 - - - - - - - - - 15.48 -
8311.91 92.86 12.20 832 8317.62 roll 2.35 - - 2719.19 - 3.90 0.127 661.50 -363.0 173.01 - - 1788.19 - - - - - - - - - 15.25 -
8400.84 82.46 11.08 850 8407.63 roll 2.35 - - 2720.12 - 3.49 0.046 2128.56 420.4 173.01 - - 1787.47 - - - - - - - - - 15.54 -
8467.01 76.31 9.24 857 8472.57 roll 2.40 - - 2720.00 - 3.59 0.108 3475.12 375.1 173.01 - - 1785.34 - - - - - - - - - 15.25 -
8695.88 57.78 6.39 903 8753.78 2.54 0.23 0.076 2767.25 205.4 3.35 0.052 2076.81 -417.4 220.01 52.99 1.112 1603.19 -3.4 0.032 - - - - - - 15.25 15.48 11.58
8812.68 50.34 7.35 920 8863.54 done 2.66 - - 2767.12 - 3.79 0.107 3475.56 369.1 257.46 42.48 1.065 1449.94 -3.6 0.031 - - - - - - - 14.99 11.57
8942.00 38.97 10.47 946 8946.58 roll 2.68 - - 2768.19 - 3.38 0.051 2074.94 -414.4 257.46 - - 1447.00 - - - - - - - - - 15.41 -
9012.00 33.18 8.08 954 9053.54 2.77 0.27 0.077 2823.69 205.6 3.75 0.105 3474.94 373.3 287.60 33.54 1.028 1326.69 -3.6 0.021 - - - - - - 15.48 15.06 11.46
9095.91 24.60 10.63 971 9102.69 roll 2.77 - - 2822.75 - 3.36 0.049 2075.88 -416.4 287.60 - - 1324.94 - - - - - - - - - 15.43 -
9162.06 18.36 8.67 978 9194.42 done 2.84 - - 2823.38 - 3.86 0.128 660.50 -366.7 311.88 27.00 0.993 1228.41 -3.6 0.012 - - - - - - - 15.04 11.51
9297 end climb: SURFACE_DEPTH_REACHED
9298 begin surface coast
9307 end surface coast: CONTROL_FINISHED_OK
9307 begin surface
SM -0.50 - - - - 172.6 2.16 0.314 564.3 248.7 18.33 0.087 559.6 30.5 - 3.43 0.040 569.0 164.8 0.210 - - 11.68 15.23 15.54 -