NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 440 * Raw log
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• Previous call tries 1 • 130.50 of 575.00 AH used of 24V (77.31% remains)
• Surface angle -59.6 deg, depth 0.63 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.02 (SM_CC=425)
• GPS1 time: 39 s
• GPS2 time: 3 s • Transponder ping count: 3
• 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
7.02 - - - 85.66 VBD -1.25 - - 171.50 - - - 2120.94 - -77.86 78.02 0.005 2488.44 - - - - - - - - - - 15.30
85.93 3.56 -4.99 15 117.84 -1.25 14.52 0.260 1836.12 114.6 4.28 0.156 663.31 -340.6 -77.86 7.92 0.008 2817.56 41.6 -3.177 - - - - - - 15.45 15.31 15.35
220.63 37.84 -25.17 42 226.45 roll -1.25 - - 1835.31 - 3.62 0.056 2117.62 401.7 -77.86 - - 2816.62 - - - - - - - - - 15.63 -
405.73 67.42 -14.30 79 407.06 no move -1.25 - - 1835.38 - - - 2117.62 - -77.86 - - 2816.81 - - - - - - - - - - -
585.78 89.84 -11.77 115 591.58 roll -1.25 - - 1834.44 - 3.70 0.113 3473.38 366.4 -77.86 - - 2818.00 - - - - - - - - - 15.74 -
779.79 117.83 -14.41 154 786.62 roll -1.25 - - 1835.75 - 3.42 0.060 2082.19 -406.8 -77.86 - - 2816.66 - - - - - - - - - 15.79 -
1085.93 152.25 -11.60 185 1091.63 roll -1.25 - - 1835.56 - 3.79 0.112 3475.19 367.5 -77.86 - - 2817.56 - - - - - - - - - 15.83 -
1190.97 165.45 -12.20 206 1195.64 roll -1.25 - - 1836.12 - 3.44 0.059 2081.81 -405.1 -77.86 - - 2819.16 - - - - - - - - - 15.84 -
1501.03 200.01 -10.48 238 1506.80 roll -1.25 - - 1835.81 - 4.03 0.153 662.31 -352.2 -77.86 - - 2815.09 - - - - - - - - - 15.82 -
1566.13 208.40 -13.01 251 1571.74 roll -1.25 - - 1836.00 - 3.53 0.052 2120.12 413.0 -77.86 - - 2815.44 - - - - - - - - - 15.87 -
1871.09 241.56 -10.28 282 1872.41 no move -1.25 - - 1835.88 - - - 2119.56 - -77.86 - - 2817.56 - - - - - - - - - - -
2171.12 273.21 -10.07 312 2172.45 no move -1.25 - - 1835.81 - - - 2119.62 - -77.86 - - 2817.53 - - - - - - - - - - -
2471.16 304.54 -11.17 342 2476.94 roll -1.25 - - 1836.25 - 4.14 0.154 662.00 -352.1 -77.86 - - 2815.66 - - - - - - - - - 15.87 -
2510.10 309.51 -12.84 350 2516.93 roll -1.25 - - 1835.69 - 3.53 0.055 2119.19 412.8 -77.86 - - 2818.41 - - - - - - - - - 15.92 -
2816.20 341.98 -10.43 381 2821.99 roll -1.25 - - 1835.19 - 4.15 0.156 662.12 -351.1 -77.86 - - 2817.88 - - - - - - - - - 15.86 -
2911.22 353.36 -12.17 400 2915.90 roll -1.25 - - 1835.81 - 3.51 0.056 2118.44 414.9 -77.86 - - 2817.09 - - - - - - - - - 15.92 -
3221.26 384.29 -9.17 432 3222.59 no move -1.25 - - 1834.94 - - - 2118.19 - -77.86 - - 2817.50 - - - - - - - - - - -
3521.29 413.55 -9.95 462 3527.09 roll -1.25 - - 1836.06 - 4.13 0.156 663.56 -352.2 -77.86 - - 2818.00 - - - - - - - - - 15.87 -
3580.22 420.32 -11.27 474 3587.09 roll -1.25 - - 1835.81 - 3.52 0.058 2117.44 413.0 -77.86 - - 2816.66 - - - - - - - - - 15.93 -
3886.34 449.17 -8.72 505 3892.13 roll -1.25 - - 1835.38 - 4.11 0.157 663.50 -353.8 -77.86 - - 2814.91 - - - - - - - - - 15.87 -
3961.35 457.42 -11.95 520 3966.03 roll -1.25 - - 1835.38 - 3.52 0.058 2116.31 412.7 -77.86 - - 2816.81 - - - - - - - - - 15.93 -
4271.39 486.16 -8.87 552 4272.72 no move -1.25 - - 1835.56 - - - 2116.44 - -77.86 - - 2816.38 - - - - - - - - - - -
4571.43 514.66 -10.04 582 4572.76 no move -1.25 - - 1835.44 - - - 2116.62 - -77.86 - - 2815.78 - - - - - - - - - - -
4871.46 543.40 -9.07 612 4872.78 no move -1.25 - - 1835.56 - - - 2116.69 - -77.86 - - 2815.28 - - - - - - - - - - -
5171.49 569.50 -7.71 642 5172.82 no move -1.25 - - 1835.62 - - - 2116.19 - -77.86 - - 2813.59 - - - - - - - - - - -
5471.52 596.55 -9.52 672 5472.85 no move -1.25 - - 1836.12 - - - 2116.38 - -77.86 - - 2814.91 - - - - - - - - - - -
5771.56 625.22 -9.42 702 5772.90 no move -1.25 - - 1835.50 - - - 2116.50 - -77.86 - - 2813.00 - - - - - - - - - - -
6071.63 654.93 -8.92 732 6072.96 no move -1.25 - - 1835.62 - - - 2116.81 - -77.86 - - 2812.41 - - - - - - - - - - -
6371.69 683.86 -9.38 762 6377.48 roll -1.25 - - 1835.88 - 4.18 0.168 662.69 -347.9 -77.86 - - 2812.22 - - - - - - - - - 15.86 -
6450.63 692.96 -11.25 778 6457.48 roll -1.25 - - 1835.50 - 3.55 0.065 2115.00 409.1 -77.86 - - 2814.44 - - - - - - - - - 15.94 -
6756.78 719.65 -8.29 809 6758.11 no move -1.25 - - 1835.94 - - - 2114.81 - -77.86 - - 2813.59 - - - - - - - - - - -
7056.84 743.79 -7.29 839 7062.63 roll -1.25 - - 1835.19 - 4.17 0.170 663.56 -348.0 -77.86 - - 2810.97 - - - - - - - - - 15.85 -
7126.01 750.26 -10.18 853 7132.64 roll -1.25 - - 1836.38 - 3.56 0.066 2117.19 408.3 -77.86 - - 2812.56 - - - - - - - - - 15.93 -
7431.94 774.44 -8.27 884 7433.26 no move -1.25 - - 1835.56 - - - 2116.44 - -77.86 - - 2810.69 - - - - - - - - - - -
7732.00 798.01 -7.57 914 7733.32 no move -1.25 - - 1836.12 - - - 2116.38 - -77.86 - - 2812.06 - - - - - - - - - - -
8032.05 822.08 -7.25 944 8037.85 roll -1.25 - - 1836.12 - 4.20 0.172 662.38 -346.2 -77.86 - - 2811.94 - - - - - - - - - 15.85 -
8167.09 834.79 -9.79 971 8172.78 roll -1.25 - - 1835.88 - 3.57 0.069 2115.38 407.0 -77.86 - - 2813.78 - - - - - - - - - 15.92 -
8472.13 859.91 -8.05 1002 8477.92 roll -1.25 - - 1836.44 - 4.19 0.172 663.56 -346.5 -77.86 - - 2809.38 - - - - - - - - - 15.84 -
8547.14 865.94 -8.67 1017 8551.82 roll -1.25 - - 1835.75 - 3.56 0.068 2113.38 407.3 -77.86 - - 2809.84 - - - - - - - - - 15.92 -
8857.17 891.31 -8.40 1049 8858.50 no move -1.25 - - 1836.12 - - - 2115.19 - -77.86 - - 2810.84 - - - - - - - - - - -
9157.21 914.15 -7.45 1079 9158.54 no move -1.25 - - 1835.88 - - - 2114.88 - -77.86 - - 2810.88 - - - - - - - - - - -
9457.25 936.36 -6.87 1109 9458.58 no move -1.25 - - 1835.81 - - - 2115.31 - -77.86 - - 2810.47 - - - - - - - - - - -
9757.28 959.27 -7.93 1139 9758.61 no move -1.25 - - 1835.94 - - - 2115.25 - -77.86 - - 2810.75 - - - - - - - - - - -
10057.32 983.39 -8.03 1169 10058.65 no move -1.25 - - 1835.69 - - - 2114.62 - -77.86 - - 2810.56 - - - - - - - - - - -
10147 end dive: TARGET_DEPTH_EXCEEDED
10147 begin apogee
10148.58 990.88 -9.11 1178 10219.16 -0.25 1.80 0.148 2079.94 135.7 0.07 0.314 2187.25 1037.6 - 66.21 2.289 2501.47 -4.7 0.347 - - - - - - 15.84 15.11 12.25
10220 end apogee: CONTROL_FINISHED_OK
10220 begin climb
10221.09 992.68 - 1185 10299.70 1.25 2.65 0.089 2447.88 138.8 - - 2187.12 - 77.86 74.10 2.228 2181.91 -4.3 0.330 - - - - - - 15.20 - 12.43
10597.58 961.91 9.33 1223 10603.00 done 1.25 - - 2448.00 - 3.65 0.134 3472.44 352.1 77.86 - - 2170.22 - - - - - - - - - 15.52 -
10692.38 951.51 12.04 1242 10697.07 done 1.25 - - 2447.69 - 3.25 0.067 2182.69 -396.8 77.86 - - 2171.56 - - - - - - - - - 15.58 -
11002.42 923.41 8.34 1274 11003.76 VBD 1.25 - - 2447.94 - - - 2182.81 - 77.86 - - 2166.78 - - - - - - - - - - -
11302.47 897.68 7.35 1304 11308.07 done 1.27 - - 2447.62 - 3.58 0.130 3473.94 360.7 77.86 - - 2169.12 - - - - - - - - - 15.75 -
11507.50 879.28 8.88 1345 11512.19 done 1.27 - - 2446.81 - 3.20 0.066 2182.94 -403.4 77.86 - - 2167.72 - - - - - - - - - 15.80 -
11817.54 856.70 6.70 1377 11823.30 done 1.31 - - 2448.00 - 4.07 0.150 736.00 -355.5 77.86 - - 2163.38 - - - - - - - - - 15.76 -
11896.38 850.53 7.66 1393 11903.46 done 1.31 - - 2447.88 - 3.63 0.063 2217.69 408.2 77.86 - - 2163.22 - - - - - - - - - 15.84 -
12202.62 830.36 5.79 1424 12233.31 1.41 0.21 0.091 2491.75 208.9 - - 2217.81 - 110.14 28.03 2.036 2050.12 -4.0 0.283 - - - - - - 15.83 - 12.34
12532.68 797.34 10.33 1457 12538.53 roll 1.41 - - 2489.19 - 4.22 0.146 736.38 -351.0 110.14 - - 2045.06 - - - - - - - - - 15.67 -
12611.54 787.32 12.29 1473 12618.48 roll 1.41 - - 2492.12 - 3.67 0.061 2217.56 403.6 110.14 - - 2045.88 - - - - - - - - - 15.72 -
12917.78 754.72 10.36 1504 12922.35 done 1.41 - - 2491.69 - 3.45 0.128 3474.06 364.2 110.14 - - 2041.75 - - - - - - - - - 15.77 -
12981.65 746.78 11.64 1517 12988.49 done 1.41 - - 2492.19 - 3.18 0.063 2182.38 -406.2 110.14 - - 2043.00 - - - - - - - - - 15.78 -
13287.86 713.84 10.67 1548 13289.19 VBD 1.41 - - 2492.12 - - - 2182.69 - 110.14 - - 2040.88 - - - - - - - - - - -
13587.92 682.54 10.87 1578 13593.67 done 1.41 - - 2492.31 - 3.52 0.128 3473.44 366.7 110.14 - - 2039.91 - - - - - - - - - 15.80 -
13683.30 671.12 12.29 1597 13687.63 done 1.41 - - 2492.00 - 3.19 0.063 2180.94 -405.2 110.14 - - 2042.09 - - - - - - - - - 15.84 -
13993.03 641.04 8.94 1629 13994.36 VBD 1.41 - - 2491.94 - - - 2181.38 - 110.14 - - 2039.81 - - - - - - - - - - -
14293.07 614.60 8.02 1659 14294.40 VBD 1.41 - - 2490.06 - - - 2180.81 - 110.14 - - 2040.25 - - - - - - - - - - -
14593.10 589.44 8.97 1689 14598.71 done 1.41 - - 2492.44 - 3.53 0.126 3473.06 366.1 110.14 - - 2039.91 - - - - - - - - - 15.86 -
14702.10 579.26 9.47 1711 14708.81 done 1.41 - - 2492.12 - 3.18 0.064 2181.12 -406.3 110.14 - - 2041.03 - - - - - - - - - 15.86 -
15008.16 552.23 9.42 1742 15012.89 done 1.41 - - 2492.56 - 3.49 0.124 3472.88 370.1 110.14 - - 2042.47 - - - - - - - - - 15.87 -
15052.16 548.48 9.10 1751 15058.86 done 1.41 - - 2493.06 - 3.15 0.061 2181.75 -409.9 110.14 - - 2042.91 - - - - - - - - - 15.88 -
15358.22 522.00 7.49 1782 15359.55 VBD 1.43 - - 2492.50 - - - 2181.38 - 110.14 - - 2039.56 - - - - - - - - - - -
15658.24 496.51 8.46 1812 15659.57 VBD 1.43 - - 2492.38 - - - 2181.19 - 110.14 - - 2039.56 - - - - - - - - - - -
15958.27 471.87 7.99 1842 15959.61 VBD 1.43 - - 2492.62 - - - 2181.44 - 110.14 - - 2040.25 - - - - - - - - - - -
16258.32 447.56 8.39 1872 16259.65 VBD 1.43 - - 2492.62 - - - 2181.94 - 110.14 - - 2039.28 - - - - - - - - - - -
16558.36 424.07 7.35 1902 16563.96 done 1.45 - - 2492.75 - 3.51 0.122 3473.31 367.9 110.14 - - 2038.44 - - - - - - - - - 15.85 -
16607.28 419.86 8.97 1912 16614.05 done 1.45 - - 2493.38 - 3.19 0.062 2179.56 -405.6 110.14 - - 2040.19 - - - - - - - - - 15.84 -
16913.39 395.73 8.08 1943 16914.72 VBD 1.45 - - 2492.44 - - - 2179.94 - 110.14 - - 2040.34 - - - - - - - - - - -
17213.42 370.75 8.25 1973 17219.03 done 1.45 - - 2492.62 - 3.54 0.121 3473.69 365.5 110.14 - - 2038.25 - - - - - - - - - 15.87 -
17368.44 355.83 9.32 2004 17373.14 done 1.45 - - 2492.75 - 3.20 0.060 2179.75 -404.4 110.14 - - 2040.47 - - - - - - - - - 15.89 -
17678.53 332.25 7.46 2036 17684.23 done 1.47 - - 2492.44 - 3.51 0.117 3473.88 368.7 110.14 - - 2041.59 - - - - - - - - - 15.87 -
17747.49 327.04 7.60 2050 17754.33 done 1.47 - - 2492.94 - 3.19 0.057 2180.06 -405.6 110.14 - - 2041.00 - - - - - - - - - 15.83 -
18053.55 305.22 7.18 2081 18059.37 done 1.49 - - 2492.75 - 4.01 0.137 735.56 -360.2 110.14 - - 2038.31 - - - - - - - - - 15.84 -
18188.58 293.02 9.09 2108 18194.21 done 1.49 - - 2492.50 - 3.61 0.057 2224.50 412.4 110.14 - - 2037.97 - - - - - - - - - 15.89 -
18493.67 268.94 7.27 2139 18495.00 VBD 1.52 - - 2492.81 - - - 2224.06 - 110.14 - - 2038.62 - - - - - - - - - - -
18793.73 246.84 7.17 2169 18795.06 VBD 1.54 - - 2492.75 - - - 2223.94 - 110.14 - - 2038.53 - - - - - - - - - - -
19093.79 227.28 6.40 2199 19095.26 1.59 0.20 0.089 2532.44 198.5 - - 2224.31 - 110.14 - - 2038.94 - - - - - - - - 15.88 - -
19393.85 207.33 6.42 2229 19398.42 done 1.64 - - 2533.25 - 3.42 0.119 3474.62 365.6 110.14 - - 2039.16 - - - - - - - - - 15.82 -
19493.98 199.40 7.50 2249 19498.54 done 1.66 - - 2534.44 - 3.17 0.057 2177.56 -409.2 110.14 - - 2039.06 - - - - - - - - - 15.87 -
19803.95 180.37 6.36 2281 19805.28 VBD 1.71 - - 2534.00 - - - 2177.94 - 110.14 - - 2039.03 - - - - - - - - - - -
20104.01 160.99 6.51 2311 20105.48 1.75 0.20 0.091 2574.69 203.5 - - 2177.56 - 110.14 - - 2040.62 - - - - - - - - 15.85 - -
20404.07 143.40 6.06 2341 20409.81 done 1.81 - - 2574.62 - 4.01 0.133 736.12 -359.5 110.14 - - 2038.81 - - - - - - - - - 15.83 -
20612.98 132.81 3.90 2383 20670.70 1.99 0.31 0.072 2634.19 192.2 3.62 0.055 2225.50 411.4 169.39 49.19 1.252 1809.19 -4.7 0.085 - - - - - - 15.79 15.86 12.25
20969.16 103.21 7.81 2424 20974.92 roll 1.99 - - 2634.19 - 4.18 0.126 735.38 -356.5 169.39 - - 1800.84 - - - - - - - - - 15.66 -
21109.21 91.53 8.36 2452 21115.09 roll 1.99 - - 2634.38 - 3.62 0.054 2225.38 411.6 169.39 - - 1801.50 - - - - - - - - - 15.71 -
21294.24 82.86 4.31 2489 21345.98 2.15 0.17 0.087 2671.19 216.5 3.47 0.114 3474.00 359.8 222.83 44.36 1.171 1591.75 -4.7 0.057 - - - - - - 15.73 15.40 12.30
21569.30 65.18 4.48 2544 21616.96 2.30 0.17 0.092 2703.62 190.8 3.22 0.052 2176.50 -403.0 273.76 42.56 1.132 1382.66 -4.9 0.049 - - - - - - 15.58 15.63 12.31
21794.78 47.39 9.99 2589 21800.56 roll 2.30 - - 2705.12 - 3.64 0.111 3473.00 356.2 273.76 - - 1378.72 - - - - - - - - - 15.54 -
22024.88 17.78 14.71 2635 22030.59 roll 2.30 - - 2704.44 - 3.22 0.053 2178.19 -402.1 273.76 - - 1377.69 - - - - - - - - - 15.66 -
22130 end climb: SURFACE_DEPTH_REACHED
22130 begin surface coast
22139 end surface coast: CONTROL_FINISHED_OK
22139 begin surface
SM -0.02 - - - - 172.8 - 0.014 767.3 - 17.04 0.057 771.1 45.3 - 0.22 0.116 763.6 3456.3 0.061 - - 30.36 15.68 15.70 -