NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 448 * Raw log
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• Previous call tries 1 • 133.01 of 575.00 AH used of 24V (76.87% remains)
• Surface angle -61.8 deg, depth 0.31 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.68 (SM_CC=425)
• GPS1 time: 14 s
• GPS2 time: 4 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
7.13 - - - 90.96 VBD -1.25 - - 175.25 - - - 2118.81 - -77.86 83.23 0.005 2559.38 - - - - - - - - - - 15.30
91.23 3.62 -4.43 16 117.20 -1.25 14.34 0.259 1835.75 115.8 - - 2119.25 - -77.86 6.33 0.008 2815.72 40.5 -3.186 - - - - - - 15.45 - 15.35
295.01 46.26 -20.34 57 300.80 roll -1.25 - - 1836.25 - 3.77 0.116 3473.81 359.3 -77.86 - - 2817.88 - - - - - - - - - 15.66 -
380.18 64.47 -19.34 74 385.82 roll -1.25 - - 1836.56 - 3.51 0.062 2082.50 -396.4 -77.86 - - 2816.72 - - - - - - - - - 15.68 -
565.14 90.47 -11.97 111 566.46 no move -1.25 - - 1835.62 - - - 2082.81 - -77.86 - - 2817.22 - - - - - - - - - - -
745.25 111.99 -11.43 137 746.58 no move -1.25 - - 1836.19 - - - 2082.31 - -77.86 - - 2817.62 - - - - - - - - - - -
1045.21 144.22 -10.97 167 1046.54 no move -1.25 - - 1836.06 - - - 2082.81 - -77.86 - - 2817.38 - - - - - - - - - - -
1345.24 175.37 -10.46 197 1350.96 roll -1.25 - - 1836.62 - 3.78 0.113 3475.38 368.4 -77.86 - - 2818.03 - - - - - - - - - 15.86 -
1380.27 179.25 -11.10 204 1384.92 roll -1.25 - - 1836.25 - 3.43 0.058 2082.44 -406.1 -77.86 - - 2819.97 - - - - - - - - - 15.85 -
1690.29 213.80 -10.97 236 1691.62 no move -1.25 - - 1836.25 - - - 2082.62 - -77.86 - - 2818.16 - - - - - - - - - - -
1990.33 246.41 -11.28 266 1991.65 no move -1.25 - - 1835.88 - - - 2082.50 - -77.86 - - 2816.53 - - - - - - - - - - -
2290.36 281.17 -11.61 296 2296.07 roll -1.25 - - 1836.06 - 3.76 0.115 3475.62 370.5 -77.86 - - 2816.78 - - - - - - - - - 15.90 -
2355.53 288.78 -11.56 309 2361.04 roll -1.25 - - 1836.31 - 3.44 0.060 2081.25 -405.3 -77.86 - - 2819.34 - - - - - - - - - 15.90 -
2660.43 322.24 -10.63 340 2661.75 no move -1.25 - - 1836.50 - - - 2081.62 - -77.86 - - 2817.59 - - - - - - - - - - -
2960.45 353.91 -10.70 370 2966.23 roll -1.25 - - 1836.50 - 4.03 0.156 663.75 -351.8 -77.86 - - 2815.38 - - - - - - - - - 15.87 -
3045.47 364.40 -12.10 387 3051.16 roll -1.25 - - 1836.25 - 3.55 0.055 2118.62 409.8 -77.86 - - 2815.41 - - - - - - - - - 15.92 -
3350.58 395.54 -9.96 418 3351.90 no move -1.25 - - 1836.44 - - - 2118.19 - -77.86 - - 2817.59 - - - - - - - - - - -
3650.54 426.49 -10.74 448 3651.87 no move -1.25 - - 1836.25 - - - 2118.06 - -77.86 - - 2817.31 - - - - - - - - - - -
3950.57 457.12 -10.61 478 3951.90 no move -1.25 - - 1836.50 - - - 2117.94 - -77.86 - - 2817.34 - - - - - - - - - - -
4250.61 486.84 -9.11 508 4251.94 no move -1.25 - - 1835.81 - - - 2118.56 - -77.86 - - 2816.78 - - - - - - - - - - -
4550.64 514.37 -9.20 538 4551.97 no move -1.25 - - 1836.25 - - - 2118.31 - -77.86 - - 2817.25 - - - - - - - - - - -
4850.69 540.89 -8.74 568 4856.47 roll -1.25 - - 1836.38 - 4.17 0.160 663.38 -348.9 -77.86 - - 2815.53 - - - - - - - - - 15.87 -
4909.70 547.37 -11.03 580 4916.47 roll -1.25 - - 1835.81 - 3.54 0.057 2116.12 410.4 -77.86 - - 2816.75 - - - - - - - - - 15.94 -
5215.77 574.41 -8.96 611 5217.10 no move -1.25 - - 1836.19 - - - 2116.19 - -77.86 - - 2816.31 - - - - - - - - - - -
5515.84 599.69 -7.74 641 5521.63 roll -1.25 - - 1836.31 - 4.18 0.161 663.44 -347.5 -77.86 - - 2813.44 - - - - - - - - - 15.86 -
5600.87 607.94 -8.95 658 5606.56 roll -1.25 - - 1836.19 - 3.56 0.060 2118.25 408.7 -77.86 - - 2813.88 - - - - - - - - - 15.93 -
5905.94 634.26 -8.34 689 5911.64 roll -1.25 - - 1836.81 - 3.65 0.122 3474.38 371.5 -77.86 - - 2812.91 - - - - - - - - - 15.91 -
5960.97 639.77 -10.06 700 5965.60 roll -1.25 - - 1836.31 - 3.39 0.064 2083.25 -410.4 -77.86 - - 2815.53 - - - - - - - - - 15.94 -
6271.03 666.08 -8.85 732 6276.80 roll -1.25 - - 1836.31 - 4.05 0.165 662.25 -350.9 -77.86 - - 2812.91 - - - - - - - - - 15.85 -
6330.05 671.70 -10.05 744 6336.81 roll -1.25 - - 1836.19 - 3.54 0.058 2116.00 410.7 -77.86 - - 2817.12 - - - - - - - - - 15.92 -
6636.11 696.63 -8.31 775 6641.83 roll -1.25 - - 1836.69 - 3.66 0.122 3474.00 371.0 -77.86 - - 2813.47 - - - - - - - - - 15.89 -
6715.07 703.93 -8.83 791 6721.88 roll -1.25 - - 1836.25 - 3.41 0.065 2083.00 -407.9 -77.86 - - 2814.28 - - - - - - - - - 15.93 -
7021.18 729.53 -8.38 822 7022.50 no move -1.25 - - 1836.75 - - - 2082.94 - -77.86 - - 2813.97 - - - - - - - - - - -
7321.21 755.73 -8.00 852 7326.98 roll -1.25 - - 1836.69 - 4.08 0.170 663.62 -347.9 -77.86 - - 2812.97 - - - - - - - - - 15.84 -
7440.16 768.22 -10.00 876 7447.01 roll -1.25 - - 1836.19 - 3.58 0.062 2118.12 406.3 -77.86 - - 2814.56 - - - - - - - - - 15.93 -
7746.28 794.39 -7.35 907 7752.06 roll -1.25 - - 1836.69 - 4.17 0.167 663.62 -348.8 -77.86 - - 2811.41 - - - - - - - - - 15.84 -
7805.29 800.57 -10.30 919 7812.05 roll -1.25 - - 1836.56 - 3.57 0.061 2114.38 406.4 -77.86 - - 2814.38 - - - - - - - - - 15.92 -
8111.33 825.63 -8.57 950 8112.66 no move -1.25 - - 1836.44 - - - 2113.94 - -77.86 - - 2813.22 - - - - - - - - - - -
8411.37 850.24 -8.06 980 8417.17 roll -1.25 - - 1835.50 - 4.17 0.170 664.44 -347.6 -77.86 - - 2815.03 - - - - - - - - - 15.83 -
8486.38 856.70 -8.72 995 8491.06 roll -1.25 - - 1836.38 - 3.57 0.065 2113.44 405.9 -77.86 - - 2812.31 - - - - - - - - - 15.92 -
8796.42 880.26 -8.48 1027 8797.75 no move -1.25 - - 1836.44 - - - 2115.62 - -77.86 - - 2812.53 - - - - - - - - - - -
9096.45 901.62 -7.66 1057 9097.78 no move -1.25 - - 1836.25 - - - 2115.69 - -77.86 - - 2812.03 - - - - - - - - - - -
9396.48 924.05 -8.24 1087 9402.28 roll -1.25 - - 1836.56 - 4.18 0.174 663.38 -347.4 -77.86 - - 2814.16 - - - - - - - - - 15.81 -
9475.41 931.86 -11.69 1103 9482.26 roll -1.25 - - 1836.12 - 3.57 0.069 2114.50 406.5 -77.86 - - 2813.97 - - - - - - - - - 15.91 -
9781.54 954.31 -7.30 1134 9782.86 no move -1.25 - - 1836.25 - - - 2114.81 - -77.86 - - 2811.75 - - - - - - - - - - -
10081.57 976.38 -6.73 1164 10087.37 roll -1.25 - - 1836.06 - 4.22 0.176 664.19 -343.7 -77.86 - - 2813.78 - - - - - - - - - 15.81 -
10136.65 981.26 -7.61 1175 10142.28 roll -1.25 - - 1836.00 - 3.62 0.068 2115.00 400.8 -77.86 - - 2810.22 - - - - - - - - - 15.91 -
10261 end dive: TARGET_DEPTH_EXCEEDED
10261 begin apogee
10262.94 990.48 -7.43 1188 10333.56 -0.25 1.78 0.146 2080.38 137.3 0.08 0.297 2187.19 902.4 - 66.97 2.284 2498.25 -4.7 0.351 - - - - - - 15.82 15.09 12.12
10335 end apogee: CONTROL_FINISHED_OK
10335 begin climb
10335.52 992.01 - 1195 10413.69 1.25 2.62 0.086 2449.69 141.0 - - 2187.31 - 77.86 74.16 2.222 2181.78 -4.3 0.331 - - - - - - 15.17 - 12.34
10711.70 962.97 9.41 1234 10713.04 VBD 1.25 - - 2449.31 - - - 2187.25 - 77.86 - - 2169.81 - - - - - - - - - - -
11011.93 938.63 7.50 1264 11013.26 VBD 1.27 - - 2448.94 - - - 2187.12 - 77.86 - - 2168.97 - - - - - - - - - - -
11311.71 913.09 8.29 1294 11313.04 VBD 1.27 - - 2448.75 - - - 2187.06 - 77.86 - - 2167.12 - - - - - - - - - - -
11611.78 887.18 8.61 1324 11613.11 VBD 1.27 - - 2449.00 - - - 2187.44 - 77.86 - - 2165.97 - - - - - - - - - - -
11911.83 862.47 8.13 1354 11913.16 VBD 1.27 - - 2448.75 - - - 2187.50 - 77.86 - - 2165.97 - - - - - - - - - - -
12211.92 836.64 8.69 1384 12216.77 done 1.27 - - 2449.06 - 3.56 0.130 3473.88 361.3 77.86 - - 2166.16 - - - - - - - - - 15.83 -
12312.00 827.67 8.81 1404 12316.46 done 1.27 - - 2448.31 - 3.18 0.064 2181.69 -406.3 77.86 - - 2165.22 - - - - - - - - - 15.86 -
12621.99 802.88 9.52 1436 12623.33 VBD 1.27 - - 2448.88 - - - 2182.81 - 77.86 - - 2164.16 - - - - - - - - - - -
12922.05 781.16 7.58 1466 12923.38 VBD 1.27 - - 2448.56 - - - 2182.00 - 77.86 - - 2162.75 - - - - - - - - - - -
13222.13 760.29 6.58 1496 13227.95 done 1.31 - - 2448.38 - 4.02 0.143 736.69 -359.5 77.86 - - 2165.34 - - - - - - - - - 15.82 -
13297.14 753.99 8.70 1511 13302.77 done 1.31 - - 2449.56 - 3.62 0.057 2221.44 410.2 77.86 - - 2160.34 - - - - - - - - - 15.88 -
13602.21 732.73 6.87 1542 13603.54 VBD 1.35 - - 2449.06 - - - 2221.56 - 77.86 - - 2161.97 - - - - - - - - - - -
13902.23 713.00 6.57 1572 13903.70 1.39 0.18 0.091 2488.88 221.2 - - 2220.94 - 77.86 - - 2161.94 - - - - - - - - 15.88 - -
14202.27 691.93 6.05 1602 14227.44 VBD 1.48 - - 2489.06 - - - 2221.06 - 106.42 24.18 1.873 2063.66 -4.1 0.261 - - - - - - - - 12.26
14522.28 663.29 9.82 1634 14527.00 roll 1.48 - - 2489.75 - 3.50 0.125 3472.50 357.6 106.42 - - 2059.38 - - - - - - - - - 15.73 -
14606.16 654.10 11.71 1651 14613.00 roll 1.48 - - 2489.50 - 3.18 0.059 2181.62 -405.9 106.42 - - 2061.31 - - - - - - - - - 15.73 -
14912.34 622.49 10.11 1682 14918.10 roll 1.48 - - 2487.06 - 4.01 0.140 735.88 -360.5 106.42 - - 2060.12 - - - - - - - - - 15.76 -
15021.28 610.63 10.86 1704 15028.14 roll 1.48 - - 2489.69 - 3.62 0.055 2219.12 409.7 106.42 - - 2058.78 - - - - - - - - - 15.82 -
15327.41 583.59 9.35 1735 15328.73 no move 1.48 - - 2489.44 - - - 2219.25 - 106.42 - - 2059.00 - - - - - - - - - - -
15627.45 555.80 9.63 1765 15628.78 no move 1.48 - - 2489.19 - - - 2219.19 - 106.42 - - 2057.78 - - - - - - - - - - -
15927.47 530.34 7.77 1795 15933.30 roll 1.48 - - 2488.62 - 4.09 0.137 736.62 -362.5 106.42 - - 2059.78 - - - - - - - - - 15.82 -
16032.49 520.32 9.17 1816 16038.13 roll 1.48 - - 2488.88 - 3.61 0.056 2220.75 411.1 106.42 - - 2056.94 - - - - - - - - - 15.87 -
16337.53 496.41 7.73 1847 16338.86 VBD 1.48 - - 2488.62 - - - 2221.31 - 106.42 - - 2058.31 - - - - - - - - - - -
16637.58 474.06 7.02 1877 16642.14 done 1.51 - - 2489.00 - 3.44 0.121 3473.69 364.1 106.42 - - 2056.25 - - - - - - - - - 15.86 -
16711.42 468.08 7.79 1892 16718.27 roll 1.51 - - 2488.75 - 3.14 0.057 2178.81 -412.4 106.42 - - 2058.88 - - - - - - - - - 15.87 -
17017.62 445.82 6.87 1923 17019.09 pitch 1.54 0.15 0.100 2524.75 240.0 - - 2179.00 - 106.42 - - 2058.44 - - - - - - - - 15.80 - -
17317.64 421.96 7.88 1953 17318.97 VBD 1.54 - - 2524.12 - - - 2178.94 - 106.42 - - 2058.25 - - - - - - - - - - -
17617.68 396.73 8.16 1983 17619.01 VBD 1.54 - - 2524.62 - - - 2179.19 - 106.42 - - 2057.34 - - - - - - - - - - -
17917.75 371.26 8.64 2013 17919.08 no move 1.54 - - 2524.62 - - - 2179.25 - 106.42 - - 2057.25 - - - - - - - - - - -
18217.82 346.91 7.55 2043 18219.15 no move 1.56 - - 2524.31 - - - 2179.62 - 106.42 - - 2058.66 - - - - - - - - - - -
18517.88 323.88 7.52 2073 18519.21 no move 1.58 - - 2524.12 - - - 2178.88 - 106.42 - - 2058.53 - - - - - - - - - - -
18817.94 302.45 7.33 2103 18819.28 no move 1.60 - - 2524.38 - - - 2179.44 - 106.42 - - 2058.66 - - - - - - - - - - -
19118.01 282.74 6.75 2133 19123.74 roll 1.64 - - 2525.12 - 3.55 0.119 3473.50 364.5 106.42 - - 2060.19 - - - - - - - - - 15.83 -
19233.04 274.01 7.67 2156 19237.58 roll 1.64 - - 2525.44 - 3.15 0.056 2176.56 -411.7 106.42 - - 2058.41 - - - - - - - - - 15.88 -
19543.12 254.17 6.42 2188 19544.45 no move 1.68 - - 2523.19 - - - 2177.06 - 106.42 - - 2058.00 - - - - - - - - - - -
19843.17 234.37 7.21 2218 19849.03 roll back 1.71 0.18 0.092 2563.69 225.0 3.98 0.132 735.56 -362.2 106.42 - - 2058.41 - - - - - - - - 15.85 15.82 -
20028.24 215.39 10.72 2255 20033.85 roll 1.71 - - 2566.62 - 3.61 0.052 2226.25 412.9 106.42 - - 2058.53 - - - - - - - - - 15.88 -
20333.28 191.45 7.15 2286 20337.84 done 1.74 - - 2566.50 - 3.41 0.114 3473.88 365.9 106.42 - - 2058.28 - - - - - - - - - 15.85 -
20517.16 176.74 7.82 2323 20524.03 done 1.74 - - 2566.44 - 3.15 0.053 2175.94 -412.0 106.42 - - 2059.34 - - - - - - - - - 15.86 -
20823.37 157.19 5.86 2354 20856.79 done 1.83 - - 2566.19 - 4.01 0.129 735.38 -359.2 137.68 27.67 1.263 1936.25 -4.4 0.096 - - - - - - - 15.62 12.22
20874.64 153.59 6.95 2363 20880.23 roll back 1.86 0.16 0.099 2602.69 228.1 3.66 0.049 2225.06 407.0 137.68 - - 1933.91 - - - - - - - - 15.65 15.68 -
21179.60 123.48 10.03 2394 21180.93 no move 1.86 - - 2602.75 - - - 2225.12 - 137.68 - - 1932.41 - - - - - - - - - - -
21479.73 97.64 6.90 2428 21485.49 roll 1.90 - - 2602.75 - 4.12 0.124 736.19 -361.4 137.68 - - 1932.06 - - - - - - - - - 15.76 -
21524.72 94.79 6.24 2437 21530.42 roll 1.95 - - 2602.69 - 3.64 0.050 2224.88 409.0 137.68 - - 1932.50 - - - - - - - - - 15.73 -
21709.71 84.02 5.91 2474 21745.70 2.04 0.20 0.086 2644.94 211.2 4.16 0.123 734.38 -358.3 168.19 26.84 1.167 1814.72 -4.4 0.055 - - - - - - 15.76 15.56 12.37
21854.75 72.90 6.57 2503 21860.64 roll 2.09 - - 2645.50 - 3.68 0.048 2225.19 405.1 168.19 - - 1809.97 - - - - - - - - - 15.63 -
22039.83 66.59 2.68 2540 22112.15 2.32 0.36 0.070 2710.62 180.9 4.25 0.120 735.62 -350.5 244.85 63.74 1.172 1500.97 -4.8 0.048 - - - - - - 15.69 15.28 12.42
22190.16 52.46 15.26 2570 22195.72 roll 2.32 - - 2710.69 - 3.67 0.048 2224.81 405.8 244.85 - - 1497.47 - - - - - - - - - 15.48 -
22375.02 29.86 9.85 2607 22380.90 roll 2.32 - - 2710.62 - 3.44 0.109 3474.75 363.4 244.85 - - 1493.91 - - - - - - - - - 15.56 -
22560.09 9.16 11.05 2644 22565.80 done 2.32 - - 2710.88 - 3.16 0.051 2176.56 -410.8 244.85 - - 1492.25 - - - - - - - - - 15.68 -
22634 end climb: SURFACE_DEPTH_REACHED
22635 begin surface coast
22655 end surface coast: CONTROL_FINISHED_OK
22655 begin surface
SM 0.41 - - - - 179.1 0.03 0.337 768.7 25623.3 17.45 0.079 764.5 43.8 - 0.22 0.106 772.9 3498.8 -1.383 - - 15.10 15.64 15.69 -