NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1057 * Raw log
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• Previous call tries 1 • 290.62 of 575.00 AH used of 24V (49.46% remains)
• Surface angle -58.4 deg, depth -1.55 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.76 (SM_CC=475)
• GPS1 time: 24 s
• GPS2 time: 4 s • Transponder ping count: 6
• 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
8.30 - - - 95.40 VBD -1.59 - - 166.44 - - - 2122.31 - -74.33 86.64 0.005 2535.91 - - - - - - - - - - 14.60
95.68 3.71 -8.05 9 127.71 -1.68 13.86 0.251 1732.00 113.0 3.73 0.109 3475.69 362.8 -104.77 8.51 0.007 2927.69 46.0 -4.398 - - - - - - 14.96 14.65 14.84
236.39 39.10 -21.31 37 241.56 roll -1.68 - - 1731.88 - 3.45 0.053 2082.06 -404.0 -104.77 - - 2926.91 - - - - - - - - - 15.46 -
301.00 51.27 -17.48 44 302.33 no move -1.68 - - 1731.50 - - - 2082.19 - -104.77 - - 2927.59 - - - - - - - - - - -
360.96 61.60 -16.88 50 362.29 no move -1.68 - - 1732.12 - - - 2082.25 - -104.77 - - 2927.69 - - - - - - - - - - -
420.96 70.62 -14.90 56 422.29 no move -1.68 - - 1732.19 - - - 2082.31 - -104.77 - - 2927.62 - - - - - - - - - - -
480.96 78.43 -13.08 62 482.29 no move -1.68 - - 1731.62 - - - 2082.19 - -104.77 - - 2927.66 - - - - - - - - - - -
540.97 85.80 -11.79 68 542.30 no move -1.68 - - 1732.00 - - - 2082.50 - -104.77 - - 2928.12 - - - - - - - - - - -
600.98 92.47 -10.84 74 606.64 roll -1.68 - - 1731.88 - 3.79 0.101 3475.88 367.6 -104.77 - - 2925.78 - - - - - - - - - 15.34 -
689.89 105.13 -14.79 92 697.12 roll -1.68 - - 1731.62 - 3.39 0.050 2079.38 -411.9 -104.77 - - 2927.81 - - - - - - - - - 15.49 -
756.04 113.72 -13.05 99 761.65 roll -1.68 - - 1731.75 - 3.76 0.097 3475.62 371.3 -104.77 - - 2927.94 - - - - - - - - - 15.36 -
794.90 118.94 -13.03 107 802.12 roll -1.68 - - 1731.94 - 3.38 0.048 2082.19 -412.3 -104.77 - - 2928.78 - - - - - - - - - 15.49 -
861.05 126.68 -11.59 114 862.38 no move -1.68 - - 1731.50 - - - 2082.00 - -104.77 - - 2928.22 - - - - - - - - - - -
921.01 134.14 -12.40 120 926.68 roll -1.68 - - 1731.56 - 3.78 0.100 3476.50 368.9 -104.77 - - 2926.16 - - - - - - - - - 15.35 -
946.50 137.07 -12.74 125 951.61 roll -1.68 - - 1731.81 - 3.38 0.048 2079.69 -413.3 -104.77 - - 2926.38 - - - - - - - - - 15.51 -
1011.07 144.48 -11.60 132 1016.73 roll -1.68 - - 1731.81 - 4.07 0.145 661.94 -348.3 -104.77 - - 2928.38 - - - - - - - - - 15.17 -
1056.48 150.53 -13.48 141 1061.64 roll -1.68 - - 1731.69 - 3.49 0.044 2124.38 419.0 -104.77 - - 2926.12 - - - - - - - - - 15.58 -
1181.03 165.30 -11.33 154 1186.67 roll -1.68 - - 1732.12 - 3.61 0.101 3474.88 374.1 -104.77 - - 2926.50 - - - - - - - - - 15.35 -
1226.55 171.62 -14.17 163 1231.65 roll -1.68 - - 1731.88 - 3.37 0.048 2080.88 -413.6 -104.77 - - 2928.62 - - - - - - - - - 15.51 -
1351.05 187.28 -12.90 176 1356.76 roll -1.68 - - 1730.38 - 4.07 0.146 661.12 -348.8 -104.77 - - 2927.84 - - - - - - - - - 15.16 -
1379.95 191.61 -14.43 182 1387.19 roll -1.68 - - 1731.69 - 3.48 0.043 2122.88 420.0 -104.77 - - 2929.66 - - - - - - - - - 15.56 -
1506.06 208.00 -12.77 195 1507.39 no move -1.68 - - 1731.88 - - - 2123.25 - -104.77 - - 2928.03 - - - - - - - - - - -
1626.07 222.44 -11.71 207 1627.40 no move -1.68 - - 1731.81 - - - 2123.38 - -104.77 - - 2928.38 - - - - - - - - - - -
1746.07 236.90 -12.39 219 1747.40 no move -1.68 - - 1731.62 - - - 2123.44 - -104.77 - - 2928.81 - - - - - - - - - - -
1866.08 250.74 -11.23 231 1867.43 no move -1.68 - - 1731.81 - - - 2122.69 - -104.77 - - 2928.41 - - - - - - - - - - -
2166.09 285.99 -11.54 241 2171.74 roll -1.68 - - 1731.31 - 3.66 0.109 3474.44 369.3 -104.77 - - 2927.91 - - - - - - - - - 15.31 -
2235.02 294.57 -12.27 255 2240.72 roll -1.68 - - 1731.81 - 3.40 0.051 2079.50 -410.3 -104.77 - - 2928.28 - - - - - - - - - 15.47 -
2551.12 330.77 -11.61 268 2552.44 no move -1.68 - - 1731.19 - - - 2080.38 - -104.77 - - 2928.62 - - - - - - - - - - -
2851.12 364.46 -11.05 278 2856.80 roll -1.68 - - 1731.75 - 3.86 0.108 3475.44 361.4 -104.77 - - 2927.50 - - - - - - - - - 15.29 -
2996.61 383.52 -14.01 307 3001.78 roll -1.68 - - 1732.00 - 3.42 0.056 2083.25 -407.1 -104.77 - - 2927.03 - - - - - - - - - 15.46 -
3321.63 421.46 -11.75 322 3326.86 roll -1.68 - - 1730.44 - 3.87 0.109 3476.00 359.9 -104.77 - - 2929.12 - - - - - - - - - 15.26 -
3376.64 428.55 -14.18 333 3381.83 roll -1.68 - - 1731.69 - 3.42 0.055 2081.94 -407.6 -104.77 - - 2926.47 - - - - - - - - - 15.45 -
3701.21 469.17 -12.40 348 3706.90 roll -1.68 - - 1731.62 - 3.88 0.108 3473.50 358.6 -104.77 - - 2929.38 - - - - - - - - - 15.25 -
3800.14 482.59 -11.96 368 3805.85 roll -1.68 - - 1730.56 - 3.43 0.054 2081.25 -405.9 -104.77 - - 2928.91 - - - - - - - - - 15.42 -
3966 end dive: TARGET_DEPTH_EXCEEDED
3966 begin apogee
3967.38 503.30 -12.67 376 4060.97 -0.25 2.73 0.155 2079.56 127.8 0.09 0.226 2083.62 26.3 - 89.24 1.632 2498.16 -4.8 0.268 - - - - - - 15.20 14.84 10.58
4063 end apogee: CONTROL_FINISHED_OK
4063 begin climb
4063.99 506.86 - 379 4164.90 1.68 3.31 0.074 2554.19 143.4 - - 2083.75 - 104.77 95.92 1.581 2071.59 -4.4 0.257 - - - - - - 15.17 - 11.56
4446.27 475.66 9.54 397 4451.97 done 1.73 - - 2552.12 - 4.06 0.136 661.56 -350.3 104.77 - - 2060.12 - - - - - - - - - 15.25 -
4635.20 453.73 13.70 435 4640.92 done 1.73 - - 2554.06 - 3.55 0.044 2126.06 412.5 104.77 - - 2057.66 - - - - - - - - - 15.59 -
4951.32 423.74 9.44 448 4957.04 done 1.78 - - 2553.94 - 4.14 0.130 661.75 -353.7 104.77 - - 2055.06 - - - - - - - - - 15.26 -
5050.23 412.82 12.56 468 5055.94 done 1.78 - - 2554.00 - 3.52 0.043 2126.88 416.2 104.77 - - 2056.62 - - - - - - - - - 15.60 -
5366.35 382.26 9.51 481 5367.79 1.83 0.18 0.079 2600.19 256.6 - - 2126.81 - 104.77 - - 2054.56 - - - - - - - - 15.69 - -
5666.36 352.67 9.96 491 5672.00 done 1.86 - - 2599.56 - 3.71 0.109 3474.56 363.3 104.77 - - 2052.16 - - - - - - - - - 15.33 -
5770.27 341.71 10.87 512 5775.96 done 1.86 - - 2600.44 - 3.41 0.050 2079.44 -409.1 104.77 - - 2055.03 - - - - - - - - - 15.51 -
6081.39 313.70 8.94 524 6106.49 done 1.93 - - 2599.38 - 4.01 0.133 661.81 -353.5 126.41 18.42 1.350 1983.78 -3.9 0.162 - - - - - - - 15.20 11.05
6261.85 291.92 12.61 560 6267.03 roll 1.93 - - 2600.38 - 3.53 0.043 2127.69 415.3 126.41 - - 1982.00 - - - - - - - - - 15.64 -
6586.48 261.45 9.51 575 6592.14 roll 1.98 - - 2600.25 - 4.13 0.128 662.88 -354.7 126.41 - - 1978.50 - - - - - - - - - 15.26 -
6685.35 251.14 9.90 595 6691.11 roll back 2.01 0.17 0.078 2642.81 250.4 3.51 0.042 2127.25 417.2 126.41 - - 1978.34 - - - - - - - - 15.38 15.61 -
6991.52 221.93 9.65 627 6992.85 no move 2.06 - - 2642.69 - - - 2126.75 - 126.41 - - 1978.06 - - - - - - - - - - -
7111.50 210.29 10.37 639 7117.20 roll 2.08 - - 2643.00 - 4.12 0.124 661.69 -355.6 126.41 - - 1977.78 - - - - - - - - - 15.22 -
7340.43 183.66 11.81 685 7347.24 roll 2.08 - - 2642.56 - 3.52 0.042 2129.56 417.0 126.41 - - 1976.75 - - - - - - - - - 15.58 -
7466.55 172.11 8.96 698 7487.44 VBD 2.14 - - 2642.69 - - - 2129.12 - 147.77 20.06 1.227 1898.31 -3.9 0.099 - - - - - - - - 11.31
7606.54 157.61 10.78 712 7612.26 roll 2.14 - - 2642.81 - 4.09 0.125 661.56 -358.8 147.77 - - 1891.84 - - - - - - - - - 15.36 -
7742.01 140.51 11.89 739 7747.20 roll 2.14 - - 2642.25 - 3.52 0.045 2127.94 416.6 147.77 - - 1892.19 - - - - - - - - - 15.61 -
7806.57 133.08 10.91 746 7807.90 no move 2.14 - - 2642.56 - - - 2128.38 - 147.77 - - 1892.44 - - - - - - - - - - -
7866.59 126.39 11.42 752 7872.29 roll 2.14 - - 2642.44 - 4.09 0.123 662.69 -358.4 147.77 - - 1891.00 - - - - - - - - - 15.27 -
7952.03 116.19 12.79 769 7957.23 roll 2.14 - - 2642.06 - 3.51 0.045 2127.94 417.5 147.77 - - 1892.25 - - - - - - - - - 15.62 -
8016.61 109.38 10.40 776 8017.94 no move 2.16 - - 2643.31 - - - 2128.25 - 147.77 - - 1891.62 - - - - - - - - - - -
8076.62 104.03 8.51 782 8113.08 2.24 0.25 0.067 2698.56 221.0 4.04 0.123 661.62 -363.0 173.66 30.18 1.142 1789.34 -3.4 0.056 - - - - - - 15.67 15.12 11.52
8172.06 93.63 12.96 801 8177.26 roll 2.24 - - 2699.12 - 3.51 0.043 2128.38 417.9 173.66 - - 1789.41 - - - - - - - - - 15.59 -
8236.61 86.49 10.85 808 8242.27 roll 2.24 - - 2697.69 - 3.62 0.105 3475.62 372.2 173.66 - - 1787.09 - - - - - - - - - 15.39 -
8345.57 74.11 10.30 830 8352.33 roll 2.27 - - 2697.38 - 3.37 0.047 2077.62 -414.8 173.66 - - 1787.09 - - - - - - - - - 15.53 -
8411.71 68.52 8.62 837 8447.00 done 2.34 - - 2698.50 - 3.91 0.127 661.69 -362.1 198.39 29.30 1.091 1690.72 -3.3 0.037 - - - - - - - 15.09 11.52
8495.56 59.70 11.49 854 8502.37 roll 2.34 - - 2697.38 - 3.48 0.041 2130.12 422.0 198.39 - - 1688.62 - - - - - - - - - 15.56 -
8561.72 52.77 10.83 861 8567.39 roll 2.34 - - 2699.00 - 4.05 0.123 662.06 -362.5 198.39 - - 1686.41 - - - - - - - - - 15.28 -
8730.61 43.78 4.64 895 8808.94 2.53 0.36 0.056 2768.31 192.5 3.50 0.042 2132.94 420.3 262.76 71.14 1.081 1428.75 -3.6 0.026 - - - - - - 15.35 15.59 11.57
8866.71 35.37 8.59 916 8902.00 done 2.61 - - 2769.38 - 3.66 0.105 3473.06 366.2 287.85 28.48 1.010 1325.88 -3.6 0.023 - - - - - - - 15.00 11.51
8966.73 25.13 10.13 936 8971.34 roll 2.64 - - 2768.44 - 3.41 0.048 2078.06 -409.1 287.85 - - 1323.78 - - - - - - - - - 15.43 -
9036.71 18.19 10.63 944 9038.04 no move 2.64 - - 2768.69 - - - 2077.94 - 287.85 - - 1322.62 - - - - - - - - - - -
9096.74 13.01 8.50 950 9131.22 2.72 0.18 0.081 2812.38 242.7 3.92 0.125 660.62 -361.6 313.85 28.22 0.991 1219.25 -3.7 0.009 - - - - - - 15.54 15.06 11.39
9133.34 9.24 10.62 956 9140.16 roll 2.72 - - 2811.19 - 3.52 0.040 2131.69 417.9 313.85 - - 1220.31 - - - - - - - - - 15.48 -
9199 end climb: SURFACE_DEPTH_REACHED
9199 begin surface coast
9209 end surface coast: CONTROL_FINISHED_OK
9209 begin surface
SM -0.44 - - - - 168.9 - 2.578 564.6 - 18.64 0.097 561.7 30.1 - 0.12 0.135 567.5 4699.8 1.566 - - 30.36 15.25 15.51 -