NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1181 * Raw log
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• Previous call tries 1 • 321.39 of 575.00 AH used of 24V (44.11% remains)
• Surface angle -64.5 deg, depth -1.46 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.92 (SM_CC=475)
• GPS1 time: 20 s
• GPS2 time: 3 s • Transponder ping count: 23
• 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
8.54 - - - 90.32 VBD -1.59 - - 169.19 - - - 2080.44 - -74.33 81.31 0.005 2459.59 - - - - - - - - - - 13.45
90.57 3.91 -8.39 8 123.16 -1.67 14.38 0.255 1734.06 108.8 3.87 0.112 3475.00 360.4 -101.44 9.81 0.007 2913.28 46.2 -4.659 - - - - - - 14.80 14.59 14.81
245.32 37.32 -18.20 39 252.12 roll -1.67 - - 1734.69 - 3.46 0.057 2082.31 -402.5 -101.44 - - 2915.12 - - - - - - - - - 15.22 -
311.46 47.80 -16.36 46 317.14 roll -1.67 - - 1733.75 - 4.12 0.146 662.06 -344.7 -101.44 - - 2915.53 - - - - - - - - - 14.98 -
336.86 52.15 -17.43 51 342.05 roll -1.67 - - 1734.19 - 3.55 0.049 2121.25 411.0 -101.44 - - 2915.78 - - - - - - - - - 15.31 -
401.42 61.63 -14.38 58 402.75 no move -1.67 - - 1734.25 - - - 2121.31 - -101.44 - - 2914.41 - - - - - - - - - - -
461.44 69.50 -13.14 64 467.16 roll -1.67 - - 1734.31 - 4.18 0.142 661.00 -349.4 -101.44 - - 2913.38 - - - - - - - - - 14.95 -
480.34 72.32 -13.79 68 487.60 roll -1.67 - - 1734.31 - 3.54 0.048 2122.62 412.9 -101.44 - - 2916.03 - - - - - - - - - 15.29 -
546.43 80.45 -12.35 75 552.09 roll -1.67 - - 1733.75 - 3.64 0.105 3475.38 371.6 -101.44 - - 2914.69 - - - - - - - - - 15.07 -
585.35 85.68 -13.28 83 592.60 roll -1.67 - - 1734.31 - 3.40 0.053 2081.38 -410.0 -101.44 - - 2914.44 - - - - - - - - - 15.21 -
651.51 93.35 -11.83 90 657.17 roll -1.67 - - 1735.12 - 4.05 0.145 661.75 -350.5 -101.44 - - 2912.22 - - - - - - - - - 14.94 -
690.37 98.83 -14.63 98 697.63 roll -1.67 - - 1734.75 - 3.54 0.047 2121.25 412.3 -101.44 - - 2914.19 - - - - - - - - - 15.29 -
756.46 106.80 -12.28 105 762.12 roll -1.67 - - 1734.00 - 3.62 0.104 3476.25 374.3 -101.44 - - 2913.38 - - - - - - - - - 15.07 -
831.98 116.94 -13.77 120 837.09 roll -1.67 - - 1733.94 - 3.39 0.053 2081.06 -411.6 -101.44 - - 2915.12 - - - - - - - - - 15.22 -
896.54 124.58 -11.77 127 902.21 roll -1.67 - - 1734.00 - 4.05 0.145 660.94 -350.6 -101.44 - - 2913.75 - - - - - - - - - 14.93 -
921.94 127.81 -12.79 132 927.16 roll -1.67 - - 1734.00 - 3.51 0.046 2123.81 416.8 -101.44 - - 2912.38 - - - - - - - - - 15.32 -
986.49 135.28 -11.22 139 987.82 no move -1.67 - - 1734.12 - - - 2123.50 - -101.44 - - 2914.28 - - - - - - - - - - -
1046.51 141.88 -10.81 145 1052.15 roll -1.67 - - 1734.12 - 3.61 0.103 3476.00 374.7 -101.44 - - 2915.59 - - - - - - - - - 15.05 -
1102.10 148.28 -12.26 156 1107.12 roll -1.67 - - 1734.62 - 3.38 0.051 2080.94 -412.7 -101.44 - - 2912.16 - - - - - - - - - 15.22 -
1166.52 155.18 -10.83 163 1167.84 no move -1.67 - - 1734.06 - - - 2081.25 - -101.44 - - 2914.50 - - - - - - - - - - -
1286.53 167.73 -10.02 175 1292.19 roll -1.67 - - 1734.25 - 3.72 0.101 3476.19 375.0 -101.44 - - 2914.25 - - - - - - - - - 15.03 -
1315.44 171.25 -10.18 181 1322.67 roll -1.67 - - 1734.25 - 3.37 0.051 2079.62 -414.4 -101.44 - - 2914.19 - - - - - - - - - 15.18 -
1441.55 183.90 -9.81 194 1447.27 roll -1.67 - - 1734.00 - 4.06 0.145 661.88 -349.2 -101.44 - - 2916.28 - - - - - - - - - 14.90 -
1470.47 187.47 -11.91 200 1477.27 roll -1.67 - - 1733.94 - 3.52 0.046 2123.00 415.1 -101.44 - - 2915.47 - - - - - - - - - 15.28 -
1596.57 200.64 -10.66 213 1602.21 roll -1.67 - - 1734.38 - 3.62 0.103 3477.00 374.0 -101.44 - - 2915.75 - - - - - - - - - 15.01 -
1652.03 207.15 -12.42 224 1657.17 roll -1.67 - - 1734.12 - 3.38 0.051 2079.19 -413.6 -101.44 - - 2916.59 - - - - - - - - - 15.19 -
1776.59 220.44 -10.34 237 1782.25 roll -1.67 - - 1734.06 - 3.74 0.101 3475.62 373.4 -101.44 - - 2915.19 - - - - - - - - - 15.00 -
1815.56 225.62 -13.63 245 1822.73 roll -1.67 - - 1734.69 - 3.39 0.052 2081.12 -411.4 -101.44 - - 2914.72 - - - - - - - - - 15.15 -
1941.61 239.46 -11.16 258 1942.94 no move -1.67 - - 1734.44 - - - 2081.44 - -101.44 - - 2914.59 - - - - - - - - - - -
2071.61 253.62 -10.85 269 2072.94 no move -1.67 - - 1734.19 - - - 2081.31 - -101.44 - - 2914.56 - - - - - - - - - - -
2371.62 284.71 -10.31 279 2377.32 roll -1.67 - - 1734.50 - 3.81 0.106 3474.94 365.8 -101.44 - - 2913.19 - - - - - - - - - 14.95 -
2480.55 297.19 -12.10 301 2487.78 roll -1.67 - - 1734.38 - 3.41 0.055 2081.12 -408.7 -101.44 - - 2914.91 - - - - - - - - - 15.10 -
2786.65 328.52 -10.07 312 2792.32 roll -1.67 - - 1734.25 - 3.80 0.106 3475.06 366.8 -101.44 - - 2913.69 - - - - - - - - - 14.93 -
2850.57 335.72 -11.44 325 2856.27 roll -1.67 - - 1734.56 - 3.41 0.055 2079.88 -409.1 -101.44 - - 2914.84 - - - - - - - - - 15.10 -
3171.68 368.14 -10.21 339 3177.36 roll -1.67 - - 1734.00 - 3.82 0.107 3474.69 365.1 -101.44 - - 2913.44 - - - - - - - - - 14.91 -
3235.62 375.30 -11.01 352 3241.29 roll -1.67 - - 1734.31 - 3.43 0.056 2081.44 -406.2 -101.44 - - 2914.19 - - - - - - - - - 15.08 -
3556.70 409.14 -11.08 366 3562.37 roll -1.67 - - 1734.00 - 3.87 0.108 3474.62 360.0 -101.44 - - 2914.41 - - - - - - - - - 14.89 -
3600.61 414.28 -11.79 375 3606.31 roll -1.67 - - 1733.88 - 3.44 0.055 2080.94 -405.1 -101.44 - - 2913.34 - - - - - - - - - 15.07 -
3911.71 447.69 -10.76 387 3913.03 no move -1.67 - - 1734.31 - - - 2081.12 - -101.44 - - 2914.22 - - - - - - - - - - -
4211.71 480.46 -11.12 397 4217.41 roll -1.67 - - 1734.19 - 3.91 0.111 3473.56 356.1 -101.44 - - 2913.16 - - - - - - - - - 14.86 -
4255.63 485.89 -12.08 406 4261.33 roll -1.67 - - 1734.88 - 3.47 0.057 2081.12 -401.3 -101.44 - - 2913.91 - - - - - - - - - 15.04 -
4416 end dive: TARGET_DEPTH_EXCEEDED
4416 begin apogee
4417.85 502.62 -10.14 413 4509.08 -0.25 2.89 0.158 2078.94 119.1 0.09 0.222 2084.62 38.9 - 85.43 1.638 2501.75 -4.8 0.267 - - - - - - 14.80 14.86 10.92
4512 end apogee: CONTROL_FINISHED_OK
4512 begin climb
4512.34 504.92 - 416 4615.06 1.67 3.43 0.079 2550.31 137.4 4.20 0.136 663.88 -338.3 101.44 92.93 1.584 2082.41 -4.5 0.259 - - - - - - 15.06 14.58 11.28
4672.20 494.47 11.02 448 4677.91 roll 1.67 - - 2549.69 - 3.60 0.043 2123.94 405.6 101.44 - - 2078.34 - - - - - - - - - 15.16 -
4988.34 467.37 9.00 461 5008.84 VBD 1.74 - - 2549.88 - - - 2124.75 - 122.43 19.13 1.436 1998.69 -4.2 0.244 - - - - - - - - 11.48
5288.38 436.42 9.88 471 5294.05 roll 1.77 - - 2549.56 - 4.14 0.134 661.81 -353.4 122.43 - - 1996.44 - - - - - - - - - 15.15 -
5427.24 420.57 11.71 499 5434.07 roll 1.77 - - 2548.75 - 3.55 0.046 2123.94 411.9 122.43 - - 1995.69 - - - - - - - - - 15.41 -
5733.35 393.10 8.50 510 5765.24 1.85 0.25 0.070 2601.25 210.0 4.09 0.133 660.62 -357.8 148.40 24.42 1.442 1894.69 -4.1 0.203 - - - - - - 15.54 15.20 11.58
5812.36 383.35 13.13 526 5818.09 roll 1.85 - - 2601.81 - 3.54 0.045 2124.00 413.4 148.40 - - 1892.38 - - - - - - - - - 15.44 -
6123.52 351.18 10.24 538 6129.20 roll 1.88 - - 2600.19 - 4.14 0.131 661.88 -353.2 148.40 - - 1891.06 - - - - - - - - - 15.13 -
6238.99 337.41 13.28 561 6244.12 roll 1.88 - - 2601.06 - 3.53 0.046 2124.94 414.5 148.40 - - 1888.06 - - - - - - - - - 15.41 -
6563.57 304.35 10.17 576 6569.23 done 1.90 - - 2600.25 - 4.16 0.129 660.69 -352.0 148.40 - - 1888.94 - - - - - - - - - 15.04 -
6637.41 294.73 14.58 591 6643.15 done 1.90 - - 2601.44 - 3.54 0.045 2125.69 413.8 148.40 - - 1886.56 - - - - - - - - - 15.37 -
6948.54 264.32 9.78 603 6954.25 done 1.94 - - 2600.88 - 4.14 0.129 661.94 -353.6 148.40 - - 1886.69 - - - - - - - - - 14.98 -
6973.98 261.90 9.88 608 6979.15 done 1.98 - - 2600.19 - 3.51 0.043 2125.44 417.0 148.40 - - 1887.81 - - - - - - - - - 15.40 -
7278.56 230.61 9.98 635 7284.33 2.02 0.17 0.079 2640.81 238.9 4.17 0.128 662.25 -350.9 148.40 - - 1887.25 - - - - - - - - 15.54 14.97 -
7384.06 216.94 13.98 656 7389.20 done 2.02 - - 2641.94 - 3.54 0.045 2126.00 413.5 148.40 - - 1883.91 - - - - - - - - - 15.35 -
7508.58 203.39 10.68 669 7514.31 done 2.02 - - 2641.50 - 4.14 0.127 661.56 -353.7 148.40 - - 1883.69 - - - - - - - - - 14.98 -
7587.50 193.38 12.01 685 7594.34 done 2.02 - - 2641.94 - 3.54 0.045 2125.38 413.5 148.40 - - 1884.78 - - - - - - - - - 15.33 -
7713.63 181.39 9.47 698 7714.97 VBD 2.06 - - 2642.31 - - - 2125.56 - 148.40 - - 1885.09 - - - - - - - - - - -
7833.63 170.45 9.42 710 7839.34 done 2.12 - - 2642.25 - 4.15 0.126 661.62 -352.8 148.40 - - 1883.69 - - - - - - - - - 14.95 -
7979.09 152.86 13.54 739 7984.27 done 2.12 - - 2640.62 - 3.54 0.045 2128.31 414.3 148.40 - - 1886.12 - - - - - - - - - 15.31 -
8103.67 140.44 9.80 752 8109.39 done 2.16 - - 2641.31 - 4.14 0.124 661.88 -354.2 148.40 - - 1884.72 - - - - - - - - - 14.94 -
8202.59 129.54 11.22 772 8209.42 done 2.16 - - 2640.62 - 3.53 0.043 2126.62 414.9 148.40 - - 1886.41 - - - - - - - - - 15.29 -
8268.69 124.50 7.70 779 8309.50 2.26 0.29 0.065 2699.12 201.7 - - 2126.44 - 182.31 37.71 1.178 1758.16 -3.4 0.065 - - - - - - 15.54 - 11.24
8368.71 114.16 10.53 789 8374.40 roll 2.27 - - 2700.00 - 4.07 0.124 660.81 -360.1 182.31 - - 1752.56 - - - - - - - - - 15.18 -
8434.20 105.36 13.49 802 8439.32 roll 2.27 - - 2700.19 - 3.52 0.043 2128.56 417.0 182.31 - - 1754.34 - - - - - - - - - 15.44 -
8498.70 97.20 12.53 809 8500.02 no move 2.27 - - 2700.00 - - - 2128.56 - 182.31 - - 1752.03 - - - - - - - - - - -
8558.71 89.53 12.77 815 8560.04 no move 2.27 - - 2700.38 - - - 2128.56 - 182.31 - - 1751.22 - - - - - - - - - - -
8618.72 82.19 11.92 821 8620.05 no move 2.27 - - 2699.62 - - - 2128.25 - 182.31 - - 1751.00 - - - - - - - - - - -
8678.74 75.70 10.30 827 8684.45 roll 2.30 - - 2699.50 - 4.14 0.124 661.81 -354.2 182.31 - - 1750.22 - - - - - - - - - 15.10 -
8907.66 58.79 6.70 873 8965.53 2.43 0.19 0.075 2740.00 213.2 3.58 0.046 2128.56 409.7 226.20 49.97 1.112 1577.19 -3.5 0.033 - - - - - - 15.14 15.37 11.51
9023.95 49.82 9.26 890 9025.28 no move 2.49 - - 2739.56 - - - 2128.44 - 226.20 - - 1575.12 - - - - - - - - - - -
9083.77 44.55 8.50 896 9115.54 VBD 2.56 - - 2738.69 - - - 2128.62 - 252.19 30.24 1.052 1473.09 -3.4 0.026 - - - - - - - - 11.48
9173.76 36.85 8.61 905 9209.21 2.64 0.26 0.064 2791.00 201.2 4.13 0.125 660.94 -355.4 277.09 28.80 1.030 1371.16 -3.5 0.023 - - - - - - 15.39 15.02 11.53
9434.31 8.94 8.41 957 9469.10 done 2.72 - - 2790.81 - 3.60 0.046 2128.56 407.7 304.00 29.68 1.006 1261.84 -3.7 0.006 - - - - - - - 15.41 11.51
9533 end climb: SURFACE_DEPTH_REACHED
9533 begin surface coast
9553 end surface coast: CONTROL_FINISHED_OK
9553 begin surface
SM -0.60 - - - - 180.2 2.06 0.243 563.9 259.3 18.94 0.085 557.8 29.5 - 0.10 0.137 570.1 5665.0 2.536 - - 11.60 15.10 15.38 -