NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1183 * Raw log
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• Previous call tries 1 • 321.90 of 575.00 AH used of 24V (44.02% remains)
• Surface angle -65.0 deg, depth -1.52 m • Intended pitch -24.4 deg, speed -11.111 cm/s
VBD pumped to 474.98 (SM_CC=475)
• GPS1 time: 14 s
• GPS2 time: 3 s • Transponder ping count: 21
• 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
8.53 - - - 90.33 VBD -1.50 - - 170.12 - - - 2083.31 - -92.85 81.33 0.005 2471.94 - - - - - - - - - - 14.63
90.58 3.98 -8.58 8 126.78 -1.59 14.70 0.259 1753.00 107.7 4.13 0.150 662.00 -344.1 -124.22 11.44 0.007 3008.53 46.9 -4.803 - - - - - - 14.82 14.57 14.84
163.92 21.18 -20.10 23 171.17 roll -1.59 - - 1752.50 - 3.59 0.051 2122.06 406.7 -124.22 - - 3008.59 - - - - - - - - - 15.31 -
230.06 32.13 -16.76 30 235.68 roll -1.59 - - 1752.81 - 3.71 0.109 3474.06 364.4 -124.22 - - 3005.12 - - - - - - - - - 15.10 -
285.46 41.80 -18.13 41 290.63 roll -1.59 - - 1752.44 - 3.43 0.054 2082.56 -405.7 -124.22 - - 3008.59 - - - - - - - - - 15.26 -
350.07 51.58 -15.37 48 355.75 roll -1.59 - - 1753.44 - 4.14 0.146 661.00 -343.4 -124.22 - - 3005.75 - - - - - - - - - 14.97 -
395.47 58.43 -16.08 57 400.66 roll -1.59 - - 1753.12 - 3.55 0.047 2121.88 411.5 -124.22 - - 3007.56 - - - - - - - - - 15.32 -
460.02 67.35 -13.55 64 465.69 roll -1.59 - - 1753.25 - 3.70 0.106 3473.94 365.4 -124.22 - - 3009.06 - - - - - - - - - 15.08 -
508.95 74.78 -14.89 74 516.20 roll -1.59 - - 1752.94 - 3.42 0.053 2081.38 -407.2 -124.22 - - 3008.16 - - - - - - - - - 15.23 -
575.10 83.10 -12.49 81 576.42 no move -1.59 - - 1752.56 - - - 2081.00 - -124.22 - - 3007.34 - - - - - - - - - - -
635.05 90.42 -12.30 87 640.73 roll -1.59 - - 1752.44 - 3.82 0.103 3474.62 364.8 -124.22 - - 3007.25 - - - - - - - - - 15.07 -
673.96 95.55 -13.36 95 681.20 roll -1.59 - - 1753.19 - 3.43 0.053 2081.44 -406.2 -124.22 - - 3006.91 - - - - - - - - - 15.22 -
740.11 102.99 -10.97 102 741.44 no move -1.59 - - 1753.19 - - - 2081.06 - -124.22 - - 3007.47 - - - - - - - - - - -
800.08 109.70 -10.67 108 801.40 no move -1.59 - - 1752.88 - - - 2081.25 - -124.22 - - 3007.75 - - - - - - - - - - -
860.07 116.63 -11.42 114 861.40 no move -1.59 - - 1753.12 - - - 2081.31 - -124.22 - - 3006.12 - - - - - - - - - - -
920.08 123.23 -11.14 120 921.40 no move -1.59 - - 1753.62 - - - 2081.19 - -124.22 - - 3007.34 - - - - - - - - - - -
980.08 130.27 -12.05 126 985.81 roll -1.59 - - 1753.44 - 4.15 0.146 662.69 -341.8 -124.22 - - 3006.44 - - - - - - - - - 14.92 -
1005.51 133.53 -12.91 131 1010.71 roll -1.59 - - 1753.25 - 3.56 0.046 2123.25 410.3 -124.22 - - 3007.28 - - - - - - - - - 15.31 -
1070.08 141.87 -12.74 138 1075.74 roll -1.59 - - 1753.12 - 3.69 0.105 3475.19 366.4 -124.22 - - 3006.69 - - - - - - - - - 15.05 -
1125.54 149.30 -14.10 149 1130.70 roll -1.59 - - 1752.81 - 3.41 0.051 2081.69 -408.7 -124.22 - - 3005.75 - - - - - - - - - 15.22 -
1190.09 157.27 -11.70 156 1191.42 no move -1.59 - - 1753.19 - - - 2082.00 - -124.22 - - 3006.28 - - - - - - - - - - -
1310.10 170.86 -10.92 168 1315.78 roll -1.59 - - 1753.12 - 3.85 0.104 3474.62 361.7 -124.22 - - 3006.66 - - - - - - - - - 15.01 -
1335.55 173.77 -11.42 173 1340.72 roll -1.59 - - 1752.50 - 3.41 0.051 2080.12 -408.9 -124.22 - - 3008.25 - - - - - - - - - 15.22 -
1460.12 187.66 -11.04 186 1461.45 no move -1.59 - - 1753.38 - - - 2080.31 - -124.22 - - 3008.31 - - - - - - - - - - -
1580.13 200.28 -10.59 198 1581.46 no move -1.59 - - 1753.75 - - - 2080.19 - -124.22 - - 3008.31 - - - - - - - - - - -
1700.14 213.61 -11.26 210 1705.82 roll -1.59 - - 1753.88 - 3.86 0.105 3476.50 361.7 -124.22 - - 3006.12 - - - - - - - - - 14.99 -
1755.61 220.31 -13.02 221 1760.77 roll -1.59 - - 1753.38 - 3.43 0.052 2081.88 -406.6 -124.22 - - 3007.56 - - - - - - - - - 15.18 -
1880.17 234.23 -11.19 234 1881.50 no move -1.59 - - 1753.44 - - - 2082.00 - -124.22 - - 3007.62 - - - - - - - - - - -
2000.19 247.42 -10.89 246 2001.51 no move -1.59 - - 1753.62 - - - 2082.25 - -124.22 - - 3008.00 - - - - - - - - - - -
2120.20 260.41 -10.78 252 2125.87 roll -1.59 - - 1752.50 - 3.87 0.106 3473.81 359.6 -124.22 - - 3008.53 - - - - - - - - - 14.95 -
2169.11 266.04 -11.12 262 2176.35 roll -1.59 - - 1753.12 - 3.44 0.054 2082.12 -404.6 -124.22 - - 3008.62 - - - - - - - - - 15.13 -
2475.22 300.87 -11.16 273 2476.55 no move -1.59 - - 1753.50 - - - 2082.00 - -124.22 - - 3007.81 - - - - - - - - - - -
2775.22 334.79 -11.35 283 2780.93 roll -1.59 - - 1753.06 - 3.90 0.109 3474.62 357.1 -124.22 - - 3007.25 - - - - - - - - - 14.92 -
2824.16 341.05 -12.60 293 2831.40 roll -1.59 - - 1753.44 - 3.44 0.054 2082.50 -404.7 -124.22 - - 3007.56 - - - - - - - - - 15.11 -
3130.25 376.41 -11.85 304 3135.92 roll -1.59 - - 1752.81 - 3.90 0.108 3475.50 357.2 -124.22 - - 3007.84 - - - - - - - - - 14.91 -
3215.70 386.79 -12.36 321 3220.87 roll -1.59 - - 1753.25 - 3.46 0.055 2080.50 -403.2 -124.22 - - 3009.31 - - - - - - - - - 15.11 -
3540.28 423.44 -10.83 336 3545.95 roll -1.59 - - 1753.50 - 3.89 0.109 3474.62 358.4 -124.22 - - 3005.53 - - - - - - - - - 14.89 -
3599.20 430.97 -14.72 348 3604.89 roll -1.59 - - 1753.06 - 3.46 0.056 2083.31 -402.1 -124.22 - - 3008.50 - - - - - - - - - 15.07 -
3925.30 464.27 -10.17 363 3926.63 no move -1.59 - - 1752.94 - - - 2083.31 - -124.22 - - 3007.53 - - - - - - - - - - -
4225.31 495.00 -10.44 373 4231.00 roll -1.59 - - 1753.75 - 3.94 0.112 3472.00 352.5 -124.22 - - 3007.41 - - - - - - - - - 14.86 -
4264.21 499.47 -11.74 381 4269.92 roll -1.59 - - 1752.88 - 3.49 0.056 2083.38 -397.9 -124.22 - - 3007.09 - - - - - - - - - 15.04 -
4280 end dive: TARGET_DEPTH_EXCEEDED
4280 begin apogee
4281.46 501.21 -11.82 384 4389.95 -0.25 2.68 0.150 2080.69 122.3 0.09 0.237 2086.50 34.7 - 104.94 1.631 2499.44 -4.8 0.268 - - - - - - 14.86 14.78 10.93
4393 end apogee: CONTROL_FINISHED_OK
4393 begin climb
4393.26 503.65 - 387 4511.25 1.59 3.32 0.080 2531.19 135.7 - - 2086.81 - 124.22 113.73 1.575 1991.31 -4.5 0.257 - - - - - - 15.00 - 11.26
4790.34 471.57 9.90 401 4796.06 done 1.63 - - 2531.12 - 4.11 0.138 661.69 -346.7 124.22 - - 1981.31 - - - - - - - - - 15.09 -
4884.24 460.74 13.44 420 4889.95 done 1.63 - - 2530.69 - 3.57 0.045 2125.31 410.0 124.22 - - 1981.12 - - - - - - - - - 15.37 -
5205.37 434.10 7.92 434 5246.93 1.75 0.21 0.071 2577.12 221.1 4.16 0.135 660.81 -352.0 163.84 35.21 1.494 1833.41 -4.2 0.220 - - - - - - 15.52 15.09 11.49
5410.81 408.26 13.86 475 5416.02 roll 1.75 - - 2578.12 - 3.55 0.046 2124.56 412.3 163.84 - - 1827.66 - - - - - - - - - 15.41 -
5735.44 371.28 11.26 490 5741.17 done 1.75 - - 2579.00 - 4.16 0.131 660.50 -351.9 163.84 - - 1822.56 - - - - - - - - - 15.09 -
5814.31 360.53 14.66 506 5821.13 done 1.75 - - 2578.62 - 3.55 0.045 2123.56 412.1 163.84 - - 1823.12 - - - - - - - - - 15.37 -
6120.41 326.24 11.30 517 6121.74 VBD 1.75 - - 2578.25 - - - 2124.00 - 163.84 - - 1822.34 - - - - - - - - - - -
6420.41 294.45 10.89 527 6426.15 done 1.75 - - 2577.81 - 4.17 0.130 661.94 -350.6 163.84 - - 1823.12 - - - - - - - - - 15.01 -
6535.92 280.50 12.21 550 6541.06 done 1.75 - - 2579.06 - 3.55 0.045 2126.25 412.5 163.84 - - 1820.56 - - - - - - - - - 15.36 -
6860.65 248.89 9.59 565 6866.17 done 1.80 - - 2578.56 - 4.18 0.129 661.94 -350.3 163.84 - - 1819.28 - - - - - - - - - 14.97 -
7025.91 227.75 13.78 598 7031.11 done 1.80 - - 2578.19 - 3.57 0.047 2125.69 410.0 163.84 - - 1820.03 - - - - - - - - - 15.33 -
7150.51 214.59 10.09 611 7151.84 VBD 1.83 - - 2578.88 - - - 2126.62 - 163.84 - - 1820.47 - - - - - - - - - - -
7270.52 202.08 9.71 623 7271.85 VBD 1.87 - - 2578.06 - - - 2126.44 - 163.84 - - 1820.72 - - - - - - - - - - -
7390.52 190.77 10.06 635 7396.25 done 1.90 - - 2578.75 - 4.18 0.128 661.94 -350.4 163.84 - - 1819.16 - - - - - - - - - 14.95 -
7486.00 179.95 11.45 654 7491.17 done 1.90 - - 2578.00 - 3.56 0.046 2126.94 411.5 163.84 - - 1819.38 - - - - - - - - - 15.32 -
7610.56 167.82 9.45 667 7616.35 1.95 0.22 0.070 2623.56 207.1 4.16 0.126 660.56 -352.5 163.84 - - 1819.62 - - - - - - - - 15.51 14.97 -
7699.48 157.06 12.41 685 7706.29 done 1.95 - - 2624.50 - 3.54 0.044 2128.19 414.6 163.84 - - 1820.59 - - - - - - - - - 15.33 -
7825.59 144.63 9.65 698 7826.92 VBD 1.99 - - 2624.25 - - - 2128.62 - 163.84 - - 1820.34 - - - - - - - - - - -
7885.59 139.25 9.19 704 7891.31 done 2.05 - - 2623.81 - 4.15 0.124 661.00 -353.6 163.84 - - 1819.84 - - - - - - - - - 14.94 -
7924.51 135.31 9.91 712 7931.31 done 2.09 - - 2624.69 - 3.53 0.043 2127.69 415.5 163.84 - - 1820.22 - - - - - - - - - 15.32 -
7990.60 129.48 8.78 719 8032.57 2.17 0.28 0.063 2678.75 193.1 4.07 0.125 660.62 -360.5 192.76 32.08 1.177 1712.62 -3.4 0.066 - - - - - - 15.51 15.18 11.40
8061.28 121.21 13.32 733 8066.42 roll 2.17 - - 2678.44 - 3.52 0.042 2128.75 417.1 192.76 - - 1710.41 - - - - - - - - - 15.45 -
8125.79 113.46 11.59 740 8131.51 roll 2.17 - - 2678.69 - 4.08 0.123 661.94 -359.5 192.76 - - 1710.41 - - - - - - - - - 15.19 -
8194.71 104.03 13.74 754 8201.53 roll 2.17 - - 2678.81 - 3.52 0.042 2128.56 416.7 192.76 - - 1710.25 - - - - - - - - - 15.43 -
8260.80 95.69 12.45 761 8266.53 roll 2.17 - - 2679.12 - 4.07 0.121 660.75 -360.6 192.76 - - 1708.28 - - - - - - - - - 15.15 -
8309.73 88.97 13.79 771 8316.54 roll 2.17 - - 2678.81 - 3.51 0.041 2127.75 417.9 192.76 - - 1708.47 - - - - - - - - - 15.43 -
8375.83 82.35 9.75 778 8381.46 roll 2.21 - - 2678.31 - 3.63 0.105 3474.81 371.1 192.76 - - 1706.81 - - - - - - - - - 15.18 -
8454.75 73.95 10.38 794 8461.54 roll 2.24 - - 2678.88 - 3.41 0.050 2078.38 -409.5 192.76 - - 1707.72 - - - - - - - - - 15.31 -
8520.91 68.25 8.74 801 8562.82 done 2.32 - - 2679.06 - 3.93 0.128 660.69 -360.7 222.19 34.77 1.109 1593.94 -3.3 0.036 - - - - - - - 15.14 11.50
8784.99 43.95 9.24 854 8791.88 roll back 2.38 0.25 0.065 2728.62 198.2 3.51 0.042 2130.62 418.8 222.19 - - 1592.12 - - - - - - - - 15.18 15.40 -
8851.08 39.46 6.56 861 8923.60 2.55 0.20 0.076 2769.25 203.2 4.07 0.122 660.69 -361.2 278.66 62.90 1.084 1363.59 -3.6 0.024 - - - - - - 15.43 15.03 11.60
9002.29 27.24 9.98 891 9007.45 roll 2.58 - - 2769.12 - 3.52 0.042 2129.31 417.2 278.66 - - 1362.91 - - - - - - - - - 15.35 -
9066.83 21.39 9.10 898 9097.41 VBD 2.66 - - 2769.06 - - - 2129.44 - 303.57 27.89 1.014 1263.06 -3.6 0.014 - - - - - - - - 11.49
9157.54 13.49 8.92 907 9194.33 2.74 0.22 0.070 2815.62 211.6 4.07 0.122 661.81 -360.6 330.72 30.63 0.999 1151.84 -3.6 0.009 - - - - - - 15.38 15.02 11.52
9253.00 3.31 12.61 926 9258.18 roll 2.74 - - 2815.81 - 3.51 0.041 2130.75 418.5 330.72 - - 1150.44 - - - - - - - - - 15.37 -
9267 end climb: SURFACE_DEPTH_REACHED
9267 begin surface coast
9277 end surface coast: CONTROL_FINISHED_OK
9277 begin surface
SM -0.59 - - - - 171.6 2.12 0.293 563.7 265.9 19.31 0.087 558.2 28.9 - 0.11 0.126 569.1 5141.7 2.461 - - 11.59 15.11 15.37 -