NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1221 * Raw log
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• Previous call tries 1 • 331.57 of 575.00 AH used of 24V (42.34% remains)
• Surface angle -63.3 deg, depth -1.60 m • Intended pitch -19.3 deg, speed -11.111 cm/s
VBD pumped to 474.88 (SM_CC=475)
• GPS1 time: 7 s
• GPS2 time: 2 s • Transponder ping count: 14
• 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
8.63 - - - 95.43 VBD -1.40 - - 172.62 - - - 2081.94 - -147.00 86.38 0.005 2528.09 - - - - - - - - - - 13.13
95.70 4.09 -9.20 9 132.00 -1.40 15.36 0.256 1798.88 105.9 4.09 0.148 662.12 -347.1 -147.00 11.80 0.007 3099.03 48.4 -5.133 - - - - - - 14.78 14.54 13.25
225.69 30.57 -16.72 35 230.87 roll -1.40 - - 1798.88 - 3.60 0.049 2121.00 405.2 -147.00 - - 3097.78 - - - - - - - - - 15.25 -
290.24 40.68 -15.61 42 295.90 roll -1.40 - - 1799.56 - 3.72 0.108 3473.62 363.6 -147.00 - - 3097.62 - - - - - - - - - 15.05 -
325.69 45.80 -15.17 49 330.86 roll -1.40 - - 1798.75 - 3.43 0.053 2079.69 -406.4 -147.00 - - 3100.06 - - - - - - - - - 15.19 -
390.31 54.41 -12.88 56 391.64 no move -1.40 - - 1799.56 - - - 2080.19 - -147.00 - - 3099.59 - - - - - - - - - - -
450.27 61.62 -11.56 62 455.94 roll -1.40 - - 1798.81 - 3.82 0.103 3474.62 365.0 -147.00 - - 3098.84 - - - - - - - - - 15.03 -
499.18 68.05 -12.90 72 505.98 roll -1.40 - - 1798.94 - 3.45 0.053 2081.25 -403.9 -147.00 - - 3100.22 - - - - - - - - - 15.15 -
565.71 75.51 -11.19 79 571.06 roll -1.40 - - 1798.12 - 4.11 0.145 661.75 -345.4 -147.00 - - 3099.97 - - - - - - - - - 14.93 -
604.20 80.44 -12.59 87 611.01 roll -1.40 - - 1799.00 - 3.56 0.046 2123.00 410.5 -147.00 - - 3099.91 - - - - - - - - - 15.24 -
670.28 87.97 -11.39 94 675.94 roll -1.40 - - 1799.00 - 3.68 0.105 3475.00 367.4 -147.00 - - 3098.75 - - - - - - - - - 15.03 -
729.21 95.59 -12.42 106 736.00 roll -1.40 - - 1798.75 - 3.41 0.051 2082.19 -408.4 -147.00 - - 3101.03 - - - - - - - - - 15.14 -
795.36 102.95 -10.97 113 801.03 roll -1.40 - - 1799.25 - 4.11 0.144 661.75 -345.6 -147.00 - - 3098.06 - - - - - - - - - 14.91 -
820.75 106.07 -12.38 118 825.93 roll -1.40 - - 1799.00 - 3.53 0.044 2124.25 414.3 -147.00 - - 3101.25 - - - - - - - - - 15.27 -
885.31 113.18 -10.37 125 890.95 roll -1.40 - - 1799.12 - 3.68 0.105 3476.06 367.3 -147.00 - - 3097.97 - - - - - - - - - 15.01 -
920.30 117.41 -11.71 132 924.94 roll -1.40 - - 1798.50 - 3.42 0.051 2081.19 -407.9 -147.00 - - 3099.91 - - - - - - - - - 15.16 -
990.31 124.69 -9.84 140 996.04 roll -1.40 - - 1798.69 - 4.10 0.145 662.94 -345.9 -147.00 - - 3099.72 - - - - - - - - - 14.91 -
1025.77 128.48 -10.83 147 1030.96 roll -1.40 - - 1799.12 - 3.54 0.045 2123.00 412.4 -147.00 - - 3099.84 - - - - - - - - - 15.26 -
1090.33 134.95 -9.75 154 1095.97 roll -1.40 - - 1799.00 - 3.69 0.105 3476.00 366.7 -147.00 - - 3100.41 - - - - - - - - - 15.01 -
1155.79 142.15 -11.10 167 1160.95 roll -1.40 - - 1798.88 - 3.43 0.052 2081.12 -406.7 -147.00 - - 3099.47 - - - - - - - - - 15.15 -
1220.36 148.03 -8.72 174 1227.12 done -1.49 - - 1799.44 - 4.06 0.148 660.50 -349.9 -175.18 0.65 0.034 3215.03 177.8 -140.542 - - - - - - - 14.65 14.71
1239.27 150.28 -9.01 178 1246.08 roll -1.49 - - 1799.44 - 3.54 0.045 2123.75 413.3 -175.18 - - 3218.19 - - - - - - - - - 15.27 -
1305.37 156.73 -9.49 185 1311.01 roll -1.49 - - 1799.44 - 3.67 0.106 3476.31 368.5 -175.18 - - 3216.12 - - - - - - - - - 15.04 -
1320.36 158.11 -9.62 188 1324.96 roll -1.49 - - 1798.88 - 3.41 0.051 2080.19 -409.4 -175.18 - - 3218.06 - - - - - - - - - 15.19 -
1450.38 170.93 -9.62 202 1451.70 no move -1.49 - - 1799.69 - - - 2080.25 - -175.18 - - 3217.31 - - - - - - - - - - -
1570.38 182.61 -9.67 214 1571.71 no move -1.49 - - 1799.44 - - - 2080.81 - -175.18 - - 3216.84 - - - - - - - - - - -
1690.39 193.93 -9.42 226 1696.07 roll -1.49 - - 1799.31 - 3.84 0.106 3473.06 362.6 -175.18 - - 3217.59 - - - - - - - - - 14.95 -
1705.40 195.27 -9.35 229 1710.00 roll -1.49 - - 1799.44 - 3.42 0.053 2082.06 -406.7 -175.18 - - 3216.59 - - - - - - - - - 15.11 -
1835.40 208.79 -10.39 243 1836.73 no move -1.49 - - 1799.06 - - - 2081.69 - -175.18 - - 3217.38 - - - - - - - - - - -
1955.41 221.25 -10.28 255 1961.10 roll -1.49 - - 1799.19 - 3.85 0.107 3474.94 361.9 -175.18 - - 3217.59 - - - - - - - - - 14.94 -
1984.32 224.73 -10.75 261 1991.13 roll -1.49 - - 1799.19 - 3.44 0.053 2081.06 -405.2 -175.18 - - 3216.94 - - - - - - - - - 15.07 -
2110.43 238.15 -10.22 274 2111.76 no move -1.49 - - 1799.00 - - - 2081.25 - -175.18 - - 3216.44 - - - - - - - - - - -
2230.44 250.98 -10.68 286 2231.78 no move -1.49 - - 1799.12 - - - 2081.50 - -175.18 - - 3217.47 - - - - - - - - - - -
2530.45 283.30 -10.79 296 2536.18 roll -1.49 - - 1799.50 - 3.91 0.107 3474.44 356.3 -175.18 - - 3216.72 - - - - - - - - - 14.92 -
2594.38 290.22 -10.37 309 2600.07 roll -1.49 - - 1799.00 - 3.46 0.053 2081.12 -402.7 -175.18 - - 3218.31 - - - - - - - - - 15.03 -
2915.48 323.38 -10.29 323 2916.81 no move -1.49 - - 1799.00 - - - 2081.31 - -175.18 - - 3216.53 - - - - - - - - - - -
3215.48 352.98 -9.81 333 3221.18 roll -1.49 - - 1797.50 - 3.95 0.108 3473.44 352.4 -175.18 - - 3218.78 - - - - - - - - - 14.90 -
3244.41 356.35 -9.60 339 3250.09 roll -1.49 - - 1799.00 - 3.48 0.054 2083.81 -399.3 -175.18 - - 3216.75 - - - - - - - - - 15.01 -
3570.51 387.66 -9.81 354 3576.20 roll -1.49 - - 1798.62 - 3.94 0.109 3474.12 352.9 -175.18 - - 3217.25 - - - - - - - - - 14.89 -
3609.42 391.89 -10.96 362 3615.12 roll -1.49 - - 1798.69 - 3.48 0.054 2081.12 -400.3 -175.18 - - 3217.19 - - - - - - - - - 15.00 -
3925.52 422.72 -9.94 375 3931.22 roll -1.49 - - 1798.88 - 3.93 0.109 3473.75 354.4 -175.18 - - 3215.78 - - - - - - - - - 14.88 -
3959.44 426.43 -10.61 382 3965.15 roll -1.49 - - 1799.38 - 3.47 0.055 2081.94 -401.1 -175.18 - - 3216.59 - - - - - - - - - 15.00 -
3969 end dive: TARGET_DEPTH_EXCEEDED
3969 begin apogee
3970.57 427.61 -10.41 384 4121.99 -0.25 2.32 0.141 2078.38 120.3 0.09 0.220 2085.38 38.2 - 147.86 1.530 2498.50 -4.9 0.246 - - - - - - 14.87 14.39 11.01
4125 end apogee: CONTROL_FINISHED_OK
4125 begin climb
4125.31 432.30 - 390 4297.33 1.49 3.30 0.080 2505.50 129.4 4.24 0.109 3470.69 326.7 175.18 162.68 1.462 1784.56 -4.4 0.236 - - - - - - 14.58 13.83 11.04
4366.00 416.76 13.23 438 4371.22 roll 1.49 - - 2505.69 - 3.68 0.052 2081.25 -377.6 175.18 - - 1777.78 - - - - - - - - - 14.39 -
4690.64 383.44 10.46 453 4696.30 done 1.51 - - 2503.06 - 4.11 0.134 661.75 -345.4 175.18 - - 1775.94 - - - - - - - - - 14.90 -
4794.51 369.81 14.14 474 4800.21 done 1.51 - - 2503.75 - 3.58 0.044 2124.12 408.5 175.18 - - 1775.25 - - - - - - - - - 15.19 -
5105.59 335.57 10.92 486 5111.36 done 1.51 - - 2505.38 - 4.22 0.130 660.81 -346.8 175.18 - - 1772.31 - - - - - - - - - 14.99 -
5194.52 323.43 16.27 504 5200.24 done 1.51 - - 2505.31 - 3.57 0.044 2125.50 410.3 175.18 - - 1772.84 - - - - - - - - - 15.27 -
5520.70 290.62 9.89 519 5526.38 done 1.55 - - 2503.25 - 4.25 0.132 661.88 -344.4 175.18 - - 1772.28 - - - - - - - - - 14.96 -
5609.55 280.22 12.03 537 5615.26 done 1.55 - - 2505.06 - 3.57 0.044 2126.94 410.4 175.18 - - 1772.53 - - - - - - - - - 15.27 -
5935.72 252.15 8.47 552 5987.94 1.70 0.31 0.066 2559.75 176.4 4.16 0.132 661.62 -352.2 226.82 44.99 1.337 1574.88 -4.4 0.150 - - - - - - 15.40 15.02 11.34
6026.61 241.45 14.86 570 6031.86 roll 1.70 - - 2560.75 - 3.57 0.044 2124.81 409.9 226.82 - - 1571.50 - - - - - - - - - 15.27 -
6151.21 225.87 12.04 583 6152.54 no move 1.70 - - 2560.88 - - - 2125.06 - 226.82 - - 1570.09 - - - - - - - - - - -
6271.20 211.04 12.15 595 6276.93 roll 1.70 - - 2561.00 - 4.18 0.128 661.44 -350.1 226.82 - - 1570.69 - - - - - - - - - 15.05 -
6330.14 202.36 14.74 607 6336.94 roll 1.70 - - 2561.50 - 3.55 0.043 2127.19 412.9 226.82 - - 1570.03 - - - - - - - - - 15.33 -
6456.23 188.05 11.68 620 6461.95 roll 1.70 - - 2561.31 - 4.18 0.127 662.81 -350.3 226.82 - - 1568.88 - - - - - - - - - 15.03 -
6501.68 181.60 14.34 629 6506.86 roll 1.70 - - 2559.69 - 3.54 0.044 2125.25 413.1 226.82 - - 1568.19 - - - - - - - - - 15.35 -
6626.26 167.70 10.63 642 6631.99 roll 1.70 - - 2561.06 - 4.16 0.126 662.56 -351.6 226.82 - - 1568.00 - - - - - - - - - 15.03 -
6671.90 161.60 13.71 651 6676.88 roll 1.70 - - 2560.81 - 3.55 0.043 2127.44 412.6 226.82 - - 1568.78 - - - - - - - - - 15.32 -
6796.27 148.08 10.83 664 6797.60 no move 1.70 - - 2561.44 - - - 2126.69 - 226.82 - - 1568.03 - - - - - - - - - - -
6856.29 141.95 10.28 670 6862.00 roll 1.73 - - 2558.75 - 4.18 0.127 661.81 -350.4 226.82 - - 1567.75 - - - - - - - - - 14.98 -
6891.72 137.46 13.62 677 6896.91 roll 1.73 - - 2561.56 - 3.55 0.043 2127.00 412.7 226.82 - - 1566.59 - - - - - - - - - 15.32 -
6956.30 131.11 9.80 684 6961.93 roll 1.76 - - 2561.69 - 3.69 0.109 3475.00 365.3 226.82 - - 1565.94 - - - - - - - - - 15.03 -
6975.20 128.76 11.13 688 6982.00 done 1.76 - - 2559.38 - 3.42 0.049 2076.69 -408.9 226.82 - - 1566.94 - - - - - - - - - 15.22 -
7041.36 122.27 10.37 695 7046.99 done 1.79 - - 2561.75 - 3.99 0.129 662.31 -354.5 226.82 - - 1566.06 - - - - - - - - - 15.01 -
7100.23 115.22 12.53 707 7107.04 done 1.79 - - 2561.12 - 3.53 0.042 2127.56 415.1 226.82 - - 1566.78 - - - - - - - - - 15.31 -
7166.32 108.42 10.37 714 7172.05 done 1.81 - - 2561.44 - 4.14 0.124 661.88 -354.0 226.82 - - 1565.62 - - - - - - - - - 15.00 -
7191.75 104.94 12.03 719 7196.93 done 1.81 - - 2559.69 - 3.50 0.041 2128.06 418.9 226.82 - - 1566.41 - - - - - - - - - 15.32 -
7256.31 98.02 10.71 726 7257.65 VBD 1.81 - - 2561.19 - - - 2128.56 - 226.82 - - 1565.94 - - - - - - - - - - -
7316.35 92.03 9.66 732 7322.12 1.85 0.18 0.077 2601.12 221.8 4.17 0.125 663.06 -351.4 226.82 - - 1565.56 - - - - - - - - 15.45 14.96 -
7391.78 83.23 11.45 747 7396.98 done 1.85 - - 2600.00 - 3.54 0.043 2130.62 414.6 226.82 - - 1566.06 - - - - - - - - - 15.29 -
7456.37 77.32 9.33 754 7462.00 done 1.91 - - 2600.38 - 3.67 0.106 3474.75 366.2 226.82 - - 1565.88 - - - - - - - - - 15.01 -
7501.80 72.50 11.14 763 7506.97 done 1.91 - - 2600.12 - 3.42 0.049 2076.88 -408.7 226.82 - - 1565.41 - - - - - - - - - 15.20 -
7566.36 67.12 7.89 770 7643.59 2.10 0.34 0.073 2659.00 173.2 3.97 0.128 661.88 -356.4 289.78 70.95 1.109 1317.91 -3.5 0.038 - - - - - - 15.40 14.94 11.28
7665.72 56.07 14.71 790 7672.54 roll 2.10 - - 2658.94 - 3.56 0.041 2127.12 411.6 289.78 - - 1317.50 - - - - - - - - - 15.22 -
7731.81 48.05 12.01 797 7737.55 roll 2.10 - - 2659.31 - 4.13 0.123 660.62 -355.1 289.78 - - 1316.53 - - - - - - - - - 15.01 -
7867.30 30.71 12.21 824 7872.47 roll 2.10 - - 2659.19 - 3.53 0.042 2130.81 416.5 289.78 - - 1315.78 - - - - - - - - - 15.35 -
7931.85 25.21 8.09 831 7998.20 2.27 0.22 0.072 2701.88 194.0 - - 2130.50 - 348.90 64.78 1.046 1077.22 -3.7 0.016 - - - - - - 15.43 - 11.36
8056.84 12.50 10.63 846 8062.58 roll 2.27 - - 2701.62 - 4.16 0.125 660.50 -353.4 348.90 - - 1075.50 - - - - - - - - - 15.00 -
8145 end climb: SURFACE_DEPTH_REACHED
8145 begin surface coast
8155 end surface coast: CONTROL_FINISHED_OK
8155 begin surface
SM -0.76 - - - - 170.3 - 0.012 564.1 - 18.55 0.080 556.2 30.0 - 3.53 0.044 572.0 160.9 0.284 - - 30.36 15.03 15.34 -