NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 21 * Raw log
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• Previous call tries 1 • 9.54 of 350.00 AH used of 24V (97.27% remains)
• Surface angle -62.6 deg, depth 0.93 m • Intended pitch -19.6 deg, speed -8.462 cm/s
VBD pumped to 500.01 (SM_CC=500)
• GPS1 time: 18 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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
6.08 - - - 74.25 VBD -0.94 - - 181.44 - - - 2084.44 - -126.52 67.68 0.005 2107.38 - - - - - - - - - - 15.64
74.49 3.05 -3.62 13 126.28 -0.94 14.04 0.278 1948.88 125.9 3.45 0.135 3474.50 402.9 -126.52 27.83 0.006 3265.41 41.6 -3.556 - - - - - - 15.58 15.60 15.67
133.99 15.07 -20.30 25 139.75 roll back -0.81 0.22 0.199 1983.69 158.2 3.43 0.076 2049.12 -415.6 -126.52 - - 3266.38 - - - - - - - - 15.63 15.69 -
319.07 41.54 -9.92 62 324.86 roll back -0.97 0.35 0.081 1928.69 -157.1 3.53 0.129 3474.44 403.8 -126.52 - - 3266.72 - - - - - - - - 15.76 15.76 -
359.07 46.43 -12.63 70 364.76 roll -0.97 - - 1928.62 - 3.39 0.072 2048.44 -420.6 -126.52 - - 3266.59 - - - - - - - - - 15.77 -
544.12 68.71 -11.58 107 545.45 no move -1.03 - - 1928.81 - - - 2047.75 - -126.52 - - 3266.06 - - - - - - - - - - -
724.16 90.47 -12.30 143 725.49 no move -1.11 - - 1928.38 - - - 2047.81 - -126.52 - - 3266.88 - - - - - - - - - - -
909.20 109.91 -10.81 171 915.00 roll back -1.23 0.31 0.089 1867.06 -197.8 3.51 0.131 3475.62 406.8 -126.52 - - 3266.16 - - - - - - - - 15.88 15.89 -
1028.22 128.11 -15.36 195 1034.89 roll -1.19 - - 1867.50 - 3.37 0.076 2050.94 -422.8 -126.52 - - 3267.69 - - - - - - - - - 15.91 -
1334.24 169.22 -13.59 226 1335.57 no move -1.19 - - 1867.62 - - - 2050.50 - -126.52 - - 3267.41 - - - - - - - - - - -
1634.29 207.68 -12.37 256 1635.62 no move -1.22 - - 1866.62 - - - 2050.44 - -126.52 - - 3267.34 - - - - - - - - - - -
1934.32 244.21 -11.93 286 1939.98 roll -1.26 - - 1866.94 - 3.63 0.191 663.50 -382.1 -126.52 - - 3265.12 - - - - - - - - - 15.95 -
1959.31 247.82 -13.36 291 1963.93 roll -1.26 - - 1865.62 - 3.31 0.076 2084.88 429.4 -126.52 - - 3267.66 - - - - - - - - - 16.01 -
2269.37 285.63 -12.57 323 2270.70 no move -1.31 - - 1867.06 - - - 2084.81 - -126.52 - - 3266.94 - - - - - - - - - - -
2569.41 321.24 -11.48 353 2570.74 no move -1.36 - - 1867.12 - - - 2084.75 - -126.52 - - 3266.59 - - - - - - - - - - -
2869.44 358.48 -12.67 383 2870.89 pitch -1.41 0.20 0.103 1823.12 -220.0 - - 2084.69 - -126.52 - - 3266.97 - - - - - - - - 16.05 - -
3169.46 400.94 -14.46 413 3175.15 roll -1.41 - - 1822.88 - 3.75 0.195 663.69 -378.9 -126.52 - - 3264.72 - - - - - - - - - 16.03 -
3194.48 404.70 -15.40 418 3200.16 roll back -1.36 0.25 0.195 1852.81 119.7 3.32 0.086 2082.25 427.3 -126.52 - - 3264.59 - - - - - - - - 16.02 16.07 -
3499.53 442.71 -12.21 449 3500.85 no move -1.41 - - 1852.31 - - - 2082.88 - -126.52 - - 3264.97 - - - - - - - - - - -
3799.57 478.46 -11.72 479 3801.02 pitch -1.47 0.26 0.099 1810.38 -161.3 - - 2082.81 - -126.52 - - 3265.97 - - - - - - - - 16.08 - -
4099.63 520.45 -14.10 509 4100.96 no move -1.47 - - 1809.69 - - - 2082.62 - -126.52 - - 3263.53 - - - - - - - - - - -
4399.67 563.42 -14.99 539 4401.00 no move -1.47 - - 1809.44 - - - 2083.00 - -126.52 - - 3263.50 - - - - - - - - - - -
4699.74 603.78 -14.03 569 4701.07 no move -1.47 - - 1809.19 - - - 2082.69 - -126.52 - - 3263.09 - - - - - - - - - - -
4999.80 645.50 -13.63 599 5001.12 no move -1.47 - - 1810.06 - - - 2082.50 - -126.52 - - 3261.56 - - - - - - - - - - -
5299.86 686.39 -13.66 629 5301.19 no move -1.47 - - 1809.50 - - - 2082.19 - -126.52 - - 3260.31 - - - - - - - - - - -
5599.92 724.13 -12.36 659 5605.63 roll -1.47 - - 1809.19 - 3.77 0.207 664.19 -376.1 -126.52 - - 3261.03 - - - - - - - - - 16.08 -
5624.96 727.93 -12.08 664 5629.56 roll -1.43 - - 1809.12 - 3.34 0.097 2081.75 424.4 -126.52 - - 3261.12 - - - - - - - - - 16.12 -
5935.00 767.84 -11.98 696 5936.32 no move -1.43 - - 1809.31 - - - 2081.25 - -126.52 - - 3260.25 - - - - - - - - - - -
6235.04 803.68 -14.22 726 6236.37 no move -1.43 - - 1809.69 - - - 2081.56 - -126.52 - - 3258.41 - - - - - - - - - - -
6535.08 840.00 -10.65 756 6536.41 no move -1.43 - - 1808.12 - - - 2081.00 - -126.52 - - 3260.12 - - - - - - - - - - -
6835.11 876.66 -12.18 786 6840.84 roll -1.43 - - 1809.25 - 3.82 0.212 663.38 -371.1 -126.52 - - 3257.59 - - - - - - - - - 16.09 -
6860.16 880.22 -14.22 791 6865.82 roll back -1.40 0.26 0.197 1840.50 120.2 3.36 0.102 2079.31 421.4 -126.52 - - 3257.16 - - - - - - - - 16.09 16.14 -
7165.17 911.40 -10.01 822 7166.50 no move -1.50 - - 1840.00 - - - 2079.06 - -126.52 - - 3257.22 - - - - - - - - - - -
7465.20 940.71 -10.34 852 7466.66 pitch -1.59 0.38 0.096 1781.25 -154.6 - - 2079.94 - -126.52 - - 3259.72 - - - - - - - - 16.13 - -
7765.22 979.10 -12.89 882 7766.55 no move -1.59 - - 1781.06 - - - 2079.62 - -126.52 - - 3257.28 - - - - - - - - - - -
7855 end dive: TARGET_DEPTH_EXCEEDED
7855 begin apogee
7856.36 991.24 -13.88 891 7967.39 -0.20 2.49 0.173 2133.25 141.4 0.05 0.428 2077.44 -43.6 - 104.78 2.318 2747.84 -4.9 0.350 - - - - - - 16.11 15.36 13.21
7974 end apogee: CONTROL_FINISHED_OK
7974 begin climb
7974.60 992.44 - 902 8094.04 0.94 1.83 0.084 2414.94 153.9 - - 2077.75 - 126.52 115.27 2.252 2232.72 -4.5 0.331 - - - - - - 15.43 - 12.78
8397.51 972.79 7.80 947 8398.85 VBD 0.94 - - 2414.38 - - - 2077.25 - 126.52 - - 2218.75 - - - - - - - - - - -
8697.58 949.85 7.67 977 8702.30 done 0.94 - - 2412.69 - 3.54 0.155 3473.12 394.3 126.52 - - 2217.03 - - - - - - - - - 15.74 -
8807.64 940.98 9.06 999 8813.29 0.84 0.34 0.203 2375.56 -109.2 3.46 0.094 2050.31 -411.2 126.52 - - 2216.53 - - - - - - - - 15.74 15.79 -
9112.71 922.29 6.49 1030 9117.40 done 0.90 - - 2375.38 - 3.58 0.153 3475.62 398.1 126.52 - - 2215.22 - - - - - - - - - 15.86 -
9202.78 915.98 8.08 1048 9208.30 done 0.90 - - 2377.06 - 3.44 0.093 2051.31 -414.0 126.52 - - 2213.47 - - - - - - - - - 15.89 -
9507.82 896.49 5.95 1079 9558.86 1.03 0.40 0.096 2436.81 149.4 - - 2051.19 - 182.64 47.78 2.172 2006.16 -4.3 0.301 - - - - - - 15.92 - 13.06
9857.85 859.67 10.94 1117 9859.18 VBD 1.03 - - 2436.69 - - - 2051.12 - 182.64 - - 1995.19 - - - - - - - - - - -
10157.91 825.05 12.19 1147 10162.64 done 1.03 - - 2437.50 - 3.58 0.153 3474.06 397.5 182.64 - - 1992.78 - - - - - - - - - 15.85 -
10217.96 817.27 14.54 1159 10223.59 0.95 0.29 0.208 2403.94 -115.7 3.42 0.091 2050.88 -416.1 182.64 - - 1991.28 - - - - - - - - 15.82 15.88 -
10523.02 786.12 9.98 1190 10527.72 done 1.01 - - 2401.94 - 3.55 0.151 3472.19 400.4 182.64 - - 1992.03 - - - - - - - - - 15.91 -
10593.04 778.89 10.67 1204 10597.59 done 1.01 - - 2403.44 - 3.41 0.090 2050.88 -416.8 182.64 - - 1991.53 - - - - - - - - - 15.93 -
10903.09 750.84 8.37 1236 10904.54 1.07 0.28 0.104 2444.81 147.7 - - 2050.19 - 182.64 - - 1989.06 - - - - - - - - 15.95 - -
11203.10 718.39 11.02 1266 11207.83 done 1.07 - - 2445.00 - 3.52 0.149 3474.44 404.6 182.64 - - 1989.38 - - - - - - - - - 15.98 -
11307.00 706.45 11.96 1287 11313.93 0.98 0.29 0.213 2410.31 -119.6 3.40 0.089 2049.81 -419.0 182.64 - - 1990.44 - - - - - - - - 15.94 16.01 -
11613.18 679.13 9.43 1318 11614.52 VBD 1.04 - - 2412.00 - - - 2050.31 - 182.64 - - 1987.91 - - - - - - - - - - -
11913.21 652.80 8.90 1348 11919.00 1.10 0.26 0.107 2450.12 146.6 3.51 0.148 3474.69 405.8 182.64 - - 1986.59 - - - - - - - - 16.03 16.02 -
12008.23 641.47 11.69 1367 12013.84 1.00 0.29 0.218 2417.75 -111.6 3.38 0.087 2050.62 -421.3 182.64 - - 1986.31 - - - - - - - - 15.98 16.04 -
12313.27 613.80 8.37 1398 12314.61 VBD 1.05 - - 2417.31 - - - 2050.31 - 182.64 - - 1987.31 - - - - - - - - - - -
12613.30 586.91 9.68 1428 12619.09 1.10 0.25 0.112 2451.88 138.3 3.51 0.147 3476.75 406.4 182.64 - - 1987.06 - - - - - - - - 16.05 16.05 -
12762.20 570.18 11.52 1458 12769.07 1.01 0.29 0.219 2418.44 -115.3 3.38 0.085 2048.81 -422.5 182.64 - - 1987.72 - - - - - - - - 16.01 16.06 -
13068.37 544.32 7.81 1489 13069.70 VBD 1.06 - - 2418.81 - - - 2048.56 - 182.64 - - 1987.53 - - - - - - - - - - -
13368.40 521.10 6.61 1519 13369.85 1.12 0.26 0.110 2457.81 150.0 - - 2048.56 - 182.64 - - 1987.91 - - - - - - - - 16.07 - -
13668.41 494.10 9.40 1549 13673.13 done 1.12 - - 2457.50 - 3.49 0.145 3473.50 408.3 182.64 - - 1988.50 - - - - - - - - - 16.07 -
13768.50 483.61 10.58 1569 13774.06 1.02 0.30 0.220 2420.81 -122.3 3.35 0.085 2048.44 -425.4 182.64 - - 1986.91 - - - - - - - - 16.03 16.07 -
14073.49 458.59 7.86 1600 14074.82 VBD 1.08 - - 2423.00 - - - 2048.88 - 182.64 - - 1987.38 - - - - - - - - - - -
14373.51 435.96 7.59 1630 14379.28 1.14 0.25 0.112 2459.50 146.0 3.48 0.144 3474.00 409.5 182.64 - - 1985.53 - - - - - - - - 16.08 16.08 -
14482.41 424.72 9.96 1652 14489.29 1.04 0.28 0.223 2426.75 -117.0 3.34 0.083 2046.38 -427.4 182.64 - - 1988.28 - - - - - - - - 16.04 16.09 -
14788.64 401.66 7.44 1683 14793.30 done 1.09 - - 2428.12 - 3.50 0.142 3475.62 408.4 182.64 - - 1988.38 - - - - - - - - - 16.08 -
14888.68 392.41 8.31 1703 14893.22 done 1.09 - - 2428.06 - 3.36 0.082 2046.25 -425.4 182.64 - - 1986.84 - - - - - - - - - 16.10 -
15198.72 367.47 8.09 1735 15200.17 1.15 0.25 0.113 2463.25 140.8 - - 2046.38 - 182.64 - - 1986.22 - - - - - - - - 16.08 - -
15498.76 338.73 9.83 1765 15503.47 done 1.15 - - 2463.88 - 3.49 0.142 3475.44 409.5 182.64 - - 1987.47 - - - - - - - - - 16.09 -
15728.88 314.92 9.56 1811 15734.48 1.06 0.28 0.223 2431.31 -116.3 3.34 0.082 2047.00 -427.7 182.64 - - 1987.34 - - - - - - - - 16.05 16.10 -
16033.94 292.75 7.35 1842 16038.61 done 1.11 - - 2431.06 - 3.48 0.140 3476.12 410.7 182.64 - - 1988.12 - - - - - - - - - 16.06 -
16137.87 283.66 8.63 1863 16144.64 done 1.11 - - 2431.38 - 3.34 0.080 2047.56 -427.7 182.64 - - 1987.84 - - - - - - - - - 16.10 -
16444.04 262.15 6.58 1894 16449.81 1.17 0.26 0.110 2470.12 149.0 3.48 0.139 3474.38 410.0 182.64 - - 1985.16 - - - - - - - - 16.10 16.10 -
16522.92 255.18 9.69 1910 16529.84 1.08 0.28 0.224 2437.44 -116.7 3.34 0.080 2045.25 -427.9 182.64 - - 1986.97 - - - - - - - - 16.05 16.11 -
16829.10 232.72 7.60 1941 16830.43 VBD 1.13 - - 2437.81 - - - 2045.25 - 182.64 - - 1985.59 - - - - - - - - - - -
17129.13 211.19 7.07 1971 17134.77 1.18 0.23 0.116 2471.00 144.3 3.48 0.139 3475.12 410.9 182.64 - - 1986.72 - - - - - - - - 16.10 16.09 -
17358.10 189.95 9.33 2017 17364.95 1.09 0.28 0.224 2439.00 -114.3 3.34 0.080 2045.94 -427.9 182.64 - - 1988.00 - - - - - - - - 16.05 16.09 -
17664.25 169.78 6.11 2048 17709.70 1.21 0.26 0.112 2478.44 151.7 3.53 0.139 3475.19 404.9 235.00 40.49 1.383 1791.12 -4.9 0.100 - - - - - - 16.09 15.88 13.22
17854.26 152.73 10.23 2086 17858.79 roll 1.16 - - 2477.44 - 3.37 0.078 2047.88 -423.5 235.00 - - 1785.41 - - - - - - - - - 15.95 -
18164.28 123.30 10.12 2118 18165.61 VBD 1.16 - - 2478.94 - - - 2047.56 - 235.00 - - 1782.91 - - - - - - - - - - -
18464.33 98.04 7.77 2150 18470.04 done 1.19 - - 2479.31 - 3.55 0.172 662.38 -390.2 235.00 - - 1782.50 - - - - - - - - - 15.96 -
18594.35 87.00 7.64 2176 18600.08 1.12 0.28 0.212 2443.25 -128.8 3.27 0.068 2091.88 437.2 235.00 - - 1783.19 - - - - - - - - 15.94 16.01 -
18779.42 79.79 3.78 2213 18866.78 1.37 0.47 0.096 2518.94 161.0 3.46 0.137 3474.38 399.6 339.47 80.50 1.264 1365.12 -5.2 0.055 - - - - - - 16.00 15.64 13.20
18874.67 73.25 8.69 2232 18880.18 roll 1.40 - - 2518.50 - 3.42 0.074 2046.19 -417.6 339.47 - - 1362.66 - - - - - - - - - 15.70 -
19059.52 53.41 9.67 2269 19065.53 roll 1.49 - - 2519.00 - 3.62 0.172 662.62 -382.2 339.47 - - 1358.38 - - - - - - - - - 15.75 -
19129.53 45.84 11.15 2283 19135.35 done 1.49 - - 2518.75 - 3.32 0.066 2091.75 430.5 339.47 - - 1357.94 - - - - - - - - - 15.80 -
19314.63 30.23 7.98 2320 19320.40 1.60 0.31 0.099 2574.44 179.6 3.42 0.135 3475.06 404.5 339.47 - - 1356.78 - - - - - - - - 15.83 15.82 -
19374.67 25.08 7.89 2332 19380.32 done 1.60 - - 2574.50 - 3.37 0.072 2047.44 -423.6 339.47 - - 1354.81 - - - - - - - - - 15.86 -
19559.74 20.48 2.15 2369 19678.91 1.84 0.32 0.099 2631.62 178.5 3.65 0.169 662.88 -379.3 480.27 111.22 1.157 791.84 -5.1 0.015 - - - - - - 15.88 15.46 13.01
19741.65 6.96 11.91 2405 19747.47 roll 1.84 - - 2630.69 - 3.37 0.064 2090.62 423.7 480.27 - - 789.84 - - - - - - - - - 15.59 -
19786 end climb: SURFACE_DEPTH_REACHED
19786 begin surface coast
19801 end surface coast: CONTROL_FINISHED_OK
19801 begin surface
SM 3.67 - - - - 180.4 - - 711.6 - 16.07 0.105 718.1 44.7 - 0.09 0.170 705.2 7798.1 -17.206 - - 30.00 15.59 15.64 -