NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 330 * Raw log
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• Previous call tries 1 • 101.25 of 575.00 AH used of 24V (82.39% remains)
• Surface angle -61.3 deg, depth 0.59 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.97 (SM_CC=425)
• GPS1 time: 25 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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
6.89 - - - 80.38 VBD -1.25 - - 174.06 - - - 2122.62 - -77.86 72.91 0.005 2365.25 - - - - - - - - - - 15.56
80.65 3.04 -3.43 14 117.18 -1.25 13.81 0.260 1837.06 120.4 4.24 0.160 663.75 -344.1 -77.86 12.07 0.007 2816.28 37.4 -2.745 - - - - - - 15.61 15.55 15.59
340.00 63.53 -20.42 66 345.82 roll -1.25 - - 1837.00 - 3.63 0.057 2118.31 400.7 -77.86 - - 2817.16 - - - - - - - - - 15.72 -
525.11 90.82 -12.26 103 530.89 roll -1.25 - - 1836.50 - 3.70 0.116 3474.56 366.6 -77.86 - - 2817.59 - - - - - - - - - 15.82 -
570.13 96.70 -13.23 112 575.88 roll -1.25 - - 1837.06 - 3.51 0.058 2082.56 -396.6 -77.86 - - 2818.69 - - - - - - - - - 15.84 -
760.15 117.13 -10.35 134 761.49 no move -1.25 - - 1836.94 - - - 2082.69 - -77.86 - - 2817.41 - - - - - - - - - - -
1060.19 149.42 -11.17 164 1061.52 no move -1.25 - - 1837.06 - - - 2082.56 - -77.86 - - 2817.38 - - - - - - - - - - -
1360.23 182.20 -11.03 194 1366.01 roll -1.25 - - 1837.00 - 4.14 0.157 663.44 -342.8 -77.86 - - 2819.38 - - - - - - - - - 15.86 -
1425.32 190.40 -12.97 207 1430.93 roll -1.25 - - 1835.06 - 3.57 0.056 2119.31 407.8 -77.86 - - 2817.97 - - - - - - - - - 15.90 -
1730.28 223.62 -10.41 238 1735.97 roll -1.25 - - 1837.25 - 3.65 0.118 3473.44 371.0 -77.86 - - 2817.91 - - - - - - - - - 15.95 -
1779.21 229.38 -11.58 248 1786.11 roll -1.25 - - 1837.19 - 3.43 0.060 2083.00 -405.4 -77.86 - - 2818.19 - - - - - - - - - 15.98 -
2085.46 261.12 -10.00 279 2086.79 no move -1.25 - - 1836.56 - - - 2083.19 - -77.86 - - 2818.00 - - - - - - - - - - -
2385.35 291.22 -10.33 309 2386.68 no move -1.25 - - 1837.00 - - - 2083.38 - -77.86 - - 2818.00 - - - - - - - - - - -
2685.38 322.77 -11.09 339 2686.71 no move -1.25 - - 1837.44 - - - 2083.62 - -77.86 - - 2818.03 - - - - - - - - - - -
2985.42 354.57 -11.80 369 2991.20 roll -1.25 - - 1837.12 - 4.12 0.163 663.81 -344.6 -77.86 - - 2817.75 - - - - - - - - - 15.93 -
3020.44 358.42 -10.99 376 3026.12 roll -1.25 - - 1836.94 - 3.56 0.059 2118.88 408.7 -77.86 - - 2815.81 - - - - - - - - - 15.97 -
3325.46 389.99 -9.39 407 3326.78 no move -1.25 - - 1836.81 - - - 2118.44 - -77.86 - - 2817.22 - - - - - - - - - - -
3625.48 418.91 -9.57 437 3631.26 roll -1.25 - - 1836.94 - 4.18 0.160 663.31 -348.1 -77.86 - - 2816.09 - - - - - - - - - 15.94 -
3700.50 426.92 -10.89 452 3705.18 roll -1.25 - - 1837.19 - 3.52 0.059 2114.75 412.3 -77.86 - - 2817.31 - - - - - - - - - 15.98 -
4010.54 455.64 -9.51 484 4011.87 no move -1.25 - - 1836.94 - - - 2117.81 - -77.86 - - 2816.31 - - - - - - - - - - -
4310.57 484.28 -9.93 514 4311.90 no move -1.25 - - 1837.12 - - - 2117.12 - -77.86 - - 2816.34 - - - - - - - - - - -
4610.60 512.98 -8.98 544 4616.40 roll -1.25 - - 1836.38 - 4.22 0.164 663.88 -344.4 -77.86 - - 2815.75 - - - - - - - - - 15.95 -
4715.62 525.12 -11.41 565 4721.31 roll -1.25 - - 1836.56 - 3.53 0.062 2116.81 411.6 -77.86 - - 2814.84 - - - - - - - - - 15.98 -
5020.67 553.61 -8.87 596 5022.00 no move -1.25 - - 1836.81 - - - 2116.94 - -77.86 - - 2813.62 - - - - - - - - - - -
5320.73 579.07 -8.85 626 5322.06 no move -1.25 - - 1836.62 - - - 2116.44 - -77.86 - - 2815.12 - - - - - - - - - - -
5620.79 605.01 -9.38 656 5622.12 no move -1.25 - - 1837.50 - - - 2116.56 - -77.86 - - 2814.91 - - - - - - - - - - -
5920.86 629.88 -8.34 686 5922.19 no move -1.25 - - 1837.19 - - - 2116.56 - -77.86 - - 2814.62 - - - - - - - - - - -
6220.92 656.26 -9.05 716 6222.24 no move -1.25 - - 1835.38 - - - 2116.81 - -77.86 - - 2816.09 - - - - - - - - - - -
6520.97 683.28 -9.73 746 6522.30 no move -1.25 - - 1837.19 - - - 2117.06 - -77.86 - - 2813.97 - - - - - - - - - - -
6821.03 708.68 -8.24 776 6822.36 no move -1.25 - - 1836.81 - - - 2117.38 - -77.86 - - 2813.44 - - - - - - - - - - -
7121.10 735.14 -8.74 806 7122.43 no move -1.25 - - 1837.00 - - - 2116.88 - -77.86 - - 2812.97 - - - - - - - - - - -
7421.15 761.25 -8.34 836 7422.48 no move -1.25 - - 1837.31 - - - 2117.31 - -77.86 - - 2812.78 - - - - - - - - - - -
7721.19 786.36 -7.57 866 7722.52 no move -1.25 - - 1836.81 - - - 2116.31 - -77.86 - - 2812.47 - - - - - - - - - - -
8021.23 809.34 -7.48 896 8027.05 roll -1.25 - - 1836.62 - 4.32 0.176 663.50 -336.3 -77.86 - - 2814.44 - - - - - - - - - 15.94 -
8110.17 817.60 -9.48 914 8117.02 roll -1.25 - - 1836.88 - 3.59 0.071 2117.00 404.9 -77.86 - - 2811.91 - - - - - - - - - 16.00 -
8416.29 840.31 -7.50 945 8417.62 no move -1.25 - - 1836.94 - - - 2117.12 - -77.86 - - 2810.66 - - - - - - - - - - -
8716.32 862.09 -7.93 975 8717.65 no move -1.25 - - 1836.94 - - - 2116.94 - -77.86 - - 2811.81 - - - - - - - - - - -
9016.36 885.58 -8.06 1005 9017.69 no move -1.25 - - 1836.94 - - - 2117.19 - -77.86 - - 2810.31 - - - - - - - - - - -
9316.39 908.59 -6.62 1035 9322.19 roll -1.25 - - 1836.69 - 4.30 0.178 663.50 -338.1 -77.86 - - 2810.00 - - - - - - - - - 15.94 -
9365.39 913.93 -9.66 1045 9372.18 roll -1.25 - - 1837.00 - 3.62 0.071 2114.56 400.8 -77.86 - - 2811.06 - - - - - - - - - 16.00 -
9671.43 938.46 -7.71 1076 9672.76 no move -1.25 - - 1836.81 - - - 2114.81 - -77.86 - - 2811.28 - - - - - - - - - - -
9971.46 963.28 -8.76 1106 9972.79 no move -1.25 - - 1836.81 - - - 2115.31 - -77.86 - - 2808.94 - - - - - - - - - - -
10271.50 986.35 -6.78 1136 10277.45 roll -1.25 - - 1837.19 - 4.31 0.179 664.31 -336.7 -77.86 - - 2812.91 - - - - - - - - - 15.93 -
10316 end dive: TARGET_DEPTH_EXCEEDED
10316 begin apogee
10322.17 990.73 -10.09 1145 10391.32 -0.25 1.76 0.163 2080.62 138.3 0.07 0.313 2185.75 21734.9 - 65.51 2.311 2496.84 -4.8 0.350 - - - - - - 16.00 15.57 12.69
10392 end apogee: CONTROL_FINISHED_OK
10392 begin climb
10393.06 991.91 - 1152 10469.01 1.25 2.49 0.096 2446.56 147.0 - - 2185.06 - 77.86 72.32 2.252 2181.41 -4.4 0.325 - - - - - - 15.60 - 12.83
10767.26 960.70 10.37 1191 10768.59 VBD 1.25 - - 2448.12 - - - 2185.12 - 77.86 - - 2170.06 - - - - - - - - - - -
11067.10 932.40 8.06 1221 11068.44 VBD 1.25 - - 2448.12 - - - 2185.38 - 77.86 - - 2167.06 - - - - - - - - - - -
11367.16 904.03 8.88 1251 11372.79 done 1.25 - - 2448.00 - 3.57 0.137 3473.81 360.9 77.86 - - 2166.28 - - - - - - - - - 15.84 -
11452.40 894.75 11.00 1268 11457.76 done 1.25 - - 2447.25 - 3.29 0.067 2183.06 -392.3 77.86 - - 2168.88 - - - - - - - - - 15.86 -
11757.23 865.89 9.09 1299 11758.56 VBD 1.25 - - 2447.88 - - - 2183.19 - 77.86 - - 2165.41 - - - - - - - - - - -
12057.26 838.71 8.83 1329 12062.87 done 1.25 - - 2447.38 - 3.57 0.133 3473.62 361.5 77.86 - - 2164.91 - - - - - - - - - 15.86 -
12132.31 831.62 11.08 1344 12136.83 done 1.25 - - 2447.94 - 3.29 0.065 2181.75 -392.7 77.86 - - 2164.56 - - - - - - - - - 15.93 -
12442.33 806.44 6.45 1376 12448.17 done 1.30 - - 2447.56 - 4.14 0.150 737.06 -349.0 77.86 - - 2166.00 - - - - - - - - - 15.85 -
12511.25 799.89 8.85 1390 12518.11 done 1.30 - - 2448.31 - 3.67 0.062 2218.00 403.5 77.86 - - 2162.66 - - - - - - - - - 15.89 -
12817.37 775.08 7.61 1421 12818.70 VBD 1.30 - - 2448.50 - - - 2218.56 - 77.86 - - 2162.22 - - - - - - - - - - -
13117.43 752.14 7.11 1451 13123.22 done 1.33 - - 2448.56 - 4.24 0.147 737.06 -349.4 77.86 - - 2163.81 - - - - - - - - - 15.89 -
13232.43 742.24 8.75 1474 13238.06 done 1.33 - - 2448.56 - 3.67 0.062 2217.31 403.3 77.86 - - 2161.50 - - - - - - - - - 15.93 -
13537.48 719.38 7.15 1505 13543.05 done 1.36 - - 2449.12 - 3.48 0.133 3473.50 361.0 77.86 - - 2161.56 - - - - - - - - - 15.99 -
13726.42 703.39 8.10 1543 13733.22 done 1.36 - - 2449.12 - 3.22 0.063 2181.69 -401.2 77.86 - - 2161.84 - - - - - - - - - 16.00 -
14032.53 680.58 7.81 1574 14033.87 VBD 1.36 - - 2448.88 - - - 2182.06 - 77.86 - - 2159.78 - - - - - - - - - - -
14332.67 657.99 7.20 1604 14338.24 1.38 0.16 0.119 2484.81 224.6 3.58 0.130 3473.19 360.7 77.86 - - 2163.50 - - - - - - - - 15.98 15.98 -
14427.61 648.98 9.66 1623 14432.15 done 1.38 - - 2485.19 - 3.24 0.064 2180.50 -399.0 77.86 - - 2161.59 - - - - - - - - - 16.01 -
14737.65 623.55 8.32 1655 14743.37 done 1.38 - - 2484.75 - 3.56 0.128 3472.50 362.9 77.86 - - 2160.19 - - - - - - - - - 15.96 -
14842.65 614.23 9.12 1676 14847.20 done 1.38 - - 2485.38 - 3.21 0.062 2180.81 -402.4 77.86 - - 2163.44 - - - - - - - - - 16.01 -
15152.73 591.56 6.60 1708 15154.07 VBD 1.42 - - 2484.88 - - - 2180.88 - 77.86 - - 2159.84 - - - - - - - - - - -
15452.78 570.90 5.99 1738 15478.16 VBD 1.51 - - 2484.81 - - - 2181.25 - 107.23 24.25 1.772 2061.31 -4.1 0.221 - - - - - - - - 12.77
15772.83 543.32 8.71 1770 15774.17 no move 1.51 - - 2485.25 - - - 2181.00 - 107.23 - - 2057.19 - - - - - - - - - - -
16072.90 516.50 8.36 1800 16078.50 roll 1.51 - - 2485.38 - 3.57 0.129 3473.00 361.9 107.23 - - 2056.16 - - - - - - - - - 15.94 -
16147.94 508.47 11.20 1815 16152.61 roll 1.51 - - 2485.62 - 3.23 0.063 2181.31 -399.9 107.23 - - 2056.25 - - - - - - - - - 15.96 -
16458.00 478.57 10.08 1847 16459.32 no move 1.51 - - 2484.88 - - - 2181.81 - 107.23 - - 2054.78 - - - - - - - - - - -
16758.05 450.33 9.17 1877 16759.38 no move 1.51 - - 2485.31 - - - 2181.69 - 107.23 - - 2054.69 - - - - - - - - - - -
17058.11 423.59 8.83 1907 17059.44 no move 1.51 - - 2484.88 - - - 2181.56 - 107.23 - - 2055.41 - - - - - - - - - - -
17358.16 398.19 7.91 1937 17363.77 roll 1.51 - - 2484.94 - 3.58 0.127 3471.12 360.2 107.23 - - 2055.41 - - - - - - - - - 15.97 -
17523.22 383.57 9.50 1970 17527.76 roll 1.51 - - 2485.38 - 3.27 0.061 2182.56 -394.1 107.23 - - 2056.41 - - - - - - - - - 16.01 -
17833.27 359.79 7.46 2002 17834.74 1.53 0.16 0.113 2520.62 220.2 - - 2182.00 - 107.23 - - 2054.25 - - - - - - - - 15.98 - -
18133.31 336.27 7.41 2032 18139.06 roll 1.55 - - 2520.62 - 4.06 0.138 736.12 -356.1 107.23 - - 2054.00 - - - - - - - - - 15.94 -
18232.23 326.95 9.78 2052 18239.09 done 1.55 - - 2520.81 - 3.65 0.059 2222.00 407.1 107.23 - - 2053.75 - - - - - - - - - 15.95 -
18538.37 303.76 7.40 2083 18542.94 done 1.57 - - 2521.00 - 3.43 0.123 3472.88 364.7 107.23 - - 2051.50 - - - - - - - - - 16.01 -
18628.38 295.81 8.71 2101 18632.93 done 1.57 - - 2520.69 - 3.20 0.058 2178.94 -404.4 107.23 - - 2053.53 - - - - - - - - - 16.01 -
18938.40 270.73 8.28 2133 18943.99 done 1.57 - - 2521.31 - 3.49 0.120 3473.00 370.8 107.23 - - 2055.75 - - - - - - - - - 16.00 -
18993.42 265.56 9.08 2144 18997.96 done 1.57 - - 2521.31 - 3.22 0.057 2179.12 -401.8 107.23 - - 2053.44 - - - - - - - - - 16.02 -
19303.45 240.14 7.88 2176 19304.78 VBD 1.57 - - 2520.88 - - - 2179.94 - 107.23 - - 2052.72 - - - - - - - - - - -
19603.48 217.04 7.64 2206 19604.81 VBD 1.57 - - 2520.94 - - - 2179.44 - 107.23 - - 2051.97 - - - - - - - - - - -
19903.53 196.08 6.66 2236 19904.86 VBD 1.61 - - 2521.25 - - - 2179.50 - 107.23 - - 2052.72 - - - - - - - - - - -
20203.56 174.86 6.99 2266 20204.90 VBD 1.64 - - 2520.56 - - - 2179.88 - 107.23 - - 2053.84 - - - - - - - - - - -
20503.60 154.51 6.74 2296 20509.25 1.68 0.17 0.108 2559.25 227.6 3.57 0.121 3474.56 362.7 107.23 - - 2052.34 - - - - - - - - 16.00 15.99 -
20708.66 139.52 7.19 2337 20713.17 done 1.71 - - 2558.75 - 3.26 0.057 2177.38 -397.9 107.23 - - 2054.44 - - - - - - - - - 15.98 -
21018.68 124.28 4.64 2369 21065.37 1.85 0.19 0.101 2599.12 212.5 3.60 0.117 3473.38 360.0 155.93 40.78 1.284 1861.56 -4.7 0.077 - - - - - - 16.00 15.81 12.75
21288.77 97.57 8.99 2423 21294.47 roll 1.85 - - 2599.00 - 3.27 0.056 2179.50 -395.7 155.93 - - 1857.16 - - - - - - - - - 15.88 -
21473.86 86.62 4.89 2460 21520.05 done 1.99 - - 2598.50 - 4.12 0.133 735.12 -350.6 201.07 37.44 1.217 1680.31 -4.7 0.057 - - - - - - - 15.70 12.75
21743.94 61.66 11.02 2514 21749.71 roll 1.99 - - 2598.50 - 3.66 0.055 2221.69 406.2 201.07 - - 1674.06 - - - - - - - - - 15.75 -
21929.06 53.84 2.47 2551 22001.55 2.23 0.53 0.069 2689.94 172.5 4.25 0.126 736.06 -349.6 280.66 64.44 1.194 1355.16 -4.9 0.038 - - - - - - 15.84 15.53 12.77
22224.58 23.06 15.97 2610 22230.15 roll 2.23 - - 2689.69 - 3.67 0.055 2220.88 404.6 280.66 - - 1349.88 - - - - - - - - - 15.66 -
22374 end climb: SURFACE_DEPTH_REACHED
22374 begin surface coast
22389 end surface coast: CONTROL_FINISHED_OK
22389 begin surface
SM 0.87 - - - - 180.3 2.07 0.266 767.5 370.8 16.36 0.074 770.9 47.1 - 0.34 0.088 764.2 2236.9 -2.260 - - 12.66 15.75 15.80 -