NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 464 * Raw log
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• Previous call tries 1 • 138.05 of 575.00 AH used of 24V (75.99% remains)
• Surface angle -58.4 deg, depth 0.43 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.91 (SM_CC=425)
• GPS1 time: 21 s
• GPS2 time: 2 s • Transponder ping count: 3
• 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
7.17 - - - 85.88 VBD -1.25 - - 172.94 - - - 2118.06 - -77.86 78.13 0.005 2475.91 - - - - - - - - - - 15.24
86.14 3.39 -3.62 15 118.06 -1.25 14.38 0.257 1835.88 115.6 4.27 0.152 663.62 -340.6 -77.86 8.73 0.007 2816.47 39.0 -3.284 - - - - - - 15.43 15.27 15.33
195.84 27.57 -22.56 37 201.60 roll -1.25 - - 1835.50 - 3.59 0.052 2116.44 404.7 -77.86 - - 2816.66 - - - - - - - - - 15.60 -
380.92 61.30 -11.76 74 386.70 roll -1.25 - - 1834.50 - 3.64 0.111 3473.44 372.8 -77.86 - - 2819.00 - - - - - - - - - 15.66 -
486.04 76.19 -15.24 95 491.71 roll -1.25 - - 1835.44 - 3.45 0.058 2082.31 -403.2 -77.86 - - 2817.31 - - - - - - - - - 15.71 -
671.04 98.40 -11.39 132 672.37 no move -1.25 - - 1835.44 - - - 2082.12 - -77.86 - - 2817.31 - - - - - - - - - - -
856.10 119.88 -12.27 152 861.85 roll -1.25 - - 1835.62 - 4.01 0.150 662.44 -354.0 -77.86 - - 2817.28 - - - - - - - - - 15.73 -
931.18 129.74 -12.88 167 936.71 roll -1.25 - - 1835.69 - 3.48 0.049 2119.69 418.8 -77.86 - - 2814.84 - - - - - - - - - 15.79 -
1236.16 161.65 -10.08 198 1241.85 roll -1.25 - - 1835.06 - 3.62 0.112 3474.94 374.4 -77.86 - - 2817.81 - - - - - - - - - 15.81 -
1275.10 165.92 -10.59 206 1281.92 roll -1.25 - - 1835.31 - 3.40 0.056 2079.69 -410.4 -77.86 - - 2818.59 - - - - - - - - - 15.82 -
1581.20 197.70 -10.46 237 1582.53 no move -1.25 - - 1835.44 - - - 2080.62 - -77.86 - - 2817.34 - - - - - - - - - - -
1881.23 229.53 -11.23 267 1882.57 no move -1.25 - - 1835.94 - - - 2080.06 - -77.86 - - 2815.75 - - - - - - - - - - -
2181.27 261.77 -10.42 297 2187.04 roll -1.25 - - 1835.69 - 4.05 0.153 663.38 -349.8 -77.86 - - 2816.16 - - - - - - - - - 15.82 -
2230.22 267.81 -12.14 307 2237.03 roll -1.25 - - 1835.94 - 3.50 0.054 2118.25 415.7 -77.86 - - 2817.16 - - - - - - - - - 15.87 -
2536.32 299.55 -10.71 338 2537.64 no move -1.25 - - 1835.38 - - - 2118.50 - -77.86 - - 2817.78 - - - - - - - - - - -
2836.35 330.43 -9.99 368 2842.14 roll -1.25 - - 1835.62 - 4.14 0.151 662.44 -351.7 -77.86 - - 2815.56 - - - - - - - - - 15.83 -
2895.36 337.52 -12.07 380 2902.12 roll -1.25 - - 1835.69 - 3.53 0.052 2119.50 412.8 -77.86 - - 2817.31 - - - - - - - - - 15.89 -
3201.40 368.40 -10.05 411 3202.73 no move -1.25 - - 1835.69 - - - 2119.81 - -77.86 - - 2815.25 - - - - - - - - - - -
3501.43 398.45 -10.29 441 3502.76 no move -1.25 - - 1835.94 - - - 2119.75 - -77.86 - - 2815.59 - - - - - - - - - - -
3801.47 427.96 -9.92 471 3802.79 no move -1.25 - - 1836.06 - - - 2119.56 - -77.86 - - 2817.28 - - - - - - - - - - -
4101.51 456.82 -9.39 501 4102.83 no move -1.25 - - 1835.81 - - - 2119.50 - -77.86 - - 2816.78 - - - - - - - - - - -
4401.54 483.92 -9.63 531 4407.35 roll -1.25 - - 1835.81 - 4.21 0.158 663.25 -345.9 -77.86 - - 2815.69 - - - - - - - - - 15.83 -
4500.49 494.69 -10.83 551 4507.33 roll -1.25 - - 1834.50 - 3.57 0.057 2116.50 407.1 -77.86 - - 2818.56 - - - - - - - - - 15.91 -
4806.61 523.50 -9.62 582 4812.39 roll -1.25 - - 1835.56 - 4.18 0.159 663.25 -347.7 -77.86 - - 2814.88 - - - - - - - - - 15.83 -
4881.62 532.27 -12.75 597 4887.31 roll -1.25 - - 1836.06 - 3.55 0.055 2117.69 409.7 -77.86 - - 2815.38 - - - - - - - - - 15.91 -
5186.66 560.51 -8.63 628 5187.99 no move -1.25 - - 1836.00 - - - 2117.81 - -77.86 - - 2816.12 - - - - - - - - - - -
5486.71 588.92 -9.76 658 5488.04 no move -1.25 - - 1835.75 - - - 2118.62 - -77.86 - - 2814.09 - - - - - - - - - - -
5786.78 615.35 -8.13 688 5788.11 no move -1.25 - - 1836.06 - - - 2118.62 - -77.86 - - 2814.03 - - - - - - - - - - -
6086.83 642.09 -8.93 718 6092.64 roll -1.25 - - 1835.62 - 4.22 0.163 664.12 -344.7 -77.86 - - 2813.25 - - - - - - - - - 15.81 -
6141.93 647.84 -11.07 729 6147.55 roll -1.25 - - 1835.12 - 3.54 0.059 2115.50 410.0 -77.86 - - 2815.28 - - - - - - - - - 15.90 -
6446.92 674.29 -8.72 760 6448.25 no move -1.25 - - 1835.81 - - - 2114.44 - -77.86 - - 2814.53 - - - - - - - - - - -
6746.98 699.43 -8.27 790 6748.31 no move -1.25 - - 1835.62 - - - 2114.81 - -77.86 - - 2814.72 - - - - - - - - - - -
7047.04 723.21 -7.86 820 7048.37 no move -1.25 - - 1835.94 - - - 2114.94 - -77.86 - - 2814.28 - - - - - - - - - - -
7347.10 746.98 -7.86 850 7352.90 roll -1.25 - - 1835.06 - 4.22 0.167 663.31 -344.0 -77.86 - - 2814.06 - - - - - - - - - 15.80 -
7402.20 752.31 -11.11 861 7407.81 roll -1.25 - - 1835.19 - 3.56 0.062 2115.19 407.8 -77.86 - - 2811.59 - - - - - - - - - 15.90 -
7707.17 776.84 -7.77 892 7712.96 roll -1.25 - - 1835.38 - 4.18 0.166 664.06 -347.2 -77.86 - - 2813.84 - - - - - - - - - 15.80 -
7822.21 787.85 -9.67 915 7827.90 roll -1.25 - - 1834.75 - 3.57 0.062 2114.50 406.3 -77.86 - - 2813.25 - - - - - - - - - 15.90 -
8127.25 812.18 -7.95 946 8128.57 no move -1.25 - - 1835.94 - - - 2115.44 - -77.86 - - 2813.31 - - - - - - - - - - -
8427.28 835.49 -8.16 976 8428.61 no move -1.25 - - 1835.75 - - - 2115.25 - -77.86 - - 2810.88 - - - - - - - - - - -
8727.32 858.25 -7.94 1006 8728.65 no move -1.25 - - 1835.94 - - - 2114.94 - -77.86 - - 2811.59 - - - - - - - - - - -
9027.35 881.44 -8.72 1036 9028.68 no move -1.25 - - 1835.62 - - - 2115.69 - -77.86 - - 2811.97 - - - - - - - - - - -
9327.39 904.74 -8.10 1066 9328.72 no move -1.25 - - 1835.81 - - - 2115.75 - -77.86 - - 2812.12 - - - - - - - - - - -
9627.43 928.92 -9.15 1096 9628.75 no move -1.25 - - 1836.00 - - - 2115.50 - -77.86 - - 2812.19 - - - - - - - - - - -
9927.46 951.61 -7.79 1126 9928.79 no move -1.25 - - 1835.50 - - - 2115.38 - -77.86 - - 2811.44 - - - - - - - - - - -
10227.50 974.35 -7.58 1156 10228.83 no move -1.25 - - 1835.75 - - - 2115.62 - -77.86 - - 2811.72 - - - - - - - - - - -
10437 end dive: TARGET_DEPTH_EXCEEDED
10437 begin apogee
10438.79 990.31 -7.63 1177 10509.38 -0.25 1.79 0.152 2080.25 136.6 0.08 0.292 2186.88 890.8 - 67.25 2.278 2498.62 -4.7 0.352 - - - - - - 15.80 15.09 12.08
10511 end apogee: CONTROL_FINISHED_OK
10511 begin climb
10511.37 991.44 - 1184 10589.76 1.25 2.64 0.092 2448.38 139.4 - - 2186.88 - 77.86 74.50 2.216 2181.59 -4.3 0.331 - - - - - - 15.17 - 12.40
10887.81 964.26 7.88 1222 10893.19 done 1.25 - - 2447.44 - 3.65 0.132 3472.06 352.1 77.86 - - 2168.84 - - - - - - - - - 15.50 -
10992.58 954.45 9.47 1243 10997.16 done 1.25 - - 2447.88 - 3.31 0.064 2182.56 -389.6 77.86 - - 2171.44 - - - - - - - - - 15.57 -
11302.65 929.88 6.90 1275 11303.98 VBD 1.29 - - 2445.06 - - - 2182.81 - 77.86 - - 2168.28 - - - - - - - - - - -
11602.67 907.32 6.70 1305 11608.28 done 1.33 - - 2445.06 - 3.64 0.128 3471.50 354.0 77.86 - - 2166.94 - - - - - - - - - 15.72 -
11667.70 902.30 9.47 1318 11672.24 done 1.33 - - 2447.50 - 3.24 0.061 2182.19 -397.9 77.86 - - 2168.25 - - - - - - - - - 15.76 -
11977.75 879.40 7.87 1350 11979.08 VBD 1.33 - - 2447.50 - - - 2182.94 - 77.86 - - 2167.22 - - - - - - - - - - -
12277.82 857.66 6.91 1380 12283.43 done 1.36 - - 2447.50 - 3.64 0.126 3472.31 354.2 77.86 - - 2163.88 - - - - - - - - - 15.78 -
12402.85 846.77 8.63 1405 12407.43 done 1.36 - - 2447.50 - 3.25 0.061 2180.94 -397.3 77.86 - - 2166.22 - - - - - - - - - 15.81 -
12712.92 822.58 9.21 1437 12718.55 done 1.36 - - 2447.50 - 3.62 0.127 3472.69 356.8 77.86 - - 2163.59 - - - - - - - - - 15.79 -
12787.96 816.60 8.57 1452 12792.50 done 1.36 - - 2446.94 - 3.24 0.061 2179.75 -399.1 77.86 - - 2165.25 - - - - - - - - - 15.84 -
13098.01 791.04 8.55 1484 13099.34 VBD 1.36 - - 2447.94 - - - 2180.25 - 77.86 - - 2162.34 - - - - - - - - - - -
13398.08 767.92 7.92 1514 13399.41 VBD 1.36 - - 2447.44 - - - 2179.94 - 77.86 - - 2161.44 - - - - - - - - - - -
13698.15 743.40 7.21 1544 13699.63 1.39 0.18 0.115 2484.31 204.8 - - 2180.25 - 77.86 - - 2161.59 - - - - - - - - 15.84 - -
13998.18 716.15 8.21 1574 14003.81 done 1.39 - - 2483.25 - 3.63 0.126 3472.31 355.9 77.86 - - 2162.97 - - - - - - - - - 15.79 -
14083.29 707.36 9.81 1591 14087.76 done 1.39 - - 2483.56 - 3.22 0.060 2182.12 -400.7 77.86 - - 2163.50 - - - - - - - - - 15.85 -
14393.25 682.26 8.53 1623 14394.58 VBD 1.39 - - 2484.56 - - - 2182.75 - 77.86 - - 2162.56 - - - - - - - - - - -
14693.32 659.85 7.42 1653 14694.65 VBD 1.41 - - 2484.62 - - - 2182.75 - 77.86 - - 2161.75 - - - - - - - - - - -
14993.33 637.58 7.09 1683 14994.67 VBD 1.43 - - 2484.88 - - - 2183.00 - 77.86 - - 2162.62 - - - - - - - - - - -
15293.37 616.36 7.20 1713 15298.96 done 1.46 - - 2484.50 - 3.60 0.125 3473.38 358.4 77.86 - - 2160.53 - - - - - - - - - 15.82 -
15438.39 604.86 7.92 1742 15442.94 done 1.46 - - 2485.38 - 3.23 0.060 2181.56 -399.9 77.86 - - 2162.25 - - - - - - - - - 15.88 -
15748.44 583.31 7.14 1774 15749.77 VBD 1.49 - - 2485.00 - - - 2181.69 - 77.86 - - 2161.88 - - - - - - - - - - -
16048.46 562.79 7.03 1804 16049.80 VBD 1.52 - - 2485.75 - - - 2181.81 - 77.86 - - 2162.16 - - - - - - - - - - -
16348.50 542.95 6.36 1834 16354.39 1.57 0.22 0.093 2528.81 195.7 4.09 0.138 736.25 -353.4 77.86 - - 2159.59 - - - - - - - - 15.84 15.80 -
16413.50 536.97 8.91 1847 16419.13 done 1.57 - - 2528.69 - 3.64 0.055 2221.56 408.1 77.86 - - 2161.31 - - - - - - - - - 15.87 -
16718.54 512.45 7.64 1878 16724.16 done 1.57 - - 2528.50 - 3.43 0.121 3471.38 364.4 77.86 - - 2160.34 - - - - - - - - - 15.83 -
16847.40 501.14 8.84 1904 16854.27 done 1.57 - - 2528.00 - 3.22 0.057 2178.69 -401.5 77.86 - - 2160.47 - - - - - - - - - 15.87 -
17153.61 479.34 7.43 1935 17159.28 done 1.59 - - 2528.31 - 4.05 0.135 736.25 -356.2 77.86 - - 2159.81 - - - - - - - - - 15.80 -
17278.62 468.48 8.66 1960 17284.24 done 1.59 - - 2526.75 - 3.63 0.054 2221.81 409.2 77.86 - - 2160.16 - - - - - - - - - 15.88 -
17583.68 449.62 5.80 1991 17614.98 done 1.68 - - 2528.88 - 3.52 0.121 3473.50 355.6 109.91 26.58 1.614 2049.34 -4.2 0.202 - - - - - - - 15.59 12.11
17677.60 441.23 9.57 2010 17684.40 roll 1.68 - - 2529.00 - 3.26 0.056 2179.81 -396.8 109.91 - - 2048.50 - - - - - - - - - 15.66 -
17983.75 412.85 9.82 2041 17985.08 no move 1.68 - - 2528.62 - - - 2180.06 - 109.91 - - 2046.00 - - - - - - - - - - -
18283.85 384.35 9.62 2071 18289.56 roll 1.68 - - 2526.06 - 3.62 0.117 3473.50 357.3 109.91 - - 2045.94 - - - - - - - - - 15.71 -
18348.85 377.53 9.93 2084 18353.39 roll 1.68 - - 2528.94 - 3.24 0.056 2180.75 -399.0 109.91 - - 2045.97 - - - - - - - - - 15.78 -
18658.91 347.56 9.33 2116 18664.53 roll 1.68 - - 2527.75 - 3.61 0.114 3472.69 357.9 109.91 - - 2045.25 - - - - - - - - - 15.77 -
18713.94 341.52 11.02 2127 18718.62 roll 1.68 - - 2529.06 - 3.24 0.055 2180.50 -398.8 109.91 - - 2045.19 - - - - - - - - - 15.79 -
19024.00 311.43 9.41 2159 19025.33 no move 1.68 - - 2528.94 - - - 2180.94 - 109.91 - - 2044.31 - - - - - - - - - - -
19324.06 283.03 9.25 2189 19325.38 no move 1.68 - - 2528.81 - - - 2180.56 - 109.91 - - 2044.94 - - - - - - - - - - -
19624.12 258.35 7.77 2219 19625.45 no move 1.68 - - 2529.06 - - - 2180.81 - 109.91 - - 2044.75 - - - - - - - - - - -
19924.18 235.97 6.82 2249 19925.65 pitch 1.72 0.17 0.113 2564.38 207.8 - - 2180.75 - 109.91 - - 2042.94 - - - - - - - - 15.80 - -
20224.23 214.49 7.46 2279 20225.56 no move 1.74 - - 2564.12 - - - 2181.00 - 109.91 - - 2043.28 - - - - - - - - - - -
20524.25 193.42 6.98 2309 20525.58 no move 1.77 - - 2564.06 - - - 2180.56 - 109.91 - - 2045.00 - - - - - - - - - - -
20824.29 172.62 6.34 2339 20825.62 no move 1.82 - - 2564.44 - - - 2180.75 - 109.91 - - 2044.81 - - - - - - - - - - -
21124.31 151.84 6.71 2369 21129.98 roll back 1.86 0.17 0.103 2598.56 200.7 3.62 0.117 3472.25 356.8 109.91 - - 2044.75 - - - - - - - - 15.81 15.78 -
21179.39 147.81 7.56 2380 21183.88 roll 1.86 - - 2599.94 - 3.24 0.055 2178.88 -399.2 109.91 - - 2045.06 - - - - - - - - - 15.83 -
21489.37 125.49 5.63 2412 21525.68 done 1.96 - - 2599.81 - 4.09 0.131 736.56 -352.6 144.45 30.09 1.247 1909.88 -4.5 0.079 - - - - - - - 15.58 12.09
21748.32 101.03 10.00 2464 21755.19 roll 1.96 - - 2600.25 - 3.69 0.053 2222.19 402.6 144.45 - - 1904.53 - - - - - - - - - 15.70 -
22054.51 77.39 7.45 2524 22060.22 roll 1.98 - - 2599.69 - 3.48 0.115 3472.12 359.2 144.45 - - 1903.72 - - - - - - - - - 15.71 -
22284.56 67.33 2.83 2570 22352.85 2.21 0.50 0.074 2683.50 167.6 3.21 0.052 2175.06 -404.1 218.89 62.32 1.189 1605.47 -4.8 0.047 - - - - - - 15.67 15.74 12.28
22530.66 48.63 4.77 2619 22571.47 VBD 2.35 - - 2683.50 - - - 2175.00 - 265.65 39.85 1.124 1416.47 -4.7 0.036 - - - - - - - - 12.20
22750.78 31.61 10.58 2663 22752.24 pitch 2.35 0.17 0.101 2715.69 189.4 - - 2175.00 - 265.65 - - 1411.62 - - - - - - - - 15.47 - -
22930.79 9.16 12.59 2699 22936.62 roll 2.35 - - 2716.69 - 4.07 0.125 735.75 -353.6 265.65 - - 1410.16 - - - - - - - - - 15.57 -
22980 end climb: SURFACE_DEPTH_REACHED
22980 begin surface coast
22990 end surface coast: CONTROL_FINISHED_OK
22990 begin surface
SM 0.74 - - - - 174.1 - 0.012 767.8 - 17.14 0.062 773.8 45.1 - 3.36 0.046 761.8 225.5 -0.371 - - 30.36 15.59 15.66 -