NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 960 * Raw log
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• Previous call tries 2 • 267.32 of 575.00 AH used of 24V (53.51% remains)
• Surface angle -68.0 deg, depth -1.23 m • Intended pitch -27.4 deg, speed -11.111 cm/s
• VBD pumped to 475.08 (SM_CC=475)
• GPS1 time: 19 s
• GPS2 time: 2 s • Transponder ping count: 5
• 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
8.09 - - - 88.69 VBD -1.59 - - 171.62 - - - 2118.00 - -74.33 80.08 0.005 2445.91 - - - - - - - - - - 14.58
88.91 4.18 -14.53 15 121.03 -1.59 13.81 0.250 1752.81 114.5 4.07 0.149 662.94 -357.5 -74.33 7.53 0.007 2803.47 47.5 -4.926 - - - - - - 15.06 14.64 14.84
164.70 22.72 -20.21 30 170.41 roll -1.59 - - 1753.12 - 3.55 0.056 2121.62 410.9 -74.33 - - 2803.06 - - - - - - - - - 15.54 -
229.27 34.77 -17.38 43 234.99 roll -1.59 - - 1753.19 - 3.58 0.109 3476.88 378.6 -74.33 - - 2804.72 - - - - - - - - - 15.41 -
259.32 40.92 -20.70 49 264.97 roll -1.59 - - 1753.69 - 3.37 0.057 2080.88 -414.2 -74.33 - - 2803.38 - - - - - - - - - 15.53 -
324.29 53.03 -18.01 62 328.61 no move -1.59 - - 1753.50 - - - 2080.19 - -74.33 - - 2803.22 - - - - - - - - - - -
389.33 63.30 -16.19 75 395.53 roll -1.59 - - 1753.44 - 3.95 0.151 663.00 -358.8 -74.33 - - 2802.78 - - - - - - - - - 15.28 -
459.81 74.80 -14.74 89 465.45 roll -1.59 - - 1753.25 - 3.49 0.051 2122.12 418.1 -74.33 - - 2803.75 - - - - - - - - - 15.62 -
524.33 81.86 -10.85 102 528.65 no move -1.59 - - 1753.50 - - - 2122.50 - -74.33 - - 2803.34 - - - - - - - - - - -
589.34 88.82 -11.04 115 595.07 roll -1.59 - - 1753.69 - 3.55 0.107 3474.88 381.0 -74.33 - - 2802.38 - - - - - - - - - 15.46 -
649.36 96.48 -12.40 127 655.04 roll -1.59 - - 1753.12 - 3.33 0.055 2079.69 -419.0 -74.33 - - 2805.31 - - - - - - - - - 15.59 -
714.37 103.66 -11.00 140 718.69 no move -1.59 - - 1753.19 - - - 2080.44 - -74.33 - - 2803.78 - - - - - - - - - - -
779.38 111.02 -11.71 153 785.11 roll -1.59 - - 1753.56 - 3.68 0.106 3475.75 379.2 -74.33 - - 2803.09 - - - - - - - - - 15.46 -
904.44 127.98 -12.87 178 910.09 roll -1.59 - - 1753.88 - 3.34 0.057 2080.19 -417.8 -74.33 - - 2804.22 - - - - - - - - - 15.60 -
969.41 135.96 -12.34 191 973.73 no move -1.59 - - 1753.44 - - - 2080.62 - -74.33 - - 2804.00 - - - - - - - - - - -
1034.42 144.35 -13.72 204 1038.74 no move -1.59 - - 1753.31 - - - 2080.25 - -74.33 - - 2804.06 - - - - - - - - - - -
1104.43 152.86 -12.01 216 1110.07 roll -1.59 - - 1753.31 - 3.66 0.105 3475.44 381.2 -74.33 - - 2804.03 - - - - - - - - - 15.47 -
1159.43 160.43 -13.41 227 1164.02 roll -1.59 - - 1752.75 - 3.35 0.056 2081.44 -416.1 -74.33 - - 2805.19 - - - - - - - - - 15.60 -
1469.47 196.40 -11.07 259 1470.79 no move -1.59 - - 1753.12 - - - 2081.62 - -74.33 - - 2803.12 - - - - - - - - - - -
1769.51 230.20 -11.10 289 1775.22 roll -1.59 - - 1753.06 - 4.03 0.154 662.50 -352.1 -74.33 - - 2803.88 - - - - - - - - - 15.29 -
1798.40 234.59 -14.29 295 1805.22 roll -1.59 - - 1753.44 - 3.51 0.052 2121.38 415.6 -74.33 - - 2804.47 - - - - - - - - - 15.66 -
2124.52 269.01 -10.36 316 2130.17 roll -1.59 - - 1753.50 - 3.63 0.111 3474.81 372.8 -74.33 - - 2802.19 - - - - - - - - - 15.47 -
2209.52 279.24 -12.10 333 2214.12 roll -1.59 - - 1753.88 - 3.38 0.057 2080.19 -412.6 -74.33 - - 2803.31 - - - - - - - - - 15.59 -
2539.59 313.61 -10.33 349 2540.92 no move -1.59 - - 1753.56 - - - 2080.19 - -74.33 - - 2803.34 - - - - - - - - - - -
2839.55 345.73 -10.56 359 2840.88 no move -1.59 - - 1753.56 - - - 2080.31 - -74.33 - - 2801.69 - - - - - - - - - - -
3139.55 375.67 -9.72 369 3145.28 roll -1.59 - - 1753.81 - 4.02 0.154 663.94 -352.3 -74.33 - - 2801.81 - - - - - - - - - 15.27 -
3168.47 379.41 -12.45 375 3174.19 roll -1.59 - - 1753.38 - 3.51 0.052 2122.25 415.5 -74.33 - - 2803.38 - - - - - - - - - 15.65 -
3494.63 411.45 -9.79 390 3495.96 no move -1.59 - - 1753.38 - - - 2122.50 - -74.33 - - 2802.78 - - - - - - - - - - -
3794.58 441.47 -9.87 400 3795.91 no move -1.59 - - 1753.38 - - - 2122.44 - -74.33 - - 2802.31 - - - - - - - - - - -
4094.59 472.06 -10.42 410 4100.33 roll -1.59 - - 1753.38 - 4.20 0.157 664.00 -347.2 -74.33 - - 2800.69 - - - - - - - - - 15.23 -
4143.51 477.32 -10.52 420 4150.32 roll -1.59 - - 1753.38 - 3.55 0.054 2120.62 410.3 -74.33 - - 2803.59 - - - - - - - - - 15.64 -
4359 end dive: TARGET_DEPTH_EXCEEDED
4359 begin apogee
4360.73 501.26 -10.60 428 4429.72 -0.25 2.49 0.155 2080.00 131.2 0.06 0.266 2116.25 -72.8 - 65.12 1.622 2496.78 -4.7 0.253 - - - - - - 15.39 14.93 10.33
4432 end apogee: CONTROL_FINISHED_OK
4432 begin climb
4432.55 502.48 - 430 4512.70 1.59 3.14 0.084 2530.75 143.6 3.83 0.114 3474.81 354.7 74.33 69.54 1.570 2195.69 -4.3 0.241 - - - - - - 15.28 14.77 11.66
4514.98 498.52 5.36 447 4576.67 1.76 0.22 0.086 2576.31 207.1 3.47 0.053 2081.88 -401.4 131.58 54.47 1.530 1961.84 -4.3 0.243 - - - - - - 15.07 15.15 11.51
4880.99 456.19 12.44 470 4886.67 done 1.76 - - 2576.06 - 3.95 0.137 661.75 -359.5 131.58 - - 1952.22 - - - - - - - - - 15.32 -
4979.92 440.42 19.42 490 4985.61 done 1.76 - - 2576.81 - 3.53 0.047 2123.56 414.1 131.58 - - 1950.72 - - - - - - - - - 15.61 -
5296.01 399.77 12.82 503 5301.71 done 1.76 - - 2576.56 - 4.07 0.135 661.81 -359.2 131.58 - - 1948.12 - - - - - - - - - 15.35 -
5314.96 396.29 13.47 507 5321.73 done 1.76 - - 2577.06 - 3.51 0.046 2123.50 416.4 131.58 - - 1949.44 - - - - - - - - - 15.67 -
5621.02 357.71 12.12 518 5622.35 VBD 1.76 - - 2576.81 - - - 2123.56 - 131.58 - - 1947.44 - - - - - - - - - - -
5921.02 321.98 11.47 528 5926.73 done 1.76 - - 2576.38 - 4.07 0.135 661.50 -359.2 131.58 - - 1945.62 - - - - - - - - - 15.33 -
6006.48 310.63 13.36 545 6011.66 done 1.76 - - 2574.69 - 3.52 0.049 2126.31 416.1 131.58 - - 1947.12 - - - - - - - - - 15.71 -
6331.13 275.55 10.59 560 6336.75 done 1.78 - - 2575.81 - 4.09 0.132 661.75 -358.1 131.58 - - 1944.78 - - - - - - - - - 15.33 -
6416.55 264.94 12.80 577 6421.69 done 1.78 - - 2576.50 - 3.51 0.046 2126.25 417.2 131.58 - - 1944.81 - - - - - - - - - 15.71 -
6721.14 234.82 10.06 600 6726.71 done 1.81 - - 2576.81 - 3.67 0.110 3476.00 367.8 131.58 - - 1944.25 - - - - - - - - - 15.41 -
6756.07 230.77 11.57 607 6760.67 done 1.81 - - 2577.00 - 3.39 0.053 2077.69 -412.5 131.58 - - 1944.25 - - - - - - - - - 15.62 -
7066.12 198.60 10.16 639 7071.82 done 1.84 - - 2576.62 - 3.93 0.133 661.56 -360.3 131.58 - - 1942.22 - - - - - - - - - 15.30 -
7141.55 189.80 11.69 654 7146.72 done 1.84 - - 2576.75 - 3.49 0.046 2127.31 420.0 131.58 - - 1944.03 - - - - - - - - - 15.69 -
7446.15 162.20 8.98 685 7471.25 done 1.90 - - 2577.38 - 4.07 0.134 661.94 -360.0 152.80 17.52 1.198 1875.56 -3.9 0.092 - - - - - - - 15.17 10.51
7486.59 158.51 8.84 693 7517.35 1.97 0.26 0.073 2629.31 199.7 3.51 0.049 2125.75 417.0 175.42 22.17 1.194 1784.75 -4.1 0.094 - - - - - - 15.50 15.66 11.69
7816.20 119.65 11.03 754 7822.43 roll 1.97 - - 2629.75 - 4.07 0.131 662.69 -359.5 175.42 - - 1778.28 - - - - - - - - - 15.30 -
7886.70 110.46 13.58 768 7892.38 roll 1.97 - - 2630.75 - 3.55 0.050 2124.88 411.9 175.42 - - 1777.28 - - - - - - - - - 15.63 -
7951.24 103.34 9.01 781 7981.87 done 2.03 - - 2629.75 - 3.66 0.113 3474.38 368.7 196.31 21.73 1.121 1697.84 -3.7 0.059 - - - - - - - 15.14 11.39
8011.24 97.16 10.55 793 8016.93 roll 2.05 - - 2629.88 - 3.40 0.054 2078.19 -410.6 196.31 - - 1697.44 - - - - - - - - - 15.57 -
8076.25 89.97 11.35 806 8082.45 roll 2.05 - - 2629.62 - 3.91 0.133 661.75 -362.3 196.31 - - 1695.94 - - - - - - - - - 15.34 -
8126.69 83.60 12.35 816 8132.41 roll 2.05 - - 2630.19 - 3.53 0.047 2128.12 415.4 196.31 - - 1696.22 - - - - - - - - - 15.61 -
8191.28 77.34 9.82 829 8197.43 roll 2.09 - - 2630.25 - 3.64 0.111 3472.62 369.4 196.31 - - 1696.31 - - - - - - - - - 15.38 -
8421.32 55.07 7.29 875 8472.89 2.20 0.28 0.077 2684.75 194.6 3.36 0.054 2078.19 -415.0 234.33 42.94 1.089 1544.03 -3.5 0.031 - - - - - - 15.38 15.61 11.35
8531.33 49.07 5.65 897 8598.50 2.37 0.18 0.088 2722.81 211.4 3.86 0.108 3472.94 361.3 288.66 60.22 1.063 1322.94 -3.7 0.029 - - - - - - 15.48 14.98 11.49
8786.89 21.27 11.09 948 8792.53 roll 2.37 - - 2723.81 - 3.41 0.055 2077.00 -409.4 288.66 - - 1318.75 - - - - - - - - - 15.50 -
8851.86 15.11 9.42 961 8857.62 roll 2.42 - - 2723.38 - 3.93 0.133 661.88 -360.1 288.66 - - 1318.09 - - - - - - - - - 15.27 -
8897.28 8.23 16.76 970 8902.56 roll 2.42 - - 2722.88 - 3.52 0.046 2128.56 416.7 288.66 - - 1318.56 - - - - - - - - - 15.59 -
8961.86 4.80 6.29 983 9018.65 2.56 0.23 0.077 2772.25 214.7 3.62 0.105 3474.69 371.9 336.66 48.46 1.011 1127.69 -3.9 0.003 - - - - - - 15.59 15.09 11.17
9047 end climb: SURFACE_DEPTH_REACHED
9047 begin surface coast
9121 end surface coast: CONTROL_FINISHED_OK
9121 begin surface
SM -0.56 - - - - 171.5 - 0.009 563.2 - 18.03 0.084 557.5 30.9 - 3.38 0.053 569.0 167.3 0.181 - - 30.36 15.31 15.56 -