NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1199 * Raw log
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• Previous call tries 1 • 325.95 of 575.00 AH used of 24V (43.31% remains)
• Surface angle -61.8 deg, depth -1.53 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 475.00 (SM_CC=475)
• GPS1 time: 19 s
• GPS2 time: 4 s • Transponder ping count: 17
• 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
8.58 - - - 100.56 VBD -1.59 - - 171.56 - - - 2118.12 - -74.33 91.59 0.005 2749.94 - - - - - - - - - - 13.21
100.78 5.46 -10.70 9 126.67 -1.59 14.68 0.250 1754.38 107.8 3.71 0.109 3476.19 366.1 -74.33 1.00 0.024 2802.09 52.2 -2.083 - - - - - - 14.81 14.61 14.80
350.43 54.33 -15.49 59 355.59 roll -1.59 - - 1754.31 - 3.49 0.056 2081.88 -399.5 -74.33 - - 2800.91 - - - - - - - - - 15.20 -
415.03 62.57 -12.00 66 420.66 roll -1.59 - - 1753.94 - 3.85 0.100 3472.94 361.3 -74.33 - - 2801.28 - - - - - - - - - 15.06 -
430.43 64.54 -11.76 69 435.60 roll -1.59 - - 1754.62 - 3.45 0.053 2080.88 -403.5 -74.33 - - 2801.81 - - - - - - - - - 15.22 -
495.04 71.37 -10.12 76 500.67 roll -1.59 - - 1753.81 - 3.84 0.100 3476.00 363.3 -74.33 - - 2803.28 - - - - - - - - - 15.06 -
560.44 78.28 -11.15 89 565.61 roll -1.59 - - 1753.75 - 3.44 0.054 2081.88 -405.3 -74.33 - - 2801.31 - - - - - - - - - 15.20 -
625.06 84.88 -10.00 96 630.75 roll -1.59 - - 1754.12 - 4.14 0.147 662.94 -342.7 -74.33 - - 2801.97 - - - - - - - - - 14.94 -
700.45 93.22 -10.83 111 705.64 roll -1.59 - - 1753.62 - 3.59 0.047 2123.56 406.9 -74.33 - - 2801.62 - - - - - - - - - 15.29 -
765.01 99.78 -9.95 118 770.67 roll -1.59 - - 1753.50 - 3.70 0.102 3475.06 365.3 -74.33 - - 2801.56 - - - - - - - - - 15.04 -
800.46 103.51 -10.65 125 805.64 roll -1.59 - - 1754.38 - 3.42 0.051 2080.81 -407.7 -74.33 - - 2804.94 - - - - - - - - - 15.21 -
865.02 110.15 -10.11 132 870.75 roll -1.59 - - 1754.38 - 4.09 0.144 661.88 -346.9 -74.33 - - 2803.38 - - - - - - - - - 14.93 -
910.49 115.43 -12.45 141 915.67 roll -1.59 - - 1754.19 - 3.55 0.046 2123.56 411.7 -74.33 - - 2801.69 - - - - - - - - - 15.29 -
975.04 122.33 -10.68 148 976.37 no move -1.59 - - 1753.69 - - - 2123.56 - -74.33 - - 2803.47 - - - - - - - - - - -
1035.06 128.46 -10.08 154 1036.38 no move -1.59 - - 1754.06 - - - 2123.00 - -74.33 - - 2803.66 - - - - - - - - - - -
1095.08 134.72 -10.37 160 1096.41 no move -1.59 - - 1754.44 - - - 2123.56 - -74.33 - - 2803.44 - - - - - - - - - - -
1155.07 141.16 -10.63 166 1156.40 no move -1.59 - - 1754.44 - - - 2123.19 - -74.33 - - 2803.50 - - - - - - - - - - -
1215.08 146.99 -9.97 172 1220.71 roll -1.59 - - 1754.00 - 3.69 0.104 3473.50 365.9 -74.33 - - 2805.41 - - - - - - - - - 14.99 -
1280.53 153.92 -10.09 185 1285.70 roll -1.59 - - 1754.00 - 3.41 0.052 2080.06 -408.6 -74.33 - - 2804.19 - - - - - - - - - 15.17 -
1405.10 165.76 -9.06 198 1411.85 done -1.65 - - 1752.94 - 4.03 0.148 660.69 -352.2 -94.70 0.43 0.051 2890.34 200.3 -114.340 - - - - - - - 14.67 14.63
1454.01 171.03 -11.56 208 1461.26 roll -1.65 - - 1754.00 - 3.54 0.046 2122.25 412.9 -94.70 - - 2888.44 - - - - - - - - - 15.27 -
1580.11 183.59 -9.99 221 1585.75 roll -1.65 - - 1753.62 - 3.69 0.105 3474.81 366.5 -94.70 - - 2889.19 - - - - - - - - - 15.01 -
1645.57 190.82 -12.28 234 1650.71 roll -1.65 - - 1752.88 - 3.39 0.051 2080.69 -411.2 -94.70 - - 2890.91 - - - - - - - - - 15.18 -
1770.18 203.02 -9.75 247 1771.51 no move -1.65 - - 1754.25 - - - 2080.81 - -94.70 - - 2889.16 - - - - - - - - - - -
1890.13 214.98 -9.95 259 1895.81 roll -1.65 - - 1753.50 - 3.82 0.101 3474.31 364.8 -94.70 - - 2889.41 - - - - - - - - - 14.98 -
1925.58 218.93 -11.26 266 1930.76 roll -1.65 - - 1754.38 - 3.42 0.051 2080.19 -407.6 -94.70 - - 2888.09 - - - - - - - - - 15.16 -
2050.16 231.54 -9.91 279 2055.84 roll -1.65 - - 1753.88 - 3.84 0.101 3476.00 363.5 -94.70 - - 2889.50 - - - - - - - - - 14.97 -
2085.60 235.24 -10.58 286 2090.78 roll -1.65 - - 1753.88 - 3.43 0.052 2081.44 -406.6 -94.70 - - 2888.97 - - - - - - - - - 15.14 -
2210.18 247.52 -9.91 299 2211.51 no move -1.65 - - 1754.19 - - - 2081.12 - -94.70 - - 2889.09 - - - - - - - - - - -
2330.21 258.86 -9.52 305 2331.53 no move -1.65 - - 1753.75 - - - 2081.62 - -94.70 - - 2889.19 - - - - - - - - - - -
2630.19 288.91 -10.30 315 2635.88 roll -1.65 - - 1754.06 - 3.87 0.104 3475.25 360.1 -94.70 - - 2888.16 - - - - - - - - - 14.92 -
2685.66 294.81 -10.97 326 2690.83 roll -1.65 - - 1753.69 - 3.43 0.053 2080.94 -406.5 -94.70 - - 2889.84 - - - - - - - - - 15.10 -
3010.24 329.51 -10.55 341 3015.91 roll -1.65 - - 1753.94 - 3.89 0.105 3475.50 358.5 -94.70 - - 2887.59 - - - - - - - - - 14.90 -
3044.14 333.56 -11.77 348 3049.85 roll -1.65 - - 1752.62 - 3.45 0.053 2083.19 -403.6 -94.70 - - 2890.56 - - - - - - - - - 15.07 -
3365.25 368.06 -10.24 362 3366.58 no move -1.65 - - 1753.88 - - - 2082.94 - -94.70 - - 2888.91 - - - - - - - - - - -
3665.27 394.67 -8.52 372 3671.05 roll back -1.73 0.33 0.068 1704.56 -149.5 3.94 0.107 3475.38 353.4 -120.48 - - 2889.34 - - - - - - - - 15.43 14.88 -
3704.18 399.63 -12.32 380 3709.87 roll -1.73 - - 1705.06 - 3.43 0.055 2080.31 -406.7 -120.48 - - 2889.75 - - - - - - - - - 15.04 -
4020.28 432.80 -10.69 393 4025.98 roll -1.73 - - 1705.44 - 3.91 0.107 3474.06 356.5 -120.48 - - 2888.66 - - - - - - - - - 14.87 -
4084.20 439.82 -11.03 406 4089.91 roll -1.73 - - 1704.94 - 3.48 0.056 2082.25 -399.9 -120.48 - - 2887.91 - - - - - - - - - 15.01 -
4405.31 474.26 -10.93 420 4411.00 roll -1.73 - - 1704.69 - 3.93 0.108 3473.94 354.1 -120.48 - - 2886.16 - - - - - - - - - 14.85 -
4449.22 479.06 -11.92 429 4454.92 roll -1.73 - - 1705.12 - 3.49 0.056 2083.19 -398.5 -120.48 - - 2887.56 - - - - - - - - - 15.01 -
4640 end dive: TARGET_DEPTH_EXCEEDED
4640 begin apogee
4641.45 500.80 -11.28 437 4726.44 -0.25 3.34 0.168 2079.06 112.0 0.09 0.231 2085.06 - - 80.28 1.630 2498.09 -4.9 0.262 - - - - - - 14.74 14.82 11.01
4729 end apogee: CONTROL_FINISHED_OK
4729 begin climb
4729.72 502.62 - 439 4852.38 1.73 3.62 0.078 2565.06 134.3 4.30 0.137 663.12 -330.7 120.48 110.71 1.576 2006.91 -4.4 0.248 - - - - - - 15.01 14.41 11.22
4899.51 493.06 11.74 473 4905.25 roll 1.73 - - 2564.56 - 3.65 0.043 2124.75 400.4 120.48 - - 2002.94 - - - - - - - - - 14.99 -
5210.63 465.72 8.31 485 5242.48 done 1.81 - - 2564.81 - 4.14 0.134 660.56 -353.7 148.40 25.61 1.464 1895.88 -4.2 0.234 - - - - - - - 15.01 11.50
5361.16 448.04 13.33 515 5366.35 roll 1.81 - - 2563.94 - 3.57 0.044 2123.75 409.9 148.40 - - 1888.28 - - - - - - - - - 15.37 -
5685.79 417.85 8.94 530 5712.97 1.88 0.20 0.073 2608.38 222.2 4.12 0.133 660.62 -355.1 169.95 20.75 1.421 1806.53 -3.9 0.203 - - - - - - 15.47 15.17 11.56
5835.20 399.55 13.18 560 5840.90 roll 1.88 - - 2608.94 - 3.56 0.045 2122.75 410.7 169.95 - - 1802.97 - - - - - - - - - 15.39 -
6161.40 363.69 11.13 575 6167.01 roll 1.88 - - 2608.06 - 4.18 0.130 661.00 -349.7 169.95 - - 1802.22 - - - - - - - - - 15.09 -
6280.20 346.66 13.44 599 6285.92 roll 1.88 - - 2609.00 - 3.55 0.044 2124.75 412.3 169.95 - - 1800.34 - - - - - - - - - 15.37 -
6606.36 306.73 11.81 614 6612.04 roll 1.88 - - 2609.62 - 4.20 0.128 661.75 -348.3 169.95 - - 1799.47 - - - - - - - - - 15.03 -
6700.24 293.55 13.91 633 6705.95 done 1.88 - - 2608.69 - 3.57 0.044 2126.00 410.2 169.95 - - 1799.72 - - - - - - - - - 15.35 -
7021.34 254.88 12.02 647 7027.08 done 1.88 - - 2609.00 - 4.21 0.128 661.25 -347.9 169.95 - - 1797.22 - - - - - - - - - 14.99 -
7146.80 236.14 14.62 672 7152.00 done 1.88 - - 2608.44 - 3.56 0.044 2125.12 411.2 169.95 - - 1797.06 - - - - - - - - - 15.34 -
7271.37 220.66 12.17 685 7272.70 VBD 1.88 - - 2609.19 - - - 2125.69 - 169.95 - - 1798.12 - - - - - - - - - - -
7391.38 206.23 12.13 697 7397.11 done 1.88 - - 2608.00 - 4.20 0.126 661.88 -348.5 169.95 - - 1797.09 - - - - - - - - - 14.97 -
7450.31 198.74 13.33 709 7457.12 done 1.88 - - 2608.12 - 3.56 0.044 2127.38 411.7 169.95 - - 1799.62 - - - - - - - - - 15.32 -
7576.42 185.13 10.48 722 7577.75 VBD 1.90 - - 2609.38 - - - 2127.31 - 169.95 - - 1797.81 - - - - - - - - - - -
7696.43 173.47 8.23 734 7722.91 VBD 1.98 - - 2608.62 - - - 2127.31 - 198.58 25.73 1.242 1689.16 -4.2 0.104 - - - - - - - - 11.35
7836.43 158.86 11.55 748 7842.15 roll 1.98 - - 2608.25 - 4.16 0.128 661.69 -352.3 198.58 - - 1687.88 - - - - - - - - - 15.17 -
7941.89 145.42 13.89 769 7947.07 roll 1.98 - - 2609.12 - 3.56 0.045 2127.19 411.7 198.58 - - 1686.47 - - - - - - - - - 15.42 -
8006.44 138.01 11.31 776 8012.10 roll 1.98 - - 2608.88 - 3.68 0.105 3476.00 366.5 198.58 - - 1683.88 - - - - - - - - - 15.19 -
8041.44 134.04 11.31 783 8046.05 roll 1.98 - - 2609.31 - 3.44 0.050 2078.44 -406.3 198.58 - - 1684.09 - - - - - - - - - 15.33 -
8111.45 126.17 11.12 791 8117.19 roll 1.98 - - 2608.75 - 4.01 0.129 662.06 -353.2 198.58 - - 1684.34 - - - - - - - - - 15.11 -
8180.37 116.54 14.62 805 8187.20 roll 1.98 - - 2608.81 - 3.54 0.043 2127.31 413.9 198.58 - - 1684.22 - - - - - - - - - 15.37 -
8246.47 109.13 11.27 812 8247.80 no move 1.98 - - 2609.56 - - - 2127.00 - 198.58 - - 1684.00 - - - - - - - - - - -
8306.56 103.14 9.55 818 8307.89 no move 2.03 - - 2608.12 - - - 2127.25 - 198.58 - - 1683.97 - - - - - - - - - - -
8366.51 97.09 9.83 824 8372.29 roll back 2.07 0.21 0.075 2653.06 214.0 4.15 0.124 662.12 -353.0 198.58 - - 1685.12 - - - - - - - - 15.51 15.05 -
8422.00 90.61 12.25 835 8427.14 roll 2.07 - - 2653.50 - 3.55 0.043 2127.31 412.7 198.58 - - 1685.16 - - - - - - - - - 15.39 -
8486.51 83.78 10.36 842 8487.84 no move 2.09 - - 2652.62 - - - 2127.06 - 198.58 - - 1683.84 - - - - - - - - - - -
8546.53 78.43 8.91 848 8578.40 done 2.16 - - 2652.50 - 4.05 0.125 661.75 -361.8 220.49 26.50 1.100 1601.41 -3.1 0.039 - - - - - - - 15.21 11.45
8727.09 58.11 10.89 884 8732.28 roll 2.16 - - 2653.12 - 3.53 0.043 2127.44 415.2 220.49 - - 1596.59 - - - - - - - - - 15.44 -
8791.66 52.24 8.60 891 8828.09 2.23 0.19 0.077 2692.75 208.6 3.61 0.104 3475.88 373.5 245.44 29.62 1.075 1499.06 -3.3 0.028 - - - - - - 15.48 15.14 11.50
8875.58 45.57 7.71 908 8923.12 done 2.33 - - 2692.19 - 3.42 0.047 2076.44 -409.2 279.27 39.47 1.064 1360.59 -3.5 0.026 - - - - - - - 15.33 11.51
8981.68 36.01 9.35 923 8987.43 roll back 2.39 0.17 0.079 2730.38 224.6 3.97 0.125 661.00 -356.5 279.27 - - 1360.19 - - - - - - - - 15.32 15.11 -
9187.17 16.21 8.95 964 9217.94 done 2.45 - - 2730.44 - 3.54 0.041 2131.06 415.3 300.75 24.16 1.004 1274.16 -3.6 0.010 - - - - - - - 15.40 11.46
9276.73 8.18 9.13 976 9278.05 no move 2.51 - - 2730.50 - - - 2131.38 - 300.75 - - 1271.97 - - - - - - - - - - -
9336.73 3.08 8.21 982 9357.25 2.60 0.26 0.066 2783.50 203.8 - - 2131.69 - 329.66 19.73 0.972 1204.31 -3.4 0.002 - - - - - - 15.42 - 11.58
9357 end climb: SURFACE_DEPTH_REACHED
9357 begin surface coast
9376 end surface coast: CONTROL_FINISHED_OK
9376 begin surface
SM -0.64 - - - - 170.2 - 0.015 563.6 - 19.04 0.081 555.7 29.2 - 0.11 0.128 571.5 5195.5 2.655 - - 30.36 15.16 15.38 -