NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1214 * Raw log
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• Previous call tries 2 • 329.74 of 575.00 AH used of 24V (42.65% remains)
• Surface angle -66.3 deg, depth -1.48 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.82 (SM_CC=475)
• GPS1 time: 14 s
• GPS2 time: 3 s • Transponder ping count: 16
• 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 - - - 90.32 VBD -1.59 - - 171.50 - - - 2118.25 - -74.33 81.26 0.005 2403.22 - - - - - - - - - - 13.16
90.56 3.02 -7.13 8 126.80 -1.71 14.58 0.249 1724.19 106.5 4.23 0.142 660.94 -344.5 -113.93 13.10 0.007 2963.75 42.8 -3.359 - - - - - - 14.76 14.53 13.30
143.93 14.44 -18.42 19 150.75 roll -1.71 - - 1724.56 - 3.57 0.046 2123.19 409.6 -113.93 - - 2965.47 - - - - - - - - - 15.27 -
210.02 26.16 -17.41 26 215.68 roll -1.71 - - 1724.69 - 3.66 0.100 3475.56 369.5 -113.93 - - 2962.88 - - - - - - - - - 15.08 -
255.04 34.77 -18.55 35 259.64 roll -1.71 - - 1724.94 - 3.41 0.047 2079.00 -409.5 -113.93 - - 2964.47 - - - - - - - - - 15.21 -
325.04 45.55 -14.96 43 330.76 roll -1.71 - - 1725.00 - 4.07 0.138 660.69 -348.5 -113.93 - - 2962.69 - - - - - - - - - 14.96 -
360.49 51.49 -17.55 50 365.68 roll -1.71 - - 1723.31 - 3.51 0.041 2124.38 417.0 -113.93 - - 2964.34 - - - - - - - - - 15.26 -
425.04 60.71 -13.91 57 430.70 roll -1.71 - - 1723.25 - 3.61 0.098 3476.00 374.4 -113.93 - - 2964.12 - - - - - - - - - 15.05 -
460.50 65.88 -15.26 64 465.67 roll -1.71 - - 1724.44 - 3.38 0.045 2079.69 -413.1 -113.93 - - 2963.09 - - - - - - - - - 15.21 -
525.13 74.25 -12.85 71 526.46 no move -1.71 - - 1725.31 - - - 2079.75 - -113.93 - - 2964.81 - - - - - - - - - - -
585.07 82.34 -13.47 77 590.78 roll -1.71 - - 1723.75 - 4.05 0.139 662.31 -350.0 -113.93 - - 2964.00 - - - - - - - - - 14.94 -
613.98 86.89 -15.12 83 620.80 roll -1.71 - - 1724.94 - 3.51 0.040 2123.25 416.2 -113.93 - - 2965.16 - - - - - - - - - 15.24 -
680.13 95.25 -12.30 90 681.46 no move -1.71 - - 1725.00 - - - 2123.44 - -113.93 - - 2964.81 - - - - - - - - - - -
740.09 102.69 -12.40 96 741.42 no move -1.71 - - 1725.25 - - - 2123.19 - -113.93 - - 2964.78 - - - - - - - - - - -
800.10 110.24 -12.74 102 801.42 no move -1.71 - - 1724.94 - - - 2122.88 - -113.93 - - 2963.09 - - - - - - - - - - -
860.10 117.70 -12.74 108 861.42 no move -1.71 - - 1724.38 - - - 2124.00 - -113.93 - - 2965.06 - - - - - - - - - - -
920.10 124.83 -11.72 114 925.75 roll -1.71 - - 1724.56 - 3.66 0.100 3476.19 369.5 -113.93 - - 2962.91 - - - - - - - - - 15.00 -
959.01 129.71 -12.22 122 965.81 roll -1.71 - - 1724.19 - 3.39 0.046 2079.81 -411.9 -113.93 - - 2965.00 - - - - - - - - - 15.14 -
1025.17 137.02 -11.09 129 1026.50 no move -1.71 - - 1724.75 - - - 2080.31 - -113.93 - - 2964.59 - - - - - - - - - - -
1085.13 143.67 -11.24 135 1090.81 roll -1.71 - - 1725.06 - 3.78 0.098 3474.62 368.9 -113.93 - - 2963.97 - - - - - - - - - 14.99 -
1114.03 147.27 -11.99 141 1120.82 roll -1.71 - - 1724.69 - 3.38 0.046 2081.25 -412.2 -113.93 - - 2964.47 - - - - - - - - - 15.14 -
1180.13 154.44 -11.02 148 1181.46 no move -1.71 - - 1724.44 - - - 2081.06 - -113.93 - - 2964.12 - - - - - - - - - - -
1300.15 167.00 -10.30 160 1301.48 no move -1.71 - - 1724.69 - - - 2081.19 - -113.93 - - 2965.12 - - - - - - - - - - -
1420.16 178.82 -9.77 172 1421.49 no move -1.71 - - 1724.88 - - - 2081.06 - -113.93 - - 2964.94 - - - - - - - - - - -
1540.17 191.67 -10.56 184 1545.85 roll -1.71 - - 1723.12 - 3.83 0.102 3474.81 363.9 -113.93 - - 2964.22 - - - - - - - - - 14.96 -
1595.63 197.94 -11.87 195 1600.80 roll -1.71 - - 1723.12 - 3.42 0.049 2079.62 -408.0 -113.93 - - 2965.69 - - - - - - - - - 15.13 -
1720.20 211.62 -10.52 208 1721.53 no move -1.71 - - 1725.12 - - - 2079.88 - -113.93 - - 2965.00 - - - - - - - - - - -
1840.20 224.24 -10.65 220 1845.92 roll -1.71 - - 1724.06 - 3.83 0.101 3473.56 363.9 -113.93 - - 2963.22 - - - - - - - - - 14.94 -
1859.17 226.58 -10.88 224 1865.92 roll -1.71 - - 1724.19 - 3.42 0.048 2081.06 -407.2 -113.93 - - 2965.50 - - - - - - - - - 15.11 -
1985.22 240.75 -11.04 237 1990.90 roll -1.71 - - 1723.12 - 3.81 0.100 3475.25 365.9 -113.93 - - 2965.25 - - - - - - - - - 14.95 -
2040.68 247.34 -11.57 248 2045.85 roll -1.71 - - 1724.81 - 3.42 0.049 2082.06 -407.4 -113.93 - - 2964.12 - - - - - - - - - 15.11 -
2185.23 264.77 -11.94 255 2190.92 roll -1.71 - - 1724.81 - 3.81 0.101 3475.12 365.6 -113.93 - - 2963.16 - - - - - - - - - 14.93 -
2249.16 273.25 -13.08 268 2254.86 roll -1.71 - - 1724.50 - 3.41 0.048 2080.88 -408.9 -113.93 - - 2965.19 - - - - - - - - - 15.07 -
2570.26 309.47 -11.12 282 2571.59 no move -1.71 - - 1724.94 - - - 2080.94 - -113.93 - - 2965.38 - - - - - - - - - - -
2870.26 341.81 -10.82 292 2875.95 roll -1.71 - - 1723.81 - 3.89 0.106 3474.62 358.3 -113.93 - - 2965.66 - - - - - - - - - 14.89 -
2925.73 348.70 -13.86 303 2930.90 roll -1.71 - - 1724.94 - 3.45 0.050 2080.94 -404.0 -113.93 - - 2965.81 - - - - - - - - - 15.07 -
3250.30 385.58 -11.53 318 3255.98 roll -1.71 - - 1724.75 - 3.89 0.105 3472.25 357.7 -113.93 - - 2965.22 - - - - - - - - - 14.89 -
3309.22 392.80 -11.34 330 3314.91 roll -1.71 - - 1725.12 - 3.46 0.052 2080.75 -402.2 -113.93 - - 2965.38 - - - - - - - - - 15.02 -
3635.32 428.96 -10.82 345 3636.65 no move -1.71 - - 1724.94 - - - 2081.06 - -113.93 - - 2964.75 - - - - - - - - - - -
3935.32 463.83 -11.84 355 3941.01 roll -1.71 - - 1724.62 - 3.93 0.111 3476.06 355.0 -113.93 - - 2964.88 - - - - - - - - - 14.85 -
3990.78 471.54 -14.76 366 3995.95 roll -1.71 - - 1724.44 - 3.49 0.056 2081.31 -399.6 -113.93 - - 2963.47 - - - - - - - - - 15.01 -
4225 end dive: TARGET_DEPTH_EXCEEDED
4225 begin apogee
4226.48 500.80 -12.65 378 4327.90 -0.25 3.03 0.156 2079.38 117.1 0.09 0.229 2084.81 38.9 - 96.55 1.629 2496.94 -4.8 0.270 - - - - - - 14.76 14.68 10.98
4331 end apogee: CONTROL_FINISHED_OK
4331 begin climb
4331.27 505.29 - 381 4447.27 1.71 3.52 0.078 2559.12 136.3 4.34 0.136 661.75 -327.9 113.93 105.87 1.571 2034.09 -4.4 0.256 - - - - - - 14.88 14.22 11.19
4469.42 500.60 5.46 409 4531.26 1.88 0.25 0.061 2606.12 188.0 3.72 0.043 2122.88 392.8 170.13 54.08 1.512 1806.50 -4.2 0.254 - - - - - - 14.45 14.63 11.02
4840.55 460.33 11.56 433 4846.23 done 1.88 - - 2607.50 - 4.16 0.132 660.75 -351.5 170.13 - - 1795.56 - - - - - - - - - 15.01 -
4964.42 442.70 13.88 458 4970.15 done 1.88 - - 2607.94 - 3.55 0.045 2124.31 412.3 170.13 - - 1794.50 - - - - - - - - - 15.28 -
5285.55 403.17 12.57 472 5291.42 done 1.88 - - 2606.94 - 4.14 0.130 660.56 -353.6 170.13 - - 1793.66 - - - - - - - - - 15.05 -
5401.04 386.04 15.39 495 5406.18 done 1.88 - - 2607.31 - 3.53 0.045 2125.31 414.9 170.13 - - 1791.88 - - - - - - - - - 15.33 -
5725.61 343.51 13.11 510 5731.29 done 1.88 - - 2607.81 - 4.14 0.129 661.88 -353.5 170.13 - - 1790.94 - - - - - - - - - 15.02 -
5804.47 331.96 13.05 526 5811.31 done 1.88 - - 2607.25 - 3.54 0.044 2124.56 413.2 170.13 - - 1791.56 - - - - - - - - - 15.30 -
6110.58 295.15 11.82 537 6116.30 done 1.88 - - 2605.38 - 4.17 0.127 661.50 -350.9 170.13 - - 1791.56 - - - - - - - - - 14.98 -
6214.51 280.31 14.63 558 6220.22 done 1.88 - - 2607.06 - 3.54 0.043 2125.75 413.6 170.13 - - 1791.41 - - - - - - - - - 15.29 -
6525.61 245.91 11.07 572 6531.33 done 1.88 - - 2605.75 - 4.20 0.129 661.50 -348.6 170.13 - - 1790.59 - - - - - - - - - 14.96 -
6571.06 240.27 11.16 581 6576.25 done 1.88 - - 2607.56 - 3.53 0.044 2127.69 415.4 170.13 - - 1789.22 - - - - - - - - - 15.31 -
6695.65 227.29 9.64 594 6701.27 done 1.92 - - 2605.44 - 3.69 0.108 3471.62 364.2 170.13 - - 1789.59 - - - - - - - - - 15.03 -
6734.54 222.31 12.16 602 6741.36 done 1.92 - - 2606.94 - 3.43 0.051 2076.81 -406.7 170.13 - - 1790.38 - - - - - - - - - 15.18 -
6860.67 209.41 10.37 615 6866.38 done 1.95 - - 2608.44 - 4.03 0.131 661.00 -351.3 170.13 - - 1788.97 - - - - - - - - - 14.95 -
6956.11 196.94 13.58 634 6961.30 done 1.95 - - 2607.69 - 3.54 0.043 2126.75 414.1 170.13 - - 1789.31 - - - - - - - - - 15.30 -
7080.68 183.14 11.12 647 7086.41 done 1.95 - - 2607.31 - 4.16 0.124 662.75 -351.9 170.13 - - 1788.56 - - - - - - - - - 14.95 -
7186.13 169.11 13.93 668 7191.34 done 1.95 - - 2608.06 - 3.54 0.043 2128.25 414.0 170.13 - - 1790.00 - - - - - - - - - 15.30 -
7310.70 155.19 11.37 681 7312.03 VBD 1.95 - - 2607.69 - - - 2128.88 - 170.13 - - 1788.66 - - - - - - - - - - -
7430.73 142.47 10.00 693 7432.06 VBD 1.98 - - 2607.38 - - - 2128.12 - 170.13 - - 1788.62 - - - - - - - - - - -
7490.73 136.51 9.73 699 7496.49 done 2.02 - - 2605.38 - 4.22 0.124 661.56 -347.5 170.13 - - 1789.09 - - - - - - - - - 14.92 -
7556.21 128.86 11.94 712 7561.36 done 2.02 - - 2608.06 - 3.54 0.043 2127.25 414.0 170.13 - - 1787.47 - - - - - - - - - 15.26 -
7620.74 122.69 9.73 719 7626.46 2.06 0.22 0.081 2648.00 181.5 3.70 0.106 3476.31 364.6 170.13 - - 1788.84 - - - - - - - - 15.40 15.00 -
7689.70 115.25 10.34 733 7696.45 done 2.08 - - 2647.69 - 3.43 0.050 2075.88 -408.3 170.13 - - 1788.41 - - - - - - - - - 15.15 -
7755.81 108.87 9.99 740 7761.45 done 2.12 - - 2648.19 - 4.01 0.125 661.81 -352.6 170.13 - - 1788.12 - - - - - - - - - 14.95 -
7811.20 103.10 10.90 751 7816.38 done 2.12 - - 2646.69 - 3.52 0.041 2130.31 417.2 170.13 - - 1787.97 - - - - - - - - - 15.30 -
7875.76 96.63 9.49 758 7877.09 VBD 2.17 - - 2648.06 - - - 2130.75 - 170.13 - - 1787.91 - - - - - - - - - - -
7935.79 90.80 9.74 764 7937.23 2.21 0.18 0.083 2684.81 204.2 - - 2130.69 - 170.13 - - 1789.91 - - - - - - - - 15.45 - -
7995.81 84.14 10.91 770 8001.49 done 2.21 - - 2685.19 - 4.17 0.121 660.62 -352.5 170.13 - - 1787.41 - - - - - - - - - 14.93 -
8031.20 80.00 11.81 777 8036.39 done 2.21 - - 2683.38 - 3.57 0.041 2130.06 411.6 170.13 - - 1788.62 - - - - - - - - - 15.30 -
8095.77 74.38 8.52 784 8131.14 done 2.29 - - 2685.38 - 4.11 0.126 660.69 -357.5 195.87 28.25 1.106 1700.84 -3.1 0.038 - - - - - - - 15.16 11.34
8269.70 57.51 9.01 819 8300.95 done 2.35 - - 2685.88 - 3.56 0.044 2131.19 413.1 216.81 25.31 1.071 1615.50 -3.4 0.033 - - - - - - - 15.39 11.47
8365.81 51.54 6.63 832 8422.58 2.48 0.39 0.062 2750.25 165.1 3.67 0.105 3473.25 365.7 261.39 51.29 1.070 1433.12 -3.6 0.031 - - - - - - 15.32 14.92 11.42
8461.26 44.00 9.07 851 8492.02 done 2.54 - - 2750.25 - 3.44 0.050 2077.62 -405.7 281.65 24.29 1.007 1351.91 -3.3 0.027 - - - - - - - 15.19 11.41
8550.83 35.69 9.58 863 8556.51 roll 2.59 - - 2749.75 - 3.99 0.127 662.00 -354.8 281.65 - - 1349.16 - - - - - - - - - 15.05 -
8765.87 13.46 9.91 906 8771.54 roll back 2.62 0.17 0.077 2786.69 217.3 3.55 0.044 2131.19 413.9 281.65 - - 1347.31 - - - - - - - - 15.13 15.35 -
8830.85 8.84 6.99 913 8882.40 done 2.75 - - 2786.50 - 3.61 0.104 3475.50 372.4 322.69 43.69 1.016 1184.06 -3.7 0.006 - - - - - - - 15.03 11.35
8920 end climb: SURFACE_DEPTH_REACHED
8920 begin surface coast
8940 end surface coast: CONTROL_FINISHED_OK
8940 begin surface
SM -0.70 - - - - 175.7 - 0.009 564.3 - 19.40 0.089 561.2 28.9 - 3.43 0.053 567.4 164.4 0.222 - - 30.36 15.03 15.25 -