NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1218 * Raw log
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• Previous call tries 1 • 330.75 of 575.00 AH used of 24V (42.48% remains)
• Surface angle -62.9 deg, depth -1.60 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 475.01 (SM_CC=475)
• GPS1 time: 8 s
• GPS2 time: 3 s • Transponder ping count: 18
• 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
8.62 - - - 100.57 VBD -1.59 - - 171.19 - - - 2081.56 - -74.41 91.51 0.005 2686.44 - - - - - - - - - - 13.10
100.79 4.85 -10.06 9 126.89 -1.59 14.85 0.251 1753.44 106.5 4.14 0.145 661.62 -343.0 -74.41 2.41 0.014 2802.22 48.0 -2.948 - - - - - - 14.74 14.53 13.24
220.55 29.81 -16.98 33 225.77 roll -1.59 - - 1753.19 - 3.61 0.048 2122.31 404.6 -74.41 - - 2803.44 - - - - - - - - - 15.22 -
285.11 40.35 -16.24 40 290.78 roll -1.59 - - 1753.12 - 3.74 0.103 3474.25 361.5 -74.41 - - 2801.53 - - - - - - - - - 15.02 -
330.57 47.38 -16.10 49 335.74 roll -1.59 - - 1751.81 - 3.47 0.052 2082.31 -401.1 -74.41 - - 2803.50 - - - - - - - - - 15.15 -
395.19 56.61 -13.98 56 400.87 roll -1.59 - - 1753.44 - 4.17 0.141 660.75 -340.9 -74.41 - - 2801.59 - - - - - - - - - 14.92 -
424.05 61.38 -16.07 62 430.86 roll -1.59 - - 1753.31 - 3.57 0.044 2121.75 409.2 -74.41 - - 2804.34 - - - - - - - - - 15.21 -
490.20 69.43 -12.02 69 491.53 no move -1.59 - - 1753.12 - - - 2122.25 - -74.41 - - 2803.16 - - - - - - - - - - -
550.16 76.21 -11.26 75 555.81 roll -1.59 - - 1752.81 - 3.70 0.102 3476.75 366.1 -74.41 - - 2802.25 - - - - - - - - - 14.99 -
599.08 82.27 -11.81 85 605.88 roll -1.59 - - 1753.50 - 3.45 0.050 2081.12 -404.5 -74.41 - - 2803.53 - - - - - - - - - 15.13 -
665.23 88.64 -9.24 92 670.91 roll -1.59 - - 1753.12 - 4.14 0.141 662.00 -342.8 -74.41 - - 2801.41 - - - - - - - - - 14.90 -
730.64 96.00 -11.56 105 735.83 roll -1.59 - - 1751.69 - 3.56 0.044 2124.31 410.8 -74.41 - - 2804.91 - - - - - - - - - 15.22 -
795.20 102.69 -9.71 112 800.85 roll -1.59 - - 1753.25 - 3.69 0.100 3475.94 366.3 -74.41 - - 2801.69 - - - - - - - - - 15.00 -
840.66 107.52 -10.82 121 845.83 roll -1.59 - - 1752.62 - 3.44 0.048 2080.50 -405.7 -74.41 - - 2804.16 - - - - - - - - - 15.15 -
905.27 114.01 -9.97 128 910.95 roll -1.59 - - 1751.81 - 4.14 0.141 662.00 -342.6 -74.41 - - 2803.31 - - - - - - - - - 14.89 -
924.12 116.14 -9.90 132 930.96 roll -1.59 - - 1753.12 - 3.55 0.042 2124.56 412.0 -74.41 - - 2804.03 - - - - - - - - - 15.22 -
990.29 121.95 -9.01 139 991.72 VBD -1.65 - - 1753.38 - - - 2124.44 - -95.33 0.52 0.041 2891.09 167.4 -88.198 - - - - - - - - 14.69
1050.28 127.81 -9.60 145 1055.99 roll -1.65 - - 1753.75 - 4.24 0.139 663.19 -344.6 -95.33 - - 2889.56 - - - - - - - - - 14.91 -
1075.67 130.42 -9.89 150 1080.87 roll -1.65 - - 1753.25 - 3.54 0.043 2124.12 412.7 -95.33 - - 2890.91 - - - - - - - - - 15.25 -
1140.23 136.48 -9.19 157 1145.89 roll -1.65 - - 1753.69 - 3.63 0.101 3474.69 372.1 -95.33 - - 2890.59 - - - - - - - - - 15.01 -
1185.69 141.24 -10.90 166 1190.86 roll -1.65 - - 1753.75 - 3.43 0.049 2079.88 -406.7 -95.33 - - 2892.84 - - - - - - - - - 15.14 -
1250.24 147.21 -9.32 173 1251.57 no move -1.65 - - 1752.94 - - - 2080.12 - -95.33 - - 2892.28 - - - - - - - - - - -
1310.26 153.12 -9.63 179 1311.59 no move -1.65 - - 1753.50 - - - 2079.50 - -95.33 - - 2891.66 - - - - - - - - - - -
1430.27 164.84 -9.40 191 1435.95 roll -1.65 - - 1753.25 - 3.85 0.100 3473.94 362.2 -95.33 - - 2893.00 - - - - - - - - - 14.96 -
1459.17 168.22 -10.44 197 1466.12 roll -1.65 - - 1753.69 - 3.46 0.050 2080.81 -402.6 -95.33 - - 2892.44 - - - - - - - - - 15.09 -
1585.28 180.78 -9.59 210 1590.96 roll -1.65 - - 1753.38 - 3.84 0.099 3475.94 363.3 -95.33 - - 2891.75 - - - - - - - - - 14.96 -
1630.73 185.92 -11.64 219 1635.90 roll -1.65 - - 1753.62 - 3.46 0.050 2080.44 -403.3 -95.33 - - 2891.00 - - - - - - - - - 15.10 -
1755.31 198.18 -9.76 232 1760.98 roll -1.65 - - 1752.69 - 3.84 0.099 3475.62 363.3 -95.33 - - 2891.53 - - - - - - - - - 14.95 -
1810.76 204.51 -10.92 243 1815.92 roll -1.65 - - 1752.94 - 3.46 0.051 2081.31 -403.0 -95.33 - - 2891.88 - - - - - - - - - 15.09 -
1935.32 216.99 -9.73 256 1941.05 roll -1.65 - - 1752.69 - 4.16 0.145 662.75 -341.0 -95.33 - - 2893.00 - - - - - - - - - 14.83 -
1954.22 218.90 -10.28 260 1961.04 roll -1.65 - - 1752.69 - 3.54 0.044 2124.00 412.8 -95.33 - - 2892.47 - - - - - - - - - 15.19 -
2080.33 230.87 -9.59 273 2081.66 no move -1.65 - - 1753.69 - - - 2124.25 - -95.33 - - 2890.44 - - - - - - - - - - -
2200.34 242.31 -9.91 285 2206.01 roll -1.65 - - 1753.38 - 3.71 0.103 3475.62 364.3 -95.33 - - 2890.69 - - - - - - - - - 14.93 -
2239.25 246.42 -10.87 293 2246.06 roll -1.65 - - 1753.44 - 3.44 0.051 2081.19 -405.4 -95.33 - - 2891.75 - - - - - - - - - 15.05 -
2365.35 258.88 -9.84 300 2366.68 no move -1.65 - - 1753.50 - - - 2080.88 - -95.33 - - 2891.03 - - - - - - - - - - -
2665.36 289.77 -10.23 310 2671.04 roll -1.65 - - 1753.12 - 3.88 0.104 3475.69 359.5 -95.33 - - 2890.81 - - - - - - - - - 14.90 -
2720.82 296.08 -11.32 321 2725.99 roll -1.65 - - 1753.06 - 3.48 0.052 2082.00 -400.5 -95.33 - - 2892.41 - - - - - - - - - 15.04 -
3045.39 328.26 -9.83 336 3051.07 roll -1.65 - - 1753.56 - 3.90 0.104 3475.00 357.2 -95.33 - - 2891.34 - - - - - - - - - 14.88 -
3114.37 336.54 -11.49 350 3120.00 roll -1.65 - - 1752.75 - 3.50 0.054 2083.38 -397.6 -95.33 - - 2892.78 - - - - - - - - - 15.00 -
3430.41 368.91 -10.20 363 3436.10 roll -1.65 - - 1751.75 - 3.93 0.105 3475.62 354.3 -95.33 - - 2893.38 - - - - - - - - - 14.87 -
3455.84 371.79 -9.90 368 3461.03 roll -1.65 - - 1752.81 - 3.49 0.053 2081.38 -399.5 -95.33 - - 2891.00 - - - - - - - - - 15.01 -
3780.42 406.02 -10.36 383 3786.13 roll -1.65 - - 1753.06 - 3.93 0.107 3474.50 354.5 -95.33 - - 2891.66 - - - - - - - - - 14.86 -
3829.35 410.80 -9.31 393 3836.15 roll -1.65 - - 1753.62 - 3.51 0.054 2081.38 -396.9 -95.33 - - 2891.69 - - - - - - - - - 14.98 -
4135.44 442.85 -9.79 404 4141.14 roll -1.65 - - 1753.06 - 3.94 0.108 3473.94 353.4 -95.33 - - 2892.03 - - - - - - - - - 14.85 -
4179.35 447.89 -11.61 413 4185.07 roll -1.65 - - 1753.06 - 3.52 0.055 2083.62 -395.0 -95.33 - - 2891.06 - - - - - - - - - 14.96 -
4490.46 478.36 -9.84 425 4491.78 no move -1.65 - - 1753.62 - - - 2082.88 - -95.33 - - 2889.59 - - - - - - - - - - -
4730 end dive: TARGET_DEPTH_EXCEEDED
4730 begin apogee
4731.65 501.17 -9.43 433 4817.40 -0.25 2.77 0.154 2079.06 117.5 0.09 0.220 2084.38 - - 81.43 1.630 2498.09 -4.8 0.262 - - - - - - 14.73 14.72 10.93
4820 end apogee: CONTROL_FINISHED_OK
4820 begin climb
4820.71 502.91 - 435 4916.62 1.65 3.55 0.080 2544.81 131.2 - - 2085.06 - 95.33 89.12 1.574 2109.41 -4.4 0.247 - - - - - - 14.88 - 11.21
5214.19 472.28 9.41 449 5219.82 done 1.70 - - 2544.38 - 3.92 0.110 3472.88 354.0 95.33 - - 2098.56 - - - - - - - - - 15.08 -
5443.09 451.08 5.64 495 5499.81 1.87 0.31 0.063 2603.75 191.5 3.51 0.055 2084.38 -395.6 149.81 48.94 1.523 1887.91 -4.3 0.226 - - - - - - 15.06 15.26 11.51
5809.19 409.36 11.06 518 5810.52 VBD 1.87 - - 2604.56 - - - 2084.12 - 149.81 - - 1880.97 - - - - - - - - - - -
6109.21 377.06 10.22 528 6114.93 done 1.89 - - 2604.19 - 4.15 0.135 661.81 -342.7 149.81 - - 1877.41 - - - - - - - - - 15.04 -
6198.13 365.18 12.63 546 6203.86 done 1.89 - - 2603.81 - 3.59 0.046 2126.25 407.9 149.81 - - 1877.09 - - - - - - - - - 15.31 -
6524.30 332.53 9.94 561 6529.98 done 1.93 - - 2603.31 - 4.27 0.130 660.75 -343.2 149.81 - - 1876.44 - - - - - - - - - 15.00 -
6603.15 322.19 14.80 577 6609.98 done 1.93 - - 2603.81 - 3.58 0.045 2124.94 409.0 149.81 - - 1877.12 - - - - - - - - - 15.29 -
6909.28 290.96 10.59 588 6910.61 VBD 1.95 - - 2604.25 - - - 2125.31 - 149.81 - - 1875.84 - - - - - - - - - - -
7209.28 260.30 9.51 598 7215.02 done 1.99 - - 2603.75 - 4.27 0.129 662.06 -342.7 149.81 - - 1874.12 - - - - - - - - - 14.94 -
7308.20 248.45 12.18 618 7315.02 done 1.99 - - 2604.44 - 3.58 0.044 2125.19 408.7 149.81 - - 1875.38 - - - - - - - - - 15.25 -
7434.30 235.09 11.02 631 7439.96 done 1.99 - - 2604.00 - 3.78 0.108 3473.69 356.7 149.81 - - 1875.03 - - - - - - - - - 15.02 -
7479.76 230.52 10.56 640 7484.92 done 2.01 - - 2603.25 - 3.49 0.051 2077.56 -400.0 149.81 - - 1875.06 - - - - - - - - - 15.18 -
7604.39 218.26 9.93 653 7610.12 2.05 0.22 0.078 2645.56 192.3 4.11 0.129 662.62 -344.3 149.81 - - 1873.06 - - - - - - - - 15.39 14.97 -
7629.76 215.07 11.38 658 7634.96 done 2.05 - - 2645.19 - 3.55 0.042 2127.56 412.7 149.81 - - 1872.97 - - - - - - - - - 15.32 -
7754.37 202.15 10.18 671 7760.06 done 2.07 - - 2645.38 - 4.20 0.123 661.62 -349.0 149.81 - - 1873.16 - - - - - - - - - 14.98 -
7899.81 185.15 11.64 700 7905.00 done 2.07 - - 2644.56 - 3.60 0.044 2125.12 406.5 149.81 - - 1873.88 - - - - - - - - - 15.23 -
8024.39 172.34 10.42 713 8025.72 VBD 2.09 - - 2645.00 - - - 2125.38 - 149.81 - - 1874.62 - - - - - - - - - - -
8144.39 159.34 11.37 725 8145.72 VBD 2.09 - - 2645.19 - - - 2125.62 - 149.81 - - 1874.38 - - - - - - - - - - -
8264.40 146.27 10.89 737 8270.15 done 2.09 - - 2645.50 - 4.24 0.123 661.69 -345.3 149.81 - - 1875.41 - - - - - - - - - 14.90 -
8319.86 139.46 13.13 748 8325.04 done 2.09 - - 2645.25 - 3.59 0.043 2126.94 408.1 149.81 - - 1872.75 - - - - - - - - - 15.23 -
8384.42 132.99 9.72 755 8390.08 done 2.14 - - 2644.69 - 3.78 0.106 3472.25 355.9 149.81 - - 1873.00 - - - - - - - - - 14.99 -
8419.87 129.42 10.19 762 8425.03 done 2.16 - - 2644.88 - 3.46 0.049 2077.50 -403.1 149.81 - - 1873.28 - - - - - - - - - 15.16 -
8484.44 123.82 7.83 769 8529.43 2.26 0.29 0.071 2697.44 181.2 3.99 0.126 661.81 -354.8 182.49 36.69 1.163 1755.38 -3.2 0.061 - - - - - - 15.38 15.08 11.35
8674.91 100.84 12.90 807 8680.09 roll 2.26 - - 2696.31 - 3.55 0.042 2128.44 413.1 182.49 - - 1751.34 - - - - - - - - - 15.36 -
8739.51 93.69 11.05 814 8740.84 no move 2.26 - - 2697.00 - - - 2128.25 - 182.49 - - 1750.84 - - - - - - - - - - -
8799.49 86.57 12.47 820 8805.23 roll 2.26 - - 2697.12 - 4.16 0.119 661.69 -352.5 182.49 - - 1749.00 - - - - - - - - - 15.08 -
8824.91 83.25 11.56 825 8830.11 roll 2.26 - - 2697.19 - 3.54 0.041 2128.69 414.4 182.49 - - 1750.72 - - - - - - - - - 15.36 -
8889.49 76.48 9.89 832 8895.21 roll 2.30 - - 2696.94 - 4.15 0.120 661.75 -353.5 182.49 - - 1750.31 - - - - - - - - - 15.08 -
8988.43 66.45 8.93 852 9019.70 done 2.36 - - 2697.31 - 3.55 0.041 2129.19 413.4 204.26 26.41 1.083 1668.03 -3.1 0.034 - - - - - - - 15.33 11.47
9084.53 59.52 7.77 865 9130.06 2.46 0.27 0.068 2746.50 182.2 3.68 0.106 3473.56 365.3 237.52 39.33 1.078 1530.22 -3.5 0.034 - - - - - - 15.36 14.95 11.45
9164.99 52.10 10.32 881 9170.13 roll 2.49 - - 2746.06 - 3.44 0.048 2076.69 -406.1 237.52 - - 1528.12 - - - - - - - - - 15.22 -
9229.53 46.15 9.43 888 9235.23 roll 2.54 - - 2745.38 - 3.97 0.122 661.81 -356.4 237.52 - - 1528.94 - - - - - - - - - 15.07 -
9295.19 40.16 9.31 901 9300.17 roll 2.59 - - 2745.19 - 3.54 0.040 2130.44 414.9 237.52 - - 1528.12 - - - - - - - - - 15.34 -
9359.55 34.23 9.09 908 9390.91 2.65 0.25 0.066 2790.88 182.8 3.64 0.106 3473.12 368.9 257.67 23.74 1.022 1448.34 -3.4 0.020 - - - - - - 15.36 15.07 11.47
9393.46 31.08 8.93 915 9424.71 done 2.72 - - 2791.62 - 3.44 0.046 2075.38 -406.3 279.42 26.34 1.006 1361.03 -3.3 0.018 - - - - - - - 15.27 11.47
9489.58 22.51 9.14 928 9495.23 roll 2.78 - - 2789.38 - 3.82 0.102 3473.25 365.9 279.42 - - 1358.09 - - - - - - - - - 15.11 -
9718.50 5.92 5.19 974 9780.45 2.95 0.42 0.060 2864.06 177.8 3.43 0.047 2079.12 -406.5 338.44 56.93 1.020 1137.62 -3.9 0.004 - - - - - - 15.05 15.26 11.44
9780 end climb: SURFACE_DEPTH_REACHED
9780 begin surface coast
9798 end surface coast: CONTROL_FINISHED_OK
9798 begin surface
SM -0.64 - - - - 171.3 - - 563.6 - 19.63 0.070 559.9 28.5 - 0.08 0.138 567.2 7047.1 3.340 - - 30.00 14.96 15.24 -