NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 213 * Raw log
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• Previous call tries 2 • 67.15 of 575.00 AH used of 24V (88.32% remains)
• Surface angle -60.0 deg, depth 0.65 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.81 (SM_CC=425)
• GPS1 time: 66 s
• GPS2 time: 4 s • Transponder ping count: 2
• 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
6.62 - - - 83.50 VBD -1.25 - - 174.12 - - - 2112.69 - -77.86 76.31 0.005 2483.22 - - - - - - - - - - 15.62
83.76 3.71 -5.11 10 115.54 -1.25 13.64 0.259 1835.94 121.8 3.78 0.127 3471.62 359.5 -77.86 8.16 0.008 2816.47 40.8 -3.186 - - - - - - 15.64 15.61 15.65
338.38 60.33 -16.31 61 344.10 roll -1.25 - - 1836.00 - 3.51 0.064 2084.56 -395.2 -77.86 - - 2816.66 - - - - - - - - - 15.81 -
523.38 89.20 -12.75 98 529.17 roll -1.25 - - 1834.50 - 3.80 0.116 3472.81 365.3 -77.86 - - 2819.62 - - - - - - - - - 15.84 -
558.40 93.63 -12.68 105 564.13 roll -1.25 - - 1835.69 - 3.48 0.059 2082.12 -399.6 -77.86 - - 2818.16 - - - - - - - - - 15.85 -
743.41 115.79 -11.72 129 744.74 no move -1.25 - - 1835.75 - - - 2082.25 - -77.86 - - 2817.22 - - - - - - - - - - -
1043.44 147.89 -10.61 159 1049.17 roll -1.25 - - 1835.62 - 3.77 0.119 3474.06 369.2 -77.86 - - 2816.56 - - - - - - - - - 15.93 -
1212.32 165.90 -10.67 193 1219.23 roll -1.25 - - 1835.81 - 3.46 0.064 2083.50 -401.9 -77.86 - - 2817.84 - - - - - - - - - 15.95 -
1518.51 196.09 -10.74 224 1519.84 no move -1.25 - - 1834.94 - - - 2083.75 - -77.86 - - 2817.91 - - - - - - - - - - -
1818.54 229.52 -11.50 254 1824.29 roll -1.25 - - 1835.44 - 4.00 0.165 664.06 -354.9 -77.86 - - 2820.19 - - - - - - - - - 15.97 -
1863.56 235.13 -13.16 263 1869.18 roll -1.25 - - 1835.62 - 3.53 0.058 2118.50 412.0 -77.86 - - 2817.94 - - - - - - - - - 16.00 -
2168.59 268.77 -11.20 294 2169.92 no move -1.25 - - 1835.25 - - - 2118.25 - -77.86 - - 2817.88 - - - - - - - - - - -
2468.62 301.03 -11.06 324 2469.95 no move -1.25 - - 1835.38 - - - 2118.19 - -77.86 - - 2818.50 - - - - - - - - - - -
2768.67 332.23 -10.42 354 2774.46 roll -1.25 - - 1835.62 - 4.11 0.163 662.81 -354.1 -77.86 - - 2818.38 - - - - - - - - - 16.01 -
2833.77 340.57 -13.64 367 2839.31 roll -1.25 - - 1835.50 - 3.56 0.062 2118.12 408.8 -77.86 - - 2816.28 - - - - - - - - - 16.04 -
3138.77 371.73 -10.42 398 3144.55 roll -1.25 - - 1836.00 - 4.16 0.163 664.06 -349.5 -77.86 - - 2816.12 - - - - - - - - - 16.02 -
3213.79 380.32 -12.61 413 3219.41 roll -1.25 - - 1836.00 - 3.58 0.061 2117.69 406.0 -77.86 - - 2817.69 - - - - - - - - - 16.06 -
3518.86 409.14 -8.70 444 3520.19 no move -1.25 - - 1836.00 - - - 2118.06 - -77.86 - - 2817.56 - - - - - - - - - - -
3818.92 437.46 -8.88 474 3824.72 roll -1.25 - - 1835.81 - 4.16 0.166 664.12 -349.5 -77.86 - - 2817.16 - - - - - - - - - 16.03 -
3863.95 442.05 -11.07 483 3868.62 roll -1.25 - - 1835.81 - 3.52 0.060 2117.62 412.9 -77.86 - - 2818.28 - - - - - - - - - 16.07 -
4174.01 469.00 -8.81 515 4175.34 no move -1.25 - - 1835.88 - - - 2117.94 - -77.86 - - 2816.53 - - - - - - - - - - -
4474.08 495.45 -9.21 545 4475.41 no move -1.25 - - 1835.75 - - - 2118.12 - -77.86 - - 2814.53 - - - - - - - - - - -
4774.14 524.40 -10.23 575 4775.46 no move -1.25 - - 1835.50 - - - 2117.94 - -77.86 - - 2815.81 - - - - - - - - - - -
5074.16 554.92 -10.52 605 5079.98 roll -1.25 - - 1835.69 - 4.24 0.172 664.06 -342.9 -77.86 - - 2816.16 - - - - - - - - - 16.05 -
5133.18 561.76 -12.71 617 5139.94 roll -1.25 - - 1835.69 - 3.57 0.065 2118.38 407.4 -77.86 - - 2816.44 - - - - - - - - - 16.08 -
5439.22 593.76 -10.70 648 5440.54 no move -1.25 - - 1835.88 - - - 2118.12 - -77.86 - - 2815.22 - - - - - - - - - - -
5739.24 623.75 -10.84 678 5740.57 no move -1.25 - - 1835.81 - - - 2117.50 - -77.86 - - 2813.78 - - - - - - - - - - -
6039.28 652.08 -9.20 708 6040.61 no move -1.25 - - 1835.56 - - - 2118.19 - -77.86 - - 2814.81 - - - - - - - - - - -
6339.31 679.19 -8.52 738 6340.64 no move -1.25 - - 1836.00 - - - 2117.88 - -77.86 - - 2813.56 - - - - - - - - - - -
6639.34 704.62 -7.60 768 6645.06 roll -1.25 - - 1835.31 - 3.72 0.136 3471.19 363.8 -77.86 - - 2815.38 - - - - - - - - - 16.08 -
6724.43 713.07 -10.52 785 6730.04 roll -1.25 - - 1834.19 - 3.51 0.074 2085.50 -394.8 -77.86 - - 2816.91 - - - - - - - - - 16.08 -
7029.40 739.84 -7.97 816 7030.73 no move -1.25 - - 1835.56 - - - 2085.38 - -77.86 - - 2813.03 - - - - - - - - - - -
7329.44 764.25 -7.18 846 7330.77 no move -1.25 - - 1835.25 - - - 2085.44 - -77.86 - - 2812.16 - - - - - - - - - - -
7629.47 788.33 -7.09 876 7630.80 no move -1.25 - - 1835.75 - - - 2085.44 - -77.86 - - 2813.12 - - - - - - - - - - -
7929.50 813.14 -7.99 906 7930.83 no move -1.25 - - 1835.94 - - - 2085.50 - -77.86 - - 2811.22 - - - - - - - - - - -
8229.53 836.09 -7.10 936 8230.86 no move -1.25 - - 1835.56 - - - 2085.31 - -77.86 - - 2813.06 - - - - - - - - - - -
8529.57 858.08 -6.61 966 8530.90 no move -1.25 - - 1835.75 - - - 2085.25 - -77.86 - - 2811.06 - - - - - - - - - - -
8829.60 880.66 -8.33 996 8830.93 no move -1.25 - - 1835.69 - - - 2085.69 - -77.86 - - 2812.62 - - - - - - - - - - -
9129.62 904.10 -8.19 1026 9135.36 roll -1.25 - - 1834.75 - 3.86 0.141 3473.31 359.5 -77.86 - - 2811.38 - - - - - - - - - 16.09 -
9184.66 909.39 -10.77 1037 9190.33 roll -1.25 - - 1835.31 - 3.58 0.079 2086.44 -387.4 -77.86 - - 2810.88 - - - - - - - - - 16.10 -
9489.71 936.03 -9.43 1068 9491.04 no move -1.25 - - 1835.69 - - - 2086.62 - -77.86 - - 2810.81 - - - - - - - - - - -
9789.77 960.93 -7.35 1098 9795.51 roll -1.25 - - 1836.00 - 3.85 0.141 3472.75 360.0 -77.86 - - 2811.31 - - - - - - - - - 16.08 -
9858.73 968.35 -10.38 1112 9865.56 roll -1.25 - - 1835.56 - 3.52 0.079 2087.50 -393.5 -77.86 - - 2813.41 - - - - - - - - - 16.08 -
10134 end dive: TARGET_DEPTH_EXCEEDED
10134 begin apogee
10136.10 990.46 -7.58 1140 10206.64 -0.25 1.73 0.156 2080.06 141.3 0.08 0.312 2186.44 1236.8 - 64.88 2.293 2499.31 -4.8 0.352 - - - - - - 16.03 15.57 12.99
10209 end apogee: CONTROL_FINISHED_OK
10209 begin climb
10210.10 992.58 - 1147 10287.01 1.25 2.52 0.101 2447.44 145.8 - - 2186.38 - 77.86 72.58 2.229 2182.44 -4.4 0.327 - - - - - - 15.63 - 12.90
10584.99 964.18 7.63 1185 10586.32 VBD 1.25 - - 2447.50 - - - 2185.94 - 77.86 - - 2168.00 - - - - - - - - - - -
10884.99 938.89 9.09 1215 10886.32 VBD 1.25 - - 2447.56 - - - 2185.69 - 77.86 - - 2165.50 - - - - - - - - - - -
11185.05 916.00 7.92 1245 11186.38 VBD 1.25 - - 2447.56 - - - 2186.81 - 77.86 - - 2164.34 - - - - - - - - - - -
11485.11 893.53 8.32 1275 11486.44 VBD 1.25 - - 2447.94 - - - 2185.44 - 77.86 - - 2164.69 - - - - - - - - - - -
11785.15 869.03 7.87 1305 11786.48 VBD 1.25 - - 2447.12 - - - 2186.19 - 77.86 - - 2162.78 - - - - - - - - - - -
12085.18 842.76 9.07 1335 12090.79 done 1.25 - - 2447.44 - 3.59 0.140 3472.38 358.3 77.86 - - 2162.31 - - - - - - - - - 15.96 -
12184.06 830.95 12.88 1355 12190.92 done 1.25 - - 2447.00 - 3.26 0.071 2185.25 -394.8 77.86 - - 2165.94 - - - - - - - - - 15.97 -
12490.25 798.70 10.73 1386 12491.59 VBD 1.25 - - 2447.81 - - - 2184.81 - 77.86 - - 2160.56 - - - - - - - - - - -
12790.28 768.04 9.88 1416 12796.13 done 1.25 - - 2447.50 - 4.14 0.155 737.44 -349.6 77.86 - - 2163.97 - - - - - - - - - 15.98 -
12869.21 759.18 11.36 1432 12876.08 done 1.25 - - 2448.00 - 3.65 0.065 2217.00 405.4 77.86 - - 2161.28 - - - - - - - - - 16.01 -
13175.34 728.10 9.53 1463 13176.67 VBD 1.25 - - 2447.56 - - - 2217.19 - 77.86 - - 2159.41 - - - - - - - - - - -
13475.36 700.71 9.01 1493 13476.70 VBD 1.25 - - 2447.81 - - - 2217.62 - 77.86 - - 2159.94 - - - - - - - - - - -
13775.40 675.49 8.19 1523 13776.73 VBD 1.25 - - 2448.44 - - - 2217.56 - 77.86 - - 2159.12 - - - - - - - - - - -
14075.46 652.12 6.89 1553 14076.79 VBD 1.29 - - 2447.81 - - - 2218.06 - 77.86 - - 2159.84 - - - - - - - - - - -
14375.49 629.60 7.19 1583 14380.20 done 1.31 - - 2447.75 - 3.48 0.137 3471.94 360.3 77.86 - - 2160.22 - - - - - - - - - 16.04 -
14565.52 614.03 8.30 1621 14570.06 done 1.31 - - 2447.94 - 3.24 0.066 2181.19 -398.4 77.86 - - 2160.38 - - - - - - - - - 16.05 -
14875.57 594.11 6.47 1653 14876.90 VBD 1.36 - - 2447.62 - - - 2181.94 - 77.86 - - 2160.44 - - - - - - - - - - -
15175.59 574.97 6.25 1683 15177.08 1.41 0.22 0.108 2492.62 204.5 - - 2181.69 - 77.86 - - 2158.56 - - - - - - - - 16.04 - -
15475.63 554.05 6.64 1713 15476.97 VBD 1.46 - - 2492.75 - - - 2182.06 - 77.86 - - 2158.62 - - - - - - - - - - -
15775.68 531.89 8.22 1743 15777.01 VBD 1.46 - - 2492.88 - - - 2182.06 - 77.86 - - 2158.34 - - - - - - - - - - -
16075.74 508.11 8.29 1773 16077.08 VBD 1.46 - - 2493.06 - - - 2182.31 - 77.86 - - 2160.06 - - - - - - - - - - -
16375.80 483.29 8.30 1803 16377.13 VBD 1.46 - - 2492.88 - - - 2182.31 - 77.86 - - 2160.34 - - - - - - - - - - -
16675.88 459.85 7.26 1833 16681.48 done 1.48 - - 2492.69 - 3.56 0.130 3471.81 362.2 77.86 - - 2160.34 - - - - - - - - - 16.06 -
16760.97 452.32 8.78 1850 16765.43 done 1.48 - - 2492.75 - 3.20 0.064 2182.00 -403.1 77.86 - - 2160.84 - - - - - - - - - 16.06 -
17070.97 429.40 7.86 1882 17072.30 VBD 1.48 - - 2492.38 - - - 2182.31 - 77.86 - - 2158.84 - - - - - - - - - - -
17371.05 410.32 6.13 1912 17376.64 done 1.54 - - 2492.06 - 3.53 0.129 3470.38 364.9 77.86 - - 2158.12 - - - - - - - - - 16.01 -
17476.07 402.71 7.82 1933 17480.62 done 1.54 - - 2493.00 - 3.22 0.063 2181.50 -400.3 77.86 - - 2160.69 - - - - - - - - - 16.07 -
17786.15 383.68 6.48 1965 17787.62 1.58 0.19 0.107 2531.88 204.6 - - 2181.88 - 77.86 - - 2160.44 - - - - - - - - 16.05 - -
18086.18 362.82 6.61 1995 18087.52 VBD 1.63 - - 2533.44 - - - 2181.75 - 77.86 - - 2158.78 - - - - - - - - - - -
18386.21 345.03 5.85 2025 18417.66 1.72 0.15 0.116 2564.62 207.9 4.12 0.143 736.56 -350.8 109.32 25.44 1.495 2051.81 -4.2 0.163 - - - - - - 16.05 15.88 12.97
18490.14 335.19 11.88 2046 18496.99 roll 1.72 - - 2565.12 - 3.65 0.062 2218.06 405.9 109.32 - - 2050.66 - - - - - - - - - 15.96 -
18796.27 304.80 9.12 2077 18797.60 no move 1.72 - - 2565.62 - - - 2218.06 - 109.32 - - 2046.03 - - - - - - - - - - -
19096.31 278.38 7.53 2107 19097.64 VBD 1.74 - - 2565.06 - - - 2218.19 - 109.32 - - 2044.66 - - - - - - - - - - -
19396.34 254.57 7.37 2137 19397.67 VBD 1.76 - - 2565.00 - - - 2218.19 - 109.32 - - 2044.38 - - - - - - - - - - -
19696.38 232.96 6.96 2167 19697.71 VBD 1.79 - - 2565.25 - - - 2218.44 - 109.32 - - 2044.28 - - - - - - - - - - -
19996.40 211.71 7.77 2197 19997.73 VBD 1.79 - - 2566.12 - - - 2218.81 - 109.32 - - 2045.94 - - - - - - - - - - -
20296.43 186.58 8.39 2227 20297.76 VBD 1.79 - - 2565.31 - - - 2218.19 - 109.32 - - 2046.16 - - - - - - - - - - -
20596.46 163.49 7.83 2257 20602.17 done 1.79 - - 2565.31 - 4.18 0.135 736.50 -354.5 109.32 - - 2046.19 - - - - - - - - - 16.02 -
20721.49 152.09 9.71 2282 20727.11 done 1.79 - - 2564.44 - 3.68 0.060 2219.62 403.0 109.32 - - 2045.50 - - - - - - - - - 16.03 -
21026.55 129.54 6.44 2313 21032.11 done 1.84 - - 2564.44 - 3.47 0.124 3471.25 360.7 109.32 - - 2046.91 - - - - - - - - - 16.03 -
21111.62 123.47 7.15 2330 21117.13 1.87 0.17 0.109 2601.38 217.3 3.20 0.057 2178.69 -403.9 109.32 - - 2044.19 - - - - - - - - 16.00 16.02 -
21416.59 108.48 3.67 2361 21474.40 2.05 0.23 0.095 2644.88 189.1 4.09 0.137 735.38 -352.9 171.87 51.13 1.251 1797.91 -4.8 0.070 - - - - - - 16.03 15.76 13.02
21647.19 83.96 11.76 2407 21652.96 roll 2.05 - - 2645.31 - 3.64 0.058 2222.31 408.5 171.87 - - 1792.19 - - - - - - - - - 15.86 -
21832.28 70.59 6.20 2444 21838.23 done 2.11 - - 2645.31 - 4.18 0.130 735.19 -355.8 171.87 - - 1790.22 - - - - - - - - - 15.87 -
22062.29 54.45 6.36 2490 22068.05 done 2.16 - - 2644.88 - 3.62 0.056 2223.94 411.3 171.87 - - 1788.16 - - - - - - - - - 15.92 -
22247.35 46.36 3.83 2527 22304.31 2.34 0.40 0.076 2716.12 178.1 4.22 0.127 735.31 -352.8 232.11 48.49 1.149 1552.75 -4.9 0.033 - - - - - - 15.91 15.71 12.91
22527.38 38.03 1.02 2583 22614.91 2.64 0.41 0.073 2789.06 177.9 3.68 0.054 2225.50 404.9 332.52 79.67 1.121 1144.28 -5.1 0.029 - - - - - - 15.82 15.82 12.88
22792 end climb: SURFACE_DEPTH_REACHED
22792 begin surface coast
22802 end surface coast: CONTROL_FINISHED_OK
22802 begin surface
SM 0.78 - - - - 175.3 0.62 0.151 768.2 1110.5 16.76 0.064 771.2 46.0 - 0.35 0.084 765.2 2175.8 -2.065 - - 15.47 15.67 15.71 -