NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 445 * Raw log
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• Previous call tries 1 • 132.07 of 575.00 AH used of 24V (77.03% remains)
• Surface angle -60.7 deg, depth 0.45 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.74 (SM_CC=425)
• GPS1 time: 23 s
• GPS2 time: 2 s • Transponder ping count: 4
• 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
7.12 - - - 90.88 VBD -1.25 - - 173.81 - - - 2117.50 - -77.86 83.19 0.005 2587.47 - - - - - - - - - - 15.29
91.14 4.17 -10.34 16 118.89 -1.25 14.48 0.260 1835.88 114.8 3.84 0.115 3472.12 352.8 -77.86 5.42 0.009 2817.81 42.5 -3.414 - - - - - - 15.44 15.36 15.37
126.64 13.22 -24.51 23 132.39 roll -1.25 - - 1835.75 - 3.54 0.061 2083.00 -392.4 -77.86 - - 2816.62 - - - - - - - - - 15.55 -
311.71 50.47 -20.65 60 313.04 no move -1.25 - - 1835.88 - - - 2083.06 - -77.86 - - 2816.06 - - - - - - - - - - -
491.77 81.19 -13.73 96 497.64 roll -1.25 - - 1835.50 - 4.16 0.153 664.38 -341.0 -77.86 - - 2816.47 - - - - - - - - - 15.69 -
561.88 91.63 -15.63 110 567.59 roll -1.25 - - 1835.69 - 3.61 0.054 2119.19 403.0 -77.86 - - 2817.16 - - - - - - - - - 15.75 -
751.85 116.63 -10.86 135 757.57 roll -1.25 - - 1835.81 - 3.74 0.112 3473.44 362.1 -77.86 - - 2815.97 - - - - - - - - - 15.77 -
886.90 132.78 -12.31 162 891.56 roll -1.25 - - 1835.56 - 3.46 0.058 2081.69 -402.2 -77.86 - - 2817.06 - - - - - - - - - 15.80 -
1196.97 166.80 -10.79 194 1202.74 roll -1.25 - - 1836.50 - 4.09 0.153 663.81 -346.7 -77.86 - - 2814.91 - - - - - - - - - 15.80 -
1282.00 177.39 -13.11 211 1287.62 roll -1.25 - - 1836.00 - 3.56 0.054 2117.50 408.3 -77.86 - - 2819.12 - - - - - - - - - 15.85 -
1587.06 211.76 -11.33 242 1588.39 no move -1.25 - - 1835.69 - - - 2117.25 - -77.86 - - 2817.16 - - - - - - - - - - -
1887.12 244.03 -10.53 272 1888.45 no move -1.25 - - 1835.94 - - - 2117.62 - -77.86 - - 2817.44 - - - - - - - - - - -
2187.17 273.82 -10.23 302 2188.50 no move -1.25 - - 1835.62 - - - 2117.38 - -77.86 - - 2817.81 - - - - - - - - - - -
2487.28 305.71 -11.10 332 2488.60 no move -1.25 - - 1835.62 - - - 2117.19 - -77.86 - - 2816.88 - - - - - - - - - - -
2787.24 336.98 -10.09 362 2793.03 roll -1.25 - - 1835.75 - 4.14 0.154 664.25 -351.0 -77.86 - - 2817.62 - - - - - - - - - 15.88 -
2906.19 351.26 -11.93 386 2913.04 roll -1.25 - - 1836.19 - 3.57 0.057 2118.25 407.3 -77.86 - - 2817.34 - - - - - - - - - 15.92 -
3212.38 379.56 -9.48 417 3213.70 no move -1.25 - - 1835.94 - - - 2118.12 - -77.86 - - 2816.12 - - - - - - - - - - -
3512.34 408.46 -10.21 447 3513.67 no move -1.25 - - 1835.44 - - - 2118.19 - -77.86 - - 2815.97 - - - - - - - - - - -
3812.38 439.07 -9.46 477 3813.71 no move -1.25 - - 1835.56 - - - 2117.88 - -77.86 - - 2817.22 - - - - - - - - - - -
4112.41 466.31 -8.16 507 4118.20 roll -1.25 - - 1835.81 - 4.19 0.158 662.19 -347.4 -77.86 - - 2817.16 - - - - - - - - - 15.88 -
4167.50 472.00 -10.56 518 4173.11 roll -1.25 - - 1836.06 - 3.55 0.057 2116.00 409.5 -77.86 - - 2817.06 - - - - - - - - - 15.93 -
4472.46 499.62 -8.87 549 4473.79 no move -1.25 - - 1836.31 - - - 2116.44 - -77.86 - - 2816.91 - - - - - - - - - - -
4772.50 526.70 -9.00 579 4778.21 roll -1.25 - - 1835.75 - 3.73 0.123 3473.75 363.9 -77.86 - - 2816.50 - - - - - - - - - 15.92 -
4817.59 531.33 -11.05 588 4823.17 roll -1.25 - - 1836.12 - 3.43 0.066 2084.31 -405.1 -77.86 - - 2818.34 - - - - - - - - - 15.94 -
5122.54 562.24 -9.16 619 5128.31 roll -1.25 - - 1835.50 - 4.10 0.163 663.94 -346.4 -77.86 - - 2814.03 - - - - - - - - - 15.87 -
5171.48 567.95 -11.72 629 5178.31 roll -1.25 - - 1835.88 - 3.55 0.058 2116.38 409.1 -77.86 - - 2815.72 - - - - - - - - - 15.93 -
5477.58 598.18 -9.44 660 5478.91 no move -1.25 - - 1835.00 - - - 2115.50 - -77.86 - - 2815.00 - - - - - - - - - - -
5777.61 624.55 -8.54 690 5783.40 roll -1.25 - - 1835.81 - 4.19 0.165 663.38 -346.6 -77.86 - - 2814.41 - - - - - - - - - 15.86 -
5812.64 627.91 -9.45 697 5818.31 roll -1.25 - - 1835.12 - 3.55 0.060 2117.38 409.6 -77.86 - - 2812.91 - - - - - - - - - 15.93 -
6117.66 654.48 -8.45 728 6123.44 roll -1.25 - - 1835.75 - 4.18 0.165 663.44 -347.8 -77.86 - - 2812.56 - - - - - - - - - 15.86 -
6186.67 662.95 -12.76 742 6193.45 roll -1.25 - - 1835.69 - 3.53 0.063 2118.06 412.1 -77.86 - - 2816.38 - - - - - - - - - 15.92 -
6492.75 692.65 -9.61 773 6494.07 no move -1.25 - - 1835.50 - - - 2118.50 - -77.86 - - 2814.50 - - - - - - - - - - -
6792.80 719.52 -7.72 803 6798.51 roll -1.25 - - 1835.88 - 3.67 0.129 3473.75 369.3 -77.86 - - 2814.25 - - - - - - - - - 15.91 -
6961.79 734.66 -9.46 837 6968.64 roll -1.25 - - 1836.25 - 3.44 0.072 2084.56 -403.8 -77.86 - - 2814.81 - - - - - - - - - 15.92 -
7267.94 758.82 -8.27 868 7269.27 no move -1.25 - - 1835.06 - - - 2084.31 - -77.86 - - 2811.72 - - - - - - - - - - -
7568.00 783.03 -7.59 898 7569.33 no move -1.25 - - 1835.75 - - - 2084.19 - -77.86 - - 2811.94 - - - - - - - - - - -
7868.07 808.53 -8.46 928 7873.98 roll -1.25 - - 1835.31 - 4.12 0.176 663.62 -344.8 -77.86 - - 2811.06 - - - - - - - - - 15.84 -
7943.09 815.88 -10.56 943 7947.79 roll -1.25 - - 1835.38 - 3.57 0.067 2114.31 406.4 -77.86 - - 2812.19 - - - - - - - - - 15.93 -
8253.16 840.94 -9.25 975 8254.49 no move -1.25 - - 1835.88 - - - 2116.62 - -77.86 - - 2812.44 - - - - - - - - - - -
8553.19 863.44 -8.57 1005 8554.51 no move -1.25 - - 1835.31 - - - 2116.00 - -77.86 - - 2812.12 - - - - - - - - - - -
8853.22 886.78 -8.32 1035 8859.02 roll -1.25 - - 1835.69 - 4.22 0.174 663.31 -344.2 -77.86 - - 2809.47 - - - - - - - - - 15.83 -
8962.17 897.84 -10.82 1057 8969.02 roll -1.25 - - 1836.44 - 3.59 0.072 2113.19 403.9 -77.86 - - 2811.09 - - - - - - - - - 15.92 -
9268.29 922.37 -8.02 1088 9274.09 roll -1.25 - - 1835.56 - 4.20 0.174 663.62 -345.1 -77.86 - - 2811.56 - - - - - - - - - 15.82 -
9337.22 928.45 -8.44 1102 9344.07 roll -1.25 - - 1835.38 - 3.58 0.070 2115.44 405.5 -77.86 - - 2810.72 - - - - - - - - - 15.92 -
9643.34 951.78 -7.49 1133 9644.67 no move -1.25 - - 1835.69 - - - 2114.75 - -77.86 - - 2810.09 - - - - - - - - - - -
9943.38 973.78 -6.54 1163 9944.70 no move -1.25 - - 1835.69 - - - 2115.25 - -77.86 - - 2811.59 - - - - - - - - - - -
10163 end dive: TARGET_DEPTH_EXCEEDED
10163 begin apogee
10164.75 990.25 -7.39 1185 10235.38 -0.25 1.78 0.142 2081.06 137.8 0.08 0.300 2186.31 888.2 - 67.75 2.292 2500.06 -4.6 0.344 - - - - - - 15.83 15.09 12.13
10237 end apogee: CONTROL_FINISHED_OK
10237 begin climb
10237.31 992.34 - 1192 10316.59 1.25 2.62 0.084 2447.88 140.0 - - 2187.38 - 77.86 75.25 2.215 2181.94 -4.2 0.328 - - - - - - 15.17 - 12.32
10613.44 963.12 8.32 1230 10614.77 VBD 1.25 - - 2447.75 - - - 2186.81 - 77.86 - - 2171.25 - - - - - - - - - - -
10913.47 937.79 7.82 1260 10919.08 done 1.25 - - 2447.25 - 3.60 0.133 3473.75 357.5 77.86 - - 2171.06 - - - - - - - - - 15.67 -
11078.51 922.74 9.00 1293 11083.19 done 1.25 - - 2447.94 - 3.25 0.065 2181.62 -397.6 77.86 - - 2169.38 - - - - - - - - - 15.73 -
11388.54 896.40 8.74 1325 11394.34 done 1.25 - - 2447.38 - 4.09 0.150 737.12 -353.2 77.86 - - 2165.31 - - - - - - - - - 15.74 -
11533.58 883.08 10.00 1354 11539.34 done 1.25 - - 2447.19 - 3.67 0.061 2217.06 403.3 77.86 - - 2167.03 - - - - - - - - - 15.81 -
11838.61 856.09 9.00 1385 11839.95 VBD 1.25 - - 2447.38 - - - 2217.00 - 77.86 - - 2163.09 - - - - - - - - - - -
12138.65 829.66 7.40 1415 12139.99 VBD 1.27 - - 2447.94 - - - 2217.50 - 77.86 - - 2164.41 - - - - - - - - - - -
12438.69 807.28 7.82 1445 12444.29 done 1.27 - - 2444.88 - 3.50 0.132 3473.31 358.8 77.86 - - 2164.03 - - - - - - - - - 15.83 -
12517.71 800.86 8.33 1461 12524.41 done 1.27 - - 2448.00 - 3.20 0.065 2182.94 -403.2 77.86 - - 2163.22 - - - - - - - - - 15.85 -
12823.78 777.86 7.76 1492 12829.55 done 1.27 - - 2448.00 - 4.05 0.146 736.31 -357.2 77.86 - - 2160.53 - - - - - - - - - 15.79 -
12972.77 764.65 10.05 1522 12979.62 done 1.27 - - 2446.94 - 3.62 0.061 2218.38 409.4 77.86 - - 2162.44 - - - - - - - - - 15.88 -
13278.93 741.86 6.97 1553 13284.82 done 1.30 - - 2447.69 - 4.12 0.144 737.31 -359.5 77.86 - - 2164.47 - - - - - - - - - 15.83 -
13353.94 735.23 8.97 1568 13359.56 done 1.30 - - 2447.44 - 3.61 0.060 2220.12 410.8 77.86 - - 2164.16 - - - - - - - - - 15.88 -
13659.28 713.99 6.30 1599 13660.62 VBD 1.36 - - 2448.12 - - - 2219.94 - 77.86 - - 2162.06 - - - - - - - - - - -
13959.08 696.05 5.55 1629 13990.81 1.46 0.30 0.074 2505.69 191.9 - - 2220.31 - 113.53 30.64 1.916 2034.88 -4.2 0.261 - - - - - - 15.87 - 12.33
14289.13 666.41 9.95 1662 14293.71 roll 1.46 - - 2506.69 - 3.47 0.130 3473.38 361.1 113.53 - - 2028.50 - - - - - - - - - 15.69 -
14369.17 657.63 11.59 1678 14373.75 roll 1.46 - - 2506.12 - 3.20 0.064 2182.00 -403.6 113.53 - - 2032.19 - - - - - - - - - 15.71 -
14679.20 626.99 9.29 1710 14684.80 roll 1.46 - - 2506.19 - 3.57 0.125 3474.25 362.0 113.53 - - 2028.31 - - - - - - - - - 15.77 -
14794.23 614.32 11.15 1733 14798.91 done 1.46 - - 2506.38 - 3.18 0.062 2181.69 -406.5 113.53 - - 2029.03 - - - - - - - - - 15.79 -
15104.83 582.73 10.53 1765 15106.17 VBD 1.46 - - 2506.38 - - - 2182.75 - 113.53 - - 2028.47 - - - - - - - - - - -
15404.30 554.02 9.16 1795 15405.63 VBD 1.46 - - 2506.50 - - - 2182.69 - 113.53 - - 2028.50 - - - - - - - - - - -
15704.33 525.14 9.47 1825 15705.66 VBD 1.46 - - 2506.38 - - - 2182.38 - 113.53 - - 2028.12 - - - - - - - - - - -
16004.36 498.05 9.34 1855 16005.70 VBD 1.46 - - 2506.75 - - - 2182.38 - 113.53 - - 2028.00 - - - - - - - - - - -
16304.40 470.96 8.51 1885 16305.73 VBD 1.46 - - 2506.19 - - - 2182.69 - 113.53 - - 2027.91 - - - - - - - - - - -
16604.43 445.95 9.02 1915 16610.04 done 1.46 - - 2505.88 - 3.56 0.125 3471.31 362.0 113.53 - - 2027.38 - - - - - - - - - 15.84 -
16809.49 426.62 9.70 1956 16814.01 done 1.46 - - 2506.88 - 3.19 0.063 2179.69 -404.9 113.53 - - 2028.06 - - - - - - - - - 15.87 -
17119.51 400.42 7.72 1988 17120.84 VBD 1.46 - - 2506.50 - - - 2179.50 - 113.53 - - 2027.72 - - - - - - - - - - -
17419.58 377.06 7.54 2018 17420.92 VBD 1.48 - - 2506.12 - - - 2179.75 - 113.53 - - 2027.97 - - - - - - - - - - -
17719.58 354.05 8.69 2048 17720.91 VBD 1.48 - - 2506.19 - - - 2179.19 - 113.53 - - 2025.66 - - - - - - - - - - -
18019.62 331.59 6.70 2078 18020.96 VBD 1.52 - - 2505.69 - - - 2179.12 - 113.53 - - 2027.94 - - - - - - - - - - -
18319.65 309.09 7.81 2108 18320.99 VBD 1.52 - - 2507.06 - - - 2179.25 - 113.53 - - 2027.62 - - - - - - - - - - -
18619.69 285.02 8.31 2138 18625.30 done 1.52 - - 2506.62 - 3.59 0.122 3472.81 360.3 113.53 - - 2029.25 - - - - - - - - - 15.81 -
18748.72 273.32 9.34 2164 18755.43 done 1.52 - - 2506.31 - 3.19 0.059 2177.88 -405.9 113.53 - - 2027.94 - - - - - - - - - 15.87 -
19054.81 249.35 7.68 2195 19056.14 VBD 1.52 - - 2506.94 - - - 2178.19 - 113.53 - - 2025.53 - - - - - - - - - - -
19354.88 228.02 6.68 2225 19356.21 VBD 1.56 - - 2506.62 - - - 2178.19 - 113.53 - - 2027.28 - - - - - - - - - - -
19654.94 207.27 7.12 2255 19656.27 VBD 1.59 - - 2506.75 - - - 2178.44 - 113.53 - - 2025.84 - - - - - - - - - - -
19955.01 188.36 6.10 2285 19960.67 1.65 0.21 0.090 2549.56 203.9 3.58 0.119 3472.81 361.6 113.53 - - 2026.41 - - - - - - - - 15.86 15.85 -
20014.02 183.16 8.87 2297 20020.83 done 1.65 - - 2549.94 - 3.19 0.057 2177.75 -406.0 113.53 - - 2028.12 - - - - - - - - - 15.87 -
20320.09 160.96 7.41 2328 20321.42 VBD 1.67 - - 2549.62 - - - 2177.75 - 113.53 - - 2025.94 - - - - - - - - - - -
20620.15 144.19 4.93 2358 20660.98 1.80 0.16 0.094 2586.06 227.8 - - 2177.44 - 158.11 37.91 1.283 1854.69 -4.5 0.088 - - - - - - 15.84 - 12.23
20960.19 108.63 9.93 2392 20965.79 roll 1.80 - - 2585.81 - 3.58 0.115 3473.25 362.0 158.11 - - 1846.53 - - - - - - - - - 15.67 -
21025.21 103.21 8.42 2405 21029.76 roll 1.80 - - 2585.75 - 3.23 0.055 2177.31 -401.2 158.11 - - 1847.78 - - - - - - - - - 15.69 -
21330.28 84.08 4.37 2462 21382.03 1.96 0.19 0.085 2623.81 200.3 3.64 0.115 3472.00 355.7 210.65 43.95 1.196 1639.56 -4.7 0.058 - - - - - - 15.74 15.41 12.32
21605.33 63.03 7.64 2517 21611.03 roll 1.96 - - 2623.31 - 3.26 0.054 2176.75 -397.3 210.65 - - 1634.84 - - - - - - - - - 15.62 -
21790.38 57.82 2.13 2554 21867.72 2.21 0.34 0.065 2686.31 185.3 3.71 0.112 3472.81 349.3 295.14 69.24 1.159 1295.88 -4.9 0.042 - - - - - - 15.67 15.24 12.31
22090.72 26.64 14.83 2614 22096.24 roll 2.21 - - 2686.62 - 3.35 0.054 2181.12 -385.6 295.14 - - 1291.31 - - - - - - - - - 15.57 -
22260 end climb: SURFACE_DEPTH_REACHED
22260 begin surface coast
22270 end surface coast: CONTROL_FINISHED_OK
22270 begin surface
SM 0.36 - - - - 175.2 0.19 0.171 768.5 4044.7 17.07 0.069 764.6 44.8 - 0.23 0.104 772.3 3343.3 -1.183 - - 15.15 15.60 15.66 -