NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 930 * Raw log
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• Previous call tries 1 • 260.42 of 575.00 AH used of 24V (54.71% remains)
• Surface angle -57.3 deg, depth -1.60 m • Intended pitch -18.7 deg, speed -11.111 cm/s
• VBD pumped to 474.83 (SM_CC=475)
• GPS1 time: 1 s • bottom range 11.6 m at 182.7 m, depth 194 m (199 m grid)
• GPS2 time: 3 s • Transponder ping count: 7
• 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
7.40 - - - 103.35 VBD -1.40 - - 166.56 - - - 2076.88 - -155.72 95.46 0.005 2770.62 - - - - - - - - - - 14.62
103.57 4.12 -14.33 18 136.29 -1.40 14.03 0.247 1799.56 116.4 3.98 0.147 662.81 -355.3 -155.72 7.64 0.007 3134.94 47.7 -4.978 - - - - - - 15.27 14.65 14.78
159.97 18.37 -21.00 29 165.81 roll -1.40 - - 1800.06 - 3.53 0.051 2121.38 413.2 -155.72 - - 3134.56 - - - - - - - - - 15.65 -
224.54 31.37 -19.95 42 228.86 no move -1.40 - - 1799.50 - - - 2120.75 - -155.72 - - 3134.97 - - - - - - - - - - -
289.54 43.86 -18.75 55 295.73 roll -1.40 - - 1800.00 - 3.61 0.108 3474.62 375.0 -155.72 - - 3134.41 - - - - - - - - - 15.56 -
330.00 51.71 -20.12 63 335.68 roll -1.40 - - 1800.31 - 3.38 0.054 2080.25 -412.5 -155.72 - - 3134.25 - - - - - - - - - 15.67 -
394.56 63.94 -18.96 76 400.75 roll -1.40 - - 1799.88 - 3.71 0.105 3474.75 375.9 -155.72 - - 3135.38 - - - - - - - - - 15.58 -
455.02 73.88 -16.35 88 460.70 roll -1.40 - - 1799.31 - 3.38 0.055 2080.00 -412.6 -155.72 - - 3135.50 - - - - - - - - - 15.68 -
519.59 83.03 -13.46 101 523.91 no move -1.40 - - 1800.12 - - - 2080.25 - -155.72 - - 3134.97 - - - - - - - - - - -
584.61 91.99 -12.81 114 588.93 no move -1.40 - - 1799.62 - - - 2080.38 - -155.72 - - 3134.72 - - - - - - - - - - -
650.26 100.18 -12.42 127 654.58 no move -1.40 - - 1800.31 - - - 2080.00 - -155.72 - - 3134.94 - - - - - - - - - - -
714.62 107.94 -11.92 140 720.80 roll -1.40 - - 1800.00 - 3.72 0.107 3474.50 374.9 -155.72 - - 3134.28 - - - - - - - - - 15.61 -
805.75 120.51 -14.17 158 810.77 roll -1.40 - - 1800.31 - 3.38 0.054 2080.06 -412.6 -155.72 - - 3134.88 - - - - - - - - - 15.72 -
869.67 128.74 -13.04 171 875.89 roll -1.40 - - 1800.00 - 3.99 0.148 663.12 -355.1 -155.72 - - 3135.28 - - - - - - - - - 15.50 -
910.11 133.99 -13.44 179 915.83 roll -1.40 - - 1799.69 - 3.46 0.047 2124.06 422.2 -155.72 - - 3134.56 - - - - - - - - - 15.77 -
975.34 141.22 -10.80 192 979.66 no move -1.40 - - 1799.88 - - - 2124.50 - -155.72 - - 3134.94 - - - - - - - - - - -
1039.70 148.60 -10.74 205 1044.02 no move -1.40 - - 1800.12 - - - 2124.75 - -155.72 - - 3134.94 - - - - - - - - - - -
1109.70 156.59 -11.35 213 1111.02 no move -1.40 - - 1800.75 - - - 2124.69 - -155.72 - - 3134.50 - - - - - - - - - - -
1360 end dive: BOTTOM_OBSTACLE_DETECTED
1360 begin apogee
1360.93 184.70 -10.66 238 1485.60 -0.25 2.05 0.137 2079.25 135.9 0.07 0.221 2118.50 -88.4 - 121.40 1.222 2499.38 -5.2 0.140 - - - - - - 15.62 14.99 10.85
1488 end apogee: CONTROL_FINISHED_OK
1488 begin climb
1488.38 188.81 - 250 1620.92 1.40 2.82 0.082 2483.25 143.3 - - 2120.06 - 155.72 128.51 1.175 1864.25 -4.9 0.141 - - - - - - 15.26 - 11.65
1916.83 157.35 9.02 302 1958.92 1.53 0.17 0.079 2529.81 273.9 4.13 0.135 661.56 -353.1 198.89 36.14 1.110 1689.00 -4.8 0.122 - - - - - - 15.62 15.17 11.20
2077.60 136.71 14.67 334 2083.36 roll 1.53 - - 2530.81 - 3.53 0.047 2125.75 414.8 198.89 - - 1683.84 - - - - - - - - - 15.60 -
2142.17 128.76 12.27 347 2146.49 no move 1.53 - - 2531.44 - - - 2125.69 - 198.89 - - 1682.88 - - - - - - - - - - -
2207.18 121.73 10.66 360 2213.42 roll 1.53 - - 2531.12 - 4.05 0.129 661.62 -361.5 198.89 - - 1682.72 - - - - - - - - - 15.48 -
2312.65 109.41 10.92 381 2318.33 roll 1.53 - - 2531.00 - 3.48 0.044 2128.12 421.4 198.89 - - 1681.84 - - - - - - - - - 15.70 -
2377.22 102.75 10.19 394 2381.55 no move 1.56 - - 2531.38 - - - 2127.56 - 198.89 - - 1681.81 - - - - - - - - - - -
2442.23 97.06 8.89 407 2489.18 done 1.70 - - 2530.62 - 3.64 0.110 3473.12 369.7 244.91 39.70 1.069 1499.62 -4.6 0.074 - - - - - - - 15.20 11.02
2537.41 87.58 10.79 426 2543.12 roll 1.70 - - 2530.69 - 3.42 0.054 2077.62 -408.0 244.91 - - 1498.34 - - - - - - - - - 15.58 -
2602.43 81.48 9.11 439 2649.59 1.82 0.31 0.058 2600.06 223.8 3.97 0.135 661.75 -356.6 286.40 40.08 1.035 1332.81 -4.1 0.058 - - - - - - 15.59 15.17 11.38
2658.25 75.36 11.20 450 2663.97 roll 1.82 - - 2600.38 - 3.53 0.045 2125.94 414.8 286.40 - - 1331.22 - - - - - - - - - 15.46 -
2722.83 67.54 11.82 463 2727.15 no move 1.82 - - 2600.75 - - - 2126.31 - 286.40 - - 1329.69 - - - - - - - - - - -
2787.84 60.36 10.66 476 2794.09 roll 1.82 - - 2599.56 - 4.06 0.130 661.69 -360.7 286.40 - - 1329.47 - - - - - - - - - 15.43 -
2833.29 55.29 11.68 485 2838.55 roll 1.82 - - 2600.12 - 3.48 0.045 2128.69 421.6 286.40 - - 1329.16 - - - - - - - - - 15.62 -
2897.88 50.46 7.55 498 2980.64 2.04 0.22 0.064 2649.56 224.7 3.65 0.110 3473.50 368.4 360.11 75.31 1.015 1031.81 -3.9 0.035 - - - - - - 15.64 15.09 11.24
3013.86 37.71 13.24 521 3019.57 roll 2.04 - - 2650.00 - 3.43 0.053 2076.75 -407.2 360.11 - - 1031.09 - - - - - - - - - 15.46 -
3078.87 30.31 10.70 534 3083.19 no move 2.04 - - 2649.94 - - - 2076.94 - 360.11 - - 1030.16 - - - - - - - - - - -
3143.88 22.64 11.57 547 3148.20 no move 2.04 - - 2650.31 - - - 2076.75 - 360.11 - - 1029.25 - - - - - - - - - - -
3208.88 15.04 12.41 560 3214.67 roll 2.04 - - 2649.62 - 3.92 0.133 662.62 -360.7 360.11 - - 1028.94 - - - - - - - - - 15.44 -
3294 end climb: SURFACE_DEPTH_REACHED
3294 begin surface coast
3299 end surface coast: CONTROL_FINISHED_OK
3299 begin surface
SM -0.53 - - - - 165.4 - 0.016 564.3 - 16.53 0.074 571.2 34.6 - 3.45 0.045 557.3 160.4 0.193 - - 30.36 15.54 15.69 -