NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1117 * Raw log
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• Previous call tries 3 • 305.29 of 575.00 AH used of 24V (46.91% remains)
• Surface angle -56.6 deg, depth -1.47 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.77 (SM_CC=475)
• GPS1 time: 8 s
• GPS2 time: 2 s • Transponder ping count: 9
• 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
8.39 - - - 100.53 VBD -1.59 - - 169.06 - - - 2114.69 - -74.33 91.65 0.005 2645.94 - - - - - - - - - - 14.72
100.77 3.85 -7.83 9 133.24 -1.69 13.86 0.247 1730.50 112.7 4.14 0.145 662.25 -350.8 -106.94 6.36 0.008 2935.97 45.6 -3.953 - - - - - - 14.90 14.70 14.88
135.36 13.73 -25.69 14 142.18 roll -1.69 - - 1731.06 - 3.52 0.052 2122.50 414.8 -106.94 - - 2935.34 - - - - - - - - - 15.41 -
201.51 27.03 -19.99 21 207.09 roll -1.69 - - 1730.94 - 3.56 0.107 3474.81 379.9 -106.94 - - 2935.81 - - - - - - - - - 15.22 -
296.92 45.67 -19.32 40 302.07 roll -1.69 - - 1730.06 - 3.36 0.053 2080.00 -415.1 -106.94 - - 2936.66 - - - - - - - - - 15.36 -
361.53 56.61 -16.36 47 367.13 roll -1.69 - - 1730.88 - 3.65 0.101 3476.25 382.5 -106.94 - - 2935.88 - - - - - - - - - 15.21 -
426.94 66.69 -15.03 60 432.10 roll -1.69 - - 1730.06 - 3.36 0.053 2081.00 -415.3 -106.94 - - 2936.53 - - - - - - - - - 15.36 -
491.55 75.94 -13.77 67 497.20 roll -1.69 - - 1731.25 - 3.98 0.146 660.75 -356.8 -106.94 - - 2933.94 - - - - - - - - - 15.01 -
520.41 80.10 -13.90 73 527.38 roll -1.69 - - 1730.38 - 3.45 0.046 2124.38 424.2 -106.94 - - 2936.88 - - - - - - - - - 15.42 -
587.27 88.08 -11.87 80 592.14 roll -1.69 - - 1731.06 - 3.54 0.103 3477.19 382.1 -106.94 - - 2935.06 - - - - - - - - - 15.21 -
651.97 96.41 -14.12 93 657.12 roll -1.69 - - 1730.81 - 3.35 0.052 2080.56 -416.9 -106.94 - - 2934.66 - - - - - - - - - 15.37 -
716.58 104.46 -12.22 100 722.18 roll -1.69 - - 1730.62 - 3.62 0.100 3478.06 386.0 -106.94 - - 2935.28 - - - - - - - - - 15.21 -
751.97 109.23 -13.72 107 757.13 roll -1.69 - - 1730.56 - 3.34 0.051 2079.56 -418.7 -106.94 - - 2934.28 - - - - - - - - - 15.38 -
816.58 117.15 -12.16 114 817.91 no move -1.69 - - 1731.00 - - - 2080.31 - -106.94 - - 2936.22 - - - - - - - - - - -
876.55 124.16 -11.41 120 877.88 no move -1.69 - - 1730.75 - - - 2079.62 - -106.94 - - 2936.06 - - - - - - - - - - -
936.54 131.34 -11.90 126 942.19 roll -1.69 - - 1730.31 - 3.65 0.101 3477.06 382.9 -106.94 - - 2936.03 - - - - - - - - - 15.18 -
965.44 134.97 -12.06 132 972.25 roll -1.69 - - 1731.12 - 3.35 0.051 2080.88 -416.8 -106.94 - - 2936.00 - - - - - - - - - 15.34 -
1031.60 143.11 -12.18 139 1037.25 roll -1.69 - - 1731.06 - 3.97 0.145 662.12 -357.4 -106.94 - - 2934.19 - - - - - - - - - 14.98 -
1067.00 147.66 -13.46 146 1072.17 roll -1.69 - - 1731.06 - 3.44 0.047 2123.12 424.7 -106.94 - - 2936.94 - - - - - - - - - 15.45 -
1131.56 154.65 -10.54 153 1136.18 roll -1.69 - - 1730.75 - 3.51 0.103 3476.44 385.6 -106.94 - - 2936.97 - - - - - - - - - 15.18 -
1162.07 157.95 -10.26 159 1167.17 roll -1.69 - - 1730.38 - 3.34 0.051 2079.25 -418.3 -106.94 - - 2935.44 - - - - - - - - - 15.37 -
1286.58 171.30 -10.47 172 1292.28 roll -1.69 - - 1731.62 - 3.94 0.146 660.94 -360.0 -106.94 - - 2934.41 - - - - - - - - - 14.96 -
1302.03 172.86 -10.63 175 1307.19 roll -1.69 - - 1731.12 - 3.44 0.046 2123.75 425.2 -106.94 - - 2934.72 - - - - - - - - - 15.44 -
1426.61 185.98 -10.15 188 1427.94 no move -1.69 - - 1730.94 - - - 2124.44 - -106.94 - - 2936.50 - - - - - - - - - - -
1546.60 198.99 -10.73 200 1551.22 roll -1.69 - - 1731.38 - 3.54 0.105 3476.38 381.9 -106.94 - - 2936.50 - - - - - - - - - 15.15 -
1577.10 202.30 -10.77 206 1582.20 roll -1.69 - - 1730.69 - 3.35 0.053 2080.00 -416.8 -106.94 - - 2935.81 - - - - - - - - - 15.34 -
1701.61 215.55 -10.20 219 1707.31 roll -1.69 - - 1730.56 - 3.99 0.148 662.00 -355.4 -106.94 - - 2935.16 - - - - - - - - - 14.94 -
1727.05 218.52 -11.21 224 1732.23 roll -1.69 - - 1731.06 - 3.45 0.047 2123.81 423.7 -106.94 - - 2934.69 - - - - - - - - - 15.44 -
1851.63 231.74 -10.07 237 1856.25 roll -1.69 - - 1731.06 - 3.54 0.106 3475.94 382.0 -106.94 - - 2936.50 - - - - - - - - - 15.14 -
1895.54 236.70 -11.26 246 1902.34 roll -1.69 - - 1730.81 - 3.35 0.052 2080.75 -416.5 -106.94 - - 2936.53 - - - - - - - - - 15.32 -
2021.64 249.08 -9.84 259 2027.36 roll -1.69 - - 1730.69 - 4.01 0.147 660.81 -354.1 -106.94 - - 2937.91 - - - - - - - - - 14.92 -
2047.08 252.33 -10.56 264 2052.26 roll -1.69 - - 1731.38 - 3.46 0.047 2122.69 422.5 -106.94 - - 2937.06 - - - - - - - - - 15.43 -
2371.66 286.11 -10.58 279 2377.29 roll -1.69 - - 1730.75 - 3.56 0.109 3475.50 380.0 -106.94 - - 2936.69 - - - - - - - - - 15.11 -
2465.58 297.79 -12.27 298 2471.26 roll -1.69 - - 1731.25 - 3.37 0.055 2080.31 -414.0 -106.94 - - 2937.16 - - - - - - - - - 15.28 -
2786.68 332.97 -10.72 312 2792.35 roll -1.69 - - 1731.19 - 3.72 0.107 3474.81 374.9 -106.94 - - 2935.69 - - - - - - - - - 15.09 -
2855.61 341.72 -12.81 326 2861.37 roll -1.69 - - 1731.19 - 3.37 0.054 2079.50 -414.0 -106.94 - - 2935.66 - - - - - - - - - 15.28 -
3171.71 377.29 -11.38 339 3173.04 no move -1.69 - - 1731.06 - - - 2080.25 - -106.94 - - 2936.38 - - - - - - - - - - -
3471.71 412.81 -11.88 349 3477.38 roll -1.69 - - 1729.94 - 3.76 0.109 3476.50 371.3 -106.94 - - 2936.06 - - - - - - - - - 15.06 -
3490.63 416.05 -11.14 353 3497.40 roll -1.69 - - 1730.25 - 3.39 0.056 2081.06 -411.6 -106.94 - - 2937.81 - - - - - - - - - 15.25 -
3796.72 452.11 -12.06 364 3798.05 no move -1.69 - - 1731.12 - - - 2081.62 - -106.94 - - 2934.09 - - - - - - - - - - -
4096.72 484.97 -10.30 374 4102.40 roll -1.69 - - 1731.06 - 3.78 0.113 3474.44 368.5 -106.94 - - 2933.09 - - - - - - - - - 15.02 -
4122.24 489.08 -7.37 379 4127.44 roll back -1.80 0.29 0.068 1687.88 -148.9 3.40 0.058 2081.62 -409.7 -144.12 - - 2935.38 - - - - - - - - 15.04 15.25 -
4206 end dive: TARGET_DEPTH_EXCEEDED
4206 begin apogee
4207.87 500.19 -12.85 386 4303.24 -0.25 3.29 0.158 2079.12 118.9 0.09 0.234 2085.50 43.1 - 90.17 1.638 2498.97 -4.8 0.266 - - - - - - 14.95 14.87 10.83
4306 end apogee: CONTROL_FINISHED_OK
4306 begin climb
4306.39 502.87 - 389 4442.07 1.80 3.58 0.075 2582.00 140.5 - - 2085.38 - 144.12 130.71 1.583 1912.16 -4.5 0.257 - - - - - - 15.13 - 11.44
4716.74 463.49 12.31 403 4722.44 done 1.80 - - 2583.12 - 3.97 0.139 660.56 -358.9 144.12 - - 1900.69 - - - - - - - - - 15.18 -
4855.67 444.49 12.64 431 4862.50 done 1.80 - - 2582.44 - 3.46 0.047 2127.12 423.9 144.12 - - 1900.94 - - - - - - - - - 15.49 -
5161.78 408.24 11.30 442 5167.49 done 1.80 - - 2582.25 - 4.02 0.132 660.81 -364.8 144.12 - - 1897.97 - - - - - - - - - 15.17 -
5390.72 377.57 13.40 488 5397.57 done 1.80 - - 2583.62 - 3.47 0.046 2128.31 422.9 144.12 - - 1897.44 - - - - - - - - - 15.50 -
5696.82 342.24 10.99 499 5702.54 done 1.80 - - 2583.69 - 4.03 0.130 660.69 -364.2 144.12 - - 1895.00 - - - - - - - - - 15.12 -
5812.28 327.70 11.75 522 5817.47 done 1.80 - - 2583.75 - 3.46 0.046 2127.88 424.0 144.12 - - 1895.00 - - - - - - - - - 15.52 -
6136.91 294.67 9.66 537 6142.56 done 1.84 - - 2583.62 - 4.07 0.130 659.94 -360.7 144.12 - - 1894.12 - - - - - - - - - 15.07 -
6252.31 281.11 11.64 560 6257.48 done 1.84 - - 2583.62 - 3.47 0.046 2128.06 423.1 144.12 - - 1895.16 - - - - - - - - - 15.49 -
6576.94 253.70 8.48 575 6608.50 done 1.92 - - 2583.38 - 4.00 0.131 659.50 -367.1 170.30 22.42 1.329 1804.66 -4.0 0.139 - - - - - - - 15.22 11.26
6710.79 238.30 12.62 602 6717.61 roll 1.92 - - 2582.81 - 3.46 0.046 2128.31 424.5 170.30 - - 1802.16 - - - - - - - - - 15.55 -
6836.92 225.84 10.10 615 6842.67 roll back 1.95 0.19 0.074 2630.12 249.0 4.01 0.127 659.62 -366.3 170.30 - - 1798.47 - - - - - - - - 15.60 15.24 -
7002.36 203.48 14.01 648 7007.54 roll 1.95 - - 2630.00 - 3.48 0.046 2128.81 422.2 170.30 - - 1799.75 - - - - - - - - - 15.51 -
7126.94 189.06 10.91 661 7128.26 no move 1.95 - - 2629.62 - - - 2129.12 - 170.30 - - 1799.16 - - - - - - - - - - -
7246.94 174.55 12.67 673 7252.65 roll 1.95 - - 2630.12 - 4.01 0.125 662.25 -365.8 170.30 - - 1798.62 - - - - - - - - - 15.15 -
7432.41 146.80 15.05 710 7437.58 roll 1.95 - - 2630.00 - 3.46 0.047 2127.38 423.4 170.30 - - 1797.94 - - - - - - - - - 15.50 -
7496.97 139.07 11.52 717 7502.69 roll 1.95 - - 2629.75 - 3.99 0.124 660.62 -367.6 170.30 - - 1796.88 - - - - - - - - - 15.13 -
7602.44 125.71 12.61 738 7607.61 roll 1.95 - - 2629.75 - 3.47 0.045 2128.38 423.0 170.30 - - 1797.47 - - - - - - - - - 15.49 -
7667.00 118.72 9.94 745 7672.63 roll 1.99 - - 2629.88 - 3.56 0.105 3476.00 378.5 170.30 - - 1797.62 - - - - - - - - - 15.21 -
7695.91 115.62 10.36 751 7702.69 done 2.01 - - 2629.81 - 3.38 0.049 2075.94 -414.2 170.30 - - 1797.38 - - - - - - - - - 15.41 -
7762.07 109.41 9.53 758 7767.68 done 2.06 - - 2629.56 - 3.87 0.127 659.56 -366.0 170.30 - - 1796.16 - - - - - - - - - 15.11 -
7860.94 98.61 9.75 778 7867.72 done 2.10 - - 2630.06 - 3.45 0.043 2130.31 426.3 170.30 - - 1797.38 - - - - - - - - - 15.48 -
7927.08 93.83 7.77 785 7972.52 2.20 0.28 0.064 2685.62 198.4 3.49 0.106 3476.12 385.6 203.55 38.94 1.143 1668.91 -3.3 0.049 - - - - - - 15.60 15.14 11.40
8027.52 82.24 14.29 805 8032.62 roll 2.20 - - 2685.62 - 3.38 0.050 2075.94 -414.3 203.55 - - 1666.53 - - - - - - - - - 15.48 -
8092.08 74.79 11.24 812 8097.76 roll 2.20 - - 2684.75 - 3.84 0.126 660.81 -368.5 203.55 - - 1665.56 - - - - - - - - - 15.26 -
8217.48 59.45 10.80 837 8222.67 roll 2.20 - - 2686.31 - 3.46 0.043 2131.00 424.9 203.55 - - 1664.16 - - - - - - - - - 15.54 -
8282.05 53.86 8.18 844 8323.51 done 2.29 - - 2685.31 - 3.51 0.104 3476.50 383.3 232.68 33.76 1.076 1551.00 -3.4 0.030 - - - - - - - 15.10 11.58
8346.02 48.78 8.21 857 8387.44 2.37 0.19 0.086 2725.00 208.9 3.38 0.050 2075.69 -414.4 261.53 33.93 1.048 1434.19 -3.4 0.029 - - - - - - 15.29 15.47 11.67
8452.07 40.35 8.48 872 8487.46 done 2.45 - - 2725.56 - 3.86 0.128 659.50 -366.9 287.72 30.05 1.022 1327.00 -3.6 0.025 - - - - - - - 14.99 11.54
8496.19 36.23 9.55 878 8501.36 roll 2.50 - - 2725.88 - 3.48 0.042 2130.06 422.6 287.72 - - 1326.28 - - - - - - - - - 15.39 -
8560.75 29.91 9.42 885 8566.51 roll back 2.55 0.20 0.077 2769.31 217.1 3.99 0.123 661.00 -368.2 287.72 - - 1324.66 - - - - - - - - 15.44 15.21 -
8625.95 22.98 10.69 898 8631.37 roll 2.55 - - 2768.94 - 3.44 0.041 2132.50 427.8 287.72 - - 1324.28 - - - - - - - - - 15.47 -
8690.77 17.75 8.18 905 8728.10 done 2.64 - - 2769.44 - 3.49 0.104 3476.25 385.0 316.86 32.37 1.008 1207.16 -3.6 0.011 - - - - - - - 15.06 11.51
8816.39 4.45 11.57 930 8820.93 roll 2.64 - - 2769.06 - 3.37 0.048 2073.75 -416.2 316.86 - - 1205.28 - - - - - - - - - 15.43 -
8846 end climb: SURFACE_DEPTH_REACHED
8846 begin surface coast
8856 end surface coast: CONTROL_FINISHED_OK
8856 begin surface
SM -0.57 - - - - 180.2 0.02 0.367 564.5 28225.0 17.38 0.056 563.5 32.4 - 0.09 0.128 565.6 6247.0 2.843 - - 30.36 15.17 15.53 -