NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1134 * Raw log
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• Previous call tries 1 • 309.52 of 575.00 AH used of 24V (46.17% remains)
• Surface angle -61.8 deg, depth -1.51 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.72 (SM_CC=475)
• GPS1 time: 11 s
• GPS2 time: 2 s • Transponder ping count: 13
• 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
8.45 - - - 95.42 VBD -1.59 - - 170.19 - - - 2116.62 - -74.33 86.57 0.005 2594.50 - - - - - - - - - - 14.69
95.68 4.56 -9.64 9 122.61 -1.59 14.31 0.251 1752.81 110.6 3.72 0.113 3475.88 365.4 -74.33 4.39 0.009 2803.50 47.6 -4.348 - - - - - - 14.88 14.64 14.87
144.81 18.01 -22.17 19 151.60 roll -1.59 - - 1753.00 - 3.47 0.056 2082.06 -401.7 -74.33 - - 2803.41 - - - - - - - - - 15.35 -
210.94 29.76 -17.30 26 212.27 no move -1.59 - - 1753.19 - - - 2082.06 - -74.33 - - 2802.72 - - - - - - - - - - -
270.90 38.71 -14.67 32 276.57 roll -1.59 - - 1753.50 - 3.81 0.104 3475.12 365.6 -74.33 - - 2800.81 - - - - - - - - - 15.19 -
299.80 42.93 -14.07 38 306.60 roll -1.59 - - 1753.69 - 3.45 0.054 2081.38 -404.0 -74.33 - - 2803.53 - - - - - - - - - 15.33 -
365.95 51.51 -13.11 45 367.28 no move -1.59 - - 1752.75 - - - 2081.94 - -74.33 - - 2803.03 - - - - - - - - - - -
425.91 59.72 -13.56 51 427.24 no move -1.59 - - 1753.06 - - - 2081.56 - -74.33 - - 2802.78 - - - - - - - - - - -
485.92 67.78 -13.19 57 491.64 roll -1.59 - - 1752.69 - 4.14 0.147 661.00 -343.1 -74.33 - - 2804.44 - - - - - - - - - 15.00 -
511.35 71.25 -13.90 62 516.54 roll -1.59 - - 1752.38 - 3.54 0.049 2122.88 413.0 -74.33 - - 2803.28 - - - - - - - - - 15.41 -
575.91 79.52 -12.62 69 581.65 roll -1.59 - - 1752.62 - 4.19 0.143 661.88 -348.7 -74.33 - - 2802.91 - - - - - - - - - 15.00 -
651.36 89.29 -12.67 84 656.55 roll -1.59 - - 1753.25 - 3.54 0.048 2122.06 412.5 -74.33 - - 2802.59 - - - - - - - - - 15.41 -
715.92 95.37 -9.17 91 721.58 roll -1.59 - - 1753.06 - 3.70 0.105 3474.00 365.4 -74.33 - - 2801.47 - - - - - - - - - 15.15 -
780.94 101.50 -9.19 104 785.55 roll -1.59 - - 1753.62 - 3.42 0.052 2080.94 -407.3 -74.33 - - 2803.06 - - - - - - - - - 15.35 -
850.95 107.32 -8.31 112 852.37 VBD -1.67 - - 1753.06 - - - 2080.69 - -102.16 0.76 0.031 2917.47 150.5 -93.931 - - - - - - - - 14.55
911.00 112.78 -9.14 118 912.33 no move -1.67 - - 1753.06 - - - 2081.31 - -102.16 - - 2919.12 - - - - - - - - - - -
970.96 118.82 -10.09 124 972.28 no move -1.67 - - 1753.00 - - - 2081.19 - -102.16 - - 2918.28 - - - - - - - - - - -
1030.96 125.45 -11.43 130 1036.65 roll -1.67 - - 1753.62 - 3.82 0.104 3474.81 364.8 -102.16 - - 2918.59 - - - - - - - - - 15.14 -
1079.87 131.69 -12.40 140 1086.67 roll -1.67 - - 1752.56 - 3.44 0.051 2080.12 -405.4 -102.16 - - 2921.25 - - - - - - - - - 15.33 -
1146.04 139.28 -11.18 147 1151.71 roll -1.67 - - 1753.38 - 4.11 0.142 661.56 -345.1 -102.16 - - 2917.41 - - - - - - - - - 14.98 -
1161.47 140.93 -11.29 150 1166.61 roll -1.67 - - 1753.38 - 3.51 0.041 2123.00 416.4 -102.16 - - 2919.69 - - - - - - - - - 15.43 -
1225.96 148.16 -10.88 157 1227.30 no move -1.67 - - 1752.62 - - - 2122.94 - -102.16 - - 2919.72 - - - - - - - - - - -
1285.98 154.79 -11.00 163 1287.31 no move -1.67 - - 1753.19 - - - 2123.12 - -102.16 - - 2918.84 - - - - - - - - - - -
1405.99 167.94 -11.01 175 1411.64 roll -1.67 - - 1753.69 - 3.69 0.103 3474.44 366.2 -102.16 - - 2918.56 - - - - - - - - - 15.13 -
1444.90 172.90 -12.92 183 1451.68 roll -1.67 - - 1753.19 - 3.40 0.049 2080.38 -410.0 -102.16 - - 2919.22 - - - - - - - - - 15.32 -
1571.01 187.54 -11.86 196 1576.67 roll -1.67 - - 1752.81 - 3.79 0.101 3473.69 367.6 -102.16 - - 2917.78 - - - - - - - - - 15.13 -
1609.91 192.98 -13.60 204 1616.70 roll -1.67 - - 1752.69 - 3.40 0.049 2080.94 -409.6 -102.16 - - 2921.31 - - - - - - - - - 15.30 -
1736.02 206.78 -10.78 217 1741.76 roll -1.67 - - 1753.00 - 4.14 0.145 663.00 -342.5 -102.16 - - 2917.66 - - - - - - - - - 14.92 -
1774.94 212.09 -12.86 225 1781.73 roll -1.67 - - 1753.12 - 3.48 0.042 2123.00 419.5 -102.16 - - 2920.16 - - - - - - - - - 15.40 -
1901.04 226.24 -10.94 238 1906.69 roll -1.67 - - 1753.00 - 3.65 0.103 3475.31 370.5 -102.16 - - 2918.25 - - - - - - - - - 15.10 -
1939.95 230.99 -12.58 246 1946.73 roll -1.67 - - 1753.50 - 3.39 0.048 2080.81 -411.4 -102.16 - - 2920.56 - - - - - - - - - 15.30 -
2066.05 244.51 -10.42 259 2071.78 roll -1.67 - - 1752.81 - 4.11 0.144 661.81 -345.3 -102.16 - - 2920.34 - - - - - - - - - 14.91 -
2091.49 247.42 -10.81 264 2096.67 roll -1.67 - - 1752.94 - 3.49 0.042 2124.94 419.2 -102.16 - - 2917.91 - - - - - - - - - 15.41 -
2236.05 262.28 -10.16 271 2241.70 roll -1.67 - - 1753.38 - 3.69 0.106 3475.50 366.0 -102.16 - - 2919.12 - - - - - - - - - 15.08 -
2274.97 266.81 -11.53 279 2280.65 roll -1.67 - - 1753.25 - 3.39 0.049 2079.69 -411.7 -102.16 - - 2919.09 - - - - - - - - - 15.28 -
2591.08 298.52 -9.65 292 2596.75 roll -1.67 - - 1752.44 - 3.81 0.103 3473.69 365.9 -102.16 - - 2921.75 - - - - - - - - - 15.06 -
2646.12 303.81 -9.81 303 2650.69 roll -1.67 - - 1752.94 - 3.41 0.051 2081.00 -408.4 -102.16 - - 2920.53 - - - - - - - - - 15.28 -
2976.14 335.35 -9.12 319 2981.77 roll -1.67 - - 1752.12 - 3.84 0.105 3474.38 362.9 -102.16 - - 2921.28 - - - - - - - - - 15.04 -
3070.02 345.60 -11.96 338 3075.74 roll -1.67 - - 1753.81 - 3.42 0.050 2083.06 -406.8 -102.16 - - 2919.44 - - - - - - - - - 15.24 -
3391.13 374.68 -9.04 352 3396.88 roll back -1.74 0.34 0.068 1700.44 -157.0 3.86 0.106 3474.88 360.6 -122.72 - - 2921.09 - - - - - - - - 15.54 15.02 -
3430.03 379.43 -12.16 360 3435.73 roll -1.74 - - 1700.94 - 3.41 0.051 2082.00 -408.5 -122.72 - - 2920.88 - - - - - - - - - 15.23 -
3746.13 416.78 -12.06 373 3751.81 roll -1.74 - - 1700.56 - 3.86 0.107 3475.06 360.9 -122.72 - - 2917.22 - - - - - - - - - 15.00 -
3765.09 419.03 -12.54 377 3771.84 roll -1.74 - - 1700.81 - 3.44 0.052 2082.00 -405.0 -122.72 - - 2919.22 - - - - - - - - - 15.22 -
4071.14 454.44 -11.67 388 4076.83 roll -1.74 - - 1700.69 - 3.88 0.108 3475.50 359.1 -122.72 - - 2917.19 - - - - - - - - - 14.98 -
4110.06 459.28 -13.10 396 4115.78 roll -1.74 - - 1700.31 - 3.44 0.052 2080.81 -405.4 -122.72 - - 2919.44 - - - - - - - - - 15.20 -
4426.17 496.46 -11.34 409 4431.85 roll -1.74 - - 1700.44 - 3.87 0.109 3475.25 360.3 -122.72 - - 2917.75 - - - - - - - - - 14.95 -
4451 end dive: TARGET_DEPTH_EXCEEDED
4451 begin apogee
4456.03 500.13 -12.59 414 4547.59 -0.25 3.26 0.168 2077.62 115.7 0.07 0.241 2122.31 -19327.7 - 86.76 1.632 2501.41 -4.8 0.265 - - - - - - 14.87 14.89 10.95
4550 end apogee: CONTROL_FINISHED_OK
4550 begin climb
4550.76 502.23 - 417 4673.44 1.74 3.51 0.077 2566.06 139.2 4.26 0.132 662.00 -342.8 122.72 111.77 1.580 1998.56 -4.5 0.258 - - - - - - 15.11 14.67 11.37
4732.12 486.64 15.53 453 4737.30 roll 1.74 - - 2565.06 - 3.55 0.042 2124.19 411.9 122.72 - - 1992.31 - - - - - - - - - 15.28 -
5056.75 449.59 10.59 468 5062.33 done 1.75 - - 2565.12 - 3.69 0.111 3474.19 365.9 122.72 - - 1986.38 - - - - - - - - - 15.27 -
5082.18 447.46 11.21 473 5087.29 done 1.75 - - 2564.19 - 3.40 0.049 2075.56 -411.4 122.72 - - 1988.38 - - - - - - - - - 15.43 -
5406.77 415.00 9.92 488 5412.47 done 1.79 - - 2566.38 - 4.02 0.134 660.88 -351.9 122.72 - - 1983.91 - - - - - - - - - 15.16 -
5635.63 388.03 12.16 534 5642.44 done 1.79 - - 2566.00 - 3.49 0.041 2126.25 419.9 122.72 - - 1983.88 - - - - - - - - - 15.47 -
5941.76 359.01 9.67 545 5947.39 done 1.83 - - 2565.75 - 3.70 0.110 3474.06 364.3 122.72 - - 1981.03 - - - - - - - - - 15.15 -
6170.67 336.06 11.39 591 6177.49 done 1.83 - - 2566.12 - 3.42 0.050 2079.56 -407.7 122.72 - - 1981.97 - - - - - - - - - 15.36 -
6476.79 303.84 10.20 602 6482.51 done 1.86 - - 2567.12 - 4.04 0.130 661.88 -350.9 122.72 - - 1979.69 - - - - - - - - - 15.04 -
6570.71 292.50 10.49 621 6576.45 1.88 0.18 0.077 2607.88 226.4 3.49 0.040 2127.44 419.9 122.72 - - 1981.12 - - - - - - - - 15.21 15.44 -
6891.87 261.19 9.35 635 6893.20 VBD 1.93 - - 2608.94 - - - 2126.88 - 122.72 - - 1979.09 - - - - - - - - - - -
7191.83 233.62 9.75 655 7197.55 done 1.97 - - 2607.50 - 4.18 0.126 662.00 -350.4 122.72 - - 1980.78 - - - - - - - - - 15.01 -
7337.29 217.86 10.90 684 7342.47 done 1.97 - - 2608.56 - 3.54 0.043 2126.69 413.8 122.72 - - 1981.00 - - - - - - - - - 15.46 -
7461.91 206.98 9.18 697 7463.24 VBD 2.03 - - 2609.06 - - - 2128.06 - 122.72 - - 1978.62 - - - - - - - - - - -
7581.87 197.19 7.92 709 7616.85 2.12 0.29 0.063 2667.69 202.2 4.09 0.124 662.06 -358.4 154.51 26.38 1.286 1869.34 -4.1 0.114 - - - - - - 15.62 15.21 11.21
7772.33 173.95 12.81 747 7777.52 roll 2.12 - - 2668.81 - 3.53 0.041 2127.06 415.0 154.51 - - 1866.59 - - - - - - - - - 15.52 -
7896.91 160.68 10.22 760 7902.60 roll 2.15 - - 2667.69 - 4.09 0.119 660.88 -358.5 154.51 - - 1863.59 - - - - - - - - - 15.22 -
7952.35 154.12 12.13 771 7957.53 roll 2.15 - - 2668.50 - 3.50 0.038 2127.38 419.0 154.51 - - 1862.69 - - - - - - - - - 15.52 -
8076.95 140.98 10.52 784 8082.56 roll 2.17 - - 2667.44 - 3.67 0.105 3473.44 366.8 154.51 - - 1863.72 - - - - - - - - - 15.23 -
8125.84 135.23 11.56 794 8132.62 roll 2.17 - - 2669.00 - 3.39 0.046 2077.94 -411.7 154.51 - - 1863.16 - - - - - - - - - 15.40 -
8192.00 128.47 10.16 801 8197.63 roll 2.20 - - 2668.69 - 3.95 0.124 660.44 -358.9 154.51 - - 1861.84 - - - - - - - - - 15.17 -
8207.39 126.66 10.74 804 8212.55 roll 2.20 - - 2667.19 - 3.46 0.036 2131.50 425.2 154.51 - - 1863.28 - - - - - - - - - 15.52 -
8271.95 119.95 10.09 811 8277.65 roll 2.23 - - 2668.88 - 4.09 0.119 662.31 -359.2 154.51 - - 1861.81 - - - - - - - - - 15.18 -
8347.39 110.91 11.80 826 8352.57 roll 2.23 - - 2669.31 - 3.47 0.038 2130.12 423.0 154.51 - - 1862.41 - - - - - - - - - 15.49 -
8411.97 104.59 9.77 833 8417.82 roll 2.27 - - 2669.06 - 4.07 0.118 661.38 -360.9 154.51 - - 1861.22 - - - - - - - - - 15.15 -
8470.88 97.76 11.67 845 8477.67 roll 2.27 - - 2667.75 - 3.49 0.038 2130.44 420.9 154.51 - - 1864.44 - - - - - - - - - 15.47 -
8537.05 91.27 9.91 852 8542.68 roll back 2.30 0.19 0.081 2709.56 220.1 3.63 0.107 3474.94 370.4 154.51 - - 1862.09 - - - - - - - - 15.60 15.18 -
8582.43 85.89 12.05 861 8587.59 done 2.30 - - 2709.62 - 3.40 0.049 2076.50 -411.3 154.51 - - 1861.19 - - - - - - - - - 15.41 -
8646.99 79.10 10.21 868 8648.33 VBD 2.33 - - 2708.75 - - - 2077.00 - 154.51 - - 1861.09 - - - - - - - - - - -
8707.01 73.82 8.43 874 8741.55 VBD 2.41 - - 2710.44 - - - 2076.88 - 181.20 31.33 1.120 1760.66 -3.2 0.038 - - - - - - - - 11.44
8807.01 65.79 7.87 886 8852.62 2.51 0.25 0.072 2758.69 193.0 3.95 0.128 660.69 -358.5 213.44 38.08 1.095 1628.88 -3.5 0.037 - - - - - - 15.53 15.03 11.65
8980.93 44.68 14.21 921 8987.74 roll 2.51 - - 2757.81 - 3.53 0.043 2128.50 415.8 213.44 - - 1625.81 - - - - - - - - - 15.47 -
9047.02 38.89 8.57 928 9082.33 done 2.58 - - 2758.06 - 3.62 0.106 3476.00 372.2 238.73 28.92 1.049 1525.34 -3.5 0.023 - - - - - - - 15.09 11.59
9307.06 19.35 9.25 980 9311.68 roll 2.64 - - 2758.19 - 3.43 0.049 2077.94 -407.6 238.73 - - 1522.34 - - - - - - - - - 15.42 -
9377.07 15.93 4.64 988 9453.24 2.83 0.44 0.062 2837.25 179.7 3.80 0.101 3475.06 367.7 303.07 68.83 1.043 1263.97 -3.8 0.010 - - - - - - 15.53 15.03 11.57
9560 end climb: SURFACE_DEPTH_REACHED
9560 begin surface coast
9570 end surface coast: CONTROL_FINISHED_OK
9570 begin surface
SM -0.46 - - - - 168.1 0.01 0.350 564.8 49597.0 18.98 0.090 561.6 29.6 - 3.40 0.047 567.9 165.9 0.166 - - 30.36 15.13 15.39 -