NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1139 * Raw log
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• Previous call tries 5 • 310.80 of 575.00 AH used of 24V (45.95% remains)
• Surface angle -61.9 deg, depth -1.54 m • Intended pitch -26.0 deg, speed -11.111 cm/s
VBD pumped to 475.02 (SM_CC=475)
• GPS1 time: 7 s
• GPS2 time: 3 s • Transponder ping count: 18
• 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
8.44 - - - 95.41 VBD -1.55 - - 170.19 - - - 2081.75 - -82.04 86.49 0.005 2534.22 - - - - - - - - - - 14.74
95.69 3.68 -7.70 9 128.07 -1.66 14.33 0.253 1736.75 109.3 4.11 0.148 661.69 -345.5 -119.48 9.77 0.007 2986.81 46.3 -4.252 - - - - - - 14.82 14.65 14.88
146.75 16.96 -22.38 19 152.06 roll -1.66 - - 1736.69 - 3.58 0.051 2119.88 407.3 -119.48 - - 2984.44 - - - - - - - - - 15.39 -
211.29 30.26 -20.06 26 212.62 no move -1.66 - - 1737.00 - - - 2120.12 - -119.48 - - 2985.22 - - - - - - - - - - -
271.30 40.58 -16.78 32 276.95 roll -1.66 - - 1737.06 - 3.66 0.107 3475.38 370.3 -119.48 - - 2987.12 - - - - - - - - - 15.14 -
290.22 43.70 -15.50 36 297.01 roll -1.66 - - 1737.12 - 3.41 0.052 2082.44 -408.5 -119.48 - - 2986.12 - - - - - - - - - 15.30 -
356.36 53.78 -14.83 43 361.97 roll -1.66 - - 1737.00 - 3.79 0.104 3474.88 367.4 -119.48 - - 2988.59 - - - - - - - - - 15.14 -
415.24 63.13 -15.92 55 422.01 roll -1.66 - - 1737.00 - 3.40 0.051 2080.88 -410.0 -119.48 - - 2987.91 - - - - - - - - - 15.30 -
481.38 71.03 -11.44 62 487.06 roll -1.66 - - 1736.75 - 4.11 0.144 661.88 -345.3 -119.48 - - 2988.53 - - - - - - - - - 14.97 -
536.78 78.06 -13.42 73 541.97 roll -1.66 - - 1736.81 - 3.51 0.047 2122.19 416.0 -119.48 - - 2985.81 - - - - - - - - - 15.38 -
601.39 85.16 -10.09 80 606.99 roll -1.66 - - 1737.38 - 3.64 0.105 3474.81 371.6 -119.48 - - 2986.88 - - - - - - - - - 15.12 -
636.34 89.33 -11.92 87 640.95 roll -1.66 - - 1737.19 - 3.40 0.052 2080.94 -410.0 -119.48 - - 2987.56 - - - - - - - - - 15.31 -
706.35 97.56 -11.07 95 707.67 no move -1.66 - - 1737.00 - - - 2081.25 - -119.48 - - 2986.78 - - - - - - - - - - -
766.37 103.81 -10.43 101 767.70 no move -1.66 - - 1737.25 - - - 2081.44 - -119.48 - - 2986.44 - - - - - - - - - - -
826.37 110.26 -10.77 107 827.70 no move -1.66 - - 1736.62 - - - 2081.50 - -119.48 - - 2986.34 - - - - - - - - - - -
886.38 117.31 -11.42 113 892.08 roll -1.66 - - 1735.25 - 4.09 0.145 661.56 -347.2 -119.48 - - 2987.41 - - - - - - - - - 14.93 -
921.82 121.67 -12.99 120 927.01 roll -1.66 - - 1737.00 - 3.51 0.046 2123.00 416.4 -119.48 - - 2985.00 - - - - - - - - - 15.38 -
986.38 129.93 -12.32 127 992.04 roll -1.66 - - 1737.44 - 3.64 0.105 3476.44 371.8 -119.48 - - 2986.94 - - - - - - - - - 15.10 -
1021.38 134.56 -13.53 134 1025.98 roll -1.66 - - 1737.25 - 3.39 0.051 2081.06 -411.6 -119.48 - - 2986.34 - - - - - - - - - 15.31 -
1091.39 143.26 -11.97 142 1097.12 roll -1.66 - - 1737.12 - 4.07 0.144 661.88 -348.7 -119.48 - - 2984.66 - - - - - - - - - 14.93 -
1116.84 146.91 -12.42 147 1122.03 roll -1.66 - - 1737.00 - 3.51 0.045 2123.50 416.4 -119.48 - - 2985.34 - - - - - - - - - 15.39 -
1181.40 154.58 -11.35 154 1187.05 roll -1.66 - - 1737.00 - 3.64 0.105 3475.38 371.4 -119.48 - - 2988.31 - - - - - - - - - 15.10 -
1236.41 161.92 -13.10 165 1241.01 roll -1.66 - - 1736.94 - 3.39 0.052 2079.62 -411.7 -119.48 - - 2986.84 - - - - - - - - - 15.30 -
1366.43 178.05 -12.56 179 1372.08 roll -1.66 - - 1736.88 - 3.79 0.104 3475.00 368.2 -119.48 - - 2987.34 - - - - - - - - - 15.08 -
1431.45 187.23 -14.73 192 1436.03 roll -1.66 - - 1737.00 - 3.40 0.052 2081.75 -409.8 -119.48 - - 2987.88 - - - - - - - - - 15.29 -
1561.45 204.73 -14.03 206 1562.77 no move -1.66 - - 1737.06 - - - 2080.75 - -119.48 - - 2986.81 - - - - - - - - - - -
1681.45 221.11 -13.48 218 1687.12 roll -1.66 - - 1737.44 - 3.80 0.106 3474.50 366.8 -119.48 - - 2984.94 - - - - - - - - - 15.05 -
1706.51 224.99 -13.88 223 1711.05 roll -1.66 - - 1736.88 - 3.38 0.053 2082.44 -411.9 -119.48 - - 2987.12 - - - - - - - - - 15.28 -
1836.47 242.98 -13.79 237 1842.14 roll -1.66 - - 1737.25 - 3.79 0.106 3475.62 367.6 -119.48 - - 2987.25 - - - - - - - - - 15.05 -
1861.52 246.55 -14.26 242 1866.08 roll -1.66 - - 1736.81 - 3.41 0.053 2082.44 -408.6 -119.48 - - 2988.00 - - - - - - - - - 15.27 -
2011.47 266.20 -13.00 250 2012.80 no move -1.66 - - 1737.06 - - - 2082.38 - -119.48 - - 2987.34 - - - - - - - - - - -
2311.51 303.95 -12.47 260 2317.23 roll -1.66 - - 1736.94 - 4.14 0.152 661.81 -343.1 -119.48 - - 2985.19 - - - - - - - - - 14.85 -
2325.45 305.35 -12.09 263 2331.12 roll -1.66 - - 1736.00 - 3.52 0.048 2121.56 414.7 -119.48 - - 2987.75 - - - - - - - - - 15.33 -
2636.51 340.49 -10.98 275 2642.16 roll -1.66 - - 1736.50 - 3.70 0.111 3475.31 365.9 -119.48 - - 2988.50 - - - - - - - - - 15.00 -
2655.42 342.46 -10.77 279 2662.19 roll -1.66 - - 1736.25 - 3.40 0.053 2081.06 -410.1 -119.48 - - 2987.62 - - - - - - - - - 15.22 -
2961.51 374.88 -10.59 290 2967.19 roll -1.66 - - 1735.94 - 3.81 0.110 3474.06 365.6 -119.48 - - 2986.59 - - - - - - - - - 14.97 -
2990.42 378.41 -11.74 296 2996.13 roll -1.66 - - 1737.31 - 3.43 0.056 2081.94 -405.9 -119.48 - - 2986.50 - - - - - - - - - 15.19 -
3316.53 410.80 -9.92 311 3317.86 no move -1.66 - - 1737.31 - - - 2082.31 - -119.48 - - 2987.06 - - - - - - - - - - -
3616.55 439.41 -9.65 321 3622.21 roll -1.66 - - 1735.50 - 3.88 0.113 3474.25 358.7 -119.48 - - 2987.00 - - - - - - - - - 14.95 -
3660.55 444.10 -10.84 330 3666.15 roll -1.66 - - 1736.25 - 3.45 0.057 2083.69 -403.1 -119.48 - - 2987.22 - - - - - - - - - 15.18 -
3971.55 474.46 -9.25 342 3972.88 no move -1.66 - - 1736.94 - - - 2083.00 - -119.48 - - 2985.97 - - - - - - - - - - -
4241 end dive: TARGET_DEPTH_EXCEEDED
4241 begin apogee
4242.70 502.04 -9.76 351 4346.12 -0.25 2.79 0.153 2079.69 122.8 0.08 0.242 2085.56 32.0 - 99.44 1.652 2496.69 -4.9 0.261 - - - - - - 14.90 14.83 10.69
4349 end apogee: CONTROL_FINISHED_OK
4349 begin climb
4349.36 504.31 - 354 4463.33 1.66 3.40 0.080 2547.38 137.6 - - 2084.94 - 119.48 108.50 1.590 2011.28 -4.5 0.248 - - - - - - 15.07 - 11.32
4781.59 462.95 9.99 379 4787.29 done 1.69 - - 2547.94 - 4.08 0.139 662.81 -348.6 119.48 - - 2000.16 - - - - - - - - - 15.17 -
4867.05 452.84 10.30 396 4872.22 done 1.72 - - 2546.75 - 3.51 0.046 2123.81 416.2 119.48 - - 1997.34 - - - - - - - - - 15.49 -
5191.67 421.96 9.53 411 5197.34 done 1.77 - - 2548.44 - 4.15 0.134 661.50 -352.4 119.48 - - 1997.34 - - - - - - - - - 15.15 -
5370.57 404.04 10.03 447 5376.31 1.80 0.18 0.080 2588.56 222.9 3.52 0.046 2124.69 415.7 119.48 - - 1996.16 - - - - - - - - 15.25 15.47 -
5696.65 377.24 7.55 462 5737.05 done 1.91 - - 2588.56 - 3.71 0.114 3473.12 363.5 158.50 34.05 1.480 1853.25 -4.2 0.187 - - - - - - - 15.14 11.46
5960.64 350.50 11.18 515 5967.39 roll 1.91 - - 2588.06 - 3.45 0.055 2077.56 -404.5 158.50 - - 1847.62 - - - - - - - - - 15.40 -
6266.69 315.14 11.79 526 6272.40 done 1.91 - - 2588.50 - 4.03 0.135 662.62 -351.1 158.50 - - 1843.78 - - - - - - - - - 15.13 -
6360.62 302.52 14.38 545 6366.33 done 1.91 - - 2588.31 - 3.54 0.046 2125.44 413.2 158.50 - - 1845.97 - - - - - - - - - 15.47 -
6681.73 265.60 11.50 559 6687.45 done 1.91 - - 2587.81 - 4.18 0.130 661.50 -350.2 158.50 - - 1846.09 - - - - - - - - - 15.06 -
6785.66 251.83 14.65 580 6791.36 done 1.91 - - 2589.06 - 3.54 0.047 2124.88 413.4 158.50 - - 1845.59 - - - - - - - - - 15.44 -
7096.78 218.18 9.81 610 7102.49 done 1.95 - - 2588.69 - 4.16 0.128 661.75 -351.7 158.50 - - 1843.00 - - - - - - - - - 15.04 -
7262.27 199.56 11.90 643 7267.47 1.95 0.17 0.083 2625.38 215.8 3.52 0.045 2126.38 416.1 158.50 - - 1842.44 - - - - - - - - 15.21 15.45 -
7386.86 187.69 9.39 656 7392.43 done 2.01 - - 2625.19 - 3.69 0.109 3472.94 364.9 158.50 - - 1844.19 - - - - - - - - - 15.09 -
7405.76 185.66 9.87 660 7412.50 done 2.04 - - 2624.81 - 3.42 0.051 2074.62 -408.9 158.50 - - 1843.69 - - - - - - - - - 15.33 -
7531.82 174.35 8.07 673 7562.49 2.14 0.22 0.078 2667.25 192.9 - - 2074.56 - 191.91 29.44 1.280 1717.62 -4.3 0.102 - - - - - - 15.57 - 11.42
7681.86 157.09 12.30 688 7687.50 roll 2.14 - - 2666.38 - 3.82 0.109 3474.44 366.5 191.91 - - 1713.47 - - - - - - - - - 15.31 -
7710.73 152.90 13.99 694 7717.52 roll 2.14 - - 2667.25 - 3.42 0.052 2076.62 -408.7 191.91 - - 1711.16 - - - - - - - - - 15.45 -
7836.83 137.56 12.33 707 7842.52 roll 2.14 - - 2666.81 - 3.98 0.128 661.75 -355.5 191.91 - - 1710.03 - - - - - - - - - 15.20 -
7942.29 123.34 14.36 728 7947.47 roll 2.14 - - 2667.88 - 3.52 0.044 2127.00 416.3 191.91 - - 1711.44 - - - - - - - - - 15.49 -
8006.84 115.32 12.39 735 8012.50 roll 2.14 - - 2667.31 - 3.64 0.108 3474.06 370.1 191.91 - - 1710.72 - - - - - - - - - 15.21 -
8092.29 103.75 14.34 752 8097.48 done 2.14 - - 2667.69 - 3.40 0.050 2077.56 -410.7 191.91 - - 1708.62 - - - - - - - - - 15.41 -
8156.86 95.85 11.91 759 8162.56 done 2.14 - - 2667.00 - 3.96 0.127 661.69 -357.5 191.91 - - 1708.06 - - - - - - - - - 15.14 -
8255.79 82.17 11.90 779 8262.59 done 2.14 - - 2666.50 - 3.50 0.043 2127.94 418.9 191.91 - - 1710.81 - - - - - - - - - 15.47 -
8321.89 75.38 10.34 786 8327.60 done 2.17 - - 2667.38 - 4.09 0.122 661.56 -358.5 191.91 - - 1707.91 - - - - - - - - - 15.12 -
8337.34 73.71 10.84 789 8342.50 done 2.17 - - 2667.44 - 3.48 0.042 2129.06 421.7 191.91 - - 1707.59 - - - - - - - - - 15.50 -
8401.90 66.73 10.20 796 8407.53 done 2.19 - - 2667.25 - 3.62 0.107 3474.81 371.8 191.91 - - 1709.62 - - - - - - - - - 15.18 -
8470.83 59.45 10.53 810 8477.65 done 2.21 - - 2667.62 - 3.38 0.050 2076.00 -413.8 191.91 - - 1708.84 - - - - - - - - - 15.37 -
8536.97 54.16 8.01 817 8582.50 2.31 0.22 0.082 2711.06 197.5 3.87 0.128 661.62 -365.5 225.96 38.43 1.116 1578.00 -3.4 0.029 - - - - - - 15.58 15.14 11.50
8590.82 49.74 8.70 828 8628.31 done 2.39 - - 2711.12 - 3.47 0.041 2129.31 423.0 252.37 31.62 1.062 1470.91 -3.4 0.028 - - - - - - - 15.47 11.64
8686.93 41.97 7.93 841 8732.52 2.50 0.23 0.074 2756.50 197.3 4.05 0.124 660.81 -362.6 287.29 39.77 1.057 1329.69 -3.6 0.025 - - - - - - 15.41 14.98 11.56
8797.36 29.61 12.01 863 8802.55 roll 2.50 - - 2756.19 - 3.52 0.042 2129.44 417.2 287.29 - - 1326.50 - - - - - - - - - 15.41 -
8861.93 23.00 10.11 870 8863.26 no move 2.53 - - 2756.69 - - - 2130.00 - 287.29 - - 1325.34 - - - - - - - - - - -
8921.95 16.73 10.49 876 8927.58 roll 2.55 - - 2757.25 - 3.58 0.107 3474.38 375.5 287.29 - - 1323.59 - - - - - - - - - 15.23 -
8980.87 10.85 8.67 888 9018.36 done 2.63 - - 2757.38 - 3.38 0.048 2078.25 -413.1 314.04 29.26 1.013 1219.94 -3.5 0.007 - - - - - - - 15.41 11.56
9076.96 3.62 8.35 901 9097.61 2.72 0.27 0.071 2808.75 190.3 - - 2077.75 - 344.33 19.69 0.967 1150.09 -3.5 0.002 - - - - - - 15.46 - 11.62
9097 end climb: SURFACE_DEPTH_REACHED
9097 begin surface coast
9116 end surface coast: CONTROL_FINISHED_OK
9116 begin surface
SM -0.53 - - - - 178.9 - 0.009 563.5 - 18.43 0.071 560.6 30.4 - 0.08 0.138 566.4 7080.0 2.779 - - 30.36 15.25 15.47 -