NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1148 * Raw log
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• Previous call tries 1 • 313.07 of 575.00 AH used of 24V (45.55% remains)
• Surface angle -66.6 deg, depth -1.47 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 475.01 (SM_CC=475)
• GPS1 time: 30 s
• GPS2 time: 2 s • Transponder ping count: 17
• 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
8.46 - - - 95.42 VBD -1.59 - - 170.31 - - - 2078.44 - -74.33 86.54 0.005 2568.81 - - - - - - - - - - 14.70
95.71 4.37 -9.09 9 128.22 -1.65 14.38 0.256 1739.31 109.1 4.01 0.146 661.69 -353.3 -94.41 6.57 0.008 2883.34 47.9 -4.553 - - - - - - 14.86 14.63 14.87
146.91 18.51 -23.29 19 152.08 roll -1.65 - - 1739.12 - 3.53 0.047 2122.62 413.9 -94.41 - - 2881.12 - - - - - - - - - 15.41 -
211.44 31.46 -19.65 26 212.77 no move -1.65 - - 1739.06 - - - 2122.38 - -94.41 - - 2884.03 - - - - - - - - - - -
271.46 41.15 -16.12 32 277.10 roll -1.65 - - 1739.44 - 3.62 0.103 3474.12 373.4 -94.41 - - 2881.62 - - - - - - - - - 15.17 -
316.45 48.95 -18.18 41 321.05 roll -1.65 - - 1739.31 - 3.38 0.049 2079.62 -412.6 -94.41 - - 2883.72 - - - - - - - - - 15.32 -
386.46 59.93 -15.68 49 392.13 roll -1.65 - - 1739.50 - 3.76 0.099 3476.69 371.6 -94.41 - - 2883.88 - - - - - - - - - 15.16 -
415.37 64.55 -15.80 55 422.16 roll -1.65 - - 1739.12 - 3.38 0.047 2081.12 -412.9 -94.41 - - 2883.25 - - - - - - - - - 15.31 -
481.52 73.34 -13.21 62 487.19 roll -1.65 - - 1739.31 - 4.05 0.143 661.50 -350.5 -94.41 - - 2881.50 - - - - - - - - - 15.01 -
516.92 77.51 -11.95 69 522.11 roll -1.65 - - 1739.69 - 3.49 0.041 2124.25 419.1 -94.41 - - 2882.22 - - - - - - - - - 15.41 -
581.54 84.26 -9.86 76 587.12 roll -1.65 - - 1739.44 - 3.62 0.099 3474.12 372.9 -94.41 - - 2884.25 - - - - - - - - - 15.15 -
686.50 96.73 -12.00 97 691.09 roll -1.65 - - 1739.50 - 3.38 0.048 2080.06 -412.4 -94.41 - - 2884.50 - - - - - - - - - 15.31 -
756.50 104.91 -11.82 105 757.83 no move -1.65 - - 1739.38 - - - 2080.50 - -94.41 - - 2883.97 - - - - - - - - - - -
816.52 111.38 -10.73 111 817.85 no move -1.65 - - 1739.25 - - - 2080.44 - -94.41 - - 2884.22 - - - - - - - - - - -
876.52 118.12 -10.87 117 877.85 no move -1.65 - - 1739.00 - - - 2080.50 - -94.41 - - 2884.19 - - - - - - - - - - -
936.53 124.77 -11.07 123 942.23 roll -1.65 - - 1737.38 - 4.05 0.144 662.00 -350.2 -94.41 - - 2885.75 - - - - - - - - - 14.95 -
965.43 128.46 -12.29 129 972.26 roll -1.65 - - 1739.19 - 3.52 0.042 2123.19 415.1 -94.41 - - 2884.00 - - - - - - - - - 15.37 -
1031.53 135.36 -10.79 136 1037.18 roll -1.65 - - 1739.19 - 3.61 0.100 3474.88 374.4 -94.41 - - 2883.16 - - - - - - - - - 15.12 -
1076.53 140.14 -11.00 145 1081.13 roll -1.65 - - 1738.94 - 3.37 0.047 2080.25 -413.8 -94.41 - - 2885.31 - - - - - - - - - 15.31 -
1146.54 147.36 -10.23 153 1147.87 no move -1.65 - - 1739.69 - - - 2080.06 - -94.41 - - 2884.34 - - - - - - - - - - -
1206.56 153.65 -10.55 159 1212.36 roll -1.65 - - 1739.00 - 3.74 0.099 3474.50 372.8 -94.41 - - 2882.31 - - - - - - - - - 15.10 -
1235.46 156.98 -11.30 165 1242.25 roll -1.65 - - 1738.88 - 3.38 0.047 2080.94 -412.3 -94.41 - - 2884.34 - - - - - - - - - 15.28 -
1361.57 170.18 -10.24 178 1367.30 roll -1.65 - - 1739.38 - 4.02 0.145 660.88 -353.2 -94.41 - - 2883.84 - - - - - - - - - 14.93 -
1380.53 172.68 -10.86 182 1387.29 roll -1.65 - - 1739.12 - 3.47 0.042 2124.00 421.6 -94.41 - - 2885.47 - - - - - - - - - 15.37 -
1506.59 186.40 -11.49 195 1512.21 roll -1.65 - - 1739.75 - 3.60 0.102 3476.62 375.7 -94.41 - - 2884.03 - - - - - - - - - 15.09 -
1555.50 192.81 -12.39 205 1562.29 roll -1.65 - - 1739.12 - 3.37 0.047 2079.19 -414.7 -94.41 - - 2884.03 - - - - - - - - - 15.26 -
1681.61 208.08 -12.49 218 1687.31 roll -1.65 - - 1738.88 - 4.00 0.143 660.62 -354.6 -94.41 - - 2885.31 - - - - - - - - - 14.92 -
1707.04 210.82 -12.83 223 1712.22 roll -1.65 - - 1738.81 - 3.46 0.042 2124.25 423.0 -94.41 - - 2883.84 - - - - - - - - - 15.39 -
1831.62 224.78 -12.01 236 1832.95 no move -1.65 - - 1738.81 - - - 2124.00 - -94.41 - - 2884.91 - - - - - - - - - - -
1951.62 238.48 -11.46 248 1957.27 roll -1.65 - - 1739.31 - 3.64 0.104 3476.06 371.4 -94.41 - - 2885.06 - - - - - - - - - 15.06 -
1980.53 242.58 -13.65 254 1987.32 roll -1.65 - - 1738.62 - 3.37 0.048 2080.25 -414.2 -94.41 - - 2885.84 - - - - - - - - - 15.25 -
2116.63 257.79 -11.26 264 2122.32 roll -1.65 - - 1737.56 - 3.76 0.103 3475.06 371.0 -94.41 - - 2885.28 - - - - - - - - - 15.04 -
2195.55 267.65 -13.16 280 2202.34 roll -1.65 - - 1739.25 - 3.38 0.050 2081.12 -412.4 -94.41 - - 2884.94 - - - - - - - - - 15.23 -
2501.66 301.60 -11.08 291 2507.33 roll -1.65 - - 1739.25 - 3.79 0.104 3474.81 367.7 -94.41 - - 2884.00 - - - - - - - - - 15.02 -
2526.71 304.33 -10.79 296 2531.25 roll -1.65 - - 1739.12 - 3.38 0.050 2080.56 -412.5 -94.41 - - 2884.81 - - - - - - - - - 15.25 -
2856.73 338.28 -10.15 312 2862.34 roll -1.65 - - 1739.06 - 3.80 0.106 3475.56 367.1 -94.41 - - 2883.84 - - - - - - - - - 15.00 -
2895.59 341.93 -9.11 320 2901.27 roll -1.71 - - 1739.75 - 3.38 0.051 2080.06 -412.9 -114.31 - - 2886.41 - - - - - - - - - 15.20 -
3211.70 374.60 -10.41 333 3217.38 roll -1.71 - - 1739.25 - 3.79 0.106 3475.25 368.1 -114.31 - - 2883.00 - - - - - - - - - 14.98 -
3255.61 379.90 -13.45 342 3261.30 roll -1.71 - - 1739.62 - 3.39 0.052 2082.12 -411.0 -114.31 - - 2885.25 - - - - - - - - - 15.19 -
3566.71 413.78 -11.26 354 3572.39 roll -1.71 - - 1737.94 - 3.81 0.108 3475.69 365.8 -114.31 - - 2885.97 - - - - - - - - - 14.95 -
3595.62 416.53 -9.15 360 3601.30 roll -1.71 - - 1739.38 - 3.40 0.052 2080.25 -410.4 -114.31 - - 2884.06 - - - - - - - - - 15.17 -
3921.73 454.33 -12.30 375 3927.41 roll -1.71 - - 1738.88 - 3.84 0.109 3476.19 363.5 -114.31 - - 2883.06 - - - - - - - - - 14.94 -
3946.78 456.85 -12.16 380 3951.33 roll -1.71 - - 1738.75 - 3.40 0.052 2082.06 -410.0 -114.31 - - 2884.50 - - - - - - - - - 15.19 -
4276.80 494.56 -11.37 396 4282.44 roll -1.71 - - 1739.19 - 3.85 0.111 3475.62 362.0 -114.31 - - 2883.91 - - - - - - - - - 14.92 -
4325 end dive: TARGET_DEPTH_EXCEEDED
4325 begin apogee
4330.45 501.23 -15.13 406 4414.49 -0.25 2.80 0.161 2078.44 121.2 0.08 0.237 2122.38 -16915.5 - 79.44 1.645 2497.56 -4.9 0.258 - - - - - - 14.86 14.91 11.01
4417 end apogee: CONTROL_FINISHED_OK
4417 begin climb
4417.68 504.13 - 409 4526.46 1.71 3.47 0.078 2560.00 138.8 - - 2121.62 - 114.31 103.99 1.599 2033.66 -4.5 0.245 - - - - - - 15.14 - 11.47
4839.76 474.71 9.06 433 4864.89 done 1.77 - - 2560.81 - 4.02 0.137 659.69 -363.7 134.68 18.84 1.446 1949.97 -4.4 0.254 - - - - - - - 15.16 11.53
4990.21 457.20 7.58 463 5030.18 1.88 0.22 0.069 2608.56 217.0 3.48 0.043 2127.25 421.7 169.77 33.26 1.502 1809.03 -4.2 0.225 - - - - - - 15.27 15.49 11.62
5349.82 409.99 13.03 485 5355.49 done 1.88 - - 2608.69 - 4.01 0.131 660.62 -365.7 169.77 - - 1799.41 - - - - - - - - - 15.16 -
5498.71 387.03 12.60 515 5504.40 done 1.88 - - 2608.06 - 3.48 0.043 2126.00 421.1 169.77 - - 1800.06 - - - - - - - - - 15.45 -
5824.86 343.42 13.45 530 5830.45 done 1.88 - - 2608.44 - 3.67 0.112 3472.38 366.9 169.77 - - 1796.53 - - - - - - - - - 15.17 -
6023.74 316.48 12.28 570 6030.52 done 1.88 - - 2608.94 - 3.40 0.052 2079.00 -409.8 169.77 - - 1797.38 - - - - - - - - - 15.35 -
6329.85 280.89 11.67 581 6335.53 done 1.88 - - 2608.75 - 3.82 0.108 3472.69 364.8 169.77 - - 1796.78 - - - - - - - - - 15.12 -
6558.79 254.42 10.14 627 6565.57 done 1.91 - - 2608.75 - 3.40 0.050 2078.44 -410.1 169.77 - - 1796.25 - - - - - - - - - 15.30 -
6864.90 227.75 7.98 654 6900.23 done 2.00 - - 2608.81 - 3.88 0.133 660.81 -365.4 200.96 27.42 1.323 1680.34 -4.2 0.127 - - - - - - - 15.19 11.33
6965.35 216.40 12.53 674 6970.52 roll 2.00 - - 2608.88 - 3.47 0.040 2128.50 423.0 200.96 - - 1677.06 - - - - - - - - - 15.53 -
7089.93 203.43 10.92 687 7095.63 roll 2.00 - - 2608.06 - 4.01 0.127 659.56 -366.3 200.96 - - 1675.69 - - - - - - - - - 15.20 -
7188.87 189.96 13.54 707 7195.64 roll 2.00 - - 2608.94 - 3.49 0.043 2127.50 420.6 200.96 - - 1676.72 - - - - - - - - - 15.46 -
7314.95 175.02 11.96 720 7316.28 no move 2.00 - - 2609.19 - - - 2126.88 - 200.96 - - 1674.31 - - - - - - - - - - -
7434.96 160.69 12.23 732 7440.66 roll 2.00 - - 2607.12 - 4.03 0.126 659.81 -364.0 200.96 - - 1674.91 - - - - - - - - - 15.12 -
7490.41 153.71 13.38 743 7495.58 roll 2.00 - - 2607.31 - 3.48 0.043 2127.88 421.9 200.96 - - 1675.22 - - - - - - - - - 15.46 -
7614.99 139.74 10.69 756 7616.32 no move 2.00 - - 2608.94 - - - 2127.94 - 200.96 - - 1674.16 - - - - - - - - - - -
7674.99 132.64 11.41 762 7680.69 roll 2.00 - - 2609.06 - 4.05 0.125 660.62 -362.3 200.96 - - 1674.09 - - - - - - - - - 15.09 -
7763.90 120.47 14.10 780 7770.71 roll 2.00 - - 2607.69 - 3.51 0.044 2127.75 418.0 200.96 - - 1675.09 - - - - - - - - - 15.44 -
7829.99 112.79 11.91 787 7835.70 roll 2.00 - - 2608.44 - 4.04 0.125 659.75 -363.4 200.96 - - 1674.16 - - - - - - - - - 15.08 -
7878.91 106.46 12.65 797 7885.72 roll 2.00 - - 2607.06 - 3.48 0.042 2130.25 422.6 200.96 - - 1675.47 - - - - - - - - - 15.45 -
7945.07 99.39 10.56 804 7946.40 no move 2.02 - - 2609.00 - - - 2130.06 - 200.96 - - 1674.72 - - - - - - - - - - -
8005.03 93.44 9.76 810 8010.78 roll back 2.06 0.20 0.084 2649.88 204.4 4.05 0.125 661.19 -362.7 200.96 - - 1674.94 - - - - - - - - 15.59 15.05 -
8043.92 88.97 11.50 818 8050.72 roll 2.06 - - 2650.69 - 3.48 0.042 2128.88 421.8 200.96 - - 1675.09 - - - - - - - - - 15.45 -
8110.02 83.11 8.66 825 8145.30 done 2.13 - - 2649.06 - 3.58 0.107 3474.31 375.8 225.34 28.77 1.130 1580.47 -3.3 0.042 - - - - - - - 15.20 11.52
8230.48 68.95 10.84 849 8235.64 roll 2.13 - - 2649.69 - 3.40 0.050 2074.75 -411.6 225.34 - - 1577.81 - - - - - - - - - 15.44 -
8295.10 62.93 8.65 856 8330.38 done 2.20 - - 2650.25 - 3.83 0.130 660.81 -369.2 249.83 29.57 1.099 1482.25 -3.2 0.032 - - - - - - - 15.11 11.60
8405.51 52.25 9.97 878 8410.73 roll back 2.24 0.21 0.076 2693.75 207.1 3.48 0.041 2130.75 422.4 249.83 - - 1480.19 - - - - - - - - 15.27 15.49 -
8470.06 46.88 8.43 885 8507.45 done 2.32 - - 2695.06 - 3.99 0.124 659.56 -368.7 276.47 31.25 1.070 1371.69 -3.5 0.026 - - - - - - - 15.10 11.64
8535.87 40.25 11.88 898 8541.32 roll 2.32 - - 2695.06 - 3.48 0.041 2130.44 422.7 276.47 - - 1370.72 - - - - - - - - - 15.44 -
8600.69 33.72 9.55 905 8602.02 no move 2.37 - - 2694.88 - - - 2130.19 - 276.47 - - 1371.00 - - - - - - - - - - -
8660.71 28.13 9.27 911 8666.47 roll back 2.42 0.22 0.073 2737.06 191.7 4.01 0.123 659.50 -366.8 276.47 - - 1370.78 - - - - - - - - 15.49 15.18 -
8686.12 24.88 11.38 916 8691.30 roll 2.42 - - 2739.00 - 3.48 0.041 2129.44 422.4 276.47 - - 1371.72 - - - - - - - - - 15.46 -
8750.70 18.86 8.72 923 8784.95 done 2.49 - - 2739.12 - 3.56 0.104 3475.75 378.2 300.24 27.10 1.029 1276.38 -3.5 0.011 - - - - - - - 15.13 11.53
8934.63 7.52 7.05 960 8983.42 2.61 0.22 0.074 2784.50 206.3 3.39 0.048 2076.88 -412.6 340.62 43.72 1.025 1110.84 -3.8 0.005 - - - - - - 15.20 15.40 11.59
9006 end climb: SURFACE_DEPTH_REACHED
9006 begin surface coast
9026 end surface coast: CONTROL_FINISHED_OK
9026 begin surface
SM -0.62 - - - - 170.2 - 0.011 563.6 - 18.04 0.057 561.1 31.1 - 0.09 0.130 566.1 6252.3 3.048 - - 30.36 15.22 15.45 -