NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1159 * Raw log
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• Previous call tries 2 • 315.87 of 575.00 AH used of 24V (45.07% remains)
• Surface angle -65.4 deg, depth -1.46 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 475.04 (SM_CC=475)
• GPS1 time: 22 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
8.48 - - - 90.31 VBD -1.59 - - 170.31 - - - 2116.75 - -74.33 81.41 0.005 2439.31 - - - - - - - - - - 14.69
90.56 3.28 -7.26 8 126.71 -1.71 14.28 0.259 1726.12 109.0 4.18 0.149 662.00 -348.0 -112.62 11.69 0.007 2959.88 44.5 -3.638 - - - - - - 14.82 14.64 14.87
223.86 32.32 -19.40 35 231.11 roll -1.71 - - 1726.81 - 3.60 0.054 2119.44 404.8 -112.62 - - 2959.78 - - - - - - - - - 15.32 -
290.01 43.21 -16.11 42 295.60 roll -1.71 - - 1726.25 - 3.63 0.106 3475.81 373.7 -112.62 - - 2957.84 - - - - - - - - - 15.13 -
305.41 45.74 -16.58 45 310.57 roll -1.71 - - 1726.38 - 3.42 0.054 2081.69 -407.6 -112.62 - - 2959.47 - - - - - - - - - 15.29 -
370.02 56.59 -16.67 52 375.62 roll -1.71 - - 1726.69 - 3.74 0.104 3474.75 372.5 -112.62 - - 2957.22 - - - - - - - - - 15.13 -
395.46 60.88 -17.21 57 400.58 roll -1.71 - - 1726.81 - 3.40 0.053 2078.75 -410.6 -112.62 - - 2959.09 - - - - - - - - - 15.29 -
460.03 69.74 -13.31 64 465.63 roll -1.71 - - 1726.44 - 3.76 0.101 3476.56 371.8 -112.62 - - 2959.84 - - - - - - - - - 15.13 -
505.42 75.46 -12.74 73 510.59 roll -1.71 - - 1725.69 - 3.39 0.052 2079.62 -412.1 -112.62 - - 2961.91 - - - - - - - - - 15.29 -
570.05 83.41 -12.35 80 575.70 roll -1.71 - - 1725.88 - 4.05 0.144 661.00 -350.3 -112.62 - - 2959.16 - - - - - - - - - 14.97 -
605.43 88.31 -14.09 87 610.62 roll -1.71 - - 1726.62 - 3.53 0.046 2123.25 414.2 -112.62 - - 2957.72 - - - - - - - - - 15.37 -
669.99 96.11 -11.92 94 675.62 roll -1.71 - - 1726.75 - 3.57 0.102 3476.25 379.0 -112.62 - - 2958.78 - - - - - - - - - 15.12 -
755.44 106.83 -12.27 111 760.61 roll -1.71 - - 1726.50 - 3.39 0.051 2081.06 -411.6 -112.62 - - 2958.72 - - - - - - - - - 15.28 -
820.06 114.32 -10.97 118 821.39 no move -1.71 - - 1726.88 - - - 2081.06 - -112.62 - - 2958.19 - - - - - - - - - - -
880.02 120.86 -11.04 124 885.73 roll -1.71 - - 1726.50 - 4.05 0.145 662.00 -350.4 -112.62 - - 2959.75 - - - - - - - - - 14.94 -
905.46 124.20 -12.45 129 910.65 roll -1.71 - - 1726.94 - 3.52 0.046 2124.00 415.3 -112.62 - - 2957.91 - - - - - - - - - 15.37 -
970.02 131.85 -11.85 136 971.35 no move -1.71 - - 1726.88 - - - 2124.12 - -112.62 - - 2957.78 - - - - - - - - - - -
1030.04 138.63 -11.28 142 1035.66 roll -1.71 - - 1726.44 - 3.60 0.102 3476.94 375.8 -112.62 - - 2957.66 - - - - - - - - - 15.08 -
1065.47 143.18 -13.23 149 1070.63 roll -1.71 - - 1725.81 - 3.38 0.050 2079.88 -413.3 -112.62 - - 2960.56 - - - - - - - - - 15.27 -
1130.10 150.94 -11.24 156 1131.44 no move -1.71 - - 1726.38 - - - 2080.12 - -112.62 - - 2958.94 - - - - - - - - - - -
1250.05 164.04 -10.73 168 1255.72 roll -1.71 - - 1725.94 - 3.76 0.101 3475.75 371.2 -112.62 - - 2958.88 - - - - - - - - - 15.06 -
1295.50 170.05 -14.06 177 1300.66 roll -1.71 - - 1726.94 - 3.39 0.052 2080.44 -411.6 -112.62 - - 2957.62 - - - - - - - - - 15.25 -
1420.07 184.64 -11.60 190 1421.40 no move -1.71 - - 1726.88 - - - 2080.88 - -112.62 - - 2959.81 - - - - - - - - - - -
1540.08 196.96 -10.52 202 1541.40 no move -1.71 - - 1726.25 - - - 2080.31 - -112.62 - - 2959.00 - - - - - - - - - - -
1660.08 210.28 -11.19 214 1661.41 no move -1.71 - - 1726.12 - - - 2081.31 - -112.62 - - 2958.75 - - - - - - - - - - -
1780.09 223.69 -10.71 226 1785.77 roll -1.71 - - 1726.56 - 3.82 0.106 3475.31 364.9 -112.62 - - 2958.50 - - - - - - - - - 15.01 -
1815.54 228.35 -13.47 233 1820.71 roll -1.71 - - 1726.88 - 3.42 0.054 2082.31 -407.3 -112.62 - - 2958.66 - - - - - - - - - 15.22 -
1940.24 242.68 -10.93 246 1941.57 no move -1.71 - - 1726.69 - - - 2081.81 - -112.62 - - 2959.44 - - - - - - - - - - -
2070.11 256.98 -11.24 255 2075.80 roll -1.71 - - 1727.50 - 3.81 0.105 3474.19 365.5 -112.62 - - 2957.59 - - - - - - - - - 14.98 -
2089.09 259.26 -11.48 259 2096.25 roll -1.71 - - 1726.75 - 3.40 0.053 2081.81 -409.5 -112.62 - - 2960.94 - - - - - - - - - 15.19 -
2395.14 292.79 -10.76 270 2400.81 roll -1.71 - - 1726.75 - 3.83 0.106 3477.06 364.3 -112.62 - - 2958.91 - - - - - - - - - 14.97 -
2464.14 301.34 -12.69 284 2469.78 roll -1.71 - - 1727.31 - 3.44 0.055 2081.12 -405.8 -112.62 - - 2959.22 - - - - - - - - - 15.17 -
2780.17 335.35 -10.71 297 2785.85 roll -1.71 - - 1726.88 - 3.82 0.106 3475.94 365.1 -112.62 - - 2957.91 - - - - - - - - - 14.96 -
2824.09 340.94 -11.81 306 2829.79 roll -1.71 - - 1726.25 - 3.41 0.054 2082.44 -408.7 -112.62 - - 2959.47 - - - - - - - - - 15.15 -
3135.19 377.82 -12.32 318 3136.52 no move -1.71 - - 1726.12 - - - 2082.25 - -112.62 - - 2958.84 - - - - - - - - - - -
3435.23 412.34 -11.69 328 3436.55 no move -1.71 - - 1726.56 - - - 2082.19 - -112.62 - - 2958.22 - - - - - - - - - - -
3735.20 449.75 -12.57 338 3736.53 no move -1.71 - - 1726.56 - - - 2082.19 - -112.62 - - 2958.47 - - - - - - - - - - -
4035.21 485.87 -12.29 348 4040.90 roll -1.71 - - 1726.75 - 3.88 0.113 3474.56 358.9 -112.62 - - 2958.72 - - - - - - - - - 14.88 -
4074.13 490.23 -11.27 356 4079.85 roll -1.71 - - 1726.44 - 3.45 0.059 2082.62 -403.5 -112.62 - - 2959.66 - - - - - - - - - 15.08 -
4150 end dive: TARGET_DEPTH_EXCEEDED
4150 begin apogee
4151.42 501.36 -13.47 361 4250.74 -0.25 2.93 0.158 2080.38 120.8 0.09 0.240 2084.88 25.1 - 94.57 1.631 2499.34 -4.9 0.261 - - - - - - 14.85 14.84 10.92
4253 end apogee: CONTROL_FINISHED_OK
4253 begin climb
4253.98 505.46 - 364 4362.98 1.71 3.48 0.079 2557.44 137.1 - - 2084.75 - 112.62 102.54 1.578 2039.72 -4.5 0.250 - - - - - - 15.08 - 11.33
4660.25 475.17 9.94 388 4665.96 done 1.74 - - 2556.62 - 4.05 0.138 662.12 -351.3 112.62 - - 2027.44 - - - - - - - - - 15.15 -
4764.17 462.72 12.66 409 4769.89 done 1.74 - - 2557.06 - 3.54 0.046 2126.31 413.6 112.62 - - 2027.50 - - - - - - - - - 15.43 -
5075.29 432.22 9.56 421 5081.00 done 1.79 - - 2556.56 - 4.12 0.134 661.50 -355.5 112.62 - - 2026.59 - - - - - - - - - 15.14 -
5194.20 419.39 10.53 445 5199.91 done 1.81 - - 2558.19 - 3.52 0.045 2126.44 416.2 112.62 - - 2024.50 - - - - - - - - - 15.43 -
5520.37 389.24 9.36 460 5526.09 1.86 0.20 0.071 2603.62 227.1 4.12 0.132 659.75 -356.0 112.62 - - 2023.25 - - - - - - - - 15.59 15.10 -
5674.24 370.88 11.95 491 5679.95 done 1.86 - - 2604.62 - 3.53 0.045 2125.88 415.3 112.62 - - 2023.88 - - - - - - - - - 15.42 -
5995.37 342.16 8.50 505 6026.98 done 1.94 - - 2603.94 - 4.07 0.134 659.81 -360.2 138.60 22.45 1.394 1933.31 -4.0 0.173 - - - - - - - 15.24 11.46
6119.31 329.29 10.66 530 6124.98 roll 1.94 - - 2603.69 - 3.51 0.046 2125.19 417.5 138.60 - - 1931.00 - - - - - - - - - 15.49 -
6445.43 296.57 10.39 545 6451.08 roll 1.96 - - 2603.19 - 4.10 0.131 661.06 -357.1 138.60 - - 1927.22 - - - - - - - - - 15.13 -
6604.31 277.40 13.55 577 6610.02 roll 1.96 - - 2603.50 - 3.54 0.045 2126.56 414.0 138.60 - - 1928.41 - - - - - - - - - 15.41 -
6910.48 246.95 9.71 591 6916.14 done 2.00 - - 2602.19 - 4.14 0.129 660.62 -354.1 138.60 - - 1926.97 - - - - - - - - - 15.04 -
7055.90 230.21 12.27 620 7061.07 done 2.00 - - 2603.81 - 3.54 0.045 2127.19 414.3 138.60 - - 1926.84 - - - - - - - - - 15.40 -
7180.48 218.69 9.04 633 7205.67 2.06 0.24 0.077 2650.38 194.0 4.05 0.128 661.00 -362.0 159.16 19.25 1.267 1850.41 -4.0 0.119 - - - - - - 15.58 15.26 11.46
7330.94 200.28 11.37 663 7336.11 roll 2.06 - - 2648.69 - 3.53 0.045 2126.44 415.1 159.16 - - 1848.44 - - - - - - - - - 15.52 -
7455.52 187.55 9.16 676 7461.21 roll 2.12 - - 2650.62 - 4.09 0.127 661.56 -358.2 159.16 - - 1844.97 - - - - - - - - - 15.19 -
7534.42 177.28 13.66 692 7541.24 roll 2.12 - - 2650.31 - 3.52 0.044 2127.06 416.3 159.16 - - 1846.56 - - - - - - - - - 15.46 -
7660.54 164.85 10.05 705 7666.23 roll 2.15 - - 2649.38 - 4.09 0.125 659.75 -358.8 159.16 - - 1846.66 - - - - - - - - - 15.13 -
7709.46 159.64 10.54 715 7716.26 roll 2.17 - - 2650.56 - 3.54 0.044 2128.31 414.8 159.16 - - 1844.84 - - - - - - - - - 15.43 -
7835.60 146.97 10.03 728 7836.93 no move 2.20 - - 2650.06 - - - 2128.62 - 159.16 - - 1842.88 - - - - - - - - - - -
7895.61 140.64 10.73 734 7901.26 roll 2.20 - - 2650.12 - 4.09 0.124 660.38 -359.0 159.16 - - 1842.59 - - - - - - - - - 15.08 -
7971.00 132.51 11.19 749 7976.19 roll 2.20 - - 2648.94 - 3.52 0.043 2128.00 416.9 159.16 - - 1844.06 - - - - - - - - - 15.44 -
8035.57 125.91 9.41 756 8041.29 roll back 2.25 0.23 0.071 2696.94 208.7 3.63 0.106 3473.12 370.6 159.16 - - 1842.34 - - - - - - - - 15.58 15.15 -
8074.48 121.36 11.19 764 8081.27 roll 2.25 - - 2696.94 - 3.40 0.050 2079.12 -410.0 159.16 - - 1843.88 - - - - - - - - - 15.33 -
8140.64 115.69 9.02 771 8166.35 VBD 2.31 - - 2696.56 - - - 2079.00 - 180.01 24.77 1.141 1763.81 -3.2 0.057 - - - - - - - - 11.55
8220.63 107.19 10.92 779 8226.24 roll 2.31 - - 2696.44 - 3.76 0.104 3474.44 371.1 180.01 - - 1764.66 - - - - - - - - - 15.33 -
8339.58 92.91 10.04 803 8346.32 roll 2.35 - - 2697.19 - 3.40 0.051 2077.56 -410.8 180.01 - - 1762.97 - - - - - - - - - 15.39 -
8405.63 87.21 8.37 810 8447.54 2.43 0.21 0.082 2739.69 202.4 3.88 0.128 659.88 -365.4 207.28 32.77 1.114 1654.34 -3.3 0.045 - - - - - - 15.53 15.15 11.63
8569.68 66.59 14.29 843 8576.50 roll 2.43 - - 2739.62 - 3.53 0.043 2129.19 416.2 207.28 - - 1651.81 - - - - - - - - - 15.43 -
8635.79 60.85 8.26 850 8677.18 done 2.51 - - 2739.81 - 3.57 0.106 3475.19 377.0 235.65 33.38 1.078 1538.69 -3.4 0.033 - - - - - - - 15.11 11.49
8775.81 47.76 10.19 878 8780.41 roll 2.54 - - 2739.38 - 3.40 0.050 2078.44 -410.8 235.65 - - 1536.09 - - - - - - - - - 15.38 -
8845.82 41.69 8.61 886 8881.21 2.62 0.23 0.073 2784.00 194.0 3.88 0.127 659.75 -365.6 260.49 28.99 1.041 1437.28 -3.4 0.024 - - - - - - 15.47 15.10 11.56
8969.74 30.25 8.01 911 9011.19 done 2.71 - - 2784.12 - 3.50 0.042 2132.69 420.8 291.36 34.78 1.032 1311.97 -3.6 0.018 - - - - - - - 15.45 11.56
9076.53 24.82 5.66 926 9141.64 2.87 0.34 0.064 2844.81 178.5 3.59 0.105 3475.38 374.0 345.57 58.97 1.029 1090.12 -3.8 0.016 - - - - - - 15.41 14.97 11.54
9143.81 19.03 9.19 937 9150.71 roll 2.93 - - 2845.38 - 3.41 0.047 2073.88 -411.0 345.57 - - 1090.44 - - - - - - - - - 15.29 -
9209.94 11.23 12.30 944 9215.58 roll 2.93 - - 2844.56 - 3.90 0.125 659.81 -362.6 345.57 - - 1088.84 - - - - - - - - - 15.15 -
9255.33 4.62 15.35 953 9260.49 roll 2.93 - - 2843.44 - 3.48 0.040 2130.31 422.6 345.57 - - 1088.50 - - - - - - - - - 15.40 -
9279 end climb: SURFACE_DEPTH_REACHED
9279 begin surface coast
9289 end surface coast: CONTROL_FINISHED_OK
9289 begin surface
SM -0.30 - - - - 169.9 - - 563.4 - 19.25 0.087 560.0 29.1 - 0.10 0.135 566.9 5634.2 1.280 - - 30.00 15.11 15.40 -