NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1185 * Raw log
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• Previous call tries 4 • 322.41 of 575.00 AH used of 24V (43.93% remains)
• Surface angle -65.1 deg, depth -1.41 m • Intended pitch -27.4 deg, speed -11.111 cm/s
• VBD pumped to 475.02 (SM_CC=475)
• GPS1 time: 22 s
• GPS2 time: 3 s • Transponder ping count: 20
• 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
8.54 - - - 90.32 VBD -1.59 - - 170.12 - - - 2118.69 - -74.33 81.30 0.005 2482.97 - - - - - - - - - - 14.67
90.57 3.73 -8.32 8 123.44 -1.67 14.53 0.261 1733.62 107.6 4.26 0.144 663.12 -341.7 -102.10 9.49 0.007 2914.97 45.5 -4.235 - - - - - - 14.77 14.62 14.85
182.12 23.68 -19.94 26 187.32 roll -1.67 - - 1733.88 - 3.62 0.050 2119.94 402.4 -102.10 - - 2913.34 - - - - - - - - - 15.30 -
246.67 34.84 -17.01 33 248.00 no move -1.67 - - 1734.00 - - - 2119.88 - -102.10 - - 2915.53 - - - - - - - - - - -
306.69 43.75 -14.82 39 312.34 roll -1.67 - - 1733.31 - 3.74 0.105 3474.62 362.2 -102.10 - - 2914.03 - - - - - - - - - 15.06 -
325.60 46.82 -15.98 43 332.39 roll -1.67 - - 1733.44 - 3.45 0.052 2082.06 -403.6 -102.10 - - 2917.28 - - - - - - - - - 15.21 -
391.74 56.56 -14.83 50 397.37 roll -1.67 - - 1733.31 - 3.81 0.102 3476.50 366.0 -102.10 - - 2913.84 - - - - - - - - - 15.06 -
470.60 68.93 -15.80 66 477.40 roll -1.67 - - 1733.44 - 3.43 0.051 2081.19 -406.8 -102.10 - - 2917.56 - - - - - - - - - 15.20 -
536.76 77.82 -13.37 73 542.39 roll -1.67 - - 1733.00 - 3.82 0.100 3475.25 364.9 -102.10 - - 2913.69 - - - - - - - - - 15.05 -
555.69 80.24 -13.02 77 562.42 roll -1.67 - - 1733.56 - 3.40 0.050 2080.56 -410.2 -102.10 - - 2915.47 - - - - - - - - - 15.20 -
621.76 88.04 -11.34 84 627.45 roll -1.67 - - 1733.19 - 4.11 0.143 662.06 -345.1 -102.10 - - 2916.31 - - - - - - - - - 14.92 -
657.16 92.72 -13.67 91 662.35 roll -1.67 - - 1733.19 - 3.53 0.045 2123.44 414.0 -102.10 - - 2915.44 - - - - - - - - - 15.31 -
721.71 100.49 -11.70 98 723.04 no move -1.67 - - 1733.25 - - - 2123.31 - -102.10 - - 2916.22 - - - - - - - - - - -
781.73 107.37 -11.58 104 787.38 roll -1.67 - - 1733.75 - 3.65 0.103 3474.94 370.3 -102.10 - - 2915.34 - - - - - - - - - 15.02 -
846.74 115.35 -11.94 117 851.33 roll -1.67 - - 1732.38 - 3.39 0.051 2079.56 -411.6 -102.10 - - 2916.81 - - - - - - - - - 15.19 -
916.74 123.26 -11.10 125 918.07 no move -1.67 - - 1733.50 - - - 2080.31 - -102.10 - - 2916.16 - - - - - - - - - - -
976.75 129.44 -10.21 131 982.47 roll -1.67 - - 1733.81 - 4.07 0.144 661.06 -348.7 -102.10 - - 2916.03 - - - - - - - - - 14.90 -
985.68 130.33 -10.40 133 992.48 roll -1.67 - - 1733.62 - 3.53 0.044 2123.06 414.2 -102.10 - - 2917.94 - - - - - - - - - 15.28 -
1051.75 136.92 -9.78 140 1053.08 no move -1.67 - - 1733.25 - - - 2123.31 - -102.10 - - 2915.03 - - - - - - - - - - -
1111.77 142.49 -9.44 146 1113.10 no move -1.67 - - 1733.56 - - - 2123.44 - -102.10 - - 2916.31 - - - - - - - - - - -
1171.77 148.34 -9.28 152 1177.42 roll -1.67 - - 1733.44 - 3.68 0.105 3475.25 367.3 -102.10 - - 2916.44 - - - - - - - - - 15.00 -
1226.77 154.08 -11.10 163 1231.37 roll -1.67 - - 1733.69 - 3.40 0.051 2080.25 -410.3 -102.10 - - 2915.94 - - - - - - - - - 15.19 -
1356.80 167.83 -10.52 177 1362.53 roll -1.67 - - 1733.44 - 4.11 0.144 662.00 -345.1 -102.10 - - 2914.38 - - - - - - - - - 14.88 -
1382.23 170.57 -10.79 182 1387.42 roll -1.67 - - 1733.19 - 3.52 0.045 2123.00 415.1 -102.10 - - 2914.38 - - - - - - - - - 15.29 -
1506.81 184.84 -11.09 195 1512.46 roll -1.67 - - 1733.88 - 3.67 0.104 3473.25 367.9 -102.10 - - 2916.59 - - - - - - - - - 14.98 -
1535.70 188.53 -12.25 201 1542.49 roll -1.67 - - 1733.44 - 3.37 0.050 2080.31 -413.3 -102.10 - - 2916.03 - - - - - - - - - 15.16 -
1661.82 203.22 -11.73 214 1667.53 roll -1.67 - - 1733.69 - 4.09 0.145 661.94 -346.8 -102.10 - - 2918.06 - - - - - - - - - 14.88 -
1687.25 206.37 -11.77 219 1692.43 roll -1.67 - - 1733.44 - 3.50 0.045 2124.25 417.8 -102.10 - - 2916.78 - - - - - - - - - 15.28 -
1811.83 220.55 -11.60 232 1817.47 roll -1.67 - - 1733.75 - 3.64 0.105 3475.06 371.1 -102.10 - - 2916.47 - - - - - - - - - 14.98 -
1850.73 225.99 -12.92 240 1857.52 roll -1.67 - - 1733.56 - 3.38 0.051 2081.19 -412.4 -102.10 - - 2916.50 - - - - - - - - - 15.15 -
1976.84 240.62 -10.93 253 1978.17 no move -1.67 - - 1733.25 - - - 2080.94 - -102.10 - - 2916.28 - - - - - - - - - - -
2096.86 254.77 -12.32 263 2098.19 no move -1.67 - - 1733.38 - - - 2081.31 - -102.10 - - 2916.16 - - - - - - - - - - -
2396.86 287.22 -10.86 273 2402.52 roll -1.67 - - 1733.25 - 3.79 0.105 3475.94 368.0 -102.10 - - 2918.12 - - - - - - - - - 14.92 -
2455.78 294.52 -12.85 285 2461.48 roll -1.67 - - 1733.81 - 3.42 0.053 2081.12 -407.8 -102.10 - - 2916.12 - - - - - - - - - 15.10 -
2781.92 330.67 -11.28 300 2783.25 no move -1.67 - - 1733.38 - - - 2081.31 - -102.10 - - 2916.22 - - - - - - - - - - -
3081.88 364.22 -11.18 310 3083.21 no move -1.67 - - 1733.44 - - - 2081.31 - -102.10 - - 2915.66 - - - - - - - - - - -
3381.89 395.97 -10.38 320 3387.58 roll -1.67 - - 1733.69 - 3.87 0.109 3475.00 360.1 -102.10 - - 2914.62 - - - - - - - - - 14.88 -
3415.80 400.51 -11.73 327 3421.51 roll -1.67 - - 1733.12 - 3.46 0.055 2082.12 -402.6 -102.10 - - 2917.12 - - - - - - - - - 15.07 -
3736.92 435.01 -10.81 341 3742.61 roll -1.67 - - 1733.75 - 3.89 0.109 3473.75 357.7 -102.10 - - 2914.69 - - - - - - - - - 14.87 -
3805.84 442.96 -13.35 355 3811.53 roll -1.67 - - 1733.50 - 3.48 0.057 2082.31 -399.8 -102.10 - - 2915.19 - - - - - - - - - 15.03 -
4121.94 474.60 -9.23 368 4127.69 roll -1.67 - - 1733.31 - 4.28 0.154 661.69 -331.9 -102.10 - - 2914.16 - - - - - - - - - 14.75 -
4147.38 476.63 -10.37 373 4152.57 roll -1.67 - - 1732.81 - 3.57 0.049 2120.88 408.7 -102.10 - - 2913.84 - - - - - - - - - 15.19 -
4441 end dive: TARGET_DEPTH_EXCEEDED
4441 begin apogee
4443.09 502.77 -8.93 387 4534.27 -0.25 2.88 0.159 2078.25 119.9 0.07 0.243 2116.56 -61.7 - 85.92 1.631 2499.09 -4.8 0.260 - - - - - - 14.80 14.85 10.88
4537 end apogee: CONTROL_FINISHED_OK
4537 begin climb
4537.53 504.30 - 390 4643.19 1.67 3.46 0.080 2549.44 136.2 4.30 0.135 662.12 -338.2 102.10 93.96 1.574 2082.16 -4.4 0.248 - - - - - - 15.05 14.56 11.37
4670.39 495.37 8.58 417 4701.57 done 1.75 - - 2551.19 - 3.64 0.044 2125.31 402.0 127.30 24.68 1.447 1980.91 -4.1 0.245 - - - - - - - 15.04 11.27
5016.42 455.66 11.36 436 5022.15 done 1.75 - - 2550.44 - 4.16 0.134 662.06 -351.7 127.30 - - 1970.00 - - - - - - - - - 15.15 -
5125.35 442.72 12.52 458 5132.16 done 1.75 - - 2550.56 - 3.53 0.046 2124.19 414.2 127.30 - - 1971.31 - - - - - - - - - 15.41 -
5431.47 414.46 9.24 469 5437.24 1.81 0.17 0.082 2590.75 236.4 4.15 0.131 660.62 -352.7 127.30 - - 1966.88 - - - - - - - - 15.53 15.12 -
5516.91 403.95 11.86 486 5522.10 done 1.81 - - 2587.88 - 3.52 0.045 2126.38 416.4 127.30 - - 1967.69 - - - - - - - - - 15.42 -
5841.54 371.34 10.32 501 5847.20 done 1.83 - - 2590.50 - 4.18 0.131 660.50 -350.7 127.30 - - 1967.25 - - - - - - - - - 15.07 -
5860.40 368.84 10.49 505 5867.20 done 1.85 - - 2590.38 - 3.53 0.043 2125.12 414.9 127.30 - - 1967.28 - - - - - - - - - 15.40 -
6166.50 338.86 9.77 516 6172.23 done 1.89 - - 2589.81 - 4.20 0.131 660.75 -348.7 127.30 - - 1966.47 - - - - - - - - - 15.02 -
6385.42 312.83 14.20 560 6391.14 done 1.89 - - 2589.56 - 3.52 0.044 2127.06 416.6 127.30 - - 1965.50 - - - - - - - - - 15.35 -
6701.54 285.53 8.75 573 6727.75 1.96 0.16 0.086 2622.00 202.8 4.08 0.130 661.75 -359.1 150.80 20.64 1.336 1883.78 -4.0 0.148 - - - - - - 15.55 15.25 11.42
6790.45 275.24 13.70 591 6796.16 roll 1.96 - - 2623.50 - 3.51 0.043 2125.94 417.1 150.80 - - 1881.09 - - - - - - - - - 15.48 -
7096.56 244.11 10.28 608 7102.42 roll 1.98 - - 2621.69 - 4.15 0.129 662.06 -352.7 150.80 - - 1878.78 - - - - - - - - - 15.12 -
7312.15 218.10 10.93 651 7317.23 roll 1.98 - - 2622.00 - 3.55 0.047 2125.81 412.3 150.80 - - 1878.00 - - - - - - - - - 15.39 -
7436.64 204.85 10.51 664 7442.27 roll 2.00 - - 2621.56 - 3.71 0.108 3473.88 363.4 150.80 - - 1877.91 - - - - - - - - - 15.14 -
7465.52 201.96 10.64 670 7472.33 roll 2.00 - - 2623.81 - 3.41 0.050 2077.25 -409.6 150.80 - - 1877.22 - - - - - - - - - 15.29 -
7591.64 189.38 10.63 683 7597.34 done 2.00 - - 2623.31 - 4.01 0.129 660.94 -353.2 150.80 - - 1875.97 - - - - - - - - - 15.07 -
7667.09 180.64 10.59 698 7672.27 done 2.02 - - 2623.81 - 3.52 0.044 2129.69 417.3 150.80 - - 1875.69 - - - - - - - - - 15.38 -
7791.67 168.04 9.49 711 7797.38 done 2.07 - - 2624.19 - 4.14 0.125 660.69 -354.8 150.80 - - 1875.47 - - - - - - - - - 15.04 -
7830.69 163.29 11.84 719 7837.39 done 2.07 - - 2624.00 - 3.55 0.042 2129.81 413.8 150.80 - - 1877.03 - - - - - - - - - 15.40 -
7956.69 151.47 9.46 732 7962.45 2.12 0.19 0.079 2661.62 198.0 4.16 0.125 661.94 -352.9 150.80 - - 1876.75 - - - - - - - - 15.55 15.03 -
8015.58 144.50 11.28 744 8022.41 done 2.12 - - 2664.00 - 3.55 0.043 2128.50 413.1 150.80 - - 1878.28 - - - - - - - - - 15.36 -
8081.71 138.20 9.84 751 8087.33 done 2.15 - - 2664.50 - 3.66 0.106 3475.31 368.0 150.80 - - 1875.81 - - - - - - - - - 15.10 -
8096.70 136.65 9.82 754 8101.27 done 2.19 - - 2663.75 - 3.40 0.049 2075.56 -411.7 150.80 - - 1876.78 - - - - - - - - - 15.33 -
8166.70 129.86 9.33 762 8172.38 done 2.25 - - 2662.19 - 3.98 0.126 660.88 -355.4 150.80 - - 1876.09 - - - - - - - - - 15.05 -
8192.14 127.08 10.34 767 8197.36 2.27 0.17 0.080 2700.06 222.8 3.50 0.041 2129.50 419.6 150.80 - - 1875.53 - - - - - - - - 15.17 15.42 -
8256.71 120.34 10.27 774 8262.43 done 2.30 - - 2700.19 - 4.11 0.120 660.88 -357.3 150.80 - - 1874.91 - - - - - - - - - 15.08 -
8365.63 107.41 12.47 796 8372.44 done 2.30 - - 2700.12 - 3.54 0.042 2129.56 414.9 150.80 - - 1876.66 - - - - - - - - - 15.32 -
8431.73 101.89 8.68 803 8466.13 done 2.37 - - 2699.81 - 4.06 0.122 662.06 -361.5 174.99 28.90 1.147 1786.59 -3.1 0.048 - - - - - - - 15.20 11.41
8468.40 98.69 8.90 808 8501.74 2.43 0.19 0.076 2740.69 215.2 3.52 0.040 2130.31 417.1 197.00 28.19 1.102 1698.09 -3.1 0.049 - - - - - - 15.22 15.44 11.60
8559.41 88.36 12.66 820 8565.13 roll 2.43 - - 2740.31 - 4.09 0.121 662.00 -359.0 197.00 - - 1691.66 - - - - - - - - - 15.18 -
8694.88 69.62 12.28 847 8700.07 roll 2.43 - - 2740.56 - 3.51 0.042 2129.06 418.0 197.00 - - 1692.97 - - - - - - - - - 15.43 -
8759.45 63.70 8.66 854 8794.83 done 2.51 - - 2740.69 - 4.07 0.122 660.56 -360.8 221.40 28.73 1.078 1596.47 -3.4 0.035 - - - - - - - 15.15 11.62
8809.91 59.60 8.06 864 8851.01 2.60 0.19 0.074 2780.50 209.5 3.53 0.040 2130.44 416.4 251.80 36.13 1.062 1473.56 -3.4 0.033 - - - - - - 15.23 15.39 11.60
8909.46 51.44 8.06 878 8945.09 VBD 2.69 - - 2781.06 - - - 2130.25 - 282.14 35.06 1.043 1350.34 -3.5 0.030 - - - - - - - - 11.46
9004.47 42.37 10.14 889 9010.14 roll 2.72 - - 2780.69 - 4.14 0.123 660.75 -355.0 282.14 - - 1347.94 - - - - - - - - - 15.11 -
9044.91 37.08 13.49 897 9050.10 roll 2.72 - - 2780.81 - 3.53 0.040 2130.56 416.4 282.14 - - 1345.88 - - - - - - - - - 15.36 -
9109.47 29.86 10.84 904 9115.12 roll 2.72 - - 2780.75 - 3.61 0.103 3475.06 372.4 282.14 - - 1344.41 - - - - - - - - - 15.18 -
9338.42 6.85 8.15 950 9375.97 2.81 0.25 0.074 2831.19 201.8 3.43 0.050 2079.75 -406.8 311.64 31.34 1.017 1229.50 -3.7 0.004 - - - - - - 15.11 15.32 11.47
9404 end climb: SURFACE_DEPTH_REACHED
9404 begin surface coast
9424 end surface coast: CONTROL_FINISHED_OK
9424 begin surface
SM -0.55 - - - - 173.9 - 0.010 563.5 - 19.37 0.084 562.1 29.0 - 0.08 0.138 564.9 7018.4 2.859 - - 30.36 15.14 15.45 -