NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1200 * Raw log
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• Previous call tries 1 • 326.20 of 575.00 AH used of 24V (43.27% remains)
• Surface angle -64.4 deg, depth -1.49 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.75 (SM_CC=475)
• GPS1 time: 21 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
8.59 - - - 100.56 VBD -1.59 - - 170.31 - - - 2117.94 - -74.33 91.56 0.005 2730.97 - - - - - - - - - - 13.27
100.79 5.30 -10.65 9 121.56 -1.59 14.59 0.250 1753.50 108.5 - - 2117.88 - -74.33 1.41 0.020 2801.56 50.1 -2.404 - - - - - - 14.79 - 13.53
178.73 23.03 -17.85 18 184.44 roll -1.59 - - 1753.31 - 4.26 0.144 660.81 -342.0 -74.33 - - 2801.88 - - - - - - - - - 15.00 -
187.64 24.71 -17.36 20 194.44 roll -1.59 - - 1752.44 - 3.61 0.048 2122.75 405.0 -74.33 - - 2803.47 - - - - - - - - - 15.30 -
253.70 35.57 -16.56 27 259.35 roll -1.59 - - 1752.50 - 3.70 0.103 3474.56 365.4 -74.33 - - 2802.78 - - - - - - - - - 15.08 -
352.63 52.32 -15.64 47 359.42 roll -1.59 - - 1753.12 - 3.43 0.051 2081.19 -406.2 -74.33 - - 2803.94 - - - - - - - - - 15.19 -
418.77 60.83 -13.08 54 424.45 roll -1.59 - - 1753.44 - 4.12 0.143 661.69 -344.5 -74.33 - - 2801.66 - - - - - - - - - 14.95 -
454.17 65.51 -13.48 61 459.36 roll -1.59 - - 1753.19 - 3.54 0.044 2123.56 413.0 -74.33 - - 2802.56 - - - - - - - - - 15.31 -
518.73 73.23 -11.16 68 524.38 roll -1.59 - - 1753.00 - 3.64 0.099 3475.38 371.4 -74.33 - - 2804.50 - - - - - - - - - 15.06 -
563.74 79.14 -13.12 77 568.36 roll -1.59 - - 1752.94 - 3.42 0.049 2080.19 -408.0 -74.33 - - 2803.78 - - - - - - - - - 15.22 -
633.74 86.97 -10.78 85 639.42 roll -1.59 - - 1752.88 - 3.78 0.097 3476.06 369.3 -74.33 - - 2800.62 - - - - - - - - - 15.06 -
668.75 90.69 -10.62 92 673.36 roll -1.59 - - 1753.88 - 3.40 0.050 2081.06 -410.3 -74.33 - - 2804.28 - - - - - - - - - 15.20 -
738.75 97.94 -10.48 100 744.43 roll -1.59 - - 1753.56 - 3.79 0.098 3475.50 367.9 -74.33 - - 2800.62 - - - - - - - - - 15.04 -
777.67 102.42 -11.99 108 784.47 roll -1.59 - - 1753.56 - 3.40 0.049 2079.94 -410.5 -74.33 - - 2802.50 - - - - - - - - - 15.18 -
843.82 109.04 -10.12 115 845.15 no move -1.59 - - 1753.25 - - - 2080.12 - -74.33 - - 2802.66 - - - - - - - - - - -
903.78 115.01 -9.95 121 909.45 roll -1.59 - - 1753.50 - 3.81 0.099 3476.00 366.4 -74.33 - - 2801.94 - - - - - - - - - 15.02 -
948.78 119.75 -11.54 130 953.38 roll -1.59 - - 1754.19 - 3.41 0.051 2081.38 -409.0 -74.33 - - 2802.47 - - - - - - - - - 15.19 -
1018.78 126.81 -10.28 138 1020.11 no move -1.59 - - 1753.56 - - - 2081.38 - -74.33 - - 2802.75 - - - - - - - - - - -
1078.81 132.13 -9.01 144 1080.24 VBD -1.65 - - 1753.50 - - - 2081.06 - -95.20 0.51 0.044 2889.00 169.1 -92.006 - - - - - - - - 14.65
1138.84 137.64 -9.28 150 1140.17 no move -1.65 - - 1753.38 - - - 2080.81 - -95.20 - - 2891.88 - - - - - - - - - - -
1198.81 143.65 -10.25 156 1204.53 roll -1.65 - - 1753.12 - 4.16 0.146 662.25 -341.0 -95.20 - - 2891.78 - - - - - - - - - 14.90 -
1217.71 145.71 -10.47 160 1224.52 roll -1.65 - - 1753.38 - 3.54 0.044 2122.69 412.6 -95.20 - - 2894.03 - - - - - - - - - 15.28 -
1283.80 152.24 -10.13 167 1285.13 no move -1.65 - - 1753.25 - - - 2123.12 - -95.20 - - 2891.50 - - - - - - - - - - -
1403.82 163.85 -9.55 179 1409.46 roll -1.65 - - 1753.31 - 3.69 0.103 3475.06 366.4 -95.20 - - 2890.59 - - - - - - - - - 15.00 -
1442.73 168.38 -11.24 187 1449.53 roll -1.65 - - 1752.94 - 3.41 0.049 2079.38 -409.3 -95.20 - - 2891.56 - - - - - - - - - 15.15 -
1568.84 180.83 -10.21 200 1570.16 no move -1.65 - - 1753.38 - - - 2079.50 - -95.20 - - 2891.97 - - - - - - - - - - -
1688.84 192.62 -10.19 212 1690.16 no move -1.65 - - 1753.12 - - - 2079.19 - -95.20 - - 2891.94 - - - - - - - - - - -
1808.85 204.44 -9.70 224 1810.18 no move -1.65 - - 1753.50 - - - 2079.12 - -95.20 - - 2891.69 - - - - - - - - - - -
1928.86 216.01 -9.78 236 1934.54 roll -1.65 - - 1753.44 - 3.84 0.103 3475.88 363.7 -95.20 - - 2890.75 - - - - - - - - - 14.94 -
1957.77 219.31 -11.37 242 1964.57 roll -1.65 - - 1753.75 - 3.42 0.051 2081.38 -407.7 -95.20 - - 2892.09 - - - - - - - - - 15.11 -
2083.88 231.57 -9.49 255 2089.61 roll -1.65 - - 1753.00 - 4.17 0.145 661.94 -340.4 -95.20 - - 2891.84 - - - - - - - - - 14.85 -
2099.38 233.19 -9.79 258 2104.51 roll -1.65 - - 1753.44 - 3.56 0.044 2124.25 410.8 -95.20 - - 2891.12 - - - - - - - - - 15.26 -
2223.89 245.25 -9.71 271 2229.70 roll -1.65 - - 1753.19 - 3.71 0.104 3476.25 364.4 -95.20 - - 2890.31 - - - - - - - - - 14.96 -
2258.89 249.48 -12.62 278 2263.64 roll -1.65 - - 1753.75 - 3.41 0.051 2081.25 -409.1 -95.20 - - 2891.81 - - - - - - - - - 15.13 -
2389.60 263.21 -10.68 284 2394.58 roll -1.65 - - 1753.12 - 3.85 0.103 3476.38 362.4 -95.20 - - 2889.88 - - - - - - - - - 14.94 -
2417.81 266.98 -12.71 290 2423.51 roll -1.65 - - 1752.81 - 3.42 0.051 2080.38 -408.2 -95.20 - - 2894.34 - - - - - - - - - 15.10 -
2743.92 304.14 -11.24 305 2749.60 roll -1.65 - - 1753.44 - 3.88 0.104 3474.06 359.2 -95.20 - - 2890.38 - - - - - - - - - 14.91 -
2782.84 308.54 -11.65 313 2788.53 roll -1.65 - - 1753.50 - 3.43 0.052 2081.31 -406.0 -95.20 - - 2891.69 - - - - - - - - - 15.07 -
3098.94 344.24 -11.00 326 3104.61 roll -1.65 - - 1753.00 - 3.87 0.104 3475.69 360.3 -95.20 - - 2892.31 - - - - - - - - - 14.90 -
3167.92 352.42 -12.83 340 3173.55 roll -1.65 - - 1753.25 - 3.45 0.053 2082.00 -404.0 -95.20 - - 2893.03 - - - - - - - - - 15.06 -
3483.96 387.76 -11.21 353 3489.66 roll -1.65 - - 1753.19 - 3.91 0.106 3476.19 356.6 -95.20 - - 2891.78 - - - - - - - - - 14.88 -
3509.01 390.60 -10.81 358 3513.56 roll -1.65 - - 1753.56 - 3.48 0.054 2082.25 -400.6 -95.20 - - 2891.31 - - - - - - - - - 15.05 -
3839.02 426.98 -10.78 374 3840.35 no move -1.65 - - 1753.12 - - - 2082.31 - -95.20 - - 2891.25 - - - - - - - - - - -
4138.97 455.86 -9.48 384 4144.66 roll -1.65 - - 1753.94 - 3.94 0.110 3475.06 353.5 -95.20 - - 2891.50 - - - - - - - - - 14.85 -
4167.89 458.10 -9.72 390 4173.59 roll -1.65 - - 1753.38 - 3.46 0.055 2084.25 -402.0 -95.20 - - 2891.31 - - - - - - - - - 15.01 -
4494.05 487.86 -8.64 405 4495.53 pitch -1.73 0.33 0.070 1706.31 -142.6 - - 2083.25 - -119.74 - - 2889.03 - - - - - - - - 15.41 - -
4613 end dive: TARGET_DEPTH_EXCEEDED
4613 begin apogee
4615.15 500.56 -10.44 409 4700.85 -0.25 3.32 0.165 2078.69 112.2 0.09 0.222 2083.81 - - 80.67 1.636 2496.94 -4.9 0.269 - - - - - - 14.73 14.84 10.93
4703 end apogee: CONTROL_FINISHED_OK
4703 begin climb
4704.13 503.38 - 411 4819.47 1.73 3.61 0.080 2562.88 134.1 - - 2083.94 - 119.74 110.18 1.578 2012.81 -4.4 0.254 - - - - - - 15.01 - 11.27
5097.56 470.78 9.61 425 5103.27 done 1.77 - - 2563.12 - 4.10 0.137 662.31 -346.7 119.74 - - 1999.84 - - - - - - - - - 15.07 -
5201.50 459.70 9.91 446 5207.20 done 1.81 - - 2563.31 - 3.54 0.045 2125.31 413.3 119.74 - - 1998.94 - - - - - - - - - 15.35 -
5512.59 432.24 8.34 458 5544.49 1.89 0.22 0.068 2611.06 217.0 4.14 0.133 660.75 -353.8 147.35 24.80 1.455 1899.16 -4.0 0.217 - - - - - - 15.49 15.12 11.48
5591.62 423.16 9.40 474 5597.33 roll 1.94 - - 2610.94 - 3.55 0.045 2124.12 412.2 147.35 - - 1894.91 - - - - - - - - - 15.36 -
5902.73 388.34 11.09 486 5908.45 roll 1.94 - - 2610.88 - 4.16 0.130 661.88 -351.5 147.35 - - 1891.41 - - - - - - - - - 15.11 -
6056.65 367.96 14.29 517 6062.36 roll 1.94 - - 2610.44 - 3.56 0.046 2124.19 410.8 147.35 - - 1893.97 - - - - - - - - - 15.36 -
6377.77 334.22 9.88 531 6379.10 VBD 1.98 - - 2611.25 - - - 2124.69 - 147.35 - - 1890.34 - - - - - - - - - - -
6677.77 303.43 10.21 541 6683.52 done 2.01 - - 2611.38 - 4.22 0.130 661.75 -346.7 147.35 - - 1889.56 - - - - - - - - - 15.01 -
6756.68 294.34 10.35 557 6763.49 done 2.03 - - 2611.19 - 3.58 0.044 2123.31 408.3 147.35 - - 1891.12 - - - - - - - - - 15.34 -
7062.78 265.77 8.83 568 7090.02 2.10 0.25 0.069 2660.94 199.0 4.08 0.130 660.62 -358.5 170.03 21.06 1.311 1804.97 -4.1 0.150 - - - - - - 15.52 15.24 11.34
7162.23 252.92 14.25 588 7167.93 roll 2.10 - - 2660.94 - 3.56 0.044 2123.88 411.0 170.03 - - 1804.00 - - - - - - - - - 15.45 -
7468.34 216.08 11.52 618 7474.06 roll 2.10 - - 2661.31 - 4.16 0.127 660.81 -351.7 170.03 - - 1799.31 - - - - - - - - - 15.10 -
7603.81 197.41 13.57 645 7608.99 roll 2.10 - - 2661.88 - 3.59 0.045 2124.94 407.8 170.03 - - 1800.78 - - - - - - - - - 15.38 -
7728.38 183.10 11.24 658 7734.11 roll 2.10 - - 2661.00 - 4.17 0.125 661.81 -350.9 170.03 - - 1799.62 - - - - - - - - - 15.06 -
7813.83 172.34 12.95 675 7819.02 roll 2.10 - - 2661.38 - 3.58 0.044 2123.81 408.4 170.03 - - 1799.66 - - - - - - - - - 15.36 -
7938.44 158.92 10.46 688 7944.13 roll 2.12 - - 2661.38 - 4.17 0.125 662.12 -350.5 170.03 - - 1801.47 - - - - - - - - - 15.05 -
8053.86 144.82 13.68 711 8059.06 roll 2.12 - - 2661.19 - 3.58 0.043 2127.75 409.4 170.03 - - 1800.00 - - - - - - - - - 15.34 -
8118.43 137.93 10.66 718 8119.76 no move 2.12 - - 2661.38 - - - 2127.44 - 170.03 - - 1799.56 - - - - - - - - - - -
8178.46 132.14 9.61 724 8184.17 roll 2.16 - - 2660.88 - 4.16 0.122 662.06 -352.3 170.03 - - 1798.66 - - - - - - - - - 15.02 -
8233.90 125.61 12.40 735 8239.08 roll 2.16 - - 2661.44 - 3.56 0.042 2127.19 411.6 170.03 - - 1798.31 - - - - - - - - - 15.34 -
8298.46 118.05 11.20 742 8304.12 roll 2.16 - - 2660.94 - 3.72 0.107 3474.88 362.3 170.03 - - 1799.94 - - - - - - - - - 15.09 -
8363.49 109.65 13.35 755 8368.07 done 2.16 - - 2662.56 - 3.43 0.050 2078.19 -407.2 170.03 - - 1798.78 - - - - - - - - - 15.26 -
8433.47 101.85 10.93 763 8439.18 done 2.16 - - 2661.12 - 4.03 0.126 661.75 -351.5 170.03 - - 1800.62 - - - - - - - - - 15.01 -
8538.95 88.89 12.24 784 8544.14 done 2.16 - - 2661.69 - 3.53 0.042 2128.25 415.4 170.03 - - 1797.53 - - - - - - - - - 15.34 -
8603.51 82.46 9.48 791 8609.15 done 2.21 - - 2660.69 - 3.66 0.104 3474.38 367.8 170.03 - - 1796.88 - - - - - - - - - 15.05 -
8682.42 75.68 8.15 807 8723.94 2.30 0.25 0.070 2707.56 187.5 3.42 0.048 2079.88 -407.7 199.48 34.66 1.119 1687.16 -3.2 0.039 - - - - - - 15.03 15.24 11.42
8788.53 67.73 8.20 822 8830.50 done 2.39 - - 2707.75 - 3.98 0.128 660.62 -356.6 228.46 34.90 1.087 1568.25 -3.4 0.038 - - - - - - - 15.03 11.49
9052.67 42.71 7.40 875 9100.40 2.50 0.25 0.065 2754.00 185.0 3.56 0.042 2130.38 412.9 265.38 41.96 1.063 1418.50 -3.6 0.026 - - - - - - 15.16 15.38 11.50
9158.76 34.29 8.92 890 9190.78 done 2.56 - - 2754.50 - 4.11 0.122 661.25 -357.5 287.22 25.50 1.011 1328.94 -3.5 0.022 - - - - - - - 15.01 11.43
9229.64 26.97 11.79 904 9234.63 roll 2.56 - - 2753.00 - 3.57 0.042 2128.25 410.9 287.22 - - 1329.06 - - - - - - - - - 15.33 -
9294.02 20.29 9.94 911 9299.76 roll 2.60 - - 2754.69 - 4.11 0.120 660.75 -357.1 287.22 - - 1326.38 - - - - - - - - - 15.11 -
9402.96 9.27 9.76 933 9409.81 roll back 2.64 0.16 0.079 2791.69 231.2 3.55 0.041 2131.62 414.3 287.22 - - 1326.84 - - - - - - - - 15.15 15.38 -
9469.04 5.90 5.25 940 9530.35 2.81 0.19 0.076 2833.69 221.1 0.03 0.383 2152.81 706.3 345.54 60.63 1.018 1092.62 -3.9 0.004 - - - - - - 15.43 15.02 11.51
9530 end climb: SURFACE_DEPTH_REACHED
9530 begin surface coast
9558 end surface coast: CONTROL_FINISHED_OK
9558 begin surface
SM -0.39 - - - - 170.2 - 0.013 564.6 - 19.17 0.071 561.6 29.3 - 0.18 0.100 567.6 3153.2 1.257 - - 30.36 15.03 15.29 -