NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1205 * Raw log
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• Previous call tries 1 • 327.46 of 575.00 AH used of 24V (43.05% remains)
• Surface angle -61.8 deg, depth -1.55 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.73 (SM_CC=475)
• GPS1 time: 2 s
• GPS2 time: 2 s • Transponder ping count: 16
• 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 - - - 100.55 VBD -1.59 - - 169.19 - - - 2119.06 - -74.33 91.51 0.005 2719.81 - - - - - - - - - - 13.22
100.78 5.38 -11.64 9 126.80 -1.59 14.65 0.250 1754.06 108.2 4.19 0.140 661.50 -347.9 -74.33 1.65 0.017 2802.34 50.0 -2.870 - - - - - - 14.79 14.65 13.40
130.48 14.59 -29.42 15 135.65 roll -1.59 - - 1753.94 - 3.59 0.047 2120.75 406.5 -74.33 - - 2801.34 - - - - - - - - - 15.33 -
195.01 26.28 -17.81 22 200.69 roll -1.59 - - 1753.88 - 3.71 0.103 3476.44 365.4 -74.33 - - 2804.19 - - - - - - - - - 15.10 -
210.03 28.76 -17.50 25 214.64 roll -1.59 - - 1753.69 - 3.42 0.049 2081.81 -407.8 -74.33 - - 2803.94 - - - - - - - - - 15.24 -
280.03 39.72 -15.22 33 285.70 roll -1.59 - - 1753.88 - 3.80 0.099 3475.50 366.8 -74.33 - - 2805.06 - - - - - - - - - 15.08 -
368.95 53.61 -15.58 51 375.75 roll -1.59 - - 1753.94 - 3.44 0.051 2080.19 -405.6 -74.33 - - 2802.97 - - - - - - - - - 15.18 -
435.10 62.35 -13.14 58 440.76 roll -1.59 - - 1754.25 - 4.09 0.142 663.25 -346.4 -74.33 - - 2800.59 - - - - - - - - - 14.95 -
480.50 68.68 -14.46 67 485.69 roll -1.59 - - 1754.62 - 3.54 0.043 2123.31 412.4 -74.33 - - 2802.88 - - - - - - - - - 15.29 -
545.05 76.56 -11.53 74 546.38 no move -1.59 - - 1754.00 - - - 2123.19 - -74.33 - - 2803.25 - - - - - - - - - - -
605.13 82.98 -10.52 80 610.72 roll -1.59 - - 1754.12 - 3.65 0.099 3476.12 370.7 -74.33 - - 2801.81 - - - - - - - - - 15.05 -
650.51 88.07 -11.84 89 655.68 roll -1.59 - - 1754.50 - 3.40 0.048 2081.31 -410.2 -74.33 - - 2803.62 - - - - - - - - - 15.21 -
715.13 94.97 -10.38 96 720.79 roll -1.59 - - 1754.12 - 4.07 0.141 663.31 -348.4 -74.33 - - 2804.97 - - - - - - - - - 14.95 -
743.98 97.99 -10.46 102 750.79 roll -1.59 - - 1754.19 - 3.49 0.041 2123.62 418.4 -74.33 - - 2802.19 - - - - - - - - - 15.28 -
810.15 103.73 -8.90 109 811.58 VBD -1.66 - - 1754.12 - - - 2123.88 - -96.38 0.60 0.037 2893.91 152.9 -77.699 - - - - - - - - 14.73
870.14 109.06 -9.12 115 875.75 roll -1.66 - - 1754.31 - 3.63 0.100 3476.56 372.6 -96.38 - - 2893.00 - - - - - - - - - 15.06 -
955.54 117.62 -10.48 132 960.72 roll -1.66 - - 1754.56 - 3.39 0.047 2079.44 -412.1 -96.38 - - 2893.06 - - - - - - - - - 15.21 -
1020.16 124.00 -9.35 139 1025.82 roll -1.66 - - 1753.25 - 4.06 0.140 662.94 -348.9 -96.38 - - 2897.19 - - - - - - - - - 14.95 -
1035.56 125.75 -10.11 142 1040.74 roll -1.66 - - 1753.88 - 3.51 0.041 2125.25 416.6 -96.38 - - 2895.66 - - - - - - - - - 15.32 -
1100.10 132.07 -10.15 149 1105.75 roll -1.66 - - 1754.00 - 3.62 0.100 3476.12 373.2 -96.38 - - 2894.31 - - - - - - - - - 15.05 -
1129.02 135.26 -10.47 155 1135.80 roll -1.66 - - 1753.69 - 3.38 0.046 2080.06 -413.0 -96.38 - - 2896.62 - - - - - - - - - 15.19 -
1195.22 142.13 -10.46 162 1196.55 no move -1.66 - - 1754.19 - - - 2080.44 - -96.38 - - 2895.34 - - - - - - - - - - -
1255.12 148.18 -10.56 168 1256.45 no move -1.66 - - 1754.31 - - - 2079.88 - -96.38 - - 2895.34 - - - - - - - - - - -
1315.13 154.34 -10.19 174 1316.46 no move -1.66 - - 1753.81 - - - 2080.06 - -96.38 - - 2895.53 - - - - - - - - - - -
1435.13 166.38 -9.64 186 1440.80 roll -1.66 - - 1753.88 - 3.80 0.101 3475.25 367.2 -96.38 - - 2895.31 - - - - - - - - - 15.00 -
1454.06 168.45 -9.71 190 1460.87 roll -1.66 - - 1754.00 - 3.38 0.047 2080.00 -412.8 -96.38 - - 2894.78 - - - - - - - - - 15.16 -
1580.16 180.06 -9.12 203 1585.81 roll -1.66 - - 1754.25 - 3.79 0.099 3475.00 368.1 -96.38 - - 2897.31 - - - - - - - - - 15.00 -
1609.06 183.23 -9.80 209 1615.85 roll -1.66 - - 1754.06 - 3.39 0.046 2078.62 -411.9 -96.38 - - 2894.62 - - - - - - - - - 15.15 -
1735.17 195.08 -9.34 222 1736.50 no move -1.66 - - 1754.38 - - - 2078.62 - -96.38 - - 2895.50 - - - - - - - - - - -
1855.19 206.00 -8.87 234 1856.66 pitch -1.72 0.32 0.065 1706.06 -151.0 - - 2078.62 - -118.71 - - 2893.72 - - - - - - - - 15.45 - -
1975.19 219.00 -11.42 246 1980.87 roll -1.72 - - 1706.06 - 3.84 0.101 3475.94 363.9 -118.71 - - 2893.53 - - - - - - - - - 14.98 -
2010.63 223.39 -12.92 253 2015.81 roll -1.72 - - 1705.50 - 3.42 0.048 2081.19 -407.8 -118.71 - - 2894.59 - - - - - - - - - 15.15 -
2135.23 237.54 -11.50 266 2136.55 no move -1.72 - - 1705.69 - - - 2081.94 - -118.71 - - 2895.28 - - - - - - - - - - -
2275.22 254.31 -12.27 278 2280.91 roll -1.72 - - 1706.00 - 3.85 0.102 3476.56 362.2 -118.71 - - 2897.12 - - - - - - - - - 14.95 -
2360.68 265.09 -13.13 295 2365.86 roll -1.72 - - 1705.31 - 3.42 0.050 2081.06 -408.0 -118.71 - - 2895.88 - - - - - - - - - 15.13 -
2685.26 303.70 -12.14 310 2690.93 roll -1.72 - - 1705.50 - 3.88 0.102 3475.19 359.3 -118.71 - - 2893.88 - - - - - - - - - 14.94 -
2734.17 310.25 -13.67 320 2740.97 roll -1.72 - - 1705.88 - 3.43 0.050 2081.31 -406.4 -118.71 - - 2896.00 - - - - - - - - - 15.08 -
3040.26 349.03 -12.55 331 3045.96 roll -1.72 - - 1705.50 - 3.90 0.104 3476.31 357.7 -118.71 - - 2893.41 - - - - - - - - - 14.92 -
3109.26 358.10 -14.12 345 3114.88 roll -1.72 - - 1706.06 - 3.45 0.052 2080.38 -404.6 -118.71 - - 2897.47 - - - - - - - - - 15.07 -
3425.29 398.70 -13.09 358 3426.62 no move -1.72 - - 1705.69 - - - 2080.81 - -118.71 - - 2895.47 - - - - - - - - - - -
3725.29 435.77 -12.00 368 3731.00 roll -1.72 - - 1705.25 - 3.90 0.107 3474.81 357.4 -118.71 - - 2893.28 - - - - - - - - - 14.89 -
3780.76 443.01 -14.82 379 3785.93 roll -1.72 - - 1705.50 - 3.45 0.053 2080.81 -404.1 -118.71 - - 2893.66 - - - - - - - - - 15.05 -
4105.32 479.81 -11.02 394 4111.01 roll -1.72 - - 1704.38 - 3.93 0.107 3475.75 354.9 -118.71 - - 2896.81 - - - - - - - - - 14.88 -
4174.29 488.61 -12.42 408 4179.95 roll -1.72 - - 1705.31 - 3.45 0.054 2081.69 -404.1 -118.71 - - 2893.97 - - - - - - - - - 15.02 -
4280 end dive: TARGET_DEPTH_EXCEEDED
4280 begin apogee
4281.52 500.58 -11.49 414 4367.90 -0.25 3.29 0.166 2079.62 113.8 0.09 0.234 2085.25 39.6 - 81.69 1.623 2501.47 -4.8 0.269 - - - - - - 14.76 14.81 11.03
4370 end apogee: CONTROL_FINISHED_OK
4371 begin climb
4371.20 502.53 - 416 4486.33 1.72 3.59 0.079 2561.25 134.2 - - 2084.88 - 118.71 109.10 1.568 2017.16 -4.4 0.258 - - - - - - 14.99 - 11.32
4794.62 467.12 9.79 436 4800.33 done 1.76 - - 2562.81 - 4.05 0.137 662.06 -351.3 118.71 - - 2003.19 - - - - - - - - - 15.06 -
4850.07 461.37 10.89 447 4855.27 done 1.76 - - 2562.69 - 3.53 0.042 2125.38 414.5 118.71 - - 2002.12 - - - - - - - - - 15.36 -
5174.69 432.76 8.14 462 5209.48 1.85 0.17 0.079 2602.75 235.6 4.14 0.131 659.62 -354.0 148.25 26.56 1.461 1894.16 -4.1 0.218 - - - - - - 15.48 15.10 11.50
5338.62 412.34 14.89 495 5344.29 roll 1.85 - - 2603.19 - 3.54 0.042 2124.25 413.7 148.25 - - 1890.78 - - - - - - - - - 15.35 -
5654.67 377.91 11.04 508 5660.40 roll 1.85 - - 2602.38 - 4.15 0.128 661.81 -352.4 148.25 - - 1886.81 - - - - - - - - - 15.09 -
5808.62 358.29 13.49 539 5814.31 done 1.85 - - 2602.38 - 3.55 0.044 2125.88 412.4 148.25 - - 1888.03 - - - - - - - - - 15.35 -
6129.71 323.08 11.22 553 6135.43 done 1.85 - - 2602.62 - 4.18 0.126 661.75 -350.3 148.25 - - 1884.97 - - - - - - - - - 15.04 -
6193.67 315.22 13.32 566 6199.33 done 1.85 - - 2602.44 - 3.56 0.043 2125.38 411.1 148.25 - - 1887.78 - - - - - - - - - 15.35 -
6514.73 280.21 10.94 580 6516.06 VBD 1.85 - - 2602.25 - - - 2125.12 - 148.25 - - 1886.06 - - - - - - - - - - -
6814.74 249.23 10.27 590 6820.46 done 1.88 - - 2603.19 - 4.20 0.128 660.75 -348.7 148.25 - - 1887.03 - - - - - - - - - 14.97 -
6903.65 238.03 13.30 608 6910.48 done 1.88 - - 2602.38 - 3.56 0.043 2124.94 411.3 148.25 - - 1885.12 - - - - - - - - - 15.30 -
7029.77 224.99 10.24 621 7035.48 done 1.90 - - 2602.69 - 4.14 0.125 661.94 -353.4 148.25 - - 1884.69 - - - - - - - - - 14.99 -
7068.67 220.48 11.25 629 7075.49 done 1.90 - - 2602.94 - 3.52 0.041 2126.00 415.9 148.25 - - 1886.56 - - - - - - - - - 15.33 -
7194.79 207.68 9.79 642 7200.50 done 1.94 - - 2602.50 - 4.16 0.124 661.69 -352.0 148.25 - - 1884.34 - - - - - - - - - 15.00 -
7280.23 197.47 12.11 659 7285.42 done 1.94 - - 2601.81 - 3.52 0.040 2126.38 416.1 148.25 - - 1886.34 - - - - - - - - - 15.32 -
7404.81 185.28 8.97 672 7429.93 done 2.01 - - 2602.88 - 4.06 0.126 660.75 -361.0 169.53 19.48 1.236 1808.41 -4.0 0.109 - - - - - - - 15.24 11.34
7495.24 175.03 12.00 690 7500.43 roll 2.01 - - 2601.62 - 3.52 0.039 2129.81 417.3 169.53 - - 1806.88 - - - - - - - - - 15.47 -
7619.84 161.67 10.49 703 7625.52 roll back 2.03 0.19 0.085 2640.88 206.6 3.68 0.107 3474.44 365.4 169.53 - - 1802.16 - - - - - - - - 15.45 15.21 -
7655.26 157.60 11.61 710 7660.41 roll 2.03 - - 2641.06 - 3.39 0.048 2076.56 -412.4 169.53 - - 1803.28 - - - - - - - - - 15.36 -
7779.85 144.54 10.16 723 7785.53 roll 2.05 - - 2641.62 - 3.99 0.127 661.81 -354.6 169.53 - - 1802.19 - - - - - - - - - 15.10 -
7905.28 128.74 13.12 748 7910.48 roll 2.05 - - 2640.81 - 3.51 0.039 2129.50 418.1 169.53 - - 1803.22 - - - - - - - - - 15.39 -
7969.86 122.14 9.97 755 7971.19 no move 2.09 - - 2641.69 - - - 2129.38 - 169.53 - - 1802.50 - - - - - - - - - - -
8029.88 115.90 9.93 761 8035.59 roll 2.12 - - 2641.19 - 4.11 0.120 661.69 -357.1 169.53 - - 1800.78 - - - - - - - - - 15.06 -
8085.31 109.37 12.14 772 8090.48 roll 2.12 - - 2641.56 - 3.49 0.039 2130.25 420.8 169.53 - - 1800.72 - - - - - - - - - 15.39 -
8149.88 103.26 9.30 779 8151.31 pitch 2.18 0.17 0.080 2678.12 215.1 - - 2130.50 - 169.53 - - 1801.53 - - - - - - - - 15.51 - -
8209.93 97.71 9.18 785 8215.51 roll 2.24 - - 2678.25 - 3.66 0.104 3474.19 367.1 169.53 - - 1801.28 - - - - - - - - - 15.09 -
8238.79 94.40 10.14 791 8245.56 roll 2.27 - - 2679.19 - 3.38 0.045 2077.31 -413.3 169.53 - - 1801.56 - - - - - - - - - 15.26 -
8304.95 88.05 9.49 798 8310.58 roll 2.31 - - 2678.50 - 3.95 0.124 661.56 -358.4 169.53 - - 1800.81 - - - - - - - - - 15.07 -
8440.33 72.73 10.99 825 8445.52 roll 2.31 - - 2678.69 - 3.49 0.038 2130.25 420.8 169.53 - - 1800.53 - - - - - - - - - 15.34 -
8504.91 67.62 7.85 832 8550.44 2.41 0.31 0.065 2737.19 188.7 3.57 0.104 3473.50 376.3 201.99 37.94 1.113 1676.94 -3.3 0.036 - - - - - - 15.46 15.15 11.45
8608.83 58.60 10.15 853 8615.60 roll 2.44 - - 2736.75 - 3.39 0.045 2074.62 -412.6 201.99 - - 1673.22 - - - - - - - - - 15.33 -
8674.98 53.82 7.28 860 8727.02 done 2.55 - - 2737.19 - 3.91 0.124 660.62 -361.6 240.11 44.12 1.080 1520.34 -3.5 0.031 - - - - - - - 15.01 11.50
8835.77 40.49 10.03 892 8841.00 roll back 2.59 0.20 0.072 2778.56 206.8 3.49 0.037 2132.00 421.6 240.11 - - 1517.16 - - - - - - - - 15.14 15.37 -
8900.33 35.21 8.01 899 8941.95 done 2.68 - - 2778.75 - 3.61 0.105 3475.00 372.0 270.99 35.15 1.040 1394.94 -3.5 0.021 - - - - - - - 15.04 11.42
9110.37 16.72 10.09 941 9114.93 roll 2.71 - - 2778.94 - 3.39 0.045 2078.31 -412.0 270.99 - - 1392.41 - - - - - - - - - 15.30 -
9180.36 11.78 6.69 949 9235.16 2.84 0.32 0.069 2840.31 191.8 3.76 0.101 3474.88 371.4 314.99 47.38 1.024 1215.19 -3.7 0.008 - - - - - - 15.38 15.05 11.50
9310 end climb: SURFACE_DEPTH_REACHED
9310 begin surface coast
9330 end surface coast: CONTROL_FINISHED_OK
9330 begin surface
SM -0.85 - - - - 174.7 0.01 0.261 564.7 51732.0 19.34 0.070 561.4 29.0 - 3.39 0.047 568.0 166.4 0.308 - - 30.36 15.14 15.29 -