NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 798 * Raw log
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• Previous call tries 1 • 228.76 of 575.00 AH used of 24V (60.22% remains)
• Surface angle -62.5 deg, depth 0.56 m • Intended pitch -18.6 deg, speed -9.259 cm/s
VBD pumped to 424.64 (SM_CC=425)
• GPS1 time: 24 s
• GPS2 time: 2 s • Transponder ping count: 3
• 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
7.78 - - - 92.84 VBD -1.28 - - 171.69 - - - 2083.44 - -116.79 84.49 0.005 2628.72 - - - - - - - - - - 14.65
93.11 3.96 -7.18 16 125.02 -1.28 14.60 0.245 1830.31 113.6 4.11 0.153 663.81 -345.4 -116.79 7.95 0.007 2975.25 43.6 -4.380 - - - - - - 15.17 14.71 14.91
192.83 26.05 -19.32 36 198.58 roll -1.28 - - 1829.75 - 3.57 0.056 2120.56 408.1 -116.79 - - 2977.00 - - - - - - - - - 15.58 -
377.97 57.72 -16.86 73 383.67 roll -1.28 - - 1829.81 - 3.66 0.115 3473.50 369.7 -116.79 - - 2975.78 - - - - - - - - - 15.47 -
458.00 71.44 -16.95 89 463.67 roll -1.28 - - 1830.25 - 3.41 0.060 2081.75 -408.1 -116.79 - - 2975.34 - - - - - - - - - 15.60 -
643.09 97.17 -12.78 126 648.80 roll -1.28 - - 1830.19 - 3.79 0.111 3474.00 367.3 -116.79 - - 2978.28 - - - - - - - - - 15.49 -
763.05 113.71 -13.07 150 767.74 roll -1.28 - - 1830.06 - 3.41 0.059 2080.94 -408.5 -116.79 - - 2976.72 - - - - - - - - - 15.62 -
1073.12 148.59 -11.67 182 1078.86 roll -1.28 - - 1829.88 - 3.76 0.110 3473.62 370.4 -116.79 - - 2974.91 - - - - - - - - - 15.52 -
1188.15 162.73 -12.96 205 1192.83 roll -1.28 - - 1829.69 - 3.41 0.059 2082.19 -408.0 -116.79 - - 2978.53 - - - - - - - - - 15.64 -
1498.17 198.18 -11.65 237 1503.92 roll -1.28 - - 1830.00 - 3.80 0.111 3475.38 366.6 -116.79 - - 2976.97 - - - - - - - - - 15.52 -
1543.17 203.24 -12.08 246 1547.89 roll -1.28 - - 1830.19 - 3.41 0.058 2080.12 -409.2 -116.79 - - 2977.94 - - - - - - - - - 15.65 -
1853.22 236.23 -10.79 278 1859.00 roll -1.28 - - 1829.94 - 3.98 0.152 663.94 -355.8 -116.79 - - 2974.62 - - - - - - - - - 15.39 -
1892.11 240.79 -11.49 286 1898.98 roll -1.28 - - 1830.38 - 3.51 0.052 2122.81 415.6 -116.79 - - 2976.53 - - - - - - - - - 15.70 -
2198.29 269.93 -9.39 317 2203.99 roll -1.28 - - 1830.00 - 3.63 0.115 3474.50 372.4 -116.79 - - 2976.19 - - - - - - - - - 15.50 -
2267.24 278.09 -12.07 331 2273.99 roll -1.28 - - 1830.56 - 3.39 0.060 2081.38 -410.9 -116.79 - - 2977.44 - - - - - - - - - 15.64 -
2573.30 309.93 -10.45 362 2579.07 roll -1.28 - - 1830.19 - 3.81 0.115 3474.88 365.7 -116.79 - - 2976.16 - - - - - - - - - 15.49 -
2612.26 314.74 -11.67 370 2619.05 roll -1.28 - - 1830.12 - 3.41 0.062 2082.31 -408.4 -116.79 - - 2977.50 - - - - - - - - - 15.63 -
2918.33 348.12 -10.69 401 2924.15 roll -1.28 - - 1829.38 - 4.09 0.156 661.94 -347.3 -116.79 - - 2977.28 - - - - - - - - - 15.36 -
2963.34 353.36 -11.79 410 2967.97 roll -1.28 - - 1830.31 - 3.52 0.054 2119.25 414.0 -116.79 - - 2976.53 - - - - - - - - - 15.69 -
3273.37 385.07 -9.73 442 3279.10 roll -1.28 - - 1829.06 - 3.67 0.119 3473.62 369.0 -116.79 - - 2977.84 - - - - - - - - - 15.47 -
3348.45 392.94 -11.67 457 3353.08 roll -1.28 - - 1829.94 - 3.41 0.062 2080.94 -408.4 -116.79 - - 2977.69 - - - - - - - - - 15.62 -
3658.41 422.72 -9.44 489 3664.16 roll -1.28 - - 1830.12 - 3.80 0.118 3474.62 366.8 -116.79 - - 2974.31 - - - - - - - - - 15.46 -
3687.29 425.89 -9.10 495 3694.14 roll -1.28 - - 1829.81 - 3.42 0.063 2082.31 -407.1 -116.79 - - 2976.88 - - - - - - - - - 15.59 -
3993.44 453.41 -9.00 526 3999.18 roll -1.28 - - 1830.12 - 3.80 0.118 3474.00 366.2 -116.79 - - 2977.38 - - - - - - - - - 15.46 -
4118.52 466.57 -10.65 551 4123.08 roll -1.28 - - 1829.94 - 3.43 0.064 2082.06 -405.8 -116.79 - - 2976.22 - - - - - - - - - 15.60 -
4428.49 495.99 -9.69 583 4434.25 roll -1.28 - - 1829.81 - 3.84 0.119 3473.62 362.4 -116.79 - - 2974.47 - - - - - - - - - 15.45 -
4467 end dive: TARGET_DEPTH_EXCEEDED
4467 begin apogee
4472.25 500.06 -10.22 591 4573.62 -0.25 1.91 0.142 2078.50 130.2 0.08 0.241 2120.25 -16917.1 - 98.57 1.652 2498.41 -4.8 0.260 - - - - - - 15.48 14.89 10.51
4576 end apogee: CONTROL_FINISHED_OK
4576 begin climb
4576.23 502.92 - 601 4686.72 1.28 2.73 0.085 2454.00 137.5 - - 2121.25 - 116.79 106.54 1.609 2021.53 -4.5 0.249 - - - - - - 15.13 - 11.67
4984.20 479.11 6.59 650 5036.07 1.43 0.20 0.081 2499.62 228.1 4.23 0.146 662.69 -344.8 166.32 44.97 1.557 1820.72 -4.5 0.244 - - - - - - 15.55 15.07 11.38
5134.21 463.31 12.59 680 5138.92 roll 1.43 - - 2499.62 - 3.59 0.055 2117.62 405.3 166.32 - - 1816.84 - - - - - - - - - 15.46 -
5444.24 432.26 9.81 712 5449.89 done 1.43 - - 2499.19 - 4.09 0.142 662.00 -355.9 166.32 - - 1811.62 - - - - - - - - - 15.42 -
5519.23 423.07 13.93 727 5523.95 done 1.43 - - 2499.12 - 3.54 0.054 2122.75 412.6 166.32 - - 1813.38 - - - - - - - - - 15.66 -
5829.27 390.81 10.15 759 5835.07 done 1.43 - - 2498.69 - 4.07 0.140 663.38 -358.6 166.32 - - 1811.34 - - - - - - - - - 15.45 -
5864.26 387.04 10.78 766 5868.98 done 1.43 - - 2498.50 - 3.52 0.053 2124.25 415.0 166.32 - - 1812.03 - - - - - - - - - 15.71 -
6174.30 353.77 10.56 798 6179.88 done 1.43 - - 2499.75 - 3.66 0.119 3473.69 368.7 166.32 - - 1810.38 - - - - - - - - - 15.51 -
6209.29 349.97 10.88 805 6213.85 done 1.43 - - 2499.06 - 3.38 0.060 2079.62 -412.4 166.32 - - 1809.97 - - - - - - - - - 15.68 -
6519.33 318.96 9.49 837 6525.10 done 1.43 - - 2499.94 - 3.95 0.143 663.00 -358.6 166.32 - - 1807.75 - - - - - - - - - 15.44 -
6624.34 307.08 12.07 858 6629.04 done 1.43 - - 2499.31 - 3.53 0.054 2123.69 413.8 166.32 - - 1810.69 - - - - - - - - - 15.73 -
6934.38 278.92 8.47 890 6935.71 VBD 1.45 - - 2499.50 - - - 2124.31 - 166.32 - - 1808.38 - - - - - - - - - - -
7234.38 252.06 9.07 920 7239.98 done 1.45 - - 2499.38 - 3.66 0.119 3473.25 368.6 166.32 - - 1807.06 - - - - - - - - - 15.48 -
7259.59 249.88 9.17 925 7264.94 done 1.45 - - 2499.00 - 3.37 0.058 2078.25 -413.9 166.32 - - 1807.25 - - - - - - - - - 15.69 -
7564.43 222.63 8.94 956 7570.06 done 1.45 - - 2498.62 - 3.97 0.142 662.00 -356.7 166.32 - - 1806.19 - - - - - - - - - 15.40 -
7683.46 210.25 10.27 980 7690.20 done 1.45 - - 2499.50 - 3.54 0.053 2126.88 413.8 166.32 - - 1807.75 - - - - - - - - - 15.72 -
7989.47 184.03 8.47 1011 7995.39 done 1.47 - - 2499.94 - 4.07 0.136 662.62 -359.8 166.32 - - 1806.16 - - - - - - - - - 15.39 -
8024.44 180.85 9.11 1018 8029.16 done 1.47 - - 2499.44 - 3.53 0.052 2124.25 414.1 166.32 - - 1807.62 - - - - - - - - - 15.73 -
8334.50 154.04 8.67 1050 8340.06 done 1.49 - - 2498.62 - 3.69 0.119 3473.50 365.7 166.32 - - 1807.44 - - - - - - - - - 15.46 -
8369.47 150.73 9.04 1057 8374.02 done 1.49 - - 2499.25 - 3.38 0.057 2076.62 -413.3 166.32 - - 1807.19 - - - - - - - - - 15.66 -
8679.54 128.13 6.23 1089 8730.79 1.66 0.28 0.078 2552.56 190.4 - - 2076.75 - 222.64 47.88 1.240 1591.94 -4.5 0.083 - - - - - - 15.73 - 10.58
9029.52 95.60 9.09 1131 9030.85 no move 1.66 - - 2552.94 - - - 2076.75 - 222.64 - - 1587.16 - - - - - - - - - - -
9209.64 81.43 6.57 1167 9261.41 1.81 0.17 0.092 2589.94 217.6 3.99 0.140 663.06 -354.3 272.57 45.64 1.154 1388.12 -4.4 0.055 - - - - - - 15.65 15.17 11.27
9269.59 77.00 7.45 1179 9275.47 roll 1.86 - - 2590.12 - 3.59 0.051 2127.38 407.9 272.57 - - 1388.53 - - - - - - - - - 15.45 -
9454.61 61.67 7.48 1216 9460.39 roll 1.92 - - 2590.56 - 3.72 0.115 3472.94 361.7 272.57 - - 1383.81 - - - - - - - - - 15.40 -
9644.64 45.00 9.74 1254 9650.39 roll 1.92 - - 2590.25 - 3.41 0.056 2077.88 -409.1 272.57 - - 1383.06 - - - - - - - - - 15.60 -
9829.74 30.08 7.67 1291 9831.20 pitch 1.97 0.17 0.095 2625.19 205.5 - - 2077.44 - 272.57 - - 1382.44 - - - - - - - - 15.65 - -
10009.88 13.65 9.60 1327 10015.63 roll 1.97 - - 2624.75 - 3.95 0.136 663.00 -358.1 272.57 - - 1383.03 - - - - - - - - - 15.40 -
10074.84 6.31 11.73 1340 10080.59 roll 1.97 - - 2624.94 - 3.52 0.050 2128.00 416.2 272.57 - - 1382.88 - - - - - - - - - 15.71 -
10119 end climb: SURFACE_DEPTH_REACHED
10119 begin surface coast
10139 end surface coast: CONTROL_FINISHED_OK
10139 begin surface
SM 0.47 - - - - 172.9 0.57 0.140 768.9 1348.9 16.78 0.072 766.7 45.7 - 0.10 0.140 771.1 7675.8 -2.634 - - 15.15 15.51 15.70 -