NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1202 * Raw log
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• Previous call tries 1 • 326.71 of 575.00 AH used of 24V (43.18% remains)
• Surface angle -63.2 deg, depth -1.53 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.82 (SM_CC=475)
• GPS1 time: 31 s
• GPS2 time: 2 s • Transponder ping count: 17
• 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 - - - 90.34 VBD -1.59 - - 171.69 - - - 2124.44 - -74.33 81.24 0.005 2432.41 - - - - - - - - - - 13.16
90.59 3.47 -7.91 8 123.79 -1.69 14.43 0.246 1730.56 108.0 3.74 0.109 3476.31 361.5 -106.17 11.23 0.007 2931.09 44.4 -3.982 - - - - - - 14.79 14.54 13.31
147.04 16.52 -20.00 19 151.62 roll -1.69 - - 1730.31 - 3.44 0.054 2081.69 -405.4 -106.17 - - 2934.81 - - - - - - - - - 15.23 -
217.01 29.72 -17.98 27 222.70 roll -1.69 - - 1729.94 - 3.81 0.100 3474.56 365.6 -106.17 - - 2931.03 - - - - - - - - - 15.07 -
255.94 36.60 -17.04 35 262.74 roll -1.69 - - 1730.44 - 3.45 0.052 2079.94 -404.2 -106.17 - - 2934.53 - - - - - - - - - 15.19 -
322.09 47.71 -17.40 42 323.42 no move -1.69 - - 1730.88 - - - 2080.25 - -106.17 - - 2933.06 - - - - - - - - - - -
382.04 57.06 -15.43 48 387.72 roll -1.69 - - 1730.88 - 3.82 0.100 3474.88 365.1 -106.17 - - 2934.25 - - - - - - - - - 15.04 -
407.09 60.78 -14.61 53 411.65 roll -1.69 - - 1731.06 - 3.43 0.050 2082.12 -406.1 -106.17 - - 2934.53 - - - - - - - - - 15.20 -
477.04 69.86 -13.01 61 482.73 roll -1.69 - - 1730.19 - 3.81 0.099 3476.19 365.9 -106.17 - - 2931.59 - - - - - - - - - 15.04 -
492.05 71.89 -13.37 64 496.66 roll -1.69 - - 1729.69 - 3.43 0.050 2080.81 -406.8 -106.17 - - 2933.25 - - - - - - - - - 15.20 -
562.06 79.94 -11.15 72 563.39 no move -1.69 - - 1730.56 - - - 2081.00 - -106.17 - - 2933.09 - - - - - - - - - - -
622.06 86.46 -10.57 78 623.39 no move -1.69 - - 1730.44 - - - 2080.81 - -106.17 - - 2933.47 - - - - - - - - - - -
682.07 92.38 -9.83 84 687.74 roll -1.69 - - 1730.00 - 3.84 0.100 3474.69 363.0 -106.17 - - 2932.69 - - - - - - - - - 15.02 -
727.51 97.69 -12.13 93 732.69 roll -1.69 - - 1730.31 - 3.44 0.051 2080.81 -405.2 -106.17 - - 2932.81 - - - - - - - - - 15.19 -
792.14 103.61 -8.89 100 793.57 VBD -1.75 - - 1730.56 - - - 2081.06 - -128.30 0.61 0.036 3025.22 151.5 -78.873 - - - - - - - - 14.73
852.13 109.42 -9.89 106 853.46 no move -1.75 - - 1730.75 - - - 2081.50 - -128.30 - - 3025.00 - - - - - - - - - - -
912.09 115.73 -10.67 112 913.42 no move -1.75 - - 1730.31 - - - 2080.94 - -128.30 - - 3025.19 - - - - - - - - - - -
972.09 122.54 -11.57 118 973.42 no move -1.75 - - 1730.44 - - - 2081.12 - -128.30 - - 3025.50 - - - - - - - - - - -
1032.10 129.78 -12.02 124 1033.42 no move -1.75 - - 1730.50 - - - 2081.38 - -128.30 - - 3025.47 - - - - - - - - - - -
1092.10 137.06 -12.36 130 1097.77 roll -1.75 - - 1730.56 - 3.85 0.103 3474.44 361.8 -128.30 - - 3024.25 - - - - - - - - - 15.00 -
1127.10 141.81 -13.68 137 1131.85 roll -1.75 - - 1730.31 - 3.44 0.052 2080.81 -405.1 -128.30 - - 3027.53 - - - - - - - - - 15.16 -
1197.10 150.06 -11.01 145 1198.44 no move -1.75 - - 1730.88 - - - 2081.00 - -128.30 - - 3025.69 - - - - - - - - - - -
1317.11 163.83 -11.34 157 1322.79 roll -1.75 - - 1730.88 - 3.84 0.101 3475.31 363.1 -128.30 - - 3024.50 - - - - - - - - - 14.99 -
1386.08 172.65 -13.12 171 1392.83 roll -1.75 - - 1730.06 - 3.44 0.052 2081.31 -405.2 -128.30 - - 3026.84 - - - - - - - - - 15.13 -
1512.13 186.70 -10.97 184 1513.46 no move -1.75 - - 1730.56 - - - 2081.50 - -128.30 - - 3024.38 - - - - - - - - - - -
1632.14 200.01 -10.88 196 1637.82 roll -1.75 - - 1729.50 - 3.85 0.102 3474.31 361.8 -128.30 - - 3028.12 - - - - - - - - - 14.96 -
1667.14 204.64 -13.05 203 1671.77 roll -1.75 - - 1730.81 - 3.45 0.052 2082.19 -403.5 -128.30 - - 3026.41 - - - - - - - - - 15.13 -
1797.17 220.61 -12.56 217 1802.86 roll -1.75 - - 1730.44 - 3.86 0.103 3476.00 361.1 -128.30 - - 3024.28 - - - - - - - - - 14.96 -
1852.18 227.30 -12.49 228 1856.78 roll -1.75 - - 1730.69 - 3.47 0.053 2081.00 -402.0 -128.30 - - 3028.41 - - - - - - - - - 15.12 -
1982.20 243.24 -12.06 242 1987.87 roll -1.75 - - 1730.38 - 3.88 0.104 3476.75 359.7 -128.30 - - 3026.91 - - - - - - - - - 14.97 -
2021.11 248.72 -13.34 250 2027.92 roll -1.75 - - 1730.50 - 3.44 0.054 2081.50 -405.6 -128.30 - - 3027.12 - - - - - - - - - 15.09 -
2157.26 265.12 -12.09 256 2158.59 no move -1.75 - - 1730.56 - - - 2082.06 - -128.30 - - 3026.75 - - - - - - - - - - -
2457.21 300.66 -11.68 266 2462.90 roll -1.75 - - 1730.81 - 3.88 0.106 3474.62 358.9 -128.30 - - 3024.50 - - - - - - - - - 14.92 -
2542.68 311.82 -12.80 283 2547.85 roll -1.75 - - 1730.81 - 3.46 0.054 2082.06 -402.5 -128.30 - - 3028.34 - - - - - - - - - 15.08 -
2867.26 347.77 -10.83 298 2868.59 no move -1.75 - - 1730.62 - - - 2082.00 - -128.30 - - 3026.88 - - - - - - - - - - -
3167.26 380.70 -10.97 308 3172.97 roll -1.75 - - 1730.62 - 3.93 0.109 3474.88 354.4 -128.30 - - 3026.47 - - - - - - - - - 14.89 -
3211.18 386.49 -12.28 317 3216.88 roll -1.75 - - 1730.12 - 3.47 0.056 2084.19 -400.8 -128.30 - - 3028.25 - - - - - - - - - 15.03 -
3522.29 420.09 -11.00 329 3527.98 roll -1.75 - - 1730.31 - 3.93 0.109 3473.19 353.4 -128.30 - - 3025.81 - - - - - - - - - 14.87 -
3571.21 425.71 -11.80 339 3578.00 roll -1.75 - - 1729.75 - 3.48 0.056 2083.12 -399.4 -128.30 - - 3027.66 - - - - - - - - - 15.02 -
3877.31 459.32 -11.05 350 3883.00 roll -1.75 - - 1731.12 - 3.94 0.110 3475.62 353.4 -128.30 - - 3024.28 - - - - - - - - - 14.87 -
3902.74 461.95 -11.08 355 3907.94 roll -1.75 - - 1730.12 - 3.49 0.055 2083.12 -399.0 -128.30 - - 3023.59 - - - - - - - - - 15.04 -
4227.32 496.47 -10.62 370 4233.01 roll -1.75 - - 1730.06 - 3.96 0.112 3473.62 351.1 -128.30 - - 3026.91 - - - - - - - - - 14.85 -
4256 end dive: TARGET_DEPTH_EXCEEDED
4256 begin apogee
4261.02 500.04 -10.73 376 4376.83 -0.25 2.94 0.158 2078.81 118.6 0.08 0.229 2120.06 -16919.5 - 108.01 1.631 2501.84 -4.9 0.270 - - - - - - 14.78 14.70 11.14
4379 end apogee: CONTROL_FINISHED_OK
4379 begin climb
4380.13 503.92 - 384 4503.40 1.75 3.68 0.077 2570.62 133.6 - - 2119.94 - 128.30 117.73 1.569 1975.28 -4.5 0.260 - - - - - - 14.92 - 11.21
4821.70 468.40 9.88 413 4827.44 done 1.79 - - 2570.81 - 4.22 0.135 662.00 -345.5 128.30 - - 1963.66 - - - - - - - - - 15.05 -
4955.61 452.78 10.89 440 4961.33 done 1.79 - - 2570.69 - 3.58 0.046 2123.19 408.2 128.30 - - 1964.00 - - - - - - - - - 15.33 -
5266.74 421.42 10.03 452 5272.45 done 1.82 - - 2570.19 - 4.18 0.131 661.94 -349.6 128.30 - - 1961.31 - - - - - - - - - 15.09 -
5345.63 412.79 10.95 468 5352.47 done 1.82 - - 2570.81 - 3.58 0.046 2123.00 408.1 128.30 - - 1961.59 - - - - - - - - - 15.35 -
5651.75 384.37 8.93 479 5676.95 1.89 0.17 0.080 2607.38 215.1 4.11 0.132 661.94 -355.5 149.98 19.31 1.390 1886.84 -3.9 0.194 - - - - - - 15.51 15.22 11.43
5760.67 370.77 13.86 501 5766.37 roll 1.89 - - 2607.69 - 3.58 0.045 2123.12 408.2 149.98 - - 1885.25 - - - - - - - - - 15.41 -
6071.75 337.38 11.00 513 6077.48 roll 1.89 - - 2607.56 - 4.15 0.129 660.88 -352.3 149.98 - - 1880.81 - - - - - - - - - 15.10 -
6157.20 327.04 11.04 530 6162.39 roll 1.89 - - 2608.19 - 3.56 0.045 2122.69 410.6 149.98 - - 1880.91 - - - - - - - - - 15.38 -
6481.86 293.29 10.13 545 6487.50 roll 1.92 - - 2607.56 - 4.19 0.129 661.81 -348.7 149.98 - - 1880.19 - - - - - - - - - 15.02 -
6597.28 279.55 11.19 568 6602.42 roll 1.92 - - 2607.38 - 3.58 0.045 2125.50 408.9 149.98 - - 1880.53 - - - - - - - - - 15.33 -
6901.87 248.85 10.25 583 6903.20 VBD 1.94 - - 2607.25 - - - 2125.19 - 149.98 - - 1880.59 - - - - - - - - - - -
7021.83 237.32 9.68 595 7027.55 done 1.99 - - 2608.12 - 4.20 0.127 661.81 -348.4 149.98 - - 1878.94 - - - - - - - - - 14.98 -
7097.27 228.78 10.40 610 7102.47 done 2.01 - - 2606.88 - 3.58 0.045 2127.31 409.4 149.98 - - 1878.75 - - - - - - - - - 15.32 -
7221.87 217.53 8.93 623 7243.37 2.07 0.23 0.072 2652.31 197.5 - - 2126.75 - 171.71 20.27 1.267 1798.47 -4.0 0.123 - - - - - - 15.48 - 11.39
7361.86 203.69 9.91 637 7367.57 roll 2.11 - - 2653.12 - 4.13 0.127 661.31 -354.8 171.71 - - 1794.50 - - - - - - - - - 15.19 -
7397.28 199.08 12.06 644 7402.47 roll 2.11 - - 2652.81 - 3.56 0.044 2126.69 411.6 171.71 - - 1794.81 - - - - - - - - - 15.44 -
7521.87 184.86 11.02 657 7527.52 roll 2.11 - - 2652.94 - 3.72 0.108 3474.00 362.2 171.71 - - 1793.06 - - - - - - - - - 15.15 -
7550.76 180.95 13.02 663 7557.56 roll 2.11 - - 2652.69 - 3.42 0.051 2076.94 -408.5 171.71 - - 1795.97 - - - - - - - - - 15.32 -
7676.88 167.22 11.06 676 7682.56 roll 2.11 - - 2652.56 - 3.99 0.130 661.94 -354.6 171.71 - - 1793.00 - - - - - - - - - 15.08 -
7752.31 157.72 12.20 691 7757.51 roll 2.11 - - 2652.94 - 3.53 0.043 2127.38 415.1 171.71 - - 1792.50 - - - - - - - - - 15.39 -
7876.89 144.28 10.69 704 7882.55 roll 2.11 - - 2652.44 - 3.71 0.108 3474.44 363.1 171.71 - - 1791.81 - - - - - - - - - 15.09 -
7921.89 139.02 11.37 713 7926.50 roll 2.11 - - 2652.81 - 3.42 0.050 2075.75 -409.0 171.71 - - 1792.88 - - - - - - - - - 15.24 -
7991.91 132.11 10.02 721 7997.59 roll 2.14 - - 2651.56 - 3.98 0.127 661.56 -355.3 171.71 - - 1794.47 - - - - - - - - - 15.06 -
8117.35 116.60 12.64 746 8122.56 roll 2.14 - - 2652.62 - 3.54 0.043 2127.31 414.1 171.71 - - 1792.19 - - - - - - - - - 15.33 -
8181.91 109.49 10.63 753 8183.24 no move 2.14 - - 2652.75 - - - 2127.31 - 171.71 - - 1792.53 - - - - - - - - - - -
8241.95 102.84 11.53 759 8247.58 roll 2.14 - - 2652.44 - 3.72 0.106 3471.50 361.3 171.71 - - 1791.00 - - - - - - - - - 15.02 -
8276.92 99.08 10.73 766 8281.53 roll 2.14 - - 2652.00 - 3.40 0.049 2077.12 -410.1 171.71 - - 1792.81 - - - - - - - - - 15.24 -
8346.96 92.55 9.42 774 8352.65 roll 2.19 - - 2653.19 - 4.01 0.127 662.00 -352.9 171.71 - - 1791.38 - - - - - - - - - 15.02 -
8375.87 89.36 10.05 780 8382.72 roll back 2.22 0.17 0.076 2690.38 218.8 3.52 0.042 2130.56 417.2 171.71 - - 1793.59 - - - - - - - - 15.12 15.34 -
8441.96 83.02 9.73 787 8447.67 roll 2.27 - - 2689.69 - 4.13 0.124 661.12 -355.8 171.71 - - 1791.16 - - - - - - - - - 15.03 -
8637.43 65.68 7.63 826 8682.48 done 2.37 - - 2690.12 - 3.58 0.046 2128.50 409.9 206.39 40.04 1.108 1658.88 -3.3 0.035 - - - - - - - 15.30 11.33
8747.00 56.89 8.98 842 8778.83 2.43 0.27 0.069 2740.69 187.3 3.66 0.109 3475.06 367.9 227.57 25.82 1.057 1572.47 -3.3 0.033 - - - - - - 15.41 15.05 11.52
8877.07 45.99 7.78 868 8922.49 done 2.53 - - 2740.50 - 3.44 0.052 2079.25 -405.8 260.73 38.44 1.056 1437.44 -3.5 0.028 - - - - - - - 15.32 11.47
8987.08 37.79 8.71 884 9022.48 2.60 0.20 0.075 2780.25 198.8 3.99 0.129 661.62 -355.3 284.63 27.79 1.018 1340.28 -3.5 0.023 - - - - - - 15.33 14.98 11.29
9051.20 31.39 10.60 897 9057.80 roll 2.62 - - 2780.56 - 3.59 0.044 2129.44 408.9 284.63 - - 1338.00 - - - - - - - - - 15.31 -
9117.08 25.59 8.80 904 9151.42 done 2.69 - - 2780.81 - 4.09 0.124 660.69 -359.1 307.66 26.44 0.998 1245.38 -3.5 0.016 - - - - - - - 15.03 11.43
9197.08 15.94 14.21 920 9202.72 roll 2.69 - - 2779.94 - 3.58 0.044 2128.38 410.0 307.66 - - 1244.31 - - - - - - - - - 15.33 -
9262.10 8.98 10.12 927 9267.74 roll 2.72 - - 2779.94 - 3.65 0.106 3474.50 368.8 307.66 - - 1241.78 - - - - - - - - - 15.14 -
9356 end climb: SURFACE_DEPTH_REACHED
9357 begin surface coast
9387 end surface coast: CONTROL_FINISHED_OK
9387 begin surface
SM -0.57 - - - - 172.6 - 0.012 564.3 - 18.99 0.074 564.3 29.7 - 3.43 0.055 564.3 163.5 0.173 - - 30.36 15.11 15.31 -