NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1031 * Raw log
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• Previous call tries 2 • 284.30 of 575.00 AH used of 24V (50.56% remains)
• Surface angle -62.3 deg, depth -1.58 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.85 (SM_CC=475)
• GPS1 time: 30 s • bottom range 7.9 m at 258.4 m, depth 266 m (593 m grid)
• GPS2 time: 3 s • Transponder ping count: 5
• 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
7.65 - - - 94.80 VBD -1.59 - - 166.50 - - - 2119.12 - -74.33 86.79 0.005 2505.88 - - - - - - - - - - 14.60
95.09 3.32 -7.70 9 127.22 -1.69 13.65 0.255 1729.12 114.5 3.67 0.112 3474.44 369.3 -108.32 10.38 0.007 2940.50 41.9 -3.579 - - - - - - 14.97 14.64 14.84
229.41 33.42 -23.39 36 236.21 roll -1.69 - - 1728.75 - 3.42 0.058 2082.88 -406.9 -108.32 - - 2942.56 - - - - - - - - - 15.45 -
295.56 47.04 -20.92 43 301.18 roll -1.69 - - 1729.06 - 3.76 0.105 3475.75 370.4 -108.32 - - 2939.47 - - - - - - - - - 15.34 -
364.44 62.41 -20.00 57 371.22 roll -1.69 - - 1729.38 - 3.40 0.056 2081.81 -410.0 -108.32 - - 2940.69 - - - - - - - - - 15.47 -
430.58 73.12 -16.20 64 431.91 no move -1.69 - - 1729.44 - - - 2082.00 - -108.32 - - 2941.06 - - - - - - - - - - -
490.54 82.03 -14.75 70 496.19 roll -1.69 - - 1729.25 - 3.72 0.104 3474.44 374.3 -108.32 - - 2941.44 - - - - - - - - - 15.36 -
539.51 89.29 -15.30 80 546.23 roll -1.69 - - 1729.62 - 3.38 0.055 2080.88 -412.3 -108.32 - - 2941.09 - - - - - - - - - 15.49 -
605.61 98.67 -14.03 87 611.23 roll -1.69 - - 1728.31 - 3.71 0.104 3474.12 375.5 -108.32 - - 2943.12 - - - - - - - - - 15.36 -
654.48 106.21 -15.11 97 661.26 roll -1.69 - - 1729.31 - 3.35 0.055 2080.75 -415.9 -108.32 - - 2941.25 - - - - - - - - - 15.50 -
720.62 114.45 -12.42 104 721.95 no move -1.69 - - 1729.69 - - - 2080.88 - -108.32 - - 2940.00 - - - - - - - - - - -
780.58 122.19 -12.97 110 786.23 roll -1.69 - - 1729.38 - 3.70 0.104 3474.69 376.7 -108.32 - - 2941.66 - - - - - - - - - 15.36 -
849.50 131.26 -13.62 124 856.28 roll -1.69 - - 1729.31 - 3.33 0.054 2080.69 -418.6 -108.32 - - 2941.41 - - - - - - - - - 15.51 -
915.65 139.37 -12.46 131 916.98 no move -1.69 - - 1729.00 - - - 2081.00 - -108.32 - - 2941.38 - - - - - - - - - - -
975.60 147.27 -13.19 137 981.25 roll -1.69 - - 1729.81 - 3.71 0.103 3475.00 375.7 -108.32 - - 2939.56 - - - - - - - - - 15.37 -
1014.51 153.24 -15.59 145 1021.30 roll -1.69 - - 1729.38 - 3.34 0.054 2080.94 -417.4 -108.32 - - 2941.88 - - - - - - - - - 15.51 -
1140.64 169.47 -12.68 158 1146.32 roll -1.69 - - 1728.62 - 3.99 0.150 661.62 -355.7 -108.32 - - 2942.28 - - - - - - - - - 15.19 -
1189.54 177.54 -17.11 168 1196.34 roll -1.69 - - 1728.56 - 3.48 0.047 2123.56 420.1 -108.32 - - 2943.62 - - - - - - - - - 15.57 -
1315.64 195.54 -14.24 181 1321.27 roll -1.69 - - 1729.12 - 3.58 0.106 3474.75 377.4 -108.32 - - 2939.88 - - - - - - - - - 15.36 -
1354.55 201.84 -16.53 189 1361.33 roll -1.69 - - 1729.19 - 3.34 0.053 2080.44 -417.5 -108.32 - - 2943.75 - - - - - - - - - 15.51 -
1480.66 219.50 -13.29 202 1486.31 roll -1.69 - - 1729.94 - 3.70 0.104 3475.44 377.0 -108.32 - - 2940.91 - - - - - - - - - 15.36 -
1539.58 227.84 -12.78 214 1546.35 roll -1.69 - - 1729.31 - 3.33 0.053 2081.19 -418.7 -108.32 - - 2941.62 - - - - - - - - - 15.51 -
1665.69 244.46 -13.28 227 1667.02 no move -1.69 - - 1729.12 - - - 2080.75 - -108.32 - - 2942.19 - - - - - - - - - - -
1805.68 262.35 -12.52 235 1807.00 no move -1.69 - - 1729.06 - - - 2081.06 - -108.32 - - 2941.62 - - - - - - - - - - -
2105.74 301.34 -13.09 245 2111.36 roll -1.69 - - 1729.31 - 3.72 0.108 3476.88 375.2 -108.32 - - 2943.72 - - - - - - - - - 15.34 -
2124.61 304.25 -13.06 249 2131.39 roll -1.69 - - 1729.44 - 3.34 0.054 2079.75 -418.3 -108.32 - - 2942.03 - - - - - - - - - 15.50 -
2430.71 341.35 -11.55 260 2432.04 no move -1.69 - - 1729.31 - - - 2079.81 - -108.32 - - 2942.97 - - - - - - - - - - -
2730.72 377.45 -11.77 270 2732.05 no move -1.69 - - 1729.12 - - - 2080.06 - -108.32 - - 2942.41 - - - - - - - - - - -
3030.72 413.90 -12.38 280 3036.39 roll -1.69 - - 1728.44 - 3.75 0.113 3473.69 371.6 -108.32 - - 2944.50 - - - - - - - - - 15.30 -
3115.74 424.67 -12.00 297 3120.34 roll -1.69 - - 1729.38 - 3.38 0.060 2081.75 -411.8 -108.32 - - 2942.47 - - - - - - - - - 15.48 -
3445.82 465.50 -12.16 313 3451.47 roll -1.69 - - 1729.12 - 4.04 0.158 663.62 -351.0 -108.32 - - 2941.31 - - - - - - - - - 15.09 -
3464.72 468.22 -11.26 317 3471.50 roll -1.69 - - 1729.25 - 3.51 0.051 2122.12 415.5 -108.32 - - 2943.66 - - - - - - - - - 15.55 -
3741 end dive: TARGET_DEPTH_EXCEEDED
3741 begin apogee
3741.96 502.65 -12.32 327 3838.18 -0.25 2.68 0.155 2080.50 131.1 0.07 0.259 2117.56 -65.1 - 92.24 1.640 2497.09 -4.8 0.267 - - - - - - 15.26 14.83 10.52
3841 end apogee: CONTROL_FINISHED_OK
3841 begin climb
3841.16 505.36 - 330 3947.29 1.69 3.31 0.076 2557.25 144.0 - - 2119.31 - 108.32 99.28 1.587 2056.88 -4.4 0.254 - - - - - - 15.16 - 11.51
4250.80 471.96 10.41 349 4256.49 done 1.71 - - 2556.19 - 4.05 0.138 662.62 -359.7 108.32 - - 2046.84 - - - - - - - - - 15.26 -
4456.26 445.00 13.37 390 4461.44 done 1.71 - - 2557.50 - 3.47 0.048 2126.06 421.7 108.32 - - 2043.31 - - - - - - - - - 15.62 -
4780.88 410.29 10.85 405 4786.53 done 1.71 - - 2556.56 - 4.03 0.134 661.81 -363.3 108.32 - - 2042.09 - - - - - - - - - 15.28 -
4844.80 403.70 10.00 418 4850.44 done 1.75 - - 2557.00 - 3.45 0.046 2127.50 424.8 108.32 - - 2041.12 - - - - - - - - - 15.63 -
5165.88 372.52 9.15 432 5167.21 VBD 1.81 - - 2556.44 - - - 2127.12 - 108.32 - - 2040.81 - - - - - - - - - - -
5465.87 345.77 9.03 442 5490.86 1.87 0.22 0.070 2610.06 243.7 3.60 0.115 3475.25 374.5 129.05 17.87 1.366 1971.97 -3.9 0.176 - - - - - - 15.72 15.20 10.95
5714.80 319.02 11.16 492 5720.48 roll 1.87 - - 2610.56 - 3.38 0.055 2077.19 -413.6 129.05 - - 1969.78 - - - - - - - - - 15.54 -
6035.91 282.26 11.79 506 6041.57 roll 1.87 - - 2610.12 - 3.73 0.108 3473.44 374.3 129.05 - - 1967.94 - - - - - - - - - 15.38 -
6091.36 275.85 12.72 517 6096.53 roll 1.87 - - 2609.62 - 3.35 0.054 2079.00 -416.3 129.05 - - 1967.00 - - - - - - - - - 15.57 -
6395.94 243.52 10.16 534 6401.62 roll 1.90 - - 2608.88 - 3.91 0.134 661.88 -362.4 129.05 - - 1969.53 - - - - - - - - - 15.24 -
6501.40 230.29 12.31 555 6506.56 roll 1.90 - - 2609.88 - 3.46 0.045 2128.56 423.9 129.05 - - 1966.31 - - - - - - - - - 15.66 -
6625.98 217.88 10.48 568 6627.31 no move 1.92 - - 2609.75 - - - 2129.38 - 129.05 - - 1967.31 - - - - - - - - - - -
6745.99 206.34 9.22 580 6751.69 roll 1.97 - - 2610.00 - 4.04 0.131 660.69 -363.5 129.05 - - 1967.88 - - - - - - - - - 15.23 -
6824.91 197.21 10.59 596 6831.71 roll 1.99 - - 2610.00 - 3.49 0.049 2128.06 420.4 129.05 - - 1966.47 - - - - - - - - - 15.62 -
6951.02 185.34 10.08 609 6956.72 roll 2.02 - - 2609.75 - 4.04 0.130 660.50 -363.3 129.05 - - 1964.88 - - - - - - - - - 15.21 -
7119.96 167.36 10.48 643 7126.75 roll 2.04 - - 2610.44 - 3.48 0.048 2128.12 421.7 129.05 - - 1965.97 - - - - - - - - - 15.62 -
7246.07 156.42 7.92 656 7276.74 2.13 0.31 0.072 2670.12 192.5 - - 2128.19 - 160.78 28.79 1.248 1843.38 -4.3 0.096 - - - - - - 15.71 - 11.11
7396.06 140.82 11.71 672 7401.78 roll 2.13 - - 2670.06 - 4.04 0.128 660.69 -363.2 160.78 - - 1839.03 - - - - - - - - - 15.34 -
7431.51 136.15 13.54 679 7436.71 roll 2.13 - - 2669.75 - 3.48 0.047 2129.44 422.1 160.78 - - 1837.66 - - - - - - - - - 15.61 -
7496.07 128.54 11.53 686 7501.71 roll 2.13 - - 2669.75 - 3.58 0.108 3476.19 376.2 160.78 - - 1837.84 - - - - - - - - - 15.38 -
7524.99 125.07 11.40 692 7531.77 roll 2.13 - - 2670.38 - 3.35 0.052 2076.62 -417.8 160.78 - - 1838.47 - - - - - - - - - 15.54 -
7591.14 117.85 10.76 699 7596.75 roll 2.13 - - 2669.69 - 3.72 0.106 3473.94 375.6 160.78 - - 1838.09 - - - - - - - - - 15.38 -
7626.53 113.31 12.18 706 7631.69 roll 2.13 - - 2670.38 - 3.33 0.052 2076.88 -419.5 160.78 - - 1839.22 - - - - - - - - - 15.55 -
7691.15 105.84 11.27 713 7696.78 roll 2.13 - - 2670.69 - 3.85 0.131 660.81 -367.8 160.78 - - 1835.97 - - - - - - - - - 15.27 -
7820.03 90.80 10.21 739 7826.82 roll 2.16 - - 2670.19 - 3.47 0.045 2130.88 423.7 160.78 - - 1838.31 - - - - - - - - - 15.62 -
7886.12 85.55 7.98 746 7928.14 done 2.25 - - 2671.00 - 4.00 0.128 661.38 -367.4 191.96 36.11 1.122 1716.06 -3.4 0.047 - - - - - - - 15.10 11.47
8020.30 71.71 9.63 773 8027.14 roll back 2.30 0.17 0.077 2712.06 241.5 3.50 0.045 2130.19 419.7 191.96 - - 1714.91 - - - - - - - - 15.38 15.55 -
8086.38 66.89 7.14 780 8138.41 done 2.42 - - 2712.06 - 3.62 0.109 3473.50 371.1 231.50 44.75 1.089 1555.12 -3.6 0.040 - - - - - - - 15.05 11.55
8237.17 55.78 6.11 810 8298.60 2.57 0.33 0.063 2775.62 192.6 3.36 0.050 2078.19 -415.3 281.22 55.52 1.066 1353.78 -3.6 0.034 - - - - - - 15.30 15.50 11.53
8356.74 46.76 10.03 828 8362.40 roll 2.60 - - 2776.50 - 3.77 0.104 3474.00 370.2 281.22 - - 1349.44 - - - - - - - - - 15.30 -
8392.17 42.55 12.58 835 8397.34 roll 2.60 - - 2775.06 - 3.37 0.052 2077.56 -414.4 281.22 - - 1347.97 - - - - - - - - - 15.44 -
8456.79 35.15 11.71 842 8458.12 no move 2.60 - - 2775.25 - - - 2078.06 - 281.22 - - 1348.19 - - - - - - - - - - -
8516.75 28.28 11.89 848 8522.43 roll 2.60 - - 2775.06 - 3.88 0.130 660.56 -365.3 281.22 - - 1347.62 - - - - - - - - - 15.24 -
8582.20 19.14 14.48 861 8587.37 roll 2.60 - - 2775.88 - 3.47 0.045 2128.00 422.9 281.22 - - 1348.28 - - - - - - - - - 15.58 -
8646.74 10.64 12.94 868 8651.39 roll 2.60 - - 2774.56 - 3.57 0.109 3473.94 377.0 281.22 - - 1347.66 - - - - - - - - - 15.33 -
8727 end climb: SURFACE_DEPTH_REACHED
8727 begin surface coast
8747 end surface coast: CONTROL_FINISHED_OK
8747 begin surface
SM -0.71 - - - - 166.7 - 0.012 564.2 - 17.47 0.077 561.8 32.2 - 3.32 0.054 566.7 169.6 0.228 - - 30.36 15.30 15.57 -