NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1063 * Raw log
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• Previous call tries 2 • 292.05 of 575.00 AH used of 24V (49.21% remains)
• Surface angle -60.0 deg, depth -1.53 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.66 (SM_CC=475)
• GPS1 time: 8 s
• GPS2 time: 2 s • Transponder ping count: 7
• 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
8.27 - - - 100.49 VBD -1.59 - - 167.88 - - - 2084.06 - -74.33 91.78 0.005 2718.09 - - - - - - - - - - 14.66
100.71 5.21 -10.32 9 126.52 -1.59 13.91 0.248 1753.81 114.0 3.86 0.112 3474.81 360.3 -74.33 1.69 0.016 2804.25 51.0 -2.990 - - - - - - 14.97 14.74 14.86
129.80 14.99 -31.08 15 134.34 roll -1.59 - - 1753.94 - 3.42 0.056 2082.31 -407.2 -74.33 - - 2802.59 - - - - - - - - - 15.44 -
199.73 29.97 -20.81 23 205.46 roll -1.59 - - 1752.88 - 4.07 0.148 663.88 -348.5 -74.33 - - 2802.22 - - - - - - - - - 15.16 -
278.65 45.29 -18.98 39 285.92 roll -1.59 - - 1753.94 - 3.56 0.052 2121.25 409.4 -74.33 - - 2804.22 - - - - - - - - - 15.48 -
344.75 55.49 -15.55 46 346.08 no move -1.59 - - 1753.94 - - - 2121.12 - -74.33 - - 2802.97 - - - - - - - - - - -
404.77 64.25 -14.32 52 406.10 no move -1.59 - - 1754.00 - - - 2120.81 - -74.33 - - 2802.97 - - - - - - - - - - -
464.77 72.27 -13.20 58 470.42 roll -1.59 - - 1753.75 - 3.66 0.105 3477.12 370.6 -74.33 - - 2801.75 - - - - - - - - - 15.31 -
573.75 87.14 -12.73 80 580.91 roll -1.59 - - 1752.94 - 3.39 0.054 2080.94 -411.9 -74.33 - - 2803.47 - - - - - - - - - 15.46 -
639.84 94.95 -11.88 87 645.47 roll -1.59 - - 1753.38 - 3.78 0.101 3476.69 369.2 -74.33 - - 2802.88 - - - - - - - - - 15.32 -
695.25 101.93 -13.39 98 700.39 roll -1.59 - - 1753.69 - 3.37 0.053 2080.75 -414.2 -74.33 - - 2803.06 - - - - - - - - - 15.49 -
759.85 108.85 -10.54 105 761.18 no move -1.59 - - 1754.12 - - - 2081.31 - -74.33 - - 2803.25 - - - - - - - - - - -
819.81 115.41 -10.48 111 825.51 roll -1.59 - - 1754.00 - 4.04 0.147 662.69 -351.1 -74.33 - - 2801.19 - - - - - - - - - 15.15 -
888.78 123.83 -12.64 125 895.98 roll -1.59 - - 1754.19 - 3.51 0.049 2123.19 416.1 -74.33 - - 2802.78 - - - - - - - - - 15.54 -
954.81 130.77 -10.45 132 960.47 roll -1.59 - - 1753.69 - 3.62 0.105 3475.69 373.6 -74.33 - - 2803.66 - - - - - - - - - 15.32 -
993.73 135.27 -11.38 140 1000.96 roll -1.59 - - 1754.38 - 3.35 0.052 2080.06 -416.6 -74.33 - - 2803.78 - - - - - - - - - 15.47 -
1059.88 141.98 -10.62 147 1061.21 no move -1.59 - - 1754.12 - - - 2079.94 - -74.33 - - 2803.41 - - - - - - - - - - -
1119.86 147.57 -9.33 153 1121.19 no move -1.59 - - 1754.19 - - - 2080.19 - -74.33 - - 2803.41 - - - - - - - - - - -
1179.85 153.83 -10.08 159 1185.51 roll -1.59 - - 1753.31 - 3.73 0.101 3475.94 374.2 -74.33 - - 2802.53 - - - - - - - - - 15.33 -
1215.29 157.54 -10.60 166 1220.45 roll -1.59 - - 1753.75 - 3.35 0.051 2079.56 -416.8 -74.33 - - 2803.03 - - - - - - - - - 15.49 -
1339.86 171.23 -11.24 179 1345.52 roll -1.59 - - 1754.19 - 3.73 0.101 3475.50 374.2 -74.33 - - 2802.34 - - - - - - - - - 15.33 -
1378.77 175.96 -11.52 187 1385.99 roll -1.59 - - 1754.00 - 3.38 0.051 2080.31 -412.8 -74.33 - - 2803.44 - - - - - - - - - 15.47 -
1504.88 189.66 -10.50 200 1506.20 no move -1.59 - - 1754.38 - - - 2080.44 - -74.33 - - 2803.12 - - - - - - - - - - -
1624.88 202.04 -10.44 212 1626.21 no move -1.59 - - 1754.06 - - - 2080.38 - -74.33 - - 2802.59 - - - - - - - - - - -
1744.90 213.96 -10.18 224 1746.23 no move -1.59 - - 1754.00 - - - 2079.75 - -74.33 - - 2803.91 - - - - - - - - - - -
1864.92 225.61 -9.89 236 1866.25 no move -1.59 - - 1754.12 - - - 2079.31 - -74.33 - - 2803.72 - - - - - - - - - - -
1984.91 237.28 -9.49 248 1986.24 no move -1.59 - - 1753.62 - - - 2080.19 - -74.33 - - 2803.03 - - - - - - - - - - -
2104.93 247.91 -7.91 260 2110.59 roll -1.69 - - 1754.12 - 3.79 0.106 3474.75 368.0 -106.16 - - 2802.41 - - - - - - - - - 15.29 -
2160.39 253.01 -8.96 271 2165.62 roll back -1.75 0.35 0.059 1699.38 -156.4 3.38 0.055 2081.31 -412.3 -127.62 - - 2804.28 - - - - - - - - 15.27 15.47 -
2485.00 290.55 -12.29 286 2486.32 no move -1.75 - - 1699.25 - - - 2081.12 - -127.62 - - 2804.16 - - - - - - - - - - -
2784.94 328.25 -12.64 296 2790.63 roll -1.75 - - 1698.62 - 3.81 0.107 3475.88 366.1 -127.62 - - 2804.66 - - - - - - - - - 15.26 -
2818.86 332.94 -14.08 303 2824.56 roll -1.75 - - 1698.69 - 3.41 0.056 2080.81 -409.1 -127.62 - - 2805.16 - - - - - - - - - 15.43 -
3139.99 372.87 -12.47 317 3145.69 roll -1.75 - - 1699.12 - 4.13 0.150 664.06 -343.0 -127.62 - - 2804.75 - - - - - - - - - 15.07 -
3195.42 380.31 -15.98 328 3200.61 roll -1.75 - - 1699.62 - 3.55 0.052 2122.75 410.9 -127.62 - - 2804.28 - - - - - - - - - 15.51 -
3520.03 420.68 -12.72 343 3525.73 roll -1.75 - - 1698.94 - 4.26 0.149 663.00 -342.7 -127.62 - - 2804.31 - - - - - - - - - 15.03 -
3635.49 437.97 -17.07 366 3640.62 roll -1.75 - - 1699.62 - 3.55 0.051 2119.75 410.4 -127.62 - - 2804.44 - - - - - - - - - 15.51 -
3960.05 476.67 -11.47 381 3965.67 roll -1.75 - - 1699.88 - 3.71 0.111 3475.44 365.4 -127.62 - - 2803.16 - - - - - - - - - 15.24 -
4038.92 485.63 -9.55 397 4045.72 roll -1.75 - - 1699.44 - 3.42 0.056 2083.50 -407.0 -127.62 - - 2803.84 - - - - - - - - - 15.39 -
4194 end dive: TARGET_DEPTH_EXCEEDED
4195 begin apogee
4196.20 502.39 -10.15 403 4264.75 -0.25 3.14 0.166 2079.81 121.1 0.09 0.239 2085.12 - - 64.15 1.627 2497.22 -4.8 0.266 - - - - - - 15.12 14.93 10.60
4267 end apogee: CONTROL_FINISHED_OK
4267 begin climb
4267.80 503.37 - 405 4393.94 1.75 3.28 0.077 2571.06 149.8 4.18 0.135 661.69 -340.5 127.62 115.96 1.585 1978.97 -4.5 0.256 - - - - - - 15.24 14.71 11.56
4417.62 489.67 14.14 435 4422.79 roll 1.75 - - 2570.81 - 3.60 0.043 2122.69 405.8 127.62 - - 1974.50 - - - - - - - - - 15.23 -
4742.23 447.56 12.37 450 4747.91 done 1.75 - - 2571.38 - 4.16 0.133 662.75 -350.9 127.62 - - 1965.66 - - - - - - - - - 15.25 -
4841.11 432.60 18.09 470 4846.83 done 1.75 - - 2571.50 - 3.53 0.046 2124.19 414.0 127.62 - - 1966.72 - - - - - - - - - 15.57 -
5157.24 399.24 10.52 483 5162.94 done 1.77 - - 2571.19 - 4.14 0.131 662.12 -353.2 127.62 - - 1964.56 - - - - - - - - - 15.25 -
5332.68 378.61 10.62 518 5337.88 done 1.77 - - 2572.00 - 3.52 0.045 2126.06 415.9 127.62 - - 1964.81 - - - - - - - - - 15.62 -
5657.33 347.00 9.32 533 5662.99 done 1.82 - - 2571.62 - 4.16 0.132 661.62 -352.0 127.62 - - 1960.66 - - - - - - - - - 15.19 -
5816.19 327.75 12.92 565 5821.90 done 1.82 - - 2571.81 - 3.51 0.045 2125.56 417.1 127.62 - - 1962.34 - - - - - - - - - 15.60 -
6132.31 297.64 9.43 578 6138.03 done 1.87 - - 2571.19 - 4.15 0.130 661.69 -352.7 127.62 - - 1959.56 - - - - - - - - - 15.18 -
6247.80 284.41 12.21 601 6252.95 done 1.87 - - 2570.94 - 3.52 0.045 2126.00 416.0 127.62 - - 1962.72 - - - - - - - - - 15.61 -
6572.38 254.49 8.79 616 6598.56 1.94 0.23 0.073 2626.81 242.9 4.11 0.130 661.56 -356.3 150.69 19.70 1.299 1883.53 -4.0 0.142 - - - - - - 15.69 15.21 11.12
6771.27 226.84 15.00 656 6778.09 roll 1.94 - - 2627.75 - 3.54 0.045 2126.00 413.7 150.69 - - 1881.53 - - - - - - - - - 15.61 -
6897.38 212.12 11.47 669 6903.10 roll 1.94 - - 2626.69 - 4.11 0.124 662.00 -356.2 150.69 - - 1879.12 - - - - - - - - - 15.28 -
6952.83 205.52 13.01 680 6958.03 roll 1.94 - - 2626.38 - 3.52 0.045 2126.94 416.2 150.69 - - 1879.59 - - - - - - - - - 15.61 -
7077.41 192.37 10.50 693 7083.10 roll 1.96 - - 2627.31 - 4.09 0.125 661.75 -358.2 150.69 - - 1878.06 - - - - - - - - - 15.25 -
7132.85 185.11 13.07 704 7138.02 roll 1.96 - - 2627.75 - 3.53 0.044 2126.81 415.0 150.69 - - 1880.12 - - - - - - - - - 15.61 -
7257.41 171.02 11.06 717 7263.15 roll 1.96 - - 2627.56 - 4.11 0.124 661.50 -356.5 150.69 - - 1877.53 - - - - - - - - - 15.23 -
7342.87 160.59 12.38 734 7348.04 roll 1.96 - - 2627.19 - 3.49 0.043 2128.00 420.2 150.69 - - 1879.72 - - - - - - - - - 15.60 -
7467.46 147.36 10.43 747 7473.08 roll 1.98 - - 2625.38 - 3.66 0.106 3474.00 367.8 150.69 - - 1877.88 - - - - - - - - - 15.29 -
7486.37 145.13 10.64 751 7493.13 roll 1.98 - - 2627.06 - 3.39 0.049 2076.75 -412.2 150.69 - - 1877.31 - - - - - - - - - 15.49 -
7552.51 138.68 9.84 758 7553.84 no move 2.02 - - 2627.75 - - - 2076.44 - 150.69 - - 1877.88 - - - - - - - - - - -
7612.47 133.47 9.07 764 7638.58 done 2.08 - - 2627.38 - 3.81 0.107 3473.31 366.6 171.02 20.95 1.165 1800.81 -3.7 0.076 - - - - - - - 15.19 11.39
7657.92 129.17 9.18 773 7663.11 roll back 2.14 0.19 0.084 2668.31 215.4 3.37 0.049 2076.75 -414.4 171.02 - - 1799.66 - - - - - - - - 15.42 15.60 -
7722.46 122.24 11.19 780 7723.78 no move 2.14 - - 2667.81 - - - 2077.06 - 171.02 - - 1798.53 - - - - - - - - - - -
7782.47 115.96 10.88 786 7788.17 roll 2.14 - - 2668.44 - 3.95 0.128 661.44 -358.4 171.02 - - 1797.62 - - - - - - - - - 15.32 -
7857.91 105.99 13.62 801 7863.09 roll 2.14 - - 2668.56 - 3.49 0.043 2127.19 420.0 171.02 - - 1798.38 - - - - - - - - - 15.61 -
7922.50 98.62 10.99 808 7928.13 roll 2.14 - - 2667.81 - 3.64 0.106 3475.38 370.4 171.02 - - 1795.84 - - - - - - - - - 15.34 -
7947.99 95.42 11.32 813 7953.09 roll 2.14 - - 2667.50 - 3.37 0.049 2074.50 -415.7 171.02 - - 1796.78 - - - - - - - - - 15.54 -
8012.56 88.87 9.64 820 8013.90 no move 2.18 - - 2668.00 - - - 2074.94 - 171.02 - - 1796.25 - - - - - - - - - - -
8072.53 83.23 9.53 826 8073.85 no move 2.23 - - 2668.12 - - - 2074.81 - 171.02 - - 1796.03 - - - - - - - - - - -
8132.51 76.69 11.51 832 8133.83 no move 2.23 - - 2668.50 - - - 2074.94 - 171.02 - - 1797.31 - - - - - - - - - - -
8192.53 71.01 9.43 838 8198.19 roll 2.28 - - 2668.38 - 3.83 0.103 3473.19 365.1 171.02 - - 1796.09 - - - - - - - - - 15.31 -
8251.45 65.11 9.27 850 8258.28 roll back 2.34 0.25 0.077 2715.88 190.0 3.38 0.048 2078.12 -412.7 171.02 - - 1796.91 - - - - - - - - 15.31 15.54 -
8317.53 60.75 6.70 857 8373.27 done 2.47 - - 2716.12 - 3.92 0.127 661.94 -361.3 214.95 50.44 1.112 1622.66 -3.5 0.034 - - - - - - - 15.07 11.56
8401.52 56.13 5.72 874 8469.54 2.63 0.40 0.053 2790.88 186.9 3.51 0.040 2133.31 419.2 268.56 60.66 1.078 1404.41 -3.6 0.034 - - - - - - 15.35 15.49 11.63
8527.53 43.29 11.86 893 8533.27 roll 2.63 - - 2790.50 - 4.11 0.120 661.75 -358.0 268.56 - - 1401.72 - - - - - - - - - 15.23 -
8583.00 35.78 13.33 904 8588.31 roll 2.63 - - 2791.00 - 3.54 0.041 2130.38 414.9 268.56 - - 1400.75 - - - - - - - - - 15.48 -
8647.55 29.41 9.47 911 8653.19 roll 2.68 - - 2790.06 - 3.64 0.103 3475.75 369.6 268.56 - - 1398.88 - - - - - - - - - 15.29 -
8776.48 18.10 7.83 937 8817.90 done 2.77 - - 2791.12 - 3.39 0.049 2077.50 -412.5 301.20 34.96 1.020 1272.50 -3.6 0.012 - - - - - - - 15.50 11.45
8882.58 9.45 9.21 952 8888.34 roll back 2.83 0.22 0.077 2837.56 211.1 3.95 0.126 661.75 -358.4 301.20 - - 1269.53 - - - - - - - - 15.49 15.28 -
8947 end climb: SURFACE_DEPTH_REACHED
8947 begin surface coast
8957 end surface coast: CONTROL_FINISHED_OK
8957 begin surface
SM -0.49 - - - - 167.2 - 0.012 565.0 - 18.70 0.093 564.2 30.2 - 3.49 0.044 565.8 161.0 0.183 - - 30.36 15.21 15.55 -