NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1087 * Raw log
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• Previous call tries 2 • 297.88 of 575.00 AH used of 24V (48.19% remains)
• Surface angle -57.9 deg, depth -1.49 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 475.04 (SM_CC=475)
• GPS1 time: 7 s
• GPS2 time: 3 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
8.35 - - - 100.54 VBD -1.59 - - 166.50 - - - 2082.06 - -74.33 91.73 0.005 2724.47 - - - - - - - - - - 14.67
100.76 5.40 -11.53 9 126.59 -1.59 13.87 0.253 1753.56 114.4 4.05 0.148 662.19 -350.6 -74.33 1.53 0.018 2805.25 52.8 -2.754 - - - - - - 14.93 14.71 14.87
263.74 45.25 -18.48 42 270.55 roll -1.59 - - 1753.75 - 3.57 0.052 2121.88 408.9 -74.33 - - 2802.97 - - - - - - - - - 15.45 -
329.88 54.91 -14.28 49 335.48 roll -1.59 - - 1753.62 - 3.67 0.107 3475.69 368.9 -74.33 - - 2801.81 - - - - - - - - - 15.26 -
434.84 71.90 -15.12 70 439.46 roll -1.59 - - 1753.44 - 3.42 0.053 2082.00 -407.5 -74.33 - - 2804.03 - - - - - - - - - 15.42 -
504.84 79.82 -11.16 78 510.56 roll -1.59 - - 1753.81 - 4.07 0.145 662.12 -348.9 -74.33 - - 2803.69 - - - - - - - - - 15.11 -
570.32 88.92 -14.46 91 575.49 roll -1.59 - - 1752.62 - 3.52 0.047 2124.19 415.4 -74.33 - - 2802.50 - - - - - - - - - 15.50 -
634.86 96.92 -12.51 98 640.51 roll -1.59 - - 1753.38 - 3.65 0.104 3475.00 370.1 -74.33 - - 2802.03 - - - - - - - - - 15.27 -
723.79 108.82 -13.40 116 730.57 roll -1.59 - - 1753.31 - 3.37 0.052 2081.50 -413.5 -74.33 - - 2804.62 - - - - - - - - - 15.42 -
789.94 116.10 -11.09 123 795.61 roll -1.59 - - 1753.19 - 4.02 0.146 661.06 -353.3 -74.33 - - 2802.12 - - - - - - - - - 15.09 -
828.80 121.34 -13.23 131 835.61 roll -1.59 - - 1753.50 - 3.50 0.047 2122.62 417.6 -74.33 - - 2803.41 - - - - - - - - - 15.49 -
894.95 128.78 -11.15 138 896.27 no move -1.59 - - 1753.69 - - - 2122.88 - -74.33 - - 2803.75 - - - - - - - - - - -
954.91 135.24 -11.02 144 960.54 roll -1.59 - - 1753.19 - 3.62 0.104 3474.81 373.5 -74.33 - - 2801.47 - - - - - - - - - 15.26 -
1023.83 143.16 -11.81 158 1030.60 roll -1.59 - - 1753.25 - 3.34 0.052 2080.94 -417.3 -74.33 - - 2803.91 - - - - - - - - - 15.42 -
1089.99 149.84 -10.40 165 1095.58 roll -1.59 - - 1751.75 - 3.72 0.102 3474.88 374.7 -74.33 - - 2804.03 - - - - - - - - - 15.26 -
1164.98 157.67 -11.04 180 1169.52 roll -1.59 - - 1753.44 - 3.35 0.052 2081.56 -415.9 -74.33 - - 2804.22 - - - - - - - - - 15.43 -
1294.95 171.11 -10.33 194 1300.66 roll -1.59 - - 1753.88 - 4.02 0.147 661.62 -353.2 -74.33 - - 2805.06 - - - - - - - - - 15.06 -
1350.40 177.67 -12.16 205 1355.56 roll -1.59 - - 1753.62 - 3.50 0.047 2122.50 417.4 -74.33 - - 2801.69 - - - - - - - - - 15.51 -
1474.97 190.91 -10.12 218 1480.60 roll -1.59 - - 1753.25 - 3.62 0.105 3476.94 374.2 -74.33 - - 2803.06 - - - - - - - - - 15.25 -
1543.89 199.33 -12.02 232 1550.68 roll -1.59 - - 1753.69 - 3.35 0.052 2081.38 -416.6 -74.33 - - 2804.12 - - - - - - - - - 15.41 -
1669.98 212.74 -10.66 245 1671.31 no move -1.59 - - 1753.38 - - - 2081.06 - -74.33 - - 2804.09 - - - - - - - - - - -
1790.00 225.33 -10.94 257 1795.65 roll -1.59 - - 1752.44 - 3.74 0.104 3475.12 372.7 -74.33 - - 2802.94 - - - - - - - - - 15.23 -
1824.99 229.24 -11.99 264 1829.59 roll -1.59 - - 1753.69 - 3.34 0.054 2081.38 -417.3 -74.33 - - 2804.44 - - - - - - - - - 15.41 -
1955.01 242.71 -10.15 278 1960.67 roll -1.59 - - 1752.94 - 3.70 0.104 3476.69 377.1 -74.33 - - 2806.25 - - - - - - - - - 15.24 -
2000.01 247.24 -10.92 287 2004.60 roll -1.59 - - 1752.75 - 3.33 0.054 2080.19 -419.4 -74.33 - - 2804.75 - - - - - - - - - 15.40 -
2150.01 262.90 -10.16 295 2155.72 roll -1.59 - - 1753.38 - 3.98 0.151 660.62 -356.7 -74.33 - - 2803.06 - - - - - - - - - 15.03 -
2205.49 269.94 -14.41 306 2210.64 roll -1.59 - - 1752.88 - 3.48 0.048 2122.81 420.2 -74.33 - - 2804.44 - - - - - - - - - 15.50 -
2530.04 302.99 -10.23 321 2535.74 roll -1.59 - - 1752.31 - 4.09 0.149 661.62 -357.3 -74.33 - - 2802.91 - - - - - - - - - 15.00 -
2578.95 308.17 -10.64 331 2585.76 roll -1.59 - - 1753.69 - 3.51 0.049 2122.56 416.2 -74.33 - - 2804.47 - - - - - - - - - 15.47 -
2885.09 337.38 -9.62 342 2890.78 roll -1.59 - - 1752.38 - 4.12 0.149 661.75 -354.6 -74.33 - - 2802.91 - - - - - - - - - 14.99 -
2928.97 342.47 -11.47 351 2934.68 roll -1.59 - - 1753.38 - 3.51 0.049 2120.94 415.7 -74.33 - - 2805.84 - - - - - - - - - 15.46 -
3240.07 373.04 -9.99 363 3241.39 no move -1.59 - - 1753.31 - - - 2120.81 - -74.33 - - 2803.84 - - - - - - - - - - -
3540.06 402.85 -10.14 373 3545.73 roll -1.59 - - 1753.31 - 3.69 0.112 3475.31 367.1 -74.33 - - 2803.28 - - - - - - - - - 15.17 -
3568.98 405.74 -10.33 379 3574.66 roll -1.59 - - 1753.00 - 3.36 0.056 2081.25 -414.9 -74.33 - - 2804.16 - - - - - - - - - 15.35 -
3895.10 439.31 -10.39 394 3900.74 roll -1.59 - - 1753.94 - 3.80 0.110 3474.69 366.7 -74.33 - - 2801.47 - - - - - - - - - 15.16 -
3944.00 444.72 -10.77 404 3950.78 roll -1.59 - - 1753.50 - 3.38 0.058 2082.75 -411.8 -74.33 - - 2804.56 - - - - - - - - - 15.32 -
4250.09 474.97 -9.31 415 4255.76 roll -1.59 - - 1752.94 - 3.80 0.112 3474.62 366.3 -74.33 - - 2802.62 - - - - - - - - - 15.13 -
4314.03 481.36 -8.42 428 4319.69 roll -1.67 - - 1753.06 - 3.37 0.058 2081.31 -413.4 -101.07 - - 2803.75 - - - - - - - - - 15.31 -
4514 end dive: TARGET_DEPTH_EXCEEDED
4515 begin apogee
4516.25 500.74 -9.61 438 4584.06 -0.25 2.53 0.156 2079.25 128.9 0.09 0.233 2085.19 43.1 - 63.92 1.630 2500.34 -4.7 0.254 - - - - - - 15.10 14.94 10.61
4586 end apogee: CONTROL_FINISHED_OK
4587 begin climb
4587.15 503.18 - 440 4689.76 1.67 3.27 0.081 2550.44 144.1 4.05 0.139 661.81 -351.5 101.07 92.90 1.588 2084.09 -4.5 0.247 - - - - - - 15.22 14.72 11.49
4703.49 496.62 6.06 463 4755.71 1.82 0.19 0.074 2596.88 244.4 3.56 0.044 2127.25 411.6 151.36 47.06 1.526 1880.94 -4.3 0.244 - - - - - - 15.07 15.18 11.51
5058.93 451.52 13.35 484 5064.64 done 1.82 - - 2596.50 - 4.07 0.134 661.94 -360.0 151.36 - - 1870.47 - - - - - - - - - 15.23 -
5137.84 438.79 14.95 500 5144.66 done 1.82 - - 2595.44 - 3.51 0.046 2125.06 416.8 151.36 - - 1871.22 - - - - - - - - - 15.52 -
5443.95 399.11 12.57 511 5449.66 done 1.82 - - 2596.44 - 4.06 0.134 661.94 -360.4 151.36 - - 1868.88 - - - - - - - - - 15.19 -
5477.86 394.21 13.19 518 5483.57 done 1.82 - - 2596.50 - 3.48 0.046 2125.25 420.5 151.36 - - 1868.97 - - - - - - - - - 15.56 -
5798.97 355.81 11.77 532 5804.68 done 1.82 - - 2596.25 - 4.07 0.132 661.88 -359.6 151.36 - - 1867.00 - - - - - - - - - 15.18 -
5967.95 330.90 15.55 566 5974.71 done 1.82 - - 2596.38 - 3.51 0.046 2126.06 417.1 151.36 - - 1867.66 - - - - - - - - - 15.56 -
6274.00 295.55 11.10 577 6279.71 done 1.82 - - 2596.62 - 4.09 0.132 661.69 -358.0 151.36 - - 1866.41 - - - - - - - - - 15.12 -
6502.93 263.88 14.41 623 6509.73 done 1.82 - - 2597.06 - 3.50 0.047 2127.31 418.7 151.36 - - 1866.72 - - - - - - - - - 15.54 -
6809.05 229.41 12.04 646 6814.78 done 1.82 - - 2596.62 - 4.07 0.129 661.50 -360.1 151.36 - - 1865.56 - - - - - - - - - 15.11 -
6927.96 214.98 12.20 670 6934.80 done 1.82 - - 2594.62 - 3.52 0.047 2125.69 416.0 151.36 - - 1867.06 - - - - - - - - - 15.53 -
7054.10 201.78 9.88 683 7059.79 done 1.86 - - 2596.81 - 4.05 0.128 661.50 -361.5 151.36 - - 1864.34 - - - - - - - - - 15.09 -
7139.52 191.29 12.15 700 7144.69 done 1.86 - - 2596.25 - 3.50 0.044 2128.25 419.1 151.36 - - 1864.88 - - - - - - - - - 15.56 -
7264.11 178.80 10.18 713 7269.81 done 1.89 - - 2595.81 - 4.06 0.126 662.75 -361.0 151.36 - - 1865.75 - - - - - - - - - 15.10 -
7379.78 166.03 10.50 736 7384.88 done 1.91 - - 2595.88 - 3.51 0.046 2128.44 417.6 151.36 - - 1865.25 - - - - - - - - - 15.56 -
7504.13 154.36 8.75 749 7529.25 done 1.98 - - 2596.94 - 4.03 0.129 661.62 -364.0 174.87 19.81 1.213 1786.00 -4.0 0.089 - - - - - - - 15.21 11.11
7548.03 149.78 10.43 758 7554.88 roll back 2.00 0.17 0.078 2637.75 240.1 3.48 0.044 2128.56 421.5 174.87 - - 1785.59 - - - - - - - - 15.41 15.62 -
7674.13 136.13 11.06 771 7679.74 roll 2.00 - - 2636.38 - 3.59 0.106 3475.69 375.2 174.87 - - 1783.03 - - - - - - - - - 15.37 -
7683.04 135.20 10.87 773 7689.81 roll 2.00 - - 2638.12 - 3.33 0.050 2074.56 -420.8 174.87 - - 1782.50 - - - - - - - - - 15.52 -
7749.20 128.17 10.38 780 7754.81 roll 2.02 - - 2638.12 - 3.84 0.130 661.81 -367.9 174.87 - - 1782.16 - - - - - - - - - 15.27 -
7814.60 119.74 13.15 793 7819.76 roll 2.02 - - 2638.06 - 3.46 0.044 2129.75 424.3 174.87 - - 1780.97 - - - - - - - - - 15.57 -
7879.15 112.24 11.32 800 7880.48 no move 2.02 - - 2635.62 - - - 2129.12 - 174.87 - - 1782.03 - - - - - - - - - - -
7939.17 105.60 10.97 806 7944.88 roll 2.02 - - 2638.00 - 4.01 0.128 661.69 -365.9 174.87 - - 1782.03 - - - - - - - - - 15.20 -
7964.61 102.52 11.09 811 7969.78 roll 2.02 - - 2636.62 - 3.46 0.046 2128.06 423.8 174.87 - - 1781.72 - - - - - - - - - 15.58 -
8029.19 95.94 10.05 818 8034.88 roll 2.05 - - 2637.44 - 3.97 0.127 662.06 -369.3 174.87 - - 1782.00 - - - - - - - - - 15.20 -
8114.66 87.50 9.48 835 8119.82 roll 2.10 - - 2637.81 - 3.45 0.046 2131.06 425.8 174.87 - - 1780.28 - - - - - - - - - 15.56 -
8179.21 82.84 6.83 842 8234.93 2.23 0.27 0.069 2692.56 202.8 3.57 0.109 3475.62 376.6 217.50 49.56 1.137 1612.38 -3.4 0.043 - - - - - - 15.61 15.06 11.49
8293.13 72.01 10.99 865 8299.91 roll 2.23 - - 2692.69 - 3.35 0.053 2077.19 -417.4 217.50 - - 1609.50 - - - - - - - - - 15.44 -
8359.28 67.17 7.08 872 8411.38 done 2.35 - - 2691.62 - 3.88 0.134 661.88 -364.8 257.60 45.88 1.093 1449.28 -3.5 0.037 - - - - - - - 14.99 11.56
8453.50 58.72 10.81 891 8460.30 roll 2.35 - - 2692.00 - 3.49 0.045 2130.00 420.7 257.60 - - 1447.78 - - - - - - - - - 15.43 -
8520.31 52.92 8.85 898 8552.03 2.42 0.21 0.080 2736.19 210.4 3.55 0.108 3475.81 379.1 280.13 26.26 1.036 1357.66 -3.4 0.030 - - - - - - 15.45 15.03 11.55
8675.31 37.06 8.81 929 8706.52 done 2.48 - - 2737.31 - 3.35 0.054 2074.81 -418.2 303.05 26.08 1.019 1264.91 -3.6 0.022 - - - - - - - 15.42 11.52
8765.32 29.04 9.36 941 8770.98 roll 2.54 - - 2737.56 - 3.86 0.132 660.75 -366.3 303.05 - - 1262.97 - - - - - - - - - 15.26 -
8824.24 23.02 9.79 953 8831.07 roll back 2.58 0.17 0.081 2776.19 227.2 3.48 0.044 2132.75 423.0 303.05 - - 1262.97 - - - - - - - - 15.29 15.52 -
8890.32 17.94 7.34 960 8935.80 done 2.69 - - 2778.44 - 3.57 0.107 3476.31 376.3 340.58 40.81 1.019 1111.12 -3.7 0.011 - - - - - - - 15.04 11.53
8944.30 12.50 10.13 971 8951.01 roll 2.72 - - 2777.50 - 3.34 0.051 2073.56 -420.0 340.58 - - 1111.03 - - - - - - - - - 15.43 -
9010.37 5.39 11.10 978 9016.00 roll 2.72 - - 2778.06 - 3.83 0.129 660.56 -368.9 340.58 - - 1108.75 - - - - - - - - - 15.26 -
9035 end climb: SURFACE_DEPTH_REACHED
9035 begin surface coast
9045 end surface coast: CONTROL_FINISHED_OK
9045 begin surface
SM -0.46 - - - - 168.9 - 0.009 563.4 - 17.51 0.068 564.6 32.2 - 3.48 0.047 562.2 160.5 0.161 - - 30.36 15.25 15.52 -