NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1145 * Raw log
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• Previous call tries 1 • 312.32 of 575.00 AH used of 24V (45.68% remains)
• Surface angle -62.6 deg, depth -1.57 m • Intended pitch -26.6 deg, speed -11.111 cm/s
VBD pumped to 474.76 (SM_CC=475)
• GPS1 time: 26 s
• GPS2 time: 3 s • Transponder ping count: 15
• 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
8.46 - - - 90.34 VBD -1.57 - - 170.25 - - - 2122.62 - -78.68 81.34 0.005 2404.25 - - - - - - - - - - 14.69
90.58 3.05 -6.48 8 126.72 -1.71 14.12 0.252 1725.31 110.1 4.16 0.146 661.62 -351.2 -127.45 14.00 0.006 3019.19 43.9 -4.024 - - - - - - 14.86 14.62 14.87
143.92 16.26 -22.37 19 150.66 roll -1.71 - - 1724.69 - 3.56 0.050 2120.38 409.8 -127.45 - - 3021.94 - - - - - - - - - 15.39 -
210.01 29.44 -19.69 26 215.59 roll -1.71 - - 1724.62 - 3.64 0.106 3475.69 372.3 -127.45 - - 3019.56 - - - - - - - - - 15.19 -
285.00 43.66 -17.43 41 289.54 roll -1.71 - - 1724.25 - 3.39 0.053 2081.94 -411.1 -127.45 - - 3021.34 - - - - - - - - - 15.32 -
354.95 54.88 -15.43 49 360.68 roll -1.71 - - 1723.81 - 4.05 0.145 659.69 -351.2 -127.45 - - 3020.88 - - - - - - - - - 15.02 -
370.42 57.11 -14.99 52 375.58 roll -1.71 - - 1725.00 - 3.49 0.045 2121.69 418.9 -127.45 - - 3018.94 - - - - - - - - - 15.40 -
435.02 65.79 -13.04 59 440.60 roll -1.71 - - 1723.75 - 3.59 0.103 3475.44 377.1 -127.45 - - 3020.81 - - - - - - - - - 15.15 -
473.88 71.40 -14.18 67 480.66 roll -1.71 - - 1725.00 - 3.37 0.049 2080.19 -414.0 -127.45 - - 3020.28 - - - - - - - - - 15.31 -
540.04 79.88 -13.30 74 541.37 no move -1.71 - - 1725.38 - - - 2080.06 - -127.45 - - 3021.19 - - - - - - - - - - -
600.04 88.17 -13.98 80 601.37 no move -1.71 - - 1724.50 - - - 2080.19 - -127.45 - - 3020.69 - - - - - - - - - - -
659.99 96.05 -13.22 86 661.32 no move -1.71 - - 1724.25 - - - 2079.88 - -127.45 - - 3020.44 - - - - - - - - - - -
720.00 103.77 -12.86 92 725.71 roll -1.71 - - 1725.12 - 4.04 0.144 660.44 -351.3 -127.45 - - 3020.22 - - - - - - - - - 14.98 -
735.45 105.79 -13.39 95 740.61 roll -1.71 - - 1724.62 - 3.47 0.044 2125.00 422.1 -127.45 - - 3021.03 - - - - - - - - - 15.40 -
800.05 114.05 -12.51 102 805.62 roll -1.71 - - 1725.12 - 3.58 0.103 3477.31 377.7 -127.45 - - 3022.38 - - - - - - - - - 15.13 -
868.92 123.70 -13.34 116 875.70 roll -1.71 - - 1724.56 - 3.37 0.048 2079.69 -414.7 -127.45 - - 3021.81 - - - - - - - - - 15.30 -
935.06 131.88 -12.23 123 936.39 no move -1.71 - - 1725.12 - - - 2080.81 - -127.45 - - 3021.19 - - - - - - - - - - -
995.02 139.43 -12.52 129 1000.68 roll -1.71 - - 1724.75 - 3.72 0.102 3476.19 375.1 -127.45 - - 3020.38 - - - - - - - - - 15.11 -
1023.92 143.57 -13.82 135 1030.73 roll -1.71 - - 1724.81 - 3.37 0.049 2080.56 -414.1 -127.45 - - 3020.56 - - - - - - - - - 15.30 -
1090.02 152.03 -12.82 142 1091.35 no move -1.71 - - 1725.00 - - - 2081.12 - -127.45 - - 3021.28 - - - - - - - - - - -
1210.03 167.19 -12.64 154 1215.70 roll -1.71 - - 1724.69 - 3.72 0.101 3474.62 374.6 -127.45 - - 3019.25 - - - - - - - - - 15.10 -
1278.96 176.45 -13.73 168 1285.73 roll -1.71 - - 1724.56 - 3.38 0.049 2079.94 -412.6 -127.45 - - 3021.59 - - - - - - - - - 15.28 -
1405.06 191.70 -12.10 181 1410.77 roll -1.71 - - 1725.06 - 4.07 0.145 662.00 -348.4 -127.45 - - 3020.19 - - - - - - - - - 14.93 -
1424.02 194.45 -12.91 185 1430.76 roll -1.71 - - 1725.31 - 3.47 0.043 2122.44 420.9 -127.45 - - 3020.50 - - - - - - - - - 15.37 -
1550.07 208.88 -11.31 198 1555.69 roll -1.71 - - 1724.81 - 3.60 0.103 3476.50 376.1 -127.45 - - 3022.81 - - - - - - - - - 15.09 -
1615.08 217.36 -13.11 211 1619.66 roll -1.71 - - 1724.56 - 3.36 0.049 2080.25 -415.6 -127.45 - - 3020.53 - - - - - - - - - 15.29 -
1745.10 231.95 -11.20 225 1750.81 roll -1.71 - - 1724.44 - 4.06 0.144 661.00 -349.6 -127.45 - - 3019.69 - - - - - - - - - 14.91 -
1760.54 233.81 -10.99 228 1765.70 roll -1.71 - - 1724.50 - 3.48 0.042 2124.75 420.6 -127.45 - - 3021.53 - - - - - - - - - 15.38 -
1885.10 248.20 -11.14 241 1890.83 roll -1.71 - - 1724.75 - 4.18 0.142 660.62 -350.3 -127.45 - - 3021.41 - - - - - - - - - 14.91 -
1910.53 251.83 -14.52 246 1915.71 roll -1.71 - - 1725.06 - 3.49 0.045 2123.12 419.1 -127.45 - - 3022.09 - - - - - - - - - 15.38 -
2235.12 291.23 -12.03 261 2236.44 no move -1.71 - - 1724.62 - - - 2123.25 - -127.45 - - 3021.34 - - - - - - - - - - -
2535.11 327.14 -11.92 271 2540.77 roll -1.71 - - 1724.75 - 3.69 0.110 3476.19 366.7 -127.45 - - 3021.50 - - - - - - - - - 15.02 -
2599.03 335.15 -12.84 284 2604.73 roll -1.71 - - 1725.25 - 3.41 0.052 2081.50 -409.0 -127.45 - - 3020.72 - - - - - - - - - 15.22 -
2920.14 373.81 -11.81 298 2925.87 roll -1.71 - - 1724.69 - 4.14 0.148 663.31 -342.6 -127.45 - - 3020.62 - - - - - - - - - 14.84 -
2945.58 376.78 -11.33 303 2950.78 roll -1.71 - - 1724.44 - 3.51 0.047 2121.38 415.4 -127.45 - - 3022.78 - - - - - - - - - 15.33 -
3270.22 408.93 -9.09 318 3275.81 roll -1.78 - - 1724.69 - 3.67 0.109 3474.12 368.6 -148.74 - - 3020.66 - - - - - - - - - 14.98 -
3329.09 415.86 -10.99 330 3334.78 roll -1.78 - - 1724.62 - 3.41 0.051 2080.88 -408.6 -148.74 - - 3021.41 - - - - - - - - - 15.19 -
3655.21 452.54 -10.97 345 3660.87 roll -1.78 - - 1724.50 - 3.83 0.109 3477.50 364.7 -148.74 - - 3020.06 - - - - - - - - - 14.97 -
3699.12 458.24 -12.22 354 3704.81 roll -1.78 - - 1724.25 - 3.41 0.052 2080.25 -409.8 -148.74 - - 3021.47 - - - - - - - - - 15.18 -
4010.21 495.18 -11.90 366 4015.89 roll -1.78 - - 1725.06 - 3.82 0.109 3475.12 365.1 -148.74 - - 3019.84 - - - - - - - - - 14.96 -
4059 end dive: TARGET_DEPTH_EXCEEDED
4059 begin apogee
4063.91 501.76 -13.20 376 4175.27 -0.25 2.93 0.159 2080.06 121.2 0.07 0.248 2121.19 -19341.9 - 107.22 1.641 2497.75 -4.9 0.268 - - - - - - 14.87 14.83 11.06
4178 end apogee: CONTROL_FINISHED_OK
4178 begin climb
4178.46 505.14 - 380 4319.51 1.78 3.58 0.078 2575.88 138.5 - - 2121.19 - 148.74 134.55 1.583 1893.16 -4.5 0.258 - - - - - - 15.06 - 11.30
4637.79 460.70 11.80 411 4643.46 done 1.78 - - 2575.69 - 4.14 0.136 660.69 -352.8 148.74 - - 1880.66 - - - - - - - - - 15.15 -
4723.18 448.70 12.34 428 4728.37 done 1.78 - - 2575.75 - 3.51 0.043 2126.00 417.5 148.74 - - 1882.44 - - - - - - - - - 15.48 -
5047.80 410.99 11.10 443 5053.50 done 1.78 - - 2575.69 - 4.13 0.131 660.88 -354.8 148.74 - - 1878.75 - - - - - - - - - 15.14 -
5226.68 385.90 14.92 479 5232.39 done 1.78 - - 2576.44 - 3.48 0.042 2127.44 421.4 148.74 - - 1878.66 - - - - - - - - - 15.47 -
5552.85 351.48 9.86 494 5558.52 done 1.81 - - 2575.25 - 4.13 0.129 659.94 -355.3 148.74 - - 1878.50 - - - - - - - - - 15.08 -
5751.73 327.93 12.11 534 5758.53 done 1.81 - - 2576.44 - 3.48 0.041 2127.75 421.8 148.74 - - 1876.81 - - - - - - - - - 15.44 -
6057.85 296.76 10.04 545 6059.18 VBD 1.85 - - 2575.31 - - - 2127.50 - 148.74 - - 1876.66 - - - - - - - - - - -
6357.85 266.73 10.10 555 6363.57 done 1.88 - - 2576.31 - 4.15 0.129 661.56 -353.2 148.74 - - 1874.75 - - - - - - - - - 15.00 -
6573.29 240.49 13.24 598 6578.48 done 1.88 - - 2575.62 - 3.49 0.042 2127.25 420.0 148.74 - - 1874.78 - - - - - - - - - 15.45 -
6697.88 226.98 10.86 611 6703.60 done 1.88 - - 2575.75 - 4.13 0.124 659.81 -355.3 148.74 - - 1874.56 - - - - - - - - - 14.99 -
6736.78 222.07 12.38 619 6743.58 done 1.88 - - 2576.38 - 3.47 0.039 2129.75 423.6 148.74 - - 1874.97 - - - - - - - - - 15.45 -
6862.90 209.11 10.95 632 6868.61 done 1.88 - - 2576.56 - 4.14 0.127 661.00 -354.8 148.74 - - 1873.66 - - - - - - - - - 14.99 -
6938.33 200.36 12.08 647 6943.50 done 1.88 - - 2576.00 - 3.49 0.040 2128.56 420.5 148.74 - - 1874.59 - - - - - - - - - 15.46 -
7062.92 188.28 9.11 660 7064.38 1.94 0.21 0.075 2620.50 211.9 - - 2128.44 - 148.74 - - 1875.22 - - - - - - - - 15.58 - -
7182.92 176.00 10.78 672 7188.64 done 1.94 - - 2621.25 - 4.12 0.123 659.81 -356.5 148.74 - - 1873.75 - - - - - - - - - 14.97 -
7311.83 160.54 11.65 698 7318.64 done 1.94 - - 2622.00 - 3.50 0.041 2129.31 419.9 148.74 - - 1874.38 - - - - - - - - - 15.40 -
7437.98 148.04 10.05 711 7443.60 done 1.97 - - 2621.06 - 3.61 0.104 3473.25 372.3 148.74 - - 1873.00 - - - - - - - - - 15.07 -
7483.41 143.75 9.73 720 7488.56 done 2.01 - - 2620.88 - 3.40 0.048 2077.50 -410.5 148.74 - - 1873.22 - - - - - - - - - 15.31 -
7548.02 137.73 9.00 727 7574.09 done 2.08 - - 2621.56 - 3.90 0.130 660.38 -363.4 170.98 20.47 1.184 1800.59 -3.5 0.074 - - - - - - - 15.21 11.39
7586.88 133.58 10.18 735 7593.72 roll back 2.10 0.19 0.077 2662.25 214.2 3.45 0.040 2131.56 426.4 170.98 - - 1801.34 - - - - - - - - 15.35 15.55 -
7652.98 126.56 10.35 742 7654.30 no move 2.13 - - 2662.25 - - - 2132.00 - 170.98 - - 1799.81 - - - - - - - - - - -
7713.00 119.95 10.58 748 7714.33 no move 2.14 - - 2661.88 - - - 2131.81 - 170.98 - - 1799.44 - - - - - - - - - - -
7773.00 113.69 10.32 754 7778.68 roll 2.17 - - 2661.88 - 4.06 0.124 659.81 -362.6 170.98 - - 1798.50 - - - - - - - - - 15.22 -
7841.88 105.44 11.82 768 7848.85 roll 2.17 - - 2661.94 - 3.47 0.042 2129.12 423.4 170.98 - - 1799.62 - - - - - - - - - 15.47 -
7908.69 99.32 8.81 775 7943.31 done 2.24 - - 2662.50 - 3.54 0.104 3475.94 380.5 195.25 30.00 1.138 1702.22 -3.2 0.051 - - - - - - - 15.16 11.59
7945.45 95.59 9.56 780 7952.30 roll back 2.29 0.20 0.077 2700.62 190.6 3.38 0.046 2074.25 -414.7 195.25 - - 1702.47 - - - - - - - - 15.28 15.46 -
8011.55 88.70 10.32 787 8017.22 roll 2.31 - - 2702.12 - 3.89 0.127 660.50 -363.4 195.25 - - 1701.88 - - - - - - - - - 15.25 -
8157.03 73.66 10.26 816 8162.18 roll 2.33 - - 2700.19 - 3.46 0.041 2131.88 425.3 195.25 - - 1700.69 - - - - - - - - - 15.50 -
8221.58 68.00 8.66 823 8257.99 done 2.41 - - 2702.50 - 4.01 0.122 659.88 -367.1 221.07 30.62 1.097 1597.44 -3.4 0.038 - - - - - - - 15.14 11.57
8337.04 57.30 9.23 846 8342.27 roll back 2.47 0.23 0.069 2748.62 200.5 3.47 0.040 2132.19 424.3 221.07 - - 1595.69 - - - - - - - - 15.28 15.50 -
8401.60 52.92 6.58 853 8463.93 done 2.61 - - 2746.94 - 4.03 0.123 660.88 -365.1 268.72 54.35 1.085 1404.25 -3.5 0.031 - - - - - - - 15.02 11.63
8542.63 38.41 12.13 881 8547.81 roll 2.61 - - 2748.44 - 3.51 0.043 2130.50 418.7 268.72 - - 1400.50 - - - - - - - - - 15.41 -
8607.19 31.80 10.01 888 8612.99 roll back 2.64 0.22 0.070 2792.12 198.5 4.03 0.120 660.81 -364.7 268.72 - - 1398.62 - - - - - - - - 15.41 15.16 -
8666.31 25.03 11.50 900 8672.91 roll 2.64 - - 2792.75 - 3.48 0.041 2130.50 422.3 268.72 - - 1399.44 - - - - - - - - - 15.45 -
8732.90 17.91 10.96 907 8737.85 roll 2.64 - - 2792.00 - 3.53 0.101 3476.31 381.2 268.72 - - 1398.25 - - - - - - - - - 15.23 -
8961.16 6.61 4.60 953 9033.33 2.85 0.25 0.072 2842.62 202.5 3.38 0.047 2077.31 -413.9 337.30 67.38 1.036 1137.09 -3.9 0.004 - - - - - - 15.16 15.38 11.53
9033 end climb: SURFACE_DEPTH_REACHED
9033 begin surface coast
9051 end surface coast: CONTROL_FINISHED_OK
9051 begin surface
SM -0.53 - - - - 180.3 - 0.014 564.6 - 18.94 0.078 565.7 29.9 - 0.08 0.136 563.4 7000.2 2.788 - - 30.36 15.12 15.41 -