NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1152 * Raw log
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• Previous call tries 5 • 314.09 of 575.00 AH used of 24V (45.38% remains)
• Surface angle -62.5 deg, depth -1.53 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.99 (SM_CC=475)
• GPS1 time: 24 s
• GPS2 time: 2 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
8.48 - - - 95.40 VBD -1.59 - - 171.56 - - - 2116.06 - -74.33 86.57 0.005 2579.81 - - - - - - - - - - 14.72
95.67 4.34 -9.36 9 123.78 -1.59 14.47 0.252 1753.50 109.3 4.11 0.146 661.94 -353.8 -74.33 4.78 0.009 2801.72 46.4 -4.026 - - - - - - 14.80 14.67 14.89
135.90 15.13 -22.40 17 142.72 roll -1.59 - - 1753.75 - 3.54 0.051 2120.06 411.9 -74.33 - - 2802.31 - - - - - - - - - 15.38 -
201.99 27.04 -18.20 24 203.32 no move -1.59 - - 1754.25 - - - 2120.62 - -74.33 - - 2802.47 - - - - - - - - - - -
262.01 36.42 -15.71 30 263.34 no move -1.59 - - 1754.06 - - - 2120.81 - -74.33 - - 2801.88 - - - - - - - - - - -
322.01 44.44 -13.28 36 327.65 roll -1.59 - - 1753.50 - 3.63 0.106 3475.62 373.2 -74.33 - - 2801.34 - - - - - - - - - 15.11 -
407.01 56.68 -14.99 53 411.61 roll -1.59 - - 1754.25 - 3.39 0.053 2081.31 -411.3 -74.33 - - 2802.84 - - - - - - - - - 15.27 -
477.02 65.68 -12.06 61 482.69 roll -1.59 - - 1754.50 - 3.74 0.100 3475.94 372.9 -74.33 - - 2802.66 - - - - - - - - - 15.11 -
492.03 67.18 -11.30 64 496.62 roll -1.59 - - 1753.62 - 3.39 0.050 2079.81 -411.8 -74.33 - - 2802.97 - - - - - - - - - 15.29 -
562.04 74.08 -9.44 72 567.77 roll -1.59 - - 1753.25 - 4.01 0.144 661.69 -353.6 -74.33 - - 2802.00 - - - - - - - - - 14.94 -
590.94 77.65 -11.89 78 597.75 roll -1.59 - - 1753.44 - 3.49 0.045 2124.12 419.0 -74.33 - - 2803.59 - - - - - - - - - 15.35 -
657.10 85.08 -11.39 85 662.67 roll -1.59 - - 1754.50 - 3.57 0.103 3475.94 378.7 -74.33 - - 2800.81 - - - - - - - - - 15.10 -
775.98 100.71 -12.14 109 782.75 roll -1.59 - - 1753.75 - 3.38 0.052 2081.12 -412.7 -74.33 - - 2802.69 - - - - - - - - - 15.25 -
842.11 107.84 -11.15 116 847.78 roll -1.59 - - 1754.25 - 4.02 0.144 661.81 -353.1 -74.33 - - 2800.66 - - - - - - - - - 14.93 -
877.51 112.02 -12.55 123 882.70 roll -1.59 - - 1752.81 - 3.50 0.045 2124.06 417.8 -74.33 - - 2802.84 - - - - - - - - - 15.37 -
942.13 118.92 -10.13 130 943.45 no move -1.59 - - 1753.88 - - - 2123.69 - -74.33 - - 2802.31 - - - - - - - - - - -
1002.08 125.40 -10.62 136 1003.41 no move -1.59 - - 1754.19 - - - 2123.75 - -74.33 - - 2801.38 - - - - - - - - - - -
1062.11 131.49 -10.21 142 1067.72 roll -1.59 - - 1754.25 - 3.61 0.104 3473.00 373.8 -74.33 - - 2800.84 - - - - - - - - - 15.06 -
1157.09 141.75 -10.77 161 1161.69 roll -1.59 - - 1753.69 - 3.38 0.052 2081.19 -411.8 -74.33 - - 2804.12 - - - - - - - - - 15.26 -
1227.10 148.53 -9.51 169 1232.82 roll -1.59 - - 1753.75 - 4.01 0.145 660.88 -354.2 -74.33 - - 2802.72 - - - - - - - - - 14.91 -
1272.56 153.23 -10.94 178 1277.73 roll -1.59 - - 1754.25 - 3.48 0.045 2122.75 420.1 -74.33 - - 2802.22 - - - - - - - - - 15.37 -
1397.13 164.25 -8.61 191 1398.56 VBD -1.67 - - 1754.25 - - - 2123.31 - -99.25 0.54 0.041 2905.75 191.7 -138.127 - - - - - - - - 14.50
1517.13 175.09 -9.15 203 1522.77 roll -1.67 - - 1754.00 - 3.62 0.104 3475.38 373.5 -99.25 - - 2906.41 - - - - - - - - - 15.06 -
1572.14 180.51 -10.34 214 1576.76 roll -1.67 - - 1753.81 - 3.38 0.052 2081.75 -412.3 -99.25 - - 2908.00 - - - - - - - - - 15.26 -
1702.16 192.84 -9.70 228 1707.88 roll -1.67 - - 1754.44 - 4.06 0.147 660.94 -350.0 -99.25 - - 2907.31 - - - - - - - - - 14.89 -
1727.60 195.50 -9.92 233 1732.78 roll -1.67 - - 1753.94 - 3.48 0.044 2123.19 420.2 -99.25 - - 2906.59 - - - - - - - - - 15.37 -
1852.17 207.50 -9.38 246 1857.81 roll -1.67 - - 1754.38 - 3.61 0.103 3476.56 374.9 -99.25 - - 2906.47 - - - - - - - - - 15.05 -
1901.09 212.91 -11.29 256 1907.87 roll -1.67 - - 1753.50 - 3.37 0.049 2080.00 -414.4 -99.25 - - 2908.88 - - - - - - - - - 15.23 -
2027.19 225.51 -10.25 269 2032.86 roll -1.67 - - 1754.06 - 3.74 0.100 3476.75 373.5 -99.25 - - 2907.88 - - - - - - - - - 15.05 -
2062.19 229.73 -12.03 276 2066.81 roll -1.67 - - 1754.31 - 3.37 0.048 2080.94 -414.2 -99.25 - - 2908.84 - - - - - - - - - 15.24 -
2192.22 243.94 -10.97 290 2197.93 roll -1.67 - - 1754.56 - 4.05 0.145 660.88 -350.6 -99.25 - - 2908.91 - - - - - - - - - 14.89 -
2221.12 247.52 -11.92 296 2227.93 roll -1.67 - - 1753.56 - 3.48 0.041 2124.00 420.4 -99.25 - - 2910.12 - - - - - - - - - 15.33 -
2367.22 263.67 -11.02 303 2372.88 roll -1.67 - - 1753.88 - 3.63 0.103 3474.00 371.9 -99.25 - - 2907.78 - - - - - - - - - 15.01 -
2392.27 266.52 -11.25 308 2396.83 roll -1.67 - - 1753.56 - 3.36 0.048 2080.12 -414.8 -99.25 - - 2908.56 - - - - - - - - - 15.23 -
2722.29 304.05 -11.10 324 2727.89 roll -1.67 - - 1753.25 - 3.80 0.105 3476.44 367.5 -99.25 - - 2908.56 - - - - - - - - - 14.99 -
2761.15 309.19 -13.71 332 2766.84 roll -1.67 - - 1754.19 - 3.39 0.051 2079.81 -412.0 -99.25 - - 2908.44 - - - - - - - - - 15.19 -
3077.26 342.47 -10.35 345 3082.92 roll -1.67 - - 1753.31 - 3.79 0.105 3475.44 368.2 -99.25 - - 2908.69 - - - - - - - - - 14.96 -
3162.26 352.22 -10.73 362 3166.86 roll -1.67 - - 1753.62 - 3.39 0.052 2080.38 -411.5 -99.25 - - 2908.84 - - - - - - - - - 15.18 -
3492.33 385.73 -9.67 378 3498.00 roll -1.67 - - 1754.50 - 4.09 0.151 661.94 -346.8 -99.25 - - 2906.59 - - - - - - - - - 14.80 -
3521.21 388.94 -8.87 384 3526.99 roll back -1.73 0.34 0.067 1705.19 -145.0 3.49 0.045 2122.06 418.4 -121.55 - - 2908.62 - - - - - - - - 15.05 15.29 -
3847.35 423.02 -10.62 399 3852.95 roll -1.73 - - 1705.12 - 3.69 0.109 3474.56 366.5 -121.55 - - 2905.62 - - - - - - - - - 14.94 -
3916.29 431.51 -12.75 413 3921.90 roll -1.73 - - 1704.38 - 3.38 0.053 2082.12 -412.0 -121.55 - - 2908.75 - - - - - - - - - 15.15 -
4232.32 466.44 -11.35 426 4238.00 roll -1.73 - - 1704.50 - 3.81 0.108 3475.94 365.8 -121.55 - - 2906.66 - - - - - - - - - 14.92 -
4301.29 475.24 -12.84 440 4306.93 roll -1.73 - - 1704.62 - 3.41 0.055 2080.50 -409.2 -121.55 - - 2907.44 - - - - - - - - - 15.12 -
4557 end dive: TARGET_DEPTH_EXCEEDED
4557 begin apogee
4558.48 501.89 -10.22 451 4649.70 -0.25 3.25 0.165 2078.19 114.9 0.09 0.227 2082.00 - - 83.86 1.638 2498.66 -4.9 0.269 - - - - - - 14.81 14.89 10.84
4652 end apogee: CONTROL_FINISHED_OK
4652 begin climb
4652.90 503.87 - 454 4775.49 1.73 3.54 0.079 2565.69 137.7 4.07 0.137 661.25 -349.1 121.55 110.41 1.583 2002.62 -4.5 0.257 - - - - - - 15.12 14.63 11.32
4864.21 484.04 13.73 496 4869.35 done 1.73 - - 2565.62 - 3.52 0.043 2127.00 416.4 121.55 - - 1995.50 - - - - - - - - - 15.32 -
5188.80 449.08 9.53 511 5194.43 done 1.78 - - 2564.00 - 4.03 0.131 661.50 -363.6 121.55 - - 1989.34 - - - - - - - - - 15.19 -
5297.68 435.36 13.17 533 5304.45 done 1.78 - - 2566.19 - 3.47 0.042 2124.94 421.7 121.55 - - 1988.91 - - - - - - - - - 15.47 -
5603.77 406.04 10.17 544 5605.10 VBD 1.81 - - 2565.88 - - - 2124.88 - 121.55 - - 1988.12 - - - - - - - - - - -
5903.77 376.40 9.68 554 5909.48 done 1.85 - - 2565.44 - 4.05 0.130 660.50 -361.6 121.55 - - 1987.50 - - - - - - - - - 15.12 -
6132.71 350.48 12.64 600 6139.53 done 1.85 - - 2565.25 - 3.51 0.044 2126.38 417.6 121.55 - - 1986.53 - - - - - - - - - 15.41 -
6438.83 321.16 9.73 611 6444.54 1.89 0.21 0.072 2611.75 221.4 3.67 0.112 3472.44 366.8 121.55 - - 1984.00 - - - - - - - - 15.60 15.12 -
6667.74 295.31 11.55 657 6674.60 done 1.89 - - 2612.69 - 3.38 0.050 2079.81 -412.0 121.55 - - 1985.78 - - - - - - - - - 15.31 -
6973.86 266.62 9.23 668 6979.51 done 1.95 - - 2612.12 - 3.80 0.106 3474.44 367.0 121.55 - - 1983.00 - - - - - - - - - 15.04 -
7029.31 260.82 10.51 679 7034.46 done 1.97 - - 2613.12 - 3.39 0.048 2077.81 -412.0 121.55 - - 1982.66 - - - - - - - - - 15.31 -
7333.89 231.93 8.36 706 7365.49 done 2.05 - - 2612.56 - 3.90 0.133 658.75 -363.9 148.93 22.92 1.312 1892.28 -3.9 0.125 - - - - - - - 15.22 11.32
7544.35 208.27 11.12 748 7549.53 roll 2.05 - - 2612.75 - 3.48 0.041 2127.94 422.2 148.93 - - 1885.62 - - - - - - - - - 15.52 -
7668.94 195.95 9.66 761 7670.40 pitch 2.09 0.23 0.080 2656.25 189.1 - - 2128.31 - 148.93 - - 1884.44 - - - - - - - - 15.57 - -
7788.94 184.23 10.08 773 7794.64 roll 2.12 - - 2656.25 - 4.05 0.125 660.75 -362.4 148.93 - - 1884.84 - - - - - - - - - 15.15 -
7927.85 167.43 12.58 801 7934.67 roll 2.12 - - 2657.31 - 3.53 0.047 2127.38 415.5 148.93 - - 1885.81 - - - - - - - - - 15.42 -
8053.96 153.35 11.51 814 8059.68 roll 2.12 - - 2656.44 - 4.06 0.123 660.88 -361.2 148.93 - - 1883.81 - - - - - - - - - 15.11 -
8109.41 145.97 14.09 825 8114.57 roll 2.12 - - 2656.12 - 3.49 0.043 2129.62 420.8 148.93 - - 1884.31 - - - - - - - - - 15.45 -
8173.96 138.28 11.73 832 8175.29 no move 2.12 - - 2657.38 - - - 2129.31 - 148.93 - - 1885.22 - - - - - - - - - - -
8233.98 131.55 10.86 838 8239.62 done 2.12 - - 2656.50 - 3.62 0.108 3473.00 371.2 148.93 - - 1885.16 - - - - - - - - - 15.12 -
8249.42 129.65 11.30 841 8254.57 done 2.12 - - 2656.44 - 3.36 0.048 2076.75 -415.6 148.93 - - 1883.50 - - - - - - - - - 15.37 -
8314.03 122.47 11.16 848 8319.66 done 2.12 - - 2657.56 - 3.89 0.126 661.94 -363.7 148.93 - - 1883.38 - - - - - - - - - 15.11 -
8392.89 112.10 12.31 864 8399.73 done 2.12 - - 2657.25 - 3.46 0.042 2128.88 424.0 148.93 - - 1884.41 - - - - - - - - - 15.41 -
8459.70 105.55 9.56 871 8464.76 done 2.17 - - 2657.31 - 3.58 0.105 3474.62 375.9 148.93 - - 1883.47 - - - - - - - - - 15.15 -
8494.00 102.20 10.20 878 8498.58 done 2.20 - - 2656.56 - 3.38 0.048 2075.88 -413.8 148.93 - - 1883.97 - - - - - - - - - 15.33 -
8564.00 95.65 8.97 886 8595.87 2.26 0.20 0.087 2695.50 194.7 3.82 0.127 659.81 -370.7 170.27 25.73 1.131 1806.25 -3.0 0.046 - - - - - - 15.56 15.23 11.49
8718.03 79.25 10.46 917 8724.80 roll 2.28 - - 2695.69 - 3.46 0.042 2129.44 424.7 170.27 - - 1802.47 - - - - - - - - - 15.51 -
8784.81 74.29 7.46 924 8828.92 VBD 2.39 - - 2696.06 - - - 2129.25 - 206.61 42.77 1.119 1657.25 -3.4 0.041 - - - - - - - - 11.60
8894.20 65.87 8.97 938 8925.95 2.45 0.25 0.071 2745.81 199.0 3.58 0.108 3474.62 375.8 227.93 26.00 1.061 1569.66 -3.4 0.038 - - - - - - 15.42 15.04 11.52
9048.11 49.18 10.86 969 9054.89 roll 2.45 - - 2745.56 - 3.38 0.048 2076.94 -413.5 227.93 - - 1566.09 - - - - - - - - - 15.36 -
9114.27 43.56 8.56 976 9149.56 done 2.53 - - 2745.88 - 3.86 0.128 660.94 -366.8 253.28 29.22 1.045 1467.34 -3.4 0.025 - - - - - - - 15.10 11.50
9304.68 22.69 11.05 1014 9309.89 roll 2.53 - - 2743.81 - 3.49 0.044 2129.88 420.9 253.28 - - 1464.72 - - - - - - - - - 15.46 -
9369.25 18.10 6.94 1021 9420.99 2.65 0.25 0.071 2793.06 197.0 3.58 0.107 3473.25 375.2 294.75 45.42 1.036 1297.66 -3.7 0.012 - - - - - - 15.49 15.07 11.52
9423.31 15.06 5.58 1029 9491.09 2.82 0.19 0.082 2831.75 203.6 3.38 0.046 2076.25 -413.3 349.79 59.21 1.013 1073.81 -3.8 0.010 - - - - - - 15.24 15.40 11.55
9549.26 3.91 11.22 1048 9550.58 no move 2.82 - - 2831.88 - - - 2076.56 - 349.79 - - 1071.31 - - - - - - - - - - -
9569 end climb: SURFACE_DEPTH_REACHED
9569 begin surface coast
9579 end surface coast: CONTROL_FINISHED_OK
9579 begin surface
SM -0.73 - - - - 170.2 2.05 0.232 563.7 275.0 19.01 0.082 559.1 29.4 - 0.09 0.131 568.2 6313.3 3.596 - - 11.60 15.12 15.41 -