NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1153 * Raw log
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• Previous call tries 1 • 314.35 of 575.00 AH used of 24V (45.33% remains)
• Surface angle -61.9 deg, depth -1.52 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.85 (SM_CC=475)
• GPS1 time: 4 s
• GPS2 time: 2 s • Transponder ping count: 17
• 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 - - - 90.31 VBD -1.59 - - 170.31 - - - 2081.19 - -74.33 81.35 0.005 2410.84 - - - - - - - - - - 14.67
90.56 3.05 -5.93 8 126.65 -1.75 14.22 0.258 1717.25 108.8 3.82 0.113 3475.69 365.1 -125.87 13.77 0.006 3013.88 43.8 -4.006 - - - - - - 14.84 14.63 14.85
163.78 21.25 -24.26 23 170.58 roll -1.75 - - 1717.25 - 3.41 0.055 2080.88 -409.0 -125.87 - - 3013.38 - - - - - - - - - 15.30 -
229.93 34.59 -20.05 30 235.54 roll -1.75 - - 1716.31 - 3.73 0.103 3475.75 374.0 -125.87 - - 3011.72 - - - - - - - - - 15.16 -
274.87 43.23 -19.52 39 279.48 roll -1.75 - - 1717.19 - 3.38 0.051 2080.44 -412.8 -125.87 - - 3013.84 - - - - - - - - - 15.30 -
344.88 54.59 -15.66 47 350.59 roll -1.75 - - 1716.62 - 4.00 0.144 660.62 -355.0 -125.87 - - 3014.44 - - - - - - - - - 14.99 -
383.80 61.30 -16.76 55 390.60 roll -1.75 - - 1717.25 - 3.50 0.044 2123.00 417.8 -125.87 - - 3014.09 - - - - - - - - - 15.35 -
449.96 70.23 -12.99 62 455.53 roll -1.75 - - 1716.94 - 3.60 0.101 3475.31 375.6 -125.87 - - 3012.28 - - - - - - - - - 15.14 -
574.93 88.44 -13.38 87 579.50 roll -1.75 - - 1716.19 - 3.37 0.050 2079.88 -414.1 -125.87 - - 3014.41 - - - - - - - - - 15.29 -
644.91 97.18 -12.47 95 646.24 no move -1.75 - - 1717.06 - - - 2080.12 - -125.87 - - 3014.22 - - - - - - - - - - -
704.93 104.49 -12.21 101 710.59 roll -1.75 - - 1717.06 - 3.71 0.102 3474.19 375.8 -125.87 - - 3014.47 - - - - - - - - - 15.09 -
729.98 108.00 -12.65 106 734.52 roll -1.75 - - 1717.12 - 3.35 0.050 2080.94 -415.9 -125.87 - - 3013.44 - - - - - - - - - 15.29 -
799.93 116.64 -12.30 114 805.63 roll -1.75 - - 1717.19 - 3.96 0.143 660.94 -358.6 -125.87 - - 3013.09 - - - - - - - - - 14.95 -
815.39 118.40 -12.04 117 820.55 roll -1.75 - - 1717.50 - 3.47 0.043 2124.19 421.7 -125.87 - - 3014.25 - - - - - - - - - 15.39 -
880.00 127.26 -13.16 124 885.57 roll -1.75 - - 1717.31 - 3.57 0.102 3475.69 378.6 -125.87 - - 3012.47 - - - - - - - - - 15.10 -
924.94 133.48 -14.17 133 929.54 roll -1.75 - - 1716.88 - 3.34 0.047 2079.62 -418.0 -125.87 - - 3014.97 - - - - - - - - - 15.29 -
994.95 142.18 -12.58 141 1000.65 roll -1.75 - - 1716.75 - 3.94 0.142 661.94 -359.8 -125.87 - - 3013.44 - - - - - - - - - 14.94 -
1013.92 144.98 -12.96 145 1020.66 roll -1.75 - - 1717.00 - 3.45 0.043 2124.62 424.0 -125.87 - - 3015.62 - - - - - - - - - 15.36 -
1079.96 153.23 -12.37 152 1085.59 roll -1.75 - - 1717.12 - 3.57 0.101 3476.00 378.5 -125.87 - - 3012.06 - - - - - - - - - 15.10 -
1148.89 162.62 -13.64 166 1155.67 roll -1.75 - - 1717.31 - 3.34 0.047 2079.75 -418.0 -125.87 - - 3015.44 - - - - - - - - - 15.26 -
1274.99 177.54 -11.47 179 1276.32 no move -1.75 - - 1717.62 - - - 2080.12 - -125.87 - - 3014.44 - - - - - - - - - - -
1394.99 191.82 -11.99 191 1400.66 roll -1.75 - - 1717.19 - 3.72 0.101 3475.12 375.0 -125.87 - - 3012.81 - - - - - - - - - 15.06 -
1423.90 195.51 -12.30 197 1430.69 roll -1.75 - - 1716.50 - 3.36 0.049 2080.25 -415.1 -125.87 - - 3015.56 - - - - - - - - - 15.24 -
1550.00 209.52 -11.28 210 1555.98 roll -1.75 - - 1716.62 - 4.01 0.145 661.44 -353.8 -125.87 - - 3012.38 - - - - - - - - - 14.89 -
1575.44 212.39 -11.37 215 1580.63 roll -1.75 - - 1716.81 - 3.48 0.042 2123.25 420.1 -125.87 - - 3014.78 - - - - - - - - - 15.37 -
1700.02 226.34 -10.67 228 1705.65 roll -1.75 - - 1716.06 - 3.61 0.103 3474.25 374.2 -125.87 - - 3014.66 - - - - - - - - - 15.05 -
1728.92 230.20 -11.40 234 1735.71 roll -1.75 - - 1717.06 - 3.35 0.049 2080.44 -416.1 -125.87 - - 3015.28 - - - - - - - - - 15.23 -
1855.03 244.70 -12.22 247 1856.36 no move -1.75 - - 1717.06 - - - 2080.44 - -125.87 - - 3014.56 - - - - - - - - - - -
1995.09 261.38 -12.29 255 1996.42 no move -1.75 - - 1716.88 - - - 2080.31 - -125.87 - - 3014.97 - - - - - - - - - - -
2295.04 301.04 -13.50 265 2300.70 roll -1.75 - - 1716.94 - 3.80 0.107 3475.81 367.2 -125.87 - - 3012.91 - - - - - - - - - 14.99 -
2373.95 312.22 -14.07 281 2380.76 roll -1.75 - - 1716.69 - 3.41 0.054 2080.12 -409.3 -125.87 - - 3015.78 - - - - - - - - - 15.18 -
2680.06 351.83 -12.66 292 2685.74 roll -1.75 - - 1716.06 - 3.82 0.107 3474.31 365.0 -125.87 - - 3014.88 - - - - - - - - - 14.97 -
2708.97 355.24 -11.38 298 2714.66 roll -1.75 - - 1716.56 - 3.39 0.051 2079.69 -411.4 -125.87 - - 3014.91 - - - - - - - - - 15.18 -
3035.08 395.85 -12.87 313 3040.76 roll -1.75 - - 1717.12 - 3.82 0.107 3473.12 364.8 -125.87 - - 3013.44 - - - - - - - - - 14.95 -
3068.98 400.03 -12.57 320 3074.67 roll -1.75 - - 1716.88 - 3.40 0.053 2080.75 -409.5 -125.87 - - 3014.66 - - - - - - - - - 15.16 -
3390.09 438.72 -11.95 334 3395.76 roll -1.75 - - 1717.06 - 3.85 0.108 3475.19 362.2 -125.87 - - 3013.94 - - - - - - - - - 14.94 -
3445.10 445.72 -13.84 345 3449.71 roll -1.75 - - 1717.50 - 3.41 0.052 2080.75 -408.9 -125.87 - - 3014.69 - - - - - - - - - 15.16 -
3775.16 485.23 -11.91 361 3780.79 roll -1.75 - - 1716.44 - 3.88 0.110 3474.12 359.1 -125.87 - - 3013.28 - - - - - - - - - 14.90 -
3814.02 490.69 -14.84 369 3819.73 roll -1.75 - - 1717.25 - 3.43 0.054 2083.06 -405.6 -125.87 - - 3013.53 - - - - - - - - - 15.12 -
3890 end dive: TARGET_DEPTH_EXCEEDED
3890 begin apogee
3891.30 500.15 -12.89 374 4000.89 -0.25 2.99 0.156 2079.44 121.1 0.09 0.233 2083.25 - - 105.16 1.635 2497.84 -4.9 0.270 - - - - - - 14.87 14.81 10.99
4003 end apogee: CONTROL_FINISHED_OK
4003 begin climb
4004.08 502.41 - 377 4129.13 1.75 3.54 0.078 2568.50 138.2 3.93 0.108 3473.25 353.7 125.87 113.94 1.579 1985.53 -4.5 0.257 - - - - - - 15.04 14.62 11.34
4231.43 479.33 17.33 418 4237.12 done 1.75 - - 2569.00 - 3.43 0.052 2079.38 -406.4 125.87 - - 1978.03 - - - - - - - - - 15.24 -
4542.52 444.81 11.02 430 4548.19 done 1.75 - - 2568.75 - 3.80 0.109 3473.12 366.8 125.87 - - 1972.78 - - - - - - - - - 15.23 -
4771.46 421.04 10.61 476 4778.26 done 1.75 - - 2569.19 - 3.39 0.051 2079.94 -411.0 125.87 - - 1972.59 - - - - - - - - - 15.35 -
5077.59 391.34 9.72 487 5083.27 done 1.79 - - 2569.25 - 3.97 0.134 661.69 -357.2 125.87 - - 1969.16 - - - - - - - - - 15.11 -
5306.51 363.59 12.63 533 5313.34 done 1.79 - - 2568.88 - 3.51 0.043 2127.44 417.6 125.87 - - 1970.28 - - - - - - - - - 15.44 -
5612.63 333.28 9.88 544 5618.33 done 1.82 - - 2568.06 - 4.09 0.127 660.56 -358.7 125.87 - - 1969.38 - - - - - - - - - 15.06 -
5661.53 327.20 13.49 554 5668.34 done 1.82 - - 2568.69 - 3.49 0.041 2128.62 420.6 125.87 - - 1968.78 - - - - - - - - - 15.42 -
5967.65 299.26 8.85 565 5992.85 1.89 0.18 0.080 2609.62 227.4 4.03 0.129 659.56 -364.5 148.37 19.09 1.343 1895.00 -3.9 0.155 - - - - - - 15.57 15.26 11.44
6101.56 282.86 13.24 592 6107.28 roll 1.89 - - 2610.44 - 3.51 0.042 2128.06 418.4 148.37 - - 1892.25 - - - - - - - - - 15.53 -
6417.67 249.28 10.90 605 6423.38 roll 1.89 - - 2610.50 - 4.09 0.127 660.75 -358.8 148.37 - - 1888.91 - - - - - - - - - 15.15 -
6453.11 244.83 12.83 612 6458.29 roll 1.89 - - 2610.44 - 3.49 0.041 2129.38 420.8 148.37 - - 1889.75 - - - - - - - - - 15.50 -
6577.69 232.91 11.40 625 6583.39 roll 1.89 - - 2609.69 - 4.05 0.128 661.38 -362.5 148.37 - - 1885.94 - - - - - - - - - 15.13 -
6746.60 212.26 12.00 659 6753.43 roll 1.89 - - 2610.31 - 3.53 0.045 2126.75 415.1 148.37 - - 1887.75 - - - - - - - - - 15.42 -
6872.72 199.21 10.90 672 6878.43 roll 1.89 - - 2610.25 - 4.05 0.126 660.94 -361.9 148.37 - - 1887.81 - - - - - - - - - 15.07 -
7028.19 181.01 11.43 703 7033.37 roll 1.89 - - 2610.38 - 3.52 0.044 2128.62 417.0 148.37 - - 1886.06 - - - - - - - - - 15.44 -
7152.77 168.88 9.57 716 7158.46 roll 1.94 - - 2609.88 - 4.05 0.124 661.12 -362.3 148.37 - - 1886.56 - - - - - - - - - 15.04 -
7311.68 150.86 12.17 748 7318.49 roll 1.94 - - 2610.25 - 3.52 0.044 2129.19 417.1 148.37 - - 1888.53 - - - - - - - - - 15.40 -
7437.80 140.18 8.57 761 7469.48 done 2.01 - - 2609.94 - 3.60 0.110 3476.25 374.2 173.69 25.85 1.195 1789.94 -3.8 0.081 - - - - - - - 15.22 11.38
7488.24 135.53 9.51 771 7493.43 roll back 2.06 0.20 0.088 2649.94 200.0 3.38 0.050 2076.25 -414.2 173.69 - - 1788.25 - - - - - - - - 15.29 15.47 -
7552.79 129.01 9.91 778 7558.48 roll 2.10 - - 2650.25 - 3.85 0.126 659.94 -367.9 173.69 - - 1787.62 - - - - - - - - - 15.27 -
7601.70 123.18 11.46 788 7608.50 roll 2.10 - - 2651.12 - 3.48 0.042 2129.56 422.3 173.69 - - 1786.75 - - - - - - - - - 15.49 -
7667.80 116.44 10.24 795 7673.49 roll 2.12 - - 2649.88 - 4.00 0.122 660.62 -367.2 173.69 - - 1787.06 - - - - - - - - - 15.21 -
7736.76 107.78 13.02 809 7743.51 roll 2.12 - - 2651.12 - 3.49 0.043 2129.38 420.8 173.69 - - 1787.03 - - - - - - - - - 15.48 -
7802.87 101.19 9.89 816 7808.45 roll 2.16 - - 2650.62 - 3.61 0.107 3473.81 372.4 173.69 - - 1784.94 - - - - - - - - - 15.21 -
7828.32 98.40 10.05 821 7833.41 roll 2.19 - - 2650.81 - 3.36 0.047 2075.75 -416.1 173.69 - - 1784.66 - - - - - - - - - 15.41 -
7892.88 92.32 8.81 828 7928.22 2.26 0.25 0.077 2696.06 181.0 3.82 0.126 661.00 -370.4 196.61 27.74 1.119 1698.16 -3.1 0.046 - - - - - - 15.55 15.17 11.56
7933.35 88.11 10.81 836 7938.43 roll 2.26 - - 2695.44 - 3.45 0.039 2129.19 425.6 196.61 - - 1696.84 - - - - - - - - - 15.51 -
7997.83 81.56 10.28 843 7999.16 no move 2.29 - - 2698.00 - - - 2129.44 - 196.61 - - 1693.16 - - - - - - - - - - -
8057.84 76.42 8.76 849 8088.42 VBD 2.36 - - 2697.69 - - - 2129.56 - 220.05 28.35 1.089 1602.44 -3.2 0.040 - - - - - - - - 11.67
8147.84 67.61 10.18 858 8153.46 roll 2.39 - - 2697.50 - 3.58 0.107 3474.94 375.8 220.05 - - 1598.31 - - - - - - - - - 15.27 -
8216.76 60.25 10.75 872 8223.53 roll 2.39 - - 2697.00 - 3.37 0.050 2075.31 -415.3 220.05 - - 1598.06 - - - - - - - - - 15.37 -
8282.92 53.69 10.13 879 8288.58 roll back 2.41 0.18 0.088 2736.31 218.4 3.88 0.128 660.44 -364.7 220.05 - - 1597.66 - - - - - - - - 15.47 15.15 -
8321.76 48.86 11.60 887 8328.57 roll 2.41 - - 2734.88 - 3.49 0.040 2128.75 420.7 220.05 - - 1597.88 - - - - - - - - - 15.44 -
8388.57 42.16 9.95 894 8394.56 roll 2.45 - - 2736.00 - 3.98 0.121 659.69 -369.1 220.05 - - 1596.03 - - - - - - - - - 15.14 -
8516.79 33.00 6.51 920 8574.68 2.59 0.20 0.071 2779.31 216.5 3.49 0.041 2131.56 421.7 265.84 50.54 1.067 1416.03 -3.6 0.020 - - - - - - 15.22 15.45 11.52
8632.95 25.80 7.26 937 8684.40 done 2.70 - - 2777.44 - 3.60 0.106 3475.81 373.4 304.19 42.87 1.025 1259.44 -3.7 0.017 - - - - - - - 14.99 11.59
8866 end climb: SURFACE_DEPTH_REACHED
8866 begin surface coast
8886 end surface coast: CONTROL_FINISHED_OK
8886 begin surface
SM -0.68 - - - - 170.2 2.06 0.244 564.2 253.1 18.67 0.083 559.2 30.0 - 3.36 0.048 569.2 168.3 0.244 - - 11.56 15.11 15.38 -