NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1162 * Raw log
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• Previous call tries 1 • 316.63 of 575.00 AH used of 24V (44.93% remains)
• Surface angle -66.8 deg, depth -1.45 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.92 (SM_CC=475)
• GPS1 time: 31 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
8.51 - - - 95.42 VBD -1.59 - - 170.38 - - - 2115.44 - -74.33 86.57 0.005 2609.16 - - - - - - - - - - 14.67
95.70 4.78 -10.64 9 121.58 -1.59 14.37 0.249 1753.81 110.2 3.73 0.112 3475.12 364.5 -74.33 3.99 0.010 2802.88 48.6 -4.177 - - - - - - 14.84 14.62 14.86
225.30 31.41 -17.78 35 230.48 roll -1.59 - - 1754.00 - 3.48 0.057 2078.75 -401.3 -74.33 - - 2802.94 - - - - - - - - - 15.27 -
289.93 42.31 -17.20 42 291.26 no move -1.59 - - 1754.19 - - - 2078.88 - -74.33 - - 2803.06 - - - - - - - - - - -
349.88 52.04 -16.27 48 355.55 roll -1.59 - - 1753.25 - 3.81 0.103 3475.44 366.6 -74.33 - - 2803.38 - - - - - - - - - 15.11 -
385.32 57.38 -16.44 55 390.50 roll -1.59 - - 1754.38 - 3.44 0.056 2081.69 -405.2 -74.33 - - 2801.50 - - - - - - - - - 15.27 -
449.94 66.06 -12.88 62 451.27 no move -1.59 - - 1754.38 - - - 2081.88 - -74.33 - - 2803.22 - - - - - - - - - - -
509.90 73.21 -11.98 68 515.62 roll -1.59 - - 1753.56 - 4.14 0.147 662.12 -342.9 -74.33 - - 2803.50 - - - - - - - - - 14.97 -
518.81 74.35 -11.90 70 525.62 roll -1.59 - - 1754.56 - 3.53 0.048 2123.75 414.1 -74.33 - - 2803.28 - - - - - - - - - 15.35 -
584.89 81.47 -10.87 77 590.54 roll -1.59 - - 1753.88 - 3.63 0.104 3474.62 372.1 -74.33 - - 2803.50 - - - - - - - - - 15.10 -
653.82 89.98 -13.02 91 660.61 roll -1.59 - - 1754.31 - 3.42 0.054 2081.94 -407.2 -74.33 - - 2803.53 - - - - - - - - - 15.24 -
719.96 96.84 -10.46 98 721.29 no move -1.59 - - 1754.38 - - - 2081.94 - -74.33 - - 2803.44 - - - - - - - - - - -
779.92 102.33 -9.27 104 781.25 no move -1.59 - - 1754.31 - - - 2082.50 - -74.33 - - 2803.81 - - - - - - - - - - -
839.92 108.21 -9.21 110 841.25 no move -1.59 - - 1753.69 - - - 2081.88 - -74.33 - - 2803.81 - - - - - - - - - - -
899.95 113.64 -8.52 116 906.64 done -1.67 - - 1754.00 - 3.77 0.107 3477.00 370.1 -100.11 0.68 0.034 2910.69 157.2 -94.546 - - - - - - - 14.69 14.63
925.38 116.25 -8.92 121 931.69 -1.73 0.34 0.060 1704.69 -145.0 3.40 0.053 2079.00 -411.2 -121.87 0.54 0.042 2999.28 164.1 -81.721 - - - - - - 15.08 15.29 14.78
989.94 123.94 -12.24 128 995.66 roll -1.73 - - 1703.81 - 4.06 0.144 662.19 -349.0 -121.87 - - 3000.16 - - - - - - - - - 14.99 -
1005.39 125.85 -12.56 131 1010.55 roll -1.73 - - 1704.31 - 3.49 0.045 2123.94 418.8 -121.87 - - 2998.56 - - - - - - - - - 15.38 -
1069.94 133.98 -12.08 138 1075.72 roll -1.73 - - 1704.19 - 3.58 0.102 3476.56 377.8 -121.87 - - 2997.88 - - - - - - - - - 15.10 -
1105.39 138.99 -14.37 145 1110.56 roll -1.73 - - 1704.31 - 3.36 0.049 2081.31 -415.3 -121.87 - - 2999.44 - - - - - - - - - 15.28 -
1170.01 147.90 -13.51 152 1171.33 no move -1.73 - - 1704.75 - - - 2081.31 - -121.87 - - 2999.97 - - - - - - - - - - -
1229.96 156.30 -13.88 158 1235.62 roll -1.73 - - 1703.81 - 3.73 0.100 3475.69 373.8 -121.87 - - 2999.78 - - - - - - - - - 15.08 -
1275.41 162.98 -16.20 167 1280.57 roll -1.73 - - 1704.44 - 3.39 0.049 2080.81 -411.5 -121.87 - - 2997.94 - - - - - - - - - 15.26 -
1399.99 180.65 -14.10 180 1401.32 no move -1.73 - - 1704.06 - - - 2080.62 - -121.87 - - 3000.16 - - - - - - - - - - -
1519.99 197.02 -13.16 192 1525.65 roll -1.73 - - 1703.94 - 3.80 0.102 3475.56 367.1 -121.87 - - 2998.00 - - - - - - - - - 15.06 -
1565.44 203.25 -13.82 201 1570.61 roll -1.73 - - 1704.38 - 3.40 0.050 2081.38 -410.1 -121.87 - - 2998.66 - - - - - - - - - 15.25 -
1690.01 218.55 -11.82 214 1691.34 no move -1.73 - - 1703.75 - - - 2081.69 - -121.87 - - 2999.91 - - - - - - - - - - -
1810.01 232.98 -12.05 226 1811.34 no move -1.73 - - 1703.75 - - - 2081.50 - -121.87 - - 2999.72 - - - - - - - - - - -
1930.03 247.48 -12.28 238 1935.70 roll -1.73 - - 1704.38 - 3.81 0.102 3477.31 366.4 -121.87 - - 2998.97 - - - - - - - - - 15.02 -
1973.94 253.51 -13.87 247 1979.64 roll -1.73 - - 1704.00 - 3.41 0.051 2080.69 -409.6 -121.87 - - 3000.47 - - - - - - - - - 15.19 -
2285.04 294.98 -13.34 259 2290.72 roll -1.73 - - 1704.06 - 3.81 0.104 3475.31 366.0 -121.87 - - 2998.12 - - - - - - - - - 14.99 -
2333.96 301.54 -13.24 269 2341.19 roll -1.73 - - 1703.69 - 3.42 0.052 2081.12 -407.7 -121.87 - - 3000.62 - - - - - - - - - 15.17 -
2640.07 339.02 -12.37 280 2645.76 roll -1.73 - - 1704.00 - 3.85 0.103 3476.00 362.3 -121.87 - - 2998.12 - - - - - - - - - 14.98 -
2688.97 345.34 -12.07 290 2696.21 roll -1.73 - - 1704.06 - 3.41 0.051 2082.00 -408.8 -121.87 - - 3000.84 - - - - - - - - - 15.15 -
2995.07 382.74 -12.31 301 2996.40 no move -1.73 - - 1704.12 - - - 2082.12 - -121.87 - - 3000.50 - - - - - - - - - - -
3295.07 418.80 -11.63 311 3300.76 roll -1.73 - - 1703.69 - 3.86 0.109 3477.19 361.4 -121.87 - - 3000.00 - - - - - - - - - 14.93 -
3410.55 433.56 -13.63 334 3415.70 roll -1.73 - - 1703.31 - 3.47 0.055 2082.31 -402.0 -121.87 - - 2998.97 - - - - - - - - - 15.13 -
3735.11 471.35 -11.92 349 3740.78 roll -1.73 - - 1703.31 - 3.87 0.109 3474.81 359.8 -121.87 - - 2999.56 - - - - - - - - - 14.91 -
3794.03 479.46 -14.35 361 3799.73 roll -1.73 - - 1703.50 - 3.46 0.054 2083.31 -402.2 -121.87 - - 2999.41 - - - - - - - - - 15.10 -
3969 end dive: TARGET_DEPTH_EXCEEDED
3970 begin apogee
3971.25 501.42 -12.56 371 4077.81 -0.25 3.28 0.161 2077.81 114.1 0.09 0.232 2084.75 - - 102.31 1.628 2499.12 -4.9 0.271 - - - - - - 14.82 14.83 10.98
4080 end apogee: CONTROL_FINISHED_OK
4080 begin climb
4081.03 503.31 - 374 4196.92 1.73 3.57 0.078 2566.38 136.9 - - 2084.62 - 121.87 110.36 1.570 2002.44 -4.5 0.260 - - - - - - 15.05 - 11.34
4510.18 468.71 9.78 404 4515.87 done 1.77 - - 2566.75 - 4.09 0.136 662.38 -347.7 121.87 - - 1990.16 - - - - - - - - - 15.15 -
4699.12 445.63 10.91 442 4704.84 done 1.77 - - 2565.31 - 3.53 0.045 2125.00 414.3 121.87 - - 1989.47 - - - - - - - - - 15.44 -
5015.69 415.19 8.63 455 5046.80 done 1.85 - - 2566.06 - 3.64 0.115 3474.06 370.6 146.57 21.88 1.428 1901.00 -4.0 0.212 - - - - - - - 15.21 11.54
5064.15 410.86 9.36 465 5069.92 roll back 1.90 0.22 0.071 2612.50 211.1 3.43 0.054 2078.50 -406.9 146.57 - - 1900.59 - - - - - - - - 15.25 15.42 -
5375.27 377.69 10.54 477 5380.98 roll 1.92 - - 2612.31 - 4.01 0.133 660.69 -353.6 146.57 - - 1896.62 - - - - - - - - - 15.16 -
5574.20 351.26 11.23 517 5581.02 roll 1.92 - - 2612.94 - 3.52 0.042 2127.38 416.7 146.57 - - 1896.34 - - - - - - - - - 15.45 -
5880.29 316.48 12.11 528 5886.02 roll 1.92 - - 2612.31 - 4.14 0.127 660.56 -354.3 146.57 - - 1894.94 - - - - - - - - - 15.07 -
6055.75 293.50 16.15 563 6060.95 roll 1.92 - - 2612.12 - 3.51 0.042 2127.06 417.8 146.57 - - 1894.53 - - - - - - - - - 15.43 -
6380.41 261.35 9.40 578 6386.06 done 1.97 - - 2612.69 - 4.16 0.127 660.75 -352.5 146.57 - - 1891.97 - - - - - - - - - 15.01 -
6509.25 245.62 13.49 604 6516.08 done 1.97 - - 2611.75 - 3.51 0.041 2128.25 418.1 146.57 - - 1894.34 - - - - - - - - - 15.39 -
6635.38 232.97 9.84 617 6636.71 VBD 2.01 - - 2612.44 - - - 2128.00 - 146.57 - - 1892.44 - - - - - - - - - - -
6755.39 221.35 10.33 629 6761.10 done 2.03 - - 2612.50 - 4.16 0.125 659.44 -353.0 146.57 - - 1892.56 - - - - - - - - - 14.98 -
6934.31 199.96 12.38 665 6941.14 done 2.03 - - 2612.25 - 3.54 0.041 2128.81 415.1 146.57 - - 1892.72 - - - - - - - - - 15.36 -
7060.44 188.31 8.77 678 7084.89 2.10 0.24 0.074 2659.38 196.4 - - 2128.38 - 169.82 21.16 1.242 1806.31 -4.1 0.111 - - - - - - 15.55 - 11.32
7210.48 172.55 10.73 695 7216.15 roll 2.10 - - 2660.00 - 4.09 0.126 660.75 -358.8 169.82 - - 1802.00 - - - - - - - - - 15.25 -
7339.36 156.44 12.37 721 7346.18 roll 2.10 - - 2658.81 - 3.56 0.047 2126.12 411.6 169.82 - - 1803.31 - - - - - - - - - 15.46 -
7465.49 143.50 9.71 734 7471.17 roll 2.14 - - 2660.31 - 3.69 0.109 3475.25 365.6 169.82 - - 1800.16 - - - - - - - - - 15.19 -
7500.91 139.40 11.70 741 7506.09 roll 2.14 - - 2659.62 - 3.42 0.050 2076.69 -408.9 169.82 - - 1801.34 - - - - - - - - - 15.38 -
7565.49 133.11 9.40 748 7571.18 roll 2.19 - - 2658.75 - 3.96 0.128 659.56 -357.9 169.82 - - 1801.78 - - - - - - - - - 15.15 -
7640.93 123.82 13.59 763 7646.12 roll 2.19 - - 2658.62 - 3.52 0.043 2128.38 417.3 169.82 - - 1801.09 - - - - - - - - - 15.46 -
7705.51 117.39 9.94 770 7706.84 no move 2.23 - - 2660.44 - - - 2128.62 - 169.82 - - 1799.44 - - - - - - - - - - -
7765.52 111.47 9.44 776 7766.98 pitch 2.28 0.22 0.070 2701.31 185.8 - - 2128.31 - 169.82 - - 1800.84 - - - - - - - - 15.58 - -
7825.56 105.04 10.74 782 7831.22 roll 2.28 - - 2702.25 - 4.10 0.121 660.62 -358.0 169.82 - - 1800.47 - - - - - - - - - 15.08 -
8054.48 78.81 10.23 828 8061.31 roll 2.31 - - 2703.69 - 3.58 0.044 2127.88 409.8 169.82 - - 1800.34 - - - - - - - - - 15.37 -
8120.58 72.42 9.96 835 8126.22 roll 2.34 - - 2703.19 - 3.68 0.105 3474.56 365.9 169.82 - - 1799.38 - - - - - - - - - 15.09 -
8335.64 56.84 6.84 878 8391.31 2.47 0.23 0.070 2748.75 198.1 3.41 0.046 2078.44 -409.4 212.34 48.30 1.110 1634.94 -3.4 0.031 - - - - - - 15.08 15.32 11.42
8455.71 49.22 7.26 896 8507.47 done 2.58 - - 2749.94 - 3.97 0.126 659.69 -357.4 250.70 44.24 1.065 1477.44 -3.6 0.030 - - - - - - - 15.00 11.53
8679.74 28.07 9.51 941 8686.60 roll back 2.63 0.18 0.074 2789.44 219.4 3.55 0.042 2132.44 414.9 250.70 - - 1473.25 - - - - - - - - 15.23 15.44 -
8745.83 24.82 5.12 948 8817.86 2.81 0.20 0.076 2830.62 205.9 3.66 0.106 3474.50 366.7 310.34 63.95 1.038 1234.56 -3.7 0.016 - - - - - - 15.47 15.02 11.55
8906.14 8.56 13.21 980 8910.90 roll 2.81 - - 2830.50 - 3.46 0.050 2077.44 -403.8 310.34 - - 1230.62 - - - - - - - - - 15.33 -
8976.10 2.09 9.21 988 8977.43 no move 2.87 - - 2830.44 - - - 2078.62 - 310.34 - - 1230.62 - - - - - - - - - - -
8985 end climb: SURFACE_DEPTH_REACHED
8986 begin surface coast
9005 end surface coast: CONTROL_FINISHED_OK
9006 begin surface
SM -0.69 - - - - 171.8 2.14 0.306 563.9 263.5 18.83 0.066 558.3 29.6 - 0.08 0.135 569.5 7118.8 3.719 - - 11.57 15.21 15.47 -