NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1182 * Raw log
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• Previous call tries 1 • 321.64 of 575.00 AH used of 24V (44.06% remains)
• Surface angle -64.1 deg, depth -1.51 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.68 (SM_CC=475)
• GPS1 time: 24 s
• GPS2 time: 2 s • Transponder ping count: 24
• 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
8.53 - - - 90.33 VBD -1.59 - - 170.12 - - - 2119.31 - -74.33 81.29 0.005 2457.94 - - - - - - - - - - 13.29
90.58 3.93 -8.53 8 123.79 -1.67 14.38 0.257 1735.12 108.8 4.30 0.148 663.12 -338.6 -100.02 9.81 0.007 2908.22 45.9 -4.631 - - - - - - 14.82 14.60 13.44
147.52 17.65 -21.73 19 152.67 roll -1.67 - - 1734.69 - 3.64 0.053 2119.75 400.2 -100.02 - - 2910.88 - - - - - - - - - 15.33 -
212.01 29.24 -17.40 26 217.68 roll -1.67 - - 1735.56 - 3.76 0.107 3474.88 360.4 -100.02 - - 2908.56 - - - - - - - - - 15.12 -
307.02 45.94 -15.84 45 311.64 roll -1.67 - - 1735.62 - 3.48 0.054 2082.25 -400.2 -100.02 - - 2907.78 - - - - - - - - - 15.23 -
377.03 56.25 -14.62 53 382.77 roll -1.67 - - 1735.69 - 4.17 0.146 661.44 -340.7 -100.02 - - 2907.19 - - - - - - - - - 14.96 -
412.48 61.66 -15.51 60 417.67 roll -1.67 - - 1735.00 - 3.58 0.049 2120.06 407.4 -100.02 - - 2910.16 - - - - - - - - - 15.31 -
477.04 69.35 -11.32 67 482.70 roll -1.67 - - 1735.38 - 3.68 0.102 3474.75 368.1 -100.02 - - 2908.56 - - - - - - - - - 15.09 -
515.96 74.54 -13.25 75 522.78 roll -1.67 - - 1735.38 - 3.46 0.053 2082.19 -402.5 -100.02 - - 2909.62 - - - - - - - - - 15.22 -
582.11 81.66 -10.90 82 583.44 no move -1.67 - - 1735.50 - - - 2082.31 - -100.02 - - 2909.06 - - - - - - - - - - -
642.07 88.17 -10.98 88 647.74 roll -1.67 - - 1736.00 - 3.83 0.102 3474.88 363.6 -100.02 - - 2910.25 - - - - - - - - - 15.06 -
710.99 96.12 -12.07 102 717.78 roll -1.67 - - 1735.31 - 3.44 0.051 2081.62 -405.0 -100.02 - - 2908.91 - - - - - - - - - 15.20 -
777.14 103.18 -10.80 109 778.47 no move -1.67 - - 1735.62 - - - 2082.06 - -100.02 - - 2908.72 - - - - - - - - - - -
837.09 109.69 -10.85 115 838.42 no move -1.67 - - 1735.19 - - - 2081.62 - -100.02 - - 2908.81 - - - - - - - - - - -
897.09 116.11 -10.96 121 898.42 no move -1.67 - - 1735.31 - - - 2082.06 - -100.02 - - 2908.81 - - - - - - - - - - -
957.10 123.16 -11.54 127 962.77 roll -1.67 - - 1734.94 - 3.84 0.103 3473.62 362.4 -100.02 - - 2907.84 - - - - - - - - - 15.02 -
1012.10 130.10 -12.69 138 1016.71 roll -1.67 - - 1735.88 - 3.42 0.052 2081.38 -407.1 -100.02 - - 2909.09 - - - - - - - - - 15.21 -
1082.10 138.37 -11.63 146 1087.87 roll -1.67 - - 1735.06 - 4.16 0.145 662.19 -341.2 -100.02 - - 2907.66 - - - - - - - - - 14.91 -
1111.02 142.47 -13.67 152 1117.83 roll -1.67 - - 1735.62 - 3.55 0.045 2123.19 411.5 -100.02 - - 2908.91 - - - - - - - - - 15.29 -
1177.11 150.55 -12.38 159 1182.77 roll -1.67 - - 1735.50 - 3.68 0.103 3476.56 367.8 -100.02 - - 2907.53 - - - - - - - - - 15.04 -
1222.13 155.88 -12.90 168 1226.74 roll -1.67 - - 1735.44 - 3.41 0.050 2081.00 -409.3 -100.02 - - 2909.34 - - - - - - - - - 15.21 -
1352.15 170.41 -10.84 182 1353.48 no move -1.67 - - 1735.81 - - - 2080.81 - -100.02 - - 2909.66 - - - - - - - - - - -
1472.16 183.17 -10.70 194 1477.84 roll -1.67 - - 1735.56 - 3.84 0.104 3475.38 363.2 -100.02 - - 2907.91 - - - - - - - - - 15.00 -
1511.08 187.59 -11.99 202 1517.87 roll -1.67 - - 1735.50 - 3.43 0.052 2081.50 -406.4 -100.02 - - 2910.38 - - - - - - - - - 15.18 -
1637.20 201.58 -11.28 215 1638.53 no move -1.67 - - 1735.38 - - - 2081.56 - -100.02 - - 2909.66 - - - - - - - - - - -
1757.19 215.35 -11.44 227 1762.87 roll -1.67 - - 1735.25 - 3.86 0.104 3475.44 361.1 -100.02 - - 2908.53 - - - - - - - - - 14.98 -
1786.10 219.22 -12.88 233 1792.91 roll -1.67 - - 1735.69 - 3.45 0.053 2082.50 -403.8 -100.02 - - 2909.75 - - - - - - - - - 15.15 -
1912.21 233.78 -11.93 246 1917.89 roll -1.67 - - 1735.19 - 3.88 0.105 3473.25 358.4 -100.02 - - 2908.31 - - - - - - - - - 14.97 -
1941.12 237.15 -11.44 252 1947.92 roll -1.67 - - 1735.69 - 3.44 0.053 2081.19 -404.7 -100.02 - - 2909.38 - - - - - - - - - 15.14 -
2067.23 250.89 -11.41 265 2072.91 roll -1.67 - - 1735.62 - 3.86 0.105 3474.00 360.8 -100.02 - - 2908.22 - - - - - - - - - 14.96 -
2092.22 253.58 -10.69 270 2096.84 roll -1.67 - - 1735.50 - 3.43 0.053 2082.44 -405.7 -100.02 - - 2911.78 - - - - - - - - - 15.16 -
2422.29 287.08 -10.07 286 2423.62 no move -1.67 - - 1735.38 - - - 2082.12 - -100.02 - - 2909.78 - - - - - - - - - - -
2722.24 317.69 -9.96 296 2727.93 roll -1.67 - - 1735.44 - 3.89 0.109 3475.94 358.3 -100.02 - - 2909.09 - - - - - - - - - 14.92 -
2761.16 322.34 -10.74 304 2766.87 roll -1.67 - - 1735.69 - 3.46 0.054 2080.31 -403.4 -100.02 - - 2911.38 - - - - - - - - - 15.11 -
3077.27 354.96 -10.43 317 3082.95 roll -1.67 - - 1735.50 - 3.89 0.107 3474.38 358.4 -100.02 - - 2907.59 - - - - - - - - - 14.92 -
3121.19 359.24 -9.86 326 3126.88 roll -1.67 - - 1735.88 - 3.45 0.054 2082.38 -403.5 -100.02 - - 2910.31 - - - - - - - - - 15.09 -
3432.29 391.99 -10.48 338 3433.62 no move -1.67 - - 1735.31 - - - 2082.50 - -100.02 - - 2909.28 - - - - - - - - - - -
3732.29 424.93 -11.28 348 3737.99 roll -1.67 - - 1735.62 - 3.93 0.110 3475.62 354.5 -100.02 - - 2907.47 - - - - - - - - - 14.88 -
3801.27 433.98 -14.89 362 3806.92 roll -1.67 - - 1735.56 - 3.48 0.056 2083.38 -400.1 -100.02 - - 2908.41 - - - - - - - - - 15.06 -
4117.32 467.70 -10.68 375 4123.02 roll -1.67 - - 1735.38 - 3.93 0.109 3474.69 354.0 -100.02 - - 2908.00 - - - - - - - - - 14.86 -
4206.23 478.65 -12.87 393 4211.95 roll -1.67 - - 1735.62 - 3.46 0.057 2083.50 -402.1 -100.02 - - 2908.50 - - - - - - - - - 15.03 -
4412 end dive: TARGET_DEPTH_EXCEEDED
4412 begin apogee
4413.48 500.70 -10.72 404 4504.27 -0.25 2.84 0.157 2080.19 121.3 0.09 0.226 2084.38 - - 83.71 1.637 2498.88 -4.9 0.269 - - - - - - 14.80 14.85 10.96
4507 end apogee: CONTROL_FINISHED_OK
4507 begin climb
4507.53 503.73 - 407 4608.23 1.67 3.42 0.080 2550.25 137.4 4.22 0.138 662.94 -336.8 100.02 91.17 1.578 2089.91 -4.5 0.257 - - - - - - 15.06 14.59 11.28
4650.37 494.94 10.07 436 4657.20 roll 1.70 - - 2550.19 - 3.62 0.044 2124.88 403.9 100.02 - - 2084.53 - - - - - - - - - 15.13 -
4956.48 468.69 8.86 447 4982.64 done 1.77 - - 2549.25 - 4.14 0.135 661.75 -353.4 122.45 20.09 1.452 2001.72 -4.1 0.239 - - - - - - - 15.11 11.56
5050.40 459.70 11.55 466 5056.10 roll 1.77 - - 2550.25 - 3.56 0.044 2125.06 411.0 122.45 - - 1999.03 - - - - - - - - - 15.40 -
5371.50 431.19 8.92 480 5398.81 1.83 0.22 0.071 2598.19 217.9 4.12 0.133 660.06 -355.6 144.29 21.11 1.439 1912.28 -4.1 0.221 - - - - - - 15.50 15.18 11.60
5435.95 423.33 12.77 493 5441.66 roll 1.83 - - 2596.88 - 3.55 0.045 2123.50 412.2 144.29 - - 1909.66 - - - - - - - - - 15.43 -
5757.06 389.37 10.90 507 5762.78 roll 1.83 - - 2597.62 - 4.15 0.131 661.88 -352.2 144.29 - - 1904.19 - - - - - - - - - 15.13 -
5925.98 368.42 11.08 541 5932.82 roll 1.83 - - 2596.31 - 3.56 0.045 2125.31 411.1 144.29 - - 1904.31 - - - - - - - - - 15.37 -
6232.10 336.71 10.40 552 6237.81 done 1.85 - - 2597.31 - 4.18 0.130 661.75 -350.1 144.29 - - 1901.75 - - - - - - - - - 15.04 -
6411.01 314.81 12.23 588 6416.73 done 1.85 - - 2597.88 - 3.56 0.044 2124.94 411.0 144.29 - - 1904.09 - - - - - - - - - 15.37 -
6737.18 281.45 9.90 603 6742.84 done 1.89 - - 2598.06 - 4.20 0.128 661.88 -348.3 144.29 - - 1903.22 - - - - - - - - - 14.98 -
6966.08 254.48 11.29 649 6972.90 done 1.89 - - 2596.38 - 3.56 0.047 2125.44 411.1 144.29 - - 1902.06 - - - - - - - - - 15.33 -
7272.20 226.51 8.61 676 7303.85 done 1.96 - - 2598.12 - 4.09 0.131 661.69 -357.9 169.16 22.76 1.300 1809.62 -4.1 0.127 - - - - - - - 15.23 11.28
7422.67 208.61 12.41 706 7427.87 roll 1.96 - - 2597.94 - 3.53 0.045 2126.25 414.9 169.16 - - 1804.06 - - - - - - - - - 15.48 -
7547.26 195.06 10.24 719 7552.97 roll 1.99 - - 2597.88 - 4.12 0.126 661.88 -355.4 169.16 - - 1803.00 - - - - - - - - - 15.16 -
7666.17 179.17 13.37 743 7672.99 roll 1.99 - - 2598.38 - 3.54 0.044 2127.50 414.0 169.16 - - 1804.00 - - - - - - - - - 15.41 -
7792.28 165.13 11.31 756 7798.00 roll 1.99 - - 2595.75 - 4.11 0.125 661.19 -356.8 169.16 - - 1802.66 - - - - - - - - - 15.10 -
7867.73 155.98 12.76 771 7872.93 roll 1.99 - - 2598.31 - 3.53 0.043 2126.38 415.1 169.16 - - 1804.69 - - - - - - - - - 15.42 -
7992.33 143.26 10.28 784 7998.10 roll back 2.02 0.20 0.074 2641.94 218.2 4.13 0.125 662.56 -354.4 169.16 - - 1804.12 - - - - - - - - 15.54 15.07 -
8147.86 122.66 14.60 815 8153.04 roll 2.02 - - 2640.94 - 3.55 0.046 2126.19 412.3 169.16 - - 1802.97 - - - - - - - - - 15.38 -
8212.35 115.54 10.68 822 8218.01 done 2.02 - - 2640.94 - 3.69 0.107 3473.88 365.2 169.16 - - 1804.00 - - - - - - - - - 15.10 -
8247.80 111.58 11.29 829 8252.98 done 2.02 - - 2641.00 - 3.40 0.049 2078.06 -410.5 169.16 - - 1804.00 - - - - - - - - - 15.32 -
8312.36 104.27 10.67 836 8318.07 done 2.02 - - 2641.44 - 3.99 0.127 660.50 -355.3 169.16 - - 1803.56 - - - - - - - - - 15.07 -
8411.30 91.68 12.26 856 8418.12 done 2.02 - - 2641.88 - 3.54 0.043 2129.56 415.0 169.16 - - 1802.19 - - - - - - - - - 15.37 -
8477.40 85.90 8.81 863 8509.85 done 2.08 - - 2641.75 - 4.05 0.124 660.62 -362.7 192.09 27.16 1.128 1715.09 -3.2 0.044 - - - - - - - 15.21 11.44
8567.00 77.75 9.86 881 8573.80 roll 2.12 - - 2640.81 - 3.53 0.042 2129.12 416.0 192.09 - - 1714.09 - - - - - - - - - 15.47 -
8633.08 72.85 7.48 888 8677.06 2.23 0.25 0.066 2693.62 211.2 - - 2129.69 - 228.27 42.42 1.113 1570.56 -3.4 0.040 - - - - - - 15.50 - 11.49
8733.10 62.01 11.73 898 8738.98 roll 2.23 - - 2693.31 - 4.12 0.124 660.75 -356.5 228.27 - - 1565.22 - - - - - - - - - 15.15 -
8802.00 52.99 12.72 912 8808.82 roll 2.23 - - 2693.38 - 3.54 0.043 2127.00 414.2 228.27 - - 1566.41 - - - - - - - - - 15.39 -
8868.11 46.93 8.87 919 8899.38 done 2.30 - - 2693.75 - 3.67 0.106 3475.62 367.5 250.52 26.00 1.055 1478.16 -3.4 0.027 - - - - - - - 15.11 11.55
8998.18 38.09 5.59 945 9064.01 2.46 0.29 0.066 2746.31 181.2 3.42 0.048 2078.69 -408.5 305.50 60.85 1.063 1254.81 -3.7 0.024 - - - - - - 15.16 15.37 11.43
9128.14 29.21 8.53 965 9163.47 done 2.54 - - 2746.62 - 3.98 0.128 661.56 -356.1 331.15 28.83 1.005 1149.91 -3.6 0.019 - - - - - - - 14.96 11.43
9238.60 15.49 13.65 987 9243.79 roll 2.54 - - 2746.00 - 3.53 0.042 2129.12 415.7 331.15 - - 1148.09 - - - - - - - - - 15.35 -
9303.17 8.30 10.57 994 9308.85 roll 2.56 - - 2746.31 - 3.65 0.102 3474.12 368.5 331.15 - - 1146.62 - - - - - - - - - 15.19 -
9318.18 6.73 10.30 997 9322.91 roll 2.58 - - 2746.94 - 3.40 0.046 2077.12 -410.9 331.15 - - 1146.75 - - - - - - - - - 15.34 -
9388 end climb: SURFACE_DEPTH_REACHED
9388 begin surface coast
9408 end surface coast: CONTROL_FINISHED_OK
9408 begin surface
SM -0.48 - - - - 170.3 0.16 0.173 564.9 3530.6 18.71 0.082 560.9 30.0 - 0.08 0.131 568.9 7068.8 2.647 - - 15.05 15.10 15.46 -