NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1196 * Raw log
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• Previous call tries 2 • 325.20 of 575.00 AH used of 24V (43.44% remains)
• Surface angle -62.6 deg, depth -1.49 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.89 (SM_CC=475)
• GPS1 time: 4 s
• GPS2 time: 2 s • Transponder ping count: 19
• 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
8.55 - - - 100.54 VBD -1.59 - - 170.25 - - - 2120.69 - -74.33 91.51 0.005 2715.06 - - - - - - - - - - 13.13
100.76 5.27 -10.86 9 126.70 -1.59 14.68 0.252 1753.56 107.9 3.75 0.111 3475.44 361.3 -74.33 1.74 0.016 2802.84 50.4 -3.008 - - - - - - 14.77 14.61 14.82
280.46 40.92 -15.60 45 285.64 roll -1.59 - - 1754.00 - 3.47 0.055 2082.38 -401.5 -74.33 - - 2804.06 - - - - - - - - - 15.21 -
345.07 49.79 -13.37 52 350.71 roll -1.59 - - 1753.56 - 3.83 0.102 3475.50 363.7 -74.33 - - 2801.91 - - - - - - - - - 15.07 -
393.94 57.66 -16.19 62 401.18 roll -1.59 - - 1752.56 - 3.45 0.052 2082.06 -403.9 -74.33 - - 2804.03 - - - - - - - - - 15.20 -
460.09 65.96 -12.45 69 461.42 no move -1.59 - - 1753.25 - - - 2082.50 - -74.33 - - 2802.75 - - - - - - - - - - -
520.04 72.26 -10.15 75 525.72 roll -1.59 - - 1753.50 - 3.84 0.100 3476.06 362.9 -74.33 - - 2801.16 - - - - - - - - - 15.05 -
575.49 79.32 -13.40 86 580.67 roll -1.59 - - 1753.38 - 3.41 0.049 2081.12 -409.1 -74.33 - - 2801.69 - - - - - - - - - 15.22 -
640.12 87.90 -12.59 93 641.45 no move -1.59 - - 1753.25 - - - 2081.50 - -74.33 - - 2803.12 - - - - - - - - - - -
700.07 95.02 -11.60 99 705.80 roll -1.59 - - 1753.44 - 4.12 0.143 661.94 -344.6 -74.33 - - 2805.00 - - - - - - - - - 14.93 -
735.50 99.75 -13.70 106 740.70 roll -1.59 - - 1753.44 - 3.54 0.043 2124.00 413.0 -74.33 - - 2800.97 - - - - - - - - - 15.31 -
800.06 107.01 -10.97 113 801.39 no move -1.59 - - 1753.69 - - - 2124.12 - -74.33 - - 2802.78 - - - - - - - - - - -
860.07 112.92 -9.68 119 861.40 no move -1.59 - - 1753.31 - - - 2124.12 - -74.33 - - 2803.31 - - - - - - - - - - -
920.08 118.76 -9.45 125 921.41 no move -1.59 - - 1753.12 - - - 2124.00 - -74.33 - - 2803.03 - - - - - - - - - - -
980.10 123.71 -8.29 131 981.53 VBD -1.68 - - 1753.81 - - - 2124.44 - -102.44 0.71 0.032 2917.72 161.5 -113.053 - - - - - - - - 14.68
1040.14 129.51 -9.67 137 1045.75 roll -1.68 - - 1753.19 - 3.72 0.103 3475.69 363.2 -102.44 - - 2918.19 - - - - - - - - - 15.02 -
1085.54 134.63 -11.42 146 1090.69 roll -1.68 - - 1753.06 - 3.40 0.047 2080.31 -410.4 -102.44 - - 2918.31 - - - - - - - - - 15.22 -
1150.15 140.95 -9.55 153 1155.81 roll -1.68 - - 1753.81 - 4.10 0.141 661.94 -345.9 -102.44 - - 2920.16 - - - - - - - - - 14.93 -
1185.55 145.45 -12.82 160 1190.73 roll -1.68 - - 1753.62 - 3.52 0.041 2123.31 415.2 -102.44 - - 2920.47 - - - - - - - - - 15.31 -
1250.10 152.86 -11.01 167 1255.76 roll -1.68 - - 1753.19 - 3.67 0.099 3474.81 368.3 -102.44 - - 2920.12 - - - - - - - - - 15.04 -
1319.04 161.15 -11.36 181 1326.26 roll -1.68 - - 1753.69 - 3.40 0.046 2080.12 -410.2 -102.44 - - 2920.84 - - - - - - - - - 15.18 -
1445.15 174.94 -10.68 194 1446.47 no move -1.68 - - 1753.38 - - - 2080.50 - -102.44 - - 2920.94 - - - - - - - - - - -
1565.15 187.33 -10.16 206 1566.48 no move -1.68 - - 1753.44 - - - 2079.88 - -102.44 - - 2919.12 - - - - - - - - - - -
1685.16 200.37 -10.89 218 1690.84 roll -1.68 - - 1753.69 - 3.86 0.101 3474.94 361.4 -102.44 - - 2919.12 - - - - - - - - - 14.97 -
1720.62 204.64 -11.99 225 1725.79 roll -1.68 - - 1753.56 - 3.40 0.049 2080.88 -410.0 -102.44 - - 2923.03 - - - - - - - - - 15.18 -
1845.19 218.92 -11.06 238 1846.52 no move -1.68 - - 1753.88 - - - 2080.88 - -102.44 - - 2920.81 - - - - - - - - - - -
1965.19 232.64 -11.92 250 1966.52 no move -1.68 - - 1753.44 - - - 2079.94 - -102.44 - - 2920.91 - - - - - - - - - - -
2085.21 245.36 -10.72 262 2090.89 roll -1.68 - - 1753.50 - 3.85 0.102 3474.56 362.2 -102.44 - - 2919.62 - - - - - - - - - 14.95 -
2134.13 251.57 -12.29 272 2141.38 roll -1.68 - - 1753.88 - 3.41 0.049 2080.69 -408.8 -102.44 - - 2920.62 - - - - - - - - - 15.13 -
2440.23 284.66 -10.70 283 2441.55 no move -1.68 - - 1753.62 - - - 2081.19 - -102.44 - - 2921.59 - - - - - - - - - - -
2740.23 315.08 -9.91 293 2745.93 roll -1.68 - - 1753.94 - 3.92 0.105 3475.19 355.6 -102.44 - - 2920.47 - - - - - - - - - 14.91 -
2759.20 317.53 -10.40 297 2766.39 roll -1.68 - - 1753.50 - 3.44 0.050 2080.06 -405.6 -102.44 - - 2921.38 - - - - - - - - - 15.11 -
3065.24 347.06 -9.73 308 3070.95 roll -1.68 - - 1753.50 - 3.89 0.104 3474.12 358.4 -102.44 - - 2921.12 - - - - - - - - - 14.91 -
3144.16 355.55 -9.61 324 3151.41 roll -1.68 - - 1753.69 - 3.45 0.052 2081.56 -403.6 -102.44 - - 2921.16 - - - - - - - - - 15.08 -
3450.27 385.64 -9.82 335 3455.97 roll -1.68 - - 1753.44 - 3.90 0.105 3476.69 357.7 -102.44 - - 2919.06 - - - - - - - - - 14.90 -
3479.17 388.67 -11.50 341 3484.89 roll -1.68 - - 1753.56 - 3.45 0.050 2082.06 -404.2 -102.44 - - 2920.38 - - - - - - - - - 15.07 -
3805.29 419.67 -9.67 356 3806.62 no move -1.68 - - 1754.06 - - - 2082.62 - -102.44 - - 2920.56 - - - - - - - - - - -
4105.29 449.84 -9.75 366 4110.99 roll -1.68 - - 1753.38 - 3.95 0.109 3474.38 352.3 -102.44 - - 2918.47 - - - - - - - - - 14.86 -
4160.75 456.00 -12.12 377 4165.94 roll -1.68 - - 1753.56 - 3.48 0.053 2082.38 -400.0 -102.44 - - 2918.78 - - - - - - - - - 15.05 -
4485.32 488.76 -10.55 392 4491.02 roll -1.68 - - 1753.69 - 3.93 0.108 3476.00 354.6 -102.44 - - 2918.78 - - - - - - - - - 14.85 -
4554.29 496.89 -11.57 406 4559.94 roll -1.68 - - 1753.50 - 3.48 0.052 2082.25 -400.5 -102.44 - - 2921.59 - - - - - - - - - 15.03 -
4600 end dive: TARGET_DEPTH_EXCEEDED
4600 begin apogee
4601.47 502.09 -11.43 410 4692.67 -0.25 2.72 0.154 2078.31 119.4 0.09 0.235 2086.06 42.3 - 87.06 1.640 2499.31 -4.9 0.269 - - - - - - 14.81 14.80 11.03
4695 end apogee: CONTROL_FINISHED_OK
4695 begin climb
4695.95 505.59 - 413 4795.91 1.68 3.50 0.079 2551.38 135.2 - - 2086.12 - 102.44 94.64 1.586 2080.69 -4.4 0.255 - - - - - - 15.00 - 11.28
5080.41 480.30 8.19 426 5115.12 done 1.76 - - 2551.19 - 4.09 0.136 662.06 -348.2 131.48 26.66 1.484 1963.44 -4.4 0.258 - - - - - - - 14.97 11.46
5189.27 469.93 11.19 448 5194.97 roll 1.76 - - 2550.62 - 3.54 0.041 2126.25 413.6 131.48 - - 1960.44 - - - - - - - - - 15.34 -
5500.38 441.74 8.99 460 5521.50 1.83 0.20 0.074 2596.44 229.1 - - 2126.25 - 152.59 20.34 1.434 1877.31 -4.1 0.228 - - - - - - 15.48 - 11.39
5800.38 409.00 10.58 470 5806.09 roll 1.84 - - 2595.56 - 4.18 0.129 660.62 -350.6 152.59 - - 1873.59 - - - - - - - - - 15.13 -
5979.30 385.62 14.27 506 5985.02 roll 1.84 - - 2595.69 - 3.55 0.042 2124.69 412.4 152.59 - - 1870.78 - - - - - - - - - 15.39 -
6305.48 350.11 10.57 521 6311.14 roll 1.86 - - 2595.94 - 4.18 0.127 661.88 -350.0 152.59 - - 1868.84 - - - - - - - - - 15.06 -
6349.33 344.51 14.29 530 6355.04 done 1.86 - - 2596.44 - 3.55 0.040 2126.12 412.5 152.59 - - 1870.81 - - - - - - - - - 15.40 -
6660.45 312.73 10.22 542 6666.16 done 1.89 - - 2596.31 - 4.20 0.127 661.50 -348.7 152.59 - - 1868.19 - - - - - - - - - 15.01 -
6789.35 295.95 11.48 568 6795.09 done 1.89 - - 2595.56 - 3.54 0.041 2125.38 413.5 152.59 - - 1868.94 - - - - - - - - - 15.35 -
7105.48 262.70 10.36 581 7111.19 done 1.91 - - 2594.69 - 4.18 0.126 660.88 -350.4 152.59 - - 1870.84 - - - - - - - - - 14.98 -
7204.38 250.16 13.35 601 7210.10 done 1.91 - - 2596.62 - 3.54 0.040 2127.06 414.2 152.59 - - 1868.78 - - - - - - - - - 15.34 -
7510.52 218.05 9.63 633 7516.23 done 1.95 - - 2595.50 - 4.18 0.125 663.00 -350.3 152.59 - - 1867.84 - - - - - - - - - 14.96 -
7635.96 203.58 10.92 658 7641.18 done 1.95 - - 2596.25 - 3.56 0.043 2127.00 411.2 152.59 - - 1866.78 - - - - - - - - - 15.34 -
7760.55 191.20 9.01 671 7785.77 2.01 0.21 0.073 2640.31 209.8 4.05 0.125 661.69 -361.8 173.45 19.12 1.235 1791.28 -3.9 0.111 - - - - - - 15.53 15.25 11.33
7824.47 183.01 13.91 684 7831.26 roll 2.01 - - 2639.88 - 3.50 0.039 2127.81 418.9 173.45 - - 1791.56 - - - - - - - - - 15.47 -
7950.56 167.86 11.77 697 7956.27 roll 2.01 - - 2640.50 - 4.07 0.122 661.62 -360.2 173.45 - - 1787.91 - - - - - - - - - 15.19 -
7989.48 162.81 11.20 705 7996.28 roll 2.01 - - 2640.75 - 3.50 0.039 2129.56 419.4 173.45 - - 1789.28 - - - - - - - - - 15.45 -
8115.60 149.56 9.93 718 8116.94 no move 2.05 - - 2640.50 - - - 2129.50 - 173.45 - - 1787.09 - - - - - - - - - - -
8175.65 143.72 9.26 724 8181.32 roll 2.11 - - 2640.06 - 4.09 0.122 660.94 -359.1 173.45 - - 1788.47 - - - - - - - - - 15.11 -
8281.05 130.82 12.16 745 8286.24 roll 2.11 - - 2640.25 - 3.51 0.040 2128.00 418.0 173.45 - - 1786.41 - - - - - - - - - 15.41 -
8345.62 124.01 10.12 752 8346.95 no move 2.14 - - 2640.31 - - - 2129.25 - 173.45 - - 1786.31 - - - - - - - - - - -
8405.63 117.86 10.32 758 8406.96 no move 2.16 - - 2640.94 - - - 2128.44 - 173.45 - - 1786.47 - - - - - - - - - - -
8465.64 111.51 10.28 764 8467.08 pitch 2.18 0.19 0.076 2680.62 208.8 - - 2129.00 - 173.45 - - 1785.97 - - - - - - - - 15.50 - -
8525.69 105.35 10.25 770 8527.02 no move 2.21 - - 2680.75 - - - 2128.81 - 173.45 - - 1786.31 - - - - - - - - - - -
8585.66 99.29 10.09 776 8591.36 roll 2.24 - - 2679.88 - 4.12 0.121 661.50 -356.1 173.45 - - 1786.88 - - - - - - - - - 15.02 -
8711.09 83.67 12.59 801 8716.29 roll 2.24 - - 2680.25 - 3.52 0.039 2129.75 417.1 173.45 - - 1785.59 - - - - - - - - - 15.39 -
8775.67 77.32 9.59 808 8777.00 no move 2.29 - - 2680.62 - - - 2129.75 - 173.45 - - 1786.16 - - - - - - - - - - -
8835.68 70.76 10.86 814 8841.39 roll 2.29 - - 2681.19 - 4.11 0.118 659.38 -357.8 173.45 - - 1786.47 - - - - - - - - - 15.02 -
8861.11 68.22 10.63 819 8866.30 roll 2.29 - - 2681.00 - 3.51 0.037 2131.94 419.5 173.45 - - 1786.19 - - - - - - - - - 15.41 -
8925.68 63.09 7.47 826 8972.25 2.39 0.26 0.064 2730.94 192.1 3.58 0.103 3474.06 374.9 209.72 41.58 1.110 1645.69 -3.4 0.035 - - - - - - 15.50 15.15 11.49
9000.69 56.39 9.37 841 9005.27 roll 2.45 - - 2730.88 - 3.39 0.046 2074.69 -412.8 209.72 - - 1644.00 - - - - - - - - - 15.33 -
9070.69 51.73 6.14 849 9133.14 2.60 0.26 0.070 2778.94 184.8 3.95 0.124 660.81 -357.9 259.21 56.53 1.085 1442.78 -3.6 0.031 - - - - - - 15.40 14.96 11.50
9161.81 46.24 7.25 867 9212.89 done 2.71 - - 2779.00 - 3.52 0.037 2131.62 417.8 297.62 43.38 1.043 1286.84 -3.6 0.029 - - - - - - - 15.30 11.48
9271.38 35.16 11.08 883 9277.01 roll 2.71 - - 2778.88 - 3.62 0.101 3475.88 371.3 297.62 - - 1283.62 - - - - - - - - - 15.13 -
9340.28 26.22 13.73 897 9348.03 roll 2.71 - - 2778.94 - 3.42 0.046 2077.00 -409.0 297.62 - - 1282.19 - - - - - - - - - 15.27 -
9407.07 19.09 11.04 904 9413.08 roll 2.71 - - 2778.31 - 3.94 0.124 660.62 -359.5 297.62 - - 1281.44 - - - - - - - - - 15.09 -
9611 end climb: SURFACE_DEPTH_REACHED
9611 begin surface coast
9635 end surface coast: CONTROL_FINISHED_OK
9635 begin surface
SM -0.49 - - - - 179.1 - 0.017 564.0 - 18.92 0.084 561.7 29.7 - 3.46 0.038 566.4 162.6 0.214 - - 30.36 15.05 15.43 -