NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 972 * Raw log
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• Previous call tries 3 • 270.31 of 575.00 AH used of 24V (52.99% remains)
• Surface angle -59.6 deg, depth -1.62 m • Intended pitch -18.7 deg, speed -11.111 cm/s
VBD pumped to 474.72 (SM_CC=475)
• GPS1 time: 2 s
• GPS2 time: 20 s • Transponder ping count: 5
• 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
8.12 - - - 98.86 VBD -1.40 - - 169.19 - - - 2118.75 - -155.72 90.26 0.005 2603.53 - - - - - - - - - - 14.52
99.13 3.60 -11.14 17 136.88 -1.40 14.56 0.252 1799.69 112.0 4.09 0.151 664.00 -355.7 -155.72 11.26 0.007 3135.50 47.2 -4.335 - - - - - - 15.05 14.65 14.87
220.55 30.82 -20.53 41 226.27 roll -1.40 - - 1799.75 - 3.52 0.054 2119.56 413.5 -155.72 - - 3135.62 - - - - - - - - - 15.56 -
285.12 43.00 -17.68 54 291.37 roll -1.40 - - 1800.19 - 4.07 0.146 662.69 -358.0 -155.72 - - 3135.78 - - - - - - - - - 15.26 -
295.57 44.81 -17.59 56 301.26 roll -1.40 - - 1800.12 - 3.48 0.050 2122.62 419.5 -155.72 - - 3135.66 - - - - - - - - - 15.58 -
360.16 56.76 -18.52 69 365.86 roll -1.40 - - 1800.31 - 3.57 0.110 3473.19 378.3 -155.72 - - 3135.16 - - - - - - - - - 15.39 -
405.15 64.45 -15.86 78 410.84 roll -1.40 - - 1799.94 - 3.35 0.056 2081.31 -415.5 -155.72 - - 3135.41 - - - - - - - - - 15.54 -
470.18 74.35 -15.85 91 476.39 roll -1.40 - - 1800.19 - 3.93 0.150 663.12 -360.9 -155.72 - - 3135.66 - - - - - - - - - 15.28 -
485.62 76.42 -14.97 94 491.31 roll -1.40 - - 1799.56 - 3.46 0.048 2121.12 421.4 -155.72 - - 3135.62 - - - - - - - - - 15.61 -
550.18 85.29 -13.15 107 555.89 roll -1.40 - - 1799.94 - 3.55 0.109 3474.62 381.3 -155.72 - - 3135.91 - - - - - - - - - 15.41 -
650.19 99.14 -13.37 127 655.88 roll -1.40 - - 1799.88 - 3.34 0.055 2081.94 -417.0 -155.72 - - 3135.91 - - - - - - - - - 15.55 -
715.21 106.91 -11.53 140 719.53 no move -1.40 - - 1800.00 - - - 2081.69 - -155.72 - - 3135.16 - - - - - - - - - - -
780.22 114.55 -11.64 153 784.54 no move -1.40 - - 1800.00 - - - 2081.56 - -155.72 - - 3135.69 - - - - - - - - - - -
845.23 122.17 -11.19 166 849.62 no move -1.40 - - 1800.19 - - - 2081.31 - -155.72 - - 3134.97 - - - - - - - - - - -
910.24 130.31 -13.53 179 914.56 no move -1.40 - - 1799.75 - - - 2081.81 - -155.72 - - 3135.72 - - - - - - - - - - -
975.26 138.42 -13.32 192 981.00 roll -1.40 - - 1800.06 - 3.68 0.108 3474.56 378.5 -155.72 - - 3134.75 - - - - - - - - - 15.43 -
1000.30 141.73 -14.32 197 1005.95 roll -1.40 - - 1800.19 - 3.33 0.054 2080.31 -418.7 -155.72 - - 3134.34 - - - - - - - - - 15.58 -
1065.27 149.93 -12.58 210 1071.51 roll -1.40 - - 1799.56 - 3.91 0.149 661.69 -362.8 -155.72 - - 3136.75 - - - - - - - - - 15.29 -
1079.23 151.86 -12.31 213 1085.98 roll -1.40 - - 1800.06 - 3.42 0.045 2123.31 427.4 -155.72 - - 3135.00 - - - - - - - - - 15.65 -
1385.30 188.36 -11.85 244 1389.91 roll -1.40 - - 1799.62 - 3.56 0.111 3477.00 380.2 -155.72 - - 3135.97 - - - - - - - - - 15.42 -
1459.22 197.96 -12.63 259 1466.00 roll -1.40 - - 1799.38 - 3.34 0.055 2079.88 -418.3 -155.72 - - 3136.53 - - - - - - - - - 15.58 -
1765.34 233.04 -10.89 290 1766.66 no move -1.40 - - 1800.06 - - - 2079.94 - -155.72 - - 3135.19 - - - - - - - - - - -
2075.37 268.84 -11.71 311 2076.70 no move -1.40 - - 1800.31 - - - 2080.31 - -155.72 - - 3135.06 - - - - - - - - - - -
2375.37 302.84 -11.20 321 2381.03 roll -1.40 - - 1799.81 - 3.73 0.112 3475.94 374.2 -155.72 - - 3133.97 - - - - - - - - - 15.45 -
2430.38 310.01 -13.30 332 2434.97 roll -1.40 - - 1800.06 - 3.35 0.057 2081.56 -416.2 -155.72 - - 3135.44 - - - - - - - - - 15.58 -
2760.44 347.59 -11.55 348 2761.77 no move -1.40 - - 1799.88 - - - 2081.69 - -155.72 - - 3135.38 - - - - - - - - - - -
3060.39 381.52 -10.91 358 3066.06 roll -1.40 - - 1799.50 - 3.73 0.112 3476.50 373.9 -155.72 - - 3133.75 - - - - - - - - - 15.42 -
3094.30 385.34 -10.92 365 3099.99 roll -1.40 - - 1799.94 - 3.35 0.057 2082.38 -416.2 -155.72 - - 3135.44 - - - - - - - - - 15.57 -
3415.43 415.48 -8.96 379 3416.76 no move -1.40 - - 1799.50 - - - 2081.12 - -155.72 - - 3135.03 - - - - - - - - - - -
3535 end dive: TARGET_DEPTH_EXCEEDED
3535 begin apogee
3536.60 427.54 -9.55 383 3670.97 -0.25 2.12 0.139 2079.19 131.9 0.09 0.214 2082.06 - - 131.46 1.523 2498.81 -4.8 0.242 - - - - - - 15.45 14.79 10.45
3673 end apogee: CONTROL_FINISHED_OK
3673 begin climb
3673.88 430.71 - 387 3817.51 1.40 2.90 0.084 2484.69 139.8 - - 2082.50 - 155.72 137.51 1.476 1864.50 -4.6 0.240 - - - - - - 15.12 - 11.58
4135.82 394.09 10.16 423 4141.50 done 1.43 - - 2484.81 - 3.95 0.142 662.88 -359.4 155.72 - - 1853.16 - - - - - - - - - 15.32 -
4234.73 382.56 12.15 443 4240.43 done 1.43 - - 2484.00 - 3.46 0.049 2126.00 422.9 155.72 - - 1852.44 - - - - - - - - - 15.63 -
4550.84 355.77 8.60 456 4597.44 1.59 0.25 0.077 2535.81 207.2 - - 2125.56 - 207.74 45.66 1.407 1653.25 -4.4 0.197 - - - - - - 15.67 - 10.85
4880.92 321.02 10.51 467 4886.55 roll 1.60 - - 2536.81 - 4.05 0.138 662.94 -361.1 207.74 - - 1644.47 - - - - - - - - - 15.33 -
5026.30 302.34 12.65 496 5031.52 roll 1.60 - - 2535.19 - 3.47 0.048 2126.06 421.6 207.74 - - 1644.25 - - - - - - - - - 15.66 -
5350.94 268.61 10.09 511 5356.50 done 1.64 - - 2536.25 - 3.59 0.112 3476.31 376.1 207.74 - - 1642.34 - - - - - - - - - 15.45 -
5379.77 265.16 11.48 517 5385.46 done 1.64 - - 2536.12 - 3.35 0.054 2078.44 -417.3 207.74 - - 1643.06 - - - - - - - - - 15.61 -
5685.91 231.54 11.65 540 5691.61 done 1.64 - - 2536.25 - 3.90 0.137 662.69 -363.0 207.74 - - 1642.31 - - - - - - - - - 15.33 -
5761.34 221.91 12.63 555 5766.53 done 1.64 - - 2536.88 - 3.44 0.046 2127.62 425.9 207.74 - - 1641.53 - - - - - - - - - 15.69 -
6065.96 193.99 8.14 586 6128.34 1.82 0.28 0.073 2591.94 196.6 4.05 0.134 662.88 -361.7 269.12 53.37 1.277 1402.47 -4.5 0.121 - - - - - - 15.72 15.09 10.87
6157.01 183.42 13.92 604 6162.20 roll 1.82 - - 2593.19 - 3.52 0.046 2127.44 416.1 269.12 - - 1401.97 - - - - - - - - - 15.47 -
6461.59 144.36 12.96 639 6467.84 roll 1.82 - - 2592.38 - 4.04 0.133 662.75 -362.5 269.12 - - 1398.94 - - - - - - - - - 15.31 -
6482.23 141.35 14.16 643 6487.74 roll 1.82 - - 2592.88 - 3.47 0.046 2128.88 422.5 269.12 - - 1398.94 - - - - - - - - - 15.63 -
6546.62 132.88 13.24 656 6550.94 no move 1.82 - - 2593.00 - - - 2128.75 - 269.12 - - 1397.84 - - - - - - - - - - -
6611.63 123.84 13.91 669 6617.85 roll 1.82 - - 2593.00 - 3.98 0.134 662.12 -368.5 269.12 - - 1397.91 - - - - - - - - - 15.31 -
6632.12 120.75 16.08 673 6637.77 roll 1.82 - - 2593.62 - 3.46 0.048 2127.50 423.5 269.12 - - 1397.97 - - - - - - - - - 15.65 -
6696.65 111.82 13.30 686 6702.36 roll 1.82 - - 2593.19 - 3.59 0.111 3472.75 374.7 269.12 - - 1397.75 - - - - - - - - - 15.42 -
6717.10 108.93 14.41 690 6722.35 roll 1.82 - - 2593.19 - 3.37 0.055 2077.94 -413.9 269.12 - - 1397.25 - - - - - - - - - 15.59 -
6781.65 100.88 11.73 703 6787.85 roll 1.82 - - 2592.44 - 3.72 0.108 3474.62 375.5 269.12 - - 1397.53 - - - - - - - - - 15.42 -
6797.10 99.09 11.72 706 6802.35 roll 1.82 - - 2591.44 - 3.37 0.053 2077.75 -414.5 269.12 - - 1397.28 - - - - - - - - - 15.60 -
6861.67 91.90 11.09 719 6867.88 roll 1.82 - - 2592.88 - 3.89 0.136 663.75 -363.5 269.12 - - 1397.53 - - - - - - - - - 15.31 -
6882.16 89.57 11.64 723 6887.81 roll 1.82 - - 2592.44 - 3.49 0.049 2128.25 419.6 269.12 - - 1396.31 - - - - - - - - - 15.66 -
6946.69 82.56 10.63 736 6951.01 no move 1.82 - - 2593.19 - - - 2127.62 - 269.12 - - 1397.00 - - - - - - - - - - -
7011.70 76.83 8.68 749 7074.09 1.97 0.16 0.088 2628.62 221.4 4.03 0.134 662.94 -363.4 319.47 53.90 1.105 1198.41 -3.7 0.046 - - - - - - 15.69 15.11 11.23
7182.79 59.33 10.45 783 7188.48 roll 1.99 - - 2630.38 - 3.49 0.048 2128.56 419.9 319.47 - - 1196.38 - - - - - - - - - 15.53 -
7247.36 53.74 8.78 796 7308.63 2.14 0.18 0.083 2669.62 218.0 3.60 0.111 3472.19 373.2 367.74 52.83 1.060 1000.84 -3.7 0.033 - - - - - - 15.56 15.05 11.40
7327.79 45.48 11.10 812 7333.06 roll 2.14 - - 2668.56 - 3.40 0.053 2075.38 -410.8 367.74 - - 1000.97 - - - - - - - - - 15.41 -
7392.39 38.54 10.69 825 7398.15 roll 2.14 - - 2668.19 - 3.92 0.135 663.94 -360.1 367.74 - - 1000.09 - - - - - - - - - 15.28 -
7492.85 24.79 14.95 845 7498.10 roll 2.14 - - 2669.25 - 3.49 0.047 2126.62 419.1 367.74 - - 998.97 - - - - - - - - - 15.56 -
7557.42 16.99 11.21 858 7563.20 roll 2.14 - - 2669.44 - 4.03 0.130 661.25 -363.6 367.74 - - 998.69 - - - - - - - - - 15.31 -
7622.88 7.79 14.57 871 7628.13 roll 2.14 - - 2669.19 - 3.48 0.047 2125.19 420.7 367.74 - - 998.91 - - - - - - - - - 15.62 -
7672 end climb: SURFACE_DEPTH_REACHED
7672 begin surface coast
7687 end surface coast: CONTROL_FINISHED_OK
7687 begin surface
SM -0.43 - - - - 170.3 0.03 0.359 564.7 18823.3 17.28 0.077 565.6 32.7 - 0.09 0.141 563.8 6225.8 1.941 - - 15.21 15.43 15.65 -