NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1015 * Raw log
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• Previous call tries 1 • 280.44 of 575.00 AH used of 24V (51.23% remains)
• Surface angle -62.0 deg, depth -1.44 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.69 (SM_CC=475)
• GPS1 time: 8 s • bottom range 10.0 m at 80.1 m, depth 90 m (1000 m grid)
• GPS2 time: 3 s • Transponder ping count: 10
• 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
7.60 - - - 99.93 VBD -1.59 - - 165.44 - - - 2084.06 - -74.33 91.89 0.005 2700.72 - - - - - - - - - - 14.57
100.15 4.90 -10.46 9 120.83 -1.59 13.96 0.249 1753.75 113.8 - - 2083.75 - -74.33 2.07 0.014 2802.75 49.3 -3.102 - - - - - - 15.04 - 14.84
178.05 25.52 -22.06 17 183.76 roll -1.59 - - 1754.06 - 4.09 0.153 661.88 -347.6 -74.33 - - 2801.78 - - - - - - - - - 15.22 -
213.51 33.52 -22.90 24 218.70 roll -1.59 - - 1753.75 - 3.54 0.054 2121.00 412.2 -74.33 - - 2800.84 - - - - - - - - - 15.54 -
278.06 46.72 -19.68 31 283.80 roll -1.59 - - 1753.75 - 4.12 0.148 663.00 -353.9 -74.33 - - 2801.00 - - - - - - - - - 15.24 -
303.51 51.93 -20.84 36 308.70 roll -1.59 - - 1753.19 - 3.50 0.051 2119.94 416.3 -74.33 - - 2803.00 - - - - - - - - - 15.56 -
368.12 63.24 -16.86 43 373.81 roll -1.59 - - 1754.06 - 4.11 0.147 662.75 -354.5 -74.33 - - 2801.97 - - - - - - - - - 15.23 -
463.55 78.38 -15.37 62 468.71 roll -1.59 - - 1753.94 - 3.48 0.048 2123.38 419.7 -74.33 - - 2802.97 - - - - - - - - - 15.60 -
528.09 85.69 -11.18 69 529.42 no move -1.59 - - 1754.12 - - - 2123.12 - -74.33 - - 2802.62 - - - - - - - - - - -
588.11 92.45 -10.91 75 593.84 roll -1.59 - - 1753.38 - 4.11 0.147 662.50 -355.4 -74.33 - - 2804.91 - - - - - - - - - 15.25 -
603.62 94.10 -10.61 78 608.72 roll -1.59 - - 1753.12 - 3.48 0.047 2122.81 419.6 -74.33 - - 2804.91 - - - - - - - - - 15.61 -
668.16 101.37 -10.70 85 669.49 no move -1.59 - - 1753.75 - - - 2122.19 - -74.33 - - 2802.28 - - - - - - - - - - -
728.11 108.43 -12.30 91 733.75 roll -1.59 - - 1754.19 - 3.59 0.106 3475.62 377.0 -74.33 - - 2800.78 - - - - - - - - - 15.42 -
793.57 116.82 -13.87 104 798.72 roll -1.59 - - 1753.19 - 3.37 0.054 2081.62 -413.6 -74.33 - - 2805.19 - - - - - - - - - 15.56 -
858.17 124.62 -12.11 111 859.50 no move -1.59 - - 1753.81 - - - 2081.00 - -74.33 - - 2802.25 - - - - - - - - - - -
918.13 131.12 -10.95 117 923.84 roll -1.59 - - 1752.94 - 4.01 0.150 662.81 -353.7 -74.33 - - 2804.94 - - - - - - - - - 15.24 -
967.04 137.50 -12.70 127 973.84 roll -1.59 - - 1754.12 - 3.46 0.048 2123.19 422.1 -74.33 - - 2804.19 - - - - - - - - - 15.61 -
1033.19 145.17 -11.33 134 1038.78 roll -1.59 - - 1754.25 - 3.53 0.104 3475.62 383.1 -74.33 - - 2801.34 - - - - - - - - - 15.43 -
1082.06 151.49 -12.57 144 1088.83 roll -1.59 - - 1753.69 - 3.35 0.053 2080.12 -416.6 -74.33 - - 2803.97 - - - - - - - - - 15.55 -
1208.16 163.99 -9.18 157 1213.86 roll -1.59 - - 1753.94 - 3.99 0.149 663.81 -355.0 -74.33 - - 2803.31 - - - - - - - - - 15.24 -
1253.61 169.37 -11.93 166 1258.77 roll -1.59 - - 1754.12 - 3.46 0.046 2123.94 422.0 -74.33 - - 2800.97 - - - - - - - - - 15.64 -
1378.17 182.41 -10.42 179 1383.80 roll -1.59 - - 1753.81 - 3.57 0.105 3475.50 378.6 -74.33 - - 2801.47 - - - - - - - - - 15.42 -
1423.62 187.81 -11.86 188 1428.77 roll -1.59 - - 1754.31 - 3.34 0.052 2080.50 -417.7 -74.33 - - 2802.56 - - - - - - - - - 15.57 -
1548.19 202.20 -12.06 201 1553.84 roll -1.59 - - 1753.00 - 3.69 0.102 3475.94 378.2 -74.33 - - 2805.78 - - - - - - - - - 15.43 -
1577.09 205.85 -12.12 207 1583.87 roll -1.59 - - 1753.81 - 3.36 0.052 2079.62 -415.6 -74.33 - - 2804.22 - - - - - - - - - 15.55 -
1703.20 220.18 -10.82 220 1704.53 no move -1.59 - - 1753.25 - - - 2079.88 - -74.33 - - 2803.16 - - - - - - - - - - -
1823.21 232.85 -10.31 232 1828.88 roll -1.59 - - 1754.00 - 3.72 0.103 3476.69 375.5 -74.33 - - 2801.62 - - - - - - - - - 15.42 -
1938.68 247.01 -12.12 255 1943.84 roll -1.59 - - 1753.00 - 3.37 0.054 2081.06 -414.1 -74.33 - - 2805.47 - - - - - - - - - 15.57 -
2063.22 261.44 -11.33 262 2068.95 roll -1.59 - - 1753.94 - 4.03 0.151 661.75 -352.2 -74.33 - - 2801.72 - - - - - - - - - 15.23 -
2082.20 263.54 -11.20 266 2088.95 roll -1.59 - - 1753.75 - 3.47 0.047 2123.88 421.4 -74.33 - - 2805.41 - - - - - - - - - 15.62 -
2388.26 295.58 -9.89 277 2393.89 roll -1.59 - - 1753.31 - 3.61 0.107 3476.12 374.6 -74.33 - - 2805.34 - - - - - - - - - 15.41 -
2462.21 304.55 -11.63 292 2467.85 roll -1.59 - - 1754.25 - 3.37 0.054 2082.38 -413.6 -74.33 - - 2803.38 - - - - - - - - - 15.54 -
2773.27 337.13 -10.65 304 2778.92 roll -1.59 - - 1753.69 - 3.72 0.107 3476.38 374.7 -74.33 - - 2803.75 - - - - - - - - - 15.40 -
2872.19 348.93 -12.59 324 2877.87 roll -1.59 - - 1754.12 - 3.39 0.058 2081.81 -411.4 -74.33 - - 2803.31 - - - - - - - - - 15.51 -
3188.29 379.89 -10.33 337 3193.95 roll -1.59 - - 1753.62 - 3.75 0.108 3476.56 371.9 -74.33 - - 2803.12 - - - - - - - - - 15.38 -
3262.26 388.57 -11.28 352 3267.91 roll -1.59 - - 1753.75 - 3.37 0.057 2081.12 -414.1 -74.33 - - 2803.00 - - - - - - - - - 15.51 -
3573.31 420.32 -10.15 364 3578.97 roll -1.59 - - 1753.06 - 3.73 0.111 3475.62 373.9 -74.33 - - 2805.44 - - - - - - - - - 15.35 -
3622.23 425.90 -10.57 374 3629.00 roll -1.59 - - 1754.44 - 3.38 0.058 2080.88 -412.6 -74.33 - - 2803.06 - - - - - - - - - 15.50 -
3928.32 456.94 -10.00 385 3934.04 roll -1.59 - - 1754.06 - 4.07 0.158 662.62 -348.5 -74.33 - - 2801.78 - - - - - - - - - 15.14 -
3983.78 463.13 -11.85 396 3988.95 roll -1.59 - - 1754.31 - 3.46 0.052 2122.88 422.0 -74.33 - - 2801.06 - - - - - - - - - 15.60 -
4308.35 496.49 -10.44 411 4314.00 roll -1.59 - - 1753.94 - 3.63 0.113 3474.56 372.4 -74.33 - - 2802.22 - - - - - - - - - 15.33 -
4337 end dive: TARGET_DEPTH_EXCEEDED
4337 begin apogee
4342.05 500.05 -11.10 417 4410.94 -0.25 2.55 0.160 2080.62 128.1 0.08 0.244 2122.38 -16902.2 - 64.95 1.629 2498.31 -4.7 0.258 - - - - - - 15.28 14.92 10.57
4414 end apogee: CONTROL_FINISHED_OK
4414 begin climb
4413.93 501.69 - 423 4490.42 1.59 3.08 0.079 2530.88 146.2 - - 2123.44 - 74.33 69.80 1.570 2196.38 -4.3 0.249 - - - - - - 15.28 - 11.63
4815.48 471.02 8.32 452 4847.33 done 1.67 - - 2531.19 - 4.06 0.141 662.56 -359.8 102.08 26.08 1.487 2082.34 -4.4 0.249 - - - - - - - 15.06 11.30
4876.00 465.73 10.79 464 4881.19 roll 1.67 - - 2531.38 - 3.49 0.045 2127.00 419.6 102.08 - - 2077.78 - - - - - - - - - 15.50 -
5200.64 435.53 9.04 479 5226.79 1.74 0.17 0.080 2577.94 273.9 4.05 0.138 661.94 -361.7 122.70 20.07 1.437 1997.19 -4.0 0.219 - - - - - - 15.63 15.13 11.31
5409.54 409.39 12.70 521 5415.23 roll 1.74 - - 2578.12 - 3.50 0.046 2125.62 418.2 122.70 - - 1993.41 - - - - - - - - - 15.61 -
5735.64 373.63 10.79 536 5741.26 done 1.74 - - 2577.31 - 3.58 0.112 3475.69 377.1 122.70 - - 1992.38 - - - - - - - - - 15.41 -
5844.56 359.07 15.42 558 5851.35 done 1.74 - - 2577.69 - 3.37 0.056 2078.50 -414.6 122.70 - - 1991.50 - - - - - - - - - 15.57 -
6150.67 326.87 10.55 569 6156.31 done 1.75 - - 2577.19 - 3.73 0.110 3474.94 374.4 122.70 - - 1990.22 - - - - - - - - - 15.41 -
6229.57 317.11 10.90 585 6236.36 done 1.75 - - 2577.44 - 3.37 0.056 2078.88 -414.3 122.70 - - 1989.88 - - - - - - - - - 15.56 -
6535.69 286.38 9.94 596 6541.37 done 1.79 - - 2577.38 - 3.91 0.136 661.88 -362.4 122.70 - - 1988.53 - - - - - - - - - 15.29 -
6634.60 274.24 12.80 616 6640.30 done 1.79 - - 2578.38 - 3.45 0.045 2128.38 425.1 122.70 - - 1988.78 - - - - - - - - - 15.67 -
6940.79 244.67 8.71 632 6972.34 done 1.86 - - 2578.00 - 4.01 0.133 662.19 -365.6 146.55 22.07 1.312 1902.72 -3.9 0.131 - - - - - - - 15.18 10.96
7091.17 226.99 12.50 662 7096.35 roll 1.86 - - 2578.12 - 3.46 0.046 2127.56 423.5 146.55 - - 1898.25 - - - - - - - - - 15.64 -
7215.76 213.58 10.36 675 7221.38 roll 1.88 - - 2578.00 - 3.55 0.112 3474.75 379.5 146.55 - - 1896.06 - - - - - - - - - 15.41 -
7291.25 205.17 10.75 690 7296.36 roll 1.88 - - 2577.25 - 3.38 0.055 2074.88 -414.2 146.55 - - 1896.59 - - - - - - - - - 15.57 -
7415.79 192.38 9.55 703 7421.52 roll back 1.93 0.19 0.091 2614.75 197.4 3.90 0.136 661.38 -362.4 146.55 - - 1894.88 - - - - - - - - 15.63 15.30 -
7451.23 188.57 10.52 710 7456.38 roll 1.95 - - 2617.62 - 3.48 0.047 2128.38 421.6 146.55 - - 1895.22 - - - - - - - - - 15.65 -
7575.79 175.10 10.68 723 7577.12 no move 1.95 - - 2616.38 - - - 2128.19 - 146.55 - - 1894.16 - - - - - - - - - - -
7695.85 161.69 11.39 735 7701.51 roll 1.95 - - 2617.31 - 4.01 0.130 661.81 -365.7 146.55 - - 1895.00 - - - - - - - - - 15.30 -
7724.70 158.09 11.45 741 7731.52 roll 1.95 - - 2616.38 - 3.47 0.046 2128.38 422.6 146.55 - - 1895.56 - - - - - - - - - 15.64 -
7850.81 144.99 11.27 754 7856.52 roll 1.95 - - 2616.75 - 4.03 0.129 661.75 -363.9 146.55 - - 1895.00 - - - - - - - - - 15.28 -
7956.28 132.10 11.47 775 7961.46 roll 1.95 - - 2617.19 - 3.45 0.048 2128.25 425.1 146.55 - - 1893.94 - - - - - - - - - 15.66 -
8020.85 125.57 9.77 782 8026.46 roll 1.99 - - 2617.44 - 3.56 0.109 3475.69 378.5 146.55 - - 1893.91 - - - - - - - - - 15.38 -
8066.31 121.30 9.65 791 8071.44 roll 2.03 - - 2616.25 - 3.37 0.054 2075.94 -415.4 146.55 - - 1894.66 - - - - - - - - - 15.58 -
8130.92 115.44 8.71 798 8162.70 2.10 0.20 0.092 2657.44 206.0 3.85 0.133 661.94 -367.3 170.48 23.83 1.172 1803.91 -3.8 0.067 - - - - - - 15.68 15.15 11.29
8211.36 106.71 12.76 814 8216.54 roll 2.10 - - 2657.88 - 3.47 0.046 2126.31 422.0 170.48 - - 1800.53 - - - - - - - - - 15.62 -
8275.93 99.17 11.31 821 8277.25 no move 2.10 - - 2657.62 - - - 2126.25 - 170.48 - - 1800.06 - - - - - - - - - - -
8335.94 92.63 10.71 827 8337.27 no move 2.10 - - 2656.69 - - - 2125.69 - 170.48 - - 1799.62 - - - - - - - - - - -
8395.96 86.36 10.26 833 8401.59 roll 2.13 - - 2657.25 - 3.58 0.110 3473.75 376.6 170.48 - - 1798.75 - - - - - - - - - 15.40 -
8424.85 83.27 11.57 839 8431.64 roll 2.13 - - 2658.75 - 3.35 0.052 2075.88 -417.3 170.48 - - 1799.03 - - - - - - - - - 15.58 -
8491.01 76.51 10.73 846 8492.33 no move 2.13 - - 2657.38 - - - 2075.94 - 170.48 - - 1797.66 - - - - - - - - - - -
8550.98 71.39 8.40 852 8582.60 VBD 2.21 - - 2657.94 - - - 2076.31 - 197.50 30.84 1.106 1693.12 -3.4 0.039 - - - - - - - - 11.47
8645.98 63.77 8.03 864 8688.02 2.30 0.26 0.076 2708.69 195.2 3.86 0.132 661.62 -366.5 228.17 35.54 1.083 1569.25 -3.5 0.037 - - - - - - 15.56 15.07 11.67
8826.72 45.87 9.89 900 8832.01 roll 2.34 - - 2707.56 - 3.47 0.045 2128.75 422.8 228.17 - - 1566.06 - - - - - - - - - 15.55 -
8891.28 41.19 6.88 907 8946.03 2.46 0.19 0.080 2748.94 217.8 3.99 0.128 661.81 -367.7 270.27 46.54 1.060 1397.94 -3.6 0.025 - - - - - - 15.56 15.07 11.36
8971.26 33.41 11.89 923 8975.87 roll 2.46 - - 2749.06 - 3.50 0.045 2128.56 419.1 270.27 - - 1396.94 - - - - - - - - - 15.44 -
9041.26 25.80 10.70 931 9046.89 roll 2.46 - - 2747.19 - 3.57 0.109 3474.94 377.1 270.27 - - 1395.75 - - - - - - - - - 15.34 -
9230 end climb: SURFACE_DEPTH_REACHED
9230 begin surface coast
9240 end surface coast: CONTROL_FINISHED_OK
9240 begin surface
SM -0.59 - - - - 166.9 0.20 0.165 564.8 2824.0 17.67 0.081 563.9 31.9 - 3.31 0.053 565.8 169.9 0.193 - - 15.13 15.30 15.56 -