NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1085 * Raw log
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• Previous call tries 2 • 297.39 of 575.00 AH used of 24V (48.28% remains)
• Surface angle -58.3 deg, depth -1.54 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.66 (SM_CC=475)
• GPS1 time: 32 s
• GPS2 time: 2 s • Transponder ping count: 6
• 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
8.33 - - - 100.53 VBD -1.59 - - 167.69 - - - 2076.69 - -74.33 91.75 0.005 2679.06 - - - - - - - - - - 14.68
100.75 4.64 -9.67 9 126.61 -1.59 13.93 0.246 1754.69 113.9 4.05 0.147 664.12 -348.8 -74.33 2.54 0.013 2802.06 48.4 -3.115 - - - - - - 14.95 14.66 14.84
153.75 20.63 -22.31 20 160.56 roll -1.59 - - 1754.62 - 3.57 0.053 2120.12 407.8 -74.33 - - 2801.88 - - - - - - - - - 15.44 -
219.83 33.20 -18.89 27 225.48 roll -1.59 - - 1753.25 - 3.67 0.107 3474.00 368.9 -74.33 - - 2801.88 - - - - - - - - - 15.27 -
268.76 42.94 -19.20 37 275.56 roll -1.59 - - 1754.69 - 3.41 0.053 2081.06 -408.5 -74.33 - - 2803.59 - - - - - - - - - 15.41 -
334.90 53.17 -15.41 44 340.57 roll -1.59 - - 1754.94 - 4.05 0.144 661.75 -350.4 -74.33 - - 2804.19 - - - - - - - - - 15.13 -
350.31 55.16 -14.26 47 355.50 roll -1.59 - - 1753.94 - 3.52 0.046 2123.12 415.2 -74.33 - - 2802.94 - - - - - - - - - 15.49 -
414.85 63.31 -12.25 54 420.51 roll -1.59 - - 1754.19 - 3.63 0.104 3474.44 372.3 -74.33 - - 2800.41 - - - - - - - - - 15.27 -
493.77 74.59 -13.86 70 500.58 roll -1.59 - - 1754.44 - 3.38 0.054 2081.38 -412.1 -74.33 - - 2804.22 - - - - - - - - - 15.41 -
559.94 82.12 -11.29 77 561.26 no move -1.59 - - 1754.62 - - - 2081.62 - -74.33 - - 2802.72 - - - - - - - - - - -
619.88 88.43 -10.56 83 625.54 roll -1.59 - - 1753.94 - 3.78 0.103 3476.56 369.0 -74.33 - - 2801.12 - - - - - - - - - 15.27 -
704.88 97.96 -11.57 100 709.49 roll -1.59 - - 1755.19 - 3.39 0.054 2081.75 -411.4 -74.33 - - 2802.69 - - - - - - - - - 15.43 -
774.89 104.65 -9.34 108 780.62 roll -1.59 - - 1754.12 - 4.03 0.149 662.06 -352.3 -74.33 - - 2803.38 - - - - - - - - - 15.09 -
843.88 112.45 -11.63 122 850.65 roll -1.59 - - 1754.69 - 3.51 0.047 2125.38 416.9 -74.33 - - 2802.75 - - - - - - - - - 15.50 -
909.97 119.52 -10.42 129 915.56 roll -1.59 - - 1754.81 - 3.62 0.105 3474.62 372.7 -74.33 - - 2804.62 - - - - - - - - - 15.26 -
988.83 129.32 -11.80 145 995.62 roll -1.59 - - 1754.50 - 3.37 0.052 2079.88 -413.9 -74.33 - - 2803.28 - - - - - - - - - 15.43 -
1054.98 135.93 -10.06 152 1056.31 no move -1.59 - - 1754.88 - - - 2080.25 - -74.33 - - 2802.78 - - - - - - - - - - -
1114.94 141.75 -9.45 158 1116.27 no move -1.59 - - 1754.81 - - - 2080.19 - -74.33 - - 2802.84 - - - - - - - - - - -
1174.95 148.25 -10.88 164 1180.61 roll -1.59 - - 1754.56 - 3.72 0.103 3474.75 374.9 -74.33 - - 2805.00 - - - - - - - - - 15.26 -
1209.94 151.93 -10.51 171 1214.54 roll -1.59 - - 1754.50 - 3.37 0.052 2081.06 -413.6 -74.33 - - 2803.81 - - - - - - - - - 15.44 -
1339.97 165.66 -10.19 185 1341.30 no move -1.59 - - 1754.50 - - - 2081.00 - -74.33 - - 2803.06 - - - - - - - - - - -
1459.97 177.88 -10.78 197 1465.68 roll -1.59 - - 1754.38 - 4.03 0.148 662.75 -351.9 -74.33 - - 2804.50 - - - - - - - - - 15.07 -
1505.42 183.85 -13.48 206 1510.61 roll -1.59 - - 1754.62 - 3.51 0.049 2124.62 416.5 -74.33 - - 2801.28 - - - - - - - - - 15.51 -
1630.01 196.93 -10.79 219 1631.34 no move -1.59 - - 1754.69 - - - 2125.31 - -74.33 - - 2803.47 - - - - - - - - - - -
1749.99 210.29 -11.06 231 1755.64 roll -1.59 - - 1754.50 - 3.64 0.108 3476.19 371.1 -74.33 - - 2803.16 - - - - - - - - - 15.23 -
1818.92 218.64 -11.54 245 1825.75 roll -1.59 - - 1754.56 - 3.38 0.053 2081.00 -412.8 -74.33 - - 2803.62 - - - - - - - - - 15.41 -
1945.02 232.58 -11.41 258 1946.34 no move -1.59 - - 1754.88 - - - 2081.12 - -74.33 - - 2803.25 - - - - - - - - - - -
2065.02 245.88 -11.12 270 2066.35 no move -1.59 - - 1754.12 - - - 2081.12 - -74.33 - - 2803.25 - - - - - - - - - - -
2195.08 259.58 -10.24 277 2200.70 roll -1.59 - - 1753.38 - 3.81 0.106 3473.31 365.4 -74.33 - - 2802.44 - - - - - - - - - 15.22 -
2233.95 263.79 -10.51 285 2239.63 roll -1.59 - - 1754.38 - 3.39 0.055 2080.75 -410.8 -74.33 - - 2805.28 - - - - - - - - - 15.40 -
2550.05 297.71 -10.63 298 2551.38 no move -1.59 - - 1755.00 - - - 2081.38 - -74.33 - - 2803.25 - - - - - - - - - - -
2850.05 326.10 -9.29 308 2855.73 roll -1.59 - - 1753.19 - 3.83 0.109 3474.88 363.8 -74.33 - - 2803.06 - - - - - - - - - 15.19 -
2898.98 331.41 -9.77 318 2905.75 roll -1.59 - - 1754.44 - 3.39 0.055 2081.88 -410.9 -74.33 - - 2803.28 - - - - - - - - - 15.38 -
3205.07 360.61 -9.55 329 3210.80 roll -1.59 - - 1753.06 - 4.11 0.151 661.81 -345.5 -74.33 - - 2803.44 - - - - - - - - - 14.99 -
3243.99 365.52 -11.57 337 3249.70 roll -1.59 - - 1754.81 - 3.54 0.049 2123.44 412.9 -74.33 - - 2803.78 - - - - - - - - - 15.46 -
3560.09 398.22 -10.78 350 3565.75 roll -1.59 - - 1754.12 - 3.71 0.111 3474.12 364.1 -74.33 - - 2801.88 - - - - - - - - - 15.17 -
3604.00 402.99 -11.14 359 3609.68 roll -1.59 - - 1754.25 - 3.40 0.056 2082.25 -409.4 -74.33 - - 2803.44 - - - - - - - - - 15.35 -
3915.10 434.38 -9.89 371 3920.79 roll -1.59 - - 1754.75 - 3.85 0.110 3475.69 361.9 -74.33 - - 2805.22 - - - - - - - - - 15.15 -
3944.01 437.74 -10.46 377 3949.72 roll -1.59 - - 1754.25 - 3.41 0.057 2080.62 -409.1 -74.33 - - 2803.28 - - - - - - - - - 15.34 -
4270.18 468.83 -9.03 392 4275.80 roll -1.65 - - 1754.56 - 3.86 0.112 3473.06 360.7 -95.03 - - 2804.84 - - - - - - - - - 15.13 -
4334.06 475.99 -13.09 405 4339.75 roll -1.65 - - 1754.50 - 3.41 0.058 2082.56 -407.8 -95.03 - - 2803.91 - - - - - - - - - 15.32 -
4595 end dive: TARGET_DEPTH_EXCEEDED
4595 begin apogee
4596.30 501.86 -9.85 417 4663.91 -0.25 2.53 0.149 2078.25 128.0 0.09 0.239 2084.25 - - 63.79 1.631 2499.38 -4.8 0.265 - - - - - - 15.13 14.94 10.54
4666 end apogee: CONTROL_FINISHED_OK
4666 begin climb
4667.01 504.30 - 419 4761.37 1.65 3.27 0.077 2546.94 143.3 - - 2084.94 - 95.03 87.65 1.589 2110.94 -4.4 0.253 - - - - - - 15.24 - 11.48
5075.19 471.14 9.57 443 5080.89 done 1.70 - - 2546.56 - 4.01 0.140 662.75 -354.7 95.03 - - 2098.56 - - - - - - - - - 15.22 -
5190.65 457.05 12.34 466 5195.83 done 1.70 - - 2546.44 - 3.52 0.046 2126.25 415.8 95.03 - - 2096.41 - - - - - - - - - 15.57 -
5515.28 425.84 9.12 481 5520.95 done 1.76 - - 2546.69 - 4.11 0.133 662.62 -356.1 95.03 - - 2098.91 - - - - - - - - - 15.21 -
5584.14 418.09 10.27 495 5589.90 1.78 0.16 0.083 2589.44 267.2 3.52 0.046 2126.06 415.8 95.03 - - 2096.59 - - - - - - - - 15.34 15.57 -
5900.30 389.14 9.08 508 5925.34 done 1.85 - - 2589.62 - 4.06 0.134 660.75 -360.9 115.27 17.86 1.403 2028.66 -3.8 0.190 - - - - - - - 15.21 11.33
5949.15 384.22 11.15 518 5954.86 roll 1.85 - - 2590.06 - 3.52 0.045 2124.38 415.8 115.27 - - 2026.38 - - - - - - - - - 15.62 -
6260.27 353.61 9.69 530 6265.97 roll 1.89 - - 2589.31 - 4.07 0.132 661.75 -359.4 115.27 - - 2022.50 - - - - - - - - - 15.25 -
6489.20 327.40 10.88 576 6496.02 roll 1.89 - - 2589.69 - 3.53 0.048 2123.88 414.2 115.27 - - 2023.03 - - - - - - - - - 15.54 -
6795.32 300.74 8.44 587 6827.20 1.97 0.17 0.078 2634.75 265.1 4.05 0.131 661.94 -361.0 141.82 25.49 1.377 1920.44 -4.0 0.158 - - - - - - 15.64 15.16 11.49
6879.34 291.07 11.54 604 6886.15 roll 1.97 - - 2635.12 - 3.51 0.046 2127.06 417.4 141.82 - - 1918.88 - - - - - - - - - 15.58 -
7185.44 257.57 10.77 615 7191.09 roll 1.97 - - 2635.06 - 3.67 0.111 3472.50 366.6 141.82 - - 1914.00 - - - - - - - - - 15.30 -
7194.36 255.79 10.56 617 7200.03 roll 1.98 - - 2634.75 - 3.37 0.051 2077.19 -414.0 141.82 - - 1915.62 - - - - - - - - - 15.50 -
7500.48 223.35 10.20 645 7506.15 roll 2.01 - - 2634.56 - 3.83 0.110 3474.31 364.8 141.82 - - 1914.00 - - - - - - - - - 15.26 -
7729.41 196.61 11.06 691 7736.21 roll 2.01 - - 2634.50 - 3.40 0.054 2077.75 -410.8 141.82 - - 1914.44 - - - - - - - - - 15.44 -
7855.54 184.02 9.61 704 7861.21 done 2.06 - - 2634.88 - 3.95 0.131 661.75 -358.5 141.82 - - 1912.00 - - - - - - - - - 15.15 -
7914.44 176.71 13.13 716 7921.24 done 2.06 - - 2635.31 - 3.49 0.044 2128.25 420.2 141.82 - - 1913.62 - - - - - - - - - 15.55 -
8040.57 165.33 8.45 729 8065.99 VBD 2.14 - - 2635.00 - - - 2128.25 - 168.34 24.33 1.240 1812.69 -4.1 0.100 - - - - - - - - 11.38
8185.56 150.41 11.04 744 8191.27 roll 2.14 - - 2634.50 - 4.02 0.128 662.00 -364.7 168.34 - - 1808.03 - - - - - - - - - 15.31 -
8234.48 144.38 13.02 754 8241.27 roll 2.14 - - 2635.44 - 3.50 0.046 2126.81 418.5 168.34 - - 1809.16 - - - - - - - - - 15.57 -
8300.65 137.30 10.41 761 8306.27 roll back 2.16 0.17 0.083 2675.69 236.8 3.66 0.110 3473.31 367.9 168.34 - - 1808.62 - - - - - - - - 15.60 15.33 -
8346.02 131.49 12.01 770 8351.18 roll 2.16 - - 2676.38 - 3.37 0.051 2076.50 -414.5 168.34 - - 1806.69 - - - - - - - - - 15.52 -
8410.65 124.56 10.23 777 8411.98 no move 2.18 - - 2676.94 - - - 2076.44 - 168.34 - - 1806.75 - - - - - - - - - - -
8470.59 117.77 11.54 783 8476.28 roll 2.18 - - 2676.88 - 3.91 0.128 662.00 -361.7 168.34 - - 1806.66 - - - - - - - - - 15.22 -
8526.05 111.21 12.62 794 8531.21 roll 2.18 - - 2677.25 - 3.49 0.044 2128.56 420.2 168.34 - - 1809.16 - - - - - - - - - 15.57 -
8590.61 104.52 10.14 801 8596.32 roll 2.21 - - 2675.19 - 4.04 0.125 660.44 -363.4 168.34 - - 1806.78 - - - - - - - - - 15.20 -
8739.55 86.62 12.66 831 8746.36 roll 2.21 - - 2676.94 - 3.51 0.047 2127.00 417.8 168.34 - - 1806.81 - - - - - - - - - 15.54 -
8805.65 81.27 7.76 838 8851.10 done 2.31 - - 2676.75 - 3.63 0.112 3473.06 370.8 201.69 38.79 1.139 1676.94 -3.3 0.043 - - - - - - - 15.11 11.49
8899.56 72.10 11.18 857 8906.36 roll 2.31 - - 2676.88 - 3.39 0.053 2077.00 -411.8 201.69 - - 1673.66 - - - - - - - - - 15.50 -
8965.72 66.75 7.79 864 9011.24 2.41 0.31 0.067 2739.31 201.4 3.89 0.130 660.56 -364.1 234.71 38.67 1.099 1542.88 -3.4 0.037 - - - - - - 15.53 15.03 11.59
9049.59 58.80 10.21 881 9056.39 roll 2.44 - - 2738.69 - 3.53 0.045 2128.56 415.9 234.71 - - 1540.97 - - - - - - - - - 15.45 -
9115.68 53.00 8.45 888 9152.09 done 2.52 - - 2739.44 - 3.61 0.110 3474.06 372.7 261.22 30.73 1.054 1433.38 -3.5 0.032 - - - - - - - 15.05 11.59
9374.62 24.29 9.12 940 9381.44 roll back 2.58 0.17 0.084 2778.75 231.2 3.36 0.051 2077.38 -415.7 261.22 - - 1430.44 - - - - - - - - 15.26 15.47 -
9440.72 20.44 5.87 947 9503.04 done 2.73 - - 2779.19 - 3.87 0.128 660.75 -366.1 313.40 56.13 1.043 1221.88 -3.7 0.013 - - - - - - - 15.02 11.42
9541.71 11.69 10.62 967 9546.89 roll 2.73 - - 2776.81 - 3.50 0.043 2128.50 419.4 313.40 - - 1220.88 - - - - - - - - - 15.43 -
9606.28 5.58 9.74 974 9607.73 pitch 2.78 0.20 0.071 2828.19 256.9 - - 2129.00 - 313.40 - - 1219.44 - - - - - - - - 15.48 - -
9646 end climb: SURFACE_DEPTH_REACHED
9646 begin surface coast
9666 end surface coast: CONTROL_FINISHED_OK
9666 begin surface
SM -0.53 - - - - 169.3 - 2.578 565.0 - 17.58 0.050 563.1 32.0 - 0.10 0.148 566.9 5669.0 2.075 - - 30.36 15.49 15.47 -