NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1101 * Raw log
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• Previous call tries 1 • 301.32 of 575.00 AH used of 24V (47.60% remains)
• Surface angle -65.7 deg, depth -1.46 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 475.10 (SM_CC=475)
• GPS1 time: 9 s
• GPS2 time: 3 s • Transponder ping count: 8
• 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
8.39 - - - 100.55 VBD -1.59 - - 166.44 - - - 2124.50 - -74.33 91.67 0.005 2656.84 - - - - - - - - - - 14.69
100.78 4.13 -8.80 9 128.79 -1.66 14.03 0.250 1737.31 112.0 4.20 0.149 662.81 -348.0 -97.33 5.18 0.009 2894.19 45.8 -3.661 - - - - - - 14.96 14.67 14.87
187.45 25.34 -20.61 26 192.65 roll -1.66 - - 1736.94 - 3.58 0.054 2119.94 407.0 -97.33 - - 2896.22 - - - - - - - - - 15.44 -
252.01 37.72 -18.77 33 257.75 roll -1.66 - - 1736.56 - 4.18 0.145 661.75 -348.8 -97.33 - - 2896.34 - - - - - - - - - 15.11 -
267.52 40.63 -18.84 36 272.66 roll -1.66 - - 1736.56 - 3.55 0.051 2121.12 411.1 -97.33 - - 2896.75 - - - - - - - - - 15.45 -
332.02 52.90 -18.87 43 337.67 roll -1.66 - - 1737.44 - 3.62 0.105 3475.94 374.3 -97.33 - - 2893.94 - - - - - - - - - 15.26 -
350.94 56.77 -18.58 47 357.72 roll -1.66 - - 1736.94 - 3.38 0.054 2083.69 -411.9 -97.33 - - 2896.19 - - - - - - - - - 15.38 -
417.08 69.06 -18.39 54 422.74 roll -1.66 - - 1737.12 - 4.05 0.147 662.88 -350.8 -97.33 - - 2896.53 - - - - - - - - - 15.09 -
445.94 74.03 -17.18 60 452.76 roll -1.66 - - 1737.31 - 3.51 0.049 2121.94 415.7 -97.33 - - 2895.72 - - - - - - - - - 15.44 -
512.03 82.92 -13.29 67 517.68 roll -1.66 - - 1737.19 - 3.62 0.104 3473.88 373.5 -97.33 - - 2895.38 - - - - - - - - - 15.24 -
557.04 89.66 -14.45 76 561.64 roll -1.66 - - 1736.94 - 3.38 0.054 2079.88 -412.4 -97.33 - - 2897.62 - - - - - - - - - 15.41 -
627.06 98.82 -12.91 84 628.38 no move -1.66 - - 1737.12 - - - 2080.56 - -97.33 - - 2895.28 - - - - - - - - - - -
687.07 106.57 -12.76 90 692.78 roll -1.66 - - 1737.44 - 4.05 0.147 660.69 -350.6 -97.33 - - 2894.38 - - - - - - - - - 15.07 -
715.97 110.70 -13.76 96 722.77 roll -1.66 - - 1737.50 - 3.50 0.047 2124.31 418.2 -97.33 - - 2896.53 - - - - - - - - - 15.46 -
782.12 118.33 -11.31 103 783.45 no move -1.66 - - 1737.12 - - - 2124.19 - -97.33 - - 2896.72 - - - - - - - - - - -
842.08 125.20 -11.55 109 843.40 no move -1.66 - - 1736.88 - - - 2124.00 - -97.33 - - 2896.34 - - - - - - - - - - -
902.09 131.80 -11.09 115 903.41 no move -1.66 - - 1737.38 - - - 2124.44 - -97.33 - - 2896.66 - - - - - - - - - - -
962.09 138.07 -10.08 121 963.41 no move -1.66 - - 1737.19 - - - 2124.38 - -97.33 - - 2896.56 - - - - - - - - - - -
1022.10 145.47 -12.19 127 1023.42 no move -1.66 - - 1737.44 - - - 2123.88 - -97.33 - - 2896.97 - - - - - - - - - - -
1082.10 152.25 -11.51 133 1087.85 roll -1.66 - - 1736.94 - 4.18 0.144 662.94 -349.5 -97.33 - - 2895.50 - - - - - - - - - 15.05 -
1091.01 153.26 -11.57 135 1097.81 roll -1.66 - - 1737.19 - 3.51 0.047 2124.44 416.4 -97.33 - - 2897.16 - - - - - - - - - 15.47 -
1217.10 167.72 -10.89 148 1222.84 roll -1.66 - - 1736.38 - 4.13 0.146 661.25 -354.3 -97.33 - - 2896.00 - - - - - - - - - 15.03 -
1252.54 172.04 -11.94 155 1257.72 roll -1.66 - - 1737.12 - 3.48 0.048 2124.06 420.3 -97.33 - - 2895.50 - - - - - - - - - 15.48 -
1377.12 187.00 -12.04 168 1382.76 roll -1.66 - - 1737.25 - 3.61 0.107 3474.94 374.2 -97.33 - - 2895.59 - - - - - - - - - 15.21 -
1432.13 193.55 -13.12 179 1436.71 roll -1.66 - - 1736.69 - 3.37 0.053 2079.44 -414.1 -97.33 - - 2897.12 - - - - - - - - - 15.40 -
1562.14 208.50 -11.34 193 1567.86 roll -1.66 - - 1736.88 - 4.01 0.147 661.62 -353.6 -97.33 - - 2895.59 - - - - - - - - - 15.02 -
1581.12 210.91 -12.01 197 1587.85 roll -1.66 - - 1737.12 - 3.48 0.047 2123.00 419.9 -97.33 - - 2897.12 - - - - - - - - - 15.46 -
1707.16 225.20 -10.82 210 1712.81 roll -1.66 - - 1737.25 - 3.61 0.106 3475.69 374.7 -97.33 - - 2894.72 - - - - - - - - - 15.21 -
1782.22 234.01 -12.84 225 1786.77 roll -1.66 - - 1737.00 - 3.36 0.052 2081.25 -415.0 -97.33 - - 2896.72 - - - - - - - - - 15.39 -
1912.19 247.47 -9.77 239 1913.52 no move -1.66 - - 1737.50 - - - 2081.25 - -97.33 - - 2897.25 - - - - - - - - - - -
2032.20 260.02 -10.77 245 2037.85 roll -1.66 - - 1737.00 - 3.76 0.105 3475.25 370.7 -97.33 - - 2896.22 - - - - - - - - - 15.19 -
2096.13 267.49 -12.60 258 2101.80 roll -1.66 - - 1736.94 - 3.38 0.053 2080.94 -412.5 -97.33 - - 2897.88 - - - - - - - - - 15.36 -
2417.25 303.82 -11.92 272 2422.89 roll -1.66 - - 1736.94 - 3.78 0.106 3475.81 369.0 -97.33 - - 2896.25 - - - - - - - - - 15.18 -
2466.15 310.24 -12.67 282 2472.92 roll -1.66 - - 1737.19 - 3.39 0.055 2081.75 -411.2 -97.33 - - 2897.75 - - - - - - - - - 15.34 -
2772.24 348.70 -12.73 293 2777.90 roll -1.66 - - 1737.44 - 3.80 0.107 3476.69 367.1 -97.33 - - 2895.47 - - - - - - - - - 15.17 -
2797.29 352.19 -13.14 298 2801.84 roll -1.66 - - 1737.19 - 3.40 0.055 2082.62 -410.0 -97.33 - - 2898.19 - - - - - - - - - 15.35 -
3127.30 392.46 -11.73 314 3128.63 no move -1.66 - - 1737.25 - - - 2082.50 - -97.33 - - 2897.16 - - - - - - - - - - -
3427.26 428.63 -12.10 324 3432.95 roll -1.66 - - 1737.06 - 3.83 0.111 3475.50 363.7 -97.33 - - 2895.03 - - - - - - - - - 15.13 -
3482.27 435.59 -13.33 335 3486.89 roll -1.66 - - 1737.62 - 3.42 0.058 2082.44 -407.3 -97.33 - - 2896.81 - - - - - - - - - 15.33 -
3812.34 471.23 -10.54 351 3817.97 roll -1.66 - - 1736.12 - 3.83 0.110 3473.88 363.3 -97.33 - - 2897.16 - - - - - - - - - 15.11 -
3871.21 478.91 -13.65 363 3876.90 roll -1.66 - - 1737.25 - 3.41 0.058 2083.38 -407.8 -97.33 - - 2896.91 - - - - - - - - - 15.29 -
4077 end dive: TARGET_DEPTH_EXCEEDED
4077 begin apogee
4078.44 500.37 -10.21 374 4164.93 -0.25 2.71 0.152 2079.75 126.4 0.09 0.238 2084.06 - - 82.33 1.634 2497.75 -4.8 0.258 - - - - - - 15.07 14.89 10.76
4167 end apogee: CONTROL_FINISHED_OK
4167 begin climb
4168.03 503.51 - 376 4268.52 1.66 3.32 0.079 2547.06 140.8 4.12 0.137 662.44 -345.1 97.33 88.95 1.586 2102.94 -4.4 0.245 - - - - - - 15.15 14.69 11.48
4305.66 495.69 12.06 404 4311.36 roll 1.66 - - 2548.00 - 3.55 0.044 2126.56 412.4 97.33 - - 2096.38 - - - - - - - - - 15.26 -
4616.78 465.74 10.15 416 4622.39 done 1.69 - - 2548.12 - 3.63 0.112 3475.38 371.6 97.33 - - 2089.47 - - - - - - - - - 15.31 -
4641.81 463.58 9.80 421 4646.33 done 1.73 - - 2547.88 - 3.38 0.055 2079.56 -413.0 97.33 - - 2091.16 - - - - - - - - - 15.46 -
4971.83 430.88 10.28 437 4977.43 done 1.75 - - 2547.88 - 3.88 0.136 660.38 -365.8 97.33 - - 2088.19 - - - - - - - - - 15.19 -
5050.69 421.44 10.60 453 5057.48 done 1.77 - - 2547.88 - 3.45 0.044 2128.44 425.5 97.33 - - 2087.72 - - - - - - - - - 15.55 -
5356.79 392.95 9.25 464 5362.57 1.82 0.21 0.080 2598.44 240.8 4.09 0.132 661.56 -358.7 97.33 - - 2085.25 - - - - - - - - 15.65 15.17 -
5585.72 365.21 10.68 510 5592.53 done 1.82 - - 2597.00 - 3.51 0.048 2127.38 417.6 97.33 - - 2086.25 - - - - - - - - - 15.52 -
5891.85 334.65 9.71 521 5897.53 done 1.87 - - 2597.12 - 4.10 0.130 661.69 -357.5 97.33 - - 2085.38 - - - - - - - - - 15.14 -
6090.78 314.28 10.59 561 6097.57 done 1.88 - - 2596.50 - 3.49 0.046 2128.00 420.1 97.33 - - 2086.41 - - - - - - - - - 15.53 -
6396.93 290.50 7.30 572 6430.61 2.00 0.17 0.081 2638.19 245.2 - - 2128.81 - 135.26 32.73 1.390 1949.34 -4.2 0.152 - - - - - - 15.63 - 11.21
6726.88 255.37 11.02 583 6732.60 roll 2.00 - - 2639.12 - 4.11 0.130 663.00 -356.6 135.26 - - 1940.72 - - - - - - - - - 15.22 -
6792.38 247.65 12.97 596 6797.51 roll 2.00 - - 2638.75 - 3.51 0.046 2128.44 417.5 135.26 - - 1941.31 - - - - - - - - - 15.55 -
6916.92 234.97 9.91 609 6922.54 roll 2.03 - - 2639.19 - 3.63 0.109 3473.69 370.6 135.26 - - 1939.19 - - - - - - - - - 15.28 -
6961.90 230.29 11.36 618 6966.49 done 2.03 - - 2638.81 - 3.38 0.054 2075.19 -413.8 135.26 - - 1941.16 - - - - - - - - - 15.47 -
7091.93 217.68 9.31 632 7097.61 done 2.09 - - 2638.00 - 3.93 0.132 660.75 -359.9 135.26 - - 1940.47 - - - - - - - - - 15.17 -
7177.36 208.92 11.37 649 7182.54 done 2.09 - - 2638.75 - 3.49 0.047 2127.44 420.3 135.26 - - 1938.84 - - - - - - - - - 15.55 -
7301.95 198.20 9.25 662 7307.64 done 2.14 - - 2639.00 - 4.03 0.127 660.81 -363.9 135.26 - - 1938.69 - - - - - - - - - 15.16 -
7500.89 176.59 11.82 702 7507.69 done 2.14 - - 2638.81 - 3.52 0.047 2127.19 416.6 135.26 - - 1939.44 - - - - - - - - - 15.52 -
7626.99 164.39 9.72 715 7632.73 2.18 0.19 0.075 2682.50 229.9 4.08 0.127 660.75 -359.4 135.26 - - 1940.25 - - - - - - - - 15.63 15.11 -
7662.41 159.88 13.00 722 7667.59 done 2.18 - - 2683.94 - 3.48 0.046 2129.62 422.1 135.26 - - 1937.59 - - - - - - - - - 15.54 -
7787.00 146.18 10.67 735 7792.69 done 2.18 - - 2684.38 - 4.03 0.125 661.94 -364.2 135.26 - - 1939.22 - - - - - - - - - 15.11 -
7842.44 139.71 11.33 746 7847.61 done 2.18 - - 2682.94 - 3.47 0.046 2129.56 422.9 135.26 - - 1938.44 - - - - - - - - - 15.54 -
7906.99 132.82 10.65 753 7912.71 done 2.18 - - 2682.31 - 4.05 0.124 660.50 -362.7 135.26 - - 1939.31 - - - - - - - - - 15.12 -
7962.47 126.00 11.28 764 7967.62 done 2.18 - - 2683.19 - 3.47 0.045 2129.56 423.4 135.26 - - 1937.28 - - - - - - - - - 15.54 -
8027.02 118.88 10.34 771 8032.73 done 2.21 - - 2682.06 - 4.05 0.123 661.56 -362.5 135.26 - - 1939.19 - - - - - - - - - 15.12 -
8072.46 113.69 12.46 780 8077.62 done 2.21 - - 2684.06 - 3.48 0.046 2128.56 421.6 135.26 - - 1938.62 - - - - - - - - - 15.54 -
8137.03 107.93 8.84 787 8168.71 done 2.27 - - 2683.81 - 3.56 0.108 3475.75 378.4 157.81 25.62 1.154 1854.81 -3.3 0.053 - - - - - - - 15.18 11.46
8207.05 102.00 8.81 801 8241.19 done 2.34 - - 2684.19 - 3.33 0.051 2078.19 -419.7 180.69 27.81 1.134 1763.69 -3.3 0.051 - - - - - - - 15.54 11.66
8307.05 92.83 9.88 815 8312.82 roll back 2.38 0.21 0.073 2731.81 226.8 3.84 0.128 661.75 -368.9 180.69 - - 1757.59 - - - - - - - - 15.47 15.29 -
8535.98 67.67 10.56 861 8542.78 roll 2.40 - - 2731.75 - 3.49 0.045 2130.62 420.9 180.69 - - 1757.53 - - - - - - - - - 15.51 -
8602.13 62.76 7.18 868 8654.16 done 2.51 - - 2732.06 - 3.99 0.126 660.69 -368.4 219.81 44.56 1.113 1603.22 -3.5 0.034 - - - - - - - 15.08 11.55
8876.42 41.88 7.38 923 8924.14 2.63 0.29 0.059 2788.75 195.5 3.49 0.046 2130.38 421.1 256.94 41.58 1.076 1451.50 -3.6 0.025 - - - - - - 15.28 15.51 11.61
8982.52 33.45 8.74 938 9014.92 done 2.70 - - 2788.38 - 3.98 0.122 662.12 -368.9 280.54 27.14 1.028 1356.66 -3.5 0.020 - - - - - - - 15.02 11.59
9238.21 4.13 11.89 989 9242.84 roll 2.70 - - 2789.12 - 3.51 0.048 2126.00 417.1 280.54 - - 1353.41 - - - - - - - - - 15.51 -
9258 end climb: SURFACE_DEPTH_REACHED
9258 begin surface coast
9268 end surface coast: CONTROL_FINISHED_OK
9268 begin surface
SM -0.61 - - - - 171.4 185.12 1.037 563.2 3.0 18.35 0.084 568.5 31.0 - 0.10 0.138 557.9 5543.9 2.505 - - 11.56 15.22 15.52 -