NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1102 * Raw log
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• Previous call tries 3 • 301.57 of 575.00 AH used of 24V (47.55% remains)
• Surface angle -60.8 deg, depth -1.52 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.82 (SM_CC=475)
• GPS1 time: 30 s
• GPS2 time: 2 s • Transponder ping count: 7
• 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
8.32 - - - 100.49 VBD -1.59 - - 166.75 - - - 2128.12 - -74.33 91.76 0.005 2658.53 - - - - - - - - - - 14.71
100.71 4.27 -9.38 9 126.75 -1.59 14.24 0.249 1754.19 111.5 4.18 0.151 661.75 -350.8 -74.33 3.02 0.011 2802.97 47.8 -3.344 - - - - - - 14.92 14.68 14.87
153.89 19.14 -20.86 20 160.70 roll -1.59 - - 1753.75 - 3.57 0.053 2121.06 408.8 -74.33 - - 2802.31 - - - - - - - - - 15.43 -
220.03 30.39 -16.62 27 225.63 roll -1.59 - - 1754.00 - 3.63 0.107 3474.38 372.8 -74.33 - - 2803.03 - - - - - - - - - 15.25 -
284.99 43.09 -19.12 40 289.58 roll -1.59 - - 1754.38 - 3.40 0.055 2081.88 -409.6 -74.33 - - 2803.22 - - - - - - - - - 15.38 -
354.99 54.52 -16.11 48 360.71 roll -1.59 - - 1754.06 - 4.07 0.147 661.94 -348.9 -74.33 - - 2801.19 - - - - - - - - - 15.07 -
390.43 60.62 -17.66 55 395.62 roll -1.59 - - 1753.56 - 3.57 0.049 2121.81 408.9 -74.33 - - 2801.62 - - - - - - - - - 15.46 -
455.00 69.90 -14.00 62 456.32 no move -1.59 - - 1753.56 - - - 2122.06 - -74.33 - - 2801.16 - - - - - - - - - - -
515.01 78.06 -13.27 68 520.66 roll -1.59 - - 1754.19 - 3.65 0.104 3476.06 371.0 -74.33 - - 2800.75 - - - - - - - - - 15.24 -
570.06 85.62 -13.52 79 574.61 roll -1.59 - - 1754.12 - 3.38 0.053 2081.06 -412.7 -74.33 - - 2803.09 - - - - - - - - - 15.40 -
640.01 93.60 -11.03 87 641.34 no move -1.59 - - 1753.94 - - - 2081.00 - -74.33 - - 2803.50 - - - - - - - - - - -
700.03 99.82 -10.17 93 701.35 no move -1.59 - - 1754.00 - - - 2081.38 - -74.33 - - 2802.84 - - - - - - - - - - -
760.03 106.04 -10.01 99 765.75 roll -1.59 - - 1754.50 - 4.09 0.147 662.00 -347.0 -74.33 - - 2801.50 - - - - - - - - - 15.04 -
785.47 108.96 -11.08 104 790.66 roll -1.59 - - 1753.94 - 3.53 0.047 2124.44 414.3 -74.33 - - 2801.94 - - - - - - - - - 15.47 -
850.03 115.61 -9.86 111 851.36 no move -1.59 - - 1754.12 - - - 2123.88 - -74.33 - - 2803.31 - - - - - - - - - - -
910.04 121.31 -9.23 117 915.68 roll -1.59 - - 1753.75 - 3.63 0.104 3476.50 372.6 -74.33 - - 2801.25 - - - - - - - - - 15.23 -
985.10 129.48 -11.41 132 989.64 roll -1.59 - - 1753.56 - 3.38 0.052 2080.25 -413.1 -74.33 - - 2804.94 - - - - - - - - - 15.40 -
1055.05 136.46 -9.61 140 1056.38 no move -1.59 - - 1753.88 - - - 2080.25 - -74.33 - - 2803.59 - - - - - - - - - - -
1115.08 142.50 -9.95 146 1116.41 no move -1.59 - - 1754.19 - - - 2080.06 - -74.33 - - 2803.16 - - - - - - - - - - -
1175.07 148.53 -9.88 152 1180.79 roll -1.59 - - 1754.12 - 4.09 0.147 661.75 -346.8 -74.33 - - 2803.41 - - - - - - - - - 15.01 -
1213.99 153.11 -11.58 160 1220.81 roll -1.59 - - 1753.94 - 3.52 0.046 2124.12 415.4 -74.33 - - 2803.69 - - - - - - - - - 15.46 -
1340.10 165.36 -9.20 173 1345.74 roll -1.59 - - 1754.06 - 3.61 0.103 3474.75 374.1 -74.33 - - 2801.66 - - - - - - - - - 15.22 -
1375.10 169.17 -8.85 180 1380.75 done -1.66 - - 1753.88 - 3.36 0.052 2079.81 -415.2 -96.87 0.48 0.046 2896.47 197.5 -130.827 - - - - - - - 15.40 14.46
1500.12 182.32 -10.59 193 1505.77 roll -1.66 - - 1754.25 - 3.75 0.102 3476.81 372.5 -96.87 - - 2897.34 - - - - - - - - - 15.20 -
1525.17 185.00 -9.87 198 1529.71 roll -1.66 - - 1754.44 - 3.37 0.051 2080.12 -414.4 -96.87 - - 2899.75 - - - - - - - - - 15.40 -
1655.13 199.17 -10.71 212 1656.46 no move -1.66 - - 1753.75 - - - 2079.75 - -96.87 - - 2900.16 - - - - - - - - - - -
1775.13 212.36 -10.61 224 1776.46 no move -1.66 - - 1753.44 - - - 2080.38 - -96.87 - - 2899.78 - - - - - - - - - - -
1895.14 225.18 -10.77 236 1900.82 roll -1.66 - - 1753.75 - 3.76 0.105 3476.12 371.2 -96.87 - - 2898.59 - - - - - - - - - 15.18 -
1950.15 231.66 -12.43 247 1954.75 roll -1.66 - - 1753.88 - 3.39 0.054 2081.62 -411.4 -96.87 - - 2899.38 - - - - - - - - - 15.37 -
2080.17 245.25 -9.97 261 2085.83 roll -1.66 - - 1753.81 - 3.74 0.105 3477.31 373.2 -96.87 - - 2898.00 - - - - - - - - - 15.17 -
2165.18 254.62 -11.04 278 2169.77 roll -1.66 - - 1754.12 - 3.38 0.053 2079.81 -413.5 -96.87 - - 2900.28 - - - - - - - - - 15.37 -
2495.42 288.49 -10.55 294 2500.85 roll -1.66 - - 1754.56 - 3.77 0.105 3475.69 370.3 -96.87 - - 2898.72 - - - - - - - - - 15.17 -
2574.11 297.55 -10.71 310 2580.90 roll -1.66 - - 1754.19 - 3.38 0.054 2081.31 -412.5 -96.87 - - 2899.44 - - - - - - - - - 15.34 -
2880.21 331.55 -10.93 321 2885.94 roll -1.66 - - 1754.06 - 4.12 0.152 662.06 -344.5 -96.87 - - 2898.25 - - - - - - - - - 14.93 -
2914.18 336.16 -13.63 328 2919.82 roll -1.66 - - 1753.25 - 3.50 0.048 2122.75 417.3 -96.87 - - 2901.44 - - - - - - - - - 15.42 -
3235.24 373.77 -11.63 342 3240.88 roll -1.66 - - 1753.75 - 3.67 0.110 3475.25 368.5 -96.87 - - 2900.59 - - - - - - - - - 15.13 -
3284.14 380.59 -13.15 352 3290.93 roll -1.66 - - 1753.69 - 3.38 0.056 2081.88 -412.2 -96.87 - - 2899.91 - - - - - - - - - 15.31 -
3590.24 419.19 -13.01 363 3595.90 roll -1.66 - - 1754.56 - 3.80 0.110 3475.75 366.8 -96.87 - - 2897.53 - - - - - - - - - 15.11 -
3664.22 429.38 -13.66 378 3669.84 roll -1.66 - - 1754.12 - 3.38 0.057 2082.81 -412.1 -96.87 - - 2899.69 - - - - - - - - - 15.29 -
3975.28 464.36 -11.41 390 3980.94 roll -1.66 - - 1753.19 - 3.81 0.110 3475.69 365.6 -96.87 - - 2899.31 - - - - - - - - - 15.08 -
4024.18 469.96 -11.77 400 4030.98 roll -1.66 - - 1754.06 - 3.40 0.057 2083.06 -409.6 -96.87 - - 2899.66 - - - - - - - - - 15.28 -
4330 end dive: TARGET_DEPTH_EXCEEDED
4330 begin apogee
4331.43 501.39 -9.64 411 4417.90 -0.25 2.60 0.150 2079.12 125.0 0.09 0.236 2085.62 28.4 - 82.54 1.640 2498.16 -4.9 0.268 - - - - - - 15.07 14.87 10.66
4420 end apogee: CONTROL_FINISHED_OK
4420 begin climb
4421.02 502.65 - 413 4516.99 1.66 3.36 0.078 2548.00 139.5 - - 2086.06 - 96.87 88.44 1.583 2103.88 -4.5 0.255 - - - - - - 15.14 - 11.37
4814.50 473.29 8.39 427 4846.19 done 1.74 - - 2547.25 - 4.03 0.141 660.81 -353.7 123.90 24.89 1.477 1993.66 -4.4 0.256 - - - - - - - 15.05 11.52
4953.39 459.31 11.12 455 4959.11 roll 1.74 - - 2547.25 - 3.51 0.047 2125.75 417.4 123.90 - - 1989.97 - - - - - - - - - 15.50 -
5264.52 429.08 9.65 467 5270.31 1.78 0.16 0.089 2587.50 251.6 4.12 0.134 660.88 -355.6 123.90 - - 1984.75 - - - - - - - - 15.60 15.21 -
5363.44 416.34 15.08 487 5369.15 done 1.78 - - 2587.12 - 3.51 0.046 2125.62 417.3 123.90 - - 1986.88 - - - - - - - - - 15.53 -
5679.56 385.18 10.34 500 5685.26 done 1.81 - - 2586.88 - 4.11 0.132 661.62 -356.2 123.90 - - 1984.66 - - - - - - - - - 15.16 -
5788.46 372.18 12.08 522 5795.26 done 1.81 - - 2586.69 - 3.47 0.045 2126.44 422.1 123.90 - - 1985.19 - - - - - - - - - 15.53 -
6094.57 340.62 9.87 533 6100.27 done 1.84 - - 2587.31 - 4.10 0.130 660.75 -357.5 123.90 - - 1982.22 - - - - - - - - - 15.13 -
6193.50 329.10 11.76 553 6199.19 done 1.84 - - 2586.69 - 3.45 0.045 2125.50 424.6 123.90 - - 1984.50 - - - - - - - - - 15.52 -
6509.60 297.11 9.85 566 6515.29 done 1.88 - - 2587.38 - 4.10 0.131 660.88 -357.2 123.90 - - 1983.34 - - - - - - - - - 15.09 -
6698.52 274.30 11.91 604 6704.22 done 1.88 - - 2587.31 - 3.47 0.045 2128.06 422.8 123.90 - - 1983.28 - - - - - - - - - 15.51 -
7004.69 243.77 9.02 620 7029.78 done 1.94 - - 2587.69 - 4.06 0.131 660.81 -361.4 144.66 18.82 1.297 1909.66 -3.9 0.132 - - - - - - - 15.23 11.26
7055.07 237.86 12.25 630 7060.27 roll 1.94 - - 2586.06 - 3.45 0.044 2128.19 425.3 144.66 - - 1908.94 - - - - - - - - - 15.62 -
7179.67 224.95 10.15 643 7181.10 pitch 1.97 0.19 0.073 2631.44 238.8 - - 2127.75 - 144.66 - - 1905.88 - - - - - - - - 15.59 - -
7299.66 212.19 10.78 655 7305.29 roll 1.97 - - 2633.38 - 3.56 0.109 3473.38 378.0 144.66 - - 1905.34 - - - - - - - - - 15.31 -
7365.12 204.31 12.51 668 7370.27 roll 1.97 - - 2632.25 - 3.39 0.052 2076.94 -411.9 144.66 - - 1903.59 - - - - - - - - - 15.49 -
7489.68 190.67 10.72 681 7495.37 roll 1.97 - - 2631.94 - 3.92 0.131 660.75 -361.3 144.66 - - 1904.84 - - - - - - - - - 15.20 -
7688.61 166.35 11.67 721 7695.43 roll 1.97 - - 2632.50 - 3.48 0.044 2129.69 422.1 144.66 - - 1904.59 - - - - - - - - - 15.53 -
7814.73 155.26 7.98 734 7850.09 done 2.07 - - 2633.31 - 4.03 0.127 660.75 -364.5 175.78 29.01 1.241 1783.00 -4.2 0.094 - - - - - - - 15.15 11.54
7875.17 149.02 11.48 746 7880.33 roll 2.07 - - 2632.56 - 3.47 0.043 2129.06 423.1 175.78 - - 1780.12 - - - - - - - - - 15.56 -
7939.73 142.46 9.31 753 7941.06 no move 2.12 - - 2633.06 - - - 2128.75 - 175.78 - - 1778.12 - - - - - - - - - - -
7999.73 135.92 11.29 759 8005.44 roll 2.12 - - 2632.81 - 4.05 0.126 660.38 -362.6 175.78 - - 1778.06 - - - - - - - - - 15.27 -
8068.63 126.93 12.89 773 8075.47 roll 2.12 - - 2633.12 - 3.51 0.044 2129.06 418.4 175.78 - - 1778.62 - - - - - - - - - 15.54 -
8134.75 120.23 9.83 780 8140.53 roll back 2.16 0.19 0.077 2677.06 231.3 4.03 0.124 660.56 -364.4 175.78 - - 1776.19 - - - - - - - - 15.59 15.24 -
8150.18 118.37 10.89 783 8155.36 roll 2.16 - - 2677.00 - 3.45 0.042 2128.06 425.4 175.78 - - 1776.72 - - - - - - - - - 15.56 -
8214.75 110.44 12.40 790 8219.38 roll 2.16 - - 2678.38 - 3.56 0.106 3476.12 378.7 175.78 - - 1777.53 - - - - - - - - - 15.30 -
8235.20 108.20 12.89 794 8240.35 roll 2.16 - - 2677.38 - 3.31 0.048 2073.44 -423.8 175.78 - - 1776.62 - - - - - - - - - 15.50 -
8299.81 100.78 11.06 801 8301.14 no move 2.16 - - 2677.12 - - - 2074.06 - 175.78 - - 1776.69 - - - - - - - - - - -
8359.78 94.37 10.58 807 8365.44 roll 2.18 - - 2676.62 - 3.88 0.128 660.69 -364.3 175.78 - - 1776.41 - - - - - - - - - 15.18 -
8588.71 67.61 8.80 853 8620.99 done 2.24 - - 2677.75 - 3.46 0.042 2131.25 425.0 198.74 26.83 1.104 1688.12 -3.3 0.036 - - - - - - - 15.53 11.54
8679.81 62.35 5.68 865 8742.10 2.41 0.30 0.064 2736.44 195.6 - - 2131.75 - 252.78 61.11 1.108 1468.56 -3.6 0.036 - - - - - - 15.54 - 11.65
8805.34 52.03 9.62 883 8810.96 roll 2.45 - - 2736.62 - 3.58 0.104 3475.88 375.5 252.78 - - 1464.25 - - - - - - - - - 15.30 -
9034.28 30.02 10.16 929 9041.06 roll 2.48 - - 2736.25 - 3.39 0.051 2077.00 -412.6 252.78 - - 1463.41 - - - - - - - - - 15.42 -
9101.08 24.67 7.92 936 9141.93 2.57 0.17 0.085 2776.94 239.4 3.71 0.103 3474.62 376.7 284.51 34.68 1.045 1339.53 -3.6 0.015 - - - - - - 15.53 15.09 11.54
9154.35 20.14 8.93 947 9185.49 done 2.64 - - 2775.31 - 3.36 0.049 2074.75 -416.6 306.16 25.00 1.002 1252.03 -3.5 0.013 - - - - - - - 15.46 11.72
9250.40 11.51 9.78 960 9256.05 roll 2.68 - - 2776.31 - 3.75 0.104 3474.50 373.3 306.16 - - 1249.00 - - - - - - - - - 15.29 -
9285.39 7.88 10.38 967 9289.98 roll 2.70 - - 2776.62 - 3.38 0.050 2075.44 -413.9 306.16 - - 1248.72 - - - - - - - - - 15.43 -
9345 end climb: SURFACE_DEPTH_REACHED
9345 begin surface coast
9365 end surface coast: CONTROL_FINISHED_OK
9365 begin surface
SM -0.84 - - - - 167.8 1.87 0.127 564.3 301.8 18.55 0.091 560.2 30.2 - 0.08 0.131 568.4 7062.8 4.629 - - 15.12 15.21 15.55 -