NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1107 * Raw log
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• Previous call tries 4 • 302.81 of 575.00 AH used of 24V (47.34% remains)
• Surface angle -57.6 deg, depth -1.64 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.76 (SM_CC=475)
• GPS1 time: 20 s
• GPS2 time: 2 s • Transponder ping count: 9
• 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
8.38 - - - 100.52 VBD -1.59 - - 166.56 - - - 2080.50 - -74.33 91.71 0.005 2706.22 - - - - - - - - - - 14.73
100.74 4.74 -10.30 9 126.75 -1.59 14.36 0.253 1752.81 110.5 4.09 0.147 659.75 -347.4 -74.33 2.01 0.015 2803.03 48.2 -2.743 - - - - - - 14.88 14.69 14.88
140.41 16.09 -25.05 17 145.61 roll -1.59 - - 1753.00 - 3.58 0.054 2121.81 408.4 -74.33 - - 2802.25 - - - - - - - - - 15.45 -
204.97 28.27 -18.18 24 206.29 no move -1.59 - - 1753.38 - - - 2121.62 - -74.33 - - 2802.69 - - - - - - - - - - -
264.99 38.47 -17.04 30 270.63 roll -1.59 - - 1753.06 - 3.65 0.107 3475.50 370.9 -74.33 - - 2801.34 - - - - - - - - - 15.22 -
293.88 43.88 -17.72 36 300.69 roll -1.59 - - 1753.31 - 3.42 0.055 2082.44 -407.3 -74.33 - - 2802.41 - - - - - - - - - 15.36 -
360.04 53.21 -13.70 43 365.65 roll -1.59 - - 1753.44 - 3.74 0.103 3476.75 372.8 -74.33 - - 2800.81 - - - - - - - - - 15.23 -
375.44 55.73 -14.83 46 380.61 roll -1.59 - - 1753.00 - 3.40 0.054 2081.81 -410.3 -74.33 - - 2800.56 - - - - - - - - - 15.39 -
440.04 64.23 -12.71 53 441.37 no move -1.59 - - 1753.75 - - - 2081.31 - -74.33 - - 2801.22 - - - - - - - - - - -
500.00 71.91 -12.99 59 501.33 no move -1.59 - - 1753.25 - - - 2081.00 - -74.33 - - 2802.72 - - - - - - - - - - -
560.02 80.23 -14.20 65 565.75 roll -1.59 - - 1752.56 - 4.12 0.147 661.81 -344.5 -74.33 - - 2803.25 - - - - - - - - - 15.02 -
598.92 86.04 -15.33 73 605.73 roll -1.59 - - 1752.50 - 3.52 0.049 2123.25 415.2 -74.33 - - 2804.50 - - - - - - - - - 15.45 -
665.06 93.63 -11.41 80 670.74 roll -1.59 - - 1752.50 - 4.18 0.142 660.81 -349.9 -74.33 - - 2802.66 - - - - - - - - - 15.03 -
693.92 97.63 -13.36 86 700.74 roll -1.59 - - 1752.88 - 3.51 0.048 2123.19 416.6 -74.33 - - 2803.53 - - - - - - - - - 15.43 -
760.07 106.43 -13.51 93 765.66 roll -1.59 - - 1753.62 - 3.60 0.105 3476.38 375.9 -74.33 - - 2803.25 - - - - - - - - - 15.20 -
865.48 119.36 -12.34 114 870.64 roll -1.59 - - 1753.38 - 3.38 0.053 2081.12 -412.8 -74.33 - - 2801.50 - - - - - - - - - 15.39 -
930.09 126.71 -11.05 121 931.42 no move -1.59 - - 1753.44 - - - 2081.19 - -74.33 - - 2801.66 - - - - - - - - - - -
990.05 132.63 -10.21 127 995.77 roll -1.59 - - 1753.62 - 4.09 0.145 661.81 -347.0 -74.33 - - 2801.06 - - - - - - - - - 15.01 -
1035.50 137.78 -12.07 136 1040.68 roll -1.59 - - 1753.50 - 3.52 0.047 2122.94 415.1 -74.33 - - 2801.59 - - - - - - - - - 15.47 -
1100.06 144.78 -10.75 143 1105.71 roll -1.59 - - 1753.25 - 3.61 0.103 3476.06 374.8 -74.33 - - 2803.16 - - - - - - - - - 15.21 -
1128.96 148.14 -11.16 149 1135.75 roll -1.59 - - 1753.25 - 3.38 0.051 2079.69 -413.1 -74.33 - - 2803.31 - - - - - - - - - 15.37 -
1195.12 155.00 -10.66 156 1196.45 no move -1.59 - - 1753.06 - - - 2079.62 - -74.33 - - 2803.69 - - - - - - - - - - -
1315.08 167.10 -9.86 168 1316.40 no move -1.59 - - 1753.69 - - - 2080.31 - -74.33 - - 2803.34 - - - - - - - - - - -
1435.08 179.30 -10.08 180 1436.41 no move -1.59 - - 1753.88 - - - 2079.50 - -74.33 - - 2803.47 - - - - - - - - - - -
1555.09 192.01 -10.63 192 1560.76 roll -1.59 - - 1753.12 - 3.77 0.103 3476.56 370.6 -74.33 - - 2802.81 - - - - - - - - - 15.18 -
1610.55 198.36 -11.61 203 1615.72 roll -1.59 - - 1752.38 - 3.40 0.053 2079.69 -410.8 -74.33 - - 2803.84 - - - - - - - - - 15.38 -
1735.11 211.21 -9.96 216 1740.83 roll -1.59 - - 1753.81 - 4.09 0.146 662.06 -346.6 -74.33 - - 2801.53 - - - - - - - - - 14.97 -
1754.07 213.34 -9.99 220 1760.84 roll -1.59 - - 1753.62 - 3.51 0.046 2122.81 416.2 -74.33 - - 2804.16 - - - - - - - - - 15.45 -
1880.13 225.57 -9.74 233 1885.78 roll -1.59 - - 1751.75 - 3.63 0.106 3475.12 372.5 -74.33 - - 2803.66 - - - - - - - - - 15.16 -
1945.59 232.96 -11.84 246 1950.74 roll -1.59 - - 1753.31 - 3.38 0.052 2080.44 -412.6 -74.33 - - 2802.22 - - - - - - - - - 15.37 -
2070.16 245.97 -10.66 259 2075.81 roll -1.59 - - 1752.38 - 3.74 0.103 3475.56 373.0 -74.33 - - 2803.38 - - - - - - - - - 15.16 -
2129.09 253.03 -12.33 271 2134.78 roll -1.59 - - 1752.69 - 3.38 0.053 2082.31 -412.2 -74.33 - - 2804.44 - - - - - - - - - 15.33 -
2455.19 287.65 -10.65 286 2456.52 no move -1.59 - - 1753.25 - - - 2082.44 - -74.33 - - 2801.59 - - - - - - - - - - -
2755.20 318.40 -10.21 296 2760.87 roll -1.59 - - 1752.25 - 3.80 0.108 3475.69 366.6 -74.33 - - 2803.94 - - - - - - - - - 15.13 -
2814.13 324.85 -10.65 308 2819.83 roll -1.59 - - 1753.31 - 3.40 0.055 2081.25 -410.1 -74.33 - - 2804.38 - - - - - - - - - 15.31 -
3140.23 357.39 -9.77 323 3145.89 roll -1.59 - - 1752.88 - 3.79 0.108 3475.94 368.0 -74.33 - - 2801.44 - - - - - - - - - 15.10 -
3169.14 360.56 -10.81 329 3174.82 roll -1.59 - - 1753.25 - 3.40 0.054 2082.06 -410.0 -74.33 - - 2803.47 - - - - - - - - - 15.31 -
3495.25 392.52 -9.76 344 3496.58 no move -1.59 - - 1753.44 - - - 2081.94 - -74.33 - - 2803.38 - - - - - - - - - - -
3795.26 421.09 -8.90 354 3796.59 no move -1.66 - - 1753.62 - - - 2082.31 - -96.32 - - 2803.00 - - - - - - - - - - -
4095.27 447.82 -8.28 364 4101.03 roll back -1.74 0.34 0.066 1697.44 -165.2 3.87 0.111 3474.38 359.7 -124.50 - - 2804.41 - - - - - - - - 15.58 15.07 -
4120.72 449.19 -8.59 369 4125.88 roll -1.82 - - 1698.19 - 3.43 0.057 2082.81 -405.7 -149.62 - - 2801.88 - - - - - - - - - 15.29 -
4445.29 481.30 -9.61 384 4450.96 roll -1.82 - - 1698.69 - 3.85 0.110 3476.31 361.9 -149.62 - - 2800.53 - - - - - - - - - 15.06 -
4504.20 488.48 -11.33 396 4509.90 roll -1.82 - - 1698.25 - 3.42 0.057 2083.00 -407.4 -149.62 - - 2802.69 - - - - - - - - - 15.25 -
4650 end dive: TARGET_DEPTH_EXCEEDED
4650 begin apogee
4651.43 503.24 -10.89 405 4720.29 -0.25 3.24 0.166 2078.75 117.4 0.09 0.246 2084.12 - - 63.67 1.641 2496.69 -4.8 0.266 - - - - - - 14.95 14.94 10.75
4723 end apogee: CONTROL_FINISHED_OK
4723 begin climb
4723.44 502.89 - 407 4869.96 1.82 3.60 0.077 2587.25 141.2 4.14 0.138 661.94 -343.5 149.62 135.71 1.595 1888.28 -4.5 0.255 - - - - - - 15.21 14.68 11.47
4892.15 487.47 12.53 441 4897.81 roll 1.82 - - 2586.81 - 3.58 0.044 2124.69 408.6 149.62 - - 1884.59 - - - - - - - - - 15.18 -
5203.20 443.87 14.84 453 5208.90 done 1.82 - - 2587.44 - 4.09 0.134 661.88 -357.7 149.62 - - 1876.66 - - - - - - - - - 15.22 -
5332.13 424.01 16.05 479 5337.84 done 1.82 - - 2585.44 - 3.50 0.046 2125.75 418.2 149.62 - - 1877.78 - - - - - - - - - 15.50 -
5648.24 386.01 11.83 492 5653.97 done 1.82 - - 2587.19 - 4.11 0.133 661.88 -356.2 149.62 - - 1875.59 - - - - - - - - - 15.18 -
5842.18 358.68 14.96 531 5847.89 done 1.82 - - 2586.19 - 3.51 0.046 2124.56 416.7 149.62 - - 1875.19 - - - - - - - - - 15.50 -
6153.30 326.15 10.12 543 6159.01 done 1.85 - - 2584.94 - 4.11 0.130 660.75 -356.2 149.62 - - 1873.34 - - - - - - - - - 15.14 -
6242.21 314.77 12.43 561 6247.91 done 1.85 - - 2587.19 - 3.48 0.045 2124.56 420.6 149.62 - - 1872.94 - - - - - - - - - 15.51 -
6568.37 278.40 10.97 576 6574.05 done 1.85 - - 2587.38 - 4.11 0.130 661.69 -355.9 149.62 - - 1871.66 - - - - - - - - - 15.10 -
6623.77 271.31 12.40 587 6628.95 done 1.85 - - 2586.75 - 3.51 0.045 2128.06 417.8 149.62 - - 1871.22 - - - - - - - - - 15.51 -
6928.34 237.55 11.03 608 6934.08 done 1.85 - - 2587.25 - 4.14 0.129 660.69 -354.4 149.62 - - 1871.16 - - - - - - - - - 15.05 -
6967.26 233.15 10.73 616 6974.06 done 1.85 - - 2586.94 - 3.50 0.044 2128.56 419.4 149.62 - - 1872.09 - - - - - - - - - 15.50 -
7093.37 220.37 10.05 629 7094.70 VBD 1.88 - - 2587.81 - - - 2128.38 - 149.62 - - 1870.25 - - - - - - - - - - -
7213.38 209.06 9.50 641 7219.10 done 1.93 - - 2587.50 - 4.14 0.128 663.38 -353.9 149.62 - - 1870.56 - - - - - - - - - 15.04 -
7238.81 206.45 8.69 646 7264.51 2.00 0.24 0.066 2638.75 213.5 3.49 0.043 2129.38 420.1 173.73 20.30 1.271 1789.28 -4.0 0.117 - - - - - - 15.28 15.53 11.40
7383.36 190.42 12.51 663 7389.08 roll 2.00 - - 2638.88 - 4.07 0.127 660.56 -360.9 173.73 - - 1787.62 - - - - - - - - - 15.31 -
7438.83 183.11 13.02 674 7444.00 roll 2.00 - - 2637.94 - 3.48 0.045 2127.88 421.6 173.73 - - 1787.12 - - - - - - - - - 15.57 -
7563.42 169.49 10.48 687 7569.14 roll 2.02 - - 2638.31 - 4.07 0.126 661.81 -360.2 173.73 - - 1786.88 - - - - - - - - - 15.23 -
7668.87 155.03 13.82 708 7674.04 roll 2.02 - - 2638.44 - 3.48 0.044 2128.56 421.5 173.73 - - 1785.28 - - - - - - - - - 15.53 -
7793.45 141.64 10.48 721 7794.77 no move 2.04 - - 2639.06 - - - 2129.12 - 173.73 - - 1785.78 - - - - - - - - - - -
7853.44 134.64 11.34 727 7859.15 roll 2.04 - - 2637.31 - 4.09 0.125 660.56 -359.1 173.73 - - 1786.16 - - - - - - - - - 15.14 -
8062.40 106.18 12.80 769 8069.20 roll 2.04 - - 2637.69 - 3.48 0.045 2129.44 422.1 173.73 - - 1786.31 - - - - - - - - - 15.51 -
8128.56 100.27 9.20 776 8134.23 roll 2.09 - - 2639.06 - 4.08 0.126 661.94 -359.7 173.73 - - 1785.12 - - - - - - - - - 15.11 -
8207.42 91.94 10.57 792 8214.21 roll 2.11 - - 2639.12 - 3.49 0.046 2128.44 420.2 173.73 - - 1785.91 - - - - - - - - - 15.50 -
8273.58 85.53 9.38 799 8279.22 roll back 2.16 0.16 0.082 2677.44 239.5 3.62 0.106 3475.12 372.0 173.73 - - 1785.09 - - - - - - - - 15.62 15.20 -
8339.03 78.09 11.26 812 8344.12 roll 2.16 - - 2676.88 - 3.38 0.052 2078.62 -413.2 173.73 - - 1783.62 - - - - - - - - - 15.46 -
8403.59 72.90 7.55 819 8450.07 done 2.27 - - 2674.88 - 3.91 0.129 660.69 -362.6 209.16 40.70 1.141 1646.84 -3.4 0.039 - - - - - - - 15.11 11.38
8549.07 58.37 11.90 848 8554.20 roll 2.27 - - 2677.06 - 3.51 0.045 2129.69 418.5 209.16 - - 1644.28 - - - - - - - - - 15.52 -
8613.57 52.72 8.15 855 8655.09 2.36 0.22 0.068 2726.69 225.6 3.60 0.107 3474.81 373.6 238.61 34.44 1.089 1526.75 -3.4 0.030 - - - - - - 15.53 15.07 11.66
8847.52 34.59 7.24 900 8895.33 done 2.47 - - 2726.62 - 3.39 0.051 2077.25 -412.3 277.14 43.16 1.067 1369.66 -3.6 0.021 - - - - - - - 15.45 11.59
8953.61 25.08 10.61 915 8959.33 roll 2.49 - - 2724.62 - 3.93 0.130 660.69 -360.4 277.14 - - 1368.97 - - - - - - - - - 15.23 -
9022.58 16.12 12.50 929 9029.33 roll 2.49 - - 2727.00 - 3.50 0.044 2129.31 419.6 277.14 - - 1368.94 - - - - - - - - - 15.48 -
9088.69 9.79 9.41 936 9094.40 roll back 2.54 0.19 0.077 2768.38 217.8 4.03 0.126 660.88 -364.4 277.14 - - 1366.62 - - - - - - - - 15.51 15.18 -
9097.60 8.93 8.95 938 9128.75 done 2.60 - - 2769.50 - 3.47 0.042 2132.19 424.0 298.62 23.66 1.000 1282.31 -3.6 0.006 - - - - - - - 15.51 11.57
9183 end climb: SURFACE_DEPTH_REACHED
9183 begin surface coast
9203 end surface coast: CONTROL_FINISHED_OK
9203 begin surface
SM -0.62 - - - - 184.8 0.01 0.263 564.6 54094.0 17.94 0.070 563.8 31.4 - 0.11 0.136 565.4 5108.5 2.380 - - 30.36 15.30 15.49 -