NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1109 * Raw log
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• Previous call tries 1 • 303.30 of 575.00 AH used of 24V (47.25% remains)
• Surface angle -61.3 deg, depth -1.43 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.92 (SM_CC=475)
• GPS1 time: 19 s
• GPS2 time: 2 s • Transponder ping count: 12
• 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 - - - 105.54 VBD -1.59 - - 167.88 - 0.09 0.254 2113.88 - -74.33 95.70 0.005 2802.66 - - - - - - - - - 14.48 14.69
105.77 5.86 -12.31 10 128.17 roll back -1.59 14.40 0.254 1754.06 110.2 4.14 0.141 660.88 -351.0 -74.33 - - 2802.88 - - - - - - - - 14.90 15.08 -
150.29 19.84 -25.02 19 157.11 roll -1.59 - - 1753.62 - 3.56 0.052 2119.94 409.8 -74.33 - - 2803.88 - - - - - - - - - 15.42 -
216.39 31.51 -17.70 26 222.04 roll -1.59 - - 1752.69 - 3.66 0.108 3476.00 370.5 -74.33 - - 2804.44 - - - - - - - - - 15.23 -
241.44 36.33 -19.27 31 246.01 roll -1.59 - - 1753.19 - 3.43 0.056 2081.12 -406.7 -74.33 - - 2804.28 - - - - - - - - - 15.38 -
311.40 48.58 -17.41 39 317.06 roll -1.59 - - 1753.94 - 3.73 0.104 3476.06 374.0 -74.33 - - 2803.06 - - - - - - - - - 15.22 -
370.33 58.69 -16.22 51 377.10 roll -1.59 - - 1753.50 - 3.40 0.055 2082.56 -409.9 -74.33 - - 2803.69 - - - - - - - - - 15.36 -
436.47 67.58 -13.43 58 437.80 no move -1.59 - - 1753.94 - - - 2082.12 - -74.33 - - 2800.84 - - - - - - - - - - -
496.43 75.54 -13.35 64 502.09 roll -1.59 - - 1752.31 - 3.73 0.103 3475.69 373.6 -74.33 - - 2804.16 - - - - - - - - - 15.21 -
515.34 78.25 -13.35 68 522.14 roll -1.59 - - 1753.69 - 3.38 0.053 2082.25 -412.3 -74.33 - - 2803.72 - - - - - - - - - 15.37 -
581.48 86.27 -11.53 75 587.09 roll -1.59 - - 1754.12 - 3.72 0.102 3475.00 374.4 -74.33 - - 2801.56 - - - - - - - - - 15.23 -
636.44 93.15 -12.57 86 641.02 roll -1.59 - - 1754.12 - 3.38 0.053 2080.25 -412.6 -74.33 - - 2803.81 - - - - - - - - - 15.39 -
706.44 101.03 -10.89 94 712.16 roll -1.59 - - 1753.62 - 4.05 0.147 660.69 -350.5 -74.33 - - 2803.34 - - - - - - - - - 15.03 -
805.38 113.87 -13.13 114 812.18 roll -1.59 - - 1754.50 - 3.48 0.046 2123.88 420.5 -74.33 - - 2803.62 - - - - - - - - - 15.45 -
871.53 120.31 -9.80 121 877.10 roll -1.59 - - 1753.44 - 3.58 0.103 3475.38 377.5 -74.33 - - 2804.00 - - - - - - - - - 15.22 -
910.38 124.53 -10.56 129 917.17 roll -1.59 - - 1754.31 - 3.36 0.051 2080.00 -415.3 -74.33 - - 2802.72 - - - - - - - - - 15.38 -
976.55 131.11 -9.84 136 977.88 no move -1.59 - - 1753.75 - - - 2079.81 - -74.33 - - 2802.66 - - - - - - - - - - -
1036.51 136.64 -9.00 142 1037.94 VBD -1.65 - - 1754.06 - - - 2080.38 - -95.34 0.50 0.045 2889.03 172.7 -91.316 - - - - - - - - 14.35
1096.54 142.28 -9.41 148 1102.14 roll -1.65 - - 1753.56 - 3.69 0.102 3475.75 378.1 -95.34 - - 2891.84 - - - - - - - - - 15.22 -
1141.49 147.03 -11.83 157 1146.09 roll -1.65 - - 1753.06 - 3.36 0.052 2080.00 -415.4 -95.34 - - 2892.78 - - - - - - - - - 15.39 -
1211.50 153.93 -9.74 165 1212.83 no move -1.65 - - 1754.19 - - - 2079.88 - -95.34 - - 2891.75 - - - - - - - - - - -
1331.51 165.48 -9.58 177 1337.19 roll -1.65 - - 1754.50 - 3.72 0.103 3474.69 374.9 -95.34 - - 2891.81 - - - - - - - - - 15.19 -
1406.58 173.88 -11.30 192 1411.11 roll -1.65 - - 1754.06 - 3.37 0.053 2080.38 -413.7 -95.34 - - 2892.12 - - - - - - - - - 15.37 -
1536.54 187.17 -10.36 206 1537.87 no move -1.65 - - 1753.88 - - - 2080.00 - -95.34 - - 2890.94 - - - - - - - - - - -
1656.56 200.74 -11.28 218 1657.89 no move -1.65 - - 1754.44 - - - 2079.50 - -95.34 - - 2892.06 - - - - - - - - - - -
1776.55 214.29 -10.74 230 1782.21 roll -1.65 - - 1754.00 - 3.75 0.105 3476.06 372.4 -95.34 - - 2890.19 - - - - - - - - - 15.16 -
1835.47 221.75 -12.33 242 1842.25 roll -1.65 - - 1752.88 - 3.37 0.053 2081.00 -414.0 -95.34 - - 2892.75 - - - - - - - - - 15.35 -
1961.58 235.41 -11.00 255 1967.30 roll -1.65 - - 1754.12 - 4.07 0.149 662.12 -348.6 -95.34 - - 2890.56 - - - - - - - - - 14.96 -
1970.49 236.67 -11.53 257 1977.28 roll -1.65 - - 1754.00 - 3.48 0.046 2122.75 419.7 -95.34 - - 2891.94 - - - - - - - - - 15.43 -
2096.59 249.95 -10.37 270 2097.92 no move -1.65 - - 1754.12 - - - 2123.12 - -95.34 - - 2892.09 - - - - - - - - - - -
2226.60 263.77 -10.77 275 2232.32 roll -1.65 - - 1753.00 - 4.16 0.147 660.75 -351.5 -95.34 - - 2892.00 - - - - - - - - - 14.95 -
2252.03 266.84 -10.13 280 2257.23 roll -1.65 - - 1753.81 - 3.48 0.047 2123.12 420.2 -95.34 - - 2890.97 - - - - - - - - - 15.45 -
2576.61 300.07 -10.18 295 2582.34 roll -1.65 - - 1754.25 - 4.16 0.146 660.62 -351.6 -95.34 - - 2892.56 - - - - - - - - - 14.93 -
2602.05 303.01 -10.35 300 2607.22 roll -1.65 - - 1752.69 - 3.48 0.048 2122.56 420.1 -95.34 - - 2892.25 - - - - - - - - - 15.44 -
2926.62 338.94 -10.85 315 2932.26 roll -1.65 - - 1753.81 - 3.63 0.110 3475.06 372.6 -95.34 - - 2891.38 - - - - - - - - - 15.11 -
2970.53 344.05 -12.65 324 2976.20 roll -1.65 - - 1754.19 - 3.37 0.054 2081.12 -413.6 -95.34 - - 2893.06 - - - - - - - - - 15.31 -
3281.64 376.55 -10.25 336 3287.30 roll -1.65 - - 1754.62 - 3.76 0.109 3474.25 370.5 -95.34 - - 2889.91 - - - - - - - - - 15.09 -
3310.54 380.47 -13.04 342 3316.25 roll -1.65 - - 1754.50 - 3.38 0.054 2080.56 -412.3 -95.34 - - 2892.12 - - - - - - - - - 15.30 -
3636.66 412.30 -9.66 357 3642.31 roll -1.65 - - 1753.75 - 3.79 0.110 3475.75 368.1 -95.34 - - 2891.00 - - - - - - - - - 15.08 -
3675.58 416.42 -9.02 365 3681.35 roll back -1.72 0.31 0.063 1707.38 -149.6 3.40 0.057 2080.06 -410.5 -116.16 - - 2891.38 - - - - - - - - 15.07 15.27 -
3991.68 452.32 -11.37 378 3997.33 roll -1.72 - - 1707.25 - 3.80 0.109 3475.44 367.2 -116.16 - - 2889.50 - - - - - - - - - 15.09 -
4016.72 454.07 -11.95 383 4021.27 roll -1.72 - - 1707.25 - 3.41 0.057 2080.81 -409.0 -116.16 - - 2893.09 - - - - - - - - - 15.28 -
4346.74 494.76 -12.03 399 4352.37 roll -1.72 - - 1706.44 - 3.82 0.110 3475.12 365.0 -116.16 - - 2889.41 - - - - - - - - - 15.07 -
4390 end dive: TARGET_DEPTH_EXCEEDED
4390 begin apogee
4395.40 500.43 -12.27 408 4482.14 -0.25 3.19 0.169 2079.12 116.8 0.08 0.232 2123.88 -16890.5 - 81.60 1.632 2496.47 -4.8 0.257 - - - - - - 14.93 14.90 10.91
4485 end apogee: CONTROL_FINISHED_OK
4485 begin climb
4485.27 503.17 - 412 4601.23 1.72 3.39 0.077 2561.75 142.4 4.22 0.137 661.88 -346.4 116.16 106.04 1.583 2024.56 -4.5 0.246 - - - - - - 15.15 14.70 11.52
4634.90 492.89 10.74 442 4640.24 roll 1.72 - - 2560.75 - 3.53 0.044 2126.00 414.8 116.16 - - 2020.38 - - - - - - - - - 15.23 -
4959.53 461.31 9.14 457 4965.17 done 1.78 - - 2560.94 - 4.07 0.135 660.44 -360.1 116.16 - - 2014.28 - - - - - - - - - 15.21 -
5033.39 452.83 10.49 472 5039.09 done 1.79 - - 2560.31 - 3.48 0.045 2126.81 421.4 116.16 - - 2013.09 - - - - - - - - - 15.50 -
5344.50 424.53 9.17 484 5350.26 1.85 0.16 0.083 2604.88 278.6 4.07 0.133 660.94 -360.2 116.16 - - 2008.91 - - - - - - - - 15.61 15.18 -
5573.43 397.82 13.05 530 5580.25 done 1.85 - - 2603.88 - 3.48 0.045 2124.38 420.5 116.16 - - 2010.78 - - - - - - - - - 15.50 -
5879.55 367.98 9.48 541 5885.25 done 1.90 - - 2605.12 - 4.07 0.130 661.81 -359.4 116.16 - - 2007.44 - - - - - - - - - 15.13 -
6055.00 347.07 12.62 576 6060.17 done 1.90 - - 2603.94 - 3.49 0.046 2126.81 419.8 116.16 - - 2007.03 - - - - - - - - - 15.51 -
6379.64 314.18 10.12 591 6385.30 done 1.93 - - 2602.88 - 4.11 0.130 662.00 -356.4 116.16 - - 2007.09 - - - - - - - - - 15.08 -
6478.50 302.38 12.56 611 6484.19 done 1.93 - - 2604.25 - 3.49 0.045 2125.62 419.4 116.16 - - 2007.81 - - - - - - - - - 15.50 -
6794.61 274.84 8.32 624 6826.35 done 2.01 - - 2604.50 - 4.03 0.130 660.88 -363.5 143.90 23.76 1.350 1912.38 -4.0 0.142 - - - - - - - 15.21 11.24
6863.55 267.66 11.28 638 6869.25 roll 2.01 - - 2604.75 - 3.47 0.044 2128.31 422.9 143.90 - - 1910.50 - - - - - - - - - 15.57 -
7174.66 233.85 11.69 661 7180.28 roll 2.01 - - 2605.25 - 3.60 0.108 3474.50 373.9 143.90 - - 1905.62 - - - - - - - - - 15.29 -
7403.59 204.91 12.06 707 7410.41 roll 2.01 - - 2605.06 - 3.39 0.053 2077.75 -412.0 143.90 - - 1906.91 - - - - - - - - - 15.41 -
7529.72 191.43 9.77 720 7535.43 roll back 2.05 0.21 0.079 2654.50 235.4 3.75 0.105 3476.25 372.9 143.90 - - 1905.06 - - - - - - - - 15.56 15.25 -
7558.60 188.01 11.40 726 7565.39 roll 2.05 - - 2654.12 - 3.37 0.051 2076.81 -415.3 143.90 - - 1906.69 - - - - - - - - - 15.43 -
7684.73 174.19 10.49 739 7690.41 roll 2.07 - - 2654.25 - 3.91 0.129 661.06 -362.1 143.90 - - 1906.75 - - - - - - - - - 15.14 -
7750.18 166.50 12.94 752 7755.33 roll 2.07 - - 2654.00 - 3.45 0.043 2129.44 425.6 143.90 - - 1907.06 - - - - - - - - - 15.54 -
7874.75 154.51 9.41 765 7880.45 done 2.12 - - 2654.38 - 4.01 0.123 661.94 -366.0 143.90 - - 1903.62 - - - - - - - - - 15.13 -
7953.66 146.00 10.52 781 7960.45 done 2.14 - - 2654.19 - 3.45 0.043 2130.44 425.7 143.90 - - 1905.47 - - - - - - - - - 15.51 -
8019.82 140.53 8.59 788 8051.58 done 2.22 - - 2654.19 - 3.98 0.126 661.75 -369.0 168.98 25.04 1.204 1809.81 -3.8 0.078 - - - - - - - 15.18 11.48
8113.72 129.90 12.14 807 8120.53 roll 2.22 - - 2653.94 - 3.45 0.044 2128.38 425.1 168.98 - - 1806.78 - - - - - - - - - 15.57 -
8179.89 123.21 10.14 814 8185.50 roll back 2.25 0.19 0.074 2698.19 232.9 3.55 0.104 3476.25 379.7 168.98 - - 1804.31 - - - - - - - - 15.58 15.36 -
8238.74 116.74 10.81 826 8245.52 roll 2.25 - - 2698.88 - 3.35 0.050 2072.62 -419.0 168.98 - - 1805.19 - - - - - - - - - 15.48 -
8304.90 110.35 9.44 833 8310.49 roll 2.30 - - 2699.00 - 3.70 0.101 3474.19 378.8 168.98 - - 1804.78 - - - - - - - - - 15.32 -
8329.90 108.12 9.04 838 8361.02 done 2.36 - - 2699.31 - 3.35 0.049 2074.75 -417.7 189.56 24.51 1.130 1727.47 -3.2 0.053 - - - - - - - 15.49 11.64
8419.86 99.14 9.22 850 8425.58 roll back 2.42 0.17 0.097 2735.38 212.2 3.84 0.125 660.38 -368.3 189.56 - - 1725.47 - - - - - - - - 15.52 15.32 -
8578.82 77.09 13.61 882 8585.57 roll 2.42 - - 2735.25 - 3.45 0.042 2130.19 426.0 189.56 - - 1724.25 - - - - - - - - - 15.53 -
8644.94 70.83 9.75 889 8650.49 roll 2.46 - - 2734.69 - 3.53 0.102 3474.94 380.9 189.56 - - 1723.59 - - - - - - - - - 15.27 -
8653.79 69.76 9.45 891 8660.56 roll 2.51 - - 2735.56 - 3.33 0.046 2072.94 -421.0 189.56 - - 1722.72 - - - - - - - - - 15.47 -
8720.70 65.86 5.68 898 8787.93 2.67 0.34 0.070 2794.50 173.4 3.83 0.127 660.62 -368.8 243.56 61.14 1.117 1506.31 -3.5 0.036 - - - - - - 15.57 15.01 11.61
8790.08 62.12 5.71 912 8858.04 2.83 0.19 0.073 2840.25 240.8 3.46 0.040 2132.50 425.4 297.28 60.06 1.074 1288.50 -3.6 0.037 - - - - - - 15.26 15.37 11.60
8916.18 46.08 14.58 931 8921.79 roll 2.83 - - 2840.62 - 3.55 0.102 3476.06 378.5 297.28 - - 1283.53 - - - - - - - - - 15.26 -
9145.11 13.63 12.31 977 9151.91 roll 2.83 - - 2840.19 - 3.37 0.051 2074.06 -416.0 297.28 - - 1281.78 - - - - - - - - - 15.39 -
9211.29 6.63 10.28 984 9216.88 roll 2.85 - - 2840.06 - 3.70 0.100 3474.44 378.5 297.28 - - 1280.69 - - - - - - - - - 15.24 -
9256 end climb: SURFACE_DEPTH_REACHED
9256 begin surface coast
9266 end surface coast: CONTROL_FINISHED_OK
9266 begin surface
SM -0.50 - - - - 168.0 - 0.013 563.9 - 18.77 0.090 562.2 30.0 - 3.34 0.053 565.6 168.2 0.162 - - 30.36 15.10 15.48 -