NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1143 * Raw log
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• Previous call tries 2 • 311.81 of 575.00 AH used of 24V (45.77% remains)
• Surface angle -59.1 deg, depth -1.63 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.73 (SM_CC=475)
• GPS1 time: 3 s
• GPS2 time: 2 s • Transponder ping count: 16
• 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
8.46 - - - 95.41 VBD -1.59 - - 171.50 - - - 2117.12 - -74.33 86.59 0.005 2545.94 - - - - - - - - - - 14.69
95.70 3.93 -8.78 9 128.38 -1.66 14.32 0.255 1737.19 109.3 4.22 0.148 662.06 -344.8 -97.53 7.59 0.007 2897.09 46.3 -4.675 - - - - - - 14.83 14.66 14.86
130.51 13.76 -24.28 16 137.32 roll -1.66 - - 1737.31 - 3.58 0.052 2119.94 407.2 -97.53 - - 2896.84 - - - - - - - - - 15.40 -
196.65 27.35 -20.71 23 202.26 roll -1.66 - - 1737.31 - 3.70 0.107 3476.56 366.7 -97.53 - - 2897.41 - - - - - - - - - 15.18 -
231.59 34.36 -21.23 30 236.22 roll -1.66 - - 1737.06 - 3.45 0.054 2082.06 -404.2 -97.53 - - 2897.50 - - - - - - - - - 15.33 -
301.60 46.52 -16.62 38 307.34 roll -1.66 - - 1736.38 - 4.11 0.147 661.81 -345.6 -97.53 - - 2897.22 - - - - - - - - - 15.01 -
317.11 49.07 -14.82 41 322.24 roll -1.66 - - 1737.38 - 3.53 0.048 2122.44 413.8 -97.53 - - 2898.12 - - - - - - - - - 15.38 -
381.61 58.49 -14.01 48 387.26 roll -1.66 - - 1737.12 - 3.65 0.106 3473.19 370.1 -97.53 - - 2896.00 - - - - - - - - - 15.15 -
420.53 64.87 -16.62 56 427.34 roll -1.66 - - 1737.50 - 3.42 0.054 2083.31 -406.4 -97.53 - - 2898.16 - - - - - - - - - 15.30 -
486.70 72.73 -11.45 63 492.34 roll -1.66 - - 1735.69 - 4.03 0.146 661.56 -352.8 -97.53 - - 2897.69 - - - - - - - - - 14.99 -
512.07 75.83 -11.58 68 517.26 roll -1.66 - - 1737.38 - 3.52 0.047 2121.75 414.8 -97.53 - - 2896.91 - - - - - - - - - 15.39 -
576.64 82.20 -9.69 75 582.29 roll -1.66 - - 1736.62 - 3.63 0.105 3476.81 373.3 -97.53 - - 2895.84 - - - - - - - - - 15.14 -
615.55 86.77 -11.49 83 622.35 roll -1.66 - - 1737.50 - 3.40 0.051 2079.62 -410.9 -97.53 - - 2898.25 - - - - - - - - - 15.31 -
681.71 93.27 -9.77 90 687.31 roll -1.66 - - 1737.19 - 3.72 0.101 3476.44 375.5 -97.53 - - 2897.09 - - - - - - - - - 15.15 -
710.56 96.47 -10.03 96 717.36 roll -1.66 - - 1737.19 - 3.41 0.052 2079.69 -409.6 -97.53 - - 2898.19 - - - - - - - - - 15.30 -
776.71 102.45 -9.38 103 782.37 roll -1.66 - - 1735.31 - 4.07 0.144 661.50 -348.4 -97.53 - - 2897.81 - - - - - - - - - 14.96 -
802.11 105.29 -10.39 108 807.29 roll -1.66 - - 1736.81 - 3.49 0.045 2123.12 418.8 -97.53 - - 2898.09 - - - - - - - - - 15.40 -
866.72 112.64 -10.87 115 868.05 no move -1.66 - - 1737.38 - - - 2123.31 - -97.53 - - 2898.09 - - - - - - - - - - -
926.68 119.90 -12.13 121 932.41 roll -1.66 - - 1737.00 - 4.16 0.142 661.50 -351.4 -97.53 - - 2896.47 - - - - - - - - - 14.95 -
965.59 125.16 -14.31 129 972.40 roll -1.66 - - 1737.31 - 3.52 0.046 2123.19 415.3 -97.53 - - 2897.72 - - - - - - - - - 15.36 -
1031.68 132.81 -11.43 136 1033.01 no move -1.66 - - 1737.00 - - - 2123.19 - -97.53 - - 2898.09 - - - - - - - - - - -
1091.69 140.07 -11.71 142 1097.33 roll -1.66 - - 1737.69 - 3.62 0.102 3475.88 373.7 -97.53 - - 2897.25 - - - - - - - - - 15.12 -
1120.60 144.04 -13.23 148 1127.39 roll -1.66 - - 1737.31 - 3.38 0.050 2080.81 -412.7 -97.53 - - 2898.47 - - - - - - - - - 15.30 -
1186.70 152.16 -12.04 155 1188.03 no move -1.66 - - 1737.50 - - - 2081.31 - -97.53 - - 2898.53 - - - - - - - - - - -
1306.71 167.64 -13.02 167 1312.37 roll -1.66 - - 1737.31 - 3.76 0.102 3475.12 370.7 -97.53 - - 2900.47 - - - - - - - - - 15.09 -
1341.70 172.79 -15.11 174 1346.31 roll -1.66 - - 1737.12 - 3.39 0.051 2079.75 -411.6 -97.53 - - 2900.31 - - - - - - - - - 15.30 -
1471.73 190.37 -14.09 188 1473.06 no move -1.66 - - 1737.12 - - - 2079.94 - -97.53 - - 2898.28 - - - - - - - - - - -
1591.73 206.42 -13.53 200 1597.40 roll -1.66 - - 1737.38 - 3.78 0.103 3475.69 369.2 -97.53 - - 2900.44 - - - - - - - - - 15.08 -
1606.75 208.42 -13.87 203 1611.35 roll -1.66 - - 1737.19 - 3.41 0.051 2082.25 -408.6 -97.53 - - 2898.16 - - - - - - - - - 15.28 -
1736.75 224.81 -11.84 217 1742.47 roll -1.66 - - 1737.19 - 4.13 0.149 662.50 -343.8 -97.53 - - 2897.69 - - - - - - - - - 14.88 -
1752.24 227.11 -11.83 220 1757.38 roll -1.66 - - 1737.56 - 3.52 0.047 2124.25 415.3 -97.53 - - 2896.69 - - - - - - - - - 15.37 -
1876.76 242.12 -12.36 233 1882.43 roll -1.66 - - 1737.12 - 3.63 0.106 3475.25 372.2 -97.53 - - 2896.75 - - - - - - - - - 15.07 -
1980.68 256.12 -13.52 254 1986.38 roll -1.66 - - 1737.19 - 3.41 0.052 2081.62 -408.7 -97.53 - - 2899.66 - - - - - - - - - 15.24 -
2291.78 291.36 -11.01 266 2297.45 roll -1.66 - - 1737.38 - 3.77 0.106 3474.31 369.4 -97.53 - - 2897.03 - - - - - - - - - 15.02 -
2320.69 294.66 -11.01 272 2326.40 roll -1.66 - - 1736.81 - 3.42 0.052 2081.31 -407.3 -97.53 - - 2898.53 - - - - - - - - - 15.23 -
2646.80 326.53 -9.58 287 2652.48 roll -1.66 - - 1737.50 - 3.82 0.106 3474.31 364.7 -97.53 - - 2897.28 - - - - - - - - - 15.02 -
2685.71 330.83 -11.06 295 2691.41 roll -1.66 - - 1737.19 - 3.44 0.054 2082.06 -404.7 -97.53 - - 2899.16 - - - - - - - - - 15.21 -
3001.84 361.58 -9.84 308 3007.50 roll -1.66 - - 1737.19 - 3.85 0.107 3476.50 362.2 -97.53 - - 2896.97 - - - - - - - - - 14.99 -
3125.79 374.31 -9.15 333 3131.45 roll -1.66 - - 1737.19 - 3.47 0.055 2083.00 -401.6 -97.53 - - 2898.62 - - - - - - - - - 15.20 -
3446.86 402.06 -8.79 347 3448.19 no move -1.73 - - 1737.19 - - - 2083.12 - -120.63 - - 2898.28 - - - - - - - - - - -
3746.84 430.61 -9.22 357 3752.53 roll -1.73 - - 1737.50 - 3.89 0.110 3474.19 357.6 -120.63 - - 2896.28 - - - - - - - - - 14.95 -
3801.86 436.87 -12.11 368 3806.46 roll -1.73 - - 1737.31 - 3.47 0.056 2082.75 -401.0 -120.63 - - 2897.56 - - - - - - - - - 15.19 -
4131.92 468.93 -9.99 384 4137.57 roll -1.73 - - 1737.12 - 3.92 0.110 3472.69 354.6 -120.63 - - 2896.84 - - - - - - - - - 14.94 -
4170.78 473.10 -11.05 392 4176.48 roll -1.73 - - 1736.81 - 3.46 0.057 2084.25 -401.3 -120.63 - - 2897.62 - - - - - - - - - 15.15 -
4456 end dive: TARGET_DEPTH_EXCEEDED
4456 begin apogee
4458.02 502.36 -10.18 404 4544.09 -0.25 2.80 0.155 2076.69 121.4 0.09 0.241 2083.19 - - 82.25 1.637 2499.09 -4.8 0.268 - - - - - - 14.89 14.88 10.78
4547 end apogee: CONTROL_FINISHED_OK
4547 begin climb
4547.26 503.64 - 406 4669.81 1.73 3.51 0.079 2564.81 139.1 4.22 0.138 662.12 -336.7 120.63 109.38 1.582 2008.28 -4.5 0.257 - - - - - - 15.11 14.64 11.31
4728.48 487.89 15.51 442 4733.69 roll 1.73 - - 2563.62 - 3.61 0.045 2123.69 404.9 120.63 - - 1999.53 - - - - - - - - - 15.27 -
5053.12 454.92 10.13 457 5058.77 done 1.76 - - 2563.94 - 4.16 0.133 660.81 -351.7 120.63 - - 1994.34 - - - - - - - - - 15.19 -
5141.97 443.89 14.33 475 5147.68 done 1.76 - - 2564.06 - 3.53 0.045 2123.44 414.3 120.63 - - 1994.97 - - - - - - - - - 15.48 -
5468.14 412.35 9.40 490 5473.80 done 1.81 - - 2564.38 - 4.12 0.132 661.75 -354.8 120.63 - - 1991.16 - - - - - - - - - 15.15 -
5617.01 396.29 12.26 520 5622.72 done 1.81 - - 2564.38 - 3.54 0.047 2123.62 413.0 120.63 - - 1991.50 - - - - - - - - - 15.47 -
5943.17 369.64 7.38 535 5983.45 1.92 0.26 0.067 2617.25 203.3 3.69 0.114 3474.81 366.2 157.79 32.41 1.457 1854.50 -4.2 0.193 - - - - - - 15.61 15.15 11.49
6207.05 335.83 14.96 588 6213.85 roll 1.92 - - 2616.25 - 3.44 0.055 2079.75 -405.5 157.79 - - 1850.62 - - - - - - - - - 15.38 -
6513.15 298.18 11.93 599 6518.85 done 1.92 - - 2617.12 - 3.81 0.108 3474.06 366.0 157.79 - - 1847.00 - - - - - - - - - 15.20 -
6532.11 295.34 11.85 603 6538.87 done 1.92 - - 2617.50 - 3.44 0.052 2079.38 -405.4 157.79 - - 1849.41 - - - - - - - - - 15.38 -
6838.17 257.66 11.71 614 6843.85 done 1.92 - - 2617.69 - 3.83 0.108 3472.44 363.7 157.79 - - 1846.62 - - - - - - - - - 15.12 -
7067.13 230.53 10.66 660 7073.94 done 1.92 - - 2617.88 - 3.43 0.053 2076.94 -406.9 157.79 - - 1848.56 - - - - - - - - - 15.31 -
7193.25 218.59 9.65 673 7198.92 done 1.97 - - 2617.44 - 3.81 0.106 3472.38 366.3 157.79 - - 1845.66 - - - - - - - - - 15.13 -
7252.20 212.61 10.18 685 7258.97 done 1.99 - - 2618.19 - 3.42 0.052 2078.44 -407.6 157.79 - - 1846.81 - - - - - - - - - 15.33 -
7378.29 201.00 9.38 698 7379.62 VBD 2.05 - - 2618.00 - - - 2078.31 - 157.79 - - 1846.09 - - - - - - - - - - -
7498.29 189.99 9.39 710 7504.06 2.10 0.20 0.096 2658.44 202.2 4.05 0.132 661.81 -349.8 157.79 - - 1844.53 - - - - - - - - 15.54 15.01 -
7697.24 165.72 10.92 750 7704.06 done 2.10 - - 2658.75 - 3.52 0.044 2125.44 415.8 157.79 - - 1845.81 - - - - - - - - - 15.41 -
7823.36 153.24 9.39 763 7829.00 done 2.15 - - 2658.31 - 3.71 0.109 3474.50 363.6 157.79 - - 1845.31 - - - - - - - - - 15.06 -
7858.78 149.13 11.75 770 7863.96 done 2.15 - - 2658.69 - 3.41 0.051 2075.94 -410.1 157.79 - - 1844.84 - - - - - - - - - 15.35 -
7923.35 142.44 9.96 777 7924.68 VBD 2.18 - - 2658.69 - - - 2075.56 - 157.79 - - 1845.22 - - - - - - - - - - -
7983.37 136.62 9.81 783 7989.07 done 2.22 - - 2659.44 - 4.01 0.128 660.56 -352.9 157.79 - - 1845.25 - - - - - - - - - 15.00 -
8208.83 109.34 11.73 828 8214.03 done 2.22 - - 2658.75 - 3.55 0.045 2128.31 413.5 157.79 - - 1843.41 - - - - - - - - - 15.42 -
8273.42 102.70 10.04 835 8279.19 2.26 0.18 0.082 2698.31 219.8 4.11 0.120 660.69 -357.1 157.79 - - 1843.22 - - - - - - - - 15.60 15.01 -
8318.86 97.00 13.48 844 8324.07 done 2.26 - - 2697.94 - 3.51 0.042 2129.25 418.4 157.79 - - 1843.69 - - - - - - - - - 15.43 -
8383.42 89.38 11.98 851 8384.75 VBD 2.26 - - 2698.81 - - - 2129.25 - 157.79 - - 1844.34 - - - - - - - - - - -
8443.46 83.34 10.12 857 8449.16 done 2.28 - - 2699.44 - 4.13 0.121 661.06 -355.5 157.79 - - 1845.94 - - - - - - - - - 14.98 -
8468.88 80.44 10.48 862 8474.07 done 2.30 - - 2698.62 - 3.52 0.042 2129.62 417.2 157.79 - - 1844.03 - - - - - - - - - 15.44 -
8533.45 73.79 9.86 869 8534.78 VBD 2.34 - - 2698.62 - - - 2129.88 - 157.79 - - 1844.50 - - - - - - - - - - -
8593.47 68.15 9.20 875 8599.09 done 2.40 - - 2698.69 - 3.65 0.105 3472.88 367.9 157.79 - - 1843.47 - - - - - - - - - 15.07 -
8682.38 61.42 6.42 893 8740.33 2.54 0.40 0.058 2767.38 171.7 3.40 0.049 2079.12 -409.9 204.43 52.04 1.126 1666.69 -3.4 0.033 - - - - - - 15.09 15.32 11.44
8798.47 53.84 7.30 910 8850.56 done 2.65 - - 2768.06 - 3.96 0.126 659.69 -358.4 242.30 44.05 1.080 1511.53 -3.5 0.032 - - - - - - - 14.98 11.54
8949.29 38.18 12.10 940 8954.49 roll 2.65 - - 2768.12 - 3.53 0.042 2127.69 415.9 242.30 - - 1508.62 - - - - - - - - - 15.42 -
9013.86 32.64 8.34 947 9050.28 2.74 0.22 0.074 2813.19 204.9 3.61 0.107 3476.62 373.7 269.83 31.26 1.030 1398.97 -3.5 0.020 - - - - - - 15.46 15.07 11.48
9272.87 14.20 3.92 999 9355.10 2.95 0.25 0.073 2862.94 199.0 3.41 0.049 2077.88 -410.2 341.34 75.62 1.027 1108.72 -3.8 0.010 - - - - - - 15.22 15.42 11.53
9408 end climb: SURFACE_DEPTH_REACHED
9408 begin surface coast
9418 end surface coast: CONTROL_FINISHED_OK
9418 begin surface
SM -0.53 - - - - 170.2 - 0.017 564.7 - 19.62 0.095 563.5 28.7 - 0.08 0.136 565.9 7031.1 2.801 - - 30.36 15.12 15.42 -