NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1146 * Raw log
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• Previous call tries 1 • 312.57 of 575.00 AH used of 24V (45.64% remains)
• Surface angle -63.3 deg, depth -1.52 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.99 (SM_CC=475)
• GPS1 time: 23 s
• GPS2 time: 2 s • Transponder ping count: 17
• 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
8.47 - - - 95.40 VBD -1.59 - - 170.50 - - - 2081.62 - -74.33 86.50 0.005 2554.84 - - - - - - - - - - 14.68
95.69 3.88 -8.36 9 128.27 -1.67 14.18 0.254 1733.88 110.3 4.06 0.150 661.75 -349.7 -101.75 7.78 0.007 2914.75 46.3 -4.464 - - - - - - 14.86 14.63 14.86
136.95 15.22 -24.43 17 142.12 roll -1.67 - - 1733.38 - 3.52 0.051 2123.62 415.3 -101.75 - - 2912.75 - - - - - - - - - 15.41 -
201.49 29.57 -21.36 24 207.13 roll -1.67 - - 1733.19 - 3.58 0.104 3476.25 377.8 -101.75 - - 2912.75 - - - - - - - - - 15.19 -
240.41 37.39 -18.17 32 247.19 roll -1.67 - - 1733.69 - 3.38 0.051 2080.12 -413.1 -101.75 - - 2914.62 - - - - - - - - - 15.31 -
306.55 48.66 -17.20 39 307.88 no move -1.67 - - 1733.44 - - - 2079.94 - -101.75 - - 2914.56 - - - - - - - - - - -
366.52 57.85 -15.44 45 372.17 roll -1.67 - - 1733.81 - 3.69 0.100 3476.88 378.6 -101.75 - - 2914.97 - - - - - - - - - 15.17 -
375.42 59.34 -15.64 47 382.20 roll -1.67 - - 1733.19 - 3.36 0.050 2081.25 -415.4 -101.75 - - 2914.59 - - - - - - - - - 15.30 -
441.56 69.17 -14.75 54 442.89 no move -1.67 - - 1733.75 - - - 2081.38 - -101.75 - - 2914.69 - - - - - - - - - - -
501.52 77.60 -14.02 60 507.17 roll -1.67 - - 1732.69 - 3.67 0.101 3475.50 379.9 -101.75 - - 2913.97 - - - - - - - - - 15.15 -
577.02 88.41 -13.82 75 582.14 roll -1.67 - - 1733.62 - 3.38 0.050 2081.19 -412.5 -101.75 - - 2913.97 - - - - - - - - - 15.32 -
641.59 96.45 -11.97 82 647.24 roll -1.67 - - 1733.38 - 3.99 0.143 661.00 -355.9 -101.75 - - 2914.97 - - - - - - - - - 14.98 -
680.45 101.41 -12.87 90 687.25 roll -1.67 - - 1733.31 - 3.47 0.042 2124.69 421.8 -101.75 - - 2915.38 - - - - - - - - - 15.39 -
746.60 109.32 -11.93 97 752.17 roll -1.67 - - 1733.44 - 3.56 0.101 3474.88 379.3 -101.75 - - 2916.41 - - - - - - - - - 15.14 -
792.00 115.54 -14.25 106 797.16 roll -1.67 - - 1732.75 - 3.36 0.047 2079.00 -415.4 -101.75 - - 2915.28 - - - - - - - - - 15.34 -
856.61 123.12 -11.93 113 862.21 roll -1.67 - - 1732.50 - 3.69 0.097 3476.56 378.7 -101.75 - - 2914.88 - - - - - - - - - 15.14 -
865.47 124.33 -11.91 115 872.25 roll -1.67 - - 1733.94 - 3.34 0.046 2080.06 -418.1 -101.75 - - 2914.69 - - - - - - - - - 15.31 -
931.62 131.90 -11.25 122 932.95 no move -1.67 - - 1733.50 - - - 2079.69 - -101.75 - - 2914.94 - - - - - - - - - - -
991.59 138.94 -11.85 128 997.37 roll -1.67 - - 1733.88 - 3.71 0.099 3474.50 376.0 -101.75 - - 2914.06 - - - - - - - - - 15.13 -
1027.01 143.36 -13.10 135 1032.17 roll -1.67 - - 1732.88 - 3.37 0.047 2078.81 -414.2 -101.75 - - 2914.69 - - - - - - - - - 15.32 -
1091.63 150.90 -11.68 142 1092.97 no move -1.67 - - 1733.81 - - - 2079.62 - -101.75 - - 2915.59 - - - - - - - - - - -
1211.58 164.06 -10.64 154 1217.25 roll -1.67 - - 1733.25 - 3.70 0.100 3475.69 377.3 -101.75 - - 2913.50 - - - - - - - - - 15.10 -
1257.04 169.35 -12.13 163 1262.19 roll -1.67 - - 1733.56 - 3.36 0.047 2080.19 -415.3 -101.75 - - 2914.59 - - - - - - - - - 15.31 -
1381.61 183.13 -10.90 176 1382.93 no move -1.67 - - 1733.94 - - - 2080.19 - -101.75 - - 2915.34 - - - - - - - - - - -
1501.61 196.16 -10.51 188 1507.33 roll -1.67 - - 1733.62 - 4.05 0.146 660.44 -350.6 -101.75 - - 2914.56 - - - - - - - - - 14.91 -
1520.58 198.49 -10.68 192 1527.34 roll -1.67 - - 1733.75 - 3.47 0.043 2124.06 421.8 -101.75 - - 2916.34 - - - - - - - - - 15.37 -
1646.63 212.65 -11.28 205 1652.26 roll -1.67 - - 1733.38 - 3.60 0.102 3476.50 375.7 -101.75 - - 2915.91 - - - - - - - - - 15.08 -
1692.08 218.09 -13.18 214 1697.25 roll -1.67 - - 1732.06 - 3.37 0.048 2079.94 -414.4 -101.75 - - 2915.94 - - - - - - - - - 15.29 -
1816.65 232.10 -11.58 227 1817.98 no move -1.67 - - 1733.56 - - - 2079.94 - -101.75 - - 2915.44 - - - - - - - - - - -
1936.66 245.16 -10.72 239 1937.98 no move -1.67 - - 1733.19 - - - 2079.94 - -101.75 - - 2916.09 - - - - - - - - - - -
2076.72 260.44 -11.13 247 2082.37 roll -1.67 - - 1733.12 - 4.06 0.146 661.94 -349.3 -101.75 - - 2915.91 - - - - - - - - - 14.88 -
2090.58 262.43 -11.18 250 2096.28 roll -1.67 - - 1733.44 - 3.47 0.043 2126.69 422.1 -101.75 - - 2916.47 - - - - - - - - - 15.35 -
2401.68 298.57 -11.54 262 2407.32 roll -1.67 - - 1733.56 - 3.63 0.107 3476.69 371.9 -101.75 - - 2913.69 - - - - - - - - - 15.02 -
2565.61 319.60 -11.88 295 2571.29 roll -1.67 - - 1732.75 - 3.40 0.051 2080.94 -410.5 -101.75 - - 2916.81 - - - - - - - - - 15.21 -
2876.71 354.91 -11.47 307 2882.44 roll -1.67 - - 1733.44 - 4.13 0.148 661.88 -343.6 -101.75 - - 2913.81 - - - - - - - - - 14.85 -
2902.15 357.99 -12.07 312 2907.34 roll -1.67 - - 1733.62 - 3.52 0.045 2123.31 415.2 -101.75 - - 2916.19 - - - - - - - - - 15.35 -
3226.77 395.35 -11.42 327 3232.37 roll -1.67 - - 1733.69 - 3.67 0.107 3474.88 368.3 -101.75 - - 2913.44 - - - - - - - - - 15.00 -
3320.64 407.36 -13.37 346 3326.36 roll -1.67 - - 1733.50 - 3.42 0.052 2080.94 -407.6 -101.75 - - 2915.19 - - - - - - - - - 15.19 -
3641.75 441.35 -10.38 360 3647.43 roll -1.67 - - 1733.25 - 3.81 0.106 3474.81 365.8 -101.75 - - 2913.66 - - - - - - - - - 14.96 -
3685.66 446.43 -13.68 369 3691.36 roll -1.67 - - 1733.62 - 3.42 0.052 2082.19 -407.2 -101.75 - - 2914.84 - - - - - - - - - 15.17 -
3996.76 478.58 -10.23 381 4002.44 roll -1.67 - - 1731.88 - 3.83 0.107 3474.56 363.5 -101.75 - - 2915.47 - - - - - - - - - 14.95 -
4022.20 481.43 -9.82 386 4027.38 roll -1.67 - - 1733.38 - 3.42 0.053 2082.88 -406.9 -101.75 - - 2915.34 - - - - - - - - - 15.19 -
4226 end dive: TARGET_DEPTH_EXCEEDED
4226 begin apogee
4227.90 500.90 -9.49 397 4319.11 -0.25 2.81 0.157 2078.88 123.0 0.09 0.224 2083.06 - - 85.43 1.640 2499.31 -4.9 0.259 - - - - - - 14.88 14.88 10.96
4322 end apogee: CONTROL_FINISHED_OK
4322 begin climb
4322.32 503.45 - 400 4425.04 1.67 3.39 0.081 2550.25 139.0 4.11 0.137 660.94 -346.0 101.75 93.10 1.582 2082.41 -4.5 0.248 - - - - - - 15.11 14.66 11.39
4462.23 493.38 11.23 428 4469.01 roll 1.67 - - 2549.06 - 3.56 0.041 2125.94 411.5 101.75 - - 2079.69 - - - - - - - - - 15.20 -
4768.29 463.32 9.29 439 4773.98 done 1.73 - - 2550.38 - 4.09 0.131 660.81 -358.2 101.75 - - 2073.09 - - - - - - - - - 15.19 -
4832.21 456.39 12.10 452 4837.91 done 1.73 - - 2550.50 - 3.49 0.040 2127.12 420.1 101.75 - - 2071.34 - - - - - - - - - 15.47 -
5153.31 430.43 7.81 466 5188.72 1.83 0.20 0.080 2594.62 220.6 4.05 0.132 660.69 -362.1 134.63 29.30 1.495 1949.44 -4.2 0.209 - - - - - - 15.57 15.15 11.62
5237.21 420.71 13.85 483 5244.02 roll 1.83 - - 2594.06 - 3.47 0.039 2127.50 422.7 134.63 - - 1947.62 - - - - - - - - - 15.48 -
5543.33 391.13 9.63 494 5549.03 roll 1.87 - - 2594.56 - 4.09 0.129 660.94 -358.6 134.63 - - 1944.25 - - - - - - - - - 15.17 -
5688.79 374.85 10.35 523 5693.97 roll 1.89 - - 2592.56 - 3.48 0.042 2125.25 420.8 134.63 - - 1943.97 - - - - - - - - - 15.49 -
6013.42 345.28 9.13 538 6019.08 done 1.95 - - 2593.81 - 4.11 0.129 660.69 -356.3 134.63 - - 1942.25 - - - - - - - - - 15.09 -
6237.29 321.44 12.18 583 6243.00 done 1.95 - - 2593.81 - 3.50 0.041 2127.19 419.0 134.63 - - 1942.00 - - - - - - - - - 15.45 -
6548.42 297.01 7.98 595 6579.08 2.05 0.27 0.072 2645.75 192.4 - - 2127.06 - 165.82 28.69 1.396 1823.28 -4.1 0.153 - - - - - - 15.61 - 11.37
6878.41 260.53 11.38 606 6884.06 roll 2.05 - - 2645.38 - 3.65 0.108 3474.12 369.1 165.82 - - 1818.28 - - - - - - - - - 15.24 -
6907.33 257.06 9.41 612 6913.00 roll 2.10 - - 2646.75 - 3.40 0.050 2075.81 -411.3 165.82 - - 1817.03 - - - - - - - - - 15.39 -
7213.43 222.61 10.98 641 7219.10 roll 2.10 - - 2645.81 - 3.78 0.105 3474.56 370.0 165.82 - - 1814.59 - - - - - - - - - 15.19 -
7442.38 194.10 13.47 687 7449.19 done 2.10 - - 2645.25 - 3.40 0.049 2076.38 -411.2 165.82 - - 1815.59 - - - - - - - - - 15.32 -
7568.49 179.91 12.01 700 7574.17 done 2.10 - - 2644.31 - 3.96 0.127 660.44 -357.6 165.82 - - 1815.03 - - - - - - - - - 15.08 -
7583.95 177.86 12.21 703 7589.10 done 2.10 - - 2645.81 - 3.46 0.037 2132.19 425.4 165.82 - - 1813.38 - - - - - - - - - 15.51 -
7708.50 163.27 11.59 716 7714.22 done 2.10 - - 2646.12 - 4.07 0.123 660.38 -361.6 165.82 - - 1813.66 - - - - - - - - - 15.07 -
7763.95 156.33 12.88 727 7769.12 done 2.10 - - 2645.94 - 3.47 0.039 2130.56 423.7 165.82 - - 1813.84 - - - - - - - - - 15.47 -
7888.54 142.89 10.43 740 7894.23 done 2.12 - - 2646.06 - 4.07 0.124 660.88 -361.1 165.82 - - 1814.91 - - - - - - - - - 15.05 -
8013.99 127.01 12.55 765 8019.17 done 2.12 - - 2644.31 - 3.45 0.040 2130.56 426.0 165.82 - - 1814.62 - - - - - - - - - 15.46 -
8078.55 119.98 10.65 772 8084.21 done 2.12 - - 2645.12 - 3.58 0.103 3475.31 375.6 165.82 - - 1814.12 - - - - - - - - - 15.12 -
8094.01 118.53 10.83 775 8099.16 done 2.12 - - 2646.88 - 3.35 0.045 2073.69 -418.4 165.82 - - 1813.44 - - - - - - - - - 15.39 -
8158.63 111.90 10.32 782 8159.97 VBD 2.14 - - 2646.31 - - - 2073.94 - 165.82 - - 1812.81 - - - - - - - - - - -
8218.59 106.02 9.55 788 8219.92 VBD 2.19 - - 2646.44 - - - 2073.88 - 165.82 - - 1814.31 - - - - - - - - - - -
8278.59 100.39 9.33 794 8280.05 2.24 0.25 0.078 2690.94 178.0 - - 2073.25 - 165.82 - - 1814.25 - - - - - - - - 15.58 - -
8338.65 94.52 9.87 800 8344.27 done 2.28 - - 2692.00 - 3.92 0.125 659.94 -360.5 165.82 - - 1813.28 - - - - - - - - - 15.00 -
8374.02 90.48 11.54 807 8379.19 done 2.28 - - 2692.06 - 3.44 0.037 2129.94 427.3 165.82 - - 1813.75 - - - - - - - - - 15.47 -
8438.59 85.00 8.14 814 8480.51 done 2.37 - - 2692.19 - 3.56 0.105 3473.50 377.4 195.38 34.38 1.148 1703.03 -3.2 0.042 - - - - - - - 15.17 11.46
8492.65 79.34 10.01 822 8499.49 roll back 2.40 0.20 0.085 2733.12 204.6 3.35 0.044 2076.75 -416.9 195.38 - - 1702.25 - - - - - - - - 15.28 15.46 -
8558.72 71.81 11.61 829 8564.41 roll 2.40 - - 2732.88 - 3.84 0.122 659.81 -369.0 195.38 - - 1700.72 - - - - - - - - - 15.26 -
8604.18 66.12 12.48 838 8609.34 roll 2.40 - - 2733.06 - 3.45 0.036 2130.62 426.3 195.38 - - 1700.19 - - - - - - - - - 15.51 -
8668.74 59.56 9.68 845 8674.43 roll 2.44 - - 2733.75 - 3.99 0.118 659.94 -368.6 195.38 - - 1699.81 - - - - - - - - - 15.23 -
8717.67 55.04 8.73 855 8750.96 done 2.52 - - 2733.00 - 3.45 0.036 2132.56 426.8 219.06 28.21 1.089 1606.66 -3.3 0.029 - - - - - - - 15.49 11.63
8808.76 48.61 7.38 867 8860.42 2.63 0.29 0.067 2787.12 186.6 3.56 0.104 3475.62 377.3 256.17 42.88 1.080 1455.41 -3.5 0.028 - - - - - - 15.48 15.01 11.62
8929.58 36.32 9.97 891 8934.51 roll 2.66 - - 2787.38 - 3.39 0.048 2075.44 -413.0 256.17 - - 1451.97 - - - - - - - - - 15.39 -
8994.47 31.22 7.44 898 9040.30 done 2.77 - - 2785.88 - 3.88 0.126 660.94 -364.6 292.72 40.71 1.045 1306.56 -3.6 0.019 - - - - - - - 15.02 11.51
9259.25 11.84 9.33 951 9264.49 roll back 2.82 0.23 0.071 2832.44 202.4 3.49 0.041 2131.31 421.3 292.72 - - 1303.31 - - - - - - - - 15.22 15.45 -
9323.81 5.81 9.29 958 9329.54 roll 2.88 - - 2833.50 - 4.01 0.118 659.69 -367.0 292.72 - - 1301.59 - - - - - - - - - 15.16 -
9359 end climb: SURFACE_DEPTH_REACHED
9359 begin surface coast
9369 end surface coast: CONTROL_FINISHED_OK
9369 begin surface
SM -0.64 - - - - 170.8 - 0.010 563.7 - 19.20 0.093 560.5 29.2 - 3.44 0.042 566.8 163.6 0.255 - - 30.36 15.08 15.50 -