NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1147 * Raw log
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• Previous call tries 1 • 312.82 of 575.00 AH used of 24V (45.60% remains)
• Surface angle -62.8 deg, depth -1.54 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 475.05 (SM_CC=475)
• GPS1 time: 4 s
• GPS2 time: 2 s • Transponder ping count: 14
• 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
8.45 - - - 100.52 VBD -1.59 - - 170.12 - - - 2079.69 - -74.33 91.56 0.005 2707.06 - - - - - - - - - - 14.68
100.74 5.15 -10.63 9 121.51 -1.59 14.48 0.254 1751.62 109.2 - - 2079.75 - -74.33 1.88 0.016 2802.59 50.8 -2.939 - - - - - - 14.88 - 14.84
178.69 24.88 -20.68 17 180.02 no move -1.59 - - 1752.94 - - - 2079.44 - -74.33 - - 2802.66 - - - - - - - - - - -
238.67 35.33 -17.17 23 244.41 roll -1.59 - - 1753.06 - 4.06 0.145 661.69 -349.2 -74.33 - - 2801.31 - - - - - - - - - 15.03 -
294.13 44.05 -16.61 34 299.32 roll -1.59 - - 1752.44 - 3.52 0.047 2121.31 414.7 -74.33 - - 2802.41 - - - - - - - - - 15.38 -
358.67 52.12 -12.45 41 364.33 roll -1.59 - - 1752.62 - 3.61 0.105 3476.94 375.5 -74.33 - - 2801.00 - - - - - - - - - 15.15 -
414.14 60.00 -14.80 52 419.30 roll -1.59 - - 1753.00 - 3.39 0.049 2080.19 -412.0 -74.33 - - 2802.66 - - - - - - - - - 15.33 -
478.75 68.74 -13.26 59 484.42 roll -1.59 - - 1752.75 - 4.01 0.142 661.88 -353.7 -74.33 - - 2800.94 - - - - - - - - - 15.00 -
487.61 69.96 -13.13 61 494.40 roll -1.59 - - 1752.75 - 3.47 0.043 2123.50 421.2 -74.33 - - 2802.22 - - - - - - - - - 15.38 -
553.75 78.64 -12.89 68 555.07 no move -1.59 - - 1752.88 - - - 2123.12 - -74.33 - - 2802.66 - - - - - - - - - - -
613.71 85.56 -11.28 74 618.32 roll -1.59 - - 1753.12 - 3.54 0.100 3476.25 382.2 -74.33 - - 2800.28 - - - - - - - - - 15.14 -
657.62 90.77 -11.53 83 664.41 roll -1.59 - - 1752.62 - 3.37 0.047 2079.94 -414.3 -74.33 - - 2803.22 - - - - - - - - - 15.30 -
723.76 97.78 -10.23 90 725.09 no move -1.59 - - 1752.81 - - - 2079.88 - -74.33 - - 2802.97 - - - - - - - - - - -
783.72 103.99 -10.56 96 789.36 roll -1.59 - - 1752.94 - 3.69 0.100 3476.06 378.4 -74.33 - - 2802.31 - - - - - - - - - 15.12 -
848.73 110.84 -10.69 109 853.32 roll -1.59 - - 1753.19 - 3.38 0.048 2079.19 -413.3 -74.33 - - 2802.28 - - - - - - - - - 15.31 -
918.72 117.58 -9.63 117 920.05 no move -1.59 - - 1753.00 - - - 2078.44 - -74.33 - - 2803.00 - - - - - - - - - - -
978.75 123.00 -8.80 123 985.47 done -1.66 - - 1753.31 - 4.00 0.145 661.81 -354.2 -97.36 0.58 0.039 2899.81 166.9 -94.601 - - - - - - - 14.65 14.61
1017.66 127.06 -10.60 131 1024.45 roll -1.66 - - 1752.56 - 3.46 0.041 2124.19 422.7 -97.36 - - 2900.25 - - - - - - - - - 15.40 -
1083.81 132.56 -8.72 138 1086.34 -1.73 0.32 0.070 1702.31 -157.0 - - 2124.19 - -121.16 0.56 0.040 2996.66 172.2 -102.530 - - - - - - 15.54 - 14.69
1143.74 139.55 -11.74 144 1149.38 roll -1.73 - - 1702.19 - 3.60 0.101 3474.31 375.0 -121.16 - - 2995.78 - - - - - - - - - 15.14 -
1152.66 140.66 -11.71 146 1159.44 roll -1.73 - - 1703.44 - 3.37 0.046 2079.62 -413.9 -121.16 - - 2997.00 - - - - - - - - - 15.31 -
1218.80 148.75 -12.16 153 1224.47 roll -1.73 - - 1702.00 - 4.03 0.141 661.00 -352.0 -121.16 - - 2998.03 - - - - - - - - - 14.99 -
1227.68 150.14 -12.44 155 1234.46 roll -1.73 - - 1703.62 - 3.46 0.042 2123.81 422.8 -121.16 - - 2996.88 - - - - - - - - - 15.38 -
1293.75 158.56 -12.82 162 1295.08 no move -1.73 - - 1703.31 - - - 2124.25 - -121.16 - - 2997.06 - - - - - - - - - - -
1413.77 174.29 -13.55 174 1419.50 roll -1.73 - - 1703.25 - 4.14 0.140 660.94 -353.5 -121.16 - - 2995.72 - - - - - - - - - 14.95 -
1449.22 179.42 -15.12 181 1454.38 roll -1.73 - - 1703.56 - 3.48 0.043 2124.31 420.5 -121.16 - - 2995.41 - - - - - - - - - 15.39 -
1573.79 196.03 -13.17 194 1579.44 roll -1.73 - - 1702.69 - 3.62 0.103 3475.06 373.1 -121.16 - - 2997.72 - - - - - - - - - 15.09 -
1618.78 202.45 -14.88 203 1623.38 roll -1.73 - - 1703.31 - 3.38 0.049 2081.00 -412.4 -121.16 - - 2997.62 - - - - - - - - - 15.28 -
1748.80 219.51 -13.35 217 1754.51 roll -1.73 - - 1702.62 - 4.03 0.144 661.94 -352.1 -121.16 - - 2997.75 - - - - - - - - - 14.92 -
1784.25 224.64 -14.44 224 1789.42 roll -1.73 - - 1703.38 - 3.49 0.044 2122.69 418.6 -121.16 - - 2996.50 - - - - - - - - - 15.38 -
1908.82 241.12 -12.73 237 1914.45 roll -1.73 - - 1702.69 - 3.62 0.102 3477.25 374.2 -121.16 - - 2996.28 - - - - - - - - - 15.08 -
1963.82 248.79 -13.79 248 1968.40 roll -1.73 - - 1703.00 - 3.36 0.047 2081.06 -415.5 -121.16 - - 2997.00 - - - - - - - - - 15.26 -
2093.88 264.51 -12.04 254 2099.49 roll -1.73 - - 1702.44 - 3.74 0.100 3476.38 373.1 -121.16 - - 2997.16 - - - - - - - - - 15.07 -
2137.74 270.59 -13.75 263 2143.42 roll -1.73 - - 1703.44 - 3.38 0.049 2081.81 -412.6 -121.16 - - 2997.66 - - - - - - - - - 15.24 -
2448.84 307.20 -11.77 275 2454.51 roll -1.73 - - 1703.31 - 3.74 0.103 3474.94 372.5 -121.16 - - 2995.53 - - - - - - - - - 15.03 -
2572.82 323.59 -13.97 300 2578.44 roll -1.73 - - 1703.62 - 3.40 0.052 2082.94 -409.4 -121.16 - - 2998.72 - - - - - - - - - 15.21 -
2893.87 362.24 -12.63 314 2895.20 no move -1.73 - - 1703.50 - - - 2082.12 - -121.16 - - 2997.25 - - - - - - - - - - -
3193.87 398.62 -12.27 324 3199.53 roll -1.73 - - 1703.44 - 3.79 0.105 3475.62 367.7 -121.16 - - 2996.88 - - - - - - - - - 14.99 -
3272.79 410.42 -14.63 340 3279.63 roll -1.73 - - 1703.12 - 3.41 0.054 2082.12 -408.7 -121.16 - - 2999.41 - - - - - - - - - 15.17 -
3578.90 446.63 -11.17 351 3584.56 roll -1.73 - - 1703.00 - 3.80 0.105 3475.69 366.7 -121.16 - - 2999.03 - - - - - - - - - 14.96 -
3603.95 449.40 -10.79 356 3608.51 roll -1.73 - - 1703.00 - 3.41 0.052 2082.06 -408.7 -121.16 - - 2998.56 - - - - - - - - - 15.19 -
3933.96 487.55 -12.20 372 3935.29 no move -1.73 - - 1703.12 - - - 2081.88 - -121.16 - - 2997.22 - - - - - - - - - - -
4053 end dive: TARGET_DEPTH_EXCEEDED
4053 begin apogee
4055.05 502.62 -12.78 376 4161.80 -0.25 3.25 0.163 2078.88 115.6 0.09 0.227 2083.38 - - 102.21 1.642 2498.94 -4.9 0.268 - - - - - - 14.85 14.83 10.95
4164 end apogee: CONTROL_FINISHED_OK
4164 begin climb
4164.98 506.86 - 379 4287.63 1.73 3.54 0.079 2564.94 137.3 4.11 0.137 662.38 -345.7 121.16 110.42 1.588 2004.88 -4.5 0.257 - - - - - - 15.05 14.62 11.40
4299.78 500.91 5.10 406 4361.67 1.91 0.25 0.064 2616.56 206.5 3.60 0.042 2125.44 406.4 180.96 55.49 1.531 1762.19 -4.4 0.257 - - - - - - 14.92 15.06 11.24
4675.92 448.78 14.23 431 4681.58 done 1.91 - - 2615.94 - 4.07 0.132 660.62 -359.9 180.96 - - 1751.44 - - - - - - - - - 15.19 -
4821.33 425.09 17.72 460 4826.51 done 1.91 - - 2616.31 - 3.50 0.042 2124.88 418.4 180.96 - - 1749.66 - - - - - - - - - 15.49 -
5145.95 381.06 13.71 475 5151.61 done 1.91 - - 2616.38 - 4.07 0.131 659.81 -360.0 180.96 - - 1747.81 - - - - - - - - - 15.13 -
5321.37 351.94 16.16 510 5326.56 done 1.91 - - 2616.38 - 3.47 0.042 2125.62 422.4 180.96 - - 1747.06 - - - - - - - - - 15.48 -
5645.99 308.74 13.37 525 5651.65 done 1.91 - - 2616.12 - 4.07 0.127 660.94 -359.9 180.96 - - 1748.41 - - - - - - - - - 15.07 -
5774.86 288.29 16.57 551 5780.57 done 1.91 - - 2617.44 - 3.49 0.040 2126.81 420.0 180.96 - - 1747.25 - - - - - - - - - 15.46 -
6090.98 247.72 12.24 564 6096.61 done 1.91 - - 2616.50 - 3.64 0.106 3475.31 370.5 180.96 - - 1746.72 - - - - - - - - - 15.11 -
6129.88 242.34 14.29 572 6136.67 done 1.91 - - 2615.88 - 3.38 0.046 2077.50 -413.6 180.96 - - 1746.00 - - - - - - - - - 15.36 -
6255.99 228.03 11.43 585 6261.68 done 1.91 - - 2616.88 - 3.96 0.128 660.56 -357.8 180.96 - - 1745.44 - - - - - - - - - 15.03 -
6324.95 218.35 13.88 599 6331.69 done 1.91 - - 2616.19 - 3.47 0.038 2127.94 422.9 180.96 - - 1746.12 - - - - - - - - - 15.45 -
6451.03 203.87 11.87 612 6456.71 done 1.91 - - 2616.50 - 4.05 0.123 659.50 -362.6 180.96 - - 1747.00 - - - - - - - - - 15.01 -
6589.93 185.06 13.24 640 6596.73 done 1.91 - - 2617.25 - 3.49 0.040 2128.00 420.8 180.96 - - 1745.72 - - - - - - - - - 15.42 -
6716.04 169.91 11.34 653 6721.74 done 1.91 - - 2616.50 - 4.07 0.123 661.88 -360.2 180.96 - - 1745.50 - - - - - - - - - 15.01 -
6771.49 162.59 13.47 664 6776.67 done 1.91 - - 2616.94 - 3.47 0.039 2129.62 423.0 180.96 - - 1745.16 - - - - - - - - - 15.44 -
6896.06 147.47 12.36 677 6901.77 done 1.91 - - 2616.50 - 4.08 0.122 659.62 -360.3 180.96 - - 1744.44 - - - - - - - - - 15.01 -
6941.52 141.43 13.58 686 6946.67 done 1.91 - - 2617.31 - 3.46 0.038 2129.94 424.9 180.96 - - 1744.16 - - - - - - - - - 15.47 -
7006.06 133.85 11.25 693 7007.39 VBD 1.91 - - 2616.25 - - - 2130.38 - 180.96 - - 1745.84 - - - - - - - - - - -
7066.07 127.35 10.72 699 7071.78 done 1.91 - - 2616.81 - 4.05 0.121 659.56 -363.2 180.96 - - 1744.31 - - - - - - - - - 15.00 -
7121.53 120.32 12.44 710 7126.69 done 1.91 - - 2617.00 - 3.46 0.038 2129.69 424.9 180.96 - - 1743.97 - - - - - - - - - 15.46 -
7186.07 112.57 11.58 717 7187.40 VBD 1.91 - - 2617.00 - - - 2130.75 - 180.96 - - 1745.19 - - - - - - - - - - -
7246.09 105.47 11.56 723 7251.80 done 1.91 - - 2616.81 - 4.05 0.120 660.75 -363.0 180.96 - - 1746.25 - - - - - - - - - 14.99 -
7321.53 96.05 12.33 738 7326.70 done 1.91 - - 2615.75 - 3.46 0.038 2130.06 424.7 180.96 - - 1744.97 - - - - - - - - - 15.46 -
7386.11 89.01 10.49 745 7387.44 VBD 1.93 - - 2616.81 - - - 2130.19 - 180.96 - - 1745.16 - - - - - - - - - - -
7446.15 82.97 10.09 751 7447.48 VBD 1.96 - - 2616.56 - - - 2130.50 - 180.96 - - 1745.03 - - - - - - - - - - -
7506.13 77.13 9.89 757 7511.74 done 2.00 - - 2616.56 - 3.60 0.103 3473.81 373.1 180.96 - - 1743.62 - - - - - - - - - 15.05 -
7591.59 68.52 9.44 774 7596.73 done 2.05 - - 2617.38 - 3.38 0.046 2079.12 -412.6 180.96 - - 1743.25 - - - - - - - - - 15.33 -
7656.20 62.97 7.98 781 7698.15 2.14 0.28 0.080 2667.50 179.0 3.86 0.127 660.94 -367.4 212.12 33.60 1.121 1634.12 -3.2 0.033 - - - - - - 15.53 15.18 11.26
7806.86 49.91 8.33 811 7847.75 done 2.22 - - 2668.00 - 3.47 0.038 2131.38 423.8 239.83 32.71 1.078 1523.25 -3.4 0.028 - - - - - - - 15.53 11.51
7906.47 42.93 7.18 825 7952.33 2.34 0.26 0.069 2717.19 189.2 - - 2131.00 - 278.91 44.96 1.062 1362.25 -3.6 0.026 - - - - - - 15.46 - 11.63
8011.43 33.44 9.77 839 8012.76 no move 2.38 - - 2717.25 - - - 2131.69 - 278.91 - - 1359.41 - - - - - - - - - - -
8071.45 27.77 9.64 845 8077.07 roll 2.43 - - 2717.31 - 3.62 0.102 3475.31 371.2 278.91 - - 1359.16 - - - - - - - - - 15.23 -
8086.44 26.36 9.23 848 8091.01 roll 2.48 - - 2716.94 - 3.39 0.044 2073.44 -413.5 278.91 - - 1359.06 - - - - - - - - - 15.38 -
8156.43 22.64 5.12 856 8229.07 2.66 0.45 0.057 2795.19 173.9 3.90 0.124 659.50 -362.5 338.51 64.58 1.037 1119.88 -3.7 0.015 - - - - - - 15.45 14.99 11.59
8341 end climb: SURFACE_DEPTH_REACHED
8341 begin surface coast
8351 end surface coast: CONTROL_FINISHED_OK
8351 begin surface
SM -0.84 - - - - 170.5 2.08 0.263 563.4 239.8 18.80 0.085 558.0 29.7 - 3.46 0.037 568.8 163.3 0.379 - - 11.61 15.11 15.46 -