NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1149 * Raw log
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• Previous call tries 4 • 313.33 of 575.00 AH used of 24V (45.51% remains)
• Surface angle -62.7 deg, depth -1.48 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.72 (SM_CC=475)
• GPS1 time: 18 s
• GPS2 time: 6 s • Transponder ping count: 18
• 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 - - - 100.55 VBD -1.59 - - 170.19 - - - 2081.62 - -74.33 91.68 0.005 2715.03 - - - - - - - - - - 14.73
100.78 5.04 -10.19 9 126.81 -1.59 14.55 0.258 1753.69 108.8 4.03 0.151 660.69 -352.6 -74.33 1.74 0.016 2802.41 50.2 -2.847 - - - - - - 14.82 14.69 14.87
140.47 17.14 -25.78 17 145.66 roll -1.59 - - 1753.69 - 3.56 0.053 2120.00 409.9 -74.33 - - 2801.12 - - - - - - - - - 15.39 -
205.03 29.18 -17.81 24 210.68 roll -1.59 - - 1752.88 - 3.67 0.107 3474.88 369.2 -74.33 - - 2800.53 - - - - - - - - - 15.17 -
260.04 38.61 -17.77 35 264.64 roll -1.59 - - 1753.44 - 3.44 0.054 2080.38 -405.4 -74.33 - - 2803.66 - - - - - - - - - 15.30 -
330.04 48.76 -14.35 43 335.71 roll -1.59 - - 1753.50 - 3.77 0.102 3473.06 369.4 -74.33 - - 2800.56 - - - - - - - - - 15.14 -
345.05 51.05 -14.29 46 349.66 roll -1.59 - - 1753.69 - 3.41 0.054 2081.38 -408.1 -74.33 - - 2802.78 - - - - - - - - - 15.30 -
415.05 60.93 -13.90 54 420.71 roll -1.59 - - 1752.19 - 3.76 0.104 3473.25 370.2 -74.33 - - 2803.03 - - - - - - - - - 15.12 -
460.05 67.62 -14.75 63 464.69 roll -1.59 - - 1754.12 - 3.40 0.053 2079.25 -410.0 -74.33 - - 2804.00 - - - - - - - - - 15.30 -
530.05 75.94 -11.71 71 535.78 roll -1.59 - - 1753.75 - 4.02 0.145 660.81 -352.8 -74.33 - - 2801.84 - - - - - - - - - 14.96 -
575.57 81.73 -12.42 80 580.69 roll -1.59 - - 1753.50 - 3.49 0.045 2122.81 418.9 -74.33 - - 2801.72 - - - - - - - - - 15.39 -
640.13 89.04 -10.88 87 645.72 roll -1.59 - - 1753.62 - 3.62 0.103 3474.62 373.4 -74.33 - - 2804.06 - - - - - - - - - 15.12 -
755.09 104.91 -13.56 110 759.83 roll -1.59 - - 1752.44 - 3.40 0.052 2082.00 -409.6 -74.33 - - 2804.94 - - - - - - - - - 15.29 -
825.09 112.80 -11.31 118 830.81 roll -1.59 - - 1753.12 - 4.04 0.146 661.88 -351.5 -74.33 - - 2803.53 - - - - - - - - - 14.93 -
850.54 115.89 -11.38 123 855.73 roll -1.59 - - 1751.56 - 3.49 0.045 2123.81 418.9 -74.33 - - 2804.62 - - - - - - - - - 15.39 -
915.17 123.12 -10.75 130 920.75 roll -1.59 - - 1753.56 - 3.62 0.102 3474.56 373.1 -74.33 - - 2801.38 - - - - - - - - - 15.12 -
960.10 128.36 -11.58 139 964.71 roll -1.59 - - 1753.12 - 3.38 0.050 2080.25 -412.5 -74.33 - - 2804.69 - - - - - - - - - 15.30 -
1030.11 135.93 -11.26 147 1035.83 roll -1.59 - - 1753.50 - 3.98 0.142 660.88 -356.6 -74.33 - - 2802.41 - - - - - - - - - 14.94 -
1085.59 142.80 -13.26 158 1090.76 roll -1.59 - - 1752.44 - 3.46 0.041 2123.62 422.8 -74.33 - - 2802.91 - - - - - - - - - 15.39 -
1150.13 149.26 -9.58 165 1155.77 roll -1.59 - - 1753.12 - 3.57 0.100 3475.81 378.8 -74.33 - - 2803.53 - - - - - - - - - 15.11 -
1225.21 157.39 -9.98 180 1229.75 roll -1.59 - - 1753.31 - 3.37 0.047 2079.44 -414.4 -74.33 - - 2804.84 - - - - - - - - - 15.30 -
1355.21 169.20 -8.33 194 1361.92 done -1.67 - - 1753.50 - 3.98 0.146 661.06 -356.4 -102.03 0.60 0.038 2917.00 186.9 -149.798 - - - - - - - 14.61 14.50
1374.09 171.04 -8.64 198 1381.03 -1.75 0.37 0.067 1700.00 -144.6 3.45 0.041 2124.56 424.2 -126.58 0.51 0.044 3019.94 201.8 -141.208 - - - - - - 15.15 15.39 14.76
1500.24 185.21 -11.76 211 1505.81 roll -1.75 - - 1700.81 - 3.59 0.101 3476.06 376.5 -126.58 - - 3018.66 - - - - - - - - - 15.11 -
1535.19 189.66 -13.49 218 1539.79 roll -1.75 - - 1700.94 - 3.37 0.048 2081.19 -413.9 -126.58 - - 3022.06 - - - - - - - - - 15.29 -
1665.21 205.58 -12.60 232 1670.87 roll -1.75 - - 1701.12 - 3.73 0.099 3475.25 373.7 -126.58 - - 3019.47 - - - - - - - - - 15.09 -
1680.21 207.68 -12.77 235 1684.80 roll -1.75 - - 1700.19 - 3.36 0.047 2080.94 -415.0 -126.58 - - 3022.34 - - - - - - - - - 15.28 -
1810.25 224.88 -13.16 249 1815.89 roll -1.75 - - 1700.56 - 3.74 0.100 3475.94 373.0 -126.58 - - 3021.06 - - - - - - - - - 15.07 -
1835.28 228.22 -13.23 254 1839.81 roll -1.75 - - 1700.62 - 3.37 0.048 2081.06 -413.9 -126.58 - - 3021.59 - - - - - - - - - 15.27 -
1965.25 245.93 -13.56 268 1966.58 no move -1.75 - - 1701.00 - - - 2081.12 - -126.58 - - 3019.78 - - - - - - - - - - -
2095.30 263.40 -13.27 275 2096.63 no move -1.75 - - 1700.88 - - - 2081.12 - -126.58 - - 3020.69 - - - - - - - - - - -
2395.25 306.52 -14.79 285 2400.93 roll -1.75 - - 1700.81 - 3.80 0.105 3475.19 366.9 -126.58 - - 3021.19 - - - - - - - - - 15.02 -
2489.18 322.20 -16.86 304 2494.89 roll -1.75 - - 1700.69 - 3.40 0.052 2081.38 -409.9 -126.58 - - 3020.91 - - - - - - - - - 15.21 -
2810.29 367.68 -13.73 318 2815.96 roll -1.75 - - 1700.50 - 3.81 0.105 3475.25 365.8 -126.58 - - 3021.22 - - - - - - - - - 14.99 -
2869.25 376.10 -14.31 330 2874.88 roll -1.75 - - 1700.56 - 3.39 0.051 2081.38 -411.2 -126.58 - - 3021.03 - - - - - - - - - 15.20 -
3195.32 416.51 -12.02 345 3196.64 no move -1.75 - - 1700.75 - - - 2081.00 - -126.58 - - 3020.62 - - - - - - - - - - -
3495.31 452.64 -12.17 355 3500.99 roll -1.75 - - 1701.31 - 3.84 0.108 3476.69 363.5 -126.58 - - 3018.81 - - - - - - - - - 14.95 -
3544.23 459.04 -13.47 365 3551.04 roll -1.75 - - 1700.62 - 3.42 0.055 2081.88 -407.8 -126.58 - - 3021.75 - - - - - - - - - 15.15 -
3850.33 495.69 -11.78 376 3851.66 no move -1.75 - - 1700.81 - - - 2082.00 - -126.58 - - 3020.34 - - - - - - - - - - -
3910 end dive: TARGET_DEPTH_EXCEEDED
3910 begin apogee
3911.47 502.02 -11.28 378 4021.84 -0.25 3.27 0.162 2078.25 115.4 0.09 0.232 2083.81 - - 105.94 1.636 2497.22 -4.9 0.273 - - - - - - 14.85 14.82 10.99
4024 end apogee: CONTROL_FINISHED_OK
4024 begin climb
4025.04 505.95 - 381 4144.22 1.75 3.58 0.079 2570.44 137.5 - - 2083.44 - 126.58 114.48 1.581 1984.47 -4.5 0.258 - - - - - - 15.05 - 11.30
4420.37 472.87 9.52 395 4426.04 done 1.80 - - 2569.88 - 3.98 0.137 661.75 -357.2 126.58 - - 1971.03 - - - - - - - - - 15.17 -
4569.28 455.01 11.80 425 4575.00 done 1.80 - - 2569.81 - 3.51 0.044 2127.88 417.7 126.58 - - 1970.69 - - - - - - - - - 15.46 -
4895.46 424.71 9.75 440 4901.26 done 1.84 - - 2569.88 - 4.05 0.131 660.75 -362.3 126.58 - - 1967.44 - - - - - - - - - 15.15 -
5064.38 405.46 11.85 474 5071.13 done 1.84 - - 2571.00 - 3.48 0.041 2127.00 421.3 126.58 - - 1967.62 - - - - - - - - - 15.47 -
5370.44 374.74 9.78 485 5376.19 1.88 0.15 0.087 2606.62 237.5 4.05 0.129 660.69 -362.1 126.58 - - 1965.22 - - - - - - - - 15.60 15.09 -
5569.37 349.58 11.62 525 5576.15 done 1.88 - - 2606.88 - 3.49 0.042 2127.88 420.4 126.58 - - 1966.69 - - - - - - - - - 15.45 -
5875.48 315.95 11.02 536 5881.11 done 1.88 - - 2606.38 - 3.63 0.108 3474.75 371.0 126.58 - - 1963.81 - - - - - - - - - 15.12 -
6104.41 292.27 10.09 582 6111.19 done 1.91 - - 2606.88 - 3.39 0.050 2077.88 -412.1 126.58 - - 1966.78 - - - - - - - - - 15.28 -
6410.52 265.83 8.09 593 6442.23 done 2.00 - - 2607.75 - 3.76 0.107 3475.38 371.7 156.60 25.44 1.358 1860.19 -4.2 0.148 - - - - - - - 15.24 11.36
6470.53 260.70 9.46 605 6476.16 roll back 2.05 0.19 0.090 2647.50 209.2 3.38 0.049 2076.69 -413.8 156.60 - - 1859.44 - - - - - - - - 15.29 15.47 -
6775.53 229.92 11.13 632 6781.22 roll 2.05 - - 2646.31 - 3.89 0.129 659.81 -364.2 156.60 - - 1855.44 - - - - - - - - - 15.18 -
6951.02 207.16 13.26 667 6956.19 roll 2.05 - - 2646.50 - 3.49 0.041 2129.31 421.1 156.60 - - 1855.06 - - - - - - - - - 15.48 -
7075.60 193.49 10.29 680 7081.30 roll 2.07 - - 2646.38 - 4.03 0.122 659.62 -364.7 156.60 - - 1855.25 - - - - - - - - - 15.13 -
7144.50 184.94 11.94 694 7151.31 roll 2.07 - - 2646.94 - 3.46 0.039 2128.19 424.4 156.60 - - 1854.94 - - - - - - - - - 15.45 -
7270.64 171.88 10.20 707 7276.28 roll 2.10 - - 2646.94 - 3.62 0.104 3475.56 372.2 156.60 - - 1853.91 - - - - - - - - - 15.17 -
7286.08 170.31 10.35 710 7291.21 roll 2.12 - - 2647.12 - 3.36 0.045 2074.44 -417.0 156.60 - - 1852.78 - - - - - - - - - 15.39 -
7410.64 157.93 9.98 723 7416.31 roll 2.16 - - 2646.94 - 3.89 0.126 660.81 -363.4 156.60 - - 1852.56 - - - - - - - - - 15.10 -
7489.55 148.73 11.47 739 7496.35 roll 2.16 - - 2648.31 - 3.47 0.040 2130.81 423.6 156.60 - - 1853.88 - - - - - - - - - 15.45 -
7555.73 142.68 8.75 746 7581.25 2.23 0.20 0.077 2690.06 208.8 - - 2130.50 - 180.06 23.98 1.194 1764.28 -3.7 0.080 - - - - - - 15.60 - 11.61
7635.71 134.04 11.20 754 7637.04 no move 2.23 - - 2689.25 - - - 2130.19 - 180.06 - - 1763.62 - - - - - - - - - - -
7695.67 126.78 12.29 760 7701.36 roll 2.23 - - 2690.00 - 3.98 0.122 660.56 -369.3 180.06 - - 1761.25 - - - - - - - - - 15.26 -
7861.14 103.31 13.90 793 7866.30 roll 2.23 - - 2690.00 - 3.47 0.041 2129.44 423.3 180.06 - - 1759.91 - - - - - - - - - 15.50 -
7925.69 95.96 11.14 800 7931.32 roll 2.23 - - 2689.00 - 3.59 0.105 3474.31 374.6 180.06 - - 1760.66 - - - - - - - - - 15.21 -
7954.60 92.09 12.89 806 7961.39 roll 2.23 - - 2690.12 - 3.37 0.049 2074.00 -415.5 180.06 - - 1760.12 - - - - - - - - - 15.38 -
8020.77 85.38 10.37 813 8022.10 no move 2.25 - - 2690.00 - - - 2073.50 - 180.06 - - 1760.28 - - - - - - - - - - -
8080.72 79.90 9.03 819 8112.45 done 2.31 - - 2689.56 - 3.82 0.130 659.44 -370.2 200.73 25.01 1.107 1682.03 -3.1 0.041 - - - - - - - 15.19 11.62
8134.67 73.73 12.51 830 8141.45 roll 2.31 - - 2690.06 - 3.48 0.043 2129.25 422.4 200.73 - - 1680.72 - - - - - - - - - 15.53 -
8200.80 66.45 10.74 837 8206.46 roll 2.31 - - 2691.25 - 3.96 0.123 659.69 -371.1 200.73 - - 1678.09 - - - - - - - - - 15.26 -
8309.69 56.20 7.94 859 8352.28 2.41 0.22 0.071 2735.12 199.4 3.47 0.041 2133.38 424.7 232.25 37.04 1.089 1552.41 -3.4 0.032 - - - - - - 15.28 15.50 11.63
8410.78 48.20 9.12 873 8416.40 roll 2.47 - - 2735.25 - 3.56 0.106 3475.62 377.0 232.25 - - 1548.38 - - - - - - - - - 15.28 -
8449.67 43.68 11.08 881 8456.46 roll 2.47 - - 2736.25 - 3.39 0.047 2074.94 -413.2 232.25 - - 1549.09 - - - - - - - - - 15.39 -
8515.84 37.56 8.91 888 8547.07 done 2.53 - - 2736.19 - 3.71 0.103 3475.00 377.4 254.15 25.49 1.038 1463.38 -3.4 0.022 - - - - - - - 15.14 11.50
8589.94 30.50 9.27 903 8596.54 roll back 2.59 0.21 0.076 2777.06 194.6 3.38 0.047 2075.44 -414.1 254.15 - - 1462.03 - - - - - - - - 15.24 15.41 -
8655.79 25.14 8.09 910 8697.77 done 2.68 - - 2776.44 - 3.84 0.125 660.81 -368.4 284.23 34.48 1.034 1340.97 -3.5 0.015 - - - - - - - 15.06 11.56
8920.00 8.43 8.54 962 8953.35 2.75 0.19 0.077 2819.44 226.3 3.48 0.040 2132.31 422.8 309.86 28.07 1.002 1237.34 -3.7 0.006 - - - - - - 15.23 15.46 11.54
9000 end climb: SURFACE_DEPTH_REACHED
9000 begin surface coast
9020 end surface coast: CONTROL_FINISHED_OK
9021 begin surface
SM -0.65 - - - - 180.2 0.01 0.350 564.8 53673.0 18.47 0.064 560.9 30.4 - 0.11 0.123 568.6 5137.5 2.775 - - 30.36 15.19 15.48 -