NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1156 * Raw log
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• Previous call tries 1 • 315.11 of 575.00 AH used of 24V (45.20% remains)
• Surface angle -62.8 deg, depth -1.50 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.95 (SM_CC=475)
• GPS1 time: 2 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
8.50 - - - 95.42 VBD -1.59 - - 170.81 - - - 2117.44 - -74.33 86.52 0.005 2580.03 - - - - - - - - - - 14.66
95.69 4.51 -10.07 9 123.75 -1.59 14.48 0.257 1751.94 109.2 4.18 0.147 662.12 -348.2 -74.33 4.73 0.009 2802.31 47.0 -4.235 - - - - - - 14.84 14.64 14.87
142.44 16.86 -22.01 18 147.60 roll -1.59 - - 1753.31 - 3.57 0.049 2121.06 408.7 -74.33 - - 2800.84 - - - - - - - - - 15.41 -
206.96 30.17 -20.46 25 212.62 roll -1.59 - - 1753.38 - 3.67 0.104 3476.62 369.4 -74.33 - - 2802.53 - - - - - - - - - 15.19 -
225.89 34.19 -20.70 29 232.68 roll -1.59 - - 1753.81 - 3.40 0.051 2080.00 -410.8 -74.33 - - 2803.03 - - - - - - - - - 15.31 -
292.03 45.56 -17.42 36 297.64 roll -1.59 - - 1752.19 - 3.77 0.102 3475.44 370.1 -74.33 - - 2804.47 - - - - - - - - - 15.17 -
310.90 49.18 -18.50 40 317.67 roll -1.59 - - 1753.31 - 3.39 0.050 2081.00 -411.3 -74.33 - - 2803.38 - - - - - - - - - 15.31 -
377.03 59.66 -16.11 47 382.71 roll -1.59 - - 1753.25 - 4.05 0.143 661.81 -350.4 -74.33 - - 2800.84 - - - - - - - - - 15.02 -
422.44 67.08 -16.78 56 427.63 roll -1.59 - - 1752.00 - 3.52 0.045 2122.12 414.9 -74.33 - - 2804.12 - - - - - - - - - 15.38 -
486.99 75.49 -12.11 63 492.67 roll -1.59 - - 1753.56 - 3.64 0.103 3475.25 371.7 -74.33 - - 2801.41 - - - - - - - - - 15.14 -
592.01 88.28 -11.42 84 596.61 roll -1.59 - - 1753.56 - 3.38 0.050 2079.88 -412.8 -74.33 - - 2803.53 - - - - - - - - - 15.30 -
662.01 95.49 -9.83 92 667.73 roll -1.59 - - 1753.25 - 4.06 0.143 662.00 -349.2 -74.33 - - 2800.94 - - - - - - - - - 14.99 -
717.48 101.35 -11.44 103 722.66 roll -1.59 - - 1753.31 - 3.52 0.043 2123.69 415.3 -74.33 - - 2802.38 - - - - - - - - - 15.39 -
782.02 107.88 -10.00 110 783.35 no move -1.59 - - 1753.12 - - - 2123.25 - -74.33 - - 2803.06 - - - - - - - - - - -
842.04 113.68 -9.74 116 843.37 no move -1.59 - - 1753.12 - - - 2123.00 - -74.33 - - 2803.16 - - - - - - - - - - -
902.04 119.63 -9.86 122 907.69 roll -1.59 - - 1753.44 - 3.64 0.101 3475.06 371.4 -74.33 - - 2801.28 - - - - - - - - - 15.11 -
950.95 125.23 -11.03 132 957.76 roll -1.59 - - 1754.06 - 3.39 0.049 2080.25 -411.4 -74.33 - - 2802.94 - - - - - - - - - 15.28 -
1017.10 132.81 -11.90 139 1022.76 roll -1.59 - - 1753.62 - 4.07 0.143 661.44 -348.6 -74.33 - - 2802.62 - - - - - - - - - 14.95 -
1072.51 140.02 -13.15 150 1077.67 roll -1.59 - - 1753.12 - 3.49 0.041 2125.44 419.5 -74.33 - - 2801.59 - - - - - - - - - 15.39 -
1137.05 147.14 -10.57 157 1142.71 roll -1.59 - - 1753.38 - 3.64 0.100 3476.00 371.0 -74.33 - - 2803.41 - - - - - - - - - 15.11 -
1172.05 151.39 -11.89 164 1176.65 roll -1.59 - - 1753.25 - 3.38 0.046 2080.00 -413.0 -74.33 - - 2803.53 - - - - - - - - - 15.30 -
1302.08 164.57 -9.63 178 1303.41 no move -1.59 - - 1753.06 - - - 2079.38 - -74.33 - - 2803.38 - - - - - - - - - - -
1422.08 176.16 -9.48 190 1423.41 no move -1.59 - - 1753.31 - - - 2080.25 - -74.33 - - 2803.19 - - - - - - - - - - -
1542.10 187.08 -8.94 202 1547.80 done -1.66 - - 1753.38 - 3.80 0.105 3477.31 367.6 -95.91 0.44 0.050 2896.03 211.0 -141.979 - - - - - - - 14.66 14.53
1611.00 194.46 -11.21 216 1617.81 roll -1.66 - - 1753.56 - 3.40 0.051 2081.12 -410.6 -95.91 - - 2895.66 - - - - - - - - - 15.26 -
1737.11 207.10 -9.90 229 1742.84 roll -1.66 - - 1753.81 - 4.11 0.144 661.94 -345.3 -95.91 - - 2894.44 - - - - - - - - - 14.94 -
1766.01 210.41 -11.03 235 1772.84 roll -1.66 - - 1753.31 - 3.51 0.042 2123.19 416.3 -95.91 - - 2896.78 - - - - - - - - - 15.35 -
1892.12 222.68 -9.21 248 1897.76 roll -1.66 - - 1753.06 - 3.64 0.103 3473.56 371.0 -95.91 - - 2895.31 - - - - - - - - - 15.06 -
1937.12 227.94 -11.23 257 1941.72 roll -1.66 - - 1753.12 - 3.37 0.048 2081.00 -413.2 -95.91 - - 2896.50 - - - - - - - - - 15.26 -
2067.14 240.81 -10.02 271 2072.83 roll -1.66 - - 1753.31 - 3.80 0.103 3474.25 366.6 -95.91 - - 2895.28 - - - - - - - - - 15.03 -
2096.04 244.00 -9.66 277 2102.84 roll -1.66 - - 1753.56 - 3.38 0.049 2081.62 -412.0 -95.91 - - 2896.25 - - - - - - - - - 15.24 -
2222.14 256.96 -9.74 286 2223.47 no move -1.66 - - 1753.00 - - - 2081.75 - -95.91 - - 2896.09 - - - - - - - - - - -
2522.15 287.29 -10.00 296 2527.84 roll -1.66 - - 1753.50 - 3.84 0.106 3474.12 362.6 -95.91 - - 2894.88 - - - - - - - - - 14.99 -
2607.17 296.97 -11.72 313 2611.78 roll -1.66 - - 1753.81 - 3.42 0.052 2080.44 -407.5 -95.91 - - 2897.00 - - - - - - - - - 15.21 -
2937.28 328.72 -9.58 329 2942.93 roll -1.66 - - 1752.31 - 4.13 0.148 661.88 -343.5 -95.91 - - 2896.16 - - - - - - - - - 14.86 -
2996.13 335.74 -11.93 341 3001.83 roll -1.66 - - 1753.38 - 3.51 0.045 2122.88 416.2 -95.91 - - 2895.75 - - - - - - - - - 15.30 -
3322.24 367.65 -9.86 356 3327.88 roll -1.66 - - 1751.81 - 3.68 0.109 3474.00 367.2 -95.91 - - 2896.78 - - - - - - - - - 14.96 -
3371.15 373.07 -10.71 366 3377.94 roll -1.66 - - 1752.81 - 3.41 0.052 2082.06 -408.2 -95.91 - - 2897.56 - - - - - - - - - 15.17 -
3677.24 405.37 -10.62 377 3682.92 roll -1.66 - - 1753.12 - 3.84 0.108 3475.88 363.0 -95.91 - - 2894.28 - - - - - - - - - 14.94 -
3711.15 409.50 -13.22 384 3716.86 roll -1.66 - - 1753.75 - 3.42 0.051 2081.38 -407.7 -95.91 - - 2895.69 - - - - - - - - - 15.16 -
4032.27 444.15 -10.45 398 4037.94 roll -1.66 - - 1753.44 - 3.85 0.109 3474.50 361.8 -95.91 - - 2894.81 - - - - - - - - - 14.91 -
4061.17 447.78 -12.08 404 4066.87 roll -1.66 - - 1752.75 - 3.42 0.052 2082.00 -407.2 -95.91 - - 2897.00 - - - - - - - - - 15.13 -
4387.28 480.71 -10.32 419 4392.96 roll -1.66 - - 1753.19 - 3.86 0.111 3473.12 360.4 -95.91 - - 2894.03 - - - - - - - - - 14.90 -
4416.18 484.71 -13.34 425 4421.88 roll -1.66 - - 1753.56 - 3.43 0.054 2081.06 -405.8 -95.91 - - 2896.88 - - - - - - - - - 15.12 -
4592 end dive: TARGET_DEPTH_EXCEEDED
4592 begin apogee
4593.43 502.15 -9.99 435 4680.07 -0.25 2.66 0.153 2080.19 122.8 0.09 0.224 2084.00 32.7 - 82.08 1.645 2499.38 -4.8 0.266 - - - - - - 14.87 14.89 10.96
4683 end apogee: CONTROL_FINISHED_OK
4683 begin climb
4683.28 505.94 - 437 4778.68 1.66 3.38 0.079 2546.31 137.9 - - 2083.62 - 95.91 87.97 1.591 2108.06 -4.4 0.254 - - - - - - 15.10 - 11.38
5076.78 479.42 8.69 451 5108.33 done 1.73 - - 2545.00 - 3.98 0.138 660.94 -357.5 120.00 22.04 1.472 2009.84 -4.5 0.261 - - - - - - - 15.09 11.67
5155.68 471.33 10.40 467 5161.32 roll 1.75 - - 2546.38 - 3.52 0.043 2126.88 416.5 120.00 - - 2007.25 - - - - - - - - - 15.45 -
5466.73 442.08 9.38 479 5472.49 1.80 0.19 0.079 2588.44 221.4 4.09 0.132 660.44 -358.5 120.00 - - 2002.00 - - - - - - - - 15.54 15.17 -
5695.66 415.86 12.12 525 5702.48 done 1.80 - - 2590.00 - 3.52 0.042 2125.06 416.1 120.00 - - 2002.91 - - - - - - - - - 15.45 -
6001.78 384.71 9.91 536 6007.60 done 1.84 - - 2588.56 - 4.07 0.129 660.94 -359.7 120.00 - - 2000.41 - - - - - - - - - 15.09 -
6147.22 366.42 11.49 565 6152.39 done 1.84 - - 2589.81 - 3.49 0.042 2124.88 419.5 120.00 - - 2000.88 - - - - - - - - - 15.47 -
6471.85 335.56 8.87 580 6497.95 done 1.90 - - 2588.75 - 4.02 0.130 660.31 -364.3 142.27 20.75 1.393 1918.53 -4.0 0.172 - - - - - - - 15.25 11.44
6720.74 308.58 10.14 630 6726.44 roll 1.93 - - 2590.12 - 3.51 0.042 2125.19 417.3 142.27 - - 1914.41 - - - - - - - - - 15.48 -
7036.85 278.70 9.25 643 7042.63 roll back 1.99 0.20 0.075 2633.50 216.9 4.11 0.126 659.56 -356.6 142.27 - - 1911.06 - - - - - - - - 15.54 15.13 -
7212.29 255.93 12.96 678 7217.48 roll 1.99 - - 2633.12 - 3.51 0.041 2128.69 418.6 142.27 - - 1911.38 - - - - - - - - - 15.43 -
7516.88 222.78 10.66 707 7518.21 VBD 1.99 - - 2632.75 - - - 2128.50 - 142.27 - - 1911.22 - - - - - - - - - - -
7636.91 211.17 10.30 719 7642.64 done 2.01 - - 2632.88 - 4.13 0.128 660.19 -355.5 142.27 - - 1912.41 - - - - - - - - - 15.02 -
7652.40 209.21 10.19 722 7657.50 done 2.04 - - 2633.12 - 3.48 0.040 2126.81 421.4 142.27 - - 1911.78 - - - - - - - - - 15.46 -
7776.92 197.09 9.84 735 7782.62 done 2.08 - - 2633.50 - 4.07 0.123 660.62 -360.2 142.27 - - 1910.09 - - - - - - - - - 15.05 -
7842.40 189.41 11.78 748 7847.52 done 2.08 - - 2632.44 - 3.48 0.040 2126.50 421.2 142.27 - - 1911.06 - - - - - - - - - 15.43 -
7966.94 176.46 10.03 761 7972.56 done 2.11 - - 2630.81 - 3.64 0.107 3471.94 369.6 142.27 - - 1911.44 - - - - - - - - - 15.09 -
7985.89 174.25 10.25 765 7992.67 2.14 0.16 0.085 2669.56 242.2 3.39 0.048 2080.19 -410.5 142.27 - - 1910.81 - - - - - - - - 15.13 15.34 -
8111.93 160.71 10.80 778 8117.64 done 2.14 - - 2668.38 - 3.95 0.124 659.69 -359.6 142.27 - - 1910.25 - - - - - - - - - 15.04 -
8240.85 145.00 11.99 804 8247.66 done 2.14 - - 2669.69 - 3.47 0.040 2128.38 423.3 142.27 - - 1911.47 - - - - - - - - - 15.37 -
8307.02 138.20 10.40 811 8312.60 done 2.16 - - 2670.06 - 3.62 0.105 3474.56 371.9 142.27 - - 1909.00 - - - - - - - - - 15.08 -
8382.02 129.92 9.57 826 8386.55 done 2.21 - - 2670.00 - 3.40 0.048 2078.12 -410.7 142.27 - - 1911.31 - - - - - - - - - 15.30 -
8451.98 123.01 9.28 834 8453.31 VBD 2.26 - - 2670.12 - - - 2078.31 - 142.27 - - 1910.47 - - - - - - - - - - -
8512.00 117.61 8.56 840 8547.40 2.34 0.24 0.079 2713.94 182.6 3.87 0.125 659.50 -366.6 167.67 29.59 1.167 1815.91 -3.2 0.058 - - - - - - 15.56 15.20 11.35
8772.49 87.91 11.18 892 8777.61 roll 2.34 - - 2713.31 - 3.49 0.039 2129.38 421.2 167.67 - - 1812.97 - - - - - - - - - 15.50 -
8837.01 82.56 7.44 899 8889.12 done 2.45 - - 2714.56 - 3.99 0.120 660.12 -368.2 204.17 43.01 1.131 1666.88 -3.4 0.045 - - - - - - - 15.10 11.57
9111.34 57.19 8.84 954 9143.74 2.51 0.22 0.071 2762.94 219.9 3.51 0.039 2130.44 418.9 226.80 26.60 1.070 1573.97 -3.5 0.034 - - - - - - 15.22 15.45 11.57
9202.43 49.68 8.98 966 9234.25 done 2.58 - - 2761.62 - 4.01 0.120 659.31 -366.9 248.00 25.39 1.043 1488.38 -3.4 0.029 - - - - - - - 15.08 11.60
9346.42 35.19 9.90 995 9353.22 roll 2.61 - - 2762.38 - 3.51 0.039 2130.38 419.1 248.00 - - 1486.16 - - - - - - - - - 15.45 -
9412.50 30.63 7.15 1002 9464.32 2.73 0.25 0.065 2815.75 213.5 3.61 0.105 3474.75 372.4 287.40 44.03 1.055 1328.06 -3.6 0.019 - - - - - - 15.48 15.06 11.57
9686.49 9.56 8.48 1057 9719.78 done 2.81 - - 2815.50 - 3.42 0.048 2077.81 -408.5 313.57 28.42 1.007 1221.06 -3.8 0.006 - - - - - - - 15.37 11.53
9777.58 2.01 8.79 1069 9781.60 done 2.88 - - 2815.50 - - - 2077.88 - 336.67 3.54 0.362 1217.81 -0.9 0.001 - - - - - - - - 11.58
9781 end climb: SURFACE_DEPTH_REACHED
9781 begin surface coast
9807 end surface coast: CONTROL_FINISHED_OK
9807 begin surface
SM -0.61 - - - - 170.1 2.13 0.295 563.8 263.0 18.52 0.072 557.9 30.1 - 0.08 0.136 569.8 7122.5 3.265 - - 11.64 15.19 15.50 -