NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1170 * Raw log
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• Previous call tries 1 • 318.65 of 575.00 AH used of 24V (44.58% remains)
• Surface angle -64.2 deg, depth -1.46 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.70 (SM_CC=475)
• GPS1 time: 8 s
• GPS2 time: 2 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
8.66 - - - 90.33 VBD -1.59 - - 170.31 - - - 2115.88 - -74.33 81.19 0.005 2437.34 - - - - - - - - - - 14.67
90.58 3.42 -7.38 8 126.73 -1.70 14.31 0.259 1726.00 108.7 4.18 0.146 662.06 -347.8 -111.47 11.55 0.007 2956.06 44.9 -3.952 - - - - - - 14.84 14.62 14.85
170.40 21.85 -21.30 24 175.59 roll -1.70 - - 1727.00 - 3.57 0.050 2119.94 408.4 -111.47 - - 2952.75 - - - - - - - - - 15.34 -
234.96 34.13 -18.65 31 240.61 roll -1.70 - - 1726.56 - 3.68 0.105 3475.06 368.2 -111.47 - - 2953.22 - - - - - - - - - 15.14 -
263.87 40.22 -20.88 37 270.67 roll -1.70 - - 1726.00 - 3.44 0.053 2080.81 -405.3 -111.47 - - 2955.91 - - - - - - - - - 15.27 -
330.02 51.74 -16.99 44 335.69 roll -1.70 - - 1726.75 - 4.04 0.144 660.81 -351.5 -111.47 - - 2955.44 - - - - - - - - - 15.01 -
355.41 55.95 -16.89 49 360.60 roll -1.70 - - 1726.12 - 3.55 0.046 2123.88 412.1 -111.47 - - 2957.38 - - - - - - - - - 15.35 -
419.98 66.20 -15.41 56 425.63 roll -1.70 - - 1727.31 - 3.62 0.102 3475.81 373.5 -111.47 - - 2953.75 - - - - - - - - - 15.13 -
488.91 76.90 -15.49 70 495.69 roll -1.70 - - 1727.06 - 3.39 0.052 2080.75 -411.5 -111.47 - - 2954.66 - - - - - - - - - 15.26 -
555.07 86.16 -13.73 77 560.66 roll -1.70 - - 1727.31 - 3.76 0.100 3476.44 371.2 -111.47 - - 2954.66 - - - - - - - - - 15.12 -
583.90 90.23 -13.53 83 590.69 roll -1.70 - - 1726.75 - 3.39 0.050 2080.12 -411.9 -111.47 - - 2954.56 - - - - - - - - - 15.26 -
650.06 97.57 -11.49 90 655.72 roll -1.70 - - 1725.44 - 4.05 0.144 661.75 -350.2 -111.47 - - 2957.41 - - - - - - - - - 14.98 -
668.97 99.88 -11.17 94 675.73 roll -1.70 - - 1726.44 - 3.52 0.045 2122.12 414.9 -111.47 - - 2957.84 - - - - - - - - - 15.35 -
735.08 106.86 -10.63 101 740.75 roll -1.70 - - 1726.62 - 4.16 0.143 662.00 -351.0 -111.47 - - 2953.28 - - - - - - - - - 14.97 -
763.93 110.70 -12.83 107 770.75 roll -1.70 - - 1727.19 - 3.51 0.046 2123.06 416.3 -111.47 - - 2954.84 - - - - - - - - - 15.34 -
830.02 117.80 -10.89 114 835.67 roll -1.70 - - 1726.12 - 3.61 0.103 3475.69 374.7 -111.47 - - 2955.28 - - - - - - - - - 15.11 -
908.94 127.21 -11.75 130 915.72 roll -1.70 - - 1726.94 - 3.38 0.051 2079.75 -413.0 -111.47 - - 2955.38 - - - - - - - - - 15.24 -
975.10 133.77 -10.09 137 980.76 roll -1.70 - - 1725.62 - 4.05 0.145 661.50 -350.2 -111.47 - - 2957.53 - - - - - - - - - 14.94 -
1013.96 138.70 -12.45 145 1020.75 roll -1.70 - - 1727.00 - 3.49 0.046 2123.25 418.8 -111.47 - - 2955.16 - - - - - - - - - 15.33 -
1080.11 145.95 -10.81 152 1085.68 roll -1.70 - - 1726.75 - 3.60 0.102 3475.06 375.5 -111.47 - - 2954.34 - - - - - - - - - 15.10 -
1145.07 154.20 -12.90 165 1149.65 roll -1.70 - - 1726.44 - 3.40 0.051 2080.12 -410.3 -111.47 - - 2956.44 - - - - - - - - - 15.25 -
1275.09 169.02 -10.87 179 1276.41 no move -1.70 - - 1726.38 - - - 2080.12 - -111.47 - - 2955.69 - - - - - - - - - - -
1395.08 182.51 -11.46 191 1400.76 roll -1.70 - - 1726.75 - 3.79 0.101 3475.69 368.2 -111.47 - - 2955.66 - - - - - - - - - 15.05 -
1444.00 188.75 -12.32 201 1450.78 roll -1.70 - - 1725.81 - 3.42 0.052 2081.19 -407.7 -111.47 - - 2957.44 - - - - - - - - - 15.21 -
1570.10 203.46 -11.94 214 1575.81 roll -1.70 - - 1726.75 - 4.10 0.147 661.69 -346.2 -111.47 - - 2955.31 - - - - - - - - - 14.92 -
1615.56 208.99 -12.59 223 1620.73 roll -1.70 - - 1726.94 - 3.54 0.047 2121.56 412.4 -111.47 - - 2954.06 - - - - - - - - - 15.33 -
1740.11 222.87 -10.85 236 1745.75 roll -1.70 - - 1726.75 - 3.67 0.105 3473.69 368.4 -111.47 - - 2956.25 - - - - - - - - - 15.04 -
1789.03 229.06 -12.37 246 1795.82 roll -1.70 - - 1726.62 - 3.41 0.052 2080.62 -408.5 -111.47 - - 2955.84 - - - - - - - - - 15.20 -
1915.14 242.37 -10.42 259 1920.83 roll -1.70 - - 1725.94 - 4.09 0.146 662.81 -346.7 -111.47 - - 2958.34 - - - - - - - - - 14.91 -
1940.57 245.47 -10.97 264 1945.76 roll -1.70 - - 1726.50 - 3.54 0.046 2123.94 412.7 -111.47 - - 2955.94 - - - - - - - - - 15.33 -
2075.12 260.17 -10.79 272 2080.78 roll -1.70 - - 1726.25 - 3.66 0.105 3474.44 369.0 -111.47 - - 2954.94 - - - - - - - - - 15.02 -
2134.05 267.12 -11.37 284 2139.73 roll -1.70 - - 1727.12 - 3.39 0.052 2082.38 -410.6 -111.47 - - 2956.44 - - - - - - - - - 15.18 -
2460.16 301.78 -11.00 299 2461.49 no move -1.70 - - 1726.75 - - - 2081.81 - -111.47 - - 2956.16 - - - - - - - - - - -
2760.16 334.82 -11.08 309 2765.85 roll -1.70 - - 1727.25 - 3.84 0.108 3472.75 362.2 -111.47 - - 2957.44 - - - - - - - - - 14.95 -
2804.09 340.35 -13.17 318 2809.78 roll -1.70 - - 1726.19 - 3.44 0.055 2080.69 -404.7 -111.47 - - 2958.53 - - - - - - - - - 15.13 -
3115.19 375.52 -11.33 330 3120.93 roll -1.70 - - 1726.81 - 4.14 0.153 662.00 -342.7 -111.47 - - 2954.69 - - - - - - - - - 14.83 -
3134.09 378.05 -10.85 334 3140.91 roll -1.70 - - 1726.69 - 3.55 0.048 2121.00 411.0 -111.47 - - 2955.91 - - - - - - - - - 15.26 -
3440.20 412.46 -11.11 345 3445.87 roll -1.70 - - 1726.81 - 3.71 0.110 3473.88 364.7 -111.47 - - 2954.25 - - - - - - - - - 14.94 -
3474.11 416.55 -11.67 352 3479.82 roll -1.70 - - 1726.25 - 3.42 0.055 2081.38 -407.2 -111.47 - - 2956.94 - - - - - - - - - 15.12 -
3795.22 452.80 -11.15 366 3800.90 roll -1.70 - - 1726.94 - 3.87 0.110 3474.50 360.0 -111.47 - - 2953.81 - - - - - - - - - 14.93 -
3889.14 463.97 -11.92 385 3894.84 roll -1.70 - - 1727.06 - 3.47 0.057 2081.88 -401.3 -111.47 - - 2955.88 - - - - - - - - - 15.09 -
4210.25 497.44 -9.95 399 4215.92 roll -1.70 - - 1726.12 - 3.89 0.110 3475.31 358.2 -111.47 - - 2957.03 - - - - - - - - - 14.90 -
4229 end dive: TARGET_DEPTH_EXCEEDED
4229 begin apogee
4234.01 500.04 -9.92 403 4331.89 -0.25 2.95 0.162 2077.94 119.3 0.08 0.233 2124.75 -16882.0 - 93.38 1.635 2499.16 -4.9 0.270 - - - - - - 14.82 14.85 11.11
4334 end apogee: CONTROL_FINISHED_OK
4335 begin climb
4335.17 502.90 - 407 4446.07 1.70 3.51 0.078 2557.56 136.6 4.28 0.136 660.62 -342.1 111.47 101.29 1.576 2044.09 -4.5 0.258 - - - - - - 15.06 14.60 11.37
4498.22 491.29 10.94 440 4503.92 roll 1.70 - - 2557.31 - 3.60 0.043 2125.62 406.9 111.47 - - 2039.34 - - - - - - - - - 15.16 -
4814.33 460.59 9.99 453 4820.04 done 1.74 - - 2556.44 - 4.12 0.133 661.94 -355.3 111.47 - - 2030.84 - - - - - - - - - 15.15 -
4899.77 451.55 9.52 470 4904.95 done 1.78 - - 2557.12 - 3.53 0.045 2125.44 414.6 111.47 - - 2029.00 - - - - - - - - - 15.44 -
5224.40 421.61 8.88 485 5249.47 1.85 0.19 0.072 2602.06 236.5 3.66 0.116 3475.81 369.0 133.68 19.58 1.418 1953.19 -3.9 0.207 - - - - - - 15.55 15.22 11.59
5258.24 417.81 10.83 492 5263.95 roll 1.85 - - 2602.56 - 3.42 0.055 2078.75 -408.5 133.68 - - 1952.53 - - - - - - - - - 15.42 -
5584.36 382.61 10.80 507 5590.05 roll 1.85 - - 2602.50 - 3.98 0.135 661.12 -356.2 133.68 - - 1949.06 - - - - - - - - - 15.15 -
5813.28 353.67 13.65 553 5820.11 roll 1.85 - - 2601.62 - 3.53 0.045 2125.06 414.7 133.68 - - 1950.25 - - - - - - - - - 15.41 -
6119.39 321.38 10.79 564 6125.13 roll 1.85 - - 2600.94 - 4.12 0.129 661.69 -355.2 133.68 - - 1947.69 - - - - - - - - - 15.07 -
6348.33 293.03 12.48 610 6355.15 done 1.85 - - 2601.06 - 3.55 0.047 2125.62 412.4 133.68 - - 1948.59 - - - - - - - - - 15.39 -
6654.45 265.99 8.81 621 6681.62 done 1.92 - - 2602.38 - 4.03 0.131 661.00 -363.4 156.53 21.32 1.321 1860.38 -4.1 0.150 - - - - - - - 15.26 11.44
6830.36 246.15 11.58 656 6835.51 roll 1.92 - - 2603.38 - 3.52 0.045 2127.62 416.7 156.53 - - 1857.16 - - - - - - - - - 15.50 -
6954.88 233.33 10.75 669 6960.61 roll 1.92 - - 2601.88 - 4.09 0.127 660.75 -358.6 156.53 - - 1854.72 - - - - - - - - - 15.17 -
7013.81 226.23 12.51 681 7020.63 roll 1.92 - - 2602.44 - 3.52 0.044 2126.38 416.4 156.53 - - 1855.88 - - - - - - - - - 15.45 -
7139.91 212.80 10.73 694 7145.63 roll 1.92 - - 2601.81 - 4.11 0.126 660.88 -356.6 156.53 - - 1854.31 - - - - - - - - - 15.11 -
7188.82 206.50 13.31 704 7195.62 roll 1.92 - - 2601.75 - 3.51 0.043 2127.81 417.9 156.53 - - 1856.12 - - - - - - - - - 15.43 -
7314.94 193.20 10.47 717 7320.56 roll 1.94 - - 2602.94 - 3.64 0.108 3475.75 370.3 156.53 - - 1856.16 - - - - - - - - - 15.15 -
7353.82 189.08 10.76 725 7360.64 roll 1.94 - - 2601.88 - 3.41 0.051 2075.75 -410.6 156.53 - - 1856.56 - - - - - - - - - 15.33 -
7479.97 176.81 9.45 738 7485.63 roll 1.99 - - 2602.12 - 3.96 0.131 662.06 -357.0 156.53 - - 1856.00 - - - - - - - - - 15.06 -
7615.39 160.79 11.59 765 7620.58 roll 1.99 - - 2602.50 - 3.52 0.044 2129.12 416.8 156.53 - - 1854.12 - - - - - - - - - 15.42 -
7739.98 149.29 8.39 778 7771.86 2.07 0.25 0.077 2649.94 189.8 4.00 0.126 659.50 -367.4 183.58 25.91 1.212 1750.72 -4.0 0.089 - - - - - - 15.55 15.24 11.47
7790.53 143.80 11.14 788 7795.71 roll 2.07 - - 2649.56 - 3.53 0.043 2129.31 416.4 183.58 - - 1750.22 - - - - - - - - - 15.51 -
7855.07 136.41 11.39 795 7856.40 no move 2.07 - - 2649.62 - - - 2128.88 - 183.58 - - 1747.03 - - - - - - - - - - -
7915.09 129.74 11.15 801 7920.80 roll 2.07 - - 2649.31 - 4.03 0.124 661.25 -364.2 183.58 - - 1748.03 - - - - - - - - - 15.21 -
8010.55 117.35 12.83 820 8015.72 roll 2.07 - - 2649.12 - 3.52 0.044 2127.44 416.5 183.58 - - 1747.25 - - - - - - - - - 15.47 -
8075.11 110.48 10.03 827 8080.74 roll 2.10 - - 2648.56 - 3.62 0.106 3472.81 371.6 183.58 - - 1746.75 - - - - - - - - - 15.21 -
8100.17 107.91 10.43 832 8104.69 roll 2.12 - - 2649.62 - 3.40 0.050 2075.94 -410.8 183.58 - - 1745.41 - - - - - - - - - 15.37 -
8170.12 100.87 9.85 840 8175.80 roll 2.16 - - 2650.50 - 3.92 0.127 660.88 -361.0 183.58 - - 1743.91 - - - - - - - - - 15.14 -
8385.60 77.15 8.72 883 8420.47 2.23 0.20 0.073 2692.69 211.0 3.54 0.045 2129.75 414.9 207.34 27.90 1.105 1653.97 -3.2 0.041 - - - - - - 15.17 15.41 11.58
8485.36 68.63 8.97 897 8517.44 done 2.30 - - 2692.75 - 3.62 0.106 3474.50 371.5 228.64 26.53 1.071 1565.84 -3.3 0.038 - - - - - - - 15.11 11.59
8630.67 51.56 11.85 925 8635.28 roll 2.30 - - 2691.75 - 3.40 0.050 2075.88 -411.4 228.64 - - 1564.94 - - - - - - - - - 15.38 -
8700.69 45.48 7.92 933 8745.20 2.39 0.17 0.085 2730.00 225.0 3.76 0.103 3474.25 371.9 260.35 36.72 1.065 1437.25 -3.5 0.027 - - - - - - 15.47 15.11 11.52
8970.72 24.47 7.54 987 9016.16 done 2.50 - - 2729.31 - 3.43 0.051 2077.81 -407.1 295.87 39.73 1.039 1294.81 -3.6 0.015 - - - - - - - 15.33 11.54
9080.73 14.66 9.74 1003 9086.43 roll back 2.54 0.17 0.083 2766.50 218.8 3.80 0.101 3474.12 367.4 295.87 - - 1289.75 - - - - - - - - 15.41 15.23 -
9095.78 13.08 9.86 1006 9100.33 roll 2.58 - - 2765.81 - 3.42 0.049 2074.88 -409.1 295.87 - - 1290.38 - - - - - - - - - 15.36 -
9165.74 5.83 10.13 1014 9171.43 roll 2.61 - - 2767.06 - 3.94 0.127 661.56 -358.7 295.87 - - 1290.88 - - - - - - - - - 15.11 -
9204 end climb: SURFACE_DEPTH_REACHED
9204 begin surface coast
9221 end surface coast: CONTROL_FINISHED_OK
9221 begin surface
SM -0.48 - - - - 170.3 0.01 0.347 564.8 56480.0 18.67 0.083 557.4 29.9 - 3.45 0.040 572.2 164.7 0.202 - - 30.36 15.10 15.46 -