NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1198 * Raw log
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• Previous call tries 1 • 325.70 of 575.00 AH used of 24V (43.36% remains)
• Surface angle -61.8 deg, depth -1.55 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.70 (SM_CC=475)
• GPS1 time: 26 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
8.56 - - - 100.55 VBD -1.59 - - 170.38 - - - 2079.38 - -74.33 91.46 0.005 2733.16 - - - - - - - - - - 13.13
100.77 5.36 -10.80 9 126.71 -1.59 14.66 0.256 1753.56 108.0 3.87 0.108 3476.31 361.0 -74.33 1.34 0.021 2803.03 52.1 -2.415 - - - - - - 14.81 14.73 13.32
183.89 25.26 -17.00 26 190.69 roll -1.59 - - 1753.44 - 3.46 0.052 2081.31 -403.2 -74.33 - - 2805.00 - - - - - - - - - 15.22 -
250.04 35.62 -15.48 33 255.67 roll -1.59 - - 1753.62 - 3.84 0.099 3474.69 362.9 -74.33 - - 2802.31 - - - - - - - - - 15.10 -
284.99 42.03 -18.53 40 289.60 roll -1.59 - - 1753.12 - 3.44 0.052 2082.19 -404.8 -74.33 - - 2804.03 - - - - - - - - - 15.22 -
355.00 52.32 -14.21 48 360.68 roll -1.59 - - 1752.56 - 3.84 0.100 3477.00 363.2 -74.33 - - 2804.88 - - - - - - - - - 15.08 -
433.92 65.08 -16.23 64 440.90 roll -1.59 - - 1753.62 - 3.45 0.051 2080.12 -404.9 -74.33 - - 2803.72 - - - - - - - - - 15.19 -
500.07 74.46 -14.40 71 501.39 no move -1.59 - - 1753.31 - - - 2079.75 - -74.33 - - 2803.12 - - - - - - - - - - -
560.04 81.36 -11.05 77 565.72 roll -1.59 - - 1752.94 - 3.84 0.097 3474.75 363.3 -74.33 - - 2802.06 - - - - - - - - - 15.07 -
585.09 84.56 -12.24 82 589.63 roll -1.59 - - 1752.44 - 3.44 0.049 2081.94 -404.9 -74.33 - - 2804.25 - - - - - - - - - 15.21 -
655.02 92.23 -10.40 90 660.72 roll -1.59 - - 1753.25 - 3.84 0.096 3475.12 362.8 -74.33 - - 2802.41 - - - - - - - - - 15.06 -
673.99 94.25 -10.77 94 680.74 roll -1.59 - - 1753.56 - 3.44 0.049 2082.38 -404.9 -74.33 - - 2803.88 - - - - - - - - - 15.21 -
740.09 100.83 -10.23 101 745.77 roll -1.59 - - 1753.00 - 4.15 0.144 662.06 -342.2 -74.33 - - 2802.38 - - - - - - - - - 14.93 -
755.54 102.19 -10.30 104 760.67 roll -1.59 - - 1753.50 - 3.53 0.043 2122.69 413.8 -74.33 - - 2803.56 - - - - - - - - - 15.33 -
820.03 108.85 -9.85 111 825.69 roll -1.59 - - 1753.00 - 3.69 0.100 3476.00 366.8 -74.33 - - 2804.19 - - - - - - - - - 15.06 -
845.10 111.63 -9.98 116 849.65 roll -1.59 - - 1753.25 - 3.41 0.049 2081.19 -409.0 -74.33 - - 2803.62 - - - - - - - - - 15.22 -
915.04 118.17 -9.18 124 916.37 no move -1.59 - - 1752.94 - - - 2081.31 - -74.33 - - 2803.34 - - - - - - - - - - -
975.08 123.78 -9.31 130 980.74 roll -1.59 - - 1752.25 - 3.82 0.098 3473.38 364.4 -74.33 - - 2803.88 - - - - - - - - - 15.04 -
1013.96 127.64 -9.94 138 1020.76 roll -1.59 - - 1753.50 - 3.40 0.049 2081.12 -409.5 -74.33 - - 2805.00 - - - - - - - - - 15.19 -
1080.13 133.22 -8.43 145 1086.83 done -1.67 - - 1754.06 - 4.05 0.145 663.12 -350.1 -100.97 0.65 0.036 2914.06 167.8 -112.652 - - - - - - - 14.67 14.68
1105.51 135.63 -9.35 150 1110.70 roll -1.67 - - 1752.81 - 3.54 0.044 2124.31 412.8 -100.97 - - 2916.56 - - - - - - - - - 15.33 -
1170.07 142.13 -9.76 157 1175.72 roll -1.67 - - 1753.44 - 3.67 0.101 3475.75 368.2 -100.97 - - 2914.47 - - - - - - - - - 15.06 -
1218.99 146.98 -9.85 167 1225.79 roll -1.67 - - 1753.75 - 3.42 0.050 2082.12 -407.5 -100.97 - - 2915.12 - - - - - - - - - 15.19 -
1285.08 153.04 -9.42 174 1290.81 roll -1.67 - - 1753.62 - 4.09 0.142 661.94 -347.2 -100.97 - - 2914.38 - - - - - - - - - 14.94 -
1310.52 155.57 -9.81 179 1315.72 roll -1.67 - - 1753.88 - 3.52 0.044 2123.38 415.2 -100.97 - - 2913.03 - - - - - - - - - 15.31 -
1435.10 167.37 -9.44 192 1440.74 roll -1.67 - - 1753.25 - 3.68 0.102 3475.38 367.4 -100.97 - - 2915.06 - - - - - - - - - 15.02 -
1510.15 176.06 -12.00 207 1514.71 roll -1.67 - - 1753.56 - 3.41 0.050 2080.56 -409.0 -100.97 - - 2915.44 - - - - - - - - - 15.17 -
1640.12 189.79 -10.49 221 1645.80 roll -1.67 - - 1753.19 - 3.81 0.099 3476.25 366.3 -100.97 - - 2912.78 - - - - - - - - - 14.99 -
1669.03 193.27 -11.60 227 1675.84 roll -1.67 - - 1753.19 - 3.42 0.050 2080.88 -408.0 -100.97 - - 2915.66 - - - - - - - - - 15.15 -
1795.14 206.25 -10.35 240 1796.47 no move -1.67 - - 1753.56 - - - 2081.00 - -100.97 - - 2915.22 - - - - - - - - - - -
1915.17 218.57 -10.17 252 1916.49 no move -1.67 - - 1753.38 - - - 2080.75 - -100.97 - - 2914.88 - - - - - - - - - - -
2035.17 231.16 -10.55 264 2036.50 no move -1.67 - - 1753.38 - - - 2080.88 - -100.97 - - 2915.09 - - - - - - - - - - -
2155.17 244.38 -10.79 276 2160.86 roll -1.67 - - 1753.44 - 3.85 0.104 3474.88 362.1 -100.97 - - 2913.38 - - - - - - - - - 14.95 -
2184.08 247.96 -11.20 282 2190.89 roll -1.67 - - 1752.94 - 3.43 0.053 2082.62 -405.9 -100.97 - - 2914.78 - - - - - - - - - 15.10 -
2330.18 262.75 -10.11 289 2331.51 no move -1.67 - - 1753.44 - - - 2082.00 - -100.97 - - 2914.88 - - - - - - - - - - -
2630.19 294.85 -10.64 299 2631.52 no move -1.67 - - 1753.44 - - - 2082.31 - -100.97 - - 2914.88 - - - - - - - - - - -
2930.20 327.72 -11.20 309 2935.96 roll -1.67 - - 1753.81 - 4.18 0.150 662.50 -339.7 -100.97 - - 2916.97 - - - - - - - - - 14.79 -
2939.12 328.50 -11.11 311 2944.83 roll -1.67 - - 1752.88 - 3.57 0.047 2123.62 409.3 -100.97 - - 2916.69 - - - - - - - - - 15.21 -
3255.23 364.30 -11.20 324 3260.91 roll -1.67 - - 1753.19 - 3.78 0.109 3475.38 357.6 -100.97 - - 2912.91 - - - - - - - - - 14.91 -
3304.14 370.50 -12.93 334 3310.94 roll -1.67 - - 1753.00 - 3.45 0.054 2081.75 -404.0 -100.97 - - 2915.50 - - - - - - - - - 15.05 -
3610.24 403.18 -10.43 345 3611.57 no move -1.67 - - 1753.00 - - - 2082.31 - -100.97 - - 2913.19 - - - - - - - - - - -
3910.25 431.65 -9.21 355 3916.01 roll -1.67 - - 1753.00 - 4.24 0.153 661.94 -335.0 -100.97 - - 2916.72 - - - - - - - - - 14.75 -
3935.70 434.13 -9.21 360 3940.89 roll -1.67 - - 1753.00 - 3.59 0.048 2120.88 406.4 -100.97 - - 2915.09 - - - - - - - - - 15.19 -
4260.33 463.44 -9.00 375 4266.04 roll back -1.73 0.34 0.069 1704.38 -143.0 3.82 0.110 3476.19 354.8 -121.95 - - 2912.81 - - - - - - - - 15.43 14.89 -
4299.19 467.69 -11.20 383 4304.89 roll -1.73 - - 1704.25 - 3.45 0.055 2082.44 -404.0 -121.95 - - 2913.78 - - - - - - - - - 15.02 -
4615 end dive: TARGET_DEPTH_EXCEEDED
4615 begin apogee
4616.44 501.92 -10.27 396 4707.69 -0.25 3.33 0.166 2079.56 112.7 0.09 0.227 2084.44 - - 85.32 1.646 2499.12 -4.9 0.269 - - - - - - 14.74 14.80 11.02
4710 end apogee: CONTROL_FINISHED_OK
4710 begin climb
4710.99 505.90 - 399 4833.66 1.73 3.53 0.080 2566.88 138.1 4.26 0.137 663.19 -333.6 121.95 111.89 1.585 2000.94 -4.5 0.258 - - - - - - 15.00 14.40 11.29
4862.36 497.22 11.19 429 4867.53 roll 1.73 - - 2565.50 - 3.68 0.044 2124.06 397.0 121.95 - - 1999.25 - - - - - - - - - 14.90 -
5186.97 464.99 10.05 444 5192.64 done 1.77 - - 2566.06 - 4.16 0.133 661.69 -351.5 121.95 - - 1989.94 - - - - - - - - - 15.11 -
5250.87 457.34 11.50 457 5256.53 done 1.77 - - 2565.25 - 3.55 0.045 2124.50 412.1 121.95 - - 1989.09 - - - - - - - - - 15.37 -
5571.99 425.93 9.84 471 5577.65 done 1.80 - - 2563.62 - 4.15 0.132 663.12 -352.1 121.95 - - 1986.91 - - - - - - - - - 15.11 -
5657.37 416.08 11.74 488 5662.61 done 1.80 - - 2563.94 - 3.54 0.046 2124.19 412.7 121.95 - - 1985.94 - - - - - - - - - 15.41 -
5982.04 386.68 8.94 503 6007.13 1.87 0.17 0.079 2608.12 259.9 4.09 0.132 660.75 -357.8 143.52 18.94 1.399 1914.16 -3.8 0.190 - - - - - - 15.49 15.23 11.46
6215.87 357.92 12.94 550 6222.70 roll 1.87 - - 2607.56 - 3.56 0.045 2123.62 410.9 143.52 - - 1910.25 - - - - - - - - - 15.40 -
6522.01 326.76 10.20 561 6523.33 no move 1.90 - - 2607.50 - - - 2123.88 - 143.52 - - 1908.38 - - - - - - - - - - -
6822.00 297.52 9.96 571 6827.73 roll 1.93 - - 2608.00 - 4.20 0.129 661.69 -348.1 143.52 - - 1906.28 - - - - - - - - - 15.03 -
7000.92 276.97 11.13 607 7006.64 roll 1.93 - - 2607.81 - 3.58 0.045 2124.75 408.7 143.52 - - 1907.84 - - - - - - - - - 15.31 -
7307.09 247.33 9.59 622 7308.43 VBD 1.98 - - 2608.00 - - - 2125.00 - 143.52 - - 1906.47 - - - - - - - - - - -
7427.05 236.05 9.72 634 7432.78 done 2.02 - - 2607.88 - 4.21 0.128 661.56 -347.6 143.52 - - 1905.94 - - - - - - - - - 14.98 -
7542.55 223.19 11.54 657 7547.68 done 2.02 - - 2607.12 - 3.58 0.044 2127.62 409.5 143.52 - - 1907.94 - - - - - - - - - 15.32 -
7667.08 211.22 9.18 670 7668.54 2.08 0.24 0.069 2653.56 193.5 - - 2127.25 - 143.52 - - 1907.38 - - - - - - - - 15.53 - -
7787.09 198.73 10.05 682 7792.83 done 2.11 - - 2653.94 - 4.18 0.124 661.81 -350.6 143.52 - - 1905.56 - - - - - - - - - 14.98 -
7862.51 189.29 12.91 697 7867.71 done 2.11 - - 2654.94 - 3.59 0.045 2126.50 408.0 143.52 - - 1904.91 - - - - - - - - - 15.31 -
7987.11 176.20 9.79 710 7992.75 done 2.15 - - 2654.50 - 3.75 0.107 3474.00 359.3 143.52 - - 1906.09 - - - - - - - - - 15.03 -
8026.00 171.66 11.25 718 8032.81 done 2.15 - - 2655.25 - 3.45 0.050 2077.94 -404.7 143.52 - - 1905.19 - - - - - - - - - 15.23 -
8152.13 158.72 10.11 731 8157.82 done 2.18 - - 2654.81 - 4.05 0.128 660.94 -349.9 143.52 - - 1904.44 - - - - - - - - - 14.97 -
8197.57 154.09 10.22 740 8202.75 done 2.20 - - 2655.12 - 3.54 0.042 2129.31 414.8 143.52 - - 1904.19 - - - - - - - - - 15.34 -
8322.17 141.92 9.61 753 8323.61 2.25 0.19 0.074 2694.88 209.3 - - 2129.75 - 143.52 - - 1904.91 - - - - - - - - 15.49 - -
8382.20 136.66 9.02 759 8406.56 VBD 2.31 - - 2695.25 - - - 2130.19 - 164.30 23.16 1.166 1829.94 -3.2 0.069 - - - - - - - - 11.32
8472.15 128.00 10.04 770 8477.86 roll 2.34 - - 2694.50 - 4.11 0.122 661.50 -357.3 164.30 - - 1828.56 - - - - - - - - - 15.20 -
8617.62 109.81 12.86 799 8622.82 roll 2.34 - - 2694.75 - 3.56 0.044 2127.31 411.7 164.30 - - 1824.38 - - - - - - - - - 15.41 -
8682.18 102.32 11.28 806 8687.84 roll 2.34 - - 2694.69 - 3.68 0.103 3473.50 365.8 164.30 - - 1826.03 - - - - - - - - - 15.17 -
8701.11 100.06 11.08 810 8707.90 roll 2.34 - - 2695.19 - 3.42 0.048 2077.81 -408.1 164.30 - - 1824.94 - - - - - - - - - 15.35 -
8767.27 93.23 9.94 817 8768.60 no move 2.38 - - 2695.31 - - - 2077.88 - 164.30 - - 1824.62 - - - - - - - - - - -
8827.24 86.79 10.76 823 8828.56 no move 2.38 - - 2694.94 - - - 2078.38 - 164.30 - - 1824.44 - - - - - - - - - - -
8887.23 80.96 9.86 829 8892.94 roll back 2.42 0.20 0.075 2737.44 212.5 3.87 0.102 3473.62 360.5 164.30 - - 1825.72 - - - - - - - - 15.50 15.13 -
9002.30 71.30 7.49 852 9049.75 done 2.52 - - 2737.94 - 3.44 0.050 2078.06 -405.7 200.30 42.35 1.120 1681.69 -3.4 0.039 - - - - - - - 15.26 11.50
9107.26 63.60 7.92 867 9152.81 2.62 0.25 0.068 2783.88 183.8 4.00 0.125 660.81 -354.3 232.03 37.46 1.082 1554.66 -3.4 0.036 - - - - - - 15.39 14.98 11.45
9307.73 43.79 8.93 907 9338.54 done 2.68 - - 2783.25 - 3.54 0.041 2129.31 414.8 253.70 25.46 1.029 1465.09 -3.5 0.027 - - - - - - - 15.39 11.46
9397.30 36.35 8.49 919 9433.68 2.76 0.16 0.086 2819.44 226.2 3.69 0.105 3474.50 364.6 279.77 30.62 1.022 1358.06 -3.5 0.023 - - - - - - 15.37 15.02 11.50
9636.24 12.51 9.35 967 9643.03 roll 2.82 - - 2819.56 - 3.45 0.051 2079.06 -404.5 279.77 - - 1355.97 - - - - - - - - - 15.30 -
9702.39 7.93 7.10 974 9753.20 2.94 0.20 0.079 2858.88 196.6 3.82 0.103 3472.81 364.9 319.66 42.12 1.015 1196.47 -3.8 0.005 - - - - - - 15.40 15.08 11.49
9772 end climb: SURFACE_DEPTH_REACHED
9772 begin surface coast
9782 end surface coast: CONTROL_FINISHED_OK
9782 begin surface
SM -0.45 - - - - 172.8 - 0.010 564.8 - 19.86 0.093 560.8 28.2 - 3.42 0.052 568.8 165.2 0.146 - - 30.36 15.05 15.30 -