NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1207 * Raw log
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• Previous call tries 1 • 327.97 of 575.00 AH used of 24V (42.96% remains)
• Surface angle -61.8 deg, depth -1.64 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.77 (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
8.60 - - - 100.57 VBD -1.59 - - 170.19 - - - 2117.69 - -74.33 91.50 0.005 2676.22 - - - - - - - - - - 13.15
100.79 4.66 -10.25 9 126.75 -1.59 14.64 0.250 1754.19 108.2 3.70 0.111 3474.75 366.8 -74.33 2.66 0.013 2801.66 47.2 -3.078 - - - - - - 14.78 14.60 13.23
200.03 27.16 -18.67 29 204.64 roll -1.59 - - 1754.25 - 3.47 0.055 2081.25 -401.6 -74.33 - - 2803.56 - - - - - - - - - 15.20 -
270.03 38.81 -16.47 37 275.77 roll -1.59 - - 1754.06 - 4.11 0.145 661.94 -345.3 -74.33 - - 2800.56 - - - - - - - - - 14.96 -
278.95 40.57 -16.82 39 285.76 roll -1.59 - - 1753.94 - 3.53 0.045 2124.06 414.2 -74.33 - - 2802.78 - - - - - - - - - 15.27 -
345.09 50.72 -15.15 46 346.42 no move -1.59 - - 1754.31 - - - 2124.44 - -74.33 - - 2803.12 - - - - - - - - - - -
405.05 58.76 -13.81 52 410.69 roll -1.59 - - 1753.38 - 3.63 0.101 3474.62 372.0 -74.33 - - 2802.53 - - - - - - - - - 15.04 -
423.96 61.37 -12.84 56 430.76 roll -1.59 - - 1754.12 - 3.41 0.049 2079.56 -409.1 -74.33 - - 2802.56 - - - - - - - - - 15.19 -
490.10 69.24 -11.72 63 495.71 roll -1.59 - - 1753.94 - 3.76 0.100 3474.88 371.1 -74.33 - - 2801.50 - - - - - - - - - 15.04 -
515.10 72.12 -11.47 68 519.66 roll -1.59 - - 1753.81 - 3.40 0.050 2081.00 -410.0 -74.33 - - 2803.06 - - - - - - - - - 15.20 -
585.05 79.59 -10.16 76 590.78 roll -1.59 - - 1753.88 - 4.07 0.143 662.12 -348.6 -74.33 - - 2801.59 - - - - - - - - - 14.95 -
600.56 81.22 -10.40 79 605.69 roll -1.59 - - 1754.62 - 3.50 0.043 2124.81 417.9 -74.33 - - 2801.81 - - - - - - - - - 15.29 -
665.12 86.78 -8.18 86 671.75 done -1.68 - - 1754.25 - 3.60 0.104 3475.12 375.1 -103.49 0.88 0.027 2925.53 140.6 -82.289 - - - - - - - 14.66 14.72
703.97 91.14 -11.55 94 710.76 roll -1.68 - - 1754.06 - 3.39 0.048 2079.12 -411.8 -103.49 - - 2923.94 - - - - - - - - - 15.21 -
770.13 97.57 -9.54 101 771.45 no move -1.68 - - 1753.75 - - - 2079.00 - -103.49 - - 2924.38 - - - - - - - - - - -
830.09 103.45 -9.69 107 835.79 roll -1.68 - - 1753.50 - 4.06 0.141 661.81 -349.1 -103.49 - - 2923.25 - - - - - - - - - 14.94 -
849.04 105.59 -10.60 111 855.79 roll -1.68 - - 1753.81 - 3.48 0.040 2123.19 419.9 -103.49 - - 2925.34 - - - - - - - - - 15.28 -
915.14 112.92 -11.12 118 920.75 roll -1.68 - - 1754.06 - 3.61 0.100 3476.50 374.9 -103.49 - - 2925.47 - - - - - - - - - 15.04 -
930.09 114.49 -11.39 121 934.68 roll -1.68 - - 1753.81 - 3.37 0.045 2079.31 -414.6 -103.49 - - 2926.34 - - - - - - - - - 15.22 -
1000.09 122.31 -11.30 129 1001.42 no move -1.68 - - 1753.94 - - - 2079.44 - -103.49 - - 2924.53 - - - - - - - - - - -
1060.11 128.98 -11.20 135 1061.44 no move -1.68 - - 1753.88 - - - 2079.12 - -103.49 - - 2924.41 - - - - - - - - - - -
1120.11 135.65 -10.95 141 1125.76 roll -1.68 - - 1753.69 - 3.75 0.099 3475.56 372.4 -103.49 - - 2922.88 - - - - - - - - - 15.00 -
1145.15 138.45 -11.08 146 1149.69 roll -1.68 - - 1752.94 - 3.38 0.046 2080.56 -412.7 -103.49 - - 2925.72 - - - - - - - - - 15.18 -
1215.10 146.32 -10.59 154 1216.43 no move -1.68 - - 1754.44 - - - 2081.00 - -103.49 - - 2924.97 - - - - - - - - - - -
1275.12 152.52 -10.11 160 1276.45 no move -1.68 - - 1754.31 - - - 2081.38 - -103.49 - - 2925.03 - - - - - - - - - - -
1395.12 165.36 -10.88 172 1400.80 roll -1.68 - - 1753.94 - 3.79 0.102 3475.06 367.7 -103.49 - - 2923.84 - - - - - - - - - 14.98 -
1430.12 169.53 -12.45 179 1434.72 roll -1.68 - - 1753.88 - 3.40 0.049 2081.25 -409.9 -103.49 - - 2924.56 - - - - - - - - - 15.16 -
1560.15 184.88 -12.00 193 1565.81 roll -1.68 - - 1754.31 - 3.76 0.101 3476.25 371.0 -103.49 - - 2924.41 - - - - - - - - - 14.97 -
1579.07 187.28 -11.70 197 1585.84 roll -1.68 - - 1753.88 - 3.39 0.048 2080.00 -411.9 -103.49 - - 2925.28 - - - - - - - - - 15.15 -
1705.16 201.51 -10.55 210 1710.83 roll -1.68 - - 1754.06 - 3.77 0.101 3475.75 370.2 -103.49 - - 2927.12 - - - - - - - - - 14.97 -
1730.21 204.46 -10.08 215 1734.75 roll -1.68 - - 1753.81 - 3.38 0.048 2081.25 -412.6 -103.49 - - 2926.41 - - - - - - - - - 15.15 -
1860.32 218.77 -10.98 229 1861.65 no move -1.68 - - 1753.81 - - - 2080.81 - -103.49 - - 2925.31 - - - - - - - - - - -
1980.18 232.24 -11.02 241 1985.86 roll -1.68 - - 1753.69 - 3.82 0.103 3474.44 364.8 -103.49 - - 2926.44 - - - - - - - - - 14.94 -
2049.16 240.68 -11.82 255 2055.94 roll -1.68 - - 1754.12 - 3.42 0.049 2081.00 -407.4 -103.49 - - 2925.06 - - - - - - - - - 15.11 -
2195.21 256.78 -10.65 266 2200.90 roll -1.68 - - 1754.12 - 3.81 0.101 3475.06 365.9 -103.49 - - 2923.00 - - - - - - - - - 14.94 -
2224.12 260.24 -11.53 272 2229.83 roll -1.68 - - 1753.81 - 3.40 0.048 2081.06 -410.0 -103.49 - - 2925.81 - - - - - - - - - 15.11 -
2550.24 294.14 -10.14 287 2555.92 roll -1.68 - - 1754.44 - 3.83 0.104 3474.69 363.9 -103.49 - - 2924.12 - - - - - - - - - 14.93 -
2609.16 300.69 -11.16 299 2614.86 roll -1.68 - - 1753.81 - 3.41 0.050 2081.88 -408.4 -103.49 - - 2924.38 - - - - - - - - - 15.08 -
2935.26 331.14 -9.17 314 2936.59 no move -1.68 - - 1753.94 - - - 2082.06 - -103.49 - - 2924.81 - - - - - - - - - - -
3235.26 358.91 -9.27 324 3240.98 roll -1.68 - - 1753.81 - 3.91 0.108 3476.75 356.7 -103.49 - - 2925.12 - - - - - - - - - 14.89 -
3274.18 363.22 -10.25 332 3279.88 roll -1.68 - - 1753.94 - 3.44 0.051 2082.00 -405.5 -103.49 - - 2924.62 - - - - - - - - - 15.06 -
3590.28 393.53 -9.45 345 3595.97 roll -1.68 - - 1753.81 - 3.88 0.106 3475.94 359.3 -103.49 - - 2924.53 - - - - - - - - - 14.89 -
3624.19 397.47 -11.25 352 3629.89 roll -1.68 - - 1754.06 - 3.45 0.051 2081.81 -404.1 -103.49 - - 2926.81 - - - - - - - - - 15.04 -
3945.30 431.75 -10.78 366 3950.97 roll -1.68 - - 1753.88 - 3.89 0.107 3475.50 358.3 -103.49 - - 2926.03 - - - - - - - - - 14.88 -
3994.21 437.36 -11.96 376 4001.01 roll -1.68 - - 1754.12 - 3.43 0.051 2081.31 -406.5 -103.49 - - 2924.47 - - - - - - - - - 15.04 -
4300.31 467.82 -10.00 387 4305.99 roll -1.68 - - 1754.50 - 3.90 0.107 3476.62 357.8 -103.49 - - 2923.00 - - - - - - - - - 14.87 -
4334.22 471.57 -10.71 394 4339.92 roll -1.68 - - 1753.38 - 3.45 0.051 2082.19 -404.2 -103.49 - - 2925.78 - - - - - - - - - 15.03 -
4625 end dive: TARGET_DEPTH_EXCEEDED
4625 begin apogee
4626.47 501.67 -10.48 407 4718.69 -0.25 2.73 0.154 2079.19 119.3 0.09 0.230 2083.12 - - 87.75 1.634 2496.69 -4.9 0.273 - - - - - - 14.79 14.76 11.05
4721 end apogee: CONTROL_FINISHED_OK
4721 begin climb
4721.99 505.19 - 410 4828.87 1.68 3.51 0.080 2552.00 134.7 4.28 0.135 663.06 -331.8 103.49 96.21 1.571 2075.59 -4.4 0.256 - - - - - - 14.95 14.38 11.24
4871.00 497.46 10.72 440 4876.73 roll 1.68 - - 2551.62 - 3.62 0.040 2124.94 403.8 103.49 - - 2072.34 - - - - - - - - - 14.91 -
5197.18 469.60 9.05 455 5222.25 done 1.74 - - 2552.19 - 4.17 0.132 660.81 -351.1 124.00 18.90 1.424 1992.41 -4.2 0.254 - - - - - - - 15.04 11.43
5326.08 453.35 15.05 481 5331.74 roll 1.74 - - 2551.62 - 3.53 0.041 2126.19 415.1 124.00 - - 1991.81 - - - - - - - - - 15.35 -
5647.20 423.86 9.07 495 5668.25 1.80 0.16 0.082 2586.69 219.2 - - 2126.81 - 144.27 19.92 1.417 1909.41 -4.1 0.225 - - - - - - 15.47 - 11.54
5947.21 392.61 10.86 505 5952.87 roll 1.80 - - 2585.50 - 4.19 0.130 661.75 -349.7 144.27 - - 1906.22 - - - - - - - - - 15.11 -
6096.07 373.96 12.29 535 6101.78 roll 1.80 - - 2588.25 - 3.55 0.045 2125.06 412.2 144.27 - - 1905.88 - - - - - - - - - 15.35 -
6422.23 340.05 10.63 550 6427.90 roll 1.80 - - 2587.88 - 4.18 0.127 660.88 -350.3 144.27 - - 1903.44 - - - - - - - - - 15.04 -
6541.12 324.84 13.18 574 6546.84 done 1.80 - - 2587.75 - 3.52 0.041 2127.31 416.6 144.27 - - 1904.41 - - - - - - - - - 15.34 -
6867.30 292.36 9.92 589 6872.98 done 1.84 - - 2587.69 - 4.20 0.127 661.75 -348.9 144.27 - - 1903.22 - - - - - - - - - 15.00 -
6936.14 284.29 12.03 603 6941.86 done 1.84 - - 2587.75 - 3.53 0.041 2127.38 415.2 144.27 - - 1904.66 - - - - - - - - - 15.33 -
7252.28 251.97 10.37 616 7257.99 done 1.86 - - 2588.19 - 4.20 0.125 662.12 -348.9 144.27 - - 1903.31 - - - - - - - - - 14.95 -
7357.72 240.31 11.09 637 7362.91 done 1.86 - - 2587.69 - 3.53 0.041 2128.81 415.5 144.27 - - 1900.25 - - - - - - - - - 15.30 -
7482.30 228.50 8.76 650 7505.30 VBD 1.93 - - 2588.12 - - - 2128.44 - 167.68 21.74 1.296 1814.34 -4.0 0.127 - - - - - - - - 11.32
7622.31 214.06 10.40 664 7623.75 pitch 1.95 0.16 0.083 2623.25 219.6 - - 2128.00 - 167.68 - - 1811.69 - - - - - - - - 15.44 - -
7742.30 201.21 10.65 676 7748.03 roll 1.95 - - 2623.88 - 4.16 0.125 661.25 -352.6 167.68 - - 1810.12 - - - - - - - - - 15.11 -
7797.76 194.06 12.86 687 7802.94 roll 1.95 - - 2624.50 - 3.51 0.041 2128.19 417.9 167.68 - - 1811.19 - - - - - - - - - 15.40 -
7922.34 180.99 9.86 700 7928.06 roll 1.99 - - 2623.69 - 4.13 0.122 661.75 -355.1 167.68 - - 1812.06 - - - - - - - - - 15.07 -
7971.24 175.16 12.30 710 7978.04 roll 1.99 - - 2623.81 - 3.49 0.039 2129.50 420.6 167.68 - - 1810.91 - - - - - - - - - 15.39 -
8097.37 162.59 10.21 723 8102.99 roll 2.02 - - 2623.81 - 3.63 0.104 3475.00 370.7 167.68 - - 1809.09 - - - - - - - - - 15.11 -
8116.32 160.71 10.28 727 8123.03 roll 2.04 - - 2623.44 - 3.39 0.045 2075.44 -412.8 167.68 - - 1810.69 - - - - - - - - - 15.29 -
8242.37 147.93 9.79 740 8248.07 roll 2.08 - - 2623.56 - 4.01 0.126 661.62 -352.6 167.68 - - 1810.34 - - - - - - - - - 15.04 -
8451.32 123.72 11.04 782 8458.12 roll 2.08 - - 2623.75 - 3.48 0.040 2129.62 421.8 167.68 - - 1809.81 - - - - - - - - - 15.32 -
8517.47 116.96 10.64 789 8518.80 no move 2.08 - - 2623.56 - - - 2129.62 - 167.68 - - 1809.56 - - - - - - - - - - -
8577.44 112.40 8.39 795 8611.66 2.16 0.26 0.066 2674.31 195.2 - - 2129.81 - 194.74 32.74 1.149 1704.50 -3.2 0.057 - - - - - - 15.50 - 11.33
8667.44 104.04 9.33 804 8673.16 roll 2.21 - - 2674.19 - 4.11 0.120 660.75 -357.4 194.74 - - 1702.28 - - - - - - - - - 15.16 -
8792.91 89.30 10.59 829 8798.07 roll 2.23 - - 2674.12 - 3.48 0.039 2129.06 421.9 194.74 - - 1702.22 - - - - - - - - - 15.41 -
8857.47 83.17 9.21 836 8863.09 roll 2.29 - - 2674.56 - 3.60 0.105 3475.38 374.0 194.74 - - 1702.91 - - - - - - - - - 15.15 -
8872.48 81.59 9.33 839 8878.13 roll back 2.34 0.22 0.080 2715.50 186.1 3.39 0.047 2074.75 -413.2 194.74 - - 1703.16 - - - - - - - - 15.13 15.34 -
8937.48 75.63 9.28 846 8943.17 roll 2.40 - - 2716.31 - 3.94 0.125 660.75 -358.9 194.74 - - 1700.56 - - - - - - - - - 15.10 -
8996.40 68.78 12.10 858 9003.19 roll 2.40 - - 2716.06 - 3.48 0.042 2131.00 422.5 194.74 - - 1701.50 - - - - - - - - - 15.36 -
9062.56 62.13 10.44 865 9063.89 no move 2.42 - - 2716.12 - - - 2130.62 - 194.74 - - 1700.97 - - - - - - - - - - -
9122.51 56.37 9.28 871 9123.83 no move 2.47 - - 2715.88 - - - 2130.06 - 194.74 - - 1701.69 - - - - - - - - - - -
9182.51 50.82 9.32 877 9188.32 roll back 2.52 0.23 0.072 2763.00 204.9 4.11 0.120 659.38 -357.8 194.74 - - 1699.91 - - - - - - - - 15.44 15.03 -
9217.96 48.55 8.26 884 9258.87 done 2.61 - - 2763.25 - 3.48 0.039 2132.50 423.3 223.15 33.11 1.084 1589.69 -3.3 0.027 - - - - - - - 15.38 11.50
9317.72 43.03 5.40 898 9389.67 2.78 0.31 0.062 2824.00 196.0 3.60 0.103 3474.75 372.8 280.00 64.21 1.071 1358.09 -3.6 0.026 - - - - - - 15.40 14.94 11.45
9467.92 29.90 10.80 928 9472.53 roll 2.78 - - 2824.25 - 3.43 0.049 2075.56 -407.9 280.00 - - 1356.00 - - - - - - - - - 15.24 -
9537.95 23.43 9.17 936 9543.61 roll 2.84 - - 2824.12 - 3.95 0.125 660.75 -358.2 280.00 - - 1354.81 - - - - - - - - - 15.06 -
9753 end climb: SURFACE_DEPTH_REACHED
9753 begin surface coast
9773 end surface coast: CONTROL_FINISHED_OK
9773 begin surface
SM -0.77 - - - - 171.4 - 0.017 564.5 - 19.12 0.078 561.3 29.4 - 3.49 0.045 567.8 161.6 0.283 - - 30.36 14.92 15.37 -