NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1220 * Raw log
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• Previous call tries 1 • 331.30 of 575.00 AH used of 24V (42.38% remains)
• Surface angle -61.0 deg, depth -1.67 m • Intended pitch -19.2 deg, speed -11.111 cm/s
VBD pumped to 474.84 (SM_CC=475)
• GPS1 time: 8 s
• GPS2 time: 3 s • Transponder ping count: 14
• 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
8.77 - - - 95.44 VBD -1.40 - - 171.38 - - - 2116.88 - -147.76 86.21 0.005 2484.09 - - - - - - - - - - 13.16
95.72 3.35 -7.48 9 138.55 -1.49 15.11 0.252 1778.75 106.4 4.25 0.146 661.94 -342.3 -175.18 15.89 0.006 3215.44 46.0 -4.662 - - - - - - 14.75 14.48 13.18
157.29 16.72 -17.14 21 162.49 roll -1.49 - - 1779.00 - 3.55 0.047 2122.00 411.3 -175.18 - - 3215.44 - - - - - - - - - 15.28 -
221.84 27.25 -15.92 28 227.50 roll -1.49 - - 1778.69 - 3.67 0.105 3474.56 368.5 -175.18 - - 3214.44 - - - - - - - - - 15.06 -
250.76 32.35 -16.90 34 257.56 roll -1.49 - - 1778.94 - 3.42 0.050 2080.25 -407.7 -175.18 - - 3216.03 - - - - - - - - - 15.18 -
316.91 41.72 -14.76 41 322.59 roll -1.49 - - 1778.44 - 4.11 0.143 663.00 -344.8 -175.18 - - 3214.28 - - - - - - - - - 14.94 -
352.31 47.41 -17.07 48 357.50 roll -1.49 - - 1778.00 - 3.54 0.043 2123.62 412.6 -175.18 - - 3214.25 - - - - - - - - - 15.26 -
416.87 55.91 -13.00 55 422.51 roll -1.49 - - 1778.94 - 3.66 0.102 3474.38 369.1 -175.18 - - 3213.00 - - - - - - - - - 15.02 -
445.77 59.96 -13.48 61 452.58 roll -1.49 - - 1778.94 - 3.42 0.050 2079.56 -407.8 -175.18 - - 3214.34 - - - - - - - - - 15.16 -
511.94 68.35 -12.65 68 513.27 no move -1.49 - - 1779.06 - - - 2080.31 - -175.18 - - 3214.75 - - - - - - - - - - -
571.89 76.41 -13.42 74 577.60 roll -1.49 - - 1779.06 - 4.11 0.143 661.69 -345.2 -175.18 - - 3213.84 - - - - - - - - - 14.91 -
597.32 79.70 -13.87 79 602.51 roll -1.49 - - 1777.75 - 3.54 0.043 2124.00 413.1 -175.18 - - 3215.09 - - - - - - - - - 15.25 -
661.89 87.53 -11.48 86 667.53 roll -1.49 - - 1778.56 - 3.66 0.104 3474.69 369.0 -175.18 - - 3213.88 - - - - - - - - - 15.00 -
700.79 92.69 -13.54 94 707.60 roll -1.49 - - 1778.62 - 3.40 0.048 2079.00 -410.5 -175.18 - - 3214.31 - - - - - - - - - 15.14 -
766.95 100.36 -11.37 101 772.61 roll -1.49 - - 1779.06 - 4.05 0.143 661.75 -349.9 -175.18 - - 3215.09 - - - - - - - - - 14.90 -
785.86 103.12 -12.46 105 792.62 roll -1.49 - - 1778.94 - 3.51 0.043 2123.44 416.4 -175.18 - - 3214.47 - - - - - - - - - 15.23 -
851.89 110.44 -11.36 112 857.57 roll -1.49 - - 1778.88 - 3.64 0.103 3474.88 371.3 -175.18 - - 3215.03 - - - - - - - - - 15.01 -
870.82 112.84 -11.33 116 877.59 roll -1.49 - - 1778.81 - 3.39 0.048 2079.00 -411.8 -175.18 - - 3215.69 - - - - - - - - - 15.15 -
936.96 119.74 -10.55 123 938.28 no move -1.49 - - 1779.38 - - - 2079.19 - -175.18 - - 3215.41 - - - - - - - - - - -
996.92 126.02 -10.11 129 998.24 no move -1.49 - - 1778.69 - - - 2079.12 - -175.18 - - 3214.69 - - - - - - - - - - -
1056.92 131.67 -9.70 135 1062.59 roll -1.49 - - 1778.88 - 3.79 0.102 3474.31 368.1 -175.18 - - 3215.09 - - - - - - - - - 14.97 -
1092.36 135.34 -10.48 142 1097.54 roll -1.49 - - 1778.81 - 3.40 0.050 2079.62 -410.2 -175.18 - - 3214.09 - - - - - - - - - 15.13 -
1156.93 141.83 -9.50 149 1162.64 roll -1.49 - - 1778.44 - 4.07 0.144 661.88 -348.3 -175.18 - - 3214.06 - - - - - - - - - 14.87 -
1175.90 144.37 -10.88 153 1182.66 roll -1.49 - - 1778.94 - 3.51 0.043 2125.38 417.0 -175.18 - - 3215.34 - - - - - - - - - 15.22 -
1241.93 150.76 -9.93 160 1243.27 no move -1.49 - - 1778.69 - - - 2125.06 - -175.18 - - 3214.75 - - - - - - - - - - -
1361.95 163.57 -10.66 172 1367.61 roll -1.49 - - 1779.00 - 3.67 0.105 3476.00 368.1 -175.18 - - 3213.56 - - - - - - - - - 14.96 -
1397.40 167.44 -11.04 179 1402.57 roll -1.49 - - 1778.62 - 3.40 0.050 2080.88 -410.3 -175.18 - - 3214.12 - - - - - - - - - 15.12 -
1521.98 181.64 -11.16 192 1527.64 roll -1.49 - - 1778.75 - 3.78 0.103 3475.88 369.0 -175.18 - - 3213.44 - - - - - - - - - 14.95 -
1540.89 184.06 -12.14 196 1547.67 roll -1.49 - - 1779.00 - 3.42 0.050 2081.12 -407.8 -175.18 - - 3215.44 - - - - - - - - - 15.09 -
1666.98 198.26 -11.01 209 1668.31 no move -1.49 - - 1778.75 - - - 2081.12 - -175.18 - - 3215.28 - - - - - - - - - - -
1786.99 212.34 -11.87 221 1788.32 no move -1.49 - - 1778.94 - - - 2081.31 - -175.18 - - 3215.53 - - - - - - - - - - -
1907.00 226.69 -11.71 233 1912.67 roll -1.49 - - 1778.75 - 3.84 0.104 3474.75 362.9 -175.18 - - 3213.81 - - - - - - - - - 14.92 -
1965.92 234.08 -11.79 245 1972.79 roll -1.49 - - 1777.88 - 3.43 0.052 2080.12 -406.6 -175.18 - - 3217.03 - - - - - - - - - 15.04 -
2092.02 248.94 -12.37 258 2097.75 roll -1.49 - - 1778.75 - 4.14 0.146 662.12 -342.5 -175.18 - - 3215.19 - - - - - - - - - 14.81 -
2107.51 251.20 -11.81 261 2112.66 roll -1.49 - - 1777.62 - 3.53 0.044 2123.19 413.9 -175.18 - - 3215.19 - - - - - - - - - 15.20 -
2412.03 289.06 -12.35 272 2417.69 roll -1.49 - - 1778.94 - 3.71 0.108 3474.25 364.2 -175.18 - - 3216.97 - - - - - - - - - 14.92 -
2450.94 294.26 -12.54 280 2456.64 roll -1.49 - - 1777.94 - 3.44 0.052 2081.44 -404.9 -175.18 - - 3216.72 - - - - - - - - - 15.03 -
2767.05 329.64 -10.92 293 2768.37 no move -1.49 - - 1778.81 - - - 2081.12 - -175.18 - - 3215.44 - - - - - - - - - - -
3067.04 359.64 -9.79 303 3072.73 roll -1.49 - - 1778.31 - 3.89 0.109 3473.69 358.0 -175.18 - - 3215.62 - - - - - - - - - 14.88 -
3105.98 363.54 -11.72 311 3111.66 roll -1.49 - - 1778.31 - 3.47 0.054 2082.75 -400.8 -175.18 - - 3215.28 - - - - - - - - - 15.00 -
3422.07 392.46 -9.20 324 3427.75 roll -1.49 - - 1777.94 - 3.90 0.108 3474.69 356.9 -175.18 - - 3216.41 - - - - - - - - - 14.88 -
3450.99 394.91 -8.78 330 3456.68 roll -1.49 - - 1778.50 - 3.48 0.053 2080.88 -400.5 -175.18 - - 3216.03 - - - - - - - - - 15.00 -
3777.09 426.18 -10.00 345 3782.78 roll -1.49 - - 1778.50 - 3.90 0.107 3473.94 357.2 -175.18 - - 3213.19 - - - - - - - - - 14.87 -
3795 end dive: TARGET_DEPTH_EXCEEDED
3795 begin apogee
3800.85 427.55 -9.24 349 3950.72 -0.25 2.52 0.143 2079.56 119.5 0.07 0.232 2120.25 -19338.4 - 146.46 1.532 2499.06 -4.9 0.247 - - - - - - 14.82 14.40 11.13
3953 end apogee: CONTROL_FINISHED_OK
3953 begin climb
3954.06 432.21 - 354 4126.05 1.49 3.32 0.080 2504.31 127.9 4.10 0.109 3472.88 329.9 175.18 161.46 1.467 1785.00 -4.4 0.236 - - - - - - 14.59 13.83 11.04
4158.19 422.40 10.21 395 4165.04 roll 1.51 - - 2505.19 - 3.72 0.051 2081.19 -374.1 175.18 - - 1780.53 - - - - - - - - - 14.22 -
4464.29 394.85 8.48 406 4519.97 1.67 0.26 0.069 2555.38 193.0 4.18 0.136 662.38 -339.4 226.81 47.29 1.410 1574.69 -4.4 0.221 - - - - - - 15.23 14.63 11.28
4578.20 381.64 12.82 429 4585.01 roll 1.67 - - 2555.19 - 3.60 0.043 2124.44 406.1 226.81 - - 1572.34 - - - - - - - - - 15.05 -
4884.31 349.45 10.57 440 4890.04 roll 1.68 - - 2554.81 - 4.21 0.132 661.81 -347.4 226.81 - - 1568.09 - - - - - - - - - 15.01 -
4978.22 337.05 13.92 459 4983.94 roll 1.68 - - 2554.75 - 3.55 0.044 2126.00 412.4 226.81 - - 1568.50 - - - - - - - - - 15.29 -
5299.33 302.05 11.05 473 5305.07 roll 1.68 - - 2555.19 - 4.21 0.130 662.12 -347.7 226.81 - - 1566.50 - - - - - - - - - 15.01 -
5398.25 288.76 11.77 493 5403.96 roll 1.68 - - 2553.94 - 3.54 0.045 2125.50 413.4 226.81 - - 1567.78 - - - - - - - - - 15.29 -
5714.35 252.31 11.57 506 5720.07 done 1.68 - - 2555.12 - 4.20 0.129 661.81 -348.5 226.81 - - 1566.31 - - - - - - - - - 14.97 -
5799.81 240.34 14.40 523 5805.01 done 1.68 - - 2555.06 - 3.57 0.044 2125.06 409.9 226.81 - - 1566.41 - - - - - - - - - 15.29 -
5924.38 226.31 11.44 536 5930.04 done 1.68 - - 2555.12 - 3.75 0.109 3474.06 359.7 226.81 - - 1565.50 - - - - - - - - - 15.01 -
5949.91 223.12 10.39 541 5955.00 done 1.71 - - 2555.50 - 3.45 0.051 2076.81 -405.0 226.81 - - 1564.56 - - - - - - - - - 15.23 -
6074.39 209.39 10.90 554 6080.10 done 1.71 - - 2554.62 - 4.03 0.131 662.12 -351.0 226.81 - - 1565.12 - - - - - - - - - 14.96 -
6123.31 202.93 12.36 564 6130.13 done 1.71 - - 2553.50 - 3.53 0.043 2127.25 415.1 226.81 - - 1566.03 - - - - - - - - - 15.28 -
6249.41 188.51 11.34 577 6250.74 VBD 1.71 - - 2554.88 - - - 2127.44 - 226.81 - - 1565.50 - - - - - - - - - - -
6369.42 175.65 10.88 589 6375.15 done 1.71 - - 2555.06 - 4.17 0.127 661.50 -351.5 226.81 - - 1565.16 - - - - - - - - - 14.93 -
6388.33 172.88 11.41 593 6395.16 done 1.71 - - 2555.31 - 3.52 0.043 2127.50 416.5 226.81 - - 1565.75 - - - - - - - - - 15.28 -
6514.46 158.42 10.79 606 6520.17 done 1.71 - - 2555.38 - 4.16 0.127 662.88 -352.1 226.81 - - 1565.59 - - - - - - - - - 14.94 -
6559.88 152.34 13.97 615 6565.08 done 1.71 - - 2555.31 - 3.53 0.043 2127.25 414.8 226.81 - - 1563.88 - - - - - - - - - 15.28 -
6684.46 138.10 11.12 628 6690.18 done 1.71 - - 2553.75 - 4.17 0.126 661.44 -351.5 226.81 - - 1564.12 - - - - - - - - - 14.93 -
6729.90 132.09 13.72 637 6735.09 done 1.71 - - 2554.56 - 3.53 0.043 2128.88 415.7 226.81 - - 1565.47 - - - - - - - - - 15.29 -
6794.60 125.09 10.74 644 6800.11 done 1.71 - - 2555.31 - 3.69 0.107 3474.88 364.8 226.81 - - 1565.78 - - - - - - - - - 15.01 -
6833.37 120.12 12.66 652 6840.18 done 1.71 - - 2555.25 - 3.42 0.050 2075.31 -409.2 226.81 - - 1564.56 - - - - - - - - - 15.16 -
6899.55 113.15 10.31 659 6905.20 done 1.73 - - 2555.12 - 3.99 0.129 661.56 -354.3 226.81 - - 1563.56 - - - - - - - - - 14.95 -
6948.40 107.39 12.21 669 6955.20 done 1.73 - - 2554.00 - 3.50 0.042 2127.19 418.8 226.81 - - 1565.06 - - - - - - - - - 15.28 -
7014.56 100.59 10.09 676 7015.90 VBD 1.76 - - 2555.12 - - - 2127.06 - 226.81 - - 1564.66 - - - - - - - - - - -
7074.52 94.88 9.07 682 7126.78 1.88 0.27 0.066 2604.88 184.3 4.07 0.127 661.56 -360.1 266.83 46.62 1.129 1412.78 -3.3 0.050 - - - - - - 15.46 15.06 11.20
7158.91 84.97 12.97 699 7165.73 roll 1.88 - - 2606.56 - 3.53 0.042 2128.75 415.6 266.83 - - 1411.41 - - - - - - - - - 15.30 -
7225.02 77.91 10.18 706 7230.66 roll 1.91 - - 2606.75 - 3.63 0.107 3473.50 370.5 266.83 - - 1410.06 - - - - - - - - - 15.10 -
7243.93 75.37 11.04 710 7250.73 roll 1.91 - - 2606.38 - 3.41 0.048 2076.62 -409.6 266.83 - - 1410.28 - - - - - - - - - 15.26 -
7310.08 69.25 8.91 717 7365.79 2.04 0.19 0.085 2644.38 200.0 3.95 0.130 661.75 -358.2 309.96 50.33 1.087 1236.06 -3.5 0.040 - - - - - - 15.41 14.94 11.40
7590.49 34.85 11.52 773 7595.68 roll 2.04 - - 2643.75 - 3.52 0.042 2130.06 417.1 309.96 - - 1234.09 - - - - - - - - - 15.36 -
7655.06 29.20 8.33 780 7721.11 2.20 0.20 0.074 2684.75 205.0 3.68 0.110 3472.56 364.8 364.59 59.99 1.042 1014.00 -3.7 0.019 - - - - - - 15.44 14.95 11.33
7723.34 22.21 10.52 788 7730.03 roll 2.22 - - 2683.00 - 3.45 0.049 2076.00 -404.8 364.59 - - 1014.22 - - - - - - - - - 15.17 -
7789.40 15.61 10.00 795 7790.72 no move 2.25 - - 2684.31 - - - 2076.19 - 364.59 - - 1013.16 - - - - - - - - - - -
7849.35 9.09 10.93 801 7855.02 roll 2.25 - - 2685.00 - 3.99 0.129 661.81 -354.5 364.59 - - 1011.94 - - - - - - - - - 15.04 -
7908 end climb: SURFACE_DEPTH_REACHED
7908 begin surface coast
7918 end surface coast: CONTROL_FINISHED_OK
7918 begin surface
SM -0.82 - - - - 176.6 - 0.016 564.2 - 18.40 0.081 561.9 30.5 - 3.51 0.045 566.6 160.3 0.299 - - 30.36 15.04 15.34 -