NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1224 * Raw log
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• Previous call tries 1 • 332.33 of 575.00 AH used of 24V (42.20% remains)
• Surface angle -61.5 deg, depth -1.65 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.74 (SM_CC=475)
• GPS1 time: 21 s
• GPS2 time: 2 s • Transponder ping count: 13
• 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
8.62 - - - 100.54 VBD -1.59 - - 171.44 - - - 2081.44 - -74.33 91.47 0.005 2676.12 - - - - - - - - - - 13.12
100.76 4.82 -10.30 9 126.86 -1.59 14.92 0.251 1753.38 106.0 4.11 0.149 660.44 -345.7 -74.33 2.61 0.013 2803.47 48.8 -3.314 - - - - - - 14.75 14.51 13.40
230.53 33.75 -19.20 35 235.74 roll -1.59 - - 1753.38 - 3.61 0.050 2120.50 404.4 -74.33 - - 2802.22 - - - - - - - - - 15.23 -
295.09 43.96 -15.86 42 300.76 roll -1.59 - - 1752.94 - 3.71 0.105 3476.12 365.4 -74.33 - - 2800.34 - - - - - - - - - 15.04 -
324.01 48.93 -17.14 48 330.81 roll -1.59 - - 1753.62 - 3.47 0.053 2081.25 -402.0 -74.33 - - 2803.56 - - - - - - - - - 15.15 -
390.16 57.94 -13.51 55 391.49 no move -1.59 - - 1753.38 - - - 2080.88 - -74.33 - - 2803.22 - - - - - - - - - - -
450.12 65.47 -12.39 61 455.85 roll -1.59 - - 1753.88 - 4.13 0.144 661.94 -343.6 -74.33 - - 2800.94 - - - - - - - - - 14.92 -
485.56 69.75 -13.35 68 490.75 roll -1.59 - - 1753.06 - 3.56 0.047 2123.25 410.5 -74.33 - - 2805.06 - - - - - - - - - 15.24 -
550.12 77.44 -11.47 75 555.77 roll -1.59 - - 1752.19 - 3.65 0.103 3475.44 370.5 -74.33 - - 2802.88 - - - - - - - - - 15.03 -
569.07 79.90 -11.89 79 575.84 roll -1.59 - - 1752.69 - 3.42 0.051 2081.00 -407.7 -74.33 - - 2803.44 - - - - - - - - - 15.16 -
635.19 87.19 -11.74 86 640.88 roll -1.59 - - 1753.31 - 4.11 0.143 660.62 -345.6 -74.33 - - 2801.59 - - - - - - - - - 14.92 -
684.07 93.33 -12.97 96 690.88 roll -1.59 - - 1753.44 - 3.56 0.046 2124.12 411.1 -74.33 - - 2802.81 - - - - - - - - - 15.22 -
750.15 100.23 -10.86 103 755.81 roll -1.59 - - 1753.19 - 3.63 0.102 3476.38 372.5 -74.33 - - 2805.53 - - - - - - - - - 15.02 -
849.11 111.27 -10.31 123 855.90 roll -1.59 - - 1752.75 - 3.42 0.052 2081.12 -408.0 -74.33 - - 2804.41 - - - - - - - - - 15.11 -
915.26 117.31 -8.63 130 920.90 done -1.67 - - 1752.56 - 3.75 0.103 3474.50 371.6 -99.02 0.63 0.036 2906.34 161.8 -96.585 - - - - - - - 14.67 14.67
950.21 120.76 -8.67 137 955.97 -1.74 0.35 0.060 1703.19 -141.1 3.41 0.050 2079.44 -409.1 -123.28 0.60 0.038 3004.34 163.3 -95.089 - - - - - - 14.98 15.17 14.72
1015.21 128.00 -11.20 144 1016.54 no move -1.74 - - 1703.25 - - - 2079.56 - -123.28 - - 3005.53 - - - - - - - - - - -
1075.22 134.62 -11.23 150 1076.55 no move -1.74 - - 1703.88 - - - 2079.88 - -123.28 - - 3005.91 - - - - - - - - - - -
1135.23 141.88 -12.19 156 1136.56 no move -1.74 - - 1703.25 - - - 2079.94 - -123.28 - - 3005.97 - - - - - - - - - - -
1195.24 149.04 -11.95 162 1196.57 no move -1.74 - - 1703.00 - - - 2079.50 - -123.28 - - 3005.50 - - - - - - - - - - -
1255.24 156.31 -11.70 168 1260.89 roll -1.74 - - 1703.38 - 3.76 0.101 3474.94 371.1 -123.28 - - 3006.12 - - - - - - - - - 14.98 -
1280.74 159.66 -13.36 173 1285.85 roll -1.74 - - 1701.69 - 3.42 0.051 2080.19 -407.8 -123.28 - - 3005.34 - - - - - - - - - 15.14 -
1405.25 175.35 -12.81 186 1410.96 roll -1.74 - - 1702.88 - 4.09 0.144 661.94 -346.8 -123.28 - - 3003.84 - - - - - - - - - 14.87 -
1424.21 178.12 -14.05 190 1430.97 roll -1.74 - - 1703.25 - 3.55 0.045 2124.19 411.9 -123.28 - - 3006.69 - - - - - - - - - 15.22 -
1550.28 194.20 -12.73 203 1555.91 roll -1.74 - - 1702.56 - 3.66 0.103 3474.50 368.9 -123.28 - - 3005.00 - - - - - - - - - 14.98 -
1599.18 201.18 -13.55 213 1605.98 roll -1.74 - - 1703.69 - 3.41 0.051 2080.88 -408.7 -123.28 - - 3005.94 - - - - - - - - - 15.09 -
1725.28 216.80 -12.47 226 1730.95 roll -1.74 - - 1703.12 - 3.80 0.101 3475.81 367.1 -123.28 - - 3005.06 - - - - - - - - - 14.97 -
1754.19 221.07 -14.20 232 1760.99 roll -1.74 - - 1703.19 - 3.43 0.052 2080.12 -406.9 -123.28 - - 3005.84 - - - - - - - - - 15.09 -
1880.30 236.99 -12.23 245 1886.03 roll -1.74 - - 1702.19 - 3.83 0.102 3477.00 364.7 -123.28 - - 3005.34 - - - - - - - - - 14.96 -
1925.75 243.13 -13.54 254 1930.92 roll -1.74 - - 1703.19 - 3.45 0.052 2080.56 -404.8 -123.28 - - 3006.34 - - - - - - - - - 15.09 -
2050.30 258.52 -12.20 263 2051.63 no move -1.74 - - 1703.50 - - - 2080.75 - -123.28 - - 3006.34 - - - - - - - - - - -
2350.31 294.92 -12.06 273 2355.99 roll -1.74 - - 1703.31 - 3.88 0.106 3476.50 359.7 -123.28 - - 3004.50 - - - - - - - - - 14.92 -
2424.23 304.31 -12.20 288 2429.94 roll -1.74 - - 1703.19 - 3.47 0.054 2081.81 -401.9 -123.28 - - 3007.41 - - - - - - - - - 15.02 -
2735.34 338.81 -10.90 300 2741.03 roll -1.74 - - 1703.00 - 3.90 0.106 3475.94 357.5 -123.28 - - 3006.84 - - - - - - - - - 14.91 -
2779.26 344.47 -13.30 309 2784.95 roll -1.74 - - 1703.38 - 3.49 0.054 2082.12 -399.4 -123.28 - - 3006.44 - - - - - - - - - 15.02 -
3090.36 379.92 -11.53 321 3096.05 roll -1.74 - - 1703.06 - 3.92 0.107 3476.38 355.7 -123.28 - - 3005.66 - - - - - - - - - 14.89 -
3154.29 388.32 -13.15 334 3160.02 roll -1.74 - - 1702.25 - 3.51 0.055 2082.12 -397.2 -123.28 - - 3007.25 - - - - - - - - - 14.99 -
3475.39 426.99 -12.62 348 3481.08 roll -1.74 - - 1703.12 - 3.94 0.107 3474.06 353.3 -123.28 - - 3006.84 - - - - - - - - - 14.89 -
3514.29 432.21 -13.19 356 3519.99 roll -1.74 - - 1702.75 - 3.49 0.055 2081.50 -399.0 -123.28 - - 3005.81 - - - - - - - - - 14.98 -
3830.40 473.50 -13.06 369 3836.11 roll -1.74 - - 1702.94 - 3.92 0.107 3474.12 355.3 -123.28 - - 3003.66 - - - - - - - - - 14.88 -
3885.86 481.21 -13.43 380 3891.04 roll -1.74 - - 1702.12 - 3.52 0.056 2083.38 -395.1 -123.28 - - 3005.75 - - - - - - - - - 14.99 -
4030 end dive: TARGET_DEPTH_EXCEEDED
4030 begin apogee
4031.54 501.50 -13.79 389 4141.69 -0.25 3.33 0.159 2078.69 113.1 0.09 0.222 2082.69 - - 104.89 1.621 2498.28 -4.8 0.274 - - - - - - 14.75 14.51 11.04
4144 end apogee: CONTROL_FINISHED_OK
4144 begin climb
4145.04 505.63 - 392 4271.27 1.74 3.63 0.079 2565.69 134.2 4.44 0.134 662.94 -319.8 123.28 115.59 1.557 1995.66 -4.3 0.259 - - - - - - 14.70 13.98 11.06
4295.02 497.84 7.95 422 4331.88 done 1.83 - - 2566.31 - 3.82 0.041 2122.31 382.0 154.71 31.54 1.452 1868.84 -4.0 0.253 - - - - - - - 14.36 10.78
4650.11 457.51 11.96 443 4651.44 VBD 1.83 - - 2566.38 - - - 2122.19 - 154.71 - - 1859.22 - - - - - - - - - - -
4950.11 423.53 11.37 453 4955.86 done 1.83 - - 2566.12 - 4.22 0.133 661.88 -346.0 154.71 - - 1858.19 - - - - - - - - - 15.02 -
5089.06 404.64 12.35 481 5095.89 done 1.83 - - 2566.31 - 3.59 0.045 2125.00 407.6 154.71 - - 1859.00 - - - - - - - - - 15.27 -
5395.17 369.09 11.24 492 5400.91 done 1.83 - - 2566.94 - 4.24 0.130 661.69 -345.1 154.71 - - 1854.78 - - - - - - - - - 15.01 -
5540.66 349.54 15.69 521 5545.86 done 1.83 - - 2566.38 - 3.56 0.044 2124.44 410.9 154.71 - - 1854.06 - - - - - - - - - 15.29 -
5865.29 317.75 9.12 536 5866.75 1.89 0.20 0.074 2611.44 225.3 - - 2124.75 - 154.71 - - 1853.12 - - - - - - - - 15.41 - -
6165.26 287.57 10.05 546 6170.98 done 1.92 - - 2609.62 - 4.26 0.128 660.69 -343.7 154.71 - - 1854.19 - - - - - - - - - 14.93 -
6280.75 273.97 11.81 569 6285.89 done 1.92 - - 2611.56 - 3.58 0.044 2126.38 409.4 154.71 - - 1853.31 - - - - - - - - - 15.25 -
6585.28 243.42 10.28 586 6591.03 done 1.95 - - 2611.56 - 4.26 0.128 661.88 -343.8 154.71 - - 1851.53 - - - - - - - - - 14.91 -
6700.80 229.60 10.99 609 6705.95 done 1.95 - - 2611.44 - 3.59 0.044 2127.25 408.2 154.71 - - 1851.59 - - - - - - - - - 15.26 -
6825.33 216.94 10.48 622 6830.98 done 1.97 - - 2610.69 - 3.72 0.106 3472.75 361.7 154.71 - - 1854.47 - - - - - - - - - 14.99 -
6860.75 212.91 11.49 629 6865.93 done 1.97 - - 2610.75 - 3.45 0.050 2077.19 -404.5 154.71 - - 1852.56 - - - - - - - - - 15.18 -
6985.34 200.17 10.72 642 6991.04 done 1.97 - - 2611.31 - 4.07 0.129 660.75 -348.0 154.71 - - 1853.31 - - - - - - - - - 14.93 -
7054.24 192.70 10.68 656 7061.08 done 1.97 - - 2611.00 - 3.55 0.042 2127.56 413.2 154.71 - - 1853.59 - - - - - - - - - 15.24 -
7180.38 180.09 9.52 669 7186.10 done 2.02 - - 2611.12 - 4.20 0.125 661.75 -349.0 154.71 - - 1853.94 - - - - - - - - - 14.93 -
7269.29 169.85 11.71 687 7276.10 done 2.02 - - 2610.62 - 3.55 0.043 2128.31 413.1 154.71 - - 1853.16 - - - - - - - - - 15.24 -
7395.41 157.72 9.10 700 7420.53 2.08 0.20 0.076 2654.75 220.7 3.62 0.108 3474.75 371.9 174.69 18.74 1.170 1786.78 -3.5 0.087 - - - - - - 15.41 15.17 11.22
7455.84 151.45 11.11 712 7461.01 roll 2.08 - - 2653.19 - 3.42 0.050 2074.25 -409.5 174.69 - - 1785.75 - - - - - - - - - 15.31 -
7580.42 139.67 9.84 725 7586.10 roll 2.11 - - 2654.62 - 3.99 0.128 662.00 -353.9 174.69 - - 1782.81 - - - - - - - - - 15.12 -
7705.88 124.81 13.05 750 7711.08 roll 2.11 - - 2655.00 - 3.52 0.042 2127.06 416.2 174.69 - - 1783.19 - - - - - - - - - 15.36 -
7770.43 117.90 10.86 757 7776.08 roll 2.11 - - 2655.69 - 3.64 0.104 3473.88 370.0 174.69 - - 1781.75 - - - - - - - - - 15.12 -
7785.88 116.46 10.73 760 7791.03 roll 2.11 - - 2655.06 - 3.40 0.048 2074.50 -411.6 174.69 - - 1782.03 - - - - - - - - - 15.31 -
7850.51 109.74 9.80 767 7851.84 no move 2.15 - - 2655.50 - - - 2074.31 - 174.69 - - 1783.25 - - - - - - - - - - -
7910.46 104.40 8.84 773 7945.75 done 2.22 - - 2655.06 - 3.76 0.105 3475.12 372.6 197.31 28.05 1.127 1694.28 -3.2 0.054 - - - - - - - 15.14 11.39
7964.38 98.99 10.36 784 7971.22 roll back 2.24 0.19 0.077 2692.62 197.7 3.42 0.049 2076.44 -409.0 197.31 - - 1694.44 - - - - - - - - 15.09 15.26 -
8030.47 92.39 10.12 791 8036.15 roll 2.27 - - 2692.56 - 3.97 0.125 660.75 -356.6 197.31 - - 1692.53 - - - - - - - - - 15.11 -
8179.40 73.41 13.69 821 8186.22 roll 2.27 - - 2692.88 - 3.51 0.041 2128.56 418.2 197.31 - - 1691.44 - - - - - - - - - 15.35 -
8245.50 67.09 9.51 828 8246.83 no move 2.32 - - 2693.25 - - - 2128.75 - 197.31 - - 1690.72 - - - - - - - - - - -
8305.52 61.47 9.21 834 8311.24 roll 2.38 - - 2692.62 - 4.13 0.119 661.81 -355.2 197.31 - - 1689.25 - - - - - - - - - 15.06 -
8534.47 42.96 6.19 880 8596.43 2.52 0.41 0.054 2762.12 169.5 3.54 0.042 2131.25 415.1 246.23 55.12 1.087 1496.66 -3.5 0.025 - - - - - - 15.07 15.30 11.32
8660.58 34.96 7.73 899 8706.18 done 2.63 - - 2762.00 - 3.68 0.106 3473.75 364.8 279.88 38.65 1.037 1358.12 -3.6 0.022 - - - - - - - 14.89 11.26
8830.60 14.78 9.96 933 8835.20 roll 2.66 - - 2762.44 - 3.43 0.048 2078.75 -406.7 279.88 - - 1355.47 - - - - - - - - - 15.27 -
8900.59 9.87 6.61 941 8956.35 2.79 0.37 0.061 2828.44 178.4 3.98 0.123 660.69 -356.3 324.71 47.58 1.016 1176.38 -3.8 0.007 - - - - - - 15.38 14.94 11.33
9000 end climb: SURFACE_DEPTH_REACHED
9000 begin surface coast
9010 end surface coast: CONTROL_FINISHED_OK
9010 begin surface
SM -0.72 - - - - 170.2 2.06 0.240 564.7 251.0 19.78 0.086 557.5 28.2 - 3.52 0.040 571.8 161.3 0.297 - - 11.32 14.96 15.30 -