NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1225 * Raw log
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• Previous call tries 2 • 332.58 of 575.00 AH used of 24V (42.16% remains)
• Surface angle -62.0 deg, depth -1.63 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.69 (SM_CC=475)
• GPS1 time: 25 s
• GPS2 time: 2 s • Transponder ping count: 16
• 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 - - - 100.55 VBD -1.59 - - 170.31 - - - 2082.75 - -74.33 91.46 0.005 2651.25 - - - - - - - - - - 13.12
100.77 4.48 -9.80 9 126.86 -1.59 14.69 0.248 1754.06 107.8 4.14 0.145 662.12 -343.1 -74.33 3.20 0.011 2803.25 47.5 -3.565 - - - - - - 14.73 14.48 13.26
154.00 17.62 -19.24 20 160.81 roll -1.59 - - 1754.62 - 3.60 0.048 2121.31 405.3 -74.33 - - 2802.28 - - - - - - - - - 15.24 -
220.14 28.71 -17.12 27 225.75 roll -1.59 - - 1753.56 - 3.73 0.103 3474.81 362.9 -74.33 - - 2801.28 - - - - - - - - - 15.05 -
269.01 37.42 -17.20 37 275.80 roll -1.59 - - 1753.94 - 3.44 0.051 2082.31 -404.8 -74.33 - - 2804.22 - - - - - - - - - 15.15 -
335.15 47.53 -15.74 44 340.78 roll -1.59 - - 1754.19 - 3.81 0.098 3477.12 366.1 -74.33 - - 2802.19 - - - - - - - - - 15.03 -
364.01 52.11 -15.30 50 370.81 roll -1.59 - - 1754.06 - 3.45 0.050 2080.12 -404.9 -74.33 - - 2805.50 - - - - - - - - - 15.14 -
430.17 60.74 -12.65 57 431.50 no move -1.59 - - 1754.38 - - - 2079.88 - -74.33 - - 2803.22 - - - - - - - - - - -
490.12 67.83 -11.64 63 495.80 roll -1.59 - - 1754.12 - 3.81 0.098 3475.50 366.3 -74.33 - - 2801.50 - - - - - - - - - 15.00 -
519.03 71.45 -12.06 69 525.86 roll -1.59 - - 1754.31 - 3.44 0.050 2079.62 -405.8 -74.33 - - 2802.97 - - - - - - - - - 15.13 -
585.18 79.41 -11.95 76 590.87 roll -1.59 - - 1754.12 - 4.11 0.142 662.00 -344.9 -74.33 - - 2803.28 - - - - - - - - - 14.90 -
640.61 85.98 -12.05 87 645.79 roll -1.59 - - 1752.44 - 3.55 0.044 2125.00 412.1 -74.33 - - 2803.12 - - - - - - - - - 15.23 -
705.16 91.99 -9.08 94 706.48 VBD -1.65 - - 1753.62 - - - 2124.50 - -94.58 0.58 0.040 2888.25 146.8 -62.209 - - - - - - - - 14.66
765.21 97.51 -9.15 100 770.91 roll -1.65 - - 1753.19 - 4.24 0.138 662.19 -344.9 -94.58 - - 2885.97 - - - - - - - - - 14.92 -
794.08 100.86 -10.64 106 800.89 roll -1.65 - - 1754.31 - 3.54 0.043 2124.75 413.2 -94.58 - - 2887.66 - - - - - - - - - 15.22 -
860.17 107.16 -9.84 113 865.93 roll -1.65 - - 1754.44 - 4.22 0.138 662.12 -346.6 -94.58 - - 2888.94 - - - - - - - - - 14.92 -
879.08 109.51 -10.98 117 885.91 roll -1.65 - - 1754.12 - 3.53 0.043 2124.06 414.1 -94.58 - - 2888.81 - - - - - - - - - 15.22 -
945.18 116.88 -11.54 124 946.51 no move -1.65 - - 1754.06 - - - 2124.44 - -94.58 - - 2887.41 - - - - - - - - - - -
1005.20 123.19 -10.45 130 1010.84 roll -1.65 - - 1753.69 - 3.65 0.102 3477.31 370.6 -94.58 - - 2885.84 - - - - - - - - - 14.99 -
1034.11 126.75 -11.84 136 1040.91 roll -1.65 - - 1753.81 - 3.43 0.049 2080.12 -407.3 -94.58 - - 2887.94 - - - - - - - - - 15.12 -
1100.26 133.71 -10.38 143 1101.59 no move -1.65 - - 1753.56 - - - 2080.38 - -94.58 - - 2887.84 - - - - - - - - - - -
1160.22 139.67 -9.82 149 1161.55 no move -1.65 - - 1754.00 - - - 2079.62 - -94.58 - - 2886.47 - - - - - - - - - - -
1220.22 145.46 -9.45 155 1221.55 no move -1.65 - - 1754.12 - - - 2080.56 - -94.58 - - 2887.97 - - - - - - - - - - -
1280.49 151.13 -9.36 161 1281.82 no move -1.65 - - 1754.12 - - - 2079.69 - -94.58 - - 2888.09 - - - - - - - - - - -
1400.23 161.98 -9.14 173 1405.91 roll -1.65 - - 1752.50 - 3.81 0.101 3477.06 366.8 -94.58 - - 2888.41 - - - - - - - - - 14.96 -
1479.15 169.87 -9.70 189 1485.96 roll -1.65 - - 1754.38 - 3.43 0.050 2080.19 -407.3 -94.58 - - 2888.97 - - - - - - - - - 15.07 -
1605.28 181.44 -9.52 202 1606.61 no move -1.65 - - 1754.38 - - - 2080.06 - -94.58 - - 2887.97 - - - - - - - - - - -
1725.27 192.96 -9.83 214 1731.01 roll -1.65 - - 1754.12 - 4.15 0.144 663.00 -341.5 -94.58 - - 2888.19 - - - - - - - - - 14.83 -
1740.78 194.35 -9.79 217 1745.90 roll -1.65 - - 1754.38 - 3.56 0.045 2122.62 410.0 -94.58 - - 2886.94 - - - - - - - - - 15.20 -
1865.29 206.89 -9.66 230 1866.62 no move -1.65 - - 1754.31 - - - 2123.12 - -94.58 - - 2888.06 - - - - - - - - - - -
1985.29 218.65 -9.70 242 1990.96 roll -1.65 - - 1752.56 - 3.70 0.104 3475.69 365.6 -94.58 - - 2887.75 - - - - - - - - - 14.95 -
2020.74 222.73 -11.64 249 2025.92 roll -1.65 - - 1754.00 - 3.44 0.050 2080.88 -405.5 -94.58 - - 2887.47 - - - - - - - - - 15.09 -
2145.32 235.02 -9.37 262 2146.65 no move -1.65 - - 1753.94 - - - 2081.25 - -94.58 - - 2887.31 - - - - - - - - - - -
2265.32 247.15 -10.48 274 2266.65 no move -1.65 - - 1753.69 - - - 2081.38 - -94.58 - - 2888.56 - - - - - - - - - - -
2385.35 258.87 -9.77 280 2391.02 roll -1.65 - - 1754.25 - 3.87 0.104 3475.12 360.1 -94.58 - - 2887.28 - - - - - - - - - 14.93 -
2429.25 264.41 -11.57 289 2434.95 roll -1.65 - - 1754.00 - 3.46 0.053 2081.00 -402.9 -94.58 - - 2888.69 - - - - - - - - - 15.03 -
2740.34 294.91 -9.74 301 2746.03 roll -1.65 - - 1753.88 - 3.87 0.104 3476.06 360.5 -94.58 - - 2887.31 - - - - - - - - - 14.92 -
2789.26 300.80 -11.54 311 2796.06 roll -1.65 - - 1754.06 - 3.47 0.052 2081.62 -401.9 -94.58 - - 2888.09 - - - - - - - - - 15.02 -
3095.37 328.61 -8.87 322 3096.85 pitch -1.72 0.32 0.067 1707.12 -146.7 - - 2082.31 - -116.87 - - 2886.12 - - - - - - - - 15.36 - -
3395.37 361.43 -11.44 332 3401.07 roll -1.72 - - 1705.31 - 3.92 0.107 3475.44 355.4 -116.87 - - 2888.03 - - - - - - - - - 14.89 -
3444.29 367.66 -13.46 342 3451.10 roll -1.72 - - 1706.81 - 3.48 0.054 2080.12 -401.0 -116.87 - - 2888.31 - - - - - - - - - 14.99 -
3750.39 400.56 -10.89 353 3756.09 roll -1.72 - - 1706.94 - 3.90 0.106 3476.06 357.9 -116.87 - - 2886.50 - - - - - - - - - 14.89 -
3789.30 404.69 -9.84 361 3795.01 roll -1.72 - - 1707.56 - 3.49 0.054 2081.81 -399.5 -116.87 - - 2887.78 - - - - - - - - - 14.98 -
4105.41 440.84 -11.02 374 4111.10 roll -1.72 - - 1706.75 - 3.91 0.107 3475.38 356.4 -116.87 - - 2885.34 - - - - - - - - - 14.88 -
4139.31 444.90 -11.60 381 4145.03 roll -1.72 - - 1707.25 - 3.49 0.054 2082.38 -399.1 -116.87 - - 2887.12 - - - - - - - - - 14.97 -
4460.43 478.53 -10.23 395 4461.76 no move -1.72 - - 1706.81 - - - 2082.31 - -116.87 - - 2886.88 - - - - - - - - - - -
4670 end dive: TARGET_DEPTH_EXCEEDED
4670 begin apogee
4671.62 500.39 -10.50 402 4756.99 -0.25 3.33 0.169 2079.38 111.9 0.09 0.229 2084.25 - - 80.68 1.640 2500.66 -4.8 0.269 - - - - - - 14.68 14.64 10.91
4760 end apogee: CONTROL_FINISHED_OK
4760 begin climb
4760.33 501.75 - 404 4882.96 1.72 3.68 0.080 2560.19 130.7 4.41 0.136 663.38 -322.2 116.87 109.20 1.577 2020.78 -4.4 0.258 - - - - - - 14.82 14.08 11.08
4885.19 494.91 7.14 424 4931.61 done 1.84 - - 2559.88 - 3.81 0.042 2124.19 383.4 156.33 39.45 1.488 1863.19 -4.0 0.245 - - - - - - - 14.35 10.88
5241.89 454.87 10.84 445 5248.14 1.84 0.16 0.081 2598.12 239.0 4.26 0.133 661.94 -343.3 156.33 - - 1850.62 - - - - - - - - 15.23 14.91 -
5345.35 440.24 11.97 466 5351.01 done 1.84 - - 2597.62 - 3.58 0.045 2124.31 408.5 156.33 - - 1850.03 - - - - - - - - - 15.21 -
5656.40 403.65 11.78 478 5662.13 done 1.84 - - 2596.50 - 4.19 0.131 661.56 -349.1 156.33 - - 1848.53 - - - - - - - - - 15.03 -
5755.34 389.31 15.97 498 5761.04 done 1.84 - - 2597.69 - 3.55 0.044 2124.44 412.1 156.33 - - 1849.62 - - - - - - - - - 15.26 -
6071.43 353.84 11.47 511 6077.16 done 1.84 - - 2596.88 - 4.20 0.129 662.62 -348.1 156.33 - - 1846.22 - - - - - - - - - 15.00 -
6126.88 346.72 14.53 522 6132.07 done 1.84 - - 2597.31 - 3.55 0.043 2126.50 412.4 156.33 - - 1845.84 - - - - - - - - - 15.29 -
6451.51 311.19 11.04 537 6457.21 done 1.84 - - 2597.44 - 4.22 0.128 660.81 -347.3 156.33 - - 1847.91 - - - - - - - - - 14.95 -
6500.37 304.69 13.72 547 6507.19 done 1.84 - - 2597.31 - 3.55 0.043 2128.19 413.3 156.33 - - 1846.22 - - - - - - - - - 15.27 -
6806.49 272.30 10.17 558 6812.22 done 1.87 - - 2596.31 - 4.21 0.127 662.00 -348.3 156.33 - - 1844.81 - - - - - - - - - 14.93 -
6895.40 260.91 12.49 576 6901.12 done 1.87 - - 2597.25 - 3.56 0.043 2125.38 411.1 156.33 - - 1847.06 - - - - - - - - - 15.23 -
7201.52 228.54 9.55 603 7207.26 done 1.91 - - 2597.56 - 4.22 0.127 660.62 -347.1 156.33 - - 1843.41 - - - - - - - - - 14.91 -
7246.97 223.27 11.22 612 7252.16 done 1.91 - - 2597.75 - 3.54 0.043 2126.38 414.1 156.33 - - 1843.72 - - - - - - - - - 15.27 -
7371.55 209.84 9.94 625 7372.88 VBD 1.95 - - 2595.38 - - - 2126.25 - 156.33 - - 1844.31 - - - - - - - - - - -
7491.57 197.89 9.65 637 7493.01 1.99 0.17 0.079 2633.50 224.2 - - 2126.62 - 156.33 - - 1845.25 - - - - - - - - 15.46 - -
7611.57 185.49 10.26 649 7617.36 done 2.02 - - 2634.50 - 4.22 0.125 660.69 -347.4 156.33 - - 1844.91 - - - - - - - - - 14.90 -
7757.03 167.37 11.93 678 7762.23 done 2.02 - - 2633.25 - 3.57 0.044 2127.00 410.7 156.33 - - 1843.84 - - - - - - - - - 15.21 -
7881.62 155.40 9.42 691 7882.96 VBD 2.07 - - 2634.38 - - - 2127.50 - 156.33 - - 1844.44 - - - - - - - - - - -
8001.62 144.36 9.34 703 8007.35 done 2.12 - - 2635.75 - 4.20 0.123 661.75 -349.0 156.33 - - 1846.09 - - - - - - - - - 14.88 -
8040.52 139.52 11.96 711 8047.34 done 2.12 - - 2635.31 - 3.55 0.042 2127.38 412.9 156.33 - - 1844.34 - - - - - - - - - 15.22 -
8106.62 132.99 9.98 718 8112.30 2.15 0.18 0.078 2671.12 198.9 3.70 0.104 3474.94 364.2 156.33 - - 1843.59 - - - - - - - - 15.44 15.01 -
8135.52 129.45 11.13 724 8142.33 done 2.15 - - 2672.56 - 3.44 0.049 2077.69 -406.2 156.33 - - 1845.66 - - - - - - - - - 15.14 -
8201.68 122.75 9.99 731 8207.34 done 2.19 - - 2672.25 - 4.01 0.125 662.06 -353.0 156.33 - - 1842.44 - - - - - - - - - 14.94 -
8317.14 109.06 11.51 754 8322.28 done 2.19 - - 2671.44 - 3.55 0.042 2128.12 413.0 156.33 - - 1843.34 - - - - - - - - - 15.23 -
8381.66 103.03 9.09 761 8406.04 VBD 2.25 - - 2672.31 - - - 2128.50 - 176.41 21.41 1.125 1780.31 -2.9 0.050 - - - - - - - - 11.15
8471.74 94.69 9.64 771 8477.40 roll 2.29 - - 2673.19 - 4.11 0.121 660.88 -357.1 176.41 - - 1776.62 - - - - - - - - - 15.13 -
8700.61 72.16 9.12 817 8707.50 roll back 2.35 0.25 0.063 2722.62 197.7 3.54 0.042 2130.81 415.2 176.41 - - 1777.34 - - - - - - - - 15.11 15.33 -
8766.71 67.56 7.19 824 8818.94 done 2.47 - - 2722.56 - 4.11 0.122 660.88 -357.6 215.38 46.04 1.116 1620.84 -3.4 0.038 - - - - - - - 15.01 11.28
8887.62 56.27 10.87 848 8892.81 roll 2.47 - - 2720.94 - 3.56 0.045 2127.81 412.1 215.38 - - 1618.84 - - - - - - - - - 15.30 -
8952.19 49.98 9.34 855 8957.88 roll back 2.52 0.19 0.072 2763.31 223.0 3.65 0.105 3474.06 368.8 215.38 - - 1617.66 - - - - - - - - 15.37 15.13 -
9181.14 35.15 5.02 901 9253.31 2.70 0.22 0.076 2802.56 178.4 3.44 0.051 2077.00 -406.1 275.97 67.03 1.072 1374.62 -3.6 0.022 - - - - - - 15.04 15.25 11.32
9317.44 24.93 9.46 922 9322.91 roll 2.75 - - 2802.69 - 3.82 0.102 3476.38 366.3 275.97 - - 1370.53 - - - - - - - - - 15.03 -
9486.22 6.84 10.90 956 9492.97 roll 2.75 - - 2803.50 - 3.45 0.051 2078.62 -405.1 275.97 - - 1369.75 - - - - - - - - - 15.24 -
9552 end climb: SURFACE_DEPTH_REACHED
9552 begin surface coast
9572 end surface coast: CONTROL_FINISHED_OK
9572 begin surface
SM -0.77 - - - - 183.9 0.03 0.324 564.9 18830.0 19.44 0.084 560.7 28.8 - 0.08 0.143 569.1 7070.6 3.891 - - 14.67 14.96 15.40 -