NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 539 * Raw log
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• Previous call tries 3 • 159.73 of 575.00 AH used of 24V (72.22% remains)
• Surface angle -61.5 deg, depth 0.56 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.03 (SM_CC=425)
• GPS1 time: 22 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
7.33 - - - 86.57 VBD -1.25 - - 171.19 - - - 2116.69 - -77.86 78.65 0.005 2481.72 - - - - - - - - - - 15.14
86.84 3.04 -3.40 15 118.69 -1.25 14.39 0.251 1836.38 115.7 3.78 0.111 3473.19 358.9 -77.86 8.73 0.007 2816.84 38.4 -2.838 - - - - - - 15.33 15.13 15.22
141.49 13.93 -19.18 26 147.18 roll -1.25 - - 1836.50 - 3.48 0.057 2081.50 -399.9 -77.86 - - 2817.25 - - - - - - - - - 15.55 -
326.49 47.60 -18.43 63 332.30 roll -1.25 - - 1836.12 - 3.84 0.106 3473.88 362.6 -77.86 - - 2816.94 - - - - - - - - - 15.59 -
356.50 53.58 -19.99 69 362.23 roll -1.25 - - 1836.75 - 3.43 0.055 2082.00 -405.8 -77.86 - - 2819.19 - - - - - - - - - 15.64 -
541.54 84.29 -13.79 106 547.33 roll -1.25 - - 1836.31 - 3.78 0.104 3474.94 368.5 -77.86 - - 2819.50 - - - - - - - - - 15.64 -
611.57 94.85 -15.76 120 617.29 roll -1.25 - - 1836.00 - 3.41 0.055 2081.69 -408.6 -77.86 - - 2817.72 - - - - - - - - - 15.69 -
801.57 116.84 -9.63 143 802.90 no move -1.25 - - 1836.38 - - - 2081.94 - -77.86 - - 2816.94 - - - - - - - - - - -
1101.60 152.04 -11.44 173 1107.38 roll -1.25 - - 1836.75 - 4.01 0.146 662.19 -354.1 -77.86 - - 2817.09 - - - - - - - - - 15.63 -
1156.63 159.31 -13.23 184 1162.21 roll -1.25 - - 1835.88 - 3.49 0.047 2122.81 418.5 -77.86 - - 2818.88 - - - - - - - - - 15.76 -
1461.65 194.25 -11.28 215 1462.98 no move -1.25 - - 1836.50 - - - 2122.81 - -77.86 - - 2817.09 - - - - - - - - - - -
1761.68 225.18 -9.58 245 1763.01 no move -1.25 - - 1836.19 - - - 2123.06 - -77.86 - - 2817.41 - - - - - - - - - - -
2061.74 254.69 -9.86 275 2063.07 no move -1.25 - - 1836.62 - - - 2122.88 - -77.86 - - 2817.16 - - - - - - - - - - -
2361.80 285.78 -10.76 305 2367.59 roll -1.25 - - 1836.31 - 4.16 0.150 661.94 -351.2 -77.86 - - 2816.38 - - - - - - - - - 15.66 -
2440.68 295.20 -11.45 321 2447.60 roll -1.25 - - 1836.25 - 3.54 0.054 2119.69 411.8 -77.86 - - 2819.12 - - - - - - - - - 15.82 -
2746.90 327.44 -10.51 352 2748.23 no move -1.25 - - 1836.25 - - - 2119.81 - -77.86 - - 2817.75 - - - - - - - - - - -
3046.96 358.33 -10.48 382 3052.67 roll -1.25 - - 1836.00 - 3.68 0.116 3474.44 368.1 -77.86 - - 2815.03 - - - - - - - - - 15.74 -
3162.00 370.04 -10.90 405 3166.66 roll -1.25 - - 1836.06 - 3.42 0.060 2081.44 -407.3 -77.86 - - 2816.84 - - - - - - - - - 15.81 -
3472.07 401.93 -10.18 437 3477.82 roll -1.25 - - 1836.62 - 4.00 0.154 662.88 -354.6 -77.86 - - 2817.88 - - - - - - - - - 15.65 -
3557.10 412.13 -12.04 454 3561.80 roll -1.25 - - 1836.81 - 3.53 0.053 2118.88 412.5 -77.86 - - 2816.28 - - - - - - - - - 15.84 -
3867.17 444.13 -8.88 486 3868.50 no move -1.25 - - 1835.12 - - - 2119.38 - -77.86 - - 2818.28 - - - - - - - - - - -
4167.21 471.91 -9.45 516 4173.00 roll -1.25 - - 1836.25 - 4.14 0.153 663.44 -351.7 -77.86 - - 2815.94 - - - - - - - - - 15.64 -
4216.16 477.33 -11.15 526 4222.99 roll -1.25 - - 1836.31 - 3.52 0.054 2119.69 413.7 -77.86 - - 2815.72 - - - - - - - - - 15.83 -
4522.27 507.91 -9.81 557 4523.60 no move -1.25 - - 1836.62 - - - 2119.94 - -77.86 - - 2814.06 - - - - - - - - - - -
4822.30 535.40 -9.43 587 4828.01 roll -1.25 - - 1836.00 - 3.71 0.120 3472.81 364.7 -77.86 - - 2813.53 - - - - - - - - - 15.71 -
4911.30 544.78 -10.36 605 4918.05 roll -1.25 - - 1836.50 - 3.44 0.061 2082.75 -404.1 -77.86 - - 2817.38 - - - - - - - - - 15.79 -
5217.36 573.65 -8.94 636 5223.09 roll -1.25 - - 1836.38 - 3.85 0.117 3474.25 361.4 -77.86 - - 2816.12 - - - - - - - - - 15.70 -
5242.37 575.80 -9.43 641 5247.01 roll -1.25 - - 1835.06 - 3.41 0.059 2083.81 -407.8 -77.86 - - 2816.88 - - - - - - - - - 15.79 -
5552.47 604.09 -8.53 673 5553.80 no move -1.25 - - 1836.25 - - - 2083.62 - -77.86 - - 2813.25 - - - - - - - - - - -
5852.43 626.98 -7.18 703 5858.18 roll -1.25 - - 1836.06 - 3.88 0.120 3473.94 358.3 -77.86 - - 2813.12 - - - - - - - - - 15.69 -
5897.45 630.31 -7.39 712 5902.09 roll -1.25 - - 1835.69 - 3.44 0.062 2083.19 -404.3 -77.86 - - 2816.25 - - - - - - - - - 15.78 -
6207.47 654.50 -8.14 744 6208.80 no move -1.25 - - 1836.62 - - - 2083.62 - -77.86 - - 2813.53 - - - - - - - - - - -
6507.51 681.12 -9.94 774 6508.83 no move -1.25 - - 1836.00 - - - 2082.44 - -77.86 - - 2813.16 - - - - - - - - - - -
6807.54 708.01 -8.58 804 6813.27 roll -1.25 - - 1836.56 - 3.88 0.122 3472.75 358.3 -77.86 - - 2812.78 - - - - - - - - - 15.67 -
6912.56 717.20 -9.25 825 6917.22 roll -1.25 - - 1835.94 - 3.46 0.064 2084.06 -401.4 -77.86 - - 2812.38 - - - - - - - - - 15.75 -
7222.60 739.38 -8.70 857 7228.50 roll -1.25 - - 1836.31 - 4.10 0.165 662.06 -346.8 -77.86 - - 2813.62 - - - - - - - - - 15.56 -
7262 end dive: TARGET_DEPTH_EXCEEDED
7262 begin apogee
7267.00 743.09 -9.33 865 7335.86 -0.25 1.83 0.150 2080.50 133.4 0.07 0.282 2185.12 21758.0 - 65.69 1.928 2499.19 -4.8 0.314 - - - - - - 15.66 15.17 11.64
7338 end apogee: CONTROL_FINISHED_OK
7338 begin climb
7337.98 745.05 - 872 7414.02 1.25 2.64 0.088 2447.94 139.2 - - 2185.56 - 77.86 72.28 1.882 2181.94 -4.4 0.296 - - - - - - 15.24 - 12.33
7710.97 721.44 6.89 910 7712.30 VBD 1.29 - - 2447.56 - - - 2185.25 - 77.86 - - 2171.53 - - - - - - - - - - -
8011.03 700.03 6.39 940 8012.37 VBD 1.34 - - 2448.00 - - - 2185.50 - 77.86 - - 2169.69 - - - - - - - - - - -
8311.08 677.20 7.78 970 8316.70 done 1.34 - - 2448.06 - 3.63 0.121 3473.94 354.9 77.86 - - 2166.19 - - - - - - - - - 15.62 -
8496.18 664.11 7.12 1007 8500.72 done 1.36 - - 2447.56 - 3.18 0.058 2180.88 -406.6 77.86 - - 2168.16 - - - - - - - - - 15.71 -
8806.22 647.22 5.61 1039 8843.86 1.47 0.31 0.081 2507.31 192.7 4.05 0.137 737.12 -356.5 112.75 30.98 1.781 2036.78 -4.2 0.262 - - - - - - 15.72 15.43 11.97
8891.62 639.80 10.82 1055 8897.30 roll 1.47 - - 2506.31 - 3.64 0.053 2217.88 406.8 112.75 - - 2034.03 - - - - - - - - - 15.51 -
9196.65 608.03 10.50 1086 9197.98 no move 1.47 - - 2506.19 - - - 2218.06 - 112.75 - - 2032.44 - - - - - - - - - - -
9496.67 578.08 10.19 1116 9498.00 VBD 1.47 - - 2506.50 - - - 2217.88 - 112.75 - - 2030.12 - - - - - - - - - - -
9796.73 549.30 8.71 1146 9802.57 done 1.47 - - 2505.94 - 4.15 0.135 735.12 -357.3 112.75 - - 2032.41 - - - - - - - - - 15.62 -
9995.74 525.99 11.89 1186 10002.58 done 1.47 - - 2506.38 - 3.65 0.055 2219.50 406.7 112.75 - - 2029.97 - - - - - - - - - 15.75 -
10301.88 496.59 8.92 1217 10306.74 done 1.47 - - 2506.31 - 3.48 0.118 3474.12 360.5 112.75 - - 2030.03 - - - - - - - - - 15.65 -
10341.89 492.58 9.19 1225 10346.56 done 1.47 - - 2506.19 - 3.16 0.055 2181.25 -409.1 112.75 - - 2028.94 - - - - - - - - - 15.75 -
10651.94 464.20 9.29 1257 10653.27 VBD 1.47 - - 2506.12 - - - 2180.88 - 112.75 - - 2028.91 - - - - - - - - - - -
10952.00 437.53 8.28 1287 10953.33 VBD 1.47 - - 2506.56 - - - 2181.31 - 112.75 - - 2028.75 - - - - - - - - - - -
11252.06 410.72 9.25 1317 11257.90 done 1.47 - - 2506.81 - 4.03 0.133 736.00 -358.6 112.75 - - 2028.41 - - - - - - - - - 15.64 -
11327.09 402.45 10.61 1332 11332.72 done 1.47 - - 2506.44 - 3.61 0.052 2221.25 411.4 112.75 - - 2026.00 - - - - - - - - - 15.79 -
11632.16 374.92 9.98 1363 11633.49 VBD 1.47 - - 2506.50 - - - 2222.06 - 112.75 - - 2027.59 - - - - - - - - - - -
11932.20 347.83 9.64 1393 11936.78 done 1.47 - - 2506.81 - 3.46 0.116 3475.69 362.3 112.75 - - 2025.19 - - - - - - - - - 15.63 -
12012.23 339.83 9.79 1409 12016.75 done 1.47 - - 2506.00 - 3.17 0.054 2179.38 -408.9 112.75 - - 2027.69 - - - - - - - - - 15.69 -
12322.26 312.23 8.09 1441 12323.59 VBD 1.47 - - 2506.06 - - - 2179.75 - 112.75 - - 2027.47 - - - - - - - - - - -
12622.31 290.43 7.51 1471 12623.64 VBD 1.49 - - 2506.75 - - - 2179.81 - 112.75 - - 2027.19 - - - - - - - - - - -
12922.34 269.38 7.27 1501 12928.16 done 1.51 - - 2506.69 - 4.03 0.131 733.62 -358.9 112.75 - - 2026.41 - - - - - - - - - 15.54 -
13151.29 249.28 8.71 1547 13158.14 done 1.51 - - 2506.69 - 3.60 0.051 2223.50 413.9 112.75 - - 2026.78 - - - - - - - - - 15.69 -
13457.43 227.83 6.37 1578 13458.76 VBD 1.56 - - 2506.75 - - - 2223.25 - 112.75 - - 2025.28 - - - - - - - - - - -
13757.45 206.17 6.50 1608 13758.79 VBD 1.61 - - 2506.56 - - - 2223.06 - 112.75 - - 2025.25 - - - - - - - - - - -
14057.49 185.48 7.34 1638 14063.36 1.63 0.17 0.092 2543.75 218.8 4.07 0.125 734.88 -365.6 112.75 - - 2024.62 - - - - - - - - 15.75 15.62 -
14286.44 165.78 8.55 1684 14293.33 done 1.63 - - 2543.81 - 3.63 0.051 2223.75 410.2 112.75 - - 2027.31 - - - - - - - - - 15.63 -
14592.58 148.47 5.34 1715 14625.63 VBD 1.74 - - 2544.12 - - - 2223.81 - 151.43 32.59 1.243 1883.78 -4.4 0.090 - - - - - - - - 11.76
14922.61 122.09 7.92 1748 14923.94 no move 1.74 - - 2543.62 - - - 2223.88 - 151.43 - - 1875.75 - - - - - - - - - - -
15222.65 98.85 6.78 1779 15228.55 roll back 1.78 0.19 0.086 2581.25 198.1 4.14 0.124 735.94 -359.4 151.43 - - 1878.00 - - - - - - - - 15.58 15.50 -
15452.70 83.10 6.32 1825 15458.47 roll 1.83 - - 2581.50 - 3.67 0.049 2223.88 405.4 151.43 - - 1876.25 - - - - - - - - - 15.62 -
15637.79 75.15 3.37 1862 15699.96 2.03 0.34 0.067 2643.31 181.8 4.18 0.122 734.69 -356.3 218.21 55.88 1.150 1610.25 -4.8 0.053 - - - - - - 15.68 15.36 12.02
15817.83 64.52 8.58 1898 15823.73 roll 2.03 - - 2643.25 - 3.67 0.047 2224.25 405.9 218.21 - - 1604.78 - - - - - - - - - 15.50 -
16004.14 53.41 5.34 1935 16045.59 done 2.15 - - 2642.62 - 4.18 0.121 735.00 -356.3 256.91 33.08 1.078 1451.91 -4.6 0.039 - - - - - - - 15.36 12.03
16238.45 30.30 12.43 1982 16244.22 roll 2.15 - - 2642.44 - 3.67 0.048 2223.50 405.6 256.91 - - 1448.38 - - - - - - - - - 15.55 -
16423.50 10.75 10.10 2019 16424.82 no move 2.15 - - 2643.19 - - - 2222.94 - 256.91 - - 1446.91 - - - - - - - - - - -
16504 end climb: SURFACE_DEPTH_REACHED
16504 begin surface coast
16519 end surface coast: CONTROL_FINISHED_OK
16519 begin surface
SM 0.38 - - - - 172.5 - 0.016 767.3 - 17.14 0.094 767.2 44.8 - 0.34 0.089 767.4 2257.1 -0.985 - - 30.36 15.54 15.66 -