NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 542 * Raw log
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• Previous call tries 1 • 160.60 of 575.00 AH used of 24V (72.07% remains)
• Surface angle -64.7 deg, depth 0.96 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.90 (SM_CC=425)
• GPS1 time: 66 s
• GPS2 time: 6 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
7.22 - - - 86.60 VBD -1.25 - - 177.62 - - - 2120.69 - -77.86 78.73 0.005 2473.69 - - - - - - - - - - 15.13
86.87 3.25 -3.57 15 114.02 -1.25 14.51 0.253 1836.00 114.3 - - 2120.88 - -77.86 9.21 0.007 2814.53 37.0 -2.964 - - - - - - 15.32 - 15.23
291.85 37.73 -18.30 56 297.71 roll -1.25 - - 1836.12 - 4.26 0.148 662.75 -342.3 -77.86 - - 2818.69 - - - - - - - - - 15.48 -
481.95 74.76 -16.33 94 487.70 roll -1.25 - - 1835.81 - 3.62 0.052 2119.62 402.5 -77.86 - - 2816.19 - - - - - - - - - 15.66 -
667.01 96.76 -11.81 131 672.79 roll -1.25 - - 1836.25 - 3.76 0.110 3473.94 360.2 -77.86 - - 2816.06 - - - - - - - - - 15.64 -
777.04 111.58 -13.64 153 781.69 roll -1.25 - - 1835.50 - 3.42 0.056 2082.50 -406.9 -77.86 - - 2817.62 - - - - - - - - - 15.71 -
1087.08 147.51 -11.06 185 1092.79 roll -1.25 - - 1835.62 - 3.79 0.109 3474.06 367.2 -77.86 - - 2815.00 - - - - - - - - - 15.68 -
1146.03 154.54 -12.20 197 1152.84 roll -1.25 - - 1835.88 - 3.43 0.055 2080.94 -406.2 -77.86 - - 2816.84 - - - - - - - - - 15.75 -
1452.12 184.94 -9.38 228 1453.45 no move -1.25 - - 1835.44 - - - 2080.81 - -77.86 - - 2816.94 - - - - - - - - - - -
1752.16 214.60 -10.26 258 1757.89 roll -1.25 - - 1835.38 - 3.83 0.110 3474.38 363.9 -77.86 - - 2816.97 - - - - - - - - - 15.71 -
1807.18 220.73 -11.28 269 1811.84 roll -1.25 - - 1835.81 - 3.43 0.056 2082.00 -405.9 -77.86 - - 2817.16 - - - - - - - - - 15.78 -
2117.21 251.63 -10.44 301 2118.53 no move -1.25 - - 1835.81 - - - 2081.75 - -77.86 - - 2817.12 - - - - - - - - - - -
2417.24 284.40 -10.78 331 2422.98 roll -1.25 - - 1835.50 - 3.83 0.113 3473.06 363.3 -77.86 - - 2817.31 - - - - - - - - - 15.71 -
2476.19 291.05 -11.51 343 2483.00 roll -1.25 - - 1835.38 - 3.43 0.058 2082.38 -405.4 -77.86 - - 2818.91 - - - - - - - - - 15.79 -
2782.29 321.20 -9.27 374 2783.62 no move -1.25 - - 1835.50 - - - 2082.50 - -77.86 - - 2816.28 - - - - - - - - - - -
3082.32 349.93 -9.89 404 3083.65 no move -1.25 - - 1836.31 - - - 2082.50 - -77.86 - - 2816.84 - - - - - - - - - - -
3382.36 379.53 -10.30 434 3388.11 roll -1.25 - - 1835.44 - 3.87 0.115 3474.25 359.6 -77.86 - - 2817.12 - - - - - - - - - 15.71 -
3441.31 386.04 -10.98 446 3448.12 roll -1.25 - - 1836.12 - 3.45 0.059 2083.31 -403.2 -77.86 - - 2815.97 - - - - - - - - - 15.79 -
3747.41 417.64 -11.35 477 3748.74 no move -1.25 - - 1835.56 - - - 2083.75 - -77.86 - - 2816.56 - - - - - - - - - - -
4047.45 449.50 -10.20 507 4048.78 no move -1.25 - - 1836.12 - - - 2084.44 - -77.86 - - 2814.66 - - - - - - - - - - -
4347.48 477.38 -8.64 537 4348.81 no move -1.25 - - 1836.00 - - - 2084.31 - -77.86 - - 2815.97 - - - - - - - - - - -
4647.51 505.24 -9.78 567 4648.83 no move -1.25 - - 1836.19 - - - 2084.12 - -77.86 - - 2816.03 - - - - - - - - - - -
4947.54 530.43 -8.04 597 4948.87 no move -1.25 - - 1835.81 - - - 2083.75 - -77.86 - - 2813.34 - - - - - - - - - - -
5247.59 558.19 -9.63 627 5248.92 no move -1.25 - - 1835.69 - - - 2083.81 - -77.86 - - 2814.88 - - - - - - - - - - -
5547.65 587.96 -9.65 657 5548.98 no move -1.25 - - 1836.19 - - - 2083.88 - -77.86 - - 2812.62 - - - - - - - - - - -
5847.71 615.32 -8.98 687 5849.04 no move -1.25 - - 1836.00 - - - 2084.06 - -77.86 - - 2814.25 - - - - - - - - - - -
6147.77 642.21 -9.39 717 6153.52 roll -1.25 - - 1835.56 - 3.92 0.122 3474.12 354.6 -77.86 - - 2813.19 - - - - - - - - - 15.66 -
6232.80 650.09 -9.48 734 6237.49 roll -1.25 - - 1835.25 - 3.51 0.066 2086.56 -395.3 -77.86 - - 2814.09 - - - - - - - - - 15.75 -
6542.88 676.79 -9.32 766 6544.20 no move -1.25 - - 1836.06 - - - 2086.50 - -77.86 - - 2813.16 - - - - - - - - - - -
6842.94 703.08 -7.81 796 6848.67 roll -1.25 - - 1835.12 - 3.89 0.122 3472.25 356.2 -77.86 - - 2811.59 - - - - - - - - - 15.64 -
6897.97 708.27 -9.03 807 6902.62 roll -1.25 - - 1835.75 - 3.47 0.064 2085.75 -399.6 -77.86 - - 2813.50 - - - - - - - - - 15.74 -
7208.02 734.11 -8.14 839 7209.35 no move -1.25 - - 1836.00 - - - 2086.00 - -77.86 - - 2812.78 - - - - - - - - - - -
7508.07 760.00 -8.85 869 7509.39 no move -1.25 - - 1835.88 - - - 2086.12 - -77.86 - - 2812.38 - - - - - - - - - - -
7808.10 784.70 -8.45 899 7809.42 no move -1.25 - - 1835.62 - - - 2085.50 - -77.86 - - 2811.97 - - - - - - - - - - -
8108.66 809.71 -9.16 929 8114.14 roll -1.25 - - 1834.19 - 3.94 0.126 3473.06 352.2 -77.86 - - 2813.59 - - - - - - - - - 15.62 -
8163.16 814.58 -9.83 940 8167.94 roll -1.25 - - 1835.62 - 3.48 0.067 2085.38 -398.8 -77.86 - - 2811.53 - - - - - - - - - 15.71 -
8473.18 840.35 -7.79 972 8474.51 no move -1.25 - - 1835.69 - - - 2085.50 - -77.86 - - 2811.31 - - - - - - - - - - -
8773.21 864.55 -8.69 1002 8778.98 roll -1.25 - - 1835.19 - 3.95 0.126 3474.06 351.5 -77.86 - - 2811.03 - - - - - - - - - 15.61 -
8818.24 869.07 -10.54 1011 8822.88 roll -1.25 - - 1836.25 - 3.48 0.066 2087.50 -398.4 -77.86 - - 2810.62 - - - - - - - - - 15.71 -
9128.26 892.64 -8.27 1043 9134.05 roll -1.25 - - 1835.69 - 4.18 0.169 664.38 -340.5 -77.86 - - 2809.47 - - - - - - - - - 15.49 -
9163.30 895.50 -7.27 1050 9169.08 roll -1.25 - - 1835.19 - 3.58 0.058 2116.25 405.6 -77.86 - - 2809.44 - - - - - - - - - 15.75 -
9468.31 918.64 -7.54 1081 9474.02 roll -1.25 - - 1836.00 - 3.80 0.125 3473.62 357.2 -77.86 - - 2812.22 - - - - - - - - - 15.60 -
9557.31 926.36 -7.69 1099 9564.29 roll -1.25 - - 1835.62 - 3.45 0.068 2084.81 -402.6 -77.86 - - 2810.31 - - - - - - - - - 15.67 -
9863.36 937.44 -2.08 1130 9869.13 roll -1.25 - - 1835.19 - 4.18 0.169 664.31 -339.8 -77.86 - - 2807.97 - - - - - - - - - 15.48 -
10092.34 937.05 0.18 1176 10099.16 roll -1.25 - - 1835.44 - 3.57 0.055 2119.06 407.5 -77.86 - - 2810.91 - - - - - - - - - 15.75 -
10108 end dive: NO_VERTICAL_VELOCITY
10108 begin apogee
10109.65 937.41 - 1178 10180.22 -0.25 1.79 0.112 2083.06 138.3 0.08 0.278 2184.75 821.1 - 67.31 2.192 2498.97 -4.6 0.342 - - - - - - 15.70 15.06 11.51
10182 end apogee: CONTROL_FINISHED_OK
10182 begin climb
10182.36 936.72 - 1185 10266.88 1.25 2.66 0.084 2447.88 137.2 3.91 0.128 3473.50 329.6 77.86 74.99 2.141 2181.06 -4.2 0.320 - - - - - - 15.15 14.76 12.13
10488.55 914.45 8.98 1246 10495.43 done 1.25 - - 2446.06 - 3.29 0.061 2184.31 -391.9 77.86 - - 2174.97 - - - - - - - - - 15.40 -
10794.78 890.34 8.24 1277 10800.54 done 1.25 - - 2447.56 - 3.69 0.127 3472.56 349.1 77.86 - - 2170.19 - - - - - - - - - 15.50 -
11023.86 869.02 9.71 1323 11030.58 done 1.25 - - 2446.25 - 3.21 0.061 2182.75 -401.8 77.86 - - 2171.16 - - - - - - - - - 15.63 -
11329.94 843.58 8.57 1354 11335.59 done 1.25 - - 2447.56 - 3.67 0.125 3471.69 351.2 77.86 - - 2166.31 - - - - - - - - - 15.56 -
11428.95 834.60 8.64 1374 11435.67 done 1.25 - - 2447.56 - 3.20 0.060 2182.38 -402.9 77.86 - - 2167.44 - - - - - - - - - 15.70 -
11735.04 811.33 7.91 1405 11736.37 VBD 1.25 - - 2445.94 - - - 2182.44 - 77.86 - - 2167.25 - - - - - - - - - - -
12035.32 789.99 7.50 1435 12036.65 VBD 1.27 - - 2446.62 - - - 2182.81 - 77.86 - - 2166.00 - - - - - - - - - - -
12335.12 768.44 7.38 1465 12336.46 VBD 1.29 - - 2447.81 - - - 2182.88 - 77.86 - - 2164.59 - - - - - - - - - - -
12635.16 748.48 7.33 1495 12640.77 done 1.31 - - 2447.69 - 3.66 0.126 3473.75 352.7 77.86 - - 2164.59 - - - - - - - - - 15.61 -
12720.23 741.93 8.03 1512 12724.70 done 1.31 - - 2448.06 - 3.19 0.060 2181.75 -405.0 77.86 - - 2164.97 - - - - - - - - - 15.74 -
13030.21 721.38 7.12 1544 13031.54 VBD 1.34 - - 2447.38 - - - 2182.62 - 77.86 - - 2164.75 - - - - - - - - - - -
13330.24 701.49 6.97 1574 13335.86 done 1.37 - - 2448.25 - 3.64 0.125 3472.56 354.4 77.86 - - 2162.72 - - - - - - - - - 15.60 -
13485.28 689.67 7.18 1605 13489.85 1.40 0.19 0.099 2481.31 174.0 3.19 0.060 2182.25 -404.5 77.86 - - 2162.41 - - - - - - - - 15.56 15.75 -
13795.32 667.42 7.13 1637 13796.65 VBD 1.42 - - 2487.31 - - - 2182.31 - 77.86 - - 2162.84 - - - - - - - - - - -
14095.33 645.38 7.95 1667 14096.66 VBD 1.42 - - 2487.31 - - - 2182.81 - 77.86 - - 2162.81 - - - - - - - - - - -
14395.38 625.24 6.08 1697 14396.71 VBD 1.48 - - 2487.38 - - - 2182.38 - 77.86 - - 2163.72 - - - - - - - - - - -
14695.41 608.09 5.15 1727 14735.60 1.61 0.28 0.081 2538.50 182.6 - - 2183.25 - 119.25 35.99 1.799 2012.41 -4.2 0.245 - - - - - - 15.75 - 11.64
15035.44 579.17 8.82 1761 15041.20 roll 1.61 - - 2539.06 - 4.17 0.140 736.00 -347.1 119.25 - - 2005.41 - - - - - - - - - 15.47 -
15110.44 570.29 12.56 1776 15116.08 done 1.61 - - 2538.88 - 3.73 0.055 2218.94 397.6 119.25 - - 2007.88 - - - - - - - - - 15.51 -
15415.49 537.60 11.32 1807 15416.82 VBD 1.61 - - 2538.31 - - - 2219.06 - 119.25 - - 2005.12 - - - - - - - - - - -
15715.51 502.90 11.74 1837 15716.84 VBD 1.61 - - 2538.69 - - - 2219.00 - 119.25 - - 2003.53 - - - - - - - - - - -
16015.54 470.46 11.07 1867 16016.87 VBD 1.61 - - 2538.50 - - - 2219.38 - 119.25 - - 2004.41 - - - - - - - - - - -
16315.59 438.63 10.49 1897 16321.32 done 1.61 - - 2538.25 - 4.22 0.134 736.12 -351.5 119.25 - - 2006.31 - - - - - - - - - 15.56 -
16444.49 422.80 11.39 1923 16451.43 done 1.61 - - 2538.38 - 3.68 0.054 2220.81 403.4 119.25 - - 2005.44 - - - - - - - - - 15.74 -
16750.72 394.18 9.43 1954 16752.05 VBD 1.61 - - 2538.31 - - - 2219.44 - 119.25 - - 2003.91 - - - - - - - - - - -
17050.77 367.29 8.88 1984 17056.50 done 1.61 - - 2538.50 - 4.21 0.130 736.06 -352.3 119.25 - - 2002.50 - - - - - - - - - 15.56 -
17125.80 359.52 11.15 1999 17131.43 done 1.61 - - 2537.94 - 3.66 0.053 2221.81 405.9 119.25 - - 2002.50 - - - - - - - - - 15.63 -
17430.87 334.05 8.17 2030 17436.47 done 1.61 - - 2538.75 - 3.52 0.117 3474.19 355.8 119.25 - - 2002.25 - - - - - - - - - 15.58 -
17489.77 328.59 9.61 2042 17496.71 done 1.61 - - 2538.75 - 3.18 0.054 2180.19 -406.9 119.25 - - 2003.03 - - - - - - - - - 15.75 -
17795.95 300.59 9.82 2073 17797.28 VBD 1.61 - - 2538.88 - - - 2179.56 - 119.25 - - 2002.72 - - - - - - - - - - -
18096.01 272.99 8.37 2103 18097.35 VBD 1.61 - - 2538.75 - - - 2180.19 - 119.25 - - 2002.81 - - - - - - - - - - -
18396.06 246.56 9.12 2133 18401.82 done 1.61 - - 2539.00 - 4.07 0.132 734.81 -355.1 119.25 - - 2004.44 - - - - - - - - - 15.54 -
18555.03 229.54 10.39 2165 18561.89 done 1.61 - - 2538.81 - 3.63 0.051 2223.62 410.1 119.25 - - 2002.53 - - - - - - - - - 15.74 -
18861.17 202.35 7.96 2196 18862.50 VBD 1.61 - - 2538.88 - - - 2223.56 - 119.25 - - 2002.09 - - - - - - - - - - -
19161.19 180.71 6.55 2226 19162.52 VBD 1.65 - - 2539.00 - - - 2223.19 - 119.25 - - 2001.81 - - - - - - - - - - -
19461.22 159.10 6.49 2256 19462.55 VBD 1.70 - - 2538.56 - - - 2223.38 - 119.25 - - 2001.88 - - - - - - - - - - -
19761.26 140.43 6.22 2286 19767.00 1.75 0.17 0.092 2574.62 212.1 4.18 0.125 734.88 -356.1 119.25 - - 2000.19 - - - - - - - - 15.71 15.47 -
19830.10 134.46 8.80 2300 19837.18 done 1.75 - - 2575.12 - 3.66 0.050 2223.38 406.7 119.25 - - 2002.09 - - - - - - - - - 15.65 -
20136.31 115.22 5.32 2331 20177.85 done 1.87 - - 2574.38 - 4.14 0.124 735.44 -359.4 158.29 33.25 1.208 1852.75 -4.5 0.074 - - - - - - - 15.53 11.76
20401.36 89.59 9.88 2384 20407.14 roll 1.87 - - 2575.38 - 3.71 0.050 2224.06 401.2 158.29 - - 1849.47 - - - - - - - - - 15.59 -
20586.41 76.78 6.36 2421 20592.19 roll back 1.92 0.20 0.082 2615.88 202.5 3.41 0.109 3474.50 366.7 158.29 - - 1847.59 - - - - - - - - 15.58 15.49 -
20616.42 75.02 6.29 2427 20622.08 roll 1.97 - - 2615.81 - 3.18 0.047 2175.75 -408.4 158.29 - - 1849.47 - - - - - - - - - 15.60 -
20801.45 68.68 2.72 2464 20873.35 2.20 0.40 0.073 2683.12 168.3 3.71 0.107 3474.25 350.0 234.44 63.53 1.144 1543.81 -4.8 0.050 - - - - - - 15.62 15.28 11.94
21096.49 42.12 9.42 2523 21102.20 roll 2.20 - - 2682.31 - 3.22 0.048 2176.94 -402.9 234.44 - - 1537.97 - - - - - - - - - 15.49 -
21281.53 22.63 13.40 2560 21287.31 done 2.20 - - 2683.38 - 3.61 0.101 3474.44 359.4 234.44 - - 1536.22 - - - - - - - - - 15.45 -
21306.54 18.82 15.25 2565 21312.24 done 2.20 - - 2682.50 - 3.21 0.050 2177.44 -404.0 234.44 - - 1536.66 - - - - - - - - - 15.57 -
21491.63 2.34 5.01 2602 21501.83 done 2.33 - - 2682.25 - - - 2178.44 - 277.85 9.72 0.894 1505.97 -3.2 0.001 - - - - - - - - 12.01
21502 end climb: SURFACE_DEPTH_REACHED
21502 begin surface coast
21541 end surface coast: CONTROL_FINISHED_OK
21541 begin surface
SM 0.24 - - - - 174.1 - 0.017 767.8 - 16.93 0.059 773.7 45.7 - 0.22 0.104 762.0 3463.6 -0.817 - - 30.36 15.56 15.62 -