NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 543 * Raw log
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• Previous call tries 2 • 160.93 of 575.00 AH used of 24V (72.01% remains)
• Surface angle -54.2 deg, depth 0.37 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.67 (SM_CC=425)
• GPS1 time: 60 s
• GPS2 time: 3 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
7.34 - - - 91.86 VBD -1.25 - - 172.75 - - - 2127.25 - -77.86 83.93 0.005 2570.31 - - - - - - - - - - 15.11
92.14 3.18 -3.17 16 123.98 -1.25 14.62 0.259 1836.00 113.8 4.29 0.148 662.38 -341.5 -77.86 6.27 0.008 2816.41 39.3 -2.720 - - - - - - 15.30 15.11 15.23
346.82 61.47 -22.76 67 352.60 roll -1.25 - - 1835.94 - 3.66 0.054 2115.75 397.1 -77.86 - - 2816.91 - - - - - - - - - 15.63 -
531.91 87.81 -13.31 104 533.24 no move -1.25 - - 1836.06 - - - 2116.06 - -77.86 - - 2816.94 - - - - - - - - - - -
716.96 109.26 -10.91 133 718.29 no move -1.25 - - 1835.81 - - - 2115.69 - -77.86 - - 2817.12 - - - - - - - - - - -
1017.08 140.74 -11.48 163 1022.81 roll -1.25 - - 1835.56 - 4.17 0.147 663.00 -348.4 -77.86 - - 2819.25 - - - - - - - - - 15.59 -
1072.12 148.16 -14.42 174 1077.73 roll -1.25 - - 1835.56 - 3.58 0.052 2121.25 407.3 -77.86 - - 2814.44 - - - - - - - - - 15.74 -
1377.10 183.89 -11.73 205 1382.89 roll -1.25 - - 1835.12 - 4.15 0.147 662.12 -351.6 -77.86 - - 2816.56 - - - - - - - - - 15.60 -
1462.13 195.15 -14.33 222 1467.83 roll -1.25 - - 1835.56 - 3.56 0.051 2117.94 408.9 -77.86 - - 2815.22 - - - - - - - - - 15.77 -
1767.19 230.94 -11.70 253 1768.51 no move -1.25 - - 1835.69 - - - 2118.50 - -77.86 - - 2817.38 - - - - - - - - - - -
2067.22 260.97 -9.37 283 2068.54 no move -1.25 - - 1835.62 - - - 2118.81 - -77.86 - - 2817.09 - - - - - - - - - - -
2367.25 287.97 -8.71 313 2368.58 no move -1.25 - - 1835.88 - - - 2119.25 - -77.86 - - 2817.47 - - - - - - - - - - -
2667.29 318.52 -10.86 343 2668.62 no move -1.25 - - 1835.75 - - - 2118.50 - -77.86 - - 2817.22 - - - - - - - - - - -
2967.32 350.77 -10.95 373 2968.65 no move -1.25 - - 1836.12 - - - 2118.81 - -77.86 - - 2816.78 - - - - - - - - - - -
3267.35 382.21 -9.92 403 3268.68 no move -1.25 - - 1835.62 - - - 2118.31 - -77.86 - - 2816.84 - - - - - - - - - - -
3567.39 412.77 -10.37 433 3568.72 no move -1.25 - - 1835.88 - - - 2118.88 - -77.86 - - 2817.09 - - - - - - - - - - -
3867.43 445.26 -10.74 463 3868.76 no move -1.25 - - 1835.38 - - - 2118.50 - -77.86 - - 2815.28 - - - - - - - - - - -
4167.45 475.51 -9.44 493 4173.18 roll -1.25 - - 1835.56 - 3.74 0.121 3475.69 362.9 -77.86 - - 2815.72 - - - - - - - - - 15.69 -
4202.55 479.36 -11.00 500 4207.13 roll -1.25 - - 1836.19 - 3.43 0.062 2082.44 -406.2 -77.86 - - 2816.06 - - - - - - - - - 15.77 -
4512.49 509.59 -10.10 532 4513.82 no move -1.25 - - 1836.19 - - - 2082.44 - -77.86 - - 2815.91 - - - - - - - - - - -
4812.53 539.70 -9.71 562 4818.26 roll -1.25 - - 1835.44 - 3.89 0.118 3473.94 357.7 -77.86 - - 2815.66 - - - - - - - - - 15.67 -
4887.61 547.34 -10.24 577 4892.22 roll -1.25 - - 1836.00 - 3.43 0.062 2083.19 -405.5 -77.86 - - 2815.09 - - - - - - - - - 15.76 -
5197.58 577.71 -10.04 609 5198.91 no move -1.25 - - 1835.56 - - - 2083.19 - -77.86 - - 2815.09 - - - - - - - - - - -
5497.61 606.02 -9.35 639 5503.34 roll -1.25 - - 1835.25 - 3.89 0.118 3473.19 357.3 -77.86 - - 2815.28 - - - - - - - - - 15.67 -
5582.70 614.61 -9.61 656 5587.28 roll -1.25 - - 1835.19 - 3.44 0.063 2083.31 -404.0 -77.86 - - 2814.81 - - - - - - - - - 15.75 -
5892.66 642.58 -9.34 688 5898.40 roll -1.25 - - 1836.12 - 3.92 0.117 3472.44 354.4 -77.86 - - 2816.38 - - - - - - - - - 15.66 -
5957.69 648.62 -10.32 701 5962.33 roll -1.25 - - 1834.69 - 3.41 0.062 2084.94 -406.9 -77.86 - - 2816.59 - - - - - - - - - 15.75 -
6267.74 677.76 -9.02 733 6269.07 no move -1.25 - - 1835.62 - - - 2084.88 - -77.86 - - 2813.88 - - - - - - - - - - -
6567.80 706.88 -9.09 763 6569.13 no move -1.25 - - 1835.94 - - - 2084.56 - -77.86 - - 2813.56 - - - - - - - - - - -
6867.86 735.42 -9.06 793 6869.19 no move -1.25 - - 1835.81 - - - 2084.56 - -77.86 - - 2813.19 - - - - - - - - - - -
7167.92 760.61 -8.48 823 7173.71 roll -1.25 - - 1835.56 - 3.91 0.123 3472.50 355.0 -77.86 - - 2810.81 - - - - - - - - - 15.63 -
7216.87 764.75 -8.47 833 7223.69 roll -1.25 - - 1835.69 - 3.46 0.065 2085.50 -400.9 -77.86 - - 2812.69 - - - - - - - - - 15.72 -
7523.01 788.50 -7.40 864 7524.34 no move -1.25 - - 1835.25 - - - 2086.00 - -77.86 - - 2812.94 - - - - - - - - - - -
7823.06 811.59 -7.56 894 7828.86 roll -1.25 - - 1835.62 - 4.21 0.170 663.00 -338.0 -77.86 - - 2811.28 - - - - - - - - - 15.51 -
7862.01 815.51 -9.81 902 7868.86 roll -1.25 - - 1836.06 - 3.61 0.059 2115.44 402.3 -77.86 - - 2812.09 - - - - - - - - - 15.76 -
8168.15 841.93 -7.86 933 8174.01 roll -1.25 - - 1835.62 - 3.81 0.124 3474.50 356.7 -77.86 - - 2809.88 - - - - - - - - - 15.61 -
8247.29 849.89 -9.68 949 8254.04 roll -1.25 - - 1835.88 - 3.46 0.066 2085.94 -401.3 -77.86 - - 2811.44 - - - - - - - - - 15.69 -
8553.21 873.44 -7.07 980 8554.54 no move -1.25 - - 1836.19 - - - 2085.00 - -77.86 - - 2811.72 - - - - - - - - - - -
8853.23 895.67 -6.81 1010 8859.02 roll -1.25 - - 1835.56 - 4.14 0.171 664.19 -343.2 -77.86 - - 2809.00 - - - - - - - - - 15.49 -
8908.35 900.77 -9.26 1021 8914.08 roll -1.25 - - 1835.75 - 3.59 0.060 2115.25 404.2 -77.86 - - 2809.28 - - - - - - - - - 15.75 -
9213.29 923.48 -7.29 1052 9214.62 no move -1.25 - - 1835.56 - - - 2114.25 - -77.86 - - 2810.50 - - - - - - - - - - -
9513.32 945.25 -7.25 1082 9514.65 no move -1.25 - - 1835.75 - - - 2114.19 - -77.86 - - 2810.22 - - - - - - - - - - -
9813.36 967.08 -6.62 1112 9814.69 no move -1.25 - - 1835.69 - - - 2113.88 - -77.86 - - 2809.16 - - - - - - - - - - -
10113.41 973.95 -1.60 1142 10119.19 roll -1.25 - - 1835.50 - 3.85 0.127 3474.62 353.4 -77.86 - - 2808.66 - - - - - - - - - 15.59 -
10122.41 974.40 -1.56 1144 10129.13 roll -1.25 - - 1835.62 - 3.44 0.062 2083.25 -404.5 -77.86 - - 2809.41 - - - - - - - - - 15.68 -
10329 end dive: NO_VERTICAL_VELOCITY
10329 begin apogee
10329.76 974.37 - 1165 10400.27 -0.25 1.76 0.105 2080.38 139.1 0.07 0.305 2187.62 1491.0 - 67.79 2.234 2501.62 -4.5 0.345 - - - - - - 15.70 15.04 11.45
10403 end apogee: CONTROL_FINISHED_OK
10403 begin climb
10402.39 973.75 - 1172 10488.44 1.25 2.64 0.078 2448.06 139.3 4.42 0.147 738.00 -328.0 77.86 75.72 2.187 2178.62 -4.3 0.331 - - - - - - 15.14 14.73 12.24
10711.28 949.00 9.54 1233 10717.07 done 1.25 - - 2447.88 - 3.73 0.054 2217.00 396.5 77.86 - - 2169.84 - - - - - - - - - 15.40 -
11016.32 922.78 8.61 1264 11022.18 done 1.25 - - 2447.31 - 4.26 0.143 737.25 -347.4 77.86 - - 2168.16 - - - - - - - - - 15.45 -
11171.36 907.94 8.17 1295 11177.12 done 1.25 - - 2448.19 - 3.66 0.055 2217.25 404.4 77.86 - - 2164.97 - - - - - - - - - 15.62 -
11476.42 880.44 10.10 1326 11482.16 done 1.25 - - 2446.69 - 4.19 0.142 738.06 -353.0 77.86 - - 2167.94 - - - - - - - - - 15.52 -
11595.32 869.06 10.35 1350 11602.19 done 1.25 - - 2447.75 - 3.65 0.054 2217.88 405.4 77.86 - - 2165.22 - - - - - - - - - 15.69 -
11901.45 843.28 7.65 1381 11902.78 VBD 1.25 - - 2447.56 - - - 2217.94 - 77.86 - - 2165.16 - - - - - - - - - - -
12201.50 819.56 7.42 1411 12202.83 VBD 1.27 - - 2446.50 - - - 2218.12 - 77.86 - - 2166.59 - - - - - - - - - - -
12501.51 795.26 8.13 1441 12507.12 done 1.27 - - 2447.50 - 3.53 0.127 3474.00 355.8 77.86 - - 2162.47 - - - - - - - - - 15.59 -
12580.44 787.57 9.84 1457 12587.22 done 1.27 - - 2447.31 - 3.20 0.060 2180.69 -404.2 77.86 - - 2165.59 - - - - - - - - - 15.74 -
12886.56 763.22 8.45 1488 12892.41 done 1.27 - - 2448.81 - 4.11 0.140 736.88 -351.3 77.86 - - 2161.34 - - - - - - - - - 15.56 -
13041.62 749.07 9.18 1519 13047.23 done 1.27 - - 2447.50 - 3.63 0.054 2220.06 408.6 77.86 - - 2160.50 - - - - - - - - - 15.76 -
13346.65 726.27 7.60 1550 13351.24 done 1.27 - - 2448.12 - 3.41 0.125 3475.81 368.3 77.86 - - 2164.38 - - - - - - - - - 15.55 -
13460.63 717.32 8.88 1573 13467.35 done 1.27 - - 2448.00 - 3.18 0.057 2180.62 -407.3 77.86 - - 2163.16 - - - - - - - - - 15.75 -
13766.72 696.35 7.32 1604 13772.47 done 1.29 - - 2447.88 - 4.07 0.138 737.00 -354.7 77.86 - - 2159.47 - - - - - - - - - 15.47 -
13815.65 692.83 7.10 1614 13822.48 done 1.32 - - 2447.44 - 3.59 0.053 2221.31 413.5 77.86 - - 2162.53 - - - - - - - - - 15.76 -
14121.81 674.54 5.90 1645 14154.30 1.41 0.22 0.087 2492.69 205.7 4.18 0.139 737.12 -355.1 108.57 26.64 1.859 2053.88 -4.1 0.258 - - - - - - 15.74 15.51 11.72
14196.06 667.63 10.20 1660 14202.92 roll 1.41 - - 2492.75 - 3.64 0.053 2220.31 407.5 108.57 - - 2054.56 - - - - - - - - - 15.54 -
14502.21 638.43 9.76 1691 14507.97 roll 1.41 - - 2493.25 - 4.18 0.137 736.06 -355.1 108.57 - - 2049.34 - - - - - - - - - 15.47 -
14557.31 632.02 11.93 1702 14563.04 roll 1.41 - - 2492.88 - 3.65 0.054 2220.06 406.6 108.57 - - 2049.66 - - - - - - - - - 15.65 -
14862.25 603.60 9.00 1733 14868.02 roll 1.41 - - 2493.25 - 4.14 0.137 736.00 -358.5 108.57 - - 2048.41 - - - - - - - - - 15.51 -
14947.26 594.79 11.79 1750 14952.02 roll 1.41 - - 2493.44 - 3.62 0.054 2218.50 409.5 108.57 - - 2048.25 - - - - - - - - - 15.71 -
15257.30 566.57 9.25 1782 15262.89 done 1.41 - - 2492.75 - 3.46 0.122 3473.62 362.8 108.57 - - 2047.03 - - - - - - - - - 15.57 -
15336.24 559.21 9.60 1798 15343.14 done 1.41 - - 2492.81 - 3.15 0.056 2181.56 -410.2 108.57 - - 2050.94 - - - - - - - - - 15.69 -
15642.35 533.73 7.63 1829 15643.69 VBD 1.41 - - 2492.88 - - - 2181.88 - 108.57 - - 2048.53 - - - - - - - - - - -
15942.39 510.61 7.77 1859 15943.72 VBD 1.41 - - 2492.75 - - - 2181.56 - 108.57 - - 2048.44 - - - - - - - - - - -
16242.42 488.71 7.58 1889 16243.75 VBD 1.41 - - 2492.06 - - - 2181.69 - 108.57 - - 2048.62 - - - - - - - - - - -
16542.47 466.09 6.86 1919 16548.21 done 1.45 - - 2492.25 - 3.60 0.118 3473.81 358.9 108.57 - - 2046.38 - - - - - - - - - 15.57 -
16661.32 455.82 8.70 1943 16668.18 done 1.45 - - 2493.25 - 3.16 0.055 2178.94 -409.8 108.57 - - 2047.66 - - - - - - - - - 15.75 -
16967.53 435.87 6.13 1974 16968.87 VBD 1.51 - - 2492.69 - - - 2179.12 - 108.57 - - 2045.91 - - - - - - - - - - -
17267.56 414.52 6.61 2004 17268.90 VBD 1.55 - - 2492.06 - - - 2179.31 - 108.57 - - 2046.84 - - - - - - - - - - -
17567.60 394.76 6.26 2034 17573.49 1.60 0.23 0.091 2538.94 203.8 4.06 0.136 735.94 -355.5 108.57 - - 2046.81 - - - - - - - - 15.75 15.48 -
17776.55 376.24 8.51 2076 17783.40 done 1.60 - - 2538.56 - 3.60 0.052 2222.31 412.9 108.57 - - 2048.75 - - - - - - - - - 15.76 -
18082.68 352.35 8.20 2107 18088.39 done 1.60 - - 2538.69 - 4.12 0.127 735.19 -361.0 108.57 - - 2045.00 - - - - - - - - - 15.55 -
18237.76 337.49 11.11 2138 18243.49 done 1.60 - - 2538.94 - 3.61 0.052 2223.31 412.2 108.57 - - 2046.22 - - - - - - - - - 15.66 -
18542.80 312.09 8.01 2169 18544.13 VBD 1.60 - - 2538.31 - - - 2223.38 - 108.57 - - 2047.25 - - - - - - - - - - -
18842.86 289.25 7.82 2199 18844.19 VBD 1.60 - - 2538.31 - - - 2223.38 - 108.57 - - 2047.22 - - - - - - - - - - -
19142.94 266.29 7.12 2229 19144.27 VBD 1.63 - - 2538.88 - - - 2223.31 - 108.57 - - 2046.09 - - - - - - - - - - -
19443.00 246.60 6.94 2259 19448.59 done 1.67 - - 2538.75 - 3.43 0.115 3473.50 364.5 108.57 - - 2046.31 - - - - - - - - - 15.58 -
19558.03 237.92 8.16 2282 19562.57 done 1.67 - - 2538.69 - 3.17 0.052 2176.81 -409.1 108.57 - - 2048.06 - - - - - - - - - 15.62 -
19868.11 217.04 7.14 2314 19873.85 done 1.69 - - 2539.31 - 3.99 0.130 736.88 -360.9 108.57 - - 2045.78 - - - - - - - - - 15.53 -
20003.24 206.39 7.83 2341 20008.78 done 1.69 - - 2539.06 - 3.62 0.049 2224.00 410.8 108.57 - - 2048.19 - - - - - - - - - 15.63 -
20308.22 186.42 6.10 2372 20313.98 1.75 0.17 0.094 2573.12 200.4 3.45 0.111 3475.94 362.9 108.57 - - 2046.25 - - - - - - - - 15.73 15.51 -
20423.25 178.70 6.69 2395 20427.77 done 1.79 - - 2573.75 - 3.14 0.050 2175.50 -414.2 108.57 - - 2046.59 - - - - - - - - - 15.63 -
20733.29 158.46 7.54 2427 20739.02 done 1.81 - - 2573.44 - 3.99 0.127 735.31 -360.9 108.57 - - 2048.12 - - - - - - - - - 15.52 -
20962.33 140.34 7.18 2473 20969.11 done 1.83 - - 2574.19 - 3.62 0.048 2225.19 411.6 108.57 - - 2046.75 - - - - - - - - - 15.60 -
21268.38 124.90 4.77 2504 21315.11 1.97 0.29 0.075 2627.00 182.1 4.11 0.123 735.06 -362.6 155.44 40.13 1.232 1862.53 -4.6 0.081 - - - - - - 15.71 15.48 11.69
21538.45 97.58 9.10 2558 21544.33 roll 1.97 - - 2627.06 - 3.66 0.049 2225.69 407.3 155.44 - - 1861.50 - - - - - - - - - 15.55 -
21723.49 85.57 6.05 2595 21729.33 done 2.03 - - 2625.94 - 3.44 0.111 3473.88 362.8 155.44 - - 1859.81 - - - - - - - - - 15.51 -
21943.54 72.25 5.21 2639 21984.99 2.15 0.24 0.077 2670.75 186.7 3.16 0.048 2173.69 -411.5 195.94 34.74 1.142 1699.75 -4.6 0.051 - - - - - - 15.49 15.63 12.00
22163.56 63.36 2.86 2683 22231.81 2.38 0.30 0.076 2724.94 180.6 4.07 0.124 735.88 -353.3 269.97 61.88 1.140 1397.72 -4.9 0.047 - - - - - - 15.52 15.20 12.02
22454.67 30.43 17.53 2741 22460.53 roll 2.38 - - 2723.44 - 3.67 0.050 2223.19 405.3 269.97 - - 1395.34 - - - - - - - - - 15.51 -
22630 end climb: SURFACE_DEPTH_REACHED
22630 begin surface coast
22640 end surface coast: CONTROL_FINISHED_OK
22640 begin surface
SM 0.31 - - - - 174.0 - 2.667 768.8 - 18.06 0.095 767.1 42.5 - 0.34 0.087 770.5 2255.4 -0.821 - - 30.36 15.46 15.60 -