NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 545 * Raw log
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• Previous call tries 1 • 161.56 of 575.00 AH used of 24V (71.90% remains)
• Surface angle -65.7 deg, depth 1.00 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.04 (SM_CC=425)
• GPS1 time: 22 s
• GPS2 time: 4 s • Transponder ping count: 3
• 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
7.32 - - - 91.79 VBD -1.25 - - 172.88 - - - 2116.81 - -77.86 83.87 0.005 2588.16 - - - - - - - - - - 15.11
92.07 3.55 -5.13 16 123.38 -1.25 14.60 0.257 1836.62 114.0 4.26 0.150 664.00 -341.0 -77.86 5.49 0.009 2815.88 41.5 -2.832 - - - - - - 15.28 15.08 15.20
261.18 42.16 -22.36 50 266.97 roll -1.25 - - 1836.12 - 3.62 0.051 2118.06 401.7 -77.86 - - 2817.62 - - - - - - - - - 15.58 -
446.23 77.91 -16.83 87 447.55 no move -1.25 - - 1836.44 - - - 2117.81 - -77.86 - - 2816.09 - - - - - - - - - - -
626.26 99.64 -9.69 123 627.58 no move -1.25 - - 1836.31 - - - 2118.00 - -77.86 - - 2816.28 - - - - - - - - - - -
811.30 117.75 -9.46 142 812.62 no move -1.25 - - 1836.38 - - - 2118.44 - -77.86 - - 2816.34 - - - - - - - - - - -
1111.31 151.29 -11.72 172 1112.64 no move -1.25 - - 1836.12 - - - 2118.06 - -77.86 - - 2816.31 - - - - - - - - - - -
1411.35 185.50 -11.43 202 1412.68 no move -1.25 - - 1836.44 - - - 2118.44 - -77.86 - - 2817.34 - - - - - - - - - - -
1711.39 218.60 -10.75 232 1717.10 roll -1.25 - - 1836.00 - 3.73 0.113 3474.94 363.7 -77.86 - - 2814.84 - - - - - - - - - 15.69 -
1770.33 225.85 -12.56 244 1777.14 roll -1.25 - - 1836.75 - 3.45 0.058 2083.06 -403.4 -77.86 - - 2819.12 - - - - - - - - - 15.76 -
2076.43 259.36 -10.53 275 2077.76 no move -1.25 - - 1836.44 - - - 2083.38 - -77.86 - - 2816.44 - - - - - - - - - - -
2376.46 289.63 -9.68 305 2377.79 no move -1.25 - - 1836.38 - - - 2082.62 - -77.86 - - 2816.91 - - - - - - - - - - -
2676.50 318.91 -9.00 335 2682.22 roll -1.25 - - 1836.25 - 3.88 0.113 3474.12 358.6 -77.86 - - 2816.34 - - - - - - - - - 15.69 -
2705.43 322.02 -8.72 341 2712.26 roll -1.25 - - 1836.62 - 3.45 0.058 2081.88 -403.5 -77.86 - - 2817.72 - - - - - - - - - 15.78 -
3011.53 351.73 -10.13 372 3017.28 roll -1.25 - - 1836.19 - 3.84 0.112 3473.62 362.4 -77.86 - - 2815.25 - - - - - - - - - 15.69 -
3060.47 357.39 -11.34 382 3067.29 roll -1.25 - - 1836.31 - 3.42 0.057 2083.75 -406.4 -77.86 - - 2816.41 - - - - - - - - - 15.78 -
3366.58 388.21 -10.18 413 3367.91 no move -1.25 - - 1836.56 - - - 2083.81 - -77.86 - - 2816.69 - - - - - - - - - - -
3666.61 418.95 -9.83 443 3667.95 no move -1.25 - - 1836.00 - - - 2084.00 - -77.86 - - 2815.91 - - - - - - - - - - -
3966.64 448.40 -9.24 473 3967.97 no move -1.25 - - 1836.44 - - - 2083.88 - -77.86 - - 2817.19 - - - - - - - - - - -
4266.69 477.86 -9.80 503 4268.02 no move -1.25 - - 1836.69 - - - 2083.88 - -77.86 - - 2816.19 - - - - - - - - - - -
4566.75 505.90 -9.05 533 4568.08 no move -1.25 - - 1836.62 - - - 2083.00 - -77.86 - - 2816.47 - - - - - - - - - - -
4866.81 530.66 -7.72 563 4868.14 no move -1.25 - - 1836.00 - - - 2083.62 - -77.86 - - 2816.69 - - - - - - - - - - -
5166.87 556.22 -9.01 593 5172.66 roll -1.25 - - 1836.56 - 4.14 0.160 664.12 -342.9 -77.86 - - 2814.69 - - - - - - - - - 15.57 -
5205.82 560.39 -11.13 601 5212.67 roll -1.25 - - 1836.31 - 3.59 0.054 2118.25 405.1 -77.86 - - 2815.22 - - - - - - - - - 15.80 -
5511.95 587.93 -9.07 632 5517.68 roll -1.25 - - 1836.50 - 3.75 0.120 3475.31 361.9 -77.86 - - 2815.31 - - - - - - - - - 15.65 -
5560.90 592.98 -10.24 642 5567.72 roll -1.25 - - 1836.12 - 3.46 0.061 2083.00 -402.4 -77.86 - - 2814.41 - - - - - - - - - 15.74 -
5867.03 621.04 -8.31 673 5872.76 roll -1.25 - - 1835.81 - 3.89 0.118 3473.44 357.4 -77.86 - - 2812.41 - - - - - - - - - 15.65 -
5925.98 626.76 -9.70 685 5932.79 roll -1.25 - - 1835.75 - 3.46 0.062 2083.31 -401.8 -77.86 - - 2816.84 - - - - - - - - - 15.74 -
6232.11 654.38 -7.73 716 6233.44 no move -1.25 - - 1836.19 - - - 2083.69 - -77.86 - - 2812.53 - - - - - - - - - - -
6532.17 680.06 -8.96 746 6533.50 no move -1.25 - - 1836.31 - - - 2083.56 - -77.86 - - 2814.16 - - - - - - - - - - -
6832.20 704.98 -8.50 776 6833.53 no move -1.25 - - 1836.38 - - - 2084.25 - -77.86 - - 2812.75 - - - - - - - - - - -
7132.24 728.10 -7.87 806 7138.00 roll -1.25 - - 1836.44 - 3.94 0.123 3473.88 352.7 -77.86 - - 2813.91 - - - - - - - - - 15.61 -
7231.18 736.26 -7.65 826 7238.01 roll -1.25 - - 1836.38 - 3.49 0.065 2085.38 -397.9 -77.86 - - 2812.72 - - - - - - - - - 15.71 -
7537.29 758.93 -7.92 857 7543.05 roll -1.25 - - 1836.56 - 3.94 0.122 3474.25 352.5 -77.86 - - 2812.41 - - - - - - - - - 15.61 -
7716.26 773.85 -9.41 893 7723.10 roll -1.25 - - 1836.50 - 3.51 0.067 2084.94 -395.8 -77.86 - - 2812.78 - - - - - - - - - 15.69 -
8022.37 795.88 -7.71 924 8023.70 no move -1.25 - - 1836.31 - - - 2085.12 - -77.86 - - 2812.34 - - - - - - - - - - -
8322.40 818.98 -8.51 954 8328.15 roll -1.25 - - 1835.81 - 3.94 0.124 3473.00 352.3 -77.86 - - 2813.59 - - - - - - - - - 15.59 -
8357.42 821.57 -9.42 961 8362.20 roll -1.25 - - 1836.38 - 3.48 0.066 2085.62 -398.7 -77.86 - - 2812.03 - - - - - - - - - 15.69 -
8667.45 845.21 -7.38 993 8668.77 no move -1.25 - - 1836.75 - - - 2085.19 - -77.86 - - 2811.69 - - - - - - - - - - -
8967.48 868.59 -7.50 1023 8968.81 no move -1.25 - - 1837.00 - - - 2085.31 - -77.86 - - 2811.22 - - - - - - - - - - -
9267.51 891.38 -7.09 1053 9268.84 no move -1.25 - - 1835.94 - - - 2085.12 - -77.86 - - 2811.06 - - - - - - - - - - -
9567.55 914.99 -7.88 1083 9573.42 roll -1.25 - - 1836.44 - 3.95 0.129 3472.06 351.1 -77.86 - - 2808.81 - - - - - - - - - 15.57 -
9612.57 919.33 -9.60 1092 9617.23 roll -1.25 - - 1836.25 - 3.52 0.069 2086.69 -393.6 -77.86 - - 2812.72 - - - - - - - - - 15.66 -
9922.59 943.71 -8.69 1124 9923.92 no move -1.25 - - 1836.56 - - - 2086.56 - -77.86 - - 2810.47 - - - - - - - - - - -
10222.63 966.80 -7.62 1154 10223.96 no move -1.25 - - 1835.88 - - - 2086.38 - -77.86 - - 2808.09 - - - - - - - - - - -
10522.66 989.33 -7.99 1184 10523.99 no move -1.25 - - 1836.12 - - - 2086.56 - -77.86 - - 2810.03 - - - - - - - - - - -
10533 end dive: TARGET_DEPTH_EXCEEDED
10533 begin apogee
10533.91 990.23 -7.92 1185 10604.51 -0.25 1.85 0.145 2080.19 131.9 0.08 0.290 2186.12 1244.5 - 67.46 2.275 2501.31 -4.6 0.345 - - - - - - 15.60 15.03 11.46
10607 end apogee: CONTROL_FINISHED_OK
10607 begin climb
10606.63 991.54 - 1192 10686.98 1.25 2.67 0.090 2447.06 137.4 - - 2185.44 - 77.86 75.94 2.206 2181.28 -4.2 0.328 - - - - - - 15.13 - 12.22
10982.72 963.13 9.15 1230 10984.05 VBD 1.25 - - 2447.44 - - - 2186.06 - 77.86 - - 2170.12 - - - - - - - - - - -
11282.78 935.07 9.13 1260 11284.11 VBD 1.25 - - 2447.88 - - - 2185.69 - 77.86 - - 2166.91 - - - - - - - - - - -
11582.84 908.80 9.33 1290 11588.72 done 1.25 - - 2447.44 - 4.22 0.147 738.00 -343.1 77.86 - - 2166.38 - - - - - - - - - 15.50 -
11671.71 899.03 10.48 1308 11678.66 done 1.25 - - 2447.75 - 3.68 0.056 2217.69 402.1 77.86 - - 2165.53 - - - - - - - - - 15.66 -
11977.96 873.46 7.47 1339 11983.55 done 1.27 - - 2447.44 - 3.56 0.129 3473.44 352.7 77.86 - - 2163.72 - - - - - - - - - 15.54 -
12073.05 865.53 8.66 1358 12077.53 done 1.27 - - 2447.50 - 3.22 0.061 2181.19 -401.3 77.86 - - 2166.38 - - - - - - - - - 15.71 -
12383.04 840.85 8.25 1390 12384.38 VBD 1.27 - - 2447.44 - - - 2181.75 - 77.86 - - 2163.06 - - - - - - - - - - -
12683.12 819.24 7.07 1420 12688.95 done 1.30 - - 2447.94 - 4.12 0.140 736.81 -350.7 77.86 - - 2162.16 - - - - - - - - - 15.46 -
12802.07 809.96 9.03 1444 12809.07 done 1.30 - - 2447.75 - 3.68 0.055 2216.50 402.1 77.86 - - 2163.19 - - - - - - - - - 15.62 -
13108.22 788.58 6.60 1475 13109.55 VBD 1.34 - - 2447.62 - - - 2216.81 - 77.86 - - 2163.44 - - - - - - - - - - -
13408.25 767.70 7.21 1505 13413.85 done 1.37 - - 2447.00 - 3.61 0.128 3473.31 348.1 77.86 - - 2162.34 - - - - - - - - - 15.56 -
13467.10 763.31 7.56 1517 13473.96 done 1.37 - - 2447.62 - 3.21 0.060 2181.31 -402.5 77.86 - - 2162.94 - - - - - - - - - 15.74 -
13773.29 740.87 7.05 1548 13774.78 1.40 0.21 0.100 2489.06 197.3 - - 2182.38 - 77.86 - - 2163.91 - - - - - - - - 15.74 - -
14073.31 715.61 8.98 1578 14074.64 VBD 1.40 - - 2489.12 - - - 2182.19 - 77.86 - - 2162.44 - - - - - - - - - - -
14373.34 690.59 8.03 1608 14379.18 done 1.40 - - 2488.75 - 4.09 0.138 735.75 -353.7 77.86 - - 2162.28 - - - - - - - - - 15.54 -
14472.27 680.46 11.33 1628 14479.15 done 1.40 - - 2489.44 - 3.65 0.057 2218.31 406.2 77.86 - - 2162.88 - - - - - - - - - 15.73 -
14778.42 656.29 7.50 1659 14779.75 VBD 1.41 - - 2488.75 - - - 2219.44 - 77.86 - - 2161.44 - - - - - - - - - - -
15078.43 633.22 7.60 1689 15084.04 done 1.41 - - 2489.12 - 3.54 0.124 3473.38 354.2 77.86 - - 2161.38 - - - - - - - - - 15.56 -
15197.30 622.84 8.09 1713 15204.15 done 1.41 - - 2489.31 - 3.19 0.058 2181.12 -405.1 77.86 - - 2161.28 - - - - - - - - - 15.74 -
15503.49 599.61 7.56 1744 15504.82 VBD 1.41 - - 2488.62 - - - 2180.56 - 77.86 - - 2160.25 - - - - - - - - - - -
15803.52 575.45 7.76 1774 15809.22 done 1.41 - - 2489.38 - 4.07 0.134 736.88 -354.7 77.86 - - 2160.09 - - - - - - - - - 15.48 -
16032.49 554.76 9.32 1820 16039.36 done 1.41 - - 2489.12 - 3.62 0.053 2221.94 410.2 77.86 - - 2162.34 - - - - - - - - - 15.74 -
16338.63 535.06 5.71 1851 16373.92 done 1.51 - - 2489.06 - 4.18 0.132 736.12 -355.5 111.22 28.08 1.706 2045.41 -4.2 0.226 - - - - - - - 15.52 11.65
16462.49 525.37 7.41 1876 16469.40 roll 1.53 - - 2489.12 - 3.69 0.053 2219.75 402.1 111.22 - - 2043.44 - - - - - - - - - 15.52 -
16768.67 502.20 7.64 1907 16773.41 roll 1.53 - - 2488.00 - 3.55 0.120 3474.06 353.3 111.22 - - 2042.81 - - - - - - - - - 15.51 -
16972.59 481.56 12.81 1948 16979.45 roll 1.53 - - 2489.50 - 3.22 0.056 2182.06 -401.2 111.22 - - 2040.31 - - - - - - - - - 15.59 -
17278.80 452.76 9.60 1979 17284.65 roll 1.53 - - 2488.88 - 4.11 0.133 736.94 -351.6 111.22 - - 2040.31 - - - - - - - - - 15.51 -
17337.74 446.17 11.64 1991 17344.60 roll 1.53 - - 2487.31 - 3.64 0.051 2221.88 408.0 111.22 - - 2040.94 - - - - - - - - - 15.58 -
17643.89 417.71 9.78 2022 17645.22 VBD 1.53 - - 2488.81 - - - 2221.31 - 111.22 - - 2038.66 - - - - - - - - - - -
17943.96 391.13 7.50 2052 17945.43 1.55 0.17 0.092 2523.88 206.3 - - 2222.44 - 111.22 - - 2038.91 - - - - - - - - 15.72 - -
18244.01 363.05 10.30 2082 18249.72 done 1.55 - - 2524.62 - 4.18 0.129 737.12 -355.3 111.22 - - 2039.91 - - - - - - - - - 15.52 -
18439.10 342.46 10.42 2121 18444.73 done 1.55 - - 2521.75 - 3.64 0.051 2222.25 408.0 111.22 - - 2037.09 - - - - - - - - - 15.74 -
18744.16 314.88 9.55 2152 18749.74 done 1.55 - - 2523.38 - 3.49 0.116 3473.50 358.5 111.22 - - 2038.81 - - - - - - - - - 15.49 -
18853.03 303.37 10.00 2174 18859.88 done 1.55 - - 2524.31 - 3.18 0.053 2180.25 -406.7 111.22 - - 2038.22 - - - - - - - - - 15.74 -
19159.22 276.46 8.02 2205 19164.99 done 1.55 - - 2524.44 - 4.06 0.128 737.81 -355.3 111.22 - - 2035.88 - - - - - - - - - 15.53 -
19308.19 263.32 9.00 2235 19315.04 done 1.55 - - 2524.06 - 3.61 0.050 2223.38 411.5 111.22 - - 2037.53 - - - - - - - - - 15.74 -
19614.34 240.56 7.39 2266 19615.67 VBD 1.57 - - 2524.25 - - - 2223.62 - 111.22 - - 2037.84 - - - - - - - - - - -
19914.35 219.26 6.78 2296 19920.18 done 1.61 - - 2524.12 - 4.19 0.124 735.38 -355.2 111.22 - - 2035.56 - - - - - - - - - 15.45 -
20019.35 210.91 7.80 2317 20024.98 done 1.61 - - 2523.69 - 3.62 0.051 2224.69 411.4 111.22 - - 2039.81 - - - - - - - - - 15.75 -
20324.41 191.01 6.50 2348 20329.11 done 1.65 - - 2523.44 - 3.48 0.113 3472.50 358.6 111.22 - - 2037.78 - - - - - - - - - 15.49 -
20534.46 176.54 6.73 2390 20539.02 1.69 0.17 0.096 2557.50 200.4 3.18 0.051 2177.38 -407.3 111.22 - - 2037.91 - - - - - - - - 15.51 15.68 -
20844.49 156.49 6.37 2422 20850.17 done 1.74 - - 2559.38 - 4.05 0.126 736.12 -355.9 111.22 - - 2037.34 - - - - - - - - - 15.44 -
21073.45 138.55 7.51 2468 21080.31 done 1.76 - - 2560.12 - 3.63 0.049 2225.19 410.2 111.22 - - 2038.66 - - - - - - - - - 15.64 -
21379.57 123.67 4.05 2499 21435.38 1.93 0.32 0.069 2616.56 176.4 4.20 0.123 735.38 -354.7 168.37 48.54 1.229 1812.25 -4.7 0.081 - - - - - - 15.70 15.42 11.76
21619.58 94.81 14.48 2547 21625.37 roll 1.93 - - 2618.19 - 3.69 0.049 2223.75 403.4 168.37 - - 1808.31 - - - - - - - - - 15.50 -
21804.66 76.33 7.31 2584 21810.49 done 1.95 - - 2618.38 - 4.18 0.118 735.19 -356.1 168.37 - - 1805.25 - - - - - - - - - 15.40 -
21859.73 72.58 7.02 2595 21865.95 done 1.98 - - 2618.56 - 3.64 0.047 2226.56 409.7 168.37 - - 1804.97 - - - - - - - - - 15.59 -
22044.73 63.24 4.06 2632 22101.21 2.16 0.29 0.070 2671.44 182.3 4.18 0.120 736.38 -356.5 225.39 48.05 1.136 1579.44 -4.7 0.045 - - - - - - 15.61 15.35 12.06
22324.82 51.89 6.83 2688 22330.57 roll 2.19 - - 2669.75 - 3.67 0.048 2224.25 405.4 225.39 - - 1575.09 - - - - - - - - - 15.53 -
22509.91 39.76 7.22 2725 22515.75 done 2.22 - - 2671.50 - 4.16 0.117 734.94 -358.0 225.39 - - 1572.81 - - - - - - - - - 15.48 -
22604.92 30.07 10.51 2744 22610.70 roll 2.22 - - 2670.88 - 3.65 0.047 2224.56 408.1 225.39 - - 1573.16 - - - - - - - - - 15.59 -
22790.01 12.59 8.96 2781 22791.34 VBD 2.22 - - 2671.06 - - - 2224.75 - 225.39 - - 1572.22 - - - - - - - - - - -
22900 end climb: SURFACE_DEPTH_REACHED
22900 begin surface coast
22920 end surface coast: CONTROL_FINISHED_OK
22920 begin surface
SM 0.34 - - - - 172.8 - - 767.2 - 17.61 0.092 763.2 43.3 - 0.34 0.088 771.2 2268.2 -0.896 - - 30.00 15.51 15.67 -