NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 191 * Raw log
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• Previous call tries 1 • 60.40 of 575.00 AH used of 24V (89.50% remains)
• Surface angle -59.9 deg, depth 0.45 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.75 (SM_CC=425)
• GPS1 time: 33 s
• GPS2 time: 3 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.42 - - - 84.53 VBD -1.25 - - 171.69 - - - 2080.06 - -77.86 77.53 0.005 2528.91 - - - - - - - - - - 15.62
84.79 3.61 -4.47 15 116.11 -1.25 13.96 0.265 1836.88 119.3 3.83 0.125 3472.19 363.5 -77.86 6.83 0.008 2816.12 42.1 -3.193 - - - - - - 15.62 15.61 15.65
193.88 30.40 -25.78 37 199.61 roll -1.25 - - 1835.50 - 3.46 0.063 2083.94 -401.2 -77.86 - - 2818.34 - - - - - - - - - 15.74 -
378.94 62.78 -16.60 74 384.78 roll -1.25 - - 1834.88 - 4.07 0.162 664.12 -348.9 -77.86 - - 2818.91 - - - - - - - - - 15.79 -
414.03 68.77 -16.85 81 419.71 roll -1.25 - - 1835.31 - 3.54 0.057 2120.19 411.3 -77.86 - - 2817.97 - - - - - - - - - 15.82 -
599.00 93.51 -12.05 118 604.83 roll -1.25 - - 1835.94 - 4.09 0.156 662.75 -356.3 -77.86 - - 2816.38 - - - - - - - - - 15.84 -
669.09 101.79 -11.93 132 674.63 roll -1.25 - - 1835.62 - 3.58 0.055 2120.06 407.1 -77.86 - - 2815.50 - - - - - - - - - 15.88 -
974.04 133.32 -9.82 163 979.81 roll -1.25 - - 1835.75 - 4.09 0.157 662.00 -356.5 -77.86 - - 2816.19 - - - - - - - - - 15.91 -
1022.98 138.81 -11.22 173 1029.83 roll -1.25 - - 1835.38 - 3.53 0.057 2120.19 413.1 -77.86 - - 2817.56 - - - - - - - - - 15.94 -
1329.07 170.92 -11.19 204 1330.40 no move -1.25 - - 1835.50 - - - 2120.06 - -77.86 - - 2817.66 - - - - - - - - - - -
1629.09 202.62 -10.73 234 1630.42 no move -1.25 - - 1835.62 - - - 2120.44 - -77.86 - - 2817.47 - - - - - - - - - - -
1929.11 236.77 -11.20 264 1930.44 no move -1.25 - - 1835.50 - - - 2119.94 - -77.86 - - 2817.38 - - - - - - - - - - -
2229.14 267.94 -10.44 294 2234.83 roll -1.25 - - 1834.19 - 3.65 0.124 3472.25 370.5 -77.86 - - 2817.22 - - - - - - - - - 16.03 -
2298.08 276.09 -12.22 308 2304.89 roll -1.25 - - 1834.88 - 3.40 0.065 2083.38 -408.5 -77.86 - - 2819.06 - - - - - - - - - 16.03 -
2604.17 307.07 -9.98 339 2605.50 no move -1.25 - - 1835.62 - - - 2082.88 - -77.86 - - 2817.22 - - - - - - - - - - -
2904.19 340.12 -11.16 369 2909.91 roll -1.25 - - 1835.62 - 3.77 0.125 3474.19 369.0 -77.86 - - 2815.47 - - - - - - - - - 16.06 -
2939.21 344.39 -11.56 376 2943.84 roll -1.25 - - 1835.81 - 3.40 0.066 2082.81 -409.2 -77.86 - - 2816.22 - - - - - - - - - 16.06 -
3249.23 379.83 -11.94 408 3254.96 roll -1.25 - - 1835.12 - 3.76 0.126 3472.56 369.6 -77.86 - - 2817.16 - - - - - - - - - 16.06 -
3298.17 386.44 -14.19 418 3305.03 roll -1.25 - - 1835.81 - 3.38 0.067 2081.50 -411.6 -77.86 - - 2816.47 - - - - - - - - - 16.07 -
3604.27 421.88 -11.13 449 3609.98 roll -1.25 - - 1835.31 - 3.77 0.127 3473.62 369.3 -77.86 - - 2813.97 - - - - - - - - - 16.07 -
3663.21 429.11 -11.98 461 3670.01 roll -1.25 - - 1835.31 - 3.38 0.068 2083.88 -411.2 -77.86 - - 2816.41 - - - - - - - - - 16.07 -
3969.30 460.59 -10.35 492 3975.05 roll -1.25 - - 1835.75 - 3.96 0.173 663.06 -358.8 -77.86 - - 2813.59 - - - - - - - - - 16.05 -
4018.17 466.10 -11.13 502 4025.13 roll -1.25 - - 1835.31 - 3.54 0.062 2117.25 410.8 -77.86 - - 2815.81 - - - - - - - - - 16.10 -
4324.34 495.18 -8.86 533 4325.66 no move -1.25 - - 1835.94 - - - 2117.06 - -77.86 - - 2813.72 - - - - - - - - - - -
4624.36 521.12 -9.32 563 4630.05 roll -1.25 - - 1835.31 - 3.68 0.131 3471.94 368.2 -77.86 - - 2814.59 - - - - - - - - - 16.08 -
4669.38 525.32 -9.25 572 4674.03 roll -1.25 - - 1835.50 - 3.37 0.070 2083.31 -412.1 -77.86 - - 2815.03 - - - - - - - - - 16.10 -
4979.39 554.02 -9.10 604 4980.73 no move -1.25 - - 1836.00 - - - 2083.12 - -77.86 - - 2813.62 - - - - - - - - - - -
5279.42 580.89 -8.62 634 5280.75 no move -1.25 - - 1836.00 - - - 2083.62 - -77.86 - - 2812.47 - - - - - - - - - - -
5579.44 608.30 -8.98 664 5585.21 roll -1.25 - - 1836.88 - 4.01 0.179 663.88 -354.0 -77.86 - - 2810.97 - - - - - - - - - 16.07 -
5648.38 615.46 -10.08 678 5655.21 roll -1.25 - - 1834.94 - 3.56 0.068 2118.00 408.5 -77.86 - - 2813.94 - - - - - - - - - 16.10 -
5954.49 642.95 -8.11 709 5960.26 roll -1.25 - - 1836.25 - 4.10 0.176 662.94 -354.9 -77.86 - - 2812.53 - - - - - - - - - 16.07 -
6033.36 652.04 -12.72 725 6040.28 roll -1.25 - - 1835.94 - 3.56 0.069 2117.00 408.4 -77.86 - - 2811.34 - - - - - - - - - 16.10 -
6339.58 680.38 -9.32 756 6345.27 roll -1.25 - - 1836.00 - 3.65 0.134 3471.94 371.2 -77.86 - - 2811.84 - - - - - - - - - 16.08 -
6384.61 685.03 -10.33 765 6389.24 roll -1.25 - - 1836.44 - 3.38 0.072 2085.38 -410.2 -77.86 - - 2811.66 - - - - - - - - - 16.10 -
6694.65 713.96 -9.63 797 6695.98 no move -1.25 - - 1835.56 - - - 2085.00 - -77.86 - - 2810.41 - - - - - - - - - - -
6994.70 740.04 -9.33 827 6996.02 no move -1.25 - - 1835.88 - - - 2085.62 - -77.86 - - 2810.56 - - - - - - - - - - -
7294.74 765.19 -8.11 857 7296.07 no move -1.25 - - 1836.25 - - - 2085.62 - -77.86 - - 2809.47 - - - - - - - - - - -
7594.80 769.36 -1.15 887 7600.54 roll -1.25 - - 1834.50 - 3.99 0.178 663.25 -356.5 -77.86 - - 2810.72 - - - - - - - - - 16.07 -
7779 end dive: NO_VERTICAL_VELOCITY
7779 begin apogee
7785.31 769.58 - 924 7851.73 -0.25 1.68 0.120 2082.00 147.3 0.07 0.296 2182.94 21709.9 - 62.03 2.006 2499.72 -5.0 0.324 - - - - - - 16.08 15.67 13.06
7853 end apogee: CONTROL_FINISHED_OK
7853 begin climb
7853.27 769.40 - 931 7932.17 1.25 2.51 0.098 2447.31 145.5 3.69 0.135 3472.38 349.4 77.86 69.76 1.941 2181.09 -4.6 0.305 - - - - - - 15.70 15.34 12.98
7975.37 764.38 4.39 955 8028.14 1.41 0.22 0.092 2493.19 208.5 3.23 0.064 2182.88 -399.2 130.08 47.78 1.895 1967.66 -4.5 0.303 - - - - - - 15.49 15.50 12.72
8330.95 723.59 12.37 996 8332.29 VBD 1.41 - - 2492.62 - - - 2182.50 - 130.08 - - 1956.38 - - - - - - - - - - -
8630.99 687.09 12.18 1026 8632.32 VBD 1.41 - - 2492.50 - - - 2182.75 - 130.08 - - 1954.50 - - - - - - - - - - -
8931.02 652.21 11.65 1056 8936.63 done 1.41 - - 2493.06 - 3.58 0.137 3471.00 359.8 130.08 - - 1952.88 - - - - - - - - - 15.87 -
9049.96 635.61 14.13 1080 9056.73 done 1.41 - - 2493.06 - 3.18 0.068 2183.69 -404.8 130.08 - - 1952.62 - - - - - - - - - 15.89 -
9356.08 597.84 11.99 1111 9361.92 done 1.41 - - 2491.44 - 4.01 0.156 736.88 -360.8 130.08 - - 1950.97 - - - - - - - - - 15.92 -
9471.11 581.69 15.28 1134 9476.79 done 1.41 - - 2491.19 - 3.59 0.064 2215.88 412.0 130.08 - - 1951.38 - - - - - - - - - 15.95 -
9776.16 548.01 11.18 1165 9777.49 VBD 1.41 - - 2492.44 - - - 2215.62 - 130.08 - - 1949.41 - - - - - - - - - - -
10076.19 518.25 10.86 1195 10077.53 VBD 1.41 - - 2492.88 - - - 2215.94 - 130.08 - - 1949.81 - - - - - - - - - - -
10376.23 486.97 10.43 1225 10377.57 VBD 1.41 - - 2492.62 - - - 2216.25 - 130.08 - - 1948.22 - - - - - - - - - - -
10676.27 453.88 11.75 1255 10677.60 VBD 1.41 - - 2493.25 - - - 2216.19 - 130.08 - - 1949.78 - - - - - - - - - - -
10976.30 421.74 10.96 1285 10977.63 VBD 1.41 - - 2492.44 - - - 2216.44 - 130.08 - - 1949.41 - - - - - - - - - - -
11276.34 393.59 9.44 1315 11277.68 VBD 1.41 - - 2493.12 - - - 2216.19 - 130.08 - - 1948.84 - - - - - - - - - - -
11576.38 365.14 9.15 1345 11580.95 done 1.41 - - 2492.94 - 3.41 0.131 3473.44 368.7 130.08 - - 1948.66 - - - - - - - - - 16.01 -
11720.39 350.20 10.35 1374 11727.09 done 1.41 - - 2493.31 - 3.14 0.064 2181.81 -411.3 130.08 - - 1948.84 - - - - - - - - - 16.05 -
12026.44 320.97 9.41 1405 12027.78 VBD 1.41 - - 2492.38 - - - 2182.62 - 130.08 - - 1947.41 - - - - - - - - - - -
12326.48 292.65 9.45 1435 12327.81 VBD 1.41 - - 2491.00 - - - 2182.19 - 130.08 - - 1948.12 - - - - - - - - - - -
12626.53 265.07 8.65 1465 12631.12 done 1.41 - - 2492.88 - 3.48 0.125 3472.19 370.7 130.08 - - 1945.88 - - - - - - - - - 16.03 -
12730.54 255.25 9.67 1486 12737.25 done 1.41 - - 2491.44 - 3.12 0.061 2181.25 -413.8 130.08 - - 1948.59 - - - - - - - - - 16.05 -
13036.62 230.70 8.00 1517 13041.20 done 1.41 - - 2492.50 - 3.48 0.124 3474.62 371.7 130.08 - - 1946.84 - - - - - - - - - 16.05 -
13126.66 222.33 9.40 1535 13131.32 done 1.41 - - 2492.00 - 3.14 0.061 2179.88 -412.3 130.08 - - 1948.97 - - - - - - - - - 16.05 -
13436.71 196.80 8.59 1567 13438.05 VBD 1.41 - - 2493.38 - - - 2179.50 - 130.08 - - 1947.91 - - - - - - - - - - -
13736.77 171.44 8.54 1597 13738.10 VBD 1.41 - - 2492.94 - - - 2179.62 - 130.08 - - 1946.84 - - - - - - - - - - -
14036.82 147.44 8.25 1627 14042.41 done 1.41 - - 2493.12 - 3.48 0.124 3473.62 371.8 130.08 - - 1947.12 - - - - - - - - - 16.04 -
14155.87 135.91 9.75 1651 14162.68 done 1.41 - - 2493.06 - 3.12 0.059 2181.06 -414.3 130.08 - - 1947.34 - - - - - - - - - 16.04 -
14461.93 111.82 6.72 1682 14466.50 done 1.45 - - 2493.19 - 3.44 0.121 3472.44 375.4 130.08 - - 1947.66 - - - - - - - - - 16.06 -
14601.97 99.55 8.98 1710 14607.64 done 1.45 - - 2492.50 - 3.11 0.057 2179.06 -415.9 130.08 - - 1948.56 - - - - - - - - - 16.05 -
14787.04 87.13 6.01 1747 14814.34 done 1.54 - - 2493.19 - 3.92 0.141 736.50 -368.0 159.22 22.14 1.163 1849.53 -4.5 0.056 - - - - - - - 15.89 12.96
14842.26 84.08 5.56 1758 14878.67 1.64 0.28 0.083 2546.19 189.3 3.55 0.055 2225.12 419.3 194.69 30.07 1.158 1706.12 -4.8 0.058 - - - - - - 15.93 15.96 13.01
15057.12 65.36 10.16 1801 15062.97 roll 1.64 - - 2547.62 - 4.02 0.137 736.38 -370.3 194.69 - - 1699.84 - - - - - - - - - 15.87 -
15142.14 58.15 8.33 1818 15147.89 roll 1.64 - - 2547.62 - 3.59 0.057 2223.75 414.3 194.69 - - 1698.69 - - - - - - - - - 15.90 -
15327.19 47.04 5.85 1855 15358.46 done 1.74 - - 2547.19 - 3.43 0.124 3471.75 363.8 226.05 26.36 1.103 1577.72 -4.6 0.033 - - - - - - - 15.77 12.90
15462.20 38.62 6.57 1882 15467.87 roll 1.78 - - 2547.62 - 3.15 0.056 2179.75 -410.2 226.05 - - 1574.41 - - - - - - - - - 15.86 -
15647.24 28.56 4.95 1919 15693.40 1.91 0.35 0.074 2613.94 189.5 3.56 0.119 3471.94 363.0 270.24 37.65 1.093 1396.22 -4.7 0.021 - - - - - - 15.87 15.71 12.95
15877.28 13.08 6.99 1965 15882.95 roll 1.95 - - 2612.69 - 3.15 0.056 2176.94 -411.1 270.24 - - 1394.22 - - - - - - - - - 15.84 -
16027 end climb: SURFACE_DEPTH_REACHED
16027 begin surface coast
16052 end surface coast: CONTROL_FINISHED_OK
16052 begin surface
SM 0.42 - - - - 172.8 0.03 0.365 768.4 25613.3 16.03 0.099 771.2 48.1 - 0.21 0.109 765.6 3630.7 -1.430 - - 15.46 15.82 15.86 -