NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 193 * Raw log
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• Previous call tries 2 • 60.99 of 575.00 AH used of 24V (89.39% remains)
• Surface angle -64.4 deg, depth 1.36 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.02 (SM_CC=425)
• GPS1 time: 15 s
• GPS2 time: 4 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
6.62 - - - 84.75 VBD -1.25 - - 176.75 - - - 2118.62 - -77.86 77.54 0.005 2517.12 - - - - - - - - - - 15.64
85.03 3.69 -4.57 15 116.27 -1.25 13.86 0.265 1835.81 119.7 3.75 0.122 3472.81 361.1 -77.86 7.07 0.008 2816.47 42.3 -3.228 - - - - - - 15.64 15.62 15.68
339.12 57.57 -18.45 66 344.84 roll -1.25 - - 1835.44 - 3.50 0.063 2083.44 -397.0 -77.86 - - 2818.25 - - - - - - - - - 15.81 -
524.16 85.01 -12.33 103 529.97 roll -1.25 - - 1835.38 - 3.81 0.116 3472.44 364.6 -77.86 - - 2818.78 - - - - - - - - - 15.85 -
754.24 113.63 -11.73 149 758.89 roll -1.25 - - 1835.88 - 3.44 0.062 2081.56 -404.3 -77.86 - - 2818.31 - - - - - - - - - 15.90 -
1064.26 146.92 -11.07 181 1069.98 roll -1.25 - - 1835.44 - 3.79 0.117 3471.50 366.7 -77.86 - - 2818.69 - - - - - - - - - 15.94 -
1153.27 157.93 -12.27 199 1160.04 roll -1.25 - - 1836.19 - 3.42 0.062 2083.00 -406.0 -77.86 - - 2818.69 - - - - - - - - - 15.96 -
1459.32 191.26 -11.06 230 1460.65 no move -1.25 - - 1836.38 - - - 2083.19 - -77.86 - - 2818.59 - - - - - - - - - - -
1759.37 225.38 -10.94 260 1760.69 no move -1.25 - - 1835.88 - - - 2083.44 - -77.86 - - 2818.16 - - - - - - - - - - -
2059.41 257.56 -10.18 290 2060.74 no move -1.25 - - 1835.88 - - - 2083.38 - -77.86 - - 2818.84 - - - - - - - - - - -
2359.44 289.15 -10.56 320 2360.77 no move -1.25 - - 1835.94 - - - 2083.50 - -77.86 - - 2818.34 - - - - - - - - - - -
2659.49 321.10 -10.63 350 2660.82 no move -1.25 - - 1835.88 - - - 2083.62 - -77.86 - - 2818.19 - - - - - - - - - - -
2959.54 352.90 -11.07 380 2960.86 no move -1.25 - - 1835.94 - - - 2083.50 - -77.86 - - 2818.22 - - - - - - - - - - -
3259.57 384.14 -10.72 410 3265.31 roll -1.25 - - 1834.94 - 3.81 0.125 3471.44 364.3 -77.86 - - 2817.81 - - - - - - - - - 16.06 -
3288.51 387.72 -11.36 416 3295.32 roll -1.25 - - 1835.56 - 3.43 0.067 2084.69 -404.3 -77.86 - - 2817.84 - - - - - - - - - 16.06 -
3594.62 419.15 -11.18 447 3595.95 no move -1.25 - - 1835.38 - - - 2084.50 - -77.86 - - 2817.00 - - - - - - - - - - -
3894.67 449.38 -9.29 477 3900.43 roll -1.25 - - 1835.81 - 4.04 0.171 664.25 -351.5 -77.86 - - 2816.06 - - - - - - - - - 16.05 -
4019.71 463.84 -11.10 502 4025.32 roll -1.25 - - 1835.69 - 3.60 0.061 2117.38 403.6 -77.86 - - 2816.03 - - - - - - - - - 16.09 -
4324.79 493.13 -10.13 533 4330.50 roll -1.25 - - 1835.50 - 3.70 0.127 3472.19 366.2 -77.86 - - 2815.41 - - - - - - - - - 16.08 -
4413.81 503.24 -11.34 551 4420.57 roll -1.25 - - 1836.25 - 3.42 0.067 2083.19 -406.1 -77.86 - - 2816.84 - - - - - - - - - 16.08 -
4719.88 531.95 -9.00 582 4721.21 no move -1.25 - - 1836.12 - - - 2083.69 - -77.86 - - 2815.00 - - - - - - - - - - -
5019.95 561.29 -9.51 612 5021.27 no move -1.25 - - 1835.88 - - - 2083.31 - -77.86 - - 2815.84 - - - - - - - - - - -
5320.01 589.62 -9.38 642 5321.33 no move -1.25 - - 1835.94 - - - 2083.44 - -77.86 - - 2815.38 - - - - - - - - - - -
5620.08 617.62 -9.18 672 5625.88 roll -1.25 - - 1836.38 - 3.81 0.131 3471.44 364.3 -77.86 - - 2813.34 - - - - - - - - - 16.09 -
5715.11 627.47 -11.13 691 5719.77 roll -1.25 - - 1836.00 - 3.42 0.072 2085.38 -405.3 -77.86 - - 2814.84 - - - - - - - - - 16.09 -
6025.17 655.85 -9.73 723 6030.88 roll -1.25 - - 1835.19 - 3.80 0.131 3472.31 365.0 -77.86 - - 2813.38 - - - - - - - - - 16.09 -
6104.17 663.74 -10.37 739 6111.07 roll -1.25 - - 1835.62 - 3.42 0.071 2083.69 -406.0 -77.86 - - 2814.56 - - - - - - - - - 16.11 -
6410.22 688.33 -7.16 770 6411.55 no move -1.25 - - 1835.69 - - - 2083.50 - -77.86 - - 2812.69 - - - - - - - - - - -
6710.26 713.65 -9.05 800 6711.59 no move -1.25 - - 1835.62 - - - 2083.62 - -77.86 - - 2811.78 - - - - - - - - - - -
7010.30 737.92 -7.76 830 7016.06 roll -1.25 - - 1835.44 - 4.05 0.182 662.62 -350.9 -77.86 - - 2813.28 - - - - - - - - - 16.07 -
7069.30 743.97 -9.29 842 7076.15 roll -1.25 - - 1835.38 - 3.62 0.069 2116.06 401.5 -77.86 - - 2812.41 - - - - - - - - - 16.10 -
7375.35 768.15 -8.12 873 7376.68 no move -1.25 - - 1835.81 - - - 2116.12 - -77.86 - - 2810.75 - - - - - - - - - - -
7675.38 792.46 -7.41 903 7681.17 roll -1.25 - - 1835.25 - 4.14 0.180 663.12 -351.0 -77.86 - - 2810.12 - - - - - - - - - 16.07 -
7734.39 798.43 -9.63 915 7741.16 roll -1.25 - - 1835.56 - 3.56 0.071 2114.88 407.8 -77.86 - - 2812.88 - - - - - - - - - 16.10 -
8040.44 822.13 -6.83 946 8046.15 roll -1.25 - - 1835.38 - 3.72 0.135 3472.00 364.8 -77.86 - - 2809.47 - - - - - - - - - 16.09 -
8139.35 829.85 -7.25 966 8146.19 roll -1.25 - - 1835.44 - 3.41 0.073 2086.12 -406.4 -77.86 - - 2812.12 - - - - - - - - - 16.10 -
8445.49 852.22 -7.13 997 8446.82 no move -1.25 - - 1835.94 - - - 2085.94 - -77.86 - - 2811.50 - - - - - - - - - - -
8745.53 874.90 -8.10 1027 8751.30 roll -1.25 - - 1836.06 - 4.07 0.185 662.81 -349.7 -77.86 - - 2811.28 - - - - - - - - - 16.07 -
8800.56 879.32 -8.54 1038 8806.23 roll -1.25 - - 1833.19 - 3.55 0.072 2114.19 408.8 -77.86 - - 2811.59 - - - - - - - - - 16.11 -
9105.58 902.40 -7.27 1069 9111.36 roll -1.25 - - 1833.56 - 4.13 0.182 663.81 -351.2 -77.86 - - 2811.59 - - - - - - - - - 16.06 -
9140.60 905.14 -6.72 1076 9146.26 roll -1.25 - - 1836.12 - 3.56 0.061 2117.12 408.2 -77.86 - - 2810.34 - - - - - - - - - 16.10 -
9445.64 905.39 - 1107 9451.41 roll -1.25 - - 1834.25 - 4.14 0.179 663.06 -351.2 -77.86 - - 2810.31 - - - - - - - - - 16.06 -
9565 end dive: NO_VERTICAL_VELOCITY
9565 begin apogee
9569.99 905.22 - 1131 9635.78 -0.25 1.67 0.121 2082.19 148.5 0.06 0.332 2184.44 25356.3 - 62.97 2.186 2498.94 -4.9 0.338 - - - - - - 16.06 15.62 12.99
9637 end apogee: CONTROL_FINISHED_OK
9638 begin climb
9637.24 904.90 - 1138 9715.93 1.25 2.45 0.085 2449.12 149.8 3.75 0.137 3470.94 343.1 77.86 70.04 2.137 2180.97 -4.5 0.318 - - - - - - 15.66 15.27 12.90
9939.37 881.35 9.76 1198 9944.04 done 1.25 - - 2448.94 - 3.22 0.065 2181.94 -400.3 77.86 - - 2173.12 - - - - - - - - - 15.64 -
10249.40 853.31 9.38 1230 10255.03 done 1.25 - - 2448.75 - 3.63 0.134 3472.38 355.5 77.86 - - 2166.53 - - - - - - - - - 15.78 -
10478.29 828.47 10.06 1276 10485.13 done 1.25 - - 2448.75 - 3.19 0.065 2182.75 -404.3 77.86 - - 2169.03 - - - - - - - - - 15.84 -
10784.48 802.96 7.65 1307 10790.35 done 1.25 - - 2448.12 - 3.60 0.133 3471.56 358.0 77.86 - - 2164.03 - - - - - - - - - 15.89 -
11013.53 781.74 9.49 1353 11020.22 done 1.25 - - 2448.69 - 3.16 0.065 2182.06 -408.1 77.86 - - 2165.25 - - - - - - - - - 15.92 -
11319.57 758.65 7.14 1384 11324.29 done 1.28 - - 2448.81 - 3.59 0.133 3471.75 359.2 77.86 - - 2165.19 - - - - - - - - - 15.95 -
11413.63 750.81 8.79 1403 11420.27 done 1.28 - - 2448.12 - 3.14 0.064 2180.94 -411.1 77.86 - - 2165.03 - - - - - - - - - 15.97 -
11719.61 727.45 7.78 1434 11725.44 done 1.28 - - 2449.06 - 4.01 0.154 738.12 -359.8 77.86 - - 2160.88 - - - - - - - - - 15.97 -
11904.66 710.90 8.48 1471 11910.34 done 1.28 - - 2449.00 - 3.68 0.060 2217.50 402.0 77.86 - - 2160.34 - - - - - - - - - 16.01 -
12209.74 687.15 7.15 1502 12211.07 VBD 1.31 - - 2448.88 - - - 2217.44 - 77.86 - - 2160.34 - - - - - - - - - - -
12509.77 665.68 6.35 1532 12515.60 done 1.36 - - 2448.81 - 4.12 0.150 738.25 -359.0 77.86 - - 2159.69 - - - - - - - - - 16.01 -
12628.71 656.54 8.14 1556 12635.58 done 1.36 - - 2448.25 - 3.64 0.058 2220.25 407.1 77.86 - - 2160.22 - - - - - - - - - 16.03 -
12934.88 638.67 5.98 1587 12959.99 1.45 0.25 0.091 2499.81 206.2 - - 2219.94 - 107.37 24.11 1.813 2059.69 -4.2 0.243 - - - - - - 16.02 - 12.97
13254.93 612.74 8.79 1619 13259.64 roll 1.45 - - 2500.00 - 3.47 0.133 3471.50 360.7 107.37 - - 2057.56 - - - - - - - - - 15.93 -
13324.96 605.94 10.65 1633 13329.49 roll 1.45 - - 2500.50 - 3.17 0.064 2181.31 -407.0 107.37 - - 2056.19 - - - - - - - - - 15.94 -
13635.03 576.36 9.53 1665 13636.36 no move 1.45 - - 2500.44 - - - 2181.69 - 107.37 - - 2054.31 - - - - - - - - - - -
13935.10 548.42 8.31 1695 13936.43 no move 1.45 - - 2500.44 - - - 2181.06 - 107.37 - - 2053.59 - - - - - - - - - - -
14235.17 524.57 7.85 1725 14240.80 done 1.45 - - 2500.19 - 3.57 0.131 3472.31 361.7 107.37 - - 2052.44 - - - - - - - - - 15.99 -
14390.22 510.11 9.83 1756 14394.82 done 1.45 - - 2500.19 - 3.16 0.062 2181.44 -408.5 107.37 - - 2054.75 - - - - - - - - - 16.02 -
14700.26 483.63 9.83 1788 14701.59 VBD 1.45 - - 2499.88 - - - 2182.19 - 107.37 - - 2053.84 - - - - - - - - - - -
15000.29 456.70 8.80 1818 15005.90 done 1.45 - - 2500.81 - 3.56 0.128 3470.19 361.8 107.37 - - 2053.69 - - - - - - - - - 16.03 -
15229.21 434.27 9.61 1864 15236.03 done 1.45 - - 2500.38 - 3.14 0.061 2180.19 -410.8 107.37 - - 2052.88 - - - - - - - - - 16.03 -
15535.40 409.69 7.52 1895 15536.74 VBD 1.46 - - 2500.06 - - - 2180.81 - 107.37 - - 2052.31 - - - - - - - - - - -
15835.42 386.61 8.14 1925 15836.75 VBD 1.46 - - 2500.12 - - - 2180.88 - 107.37 - - 2053.44 - - - - - - - - - - -
16135.46 364.95 7.06 1955 16136.79 VBD 1.49 - - 2500.38 - - - 2180.56 - 107.37 - - 2052.97 - - - - - - - - - - -
16435.49 343.81 7.45 1985 16436.83 VBD 1.51 - - 2500.19 - - - 2180.75 - 107.37 - - 2053.19 - - - - - - - - - - -
16735.52 322.59 6.96 2015 16741.11 done 1.54 - - 2500.56 - 3.57 0.126 3473.25 362.0 107.37 - - 2050.94 - - - - - - - - - 16.05 -
16850.53 313.04 9.27 2038 16855.22 done 1.54 - - 2501.00 - 3.15 0.059 2179.12 -410.8 107.37 - - 2053.12 - - - - - - - - - 16.05 -
17160.58 290.80 7.41 2070 17161.91 VBD 1.56 - - 2500.56 - - - 2180.12 - 107.37 - - 2051.94 - - - - - - - - - - -
17460.61 269.57 7.27 2100 17465.31 done 1.58 - - 2501.25 - 3.49 0.123 3473.19 370.5 107.37 - - 2053.62 - - - - - - - - - 16.05 -
17534.54 263.27 8.65 2115 17541.43 done 1.58 - - 2500.19 - 3.12 0.057 2180.19 -414.4 107.37 - - 2052.50 - - - - - - - - - 16.04 -
17840.66 243.26 6.58 2146 17842.14 1.63 0.21 0.096 2543.31 205.3 - - 2180.31 - 107.37 - - 2052.53 - - - - - - - - 16.04 - -
18140.70 222.31 6.94 2176 18142.03 VBD 1.66 - - 2543.88 - - - 2180.19 - 107.37 - - 2051.41 - - - - - - - - - - -
18440.77 199.72 7.49 2206 18445.50 done 1.68 - - 2544.44 - 3.51 0.122 3471.38 367.9 107.37 - - 2052.81 - - - - - - - - - 16.06 -
18530.91 191.88 8.40 2224 18535.46 done 1.68 - - 2544.38 - 3.12 0.057 2178.50 -414.4 107.37 - - 2053.81 - - - - - - - - - 16.06 -
18840.87 166.01 8.79 2256 18845.65 done 1.68 - - 2545.38 - 3.49 0.119 3473.69 371.1 107.37 - - 2053.19 - - - - - - - - - 16.04 -
18894.75 161.08 9.37 2267 18901.58 done 1.68 - - 2544.94 - 3.14 0.056 2177.88 -412.7 107.37 - - 2053.91 - - - - - - - - - 16.05 -
19200.96 136.77 8.03 2298 19202.29 VBD 1.68 - - 2545.06 - - - 2178.12 - 107.37 - - 2053.56 - - - - - - - - - - -
19501.03 114.33 7.83 2328 19502.36 VBD 1.68 - - 2545.00 - - - 2177.56 - 107.37 - - 2053.00 - - - - - - - - - - -
19801.13 95.82 5.04 2366 19842.82 1.81 0.20 0.094 2587.06 210.3 4.00 0.139 737.19 -360.1 150.30 35.40 1.211 1885.41 -4.7 0.062 - - - - - - 16.04 15.85 13.05
20011.18 79.03 8.37 2408 20016.95 roll 1.81 - - 2587.75 - 3.67 0.055 2221.75 404.5 150.30 - - 1882.12 - - - - - - - - - 15.93 -
20196.24 68.43 5.14 2445 20237.65 done 1.93 - - 2587.38 - 3.45 0.121 3471.81 362.3 191.79 34.18 1.157 1716.91 -4.8 0.047 - - - - - - - 15.77 12.95
20256.46 66.18 3.83 2457 20312.87 2.11 0.42 0.074 2660.75 174.7 3.17 0.055 2177.69 -408.2 252.06 48.69 1.152 1471.03 -5.0 0.048 - - - - - - 15.80 15.82 12.93
20491.28 41.70 11.21 2504 20497.01 roll 2.11 - - 2661.44 - 3.58 0.119 3471.62 361.4 252.06 - - 1466.00 - - - - - - - - - 15.74 -
20591.28 29.21 11.44 2524 20596.97 done 2.11 - - 2660.81 - 3.19 0.056 2179.75 -405.0 252.06 - - 1463.66 - - - - - - - - - 15.79 -
20776.35 20.23 4.12 2561 20828.23 2.28 0.20 0.086 2701.06 201.2 4.05 0.137 736.06 -356.5 308.23 45.92 1.086 1242.88 -4.8 0.015 - - - - - - 15.82 15.63 12.90
20916.35 4.09 16.29 2589 20922.12 roll 2.28 - - 2701.06 - 3.69 0.054 2222.25 402.8 308.23 - - 1240.94 - - - - - - - - - 15.73 -
20932 end climb: SURFACE_DEPTH_REACHED
20932 begin surface coast
20942 end surface coast: CONTROL_FINISHED_OK
20942 begin surface
SM 1.06 - - - - 174.4 - 0.017 767.3 - 16.82 0.107 770.9 45.8 - 0.33 0.083 763.8 2303.4 -3.007 - - 30.36 15.70 15.75 -