NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 194 * Raw log
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• Previous call tries 1 • 61.29 of 575.00 AH used of 24V (89.34% remains)
• Surface angle -64.8 deg, depth 1.29 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.76 (SM_CC=425)
• GPS1 time: 23 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
6.62 - - - 79.58 VBD -1.25 - - 173.94 - - - 2115.44 - -77.86 72.45 0.005 2393.91 - - - - - - - - - - 15.62
79.91 3.34 -4.17 14 111.83 -1.25 13.85 0.263 1836.88 120.1 3.80 0.123 3472.38 357.1 -77.86 10.52 0.007 2816.31 40.2 -3.228 - - - - - - 15.61 15.60 15.64
184.57 28.01 -24.25 35 190.35 roll -1.25 - - 1837.00 - 3.47 0.068 2085.62 -399.6 -77.86 - - 2817.12 - - - - - - - - - 15.73 -
369.63 63.69 -17.53 72 370.96 no move -1.25 - - 1836.88 - - - 2085.50 - -77.86 - - 2817.34 - - - - - - - - - - -
549.67 87.96 -11.96 108 551.00 no move -1.25 - - 1836.69 - - - 2085.62 - -77.86 - - 2817.50 - - - - - - - - - - -
729.74 108.93 -10.32 136 731.06 no move -1.25 - - 1836.56 - - - 2085.50 - -77.86 - - 2817.97 - - - - - - - - - - -
1029.81 140.86 -11.36 166 1035.57 roll -1.25 - - 1835.62 - 4.05 0.164 663.62 -351.1 -77.86 - - 2820.16 - - - - - - - - - 15.90 -
1078.69 147.26 -13.54 176 1085.61 roll -1.25 - - 1836.75 - 3.63 0.059 2119.81 401.2 -77.86 - - 2817.75 - - - - - - - - - 15.93 -
1384.90 181.55 -10.46 207 1386.23 no move -1.25 - - 1836.94 - - - 2119.06 - -77.86 - - 2818.78 - - - - - - - - - - -
1684.97 217.50 -11.63 237 1686.30 no move -1.25 - - 1836.75 - - - 2119.62 - -77.86 - - 2818.91 - - - - - - - - - - -
1985.04 251.59 -10.95 267 1986.37 no move -1.25 - - 1836.56 - - - 2119.38 - -77.86 - - 2818.56 - - - - - - - - - - -
2285.12 284.54 -10.96 297 2286.45 no move -1.25 - - 1837.00 - - - 2119.62 - -77.86 - - 2818.84 - - - - - - - - - - -
2585.18 318.03 -11.53 327 2586.51 no move -1.25 - - 1836.69 - - - 2119.31 - -77.86 - - 2818.94 - - - - - - - - - - -
2885.22 351.17 -10.92 357 2886.55 no move -1.25 - - 1837.00 - - - 2119.00 - -77.86 - - 2818.97 - - - - - - - - - - -
3185.25 383.96 -10.42 387 3190.94 roll -1.25 - - 1836.62 - 3.70 0.128 3471.12 365.4 -77.86 - - 2816.09 - - - - - - - - - 16.06 -
3240.42 390.39 -12.28 398 3245.93 roll -1.25 - - 1836.94 - 3.41 0.068 2083.75 -406.9 -77.86 - - 2817.28 - - - - - - - - - 16.06 -
3545.29 422.85 -10.31 429 3546.62 no move -1.25 - - 1837.12 - - - 2083.62 - -77.86 - - 2818.34 - - - - - - - - - - -
3845.32 454.91 -10.60 459 3851.10 roll -1.25 - - 1836.94 - 4.04 0.170 663.94 -351.4 -77.86 - - 2816.59 - - - - - - - - - 16.05 -
3920.41 463.97 -12.07 474 3926.02 roll -1.25 - - 1836.88 - 3.59 0.062 2116.31 404.6 -77.86 - - 2817.94 - - - - - - - - - 16.08 -
4225.44 494.60 -9.36 505 4231.14 roll -1.25 - - 1837.38 - 3.69 0.128 3471.38 367.2 -77.86 - - 2815.72 - - - - - - - - - 16.07 -
4424.33 516.45 -11.40 545 4431.16 roll -1.25 - - 1836.62 - 3.42 0.070 2084.62 -405.5 -77.86 - - 2817.66 - - - - - - - - - 16.08 -
4730.45 544.54 -8.70 576 4731.78 no move -1.25 - - 1836.56 - - - 2085.00 - -77.86 - - 2817.16 - - - - - - - - - - -
5030.48 572.82 -9.49 606 5031.81 no move -1.25 - - 1836.69 - - - 2084.50 - -77.86 - - 2817.12 - - - - - - - - - - -
5330.51 601.17 -9.73 636 5331.84 no move -1.25 - - 1837.06 - - - 2084.69 - -77.86 - - 2816.03 - - - - - - - - - - -
5630.55 630.00 -9.01 666 5636.31 roll -1.25 - - 1836.06 - 4.07 0.180 664.06 -349.0 -77.86 - - 2815.38 - - - - - - - - - 16.06 -
5725.56 641.23 -13.10 685 5731.27 roll -1.25 - - 1836.31 - 3.64 0.068 2117.19 399.2 -77.86 - - 2813.47 - - - - - - - - - 16.10 -
6030.60 669.91 -8.45 716 6036.38 roll -1.25 - - 1836.69 - 4.16 0.176 663.12 -349.5 -77.86 - - 2815.06 - - - - - - - - - 16.06 -
6085.69 675.51 -11.43 727 6091.31 roll -1.25 - - 1835.81 - 3.62 0.068 2116.12 401.4 -77.86 - - 2816.12 - - - - - - - - - 16.10 -
6390.64 700.11 -6.32 758 6391.97 no move -1.25 - - 1836.75 - - - 2116.12 - -77.86 - - 2814.69 - - - - - - - - - - -
6690.67 721.76 -7.39 788 6696.45 roll -1.25 - - 1837.06 - 4.14 0.179 664.06 -350.7 -77.86 - - 2814.12 - - - - - - - - - 16.06 -
6775.70 730.21 -10.57 805 6781.40 roll -1.25 - - 1836.50 - 3.65 0.070 2115.31 397.6 -77.86 - - 2814.31 - - - - - - - - - 16.10 -
7080.77 753.66 -7.06 836 7086.49 roll -1.25 - - 1836.56 - 3.76 0.135 3473.06 361.1 -77.86 - - 2812.94 - - - - - - - - - 16.09 -
7155.81 760.55 -9.39 851 7160.45 roll -1.25 - - 1836.38 - 3.46 0.074 2085.50 -401.0 -77.86 - - 2814.75 - - - - - - - - - 16.09 -
7465.86 786.12 -7.44 883 7471.58 roll -1.25 - - 1835.62 - 3.80 0.136 3471.44 364.7 -77.86 - - 2813.84 - - - - - - - - - 16.09 -
7600.91 795.62 -6.82 910 7605.58 roll -1.25 - - 1836.88 - 3.45 0.075 2085.94 -401.6 -77.86 - - 2813.81 - - - - - - - - - 16.09 -
7910.98 817.92 -7.71 942 7912.31 no move -1.25 - - 1836.75 - - - 2085.50 - -77.86 - - 2811.38 - - - - - - - - - - -
8211.05 839.71 -7.47 972 8212.38 no move -1.25 - - 1836.81 - - - 2085.75 - -77.86 - - 2810.72 - - - - - - - - - - -
8511.13 861.75 -7.38 1002 8516.91 roll -1.25 - - 1836.75 - 4.11 0.189 664.06 -345.9 -77.86 - - 2810.97 - - - - - - - - - 16.06 -
8620.09 871.70 -8.75 1024 8627.08 roll -1.25 - - 1837.00 - 3.69 0.074 2114.44 393.1 -77.86 - - 2811.62 - - - - - - - - - 16.11 -
8926.23 891.35 -5.66 1055 8927.56 no move -1.25 - - 1836.62 - - - 2114.94 - -77.86 - - 2810.62 - - - - - - - - - - -
9226.25 901.64 -1.95 1085 9231.88 roll -1.25 - - 1835.50 - 3.78 0.139 3471.62 358.9 -77.86 - - 2812.75 - - - - - - - - - 16.09 -
9455.29 901.46 0.22 1131 9462.01 roll -1.25 - - 1836.75 - 3.46 0.077 2087.06 -400.2 -77.86 - - 2811.28 - - - - - - - - - 16.10 -
9472 end dive: NO_VERTICAL_VELOCITY
9472 begin apogee
9472.54 901.92 - 1133 9539.41 -0.25 1.68 0.125 2082.25 146.1 0.08 0.305 2185.94 1236.0 - 63.42 2.185 2499.31 -4.9 0.342 - - - - - - 16.07 15.62 13.01
9541 end apogee: CONTROL_FINISHED_OK
9541 begin climb
9540.86 901.59 - 1139 9620.98 1.25 2.52 0.101 2448.12 145.2 4.31 0.162 737.31 -336.1 77.86 70.93 2.116 2180.94 -4.5 0.322 - - - - - - 15.65 15.27 12.89
9842.74 873.27 12.15 1199 9849.62 done 1.25 - - 2447.06 - 3.78 0.067 2213.81 390.6 77.86 - - 2169.84 - - - - - - - - - 15.64 -
10148.92 847.44 7.22 1230 10154.76 done 1.28 - - 2447.50 - 4.22 0.157 737.38 -349.9 77.86 - - 2165.22 - - - - - - - - - 15.76 -
10377.97 824.30 11.26 1276 10384.79 done 1.28 - - 2447.81 - 3.71 0.066 2214.38 398.1 77.86 - - 2166.03 - - - - - - - - - 15.85 -
10684.07 798.02 7.60 1307 10689.90 done 1.28 - - 2447.44 - 4.19 0.157 737.12 -352.6 77.86 - - 2162.41 - - - - - - - - - 15.85 -
10779.09 789.97 8.64 1326 10784.83 done 1.28 - - 2446.81 - 3.71 0.066 2215.19 398.4 77.86 - - 2163.47 - - - - - - - - - 15.90 -
11084.17 768.01 7.09 1357 11088.87 done 1.31 - - 2447.19 - 3.47 0.135 3471.81 362.1 77.86 - - 2162.69 - - - - - - - - - 15.94 -
11184.25 760.24 8.19 1377 11188.86 done 1.31 - - 2447.75 - 3.19 0.067 2182.62 -404.1 77.86 - - 2162.41 - - - - - - - - - 15.95 -
11494.24 739.82 6.14 1409 11499.83 done 1.36 - - 2444.94 - 3.57 0.134 3472.88 361.4 77.86 - - 2164.50 - - - - - - - - - 15.97 -
11679.26 723.38 9.90 1446 11683.95 done 1.36 - - 2446.25 - 3.21 0.068 2183.44 -401.7 77.86 - - 2164.12 - - - - - - - - - 15.98 -
11989.30 697.56 8.79 1478 11995.12 done 1.36 - - 2446.38 - 4.09 0.157 737.19 -353.6 77.86 - - 2161.88 - - - - - - - - - 15.99 -
12184.49 679.37 9.79 1517 12190.06 done 1.36 - - 2446.94 - 3.71 0.063 2217.00 398.9 77.86 - - 2160.06 - - - - - - - - - 16.01 -
12489.40 656.24 7.24 1548 12495.41 1.39 0.17 0.108 2487.06 236.0 4.18 0.151 737.38 -354.0 77.86 - - 2158.81 - - - - - - - - 16.00 16.00 -
12638.26 642.36 8.79 1578 12645.18 done 1.39 - - 2487.19 - 3.68 0.063 2217.50 402.2 77.86 - - 2159.75 - - - - - - - - - 16.02 -
12944.48 618.43 7.69 1609 12945.81 VBD 1.39 - - 2487.75 - - - 2217.25 - 77.86 - - 2158.56 - - - - - - - - - - -
13244.48 596.72 6.77 1639 13250.31 done 1.43 - - 2487.31 - 4.15 0.151 737.06 -356.7 77.86 - - 2158.94 - - - - - - - - - 16.03 -
13363.33 586.49 9.10 1663 13370.26 done 1.43 - - 2487.00 - 3.68 0.064 2216.81 402.1 77.86 - - 2159.53 - - - - - - - - - 16.05 -
13669.54 565.48 6.32 1694 13670.88 VBD 1.48 - - 2487.12 - - - 2217.19 - 77.86 - - 2158.81 - - - - - - - - - - -
13969.58 546.70 6.39 1724 13975.41 done 1.53 - - 2487.94 - 4.12 0.149 737.50 -359.1 77.86 - - 2157.72 - - - - - - - - - 16.04 -
14074.60 539.27 7.36 1745 14080.53 1.55 0.17 0.101 2526.25 225.4 3.67 0.061 2218.81 403.6 77.86 - - 2158.59 - - - - - - - - 16.02 16.06 -
14379.65 520.77 6.04 1776 14404.32 VBD 1.63 - - 2525.69 - - - 2219.38 - 106.60 23.37 1.669 2065.34 -4.0 0.210 - - - - - - - - 13.03
14699.78 494.57 8.44 1809 14705.50 roll 1.63 - - 2525.81 - 4.18 0.146 738.12 -354.4 106.60 - - 2060.22 - - - - - - - - - 15.95 -
14878.77 474.73 11.98 1845 14885.47 roll 1.63 - - 2526.19 - 3.67 0.061 2217.31 403.0 106.60 - - 2057.91 - - - - - - - - - 15.97 -
15184.78 450.79 7.12 1876 15189.41 roll 1.66 - - 2526.56 - 3.46 0.128 3472.19 362.7 106.60 - - 2058.72 - - - - - - - - - 15.98 -
15334.81 435.68 10.93 1906 15339.36 roll 1.66 - - 2525.94 - 3.24 0.062 2181.12 -398.5 106.60 - - 2059.16 - - - - - - - - - 16.00 -
15644.88 407.85 9.79 1938 15650.51 roll 1.66 - - 2526.12 - 3.51 0.125 3472.56 367.9 106.60 - - 2056.31 - - - - - - - - - 16.01 -
15679.90 403.80 11.87 1945 15684.57 done 1.66 - - 2525.81 - 3.24 0.061 2183.00 -398.0 106.60 - - 2058.31 - - - - - - - - - 16.01 -
15989.96 374.76 8.77 1977 15995.56 done 1.66 - - 2526.44 - 3.56 0.127 3472.25 362.1 106.60 - - 2056.12 - - - - - - - - - 16.00 -
16188.89 355.65 9.84 2017 16195.76 done 1.66 - - 2526.12 - 3.21 0.062 2182.25 -401.9 106.60 - - 2057.59 - - - - - - - - - 16.02 -
16495.10 330.72 8.25 2048 16500.87 done 1.66 - - 2526.25 - 4.07 0.145 736.00 -355.3 106.60 - - 2055.28 - - - - - - - - - 16.00 -
16580.13 322.48 9.33 2065 16585.74 done 1.66 - - 2526.62 - 3.60 0.058 2220.94 412.5 106.60 - - 2055.34 - - - - - - - - - 16.03 -
16885.21 299.29 7.04 2096 16890.97 done 1.69 - - 2526.38 - 4.12 0.139 737.25 -360.1 106.60 - - 2056.06 - - - - - - - - - 16.01 -
16940.31 294.15 9.77 2107 16945.94 done 1.69 - - 2526.75 - 3.59 0.058 2221.62 413.5 106.60 - - 2055.25 - - - - - - - - - 16.04 -
17245.28 270.54 7.58 2138 17246.61 VBD 1.69 - - 2526.44 - - - 2221.38 - 106.60 - - 2056.19 - - - - - - - - - - -
17545.28 249.38 7.15 2168 17546.75 1.72 0.18 0.098 2567.12 226.0 - - 2221.44 - 106.60 - - 2055.34 - - - - - - - - 16.03 - -
17845.30 226.19 7.99 2198 17846.64 VBD 1.72 - - 2566.88 - - - 2221.38 - 106.60 - - 2057.06 - - - - - - - - - - -
18145.34 200.08 9.49 2228 18146.67 VBD 1.72 - - 2567.06 - - - 2221.19 - 106.60 - - 2055.91 - - - - - - - - - - -
18445.45 173.70 8.92 2258 18446.78 VBD 1.72 - - 2566.50 - - - 2221.12 - 106.60 - - 2055.78 - - - - - - - - - - -
18745.40 145.42 8.75 2288 18749.96 done 1.72 - - 2566.81 - 3.34 0.124 3472.56 374.7 106.60 - - 2058.75 - - - - - - - - - 16.01 -
18829.27 137.09 9.17 2305 18836.13 done 1.72 - - 2566.94 - 3.22 0.057 2178.31 -401.9 106.60 - - 2057.84 - - - - - - - - - 16.05 -
19135.47 113.16 7.47 2336 19141.04 done 1.74 - - 2566.94 - 3.50 0.119 3472.88 369.9 106.60 - - 2056.28 - - - - - - - - - 16.02 -
19200.49 108.35 7.48 2349 19205.02 done 1.75 - - 2566.31 - 3.18 0.057 2178.25 -407.1 106.60 - - 2058.72 - - - - - - - - - 16.04 -
19505.60 92.07 4.62 2396 19552.22 1.90 0.21 0.101 2610.06 208.3 3.54 0.118 3472.38 365.6 155.56 40.43 1.207 1862.19 -4.9 0.062 - - - - - - 16.03 15.83 12.98
19775.59 70.30 6.66 2450 19781.25 roll 1.94 - - 2610.38 - 3.22 0.056 2179.25 -401.6 155.56 - - 1857.62 - - - - - - - - - 15.92 -
19960.62 65.20 2.42 2487 20032.32 2.18 0.38 0.079 2679.19 181.1 3.61 0.117 3472.62 358.3 235.87 63.31 1.171 1536.97 -5.1 0.048 - - - - - - 15.93 15.66 12.99
20045.63 60.79 7.38 2504 20051.46 roll 2.20 - - 2678.88 - 3.27 0.055 2178.31 -395.8 235.87 - - 1536.47 - - - - - - - - - 15.72 -
20230.65 41.21 10.68 2541 20236.50 roll 2.20 - - 2679.69 - 4.12 0.138 736.31 -350.0 235.87 - - 1532.50 - - - - - - - - - 15.78 -
20460.73 19.20 5.68 2587 20497.22 done 2.31 - - 2678.44 - 3.70 0.056 2223.25 401.9 269.75 28.74 1.067 1401.06 -4.6 0.014 - - - - - - - 15.85 12.93
20675.82 2.89 7.83 2630 20681.69 roll 2.31 - - 2679.25 - 4.21 0.133 736.50 -353.1 269.75 - - 1395.03 - - - - - - - - - 15.78 -
20686 end climb: SURFACE_DEPTH_REACHED
20686 begin surface coast
20711 end surface coast: CONTROL_FINISHED_OK
20711 begin surface
SM 0.67 - - - - 173.9 0.73 0.147 768.4 1052.6 16.00 0.067 773.2 48.3 - 3.43 0.054 763.6 221.4 -0.281 - - 15.44 15.80 15.82 -