NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 82 * Raw log
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• Previous call tries 1 • 29.31 of 350.00 AH used of 24V (91.63% remains)
• Surface angle -62.7 deg, depth 0.61 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.75 (SM_CC=425)
• GPS1 time: 19 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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
6.30 - - - 77.27 VBD -1.25 - - 181.62 - - - 2117.06 - -77.86 70.43 0.005 2405.84 - - - - - - - - - - 15.65
77.55 3.85 -5.15 9 109.52 -1.25 13.77 0.280 1835.94 120.1 4.06 0.170 663.38 -358.0 -77.86 9.57 0.007 2815.78 42.8 -3.923 - - - - - - 15.61 15.63 15.68
207.27 39.87 -29.00 35 213.03 roll -1.25 - - 1835.38 - 3.44 0.072 2117.31 422.7 -77.86 - - 2816.75 - - - - - - - - - 15.73 -
392.30 68.83 -12.11 72 398.14 roll -1.25 - - 1834.56 - 4.06 0.165 662.88 -358.2 -77.86 - - 2817.97 - - - - - - - - - 15.75 -
622.34 101.19 -12.82 118 626.91 roll -1.25 - - 1835.62 - 3.42 0.066 2120.69 426.3 -77.86 - - 2816.88 - - - - - - - - - 15.85 -
932.35 128.50 -9.58 150 938.12 roll -1.25 - - 1835.88 - 4.03 0.165 662.56 -361.8 -77.86 - - 2816.03 - - - - - - - - - 15.88 -
1161.32 157.68 -13.33 196 1168.10 roll -1.25 - - 1835.75 - 3.40 0.069 2119.75 428.6 -77.86 - - 2818.94 - - - - - - - - - 15.94 -
1467.40 189.45 -10.21 227 1473.24 roll -1.25 - - 1835.44 - 4.02 0.168 662.75 -362.4 -77.86 - - 2816.66 - - - - - - - - - 15.94 -
1682.45 217.03 -11.71 270 1687.01 roll -1.25 - - 1834.06 - 3.40 0.070 2120.56 428.8 -77.86 - - 2820.91 - - - - - - - - - 15.99 -
1992.45 249.65 -10.56 302 1998.28 roll -1.25 - - 1835.50 - 4.03 0.169 662.38 -361.8 -77.86 - - 2817.81 - - - - - - - - - 15.98 -
2057.52 257.86 -12.71 315 2062.05 roll -1.25 - - 1836.00 - 3.41 0.069 2119.19 427.2 -77.86 - - 2816.97 - - - - - - - - - 16.01 -
2367.48 290.96 -10.38 347 2368.81 no move -1.25 - - 1835.56 - - - 2118.94 - -77.86 - - 2818.69 - - - - - - - - - - -
2667.49 322.17 -11.22 377 2673.33 roll -1.25 - - 1835.44 - 4.03 0.172 663.31 -361.2 -77.86 - - 2817.78 - - - - - - - - - 16.02 -
2722.52 329.13 -13.25 388 2727.09 roll -1.25 - - 1834.56 - 3.41 0.069 2118.25 426.7 -77.86 - - 2819.19 - - - - - - - - - 16.02 -
3032.53 361.64 -10.18 420 3033.86 no move -1.25 - - 1835.62 - - - 2118.56 - -77.86 - - 2817.78 - - - - - - - - - - -
3332.55 391.91 -10.05 450 3333.88 no move -1.25 - - 1835.88 - - - 2118.62 - -77.86 - - 2817.88 - - - - - - - - - - -
3632.57 421.31 -9.33 480 3638.40 roll -1.25 - - 1835.62 - 4.01 0.178 663.62 -362.8 -77.86 - - 2817.53 - - - - - - - - - 16.04 -
3681.45 426.93 -11.28 490 3688.30 roll -1.25 - - 1835.38 - 3.40 0.073 2118.69 428.0 -77.86 - - 2816.75 - - - - - - - - - 16.07 -
3987.62 456.92 -10.84 521 3993.46 roll -1.25 - - 1835.50 - 4.05 0.179 662.38 -359.6 -77.86 - - 2814.72 - - - - - - - - - 16.05 -
4062.72 466.01 -12.57 536 4067.21 roll -1.25 - - 1834.69 - 3.40 0.075 2116.56 427.7 -77.86 - - 2814.84 - - - - - - - - - 16.08 -
4372.69 498.69 -9.77 568 4374.02 no move -1.25 - - 1835.62 - - - 2117.56 - -77.86 - - 2816.19 - - - - - - - - - - -
4672.74 527.35 -8.66 598 4677.44 roll -1.25 - - 1835.50 - 3.36 0.141 3474.19 403.8 -77.86 - - 2815.44 - - - - - - - - - 16.07 -
4716.61 531.88 -10.30 607 4723.50 roll -1.25 - - 1835.75 - 3.40 0.078 2084.69 -408.7 -77.86 - - 2816.03 - - - - - - - - - 16.08 -
5022.80 560.69 -10.13 638 5024.13 no move -1.25 - - 1835.31 - - - 2085.25 - -77.86 - - 2814.56 - - - - - - - - - - -
5322.85 588.92 -9.26 668 5327.56 roll -1.25 - - 1835.06 - 3.46 0.141 3472.94 401.1 -77.86 - - 2814.06 - - - - - - - - - 16.09 -
5392.89 596.80 -12.88 682 5397.48 roll -1.25 - - 1836.00 - 3.40 0.081 2085.81 -408.0 -77.86 - - 2814.28 - - - - - - - - - 16.10 -
5702.94 625.52 -8.23 714 5708.74 roll -1.25 - - 1835.81 - 3.92 0.190 664.25 -362.6 -77.86 - - 2811.72 - - - - - - - - - 16.07 -
5788.03 634.32 -10.46 731 5793.56 roll -1.25 - - 1835.44 - 3.41 0.081 2116.06 425.8 -77.86 - - 2811.38 - - - - - - - - - 16.10 -
6093.01 661.52 -8.44 762 6098.70 roll -1.25 - - 1835.25 - 4.06 0.189 663.81 -357.7 -77.86 - - 2811.00 - - - - - - - - - 16.07 -
6138.04 666.32 -10.78 771 6142.62 roll -1.25 - - 1833.62 - 3.43 0.081 2116.06 423.4 -77.86 - - 2812.78 - - - - - - - - - 16.11 -
6448.07 693.75 -9.10 803 6452.64 roll -1.25 - - 1835.62 - 3.37 0.144 3474.75 403.2 -77.86 - - 2814.25 - - - - - - - - - 16.09 -
6508.11 699.55 -9.82 815 6512.68 roll -1.25 - - 1835.38 - 3.42 0.081 2087.25 -405.7 -77.86 - - 2814.38 - - - - - - - - - 16.11 -
6818.12 725.85 -8.61 847 6823.93 roll -1.25 - - 1835.94 - 3.99 0.194 663.50 -356.8 -77.86 - - 2811.03 - - - - - - - - - 16.07 -
7003.16 745.12 -11.15 884 7007.73 roll -1.25 - - 1835.62 - 3.45 0.087 2115.94 421.0 -77.86 - - 2812.00 - - - - - - - - - 16.11 -
7313.17 770.13 -8.13 916 7317.88 roll -1.25 - - 1835.44 - 3.39 0.147 3474.31 400.7 -77.86 - - 2811.81 - - - - - - - - - 16.09 -
7523.23 791.49 -10.57 958 7527.80 roll -1.25 - - 1835.75 - 3.43 0.084 2087.75 -404.2 -77.86 - - 2812.41 - - - - - - - - - 16.11 -
7833.26 796.14 -1.07 990 7839.05 roll -1.25 - - 1834.38 - 3.98 0.190 662.44 -358.1 -77.86 - - 2809.03 - - - - - - - - - 16.08 -
8018 end dive: NO_VERTICAL_VELOCITY
8018 begin apogee
8023.70 796.49 - 1027 8090.02 -0.25 1.67 0.122 2082.19 148.4 0.06 0.323 2186.12 25394.7 - 63.42 2.025 2498.06 -4.9 0.321 - - - - - - 16.09 15.66 13.25
8093 end apogee: CONTROL_FINISHED_OK
8093 begin climb
8093.20 795.12 - 1034 8172.08 1.25 2.48 0.098 2447.81 147.4 3.40 0.145 3473.62 378.7 77.86 69.94 1.983 2179.88 -4.5 0.304 - - - - - - 15.68 15.31 12.95
8395.43 774.11 8.41 1094 8400.18 done 1.25 - - 2447.06 - 3.24 0.072 2184.31 -397.9 77.86 - - 2171.81 - - - - - - - - - 15.65 -
8705.45 750.01 7.72 1126 8710.02 done 1.25 - - 2447.81 - 3.32 0.143 3472.81 388.1 77.86 - - 2168.44 - - - - - - - - - 15.79 -
8899.33 731.36 9.29 1165 8906.19 done 1.25 - - 2447.62 - 3.24 0.072 2184.62 -397.6 77.86 - - 2168.53 - - - - - - - - - 15.85 -
9205.50 706.16 7.74 1196 9210.04 done 1.25 - - 2447.88 - 3.30 0.143 3474.12 390.8 77.86 - - 2167.38 - - - - - - - - - 15.90 -
9305.56 697.37 8.87 1216 9310.18 done 1.25 - - 2446.06 - 3.18 0.073 2184.25 -405.6 77.86 - - 2166.44 - - - - - - - - - 15.93 -
9615.55 675.67 6.51 1248 9621.35 done 1.30 - - 2447.50 - 3.97 0.164 736.56 -364.7 77.86 - - 2162.28 - - - - - - - - - 15.94 -
9800.58 661.43 7.58 1285 9806.17 done 1.30 - - 2447.44 - 3.49 0.073 2220.00 425.1 77.86 - - 2162.88 - - - - - - - - - 15.98 -
10105.61 642.79 5.93 1316 10137.03 1.39 0.17 0.113 2485.56 224.2 4.08 0.161 736.44 -363.6 108.07 25.36 1.812 2058.25 -4.1 0.244 - - - - - - 16.00 15.80 13.07
10195.62 634.56 11.12 1334 10200.36 roll 1.39 - - 2485.94 - 3.51 0.071 2217.69 422.0 108.07 - - 2055.56 - - - - - - - - - 15.87 -
10505.68 605.78 8.39 1366 10510.20 roll 1.39 - - 2485.44 - 3.18 0.144 3474.00 395.1 108.07 - - 2053.78 - - - - - - - - - 15.92 -
10599.59 596.33 10.83 1385 10606.52 roll 1.39 - - 2483.56 - 3.15 0.072 2181.31 -410.4 108.07 - - 2051.97 - - - - - - - - - 15.94 -
10905.77 571.74 7.73 1416 10911.57 done 1.39 - - 2483.44 - 3.91 0.160 735.25 -369.8 108.07 - - 2050.25 - - - - - - - - - 15.95 -
10940.80 568.11 10.35 1423 10945.85 done 1.39 - - 2485.06 - 3.54 0.069 2218.81 419.1 108.07 - - 2049.62 - - - - - - - - - 15.98 -
11250.84 541.58 8.78 1455 11252.17 VBD 1.39 - - 2485.38 - - - 2219.31 - 108.07 - - 2050.00 - - - - - - - - - - -
11550.88 517.05 8.00 1485 11552.21 VBD 1.39 - - 2485.44 - - - 2219.38 - 108.07 - - 2047.81 - - - - - - - - - - -
11850.93 494.16 7.59 1515 11855.46 done 1.39 - - 2483.44 - 3.17 0.144 3471.50 395.0 108.07 - - 2050.22 - - - - - - - - - 16.02 -
11994.83 481.66 8.86 1544 12001.67 done 1.39 - - 2485.12 - 3.17 0.072 2182.44 -406.6 108.07 - - 2049.41 - - - - - - - - - 16.04 -
12301.03 457.10 8.80 1575 12306.84 done 1.39 - - 2485.31 - 3.93 0.158 736.56 -367.9 108.07 - - 2049.66 - - - - - - - - - 16.02 -
12436.09 444.38 9.91 1602 12440.67 done 1.39 - - 2485.25 - 3.48 0.068 2220.00 426.3 108.07 - - 2046.00 - - - - - - - - - 16.06 -
12746.13 420.68 6.95 1634 12751.94 done 1.42 - - 2484.12 - 4.01 0.153 736.31 -370.0 108.07 - - 2048.41 - - - - - - - - - 16.04 -
12791.13 416.30 9.38 1643 12795.70 done 1.42 - - 2486.06 - 3.41 0.067 2221.50 435.5 108.07 - - 2045.00 - - - - - - - - - 16.07 -
13101.15 390.85 8.20 1675 13106.96 done 1.42 - - 2484.69 - 3.98 0.152 736.38 -373.1 108.07 - - 2047.94 - - - - - - - - - 16.05 -
13146.17 386.89 8.73 1684 13150.75 done 1.42 - - 2485.00 - 3.44 0.067 2221.31 431.7 108.07 - - 2047.72 - - - - - - - - - 16.07 -
13456.20 363.63 7.13 1716 13457.53 VBD 1.45 - - 2484.62 - - - 2221.19 - 108.07 - - 2047.34 - - - - - - - - - - -
13756.21 345.19 5.84 1746 13791.01 1.54 0.17 0.113 2521.38 216.2 4.03 0.153 736.56 -368.4 139.66 27.22 1.505 1928.66 -4.4 0.167 - - - - - - 16.06 15.90 13.22
13806.44 341.61 7.52 1756 13811.92 roll 1.56 - - 2521.44 - 3.47 0.063 2222.31 428.2 139.66 - - 1928.03 - - - - - - - - - 15.95 -
14111.22 309.55 10.29 1787 14117.05 roll 1.56 - - 2520.19 - 4.03 0.149 737.56 -368.4 139.66 - - 1922.91 - - - - - - - - - 15.96 -
14126.23 307.88 9.95 1790 14130.94 roll 1.56 - - 2521.81 - 3.44 0.063 2223.38 431.9 139.66 - - 1923.97 - - - - - - - - - 15.97 -
14436.25 276.40 10.02 1822 14442.08 roll 1.56 - - 2522.06 - 4.02 0.148 735.69 -370.1 139.66 - - 1921.62 - - - - - - - - - 15.99 -
14505.24 268.34 11.26 1836 14511.99 done 1.56 - - 2521.75 - 3.46 0.065 2221.75 429.5 139.66 - - 1923.38 - - - - - - - - - 16.01 -
14811.27 239.48 9.00 1867 14815.80 done 1.56 - - 2521.31 - 3.12 0.135 3475.50 401.8 139.66 - - 1921.47 - - - - - - - - - 16.00 -
14831.28 237.44 9.47 1871 14835.81 done 1.56 - - 2521.38 - 3.15 0.063 2181.12 -410.9 139.66 - - 1921.34 - - - - - - - - - 16.04 -
15141.32 205.60 10.71 1903 15142.65 VBD 1.56 - - 2521.81 - - - 2181.62 - 139.66 - - 1919.62 - - - - - - - - - - -
15441.32 176.33 9.25 1933 15442.65 VBD 1.56 - - 2521.81 - - - 2181.44 - 139.66 - - 1920.22 - - - - - - - - - - -
15741.34 149.81 8.45 1963 15745.88 done 1.56 - - 2520.31 - 3.21 0.134 3473.69 402.6 139.66 - - 1920.94 - - - - - - - - - 16.04 -
15855.28 137.96 10.62 1986 15862.05 done 1.56 - - 2522.44 - 3.13 0.065 2180.56 -413.1 139.66 - - 1921.00 - - - - - - - - - 16.05 -
16161.39 109.85 8.27 2017 16165.93 done 1.56 - - 2522.06 - 3.22 0.132 3472.88 401.3 139.66 - - 1921.44 - - - - - - - - - 16.04 -
16316.43 95.61 9.25 2048 16322.12 done 1.56 - - 2522.12 - 3.12 0.064 2179.31 -414.6 139.66 - - 1920.97 - - - - - - - - - 16.06 -
16501.47 84.38 5.92 2085 16532.82 done 1.65 - - 2521.25 - 3.90 0.149 736.44 -370.0 170.04 25.47 1.187 1805.22 -4.5 0.054 - - - - - - - 15.90 13.22
16626.47 75.31 8.20 2110 16632.23 roll 1.65 - - 2521.62 - 3.44 0.062 2224.75 432.6 170.04 - - 1802.00 - - - - - - - - - 15.97 -
16811.52 65.37 5.02 2147 16853.20 1.78 0.31 0.089 2578.25 182.7 4.05 0.143 735.31 -367.8 213.22 35.74 1.168 1630.44 -4.8 0.045 - - - - - - 15.96 15.80 13.25
16911.53 57.63 9.86 2167 16917.26 roll 1.78 - - 2580.00 - 3.48 0.061 2222.81 427.4 213.22 - - 1626.16 - - - - - - - - - 15.84 -
17096.55 41.11 7.82 2204 17097.88 no move 1.78 - - 2580.19 - - - 2222.88 - 213.22 - - 1624.03 - - - - - - - - - - -
17276.58 31.92 3.26 2240 17338.45 1.99 0.25 0.096 2626.56 185.5 3.16 0.130 3474.12 396.0 281.58 55.71 1.135 1350.81 -4.9 0.023 - - - - - - 15.91 15.66 13.09
17341.59 28.99 4.40 2253 17389.44 2.14 0.21 0.100 2663.44 175.6 3.16 0.058 2176.44 -410.7 333.63 42.51 1.090 1140.41 -4.9 0.022 - - - - - - 15.71 15.71 13.00
17567.22 14.61 6.20 2298 17573.03 roll 2.20 - - 2664.31 - 3.98 0.145 735.44 -362.1 333.63 - - 1134.41 - - - - - - - - - 15.68 -
17702 end climb: SURFACE_DEPTH_REACHED
17702 begin surface coast
17717 end surface coast: CONTROL_FINISHED_OK
17717 begin surface
SM 0.64 - - - - 182.8 0.09 0.224 768.4 8537.8 15.94 0.075 774.6 48.6 - 3.23 0.061 762.3 234.8 -0.252 - - 15.52 15.75 15.79 -