NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 83 * Raw log
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• Previous call tries 2 • 29.60 of 350.00 AH used of 24V (91.54% remains)
• Surface angle -63.8 deg, depth 1.19 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.20 (SM_CC=425)
• GPS1 time: 29 s
• GPS2 time: 3 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
6.33 - - - 77.28 VBD -1.25 - - 179.19 - - - 2085.06 - -77.86 70.44 0.005 2428.75 - - - - - - - - - - 15.70
77.55 4.23 -6.81 9 109.50 -1.25 13.77 0.279 1835.50 120.3 3.95 0.171 662.31 -360.2 -77.86 8.56 0.007 2817.09 45.4 -4.519 - - - - - - 15.63 15.67 15.73
332.37 59.19 -16.60 60 338.01 roll -1.25 - - 1835.75 - 3.45 0.068 2120.00 422.5 -77.86 - - 2819.34 - - - - - - - - - 15.81 -
517.30 82.32 -10.73 97 523.13 roll -1.25 - - 1835.44 - 4.03 0.165 663.50 -361.4 -77.86 - - 2818.09 - - - - - - - - - 15.83 -
727.34 109.63 -11.81 139 731.96 roll -1.25 - - 1835.69 - 3.39 0.067 2119.38 429.5 -77.86 - - 2818.12 - - - - - - - - - 15.89 -
1037.35 140.47 -9.59 171 1042.04 roll -1.25 - - 1835.50 - 3.35 0.130 3473.44 404.2 -77.86 - - 2819.66 - - - - - - - - - 15.92 -
1131.22 151.32 -11.67 190 1138.08 roll -1.25 - - 1835.69 - 3.38 0.068 2083.69 -411.2 -77.86 - - 2818.38 - - - - - - - - - 15.94 -
1437.38 183.28 -10.59 221 1441.97 roll -1.25 - - 1835.44 - 3.45 0.131 3473.81 402.9 -77.86 - - 2819.12 - - - - - - - - - 15.96 -
1501.25 191.35 -12.39 234 1508.12 roll -1.25 - - 1834.50 - 3.39 0.069 2083.94 -410.0 -77.86 - - 2820.25 - - - - - - - - - 15.98 -
1807.41 225.73 -11.35 265 1813.22 roll -1.25 - - 1834.94 - 3.94 0.173 663.56 -360.5 -77.86 - - 2818.28 - - - - - - - - - 15.98 -
1852.43 231.41 -13.48 274 1856.98 roll -1.25 - - 1835.44 - 3.38 0.067 2119.56 430.8 -77.86 - - 2821.41 - - - - - - - - - 16.00 -
2162.44 265.13 -10.57 306 2168.26 roll -1.25 - - 1834.75 - 3.98 0.171 662.12 -366.2 -77.86 - - 2819.66 - - - - - - - - - 15.99 -
2197.46 269.23 -12.31 313 2202.03 roll -1.25 - - 1835.38 - 3.40 0.065 2121.00 429.1 -77.86 - - 2818.53 - - - - - - - - - 16.03 -
2507.46 301.02 -10.10 345 2508.79 no move -1.25 - - 1836.00 - - - 2120.50 - -77.86 - - 2818.53 - - - - - - - - - - -
2807.49 333.57 -10.85 375 2813.31 roll -1.25 - - 1836.25 - 4.04 0.173 663.06 -360.8 -77.86 - - 2816.25 - - - - - - - - - 16.03 -
2902.49 345.59 -12.10 394 2907.08 roll -1.25 - - 1835.69 - 3.40 0.072 2119.94 428.5 -77.86 - - 2817.47 - - - - - - - - - 16.06 -
3212.51 377.70 -9.91 426 3213.84 no move -1.25 - - 1835.88 - - - 2119.31 - -77.86 - - 2817.84 - - - - - - - - - - -
3512.53 407.10 -9.89 456 3518.38 roll -1.25 - - 1835.50 - 4.06 0.176 663.44 -358.6 -77.86 - - 2815.53 - - - - - - - - - 16.02 -
3611.40 419.31 -11.61 476 3618.29 roll -1.25 - - 1835.25 - 3.42 0.074 2119.19 425.7 -77.86 - - 2817.88 - - - - - - - - - 16.07 -
3917.57 449.33 -9.57 507 3923.40 roll -1.25 - - 1835.12 - 4.06 0.178 664.00 -358.4 -77.86 - - 2814.66 - - - - - - - - - 16.05 -
4026.43 462.35 -11.41 529 4033.33 roll -1.25 - - 1835.81 - 3.42 0.076 2119.19 425.5 -77.86 - - 2816.88 - - - - - - - - - 16.06 -
4332.62 493.73 -10.09 560 4337.19 roll -1.25 - - 1834.31 - 3.37 0.140 3473.88 402.0 -77.86 - - 2817.59 - - - - - - - - - 16.07 -
4372.65 497.98 -10.63 568 4377.23 roll -1.25 - - 1835.62 - 3.41 0.074 2084.12 -407.6 -77.86 - - 2816.81 - - - - - - - - - 16.07 -
4682.69 528.47 -9.55 600 4688.49 roll -1.25 - - 1834.56 - 3.95 0.186 663.38 -359.7 -77.86 - - 2815.47 - - - - - - - - - 16.05 -
4767.78 538.50 -12.58 617 4772.45 roll -1.25 - - 1835.31 - 3.41 0.078 2118.12 426.6 -77.86 - - 2815.97 - - - - - - - - - 16.09 -
5077.77 569.14 -9.84 649 5083.60 roll -1.25 - - 1833.38 - 4.06 0.183 663.19 -358.4 -77.86 - - 2815.84 - - - - - - - - - 16.06 -
5152.87 578.27 -12.53 664 5157.52 roll -1.25 - - 1834.56 - 3.42 0.078 2118.44 425.5 -77.86 - - 2815.94 - - - - - - - - - 16.09 -
5462.85 609.30 -9.64 696 5464.18 no move -1.25 - - 1835.69 - - - 2118.81 - -77.86 - - 2814.22 - - - - - - - - - - -
5762.90 637.54 -8.62 726 5764.23 no move -1.25 - - 1835.94 - - - 2119.19 - -77.86 - - 2813.69 - - - - - - - - - - -
6062.94 665.24 -8.09 756 6068.80 roll -1.25 - - 1835.69 - 4.11 0.190 663.38 -354.2 -77.86 - - 2814.09 - - - - - - - - - 16.07 -
6221.92 681.05 -9.46 788 6228.74 roll -1.25 - - 1835.06 - 3.46 0.086 2116.06 419.8 -77.86 - - 2812.97 - - - - - - - - - 16.11 -
6528.04 705.31 -7.12 819 6532.75 roll -1.25 - - 1835.69 - 3.40 0.146 3473.62 399.3 -77.86 - - 2811.88 - - - - - - - - - 16.09 -
6621.94 713.53 -8.67 838 6628.90 roll -1.25 - - 1835.75 - 3.45 0.082 2086.88 -402.0 -77.86 - - 2811.75 - - - - - - - - - 16.12 -
6928.11 739.46 -8.54 869 6933.92 roll -1.25 - - 1835.50 - 4.00 0.194 663.56 -355.8 -77.86 - - 2813.47 - - - - - - - - - 16.08 -
6997.11 746.46 -10.22 883 7003.86 roll -1.25 - - 1835.38 - 3.45 0.085 2114.75 420.6 -77.86 - - 2812.28 - - - - - - - - - 16.12 -
7303.14 770.91 -7.18 914 7304.47 no move -1.25 - - 1835.62 - - - 2114.44 - -77.86 - - 2809.66 - - - - - - - - - - -
7603.16 793.13 -7.15 944 7609.01 roll -1.25 - - 1835.50 - 4.14 0.192 663.44 -350.5 -77.86 - - 2811.56 - - - - - - - - - 16.08 -
7688.17 800.74 -9.06 961 7692.76 roll -1.25 - - 1836.12 - 3.46 0.088 2114.94 419.5 -77.86 - - 2810.47 - - - - - - - - - 16.11 -
7998.22 812.23 -1.88 993 7999.55 no move -1.25 - - 1836.00 - - - 2114.81 - -77.86 - - 2810.59 - - - - - - - - - - -
8268 end dive: NO_VERTICAL_VELOCITY
8268 begin apogee
8269.52 812.16 - 1020 8336.18 -0.25 1.66 0.120 2082.06 148.2 0.07 0.319 2185.69 1012.6 - 63.17 2.053 2496.53 -5.0 0.324 - - - - - - 16.08 15.65 13.30
8339 end apogee: CONTROL_FINISHED_OK
8339 begin climb
8339.36 811.79 - 1026 8414.34 1.25 2.46 0.089 2447.06 148.4 - - 2185.38 - 77.86 69.88 2.005 2180.53 -4.5 0.302 - - - - - - 15.69 - 12.97
8712.30 783.69 8.96 1067 8716.86 done 1.25 - - 2447.56 - 3.33 0.146 3472.75 386.6 77.86 - - 2169.75 - - - - - - - - - 15.69 -
8832.40 771.08 10.54 1091 8836.88 done 1.25 - - 2447.25 - 3.27 0.072 2184.12 -394.1 77.86 - - 2168.47 - - - - - - - - - 15.75 -
9142.35 741.37 9.55 1123 9148.19 done 1.25 - - 2448.12 - 4.04 0.164 736.31 -358.4 77.86 - - 2165.66 - - - - - - - - - 15.82 -
9177.37 737.86 10.01 1130 9181.94 done 1.25 - - 2447.81 - 3.48 0.069 2216.62 425.4 77.86 - - 2165.12 - - - - - - - - - 15.85 -
9487.39 711.80 7.95 1162 9493.22 done 1.25 - - 2447.75 - 4.10 0.161 736.44 -361.0 77.86 - - 2161.62 - - - - - - - - - 15.88 -
9562.40 704.56 10.03 1177 9568.14 done 1.25 - - 2448.19 - 3.51 0.072 2217.19 421.9 77.86 - - 2160.47 - - - - - - - - - 15.92 -
9867.44 683.12 6.74 1208 9871.94 done 1.29 - - 2447.69 - 3.18 0.145 3474.12 395.3 77.86 - - 2162.62 - - - - - - - - - 15.95 -
10001.30 672.65 7.39 1235 10008.15 done 1.31 - - 2447.81 - 3.21 0.072 2181.94 -402.5 77.86 - - 2163.59 - - - - - - - - - 15.97 -
10307.49 652.22 6.76 1266 10313.29 done 1.35 - - 2445.12 - 3.98 0.162 736.12 -363.3 77.86 - - 2161.47 - - - - - - - - - 15.97 -
10352.50 648.41 8.49 1275 10357.06 done 1.35 - - 2448.38 - 3.47 0.067 2218.56 427.2 77.86 - - 2159.97 - - - - - - - - - 16.00 -
10662.53 629.16 6.05 1307 10664.02 1.41 0.20 0.097 2490.88 212.5 - - 2220.38 - 77.86 - - 2161.66 - - - - - - - - 16.00 - -
10962.56 607.89 6.95 1337 10968.36 done 1.44 - - 2493.00 - 4.07 0.158 736.25 -364.7 77.86 - - 2162.16 - - - - - - - - - 16.01 -
11097.56 595.60 9.17 1364 11103.32 done 1.44 - - 2491.38 - 3.48 0.069 2220.88 426.6 77.86 - - 2158.84 - - - - - - - - - 16.04 -
11402.61 573.36 7.26 1395 11403.94 VBD 1.47 - - 2492.75 - - - 2220.56 - 77.86 - - 2160.16 - - - - - - - - - - -
11702.64 553.15 6.89 1425 11707.15 done 1.50 - - 2492.94 - 3.14 0.144 3473.50 399.0 77.86 - - 2161.12 - - - - - - - - - 16.05 -
11722.65 551.79 7.41 1429 11727.16 done 1.52 - - 2492.56 - 3.17 0.067 2180.88 -407.8 77.86 - - 2159.97 - - - - - - - - - 16.06 -
12032.69 531.90 6.23 1461 12037.28 1.58 0.17 0.113 2529.19 215.5 3.23 0.141 3474.62 400.5 77.86 - - 2161.03 - - - - - - - - 16.05 16.06 -
12092.73 527.03 7.46 1473 12097.23 done 1.59 - - 2529.06 - 3.16 0.071 2180.69 -409.5 77.86 - - 2160.72 - - - - - - - - - 16.07 -
12402.77 505.03 7.85 1505 12408.50 done 1.59 - - 2529.06 - 3.89 0.157 736.62 -371.2 77.86 - - 2157.69 - - - - - - - - - 16.06 -
12521.73 493.94 8.98 1529 12528.58 done 1.59 - - 2529.56 - 3.42 0.067 2222.62 434.5 77.86 - - 2159.28 - - - - - - - - - 16.08 -
12827.88 470.39 8.05 1560 12833.54 done 1.59 - - 2526.69 - 3.97 0.151 735.62 -374.6 77.86 - - 2159.38 - - - - - - - - - 16.06 -
12906.81 463.42 8.55 1576 12913.64 done 1.59 - - 2528.81 - 3.46 0.066 2222.75 429.8 77.86 - - 2158.75 - - - - - - - - - 16.07 -
13212.99 444.49 6.40 1607 13218.78 done 1.64 - - 2529.38 - 3.97 0.150 736.50 -374.4 77.86 - - 2157.34 - - - - - - - - - 16.06 -
13442.04 427.74 7.19 1653 13448.79 done 1.67 - - 2528.88 - 3.47 0.067 2222.62 428.3 77.86 - - 2159.66 - - - - - - - - - 16.08 -
13748.12 409.99 5.96 1684 13773.58 1.76 0.22 0.101 2572.56 198.5 - - 2222.06 - 107.68 23.67 1.557 2058.31 -4.3 0.186 - - - - - - 16.07 - 13.23
14073.15 382.01 9.74 1717 14077.67 roll 1.76 - - 2573.88 - 3.15 0.138 3474.56 397.6 107.68 - - 2055.72 - - - - - - - - - 15.99 -
14157.05 372.43 11.74 1734 14163.99 roll 1.76 - - 2573.12 - 3.15 0.068 2180.81 -410.7 107.68 - - 2056.31 - - - - - - - - - 16.01 -
14463.21 344.23 9.07 1765 14468.88 roll 1.76 - - 2574.06 - 3.91 0.152 736.50 -369.4 107.68 - - 2054.00 - - - - - - - - - 15.99 -
14542.14 336.21 10.80 1781 14548.97 done 1.76 - - 2573.62 - 3.43 0.064 2221.56 433.0 107.68 - - 2054.56 - - - - - - - - - 16.03 -
14848.26 309.71 8.54 1812 14849.59 VBD 1.76 - - 2573.75 - - - 2222.19 - 107.68 - - 2052.06 - - - - - - - - - - -
15148.30 281.99 9.30 1842 15152.82 done 1.76 - - 2573.31 - 3.11 0.135 3473.81 402.5 107.68 - - 2053.34 - - - - - - - - - 16.04 -
15208.32 275.62 11.38 1854 15212.83 done 1.76 - - 2574.75 - 3.14 0.066 2180.56 -411.9 107.68 - - 2053.38 - - - - - - - - - 16.06 -
15518.34 244.08 10.41 1886 15522.89 done 1.76 - - 2573.19 - 3.22 0.132 3475.50 402.2 107.68 - - 2053.09 - - - - - - - - - 16.05 -
15552.20 240.71 9.64 1893 15559.03 done 1.76 - - 2573.94 - 3.11 0.064 2179.88 -416.6 107.68 - - 2051.69 - - - - - - - - - 16.07 -
15858.40 211.50 9.37 1924 15864.20 done 1.76 - - 2574.06 - 3.91 0.147 735.38 -369.4 107.68 - - 2051.25 - - - - - - - - - 16.04 -
15923.60 205.12 10.18 1937 15929.13 done 1.76 - - 2574.12 - 3.44 0.063 2224.62 432.9 107.68 - - 2051.28 - - - - - - - - - 16.06 -
16228.44 178.73 8.46 1968 16229.77 VBD 1.76 - - 2573.88 - - - 2224.88 - 107.68 - - 2051.88 - - - - - - - - - - -
16528.49 156.75 6.92 1998 16532.98 done 1.79 - - 2573.88 - 3.10 0.133 3473.19 402.7 107.68 - - 2052.28 - - - - - - - - - 16.06 -
16582.34 152.63 7.55 2009 16589.32 done 1.79 - - 2573.75 - 3.16 0.062 2178.25 -409.8 107.68 - - 2051.34 - - - - - - - - - 16.08 -
16888.54 133.24 5.79 2040 16920.82 done 1.89 - - 2574.31 - 3.24 0.132 3472.06 399.3 139.99 27.34 1.258 1926.69 -4.6 0.080 - - - - - - - 15.91 13.19
16987.48 124.58 10.61 2060 16994.26 roll 1.89 - - 2573.94 - 3.15 0.063 2179.75 -410.3 139.99 - - 1924.41 - - - - - - - - - 15.95 -
17293.62 98.54 8.15 2092 17299.46 roll 1.89 - - 2573.00 - 3.21 0.129 3474.69 403.4 139.99 - - 1923.38 - - - - - - - - - 15.96 -
17524.89 81.98 5.92 2138 17556.26 1.98 0.29 0.096 2624.50 177.6 3.12 0.061 2176.38 -416.1 170.43 25.86 1.180 1804.44 -4.6 0.053 - - - - - - 15.97 16.01 13.13
17734.08 68.25 6.27 2180 17739.75 roll 2.03 - - 2625.38 - 3.24 0.125 3475.31 400.9 170.43 - - 1800.19 - - - - - - - - - 15.89 -
17964.15 55.60 4.49 2226 18010.78 2.19 0.29 0.096 2675.50 172.8 3.12 0.061 2176.25 -416.4 221.21 41.28 1.159 1597.31 -4.9 0.039 - - - - - - 15.91 15.95 13.07
18189.15 36.72 8.90 2271 18194.87 roll 2.19 - - 2676.06 - 3.24 0.127 3473.94 400.5 221.21 - - 1592.44 - - - - - - - - - 15.84 -
18419.24 31.57 -0.62 2317 18522.01 2.56 0.55 0.083 2767.94 167.1 3.14 0.061 2177.62 -412.8 345.02 97.22 1.131 1094.34 -5.1 0.024 - - - - - - 15.87 15.89 13.13
18699 end climb: SURFACE_DEPTH_REACHED
18699 begin surface coast
18709 end surface coast: CONTROL_FINISHED_OK
18709 begin surface
SM 0.89 - - - - 179.2 63.88 1.073 766.6 10.5 16.76 0.075 766.9 45.7 - 0.21 0.126 766.4 3634.6 -2.624 - - 12.88 15.67 15.71 -