NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 99 * Raw log
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• Previous call tries 1 • 33.45 of 350.00 AH used of 24V (90.44% remains)
• Surface angle -63.5 deg, depth 0.64 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.66 (SM_CC=425)
• GPS1 time: 22 s
• GPS2 time: 2 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
6.43 - - - 74.49 VBD -1.25 - - 179.06 - - - 2116.62 - -77.86 67.52 0.005 2298.53 - - - - - - - - - - 15.64
74.76 3.05 -3.84 13 111.23 -1.25 13.35 0.275 1835.38 124.1 3.45 0.129 3474.62 393.6 -77.86 13.40 0.007 2817.44 38.7 -2.823 - - - - - - 15.59 15.63 15.67
334.04 57.24 -15.02 65 339.80 roll -1.25 - - 1834.88 - 3.46 0.068 2083.75 -402.0 -77.86 - - 2819.38 - - - - - - - - - 15.79 -
519.11 82.40 -13.80 102 524.87 roll -1.25 - - 1836.81 - 3.54 0.125 3473.44 392.6 -77.86 - - 2818.50 - - - - - - - - - 15.83 -
549.12 86.67 -14.22 108 554.85 roll -1.25 - - 1836.62 - 3.41 0.065 2083.12 -407.7 -77.86 - - 2818.16 - - - - - - - - - 15.84 -
734.17 108.19 -11.19 138 739.90 roll -1.25 - - 1834.50 - 3.88 0.170 663.56 -365.9 -77.86 - - 2819.34 - - - - - - - - - 15.85 -
919.23 131.15 -12.00 175 924.82 roll -1.25 - - 1836.94 - 3.48 0.063 2120.69 418.7 -77.86 - - 2816.56 - - - - - - - - - 15.91 -
1224.25 163.52 -10.79 206 1225.58 no move -1.25 - - 1835.94 - - - 2120.31 - -77.86 - - 2819.34 - - - - - - - - - - -
1524.27 197.49 -12.10 236 1525.60 no move -1.25 - - 1836.88 - - - 2120.88 - -77.86 - - 2819.25 - - - - - - - - - - -
1824.30 231.92 -10.54 266 1825.63 no move -1.25 - - 1836.38 - - - 2119.88 - -77.86 - - 2819.19 - - - - - - - - - - -
2124.33 265.26 -10.73 296 2128.99 roll -1.25 - - 1836.38 - 3.42 0.132 3475.19 396.3 -77.86 - - 2818.50 - - - - - - - - - 16.01 -
2168.29 270.83 -12.47 305 2175.23 roll -1.25 - - 1836.62 - 3.41 0.071 2083.50 -408.1 -77.86 - - 2819.38 - - - - - - - - - 16.02 -
2474.36 306.33 -12.30 336 2475.69 no move -1.25 - - 1836.88 - - - 2083.62 - -77.86 - - 2819.22 - - - - - - - - - - -
2774.38 341.11 -11.85 366 2780.13 roll -1.25 - - 1836.44 - 3.94 0.174 663.38 -360.5 -77.86 - - 2817.84 - - - - - - - - - 16.02 -
2829.42 348.45 -13.93 377 2833.98 roll -1.25 - - 1835.81 - 3.44 0.069 2117.00 422.6 -77.86 - - 2818.44 - - - - - - - - - 16.06 -
3139.42 383.84 -10.63 409 3144.07 roll -1.25 - - 1836.81 - 3.47 0.135 3473.06 390.8 -77.86 - - 2818.31 - - - - - - - - - 16.05 -
3189.44 390.02 -12.59 419 3194.06 roll -1.25 - - 1836.25 - 3.38 0.072 2083.88 -411.0 -77.86 - - 2819.53 - - - - - - - - - 16.06 -
3499.45 420.08 -9.38 451 3500.78 no move -1.25 - - 1836.62 - - - 2084.62 - -77.86 - - 2817.69 - - - - - - - - - - -
3799.47 449.84 -9.16 481 3800.80 no move -1.25 - - 1836.62 - - - 2085.06 - -77.86 - - 2817.84 - - - - - - - - - - -
4099.49 476.79 -8.63 511 4105.25 roll -1.25 - - 1834.94 - 3.96 0.182 663.31 -359.0 -77.86 - - 2818.19 - - - - - - - - - 16.05 -
4234.53 491.63 -10.97 538 4239.19 roll -1.25 - - 1836.94 - 3.46 0.075 2118.06 420.4 -77.86 - - 2816.62 - - - - - - - - - 16.09 -
4544.55 519.65 -9.13 570 4545.88 no move -1.25 - - 1837.12 - - - 2117.69 - -77.86 - - 2816.72 - - - - - - - - - - -
4844.57 548.24 -10.00 600 4845.90 no move -1.25 - - 1836.81 - - - 2117.75 - -77.86 - - 2815.88 - - - - - - - - - - -
5144.60 576.82 -9.11 630 5150.36 roll -1.25 - - 1834.94 - 4.03 0.183 663.19 -360.9 -77.86 - - 2815.69 - - - - - - - - - 16.07 -
5223.53 585.29 -10.03 646 5230.37 roll -1.25 - - 1837.06 - 3.49 0.077 2117.19 416.6 -77.86 - - 2814.97 - - - - - - - - - 16.10 -
5529.64 610.17 -7.40 677 5530.96 no move -1.25 - - 1836.69 - - - 2117.12 - -77.86 - - 2815.31 - - - - - - - - - - -
5829.65 633.69 -7.34 707 5830.98 no move -1.25 - - 1836.75 - - - 2117.50 - -77.86 - - 2814.34 - - - - - - - - - - -
6129.68 656.51 -6.49 737 6131.00 no move -1.25 - - 1837.06 - - - 2117.62 - -77.86 - - 2814.16 - - - - - - - - - - -
6429.73 682.31 -8.98 767 6434.38 roll -1.25 - - 1836.75 - 3.47 0.144 3472.88 390.6 -77.86 - - 2814.34 - - - - - - - - - 16.10 -
6513.71 691.07 -9.80 784 6520.62 roll -1.25 - - 1836.38 - 3.38 0.083 2085.62 -410.4 -77.86 - - 2813.84 - - - - - - - - - 16.12 -
6819.81 719.61 -8.42 815 6825.48 roll -1.25 - - 1835.00 - 3.58 0.143 3471.62 387.2 -77.86 - - 2813.59 - - - - - - - - - 16.10 -
6884.85 726.10 -10.87 828 6889.49 roll -1.25 - - 1836.56 - 3.42 0.081 2084.50 -405.6 -77.86 - - 2813.03 - - - - - - - - - 16.12 -
7194.89 752.62 -7.93 860 7200.56 roll -1.25 - - 1836.81 - 3.57 0.144 3474.62 389.4 -77.86 - - 2812.81 - - - - - - - - - 16.10 -
7269.93 760.51 -9.80 875 7274.56 roll -1.25 - - 1836.81 - 3.39 0.083 2086.44 -409.5 -77.86 - - 2812.69 - - - - - - - - - 16.11 -
7579.97 786.91 -8.07 907 7581.30 no move -1.25 - - 1835.88 - - - 2086.56 - -77.86 - - 2811.25 - - - - - - - - - - -
7880.00 810.80 -7.84 937 7885.76 roll -1.25 - - 1836.38 - 3.95 0.196 664.31 -360.1 -77.86 - - 2810.66 - - - - - - - - - 16.08 -
7925.04 814.46 -7.87 946 7929.83 roll -1.25 - - 1835.25 - 3.52 0.083 2114.31 411.9 -77.86 - - 2812.53 - - - - - - - - - 16.11 -
8235.08 839.98 -8.10 978 8236.41 no move -1.25 - - 1836.94 - - - 2114.88 - -77.86 - - 2810.19 - - - - - - - - - - -
8535.12 863.59 -8.95 1008 8536.45 no move -1.25 - - 1837.12 - - - 2115.06 - -77.86 - - 2811.00 - - - - - - - - - - -
8835.17 886.35 -7.02 1038 8840.95 roll -1.25 - - 1836.50 - 4.01 0.196 663.44 -362.0 -77.86 - - 2810.16 - - - - - - - - - 16.08 -
8880.21 890.20 -8.93 1047 8884.86 roll -1.25 - - 1836.69 - 3.51 0.086 2114.38 413.4 -77.86 - - 2808.25 - - - - - - - - - 16.12 -
9190.24 905.89 -2.58 1079 9195.97 roll -1.25 - - 1836.50 - 3.99 0.191 663.44 -363.6 -77.86 - - 2810.84 - - - - - - - - - 16.08 -
9419.24 905.35 0.18 1125 9426.03 roll -1.25 - - 1836.75 - 3.51 0.081 2116.12 413.9 -77.86 - - 2810.97 - - - - - - - - - 16.12 -
9456 end dive: NO_VERTICAL_VELOCITY
9456 begin apogee
9456.53 905.72 - 1129 9522.84 -0.25 1.63 0.131 2083.12 151.1 0.08 0.316 2185.25 864.1 - 63.28 2.202 2496.53 -5.0 0.342 - - - - - - 16.08 15.61 13.18
9524 end apogee: CONTROL_FINISHED_OK
9524 begin climb
9524.07 905.65 - 1135 9603.28 1.25 2.46 0.115 2446.69 147.8 3.57 0.145 3472.50 360.6 77.86 71.35 2.134 2180.56 -4.4 0.314 - - - - - - 15.64 15.25 12.92
9790.45 883.65 10.75 1188 9797.25 done 1.25 - - 2445.88 - 3.20 0.073 2186.12 -402.0 77.86 - - 2172.00 - - - - - - - - - 15.60 -
10096.59 856.38 7.42 1219 10097.92 VBD 1.27 - - 2446.06 - - - 2186.38 - 77.86 - - 2167.84 - - - - - - - - - - -
10396.61 832.45 7.65 1249 10397.94 VBD 1.27 - - 2445.75 - - - 2186.00 - 77.86 - - 2166.31 - - - - - - - - - - -
10696.65 807.76 9.28 1279 10697.98 VBD 1.27 - - 2446.06 - - - 2186.06 - 77.86 - - 2163.31 - - - - - - - - - - -
10996.68 782.40 9.33 1309 10998.01 VBD 1.27 - - 2446.62 - - - 2186.44 - 77.86 - - 2162.22 - - - - - - - - - - -
11296.74 757.78 7.96 1339 11302.56 done 1.27 - - 2444.56 - 3.96 0.167 736.62 -366.1 77.86 - - 2162.06 - - - - - - - - - 15.95 -
11365.71 751.45 10.18 1353 11372.66 done 1.27 - - 2446.88 - 3.56 0.072 2219.38 416.5 77.86 - - 2161.59 - - - - - - - - - 15.98 -
11671.85 728.28 7.37 1384 11676.37 done 1.29 - - 2446.06 - 3.27 0.146 3472.62 383.3 77.86 - - 2162.75 - - - - - - - - - 15.98 -
11901.94 710.15 6.79 1430 11906.45 done 1.33 - - 2446.00 - 3.11 0.072 2181.69 -415.1 77.86 - - 2163.16 - - - - - - - - - 15.99 -
12212.00 690.14 6.16 1462 12213.47 1.39 0.18 0.119 2486.31 223.9 - - 2182.81 - 77.86 - - 2161.44 - - - - - - - - 16.01 - -
12512.04 667.98 8.23 1492 12516.60 done 1.39 - - 2487.06 - 3.37 0.144 3473.44 383.0 77.86 - - 2161.66 - - - - - - - - - 16.03 -
12635.92 656.55 9.10 1517 12642.77 done 1.39 - - 2485.00 - 3.11 0.073 2182.12 -415.2 77.86 - - 2162.41 - - - - - - - - - 16.04 -
12942.14 631.14 8.14 1548 12946.71 done 1.39 - - 2486.31 - 3.36 0.141 3473.56 384.4 77.86 - - 2161.66 - - - - - - - - - 16.04 -
13172.24 610.19 9.07 1594 13176.76 done 1.39 - - 2486.44 - 3.11 0.073 2183.00 -415.0 77.86 - - 2160.31 - - - - - - - - - 16.05 -
13482.27 588.80 6.69 1626 13483.60 VBD 1.43 - - 2486.69 - - - 2183.62 - 77.86 - - 2158.53 - - - - - - - - - - -
13782.31 568.41 7.07 1656 13788.08 done 1.46 - - 2485.56 - 3.86 0.159 736.06 -375.0 77.86 - - 2159.44 - - - - - - - - - 16.05 -
13917.32 555.69 9.46 1683 13922.92 done 1.46 - - 2486.06 - 3.47 0.070 2219.38 427.5 77.86 - - 2156.84 - - - - - - - - - 16.07 -
14222.38 535.59 7.08 1714 14228.16 done 1.49 - - 2485.06 - 3.85 0.152 736.44 -385.2 77.86 - - 2159.31 - - - - - - - - - 16.06 -
14377.40 523.48 7.85 1745 14383.00 done 1.49 - - 2486.38 - 3.50 0.069 2220.38 424.0 77.86 - - 2156.62 - - - - - - - - - 16.08 -
14682.45 505.26 6.22 1776 14687.06 1.54 0.16 0.114 2521.94 222.2 3.22 0.140 3474.06 389.3 77.86 - - 2158.09 - - - - - - - - 16.07 16.07 -
14782.46 498.18 7.16 1796 14786.98 done 1.57 - - 2522.44 - 3.08 0.069 2179.31 -420.4 77.86 - - 2158.38 - - - - - - - - - 16.08 -
15092.50 475.66 8.11 1828 15098.20 done 1.57 - - 2521.44 - 3.79 0.152 736.81 -380.6 77.86 - - 2158.09 - - - - - - - - - 16.05 -
15321.46 454.04 9.09 1874 15328.29 done 1.57 - - 2522.56 - 3.49 0.067 2220.56 425.1 77.86 - - 2157.97 - - - - - - - - - 16.07 -
15627.59 431.03 7.47 1905 15633.29 done 1.58 - - 2521.88 - 3.87 0.148 736.81 -383.4 77.86 - - 2156.31 - - - - - - - - - 16.05 -
15832.62 413.98 8.56 1946 15838.20 done 1.58 - - 2521.56 - 3.49 0.066 2221.75 425.5 77.86 - - 2158.78 - - - - - - - - - 16.08 -
16137.66 392.92 5.86 1977 16163.39 VBD 1.68 - - 2522.31 - - - 2222.19 - 109.13 25.01 1.562 2053.44 -4.2 0.177 - - - - - - - - 13.16
16457.68 368.16 8.03 2009 16463.55 roll 1.68 - - 2522.31 - 3.90 0.148 735.94 -381.1 109.13 - - 2048.00 - - - - - - - - - 15.96 -
16552.71 358.57 9.18 2028 16558.32 roll 1.68 - - 2522.62 - 3.51 0.066 2221.75 423.3 109.13 - - 2046.25 - - - - - - - - - 16.00 -
16857.79 330.73 8.57 2059 16862.40 done 1.68 - - 2522.88 - 3.23 0.136 3474.50 387.8 109.13 - - 2047.34 - - - - - - - - - 16.00 -
17047.86 312.83 9.50 2097 17052.51 done 1.68 - - 2522.44 - 3.09 0.068 2179.69 -419.0 109.13 - - 2048.00 - - - - - - - - - 16.03 -
17357.93 286.42 9.28 2129 17362.50 done 1.68 - - 2523.12 - 3.35 0.133 3472.38 385.9 109.13 - - 2046.22 - - - - - - - - - 16.01 -
17588.04 263.64 9.51 2175 17592.67 done 1.68 - - 2522.62 - 3.09 0.068 2178.75 -418.7 109.13 - - 2047.62 - - - - - - - - - 16.05 -
17898.12 237.24 7.65 2207 17899.45 VBD 1.68 - - 2522.56 - - - 2178.94 - 109.13 - - 2046.34 - - - - - - - - - - -
18198.16 213.48 7.64 2237 18199.49 VBD 1.68 - - 2522.62 - - - 2179.31 - 109.13 - - 2046.56 - - - - - - - - - - -
18498.22 190.15 6.97 2267 18499.69 1.71 0.19 0.110 2561.56 204.9 - - 2179.12 - 109.13 - - 2045.34 - - - - - - - - 16.04 - -
18798.25 166.33 7.19 2297 18799.58 VBD 1.74 - - 2561.88 - - - 2179.31 - 109.13 - - 2046.34 - - - - - - - - - - -
19098.28 143.22 7.78 2327 19099.61 VBD 1.74 - - 2561.62 - - - 2179.75 - 109.13 - - 2046.38 - - - - - - - - - - -
19398.32 120.40 6.80 2357 19399.65 VBD 1.77 - - 2561.62 - - - 2179.94 - 109.13 - - 2046.12 - - - - - - - - - - -
19698.35 105.78 4.21 2387 19750.18 1.94 0.29 0.093 2616.94 190.8 3.81 0.145 736.88 -378.8 163.88 44.96 1.244 1829.66 -4.8 0.069 - - - - - - 16.06 15.82 13.17
19903.38 86.43 11.64 2428 19909.13 roll 1.94 - - 2616.38 - 3.53 0.065 2221.12 420.5 163.88 - - 1825.91 - - - - - - - - - 15.91 -
20088.44 71.99 6.15 2465 20094.14 done 1.99 - - 2616.31 - 3.23 0.130 3473.44 387.7 163.88 - - 1823.44 - - - - - - - - - 15.90 -
20319.63 57.82 6.02 2511 20349.70 2.08 0.17 0.110 2650.44 200.8 3.06 0.063 2176.50 -423.8 192.87 24.23 1.134 1712.88 -4.6 0.039 - - - - - - 15.92 15.96 13.07
20528.52 44.18 5.64 2553 20564.83 done 2.18 - - 2650.00 - 3.36 0.125 3474.50 386.3 227.30 29.17 1.120 1571.31 -4.9 0.032 - - - - - - - 15.75 13.07
20648.52 39.49 4.17 2577 20700.25 2.35 0.38 0.090 2715.44 172.2 3.12 0.060 2178.69 -415.3 282.67 45.44 1.121 1347.75 -4.9 0.029 - - - - - - 15.77 15.82 13.04
20878.57 25.52 5.25 2623 20919.54 done 2.47 - - 2715.50 - 3.87 0.143 735.81 -372.8 322.63 32.46 1.065 1184.66 -5.0 0.020 - - - - - - - 15.60 13.01
21008.58 12.89 11.02 2649 21014.33 roll 2.47 - - 2716.38 - 3.59 0.058 2222.69 414.2 322.63 - - 1181.81 - - - - - - - - - 15.71 -
21109 end climb: SURFACE_DEPTH_REACHED
21109 begin surface coast
21124 end surface coast: CONTROL_FINISHED_OK
21124 begin surface
SM 0.55 - - - - 179.1 - 2.790 768.8 - 16.40 0.077 774.3 47.2 - 0.32 0.093 763.3 2374.1 -1.435 - - 30.36 15.72 15.76 -