NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 169 * Raw log
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• Previous call tries 1 • 55.52 of 575.00 AH used of 24V (90.35% remains)
• Surface angle -64.2 deg, depth 0.96 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.87 (SM_CC=425)
• GPS1 time: 26 s
• GPS2 time: 2 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
6.58 - - - 79.60 VBD -1.25 - - 173.94 - - - 2121.06 - -77.86 72.49 0.005 2398.09 - - - - - - - - - - 15.64
79.92 3.37 -4.07 14 112.88 -1.25 13.70 0.260 1834.81 121.2 4.16 0.162 664.12 -350.2 -77.86 10.48 0.007 2816.38 39.9 -3.224 - - - - - - 15.64 15.63 15.67
120.63 12.55 -21.50 22 126.39 roll -1.25 - - 1835.88 - 3.58 0.059 2118.56 406.3 -77.86 - - 2816.69 - - - - - - - - - 15.71 -
305.65 52.37 -16.44 59 311.40 roll -1.25 - - 1834.94 - 3.62 0.120 3472.12 373.9 -77.86 - - 2817.97 - - - - - - - - - 15.78 -
335.66 57.76 -18.40 65 341.39 roll -1.25 - - 1836.12 - 3.43 0.062 2083.81 -404.8 -77.86 - - 2817.44 - - - - - - - - - 15.80 -
520.67 84.78 -12.70 102 526.45 roll -1.25 - - 1835.69 - 3.68 0.119 3474.06 377.8 -77.86 - - 2817.91 - - - - - - - - - 15.85 -
555.69 89.23 -12.73 109 561.42 roll -1.25 - - 1835.75 - 3.40 0.062 2082.62 -409.2 -77.86 - - 2817.56 - - - - - - - - - 15.86 -
745.73 109.28 -10.34 138 750.49 roll -1.25 - - 1834.62 - 3.63 0.118 3473.06 383.0 -77.86 - - 2819.06 - - - - - - - - - 15.89 -
905.79 128.35 -12.01 170 910.36 roll -1.25 - - 1835.69 - 3.39 0.063 2081.31 -410.5 -77.86 - - 2818.16 - - - - - - - - - 15.93 -
1215.84 163.77 -12.56 202 1221.69 roll -1.25 - - 1835.88 - 4.01 0.164 662.94 -353.7 -77.86 - - 2818.97 - - - - - - - - - 15.93 -
1434.86 193.23 -14.36 246 1441.67 roll -1.25 - - 1835.44 - 3.49 0.063 2120.38 417.6 -77.86 - - 2818.84 - - - - - - - - - 15.98 -
1740.99 227.60 -10.71 277 1742.31 no move -1.25 - - 1835.75 - - - 2120.38 - -77.86 - - 2819.47 - - - - - - - - - - -
2041.03 259.62 -10.94 307 2046.72 roll -1.25 - - 1835.12 - 4.05 0.163 664.19 -359.6 -77.86 - - 2819.41 - - - - - - - - - 15.99 -
2079.98 264.95 -13.55 315 2086.79 roll -1.25 - - 1835.75 - 3.47 0.062 2118.50 419.1 -77.86 - - 2819.75 - - - - - - - - - 16.02 -
2386.10 298.57 -11.23 346 2390.84 roll -1.25 - - 1836.12 - 3.59 0.126 3473.56 377.5 -77.86 - - 2818.81 - - - - - - - - - 16.03 -
2490.06 311.20 -12.75 367 2496.86 roll -1.25 - - 1835.75 - 3.40 0.065 2082.56 -409.1 -77.86 - - 2818.97 - - - - - - - - - 16.05 -
2796.18 345.89 -11.64 398 2801.86 roll -1.25 - - 1834.88 - 3.96 0.170 663.19 -358.4 -77.86 - - 2818.66 - - - - - - - - - 16.03 -
2861.24 354.07 -12.30 411 2866.82 roll -1.25 - - 1836.00 - 3.52 0.063 2117.88 413.3 -77.86 - - 2817.03 - - - - - - - - - 16.06 -
3166.24 387.92 -10.79 442 3170.97 roll -1.25 - - 1835.94 - 3.58 0.127 3472.69 378.4 -77.86 - - 2817.75 - - - - - - - - - 16.05 -
3226.26 395.21 -12.51 454 3230.81 roll -1.25 - - 1835.81 - 3.39 0.066 2084.12 -409.6 -77.86 - - 2817.28 - - - - - - - - - 16.06 -
3536.28 429.78 -10.87 486 3542.11 roll -1.25 - - 1835.50 - 4.01 0.172 662.81 -354.4 -77.86 - - 2815.47 - - - - - - - - - 16.05 -
3661.29 445.05 -13.20 511 3666.90 roll -1.25 - - 1835.44 - 3.52 0.066 2118.38 413.5 -77.86 - - 2817.28 - - - - - - - - - 16.08 -
3966.32 476.27 -10.02 542 3972.01 roll -1.25 - - 1835.56 - 4.10 0.169 663.94 -354.7 -77.86 - - 2817.19 - - - - - - - - - 16.06 -
4005.33 480.85 -11.47 550 4012.25 roll -1.25 - - 1835.75 - 3.51 0.063 2117.81 414.2 -77.86 - - 2816.97 - - - - - - - - - 16.08 -
4311.36 507.62 -9.18 581 4316.08 roll -1.25 - - 1835.56 - 3.59 0.131 3473.62 377.7 -77.86 - - 2813.41 - - - - - - - - - 16.07 -
4371.37 513.90 -11.37 593 4375.94 roll -1.25 - - 1835.62 - 3.39 0.071 2085.38 -409.5 -77.86 - - 2815.97 - - - - - - - - - 16.10 -
4681.38 540.23 -8.06 625 4687.04 roll -1.25 - - 1835.38 - 3.92 0.178 664.19 -362.5 -77.86 - - 2815.97 - - - - - - - - - 16.06 -
4766.46 548.53 -9.31 642 4771.11 roll -1.25 - - 1835.81 - 3.49 0.068 2117.06 416.3 -77.86 - - 2815.69 - - - - - - - - - 16.09 -
5076.42 573.79 -7.68 674 5082.09 roll -1.25 - - 1835.62 - 3.92 0.175 662.00 -371.2 -77.86 - - 2813.78 - - - - - - - - - 16.06 -
5171.43 581.85 -8.58 693 5176.18 roll -1.25 - - 1835.88 - 3.52 0.068 2118.81 413.9 -77.86 - - 2815.09 - - - - - - - - - 16.10 -
5481.48 605.38 -8.77 725 5486.23 roll -1.25 - - 1835.94 - 3.61 0.134 3474.12 375.4 -77.86 - - 2813.03 - - - - - - - - - 16.09 -
5621.49 619.11 -10.55 753 5626.08 roll -1.25 - - 1835.38 - 3.39 0.073 2085.81 -409.5 -77.86 - - 2814.12 - - - - - - - - - 16.10 -
5931.52 648.41 -9.93 785 5937.28 roll -1.25 - - 1834.94 - 3.68 0.133 3471.56 376.6 -77.86 - - 2812.88 - - - - - - - - - 16.09 -
6040.39 660.17 -10.66 807 6047.26 roll -1.25 - - 1835.88 - 3.40 0.073 2085.62 -407.6 -77.86 - - 2813.12 - - - - - - - - - 16.10 -
6346.56 688.98 -9.71 838 6347.89 no move -1.25 - - 1835.69 - - - 2085.31 - -77.86 - - 2813.22 - - - - - - - - - - -
6646.58 715.53 -8.87 868 6652.34 roll -1.25 - - 1834.88 - 3.68 0.135 3472.31 376.9 -77.86 - - 2812.16 - - - - - - - - - 16.10 -
6711.60 722.34 -10.21 881 6717.19 roll -1.25 - - 1835.50 - 3.44 0.076 2085.25 -403.2 -77.86 - - 2811.38 - - - - - - - - - 16.10 -
7016.62 738.47 -2.01 912 7022.44 roll -1.25 - - 1835.12 - 4.01 0.178 664.00 -354.4 -77.86 - - 2811.94 - - - - - - - - - 16.07 -
7245.67 738.85 -0.19 958 7252.42 roll -1.25 - - 1835.38 - 3.46 0.065 2118.56 420.4 -77.86 - - 2811.31 - - - - - - - - - 16.11 -
7272 end dive: NO_VERTICAL_VELOCITY
7272 begin apogee
7272.90 738.82 - 961 7342.59 -0.25 1.68 0.119 2082.00 146.8 0.08 0.287 2183.38 810.3 - 63.82 1.954 2498.62 -4.9 0.311 - - - - - - 16.07 15.65 12.97
7344 end apogee: CONTROL_FINISHED_OK
7344 begin climb
7344.00 738.39 - 968 7422.85 1.25 2.45 0.085 2448.56 149.6 3.64 0.137 3474.19 354.6 77.86 69.86 1.906 2181.75 -4.5 0.295 - - - - - - 15.70 15.33 12.87
7570.00 725.17 8.01 1013 7576.87 done 1.25 - - 2448.12 - 3.22 0.067 2183.25 -400.9 77.86 - - 2173.69 - - - - - - - - - 15.62 -
7876.21 700.61 8.66 1044 7881.81 done 1.25 - - 2449.31 - 3.52 0.136 3472.25 366.2 77.86 - - 2166.88 - - - - - - - - - 15.78 -
8021.25 687.87 7.71 1073 8025.83 done 1.25 - - 2448.50 - 3.21 0.065 2183.38 -401.5 77.86 - - 2169.53 - - - - - - - - - 15.83 -
8331.30 664.42 7.43 1105 8337.10 done 1.27 - - 2448.50 - 3.97 0.154 736.81 -364.4 77.86 - - 2163.72 - - - - - - - - - 15.88 -
8386.31 660.17 8.59 1116 8391.92 done 1.27 - - 2449.00 - 3.62 0.064 2216.94 408.9 77.86 - - 2162.62 - - - - - - - - - 15.90 -
8691.36 640.16 5.91 1147 8721.30 VBD 1.36 - - 2448.81 - - - 2216.88 - 108.42 26.17 1.782 2055.91 -4.1 0.246 - - - - - - - - 13.01
9021.39 616.17 7.12 1181 9022.85 pitch 1.39 0.17 0.104 2488.25 232.0 - - 2217.06 - 108.42 - - 2050.16 - - - - - - - - 15.87 - -
9321.42 590.42 8.77 1211 9325.99 done 1.39 - - 2487.12 - 3.41 0.137 3473.38 368.4 108.42 - - 2050.66 - - - - - - - - - 15.92 -
9481.44 573.38 10.96 1243 9485.98 done 1.39 - - 2486.56 - 3.18 0.066 2181.12 -406.4 108.42 - - 2050.88 - - - - - - - - - 15.93 -
9791.48 544.42 9.72 1275 9797.31 done 1.39 - - 2488.25 - 3.99 0.152 735.88 -362.2 108.42 - - 2047.41 - - - - - - - - - 15.96 -
9846.51 538.65 11.45 1286 9852.22 done 1.39 - - 2487.44 - 3.58 0.064 2218.56 414.2 108.42 - - 2048.56 - - - - - - - - - 15.98 -
10151.54 510.54 9.33 1317 10157.37 done 1.39 - - 2487.50 - 4.07 0.149 737.19 -364.0 108.42 - - 2046.25 - - - - - - - - - 15.98 -
10160.46 509.80 9.48 1319 10167.30 done 1.39 - - 2487.31 - 3.53 0.058 2220.00 420.1 108.42 - - 2046.41 - - - - - - - - - 16.00 -
10466.58 481.26 8.91 1350 10467.91 VBD 1.39 - - 2487.69 - - - 2220.88 - 108.42 - - 2045.81 - - - - - - - - - - -
10766.61 455.41 8.44 1380 10771.17 done 1.39 - - 2487.44 - 3.34 0.135 3473.50 375.0 108.42 - - 2046.97 - - - - - - - - - 16.01 -
10816.63 451.27 9.40 1390 10821.16 done 1.39 - - 2488.19 - 3.17 0.063 2181.00 -407.7 108.42 - - 2047.56 - - - - - - - - - 16.01 -
11126.67 427.16 7.76 1422 11132.25 done 1.39 - - 2486.12 - 3.46 0.131 3470.75 372.8 108.42 - - 2047.72 - - - - - - - - - 16.03 -
11171.69 423.66 7.78 1431 11176.24 done 1.39 - - 2487.50 - 3.17 0.063 2181.19 -406.8 108.42 - - 2047.16 - - - - - - - - - 16.02 -
11481.76 401.46 7.03 1463 11487.56 done 1.42 - - 2487.75 - 3.97 0.149 735.69 -364.1 108.42 - - 2044.69 - - - - - - - - - 16.02 -
11576.78 393.23 9.30 1482 11582.39 done 1.42 - - 2487.31 - 3.55 0.062 2218.25 417.6 108.42 - - 2045.34 - - - - - - - - - 16.03 -
11881.87 368.75 8.00 1513 11887.69 done 1.42 - - 2487.44 - 4.05 0.144 737.06 -365.7 108.42 - - 2043.09 - - - - - - - - - 16.01 -
11900.72 366.85 8.29 1517 11907.63 done 1.42 - - 2487.50 - 3.56 0.060 2221.06 416.9 108.42 - - 2044.66 - - - - - - - - - 16.04 -
12206.97 341.08 8.37 1548 12208.30 VBD 1.42 - - 2488.25 - - - 2221.12 - 108.42 - - 2043.31 - - - - - - - - - - -
12507.00 315.62 7.73 1578 12512.92 done 1.42 - - 2486.94 - 4.05 0.143 736.00 -366.7 108.42 - - 2045.53 - - - - - - - - - 16.04 -
12675.99 299.39 10.65 1612 12682.84 done 1.42 - - 2487.44 - 3.57 0.062 2221.69 416.2 108.42 - - 2045.25 - - - - - - - - - 16.05 -
12982.14 275.33 7.04 1643 12986.68 done 1.45 - - 2487.81 - 3.32 0.129 3473.19 377.0 108.42 - - 2045.03 - - - - - - - - - 16.05 -
13086.07 266.54 8.39 1664 13092.84 done 1.45 - - 2487.81 - 3.12 0.060 2178.31 -415.0 108.42 - - 2044.75 - - - - - - - - - 16.04 -
13392.22 246.51 6.21 1695 13398.00 done 1.51 - - 2486.12 - 3.88 0.145 736.56 -371.6 108.42 - - 2044.78 - - - - - - - - - 16.04 -
13487.23 239.32 7.62 1714 13492.84 done 1.51 - - 2486.50 - 3.52 0.061 2222.12 422.0 108.42 - - 2043.22 - - - - - - - - - 16.05 -
13792.30 220.03 6.47 1745 13798.28 1.55 0.17 0.101 2527.69 242.3 3.98 0.140 736.81 -373.2 108.42 - - 2042.62 - - - - - - - - 16.06 16.05 -
13891.21 211.87 9.14 1765 13898.04 done 1.55 - - 2527.62 - 3.51 0.061 2220.81 422.8 108.42 - - 2044.44 - - - - - - - - - 16.05 -
14197.38 189.47 6.09 1796 14201.88 done 1.61 - - 2527.56 - 3.29 0.127 3472.75 380.5 108.42 - - 2044.59 - - - - - - - - - 16.04 -
14237.36 186.83 6.37 1804 14241.86 done 1.66 - - 2527.50 - 3.08 0.058 2176.50 -420.9 108.42 - - 2043.66 - - - - - - - - - 16.05 -
14547.39 169.78 5.26 1836 14581.16 1.78 0.27 0.090 2580.00 194.4 - - 2177.06 - 148.19 32.55 1.308 1895.31 -4.6 0.099 - - - - - - 16.04 - 13.12
14877.43 137.79 10.31 1869 14883.16 roll 1.78 - - 2580.06 - 3.94 0.143 735.94 -365.8 148.19 - - 1887.75 - - - - - - - - - 15.94 -
15106.33 110.19 10.50 1915 15113.19 roll 1.78 - - 2580.19 - 3.49 0.057 2223.75 426.3 148.19 - - 1888.50 - - - - - - - - - 15.98 -
15412.59 88.45 5.62 1962 15448.94 done 1.89 - - 2580.31 - 4.06 0.136 735.75 -366.5 182.82 28.92 1.190 1753.66 -4.7 0.058 - - - - - - - 15.84 12.95
15482.53 84.28 6.89 1976 15488.47 roll back 1.92 0.15 0.109 2612.88 217.1 3.54 0.057 2223.31 420.2 182.82 - - 1751.88 - - - - - - - - 15.86 15.89 -
15667.58 69.14 8.68 2013 15673.41 roll 1.92 - - 2612.06 - 4.03 0.135 735.88 -369.1 182.82 - - 1749.84 - - - - - - - - - 15.88 -
15762.58 60.65 8.83 2032 15768.33 roll 1.92 - - 2612.56 - 3.52 0.057 2223.38 422.6 182.82 - - 1748.84 - - - - - - - - - 15.93 -
15947.66 49.45 5.95 2069 15978.98 done 2.01 - - 2613.56 - 3.34 0.124 3472.62 374.0 212.82 25.42 1.123 1631.06 -4.6 0.034 - - - - - - - 15.80 13.08
16202.72 29.35 6.72 2120 16208.38 roll 2.05 - - 2613.00 - 3.12 0.056 2178.50 -414.8 212.82 - - 1628.41 - - - - - - - - - 15.90 -
16388.00 27.92 -0.14 2157 16490.96 2.40 0.70 0.070 2731.06 168.7 4.01 0.137 735.56 -359.8 329.72 93.58 1.117 1156.00 -5.0 0.021 - - - - - - 15.90 15.55 12.96
16523.94 18.81 13.43 2184 16529.48 roll 2.40 - - 2730.38 - 3.58 0.055 2223.12 415.5 329.72 - - 1152.69 - - - - - - - - - 15.64 -
16644 end climb: SURFACE_DEPTH_REACHED
16644 begin surface coast
16654 end surface coast: CONTROL_FINISHED_OK
16654 begin surface
SM 0.60 - - - - 179.2 0.14 0.192 767.9 5485.0 16.91 0.103 776.1 45.9 - 0.33 0.085 759.8 2291.6 -1.653 - - 15.47 15.66 15.73 -