NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 170 * Raw log
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• Previous call tries 1 • 55.79 of 575.00 AH used of 24V (90.30% remains)
• Surface angle -60.5 deg, depth 1.07 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.07 (SM_CC=425)
• GPS1 time: 53 s
• GPS2 time: 4 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
6.51 - - - 79.52 VBD -1.25 - - 173.94 - - - 2120.31 - -77.86 72.49 0.005 2423.19 - - - - - - - - - - 15.65
79.82 3.91 -6.80 14 111.80 -1.25 13.84 0.269 1836.00 120.1 4.13 0.167 663.00 -352.9 -77.86 9.12 0.007 2816.28 43.1 -3.985 - - - - - - 15.64 15.63 15.69
234.59 40.65 -20.49 45 240.33 roll -1.25 - - 1835.31 - 3.53 0.061 2120.31 412.8 -77.86 - - 2816.19 - - - - - - - - - 15.77 -
419.59 70.06 -15.69 82 425.35 roll -1.25 - - 1835.62 - 3.58 0.120 3472.94 377.8 -77.86 - - 2817.09 - - - - - - - - - 15.82 -
459.61 76.48 -16.68 90 465.31 roll -1.25 - - 1835.94 - 3.40 0.060 2083.25 -408.7 -77.86 - - 2817.25 - - - - - - - - - 15.83 -
644.64 101.23 -10.85 126 650.33 roll -1.25 - - 1834.31 - 4.01 0.161 663.25 -354.1 -77.86 - - 2818.19 - - - - - - - - - 15.86 -
699.67 108.99 -15.50 137 704.30 roll -1.25 - - 1835.56 - 3.47 0.058 2120.56 420.0 -77.86 - - 2818.53 - - - - - - - - - 15.89 -
1009.70 145.60 -11.25 169 1015.31 roll -1.25 - - 1835.69 - 3.54 0.120 3473.56 382.2 -77.86 - - 2817.97 - - - - - - - - - 15.94 -
1044.73 149.93 -12.52 176 1049.27 roll -1.25 - - 1835.44 - 3.38 0.060 2081.88 -411.7 -77.86 - - 2819.19 - - - - - - - - - 15.95 -
1354.77 185.38 -11.73 208 1356.10 no move -1.25 - - 1836.06 - - - 2082.19 - -77.86 - - 2818.31 - - - - - - - - - - -
1654.82 216.92 -9.79 238 1656.14 no move -1.25 - - 1836.19 - - - 2081.81 - -77.86 - - 2818.47 - - - - - - - - - - -
1954.87 249.92 -11.12 268 1959.63 roll -1.25 - - 1836.12 - 3.62 0.124 3473.06 384.3 -77.86 - - 2818.44 - - - - - - - - - 16.01 -
2024.91 258.26 -12.08 282 2029.46 roll -1.25 - - 1835.50 - 3.35 0.067 2082.62 -415.1 -77.86 - - 2819.84 - - - - - - - - - 16.03 -
2334.94 291.45 -10.66 314 2340.76 roll -1.25 - - 1835.69 - 3.98 0.167 663.06 -356.7 -77.86 - - 2816.03 - - - - - - - - - 16.02 -
2459.99 307.54 -12.71 339 2464.57 roll -1.25 - - 1835.69 - 3.44 0.063 2120.38 423.6 -77.86 - - 2818.94 - - - - - - - - - 16.05 -
2770.05 341.90 -10.80 371 2771.38 no move -1.25 - - 1836.12 - - - 2121.44 - -77.86 - - 2818.03 - - - - - - - - - - -
3070.10 373.35 -9.97 401 3075.93 roll -1.25 - - 1835.69 - 4.07 0.166 663.00 -358.3 -77.86 - - 2815.94 - - - - - - - - - 16.04 -
3109.04 377.74 -10.84 409 3115.84 roll -1.25 - - 1835.50 - 3.47 0.062 2119.25 419.7 -77.86 - - 2818.50 - - - - - - - - - 16.07 -
3415.15 405.92 -8.79 440 3416.48 no move -1.25 - - 1835.50 - - - 2119.19 - -77.86 - - 2817.25 - - - - - - - - - - -
3715.15 434.41 -10.27 470 3720.95 roll -1.25 - - 1835.88 - 3.88 0.170 661.06 -375.8 -77.86 - - 2815.59 - - - - - - - - - 16.06 -
3784.10 442.93 -12.11 484 3790.93 roll -1.25 - - 1835.69 - 3.52 0.065 2118.00 413.9 -77.86 - - 2816.34 - - - - - - - - - 16.08 -
4090.19 474.86 -10.50 515 4094.96 roll -1.25 - - 1835.38 - 3.61 0.130 3473.38 375.5 -77.86 - - 2814.69 - - - - - - - - - 16.08 -
4154.07 483.42 -12.89 528 4160.93 roll -1.25 - - 1836.00 - 3.38 0.067 2084.62 -410.9 -77.86 - - 2816.94 - - - - - - - - - 16.09 -
4460.23 516.10 -9.49 559 4466.00 roll -1.25 - - 1836.06 - 3.69 0.130 3472.50 376.1 -77.86 - - 2813.66 - - - - - - - - - 16.09 -
4519.11 523.01 -11.84 571 4525.99 roll -1.25 - - 1835.50 - 3.42 0.069 2083.75 -406.1 -77.86 - - 2815.78 - - - - - - - - - 16.09 -
4825.27 553.70 -10.19 602 4826.59 no move -1.25 - - 1836.00 - - - 2084.25 - -77.86 - - 2815.50 - - - - - - - - - - -
5125.28 582.98 -9.24 632 5130.93 roll -1.25 - - 1835.31 - 3.69 0.133 3473.62 376.5 -77.86 - - 2814.47 - - - - - - - - - 16.08 -
5150.30 585.34 -8.84 637 5154.87 roll -1.25 - - 1835.69 - 3.41 0.070 2084.31 -407.4 -77.86 - - 2814.56 - - - - - - - - - 16.10 -
5460.31 614.07 -9.04 669 5466.14 roll -1.25 - - 1834.50 - 4.02 0.179 663.00 -353.6 -77.86 - - 2815.75 - - - - - - - - - 16.07 -
5625.35 631.68 -10.59 702 5630.96 roll -1.25 - - 1835.19 - 3.53 0.070 2118.44 412.3 -77.86 - - 2813.81 - - - - - - - - - 16.11 -
5930.37 658.83 -8.22 733 5935.10 roll -1.25 - - 1836.00 - 3.60 0.135 3472.25 376.1 -77.86 - - 2813.03 - - - - - - - - - 16.09 -
6060.39 671.88 -9.97 759 6064.98 roll -1.25 - - 1835.56 - 3.45 0.074 2085.50 -402.0 -77.86 - - 2811.34 - - - - - - - - - 16.12 -
6370.41 696.22 -8.54 791 6376.24 roll -1.25 - - 1835.62 - 4.01 0.181 664.12 -354.5 -77.86 - - 2812.62 - - - - - - - - - 16.07 -
6455.42 704.82 -11.64 808 6461.05 roll -1.25 - - 1835.19 - 3.52 0.071 2117.12 412.8 -77.86 - - 2812.75 - - - - - - - - - 16.11 -
6760.47 720.03 -2.38 839 6765.20 roll -1.25 - - 1835.62 - 3.61 0.137 3472.94 375.6 -77.86 - - 2811.34 - - - - - - - - - 16.09 -
6990.52 719.56 0.04 885 6995.05 roll -1.25 - - 1835.62 - 3.38 0.071 2084.94 -410.7 -77.86 - - 2812.47 - - - - - - - - - 16.10 -
7010 end dive: NO_VERTICAL_VELOCITY
7010 begin apogee
7011.74 719.99 - 888 7078.54 -0.25 1.64 0.106 2083.50 151.1 0.08 0.272 2185.00 1250.7 - 63.58 1.928 2497.47 -5.0 0.306 - - - - - - 16.08 15.66 13.11
7079 end apogee: CONTROL_FINISHED_OK
7079 begin climb
7079.94 719.45 - 894 7158.77 1.25 2.45 0.083 2448.56 149.0 4.12 0.157 737.12 -351.4 77.86 68.90 1.885 2181.78 -4.6 0.289 - - - - - - 15.70 15.34 12.92
7165.99 715.55 4.60 911 7217.85 1.40 0.18 0.096 2489.56 227.8 3.68 0.058 2216.56 402.0 127.03 45.85 1.817 1982.59 -4.3 0.283 - - - - - - 15.43 15.44 12.80
7522.11 680.54 9.90 952 7523.44 VBD 1.40 - - 2490.25 - - - 2216.00 - 127.03 - - 1970.19 - - - - - - - - - - -
7822.15 647.58 11.29 982 7823.48 VBD 1.40 - - 2489.88 - - - 2216.38 - 127.03 - - 1967.72 - - - - - - - - - - -
8122.19 613.86 11.59 1012 8126.77 done 1.40 - - 2489.06 - 3.41 0.137 3473.19 368.6 127.03 - - 1967.72 - - - - - - - - - 15.87 -
8226.14 600.20 13.52 1033 8232.93 done 1.40 - - 2490.00 - 3.23 0.067 2182.94 -399.5 127.03 - - 1966.06 - - - - - - - - - 15.90 -
8532.26 569.74 9.07 1064 8538.09 done 1.40 - - 2490.31 - 4.05 0.154 736.00 -357.3 127.03 - - 1962.50 - - - - - - - - - 15.92 -
8651.19 555.05 12.20 1088 8658.03 done 1.40 - - 2491.00 - 3.56 0.063 2219.38 416.7 127.03 - - 1964.19 - - - - - - - - - 15.95 -
8957.35 524.47 10.15 1119 8962.02 done 1.40 - - 2489.25 - 3.34 0.134 3473.25 375.4 127.03 - - 1963.62 - - - - - - - - - 15.97 -
9031.20 516.20 11.02 1134 9038.02 done 1.40 - - 2490.88 - 3.12 0.064 2182.56 -413.7 127.03 - - 1962.97 - - - - - - - - - 15.99 -
9337.38 487.68 10.00 1165 9342.96 done 1.40 - - 2490.06 - 3.47 0.134 3470.56 371.2 127.03 - - 1961.12 - - - - - - - - - 15.98 -
9366.23 484.33 10.14 1171 9373.19 done 1.40 - - 2490.00 - 3.17 0.062 2182.38 -406.4 127.03 - - 1962.75 - - - - - - - - - 15.98 -
9672.42 452.83 10.43 1202 9678.01 done 1.40 - - 2488.56 - 3.45 0.132 3471.75 373.7 127.03 - - 1963.56 - - - - - - - - - 16.01 -
9691.27 450.87 10.00 1206 9698.11 done 1.40 - - 2490.81 - 3.18 0.063 2181.25 -405.8 127.03 - - 1961.91 - - - - - - - - - 16.01 -
9997.46 420.31 10.54 1237 10003.28 done 1.40 - - 2490.38 - 3.94 0.149 736.81 -366.6 127.03 - - 1961.88 - - - - - - - - - 15.98 -
10026.39 416.75 11.95 1243 10033.44 done 1.40 - - 2489.75 - 3.54 0.059 2220.31 419.1 127.03 - - 1961.81 - - - - - - - - - 16.01 -
10332.51 383.62 10.97 1274 10337.21 done 1.40 - - 2490.12 - 3.38 0.133 3472.44 370.5 127.03 - - 1961.38 - - - - - - - - - 16.02 -
10392.53 376.82 10.92 1286 10397.05 done 1.40 - - 2490.44 - 3.13 0.062 2180.25 -412.8 127.03 - - 1960.78 - - - - - - - - - 16.03 -
10702.55 343.96 9.65 1318 10707.13 done 1.40 - - 2489.81 - 3.42 0.128 3472.25 377.8 127.03 - - 1961.81 - - - - - - - - - 16.03 -
10756.42 338.13 10.50 1329 10763.23 done 1.40 - - 2489.81 - 3.10 0.062 2181.50 -416.4 127.03 - - 1960.25 - - - - - - - - - 16.04 -
11062.60 307.76 10.24 1360 11068.40 done 1.40 - - 2490.12 - 3.90 0.148 737.19 -370.3 127.03 - - 1958.81 - - - - - - - - - 16.03 -
11081.52 305.48 10.53 1364 11088.33 done 1.40 - - 2489.88 - 3.48 0.061 2222.94 426.9 127.03 - - 1961.09 - - - - - - - - - 16.05 -
11387.66 276.34 9.78 1395 11393.49 done 1.40 - - 2490.00 - 4.01 0.144 735.88 -370.8 127.03 - - 1959.66 - - - - - - - - - 16.04 -
11416.59 273.26 11.39 1401 11423.45 done 1.40 - - 2490.88 - 3.51 0.058 2220.94 423.1 127.03 - - 1960.16 - - - - - - - - - 16.05 -
11722.73 246.67 8.05 1432 11728.55 done 1.40 - - 2490.69 - 3.99 0.142 736.00 -372.2 127.03 - - 1959.31 - - - - - - - - - 16.04 -
11741.67 244.69 9.17 1436 11748.50 done 1.40 - - 2489.69 - 3.53 0.059 2222.56 421.1 127.03 - - 1960.78 - - - - - - - - - 16.05 -
12047.81 218.77 8.04 1467 12049.14 VBD 1.40 - - 2490.62 - - - 2222.56 - 127.03 - - 1960.25 - - - - - - - - - - -
12347.87 195.58 7.70 1497 12349.21 VBD 1.40 - - 2490.50 - - - 2222.06 - 127.03 - - 1960.16 - - - - - - - - - - -
12647.93 169.75 8.86 1527 12652.50 done 1.40 - - 2490.25 - 3.34 0.128 3472.56 374.4 127.03 - - 1959.94 - - - - - - - - - 16.04 -
12707.97 165.00 8.22 1539 12712.49 done 1.40 - - 2490.56 - 3.13 0.059 2178.12 -413.6 127.03 - - 1960.34 - - - - - - - - - 16.04 -
13018.04 145.19 5.57 1571 13050.35 done 1.51 - - 2489.88 - 3.46 0.126 3471.50 373.8 162.40 27.19 1.261 1835.50 -4.6 0.088 - - - - - - - 15.90 13.12
13117.06 137.88 8.53 1591 13123.93 roll 1.51 - - 2490.12 - 3.13 0.058 2180.62 -412.4 162.40 - - 1833.25 - - - - - - - - - 15.93 -
13423.16 114.44 8.62 1622 13427.74 roll 1.51 - - 2489.56 - 3.44 0.123 3472.38 375.5 162.40 - - 1832.69 - - - - - - - - - 15.98 -
13473.18 109.80 9.52 1632 13477.70 roll 1.51 - - 2490.44 - 3.13 0.057 2179.25 -413.1 162.40 - - 1831.66 - - - - - - - - - 15.98 -
13778.25 89.24 5.50 1680 13814.66 1.62 0.25 0.090 2538.69 193.0 3.43 0.123 3473.06 377.2 198.83 30.42 1.190 1689.25 -4.7 0.058 - - - - - - 15.98 15.83 13.02
13868.24 82.41 8.35 1698 13873.93 roll 1.62 - - 2540.25 - 3.14 0.057 2180.56 -411.6 198.83 - - 1685.34 - - - - - - - - - 15.89 -
14053.88 68.86 6.11 1735 14059.25 roll 1.67 - - 2540.62 - 3.95 0.140 736.50 -365.6 198.83 - - 1683.22 - - - - - - - - - 15.88 -
14283.44 57.39 5.13 1781 14324.84 1.80 0.22 0.089 2586.50 208.5 3.50 0.055 2225.06 425.3 240.44 34.19 1.146 1519.97 -4.8 0.040 - - - - - - 15.91 15.95 13.02
14504.52 40.20 9.44 1825 14509.09 roll 1.80 - - 2586.94 - 3.35 0.122 3473.50 372.7 240.44 - - 1515.09 - - - - - - - - - 15.84 -
14534.53 37.71 8.76 1831 14539.04 roll 1.80 - - 2586.31 - 3.10 0.056 2177.88 -417.9 240.44 - - 1514.06 - - - - - - - - - 15.87 -
14718.43 31.45 2.68 1868 14785.55 2.03 0.28 0.083 2639.19 188.9 3.47 0.121 3473.31 373.3 317.14 61.91 1.115 1205.94 -5.0 0.023 - - - - - - 15.89 15.65 12.96
14958.46 11.95 11.78 1916 14964.17 roll 2.03 - - 2638.19 - 3.14 0.056 2179.25 -412.1 317.14 - - 1202.12 - - - - - - - - - 15.76 -
15068 end climb: SURFACE_DEPTH_REACHED
15068 begin surface coast
15083 end surface coast: CONTROL_FINISHED_OK
15083 begin surface
SM 0.70 - - - - 180.4 - 0.016 767.2 - 15.85 0.078 774.9 48.9 - 0.22 0.120 759.4 3437.5 -2.049 - - 30.36 15.79 15.81 -