NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 192 * Raw log
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• Previous call tries 1 • 60.69 of 575.00 AH used of 24V (89.45% remains)
• Surface angle -63.7 deg, depth 0.97 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.77 (SM_CC=425)
• GPS1 time: 34 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
6.63 - - - 79.61 VBD -1.25 - - 172.81 - - - 2121.81 - -77.86 72.46 0.005 2387.72 - - - - - - - - - - 15.64
79.93 3.38 -4.26 14 112.83 -1.25 13.86 0.260 1834.12 119.9 3.74 0.125 3472.94 361.3 -77.86 10.94 0.007 2818.22 39.4 -3.197 - - - - - - 15.65 15.62 15.67
225.59 34.43 -20.14 43 231.36 roll -1.25 - - 1835.69 - 3.44 0.065 2084.50 -403.6 -77.86 - - 2818.16 - - - - - - - - - 15.78 -
410.65 64.12 -14.99 80 416.52 roll -1.25 - - 1835.69 - 3.81 0.118 3472.25 364.2 -77.86 - - 2816.78 - - - - - - - - - 15.83 -
500.73 79.06 -15.10 98 506.40 roll -1.25 - - 1835.88 - 3.42 0.062 2083.44 -406.1 -77.86 - - 2816.91 - - - - - - - - - 15.85 -
685.72 100.14 -11.35 135 691.46 roll -1.25 - - 1835.62 - 3.99 0.163 664.06 -355.7 -77.86 - - 2815.62 - - - - - - - - - 15.87 -
784.61 112.99 -12.88 155 791.53 roll -1.25 - - 1835.94 - 3.56 0.058 2118.94 408.7 -77.86 - - 2817.62 - - - - - - - - - 15.91 -
1090.83 145.18 -10.10 186 1092.16 no move -1.25 - - 1835.31 - - - 2119.12 - -77.86 - - 2818.06 - - - - - - - - - - -
1390.90 177.91 -11.38 216 1396.60 roll -1.25 - - 1835.69 - 3.67 0.122 3471.50 368.5 -77.86 - - 2816.66 - - - - - - - - - 15.97 -
1455.94 186.51 -13.75 229 1460.51 roll -1.25 - - 1836.38 - 3.41 0.063 2082.25 -407.4 -77.86 - - 2818.66 - - - - - - - - - 15.99 -
1765.99 221.73 -11.32 261 1767.32 no move -1.25 - - 1835.69 - - - 2081.81 - -77.86 - - 2818.03 - - - - - - - - - - -
2066.06 255.99 -11.74 291 2071.78 roll -1.25 - - 1833.75 - 3.77 0.124 3473.00 369.0 -77.86 - - 2819.56 - - - - - - - - - 16.02 -
2125.01 263.48 -12.59 303 2131.83 roll -1.25 - - 1835.81 - 3.41 0.065 2084.69 -407.1 -77.86 - - 2817.69 - - - - - - - - - 16.03 -
2431.15 296.53 -10.71 334 2436.86 roll -1.25 - - 1835.44 - 3.80 0.123 3473.38 365.4 -77.86 - - 2816.22 - - - - - - - - - 16.04 -
2520.17 306.82 -11.51 352 2526.93 roll -1.25 - - 1835.94 - 3.42 0.066 2083.19 -406.5 -77.86 - - 2818.69 - - - - - - - - - 16.04 -
2826.22 339.68 -10.93 383 2831.93 roll -1.25 - - 1835.69 - 3.80 0.124 3473.38 365.8 -77.86 - - 2816.84 - - - - - - - - - 16.05 -
2875.16 345.39 -12.14 393 2881.97 roll -1.25 - - 1835.69 - 3.40 0.065 2082.38 -409.1 -77.86 - - 2818.56 - - - - - - - - - 16.06 -
3181.27 376.27 -10.35 424 3182.60 no move -1.25 - - 1835.62 - - - 2082.31 - -77.86 - - 2818.03 - - - - - - - - - - -
3481.31 407.06 -10.41 454 3487.04 roll -1.25 - - 1834.81 - 3.82 0.126 3473.25 364.1 -77.86 - - 2816.56 - - - - - - - - - 16.07 -
3566.40 416.96 -12.54 471 3570.98 roll -1.25 - - 1835.69 - 3.40 0.068 2084.25 -408.5 -77.86 - - 2817.56 - - - - - - - - - 16.08 -
3876.36 449.16 -11.38 503 3882.09 roll -1.25 - - 1835.94 - 3.76 0.126 3472.19 369.1 -77.86 - - 2816.00 - - - - - - - - - 16.07 -
3921.38 454.54 -12.12 512 3926.03 roll -1.25 - - 1835.06 - 3.42 0.067 2084.88 -405.6 -77.86 - - 2816.75 - - - - - - - - - 16.08 -
4231.41 486.73 -10.06 544 4237.18 roll -1.25 - - 1836.00 - 4.01 0.173 663.12 -354.6 -77.86 - - 2815.59 - - - - - - - - - 16.05 -
4286.44 493.31 -11.30 555 4292.11 roll -1.25 - - 1833.69 - 3.59 0.063 2118.06 405.3 -77.86 - - 2818.41 - - - - - - - - - 16.09 -
4591.47 521.31 -8.42 586 4597.40 roll -1.25 - - 1835.81 - 4.05 0.170 662.94 -359.3 -77.86 - - 2814.66 - - - - - - - - - 16.06 -
4666.55 528.56 -9.62 601 4672.10 roll -1.25 - - 1835.94 - 3.52 0.065 2118.25 413.4 -77.86 - - 2814.06 - - - - - - - - - 16.09 -
4971.52 557.73 -9.43 632 4972.85 no move -1.25 - - 1835.62 - - - 2117.88 - -77.86 - - 2815.88 - - - - - - - - - - -
5271.55 589.95 -11.49 662 5272.88 no move -1.25 - - 1835.31 - - - 2118.44 - -77.86 - - 2816.09 - - - - - - - - - - -
5571.58 621.81 -10.39 692 5572.91 no move -1.25 - - 1835.75 - - - 2118.25 - -77.86 - - 2813.56 - - - - - - - - - - -
5871.63 648.76 -8.85 722 5872.96 no move -1.25 - - 1836.12 - - - 2118.44 - -77.86 - - 2814.69 - - - - - - - - - - -
6171.67 672.39 -7.49 752 6173.00 no move -1.25 - - 1835.88 - - - 2118.06 - -77.86 - - 2812.28 - - - - - - - - - - -
6471.73 695.43 -8.45 782 6473.06 no move -1.25 - - 1836.19 - - - 2118.56 - -77.86 - - 2812.28 - - - - - - - - - - -
6771.80 720.53 -8.48 812 6777.50 roll -1.25 - - 1835.56 - 3.65 0.137 3472.00 370.8 -77.86 - - 2811.25 - - - - - - - - - 16.09 -
6880.75 732.36 -11.18 834 6887.58 roll -1.25 - - 1835.62 - 3.44 0.077 2085.75 -403.0 -77.86 - - 2813.59 - - - - - - - - - 16.09 -
7186.90 760.33 -8.90 865 7188.23 no move -1.25 - - 1835.44 - - - 2085.56 - -77.86 - - 2811.25 - - - - - - - - - - -
7486.97 786.75 -8.11 895 7492.68 roll -1.25 - - 1835.56 - 3.80 0.137 3473.25 365.2 -77.86 - - 2809.75 - - - - - - - - - 16.10 -
7542.02 791.90 -9.98 906 7546.64 roll -1.25 - - 1835.62 - 3.44 0.075 2086.38 -403.2 -77.86 - - 2813.81 - - - - - - - - - 16.10 -
7852.06 818.45 -8.40 938 7853.39 no move -1.25 - - 1835.38 - - - 2085.75 - -77.86 - - 2810.47 - - - - - - - - - - -
8152.11 842.86 -9.14 968 8157.84 roll -1.25 - - 1835.69 - 3.78 0.139 3472.31 366.8 -77.86 - - 2811.91 - - - - - - - - - 16.10 -
8221.07 848.57 -9.14 982 8227.88 roll -1.25 - - 1834.88 - 3.44 0.078 2086.88 -402.7 -77.86 - - 2812.62 - - - - - - - - - 16.10 -
8527.21 867.40 -3.26 1013 8533.18 roll -1.25 - - 1836.19 - 4.04 0.182 662.94 -352.5 -77.86 - - 2810.31 - - - - - - - - - 16.06 -
8756.21 867.70 0.03 1059 8763.02 roll -1.25 - - 1835.38 - 3.57 0.066 2117.50 407.4 -77.86 - - 2810.31 - - - - - - - - - 16.10 -
8813 end dive: NO_VERTICAL_VELOCITY
8813 begin apogee
8813.52 867.51 - 1065 8879.39 -0.25 1.67 0.120 2082.31 147.9 0.07 0.311 2185.69 974.1 - 62.97 2.136 2496.81 -5.0 0.340 - - - - - - 16.07 15.63 13.06
8881 end apogee: CONTROL_FINISHED_OK
8881 begin climb
8880.84 867.68 - 1071 8959.81 1.25 2.51 0.100 2448.19 145.8 3.72 0.136 3471.81 345.7 77.86 69.49 2.080 2180.47 -4.6 0.319 - - - - - - 15.67 15.29 12.87
9013.01 860.85 6.53 1097 9017.62 roll 1.30 - - 2447.62 - 3.28 0.065 2181.75 -393.3 77.86 - - 2175.50 - - - - - - - - - 15.48 -
9322.99 834.09 8.08 1129 9324.32 VBD 1.30 - - 2447.81 - - - 2182.50 - 77.86 - - 2168.34 - - - - - - - - - - -
9623.04 808.90 7.98 1159 9628.81 done 1.30 - - 2447.19 - 3.61 0.138 3471.19 357.0 77.86 - - 2166.38 - - - - - - - - - 15.82 -
9692.07 802.54 9.12 1173 9698.78 done 1.30 - - 2446.81 - 3.24 0.067 2184.31 -397.2 77.86 - - 2168.28 - - - - - - - - - 15.85 -
9998.15 779.21 6.70 1204 10004.00 done 1.34 - - 2447.00 - 4.07 0.156 736.12 -355.8 77.86 - - 2162.97 - - - - - - - - - 15.88 -
10053.35 773.43 10.97 1215 10058.84 done 1.34 - - 2447.62 - 3.65 0.064 2216.31 405.5 77.86 - - 2164.16 - - - - - - - - - 15.91 -
10358.21 749.89 8.11 1246 10363.78 done 1.34 - - 2445.94 - 3.49 0.138 3471.88 359.8 77.86 - - 2162.53 - - - - - - - - - 15.92 -
10477.20 739.01 10.98 1270 10483.90 done 1.34 - - 2446.25 - 3.18 0.066 2181.75 -405.7 77.86 - - 2163.94 - - - - - - - - - 15.96 -
10783.26 718.69 5.92 1301 10810.16 1.43 0.25 0.100 2497.25 204.0 - - 2182.94 - 108.33 25.77 1.883 2057.97 -4.1 0.264 - - - - - - 15.96 - 13.00
11103.28 687.89 11.23 1333 11109.03 roll 1.43 - - 2498.00 - 3.60 0.137 3471.44 357.9 108.33 - - 2051.94 - - - - - - - - - 15.89 -
11208.32 675.48 12.49 1354 11212.84 roll 1.43 - - 2497.00 - 3.19 0.066 2183.69 -403.7 108.33 - - 2051.06 - - - - - - - - - 15.90 -
11518.38 641.67 9.92 1386 11519.71 VBD 1.43 - - 2497.69 - - - 2184.50 - 108.33 - - 2049.16 - - - - - - - - - - -
11818.38 612.79 8.73 1416 11823.13 done 1.43 - - 2497.69 - 3.54 0.134 3472.12 363.7 108.33 - - 2050.03 - - - - - - - - - 15.97 -
11918.40 602.56 10.73 1436 11922.95 done 1.43 - - 2497.31 - 3.17 0.065 2182.69 -406.8 108.33 - - 2049.72 - - - - - - - - - 15.95 -
12228.44 573.40 9.21 1468 12234.25 done 1.43 - - 2496.44 - 3.98 0.151 736.69 -363.3 108.33 - - 2049.41 - - - - - - - - - 15.98 -
12283.47 567.11 12.07 1479 12289.08 done 1.43 - - 2497.56 - 3.61 0.065 2216.94 410.0 108.33 - - 2046.28 - - - - - - - - - 16.00 -
12588.50 536.96 10.61 1510 12593.06 done 1.43 - - 2497.62 - 3.46 0.135 3471.81 362.7 108.33 - - 2046.12 - - - - - - - - - 16.01 -
12678.52 526.46 11.49 1528 12683.04 done 1.43 - - 2498.06 - 3.16 0.066 2181.81 -408.2 108.33 - - 2047.91 - - - - - - - - - 16.01 -
12988.54 496.35 9.90 1560 12994.31 done 1.43 - - 2497.19 - 3.98 0.149 737.38 -362.9 108.33 - - 2047.69 - - - - - - - - - 16.00 -
13063.75 487.28 12.41 1575 13069.23 done 1.43 - - 2496.81 - 3.60 0.062 2220.25 411.9 108.33 - - 2045.97 - - - - - - - - - 16.04 -
13368.59 456.74 10.28 1606 13369.92 VBD 1.43 - - 2497.94 - - - 2220.00 - 108.33 - - 2047.38 - - - - - - - - - - -
13668.61 429.82 8.53 1636 13674.44 done 1.43 - - 2496.62 - 4.07 0.146 736.38 -364.5 108.33 - - 2047.03 - - - - - - - - - 16.02 -
13793.64 416.62 11.14 1661 13799.25 done 1.43 - - 2497.62 - 3.60 0.061 2218.62 411.7 108.33 - - 2045.47 - - - - - - - - - 16.04 -
14098.68 390.36 8.24 1692 14104.51 done 1.43 - - 2497.38 - 4.07 0.143 736.44 -364.2 108.33 - - 2047.00 - - - - - - - - - 16.02 -
14183.69 381.76 10.41 1709 14189.31 done 1.43 - - 2497.81 - 3.57 0.058 2221.25 415.9 108.33 - - 2045.12 - - - - - - - - - 16.04 -
14488.77 354.19 9.22 1740 14490.10 VBD 1.43 - - 2497.94 - - - 2221.81 - 108.33 - - 2046.81 - - - - - - - - - - -
14788.85 326.08 10.31 1770 14793.41 done 1.43 - - 2497.81 - 3.44 0.129 3473.94 364.0 108.33 - - 2046.56 - - - - - - - - - 16.03 -
14928.89 311.32 10.99 1798 14933.43 done 1.43 - - 2496.38 - 3.13 0.061 2178.62 -413.8 108.33 - - 2047.59 - - - - - - - - - 16.05 -
15238.97 283.80 8.32 1830 15240.30 VBD 1.43 - - 2498.12 - - - 2179.19 - 108.33 - - 2046.56 - - - - - - - - - - -
15539.04 262.95 6.19 1860 15544.85 done 1.49 - - 2497.94 - 3.92 0.143 737.19 -367.9 108.33 - - 2046.69 - - - - - - - - - 16.02 -
15624.06 255.36 8.56 1877 15629.67 done 1.49 - - 2497.81 - 3.56 0.058 2221.06 416.8 108.33 - - 2044.25 - - - - - - - - - 16.04 -
15929.16 233.83 6.90 1908 15930.49 VBD 1.52 - - 2497.56 - - - 2221.25 - 108.33 - - 2045.22 - - - - - - - - - - -
16229.20 211.50 7.54 1938 16235.01 done 1.53 - - 2498.12 - 4.07 0.138 736.50 -364.8 108.33 - - 2044.28 - - - - - - - - - 16.04 -
16404.25 195.49 8.71 1973 16409.88 done 1.53 - - 2497.69 - 3.59 0.058 2221.44 413.6 108.33 - - 2044.88 - - - - - - - - - 16.05 -
16709.30 172.71 7.45 2004 16710.63 VBD 1.55 - - 2497.25 - - - 2221.75 - 108.33 - - 2046.06 - - - - - - - - - - -
17009.32 150.49 6.82 2034 17010.79 1.59 0.16 0.104 2534.94 235.6 - - 2221.12 - 108.33 - - 2045.72 - - - - - - - - 16.03 - -
17309.35 127.43 7.86 2064 17315.11 done 1.59 - - 2535.38 - 4.03 0.136 735.94 -368.5 108.33 - - 2044.06 - - - - - - - - - 16.03 -
17404.36 118.83 8.69 2083 17409.97 done 1.59 - - 2535.50 - 3.57 0.056 2223.12 416.6 108.33 - - 2045.12 - - - - - - - - - 16.05 -
17709.42 100.06 4.68 2114 17756.06 1.73 0.15 0.099 2570.38 232.5 3.43 0.122 3472.88 364.4 156.47 38.92 1.222 1861.25 -4.7 0.065 - - - - - - 16.05 15.84 13.03
17979.45 77.46 9.04 2168 17985.13 roll 1.73 - - 2570.62 - 3.16 0.057 2177.12 -410.1 156.47 - - 1855.22 - - - - - - - - - 15.92 -
18164.51 68.84 3.68 2205 18215.77 1.92 0.22 0.095 2613.69 195.8 - - 2177.12 - 218.80 49.88 1.173 1607.16 -5.0 0.049 - - - - - - 15.94 - 13.03
18394.55 51.47 8.95 2251 18400.37 roll 1.92 - - 2613.69 - 3.98 0.138 737.31 -361.8 218.80 - - 1600.81 - - - - - - - - - 15.78 -
18624.66 28.13 9.24 2297 18630.37 done 1.92 - - 2612.75 - 3.63 0.056 2222.75 409.2 218.80 - - 1600.12 - - - - - - - - - 15.87 -
18809.66 25.33 0.20 2334 18907.36 2.26 0.47 0.069 2698.44 182.3 3.48 0.121 3471.62 358.9 330.79 89.60 1.113 1150.94 -5.0 0.019 - - - - - - 15.88 15.55 12.92
19000.36 8.58 15.95 2372 19005.87 roll 2.26 - - 2698.25 - 3.22 0.057 2180.06 -401.1 330.79 - - 1146.66 - - - - - - - - - 15.68 -
19045 end climb: SURFACE_DEPTH_REACHED
19046 begin surface coast
19061 end surface coast: CONTROL_FINISHED_OK
19061 begin surface
SM 0.85 - - - - 176.8 2.05 0.251 768.4 374.8 16.28 0.072 772.4 47.4 - 0.22 0.109 764.3 3459.5 -2.757 - - 12.71 15.68 15.71 -