NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 195 * Raw log
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• Previous call tries 2 • 61.59 of 575.00 AH used of 24V (89.29% remains)
• Surface angle -61.8 deg, depth 0.73 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.06 (SM_CC=425)
• GPS1 time: 23 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
6.62 - - - 84.74 VBD -1.25 - - 173.94 - - - 2083.38 - -77.86 77.53 0.005 2529.47 - - - - - - - - - - 15.63
85.00 3.71 -4.27 15 116.33 -1.25 13.90 0.268 1834.50 119.5 4.14 0.164 664.06 -342.8 -77.86 6.67 0.008 2818.38 43.3 -3.316 - - - - - - 15.64 15.61 15.67
134.11 17.02 -24.95 25 139.85 roll -1.25 - - 1835.12 - 3.69 0.061 2118.44 394.1 -77.86 - - 2817.81 - - - - - - - - - 15.73 -
319.16 53.61 -16.80 62 320.49 no move -1.25 - - 1835.50 - - - 2118.12 - -77.86 - - 2816.69 - - - - - - - - - - -
499.20 81.90 -14.74 98 500.53 no move -1.25 - - 1835.69 - - - 2118.31 - -77.86 - - 2817.59 - - - - - - - - - - -
684.25 103.43 -10.90 132 689.96 roll -1.25 - - 1834.69 - 3.73 0.119 3472.06 362.9 -77.86 - - 2819.59 - - - - - - - - - 15.88 -
733.19 108.92 -11.59 142 740.00 roll -1.25 - - 1835.75 - 3.45 0.060 2082.00 -402.9 -77.86 - - 2818.59 - - - - - - - - - 15.90 -
1039.29 140.64 -11.11 173 1045.02 roll -1.25 - - 1835.44 - 3.82 0.119 3473.25 364.2 -77.86 - - 2816.31 - - - - - - - - - 15.93 -
1128.31 151.80 -12.34 191 1135.05 roll -1.25 - - 1835.81 - 3.47 0.063 2083.38 -400.5 -77.86 - - 2817.97 - - - - - - - - - 15.95 -
1434.35 185.66 -10.62 222 1435.68 no move -1.25 - - 1835.56 - - - 2083.44 - -77.86 - - 2818.22 - - - - - - - - - - -
1734.46 217.93 -10.77 252 1740.13 roll -1.25 - - 1835.19 - 3.82 0.121 3472.81 363.7 -77.86 - - 2816.59 - - - - - - - - - 16.00 -
1799.41 225.67 -12.53 265 1804.06 roll -1.25 - - 1835.25 - 3.44 0.064 2083.00 -404.0 -77.86 - - 2818.88 - - - - - - - - - 16.00 -
2109.44 258.44 -10.99 297 2110.76 no move -1.25 - - 1835.44 - - - 2083.31 - -77.86 - - 2818.19 - - - - - - - - - - -
2409.46 290.82 -10.97 327 2415.20 roll -1.25 - - 1835.69 - 3.82 0.123 3474.06 364.1 -77.86 - - 2815.91 - - - - - - - - - 16.03 -
2458.40 296.45 -11.78 337 2465.22 roll -1.25 - - 1836.06 - 3.44 0.065 2083.31 -404.3 -77.86 - - 2818.75 - - - - - - - - - 16.03 -
2764.51 329.83 -10.67 368 2765.84 no move -1.25 - - 1835.56 - - - 2083.88 - -77.86 - - 2817.81 - - - - - - - - - - -
3064.53 360.83 -10.27 398 3065.86 no move -1.25 - - 1835.56 - - - 2083.56 - -77.86 - - 2817.31 - - - - - - - - - - -
3364.57 392.53 -10.50 428 3365.90 no move -1.25 - - 1835.62 - - - 2084.00 - -77.86 - - 2816.72 - - - - - - - - - - -
3664.60 422.06 -10.10 458 3670.32 roll -1.25 - - 1835.81 - 3.78 0.127 3471.56 367.1 -77.86 - - 2816.59 - - - - - - - - - 16.06 -
3713.53 427.86 -11.71 468 3720.39 roll -1.25 - - 1835.69 - 3.47 0.068 2083.88 -399.9 -77.86 - - 2816.84 - - - - - - - - - 16.08 -
4019.64 457.31 -10.12 499 4025.37 roll -1.25 - - 1834.19 - 3.81 0.126 3471.62 364.2 -77.86 - - 2817.56 - - - - - - - - - 16.08 -
4098.63 466.18 -11.11 515 4105.38 roll -1.25 - - 1835.06 - 3.46 0.068 2084.12 -401.0 -77.86 - - 2817.62 - - - - - - - - - 16.08 -
4404.69 494.72 -9.14 546 4410.45 roll -1.25 - - 1835.62 - 4.08 0.175 664.88 -347.9 -77.86 - - 2815.19 - - - - - - - - - 16.05 -
4539.74 509.34 -11.65 573 4545.44 roll -1.25 - - 1835.75 - 3.65 0.063 2117.00 397.8 -77.86 - - 2814.47 - - - - - - - - - 16.09 -
4844.82 538.08 -8.70 604 4846.14 no move -1.25 - - 1835.69 - - - 2116.88 - -77.86 - - 2815.66 - - - - - - - - - - -
5144.89 565.39 -8.42 634 5150.68 roll -1.25 - - 1835.38 - 4.18 0.173 664.25 -347.5 -77.86 - - 2813.97 - - - - - - - - - 16.06 -
5200.13 570.95 -10.94 645 5205.61 roll -1.25 - - 1835.31 - 3.61 0.064 2118.56 402.9 -77.86 - - 2813.53 - - - - - - - - - 16.10 -
5505.00 597.40 -9.62 676 5506.33 no move -1.25 - - 1835.44 - - - 2118.88 - -77.86 - - 2814.75 - - - - - - - - - - -
5805.05 625.53 -9.35 706 5810.84 roll -1.25 - - 1835.50 - 4.19 0.177 664.25 -347.2 -77.86 - - 2812.69 - - - - - - - - - 16.06 -
5844.00 629.64 -10.79 714 5850.82 roll -1.25 - - 1835.69 - 3.59 0.068 2116.88 404.6 -77.86 - - 2814.84 - - - - - - - - - 16.11 -
6150.15 659.85 -10.04 745 6151.48 no move -1.25 - - 1835.94 - - - 2116.94 - -77.86 - - 2814.03 - - - - - - - - - - -
6450.19 689.23 -10.84 775 6451.52 no move -1.25 - - 1835.50 - - - 2116.44 - -77.86 - - 2813.12 - - - - - - - - - - -
6750.22 716.91 -8.89 805 6755.92 roll -1.25 - - 1835.50 - 3.66 0.136 3473.06 370.7 -77.86 - - 2811.59 - - - - - - - - - 16.09 -
6919.18 733.42 -10.29 839 6926.01 roll -1.25 - - 1835.81 - 3.48 0.076 2087.00 -398.3 -77.86 - - 2812.91 - - - - - - - - - 16.10 -
7225.30 760.03 -8.73 870 7231.01 roll -1.25 - - 1835.50 - 3.78 0.134 3473.75 366.9 -77.86 - - 2812.06 - - - - - - - - - 16.10 -
7310.38 768.40 -10.33 887 7315.98 roll -1.25 - - 1835.94 - 3.48 0.075 2086.69 -398.6 -77.86 - - 2810.28 - - - - - - - - - 16.10 -
7615.35 794.65 -8.79 918 7616.68 no move -1.25 - - 1835.06 - - - 2086.81 - -77.86 - - 2809.81 - - - - - - - - - - -
7915.38 818.58 -7.47 948 7921.15 roll -1.25 - - 1835.31 - 4.06 0.186 663.56 -350.6 -77.86 - - 2810.78 - - - - - - - - - 16.06 -
8000.39 826.68 -10.06 965 8006.11 roll -1.25 - - 1835.31 - 3.62 0.073 2113.56 400.6 -77.86 - - 2811.53 - - - - - - - - - 16.09 -
8305.43 850.38 -7.63 996 8306.76 no move -1.25 - - 1835.69 - - - 2113.06 - -77.86 - - 2809.25 - - - - - - - - - - -
8605.46 872.80 -7.29 1026 8611.16 roll -1.25 - - 1834.69 - 3.68 0.139 3472.50 369.4 -77.86 - - 2809.56 - - - - - - - - - 16.09 -
8660.48 877.69 -9.54 1037 8665.13 roll -1.25 - - 1835.25 - 3.45 0.077 2085.44 -402.0 -77.86 - - 2809.94 - - - - - - - - - 16.10 -
8970.52 879.12 -0.12 1069 8971.85 no move -1.25 - - 1835.44 - - - 2086.19 - -77.86 - - 2808.59 - - - - - - - - - - -
9111 end dive: NO_VERTICAL_VELOCITY
9111 begin apogee
9111.79 879.32 - 1083 9177.40 -0.25 1.69 0.127 2082.00 145.9 0.07 0.314 2186.56 1433.9 - 62.81 2.157 2499.31 -4.9 0.331 - - - - - - 16.06 15.63 13.03
9179 end apogee: CONTROL_FINISHED_OK
9179 begin climb
9178.86 879.50 - 1089 9253.90 1.25 2.50 0.097 2446.94 146.0 - - 2187.38 - 77.86 70.32 2.099 2183.62 -4.5 0.311 - - - - - - 15.67 - 12.90
9552.05 854.84 9.49 1129 9557.68 done 1.25 - - 2447.44 - 4.18 0.160 738.38 -346.7 77.86 - - 2169.38 - - - - - - - - - 15.67 -
9690.81 840.14 12.07 1157 9697.68 done 1.25 - - 2447.94 - 3.70 0.063 2215.25 399.2 77.86 - - 2167.03 - - - - - - - - - 15.76 -
9996.99 814.68 7.50 1188 9998.33 VBD 1.27 - - 2447.75 - - - 2214.94 - 77.86 - - 2165.84 - - - - - - - - - - -
10297.04 791.78 7.41 1218 10302.89 done 1.29 - - 2445.75 - 4.20 0.157 737.56 -351.8 77.86 - - 2166.59 - - - - - - - - - 15.88 -
10432.09 779.04 9.43 1245 10437.80 done 1.29 - - 2446.88 - 3.66 0.063 2217.62 404.4 77.86 - - 2160.91 - - - - - - - - - 15.92 -
10737.16 755.03 7.66 1276 10738.49 VBD 1.29 - - 2446.56 - - - 2216.25 - 77.86 - - 2164.41 - - - - - - - - - - -
11037.20 732.22 7.41 1306 11038.54 VBD 1.31 - - 2447.94 - - - 2217.25 - 77.86 - - 2161.31 - - - - - - - - - - -
11337.24 710.24 6.34 1336 11338.57 VBD 1.36 - - 2447.38 - - - 2217.50 - 77.86 - - 2161.22 - - - - - - - - - - -
11637.27 690.36 5.87 1366 11668.61 1.45 0.28 0.094 2502.31 196.2 3.46 0.137 3472.69 362.8 108.94 25.81 1.876 2054.75 -4.1 0.251 - - - - - - 15.99 15.80 13.06
11691.14 685.69 7.25 1375 11697.97 roll 1.48 - - 2503.31 - 3.23 0.066 2182.88 -399.3 108.94 - - 2053.44 - - - - - - - - - 15.86 -
11997.30 657.23 9.73 1406 12002.90 roll 1.48 - - 2502.31 - 3.58 0.135 3472.88 360.3 108.94 - - 2049.44 - - - - - - - - - 15.92 -
12142.32 641.02 12.87 1435 12146.94 roll 1.48 - - 2503.44 - 3.22 0.067 2183.44 -400.4 108.94 - - 2049.31 - - - - - - - - - 15.93 -
12452.36 610.21 10.18 1467 12453.69 VBD 1.48 - - 2504.31 - - - 2183.88 - 108.94 - - 2046.69 - - - - - - - - - - -
12752.39 579.18 10.71 1497 12753.72 VBD 1.48 - - 2503.88 - - - 2183.44 - 108.94 - - 2045.56 - - - - - - - - - - -
13052.42 548.57 10.15 1527 13053.75 VBD 1.48 - - 2504.12 - - - 2183.56 - 108.94 - - 2045.19 - - - - - - - - - - -
13352.47 519.20 10.41 1557 13353.80 VBD 1.48 - - 2503.94 - - - 2183.44 - 108.94 - - 2045.56 - - - - - - - - - - -
13652.49 491.06 9.77 1587 13653.82 VBD 1.48 - - 2503.56 - - - 2183.31 - 108.94 - - 2045.50 - - - - - - - - - - -
13952.51 463.21 8.78 1617 13958.34 done 1.48 - - 2503.88 - 4.01 0.152 737.38 -360.6 108.94 - - 2044.47 - - - - - - - - - 16.00 -
14181.48 440.68 8.98 1663 14188.32 done 1.48 - - 2503.31 - 3.59 0.064 2219.44 412.8 108.94 - - 2045.28 - - - - - - - - - 16.04 -
14487.61 414.87 8.06 1694 14488.94 VBD 1.48 - - 2503.19 - - - 2220.25 - 108.94 - - 2043.94 - - - - - - - - - - -
14787.63 391.81 7.74 1724 14793.48 done 1.48 - - 2504.00 - 4.11 0.145 736.25 -361.1 108.94 - - 2043.56 - - - - - - - - - 15.98 -
14892.67 381.92 9.35 1745 14898.42 done 1.48 - - 2503.88 - 3.61 0.061 2219.88 411.0 108.94 - - 2042.84 - - - - - - - - - 16.04 -
15197.71 358.81 7.45 1776 15203.66 done 1.49 - - 2503.75 - 4.08 0.141 736.38 -363.6 108.94 - - 2043.81 - - - - - - - - - 16.03 -
15352.76 344.65 8.73 1807 15358.36 done 1.49 - - 2502.62 - 3.58 0.058 2221.25 414.8 108.94 - - 2046.34 - - - - - - - - - 16.05 -
15657.85 322.11 6.95 1838 15662.38 done 1.53 - - 2503.81 - 3.37 0.126 3472.62 371.3 108.94 - - 2044.09 - - - - - - - - - 16.05 -
15747.88 315.20 7.74 1856 15752.52 done 1.53 - - 2504.56 - 3.14 0.059 2180.38 -411.5 108.94 - - 2044.19 - - - - - - - - - 16.04 -
16057.94 293.02 7.41 1888 16063.73 done 1.55 - - 2503.50 - 4.00 0.142 736.19 -361.0 108.94 - - 2043.34 - - - - - - - - - 16.04 -
16223.00 279.33 8.10 1921 16228.64 done 1.55 - - 2503.81 - 3.63 0.059 2219.69 408.7 108.94 - - 2042.09 - - - - - - - - - 16.06 -
16528.09 258.31 6.85 1952 16529.42 VBD 1.58 - - 2503.38 - - - 2220.75 - 108.94 - - 2043.03 - - - - - - - - - - -
16828.15 236.71 7.22 1982 16829.62 1.61 0.16 0.111 2538.25 217.9 - - 2220.12 - 108.94 - - 2043.06 - - - - - - - - 16.04 - -
17128.18 214.99 7.64 2012 17129.52 VBD 1.61 - - 2537.88 - - - 2220.06 - 108.94 - - 2043.88 - - - - - - - - - - -
17428.24 193.56 7.14 2042 17432.81 done 1.63 - - 2537.56 - 3.41 0.125 3473.50 367.6 108.94 - - 2044.88 - - - - - - - - - 16.04 -
17522.16 186.16 7.85 2061 17528.96 done 1.63 - - 2538.25 - 3.20 0.060 2180.62 -404.0 108.94 - - 2043.97 - - - - - - - - - 16.03 -
17828.28 163.91 7.55 2092 17829.61 VBD 1.63 - - 2537.00 - - - 2180.31 - 108.94 - - 2043.06 - - - - - - - - - - -
18128.32 141.25 6.93 2122 18134.12 done 1.67 - - 2537.25 - 3.98 0.139 736.75 -362.7 108.94 - - 2044.84 - - - - - - - - - 16.04 -
18213.33 134.16 7.70 2139 18218.95 done 1.67 - - 2538.38 - 3.62 0.057 2223.12 410.6 108.94 - - 2044.06 - - - - - - - - - 16.06 -
18518.39 113.66 6.50 2170 18519.72 VBD 1.71 - - 2537.44 - - - 2223.12 - 108.94 - - 2042.84 - - - - - - - - - - -
18818.43 94.87 5.46 2209 18855.04 1.83 0.28 0.082 2589.94 187.5 4.13 0.136 735.44 -360.2 145.96 30.51 1.201 1903.97 -4.6 0.059 - - - - - - 16.04 15.88 12.97
18968.48 81.93 9.16 2239 18974.19 roll 1.83 - - 2591.56 - 3.59 0.056 2223.75 414.6 145.96 - - 1899.41 - - - - - - - - - 15.95 -
19153.50 72.75 4.66 2276 19200.11 1.97 0.16 0.098 2624.25 204.3 3.39 0.120 3473.31 368.6 194.28 39.67 1.169 1705.81 -4.9 0.050 - - - - - - 15.96 15.75 12.98
19278.51 63.31 10.07 2301 19284.32 roll 1.97 - - 2623.44 - 3.17 0.055 2177.56 -408.8 194.28 - - 1703.16 - - - - - - - - - 15.84 -
19463.56 49.45 6.87 2338 19469.31 done 2.01 - - 2624.81 - 3.51 0.116 3472.00 368.8 194.28 - - 1700.19 - - - - - - - - - 15.85 -
19693.61 34.10 6.53 2384 19699.28 done 2.05 - - 2624.75 - 3.17 0.054 2177.94 -408.2 194.28 - - 1698.31 - - - - - - - - - 15.90 -
19878.65 29.59 1.86 2421 19951.26 2.32 0.49 0.069 2704.75 163.3 - - 2177.62 - 282.72 71.38 1.118 1348.72 -4.9 0.021 - - - - - - 15.91 - 12.88
20129.10 13.09 10.03 2471 20134.92 roll 2.32 - - 2707.38 - 4.03 0.135 736.50 -357.6 282.72 - - 1340.88 - - - - - - - - - 15.74 -
20214 end climb: SURFACE_DEPTH_REACHED
20215 begin surface coast
20224 end surface coast: CONTROL_FINISHED_OK
20225 begin surface
SM 0.78 - - - - 175.2 - 0.014 767.2 - 16.16 0.065 767.1 47.5 - 3.38 0.056 767.3 225.8 -0.321 - - 30.36 15.76 15.80 -