NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 196 * Raw log
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• Previous call tries 1 • 61.90 of 575.00 AH used of 24V (89.24% remains)
• Surface angle -64.3 deg, depth 0.61 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.76 (SM_CC=425)
• GPS1 time: 35 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.38 - - - 84.49 VBD -1.25 - - 175.25 - - - 2078.56 - -77.86 77.54 0.005 2506.75 - - - - - - - - - - 15.62
84.75 3.42 -3.75 15 116.57 -1.25 13.82 0.263 1834.62 120.1 4.09 0.165 664.12 -345.8 -77.86 7.56 0.008 2818.75 41.3 -2.974 - - - - - - 15.64 15.61 15.67
284.36 50.17 -19.31 55 290.12 roll -1.25 - - 1835.75 - 3.62 0.061 2117.88 401.6 -77.86 - - 2816.78 - - - - - - - - - 15.78 -
469.40 77.31 -12.32 92 475.24 roll -1.25 - - 1835.12 - 4.14 0.156 662.94 -351.4 -77.86 - - 2818.19 - - - - - - - - - 15.81 -
484.39 79.34 -12.84 95 490.14 roll -1.25 - - 1835.62 - 3.54 0.055 2120.19 411.7 -77.86 - - 2817.34 - - - - - - - - - 15.84 -
669.41 100.54 -10.35 132 675.09 roll -1.25 - - 1835.94 - 3.70 0.118 3472.69 365.5 -77.86 - - 2817.00 - - - - - - - - - 15.87 -
814.45 117.77 -11.56 161 819.03 roll -1.25 - - 1836.31 - 3.44 0.059 2083.06 -404.0 -77.86 - - 2818.09 - - - - - - - - - 15.91 -
1124.50 153.37 -12.04 193 1125.83 no move -1.25 - - 1835.50 - - - 2082.69 - -77.86 - - 2818.06 - - - - - - - - - - -
1424.55 188.23 -11.53 223 1425.88 no move -1.25 - - 1836.19 - - - 2082.50 - -77.86 - - 2818.62 - - - - - - - - - - -
1724.67 223.34 -11.69 253 1730.32 roll -1.25 - - 1834.94 - 3.80 0.122 3471.62 365.6 -77.86 - - 2818.34 - - - - - - - - - 16.00 -
1813.54 234.87 -13.40 271 1820.38 roll -1.25 - - 1835.69 - 3.43 0.065 2083.94 -404.6 -77.86 - - 2817.62 - - - - - - - - - 16.01 -
2119.68 270.00 -11.41 302 2121.01 no move -1.25 - - 1835.75 - - - 2083.25 - -77.86 - - 2818.12 - - - - - - - - - - -
2419.73 303.33 -11.09 332 2421.06 no move -1.25 - - 1835.88 - - - 2083.19 - -77.86 - - 2818.31 - - - - - - - - - - -
2719.79 335.30 -10.34 362 2721.11 no move -1.25 - - 1835.56 - - - 2083.12 - -77.86 - - 2817.66 - - - - - - - - - - -
3019.83 367.02 -10.34 392 3021.16 no move -1.25 - - 1835.31 - - - 2083.25 - -77.86 - - 2817.12 - - - - - - - - - - -
3319.88 398.22 -11.24 422 3321.21 no move -1.25 - - 1835.56 - - - 2083.19 - -77.86 - - 2817.09 - - - - - - - - - - -
3619.92 428.69 -10.56 452 3625.69 roll -1.25 - - 1834.56 - 4.02 0.170 662.94 -353.3 -77.86 - - 2818.09 - - - - - - - - - 16.04 -
3668.80 434.39 -11.61 462 3675.71 roll -1.25 - - 1835.62 - 3.61 0.061 2116.88 402.8 -77.86 - - 2817.47 - - - - - - - - - 16.08 -
3974.96 466.05 -10.40 493 3976.29 no move -1.25 - - 1836.12 - - - 2117.12 - -77.86 - - 2816.59 - - - - - - - - - - -
4274.98 495.90 -10.41 523 4276.30 no move -1.25 - - 1835.81 - - - 2117.38 - -77.86 - - 2816.66 - - - - - - - - - - -
4575.02 525.17 -10.20 553 4580.72 roll -1.25 - - 1835.75 - 3.73 0.130 3473.38 363.5 -77.86 - - 2815.94 - - - - - - - - - 16.09 -
4620.02 530.26 -12.45 562 4624.67 roll -1.25 - - 1835.50 - 3.43 0.068 2085.25 -404.7 -77.86 - - 2816.06 - - - - - - - - - 16.09 -
4930.04 561.86 -9.81 594 4931.37 no move -1.25 - - 1835.50 - - - 2084.50 - -77.86 - - 2815.50 - - - - - - - - - - -
5230.06 590.06 -9.09 624 5231.39 no move -1.25 - - 1835.50 - - - 2085.00 - -77.86 - - 2815.19 - - - - - - - - - - -
5530.08 617.59 -9.34 654 5535.80 roll -1.25 - - 1835.94 - 3.78 0.133 3471.75 366.9 -77.86 - - 2813.72 - - - - - - - - - 16.09 -
5569.03 621.50 -9.28 662 5575.84 roll -1.25 - - 1835.31 - 3.45 0.071 2085.75 -401.7 -77.86 - - 2815.25 - - - - - - - - - 16.09 -
5875.12 649.67 -8.87 693 5876.45 no move -1.25 - - 1835.19 - - - 2085.38 - -77.86 - - 2814.31 - - - - - - - - - - -
6175.14 679.19 -10.21 723 6176.47 no move -1.25 - - 1835.56 - - - 2085.81 - -77.86 - - 2813.91 - - - - - - - - - - -
6475.17 707.68 -9.20 753 6480.89 roll -1.25 - - 1834.25 - 3.79 0.135 3471.81 365.7 -77.86 - - 2814.91 - - - - - - - - - 16.09 -
6540.19 714.56 -11.00 766 6544.87 roll -1.25 - - 1836.12 - 3.46 0.075 2086.56 -400.4 -77.86 - - 2813.09 - - - - - - - - - 16.10 -
6850.21 741.20 -7.77 798 6855.92 roll -1.25 - - 1835.88 - 3.78 0.135 3472.50 366.7 -77.86 - - 2812.44 - - - - - - - - - 16.10 -
6905.23 746.04 -8.38 809 6909.88 roll -1.25 - - 1835.19 - 3.47 0.071 2084.88 -399.9 -77.86 - - 2813.50 - - - - - - - - - 16.10 -
7215.24 768.51 -7.39 841 7221.00 roll -1.25 - - 1835.88 - 4.08 0.182 665.06 -348.0 -77.86 - - 2812.75 - - - - - - - - - 16.06 -
7364.20 781.68 -8.82 871 7371.03 roll -1.25 - - 1835.94 - 3.60 0.069 2114.50 402.6 -77.86 - - 2811.84 - - - - - - - - - 16.12 -
7670.30 804.68 -7.85 902 7671.63 no move -1.25 - - 1836.06 - - - 2114.25 - -77.86 - - 2811.72 - - - - - - - - - - -
7970.58 827.01 -6.95 932 7971.91 no move -1.25 - - 1835.75 - - - 2114.25 - -77.86 - - 2811.91 - - - - - - - - - - -
8270.35 851.25 -7.75 962 8271.68 no move -1.25 - - 1835.25 - - - 2114.50 - -77.86 - - 2811.34 - - - - - - - - - - -
8570.38 874.62 -7.68 992 8576.08 roll -1.25 - - 1834.56 - 3.68 0.138 3472.00 368.9 -77.86 - - 2811.91 - - - - - - - - - 16.09 -
8675.40 883.68 -9.16 1013 8680.06 roll -1.25 - - 1835.50 - 3.47 0.078 2087.62 -399.0 -77.86 - - 2811.53 - - - - - - - - - 16.10 -
8985.44 907.41 -8.60 1045 8986.76 no move -1.25 - - 1835.81 - - - 2087.50 - -77.86 - - 2810.06 - - - - - - - - - - -
9285.49 927.86 -6.30 1075 9291.20 roll -1.25 - - 1835.75 - 3.76 0.138 3472.50 368.4 -77.86 - - 2808.25 - - - - - - - - - 16.10 -
9350.53 932.91 -8.11 1088 9355.19 roll -1.25 - - 1835.75 - 3.51 0.077 2088.31 -394.4 -77.86 - - 2808.44 - - - - - - - - - 16.10 -
9660.59 949.76 -2.93 1120 9666.33 roll -1.25 - - 1835.62 - 4.10 0.184 664.00 -347.4 -77.86 - - 2807.81 - - - - - - - - - 16.06 -
9889.60 949.96 -0.14 1166 9896.42 roll -1.25 - - 1835.44 - 3.58 0.067 2114.31 405.1 -77.86 - - 2810.03 - - - - - - - - - 16.10 -
9935 end dive: NO_VERTICAL_VELOCITY
9935 begin apogee
9936.91 949.81 - 1171 10006.54 -0.25 1.68 0.121 2080.69 146.0 0.07 0.320 2185.75 1020.6 - 63.62 2.240 2501.44 -4.9 0.347 - - - - - - 16.07 15.61 13.08
10009 end apogee: CONTROL_FINISHED_OK
10009 begin climb
10009.15 950.18 - 1178 10089.14 1.25 2.50 0.095 2448.19 147.0 3.74 0.137 3472.69 344.1 77.86 71.93 2.170 2179.16 -4.5 0.331 - - - - - - 15.65 15.26 12.92
10310.80 923.66 9.78 1238 10317.67 done 1.25 - - 2448.62 - 3.30 0.065 2183.56 -390.6 77.86 - - 2171.62 - - - - - - - - - 15.63 -
10617.02 897.55 8.67 1269 10621.97 done 1.25 - - 2448.50 - 3.60 0.133 3472.00 357.9 77.86 - - 2166.25 - - - - - - - - - 15.76 -
10821.05 878.80 8.71 1310 10827.75 done 1.25 - - 2447.50 - 3.24 0.065 2182.38 -398.0 77.86 - - 2168.31 - - - - - - - - - 15.83 -
11127.14 854.71 7.53 1341 11128.47 VBD 1.27 - - 2447.75 - - - 2182.81 - 77.86 - - 2165.31 - - - - - - - - - - -
11427.14 832.19 7.59 1371 11428.47 VBD 1.27 - - 2447.94 - - - 2182.94 - 77.86 - - 2165.00 - - - - - - - - - - -
11727.18 808.45 7.74 1401 11732.79 done 1.27 - - 2445.81 - 3.59 0.136 3473.12 359.4 77.86 - - 2166.59 - - - - - - - - - 15.94 -
11956.22 788.00 8.20 1447 11962.91 done 1.27 - - 2447.88 - 3.19 0.066 2184.06 -404.1 77.86 - - 2163.94 - - - - - - - - - 15.98 -
12262.29 766.06 6.52 1478 12263.62 VBD 1.31 - - 2448.06 - - - 2184.25 - 77.86 - - 2162.34 - - - - - - - - - - -
12562.32 745.41 7.17 1508 12568.14 done 1.34 - - 2446.94 - 4.03 0.155 737.06 -359.1 77.86 - - 2162.97 - - - - - - - - - 15.96 -
12757.36 727.73 8.95 1547 12763.11 done 1.34 - - 2447.19 - 3.61 0.061 2217.06 410.0 77.86 - - 2161.31 - - - - - - - - - 16.02 -
13062.41 704.92 6.62 1578 13068.27 1.38 0.17 0.108 2484.81 221.3 4.09 0.150 737.19 -361.8 77.86 - - 2162.50 - - - - - - - - 16.01 16.01 -
13221.27 689.00 11.99 1610 13228.20 done 1.38 - - 2486.62 - 3.61 0.061 2217.69 410.1 77.86 - - 2160.97 - - - - - - - - - 16.04 -
13527.50 664.40 7.72 1641 13528.83 VBD 1.38 - - 2485.81 - - - 2218.44 - 77.86 - - 2159.72 - - - - - - - - - - -
13827.54 639.90 8.00 1671 13828.87 VBD 1.38 - - 2486.06 - - - 2218.12 - 77.86 - - 2159.66 - - - - - - - - - - -
14127.61 618.41 6.83 1701 14128.95 VBD 1.42 - - 2486.62 - - - 2218.56 - 77.86 - - 2158.88 - - - - - - - - - - -
14427.67 597.90 6.23 1731 14429.00 VBD 1.47 - - 2486.62 - - - 2218.12 - 77.86 - - 2158.72 - - - - - - - - - - -
14727.74 577.84 6.88 1761 14729.07 VBD 1.51 - - 2485.94 - - - 2218.81 - 77.86 - - 2160.81 - - - - - - - - - - -
15027.80 558.08 6.70 1791 15029.26 1.55 0.18 0.099 2525.31 218.7 - - 2218.06 - 77.86 - - 2158.34 - - - - - - - - 16.05 - -
15327.87 537.82 6.68 1821 15329.20 VBD 1.59 - - 2525.44 - - - 2218.19 - 77.86 - - 2158.62 - - - - - - - - - - -
15627.93 517.30 6.51 1851 15633.68 done 1.64 - - 2524.56 - 4.09 0.146 737.31 -362.1 77.86 - - 2160.41 - - - - - - - - - 16.06 -
15712.96 509.70 8.80 1868 15718.69 done 1.64 - - 2525.19 - 3.54 0.061 2221.38 419.2 77.86 - - 2157.41 - - - - - - - - - 16.07 -
16017.99 488.79 6.72 1899 16022.53 done 1.68 - - 2524.75 - 3.35 0.131 3472.69 373.5 77.86 - - 2160.31 - - - - - - - - - 16.06 -
16248.04 469.29 8.05 1945 16252.56 done 1.68 - - 2524.19 - 3.14 0.061 2178.94 -412.0 77.86 - - 2162.00 - - - - - - - - - 16.04 -
16558.08 448.44 6.80 1977 16563.72 1.71 0.18 0.103 2564.81 225.7 3.46 0.124 3472.44 373.8 77.86 - - 2157.91 - - - - - - - - 16.05 16.06 -
16787.05 430.93 7.29 2023 16793.81 done 1.74 - - 2564.50 - 3.13 0.060 2179.88 -413.0 77.86 - - 2161.06 - - - - - - - - - 16.05 -
17093.17 411.21 6.39 2054 17094.50 VBD 1.79 - - 2564.88 - - - 2180.88 - 77.86 - - 2158.38 - - - - - - - - - - -
17393.21 392.99 6.06 2084 17398.88 done 1.85 - - 2565.38 - 3.91 0.141 736.88 -369.3 77.86 - - 2157.75 - - - - - - - - - 16.02 -
17488.23 386.33 6.83 2103 17494.03 1.88 0.19 0.098 2605.75 212.5 3.55 0.056 2222.06 418.4 77.86 - - 2160.16 - - - - - - - - 16.03 16.06 -
17793.27 365.86 6.36 2134 17798.94 done 1.93 - - 2606.38 - 4.01 0.136 737.12 -370.3 77.86 - - 2156.81 - - - - - - - - - 16.04 -
18022.22 348.80 6.89 2180 18029.05 done 1.97 - - 2606.19 - 3.53 0.056 2221.12 420.4 77.86 - - 2158.50 - - - - - - - - - 16.06 -
18328.35 332.39 5.18 2211 18369.99 2.09 0.25 0.086 2656.31 200.5 4.05 0.136 737.31 -366.4 118.80 32.88 1.501 2013.16 -4.4 0.165 - - - - - - 16.04 15.84 12.99
18592.30 299.75 15.85 2264 18599.12 roll 2.09 - - 2656.81 - 3.55 0.058 2221.12 418.0 118.80 - - 2008.62 - - - - - - - - - 15.93 -
18898.41 260.09 13.16 2295 18904.31 done 2.09 - - 2656.56 - 4.03 0.134 735.38 -368.7 118.80 - - 2006.62 - - - - - - - - - 15.95 -
19127.40 227.44 13.97 2341 19134.24 done 2.09 - - 2656.06 - 3.59 0.055 2220.06 413.6 118.80 - - 2009.34 - - - - - - - - - 15.96 -
19433.56 190.22 11.65 2372 19434.89 VBD 2.09 - - 2655.50 - - - 2220.44 - 118.80 - - 2006.12 - - - - - - - - - - -
19733.62 157.23 9.96 2402 19734.96 VBD 2.09 - - 2656.31 - - - 2220.75 - 118.80 - - 2004.91 - - - - - - - - - - -
20033.70 127.79 10.40 2432 20038.26 done 2.09 - - 2656.44 - 3.38 0.120 3472.56 370.4 118.80 - - 2007.47 - - - - - - - - - 16.00 -
20163.74 111.93 12.39 2458 20168.28 done 2.09 - - 2656.12 - 3.11 0.057 2178.44 -416.1 118.80 - - 2007.69 - - - - - - - - - 16.01 -
20468.95 92.57 2.41 2508 20535.38 2.33 0.31 0.079 2712.19 180.9 - - 2178.56 - 199.32 64.53 1.232 1687.12 -5.0 0.063 - - - - - - 16.00 - 13.05
20713.93 73.00 10.48 2557 20719.76 roll 2.33 - - 2710.38 - 3.96 0.135 736.25 -364.2 199.32 - - 1681.62 - - - - - - - - - 15.79 -
20733.94 71.00 9.79 2561 20739.69 roll 2.33 - - 2711.62 - 3.60 0.053 2225.56 413.7 199.32 - - 1679.47 - - - - - - - - - 15.83 -
20918.99 52.21 9.87 2598 20924.70 done 2.33 - - 2711.50 - 3.37 0.118 3472.00 369.9 199.32 - - 1677.44 - - - - - - - - - 15.86 -
21149.05 34.00 6.66 2644 21154.72 done 2.37 - - 2711.12 - 3.14 0.054 2177.88 -412.1 199.32 - - 1678.03 - - - - - - - - - 15.89 -
21334.08 28.14 2.20 2681 21407.38 2.63 0.41 0.078 2782.06 173.0 3.51 0.113 3474.00 369.3 282.83 67.58 1.122 1344.78 -4.9 0.021 - - - - - - 15.91 15.63 12.90
21620 end climb: SURFACE_DEPTH_REACHED
21620 begin surface coast
21635 end surface coast: CONTROL_FINISHED_OK
21635 begin surface
SM 0.39 - - - - 180.6 - 0.013 768.4 - 16.94 0.077 778.0 45.9 - 3.51 0.063 758.8 215.2 -0.136 - - 30.36 15.75 15.80 -