NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 283 * Raw log
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• Previous call tries 1 • 88.53 of 575.00 AH used of 24V (84.60% remains)
• Surface angle -56.8 deg, depth 0.59 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.89 (SM_CC=425)
• GPS1 time: 22 s
• GPS2 time: 2 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
6.86 - - - 85.00 VBD -1.25 - - 173.81 - - - 2115.88 - -77.86 77.60 0.005 2476.97 - - - - - - - - - - 15.59
85.25 3.22 -3.63 15 117.01 -1.25 13.86 0.261 1835.94 119.9 3.70 0.122 3474.00 367.1 -77.86 8.68 0.007 2816.03 39.1 -3.031 - - - - - - 15.62 15.58 15.63
189.82 25.86 -21.18 36 195.50 roll -1.25 - - 1835.81 - 3.49 0.063 2082.56 -398.7 -77.86 - - 2817.66 - - - - - - - - - 15.74 -
374.84 62.10 -18.28 73 380.68 roll -1.25 - - 1835.50 - 4.05 0.160 664.00 -350.3 -77.86 - - 2817.56 - - - - - - - - - 15.78 -
414.86 70.19 -21.41 81 420.67 roll -1.25 - - 1836.19 - 3.56 0.056 2119.25 408.8 -77.86 - - 2816.50 - - - - - - - - - 15.81 -
599.91 98.81 -12.27 118 605.76 roll -1.25 - - 1835.88 - 4.14 0.153 663.88 -351.5 -77.86 - - 2816.81 - - - - - - - - - 15.83 -
683.85 110.09 -12.93 135 690.70 roll -1.25 - - 1835.88 - 3.54 0.055 2118.81 411.0 -77.86 - - 2816.91 - - - - - - - - - 15.87 -
990.06 144.39 -10.65 166 995.83 roll -1.25 - - 1835.31 - 4.11 0.154 663.62 -354.1 -77.86 - - 2815.94 - - - - - - - - - 15.90 -
1015.01 147.28 -11.25 171 1019.68 roll -1.25 - - 1835.31 - 3.53 0.054 2119.56 412.4 -77.86 - - 2817.00 - - - - - - - - - 15.92 -
1325.19 179.97 -10.93 203 1326.52 no move -1.25 - - 1835.94 - - - 2121.12 - -77.86 - - 2817.44 - - - - - - - - - - -
1625.09 211.42 -10.13 233 1630.72 roll -1.25 - - 1835.69 - 3.58 0.120 3472.38 377.4 -77.86 - - 2815.66 - - - - - - - - - 15.97 -
1673.96 217.52 -12.10 243 1680.84 roll -1.25 - - 1835.94 - 3.41 0.061 2083.00 -407.4 -77.86 - - 2817.66 - - - - - - - - - 15.99 -
1980.12 249.51 -10.48 274 1981.45 no move -1.25 - - 1835.81 - - - 2083.31 - -77.86 - - 2817.56 - - - - - - - - - - -
2280.15 282.15 -10.46 304 2285.93 roll -1.25 - - 1835.31 - 3.73 0.120 3473.44 372.7 -77.86 - - 2815.47 - - - - - - - - - 16.02 -
2419.03 298.89 -12.83 332 2426.00 roll -1.25 - - 1835.69 - 3.42 0.064 2083.31 -406.5 -77.86 - - 2816.59 - - - - - - - - - 16.02 -
2725.20 331.90 -11.21 363 2731.04 roll -1.25 - - 1835.56 - 4.03 0.163 664.00 -352.2 -77.86 - - 2817.81 - - - - - - - - - 16.00 -
2754.14 335.30 -11.04 369 2760.97 roll -1.25 - - 1835.94 - 3.51 0.056 2119.00 414.5 -77.86 - - 2817.53 - - - - - - - - - 16.03 -
3060.23 367.69 -9.95 400 3064.97 roll -1.25 - - 1835.50 - 3.60 0.122 3472.62 376.0 -77.86 - - 2818.25 - - - - - - - - - 16.02 -
3154.11 378.71 -10.79 419 3160.99 roll -1.25 - - 1836.38 - 3.37 0.064 2081.56 -412.8 -77.86 - - 2816.97 - - - - - - - - - 16.04 -
3460.28 409.95 -9.55 450 3466.04 roll -1.25 - - 1835.25 - 3.70 0.123 3473.31 376.1 -77.86 - - 2817.22 - - - - - - - - - 16.05 -
3539.20 419.30 -11.75 466 3546.00 roll -1.25 - - 1835.44 - 3.39 0.065 2081.50 -410.6 -77.86 - - 2816.81 - - - - - - - - - 16.05 -
3845.29 450.34 -10.33 497 3846.62 no move -1.25 - - 1835.75 - - - 2081.62 - -77.86 - - 2814.59 - - - - - - - - - - -
4145.32 479.15 -9.70 527 4146.65 no move -1.25 - - 1835.50 - - - 2082.44 - -77.86 - - 2816.62 - - - - - - - - - - -
4445.35 507.69 -9.68 557 4450.98 roll -1.25 - - 1834.69 - 3.74 0.125 3472.44 371.7 -77.86 - - 2815.88 - - - - - - - - - 16.06 -
4504.21 514.20 -10.94 569 4511.09 roll -1.25 - - 1835.25 - 3.40 0.068 2083.12 -408.6 -77.86 - - 2816.91 - - - - - - - - - 16.06 -
4810.38 541.32 -8.15 600 4811.71 no move -1.25 - - 1835.38 - - - 2082.94 - -77.86 - - 2813.97 - - - - - - - - - - -
5110.40 567.62 -8.74 630 5116.18 roll -1.25 - - 1836.19 - 3.75 0.126 3473.75 370.9 -77.86 - - 2814.62 - - - - - - - - - 16.07 -
5195.51 575.92 -9.95 647 5200.14 roll -1.25 - - 1836.12 - 3.44 0.070 2084.50 -403.9 -77.86 - - 2814.97 - - - - - - - - - 16.07 -
5505.44 602.84 -8.62 679 5511.08 roll -1.25 - - 1835.81 - 3.73 0.127 3475.06 372.8 -77.86 - - 2814.03 - - - - - - - - - 16.07 -
5550.46 606.79 -9.82 688 5555.04 roll -1.25 - - 1836.06 - 3.42 0.068 2084.62 -406.6 -77.86 - - 2816.25 - - - - - - - - - 16.06 -
5860.47 634.18 -8.31 720 5861.80 no move -1.25 - - 1835.62 - - - 2084.69 - -77.86 - - 2814.78 - - - - - - - - - - -
6160.49 659.42 -8.93 750 6166.14 roll -1.25 - - 1835.44 - 3.76 0.128 3473.38 369.3 -77.86 - - 2811.66 - - - - - - - - - 16.07 -
6219.36 665.28 -10.21 762 6226.24 roll -1.25 - - 1835.75 - 3.44 0.070 2085.19 -403.5 -77.86 - - 2815.16 - - - - - - - - - 16.07 -
6525.52 695.20 -9.65 793 6526.85 no move -1.25 - - 1835.69 - - - 2085.50 - -77.86 - - 2813.91 - - - - - - - - - - -
6825.54 723.32 -8.76 823 6831.18 roll -1.25 - - 1835.81 - 3.77 0.130 3472.00 367.8 -77.86 - - 2812.25 - - - - - - - - - 16.07 -
6870.57 728.32 -10.57 832 6875.15 roll -1.25 - - 1834.50 - 3.42 0.071 2083.62 -406.0 -77.86 - - 2814.78 - - - - - - - - - 16.07 -
7180.58 754.82 -7.44 864 7186.40 roll -1.25 - - 1835.00 - 4.09 0.179 663.81 -347.1 -77.86 - - 2812.91 - - - - - - - - - 16.03 -
7239.58 760.29 -9.44 876 7246.35 roll -1.25 - - 1836.12 - 3.55 0.066 2116.62 409.2 -77.86 - - 2812.91 - - - - - - - - - 16.07 -
7545.62 783.95 -7.76 907 7551.24 roll -1.25 - - 1835.62 - 3.67 0.133 3472.69 369.5 -77.86 - - 2810.12 - - - - - - - - - 16.06 -
7600.90 788.99 -10.45 918 7606.38 roll -1.25 - - 1835.81 - 3.41 0.072 2086.00 -406.7 -77.86 - - 2810.09 - - - - - - - - - 16.07 -
7905.70 805.67 -2.78 949 7911.46 roll -1.25 - - 1834.69 - 3.72 0.128 3472.31 372.7 -77.86 - - 2811.53 - - - - - - - - - 16.07 -
8134.78 805.32 -0.07 995 8141.49 roll -1.25 - - 1835.75 - 3.39 0.069 2083.56 -409.7 -77.86 - - 2812.22 - - - - - - - - - 16.07 -
8170 end dive: NO_VERTICAL_VELOCITY
8170 begin apogee
8172.04 805.57 - 999 8239.35 -0.25 1.68 0.122 2080.81 145.9 0.08 0.277 2185.44 1273.5 - 63.58 2.068 2498.16 -4.9 0.325 - - - - - - 16.02 15.63 12.81
8240 end apogee: CONTROL_FINISHED_OK
8240 begin climb
8240.98 805.60 - 1005 8320.92 1.25 2.52 0.102 2446.69 145.2 4.22 0.152 736.19 -343.4 77.86 70.69 1.996 2179.12 -4.5 0.307 - - - - - - 15.66 15.30 12.78
8542.59 779.38 10.65 1065 8549.53 done 1.25 - - 2445.75 - 3.65 0.059 2218.12 406.0 77.86 - - 2169.62 - - - - - - - - - 15.66 -
8848.82 749.58 8.13 1096 8854.66 done 1.25 - - 2444.94 - 4.16 0.149 738.75 -355.6 77.86 - - 2168.34 - - - - - - - - - 15.78 -
9077.89 724.80 12.22 1142 9084.70 done 1.25 - - 2446.25 - 3.61 0.060 2219.69 410.2 77.86 - - 2165.66 - - - - - - - - - 15.86 -
9383.97 697.95 8.11 1173 9389.81 done 1.25 - - 2446.62 - 4.14 0.147 736.44 -358.3 77.86 - - 2163.47 - - - - - - - - - 15.89 -
9532.95 682.87 10.86 1203 9539.79 done 1.25 - - 2445.19 - 3.61 0.061 2219.00 410.7 77.86 - - 2165.22 - - - - - - - - - 15.92 -
9839.09 659.63 8.80 1234 9844.92 done 1.25 - - 2446.12 - 4.09 0.146 736.31 -362.5 77.86 - - 2163.81 - - - - - - - - - 15.93 -
9884.12 655.51 9.46 1243 9889.71 done 1.25 - - 2446.44 - 3.58 0.060 2219.88 414.4 77.86 - - 2161.47 - - - - - - - - - 15.95 -
10189.16 631.86 6.77 1274 10193.73 done 1.29 - - 2447.12 - 3.41 0.132 3473.44 367.6 77.86 - - 2160.91 - - - - - - - - - 15.96 -
10209.17 630.26 6.75 1278 10213.67 done 1.33 - - 2446.06 - 3.14 0.061 2179.38 -412.1 77.86 - - 2164.06 - - - - - - - - - 15.97 -
10519.23 607.38 7.36 1310 10525.14 done 1.35 - - 2446.50 - 3.97 0.147 737.56 -363.2 77.86 - - 2161.28 - - - - - - - - - 15.97 -
10538.12 605.65 7.76 1314 10544.96 done 1.35 - - 2446.69 - 3.57 0.059 2220.06 415.3 77.86 - - 2161.81 - - - - - - - - - 15.98 -
10844.23 581.43 8.09 1345 10848.79 done 1.35 - - 2445.75 - 3.39 0.131 3474.19 369.9 77.86 - - 2163.06 - - - - - - - - - 15.98 -
10894.25 577.91 7.86 1355 10898.77 done 1.35 - - 2446.69 - 3.15 0.061 2180.62 -410.7 77.86 - - 2162.09 - - - - - - - - - 15.99 -
11204.30 557.03 6.23 1387 11210.16 1.40 0.21 0.108 2490.62 209.2 3.95 0.145 736.38 -365.6 77.86 - - 2162.19 - - - - - - - - 15.99 15.98 -
11229.37 554.84 6.78 1392 11234.91 done 1.44 - - 2490.12 - 3.55 0.057 2221.31 418.3 77.86 - - 2161.50 - - - - - - - - - 16.00 -
11534.34 530.83 7.72 1423 11538.89 done 1.44 - - 2489.25 - 3.38 0.129 3473.19 370.4 77.86 - - 2162.81 - - - - - - - - - 16.01 -
11764.43 512.40 6.92 1469 11769.04 done 1.48 - - 2490.12 - 3.15 0.061 2179.00 -410.9 77.86 - - 2161.56 - - - - - - - - - 16.02 -
12074.44 492.60 6.55 1501 12080.24 done 1.52 - - 2489.56 - 3.95 0.145 735.31 -365.5 77.86 - - 2161.12 - - - - - - - - - 16.01 -
12263.40 478.20 6.87 1539 12270.28 1.56 0.16 0.106 2526.56 231.2 3.58 0.058 2221.88 415.2 77.86 - - 2160.47 - - - - - - - - 15.99 16.00 -
12569.53 459.47 6.42 1570 12575.18 done 1.61 - - 2525.12 - 4.07 0.138 736.31 -365.0 77.86 - - 2160.97 - - - - - - - - - 16.02 -
12754.56 445.83 8.28 1607 12760.16 done 1.61 - - 2525.25 - 3.55 0.059 2222.44 418.6 77.86 - - 2161.00 - - - - - - - - - 16.03 -
13059.60 428.81 5.35 1638 13097.13 1.72 0.19 0.099 2566.75 218.4 4.09 0.139 735.81 -363.5 116.38 31.35 1.615 2022.69 -4.4 0.198 - - - - - - 16.03 15.83 12.81
13098.89 426.37 5.73 1645 13136.48 done 1.82 - - 2565.88 - 3.57 0.055 2222.94 416.6 149.45 30.39 1.576 1890.75 -4.3 0.198 - - - - - - - 15.89 12.95
13435.05 385.40 13.88 1682 13436.39 VBD 1.82 - - 2567.31 - - - 2222.94 - 149.45 - - 1880.72 - - - - - - - - - - -
13735.10 343.93 14.08 1712 13740.94 done 1.82 - - 2566.75 - 4.08 0.139 736.38 -364.4 149.45 - - 1879.75 - - - - - - - - - 15.86 -
13830.13 328.31 17.06 1731 13834.87 done 1.82 - - 2567.56 - 3.59 0.060 2222.88 414.1 149.45 - - 1879.41 - - - - - - - - - 15.91 -
14140.17 286.91 13.10 1763 14145.99 done 1.82 - - 2565.88 - 4.06 0.137 736.25 -366.2 149.45 - - 1879.19 - - - - - - - - - 15.92 -
14169.10 282.63 14.29 1769 14176.07 done 1.82 - - 2566.50 - 3.56 0.057 2222.50 417.5 149.45 - - 1878.78 - - - - - - - - - 15.93 -
14475.21 243.25 12.98 1800 14481.06 done 1.82 - - 2567.25 - 4.03 0.135 736.50 -368.7 149.45 - - 1876.34 - - - - - - - - - 15.95 -
14504.14 238.87 15.39 1806 14510.97 done 1.82 - - 2567.31 - 3.54 0.055 2222.06 419.6 149.45 - - 1877.62 - - - - - - - - - 15.96 -
14810.26 198.25 12.53 1837 14816.08 done 1.82 - - 2567.44 - 4.04 0.134 735.56 -367.9 149.45 - - 1876.84 - - - - - - - - - 15.95 -
14839.18 193.92 14.42 1843 14846.00 done 1.82 - - 2567.12 - 3.55 0.054 2221.88 418.7 149.45 - - 1878.31 - - - - - - - - - 15.95 -
15145.29 158.70 11.14 1874 15151.11 done 1.82 - - 2567.44 - 4.03 0.132 735.44 -368.8 149.45 - - 1877.81 - - - - - - - - - 15.96 -
15170.30 155.52 11.69 1879 15175.02 done 1.82 - - 2567.56 - 3.53 0.053 2223.12 421.4 149.45 - - 1877.78 - - - - - - - - - 15.98 -
15480.33 123.53 9.72 1911 15484.88 done 1.82 - - 2567.06 - 3.31 0.120 3472.50 377.5 149.45 - - 1877.50 - - - - - - - - - 15.98 -
15710.38 97.21 12.23 1957 15716.08 done 1.82 - - 2566.44 - 3.13 0.056 2177.88 -413.6 149.45 - - 1878.12 - - - - - - - - - 15.99 -
15895.43 83.42 4.93 1994 15936.94 1.95 0.29 0.086 2621.75 190.7 3.48 0.118 3473.31 372.2 193.94 35.73 1.202 1707.88 -4.8 0.056 - - - - - - 15.98 15.81 12.76
16105.45 63.75 9.04 2036 16111.15 roll 1.95 - - 2621.31 - 3.16 0.055 2176.19 -410.5 193.94 - - 1702.59 - - - - - - - - - 15.89 -
16290.51 53.58 5.79 2073 16322.91 done 2.05 - - 2621.69 - 3.93 0.136 736.62 -366.3 226.21 27.23 1.136 1575.94 -4.7 0.037 - - - - - - - 15.75 12.88
16545.74 38.26 4.76 2124 16592.46 2.19 0.31 0.076 2682.06 194.7 3.56 0.054 2225.50 418.2 273.21 39.65 1.123 1385.72 -4.8 0.028 - - - - - - 15.81 15.86 12.80
16770.80 16.38 12.96 2169 16776.63 roll 2.19 - - 2681.06 - 4.07 0.130 735.44 -366.1 273.21 - - 1381.53 - - - - - - - - - 15.77 -
16870 end climb: SURFACE_DEPTH_REACHED
16870 begin surface coast
16880 end surface coast: CONTROL_FINISHED_OK
16880 begin surface
SM 0.53 - - - - 177.7 2.09 0.285 767.9 367.4 16.05 0.066 768.9 47.9 - 3.31 0.051 766.9 230.5 -0.245 - - 12.69 15.78 15.83 -