NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 84 * Raw log
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• Previous call tries 1 • 29.89 of 350.00 AH used of 24V (91.46% remains)
• Surface angle -56.4 deg, depth 1.06 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.77 (SM_CC=425)
• GPS1 time: 48 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
6.40 - - - 69.42 VBD -1.25 - - 178.94 - - - 2116.81 - -77.86 62.44 0.005 2190.66 - - - - - - - - - - 15.66
69.70 3.09 -4.15 12 107.94 -1.25 13.78 0.277 1835.81 120.2 4.14 0.175 662.50 -351.3 -77.86 16.36 0.006 2814.88 38.2 -3.283 - - - - - - 15.60 15.64 15.69
325.80 58.61 -17.80 63 331.53 roll -1.25 - - 1835.38 - 3.45 0.069 2120.19 422.5 -77.86 - - 2818.06 - - - - - - - - - 15.77 -
510.87 84.34 -12.22 100 516.58 roll -1.25 - - 1834.75 - 3.37 0.128 3475.19 402.1 -77.86 - - 2818.81 - - - - - - - - - 15.82 -
595.90 95.67 -13.05 117 601.63 roll -1.25 - - 1835.56 - 3.43 0.066 2085.31 -405.2 -77.86 - - 2818.50 - - - - - - - - - 15.83 -
785.92 115.36 -10.62 140 790.64 roll -1.25 - - 1835.50 - 3.46 0.128 3475.00 401.6 -77.86 - - 2819.41 - - - - - - - - - 15.86 -
925.97 133.23 -12.52 168 930.56 roll -1.25 - - 1835.75 - 3.42 0.068 2083.62 -406.8 -77.86 - - 2818.56 - - - - - - - - - 15.90 -
1236.02 167.14 -11.24 200 1237.35 no move -1.25 - - 1835.38 - - - 2083.88 - -77.86 - - 2818.88 - - - - - - - - - - -
1536.07 199.72 -10.16 230 1537.40 no move -1.25 - - 1836.00 - - - 2083.50 - -77.86 - - 2819.12 - - - - - - - - - - -
1836.12 229.74 -10.38 260 1841.93 roll -1.25 - - 1835.62 - 3.92 0.173 662.25 -362.6 -77.86 - - 2816.97 - - - - - - - - - 15.97 -
1935.07 242.11 -12.51 280 1941.89 roll -1.25 - - 1835.69 - 3.41 0.070 2118.81 427.1 -77.86 - - 2819.25 - - - - - - - - - 16.01 -
2241.18 274.37 -10.28 311 2246.99 roll -1.25 - - 1835.12 - 3.99 0.170 663.38 -364.8 -77.86 - - 2818.88 - - - - - - - - - 16.00 -
2296.21 281.33 -13.76 322 2300.83 roll -1.25 - - 1834.31 - 3.40 0.068 2119.69 428.3 -77.86 - - 2819.66 - - - - - - - - - 16.02 -
2606.21 315.69 -10.83 354 2610.77 roll -1.25 - - 1836.19 - 3.35 0.134 3474.38 404.4 -77.86 - - 2818.34 - - - - - - - - - 16.03 -
2670.09 323.70 -13.39 367 2676.95 roll -1.25 - - 1835.31 - 3.39 0.072 2083.00 -410.4 -77.86 - - 2819.38 - - - - - - - - - 16.05 -
2976.24 356.02 -10.87 398 2982.03 roll -1.25 - - 1835.38 - 3.89 0.176 662.69 -365.1 -77.86 - - 2817.19 - - - - - - - - - 16.02 -
3071.32 368.52 -13.62 417 3075.89 roll -1.25 - - 1834.50 - 3.40 0.071 2120.00 428.6 -77.86 - - 2819.41 - - - - - - - - - 16.06 -
3381.28 402.66 -11.36 449 3385.84 roll -1.25 - - 1835.69 - 3.34 0.135 3475.12 405.7 -77.86 - - 2817.66 - - - - - - - - - 16.05 -
3431.30 408.10 -12.01 459 3435.88 roll -1.25 - - 1835.00 - 3.39 0.073 2083.75 -410.4 -77.86 - - 2818.38 - - - - - - - - - 16.07 -
3741.32 437.56 -9.04 491 3747.12 roll -1.25 - - 1835.69 - 3.97 0.179 663.69 -357.7 -77.86 - - 2818.06 - - - - - - - - - 16.04 -
3810.35 445.64 -11.74 505 3817.06 roll -1.25 - - 1835.44 - 3.42 0.071 2118.81 425.5 -77.86 - - 2817.53 - - - - - - - - - 16.07 -
4116.34 473.12 -8.57 536 4122.17 roll -1.25 - - 1836.19 - 4.05 0.179 662.75 -359.5 -77.86 - - 2814.72 - - - - - - - - - 16.05 -
4151.36 477.20 -11.66 543 4155.99 roll -1.25 - - 1836.00 - 3.44 0.074 2117.94 423.0 -77.86 - - 2816.38 - - - - - - - - - 16.08 -
4461.36 506.59 -8.85 575 4467.23 roll -1.25 - - 1836.62 - 4.05 0.181 663.62 -359.1 -77.86 - - 2816.72 - - - - - - - - - 16.05 -
4536.44 514.41 -11.29 590 4540.95 roll -1.25 - - 1836.38 - 3.42 0.077 2115.69 424.6 -77.86 - - 2817.34 - - - - - - - - - 16.09 -
4846.40 542.60 -8.14 622 4852.22 roll -1.25 - - 1836.38 - 4.06 0.183 662.12 -358.0 -77.86 - - 2814.28 - - - - - - - - - 16.06 -
4905.35 549.11 -10.77 634 4912.14 roll -1.25 - - 1835.94 - 3.42 0.077 2117.88 425.7 -77.86 - - 2815.19 - - - - - - - - - 16.09 -
5211.43 575.77 -8.46 665 5212.76 no move -1.25 - - 1835.81 - - - 2118.06 - -77.86 - - 2814.00 - - - - - - - - - - -
5511.45 600.74 -7.90 695 5516.01 roll -1.25 - - 1836.25 - 3.37 0.143 3475.38 402.8 -77.86 - - 2815.00 - - - - - - - - - 16.09 -
5555.31 605.11 -9.09 704 5562.17 roll -1.25 - - 1834.69 - 3.36 0.080 2085.00 -413.8 -77.86 - - 2815.19 - - - - - - - - - 16.10 -
5861.48 631.60 -8.55 735 5867.30 roll -1.25 - - 1836.44 - 3.94 0.191 663.56 -360.8 -77.86 - - 2812.34 - - - - - - - - - 16.07 -
5936.55 639.76 -11.38 750 5941.21 roll -1.25 - - 1835.56 - 3.44 0.081 2114.94 421.9 -77.86 - - 2814.09 - - - - - - - - - 16.11 -
6246.51 668.75 -10.19 782 6247.84 no move -1.25 - - 1836.38 - - - 2114.69 - -77.86 - - 2812.56 - - - - - - - - - - -
6546.52 697.15 -8.74 812 6552.38 roll -1.25 - - 1835.81 - 4.11 0.189 662.81 -353.3 -77.86 - - 2813.66 - - - - - - - - - 16.08 -
6611.62 704.97 -11.21 825 6616.26 roll -1.25 - - 1835.81 - 3.47 0.084 2114.44 418.3 -77.86 - - 2814.50 - - - - - - - - - 16.11 -
6921.55 733.23 -8.00 857 6927.39 roll -1.25 - - 1836.56 - 4.12 0.190 663.31 -352.2 -77.86 - - 2814.75 - - - - - - - - - 16.08 -
6986.63 740.32 -10.32 870 6991.29 roll -1.25 - - 1834.94 - 3.46 0.086 2114.88 419.5 -77.86 - - 2814.28 - - - - - - - - - 16.11 -
7296.58 767.05 -7.74 902 7301.28 roll -1.25 - - 1836.12 - 3.39 0.145 3474.56 401.1 -77.86 - - 2811.59 - - - - - - - - - 16.10 -
7370.45 774.33 -9.43 917 7377.33 roll -1.25 - - 1835.38 - 3.41 0.083 2086.62 -407.0 -77.86 - - 2812.94 - - - - - - - - - 16.10 -
7676.63 787.33 -2.12 948 7681.33 roll -1.25 - - 1836.31 - 3.49 0.144 3473.12 397.3 -77.86 - - 2812.94 - - - - - - - - - 16.11 -
7906.67 787.26 -0.02 994 7911.21 roll -1.25 - - 1836.31 - 3.39 0.078 2086.94 -408.9 -77.86 - - 2813.22 - - - - - - - - - 16.10 -
7917 end dive: NO_VERTICAL_VELOCITY
7917 begin apogee
7917.88 787.08 - 996 7984.66 -0.25 1.64 0.116 2080.81 149.1 0.09 0.282 2184.19 1080.6 - 63.78 2.013 2499.00 -4.9 0.322 - - - - - - 16.09 15.65 13.22
7986 end apogee: CONTROL_FINISHED_OK
7986 begin climb
7985.85 786.90 - 1002 8061.05 1.25 2.41 0.080 2449.62 153.0 - - 2185.25 - 77.86 70.31 1.965 2181.69 -4.5 0.302 - - - - - - 15.69 - 13.02
8358.93 762.59 8.09 1046 8363.49 done 1.25 - - 2448.50 - 3.35 0.144 3472.50 384.3 77.86 - - 2169.09 - - - - - - - - - 15.69 -
8422.81 756.92 8.76 1059 8429.65 done 1.25 - - 2449.56 - 3.24 0.072 2185.25 -397.3 77.86 - - 2169.31 - - - - - - - - - 15.73 -
8729.00 733.29 7.76 1090 8733.56 done 1.25 - - 2447.56 - 3.31 0.143 3474.50 389.5 77.86 - - 2167.38 - - - - - - - - - 15.82 -
8749.02 731.71 7.03 1094 8753.53 done 1.28 - - 2449.31 - 3.17 0.071 2181.56 -407.9 77.86 - - 2167.25 - - - - - - - - - 15.84 -
9059.07 706.02 8.08 1126 9065.00 done 1.28 - - 2449.25 - 3.99 0.164 737.38 -361.9 77.86 - - 2164.72 - - - - - - - - - 15.88 -
9088.00 703.18 8.00 1132 9094.81 done 1.28 - - 2448.62 - 3.49 0.068 2219.31 424.6 77.86 - - 2163.84 - - - - - - - - - 15.90 -
9394.12 679.27 8.40 1163 9399.95 done 1.28 - - 2449.00 - 4.09 0.161 737.94 -362.2 77.86 - - 2162.25 - - - - - - - - - 15.93 -
9493.07 670.18 10.23 1183 9499.89 done 1.28 - - 2449.75 - 3.49 0.070 2220.31 424.7 77.86 - - 2162.16 - - - - - - - - - 15.95 -
9799.19 647.51 6.16 1214 9805.01 done 1.34 - - 2449.69 - 4.07 0.158 736.00 -364.7 77.86 - - 2163.00 - - - - - - - - - 15.96 -
9848.12 643.32 8.37 1224 9854.95 done 1.34 - - 2449.75 - 3.51 0.067 2218.56 422.4 77.86 - - 2161.41 - - - - - - - - - 15.99 -
10154.23 621.58 7.26 1255 10158.74 done 1.36 - - 2449.94 - 3.20 0.143 3474.56 392.5 77.86 - - 2161.59 - - - - - - - - - 16.00 -
10184.25 619.20 7.80 1261 10188.89 done 1.36 - - 2450.06 - 3.16 0.069 2182.50 -408.9 77.86 - - 2161.50 - - - - - - - - - 16.01 -
10494.26 597.08 7.05 1293 10500.11 1.39 0.17 0.119 2485.00 205.5 3.97 0.159 736.38 -364.3 77.86 - - 2159.31 - - - - - - - - 16.01 16.01 -
10533.23 593.30 9.45 1301 10539.98 done 1.39 - - 2486.12 - 3.48 0.067 2221.19 426.7 77.86 - - 2160.38 - - - - - - - - - 16.03 -
10839.29 569.03 7.28 1332 10843.80 done 1.42 - - 2485.50 - 3.18 0.143 3472.62 393.5 77.86 - - 2161.03 - - - - - - - - - 16.03 -
10899.30 563.99 8.39 1344 10903.83 done 1.42 - - 2486.38 - 3.15 0.070 2181.38 -409.9 77.86 - - 2159.97 - - - - - - - - - 16.04 -
11209.34 541.86 7.36 1376 11210.68 VBD 1.44 - - 2486.19 - - - 2181.12 - 77.86 - - 2159.25 - - - - - - - - - - -
11509.35 521.65 6.59 1406 11513.88 done 1.48 - - 2484.69 - 3.28 0.142 3474.75 394.4 77.86 - - 2160.12 - - - - - - - - - 16.05 -
11519.36 521.06 5.98 1408 11550.63 1.57 0.20 0.105 2527.19 212.5 3.17 0.067 2181.12 -408.1 107.34 23.83 1.671 2061.78 -4.1 0.215 - - - - - - 16.05 16.07 13.25
11849.37 490.54 10.12 1444 11855.04 roll 1.57 - - 2528.00 - 3.97 0.156 736.06 -364.0 107.34 - - 2055.28 - - - - - - - - - 15.94 -
12078.33 463.33 11.67 1490 12085.15 roll 1.57 - - 2527.38 - 3.52 0.068 2218.75 421.2 107.34 - - 2054.75 - - - - - - - - - 15.99 -
12384.43 433.22 9.50 1521 12385.76 no move 1.57 - - 2527.62 - - - 2219.06 - 107.34 - - 2055.28 - - - - - - - - - - -
12684.45 404.99 9.51 1551 12688.97 roll 1.57 - - 2527.31 - 3.18 0.141 3475.31 395.0 107.34 - - 2056.34 - - - - - - - - - 16.02 -
12774.48 395.85 9.91 1569 12779.00 roll 1.57 - - 2527.25 - 3.17 0.069 2180.94 -408.3 107.34 - - 2055.78 - - - - - - - - - 16.03 -
13084.49 371.02 8.80 1601 13089.03 done 1.57 - - 2527.38 - 3.28 0.138 3474.50 394.4 107.34 - - 2053.28 - - - - - - - - - 16.03 -
13124.50 367.13 9.39 1609 13129.02 done 1.57 - - 2527.94 - 3.15 0.066 2181.56 -410.5 107.34 - - 2053.84 - - - - - - - - - 16.05 -
13434.51 339.56 9.75 1641 13440.45 done 1.57 - - 2526.62 - 3.93 0.153 736.62 -367.7 107.34 - - 2052.62 - - - - - - - - - 16.03 -
13449.53 337.83 10.70 1644 13455.11 done 1.57 - - 2527.75 - 3.45 0.064 2221.38 430.4 107.34 - - 2053.03 - - - - - - - - - 16.05 -
13754.54 312.33 8.26 1675 13759.06 done 1.57 - - 2528.31 - 3.14 0.137 3473.75 398.8 107.34 - - 2053.22 - - - - - - - - - 16.05 -
13804.56 307.46 9.90 1685 13809.08 done 1.57 - - 2528.12 - 3.15 0.066 2179.62 -410.8 107.34 - - 2053.03 - - - - - - - - - 16.06 -
14114.57 281.25 8.26 1717 14120.38 done 1.57 - - 2525.06 - 3.91 0.151 736.00 -369.2 107.34 - - 2052.66 - - - - - - - - - 16.05 -
14143.50 278.50 9.68 1723 14150.31 done 1.57 - - 2528.00 - 3.45 0.062 2222.44 430.9 107.34 - - 2053.00 - - - - - - - - - 16.05 -
14449.60 255.70 7.81 1754 14450.94 VBD 1.57 - - 2528.50 - - - 2222.75 - 107.34 - - 2052.75 - - - - - - - - - - -
14749.62 233.78 7.73 1784 14754.16 done 1.57 - - 2528.25 - 3.13 0.134 3473.31 399.5 107.34 - - 2052.16 - - - - - - - - - 16.06 -
14819.64 227.90 9.00 1798 14824.17 done 1.57 - - 2527.44 - 3.12 0.063 2180.69 -414.3 107.34 - - 2052.28 - - - - - - - - - 16.07 -
15129.67 207.29 6.77 1830 15135.45 done 1.61 - - 2528.25 - 3.88 0.147 736.69 -372.2 107.34 - - 2050.53 - - - - - - - - - 16.06 -
15228.60 199.39 8.50 1850 15235.41 done 1.61 - - 2527.75 - 3.46 0.062 2223.50 429.7 107.34 - - 2052.50 - - - - - - - - - 16.08 -
15534.77 177.97 6.86 1881 15536.10 VBD 1.64 - - 2527.88 - - - 2223.06 - 107.34 - - 2051.94 - - - - - - - - - - -
15834.81 157.11 7.24 1911 15839.31 done 1.67 - - 2527.44 - 3.14 0.133 3475.44 398.8 107.34 - - 2053.03 - - - - - - - - - 16.07 -
15988.69 144.10 8.22 1942 15995.53 done 1.67 - - 2527.94 - 3.12 0.062 2177.81 -415.9 107.34 - - 2051.91 - - - - - - - - - 16.07 -
16294.93 125.35 6.36 1973 16300.61 1.72 0.17 0.118 2565.75 222.4 3.86 0.145 734.44 -373.9 107.34 - - 2053.56 - - - - - - - - 16.07 16.06 -
16353.84 121.22 7.29 1985 16360.78 done 1.74 - - 2565.25 - 3.43 0.062 2225.12 434.6 107.34 - - 2052.06 - - - - - - - - - 16.07 -
16659.99 103.49 4.87 2016 16702.46 1.88 0.18 0.110 2603.00 209.7 3.13 0.132 3474.81 399.3 152.76 37.24 1.226 1876.22 -4.7 0.067 - - - - - - 16.07 15.88 13.24
16925.30 75.18 10.19 2069 16930.97 roll 1.88 - - 2602.12 - 3.13 0.063 2179.94 -413.7 152.76 - - 1870.34 - - - - - - - - - 15.96 -
17110.35 65.76 4.03 2106 17162.19 2.05 0.20 0.100 2644.25 210.7 3.91 0.145 736.31 -369.2 210.15 46.16 1.169 1641.84 -5.0 0.047 - - - - - - 15.97 15.74 13.19
17270.34 51.78 11.86 2138 17276.09 roll 2.05 - - 2644.38 - 3.50 0.060 2223.69 425.0 210.15 - - 1637.31 - - - - - - - - - 15.83 -
17455.38 38.42 5.40 2175 17491.83 done 2.16 - - 2644.62 - 4.04 0.138 736.75 -368.1 248.04 31.22 1.110 1489.25 -4.7 0.027 - - - - - - - 15.73 13.12
17495.44 36.55 4.64 2183 17542.07 2.31 0.35 0.081 2705.75 174.7 3.48 0.054 2226.31 428.0 296.70 40.15 1.097 1290.97 -4.9 0.027 - - - - - - 15.74 15.77 12.99
17720.40 17.08 8.49 2228 17726.21 roll 2.31 - - 2706.38 - 4.06 0.138 736.81 -366.9 296.70 - - 1283.62 - - - - - - - - - 15.72 -
17891 end climb: SURFACE_DEPTH_REACHED
17891 begin surface coast
17916 end surface coast: CONTROL_FINISHED_OK
17916 begin surface
SM 1.06 - - - - 181.2 0.99 0.143 768.4 776.2 16.22 0.076 767.1 47.3 - 3.22 0.061 769.6 237.7 -0.422 - - 15.47 15.76 15.81 -