NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 158 * Raw log
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• Previous call tries 1 • 70.00 of 575.00 AH used of 24V (87.83% remains)
• Surface angle -65.0 deg, depth 1.41 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.88 (SM_CC=475)
• GPS1 time: 17 s
• GPS2 time: 4 s • Transponder ping count: 0
• 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
8.88 - - - 75.64 VBD -1.56 - - 184.31 - - - 2065.50 - -107.06 65.18 0.005 2471.81 - - - - - - - - - - 15.71
76.08 3.17 -2.97 13 128.27 -1.56 17.16 0.241 1960.06 103.5 3.37 0.100 3361.94 384.7 -107.06 24.06 0.006 3455.75 40.9 -3.571 - - - - - - 15.70 15.68 15.74
171.96 23.23 -24.23 31 178.06 roll -1.56 - - 1959.88 - 3.13 0.047 2070.44 -412.6 -107.06 - - 3459.16 - - - - - - - - - 15.85 -
361.63 52.01 -14.21 69 368.17 roll -1.56 - - 1959.81 - 3.35 0.096 3361.56 385.4 -107.06 - - 3459.00 - - - - - - - - - 15.90 -
406.63 58.96 -15.44 78 413.07 roll -1.56 - - 1959.94 - 3.11 0.045 2068.62 -415.7 -107.06 - - 3459.62 - - - - - - - - - 15.90 -
596.66 85.34 -12.81 116 603.18 roll -1.56 - - 1960.06 - 3.32 0.095 3362.38 389.7 -107.06 - - 3458.81 - - - - - - - - - 15.94 -
636.66 90.62 -13.07 124 643.09 roll -1.56 - - 1959.31 - 3.09 0.044 2067.62 -419.0 -107.06 - - 3460.09 - - - - - - - - - 15.94 -
831.67 113.27 -11.92 152 837.44 roll -1.56 - - 1960.31 - 3.32 0.094 3361.25 389.6 -107.06 - - 3459.44 - - - - - - - - - 15.99 -
855.91 116.31 -12.03 157 863.07 roll -1.56 - - 1959.38 - 3.09 0.044 2066.31 -419.1 -107.06 - - 3460.41 - - - - - - - - - 15.95 -
1171.69 151.10 -11.42 189 1173.22 no move -1.56 - - 1959.38 - - - 2066.38 - -107.06 - - 3459.38 - - - - - - - - - - -
1481.70 182.57 -9.54 220 1483.23 no move -1.56 - - 1960.06 - - - 2066.00 - -107.06 - - 3459.62 - - - - - - - - - - -
1791.76 210.63 -9.68 251 1797.86 roll -1.56 - - 1958.25 - 3.65 0.120 690.88 -376.7 -107.06 - - 3461.59 - - - - - - - - - 16.02 -
1826.00 214.38 -10.71 258 1833.47 roll -1.56 - - 1959.56 - 3.37 0.050 2133.19 428.0 -107.06 - - 3461.66 - - - - - - - - - 16.01 -
2141.80 245.10 -9.72 290 2143.36 no move -1.56 - - 1959.38 - - - 2134.25 - -107.06 - - 3459.81 - - - - - - - - - - -
2452.38 275.50 -9.50 321 2453.95 no move -1.56 - - 1959.62 - - - 2133.75 - -107.06 - - 3459.25 - - - - - - - - - - -
2761.85 304.65 -9.46 352 2769.10 roll -1.56 - - 1959.31 - 3.81 0.115 689.69 -379.0 -107.06 - - 3459.00 - - - - - - - - - 16.08 -
2827.55 311.41 -9.99 365 2833.53 roll -1.56 - - 1958.94 - 3.38 0.052 2131.62 426.6 -107.06 - - 3460.28 - - - - - - - - - 16.11 -
3137.57 339.61 -9.22 397 3139.14 no move -1.56 - - 1959.81 - - - 2130.94 - -107.06 - - 3459.91 - - - - - - - - - - -
3447.60 367.39 -9.11 428 3454.79 roll -1.56 - - 1959.25 - 3.80 0.117 689.94 -379.2 -107.06 - - 3460.50 - - - - - - - - - 16.13 -
3483.24 371.23 -10.73 435 3489.40 roll -1.56 - - 1959.62 - 3.38 0.051 2129.56 425.9 -107.06 - - 3459.94 - - - - - - - - - 16.13 -
3793.26 401.07 -9.66 467 3799.10 roll -1.56 - - 1958.19 - 3.16 0.101 3361.38 389.8 -107.06 - - 3461.62 - - - - - - - - - 16.12 -
3847.50 406.74 -10.29 478 3854.86 roll -1.56 - - 1960.00 - 3.09 0.048 2068.44 -418.4 -107.06 - - 3460.91 - - - - - - - - - 16.14 -
4163.29 435.65 -9.01 510 4164.86 no move -1.56 - - 1960.06 - - - 2068.50 - -107.06 - - 3459.25 - - - - - - - - - - -
4473.31 465.09 -9.93 541 4474.89 no move -1.56 - - 1959.38 - - - 2068.81 - -107.06 - - 3458.94 - - - - - - - - - - -
4783.41 495.41 -9.56 572 4789.27 roll -1.56 - - 1959.62 - 3.31 0.099 3361.00 390.4 -107.06 - - 3459.00 - - - - - - - - - 16.15 -
4827.57 500.52 -11.00 581 4834.89 roll -1.56 - - 1959.88 - 3.09 0.049 2068.62 -418.2 -107.06 - - 3459.94 - - - - - - - - - 16.13 -
5143.35 531.30 -9.42 613 5144.92 no move -1.56 - - 1960.25 - - - 2069.00 - -107.06 - - 3456.94 - - - - - - - - - - -
5453.38 560.33 -9.20 644 5454.95 no move -1.56 - - 1959.38 - - - 2068.75 - -107.06 - - 3457.09 - - - - - - - - - - -
5763.40 590.15 -9.43 675 5764.96 no move -1.56 - - 1959.69 - - - 2069.12 - -107.06 - - 3457.03 - - - - - - - - - - -
6073.40 618.86 -9.08 706 6074.97 no move -1.56 - - 1960.12 - - - 2068.69 - -107.06 - - 3455.91 - - - - - - - - - - -
6383.43 646.08 -8.80 737 6385.25 no move -1.56 - - 1960.12 - - - 2068.81 - -107.06 - - 3455.25 - - - - - - - - - - -
6693.44 673.41 -9.01 768 6699.87 roll -1.56 - - 1959.56 - 3.69 0.126 689.62 -373.8 -107.06 - - 3455.41 - - - - - - - - - 16.15 -
6763.46 680.44 -10.07 782 6769.46 roll -1.56 - - 1960.06 - 3.43 0.054 2131.00 420.2 -107.06 - - 3455.06 - - - - - - - - - 16.17 -
7073.49 707.24 -8.36 814 7075.06 no move -1.56 - - 1959.75 - - - 2131.00 - -107.06 - - 3453.75 - - - - - - - - - - -
7383.52 733.90 -8.16 845 7385.09 no move -1.56 - - 1959.75 - - - 2131.06 - -107.06 - - 3453.06 - - - - - - - - - - -
7693.54 759.58 -8.63 876 7700.79 roll -1.56 - - 1959.31 - 3.86 0.122 689.75 -373.4 -107.06 - - 3452.25 - - - - - - - - - 16.15 -
7779.33 768.12 -9.98 893 7785.28 roll -1.56 - - 1959.38 - 3.42 0.055 2130.81 421.4 -107.06 - - 3454.47 - - - - - - - - - 16.15 -
8089.27 795.44 -8.76 925 8090.84 no move -1.56 - - 1959.44 - - - 2130.94 - -107.06 - - 3452.66 - - - - - - - - - - -
8399.30 821.20 -8.14 956 8406.55 roll -1.56 - - 1959.25 - 3.85 0.122 690.75 -374.1 -107.06 - - 3452.00 - - - - - - - - - 16.15 -
8519.25 832.44 -9.20 980 8527.06 roll -1.56 - - 1960.12 - 3.43 0.057 2128.69 419.2 -107.06 - - 3453.69 - - - - - - - - - 16.15 -
8835.07 858.10 -8.10 1012 8836.64 no move -1.56 - - 1959.81 - - - 2128.94 - -107.06 - - 3452.34 - - - - - - - - - - -
9145.12 884.54 -8.45 1043 9152.36 roll -1.56 - - 1958.75 - 3.87 0.124 691.25 -371.5 -107.06 - - 3453.12 - - - - - - - - - 16.14 -
9220.81 891.97 -9.73 1058 9226.81 roll -1.56 - - 1959.88 - 3.41 0.056 2129.56 421.8 -107.06 - - 3452.88 - - - - - - - - - 16.15 -
9530.84 915.34 -7.17 1090 9532.42 no move -1.56 - - 1959.69 - - - 2130.06 - -107.06 - - 3451.84 - - - - - - - - - - -
9840.88 937.99 -7.49 1121 9848.12 roll -1.56 - - 1960.31 - 3.85 0.124 690.94 -373.8 -107.06 - - 3451.22 - - - - - - - - - 16.15 -
9910.81 944.08 -8.49 1135 9918.31 roll -1.56 - - 1960.06 - 3.40 0.057 2128.69 422.9 -107.06 - - 3452.84 - - - - - - - - - 16.14 -
10226.59 966.38 -7.03 1167 10228.17 no move -1.56 - - 1959.81 - - - 2128.88 - -107.06 - - 3451.12 - - - - - - - - - - -
10536.62 987.57 -6.71 1198 10544.12 roll -1.56 - - 1959.75 - 3.84 0.125 691.62 -374.3 -107.06 - - 3452.38 - - - - - - - - - 16.14 -
10566 end dive: TARGET_DEPTH_EXCEEDED
10567 begin apogee
10573.38 990.09 -7.44 1204 10667.91 -0.42 2.46 0.125 2239.69 113.8 0.10 0.230 2119.38 14277.6 - 86.75 2.223 3017.41 -5.0 0.369 - - - - - - 16.11 15.54 12.44
10673 end apogee: CONTROL_FINISHED_OK
10673 begin climb
10675.98 990.73 - 1213 10787.63 1.56 3.97 0.058 2729.19 123.3 3.39 0.103 3361.81 366.5 107.06 95.03 2.159 2581.66 -4.6 0.348 - - - - - - 15.66 15.33 12.85
10826.17 980.82 10.73 1241 10832.03 roll 1.56 - - 2729.75 - 3.11 0.051 2122.25 -398.6 107.06 - - 2577.44 - - - - - - - - - 15.60 -
11136.19 942.65 12.57 1273 11142.11 done 1.56 - - 2729.25 - 3.26 0.099 3362.62 380.5 107.06 - - 2570.59 - - - - - - - - - 15.87 -
11286.23 923.09 13.28 1303 11292.04 done 1.56 - - 2728.06 - 3.05 0.052 2120.81 -407.2 107.06 - - 2571.22 - - - - - - - - - 15.93 -
11596.25 886.10 11.96 1335 11597.82 VBD 1.56 - - 2728.75 - - - 2121.19 - 107.06 - - 2565.41 - - - - - - - - - - -
11906.27 851.42 11.12 1366 11912.19 done 1.56 - - 2728.75 - 3.24 0.099 3361.69 382.9 107.06 - - 2566.53 - - - - - - - - - 16.02 -
12140.57 823.98 12.00 1413 12147.89 done 1.56 - - 2729.50 - 3.02 0.053 2119.81 -411.2 107.06 - - 2565.22 - - - - - - - - - 16.06 -
12456.34 793.26 9.78 1445 12457.91 VBD 1.56 - - 2729.19 - - - 2119.88 - 107.06 - - 2562.75 - - - - - - - - - - -
12766.36 763.93 9.22 1476 12772.33 done 1.56 - - 2729.50 - 3.23 0.098 3363.06 384.9 107.06 - - 2564.97 - - - - - - - - - 16.11 -
12936.41 747.59 9.96 1510 12942.52 done 1.56 - - 2728.62 - 3.01 0.053 2121.00 -412.6 107.06 - - 2564.50 - - - - - - - - - 16.10 -
13246.42 721.21 8.14 1542 13247.99 VBD 1.56 - - 2729.25 - - - 2120.62 - 107.06 - - 2561.25 - - - - - - - - - - -
13556.45 695.91 8.30 1573 13562.32 done 1.56 - - 2727.88 - 3.19 0.098 3361.94 389.1 107.06 - - 2562.38 - - - - - - - - - 16.12 -
13776.50 675.44 10.03 1617 13782.30 done 1.56 - - 2728.75 - 2.99 0.053 2120.44 -415.2 107.06 - - 2562.03 - - - - - - - - - 16.13 -
14086.52 648.66 9.15 1649 14092.41 done 1.56 - - 2728.19 - 3.19 0.099 3361.12 388.9 107.06 - - 2562.38 - - - - - - - - - 16.12 -
14170.79 640.28 10.05 1666 14178.09 done 1.56 - - 2729.44 - 3.00 0.052 2117.81 -414.4 107.06 - - 2561.12 - - - - - - - - - 16.14 -
14486.56 613.22 8.55 1698 14492.48 done 1.56 - - 2729.19 - 3.19 0.097 3362.62 390.2 107.06 - - 2562.44 - - - - - - - - - 16.12 -
14586.59 603.84 9.14 1718 14592.36 done 1.56 - - 2729.56 - 2.99 0.051 2119.75 -415.7 107.06 - - 2561.28 - - - - - - - - - 16.13 -
14896.67 580.45 6.92 1750 14902.73 done 1.60 - - 2728.88 - 3.17 0.097 3363.19 392.3 107.06 - - 2561.84 - - - - - - - - - 16.14 -
15076.70 567.05 7.20 1786 15082.41 done 1.62 - - 2729.19 - 2.99 0.052 2120.31 -415.7 107.06 - - 2560.81 - - - - - - - - - 16.14 -
15386.72 547.45 6.61 1818 15392.74 1.67 0.10 0.089 2754.38 251.9 3.20 0.097 3362.75 388.3 107.06 - - 2561.38 - - - - - - - - 16.18 16.12 -
15566.71 532.93 8.18 1854 15572.47 done 1.67 - - 2753.88 - 2.97 0.051 2119.12 -418.7 107.06 - - 2561.41 - - - - - - - - - 16.14 -
15876.77 512.01 6.39 1886 15882.60 done 1.72 - - 2753.94 - 3.16 0.097 3362.81 393.6 107.06 - - 2559.72 - - - - - - - - - 16.13 -
16086.82 497.41 6.86 1928 16092.54 done 1.75 - - 2754.00 - 2.98 0.051 2118.38 -417.6 107.06 - - 2559.84 - - - - - - - - - 16.13 -
16396.84 478.27 5.98 1960 16402.85 1.81 0.20 0.066 2790.44 182.2 3.15 0.096 3362.75 395.0 107.06 - - 2560.94 - - - - - - - - 16.18 16.12 -
16451.09 474.41 7.28 1971 16458.32 done 1.84 - - 2791.44 - 2.97 0.051 2118.12 -419.1 107.06 - - 2560.97 - - - - - - - - - 16.14 -
16766.86 452.43 7.22 2003 16768.44 VBD 1.86 - - 2791.50 - - - 2118.25 - 107.06 - - 2558.53 - - - - - - - - - - -
17076.90 430.21 7.02 2034 17078.47 VBD 1.89 - - 2790.56 - - - 2117.88 - 107.06 - - 2559.03 - - - - - - - - - - -
17386.93 409.43 6.56 2065 17392.94 1.94 0.14 0.076 2820.94 217.0 3.16 0.098 3362.31 393.8 107.06 - - 2560.88 - - - - - - - - 16.17 16.11 -
17521.14 399.19 7.68 2092 17528.42 done 1.94 - - 2821.12 - 2.96 0.052 2116.12 -421.0 107.06 - - 2559.72 - - - - - - - - - 16.13 -
17836.96 378.42 6.90 2124 17844.13 done 1.97 - - 2820.81 - 3.72 0.113 689.00 -383.6 107.06 - - 2560.53 - - - - - - - - - 16.13 -
17976.83 367.64 8.17 2152 17984.40 done 1.97 - - 2820.81 - 3.57 0.056 2182.50 418.3 107.06 - - 2559.44 - - - - - - - - - 16.15 -
18292.65 346.58 6.34 2184 18298.66 done 2.02 - - 2821.56 - 3.06 0.099 3363.31 385.9 107.06 - - 2558.47 - - - - - - - - - 16.12 -
18526.94 330.66 6.62 2231 18534.33 2.07 0.16 0.065 2852.81 195.3 2.98 0.051 2117.88 -417.9 107.06 - - 2558.59 - - - - - - - - 16.19 16.12 -
18842.71 311.39 5.75 2263 18844.28 VBD 2.14 - - 2852.38 - - - 2118.75 - 107.06 - - 2556.97 - - - - - - - - - - -
19152.72 292.62 5.85 2294 19158.75 2.20 0.17 0.063 2884.62 189.6 3.23 0.096 3362.25 385.0 107.06 - - 2560.19 - - - - - - - - 16.15 16.08 -
19282.75 284.32 6.53 2320 19288.46 done 2.25 - - 2885.75 - 2.99 0.050 2119.50 -415.6 107.06 - - 2558.84 - - - - - - - - - 16.08 -
19592.78 267.02 5.53 2352 19598.91 2.32 0.15 0.066 2914.81 193.7 3.18 0.095 3363.81 391.3 107.06 - - 2559.53 - - - - - - - - 16.15 16.07 -
19827.07 252.64 5.84 2399 19834.33 done 2.39 - - 2913.62 - 3.00 0.050 2117.38 -415.5 107.06 - - 2560.16 - - - - - - - - - 16.13 -
20142.83 239.22 3.68 2431 20212.69 2.50 0.28 0.049 2957.25 155.8 - - 2117.69 - 192.47 65.63 1.310 2232.25 -5.0 0.151 - - - - - - 16.15 - 12.59
20516.21 186.43 16.15 2469 20522.12 done 2.50 - - 2957.44 - 3.24 0.095 3364.62 384.9 192.47 - - 2227.09 - - - - - - - - - 15.96 -
20596.22 172.72 16.58 2485 20602.29 2.50 0.34 0.179 2941.69 -46.3 3.01 0.051 2118.56 -414.0 192.47 - - 2224.12 - - - - - - - - 15.88 15.96 -
20906.24 130.64 12.20 2517 20907.81 VBD 2.50 - - 2941.12 - - - 2118.81 - 192.47 - - 2222.47 - - - - - - - - - - -
21211.27 96.65 10.20 2550 21217.87 done 2.50 - - 2940.81 - 3.16 0.094 3361.12 393.1 192.47 - - 2221.53 - - - - - - - - - 16.02 -
21301.30 88.39 10.19 2568 21307.85 done 2.50 - - 2940.56 - 2.98 0.050 2116.50 -417.7 192.47 - - 2222.94 - - - - - - - - - 16.03 -
21491.59 76.45 3.73 2606 21588.32 2.61 0.32 0.046 2983.12 133.0 3.83 0.109 688.88 -372.7 276.80 86.57 1.066 1891.06 -3.8 0.045 - - - - - - 15.98 15.69 12.68
21816.92 45.16 11.13 2670 21823.74 roll 2.61 - - 2983.12 - 3.55 0.055 2179.50 419.9 276.80 - - 1888.50 - - - - - - - - - 15.84 -
22007.29 30.71 5.85 2708 22014.32 roll 2.68 - - 2983.12 - 3.90 0.106 687.62 -382.5 276.80 - - 1888.44 - - - - - - - - - 15.87 -
22067.79 27.51 5.31 2720 22074.82 roll back 2.76 0.25 0.048 3018.94 143.3 3.54 0.053 2185.50 423.1 276.80 - - 1888.00 - - - - - - - - 15.98 15.91 -
22258.26 23.32 1.07 2758 22407.77 2.94 0.26 0.050 3062.44 167.3 4.01 0.105 689.94 -373.0 413.14 135.36 0.994 1334.09 -4.1 0.016 - - - - - - 15.99 15.57 12.60
22511 end climb: SURFACE_DEPTH_REACHED
22511 begin surface coast
22526 end surface coast: CONTROL_FINISHED_OK
22526 begin surface
SM 1.41 - - - - 186.8 59.32 0.956 1084.1 16.0 21.48 0.048 1103.2 51.3 - 3.43 0.051 1064.9 309.3 -0.874 - - 12.69 15.81 15.79 -