NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 159 * Raw log
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• Previous call tries 2 • 70.35 of 575.00 AH used of 24V (87.77% remains)
• Surface angle -63.8 deg, depth 1.38 m • Intended pitch -17.1 deg, speed -8.049 cm/s
• No surface pump (final VBD was 880.9, SM_CC=475)
• GPS1 time: 23 s
• GPS2 time: 2 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
8.90 - - - 75.63 VBD -1.56 - - 185.44 - - - 2062.12 - -107.06 65.14 0.005 2477.09 - - - - - - - - - - 15.72
76.07 3.29 -3.10 13 128.01 -1.56 16.33 0.242 1960.94 108.7 3.38 0.101 3360.50 384.1 -107.06 24.48 0.006 3456.22 40.0 -3.625 - - - - - - 15.70 15.67 15.72
356.38 56.19 -15.33 68 362.82 roll -1.56 - - 1960.44 - 3.12 0.047 2068.81 -414.0 -107.06 - - 3460.00 - - - - - - - - - 15.90 -
546.40 81.61 -13.36 106 550.77 no move -1.56 - - 1961.19 - - - 2069.00 - -107.06 - - 3459.62 - - - - - - - - - - -
731.41 103.75 -10.94 140 737.21 roll -1.56 - - 1960.75 - 3.31 0.095 3360.31 390.1 -107.06 - - 3460.81 - - - - - - - - - 15.98 -
795.66 110.87 -10.49 153 802.82 roll -1.56 - - 1960.25 - 3.08 0.044 2067.00 -419.9 -107.06 - - 3461.22 - - - - - - - - - 15.96 -
1111.44 139.34 -8.86 185 1112.98 no move -1.56 - - 1960.81 - - - 2067.12 - -107.06 - - 3460.06 - - - - - - - - - - -
1421.46 168.36 -9.76 216 1427.22 roll -1.56 - - 1961.38 - 3.31 0.096 3361.81 391.1 -107.06 - - 3463.50 - - - - - - - - - 16.03 -
1475.70 174.46 -11.07 227 1482.86 roll -1.56 - - 1960.31 - 3.08 0.046 2069.62 -419.5 -107.06 - - 3462.66 - - - - - - - - - 16.01 -
1791.48 206.10 -9.74 259 1793.01 no move -1.56 - - 1960.88 - - - 2069.62 - -107.06 - - 3461.78 - - - - - - - - - - -
2101.49 233.86 -8.71 290 2103.02 no move -1.56 - - 1960.75 - - - 2069.56 - -107.06 - - 3461.69 - - - - - - - - - - -
2411.51 260.37 -8.45 321 2413.30 no move -1.56 - - 1960.62 - - - 2069.38 - -107.06 - - 3461.38 - - - - - - - - - - -
2721.56 288.94 -9.49 352 2727.50 roll -1.56 - - 1959.44 - 3.32 0.098 3363.62 389.8 -107.06 - - 3462.69 - - - - - - - - - 16.10 -
2761.56 293.02 -9.86 360 2767.37 roll -1.56 - - 1961.12 - 3.09 0.048 2070.50 -418.5 -107.06 - - 3461.78 - - - - - - - - - 16.10 -
3071.60 319.92 -8.51 392 3077.69 roll -1.56 - - 1961.25 - 3.63 0.120 690.56 -380.1 -107.06 - - 3462.38 - - - - - - - - - 16.08 -
3105.84 323.28 -9.24 399 3113.32 roll -1.56 - - 1960.94 - 3.36 0.051 2132.31 429.1 -107.06 - - 3461.44 - - - - - - - - - 16.09 -
3421.63 351.50 -8.95 431 3427.47 roll -1.56 - - 1960.62 - 3.15 0.101 3361.81 390.3 -107.06 - - 3462.66 - - - - - - - - - 16.11 -
3475.88 357.13 -10.27 442 3483.28 roll -1.56 - - 1961.19 - 3.11 0.048 2069.31 -415.6 -107.06 - - 3461.91 - - - - - - - - - 16.11 -
3791.67 386.61 -9.49 474 3793.24 no move -1.56 - - 1961.19 - - - 2069.56 - -107.06 - - 3461.00 - - - - - - - - - - -
4101.78 415.38 -9.01 505 4103.34 no move -1.56 - - 1961.06 - - - 2069.19 - -107.06 - - 3460.38 - - - - - - - - - - -
4411.72 443.52 -9.28 536 4413.28 no move -1.56 - - 1960.88 - - - 2069.56 - -107.06 - - 3459.44 - - - - - - - - - - -
4721.74 474.02 -9.52 567 4728.89 roll -1.56 - - 1960.94 - 3.69 0.123 687.81 -374.5 -107.06 - - 3459.72 - - - - - - - - - 16.12 -
4767.45 478.91 -10.50 576 4773.44 roll -1.56 - - 1961.06 - 3.39 0.053 2131.75 425.9 -107.06 - - 3459.69 - - - - - - - - - 16.15 -
5077.48 508.03 -9.25 608 5079.05 no move -1.56 - - 1960.88 - - - 2131.62 - -107.06 - - 3458.78 - - - - - - - - - - -
5387.51 535.95 -9.01 639 5389.08 no move -1.56 - - 1960.75 - - - 2131.12 - -107.06 - - 3457.72 - - - - - - - - - - -
5697.54 563.89 -8.99 670 5704.78 roll -1.56 - - 1959.12 - 3.81 0.120 690.25 -378.2 -107.06 - - 3458.47 - - - - - - - - - 16.15 -
5763.23 570.46 -10.34 683 5769.22 roll -1.56 - - 1961.12 - 3.38 0.055 2129.75 425.9 -107.06 - - 3458.31 - - - - - - - - - 16.15 -
6073.26 598.71 -9.31 715 6074.83 no move -1.56 - - 1960.81 - - - 2129.75 - -107.06 - - 3457.50 - - - - - - - - - - -
6383.29 626.22 -8.64 746 6390.53 roll -1.56 - - 1960.19 - 3.82 0.120 690.06 -376.9 -107.06 - - 3456.31 - - - - - - - - - 16.14 -
6428.97 630.71 -10.14 755 6435.23 roll -1.56 - - 1960.50 - 3.38 0.055 2130.88 426.3 -107.06 - - 3457.19 - - - - - - - - - 16.15 -
6739.00 656.31 -8.27 787 6740.57 no move -1.56 - - 1960.69 - - - 2130.88 - -107.06 - - 3456.22 - - - - - - - - - - -
7049.05 681.47 -7.88 818 7050.62 no move -1.56 - - 1961.25 - - - 2131.00 - -107.06 - - 3455.06 - - - - - - - - - - -
7359.11 705.91 -7.92 849 7366.35 roll -1.56 - - 1958.94 - 3.83 0.122 688.88 -376.5 -107.06 - - 3455.66 - - - - - - - - - 16.15 -
7434.80 712.87 -9.19 864 7440.78 roll -1.56 - - 1961.12 - 3.39 0.057 2129.25 424.9 -107.06 - - 3454.91 - - - - - - - - - 16.16 -
7744.83 736.37 -7.48 896 7746.40 no move -1.56 - - 1960.44 - - - 2130.06 - -107.06 - - 3453.69 - - - - - - - - - - -
8054.85 760.16 -7.92 927 8062.09 roll -1.56 - - 1961.38 - 3.82 0.122 690.88 -376.7 -107.06 - - 3454.19 - - - - - - - - - 16.15 -
8120.54 766.43 -9.99 940 8126.50 roll -1.56 - - 1961.12 - 3.39 0.056 2130.12 424.6 -107.06 - - 3454.56 - - - - - - - - - 16.15 -
8430.58 793.58 -8.98 972 8437.76 roll -1.56 - - 1959.00 - 3.79 0.123 690.38 -379.9 -107.06 - - 3454.25 - - - - - - - - - 16.15 -
8476.21 798.19 -10.54 981 8482.45 roll -1.56 - - 1961.19 - 3.38 0.056 2130.88 426.2 -107.06 - - 3453.69 - - - - - - - - - 16.16 -
8786.24 825.53 -8.56 1013 8792.08 roll -1.56 - - 1961.19 - 3.12 0.104 3361.56 394.4 -107.06 - - 3454.06 - - - - - - - - - 16.10 -
8826.23 829.59 -10.13 1021 8832.03 roll -1.56 - - 1960.88 - 3.09 0.051 2068.81 -418.4 -107.06 - - 3454.72 - - - - - - - - - 16.15 -
9136.26 855.03 -8.15 1053 9142.36 roll -1.56 - - 1961.12 - 3.63 0.128 689.88 -379.9 -107.06 - - 3452.38 - - - - - - - - - 16.14 -
9176.27 858.53 -8.48 1061 9182.22 roll -1.56 - - 1961.25 - 3.36 0.053 2132.62 429.4 -107.06 - - 3453.91 - - - - - - - - - 16.15 -
9486.30 883.55 -8.48 1093 9487.87 no move -1.56 - - 1961.06 - - - 2132.69 - -107.06 - - 3452.12 - - - - - - - - - - -
9796.33 909.23 -8.66 1124 9803.52 roll -1.56 - - 1960.25 - 3.79 0.122 688.94 -380.9 -107.06 - - 3452.84 - - - - - - - - - 16.14 -
9861.97 915.67 -9.99 1137 9867.92 roll -1.56 - - 1960.81 - 3.39 0.052 2130.94 425.4 -107.06 - - 3452.47 - - - - - - - - - 16.15 -
10172.00 942.99 -8.61 1169 10173.58 no move -1.56 - - 1960.81 - - - 2131.00 - -107.06 - - 3451.72 - - - - - - - - - - -
10482.04 969.28 -8.47 1200 10489.23 roll -1.56 - - 1960.50 - 3.79 0.120 689.69 -380.3 -107.06 - - 3452.81 - - - - - - - - - 16.14 -
10532.03 974.03 -9.47 1210 10539.50 roll -1.56 - - 1960.94 - 3.38 0.053 2131.06 426.4 -107.06 - - 3453.16 - - - - - - - - - 16.14 -
10727 end dive: TARGET_DEPTH_EXCEEDED
10728 begin apogee
10729.65 990.42 -8.56 1230 10823.63 -0.42 2.44 0.119 2240.50 114.6 0.10 0.231 2117.62 -134.4 - 86.26 2.222 3018.19 -5.0 0.372 - - - - - - 16.11 15.55 12.58
10827 end apogee: CONTROL_FINISHED_OK
10827 begin climb
10830.14 992.19 - 1239 10941.78 1.56 3.91 0.060 2728.81 124.9 3.39 0.101 3361.38 366.9 107.06 94.51 2.163 2581.41 -4.6 0.350 - - - - - - 15.64 15.32 12.86
11000.33 982.64 9.48 1271 11006.13 roll 1.56 - - 2728.75 - 3.07 0.045 2122.12 -403.7 107.06 - - 2577.41 - - - - - - - - - 15.64 -
11310.34 951.48 9.99 1303 11316.28 done 1.56 - - 2729.12 - 3.22 0.099 3361.44 384.9 107.06 - - 2570.06 - - - - - - - - - 15.88 -
11530.39 926.96 11.58 1347 11536.20 done 1.56 - - 2728.50 - 3.02 0.052 2121.81 -410.5 107.06 - - 2568.34 - - - - - - - - - 15.96 -
11840.41 896.13 9.57 1379 11846.36 done 1.56 - - 2728.88 - 3.23 0.096 3362.50 384.1 107.06 - - 2565.41 - - - - - - - - - 15.99 -
12000.45 878.58 11.81 1411 12006.20 done 1.56 - - 2727.50 - 2.99 0.049 2120.19 -415.5 107.06 - - 2566.78 - - - - - - - - - 16.03 -
12310.47 845.96 9.99 1443 12312.04 VBD 1.56 - - 2729.06 - - - 2120.81 - 107.06 - - 2563.44 - - - - - - - - - - -
12620.49 815.53 9.81 1474 12626.44 done 1.56 - - 2727.69 - 3.22 0.098 3362.25 385.5 107.06 - - 2565.16 - - - - - - - - - 16.08 -
12834.78 792.00 11.17 1517 12842.04 done 1.56 - - 2728.44 - 2.99 0.050 2120.00 -415.5 107.06 - - 2563.06 - - - - - - - - - 16.09 -
13150.55 760.56 9.17 1549 13156.47 done 1.56 - - 2728.69 - 3.20 0.097 3363.25 388.5 107.06 - - 2563.53 - - - - - - - - - 16.10 -
13384.85 734.87 10.89 1596 13392.16 done 1.56 - - 2728.69 - 2.97 0.048 2120.69 -418.4 107.06 - - 2562.66 - - - - - - - - - 16.12 -
13700.62 705.27 9.18 1628 13706.54 done 1.56 - - 2728.56 - 3.21 0.097 3361.69 386.6 107.06 - - 2560.94 - - - - - - - - - 16.10 -
13770.64 698.39 9.76 1642 13776.41 done 1.56 - - 2727.50 - 2.98 0.051 2120.25 -416.6 107.06 - - 2562.59 - - - - - - - - - 16.12 -
14080.67 670.61 8.68 1674 14086.57 done 1.56 - - 2729.19 - 3.17 0.098 3363.38 392.2 107.06 - - 2560.94 - - - - - - - - - 16.12 -
14210.69 657.86 9.94 1700 14216.45 done 1.56 - - 2728.38 - 2.99 0.052 2119.25 -416.1 107.06 - - 2561.97 - - - - - - - - - 16.14 -
14520.71 633.09 7.68 1732 14526.60 done 1.56 - - 2728.94 - 3.16 0.098 3363.62 393.8 107.06 - - 2560.62 - - - - - - - - - 16.12 -
14600.74 625.89 9.25 1748 14606.49 done 1.56 - - 2728.75 - 2.98 0.052 2118.50 -417.8 107.06 - - 2560.47 - - - - - - - - - 16.13 -
14910.77 599.86 8.04 1780 14912.34 VBD 1.56 - - 2728.75 - - - 2119.06 - 107.06 - - 2559.00 - - - - - - - - - - -
15220.83 576.37 7.11 1811 15226.66 done 1.59 - - 2728.75 - 3.16 0.097 3362.50 393.5 107.06 - - 2559.41 - - - - - - - - - 16.12 -
15395.07 562.21 8.09 1846 15402.37 done 1.59 - - 2728.94 - 2.98 0.052 2120.19 -416.9 107.06 - - 2560.03 - - - - - - - - - 16.14 -
15710.89 541.58 6.33 1878 15718.05 done 1.64 - - 2727.88 - 3.74 0.115 688.69 -382.8 107.06 - - 2558.09 - - - - - - - - - 16.13 -
15816.51 533.51 7.78 1899 15822.58 done 1.64 - - 2728.62 - 3.53 0.056 2180.38 422.6 107.06 - - 2557.75 - - - - - - - - - 16.11 -
16126.56 513.93 6.33 1931 16128.50 1.70 0.18 0.061 2760.12 175.0 - - 2181.19 - 107.06 - - 2557.22 - - - - - - - - 16.19 - -
16436.57 492.32 6.72 1962 16442.33 done 1.74 - - 2759.06 - 3.01 0.099 3364.12 393.0 107.06 - - 2560.41 - - - - - - - - - 16.10 -
16496.58 488.08 7.13 1974 16502.30 done 1.76 - - 2760.19 - 3.00 0.051 2119.25 -415.0 107.06 - - 2557.78 - - - - - - - - - 16.11 -
16806.60 468.42 5.97 2006 16812.60 1.83 0.17 0.065 2792.94 192.6 3.16 0.097 3362.31 393.4 107.06 - - 2557.94 - - - - - - - - 16.14 16.09 -
16870.86 464.23 6.39 2019 16878.08 done 1.87 - - 2792.81 - 2.98 0.050 2118.44 -417.4 107.06 - - 2558.56 - - - - - - - - - 16.15 -
17186.64 442.63 7.27 2051 17192.45 done 1.90 - - 2792.44 - 3.19 0.097 3361.12 389.6 107.06 - - 2559.06 - - - - - - - - - 16.10 -
17300.86 433.75 7.95 2074 17308.47 done 1.90 - - 2793.62 - 2.99 0.050 2117.56 -415.9 107.06 - - 2559.38 - - - - - - - - - 16.13 -
17616.68 411.23 7.39 2106 17622.49 done 1.92 - - 2793.25 - 3.17 0.094 3363.50 393.0 107.06 - - 2558.16 - - - - - - - - - 16.09 -
17726.84 402.87 7.58 2128 17732.42 done 1.92 - - 2793.69 - 2.98 0.051 2118.88 -417.7 107.06 - - 2558.94 - - - - - - - - - 16.12 -
18036.71 380.66 7.28 2160 18038.47 1.94 0.14 0.076 2820.75 193.3 - - 2119.44 - 107.06 - - 2557.16 - - - - - - - - 16.15 - -
18346.73 358.30 6.95 2191 18352.54 done 1.97 - - 2820.50 - 3.17 0.096 3364.00 392.6 107.06 - - 2557.69 - - - - - - - - - 16.10 -
18426.75 352.76 7.00 2207 18432.46 done 2.01 - - 2819.81 - 2.99 0.051 2119.06 -416.4 107.06 - - 2560.00 - - - - - - - - - 16.09 -
18736.77 334.75 5.59 2239 18744.15 2.08 0.25 0.051 2852.12 129.2 3.71 0.111 687.75 -385.8 107.06 - - 2558.97 - - - - - - - - 16.19 16.09 -
18796.88 330.86 6.80 2251 18804.39 done 2.12 - - 2853.75 - 3.56 0.056 2181.00 419.5 107.06 - - 2558.44 - - - - - - - - - 16.12 -
19112.65 313.99 5.12 2283 19120.01 2.20 0.17 0.060 2886.12 190.4 3.89 0.108 689.62 -383.4 107.06 - - 2557.88 - - - - - - - - 16.18 16.10 -
19348.55 298.82 6.56 2330 19354.57 done 2.25 - - 2886.56 - 3.52 0.056 2179.44 423.2 107.06 - - 2559.34 - - - - - - - - - 16.10 -
19658.55 282.56 5.04 2362 19713.12 2.33 0.14 0.067 2915.88 209.4 3.97 0.109 687.75 -375.7 165.92 45.77 1.348 2342.97 -4.7 0.164 - - - - - - 16.16 15.89 12.51
19871.59 256.59 15.39 2404 19878.95 roll back 2.33 0.33 0.180 2900.75 -45.8 3.59 0.057 2176.75 414.8 165.92 - - 2334.84 - - - - - - - - 15.91 15.99 -
20186.59 215.40 12.97 2436 20188.16 VBD 2.33 - - 2899.00 - - - 2176.62 - 165.92 - - 2332.47 - - - - - - - - - - -
20496.61 178.67 11.10 2467 20502.36 done 2.33 - - 2899.06 - 3.00 0.099 3362.94 395.4 165.92 - - 2333.75 - - - - - - - - - 16.00 -
20606.62 165.54 12.52 2489 20612.43 done 2.33 - - 2899.00 - 3.01 0.050 2119.19 -413.2 165.92 - - 2332.03 - - - - - - - - - 15.99 -
20916.63 133.66 9.36 2521 20924.10 done 2.33 - - 2899.19 - 3.74 0.111 687.25 -382.9 165.92 - - 2329.22 - - - - - - - - - 16.00 -
21016.90 124.17 9.13 2541 21024.47 done 2.33 - - 2898.81 - 3.54 0.056 2184.50 423.0 165.92 - - 2331.19 - - - - - - - - - 16.03 -
21332.71 101.80 4.91 2573 21407.93 2.41 0.28 0.049 2935.12 129.7 3.07 0.099 3364.06 384.2 227.25 66.39 1.090 2092.84 -3.6 0.055 - - - - - - 16.13 15.77 12.59
21636.36 73.84 9.26 2630 21642.97 roll 2.41 - - 2934.81 - 3.04 0.048 2119.44 -409.4 227.25 - - 2088.97 - - - - - - - - - 15.89 -
21826.42 64.40 4.51 2668 21907.28 done 2.50 - - 2935.25 - 3.82 0.110 689.50 -374.3 296.43 70.86 1.039 1809.78 -3.9 0.040 - - - - - - - 15.68 12.56
22135.85 30.16 13.37 2729 22142.68 roll 2.50 - - 2934.81 - 3.58 0.053 2180.69 416.5 296.43 - - 1808.16 - - - - - - - - - 15.88 -
22326.24 19.78 2.72 2767 22443.75 2.63 0.38 0.043 2985.94 134.6 3.98 0.107 689.56 -374.7 400.56 103.81 0.990 1385.50 -4.1 0.013 - - - - - - 15.95 15.60 12.62
22447.78 18.50 0.37 2790 22585.94 2.83 0.34 0.045 3033.69 140.4 3.63 0.051 2181.75 411.1 550.48 127.33 0.950 879.41 -4.0 0.013 - - - - - - 15.69 15.67 12.68
22586 end climb: SURFACE_DEPTH_REACHED
22586 begin surface coast
22590 end surface coast: CONTROL_FINISHED_OK
22591 begin surface
SM 1.66 - - - - 187.9 - - 879.8 - 21.61 0.049 878.6 40.6 - 0.24 0.088 880.9 3655.3 -7.047 - - 30.00 15.60 15.59 -