NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 165 * Raw log
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• Previous call tries 1 • 72.36 of 575.00 AH used of 24V (87.41% remains)
• Surface angle -64.8 deg, depth 1.40 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.86 (SM_CC=475)
• GPS1 time: 14 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
8.89 - - - 80.79 VBD -1.56 - - 187.88 - - - 2138.81 - -107.06 70.25 0.005 2576.06 - - - - - - - - - - 15.70
81.23 3.40 -3.08 14 132.40 -1.56 17.00 0.238 1959.38 104.2 3.83 0.115 690.12 -378.2 -107.06 20.86 0.006 3457.91 42.3 -3.960 - - - - - - 15.69 15.69 15.73
360.80 52.70 -14.96 69 367.38 roll -1.56 - - 1959.94 - 3.41 0.048 2129.25 422.0 -107.06 - - 3458.59 - - - - - - - - - 15.88 -
550.87 77.64 -11.55 107 557.89 roll -1.56 - - 1959.38 - 3.78 0.109 688.94 -381.0 -107.06 - - 3459.72 - - - - - - - - - 15.90 -
596.28 83.51 -13.33 116 602.86 roll -1.56 - - 1959.81 - 3.38 0.045 2133.31 427.3 -107.06 - - 3460.00 - - - - - - - - - 15.91 -
786.29 104.92 -10.91 150 787.83 no move -1.56 - - 1959.62 - - - 2133.06 - -107.06 - - 3458.66 - - - - - - - - - - -
1096.31 137.34 -10.30 181 1101.99 roll -1.56 - - 1960.06 - 3.14 0.096 3364.69 392.2 -107.06 - - 3461.09 - - - - - - - - - 15.99 -
1146.32 142.75 -11.13 191 1151.96 roll -1.56 - - 1959.69 - 3.05 0.042 2067.88 -425.2 -107.06 - - 3460.72 - - - - - - - - - 16.00 -
1456.33 172.17 -10.00 223 1462.21 roll -1.56 - - 1959.19 - 3.60 0.115 689.81 -382.8 -107.06 - - 3461.53 - - - - - - - - - 16.03 -
1490.58 175.74 -10.20 230 1497.87 roll -1.56 - - 1959.56 - 3.35 0.045 2135.50 431.5 -107.06 - - 3461.66 - - - - - - - - - 16.00 -
1806.40 206.36 -9.44 262 1812.28 roll -1.56 - - 1959.62 - 3.12 0.096 3361.56 393.0 -107.06 - - 3462.03 - - - - - - - - - 16.06 -
1840.64 210.17 -10.89 269 1847.99 roll -1.56 - - 1959.62 - 3.03 0.041 2066.12 -427.5 -107.06 - - 3461.34 - - - - - - - - - 16.01 -
2156.44 240.61 -10.51 301 2162.49 roll -1.56 - - 1960.06 - 3.59 0.117 689.00 -383.6 -107.06 - - 3460.72 - - - - - - - - - 16.07 -
2190.68 244.87 -12.16 308 2198.14 roll -1.56 - - 1959.88 - 3.35 0.045 2133.81 431.3 -107.06 - - 3461.34 - - - - - - - - - 16.03 -
2506.46 279.52 -11.52 340 2508.04 no move -1.56 - - 1959.56 - - - 2134.25 - -107.06 - - 3460.53 - - - - - - - - - - -
2816.50 314.39 -11.55 371 2818.06 no move -1.56 - - 1959.44 - - - 2134.44 - -107.06 - - 3460.31 - - - - - - - - - - -
3126.52 348.26 -10.74 402 3133.71 roll -1.56 - - 1959.25 - 3.75 0.113 689.19 -385.4 -107.06 - - 3460.81 - - - - - - - - - 16.08 -
3156.39 351.76 -11.35 408 3163.86 roll -1.56 - - 1959.81 - 3.36 0.048 2134.44 430.1 -107.06 - - 3460.91 - - - - - - - - - 16.11 -
3472.18 385.09 -10.39 440 3473.74 no move -1.56 - - 1960.06 - - - 2134.50 - -107.06 - - 3459.66 - - - - - - - - - - -
3782.21 415.55 -9.66 471 3783.78 no move -1.56 - - 1959.62 - - - 2135.25 - -107.06 - - 3459.91 - - - - - - - - - - -
4092.24 443.24 -8.64 502 4093.81 no move -1.56 - - 1960.12 - - - 2135.00 - -107.06 - - 3460.12 - - - - - - - - - - -
4402.27 470.79 -9.31 533 4409.46 roll -1.56 - - 1959.56 - 3.76 0.117 688.62 -384.7 -107.06 - - 3460.06 - - - - - - - - - 16.14 -
4447.66 475.67 -10.92 542 4453.84 roll -1.56 - - 1960.06 - 3.36 0.050 2132.69 429.8 -107.06 - - 3460.78 - - - - - - - - - 16.14 -
4757.93 505.83 -9.72 574 4763.81 roll -1.56 - - 1959.81 - 3.12 0.098 3362.88 394.3 -107.06 - - 3460.12 - - - - - - - - - 16.12 -
4802.17 510.52 -10.34 583 4809.53 roll -1.56 - - 1959.75 - 3.02 0.044 2066.50 -429.3 -107.06 - - 3460.16 - - - - - - - - - 16.15 -
5117.97 538.95 -8.79 615 5124.05 roll -1.56 - - 1959.56 - 3.59 0.120 688.75 -383.8 -107.06 - - 3459.25 - - - - - - - - - 16.13 -
5167.98 543.61 -9.61 625 5173.94 roll -1.56 - - 1959.44 - 3.37 0.048 2132.00 428.3 -107.06 - - 3459.28 - - - - - - - - - 16.15 -
5478.00 571.12 -8.95 657 5479.57 no move -1.56 - - 1959.94 - - - 2132.50 - -107.06 - - 3458.66 - - - - - - - - - - -
5788.06 598.84 -8.73 688 5789.63 no move -1.56 - - 1959.44 - - - 2132.38 - -107.06 - - 3457.38 - - - - - - - - - - -
6098.11 626.28 -8.42 719 6099.68 no move -1.56 - - 1959.62 - - - 2132.31 - -107.06 - - 3456.62 - - - - - - - - - - -
6408.15 653.36 -9.07 750 6409.72 no move -1.56 - - 1959.88 - - - 2132.12 - -107.06 - - 3456.59 - - - - - - - - - - -
6718.18 681.09 -8.71 781 6725.38 roll -1.56 - - 1959.25 - 3.79 0.118 688.81 -380.8 -107.06 - - 3455.88 - - - - - - - - - 16.14 -
6753.82 684.72 -10.22 788 6759.77 roll -1.56 - - 1959.94 - 3.37 0.050 2131.75 428.2 -107.06 - - 3457.53 - - - - - - - - - 16.16 -
7063.85 709.93 -7.80 820 7065.42 no move -1.56 - - 1959.44 - - - 2131.94 - -107.06 - - 3456.00 - - - - - - - - - - -
7373.87 736.07 -8.22 851 7381.08 roll -1.56 - - 1960.00 - 3.78 0.118 688.88 -381.8 -107.06 - - 3454.66 - - - - - - - - - 16.15 -
7429.53 741.43 -9.43 862 7435.51 roll -1.56 - - 1959.94 - 3.36 0.050 2132.00 429.5 -107.06 - - 3456.91 - - - - - - - - - 16.16 -
7739.56 767.57 -8.05 894 7741.13 no move -1.56 - - 1959.69 - - - 2131.75 - -107.06 - - 3454.97 - - - - - - - - - - -
8049.58 794.20 -8.43 925 8057.02 roll -1.56 - - 1959.38 - 3.75 0.116 690.94 -384.2 -107.06 - - 3454.88 - - - - - - - - - 16.14 -
8099.82 798.87 -9.19 935 8107.33 roll -1.56 - - 1960.00 - 3.37 0.051 2131.81 427.6 -107.06 - - 3454.72 - - - - - - - - - 16.14 -
8415.61 825.34 -8.55 967 8422.80 roll -1.56 - - 1958.19 - 3.77 0.117 688.88 -382.7 -107.06 - - 3455.12 - - - - - - - - - 16.14 -
8451.25 828.71 -9.52 974 8457.24 roll -1.56 - - 1959.50 - 3.35 0.050 2131.38 430.6 -107.06 - - 3454.16 - - - - - - - - - 16.14 -
8761.29 853.89 -8.58 1006 8762.86 no move -1.56 - - 1959.56 - - - 2131.81 - -107.06 - - 3453.16 - - - - - - - - - - -
9071.31 879.20 -8.03 1037 9078.50 roll -1.56 - - 1960.12 - 3.77 0.117 689.94 -382.5 -107.06 - - 3453.06 - - - - - - - - - 16.15 -
9147.04 886.34 -9.36 1052 9152.93 roll -1.56 - - 1959.44 - 3.36 0.050 2130.75 428.8 -107.06 - - 3455.12 - - - - - - - - - 16.15 -
9456.98 910.63 -7.41 1084 9458.55 no move -1.56 - - 1959.44 - - - 2130.56 - -107.06 - - 3452.50 - - - - - - - - - - -
9767.01 932.37 -6.38 1115 9768.58 no move -1.56 - - 1959.94 - - - 2130.69 - -107.06 - - 3451.62 - - - - - - - - - - -
10077.06 951.84 -6.60 1146 10078.63 no move -1.56 - - 1959.56 - - - 2130.81 - -107.06 - - 3451.97 - - - - - - - - - - -
10387.12 974.06 -7.37 1177 10394.32 roll -1.56 - - 1959.69 - 3.78 0.121 690.00 -381.2 -107.06 - - 3451.59 - - - - - - - - - 16.14 -
10472.89 981.19 -8.52 1194 10478.83 roll -1.56 - - 1959.69 - 3.36 0.055 2130.81 428.8 -107.06 - - 3453.28 - - - - - - - - - 16.14 -
10602 end dive: TARGET_DEPTH_EXCEEDED
10603 begin apogee
10604.59 990.36 -6.89 1208 10698.84 -0.42 2.62 0.121 2239.88 106.9 0.10 0.230 2117.50 -133.1 - 86.71 2.210 3019.66 -5.0 0.370 - - - - - - 16.09 15.55 12.49
10702 end apogee: CONTROL_FINISHED_OK
10702 begin climb
10705.11 991.17 - 1217 10809.66 1.56 3.99 0.058 2728.81 122.5 - - 2118.19 - 107.06 94.96 2.144 2580.50 -4.6 0.353 - - - - - - 15.64 - 12.86
11113.18 954.49 11.43 1258 11114.76 VBD 1.56 - - 2728.75 - - - 2118.38 - 107.06 - - 2567.97 - - - - - - - - - - -
11423.19 921.46 10.18 1289 11429.10 done 1.56 - - 2728.44 - 3.22 0.099 3362.19 386.3 107.06 - - 2567.72 - - - - - - - - - 15.94 -
11657.48 895.90 10.56 1336 11664.74 done 1.56 - - 2729.44 - 2.96 0.047 2118.19 -420.3 107.06 - - 2565.34 - - - - - - - - - 16.01 -
11973.25 865.14 9.85 1368 11979.13 done 1.56 - - 2729.50 - 3.18 0.097 3360.88 390.8 107.06 - - 2564.66 - - - - - - - - - 16.04 -
12107.53 850.80 11.00 1395 12114.83 done 1.56 - - 2730.31 - 2.93 0.047 2119.06 -423.8 107.06 - - 2564.44 - - - - - - - - - 16.07 -
12423.30 819.23 10.25 1427 12429.17 done 1.56 - - 2729.06 - 3.18 0.095 3362.56 391.0 107.06 - - 2564.03 - - - - - - - - - 16.07 -
12503.33 810.50 10.66 1443 12509.08 done 1.56 - - 2729.88 - 2.93 0.046 2117.94 -424.8 107.06 - - 2563.84 - - - - - - - - - 16.09 -
12813.35 779.34 9.68 1475 12814.92 VBD 1.56 - - 2730.38 - - - 2117.31 - 107.06 - - 2560.84 - - - - - - - - - - -
13123.62 750.33 8.76 1506 13129.24 done 1.56 - - 2729.69 - 3.18 0.096 3362.50 391.6 107.06 - - 2561.38 - - - - - - - - - 16.11 -
13223.40 740.87 9.46 1526 13229.20 done 1.56 - - 2730.06 - 2.91 0.045 2118.62 -427.5 107.06 - - 2562.16 - - - - - - - - - 16.12 -
13533.42 714.56 8.63 1558 13539.33 done 1.56 - - 2730.69 - 3.17 0.096 3363.38 392.7 107.06 - - 2560.72 - - - - - - - - - 16.12 -
13623.44 705.91 10.06 1576 13629.24 done 1.56 - - 2730.25 - 2.92 0.045 2116.62 -427.0 107.06 - - 2560.81 - - - - - - - - - 16.12 -
13933.47 678.94 8.45 1608 13935.04 VBD 1.56 - - 2730.19 - - - 2116.69 - 107.06 - - 2559.41 - - - - - - - - - - -
14243.50 652.63 8.37 1639 14249.38 done 1.56 - - 2730.12 - 3.20 0.096 3363.19 389.5 107.06 - - 2559.88 - - - - - - - - - 16.13 -
14433.53 634.44 9.77 1677 14439.30 done 1.56 - - 2730.38 - 2.92 0.046 2116.12 -427.1 107.06 - - 2560.03 - - - - - - - - - 16.13 -
14743.56 608.78 7.92 1709 14749.42 done 1.56 - - 2729.69 - 3.18 0.094 3363.31 392.2 107.06 - - 2561.00 - - - - - - - - - 16.14 -
14973.59 588.52 9.16 1755 14979.36 done 1.56 - - 2729.56 - 2.92 0.044 2115.75 -427.2 107.06 - - 2560.84 - - - - - - - - - 16.13 -
15283.66 564.22 6.98 1787 15285.23 VBD 1.60 - - 2730.38 - - - 2115.56 - 107.06 - - 2558.50 - - - - - - - - - - -
15593.69 542.86 6.97 1818 15595.26 VBD 1.63 - - 2729.38 - - - 2115.19 - 107.06 - - 2558.38 - - - - - - - - - - -
15903.72 520.90 7.34 1849 15909.53 done 1.65 - - 2730.00 - 3.18 0.097 3363.50 392.6 107.06 - - 2560.09 - - - - - - - - - 16.13 -
16137.97 502.32 7.81 1896 16145.28 done 1.65 - - 2730.06 - 2.91 0.046 2118.94 -427.7 107.06 - - 2559.94 - - - - - - - - - 16.13 -
16453.78 481.63 6.43 1928 16459.76 1.70 0.17 0.069 2761.44 184.6 3.18 0.094 3363.25 391.3 107.06 - - 2558.81 - - - - - - - - 16.16 16.12 -
16523.80 476.45 7.16 1942 16529.51 done 1.73 - - 2761.06 - 2.91 0.045 2115.88 -428.6 107.06 - - 2559.84 - - - - - - - - - 16.13 -
16833.77 454.18 7.68 1974 16840.17 done 1.73 - - 2760.44 - 3.67 0.112 687.81 -389.1 107.06 - - 2559.84 - - - - - - - - - 16.12 -
16998.06 440.32 8.19 2007 17005.65 done 1.73 - - 2761.81 - 3.55 0.054 2180.62 420.5 107.06 - - 2556.84 - - - - - - - - - 16.13 -
17313.87 417.87 6.45 2039 17321.09 done 1.77 - - 2761.19 - 3.85 0.106 689.12 -387.4 107.06 - - 2554.84 - - - - - - - - - 16.13 -
17469.55 405.42 8.32 2070 17475.61 done 1.77 - - 2760.56 - 3.54 0.053 2180.94 421.4 107.06 - - 2558.50 - - - - - - - - - 16.14 -
17779.60 384.98 6.16 2102 17785.64 1.83 0.17 0.064 2795.88 207.8 3.03 0.096 3363.75 390.4 107.06 - - 2558.00 - - - - - - - - 16.18 16.11 -
17903.86 376.80 6.51 2127 17911.09 done 1.88 - - 2796.31 - 2.93 0.044 2117.38 -425.4 107.06 - - 2556.75 - - - - - - - - - 16.13 -
18219.64 359.64 5.44 2159 18226.92 1.95 0.13 0.075 2823.69 210.6 3.68 0.110 687.62 -388.5 107.06 - - 2556.00 - - - - - - - - 16.19 16.10 -
18455.45 345.51 6.20 2206 18461.48 done 2.01 - - 2823.31 - 3.52 0.052 2180.38 424.1 107.06 - - 2557.81 - - - - - - - - - 16.13 -
18765.45 329.53 5.26 2238 18767.21 2.09 0.19 0.060 2858.44 184.9 - - 2181.00 - 107.06 - - 2555.66 - - - - - - - - 16.19 - -
19075.47 310.98 6.19 2269 19077.04 VBD 2.15 - - 2858.69 - - - 2180.62 - 107.06 - - 2555.56 - - - - - - - - - - -
19385.48 289.81 6.22 2300 19391.41 2.20 0.13 0.073 2886.94 217.3 3.04 0.095 3362.81 388.9 107.06 - - 2556.59 - - - - - - - - 16.14 16.07 -
19609.77 275.22 5.69 2345 19616.99 done 2.27 - - 2886.94 - 2.92 0.043 2112.25 -428.3 107.06 - - 2556.91 - - - - - - - - - 16.13 -
19925.53 260.55 4.59 2377 19986.42 2.36 0.22 0.056 2922.38 161.1 3.73 0.109 688.62 -381.7 174.70 52.15 1.311 2306.31 -4.8 0.158 - - - - - - 16.11 15.86 12.58
19989.65 256.20 8.28 2387 19996.90 roll back 2.36 0.30 0.184 2908.00 -47.9 3.56 0.050 2184.50 420.2 174.70 - - 2306.47 - - - - - - - - 15.89 15.93 -
20304.86 219.45 11.49 2419 20310.69 done 2.36 - - 2907.25 - 3.04 0.094 3365.75 388.6 174.70 - - 2298.03 - - - - - - - - - 15.96 -
20354.86 213.25 12.41 2429 20360.62 done 2.36 - - 2909.25 - 2.95 0.043 2119.81 -422.4 174.70 - - 2296.28 - - - - - - - - - 15.97 -
20664.88 176.97 12.23 2461 20666.46 VBD 2.36 - - 2908.25 - - - 2118.19 - 174.70 - - 2294.09 - - - - - - - - - - -
20974.90 138.73 12.90 2492 20981.04 done 2.36 - - 2908.25 - 3.21 0.093 3362.50 387.6 174.70 - - 2294.16 - - - - - - - - - 16.01 -
21024.91 132.14 13.20 2502 21030.66 done 2.36 - - 2908.88 - 2.94 0.045 2117.69 -423.4 174.70 - - 2294.25 - - - - - - - - - 16.00 -
21334.93 97.52 10.20 2536 21341.88 done 2.36 - - 2908.56 - 3.73 0.110 688.19 -383.2 174.70 - - 2293.47 - - - - - - - - - 16.02 -
21460.33 84.10 8.84 2561 21467.17 done 2.36 - - 2908.44 - 3.56 0.053 2184.44 420.3 174.70 - - 2293.44 - - - - - - - - - 16.02 -
21650.84 77.22 2.81 2599 21767.94 2.50 0.40 0.044 2955.12 116.7 3.12 0.095 3363.00 377.7 277.05 106.33 1.051 1890.31 -3.8 0.046 - - - - - - 16.06 15.67 12.59
21996.51 41.33 12.18 2667 22003.01 roll 2.50 - - 2956.00 - 2.99 0.047 2119.69 -415.8 277.05 - - 1887.34 - - - - - - - - - 15.83 -
22186.52 21.88 7.91 2705 22193.69 roll 2.50 - - 2955.56 - 3.74 0.108 687.38 -383.0 277.05 - - 1888.78 - - - - - - - - - 15.87 -
22362.20 19.26 0.24 2740 22527.18 2.69 0.36 0.042 3004.75 136.6 3.56 0.050 2187.81 421.5 429.65 150.44 0.975 1268.91 -4.1 0.013 - - - - - - 15.98 15.95 12.58
22600 end climb: SURFACE_DEPTH_REACHED
22600 begin surface coast
22620 end surface coast: CONTROL_FINISHED_OK
22621 begin surface
SM 1.91 - - - - 189.4 45.44 0.932 1084.2 20.5 21.57 0.048 1097.7 50.9 - 0.25 0.087 1070.6 4268.2 -9.577 - - 12.69 15.79 15.76 -