NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 168 * Raw log
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• Previous call tries 1 • 73.37 of 575.00 AH used of 24V (87.24% remains)
• Surface angle -65.2 deg, depth 1.42 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.25 (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
8.92 - - - 75.68 VBD -1.56 - - 186.62 - - - 2139.06 - -107.06 65.14 0.005 2487.47 - - - - - - - - - - 15.71
76.12 3.56 -3.52 13 126.95 -1.56 16.33 0.244 1959.75 108.6 3.17 0.101 3362.25 385.9 -107.06 23.22 0.006 3457.66 41.8 -4.095 - - - - - - 15.67 15.69 15.72
295.68 47.57 -19.06 56 301.71 roll -1.56 - - 1959.50 - 3.08 0.045 2066.75 -420.6 -107.06 - - 3459.72 - - - - - - - - - 15.85 -
485.33 76.17 -12.51 94 491.85 roll -1.56 - - 1959.81 - 3.33 0.092 3361.25 388.7 -107.06 - - 3458.88 - - - - - - - - - 15.90 -
515.32 79.64 -11.64 100 521.75 roll -1.56 - - 1959.81 - 3.04 0.041 2066.50 -425.9 -107.06 - - 3459.16 - - - - - - - - - 15.92 -
705.34 99.34 -10.34 138 709.72 no move -1.56 - - 1959.88 - - - 2066.00 - -107.06 - - 3459.28 - - - - - - - - - - -
895.35 119.87 -10.57 158 901.22 roll -1.56 - - 1959.75 - 3.60 0.115 689.75 -382.3 -107.06 - - 3459.66 - - - - - - - - - 15.96 -
999.62 131.89 -11.35 179 1006.94 roll -1.56 - - 1959.94 - 3.38 0.045 2132.81 426.9 -107.06 - - 3460.28 - - - - - - - - - 16.01 -
1315.39 159.69 -8.47 211 1322.39 roll -1.56 - - 1959.94 - 3.77 0.109 689.81 -382.8 -107.06 - - 3461.25 - - - - - - - - - 15.99 -
1350.79 163.00 -9.00 218 1356.56 roll -1.56 - - 1959.56 - 3.36 0.044 2134.25 429.9 -107.06 - - 3460.25 - - - - - - - - - 16.02 -
1660.80 194.62 -11.40 250 1662.62 no move -1.56 - - 1960.19 - - - 2134.50 - -107.06 - - 3459.31 - - - - - - - - - - -
1970.85 229.29 -10.57 281 1972.42 no move -1.56 - - 1959.44 - - - 2134.31 - -107.06 - - 3460.09 - - - - - - - - - - -
2280.88 260.08 -9.51 312 2282.45 no move -1.56 - - 1960.00 - - - 2134.31 - -107.06 - - 3459.69 - - - - - - - - - - -
2590.90 287.74 -9.12 343 2598.08 roll -1.56 - - 1958.44 - 3.77 0.114 690.00 -383.1 -107.06 - - 3460.84 - - - - - - - - - 16.06 -
2670.77 296.24 -10.51 359 2678.24 roll -1.56 - - 1960.12 - 3.37 0.047 2133.25 428.3 -107.06 - - 3461.19 - - - - - - - - - 16.08 -
2986.56 326.58 -9.43 391 2988.13 no move -1.56 - - 1959.94 - - - 2133.50 - -107.06 - - 3459.56 - - - - - - - - - - -
3296.59 356.73 -9.78 422 3303.78 roll -1.56 - - 1960.00 - 3.75 0.112 688.62 -385.3 -107.06 - - 3460.94 - - - - - - - - - 16.11 -
3342.23 361.72 -10.94 431 3348.17 roll -1.56 - - 1959.88 - 3.36 0.047 2132.75 429.8 -107.06 - - 3460.94 - - - - - - - - - 16.13 -
3652.25 391.98 -9.51 463 3653.82 no move -1.56 - - 1959.38 - - - 2132.06 - -107.06 - - 3459.97 - - - - - - - - - - -
3962.28 421.40 -9.17 494 3963.86 no move -1.56 - - 1959.38 - - - 2132.44 - -107.06 - - 3459.56 - - - - - - - - - - -
4272.31 449.81 -9.20 525 4273.88 no move -1.56 - - 1959.50 - - - 2131.94 - -107.06 - - 3459.56 - - - - - - - - - - -
4582.34 476.62 -8.33 556 4589.53 roll -1.56 - - 1959.12 - 3.74 0.114 687.50 -386.2 -107.06 - - 3459.22 - - - - - - - - - 16.14 -
4622.32 480.42 -9.22 564 4629.80 roll -1.56 - - 1960.06 - 3.37 0.048 2133.31 429.0 -107.06 - - 3460.34 - - - - - - - - - 16.15 -
4938.15 506.76 -8.40 596 4939.72 no move -1.56 - - 1959.50 - - - 2133.31 - -107.06 - - 3458.91 - - - - - - - - - - -
5248.17 531.96 -8.45 627 5249.74 no move -1.56 - - 1959.62 - - - 2133.50 - -107.06 - - 3458.12 - - - - - - - - - - -
5558.29 559.69 -9.14 658 5559.86 no move -1.56 - - 1959.31 - - - 2133.31 - -107.06 - - 3457.62 - - - - - - - - - - -
5868.23 589.38 -9.59 689 5869.80 no move -1.56 - - 1959.62 - - - 2133.56 - -107.06 - - 3457.50 - - - - - - - - - - -
6178.26 619.00 -9.51 720 6179.83 no move -1.56 - - 1959.56 - - - 2133.56 - -107.06 - - 3456.62 - - - - - - - - - - -
6488.29 646.40 -8.49 751 6495.48 roll -1.56 - - 1959.38 - 3.74 0.118 687.69 -386.6 -107.06 - - 3456.81 - - - - - - - - - 16.15 -
6538.16 651.45 -9.79 761 6545.67 roll -1.56 - - 1960.12 - 3.38 0.051 2132.25 427.4 -107.06 - - 3457.47 - - - - - - - - - 16.15 -
6853.95 680.77 -9.77 793 6855.52 no move -1.56 - - 1959.88 - - - 2132.06 - -107.06 - - 3456.22 - - - - - - - - - - -
7163.98 709.65 -8.97 824 7171.17 roll -1.56 - - 1959.94 - 3.75 0.116 689.88 -384.6 -107.06 - - 3455.97 - - - - - - - - - 16.15 -
7219.73 715.04 -9.68 835 7225.69 roll -1.56 - - 1960.19 - 3.36 0.049 2130.94 428.9 -107.06 - - 3456.78 - - - - - - - - - 16.15 -
7529.76 741.90 -9.05 867 7531.33 no move -1.56 - - 1959.56 - - - 2131.06 - -107.06 - - 3454.94 - - - - - - - - - - -
7839.79 767.06 -7.83 898 7841.37 no move -1.56 - - 1959.69 - - - 2130.94 - -107.06 - - 3454.91 - - - - - - - - - - -
8149.81 790.73 -7.55 929 8151.39 no move -1.56 - - 1959.44 - - - 2130.81 - -107.06 - - 3454.56 - - - - - - - - - - -
8459.84 814.18 -7.50 960 8467.03 roll -1.56 - - 1959.06 - 3.77 0.118 688.88 -382.5 -107.06 - - 3453.00 - - - - - - - - - 16.15 -
8519.71 819.25 -8.44 972 8527.21 roll -1.56 - - 1959.88 - 3.37 0.051 2131.94 428.2 -107.06 - - 3454.66 - - - - - - - - - 16.15 -
8835.51 841.76 -7.18 1004 8842.70 roll -1.56 - - 1959.19 - 3.78 0.118 688.81 -381.8 -107.06 - - 3452.44 - - - - - - - - - 16.14 -
8875.38 845.38 -8.91 1012 8882.85 roll -1.56 - - 1959.94 - 3.37 0.050 2131.56 428.1 -107.06 - - 3453.75 - - - - - - - - - 16.15 -
9191.18 867.65 -6.51 1044 9197.03 roll -1.56 - - 1959.69 - 3.13 0.099 3361.88 393.1 -107.06 - - 3453.66 - - - - - - - - - 16.13 -
9225.41 870.41 -6.96 1051 9232.73 roll -1.56 - - 1959.56 - 3.05 0.043 2069.25 -423.8 -107.06 - - 3454.44 - - - - - - - - - 16.15 -
9541.18 892.44 -7.80 1083 9542.75 no move -1.56 - - 1960.12 - - - 2069.62 - -107.06 - - 3452.44 - - - - - - - - - - -
9851.21 915.48 -7.90 1114 9857.15 roll -1.56 - - 1959.44 - 3.32 0.099 3362.62 389.5 -107.06 - - 3454.09 - - - - - - - - - 16.15 -
9885.45 918.75 -8.39 1121 9892.77 roll -1.56 - - 1960.00 - 3.05 0.045 2068.25 -424.4 -107.06 - - 3453.47 - - - - - - - - - 16.14 -
10201.25 942.86 -7.68 1153 10202.82 no move -1.56 - - 1959.44 - - - 2068.38 - -107.06 - - 3452.41 - - - - - - - - - - -
10511.27 964.65 -7.36 1184 10512.84 no move -1.56 - - 1959.81 - - - 2068.25 - -107.06 - - 3451.81 - - - - - - - - - - -
10821.32 982.38 -3.65 1215 10827.26 roll -1.56 - - 1959.69 - 3.33 0.097 3362.81 388.8 -107.06 - - 3452.50 - - - - - - - - - 16.16 -
11055.61 982.59 0.04 1262 11063.17 roll -1.56 - - 1960.19 - 3.07 0.047 2071.19 -420.7 -107.06 - - 3453.59 - - - - - - - - - 16.13 -
11111 end dive: NO_VERTICAL_VELOCITY
11111 begin apogee
11113.16 982.45 - 1268 11207.16 -0.42 2.35 0.104 2241.44 119.7 0.14 0.184 2113.44 301.8 - 86.71 2.210 3019.66 -5.0 0.367 - - - - - - 16.15 15.56 12.54
11218 end apogee: CONTROL_FINISHED_OK
11218 begin climb
11221.33 982.38 - 1277 11333.25 1.56 3.96 0.079 2721.38 121.2 3.92 0.115 689.88 -363.2 107.06 94.72 2.152 2582.09 -4.6 0.348 - - - - - - 15.67 15.35 12.76
11531.83 961.80 12.68 1337 11537.94 done 1.56 - - 2721.56 - 3.61 0.054 2176.62 411.8 107.06 - - 2570.78 - - - - - - - - - 15.81 -
11841.84 929.69 10.25 1369 11847.64 done 1.56 - - 2721.50 - 3.08 0.097 3362.12 384.9 107.06 - - 2566.59 - - - - - - - - - 15.93 -
11906.09 922.20 11.58 1382 11913.34 done 1.56 - - 2721.75 - 2.98 0.044 2118.81 -417.2 107.06 - - 2567.97 - - - - - - - - - 15.95 -
12221.86 890.83 9.52 1414 12223.44 VBD 1.56 - - 2721.44 - - - 2118.38 - 107.06 - - 2564.47 - - - - - - - - - - -
12531.89 862.21 8.60 1445 12537.79 done 1.56 - - 2721.06 - 3.20 0.094 3362.19 388.7 107.06 - - 2566.00 - - - - - - - - - 16.04 -
12766.16 837.69 11.03 1492 12773.42 done 1.56 - - 2721.56 - 2.96 0.045 2117.31 -420.6 107.06 - - 2564.16 - - - - - - - - - 16.07 -
13081.93 805.68 9.88 1524 13087.79 done 1.56 - - 2721.50 - 3.19 0.096 3363.88 390.8 107.06 - - 2563.16 - - - - - - - - - 16.09 -
13316.19 780.92 10.64 1571 13323.46 done 1.56 - - 2721.06 - 2.93 0.044 2118.19 -425.2 107.06 - - 2562.66 - - - - - - - - - 16.11 -
13631.97 752.15 8.85 1603 13637.88 done 1.56 - - 2722.06 - 3.18 0.094 3363.12 391.5 107.06 - - 2561.56 - - - - - - - - - 16.10 -
13801.99 736.96 9.15 1637 13807.75 done 1.56 - - 2721.62 - 2.94 0.045 2117.06 -423.8 107.06 - - 2562.28 - - - - - - - - - 16.10 -
14112.07 713.49 7.28 1669 14117.93 done 1.59 - - 2721.75 - 3.18 0.094 3362.56 391.7 107.06 - - 2560.69 - - - - - - - - - 16.11 -
14302.08 697.83 8.25 1707 14307.89 done 1.59 - - 2721.81 - 2.93 0.044 2118.12 -424.7 107.06 - - 2560.16 - - - - - - - - - 16.12 -
14612.19 676.05 7.09 1739 14618.04 done 1.62 - - 2721.50 - 3.17 0.093 3362.94 392.7 107.06 - - 2561.53 - - - - - - - - - 16.11 -
14712.16 667.72 8.51 1759 14717.94 done 1.62 - - 2721.38 - 2.91 0.045 2117.50 -428.0 107.06 - - 2560.09 - - - - - - - - - 16.12 -
15022.24 646.52 6.80 1791 15028.28 1.65 0.16 0.069 2750.69 183.2 3.16 0.093 3363.19 394.2 107.06 - - 2560.53 - - - - - - - - 16.19 16.11 -
15102.22 640.28 7.82 1807 15108.22 done 1.65 - - 2749.44 - 2.90 0.044 2115.94 -430.1 107.06 - - 2561.69 - - - - - - - - - 16.13 -
15412.28 619.43 6.19 1839 15418.09 done 1.71 - - 2750.44 - 3.16 0.092 3363.12 394.7 107.06 - - 2561.06 - - - - - - - - - 16.12 -
15496.56 613.43 7.03 1856 15503.76 done 1.74 - - 2750.62 - 2.89 0.044 2116.81 -431.2 107.06 - - 2559.84 - - - - - - - - - 16.15 -
15812.32 591.21 6.60 1888 15818.29 1.78 0.17 0.065 2782.38 186.8 3.16 0.092 3362.56 394.2 107.06 - - 2559.34 - - - - - - - - 16.14 16.11 -
16006.56 575.09 8.45 1927 16013.77 done 1.78 - - 2782.12 - 2.89 0.043 2115.12 -431.6 107.06 - - 2558.88 - - - - - - - - - 16.15 -
16322.33 550.11 7.58 1959 16328.21 done 1.78 - - 2781.56 - 3.16 0.091 3362.88 394.9 107.06 - - 2558.91 - - - - - - - - - 16.14 -
16402.35 543.56 8.60 1975 16408.06 done 1.78 - - 2782.62 - 2.89 0.043 2116.56 -431.3 107.06 - - 2559.19 - - - - - - - - - 16.13 -
16712.42 522.32 6.59 2007 16718.48 done 1.83 - - 2781.81 - 3.14 0.092 3364.62 397.5 107.06 - - 2560.56 - - - - - - - - - 16.14 -
16946.67 504.46 7.89 2054 16953.89 done 1.83 - - 2782.56 - 2.89 0.043 2117.75 -431.4 107.06 - - 2560.09 - - - - - - - - - 16.14 -
17262.50 482.69 7.41 2086 17268.31 done 1.85 - - 2782.12 - 3.13 0.093 3364.19 398.2 107.06 - - 2560.25 - - - - - - - - - 16.14 -
17496.74 464.40 7.65 2133 17504.11 done 1.85 - - 2782.31 - 2.90 0.044 2115.50 -430.6 107.06 - - 2559.09 - - - - - - - - - 16.14 -
17812.56 441.58 6.63 2165 17814.32 1.89 0.16 0.059 2807.31 156.2 - - 2115.94 - 107.06 - - 2556.91 - - - - - - - - 16.22 - -
18122.58 421.10 6.49 2196 18124.16 VBD 1.94 - - 2806.81 - - - 2116.19 - 107.06 - - 2558.16 - - - - - - - - - - -
18432.61 401.74 6.00 2227 18434.36 2.00 0.13 0.077 2833.19 202.9 - - 2115.56 - 107.06 - - 2557.16 - - - - - - - - 16.15 - -
18742.63 380.80 6.85 2258 18744.20 VBD 2.03 - - 2832.56 - - - 2115.94 - 107.06 - - 2557.94 - - - - - - - - - - -
19052.72 360.50 6.17 2289 19058.66 2.09 0.10 0.087 2856.75 241.9 3.16 0.094 3363.38 394.8 107.06 - - 2558.78 - - - - - - - - 16.17 16.10 -
19096.92 357.36 6.77 2298 19104.15 done 2.13 - - 2857.12 - 2.93 0.047 2115.38 -425.9 107.06 - - 2559.56 - - - - - - - - - 16.11 -
19412.68 336.03 6.46 2330 19414.26 VBD 2.18 - - 2857.31 - - - 2115.38 - 107.06 - - 2557.84 - - - - - - - - - - -
19722.66 313.76 7.75 2361 19728.80 done 2.18 - - 2856.94 - 3.67 0.112 687.56 -389.1 107.06 - - 2559.62 - - - - - - - - - 16.12 -
19936.97 295.66 7.98 2404 19944.52 done 2.18 - - 2858.00 - 3.49 0.054 2183.81 428.7 107.06 - - 2558.88 - - - - - - - - - 16.11 -
20252.76 273.85 6.35 2436 20254.52 2.23 0.17 0.061 2892.44 202.6 - - 2183.75 - 107.06 - - 2555.34 - - - - - - - - 16.13 - -
20562.79 255.16 5.67 2467 20564.36 VBD 2.30 - - 2892.69 - - - 2184.25 - 107.06 - - 2557.12 - - - - - - - - - - -
20872.79 239.98 4.27 2498 20937.46 2.39 0.22 0.053 2930.62 172.4 3.05 0.097 3363.62 386.7 180.87 56.65 1.289 2280.66 -4.9 0.150 - - - - - - 16.14 15.84 12.61
20950.14 234.54 9.03 2513 20957.69 roll back 2.39 0.31 0.173 2914.75 -51.2 2.98 0.046 2116.81 -418.4 180.87 - - 2280.12 - - - - - - - - 15.86 15.92 -
21265.90 191.08 14.65 2545 21273.11 done 2.39 - - 2914.81 - 3.71 0.111 688.94 -384.9 180.87 - - 2272.66 - - - - - - - - - 15.97 -
21291.55 186.90 16.30 2550 21297.60 done 2.39 - - 2914.19 - 3.54 0.052 2179.88 421.2 180.87 - - 2272.09 - - - - - - - - - 15.98 -
21601.56 144.14 12.51 2582 21603.13 VBD 2.39 - - 2914.62 - - - 2179.81 - 180.87 - - 2269.97 - - - - - - - - - - -
21911.57 105.96 10.72 2613 21913.14 VBD 2.39 - - 2915.06 - - - 2180.06 - 180.87 - - 2268.66 - - - - - - - - - - -
22216.65 78.91 6.58 2668 22223.73 2.44 0.19 0.057 2940.44 133.6 3.87 0.105 688.75 -385.4 180.87 - - 2270.56 - - - - - - - - 16.04 15.99 -
22437.25 63.87 4.63 2712 22517.91 done 2.52 - - 2941.00 - 3.52 0.050 2185.56 425.2 247.67 70.27 1.034 2009.97 -3.7 0.038 - - - - - - - 15.97 12.65
22701.42 46.69 8.61 2764 22705.81 no move 2.52 - - 2940.88 - - - 2185.50 - 247.67 - - 2006.81 - - - - - - - - - - -
22886.47 33.33 6.31 2801 22891.06 pitch 2.58 0.19 0.057 2975.38 181.6 - - 2185.88 - 247.67 - - 2006.19 - - - - - - - - 15.95 - -
23076.50 25.45 3.62 2839 23172.66 2.69 0.16 0.061 3001.50 163.2 3.06 0.094 3361.00 384.0 334.18 86.40 0.983 1657.31 -4.0 0.017 - - - - - - 16.02 15.67 12.67
23401.19 2.77 6.49 2903 23407.65 roll 2.74 - - 3002.50 - 2.97 0.042 2114.06 -419.8 334.18 - - 1653.94 - - - - - - - - - 15.88 -
23421 end climb: SURFACE_DEPTH_REACHED
23421 begin surface coast
23461 end surface coast: CONTROL_FINISHED_OK
23461 begin surface
SM 1.45 - - - - 187.9 132.87 0.967 1082.6 8.1 21.55 0.061 1102.6 51.2 - 0.05 0.184 1062.5 21190.6 -17.068 - - 12.75 15.91 15.89 -