NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 170 * Raw log
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• Previous call tries 1 • 74.04 of 575.00 AH used of 24V (87.12% remains)
• Surface angle -65.0 deg, depth 1.44 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.01 (SM_CC=475)
• GPS1 time: 26 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
8.97 - - - 75.73 VBD -1.56 - - 186.69 - - - 2127.12 - -107.06 65.16 0.005 2492.62 - - - - - - - - - - 15.69
76.17 3.39 -3.30 13 129.50 -1.56 16.52 0.241 1959.88 107.3 3.80 0.115 689.94 -378.2 -107.06 24.27 0.006 3455.66 39.7 -3.703 - - - - - - 15.69 15.65 15.73
183.04 25.04 -22.75 33 189.60 roll -1.56 - - 1959.38 - 3.37 0.047 2129.62 427.2 -107.06 - - 3460.34 - - - - - - - - - 15.87 -
373.06 53.83 -14.81 71 379.79 roll -1.56 - - 1960.50 - 3.78 0.110 689.81 -380.9 -107.06 - - 3458.78 - - - - - - - - - 15.89 -
428.20 63.04 -18.09 82 434.75 roll -1.56 - - 1960.50 - 3.35 0.046 2132.69 430.7 -107.06 - - 3459.19 - - - - - - - - - 15.92 -
618.27 89.24 -11.81 120 622.72 no move -1.56 - - 1960.50 - - - 2132.81 - -107.06 - - 3459.72 - - - - - - - - - - -
808.27 110.14 -11.35 149 814.11 roll -1.56 - - 1960.75 - 3.10 0.096 3360.62 396.1 -107.06 - - 3460.62 - - - - - - - - - 15.92 -
888.28 119.01 -10.97 165 894.08 roll -1.56 - - 1960.38 - 3.04 0.044 2065.44 -426.0 -107.06 - - 3460.75 - - - - - - - - - 16.01 -
1198.30 148.92 -9.67 197 1204.42 roll -1.56 - - 1961.50 - 3.62 0.117 690.00 -380.0 -107.06 - - 3460.25 - - - - - - - - - 15.94 -
1258.32 155.20 -10.74 209 1264.28 roll -1.56 - - 1960.94 - 3.37 0.045 2135.31 428.9 -107.06 - - 3460.69 - - - - - - - - - 16.02 -
1568.33 185.44 -10.33 241 1575.52 roll -1.56 - - 1961.06 - 3.76 0.110 689.81 -384.4 -107.06 - - 3461.22 - - - - - - - - - 16.01 -
1614.00 190.68 -11.91 250 1619.98 roll -1.56 - - 1961.31 - 3.33 0.045 2133.12 433.4 -107.06 - - 3461.25 - - - - - - - - - 16.05 -
1924.05 223.80 -10.73 282 1929.88 roll -1.56 - - 1961.75 - 3.09 0.096 3359.69 396.9 -107.06 - - 3461.81 - - - - - - - - - 16.05 -
1948.29 226.70 -11.04 287 1955.89 roll -1.56 - - 1961.31 - 3.04 0.043 2065.31 -425.8 -107.06 - - 3461.44 - - - - - - - - - 16.08 -
2264.08 257.80 -10.85 319 2265.66 no move -1.56 - - 1960.50 - - - 2065.69 - -107.06 - - 3460.72 - - - - - - - - - - -
2574.10 286.79 -9.45 350 2575.67 no move -1.56 - - 1960.88 - - - 2065.62 - -107.06 - - 3460.12 - - - - - - - - - - -
2884.12 317.37 -9.84 381 2890.07 roll -1.56 - - 1961.62 - 3.28 0.095 3359.94 394.6 -107.06 - - 3461.47 - - - - - - - - - 16.11 -
2914.12 320.68 -10.49 387 2919.92 roll -1.56 - - 1960.88 - 3.03 0.043 2066.81 -426.8 -107.06 - - 3462.12 - - - - - - - - - 16.11 -
3224.16 350.20 -9.29 419 3225.73 no move -1.56 - - 1960.31 - - - 2067.94 - -107.06 - - 3460.50 - - - - - - - - - - -
3534.18 377.59 -8.95 450 3535.75 no move -1.56 - - 1960.94 - - - 2067.62 - -107.06 - - 3459.97 - - - - - - - - - - -
3844.20 406.44 -9.18 481 3845.76 no move -1.56 - - 1960.94 - - - 2067.56 - -107.06 - - 3460.25 - - - - - - - - - - -
4154.21 435.90 -9.13 512 4160.37 roll -1.56 - - 1960.81 - 3.27 0.097 3364.06 396.5 -107.06 - - 3460.88 - - - - - - - - - 16.14 -
4198.45 440.65 -10.08 521 4205.77 roll -1.56 - - 1960.88 - 3.03 0.044 2067.56 -427.9 -107.06 - - 3460.25 - - - - - - - - - 16.14 -
4514.23 470.16 -9.47 553 4520.13 roll -1.56 - - 1961.06 - 3.27 0.097 3362.44 396.0 -107.06 - - 3461.47 - - - - - - - - - 16.15 -
4554.23 474.44 -10.25 561 4560.03 roll -1.56 - - 1960.94 - 3.04 0.048 2068.12 -425.8 -107.06 - - 3459.88 - - - - - - - - - 16.14 -
4864.24 503.80 -9.95 593 4865.81 no move -1.56 - - 1960.88 - - - 2068.25 - -107.06 - - 3459.31 - - - - - - - - - - -
5174.26 533.65 -9.32 624 5175.83 no move -1.56 - - 1960.81 - - - 2068.19 - -107.06 - - 3458.25 - - - - - - - - - - -
5484.28 560.52 -8.71 655 5485.86 no move -1.56 - - 1960.69 - - - 2068.44 - -107.06 - - 3457.75 - - - - - - - - - - -
5794.29 588.54 -9.06 686 5795.86 no move -1.56 - - 1961.19 - - - 2068.12 - -107.06 - - 3457.69 - - - - - - - - - - -
6104.30 615.06 -8.43 717 6105.88 no move -1.56 - - 1960.94 - - - 2068.62 - -107.06 - - 3456.53 - - - - - - - - - - -
6414.30 640.52 -8.70 748 6420.42 roll -1.56 - - 1960.44 - 3.62 0.125 689.94 -380.9 -107.06 - - 3457.62 - - - - - - - - - 16.14 -
6458.55 644.99 -9.63 757 6466.05 roll -1.56 - - 1960.94 - 3.37 0.051 2133.44 428.3 -107.06 - - 3457.19 - - - - - - - - - 16.15 -
6774.35 670.65 -8.37 789 6775.93 no move -1.56 - - 1960.81 - - - 2132.62 - -107.06 - - 3456.41 - - - - - - - - - - -
7084.38 697.63 -8.64 820 7085.96 no move -1.56 - - 1960.69 - - - 2132.94 - -107.06 - - 3455.34 - - - - - - - - - - -
7394.41 723.86 -8.70 851 7401.61 roll -1.56 - - 1960.50 - 3.79 0.119 690.06 -380.7 -107.06 - - 3455.69 - - - - - - - - - 16.15 -
7480.23 731.97 -9.33 868 7486.19 roll -1.56 - - 1960.75 - 3.37 0.051 2132.19 427.9 -107.06 - - 3456.81 - - - - - - - - - 16.14 -
7790.26 757.81 -8.32 900 7791.83 no move -1.56 - - 1961.19 - - - 2132.00 - -107.06 - - 3453.88 - - - - - - - - - - -
8100.29 781.83 -7.50 931 8107.49 roll -1.56 - - 1960.69 - 3.80 0.118 688.19 -379.9 -107.06 - - 3453.56 - - - - - - - - - 16.15 -
8146.45 786.16 -9.58 940 8152.40 roll -1.56 - - 1961.00 - 3.36 0.050 2132.31 429.8 -107.06 - - 3455.03 - - - - - - - - - 16.15 -
8456.47 813.61 -8.68 972 8458.04 no move -1.56 - - 1960.88 - - - 2132.06 - -107.06 - - 3453.19 - - - - - - - - - - -
8766.51 838.60 -7.29 1003 8773.70 roll -1.56 - - 1960.75 - 3.76 0.117 690.38 -383.4 -107.06 - - 3453.78 - - - - - - - - - 16.15 -
8826.42 844.04 -8.90 1015 8833.90 roll -1.56 - - 1960.94 - 3.36 0.050 2131.94 429.0 -107.06 - - 3453.31 - - - - - - - - - 16.14 -
9142.22 869.94 -7.92 1047 9148.10 roll -1.56 - - 1959.62 - 3.11 0.098 3362.25 395.6 -107.06 - - 3455.19 - - - - - - - - - 16.13 -
9192.22 874.52 -8.72 1057 9198.03 roll -1.56 - - 1960.56 - 3.03 0.044 2066.38 -427.7 -107.06 - - 3454.25 - - - - - - - - - 16.15 -
9502.23 897.37 -7.42 1089 9508.30 roll -1.56 - - 1960.06 - 3.60 0.121 690.19 -382.3 -107.06 - - 3454.62 - - - - - - - - - 16.13 -
9556.50 902.11 -8.61 1100 9563.97 roll -1.56 - - 1961.38 - 3.37 0.050 2132.25 427.9 -107.06 - - 3453.00 - - - - - - - - - 16.14 -
9872.28 926.49 -7.95 1132 9879.49 roll -1.56 - - 1960.81 - 3.78 0.118 689.06 -381.8 -107.06 - - 3452.12 - - - - - - - - - 16.11 -
9948.10 933.59 -9.20 1147 9954.06 roll -1.56 - - 1959.88 - 3.37 0.050 2131.12 427.9 -107.06 - - 3454.69 - - - - - - - - - 16.15 -
10258.13 956.59 -7.26 1179 10259.70 no move -1.56 - - 1960.81 - - - 2130.94 - -107.06 - - 3452.09 - - - - - - - - - - -
10568.16 977.28 -7.20 1210 10569.73 no move -1.56 - - 1960.56 - - - 2130.88 - -107.06 - - 3451.19 - - - - - - - - - - -
10738 end dive: TARGET_DEPTH_EXCEEDED
10738 begin apogee
10740.32 990.13 -7.67 1227 10834.04 -0.42 2.50 0.120 2240.38 111.9 0.09 0.234 2118.94 -132.7 - 86.44 2.211 3017.62 -5.0 0.371 - - - - - - 16.10 15.56 12.50
10845 end apogee: CONTROL_FINISHED_OK
10846 begin climb
10848.48 991.55 - 1236 10961.20 1.56 3.96 0.058 2730.19 123.7 3.35 0.100 3362.81 371.3 107.06 94.46 2.157 2581.25 -4.6 0.351 - - - - - - 15.67 15.33 12.69
11040.03 979.13 11.23 1272 11045.74 done 1.56 - - 2730.88 - 3.03 0.044 2120.12 -410.1 107.06 - - 2574.28 - - - - - - - - - 15.69 -
11349.83 944.43 10.70 1304 11355.76 done 1.56 - - 2730.31 - 3.22 0.097 3363.50 386.1 107.06 - - 2568.16 - - - - - - - - - 15.89 -
11469.85 929.74 12.62 1328 11475.62 done 1.56 - - 2730.19 - 2.96 0.044 2118.50 -420.6 107.06 - - 2568.50 - - - - - - - - - 15.94 -
11779.87 896.01 10.14 1360 11785.80 done 1.56 - - 2728.69 - 3.20 0.095 3362.19 388.7 107.06 - - 2566.78 - - - - - - - - - 15.98 -
11889.89 883.15 12.04 1382 11895.66 done 1.56 - - 2730.31 - 2.95 0.044 2118.81 -421.5 107.06 - - 2565.66 - - - - - - - - - 16.01 -
12200.16 852.60 9.21 1414 12205.79 done 1.56 - - 2729.38 - 3.19 0.094 3362.69 389.9 107.06 - - 2564.94 - - - - - - - - - 16.04 -
12349.93 837.53 10.67 1444 12355.70 done 1.56 - - 2729.62 - 2.95 0.045 2114.94 -423.0 107.06 - - 2564.88 - - - - - - - - - 16.06 -
12660.45 810.28 7.68 1476 12666.93 done 1.56 - - 2729.81 - 3.20 0.095 3363.69 390.2 107.06 - - 2562.31 - - - - - - - - - 16.08 -
12889.79 790.52 8.71 1522 12897.30 done 1.56 - - 2730.25 - 2.93 0.045 2119.31 -424.7 107.06 - - 2563.41 - - - - - - - - - 16.09 -
13205.82 766.36 8.00 1554 13211.45 done 1.56 - - 2729.31 - 3.17 0.094 3364.94 392.9 107.06 - - 2562.66 - - - - - - - - - 16.10 -
13440.06 744.15 9.96 1601 13447.40 done 1.56 - - 2731.12 - 2.93 0.045 2119.25 -425.2 107.06 - - 2562.03 - - - - - - - - - 16.10 -
13755.68 718.77 7.82 1633 13761.55 done 1.56 - - 2729.69 - 3.17 0.092 3362.81 392.3 107.06 - - 2562.00 - - - - - - - - - 16.10 -
13819.94 713.25 8.29 1646 13827.47 done 1.56 - - 2729.81 - 2.93 0.043 2115.94 -425.6 107.06 - - 2561.34 - - - - - - - - - 16.11 -
14135.78 690.55 6.92 1678 14141.63 done 1.60 - - 2730.00 - 3.18 0.093 3364.25 392.6 107.06 - - 2560.03 - - - - - - - - - 16.11 -
14245.85 681.81 7.95 1700 14251.53 done 1.60 - - 2729.44 - 2.93 0.044 2115.50 -426.2 107.06 - - 2561.31 - - - - - - - - - 16.12 -
14556.10 659.10 7.09 1732 14557.67 VBD 1.63 - - 2729.69 - - - 2116.06 - 107.06 - - 2558.84 - - - - - - - - - - -
14866.13 635.60 7.13 1763 14867.71 VBD 1.65 - - 2730.12 - - - 2116.25 - 107.06 - - 2557.88 - - - - - - - - - - -
15176.11 612.12 7.95 1794 15177.69 VBD 1.65 - - 2730.12 - - - 2116.12 - 107.06 - - 2558.31 - - - - - - - - - - -
15485.91 586.07 8.66 1825 15491.78 done 1.65 - - 2728.75 - 3.20 0.096 3363.00 389.7 107.06 - - 2560.28 - - - - - - - - - 16.14 -
15720.18 565.29 8.70 1872 15727.45 done 1.65 - - 2730.25 - 2.94 0.046 2119.38 -423.0 107.06 - - 2559.25 - - - - - - - - - 16.13 -
16036.24 542.02 6.90 1904 16043.33 1.69 0.15 0.071 2756.69 176.3 3.71 0.112 687.69 -385.9 107.06 - - 2558.62 - - - - - - - - 16.18 16.10 -
16106.05 536.00 8.75 1918 16113.67 done 1.69 - - 2758.00 - 3.53 0.053 2181.19 423.1 107.06 - - 2557.34 - - - - - - - - - 16.15 -
16421.87 515.45 6.20 1950 16423.44 VBD 1.74 - - 2758.69 - - - 2180.38 - 107.06 - - 2556.19 - - - - - - - - - - -
16731.88 495.89 5.72 1981 16737.81 1.81 0.17 0.066 2790.12 184.9 3.02 0.097 3361.38 391.1 107.06 - - 2558.50 - - - - - - - - 16.20 16.11 -
16901.85 483.92 7.72 2015 16907.87 1.81 0.29 0.170 2775.06 -51.9 2.94 0.046 2117.06 -423.2 107.06 - - 2557.12 - - - - - - - - 16.06 16.14 -
17212.17 464.21 5.91 2047 17219.00 1.88 0.24 0.056 2808.00 137.3 3.18 0.093 3361.31 391.3 107.06 - - 2555.16 - - - - - - - - 16.19 16.12 -
17321.84 455.94 8.11 2069 17329.34 1.88 0.25 0.176 2791.00 -68.0 2.93 0.044 2115.69 -425.1 107.06 - - 2556.88 - - - - - - - - 16.01 16.13 -
17637.93 434.55 6.89 2101 17644.71 1.91 0.19 0.060 2816.00 131.6 3.18 0.092 3362.00 391.9 107.06 - - 2556.62 - - - - - - - - 16.21 16.10 -
17783.45 423.14 7.97 2130 17789.23 1.91 0.25 0.171 2798.88 -68.5 2.93 0.044 2117.31 -424.8 107.06 - - 2557.59 - - - - - - - - 16.06 16.13 -
18093.54 404.10 6.02 2162 18095.35 1.97 0.22 0.059 2829.62 139.7 - - 2117.00 - 107.06 - - 2557.75 - - - - - - - - 16.16 - -
18403.34 385.70 5.91 2193 18404.92 VBD 2.04 - - 2829.50 - - - 2117.19 - 107.06 - - 2556.34 - - - - - - - - - - -
18713.39 368.25 5.42 2224 18720.98 2.12 0.21 0.058 2862.56 157.4 3.69 0.109 687.75 -387.4 107.06 - - 2556.03 - - - - - - - - 16.19 16.10 -
18829.64 360.36 7.08 2247 18835.67 done 2.15 - - 2863.44 - 3.53 0.053 2184.75 424.1 107.06 - - 2554.94 - - - - - - - - - 16.14 -
19139.65 342.93 4.98 2279 19195.32 2.22 0.17 0.053 2889.69 154.4 3.92 0.106 688.50 -381.7 167.06 46.78 1.414 2335.03 -4.7 0.188 - - - - - - 16.20 15.88 12.52
19238.91 333.91 12.82 2298 19244.99 roll 2.22 - - 2889.25 - 3.56 0.052 2180.50 419.1 167.06 - - 2333.00 - - - - - - - - - 15.96 -
19549.16 292.39 13.67 2330 19554.72 done 2.22 - - 2888.94 - 3.03 0.093 3361.69 389.8 167.06 - - 2328.81 - - - - - - - - - 15.98 -
19783.17 257.72 14.36 2377 19790.46 done 2.22 - - 2889.06 - 2.94 0.044 2116.38 -423.6 167.06 - - 2327.72 - - - - - - - - - 16.05 -
20099.19 216.98 11.79 2409 20104.83 done 2.22 - - 2888.62 - 3.18 0.092 3363.62 392.2 167.06 - - 2326.66 - - - - - - - - - 16.01 -
20263.23 193.75 14.25 2442 20270.51 done 2.22 - - 2889.38 - 2.94 0.043 2117.88 -423.7 167.06 - - 2326.56 - - - - - - - - - 16.05 -
20579.27 156.30 12.35 2474 20580.85 VBD 2.22 - - 2888.62 - - - 2117.94 - 167.06 - - 2324.69 - - - - - - - - - - -
20889.08 121.45 9.44 2505 20890.65 VBD 2.22 - - 2889.00 - - - 2117.81 - 167.06 - - 2324.53 - - - - - - - - - - -
21194.38 89.02 10.84 2545 21201.01 done 2.22 - - 2888.50 - 3.16 0.090 3362.44 393.9 167.06 - - 2324.69 - - - - - - - - - 16.01 -
21429.66 74.05 4.36 2592 21515.12 done 2.32 - - 2888.62 - 2.93 0.044 2114.75 -425.8 239.03 76.71 1.053 2045.44 -3.6 0.042 - - - - - - - 16.00 12.56
21698.88 56.31 7.06 2645 21703.73 pitch 2.35 0.17 0.058 2920.12 185.3 - - 2114.94 - 239.03 - - 2041.38 - - - - - - - - 15.94 - -
21888.68 43.92 6.76 2683 21895.59 roll 2.39 - - 2919.88 - 3.75 0.108 688.88 -380.3 239.03 - - 2039.72 - - - - - - - - - 15.91 -
22124.13 31.61 3.55 2730 22221.77 2.50 0.23 0.053 2956.25 158.1 3.56 0.050 2186.44 420.7 326.87 88.25 0.996 1687.31 -4.0 0.021 - - - - - - 16.01 15.94 12.62
22405.40 11.36 7.55 2785 22411.94 roll 2.52 - - 2957.12 - 3.04 0.093 3361.62 386.6 326.87 - - 1683.84 - - - - - - - - - 15.83 -
22430.39 9.46 7.61 2790 22436.93 roll 2.52 - - 2957.38 - 2.97 0.042 2114.25 -420.0 326.87 - - 1683.91 - - - - - - - - - 15.85 -
22556 end climb: SURFACE_DEPTH_REACHED
22556 begin surface coast
22595 end surface coast: CONTROL_FINISHED_OK
22595 begin surface
SM 1.54 - - - - 185.6 139.13 0.969 1083.6 7.8 21.01 0.069 1100.0 52.4 - 0.05 0.178 1067.1 21282.6 -18.819 - - 12.72 15.88 15.91 -