NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 161 * Raw log
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• Previous call tries 1 • 71.01 of 575.00 AH used of 24V (87.65% remains)
• Surface angle -64.1 deg, depth 1.40 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.97 (SM_CC=475)
• GPS1 time: 30 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
8.94 - - - 75.67 VBD -1.56 - - 184.06 - - - 2130.12 - -107.06 65.13 0.005 2461.56 - - - - - - - - - - 15.72
76.11 3.22 -3.15 13 132.49 -1.56 17.24 0.240 1960.56 103.0 3.85 0.116 688.94 -374.3 -107.06 24.82 0.006 3457.25 40.1 -3.559 - - - - - - 15.71 15.69 15.74
305.86 45.34 -17.05 58 312.45 roll -1.56 - - 1960.88 - 3.42 0.049 2129.88 421.3 -107.06 - - 3459.28 - - - - - - - - - 15.87 -
495.92 72.35 -13.85 96 502.36 roll -1.56 - - 1959.75 - 3.19 0.098 3361.50 386.1 -107.06 - - 3460.50 - - - - - - - - - 15.89 -
525.92 76.86 -14.86 102 532.40 roll -1.56 - - 1961.44 - 3.11 0.045 2067.38 -416.1 -107.06 - - 3459.25 - - - - - - - - - 15.90 -
715.95 99.60 -11.66 140 722.51 roll -1.56 - - 1961.31 - 3.36 0.093 3362.62 385.5 -107.06 - - 3459.44 - - - - - - - - - 15.94 -
770.19 105.86 -11.47 151 777.34 roll -1.56 - - 1960.88 - 3.10 0.044 2067.50 -417.8 -107.06 - - 3460.62 - - - - - - - - - 15.94 -
1085.96 137.31 -9.88 183 1091.89 roll -1.56 - - 1961.44 - 3.64 0.115 689.50 -378.6 -107.06 - - 3461.03 - - - - - - - - - 15.98 -
1145.97 144.01 -11.54 195 1151.80 roll -1.56 - - 1961.00 - 3.41 0.046 2132.69 423.2 -107.06 - - 3460.78 - - - - - - - - - 16.00 -
1455.99 174.71 -9.57 227 1462.01 roll -1.56 - - 1960.31 - 3.18 0.097 3362.38 386.7 -107.06 - - 3461.31 - - - - - - - - - 15.99 -
1496.02 178.84 -10.55 235 1501.81 roll -1.56 - - 1961.06 - 3.09 0.045 2068.19 -418.8 -107.06 - - 3461.78 - - - - - - - - - 16.01 -
1806.04 208.77 -9.84 267 1812.13 roll -1.56 - - 1961.38 - 3.65 0.118 689.94 -377.6 -107.06 - - 3461.16 - - - - - - - - - 16.03 -
1880.29 216.76 -10.55 282 1887.75 roll -1.56 - - 1960.44 - 3.40 0.048 2131.31 423.9 -107.06 - - 3461.84 - - - - - - - - - 16.04 -
2196.10 247.42 -9.50 314 2201.98 roll -1.56 - - 1961.94 - 3.16 0.097 3361.75 389.4 -107.06 - - 3461.41 - - - - - - - - - 16.05 -
2250.35 253.35 -10.57 325 2257.70 roll -1.56 - - 1961.19 - 3.10 0.046 2068.38 -417.2 -107.06 - - 3460.81 - - - - - - - - - 16.05 -
2566.17 282.30 -8.81 357 2567.74 no move -1.56 - - 1961.06 - - - 2068.56 - -107.06 - - 3459.94 - - - - - - - - - - -
2876.20 311.01 -9.27 388 2877.77 no move -1.56 - - 1960.81 - - - 2068.38 - -107.06 - - 3460.22 - - - - - - - - - - -
3186.22 338.90 -8.90 419 3187.79 no move -1.56 - - 1961.25 - - - 2069.25 - -107.06 - - 3459.84 - - - - - - - - - - -
3496.23 366.82 -8.95 450 3502.58 roll -1.56 - - 1959.94 - 3.65 0.120 689.94 -377.9 -107.06 - - 3461.28 - - - - - - - - - 16.08 -
3556.25 373.07 -10.66 462 3562.21 roll -1.56 - - 1961.00 - 3.38 0.050 2131.19 426.4 -107.06 - - 3461.97 - - - - - - - - - 16.09 -
3866.28 402.58 -9.63 494 3867.85 no move -1.56 - - 1961.00 - - - 2131.12 - -107.06 - - 3459.81 - - - - - - - - - - -
4176.31 432.34 -9.71 525 4177.88 no move -1.56 - - 1961.00 - - - 2130.88 - -107.06 - - 3459.97 - - - - - - - - - - -
4486.33 461.76 -9.47 556 4487.91 no move -1.56 - - 1961.06 - - - 2131.44 - -107.06 - - 3459.62 - - - - - - - - - - -
4796.36 489.45 -8.77 587 4803.61 roll -1.56 - - 1960.62 - 3.82 0.116 689.75 -377.4 -107.06 - - 3459.28 - - - - - - - - - 16.13 -
4882.07 498.17 -10.28 604 4888.01 roll -1.56 - - 1960.88 - 3.39 0.051 2130.62 425.0 -107.06 - - 3460.00 - - - - - - - - - 16.15 -
5192.13 526.27 -9.44 636 5199.31 roll -1.56 - - 1960.31 - 3.77 0.116 690.69 -381.9 -107.06 - - 3459.97 - - - - - - - - - 16.14 -
5242.00 531.77 -11.05 646 5249.47 roll -1.56 - - 1960.81 - 3.39 0.050 2132.25 425.2 -107.06 - - 3460.34 - - - - - - - - - 16.14 -
5557.78 562.22 -9.89 678 5559.35 no move -1.56 - - 1960.69 - - - 2132.00 - -107.06 - - 3457.62 - - - - - - - - - - -
5867.81 591.74 -9.05 709 5875.01 roll -1.56 - - 1961.56 - 3.76 0.115 688.31 -384.0 -107.06 - - 3457.09 - - - - - - - - - 16.15 -
5903.56 595.29 -9.93 716 5909.51 roll -1.56 - - 1961.62 - 3.38 0.050 2132.25 427.2 -107.06 - - 3457.81 - - - - - - - - - 16.14 -
6213.59 620.54 -8.42 748 6215.17 no move -1.56 - - 1961.12 - - - 2132.00 - -107.06 - - 3456.91 - - - - - - - - - - -
6523.62 646.58 -8.38 779 6530.81 roll -1.56 - - 1960.06 - 3.77 0.114 689.00 -382.8 -107.06 - - 3458.03 - - - - - - - - - 16.13 -
6589.26 652.84 -9.55 792 6595.25 roll -1.56 - - 1960.62 - 3.38 0.051 2131.31 426.7 -107.06 - - 3457.19 - - - - - - - - - 16.16 -
6899.29 678.58 -8.23 824 6900.86 no move -1.56 - - 1961.00 - - - 2130.62 - -107.06 - - 3456.03 - - - - - - - - - - -
7209.32 704.34 -8.21 855 7210.89 no move -1.56 - - 1960.88 - - - 2130.75 - -107.06 - - 3455.31 - - - - - - - - - - -
7519.35 729.25 -8.12 886 7526.54 roll -1.56 - - 1959.44 - 3.78 0.117 688.81 -381.5 -107.06 - - 3456.44 - - - - - - - - - 16.14 -
7564.98 733.48 -9.62 895 7570.95 roll -1.56 - - 1961.19 - 3.40 0.051 2130.81 424.1 -107.06 - - 3457.28 - - - - - - - - - 16.16 -
7875.01 757.26 -7.79 927 7876.58 no move -1.56 - - 1960.88 - - - 2131.19 - -107.06 - - 3454.50 - - - - - - - - - - -
8185.04 780.35 -7.65 958 8192.22 roll -1.56 - - 1960.69 - 3.80 0.117 691.12 -379.0 -107.06 - - 3453.59 - - - - - - - - - 16.14 -
8274.92 788.38 -8.77 976 8282.39 roll -1.56 - - 1960.69 - 3.39 0.050 2130.69 424.7 -107.06 - - 3454.44 - - - - - - - - - 16.16 -
8590.72 813.07 -7.87 1008 8592.29 no move -1.56 - - 1960.88 - - - 2130.81 - -107.06 - - 3453.53 - - - - - - - - - - -
8900.74 835.83 -7.18 1039 8907.92 roll -1.56 - - 1958.88 - 3.79 0.118 690.44 -380.0 -107.06 - - 3455.47 - - - - - - - - - 16.14 -
8980.62 842.66 -8.48 1055 8988.12 roll -1.56 - - 1960.94 - 3.38 0.051 2131.50 426.3 -107.06 - - 3453.88 - - - - - - - - - 16.14 -
9296.41 865.98 -7.39 1087 9303.61 roll -1.56 - - 1959.94 - 3.79 0.116 690.56 -380.2 -107.06 - - 3453.66 - - - - - - - - - 16.14 -
9356.29 871.12 -8.43 1099 9363.76 roll -1.56 - - 1960.81 - 3.35 0.051 2132.38 430.4 -107.06 - - 3453.31 - - - - - - - - - 16.12 -
9672.10 893.58 -7.03 1131 9673.68 no move -1.56 - - 1961.12 - - - 2132.31 - -107.06 - - 3452.66 - - - - - - - - - - -
9982.16 914.84 -6.64 1162 9989.35 roll -1.56 - - 1960.56 - 3.80 0.118 689.94 -379.6 -107.06 - - 3452.78 - - - - - - - - - 16.14 -
10047.80 919.83 -7.54 1175 10053.74 roll -1.56 - - 1960.50 - 3.38 0.052 2132.44 426.8 -107.06 - - 3453.78 - - - - - - - - - 16.15 -
10357.83 939.67 -6.62 1207 10365.02 roll -1.56 - - 1960.50 - 3.77 0.116 689.62 -382.7 -107.06 - - 3453.44 - - - - - - - - - 16.14 -
10403.53 942.97 -7.31 1216 10409.42 roll -1.56 - - 1960.94 - 3.36 0.051 2131.25 429.1 -107.06 - - 3452.53 - - - - - - - - - 16.12 -
10713.49 962.80 -6.37 1248 10720.69 roll -1.56 - - 1960.81 - 3.76 0.117 689.56 -383.4 -107.06 - - 3452.91 - - - - - - - - - 16.14 -
10759.15 966.37 -7.94 1257 10765.09 roll -1.56 - - 1959.94 - 3.32 0.051 2132.94 434.8 -107.06 - - 3453.31 - - - - - - - - - 16.14 -
11069.18 986.84 -7.26 1289 11070.75 no move -1.56 - - 1960.81 - - - 2133.56 - -107.06 - - 3451.69 - - - - - - - - - - -
11119 end dive: TARGET_DEPTH_EXCEEDED
11119 begin apogee
11120.88 990.36 -7.07 1294 11215.04 -0.42 2.46 0.118 2239.00 113.1 0.10 0.233 2117.94 -156.2 - 86.19 2.229 3019.75 -5.0 0.368 - - - - - - 16.10 15.54 12.48
11226 end apogee: CONTROL_FINISHED_OK
11226 begin climb
11229.33 991.28 - 1303 11334.93 1.56 3.95 0.059 2730.12 124.3 - - 2117.62 - 107.06 95.21 2.160 2581.12 -4.6 0.349 - - - - - - 15.64 - 12.82
11638.45 956.27 10.06 1344 11644.36 done 1.56 - - 2729.00 - 3.25 0.100 3361.44 382.7 107.06 - - 2570.81 - - - - - - - - - 15.84 -
11808.49 937.32 11.45 1378 11814.28 done 1.56 - - 2730.12 - 3.00 0.047 2118.94 -414.2 107.06 - - 2568.19 - - - - - - - - - 15.93 -
12118.50 904.77 9.98 1410 12124.68 done 1.56 - - 2730.44 - 3.21 0.097 3362.69 387.5 107.06 - - 2566.19 - - - - - - - - - 15.99 -
12248.53 890.82 11.76 1436 12254.29 done 1.56 - - 2730.19 - 2.98 0.046 2118.69 -417.4 107.06 - - 2566.03 - - - - - - - - - 16.02 -
12558.56 859.22 9.80 1468 12564.45 done 1.56 - - 2730.69 - 3.20 0.096 3362.81 388.8 107.06 - - 2565.22 - - - - - - - - - 16.03 -
12678.58 846.38 11.07 1492 12684.36 done 1.56 - - 2730.31 - 2.97 0.046 2118.25 -419.0 107.06 - - 2565.12 - - - - - - - - - 16.05 -
12988.61 815.52 9.83 1524 12990.18 VBD 1.56 - - 2730.25 - - - 2117.56 - 107.06 - - 2561.94 - - - - - - - - - - -
13298.63 787.21 8.79 1555 13304.55 done 1.56 - - 2730.75 - 3.22 0.097 3361.88 386.4 107.06 - - 2564.03 - - - - - - - - - 16.10 -
13532.93 764.39 9.52 1602 13540.19 done 1.56 - - 2729.62 - 2.97 0.046 2119.56 -418.3 107.06 - - 2562.91 - - - - - - - - - 16.11 -
13848.70 736.75 8.12 1634 13854.62 done 1.56 - - 2729.81 - 3.21 0.095 3361.69 387.0 107.06 - - 2562.56 - - - - - - - - - 16.12 -
14078.75 715.23 9.27 1680 14084.51 done 1.56 - - 2730.12 - 2.98 0.047 2119.62 -416.8 107.06 - - 2562.97 - - - - - - - - - 16.13 -
14388.77 690.41 7.98 1712 14394.69 done 1.56 - - 2730.50 - 3.21 0.096 3363.75 387.6 107.06 - - 2561.16 - - - - - - - - - 16.13 -
14623.06 670.21 8.48 1759 14630.56 done 1.56 - - 2730.38 - 2.96 0.047 2119.19 -420.5 107.06 - - 2561.06 - - - - - - - - - 16.13 -
14938.83 645.76 7.62 1791 14946.05 done 1.56 - - 2729.94 - 3.72 0.115 688.62 -384.6 107.06 - - 2558.41 - - - - - - - - - 16.13 -
15004.49 640.08 8.64 1804 15010.56 done 1.56 - - 2730.12 - 3.58 0.055 2178.25 416.1 107.06 - - 2560.09 - - - - - - - - - 16.14 -
15314.50 615.73 7.85 1836 15320.30 done 1.56 - - 2730.94 - 3.07 0.098 3361.81 385.5 107.06 - - 2559.25 - - - - - - - - - 16.13 -
15548.79 594.02 9.18 1883 15556.30 done 1.56 - - 2729.69 - 2.95 0.045 2117.69 -421.7 107.06 - - 2559.69 - - - - - - - - - 16.14 -
15864.56 568.53 8.26 1915 15870.47 done 1.56 - - 2730.44 - 3.20 0.097 3363.06 389.2 107.06 - - 2560.53 - - - - - - - - - 16.13 -
16008.83 555.43 8.80 1944 16016.15 done 1.56 - - 2730.38 - 2.97 0.046 2117.75 -419.3 107.06 - - 2558.88 - - - - - - - - - 16.15 -
16324.61 531.12 7.85 1976 16326.23 VBD 1.56 - - 2730.38 - - - 2117.81 - 107.06 - - 2559.19 - - - - - - - - - - -
16634.70 509.46 6.70 2007 16640.58 done 1.60 - - 2730.56 - 3.22 0.095 3362.12 386.4 107.06 - - 2559.31 - - - - - - - - - 16.14 -
16734.65 501.67 8.11 2027 16740.42 done 1.60 - - 2730.69 - 2.95 0.046 2118.06 -421.7 107.06 - - 2558.59 - - - - - - - - - 16.15 -
17044.72 481.57 6.70 2059 17050.63 done 1.65 - - 2730.44 - 3.21 0.095 3364.25 388.2 107.06 - - 2558.97 - - - - - - - - - 16.15 -
17189.00 470.79 7.31 2088 17196.37 1.67 0.10 0.087 2752.75 223.1 2.96 0.045 2119.62 -420.5 107.06 - - 2558.25 - - - - - - - - 16.15 16.15 -
17504.78 448.47 7.07 2120 17510.60 done 1.70 - - 2753.31 - 3.18 0.093 3363.31 391.1 107.06 - - 2560.16 - - - - - - - - - 16.12 -
17649.01 436.78 7.81 2149 17656.27 done 1.70 - - 2753.00 - 2.95 0.046 2117.25 -422.4 107.06 - - 2561.03 - - - - - - - - - 16.14 -
17964.83 414.02 6.89 2181 17966.40 VBD 1.73 - - 2753.56 - - - 2116.94 - 107.06 - - 2558.12 - - - - - - - - - - -
18274.85 395.22 5.61 2212 18280.81 1.80 0.19 0.061 2790.56 194.7 3.16 0.096 3363.00 394.3 107.06 - - 2559.84 - - - - - - - - 16.18 16.10 -
18319.11 392.32 6.06 2221 18326.38 done 1.86 - - 2789.56 - 2.96 0.047 2116.88 -421.0 107.06 - - 2560.72 - - - - - - - - - 16.13 -
18634.88 374.46 5.40 2253 18642.21 1.94 0.16 0.065 2822.50 205.9 3.72 0.113 688.94 -383.9 107.06 - - 2556.72 - - - - - - - - 16.17 16.09 -
18870.70 357.30 7.57 2300 18876.75 done 1.94 - - 2820.44 - 3.54 0.055 2180.25 421.3 107.06 - - 2559.47 - - - - - - - - - 16.13 -
19180.75 336.96 6.53 2332 19186.51 done 1.99 - - 2821.69 - 3.05 0.097 3362.88 387.7 107.06 - - 2557.88 - - - - - - - - - 16.11 -
19415.02 320.55 6.52 2379 19422.29 done 2.04 - - 2822.19 - 2.96 0.045 2115.69 -421.3 107.06 - - 2557.28 - - - - - - - - - 16.12 -
19730.79 302.46 5.39 2411 19736.81 2.11 0.23 0.054 2864.62 184.5 3.18 0.094 3362.88 392.2 107.06 - - 2557.72 - - - - - - - - 16.20 16.11 -
19825.05 296.48 6.24 2430 19832.28 done 2.17 - - 2864.44 - 2.93 0.045 2113.75 -426.3 107.06 - - 2556.97 - - - - - - - - - 16.09 -
20140.82 279.53 4.93 2462 20196.40 2.25 0.19 0.055 2895.69 164.5 3.74 0.110 688.69 -381.0 167.95 47.20 1.341 2333.31 -4.7 0.163 - - - - - - 16.16 15.87 12.61
20329.87 258.42 14.67 2499 20335.92 roll 2.25 - - 2897.38 - 3.59 0.053 2178.38 415.0 167.95 - - 2328.88 - - - - - - - - - 15.96 -
20639.87 219.15 12.18 2531 20645.67 done 2.25 - - 2896.69 - 3.08 0.095 3361.19 384.0 167.95 - - 2326.03 - - - - - - - - - 15.98 -
20874.14 187.37 12.99 2578 20881.72 2.25 0.31 0.178 2879.94 -54.0 2.98 0.045 2118.56 -417.0 167.95 - - 2324.81 - - - - - - - - 15.94 16.03 -
21190.00 151.67 10.73 2610 21195.83 done 2.25 - - 2879.56 - 3.23 0.094 3360.81 384.6 167.95 - - 2324.00 - - - - - - - - - 16.00 -
21339.93 135.49 10.91 2640 21345.68 done 2.25 - - 2881.44 - 2.98 0.045 2117.56 -417.2 167.95 - - 2322.16 - - - - - - - - - 16.02 -
21649.95 106.12 8.61 2672 21657.17 done 2.25 - - 2880.25 - 3.78 0.110 687.69 -378.3 167.95 - - 2320.97 - - - - - - - - - 16.00 -
21885.69 89.88 4.44 2719 21971.90 2.34 0.31 0.047 2920.12 128.6 3.56 0.052 2186.69 421.1 238.35 75.22 1.066 2048.22 -3.6 0.051 - - - - - - 16.11 16.00 12.64
22155.42 73.38 8.12 2772 22162.66 roll back 2.34 0.26 0.164 2901.62 -71.2 3.95 0.104 688.94 -379.2 238.35 - - 2045.28 - - - - - - - - 15.84 15.84 -
22391.17 52.59 8.58 2819 22397.99 roll 2.34 - - 2902.25 - 3.58 0.051 2181.19 416.8 238.35 - - 2041.97 - - - - - - - - - 15.92 -
22581.44 41.77 5.20 2857 22588.65 2.43 0.28 0.049 2937.44 125.7 3.91 0.101 687.94 -381.9 238.35 - - 2040.09 - - - - - - - - 15.99 15.93 -
22817.20 28.40 4.52 2904 22897.83 done 2.52 - - 2937.62 - 3.57 0.050 2184.88 419.3 307.36 69.54 0.994 1765.62 -3.9 0.019 - - - - - - - 15.99 12.70
23081.38 21.34 3.07 2956 23188.72 2.64 0.35 0.044 2992.06 155.5 4.03 0.104 690.31 -370.9 404.67 96.65 0.970 1369.56 -4.1 0.015 - - - - - - 15.89 15.59 12.65
23267.28 4.91 12.42 2992 23274.29 roll back 2.64 0.27 0.166 2975.19 -62.5 3.60 0.049 2180.12 413.8 404.67 - - 1368.03 - - - - - - - - 15.68 15.76 -
23297 end climb: SURFACE_DEPTH_REACHED
23297 begin surface coast
23322 end surface coast: CONTROL_FINISHED_OK
23323 begin surface
SM 1.60 - - - - 187.9 67.78 0.952 1083.7 16.0 20.61 0.049 1102.9 53.5 - 0.23 0.086 1064.6 4613.0 -8.772 - - 12.61 15.82 15.80 -