NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 166 * Raw log
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• Previous call tries 1 • 72.70 of 575.00 AH used of 24V (87.36% remains)
• Surface angle -64.3 deg, depth 1.42 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.94 (SM_CC=475)
• GPS1 time: 20 s
• GPS2 time: 3 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
8.91 - - - 80.82 VBD -1.56 - - 187.94 - - - 2132.12 - -107.06 70.28 0.005 2579.03 - - - - - - - - - - 15.69
81.26 3.67 -3.53 14 132.27 -1.56 16.59 0.241 1960.75 106.9 3.86 0.115 689.56 -373.7 -107.06 20.44 0.006 3457.16 43.0 -4.344 - - - - - - 15.71 15.68 15.71
135.57 15.09 -19.41 24 142.55 roll -1.56 - - 1961.88 - 3.44 0.048 2130.44 418.9 -107.06 - - 3457.91 - - - - - - - - - 15.81 -
326.06 47.65 -15.57 62 332.83 roll -1.56 - - 1961.38 - 3.81 0.111 688.94 -378.3 -107.06 - - 3459.75 - - - - - - - - - 15.86 -
561.27 82.60 -13.18 109 567.83 roll -1.56 - - 1960.75 - 3.39 0.047 2131.19 425.4 -107.06 - - 3459.38 - - - - - - - - - 15.90 -
751.27 106.64 -10.80 141 758.25 roll -1.56 - - 1961.00 - 3.78 0.108 687.94 -381.8 -107.06 - - 3459.56 - - - - - - - - - 15.95 -
836.66 116.91 -12.35 158 842.43 roll -1.56 - - 1961.44 - 3.37 0.045 2134.88 429.4 -107.06 - - 3460.66 - - - - - - - - - 15.96 -
1146.67 148.94 -9.45 190 1148.20 no move -1.56 - - 1961.00 - - - 2134.12 - -107.06 - - 3460.06 - - - - - - - - - - -
1456.69 178.18 -9.13 221 1463.68 roll -1.56 - - 1960.94 - 3.80 0.112 689.94 -380.0 -107.06 - - 3461.50 - - - - - - - - - 16.03 -
1522.09 185.17 -11.13 234 1528.17 roll -1.56 - - 1961.56 - 3.35 0.046 2132.69 430.7 -107.06 - - 3461.69 - - - - - - - - - 16.04 -
1832.16 217.67 -10.42 266 1833.73 no move -1.56 - - 1960.56 - - - 2132.62 - -107.06 - - 3460.34 - - - - - - - - - - -
2142.19 251.64 -11.18 297 2149.38 roll -1.56 - - 1961.94 - 3.79 0.114 690.69 -380.5 -107.06 - - 3459.69 - - - - - - - - - 16.03 -
2212.06 260.45 -12.63 311 2219.53 roll -1.56 - - 1961.31 - 3.37 0.047 2132.19 427.7 -107.06 - - 3461.47 - - - - - - - - - 16.05 -
2527.85 293.86 -9.98 343 2529.42 no move -1.56 - - 1961.00 - - - 2132.38 - -107.06 - - 3460.78 - - - - - - - - - - -
2837.88 322.69 -9.20 374 2839.45 no move -1.56 - - 1960.81 - - - 2132.25 - -107.06 - - 3460.38 - - - - - - - - - - -
3147.91 351.98 -9.47 405 3149.48 no move -1.56 - - 1961.44 - - - 2131.94 - -107.06 - - 3460.34 - - - - - - - - - - -
3458.25 381.06 -9.52 436 3465.12 roll -1.56 - - 1960.12 - 3.79 0.116 688.12 -381.0 -107.06 - - 3461.00 - - - - - - - - - 16.13 -
3493.56 384.69 -10.21 443 3499.55 roll -1.56 - - 1960.81 - 3.36 0.048 2134.12 430.4 -107.06 - - 3460.97 - - - - - - - - - 16.13 -
3803.58 411.80 -8.17 475 3805.16 no move -1.56 - - 1961.06 - - - 2133.75 - -107.06 - - 3460.09 - - - - - - - - - - -
4113.61 435.61 -7.37 506 4121.05 roll -1.56 - - 1960.94 - 3.78 0.114 689.06 -382.2 -107.06 - - 3459.53 - - - - - - - - - 16.12 -
4153.85 439.22 -8.76 514 4161.31 roll -1.56 - - 1961.00 - 3.35 0.048 2133.19 431.1 -107.06 - - 3461.41 - - - - - - - - - 16.14 -
4469.64 464.91 -8.47 546 4476.16 roll -1.56 - - 1961.00 - 3.78 0.114 689.00 -382.1 -107.06 - - 3459.72 - - - - - - - - - 16.14 -
4519.65 469.77 -9.87 556 4525.63 roll -1.56 - - 1959.69 - 3.35 0.047 2134.00 431.3 -107.06 - - 3462.09 - - - - - - - - - 16.14 -
4829.67 497.00 -8.51 588 4831.24 no move -1.56 - - 1961.12 - - - 2133.62 - -107.06 - - 3459.66 - - - - - - - - - - -
5139.70 523.00 -8.04 619 5146.89 roll -1.56 - - 1960.44 - 3.77 0.114 688.62 -383.3 -107.06 - - 3461.38 - - - - - - - - - 16.13 -
5175.33 526.27 -8.61 626 5181.28 roll -1.56 - - 1960.81 - 3.34 0.048 2133.00 432.4 -107.06 - - 3461.03 - - - - - - - - - 16.14 -
5485.37 550.58 -7.87 658 5486.94 no move -1.56 - - 1960.94 - - - 2133.06 - -107.06 - - 3458.94 - - - - - - - - - - -
5795.38 578.20 -9.13 689 5796.96 no move -1.56 - - 1961.25 - - - 2133.19 - -107.06 - - 3458.56 - - - - - - - - - - -
6105.41 608.23 -9.76 720 6112.66 roll -1.56 - - 1961.19 - 3.78 0.118 690.50 -381.7 -107.06 - - 3457.06 - - - - - - - - - 16.15 -
6195.47 617.72 -10.10 738 6202.96 roll -1.56 - - 1960.88 - 3.35 0.050 2132.19 430.4 -107.06 - - 3458.50 - - - - - - - - - 16.13 -
6511.27 644.72 -7.74 770 6512.84 no move -1.56 - - 1960.88 - - - 2131.62 - -107.06 - - 3457.41 - - - - - - - - - - -
6821.29 668.85 -7.77 801 6828.49 roll -1.56 - - 1961.12 - 3.76 0.115 689.62 -383.5 -107.06 - - 3457.91 - - - - - - - - - 16.14 -
6886.94 674.83 -9.14 814 6892.89 roll -1.56 - - 1960.69 - 3.36 0.051 2130.75 428.9 -107.06 - - 3457.69 - - - - - - - - - 16.15 -
7196.96 701.04 -8.83 846 7198.53 no move -1.56 - - 1960.94 - - - 2131.06 - -107.06 - - 3456.50 - - - - - - - - - - -
7506.99 726.85 -8.16 877 7508.56 no move -1.56 - - 1961.06 - - - 2130.31 - -107.06 - - 3456.50 - - - - - - - - - - -
7817.01 751.62 -8.07 908 7818.58 no move -1.56 - - 1961.00 - - - 2130.94 - -107.06 - - 3455.50 - - - - - - - - - - -
8127.06 776.96 -8.25 939 8128.63 no move -1.56 - - 1960.81 - - - 2130.81 - -107.06 - - 3455.75 - - - - - - - - - - -
8437.11 803.35 -8.49 970 8438.68 no move -1.56 - - 1960.94 - - - 2130.19 - -107.06 - - 3454.78 - - - - - - - - - - -
8747.16 829.42 -8.14 1001 8754.59 roll -1.56 - - 1960.00 - 3.79 0.120 689.06 -380.2 -107.06 - - 3455.62 - - - - - - - - - 16.15 -
8807.39 835.21 -10.23 1013 8814.86 roll -1.56 - - 1960.19 - 3.38 0.052 2133.19 427.3 -107.06 - - 3455.84 - - - - - - - - - 16.16 -
9123.19 859.81 -7.15 1045 9124.76 no move -1.56 - - 1960.75 - - - 2133.56 - -107.06 - - 3453.34 - - - - - - - - - - -
9433.21 882.66 -7.44 1076 9440.41 roll -1.56 - - 1960.81 - 3.79 0.119 689.00 -381.2 -107.06 - - 3453.66 - - - - - - - - - 16.13 -
9468.86 885.58 -8.04 1083 9474.80 roll -1.56 - - 1960.69 - 3.37 0.051 2131.00 427.9 -107.06 - - 3454.16 - - - - - - - - - 16.16 -
9778.89 907.71 -7.90 1115 9780.46 no move -1.56 - - 1961.25 - - - 2131.50 - -107.06 - - 3452.44 - - - - - - - - - - -
10088.92 934.80 -9.30 1146 10096.10 roll -1.56 - - 1960.44 - 3.76 0.119 691.12 -383.1 -107.06 - - 3452.44 - - - - - - - - - 16.14 -
10148.80 940.91 -9.61 1158 10156.26 roll -1.56 - - 1961.00 - 3.37 0.053 2129.38 426.8 -107.06 - - 3454.75 - - - - - - - - - 16.15 -
10464.58 967.10 -8.15 1190 10466.16 no move -1.56 - - 1960.94 - - - 2130.31 - -107.06 - - 3452.16 - - - - - - - - - - -
10764 end dive: TARGET_DEPTH_EXCEEDED
10764 begin apogee
10766.43 990.62 -8.19 1220 10861.54 -0.42 2.37 0.121 2239.62 117.6 0.10 0.222 2116.81 -135.0 - 87.28 2.206 3016.78 -5.0 0.370 - - - - - - 16.11 15.54 12.58
10866 end apogee: CONTROL_FINISHED_OK
10866 begin climb
10869.51 992.44 - 1229 10975.10 1.56 3.92 0.058 2728.62 124.7 - - 2117.31 - 107.06 95.35 2.147 2580.78 -4.6 0.349 - - - - - - 15.64 - 12.75
11278.61 958.40 10.76 1270 11284.56 done 1.56 - - 2729.25 - 3.27 0.100 3362.12 380.7 107.06 - - 2570.19 - - - - - - - - - 15.84 -
11512.91 929.86 11.48 1317 11520.42 done 1.56 - - 2728.44 - 2.98 0.046 2119.19 -417.1 107.06 - - 2568.97 - - - - - - - - - 15.95 -
11828.68 895.42 10.75 1349 11834.56 done 1.56 - - 2729.19 - 3.20 0.097 3363.88 389.0 107.06 - - 2566.78 - - - - - - - - - 15.99 -
11992.96 876.39 11.56 1382 12000.22 done 1.56 - - 2729.38 - 2.96 0.049 2118.81 -420.6 107.06 - - 2565.66 - - - - - - - - - 16.02 -
12308.74 845.70 8.85 1414 12314.60 done 1.56 - - 2729.06 - 3.17 0.097 3362.62 392.4 107.06 - - 2564.38 - - - - - - - - - 16.05 -
12443.02 832.35 10.19 1441 12450.29 done 1.56 - - 2729.00 - 2.94 0.047 2120.00 -422.7 107.06 - - 2564.47 - - - - - - - - - 16.07 -
12758.79 801.27 10.49 1473 12760.36 VBD 1.56 - - 2729.31 - - - 2120.38 - 107.06 - - 2561.62 - - - - - - - - - - -
13068.81 766.91 10.42 1504 13070.38 VBD 1.56 - - 2728.94 - - - 2120.31 - 107.06 - - 2560.28 - - - - - - - - - - -
13378.84 737.40 8.14 1535 13384.71 done 1.56 - - 2728.88 - 3.18 0.097 3363.44 390.9 107.06 - - 2561.41 - - - - - - - - - 16.10 -
13588.93 720.92 7.38 1577 13594.67 done 1.58 - - 2728.00 - 2.94 0.051 2119.25 -423.2 107.06 - - 2562.31 - - - - - - - - - 16.11 -
13898.95 702.18 5.62 1609 13904.76 done 1.66 - - 2729.06 - 3.18 0.096 3362.00 390.8 107.06 - - 2560.47 - - - - - - - - - 16.12 -
14028.96 693.52 6.51 1635 14034.83 1.70 0.18 0.071 2761.69 181.3 2.95 0.051 2119.00 -421.4 107.06 - - 2561.56 - - - - - - - - 16.13 16.13 -
14338.99 673.77 6.21 1667 14344.80 done 1.76 - - 2761.38 - 3.18 0.096 3362.25 391.0 107.06 - - 2559.62 - - - - - - - - - 16.13 -
14488.96 662.51 7.79 1697 14494.71 done 1.76 - - 2760.81 - 2.94 0.051 2120.19 -422.5 107.06 - - 2561.41 - - - - - - - - - 16.14 -
14799.02 641.49 7.12 1729 14804.85 done 1.79 - - 2760.75 - 3.18 0.096 3363.50 391.0 107.06 - - 2560.91 - - - - - - - - - 16.13 -
14893.23 634.08 7.97 1748 14900.54 done 1.79 - - 2761.88 - 2.94 0.050 2119.62 -423.1 107.06 - - 2560.31 - - - - - - - - - 16.14 -
15209.02 610.32 7.82 1780 15214.89 done 1.79 - - 2761.12 - 3.16 0.095 3363.38 393.6 107.06 - - 2559.78 - - - - - - - - - 16.13 -
15273.30 604.67 9.09 1793 15280.56 done 1.79 - - 2761.62 - 2.93 0.050 2116.75 -425.5 107.06 - - 2558.72 - - - - - - - - - 16.14 -
15589.10 578.27 8.18 1825 15590.67 VBD 1.79 - - 2761.62 - - - 2117.25 - 107.06 - - 2558.44 - - - - - - - - - - -
15899.20 554.88 7.13 1856 15905.18 1.81 0.14 0.079 2791.25 211.6 3.17 0.096 3363.75 393.2 107.06 - - 2560.28 - - - - - - - - 16.16 16.11 -
16133.45 535.14 8.26 1903 16140.71 done 1.81 - - 2790.75 - 2.94 0.050 2117.81 -423.8 107.06 - - 2559.84 - - - - - - - - - 16.13 -
16449.22 511.55 7.84 1935 16455.33 1.81 0.28 0.161 2774.81 -56.9 3.18 0.096 3362.19 391.3 107.06 - - 2559.16 - - - - - - - - 16.11 16.10 -
16569.25 501.82 8.15 1959 16575.01 done 1.81 - - 2774.31 - 2.93 0.049 2117.94 -424.7 107.06 - - 2559.97 - - - - - - - - - 16.15 -
16879.32 478.11 7.34 1991 16880.89 VBD 1.84 - - 2775.12 - - - 2117.94 - 107.06 - - 2557.66 - - - - - - - - - - -
17189.35 455.95 6.96 2022 17195.63 1.87 0.22 0.059 2805.50 138.1 3.18 0.095 3362.62 391.4 107.06 - - 2559.69 - - - - - - - - 16.20 16.11 -
17223.56 453.06 7.59 2029 17231.03 1.87 0.25 0.171 2787.56 -71.8 2.93 0.049 2115.06 -425.8 107.06 - - 2559.69 - - - - - - - - 16.08 16.14 -
17539.38 430.80 6.30 2061 17545.40 1.92 0.20 0.059 2818.31 153.8 3.18 0.094 3363.38 392.6 107.06 - - 2559.81 - - - - - - - - 16.16 16.11 -
17649.40 423.03 7.28 2083 17655.23 done 1.94 - - 2817.81 - 2.94 0.050 2117.94 -423.6 107.06 - - 2559.06 - - - - - - - - - 16.14 -
17959.43 402.49 6.57 2115 17965.29 done 1.99 - - 2819.12 - 3.16 0.093 3363.88 394.3 107.06 - - 2559.47 - - - - - - - - - 16.11 -
18019.40 398.10 7.64 2127 18025.16 done 1.99 - - 2817.44 - 2.94 0.049 2115.81 -424.5 107.06 - - 2559.84 - - - - - - - - - 16.12 -
18329.46 376.68 6.40 2159 18331.22 2.04 0.12 0.081 2845.38 232.8 - - 2116.00 - 107.06 - - 2556.53 - - - - - - - - 16.17 - -
18639.49 354.69 6.32 2190 18645.31 done 2.09 - - 2845.88 - 3.16 0.094 3364.56 395.1 107.06 - - 2559.50 - - - - - - - - - 16.13 -
18873.93 336.89 7.57 2237 18881.02 done 2.09 - - 2845.06 - 2.94 0.050 2118.31 -423.9 107.06 - - 2558.62 - - - - - - - - - 16.13 -
19189.57 318.29 5.73 2269 19196.85 2.16 0.14 0.077 2875.12 214.7 3.68 0.111 688.81 -388.5 107.06 - - 2558.91 - - - - - - - - 16.16 16.10 -
19375.32 304.05 8.42 2306 19382.63 2.16 0.26 0.179 2857.31 -68.5 3.52 0.055 2179.88 423.6 107.06 - - 2557.34 - - - - - - - - 16.07 16.09 -
19690.37 284.39 5.45 2338 19696.34 2.24 0.28 0.049 2893.94 130.8 3.02 0.096 3362.56 391.6 107.06 - - 2557.53 - - - - - - - - 16.16 16.08 -
19744.62 280.96 6.24 2349 19751.86 done 2.29 - - 2893.69 - 2.94 0.049 2115.25 -424.3 107.06 - - 2556.84 - - - - - - - - - 16.11 -
20060.38 263.29 4.91 2381 20115.69 2.37 0.17 0.066 2923.69 176.5 3.21 0.095 3362.31 388.5 168.28 47.38 1.314 2331.81 -4.7 0.157 - - - - - - 16.10 15.87 12.53
20118.96 259.52 6.32 2388 20125.87 roll 2.42 - - 2924.44 - 2.95 0.048 2114.50 -423.0 168.28 - - 2333.09 - - - - - - - - - 15.93 -
20434.15 217.83 13.89 2420 20440.27 done 2.42 - - 2924.19 - 3.65 0.111 687.50 -391.0 168.28 - - 2324.75 - - - - - - - - - 15.98 -
20514.19 205.61 15.89 2436 20520.23 done 2.42 - - 2925.06 - 3.49 0.055 2182.50 428.4 168.28 - - 2325.16 - - - - - - - - - 16.02 -
20824.19 164.37 13.09 2468 20831.45 done 2.42 - - 2924.56 - 3.81 0.108 687.94 -392.3 168.28 - - 2322.44 - - - - - - - - - 16.02 -
20899.89 153.35 14.84 2483 20905.95 done 2.42 - - 2925.31 - 3.46 0.054 2182.75 432.0 168.28 - - 2321.59 - - - - - - - - - 16.00 -
21209.90 117.59 9.76 2515 21215.66 done 2.42 - - 2925.12 - 2.97 0.095 3363.44 397.5 168.28 - - 2320.75 - - - - - - - - - 16.00 -
21269.90 111.65 9.82 2527 21275.62 done 2.42 - - 2926.00 - 2.88 0.047 2114.25 -433.7 168.28 - - 2320.91 - - - - - - - - - 16.02 -
21579.97 89.90 6.83 2575 21586.80 done 2.46 - - 2924.69 - 3.12 0.092 3362.25 400.0 168.28 - - 2321.50 - - - - - - - - - 16.00 -
21730.42 80.00 7.50 2605 21737.03 2.48 0.12 0.080 2949.88 209.9 2.87 0.047 2115.31 -434.5 168.28 - - 2321.44 - - - - - - - - 16.09 15.99 -
21920.47 72.90 2.56 2643 22043.03 2.62 0.22 0.053 2983.25 151.7 3.21 0.092 3362.56 388.6 275.58 111.67 1.043 1896.62 -3.8 0.044 - - - - - - 16.06 15.64 12.63
22271.51 34.57 12.05 2712 22278.02 roll 2.62 - - 2984.25 - 2.93 0.047 2116.19 -425.4 275.58 - - 1893.59 - - - - - - - - - 15.86 -
22461.57 16.84 7.51 2750 22468.15 roll 2.63 - - 2983.56 - 3.16 0.090 3362.31 394.3 275.58 - - 1893.62 - - - - - - - - - 15.91 -
22631.63 17.92 -1.47 2784 22827.81 2.87 0.44 0.042 3046.69 143.5 2.92 0.045 2113.94 -427.5 461.53 182.51 0.964 1138.00 -4.1 0.013 - - - - - - 15.94 15.94 12.52
22836 end climb: SURFACE_DEPTH_REACHED
22836 begin surface coast
22851 end surface coast: CONTROL_FINISHED_OK
22851 begin surface
SM 1.20 - - - - 189.2 15.15 0.846 1083.8 59.5 21.97 0.047 1094.9 49.8 - 0.05 0.180 1072.8 21397.6 -14.580 - - 12.67 15.69 15.66 -