NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 167 * Raw log
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• Previous call tries 1 • 73.03 of 575.00 AH used of 24V (87.30% remains)
• Surface angle -64.5 deg, depth 1.42 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.91 (SM_CC=475)
• GPS1 time: 42 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
8.96 - - - 80.86 VBD -1.56 - - 189.12 - - - 2128.25 - -107.06 70.27 0.005 2581.59 - - - - - - - - - - 15.70
81.30 3.59 -3.34 14 132.32 -1.56 16.51 0.241 1959.88 107.3 3.77 0.118 690.81 -381.3 -107.06 21.25 0.006 3457.16 41.2 -4.072 - - - - - - 15.71 15.67 15.74
360.71 53.64 -15.00 69 367.24 roll -1.56 - - 1960.06 - 3.37 0.048 2132.25 427.7 -107.06 - - 3458.78 - - - - - - - - - 15.87 -
550.73 79.09 -12.75 107 557.78 roll -1.56 - - 1960.62 - 3.74 0.110 688.94 -385.9 -107.06 - - 3460.16 - - - - - - - - - 15.91 -
686.20 94.95 -10.59 134 692.73 roll -1.56 - - 1959.81 - 3.34 0.047 2132.75 432.3 -107.06 - - 3459.28 - - - - - - - - - 15.93 -
876.20 114.10 -10.33 158 881.88 roll -1.56 - - 1960.25 - 3.12 0.097 3363.88 394.6 -107.06 - - 3460.47 - - - - - - - - - 15.96 -
936.21 121.31 -12.29 170 941.85 roll -1.56 - - 1959.56 - 3.03 0.044 2066.12 -428.3 -107.06 - - 3460.41 - - - - - - - - - 15.98 -
1246.22 157.09 -11.27 202 1251.94 roll -1.56 - - 1959.88 - 3.30 0.093 3361.75 392.6 -107.06 - - 3460.66 - - - - - - - - - 16.00 -
1360.48 171.32 -12.28 225 1367.64 roll -1.56 - - 1960.06 - 3.04 0.044 2066.38 -426.1 -107.06 - - 3461.09 - - - - - - - - - 16.00 -
1676.26 204.00 -9.97 257 1678.06 no move -1.56 - - 1959.56 - - - 2066.44 - -107.06 - - 3460.22 - - - - - - - - - - -
1986.32 234.55 -9.82 288 1987.89 no move -1.56 - - 1959.75 - - - 2066.25 - -107.06 - - 3460.34 - - - - - - - - - - -
2296.35 264.24 -9.70 319 2302.39 roll -1.56 - - 1960.75 - 3.58 0.118 689.75 -384.5 -107.06 - - 3462.09 - - - - - - - - - 16.09 -
2346.36 269.96 -11.54 329 2352.30 roll -1.56 - - 1958.75 - 3.38 0.049 2133.00 427.0 -107.06 - - 3462.81 - - - - - - - - - 16.09 -
2656.39 301.80 -9.88 361 2657.96 no move -1.56 - - 1959.88 - - - 2133.06 - -107.06 - - 3460.47 - - - - - - - - - - -
2966.41 331.82 -10.59 392 2967.99 no move -1.56 - - 1960.12 - - - 2133.31 - -107.06 - - 3459.91 - - - - - - - - - - -
3276.44 360.67 -9.21 423 3283.62 roll -1.56 - - 1959.12 - 3.76 0.116 689.94 -383.9 -107.06 - - 3461.31 - - - - - - - - - 16.12 -
3322.18 365.06 -9.78 432 3328.13 roll -1.56 - - 1959.94 - 3.33 0.050 2131.00 432.8 -107.06 - - 3461.81 - - - - - - - - - 16.11 -
3632.21 392.85 -8.92 464 3633.78 no move -1.56 - - 1959.69 - - - 2130.94 - -107.06 - - 3460.66 - - - - - - - - - - -
3942.24 419.72 -9.15 495 3943.81 no move -1.56 - - 1959.75 - - - 2130.75 - -107.06 - - 3460.00 - - - - - - - - - - -
4252.27 448.37 -9.15 526 4259.71 roll -1.56 - - 1959.75 - 3.76 0.118 688.88 -383.5 -107.06 - - 3460.19 - - - - - - - - - 16.13 -
4308.27 453.91 -10.03 537 4314.22 roll -1.56 - - 1959.88 - 3.35 0.051 2131.00 430.5 -107.06 - - 3460.38 - - - - - - - - - 16.12 -
4618.30 478.92 -8.03 569 4619.87 no move -1.56 - - 1959.62 - - - 2131.19 - -107.06 - - 3460.38 - - - - - - - - - - -
4928.33 504.82 -8.47 600 4935.53 roll -1.56 - - 1959.12 - 3.77 0.119 687.56 -382.9 -107.06 - - 3461.59 - - - - - - - - - 16.14 -
4973.97 509.21 -9.08 609 4979.95 roll -1.56 - - 1960.31 - 3.35 0.052 2132.12 431.2 -107.06 - - 3461.00 - - - - - - - - - 16.13 -
5284.00 536.89 -8.84 641 5289.87 roll -1.56 - - 1959.81 - 3.12 0.099 3360.75 393.8 -107.06 - - 3460.75 - - - - - - - - - 16.12 -
5323.99 540.85 -9.89 649 5329.82 roll -1.56 - - 1959.69 - 3.04 0.045 2069.56 -424.7 -107.06 - - 3460.78 - - - - - - - - - 16.15 -
5634.02 568.51 -8.89 681 5635.59 no move -1.56 - - 1959.75 - - - 2068.25 - -107.06 - - 3458.88 - - - - - - - - - - -
5944.03 596.92 -9.24 712 5945.60 no move -1.56 - - 1959.81 - - - 2068.44 - -107.06 - - 3458.03 - - - - - - - - - - -
6254.06 624.40 -8.96 743 6255.63 no move -1.56 - - 1959.81 - - - 2068.75 - -107.06 - - 3457.38 - - - - - - - - - - -
6564.10 651.10 -9.09 774 6565.67 no move -1.56 - - 1959.62 - - - 2068.62 - -107.06 - - 3457.31 - - - - - - - - - - -
6874.15 679.09 -9.07 805 6880.26 roll -1.56 - - 1959.94 - 3.63 0.124 690.75 -379.6 -107.06 - - 3458.16 - - - - - - - - - 16.15 -
6908.40 682.77 -10.52 812 6915.87 roll -1.56 - - 1960.25 - 3.37 0.052 2132.06 427.7 -107.06 - - 3457.31 - - - - - - - - - 16.15 -
7224.21 713.06 -9.58 844 7225.78 no move -1.56 - - 1959.50 - - - 2131.94 - -107.06 - - 3456.56 - - - - - - - - - - -
7534.23 744.24 -10.07 875 7535.80 no move -1.56 - - 1959.62 - - - 2132.56 - -107.06 - - 3455.56 - - - - - - - - - - -
7844.26 774.32 -9.52 906 7845.83 no move -1.56 - - 1959.75 - - - 2132.56 - -107.06 - - 3455.66 - - - - - - - - - - -
8154.30 802.53 -8.47 937 8155.87 no move -1.56 - - 1959.50 - - - 2132.56 - -107.06 - - 3454.88 - - - - - - - - - - -
8464.31 828.97 -8.03 968 8471.50 roll -1.56 - - 1959.06 - 3.80 0.120 689.56 -379.7 -107.06 - - 3453.19 - - - - - - - - - 16.14 -
8539.95 836.21 -9.57 983 8545.90 roll -1.56 - - 1960.56 - 3.37 0.050 2132.19 428.1 -107.06 - - 3455.25 - - - - - - - - - 16.15 -
8849.97 862.09 -8.69 1015 8857.41 roll -1.56 - - 1959.31 - 3.78 0.117 688.44 -381.9 -107.06 - - 3453.88 - - - - - - - - - 16.14 -
8900.21 866.76 -8.95 1025 8907.68 roll -1.56 - - 1959.62 - 3.37 0.051 2132.12 428.4 -107.06 - - 3453.81 - - - - - - - - - 16.13 -
9216.00 893.76 -8.06 1057 9217.57 no move -1.56 - - 1959.81 - - - 2132.25 - -107.06 - - 3453.53 - - - - - - - - - - -
9526.02 918.57 -7.91 1088 9533.21 roll -1.56 - - 1959.50 - 3.78 0.118 690.06 -381.5 -107.06 - - 3453.72 - - - - - - - - - 16.14 -
9571.66 922.25 -8.12 1097 9577.64 roll -1.56 - - 1960.00 - 3.36 0.051 2131.62 429.0 -107.06 - - 3454.53 - - - - - - - - - 16.16 -
9881.69 945.12 -7.10 1129 9888.88 roll -1.56 - - 1959.94 - 3.75 0.117 688.81 -384.7 -107.06 - - 3453.25 - - - - - - - - - 16.14 -
9947.33 950.67 -8.34 1142 9953.28 roll -1.56 - - 1959.38 - 3.34 0.050 2132.44 432.2 -107.06 - - 3454.06 - - - - - - - - - 16.14 -
10257.36 975.61 -7.87 1174 10258.94 no move -1.56 - - 1959.56 - - - 2132.81 - -107.06 - - 3452.66 - - - - - - - - - - -
10567.41 986.13 -1.80 1205 10573.25 roll -1.56 - - 1959.62 - 3.12 0.099 3361.00 393.7 -107.06 - - 3454.34 - - - - - - - - - 16.12 -
10791 end dive: NO_VERTICAL_VELOCITY
10791 begin apogee
10797.47 986.39 - 1250 10891.92 -0.42 2.30 0.066 2244.56 123.9 0.11 0.215 2184.81 -10692.6 - 87.36 2.210 3017.59 -5.0 0.369 - - - - - - 16.20 15.54 12.49
10903 end apogee: CONTROL_FINISHED_OK
10903 begin climb
10906.09 986.26 - 1259 11018.15 1.56 3.97 0.057 2723.94 120.8 4.11 0.117 691.31 -363.4 107.06 94.91 2.149 2582.75 -4.6 0.347 - - - - - - 15.67 15.34 12.74
11246.75 955.08 11.83 1325 11252.86 done 1.56 - - 2724.38 - 3.56 0.054 2177.75 417.5 107.06 - - 2570.41 - - - - - - - - - 15.81 -
11556.75 923.03 10.44 1357 11564.05 done 1.56 - - 2722.31 - 3.91 0.111 689.50 -380.6 107.06 - - 2567.66 - - - - - - - - - 15.93 -
11646.74 912.38 11.62 1375 11654.34 done 1.56 - - 2724.25 - 3.54 0.053 2180.81 421.3 107.06 - - 2566.56 - - - - - - - - - 15.95 -
11962.50 883.50 8.83 1407 11968.34 done 1.56 - - 2724.94 - 3.02 0.097 3362.88 391.4 107.06 - - 2564.78 - - - - - - - - - 16.00 -
12026.75 876.95 10.27 1420 12034.01 done 1.56 - - 2724.50 - 2.93 0.044 2115.56 -425.7 107.06 - - 2563.50 - - - - - - - - - 16.01 -
12342.53 847.46 10.29 1452 12348.41 done 1.56 - - 2723.62 - 3.18 0.095 3362.56 392.1 107.06 - - 2564.16 - - - - - - - - - 16.05 -
12386.78 842.61 11.31 1461 12394.05 done 1.56 - - 2724.56 - 2.92 0.044 2118.81 -425.9 107.06 - - 2562.97 - - - - - - - - - 16.07 -
12702.55 811.42 10.35 1493 12704.12 VBD 1.56 - - 2724.31 - - - 2118.75 - 107.06 - - 2561.53 - - - - - - - - - - -
13012.58 780.59 9.45 1524 13018.45 done 1.56 - - 2724.75 - 3.17 0.096 3362.06 392.2 107.06 - - 2562.91 - - - - - - - - - 16.05 -
13152.62 766.31 9.93 1552 13158.37 done 1.56 - - 2724.38 - 2.91 0.045 2118.50 -427.3 107.06 - - 2562.44 - - - - - - - - - 16.11 -
13462.64 738.50 9.01 1584 13468.54 done 1.56 - - 2723.62 - 3.17 0.095 3362.38 392.4 107.06 - - 2563.16 - - - - - - - - - 16.10 -
13662.68 719.11 10.15 1624 13668.42 done 1.56 - - 2724.25 - 2.89 0.044 2117.00 -430.9 107.06 - - 2562.47 - - - - - - - - - 16.13 -
13972.70 691.21 8.61 1656 13978.61 done 1.56 - - 2724.88 - 3.17 0.096 3362.44 392.9 107.06 - - 2561.25 - - - - - - - - - 16.09 -
14142.75 674.20 9.69 1690 14148.45 done 1.56 - - 2724.88 - 2.90 0.044 2118.06 -429.1 107.06 - - 2561.69 - - - - - - - - - 16.12 -
14452.76 648.44 8.16 1722 14454.34 VBD 1.56 - - 2724.31 - - - 2118.69 - 107.06 - - 2559.19 - - - - - - - - - - -
14762.81 624.02 7.94 1753 14768.90 done 1.56 - - 2724.56 - 3.15 0.094 3361.75 394.6 107.06 - - 2559.25 - - - - - - - - - 16.14 -
14922.82 609.81 8.48 1785 14928.52 done 1.56 - - 2724.69 - 2.88 0.045 2115.69 -432.7 107.06 - - 2559.00 - - - - - - - - - 16.14 -
15232.90 586.84 7.34 1817 15238.72 done 1.59 - - 2725.38 - 3.14 0.094 3362.62 397.1 107.06 - - 2559.00 - - - - - - - - - 16.12 -
15347.13 577.78 7.81 1840 15354.32 done 1.59 - - 2724.19 - 2.89 0.046 2113.19 -432.3 107.06 - - 2561.06 - - - - - - - - - 16.13 -
15662.94 556.31 6.96 1872 15668.75 done 1.62 - - 2723.81 - 3.11 0.094 3363.50 402.0 107.06 - - 2561.12 - - - - - - - - - 16.13 -
15842.97 542.22 7.53 1908 15848.68 done 1.63 - - 2725.31 - 2.89 0.044 2114.06 -432.3 107.06 - - 2559.34 - - - - - - - - - 16.14 -
16153.00 520.71 6.65 1940 16159.00 1.68 0.17 0.067 2756.00 180.5 3.14 0.093 3364.25 398.1 107.06 - - 2559.88 - - - - - - - - 16.17 16.11 -
16332.97 506.62 8.05 1976 16338.96 done 1.68 - - 2756.25 - 2.90 0.044 2115.56 -430.6 107.06 - - 2559.97 - - - - - - - - - 16.14 -
16643.07 482.65 8.27 2008 16644.64 VBD 1.68 - - 2756.94 - - - 2115.12 - 107.06 - - 2557.72 - - - - - - - - - - -
16953.01 457.05 7.91 2039 16954.58 VBD 1.68 - - 2756.94 - - - 2115.56 - 107.06 - - 2558.09 - - - - - - - - - - -
17263.04 431.66 8.29 2070 17264.61 VBD 1.68 - - 2756.62 - - - 2115.69 - 107.06 - - 2558.06 - - - - - - - - - - -
17573.15 409.81 6.60 2101 17578.97 done 1.72 - - 2756.75 - 3.16 0.095 3363.75 395.0 107.06 - - 2558.88 - - - - - - - - - 16.13 -
17807.47 394.72 6.08 2148 17814.90 1.78 0.14 0.066 2780.06 166.5 2.90 0.044 2116.75 -430.0 107.06 - - 2558.62 - - - - - - - - 16.16 16.13 -
18123.46 378.72 4.80 2180 18175.72 VBD 1.86 - - 2779.62 - - - 2116.88 - 170.43 49.73 1.462 2325.75 -4.7 0.200 - - - - - - - - 12.57
18483.23 345.02 10.69 2216 18489.09 done 1.86 - - 2779.31 - 3.19 0.095 3362.44 390.5 170.43 - - 2316.50 - - - - - - - - - 16.00 -
18547.50 337.32 12.07 2229 18555.05 done 1.86 - - 2779.88 - 2.94 0.044 2116.31 -423.9 170.43 - - 2314.59 - - - - - - - - - 16.01 -
18863.26 302.02 11.03 2261 18869.12 done 1.86 - - 2779.81 - 3.18 0.093 3363.38 392.2 170.43 - - 2313.50 - - - - - - - - - 16.03 -
18947.53 291.90 12.09 2278 18954.83 done 1.86 - - 2780.44 - 2.93 0.046 2116.94 -425.4 170.43 - - 2312.84 - - - - - - - - - 16.05 -
19263.31 258.18 10.40 2310 19264.88 VBD 1.86 - - 2780.69 - - - 2117.12 - 170.43 - - 2311.66 - - - - - - - - - - -
19573.32 224.78 10.59 2341 19579.18 done 1.86 - - 2779.56 - 3.17 0.093 3359.50 391.9 170.43 - - 2313.06 - - - - - - - - - 16.04 -
19613.33 219.88 12.65 2349 19619.09 done 1.86 - - 2780.25 - 2.92 0.048 2118.25 -425.1 170.43 - - 2311.94 - - - - - - - - - 16.03 -
19923.35 184.97 10.35 2381 19929.21 done 1.86 - - 2778.94 - 3.16 0.092 3362.75 393.8 170.43 - - 2313.03 - - - - - - - - - 16.04 -
20157.64 161.30 9.26 2428 20164.94 done 1.86 - - 2779.88 - 2.93 0.046 2118.50 -424.7 170.43 - - 2312.50 - - - - - - - - - 16.03 -
20473.47 138.61 5.90 2460 20479.51 1.93 0.21 0.059 2819.62 189.2 3.16 0.092 3364.06 394.2 170.43 - - 2311.09 - - - - - - - - 16.07 16.02 -
20627.76 128.55 6.60 2491 20635.03 done 1.97 - - 2819.38 - 2.92 0.045 2115.38 -427.6 170.43 - - 2310.56 - - - - - - - - - 16.03 -
20943.48 104.06 8.61 2523 20949.61 done 1.97 - - 2819.81 - 3.68 0.112 688.69 -387.7 170.43 - - 2311.38 - - - - - - - - - 16.03 -
21153.58 89.18 6.04 2565 21160.29 done 2.03 - - 2819.12 - 3.49 0.051 2184.44 428.6 170.43 - - 2310.12 - - - - - - - - - 16.05 -
21343.73 79.86 4.63 2603 21424.65 2.12 0.25 0.051 2863.75 178.5 3.90 0.106 688.88 -383.5 237.27 71.07 1.049 2051.28 -3.6 0.046 - - - - - - 16.08 15.79 12.55
21653.17 51.05 10.18 2664 21659.99 roll 2.12 - - 2863.62 - 3.54 0.050 2183.56 422.2 237.27 - - 2048.44 - - - - - - - - - 15.91 -
21843.55 35.87 5.97 2702 21850.48 roll 2.18 - - 2864.62 - 3.85 0.102 689.88 -388.0 237.27 - - 2045.44 - - - - - - - - - 15.91 -
22028.97 25.15 6.16 2739 22035.89 roll back 2.23 0.14 0.066 2893.75 208.1 3.53 0.049 2184.88 423.5 237.27 - - 2044.62 - - - - - - - - 15.94 15.95 -
22219.34 19.25 2.31 2777 22335.13 2.38 0.19 0.058 2927.81 179.3 - - 2184.94 - 349.43 111.28 0.980 1595.72 -4.0 0.013 - - - - - - 15.99 - 12.64
22488 end climb: SURFACE_DEPTH_REACHED
22488 begin surface coast
22518 end surface coast: CONTROL_FINISHED_OK
22519 begin surface
SM 1.67 - - - - 186.7 119.51 0.961 1084.0 8.1 20.72 0.050 1104.9 53.3 - 0.23 0.088 1063.1 4622.2 -8.965 - - 12.67 15.85 15.85 -