NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 171 * Raw log
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• Previous call tries 1 • 74.35 of 575.00 AH used of 24V (87.07% remains)
• Surface angle -64.6 deg, depth 1.44 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.85 (SM_CC=475)
• GPS1 time: 18 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
8.99 - - - 75.74 VBD -1.56 - - 185.44 - - - 2129.81 - -107.06 65.14 0.005 2473.12 - - - - - - - - - - 15.71
76.18 3.11 -2.90 13 133.74 -1.56 16.58 0.241 1960.06 107.0 3.84 0.117 690.75 -374.8 -107.06 25.53 0.006 3457.03 38.5 -3.289 - - - - - - 15.68 15.68 15.72
312.29 41.26 -14.60 59 318.83 roll -1.56 - - 1959.25 - 3.40 0.047 2129.75 423.2 -107.06 - - 3459.50 - - - - - - - - - 15.88 -
502.31 66.00 -12.64 97 509.02 roll -1.56 - - 1959.69 - 3.78 0.110 691.12 -380.6 -107.06 - - 3460.28 - - - - - - - - - 15.91 -
607.48 81.21 -14.59 118 614.18 roll -1.56 - - 1959.06 - 3.38 0.046 2132.25 426.4 -107.06 - - 3460.06 - - - - - - - - - 15.96 -
802.74 104.42 -10.94 153 808.57 roll -1.56 - - 1957.94 - 3.12 0.094 3361.81 394.1 -107.06 - - 3461.38 - - - - - - - - - 15.93 -
846.97 109.24 -10.63 162 854.29 roll -1.56 - - 1959.38 - 3.06 0.041 2065.12 -423.8 -107.06 - - 3460.81 - - - - - - - - - 15.98 -
1162.75 139.85 -9.72 194 1164.32 no move -1.56 - - 1959.88 - - - 2065.62 - -107.06 - - 3459.47 - - - - - - - - - - -
1472.77 171.09 -9.94 225 1478.70 roll -1.56 - - 1959.19 - 3.30 0.092 3359.81 392.2 -107.06 - - 3461.50 - - - - - - - - - 15.98 -
1542.77 178.68 -11.09 239 1548.62 roll -1.56 - - 1960.00 - 3.05 0.043 2067.38 -423.7 -107.06 - - 3461.03 - - - - - - - - - 16.05 -
1852.79 207.68 -9.32 271 1858.89 roll -1.56 - - 1960.62 - 3.63 0.116 690.00 -379.4 -107.06 - - 3461.78 - - - - - - - - - 16.02 -
1907.05 213.28 -10.57 282 1914.55 roll -1.56 - - 1959.38 - 3.35 0.046 2135.50 431.5 -107.06 - - 3461.19 - - - - - - - - - 16.03 -
2222.83 240.89 -8.87 314 2228.62 roll -1.56 - - 1960.38 - 3.09 0.095 3361.69 396.8 -107.06 - - 3460.59 - - - - - - - - - 16.05 -
2277.07 246.14 -9.25 325 2284.76 roll -1.56 - - 1960.06 - 3.03 0.041 2066.25 -427.5 -107.06 - - 3461.44 - - - - - - - - - 16.07 -
2592.85 272.28 -7.88 357 2598.96 roll -1.56 - - 1957.62 - 3.62 0.117 689.19 -380.4 -107.06 - - 3461.91 - - - - - - - - - 16.04 -
2652.86 278.11 -9.61 369 2658.81 roll -1.56 - - 1959.94 - 3.37 0.045 2135.12 429.1 -107.06 - - 3461.25 - - - - - - - - - 16.10 -
2962.88 304.37 -8.68 401 2968.67 roll -1.56 - - 1959.69 - 3.10 0.095 3361.38 395.6 -107.06 - - 3461.22 - - - - - - - - - 16.09 -
2992.87 307.30 -9.03 407 2998.67 roll -1.56 - - 1959.81 - 3.04 0.041 2067.94 -425.5 -107.06 - - 3460.97 - - - - - - - - - 16.10 -
3302.89 333.37 -8.07 439 3308.84 roll -1.56 - - 1959.94 - 3.31 0.093 3361.25 390.7 -107.06 - - 3461.00 - - - - - - - - - 16.11 -
3342.89 337.02 -9.12 447 3348.70 roll -1.56 - - 1959.31 - 3.05 0.042 2068.81 -423.8 -107.06 - - 3461.41 - - - - - - - - - 16.11 -
3652.90 361.93 -8.63 479 3654.47 no move -1.56 - - 1959.75 - - - 2068.31 - -107.06 - - 3459.69 - - - - - - - - - - -
3962.91 388.22 -9.28 510 3964.48 no move -1.56 - - 1959.62 - - - 2068.50 - -107.06 - - 3459.41 - - - - - - - - - - -
4272.92 420.15 -11.27 541 4274.49 no move -1.56 - - 1959.25 - - - 2068.56 - -107.06 - - 3459.66 - - - - - - - - - - -
4582.94 456.67 -11.62 572 4588.84 roll -1.56 - - 1959.25 - 3.30 0.097 3361.62 391.8 -107.06 - - 3460.78 - - - - - - - - - 16.14 -
4622.94 461.80 -12.24 580 4628.79 roll -1.56 - - 1959.81 - 3.06 0.046 2069.00 -422.4 -107.06 - - 3459.41 - - - - - - - - - 16.13 -
4932.96 494.97 -10.39 612 4934.53 no move -1.56 - - 1960.12 - - - 2069.44 - -107.06 - - 3458.62 - - - - - - - - - - -
5242.98 523.97 -8.53 643 5244.55 no move -1.56 - - 1960.12 - - - 2070.00 - -107.06 - - 3458.34 - - - - - - - - - - -
5552.99 549.42 -8.06 674 5554.57 no move -1.56 - - 1959.69 - - - 2069.94 - -107.06 - - 3457.72 - - - - - - - - - - -
5863.03 573.36 -7.44 705 5869.39 roll -1.56 - - 1960.75 - 3.66 0.121 688.81 -377.4 -107.06 - - 3457.47 - - - - - - - - - 16.14 -
5903.05 576.86 -8.55 713 5909.02 roll -1.56 - - 1958.62 - 3.39 0.050 2131.75 425.6 -107.06 - - 3459.38 - - - - - - - - - 16.14 -
6213.10 599.63 -7.69 745 6214.67 no move -1.56 - - 1959.81 - - - 2132.38 - -107.06 - - 3456.72 - - - - - - - - - - -
6523.13 623.92 -8.01 776 6530.33 roll -1.56 - - 1960.19 - 3.80 0.115 689.88 -379.6 -107.06 - - 3456.56 - - - - - - - - - 16.15 -
6563.04 627.51 -8.81 784 6570.56 roll -1.56 - - 1960.19 - 3.38 0.049 2134.75 427.5 -107.06 - - 3457.09 - - - - - - - - - 16.16 -
6878.84 652.93 -8.40 816 6880.41 no move -1.56 - - 1959.50 - - - 2134.19 - -107.06 - - 3455.72 - - - - - - - - - - -
7188.88 677.81 -8.16 847 7190.45 no move -1.56 - - 1960.19 - - - 2134.38 - -107.06 - - 3454.94 - - - - - - - - - - -
7498.90 702.17 -7.62 878 7505.38 roll -1.56 - - 1959.50 - 3.80 0.117 688.44 -380.5 -107.06 - - 3454.34 - - - - - - - - - 16.14 -
7558.91 707.57 -9.24 890 7564.86 roll -1.56 - - 1959.94 - 3.38 0.050 2133.62 427.6 -107.06 - - 3456.34 - - - - - - - - - 16.15 -
7868.93 731.83 -7.59 922 7870.51 no move -1.56 - - 1960.00 - - - 2133.75 - -107.06 - - 3454.50 - - - - - - - - - - -
8178.96 757.68 -8.55 953 8186.16 roll -1.56 - - 1960.00 - 3.78 0.116 689.00 -382.2 -107.06 - - 3453.88 - - - - - - - - - 16.15 -
8248.88 764.61 -10.05 967 8256.40 roll -1.56 - - 1960.31 - 3.37 0.049 2132.00 428.2 -107.06 - - 3454.22 - - - - - - - - - 16.14 -
8564.68 790.68 -8.08 999 8566.25 no move -1.56 - - 1960.12 - - - 2132.06 - -107.06 - - 3453.28 - - - - - - - - - - -
8834 end dive: TARGET_DEPTH_EXCEEDED
8835 begin apogee
8836.55 811.38 -7.88 1026 8930.53 -0.42 2.59 0.118 2240.00 108.1 0.10 0.213 2116.25 -158.1 - 85.19 1.978 3019.53 -5.1 0.344 - - - - - - 16.10 15.62 12.53
8942 end apogee: CONTROL_FINISHED_OK
8942 begin climb
8944.85 812.88 - 1035 9052.77 1.56 3.92 0.061 2727.94 124.5 3.37 0.097 3360.81 369.3 107.06 92.60 1.923 2580.28 -4.7 0.330 - - - - - - 15.73 15.39 12.80
9145.60 802.44 8.51 1073 9152.92 done 1.56 - - 2728.00 - 3.05 0.044 2120.00 -406.8 107.06 - - 2575.50 - - - - - - - - - 15.73 -
9461.38 774.49 9.44 1105 9462.96 VBD 1.56 - - 2727.88 - - - 2119.56 - 107.06 - - 2567.75 - - - - - - - - - - -
9771.42 746.81 8.38 1136 9777.33 done 1.56 - - 2727.81 - 3.22 0.094 3362.62 386.0 107.06 - - 2567.59 - - - - - - - - - 15.98 -
9821.43 742.19 9.20 1146 9827.20 done 1.56 - - 2727.56 - 2.98 0.046 2119.31 -417.2 107.06 - - 2566.03 - - - - - - - - - 16.00 -
10131.47 716.12 9.02 1178 10137.39 done 1.56 - - 2728.44 - 3.21 0.093 3363.31 387.5 107.06 - - 2565.28 - - - - - - - - - 16.03 -
10285.75 700.50 10.02 1209 10293.02 done 1.56 - - 2727.81 - 2.96 0.045 2118.62 -420.5 107.06 - - 2565.41 - - - - - - - - - 16.06 -
10601.82 675.70 7.39 1241 10607.40 done 1.58 - - 2728.56 - 3.18 0.094 3362.81 391.3 107.06 - - 2563.38 - - - - - - - - - 16.08 -
10691.55 668.05 8.47 1259 10697.58 done 1.58 - - 2728.38 - 2.94 0.045 2116.44 -423.9 107.06 - - 2564.47 - - - - - - - - - 16.05 -
11001.64 644.65 6.95 1291 11007.48 done 1.62 - - 2727.12 - 3.19 0.092 3364.31 391.2 107.06 - - 2562.25 - - - - - - - - - 16.11 -
11105.87 636.10 8.21 1312 11113.37 done 1.62 - - 2728.31 - 2.95 0.046 2119.06 -422.1 107.06 - - 2562.03 - - - - - - - - - 16.12 -
11421.95 613.00 7.43 1344 11427.53 done 1.64 - - 2727.88 - 3.18 0.094 3363.44 391.3 107.06 - - 2563.31 - - - - - - - - - 16.11 -
11461.66 609.90 7.65 1352 11467.69 done 1.64 - - 2726.94 - 2.94 0.048 2117.00 -424.0 107.06 - - 2564.12 - - - - - - - - - 16.13 -
11771.75 587.55 7.14 1384 11773.51 1.66 0.15 0.070 2752.94 173.3 - - 2117.19 - 107.06 - - 2560.12 - - - - - - - - 16.15 - -
12082.12 566.23 6.91 1415 12087.85 done 1.70 - - 2752.88 - 3.17 0.094 3362.94 393.0 107.06 - - 2561.16 - - - - - - - - - 16.13 -
12211.77 555.66 8.11 1441 12217.57 done 1.70 - - 2753.50 - 2.93 0.049 2117.44 -425.1 107.06 - - 2561.19 - - - - - - - - - 16.13 -
12521.85 534.23 7.24 1473 12527.72 done 1.72 - - 2753.00 - 3.17 0.093 3363.56 393.1 107.06 - - 2561.59 - - - - - - - - - 16.14 -
12756.08 514.30 8.42 1520 12763.36 done 1.72 - - 2753.06 - 2.94 0.049 2117.44 -423.9 107.06 - - 2561.72 - - - - - - - - - 16.13 -
13071.87 488.65 7.99 1552 13077.73 done 1.72 - - 2752.94 - 3.17 0.093 3362.81 392.9 107.06 - - 2561.34 - - - - - - - - - 16.13 -
13216.12 476.93 8.04 1581 13223.64 done 1.72 - - 2751.31 - 2.95 0.049 2117.12 -422.3 107.06 - - 2561.53 - - - - - - - - - 16.13 -
13531.95 455.77 6.13 1613 13539.23 1.78 0.17 0.065 2779.38 165.1 3.69 0.111 687.56 -387.4 107.06 - - 2556.88 - - - - - - - - 16.21 16.11 -
13632.01 448.72 7.20 1633 13639.54 done 1.80 - - 2778.69 - 3.54 0.053 2183.50 422.6 107.06 - - 2560.34 - - - - - - - - - 16.14 -
13947.77 429.32 6.15 1665 13953.53 done 1.86 - - 2779.44 - 3.03 0.096 3363.00 389.3 107.06 - - 2557.88 - - - - - - - - - 16.12 -
14007.78 424.98 7.30 1677 14013.70 1.88 0.14 0.072 2808.19 205.4 2.95 0.048 2117.12 -422.3 107.06 - - 2559.19 - - - - - - - - 16.17 16.13 -
14317.89 404.27 6.56 1709 14323.67 done 1.93 - - 2808.50 - 3.20 0.095 3362.31 389.1 107.06 - - 2558.31 - - - - - - - - - 16.11 -
14547.86 388.00 7.14 1755 14553.61 done 1.96 - - 2807.94 - 2.96 0.049 2117.06 -420.7 107.06 - - 2559.97 - - - - - - - - - 16.13 -
14857.89 365.91 6.99 1787 14863.82 1.99 0.10 0.089 2835.81 278.7 3.19 0.092 3362.62 390.5 107.06 - - 2558.22 - - - - - - - - 16.19 16.11 -
15092.11 345.92 8.39 1834 15099.65 1.99 0.31 0.165 2815.94 -64.1 2.95 0.049 2117.19 -422.2 107.06 - - 2557.91 - - - - - - - - 16.09 16.14 -
15407.94 325.02 6.19 1866 15415.31 2.04 0.23 0.052 2846.31 132.0 3.72 0.110 687.56 -384.3 107.06 - - 2558.75 - - - - - - - - 16.21 16.10 -
15483.85 319.43 7.42 1881 15490.11 done 2.06 - - 2844.94 - 3.53 0.053 2183.38 423.7 107.06 - - 2557.06 - - - - - - - - - 16.13 -
15793.87 301.12 5.82 1913 15795.44 VBD 2.13 - - 2846.69 - - - 2184.31 - 107.06 - - 2556.22 - - - - - - - - - - -
16103.88 284.57 5.62 1944 16109.89 2.20 0.23 0.053 2889.00 184.0 3.02 0.096 3363.12 390.3 107.06 - - 2558.31 - - - - - - - - 16.17 16.08 -
16203.89 277.85 6.85 1964 16209.60 done 2.24 - - 2888.00 - 2.95 0.048 2115.06 -423.1 107.06 - - 2558.50 - - - - - - - - - 16.10 -
16513.90 258.14 6.51 1996 16519.76 done 2.28 - - 2887.75 - 3.18 0.092 3362.94 392.4 107.06 - - 2557.72 - - - - - - - - - 16.07 -
16748.17 241.44 7.31 2043 16755.39 done 2.31 - - 2888.12 - 2.95 0.048 2115.62 -422.8 107.06 - - 2556.91 - - - - - - - - - 16.12 -
17063.94 221.71 5.60 2075 17069.98 2.38 0.22 0.056 2928.88 185.3 3.19 0.091 3362.25 390.8 107.06 - - 2558.50 - - - - - - - - 16.16 16.07 -
17224.21 212.42 5.85 2107 17229.72 done 2.45 - - 2927.38 - 2.96 0.048 2114.88 -421.4 107.06 - - 2559.38 - - - - - - - - - 16.08 -
17533.97 200.26 2.99 2139 17643.23 2.57 0.29 0.051 2976.12 168.1 3.79 0.109 687.62 -376.6 205.86 98.35 1.177 2179.47 -3.9 0.108 - - - - - - 16.14 15.71 12.51
17646.50 191.34 13.27 2160 17653.88 roll back 2.57 0.31 0.186 2959.75 -52.8 3.62 0.051 2178.56 411.9 205.86 - - 2179.00 - - - - - - - - 15.72 15.78 -
17961.71 142.35 14.95 2192 17963.29 VBD 2.57 - - 2959.75 - - - 2178.50 - 205.86 - - 2169.66 - - - - - - - - - - -
18266.72 98.49 13.85 2223 18273.80 done 2.57 - - 2958.75 - 3.90 0.106 688.38 -382.1 205.86 - - 2169.25 - - - - - - - - - 15.94 -
18302.27 93.26 15.10 2230 18309.10 done 2.57 - - 2959.44 - 3.56 0.052 2182.19 419.6 205.86 - - 2169.00 - - - - - - - - - 15.98 -
18492.80 69.22 10.88 2268 18499.60 done 2.57 - - 2959.62 - 3.90 0.105 688.19 -383.1 205.86 - - 2168.03 - - - - - - - - - 15.98 -
18683.27 57.12 4.02 2306 18774.49 2.68 0.35 0.042 2999.44 113.8 3.55 0.051 2186.44 422.0 284.59 80.16 1.026 1859.88 -3.8 0.035 - - - - - - 16.06 15.97 12.69
18957.93 32.73 11.80 2360 18964.52 roll 2.68 - - 3000.50 - 3.04 0.094 3362.69 386.9 284.59 - - 1856.50 - - - - - - - - - 15.86 -
19193.24 19.81 5.13 2407 19199.63 roll 2.76 - - 2999.69 - 3.00 0.046 2115.88 -415.6 284.59 - - 1855.53 - - - - - - - - - 15.92 -
19383.19 10.31 4.43 2445 19463.81 2.86 0.28 0.048 3043.25 155.6 3.24 0.091 3362.88 384.9 355.29 68.18 0.967 1570.22 -4.2 0.007 - - - - - - 16.01 15.71 12.62
19497.44 3.85 7.26 2467 19503.97 roll 2.88 - - 3042.69 - 3.01 0.044 2114.50 -414.7 355.29 - - 1569.81 - - - - - - - - - 15.81 -
19532 end climb: SURFACE_DEPTH_REACHED
19532 begin surface coast
19572 end surface coast: CONTROL_FINISHED_OK
19573 begin surface
SM 1.29 - - - - 185.7 112.22 0.961 1084.2 9.7 21.53 0.044 1103.1 51.2 - 0.05 0.185 1065.2 21243.8 -15.140 - - 12.73 15.88 15.85 -