NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 173 * Raw log
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• Previous call tries 1 • 74.98 of 575.00 AH used of 24V (86.96% remains)
• Surface angle -63.9 deg, depth 1.40 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.86 (SM_CC=475)
• GPS1 time: 20 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 - - - 75.74 VBD -1.56 - - 185.38 - - - 2126.88 - -107.06 65.21 0.005 2478.03 - - - - - - - - - - 15.69
76.17 3.33 -3.20 13 129.58 -1.56 16.42 0.243 1961.25 108.2 3.83 0.114 689.62 -375.3 -107.06 23.64 0.006 3456.88 41.4 -3.783 - - - - - - 15.69 15.66 15.71
293.13 42.25 -19.01 55 299.71 roll -1.56 - - 1959.94 - 3.40 0.047 2129.94 423.6 -107.06 - - 3460.25 - - - - - - - - - 15.90 -
483.14 70.27 -12.04 93 489.61 roll -1.56 - - 1961.50 - 3.16 0.097 3360.06 389.3 -107.06 - - 3459.16 - - - - - - - - - 15.91 -
533.14 75.86 -11.02 103 539.86 roll -1.56 - - 1960.56 - 3.10 0.044 2065.44 -417.6 -107.06 - - 3460.78 - - - - - - - - - 15.95 -
723.42 94.05 -9.10 141 727.86 no move -1.56 - - 1960.94 - - - 2064.94 - -107.06 - - 3460.16 - - - - - - - - - - -
913.43 110.90 -8.99 167 915.00 no move -1.56 - - 1961.44 - - - 2065.19 - -107.06 - - 3459.16 - - - - - - - - - - -
1223.44 139.72 -8.52 198 1225.02 no move -1.56 - - 1961.06 - - - 2065.00 - -107.06 - - 3459.91 - - - - - - - - - - -
1533.77 169.31 -10.11 229 1535.34 no move -1.56 - - 1960.94 - - - 2064.88 - -107.06 - - 3460.06 - - - - - - - - - - -
1843.47 203.32 -11.05 260 1845.04 no move -1.56 - - 1961.31 - - - 2064.75 - -107.06 - - 3459.59 - - - - - - - - - - -
2153.58 237.61 -11.11 291 2159.43 roll -1.56 - - 1960.69 - 3.34 0.097 3362.62 388.6 -107.06 - - 3460.72 - - - - - - - - - 16.06 -
2203.49 243.80 -12.16 301 2209.29 roll -1.56 - - 1960.62 - 3.08 0.046 2070.69 -419.5 -107.06 - - 3462.03 - - - - - - - - - 16.08 -
2513.51 276.83 -10.35 333 2515.08 no move -1.56 - - 1960.81 - - - 2069.75 - -107.06 - - 3460.09 - - - - - - - - - - -
2823.52 307.36 -9.55 364 2829.62 roll -1.56 - - 1960.88 - 3.65 0.119 688.69 -378.4 -107.06 - - 3461.12 - - - - - - - - - 16.08 -
2877.77 313.44 -10.98 375 2885.50 roll -1.56 - - 1960.62 - 3.38 0.049 2133.44 427.4 -107.06 - - 3461.91 - - - - - - - - - 16.11 -
3193.57 343.87 -9.91 407 3195.14 no move -1.56 - - 1961.06 - - - 2133.25 - -107.06 - - 3459.56 - - - - - - - - - - -
3503.60 375.22 -9.95 438 3505.17 no move -1.56 - - 1961.00 - - - 2133.12 - -107.06 - - 3460.00 - - - - - - - - - - -
3813.63 406.14 -10.24 469 3815.20 no move -1.56 - - 1961.19 - - - 2133.62 - -107.06 - - 3459.72 - - - - - - - - - - -
4123.66 437.51 -9.95 500 4130.90 roll -1.56 - - 1961.81 - 3.82 0.115 689.94 -377.9 -107.06 - - 3459.50 - - - - - - - - - 16.11 -
4173.62 443.12 -11.18 510 4181.09 roll -1.56 - - 1961.44 - 3.38 0.051 2132.12 426.7 -107.06 - - 3460.84 - - - - - - - - - 16.13 -
4489.40 474.65 -9.47 542 4495.52 roll -1.56 - - 1960.31 - 3.14 0.100 3362.00 391.7 -107.06 - - 3461.59 - - - - - - - - - 16.11 -
4519.71 477.82 -10.15 548 4525.23 roll -1.56 - - 1961.38 - 3.08 0.048 2068.50 -420.0 -107.06 - - 3460.53 - - - - - - - - - 16.13 -
4829.41 507.73 -9.60 580 4830.98 no move -1.56 - - 1961.06 - - - 2068.12 - -107.06 - - 3459.31 - - - - - - - - - - -
5139.43 534.68 -8.01 611 5141.00 no move -1.56 - - 1961.06 - - - 2068.00 - -107.06 - - 3459.28 - - - - - - - - - - -
5449.44 560.44 -8.67 642 5455.38 roll -1.56 - - 1959.94 - 3.32 0.099 3362.81 390.0 -107.06 - - 3460.84 - - - - - - - - - 16.13 -
5513.69 566.80 -9.75 655 5521.01 roll -1.56 - - 1960.81 - 3.06 0.049 2070.12 -422.4 -107.06 - - 3458.69 - - - - - - - - - 16.14 -
5829.46 593.88 -8.59 687 5835.56 roll -1.56 - - 1959.31 - 3.65 0.122 689.88 -378.1 -107.06 - - 3459.41 - - - - - - - - - 16.13 -
5873.71 598.58 -10.26 696 5881.22 roll -1.56 - - 1960.06 - 3.36 0.051 2131.00 428.9 -107.06 - - 3459.31 - - - - - - - - - 16.15 -
6189.50 626.39 -8.77 728 6195.38 roll -1.56 - - 1960.25 - 3.15 0.100 3361.50 390.6 -107.06 - - 3458.66 - - - - - - - - - 16.12 -
6253.73 632.49 -9.28 741 6261.10 roll -1.56 - - 1961.12 - 3.09 0.049 2069.50 -418.1 -107.06 - - 3457.56 - - - - - - - - - 16.14 -
6569.51 659.01 -8.50 773 6571.08 no move -1.56 - - 1961.38 - - - 2070.44 - -107.06 - - 3456.53 - - - - - - - - - - -
6879.52 685.20 -8.52 804 6885.47 roll -1.56 - - 1961.06 - 3.31 0.099 3361.94 390.2 -107.06 - - 3457.53 - - - - - - - - - 16.16 -
6923.77 689.63 -9.55 813 6931.10 roll -1.56 - - 1960.88 - 3.09 0.050 2068.75 -418.5 -107.06 - - 3458.16 - - - - - - - - - 16.15 -
7239.55 718.16 -9.53 845 7241.12 no move -1.56 - - 1961.00 - - - 2068.62 - -107.06 - - 3456.25 - - - - - - - - - - -
7549.56 747.06 -9.24 876 7551.13 no move -1.56 - - 1960.62 - - - 2068.81 - -107.06 - - 3455.69 - - - - - - - - - - -
7859.58 774.10 -8.44 907 7865.68 roll -1.56 - - 1959.62 - 3.67 0.125 689.69 -375.8 -107.06 - - 3457.34 - - - - - - - - - 16.14 -
7889.59 776.98 -8.97 913 7895.54 roll -1.56 - - 1960.50 - 3.39 0.052 2132.25 425.5 -107.06 - - 3456.91 - - - - - - - - - 16.14 -
8199.63 802.71 -8.43 945 8206.81 roll -1.56 - - 1961.25 - 3.80 0.120 689.81 -379.6 -107.06 - - 3453.22 - - - - - - - - - 16.14 -
8259.65 808.60 -9.59 957 8267.13 roll -1.56 - - 1961.31 - 3.37 0.052 2131.44 427.8 -107.06 - - 3455.97 - - - - - - - - - 16.15 -
8345 end dive: TARGET_DEPTH_EXCEEDED
8345 begin apogee
8347.11 815.50 -8.03 966 8441.28 -0.42 2.45 0.120 2239.75 113.6 0.10 0.211 2118.06 -133.8 - 85.23 1.981 3019.56 -5.1 0.347 - - - - - - 16.10 15.61 12.57
8452 end apogee: CONTROL_FINISHED_OK
8453 begin climb
8455.60 817.18 - 975 8558.35 1.56 3.98 0.058 2726.88 122.4 - - 2117.62 - 107.06 92.44 1.925 2582.38 -4.7 0.331 - - - - - - 15.74 - 12.87
8861.90 786.56 9.98 1016 8869.23 done 1.56 - - 2727.19 - 3.81 0.114 689.56 -374.8 107.06 - - 2569.66 - - - - - - - - - 15.87 -
8922.06 779.95 10.95 1028 8929.62 done 1.56 - - 2727.50 - 3.58 0.055 2178.12 415.8 107.06 - - 2569.09 - - - - - - - - - 15.90 -
9237.82 748.79 10.03 1060 9239.39 VBD 1.56 - - 2727.94 - - - 2178.88 - 107.06 - - 2565.38 - - - - - - - - - - -
9547.83 718.61 9.57 1091 9553.64 done 1.56 - - 2727.94 - 3.05 0.099 3361.56 387.8 107.06 - - 2565.44 - - - - - - - - - 16.02 -
9647.84 707.36 11.37 1111 9653.60 done 1.56 - - 2728.50 - 2.99 0.050 2118.50 -415.7 107.06 - - 2566.47 - - - - - - - - - 16.04 -
9957.86 678.61 8.61 1143 9963.73 done 1.56 - - 2727.38 - 3.20 0.094 3362.62 388.8 107.06 - - 2563.28 - - - - - - - - - 16.08 -
10082.12 666.57 9.40 1168 10089.39 done 1.56 - - 2727.31 - 2.98 0.049 2117.06 -418.0 107.06 - - 2564.44 - - - - - - - - - 16.04 -
10397.90 642.37 7.59 1200 10403.78 done 1.56 - - 2727.75 - 3.20 0.095 3361.38 388.9 107.06 - - 2562.03 - - - - - - - - - 16.10 -
10552.17 629.85 7.57 1231 10559.48 done 1.56 - - 2728.06 - 2.97 0.048 2118.31 -418.5 107.06 - - 2563.88 - - - - - - - - - 16.12 -
10868.00 610.19 6.60 1263 10873.81 done 1.61 - - 2728.94 - 3.18 0.095 3364.00 391.7 107.06 - - 2562.19 - - - - - - - - - 16.10 -
11032.27 598.22 7.53 1296 11039.51 done 1.62 - - 2728.25 - 2.94 0.046 2118.25 -423.7 107.06 - - 2562.06 - - - - - - - - - 16.13 -
11348.08 576.60 6.66 1328 11349.85 1.67 0.12 0.079 2754.19 216.2 - - 2118.44 - 107.06 - - 2558.88 - - - - - - - - 16.15 - -
11658.38 556.21 6.29 1359 11663.98 done 1.72 - - 2753.69 - 3.17 0.095 3363.31 392.7 107.06 - - 2561.91 - - - - - - - - - 16.13 -
11732.40 550.84 7.38 1374 11739.62 done 1.74 - - 2754.38 - 2.96 0.049 2117.06 -421.0 107.06 - - 2561.28 - - - - - - - - - 16.13 -
12048.19 531.67 5.65 1406 12054.22 1.81 0.21 0.059 2791.19 175.3 3.18 0.094 3363.06 391.8 107.06 - - 2561.47 - - - - - - - - 16.12 16.12 -
12218.19 519.41 7.96 1440 12224.25 1.81 0.31 0.166 2774.38 -54.2 2.95 0.050 2116.56 -422.5 107.06 - - 2561.19 - - - - - - - - 16.09 16.14 -
12528.25 499.84 5.95 1472 12535.64 1.87 0.25 0.053 2804.94 122.2 3.71 0.111 688.69 -384.9 107.06 - - 2559.22 - - - - - - - - 16.19 16.11 -
12628.67 492.58 7.51 1492 12635.96 done 1.89 - - 2805.31 - 3.54 0.055 2185.12 422.7 107.06 - - 2559.38 - - - - - - - - - 16.14 -
12944.18 473.77 5.68 1524 12949.95 done 1.96 - - 2805.88 - 3.01 0.097 3363.69 391.6 107.06 - - 2559.66 - - - - - - - - - 16.12 -
13144.22 459.75 7.08 1564 13150.11 1.99 0.16 0.063 2834.38 178.1 2.97 0.050 2117.00 -419.8 107.06 - - 2558.66 - - - - - - - - 16.18 16.12 -
13454.25 440.56 6.48 1596 13461.50 done 2.04 - - 2832.75 - 3.72 0.111 688.56 -384.0 107.06 - - 2560.16 - - - - - - - - - 16.11 -
13560.10 432.66 7.79 1617 13566.15 done 2.04 - - 2834.56 - 3.53 0.055 2181.12 422.8 107.06 - - 2558.28 - - - - - - - - - 16.13 -
13870.10 409.39 7.78 1649 13875.92 done 2.04 - - 2833.81 - 3.01 0.096 3363.94 393.0 107.06 - - 2559.03 - - - - - - - - - 16.12 -
13914.35 405.75 8.10 1658 13921.64 done 2.04 - - 2834.50 - 2.95 0.049 2116.94 -422.7 107.06 - - 2558.88 - - - - - - - - - 16.13 -
14230.42 383.36 6.96 1690 14237.38 done 2.07 - - 2834.50 - 3.71 0.110 687.56 -385.3 107.06 - - 2556.25 - - - - - - - - - 16.14 -
14285.98 379.02 7.77 1701 14292.04 done 2.07 - - 2835.00 - 3.53 0.053 2184.75 424.1 107.06 - - 2557.84 - - - - - - - - - 16.12 -
14596.02 357.62 7.09 1733 14597.78 2.10 0.16 0.048 2855.00 125.0 - - 2184.88 - 107.06 - - 2555.81 - - - - - - - - 16.23 - -
14906.07 338.27 5.74 1764 14907.64 VBD 2.17 - - 2855.38 - - - 2184.19 - 107.06 - - 2556.91 - - - - - - - - - - -
15216.12 320.60 5.68 1795 15223.56 2.24 0.27 0.048 2893.50 141.2 3.88 0.106 687.69 -385.7 107.06 - - 2557.59 - - - - - - - - 16.22 16.11 -
15292.21 315.38 6.83 1810 15298.17 done 2.27 - - 2894.38 - 3.50 0.054 2182.38 427.1 107.06 - - 2558.91 - - - - - - - - - 16.10 -
15602.22 297.63 5.20 1842 15603.98 2.36 0.18 0.054 2923.19 160.1 - - 2182.12 - 107.06 - - 2556.38 - - - - - - - - 16.13 - -
15912.25 280.38 6.10 1873 15919.46 done 2.42 - - 2922.31 - 3.86 0.104 687.75 -387.1 107.06 - - 2557.50 - - - - - - - - - 16.06 -
16057.96 269.18 8.01 1902 16064.01 done 2.42 - - 2924.25 - 3.49 0.053 2183.19 428.5 107.06 - - 2557.50 - - - - - - - - - 16.13 -
16368.25 248.27 6.39 1934 16373.88 2.47 0.12 0.071 2949.06 206.7 2.96 0.095 3362.81 398.5 107.06 - - 2556.91 - - - - - - - - 16.20 16.09 -
16482.26 240.96 6.15 1957 16489.49 done 2.53 - - 2949.75 - 2.96 0.049 2113.75 -422.0 107.06 - - 2557.47 - - - - - - - - - 16.04 -
16798.29 224.44 5.11 1989 16805.37 2.61 0.23 0.050 2981.75 139.1 3.68 0.109 688.62 -387.3 107.06 - - 2557.78 - - - - - - - - 16.20 16.06 -
16884.00 219.12 6.42 2006 16890.02 done 2.66 - - 2983.25 - 3.52 0.054 2183.12 424.6 107.06 - - 2558.28 - - - - - - - - - 16.10 -
17194.01 201.67 5.72 2038 17199.88 2.73 0.17 0.062 3012.94 174.6 2.98 0.094 3363.06 396.0 107.06 - - 2558.50 - - - - - - - - 16.18 16.09 -
17424.03 186.12 6.56 2084 17429.78 done 2.78 - - 3013.75 - 2.95 0.049 2116.38 -422.6 107.06 - - 2558.34 - - - - - - - - - 16.09 -
17734.06 174.75 3.03 2116 17839.35 2.90 0.31 0.044 3055.88 135.9 - - 2116.12 - 205.06 98.65 1.145 2182.62 -3.8 0.096 - - - - - - 16.18 - 12.51
18144.06 109.69 18.19 2158 18150.19 2.90 0.34 0.174 3040.06 -46.5 3.18 0.091 3362.81 392.0 205.06 - - 2174.84 - - - - - - - - 15.87 15.89 -
18209.08 98.76 17.27 2171 18215.94 done 2.90 - - 3039.75 - 2.97 0.049 2118.19 -419.1 205.06 - - 2173.91 - - - - - - - - - 15.94 -
18399.50 67.02 14.71 2209 18406.13 done 2.90 - - 3038.50 - 3.13 0.090 3364.62 398.2 205.06 - - 2174.28 - - - - - - - - - 15.95 -
18424.60 63.06 15.80 2214 18431.12 done 2.90 - - 3039.62 - 2.95 0.047 2118.00 -422.6 205.06 - - 2172.47 - - - - - - - - - 15.96 -
18614.66 49.02 4.18 2252 18701.04 3.00 0.33 0.042 3076.00 110.2 3.77 0.106 689.12 -379.0 280.55 76.56 1.011 1875.75 -3.9 0.031 - - - - - - 16.05 15.69 12.61
18914.65 18.47 9.10 2311 18921.48 roll 3.00 - - 3077.12 - 3.54 0.051 2184.50 422.4 280.55 - - 1873.09 - - - - - - - - - 15.88 -
19105.12 14.11 1.70 2349 19238.47 3.16 0.25 0.049 3118.06 163.8 3.96 0.105 687.62 -378.0 404.54 119.31 0.966 1370.00 -4.2 0.010 - - - - - - 15.97 15.57 12.68
19247 end climb: SURFACE_DEPTH_REACHED
19247 begin surface coast
19262 end surface coast: CONTROL_FINISHED_OK
19262 begin surface
SM 1.17 - - - - 190.5 68.62 0.946 1084.2 14.1 22.66 0.047 1101.6 48.6 - 3.40 0.049 1066.8 312.6 -0.763 - - 12.64 15.75 15.73 -