NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 221 * Raw log
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• Previous call tries 1 • 89.26 of 575.00 AH used of 24V (84.48% remains)
• Surface angle -65.0 deg, depth 1.54 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.99 (SM_CC=475)
• GPS1 time: 40 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
9.00 - - - 65.44 VBD -1.56 - - 184.12 - - - 2131.00 - -107.06 55.03 0.005 2288.09 - - - - - - - - - - 15.66
65.88 3.32 -3.47 11 122.91 -1.56 16.26 0.234 1960.56 109.3 3.17 0.095 3360.44 387.8 -107.06 28.73 0.006 3458.28 40.7 -3.725 - - - - - - 15.67 15.64 15.67
151.44 20.04 -23.02 27 157.83 roll -1.56 - - 1961.38 - 3.05 0.038 2068.12 -423.7 -107.06 - - 3459.53 - - - - - - - - - 15.82 -
341.46 52.51 -13.60 65 345.89 no move -1.56 - - 1961.62 - - - 2067.88 - -107.06 - - 3459.56 - - - - - - - - - - -
526.56 77.37 -13.31 102 533.00 roll -1.56 - - 1960.94 - 3.32 0.088 3363.25 390.2 -107.06 - - 3460.28 - - - - - - - - - 15.91 -
596.76 86.75 -13.12 116 603.07 roll -1.56 - - 1961.38 - 3.02 0.036 2065.06 -429.9 -107.06 - - 3460.66 - - - - - - - - - 15.93 -
791.63 107.89 -9.29 147 797.68 roll -1.56 - - 1962.25 - 3.58 0.110 689.94 -384.1 -107.06 - - 3462.12 - - - - - - - - - 15.96 -
835.88 112.93 -11.61 156 843.41 roll -1.56 - - 1961.44 - 3.34 0.040 2134.69 432.6 -107.06 - - 3462.06 - - - - - - - - - 15.93 -
1151.66 143.91 -9.49 188 1153.23 no move -1.56 - - 1960.81 - - - 2134.12 - -107.06 - - 3462.06 - - - - - - - - - - -
1461.68 172.06 -9.08 219 1467.84 roll -1.56 - - 1961.19 - 3.13 0.092 3361.56 392.2 -107.06 - - 3463.81 - - - - - - - - - 16.03 -
1491.68 175.10 -9.89 225 1497.48 roll -1.56 - - 1961.25 - 3.03 0.038 2064.75 -428.0 -107.06 - - 3464.12 - - - - - - - - - 16.03 -
1801.69 204.52 -9.79 257 1803.26 no move -1.56 - - 1960.88 - - - 2065.06 - -107.06 - - 3463.28 - - - - - - - - - - -
2111.71 234.22 -9.49 288 2113.28 no move -1.56 - - 1960.94 - - - 2065.19 - -107.06 - - 3463.34 - - - - - - - - - - -
2421.97 263.94 -9.52 319 2423.54 no move -1.56 - - 1960.81 - - - 2065.00 - -107.06 - - 3462.81 - - - - - - - - - - -
2731.74 292.52 -9.08 350 2733.31 no move -1.56 - - 1960.69 - - - 2065.00 - -107.06 - - 3462.84 - - - - - - - - - - -
3041.76 320.02 -8.69 381 3047.70 roll -1.56 - - 1960.88 - 3.33 0.093 3362.06 389.5 -107.06 - - 3463.53 - - - - - - - - - 16.11 -
3116.00 327.30 -9.86 396 3123.32 roll -1.56 - - 1960.81 - 3.03 0.042 2067.81 -427.1 -107.06 - - 3464.69 - - - - - - - - - 16.07 -
3432.03 356.76 -9.81 428 3433.60 no move -1.56 - - 1960.88 - - - 2067.12 - -107.06 - - 3462.56 - - - - - - - - - - -
3741.79 387.85 -9.90 459 3743.36 no move -1.56 - - 1960.75 - - - 2067.19 - -107.06 - - 3461.69 - - - - - - - - - - -
4051.80 417.11 -9.12 490 4057.75 roll -1.56 - - 1961.69 - 3.33 0.093 3363.38 389.2 -107.06 - - 3461.78 - - - - - - - - - 16.11 -
4091.81 421.28 -10.44 498 4097.64 roll -1.56 - - 1960.94 - 3.02 0.041 2067.06 -429.2 -107.06 - - 3461.75 - - - - - - - - - 16.12 -
4401.82 447.67 -8.49 530 4403.40 no move -1.56 - - 1961.06 - - - 2067.56 - -107.06 - - 3460.66 - - - - - - - - - - -
4711.83 472.31 -7.92 561 4713.40 no move -1.56 - - 1961.06 - - - 2067.81 - -107.06 - - 3459.34 - - - - - - - - - - -
5021.84 497.43 -8.22 592 5027.83 roll -1.56 - - 1960.62 - 3.33 0.093 3361.31 388.4 -107.06 - - 3460.88 - - - - - - - - - 16.12 -
5061.85 501.23 -9.50 600 5067.66 roll -1.56 - - 1961.12 - 3.05 0.043 2068.81 -423.8 -107.06 - - 3459.22 - - - - - - - - - 16.13 -
5371.86 529.02 -9.10 632 5373.43 no move -1.56 - - 1960.88 - - - 2068.88 - -107.06 - - 3457.88 - - - - - - - - - - -
5681.87 558.77 -9.54 663 5683.44 no move -1.56 - - 1960.69 - - - 2068.81 - -107.06 - - 3457.91 - - - - - - - - - - -
5991.88 586.86 -9.07 694 5993.45 no move -1.56 - - 1960.56 - - - 2068.62 - -107.06 - - 3457.25 - - - - - - - - - - -
6301.89 612.84 -8.46 725 6307.85 roll -1.56 - - 1960.12 - 3.34 0.094 3362.88 387.5 -107.06 - - 3458.03 - - - - - - - - - 16.13 -
6341.91 616.54 -9.25 733 6347.71 roll -1.56 - - 1960.75 - 3.05 0.043 2067.38 -424.8 -107.06 - - 3457.56 - - - - - - - - - 16.15 -
6651.92 641.77 -8.17 765 6653.49 no move -1.56 - - 1960.69 - - - 2067.69 - -107.06 - - 3454.97 - - - - - - - - - - -
6961.92 666.98 -8.38 796 6963.49 no move -1.56 - - 1960.50 - - - 2067.56 - -107.06 - - 3454.06 - - - - - - - - - - -
7271.94 692.27 -8.22 827 7273.51 no move -1.56 - - 1960.50 - - - 2067.19 - -107.06 - - 3453.91 - - - - - - - - - - -
7581.95 717.42 -8.12 858 7583.52 no move -1.56 - - 1960.88 - - - 2067.81 - -107.06 - - 3453.69 - - - - - - - - - - -
7892.29 741.12 -7.30 889 7899.12 roll -1.56 - - 1961.19 - 3.65 0.121 691.44 -377.1 -107.06 - - 3453.44 - - - - - - - - - 16.11 -
7937.72 745.22 -9.01 898 7943.71 roll -1.56 - - 1960.88 - 3.39 0.048 2131.75 424.9 -107.06 - - 3454.06 - - - - - - - - - 16.13 -
8247.75 768.56 -7.61 930 8249.32 no move -1.56 - - 1961.25 - - - 2132.44 - -107.06 - - 3451.81 - - - - - - - - - - -
8557.78 792.86 -8.06 961 8565.33 roll -1.56 - - 1960.44 - 3.81 0.115 688.50 -379.0 -107.06 - - 3453.31 - - - - - - - - - 16.12 -
8624.30 798.97 -9.31 974 8631.23 roll -1.56 - - 1960.81 - 3.38 0.048 2131.38 426.9 -107.06 - - 3454.09 - - - - - - - - - 16.13 -
8939.36 824.81 -8.06 1006 8940.97 no move -1.56 - - 1960.69 - - - 2131.12 - -107.06 - - 3451.59 - - - - - - - - - - -
9249.42 850.68 -8.91 1037 9256.57 roll -1.56 - - 1960.56 - 3.80 0.114 690.56 -379.1 -107.06 - - 3451.78 - - - - - - - - - 16.11 -
9335.37 858.61 -9.24 1054 9342.31 roll -1.56 - - 1960.88 - 3.38 0.048 2131.75 426.4 -107.06 - - 3452.12 - - - - - - - - - 16.14 -
9650.44 883.87 -7.40 1086 9657.59 roll -1.56 - - 1960.69 - 3.79 0.113 690.56 -380.3 -107.06 - - 3452.34 - - - - - - - - - 16.11 -
9706.50 888.91 -9.14 1097 9713.44 roll -1.56 - - 1959.75 - 3.37 0.048 2132.06 427.7 -107.06 - - 3451.75 - - - - - - - - - 16.12 -
10021.56 912.59 -7.02 1129 10023.17 no move -1.56 - - 1960.75 - - - 2132.19 - -107.06 - - 3450.72 - - - - - - - - - - -
10331.62 934.35 -6.71 1160 10339.07 roll -1.56 - - 1961.19 - 3.81 0.114 690.75 -378.3 -107.06 - - 3450.12 - - - - - - - - - 16.09 -
10377.98 937.92 -7.73 1169 10384.90 roll -1.56 - - 1958.44 - 3.39 0.048 2131.50 425.0 -107.06 - - 3452.56 - - - - - - - - - 16.12 -
10693.04 958.26 -6.65 1201 10700.24 roll -1.56 - - 1960.25 - 3.81 0.115 689.69 -378.4 -107.06 - - 3451.53 - - - - - - - - - 16.07 -
10759.04 963.53 -7.99 1214 10765.99 roll -1.56 - - 1960.94 - 3.37 0.048 2131.81 427.9 -107.06 - - 3449.41 - - - - - - - - - 16.13 -
11074.10 985.59 -7.36 1246 11075.71 no move -1.56 - - 1960.75 - - - 2131.25 - -107.06 - - 3449.44 - - - - - - - - - - -
11144 end dive: TARGET_DEPTH_EXCEEDED
11144 begin apogee
11146.00 990.67 -7.55 1253 11240.54 -0.42 2.39 0.119 2240.44 117.0 0.10 0.228 2116.44 -148.1 - 85.93 2.232 3018.84 -5.0 0.368 - - - - - - 16.07 15.54 12.36
11252 end apogee: CONTROL_FINISHED_OK
11252 begin climb
11254.94 991.49 - 1262 11360.96 1.56 3.87 0.059 2729.38 126.3 - - 2116.75 - 107.06 95.26 2.154 2579.78 -4.6 0.351 - - - - - - 15.67 - 12.78
11664.82 956.06 10.49 1304 11670.67 done 1.56 - - 2729.25 - 3.26 0.094 3362.56 382.2 107.06 - - 2568.56 - - - - - - - - - 15.83 -
11838.88 935.85 11.57 1339 11846.55 done 1.56 - - 2729.25 - 2.97 0.042 2118.31 -418.9 107.06 - - 2566.72 - - - - - - - - - 15.91 -
12154.91 902.36 10.20 1371 12160.76 done 1.56 - - 2729.75 - 3.22 0.092 3361.62 386.1 107.06 - - 2564.31 - - - - - - - - - 15.98 -
12304.97 885.49 11.52 1401 12310.87 done 1.56 - - 2728.56 - 2.95 0.042 2118.88 -421.3 107.06 - - 2564.09 - - - - - - - - - 15.99 -
12615.00 853.15 10.49 1433 12620.89 done 1.56 - - 2729.00 - 3.20 0.092 3362.75 388.7 107.06 - - 2564.31 - - - - - - - - - 16.02 -
12685.03 845.32 11.34 1447 12690.71 done 1.56 - - 2727.81 - 2.95 0.042 2118.19 -421.9 107.06 - - 2564.66 - - - - - - - - - 16.03 -
12995.06 813.23 10.03 1479 13000.91 done 1.56 - - 2728.62 - 3.19 0.092 3363.94 390.5 107.06 - - 2563.34 - - - - - - - - - 16.05 -
13089.09 803.00 10.48 1498 13097.01 done 1.56 - - 2728.69 - 2.94 0.041 2118.88 -423.5 107.06 - - 2563.06 - - - - - - - - - 16.07 -
13405.11 772.50 9.69 1530 13410.90 done 1.56 - - 2728.69 - 3.19 0.092 3362.31 389.8 107.06 - - 2560.41 - - - - - - - - - 16.07 -
13535.13 759.21 9.99 1556 13540.83 done 1.56 - - 2728.62 - 2.93 0.042 2116.69 -425.1 107.06 - - 2561.44 - - - - - - - - - 16.08 -
13845.13 731.39 9.25 1588 13850.92 done 1.56 - - 2729.12 - 3.19 0.091 3362.25 390.5 107.06 - - 2560.09 - - - - - - - - - 16.08 -
14045.16 711.00 10.43 1628 14050.88 done 1.56 - - 2728.81 - 2.94 0.043 2116.06 -423.9 107.06 - - 2560.91 - - - - - - - - - 16.08 -
14355.16 683.08 8.37 1660 14356.77 VBD 1.56 - - 2728.81 - - - 2116.00 - 107.06 - - 2558.22 - - - - - - - - - - -
14665.25 659.27 7.36 1691 14671.02 done 1.59 - - 2728.62 - 3.21 0.093 3363.25 388.6 107.06 - - 2556.56 - - - - - - - - - 16.09 -
14815.20 647.58 7.79 1721 14821.16 done 1.59 - - 2727.62 - 2.93 0.043 2118.81 -424.7 107.06 - - 2559.75 - - - - - - - - - 16.10 -
15125.25 626.66 6.71 1753 15126.87 VBD 1.63 - - 2729.06 - - - 2118.62 - 107.06 - - 2557.41 - - - - - - - - - - -
15435.26 606.41 6.56 1784 15442.23 1.67 0.12 0.090 2753.44 203.2 3.20 0.094 3362.81 388.8 107.06 - - 2556.62 - - - - - - - - 16.13 16.08 -
15611.06 592.27 8.45 1819 15616.73 done 1.67 - - 2754.31 - 2.95 0.047 2117.25 -422.2 107.06 - - 2557.94 - - - - - - - - - 16.11 -
15921.14 568.98 7.38 1851 15922.76 VBD 1.69 - - 2754.00 - - - 2117.50 - 107.06 - - 2556.72 - - - - - - - - - - -
16231.16 546.16 7.26 1882 16237.00 done 1.71 - - 2754.50 - 3.21 0.092 3362.38 387.8 107.06 - - 2557.91 - - - - - - - - - 16.11 -
16355.14 536.45 7.71 1907 16362.80 done 1.71 - - 2754.19 - 2.95 0.048 2117.56 -422.0 107.06 - - 2558.59 - - - - - - - - - 16.11 -
16671.19 514.60 7.11 1939 16678.04 done 1.74 - - 2754.56 - 3.20 0.091 3362.75 389.1 107.06 - - 2556.84 - - - - - - - - - 16.11 -
16817.02 503.90 7.17 1968 16822.81 1.77 0.10 0.091 2778.94 243.8 2.95 0.047 2117.50 -422.1 107.06 - - 2557.44 - - - - - - - - 16.10 16.11 -
17127.04 482.22 7.01 2000 17128.65 VBD 1.80 - - 2778.44 - - - 2117.19 - 107.06 - - 2556.66 - - - - - - - - - - -
17437.08 460.61 7.21 2031 17442.88 done 1.82 - - 2778.19 - 3.20 0.091 3362.75 389.2 107.06 - - 2558.12 - - - - - - - - - 16.11 -
17561.13 451.25 7.42 2056 17568.75 done 1.84 - - 2778.19 - 2.94 0.047 2116.94 -423.7 107.06 - - 2558.22 - - - - - - - - - 16.06 -
17877.16 430.81 6.04 2088 17884.12 1.90 0.17 0.069 2813.50 207.7 3.18 0.091 3362.25 391.6 107.06 - - 2556.59 - - - - - - - - 16.16 16.07 -
18112.97 412.81 7.63 2135 18118.88 1.90 0.28 0.170 2796.88 -59.4 2.95 0.048 2115.12 -422.8 107.06 - - 2558.81 - - - - - - - - 16.01 16.10 -
18423.04 393.07 6.31 2167 18424.86 1.96 0.19 0.063 2825.19 149.0 - - 2115.50 - 107.06 - - 2556.38 - - - - - - - - 16.11 - -
18733.08 373.36 5.86 2198 18734.70 VBD 2.02 - - 2825.69 - - - 2115.56 - 107.06 - - 2556.28 - - - - - - - - - - -
19043.12 354.38 6.53 2229 19044.94 2.07 0.12 0.083 2852.38 222.4 - - 2115.44 - 107.06 - - 2555.94 - - - - - - - - 16.14 - -
19353.16 335.22 6.40 2260 19358.89 done 2.12 - - 2851.62 - 3.19 0.091 3364.12 391.4 107.06 - - 2559.56 - - - - - - - - - 16.10 -
19587.20 318.94 7.10 2307 19594.82 done 2.15 - - 2851.62 - 2.95 0.047 2115.81 -423.2 107.06 - - 2557.78 - - - - - - - - - 16.10 -
19903.20 300.18 5.70 2339 19905.01 2.22 0.20 0.061 2887.12 177.5 - - 2115.94 - 107.06 - - 2556.31 - - - - - - - - 16.15 - -
20213.22 282.16 5.68 2370 20218.96 done 2.29 - - 2884.25 - 3.17 0.089 3363.25 393.5 107.06 - - 2557.47 - - - - - - - - - 16.05 -
20407.25 270.98 5.43 2409 20415.16 2.37 0.21 0.064 2924.94 193.8 2.94 0.047 2116.62 -424.0 107.06 - - 2559.34 - - - - - - - - 16.10 16.09 -
20723.34 253.75 5.39 2441 20724.95 VBD 2.44 - - 2925.06 - - - 2116.44 - 107.06 - - 2555.97 - - - - - - - - - - -
21033.27 237.98 4.87 2472 21092.62 2.53 0.22 0.062 2962.12 168.5 3.73 0.107 687.81 -383.0 169.20 47.82 1.285 2328.69 -4.8 0.145 - - - - - - 16.08 15.86 12.32
21310.59 200.32 15.64 2527 21318.62 done 2.53 - - 2962.38 - 3.53 0.051 2182.44 423.4 169.20 - - 2320.59 - - - - - - - - - 15.96 -
21626.64 157.90 12.76 2559 21633.88 done 2.53 - - 2961.19 - 3.90 0.102 688.12 -383.2 169.20 - - 2318.38 - - - - - - - - - 15.95 -
21686.67 149.49 14.01 2571 21694.69 done 2.53 - - 2961.81 - 3.53 0.050 2181.56 423.1 169.20 - - 2317.88 - - - - - - - - - 15.95 -
22002.72 116.83 9.26 2603 22008.49 done 2.53 - - 2962.94 - 3.03 0.093 3363.69 390.1 169.20 - - 2316.16 - - - - - - - - - 15.97 -
22237.85 96.29 7.27 2650 22244.52 done 2.55 - - 2962.75 - 2.97 0.045 2115.00 -420.4 169.20 - - 2316.06 - - - - - - - - - 15.98 -
22428.29 91.95 1.35 2688 22578.20 2.72 0.29 0.051 3008.38 157.3 3.30 0.090 3362.06 377.9 300.06 136.61 1.065 1796.12 -3.8 0.054 - - - - - - 15.99 15.59 12.55
22692.11 61.12 16.36 2739 22698.79 roll 2.72 - - 3009.31 - 2.99 0.045 2117.81 -416.1 300.06 - - 1794.94 - - - - - - - - - 15.77 -
22882.67 36.94 11.34 2777 22887.39 no move 2.72 - - 3009.62 - - - 2118.25 - 300.06 - - 1793.78 - - - - - - - - - - -
23072.77 27.03 3.24 2815 23180.39 2.84 0.17 0.061 3039.12 173.5 3.29 0.089 3362.62 378.2 394.06 97.46 0.984 1412.22 -3.9 0.018 - - - - - - 15.91 15.61 12.51
23269.16 13.54 11.66 2853 23275.86 roll 2.84 - - 3038.88 - 3.00 0.045 2116.38 -415.4 394.06 - - 1414.56 - - - - - - - - - 15.77 -
23409 end climb: SURFACE_DEPTH_REACHED
23409 begin surface coast
23440 end surface coast: CONTROL_FINISHED_OK
23440 begin surface
SM 2.18 - - - - 188.9 79.68 0.968 1083.6 13.6 21.67 0.048 1099.6 50.7 - 0.06 0.167 1067.7 17745.0 -23.675 - - 12.56 15.88 15.87 -