NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 223 * Raw log
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• Previous call tries 1 • 89.95 of 575.00 AH used of 24V (84.36% remains)
• Surface angle -64.7 deg, depth 1.54 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.14 (SM_CC=475)
• GPS1 time: 67 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
8.98 - - - 60.20 VBD -1.56 - - 183.06 - - - 2139.88 - -107.06 49.87 0.005 2158.16 - - - - - - - - - - 15.67
60.64 3.10 -3.27 10 124.06 -1.56 15.90 0.233 1958.94 111.7 3.85 0.111 689.56 -376.7 -107.06 34.21 0.006 3456.47 38.0 -3.243 - - - - - - 15.68 15.65 15.65
312.61 48.11 -16.74 59 319.18 roll -1.56 - - 1961.06 - 3.39 0.044 2131.44 425.3 -107.06 - - 3458.97 - - - - - - - - - 15.92 -
502.62 74.61 -12.71 97 509.05 roll -1.56 - - 1961.25 - 3.15 0.093 3362.12 390.7 -107.06 - - 3460.22 - - - - - - - - - 15.89 -
736.91 104.71 -10.93 144 744.23 roll -1.56 - - 1961.19 - 3.04 0.039 2065.06 -426.7 -107.06 - - 3460.66 - - - - - - - - - 15.99 -
1052.68 135.89 -10.56 176 1058.58 roll -1.56 - - 1960.94 - 3.30 0.088 3363.19 393.4 -107.06 - - 3461.75 - - - - - - - - - 16.01 -
1106.93 142.02 -11.47 187 1114.23 roll -1.56 - - 1960.19 - 3.05 0.040 2065.50 -425.5 -107.06 - - 3462.56 - - - - - - - - - 16.02 -
1422.70 172.35 -9.25 219 1424.27 no move -1.56 - - 1960.88 - - - 2065.75 - -107.06 - - 3462.22 - - - - - - - - - - -
1732.72 203.08 -9.65 250 1738.65 roll -1.56 - - 1960.00 - 3.28 0.089 3362.00 395.2 -107.06 - - 3464.72 - - - - - - - - - 16.05 -
1792.73 209.37 -10.60 262 1798.52 roll -1.56 - - 1960.75 - 3.05 0.041 2067.19 -424.5 -107.06 - - 3463.81 - - - - - - - - - 16.07 -
2102.74 238.71 -9.81 294 2104.30 no move -1.56 - - 1960.69 - - - 2066.88 - -107.06 - - 3462.28 - - - - - - - - - - -
2412.75 270.21 -10.37 325 2414.32 no move -1.56 - - 1960.88 - - - 2066.62 - -107.06 - - 3462.19 - - - - - - - - - - -
2722.77 300.94 -9.75 356 2724.34 no move -1.56 - - 1960.94 - - - 2067.06 - -107.06 - - 3462.25 - - - - - - - - - - -
3032.77 330.05 -9.71 387 3034.34 no move -1.56 - - 1960.94 - - - 2066.94 - -107.06 - - 3462.34 - - - - - - - - - - -
3342.79 358.70 -9.14 418 3344.36 no move -1.56 - - 1960.12 - - - 2067.62 - -107.06 - - 3461.72 - - - - - - - - - - -
3652.80 387.58 -9.70 449 3654.37 no move -1.56 - - 1960.44 - - - 2066.75 - -107.06 - - 3461.09 - - - - - - - - - - -
3962.82 416.94 -9.43 480 3964.39 no move -1.56 - - 1960.81 - - - 2066.56 - -107.06 - - 3460.09 - - - - - - - - - - -
4272.83 445.82 -9.16 511 4274.39 no move -1.56 - - 1960.56 - - - 2066.81 - -107.06 - - 3459.50 - - - - - - - - - - -
4582.83 474.79 -9.47 542 4584.40 no move -1.56 - - 1960.44 - - - 2066.81 - -107.06 - - 3458.62 - - - - - - - - - - -
4892.85 503.94 -9.44 573 4894.42 no move -1.56 - - 1961.25 - - - 2066.88 - -107.06 - - 3457.66 - - - - - - - - - - -
5202.87 532.86 -8.94 604 5204.44 no move -1.56 - - 1960.69 - - - 2066.75 - -107.06 - - 3457.25 - - - - - - - - - - -
5512.89 561.83 -9.73 635 5514.47 no move -1.56 - - 1960.88 - - - 2066.75 - -107.06 - - 3456.62 - - - - - - - - - - -
5822.89 589.89 -8.79 666 5824.46 no move -1.56 - - 1960.62 - - - 2066.69 - -107.06 - - 3455.84 - - - - - - - - - - -
6132.91 615.49 -8.33 697 6134.72 no move -1.56 - - 1960.88 - - - 2066.50 - -107.06 - - 3454.88 - - - - - - - - - - -
6442.92 639.97 -8.10 728 6450.07 roll -1.56 - - 1961.38 - 3.68 0.123 690.75 -373.8 -107.06 - - 3454.97 - - - - - - - - - 16.11 -
6478.54 643.59 -9.10 735 6484.52 roll -1.56 - - 1961.06 - 3.39 0.050 2131.69 425.1 -107.06 - - 3455.56 - - - - - - - - - 16.14 -
6788.57 668.77 -8.21 767 6795.77 roll -1.56 - - 1960.00 - 3.80 0.113 688.69 -379.7 -107.06 - - 3454.62 - - - - - - - - - 16.12 -
6844.50 674.08 -9.28 778 6850.21 roll -1.56 - - 1960.00 - 3.40 0.049 2124.56 422.3 -107.06 - - 3454.47 - - - - - - - - - 16.13 -
7154.29 700.25 -8.17 810 7161.48 roll -1.56 - - 1961.31 - 3.79 0.113 689.00 -378.8 -107.06 - - 3453.53 - - - - - - - - - 16.13 -
7214.31 706.16 -9.65 822 7221.85 roll -1.56 - - 1960.69 - 3.38 0.048 2132.44 427.1 -107.06 - - 3454.31 - - - - - - - - - 16.13 -
7530.11 732.07 -7.78 854 7537.32 roll -1.56 - - 1960.75 - 3.79 0.112 690.31 -380.5 -107.06 - - 3452.75 - - - - - - - - - 16.12 -
7600.05 738.59 -9.13 868 7607.56 roll -1.56 - - 1961.00 - 3.37 0.048 2132.00 427.8 -107.06 - - 3453.03 - - - - - - - - - 16.14 -
7915.83 762.10 -7.01 900 7923.03 roll -1.56 - - 1959.94 - 3.79 0.111 690.88 -380.2 -107.06 - - 3453.84 - - - - - - - - - 16.07 -
7961.62 765.74 -8.08 909 7967.58 roll -1.56 - - 1960.50 - 3.38 0.048 2132.06 426.4 -107.06 - - 3452.88 - - - - - - - - - 16.13 -
8271.66 786.89 -6.88 941 8278.85 roll -1.56 - - 1960.75 - 3.80 0.111 690.69 -379.3 -107.06 - - 3453.22 - - - - - - - - - 16.08 -
8341.58 792.49 -7.48 955 8349.06 roll -1.56 - - 1960.94 - 3.38 0.047 2131.12 426.2 -107.06 - - 3452.78 - - - - - - - - - 16.12 -
8657.38 814.20 -7.00 987 8664.58 roll -1.56 - - 1961.06 - 3.80 0.112 689.94 -379.3 -107.06 - - 3453.25 - - - - - - - - - 16.12 -
8697.42 817.59 -8.45 995 8704.89 roll -1.56 - - 1960.88 - 3.38 0.048 2131.44 426.5 -107.06 - - 3451.59 - - - - - - - - - 16.13 -
9013.21 839.77 -7.47 1027 9020.39 roll -1.56 - - 1961.38 - 3.80 0.113 691.00 -379.1 -107.06 - - 3450.19 - - - - - - - - - 16.10 -
9053.11 843.18 -8.50 1035 9060.58 roll -1.56 - - 1960.88 - 3.38 0.049 2131.69 426.2 -107.06 - - 3452.66 - - - - - - - - - 16.11 -
9368.90 865.98 -7.46 1067 9376.09 roll -1.56 - - 1959.31 - 3.80 0.113 688.62 -379.8 -107.06 - - 3452.16 - - - - - - - - - 16.11 -
9434.69 871.63 -8.79 1080 9440.66 roll -1.56 - - 1960.56 - 3.35 0.049 2133.88 431.4 -107.06 - - 3451.91 - - - - - - - - - 16.11 -
9744.72 894.93 -7.43 1112 9746.29 no move -1.56 - - 1960.75 - - - 2133.06 - -107.06 - - 3449.75 - - - - - - - - - - -
10054.75 918.21 -7.66 1143 10062.00 roll -1.56 - - 1960.25 - 3.82 0.113 689.50 -377.9 -107.06 - - 3450.66 - - - - - - - - - 16.12 -
10134.73 925.25 -8.99 1159 10142.21 roll -1.56 - - 1961.06 - 3.39 0.048 2131.31 425.3 -107.06 - - 3450.38 - - - - - - - - - 16.12 -
10450.51 948.81 -6.96 1191 10457.77 roll -1.56 - - 1958.94 - 3.81 0.113 688.75 -378.6 -107.06 - - 3450.28 - - - - - - - - - 16.10 -
10490.49 952.27 -8.59 1199 10498.02 roll -1.56 - - 1960.81 - 3.40 0.048 2133.19 424.8 -107.06 - - 3449.50 - - - - - - - - - 16.11 -
10806.29 975.36 -7.28 1231 10813.55 roll -1.56 - - 1959.94 - 3.83 0.112 688.75 -377.1 -107.06 - - 3450.00 - - - - - - - - - 16.11 -
10876.42 981.67 -9.08 1245 10883.87 roll -1.56 - - 1959.69 - 3.40 0.048 2130.12 423.9 -107.06 - - 3450.16 - - - - - - - - - 16.11 -
10992 end dive: TARGET_DEPTH_EXCEEDED
10992 begin apogee
10993.87 990.88 -8.07 1257 11088.12 -0.42 2.44 0.119 2240.94 115.3 0.11 0.210 2115.38 -134.0 - 86.29 2.231 3018.81 -5.0 0.367 - - - - - - 16.07 15.54 12.27
11091 end apogee: CONTROL_FINISHED_OK
11091 begin climb
11094.44 992.63 - 1266 11207.31 1.56 3.95 0.059 2729.12 123.6 3.34 0.095 3361.56 373.1 107.06 95.49 2.157 2581.31 -4.6 0.349 - - - - - - 15.64 15.33 12.72
11240.13 985.71 7.66 1293 11247.46 roll 1.56 - - 2729.12 - 3.02 0.041 2120.00 -411.1 107.06 - - 2575.47 - - - - - - - - - 15.60 -
11556.15 955.28 10.17 1325 11561.84 done 1.56 - - 2729.00 - 3.23 0.094 3362.12 384.6 107.06 - - 2567.66 - - - - - - - - - 15.86 -
11680.17 941.59 11.22 1350 11687.69 done 1.56 - - 2728.00 - 2.96 0.042 2117.62 -420.4 107.06 - - 2568.19 - - - - - - - - - 15.90 -
11995.96 910.09 10.10 1382 12001.83 done 1.56 - - 2729.44 - 3.20 0.093 3362.44 389.0 107.06 - - 2564.28 - - - - - - - - - 15.96 -
12186.01 889.31 10.73 1420 12191.82 done 1.56 - - 2729.50 - 2.95 0.042 2116.81 -422.2 107.06 - - 2564.59 - - - - - - - - - 16.01 -
12496.30 858.52 10.02 1452 12501.93 done 1.56 - - 2728.44 - 3.19 0.095 3361.88 390.3 107.06 - - 2564.03 - - - - - - - - - 16.04 -
12616.08 845.45 11.08 1476 12622.13 done 1.56 - - 2728.94 - 2.93 0.042 2117.31 -424.8 107.06 - - 2563.88 - - - - - - - - - 16.06 -
12926.35 815.48 9.43 1508 12931.99 done 1.56 - - 2729.44 - 3.18 0.092 3362.31 391.5 107.06 - - 2562.09 - - - - - - - - - 16.06 -
13026.14 805.10 10.44 1528 13031.92 done 1.56 - - 2728.62 - 2.94 0.042 2116.94 -423.6 107.06 - - 2563.03 - - - - - - - - - 16.06 -
13336.17 776.03 9.31 1560 13342.05 done 1.56 - - 2728.62 - 3.19 0.093 3363.44 390.8 107.06 - - 2562.53 - - - - - - - - - 16.08 -
13506.22 758.35 10.48 1594 13511.98 done 1.56 - - 2728.81 - 2.94 0.042 2116.31 -424.2 107.06 - - 2562.69 - - - - - - - - - 16.08 -
13816.25 731.93 8.10 1626 13822.11 done 1.56 - - 2728.56 - 3.19 0.092 3362.50 390.7 107.06 - - 2561.53 - - - - - - - - - 16.09 -
13910.52 723.36 8.93 1645 13917.79 done 1.56 - - 2728.88 - 2.91 0.041 2116.62 -428.1 107.06 - - 2561.66 - - - - - - - - - 16.10 -
14226.54 698.49 8.13 1677 14228.12 VBD 1.56 - - 2729.31 - - - 2116.75 - 107.06 - - 2558.44 - - - - - - - - - - -
14536.34 673.19 8.29 1708 14537.92 VBD 1.56 - - 2729.44 - - - 2116.56 - 107.06 - - 2558.12 - - - - - - - - - - -
14846.38 646.10 8.79 1739 14852.25 done 1.56 - - 2728.25 - 3.18 0.092 3362.75 391.9 107.06 - - 2561.28 - - - - - - - - - 16.09 -
15036.67 628.13 9.04 1777 15042.22 done 1.56 - - 2728.94 - 2.92 0.041 2116.94 -426.6 107.06 - - 2559.19 - - - - - - - - - 16.11 -
15346.45 602.62 7.89 1809 15352.36 done 1.56 - - 2729.12 - 3.20 0.092 3363.94 389.7 107.06 - - 2558.22 - - - - - - - - - 16.09 -
15426.47 595.92 8.11 1825 15432.28 done 1.56 - - 2728.81 - 2.92 0.042 2116.38 -427.2 107.06 - - 2559.72 - - - - - - - - - 16.10 -
15736.50 571.52 7.69 1857 15738.08 VBD 1.56 - - 2729.38 - - - 2117.19 - 107.06 - - 2557.59 - - - - - - - - - - -
16046.83 548.38 7.47 1888 16052.42 done 1.58 - - 2729.00 - 3.19 0.091 3363.56 390.7 107.06 - - 2559.31 - - - - - - - - - 16.09 -
16280.90 529.96 7.32 1935 16288.08 done 1.60 - - 2729.75 - 2.89 0.042 2115.62 -431.8 107.06 - - 2557.62 - - - - - - - - - 16.09 -
16596.68 509.62 6.20 1967 16598.39 1.66 0.09 0.108 2750.69 232.7 - - 2115.25 - 107.06 - - 2556.28 - - - - - - - - 16.15 - -
16906.96 490.49 5.98 1998 16908.54 VBD 1.72 - - 2750.69 - - - 2114.81 - 107.06 - - 2557.00 - - - - - - - - - - -
17217.00 471.27 6.29 2029 17222.74 1.77 0.14 0.074 2780.81 215.1 3.15 0.090 3365.00 396.9 107.06 - - 2556.94 - - - - - - - - 16.14 16.08 -
17390.99 457.70 7.79 2064 17398.27 done 1.77 - - 2781.31 - 2.90 0.042 2114.25 -431.3 107.06 - - 2558.00 - - - - - - - - - 16.07 -
17706.82 434.57 7.27 2096 17708.40 VBD 1.80 - - 2780.88 - - - 2114.56 - 107.06 - - 2556.81 - - - - - - - - - - -
18016.86 414.13 6.16 2127 18023.05 done 1.85 - - 2780.56 - 3.16 0.089 3364.38 395.5 107.06 - - 2557.59 - - - - - - - - - 16.10 -
18136.88 405.94 6.79 2151 18142.76 1.89 0.12 0.080 2810.12 246.3 2.91 0.041 2115.88 -429.0 107.06 - - 2558.12 - - - - - - - - 16.07 16.10 -
18447.23 387.49 5.71 2183 18452.73 done 1.96 - - 2810.81 - 3.18 0.088 3363.31 392.3 107.06 - - 2557.59 - - - - - - - - - 16.08 -
18597.01 377.90 6.52 2213 18602.79 2.01 0.12 0.080 2838.12 227.6 2.90 0.040 2115.50 -430.3 107.06 - - 2558.28 - - - - - - - - 16.13 16.11 -
18907.17 359.25 5.77 2245 18908.75 VBD 2.08 - - 2837.44 - - - 2115.00 - 107.06 - - 2556.53 - - - - - - - - - - -
19217.19 339.67 6.80 2276 19222.93 2.11 0.12 0.085 2864.69 227.1 3.17 0.087 3364.19 394.1 107.06 - - 2558.38 - - - - - - - - 16.14 16.06 -
19446.94 322.14 7.60 2322 19452.91 2.11 0.30 0.177 2846.81 -59.6 2.91 0.040 2112.31 -430.2 107.06 - - 2558.69 - - - - - - - - 16.02 16.09 -
19756.99 302.06 5.83 2354 19758.81 2.18 0.23 0.057 2879.12 140.5 - - 2110.94 - 107.06 - - 2555.12 - - - - - - - - 16.15 - -
20067.27 284.65 5.11 2385 20074.17 done 2.27 - - 2879.81 - 3.67 0.103 686.75 -388.1 107.06 - - 2556.41 - - - - - - - - - 16.03 -
20152.94 279.86 5.68 2402 20159.98 2.34 0.23 0.052 2918.12 166.6 3.53 0.048 2185.94 424.7 107.06 - - 2555.94 - - - - - - - - 16.11 16.09 -
20467.72 263.53 5.16 2434 20473.52 done 2.43 - - 2918.50 - 3.03 0.090 3363.62 388.7 107.06 - - 2557.38 - - - - - - - - - 16.03 -
20697.76 251.18 5.09 2480 20703.73 2.51 0.25 0.055 2959.25 163.0 2.91 0.040 2112.94 -429.8 107.06 - - 2555.91 - - - - - - - - 16.06 16.03 -
21008.02 235.52 4.83 2512 21066.52 done 2.60 - - 2959.19 - 3.73 0.102 687.25 -382.2 169.91 48.40 1.284 2325.19 -4.8 0.145 - - - - - - - 15.87 12.33
21244.29 205.33 15.79 2559 21252.16 done 2.60 - - 2959.88 - 3.58 0.048 2181.06 417.3 169.91 - - 2319.38 - - - - - - - - - 15.96 -
21560.06 163.79 12.33 2591 21565.92 done 2.60 - - 2958.88 - 3.04 0.089 3362.81 388.7 169.91 - - 2316.59 - - - - - - - - - 15.98 -
21650.08 151.93 13.29 2609 21655.85 done 2.60 - - 2960.62 - 2.95 0.041 2115.19 -422.9 169.91 - - 2315.06 - - - - - - - - - 15.99 -
21960.10 115.66 8.91 2641 21967.32 done 2.60 - - 2958.56 - 3.72 0.100 686.44 -384.1 169.91 - - 2314.59 - - - - - - - - - 16.00 -
22040.05 107.37 10.17 2657 22047.68 done 2.60 - - 2960.00 - 3.56 0.046 2186.19 421.3 169.91 - - 2313.56 - - - - - - - - - 16.01 -
22350.87 91.04 2.61 2710 22473.75 2.73 0.35 0.047 3012.50 150.0 3.09 0.089 3362.25 380.6 276.21 112.14 1.067 1892.44 -3.8 0.053 - - - - - - 16.02 15.63 12.53
22557.35 75.52 13.74 2750 22563.90 roll 2.73 - - 3012.56 - 2.97 0.039 2115.75 -419.7 276.21 - - 1891.56 - - - - - - - - - 15.78 -
22747.46 54.21 9.46 2788 22754.41 roll 2.73 - - 3012.19 - 3.75 0.100 687.50 -380.9 276.21 - - 1891.28 - - - - - - - - - 15.82 -
22882.91 39.82 11.20 2815 22890.02 roll 2.73 - - 3012.88 - 3.57 0.046 2184.94 419.5 276.21 - - 1889.94 - - - - - - - - - 15.88 -
23073.51 36.97 -1.00 2853 23263.04 2.96 0.39 0.044 3070.81 148.5 - - 2185.00 - 452.97 181.46 0.989 1172.88 -4.0 0.024 - - - - - - 15.98 - 12.59
23421 end climb: SURFACE_DEPTH_REACHED
23422 begin surface coast
23441 end surface coast: CONTROL_FINISHED_OK
23442 begin surface
SM 3.54 - - - - 185.5 23.33 0.914 1083.0 38.6 21.86 0.044 1090.6 49.9 - 0.24 0.087 1075.5 4481.2 -18.636 - - 12.54 15.84 15.80 -