NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 227 * Raw log
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• Previous call tries 1 • 91.31 of 575.00 AH used of 24V (84.12% remains)
• Surface angle -63.3 deg, depth 1.54 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.89 (SM_CC=475)
• GPS1 time: 19 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
9.02 - - - 65.42 VBD -1.56 - - 181.81 - - - 2143.88 - -107.06 54.97 0.005 2296.53 - - - - - - - - - - 15.67
65.86 3.37 -3.54 11 123.42 -1.56 16.71 0.235 1960.69 106.5 3.86 0.110 689.81 -376.7 -107.06 27.53 0.006 3457.84 42.2 -3.916 - - - - - - 15.66 15.65 15.67
191.96 29.38 -19.84 35 198.53 roll -1.56 - - 1961.12 - 3.38 0.042 2133.25 427.1 -107.06 - - 3458.81 - - - - - - - - - 15.86 -
382.01 54.86 -13.13 73 388.51 roll -1.56 - - 1960.75 - 3.12 0.090 3362.50 394.0 -107.06 - - 3460.19 - - - - - - - - - 15.89 -
462.04 66.28 -14.09 89 468.42 roll -1.56 - - 1960.25 - 3.03 0.036 2063.75 -428.6 -107.06 - - 3460.75 - - - - - - - - - 15.92 -
652.11 89.98 -11.63 127 658.92 roll -1.56 - - 1960.44 - 3.60 0.108 690.12 -381.6 -107.06 - - 3461.44 - - - - - - - - - 15.90 -
722.51 99.17 -13.92 141 729.22 roll -1.56 - - 1961.19 - 3.35 0.041 2136.62 431.8 -107.06 - - 3460.50 - - - - - - - - - 15.97 -
912.67 121.73 -11.04 161 914.24 no move -1.56 - - 1960.69 - - - 2136.44 - -107.06 - - 3460.75 - - - - - - - - - - -
1222.68 148.38 -7.78 192 1228.53 roll -1.56 - - 1960.56 - 3.11 0.090 3361.75 394.0 -107.06 - - 3463.25 - - - - - - - - - 16.00 -
1246.92 150.65 -8.37 197 1254.23 roll -1.56 - - 1960.25 - 3.01 0.036 2062.56 -431.6 -107.06 - - 3464.06 - - - - - - - - - 16.01 -
1562.79 181.82 -10.39 229 1568.60 roll -1.56 - - 1961.12 - 3.29 0.088 3362.69 395.2 -107.06 - - 3464.09 - - - - - - - - - 15.97 -
1612.70 187.22 -10.96 239 1618.50 roll -1.56 - - 1960.31 - 3.01 0.037 2065.75 -430.9 -107.06 - - 3465.03 - - - - - - - - - 16.05 -
1922.73 218.36 -10.15 271 1924.30 no move -1.56 - - 1960.94 - - - 2065.44 - -107.06 - - 3462.97 - - - - - - - - - - -
2232.74 249.64 -10.10 302 2234.31 no move -1.56 - - 1961.19 - - - 2065.69 - -107.06 - - 3462.88 - - - - - - - - - - -
2542.75 280.06 -9.71 333 2544.32 no move -1.56 - - 1960.88 - - - 2065.38 - -107.06 - - 3462.94 - - - - - - - - - - -
2852.77 309.48 -9.88 364 2858.71 roll -1.56 - - 1961.06 - 3.31 0.093 3363.12 392.1 -107.06 - - 3463.78 - - - - - - - - - 16.08 -
2902.77 314.71 -10.26 374 2908.60 roll -1.56 - - 1961.62 - 3.04 0.041 2066.12 -426.6 -107.06 - - 3464.25 - - - - - - - - - 16.11 -
3212.79 344.11 -9.14 406 3214.37 no move -1.56 - - 1960.88 - - - 2066.38 - -107.06 - - 3462.41 - - - - - - - - - - -
3522.81 371.33 -8.81 437 3524.38 no move -1.56 - - 1960.94 - - - 2066.56 - -107.06 - - 3461.38 - - - - - - - - - - -
3832.82 398.69 -8.76 468 3838.77 roll -1.56 - - 1960.25 - 3.31 0.091 3363.94 392.0 -107.06 - - 3462.66 - - - - - - - - - 16.12 -
3882.82 403.62 -9.67 478 3888.62 roll -1.56 - - 1961.75 - 3.04 0.041 2067.25 -426.5 -107.06 - - 3461.78 - - - - - - - - - 16.13 -
4192.84 431.49 -9.00 510 4194.65 no move -1.56 - - 1960.62 - - - 2067.25 - -107.06 - - 3459.88 - - - - - - - - - - -
4502.84 459.71 -9.10 541 4504.42 no move -1.56 - - 1960.81 - - - 2066.88 - -107.06 - - 3458.94 - - - - - - - - - - -
4812.85 487.74 -8.85 572 4814.42 no move -1.56 - - 1960.94 - - - 2066.56 - -107.06 - - 3457.81 - - - - - - - - - - -
5122.87 516.42 -9.24 603 5124.44 no move -1.56 - - 1960.94 - - - 2066.62 - -107.06 - - 3457.94 - - - - - - - - - - -
5433.13 544.92 -8.86 634 5434.69 no move -1.56 - - 1960.88 - - - 2066.94 - -107.06 - - 3457.59 - - - - - - - - - - -
5742.89 571.96 -8.14 665 5744.48 no move -1.56 - - 1960.62 - - - 2067.00 - -107.06 - - 3456.62 - - - - - - - - - - -
6052.90 598.94 -8.93 696 6059.02 roll -1.56 - - 1959.75 - 3.65 0.119 689.50 -377.4 -107.06 - - 3457.84 - - - - - - - - - 16.12 -
6102.91 604.09 -9.74 706 6108.86 roll -1.56 - - 1960.81 - 3.39 0.048 2130.81 425.2 -107.06 - - 3456.91 - - - - - - - - - 16.14 -
6412.94 631.38 -8.69 738 6418.78 roll -1.56 - - 1961.19 - 3.15 0.096 3363.38 391.3 -107.06 - - 3455.81 - - - - - - - - - 16.10 -
6452.94 635.15 -9.43 746 6458.74 roll -1.56 - - 1960.06 - 3.07 0.041 2066.50 -422.4 -107.06 - - 3456.16 - - - - - - - - - 16.12 -
6762.96 661.87 -8.83 778 6764.53 no move -1.56 - - 1960.56 - - - 2067.31 - -107.06 - - 3454.34 - - - - - - - - - - -
7072.97 688.55 -9.00 809 7079.08 roll -1.56 - - 1959.62 - 3.66 0.118 689.69 -376.4 -107.06 - - 3455.38 - - - - - - - - - 16.10 -
7142.99 695.49 -9.97 823 7148.95 roll -1.56 - - 1960.88 - 3.40 0.047 2133.06 424.5 -107.06 - - 3453.50 - - - - - - - - - 16.12 -
7453.02 722.27 -8.61 855 7460.22 roll -1.56 - - 1959.69 - 3.80 0.111 688.69 -380.1 -107.06 - - 3453.72 - - - - - - - - - 16.13 -
7493.05 726.00 -9.26 863 7500.56 roll -1.56 - - 1961.12 - 3.39 0.046 2132.38 425.9 -107.06 - - 3453.75 - - - - - - - - - 16.13 -
7808.84 752.18 -8.70 895 7810.42 no move -1.56 - - 1961.00 - - - 2132.44 - -107.06 - - 3452.97 - - - - - - - - - - -
8118.87 777.99 -8.58 926 8126.37 roll -1.56 - - 1959.69 - 3.81 0.111 688.56 -379.0 -107.06 - - 3453.56 - - - - - - - - - 16.12 -
8169.21 782.66 -9.37 936 8176.67 roll -1.56 - - 1961.12 - 3.39 0.046 2132.31 425.9 -107.06 - - 3453.09 - - - - - - - - - 16.13 -
8485.00 807.64 -8.07 968 8492.19 roll -1.56 - - 1961.38 - 3.79 0.110 690.06 -380.5 -107.06 - - 3452.03 - - - - - - - - - 16.12 -
8534.92 812.24 -8.90 978 8542.43 roll -1.56 - - 1961.12 - 3.39 0.047 2132.38 425.5 -107.06 - - 3453.00 - - - - - - - - - 16.12 -
8850.71 837.45 -7.83 1010 8858.14 roll -1.56 - - 1960.31 - 3.81 0.113 689.75 -378.6 -107.06 - - 3453.22 - - - - - - - - - 16.11 -
8926.80 844.40 -9.23 1025 8932.76 roll -1.56 - - 1960.44 - 3.39 0.048 2132.06 425.5 -107.06 - - 3453.47 - - - - - - - - - 16.11 -
9236.83 869.18 -7.66 1057 9244.03 roll -1.56 - - 1960.25 - 3.80 0.111 688.94 -379.8 -107.06 - - 3453.16 - - - - - - - - - 16.11 -
9286.75 873.48 -8.78 1067 9294.27 roll -1.56 - - 1961.19 - 3.39 0.047 2131.88 425.6 -107.06 - - 3452.12 - - - - - - - - - 16.10 -
9602.55 896.65 -7.05 1099 9609.73 roll -1.56 - - 1960.31 - 3.80 0.112 689.56 -379.6 -107.06 - - 3452.97 - - - - - - - - - 16.11 -
9682.94 903.14 -8.44 1115 9690.41 roll -1.56 - - 1960.50 - 3.39 0.047 2131.69 425.4 -107.06 - - 3452.31 - - - - - - - - - 16.11 -
9998.73 926.45 -7.50 1147 10000.30 no move -1.56 - - 1960.56 - - - 2132.06 - -107.06 - - 3450.94 - - - - - - - - - - -
10308.75 950.14 -7.28 1178 10316.00 roll -1.56 - - 1961.12 - 3.81 0.112 689.75 -378.6 -107.06 - - 3451.22 - - - - - - - - - 16.11 -
10388.73 957.44 -8.67 1194 10396.22 roll -1.56 - - 1961.06 - 3.38 0.047 2132.06 426.7 -107.06 - - 3451.94 - - - - - - - - - 16.12 -
10704.53 983.32 -8.71 1226 10706.10 no move -1.56 - - 1960.88 - - - 2131.69 - -107.06 - - 3450.97 - - - - - - - - - - -
10794 end dive: TARGET_DEPTH_EXCEEDED
10794 begin apogee
10796.24 990.51 -8.19 1235 10890.43 -0.42 2.47 0.117 2239.44 112.8 0.10 0.223 2114.38 -173.1 - 86.02 2.236 3018.62 -5.0 0.368 - - - - - - 16.07 15.54 12.26
10895 end apogee: CONTROL_FINISHED_OK
10896 begin climb
10898.70 992.17 - 1244 11011.53 1.56 4.03 0.057 2728.31 121.3 3.36 0.094 3362.06 371.3 107.06 94.53 2.161 2582.97 -4.6 0.350 - - - - - - 15.66 15.34 12.78
11100.13 979.57 9.28 1282 11105.94 done 1.56 - - 2729.62 - 3.03 0.041 2119.94 -409.9 107.06 - - 2573.41 - - - - - - - - - 15.72 -
11410.14 948.28 10.29 1314 11416.06 done 1.56 - - 2728.94 - 3.25 0.093 3361.81 382.1 107.06 - - 2567.66 - - - - - - - - - 15.87 -
11560.19 931.09 11.82 1344 11565.99 done 1.56 - - 2729.31 - 2.98 0.042 2120.06 -416.7 107.06 - - 2566.44 - - - - - - - - - 15.95 -
11870.21 898.71 9.99 1376 11876.16 done 1.56 - - 2729.38 - 3.23 0.092 3362.00 384.5 107.06 - - 2563.88 - - - - - - - - - 15.97 -
11960.25 888.57 11.00 1394 11966.00 done 1.56 - - 2729.62 - 2.97 0.042 2118.25 -418.8 107.06 - - 2564.53 - - - - - - - - - 16.00 -
12270.26 857.16 10.02 1426 12271.83 VBD 1.56 - - 2728.62 - - - 2117.88 - 107.06 - - 2561.34 - - - - - - - - - - -
12580.54 827.84 9.33 1457 12586.22 done 1.56 - - 2729.31 - 3.21 0.091 3362.75 387.8 107.06 - - 2562.19 - - - - - - - - - 16.05 -
12694.56 816.14 9.66 1480 12701.83 done 1.56 - - 2729.69 - 2.94 0.042 2120.25 -422.6 107.06 - - 2562.88 - - - - - - - - - 16.08 -
13010.35 787.48 8.67 1512 13016.26 done 1.56 - - 2729.56 - 3.21 0.092 3362.94 387.1 107.06 - - 2561.16 - - - - - - - - - 16.06 -
13190.41 769.57 10.62 1548 13196.15 done 1.56 - - 2729.38 - 2.94 0.041 2117.19 -423.7 107.06 - - 2562.31 - - - - - - - - - 16.07 -
13500.66 742.41 8.61 1580 13506.28 done 1.56 - - 2728.25 - 3.18 0.092 3363.56 391.9 107.06 - - 2561.41 - - - - - - - - - 16.08 -
13734.71 719.59 9.85 1627 13741.98 done 1.56 - - 2729.44 - 2.95 0.042 2116.75 -422.6 107.06 - - 2559.47 - - - - - - - - - 16.10 -
14050.73 692.75 8.58 1659 14052.31 VBD 1.56 - - 2729.19 - - - 2117.12 - 107.06 - - 2557.53 - - - - - - - - - - -
14360.54 665.23 8.85 1690 14366.45 done 1.56 - - 2728.44 - 3.21 0.091 3363.12 388.2 107.06 - - 2560.81 - - - - - - - - - 16.10 -
14544.81 647.78 9.42 1727 14552.20 done 1.56 - - 2729.25 - 2.94 0.042 2116.88 -423.9 107.06 - - 2559.16 - - - - - - - - - 16.12 -
14860.59 622.00 8.27 1759 14866.48 done 1.56 - - 2729.44 - 3.20 0.090 3364.06 389.7 107.06 - - 2558.62 - - - - - - - - - 16.11 -
15014.88 608.38 8.35 1790 15022.39 done 1.56 - - 2729.25 - 2.93 0.041 2118.62 -425.1 107.06 - - 2558.69 - - - - - - - - - 16.11 -
15330.70 585.01 7.37 1822 15332.27 VBD 1.58 - - 2729.12 - - - 2118.25 - 107.06 - - 2557.53 - - - - - - - - - - -
15640.74 562.04 7.41 1853 15642.31 VBD 1.60 - - 2729.38 - - - 2118.81 - 107.06 - - 2556.59 - - - - - - - - - - -
15950.77 540.59 6.54 1884 15956.60 done 1.65 - - 2729.44 - 3.19 0.091 3363.81 390.3 107.06 - - 2557.62 - - - - - - - - - 16.10 -
16110.82 528.90 6.94 1916 16116.70 1.68 0.16 0.070 2755.00 159.7 2.93 0.042 2116.00 -425.9 107.06 - - 2557.69 - - - - - - - - 16.16 16.12 -
16420.84 508.70 6.26 1948 16426.72 done 1.74 - - 2755.69 - 3.20 0.090 3363.25 389.8 107.06 - - 2557.72 - - - - - - - - - 16.11 -
16535.12 500.72 7.04 1971 16542.55 1.77 0.12 0.078 2776.19 170.8 2.93 0.041 2116.62 -425.5 107.06 - - 2557.19 - - - - - - - - 16.13 16.10 -
16850.90 479.33 7.04 2003 16857.04 done 1.80 - - 2776.38 - 3.20 0.089 3363.06 389.5 107.06 - - 2558.41 - - - - - - - - - 16.11 -
17035.12 464.64 8.05 2040 17042.40 done 1.80 - - 2776.75 - 2.94 0.040 2116.06 -424.1 107.06 - - 2556.88 - - - - - - - - - 16.06 -
17351.18 441.80 7.10 2072 17352.76 VBD 1.83 - - 2776.50 - - - 2116.12 - 107.06 - - 2556.19 - - - - - - - - - - -
17661.21 420.70 6.03 2103 17668.04 1.89 0.17 0.061 2806.62 177.2 3.20 0.089 3364.12 390.0 107.06 - - 2557.41 - - - - - - - - 16.17 16.08 -
17746.58 414.56 7.21 2120 17752.29 done 1.91 - - 2807.50 - 2.93 0.043 2117.12 -425.6 107.06 - - 2557.31 - - - - - - - - - 16.10 -
18056.60 395.44 5.88 2152 18058.17 VBD 1.98 - - 2808.06 - - - 2116.94 - 107.06 - - 2556.16 - - - - - - - - - - -
18366.63 377.80 5.58 2183 18368.44 2.05 0.23 0.059 2848.25 174.7 - - 2117.50 - 107.06 - - 2557.50 - - - - - - - - 16.14 - -
18676.67 359.61 5.80 2214 18678.24 VBD 2.12 - - 2848.56 - - - 2117.50 - 107.06 - - 2555.88 - - - - - - - - - - -
18986.70 341.20 6.16 2245 18988.47 2.17 0.14 0.073 2875.56 192.9 - - 2117.25 - 107.06 - - 2557.38 - - - - - - - - 16.18 - -
19296.73 322.20 5.84 2276 19302.62 done 2.24 - - 2876.31 - 3.20 0.088 3363.56 389.5 107.06 - - 2556.91 - - - - - - - - - 16.09 -
19351.00 318.53 6.63 2287 19358.39 2.28 0.13 0.077 2901.38 192.8 2.94 0.043 2115.25 -424.6 107.06 - - 2557.88 - - - - - - - - 16.12 16.09 -
19666.77 298.83 6.03 2319 19672.66 done 2.34 - - 2901.94 - 3.21 0.087 3363.62 388.9 107.06 - - 2559.22 - - - - - - - - - 16.05 -
19756.80 293.07 6.37 2337 19762.68 2.39 0.17 0.063 2929.25 160.6 2.93 0.041 2116.25 -425.7 107.06 - - 2557.28 - - - - - - - - 16.12 16.04 -
20067.05 273.48 6.12 2369 20068.63 VBD 2.45 - - 2928.38 - - - 2115.62 - 107.06 - - 2556.09 - - - - - - - - - - -
20376.83 256.50 5.34 2400 20384.23 2.53 0.21 0.062 2963.12 165.4 3.71 0.105 687.25 -385.0 107.06 - - 2557.09 - - - - - - - - 16.07 16.00 -
20612.81 241.03 6.15 2447 20618.83 done 2.59 - - 2964.44 - 3.55 0.049 2180.56 420.7 107.06 - - 2555.25 - - - - - - - - - 16.07 -
20922.81 224.66 5.18 2479 20930.20 2.68 0.19 0.059 2999.50 184.5 3.88 0.098 688.50 -384.6 107.06 - - 2555.75 - - - - - - - - 16.14 16.04 -
21158.77 211.90 4.71 2526 21217.88 done 2.76 - - 3000.56 - 3.55 0.048 2186.19 421.9 172.36 49.70 1.259 2316.75 -4.8 0.134 - - - - - - - 16.08 12.27
21521.75 167.34 14.65 2568 21529.04 done 2.76 - - 3000.06 - 3.93 0.098 687.50 -381.3 172.36 - - 2307.00 - - - - - - - - - 15.94 -
21758.03 132.81 13.67 2615 21765.19 done 2.76 - - 3000.56 - 3.57 0.048 2181.69 418.5 172.36 - - 2302.75 - - - - - - - - - 15.98 -
22073.12 103.53 6.19 2647 22080.53 2.82 0.19 0.060 3033.31 172.4 3.90 0.097 687.62 -383.1 172.36 - - 2304.41 - - - - - - - - 16.06 15.98 -
22309.55 95.13 2.41 2694 22438.60 2.96 0.19 0.057 3069.19 188.8 3.57 0.046 2187.81 420.2 282.45 115.18 1.072 1866.94 -3.8 0.056 - - - - - - 16.02 15.99 12.41
22622.48 62.84 13.54 2755 22629.45 roll back 2.96 0.30 0.173 3052.62 -55.2 3.09 0.089 3362.38 380.1 282.45 - - 1865.19 - - - - - - - - 15.75 15.77 -
22858.41 35.92 7.64 2802 22865.10 roll 2.96 - - 3051.81 - 2.96 0.038 2113.75 -421.8 282.45 - - 1866.31 - - - - - - - - - 15.90 -
23048.92 33.92 -0.01 2840 23225.74 3.16 0.51 0.041 3118.31 130.4 3.86 0.101 689.69 -368.9 439.94 161.29 0.991 1226.78 -4.0 0.022 - - - - - - 15.95 15.53 12.41
23364 end climb: SURFACE_DEPTH_REACHED
23365 begin surface coast
23384 end surface coast: CONTROL_FINISHED_OK
23385 begin surface
SM 2.92 - - - - 184.3 34.85 0.939 1084.1 26.5 22.12 0.043 1098.7 49.6 - 3.45 0.045 1069.4 308.9 -2.048 - - 12.53 15.79 15.82 -