NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 229 * Raw log
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• Previous call tries 1 • 91.99 of 575.00 AH used of 24V (84.00% remains)
• Surface angle -63.4 deg, depth 1.54 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.04 (SM_CC=475)
• GPS1 time: 36 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
8.99 - - - 65.43 VBD -1.56 - - 184.12 - - - 2146.88 - -107.06 55.02 0.005 2278.78 - - - - - - - - - - 15.65
65.87 3.46 -3.81 11 123.36 -1.56 16.50 0.234 1960.81 107.7 3.85 0.109 690.81 -378.2 -107.06 28.04 0.006 3456.97 42.0 -4.008 - - - - - - 15.68 15.63 15.66
126.90 15.26 -21.10 22 133.43 roll -1.56 - - 1960.69 - 3.39 0.042 2130.75 424.8 -107.06 - - 3459.16 - - - - - - - - - 15.84 -
316.91 47.39 -12.73 60 323.38 roll -1.56 - - 1960.44 - 3.15 0.090 3362.25 391.0 -107.06 - - 3460.12 - - - - - - - - - 15.86 -
466.93 67.84 -13.87 90 473.31 roll -1.56 - - 1961.00 - 3.06 0.037 2063.56 -424.4 -107.06 - - 3460.16 - - - - - - - - - 15.91 -
657.00 91.95 -12.85 128 661.45 no move -1.56 - - 1961.06 - - - 2064.19 - -107.06 - - 3461.16 - - - - - - - - - - -
847.03 113.25 -9.78 154 852.99 roll -1.56 - - 1961.69 - 3.32 0.086 3361.50 390.8 -107.06 - - 3461.41 - - - - - - - - - 15.95 -
921.29 120.81 -10.36 169 928.61 roll -1.56 - - 1960.06 - 3.04 0.036 2063.62 -426.9 -107.06 - - 3463.91 - - - - - - - - - 15.94 -
1237.07 151.47 -9.76 201 1243.13 roll -1.56 - - 1959.88 - 3.60 0.110 687.62 -382.2 -107.06 - - 3464.84 - - - - - - - - - 15.94 -
1281.41 156.14 -10.66 210 1288.79 roll -1.56 - - 1959.81 - 3.36 0.041 2137.38 431.5 -107.06 - - 3465.44 - - - - - - - - - 15.98 -
1597.09 186.42 -9.65 242 1598.66 no move -1.56 - - 1960.88 - - - 2137.69 - -107.06 - - 3463.53 - - - - - - - - - - -
1907.11 216.29 -9.17 273 1914.30 roll -1.56 - - 1960.50 - 3.79 0.109 689.50 -382.1 -107.06 - - 3463.72 - - - - - - - - - 15.99 -
1947.02 220.63 -10.51 281 1954.48 roll -1.56 - - 1961.25 - 3.35 0.043 2134.81 431.4 -107.06 - - 3464.69 - - - - - - - - - 16.05 -
2262.80 249.71 -9.29 313 2264.37 no move -1.56 - - 1960.75 - - - 2134.19 - -107.06 - - 3462.97 - - - - - - - - - - -
2572.82 278.24 -9.39 344 2574.40 no move -1.56 - - 1961.12 - - - 2134.25 - -107.06 - - 3464.34 - - - - - - - - - - -
2882.83 306.87 -9.14 375 2890.02 roll -1.56 - - 1959.38 - 3.78 0.107 687.69 -382.7 -107.06 - - 3464.91 - - - - - - - - - 16.09 -
2928.51 311.46 -10.12 384 2934.49 roll -1.56 - - 1961.06 - 3.38 0.043 2134.31 428.0 -107.06 - - 3464.97 - - - - - - - - - 16.08 -
3238.53 339.54 -8.82 416 3240.10 no move -1.56 - - 1961.06 - - - 2134.38 - -107.06 - - 3462.97 - - - - - - - - - - -
3548.54 367.56 -9.15 447 3550.12 no move -1.56 - - 1960.75 - - - 2134.00 - -107.06 - - 3462.66 - - - - - - - - - - -
3858.57 395.93 -9.31 478 3860.14 no move -1.56 - - 1960.81 - - - 2134.19 - -107.06 - - 3461.31 - - - - - - - - - - -
4168.59 426.65 -10.17 509 4175.80 roll -1.56 - - 1961.06 - 3.79 0.108 689.75 -381.1 -107.06 - - 3461.06 - - - - - - - - - 16.10 -
4218.52 432.28 -11.18 519 4226.05 roll -1.56 - - 1961.50 - 3.40 0.046 2132.94 424.5 -107.06 - - 3462.22 - - - - - - - - - 16.12 -
4534.62 462.98 -9.63 551 4536.19 no move -1.56 - - 1960.81 - - - 2133.38 - -107.06 - - 3459.91 - - - - - - - - - - -
4844.31 491.21 -8.49 582 4851.50 roll -1.56 - - 1960.12 - 3.80 0.109 689.50 -380.0 -107.06 - - 3460.31 - - - - - - - - - 16.11 -
4924.24 499.02 -9.54 598 4931.75 roll -1.56 - - 1961.19 - 3.39 0.046 2132.31 425.6 -107.06 - - 3459.97 - - - - - - - - - 16.13 -
5240.06 523.83 -7.46 630 5241.63 no move -1.56 - - 1960.50 - - - 2132.00 - -107.06 - - 3457.94 - - - - - - - - - - -
5550.08 548.87 -8.62 661 5556.55 roll -1.56 - - 1959.88 - 3.79 0.110 688.81 -380.8 -107.06 - - 3458.22 - - - - - - - - - 16.12 -
5590.08 552.82 -9.87 669 5596.06 roll -1.56 - - 1960.81 - 3.38 0.046 2132.38 427.1 -107.06 - - 3457.94 - - - - - - - - - 16.12 -
5900.12 581.21 -9.38 701 5901.69 no move -1.56 - - 1960.31 - - - 2133.19 - -107.06 - - 3457.59 - - - - - - - - - - -
6210.13 608.65 -8.27 732 6217.35 roll -1.56 - - 1961.12 - 3.80 0.109 690.38 -379.7 -107.06 - - 3456.16 - - - - - - - - - 16.12 -
6290.19 616.33 -9.63 748 6297.70 roll -1.56 - - 1961.06 - 3.39 0.046 2132.00 425.3 -107.06 - - 3456.19 - - - - - - - - - 16.13 -
6605.98 641.66 -8.11 780 6607.55 no move -1.56 - - 1961.19 - - - 2131.94 - -107.06 - - 3454.38 - - - - - - - - - - -
6916.05 667.05 -8.17 811 6917.62 no move -1.56 - - 1961.25 - - - 2131.94 - -107.06 - - 3454.44 - - - - - - - - - - -
7226.08 694.65 -9.30 842 7233.33 roll -1.56 - - 1959.94 - 3.81 0.110 688.75 -378.8 -107.06 - - 3455.12 - - - - - - - - - 16.11 -
7286.16 700.90 -10.22 854 7293.72 roll -1.56 - - 1961.12 - 3.40 0.047 2133.12 424.8 -107.06 - - 3453.56 - - - - - - - - - 16.11 -
7601.95 728.51 -8.15 886 7603.53 no move -1.56 - - 1960.75 - - - 2133.31 - -107.06 - - 3452.53 - - - - - - - - - - -
7911.99 753.36 -7.59 917 7919.23 roll -1.56 - - 1961.19 - 3.82 0.111 689.38 -378.0 -107.06 - - 3452.41 - - - - - - - - - 16.12 -
7977.73 758.89 -8.84 930 7983.69 roll -1.56 - - 1960.38 - 3.39 0.047 2131.06 425.3 -107.06 - - 3454.09 - - - - - - - - - 16.11 -
8287.76 781.06 -7.06 962 8295.00 roll -1.56 - - 1960.81 - 3.81 0.111 690.38 -378.1 -107.06 - - 3451.75 - - - - - - - - - 16.10 -
8333.49 784.92 -8.52 971 8339.49 roll -1.56 - - 1960.56 - 3.41 0.047 2132.00 422.8 -107.06 - - 3453.59 - - - - - - - - - 16.12 -
8643.52 808.72 -7.71 1003 8650.76 roll -1.56 - - 1960.81 - 3.81 0.111 689.38 -378.6 -107.06 - - 3452.28 - - - - - - - - - 16.11 -
8699.25 813.64 -8.97 1014 8705.28 roll -1.56 - - 1961.38 - 3.41 0.047 2122.94 420.4 -107.06 - - 3452.00 - - - - - - - - - 16.12 -
9009.28 839.32 -8.45 1046 9010.85 no move -1.56 - - 1961.19 - - - 2131.81 - -107.06 - - 3450.94 - - - - - - - - - - -
9319.31 864.92 -7.94 1077 9326.53 roll -1.56 - - 1960.12 - 3.80 0.111 690.69 -379.2 -107.06 - - 3451.50 - - - - - - - - - 16.10 -
9429.27 875.47 -9.42 1099 9436.76 roll -1.56 - - 1961.25 - 3.38 0.047 2131.94 426.4 -107.06 - - 3451.16 - - - - - - - - - 16.11 -
9745.07 902.49 -8.63 1131 9746.65 no move -1.56 - - 1960.69 - - - 2131.88 - -107.06 - - 3449.84 - - - - - - - - - - -
10055.10 928.07 -8.26 1162 10056.68 no move -1.56 - - 1960.44 - - - 2131.50 - -107.06 - - 3449.62 - - - - - - - - - - -
10365.13 952.66 -7.74 1193 10372.36 roll -1.56 - - 1960.94 - 3.78 0.111 689.44 -381.5 -107.06 - - 3449.62 - - - - - - - - - 16.10 -
10510.86 965.60 -9.05 1222 10516.87 roll -1.56 - - 1960.81 - 3.38 0.049 2130.50 426.3 -107.06 - - 3450.56 - - - - - - - - - 16.11 -
10821 end dive: TARGET_DEPTH_EXCEEDED
10821 begin apogee
10822.99 990.21 -7.79 1254 10916.75 -0.42 2.49 0.117 2239.19 111.8 0.10 0.216 2116.00 -145.0 - 85.89 2.237 3020.12 -5.0 0.367 - - - - - - 16.08 15.54 12.32
10928 end apogee: CONTROL_FINISHED_OK
10928 begin climb
10931.19 991.43 - 1263 11036.50 1.56 3.98 0.057 2728.94 123.1 - - 2117.31 - 107.06 94.89 2.163 2582.59 -4.6 0.350 - - - - - - 15.68 - 12.73
11340.07 959.47 10.28 1314 11345.99 done 1.56 - - 2728.88 - 3.26 0.095 3361.94 381.8 107.06 - - 2568.31 - - - - - - - - - 15.83 -
11420.10 951.09 11.02 1330 11425.85 done 1.56 - - 2728.62 - 2.99 0.042 2117.75 -416.1 107.06 - - 2567.84 - - - - - - - - - 15.89 -
11730.11 920.40 9.62 1362 11736.04 done 1.56 - - 2728.69 - 3.22 0.092 3362.81 386.7 107.06 - - 2566.19 - - - - - - - - - 15.96 -
11814.63 911.98 10.52 1379 11821.69 done 1.56 - - 2729.06 - 2.95 0.041 2117.19 -422.2 107.06 - - 2564.22 - - - - - - - - - 15.98 -
12130.15 883.10 9.25 1411 12136.09 done 1.56 - - 2728.44 - 3.21 0.092 3362.06 387.8 107.06 - - 2564.22 - - - - - - - - - 16.01 -
12304.44 865.24 10.83 1446 12311.70 done 1.56 - - 2728.81 - 2.94 0.042 2116.81 -423.6 107.06 - - 2562.56 - - - - - - - - - 16.04 -
12620.22 835.35 9.41 1478 12626.39 done 1.56 - - 2728.50 - 3.20 0.092 3362.50 389.3 107.06 - - 2563.06 - - - - - - - - - 16.05 -
12724.50 824.79 9.85 1499 12731.76 done 1.56 - - 2728.81 - 2.91 0.042 2117.56 -427.8 107.06 - - 2561.47 - - - - - - - - - 16.05 -
13040.27 796.31 8.93 1531 13046.14 done 1.56 - - 2728.69 - 3.17 0.091 3361.38 392.4 107.06 - - 2561.81 - - - - - - - - - 16.06 -
13130.30 787.58 9.91 1549 13136.07 done 1.56 - - 2728.50 - 2.91 0.042 2115.81 -428.0 107.06 - - 2561.72 - - - - - - - - - 16.08 -
13440.32 760.87 8.27 1581 13446.65 done 1.56 - - 2728.56 - 3.17 0.090 3364.00 393.8 107.06 - - 2561.69 - - - - - - - - - 16.08 -
13570.65 748.88 8.82 1607 13576.32 done 1.56 - - 2728.88 - 2.90 0.041 2116.31 -430.2 107.06 - - 2560.12 - - - - - - - - - 16.09 -
13880.68 723.78 7.75 1639 13886.47 done 1.56 - - 2727.81 - 3.16 0.090 3361.31 394.0 107.06 - - 2560.56 - - - - - - - - - 16.08 -
14024.74 710.85 8.85 1668 14032.40 done 1.56 - - 2728.75 - 2.91 0.041 2114.38 -428.5 107.06 - - 2559.38 - - - - - - - - - 16.10 -
14340.77 683.79 8.76 1700 14346.55 done 1.56 - - 2728.94 - 3.16 0.090 3363.50 395.3 107.06 - - 2559.84 - - - - - - - - - 16.09 -
14550.86 664.08 9.16 1742 14556.55 done 1.56 - - 2728.19 - 2.90 0.041 2115.44 -430.4 107.06 - - 2559.88 - - - - - - - - - 16.09 -
14860.93 640.54 7.16 1774 14866.67 done 1.59 - - 2727.62 - 3.16 0.090 3363.94 395.1 107.06 - - 2559.53 - - - - - - - - - 16.10 -
14944.91 633.39 8.32 1791 14952.83 done 1.59 - - 2729.25 - 2.91 0.041 2114.56 -429.3 107.06 - - 2558.28 - - - - - - - - - 16.08 -
15260.99 610.71 6.98 1823 15262.61 VBD 1.62 - - 2729.19 - - - 2114.75 - 107.06 - - 2556.81 - - - - - - - - - - -
15571.03 589.63 6.73 1854 15576.95 1.66 0.12 0.087 2752.75 196.3 3.17 0.090 3363.38 393.9 107.06 - - 2555.47 - - - - - - - - 16.14 16.08 -
15745.10 576.21 7.50 1889 15752.67 done 1.68 - - 2752.31 - 2.90 0.041 2116.44 -430.0 107.06 - - 2558.41 - - - - - - - - - 16.09 -
16061.13 554.05 7.04 1921 16066.88 done 1.71 - - 2752.94 - 3.16 0.089 3364.75 395.0 107.06 - - 2559.34 - - - - - - - - - 16.11 -
16115.10 549.79 7.98 1932 16122.78 done 1.71 - - 2752.75 - 2.91 0.041 2114.25 -429.7 107.06 - - 2557.34 - - - - - - - - - 16.10 -
16431.15 526.67 7.19 1964 16432.78 VBD 1.73 - - 2752.19 - - - 2114.75 - 107.06 - - 2556.12 - - - - - - - - - - -
16741.16 504.98 6.95 1995 16742.98 1.77 0.12 0.076 2775.38 193.3 - - 2115.56 - 107.06 - - 2556.59 - - - - - - - - 16.15 - -
17051.12 481.79 7.73 2026 17056.96 done 1.77 - - 2776.31 - 3.17 0.090 3363.81 393.8 107.06 - - 2556.91 - - - - - - - - - 16.10 -
17161.16 472.66 8.39 2048 17166.82 done 1.77 - - 2775.75 - 2.91 0.041 2115.94 -428.8 107.06 - - 2558.03 - - - - - - - - - 16.09 -
17471.20 450.95 6.44 2080 17478.28 done 1.82 - - 2775.25 - 3.67 0.108 688.69 -388.9 107.06 - - 2557.84 - - - - - - - - - 16.08 -
17567.14 444.07 7.54 2099 17574.34 done 1.83 - - 2775.94 - 3.48 0.050 2183.31 429.5 107.06 - - 2554.06 - - - - - - - - - 16.07 -
17882.16 424.64 5.83 2131 17883.97 1.90 0.18 0.060 2809.94 188.9 - - 2184.56 - 107.06 - - 2554.59 - - - - - - - - 16.13 - -
18192.16 405.33 5.82 2162 18197.79 done 1.97 - - 2810.69 - 2.98 0.092 3362.44 395.3 107.06 - - 2556.72 - - - - - - - - - 16.08 -
18426.19 389.67 6.41 2209 18434.11 2.01 0.15 0.065 2840.06 195.8 2.90 0.041 2113.50 -430.7 107.06 - - 2555.59 - - - - - - - - 16.14 16.10 -
18742.19 371.50 5.68 2241 18747.98 done 2.09 - - 2840.25 - 3.15 0.089 3365.00 397.3 107.06 - - 2555.50 - - - - - - - - - 16.08 -
18912.24 361.60 5.72 2275 18918.02 2.15 0.17 0.069 2872.56 190.1 2.91 0.041 2114.88 -429.6 107.06 - - 2555.69 - - - - - - - - 16.12 16.10 -
19222.23 342.83 6.11 2307 19229.30 done 2.21 - - 2873.75 - 3.65 0.105 688.31 -390.8 107.06 - - 2554.00 - - - - - - - - - 16.08 -
19378.28 331.61 7.36 2338 19385.28 done 2.23 - - 2872.06 - 3.51 0.050 2185.12 426.4 107.06 - - 2557.16 - - - - - - - - - 16.07 -
19693.28 311.20 6.02 2370 19695.08 2.29 0.19 0.058 2906.06 178.9 - - 2187.12 - 107.06 - - 2555.50 - - - - - - - - 16.15 - -
20003.30 293.33 5.50 2401 20004.92 VBD 2.37 - - 2907.25 - - - 2186.31 - 107.06 - - 2554.38 - - - - - - - - - - -
20313.35 277.62 5.05 2432 20365.54 2.45 0.20 0.057 2944.25 185.0 - - 2186.75 - 165.70 45.37 1.346 2342.56 -4.7 0.159 - - - - - - 16.11 - 12.41
20673.36 233.85 13.83 2468 20679.14 done 2.45 - - 2943.38 - 3.03 0.092 3363.88 388.5 165.70 - - 2335.34 - - - - - - - - - 15.93 -
20813.42 213.56 14.23 2496 20819.08 done 2.45 - - 2943.44 - 2.95 0.041 2118.00 -422.3 165.70 - - 2335.06 - - - - - - - - - 15.96 -
21123.43 175.07 11.90 2528 21125.05 VBD 2.45 - - 2943.31 - - - 2117.62 - 165.70 - - 2332.50 - - - - - - - - - - -
21433.48 141.12 10.08 2559 21439.28 done 2.45 - - 2943.88 - 3.19 0.088 3363.44 390.5 165.70 - - 2332.44 - - - - - - - - - 15.97 -
21573.54 125.08 11.10 2587 21579.20 done 2.45 - - 2943.94 - 2.94 0.041 2114.38 -424.9 165.70 - - 2332.22 - - - - - - - - - 15.99 -
21883.61 103.83 3.71 2619 21986.49 2.56 0.13 0.074 2971.00 208.2 3.76 0.105 688.62 -379.2 250.53 91.35 1.091 1996.00 -3.7 0.058 - - - - - - 16.02 15.69 12.49
22215.52 75.58 8.95 2684 22222.54 roll 2.56 - - 2970.44 - 3.57 0.049 2183.44 418.7 250.53 - - 1995.47 - - - - - - - - - 15.88 -
22406.43 59.90 8.35 2722 22413.88 roll 2.56 - - 2970.75 - 3.89 0.098 688.56 -384.3 250.53 - - 1992.97 - - - - - - - - - 15.91 -
22487.79 52.73 9.10 2738 22494.80 roll 2.56 - - 2970.50 - 3.55 0.047 2184.50 421.4 250.53 - - 1992.81 - - - - - - - - - 15.86 -
22678.63 42.11 4.74 2776 22754.21 done 2.64 - - 2969.81 - 3.06 0.090 3362.88 385.1 315.12 66.26 1.012 1734.31 -3.9 0.027 - - - - - - - 15.69 12.51
22983.09 25.65 3.06 2836 23095.89 2.77 0.32 0.048 3022.81 165.6 2.96 0.038 2114.12 -421.9 412.53 101.47 0.982 1338.50 -3.9 0.017 - - - - - - 15.87 15.85 12.54
23279.76 6.17 8.51 2894 23286.64 roll 2.77 - - 3022.81 - 3.23 0.086 3362.25 386.4 412.53 - - 1344.97 - - - - - - - - - 15.81 -
23355 end climb: SURFACE_DEPTH_REACHED
23355 begin surface coast
23395 end surface coast: CONTROL_FINISHED_OK
23396 begin surface
SM 1.15 - - - - 185.9 62.72 0.959 1083.4 17.3 21.61 0.044 1095.8 50.7 - 3.05 0.039 1071.1 350.1 -1.055 - - 12.61 15.91 15.88 -