NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 243 * Raw log
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• Previous call tries 1 • 96.86 of 575.00 AH used of 24V (83.16% remains)
• Surface angle -63.4 deg, depth 1.58 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.17 (SM_CC=475)
• GPS1 time: 15 s
• GPS2 time: 4 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 - - - 70.58 VBD -1.56 - - 182.94 - - - 2145.44 - -107.06 60.07 0.005 2249.12 - - - - - - - - - - 15.66
71.02 3.05 -2.88 12 133.66 -1.56 16.50 0.232 1959.88 107.7 3.86 0.109 689.75 -377.1 -107.06 30.17 0.006 3456.91 40.0 -3.364 - - - - - - 15.65 15.62 15.68
217.20 34.79 -22.70 40 223.77 roll -1.56 - - 1959.69 - 3.38 0.043 2132.00 426.7 -107.06 - - 3459.53 - - - - - - - - - 15.84 -
407.21 61.95 -12.97 78 413.68 roll -1.56 - - 1960.19 - 3.11 0.091 3361.81 395.4 -107.06 - - 3459.38 - - - - - - - - - 15.88 -
437.21 66.09 -13.80 84 443.62 roll -1.56 - - 1959.44 - 3.03 0.036 2063.38 -428.5 -107.06 - - 3459.41 - - - - - - - - - 15.90 -
627.27 90.74 -13.03 122 634.07 roll -1.56 - - 1959.62 - 3.59 0.108 690.62 -382.4 -107.06 - - 3460.81 - - - - - - - - - 15.90 -
687.67 98.65 -13.64 134 694.42 roll -1.56 - - 1959.88 - 3.34 0.042 2135.56 432.6 -107.06 - - 3461.91 - - - - - - - - - 15.97 -
877.86 119.72 -10.45 154 885.06 roll -1.56 - - 1960.00 - 3.76 0.102 690.00 -384.5 -107.06 - - 3461.81 - - - - - - - - - 15.95 -
903.54 122.44 -10.63 159 909.51 roll -1.56 - - 1959.94 - 3.34 0.040 2140.75 434.4 -107.06 - - 3463.34 - - - - - - - - - 15.99 -
1213.55 153.37 -9.93 191 1215.12 no move -1.56 - - 1960.06 - - - 2141.25 - -107.06 - - 3462.88 - - - - - - - - - - -
1523.57 183.86 -10.26 222 1525.14 no move -1.56 - - 1959.62 - - - 2140.56 - -107.06 - - 3463.16 - - - - - - - - - - -
1833.60 215.62 -10.37 253 1840.80 roll -1.56 - - 1957.94 - 3.80 0.109 690.69 -381.5 -107.06 - - 3464.81 - - - - - - - - - 16.04 -
1899.28 223.45 -11.80 266 1905.28 roll -1.56 - - 1959.75 - 3.36 0.044 2134.12 429.6 -107.06 - - 3463.44 - - - - - - - - - 16.06 -
2209.30 255.71 -10.36 298 2210.87 no move -1.56 - - 1959.69 - - - 2134.69 - -107.06 - - 3462.75 - - - - - - - - - - -
2519.33 287.41 -10.43 329 2520.90 no move -1.56 - - 1959.31 - - - 2134.50 - -107.06 - - 3463.44 - - - - - - - - - - -
2829.37 318.94 -10.14 360 2836.55 roll -1.56 - - 1959.75 - 3.78 0.106 689.81 -382.2 -107.06 - - 3464.25 - - - - - - - - - 16.08 -
2879.39 324.38 -10.86 370 2886.86 roll -1.56 - - 1959.81 - 3.37 0.045 2134.00 428.5 -107.06 - - 3464.72 - - - - - - - - - 16.10 -
3195.19 354.45 -9.18 402 3196.76 no move -1.56 - - 1959.56 - - - 2134.12 - -107.06 - - 3462.59 - - - - - - - - - - -
3505.79 383.74 -9.66 433 3507.36 no move -1.56 - - 1959.69 - - - 2134.12 - -107.06 - - 3462.78 - - - - - - - - - - -
3815.25 413.81 -9.79 464 3822.44 roll -1.56 - - 1959.62 - 3.78 0.109 689.81 -382.1 -107.06 - - 3461.66 - - - - - - - - - 16.09 -
3850.92 417.62 -10.69 471 3856.90 roll -1.56 - - 1959.62 - 3.36 0.046 2132.62 429.4 -107.06 - - 3462.56 - - - - - - - - - 16.11 -
4161.20 447.03 -9.53 503 4162.77 no move -1.56 - - 1959.31 - - - 2133.19 - -107.06 - - 3460.28 - - - - - - - - - - -
4470.98 475.42 -9.05 534 4478.17 roll -1.56 - - 1958.88 - 3.79 0.110 689.50 -380.9 -107.06 - - 3461.78 - - - - - - - - - 16.10 -
4536.66 482.21 -10.21 547 4542.65 roll -1.56 - - 1959.75 - 3.38 0.046 2132.12 426.8 -107.06 - - 3461.56 - - - - - - - - - 16.11 -
4846.69 509.49 -8.48 579 4848.27 no move -1.56 - - 1959.81 - - - 2132.81 - -107.06 - - 3459.19 - - - - - - - - - - -
5156.99 536.84 -8.96 610 5164.00 roll -1.56 - - 1957.62 - 3.78 0.109 689.50 -381.8 -107.06 - - 3460.12 - - - - - - - - - 16.11 -
5186.83 539.95 -9.77 616 5194.30 roll -1.56 - - 1959.88 - 3.37 0.046 2132.44 428.2 -107.06 - - 3459.19 - - - - - - - - - 16.10 -
5502.63 567.92 -8.71 648 5504.20 no move -1.56 - - 1959.75 - - - 2132.75 - -107.06 - - 3458.09 - - - - - - - - - - -
5812.66 595.20 -8.89 679 5819.84 roll -1.56 - - 1958.12 - 3.79 0.111 687.88 -381.2 -107.06 - - 3458.66 - - - - - - - - - 16.11 -
5888.33 602.91 -10.22 694 5894.29 roll -1.56 - - 1960.31 - 3.40 0.046 2132.75 425.0 -107.06 - - 3456.59 - - - - - - - - - 16.12 -
6198.37 629.61 -8.56 726 6199.94 no move -1.56 - - 1959.12 - - - 2133.50 - -107.06 - - 3455.28 - - - - - - - - - - -
6508.39 656.64 -8.94 757 6515.64 roll -1.56 - - 1959.12 - 3.82 0.111 688.88 -378.2 -107.06 - - 3453.41 - - - - - - - - - 16.10 -
6604.13 666.06 -9.97 776 6610.10 roll -1.56 - - 1959.69 - 3.40 0.048 2130.81 424.1 -107.06 - - 3455.56 - - - - - - - - - 16.12 -
6914.42 692.93 -8.54 808 6915.99 no move -1.56 - - 1959.62 - - - 2130.75 - -107.06 - - 3453.56 - - - - - - - - - - -
7224.20 719.73 -8.63 839 7231.39 roll -1.56 - - 1959.00 - 3.80 0.114 689.06 -379.4 -107.06 - - 3454.41 - - - - - - - - - 16.09 -
7289.87 726.35 -10.19 852 7295.83 roll -1.56 - - 1959.94 - 3.39 0.048 2132.12 425.7 -107.06 - - 3453.44 - - - - - - - - - 16.10 -
7599.90 753.21 -8.49 884 7601.48 no move -1.56 - - 1959.94 - - - 2132.00 - -107.06 - - 3452.62 - - - - - - - - - - -
7910.17 780.79 -8.83 915 7917.12 roll -1.56 - - 1958.94 - 3.80 0.113 689.44 -379.6 -107.06 - - 3453.59 - - - - - - - - - 16.10 -
7975.72 787.69 -10.39 928 7981.73 roll -1.56 - - 1959.75 - 3.38 0.048 2132.88 427.1 -107.06 - - 3453.31 - - - - - - - - - 16.11 -
8285.76 815.67 -8.91 960 8287.34 no move -1.56 - - 1959.81 - - - 2133.38 - -107.06 - - 3452.25 - - - - - - - - - - -
8596.04 842.36 -7.88 991 8603.03 roll -1.56 - - 1960.00 - 3.81 0.113 688.81 -379.2 -107.06 - - 3451.69 - - - - - - - - - 16.10 -
8665.76 848.88 -9.32 1005 8673.52 roll -1.56 - - 1959.44 - 3.38 0.049 2132.56 427.1 -107.06 - - 3451.72 - - - - - - - - - 16.09 -
8981.55 873.68 -7.33 1037 8983.12 no move -1.56 - - 1959.56 - - - 2132.38 - -107.06 - - 3451.19 - - - - - - - - - - -
9291.58 898.04 -8.18 1068 9298.77 roll -1.56 - - 1959.62 - 3.80 0.113 690.38 -379.5 -107.06 - - 3451.28 - - - - - - - - - 16.09 -
9357.26 903.98 -8.93 1081 9363.21 roll -1.56 - - 1958.94 - 3.38 0.050 2131.62 426.4 -107.06 - - 3451.41 - - - - - - - - - 16.11 -
9667.30 928.41 -8.16 1113 9668.87 no move -1.56 - - 1959.88 - - - 2131.31 - -107.06 - - 3449.62 - - - - - - - - - - -
9977.32 951.78 -7.95 1144 9984.57 roll -1.56 - - 1958.62 - 3.81 0.115 689.94 -378.3 -107.06 - - 3449.44 - - - - - - - - - 16.08 -
10053.06 958.50 -8.97 1159 10059.06 roll -1.56 - - 1959.75 - 3.39 0.050 2131.62 425.3 -107.06 - - 3450.66 - - - - - - - - - 16.10 -
10363.09 981.67 -7.24 1191 10364.67 no move -1.56 - - 1959.56 - - - 2131.75 - -107.06 - - 3448.81 - - - - - - - - - - -
10483 end dive: TARGET_DEPTH_EXCEEDED
10483 begin apogee
10484.80 990.09 -7.13 1203 10579.01 -0.42 2.43 0.119 2240.06 115.4 0.10 0.222 2115.06 -166.9 - 85.82 2.230 3019.22 -5.0 0.367 - - - - - - 16.05 15.54 12.28
10590 end apogee: CONTROL_FINISHED_OK
10590 begin climb
10593.45 991.15 - 1212 10705.58 1.56 3.83 0.061 2729.06 127.7 3.32 0.095 3362.56 375.8 107.06 94.85 2.156 2581.31 -4.6 0.351 - - - - - - 15.67 15.34 12.67
10738.40 982.46 9.57 1239 10745.72 roll 1.56 - - 2728.88 - 3.03 0.041 2119.62 -410.2 107.06 - - 2576.34 - - - - - - - - - 15.60 -
11054.19 948.88 10.67 1271 11060.12 done 1.56 - - 2729.19 - 3.21 0.093 3362.44 387.2 107.06 - - 2568.03 - - - - - - - - - 15.86 -
11244.24 926.65 11.74 1309 11250.00 done 1.56 - - 2729.06 - 2.97 0.043 2119.88 -418.4 107.06 - - 2567.19 - - - - - - - - - 15.91 -
11554.52 896.11 9.67 1341 11560.12 done 1.56 - - 2728.94 - 3.18 0.093 3362.88 390.9 107.06 - - 2564.66 - - - - - - - - - 15.98 -
11664.30 884.43 11.27 1363 11670.06 done 1.56 - - 2728.06 - 2.94 0.042 2118.00 -423.4 107.06 - - 2565.81 - - - - - - - - - 15.99 -
11974.33 855.39 9.01 1395 11980.20 done 1.56 - - 2728.75 - 3.18 0.092 3362.06 391.2 107.06 - - 2564.31 - - - - - - - - - 16.01 -
12124.59 840.43 10.35 1425 12130.13 done 1.56 - - 2728.56 - 2.93 0.042 2117.44 -424.8 107.06 - - 2564.22 - - - - - - - - - 16.03 -
12434.40 812.60 8.90 1457 12440.55 done 1.56 - - 2728.94 - 3.17 0.092 3358.75 391.6 107.06 - - 2561.88 - - - - - - - - - 16.05 -
12554.45 800.33 10.17 1481 12560.23 done 1.56 - - 2729.00 - 2.92 0.042 2118.06 -424.9 107.06 - - 2563.59 - - - - - - - - - 16.06 -
12864.71 771.81 9.12 1513 12870.33 done 1.56 - - 2729.12 - 3.17 0.091 3362.56 392.6 107.06 - - 2561.47 - - - - - - - - - 16.06 -
13054.52 753.24 9.56 1551 13060.29 done 1.56 - - 2728.62 - 2.93 0.042 2116.75 -425.2 107.06 - - 2561.94 - - - - - - - - - 16.08 -
13364.55 726.61 8.72 1583 13370.47 done 1.56 - - 2728.44 - 3.17 0.091 3363.25 393.2 107.06 - - 2561.78 - - - - - - - - - 16.08 -
13464.57 717.04 9.44 1603 13470.40 done 1.56 - - 2728.69 - 2.91 0.042 2116.50 -428.4 107.06 - - 2560.84 - - - - - - - - - 16.09 -
13774.84 690.91 8.18 1635 13780.47 done 1.56 - - 2728.50 - 3.17 0.090 3365.31 393.9 107.06 - - 2561.06 - - - - - - - - - 16.09 -
14008.91 669.04 9.11 1682 14016.41 done 1.56 - - 2728.38 - 2.92 0.042 2117.25 -427.4 107.06 - - 2561.06 - - - - - - - - - 16.09 -
14324.69 644.36 7.64 1714 14330.55 done 1.56 - - 2728.94 - 3.18 0.092 3364.69 392.3 107.06 - - 2559.06 - - - - - - - - - 16.07 -
14404.71 637.16 9.12 1730 14410.51 done 1.56 - - 2728.75 - 2.91 0.042 2117.56 -428.6 107.06 - - 2559.53 - - - - - - - - - 16.09 -
14714.75 613.50 7.59 1762 14720.60 done 1.56 - - 2729.25 - 3.18 0.092 3363.00 391.6 107.06 - - 2559.06 - - - - - - - - - 16.10 -
14824.77 604.13 8.37 1784 14830.49 done 1.56 - - 2728.81 - 2.89 0.042 2114.88 -431.9 107.06 - - 2560.19 - - - - - - - - - 16.09 -
15134.80 580.43 7.72 1816 15136.38 VBD 1.56 - - 2728.44 - - - 2114.50 - 107.06 - - 2557.69 - - - - - - - - - - -
15444.88 557.31 7.02 1847 15450.71 done 1.60 - - 2729.06 - 3.18 0.091 3364.00 392.9 107.06 - - 2558.97 - - - - - - - - - 16.09 -
15514.84 551.81 7.61 1861 15520.59 done 1.60 - - 2729.62 - 2.90 0.041 2115.62 -430.5 107.06 - - 2559.19 - - - - - - - - - 16.10 -
15824.91 530.53 6.64 1893 15830.77 done 1.64 - - 2728.62 - 3.17 0.091 3364.88 394.1 107.06 - - 2559.31 - - - - - - - - - 16.08 -
15884.93 526.10 7.20 1905 15890.84 1.66 0.11 0.088 2751.81 210.8 2.90 0.042 2117.88 -430.0 107.06 - - 2557.72 - - - - - - - - 16.06 16.10 -
16194.94 503.80 7.03 1937 16196.51 VBD 1.69 - - 2751.38 - - - 2117.81 - 107.06 - - 2557.19 - - - - - - - - - - -
16504.97 482.09 6.83 1968 16506.54 VBD 1.73 - - 2751.38 - - - 2117.50 - 107.06 - - 2557.16 - - - - - - - - - - -
16814.99 461.88 6.55 1999 16816.75 1.78 0.16 0.067 2779.12 173.4 - - 2117.94 - 107.06 - - 2555.69 - - - - - - - - 16.15 - -
17125.28 441.02 6.59 2030 17132.18 done 1.82 - - 2779.50 - 3.69 0.110 688.81 -387.3 107.06 - - 2557.38 - - - - - - - - - 16.07 -
17280.67 428.92 7.84 2061 17286.74 done 1.82 - - 2778.75 - 3.52 0.052 2180.69 423.8 107.06 - - 2557.12 - - - - - - - - - 16.09 -
17590.98 408.34 6.58 2093 17592.55 VBD 1.86 - - 2779.38 - - - 2181.62 - 107.06 - - 2555.22 - - - - - - - - - - -
17900.74 388.08 6.51 2124 17902.51 1.91 0.18 0.063 2814.62 195.8 - - 2181.94 - 107.06 - - 2555.22 - - - - - - - - 16.13 - -
18210.75 366.71 6.72 2155 18216.54 done 1.95 - - 2813.56 - 3.01 0.092 3362.94 392.4 107.06 - - 2557.22 - - - - - - - - - 16.08 -
18400.79 353.75 6.68 2193 18406.51 done 1.99 - - 2815.00 - 2.92 0.042 2115.69 -427.1 107.06 - - 2556.69 - - - - - - - - - 16.08 -
18710.82 335.58 5.70 2225 18712.58 2.06 0.19 0.062 2849.06 179.3 - - 2114.94 - 107.06 - - 2555.56 - - - - - - - - 16.14 - -
19021.09 316.81 6.04 2256 19022.67 VBD 2.12 - - 2849.00 - - - 2114.75 - 107.06 - - 2555.22 - - - - - - - - - - -
19330.88 297.61 6.05 2287 19336.86 2.18 0.14 0.070 2880.19 222.8 3.19 0.090 3364.75 391.8 107.06 - - 2556.25 - - - - - - - - 16.09 16.01 -
19390.91 293.67 6.68 2299 19396.61 done 2.22 - - 2880.00 - 2.92 0.042 2114.81 -428.1 107.06 - - 2556.84 - - - - - - - - - 16.03 -
19701.15 276.29 5.17 2331 19702.91 2.31 0.14 0.078 2909.75 212.5 - - 2115.12 - 107.06 - - 2554.59 - - - - - - - - 16.05 - -
20011.17 261.33 4.61 2362 20065.56 VBD 2.40 - - 2908.19 - - - 2114.56 - 174.14 51.90 1.317 2310.56 -4.7 0.154 - - - - - - - - 12.28
20370.91 219.90 13.29 2398 20372.49 VBD 2.40 - - 2909.56 - - - 2114.50 - 174.14 - - 2299.09 - - - - - - - - - - -
20681.18 179.92 12.50 2429 20682.76 VBD 2.40 - - 2909.06 - - - 2114.62 - 174.14 - - 2297.56 - - - - - - - - - - -
20990.98 143.18 11.00 2460 20992.56 VBD 2.40 - - 2909.31 - - - 2114.44 - 174.14 - - 2296.28 - - - - - - - - - - -
21301.03 113.04 8.83 2491 21302.61 VBD 2.40 - - 2909.38 - - - 2114.75 - 174.14 - - 2296.09 - - - - - - - - - - -
21606.37 92.22 4.85 2534 21682.57 2.48 0.25 0.054 2948.88 158.0 3.25 0.091 3364.25 384.5 236.71 67.69 1.066 2053.12 -3.6 0.051 - - - - - - 16.00 15.78 12.36
21911.22 68.37 6.72 2594 21917.69 roll 2.52 - - 2949.06 - 2.96 0.042 2115.56 -421.9 236.71 - - 2049.06 - - - - - - - - - 15.88 -
22101.25 58.03 5.43 2632 22108.02 2.60 0.16 0.067 2979.00 187.1 3.19 0.085 3365.00 391.7 236.71 - - 2047.31 - - - - - - - - 15.93 15.87 -
22336.66 45.38 4.40 2679 22416.93 done 2.69 - - 2979.75 - 2.94 0.039 2114.44 -425.4 308.04 72.95 1.010 1763.66 -3.9 0.029 - - - - - - - 15.92 12.45
22600.68 32.11 4.67 2731 22676.86 2.77 0.28 0.055 3018.50 138.4 3.27 0.085 3365.19 382.5 374.02 67.76 0.979 1493.53 -4.0 0.022 - - - - - - 15.87 15.64 12.62
22720.49 27.31 5.16 2754 22727.17 roll back 2.86 0.11 0.087 3040.94 204.0 2.98 0.038 2116.56 -419.0 374.02 - - 1497.31 - - - - - - - - 15.75 15.75 -
22910.93 14.18 7.51 2792 22917.32 roll 2.88 - - 3040.88 - 3.21 0.084 3364.44 388.7 374.02 - - 1502.81 - - - - - - - - - 15.81 -
23145 end climb: SURFACE_DEPTH_REACHED
23146 begin surface coast
23206 end surface coast: CONTROL_FINISHED_OK
23206 begin surface
SM 1.93 - - - - 189.6 95.86 0.962 1082.9 11.3 21.62 0.057 1092.9 50.6 - 3.04 0.040 1072.9 351.9 -1.735 - - 12.50 15.90 15.93 -