NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 67 * Raw log
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• Previous call tries 1 • 40.34 of 575.00 AH used of 24V (92.98% remains)
• Surface angle -62.3 deg, depth 1.48 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.79 (SM_CC=475)
• GPS1 time: 2 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
8.86 - - - 80.77 VBD -1.56 - - 186.75 - - - 2061.06 - -107.06 70.25 0.005 2686.75 - - - - - - - - - - 15.96
81.21 3.44 -2.99 14 128.87 -1.56 16.18 0.245 1961.44 109.7 3.55 0.123 690.50 -386.1 -107.06 18.58 0.006 3456.97 41.5 -3.918 - - - - - - 15.90 15.89 15.95
357.42 52.75 -13.84 68 363.96 roll -1.56 - - 1961.19 - 3.35 0.052 2131.62 430.2 -107.06 - - 3457.34 - - - - - - - - - 16.05 -
547.43 73.72 -10.26 106 554.41 roll -1.56 - - 1961.25 - 3.69 0.113 690.62 -390.5 -107.06 - - 3458.62 - - - - - - - - - 16.02 -
627.82 82.79 -11.08 122 634.35 roll -1.56 - - 1961.38 - 3.33 0.053 2131.38 432.7 -107.06 - - 3457.53 - - - - - - - - - 16.07 -
817.83 99.04 -8.51 160 822.21 no move -1.56 - - 1961.25 - - - 2131.12 - -107.06 - - 3457.84 - - - - - - - - - - -
1002.84 116.28 -9.79 180 1008.75 roll -1.56 - - 1960.19 - 3.67 0.114 689.50 -392.8 -107.06 - - 3458.41 - - - - - - - - - 16.07 -
1042.85 120.53 -10.83 188 1048.98 roll -1.56 - - 1961.56 - 3.31 0.054 2131.81 435.7 -107.06 - - 3457.69 - - - - - - - - - 16.11 -
1352.90 152.60 -10.35 220 1354.47 no move -1.56 - - 1960.69 - - - 2132.50 - -107.06 - - 3456.94 - - - - - - - - - - -
1662.93 184.04 -9.82 251 1664.50 no move -1.56 - - 1961.00 - - - 2132.12 - -107.06 - - 3457.25 - - - - - - - - - - -
1972.96 213.58 -9.80 282 1974.53 no move -1.56 - - 1960.94 - - - 2132.19 - -107.06 - - 3456.97 - - - - - - - - - - -
2282.99 245.11 -10.24 313 2290.18 roll -1.56 - - 1960.31 - 3.71 0.120 690.00 -388.7 -107.06 - - 3457.00 - - - - - - - - - 16.14 -
2358.62 253.87 -11.46 328 2364.58 roll -1.56 - - 1961.12 - 3.34 0.057 2128.88 430.8 -107.06 - - 3458.28 - - - - - - - - - 16.16 -
2668.65 286.19 -10.45 360 2670.22 no move -1.56 - - 1960.44 - - - 2128.94 - -107.06 - - 3456.47 - - - - - - - - - - -
2978.68 316.95 -9.77 391 2980.25 no move -1.56 - - 1960.69 - - - 2129.31 - -107.06 - - 3455.44 - - - - - - - - - - -
3288.71 346.72 -9.32 422 3290.28 no move -1.56 - - 1961.00 - - - 2129.00 - -107.06 - - 3455.25 - - - - - - - - - - -
3598.73 375.67 -9.23 453 3600.30 no move -1.56 - - 1960.94 - - - 2129.12 - -107.06 - - 3454.31 - - - - - - - - - - -
3908.77 402.54 -8.41 484 3910.34 no move -1.56 - - 1960.62 - - - 2129.06 - -107.06 - - 3453.62 - - - - - - - - - - -
4218.79 427.23 -7.84 515 4226.24 roll -1.56 - - 1961.62 - 3.71 0.124 689.69 -388.0 -107.06 - - 3452.69 - - - - - - - - - 16.21 -
4324.81 437.04 -9.59 536 4330.76 roll -1.56 - - 1960.19 - 3.34 0.062 2130.25 431.3 -107.06 - - 3453.75 - - - - - - - - - 16.22 -
4634.84 461.70 -7.88 568 4636.41 no move -1.56 - - 1960.50 - - - 2130.00 - -107.06 - - 3451.66 - - - - - - - - - - -
4944.86 485.58 -7.64 599 4952.04 roll -1.56 - - 1960.94 - 3.70 0.126 690.19 -389.1 -107.06 - - 3450.34 - - - - - - - - - 16.22 -
5004.73 490.63 -8.47 611 5012.25 roll -1.56 - - 1961.00 - 3.35 0.062 2129.88 429.8 -107.06 - - 3451.91 - - - - - - - - - 16.23 -
5320.52 513.42 -7.17 643 5322.09 no move -1.56 - - 1960.88 - - - 2130.06 - -107.06 - - 3449.88 - - - - - - - - - - -
5630.55 537.96 -8.32 674 5632.12 no move -1.56 - - 1960.62 - - - 2129.50 - -107.06 - - 3449.25 - - - - - - - - - - -
5940.57 565.82 -9.52 705 5947.76 roll -1.56 - - 1960.94 - 3.71 0.128 689.69 -388.1 -107.06 - - 3448.00 - - - - - - - - - 16.22 -
5996.22 571.81 -10.65 716 6002.19 roll -1.56 - - 1961.38 - 3.36 0.063 2129.62 428.6 -107.06 - - 3449.06 - - - - - - - - - 16.22 -
6306.25 601.53 -9.89 748 6308.07 no move -1.56 - - 1960.62 - - - 2128.75 - -107.06 - - 3447.78 - - - - - - - - - - -
6616.28 631.52 -9.42 779 6623.48 roll -1.56 - - 1960.69 - 3.73 0.128 690.81 -385.5 -107.06 - - 3447.09 - - - - - - - - - 16.21 -
6741.93 644.40 -10.26 804 6747.90 roll -1.56 - - 1961.31 - 3.37 0.064 2127.25 426.2 -107.06 - - 3448.12 - - - - - - - - - 16.23 -
7051.96 672.11 -9.03 836 7053.53 no move -1.56 - - 1960.81 - - - 2127.25 - -107.06 - - 3446.25 - - - - - - - - - - -
7361.99 699.88 -8.59 867 7369.19 roll -1.56 - - 1960.56 - 3.73 0.129 689.81 -385.4 -107.06 - - 3445.28 - - - - - - - - - 16.21 -
7461.88 709.71 -9.52 887 7469.37 roll -1.56 - - 1961.06 - 3.38 0.064 2126.88 425.2 -107.06 - - 3445.50 - - - - - - - - - 16.22 -
7777.68 735.96 -8.40 919 7784.87 roll -1.56 - - 1960.25 - 3.72 0.129 689.00 -386.5 -107.06 - - 3446.16 - - - - - - - - - 16.22 -
7847.56 742.57 -9.43 933 7855.03 roll -1.56 - - 1961.00 - 3.38 0.064 2127.75 425.7 -107.06 - - 3446.12 - - - - - - - - - 16.24 -
8163.35 767.18 -7.57 965 8169.24 roll -1.56 - - 1960.38 - 3.13 0.114 3361.69 394.2 -107.06 - - 3444.25 - - - - - - - - - 16.21 -
8227.59 772.78 -8.35 978 8234.91 roll -1.56 - - 1960.94 - 3.03 0.060 2070.44 -426.2 -107.06 - - 3444.03 - - - - - - - - - 16.22 -
8543.38 796.97 -7.76 1010 8544.95 no move -1.56 - - 1961.25 - - - 2071.56 - -107.06 - - 3442.34 - - - - - - - - - - -
8853.41 820.90 -7.75 1041 8859.45 roll -1.56 - - 1959.75 - 3.59 0.136 689.19 -385.1 -107.06 - - 3443.47 - - - - - - - - - 16.22 -
8957.69 830.11 -8.71 1062 8965.14 roll -1.56 - - 1959.75 - 3.39 0.066 2127.88 424.4 -107.06 - - 3443.44 - - - - - - - - - 16.23 -
9273.47 854.44 -7.74 1094 9280.66 roll -1.56 - - 1961.19 - 3.71 0.131 689.94 -387.6 -107.06 - - 3439.66 - - - - - - - - - 16.21 -
9343.35 860.33 -8.43 1108 9350.84 roll -1.56 - - 1960.50 - 3.36 0.066 2127.69 427.9 -107.06 - - 3442.31 - - - - - - - - - 16.23 -
9659.15 884.71 -7.79 1140 9666.34 roll -1.56 - - 1961.12 - 3.71 0.132 690.19 -387.5 -107.06 - - 3439.81 - - - - - - - - - 16.22 -
9739.03 891.84 -9.02 1156 9746.51 roll -1.56 - - 1961.38 - 3.36 0.066 2127.62 427.8 -107.06 - - 3441.31 - - - - - - - - - 16.22 -
10054.83 916.17 -8.00 1188 10056.40 no move -1.56 - - 1960.81 - - - 2127.31 - -107.06 - - 3439.50 - - - - - - - - - - -
10364.85 941.35 -8.32 1219 10366.42 no move -1.56 - - 1960.88 - - - 2127.56 - -107.06 - - 3439.19 - - - - - - - - - - -
10674.88 966.01 -7.55 1250 10682.08 roll -1.56 - - 1961.19 - 3.71 0.134 690.19 -387.4 -107.06 - - 3439.91 - - - - - - - - - 16.22 -
10760.54 973.29 -8.59 1267 10766.49 roll -1.56 - - 1960.88 - 3.36 0.067 2127.50 427.8 -107.06 - - 3439.78 - - - - - - - - - 16.23 -
10970 end dive: TARGET_DEPTH_EXCEEDED
10970 begin apogee
10972.29 990.03 -8.15 1289 11062.18 -0.42 2.37 0.127 2239.31 117.5 0.09 0.259 2121.06 -71.6 - 82.54 2.121 3018.28 -5.1 0.393 - - - - - - 16.20 15.60 12.92
11065 end apogee: CONTROL_FINISHED_OK
11065 begin climb
11068.19 991.52 - 1297 11179.25 1.56 3.86 0.065 2728.31 126.7 3.22 0.110 3362.75 385.6 107.06 93.68 2.056 2581.75 -4.7 0.370 - - - - - - 15.69 15.34 12.79
11202.08 985.26 7.50 1322 11209.57 roll 1.58 - - 2727.94 - 3.04 0.061 2135.56 -403.7 107.06 - - 2579.47 - - - - - - - - - 15.58 -
11517.80 953.92 10.00 1354 11519.37 VBD 1.58 - - 2727.94 - - - 2135.31 - 107.06 - - 2568.88 - - - - - - - - - - -
11827.82 922.10 10.06 1385 11833.63 done 1.58 - - 2727.81 - 3.08 0.107 3361.75 398.2 107.06 - - 2569.03 - - - - - - - - - 16.00 -
12062.33 896.59 10.93 1432 12069.37 done 1.58 - - 2727.75 - 2.94 0.060 2120.19 -422.3 107.06 - - 2566.97 - - - - - - - - - 16.06 -
12377.88 865.93 9.17 1464 12383.75 done 1.58 - - 2727.31 - 3.12 0.106 3361.44 397.8 107.06 - - 2565.84 - - - - - - - - - 16.09 -
12507.89 852.42 10.56 1490 12513.90 done 1.58 - - 2727.31 - 2.93 0.060 2120.81 -423.4 107.06 - - 2565.88 - - - - - - - - - 16.10 -
12817.90 822.81 9.44 1522 12824.03 done 1.58 - - 2728.00 - 3.66 0.123 688.69 -391.3 107.06 - - 2564.72 - - - - - - - - - 16.11 -
12872.17 816.94 10.66 1533 12879.74 done 1.58 - - 2727.25 - 3.53 0.068 2177.94 421.9 107.06 - - 2563.34 - - - - - - - - - 16.12 -
13187.93 786.14 9.95 1565 13193.72 done 1.58 - - 2727.38 - 2.99 0.108 3363.12 396.4 107.06 - - 2564.09 - - - - - - - - - 16.13 -
13422.20 761.24 10.14 1612 13429.46 done 1.58 - - 2727.69 - 2.95 0.060 2119.44 -421.6 107.06 - - 2562.72 - - - - - - - - - 16.15 -
13737.97 731.68 9.07 1644 13743.87 done 1.58 - - 2728.06 - 3.13 0.105 3362.12 397.0 107.06 - - 2560.81 - - - - - - - - - 16.16 -
13962.24 709.57 9.16 1689 13969.51 done 1.58 - - 2727.75 - 2.93 0.060 2119.75 -424.0 107.06 - - 2561.09 - - - - - - - - - 16.16 -
14278.05 683.24 7.93 1721 14279.62 VBD 1.58 - - 2728.12 - - - 2119.62 - 107.06 - - 2559.12 - - - - - - - - - - -
14588.10 656.20 8.85 1752 14593.97 done 1.58 - - 2727.88 - 3.11 0.105 3362.19 399.5 107.06 - - 2561.31 - - - - - - - - - 16.18 -
14802.40 635.35 9.94 1795 14809.67 done 1.58 - - 2728.12 - 2.92 0.059 2118.81 -425.8 107.06 - - 2560.34 - - - - - - - - - 16.19 -
15118.17 609.56 7.69 1827 15124.09 done 1.58 - - 2727.69 - 3.12 0.104 3361.88 398.4 107.06 - - 2559.97 - - - - - - - - - 16.19 -
15248.20 598.29 8.65 1853 15254.00 done 1.58 - - 2728.31 - 2.92 0.059 2121.06 -424.9 107.06 - - 2559.41 - - - - - - - - - 16.18 -
15558.22 574.42 7.77 1885 15564.09 done 1.58 - - 2727.44 - 3.11 0.104 3361.12 398.7 107.06 - - 2560.81 - - - - - - - - - 16.18 -
15792.51 554.38 8.46 1932 15799.82 done 1.58 - - 2728.19 - 2.91 0.059 2118.50 -427.0 107.06 - - 2560.69 - - - - - - - - - 16.20 -
16108.33 530.97 6.94 1964 16114.35 done 1.61 - - 2728.12 - 3.09 0.104 3361.38 402.2 107.06 - - 2558.97 - - - - - - - - - 16.20 -
16148.30 527.67 7.95 1972 16154.06 done 1.61 - - 2728.06 - 2.91 0.059 2118.69 -427.0 107.06 - - 2558.75 - - - - - - - - - 16.20 -
16458.36 505.74 6.72 2004 16460.08 1.65 0.09 0.100 2749.38 236.9 - - 2118.88 - 107.06 - - 2559.31 - - - - - - - - 16.25 - -
16768.40 483.05 7.28 2035 16774.49 done 1.68 - - 2747.56 - 3.63 0.120 687.75 -394.3 107.06 - - 2559.84 - - - - - - - - - 16.19 -
16888.39 472.94 8.16 2059 16894.43 done 1.68 - - 2748.69 - 3.47 0.067 2180.38 430.2 107.06 - - 2557.28 - - - - - - - - - 16.20 -
17198.39 448.59 8.18 2091 17204.18 done 1.68 - - 2748.81 - 2.94 0.109 3362.88 402.2 107.06 - - 2558.66 - - - - - - - - - 16.19 -
17298.40 439.35 9.02 2111 17304.16 done 1.68 - - 2749.31 - 2.92 0.059 2118.19 -426.3 107.06 - - 2558.00 - - - - - - - - - 16.18 -
17608.42 413.94 7.60 2143 17614.24 done 1.68 - - 2748.31 - 3.09 0.104 3363.00 402.9 107.06 - - 2558.50 - - - - - - - - - 16.19 -
17842.76 396.43 7.13 2190 17850.21 done 1.70 - - 2748.50 - 2.93 0.059 2117.31 -425.2 107.06 - - 2558.78 - - - - - - - - - 16.20 -
18158.53 375.62 6.27 2222 18164.50 1.76 0.14 0.073 2776.56 200.4 3.08 0.103 3362.75 404.4 107.06 - - 2558.09 - - - - - - - - 16.20 16.17 -
18292.81 366.20 6.94 2249 18300.16 done 1.79 - - 2776.00 - 2.92 0.058 2117.75 -426.4 107.06 - - 2558.91 - - - - - - - - - 16.19 -
18608.58 345.42 6.56 2281 18610.15 VBD 1.84 - - 2776.50 - - - 2117.69 - 107.06 - - 2556.78 - - - - - - - - - - -
18918.60 325.49 6.29 2312 18920.37 1.89 0.15 0.074 2808.50 213.3 - - 2117.31 - 107.06 - - 2555.34 - - - - - - - - 16.22 - -
19228.62 305.74 5.96 2343 19230.19 VBD 1.95 - - 2808.25 - - - 2117.75 - 107.06 - - 2557.06 - - - - - - - - - - -
19538.64 286.78 5.78 2374 19545.94 2.02 0.15 0.077 2841.75 223.3 3.63 0.118 688.69 -393.7 107.06 - - 2556.50 - - - - - - - - 16.17 16.15 -
19688.64 275.65 8.01 2404 19696.16 done 2.02 - - 2840.44 - 3.47 0.065 2181.19 430.1 107.06 - - 2558.38 - - - - - - - - - 16.17 -
20004.46 254.91 6.86 2436 20010.21 done 2.06 - - 2840.38 - 2.90 0.105 3364.38 408.0 107.06 - - 2558.72 - - - - - - - - - 16.14 -
20238.75 236.71 7.52 2483 20245.97 done 2.07 - - 2841.12 - 2.91 0.057 2115.38 -429.2 107.06 - - 2558.03 - - - - - - - - - 16.14 -
20554.51 217.92 5.22 2515 20560.43 2.16 0.18 0.064 2872.75 175.7 3.07 0.102 3362.38 406.2 107.06 - - 2559.59 - - - - - - - - 16.19 16.15 -
20614.52 214.64 5.47 2527 20620.24 done 2.23 - - 2873.94 - 2.90 0.056 2116.88 -429.5 107.06 - - 2557.53 - - - - - - - - - 16.15 -
20924.53 199.31 4.85 2559 20989.22 2.31 0.22 0.060 2912.12 173.5 3.10 0.100 3364.25 402.4 169.60 55.15 1.101 2326.50 -4.2 0.125 - - - - - - 16.18 15.88 12.93
21217.69 162.31 15.16 2617 21223.50 roll 2.31 - - 2911.69 - 2.95 0.056 2118.94 -422.1 169.60 - - 2323.19 - - - - - - - - - 15.99 -
21527.70 123.15 12.28 2649 21533.52 done 2.31 - - 2912.19 - 3.08 0.098 3364.38 404.4 169.60 - - 2320.47 - - - - - - - - - 16.00 -
21707.74 104.51 8.20 2685 21713.54 done 2.31 - - 2911.38 - 2.94 0.055 2117.00 -424.3 169.60 - - 2319.94 - - - - - - - - - 16.02 -
22017.81 80.74 6.59 2742 22022.20 VBD 2.36 - - 2912.00 - - - 2117.25 - 169.60 - - 2318.72 - - - - - - - - - - -
22202.84 76.69 1.53 2779 22346.11 2.52 0.34 0.050 2963.00 150.0 - - 2116.81 - 296.96 137.38 0.938 1807.25 -3.7 0.050 - - - - - - 16.04 - 12.82
22529.51 44.94 12.57 2843 22536.42 roll 2.52 - - 2963.56 - 3.67 0.115 689.88 -388.8 296.96 - - 1806.47 - - - - - - - - - 15.77 -
22654.98 26.65 14.51 2868 22662.05 roll back 2.52 0.40 0.171 2946.56 -42.5 3.53 0.061 2180.06 422.1 296.96 - - 1806.28 - - - - - - - - 15.74 15.84 -
22845.49 23.68 -0.13 2906 23031.28 2.73 0.54 0.043 3009.38 116.3 3.02 0.102 3361.25 391.1 456.78 174.33 0.865 1157.09 -3.7 0.017 - - - - - - 15.92 15.50 12.80
23049.70 10.33 16.24 2945 23056.44 roll 2.73 - - 3009.75 - 3.00 0.054 2121.75 -413.2 456.78 - - 1157.81 - - - - - - - - - 15.61 -
23099 end climb: SURFACE_DEPTH_REACHED
23100 begin surface coast
23115 end surface coast: CONTROL_FINISHED_OK
23115 begin surface
SM 0.89 - - - - 181.6 19.82 0.791 1084.5 54.7 21.24 0.050 1090.4 51.3 - 0.08 0.160 1078.6 13445.0 -7.644 - - 12.71 15.76 15.71 -