NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 80 * Raw log
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• Previous call tries 1 • 44.67 of 575.00 AH used of 24V (92.23% remains)
• Surface angle -64.5 deg, depth 1.36 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.93 (SM_CC=475)
• GPS1 time: 24 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
8.87 - - - 80.79 VBD -1.56 - - 186.75 - - - 2136.56 - -107.06 70.26 0.005 2561.91 - - - - - - - - - - 15.74
81.23 3.38 -3.11 14 132.41 -1.56 16.93 0.241 1960.25 104.8 3.81 0.120 689.56 -379.8 -107.06 21.79 0.006 3457.34 41.1 -3.816 - - - - - - 15.69 15.74 15.77
360.79 53.21 -16.30 69 367.36 roll -1.56 - - 1959.81 - 3.38 0.055 2128.25 425.6 -107.06 - - 3459.72 - - - - - - - - - 15.90 -
550.85 76.65 -10.40 107 557.55 roll -1.56 - - 1959.81 - 3.74 0.116 688.31 -385.0 -107.06 - - 3459.94 - - - - - - - - - 15.93 -
610.95 83.87 -12.04 119 617.52 roll -1.56 - - 1959.50 - 3.36 0.055 2132.31 429.8 -107.06 - - 3460.81 - - - - - - - - - 15.92 -
800.96 103.47 -8.66 153 802.49 no move -1.56 - - 1959.94 - - - 2132.12 - -107.06 - - 3459.19 - - - - - - - - - - -
1110.98 130.14 -8.82 184 1117.96 roll -1.56 - - 1959.06 - 3.76 0.116 688.81 -383.9 -107.06 - - 3462.56 - - - - - - - - - 15.99 -
1290.62 150.25 -12.29 220 1297.92 roll -1.56 - - 1960.00 - 3.33 0.056 2132.31 433.5 -107.06 - - 3461.06 - - - - - - - - - 16.01 -
1606.39 183.01 -10.70 252 1607.93 no move -1.56 - - 1959.50 - - - 2131.94 - -107.06 - - 3460.53 - - - - - - - - - - -
1916.41 213.61 -9.48 283 1922.32 roll -1.56 - - 1959.12 - 3.08 0.105 3359.56 398.6 -107.06 - - 3460.50 - - - - - - - - - 16.08 -
1966.45 219.05 -10.87 293 1972.29 roll -1.56 - - 1958.50 - 3.12 0.064 2080.12 -410.1 -107.06 - - 3463.00 - - - - - - - - - 16.09 -
2276.49 249.63 -9.86 325 2278.06 no move -1.56 - - 1959.31 - - - 2080.19 - -107.06 - - 3460.41 - - - - - - - - - - -
2586.51 280.81 -10.53 356 2592.43 roll -1.56 - - 1959.12 - 3.20 0.104 3360.88 400.2 -107.06 - - 3463.00 - - - - - - - - - 16.12 -
2661.31 289.42 -11.63 371 2668.07 roll -1.56 - - 1960.06 - 3.06 0.053 2069.69 -422.0 -107.06 - - 3462.00 - - - - - - - - - 16.11 -
2976.55 322.07 -9.85 403 2978.12 no move -1.56 - - 1959.94 - - - 2069.75 - -107.06 - - 3459.97 - - - - - - - - - - -
3286.90 352.89 -9.95 434 3292.51 roll -1.56 - - 1959.25 - 3.22 0.103 3361.00 401.0 -107.06 - - 3461.38 - - - - - - - - - 16.14 -
3370.84 362.24 -11.01 451 3378.16 roll -1.56 - - 1959.69 - 3.06 0.054 2069.81 -422.0 -107.06 - - 3460.78 - - - - - - - - - 16.12 -
3686.62 394.85 -10.44 483 3692.52 roll -1.56 - - 1959.62 - 3.22 0.105 3361.62 401.2 -107.06 - - 3462.88 - - - - - - - - - 16.16 -
3746.63 401.90 -11.53 495 3752.68 roll -1.56 - - 1959.31 - 3.06 0.054 2070.12 -422.1 -107.06 - - 3462.69 - - - - - - - - - 16.16 -
4056.64 433.46 -9.63 527 4062.53 roll -1.56 - - 1958.94 - 3.26 0.104 3360.31 395.8 -107.06 - - 3462.41 - - - - - - - - - 16.18 -
4150.90 443.94 -10.95 546 4158.22 roll -1.56 - - 1960.00 - 3.06 0.054 2069.62 -421.8 -107.06 - - 3461.31 - - - - - - - - - 16.14 -
4466.68 474.29 -9.62 578 4472.59 roll -1.56 - - 1959.56 - 3.27 0.104 3359.94 394.6 -107.06 - - 3460.69 - - - - - - - - - 16.16 -
4536.78 482.14 -10.98 592 4542.53 roll -1.56 - - 1958.94 - 3.06 0.055 2068.94 -421.9 -107.06 - - 3463.00 - - - - - - - - - 16.17 -
4846.73 512.27 -9.42 624 4852.66 roll -1.56 - - 1959.62 - 3.27 0.104 3361.19 395.2 -107.06 - - 3460.50 - - - - - - - - - 16.18 -
4916.74 519.79 -10.58 638 4922.57 roll -1.56 - - 1960.19 - 3.06 0.056 2069.88 -422.0 -107.06 - - 3460.88 - - - - - - - - - 16.19 -
5226.77 550.23 -9.83 670 5228.34 no move -1.56 - - 1959.56 - - - 2069.94 - -107.06 - - 3458.94 - - - - - - - - - - -
5536.77 578.56 -9.10 701 5542.97 roll -1.56 - - 1960.12 - 3.29 0.105 3360.25 392.2 -107.06 - - 3460.00 - - - - - - - - - 16.19 -
5646.80 589.75 -10.21 723 5652.64 roll -1.56 - - 1959.69 - 3.06 0.056 2071.44 -421.2 -107.06 - - 3459.81 - - - - - - - - - 16.19 -
5956.91 618.10 -9.47 755 5962.72 roll -1.56 - - 1959.75 - 3.28 0.104 3361.25 393.2 -107.06 - - 3459.09 - - - - - - - - - 16.20 -
6007.15 623.36 -10.35 765 6012.67 roll -1.56 - - 1959.69 - 3.07 0.056 2070.81 -420.3 -107.06 - - 3458.69 - - - - - - - - - 16.19 -
6316.85 650.06 -7.95 797 6318.42 no move -1.56 - - 1959.56 - - - 2070.88 - -107.06 - - 3457.59 - - - - - - - - - - -
6626.86 673.40 -7.15 828 6632.76 roll -1.56 - - 1959.75 - 3.28 0.105 3360.75 393.3 -107.06 - - 3459.03 - - - - - - - - - 16.20 -
6721.12 681.90 -8.94 847 6728.48 roll -1.56 - - 1960.06 - 3.07 0.057 2071.88 -419.8 -107.06 - - 3457.59 - - - - - - - - - 16.19 -
7036.90 706.15 -7.72 879 7038.47 no move -1.56 - - 1959.50 - - - 2072.25 - -107.06 - - 3456.88 - - - - - - - - - - -
7346.92 729.61 -7.76 910 7352.81 roll -1.56 - - 1958.81 - 3.28 0.107 3360.69 392.8 -107.06 - - 3458.84 - - - - - - - - - 16.19 -
7416.93 735.94 -8.79 924 7422.77 roll -1.56 - - 1960.31 - 3.08 0.057 2070.19 -419.0 -107.06 - - 3456.94 - - - - - - - - - 16.20 -
7726.95 758.81 -7.31 956 7732.90 roll -1.56 - - 1959.88 - 3.28 0.107 3362.50 394.0 -107.06 - - 3457.28 - - - - - - - - - 16.20 -
7796.98 764.71 -8.49 970 7802.75 roll -1.56 - - 1958.62 - 3.07 0.057 2071.06 -420.7 -107.06 - - 3458.06 - - - - - - - - - 16.20 -
8106.99 787.62 -7.49 1002 8112.88 roll -1.56 - - 1959.44 - 3.26 0.106 3360.12 395.4 -107.06 - - 3457.62 - - - - - - - - - 16.19 -
8151.23 791.42 -8.46 1011 8158.55 roll -1.56 - - 1960.06 - 3.07 0.058 2071.00 -419.9 -107.06 - - 3456.41 - - - - - - - - - 16.20 -
8467.04 815.48 -7.71 1043 8472.95 roll -1.56 - - 1959.69 - 3.25 0.108 3360.69 396.8 -107.06 - - 3456.28 - - - - - - - - - 16.19 -
8517.05 819.68 -8.10 1053 8522.85 roll -1.56 - - 1960.12 - 3.05 0.059 2070.88 -422.9 -107.06 - - 3455.47 - - - - - - - - - 16.20 -
8827.11 841.66 -7.39 1085 8828.68 no move -1.56 - - 1959.56 - - - 2071.00 - -107.06 - - 3453.81 - - - - - - - - - - -
9137.14 866.36 -7.79 1116 9143.32 roll -1.56 - - 1959.75 - 3.26 0.108 3360.25 395.5 -107.06 - - 3454.16 - - - - - - - - - 16.21 -
9237.16 875.73 -8.72 1136 9242.96 roll -1.56 - - 1959.31 - 3.06 0.059 2072.38 -420.9 -107.06 - - 3453.59 - - - - - - - - - 16.20 -
9547.23 889.50 -2.29 1168 9553.07 roll -1.56 - - 1958.88 - 3.28 0.108 3361.38 393.0 -107.06 - - 3455.25 - - - - - - - - - 16.21 -
9727 end dive: NO_VERTICAL_VELOCITY
9727 begin apogee
9732.96 889.35 - 1204 9826.02 -0.42 2.34 0.078 2243.38 121.6 0.10 0.225 2179.19 -11821.9 - 85.25 2.025 3019.06 -5.1 0.370 - - - - - - 16.20 15.59 12.92
9831 end apogee: CONTROL_FINISHED_OK
9831 begin climb
9834.09 889.64 - 1213 9946.44 1.56 4.04 0.069 2723.00 118.7 4.02 0.120 688.62 -370.8 107.06 93.21 1.963 2581.56 -4.7 0.351 - - - - - - 15.69 15.34 12.76
9949.83 884.38 5.41 1229 9957.03 roll back 1.64 0.12 0.079 2746.44 195.3 3.67 0.062 2179.50 406.2 107.06 - - 2583.16 - - - - - - - - 15.55 15.50 -
10264.99 852.59 10.74 1261 10266.56 VBD 1.64 - - 2746.31 - - - 2178.88 - 107.06 - - 2569.34 - - - - - - - - - - -
10575.04 818.86 11.02 1292 10582.30 done 1.64 - - 2746.81 - 3.86 0.117 688.69 -386.1 107.06 - - 2567.25 - - - - - - - - - 15.97 -
10610.73 814.28 12.81 1299 10616.80 done 1.64 - - 2746.75 - 3.55 0.063 2178.94 419.8 107.06 - - 2567.00 - - - - - - - - - 16.00 -
10920.74 780.03 10.67 1331 10926.54 done 1.64 - - 2746.12 - 3.04 0.107 3362.19 389.2 107.06 - - 2568.22 - - - - - - - - - 16.02 -
11155.03 754.53 10.00 1378 11162.28 done 1.64 - - 2746.38 - 2.97 0.058 2119.19 -418.5 107.06 - - 2565.91 - - - - - - - - - 16.06 -
11470.79 726.39 9.18 1410 11476.67 done 1.64 - - 2746.44 - 3.16 0.104 3360.62 392.9 107.06 - - 2564.38 - - - - - - - - - 16.08 -
11705.08 703.10 10.59 1457 11712.35 done 1.64 - - 2746.38 - 2.96 0.058 2119.38 -419.3 107.06 - - 2565.75 - - - - - - - - - 16.12 -
12020.86 672.81 9.99 1489 12026.72 done 1.64 - - 2746.81 - 3.17 0.103 3361.00 391.7 107.06 - - 2564.56 - - - - - - - - - 16.12 -
12180.88 655.38 10.79 1521 12186.65 done 1.64 - - 2746.38 - 2.96 0.058 2120.31 -419.2 107.06 - - 2564.53 - - - - - - - - - 16.13 -
12490.90 626.03 8.76 1553 12496.76 done 1.64 - - 2746.94 - 3.16 0.102 3362.94 393.2 107.06 - - 2562.88 - - - - - - - - - 16.14 -
12690.92 607.34 9.22 1593 12696.67 done 1.64 - - 2746.38 - 2.94 0.057 2118.06 -423.4 107.06 - - 2564.44 - - - - - - - - - 16.16 -
13000.95 581.85 8.17 1625 13007.06 done 1.64 - - 2746.50 - 3.16 0.103 3361.00 393.3 107.06 - - 2562.25 - - - - - - - - - 16.16 -
13110.96 571.99 9.30 1647 13116.72 done 1.64 - - 2746.31 - 2.95 0.058 2119.31 -420.9 107.06 - - 2561.94 - - - - - - - - - 16.16 -
13421.02 546.71 7.47 1679 13426.85 done 1.66 - - 2746.56 - 3.18 0.103 3361.69 390.7 107.06 - - 2562.38 - - - - - - - - - 16.17 -
13655.31 527.07 8.55 1726 13662.57 done 1.66 - - 2746.75 - 2.95 0.057 2118.81 -421.3 107.06 - - 2561.44 - - - - - - - - - 16.17 -
13971.11 502.36 7.80 1758 13976.98 done 1.66 - - 2746.19 - 3.17 0.102 3359.88 391.5 107.06 - - 2563.53 - - - - - - - - - 16.17 -
14205.42 481.68 8.77 1805 14212.67 done 1.66 - - 2746.81 - 2.95 0.057 2117.38 -421.2 107.06 - - 2561.62 - - - - - - - - - 16.17 -
14521.18 456.19 7.68 1837 14527.04 done 1.66 - - 2746.38 - 3.17 0.101 3361.88 392.6 107.06 - - 2562.69 - - - - - - - - - 16.18 -
14701.22 441.17 8.55 1873 14707.23 done 1.66 - - 2746.38 - 2.96 0.056 2116.88 -420.6 107.06 - - 2561.41 - - - - - - - - - 16.19 -
15011.29 421.56 6.08 1905 15012.86 VBD 1.72 - - 2746.94 - - - 2117.56 - 107.06 - - 2559.44 - - - - - - - - - - -
15321.31 403.30 5.51 1936 15323.12 1.80 0.25 0.054 2785.94 156.0 - - 2118.50 - 107.06 - - 2560.56 - - - - - - - - 16.21 - -
15631.34 385.12 5.62 1967 15632.91 VBD 1.87 - - 2786.62 - - - 2117.75 - 107.06 - - 2560.00 - - - - - - - - - - -
15941.37 364.76 7.28 1998 15942.94 VBD 1.89 - - 2786.75 - - - 2117.81 - 107.06 - - 2559.31 - - - - - - - - - - -
16251.38 344.48 6.27 2029 16253.14 1.95 0.19 0.061 2820.25 176.3 - - 2118.00 - 107.06 - - 2562.47 - - - - - - - - 16.23 - -
16561.42 323.91 6.17 2060 16563.00 VBD 2.00 - - 2821.12 - - - 2117.69 - 107.06 - - 2558.97 - - - - - - - - - - -
16871.44 304.27 6.15 2091 16877.42 2.06 0.14 0.077 2849.69 204.1 3.17 0.100 3362.50 392.7 107.06 - - 2562.72 - - - - - - - - 16.24 16.17 -
17041.48 292.60 6.99 2125 17047.20 done 2.09 - - 2849.44 - 2.95 0.056 2116.12 -422.5 107.06 - - 2562.69 - - - - - - - - - 16.16 -
17351.51 271.68 6.43 2157 17357.33 done 2.14 - - 2850.19 - 3.15 0.100 3362.06 395.5 107.06 - - 2560.50 - - - - - - - - - 16.15 -
17511.52 260.78 7.12 2189 17517.40 2.17 0.12 0.076 2873.88 197.4 2.95 0.055 2117.44 -421.9 107.06 - - 2562.69 - - - - - - - - 16.19 16.16 -
17821.54 241.62 5.60 2221 17828.66 done 2.24 - - 2874.31 - 3.66 0.114 687.00 -390.8 107.06 - - 2560.41 - - - - - - - - - 16.14 -
18057.21 228.35 5.81 2268 18064.41 2.31 0.20 0.058 2912.81 192.5 3.52 0.062 2179.56 424.0 107.06 - - 2559.59 - - - - - - - - 16.18 16.15 -
18372.21 215.77 3.90 2300 18441.18 done 2.41 - - 2913.50 - 3.07 0.104 3361.12 384.9 188.02 61.50 1.198 2252.38 -5.0 0.148 - - - - - - - 15.84 12.94
18484.72 206.10 12.75 2322 18490.49 roll 2.41 - - 2913.94 - 2.99 0.055 2118.38 -415.6 188.02 - - 2250.12 - - - - - - - - - 15.93 -
18794.73 160.92 14.31 2354 18800.83 done 2.41 - - 2912.19 - 3.19 0.100 3361.69 389.8 188.02 - - 2245.84 - - - - - - - - - 15.98 -
18889.01 147.68 13.88 2373 18896.31 done 2.41 - - 2913.12 - 2.96 0.054 2118.88 -419.9 188.02 - - 2245.19 - - - - - - - - - 16.02 -
19204.78 110.71 11.20 2405 19211.93 done 2.41 - - 2913.44 - 3.66 0.113 687.44 -391.1 188.02 - - 2241.09 - - - - - - - - - 16.02 -
19365.40 93.39 10.28 2437 19372.20 done 2.41 - - 2913.12 - 3.55 0.060 2180.50 420.6 188.02 - - 2242.19 - - - - - - - - - 16.01 -
19555.65 82.64 5.53 2475 19562.51 2.49 0.41 0.030 2946.12 80.5 3.03 0.102 3363.12 390.3 188.02 - - 2241.91 - - - - - - - - 16.11 16.03 -
19791.00 71.42 4.38 2522 19882.17 2.58 0.23 0.043 2974.19 122.0 2.95 0.052 2115.19 -423.0 259.74 82.25 0.971 1960.06 -3.4 0.042 - - - - - - 16.11 16.05 12.84
20065.69 47.16 9.17 2576 20072.35 roll 2.58 - - 2973.94 - 3.20 0.097 3362.50 389.8 259.74 - - 1957.78 - - - - - - - - - 15.86 -
20300.78 24.98 8.03 2623 20307.31 roll 2.58 - - 2973.38 - 2.97 0.052 2117.75 -419.1 259.74 - - 1957.69 - - - - - - - - - 15.92 -
20490.86 22.22 0.79 2661 20660.80 2.77 0.32 0.048 3021.12 149.2 3.78 0.111 689.88 -377.7 401.53 154.43 0.912 1381.59 -3.7 0.015 - - - - - - 16.01 15.55 12.77
20744 end climb: SURFACE_DEPTH_REACHED
20744 begin surface coast
20759 end surface coast: CONTROL_FINISHED_OK
20759 begin surface
SM 1.13 - - - - 185.6 74.21 0.886 1083.9 12.5 21.16 0.050 1101.8 52.1 - 3.44 0.058 1066.0 308.8 -0.615 - - 12.71 15.79 15.77 -