NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 294 * Raw log
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• Previous call tries 1 • 112.11 of 575.00 AH used of 24V (80.50% remains)
• Surface angle -64.4 deg, depth 1.63 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.83 (SM_CC=475)
• GPS1 time: 96 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 - - - 60.43 VBD -1.56 - - 181.69 - - - 2057.31 - -107.06 50.01 0.005 2196.31 - - - - - - - - - - 15.57
60.87 3.30 -3.36 10 122.90 -1.56 16.06 0.236 1960.38 110.8 3.29 0.093 3362.00 396.6 -107.06 30.74 0.006 3457.53 41.0 -3.738 - - - - - - 15.62 15.53 15.62
171.43 25.25 -22.47 31 177.82 roll -1.56 - - 1959.88 - 3.07 0.040 2066.06 -422.1 -107.06 - - 3459.41 - - - - - - - - - 15.78 -
361.45 53.72 -12.70 69 365.85 no move -1.56 - - 1959.75 - - - 2066.19 - -107.06 - - 3459.62 - - - - - - - - - - -
546.46 76.88 -12.09 106 551.21 no move -1.56 - - 1960.06 - - - 2066.25 - -107.06 - - 3460.34 - - - - - - - - - - -
736.51 98.52 -11.11 144 741.21 no move -1.56 - - 1960.06 - - - 2066.69 - -107.06 - - 3461.69 - - - - - - - - - - -
931.51 118.57 -9.95 165 937.57 roll -1.56 - - 1960.25 - 3.59 0.108 686.62 -384.4 -107.06 - - 3463.16 - - - - - - - - - 15.96 -
981.54 123.83 -10.55 175 987.52 roll -1.56 - - 1959.69 - 3.34 0.040 2137.00 434.2 -107.06 - - 3462.28 - - - - - - - - - 15.97 -
1291.54 150.23 -8.43 207 1297.33 roll -1.56 - - 1960.25 - 3.06 0.089 3362.94 400.6 -107.06 - - 3464.28 - - - - - - - - - 15.97 -
1411.81 162.07 -10.14 231 1417.38 roll -1.56 - - 1960.12 - 3.02 0.037 2066.44 -429.3 -107.06 - - 3464.38 - - - - - - - - - 16.01 -
1721.58 191.71 -9.99 263 1727.51 roll -1.56 - - 1959.38 - 3.24 0.087 3363.19 400.2 -107.06 - - 3466.19 - - - - - - - - - 15.99 -
1771.59 197.39 -11.18 273 1777.38 roll -1.56 - - 1959.81 - 2.99 0.037 2066.25 -433.8 -107.06 - - 3465.12 - - - - - - - - - 16.00 -
2081.61 228.55 -10.18 305 2087.70 roll -1.56 - - 1960.69 - 3.59 0.112 687.50 -384.1 -107.06 - - 3463.50 - - - - - - - - - 16.02 -
2141.62 235.30 -11.07 317 2147.83 roll -1.56 - - 1960.75 - 3.33 0.043 2135.56 434.9 -107.06 - - 3465.50 - - - - - - - - - 16.05 -
2451.64 266.27 -9.93 349 2453.21 no move -1.56 - - 1960.00 - - - 2136.62 - -107.06 - - 3463.00 - - - - - - - - - - -
2761.66 295.67 -9.62 380 2768.85 roll -1.56 - - 1959.38 - 3.78 0.108 687.50 -383.4 -107.06 - - 3464.19 - - - - - - - - - 15.95 -
2817.34 301.49 -10.60 391 2823.30 roll -1.56 - - 1959.69 - 3.33 0.042 2136.25 435.1 -107.06 - - 3465.00 - - - - - - - - - 16.00 -
3127.64 331.29 -10.11 423 3129.25 no move -1.56 - - 1960.19 - - - 2136.62 - -107.06 - - 3463.16 - - - - - - - - - - -
3437.70 363.16 -9.96 454 3444.83 roll -1.56 - - 1960.12 - 3.74 0.106 687.56 -387.4 -107.06 - - 3461.72 - - - - - - - - - 16.06 -
3497.62 369.95 -11.20 466 3505.56 roll -1.56 - - 1960.00 - 3.32 0.044 2135.44 436.1 -107.06 - - 3463.00 - - - - - - - - - 16.08 -
3813.69 400.46 -9.10 498 3815.30 no move -1.56 - - 1959.50 - - - 2135.25 - -107.06 - - 3461.38 - - - - - - - - - - -
4123.75 428.95 -9.18 529 4129.49 roll -1.56 - - 1960.12 - 3.07 0.093 3363.50 400.1 -107.06 - - 3461.22 - - - - - - - - - 16.05 -
4177.75 434.64 -10.25 540 4185.42 roll -1.56 - - 1959.62 - 3.00 0.039 2065.19 -432.8 -107.06 - - 3461.72 - - - - - - - - - 16.09 -
4493.81 464.27 -9.28 572 4495.43 no move -1.56 - - 1960.00 - - - 2064.69 - -107.06 - - 3459.19 - - - - - - - - - - -
4803.87 492.35 -8.42 603 4805.48 no move -1.56 - - 1959.88 - - - 2065.12 - -107.06 - - 3459.31 - - - - - - - - - - -
5113.93 520.55 -9.88 634 5115.79 no move -1.56 - - 1959.75 - - - 2064.88 - -107.06 - - 3457.72 - - - - - - - - - - -
5423.98 549.76 -8.97 665 5425.60 no move -1.56 - - 1959.50 - - - 2065.50 - -107.06 - - 3457.44 - - - - - - - - - - -
5734.04 575.89 -8.11 696 5735.66 no move -1.56 - - 1960.00 - - - 2064.94 - -107.06 - - 3456.28 - - - - - - - - - - -
6044.10 601.36 -8.34 727 6051.19 roll -1.56 - - 1959.12 - 3.63 0.117 687.69 -379.4 -107.06 - - 3455.03 - - - - - - - - - 16.04 -
6073.95 604.35 -9.15 733 6081.87 roll -1.56 - - 1959.44 - 3.35 0.046 2134.38 431.8 -107.06 - - 3454.97 - - - - - - - - - 16.08 -
6390.02 630.46 -8.18 765 6397.17 roll -1.56 - - 1959.81 - 3.79 0.110 687.38 -381.8 -107.06 - - 3455.06 - - - - - - - - - 16.05 -
6440.06 635.03 -8.72 775 6448.00 roll -1.56 - - 1959.81 - 3.33 0.044 2134.12 434.5 -107.06 - - 3453.72 - - - - - - - - - 16.10 -
6756.12 661.00 -8.28 807 6761.82 roll -1.56 - - 1960.06 - 3.09 0.094 3363.25 397.8 -107.06 - - 3454.75 - - - - - - - - - 16.08 -
6796.11 664.62 -9.04 815 6801.87 roll -1.56 - - 1959.88 - 3.02 0.039 2066.94 -429.2 -107.06 - - 3454.56 - - - - - - - - - 16.09 -
7106.14 688.85 -7.72 847 7113.24 roll -1.56 - - 1959.19 - 3.62 0.114 687.31 -381.1 -107.06 - - 3451.69 - - - - - - - - - 16.04 -
7186.13 696.41 -9.09 863 7194.05 roll -1.56 - - 1959.94 - 3.34 0.043 2133.25 432.9 -107.06 - - 3453.03 - - - - - - - - - 16.02 -
7502.17 720.94 -8.05 895 7509.33 roll -1.56 - - 1959.44 - 3.79 0.109 687.06 -381.6 -107.06 - - 3454.03 - - - - - - - - - 16.05 -
7588.12 728.77 -8.98 912 7594.00 roll -1.56 - - 1959.38 - 3.32 0.043 2126.62 433.6 -107.06 - - 3452.19 - - - - - - - - - 16.07 -
7898.15 752.83 -7.83 944 7905.30 roll -1.56 - - 1959.75 - 3.78 0.110 687.19 -380.8 -107.06 - - 3452.16 - - - - - - - - - 16.04 -
7948.18 757.39 -9.08 954 7956.09 roll -1.56 - - 1959.44 - 3.35 0.043 2132.69 431.5 -107.06 - - 3453.94 - - - - - - - - - 16.07 -
8264.22 781.14 -7.70 986 8265.83 no move -1.56 - - 1959.31 - - - 2132.75 - -107.06 - - 3449.69 - - - - - - - - - - -
8574.26 804.70 -7.77 1017 8581.65 roll -1.56 - - 1958.81 - 3.80 0.111 687.44 -380.3 -107.06 - - 3451.06 - - - - - - - - - 16.03 -
8654.55 812.34 -9.46 1033 8662.47 roll -1.56 - - 1959.56 - 3.34 0.043 2133.75 433.0 -107.06 - - 3451.41 - - - - - - - - - 16.07 -
8970.63 838.74 -8.28 1065 8977.77 roll -1.56 - - 1959.62 - 3.77 0.111 687.38 -383.7 -107.06 - - 3449.34 - - - - - - - - - 16.04 -
9016.56 843.27 -10.07 1074 9022.40 roll -1.56 - - 1959.50 - 3.30 0.043 2132.25 437.8 -107.06 - - 3449.34 - - - - - - - - - 16.08 -
9326.62 869.32 -8.27 1106 9334.02 roll -1.56 - - 1959.19 - 3.76 0.110 688.12 -384.1 -107.06 - - 3450.09 - - - - - - - - - 16.03 -
9372.92 873.61 -9.77 1115 9378.80 roll -1.56 - - 1959.81 - 3.31 0.043 2130.50 435.8 -107.06 - - 3450.22 - - - - - - - - - 16.06 -
9682.99 896.90 -7.05 1147 9684.60 no move -1.56 - - 1959.38 - - - 2135.19 - -107.06 - - 3448.72 - - - - - - - - - - -
9993.04 918.75 -7.65 1178 10000.18 roll -1.56 - - 1957.94 - 3.78 0.113 687.44 -383.0 -107.06 - - 3449.72 - - - - - - - - - 16.02 -
10112.99 928.35 -7.64 1202 10120.90 roll -1.56 - - 1959.88 - 3.33 0.044 2133.25 434.2 -107.06 - - 3448.66 - - - - - - - - - 16.05 -
10429.05 949.32 -6.57 1234 10436.21 roll -1.56 - - 1959.44 - 3.78 0.111 687.44 -382.5 -107.06 - - 3449.50 - - - - - - - - - 16.02 -
10475.11 952.86 -7.82 1243 10481.00 roll -1.56 - - 1959.44 - 3.33 0.043 2127.75 432.5 -107.06 - - 3449.50 - - - - - - - - - 16.06 -
10785.14 973.58 -6.99 1275 10792.31 roll -1.56 - - 1959.25 - 3.80 0.112 688.50 -378.8 -107.06 - - 3448.06 - - - - - - - - - 16.01 -
10851.10 978.77 -7.39 1288 10856.99 roll -1.56 - - 1959.81 - 3.34 0.044 2125.69 430.3 -107.06 - - 3446.97 - - - - - - - - - 16.06 -
11021 end dive: TARGET_DEPTH_EXCEEDED
11021 begin apogee
11022.97 990.59 -7.67 1306 11117.62 -0.42 2.46 0.118 2239.81 113.8 0.10 0.218 2116.69 -90.0 - 85.11 2.231 3018.91 -5.0 0.370 - - - - - - 16.00 15.53 11.86
11129 end apogee: CONTROL_FINISHED_OK
11129 begin climb
11132.02 991.61 - 1315 11245.58 1.56 3.96 0.059 2729.50 123.7 3.26 0.094 3363.25 382.4 107.06 94.75 2.154 2580.91 -4.6 0.352 - - - - - - 15.67 15.34 12.57
11249.06 986.69 6.04 1333 11256.12 roll 1.62 - - 2728.94 - 2.99 0.037 2116.69 -416.9 107.06 - - 2579.03 - - - - - - - - - 15.51 -
11564.49 956.83 9.44 1365 11566.10 VBD 1.62 - - 2729.00 - - - 2116.25 - 107.06 - - 2567.03 - - - - - - - - - - -
11874.53 926.89 9.89 1396 11880.32 done 1.62 - - 2727.75 - 3.15 0.089 3364.19 396.2 107.06 - - 2567.34 - - - - - - - - - 15.92 -
12064.59 906.23 10.24 1434 12070.50 done 1.62 - - 2727.44 - 2.90 0.040 2115.25 -430.7 107.06 - - 2566.69 - - - - - - - - - 15.95 -
12374.63 875.26 10.09 1466 12376.24 VBD 1.62 - - 2728.69 - - - 2116.12 - 107.06 - - 2562.53 - - - - - - - - - - -
12684.68 844.53 10.27 1497 12690.46 done 1.62 - - 2729.50 - 3.12 0.089 3364.00 400.0 107.06 - - 2563.53 - - - - - - - - - 16.01 -
12918.75 819.17 11.09 1544 12926.36 done 1.62 - - 2729.31 - 2.89 0.039 2114.88 -432.2 107.06 - - 2563.69 - - - - - - - - - 16.02 -
13234.79 789.92 8.79 1576 13240.62 done 1.62 - - 2729.81 - 3.11 0.089 3363.44 401.5 107.06 - - 2563.66 - - - - - - - - - 16.01 -
13364.83 777.22 10.29 1602 13370.44 done 1.62 - - 2727.69 - 2.88 0.039 2116.81 -432.9 107.06 - - 2562.94 - - - - - - - - - 16.04 -
13674.86 750.54 8.22 1634 13680.60 done 1.62 - - 2729.12 - 3.10 0.089 3365.06 402.7 107.06 - - 2560.59 - - - - - - - - - 16.04 -
13814.91 737.25 9.53 1662 13820.78 done 1.62 - - 2728.81 - 2.88 0.038 2115.62 -433.8 107.06 - - 2561.19 - - - - - - - - - 16.06 -
14124.94 710.26 9.28 1694 14130.73 done 1.62 - - 2729.25 - 3.12 0.088 3365.75 400.7 107.06 - - 2561.19 - - - - - - - - - 16.04 -
14214.98 701.42 9.71 1712 14220.59 done 1.62 - - 2728.44 - 2.88 0.040 2115.50 -434.1 107.06 - - 2560.62 - - - - - - - - - 16.06 -
14525.00 674.71 8.47 1744 14526.61 VBD 1.62 - - 2729.19 - - - 2115.94 - 107.06 - - 2558.19 - - - - - - - - - - -
14835.05 649.61 8.46 1775 14840.84 done 1.62 - - 2729.69 - 3.11 0.088 3365.50 401.8 107.06 - - 2559.69 - - - - - - - - - 16.06 -
14935.09 641.40 7.90 1795 14940.71 done 1.62 - - 2728.94 - 2.87 0.040 2114.62 -435.8 107.06 - - 2558.62 - - - - - - - - - 16.06 -
15245.15 620.19 6.74 1827 15246.96 1.66 0.10 0.088 2752.94 240.0 - - 2115.31 - 107.06 - - 2557.12 - - - - - - - - 16.11 - -
15555.16 597.34 6.94 1858 15560.88 done 1.70 - - 2753.62 - 3.10 0.088 3364.00 402.8 107.06 - - 2559.47 - - - - - - - - - 16.07 -
15679.13 587.67 7.95 1883 15686.79 done 1.70 - - 2753.50 - 2.88 0.039 2115.94 -433.4 107.06 - - 2558.78 - - - - - - - - - 16.06 -
15995.19 566.02 6.35 1915 15996.80 VBD 1.75 - - 2753.25 - - - 2116.00 - 107.06 - - 2556.50 - - - - - - - - - - -
16305.20 545.70 6.28 1946 16307.01 1.80 0.18 0.064 2786.19 183.0 - - 2116.19 - 107.06 - - 2556.94 - - - - - - - - 16.11 - -
16615.22 525.62 6.03 1977 16622.54 done 1.86 - - 2785.38 - 3.66 0.108 686.19 -390.7 107.06 - - 2555.78 - - - - - - - - - 16.04 -
16781.54 513.37 7.06 2010 16788.47 done 1.89 - - 2786.12 - 3.47 0.049 2184.75 431.9 107.06 - - 2554.09 - - - - - - - - - 16.06 -
17096.57 494.06 6.37 2042 17102.35 1.94 0.17 0.065 2822.81 215.8 2.97 0.091 3365.12 397.4 107.06 - - 2556.41 - - - - - - - - 16.13 16.00 -
17276.58 480.18 7.72 2078 17282.43 1.94 0.28 0.169 2806.25 -59.1 2.90 0.043 2114.06 -431.4 107.06 - - 2557.00 - - - - - - - - 15.94 16.05 -
17586.67 461.37 5.74 2110 17593.68 2.01 0.23 0.059 2840.75 150.0 3.11 0.087 3364.31 402.0 107.06 - - 2555.66 - - - - - - - - 16.10 16.00 -
17702.66 453.33 7.23 2133 17708.24 done 2.04 - - 2842.62 - 2.88 0.040 2114.38 -434.0 107.06 - - 2556.75 - - - - - - - - - 16.05 -
18012.68 435.09 6.05 2165 18014.30 VBD 2.10 - - 2842.00 - - - 2113.69 - 107.06 - - 2555.38 - - - - - - - - - - -
18322.72 414.35 6.97 2196 18324.48 2.13 0.10 0.087 2865.81 238.1 - - 2114.00 - 107.06 - - 2554.22 - - - - - - - - 16.11 - -
18632.76 392.42 6.55 2227 18634.38 VBD 2.17 - - 2865.88 - - - 2113.56 - 107.06 - - 2555.56 - - - - - - - - - - -
18942.81 372.60 6.46 2258 18949.88 done 2.22 - - 2865.62 - 3.63 0.102 687.00 -393.0 107.06 - - 2554.56 - - - - - - - - - 16.01 -
19178.75 354.89 7.59 2305 19185.74 done 2.22 - - 2866.19 - 3.45 0.045 2184.50 434.1 107.06 - - 2554.72 - - - - - - - - - 15.97 -
19493.84 334.73 6.29 2337 19495.65 2.27 0.19 0.058 2900.88 182.6 - - 2184.19 - 107.06 - - 2555.44 - - - - - - - - 16.12 - -
19803.89 313.52 6.93 2368 19809.50 done 2.31 - - 2901.31 - 2.95 0.089 3365.81 400.5 107.06 - - 2556.91 - - - - - - - - - 16.03 -
20037.96 296.43 6.83 2415 20045.57 done 2.34 - - 2902.50 - 2.88 0.038 2112.06 -435.3 107.06 - - 2556.88 - - - - - - - - - 16.02 -
20353.99 277.56 6.05 2447 20355.90 2.40 0.16 0.071 2933.75 195.3 - - 2112.69 - 107.06 - - 2553.94 - - - - - - - - 16.01 - -
20664.03 259.52 5.18 2478 20671.10 done 2.49 - - 2933.62 - 3.62 0.098 686.56 -394.0 107.06 - - 2556.09 - - - - - - - - - 15.94 -
20843.98 248.91 6.01 2514 20852.16 2.55 0.20 0.056 2969.12 177.5 3.45 0.045 2189.69 435.7 107.06 - - 2555.47 - - - - - - - - 16.06 15.94 -
21160.04 232.66 4.60 2546 21219.75 done 2.64 - - 2970.75 - 2.97 0.089 3364.00 395.4 174.42 51.36 1.281 2310.06 -4.8 0.144 - - - - - - - 15.83 11.89
21442.69 197.33 15.03 2602 21450.37 done 2.64 - - 2968.88 - 2.90 0.038 2113.94 -431.1 174.42 - - 2300.25 - - - - - - - - - 15.85 -
21758.73 155.76 12.87 2634 21760.34 VBD 2.64 - - 2969.75 - - - 2113.25 - 174.42 - - 2295.69 - - - - - - - - - - -
22068.78 122.25 9.92 2665 22074.57 done 2.64 - - 2971.25 - 3.14 0.085 3363.75 398.2 174.42 - - 2295.41 - - - - - - - - - 15.89 -
22258.85 104.72 9.20 2703 22264.46 done 2.64 - - 2970.12 - 2.87 0.037 2112.00 -436.1 174.42 - - 2294.97 - - - - - - - - - 15.90 -
22568.95 89.02 3.23 2759 22682.04 2.76 0.32 0.048 3019.56 154.5 3.66 0.099 686.31 -389.5 268.58 98.91 1.060 1923.00 -3.8 0.052 - - - - - - 15.91 15.67 12.19
22911.02 48.78 12.02 2826 22918.02 roll 2.76 - - 3019.56 - 3.51 0.044 2188.31 427.9 268.58 - - 1922.72 - - - - - - - - - 15.83 -
23101.96 29.62 6.06 2864 23106.69 no move 2.82 - - 3019.69 - - - 2187.88 - 268.58 - - 1921.66 - - - - - - - - - - -
23292.00 31.19 -1.62 2902 23506.12 3.07 0.50 0.040 3096.94 154.5 3.93 0.097 687.81 -381.7 457.37 196.38 0.979 1154.97 -3.9 0.021 - - - - - - 15.95 15.52 12.26
23600 end climb: SURFACE_DEPTH_REACHED
23600 begin surface coast
23620 end surface coast: CONTROL_FINISHED_OK
23620 begin surface
SM 3.82 - - - - 188.9 20.66 0.897 1084.3 43.0 22.68 0.049 1092.8 48.2 - 3.37 0.042 1075.8 318.1 -2.957 - - 12.44 15.78 15.76 -