NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 52 * Raw log
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• Previous call tries 1 • 35.29 of 575.00 AH used of 24V (93.86% remains)
• Surface angle -59.5 deg, depth 1.42 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.12 (SM_CC=475)
• GPS1 time: 25 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
8.88 - - - 80.79 VBD -1.56 - - 181.69 - - - 2141.00 - -107.06 70.25 0.005 2599.00 - - - - - - - - - - 15.75
81.22 3.55 -3.66 14 132.26 -1.56 16.58 0.243 1960.94 107.3 3.81 0.126 690.00 -380.8 -107.06 20.35 0.006 3457.88 42.2 -4.125 - - - - - - 15.66 15.72 15.77
345.64 52.53 -16.53 66 352.17 roll -1.56 - - 1960.62 - 3.38 0.055 2129.56 425.9 -107.06 - - 3460.47 - - - - - - - - - 15.88 -
535.66 78.17 -11.71 104 540.04 no move -1.56 - - 1960.38 - - - 2130.12 - -107.06 - - 3459.34 - - - - - - - - - - -
720.68 98.30 -10.74 141 727.41 roll -1.56 - - 1961.62 - 3.72 0.118 689.94 -387.1 -107.06 - - 3460.09 - - - - - - - - - 15.94 -
800.81 107.55 -11.27 157 806.59 roll -1.56 - - 1961.19 - 3.36 0.055 2132.62 429.4 -107.06 - - 3460.03 - - - - - - - - - 15.97 -
1110.83 135.41 -9.17 189 1117.81 roll -1.56 - - 1961.31 - 3.76 0.118 689.75 -383.7 -107.06 - - 3460.59 - - - - - - - - - 16.02 -
1156.21 139.99 -10.48 198 1161.98 roll -1.56 - - 1960.12 - 3.36 0.055 2131.81 429.2 -107.06 - - 3462.94 - - - - - - - - - 16.00 -
1466.24 171.25 -10.46 230 1467.76 no move -1.56 - - 1961.19 - - - 2131.62 - -107.06 - - 3461.41 - - - - - - - - - - -
1776.24 201.13 -9.30 261 1777.77 no move -1.56 - - 1960.69 - - - 2131.31 - -107.06 - - 3461.88 - - - - - - - - - - -
2086.27 229.69 -9.11 292 2093.44 roll -1.56 - - 1960.62 - 3.75 0.119 690.00 -384.3 -107.06 - - 3462.78 - - - - - - - - - 16.07 -
2252.01 247.03 -10.35 325 2257.95 roll -1.56 - - 1961.38 - 3.37 0.058 2129.94 427.3 -107.06 - - 3463.25 - - - - - - - - - 16.10 -
2562.05 275.79 -9.46 357 2569.25 roll -1.56 - - 1960.81 - 3.73 0.121 689.06 -386.3 -107.06 - - 3463.62 - - - - - - - - - 16.08 -
2627.70 282.74 -10.54 370 2633.68 roll -1.56 - - 1961.19 - 3.36 0.058 2131.06 429.2 -107.06 - - 3463.19 - - - - - - - - - 16.11 -
2937.72 312.57 -9.58 402 2939.29 no move -1.56 - - 1960.88 - - - 2131.44 - -107.06 - - 3461.78 - - - - - - - - - - -
3247.74 343.22 -9.78 433 3254.93 roll -1.56 - - 1960.25 - 3.75 0.122 689.56 -384.5 -107.06 - - 3462.78 - - - - - - - - - 16.13 -
3347.63 354.52 -11.12 453 3355.10 roll -1.56 - - 1959.81 - 3.36 0.060 2129.19 428.5 -107.06 - - 3463.91 - - - - - - - - - 16.14 -
3663.42 385.76 -9.67 485 3664.99 no move -1.56 - - 1960.81 - - - 2129.00 - -107.06 - - 3461.44 - - - - - - - - - - -
3973.44 412.57 -8.48 516 3980.88 roll -1.56 - - 1960.62 - 3.74 0.124 690.94 -384.5 -107.06 - - 3461.56 - - - - - - - - - 16.15 -
4073.69 422.15 -9.53 536 4081.17 roll -1.56 - - 1961.25 - 3.38 0.061 2130.12 425.8 -107.06 - - 3462.50 - - - - - - - - - 16.17 -
4389.48 448.20 -8.28 568 4396.68 roll -1.56 - - 1959.25 - 3.76 0.126 690.12 -383.0 -107.06 - - 3462.72 - - - - - - - - - 16.16 -
4475.19 456.78 -10.04 585 4481.07 roll -1.56 - - 1960.12 - 3.38 0.061 2129.06 425.7 -107.06 - - 3462.81 - - - - - - - - - 16.17 -
4785.16 484.78 -9.28 617 4786.73 no move -1.56 - - 1960.81 - - - 2128.81 - -107.06 - - 3459.81 - - - - - - - - - - -
5095.19 512.89 -9.16 648 5102.38 roll -1.56 - - 1961.25 - 3.76 0.126 690.00 -382.7 -107.06 - - 3459.56 - - - - - - - - - 16.17 -
5205.08 524.61 -10.69 670 5212.55 roll -1.56 - - 1960.62 - 3.38 0.062 2128.56 425.6 -107.06 - - 3459.66 - - - - - - - - - 16.19 -
5520.87 553.71 -9.55 702 5528.05 roll -1.56 - - 1961.25 - 3.74 0.127 689.88 -384.7 -107.06 - - 3460.38 - - - - - - - - - 16.18 -
5606.51 563.03 -10.67 719 5612.47 roll -1.56 - - 1961.00 - 3.38 0.063 2130.00 426.1 -107.06 - - 3458.22 - - - - - - - - - 16.19 -
5916.54 592.35 -9.15 751 5923.72 roll -1.56 - - 1961.00 - 3.76 0.127 689.44 -383.1 -107.06 - - 3458.00 - - - - - - - - - 16.18 -
6006.42 601.76 -10.65 769 6013.92 roll -1.56 - - 1961.25 - 3.38 0.063 2130.12 426.2 -107.06 - - 3457.62 - - - - - - - - - 16.20 -
6322.20 630.13 -8.98 801 6323.78 no move -1.56 - - 1961.06 - - - 2130.25 - -107.06 - - 3457.44 - - - - - - - - - - -
6632.24 658.33 -9.61 832 6639.43 roll -1.56 - - 1960.94 - 3.75 0.129 690.12 -384.0 -107.06 - - 3458.38 - - - - - - - - - 16.19 -
6742.13 669.67 -10.12 854 6749.60 roll -1.56 - - 1960.12 - 3.39 0.064 2130.00 424.7 -107.06 - - 3459.09 - - - - - - - - - 16.21 -
7057.92 697.21 -8.21 886 7059.50 no move -1.56 - - 1961.00 - - - 2130.06 - -107.06 - - 3455.53 - - - - - - - - - - -
7367.95 721.72 -7.39 917 7375.13 roll -1.56 - - 1961.00 - 3.78 0.129 691.06 -380.7 -107.06 - - 3454.84 - - - - - - - - - 16.20 -
7517.84 734.59 -8.40 947 7525.31 roll -1.56 - - 1961.00 - 3.39 0.065 2128.56 424.0 -107.06 - - 3456.72 - - - - - - - - - 16.20 -
7833.64 756.97 -6.61 979 7835.21 no move -1.56 - - 1960.62 - - - 2129.06 - -107.06 - - 3454.09 - - - - - - - - - - -
8143.65 778.28 -6.82 1010 8150.85 roll -1.56 - - 1960.50 - 3.74 0.130 690.94 -384.5 -107.06 - - 3454.41 - - - - - - - - - 16.20 -
8229.30 784.89 -7.65 1027 8235.34 roll -1.56 - - 1960.62 - 3.41 0.066 2127.75 421.4 -107.06 - - 3455.97 - - - - - - - - - 16.20 -
8539.32 806.83 -7.21 1059 8540.89 no move -1.56 - - 1960.88 - - - 2128.50 - -107.06 - - 3453.41 - - - - - - - - - - -
8849.34 831.30 -8.23 1090 8856.54 roll -1.56 - - 1960.69 - 3.79 0.131 690.69 -379.4 -107.06 - - 3453.94 - - - - - - - - - 16.20 -
8909.22 837.22 -9.68 1102 8916.70 roll -1.56 - - 1960.12 - 3.40 0.066 2128.31 422.8 -107.06 - - 3454.91 - - - - - - - - - 16.20 -
9225.01 863.20 -8.42 1134 9226.58 no move -1.56 - - 1961.25 - - - 2129.19 - -107.06 - - 3452.31 - - - - - - - - - - -
9535.05 888.69 -8.39 1165 9542.57 roll -1.56 - - 1961.56 - 3.81 0.132 690.81 -377.5 -107.06 - - 3452.25 - - - - - - - - - 16.20 -
9625.38 897.50 -9.45 1183 9632.90 roll -1.56 - - 1959.88 - 3.40 0.067 2126.06 422.1 -107.06 - - 3454.72 - - - - - - - - - 16.21 -
9941.17 923.85 -8.21 1215 9942.74 no move -1.56 - - 1961.00 - - - 2127.12 - -107.06 - - 3451.34 - - - - - - - - - - -
10251.20 948.16 -7.90 1246 10258.40 roll -1.56 - - 1961.06 - 3.80 0.132 689.94 -378.2 -107.06 - - 3450.56 - - - - - - - - - 16.19 -
10346.97 956.81 -8.87 1265 10352.92 roll -1.56 - - 1961.00 - 3.39 0.067 2127.38 424.0 -107.06 - - 3451.88 - - - - - - - - - 16.21 -
10657.00 979.46 -7.14 1297 10658.57 no move -1.56 - - 1960.56 - - - 2127.94 - -107.06 - - 3450.31 - - - - - - - - - - -
10816 end dive: TARGET_DEPTH_EXCEEDED
10817 begin apogee
10818.69 990.72 -6.77 1313 10912.88 -0.42 2.78 0.123 2240.00 100.5 0.09 0.259 2121.50 -71.6 - 84.94 2.097 3018.53 -5.1 0.397 - - - - - - 16.16 15.56 12.97
10918 end apogee: CONTROL_FINISHED_OK
10918 begin climb
10920.84 991.27 - 1322 11028.18 1.56 4.05 0.064 2727.56 120.4 3.34 0.111 3359.25 370.6 107.06 92.56 2.040 2580.59 -4.7 0.380 - - - - - - 15.69 15.30 12.71
11090.97 978.66 12.29 1354 11098.30 roll 1.56 - - 2727.50 - 3.06 0.060 2124.56 -403.5 107.06 - - 2579.78 - - - - - - - - - 15.61 -
11406.75 941.49 11.54 1386 11412.61 done 1.56 - - 2727.25 - 3.18 0.108 3360.38 388.6 107.06 - - 2571.75 - - - - - - - - - 15.85 -
11531.02 925.48 13.61 1411 11538.28 done 1.56 - - 2726.00 - 2.99 0.061 2121.31 -414.4 107.06 - - 2574.09 - - - - - - - - - 15.92 -
11846.79 889.58 10.98 1443 11852.65 done 1.56 - - 2727.25 - 3.17 0.106 3361.75 391.3 107.06 - - 2570.03 - - - - - - - - - 15.99 -
12046.83 866.39 11.94 1483 12052.59 done 1.56 - - 2727.25 - 2.96 0.061 2122.25 -418.8 107.06 - - 2571.38 - - - - - - - - - 16.03 -
12356.85 836.05 9.51 1515 12362.75 done 1.56 - - 2727.56 - 3.14 0.107 3361.19 394.6 107.06 - - 2568.06 - - - - - - - - - 16.07 -
12451.12 826.67 9.71 1534 12458.38 done 1.56 - - 2727.88 - 2.94 0.061 2122.25 -421.4 107.06 - - 2568.31 - - - - - - - - - 16.08 -
12766.90 798.73 8.56 1566 12772.77 done 1.56 - - 2727.56 - 3.14 0.107 3361.56 394.7 107.06 - - 2566.66 - - - - - - - - - 16.09 -
13001.17 776.42 9.41 1613 13008.47 done 1.56 - - 2726.56 - 2.96 0.060 2120.88 -419.1 107.06 - - 2568.41 - - - - - - - - - 16.12 -
13316.94 750.64 8.27 1645 13322.84 done 1.56 - - 2727.50 - 3.14 0.106 3360.62 394.8 107.06 - - 2565.88 - - - - - - - - - 16.12 -
13506.96 733.56 8.40 1683 13512.76 done 1.56 - - 2727.56 - 2.95 0.061 2123.19 -419.5 107.06 - - 2565.59 - - - - - - - - - 16.12 -
13816.98 707.60 8.37 1715 13818.56 VBD 1.56 - - 2727.31 - - - 2123.25 - 107.06 - - 2563.97 - - - - - - - - - - -
14127.03 682.59 7.86 1746 14132.92 done 1.56 - - 2727.75 - 3.13 0.106 3362.44 395.9 107.06 - - 2565.88 - - - - - - - - - 16.16 -
14261.32 670.67 8.82 1773 14268.61 done 1.56 - - 2727.56 - 2.95 0.061 2119.31 -421.4 107.06 - - 2564.66 - - - - - - - - - 16.18 -
14577.12 645.77 7.91 1805 14582.99 done 1.56 - - 2727.50 - 3.13 0.105 3360.56 396.6 107.06 - - 2564.97 - - - - - - - - - 16.17 -
14777.16 628.15 8.88 1845 14782.92 done 1.56 - - 2727.38 - 2.94 0.060 2119.44 -422.1 107.06 - - 2564.50 - - - - - - - - - 16.18 -
15087.18 602.81 8.23 1877 15093.04 done 1.56 - - 2726.75 - 3.13 0.105 3362.12 397.0 107.06 - - 2566.69 - - - - - - - - - 16.18 -
15197.21 593.21 8.55 1899 15203.02 done 1.56 - - 2727.88 - 2.94 0.060 2119.50 -422.7 107.06 - - 2564.56 - - - - - - - - - 16.17 -
15507.23 568.70 7.69 1931 15508.80 VBD 1.56 - - 2727.38 - - - 2119.25 - 107.06 - - 2563.06 - - - - - - - - - - -
15817.25 544.96 7.62 1962 15823.17 done 1.56 - - 2727.75 - 3.12 0.104 3360.69 397.9 107.06 - - 2563.78 - - - - - - - - - 16.18 -
16007.30 528.16 8.88 2000 16013.07 done 1.56 - - 2727.00 - 2.94 0.060 2119.50 -422.2 107.06 - - 2563.62 - - - - - - - - - 16.19 -
16317.32 503.55 7.55 2032 16323.19 done 1.56 - - 2727.06 - 3.13 0.104 3362.19 397.0 107.06 - - 2562.84 - - - - - - - - - 16.18 -
16387.35 497.72 8.22 2046 16393.14 done 1.56 - - 2727.06 - 2.93 0.059 2118.81 -424.4 107.06 - - 2564.50 - - - - - - - - - 16.19 -
16697.41 475.06 6.93 2078 16703.23 done 1.60 - - 2727.31 - 3.12 0.104 3361.88 398.4 107.06 - - 2562.91 - - - - - - - - - 16.18 -
16931.71 458.23 6.60 2125 16938.93 done 1.64 - - 2727.44 - 2.94 0.060 2119.38 -422.6 107.06 - - 2562.75 - - - - - - - - - 16.18 -
17247.48 440.03 5.71 2157 17253.60 1.71 0.44 0.038 2761.12 76.5 3.12 0.104 3362.50 398.4 107.06 - - 2562.62 - - - - - - - - 16.22 16.17 -
17481.90 423.29 7.54 2204 17489.01 done 1.73 - - 2760.75 - 2.94 0.059 2120.81 -422.3 107.06 - - 2563.59 - - - - - - - - - 16.20 -
17797.55 402.99 6.15 2236 17803.37 done 1.78 - - 2761.00 - 3.11 0.103 3361.75 399.0 107.06 - - 2564.12 - - - - - - - - - 16.17 -
17957.59 391.42 7.43 2268 17963.50 1.80 0.17 0.047 2775.81 87.1 2.93 0.059 2121.12 -423.4 107.06 - - 2563.78 - - - - - - - - 16.23 16.19 -
18267.60 370.38 6.58 2300 18273.38 done 1.85 - - 2777.00 - 3.09 0.102 3360.56 401.1 107.06 - - 2563.56 - - - - - - - - - 16.17 -
18367.64 363.23 7.07 2320 18373.56 1.88 0.21 0.041 2794.69 84.2 2.93 0.058 2119.75 -423.5 107.06 - - 2564.19 - - - - - - - - 16.23 16.19 -
18677.65 343.24 6.49 2352 18683.46 done 1.92 - - 2794.88 - 3.10 0.102 3361.88 400.7 107.06 - - 2563.50 - - - - - - - - - 16.19 -
18751.91 337.93 7.33 2367 18759.67 1.94 0.18 0.043 2809.62 81.9 2.93 0.058 2119.06 -424.2 107.06 - - 2564.00 - - - - - - - - 16.24 16.19 -
19067.67 316.51 6.50 2399 19073.53 done 1.99 - - 2810.50 - 3.11 0.101 3363.06 400.0 107.06 - - 2564.34 - - - - - - - - - 16.17 -
19131.94 312.16 6.82 2412 19139.42 2.03 0.31 0.036 2829.81 62.3 2.89 0.058 2117.94 -430.8 107.06 - - 2564.38 - - - - - - - - 16.20 16.18 -
19447.71 292.12 6.23 2444 19453.64 2.08 0.19 0.037 2843.06 69.7 3.10 0.100 3362.00 401.3 107.06 - - 2563.25 - - - - - - - - 16.21 16.16 -
19667.75 277.45 6.60 2488 19673.47 done 2.13 - - 2843.19 - 2.93 0.058 2118.81 -424.3 107.06 - - 2563.31 - - - - - - - - - 16.15 -
19977.76 260.29 4.95 2520 20033.22 2.20 0.51 0.030 2874.44 61.3 3.15 0.102 3362.12 394.7 167.66 46.88 1.189 2332.47 -4.9 0.178 - - - - - - 16.13 15.90 12.93
20260.92 227.45 14.38 2576 20268.42 roll 2.20 - - 2875.06 - 2.96 0.058 2121.50 -419.1 167.66 - - 2330.22 - - - - - - - - - 16.02 -
20576.71 184.76 13.76 2608 20578.32 VBD 2.20 - - 2874.88 - - - 2121.75 - 167.66 - - 2327.22 - - - - - - - - - - -
20886.72 146.10 11.43 2639 20888.33 VBD 2.20 - - 2874.88 - - - 2121.56 - 167.66 - - 2326.50 - - - - - - - - - - -
21196.74 112.56 9.82 2670 21202.77 done 2.20 - - 2874.50 - 3.12 0.099 3361.50 397.4 167.66 - - 2327.56 - - - - - - - - - 16.05 -
21431.83 93.08 6.78 2717 21438.45 done 2.24 - - 2874.94 - 2.94 0.056 2120.25 -422.2 167.66 - - 2325.88 - - - - - - - - - 16.05 -
21621.94 86.19 2.50 2755 21743.86 2.38 0.50 0.040 2925.19 100.5 - - 2120.50 - 276.00 115.82 0.934 1894.00 -3.7 0.057 - - - - - - 16.06 - 12.94
21927.29 61.11 8.59 2815 21934.46 roll 2.38 - - 2925.31 - 3.76 0.118 688.88 -380.8 276.00 - - 1892.69 - - - - - - - - - 15.81 -
22163.13 37.69 9.33 2862 22170.14 roll 2.38 - - 2925.12 - 3.55 0.061 2181.12 420.3 276.00 - - 1892.97 - - - - - - - - - 15.91 -
22353.62 23.76 7.04 2900 22360.76 roll 2.41 - - 2926.12 - 3.85 0.113 688.94 -387.6 276.00 - - 1890.88 - - - - - - - - - 15.93 -
22479.32 24.34 0.56 2925 22657.10 2.60 0.62 0.032 2981.00 88.5 3.50 0.060 2183.62 427.1 422.20 164.17 0.852 1297.97 -3.6 0.017 - - - - - - 16.00 15.98 12.87
22805 end climb: SURFACE_DEPTH_REACHED
22805 begin surface coast
22825 end surface coast: CONTROL_FINISHED_OK
22825 begin surface
SM 1.63 - - - - 190.7 54.63 0.820 1083.1 16.8 21.59 0.046 1096.6 50.8 - 0.22 0.091 1069.6 4845.9 -8.872 - - 12.76 15.82 15.79 -