NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 111 * Raw log
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• Previous call tries 1 • 53.45 of 575.00 AH used of 24V (90.70% remains)
• Surface angle -61.0 deg, depth 1.41 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.02 (SM_CC=475)
• GPS1 time: 61 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
8.90 - - - 80.80 VBD -1.56 - - 180.38 - - - 2135.19 - -107.06 70.25 0.005 2602.44 - - - - - - - - - - 15.74
81.24 3.41 -3.02 14 131.94 -1.56 16.80 0.244 1960.00 105.9 3.14 0.105 3360.56 390.2 -107.06 19.89 0.006 3457.97 43.0 -4.054 - - - - - - 15.72 15.71 15.77
275.31 42.68 -17.36 52 281.70 roll -1.56 - - 1959.88 - 3.07 0.050 2069.69 -420.5 -107.06 - - 3459.06 - - - - - - - - - 15.87 -
465.33 70.85 -14.34 90 471.94 roll -1.56 - - 1960.06 - 3.60 0.118 690.50 -383.1 -107.06 - - 3461.38 - - - - - - - - - 15.92 -
510.34 78.16 -16.55 99 516.91 roll -1.56 - - 1959.94 - 3.36 0.052 2132.31 429.1 -107.06 - - 3460.56 - - - - - - - - - 15.93 -
700.36 100.24 -10.47 137 707.35 roll -1.56 - - 1959.25 - 3.75 0.112 690.75 -384.4 -107.06 - - 3459.44 - - - - - - - - - 15.96 -
779.98 109.68 -11.40 153 787.28 roll -1.56 - - 1960.06 - 3.35 0.051 2131.88 430.2 -107.06 - - 3460.78 - - - - - - - - - 16.00 -
1095.76 142.81 -11.07 185 1101.39 roll -1.56 - - 1960.38 - 3.10 0.100 3360.38 396.3 -107.06 - - 3460.91 - - - - - - - - - 15.99 -
1195.77 154.56 -11.51 205 1201.41 roll -1.56 - - 1960.25 - 3.03 0.047 2067.00 -426.9 -107.06 - - 3462.03 - - - - - - - - - 16.02 -
1505.78 188.16 -11.00 237 1512.06 roll -1.56 - - 1959.88 - 3.57 0.119 689.94 -385.7 -107.06 - - 3463.03 - - - - - - - - - 16.02 -
1575.83 196.45 -11.93 251 1581.78 roll -1.56 - - 1960.06 - 3.33 0.052 2130.69 432.7 -107.06 - - 3461.28 - - - - - - - - - 16.04 -
1885.86 227.83 -10.26 283 1893.06 roll -1.56 - - 1959.62 - 3.71 0.114 688.69 -388.7 -107.06 - - 3460.50 - - - - - - - - - 16.06 -
1925.74 232.48 -11.80 291 1933.24 roll -1.56 - - 1959.88 - 3.32 0.052 2133.00 435.0 -107.06 - - 3461.75 - - - - - - - - - 16.05 -
2241.53 266.05 -10.49 323 2243.10 no move -1.56 - - 1959.62 - - - 2132.88 - -107.06 - - 3461.78 - - - - - - - - - - -
2551.56 296.56 -9.28 354 2553.13 no move -1.56 - - 1959.94 - - - 2133.31 - -107.06 - - 3461.19 - - - - - - - - - - -
2861.58 327.30 -10.16 385 2863.16 no move -1.56 - - 1959.69 - - - 2132.81 - -107.06 - - 3461.25 - - - - - - - - - - -
3171.61 357.84 -9.38 416 3173.18 no move -1.56 - - 1959.81 - - - 2133.19 - -107.06 - - 3461.38 - - - - - - - - - - -
3481.63 386.76 -9.52 447 3483.20 no move -1.56 - - 1959.94 - - - 2132.88 - -107.06 - - 3460.91 - - - - - - - - - - -
3791.65 415.16 -8.93 478 3798.85 roll -1.56 - - 1960.56 - 3.73 0.119 689.50 -387.0 -107.06 - - 3461.09 - - - - - - - - - 16.14 -
3837.29 419.70 -9.49 487 3843.29 roll -1.56 - - 1959.44 - 3.32 0.057 2132.44 434.6 -107.06 - - 3462.66 - - - - - - - - - 16.14 -
4147.32 446.72 -8.81 519 4148.89 no move -1.56 - - 1959.44 - - - 2131.94 - -107.06 - - 3461.25 - - - - - - - - - - -
4457.44 474.80 -9.11 550 4459.01 no move -1.56 - - 1959.75 - - - 2131.88 - -107.06 - - 3459.84 - - - - - - - - - - -
4767.38 503.29 -9.24 581 4774.58 roll -1.56 - - 1959.31 - 3.72 0.121 690.56 -387.5 -107.06 - - 3460.72 - - - - - - - - - 16.16 -
4827.25 509.74 -10.42 593 4834.77 roll -1.56 - - 1959.62 - 3.32 0.058 2130.75 433.8 -107.06 - - 3460.78 - - - - - - - - - 16.16 -
5143.06 538.98 -9.63 625 5144.63 no move -1.56 - - 1959.69 - - - 2130.88 - -107.06 - - 3458.59 - - - - - - - - - - -
5453.11 566.22 -8.05 656 5454.68 no move -1.56 - - 1959.69 - - - 2130.81 - -107.06 - - 3458.12 - - - - - - - - - - -
5763.15 590.84 -8.08 687 5770.35 roll -1.56 - - 1959.94 - 3.72 0.123 690.50 -387.2 -107.06 - - 3457.31 - - - - - - - - - 16.15 -
5803.03 594.73 -9.58 695 5810.50 roll -1.56 - - 1959.62 - 3.31 0.059 2129.56 434.8 -107.06 - - 3457.84 - - - - - - - - - 16.17 -
6118.82 618.70 -7.55 727 6120.40 no move -1.56 - - 1960.00 - - - 2130.75 - -107.06 - - 3456.16 - - - - - - - - - - -
6428.85 643.29 -8.46 758 6436.05 roll -1.56 - - 1958.81 - 3.73 0.123 690.69 -386.1 -107.06 - - 3459.03 - - - - - - - - - 16.18 -
6468.84 647.09 -9.33 766 6476.31 roll -1.56 - - 1959.69 - 3.32 0.060 2130.44 433.7 -107.06 - - 3457.94 - - - - - - - - - 16.19 -
6784.63 672.86 -8.04 798 6790.43 roll -1.56 - - 1959.50 - 3.09 0.108 3360.69 398.1 -107.06 - - 3457.16 - - - - - - - - - 16.16 -
6818.88 676.19 -8.78 805 6826.23 roll -1.56 - - 1959.19 - 3.04 0.055 2069.62 -424.7 -107.06 - - 3458.09 - - - - - - - - - 16.18 -
7134.67 703.06 -8.61 837 7136.24 no move -1.56 - - 1959.69 - - - 2070.06 - -107.06 - - 3455.12 - - - - - - - - - - -
7444.69 730.13 -8.68 868 7446.27 no move -1.56 - - 1959.81 - - - 2069.88 - -107.06 - - 3455.00 - - - - - - - - - - -
7754.74 755.80 -8.04 899 7756.31 no move -1.56 - - 1959.38 - - - 2070.00 - -107.06 - - 3453.78 - - - - - - - - - - -
8064.75 781.91 -8.75 930 8066.32 no move -1.56 - - 1959.88 - - - 2069.75 - -107.06 - - 3453.00 - - - - - - - - - - -
8374.78 808.01 -8.38 961 8376.35 no move -1.56 - - 1959.44 - - - 2070.06 - -107.06 - - 3453.28 - - - - - - - - - - -
8684.82 833.11 -8.16 992 8686.39 no move -1.56 - - 1959.50 - - - 2069.88 - -107.06 - - 3452.91 - - - - - - - - - - -
8995.09 857.60 -7.80 1023 8996.66 no move -1.56 - - 1959.75 - - - 2069.81 - -107.06 - - 3452.25 - - - - - - - - - - -
9304.95 881.04 -7.63 1054 9311.97 roll -1.56 - - 1959.88 - 3.60 0.131 690.50 -383.1 -107.06 - - 3452.31 - - - - - - - - - 16.19 -
9344.65 884.62 -8.84 1062 9352.12 roll -1.56 - - 1959.88 - 3.35 0.061 2130.19 429.8 -107.06 - - 3452.56 - - - - - - - - - 16.18 -
9660.42 908.45 -7.07 1094 9662.00 no move -1.56 - - 1959.38 - - - 2130.81 - -107.06 - - 3451.34 - - - - - - - - - - -
9970.45 931.23 -7.25 1125 9977.66 roll -1.56 - - 1959.56 - 3.76 0.127 689.38 -383.4 -107.06 - - 3452.66 - - - - - - - - - 16.19 -
10006.11 934.71 -9.83 1132 10012.10 roll -1.56 - - 1960.25 - 3.37 0.061 2130.06 427.5 -107.06 - - 3453.28 - - - - - - - - - 16.19 -
10316.15 959.44 -7.45 1164 10317.72 no move -1.56 - - 1959.88 - - - 2130.75 - -107.06 - - 3451.03 - - - - - - - - - - -
10626.17 982.74 -7.22 1195 10633.37 roll -1.56 - - 1959.44 - 3.78 0.127 690.31 -381.1 -107.06 - - 3452.28 - - - - - - - - - 16.15 -
10661.81 985.83 -8.10 1202 10667.80 roll -1.56 - - 1959.69 - 3.38 0.063 2128.31 425.4 -107.06 - - 3451.19 - - - - - - - - - 16.18 -
10721 end dive: TARGET_DEPTH_EXCEEDED
10721 begin apogee
10723.86 990.10 -7.42 1209 10817.63 -0.42 2.32 0.123 2240.94 121.2 0.09 0.249 2119.75 -95.1 - 86.61 2.255 3020.75 -5.0 0.362 - - - - - - 16.16 15.53 12.81
10822 end apogee: CONTROL_FINISHED_OK
10823 begin climb
10825.71 990.97 - 1218 10931.38 1.56 3.85 0.059 2730.62 127.2 - - 2120.06 - 107.06 95.27 2.185 2583.44 -4.6 0.345 - - - - - - 15.66 - 12.78
11234.90 953.02 10.68 1259 11240.82 done 1.56 - - 2730.88 - 3.21 0.106 3361.75 386.8 107.06 - - 2570.75 - - - - - - - - - 15.83 -
11284.91 947.52 11.32 1269 11290.71 done 1.56 - - 2730.81 - 2.99 0.055 2121.88 -414.7 107.06 - - 2569.59 - - - - - - - - - 15.89 -
11594.92 914.79 10.36 1301 11601.05 done 1.56 - - 2729.56 - 3.17 0.104 3360.56 390.8 107.06 - - 2570.22 - - - - - - - - - 15.97 -
11789.19 892.69 11.39 1340 11796.49 done 1.56 - - 2730.75 - 2.97 0.056 2120.31 -417.6 107.06 - - 2566.75 - - - - - - - - - 16.01 -
12104.97 860.89 9.82 1372 12110.87 done 1.56 - - 2730.19 - 3.16 0.104 3361.31 392.7 107.06 - - 2567.44 - - - - - - - - - 16.05 -
12179.23 853.32 9.95 1387 12186.48 done 1.56 - - 2730.81 - 2.96 0.055 2121.44 -418.9 107.06 - - 2566.53 - - - - - - - - - 16.06 -
12494.99 824.48 9.19 1419 12496.57 VBD 1.56 - - 2730.19 - - - 2121.75 - 107.06 - - 2563.44 - - - - - - - - - - -
12805.04 796.25 9.17 1450 12810.90 done 1.56 - - 2730.38 - 3.14 0.103 3360.81 394.6 107.06 - - 2565.03 - - - - - - - - - 16.10 -
12905.08 786.21 10.17 1470 12910.87 done 1.56 - - 2729.81 - 2.94 0.056 2120.69 -421.8 107.06 - - 2565.28 - - - - - - - - - 16.12 -
13215.12 756.62 8.85 1502 13221.05 done 1.56 - - 2730.12 - 3.14 0.103 3360.44 394.8 107.06 - - 2564.88 - - - - - - - - - 16.12 -
13355.16 742.98 9.63 1530 13360.92 done 1.56 - - 2730.38 - 2.95 0.056 2119.25 -420.7 107.06 - - 2563.59 - - - - - - - - - 16.14 -
13665.18 715.13 8.88 1562 13671.08 done 1.56 - - 2730.38 - 3.14 0.103 3361.75 395.7 107.06 - - 2564.19 - - - - - - - - - 16.13 -
13755.20 706.61 9.79 1580 13761.01 done 1.56 - - 2730.38 - 2.93 0.056 2118.94 -424.2 107.06 - - 2562.62 - - - - - - - - - 16.15 -
14065.22 680.57 8.13 1612 14071.09 done 1.56 - - 2730.94 - 3.14 0.102 3361.62 395.8 107.06 - - 2561.09 - - - - - - - - - 16.16 -
14189.50 669.05 9.50 1637 14196.76 done 1.56 - - 2730.69 - 2.93 0.055 2119.88 -423.8 107.06 - - 2562.31 - - - - - - - - - 16.16 -
14505.26 643.91 7.77 1669 14511.15 done 1.56 - - 2731.06 - 3.12 0.102 3362.44 398.3 107.06 - - 2560.41 - - - - - - - - - 16.15 -
14555.29 639.83 8.19 1679 14561.05 done 1.56 - - 2730.25 - 2.91 0.055 2118.38 -427.5 107.06 - - 2560.97 - - - - - - - - - 16.15 -
14865.34 616.57 7.38 1711 14866.92 VBD 1.58 - - 2730.25 - - - 2117.94 - 107.06 - - 2559.41 - - - - - - - - - - -
15175.38 592.69 7.38 1742 15181.19 done 1.60 - - 2730.75 - 3.13 0.102 3362.69 397.7 107.06 - - 2560.28 - - - - - - - - - 16.15 -
15399.62 573.37 8.40 1787 15406.92 done 1.60 - - 2730.06 - 2.90 0.055 2118.50 -429.0 107.06 - - 2561.78 - - - - - - - - - 16.17 -
15715.44 550.65 7.28 1819 15721.27 done 1.63 - - 2730.25 - 3.13 0.102 3361.62 397.2 107.06 - - 2560.19 - - - - - - - - - 16.17 -
15889.68 536.22 7.76 1854 15896.96 done 1.63 - - 2729.81 - 2.92 0.055 2118.25 -425.8 107.06 - - 2563.28 - - - - - - - - - 16.19 -
16205.50 514.09 7.48 1886 16212.63 done 1.64 - - 2729.69 - 3.66 0.118 688.19 -390.7 107.06 - - 2559.56 - - - - - - - - - 16.16 -
16325.34 503.47 8.85 1910 16332.94 done 1.64 - - 2730.69 - 3.51 0.061 2181.75 425.5 107.06 - - 2559.44 - - - - - - - - - 16.18 -
16641.17 480.71 7.06 1942 16647.37 1.67 0.11 0.082 2760.31 269.3 3.01 0.103 3361.19 391.8 107.06 - - 2558.47 - - - - - - - - 16.21 16.14 -
16875.41 463.10 7.76 1989 16882.93 1.67 0.31 0.158 2740.12 -65.1 2.90 0.054 2117.56 -428.8 107.06 - - 2559.56 - - - - - - - - 16.13 16.17 -
17191.21 444.49 5.60 2021 17197.24 1.75 0.25 0.055 2778.38 153.0 3.16 0.101 3361.81 393.8 107.06 - - 2558.84 - - - - - - - - 16.18 16.13 -
17295.50 437.16 6.81 2042 17302.82 done 1.78 - - 2777.88 - 2.90 0.054 2117.88 -428.9 107.06 - - 2560.84 - - - - - - - - - 16.15 -
17611.26 418.38 5.69 2074 17612.84 VBD 1.86 - - 2778.44 - - - 2117.56 - 107.06 - - 2557.84 - - - - - - - - - - -
17921.29 399.07 6.47 2105 17923.05 1.90 0.17 0.068 2816.81 225.7 - - 2117.50 - 107.06 - - 2556.78 - - - - - - - - 16.18 - -
18231.27 375.42 7.66 2136 18237.34 1.90 0.28 0.155 2796.56 -72.3 3.13 0.100 3361.44 397.4 107.06 - - 2560.69 - - - - - - - - 16.14 16.12 -
18315.54 369.13 7.56 2153 18322.91 done 1.90 - - 2796.75 - 2.90 0.055 2116.94 -429.1 107.06 - - 2558.88 - - - - - - - - - 16.17 -
18631.35 347.52 6.66 2185 18633.36 1.94 0.18 0.056 2823.19 146.9 - - 2117.31 - 107.06 - - 2557.88 - - - - - - - - 16.17 - -
18941.37 326.31 6.69 2216 18942.94 VBD 1.99 - - 2822.56 - - - 2117.38 - 107.06 - - 2557.41 - - - - - - - - - - -
19251.39 307.35 6.02 2247 19257.22 done 2.05 - - 2823.44 - 3.14 0.100 3362.38 396.5 107.06 - - 2560.66 - - - - - - - - - 16.14 -
19375.67 299.15 6.74 2272 19383.16 2.09 0.16 0.069 2857.94 215.6 2.90 0.054 2118.62 -428.9 107.06 - - 2559.62 - - - - - - - - 16.16 16.15 -
19691.42 282.47 4.59 2304 19751.79 done 2.17 - - 2857.75 - 3.20 0.101 3361.44 388.4 174.58 52.78 1.384 2308.41 -4.8 0.161 - - - - - - - 15.85 12.90
19760.45 277.88 7.31 2312 19766.26 roll back 2.20 0.10 0.083 2882.88 251.3 2.95 0.053 2118.25 -421.4 174.58 - - 2306.84 - - - - - - - - 15.95 15.92 -
20070.35 235.94 13.82 2344 20077.72 2.20 0.28 0.158 2867.56 -54.7 3.70 0.115 688.38 -386.5 174.58 - - 2302.84 - - - - - - - - 15.95 15.95 -
20146.18 225.19 14.43 2359 20152.49 done 2.20 - - 2867.81 - 3.53 0.060 2179.50 422.4 174.58 - - 2299.28 - - - - - - - - - 16.02 -
20456.18 187.52 11.67 2391 20461.95 done 2.20 - - 2868.00 - 3.00 0.100 3361.62 394.0 174.58 - - 2298.00 - - - - - - - - - 16.02 -
20576.20 171.95 12.76 2415 20581.96 done 2.20 - - 2867.56 - 2.94 0.052 2118.38 -422.9 174.58 - - 2296.91 - - - - - - - - - 16.04 -
20886.20 138.08 10.35 2447 20887.78 VBD 2.20 - - 2867.75 - - - 2118.50 - 174.58 - - 2296.06 - - - - - - - - - - -
21196.22 108.47 8.29 2478 21202.38 done 2.20 - - 2867.69 - 3.67 0.113 689.19 -389.5 174.58 - - 2299.12 - - - - - - - - - 16.04 -
21431.28 88.43 8.32 2525 21438.13 done 2.20 - - 2868.19 - 3.51 0.058 2182.19 425.4 174.58 - - 2296.88 - - - - - - - - - 16.03 -
21621.57 79.78 3.44 2563 21724.49 2.31 0.34 0.041 2912.31 129.8 3.06 0.100 3360.81 385.2 264.60 93.28 1.090 1939.50 -3.8 0.047 - - - - - - 16.07 15.68 12.89
21953.12 52.29 10.38 2628 21959.83 roll back 2.31 0.28 0.160 2895.00 -61.8 2.96 0.051 2117.75 -420.0 264.60 - - 1940.56 - - - - - - - - 15.81 15.89 -
22143.38 37.35 6.72 2666 22150.43 roll back 2.35 0.18 0.059 2922.19 151.1 3.72 0.111 687.31 -384.5 264.60 - - 1939.97 - - - - - - - - 15.95 15.89 -
22378.93 22.37 3.58 2713 22475.21 2.47 0.12 0.080 2948.69 220.8 3.51 0.056 2185.94 427.0 351.83 84.47 1.013 1585.81 -4.2 0.015 - - - - - - 15.97 15.98 12.67
22658.66 10.55 6.19 2768 22665.44 roll 2.52 - - 2948.38 - 3.03 0.097 3361.12 387.8 351.83 - - 1581.41 - - - - - - - - - 15.84 -
22778 end climb: SURFACE_DEPTH_REACHED
22779 begin surface coast
22804 end surface coast: CONTROL_FINISHED_OK
22804 begin surface
SM 1.53 - - - - 189.3 110.26 0.997 1083.5 9.8 21.11 0.034 1092.1 51.7 - 3.04 0.050 1074.9 352.6 -1.103 - - 12.75 15.94 15.90 -