NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 119 * Raw log
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• Previous call tries 1 • 56.23 of 575.00 AH used of 24V (90.22% remains)
• Surface angle -63.0 deg, depth 1.39 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.05 (SM_CC=475)
• GPS1 time: 21 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
8.90 - - - 80.79 VBD -1.56 - - 185.44 - - - 2141.06 - -107.06 70.25 0.005 2579.06 - - - - - - - - - - 15.74
81.22 3.61 -3.50 14 131.89 -1.56 16.80 0.243 1959.81 105.6 3.08 0.105 3361.44 396.2 -107.06 20.28 0.006 3458.28 43.4 -4.323 - - - - - - 15.71 15.72 15.76
320.59 51.44 -15.82 61 326.61 roll -1.56 - - 1959.69 - 2.99 0.050 2067.31 -432.8 -107.06 - - 3459.28 - - - - - - - - - 15.88 -
510.26 78.21 -14.17 99 514.63 no move -1.56 - - 1959.81 - - - 2067.50 - -107.06 - - 3460.16 - - - - - - - - - - -
700.28 102.11 -10.33 135 701.80 no move -1.56 - - 1960.00 - - - 2067.75 - -107.06 - - 3460.00 - - - - - - - - - - -
1010.30 133.51 -10.01 166 1011.83 no move -1.56 - - 1959.56 - - - 2066.88 - -107.06 - - 3460.16 - - - - - - - - - - -
1320.31 164.31 -9.72 197 1321.84 no move -1.56 - - 1959.69 - - - 2067.44 - -107.06 - - 3461.28 - - - - - - - - - - -
1630.32 194.39 -9.47 228 1636.04 roll -1.56 - - 1960.25 - 3.20 0.099 3362.56 404.7 -107.06 - - 3462.75 - - - - - - - - - 16.04 -
1690.32 200.78 -10.85 240 1695.99 roll -1.56 - - 1960.25 - 3.04 0.051 2067.88 -425.9 -107.06 - - 3463.81 - - - - - - - - - 16.04 -
2000.34 230.85 -9.93 272 2001.87 no move -1.56 - - 1959.75 - - - 2066.88 - -107.06 - - 3461.56 - - - - - - - - - - -
2310.36 260.28 -9.64 303 2311.89 no move -1.56 - - 1959.50 - - - 2067.19 - -107.06 - - 3461.97 - - - - - - - - - - -
2620.37 290.43 -9.66 334 2626.12 roll -1.56 - - 1960.31 - 3.22 0.101 3361.00 401.8 -107.06 - - 3461.69 - - - - - - - - - 16.09 -
2650.38 293.72 -10.47 340 2656.38 roll -1.56 - - 1960.00 - 3.03 0.051 2070.12 -426.0 -107.06 - - 3462.59 - - - - - - - - - 16.07 -
2960.42 323.19 -9.34 372 2966.51 roll -1.56 - - 1960.44 - 3.58 0.123 688.88 -385.8 -107.06 - - 3464.12 - - - - - - - - - 16.10 -
2984.67 325.77 -9.43 377 2992.14 roll -1.56 - - 1961.25 - 3.31 0.056 2131.00 435.7 -107.06 - - 3462.09 - - - - - - - - - 16.13 -
3300.46 353.72 -9.06 409 3302.03 no move -1.56 - - 1960.69 - - - 2130.62 - -107.06 - - 3461.69 - - - - - - - - - - -
3610.50 382.64 -9.61 440 3617.68 roll -1.56 - - 1960.44 - 3.73 0.122 690.50 -386.1 -107.06 - - 3460.97 - - - - - - - - - 16.12 -
3660.37 387.98 -10.65 450 3667.84 roll -1.56 - - 1961.31 - 3.31 0.058 2130.00 434.9 -107.06 - - 3463.56 - - - - - - - - - 16.13 -
3976.17 417.39 -9.34 482 3983.35 roll -1.56 - - 1960.75 - 3.73 0.121 690.38 -386.0 -107.06 - - 3461.94 - - - - - - - - - 16.14 -
4021.80 422.19 -10.69 491 4027.74 roll -1.56 - - 1960.69 - 3.32 0.058 2130.81 433.9 -107.06 - - 3462.06 - - - - - - - - - 16.15 -
4331.83 451.55 -9.33 523 4333.40 no move -1.56 - - 1961.12 - - - 2131.00 - -107.06 - - 3460.25 - - - - - - - - - - -
4641.86 480.01 -8.73 554 4649.04 roll -1.56 - - 1960.25 - 3.73 0.123 689.69 -386.4 -107.06 - - 3460.66 - - - - - - - - - 16.16 -
4691.84 484.81 -9.26 564 4699.31 roll -1.56 - - 1960.94 - 3.32 0.059 2131.25 434.2 -107.06 - - 3460.44 - - - - - - - - - 16.16 -
5007.63 511.62 -8.76 596 5009.20 no move -1.56 - - 1961.12 - - - 2130.31 - -107.06 - - 3459.03 - - - - - - - - - - -
5317.66 540.35 -9.92 627 5324.86 roll -1.56 - - 1960.88 - 3.74 0.124 690.62 -384.9 -107.06 - - 3459.50 - - - - - - - - - 16.16 -
5363.30 545.46 -11.17 636 5369.26 roll -1.56 - - 1960.38 - 3.32 0.061 2128.81 433.2 -107.06 - - 3459.91 - - - - - - - - - 16.17 -
5673.34 575.15 -9.51 668 5674.94 no move -1.56 - - 1960.62 - - - 2128.56 - -107.06 - - 3457.66 - - - - - - - - - - -
5983.36 603.07 -8.68 699 5990.57 roll -1.56 - - 1960.81 - 3.71 0.123 688.62 -388.1 -107.06 - - 3457.75 - - - - - - - - - 16.18 -
6029.01 607.67 -9.53 708 6034.95 roll -1.56 - - 1961.19 - 3.32 0.060 2130.00 434.2 -107.06 - - 3458.16 - - - - - - - - - 16.17 -
6339.05 632.18 -7.63 740 6346.31 roll -1.56 - - 1961.00 - 3.72 0.123 689.00 -387.4 -107.06 - - 3456.75 - - - - - - - - - 16.17 -
6384.87 636.03 -8.62 749 6390.82 roll -1.56 - - 1960.88 - 3.33 0.058 2130.25 432.8 -107.06 - - 3456.88 - - - - - - - - - 16.18 -
6694.90 660.04 -7.80 781 6696.47 no move -1.56 - - 1960.56 - - - 2131.25 - -107.06 - - 3456.50 - - - - - - - - - - -
7004.93 685.52 -8.15 812 7006.50 no move -1.56 - - 1960.94 - - - 2131.00 - -107.06 - - 3455.81 - - - - - - - - - - -
7314.95 711.41 -8.40 843 7322.16 roll -1.56 - - 1961.62 - 3.74 0.125 689.69 -385.4 -107.06 - - 3456.88 - - - - - - - - - 16.17 -
7370.60 716.81 -9.47 854 7376.58 roll -1.56 - - 1960.94 - 3.33 0.061 2128.75 432.2 -107.06 - - 3457.03 - - - - - - - - - 16.17 -
7680.63 743.15 -8.73 886 7682.20 no move -1.56 - - 1960.88 - - - 2128.69 - -107.06 - - 3454.44 - - - - - - - - - - -
7990.64 768.60 -7.92 917 7992.22 no move -1.56 - - 1961.12 - - - 2128.81 - -107.06 - - 3454.47 - - - - - - - - - - -
8300.65 793.18 -7.75 948 8302.23 no move -1.56 - - 1961.00 - - - 2128.81 - -107.06 - - 3453.59 - - - - - - - - - - -
8610.67 817.14 -7.86 979 8617.85 roll -1.56 - - 1960.94 - 3.74 0.127 689.75 -384.8 -107.06 - - 3453.44 - - - - - - - - - 16.17 -
8656.77 821.46 -9.24 988 8662.72 roll -1.56 - - 1961.00 - 3.32 0.063 2130.06 433.8 -107.06 - - 3454.12 - - - - - - - - - 16.18 -
8966.78 845.05 -7.77 1020 8968.35 no move -1.56 - - 1960.88 - - - 2130.69 - -107.06 - - 3452.97 - - - - - - - - - - -
9276.79 869.87 -8.21 1051 9278.36 no move -1.56 - - 1961.00 - - - 2130.62 - -107.06 - - 3453.00 - - - - - - - - - - -
9586.81 894.42 -7.53 1082 9588.38 no move -1.56 - - 1960.38 - - - 2130.75 - -107.06 - - 3452.75 - - - - - - - - - - -
9896.81 917.94 -7.50 1113 9902.62 roll -1.56 - - 1960.81 - 3.06 0.111 3360.50 401.9 -107.06 - - 3453.28 - - - - - - - - - 16.15 -
9951.07 922.83 -8.28 1124 9958.44 roll -1.56 - - 1961.25 - 3.06 0.057 2070.75 -421.5 -107.06 - - 3453.00 - - - - - - - - - 16.19 -
10266.86 945.49 -7.37 1156 10272.79 roll -1.56 - - 1961.25 - 3.22 0.109 3360.81 400.6 -107.06 - - 3453.03 - - - - - - - - - 16.18 -
10306.86 948.97 -8.68 1164 10312.66 roll -1.56 - - 1960.19 - 3.06 0.056 2069.75 -421.9 -107.06 - - 3453.66 - - - - - - - - - 16.19 -
10616.90 972.12 -7.31 1196 10622.99 roll -1.56 - - 1961.12 - 3.59 0.133 690.44 -384.2 -107.06 - - 3453.19 - - - - - - - - - 16.16 -
10671.14 976.96 -8.91 1207 10678.62 roll -1.56 - - 1960.69 - 3.32 0.062 2130.44 433.7 -107.06 - - 3452.91 - - - - - - - - - 16.18 -
10846 end dive: TARGET_DEPTH_EXCEEDED
10847 begin apogee
10848.73 990.28 -7.30 1225 10943.79 -0.42 2.49 0.121 2240.12 112.2 0.09 0.250 2120.69 -108.3 - 86.94 2.252 3017.75 -5.0 0.365 - - - - - - 16.14 15.53 12.75
10955 end apogee: CONTROL_FINISHED_OK
10955 begin climb
10957.97 991.57 - 1234 11070.14 1.56 3.90 0.059 2729.62 125.5 3.28 0.107 3361.38 378.3 107.06 95.86 2.185 2582.22 -4.5 0.342 - - - - - - 15.66 15.30 12.85
11112.93 982.83 10.08 1263 11120.24 roll 1.56 - - 2729.75 - 3.06 0.056 2123.44 -404.6 107.06 - - 2581.00 - - - - - - - - - 15.58 -
11428.70 949.83 10.38 1295 11430.28 VBD 1.56 - - 2729.88 - - - 2123.25 - 107.06 - - 2569.41 - - - - - - - - - - -
11738.72 919.39 9.37 1326 11744.58 done 1.56 - - 2728.88 - 3.13 0.106 3361.75 395.7 107.06 - - 2570.12 - - - - - - - - - 15.97 -
11973.01 894.52 10.56 1373 11980.27 done 1.56 - - 2729.00 - 2.97 0.056 2121.00 -417.8 107.06 - - 2568.25 - - - - - - - - - 16.02 -
12288.78 862.96 9.97 1405 12294.65 done 1.56 - - 2729.25 - 3.13 0.103 3360.94 396.1 107.06 - - 2565.38 - - - - - - - - - 16.04 -
12523.07 836.95 10.71 1452 12530.33 done 1.56 - - 2728.44 - 2.96 0.056 2120.00 -419.2 107.06 - - 2567.44 - - - - - - - - - 16.09 -
12838.84 805.78 9.26 1484 12844.72 done 1.56 - - 2728.75 - 3.13 0.104 3361.19 396.5 107.06 - - 2565.38 - - - - - - - - - 16.10 -
13063.14 782.80 10.07 1529 13070.65 done 1.56 - - 2729.25 - 2.95 0.056 2120.31 -420.6 107.06 - - 2564.12 - - - - - - - - - 16.11 -
13378.91 755.41 8.74 1561 13384.77 done 1.56 - - 2728.75 - 3.13 0.104 3360.25 396.1 107.06 - - 2562.94 - - - - - - - - - 16.12 -
13548.93 739.47 8.95 1595 13554.73 done 1.56 - - 2729.38 - 2.95 0.057 2121.50 -419.9 107.06 - - 2563.59 - - - - - - - - - 16.12 -
13858.94 713.74 8.81 1627 13860.51 VBD 1.56 - - 2729.12 - - - 2121.38 - 107.06 - - 2561.12 - - - - - - - - - - -
14168.97 686.30 8.99 1658 14174.83 done 1.56 - - 2728.56 - 3.13 0.104 3361.75 396.3 107.06 - - 2564.44 - - - - - - - - - 16.14 -
14298.99 673.08 10.96 1684 14304.75 done 1.56 - - 2728.19 - 2.94 0.057 2119.12 -422.7 107.06 - - 2564.50 - - - - - - - - - 16.14 -
14609.01 644.34 9.54 1716 14614.92 done 1.56 - - 2728.69 - 3.11 0.103 3362.81 399.9 107.06 - - 2562.69 - - - - - - - - - 16.14 -
14789.07 626.13 9.73 1752 14794.82 done 1.56 - - 2729.00 - 2.92 0.056 2118.44 -426.2 107.06 - - 2561.62 - - - - - - - - - 16.14 -
15099.11 598.76 8.52 1784 15100.68 VBD 1.56 - - 2729.25 - - - 2118.38 - 107.06 - - 2560.19 - - - - - - - - - - -
15409.15 573.59 7.57 1815 15415.00 done 1.56 - - 2729.56 - 3.09 0.103 3362.56 402.6 107.06 - - 2560.81 - - - - - - - - - 16.16 -
15643.67 554.82 7.56 1862 15650.68 done 1.56 - - 2729.00 - 2.90 0.056 2118.06 -429.1 107.06 - - 2561.16 - - - - - - - - - 16.13 -
15959.27 533.83 6.54 1894 15965.09 done 1.61 - - 2728.88 - 3.10 0.102 3362.62 401.5 107.06 - - 2563.16 - - - - - - - - - 16.17 -
16193.57 516.64 7.38 1941 16200.79 done 1.63 - - 2728.94 - 2.90 0.055 2118.44 -429.0 107.06 - - 2560.84 - - - - - - - - - 16.17 -
16509.34 496.42 6.47 1973 16511.10 1.68 0.13 0.077 2756.88 214.9 - - 2118.62 - 107.06 - - 2559.22 - - - - - - - - 16.21 - -
16819.37 474.33 6.96 2004 16825.21 done 1.71 - - 2757.31 - 3.11 0.101 3362.50 400.0 107.06 - - 2559.94 - - - - - - - - - 16.16 -
16873.64 470.18 7.53 2015 16880.86 done 1.73 - - 2757.00 - 2.91 0.056 2117.62 -427.8 107.06 - - 2561.34 - - - - - - - - - 16.14 -
17189.36 446.73 7.62 2047 17190.94 VBD 1.73 - - 2757.44 - - - 2118.25 - 107.06 - - 2559.25 - - - - - - - - - - -
17499.39 422.87 8.22 2078 17505.28 done 1.73 - - 2757.94 - 3.12 0.101 3362.25 398.7 107.06 - - 2560.00 - - - - - - - - - 16.17 -
17699.44 405.97 8.14 2118 17705.20 done 1.73 - - 2757.56 - 2.95 0.055 2118.56 -421.6 107.06 - - 2559.94 - - - - - - - - - 16.15 -
18009.50 384.99 6.34 2150 18016.73 1.78 0.10 0.094 2780.12 225.6 3.65 0.117 687.69 -392.0 107.06 - - 2558.38 - - - - - - - - 16.21 16.14 -
18135.24 375.70 7.25 2175 18141.20 done 1.80 - - 2779.38 - 3.47 0.061 2182.69 430.8 107.06 - - 2560.47 - - - - - - - - - 16.16 -
18445.24 357.50 5.85 2207 18446.82 VBD 1.87 - - 2780.69 - - - 2183.31 - 107.06 - - 2557.91 - - - - - - - - - - -
18755.27 340.24 5.36 2238 18762.67 1.95 0.25 0.050 2823.19 170.0 3.81 0.115 687.56 -392.6 107.06 - - 2556.91 - - - - - - - - 16.23 16.15 -
18991.22 322.89 7.35 2285 18997.18 done 1.97 - - 2823.12 - 3.46 0.062 2180.44 431.5 107.06 - - 2561.66 - - - - - - - - - 16.16 -
19301.23 303.63 6.07 2317 19306.99 done 2.03 - - 2823.94 - 2.95 0.104 3363.38 401.0 107.06 - - 2560.50 - - - - - - - - - 16.15 -
19481.26 292.65 6.03 2353 19487.12 2.09 0.16 0.065 2857.69 210.9 2.95 0.054 2117.56 -422.3 107.06 - - 2559.78 - - - - - - - - 16.15 16.14 -
19791.27 275.32 5.46 2385 19797.09 done 2.17 - - 2857.94 - 3.12 0.100 3363.81 399.4 107.06 - - 2559.66 - - - - - - - - - 16.11 -
19875.54 270.51 5.72 2402 19882.93 2.24 0.19 0.060 2895.12 195.7 2.94 0.055 2118.38 -423.6 107.06 - - 2561.56 - - - - - - - - 16.14 16.14 -
20191.29 255.36 4.84 2434 20243.72 VBD 2.32 - - 2895.62 - - - 2118.50 - 169.80 48.97 1.345 2325.50 -4.8 0.152 - - - - - - - - 12.83
20551.27 214.18 12.76 2471 20557.19 done 2.32 - - 2893.88 - 3.14 0.100 3361.19 395.8 169.80 - - 2322.03 - - - - - - - - - 15.98 -
20681.30 195.42 15.14 2497 20687.06 done 2.32 - - 2895.38 - 2.96 0.055 2121.94 -418.7 169.80 - - 2318.72 - - - - - - - - - 16.00 -
20991.30 153.99 12.99 2529 20997.22 done 2.32 - - 2895.38 - 3.13 0.100 3362.31 396.3 169.80 - - 2317.50 - - - - - - - - - 16.02 -
21131.35 136.32 11.96 2557 21137.11 done 2.32 - - 2894.69 - 2.96 0.054 2118.38 -420.2 169.80 - - 2318.84 - - - - - - - - - 16.03 -
21441.36 106.20 8.87 2589 21448.53 done 2.32 - - 2896.06 - 3.68 0.114 687.69 -388.8 169.80 - - 2315.50 - - - - - - - - - 16.03 -
21576.98 93.55 7.93 2616 21583.75 done 2.32 - - 2894.94 - 3.48 0.058 2184.19 430.0 169.80 - - 2315.44 - - - - - - - - - 16.03 -
21767.20 85.50 4.14 2654 21858.91 2.42 0.23 0.056 2937.00 182.9 3.93 0.111 688.69 -380.5 246.05 81.69 1.101 2016.25 -3.7 0.047 - - - - - - 16.07 15.72 12.82
22087.49 54.36 10.20 2717 22094.57 roll back 2.42 0.31 0.175 2921.25 -50.8 3.53 0.058 2181.75 423.0 246.05 - - 2014.91 - - - - - - - - 15.83 15.90 -
22278.16 42.96 4.85 2755 22353.53 2.50 0.27 0.049 2956.44 130.3 3.93 0.110 689.06 -379.8 308.58 63.15 1.037 1762.09 -4.0 0.027 - - - - - - 15.98 15.67 12.74
22582.05 22.79 2.86 2815 22694.40 2.63 0.18 0.060 2987.62 173.2 3.52 0.057 2184.81 424.9 409.97 99.68 1.012 1350.03 -4.1 0.015 - - - - - - 15.89 15.86 12.69
22867 end climb: SURFACE_DEPTH_REACHED
22868 begin surface coast
22893 end surface coast: CONTROL_FINISHED_OK
22893 begin surface
SM 2.15 - - - - 184.1 61.21 0.985 1083.4 16.1 21.47 0.041 1099.6 51.2 - 0.23 0.096 1067.2 4624.7 -10.586 - - 12.80 15.84 15.82 -