NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 55 * Raw log
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• Previous call tries 2 • 36.35 of 575.00 AH used of 24V (93.68% remains)
• Surface angle -59.5 deg, depth 1.37 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 618.01 (beyond SM_CC=475)
• GPS1 time: 51 s
• GPS2 time: 4 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
8.89 - - - 101.45 VBD -1.56 - - 186.69 - - - 2126.88 - -107.06 90.62 0.005 2497.75 - - - - - - - - - - 15.76
101.89 3.03 -1.79 18 158.57 -1.56 16.76 0.243 1960.31 105.8 3.83 0.124 690.25 -375.1 -107.06 24.12 0.006 3456.84 39.8 -3.315 - - - - - - 15.73 15.76 15.80
297.12 40.07 -15.57 56 303.70 roll -1.56 - - 1959.62 - 3.41 0.054 2129.12 422.0 -107.06 - - 3458.50 - - - - - - - - - 15.90 -
487.15 65.53 -14.05 94 493.68 roll -1.56 - - 1959.56 - 3.18 0.102 3360.75 387.3 -107.06 - - 3459.09 - - - - - - - - - 15.91 -
522.23 70.26 -13.60 101 528.54 roll -1.56 - - 1960.00 - 3.09 0.049 2069.00 -418.0 -107.06 - - 3459.66 - - - - - - - - - 15.94 -
712.17 90.94 -10.28 139 718.83 roll -1.56 - - 1959.94 - 3.61 0.120 689.88 -382.0 -107.06 - - 3458.97 - - - - - - - - - 15.95 -
747.35 94.66 -10.56 146 753.88 roll -1.56 - - 1960.50 - 3.38 0.053 2131.81 426.6 -107.06 - - 3458.91 - - - - - - - - - 15.99 -
942.35 112.97 -9.41 171 943.88 no move -1.56 - - 1960.31 - - - 2131.94 - -107.06 - - 3458.59 - - - - - - - - - - -
1252.36 142.68 -9.63 202 1259.35 roll -1.56 - - 1960.00 - 3.72 0.115 690.81 -387.4 -107.06 - - 3459.66 - - - - - - - - - 15.99 -
1297.75 147.17 -10.01 211 1303.85 roll -1.56 - - 1961.12 - 3.37 0.054 2131.56 427.5 -107.06 - - 3459.91 - - - - - - - - - 16.06 -
1607.81 174.07 -8.50 243 1609.38 no move -1.56 - - 1959.94 - - - 2132.19 - -107.06 - - 3459.41 - - - - - - - - - - -
1917.83 200.55 -8.74 274 1919.40 no move -1.56 - - 1960.31 - - - 2131.50 - -107.06 - - 3458.97 - - - - - - - - - - -
2227.86 228.27 -9.15 305 2235.07 roll -1.56 - - 1960.06 - 3.76 0.119 688.75 -383.7 -107.06 - - 3459.50 - - - - - - - - - 16.10 -
2317.75 237.70 -10.61 323 2325.42 roll -1.56 - - 1960.19 - 3.40 0.056 2129.88 423.9 -107.06 - - 3459.84 - - - - - - - - - 16.11 -
2633.55 266.08 -8.87 355 2635.12 no move -1.56 - - 1960.44 - - - 2129.62 - -107.06 - - 3459.50 - - - - - - - - - - -
2943.57 294.12 -9.07 386 2950.78 roll -1.56 - - 1960.44 - 3.76 0.120 689.88 -382.9 -107.06 - - 3458.84 - - - - - - - - - 16.12 -
2989.22 298.84 -10.43 395 2995.17 roll -1.56 - - 1960.25 - 3.40 0.058 2130.62 423.7 -107.06 - - 3460.50 - - - - - - - - - 16.14 -
3299.25 328.22 -9.73 427 3306.51 roll -1.56 - - 1959.50 - 3.79 0.123 689.94 -380.1 -107.06 - - 3458.47 - - - - - - - - - 16.14 -
3344.97 333.19 -10.58 436 3351.15 roll -1.56 - - 1959.81 - 3.38 0.059 2128.94 425.7 -107.06 - - 3461.53 - - - - - - - - - 16.15 -
3654.99 363.09 -9.68 468 3656.55 no move -1.56 - - 1960.44 - - - 2129.56 - -107.06 - - 3458.56 - - - - - - - - - - -
3965.01 392.67 -9.65 499 3972.20 roll -1.56 - - 1960.88 - 3.80 0.126 689.94 -378.8 -107.06 - - 3457.59 - - - - - - - - - 16.16 -
4100.66 406.92 -10.81 526 4106.67 roll -1.56 - - 1960.44 - 3.40 0.061 2129.25 423.3 -107.06 - - 3458.31 - - - - - - - - - 16.15 -
4410.70 435.43 -8.93 558 4412.28 no move -1.56 - - 1960.25 - - - 2129.00 - -107.06 - - 3457.06 - - - - - - - - - - -
4720.73 462.42 -8.77 589 4727.92 roll -1.56 - - 1960.19 - 3.79 0.124 690.00 -379.7 -107.06 - - 3455.53 - - - - - - - - - 16.17 -
4770.60 467.26 -9.81 599 4778.12 roll -1.56 - - 1960.44 - 3.41 0.061 2130.19 422.3 -107.06 - - 3457.94 - - - - - - - - - 16.17 -
5086.40 493.86 -8.39 631 5087.97 no move -1.56 - - 1960.12 - - - 2130.25 - -107.06 - - 3455.06 - - - - - - - - - - -
5396.42 520.52 -8.79 662 5403.91 roll -1.56 - - 1960.31 - 3.81 0.127 690.19 -378.0 -107.06 - - 3455.50 - - - - - - - - - 16.18 -
5456.71 526.47 -9.90 674 5464.23 roll -1.56 - - 1959.56 - 3.42 0.062 2127.75 420.3 -107.06 - - 3456.59 - - - - - - - - - 16.19 -
5772.49 553.72 -8.59 706 5779.67 roll -1.56 - - 1959.38 - 3.79 0.126 690.06 -379.3 -107.06 - - 3456.22 - - - - - - - - - 16.19 -
5842.36 560.33 -9.35 720 5849.89 roll -1.56 - - 1960.50 - 3.40 0.062 2129.56 423.4 -107.06 - - 3454.47 - - - - - - - - - 16.19 -
6158.17 587.25 -8.79 752 6165.35 roll -1.56 - - 1960.81 - 3.79 0.126 690.06 -379.8 -107.06 - - 3453.50 - - - - - - - - - 16.19 -
6203.80 591.78 -9.66 761 6209.83 roll -1.56 - - 1960.50 - 3.41 0.062 2128.62 421.9 -107.06 - - 3454.78 - - - - - - - - - 16.20 -
6513.82 619.32 -8.78 793 6515.41 no move -1.56 - - 1960.00 - - - 2129.19 - -107.06 - - 3452.53 - - - - - - - - - - -
6823.85 645.57 -8.60 824 6831.10 roll -1.56 - - 1959.56 - 3.81 0.128 689.88 -377.8 -107.06 - - 3451.66 - - - - - - - - - 16.20 -
6909.55 653.73 -9.32 841 6915.80 roll -1.56 - - 1959.81 - 3.40 0.064 2126.75 422.6 -107.06 - - 3453.59 - - - - - - - - - 16.21 -
7219.58 679.51 -8.36 873 7226.79 roll -1.56 - - 1960.62 - 3.77 0.128 691.06 -380.8 -107.06 - - 3452.00 - - - - - - - - - 16.20 -
7279.47 685.01 -9.07 885 7287.25 roll -1.56 - - 1958.62 - 3.40 0.063 2126.31 422.1 -107.06 - - 3454.44 - - - - - - - - - 16.20 -
7595.26 708.83 -7.35 917 7602.46 roll -1.56 - - 1959.94 - 3.79 0.129 690.88 -378.7 -107.06 - - 3453.09 - - - - - - - - - 16.19 -
7670.92 715.23 -8.45 932 7676.92 roll -1.56 - - 1959.62 - 3.41 0.064 2127.62 421.3 -107.06 - - 3453.72 - - - - - - - - - 16.20 -
7980.94 737.32 -7.51 964 7988.13 roll -1.56 - - 1960.12 - 3.78 0.130 690.75 -380.1 -107.06 - - 3450.25 - - - - - - - - - 16.20 -
8060.82 744.02 -8.22 980 8068.29 roll -1.56 - - 1960.38 - 3.39 0.065 2128.81 424.2 -107.06 - - 3450.91 - - - - - - - - - 16.19 -
8376.62 767.83 -7.65 1012 8378.19 no move -1.56 - - 1960.12 - - - 2128.56 - -107.06 - - 3449.50 - - - - - - - - - - -
8686.63 793.24 -8.24 1043 8694.09 roll -1.56 - - 1960.06 - 3.79 0.130 689.62 -379.7 -107.06 - - 3450.88 - - - - - - - - - 16.20 -
8766.89 801.01 -9.89 1059 8774.37 roll -1.56 - - 1960.38 - 3.38 0.065 2127.75 425.5 -107.06 - - 3450.50 - - - - - - - - - 16.19 -
9082.69 826.82 -8.10 1091 9089.88 roll -1.56 - - 1960.88 - 3.79 0.130 689.75 -379.4 -107.06 - - 3448.47 - - - - - - - - - 16.20 -
9162.56 834.18 -9.26 1107 9170.08 roll -1.56 - - 1960.44 - 3.40 0.066 2127.56 422.9 -107.06 - - 3449.31 - - - - - - - - - 16.20 -
9478.35 859.07 -7.56 1139 9485.55 roll -1.56 - - 1959.62 - 3.78 0.130 690.44 -380.2 -107.06 - - 3448.50 - - - - - - - - - 16.20 -
9538.23 864.41 -8.85 1151 9545.70 roll -1.56 - - 1960.12 - 3.37 0.066 2127.06 426.3 -107.06 - - 3448.66 - - - - - - - - - 16.20 -
9854.02 888.75 -7.60 1183 9861.20 roll -1.56 - - 1960.12 - 3.76 0.131 689.75 -382.3 -107.06 - - 3448.25 - - - - - - - - - 16.20 -
9909.65 893.52 -8.66 1194 9915.85 roll -1.56 - - 1960.00 - 3.38 0.066 2127.94 425.5 -107.06 - - 3448.69 - - - - - - - - - 16.21 -
10219.67 917.49 -7.67 1226 10221.25 no move -1.56 - - 1960.06 - - - 2127.81 - -107.06 - - 3447.06 - - - - - - - - - - -
10529.70 940.74 -7.28 1257 10536.90 roll -1.56 - - 1960.06 - 3.79 0.132 690.00 -379.4 -107.06 - - 3446.59 - - - - - - - - - 16.20 -
10619.59 948.25 -8.37 1275 10627.11 roll -1.56 - - 1960.00 - 3.38 0.066 2128.31 425.5 -107.06 - - 3447.72 - - - - - - - - - 16.20 -
10935.39 971.75 -7.30 1307 10936.96 no move -1.56 - - 1960.19 - - - 2128.81 - -107.06 - - 3446.62 - - - - - - - - - - -
11195 end dive: TARGET_DEPTH_EXCEEDED
11195 begin apogee
11197.15 990.14 -7.33 1333 11290.97 -0.42 2.45 0.128 2238.81 113.7 0.09 0.250 2119.69 -101.3 - 83.86 2.103 3020.44 -5.1 0.395 - - - - - - 16.17 15.56 13.00
11302 end apogee: CONTROL_FINISHED_OK
11302 begin climb
11305.14 991.35 - 1342 11412.20 1.56 3.68 0.070 2726.81 132.6 3.35 0.109 3359.94 370.2 107.06 92.62 2.041 2583.78 -4.7 0.378 - - - - - - 15.70 15.29 12.62
11454.99 982.31 10.26 1366 11462.30 roll 1.56 - - 2726.25 - 3.10 0.059 2123.12 -399.0 107.06 - - 2581.91 - - - - - - - - - 15.59 -
11770.76 947.02 11.20 1398 11776.68 roll 1.56 - - 2726.25 - 3.23 0.106 3361.19 383.3 107.06 - - 2576.25 - - - - - - - - - 15.87 -
11915.03 929.74 11.71 1427 11922.35 done 1.56 - - 2725.94 - 3.04 0.059 2122.94 -407.3 107.06 - - 2575.75 - - - - - - - - - 15.93 -
12230.80 895.87 11.01 1459 12236.73 done 1.56 - - 2726.56 - 3.21 0.106 3360.56 385.6 107.06 - - 2571.16 - - - - - - - - - 16.01 -
12355.08 881.54 11.68 1484 12362.39 done 1.56 - - 2726.50 - 3.01 0.061 2121.75 -411.6 107.06 - - 2572.66 - - - - - - - - - 16.03 -
12670.85 848.31 10.15 1516 12676.99 done 1.56 - - 2725.88 - 3.20 0.104 3362.06 387.6 107.06 - - 2572.59 - - - - - - - - - 16.06 -
12745.12 840.33 11.20 1531 12752.42 done 1.56 - - 2726.88 - 3.03 0.059 2121.62 -409.4 107.06 - - 2569.81 - - - - - - - - - 16.09 -
13060.88 809.23 9.84 1563 13062.45 VBD 1.56 - - 2726.69 - - - 2121.81 - 107.06 - - 2568.31 - - - - - - - - - - -
13370.91 780.74 8.85 1594 13376.85 done 1.56 - - 2725.56 - 3.20 0.105 3361.31 387.3 107.06 - - 2570.75 - - - - - - - - - 16.11 -
13460.92 772.20 9.61 1612 13466.72 done 1.56 - - 2725.94 - 2.97 0.060 2120.06 -417.9 107.06 - - 2570.50 - - - - - - - - - 16.13 -
13771.16 744.55 8.74 1644 13776.83 done 1.56 - - 2726.81 - 3.19 0.105 3360.81 388.9 107.06 - - 2569.44 - - - - - - - - - 16.12 -
13875.20 734.21 9.78 1665 13882.50 done 1.56 - - 2726.50 - 2.99 0.060 2119.94 -415.0 107.06 - - 2569.22 - - - - - - - - - 16.15 -
14190.97 706.96 8.21 1697 14196.89 done 1.56 - - 2726.88 - 3.20 0.105 3361.69 388.0 107.06 - - 2568.97 - - - - - - - - - 16.12 -
14320.99 695.84 8.47 1723 14327.03 done 1.56 - - 2726.88 - 2.99 0.059 2122.00 -414.6 107.06 - - 2567.50 - - - - - - - - - 16.15 -
14631.05 671.71 7.53 1755 14632.63 VBD 1.58 - - 2727.06 - - - 2122.31 - 107.06 - - 2565.78 - - - - - - - - - - -
14941.06 647.83 7.59 1786 14946.93 done 1.58 - - 2726.56 - 3.19 0.106 3360.88 388.3 107.06 - - 2566.53 - - - - - - - - - 16.16 -
15175.38 628.53 8.27 1833 15182.68 done 1.58 - - 2727.38 - 2.99 0.060 2121.88 -414.4 107.06 - - 2566.75 - - - - - - - - - 16.16 -
15491.17 603.97 7.69 1865 15492.75 VBD 1.58 - - 2726.38 - - - 2121.50 - 107.06 - - 2564.44 - - - - - - - - - - -
15801.20 579.49 7.85 1896 15802.77 VBD 1.58 - - 2726.69 - - - 2121.62 - 107.06 - - 2565.28 - - - - - - - - - - -
16111.23 555.22 7.77 1927 16117.11 done 1.58 - - 2726.94 - 3.19 0.105 3361.50 388.7 107.06 - - 2566.12 - - - - - - - - - 16.16 -
16345.52 534.87 8.87 1974 16352.83 done 1.58 - - 2727.19 - 2.96 0.060 2120.62 -419.2 107.06 - - 2565.69 - - - - - - - - - 16.18 -
16661.34 511.10 7.29 2006 16667.44 done 1.60 - - 2727.00 - 3.18 0.103 3362.25 390.4 107.06 - - 2565.53 - - - - - - - - - 16.18 -
16861.34 495.13 7.83 2046 16867.10 done 1.60 - - 2726.94 - 2.97 0.059 2117.69 -419.0 107.06 - - 2566.06 - - - - - - - - - 16.18 -
17171.41 474.28 6.64 2078 17172.99 VBD 1.64 - - 2726.62 - - - 2118.00 - 107.06 - - 2565.03 - - - - - - - - - - -
17481.43 454.24 6.41 2109 17487.45 1.69 0.20 0.068 2759.31 163.5 3.18 0.102 3361.31 391.0 107.06 - - 2565.69 - - - - - - - - 16.18 16.18 -
17645.72 441.95 7.29 2142 17652.97 done 1.72 - - 2759.00 - 2.98 0.058 2121.19 -416.1 107.06 - - 2566.25 - - - - - - - - - 16.20 -
17961.49 421.11 6.50 2174 17963.07 VBD 1.76 - - 2759.00 - - - 2121.06 - 107.06 - - 2564.34 - - - - - - - - - - -
18271.51 401.91 6.04 2205 18273.37 1.82 0.36 0.032 2782.19 64.4 - - 2121.50 - 107.06 - - 2563.84 - - - - - - - - 16.22 - -
18581.54 381.26 6.27 2236 18583.29 1.88 0.14 0.047 2795.44 94.6 - - 2121.06 - 107.06 - - 2563.91 - - - - - - - - 16.21 - -
18891.56 361.40 6.53 2267 18898.98 done 1.92 - - 2795.62 - 3.72 0.120 688.75 -385.0 107.06 - - 2564.97 - - - - - - - - - 16.15 -
19127.61 343.58 7.32 2314 19134.88 1.94 0.22 0.040 2812.50 76.7 3.57 0.066 2179.50 417.6 107.06 - - 2562.41 - - - - - - - - 16.18 16.18 -
19442.62 322.46 6.98 2346 19449.84 done 1.98 - - 2813.69 - 3.86 0.115 689.44 -386.0 107.06 - - 2562.16 - - - - - - - - - 16.18 -
19632.60 308.29 6.96 2384 19640.27 2.01 0.17 0.047 2826.44 75.0 3.57 0.065 2179.25 417.3 107.06 - - 2565.81 - - - - - - - - 16.25 16.18 -
19948.37 290.29 5.81 2416 19950.12 2.08 0.17 0.042 2844.88 108.5 - - 2178.81 - 107.06 - - 2563.12 - - - - - - - - 16.23 - -
20258.38 272.93 5.64 2447 20260.13 2.15 0.18 0.042 2862.50 97.9 - - 2179.75 - 107.06 - - 2563.28 - - - - - - - - 16.22 - -
20568.40 254.65 6.03 2478 20574.35 2.21 0.13 0.055 2879.06 127.4 3.05 0.105 3360.69 387.2 107.06 - - 2564.31 - - - - - - - - 16.20 16.14 -
20802.68 238.50 6.79 2525 20810.16 done 2.25 - - 2878.25 - 2.97 0.057 2117.69 -418.5 107.06 - - 2563.91 - - - - - - - - - 16.17 -
21118.45 221.51 5.24 2557 21124.57 2.33 0.25 0.053 2915.25 148.0 3.21 0.099 3361.44 387.5 107.06 - - 2565.12 - - - - - - - - 16.19 16.12 -
21308.49 210.61 5.65 2595 21314.20 done 2.40 - - 2915.19 - 2.99 0.056 2117.62 -416.0 107.06 - - 2565.12 - - - - - - - - - 16.15 -
21618.50 196.13 4.41 2627 21708.58 2.50 0.25 0.058 2955.25 160.2 3.27 0.099 3360.50 380.1 178.05 79.31 1.036 2292.41 -3.4 0.107 - - - - - - 16.18 15.80 12.97
21836.35 171.44 14.92 2670 21843.58 roll 2.50 - - 2953.88 - 3.03 0.056 2119.75 -409.5 178.05 - - 2291.22 - - - - - - - - - 15.90 -
22152.04 128.14 12.85 2702 22158.22 done 2.50 - - 2955.19 - 3.20 0.098 3360.62 387.8 178.05 - - 2286.25 - - - - - - - - - 15.99 -
22387.11 97.42 13.48 2749 22393.63 done 2.50 - - 2954.69 - 3.00 0.056 2119.31 -413.8 178.05 - - 2284.91 - - - - - - - - - 16.02 -
22577.21 79.27 6.16 2787 22581.64 VBD 2.55 - - 2954.81 - - - 2119.81 - 178.05 - - 2284.69 - - - - - - - - - - -
22762.23 70.83 3.46 2824 22874.26 2.67 0.27 0.055 2995.12 149.3 3.27 0.096 3362.44 380.0 267.66 100.80 0.913 1927.91 -3.5 0.045 - - - - - - 16.07 15.67 12.72
23077.70 44.69 12.18 2886 23084.30 roll 2.67 - - 2995.31 - 3.01 0.055 2118.44 -413.3 267.66 - - 1926.34 - - - - - - - - - 15.85 -
23267.83 24.87 11.25 2924 23275.78 roll 2.67 - - 2995.56 - 3.70 0.116 688.81 -386.4 267.66 - - 1926.19 - - - - - - - - - 15.90 -
23504.42 23.15 0.41 2971 23537.86 2.86 0.32 0.053 3042.75 147.5 3.60 0.058 2183.88 415.3 416.95 25.98 0.826 1841.03 -3.3 0.015 - - - - - - 15.97 15.96 12.79
23538 end climb: NO_VERTICAL_VELOCITY
23538 begin surface
SM 1.21 - - - - 190.6 - - 497.7 - 21.69 0.049 527.5 24.3 - 0.24 0.100 467.8 1934.2 -2.392 - - 30.00 15.63 15.61 -