NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 68 * Raw log
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• Previous call tries 1 • 40.67 of 575.00 AH used of 24V (92.93% remains)
• Surface angle -61.0 deg, depth 1.44 m • Intended pitch -17.1 deg, speed -8.049 cm/s
• VBD pumped to 474.89 (SM_CC=475)
• GPS1 time: 50 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
8.90 - - - 80.81 VBD -1.56 - - 180.38 - - - 2130.44 - -107.06 70.26 0.005 2570.72 - - - - - - - - - - 15.77
81.25 3.51 -3.22 14 132.41 -1.56 16.97 0.246 1959.81 104.9 3.71 0.124 691.69 -387.8 -107.06 21.40 0.006 3457.78 41.5 -4.008 - - - - - - 15.74 15.75 15.79
230.78 34.36 -22.77 43 237.31 roll -1.56 - - 1959.75 - 3.36 0.057 2128.38 427.6 -107.06 - - 3458.75 - - - - - - - - - 15.86 -
420.80 63.47 -14.47 81 425.17 no move -1.56 - - 1959.94 - - - 2128.94 - -107.06 - - 3459.50 - - - - - - - - - - -
605.82 86.65 -11.23 118 610.19 no move -1.56 - - 1959.69 - - - 2129.19 - -107.06 - - 3459.66 - - - - - - - - - - -
795.83 106.62 -11.10 150 801.77 roll -1.56 - - 1959.50 - 3.67 0.117 690.12 -392.1 -107.06 - - 3461.09 - - - - - - - - - 15.97 -
900.09 120.71 -13.36 171 907.33 roll -1.56 - - 1959.69 - 3.30 0.056 2129.31 436.1 -107.06 - - 3460.97 - - - - - - - - - 16.02 -
1215.86 153.97 -9.99 203 1221.76 roll -1.56 - - 1959.81 - 3.66 0.118 689.69 -393.3 -107.06 - - 3461.88 - - - - - - - - - 16.01 -
1300.13 163.42 -11.39 220 1307.37 roll -1.56 - - 1959.56 - 3.30 0.057 2130.75 436.7 -107.06 - - 3460.56 - - - - - - - - - 16.05 -
1615.90 193.95 -9.16 252 1621.81 roll -1.56 - - 1959.75 - 3.67 0.119 690.06 -392.6 -107.06 - - 3461.94 - - - - - - - - - 16.03 -
1665.90 199.07 -10.56 262 1672.08 roll -1.56 - - 1959.06 - 3.30 0.057 2130.38 436.5 -107.06 - - 3461.44 - - - - - - - - - 16.04 -
1975.96 226.15 -8.96 294 1977.54 no move -1.56 - - 1960.00 - - - 2131.12 - -107.06 - - 3460.66 - - - - - - - - - - -
2285.99 255.35 -9.89 325 2293.12 roll -1.56 - - 1959.88 - 3.67 0.121 689.88 -392.7 -107.06 - - 3461.25 - - - - - - - - - 16.07 -
2355.93 263.48 -11.53 339 2363.35 roll -1.56 - - 1959.56 - 3.29 0.059 2131.12 438.1 -107.06 - - 3460.84 - - - - - - - - - 16.08 -
2671.72 295.20 -9.77 371 2677.82 roll -1.56 - - 1959.19 - 3.66 0.122 688.62 -394.1 -107.06 - - 3461.53 - - - - - - - - - 16.08 -
2725.97 301.51 -11.33 382 2733.43 roll -1.56 - - 1959.19 - 3.31 0.059 2131.19 435.8 -107.06 - - 3461.91 - - - - - - - - - 16.09 -
3041.75 331.79 -9.51 414 3048.89 roll -1.56 - - 1958.44 - 3.68 0.122 690.00 -391.6 -107.06 - - 3461.28 - - - - - - - - - 16.13 -
3107.34 338.83 -10.58 427 3113.28 roll -1.56 - - 1959.44 - 3.32 0.060 2130.00 433.7 -107.06 - - 3462.00 - - - - - - - - - 16.15 -
3417.62 366.47 -8.64 459 3419.20 no move -1.56 - - 1959.62 - - - 2129.38 - -107.06 - - 3460.06 - - - - - - - - - - -
3727.40 393.59 -8.93 490 3734.53 roll -1.56 - - 1960.06 - 3.68 0.124 689.62 -391.2 -107.06 - - 3461.12 - - - - - - - - - 16.16 -
3812.98 402.41 -10.35 507 3818.91 roll -1.56 - - 1959.62 - 3.30 0.061 2130.12 436.5 -107.06 - - 3461.16 - - - - - - - - - 16.16 -
4123.01 432.15 -9.93 539 4124.58 no move -1.56 - - 1959.81 - - - 2130.69 - -107.06 - - 3459.94 - - - - - - - - - - -
4433.03 462.00 -9.51 570 4440.17 roll -1.56 - - 1959.44 - 3.70 0.125 689.81 -389.4 -107.06 - - 3458.72 - - - - - - - - - 16.17 -
4528.63 472.39 -11.08 589 4534.58 roll -1.56 - - 1959.88 - 3.34 0.062 2130.12 431.2 -107.06 - - 3461.06 - - - - - - - - - 16.19 -
4838.66 501.44 -8.78 621 4840.24 no move -1.56 - - 1959.62 - - - 2129.94 - -107.06 - - 3460.00 - - - - - - - - - - -
5148.69 527.32 -7.87 652 5155.90 roll -1.56 - - 1960.56 - 3.71 0.126 690.06 -388.1 -107.06 - - 3459.31 - - - - - - - - - 16.18 -
5244.35 535.80 -8.88 671 5250.55 roll -1.56 - - 1958.88 - 3.33 0.063 2128.12 431.8 -107.06 - - 3460.72 - - - - - - - - - 16.19 -
5554.39 560.12 -7.63 703 5561.53 roll -1.56 - - 1960.12 - 3.69 0.127 689.81 -389.8 -107.06 - - 3458.44 - - - - - - - - - 16.19 -
5624.21 566.52 -9.33 717 5631.69 roll -1.56 - - 1959.88 - 3.31 0.063 2130.75 435.3 -107.06 - - 3458.69 - - - - - - - - - 16.20 -
5939.99 592.63 -8.49 749 5947.18 roll -1.56 - - 1959.69 - 3.72 0.127 689.88 -387.3 -107.06 - - 3457.03 - - - - - - - - - 16.19 -
6035.97 602.14 -9.93 768 6041.59 roll -1.56 - - 1960.44 - 3.32 0.064 2125.62 432.5 -107.06 - - 3457.72 - - - - - - - - - 16.18 -
6345.67 629.87 -8.86 800 6352.88 roll -1.56 - - 1959.50 - 3.72 0.128 690.88 -385.7 -107.06 - - 3457.62 - - - - - - - - - 16.19 -
6405.56 635.95 -10.04 812 6413.04 roll -1.56 - - 1958.62 - 3.33 0.063 2128.62 431.8 -107.06 - - 3459.69 - - - - - - - - - 16.20 -
6721.36 663.12 -8.58 844 6722.93 no move -1.56 - - 1959.50 - - - 2129.12 - -107.06 - - 3456.56 - - - - - - - - - - -
7031.38 689.14 -7.88 875 7038.82 roll -1.56 - - 1959.19 - 3.71 0.128 688.94 -388.2 -107.06 - - 3456.56 - - - - - - - - - 16.20 -
7107.39 696.40 -9.40 890 7113.34 roll -1.56 - - 1959.88 - 3.34 0.064 2131.56 431.9 -107.06 - - 3457.03 - - - - - - - - - 16.19 -
7417.42 721.38 -8.31 922 7419.00 no move -1.56 - - 1959.75 - - - 2130.75 - -107.06 - - 3454.97 - - - - - - - - - - -
7727.44 747.47 -8.22 953 7734.64 roll -1.56 - - 1958.56 - 3.74 0.129 689.75 -385.3 -107.06 - - 3456.75 - - - - - - - - - 16.20 -
7833.11 757.32 -9.20 974 7839.07 roll -1.56 - - 1959.19 - 3.36 0.066 2127.25 427.8 -107.06 - - 3455.91 - - - - - - - - - 16.20 -
8143.16 782.26 -7.95 1006 8150.36 roll -1.56 - - 1959.12 - 3.74 0.129 690.00 -384.3 -107.06 - - 3454.31 - - - - - - - - - 16.19 -
8278.82 794.71 -9.02 1033 8284.77 roll -1.56 - - 1960.06 - 3.35 0.066 2128.94 429.5 -107.06 - - 3455.44 - - - - - - - - - 16.20 -
8588.85 818.68 -7.70 1065 8596.05 roll -1.56 - - 1958.25 - 3.74 0.129 690.19 -384.7 -107.06 - - 3454.03 - - - - - - - - - 16.20 -
8644.49 823.59 -8.83 1076 8650.45 roll -1.56 - - 1959.81 - 3.36 0.066 2127.69 427.8 -107.06 - - 3454.12 - - - - - - - - - 16.21 -
8954.52 847.46 -7.62 1108 8961.71 roll -1.56 - - 1958.94 - 3.73 0.131 691.44 -385.1 -107.06 - - 3453.53 - - - - - - - - - 16.20 -
9030.17 854.17 -8.98 1123 9036.11 roll -1.56 - - 1959.38 - 3.35 0.066 2126.19 428.3 -107.06 - - 3454.12 - - - - - - - - - 16.20 -
9340.20 878.40 -7.75 1155 9341.77 no move -1.56 - - 1959.38 - - - 2126.62 - -107.06 - - 3452.88 - - - - - - - - - - -
9650.22 902.37 -7.72 1186 9657.42 roll -1.56 - - 1959.19 - 3.74 0.130 690.81 -383.9 -107.06 - - 3453.91 - - - - - - - - - 16.20 -
9785.88 914.49 -8.85 1213 9791.98 roll -1.56 - - 1959.56 - 3.36 0.067 2126.56 427.3 -107.06 - - 3454.00 - - - - - - - - - 16.20 -
10095.91 937.85 -7.20 1245 10103.10 roll -1.56 - - 1958.94 - 3.76 0.131 690.69 -381.9 -107.06 - - 3451.81 - - - - - - - - - 16.19 -
10185.79 945.58 -8.40 1263 10193.51 roll -1.56 - - 1959.44 - 3.37 0.067 2126.06 425.9 -107.06 - - 3453.59 - - - - - - - - - 16.20 -
10501.58 968.78 -7.47 1295 10508.77 roll -1.56 - - 1959.19 - 3.76 0.133 689.56 -382.0 -107.06 - - 3453.12 - - - - - - - - - 16.20 -
10557.23 973.45 -8.65 1306 10563.21 roll -1.56 - - 1959.75 - 3.38 0.066 2128.69 425.8 -107.06 - - 3452.28 - - - - - - - - - 16.19 -
10787 end dive: TARGET_DEPTH_EXCEEDED
10787 begin apogee
10788.94 990.31 -7.35 1330 10883.13 -0.42 2.65 0.125 2240.44 105.9 0.09 0.259 2121.56 -79.2 - 84.86 2.125 3018.00 -5.1 0.394 - - - - - - 16.16 15.56 12.96
10886 end apogee: CONTROL_FINISHED_OK
10886 begin climb
10889.13 991.54 - 1339 10992.56 1.56 3.86 0.066 2726.94 126.0 - - 2121.69 - 107.06 93.33 2.058 2582.81 -4.7 0.371 - - - - - - 15.66 - 12.68
11296.20 955.39 11.14 1380 11302.16 done 1.56 - - 2727.06 - 3.20 0.108 3360.75 387.2 107.06 - - 2572.03 - - - - - - - - - 15.84 -
11520.49 929.83 11.15 1425 11527.79 done 1.56 - - 2727.88 - 3.00 0.061 2134.88 -408.6 107.06 - - 2571.50 - - - - - - - - - 15.95 -
11836.25 898.71 10.09 1457 11837.83 VBD 1.56 - - 2728.06 - - - 2135.00 - 107.06 - - 2567.50 - - - - - - - - - - -
12146.28 866.33 11.25 1488 12152.12 done 1.56 - - 2726.69 - 3.13 0.106 3361.31 391.8 107.06 - - 2569.97 - - - - - - - - - 16.04 -
12360.55 841.02 12.47 1531 12367.85 done 1.56 - - 2727.56 - 2.95 0.059 2119.88 -420.8 107.06 - - 2567.38 - - - - - - - - - 16.08 -
12676.33 807.04 10.41 1563 12682.20 done 1.56 - - 2727.06 - 3.16 0.105 3360.19 392.5 107.06 - - 2566.31 - - - - - - - - - 16.11 -
12780.60 795.13 11.09 1584 12787.87 done 1.56 - - 2728.12 - 2.96 0.060 2120.62 -418.8 107.06 - - 2566.69 - - - - - - - - - 16.10 -
13096.38 764.09 9.83 1616 13102.24 done 1.56 - - 2727.44 - 3.15 0.104 3359.75 393.4 107.06 - - 2565.28 - - - - - - - - - 16.13 -
13150.64 758.00 11.48 1627 13157.91 done 1.56 - - 2726.94 - 2.94 0.060 2122.81 -420.7 107.06 - - 2565.66 - - - - - - - - - 16.13 -
13466.42 727.18 9.59 1659 13472.28 done 1.56 - - 2728.25 - 3.12 0.104 3360.81 396.8 107.06 - - 2566.56 - - - - - - - - - 16.13 -
13526.43 721.31 9.47 1671 13532.19 done 1.56 - - 2728.06 - 2.94 0.059 2117.75 -422.8 107.06 - - 2565.00 - - - - - - - - - 16.15 -
13836.45 693.88 9.00 1703 13842.32 done 1.56 - - 2728.12 - 3.17 0.105 3360.69 392.1 107.06 - - 2565.09 - - - - - - - - - 16.15 -
13930.73 684.62 9.78 1722 13938.00 done 1.56 - - 2728.44 - 2.93 0.059 2120.69 -423.2 107.06 - - 2563.41 - - - - - - - - - 16.15 -
14246.50 655.80 8.98 1754 14252.38 done 1.56 - - 2728.25 - 3.15 0.104 3361.38 393.9 107.06 - - 2564.62 - - - - - - - - - 16.16 -
14380.78 643.34 9.18 1781 14388.33 done 1.56 - - 2728.69 - 2.93 0.059 2118.94 -424.0 107.06 - - 2563.16 - - - - - - - - - 16.16 -
14696.55 617.00 8.10 1813 14702.42 done 1.56 - - 2728.06 - 3.13 0.103 3360.00 396.5 107.06 - - 2563.66 - - - - - - - - - 16.17 -
14836.58 604.12 8.96 1841 14842.38 done 1.56 - - 2728.75 - 2.93 0.059 2120.69 -423.0 107.06 - - 2563.22 - - - - - - - - - 16.17 -
15146.60 579.29 8.14 1873 15152.46 done 1.56 - - 2728.62 - 3.13 0.103 3362.19 396.6 107.06 - - 2563.31 - - - - - - - - - 16.18 -
15296.64 566.14 8.76 1903 15302.38 done 1.56 - - 2728.81 - 2.92 0.058 2119.25 -425.7 107.06 - - 2562.78 - - - - - - - - - 16.17 -
15606.70 543.50 6.42 1935 15612.50 done 1.61 - - 2728.75 - 3.10 0.102 3363.44 401.4 107.06 - - 2563.38 - - - - - - - - - 16.17 -
15826.70 527.25 7.59 1979 15832.47 done 1.61 - - 2729.00 - 2.94 0.058 2119.38 -423.1 107.06 - - 2562.41 - - - - - - - - - 16.17 -
16136.77 505.48 6.96 2011 16142.82 done 1.65 - - 2728.00 - 3.11 0.103 3362.88 399.8 107.06 - - 2563.53 - - - - - - - - - 16.18 -
16286.76 493.62 8.03 2041 16292.55 done 1.65 - - 2727.94 - 2.93 0.058 2118.56 -424.7 107.06 - - 2563.78 - - - - - - - - - 16.19 -
16596.82 471.74 6.65 2073 16602.81 1.69 0.28 0.038 2748.94 75.0 3.10 0.102 3363.19 401.5 107.06 - - 2561.31 - - - - - - - - 16.24 16.17 -
16676.80 465.67 7.74 2089 16682.59 done 1.69 - - 2748.31 - 2.95 0.058 2119.00 -421.8 107.06 - - 2563.34 - - - - - - - - - 16.18 -
16986.86 444.24 6.54 2121 16992.67 done 1.73 - - 2748.94 - 3.11 0.102 3361.69 399.6 107.06 - - 2561.16 - - - - - - - - - 16.19 -
17086.97 437.52 6.76 2141 17092.80 1.77 0.28 0.036 2767.62 66.7 2.93 0.058 2118.44 -424.3 107.06 - - 2563.88 - - - - - - - - 16.22 16.18 -
17396.90 417.83 6.59 2173 17398.47 VBD 1.82 - - 2769.12 - - - 2118.56 - 107.06 - - 2560.53 - - - - - - - - - - -
17706.92 396.95 7.09 2204 17708.73 1.84 0.22 0.058 2797.88 130.7 - - 2118.69 - 107.06 - - 2560.53 - - - - - - - - 16.23 - -
18016.90 372.79 8.00 2235 18023.06 done 1.84 - - 2798.12 - 3.11 0.100 3362.31 399.9 107.06 - - 2562.03 - - - - - - - - - 16.17 -
18251.22 354.30 7.53 2282 18258.45 done 1.86 - - 2798.12 - 2.93 0.057 2117.94 -424.7 107.06 - - 2561.25 - - - - - - - - - 16.18 -
18567.00 333.00 6.56 2314 18572.81 done 1.90 - - 2797.62 - 3.11 0.101 3362.12 400.1 107.06 - - 2562.31 - - - - - - - - - 16.19 -
18687.01 324.56 7.11 2338 18692.72 done 1.93 - - 2797.88 - 2.92 0.057 2116.75 -426.5 107.06 - - 2560.97 - - - - - - - - - 16.18 -
18997.03 307.41 5.20 2370 19003.06 2.02 0.31 0.051 2838.31 130.4 3.08 0.100 3363.81 404.9 107.06 - - 2562.88 - - - - - - - - 16.22 16.17 -
19051.28 304.01 6.18 2381 19058.53 done 2.07 - - 2839.19 - 2.91 0.056 2116.81 -428.5 107.06 - - 2561.78 - - - - - - - - - 16.19 -
19367.14 286.98 5.16 2413 19374.39 2.16 0.29 0.051 2873.06 116.8 3.62 0.118 688.44 -394.6 107.06 - - 2559.72 - - - - - - - - 16.20 16.14 -
19502.90 278.24 6.64 2440 19509.10 done 2.20 - - 2873.12 - 3.46 0.064 2182.94 431.9 107.06 - - 2559.94 - - - - - - - - - 16.18 -
19812.90 260.42 5.32 2472 19818.85 2.29 0.22 0.052 2905.31 146.3 2.90 0.103 3365.25 407.7 107.06 - - 2560.22 - - - - - - - - 16.21 16.15 -
20047.17 246.47 5.63 2519 20054.44 done 2.36 - - 2905.62 - 2.94 0.056 2117.75 -424.3 107.06 - - 2559.97 - - - - - - - - - 16.15 -
20362.94 231.24 5.29 2551 20364.79 2.44 0.34 0.035 2933.31 81.4 - - 2117.75 - 107.06 - - 2558.91 - - - - - - - - 16.24 - -
20672.96 214.83 5.36 2582 20678.92 2.52 0.17 0.064 2962.75 173.2 3.08 0.097 3361.88 403.9 107.06 - - 2561.00 - - - - - - - - 16.21 16.15 -
20827.45 205.32 6.26 2613 20834.44 done 2.57 - - 2961.56 - 2.94 0.055 2115.50 -423.9 107.06 - - 2560.66 - - - - - - - - - 16.14 -
21143.00 186.46 6.10 2645 21150.28 2.63 0.19 0.060 2987.44 136.2 3.64 0.116 687.62 -392.3 107.06 - - 2558.59 - - - - - - - - 16.19 16.13 -
21378.82 171.66 5.44 2692 21384.82 done 2.71 - - 2987.69 - 3.49 0.062 2181.44 428.0 107.06 - - 2559.75 - - - - - - - - - 16.15 -
21688.83 158.69 4.30 2724 21779.43 2.81 0.34 0.045 3029.62 123.3 3.89 0.111 688.50 -383.8 180.37 80.22 1.018 2284.53 -3.4 0.088 - - - - - - 16.18 15.79 12.90
22007.15 109.12 17.36 2787 22014.77 done 2.81 - - 3030.75 - 3.53 0.062 2181.62 423.0 180.37 - - 2276.69 - - - - - - - - - 15.93 -
22317.94 72.45 8.62 2843 22324.92 done 2.81 - - 3030.69 - 3.84 0.110 689.62 -388.5 180.37 - - 2275.44 - - - - - - - - - 15.97 -
22403.42 67.10 5.89 2860 22410.42 done 2.87 - - 3030.12 - 3.51 0.061 2183.69 425.7 180.37 - - 2274.66 - - - - - - - - - 16.00 -
22593.98 67.67 -1.13 2898 22801.92 3.10 0.56 0.041 3101.75 127.9 3.03 0.102 3363.00 389.2 359.69 195.06 0.914 1553.38 -3.7 0.045 - - - - - - 16.04 15.52 12.78
23030.36 5.09 10.36 2983 23036.89 roll 3.10 - - 3102.12 - 2.98 0.054 2117.81 -417.8 359.69 - - 1549.75 - - - - - - - - - 15.80 -
23060 end climb: SURFACE_DEPTH_REACHED
23060 begin surface coast
23085 end surface coast: CONTROL_FINISHED_OK
23085 begin surface
SM 1.55 - - - - 185.4 112.36 0.863 1084.1 9.6 22.00 0.057 1101.8 50.1 - 0.06 0.175 1066.4 17723.7 -16.045 - - 12.73 15.85 15.85 -