NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 72 * Raw log
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• Previous call tries 1 • 42.02 of 575.00 AH used of 24V (92.69% remains)
• Surface angle -63.5 deg, depth 1.41 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.94 (SM_CC=475)
• GPS1 time: 31 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
8.92 - - - 80.85 VBD -1.56 - - 181.62 - - - 2138.00 - -107.06 70.25 0.005 2575.78 - - - - - - - - - - 15.75
81.29 3.41 -3.14 14 132.35 -1.56 16.60 0.241 1960.06 107.1 3.79 0.121 690.69 -381.9 -107.06 21.76 0.006 3456.78 40.5 -3.804 - - - - - - 15.71 15.75 15.77
360.73 57.36 -16.56 69 367.29 roll -1.56 - - 1959.56 - 3.36 0.054 2128.38 427.9 -107.06 - - 3461.03 - - - - - - - - - 15.90 -
550.78 78.90 -9.77 107 557.50 roll -1.56 - - 1960.75 - 3.74 0.115 689.75 -384.7 -107.06 - - 3459.38 - - - - - - - - - 15.93 -
580.88 81.94 -9.99 113 587.41 roll -1.56 - - 1959.94 - 3.34 0.054 2130.94 431.5 -107.06 - - 3459.94 - - - - - - - - - 15.93 -
770.90 98.65 -8.84 151 777.28 roll -1.56 - - 1960.62 - 3.06 0.102 3362.06 402.3 -107.06 - - 3459.66 - - - - - - - - - 15.95 -
890.91 111.22 -10.27 175 896.58 roll -1.56 - - 1960.81 - 3.03 0.050 2066.25 -427.7 -107.06 - - 3459.47 - - - - - - - - - 15.98 -
1200.92 140.53 -9.82 207 1202.46 no move -1.56 - - 1960.56 - - - 2066.38 - -107.06 - - 3460.03 - - - - - - - - - - -
1510.94 169.82 -9.13 238 1516.65 roll -1.56 - - 1960.81 - 3.19 0.101 3360.50 405.7 -107.06 - - 3462.12 - - - - - - - - - 16.04 -
1675.19 188.05 -11.17 271 1682.70 roll -1.56 - - 1960.38 - 3.03 0.052 2068.69 -426.3 -107.06 - - 3461.28 - - - - - - - - - 16.05 -
1991.00 217.94 -9.22 303 1997.08 roll -1.56 - - 1960.19 - 3.55 0.123 688.75 -388.7 -107.06 - - 3461.81 - - - - - - - - - 16.07 -
2045.25 223.78 -10.59 314 2052.72 roll -1.56 - - 1960.88 - 3.32 0.056 2132.25 434.8 -107.06 - - 3462.31 - - - - - - - - - 16.07 -
2361.04 251.73 -8.52 346 2362.61 no move -1.56 - - 1960.94 - - - 2132.38 - -107.06 - - 3460.75 - - - - - - - - - - -
2671.07 279.37 -8.92 377 2678.21 roll -1.56 - - 1961.19 - 3.69 0.118 689.19 -391.1 -107.06 - - 3459.88 - - - - - - - - - 16.10 -
2796.79 292.04 -9.98 402 2802.78 roll -1.56 - - 1960.25 - 3.34 0.058 2129.69 431.3 -107.06 - - 3460.97 - - - - - - - - - 16.10 -
3106.89 320.24 -8.64 434 3108.46 no move -1.56 - - 1960.56 - - - 2129.56 - -107.06 - - 3460.44 - - - - - - - - - - -
3416.86 348.43 -9.25 465 3423.98 roll -1.56 - - 1959.94 - 3.69 0.121 689.56 -390.2 -107.06 - - 3461.72 - - - - - - - - - 16.13 -
3486.67 355.84 -10.47 479 3494.33 roll -1.56 - - 1961.00 - 3.33 0.059 2130.06 432.6 -107.06 - - 3460.91 - - - - - - - - - 16.16 -
3802.46 384.55 -9.29 511 3804.03 no move -1.56 - - 1960.75 - - - 2130.12 - -107.06 - - 3460.81 - - - - - - - - - - -
4112.49 414.33 -9.60 542 4119.62 roll -1.56 - - 1961.00 - 3.69 0.122 689.00 -390.5 -107.06 - - 3459.84 - - - - - - - - - 16.17 -
4228.09 426.85 -10.82 565 4234.08 roll -1.56 - - 1960.62 - 3.33 0.060 2130.31 432.8 -107.06 - - 3461.88 - - - - - - - - - 16.17 -
4538.15 455.28 -8.92 597 4539.72 no move -1.56 - - 1960.81 - - - 2130.12 - -107.06 - - 3459.88 - - - - - - - - - - -
4848.19 484.38 -9.49 628 4855.38 roll -1.56 - - 1960.75 - 3.71 0.125 689.62 -388.3 -107.06 - - 3459.25 - - - - - - - - - 16.16 -
4933.83 493.26 -10.61 645 4939.79 roll -1.56 - - 1960.50 - 3.33 0.061 2130.31 432.6 -107.06 - - 3460.78 - - - - - - - - - 16.18 -
5243.86 519.87 -8.30 677 5245.43 no move -1.56 - - 1960.38 - - - 2131.06 - -107.06 - - 3459.00 - - - - - - - - - - -
5553.89 545.95 -8.17 708 5555.46 no move -1.56 - - 1960.69 - - - 2130.81 - -107.06 - - 3458.28 - - - - - - - - - - -
5863.91 570.64 -7.81 739 5865.49 no move -1.56 - - 1960.56 - - - 2130.62 - -107.06 - - 3457.56 - - - - - - - - - - -
6173.94 594.20 -7.42 770 6180.89 roll -1.56 - - 1961.25 - 3.71 0.127 690.69 -388.1 -107.06 - - 3457.16 - - - - - - - - - 16.19 -
6294.46 604.48 -8.22 794 6300.42 roll -1.56 - - 1961.00 - 3.33 0.063 2129.12 432.0 -107.06 - - 3458.12 - - - - - - - - - 16.21 -
6604.49 628.33 -8.01 826 6606.06 no move -1.56 - - 1960.56 - - - 2130.38 - -107.06 - - 3456.75 - - - - - - - - - - -
6914.52 653.36 -8.20 857 6921.75 roll -1.56 - - 1960.81 - 3.72 0.127 690.62 -387.0 -107.06 - - 3457.25 - - - - - - - - - 16.20 -
7000.21 661.57 -9.71 874 7006.16 roll -1.56 - - 1960.88 - 3.34 0.063 2128.94 430.6 -107.06 - - 3457.25 - - - - - - - - - 16.18 -
7310.24 686.70 -7.92 906 7317.39 roll -1.56 - - 1960.25 - 3.70 0.127 689.88 -388.9 -107.06 - - 3455.91 - - - - - - - - - 16.19 -
7370.07 692.06 -8.79 918 7377.54 roll -1.56 - - 1960.94 - 3.32 0.064 2130.44 433.9 -107.06 - - 3456.34 - - - - - - - - - 16.19 -
7685.86 715.86 -7.35 950 7693.05 roll -1.56 - - 1961.00 - 3.71 0.127 689.75 -388.3 -107.06 - - 3455.31 - - - - - - - - - 16.20 -
7765.99 722.62 -8.50 966 7773.46 roll -1.56 - - 1960.25 - 3.35 0.063 2129.19 429.7 -107.06 - - 3456.09 - - - - - - - - - 16.20 -
8081.79 745.27 -7.29 998 8083.36 no move -1.56 - - 1960.81 - - - 2130.06 - -107.06 - - 3454.19 - - - - - - - - - - -
8391.81 768.30 -7.93 1029 8393.38 no move -1.56 - - 1960.81 - - - 2129.94 - -107.06 - - 3453.31 - - - - - - - - - - -
8701.84 794.03 -8.77 1060 8703.42 no move -1.56 - - 1960.38 - - - 2129.94 - -107.06 - - 3453.75 - - - - - - - - - - -
9011.87 821.64 -8.54 1091 9019.05 roll -1.56 - - 1960.44 - 3.71 0.130 690.69 -387.9 -107.06 - - 3454.34 - - - - - - - - - 16.20 -
9101.75 830.47 -9.39 1109 9109.26 roll -1.56 - - 1961.06 - 3.36 0.065 2128.94 428.1 -107.06 - - 3454.50 - - - - - - - - - 16.20 -
9417.54 857.01 -7.80 1141 9423.33 roll -1.56 - - 1960.75 - 3.06 0.112 3362.06 403.0 -107.06 - - 3454.66 - - - - - - - - - 16.18 -
9487.54 863.52 -9.02 1155 9493.35 roll -1.56 - - 1960.38 - 3.02 0.059 2070.62 -427.6 -107.06 - - 3454.34 - - - - - - - - - 16.20 -
9797.58 889.73 -8.40 1187 9803.89 roll -1.56 - - 1960.31 - 3.57 0.135 690.94 -386.5 -107.06 - - 3454.12 - - - - - - - - - 16.19 -
9867.60 896.60 -9.42 1201 9873.56 roll -1.56 - - 1961.25 - 3.34 0.065 2129.25 430.6 -107.06 - - 3452.91 - - - - - - - - - 16.20 -
10177.63 921.13 -7.35 1233 10179.20 no move -1.56 - - 1960.69 - - - 2128.94 - -107.06 - - 3451.62 - - - - - - - - - - -
10487.66 943.72 -7.04 1264 10494.79 roll -1.56 - - 1960.06 - 3.69 0.130 689.31 -390.1 -107.06 - - 3451.59 - - - - - - - - - 16.19 -
10597.48 952.72 -8.54 1286 10604.96 roll -1.56 - - 1960.62 - 3.35 0.065 2129.50 429.9 -107.06 - - 3452.12 - - - - - - - - - 16.21 -
10913.27 976.01 -8.15 1318 10920.41 roll -1.56 - - 1959.94 - 3.69 0.130 690.88 -389.9 -107.06 - - 3452.25 - - - - - - - - - 16.18 -
10968.86 980.74 -8.82 1329 10974.81 roll -1.56 - - 1960.94 - 3.35 0.065 2128.06 429.0 -107.06 - - 3452.22 - - - - - - - - - 16.20 -
11088 end dive: TARGET_DEPTH_EXCEEDED
11089 begin apogee
11090.60 990.04 -7.43 1342 11185.12 -0.42 2.81 0.119 2238.50 98.8 0.09 0.251 2119.69 -93.0 - 85.89 2.128 3019.97 -5.0 0.387 - - - - - - 16.17 15.56 13.00
11190 end apogee: CONTROL_FINISHED_OK
11190 begin climb
11193.20 991.31 - 1351 11297.55 1.56 3.87 0.063 2729.19 126.8 - - 2120.00 - 107.06 94.45 2.063 2580.53 -4.7 0.370 - - - - - - 15.65 - 12.76
11601.08 955.34 10.85 1392 11606.94 done 1.56 - - 2728.62 - 3.17 0.106 3361.31 391.6 107.06 - - 2574.72 - - - - - - - - - 15.84 -
11765.38 935.39 11.55 1425 11772.64 done 1.56 - - 2728.88 - 2.95 0.060 2134.88 -415.7 107.06 - - 2573.06 - - - - - - - - - 15.92 -
12081.17 902.41 10.50 1457 12086.99 done 1.56 - - 2729.19 - 3.07 0.105 3361.69 399.6 107.06 - - 2570.69 - - - - - - - - - 15.99 -
12165.45 892.99 11.78 1474 12172.95 done 1.56 - - 2728.69 - 2.91 0.058 2120.38 -426.6 107.06 - - 2569.56 - - - - - - - - - 16.01 -
12481.21 860.65 10.47 1506 12487.03 done 1.56 - - 2728.50 - 3.10 0.104 3363.50 401.0 107.06 - - 2568.44 - - - - - - - - - 16.04 -
12715.50 833.98 11.34 1553 12722.77 done 1.56 - - 2728.44 - 2.91 0.059 2119.06 -427.6 107.06 - - 2568.31 - - - - - - - - - 16.07 -
13031.27 804.07 9.08 1585 13032.85 VBD 1.56 - - 2728.44 - - - 2118.62 - 107.06 - - 2567.44 - - - - - - - - - - -
13341.30 776.94 8.92 1616 13347.11 done 1.56 - - 2729.00 - 3.08 0.104 3362.88 404.0 107.06 - - 2566.75 - - - - - - - - - 16.11 -
13575.58 753.65 9.93 1663 13582.84 done 1.56 - - 2728.06 - 2.88 0.060 2119.25 -431.8 107.06 - - 2566.84 - - - - - - - - - 16.15 -
13891.37 726.93 8.64 1695 13897.19 done 1.56 - - 2729.69 - 3.06 0.103 3361.25 405.9 107.06 - - 2565.53 - - - - - - - - - 16.13 -
14125.66 704.53 9.95 1742 14132.87 done 1.56 - - 2728.69 - 2.89 0.059 2120.75 -429.2 107.06 - - 2565.56 - - - - - - - - - 16.17 -
14441.43 678.47 7.82 1774 14447.25 done 1.56 - - 2729.19 - 3.06 0.103 3363.75 406.2 107.06 - - 2566.12 - - - - - - - - - 16.16 -
14575.71 666.56 8.64 1801 14582.92 done 1.56 - - 2729.06 - 2.89 0.059 2118.75 -430.8 107.06 - - 2566.22 - - - - - - - - - 16.15 -
14891.48 639.56 8.72 1833 14897.56 done 1.56 - - 2728.56 - 3.59 0.122 689.69 -398.1 107.06 - - 2565.16 - - - - - - - - - 16.16 -
14955.75 633.23 10.00 1846 14963.25 done 1.56 - - 2728.94 - 3.45 0.067 2181.12 432.3 107.06 - - 2564.22 - - - - - - - - - 16.17 -
15271.52 607.69 7.65 1878 15277.26 done 1.56 - - 2728.75 - 2.93 0.107 3363.12 403.4 107.06 - - 2563.84 - - - - - - - - - 16.15 -
15401.54 596.74 8.61 1904 15407.28 done 1.56 - - 2729.19 - 2.89 0.059 2118.81 -430.6 107.06 - - 2564.47 - - - - - - - - - 16.17 -
15711.60 574.02 7.00 1936 15713.17 VBD 1.60 - - 2728.88 - - - 2118.56 - 107.06 - - 2562.94 - - - - - - - - - - -
16021.62 551.59 6.93 1967 16027.67 done 1.63 - - 2728.88 - 3.08 0.104 3361.94 403.7 107.06 - - 2563.50 - - - - - - - - - 16.19 -
16161.66 540.91 7.14 1995 16167.42 1.66 0.09 0.096 2749.44 228.4 2.89 0.058 2119.75 -429.8 107.06 - - 2563.12 - - - - - - - - 16.21 16.18 -
16471.69 521.20 6.12 2027 16473.26 VBD 1.71 - - 2749.62 - - - 2119.69 - 107.06 - - 2562.28 - - - - - - - - - - -
16781.71 502.33 6.07 2058 16783.46 1.77 0.16 0.073 2779.69 187.9 - - 2119.25 - 107.06 - - 2565.00 - - - - - - - - 16.23 - -
17091.72 483.00 6.66 2089 17093.29 VBD 1.82 - - 2780.75 - - - 2119.56 - 107.06 - - 2562.44 - - - - - - - - - - -
17401.75 461.40 6.82 2120 17403.32 VBD 1.85 - - 2780.69 - - - 2119.50 - 107.06 - - 2561.94 - - - - - - - - - - -
17711.78 439.27 7.31 2151 17717.71 1.87 0.10 0.098 2807.31 266.2 3.09 0.102 3360.94 401.8 107.06 - - 2563.19 - - - - - - - - 16.23 16.17 -
17816.09 430.36 8.60 2172 17823.51 1.87 0.29 0.175 2790.00 -59.7 2.90 0.057 2117.44 -428.8 107.06 - - 2563.72 - - - - - - - - 16.14 16.19 -
18131.77 405.95 7.68 2204 18133.38 VBD 1.87 - - 2789.88 - - - 2117.19 - 107.06 - - 2561.91 - - - - - - - - - - -
18441.85 383.72 6.69 2235 18448.06 1.92 0.19 0.061 2815.94 137.2 3.10 0.100 3362.94 401.9 107.06 - - 2562.59 - - - - - - - - 16.22 16.17 -
18676.09 365.99 7.78 2282 18683.31 done 1.92 - - 2815.62 - 2.88 0.057 2118.50 -432.1 107.06 - - 2562.47 - - - - - - - - - 16.18 -
18991.90 344.93 6.40 2314 18997.68 done 1.96 - - 2815.19 - 3.08 0.100 3362.62 403.9 107.06 - - 2562.66 - - - - - - - - - 16.18 -
19226.19 327.40 7.47 2361 19233.38 done 1.98 - - 2815.06 - 2.88 0.056 2118.50 -432.0 107.06 - - 2564.12 - - - - - - - - - 16.18 -
19541.96 306.02 6.20 2393 19547.94 2.04 0.23 0.042 2834.12 82.9 3.10 0.100 3363.88 401.7 107.06 - - 2563.66 - - - - - - - - 16.25 16.17 -
19776.23 290.99 6.57 2440 19783.40 done 2.08 - - 2834.44 - 2.89 0.056 2116.88 -431.5 107.06 - - 2563.34 - - - - - - - - - 16.18 -
20092.00 272.66 5.89 2472 20093.81 2.15 0.20 0.064 2871.06 183.1 - - 2117.12 - 107.06 - - 2562.25 - - - - - - - - 16.16 - -
20402.02 251.98 6.05 2503 20408.34 done 2.21 - - 2871.69 - 3.57 0.115 687.56 -400.4 107.06 - - 2564.22 - - - - - - - - - 16.14 -
20636.30 237.17 6.33 2550 20643.93 2.26 0.15 0.065 2898.31 177.5 3.45 0.063 2181.25 433.0 107.06 - - 2563.66 - - - - - - - - 16.20 16.15 -
20952.07 223.14 4.41 2582 21016.84 done 2.35 - - 2898.94 - 3.79 0.116 689.00 -393.7 178.12 54.77 1.179 2292.62 -4.9 0.155 - - - - - - - 15.87 12.91
21069.52 211.93 13.83 2605 21077.05 roll 2.35 - - 2898.62 - 3.49 0.062 2180.12 427.3 178.12 - - 2291.38 - - - - - - - - - 15.93 -
21385.29 168.67 12.34 2637 21391.04 roll 2.35 - - 2896.88 - 2.96 0.104 3361.44 399.1 178.12 - - 2287.97 - - - - - - - - - 15.99 -
21455.30 159.10 13.58 2651 21461.05 done 2.35 - - 2900.06 - 2.92 0.056 2118.12 -425.8 178.12 - - 2286.06 - - - - - - - - - 16.02 -
21765.56 119.94 11.78 2683 21771.18 done 2.35 - - 2898.88 - 3.11 0.099 3362.31 400.1 178.12 - - 2284.19 - - - - - - - - - 16.04 -
21919.58 100.76 12.57 2714 21926.88 done 2.35 - - 2898.75 - 2.91 0.056 2117.12 -427.9 178.12 - - 2284.31 - - - - - - - - - 16.05 -
22230.42 76.90 5.25 2775 22235.04 2.43 0.25 0.056 2939.38 162.5 - - 2118.19 - 178.12 - - 2284.09 - - - - - - - - 16.10 - -
22420.44 69.40 3.22 2813 22539.05 2.56 0.16 0.068 2969.50 188.2 3.70 0.114 688.62 -386.4 272.46 108.20 0.944 1906.91 -3.5 0.042 - - - - - - 16.10 15.68 12.87
22767.53 32.91 13.53 2881 22774.39 roll 2.56 - - 2969.56 - 3.54 0.060 2179.38 421.1 272.46 - - 1905.25 - - - - - - - - - 15.87 -
22957.95 19.61 3.74 2919 23064.82 2.67 0.12 0.073 2994.25 205.8 3.91 0.109 689.81 -381.0 356.61 93.59 0.887 1565.91 -3.6 0.013 - - - - - - 15.94 15.63 12.80
23273 end climb: SURFACE_DEPTH_REACHED
23273 begin surface coast
23293 end surface coast: CONTROL_FINISHED_OK
23293 begin surface
SM 1.27 - - - - 185.4 116.03 0.875 1083.8 8.5 21.08 0.053 1104.8 52.4 - 3.39 0.059 1062.9 312.4 -0.687 - - 12.74 15.89 15.87 -