NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 79 * Raw log
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• Previous call tries 1 • 44.35 of 575.00 AH used of 24V (92.29% remains)
• Surface angle -63.2 deg, depth 1.36 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.01 (SM_CC=475)
• GPS1 time: 19 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
8.89 - - - 80.80 VBD -1.56 - - 186.75 - - - 2128.56 - -107.06 70.24 0.005 2566.16 - - - - - - - - - - 15.75
81.24 3.12 -2.57 14 132.32 -1.56 16.75 0.242 1958.88 105.8 3.78 0.121 690.12 -380.5 -107.06 21.94 0.006 3459.50 40.7 -3.495 - - - - - - 15.70 15.74 15.77
360.71 55.04 -17.19 69 367.25 roll -1.56 - - 1959.19 - 3.36 0.056 2128.31 428.0 -107.06 - - 3460.34 - - - - - - - - - 15.90 -
551.05 81.58 -13.08 107 557.45 roll -1.56 - - 1960.06 - 3.73 0.116 690.12 -385.6 -107.06 - - 3459.44 - - - - - - - - - 15.93 -
665.85 95.37 -11.23 130 672.40 roll -1.56 - - 1959.94 - 3.34 0.055 2132.44 431.8 -107.06 - - 3459.78 - - - - - - - - - 15.93 -
860.87 116.28 -10.76 154 867.86 roll -1.56 - - 1960.06 - 3.72 0.117 690.19 -387.7 -107.06 - - 3458.56 - - - - - - - - - 15.98 -
900.49 121.16 -12.38 162 907.83 roll -1.56 - - 1959.94 - 3.33 0.055 2132.06 433.0 -107.06 - - 3460.22 - - - - - - - - - 15.98 -
1216.27 153.90 -10.19 194 1217.80 no move -1.56 - - 1959.50 - - - 2132.19 - -107.06 - - 3460.28 - - - - - - - - - - -
1526.29 183.99 -9.71 225 1527.83 no move -1.56 - - 1959.50 - - - 2131.88 - -107.06 - - 3460.19 - - - - - - - - - - -
1836.30 213.03 -8.87 256 1843.29 roll -1.56 - - 1959.25 - 3.72 0.119 689.62 -387.7 -107.06 - - 3461.69 - - - - - - - - - 16.08 -
1901.71 219.79 -10.67 269 1907.67 roll -1.56 - - 1959.44 - 3.31 0.057 2130.56 435.3 -107.06 - - 3462.78 - - - - - - - - - 16.08 -
2211.74 248.12 -9.11 301 2213.31 no move -1.56 - - 1960.00 - - - 2130.88 - -107.06 - - 3459.84 - - - - - - - - - - -
2521.77 277.24 -9.62 332 2528.96 roll -1.56 - - 1959.75 - 3.72 0.119 688.81 -387.7 -107.06 - - 3460.78 - - - - - - - - - 16.10 -
2647.42 290.65 -10.70 357 2653.41 roll -1.56 - - 1959.56 - 3.32 0.058 2129.75 434.0 -107.06 - - 3462.69 - - - - - - - - - 16.12 -
2958.01 320.14 -9.15 389 2964.59 roll -1.56 - - 1958.56 - 3.69 0.120 688.81 -390.5 -107.06 - - 3462.34 - - - - - - - - - 16.12 -
3023.16 326.61 -9.73 402 3029.10 roll -1.56 - - 1960.00 - 3.32 0.057 2132.12 434.7 -107.06 - - 3460.78 - - - - - - - - - 16.13 -
3333.51 354.49 -9.03 434 3335.08 no move -1.56 - - 1960.00 - - - 2131.88 - -107.06 - - 3460.78 - - - - - - - - - - -
3643.22 382.83 -9.14 465 3650.37 roll -1.56 - - 1959.81 - 3.70 0.120 688.56 -390.1 -107.06 - - 3459.28 - - - - - - - - - 16.15 -
3688.81 387.46 -10.43 474 3695.01 roll -1.56 - - 1960.00 - 3.31 0.059 2130.94 435.8 -107.06 - - 3462.69 - - - - - - - - - 16.16 -
3998.84 415.60 -9.52 506 4006.03 roll -1.56 - - 1960.06 - 3.72 0.122 689.06 -387.6 -107.06 - - 3460.88 - - - - - - - - - 16.16 -
4108.72 426.51 -9.72 528 4116.19 roll -1.56 - - 1960.00 - 3.33 0.060 2130.06 432.7 -107.06 - - 3461.00 - - - - - - - - - 16.16 -
4424.52 453.56 -8.51 560 4431.70 roll -1.56 - - 1958.12 - 3.73 0.123 688.88 -386.4 -107.06 - - 3462.03 - - - - - - - - - 16.16 -
4520.16 462.95 -9.88 579 4526.11 roll -1.56 - - 1959.94 - 3.33 0.061 2131.25 433.1 -107.06 - - 3460.91 - - - - - - - - - 16.16 -
4830.19 487.66 -7.97 611 4831.76 no move -1.56 - - 1959.88 - - - 2131.12 - -107.06 - - 3459.06 - - - - - - - - - - -
5140.23 512.47 -8.14 642 5147.42 roll -1.56 - - 1959.62 - 3.73 0.125 688.50 -386.8 -107.06 - - 3459.19 - - - - - - - - - 16.18 -
5230.11 521.07 -9.90 660 5237.61 roll -1.56 - - 1960.31 - 3.33 0.059 2129.00 432.6 -107.06 - - 3461.12 - - - - - - - - - 16.18 -
5545.91 546.71 -7.84 692 5553.10 roll -1.56 - - 1959.62 - 3.72 0.124 688.56 -387.2 -107.06 - - 3457.34 - - - - - - - - - 16.18 -
5621.67 553.58 -9.29 707 5627.66 roll -1.56 - - 1959.56 - 3.32 0.062 2130.00 434.2 -107.06 - - 3460.56 - - - - - - - - - 16.18 -
5931.70 578.87 -8.32 739 5933.27 no move -1.56 - - 1959.62 - - - 2130.56 - -107.06 - - 3457.31 - - - - - - - - - - -
6241.73 604.30 -8.34 770 6248.92 roll -1.56 - - 1960.50 - 3.73 0.127 689.88 -386.2 -107.06 - - 3456.41 - - - - - - - - - 16.18 -
6351.62 615.14 -10.23 792 6359.10 roll -1.56 - - 1960.12 - 3.34 0.063 2128.62 430.8 -107.06 - - 3457.19 - - - - - - - - - 16.19 -
6667.42 643.63 -9.24 824 6668.98 no move -1.56 - - 1960.12 - - - 2128.81 - -107.06 - - 3456.12 - - - - - - - - - - -
6977.44 671.59 -8.81 855 6979.01 no move -1.56 - - 1959.94 - - - 2128.25 - -107.06 - - 3455.91 - - - - - - - - - - -
7287.47 697.61 -8.07 886 7294.66 roll -1.56 - - 1959.31 - 3.73 0.128 688.62 -386.0 -107.06 - - 3456.62 - - - - - - - - - 16.19 -
7413.13 710.06 -10.14 911 7419.34 roll -1.56 - - 1959.31 - 3.34 0.064 2128.12 431.0 -107.06 - - 3458.09 - - - - - - - - - 16.20 -
7723.16 738.29 -8.88 943 7730.36 roll -1.56 - - 1959.19 - 3.71 0.128 690.00 -387.6 -107.06 - - 3455.75 - - - - - - - - - 16.20 -
7798.81 745.76 -9.94 958 7804.75 roll -1.56 - - 1960.50 - 3.34 0.063 2129.06 430.9 -107.06 - - 3456.06 - - - - - - - - - 16.19 -
8108.83 770.97 -8.39 990 8110.42 no move -1.56 - - 1960.38 - - - 2128.50 - -107.06 - - 3454.12 - - - - - - - - - - -
8418.86 797.19 -8.70 1021 8426.05 roll -1.56 - - 1959.62 - 3.71 0.128 688.69 -388.1 -107.06 - - 3455.16 - - - - - - - - - 16.20 -
8514.51 806.26 -9.54 1040 8520.46 roll -1.56 - - 1960.31 - 3.36 0.064 2129.56 428.8 -107.06 - - 3454.59 - - - - - - - - - 16.19 -
8824.53 832.18 -8.43 1072 8826.10 no move -1.56 - - 1960.31 - - - 2129.56 - -107.06 - - 3452.94 - - - - - - - - - - -
9134.57 853.02 -5.30 1103 9141.76 roll -1.56 - - 1960.38 - 3.74 0.129 689.69 -385.0 -107.06 - - 3453.81 - - - - - - - - - 16.19 -
9244.45 859.85 -6.29 1125 9252.21 roll -1.56 - - 1960.12 - 3.37 0.064 2128.38 426.9 -107.06 - - 3454.62 - - - - - - - - - 16.21 -
9560.24 881.79 -8.97 1157 9561.81 no move -1.56 - - 1960.25 - - - 2129.38 - -107.06 - - 3452.25 - - - - - - - - - - -
9870.27 910.77 -9.48 1188 9877.48 roll -1.56 - - 1960.12 - 3.75 0.130 689.62 -383.9 -107.06 - - 3455.31 - - - - - - - - - 16.19 -
9995.92 923.25 -9.63 1213 10001.92 roll -1.56 - - 1960.38 - 3.34 0.065 2128.88 430.9 -107.06 - - 3452.84 - - - - - - - - - 16.19 -
10305.99 943.35 -3.42 1245 10311.73 roll -1.56 - - 1960.56 - 3.08 0.113 3361.50 400.2 -107.06 - - 3452.78 - - - - - - - - - 16.17 -
10525 end dive: NO_VERTICAL_VELOCITY
10526 begin apogee
10531.68 943.35 - 1289 10623.92 -0.42 2.28 0.065 2244.75 124.6 0.10 0.225 2181.06 -11804.4 - 85.02 2.088 3021.53 -5.1 0.378 - - - - - - 16.23 15.58 12.87
10629 end apogee: CONTROL_FINISHED_OK
10629 begin climb
10632.00 943.52 - 1298 10744.25 1.56 3.88 0.059 2724.06 123.5 4.07 0.122 689.62 -366.4 107.06 93.06 2.030 2582.44 -4.7 0.362 - - - - - - 15.69 15.32 12.67
10747.64 937.47 7.03 1316 10754.92 roll 1.59 - - 2724.50 - 3.61 0.063 2176.44 411.9 107.06 - - 2583.97 - - - - - - - - - 15.50 -
11062.80 907.19 9.73 1348 11064.38 VBD 1.59 - - 2724.31 - - - 2176.75 - 107.06 - - 2569.84 - - - - - - - - - - -
11372.81 883.43 8.65 1379 11380.07 done 1.59 - - 2724.62 - 3.88 0.118 689.44 -383.3 107.06 - - 2567.47 - - - - - - - - - 15.97 -
11392.74 881.07 9.12 1383 11400.35 done 1.59 - - 2724.56 - 3.51 0.063 2181.56 425.1 107.06 - - 2567.81 - - - - - - - - - 15.97 -
11708.51 850.65 8.86 1415 11716.01 done 1.59 - - 2725.25 - 3.87 0.119 690.62 -385.3 107.06 - - 2570.00 - - - - - - - - - 16.03 -
11729.02 848.49 9.32 1419 11736.31 done 1.59 - - 2724.56 - 3.49 0.066 2179.69 426.7 107.06 - - 2567.88 - - - - - - - - - 16.02 -
12044.56 815.20 10.49 1451 12050.32 done 1.59 - - 2724.69 - 2.93 0.108 3360.88 403.1 107.06 - - 2568.12 - - - - - - - - - 16.07 -
12264.59 787.93 12.21 1495 12270.36 done 1.59 - - 2724.69 - 2.96 0.058 2120.69 -419.0 107.06 - - 2567.62 - - - - - - - - - 16.09 -
12574.62 755.86 9.86 1527 12580.48 done 1.59 - - 2724.56 - 3.11 0.105 3360.75 398.7 107.06 - - 2567.62 - - - - - - - - - 16.10 -
12714.65 741.49 10.02 1555 12720.46 done 1.59 - - 2725.44 - 2.95 0.058 2119.31 -420.8 107.06 - - 2565.38 - - - - - - - - - 16.13 -
13024.67 714.78 8.19 1587 13030.50 done 1.59 - - 2724.62 - 3.09 0.105 3361.31 401.9 107.06 - - 2566.78 - - - - - - - - - 16.13 -
13174.70 701.26 9.04 1617 13180.75 done 1.59 - - 2725.00 - 2.95 0.057 2119.75 -420.9 107.06 - - 2564.44 - - - - - - - - - 16.13 -
13484.72 676.48 8.03 1649 13490.55 done 1.59 - - 2724.75 - 3.09 0.104 3362.81 402.3 107.06 - - 2564.50 - - - - - - - - - 16.16 -
13719.01 654.50 9.12 1696 13726.27 done 1.59 - - 2724.94 - 2.94 0.058 2119.12 -423.0 107.06 - - 2563.34 - - - - - - - - - 16.17 -
14034.78 630.07 7.70 1728 14040.64 done 1.59 - - 2725.00 - 3.07 0.103 3360.75 404.4 107.06 - - 2563.06 - - - - - - - - - 16.17 -
14234.82 613.82 8.56 1768 14240.58 done 1.59 - - 2725.12 - 2.92 0.058 2119.94 -424.9 107.06 - - 2562.47 - - - - - - - - - 16.18 -
14544.84 590.59 7.81 1800 14546.41 VBD 1.59 - - 2724.94 - - - 2119.81 - 107.06 - - 2560.84 - - - - - - - - - - -
14854.92 567.42 7.26 1831 14856.50 VBD 1.62 - - 2725.06 - - - 2119.69 - 107.06 - - 2560.91 - - - - - - - - - - -
15164.94 545.67 6.95 1862 15170.92 1.65 0.12 0.084 2750.44 211.5 3.08 0.104 3363.38 403.8 107.06 - - 2561.88 - - - - - - - - 16.18 16.17 -
15289.21 536.31 7.24 1887 15296.38 done 1.68 - - 2750.56 - 2.90 0.057 2119.38 -429.0 107.06 - - 2561.81 - - - - - - - - - 16.19 -
15604.98 515.54 6.43 1919 15610.75 done 1.72 - - 2750.62 - 3.07 0.103 3360.81 404.4 107.06 - - 2560.69 - - - - - - - - - 16.18 -
15815.01 500.89 6.91 1961 15820.83 1.76 0.15 0.068 2773.75 154.2 2.90 0.057 2118.94 -428.2 107.06 - - 2561.16 - - - - - - - - 16.22 16.18 -
16125.02 479.83 7.01 1993 16126.59 VBD 1.79 - - 2774.31 - - - 2118.94 - 107.06 - - 2560.12 - - - - - - - - - - -
16435.07 457.88 7.01 2024 16440.84 done 1.82 - - 2774.25 - 3.07 0.103 3361.69 404.8 107.06 - - 2560.69 - - - - - - - - - 16.19 -
16605.07 444.22 8.55 2058 16610.86 done 1.82 - - 2773.69 - 2.91 0.057 2118.62 -427.2 107.06 - - 2562.59 - - - - - - - - - 16.17 -
16915.16 422.00 6.74 2090 16921.09 1.86 0.19 0.036 2791.25 92.4 3.08 0.101 3363.19 404.1 107.06 - - 2561.53 - - - - - - - - 16.26 16.17 -
16995.15 416.00 7.76 2106 17001.15 done 1.86 - - 2791.38 - 2.91 0.056 2117.19 -428.2 107.06 - - 2561.94 - - - - - - - - - 16.18 -
17305.22 394.13 7.07 2138 17306.79 VBD 1.89 - - 2791.81 - - - 2117.56 - 107.06 - - 2559.69 - - - - - - - - - - -
17615.25 372.55 6.44 2169 17621.40 1.94 0.14 0.070 2819.19 195.6 3.09 0.102 3362.19 402.8 107.06 - - 2560.88 - - - - - - - - 16.21 16.17 -
17655.26 369.79 6.65 2177 17661.01 done 1.98 - - 2819.44 - 2.90 0.056 2116.75 -429.5 107.06 - - 2561.19 - - - - - - - - - 16.19 -
17965.28 350.19 5.91 2209 17971.24 2.04 0.20 0.036 2837.69 91.2 3.09 0.101 3362.88 403.3 107.06 - - 2561.47 - - - - - - - - 16.25 16.17 -
18165.31 338.42 6.32 2249 18171.07 done 2.10 - - 2837.88 - 2.91 0.056 2116.50 -428.3 107.06 - - 2563.12 - - - - - - - - - 16.17 -
18475.34 317.53 7.23 2281 18477.14 2.12 0.22 0.034 2852.38 65.9 - - 2116.06 - 107.06 - - 2563.38 - - - - - - - - 16.26 - -
18785.32 293.05 8.19 2312 18791.17 done 2.12 - - 2853.81 - 3.09 0.101 3363.38 403.7 107.06 - - 2562.44 - - - - - - - - - 16.14 -
18895.34 284.01 8.17 2334 18901.41 done 2.12 - - 2854.19 - 2.90 0.055 2116.25 -430.0 107.06 - - 2562.16 - - - - - - - - - 16.16 -
19205.40 262.39 6.58 2366 19207.07 VBD 2.17 - - 2854.19 - - - 2116.44 - 107.06 - - 2559.94 - - - - - - - - - - -
19515.43 245.83 4.86 2397 19568.08 2.25 0.34 0.043 2896.31 123.9 - - 2115.69 - 169.26 47.81 1.225 2328.66 -4.8 0.160 - - - - - - 16.20 - 12.89
19875.41 205.81 12.76 2436 19881.54 2.25 0.31 0.174 2878.81 -56.5 3.13 0.100 3361.44 398.0 169.26 - - 2322.84 - - - - - - - - 15.98 15.99 -
19925.43 199.32 13.17 2446 19931.18 done 2.25 - - 2879.50 - 2.94 0.055 2119.06 -422.6 169.26 - - 2322.94 - - - - - - - - - 16.01 -
20235.44 162.78 11.24 2478 20241.30 done 2.25 - - 2879.69 - 3.11 0.099 3360.25 399.1 169.26 - - 2320.66 - - - - - - - - - 16.03 -
20279.69 157.56 11.59 2487 20287.19 done 2.25 - - 2878.69 - 2.93 0.055 2118.38 -423.8 169.26 - - 2321.31 - - - - - - - - - 16.05 -
20595.47 125.53 9.19 2519 20601.83 done 2.25 - - 2879.44 - 3.64 0.116 688.62 -392.8 169.26 - - 2316.41 - - - - - - - - - 16.05 -
20745.51 110.00 9.16 2549 20751.52 done 2.25 - - 2879.88 - 3.48 0.061 2180.75 428.8 169.26 - - 2317.56 - - - - - - - - - 16.05 -
21055.57 85.81 7.12 2599 21062.03 done 2.27 - - 2879.62 - 2.96 0.103 3361.88 399.0 169.26 - - 2317.31 - - - - - - - - - 16.06 -
21290.60 76.04 2.48 2646 21419.52 2.42 0.47 0.039 2933.88 115.4 2.93 0.052 2116.00 -425.2 278.01 118.23 0.976 1887.94 -3.6 0.047 - - - - - - 16.12 16.06 12.83
21602.91 47.63 11.92 2707 21609.89 roll 2.42 - - 2934.75 - 3.72 0.113 687.75 -383.9 278.01 - - 1885.12 - - - - - - - - - 15.82 -
21838.47 22.74 9.66 2754 21845.33 roll 2.42 - - 2935.12 - 3.52 0.060 2181.44 424.3 278.01 - - 1881.72 - - - - - - - - - 15.90 -
22028.89 20.69 -0.09 2792 22207.88 2.62 0.43 0.038 2985.69 117.6 - - 2180.69 - 436.92 171.16 0.898 1239.38 -3.8 0.014 - - - - - - 16.03 - 12.78
22261 end climb: SURFACE_DEPTH_REACHED
22261 begin surface coast
22281 end surface coast: CONTROL_FINISHED_OK
22281 begin surface
SM 1.79 - - - - 187.9 39.08 0.859 1083.6 23.3 21.05 0.048 1099.0 52.2 - 0.23 0.102 1068.1 4643.9 -8.329 - - 12.66 15.74 15.72 -