NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 81 * Raw log
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• Previous call tries 1 • 44.97 of 575.00 AH used of 24V (92.18% remains)
• Surface angle -62.9 deg, depth 1.40 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.13 (SM_CC=475)
• GPS1 time: 27 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
8.87 - - - 80.78 VBD -1.56 - - 184.25 - - - 2068.94 - -107.06 70.25 0.005 2588.12 - - - - - - - - - - 15.74
81.22 3.61 -3.33 14 132.22 -1.56 16.71 0.243 1959.81 106.3 3.64 0.122 689.88 -378.9 -107.06 20.45 0.006 3458.59 42.6 -4.225 - - - - - - 15.70 15.73 15.78
170.52 22.51 -22.28 31 177.40 roll -1.56 - - 1959.81 - 3.42 0.055 2127.88 420.5 -107.06 - - 3460.84 - - - - - - - - - 15.84 -
360.88 53.86 -15.64 69 365.25 no move -1.56 - - 1959.75 - - - 2128.00 - -107.06 - - 3459.31 - - - - - - - - - - -
545.90 78.84 -13.44 106 552.34 roll -1.56 - - 1959.88 - 3.15 0.104 3360.19 391.2 -107.06 - - 3460.00 - - - - - - - - - 15.92 -
570.90 82.32 -13.84 111 577.29 roll -1.56 - - 1959.94 - 3.08 0.049 2068.44 -419.4 -107.06 - - 3461.81 - - - - - - - - - 15.93 -
765.92 107.54 -12.28 144 771.68 roll -1.56 - - 1960.38 - 3.32 0.100 3361.94 389.6 -107.06 - - 3460.19 - - - - - - - - - 15.95 -
895.92 123.01 -11.48 170 901.56 roll -1.56 - - 1958.81 - 3.08 0.050 2069.06 -419.8 -107.06 - - 3462.69 - - - - - - - - - 15.98 -
1205.94 153.96 -10.18 202 1207.47 no move -1.56 - - 1959.56 - - - 2069.44 - -107.06 - - 3460.53 - - - - - - - - - - -
1515.96 185.89 -9.75 233 1517.49 no move -1.56 - - 1960.25 - - - 2069.38 - -107.06 - - 3461.03 - - - - - - - - - - -
1825.98 215.98 -9.41 264 1831.88 roll -1.56 - - 1959.88 - 3.61 0.122 688.56 -382.5 -107.06 - - 3463.69 - - - - - - - - - 16.05 -
1910.24 225.00 -10.69 281 1917.84 roll -1.56 - - 1959.69 - 3.39 0.056 2129.12 424.9 -107.06 - - 3462.94 - - - - - - - - - 16.09 -
2226.09 254.02 -8.66 313 2227.66 no move -1.56 - - 1959.50 - - - 2128.81 - -107.06 - - 3461.00 - - - - - - - - - - -
2536.14 281.03 -8.18 344 2543.32 roll -1.56 - - 1959.62 - 3.74 0.118 688.94 -385.0 -107.06 - - 3460.41 - - - - - - - - - 16.09 -
2626.02 289.73 -9.74 362 2633.52 roll -1.56 - - 1959.88 - 3.37 0.055 2129.69 427.5 -107.06 - - 3462.03 - - - - - - - - - 16.09 -
2941.81 317.32 -9.61 394 2943.38 no move -1.56 - - 1959.81 - - - 2129.94 - -107.06 - - 3461.12 - - - - - - - - - - -
3251.84 346.94 -9.35 425 3259.03 roll -1.56 - - 1959.94 - 3.75 0.120 689.56 -384.1 -107.06 - - 3461.88 - - - - - - - - - 16.14 -
3357.48 357.74 -10.02 446 3363.47 roll -1.56 - - 1960.19 - 3.38 0.058 2130.56 426.3 -107.06 - - 3462.50 - - - - - - - - - 16.15 -
3667.52 386.18 -9.32 478 3669.09 no move -1.56 - - 1959.69 - - - 2130.31 - -107.06 - - 3461.44 - - - - - - - - - - -
3977.54 415.13 -9.63 509 3979.11 no move -1.56 - - 1959.81 - - - 2129.75 - -107.06 - - 3461.12 - - - - - - - - - - -
4287.57 444.32 -9.38 540 4294.76 roll -1.56 - - 1959.31 - 3.73 0.122 688.69 -386.3 -107.06 - - 3461.16 - - - - - - - - - 16.16 -
4393.34 455.23 -10.18 561 4399.29 roll -1.56 - - 1959.62 - 3.38 0.059 2130.31 426.5 -107.06 - - 3461.38 - - - - - - - - - 16.16 -
4703.37 482.49 -8.71 593 4704.94 no move -1.56 - - 1959.38 - - - 2130.31 - -107.06 - - 3460.84 - - - - - - - - - - -
5013.39 509.98 -9.03 624 5020.59 roll -1.56 - - 1959.25 - 3.72 0.122 689.88 -387.2 -107.06 - - 3460.94 - - - - - - - - - 16.17 -
5053.28 514.15 -9.67 632 5060.75 roll -1.56 - - 1959.69 - 3.38 0.060 2128.81 425.7 -107.06 - - 3462.44 - - - - - - - - - 16.17 -
5369.10 541.41 -8.53 664 5376.28 roll -1.56 - - 1959.69 - 3.71 0.124 690.19 -387.8 -107.06 - - 3459.31 - - - - - - - - - 16.17 -
5424.73 546.80 -9.68 675 5430.72 roll -1.56 - - 1959.38 - 3.37 0.060 2129.75 427.2 -107.06 - - 3461.56 - - - - - - - - - 16.20 -
5734.75 573.15 -8.43 707 5741.97 roll -1.56 - - 1958.38 - 3.73 0.123 689.88 -386.0 -107.06 - - 3461.66 - - - - - - - - - 16.19 -
5774.64 577.26 -10.07 715 5782.11 roll -1.56 - - 1959.94 - 3.38 0.060 2129.88 426.0 -107.06 - - 3460.12 - - - - - - - - - 16.20 -
6090.43 606.10 -9.31 747 6097.66 roll -1.56 - - 1959.44 - 3.72 0.124 689.62 -387.2 -107.06 - - 3461.03 - - - - - - - - - 16.19 -
6150.36 612.49 -10.04 759 6157.84 roll -1.56 - - 1959.81 - 3.38 0.061 2130.19 426.2 -107.06 - - 3458.91 - - - - - - - - - 16.20 -
6466.15 639.60 -8.64 791 6472.02 roll -1.56 - - 1958.88 - 3.12 0.109 3359.88 394.1 -107.06 - - 3460.56 - - - - - - - - - 16.16 -
6530.39 645.69 -9.24 804 6537.70 roll -1.56 - - 1959.75 - 3.04 0.056 2068.56 -424.8 -107.06 - - 3458.34 - - - - - - - - - 16.19 -
6846.18 670.04 -7.20 836 6847.75 no move -1.56 - - 1959.69 - - - 2069.38 - -107.06 - - 3457.25 - - - - - - - - - - -
7156.22 692.27 -7.12 867 7157.80 no move -1.56 - - 1959.56 - - - 2069.31 - -107.06 - - 3457.00 - - - - - - - - - - -
7466.24 715.59 -7.46 898 7472.34 roll -1.56 - - 1959.44 - 3.61 0.130 688.75 -382.4 -107.06 - - 3457.84 - - - - - - - - - 16.18 -
7510.49 719.60 -8.35 907 7518.25 roll -1.56 - - 1959.62 - 3.39 0.061 2130.00 425.1 -107.06 - - 3457.84 - - - - - - - - - 16.20 -
7826.28 745.32 -9.05 939 7827.85 no move -1.56 - - 1959.31 - - - 2129.62 - -107.06 - - 3456.47 - - - - - - - - - - -
8136.32 772.29 -7.49 970 8143.50 roll -1.56 - - 1959.81 - 3.73 0.126 688.69 -386.3 -107.06 - - 3456.97 - - - - - - - - - 16.20 -
8216.18 779.64 -8.72 986 8223.69 roll -1.56 - - 1959.75 - 3.39 0.062 2128.56 424.7 -107.06 - - 3457.66 - - - - - - - - - 16.21 -
8531.98 805.31 -7.92 1018 8539.17 roll -1.56 - - 1958.38 - 3.71 0.127 689.81 -387.8 -107.06 - - 3457.66 - - - - - - - - - 16.18 -
8551 end dive: TARGET_DEPTH_EXCEEDED
8552 begin apogee
8558.32 807.09 -7.97 1022 8650.69 -0.42 2.53 0.128 2240.31 111.4 0.10 0.222 2117.94 14281.3 - 84.52 1.924 3017.81 -5.2 0.360 - - - - - - 16.15 15.63 12.92
8655 end apogee: CONTROL_FINISHED_OK
8656 begin climb
8658.70 808.85 - 1031 8764.86 1.56 3.91 0.065 2727.06 124.5 3.30 0.105 3359.75 376.3 107.06 91.66 1.863 2582.59 -4.7 0.340 - - - - - - 15.72 15.36 12.80
8778.44 803.66 7.03 1053 8784.25 roll 1.59 - - 2726.75 - 3.02 0.055 2119.19 -410.8 107.06 - - 2580.38 - - - - - - - - - 15.54 -
9088.42 775.25 8.93 1085 9095.65 done 1.59 - - 2727.50 - 3.71 0.119 688.88 -385.5 107.06 - - 2569.75 - - - - - - - - - 15.87 -
9174.10 766.25 10.81 1102 9180.14 done 1.59 - - 2726.12 - 3.57 0.063 2175.06 416.3 107.06 - - 2570.97 - - - - - - - - - 15.92 -
9484.13 737.46 9.65 1134 9489.93 done 1.59 - - 2727.06 - 3.04 0.106 3361.62 390.3 107.06 - - 2568.78 - - - - - - - - - 15.99 -
9714.16 715.33 10.48 1180 9720.17 done 1.59 - - 2726.50 - 2.95 0.057 2121.19 -420.5 107.06 - - 2569.22 - - - - - - - - - 16.05 -
10024.19 688.65 8.62 1212 10031.41 done 1.59 - - 2726.31 - 3.70 0.120 689.88 -386.8 107.06 - - 2564.50 - - - - - - - - - 16.06 -
10079.96 683.06 10.28 1223 10086.02 done 1.59 - - 2727.19 - 3.52 0.063 2180.12 423.4 107.06 - - 2565.72 - - - - - - - - - 16.09 -
10389.96 654.27 9.20 1255 10395.71 done 1.59 - - 2726.62 - 2.99 0.105 3360.31 394.7 107.06 - - 2564.69 - - - - - - - - - 16.09 -
10489.96 644.90 9.11 1275 10495.72 done 1.59 - - 2725.75 - 2.94 0.056 2119.75 -422.0 107.06 - - 2567.91 - - - - - - - - - 16.12 -
10799.99 620.84 7.56 1307 10806.08 done 1.59 - - 2726.94 - 3.13 0.103 3360.94 396.5 107.06 - - 2564.97 - - - - - - - - - 16.14 -
10930.03 609.80 8.56 1333 10935.80 done 1.59 - - 2726.62 - 2.94 0.057 2119.75 -422.2 107.06 - - 2564.75 - - - - - - - - - 16.13 -
11240.08 584.57 7.56 1365 11245.96 done 1.59 - - 2726.62 - 3.14 0.103 3363.62 396.1 107.06 - - 2564.56 - - - - - - - - - 16.14 -
11450.13 567.23 8.40 1407 11455.93 done 1.59 - - 2725.94 - 2.93 0.057 2119.44 -424.6 107.06 - - 2566.94 - - - - - - - - - 16.16 -
11760.16 542.58 7.98 1439 11761.73 VBD 1.59 - - 2726.56 - - - 2119.62 - 107.06 - - 2563.69 - - - - - - - - - - -
12070.23 518.60 7.46 1470 12071.80 VBD 1.61 - - 2726.44 - - - 2119.88 - 107.06 - - 2562.25 - - - - - - - - - - -
12380.26 496.14 7.19 1501 12386.12 done 1.64 - - 2727.31 - 3.14 0.102 3362.31 395.7 107.06 - - 2562.19 - - - - - - - - - 16.17 -
12494.48 486.96 7.88 1524 12502.01 done 1.64 - - 2726.44 - 2.93 0.056 2118.44 -424.5 107.06 - - 2562.59 - - - - - - - - - 16.15 -
12810.30 465.76 6.76 1556 12816.28 1.68 0.16 0.077 2757.44 193.8 3.15 0.101 3361.44 394.6 107.06 - - 2561.91 - - - - - - - - 16.22 16.16 -
13044.55 447.32 8.04 1603 13051.83 done 1.68 - - 2757.50 - 2.93 0.056 2118.69 -424.1 107.06 - - 2561.97 - - - - - - - - - 16.15 -
13360.38 425.59 6.72 1635 13366.44 done 1.72 - - 2756.38 - 3.13 0.101 3362.06 397.2 107.06 - - 2564.47 - - - - - - - - - 16.18 -
13470.40 417.45 7.50 1657 13476.14 done 1.73 - - 2757.25 - 2.92 0.056 2119.94 -425.4 107.06 - - 2564.69 - - - - - - - - - 16.17 -
13780.42 397.71 5.99 1689 13786.45 1.80 0.20 0.044 2778.62 106.8 3.13 0.100 3363.62 397.3 107.06 - - 2562.53 - - - - - - - - 16.26 16.16 -
13910.45 388.54 7.30 1715 13916.16 done 1.82 - - 2779.75 - 2.93 0.056 2117.50 -425.3 107.06 - - 2561.28 - - - - - - - - - 16.17 -
14220.47 369.69 5.66 1747 14226.53 1.89 0.23 0.040 2804.69 108.4 3.14 0.101 3362.19 396.4 107.06 - - 2562.53 - - - - - - - - 16.25 16.16 -
14430.51 355.60 6.70 1789 14436.22 done 1.93 - - 2803.88 - 2.93 0.056 2118.12 -424.6 107.06 - - 2562.94 - - - - - - - - - 16.19 -
14740.52 336.24 6.02 1821 14742.33 1.99 0.23 0.036 2821.31 75.8 - - 2117.94 - 107.06 - - 2561.94 - - - - - - - - 16.27 - -
15050.56 317.18 5.87 1852 15056.81 2.06 0.19 0.044 2840.38 100.4 3.15 0.099 3362.69 395.2 107.06 - - 2561.19 - - - - - - - - 16.23 16.17 -
15124.81 312.07 6.95 1867 15132.04 done 2.09 - - 2840.31 - 2.91 0.056 2115.75 -428.5 107.06 - - 2562.47 - - - - - - - - - 16.16 -
15440.59 294.41 5.74 1899 15442.40 2.16 0.28 0.047 2873.62 119.0 - - 2115.50 - 107.06 - - 2561.69 - - - - - - - - 16.20 - -
15750.69 272.82 7.55 1930 15752.26 VBD 2.17 - - 2874.00 - - - 2116.06 - 107.06 - - 2560.06 - - - - - - - - - - -
16060.63 249.45 6.93 1961 16066.45 done 2.21 - - 2874.19 - 3.14 0.099 3361.50 396.6 107.06 - - 2561.31 - - - - - - - - - 16.15 -
16174.91 241.98 6.50 1984 16182.13 done 2.25 - - 2874.31 - 2.90 0.055 2118.38 -428.7 107.06 - - 2560.59 - - - - - - - - - 16.15 -
16490.67 225.50 4.22 2016 16556.89 2.35 0.38 0.047 2919.06 117.8 3.70 0.116 688.69 -386.4 181.92 57.31 1.209 2275.53 -5.0 0.153 - - - - - - 16.20 15.85 12.90
16784.61 187.03 14.09 2074 16792.23 roll 2.35 - - 2918.88 - 3.57 0.061 2178.69 417.4 181.92 - - 2271.66 - - - - - - - - - 15.97 -
17100.37 147.79 12.32 2106 17107.67 done 2.35 - - 2917.62 - 3.85 0.111 687.56 -387.3 181.92 - - 2268.19 - - - - - - - - - 16.00 -
17266.15 124.32 14.28 2139 17272.21 done 2.35 - - 2918.06 - 3.54 0.059 2179.44 421.4 181.92 - - 2267.59 - - - - - - - - - 16.05 -
17576.16 89.56 7.77 2181 17583.13 done 2.35 - - 2917.88 - 3.82 0.110 687.88 -390.5 181.92 - - 2267.22 - - - - - - - - - 16.04 -
17811.64 79.68 3.69 2228 17913.59 2.46 0.24 0.033 2937.44 81.5 3.52 0.059 2182.31 424.6 267.07 91.36 0.985 1930.53 -3.7 0.049 - - - - - - 16.07 16.05 12.86
18097.14 54.25 10.16 2284 18104.12 roll 2.46 - - 2937.19 - 3.89 0.110 688.56 -384.0 267.07 - - 1929.94 - - - - - - - - - 15.86 -
18332.70 30.56 8.16 2331 18339.51 roll 2.46 - - 2937.31 - 3.53 0.058 2181.56 422.9 267.07 - - 1928.72 - - - - - - - - - 15.96 -
18522.91 15.25 8.36 2369 18529.88 roll 2.46 - - 2937.38 - 3.85 0.110 689.81 -387.5 267.07 - - 1926.81 - - - - - - - - - 15.97 -
18613.37 12.66 3.60 2387 18716.21 2.57 0.35 0.038 2974.38 105.7 3.53 0.057 2183.06 423.0 353.88 92.64 0.911 1577.50 -3.8 0.009 - - - - - - 16.04 15.99 12.85
18884 end climb: SURFACE_DEPTH_REACHED
18884 begin surface coast
18914 end surface coast: CONTROL_FINISHED_OK
18915 begin surface
SM 1.24 - - - - 181.8 119.88 0.902 1083.1 8.3 21.17 0.050 1100.4 52.0 - 0.23 0.095 1065.7 4618.1 -6.161 - - 12.81 15.90 15.87 -