NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 129 * Raw log
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• Previous call tries 1 • 59.70 of 575.00 AH used of 24V (89.62% remains)
• Surface angle -63.8 deg, depth 1.49 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.97 (SM_CC=475)
• GPS1 time: 50 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 - - - 75.61 VBD -1.56 - - 179.06 - - - 2128.00 - -107.06 65.15 0.005 2497.56 - - - - - - - - - - 15.73
76.05 3.31 -3.03 13 126.71 -1.56 15.94 0.236 1960.25 111.7 3.19 0.106 3361.19 386.6 -107.06 23.54 0.006 3456.97 40.8 -3.724 - - - - - - 15.71 15.71 15.74
290.33 43.62 -15.69 55 296.54 roll -1.56 - - 1959.50 - 3.14 0.047 2068.94 -411.5 -107.06 - - 3459.59 - - - - - - - - - 15.86 -
480.12 69.21 -13.18 93 486.79 roll -1.56 - - 1959.75 - 3.64 0.114 688.94 -379.1 -107.06 - - 3459.50 - - - - - - - - - 15.90 -
515.17 74.25 -14.63 100 521.74 roll -1.56 - - 1959.88 - 3.35 0.048 2131.44 430.6 -107.06 - - 3459.28 - - - - - - - - - 15.92 -
705.19 96.52 -10.25 138 709.57 no move -1.56 - - 1959.44 - - - 2131.69 - -107.06 - - 3460.00 - - - - - - - - - - -
895.21 115.81 -10.82 161 902.19 roll -1.56 - - 1959.69 - 3.77 0.110 688.94 -382.7 -107.06 - - 3459.06 - - - - - - - - - 15.97 -
964.83 123.86 -11.65 175 972.12 roll -1.56 - - 1959.88 - 3.34 0.049 2133.31 432.4 -107.06 - - 3461.16 - - - - - - - - - 16.01 -
1280.60 154.95 -9.33 207 1286.28 roll -1.56 - - 1959.88 - 3.11 0.099 3360.44 394.6 -107.06 - - 3463.59 - - - - - - - - - 16.01 -
1340.62 161.16 -10.55 219 1346.28 roll -1.56 - - 1959.00 - 3.09 0.046 2067.94 -418.3 -107.06 - - 3462.06 - - - - - - - - - 16.02 -
1650.89 191.70 -10.13 251 1652.45 no move -1.56 - - 1959.44 - - - 2068.19 - -107.06 - - 3461.25 - - - - - - - - - - -
1960.68 223.44 -9.84 282 1962.25 no move -1.56 - - 1959.81 - - - 2068.38 - -107.06 - - 3461.44 - - - - - - - - - - -
2270.71 253.81 -10.32 313 2272.28 no move -1.56 - - 1959.69 - - - 2068.56 - -107.06 - - 3461.16 - - - - - - - - - - -
2580.74 284.71 -9.30 344 2582.32 no move -1.56 - - 1959.94 - - - 2068.12 - -107.06 - - 3461.50 - - - - - - - - - - -
2891.31 312.60 -8.75 375 2892.88 no move -1.56 - - 1959.94 - - - 2068.19 - -107.06 - - 3461.41 - - - - - - - - - - -
3200.76 338.05 -7.84 406 3206.67 roll -1.56 - - 1959.69 - 3.30 0.101 3361.69 392.0 -107.06 - - 3462.78 - - - - - - - - - 16.11 -
3330.80 349.82 -9.23 432 3336.63 roll -1.56 - - 1960.19 - 3.10 0.051 2069.25 -416.9 -107.06 - - 3462.12 - - - - - - - - - 16.12 -
3640.82 377.32 -9.38 464 3642.39 no move -1.56 - - 1960.00 - - - 2069.25 - -107.06 - - 3460.91 - - - - - - - - - - -
3950.83 408.08 -10.14 495 3956.73 roll -1.56 - - 1959.12 - 3.29 0.100 3360.81 392.6 -107.06 - - 3461.84 - - - - - - - - - 16.13 -
4040.85 418.47 -11.62 513 4046.66 roll -1.56 - - 1959.81 - 3.08 0.050 2068.94 -419.4 -107.06 - - 3461.78 - - - - - - - - - 16.12 -
4350.86 449.42 -9.68 545 4352.43 no move -1.56 - - 1960.06 - - - 2069.12 - -107.06 - - 3459.97 - - - - - - - - - - -
4660.88 477.02 -8.46 576 4662.45 no move -1.56 - - 1959.88 - - - 2069.38 - -107.06 - - 3458.97 - - - - - - - - - - -
4970.89 502.08 -8.06 607 4972.46 no move -1.56 - - 1959.81 - - - 2069.56 - -107.06 - - 3457.97 - - - - - - - - - - -
5280.91 529.32 -8.63 638 5282.48 no move -1.56 - - 1959.75 - - - 2069.06 - -107.06 - - 3457.50 - - - - - - - - - - -
5590.92 557.31 -9.30 669 5592.49 no move -1.56 - - 1959.69 - - - 2069.12 - -107.06 - - 3456.84 - - - - - - - - - - -
5900.94 586.43 -9.23 700 5902.51 no move -1.56 - - 1960.12 - - - 2068.81 - -107.06 - - 3457.28 - - - - - - - - - - -
6210.96 614.53 -8.60 731 6217.07 roll -1.56 - - 1959.62 - 3.65 0.125 689.69 -377.8 -107.06 - - 3456.84 - - - - - - - - - 16.14 -
6265.21 620.16 -9.67 742 6272.68 roll -1.56 - - 1959.62 - 3.38 0.057 2130.19 426.2 -107.06 - - 3458.31 - - - - - - - - - 16.17 -
6581.01 646.98 -8.15 774 6588.20 roll -1.56 - - 1959.44 - 3.80 0.120 689.62 -379.1 -107.06 - - 3456.97 - - - - - - - - - 16.17 -
6610.88 649.79 -8.50 780 6618.35 roll -1.56 - - 1959.62 - 3.37 0.056 2129.75 427.3 -107.06 - - 3455.94 - - - - - - - - - 16.17 -
6926.67 676.47 -8.60 812 6934.25 roll -1.56 - - 1959.75 - 3.77 0.120 689.62 -382.0 -107.06 - - 3455.59 - - - - - - - - - 16.16 -
6957.04 679.54 -9.70 818 6964.51 roll -1.56 - - 1959.56 - 3.36 0.057 2131.19 429.0 -107.06 - - 3457.19 - - - - - - - - - 16.18 -
7272.83 706.99 -8.35 850 7274.41 no move -1.56 - - 1959.56 - - - 2131.25 - -107.06 - - 3453.91 - - - - - - - - - - -
7582.86 731.39 -7.50 881 7589.34 roll -1.56 - - 1960.12 - 3.77 0.122 688.50 -382.7 -107.06 - - 3453.19 - - - - - - - - - 16.17 -
7617.11 734.48 -7.98 888 7624.58 roll -1.56 - - 1959.88 - 3.36 0.056 2131.81 429.6 -107.06 - - 3454.03 - - - - - - - - - 16.17 -
7932.90 758.38 -7.34 920 7934.47 no move -1.56 - - 1959.25 - - - 2131.62 - -107.06 - - 3453.31 - - - - - - - - - - -
8242.93 781.19 -7.29 951 8250.13 roll -1.56 - - 1959.56 - 3.76 0.121 689.88 -383.4 -107.06 - - 3453.03 - - - - - - - - - 16.17 -
8318.57 787.66 -8.58 966 8324.57 roll -1.56 - - 1960.19 - 3.36 0.058 2130.94 428.9 -107.06 - - 3453.72 - - - - - - - - - 16.17 -
8628.60 811.35 -7.77 998 8636.06 roll -1.56 - - 1960.25 - 3.77 0.123 689.94 -382.2 -107.06 - - 3452.22 - - - - - - - - - 16.16 -
8664.66 814.57 -8.50 1005 8670.80 roll -1.56 - - 1959.31 - 3.36 0.058 2129.06 428.3 -107.06 - - 3454.03 - - - - - - - - - 16.17 -
8974.69 840.29 -8.22 1037 8982.09 roll -1.56 - - 1958.88 - 3.79 0.122 688.56 -380.1 -107.06 - - 3453.72 - - - - - - - - - 16.17 -
9054.83 848.11 -9.92 1053 9062.47 roll -1.56 - - 1959.25 - 3.37 0.057 2128.44 427.3 -107.06 - - 3453.66 - - - - - - - - - 16.16 -
9370.62 875.04 -8.37 1085 9372.23 no move -1.56 - - 1959.81 - - - 2128.62 - -107.06 - - 3452.44 - - - - - - - - - - -
9680.65 900.64 -8.56 1116 9688.05 roll -1.56 - - 1958.44 - 3.78 0.123 690.62 -380.4 -107.06 - - 3452.38 - - - - - - - - - 16.16 -
9726.54 904.74 -9.65 1125 9732.67 roll -1.56 - - 1959.62 - 3.37 0.059 2128.62 426.7 -107.06 - - 3452.19 - - - - - - - - - 16.17 -
10036.58 928.51 -7.25 1157 10043.98 roll -1.56 - - 1958.56 - 3.80 0.123 688.69 -378.9 -107.06 - - 3452.41 - - - - - - - - - 16.17 -
10066.71 931.15 -7.57 1163 10074.61 roll -1.56 - - 1960.12 - 3.37 0.056 2130.44 427.8 -107.06 - - 3451.50 - - - - - - - - - 16.16 -
10382.50 954.04 -7.35 1195 10389.90 roll -1.56 - - 1959.94 - 3.79 0.123 690.56 -379.9 -107.06 - - 3452.81 - - - - - - - - - 16.16 -
10438.40 958.43 -8.00 1206 10444.57 roll -1.56 - - 1960.06 - 3.36 0.059 2129.88 428.4 -107.06 - - 3451.59 - - - - - - - - - 16.16 -
10748.43 980.97 -7.03 1238 10750.04 no move -1.56 - - 1959.94 - - - 2129.56 - -107.06 - - 3449.78 - - - - - - - - - - -
10868 end dive: TARGET_DEPTH_EXCEEDED
10868 begin apogee
10870.22 990.17 -7.72 1250 10964.85 -0.42 2.35 0.118 2240.31 119.3 0.09 0.250 2121.19 -93.0 - 86.25 2.250 3020.84 -5.0 0.362 - - - - - - 16.12 15.55 12.69
10970 end apogee: CONTROL_FINISHED_OK
10970 begin climb
10972.86 991.28 - 1259 11085.95 1.56 3.76 0.055 2733.38 131.1 3.32 0.106 3359.25 372.9 107.06 94.82 2.192 2582.06 -4.6 0.347 - - - - - - 15.65 15.30 12.82
11148.79 979.76 10.74 1292 11156.55 roll back 1.56 0.34 0.150 2714.50 -55.5 3.10 0.054 2122.19 -399.1 107.06 - - 2576.22 - - - - - - - - 15.58 15.63 -
11464.55 947.54 10.24 1324 11470.67 done 1.56 - - 2713.88 - 3.20 0.101 3362.56 387.6 107.06 - - 2571.28 - - - - - - - - - 15.89 -
11614.59 930.71 11.49 1354 11620.55 done 1.56 - - 2714.31 - 3.03 0.054 2122.31 -409.3 107.06 - - 2570.72 - - - - - - - - - 15.94 -
11924.59 898.23 10.81 1386 11930.61 done 1.56 - - 2713.50 - 3.17 0.101 3360.88 390.7 107.06 - - 2565.97 - - - - - - - - - 16.00 -
12114.64 876.52 11.33 1424 12120.60 done 1.56 - - 2713.44 - 3.02 0.054 2121.56 -410.4 107.06 - - 2565.53 - - - - - - - - - 16.03 -
12424.63 845.94 9.87 1456 12430.68 done 1.56 - - 2714.12 - 3.15 0.101 3361.19 393.5 107.06 - - 2564.62 - - - - - - - - - 16.05 -
12638.93 823.87 10.49 1499 12646.44 done 1.56 - - 2714.81 - 3.01 0.054 2120.31 -412.3 107.06 - - 2565.00 - - - - - - - - - 16.08 -
12954.69 795.55 8.97 1531 12956.30 VBD 1.56 - - 2714.62 - - - 2120.69 - 107.06 - - 2561.59 - - - - - - - - - - -
13264.70 768.42 8.74 1562 13270.73 done 1.56 - - 2714.44 - 3.16 0.102 3362.44 393.0 107.06 - - 2561.75 - - - - - - - - - 16.11 -
13499.00 745.65 9.57 1609 13506.41 done 1.56 - - 2714.06 - 2.98 0.054 2120.62 -416.7 107.06 - - 2562.19 - - - - - - - - - 16.09 -
13814.81 719.88 7.47 1641 13820.78 done 1.58 - - 2714.19 - 3.17 0.102 3361.00 391.3 107.06 - - 2561.31 - - - - - - - - - 16.13 -
14049.06 699.54 8.63 1688 14056.52 done 1.58 - - 2714.50 - 2.99 0.054 2119.88 -415.1 107.06 - - 2561.47 - - - - - - - - - 16.14 -
14364.86 676.08 7.32 1720 14371.26 1.60 0.19 0.056 2743.00 150.0 3.15 0.102 3360.44 393.8 107.06 - - 2563.12 - - - - - - - - 16.20 16.12 -
14554.87 658.54 9.62 1758 14561.01 1.60 0.29 0.156 2722.94 -69.2 2.96 0.055 2118.94 -419.4 107.06 - - 2562.50 - - - - - - - - 16.11 16.15 -
14864.88 634.43 7.68 1790 14870.91 done 1.60 - - 2724.31 - 3.14 0.100 3361.25 395.6 107.06 - - 2559.69 - - - - - - - - - 16.14 -
14909.13 631.03 7.56 1799 14916.60 done 1.60 - - 2723.69 - 2.97 0.054 2117.81 -418.7 107.06 - - 2559.69 - - - - - - - - - 16.16 -
15224.94 608.22 6.93 1831 15226.81 1.64 0.22 0.054 2750.00 119.6 - - 2117.94 - 107.06 - - 2558.59 - - - - - - - - 16.20 - -
15534.96 585.78 7.44 1862 15540.95 done 1.66 - - 2750.75 - 3.15 0.101 3360.69 394.5 107.06 - - 2559.62 - - - - - - - - - 16.15 -
15639.17 577.48 7.97 1883 15646.59 done 1.66 - - 2751.62 - 2.97 0.054 2121.00 -417.4 107.06 - - 2559.56 - - - - - - - - - 16.15 -
15955.01 554.26 7.55 1915 15956.63 VBD 1.66 - - 2751.56 - - - 2121.31 - 107.06 - - 2558.31 - - - - - - - - - - -
16264.99 530.76 7.55 1946 16271.25 done 1.67 - - 2751.56 - 3.14 0.100 3362.12 395.2 107.06 - - 2559.28 - - - - - - - - - 16.15 -
16499.22 511.31 8.63 1993 16506.63 done 1.67 - - 2751.31 - 2.97 0.054 2119.44 -418.4 107.06 - - 2559.19 - - - - - - - - - 16.12 -
16815.03 487.66 7.27 2025 16821.01 done 1.69 - - 2751.50 - 3.15 0.098 3363.19 394.8 107.06 - - 2559.91 - - - - - - - - - 16.17 -
16985.00 474.68 7.81 2059 16990.93 done 1.69 - - 2750.50 - 2.98 0.053 2119.25 -417.4 107.06 - - 2560.88 - - - - - - - - - 16.16 -
17295.08 455.01 5.92 2091 17301.24 1.76 0.17 0.054 2774.44 140.8 3.13 0.097 3362.38 397.2 107.06 - - 2561.59 - - - - - - - - 16.23 16.13 -
17385.12 448.87 6.85 2109 17391.03 done 1.79 - - 2775.44 - 2.96 0.054 2120.25 -419.6 107.06 - - 2559.06 - - - - - - - - - 16.15 -
17695.15 428.92 6.31 2141 17701.43 1.85 0.13 0.050 2792.56 131.7 3.15 0.099 3360.94 393.9 107.06 - - 2558.78 - - - - - - - - 16.25 16.14 -
17739.42 425.78 6.68 2150 17747.02 done 1.89 - - 2791.75 - 2.96 0.053 2119.56 -419.4 107.06 - - 2561.53 - - - - - - - - - 16.16 -
18055.20 406.16 6.10 2182 18057.01 1.94 0.16 0.061 2821.88 188.3 - - 2119.12 - 107.06 - - 2557.12 - - - - - - - - 16.19 - -
18365.21 384.39 7.15 2213 18366.83 VBD 1.97 - - 2821.44 - - - 2119.00 - 107.06 - - 2557.69 - - - - - - - - - - -
18675.22 362.82 6.76 2244 18676.85 VBD 2.01 - - 2821.12 - - - 2119.19 - 107.06 - - 2557.81 - - - - - - - - - - -
18985.24 341.76 6.60 2275 18987.05 2.05 0.16 0.066 2848.62 171.9 - - 2118.38 - 107.06 - - 2557.06 - - - - - - - - 16.22 - -
19295.26 320.45 6.46 2306 19296.88 VBD 2.10 - - 2848.50 - - - 2119.00 - 107.06 - - 2557.69 - - - - - - - - - - -
19605.28 301.18 6.16 2337 19612.82 2.16 0.14 0.069 2875.56 193.3 3.70 0.113 687.44 -386.9 107.06 - - 2557.81 - - - - - - - - 16.21 16.13 -
19771.41 289.05 7.35 2370 19777.53 done 2.18 - - 2874.12 - 3.50 0.059 2175.44 425.1 107.06 - - 2559.72 - - - - - - - - - 16.12 -
20081.40 270.87 5.78 2402 20087.25 done 2.25 - - 2874.56 - 2.99 0.099 3363.06 397.2 107.06 - - 2558.97 - - - - - - - - - 16.11 -
20201.43 263.70 5.80 2426 20207.76 2.32 0.23 0.049 2913.94 171.2 2.98 0.052 2117.81 -417.9 107.06 - - 2557.94 - - - - - - - - 16.20 16.10 -
20511.43 244.82 6.00 2458 20513.05 VBD 2.38 - - 2914.56 - - - 2118.31 - 107.06 - - 2556.50 - - - - - - - - - - -
20821.45 227.66 5.42 2489 20827.65 2.46 0.22 0.049 2945.56 140.9 3.16 0.098 3363.69 394.1 107.06 - - 2558.25 - - - - - - - - 16.18 16.08 -
21055.74 212.75 6.33 2536 21063.12 done 2.51 - - 2945.19 - 2.98 0.052 2116.38 -418.6 107.06 - - 2559.03 - - - - - - - - - 16.13 -
21371.51 198.15 4.22 2568 21459.04 2.60 0.23 0.049 2983.06 164.7 3.24 0.098 3361.75 384.4 181.77 77.69 1.217 2275.97 -3.6 0.098 - - - - - - 16.16 15.78 12.72
21686.81 155.08 16.58 2630 21694.31 roll 2.60 - - 2982.62 - 3.03 0.052 2119.94 -409.8 181.77 - - 2271.78 - - - - - - - - - 15.93 -
22002.57 112.32 10.61 2662 22010.29 2.60 0.31 0.172 2967.50 -48.8 3.74 0.111 687.69 -383.0 181.77 - - 2267.47 - - - - - - - - 15.95 15.95 -
22068.90 105.16 10.94 2675 22075.15 done 2.60 - - 2966.44 - 3.57 0.057 2176.00 416.9 181.77 - - 2267.38 - - - - - - - - - 15.96 -
22378.97 78.16 5.01 2732 22455.00 2.68 0.26 0.046 3001.88 136.3 3.94 0.107 687.50 -377.8 241.07 63.22 1.091 2036.34 -3.7 0.043 - - - - - - 16.02 15.74 12.68
22683.53 59.92 8.42 2792 22690.75 roll back 2.68 0.28 0.177 2985.56 -58.3 3.58 0.055 2179.00 416.6 241.07 - - 2034.84 - - - - - - - - 15.84 15.89 -
22874.26 45.55 7.52 2830 22881.40 roll 2.70 - - 2985.12 - 3.06 0.099 3361.50 386.4 241.07 - - 2033.25 - - - - - - - - - 15.91 -
23110.09 30.52 4.67 2877 23185.84 2.78 0.32 0.044 3026.00 127.8 3.01 0.050 2115.69 -413.9 307.11 65.96 1.030 1766.47 -4.0 0.020 - - - - - - 16.00 15.98 12.73
23369.33 21.03 2.46 2928 23487.42 2.92 0.19 0.054 3061.56 187.2 3.29 0.096 3360.38 378.3 416.35 106.78 1.005 1321.81 -4.2 0.014 - - - - - - 15.90 15.54 12.70
23586 end climb: SURFACE_DEPTH_REACHED
23586 begin surface coast
23606 end surface coast: CONTROL_FINISHED_OK
23606 begin surface
SM 2.09 - - - - 179.0 57.21 0.979 1083.7 17.1 21.75 0.040 1103.2 50.7 - 3.13 0.048 1064.2 338.9 -1.508 - - 12.74 15.80 15.78 -