NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 132 * Raw log
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• Previous call tries 1 • 60.74 of 575.00 AH used of 24V (89.44% remains)
• Surface angle -63.3 deg, depth 1.49 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.74 (SM_CC=475)
• GPS1 time: 38 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
8.91 - - - 70.49 VBD -1.56 - - 181.62 - - - 2140.94 - -107.06 60.08 0.005 2368.59 - - - - - - - - - - 15.73
70.93 3.20 -3.09 12 127.00 -1.56 16.64 0.236 1960.56 106.9 3.19 0.104 3360.88 382.4 -107.06 28.46 0.006 3458.06 38.3 -3.379 - - - - - - 15.70 15.70 15.74
300.38 46.96 -16.05 57 306.82 roll -1.56 - - 1960.94 - 3.11 0.047 2069.88 -415.1 -107.06 - - 3459.56 - - - - - - - - - 15.88 -
490.38 74.86 -13.70 95 494.75 no move -1.56 - - 1961.44 - - - 2070.12 - -107.06 - - 3459.75 - - - - - - - - - - -
675.39 98.00 -11.31 132 679.76 no move -1.56 - - 1961.00 - - - 2069.81 - -107.06 - - 3460.78 - - - - - - - - - - -
865.40 117.31 -9.96 153 866.92 no move -1.56 - - 1961.00 - - - 2069.94 - -107.06 - - 3460.38 - - - - - - - - - - -
1175.41 149.29 -10.53 184 1176.94 no move -1.56 - - 1961.06 - - - 2069.75 - -107.06 - - 3460.88 - - - - - - - - - - -
1485.43 181.67 -9.97 215 1491.58 roll -1.56 - - 1960.56 - 3.63 0.116 689.62 -380.2 -107.06 - - 3461.59 - - - - - - - - - 16.01 -
1525.44 186.02 -10.60 223 1531.22 roll -1.56 - - 1961.12 - 3.38 0.049 2130.31 426.2 -107.06 - - 3462.88 - - - - - - - - - 16.02 -
1835.46 215.13 -9.42 255 1841.13 roll -1.56 - - 1960.62 - 3.15 0.099 3361.31 390.8 -107.06 - - 3464.06 - - - - - - - - - 16.02 -
1899.70 221.87 -10.32 268 1906.88 roll -1.56 - - 1960.88 - 3.09 0.047 2068.69 -418.3 -107.06 - - 3462.47 - - - - - - - - - 16.08 -
2215.48 250.17 -8.86 300 2221.64 roll -1.56 - - 1960.50 - 3.31 0.096 3360.88 390.4 -107.06 - - 3463.88 - - - - - - - - - 16.05 -
2265.51 255.15 -9.92 310 2271.31 roll -1.56 - - 1960.75 - 3.09 0.048 2068.44 -418.3 -107.06 - - 3462.50 - - - - - - - - - 16.06 -
2575.53 284.36 -9.48 342 2577.11 no move -1.56 - - 1960.94 - - - 2068.81 - -107.06 - - 3461.19 - - - - - - - - - - -
2885.55 314.89 -9.97 373 2887.12 no move -1.56 - - 1961.12 - - - 2069.19 - -107.06 - - 3461.34 - - - - - - - - - - -
3195.57 345.47 -9.69 404 3201.52 roll -1.56 - - 1961.12 - 3.31 0.098 3362.75 390.8 -107.06 - - 3462.50 - - - - - - - - - 16.11 -
3235.59 349.72 -10.29 412 3241.40 roll -1.56 - - 1961.06 - 3.07 0.049 2069.62 -421.2 -107.06 - - 3462.69 - - - - - - - - - 16.11 -
3545.59 378.93 -9.09 444 3547.16 no move -1.56 - - 1961.06 - - - 2069.44 - -107.06 - - 3461.44 - - - - - - - - - - -
3855.60 405.16 -7.92 475 3857.17 no move -1.56 - - 1960.81 - - - 2069.31 - -107.06 - - 3461.19 - - - - - - - - - - -
4165.62 431.54 -8.89 506 4167.19 no move -1.56 - - 1960.94 - - - 2069.31 - -107.06 - - 3460.72 - - - - - - - - - - -
4475.65 459.64 -9.43 537 4477.22 no move -1.56 - - 1960.69 - - - 2069.00 - -107.06 - - 3459.81 - - - - - - - - - - -
4785.66 488.32 -8.91 568 4787.23 no move -1.56 - - 1961.06 - - - 2069.06 - -107.06 - - 3458.88 - - - - - - - - - - -
5095.67 516.72 -8.92 599 5102.03 roll -1.56 - - 1960.94 - 3.64 0.125 689.62 -379.0 -107.06 - - 3461.34 - - - - - - - - - 16.13 -
5139.93 521.30 -9.39 608 5147.40 roll -1.56 - - 1961.12 - 3.37 0.055 2130.56 427.6 -107.06 - - 3459.72 - - - - - - - - - 16.17 -
5455.72 548.17 -8.56 640 5457.29 no move -1.56 - - 1960.88 - - - 2131.19 - -107.06 - - 3458.28 - - - - - - - - - - -
5765.76 576.38 -9.26 671 5767.33 no move -1.56 - - 1960.75 - - - 2130.81 - -107.06 - - 3457.53 - - - - - - - - - - -
6075.78 604.38 -8.60 702 6077.35 no move -1.56 - - 1960.81 - - - 2131.19 - -107.06 - - 3456.88 - - - - - - - - - - -
6385.81 631.73 -8.69 733 6387.38 no move -1.56 - - 1961.25 - - - 2131.12 - -107.06 - - 3456.78 - - - - - - - - - - -
6695.84 657.56 -8.53 764 6703.03 roll -1.56 - - 1960.19 - 3.77 0.121 689.81 -382.3 -107.06 - - 3457.22 - - - - - - - - - 16.17 -
6775.72 665.19 -9.51 780 6783.19 roll -1.56 - - 1960.88 - 3.39 0.058 2130.69 425.0 -107.06 - - 3456.44 - - - - - - - - - 16.14 -
7091.51 691.87 -8.52 812 7098.72 roll -1.56 - - 1960.81 - 3.79 0.121 689.25 -380.3 -107.06 - - 3455.16 - - - - - - - - - 16.16 -
7147.16 697.24 -9.62 823 7153.36 roll -1.56 - - 1959.75 - 3.38 0.056 2129.31 426.1 -107.06 - - 3457.75 - - - - - - - - - 16.18 -
7457.19 723.34 -7.78 855 7464.37 roll -1.56 - - 1960.25 - 3.78 0.121 689.44 -380.9 -107.06 - - 3455.94 - - - - - - - - - 16.17 -
7502.82 727.36 -8.85 864 7508.77 roll -1.56 - - 1960.19 - 3.34 0.055 2129.56 431.2 -107.06 - - 3456.34 - - - - - - - - - 16.18 -
7812.84 751.43 -7.30 896 7814.41 no move -1.56 - - 1961.12 - - - 2129.75 - -107.06 - - 3453.72 - - - - - - - - - - -
8122.87 774.04 -7.15 927 8130.06 roll -1.56 - - 1960.56 - 3.75 0.122 690.69 -383.7 -107.06 - - 3453.78 - - - - - - - - - 16.16 -
8178.50 778.68 -8.23 938 8184.48 roll -1.56 - - 1961.12 - 3.37 0.057 2128.88 426.8 -107.06 - - 3454.78 - - - - - - - - - 16.17 -
8488.53 801.75 -7.85 970 8490.10 no move -1.56 - - 1961.31 - - - 2128.81 - -107.06 - - 3452.56 - - - - - - - - - - -
8798.56 826.59 -8.07 1001 8805.75 roll -1.56 - - 1961.06 - 3.76 0.122 689.69 -382.7 -107.06 - - 3452.53 - - - - - - - - - 16.16 -
8924.22 837.82 -8.77 1026 8930.41 roll -1.56 - - 1960.69 - 3.36 0.059 2129.94 428.6 -107.06 - - 3454.03 - - - - - - - - - 16.16 -
9234.25 862.50 -8.06 1058 9235.82 no move -1.56 - - 1960.38 - - - 2129.44 - -107.06 - - 3452.47 - - - - - - - - - - -
9544.28 887.30 -7.93 1089 9551.48 roll -1.56 - - 1961.69 - 3.77 0.123 689.81 -381.9 -107.06 - - 3452.50 - - - - - - - - - 16.16 -
9604.15 892.53 -8.63 1101 9611.62 roll -1.56 - - 1960.94 - 3.37 0.058 2129.88 427.3 -107.06 - - 3452.94 - - - - - - - - - 16.16 -
9919.94 917.00 -7.43 1133 9921.51 no move -1.56 - - 1960.81 - - - 2129.69 - -107.06 - - 3451.25 - - - - - - - - - - -
10229.98 939.76 -6.83 1164 10237.16 roll -1.56 - - 1960.94 - 3.76 0.123 690.00 -382.9 -107.06 - - 3451.31 - - - - - - - - - 16.16 -
10309.85 946.30 -8.11 1180 10317.33 roll -1.56 - - 1961.00 - 3.38 0.060 2129.88 426.0 -107.06 - - 3451.88 - - - - - - - - - 16.17 -
10625.65 968.27 -7.12 1212 10632.84 roll -1.56 - - 1960.81 - 3.79 0.124 688.50 -380.3 -107.06 - - 3451.19 - - - - - - - - - 16.16 -
10685.52 973.02 -8.00 1224 10693.00 roll -1.56 - - 1960.75 - 3.37 0.058 2129.81 427.7 -107.06 - - 3451.31 - - - - - - - - - 16.16 -
10931 end dive: TARGET_DEPTH_EXCEEDED
10931 begin apogee
10933.11 990.14 -7.19 1249 11027.11 -0.42 2.41 0.123 2240.50 116.1 0.09 0.243 2120.88 -99.2 - 85.94 2.253 3019.00 -5.0 0.366 - - - - - - 16.11 15.54 12.66
11038 end apogee: CONTROL_FINISHED_OK
11038 begin climb
11041.30 990.66 - 1258 11145.71 1.56 3.67 0.060 2730.19 133.4 - - 2120.25 - 107.06 94.83 2.188 2583.84 -4.6 0.344 - - - - - - 15.66 - 12.78
11449.22 954.50 10.23 1299 11455.17 done 1.56 - - 2730.12 - 3.21 0.102 3360.69 386.4 107.06 - - 2570.94 - - - - - - - - - 15.84 -
11663.52 930.47 11.07 1342 11670.78 done 1.56 - - 2730.12 - 2.99 0.054 2122.12 -414.2 107.06 - - 2569.41 - - - - - - - - - 15.93 -
11979.29 900.73 8.76 1374 11985.20 done 1.56 - - 2730.69 - 3.16 0.100 3362.12 392.4 107.06 - - 2566.47 - - - - - - - - - 16.00 -
12149.33 883.95 9.98 1408 12155.13 done 1.56 - - 2730.75 - 2.98 0.054 2121.44 -416.3 107.06 - - 2565.62 - - - - - - - - - 16.03 -
12459.34 856.61 9.07 1440 12465.25 done 1.56 - - 2729.50 - 3.15 0.099 3361.19 393.6 107.06 - - 2567.25 - - - - - - - - - 16.06 -
12663.65 836.09 10.35 1481 12670.89 done 1.56 - - 2730.50 - 2.97 0.054 2119.81 -418.0 107.06 - - 2564.88 - - - - - - - - - 16.08 -
12979.41 806.18 9.68 1513 12980.98 VBD 1.56 - - 2731.00 - - - 2119.81 - 107.06 - - 2561.72 - - - - - - - - - - -
13289.43 777.22 9.20 1544 13295.32 done 1.56 - - 2730.69 - 3.12 0.102 3363.38 398.6 107.06 - - 2561.78 - - - - - - - - - 16.11 -
13403.71 766.17 9.97 1567 13411.01 done 1.56 - - 2730.81 - 2.92 0.055 2119.81 -425.9 107.06 - - 2562.19 - - - - - - - - - 16.10 -
13719.47 740.68 7.61 1599 13725.35 done 1.56 - - 2730.44 - 3.12 0.100 3362.31 398.2 107.06 - - 2561.16 - - - - - - - - - 16.11 -
13873.76 727.69 8.28 1630 13881.02 done 1.56 - - 2729.50 - 2.93 0.053 2120.62 -423.8 107.06 - - 2564.09 - - - - - - - - - 16.13 -
14189.57 703.80 7.20 1662 14195.40 done 1.59 - - 2730.06 - 3.12 0.099 3362.88 398.2 107.06 - - 2561.72 - - - - - - - - - 16.13 -
14403.82 685.34 8.92 1705 14411.08 done 1.59 - - 2730.56 - 2.94 0.053 2120.50 -422.6 107.06 - - 2560.22 - - - - - - - - - 16.15 -
14719.58 659.75 8.06 1737 14725.45 done 1.59 - - 2729.50 - 3.12 0.100 3361.50 397.8 107.06 - - 2562.88 - - - - - - - - - 16.14 -
14863.87 646.43 9.03 1766 14871.17 done 1.59 - - 2730.50 - 2.95 0.054 2117.88 -421.6 107.06 - - 2560.88 - - - - - - - - - 16.14 -
15179.64 620.98 7.81 1798 15185.50 done 1.59 - - 2730.44 - 3.13 0.100 3362.50 397.6 107.06 - - 2559.62 - - - - - - - - - 16.14 -
15243.90 615.51 8.16 1811 15251.21 done 1.59 - - 2730.56 - 2.96 0.055 2118.12 -420.4 107.06 - - 2560.47 - - - - - - - - - 16.16 -
15559.67 591.04 7.64 1843 15561.24 VBD 1.59 - - 2730.81 - - - 2118.62 - 107.06 - - 2558.81 - - - - - - - - - - -
15869.74 568.49 7.01 1874 15871.32 VBD 1.62 - - 2730.50 - - - 2118.00 - 107.06 - - 2558.88 - - - - - - - - - - -
16179.77 546.78 6.85 1905 16185.59 done 1.66 - - 2730.75 - 3.15 0.099 3361.94 394.9 107.06 - - 2559.41 - - - - - - - - - 16.16 -
16304.04 537.56 7.25 1930 16311.42 1.68 0.14 0.073 2757.06 187.9 2.95 0.053 2118.62 -421.5 107.06 - - 2558.84 - - - - - - - - 16.18 16.16 -
16619.81 514.59 6.95 1962 16625.64 done 1.71 - - 2757.75 - 3.14 0.098 3362.44 396.1 107.06 - - 2559.50 - - - - - - - - - 16.14 -
16769.81 503.08 7.79 1992 16775.56 done 1.71 - - 2756.19 - 2.94 0.053 2118.50 -423.1 107.06 - - 2561.72 - - - - - - - - - 16.16 -
17079.96 480.51 7.40 2024 17081.53 VBD 1.73 - - 2757.81 - - - 2118.12 - 107.06 - - 2558.25 - - - - - - - - - - -
17389.89 457.75 7.41 2055 17396.01 done 1.75 - - 2758.00 - 3.11 0.099 3362.50 400.1 107.06 - - 2559.62 - - - - - - - - - 16.14 -
17624.15 439.16 7.63 2102 17631.41 done 1.75 - - 2757.88 - 2.93 0.053 2120.81 -423.8 107.06 - - 2558.53 - - - - - - - - - 16.16 -
17939.96 418.70 7.04 2134 17945.97 1.78 0.17 0.043 2773.81 93.7 3.11 0.098 3363.81 399.7 107.06 - - 2559.97 - - - - - - - - 16.18 16.13 -
18019.93 412.52 7.68 2150 18025.68 done 1.78 - - 2773.38 - 2.92 0.052 2118.25 -426.6 107.06 - - 2560.56 - - - - - - - - - 16.16 -
18329.99 392.40 6.15 2182 18331.56 VBD 1.84 - - 2773.88 - - - 2118.25 - 107.06 - - 2557.66 - - - - - - - - - - -
18640.01 373.03 6.30 2213 18646.00 1.89 0.22 0.055 2810.88 168.2 3.08 0.098 3363.44 404.3 107.06 - - 2560.12 - - - - - - - - 16.24 16.13 -
18830.00 358.98 7.85 2251 18836.01 1.89 0.31 0.163 2792.62 -58.9 2.94 0.053 2116.38 -424.2 107.06 - - 2560.34 - - - - - - - - 16.11 16.16 -
19140.04 338.15 6.65 2283 19146.22 1.93 0.18 0.067 2821.12 158.3 3.10 0.097 3363.38 402.3 107.06 - - 2558.75 - - - - - - - - 16.19 16.13 -
19374.36 320.71 7.18 2330 19381.62 done 1.96 - - 2821.75 - 2.94 0.052 2116.50 -424.1 107.06 - - 2559.91 - - - - - - - - - 16.14 -
19690.14 301.90 5.61 2362 19695.97 done 2.03 - - 2821.81 - 3.13 0.096 3363.81 398.5 107.06 - - 2559.19 - - - - - - - - - 16.14 -
19774.42 296.92 5.99 2379 19781.90 2.09 0.25 0.060 2856.31 138.0 2.95 0.052 2116.69 -422.8 107.06 - - 2558.84 - - - - - - - - 16.14 16.15 -
20090.19 279.19 5.96 2411 20091.77 VBD 2.16 - - 2856.56 - - - 2116.62 - 107.06 - - 2558.50 - - - - - - - - - - -
20400.23 260.39 5.67 2442 20407.54 2.23 0.23 0.057 2891.75 153.0 3.66 0.111 687.75 -390.4 107.06 - - 2558.94 - - - - - - - - 16.18 16.09 -
20580.30 248.62 6.33 2478 20587.78 done 2.28 - - 2892.44 - 3.49 0.057 2183.81 428.7 107.06 - - 2557.34 - - - - - - - - - 16.11 -
20896.28 233.01 4.56 2510 20952.22 2.37 0.22 0.054 2927.81 160.8 - - 2183.62 - 175.25 52.63 1.319 2302.50 -4.8 0.142 - - - - - - 16.18 - 12.69
21256.06 188.52 14.38 2546 21257.92 2.37 0.31 0.168 2909.12 -60.3 - - 2183.38 - 175.25 - - 2295.91 - - - - - - - - 15.95 - -
21566.09 149.76 12.01 2577 21571.90 done 2.37 - - 2909.44 - 3.01 0.100 3362.81 391.8 175.25 - - 2295.09 - - - - - - - - - 16.01 -
21800.41 118.98 11.95 2624 21807.71 done 2.37 - - 2909.38 - 2.97 0.051 2117.75 -419.2 175.25 - - 2294.12 - - - - - - - - - 16.00 -
22111.21 92.78 6.96 2665 22117.79 done 2.40 - - 2909.19 - 3.15 0.096 3363.00 395.3 175.25 - - 2292.69 - - - - - - - - - 16.01 -
22346.29 82.91 3.01 2712 22458.60 2.53 0.44 0.044 2965.81 128.7 2.95 0.050 2116.56 -422.5 273.58 102.06 1.095 1905.47 -3.8 0.048 - - - - - - 16.07 16.04 12.72
22642.14 57.26 11.51 2770 22649.01 roll back 2.53 0.28 0.161 2948.94 -60.2 3.17 0.095 3363.00 393.2 273.58 - - 1902.44 - - - - - - - - 15.79 15.81 -
22872.63 33.36 6.55 2816 22879.29 roll back 2.57 0.22 0.057 2974.88 117.9 2.96 0.049 2117.56 -420.8 273.58 - - 1901.44 - - - - - - - - 15.92 15.89 -
23062.75 33.30 -0.92 2854 23248.71 2.80 0.38 0.046 3030.06 145.2 3.23 0.095 3360.81 384.9 448.77 172.97 1.022 1189.84 -4.1 0.022 - - - - - - 15.95 15.49 12.77
23367 end climb: SURFACE_DEPTH_REACHED
23367 begin surface coast
23382 end surface coast: CONTROL_FINISHED_OK
23382 begin surface
SM 1.33 - - - - 185.3 25.43 0.939 1084.7 35.9 21.41 0.039 1085.1 50.7 - 3.11 0.050 1084.2 347.6 -0.945 - - 12.54 15.82 15.77 -