NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 358 * Raw log
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• Previous call tries 1 • 134.60 of 575.00 AH used of 24V (76.59% remains)
• Surface angle -65.7 deg, depth 1.44 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.76 (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
9.15 - - - 70.91 VBD -1.56 - - 183.81 - - - 2137.44 - -107.06 60.19 0.005 2363.56 - - - - - - - - - - 15.50
71.34 3.28 -3.42 12 128.81 -1.56 17.10 0.234 1961.19 103.9 3.16 0.092 3362.44 387.7 -107.06 27.46 0.006 3457.62 39.8 -3.574 - - - - - - 15.56 15.48 15.57
292.36 40.24 -15.96 55 298.79 roll -1.56 - - 1961.06 - 3.07 0.036 2065.50 -422.5 -107.06 - - 3459.66 - - - - - - - - - 15.82 -
482.38 66.46 -12.48 93 489.08 roll -1.56 - - 1961.19 - 3.61 0.106 686.50 -382.0 -107.06 - - 3459.91 - - - - - - - - - 15.77 -
537.50 73.55 -13.29 104 544.32 roll -1.56 - - 1961.38 - 3.35 0.041 2136.38 432.8 -107.06 - - 3460.03 - - - - - - - - - 15.85 -
727.88 94.80 -10.93 142 732.37 no move -1.56 - - 1961.38 - - - 2136.50 - -107.06 - - 3461.12 - - - - - - - - - - -
917.89 115.17 -10.52 166 925.06 roll -1.56 - - 1959.44 - 3.77 0.105 687.75 -384.3 -107.06 - - 3461.97 - - - - - - - - - 15.81 -
973.54 121.62 -11.53 177 979.53 roll -1.56 - - 1960.69 - 3.34 0.042 2137.12 433.9 -107.06 - - 3461.84 - - - - - - - - - 15.95 -
1283.56 151.72 -9.49 209 1289.59 roll -1.56 - - 1961.06 - 3.10 0.090 3364.31 395.9 -107.06 - - 3462.34 - - - - - - - - - 15.92 -
1323.56 155.84 -10.55 217 1329.36 roll -1.56 - - 1960.50 - 3.04 0.038 2064.06 -427.7 -107.06 - - 3464.12 - - - - - - - - - 15.96 -
1633.58 185.58 -9.33 249 1639.51 roll -1.56 - - 1961.06 - 3.29 0.086 3363.75 395.0 -107.06 - - 3462.78 - - - - - - - - - 15.93 -
1687.83 191.25 -10.08 260 1695.15 roll -1.56 - - 1960.88 - 3.05 0.038 2065.38 -425.7 -107.06 - - 3462.78 - - - - - - - - - 15.98 -
2003.60 220.63 -9.58 292 2009.65 roll -1.56 - - 1961.44 - 3.60 0.108 686.62 -383.0 -107.06 - - 3463.38 - - - - - - - - - 15.92 -
2047.85 225.43 -10.82 301 2055.32 roll -1.56 - - 1961.25 - 3.36 0.041 2137.06 431.7 -107.06 - - 3462.69 - - - - - - - - - 15.99 -
2363.63 257.11 -9.74 333 2369.42 roll -1.56 - - 1961.19 - 3.10 0.089 3361.50 395.0 -107.06 - - 3462.81 - - - - - - - - - 15.94 -
2403.63 261.41 -10.71 341 2409.42 roll -1.56 - - 1961.06 - 3.03 0.039 2063.88 -428.3 -107.06 - - 3463.44 - - - - - - - - - 16.01 -
2713.65 291.65 -9.34 373 2715.22 no move -1.56 - - 1960.94 - - - 2064.62 - -107.06 - - 3461.78 - - - - - - - - - - -
3023.67 320.05 -8.67 404 3029.77 roll -1.56 - - 1960.38 - 3.61 0.111 687.19 -381.6 -107.06 - - 3463.44 - - - - - - - - - 15.92 -
3057.93 323.40 -9.04 411 3065.39 roll -1.56 - - 1960.50 - 3.36 0.044 2136.44 431.3 -107.06 - - 3463.94 - - - - - - - - - 16.02 -
3373.71 351.02 -8.74 443 3375.27 no move -1.56 - - 1961.00 - - - 2136.62 - -107.06 - - 3461.59 - - - - - - - - - - -
3683.72 379.44 -9.17 474 3685.29 no move -1.56 - - 1961.06 - - - 2136.25 - -107.06 - - 3461.56 - - - - - - - - - - -
3993.74 407.05 -8.64 505 4000.94 roll -1.56 - - 1961.69 - 3.79 0.108 686.81 -382.4 -107.06 - - 3461.38 - - - - - - - - - 15.93 -
4013.77 409.00 -8.96 509 4021.24 roll -1.56 - - 1960.56 - 3.35 0.043 2134.62 432.2 -107.06 - - 3462.62 - - - - - - - - - 16.02 -
4329.55 433.57 -7.38 541 4331.12 no move -1.56 - - 1961.12 - - - 2135.44 - -107.06 - - 3461.16 - - - - - - - - - - -
4639.57 456.54 -7.56 572 4645.36 roll -1.56 - - 1960.94 - 3.09 0.091 3363.44 397.4 -107.06 - - 3461.09 - - - - - - - - - 16.01 -
4683.81 460.68 -8.68 581 4691.13 roll -1.56 - - 1960.69 - 3.03 0.038 2066.44 -428.1 -107.06 - - 3460.75 - - - - - - - - - 16.03 -
4999.60 485.87 -7.96 613 5005.66 roll -1.56 - - 1961.50 - 3.60 0.109 686.62 -383.3 -107.06 - - 3459.31 - - - - - - - - - 15.97 -
5049.60 490.34 -8.86 623 5055.57 roll -1.56 - - 1960.44 - 3.35 0.042 2136.56 432.8 -107.06 - - 3460.81 - - - - - - - - - 16.02 -
5359.63 514.81 -8.15 655 5365.43 roll -1.56 - - 1960.94 - 3.10 0.091 3361.06 395.0 -107.06 - - 3460.41 - - - - - - - - - 16.00 -
5394.19 517.99 -8.72 662 5401.13 roll -1.56 - - 1960.88 - 3.00 0.036 2062.62 -432.8 -107.06 - - 3460.12 - - - - - - - - - 16.03 -
5709.65 542.97 -7.81 694 5711.22 no move -1.56 - - 1960.75 - - - 2062.56 - -107.06 - - 3458.19 - - - - - - - - - - -
6019.66 566.84 -7.43 725 6025.73 roll -1.56 - - 1960.25 - 3.60 0.111 686.81 -382.2 -107.06 - - 3459.16 - - - - - - - - - 15.96 -
6063.90 570.87 -8.93 734 6071.41 roll -1.56 - - 1960.69 - 3.34 0.042 2137.38 434.3 -107.06 - - 3459.44 - - - - - - - - - 16.04 -
6379.68 595.32 -8.02 766 6386.87 roll -1.56 - - 1960.44 - 3.76 0.104 686.69 -385.8 -107.06 - - 3457.19 - - - - - - - - - 15.97 -
6435.60 600.34 -8.93 777 6441.32 roll -1.56 - - 1961.31 - 3.33 0.041 2134.94 434.9 -107.06 - - 3457.34 - - - - - - - - - 16.02 -
6745.37 624.92 -7.79 809 6746.94 no move -1.56 - - 1961.00 - - - 2136.38 - -107.06 - - 3456.53 - - - - - - - - - - -
7055.39 649.52 -7.98 840 7062.59 roll -1.56 - - 1960.94 - 3.78 0.108 686.50 -383.6 -107.06 - - 3457.28 - - - - - - - - - 15.95 -
7101.07 653.95 -9.68 849 7107.03 roll -1.56 - - 1960.25 - 3.32 0.041 2135.88 436.6 -107.06 - - 3457.53 - - - - - - - - - 16.04 -
7211 end dive: TARGET_DEPTH_EXCEEDED
7211 begin apogee
7212.77 662.94 -8.25 861 7306.92 -0.42 2.43 0.115 2239.69 115.0 0.10 0.197 2112.94 -229.4 - 84.03 1.801 3018.88 -5.2 0.315 - - - - - - 15.93 15.61 11.78
7310 end apogee: CONTROL_FINISHED_OK
7310 begin climb
7313.35 664.88 - 870 7420.08 1.56 3.86 0.060 2729.19 126.8 3.26 0.090 3360.75 382.8 107.06 90.84 1.726 2581.19 -4.8 0.305 - - - - - - 15.72 15.42 12.60
7487.96 657.23 7.51 903 7495.43 done 1.58 - - 2728.94 - 2.96 0.036 2113.19 -421.5 107.06 - - 2576.75 - - - - - - - - - 15.68 -
7803.99 631.62 8.12 935 7809.78 done 1.58 - - 2729.50 - 3.19 0.087 3364.75 392.3 107.06 - - 2570.44 - - - - - - - - - 15.84 -
7978.05 615.41 9.09 970 7985.74 done 1.58 - - 2729.56 - 2.95 0.040 2115.12 -423.6 107.06 - - 2568.00 - - - - - - - - - 15.89 -
8294.09 589.48 7.78 1002 8301.26 done 1.58 - - 2728.50 - 3.73 0.105 687.44 -382.8 107.06 - - 2563.44 - - - - - - - - - 15.92 -
8350.04 584.71 8.63 1013 8357.40 done 1.58 - - 2727.38 - 3.49 0.046 2183.69 428.7 107.06 - - 2566.44 - - - - - - - - - 15.96 -
8665.12 560.84 7.47 1045 8670.74 done 1.60 - - 2729.31 - 2.98 0.089 3363.62 395.9 107.06 - - 2562.91 - - - - - - - - - 15.97 -
8765.09 552.20 8.80 1065 8770.77 done 1.60 - - 2728.88 - 2.91 0.039 2114.69 -429.2 107.06 - - 2563.91 - - - - - - - - - 15.97 -
9075.17 528.47 7.10 1097 9080.91 done 1.63 - - 2730.06 - 3.14 0.086 3363.25 397.6 107.06 - - 2564.31 - - - - - - - - - 16.00 -
9169.18 521.60 7.42 1116 9176.81 done 1.65 - - 2729.50 - 2.90 0.038 2112.44 -431.3 107.06 - - 2562.72 - - - - - - - - - 16.00 -
9485.20 503.63 5.55 1148 9492.22 1.72 0.25 0.052 2768.56 156.2 3.15 0.086 3363.19 397.1 107.06 - - 2563.06 - - - - - - - - 16.08 15.94 -
9611.06 495.63 6.57 1173 9616.62 done 1.76 - - 2768.50 - 2.89 0.036 2111.88 -433.0 107.06 - - 2563.31 - - - - - - - - - 16.02 -
9921.10 477.88 5.57 1205 9928.15 1.84 0.14 0.067 2796.88 202.7 3.64 0.101 686.06 -391.7 107.06 - - 2560.84 - - - - - - - - 16.09 15.93 -
10016.11 471.68 6.55 1224 10024.00 done 1.88 - - 2797.50 - 3.47 0.044 2186.06 432.3 107.06 - - 2561.53 - - - - - - - - - 16.01 -
10332.14 453.16 5.38 1256 10337.92 1.96 0.16 0.060 2829.00 196.9 2.97 0.087 3364.56 396.8 107.06 - - 2560.94 - - - - - - - - 16.10 15.95 -
10396.16 448.42 7.22 1269 10403.72 done 1.99 - - 2829.81 - 2.89 0.036 2111.12 -433.7 107.06 - - 2559.47 - - - - - - - - - 16.02 -
10712.16 427.15 6.77 1301 10718.14 done 2.03 - - 2829.25 - 3.12 0.085 3363.38 401.4 107.06 - - 2560.19 - - - - - - - - - 16.00 -
10946.18 410.41 6.82 1348 10953.80 done 2.06 - - 2829.06 - 2.87 0.036 2111.81 -436.1 107.06 - - 2560.47 - - - - - - - - - 16.02 -
11262.20 389.33 6.43 1380 11269.16 2.11 0.17 0.061 2863.75 204.1 3.14 0.083 3362.88 398.4 107.06 - - 2559.81 - - - - - - - - 16.09 15.95 -
11321.99 384.94 7.50 1392 11329.56 done 2.13 - - 2863.88 - 2.87 0.036 2111.19 -436.1 107.06 - - 2559.53 - - - - - - - - - 16.01 -
11638.02 363.16 6.89 1424 11643.75 done 2.16 - - 2863.69 - 3.15 0.083 3365.06 398.1 107.06 - - 2561.88 - - - - - - - - - 15.96 -
11792.07 351.65 7.35 1455 11799.64 done 2.19 - - 2863.12 - 2.89 0.036 2110.69 -434.0 107.06 - - 2559.75 - - - - - - - - - 16.02 -
12108.10 331.35 5.98 1487 12115.06 2.25 0.17 0.064 2897.50 202.2 3.17 0.083 3364.56 395.5 107.06 - - 2561.03 - - - - - - - - 16.10 15.95 -
12293.94 319.09 7.09 1524 12299.78 done 2.28 - - 2897.31 - 2.88 0.035 2112.19 -434.9 107.06 - - 2560.31 - - - - - - - - - 16.03 -
12603.96 298.73 6.29 1556 12605.57 VBD 2.33 - - 2897.44 - - - 2112.19 - 107.06 - - 2557.97 - - - - - - - - - - -
12914.01 279.81 5.64 1587 12920.97 2.40 0.19 0.062 2932.62 185.2 3.16 0.082 3366.75 397.0 107.06 - - 2556.97 - - - - - - - - 15.95 15.88 -
13149.85 266.70 5.08 1634 13155.42 done 2.49 - - 2932.62 - 2.88 0.036 2112.88 -435.4 107.06 - - 2561.16 - - - - - - - - - 15.93 -
13459.88 253.27 3.95 1666 13530.48 2.59 0.30 0.047 2980.44 159.4 3.19 0.084 3365.44 392.7 187.17 61.47 1.301 2254.59 -5.0 0.159 - - - - - - 16.01 15.78 11.87
13649.38 230.18 17.25 1703 13655.35 2.59 0.31 0.175 2963.19 -55.6 2.93 0.036 2112.69 -427.6 187.17 - - 2245.47 - - - - - - - - 15.74 15.82 -
13959.67 182.25 14.57 1735 13961.28 VBD 2.59 - - 2963.62 - - - 2112.19 - 187.17 - - 2242.72 - - - - - - - - - - -
14269.45 138.61 13.80 1766 14275.24 done 2.59 - - 2962.94 - 3.19 0.083 3365.69 392.9 187.17 - - 2242.22 - - - - - - - - - 15.88 -
14359.50 125.68 13.86 1784 14365.18 done 2.59 - - 2964.00 - 2.91 0.035 2114.50 -430.0 187.17 - - 2241.69 - - - - - - - - - 15.88 -
14669.55 89.20 10.45 1825 14676.63 done 2.59 - - 2963.06 - 3.63 0.097 686.00 -393.5 187.17 - - 2241.47 - - - - - - - - - 15.79 -
14765.44 79.01 10.34 1844 14772.41 done 2.59 - - 2963.44 - 3.49 0.043 2188.06 430.4 187.17 - - 2240.38 - - - - - - - - - 15.90 -
14956.29 69.38 4.09 1882 15046.21 2.69 0.32 0.044 3005.00 129.9 - - 2188.38 - 264.40 82.31 1.032 1940.38 -3.6 0.040 - - - - - - 16.01 - 12.10
15229.99 46.93 10.76 1936 15237.46 roll back 2.69 0.26 0.153 2989.06 -61.3 3.86 0.095 686.62 -389.1 264.40 - - 1938.38 - - - - - - - - 15.73 15.70 -
15466.49 24.92 6.07 1983 15473.66 roll back 2.75 0.24 0.051 3018.56 122.9 3.50 0.043 2188.31 429.1 264.40 - - 1936.62 - - - - - - - - 15.86 15.87 -
15657.48 15.47 5.63 2021 15665.62 roll 2.83 - - 3018.94 - 3.83 0.092 684.06 -392.8 264.40 - - 1934.19 - - - - - - - - - 15.82 -
15739.59 10.94 5.29 2037 15746.77 2.91 0.25 0.045 3057.19 153.0 3.49 0.043 2189.88 431.5 264.40 - - 1934.75 - - - - - - - - 15.90 15.77 -
15930.58 13.99 -2.39 2075 16126.80 3.17 0.44 0.040 3121.69 146.6 - - 2190.00 - 468.29 187.85 0.957 1177.41 -4.0 0.010 - - - - - - 15.97 - 12.11
16127 end climb: SURFACE_DEPTH_REACHED
16127 begin surface coast
16146 end surface coast: CONTROL_FINISHED_OK
16146 begin surface
SM 1.01 - - - - 184.1 23.51 0.896 1084.6 38.1 22.76 0.039 1093.1 48.0 - 0.25 0.076 1076.0 4304.0 -5.846 - - 12.49 15.70 15.68 -