NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 149 * Raw log
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• Previous call tries 1 • 66.65 of 575.00 AH used of 24V (88.41% remains)
• Surface angle -64.4 deg, depth 1.48 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.89 (SM_CC=475)
• GPS1 time: 38 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
8.93 - - - 75.70 VBD -1.56 - - 183.00 - - - 2139.31 - -107.06 65.18 0.005 2490.44 - - - - - - - - - - 15.72
76.13 3.35 -3.23 13 128.15 -1.56 16.40 0.237 1959.31 108.3 3.80 0.116 689.88 -381.4 -107.06 23.84 0.006 3457.22 40.6 -3.743 - - - - - - 15.70 15.68 15.73
246.45 38.16 -17.19 46 253.40 roll -1.56 - - 1961.25 - 3.37 0.049 2132.75 428.2 -107.06 - - 3460.84 - - - - - - - - - 15.87 -
436.88 66.14 -15.05 84 443.35 roll -1.56 - - 1960.94 - 3.12 0.098 3362.50 394.2 -107.06 - - 3460.31 - - - - - - - - - 15.91 -
486.88 73.84 -15.41 94 493.28 roll -1.56 - - 1959.88 - 3.04 0.044 2065.62 -426.6 -107.06 - - 3460.38 - - - - - - - - - 15.93 -
676.91 98.87 -12.94 132 681.27 no move -1.56 - - 1961.00 - - - 2065.75 - -107.06 - - 3460.03 - - - - - - - - - - -
866.92 120.25 -11.75 152 872.81 roll -1.56 - - 1960.50 - 3.59 0.116 690.00 -383.2 -107.06 - - 3460.88 - - - - - - - - - 15.93 -
961.17 131.29 -11.64 171 968.46 roll -1.56 - - 1960.88 - 3.36 0.047 2132.38 429.3 -107.06 - - 3462.22 - - - - - - - - - 15.98 -
1276.95 161.43 -8.93 203 1282.62 roll -1.56 - - 1961.25 - 3.11 0.097 3361.88 395.3 -107.06 - - 3464.12 - - - - - - - - - 16.03 -
1337.16 167.33 -9.88 215 1342.61 roll -1.56 - - 1961.88 - 3.05 0.044 2066.19 -424.8 -107.06 - - 3463.72 - - - - - - - - - 16.05 -
1646.97 196.60 -9.06 247 1648.50 no move -1.56 - - 1961.44 - - - 2066.50 - -107.06 - - 3462.47 - - - - - - - - - - -
1957.02 224.42 -9.22 278 1958.59 no move -1.56 - - 1961.25 - - - 2066.62 - -107.06 - - 3463.03 - - - - - - - - - - -
2267.05 253.14 -9.58 309 2272.94 roll -1.56 - - 1960.94 - 3.29 0.097 3361.94 393.7 -107.06 - - 3464.28 - - - - - - - - - 16.01 -
2321.31 258.87 -10.16 320 2328.62 roll -1.56 - - 1960.38 - 3.05 0.047 2067.62 -424.4 -107.06 - - 3463.16 - - - - - - - - - 16.06 -
2637.12 288.62 -9.34 352 2638.69 no move -1.56 - - 1960.88 - - - 2067.81 - -107.06 - - 3462.72 - - - - - - - - - - -
2947.17 317.15 -9.59 383 2948.74 no move -1.56 - - 1961.00 - - - 2067.69 - -107.06 - - 3462.41 - - - - - - - - - - -
3257.20 347.63 -10.08 414 3258.77 no move -1.56 - - 1960.75 - - - 2068.00 - -107.06 - - 3462.16 - - - - - - - - - - -
3567.22 378.74 -9.76 445 3568.79 no move -1.56 - - 1960.88 - - - 2067.56 - -107.06 - - 3462.25 - - - - - - - - - - -
3877.25 406.52 -8.60 476 3878.82 no move -1.56 - - 1961.38 - - - 2067.69 - -107.06 - - 3461.81 - - - - - - - - - - -
4187.28 434.36 -9.23 507 4188.85 no move -1.56 - - 1961.25 - - - 2067.81 - -107.06 - - 3460.66 - - - - - - - - - - -
4497.31 463.21 -9.12 538 4503.25 roll -1.56 - - 1960.88 - 3.30 0.100 3360.44 391.7 -107.06 - - 3461.38 - - - - - - - - - 16.14 -
4547.31 468.43 -10.14 548 4553.43 roll -1.56 - - 1961.19 - 3.05 0.051 2068.38 -423.6 -107.06 - - 3461.12 - - - - - - - - - 16.15 -
4857.35 495.62 -8.87 580 4858.92 no move -1.56 - - 1961.44 - - - 2067.94 - -107.06 - - 3459.59 - - - - - - - - - - -
5167.38 522.96 -8.77 611 5168.98 no move -1.56 - - 1961.12 - - - 2067.75 - -107.06 - - 3458.16 - - - - - - - - - - -
5477.40 549.27 -8.31 642 5478.98 no move -1.56 - - 1961.00 - - - 2067.31 - -107.06 - - 3458.94 - - - - - - - - - - -
5787.44 575.39 -8.66 673 5789.00 no move -1.56 - - 1961.06 - - - 2067.75 - -107.06 - - 3458.16 - - - - - - - - - - -
6097.46 600.41 -7.89 704 6099.03 no move -1.56 - - 1960.50 - - - 2067.88 - -107.06 - - 3457.28 - - - - - - - - - - -
6407.49 626.94 -8.73 735 6409.06 no move -1.56 - - 1960.75 - - - 2068.25 - -107.06 - - 3456.47 - - - - - - - - - - -
6717.52 653.74 -8.52 766 6719.09 no move -1.56 - - 1961.38 - - - 2067.69 - -107.06 - - 3456.97 - - - - - - - - - - -
7027.55 679.96 -8.08 797 7029.11 no move -1.56 - - 1960.81 - - - 2067.88 - -107.06 - - 3454.91 - - - - - - - - - - -
7337.57 703.21 -7.19 828 7343.71 roll -1.56 - - 1960.19 - 3.62 0.128 690.50 -380.5 -107.06 - - 3455.53 - - - - - - - - - 16.15 -
7381.82 706.92 -8.24 837 7389.29 roll -1.56 - - 1960.94 - 3.37 0.056 2129.81 427.1 -107.06 - - 3454.81 - - - - - - - - - 16.18 -
7697.61 729.64 -7.65 869 7699.18 no move -1.56 - - 1960.75 - - - 2129.94 - -107.06 - - 3453.62 - - - - - - - - - - -
8007.64 753.69 -7.85 900 8009.21 no move -1.56 - - 1960.88 - - - 2129.69 - -107.06 - - 3453.50 - - - - - - - - - - -
8317.67 777.67 -7.71 931 8324.90 roll -1.56 - - 1961.62 - 3.77 0.121 688.88 -382.2 -107.06 - - 3455.09 - - - - - - - - - 16.15 -
8377.72 783.12 -8.99 943 8385.21 roll -1.56 - - 1959.88 - 3.40 0.056 2129.94 423.8 -107.06 - - 3454.34 - - - - - - - - - 16.18 -
8693.50 807.10 -7.54 975 8695.07 no move -1.56 - - 1960.69 - - - 2130.00 - -107.06 - - 3452.16 - - - - - - - - - - -
9003.52 831.24 -8.30 1006 9010.71 roll -1.56 - - 1960.06 - 3.77 0.122 690.31 -381.9 -107.06 - - 3452.06 - - - - - - - - - 16.15 -
9079.17 838.00 -9.63 1021 9085.13 roll -1.56 - - 1960.81 - 3.39 0.057 2129.44 424.5 -107.06 - - 3453.62 - - - - - - - - - 16.17 -
9389.20 863.21 -8.25 1053 9390.77 no move -1.56 - - 1960.94 - - - 2128.94 - -107.06 - - 3451.84 - - - - - - - - - - -
9699.23 888.89 -8.31 1084 9700.80 no move -1.56 - - 1960.69 - - - 2129.25 - -107.06 - - 3451.47 - - - - - - - - - - -
10009.25 914.94 -8.40 1115 10016.44 roll -1.56 - - 1960.88 - 3.78 0.124 689.25 -381.0 -107.06 - - 3450.62 - - - - - - - - - 16.14 -
10059.13 919.58 -8.86 1125 10066.86 roll -1.56 - - 1960.81 - 3.39 0.058 2130.25 425.1 -107.06 - - 3452.19 - - - - - - - - - 16.15 -
10374.92 944.13 -7.05 1157 10376.49 no move -1.56 - - 1960.75 - - - 2129.88 - -107.06 - - 3450.34 - - - - - - - - - - -
10684.95 967.85 -7.50 1188 10686.52 no move -1.56 - - 1960.69 - - - 2130.00 - -107.06 - - 3450.28 - - - - - - - - - - -
10985 end dive: TARGET_DEPTH_EXCEEDED
10985 begin apogee
10987.51 990.46 -7.52 1218 11080.82 -0.42 2.42 0.121 2238.31 114.7 0.09 0.256 2127.38 -29.1 - 86.24 2.233 3019.12 -5.0 0.367 - - - - - - 16.12 15.55 12.63
11092 end apogee: CONTROL_FINISHED_OK
11092 begin climb
11095.00 991.55 - 1227 11206.58 1.56 3.92 0.060 2728.69 125.1 3.38 0.106 3361.25 365.1 107.06 94.58 2.175 2584.19 -4.6 0.347 - - - - - - 15.67 15.32 12.86
11329.40 971.83 12.83 1272 11336.72 done 1.56 - - 2728.69 - 3.05 0.053 2121.88 -406.4 107.06 - - 2573.50 - - - - - - - - - 15.74 -
11645.18 936.98 11.17 1304 11651.09 done 1.56 - - 2728.94 - 3.20 0.100 3361.50 387.4 107.06 - - 2568.19 - - - - - - - - - 15.90 -
11819.47 916.37 12.16 1339 11826.79 done 1.56 - - 2727.81 - 3.01 0.054 2119.75 -412.5 107.06 - - 2567.81 - - - - - - - - - 15.97 -
12135.24 881.61 10.66 1371 12141.11 done 1.56 - - 2729.00 - 3.17 0.099 3362.06 391.9 107.06 - - 2566.00 - - - - - - - - - 16.01 -
12369.53 853.89 12.05 1418 12376.80 done 1.56 - - 2729.00 - 2.98 0.054 2119.50 -417.0 107.06 - - 2566.56 - - - - - - - - - 16.04 -
12685.30 819.46 10.53 1450 12691.18 done 1.56 - - 2729.19 - 3.12 0.098 3361.75 398.2 107.06 - - 2563.69 - - - - - - - - - 16.07 -
12805.34 805.68 12.04 1474 12811.09 done 1.56 - - 2729.44 - 2.95 0.053 2120.12 -420.9 107.06 - - 2563.28 - - - - - - - - - 16.08 -
13115.44 774.46 9.68 1506 13121.22 done 1.56 - - 2729.12 - 3.12 0.098 3362.00 398.0 107.06 - - 2563.38 - - - - - - - - - 16.09 -
13229.63 762.41 10.26 1529 13236.90 done 1.56 - - 2728.44 - 2.95 0.052 2119.00 -421.4 107.06 - - 2564.06 - - - - - - - - - 16.10 -
13545.41 734.06 8.69 1561 13551.26 done 1.56 - - 2729.19 - 3.11 0.097 3361.94 399.7 107.06 - - 2564.00 - - - - - - - - - 16.10 -
13685.44 720.84 9.18 1589 13691.24 done 1.56 - - 2728.88 - 2.95 0.052 2119.56 -421.1 107.06 - - 2562.31 - - - - - - - - - 16.11 -
13995.46 695.30 7.65 1621 14001.33 done 1.56 - - 2729.06 - 3.11 0.096 3363.00 399.8 107.06 - - 2561.34 - - - - - - - - - 16.12 -
14125.71 683.49 9.18 1647 14131.30 done 1.56 - - 2728.62 - 2.95 0.053 2117.94 -422.1 107.06 - - 2560.81 - - - - - - - - - 16.12 -
14435.55 659.10 7.53 1679 14441.40 done 1.58 - - 2729.12 - 3.12 0.098 3364.50 399.5 107.06 - - 2563.19 - - - - - - - - - 16.11 -
14645.55 640.28 9.18 1721 14651.35 done 1.58 - - 2729.69 - 2.95 0.053 2120.56 -421.7 107.06 - - 2560.62 - - - - - - - - - 16.13 -
14955.57 615.01 8.47 1753 14961.44 done 1.58 - - 2729.62 - 3.13 0.097 3361.31 396.4 107.06 - - 2559.88 - - - - - - - - - 16.13 -
15045.59 606.40 9.86 1771 15051.35 done 1.58 - - 2729.12 - 2.94 0.053 2118.31 -422.8 107.06 - - 2562.25 - - - - - - - - - 16.14 -
15355.61 581.40 8.02 1803 15361.50 done 1.58 - - 2729.12 - 3.12 0.097 3364.31 399.4 107.06 - - 2560.72 - - - - - - - - - 16.13 -
15589.91 560.60 9.13 1850 15597.21 done 1.58 - - 2729.44 - 2.94 0.053 2116.75 -424.3 107.06 - - 2559.25 - - - - - - - - - 16.16 -
15905.68 535.57 8.21 1882 15911.55 done 1.58 - - 2729.00 - 3.12 0.096 3364.25 399.8 107.06 - - 2561.91 - - - - - - - - - 16.14 -
16139.98 514.75 8.68 1929 16147.49 done 1.58 - - 2728.12 - 2.94 0.050 2116.06 -424.6 107.06 - - 2559.59 - - - - - - - - - 16.14 -
16455.80 490.60 7.22 1961 16457.37 VBD 1.60 - - 2728.75 - - - 2116.94 - 107.06 - - 2557.97 - - - - - - - - - - -
16765.83 469.24 6.59 1992 16767.41 VBD 1.65 - - 2729.31 - - - 2116.75 - 107.06 - - 2557.91 - - - - - - - - - - -
17075.84 448.39 6.94 2023 17077.60 1.68 0.15 0.074 2756.06 178.3 - - 2117.88 - 107.06 - - 2557.38 - - - - - - - - 16.17 - -
17385.88 427.03 6.83 2054 17391.68 done 1.72 - - 2756.19 - 3.15 0.096 3361.62 394.8 107.06 - - 2558.44 - - - - - - - - - 16.13 -
17525.91 416.87 7.17 2082 17531.62 done 1.74 - - 2756.25 - 2.93 0.052 2117.69 -424.5 107.06 - - 2558.59 - - - - - - - - - 16.15 -
17835.93 398.03 6.14 2114 17842.06 1.80 0.15 0.076 2786.81 203.7 3.14 0.095 3363.81 396.9 107.06 - - 2558.16 - - - - - - - - 16.18 16.12 -
18070.22 381.44 7.05 2161 18077.44 done 1.83 - - 2786.81 - 2.93 0.050 2116.62 -425.7 107.06 - - 2558.31 - - - - - - - - - 16.13 -
18385.99 362.60 5.77 2193 18392.21 1.90 0.13 0.067 2812.19 195.2 3.13 0.094 3363.62 398.4 107.06 - - 2559.81 - - - - - - - - 16.20 16.11 -
18620.27 345.91 7.46 2240 18627.49 done 1.92 - - 2811.44 - 2.92 0.048 2117.88 -426.6 107.06 - - 2560.47 - - - - - - - - - 16.13 -
18936.04 324.91 6.49 2272 18937.61 VBD 1.96 - - 2811.31 - - - 2117.69 - 107.06 - - 2557.56 - - - - - - - - - - -
19246.06 305.92 6.19 2303 19252.03 2.02 0.17 0.063 2840.31 170.6 3.16 0.094 3362.75 394.0 107.06 - - 2560.19 - - - - - - - - 16.21 16.11 -
19480.36 289.25 7.34 2350 19487.59 done 2.04 - - 2840.69 - 2.92 0.048 2117.06 -426.6 107.06 - - 2558.50 - - - - - - - - - 16.12 -
19796.16 270.98 5.55 2382 19801.98 done 2.12 - - 2840.25 - 3.15 0.095 3364.31 396.0 107.06 - - 2558.59 - - - - - - - - - 16.10 -
20030.47 257.03 5.77 2429 20037.91 2.19 0.22 0.060 2880.44 182.7 2.95 0.047 2117.50 -422.6 107.06 - - 2558.50 - - - - - - - - 16.15 16.12 -
20346.24 238.15 6.19 2461 20352.31 done 2.24 - - 2879.56 - 3.16 0.092 3362.50 394.0 107.06 - - 2559.34 - - - - - - - - - 16.08 -
20580.53 222.19 6.43 2508 20587.92 2.29 0.11 0.087 2904.38 225.6 2.95 0.048 2117.56 -422.0 107.06 - - 2558.44 - - - - - - - - 16.15 16.10 -
20896.30 200.36 6.71 2540 20902.12 done 2.33 - - 2903.75 - 3.16 0.092 3361.81 393.8 107.06 - - 2561.25 - - - - - - - - - 16.08 -
21130.58 185.41 6.01 2587 21137.96 2.39 0.11 0.087 2927.50 215.9 2.93 0.046 2115.56 -425.3 107.06 - - 2558.94 - - - - - - - - 16.13 16.09 -
21446.35 170.64 4.00 2619 21542.59 2.49 0.12 0.086 2950.94 195.3 3.24 0.094 3362.62 384.9 186.19 86.10 1.155 2260.00 -3.5 0.085 - - - - - - 16.08 15.73 12.60
21655.28 146.42 16.17 2660 21662.56 roll 2.49 - - 2951.00 - 2.98 0.048 2116.25 -418.2 186.19 - - 2255.25 - - - - - - - - - 15.85 -
21971.08 104.83 12.15 2692 21977.21 done 2.49 - - 2953.00 - 3.66 0.110 688.88 -390.0 186.19 - - 2251.62 - - - - - - - - - 15.92 -
22015.36 99.80 11.48 2701 22022.94 done 2.49 - - 2952.12 - 3.55 0.053 2182.62 420.8 186.19 - - 2251.47 - - - - - - - - - 15.93 -
22326.44 83.00 3.49 2763 22428.34 2.61 0.17 0.061 2982.81 180.5 3.94 0.110 688.81 -379.1 275.33 92.13 1.064 1895.84 -3.9 0.050 - - - - - - 15.99 15.64 12.61
22656.82 46.80 12.32 2828 22663.65 roll 2.61 - - 2982.94 - 3.58 0.053 2179.19 416.3 275.33 - - 1893.84 - - - - - - - - - 15.84 -
22847.17 28.34 8.41 2866 22854.20 roll 2.61 - - 2983.31 - 3.86 0.104 687.81 -386.4 275.33 - - 1894.59 - - - - - - - - - 15.88 -
22932.80 24.50 4.34 2883 23014.37 done 2.70 - - 2983.56 - 3.54 0.050 2186.44 423.3 347.78 72.99 0.994 1600.31 -4.0 0.016 - - - - - - - 15.93 12.71
23197.80 15.07 3.32 2935 23299.78 2.82 0.35 0.044 3036.12 150.2 3.95 0.105 688.88 -379.1 440.21 91.23 0.966 1225.62 -4.1 0.011 - - - - - - 15.89 15.58 12.65
23343 end climb: SURFACE_DEPTH_REACHED
23343 begin surface coast
23358 end surface coast: CONTROL_FINISHED_OK
23358 begin surface
SM 1.57 - - - - 181.9 33.93 0.933 1084.0 29.3 21.68 0.048 1089.7 50.2 - 3.37 0.051 1078.4 318.8 -1.003 - - 12.72 15.76 15.75 -