NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 152 * Raw log
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• Previous call tries 1 • 67.69 of 575.00 AH used of 24V (88.23% remains)
• Surface angle -63.1 deg, depth 1.47 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.90 (SM_CC=475)
• GPS1 time: 60 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
8.88 - - - 75.62 VBD -1.56 - - 180.62 - - - 2143.81 - -107.06 65.17 0.005 2477.91 - - - - - - - - - - 15.71
76.06 3.24 -3.03 13 128.27 -1.56 16.74 0.236 1959.94 106.3 3.81 0.113 689.06 -381.8 -107.06 23.81 0.006 3457.03 41.1 -3.671 - - - - - - 15.72 15.67 15.75
336.65 53.14 -14.13 64 343.18 roll -1.56 - - 1958.38 - 3.35 0.048 2131.88 430.7 -107.06 - - 3459.94 - - - - - - - - - 15.90 -
526.67 78.50 -13.56 102 531.03 no move -1.56 - - 1959.94 - - - 2132.31 - -107.06 - - 3458.84 - - - - - - - - - - -
711.69 100.22 -11.45 139 712.26 no move -1.56 - - 1959.94 - - - 2132.31 - -107.06 - - 3458.94 - - - - - - - - - - -
1021.70 131.63 -9.69 170 1027.61 roll -1.56 - - 1960.06 - 3.70 0.109 689.06 -390.1 -107.06 - - 3460.34 - - - - - - - - - 15.97 -
1045.95 134.16 -9.89 175 1053.26 roll -1.56 - - 1959.75 - 3.31 0.047 2135.31 436.9 -107.06 - - 3461.19 - - - - - - - - - 15.98 -
1361.72 164.83 -9.95 207 1363.25 no move -1.56 - - 1959.50 - - - 2134.88 - -107.06 - - 3461.38 - - - - - - - - - - -
1671.74 194.99 -9.58 238 1677.69 roll -1.56 - - 1959.81 - 3.71 0.112 688.69 -389.8 -107.06 - - 3463.41 - - - - - - - - - 15.99 -
1721.75 200.75 -11.68 248 1727.55 roll -1.56 - - 1959.81 - 3.33 0.049 2134.31 434.1 -107.06 - - 3463.06 - - - - - - - - - 16.06 -
2031.77 232.66 -9.65 280 2033.30 no move -1.56 - - 1959.81 - - - 2134.44 - -107.06 - - 3461.09 - - - - - - - - - - -
2341.81 262.55 -9.58 311 2343.39 no move -1.56 - - 1959.62 - - - 2134.50 - -107.06 - - 3461.59 - - - - - - - - - - -
2651.84 292.42 -9.49 342 2653.41 no move -1.56 - - 1960.00 - - - 2134.81 - -107.06 - - 3461.41 - - - - - - - - - - -
2961.87 320.45 -8.82 373 2969.06 roll -1.56 - - 1960.81 - 3.74 0.116 690.00 -386.3 -107.06 - - 3461.16 - - - - - - - - - 16.09 -
3001.74 324.34 -9.53 381 3009.21 roll -1.56 - - 1960.12 - 3.34 0.052 2131.88 431.7 -107.06 - - 3461.78 - - - - - - - - - 16.12 -
3317.53 353.01 -9.22 413 3323.34 roll -1.56 - - 1959.62 - 3.09 0.102 3361.75 398.0 -107.06 - - 3462.22 - - - - - - - - - 16.11 -
3367.53 358.17 -10.47 423 3373.33 roll -1.56 - - 1959.56 - 3.03 0.049 2068.06 -427.0 -107.06 - - 3462.41 - - - - - - - - - 16.14 -
3677.57 389.62 -10.76 455 3683.62 roll -1.56 - - 1959.19 - 3.56 0.122 689.88 -387.1 -107.06 - - 3462.72 - - - - - - - - - 16.12 -
3741.82 397.47 -12.39 468 3749.29 roll -1.56 - - 1960.00 - 3.33 0.052 2130.88 432.7 -107.06 - - 3461.69 - - - - - - - - - 16.14 -
4057.61 430.31 -10.04 500 4059.18 no move -1.56 - - 1959.75 - - - 2130.81 - -107.06 - - 3460.06 - - - - - - - - - - -
4367.64 459.40 -8.88 531 4369.21 no move -1.56 - - 1959.75 - - - 2131.25 - -107.06 - - 3459.44 - - - - - - - - - - -
4677.67 486.45 -8.56 562 4679.24 no move -1.56 - - 1959.69 - - - 2131.00 - -107.06 - - 3458.72 - - - - - - - - - - -
4987.69 511.88 -8.13 593 4994.88 roll -1.56 - - 1959.38 - 3.72 0.119 689.12 -387.6 -107.06 - - 3458.97 - - - - - - - - - 16.14 -
5057.57 517.88 -8.61 607 5065.09 roll -1.56 - - 1959.81 - 3.33 0.055 2131.31 433.1 -107.06 - - 3458.41 - - - - - - - - - 16.16 -
5373.36 540.90 -7.16 639 5374.93 no move -1.56 - - 1959.94 - - - 2131.56 - -107.06 - - 3456.81 - - - - - - - - - - -
5683.39 562.26 -6.87 670 5690.57 roll -1.56 - - 1958.00 - 3.73 0.120 688.88 -386.8 -107.06 - - 3457.53 - - - - - - - - - 16.15 -
5749.03 567.53 -8.02 683 5754.97 roll -1.56 - - 1958.56 - 3.33 0.054 2132.25 433.4 -107.06 - - 3458.34 - - - - - - - - - 16.14 -
6059.08 588.96 -7.16 715 6060.66 no move -1.56 - - 1959.38 - - - 2132.69 - -107.06 - - 3455.53 - - - - - - - - - - -
6369.12 612.45 -7.66 746 6370.69 no move -1.56 - - 1959.69 - - - 2131.88 - -107.06 - - 3454.69 - - - - - - - - - - -
6679.15 637.07 -8.38 777 6686.59 roll -1.56 - - 1959.31 - 3.73 0.120 689.94 -386.6 -107.06 - - 3453.91 - - - - - - - - - 16.16 -
6749.40 643.79 -10.15 791 6756.88 roll -1.56 - - 1959.69 - 3.34 0.053 2132.25 431.8 -107.06 - - 3456.16 - - - - - - - - - 16.15 -
7065.19 670.76 -8.92 823 7066.76 no move -1.56 - - 1959.50 - - - 2132.12 - -107.06 - - 3453.34 - - - - - - - - - - -
7375.22 698.21 -9.21 854 7382.39 roll -1.56 - - 1959.38 - 3.72 0.116 688.69 -388.0 -107.06 - - 3454.94 - - - - - - - - - 16.14 -
7415.07 702.14 -9.74 862 7422.54 roll -1.56 - - 1959.50 - 3.31 0.052 2131.12 435.8 -107.06 - - 3454.44 - - - - - - - - - 16.17 -
7730.87 729.10 -8.14 894 7732.44 no move -1.56 - - 1959.81 - - - 2131.81 - -107.06 - - 3452.94 - - - - - - - - - - -
8040.89 754.26 -7.95 925 8048.09 roll -1.56 - - 1959.06 - 3.71 0.117 690.88 -388.4 -107.06 - - 3453.59 - - - - - - - - - 16.15 -
8080.77 757.88 -8.96 933 8088.19 roll -1.56 - - 1959.75 - 3.30 0.052 2132.06 436.7 -107.06 - - 3453.28 - - - - - - - - - 16.15 -
8396.56 783.11 -8.06 965 8398.13 no move -1.56 - - 1959.75 - - - 2132.38 - -107.06 - - 3451.56 - - - - - - - - - - -
8706.59 807.56 -7.93 996 8714.02 roll -1.56 - - 1959.31 - 3.72 0.117 689.62 -387.8 -107.06 - - 3451.41 - - - - - - - - - 16.16 -
8766.83 813.06 -9.31 1008 8774.29 roll -1.56 - - 1959.94 - 3.32 0.053 2131.50 434.3 -107.06 - - 3453.56 - - - - - - - - - 16.17 -
9082.61 838.30 -8.16 1040 9089.82 roll -1.56 - - 1959.62 - 3.71 0.118 690.94 -388.3 -107.06 - - 3451.25 - - - - - - - - - 16.15 -
9132.50 842.70 -8.84 1050 9139.98 roll -1.56 - - 1959.69 - 3.33 0.054 2130.81 432.4 -107.06 - - 3452.09 - - - - - - - - - 16.14 -
9448.29 867.24 -7.91 1082 9449.86 no move -1.56 - - 1959.75 - - - 2130.94 - -107.06 - - 3450.78 - - - - - - - - - - -
9758.32 890.89 -7.58 1113 9765.56 roll -1.56 - - 1959.38 - 3.71 0.118 689.25 -388.6 -107.06 - - 3451.47 - - - - - - - - - 16.15 -
9814.01 895.56 -8.87 1124 9819.98 roll -1.56 - - 1960.00 - 3.32 0.053 2130.81 434.2 -107.06 - - 3450.78 - - - - - - - - - 16.14 -
10124.07 919.85 -8.12 1156 10125.64 no move -1.56 - - 1959.62 - - - 2130.44 - -107.06 - - 3450.19 - - - - - - - - - - -
10434.12 944.43 -7.66 1187 10441.57 roll -1.56 - - 1959.56 - 3.72 0.119 689.75 -387.3 -107.06 - - 3449.72 - - - - - - - - - 16.14 -
10480.13 948.37 -9.34 1196 10486.09 roll -1.56 - - 1959.56 - 3.31 0.053 2131.75 435.6 -107.06 - - 3449.94 - - - - - - - - - 16.16 -
10790.16 972.78 -8.24 1228 10791.73 no move -1.56 - - 1959.81 - - - 2131.94 - -107.06 - - 3448.81 - - - - - - - - - - -
11000 end dive: TARGET_DEPTH_EXCEEDED
11000 begin apogee
11001.88 990.16 -8.42 1249 11096.04 -0.42 2.48 0.119 2240.00 113.0 0.09 0.238 2117.88 -156.2 - 86.01 2.228 3018.47 -5.0 0.368 - - - - - - 16.09 15.55 12.53
11107 end apogee: CONTROL_FINISHED_OK
11107 begin climb
11110.21 991.83 - 1258 11221.91 1.56 3.97 0.059 2729.19 123.2 3.30 0.105 3361.44 376.8 107.06 94.88 2.168 2582.31 -4.6 0.348 - - - - - - 15.68 15.32 12.77
11230.55 987.43 5.99 1277 11236.44 roll 1.63 - - 2729.62 - 3.02 0.045 2118.62 -411.5 107.06 - - 2581.00 - - - - - - - - - 15.52 -
11540.47 956.10 10.29 1309 11546.50 done 1.63 - - 2729.94 - 3.17 0.097 3364.06 392.9 107.06 - - 2571.16 - - - - - - - - - 15.87 -
11714.76 935.93 12.17 1344 11722.16 done 1.63 - - 2729.56 - 2.96 0.052 2120.56 -420.1 107.06 - - 2569.06 - - - - - - - - - 15.92 -
12030.52 903.20 10.39 1376 12036.59 done 1.63 - - 2729.75 - 3.12 0.101 3361.25 397.7 107.06 - - 2568.28 - - - - - - - - - 15.99 -
12224.81 881.85 10.79 1415 12232.28 done 1.63 - - 2729.00 - 2.94 0.052 2121.81 -421.6 107.06 - - 2565.47 - - - - - - - - - 16.02 -
12540.57 851.95 9.23 1447 12546.54 done 1.63 - - 2729.56 - 3.09 0.097 3361.62 401.2 107.06 - - 2564.44 - - - - - - - - - 16.05 -
12630.59 842.75 10.86 1465 12636.50 done 1.63 - - 2729.00 - 2.93 0.051 2120.12 -423.7 107.06 - - 2564.25 - - - - - - - - - 16.07 -
12940.59 811.63 9.92 1497 12946.92 done 1.63 - - 2728.38 - 3.11 0.097 3363.19 399.7 107.06 - - 2564.16 - - - - - - - - - 16.08 -
13070.62 797.58 10.94 1523 13076.54 done 1.63 - - 2729.50 - 2.93 0.052 2118.88 -424.7 107.06 - - 2564.16 - - - - - - - - - 16.09 -
13380.63 766.70 9.61 1555 13386.62 done 1.63 - - 2729.31 - 3.08 0.097 3362.81 403.9 107.06 - - 2562.22 - - - - - - - - - 16.09 -
13614.93 741.29 10.98 1602 13622.33 done 1.63 - - 2728.75 - 2.92 0.053 2119.00 -426.0 107.06 - - 2562.06 - - - - - - - - - 16.12 -
13930.69 711.45 9.00 1634 13936.74 done 1.63 - - 2729.38 - 3.11 0.098 3362.62 399.9 107.06 - - 2561.16 - - - - - - - - - 16.12 -
13990.70 705.53 10.16 1646 13996.62 done 1.63 - - 2729.44 - 2.91 0.052 2118.31 -427.6 107.06 - - 2562.22 - - - - - - - - - 16.13 -
14300.70 678.19 8.92 1678 14306.69 done 1.63 - - 2728.88 - 3.10 0.097 3363.88 401.8 107.06 - - 2561.53 - - - - - - - - - 16.12 -
14474.99 661.25 9.25 1713 14482.65 done 1.63 - - 2728.56 - 2.92 0.052 2118.44 -426.5 107.06 - - 2560.94 - - - - - - - - - 16.14 -
14790.75 633.00 8.65 1745 14796.72 done 1.63 - - 2728.44 - 3.10 0.098 3362.88 401.4 107.06 - - 2560.62 - - - - - - - - - 16.12 -
15010.79 612.28 9.04 1789 15016.75 done 1.63 - - 2727.75 - 2.91 0.052 2116.69 -428.2 107.06 - - 2560.75 - - - - - - - - - 16.12 -
15320.79 586.32 7.95 1821 15326.77 done 1.63 - - 2729.12 - 3.10 0.097 3362.25 401.8 107.06 - - 2559.38 - - - - - - - - - 16.14 -
15465.07 573.88 8.81 1850 15472.43 done 1.63 - - 2729.19 - 2.88 0.051 2117.69 -432.1 107.06 - - 2561.12 - - - - - - - - - 16.13 -
15780.89 549.24 7.46 1882 15786.82 done 1.64 - - 2728.62 - 3.08 0.095 3362.94 404.3 107.06 - - 2561.09 - - - - - - - - - 16.14 -
15830.85 545.13 8.27 1892 15836.71 done 1.64 - - 2729.19 - 2.88 0.051 2116.94 -432.6 107.06 - - 2559.78 - - - - - - - - - 16.14 -
16140.91 523.58 6.54 1924 16142.73 1.69 0.17 0.073 2759.06 175.7 - - 2117.31 - 107.06 - - 2557.38 - - - - - - - - 16.19 - -
16450.92 502.09 7.07 1955 16452.53 VBD 1.72 - - 2759.19 - - - 2117.25 - 107.06 - - 2557.62 - - - - - - - - - - -
16760.94 480.84 6.74 1986 16766.92 done 1.76 - - 2758.00 - 3.11 0.096 3364.19 400.9 107.06 - - 2560.16 - - - - - - - - - 16.13 -
16940.97 467.79 7.14 2022 16947.00 1.79 0.11 0.083 2781.94 217.6 2.90 0.051 2116.81 -430.1 107.06 - - 2558.75 - - - - - - - - 16.17 16.13 -
17250.97 445.90 7.06 2054 17252.58 VBD 1.81 - - 2781.75 - - - 2117.12 - 107.06 - - 2557.75 - - - - - - - - - - -
17560.99 424.25 6.67 2085 17568.29 done 1.86 - - 2781.62 - 3.62 0.115 687.88 -394.8 107.06 - - 2558.78 - - - - - - - - - 16.13 -
17686.84 414.96 7.41 2110 17694.21 1.88 0.12 0.069 2801.12 162.5 3.45 0.059 2181.88 433.0 107.06 - - 2557.50 - - - - - - - - 16.17 16.14 -
18001.85 393.22 6.93 2142 18007.71 done 1.91 - - 2804.19 - 2.94 0.098 3363.31 401.8 107.06 - - 2557.53 - - - - - - - - - 16.12 -
18236.08 375.10 7.62 2189 18243.76 done 1.91 - - 2805.12 - 2.93 0.051 2115.56 -425.9 107.06 - - 2558.56 - - - - - - - - - 16.09 -
18551.89 353.23 6.84 2221 18553.51 VBD 1.95 - - 2804.50 - - - 2115.50 - 107.06 - - 2556.56 - - - - - - - - - - -
18861.91 333.16 6.41 2252 18868.07 1.99 0.14 0.069 2835.62 222.3 3.12 0.096 3362.44 399.7 107.06 - - 2557.00 - - - - - - - - 16.20 16.11 -
18966.18 325.78 7.04 2273 18973.59 done 2.03 - - 2835.38 - 2.90 0.050 2116.00 -429.8 107.06 - - 2558.56 - - - - - - - - - 16.12 -
19281.95 306.20 6.22 2305 19283.56 VBD 2.08 - - 2835.69 - - - 2115.81 - 107.06 - - 2556.38 - - - - - - - - - - -
19591.96 288.63 5.53 2336 19593.83 2.16 0.23 0.054 2874.06 166.8 - - 2116.75 - 107.06 - - 2557.22 - - - - - - - - 16.19 - -
19901.96 269.50 6.47 2367 19903.66 VBD 2.20 - - 2875.25 - - - 2116.12 - 107.06 - - 2556.34 - - - - - - - - - - -
20211.98 250.14 6.14 2398 20213.79 2.26 0.14 0.045 2891.56 116.5 - - 2115.75 - 107.06 - - 2555.59 - - - - - - - - 16.19 - -
20521.99 232.19 5.42 2429 20528.14 2.34 0.15 0.063 2918.06 176.7 3.14 0.095 3363.56 397.4 107.06 - - 2558.09 - - - - - - - - 16.16 16.06 -
20756.51 218.23 5.79 2476 20763.69 done 2.41 - - 2918.69 - 2.91 0.051 2115.94 -428.7 107.06 - - 2557.31 - - - - - - - - - 16.08 -
21072.02 201.18 5.47 2508 21078.17 2.48 0.19 0.062 2953.12 181.2 3.15 0.094 3363.94 396.2 107.06 - - 2557.94 - - - - - - - - 16.11 16.07 -
21236.28 192.07 5.59 2541 21243.65 done 2.56 - - 2953.62 - 2.91 0.050 2114.19 -429.5 107.06 - - 2557.34 - - - - - - - - - 16.08 -
21552.06 177.85 4.06 2573 21648.23 2.66 0.26 0.054 2992.81 150.7 3.70 0.111 687.44 -385.6 184.92 82.58 1.161 2264.81 -3.5 0.090 - - - - - - 16.12 15.75 12.58
21770.99 149.69 17.93 2616 21778.75 roll 2.66 - - 2992.75 - 3.53 0.056 2177.44 422.1 184.92 - - 2261.66 - - - - - - - - - 15.85 -
22086.75 104.57 12.61 2648 22093.00 done 2.66 - - 2992.25 - 3.02 0.097 3361.81 392.2 184.92 - - 2257.12 - - - - - - - - - 15.92 -
22321.82 82.66 6.93 2695 22328.45 done 2.69 - - 2991.50 - 2.95 0.049 2114.50 -422.8 184.92 - - 2255.59 - - - - - - - - - 15.92 -
22511.93 83.29 -1.37 2733 22714.49 2.93 0.49 0.041 3062.44 144.8 3.30 0.096 3362.44 378.2 368.90 185.99 1.056 1515.16 -4.0 0.052 - - - - - - 16.02 15.52 12.69
22817.97 43.34 22.50 2792 22824.93 roll back 2.93 0.34 0.175 3046.00 -48.4 2.98 0.050 2120.44 -416.8 368.90 - - 1512.97 - - - - - - - - 15.64 15.75 -
23008.54 22.29 5.62 2830 23015.88 roll back 3.00 0.25 0.052 3079.62 134.5 3.72 0.109 687.38 -385.2 368.90 - - 1513.66 - - - - - - - - 15.90 15.83 -
23229 end climb: SURFACE_DEPTH_REACHED
23229 begin surface coast
23254 end surface coast: CONTROL_FINISHED_OK
23254 begin surface
SM 1.56 - - - - 185.4 99.67 0.980 1084.0 10.9 21.49 0.062 1103.2 51.3 - 3.38 0.055 1064.8 313.9 -0.910 - - 12.76 15.89 15.93 -