NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 100 * Raw log
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• Previous call tries 1 • 49.69 of 575.00 AH used of 24V (91.36% remains)
• Surface angle -63.7 deg, depth 1.37 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 618.08 (beyond SM_CC=475)
• GPS1 time: 22 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
8.93 - - - 80.84 VBD -1.56 - - 176.81 - - - 2134.56 - -107.06 70.26 0.005 2578.12 - - - - - - - - - - 15.75
81.28 3.70 -3.60 14 131.97 -1.56 16.57 0.242 1960.06 107.6 3.21 0.106 3361.81 382.3 -107.06 20.61 0.006 3457.72 42.7 -4.313 - - - - - - 15.72 15.72 15.78
270.26 39.57 -17.39 51 277.00 roll -1.56 - - 1959.88 - 3.08 0.051 2071.31 -419.0 -107.06 - - 3460.75 - - - - - - - - - 15.89 -
460.50 69.35 -14.54 89 467.02 roll -1.56 - - 1959.94 - 3.34 0.098 3361.06 386.2 -107.06 - - 3460.47 - - - - - - - - - 15.91 -
485.49 72.80 -13.50 94 491.88 roll -1.56 - - 1959.88 - 3.06 0.049 2069.81 -422.0 -107.06 - - 3460.38 - - - - - - - - - 15.92 -
675.51 91.11 -8.88 132 682.04 roll -1.56 - - 1959.75 - 3.31 0.098 3362.44 390.5 -107.06 - - 3461.00 - - - - - - - - - 15.94 -
735.51 97.61 -11.28 144 741.89 roll -1.56 - - 1959.50 - 3.06 0.049 2068.00 -423.0 -107.06 - - 3462.16 - - - - - - - - - 15.95 -
930.52 117.52 -9.63 166 936.28 roll -1.56 - - 1960.06 - 3.31 0.097 3361.12 390.7 -107.06 - - 3461.03 - - - - - - - - - 15.99 -
1034.77 128.23 -9.87 187 1041.92 roll -1.56 - - 1960.00 - 3.05 0.048 2067.75 -424.1 -107.06 - - 3460.94 - - - - - - - - - 16.03 -
1350.55 157.24 -9.42 219 1352.08 no move -1.56 - - 1960.12 - - - 2067.81 - -107.06 - - 3460.72 - - - - - - - - - - -
1660.56 188.17 -9.46 250 1662.09 no move -1.56 - - 1959.75 - - - 2067.94 - -107.06 - - 3460.66 - - - - - - - - - - -
1970.62 217.10 -9.31 281 1972.18 no move -1.56 - - 1959.75 - - - 2068.19 - -107.06 - - 3461.44 - - - - - - - - - - -
2280.64 244.29 -9.50 312 2286.69 roll -1.56 - - 1959.38 - 3.59 0.122 689.62 -384.0 -107.06 - - 3462.97 - - - - - - - - - 16.05 -
2364.90 253.37 -10.80 329 2372.37 roll -1.56 - - 1959.44 - 3.39 0.056 2128.62 424.5 -107.06 - - 3463.12 - - - - - - - - - 16.11 -
2680.69 283.35 -9.53 361 2687.87 roll -1.56 - - 1960.31 - 3.73 0.121 689.38 -385.9 -107.06 - - 3461.78 - - - - - - - - - 16.07 -
2720.56 287.85 -10.90 369 2728.06 roll -1.56 - - 1960.12 - 3.39 0.056 2130.06 425.0 -107.06 - - 3461.91 - - - - - - - - - 16.08 -
3036.35 320.05 -10.51 401 3037.92 no move -1.56 - - 1959.75 - - - 2129.75 - -107.06 - - 3461.03 - - - - - - - - - - -
3346.38 350.92 -9.51 432 3347.95 no move -1.56 - - 1959.56 - - - 2130.19 - -107.06 - - 3460.91 - - - - - - - - - - -
3656.40 380.46 -9.53 463 3663.54 roll -1.56 - - 1960.06 - 3.70 0.122 690.81 -389.0 -107.06 - - 3461.62 - - - - - - - - - 16.14 -
3681.99 383.27 -10.22 468 3687.93 roll -1.56 - - 1959.81 - 3.37 0.057 2131.25 427.4 -107.06 - - 3462.72 - - - - - - - - - 16.15 -
3992.01 413.39 -9.88 500 3999.22 roll -1.56 - - 1959.31 - 3.70 0.121 690.31 -389.4 -107.06 - - 3460.28 - - - - - - - - - 16.15 -
4037.78 418.26 -10.66 509 4043.76 roll -1.56 - - 1959.25 - 3.37 0.058 2129.94 427.2 -107.06 - - 3460.84 - - - - - - - - - 16.16 -
4347.80 446.13 -9.25 541 4355.00 roll -1.56 - - 1960.00 - 3.72 0.123 689.62 -387.2 -107.06 - - 3460.00 - - - - - - - - - 16.15 -
4393.44 450.46 -9.21 550 4399.41 roll -1.56 - - 1959.25 - 3.37 0.057 2130.75 427.6 -107.06 - - 3461.00 - - - - - - - - - 16.16 -
4703.47 478.36 -9.22 582 4705.04 no move -1.56 - - 1959.69 - - - 2129.56 - -107.06 - - 3459.53 - - - - - - - - - - -
5013.50 506.19 -8.58 613 5020.64 roll -1.56 - - 1959.44 - 3.68 0.122 690.50 -391.0 -107.06 - - 3457.94 - - - - - - - - - 16.16 -
5063.33 511.21 -9.70 623 5070.80 roll -1.56 - - 1960.06 - 3.37 0.059 2131.31 427.5 -107.06 - - 3460.38 - - - - - - - - - 16.16 -
5379.35 540.24 -9.27 655 5380.92 no move -1.56 - - 1959.31 - - - 2130.75 - -107.06 - - 3458.75 - - - - - - - - - - -
5689.21 567.47 -8.68 686 5696.38 roll -1.56 - - 1959.62 - 3.72 0.124 689.56 -387.4 -107.06 - - 3458.62 - - - - - - - - - 16.18 -
5734.94 572.13 -10.14 695 5740.89 roll -1.56 - - 1960.31 - 3.39 0.060 2128.62 424.5 -107.06 - - 3459.62 - - - - - - - - - 16.16 -
6044.97 597.81 -8.31 727 6052.16 roll -1.56 - - 1960.44 - 3.72 0.124 690.50 -386.6 -107.06 - - 3457.19 - - - - - - - - - 16.18 -
6100.61 603.12 -9.62 738 6106.60 roll -1.56 - - 1959.56 - 3.36 0.060 2130.12 428.5 -107.06 - - 3458.41 - - - - - - - - - 16.17 -
6410.64 627.22 -7.51 770 6416.48 roll -1.56 - - 1959.44 - 3.13 0.106 3361.81 393.5 -107.06 - - 3458.56 - - - - - - - - - 16.17 -
6450.64 630.66 -7.96 778 6456.44 roll -1.56 - - 1960.25 - 3.03 0.055 2069.94 -426.4 -107.06 - - 3458.22 - - - - - - - - - 16.17 -
6760.67 654.18 -7.49 810 6766.75 roll -1.56 - - 1960.06 - 3.58 0.128 688.50 -385.9 -107.06 - - 3457.28 - - - - - - - - - 16.16 -
6860.69 663.64 -9.46 830 6866.88 roll -1.56 - - 1959.56 - 3.38 0.060 2129.56 426.3 -107.06 - - 3457.72 - - - - - - - - - 16.18 -
7170.71 688.83 -7.60 862 7172.29 no move -1.56 - - 1959.69 - - - 2129.75 - -107.06 - - 3456.28 - - - - - - - - - - -
7480.75 713.89 -8.63 893 7482.32 no move -1.56 - - 1959.44 - - - 2130.31 - -107.06 - - 3456.03 - - - - - - - - - - -
7570 end dive: TARGET_DEPTH_EXCEEDED
7570 begin apogee
7572.49 721.99 -9.06 902 7666.43 -0.42 2.34 0.119 2241.25 120.4 0.10 0.224 2118.88 -114.3 - 84.22 1.896 3018.03 -5.2 0.325 - - - - - - 16.16 15.62 12.82
7677 end apogee: CONTROL_FINISHED_OK
7678 begin climb
7680.61 725.08 - 911 7781.90 1.56 3.79 0.058 2728.12 128.5 - - 2119.25 - 107.06 91.29 1.840 2582.88 -4.8 0.308 - - - - - - 15.76 - 12.81
8085.41 696.16 9.38 958 8091.32 done 1.56 - - 2728.00 - 3.25 0.103 3362.62 382.6 107.06 - - 2572.34 - - - - - - - - - 15.87 -
8319.71 671.42 10.10 1005 8326.97 done 1.56 - - 2728.12 - 2.98 0.056 2119.38 -417.2 107.06 - - 2568.59 - - - - - - - - - 15.97 -
8635.48 641.68 10.15 1037 8641.35 done 1.56 - - 2728.75 - 3.20 0.103 3359.44 387.5 107.06 - - 2566.22 - - - - - - - - - 16.04 -
8689.74 635.95 10.71 1048 8697.00 done 1.56 - - 2728.00 - 2.96 0.055 2118.00 -419.4 107.06 - - 2566.62 - - - - - - - - - 16.03 -
9005.51 606.08 8.91 1080 9011.38 done 1.56 - - 2727.88 - 3.19 0.102 3362.31 390.1 107.06 - - 2564.56 - - - - - - - - - 16.06 -
9125.53 593.74 9.90 1104 9131.33 done 1.56 - - 2728.81 - 2.94 0.056 2119.19 -422.8 107.06 - - 2564.91 - - - - - - - - - 16.09 -
9435.59 569.67 6.75 1136 9441.41 done 1.60 - - 2728.31 - 3.18 0.102 3360.81 390.4 107.06 - - 2564.00 - - - - - - - - - 16.12 -
9665.60 550.43 8.98 1182 9671.35 done 1.60 - - 2727.88 - 2.93 0.057 2118.62 -424.0 107.06 - - 2566.34 - - - - - - - - - 16.11 -
9975.67 528.02 7.20 1214 9982.79 done 1.63 - - 2727.69 - 3.64 0.118 687.62 -393.1 107.06 - - 2562.84 - - - - - - - - - 16.12 -
10111.37 516.73 8.32 1241 10117.41 done 1.63 - - 2727.69 - 3.56 0.062 2178.69 418.8 107.06 - - 2562.31 - - - - - - - - - 16.14 -
10421.42 493.11 7.43 1273 10427.18 done 1.65 - - 2728.56 - 3.05 0.104 3362.19 388.0 107.06 - - 2560.72 - - - - - - - - - 16.13 -
10531.39 484.40 7.90 1295 10537.17 done 1.65 - - 2728.50 - 2.92 0.055 2118.06 -426.1 107.06 - - 2560.53 - - - - - - - - - 16.15 -
10841.45 462.70 6.54 1327 10847.43 1.69 0.19 0.055 2768.44 210.2 3.20 0.101 3362.94 389.0 107.06 - - 2561.47 - - - - - - - - 16.22 16.14 -
10931.49 455.77 7.54 1345 10937.41 1.71 0.29 0.155 2748.38 -69.2 2.93 0.055 2118.56 -424.7 107.06 - - 2560.12 - - - - - - - - 16.10 16.15 -
11241.50 434.78 6.96 1377 11247.49 1.74 0.17 0.059 2780.62 189.6 3.18 0.101 3362.12 391.1 107.06 - - 2559.69 - - - - - - - - 16.20 16.14 -
11341.48 426.57 8.29 1397 11347.45 1.74 0.29 0.155 2756.50 -83.2 2.93 0.054 2117.50 -424.8 107.06 - - 2562.72 - - - - - - - - 16.12 16.17 -
11651.53 405.39 7.35 1429 11658.65 done 1.76 - - 2754.06 - 3.66 0.116 687.31 -390.8 107.06 - - 2562.75 - - - - - - - - - 16.13 -
11757.11 397.01 7.96 1450 11763.18 done 1.76 - - 2757.00 - 3.53 0.061 2179.50 422.7 107.06 - - 2560.62 - - - - - - - - - 16.15 -
12067.20 376.26 6.76 1482 12074.63 1.80 0.23 0.048 2794.25 162.0 3.81 0.112 688.56 -391.3 107.06 - - 2559.91 - - - - - - - - 16.19 16.15 -
12147.32 369.61 8.24 1498 12155.15 1.80 0.31 0.166 2771.69 -72.8 3.53 0.059 2180.75 422.7 107.06 - - 2559.88 - - - - - - - - 16.11 16.14 -
12463.16 349.86 6.07 1530 12464.91 1.86 0.19 0.053 2810.00 201.6 - - 2180.81 - 107.06 - - 2557.56 - - - - - - - - 16.20 - -
12773.20 328.88 6.83 1561 12778.97 done 1.90 - - 2811.12 - 3.01 0.102 3360.81 392.0 107.06 - - 2558.91 - - - - - - - - - 16.16 -
13007.44 309.19 8.57 1608 13014.76 done 1.90 - - 2810.69 - 2.92 0.055 2117.75 -425.7 107.06 - - 2561.56 - - - - - - - - - 16.16 -
13323.25 285.46 7.16 1640 13330.38 done 1.92 - - 2809.94 - 3.66 0.114 688.19 -390.6 107.06 - - 2558.91 - - - - - - - - - 16.14 -
13558.86 267.79 7.65 1687 13564.93 done 1.92 - - 2810.56 - 3.55 0.060 2182.25 420.9 107.06 - - 2558.00 - - - - - - - - - 16.15 -
13868.91 247.74 5.64 1719 13874.88 2.00 0.13 0.064 2842.12 242.8 3.03 0.102 3360.69 388.9 107.06 - - 2559.34 - - - - - - - - 16.22 16.13 -
14103.21 233.79 6.16 1766 14110.43 done 2.05 - - 2840.81 - 2.95 0.055 2117.88 -421.3 107.06 - - 2558.28 - - - - - - - - - 16.12 -
14418.97 216.34 5.82 1798 14424.80 done 2.12 - - 2841.25 - 3.19 0.099 3363.25 390.4 107.06 - - 2559.34 - - - - - - - - - 16.15 -
14653.25 203.90 5.35 1845 14660.69 2.20 0.27 0.043 2888.12 173.6 2.95 0.054 2118.19 -422.1 107.06 - - 2558.41 - - - - - - - - 16.20 16.13 -
14969.01 184.20 6.58 1877 14974.88 done 2.24 - - 2888.44 - 3.18 0.097 3361.75 391.1 107.06 - - 2558.19 - - - - - - - - - 16.13 -
15203.30 169.16 6.16 1924 15210.57 done 2.30 - - 2888.81 - 2.94 0.054 2117.31 -423.3 107.06 - - 2557.97 - - - - - - - - - 16.12 -
15519.07 152.89 4.17 1956 15614.33 2.40 0.26 0.041 2936.12 182.0 3.26 0.099 3361.12 381.5 182.89 83.39 1.151 2272.41 -3.4 0.075 - - - - - - 16.19 15.75 12.74
15757.03 126.33 16.01 2003 15764.59 roll back 2.40 0.34 0.168 2917.38 -55.1 2.98 0.054 2119.12 -416.8 182.89 - - 2270.03 - - - - - - - - 15.86 15.88 -
16067.79 86.31 12.75 2045 16074.51 done 2.40 - - 2917.31 - 3.22 0.097 3363.12 386.3 182.89 - - 2266.78 - - - - - - - - - 15.95 -
16158.08 75.50 11.16 2063 16164.63 done 2.40 - - 2917.25 - 2.97 0.052 2119.06 -418.9 182.89 - - 2264.28 - - - - - - - - - 15.97 -
16348.66 61.90 6.35 2101 16355.71 2.45 0.20 0.050 2949.94 163.5 3.68 0.111 686.94 -389.2 182.89 - - 2263.22 - - - - - - - - 16.01 15.97 -
16399.17 57.76 8.11 2111 16406.28 2.45 0.31 0.178 2930.50 -62.7 3.57 0.058 2180.62 418.4 182.89 - - 2263.19 - - - - - - - - 15.93 15.99 -
16589.72 56.66 -0.51 2149 16674.19 2.67 0.55 0.031 3002.06 130.1 - - 2181.12 - 350.06 80.39 1.045 2010.88 -3.1 0.028 - - - - - - 16.08 - 12.77
16674 end climb: NO_VERTICAL_VELOCITY
16675 begin surface
SM 1.20 - - - - 182.8 - - 496.5 - 21.29 0.037 526.5 24.7 - 0.22 0.095 466.6 2120.9 -2.738 - - 30.00 15.61 15.63 -