NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 142 * Raw log
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• Previous call tries 1 • 64.19 of 575.00 AH used of 24V (88.84% remains)
• Surface angle -61.8 deg, depth 1.56 m • Intended pitch -17.1 deg, speed -8.049 cm/s
• No surface pump (final VBD was 1079.0, SM_CC=475)
• GPS1 time: 14 s
• GPS2 time: 4 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 - - - 80.82 VBD -1.56 - - 186.62 - - - 2059.44 - -107.06 70.30 0.005 2622.94 - - - - - - - - - - 15.73
81.25 3.42 -2.85 14 128.06 -1.56 16.29 0.235 1961.00 108.9 3.54 0.119 689.81 -386.9 -107.06 19.58 0.006 3458.22 42.7 -4.022 - - - - - - 15.72 15.69 15.73
226.74 34.90 -22.14 42 232.95 roll -1.56 - - 1961.31 - 3.33 0.050 2131.19 432.8 -107.06 - - 3458.53 - - - - - - - - - 15.87 -
416.43 61.42 -12.72 80 422.85 roll -1.56 - - 1961.44 - 3.07 0.099 3360.94 400.6 -107.06 - - 3459.28 - - - - - - - - - 15.90 -
496.43 72.72 -14.66 96 502.92 roll -1.56 - - 1960.81 - 3.03 0.044 2065.06 -427.7 -107.06 - - 3461.16 - - - - - - - - - 15.91 -
686.46 95.30 -10.40 134 693.08 roll -1.56 - - 1960.88 - 3.51 0.116 688.50 -392.2 -107.06 - - 3460.12 - - - - - - - - - 15.93 -
746.57 102.12 -11.71 146 752.25 roll -1.56 - - 1960.69 - 3.31 0.047 2135.50 437.2 -107.06 - - 3460.31 - - - - - - - - - 15.96 -
1056.50 130.79 -9.08 178 1062.13 roll -1.56 - - 1960.44 - 3.06 0.097 3362.62 401.0 -107.06 - - 3462.50 - - - - - - - - - 15.99 -
1126.51 137.90 -10.47 192 1132.17 roll -1.56 - - 1961.88 - 3.01 0.045 2064.94 -431.1 -107.06 - - 3461.69 - - - - - - - - - 16.01 -
1436.52 165.96 -9.43 224 1442.63 roll -1.56 - - 1961.00 - 3.50 0.118 687.88 -393.4 -107.06 - - 3463.72 - - - - - - - - - 16.01 -
1520.81 175.44 -11.31 241 1528.27 roll -1.56 - - 1960.50 - 3.30 0.050 2134.69 438.4 -107.06 - - 3464.31 - - - - - - - - - 16.04 -
1836.60 207.42 -10.47 273 1842.69 roll -1.56 - - 1961.38 - 3.66 0.114 688.75 -395.1 -107.06 - - 3462.38 - - - - - - - - - 16.04 -
1876.61 211.97 -11.40 281 1882.55 roll -1.56 - - 1961.50 - 3.30 0.050 2134.38 438.1 -107.06 - - 3463.66 - - - - - - - - - 16.05 -
2186.64 243.97 -10.18 313 2188.21 no move -1.56 - - 1961.00 - - - 2133.94 - -107.06 - - 3462.12 - - - - - - - - - - -
2496.66 275.26 -9.95 344 2498.23 no move -1.56 - - 1961.12 - - - 2134.25 - -107.06 - - 3462.12 - - - - - - - - - - -
2806.68 306.06 -10.39 375 2808.26 no move -1.56 - - 1960.81 - - - 2134.38 - -107.06 - - 3462.09 - - - - - - - - - - -
3116.72 336.96 -9.51 406 3123.85 roll -1.56 - - 1960.62 - 3.69 0.118 688.44 -391.9 -107.06 - - 3464.84 - - - - - - - - - 16.11 -
3192.29 345.09 -10.62 421 3198.28 roll -1.56 - - 1960.62 - 3.31 0.054 2131.81 436.1 -107.06 - - 3462.62 - - - - - - - - - 16.13 -
3502.33 374.53 -9.24 453 3509.71 roll -1.56 - - 1960.62 - 3.70 0.118 688.50 -390.1 -107.06 - - 3461.75 - - - - - - - - - 16.13 -
3578.28 382.47 -10.57 468 3584.26 roll -1.56 - - 1960.88 - 3.31 0.053 2132.25 436.2 -107.06 - - 3462.94 - - - - - - - - - 16.13 -
3888.30 410.88 -9.22 500 3889.87 no move -1.56 - - 1961.06 - - - 2132.00 - -107.06 - - 3460.31 - - - - - - - - - - -
4198.34 439.87 -9.73 531 4205.51 roll -1.56 - - 1960.62 - 3.70 0.118 689.25 -389.9 -107.06 - - 3460.66 - - - - - - - - - 16.13 -
4243.95 444.76 -10.77 540 4249.90 roll -1.56 - - 1960.50 - 3.31 0.053 2131.44 435.7 -107.06 - - 3461.03 - - - - - - - - - 16.15 -
4553.98 475.90 -10.18 572 4555.55 no move -1.56 - - 1960.81 - - - 2131.06 - -107.06 - - 3458.69 - - - - - - - - - - -
4864.01 507.32 -9.79 603 4865.58 no move -1.56 - - 1960.81 - - - 2131.12 - -107.06 - - 3457.66 - - - - - - - - - - -
5174.08 536.77 -9.44 634 5181.26 roll -1.56 - - 1960.44 - 3.71 0.121 688.50 -388.8 -107.06 - - 3457.53 - - - - - - - - - 16.14 -
5219.71 541.48 -10.05 643 5225.66 roll -1.56 - - 1961.69 - 3.34 0.056 2131.44 432.0 -107.06 - - 3459.94 - - - - - - - - - 16.15 -
5529.74 569.69 -8.54 675 5531.31 no move -1.56 - - 1960.88 - - - 2130.94 - -107.06 - - 3456.72 - - - - - - - - - - -
5839.77 595.89 -8.15 706 5841.34 no move -1.56 - - 1960.62 - - - 2130.75 - -107.06 - - 3456.31 - - - - - - - - - - -
6149.80 621.12 -7.93 737 6156.98 roll -1.56 - - 1961.00 - 3.74 0.125 689.88 -385.3 -107.06 - - 3456.97 - - - - - - - - - 16.16 -
6195.42 625.27 -8.68 746 6201.38 roll -1.56 - - 1961.19 - 3.33 0.057 2128.62 432.1 -107.06 - - 3456.44 - - - - - - - - - 16.16 -
6505.45 648.77 -7.04 778 6512.64 roll -1.56 - - 1961.56 - 3.73 0.122 688.75 -386.0 -107.06 - - 3455.53 - - - - - - - - - 16.16 -
6545.32 652.13 -7.98 786 6552.81 roll -1.56 - - 1961.00 - 3.33 0.056 2131.00 433.1 -107.06 - - 3455.78 - - - - - - - - - 16.17 -
6861.13 675.40 -7.23 818 6868.32 roll -1.56 - - 1961.38 - 3.70 0.122 689.88 -389.5 -107.06 - - 3454.16 - - - - - - - - - 16.17 -
6916.76 680.36 -9.04 829 6922.76 roll -1.56 - - 1961.06 - 3.33 0.056 2130.06 432.5 -107.06 - - 3456.16 - - - - - - - - - 16.16 -
7226.79 705.03 -7.91 861 7228.38 no move -1.56 - - 1961.19 - - - 2130.19 - -107.06 - - 3453.38 - - - - - - - - - - -
7536.82 729.17 -7.83 892 7544.01 roll -1.56 - - 1961.12 - 3.72 0.123 689.50 -387.3 -107.06 - - 3455.44 - - - - - - - - - 16.16 -
7592.57 734.11 -9.11 903 7598.52 roll -1.56 - - 1960.88 - 3.33 0.056 2130.94 432.9 -107.06 - - 3455.41 - - - - - - - - - 16.17 -
7902.60 757.95 -7.59 935 7909.80 roll -1.56 - - 1960.31 - 3.72 0.123 689.94 -387.4 -107.06 - - 3454.47 - - - - - - - - - 16.16 -
7962.49 763.19 -8.32 947 7969.95 roll -1.56 - - 1960.81 - 3.32 0.057 2129.19 433.5 -107.06 - - 3454.06 - - - - - - - - - 16.17 -
8278.28 789.04 -8.67 979 8279.85 no move -1.56 - - 1961.06 - - - 2128.88 - -107.06 - - 3452.38 - - - - - - - - - - -
8588.31 814.96 -8.14 1010 8595.49 roll -1.56 - - 1960.69 - 3.71 0.124 689.81 -387.9 -107.06 - - 3452.75 - - - - - - - - - 16.15 -
8658.17 821.47 -9.20 1024 8665.68 roll -1.56 - - 1961.38 - 3.32 0.057 2130.69 434.0 -107.06 - - 3452.28 - - - - - - - - - 16.14 -
8973.96 847.73 -8.22 1056 8975.53 no move -1.56 - - 1960.62 - - - 2130.44 - -107.06 - - 3451.03 - - - - - - - - - - -
9283.99 872.77 -8.21 1087 9291.43 roll -1.56 - - 1961.12 - 3.73 0.124 691.06 -385.9 -107.06 - - 3452.44 - - - - - - - - - 16.16 -
9394.24 883.24 -9.28 1109 9401.84 roll -1.56 - - 1960.81 - 3.31 0.058 2130.00 434.7 -107.06 - - 3451.75 - - - - - - - - - 16.15 -
9710.07 909.51 -8.28 1141 9711.64 no move -1.56 - - 1960.94 - - - 2129.75 - -107.06 - - 3450.31 - - - - - - - - - - -
10020.11 935.14 -8.11 1172 10027.31 roll -1.56 - - 1961.06 - 3.72 0.125 689.69 -387.1 -107.06 - - 3449.78 - - - - - - - - - 16.15 -
10085.76 940.94 -9.09 1185 10091.75 roll -1.56 - - 1960.88 - 3.32 0.057 2130.50 434.0 -107.06 - - 3450.28 - - - - - - - - - 16.16 -
10395.79 963.48 -6.68 1217 10402.98 roll -1.56 - - 1960.56 - 3.70 0.121 688.19 -389.8 -107.06 - - 3449.34 - - - - - - - - - 16.15 -
10461.55 968.69 -7.71 1230 10467.49 roll -1.56 - - 1961.12 - 3.31 0.055 2130.44 435.7 -107.06 - - 3450.69 - - - - - - - - - 16.16 -
10771 end dive: TARGET_DEPTH_EXCEEDED
10771 begin apogee
10773.31 990.44 -7.08 1262 10867.66 -0.42 2.49 0.118 2241.12 112.4 0.10 0.233 2117.44 -130.0 - 86.28 2.240 3017.88 -5.0 0.367 - - - - - - 16.12 15.54 12.66
10879 end apogee: CONTROL_FINISHED_OK
10879 begin climb
10881.95 991.00 - 1271 10993.47 1.56 3.80 0.064 2729.81 128.6 3.26 0.104 3363.00 382.1 107.06 95.40 2.182 2581.66 -4.6 0.344 - - - - - - 15.67 15.32 12.76
11042.01 980.56 11.03 1301 11047.77 roll 1.56 - - 2729.31 - 3.00 0.046 2118.06 -415.0 107.06 - - 2577.50 - - - - - - - - - 15.62 -
11352.05 945.48 11.38 1333 11357.92 done 1.56 - - 2729.56 - 3.11 0.099 3363.12 400.3 107.06 - - 2569.06 - - - - - - - - - 15.86 -
11436.33 934.95 12.64 1350 11443.63 done 1.56 - - 2729.12 - 2.94 0.051 2118.12 -423.5 107.06 - - 2568.50 - - - - - - - - - 15.92 -
11752.13 900.49 10.31 1382 11757.97 done 1.56 - - 2728.75 - 3.09 0.099 3361.94 402.5 107.06 - - 2567.00 - - - - - - - - - 15.97 -
11986.42 873.16 11.50 1429 11993.68 done 1.56 - - 2729.25 - 2.93 0.053 2120.81 -423.6 107.06 - - 2567.72 - - - - - - - - - 16.03 -
12302.19 840.90 9.99 1461 12308.05 done 1.56 - - 2729.56 - 3.09 0.100 3363.12 402.0 107.06 - - 2565.72 - - - - - - - - - 16.06 -
12452.23 825.54 10.67 1491 12457.98 done 1.56 - - 2729.31 - 2.92 0.053 2120.94 -425.4 107.06 - - 2564.00 - - - - - - - - - 16.07 -
12762.25 796.92 8.74 1523 12768.06 done 1.56 - - 2728.81 - 3.08 0.098 3363.50 403.4 107.06 - - 2562.53 - - - - - - - - - 16.08 -
12996.54 773.41 10.45 1570 13003.76 done 1.56 - - 2729.12 - 2.90 0.051 2119.44 -429.0 107.06 - - 2562.78 - - - - - - - - - 16.11 -
13312.31 746.45 8.26 1602 13313.88 VBD 1.56 - - 2729.12 - - - 2119.25 - 107.06 - - 2560.03 - - - - - - - - - - -
13622.34 721.25 7.89 1633 13628.15 done 1.56 - - 2730.06 - 3.08 0.098 3363.94 404.1 107.06 - - 2560.47 - - - - - - - - - 16.12 -
13796.62 705.09 9.29 1668 13803.88 done 1.56 - - 2729.44 - 2.91 0.052 2119.62 -427.6 107.06 - - 2560.78 - - - - - - - - - 16.13 -
14112.40 677.37 8.90 1700 14118.25 done 1.56 - - 2729.06 - 3.08 0.097 3362.06 403.4 107.06 - - 2561.66 - - - - - - - - - 16.12 -
14296.68 659.10 9.93 1737 14303.95 done 1.56 - - 2729.44 - 2.91 0.051 2118.25 -427.4 107.06 - - 2560.50 - - - - - - - - - 16.13 -
14612.46 631.48 8.51 1769 14614.03 VBD 1.56 - - 2729.31 - - - 2118.19 - 107.06 - - 2558.94 - - - - - - - - - - -
14922.49 605.17 8.45 1800 14924.06 VBD 1.56 - - 2729.50 - - - 2118.19 - 107.06 - - 2559.25 - - - - - - - - - - -
15232.51 579.40 7.55 1831 15238.41 done 1.56 - - 2729.62 - 3.11 0.098 3362.88 400.2 107.06 - - 2562.00 - - - - - - - - - 16.14 -
15446.80 561.19 8.56 1874 15454.11 done 1.56 - - 2729.25 - 2.92 0.050 2119.31 -425.9 107.06 - - 2559.41 - - - - - - - - - 16.16 -
15762.63 538.23 6.78 1906 15764.20 VBD 1.60 - - 2728.62 - - - 2119.69 - 107.06 - - 2558.19 - - - - - - - - - - -
16072.65 518.07 6.35 1937 16074.23 VBD 1.65 - - 2729.19 - - - 2119.75 - 107.06 - - 2557.69 - - - - - - - - - - -
16382.68 499.77 5.93 1968 16388.70 1.72 0.23 0.063 2766.88 163.9 3.10 0.098 3363.12 401.1 107.06 - - 2559.25 - - - - - - - - 16.22 16.14 -
16532.71 488.70 7.49 1998 16538.43 done 1.73 - - 2766.00 - 2.92 0.052 2117.44 -426.6 107.06 - - 2560.06 - - - - - - - - - 16.15 -
16842.68 465.92 7.55 2030 16844.25 VBD 1.73 - - 2766.69 - - - 2117.19 - 107.06 - - 2557.94 - - - - - - - - - - -
17152.75 443.27 7.04 2061 17158.61 done 1.76 - - 2767.25 - 3.12 0.097 3362.12 399.0 107.06 - - 2558.84 - - - - - - - - - 16.14 -
17222.73 437.93 8.05 2075 17228.48 done 1.76 - - 2764.88 - 2.93 0.052 2116.81 -425.0 107.06 - - 2560.41 - - - - - - - - - 16.16 -
17532.79 416.13 6.59 2107 17534.36 VBD 1.81 - - 2767.00 - - - 2116.75 - 107.06 - - 2559.25 - - - - - - - - - - -
17842.82 395.59 6.77 2138 17849.08 1.85 0.17 0.072 2799.44 190.8 3.12 0.097 3362.62 399.3 107.06 - - 2558.75 - - - - - - - - 16.20 16.13 -
18077.11 378.58 6.95 2185 18084.38 done 1.88 - - 2799.94 - 2.93 0.052 2117.50 -425.0 107.06 - - 2558.59 - - - - - - - - - 16.14 -
18392.88 358.82 6.48 2217 18398.96 done 1.93 - - 2798.94 - 3.63 0.115 688.81 -393.6 107.06 - - 2557.72 - - - - - - - - - 16.12 -
18552.92 346.75 7.33 2249 18558.92 done 1.95 - - 2799.69 - 3.47 0.059 2181.81 430.3 107.06 - - 2558.44 - - - - - - - - - 16.13 -
18862.92 326.74 6.19 2281 18868.85 2.00 0.20 0.062 2835.81 180.6 2.95 0.099 3362.88 400.4 107.06 - - 2558.72 - - - - - - - - 16.20 16.12 -
18972.92 318.86 7.27 2303 18978.64 done 2.03 - - 2836.69 - 2.94 0.051 2116.31 -424.0 107.06 - - 2556.69 - - - - - - - - - 16.14 -
19282.95 298.52 6.24 2335 19284.52 VBD 2.08 - - 2836.75 - - - 2115.69 - 107.06 - - 2556.19 - - - - - - - - - - -
19592.97 279.06 6.05 2366 19594.72 2.14 0.18 0.060 2868.56 176.7 - - 2115.62 - 107.06 - - 2559.50 - - - - - - - - 16.16 - -
19902.98 261.48 5.63 2397 19910.12 done 2.21 - - 2869.31 - 3.63 0.113 687.50 -393.4 107.06 - - 2557.09 - - - - - - - - - 16.10 -
20138.77 246.24 6.87 2444 20145.94 2.25 0.18 0.057 2897.50 156.6 3.46 0.058 2184.62 432.7 107.06 - - 2558.34 - - - - - - - - 16.15 16.13 -
20453.87 225.86 6.61 2476 20460.94 done 2.29 - - 2896.00 - 3.80 0.108 687.56 -394.0 107.06 - - 2554.75 - - - - - - - - - 16.08 -
20689.46 210.48 5.81 2523 20695.58 2.36 0.14 0.063 2915.69 140.6 3.45 0.057 2186.38 434.4 107.06 - - 2556.31 - - - - - - - - 16.16 16.11 -
20999.47 195.83 4.99 2555 21050.91 VBD 2.44 - - 2923.38 - - - 2185.88 - 166.75 46.15 1.248 2339.72 -4.7 0.122 - - - - - - - - 12.68
21359.44 153.12 13.16 2594 21366.72 done 2.44 - - 2922.44 - 3.83 0.108 689.06 -390.8 166.75 - - 2330.34 - - - - - - - - - 15.96 -
21429.74 143.31 13.54 2608 21437.04 done 2.44 - - 2923.00 - 3.47 0.056 2182.81 430.5 166.75 - - 2330.25 - - - - - - - - - 16.00 -
21745.33 114.36 6.27 2640 21751.21 2.49 0.19 0.059 2954.25 164.5 2.94 0.096 3361.38 400.9 166.75 - - 2328.53 - - - - - - - - 16.07 16.01 -
21980.37 98.35 5.74 2687 21986.84 done 2.56 - - 2952.44 - 2.92 0.046 2114.38 -427.1 166.75 - - 2329.50 - - - - - - - - - 16.04 -
22170.38 95.14 1.17 2725 22320.36 2.73 0.40 0.045 3011.88 148.6 3.20 0.095 3362.62 390.1 301.14 138.97 1.081 1791.38 -3.9 0.056 - - - - - - 16.11 15.57 12.67
22473.80 57.32 16.84 2784 22480.31 roll 2.73 - - 3012.00 - 2.95 0.045 2116.88 -422.3 301.14 - - 1790.81 - - - - - - - - - 15.78 -
22663.82 32.00 10.48 2822 22668.48 no move 2.73 - - 3012.69 - - - 2116.88 - 301.14 - - 1788.56 - - - - - - - - - - -
22853.88 33.38 -1.01 2860 23044.62 2.96 0.40 0.044 3068.94 140.6 3.23 0.096 3362.75 385.7 478.05 175.76 0.996 1071.88 -4.1 0.023 - - - - - - 15.95 15.51 12.67
23128.05 2.19 21.01 2913 23134.82 roll back 2.96 0.29 0.175 3052.44 -56.9 2.99 0.049 2121.75 -415.1 478.05 - - 1075.16 - - - - - - - - 15.64 15.68 -
23138 end climb: SURFACE_DEPTH_REACHED
23138 begin surface coast
23153 end surface coast: CONTROL_FINISHED_OK
23153 begin surface
SM 1.68 - - - - 186.4 - - 1073.2 - 21.70 0.052 1067.5 49.2 - 0.08 0.159 1079.0 13450.1 -14.525 - - 30.00 15.77 15.74 -