NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 198 * Raw log
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• Previous call tries 1 • 81.42 of 575.00 AH used of 24V (85.84% remains)
• Surface angle -65.7 deg, depth 1.48 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.75 (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
9.01 - - - 65.42 VBD -1.56 - - 179.06 - - - 2143.25 - -107.06 54.96 0.005 2273.88 - - - - - - - - - - 15.68
65.85 3.05 -3.15 11 127.94 -1.56 16.38 0.235 1960.44 108.8 3.16 0.095 3363.19 386.1 -107.06 30.94 0.006 3457.22 38.2 -3.212 - - - - - - 15.65 15.65 15.68
311.49 45.85 -16.17 59 317.89 roll -1.56 - - 1959.75 - 3.09 0.040 2066.69 -419.6 -107.06 - - 3459.62 - - - - - - - - - 15.87 -
501.51 70.04 -11.08 97 505.92 no move -1.56 - - 1959.81 - - - 2067.19 - -107.06 - - 3459.81 - - - - - - - - - - -
686.57 91.75 -11.66 134 693.27 roll -1.56 - - 1959.88 - 3.32 0.088 3362.44 390.1 -107.06 - - 3460.59 - - - - - - - - - 15.93 -
781.10 103.26 -12.35 153 788.41 roll -1.56 - - 1959.38 - 3.06 0.039 2066.31 -423.6 -107.06 - - 3461.53 - - - - - - - - - 15.93 -
1096.87 137.34 -10.81 185 1098.44 no move -1.56 - - 1960.31 - - - 2066.38 - -107.06 - - 3460.00 - - - - - - - - - - -
1407.13 168.82 -10.20 216 1408.71 no move -1.56 - - 1959.94 - - - 2066.75 - -107.06 - - 3460.69 - - - - - - - - - - -
1717.14 199.95 -9.90 247 1724.05 roll -1.56 - - 1959.94 - 3.64 0.117 690.88 -378.0 -107.06 - - 3461.38 - - - - - - - - - 15.99 -
1776.89 206.59 -11.23 259 1784.35 roll -1.56 - - 1960.12 - 3.36 0.044 2136.44 430.2 -107.06 - - 3462.62 - - - - - - - - - 16.06 -
2092.67 238.20 -10.55 291 2098.54 roll -1.56 - - 1960.50 - 3.12 0.091 3360.44 392.3 -107.06 - - 3461.59 - - - - - - - - - 16.06 -
2142.67 244.03 -11.55 301 2148.47 roll -1.56 - - 1960.69 - 3.04 0.039 2065.62 -425.9 -107.06 - - 3462.44 - - - - - - - - - 16.08 -
2452.69 276.06 -9.62 333 2454.26 no move -1.56 - - 1960.38 - - - 2065.69 - -107.06 - - 3460.25 - - - - - - - - - - -
2762.71 304.49 -8.86 364 2764.28 no move -1.56 - - 1960.19 - - - 2066.06 - -107.06 - - 3460.66 - - - - - - - - - - -
3072.72 331.28 -8.51 395 3074.29 no move -1.56 - - 1960.44 - - - 2066.12 - -107.06 - - 3460.00 - - - - - - - - - - -
3382.72 360.26 -9.69 426 3388.83 roll -1.56 - - 1959.56 - 3.61 0.118 689.75 -381.3 -107.06 - - 3461.59 - - - - - - - - - 16.09 -
3426.98 365.15 -10.86 435 3434.78 roll -1.56 - - 1960.31 - 3.40 0.045 2134.19 424.8 -107.06 - - 3461.00 - - - - - - - - - 16.13 -
3742.76 395.60 -9.51 467 3744.33 no move -1.56 - - 1960.62 - - - 2134.25 - -107.06 - - 3459.91 - - - - - - - - - - -
4052.78 424.11 -8.77 498 4054.35 no move -1.56 - - 1960.38 - - - 2134.00 - -107.06 - - 3459.50 - - - - - - - - - - -
4362.81 451.84 -9.19 529 4364.38 no move -1.56 - - 1960.38 - - - 2133.62 - -107.06 - - 3459.16 - - - - - - - - - - -
4672.84 479.93 -9.09 560 4680.09 roll -1.56 - - 1960.19 - 3.81 0.116 689.56 -379.0 -107.06 - - 3458.19 - - - - - - - - - 16.10 -
4768.70 489.65 -10.34 579 4774.65 roll -1.56 - - 1960.25 - 3.39 0.048 2133.62 426.0 -107.06 - - 3459.69 - - - - - - - - - 16.12 -
5078.73 515.74 -8.41 611 5080.30 no move -1.56 - - 1960.56 - - - 2133.19 - -107.06 - - 3457.09 - - - - - - - - - - -
5388.75 543.35 -9.23 642 5390.32 no move -1.56 - - 1960.44 - - - 2133.12 - -107.06 - - 3457.28 - - - - - - - - - - -
5698.78 571.83 -9.10 673 5700.35 no move -1.56 - - 1960.88 - - - 2132.88 - -107.06 - - 3456.22 - - - - - - - - - - -
6008.80 601.04 -9.83 704 6016.05 roll -1.56 - - 1959.75 - 3.81 0.117 690.44 -378.6 -107.06 - - 3457.78 - - - - - - - - - 16.13 -
6064.53 606.96 -10.79 715 6070.48 roll -1.56 - - 1960.19 - 3.39 0.048 2132.88 425.5 -107.06 - - 3457.69 - - - - - - - - - 16.14 -
6374.55 635.44 -8.69 747 6381.73 roll -1.56 - - 1960.94 - 3.77 0.114 689.06 -383.0 -107.06 - - 3456.91 - - - - - - - - - 16.13 -
6424.45 640.53 -10.20 757 6431.98 roll -1.56 - - 1960.31 - 3.38 0.046 2133.00 427.2 -107.06 - - 3456.62 - - - - - - - - - 16.14 -
6740.24 667.26 -8.63 789 6747.51 roll -1.56 - - 1959.88 - 3.81 0.115 689.75 -378.8 -107.06 - - 3455.91 - - - - - - - - - 16.12 -
6795.99 672.69 -9.64 800 6801.94 roll -1.56 - - 1960.06 - 3.39 0.047 2134.38 426.1 -107.06 - - 3455.12 - - - - - - - - - 16.13 -
7106.02 699.48 -8.56 832 7107.59 no move -1.56 - - 1960.44 - - - 2134.38 - -107.06 - - 3453.84 - - - - - - - - - - -
7416.07 726.55 -9.05 863 7417.64 no move -1.56 - - 1959.38 - - - 2134.19 - -107.06 - - 3453.28 - - - - - - - - - - -
7726.11 753.99 -8.74 894 7727.68 no move -1.56 - - 1960.06 - - - 2135.00 - -107.06 - - 3453.06 - - - - - - - - - - -
8036.15 779.55 -8.14 925 8043.38 roll -1.56 - - 1959.31 - 3.81 0.118 688.81 -379.6 -107.06 - - 3454.19 - - - - - - - - - 16.12 -
8131.87 788.51 -9.12 944 8137.88 roll -1.56 - - 1961.12 - 3.41 0.049 2131.31 423.0 -107.06 - - 3453.28 - - - - - - - - - 16.13 -
8441.90 813.48 -7.72 976 8443.47 no move -1.56 - - 1960.31 - - - 2132.25 - -107.06 - - 3452.47 - - - - - - - - - - -
8751.93 840.02 -8.96 1007 8759.22 roll -1.56 - - 1959.94 - 3.83 0.117 688.88 -376.9 -107.06 - - 3451.28 - - - - - - - - - 16.13 -
8831.95 848.33 -10.63 1023 8839.44 roll -1.56 - - 1960.06 - 3.38 0.048 2133.56 427.4 -107.06 - - 3453.00 - - - - - - - - - 16.13 -
9147.76 876.41 -9.32 1055 9149.33 no move -1.56 - - 1960.56 - - - 2133.12 - -107.06 - - 3451.47 - - - - - - - - - - -
9457.77 902.61 -7.71 1086 9465.03 roll -1.56 - - 1960.38 - 3.83 0.118 688.88 -377.1 -107.06 - - 3450.53 - - - - - - - - - 16.12 -
9503.63 906.63 -9.41 1095 9509.63 roll -1.56 - - 1960.25 - 3.41 0.048 2132.38 423.3 -107.06 - - 3452.75 - - - - - - - - - 16.12 -
9813.65 929.34 -6.98 1127 9820.90 roll -1.56 - - 1959.44 - 3.82 0.116 689.62 -377.7 -107.06 - - 3451.25 - - - - - - - - - 16.12 -
9873.63 934.54 -8.73 1139 9881.15 roll -1.56 - - 1960.06 - 3.41 0.048 2131.94 423.0 -107.06 - - 3452.06 - - - - - - - - - 16.14 -
10189.42 956.07 -6.25 1171 10191.00 no move -1.56 - - 1960.38 - - - 2132.00 - -107.06 - - 3450.09 - - - - - - - - - - -
10499.46 976.92 -7.33 1202 10506.70 roll -1.56 - - 1960.00 - 3.83 0.117 690.62 -376.3 -107.06 - - 3449.47 - - - - - - - - - 16.12 -
10525.19 978.92 -7.08 1207 10531.18 roll -1.56 - - 1960.69 - 3.40 0.050 2133.00 424.2 -107.06 - - 3450.88 - - - - - - - - - 16.13 -
10685 end dive: TARGET_DEPTH_EXCEEDED
10685 begin apogee
10687.01 990.77 -7.74 1224 10781.25 -0.42 2.40 0.115 2238.81 115.9 0.10 0.223 2115.69 -173.1 - 85.60 2.225 3020.88 -5.0 0.369 - - - - - - 16.09 15.55 12.31
10786 end apogee: CONTROL_FINISHED_OK
10787 begin climb
10789.66 991.79 - 1233 10901.59 1.56 3.91 0.049 2734.88 126.9 3.38 0.095 3361.25 368.5 107.06 94.27 2.156 2580.06 -4.7 0.355 - - - - - - 15.67 15.33 12.74
10954.42 981.38 10.85 1264 10962.00 1.56 0.33 0.155 2713.75 -64.0 3.05 0.041 2116.88 -408.0 107.06 - - 2574.97 - - - - - - - - 15.61 15.64 -
11270.20 949.47 9.65 1296 11276.16 done 1.56 - - 2713.81 - 3.21 0.092 3363.69 388.4 107.06 - - 2567.81 - - - - - - - - - 15.89 -
11414.48 933.93 10.93 1325 11422.00 done 1.56 - - 2713.31 - 2.96 0.041 2117.31 -421.1 107.06 - - 2567.28 - - - - - - - - - 15.94 -
11730.25 904.02 8.97 1357 11736.12 done 1.56 - - 2713.56 - 3.18 0.090 3363.75 392.0 107.06 - - 2564.75 - - - - - - - - - 15.98 -
11814.52 895.85 9.83 1374 11821.78 done 1.56 - - 2712.50 - 2.94 0.041 2116.00 -424.4 107.06 - - 2565.03 - - - - - - - - - 16.00 -
12130.30 868.43 7.96 1406 12136.20 done 1.56 - - 2712.69 - 3.15 0.092 3363.50 396.0 107.06 - - 2563.56 - - - - - - - - - 16.04 -
12364.59 844.56 9.92 1453 12371.85 done 1.56 - - 2713.31 - 2.91 0.042 2117.62 -428.1 107.06 - - 2564.03 - - - - - - - - - 16.05 -
12680.37 817.20 8.93 1485 12681.95 VBD 1.56 - - 2713.38 - - - 2117.75 - 107.06 - - 2560.91 - - - - - - - - - - -
12990.40 790.53 8.14 1516 12996.28 done 1.56 - - 2713.31 - 3.12 0.091 3363.44 399.3 107.06 - - 2561.44 - - - - - - - - - 16.09 -
13224.69 769.72 9.02 1563 13231.96 done 1.56 - - 2712.44 - 2.92 0.043 2115.06 -427.5 107.06 - - 2562.72 - - - - - - - - - 16.09 -
13540.47 745.38 7.62 1595 13546.34 done 1.56 - - 2713.69 - 3.11 0.090 3364.62 401.8 107.06 - - 2560.47 - - - - - - - - - 16.09 -
13770.52 726.17 8.77 1641 13776.28 done 1.56 - - 2713.19 - 2.91 0.042 2116.50 -428.9 107.06 - - 2560.44 - - - - - - - - - 16.12 -
14080.59 701.75 7.53 1673 14086.37 done 1.58 - - 2713.75 - 3.06 0.090 3364.00 407.7 107.06 - - 2560.00 - - - - - - - - - 16.10 -
14170.57 693.96 8.97 1691 14176.28 done 1.58 - - 2713.44 - 2.89 0.042 2115.44 -432.0 107.06 - - 2561.16 - - - - - - - - - 16.11 -
14480.64 670.81 7.15 1723 14482.41 1.61 0.19 0.057 2745.69 169.7 - - 2115.75 - 107.06 - - 2558.09 - - - - - - - - 16.13 - -
14790.63 645.17 8.51 1754 14796.73 1.61 0.28 0.144 2725.94 -70.5 3.11 0.093 3363.50 401.2 107.06 - - 2558.59 - - - - - - - - 16.09 16.07 -
14900.66 635.66 8.60 1776 14906.42 done 1.61 - - 2725.31 - 2.92 0.047 2116.75 -427.0 107.06 - - 2560.62 - - - - - - - - - 16.11 -
15210.73 612.86 6.99 1808 15216.59 done 1.64 - - 2725.06 - 3.12 0.092 3362.81 399.4 107.06 - - 2558.34 - - - - - - - - - 16.11 -
15270.75 608.51 7.53 1820 15276.62 1.65 0.19 0.060 2754.00 152.3 2.91 0.047 2116.88 -428.2 107.06 - - 2559.31 - - - - - - - - 16.15 16.12 -
15580.72 585.92 7.72 1852 15588.10 1.65 0.26 0.146 2735.00 -73.1 3.67 0.113 689.12 -389.0 107.06 - - 2558.38 - - - - - - - - 16.10 16.06 -
15636.76 581.70 7.75 1863 15642.82 done 1.65 - - 2735.75 - 3.52 0.054 2180.25 423.6 107.06 - - 2556.84 - - - - - - - - - 16.11 -
15946.80 560.76 6.17 1895 15952.76 1.71 0.19 0.052 2772.00 190.8 3.01 0.096 3362.75 392.9 107.06 - - 2558.84 - - - - - - - - 16.17 16.10 -
16171.04 542.27 8.34 1940 16178.57 1.71 0.28 0.158 2749.88 -79.0 2.93 0.048 2116.69 -425.3 107.06 - - 2558.81 - - - - - - - - 16.06 16.11 -
16487.11 520.67 6.77 1972 16488.87 1.75 0.16 0.064 2777.81 174.6 - - 2117.06 - 107.06 - - 2558.59 - - - - - - - - 16.17 - -
16796.90 498.44 7.14 2003 16802.76 done 1.78 - - 2778.50 - 3.16 0.092 3363.25 394.4 107.06 - - 2557.59 - - - - - - - - - 16.10 -
17007.12 481.37 7.58 2045 17012.64 done 1.78 - - 2779.50 - 2.91 0.048 2116.94 -428.3 107.06 - - 2557.34 - - - - - - - - - 16.12 -
17316.94 459.03 7.12 2077 17318.51 VBD 1.80 - - 2778.62 - - - 2117.06 - 107.06 - - 2555.59 - - - - - - - - - - -
17626.97 438.02 6.85 2108 17628.54 VBD 1.84 - - 2779.19 - - - 2116.50 - 107.06 - - 2555.81 - - - - - - - - - - -
17936.99 417.36 7.16 2139 17944.28 1.87 0.12 0.065 2807.75 238.0 3.68 0.112 687.50 -388.3 107.06 - - 2556.53 - - - - - - - - 16.18 16.06 -
17982.81 413.94 7.45 2148 17988.95 done 1.88 - - 2808.25 - 3.53 0.054 2179.81 422.8 107.06 - - 2555.09 - - - - - - - - - 16.11 -
18292.81 394.57 6.17 2180 18294.38 VBD 1.94 - - 2807.75 - - - 2181.06 - 107.06 - - 2554.47 - - - - - - - - - - -
18602.83 373.59 6.94 2211 18604.40 VBD 1.97 - - 2808.00 - - - 2181.50 - 107.06 - - 2555.00 - - - - - - - - - - -
18912.84 353.07 6.10 2242 18918.77 2.03 0.20 0.048 2850.25 211.2 3.01 0.095 3365.62 393.4 107.06 - - 2556.28 - - - - - - - - 16.21 16.09 -
19002.87 346.97 6.74 2260 19008.58 done 2.07 - - 2850.25 - 2.94 0.046 2114.62 -425.5 107.06 - - 2557.34 - - - - - - - - - 16.11 -
19312.87 328.40 6.23 2292 19320.00 done 2.13 - - 2849.94 - 3.69 0.109 687.75 -386.7 107.06 - - 2554.16 - - - - - - - - - 16.08 -
19548.64 311.41 7.66 2339 19554.71 done 2.13 - - 2850.38 - 3.53 0.052 2180.31 422.8 107.06 - - 2555.78 - - - - - - - - - 16.12 -
19859.00 292.93 5.59 2371 19860.81 2.20 0.20 0.049 2892.62 211.2 - - 2180.56 - 107.06 - - 2554.81 - - - - - - - - 16.15 - -
20169.05 274.72 5.44 2402 20170.67 VBD 2.28 - - 2893.19 - - - 2180.00 - 107.06 - - 2554.69 - - - - - - - - - - -
20479.11 259.15 4.99 2433 20534.17 2.36 0.15 0.058 2928.31 234.1 3.92 0.107 689.62 -380.2 166.83 45.89 1.305 2337.97 -4.7 0.155 - - - - - - 16.12 15.88 12.48
20586.95 248.86 13.51 2454 20595.28 roll back 2.36 0.35 0.177 2907.31 -60.0 3.58 0.053 2179.81 416.3 166.83 - - 2334.75 - - - - - - - - 15.90 15.96 -
20903.01 209.55 12.50 2486 20910.29 done 2.36 - - 2905.62 - 3.90 0.108 688.62 -382.4 166.83 - - 2329.41 - - - - - - - - - 15.97 -
20959.09 201.80 14.07 2497 20965.43 done 2.36 - - 2906.56 - 3.55 0.053 2179.69 420.0 166.83 - - 2327.62 - - - - - - - - - 15.96 -
21269.18 165.87 10.59 2529 21274.90 done 2.36 - - 2906.94 - 3.00 0.093 3364.06 394.8 166.83 - - 2328.34 - - - - - - - - - 15.98 -
21503.21 138.73 11.76 2576 21510.90 done 2.36 - - 2907.00 - 2.94 0.046 2117.38 -424.0 166.83 - - 2326.34 - - - - - - - - - 16.03 -
21819.21 107.28 9.33 2608 21825.00 done 2.36 - - 2906.31 - 3.16 0.091 3362.81 394.1 166.83 - - 2327.06 - - - - - - - - - 15.99 -
22014.30 93.77 4.98 2647 22090.22 2.43 0.26 0.043 2943.00 141.1 2.93 0.045 2113.75 -426.3 226.71 65.12 1.061 2095.34 -3.6 0.052 - - - - - - 16.06 16.00 12.37
22274.10 72.59 8.78 2698 22281.48 roll back 2.43 0.27 0.155 2924.56 -68.3 3.71 0.109 689.56 -383.9 226.71 - - 2089.22 - - - - - - - - 15.85 15.85 -
22440.34 62.99 4.62 2731 22521.84 2.52 0.29 0.039 2966.75 145.5 3.54 0.050 2187.75 423.2 293.63 69.18 1.018 1822.00 -3.9 0.039 - - - - - - 15.96 15.92 12.64
22705.73 38.30 12.17 2783 22710.73 pitch 2.52 0.29 0.162 2946.62 -69.4 - - 2187.25 - 293.63 - - 1820.91 - - - - - - - - 15.79 - -
22895.78 18.32 8.66 2821 22903.07 roll 2.52 - - 2946.25 - 3.92 0.104 687.56 -382.6 293.63 - - 1819.59 - - - - - - - - - 15.88 -
23071.96 15.08 0.67 2856 23232.48 2.71 0.50 0.031 3009.50 126.5 3.54 0.049 2189.56 424.3 437.79 144.44 0.968 1235.19 -4.0 0.010 - - - - - - 15.96 15.94 12.59
23296 end climb: SURFACE_DEPTH_REACHED
23296 begin surface coast
23316 end surface coast: CONTROL_FINISHED_OK
23316 begin surface
SM 1.44 - - - - 186.6 37.72 0.927 1084.6 24.9 21.66 0.036 1086.0 50.1 - 0.25 0.088 1083.2 4318.6 -7.223 - - 12.71 15.78 15.76 -