NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 322 * Raw log
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• Previous call tries 3 • 121.95 of 575.00 AH used of 24V (78.79% remains)
• Surface angle -63.9 deg, depth 1.72 m • Intended pitch -26.9 deg, speed -8.049 cm/s
VBD pumped to 474.95 (SM_CC=475)
• GPS1 time: 101 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
9.02 - - - 60.44 VBD -2.30 - - 181.88 - - - 2149.94 - -46.08 50.08 0.005 2283.56 - - - - - - - - - - 15.54
60.88 3.55 -4.11 10 112.39 -2.34 14.53 0.222 1771.88 109.4 3.10 0.093 3362.81 391.2 -79.59 25.27 0.006 3345.28 42.0 -4.093 - - - - - - 15.63 15.49 15.59
340.99 71.40 -19.20 65 347.39 roll -2.34 - - 1772.12 - 3.05 0.044 2081.38 -420.1 -79.59 - - 3347.28 - - - - - - - - - 15.81 -
531.03 101.97 -14.53 102 538.00 roll -2.34 - - 1771.62 - 3.72 0.133 686.31 -375.0 -79.59 - - 3349.31 - - - - - - - - - 15.82 -
576.44 109.25 -17.17 111 582.61 roll -2.34 - - 1772.00 - 3.31 0.037 2137.38 438.4 -79.59 - - 3350.09 - - - - - - - - - 15.88 -
886.49 154.17 -14.03 143 888.06 no move -2.34 - - 1771.69 - - - 2137.56 - -79.59 - - 3350.31 - - - - - - - - - - -
1196.52 193.61 -12.65 174 1203.72 roll -2.34 - - 1772.25 - 3.72 0.104 686.75 -390.0 -79.59 - - 3350.81 - - - - - - - - - 15.96 -
1382.23 223.15 -17.17 211 1388.23 roll -2.34 - - 1772.31 - 3.31 0.041 2134.62 437.4 -79.59 - - 3352.47 - - - - - - - - - 15.94 -
1692.26 268.41 -15.02 243 1699.48 roll -2.34 - - 1772.12 - 3.71 0.103 687.75 -390.0 -79.59 - - 3350.19 - - - - - - - - - 15.95 -
1728.07 274.10 -16.58 250 1734.02 roll -2.34 - - 1771.75 - 3.31 0.041 2136.06 437.6 -79.59 - - 3351.00 - - - - - - - - - 16.01 -
2038.10 321.32 -15.12 282 2039.67 no move -2.34 - - 1771.94 - - - 2136.06 - -79.59 - - 3350.94 - - - - - - - - - - -
2348.13 367.61 -14.44 313 2355.33 roll -2.34 - - 1771.81 - 3.73 0.106 687.50 -388.4 -79.59 - - 3350.22 - - - - - - - - - 16.02 -
2443.82 383.91 -17.15 332 2449.89 roll -2.34 - - 1771.62 - 3.34 0.043 2134.00 433.1 -79.59 - - 3352.22 - - - - - - - - - 16.06 -
2753.84 430.33 -14.74 364 2761.03 roll -2.34 - - 1771.75 - 3.74 0.105 687.50 -386.8 -79.59 - - 3347.62 - - - - - - - - - 16.00 -
2823.76 441.73 -16.78 378 2831.24 roll -2.34 - - 1771.56 - 3.33 0.043 2132.88 434.0 -79.59 - - 3349.50 - - - - - - - - - 16.05 -
3139.55 488.01 -14.71 410 3146.99 roll -2.34 - - 1771.69 - 3.74 0.106 686.56 -386.7 -79.59 - - 3347.25 - - - - - - - - - 16.02 -
3209.83 499.15 -15.88 424 3217.34 roll -2.34 - - 1772.00 - 3.34 0.043 2134.12 433.4 -79.59 - - 3348.25 - - - - - - - - - 16.05 -
3525.62 544.49 -14.46 456 3527.19 no move -2.34 - - 1772.19 - - - 2134.25 - -79.59 - - 3345.38 - - - - - - - - - - -
3835.65 588.39 -13.73 487 3842.84 roll -2.34 - - 1772.00 - 3.73 0.109 688.44 -387.6 -79.59 - - 3343.34 - - - - - - - - - 16.03 -
3961.35 607.59 -14.94 512 3967.31 roll -2.34 - - 1771.62 - 3.32 0.045 2133.31 435.2 -79.59 - - 3344.44 - - - - - - - - - 16.07 -
4271.38 648.44 -12.92 544 4278.57 roll -2.34 - - 1771.62 - 3.74 0.108 686.75 -386.8 -79.59 - - 3342.78 - - - - - - - - - 16.03 -
4447.20 674.72 -14.54 579 4453.15 roll -2.34 - - 1772.00 - 3.34 0.045 2132.44 432.8 -79.59 - - 3342.28 - - - - - - - - - 16.06 -
4757.23 715.80 -12.73 611 4764.43 roll -2.34 - - 1772.12 - 3.74 0.109 688.06 -386.2 -79.59 - - 3339.00 - - - - - - - - - 16.02 -
4947.17 744.69 -15.66 649 4954.68 roll -2.34 - - 1771.62 - 3.35 0.045 2131.31 430.8 -79.59 - - 3338.47 - - - - - - - - - 16.05 -
5262.95 786.89 -13.28 681 5270.15 roll -2.34 - - 1771.12 - 3.76 0.110 687.88 -383.9 -79.59 - - 3336.50 - - - - - - - - - 16.01 -
5422.90 811.08 -15.91 713 5430.43 roll -2.34 - - 1771.88 - 3.34 0.045 2131.44 432.2 -79.59 - - 3337.50 - - - - - - - - - 16.07 -
5738.69 852.38 -12.39 745 5745.91 roll -2.34 - - 1772.00 - 3.77 0.113 687.62 -383.0 -79.59 - - 3335.12 - - - - - - - - - 16.01 -
5914.53 878.45 -14.54 780 5920.49 roll -2.34 - - 1771.44 - 3.34 0.046 2131.38 432.3 -79.59 - - 3337.00 - - - - - - - - - 16.04 -
6224.56 918.56 -12.52 812 6231.77 roll -2.34 - - 1769.81 - 3.78 0.111 686.88 -382.1 -79.59 - - 3334.44 - - - - - - - - - 16.00 -
6460.29 952.69 -15.18 859 6466.50 roll -2.34 - - 1771.56 - 3.33 0.046 2131.94 434.0 -79.59 - - 3336.31 - - - - - - - - - 16.04 -
6770 end dive: TARGET_DEPTH_EXCEEDED
6770 begin apogee
6772.06 991.06 -12.19 891 6845.80 -0.42 4.09 0.140 2238.94 114.3 0.10 0.224 2114.81 -171.3 - 63.74 2.190 3019.78 -5.0 0.370 - - - - - - 15.91 15.64 11.89
6849 end apogee: CONTROL_FINISHED_OK
6849 begin climb
6852.13 991.96 - 898 6939.95 2.34 5.24 0.050 2918.50 129.7 3.27 0.090 3365.62 382.5 79.59 71.92 2.117 2694.44 -4.5 0.349 - - - - - - 15.74 15.40 12.65
7168.56 959.07 12.69 959 7174.60 2.34 0.31 0.176 2903.75 -47.6 2.98 0.040 2122.06 -417.3 79.59 - - 2683.62 - - - - - - - - 15.69 15.79 -
7478.57 925.32 10.52 991 7484.45 done 2.34 - - 2902.88 - 3.15 0.093 3364.06 394.3 79.59 - - 2679.72 - - - - - - - - - 15.88 -
7712.87 898.83 11.37 1038 7720.15 done 2.34 - - 2903.50 - 2.94 0.041 2118.44 -423.7 79.59 - - 2678.53 - - - - - - - - - 15.96 -
8028.63 866.75 10.11 1070 8034.50 done 2.34 - - 2902.88 - 3.15 0.089 3364.19 395.5 79.59 - - 2677.03 - - - - - - - - - 15.97 -
8262.92 841.58 10.48 1117 8270.20 done 2.34 - - 2903.00 - 2.94 0.041 2113.88 -425.3 79.59 - - 2677.22 - - - - - - - - - 15.99 -
8578.69 810.99 8.80 1149 8584.57 done 2.34 - - 2903.62 - 3.18 0.088 3362.56 392.7 79.59 - - 2676.47 - - - - - - - - - 16.00 -
8812.99 789.43 8.77 1196 8820.31 done 2.34 - - 2903.25 - 2.94 0.041 2113.81 -424.7 79.59 - - 2675.41 - - - - - - - - - 16.03 -
9128.75 763.37 8.15 1228 9134.65 done 2.34 - - 2903.62 - 3.18 0.087 3365.31 393.6 79.59 - - 2673.75 - - - - - - - - - 16.02 -
9328.80 745.61 9.61 1268 9334.85 done 2.34 - - 2903.44 - 2.92 0.041 2115.88 -427.9 79.59 - - 2676.69 - - - - - - - - - 16.04 -
9638.79 721.47 8.08 1300 9644.69 done 2.34 - - 2903.38 - 3.17 0.087 3364.25 393.8 79.59 - - 2674.28 - - - - - - - - - 16.02 -
9738.83 713.13 8.29 1320 9744.58 done 2.34 - - 2903.06 - 2.93 0.041 2115.19 -426.3 79.59 - - 2673.66 - - - - - - - - - 15.96 -
10048.88 690.23 7.18 1352 10056.06 done 2.37 - - 2903.50 - 3.70 0.102 685.81 -386.3 79.59 - - 2670.81 - - - - - - - - - 16.01 -
10174.56 679.98 8.41 1377 10180.62 done 2.37 - - 2903.38 - 3.53 0.049 2182.69 424.0 79.59 - - 2674.44 - - - - - - - - - 16.03 -
10484.60 658.24 6.54 1409 10486.42 2.42 0.26 0.054 2936.50 127.4 - - 2183.12 - 79.59 - - 2671.97 - - - - - - - - 16.12 - -
10794.88 637.27 6.77 1440 10796.46 VBD 2.45 - - 2936.38 - - - 2182.94 - 79.59 - - 2671.03 - - - - - - - - - - -
11104.64 617.60 5.75 1471 11112.35 2.52 0.12 0.077 2964.50 234.3 3.87 0.099 685.94 -386.8 79.59 - - 2669.50 - - - - - - - - 16.09 15.97 -
11341.38 601.92 6.15 1518 11348.37 done 2.58 - - 2964.19 - 3.53 0.050 2183.06 424.1 79.59 - - 2672.84 - - - - - - - - - 16.02 -
11656.43 585.57 5.22 1550 11662.26 2.66 0.17 0.062 2996.50 190.1 2.99 0.090 3365.12 395.3 79.59 - - 2671.16 - - - - - - - - 16.12 15.97 -
11880.50 572.83 5.93 1595 11888.41 done 2.73 - - 2996.56 - 2.94 0.042 2112.19 -426.2 79.59 - - 2671.88 - - - - - - - - - 16.04 -
12196.54 557.51 4.33 1627 12230.04 2.77 0.11 0.081 3020.81 220.5 3.20 0.089 3362.44 390.7 111.20 24.73 1.615 2566.53 -4.3 0.242 - - - - - - 16.10 15.93 11.94
12358.85 543.65 10.57 1659 12364.57 roll 2.77 - - 3020.62 - 2.94 0.041 2115.62 -424.1 111.20 - - 2564.09 - - - - - - - - - 15.96 -
12668.88 511.34 10.43 1691 12670.49 no move 2.77 - - 3021.00 - - - 2115.56 - 111.20 - - 2559.66 - - - - - - - - - - -
12978.92 480.38 9.49 1722 12984.72 roll 2.77 - - 3021.12 - 3.19 0.087 3364.19 391.4 111.20 - - 2559.84 - - - - - - - - - 15.91 -
13193.00 458.35 10.44 1765 13200.67 roll 2.77 - - 3020.81 - 2.91 0.043 2113.69 -429.7 111.20 - - 2560.69 - - - - - - - - - 16.00 -
13509.04 430.17 8.09 1797 13514.83 roll 2.77 - - 3019.81 - 3.18 0.087 3365.19 393.6 111.20 - - 2560.16 - - - - - - - - - 15.94 -
13583.06 423.24 9.09 1812 13590.73 roll 2.77 - - 3021.00 - 2.93 0.041 2114.81 -426.8 111.20 - - 2560.25 - - - - - - - - - 16.02 -
13899.07 397.63 7.95 1844 13906.19 roll 2.77 - - 3019.56 - 3.66 0.100 684.44 -390.8 111.20 - - 2559.09 - - - - - - - - - 15.95 -
14135.06 377.37 8.56 1891 14142.10 done 2.77 - - 3019.62 - 3.54 0.048 2182.69 423.2 111.20 - - 2555.84 - - - - - - - - - 16.03 -
14450.13 355.02 6.61 1923 14457.31 done 2.81 - - 3020.50 - 3.86 0.095 686.06 -387.7 111.20 - - 2557.69 - - - - - - - - - 16.01 -
14660.23 339.88 7.59 1965 14668.25 done 2.81 - - 3020.69 - 3.54 0.049 2183.19 422.9 111.20 - - 2556.06 - - - - - - - - - 16.00 -
14976.35 318.82 6.63 1997 14983.52 done 2.85 - - 3020.31 - 3.84 0.094 685.62 -390.0 111.20 - - 2558.09 - - - - - - - - - 15.96 -
15122.40 308.70 6.79 2026 15129.77 2.89 0.19 0.060 3049.88 155.6 3.50 0.048 2185.06 428.4 111.20 - - 2555.44 - - - - - - - - 16.07 16.01 -
15437.45 288.25 6.81 2058 15439.07 VBD 2.93 - - 3050.69 - - - 2185.56 - 111.20 - - 2555.31 - - - - - - - - - - -
15747.51 269.71 5.72 2089 15753.34 3.00 0.13 0.070 3077.75 208.2 2.96 0.089 3363.50 398.0 111.20 - - 2557.88 - - - - - - - - 16.02 15.89 -
15767.52 268.32 5.99 2093 15773.17 done 3.06 - - 3077.81 - 2.93 0.041 2111.00 -427.5 111.20 - - 2556.12 - - - - - - - - - 15.94 -
16077.65 251.04 5.40 2125 16084.81 3.14 0.18 0.061 3113.19 196.6 3.69 0.097 684.50 -386.6 111.20 - - 2555.88 - - - - - - - - 15.98 15.88 -
16167.77 245.14 6.37 2143 16175.72 done 3.19 - - 3112.38 - 3.54 0.048 2183.94 423.6 111.20 - - 2555.84 - - - - - - - - - 15.93 -
16483.82 231.29 3.87 2175 16521.26 done 3.24 - - 3111.62 - 2.94 0.089 3362.88 401.0 146.73 30.22 1.259 2420.50 -4.5 0.135 - - - - - - - 15.90 11.96
16749.07 200.97 14.26 2228 16756.75 roll 3.24 - - 3112.50 - 2.94 0.041 2116.81 -423.8 146.73 - - 2415.19 - - - - - - - - - 15.89 -
17065.07 162.05 11.57 2260 17070.87 done 3.24 - - 3113.06 - 3.17 0.086 3364.12 393.5 146.73 - - 2413.12 - - - - - - - - - 15.87 -
17249.11 140.19 11.40 2297 17256.79 done 3.24 - - 3113.00 - 2.90 0.041 2113.62 -431.2 146.73 - - 2412.44 - - - - - - - - - 15.89 -
17565.17 114.50 6.29 2329 17572.73 3.29 0.21 0.056 3148.94 171.1 3.68 0.096 685.94 -388.0 146.73 - - 2410.69 - - - - - - - - 16.03 15.89 -
17801.77 100.23 3.92 2376 17851.11 done 3.34 - - 3148.75 - 3.51 0.046 2189.12 428.3 181.84 40.30 1.067 2276.66 -3.3 0.051 - - - - - - - 15.96 12.17
18034.94 88.07 6.24 2422 18042.08 roll 3.39 - - 3148.81 - 3.87 0.091 686.44 -388.3 181.84 - - 2271.00 - - - - - - - - - 15.84 -
18090.93 85.28 5.18 2433 18098.17 3.48 0.28 0.050 3194.25 162.3 3.52 0.045 2189.25 426.9 181.84 - - 2271.09 - - - - - - - - 15.92 15.89 -
18282.12 86.38 -1.16 2471 18378.86 3.58 0.09 0.088 3218.06 264.6 2.99 0.087 3363.94 392.9 260.09 85.14 1.057 1957.81 -3.7 0.050 - - - - - - 15.92 15.66 12.31
18587.71 54.44 13.16 2531 18594.38 roll 3.58 - - 3217.75 - 2.96 0.039 2116.06 -421.6 260.09 - - 1956.06 - - - - - - - - - 15.77 -
18778.30 40.09 3.54 2569 18827.50 done 3.63 - - 3217.19 - 3.14 0.084 3366.81 398.3 298.46 41.15 0.986 1802.19 -3.7 0.025 - - - - - - - 15.71 12.29
19056.40 36.00 1.57 2624 19126.67 3.70 0.17 0.065 3247.75 179.8 2.97 0.039 2113.56 -422.0 353.57 59.17 0.981 1577.91 -3.8 0.023 - - - - - - 15.88 15.81 12.37
19310.61 19.98 6.81 2674 19317.39 roll 3.74 - - 3249.38 - 3.18 0.084 3366.44 394.0 353.57 - - 1580.62 - - - - - - - - - 15.80 -
19546.42 19.88 0.43 2721 19622.19 3.82 0.16 0.062 3275.19 161.3 2.94 0.036 2110.69 -427.1 418.37 67.32 0.950 1314.41 -4.0 0.014 - - - - - - 15.90 15.83 12.27
19806.06 2.62 8.46 2772 19812.89 roll 3.82 - - 3275.75 - 3.19 0.081 3365.06 393.2 418.37 - - 1323.03 - - - - - - - - - 15.82 -
19816 end climb: SURFACE_DEPTH_REACHED
19816 begin surface coast
19847 end surface coast: CONTROL_FINISHED_OK
19847 begin surface
SM 2.33 - - - - 181.9 55.03 0.932 1083.8 19.7 23.75 0.072 1098.8 46.3 - 3.02 0.037 1068.8 352.9 -2.271 - - 12.40 15.84 15.86 -