NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 15 * Raw log
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• Previous call tries 3 • 23.16 of 575.00 AH used of 24V (95.97% remains)
• Surface angle -62.4 deg, depth 1.44 m • Intended pitch -17.6 deg, speed -10.000 cm/s
• No surface pump (final VBD was 903.9, SM_CC=539.65997)
• GPS1 time: 14 s
• GPS2 time: 3 s • Transponder ping count: 15
• 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
8.91 - - - 85.98 VBD -1.20 - - 181.69 - - - 2137.62 - -145.99 75.36 0.005 2568.72 - - - - - - - - - - 15.20
86.42 3.50 -2.93 15 143.50 -1.20 17.65 0.236 2058.75 106.3 3.10 0.114 3359.81 394.3 -145.99 25.50 0.006 3696.72 44.2 -4.220 - - - - - - 15.74 15.76 12.58
247.00 26.74 -12.51 46 253.39 roll -1.20 - - 2059.00 - 3.06 0.057 2071.00 -421.2 -145.99 - - 3698.00 - - - - - - - - - 15.89 -
437.13 47.59 -9.85 84 441.51 no move -1.21 - - 2058.81 - - - 2071.31 - -145.99 - - 3698.22 - - - - - - - - - - -
622.16 64.16 -8.13 121 628.67 roll -1.23 - - 2059.00 - 3.52 0.128 690.06 -392.4 -145.99 - - 3697.94 - - - - - - - - - 15.93 -
672.19 68.35 -8.53 131 678.64 roll -1.25 - - 2059.38 - 3.38 0.059 2130.75 426.2 -145.99 - - 3699.38 - - - - - - - - - 15.99 -
862.24 82.11 -7.16 169 868.58 roll -1.28 - - 2059.44 - 3.13 0.108 3361.75 393.3 -145.99 - - 3698.09 - - - - - - - - - 15.98 -
942.26 88.30 -7.79 185 948.59 roll -1.30 - - 2059.25 - 3.04 0.055 2067.44 -425.8 -145.99 - - 3697.84 - - - - - - - - - 16.03 -
1137.29 101.48 -7.03 222 1139.08 pitch -1.33 0.38 0.061 2012.56 -122.9 - - 2067.62 - -145.99 - - 3699.31 - - - - - - - - 16.03 - -
1447.28 125.40 -8.12 253 1453.12 roll -1.33 - - 2013.88 - 3.24 0.106 3361.94 399.5 -145.99 - - 3699.56 - - - - - - - - - 16.08 -
1577.39 137.43 -9.20 279 1583.06 roll -1.32 - - 2013.44 - 3.04 0.057 2069.94 -425.0 -145.99 - - 3699.62 - - - - - - - - - 16.07 -
1887.34 164.29 -8.58 311 1893.22 roll -1.32 - - 2013.25 - 3.21 0.106 3362.88 402.8 -145.99 - - 3698.81 - - - - - - - - - 16.10 -
1927.34 168.05 -9.38 319 1933.05 roll -1.32 - - 2013.81 - 3.00 0.057 2070.00 -431.0 -145.99 - - 3697.97 - - - - - - - - - 16.10 -
2237.37 190.86 -7.39 351 2243.32 roll -1.32 - - 2014.06 - 3.49 0.132 689.31 -395.6 -145.99 - - 3698.31 - - - - - - - - - 16.10 -
2267.39 193.27 -7.53 357 2273.31 roll -1.32 - - 2013.62 - 3.35 0.062 2130.38 430.2 -145.99 - - 3699.31 - - - - - - - - - 16.11 -
2577.40 217.73 -8.35 389 2584.50 roll -1.32 - - 2013.50 - 3.65 0.128 689.12 -394.9 -145.99 - - 3697.59 - - - - - - - - - 16.12 -
2662.99 225.66 -8.99 406 2669.13 roll -1.32 - - 2013.50 - 3.36 0.063 2128.69 428.4 -145.99 - - 3697.97 - - - - - - - - - 16.13 -
2973.02 250.31 -8.09 438 2980.10 roll -1.32 - - 2011.75 - 3.63 0.130 690.06 -396.3 -145.99 - - 3699.09 - - - - - - - - - 16.13 -
3018.60 254.58 -9.42 447 3024.53 roll -1.32 - - 2013.75 - 3.36 0.063 2130.12 428.6 -145.99 - - 3698.75 - - - - - - - - - 16.15 -
3328.70 283.59 -9.52 479 3335.72 roll -1.33 - - 2012.94 - 3.64 0.131 690.06 -395.6 -145.99 - - 3696.97 - - - - - - - - - 16.15 -
3374.16 288.39 -10.63 488 3380.21 roll -1.33 - - 2013.00 - 3.35 0.064 2130.62 430.0 -145.99 - - 3699.09 - - - - - - - - - 16.16 -
3684.33 316.29 -8.34 520 3691.34 roll -1.35 - - 2013.62 - 3.63 0.131 690.38 -396.8 -145.99 - - 3696.28 - - - - - - - - - 16.16 -
3724.07 320.05 -9.25 528 3731.50 roll -1.35 - - 2013.69 - 3.35 0.064 2130.06 429.8 -145.99 - - 3697.22 - - - - - - - - - 16.16 -
4039.94 346.16 -8.45 560 4047.21 roll -1.36 - - 2013.12 - 3.65 0.132 690.44 -394.4 -145.99 - - 3696.88 - - - - - - - - - 16.17 -
4120.08 354.12 -9.61 576 4127.49 roll -1.36 - - 2012.25 - 3.35 0.064 2128.12 429.2 -145.99 - - 3698.12 - - - - - - - - - 16.19 -
4435.95 379.96 -7.88 608 4442.96 roll -1.37 - - 2013.00 - 3.64 0.133 689.12 -395.3 -145.99 - - 3695.56 - - - - - - - - - 16.17 -
4485.77 384.35 -8.40 618 4493.12 roll -1.39 - - 2013.44 - 3.35 0.065 2128.00 429.5 -145.99 - - 3696.00 - - - - - - - - - 16.19 -
4801.56 406.74 -6.83 650 4807.22 roll -1.40 - - 2012.94 - 3.05 0.117 3360.50 404.1 -145.99 - - 3695.62 - - - - - - - - - 16.17 -
4951.51 418.58 -7.80 680 4957.26 roll -1.40 - - 2012.06 - 3.02 0.063 2071.19 -426.9 -145.99 - - 3696.25 - - - - - - - - - 16.20 -
5261.62 441.39 -7.29 712 5267.32 roll -1.42 - - 2012.56 - 3.20 0.112 3361.69 403.3 -145.99 - - 3695.09 - - - - - - - - - 16.21 -
5385.79 451.83 -8.11 737 5393.35 roll -1.42 - - 2012.94 - 3.01 0.064 2070.62 -428.9 -145.99 - - 3693.72 - - - - - - - - - 16.20 -
5701.65 475.34 -8.01 769 5707.72 roll -1.44 - - 2012.62 - 3.16 0.113 3361.25 408.4 -145.99 - - 3694.00 - - - - - - - - - 16.20 -
5811.61 485.23 -9.21 791 5817.38 roll -1.44 - - 2011.62 - 3.01 0.063 2073.56 -427.8 -145.99 - - 3694.03 - - - - - - - - - 16.19 -
6121.69 508.84 -7.75 823 6127.42 roll -1.46 - - 2012.06 - 3.16 0.113 3361.44 407.6 -145.99 - - 3692.66 - - - - - - - - - 16.20 -
6225.88 517.38 -7.68 844 6233.10 roll -1.46 - - 2012.44 - 3.00 0.064 2070.69 -430.2 -145.99 - - 3692.78 - - - - - - - - - 16.20 -
6541.74 539.67 -7.31 876 6547.45 roll -1.48 - - 2013.06 - 3.18 0.114 3360.50 405.6 -145.99 - - 3692.06 - - - - - - - - - 16.21 -
6581.75 542.94 -8.07 884 6587.46 roll -1.49 - - 2012.88 - 3.01 0.064 2072.50 -427.9 -145.99 - - 3692.78 - - - - - - - - - 16.21 -
6891.79 566.53 -7.90 916 6897.95 roll back -1.51 0.27 0.072 1966.12 -173.2 3.19 0.116 3360.88 403.9 -145.99 - - 3692.75 - - - - - - - - 16.26 16.20 -
6961.75 574.07 -10.53 930 6967.47 roll -1.50 - - 1966.00 - 3.01 0.065 2072.62 -428.0 -145.99 - - 3692.56 - - - - - - - - - 16.20 -
7271.69 605.63 -10.48 962 7277.54 roll -1.50 - - 1967.75 - 3.16 0.114 3362.62 408.2 -145.99 - - 3690.72 - - - - - - - - - 16.22 -
7321.78 611.32 -11.49 972 7327.50 roll -1.49 - - 1967.88 - 3.02 0.065 2070.00 -428.0 -145.99 - - 3691.53 - - - - - - - - - 16.21 -
7631.73 642.37 -10.26 1004 7637.59 roll -1.49 - - 1968.38 - 3.19 0.114 3360.69 404.6 -145.99 - - 3689.84 - - - - - - - - - 16.20 -
7671.82 646.54 -10.90 1012 7678.99 roll back -1.47 0.64 0.112 1989.25 32.6 3.01 0.066 2071.62 -428.3 -145.99 - - 3691.12 - - - - - - - - 16.17 16.22 -
7836 end dive: TARGET_DEPTH_EXCEEDED
7836 begin apogee
7838.44 660.05 -8.15 1029 7957.43 -0.28 3.22 0.109 2283.44 91.4 0.10 0.224 2073.19 - - 109.77 1.605 3099.22 -5.4 0.363 - - - - - - 16.14 15.59 12.88
7962 end apogee: CONTROL_FINISHED_OK
7962 begin climb
7965.51 662.18 - 1040 8098.35 1.20 2.73 0.057 2652.88 135.3 3.68 0.135 690.12 -375.8 145.99 115.39 1.563 2502.91 -5.2 0.358 - - - - - - 15.72 15.35 12.78
8167.04 656.58 7.99 1078 8210.53 done 1.24 - - 2652.12 - 3.45 0.068 2126.88 416.5 189.17 35.22 1.477 2328.59 -4.9 0.360 - - - - - - - 15.65 12.73
8517.04 621.44 9.65 1117 8533.28 done 1.28 - - 2651.50 - 3.10 0.117 3360.00 397.8 196.76 8.65 1.131 2297.53 -3.6 0.323 - - - - - - - 15.74 12.79
8621.18 610.18 11.13 1138 8628.74 roll 1.28 - - 2651.81 - 3.08 0.065 2073.44 -417.7 196.76 - - 2298.97 - - - - - - - - - 15.88 -
8937.06 580.26 9.68 1170 8947.34 VBD 1.31 - - 2652.31 - - - 2072.88 - 203.56 7.93 1.082 2269.81 -3.7 0.322 - - - - - - - - 12.84
9257.12 548.68 10.06 1202 9262.81 roll 1.33 - - 2651.62 - 3.17 0.111 3360.75 406.3 203.56 - - 2271.28 - - - - - - - - - 16.01 -
9361.21 536.54 11.93 1223 9368.57 roll 1.33 - - 2651.69 - 3.06 0.065 2073.81 -420.6 203.56 - - 2269.59 - - - - - - - - - 16.03 -
9677.06 501.86 10.84 1255 9683.13 roll back 1.36 0.34 0.048 2685.62 99.8 3.20 0.112 3359.38 401.7 203.56 - - 2268.62 - - - - - - - - 16.06 16.06 -
9746.99 493.04 12.48 1269 9752.79 roll 1.36 - - 2685.50 - 3.04 0.066 2072.88 -423.2 203.56 - - 2269.72 - - - - - - - - - 16.07 -
10057.07 457.63 11.53 1301 10062.90 roll 1.37 - - 2685.00 - 3.18 0.112 3359.75 404.7 203.56 - - 2271.00 - - - - - - - - - 16.07 -
10101.25 452.07 12.73 1310 10108.60 roll 1.37 - - 2685.69 - 3.02 0.066 2072.75 -426.2 203.56 - - 2268.34 - - - - - - - - - 16.09 -
10417.15 416.62 11.25 1342 10418.72 no move 1.38 - - 2685.62 - - - 2072.62 - 203.56 - - 2266.66 - - - - - - - - - - -
10727.16 384.36 9.92 1373 10732.92 roll 1.40 - - 2685.50 - 3.17 0.112 3363.00 407.1 205.19 - - 2267.78 - - - - - - - - - 16.14 -
10887.05 367.35 10.72 1405 10892.85 roll 1.40 - - 2684.56 - 3.02 0.067 2071.75 -427.6 205.19 - - 2269.50 - - - - - - - - - 16.15 -
11197.17 336.68 10.23 1437 11202.94 roll 1.41 - - 2684.94 - 3.16 0.112 3360.31 407.8 205.19 - - 2269.25 - - - - - - - - - 16.14 -
11247.10 331.36 10.69 1447 11252.94 roll 1.41 - - 2685.44 - 3.02 0.066 2071.00 -426.9 205.19 - - 2267.84 - - - - - - - - - 16.16 -
11557.22 300.11 10.17 1479 11558.80 no move 1.42 - - 2685.38 - - - 2071.38 - 205.19 - - 2266.09 - - - - - - - - - - -
11867.39 270.53 8.98 1510 11895.21 done 1.47 - - 2686.12 - 3.19 0.111 3362.31 404.7 227.13 20.99 1.087 2171.00 -4.5 0.184 - - - - - - - 16.01 12.91
12013.66 255.40 10.70 1539 12019.48 roll 1.47 - - 2685.56 - 3.04 0.065 2073.50 -424.0 227.13 - - 2170.75 - - - - - - - - - 16.10 -
12323.78 225.27 9.98 1571 12330.92 roll back 1.49 0.60 0.025 2710.94 42.3 3.18 0.110 3360.56 404.7 227.57 - - 2169.38 - - - - - - - - 16.16 16.11 -
12443.70 210.92 12.18 1595 12450.94 roll 1.47 - - 2711.19 - 3.02 0.065 2071.94 -426.7 227.57 - - 2171.31 - - - - - - - - - 16.13 -
12759.43 178.08 9.09 1627 12792.34 done 1.50 - - 2710.25 - 3.19 0.111 3359.94 403.8 247.08 24.08 0.925 2094.06 -3.2 0.101 - - - - - - - 15.98 12.77
12830.78 171.02 10.51 1641 12836.57 roll 1.50 - - 2711.06 - 3.02 0.064 2073.12 -426.1 247.08 - - 2090.03 - - - - - - - - - 16.05 -
13140.92 140.60 9.62 1673 13158.36 done 1.53 - - 2712.06 - 3.21 0.110 3360.44 401.0 255.16 10.70 0.795 2057.12 -3.1 0.089 - - - - - - - 15.98 12.85
13321.11 122.75 9.48 1709 13343.72 done 1.55 - - 2710.75 - 3.04 0.063 2071.25 -424.1 266.44 14.52 0.825 2014.12 -3.0 0.072 - - - - - - - 16.05 12.92
13647.37 94.84 6.76 1751 13733.05 1.67 0.80 0.030 2757.50 58.4 3.27 0.109 3360.50 394.3 336.17 73.71 0.873 1727.97 -3.9 0.069 - - - - - - 16.07 15.77 12.91
13781.49 82.92 10.66 1777 13788.05 roll 1.67 - - 2757.62 - 3.07 0.062 2072.69 -419.5 336.17 - - 1730.00 - - - - - - - - - 15.87 -
13971.69 65.08 8.58 1815 14020.42 done 1.74 - - 2757.56 - 3.26 0.107 3360.88 395.2 366.74 41.72 0.811 1604.44 -3.0 0.039 - - - - - - - 15.78 12.84
14103.98 54.82 7.48 1841 14184.62 1.83 0.69 0.031 2793.19 51.6 3.06 0.061 2070.12 -421.8 421.00 68.81 0.803 1383.28 -3.2 0.036 - - - - - - 15.88 15.86 12.78
14368.29 33.61 8.17 1893 14420.75 VBD 1.92 - - 2793.44 - - - 2069.62 - 460.37 49.03 0.781 1222.56 -3.3 0.023 - - - - - - - - 12.77
14604.32 13.88 6.40 1940 14700.76 2.08 0.66 0.040 2863.44 106.1 3.32 0.105 3359.00 388.4 537.67 85.45 0.769 908.97 -3.7 0.011 - - - - - - 15.87 15.61 12.80
14749.42 2.52 9.01 1968 14761.32 done 2.13 - - 2863.94 - 3.09 0.059 2073.31 -416.1 558.88 6.34 0.538 902.69 -1.0 0.001 - - - - - - - 15.71 12.73
14761 end climb: SURFACE_DEPTH_REACHED
14761 begin surface coast
14765 end surface coast: CONTROL_FINISHED_OK
14765 begin surface
SM 1.13 - - - - 184.3 - 0.020 900.3 - 20.24 0.056 896.8 44.3 - 0.09 0.134 903.9 10009.0 -8.627 - - 30.36 15.67 15.75 -