NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 194 * Raw log
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• Previous call tries 1 • 80.08 of 575.00 AH used of 24V (86.07% remains)
• Surface angle -62.7 deg, depth 1.47 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.05 (SM_CC=475)
• GPS1 time: 37 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
8.96 - - - 75.72 VBD -1.56 - - 184.19 - - - 2134.75 - -107.06 65.17 0.005 2464.66 - - - - - - - - - - 15.68
76.16 3.06 -2.74 13 132.99 -1.56 16.13 0.234 1960.88 110.1 3.18 0.097 3361.81 385.9 -107.06 25.41 0.006 3457.12 39.1 -3.277 - - - - - - 15.71 15.65 15.70
361.53 48.72 -16.28 69 367.96 roll -1.56 - - 1960.00 - 3.09 0.042 2066.81 -419.1 -107.06 - - 3461.31 - - - - - - - - - 15.90 -
551.55 71.84 -9.10 107 555.95 no move -1.56 - - 1961.12 - - - 2066.19 - -107.06 - - 3460.66 - - - - - - - - - - -
736.60 90.13 -9.80 144 741.33 no move -1.56 - - 1961.62 - - - 2065.69 - -107.06 - - 3461.00 - - - - - - - - - - -
931.61 111.74 -11.46 173 933.18 no move -1.56 - - 1961.25 - - - 2065.94 - -107.06 - - 3460.56 - - - - - - - - - - -
1241.63 145.33 -10.02 204 1247.71 roll -1.56 - - 1961.56 - 3.59 0.115 690.25 -383.2 -107.06 - - 3461.44 - - - - - - - - - 16.02 -
1271.64 148.61 -10.42 210 1277.63 roll -1.56 - - 1961.56 - 3.39 0.043 2135.50 426.3 -107.06 - - 3462.56 - - - - - - - - - 16.03 -
1581.75 178.15 -9.68 242 1583.32 no move -1.56 - - 1961.00 - - - 2135.38 - -107.06 - - 3461.78 - - - - - - - - - - -
1891.67 207.58 -9.74 273 1893.24 no move -1.56 - - 1961.56 - - - 2135.25 - -107.06 - - 3461.72 - - - - - - - - - - -
2201.69 237.08 -9.32 304 2203.26 no move -1.56 - - 1961.25 - - - 2135.38 - -107.06 - - 3461.91 - - - - - - - - - - -
2511.72 266.38 -9.48 335 2513.29 no move -1.56 - - 1961.00 - - - 2135.44 - -107.06 - - 3461.59 - - - - - - - - - - -
2821.75 296.95 -9.65 366 2823.32 no move -1.56 - - 1960.88 - - - 2135.12 - -107.06 - - 3461.22 - - - - - - - - - - -
3131.77 325.35 -8.68 397 3133.34 no move -1.56 - - 1960.88 - - - 2135.38 - -107.06 - - 3461.53 - - - - - - - - - - -
3441.80 353.01 -8.79 428 3449.01 roll -1.56 - - 1960.06 - 3.77 0.115 688.62 -383.8 -107.06 - - 3462.03 - - - - - - - - - 16.10 -
3571.74 365.77 -9.73 454 3579.26 roll -1.56 - - 1961.00 - 3.42 0.047 2132.19 422.1 -107.06 - - 3463.31 - - - - - - - - - 16.11 -
3887.53 394.04 -9.05 486 3889.10 no move -1.56 - - 1961.12 - - - 2132.56 - -107.06 - - 3461.03 - - - - - - - - - - -
4197.56 423.66 -10.07 517 4199.13 no move -1.56 - - 1960.81 - - - 2132.62 - -107.06 - - 3461.16 - - - - - - - - - - -
4507.58 454.24 -9.64 548 4509.16 no move -1.56 - - 1960.94 - - - 2132.56 - -107.06 - - 3459.59 - - - - - - - - - - -
4817.61 482.82 -9.20 579 4824.79 roll -1.56 - - 1960.88 - 3.78 0.114 689.69 -381.7 -107.06 - - 3460.00 - - - - - - - - - 16.13 -
4883.76 489.68 -10.27 592 4889.71 roll -1.56 - - 1961.44 - 3.38 0.047 2131.69 426.6 -107.06 - - 3461.81 - - - - - - - - - 16.12 -
5193.77 517.71 -9.22 624 5200.98 roll -1.56 - - 1961.19 - 3.77 0.113 690.50 -382.3 -107.06 - - 3458.62 - - - - - - - - - 16.13 -
5253.81 524.06 -10.33 636 5261.29 roll -1.56 - - 1961.31 - 3.39 0.047 2133.31 425.6 -107.06 - - 3460.03 - - - - - - - - - 16.13 -
5569.61 552.38 -9.00 668 5576.80 roll -1.56 - - 1960.62 - 3.78 0.114 689.38 -382.0 -107.06 - - 3458.62 - - - - - - - - - 16.12 -
5625.29 558.22 -10.24 679 5631.34 roll -1.56 - - 1960.62 - 3.41 0.046 2131.94 423.0 -107.06 - - 3459.78 - - - - - - - - - 16.14 -
5935.31 587.09 -9.26 711 5936.89 no move -1.56 - - 1960.81 - - - 2132.06 - -107.06 - - 3456.97 - - - - - - - - - - -
6245.34 612.73 -7.68 742 6246.91 no move -1.56 - - 1961.12 - - - 2132.00 - -107.06 - - 3457.16 - - - - - - - - - - -
6555.36 637.23 -7.52 773 6556.93 no move -1.56 - - 1960.81 - - - 2132.06 - -107.06 - - 3457.06 - - - - - - - - - - -
6865.40 659.39 -6.88 804 6872.59 roll -1.56 - - 1960.94 - 3.79 0.116 688.69 -380.8 -107.06 - - 3457.16 - - - - - - - - - 16.13 -
6965.44 667.72 -8.06 824 6972.96 roll -1.56 - - 1960.62 - 3.41 0.049 2132.12 423.3 -107.06 - - 3457.97 - - - - - - - - - 16.13 -
7281.24 691.71 -8.04 856 7288.43 roll -1.56 - - 1961.69 - 3.76 0.114 689.81 -383.6 -107.06 - - 3455.94 - - - - - - - - - 16.14 -
7336.91 696.84 -9.27 867 7342.88 roll -1.56 - - 1961.50 - 3.38 0.048 2131.56 426.6 -107.06 - - 3456.19 - - - - - - - - - 16.14 -
7646.94 721.51 -7.81 899 7654.14 roll -1.56 - - 1960.75 - 3.75 0.114 689.12 -384.7 -107.06 - - 3456.03 - - - - - - - - - 16.13 -
7686.97 725.07 -8.81 907 7694.45 roll -1.56 - - 1961.69 - 3.40 0.047 2130.81 424.0 -107.06 - - 3456.00 - - - - - - - - - 16.14 -
8002.77 746.81 -6.79 939 8009.96 roll -1.56 - - 1960.25 - 3.77 0.114 688.75 -382.5 -107.06 - - 3455.78 - - - - - - - - - 16.11 -
8038.69 749.56 -7.16 946 8044.44 roll -1.56 - - 1960.00 - 3.41 0.048 2123.38 420.7 -107.06 - - 3456.62 - - - - - - - - - 16.13 -
8348.47 771.96 -7.45 978 8350.04 no move -1.56 - - 1960.75 - - - 2133.06 - -107.06 - - 3453.66 - - - - - - - - - - -
8638 end dive: TARGET_DEPTH_EXCEEDED
8638 begin apogee
8640.19 794.24 -7.89 1007 8734.23 -0.42 2.36 0.115 2240.25 118.4 0.10 0.217 2116.50 -165.6 - 84.60 1.963 3020.06 -5.1 0.341 - - - - - - 16.13 15.61 12.42
8745 end apogee: CONTROL_FINISHED_OK
8746 begin climb
8748.55 795.27 - 1016 8855.42 1.56 3.85 0.051 2731.62 127.6 3.37 0.095 3362.81 369.8 107.06 92.36 1.901 2580.53 -4.8 0.328 - - - - - - 15.74 15.39 12.76
8889.00 788.16 8.19 1042 8895.02 roll back 1.56 0.28 0.149 2713.81 -63.6 3.04 0.041 2117.75 -409.6 107.06 - - 2576.78 - - - - - - - - 15.59 15.64 -
9199.04 759.16 9.46 1074 9204.97 done 1.56 - - 2714.06 - 3.25 0.093 3360.56 382.4 107.06 - - 2568.22 - - - - - - - - - 15.88 -
9379.08 741.68 9.49 1110 9384.88 done 1.56 - - 2714.56 - 2.97 0.043 2117.75 -418.5 107.06 - - 2567.09 - - - - - - - - - 15.95 -
9689.10 715.24 7.80 1142 9695.03 done 1.56 - - 2713.62 - 3.22 0.091 3361.81 386.4 107.06 - - 2565.22 - - - - - - - - - 16.00 -
9863.38 700.08 8.68 1177 9870.65 done 1.56 - - 2713.44 - 2.96 0.042 2117.62 -420.3 107.06 - - 2566.91 - - - - - - - - - 16.04 -
10179.41 675.90 7.90 1209 10180.98 VBD 1.56 - - 2713.75 - - - 2118.00 - 107.06 - - 2562.31 - - - - - - - - - - -
10489.19 650.47 8.02 1240 10495.16 done 1.56 - - 2714.06 - 3.22 0.092 3362.06 386.4 107.06 - - 2562.94 - - - - - - - - - 16.07 -
10603.46 640.27 8.94 1263 10610.73 done 1.56 - - 2713.44 - 2.95 0.044 2118.69 -421.5 107.06 - - 2562.34 - - - - - - - - - 16.09 -
10919.29 615.67 7.14 1295 10925.11 done 1.59 - - 2714.00 - 3.20 0.091 3362.38 388.7 107.06 - - 2562.41 - - - - - - - - - 16.09 -
11043.52 605.74 8.18 1320 11050.83 done 1.59 - - 2712.94 - 2.95 0.043 2116.50 -422.3 107.06 - - 2563.22 - - - - - - - - - 16.12 -
11359.35 583.36 6.75 1352 11365.38 1.63 0.23 0.048 2750.38 162.8 3.20 0.090 3362.31 389.3 107.06 - - 2562.19 - - - - - - - - 16.14 16.09 -
11503.58 570.18 9.06 1381 11511.30 1.63 0.27 0.157 2730.56 -73.4 2.94 0.042 2117.00 -423.6 107.06 - - 2561.78 - - - - - - - - 16.04 16.12 -
11819.64 548.77 6.42 1413 11821.40 1.68 0.19 0.058 2760.81 159.2 - - 2117.50 - 107.06 - - 2562.69 - - - - - - - - 16.13 - -
12129.43 527.45 6.62 1444 12136.62 done 1.72 - - 2763.12 - 3.70 0.112 687.69 -386.4 107.06 - - 2556.34 - - - - - - - - - 16.10 -
12335.26 511.21 7.67 1485 12341.37 done 1.72 - - 2763.19 - 3.53 0.053 2179.94 422.7 107.06 - - 2558.53 - - - - - - - - - 16.12 -
12645.31 490.34 6.83 1517 12651.03 done 1.76 - - 2762.69 - 2.99 0.093 3364.19 396.1 107.06 - - 2559.50 - - - - - - - - - 16.08 -
12715.32 485.12 7.54 1531 12721.25 done 1.77 - - 2763.19 - 2.93 0.041 2115.50 -426.2 107.06 - - 2558.16 - - - - - - - - - 16.08 -
13025.34 463.56 6.83 1563 13027.10 1.81 0.12 0.076 2796.56 278.1 - - 2115.38 - 107.06 - - 2556.38 - - - - - - - - 16.15 - -
13335.38 441.71 6.84 1594 13336.96 VBD 1.85 - - 2796.88 - - - 2115.62 - 107.06 - - 2557.44 - - - - - - - - - - -
13645.41 423.26 5.61 1625 13646.99 VBD 1.92 - - 2796.69 - - - 2115.06 - 107.06 - - 2557.16 - - - - - - - - - - -
13955.45 406.12 5.45 1656 13961.49 2.00 0.21 0.046 2842.50 218.1 3.17 0.092 3363.19 393.7 107.06 - - 2558.88 - - - - - - - - 16.17 16.10 -
14189.74 390.51 6.85 1703 14197.01 done 2.03 - - 2842.12 - 2.92 0.043 2114.25 -427.7 107.06 - - 2559.12 - - - - - - - - - 16.13 -
14505.60 369.87 6.60 1735 14507.18 VBD 2.08 - - 2842.19 - - - 2114.81 - 107.06 - - 2557.41 - - - - - - - - - - -
14815.54 349.47 6.57 1766 14822.92 done 2.12 - - 2842.12 - 3.68 0.109 689.81 -387.2 107.06 - - 2556.12 - - - - - - - - - 16.10 -
14971.55 336.63 8.67 1797 14977.66 done 2.12 - - 2842.12 - 3.52 0.052 2184.31 424.6 107.06 - - 2556.97 - - - - - - - - - 16.14 -
15281.60 315.10 6.46 1829 15287.51 2.17 0.19 0.051 2885.81 229.9 3.00 0.092 3363.50 393.1 107.06 - - 2556.62 - - - - - - - - 16.20 16.09 -
15515.89 298.26 6.81 1876 15523.36 done 2.21 - - 2884.31 - 2.96 0.043 2117.56 -420.9 107.06 - - 2557.47 - - - - - - - - - 16.12 -
15831.66 280.42 5.80 1908 15837.53 done 2.27 - - 2885.06 - 3.18 0.090 3363.88 391.9 107.06 - - 2557.25 - - - - - - - - - 16.08 -
15985.95 271.08 6.11 1939 15993.33 2.33 0.16 0.052 2921.56 228.1 2.96 0.046 2117.44 -421.1 107.06 - - 2557.62 - - - - - - - - 16.15 16.11 -
16301.72 252.25 5.93 1971 16303.29 VBD 2.40 - - 2922.44 - - - 2117.19 - 107.06 - - 2556.16 - - - - - - - - - - -
16611.73 235.33 4.98 2002 16665.95 2.47 0.14 0.059 2954.69 230.4 3.23 0.091 3363.75 385.9 166.93 45.84 1.271 2339.00 -4.7 0.144 - - - - - - 16.15 15.89 12.41
16844.56 205.39 16.16 2048 16850.58 2.47 0.34 0.171 2934.56 -59.2 2.99 0.047 2118.56 -416.5 166.93 - - 2331.81 - - - - - - - - 15.93 15.96 -
17154.56 161.55 13.24 2080 17160.47 done 2.47 - - 2933.69 - 3.21 0.089 3361.75 387.3 166.93 - - 2327.94 - - - - - - - - - 15.98 -
17388.86 130.88 11.53 2127 17396.13 done 2.47 - - 2934.06 - 2.98 0.046 2117.44 -417.6 166.93 - - 2328.56 - - - - - - - - - 16.02 -
17704.62 102.01 8.12 2159 17711.84 done 2.47 - - 2934.31 - 3.73 0.106 688.12 -383.2 166.93 - - 2325.22 - - - - - - - - - 15.98 -
17740.33 98.74 8.90 2166 17747.15 done 2.47 - - 2934.44 - 3.55 0.051 2184.88 421.6 166.93 - - 2325.12 - - - - - - - - - 15.99 -
17930.65 84.03 6.02 2204 17937.80 2.53 0.23 0.043 2972.06 163.6 3.87 0.102 687.88 -386.8 166.93 - - 2325.88 - - - - - - - - 16.07 15.99 -
18166.48 71.87 5.16 2251 18173.27 done 2.62 - - 2971.19 - 3.52 0.050 2186.19 425.7 166.93 - - 2326.94 - - - - - - - - - 16.01 -
18356.74 68.42 1.25 2289 18506.12 2.79 0.37 0.033 3034.88 172.1 3.98 0.104 689.62 -376.0 299.80 137.34 1.034 1796.41 -3.9 0.042 - - - - - - 16.05 15.61 12.50
18614.95 37.75 17.30 2339 18621.83 roll back 2.79 0.35 0.173 3012.75 -63.2 3.60 0.050 2180.56 414.1 299.80 - - 1794.81 - - - - - - - - 15.76 15.78 -
18805.44 18.07 7.30 2377 18812.44 roll 2.82 - - 3011.50 - 3.92 0.101 689.25 -380.4 299.80 - - 1796.09 - - - - - - - - - 15.86 -
19041.10 7.74 2.61 2424 19154.80 2.95 0.44 0.032 3073.94 141.9 3.58 0.049 2187.31 418.5 405.99 102.94 0.955 1364.41 -4.2 0.006 - - - - - - 15.95 15.90 12.59
19183 end climb: SURFACE_DEPTH_REACHED
19183 begin surface coast
19213 end surface coast: CONTROL_FINISHED_OK
19213 begin surface
SM 1.14 - - - - 183.1 66.24 0.942 1083.4 14.8 21.77 0.033 1101.7 50.6 - 0.24 0.083 1065.1 4423.0 -6.209 - - 12.71 15.80 15.78 -