NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 195 * Raw log
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• Previous call tries 1 • 80.41 of 575.00 AH used of 24V (86.01% remains)
• Surface angle -64.3 deg, depth 1.48 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.76 (SM_CC=475)
• GPS1 time: 31 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 - - - 70.55 VBD -1.56 - - 182.81 - - - 2147.69 - -107.06 60.06 0.005 2364.88 - - - - - - - - - - 15.70
70.99 3.13 -2.90 12 128.04 -1.56 16.32 0.238 1961.06 109.0 3.13 0.100 3360.94 387.6 -107.06 28.42 0.006 3457.25 38.4 -3.301 - - - - - - 15.69 15.66 15.70
356.59 49.26 -14.76 68 362.99 roll -1.56 - - 1961.31 - 3.09 0.045 2067.38 -418.6 -107.06 - - 3459.44 - - - - - - - - - 15.89 -
546.60 75.45 -12.31 106 553.12 roll -1.56 - - 1960.25 - 3.30 0.090 3362.44 392.4 -107.06 - - 3462.22 - - - - - - - - - 15.93 -
606.62 82.47 -11.84 118 613.24 roll -1.56 - - 1961.19 - 3.06 0.043 2066.19 -423.6 -107.06 - - 3461.12 - - - - - - - - - 15.93 -
796.80 103.72 -10.81 153 798.37 no move -1.56 - - 1961.31 - - - 2066.06 - -107.06 - - 3460.69 - - - - - - - - - - -
1106.81 134.56 -9.00 184 1112.91 roll -1.56 - - 1961.06 - 3.61 0.115 688.88 -381.5 -107.06 - - 3461.94 - - - - - - - - - 15.94 -
1171.07 141.24 -10.54 197 1178.79 roll -1.56 - - 1961.00 - 3.38 0.045 2135.44 428.0 -107.06 - - 3462.12 - - - - - - - - - 15.98 -
1487.09 173.24 -10.70 229 1488.66 no move -1.56 - - 1960.50 - - - 2135.62 - -107.06 - - 3462.00 - - - - - - - - - - -
1796.85 204.93 -10.23 260 1802.73 roll -1.56 - - 1961.06 - 3.12 0.096 3361.50 392.9 -107.06 - - 3463.22 - - - - - - - - - 16.06 -
1887.10 215.87 -11.98 278 1892.66 roll -1.56 - - 1960.88 - 3.06 0.045 2066.81 -423.1 -107.06 - - 3462.53 - - - - - - - - - 16.08 -
2196.87 246.95 -10.01 310 2202.77 roll -1.56 - - 1960.25 - 3.29 0.092 3360.50 393.2 -107.06 - - 3462.59 - - - - - - - - - 16.08 -
2231.20 250.69 -10.66 317 2238.67 roll -1.56 - - 1960.81 - 3.06 0.044 2066.31 -422.9 -107.06 - - 3463.09 - - - - - - - - - 16.02 -
2546.89 281.72 -10.25 349 2552.99 roll -1.56 - - 1959.94 - 3.62 0.118 688.75 -380.5 -107.06 - - 3463.31 - - - - - - - - - 15.98 -
2606.90 288.76 -11.73 361 2612.87 roll -1.56 - - 1961.19 - 3.36 0.047 2134.94 430.4 -107.06 - - 3462.72 - - - - - - - - - 16.09 -
2916.92 320.74 -10.04 393 2918.49 no move -1.56 - - 1961.31 - - - 2134.19 - -107.06 - - 3461.78 - - - - - - - - - - -
3226.94 351.03 -9.89 424 3228.51 no move -1.56 - - 1960.75 - - - 2134.38 - -107.06 - - 3461.94 - - - - - - - - - - -
3536.96 382.99 -10.19 455 3538.53 no move -1.56 - - 1961.00 - - - 2134.44 - -107.06 - - 3461.41 - - - - - - - - - - -
3846.98 412.22 -9.21 486 3854.17 roll -1.56 - - 1960.06 - 3.78 0.115 689.62 -382.2 -107.06 - - 3462.25 - - - - - - - - - 16.10 -
3906.89 418.53 -10.37 498 3914.37 roll -1.56 - - 1960.88 - 3.38 0.049 2133.12 427.1 -107.06 - - 3463.38 - - - - - - - - - 16.13 -
4222.69 446.05 -8.50 530 4224.26 no move -1.56 - - 1961.12 - - - 2133.31 - -107.06 - - 3460.66 - - - - - - - - - - -
4532.71 472.01 -8.08 561 4539.90 roll -1.56 - - 1961.25 - 3.79 0.118 690.69 -380.6 -107.06 - - 3460.16 - - - - - - - - - 16.12 -
4608.50 479.26 -9.67 576 4614.50 roll -1.56 - - 1961.00 - 3.37 0.048 2130.50 427.2 -107.06 - - 3461.88 - - - - - - - - - 16.13 -
4918.53 505.14 -8.31 608 4925.73 roll -1.56 - - 1960.94 - 3.74 0.116 689.69 -385.2 -107.06 - - 3460.00 - - - - - - - - - 16.10 -
4964.21 509.72 -9.60 617 4970.54 roll -1.56 - - 1960.62 - 3.36 0.047 2131.88 429.2 -107.06 - - 3460.81 - - - - - - - - - 16.12 -
5274.23 537.40 -9.07 649 5275.81 no move -1.56 - - 1960.69 - - - 2132.25 - -107.06 - - 3458.38 - - - - - - - - - - -
5584.26 567.38 -9.94 680 5591.46 roll -1.56 - - 1959.19 - 3.74 0.115 689.75 -385.7 -107.06 - - 3459.78 - - - - - - - - - 16.13 -
5654.18 575.24 -10.85 694 5661.69 roll -1.56 - - 1961.25 - 3.38 0.049 2134.06 427.3 -107.06 - - 3458.31 - - - - - - - - - 16.13 -
5969.96 605.86 -9.34 726 5977.15 roll -1.56 - - 1960.69 - 3.76 0.115 688.69 -384.4 -107.06 - - 3458.78 - - - - - - - - - 16.13 -
6005.75 609.60 -10.48 733 6011.71 roll -1.56 - - 1960.69 - 3.37 0.047 2132.38 428.4 -107.06 - - 3459.25 - - - - - - - - - 16.12 -
6315.78 637.61 -8.91 765 6322.26 roll -1.56 - - 1961.06 - 3.77 0.113 689.75 -382.7 -107.06 - - 3456.41 - - - - - - - - - 16.14 -
6390.03 645.33 -10.20 780 6397.56 roll -1.56 - - 1961.06 - 3.38 0.047 2133.00 427.0 -107.06 - - 3457.81 - - - - - - - - - 16.13 -
6705.82 671.85 -7.92 812 6713.03 roll -1.56 - - 1960.25 - 3.77 0.113 689.88 -382.8 -107.06 - - 3458.25 - - - - - - - - - 16.12 -
6765.87 677.26 -8.58 824 6773.34 roll -1.56 - - 1960.56 - 3.39 0.048 2130.69 425.0 -107.06 - - 3457.03 - - - - - - - - - 16.14 -
7081.66 702.09 -7.69 856 7088.86 roll -1.56 - - 1960.50 - 3.75 0.114 689.88 -384.2 -107.06 - - 3457.28 - - - - - - - - - 16.13 -
7127.34 706.30 -9.48 865 7133.30 roll -1.56 - - 1961.12 - 3.38 0.048 2131.12 426.4 -107.06 - - 3456.22 - - - - - - - - - 16.14 -
7437.37 732.26 -8.37 897 7444.57 roll -1.56 - - 1961.25 - 3.75 0.114 689.62 -384.4 -107.06 - - 3454.75 - - - - - - - - - 16.10 -
7467.41 735.18 -8.75 903 7474.92 roll -1.56 - - 1960.31 - 3.36 0.047 2132.00 429.3 -107.06 - - 3457.44 - - - - - - - - - 16.13 -
7783.20 761.61 -8.30 935 7790.39 roll -1.56 - - 1960.94 - 3.75 0.114 689.44 -384.7 -107.06 - - 3455.53 - - - - - - - - - 16.13 -
7828.86 765.82 -9.41 944 7834.86 roll -1.56 - - 1960.94 - 3.38 0.047 2132.50 426.9 -107.06 - - 3454.56 - - - - - - - - - 16.13 -
8138.90 790.25 -8.22 976 8146.33 roll -1.56 - - 1961.06 - 3.78 0.114 689.06 -381.9 -107.06 - - 3453.84 - - - - - - - - - 16.13 -
8205.00 796.10 -8.77 989 8210.89 roll -1.56 - - 1960.44 - 3.40 0.049 2129.81 423.8 -107.06 - - 3456.47 - - - - - - - - - 16.13 -
8514.95 821.17 -7.93 1021 8522.16 roll -1.56 - - 1960.94 - 3.77 0.114 688.69 -382.3 -107.06 - - 3454.16 - - - - - - - - - 16.13 -
8554.87 824.99 -9.45 1029 8562.36 roll -1.56 - - 1960.62 - 3.40 0.048 2130.81 424.2 -107.06 - - 3455.56 - - - - - - - - - 16.13 -
8870.67 850.14 -8.24 1061 8872.24 no move -1.56 - - 1960.81 - - - 2131.12 - -107.06 - - 3452.53 - - - - - - - - - - -
9180.69 874.56 -7.51 1092 9187.91 roll -1.56 - - 1961.31 - 3.78 0.115 688.62 -381.6 -107.06 - - 3452.59 - - - - - - - - - 16.10 -
9236.50 879.53 -8.51 1103 9242.48 roll -1.56 - - 1959.81 - 3.40 0.049 2134.19 425.2 -107.06 - - 3455.19 - - - - - - - - - 16.12 -
9326 end dive: TARGET_DEPTH_EXCEEDED
9326 begin apogee
9328.21 886.03 -7.15 1113 9422.27 -0.42 2.37 0.115 2240.81 118.6 0.10 0.216 2115.88 -183.1 - 85.46 2.080 3019.81 -5.1 0.357 - - - - - - 16.10 15.59 12.46
9427 end apogee: CONTROL_FINISHED_OK
9428 begin climb
9430.55 886.91 - 1122 9534.07 1.56 3.85 0.052 2732.00 127.6 - - 2116.25 - 107.06 93.18 2.019 2581.25 -4.7 0.340 - - - - - - 15.70 - 12.80
9837.63 853.97 9.15 1163 9843.77 1.56 0.28 0.140 2714.25 -63.4 3.23 0.095 3362.56 385.9 107.06 - - 2569.09 - - - - - - - - 15.83 15.83 -
10071.92 829.81 9.72 1210 10079.20 done 1.56 - - 2714.25 - 2.96 0.043 2118.19 -420.4 107.06 - - 2567.16 - - - - - - - - - 15.95 -
10387.71 801.55 8.77 1242 10393.64 done 1.56 - - 2714.62 - 3.20 0.093 3363.25 389.1 107.06 - - 2565.06 - - - - - - - - - 15.99 -
10577.75 782.95 9.86 1280 10583.51 done 1.56 - - 2714.12 - 2.95 0.043 2120.06 -421.4 107.06 - - 2563.81 - - - - - - - - - 16.03 -
10887.78 757.14 8.18 1312 10893.65 done 1.56 - - 2714.12 - 3.19 0.092 3363.62 389.8 107.06 - - 2564.72 - - - - - - - - - 16.05 -
10997.81 747.38 8.83 1334 11003.59 done 1.56 - - 2715.00 - 2.94 0.043 2117.50 -423.9 107.06 - - 2562.72 - - - - - - - - - 16.07 -
11308.12 722.79 7.43 1366 11313.71 done 1.58 - - 2713.81 - 3.18 0.091 3362.62 391.5 107.06 - - 2562.75 - - - - - - - - - 16.08 -
11447.85 711.45 8.67 1394 11453.61 done 1.58 - - 2714.50 - 2.93 0.043 2119.44 -424.3 107.06 - - 2562.41 - - - - - - - - - 16.11 -
11757.92 689.96 7.00 1426 11763.95 1.61 0.20 0.053 2748.00 167.5 3.17 0.091 3363.50 392.4 107.06 - - 2562.16 - - - - - - - - 16.14 16.07 -
11847.88 682.74 8.27 1444 11853.86 1.61 0.28 0.154 2725.12 -81.7 2.93 0.044 2115.94 -425.8 107.06 - - 2563.56 - - - - - - - - 16.05 16.10 -
12158.19 662.02 6.77 1476 12164.98 1.65 0.17 0.060 2758.38 195.6 3.19 0.093 3361.44 390.4 107.06 - - 2560.09 - - - - - - - - 16.16 16.09 -
12213.45 657.68 8.02 1487 12219.43 1.65 0.30 0.151 2735.62 -75.9 2.93 0.047 2115.69 -425.2 107.06 - - 2560.50 - - - - - - - - 16.04 16.12 -
12523.47 632.90 8.50 1519 12529.59 done 1.65 - - 2734.69 - 3.19 0.091 3363.00 391.0 107.06 - - 2560.84 - - - - - - - - - 16.11 -
12657.75 620.34 9.58 1546 12665.04 done 1.65 - - 2735.62 - 2.93 0.044 2117.38 -425.1 107.06 - - 2561.66 - - - - - - - - - 16.11 -
12973.53 592.48 8.70 1578 12979.56 done 1.65 - - 2735.38 - 3.17 0.091 3362.94 392.9 107.06 - - 2559.78 - - - - - - - - - 16.12 -
13037.80 586.66 9.16 1591 13045.08 done 1.65 - - 2735.69 - 2.94 0.045 2118.19 -423.4 107.06 - - 2559.44 - - - - - - - - - 16.13 -
13353.82 560.48 7.72 1623 13359.70 done 1.65 - - 2735.31 - 3.19 0.091 3364.12 390.6 107.06 - - 2558.66 - - - - - - - - - 16.12 -
13533.62 546.44 8.05 1659 13539.39 done 1.65 - - 2735.19 - 2.91 0.043 2115.38 -429.1 107.06 - - 2558.97 - - - - - - - - - 16.12 -
13843.94 526.19 6.17 1691 13850.78 1.71 0.23 0.046 2772.31 161.4 3.17 0.090 3364.62 394.1 107.06 - - 2559.06 - - - - - - - - 16.17 16.10 -
13973.56 516.55 7.27 1717 13981.04 1.73 0.23 0.156 2755.31 -73.9 2.92 0.044 2115.06 -427.9 107.06 - - 2558.62 - - - - - - - - 16.06 16.13 -
14289.34 498.94 5.19 1749 14296.71 1.82 0.26 0.046 2798.94 167.8 3.70 0.112 689.56 -385.3 107.06 - - 2555.84 - - - - - - - - 16.19 16.09 -
14525.65 481.59 7.48 1796 14532.66 1.84 0.26 0.163 2778.50 -78.6 3.54 0.052 2183.44 422.0 107.06 - - 2556.12 - - - - - - - - 16.09 16.13 -
14840.40 462.08 6.42 1828 14846.36 1.88 0.19 0.053 2816.25 198.7 3.01 0.093 3363.00 391.9 107.06 - - 2557.03 - - - - - - - - 16.13 16.10 -
15054.63 444.70 8.28 1871 15062.12 1.88 0.29 0.162 2791.31 -86.0 2.93 0.042 2114.62 -426.1 107.06 - - 2557.28 - - - - - - - - 16.05 16.12 -
15370.71 424.41 6.36 1903 15377.49 1.94 0.19 0.054 2827.69 191.5 3.16 0.089 3364.56 395.6 107.06 - - 2555.56 - - - - - - - - 16.18 16.10 -
15500.21 414.63 7.93 1929 15507.72 1.94 0.28 0.164 2804.75 -81.9 2.93 0.041 2114.19 -426.7 107.06 - - 2557.09 - - - - - - - - 16.04 16.11 -
15816.30 394.42 6.22 1961 15818.11 1.99 0.21 0.047 2840.38 169.7 - - 2115.38 - 107.06 - - 2556.81 - - - - - - - - 16.15 - -
16126.06 372.08 7.57 1992 16132.17 1.99 0.28 0.152 2816.69 -84.6 3.19 0.091 3363.56 391.3 107.06 - - 2556.44 - - - - - - - - 16.10 16.04 -
16276.09 360.35 7.68 2022 16281.86 done 1.99 - - 2816.69 - 2.92 0.043 2114.25 -427.8 107.06 - - 2558.06 - - - - - - - - - 16.11 -
16586.60 339.84 6.59 2054 16588.42 2.03 0.19 0.054 2850.12 175.9 - - 2114.81 - 107.06 - - 2555.72 - - - - - - - - 16.16 - -
16896.19 320.08 5.95 2085 16902.03 done 2.10 - - 2849.94 - 3.17 0.090 3365.50 394.5 107.06 - - 2558.53 - - - - - - - - - 16.10 -
17070.47 310.28 5.57 2120 17077.91 2.17 0.14 0.068 2883.38 238.9 2.93 0.042 2115.38 -426.7 107.06 - - 2556.34 - - - - - - - - 16.16 16.13 -
17386.26 292.68 6.03 2152 17387.83 VBD 2.23 - - 2883.31 - - - 2115.50 - 107.06 - - 2555.47 - - - - - - - - - - -
17696.54 271.70 7.30 2183 17698.11 VBD 2.25 - - 2883.12 - - - 2115.31 - 107.06 - - 2555.69 - - - - - - - - - - -
18006.58 248.98 6.55 2214 18008.43 2.30 0.12 0.075 2915.50 269.8 - - 2114.88 - 107.06 - - 2556.97 - - - - - - - - 16.06 - -
18316.37 232.88 4.40 2245 18381.13 done 2.39 - - 2916.25 - 3.77 0.110 687.69 -378.6 178.27 54.38 1.277 2289.59 -4.9 0.148 - - - - - - - 15.82 12.48
18409.61 225.32 11.69 2263 18415.74 roll 2.39 - - 2916.19 - 3.61 0.052 2178.00 412.8 178.27 - - 2286.59 - - - - - - - - - 15.89 -
18719.62 182.65 13.54 2295 18725.44 done 2.39 - - 2916.00 - 3.01 0.091 3364.00 394.0 178.27 - - 2281.53 - - - - - - - - - 15.91 -
18809.64 170.12 13.77 2313 18815.44 done 2.39 - - 2916.56 - 2.96 0.044 2117.75 -421.0 178.27 - - 2280.72 - - - - - - - - - 15.94 -
19119.66 131.50 12.33 2345 19126.88 done 2.39 - - 2915.44 - 3.72 0.107 687.44 -384.5 178.27 - - 2279.75 - - - - - - - - - 15.94 -
19175.37 124.25 13.53 2356 19181.48 done 2.39 - - 2916.56 - 3.56 0.050 2180.62 419.4 178.27 - - 2280.75 - - - - - - - - - 15.96 -
19485.38 91.76 8.88 2397 19491.95 done 2.39 - - 2915.88 - 3.01 0.090 3364.06 393.2 178.27 - - 2279.47 - - - - - - - - - 15.94 -
19720.50 72.43 6.05 2444 19727.15 2.45 0.14 0.063 2951.44 254.0 2.94 0.040 2113.44 -425.4 178.27 - - 2277.81 - - - - - - - - 16.03 15.94 -
19910.64 65.40 2.73 2482 20028.05 2.59 0.12 0.064 2984.62 276.5 3.26 0.087 3363.81 383.5 282.07 107.78 1.035 1869.28 -3.8 0.039 - - - - - - 15.99 15.62 12.57
20256.65 31.36 11.66 2550 20263.44 roll back 2.59 0.32 0.168 2961.81 -71.3 2.95 0.040 2114.00 -423.7 282.07 - - 1867.84 - - - - - - - - 15.76 15.81 -
20447.32 17.86 5.20 2588 20454.22 roll back 2.67 0.26 0.043 3007.50 175.7 3.72 0.103 688.81 -383.1 282.07 - - 1867.19 - - - - - - - - 15.87 15.85 -
20677.76 8.91 2.89 2634 20785.72 done 2.80 - - 3007.00 - 3.54 0.047 2188.19 423.6 382.88 98.40 0.963 1458.59 -4.2 0.006 - - - - - - - 15.90 12.63
20864 end climb: SURFACE_DEPTH_REACHED
20864 begin surface coast
20894 end surface coast: CONTROL_FINISHED_OK
20894 begin surface
SM 1.77 - - - - 182.8 87.25 0.950 1084.6 11.3 21.55 0.034 1104.4 51.2 - 0.25 0.080 1064.8 4245.0 -9.599 - - 12.69 15.82 15.79 -