NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 138 * Raw log
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• Previous call tries 1 • 62.82 of 575.00 AH used of 24V (89.08% remains)
• Surface angle -62.3 deg, depth 1.58 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.82 (SM_CC=475)
• GPS1 time: 43 s
• GPS2 time: 5 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
8.88 - - - 75.61 VBD -1.56 - - 182.94 - - - 2137.06 - -107.06 65.13 0.005 2473.19 - - - - - - - - - - 15.73
76.05 3.07 -2.66 13 125.82 -1.56 16.42 0.240 1960.56 108.3 - - 2138.44 - -107.06 24.67 0.006 3455.69 39.8 -3.373 - - - - - - 15.71 - 15.74
309.11 43.81 -14.06 59 316.07 roll -1.56 - - 1961.12 - 3.83 0.111 689.75 -378.2 -107.06 - - 3459.59 - - - - - - - - - 15.89 -
379.58 54.79 -15.85 73 386.12 roll -1.56 - - 1961.19 - 3.36 0.048 2132.50 429.4 -107.06 - - 3458.78 - - - - - - - - - 15.93 -
569.61 80.41 -12.50 111 576.04 roll -1.56 - - 1961.25 - 3.12 0.099 3361.19 393.8 -107.06 - - 3459.75 - - - - - - - - - 15.94 -
639.60 89.08 -12.60 125 646.00 roll -1.56 - - 1960.00 - 3.07 0.044 2067.00 -421.6 -107.06 - - 3460.00 - - - - - - - - - 15.97 -
834.61 109.37 -10.11 155 836.14 no move -1.56 - - 1960.69 - - - 2067.06 - -107.06 - - 3459.41 - - - - - - - - - - -
1144.63 142.12 -10.83 186 1150.58 roll -1.56 - - 1961.50 - 3.63 0.115 689.06 -379.6 -107.06 - - 3461.19 - - - - - - - - - 16.02 -
1234.65 152.56 -12.03 204 1240.42 roll -1.56 - - 1960.94 - 3.35 0.047 2133.25 431.1 -107.06 - - 3461.16 - - - - - - - - - 16.05 -
1544.67 182.95 -9.60 236 1551.65 roll -1.56 - - 1961.31 - 3.79 0.111 689.69 -380.9 -107.06 - - 3460.94 - - - - - - - - - 16.05 -
1600.05 188.74 -10.58 247 1606.17 roll -1.56 - - 1960.69 - 3.35 0.048 2133.06 430.9 -107.06 - - 3463.28 - - - - - - - - - 16.07 -
1910.12 218.61 -9.16 279 1911.69 no move -1.56 - - 1960.62 - - - 2133.25 - -107.06 - - 3461.66 - - - - - - - - - - -
2220.15 248.01 -9.67 310 2227.34 roll -1.56 - - 1960.06 - 3.79 0.112 689.69 -380.9 -107.06 - - 3462.56 - - - - - - - - - 16.08 -
2265.78 253.35 -11.53 319 2271.76 roll -1.56 - - 1961.12 - 3.35 0.050 2134.00 431.1 -107.06 - - 3463.50 - - - - - - - - - 16.07 -
2575.81 284.64 -10.03 351 2577.38 no move -1.56 - - 1960.94 - - - 2133.94 - -107.06 - - 3461.31 - - - - - - - - - - -
2885.84 315.02 -9.76 382 2893.02 roll -1.56 - - 1960.50 - 3.80 0.115 688.81 -380.3 -107.06 - - 3462.25 - - - - - - - - - 16.12 -
2935.71 320.42 -10.36 392 2943.17 roll -1.56 - - 1960.94 - 3.35 0.051 2132.75 431.0 -107.06 - - 3463.06 - - - - - - - - - 16.12 -
3251.49 350.71 -9.20 424 3253.07 no move -1.56 - - 1961.12 - - - 2133.25 - -107.06 - - 3460.72 - - - - - - - - - - -
3561.53 378.45 -8.79 455 3568.72 roll -1.56 - - 1960.75 - 3.76 0.115 689.25 -384.0 -107.06 - - 3461.00 - - - - - - - - - 16.12 -
3607.17 382.89 -9.45 464 3613.41 roll -1.56 - - 1960.81 - 3.33 0.052 2132.12 433.3 -107.06 - - 3461.88 - - - - - - - - - 16.13 -
3917.21 409.92 -8.78 496 3924.39 roll -1.56 - - 1960.81 - 3.77 0.115 689.81 -382.6 -107.06 - - 3459.97 - - - - - - - - - 16.13 -
3967.09 414.91 -10.15 506 3974.55 roll -1.56 - - 1960.62 - 3.34 0.052 2131.88 431.8 -107.06 - - 3461.31 - - - - - - - - - 16.15 -
4282.87 443.55 -9.25 538 4284.44 no move -1.56 - - 1960.94 - - - 2131.62 - -107.06 - - 3459.59 - - - - - - - - - - -
4592.90 472.20 -8.98 569 4600.09 roll -1.56 - - 1961.31 - 3.77 0.119 688.38 -382.8 -107.06 - - 3459.16 - - - - - - - - - 16.15 -
4672.78 480.18 -9.97 585 4680.26 roll -1.56 - - 1961.12 - 3.35 0.054 2130.94 430.6 -107.06 - - 3460.25 - - - - - - - - - 16.15 -
4988.57 507.70 -8.50 617 4990.14 no move -1.56 - - 1960.81 - - - 2131.12 - -107.06 - - 3457.75 - - - - - - - - - - -
5298.60 533.76 -8.28 648 5300.17 no move -1.56 - - 1960.62 - - - 2130.81 - -107.06 - - 3457.12 - - - - - - - - - - -
5608.63 560.51 -8.93 679 5610.20 no move -1.56 - - 1960.88 - - - 2131.12 - -107.06 - - 3456.88 - - - - - - - - - - -
5918.65 589.13 -9.09 710 5920.22 no move -1.56 - - 1960.69 - - - 2131.00 - -107.06 - - 3455.94 - - - - - - - - - - -
6228.68 617.12 -8.80 741 6235.86 roll -1.56 - - 1959.75 - 3.77 0.121 688.75 -382.6 -107.06 - - 3456.62 - - - - - - - - - 16.16 -
6344.44 628.98 -9.96 764 6350.39 roll -1.56 - - 1961.38 - 3.36 0.057 2131.50 429.4 -107.06 - - 3456.88 - - - - - - - - - 16.16 -
6654.47 657.03 -8.90 796 6656.04 no move -1.56 - - 1961.19 - - - 2130.94 - -107.06 - - 3454.53 - - - - - - - - - - -
6964.50 684.72 -8.78 827 6971.70 roll -1.56 - - 1961.19 - 3.76 0.120 689.31 -383.4 -107.06 - - 3453.75 - - - - - - - - - 16.16 -
7070.16 695.27 -10.01 848 7076.10 roll -1.56 - - 1961.00 - 3.36 0.057 2129.81 428.7 -107.06 - - 3454.34 - - - - - - - - - 16.17 -
7380.19 722.53 -8.73 880 7386.55 roll -1.56 - - 1960.38 - 3.75 0.120 688.69 -384.3 -107.06 - - 3452.78 - - - - - - - - - 16.17 -
7420.20 726.60 -10.17 888 7426.16 roll -1.56 - - 1960.56 - 3.34 0.055 2132.62 432.3 -107.06 - - 3454.56 - - - - - - - - - 16.16 -
7730.22 752.82 -8.09 920 7731.79 no move -1.56 - - 1960.56 - - - 2131.94 - -107.06 - - 3452.50 - - - - - - - - - - -
8040.50 777.24 -7.85 951 8047.45 roll -1.56 - - 1961.25 - 3.77 0.121 688.12 -383.0 -107.06 - - 3454.94 - - - - - - - - - 16.16 -
8136.02 785.59 -8.61 970 8141.99 roll -1.56 - - 1961.19 - 3.36 0.057 2131.25 429.5 -107.06 - - 3455.19 - - - - - - - - - 16.17 -
8446.09 808.73 -7.13 1002 8447.66 no move -1.56 - - 1960.69 - - - 2130.94 - -107.06 - - 3452.12 - - - - - - - - - - -
8756.12 831.12 -7.27 1033 8763.32 roll -1.56 - - 1960.44 - 3.76 0.122 688.81 -383.5 -107.06 - - 3451.66 - - - - - - - - - 16.15 -
8836.01 838.05 -8.37 1049 8843.48 roll -1.56 - - 1960.94 - 3.37 0.056 2129.25 427.4 -107.06 - - 3453.72 - - - - - - - - - 16.17 -
9151.80 862.13 -7.69 1081 9158.99 roll -1.56 - - 1959.62 - 3.78 0.123 690.50 -380.6 -107.06 - - 3452.38 - - - - - - - - - 16.16 -
9201.67 866.58 -8.81 1091 9209.15 roll -1.56 - - 1960.88 - 3.35 0.057 2129.94 429.7 -107.06 - - 3452.09 - - - - - - - - - 16.17 -
9517.55 891.29 -8.26 1123 9524.90 roll -1.56 - - 1960.31 - 3.78 0.122 688.31 -381.4 -107.06 - - 3451.03 - - - - - - - - - 16.15 -
9573.46 896.28 -9.27 1134 9579.54 roll -1.56 - - 1959.69 - 3.36 0.057 2129.38 428.9 -107.06 - - 3452.03 - - - - - - - - - 16.17 -
9883.49 920.40 -7.94 1166 9885.07 no move -1.56 - - 1960.81 - - - 2130.12 - -107.06 - - 3450.03 - - - - - - - - - - -
10193.52 944.66 -7.62 1197 10200.71 roll -1.56 - - 1960.12 - 3.77 0.123 689.12 -382.2 -107.06 - - 3450.81 - - - - - - - - - 16.16 -
10269.17 951.68 -8.94 1212 10275.16 roll -1.56 - - 1960.81 - 3.37 0.057 2129.75 427.5 -107.06 - - 3449.78 - - - - - - - - - 16.17 -
10579.20 976.74 -8.42 1244 10580.77 no move -1.56 - - 1960.38 - - - 2129.81 - -107.06 - - 3448.78 - - - - - - - - - - -
10749 end dive: TARGET_DEPTH_EXCEEDED
10749 begin apogee
10750.90 990.88 -8.31 1261 10844.98 -0.42 2.35 0.122 2240.12 119.0 0.09 0.237 2119.81 -111.1 - 86.06 2.251 3019.25 -5.0 0.364 - - - - - - 16.12 15.54 12.59
10850 end apogee: CONTROL_FINISHED_OK
10850 begin climb
10852.94 992.71 - 1270 10964.49 1.56 3.83 0.065 2728.38 127.5 3.28 0.104 3360.00 378.1 107.06 95.39 2.184 2582.06 -4.6 0.345 - - - - - - 15.65 15.31 12.77
10987.32 986.97 7.42 1289 10994.59 roll 1.58 - - 2728.88 - 3.08 0.053 2118.38 -403.1 107.06 - - 2579.06 - - - - - - - - - 15.54 -
11303.08 954.60 10.49 1321 11308.99 done 1.58 - - 2728.62 - 3.16 0.100 3361.94 393.5 107.06 - - 2568.72 - - - - - - - - - 15.86 -
11537.38 927.07 11.19 1368 11544.68 done 1.58 - - 2729.12 - 3.00 0.052 2120.81 -413.7 107.06 - - 2567.47 - - - - - - - - - 15.96 -
11853.15 893.58 10.56 1400 11859.02 done 1.58 - - 2729.00 - 3.14 0.099 3363.06 395.6 107.06 - - 2565.00 - - - - - - - - - 16.00 -
12007.66 875.97 11.57 1431 12014.96 done 1.58 - - 2728.75 - 2.92 0.053 2118.94 -426.1 107.06 - - 2565.22 - - - - - - - - - 16.03 -
12323.21 843.08 9.96 1463 12329.08 done 1.58 - - 2729.12 - 3.11 0.097 3363.31 400.1 107.06 - - 2565.22 - - - - - - - - - 16.04 -
12477.49 826.16 10.84 1494 12484.75 done 1.58 - - 2728.69 - 2.91 0.052 2118.44 -427.8 107.06 - - 2565.75 - - - - - - - - - 16.08 -
12793.26 795.06 9.52 1526 12799.13 done 1.58 - - 2728.31 - 3.10 0.098 3363.25 401.6 107.06 - - 2562.44 - - - - - - - - - 16.09 -
12993.31 773.91 10.89 1566 12999.02 done 1.58 - - 2728.12 - 2.89 0.053 2117.56 -431.0 107.06 - - 2563.50 - - - - - - - - - 16.09 -
13303.33 746.01 8.73 1598 13309.15 done 1.58 - - 2728.50 - 3.10 0.098 3363.44 401.9 107.06 - - 2560.81 - - - - - - - - - 16.12 -
13507.62 725.70 10.36 1639 13514.89 done 1.58 - - 2729.00 - 2.90 0.053 2117.25 -429.7 107.06 - - 2561.12 - - - - - - - - - 16.12 -
13823.40 698.05 8.76 1671 13829.52 done 1.58 - - 2727.56 - 3.11 0.099 3361.69 400.1 107.06 - - 2561.72 - - - - - - - - - 16.12 -
13917.67 688.90 9.51 1690 13924.93 done 1.58 - - 2728.81 - 2.91 0.052 2117.56 -427.5 107.06 - - 2560.97 - - - - - - - - - 16.14 -
14233.44 662.39 8.16 1722 14239.26 done 1.58 - - 2729.19 - 3.10 0.098 3362.38 401.6 107.06 - - 2561.28 - - - - - - - - - 16.14 -
14353.48 651.96 8.53 1746 14359.29 done 1.58 - - 2728.56 - 2.91 0.052 2118.06 -427.6 107.06 - - 2560.53 - - - - - - - - - 16.14 -
14663.49 628.89 7.57 1778 14669.31 done 1.58 - - 2728.94 - 3.08 0.097 3362.12 403.9 107.06 - - 2560.25 - - - - - - - - - 16.13 -
14857.78 612.05 9.01 1817 14865.08 done 1.58 - - 2728.94 - 2.91 0.052 2118.62 -427.3 107.06 - - 2561.09 - - - - - - - - - 16.14 -
15173.56 587.53 7.67 1849 15179.37 done 1.58 - - 2727.62 - 3.07 0.097 3363.12 405.4 107.06 - - 2560.12 - - - - - - - - - 16.14 -
15238.04 582.12 8.43 1862 15245.08 done 1.58 - - 2728.50 - 2.91 0.051 2117.06 -428.2 107.06 - - 2559.00 - - - - - - - - - 16.15 -
15553.59 556.90 8.20 1894 15555.17 VBD 1.58 - - 2729.12 - - - 2116.94 - 107.06 - - 2557.91 - - - - - - - - - - -
15863.62 531.97 7.99 1925 15869.44 done 1.58 - - 2729.38 - 3.10 0.100 3361.81 401.6 107.06 - - 2559.59 - - - - - - - - - 16.15 -
15957.90 523.78 8.34 1944 15965.15 done 1.58 - - 2729.06 - 2.90 0.052 2117.25 -429.2 107.06 - - 2559.44 - - - - - - - - - 16.15 -
16273.71 499.90 7.28 1976 16279.57 done 1.61 - - 2729.69 - 3.11 0.098 3362.06 400.3 107.06 - - 2558.94 - - - - - - - - - 16.14 -
16393.69 490.42 7.64 2000 16399.45 done 1.61 - - 2728.69 - 2.90 0.051 2116.69 -429.4 107.06 - - 2559.56 - - - - - - - - - 16.16 -
16703.77 469.65 6.05 2032 16705.52 1.67 0.13 0.086 2750.94 171.2 - - 2116.44 - 107.06 - - 2556.66 - - - - - - - - 16.20 - -
17013.79 451.79 6.19 2063 17015.37 VBD 1.72 - - 2751.19 - - - 2116.50 - 107.06 - - 2557.94 - - - - - - - - - - -
17323.82 432.85 6.14 2094 17329.88 1.78 0.20 0.061 2780.00 144.0 3.12 0.096 3364.25 399.9 107.06 - - 2559.69 - - - - - - - - 16.21 16.12 -
17383.84 428.58 7.28 2106 17389.96 done 1.80 - - 2781.31 - 2.91 0.051 2117.00 -428.6 107.06 - - 2558.44 - - - - - - - - - 16.16 -
17693.85 407.52 6.80 2138 17699.94 done 1.84 - - 2781.75 - 3.63 0.114 688.69 -393.5 107.06 - - 2557.09 - - - - - - - - - 16.13 -
17758.08 402.50 7.64 2151 17765.64 done 1.84 - - 2781.62 - 3.47 0.058 2181.56 430.2 107.06 - - 2556.81 - - - - - - - - - 16.16 -
18073.90 380.92 6.46 2183 18075.66 1.89 0.13 0.075 2807.75 201.0 - - 2181.62 - 107.06 - - 2555.34 - - - - - - - - 16.20 - -
18383.91 358.69 7.25 2214 18385.48 VBD 1.91 - - 2808.06 - - - 2181.88 - 107.06 - - 2556.59 - - - - - - - - - - -
18693.92 337.31 6.32 2245 18699.62 done 1.96 - - 2808.56 - 2.95 0.099 3362.56 400.2 107.06 - - 2558.62 - - - - - - - - - 16.14 -
18928.18 322.00 6.38 2292 18935.57 2.01 0.14 0.079 2839.31 219.6 2.91 0.051 2117.69 -427.8 107.06 - - 2557.44 - - - - - - - - 16.17 16.15 -
19243.96 303.73 5.75 2324 19249.78 done 2.08 - - 2838.94 - 3.13 0.097 3362.56 397.7 107.06 - - 2557.22 - - - - - - - - - 16.14 -
19288.21 300.97 5.99 2333 19295.88 2.14 0.22 0.055 2867.00 127.5 2.91 0.050 2116.81 -428.1 107.06 - - 2559.69 - - - - - - - - 16.16 16.14 -
19603.98 284.64 4.98 2365 19659.41 done 2.22 - - 2867.12 - 3.73 0.114 687.75 -383.1 167.07 47.07 1.369 2336.03 -4.8 0.164 - - - - - - - 15.87 12.68
19697.84 276.92 11.59 2381 19703.90 roll 2.22 - - 2867.94 - 3.54 0.057 2179.44 421.4 167.07 - - 2335.16 - - - - - - - - - 15.95 -
20007.85 239.68 11.74 2413 20013.66 done 2.22 - - 2867.06 - 3.01 0.097 3363.00 393.2 167.07 - - 2329.09 - - - - - - - - - 16.00 -
20187.87 216.82 13.04 2449 20193.62 done 2.22 - - 2867.19 - 2.96 0.050 2117.50 -420.8 167.07 - - 2329.16 - - - - - - - - - 16.04 -
20497.88 179.47 12.08 2481 20503.79 done 2.22 - - 2868.25 - 3.14 0.095 3362.88 396.6 167.07 - - 2327.16 - - - - - - - - - 16.03 -
20667.98 157.69 12.38 2515 20673.90 done 2.22 - - 2867.81 - 2.95 0.050 2117.62 -422.1 167.07 - - 2326.25 - - - - - - - - - 16.04 -
20977.91 128.81 9.18 2547 20979.48 VBD 2.22 - - 2867.69 - - - 2117.56 - 167.07 - - 2325.16 - - - - - - - - - - -
21287.97 103.19 7.50 2578 21293.94 2.24 0.15 0.060 2892.81 167.5 3.13 0.093 3365.62 398.7 167.07 - - 2327.22 - - - - - - - - 16.14 16.05 -
21327.93 99.87 7.92 2586 21334.49 done 2.24 - - 2892.38 - 2.93 0.048 2114.31 -427.1 167.07 - - 2325.81 - - - - - - - - - 16.07 -
21517.99 89.37 3.70 2624 21612.71 2.35 0.19 0.055 2919.44 142.4 - - 2114.69 - 251.99 90.43 1.090 1991.91 -3.7 0.050 - - - - - - 16.10 - 12.77
21796.12 72.26 8.44 2679 21800.52 no move 2.35 - - 2919.50 - - - 2114.38 - 251.99 - - 1990.69 - - - - - - - - - - -
21986.18 59.48 6.23 2717 21993.01 roll 2.40 - - 2917.94 - 3.16 0.093 3361.94 394.8 251.99 - - 1990.91 - - - - - - - - - 15.89 -
22036.48 56.21 6.52 2727 22043.36 roll back 2.45 0.10 0.089 2940.31 223.7 2.96 0.047 2115.94 -420.9 251.99 - - 1989.91 - - - - - - - - 15.92 15.93 -
22226.91 41.76 7.38 2765 22233.79 roll 2.47 - - 2940.56 - 3.69 0.108 687.94 -387.0 251.99 - - 1989.62 - - - - - - - - - 15.94 -
22267.27 38.89 7.23 2773 22274.07 roll 2.49 - - 2940.75 - 3.53 0.053 2186.38 424.5 251.99 - - 1990.22 - - - - - - - - - 15.96 -
22457.52 36.84 0.43 2811 22617.33 2.69 0.46 0.042 3002.38 134.0 4.00 0.109 689.12 -374.3 400.72 146.29 1.018 1386.03 -4.1 0.025 - - - - - - 16.04 15.55 12.75
22805 end climb: SURFACE_DEPTH_REACHED
22806 begin surface coast
22820 end surface coast: CONTROL_FINISHED_OK
22821 begin surface
SM 1.60 - - - - 190.3 70.56 0.974 1084.3 13.3 21.45 0.050 1091.5 50.9 - 3.38 0.055 1077.1 317.5 -0.944 - - 12.63 15.83 15.84 -