NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 155 * Raw log
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• Previous call tries 1 • 68.74 of 575.00 AH used of 24V (88.04% remains)
• Surface angle -63.6 deg, depth 1.41 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.90 (SM_CC=475)
• GPS1 time: 29 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
8.88 - - - 75.65 VBD -1.56 - - 184.25 - - - 2133.25 - -107.06 65.17 0.005 2466.75 - - - - - - - - - - 15.71
76.09 3.07 -2.83 13 132.34 -1.56 16.68 0.239 1959.69 106.4 3.84 0.114 689.81 -375.9 -107.06 25.25 0.006 3458.16 39.3 -3.321 - - - - - - 15.68 15.69 15.74
320.73 51.09 -16.10 61 327.29 roll -1.56 - - 1959.62 - 3.39 0.048 2130.50 425.0 -107.06 - - 3459.62 - - - - - - - - - 15.87 -
510.77 76.59 -12.43 99 517.24 roll -1.56 - - 1959.94 - 3.18 0.098 3360.75 386.9 -107.06 - - 3458.72 - - - - - - - - - 15.90 -
590.78 86.59 -12.17 115 597.18 roll -1.56 - - 1960.06 - 3.08 0.044 2067.69 -419.8 -107.06 - - 3459.31 - - - - - - - - - 15.92 -
780.80 106.32 -10.46 147 786.56 roll -1.56 - - 1960.06 - 3.35 0.094 3361.56 386.2 -107.06 - - 3460.66 - - - - - - - - - 15.96 -
830.80 111.76 -11.14 157 836.44 roll -1.56 - - 1960.50 - 3.06 0.043 2067.25 -423.0 -107.06 - - 3460.44 - - - - - - - - - 15.95 -
1140.82 141.25 -10.27 189 1146.71 roll -1.56 - - 1959.81 - 3.62 0.117 689.00 -380.7 -107.06 - - 3461.12 - - - - - - - - - 15.97 -
1205.07 148.80 -12.01 202 1212.41 roll -1.56 - - 1959.94 - 3.36 0.048 2132.50 429.6 -107.06 - - 3461.81 - - - - - - - - - 16.03 -
1520.85 180.81 -9.41 234 1522.38 no move -1.56 - - 1959.69 - - - 2132.50 - -107.06 - - 3461.31 - - - - - - - - - - -
1830.90 211.39 -10.18 265 1836.75 roll -1.56 - - 1959.19 - 3.15 0.099 3362.12 390.4 -107.06 - - 3462.66 - - - - - - - - - 16.01 -
1875.14 216.51 -11.34 274 1882.45 roll -1.56 - - 1959.94 - 3.06 0.045 2067.44 -423.1 -107.06 - - 3463.19 - - - - - - - - - 16.08 -
2190.93 247.78 -10.05 306 2197.03 roll -1.56 - - 1959.81 - 3.62 0.119 689.88 -380.5 -107.06 - - 3461.81 - - - - - - - - - 16.04 -
2220.94 251.00 -10.44 312 2226.89 roll -1.56 - - 1959.38 - 3.36 0.049 2131.88 429.2 -107.06 - - 3461.69 - - - - - - - - - 16.03 -
2530.97 280.94 -9.82 344 2532.53 no move -1.56 - - 1960.00 - - - 2132.31 - -107.06 - - 3461.19 - - - - - - - - - - -
2840.99 312.40 -10.13 375 2842.56 no move -1.56 - - 1959.50 - - - 2132.56 - -107.06 - - 3461.09 - - - - - - - - - - -
3151.05 342.89 -9.89 406 3158.24 roll -1.56 - - 1960.25 - 3.79 0.118 689.50 -380.8 -107.06 - - 3463.12 - - - - - - - - - 16.08 -
3230.93 351.80 -11.02 422 3238.40 roll -1.56 - - 1959.69 - 3.35 0.052 2131.69 430.5 -107.06 - - 3461.44 - - - - - - - - - 16.09 -
3546.72 381.45 -8.94 454 3552.82 roll -1.56 - - 1960.00 - 3.12 0.101 3362.00 394.3 -107.06 - - 3462.16 - - - - - - - - - 16.12 -
3590.97 386.02 -9.99 463 3598.28 roll -1.56 - - 1959.75 - 3.06 0.048 2068.38 -422.8 -107.06 - - 3461.81 - - - - - - - - - 16.10 -
3906.76 413.37 -8.49 495 3912.85 roll -1.56 - - 1959.25 - 3.63 0.122 690.12 -379.7 -107.06 - - 3461.50 - - - - - - - - - 16.11 -
3941.01 416.75 -9.21 502 3948.47 roll -1.56 - - 1959.62 - 3.36 0.052 2131.25 428.9 -107.06 - - 3462.94 - - - - - - - - - 16.10 -
4256.79 444.16 -9.01 534 4258.36 no move -1.56 - - 1959.50 - - - 2130.38 - -107.06 - - 3459.53 - - - - - - - - - - -
4566.82 472.49 -9.04 565 4568.39 no move -1.56 - - 1959.94 - - - 2130.88 - -107.06 - - 3459.41 - - - - - - - - - - -
4876.85 501.27 -9.54 596 4884.04 roll -1.56 - - 1959.19 - 3.79 0.121 689.81 -380.2 -107.06 - - 3458.16 - - - - - - - - - 16.14 -
4946.72 508.63 -10.51 610 4954.24 roll -1.56 - - 1959.69 - 3.37 0.053 2132.19 428.0 -107.06 - - 3461.31 - - - - - - - - - 16.13 -
5262.51 536.20 -8.49 642 5264.08 no move -1.56 - - 1959.75 - - - 2132.31 - -107.06 - - 3457.72 - - - - - - - - - - -
5572.54 560.67 -7.34 673 5579.98 roll -1.56 - - 1959.81 - 3.80 0.120 688.81 -379.9 -107.06 - - 3456.72 - - - - - - - - - 16.15 -
5642.78 566.48 -8.37 687 5650.25 roll -1.56 - - 1960.06 - 3.38 0.054 2131.69 426.9 -107.06 - - 3457.97 - - - - - - - - - 16.15 -
5958.58 590.42 -7.86 719 5960.15 no move -1.56 - - 1959.31 - - - 2131.88 - -107.06 - - 3457.09 - - - - - - - - - - -
6268.60 615.35 -8.20 750 6275.79 roll -1.56 - - 1959.44 - 3.80 0.122 690.56 -379.3 -107.06 - - 3458.72 - - - - - - - - - 16.15 -
6304.23 618.67 -9.26 757 6310.18 roll -1.56 - - 1960.25 - 3.37 0.055 2130.69 427.3 -107.06 - - 3457.94 - - - - - - - - - 16.15 -
6614.26 646.00 -8.67 789 6615.83 no move -1.56 - - 1959.62 - - - 2131.12 - -107.06 - - 3455.91 - - - - - - - - - - -
6924.29 672.72 -8.65 820 6931.54 roll -1.56 - - 1959.06 - 3.81 0.122 689.81 -378.3 -107.06 - - 3455.25 - - - - - - - - - 16.14 -
6969.97 677.15 -10.41 829 6975.96 roll -1.56 - - 1959.69 - 3.38 0.054 2129.69 426.0 -107.06 - - 3456.81 - - - - - - - - - 16.16 -
7280.02 704.36 -8.86 861 7287.45 roll -1.56 - - 1958.81 - 3.79 0.120 691.00 -379.6 -107.06 - - 3454.41 - - - - - - - - - 16.15 -
7340.26 710.33 -9.75 873 7347.74 roll -1.56 - - 1960.00 - 3.37 0.055 2130.31 427.1 -107.06 - - 3455.22 - - - - - - - - - 16.15 -
7656.07 737.46 -8.53 905 7657.65 no move -1.56 - - 1959.75 - - - 2129.75 - -107.06 - - 3453.69 - - - - - - - - - - -
7966.12 763.49 -8.22 936 7973.35 roll -1.56 - - 1960.00 - 3.80 0.123 691.00 -378.6 -107.06 - - 3456.06 - - - - - - - - - 16.14 -
8031.80 769.57 -9.66 949 8037.80 roll -1.56 - - 1959.81 - 3.37 0.056 2131.56 427.5 -107.06 - - 3455.28 - - - - - - - - - 16.16 -
8341.83 794.95 -7.89 981 8343.40 no move -1.56 - - 1959.56 - - - 2131.12 - -107.06 - - 3453.28 - - - - - - - - - - -
8651.85 819.87 -8.28 1012 8653.43 no move -1.56 - - 1959.50 - - - 2130.75 - -107.06 - - 3453.38 - - - - - - - - - - -
8961.89 844.53 -7.69 1043 8969.12 roll -1.56 - - 1959.56 - 3.81 0.122 688.94 -378.4 -107.06 - - 3454.31 - - - - - - - - - 16.14 -
9041.81 851.76 -8.98 1059 9049.30 roll -1.56 - - 1959.81 - 3.36 0.053 2132.31 429.6 -107.06 - - 3454.12 - - - - - - - - - 16.15 -
9357.61 876.41 -7.95 1091 9359.18 no move -1.56 - - 1959.62 - - - 2131.88 - -107.06 - - 3452.34 - - - - - - - - - - -
9667.64 901.29 -8.06 1122 9669.21 no move -1.56 - - 1959.81 - - - 2132.25 - -107.06 - - 3452.72 - - - - - - - - - - -
9977.66 924.48 -7.20 1153 9984.85 roll -1.56 - - 1959.12 - 3.79 0.119 689.75 -380.6 -107.06 - - 3452.12 - - - - - - - - - 16.14 -
10093.31 933.82 -7.86 1176 10099.28 roll -1.56 - - 1959.56 - 3.37 0.055 2130.75 427.6 -107.06 - - 3452.62 - - - - - - - - - 16.15 -
10403.34 955.35 -6.94 1208 10404.92 no move -1.56 - - 1959.94 - - - 2131.12 - -107.06 - - 3451.72 - - - - - - - - - - -
10713.37 976.89 -7.27 1239 10714.95 no move -1.56 - - 1959.25 - - - 2131.19 - -107.06 - - 3451.88 - - - - - - - - - - -
10893 end dive: TARGET_DEPTH_EXCEEDED
10893 begin apogee
10895.08 990.17 -7.52 1257 10989.24 -0.42 2.42 0.120 2240.31 116.1 0.09 0.241 2119.62 -128.6 - 86.38 2.229 3018.22 -5.0 0.369 - - - - - - 16.14 15.54 12.42
11000 end apogee: CONTROL_FINISHED_OK
11000 begin climb
11003.41 991.60 - 1266 11115.04 1.56 3.94 0.058 2728.12 123.8 3.37 0.102 3362.75 368.9 107.06 94.85 2.166 2583.31 -4.6 0.347 - - - - - - 15.68 15.31 12.83
11233.58 975.39 12.21 1310 11239.39 done 1.56 - - 2728.31 - 3.03 0.046 2120.06 -410.1 107.06 - - 2576.62 - - - - - - - - - 15.73 -
11543.60 943.29 10.33 1342 11549.55 done 1.56 - - 2727.88 - 3.24 0.101 3362.19 383.4 107.06 - - 2570.31 - - - - - - - - - 15.91 -
11753.65 917.54 12.16 1384 11759.41 done 1.56 - - 2727.88 - 2.99 0.049 2122.38 -414.7 107.06 - - 2567.88 - - - - - - - - - 15.96 -
12063.67 885.87 10.08 1416 12069.58 done 1.56 - - 2726.19 - 3.20 0.098 3361.00 387.1 107.06 - - 2566.88 - - - - - - - - - 16.02 -
12117.93 879.81 11.43 1427 12125.19 done 1.56 - - 2728.31 - 2.99 0.051 2120.62 -414.8 107.06 - - 2565.66 - - - - - - - - - 16.01 -
12433.70 847.58 9.85 1459 12439.60 done 1.56 - - 2728.31 - 3.22 0.098 3362.25 385.6 107.06 - - 2565.16 - - - - - - - - - 16.05 -
12668.00 821.20 10.79 1506 12675.30 done 1.56 - - 2728.75 - 2.97 0.051 2121.31 -417.8 107.06 - - 2564.28 - - - - - - - - - 16.07 -
12983.99 788.12 9.96 1538 12989.64 done 1.56 - - 2727.69 - 3.18 0.097 3360.25 389.6 107.06 - - 2563.12 - - - - - - - - - 16.09 -
13163.82 769.03 11.12 1574 13169.62 done 1.56 - - 2727.75 - 2.96 0.052 2120.94 -418.7 107.06 - - 2564.00 - - - - - - - - - 16.10 -
13473.83 739.66 9.88 1606 13475.40 VBD 1.56 - - 2728.00 - - - 2120.75 - 107.06 - - 2561.06 - - - - - - - - - - -
13783.86 711.75 8.41 1637 13789.72 done 1.56 - - 2727.50 - 3.16 0.099 3361.50 392.6 107.06 - - 2562.28 - - - - - - - - - 16.11 -
13883.88 702.76 8.70 1657 13889.63 done 1.56 - - 2727.38 - 2.95 0.052 2119.31 -421.1 107.06 - - 2562.44 - - - - - - - - - 16.12 -
14193.89 677.82 7.79 1689 14201.35 done 1.56 - - 2728.50 - 3.74 0.118 687.56 -382.8 107.06 - - 2560.78 - - - - - - - - - 16.11 -
14254.14 672.41 8.83 1701 14261.65 done 1.56 - - 2727.25 - 3.49 0.059 2181.38 428.0 107.06 - - 2560.44 - - - - - - - - - 16.13 -
14569.95 647.72 7.09 1733 14575.75 done 1.59 - - 2727.19 - 3.01 0.102 3363.12 392.6 107.06 - - 2560.72 - - - - - - - - - 16.12 -
14769.92 631.96 7.73 1773 14775.72 done 1.59 - - 2729.12 - 2.96 0.052 2118.81 -420.4 107.06 - - 2559.34 - - - - - - - - - 16.13 -
15079.98 611.08 7.07 1805 15085.80 done 1.62 - - 2728.56 - 3.14 0.098 3362.94 396.2 107.06 - - 2559.62 - - - - - - - - - 16.13 -
15294.25 594.53 7.36 1848 15301.50 done 1.64 - - 2728.81 - 2.95 0.051 2119.75 -421.4 107.06 - - 2561.06 - - - - - - - - - 16.15 -
15610.04 572.04 7.25 1880 15616.00 1.67 0.13 0.085 2754.06 194.2 3.16 0.098 3363.50 393.6 107.06 - - 2559.16 - - - - - - - - 16.19 16.12 -
15684.27 565.77 8.29 1895 15691.63 done 1.67 - - 2754.81 - 2.97 0.051 2118.94 -419.0 107.06 - - 2559.69 - - - - - - - - - 16.14 -
16000.07 540.29 7.85 1927 16001.65 VBD 1.67 - - 2754.50 - - - 2119.12 - 107.06 - - 2558.69 - - - - - - - - - - -
16310.12 514.44 8.06 1958 16316.00 done 1.67 - - 2754.25 - 3.20 0.097 3361.38 388.2 107.06 - - 2559.66 - - - - - - - - - 16.13 -
16544.42 493.10 9.35 2005 16551.68 done 1.67 - - 2753.56 - 2.95 0.052 2119.25 -421.1 107.06 - - 2560.19 - - - - - - - - - 16.15 -
16860.23 468.84 6.97 2037 16866.10 done 1.70 - - 2754.12 - 3.15 0.097 3362.44 394.7 107.06 - - 2559.44 - - - - - - - - - 16.14 -
16930.26 463.64 7.38 2051 16935.97 done 1.72 - - 2754.31 - 2.92 0.050 2117.88 -426.2 107.06 - - 2559.62 - - - - - - - - - 16.14 -
17240.28 443.17 6.52 2083 17242.03 1.77 0.12 0.075 2776.69 186.5 - - 2117.94 - 107.06 - - 2558.31 - - - - - - - - 16.19 - -
17550.30 420.65 7.32 2114 17556.12 done 1.79 - - 2778.69 - 3.16 0.097 3362.81 393.9 107.06 - - 2558.62 - - - - - - - - - 16.13 -
17650.27 412.40 8.24 2134 17656.04 done 1.79 - - 2779.12 - 2.94 0.051 2117.56 -423.6 107.06 - - 2559.06 - - - - - - - - - 16.13 -
17960.35 389.25 7.35 2166 17967.46 done 1.81 - - 2775.38 - 3.66 0.116 688.50 -390.5 107.06 - - 2559.72 - - - - - - - - - 16.13 -
18145.90 374.65 8.00 2203 18152.03 done 1.81 - - 2778.19 - 3.50 0.057 2181.44 426.6 107.06 - - 2559.28 - - - - - - - - - 16.13 -
18455.96 354.35 6.21 2235 18461.82 1.86 0.15 0.041 2793.19 100.0 2.99 0.100 3362.12 394.9 107.06 - - 2558.75 - - - - - - - - 16.24 16.11 -
18505.96 351.01 6.68 2245 18511.67 done 1.90 - - 2792.31 - 2.94 0.050 2118.56 -423.0 107.06 - - 2558.94 - - - - - - - - - 16.14 -
18815.97 333.21 5.76 2277 18823.31 1.97 0.23 0.054 2828.94 159.3 3.67 0.113 687.75 -389.9 107.06 - - 2557.19 - - - - - - - - 16.20 16.10 -
18911.80 326.34 7.31 2296 18917.81 done 2.00 - - 2828.62 - 3.51 0.057 2181.56 425.6 107.06 - - 2558.16 - - - - - - - - - 16.12 -
19221.81 308.08 5.67 2328 19227.53 done 2.07 - - 2829.38 - 3.00 0.099 3361.88 393.4 107.06 - - 2558.47 - - - - - - - - - 16.12 -
19286.06 304.13 6.09 2341 19293.50 2.13 0.22 0.059 2864.62 160.2 2.93 0.050 2117.44 -424.7 107.06 - - 2559.56 - - - - - - - - 16.15 16.13 -
19601.83 287.14 5.16 2373 19608.95 done 2.21 - - 2865.62 - 3.69 0.112 689.00 -387.1 107.06 - - 2555.72 - - - - - - - - - 16.08 -
19631.67 285.36 5.51 2379 19639.44 2.29 0.25 0.053 2905.31 158.8 3.52 0.055 2184.44 424.8 107.06 - - 2557.72 - - - - - - - - 16.17 16.10 -
19947.45 268.46 5.51 2411 19953.21 done 2.36 - - 2906.00 - 3.02 0.097 3363.19 390.3 107.06 - - 2557.72 - - - - - - - - - 16.11 -
20177.48 257.14 4.50 2457 20241.95 2.45 0.23 0.062 2944.56 167.7 2.96 0.049 2116.81 -421.1 176.42 53.78 1.325 2299.53 -4.8 0.154 - - - - - - 16.12 16.12 12.64
20547.44 210.59 14.94 2500 20553.36 done 2.45 - - 2944.75 - 3.23 0.097 3363.25 385.9 176.42 - - 2291.97 - - - - - - - - - 15.97 -
20617.45 199.29 16.70 2514 20623.25 done 2.45 - - 2945.00 - 2.97 0.050 2120.00 -418.6 176.42 - - 2290.31 - - - - - - - - - 16.00 -
20927.47 155.11 13.00 2546 20933.33 done 2.45 - - 2944.69 - 3.20 0.093 3363.50 388.6 176.42 - - 2291.38 - - - - - - - - - 16.01 -
20991.72 146.33 13.56 2559 20998.99 done 2.45 - - 2942.81 - 2.98 0.049 2119.31 -417.5 176.42 - - 2289.91 - - - - - - - - - 15.98 -
21307.50 107.60 10.11 2591 21314.72 done 2.45 - - 2944.06 - 3.73 0.111 688.88 -383.5 176.42 - - 2288.75 - - - - - - - - - 16.02 -
21393.38 99.06 9.56 2608 21399.99 done 2.45 - - 2944.88 - 3.52 0.054 2181.75 424.1 176.42 - - 2287.62 - - - - - - - - - 16.03 -
21583.43 89.88 3.31 2646 21690.43 2.57 0.17 0.061 2972.88 164.7 3.09 0.097 3361.94 381.9 269.02 97.22 1.081 1922.44 -3.8 0.052 - - - - - - 16.09 15.67 12.67
21758.96 76.49 12.21 2680 21765.48 roll 2.57 - - 2973.69 - 2.99 0.048 2120.44 -415.2 269.02 - - 1920.41 - - - - - - - - - 15.80 -
21949.03 54.55 10.50 2718 21955.97 roll 2.57 - - 2973.31 - 3.76 0.111 689.94 -380.5 269.02 - - 1920.47 - - - - - - - - - 15.87 -
22084.42 40.88 9.31 2745 22091.27 roll 2.57 - - 2973.75 - 3.51 0.053 2184.62 425.8 269.02 - - 1918.84 - - - - - - - - - 15.89 -
22274.74 24.68 7.38 2783 22281.24 roll 2.59 - - 2973.25 - 2.92 0.094 3364.69 404.1 269.02 - - 1919.25 - - - - - - - - - 15.91 -
22509.79 26.48 -0.79 2830 22695.47 2.82 0.42 0.046 3034.12 144.9 2.94 0.047 2114.50 -425.2 441.59 171.01 0.996 1219.56 -4.1 0.018 - - - - - - 16.01 15.95 12.68
22798 end climb: SURFACE_DEPTH_REACHED
22799 begin surface coast
22819 end surface coast: CONTROL_FINISHED_OK
22819 begin surface
SM 0.92 - - - - 186.8 33.15 0.933 1084.0 27.5 21.07 0.045 1088.4 51.6 - 0.05 0.187 1079.6 21533.2 -10.828 - - 12.72 15.80 15.76 -