NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 156 * Raw log
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• Previous call tries 5 • 69.31 of 575.00 AH used of 24V (87.95% remains)
• Surface angle -63.5 deg, depth 1.51 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 617.90 (SM_CC=618.15601)
• GPS1 time: 47 s
• GPS2 time: 3 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
8.94 - - - 75.68 VBD -1.56 - - 184.25 - - - 2135.06 - -107.06 65.17 0.005 2658.94 - - - - - - - - - - 15.79
76.11 3.39 -3.03 13 125.92 -1.56 16.17 0.228 1960.00 109.8 3.76 0.112 690.00 -384.3 -107.06 19.04 0.006 3456.25 41.9 -3.913 - - - - - - 15.78 15.74 15.79
229.44 33.47 -21.70 42 236.00 roll -1.56 - - 1960.12 - 3.34 0.046 2131.94 431.7 -107.06 - - 3458.12 - - - - - - - - - 15.96 -
419.20 60.75 -13.01 80 425.86 roll -1.56 - - 1959.69 - 3.09 0.095 3362.06 398.1 -107.06 - - 3458.56 - - - - - - - - - 15.98 -
509.46 73.02 -13.21 98 515.85 roll -1.56 - - 1960.00 - 3.01 0.041 2063.69 -431.4 -107.06 - - 3458.91 - - - - - - - - - 16.00 -
699.48 93.41 -10.07 136 706.37 roll -1.56 - - 1960.06 - 3.54 0.113 689.00 -388.3 -107.06 - - 3459.94 - - - - - - - - - 16.01 -
769.93 101.64 -12.12 150 775.88 roll -1.56 - - 1959.31 - 3.32 0.045 2136.62 436.0 -107.06 - - 3459.75 - - - - - - - - - 16.04 -
1079.96 133.66 -9.41 182 1081.53 no move -1.56 - - 1959.75 - - - 2135.62 - -107.06 - - 3457.97 - - - - - - - - - - -
1389.98 161.84 -9.45 213 1397.17 roll -1.56 - - 1959.88 - 3.73 0.110 688.88 -387.9 -107.06 - - 3458.28 - - - - - - - - - 16.07 -
1455.62 168.95 -11.19 226 1461.56 roll -1.56 - - 1958.94 - 3.34 0.048 2133.75 432.6 -107.06 - - 3460.44 - - - - - - - - - 16.07 -
1765.64 200.53 -9.92 258 1772.88 roll -1.56 - - 1959.25 - 3.74 0.111 688.94 -386.3 -107.06 - - 3459.75 - - - - - - - - - 16.07 -
1811.32 205.72 -11.63 267 1817.28 roll -1.56 - - 1960.25 - 3.34 0.047 2134.44 432.8 -107.06 - - 3459.59 - - - - - - - - - 16.08 -
2121.35 236.55 -9.64 299 2122.92 no move -1.56 - - 1959.50 - - - 2134.75 - -107.06 - - 3457.62 - - - - - - - - - - -
2431.38 264.79 -9.10 330 2432.95 no move -1.56 - - 1959.56 - - - 2134.88 - -107.06 - - 3456.62 - - - - - - - - - - -
2741.41 293.26 -9.16 361 2742.98 no move -1.56 - - 1959.81 - - - 2135.12 - -107.06 - - 3455.81 - - - - - - - - - - -
3051.52 321.48 -9.00 392 3058.64 roll -1.56 - - 1958.00 - 3.77 0.115 688.75 -383.7 -107.06 - - 3456.09 - - - - - - - - - 16.13 -
3107.20 327.10 -10.28 403 3113.15 roll -1.56 - - 1960.19 - 3.36 0.052 2132.62 429.7 -107.06 - - 3455.34 - - - - - - - - - 16.15 -
3417.23 355.85 -9.44 435 3423.07 roll -1.56 - - 1958.75 - 3.11 0.101 3362.12 395.3 -107.06 - - 3454.97 - - - - - - - - - 16.14 -
3437.23 357.86 -9.54 439 3443.06 roll -1.56 - - 1959.56 - 3.05 0.048 2065.94 -425.0 -107.06 - - 3454.28 - - - - - - - - - 16.15 -
3747.25 386.36 -8.69 471 3748.83 no move -1.56 - - 1959.62 - - - 2066.25 - -107.06 - - 3451.84 - - - - - - - - - - -
4057.29 412.09 -8.05 502 4058.86 no move -1.56 - - 1959.50 - - - 2066.44 - -107.06 - - 3450.91 - - - - - - - - - - -
4367.32 437.59 -7.86 533 4373.21 roll -1.56 - - 1959.50 - 3.28 0.100 3361.12 394.7 -107.06 - - 3450.84 - - - - - - - - - 16.16 -
4431.57 443.73 -9.22 546 4438.88 roll -1.56 - - 1959.25 - 3.06 0.050 2068.62 -422.4 -107.06 - - 3450.91 - - - - - - - - - 16.17 -
4747.36 471.03 -8.54 578 4753.71 roll -1.56 - - 1959.31 - 3.63 0.123 687.75 -380.4 -107.06 - - 3446.44 - - - - - - - - - 16.15 -
4787.36 474.73 -9.25 586 4793.31 roll -1.56 - - 1959.69 - 3.37 0.052 2132.38 428.7 -107.06 - - 3447.25 - - - - - - - - - 16.17 -
5097.39 501.58 -9.53 618 5104.59 roll -1.56 - - 1957.94 - 3.78 0.118 689.44 -381.7 -107.06 - - 3447.12 - - - - - - - - - 16.16 -
5133.02 505.31 -9.88 625 5139.03 roll -1.56 - - 1959.94 - 3.37 0.053 2134.38 428.8 -107.06 - - 3446.97 - - - - - - - - - 16.17 -
5443.06 534.90 -9.59 657 5449.18 roll -1.56 - - 1960.00 - 3.10 0.102 3361.06 395.7 -107.06 - - 3444.53 - - - - - - - - - 16.16 -
5523.08 543.32 -10.42 673 5528.91 roll -1.56 - - 1960.31 - 3.05 0.051 2067.19 -424.2 -107.06 - - 3445.44 - - - - - - - - - 16.16 -
5833.14 572.82 -9.60 705 5834.71 no move -1.56 - - 1959.75 - - - 2067.69 - -107.06 - - 3443.00 - - - - - - - - - - -
6143.17 600.48 -8.78 736 6144.74 no move -1.56 - - 1959.94 - - - 2067.44 - -107.06 - - 3441.66 - - - - - - - - - - -
6453.20 628.74 -8.92 767 6454.77 no move -1.56 - - 1959.50 - - - 2067.25 - -107.06 - - 3440.94 - - - - - - - - - - -
6763.23 654.66 -8.12 798 6764.80 no move -1.56 - - 1959.50 - - - 2067.94 - -107.06 - - 3440.69 - - - - - - - - - - -
7073.26 678.87 -7.90 829 7080.40 roll -1.56 - - 1959.88 - 3.61 0.127 690.00 -381.7 -107.06 - - 3440.91 - - - - - - - - - 16.15 -
7103.20 681.64 -8.47 835 7110.70 roll -1.56 - - 1960.00 - 3.37 0.055 2130.81 427.5 -107.06 - - 3439.50 - - - - - - - - - 16.18 -
7418.98 706.51 -7.46 867 7420.56 no move -1.56 - - 1959.56 - - - 2131.00 - -107.06 - - 3437.47 - - - - - - - - - - -
7729.01 729.50 -7.50 898 7730.58 no move -1.56 - - 1959.69 - - - 2131.12 - -107.06 - - 3437.62 - - - - - - - - - - -
8039.04 753.23 -7.35 929 8046.23 roll -1.56 - - 1959.31 - 3.78 0.122 689.56 -381.4 -107.06 - - 3436.56 - - - - - - - - - 16.17 -
8098.92 758.53 -8.65 941 8106.39 roll -1.56 - - 1960.00 - 3.38 0.057 2129.00 425.9 -107.06 - - 3437.19 - - - - - - - - - 16.17 -
8414.72 781.64 -7.36 973 8416.29 no move -1.56 - - 1959.56 - - - 2129.00 - -107.06 - - 3436.31 - - - - - - - - - - -
8724.74 803.34 -6.63 1004 8731.93 roll -1.56 - - 1958.06 - 3.80 0.124 689.81 -378.7 -107.06 - - 3437.09 - - - - - - - - - 16.15 -
8780.38 807.91 -7.96 1015 8786.44 roll -1.56 - - 1959.12 - 3.37 0.056 2130.88 427.6 -107.06 - - 3436.59 - - - - - - - - - 16.16 -
9090.41 831.75 -8.13 1047 9097.61 roll -1.56 - - 1959.69 - 3.79 0.122 690.88 -379.9 -107.06 - - 3435.34 - - - - - - - - - 16.16 -
9170.41 838.94 -8.85 1063 9177.88 roll -1.56 - - 1959.88 - 3.38 0.057 2130.94 426.1 -107.06 - - 3435.75 - - - - - - - - - 16.16 -
9486.20 862.56 -7.63 1095 9487.77 no move -1.56 - - 1959.38 - - - 2131.12 - -107.06 - - 3434.34 - - - - - - - - - - -
9796.23 886.15 -7.86 1126 9803.42 roll -1.56 - - 1959.12 - 3.80 0.123 690.38 -379.1 -107.06 - - 3435.19 - - - - - - - - - 16.16 -
9841.86 890.23 -9.58 1135 9847.81 roll -1.56 - - 1960.06 - 3.36 0.056 2130.50 428.6 -107.06 - - 3435.25 - - - - - - - - - 16.16 -
10151.89 913.63 -7.47 1167 10159.08 roll -1.56 - - 1960.25 - 3.79 0.123 690.94 -379.8 -107.06 - - 3434.28 - - - - - - - - - 16.15 -
10197.54 917.49 -9.00 1176 10203.49 roll -1.56 - - 1959.81 - 3.37 0.056 2130.69 427.2 -107.06 - - 3434.81 - - - - - - - - - 16.15 -
10507.56 940.15 -7.41 1208 10509.13 no move -1.56 - - 1959.69 - - - 2131.19 - -107.06 - - 3433.12 - - - - - - - - - - -
10817.59 963.51 -7.58 1239 10824.79 roll -1.56 - - 1959.81 - 3.80 0.124 689.50 -379.4 -107.06 - - 3432.47 - - - - - - - - - 16.15 -
10873.36 968.30 -8.69 1250 10879.31 roll -1.56 - - 1959.06 - 3.37 0.057 2131.88 428.0 -107.06 - - 3433.84 - - - - - - - - - 16.15 -
11163 end dive: TARGET_DEPTH_EXCEEDED
11163 begin apogee
11165.08 990.05 -7.65 1280 11259.04 -0.42 2.62 0.118 2238.56 106.7 0.09 0.256 2121.62 -114.0 - 83.36 2.224 3021.06 -5.0 0.365 - - - - - - 16.12 15.57 12.58
11270 end apogee: CONTROL_FINISHED_OK
11270 begin climb
11273.21 991.06 - 1289 11384.82 1.56 3.85 0.060 2729.31 127.5 3.33 0.104 3358.81 371.5 107.06 95.21 2.168 2583.44 -4.6 0.348 - - - - - - 15.71 15.34 12.82
11457.76 979.24 9.81 1324 11465.06 done 1.56 - - 2729.19 - 3.07 0.053 2121.75 -403.0 107.06 - - 2576.41 - - - - - - - - - 15.68 -
11773.52 945.20 10.25 1356 11775.10 VBD 1.56 - - 2728.81 - - - 2121.31 - 107.06 - - 2569.00 - - - - - - - - - - -
12083.55 913.15 10.05 1387 12089.41 done 1.56 - - 2728.81 - 3.18 0.101 3362.19 390.2 107.06 - - 2567.38 - - - - - - - - - 15.99 -
12223.58 896.49 12.35 1415 12229.39 done 1.56 - - 2728.25 - 2.99 0.053 2120.38 -415.3 107.06 - - 2566.81 - - - - - - - - - 16.02 -
12533.60 862.30 11.00 1447 12539.46 done 1.56 - - 2729.38 - 3.14 0.098 3362.06 395.4 107.06 - - 2566.25 - - - - - - - - - 16.05 -
12633.62 850.17 12.18 1467 12639.38 done 1.56 - - 2729.12 - 2.97 0.053 2121.19 -417.8 107.06 - - 2565.38 - - - - - - - - - 16.07 -
12943.64 818.27 9.78 1499 12945.22 VBD 1.56 - - 2729.38 - - - 2120.31 - 107.06 - - 2562.09 - - - - - - - - - - -
13253.67 787.78 10.02 1530 13259.58 done 1.56 - - 2729.44 - 3.15 0.100 3362.19 394.2 107.06 - - 2561.56 - - - - - - - - - 16.09 -
13467.96 763.92 11.29 1573 13475.22 done 1.56 - - 2727.81 - 2.96 0.053 2121.25 -419.2 107.06 - - 2563.81 - - - - - - - - - 16.11 -
13783.73 733.97 9.68 1605 13789.60 done 1.56 - - 2729.62 - 3.13 0.099 3363.50 396.9 107.06 - - 2561.12 - - - - - - - - - 16.11 -
13983.78 713.24 10.60 1645 13989.55 done 1.56 - - 2729.62 - 2.94 0.053 2120.50 -422.8 107.06 - - 2561.38 - - - - - - - - - 16.13 -
14293.79 686.56 8.51 1677 14299.67 done 1.56 - - 2729.56 - 3.11 0.099 3362.62 399.4 107.06 - - 2560.09 - - - - - - - - - 16.12 -
14483.83 669.47 9.26 1715 14489.64 done 1.56 - - 2727.75 - 2.95 0.053 2119.19 -421.5 107.06 - - 2561.41 - - - - - - - - - 16.14 -
14793.85 642.82 9.07 1747 14799.68 done 1.56 - - 2729.12 - 3.08 0.098 3364.12 404.2 107.06 - - 2559.72 - - - - - - - - - 16.13 -
14833.87 639.02 9.48 1755 14839.67 done 1.56 - - 2729.00 - 2.93 0.052 2117.81 -425.4 107.06 - - 2559.31 - - - - - - - - - 16.13 -
15143.89 613.15 8.10 1787 15149.71 done 1.56 - - 2729.81 - 3.09 0.100 3363.88 403.3 107.06 - - 2559.75 - - - - - - - - - 16.13 -
15208.15 607.45 8.68 1800 15215.41 done 1.56 - - 2729.44 - 2.94 0.052 2118.31 -423.7 107.06 - - 2558.97 - - - - - - - - - 16.14 -
15523.92 582.33 7.89 1832 15525.49 VBD 1.56 - - 2729.38 - - - 2117.81 - 107.06 - - 2557.88 - - - - - - - - - - -
15833.95 557.41 8.05 1863 15839.81 done 1.56 - - 2729.81 - 3.11 0.099 3362.31 400.2 107.06 - - 2558.41 - - - - - - - - - 16.14 -
15924.04 549.63 8.72 1881 15929.72 done 1.56 - - 2729.38 - 2.94 0.052 2119.12 -422.9 107.06 - - 2558.41 - - - - - - - - - 16.14 -
16233.99 525.77 7.74 1913 16235.56 VBD 1.56 - - 2729.12 - - - 2119.75 - 107.06 - - 2557.56 - - - - - - - - - - -
16544.06 502.16 7.37 1944 16549.92 done 1.58 - - 2729.75 - 3.11 0.098 3362.69 399.7 107.06 - - 2558.34 - - - - - - - - - 16.14 -
16678.30 491.39 7.79 1971 16685.59 done 1.58 - - 2729.00 - 2.94 0.051 2118.75 -423.1 107.06 - - 2558.22 - - - - - - - - - 16.16 -
16994.15 469.47 6.61 2003 17000.25 done 1.63 - - 2729.81 - 3.13 0.097 3363.19 397.6 107.06 - - 2558.12 - - - - - - - - - 16.13 -
17054.17 464.97 7.31 2015 17059.89 done 1.65 - - 2730.12 - 2.94 0.051 2118.12 -423.5 107.06 - - 2557.66 - - - - - - - - - 16.14 -
17364.22 446.36 5.43 2047 17371.56 1.73 0.25 0.060 2768.19 152.3 3.68 0.114 689.44 -388.2 107.06 - - 2558.09 - - - - - - - - 16.18 16.11 -
17484.29 438.12 6.77 2071 17491.75 done 1.77 - - 2767.94 - 3.49 0.056 2181.38 427.5 107.06 - - 2556.25 - - - - - - - - - 16.14 -
17800.04 421.07 5.49 2103 17805.90 1.84 0.16 0.065 2799.62 198.0 2.98 0.099 3364.56 397.0 107.06 - - 2555.91 - - - - - - - - 16.20 16.11 -
17834.29 419.03 5.62 2110 17841.53 done 1.92 - - 2799.19 - 2.94 0.050 2118.56 -423.8 107.06 - - 2556.31 - - - - - - - - - 16.15 -
18150.06 400.27 6.31 2142 18156.03 1.97 0.14 0.070 2827.12 199.5 3.16 0.097 3362.75 393.7 107.06 - - 2556.59 - - - - - - - - 16.18 16.12 -
18244.33 393.35 7.21 2161 18251.84 done 1.99 - - 2826.50 - 2.96 0.051 2117.38 -420.7 107.06 - - 2556.81 - - - - - - - - - 16.13 -
18560.13 373.00 6.30 2193 18567.43 done 2.05 - - 2826.88 - 3.71 0.112 688.69 -385.1 107.06 - - 2555.91 - - - - - - - - - 16.11 -
18590.15 370.63 7.12 2199 18597.83 2.07 0.14 0.070 2855.38 203.6 3.51 0.056 2182.81 425.7 107.06 - - 2558.38 - - - - - - - - 16.19 16.14 -
18905.92 349.25 6.30 2231 18911.63 done 2.13 - - 2854.94 - 2.96 0.098 3364.06 399.1 107.06 - - 2556.88 - - - - - - - - - 16.12 -
19030.17 339.89 7.53 2256 19037.41 done 2.14 - - 2855.38 - 2.95 0.051 2115.88 -423.1 107.06 - - 2558.03 - - - - - - - - - 16.14 -
19345.94 317.31 7.52 2288 19353.06 done 2.16 - - 2853.62 - 3.69 0.111 688.62 -386.8 107.06 - - 2556.22 - - - - - - - - - 16.11 -
19385.85 313.99 7.88 2296 19393.42 done 2.16 - - 2854.56 - 3.51 0.057 2181.50 425.3 107.06 - - 2557.31 - - - - - - - - - 16.12 -
19701.66 292.09 6.11 2328 19709.28 2.22 0.19 0.058 2889.19 182.3 3.89 0.109 689.19 -383.6 107.06 - - 2555.62 - - - - - - - - 16.16 16.08 -
19872.16 281.23 6.13 2362 19879.67 done 2.27 - - 2889.00 - 3.50 0.056 2180.12 426.0 107.06 - - 2557.88 - - - - - - - - - 16.09 -
20187.91 266.10 4.17 2394 20251.07 2.37 0.23 0.051 2925.69 159.5 - - 2180.38 - 182.87 58.44 1.343 2274.12 -4.9 0.159 - - - - - - 16.17 - 12.53
20557.89 219.93 14.95 2431 20563.73 done 2.37 - - 2925.50 - 3.05 0.099 3363.12 387.8 182.87 - - 2266.38 - - - - - - - - - 15.97 -
20642.14 206.36 16.12 2448 20649.46 done 2.37 - - 2925.19 - 3.02 0.051 2120.12 -411.6 182.87 - - 2265.78 - - - - - - - - - 15.96 -
20957.91 159.65 14.16 2480 20959.48 VBD 2.37 - - 2925.75 - - - 2119.88 - 182.87 - - 2261.59 - - - - - - - - - - -
21267.92 121.78 10.54 2511 21269.50 VBD 2.37 - - 2926.19 - - - 2120.38 - 182.87 - - 2260.34 - - - - - - - - - - -
21572.95 90.67 8.67 2551 21579.76 done 2.37 - - 2925.69 - 3.18 0.096 3363.06 390.8 182.87 - - 2260.81 - - - - - - - - - 16.04 -
21728.42 79.02 5.89 2582 21734.92 done 2.44 - - 2925.38 - 2.98 0.049 2115.31 -418.7 182.87 - - 2261.16 - - - - - - - - - 16.05 -
21918.43 75.10 1.55 2620 22062.33 2.60 0.37 0.047 2981.69 152.2 3.86 0.112 688.06 -369.8 309.85 130.39 1.065 1755.12 -3.9 0.045 - - - - - - 16.10 15.61 12.64
22290.80 31.07 15.47 2693 22297.61 roll 2.60 - - 2982.00 - 3.58 0.055 2181.56 417.2 309.85 - - 1752.91 - - - - - - - - - 15.83 -
22481.20 28.57 -0.59 2731 22667.51 2.82 0.35 0.047 3037.31 158.0 4.05 0.109 689.75 -368.3 478.55 170.70 0.989 1069.19 -4.0 0.019 - - - - - - 15.92 15.52 12.72
22741 end climb: SURFACE_DEPTH_REACHED
22741 begin surface coast
22746 end surface coast: CONTROL_FINISHED_OK
22746 begin surface
SM 1.31 - - - - 185.6 134.80 0.952 501.1 2.5 21.39 0.047 544.4 25.4 - 3.42 0.053 457.8 132.7 -0.335 - - 12.77 15.74 15.74 -