NANOOS May23 * SG236 * Dive index * Mission links * Dive 21 * Raw log
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• Previous call tries 2 • 7.53 of 575.00 AH used of 24V (98.69% remains)
• Surface angle -61.8 deg, depth 1.16 m • Intended pitch -20.1 deg, speed -9.074 cm/s
• No surface pump (final VBD was 1665.2, SM_CC=400)
• GPS1 time: 1 s
• GPS2 time: 3 s • Transponder ping count: 30
• 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
6.29 - - - 117.43 VBD -1.10 - - 180.31 - - - 2118.31 - -97.32 108.95 0.005 2702.78 - - - - - - - - - - 16.06
117.73 3.67 -2.49 21 171.10 -1.10 13.73 0.269 2028.25 134.6 3.86 0.136 692.25 -369.4 -97.32 22.75 0.006 3678.75 42.9 -4.355 - - - - - - 15.95 15.97 16.03
199.36 18.78 -15.56 36 206.11 roll -1.10 - - 2030.19 - 3.52 0.068 2121.19 405.9 -97.32 - - 3677.75 - - - - - - - - - 16.05 -
389.37 46.55 -13.34 74 395.98 roll -1.10 - - 2028.81 - 3.28 0.120 3357.00 376.8 -97.32 - - 3679.34 - - - - - - - - - 16.05 -
429.38 52.26 -14.30 82 435.95 roll -1.10 - - 2030.06 - 3.19 0.064 2076.56 -401.4 -97.32 - - 3678.31 - - - - - - - - - 16.07 -
619.40 75.51 -10.36 120 623.79 no move -1.10 - - 2030.19 - - - 2076.50 - -97.32 - - 3677.31 - - - - - - - - - - -
804.42 94.81 -9.99 157 811.14 roll -1.10 - - 2030.31 - 3.38 0.116 3357.25 378.9 -97.32 - - 3678.34 - - - - - - - - - 16.07 -
944.47 108.79 -9.72 185 950.44 roll -1.10 - - 2030.75 - 3.19 0.064 2075.19 -401.9 -97.32 - - 3678.03 - - - - - - - - - 16.09 -
1254.49 136.89 -9.12 217 1256.10 no move -1.10 - - 2030.31 - - - 2075.56 - -97.32 - - 3677.38 - - - - - - - - - - -
1564.55 167.38 -10.04 248 1570.60 roll -1.10 - - 2030.31 - 3.38 0.117 3359.44 379.8 -97.32 - - 3678.50 - - - - - - - - - 16.10 -
1654.54 177.13 -10.88 266 1660.51 roll -1.10 - - 2030.31 - 3.19 0.064 2077.00 -402.0 -97.32 - - 3678.69 - - - - - - - - - 16.13 -
1964.57 206.78 -9.07 298 1971.94 roll -1.10 - - 2030.69 - 3.71 0.137 689.81 -373.9 -97.32 - - 3677.41 - - - - - - - - - 16.10 -
1994.48 209.74 -9.19 304 2002.13 roll -1.10 - - 2030.62 - 3.45 0.069 2123.62 415.6 -97.32 - - 3678.06 - - - - - - - - - 16.13 -
2310.24 236.84 -8.44 336 2317.67 roll -1.10 - - 2030.50 - 3.81 0.133 690.19 -376.2 -97.32 - - 3677.22 - - - - - - - - - 16.11 -
2345.99 240.09 -8.90 343 2352.13 roll -1.10 - - 2031.06 - 3.42 0.069 2124.31 419.3 -97.32 - - 3677.53 - - - - - - - - - 16.12 -
2656.02 266.90 -8.52 375 2657.62 no move -1.10 - - 2030.25 - - - 2124.62 - -97.32 - - 3676.53 - - - - - - - - - - -
2966.06 295.18 -9.63 406 2967.66 no move -1.10 - - 2030.19 - - - 2124.38 - -97.32 - - 3676.69 - - - - - - - - - - -
3276.10 325.45 -9.46 437 3282.14 roll -1.10 - - 2029.75 - 3.24 0.123 3358.12 380.8 -97.32 - - 3678.22 - - - - - - - - - 16.13 -
3320.35 329.91 -10.01 446 3327.84 roll -1.10 - - 2031.00 - 3.17 0.067 2075.50 -404.6 -97.32 - - 3677.91 - - - - - - - - - 16.16 -
3636.14 359.16 -9.09 478 3637.75 no move -1.10 - - 2030.44 - - - 2075.38 - -97.32 - - 3676.34 - - - - - - - - - - -
3946.17 386.39 -8.62 509 3947.77 no move -1.10 - - 2030.69 - - - 2075.44 - -97.32 - - 3675.91 - - - - - - - - - - -
4256.20 411.82 -7.92 540 4262.28 roll -1.10 - - 2030.81 - 3.37 0.122 3356.31 380.1 -97.32 - - 3676.34 - - - - - - - - - 16.15 -
4296.24 415.29 -8.69 548 4302.17 roll -1.10 - - 2031.19 - 3.15 0.069 2077.06 -406.1 -97.32 - - 3675.88 - - - - - - - - - 16.16 -
4606.22 439.94 -7.74 580 4613.52 roll -1.10 - - 2031.06 - 3.69 0.140 690.94 -375.6 -97.32 - - 3676.31 - - - - - - - - - 16.15 -
4641.85 442.86 -7.94 587 4647.97 roll -1.10 - - 2030.56 - 3.48 0.072 2123.25 411.6 -97.32 - - 3676.34 - - - - - - - - - 16.17 -
4951.82 466.32 -7.63 619 4957.90 roll -1.10 - - 2030.31 - 3.24 0.125 3359.50 381.6 -97.32 - - 3675.12 - - - - - - - - - 16.15 -
4991.84 469.64 -8.10 627 4997.81 roll -1.10 - - 2031.06 - 3.14 0.069 2077.56 -408.3 -97.32 - - 3675.56 - - - - - - - - - 16.18 -
5301.91 494.88 -8.39 659 5309.20 roll -1.10 - - 2029.75 - 3.67 0.142 690.62 -377.9 -97.32 - - 3675.00 - - - - - - - - - 16.14 -
5331.75 497.70 -8.81 665 5339.40 roll -1.10 - - 2030.38 - 3.48 0.073 2122.88 411.6 -97.32 - - 3674.88 - - - - - - - - - 16.18 -
5647.50 525.06 -8.48 697 5649.10 no move -1.10 - - 2030.75 - - - 2122.69 - -97.32 - - 3673.50 - - - - - - - - - - -
5957.52 551.23 -8.18 728 5959.12 no move -1.10 - - 2030.56 - - - 2122.62 - -97.32 - - 3673.41 - - - - - - - - - - -
6267.52 576.00 -7.98 759 6273.56 roll -1.10 - - 2030.94 - 3.22 0.129 3358.25 383.7 -97.32 - - 3673.16 - - - - - - - - - 16.16 -
6311.79 579.91 -8.74 768 6319.34 roll -1.10 - - 2030.50 - 3.14 0.072 2077.06 -408.0 -97.32 - - 3673.12 - - - - - - - - - 16.18 -
6627.57 605.20 -7.92 800 6633.65 roll -1.10 - - 2028.75 - 3.33 0.125 3357.56 384.5 -97.32 - - 3674.19 - - - - - - - - - 16.16 -
6671.81 609.03 -8.58 809 6679.31 roll -1.10 - - 2030.56 - 3.13 0.072 2076.94 -409.1 -97.32 - - 3673.00 - - - - - - - - - 16.19 -
6987.61 634.05 -8.13 841 6993.70 roll -1.10 - - 2027.81 - 3.32 0.126 3359.06 386.2 -97.32 - - 3674.34 - - - - - - - - - 16.16 -
7017.61 636.70 -8.42 847 7023.58 roll -1.10 - - 2030.69 - 3.13 0.072 2077.50 -409.4 -97.32 - - 3672.97 - - - - - - - - - 16.16 -
7327.62 663.02 -8.49 879 7329.22 no move -1.10 - - 2030.81 - - - 2077.50 - -97.32 - - 3672.03 - - - - - - - - - - -
7637.65 688.25 -7.81 910 7643.74 roll -1.10 - - 2030.81 - 3.35 0.126 3359.38 382.7 -97.32 - - 3672.28 - - - - - - - - - 16.16 -
7671.89 691.23 -8.13 917 7679.39 roll -1.10 - - 2030.56 - 3.14 0.073 2077.06 -408.4 -97.32 - - 3672.28 - - - - - - - - - 16.19 -
7987.68 715.25 -7.67 949 7989.27 no move -1.10 - - 2030.31 - - - 2076.81 - -97.32 - - 3671.59 - - - - - - - - - - -
8297.70 739.00 -7.29 980 8303.80 roll -1.10 - - 2030.88 - 3.36 0.127 3358.44 381.4 -97.32 - - 3671.06 - - - - - - - - - 16.16 -
8341.95 742.49 -7.75 989 8349.45 roll -1.10 - - 2030.94 - 3.12 0.074 2077.06 -410.7 -97.32 - - 3672.19 - - - - - - - - - 16.19 -
8657.73 764.86 -7.24 1021 8659.33 no move -1.10 - - 2030.12 - - - 2077.12 - -97.32 - - 3669.78 - - - - - - - - - - -
8967.76 788.18 -7.49 1052 8973.87 roll -1.10 - - 2030.75 - 3.36 0.127 3357.88 381.2 -97.32 - - 3671.06 - - - - - - - - - 16.16 -
9002.00 790.96 -7.69 1059 9009.49 roll -1.10 - - 2030.25 - 3.11 0.074 2077.44 -411.7 -97.32 - - 3670.91 - - - - - - - - - 16.18 -
9317.78 814.04 -7.38 1091 9319.39 no move -1.10 - - 2030.56 - - - 2077.94 - -97.32 - - 3669.81 - - - - - - - - - - -
9627.80 837.96 -8.13 1122 9629.41 no move -1.10 - - 2029.94 - - - 2078.31 - -97.32 - - 3669.88 - - - - - - - - - - -
9937.83 863.93 -8.37 1153 9939.44 no move -1.10 - - 2030.62 - - - 2077.44 - -97.32 - - 3669.31 - - - - - - - - - - -
10247.85 888.10 -7.71 1184 10253.94 roll -1.10 - - 2030.00 - 3.38 0.128 3358.94 379.1 -97.32 - - 3670.00 - - - - - - - - - 16.16 -
10282.09 890.94 -7.90 1191 10289.58 roll -1.10 - - 2029.69 - 3.13 0.075 2078.50 -409.1 -97.32 - - 3669.88 - - - - - - - - - 16.19 -
10597.84 914.99 -7.70 1223 10605.16 roll -1.10 - - 2030.31 - 3.68 0.149 691.56 -376.9 -97.32 - - 3668.97 - - - - - - - - - 16.15 -
10647.71 919.24 -8.43 1233 10655.37 roll -1.10 - - 2030.44 - 3.48 0.077 2118.44 410.0 -97.32 - - 3669.97 - - - - - - - - - 16.17 -
10963.48 942.76 -7.37 1265 10965.08 no move -1.10 - - 2030.25 - - - 2118.25 - -97.32 - - 3668.62 - - - - - - - - - - -
11273.48 964.85 -7.19 1296 11280.84 roll -1.10 - - 2029.06 - 3.80 0.147 691.75 -375.4 -97.32 - - 3671.25 - - - - - - - - - 16.15 -
11333.39 969.58 -7.93 1308 11341.12 roll -1.10 - - 2030.81 - 3.51 0.078 2118.50 406.5 -97.32 - - 3668.78 - - - - - - - - - 16.17 -
11479 end dive: TARGET_DEPTH_EXCEEDED
11479 begin apogee
11480.56 980.35 -7.43 1323 11564.50 -0.19 1.50 0.135 2256.38 150.4 0.07 0.309 2116.12 -34.0 - 74.92 1.975 3281.62 -5.2 0.426 - - - - - - 16.13 15.58 13.11
11573 end apogee: CONTROL_FINISHED_OK
11573 begin climb
11573.55 982.35 - 1331 11664.15 1.10 2.04 0.073 2577.94 157.6 - - 2115.81 - 97.32 83.12 1.929 2884.22 -4.8 0.404 - - - - - - 15.67 - 12.79
11967.47 996.60 -3.01 1371 12139.11 1.76 0.95 0.063 2736.56 167.0 4.11 0.143 692.94 -346.2 288.72 157.61 1.957 2102.44 -5.0 0.419 - - - - - - 15.76 15.12 12.74
12367.46 949.77 18.04 1449 12373.71 roll 1.76 - - 2735.56 - 3.61 0.076 2116.06 394.2 288.72 - - 2102.06 - - - - - - - - - 15.65 -
12677.46 901.33 15.38 1481 12684.94 roll 1.76 - - 2736.38 - 3.91 0.143 691.31 -364.4 288.72 - - 2098.94 - - - - - - - - - 15.78 -
12903.29 861.32 18.31 1526 12909.48 roll 1.76 - - 2736.56 - 3.56 0.077 2118.31 400.8 288.72 - - 2100.22 - - - - - - - - - 15.88 -
13213.31 813.88 15.00 1558 13220.72 roll 1.76 - - 2737.56 - 3.87 0.142 692.00 -368.6 288.72 - - 2097.56 - - - - - - - - - 15.91 -
13289.04 801.05 17.22 1573 13295.23 roll 1.76 - - 2736.81 - 3.53 0.077 2119.56 404.4 288.72 - - 2101.06 - - - - - - - - - 15.94 -
13599.08 756.26 14.14 1605 13606.50 roll 1.76 - - 2737.94 - 3.86 0.142 691.75 -369.9 288.72 - - 2098.16 - - - - - - - - - 15.95 -
13674.82 744.47 15.59 1620 13681.01 roll 1.76 - - 2737.31 - 3.52 0.077 2116.56 404.8 288.72 - - 2099.88 - - - - - - - - - 15.98 -
13984.83 702.36 13.61 1652 13992.25 roll 1.76 - - 2736.25 - 3.84 0.141 689.81 -371.5 288.72 - - 2103.12 - - - - - - - - - 15.98 -
14040.56 693.80 15.63 1663 14046.71 roll 1.76 - - 2737.19 - 3.48 0.077 2118.31 410.5 288.72 - - 2100.97 - - - - - - - - - 16.03 -
14350.56 653.40 12.74 1695 14356.59 roll 1.76 - - 2737.44 - 3.27 0.129 3359.12 379.5 288.72 - - 2100.31 - - - - - - - - - 16.02 -
14370.56 650.64 13.26 1699 14376.54 roll 1.76 - - 2737.19 - 3.17 0.074 2080.19 -403.4 288.72 - - 2100.94 - - - - - - - - - 16.04 -
14680.58 609.91 13.16 1731 14687.93 roll 1.76 - - 2736.62 - 3.70 0.142 690.31 -375.6 288.72 - - 2099.59 - - - - - - - - - 16.03 -
14766.25 597.40 14.94 1748 14772.42 roll 1.76 - - 2737.75 - 3.48 0.077 2118.31 410.3 288.72 - - 2101.22 - - - - - - - - - 16.07 -
15076.26 559.83 11.71 1780 15077.87 no move 1.76 - - 2737.88 - - - 2117.56 - 288.72 - - 2098.28 - - - - - - - - - - -
15386.26 522.04 12.49 1811 15393.68 roll 1.76 - - 2736.81 - 3.81 0.141 691.50 -374.3 288.72 - - 2101.44 - - - - - - - - - 16.06 -
15542.08 500.10 14.10 1842 15548.24 roll 1.76 - - 2738.12 - 3.49 0.077 2117.69 408.7 288.72 - - 2100.56 - - - - - - - - - 16.07 -
15852.14 461.37 12.59 1874 15859.47 roll 1.76 - - 2737.94 - 3.79 0.138 690.62 -376.5 288.72 - - 2097.66 - - - - - - - - - 16.07 -
15887.77 456.48 13.79 1881 15893.92 roll 1.76 - - 2738.25 - 3.48 0.076 2120.81 411.0 288.72 - - 2100.59 - - - - - - - - - 16.11 -
16197.77 421.04 11.00 1913 16203.82 roll 1.76 - - 2737.12 - 3.26 0.128 3358.88 379.8 288.72 - - 2101.47 - - - - - - - - - 16.08 -
16247.79 415.13 11.84 1923 16253.79 roll 1.76 - - 2737.31 - 3.14 0.072 2079.88 -407.3 288.72 - - 2100.00 - - - - - - - - - 16.09 -
16557.81 381.20 10.80 1955 16564.13 roll 1.76 - - 2736.25 - 3.65 0.140 689.88 -380.8 288.72 - - 2102.25 - - - - - - - - - 16.09 -
16737.84 358.83 12.60 1991 16744.05 roll 1.76 - - 2737.25 - 3.51 0.075 2119.69 407.4 288.72 - - 2100.19 - - - - - - - - - 16.13 -
17047.85 323.42 11.52 2023 17055.22 roll 1.76 - - 2737.38 - 3.79 0.136 690.56 -377.1 288.72 - - 2097.88 - - - - - - - - - 16.10 -
17193.56 304.59 12.71 2052 17199.70 roll 1.76 - - 2738.12 - 3.48 0.075 2122.50 411.5 288.72 - - 2101.09 - - - - - - - - - 16.12 -
17503.56 270.40 10.38 2084 17505.17 no move 1.76 - - 2738.00 - - - 2122.25 - 288.72 - - 2098.41 - - - - - - - - - - -
17813.56 238.88 9.98 2115 17819.61 roll 1.76 - - 2737.94 - 3.24 0.122 3356.75 381.0 288.72 - - 2100.72 - - - - - - - - - 16.11 -
17953.61 222.66 11.63 2143 17959.62 roll 1.76 - - 2738.25 - 3.13 0.069 2077.38 -408.7 288.72 - - 2099.91 - - - - - - - - - 16.12 -
18263.62 190.78 10.36 2175 18269.71 roll 1.76 - - 2738.50 - 3.34 0.118 3359.06 383.7 288.72 - - 2100.06 - - - - - - - - - 16.12 -
18313.63 184.99 11.72 2185 18319.61 roll 1.76 - - 2738.31 - 3.14 0.068 2078.31 -407.9 288.72 - - 2100.09 - - - - - - - - - 16.13 -
18623.63 152.47 10.08 2217 18629.73 roll 1.76 - - 2738.44 - 3.33 0.117 3359.38 384.7 288.72 - - 2099.88 - - - - - - - - - 16.12 -
18693.78 145.12 10.25 2231 18699.64 roll 1.76 - - 2738.50 - 3.12 0.067 2077.31 -410.9 288.72 - - 2100.03 - - - - - - - - - 16.13 -
19003.71 117.69 8.36 2263 19009.77 roll 1.77 - - 2738.31 - 3.33 0.115 3358.62 384.8 288.72 - - 2099.97 - - - - - - - - - 16.11 -
19163.69 102.91 9.27 2295 19169.67 roll 1.77 - - 2738.56 - 3.12 0.067 2076.38 -411.0 288.72 - - 2100.09 - - - - - - - - - 16.14 -
19473.76 81.64 5.79 2354 19544.39 1.95 0.23 0.090 2781.06 184.8 3.68 0.135 689.88 -376.8 340.80 60.21 0.858 1889.66 -3.5 0.055 - - - - - - 16.14 15.89 13.02
19652.72 66.79 8.79 2389 19659.72 roll 1.95 - - 2781.12 - 3.46 0.070 2125.88 415.0 340.80 - - 1889.72 - - - - - - - - - 15.96 -
19843.10 55.45 5.32 2427 19925.49 2.15 0.25 0.078 2830.25 196.5 3.83 0.130 691.31 -374.6 400.25 72.74 0.811 1647.22 -3.3 0.038 - - - - - - 16.02 15.72 12.94
19938.85 48.99 7.93 2445 19945.74 roll 2.17 - - 2830.81 - 3.52 0.069 2126.06 407.6 400.25 - - 1648.97 - - - - - - - - - 15.81 -
20129.04 30.95 9.93 2483 20133.51 no move 2.17 - - 2830.75 - - - 2125.69 - 400.25 - - 1649.44 - - - - - - - - - - -
20314.15 14.84 7.19 2520 20318.56 no move 2.21 - - 2830.62 - - - 2125.38 - 400.25 - - 1649.09 - - - - - - - - - - -
20499 end climb: SURFACE_DEPTH_REACHED
20499 begin surface coast
20529 end surface coast: CONTROL_FINISHED_OK
20529 begin surface
SM 3.84 - - - - 181.8 - - 1647.2 - 16.68 0.070 1629.1 97.7 - 0.09 0.175 1665.2 18502.2 -41.495 - - 30.00 14.71 15.95 -