NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 228 * Raw log
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• Previous call tries 1 • 91.65 of 575.00 AH used of 24V (84.06% remains)
• Surface angle -66.6 deg, depth 1.52 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.81 (SM_CC=475)
• GPS1 time: 120 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
8.98 - - - 60.21 VBD -1.56 - - 180.50 - - - 2067.06 - -107.06 49.88 0.005 2182.41 - - - - - - - - - - 15.66
60.65 3.02 -3.53 10 123.31 -1.56 16.76 0.231 1959.81 106.2 3.66 0.112 690.94 -376.0 -107.06 32.27 0.006 3456.88 39.5 -3.286 - - - - - - 15.68 15.67 15.66
131.84 15.01 -19.98 23 138.43 roll -1.56 - - 1960.06 - 3.40 0.041 2133.94 424.4 -107.06 - - 3457.66 - - - - - - - - - 15.83 -
321.87 50.54 -15.36 61 328.65 roll -1.56 - - 1959.75 - 3.81 0.104 689.88 -379.0 -107.06 - - 3458.69 - - - - - - - - - 15.86 -
372.07 58.09 -15.46 71 378.61 roll -1.56 - - 1960.31 - 3.39 0.040 2134.62 426.2 -107.06 - - 3458.75 - - - - - - - - - 15.89 -
562.43 83.80 -12.85 109 568.70 roll -1.56 - - 1959.69 - 3.14 0.089 3361.38 390.7 -107.06 - - 3460.81 - - - - - - - - - 15.91 -
632.29 92.67 -12.31 123 638.89 roll -1.56 - - 1960.12 - 3.04 0.036 2064.75 -426.5 -107.06 - - 3461.03 - - - - - - - - - 15.94 -
827.33 111.24 -9.18 150 833.42 roll -1.56 - - 1958.88 - 3.61 0.106 690.00 -380.8 -107.06 - - 3461.25 - - - - - - - - - 15.92 -
911.59 120.77 -11.74 167 919.05 roll -1.56 - - 1959.81 - 3.36 0.040 2136.31 430.4 -107.06 - - 3462.34 - - - - - - - - - 15.96 -
1227.36 151.89 -9.62 199 1234.55 roll -1.56 - - 1960.38 - 3.78 0.103 689.06 -382.9 -107.06 - - 3461.53 - - - - - - - - - 15.98 -
1253.15 154.74 -10.15 204 1259.14 roll -1.56 - - 1959.94 - 3.37 0.040 2135.88 429.3 -107.06 - - 3463.00 - - - - - - - - - 16.03 -
1563.16 187.06 -10.37 236 1564.73 no move -1.56 - - 1959.62 - - - 2137.00 - -107.06 - - 3462.56 - - - - - - - - - - -
1873.18 217.82 -9.45 267 1874.75 no move -1.56 - - 1959.75 - - - 2136.75 - -107.06 - - 3462.00 - - - - - - - - - - -
2183.21 245.43 -8.88 298 2190.40 roll -1.56 - - 1958.50 - 3.79 0.106 689.62 -381.8 -107.06 - - 3463.16 - - - - - - - - - 16.06 -
2239.05 251.16 -10.14 309 2245.02 roll -1.56 - - 1959.94 - 3.39 0.044 2133.31 425.9 -107.06 - - 3463.84 - - - - - - - - - 16.08 -
2549.07 280.04 -9.50 341 2550.64 no move -1.56 - - 1960.25 - - - 2133.44 - -107.06 - - 3462.00 - - - - - - - - - - -
2859.09 308.61 -9.37 372 2860.66 no move -1.56 - - 1959.88 - - - 2133.56 - -107.06 - - 3462.00 - - - - - - - - - - -
3169.20 337.08 -8.85 403 3176.30 roll -1.56 - - 1959.44 - 3.79 0.108 689.50 -381.0 -107.06 - - 3461.56 - - - - - - - - - 16.10 -
3194.89 339.72 -9.43 408 3200.87 roll -1.56 - - 1960.19 - 3.38 0.044 2136.56 428.1 -107.06 - - 3461.84 - - - - - - - - - 16.10 -
3504.91 367.69 -9.11 440 3506.49 no move -1.56 - - 1959.56 - - - 2135.50 - -107.06 - - 3461.22 - - - - - - - - - - -
3814.94 396.61 -9.30 471 3822.12 roll -1.56 - - 1959.94 - 3.80 0.110 690.25 -380.3 -107.06 - - 3461.69 - - - - - - - - - 16.11 -
3864.84 401.99 -10.77 481 3872.32 roll -1.56 - - 1959.88 - 3.38 0.045 2134.62 427.3 -107.06 - - 3462.28 - - - - - - - - - 16.11 -
4180.63 431.44 -9.41 513 4182.20 no move -1.56 - - 1959.69 - - - 2134.44 - -107.06 - - 3459.09 - - - - - - - - - - -
4490.66 460.27 -9.18 544 4497.85 roll -1.56 - - 1959.19 - 3.80 0.110 688.44 -380.5 -107.06 - - 3459.78 - - - - - - - - - 16.12 -
4526.32 463.96 -10.36 551 4532.60 roll -1.56 - - 1959.81 - 3.38 0.045 2135.56 428.1 -107.06 - - 3459.97 - - - - - - - - - 16.08 -
4836.35 493.79 -9.45 583 4837.93 no move -1.56 - - 1960.00 - - - 2135.25 - -107.06 - - 3457.91 - - - - - - - - - - -
5146.39 523.68 -9.30 614 5147.97 no move -1.56 - - 1959.69 - - - 2135.31 - -107.06 - - 3456.47 - - - - - - - - - - -
5456.42 552.74 -9.18 645 5463.62 roll -1.56 - - 1958.75 - 3.80 0.110 690.88 -380.1 -107.06 - - 3456.84 - - - - - - - - - 16.11 -
5536.35 561.06 -10.26 661 5543.87 roll -1.56 - - 1959.31 - 3.41 0.047 2131.25 422.4 -107.06 - - 3456.97 - - - - - - - - - 16.12 -
5852.14 587.97 -8.32 693 5859.62 roll -1.56 - - 1958.75 - 3.79 0.109 689.56 -380.4 -107.06 - - 3457.03 - - - - - - - - - 16.12 -
5878.21 590.27 -8.51 698 5884.17 roll -1.56 - - 1959.50 - 3.38 0.046 2133.38 427.2 -107.06 - - 3455.78 - - - - - - - - - 16.13 -
6188.24 613.75 -7.53 730 6189.82 no move -1.56 - - 1959.88 - - - 2133.88 - -107.06 - - 3453.47 - - - - - - - - - - -
6498.27 636.85 -7.27 761 6505.47 roll -1.56 - - 1960.25 - 3.78 0.110 689.62 -382.1 -107.06 - - 3454.72 - - - - - - - - - 16.11 -
6563.94 642.48 -8.42 774 6569.93 roll -1.56 - - 1959.69 - 3.39 0.046 2132.94 425.8 -107.06 - - 3453.69 - - - - - - - - - 16.12 -
6874.00 666.87 -7.96 806 6881.19 roll -1.56 - - 1960.06 - 3.79 0.109 689.81 -380.8 -107.06 - - 3453.66 - - - - - - - - - 16.12 -
6919.79 671.10 -9.93 815 6925.78 roll -1.56 - - 1960.38 - 3.38 0.046 2132.88 426.9 -107.06 - - 3454.12 - - - - - - - - - 16.11 -
7229.82 697.19 -8.71 847 7237.02 roll -1.56 - - 1958.94 - 3.80 0.110 689.62 -379.8 -107.06 - - 3453.34 - - - - - - - - - 16.11 -
7259.73 700.18 -9.24 853 7267.22 roll -1.56 - - 1959.31 - 3.39 0.046 2133.50 425.9 -107.06 - - 3453.25 - - - - - - - - - 16.12 -
7575.53 727.93 -8.78 885 7582.74 roll -1.56 - - 1959.88 - 3.80 0.110 688.31 -380.3 -107.06 - - 3453.66 - - - - - - - - - 16.12 -
7645.57 735.14 -10.42 899 7653.07 roll -1.56 - - 1959.75 - 3.38 0.046 2133.25 427.5 -107.06 - - 3452.72 - - - - - - - - - 16.13 -
7961.37 763.11 -8.45 931 7968.56 roll -1.56 - - 1959.38 - 3.79 0.110 688.62 -381.2 -107.06 - - 3451.72 - - - - - - - - - 16.12 -
8011.29 768.08 -9.74 941 8018.77 roll -1.56 - - 1959.19 - 3.39 0.046 2132.31 425.9 -107.06 - - 3452.94 - - - - - - - - - 16.13 -
8327.08 793.63 -7.81 973 8334.29 roll -1.56 - - 1958.69 - 3.79 0.110 688.38 -381.0 -107.06 - - 3452.03 - - - - - - - - - 16.12 -
8362.89 796.55 -8.23 980 8368.89 roll -1.56 - - 1959.50 - 3.38 0.046 2134.12 427.7 -107.06 - - 3452.38 - - - - - - - - - 16.10 -
8672.92 819.93 -7.77 1012 8680.11 roll -1.56 - - 1958.44 - 3.80 0.110 690.81 -379.8 -107.06 - - 3451.88 - - - - - - - - - 16.11 -
8712.83 823.25 -8.27 1020 8720.56 roll -1.56 - - 1958.88 - 3.38 0.047 2134.00 427.0 -107.06 - - 3451.59 - - - - - - - - - 16.12 -
9028.62 846.25 -6.97 1052 9030.19 no move -1.56 - - 1959.94 - - - 2133.88 - -107.06 - - 3448.69 - - - - - - - - - - -
9338.64 868.63 -7.46 1083 9340.21 no move -1.56 - - 1959.88 - - - 2134.50 - -107.06 - - 3448.72 - - - - - - - - - - -
9648.66 890.22 -6.38 1114 9655.91 roll -1.56 - - 1960.25 - 3.82 0.113 689.75 -378.2 -107.06 - - 3449.25 - - - - - - - - - 16.11 -
9738.63 897.96 -8.29 1132 9746.12 roll -1.56 - - 1959.81 - 3.40 0.048 2132.06 424.2 -107.06 - - 3450.06 - - - - - - - - - 16.12 -
10054.43 921.84 -7.58 1164 10061.63 roll -1.56 - - 1959.69 - 3.80 0.112 689.31 -379.7 -107.06 - - 3449.62 - - - - - - - - - 16.11 -
10094.47 925.40 -8.78 1172 10102.00 roll -1.56 - - 1959.50 - 3.41 0.047 2132.06 423.1 -107.06 - - 3449.38 - - - - - - - - - 16.11 -
10410.26 948.23 -7.20 1204 10417.50 roll -1.56 - - 1959.81 - 3.82 0.113 689.62 -377.6 -107.06 - - 3448.97 - - - - - - - - - 16.10 -
10460.24 952.45 -8.49 1214 10467.88 roll -1.56 - - 1959.69 - 3.41 0.047 2131.44 422.8 -107.06 - - 3447.91 - - - - - - - - - 16.11 -
10776.05 974.52 -6.97 1246 10777.62 no move -1.56 - - 1959.75 - - - 2131.31 - -107.06 - - 3447.44 - - - - - - - - - - -
10996 end dive: TARGET_DEPTH_EXCEEDED
10996 begin apogee
10997.75 990.35 -7.07 1268 11091.97 -0.42 2.51 0.119 2239.69 111.5 0.11 0.212 2114.12 -156.3 - 85.51 2.238 3019.25 -5.0 0.366 - - - - - - 16.04 15.55 12.30
11103 end apogee: CONTROL_FINISHED_OK
11103 begin climb
11106.29 991.15 - 1277 11219.09 1.56 3.87 0.060 2729.44 126.6 3.33 0.095 3360.31 374.2 107.06 95.07 2.166 2580.41 -4.6 0.349 - - - - - - 15.68 15.34 12.76
11267.68 981.41 10.17 1307 11273.53 done 1.56 - - 2729.62 - 3.05 0.041 2117.38 -407.5 107.06 - - 2576.34 - - - - - - - - - 15.64 -
11577.69 949.09 9.98 1339 11583.65 done 1.56 - - 2729.44 - 3.21 0.092 3362.81 388.0 107.06 - - 2567.22 - - - - - - - - - 15.85 -
11701.98 935.48 10.28 1364 11709.24 done 1.56 - - 2729.56 - 2.99 0.042 2117.00 -416.7 107.06 - - 2566.66 - - - - - - - - - 15.92 -
12017.75 903.41 10.17 1396 12023.68 done 1.56 - - 2729.56 - 3.18 0.092 3363.62 392.0 107.06 - - 2564.72 - - - - - - - - - 15.97 -
12077.77 896.85 11.37 1408 12083.53 done 1.56 - - 2728.44 - 2.97 0.041 2117.06 -419.7 107.06 - - 2566.41 - - - - - - - - - 16.00 -
12387.79 864.91 10.16 1440 12393.66 done 1.56 - - 2729.19 - 3.18 0.091 3364.12 392.2 107.06 - - 2562.78 - - - - - - - - - 16.03 -
12567.82 845.36 9.92 1476 12573.82 done 1.56 - - 2729.19 - 2.95 0.041 2117.31 -422.6 107.06 - - 2564.25 - - - - - - - - - 16.03 -
12877.83 814.72 9.62 1508 12883.71 done 1.56 - - 2729.25 - 3.16 0.091 3363.06 394.2 107.06 - - 2562.44 - - - - - - - - - 16.05 -
12987.85 803.03 10.50 1530 12993.61 done 1.56 - - 2727.88 - 2.94 0.042 2116.50 -424.0 107.06 - - 2563.97 - - - - - - - - - 16.07 -
13297.86 773.52 8.84 1562 13303.73 done 1.56 - - 2729.44 - 3.18 0.090 3363.06 392.0 107.06 - - 2561.09 - - - - - - - - - 16.06 -
13432.12 760.78 9.34 1589 13439.40 done 1.56 - - 2729.31 - 2.94 0.041 2117.38 -423.7 107.06 - - 2561.75 - - - - - - - - - 16.08 -
13747.95 736.51 7.50 1621 13753.77 done 1.58 - - 2729.00 - 3.18 0.090 3362.50 391.5 107.06 - - 2560.47 - - - - - - - - - 16.08 -
13842.16 728.59 8.09 1640 13849.44 done 1.58 - - 2729.25 - 2.92 0.041 2117.62 -426.3 107.06 - - 2561.88 - - - - - - - - - 16.09 -
14157.94 704.47 7.60 1672 14159.51 VBD 1.58 - - 2729.12 - - - 2117.12 - 107.06 - - 2558.88 - - - - - - - - - - -
14468.01 679.62 8.41 1703 14473.90 done 1.58 - - 2729.88 - 3.19 0.091 3364.88 391.1 107.06 - - 2560.69 - - - - - - - - - 16.10 -
14678.05 659.89 9.18 1745 14683.93 done 1.58 - - 2728.94 - 2.94 0.041 2115.44 -425.0 107.06 - - 2559.34 - - - - - - - - - 16.10 -
14988.08 634.07 8.05 1777 14993.94 done 1.58 - - 2729.06 - 3.18 0.090 3362.62 392.2 107.06 - - 2559.84 - - - - - - - - - 16.11 -
15128.61 621.60 8.96 1805 15133.91 done 1.58 - - 2729.62 - 2.93 0.042 2115.19 -425.7 107.06 - - 2559.09 - - - - - - - - - 16.10 -
15438.42 597.65 7.35 1837 15444.01 done 1.60 - - 2729.19 - 3.18 0.090 3363.00 392.4 107.06 - - 2559.03 - - - - - - - - - 16.11 -
15598.17 584.72 8.00 1869 15603.97 done 1.60 - - 2729.44 - 2.93 0.041 2116.12 -425.6 107.06 - - 2559.69 - - - - - - - - - 16.10 -
15908.24 563.21 6.76 1901 15909.81 VBD 1.64 - - 2729.44 - - - 2115.81 - 107.06 - - 2557.22 - - - - - - - - - - -
16218.29 542.77 6.39 1932 16224.26 1.69 0.16 0.071 2759.88 190.3 3.19 0.089 3363.06 391.0 107.06 - - 2559.22 - - - - - - - - 16.09 16.09 -
16278.31 538.24 7.40 1944 16284.02 done 1.71 - - 2759.56 - 2.92 0.041 2115.62 -427.2 107.06 - - 2559.59 - - - - - - - - - 16.11 -
16588.33 517.24 6.70 1976 16589.90 VBD 1.75 - - 2760.56 - - - 2115.38 - 107.06 - - 2556.69 - - - - - - - - - - -
16898.36 496.48 6.60 2007 16904.75 1.79 0.10 0.088 2785.38 248.2 3.19 0.089 3364.06 391.4 107.06 - - 2557.25 - - - - - - - - 16.11 16.07 -
16972.71 491.13 7.29 2022 16980.33 done 1.82 - - 2785.31 - 2.93 0.041 2114.81 -426.4 107.06 - - 2558.09 - - - - - - - - - 16.07 -
17288.74 469.35 6.78 2054 17290.36 VBD 1.85 - - 2785.12 - - - 2114.31 - 107.06 - - 2556.75 - - - - - - - - - - -
17598.78 448.39 6.72 2085 17600.60 1.89 0.12 0.078 2810.44 211.0 - - 2114.56 - 107.06 - - 2555.97 - - - - - - - - 16.14 - -
17909.08 426.33 7.06 2116 17915.62 done 1.92 - - 2810.06 - 3.18 0.089 3362.81 392.5 107.06 - - 2555.50 - - - - - - - - - 16.09 -
18038.53 416.23 7.97 2142 18046.22 done 1.92 - - 2810.94 - 2.92 0.041 2115.56 -427.1 107.06 - - 2557.66 - - - - - - - - - 16.09 -
18354.62 394.88 6.63 2174 18356.23 VBD 1.97 - - 2810.62 - - - 2115.44 - 107.06 - - 2556.34 - - - - - - - - - - -
18664.67 375.87 5.80 2205 18671.63 2.03 0.17 0.069 2844.12 197.1 3.15 0.087 3362.00 395.7 107.06 - - 2558.09 - - - - - - - - 16.15 16.07 -
18810.51 366.57 6.35 2234 18816.10 done 2.08 - - 2845.19 - 2.91 0.040 2115.31 -428.4 107.06 - - 2558.75 - - - - - - - - - 16.11 -
19120.52 349.54 5.30 2266 19122.33 2.17 0.16 0.070 2874.69 184.4 - - 2115.50 - 107.06 - - 2557.94 - - - - - - - - 16.14 - -
19430.57 332.71 5.30 2297 19437.65 done 2.25 - - 2874.06 - 3.69 0.106 687.50 -387.0 107.06 - - 2557.97 - - - - - - - - - 16.07 -
19600.64 322.04 6.24 2331 19609.03 2.30 0.17 0.066 2909.50 208.5 3.52 0.049 2187.50 426.1 107.06 - - 2555.88 - - - - - - - - 16.07 16.09 -
19916.71 303.14 6.27 2363 19922.37 done 2.36 - - 2909.81 - 2.98 0.090 3363.69 394.7 107.06 - - 2557.19 - - - - - - - - - 16.08 -
19986.74 298.61 6.69 2377 19992.35 done 2.40 - - 2909.94 - 2.92 0.040 2114.00 -428.0 107.06 - - 2556.62 - - - - - - - - - 16.05 -
20296.76 278.68 6.23 2409 20298.63 2.45 0.20 0.056 2945.19 176.2 - - 2114.25 - 107.06 - - 2556.03 - - - - - - - - 16.07 - -
20606.81 259.33 6.07 2440 20612.55 done 2.51 - - 2945.88 - 3.17 0.087 3363.62 394.1 107.06 - - 2557.09 - - - - - - - - - 16.03 -
20676.84 254.90 6.26 2454 20682.65 2.57 0.12 0.078 2971.19 210.9 2.92 0.040 2113.25 -428.2 107.06 - - 2557.06 - - - - - - - - 16.07 16.02 -
20986.87 240.29 4.50 2486 21051.81 done 2.66 - - 2971.75 - 3.22 0.088 3364.94 388.7 176.46 53.43 1.301 2298.19 -4.8 0.148 - - - - - - - 15.84 12.37
21154.61 221.82 15.29 2519 21162.29 done 2.66 - - 2971.94 - 2.96 0.040 2117.31 -421.5 176.46 - - 2293.78 - - - - - - - - - 15.93 -
21470.65 178.55 13.46 2551 21472.26 VBD 2.66 - - 2971.88 - - - 2117.50 - 176.46 - - 2288.19 - - - - - - - - - - -
21780.69 137.09 13.35 2582 21786.49 done 2.66 - - 2972.06 - 3.20 0.087 3364.56 389.7 176.46 - - 2288.06 - - - - - - - - - 15.98 -
21804.70 133.50 13.95 2587 21812.42 done 2.66 - - 2971.38 - 2.96 0.040 2115.88 -421.9 176.46 - - 2287.59 - - - - - - - - - 16.00 -
22120.74 100.43 8.27 2619 22127.93 done 2.66 - - 2971.44 - 3.70 0.103 687.50 -386.0 176.46 - - 2286.53 - - - - - - - - - 16.00 -
22196.90 94.83 6.77 2634 22204.03 2.69 0.18 0.061 3005.31 188.2 3.54 0.047 2187.06 423.6 176.46 - - 2285.03 - - - - - - - - 16.02 15.97 -
22387.88 88.32 2.92 2672 22506.01 2.83 0.18 0.060 3035.56 168.1 3.06 0.089 3363.56 384.5 276.56 105.00 1.074 1891.72 -3.7 0.051 - - - - - - 16.02 15.65 12.46
22734.98 48.57 13.66 2740 22741.66 roll 2.83 - - 3035.19 - 2.96 0.038 2116.25 -421.4 276.56 - - 1890.44 - - - - - - - - - 15.86 -
22925.58 32.88 4.96 2778 22994.41 VBD 2.90 - - 3036.31 - - - 2115.69 - 336.88 63.34 0.996 1645.22 -3.9 0.021 - - - - - - - - 12.56
23178.33 21.82 3.33 2828 23285.90 3.02 0.30 0.050 3083.25 156.5 3.24 0.086 3362.94 385.0 429.10 95.75 0.974 1271.34 -3.9 0.014 - - - - - - 15.88 15.60 12.55
23434 end climb: SURFACE_DEPTH_REACHED
23435 begin surface coast
23460 end surface coast: CONTROL_FINISHED_OK
23460 begin surface
SM 0.97 - - - - 185.4 48.85 0.954 1084.4 20.2 22.50 0.050 1092.9 48.6 - 3.07 0.040 1075.8 349.4 -0.866 - - 12.61 15.81 15.83 -