NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 371 * Raw log
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• Previous call tries 2 • 139.02 of 575.00 AH used of 24V (75.82% remains)
• Surface angle -65.6 deg, depth 1.58 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.02 (SM_CC=475)
• GPS1 time: 36 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
9.04 - - - 65.61 VBD -1.56 - - 187.94 - - - 2134.06 - -107.06 55.17 0.005 2263.91 - - - - - - - - - - 15.48
66.05 3.07 -3.02 11 122.36 -1.56 16.93 0.232 1960.12 104.7 - - 2135.19 - -107.06 29.41 0.006 3456.44 40.5 -3.455 - - - - - - 15.52 - 15.53
305.88 47.80 -16.26 58 310.28 no move -1.56 - - 1959.88 - - - 2134.75 - -107.06 - - 3458.50 - - - - - - - - - - -
490.98 72.88 -12.70 95 497.64 roll -1.56 - - 1960.00 - 3.83 0.101 686.50 -378.1 -107.06 - - 3459.31 - - - - - - - - - 15.76 -
541.07 79.51 -13.28 105 547.61 roll -1.56 - - 1959.94 - 3.39 0.040 2136.19 427.6 -107.06 - - 3459.66 - - - - - - - - - 15.78 -
731.12 98.86 -10.06 143 735.82 no move -1.56 - - 1960.19 - - - 2136.12 - -107.06 - - 3460.62 - - - - - - - - - - -
926.14 118.93 -9.42 164 927.71 no move -1.56 - - 1960.12 - - - 2136.25 - -107.06 - - 3461.25 - - - - - - - - - - -
1236.15 147.76 -9.42 195 1243.34 roll -1.56 - - 1959.50 - 3.79 0.103 688.50 -382.0 -107.06 - - 3463.12 - - - - - - - - - 15.81 -
1291.83 153.73 -10.97 206 1297.82 roll -1.56 - - 1959.75 - 3.34 0.042 2136.69 433.6 -107.06 - - 3463.12 - - - - - - - - - 15.93 -
1601.84 182.70 -9.39 238 1603.41 no move -1.56 - - 1960.12 - - - 2136.50 - -107.06 - - 3462.34 - - - - - - - - - - -
1911.85 213.51 -10.07 269 1919.04 roll -1.56 - - 1959.00 - 3.79 0.101 687.56 -382.3 -107.06 - - 3464.25 - - - - - - - - - 15.84 -
1961.76 219.43 -11.76 279 1969.23 roll -1.56 - - 1960.12 - 3.37 0.041 2135.31 429.6 -107.06 - - 3462.91 - - - - - - - - - 15.98 -
2277.54 252.19 -10.33 311 2283.39 roll -1.56 - - 1959.38 - 3.11 0.091 3363.75 395.0 -107.06 - - 3463.78 - - - - - - - - - 15.95 -
2317.79 256.53 -10.86 319 2323.38 roll -1.56 - - 1959.19 - 3.03 0.037 2065.12 -428.6 -107.06 - - 3465.28 - - - - - - - - - 15.98 -
2627.56 286.30 -8.93 351 2633.66 roll -1.56 - - 1959.81 - 3.62 0.108 686.50 -380.8 -107.06 - - 3462.47 - - - - - - - - - 15.92 -
2667.58 290.51 -10.23 359 2673.57 roll -1.56 - - 1959.31 - 3.37 0.044 2136.12 430.2 -107.06 - - 3463.62 - - - - - - - - - 15.96 -
2977.60 318.30 -8.54 391 2984.78 roll -1.56 - - 1959.31 - 3.79 0.102 686.69 -382.4 -107.06 - - 3464.88 - - - - - - - - - 15.93 -
3007.49 321.38 -9.36 397 3015.40 roll -1.56 - - 1959.44 - 3.36 0.042 2137.19 431.7 -107.06 - - 3464.19 - - - - - - - - - 15.99 -
3323.28 349.04 -8.84 429 3324.86 no move -1.56 - - 1959.56 - - - 2137.31 - -107.06 - - 3461.28 - - - - - - - - - - -
3633.32 378.78 -9.91 460 3634.88 no move -1.56 - - 1959.69 - - - 2137.50 - -107.06 - - 3461.09 - - - - - - - - - - -
3943.34 407.73 -9.21 491 3950.53 roll -1.56 - - 1958.50 - 3.79 0.106 687.12 -382.7 -107.06 - - 3460.75 - - - - - - - - - 15.88 -
4003.26 414.24 -10.49 503 4011.15 roll -1.56 - - 1960.00 - 3.38 0.045 2134.19 428.1 -107.06 - - 3461.09 - - - - - - - - - 16.00 -
4319.37 443.52 -9.16 535 4326.53 roll -1.56 - - 1959.06 - 3.79 0.104 686.62 -381.9 -107.06 - - 3460.19 - - - - - - - - - 15.94 -
4355.31 447.25 -10.43 542 4362.24 roll -1.56 - - 1959.94 - 3.37 0.043 2137.31 430.5 -107.06 - - 3458.03 - - - - - - - - - 15.99 -
4670.37 475.46 -9.49 574 4671.98 no move -1.56 - - 1960.06 - - - 2136.44 - -107.06 - - 3458.19 - - - - - - - - - - -
4980.68 503.38 -9.00 605 4987.60 roll -1.56 - - 1960.31 - 3.79 0.105 686.50 -382.6 -107.06 - - 3458.75 - - - - - - - - - 15.93 -
5026.49 508.16 -10.34 614 5032.38 roll -1.56 - - 1960.19 - 3.36 0.044 2121.62 427.1 -107.06 - - 3458.69 - - - - - - - - - 16.00 -
5336.56 537.03 -9.35 646 5338.17 no move -1.56 - - 1960.31 - - - 2135.25 - -107.06 - - 3455.91 - - - - - - - - - - -
5646.62 565.59 -9.22 677 5653.82 roll -1.56 - - 1959.25 - 3.83 0.106 686.44 -378.3 -107.06 - - 3455.53 - - - - - - - - - 15.93 -
5696.60 570.96 -10.33 687 5704.50 roll -1.56 - - 1959.56 - 3.38 0.045 2133.25 428.1 -107.06 - - 3455.31 - - - - - - - - - 16.03 -
6012.67 599.37 -9.25 719 6019.88 roll -1.56 - - 1959.88 - 3.81 0.105 687.31 -379.5 -107.06 - - 3453.31 - - - - - - - - - 15.92 -
6082.78 606.76 -10.63 733 6090.68 roll -1.56 - - 1959.50 - 3.37 0.045 2134.62 429.5 -107.06 - - 3454.19 - - - - - - - - - 16.02 -
6398.85 633.56 -8.36 765 6400.46 no move -1.56 - - 1959.94 - - - 2134.56 - -107.06 - - 3452.72 - - - - - - - - - - -
6708.91 658.95 -8.22 796 6716.36 roll -1.56 - - 1959.44 - 3.83 0.107 686.94 -378.0 -107.06 - - 3453.03 - - - - - - - - - 15.91 -
6779.26 666.06 -9.82 810 6787.20 roll -1.56 - - 1959.81 - 3.37 0.045 2133.12 429.1 -107.06 - - 3453.06 - - - - - - - - - 16.01 -
7095.33 693.56 -8.75 842 7102.54 roll -1.56 - - 1958.81 - 3.81 0.107 687.44 -379.4 -107.06 - - 3453.94 - - - - - - - - - 15.91 -
7191.35 703.28 -10.04 861 7197.23 roll -1.56 - - 1960.00 - 3.35 0.045 2124.62 429.0 -107.06 - - 3451.59 - - - - - - - - - 16.00 -
7501.49 729.73 -8.73 893 7508.57 roll -1.56 - - 1959.25 - 3.78 0.106 686.88 -380.4 -107.06 - - 3451.19 - - - - - - - - - 15.91 -
7541.46 733.75 -9.92 901 7549.36 roll -1.56 - - 1959.69 - 3.35 0.044 2133.50 431.8 -107.06 - - 3452.84 - - - - - - - - - 16.00 -
7857.53 759.00 -7.78 933 7864.67 roll -1.56 - - 1958.75 - 3.77 0.107 687.31 -383.6 -107.06 - - 3452.34 - - - - - - - - - 15.91 -
7903.46 763.39 -9.64 942 7909.35 roll -1.56 - - 1959.06 - 3.36 0.045 2125.19 427.9 -107.06 - - 3451.88 - - - - - - - - - 16.01 -
8213.52 789.33 -8.58 974 8220.93 roll -1.56 - - 1959.38 - 3.80 0.107 686.38 -378.6 -107.06 - - 3450.09 - - - - - - - - - 15.90 -
8279.84 795.85 -9.64 987 8286.77 roll -1.56 - - 1959.31 - 3.36 0.045 2134.25 430.9 -107.06 - - 3452.06 - - - - - - - - - 16.01 -
8594.90 821.40 -7.99 1019 8602.11 roll -1.56 - - 1959.50 - 3.81 0.106 686.75 -379.9 -107.06 - - 3450.00 - - - - - - - - - 15.89 -
8654.89 826.71 -8.68 1031 8662.79 roll -1.56 - - 1959.44 - 3.38 0.045 2133.38 428.0 -107.06 - - 3451.50 - - - - - - - - - 16.01 -
8970.97 849.49 -7.28 1063 8978.42 roll -1.56 - - 1959.94 - 3.83 0.107 687.12 -377.6 -107.06 - - 3448.53 - - - - - - - - - 15.87 -
9017.32 853.56 -8.88 1072 9024.26 roll -1.56 - - 1959.56 - 3.38 0.044 2132.06 427.5 -107.06 - - 3447.28 - - - - - - - - - 16.01 -
9332.39 876.47 -7.27 1104 9334.00 no move -1.56 - - 1960.19 - - - 2132.56 - -107.06 - - 3448.09 - - - - - - - - - - -
9642.44 899.61 -7.34 1135 9649.65 roll -1.56 - - 1959.88 - 3.81 0.107 686.69 -379.5 -107.06 - - 3447.72 - - - - - - - - - 15.87 -
9708.45 905.52 -8.79 1148 9715.39 roll -1.56 - - 1960.06 - 3.38 0.046 2134.25 428.3 -107.06 - - 3449.38 - - - - - - - - - 15.98 -
10023.52 928.62 -7.10 1180 10030.73 roll -1.56 - - 1959.81 - 3.83 0.109 686.69 -378.0 -107.06 - - 3447.38 - - - - - - - - - 15.86 -
10109.66 935.83 -7.70 1197 10116.60 roll -1.56 - - 1959.12 - 3.38 0.045 2133.44 428.0 -107.06 - - 3447.16 - - - - - - - - - 15.98 -
10424.72 957.04 -6.52 1229 10431.93 roll -1.56 - - 1958.50 - 3.85 0.109 686.38 -375.9 -107.06 - - 3448.38 - - - - - - - - - 15.86 -
10454.83 959.89 -7.27 1235 10462.85 roll -1.56 - - 1960.00 - 3.39 0.045 2133.06 426.7 -107.06 - - 3447.19 - - - - - - - - - 15.99 -
10770.89 982.03 -7.29 1267 10778.11 roll -1.56 - - 1959.44 - 3.85 0.108 686.44 -375.7 -107.06 - - 3446.66 - - - - - - - - - 15.86 -
10811.00 985.96 -9.57 1275 10818.96 roll -1.56 - - 1960.00 - 3.41 0.045 2132.69 424.1 -107.06 - - 3446.66 - - - - - - - - - 15.97 -
10877 end dive: TARGET_DEPTH_EXCEEDED
10877 begin apogee
10878.77 990.30 -6.79 1282 10973.63 -0.42 2.62 0.114 2240.12 106.9 0.09 0.227 2124.25 -93.8 - 86.69 2.228 3017.69 -4.9 0.366 - - - - - - 15.83 15.52 11.44
10978 end apogee: CONTROL_FINISHED_OK
10979 begin climb
10981.56 991.76 - 1291 11088.33 1.56 3.90 0.059 2730.81 125.8 - - 2116.00 - 107.06 96.15 2.154 2580.47 -4.5 0.349 - - - - - - 15.61 - 12.53
11392.17 959.35 10.32 1332 11398.01 done 1.56 - - 2730.38 - 3.24 0.094 3364.69 385.4 107.06 - - 2568.47 - - - - - - - - - 15.75 -
11626.19 933.87 11.16 1379 11633.87 done 1.56 - - 2730.25 - 2.97 0.039 2117.00 -420.1 107.06 - - 2567.72 - - - - - - - - - 15.85 -
11942.20 904.15 9.61 1411 11943.82 VBD 1.56 - - 2730.00 - - - 2117.00 - 107.06 - - 2563.84 - - - - - - - - - - -
12252.22 876.04 8.49 1442 12258.00 done 1.56 - - 2729.75 - 3.17 0.091 3364.88 393.7 107.06 - - 2565.66 - - - - - - - - - 15.91 -
12362.23 865.90 9.18 1464 12367.91 done 1.56 - - 2729.44 - 2.94 0.040 2117.31 -424.3 107.06 - - 2565.38 - - - - - - - - - 15.95 -
12672.27 839.13 8.71 1496 12678.06 done 1.56 - - 2730.00 - 3.17 0.090 3364.31 393.4 107.06 - - 2562.28 - - - - - - - - - 15.93 -
12906.35 816.64 9.21 1543 12914.01 done 1.56 - - 2729.06 - 2.96 0.040 2117.50 -421.2 107.06 - - 2565.16 - - - - - - - - - 15.98 -
13222.38 790.79 8.14 1575 13228.16 done 1.56 - - 2729.69 - 3.17 0.089 3362.12 392.6 107.06 - - 2562.19 - - - - - - - - - 15.94 -
13322.42 781.53 9.18 1595 13328.09 done 1.56 - - 2729.56 - 2.93 0.042 2116.69 -425.1 107.06 - - 2563.19 - - - - - - - - - 15.98 -
13632.50 757.24 7.46 1627 13634.13 VBD 1.58 - - 2730.31 - - - 2116.25 - 107.06 - - 2560.03 - - - - - - - - - - -
13942.54 734.75 7.24 1658 13948.30 done 1.61 - - 2729.69 - 3.18 0.091 3364.06 392.4 107.06 - - 2562.66 - - - - - - - - - 15.95 -
14072.53 724.22 8.22 1684 14078.21 done 1.61 - - 2730.06 - 2.96 0.045 2116.12 -421.6 107.06 - - 2561.69 - - - - - - - - - 15.98 -
14382.62 700.89 7.40 1716 14384.23 VBD 1.63 - - 2730.31 - - - 2116.31 - 107.06 - - 2558.88 - - - - - - - - - - -
14692.60 676.22 8.39 1747 14698.40 done 1.63 - - 2730.56 - 3.19 0.091 3365.25 391.5 107.06 - - 2560.50 - - - - - - - - - 15.93 -
14752.63 670.96 8.78 1759 14758.42 done 1.63 - - 2730.62 - 2.97 0.045 2115.62 -420.8 107.06 - - 2561.47 - - - - - - - - - 15.98 -
15062.67 645.27 8.26 1791 15068.52 done 1.63 - - 2730.44 - 3.21 0.091 3362.88 388.6 107.06 - - 2561.31 - - - - - - - - - 15.94 -
15136.69 638.56 8.80 1806 15144.65 done 1.63 - - 2730.38 - 2.96 0.045 2115.00 -421.6 107.06 - - 2559.59 - - - - - - - - - 15.98 -
15452.77 614.96 6.87 1838 15458.56 done 1.66 - - 2730.81 - 3.21 0.091 3365.00 389.4 107.06 - - 2558.84 - - - - - - - - - 15.93 -
15502.80 611.46 7.01 1848 15508.58 1.69 0.16 0.068 2757.81 168.8 2.96 0.044 2115.75 -422.0 107.06 - - 2560.88 - - - - - - - - 15.95 16.00 -
15812.82 591.08 6.51 1880 15814.44 VBD 1.74 - - 2759.25 - - - 2116.19 - 107.06 - - 2558.16 - - - - - - - - - - -
16122.86 572.27 6.02 1911 16124.67 1.80 0.17 0.065 2786.12 158.1 - - 2116.38 - 107.06 - - 2556.84 - - - - - - - - 16.08 - -
16432.90 550.09 7.38 1942 16434.51 VBD 1.82 - - 2786.38 - - - 2116.25 - 107.06 - - 2556.94 - - - - - - - - - - -
16742.94 527.01 7.25 1973 16744.56 VBD 1.84 - - 2786.31 - - - 2116.38 - 107.06 - - 2557.06 - - - - - - - - - - -
17052.98 505.25 6.90 2004 17058.78 done 1.88 - - 2785.19 - 3.23 0.091 3364.62 386.5 107.06 - - 2560.50 - - - - - - - - - 15.92 -
17233.06 492.60 6.74 2040 17238.91 1.92 0.27 0.030 2804.31 70.8 2.96 0.044 2116.69 -421.6 107.06 - - 2557.16 - - - - - - - - 16.01 15.98 -
17543.08 476.40 4.88 2072 17602.34 2.00 0.25 0.042 2833.31 116.0 3.75 0.107 686.25 -381.5 168.93 49.29 1.593 2327.91 -4.7 0.232 - - - - - - 16.07 15.77 11.64
17680.13 463.17 12.73 2099 17688.15 roll 2.00 - - 2832.56 - 3.59 0.051 2179.88 416.1 168.93 - - 2326.53 - - - - - - - - - 15.82 -
17996.14 427.33 12.00 2131 18001.87 done 2.00 - - 2833.81 - 3.06 0.093 3362.94 386.6 168.93 - - 2321.44 - - - - - - - - - 15.81 -
18160.15 405.17 13.64 2164 18167.83 done 2.00 - - 2834.06 - 2.98 0.045 2120.69 -416.9 168.93 - - 2319.59 - - - - - - - - - 15.90 -
18476.15 364.29 12.87 2196 18482.00 done 2.00 - - 2832.88 - 3.24 0.091 3364.75 384.0 168.93 - - 2319.91 - - - - - - - - - 15.85 -
18550.17 353.42 15.42 2211 18558.14 done 2.00 - - 2833.50 - 2.97 0.045 2120.06 -419.1 168.93 - - 2319.25 - - - - - - - - - 15.93 -
18866.18 312.86 12.31 2243 18872.03 done 2.00 - - 2833.88 - 3.23 0.090 3362.50 384.7 168.93 - - 2317.88 - - - - - - - - - 15.86 -
18936.20 304.01 12.57 2257 18941.88 done 2.00 - - 2834.19 - 2.97 0.044 2117.75 -419.1 168.93 - - 2316.34 - - - - - - - - - 15.95 -
19246.20 270.74 9.56 2289 19252.04 done 2.00 - - 2833.50 - 3.23 0.090 3364.00 385.8 168.93 - - 2317.22 - - - - - - - - - 15.85 -
19336.22 261.35 10.77 2307 19342.14 done 2.00 - - 2834.19 - 2.95 0.044 2117.19 -422.6 168.93 - - 2316.53 - - - - - - - - - 15.86 -
19646.22 231.04 10.36 2339 19647.84 VBD 2.00 - - 2833.88 - - - 2116.94 - 168.93 - - 2314.75 - - - - - - - - - - -
19956.26 198.32 10.69 2370 19957.97 VBD 2.00 - - 2834.19 - - - 2117.12 - 168.93 - - 2314.59 - - - - - - - - - - -
20266.30 168.13 8.75 2401 20267.92 VBD 2.00 - - 2834.12 - - - 2116.75 - 168.93 - - 2314.25 - - - - - - - - - - -
20576.34 139.86 8.74 2432 20582.19 done 2.00 - - 2833.75 - 3.23 0.088 3364.88 386.4 168.93 - - 2316.62 - - - - - - - - - 15.84 -
20810.47 119.91 7.20 2479 20818.10 done 2.02 - - 2834.19 - 2.96 0.042 2115.75 -422.0 168.93 - - 2315.38 - - - - - - - - - 15.93 -
21126.50 101.86 5.70 2511 21133.82 2.09 0.13 0.050 2850.56 125.9 3.73 0.102 686.50 -383.2 168.93 - - 2313.19 - - - - - - - - 15.97 15.77 -
21362.73 92.05 2.90 2558 21481.06 2.22 0.25 0.048 2892.38 167.3 3.56 0.048 2184.50 420.8 269.42 106.46 1.071 1920.19 -3.7 0.053 - - - - - - 15.86 15.88 11.93
21664.93 69.60 8.70 2617 21672.78 roll back 2.22 0.30 0.151 2873.81 -61.9 3.97 0.098 686.38 -377.4 269.42 - - 1917.19 - - - - - - - - 15.68 15.61 -
21901.76 48.58 9.09 2664 21908.76 roll 2.22 - - 2874.44 - 3.57 0.047 2183.38 419.3 269.42 - - 1918.66 - - - - - - - - - 15.75 -
22092.57 36.56 4.77 2702 22174.41 2.31 0.31 0.042 2909.56 113.3 3.97 0.098 686.25 -377.1 333.55 69.86 0.997 1658.47 -3.7 0.023 - - - - - - 15.92 15.65 12.17
22178.34 32.98 4.69 2718 22259.46 done 2.39 - - 2909.88 - 3.59 0.046 2184.75 417.4 399.14 71.90 0.972 1392.97 -3.7 0.021 - - - - - - - 15.72 12.53
22443.25 17.76 4.66 2770 22528.58 2.48 0.28 0.045 2951.69 149.3 3.07 0.092 3362.75 383.7 465.27 72.78 0.953 1123.75 -3.7 0.011 - - - - - - 15.74 15.56 12.22
22627 end climb: SURFACE_DEPTH_REACHED
22627 begin surface coast
22652 end surface coast: CONTROL_FINISHED_OK
22652 begin surface
SM 3.24 - - - - 189.0 13.97 0.866 1083.5 72.3 21.47 0.047 1085.1 50.5 - 3.12 0.041 1082.0 345.8 -2.793 - - 12.31 15.81 15.75 -