NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 42 * Raw log
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• Previous call tries 1 • 32.01 of 575.00 AH used of 24V (94.43% remains)
• Surface angle -64.6 deg, depth 1.44 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.73 (SM_CC=475)
• GPS1 time: 20 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
8.83 - - - 70.41 VBD -1.56 - - 184.25 - - - 2070.00 - -107.06 60.04 0.005 2439.56 - - - - - - - - - - 15.74
70.84 3.00 -2.95 12 128.13 -1.56 17.05 0.246 1960.62 104.2 3.36 0.108 3361.19 384.3 -107.06 28.58 0.006 3547.47 38.8 -3.202 - - - - - - 15.63 15.70 15.75
296.50 46.34 -16.93 56 302.88 roll -1.56 - - 1960.00 - 3.10 0.056 2071.69 -416.0 -107.06 - - 3551.28 - - - - - - - - - 15.87 -
486.51 73.08 -13.72 94 493.08 roll -1.56 - - 1960.31 - 3.31 0.102 3361.56 389.7 -107.06 - - 3550.62 - - - - - - - - - 15.91 -
531.52 79.10 -13.22 103 537.94 roll -1.56 - - 1960.62 - 3.08 0.055 2070.38 -419.2 -107.06 - - 3550.84 - - - - - - - - - 15.93 -
721.54 100.10 -10.70 141 727.26 roll -1.56 - - 1961.12 - 3.29 0.101 3361.38 392.4 -107.06 - - 3551.47 - - - - - - - - - 15.95 -
801.55 109.73 -12.16 157 807.20 roll -1.56 - - 1960.25 - 3.07 0.054 2069.88 -420.7 -107.06 - - 3550.97 - - - - - - - - - 15.99 -
1111.57 140.25 -9.43 189 1117.29 roll -1.56 - - 1960.25 - 3.27 0.101 3361.69 395.0 -107.06 - - 3551.09 - - - - - - - - - 16.02 -
1161.58 145.71 -10.76 199 1167.22 roll -1.56 - - 1960.69 - 3.06 0.054 2071.38 -421.7 -107.06 - - 3552.56 - - - - - - - - - 16.02 -
1471.59 176.14 -10.31 231 1477.68 roll -1.56 - - 1960.44 - 3.26 0.101 3360.81 395.5 -107.06 - - 3553.44 - - - - - - - - - 16.04 -
1565.88 187.24 -11.63 250 1573.23 roll -1.56 - - 1960.94 - 3.07 0.055 2070.31 -420.4 -107.06 - - 3553.06 - - - - - - - - - 16.02 -
1881.65 216.47 -8.28 282 1887.60 roll -1.56 - - 1960.50 - 3.29 0.102 3361.12 392.3 -107.06 - - 3552.41 - - - - - - - - - 16.08 -
1965.92 224.47 -9.36 299 1973.27 roll -1.56 - - 1961.06 - 3.07 0.056 2071.25 -420.2 -107.06 - - 3552.59 - - - - - - - - - 16.06 -
2281.69 252.71 -9.60 331 2287.64 roll -1.56 - - 1961.44 - 3.31 0.102 3360.75 389.6 -107.06 - - 3552.88 - - - - - - - - - 16.11 -
2395.96 265.54 -11.26 354 2403.27 roll -1.56 - - 1960.56 - 3.06 0.056 2069.88 -421.9 -107.06 - - 3553.12 - - - - - - - - - 16.06 -
2711.79 297.07 -9.80 386 2717.68 roll -1.56 - - 1961.31 - 3.32 0.103 3362.25 389.3 -107.06 - - 3552.34 - - - - - - - - - 16.08 -
2841.76 310.81 -10.50 412 2847.57 roll -1.56 - - 1961.06 - 3.05 0.057 2072.44 -422.9 -107.06 - - 3552.31 - - - - - - - - - 16.12 -
3151.79 341.58 -10.38 444 3157.77 roll -1.56 - - 1961.00 - 3.31 0.104 3359.44 388.8 -107.06 - - 3552.31 - - - - - - - - - 16.13 -
3251.81 353.01 -11.71 464 3257.59 roll -1.56 - - 1961.69 - 3.05 0.058 2072.38 -422.0 -107.06 - - 3553.16 - - - - - - - - - 16.14 -
3561.83 384.01 -9.93 496 3567.78 roll -1.56 - - 1960.75 - 3.31 0.106 3360.25 389.1 -107.06 - - 3551.44 - - - - - - - - - 16.15 -
3661.85 395.41 -11.27 516 3667.65 roll -1.56 - - 1960.12 - 3.06 0.059 2069.81 -421.7 -107.06 - - 3553.66 - - - - - - - - - 16.15 -
3971.88 428.08 -10.60 548 3978.03 roll -1.56 - - 1960.88 - 3.31 0.105 3360.31 389.9 -107.06 - - 3552.69 - - - - - - - - - 16.16 -
4076.13 440.10 -11.12 569 4083.44 roll -1.56 - - 1960.25 - 3.04 0.060 2073.25 -423.4 -107.06 - - 3553.03 - - - - - - - - - 16.14 -
4391.93 470.98 -9.68 601 4397.88 roll -1.56 - - 1960.88 - 3.31 0.106 3361.31 389.1 -107.06 - - 3552.00 - - - - - - - - - 16.14 -
4481.94 480.58 -10.22 619 4488.00 roll -1.56 - - 1960.94 - 3.06 0.060 2071.94 -421.4 -107.06 - - 3551.91 - - - - - - - - - 16.17 -
4791.96 509.95 -9.55 651 4797.94 roll -1.56 - - 1960.19 - 3.31 0.106 3360.81 389.4 -107.06 - - 3550.91 - - - - - - - - - 16.18 -
4832.29 514.18 -9.98 659 4837.76 roll -1.56 - - 1961.38 - 3.06 0.061 2071.31 -421.4 -107.06 - - 3550.94 - - - - - - - - - 16.19 -
5142.01 543.05 -8.90 691 5147.96 roll -1.56 - - 1960.38 - 3.31 0.106 3360.38 389.4 -107.06 - - 3550.12 - - - - - - - - - 16.19 -
5172.00 546.09 -9.55 697 5177.85 roll -1.56 - - 1960.94 - 3.07 0.060 2071.25 -419.9 -107.06 - - 3549.28 - - - - - - - - - 16.17 -
5482.06 571.46 -7.88 729 5483.63 no move -1.56 - - 1960.62 - - - 2071.81 - -107.06 - - 3548.47 - - - - - - - - - - -
5792.11 595.54 -7.73 760 5798.06 roll -1.56 - - 1960.88 - 3.31 0.108 3361.00 389.5 -107.06 - - 3548.06 - - - - - - - - - 16.20 -
5826.36 598.68 -8.83 767 5833.69 roll -1.56 - - 1960.81 - 3.07 0.062 2071.31 -420.1 -107.06 - - 3548.94 - - - - - - - - - 16.20 -
6142.15 623.86 -8.06 799 6143.72 no move -1.56 - - 1960.75 - - - 2071.81 - -107.06 - - 3547.28 - - - - - - - - - - -
6452.46 646.84 -7.47 830 6459.50 roll -1.56 - - 1959.44 - 3.60 0.139 689.12 -384.1 -107.06 - - 3548.47 - - - - - - - - - 16.19 -
6488.10 649.81 -8.00 837 6494.32 roll -1.56 - - 1960.50 - 3.42 0.066 2127.31 420.5 -107.06 - - 3547.38 - - - - - - - - - 16.21 -
6798.15 672.50 -7.47 869 6799.77 no move -1.56 - - 1960.50 - - - 2128.19 - -107.06 - - 3546.34 - - - - - - - - - - -
7108.18 696.51 -8.11 900 7109.78 no move -1.56 - - 1960.81 - - - 2128.06 - -107.06 - - 3545.53 - - - - - - - - - - -
7418.20 722.86 -8.64 931 7425.59 roll -1.56 - - 1960.81 - 3.78 0.135 690.19 -380.4 -107.06 - - 3546.25 - - - - - - - - - 16.20 -
7444.08 725.37 -8.75 936 7450.30 roll -1.56 - - 1961.38 - 3.42 0.067 2126.56 420.0 -107.06 - - 3545.16 - - - - - - - - - 16.20 -
7754.13 752.53 -8.82 968 7761.53 roll -1.56 - - 1961.38 - 3.77 0.134 690.06 -381.0 -107.06 - - 3544.25 - - - - - - - - - 16.20 -
7800.03 756.87 -9.95 977 7806.16 roll -1.56 - - 1961.12 - 3.39 0.067 2126.56 423.7 -107.06 - - 3545.09 - - - - - - - - - 16.20 -
8110.09 784.14 -8.78 1009 8117.86 roll -1.56 - - 1960.75 - 3.75 0.135 691.38 -382.7 -107.06 - - 3544.38 - - - - - - - - - 16.19 -
8136.46 786.79 -9.31 1014 8142.63 roll -1.56 - - 1960.56 - 3.40 0.067 2128.12 422.6 -107.06 - - 3544.50 - - - - - - - - - 16.20 -
8446.48 813.51 -8.25 1046 8453.88 roll -1.56 - - 1960.50 - 3.76 0.134 690.69 -382.3 -107.06 - - 3544.50 - - - - - - - - - 16.20 -
8482.37 816.95 -9.64 1053 8488.56 roll -1.56 - - 1961.12 - 3.40 0.067 2126.56 422.3 -107.06 - - 3544.56 - - - - - - - - - 16.19 -
8792.40 842.63 -8.11 1085 8799.79 roll -1.56 - - 1959.75 - 3.78 0.134 689.69 -380.1 -107.06 - - 3544.66 - - - - - - - - - 16.20 -
8838.28 846.82 -9.70 1094 8844.47 roll -1.56 - - 1960.44 - 3.42 0.067 2127.94 420.5 -107.06 - - 3543.91 - - - - - - - - - 16.20 -
9148.32 871.11 -7.66 1126 9155.71 roll -1.56 - - 1960.69 - 3.79 0.134 691.38 -379.0 -107.06 - - 3542.91 - - - - - - - - - 16.19 -
9188.45 874.78 -9.05 1134 9196.20 roll -1.56 - - 1960.81 - 3.42 0.067 2128.06 420.1 -107.06 - - 3543.03 - - - - - - - - - 16.19 -
9504.24 899.44 -7.42 1166 9505.85 no move -1.56 - - 1960.50 - - - 2128.38 - -107.06 - - 3541.94 - - - - - - - - - - -
9814.27 924.93 -7.80 1197 9821.66 roll -1.56 - - 1961.12 - 3.78 0.134 689.88 -380.6 -107.06 - - 3542.56 - - - - - - - - - 16.20 -
9894.48 932.48 -8.87 1213 9902.11 roll -1.56 - - 1960.38 - 3.43 0.068 2125.94 418.7 -107.06 - - 3542.78 - - - - - - - - - 16.20 -
10210.20 957.28 -7.84 1245 10217.59 roll -1.56 - - 1960.44 - 3.77 0.134 690.25 -380.8 -107.06 - - 3541.53 - - - - - - - - - 16.20 -
10280.34 963.45 -8.89 1259 10288.05 roll -1.56 - - 1960.25 - 3.43 0.068 2125.31 418.4 -107.06 - - 3541.22 - - - - - - - - - 16.21 -
10596.15 985.79 -6.91 1291 10603.53 roll -1.56 - - 1959.88 - 3.79 0.136 689.44 -378.9 -107.06 - - 3541.78 - - - - - - - - - 16.19 -
10622.02 988.07 -7.64 1296 10628.24 roll -1.56 - - 1960.25 - 3.42 0.068 2127.50 420.5 -107.06 - - 3542.06 - - - - - - - - - 16.19 -
10661 end dive: TARGET_DEPTH_EXCEEDED
10662 begin apogee
10663.80 990.60 -6.53 1301 10759.00 -0.42 3.05 0.118 2240.19 91.8 0.09 0.272 2123.12 -48.7 - 84.47 2.084 3108.62 -5.1 0.403 - - - - - - 16.16 15.56 12.90
10770 end apogee: CONTROL_FINISHED_OK
10770 begin climb
10773.33 991.28 - 1310 10875.53 1.56 3.97 0.062 2728.38 123.0 - - 2122.69 - 107.06 91.47 2.032 2670.12 -4.8 0.386 - - - - - - 15.71 - 12.69
11179.10 962.32 9.04 1351 11185.20 done 1.56 - - 2727.75 - 3.27 0.111 3359.06 378.1 107.06 - - 2664.34 - - - - - - - - - 15.83 -
11299.16 950.80 9.70 1375 11305.11 done 1.56 - - 2726.88 - 3.04 0.064 2122.75 -406.7 107.06 - - 2665.38 - - - - - - - - - 15.89 -
11609.15 924.14 8.34 1407 11616.62 done 1.56 - - 2727.38 - 3.82 0.128 689.81 -375.1 107.06 - - 2658.69 - - - - - - - - - 15.97 -
11669.36 918.24 10.02 1419 11677.22 done 1.56 - - 2728.00 - 3.61 0.069 2176.06 411.7 107.06 - - 2659.06 - - - - - - - - - 15.99 -
11985.14 892.51 7.90 1451 11991.10 done 1.56 - - 2726.62 - 3.10 0.115 3359.44 381.7 107.06 - - 2661.50 - - - - - - - - - 16.01 -
12035.16 888.21 8.83 1461 12041.10 done 1.56 - - 2728.31 - 2.98 0.065 2120.00 -415.9 107.06 - - 2657.28 - - - - - - - - - 16.04 -
12345.15 862.21 8.37 1493 12351.24 done 1.56 - - 2727.75 - 3.23 0.109 3360.88 384.2 107.06 - - 2658.31 - - - - - - - - - 16.06 -
12399.43 857.24 9.46 1504 12406.84 done 1.56 - - 2727.81 - 3.00 0.064 2120.75 -413.4 107.06 - - 2657.34 - - - - - - - - - 16.05 -
12715.17 829.88 8.37 1536 12716.79 VBD 1.56 - - 2728.06 - - - 2120.81 - 107.06 - - 2657.00 - - - - - - - - - - -
13025.19 803.22 8.59 1567 13031.33 done 1.56 - - 2728.31 - 3.22 0.111 3360.69 385.1 107.06 - - 2657.22 - - - - - - - - - 16.11 -
13245.25 782.88 9.22 1611 13251.16 done 1.56 - - 2727.75 - 2.97 0.065 2121.56 -417.2 107.06 - - 2657.34 - - - - - - - - - 16.13 -
13555.30 758.59 7.22 1643 13561.59 done 1.59 - - 2726.88 - 3.21 0.108 3360.50 386.0 107.06 - - 2658.59 - - - - - - - - - 16.15 -
13709.53 746.03 8.37 1674 13716.94 done 1.59 - - 2728.12 - 2.97 0.064 2120.44 -417.5 107.06 - - 2658.06 - - - - - - - - - 16.14 -
14025.34 723.58 6.76 1706 14031.33 done 1.63 - - 2726.56 - 3.19 0.108 3361.50 389.0 107.06 - - 2658.41 - - - - - - - - - 16.16 -
14199.59 710.46 7.86 1741 14207.05 done 1.63 - - 2727.81 - 2.96 0.064 2120.38 -419.3 107.06 - - 2655.66 - - - - - - - - - 16.14 -
14515.40 689.10 6.53 1773 14517.26 1.67 0.20 0.048 2747.00 96.0 - - 2120.06 - 107.06 - - 2655.69 - - - - - - - - 16.21 - -
14825.41 669.78 5.79 1804 14831.61 1.74 0.14 0.060 2768.12 150.9 3.21 0.110 3359.75 386.2 107.06 - - 2656.47 - - - - - - - - 16.22 16.16 -
14935.46 662.99 6.39 1826 14941.31 done 1.79 - - 2767.69 - 2.97 0.065 2120.56 -417.2 107.06 - - 2654.78 - - - - - - - - - 16.17 -
15245.45 645.26 5.36 1858 15251.68 1.87 0.24 0.056 2804.94 155.2 3.19 0.107 3360.75 388.8 107.06 - - 2654.59 - - - - - - - - 16.22 16.16 -
15289.72 642.31 6.01 1867 15297.09 done 1.93 - - 2804.31 - 2.97 0.064 2120.50 -417.6 107.06 - - 2654.84 - - - - - - - - - 16.19 -
15605.48 623.89 5.97 1899 15613.03 2.00 0.21 0.044 2824.06 94.0 3.70 0.125 687.50 -387.3 107.06 - - 2654.81 - - - - - - - - 16.24 16.17 -
15841.57 607.21 7.91 1946 15847.81 done 2.00 - - 2825.12 - 3.55 0.069 2174.88 419.0 107.06 - - 2654.31 - - - - - - - - - 16.17 -
16151.63 585.87 6.97 1978 16159.00 done 2.03 - - 2824.00 - 3.79 0.121 688.88 -392.1 107.06 - - 2655.34 - - - - - - - - - 16.19 -
16387.53 566.34 8.02 2025 16393.77 done 2.03 - - 2824.38 - 3.54 0.069 2175.88 420.1 107.06 - - 2654.59 - - - - - - - - - 16.18 -
16697.60 544.79 6.43 2057 16699.72 2.08 0.22 0.038 2844.38 90.9 - - 2175.81 - 107.06 - - 2651.88 - - - - - - - - 16.27 - -
17007.63 523.45 6.67 2088 17014.98 done 2.12 - - 2843.06 - 3.75 0.118 688.38 -396.6 107.06 - - 2654.06 - - - - - - - - - 16.17 -
17243.59 506.53 6.64 2135 17251.06 2.16 0.28 0.033 2863.12 71.6 3.53 0.069 2174.94 421.1 107.06 - - 2650.84 - - - - - - - - 16.26 16.18 -
17558.59 489.44 5.12 2167 17560.46 2.25 0.29 0.030 2884.50 73.7 - - 2175.06 - 107.06 - - 2652.09 - - - - - - - - 16.26 - -
17868.61 475.50 3.83 2198 17944.37 2.35 0.36 0.032 2912.12 76.7 3.14 0.114 3360.56 377.5 189.54 64.61 1.453 2336.75 -4.9 0.264 - - - - - - 16.25 15.79 13.02
18042.88 456.06 16.70 2232 18048.79 roll 2.35 - - 2911.69 - 2.99 0.064 2123.69 -413.7 189.54 - - 2335.38 - - - - - - - - - 15.92 -
18352.87 409.07 15.46 2264 18354.49 no move 2.35 - - 2912.06 - - - 2123.56 - 189.54 - - 2331.56 - - - - - - - - - - -
18662.89 361.71 14.63 2295 18664.50 no move 2.35 - - 2911.44 - - - 2123.50 - 189.54 - - 2329.97 - - - - - - - - - - -
18972.90 315.72 15.05 2326 18978.99 roll 2.35 - - 2910.88 - 3.23 0.109 3360.81 383.1 189.54 - - 2332.19 - - - - - - - - - 16.07 -
19207.20 277.32 16.76 2373 19214.62 roll 2.35 - - 2911.81 - 2.97 0.063 2122.00 -417.1 189.54 - - 2329.38 - - - - - - - - - 16.08 -
19522.95 229.67 14.18 2405 19529.04 done 2.35 - - 2911.88 - 3.22 0.107 3360.56 384.6 189.54 - - 2328.78 - - - - - - - - - 16.08 -
19757.26 195.76 13.17 2452 19764.74 done 2.35 - - 2912.44 - 2.95 0.063 2121.50 -420.0 189.54 - - 2328.00 - - - - - - - - - 16.08 -
20073.05 157.60 12.76 2484 20079.14 done 2.35 - - 2910.94 - 3.22 0.105 3360.31 384.7 189.54 - - 2329.16 - - - - - - - - - 16.08 -
20307.38 125.99 13.41 2531 20315.04 done 2.35 - - 2911.31 - 2.95 0.062 2119.75 -420.5 189.54 - - 2327.88 - - - - - - - - - 16.09 -
20618.14 95.49 9.02 2567 20624.94 done 2.35 - - 2911.69 - 3.20 0.103 3360.38 387.7 189.54 - - 2328.16 - - - - - - - - - 16.07 -
20853.51 79.84 3.86 2614 20960.59 2.46 0.26 0.046 2939.00 105.0 2.95 0.060 2116.38 -421.7 271.31 93.94 0.924 2002.69 -3.5 0.049 - - - - - - 16.14 16.07 12.88
21144.07 62.74 7.57 2671 21148.51 no move 2.46 - - 2938.94 - - - 2117.00 - 271.31 - - 2001.03 - - - - - - - - - - -
21334.17 48.34 6.89 2709 21341.00 roll 2.50 - - 2939.44 - 3.23 0.102 3359.75 384.8 271.31 - - 2000.69 - - - - - - - - - 15.91 -
21569.56 30.50 6.52 2756 21576.66 roll back 2.54 0.14 0.074 2964.38 178.1 2.96 0.059 2118.75 -419.3 271.31 - - 2000.25 - - - - - - - - 15.98 15.95 -
21760.26 27.30 0.43 2794 21947.17 2.74 0.34 0.047 3010.62 136.0 3.31 0.100 3358.62 374.6 420.06 171.46 0.851 1397.38 -3.5 0.019 - - - - - - 16.02 15.52 12.89
22060 end climb: SURFACE_DEPTH_REACHED
22061 begin surface coast
22075 end surface coast: CONTROL_FINISHED_OK
22076 begin surface
SM 1.21 - - - - 185.5 55.69 0.818 1174.7 18.0 21.34 0.047 1181.8 55.4 - 3.10 0.057 1167.6 375.6 -0.815 - - 12.73 15.81 15.76 -