NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 75 * Raw log
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• Previous call tries 1 • 43.02 of 575.00 AH used of 24V (92.52% remains)
• Surface angle -64.4 deg, depth 1.33 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.22 (SM_CC=475)
• GPS1 time: 32 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
8.89 - - - 80.81 VBD -1.56 - - 184.00 - - - 2126.94 - -107.06 70.27 0.005 2571.84 - - - - - - - - - - 15.75
81.25 3.41 -3.29 14 132.23 -1.56 16.50 0.244 1961.31 107.7 3.79 0.122 689.56 -379.3 -107.06 20.89 0.006 3458.03 42.4 -3.985 - - - - - - 15.71 15.72 15.77
315.62 54.01 -18.79 60 322.20 roll -1.56 - - 1960.88 - 3.41 0.056 2128.88 422.1 -107.06 - - 3458.72 - - - - - - - - - 15.86 -
505.69 82.88 -13.19 98 510.06 no move -1.56 - - 1961.12 - - - 2129.25 - -107.06 - - 3459.59 - - - - - - - - - - -
690.71 103.22 -9.77 132 692.24 no move -1.56 - - 1960.75 - - - 2129.94 - -107.06 - - 3459.19 - - - - - - - - - - -
1000.73 129.33 -8.40 163 1007.72 roll -1.56 - - 1960.44 - 3.74 0.116 688.94 -385.3 -107.06 - - 3459.41 - - - - - - - - - 15.99 -
1066.12 135.78 -10.30 176 1071.89 roll -1.56 - - 1960.19 - 3.37 0.054 2131.69 428.1 -107.06 - - 3461.50 - - - - - - - - - 16.01 -
1376.15 164.97 -9.98 208 1377.68 no move -1.56 - - 1960.75 - - - 2132.12 - -107.06 - - 3460.31 - - - - - - - - - - -
1686.16 196.47 -10.34 239 1693.15 roll -1.56 - - 1960.75 - 3.75 0.118 688.88 -384.9 -107.06 - - 3459.50 - - - - - - - - - 16.05 -
1765.79 205.41 -11.08 255 1773.09 roll -1.56 - - 1961.00 - 3.38 0.056 2131.12 426.7 -107.06 - - 3460.72 - - - - - - - - - 16.07 -
2081.58 237.90 -9.89 287 2083.11 no move -1.56 - - 1960.94 - - - 2131.19 - -107.06 - - 3460.31 - - - - - - - - - - -
2391.64 266.40 -9.12 318 2398.82 roll -1.56 - - 1960.44 - 3.71 0.119 689.94 -388.5 -107.06 - - 3459.94 - - - - - - - - - 16.08 -
2491.64 276.96 -10.12 338 2499.11 roll -1.56 - - 1961.19 - 3.36 0.058 2130.00 428.6 -107.06 - - 3461.09 - - - - - - - - - 16.09 -
2807.42 305.14 -8.68 370 2808.99 no move -1.56 - - 1960.75 - - - 2129.69 - -107.06 - - 3460.25 - - - - - - - - - - -
3117.46 332.12 -8.38 401 3124.65 roll -1.56 - - 1960.44 - 3.73 0.120 689.12 -386.2 -107.06 - - 3459.75 - - - - - - - - - 16.14 -
3157.33 336.00 -9.52 409 3164.84 roll -1.56 - - 1960.38 - 3.37 0.057 2132.88 428.4 -107.06 - - 3461.88 - - - - - - - - - 16.13 -
3473.15 360.96 -7.67 441 3480.33 roll -1.56 - - 1961.25 - 3.72 0.122 689.75 -387.9 -107.06 - - 3461.19 - - - - - - - - - 16.14 -
3548.87 367.96 -9.23 456 3554.73 roll -1.56 - - 1960.75 - 3.36 0.058 2130.06 428.7 -107.06 - - 3461.62 - - - - - - - - - 16.15 -
3858.82 396.65 -10.12 488 3860.39 no move -1.56 - - 1960.69 - - - 2130.38 - -107.06 - - 3460.28 - - - - - - - - - - -
4168.84 426.96 -9.26 519 4176.04 roll -1.56 - - 1961.62 - 3.70 0.123 688.56 -389.7 -107.06 - - 3462.41 - - - - - - - - - 16.16 -
4244.61 434.75 -10.16 534 4250.59 roll -1.56 - - 1961.06 - 3.34 0.057 2130.12 431.6 -107.06 - - 3460.62 - - - - - - - - - 16.18 -
4554.64 463.42 -9.51 566 4561.82 roll -1.56 - - 1960.88 - 3.72 0.123 690.88 -386.9 -107.06 - - 3459.44 - - - - - - - - - 16.17 -
4620.27 470.56 -10.84 579 4626.23 roll -1.56 - - 1960.44 - 3.36 0.059 2129.75 428.2 -107.06 - - 3460.94 - - - - - - - - - 16.18 -
4930.30 500.96 -9.18 611 4931.88 no move -1.56 - - 1960.94 - - - 2130.75 - -107.06 - - 3459.78 - - - - - - - - - - -
5240.33 529.01 -8.21 642 5247.51 roll -1.56 - - 1959.62 - 3.75 0.125 689.62 -384.3 -107.06 - - 3462.34 - - - - - - - - - 16.17 -
5295.95 534.30 -9.36 653 5301.94 roll -1.56 - - 1960.38 - 3.38 0.061 2129.88 426.1 -107.06 - - 3461.16 - - - - - - - - - 16.18 -
5605.98 561.44 -9.14 685 5613.17 roll -1.56 - - 1960.50 - 3.74 0.125 691.00 -384.7 -107.06 - - 3459.41 - - - - - - - - - 16.18 -
5675.86 568.40 -9.98 699 5683.33 roll -1.56 - - 1961.00 - 3.36 0.061 2130.44 428.4 -107.06 - - 3459.09 - - - - - - - - - 16.17 -
5991.65 594.62 -7.99 731 5993.23 no move -1.56 - - 1960.69 - - - 2130.81 - -107.06 - - 3458.00 - - - - - - - - - - -
6301.68 619.81 -8.25 762 6308.89 roll -1.56 - - 1960.88 - 3.73 0.125 689.19 -386.5 -107.06 - - 3456.78 - - - - - - - - - 16.17 -
6397.35 628.52 -8.93 781 6403.29 roll -1.56 - - 1960.88 - 3.34 0.062 2129.00 431.1 -107.06 - - 3459.88 - - - - - - - - - 16.19 -
6707.38 653.83 -8.11 813 6714.57 roll -1.56 - - 1960.75 - 3.73 0.126 690.75 -385.6 -107.06 - - 3457.41 - - - - - - - - - 16.18 -
6763.02 658.91 -9.12 824 6768.96 roll -1.56 - - 1959.88 - 3.35 0.063 2129.94 429.6 -107.06 - - 3458.84 - - - - - - - - - 16.19 -
7073.06 683.98 -8.53 856 7074.64 no move -1.56 - - 1960.75 - - - 2129.88 - -107.06 - - 3456.78 - - - - - - - - - - -
7383.12 709.61 -8.24 887 7388.94 roll -1.56 - - 1961.12 - 3.09 0.112 3360.88 398.4 -107.06 - - 3456.59 - - - - - - - - - 16.19 -
7423.11 713.55 -9.86 895 7429.16 roll -1.56 - - 1960.50 - 3.03 0.058 2068.88 -426.4 -107.06 - - 3457.34 - - - - - - - - - 16.19 -
7733.15 739.74 -8.55 927 7739.21 roll -1.56 - - 1960.00 - 3.59 0.132 689.88 -384.1 -107.06 - - 3458.34 - - - - - - - - - 16.18 -
7833.18 749.47 -9.59 947 7839.13 roll -1.56 - - 1960.88 - 3.37 0.063 2128.88 427.0 -107.06 - - 3456.19 - - - - - - - - - 16.18 -
8143.21 777.12 -8.96 979 8144.79 no move -1.56 - - 1960.69 - - - 2128.75 - -107.06 - - 3454.56 - - - - - - - - - - -
8453.24 802.38 -7.54 1010 8460.45 roll -1.56 - - 1960.00 - 3.74 0.127 690.50 -384.6 -107.06 - - 3453.75 - - - - - - - - - 16.17 -
8538.90 810.12 -9.07 1027 8544.85 roll -1.56 - - 1960.81 - 3.35 0.064 2127.50 429.0 -107.06 - - 3454.97 - - - - - - - - - 16.19 -
8848.93 832.74 -7.35 1059 8850.50 no move -1.56 - - 1960.50 - - - 2127.62 - -107.06 - - 3453.81 - - - - - - - - - - -
9158.96 854.72 -7.17 1090 9166.15 roll -1.56 - - 1961.06 - 3.74 0.129 690.88 -384.2 -107.06 - - 3452.59 - - - - - - - - - 16.20 -
9234.62 861.21 -8.47 1105 9240.82 roll -1.56 - - 1959.56 - 3.36 0.065 2127.62 427.6 -107.06 - - 3455.88 - - - - - - - - - 16.20 -
9544.65 883.94 -7.27 1137 9546.23 no move -1.56 - - 1960.69 - - - 2127.75 - -107.06 - - 3453.34 - - - - - - - - - - -
9854.68 905.07 -7.24 1168 9861.86 roll -1.56 - - 1961.25 - 3.78 0.131 689.94 -380.4 -107.06 - - 3452.38 - - - - - - - - - 16.19 -
9950.33 912.94 -8.25 1187 9956.28 roll -1.56 - - 1959.94 - 3.38 0.065 2128.69 425.7 -107.06 - - 3455.34 - - - - - - - - - 16.20 -
10260.36 933.96 -7.18 1219 10261.93 no move -1.56 - - 1960.69 - - - 2128.62 - -107.06 - - 3452.41 - - - - - - - - - - -
10570.39 957.48 -7.61 1250 10577.58 roll -1.56 - - 1960.44 - 3.78 0.131 690.88 -380.4 -107.06 - - 3451.66 - - - - - - - - - 16.19 -
10630.27 962.73 -8.99 1262 10637.89 roll -1.56 - - 1960.81 - 3.39 0.065 2128.06 423.9 -107.06 - - 3453.97 - - - - - - - - - 16.19 -
10946.09 987.24 -7.94 1294 10947.67 no move -1.56 - - 1959.94 - - - 2128.75 - -107.06 - - 3452.12 - - - - - - - - - - -
10986 end dive: TARGET_DEPTH_EXCEEDED
10986 begin apogee
10987.79 990.44 -8.22 1298 11082.08 -0.42 2.36 0.126 2240.38 118.8 0.09 0.258 2122.50 -69.4 - 85.53 2.144 3019.03 -5.1 0.387 - - - - - - 16.17 15.54 12.83
11093 end apogee: CONTROL_FINISHED_OK
11093 begin climb
11096.36 992.24 - 1307 11199.17 1.56 3.80 0.064 2729.38 128.7 - - 2122.44 - 107.06 93.47 2.084 2581.78 -4.7 0.368 - - - - - - 15.68 - 12.69
11502.68 960.36 10.55 1348 11508.58 done 1.56 - - 2728.50 - 3.19 0.107 3359.00 387.6 107.06 - - 2572.50 - - - - - - - - - 15.83 -
11662.72 942.01 11.66 1380 11668.47 done 1.56 - - 2729.06 - 2.98 0.060 2136.00 -410.4 107.06 - - 2570.19 - - - - - - - - - 15.92 -
11972.74 911.22 9.58 1412 11974.31 VBD 1.56 - - 2729.69 - - - 2136.44 - 107.06 - - 2567.91 - - - - - - - - - - -
12282.75 880.05 9.70 1443 12288.61 done 1.56 - - 2729.06 - 3.11 0.105 3362.12 394.1 107.06 - - 2568.62 - - - - - - - - - 16.05 -
12382.76 869.09 11.73 1463 12388.56 done 1.56 - - 2729.56 - 2.94 0.058 2123.19 -421.4 107.06 - - 2568.47 - - - - - - - - - 16.04 -
12692.78 838.06 9.15 1495 12698.68 done 1.56 - - 2729.25 - 3.16 0.104 3360.38 391.5 107.06 - - 2566.97 - - - - - - - - - 16.07 -
12842.82 822.45 11.16 1525 12848.58 done 1.56 - - 2729.38 - 2.96 0.058 2120.94 -418.7 107.06 - - 2565.72 - - - - - - - - - 16.07 -
13152.84 795.32 8.54 1557 13158.70 done 1.56 - - 2728.38 - 3.17 0.103 3360.12 390.9 107.06 - - 2566.69 - - - - - - - - - 16.11 -
13197.09 791.20 9.79 1566 13204.35 done 1.56 - - 2729.25 - 2.96 0.057 2120.50 -418.8 107.06 - - 2565.69 - - - - - - - - - 16.13 -
13512.87 764.45 8.16 1598 13518.75 done 1.56 - - 2729.00 - 3.14 0.104 3360.06 394.8 107.06 - - 2566.16 - - - - - - - - - 16.12 -
13622.90 755.48 8.24 1620 13628.70 done 1.56 - - 2729.75 - 2.95 0.058 2119.94 -420.4 107.06 - - 2564.69 - - - - - - - - - 16.13 -
13932.92 731.82 7.80 1652 13939.03 done 1.56 - - 2728.75 - 3.14 0.104 3361.56 395.4 107.06 - - 2565.72 - - - - - - - - - 16.14 -
14167.19 711.29 8.51 1699 14174.49 done 1.56 - - 2729.25 - 2.96 0.057 2119.31 -419.7 107.06 - - 2564.06 - - - - - - - - - 16.16 -
14482.96 685.88 8.04 1731 14488.87 done 1.56 - - 2728.25 - 3.15 0.102 3361.25 394.3 107.06 - - 2566.34 - - - - - - - - - 16.16 -
14667.23 668.92 9.06 1768 14674.53 done 1.56 - - 2728.19 - 2.95 0.057 2122.19 -420.0 107.06 - - 2565.75 - - - - - - - - - 16.16 -
14983.01 642.82 8.15 1800 14984.58 VBD 1.56 - - 2728.75 - - - 2121.69 - 107.06 - - 2561.97 - - - - - - - - - - -
15293.06 618.63 7.71 1831 15294.63 VBD 1.56 - - 2729.19 - - - 2121.06 - 107.06 - - 2561.53 - - - - - - - - - - -
15603.17 595.69 7.13 1862 15608.99 done 1.59 - - 2728.25 - 3.15 0.102 3359.31 393.1 107.06 - - 2563.38 - - - - - - - - - 16.17 -
15697.39 588.25 7.75 1881 15704.69 done 1.59 - - 2729.88 - 2.96 0.058 2121.44 -418.2 107.06 - - 2562.72 - - - - - - - - - 16.19 -
16013.21 565.93 7.52 1913 16019.60 done 1.61 - - 2729.00 - 3.71 0.123 687.62 -386.5 107.06 - - 2560.62 - - - - - - - - - 16.17 -
16123.21 556.29 8.68 1935 16129.30 done 1.61 - - 2729.75 - 3.52 0.065 2180.25 424.0 107.06 - - 2560.62 - - - - - - - - - 16.19 -
16433.43 532.77 7.61 1967 16435.01 VBD 1.61 - - 2729.62 - - - 2180.75 - 107.06 - - 2559.44 - - - - - - - - - - -
16743.23 508.37 8.37 1998 16744.80 VBD 1.61 - - 2729.69 - - - 2180.75 - 107.06 - - 2559.66 - - - - - - - - - - -
17053.24 483.26 7.74 2029 17060.51 done 1.61 - - 2729.31 - 3.84 0.118 689.44 -388.4 107.06 - - 2558.44 - - - - - - - - - 16.18 -
17128.94 476.73 8.71 2044 17134.97 done 1.61 - - 2729.06 - 3.50 0.066 2180.25 425.9 107.06 - - 2561.06 - - - - - - - - - 16.18 -
17438.99 454.48 6.58 2076 17444.70 done 1.65 - - 2728.62 - 3.00 0.106 3362.06 393.9 107.06 - - 2561.78 - - - - - - - - - 16.17 -
17673.25 439.10 6.31 2123 17680.66 1.70 0.19 0.066 2760.81 169.4 2.93 0.057 2119.44 -424.1 107.06 - - 2561.88 - - - - - - - - 16.22 16.20 -
17989.03 420.92 5.58 2155 17994.85 done 1.78 - - 2761.44 - 3.14 0.102 3361.88 395.7 107.06 - - 2560.03 - - - - - - - - - 16.16 -
18083.29 415.29 5.80 2174 18090.67 1.85 0.20 0.065 2798.56 185.6 2.93 0.057 2119.06 -424.2 107.06 - - 2560.16 - - - - - - - - 16.20 16.18 -
18399.08 397.08 5.77 2206 18406.19 done 1.91 - - 2797.00 - 3.68 0.118 687.75 -388.9 107.06 - - 2561.16 - - - - - - - - - 16.17 -
18414.67 396.12 5.82 2209 18421.81 1.98 0.16 0.073 2829.56 203.5 3.50 0.064 2180.69 426.6 107.06 - - 2562.81 - - - - - - - - 16.22 16.18 -
18729.68 375.99 7.01 2241 18735.42 done 2.01 - - 2830.75 - 2.99 0.104 3363.06 395.4 107.06 - - 2559.91 - - - - - - - - - 16.17 -
18919.66 360.17 8.40 2279 18925.45 done 2.01 - - 2829.50 - 2.94 0.056 2119.44 -423.0 107.06 - - 2562.69 - - - - - - - - - 16.19 -
19229.67 335.72 7.56 2311 19236.84 done 2.01 - - 2831.12 - 3.69 0.118 687.62 -388.0 107.06 - - 2559.41 - - - - - - - - - 16.17 -
19465.60 314.27 9.21 2358 19471.65 done 2.01 - - 2830.88 - 3.53 0.064 2178.56 422.4 107.06 - - 2557.41 - - - - - - - - - 16.17 -
19775.60 289.28 8.16 2390 19777.17 VBD 2.01 - - 2830.25 - - - 2181.75 - 107.06 - - 2558.91 - - - - - - - - - - -
20085.62 266.27 7.63 2421 20092.89 done 2.01 - - 2830.81 - 3.84 0.115 688.69 -388.8 107.06 - - 2560.03 - - - - - - - - - 16.14 -
20321.42 247.92 7.03 2468 20327.44 done 2.04 - - 2831.12 - 3.53 0.062 2178.25 422.0 107.06 - - 2559.59 - - - - - - - - - 16.16 -
20631.42 231.41 4.76 2500 20690.43 2.13 0.19 0.060 2866.50 186.2 3.90 0.115 688.31 -382.0 171.23 49.42 1.201 2319.75 -4.9 0.155 - - - - - - 16.19 15.89 12.82
20918.15 196.79 14.60 2557 20925.76 roll 2.13 - - 2866.50 - 3.55 0.061 2179.50 420.1 171.23 - - 2314.81 - - - - - - - - - 16.01 -
21233.91 159.41 12.05 2589 21241.15 done 2.13 - - 2866.94 - 3.88 0.113 688.94 -384.2 171.23 - - 2309.25 - - - - - - - - - 16.03 -
21313.84 147.77 14.23 2605 21321.42 done 2.13 - - 2866.69 - 3.56 0.063 2176.38 417.8 171.23 - - 2314.12 - - - - - - - - - 16.04 -
21629.60 111.37 10.85 2637 21631.17 VBD 2.13 - - 2867.00 - - - 2176.69 - 171.23 - - 2309.44 - - - - - - - - - - -
21934.67 85.63 4.73 2686 22015.38 done 2.21 - - 2866.25 - 3.92 0.112 688.25 -379.7 236.14 71.35 0.983 2057.12 -3.5 0.051 - - - - - - - 15.75 12.79
22243.86 56.30 10.53 2747 22250.82 roll 2.21 - - 2866.12 - 3.54 0.062 2179.44 421.2 236.14 - - 2054.69 - - - - - - - - - 15.93 -
22434.26 43.02 5.76 2785 22440.98 roll back 2.28 0.21 0.062 2904.44 182.5 3.00 0.103 3362.19 394.2 236.14 - - 2052.00 - - - - - - - - 16.00 15.94 -
22669.59 29.73 5.18 2832 22676.08 roll 2.36 - - 2904.56 - 2.95 0.053 2117.06 -422.1 236.14 - - 2052.09 - - - - - - - - - 15.97 -
22859.60 24.48 2.23 2870 22998.07 2.51 0.36 0.055 2957.44 146.9 3.21 0.097 3362.44 388.0 349.89 127.11 0.911 1593.62 -3.6 0.016 - - - - - - 16.03 15.61 12.71
23031.54 19.53 4.41 2903 23118.29 2.60 0.12 0.081 2977.44 166.7 2.97 0.052 2117.19 -419.3 421.01 78.36 0.871 1302.59 -3.7 0.014 - - - - - - 15.75 15.70 12.72
23201 end climb: SURFACE_DEPTH_REACHED
23201 begin surface coast
23222 end surface coast: CONTROL_FINISHED_OK
23222 begin surface
SM 1.09 - - - - 187.9 55.65 0.864 1082.7 18.0 21.11 0.045 1094.3 51.8 - 0.06 0.171 1071.1 17802.2 -11.598 - - 12.63 15.77 15.75 -