NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 108 * Raw log
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• Previous call tries 1 • 52.40 of 575.00 AH used of 24V (90.89% remains)
• Surface angle -64.6 deg, depth 1.47 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.74 (SM_CC=475)
• GPS1 time: 18 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
8.88 - - - 75.62 VBD -1.56 - - 181.75 - - - 2071.06 - -107.06 65.14 0.005 2478.12 - - - - - - - - - - 15.73
76.06 3.18 -2.86 13 128.22 -1.56 16.45 0.247 1960.00 108.1 3.64 0.121 689.75 -379.5 -107.06 24.44 0.006 3459.34 40.1 -3.527 - - - - - - 15.72 15.69 15.75
356.61 56.80 -16.35 68 363.21 roll -1.56 - - 1959.62 - 3.40 0.053 2128.12 423.0 -107.06 - - 3459.59 - - - - - - - - - 15.90 -
546.70 83.06 -12.87 106 553.41 roll -1.56 - - 1959.88 - 3.77 0.114 690.38 -381.4 -107.06 - - 3461.19 - - - - - - - - - 15.89 -
611.80 91.43 -12.73 119 618.34 roll -1.56 - - 1959.81 - 3.39 0.052 2130.50 424.8 -107.06 - - 3459.12 - - - - - - - - - 15.94 -
806.82 111.56 -10.01 147 812.49 roll -1.56 - - 1959.44 - 3.15 0.102 3359.75 390.2 -107.06 - - 3461.91 - - - - - - - - - 15.98 -
896.83 121.31 -10.93 165 902.51 roll -1.56 - - 1959.25 - 3.05 0.048 2068.19 -423.5 -107.06 - - 3460.59 - - - - - - - - - 16.01 -
1206.85 151.95 -10.45 197 1208.38 no move -1.56 - - 1959.62 - - - 2068.06 - -107.06 - - 3459.81 - - - - - - - - - - -
1516.86 182.53 -9.20 228 1522.59 roll -1.56 - - 1959.56 - 3.28 0.098 3361.19 394.2 -107.06 - - 3461.81 - - - - - - - - - 16.07 -
1571.11 188.28 -10.29 239 1578.26 roll -1.56 - - 1960.25 - 3.04 0.049 2067.94 -425.4 -107.06 - - 3461.44 - - - - - - - - - 16.02 -
1886.90 218.77 -10.17 271 1892.96 roll -1.56 - - 1959.81 - 3.58 0.121 688.69 -385.3 -107.06 - - 3462.66 - - - - - - - - - 16.04 -
1916.91 222.20 -10.69 277 1922.86 roll -1.56 - - 1960.06 - 3.35 0.052 2132.25 430.9 -107.06 - - 3461.53 - - - - - - - - - 16.08 -
2226.94 256.09 -10.69 309 2228.51 no move -1.56 - - 1960.12 - - - 2132.88 - -107.06 - - 3460.44 - - - - - - - - - - -
2536.97 285.99 -9.24 340 2544.16 roll -1.56 - - 1959.94 - 3.74 0.118 690.62 -385.6 -107.06 - - 3461.44 - - - - - - - - - 16.07 -
2622.73 295.37 -10.66 357 2628.71 roll -1.56 - - 1960.12 - 3.36 0.056 2130.69 428.6 -107.06 - - 3461.12 - - - - - - - - - 16.11 -
2932.75 326.64 -10.31 389 2934.32 no move -1.56 - - 1959.62 - - - 2131.06 - -107.06 - - 3460.66 - - - - - - - - - - -
3242.78 356.46 -8.89 420 3249.97 roll -1.56 - - 1959.50 - 3.77 0.120 689.69 -382.3 -107.06 - - 3460.84 - - - - - - - - - 16.14 -
3292.65 361.72 -10.36 430 3300.12 roll -1.56 - - 1960.06 - 3.37 0.056 2131.31 427.8 -107.06 - - 3461.06 - - - - - - - - - 16.14 -
3608.69 389.10 -8.47 462 3610.26 no move -1.56 - - 1959.50 - - - 2130.75 - -107.06 - - 3460.03 - - - - - - - - - - -
3918.48 416.88 -9.07 493 3925.66 roll -1.56 - - 1959.88 - 3.77 0.120 688.81 -382.5 -107.06 - - 3459.72 - - - - - - - - - 16.13 -
3974.11 422.78 -10.41 504 3980.06 roll -1.56 - - 1959.50 - 3.38 0.057 2130.62 426.6 -107.06 - - 3461.22 - - - - - - - - - 16.16 -
4284.15 450.63 -9.30 536 4285.72 no move -1.56 - - 1959.12 - - - 2131.00 - -107.06 - - 3460.16 - - - - - - - - - - -
4594.18 480.11 -9.47 567 4601.36 roll -1.56 - - 1959.69 - 3.76 0.120 689.62 -383.3 -107.06 - - 3459.31 - - - - - - - - - 16.15 -
4644.04 485.47 -10.60 577 4651.52 roll -1.56 - - 1960.00 - 3.36 0.058 2129.62 428.6 -107.06 - - 3460.19 - - - - - - - - - 16.16 -
4959.83 511.98 -8.16 609 4967.02 roll -1.56 - - 1959.44 - 3.76 0.122 688.06 -383.4 -107.06 - - 3459.06 - - - - - - - - - 16.17 -
5029.71 518.45 -8.93 623 5037.19 roll -1.56 - - 1959.88 - 3.37 0.057 2131.62 428.4 -107.06 - - 3459.94 - - - - - - - - - 16.18 -
5345.50 545.24 -8.82 655 5352.95 roll -1.56 - - 1960.00 - 3.76 0.122 689.62 -383.5 -107.06 - - 3458.62 - - - - - - - - - 16.17 -
5385.74 549.21 -9.62 663 5393.25 roll -1.56 - - 1959.94 - 3.35 0.057 2129.38 429.8 -107.06 - - 3460.72 - - - - - - - - - 16.17 -
5701.54 577.81 -8.85 695 5708.73 roll -1.56 - - 1958.31 - 3.73 0.122 690.56 -385.7 -107.06 - - 3460.59 - - - - - - - - - 16.18 -
5751.42 582.89 -10.11 705 5758.89 roll -1.56 - - 1959.88 - 3.34 0.058 2129.44 430.8 -107.06 - - 3458.09 - - - - - - - - - 16.18 -
6067.21 611.00 -9.01 737 6074.40 roll -1.56 - - 1959.12 - 3.73 0.124 689.69 -386.0 -107.06 - - 3457.81 - - - - - - - - - 16.17 -
6157.09 620.11 -9.84 755 6164.57 roll -1.56 - - 1959.88 - 3.36 0.059 2130.81 428.9 -107.06 - - 3457.88 - - - - - - - - - 16.17 -
6472.89 648.49 -8.97 787 6480.08 roll -1.56 - - 1958.50 - 3.74 0.124 689.94 -385.3 -107.06 - - 3458.00 - - - - - - - - - 16.18 -
6552.77 656.65 -10.22 803 6560.49 roll -1.56 - - 1959.75 - 3.35 0.060 2130.12 429.9 -107.06 - - 3457.03 - - - - - - - - - 16.18 -
6868.57 684.41 -8.59 835 6875.76 roll -1.56 - - 1959.56 - 3.74 0.125 690.56 -384.9 -107.06 - - 3458.28 - - - - - - - - - 16.17 -
6934.21 691.26 -10.23 848 6940.17 roll -1.56 - - 1960.69 - 3.35 0.060 2130.31 429.8 -107.06 - - 3456.66 - - - - - - - - - 16.18 -
7244.24 718.83 -9.02 880 7251.43 roll -1.56 - - 1961.06 - 3.72 0.124 689.69 -387.3 -107.06 - - 3456.28 - - - - - - - - - 16.17 -
7304.12 724.77 -10.08 892 7311.58 roll -1.56 - - 1959.94 - 3.35 0.059 2129.44 429.8 -107.06 - - 3456.34 - - - - - - - - - 16.18 -
7619.91 752.07 -8.70 924 7621.48 no move -1.56 - - 1959.56 - - - 2129.62 - -107.06 - - 3454.72 - - - - - - - - - - -
7929.93 779.15 -8.67 955 7937.13 roll -1.56 - - 1960.06 - 3.72 0.125 689.69 -387.1 -107.06 - - 3453.78 - - - - - - - - - 16.18 -
7975.58 783.66 -10.02 964 7981.53 roll -1.56 - - 1959.88 - 3.34 0.060 2129.94 431.2 -107.06 - - 3454.94 - - - - - - - - - 16.17 -
8285.61 809.70 -8.20 996 8293.06 roll -1.56 - - 1959.62 - 3.73 0.124 689.31 -386.2 -107.06 - - 3454.53 - - - - - - - - - 16.17 -
8381.62 818.59 -8.99 1015 8387.63 roll -1.56 - - 1960.25 - 3.37 0.061 2130.88 427.8 -107.06 - - 3454.69 - - - - - - - - - 16.19 -
8691.65 842.47 -7.71 1047 8698.84 roll -1.56 - - 1959.56 - 3.74 0.126 689.62 -385.4 -107.06 - - 3453.84 - - - - - - - - - 16.18 -
8731.52 845.99 -8.66 1055 8738.99 roll -1.56 - - 1958.56 - 3.36 0.061 2128.88 428.4 -107.06 - - 3455.50 - - - - - - - - - 16.18 -
9047.31 871.19 -8.08 1087 9054.51 roll -1.56 - - 1959.94 - 3.74 0.126 690.56 -384.6 -107.06 - - 3454.88 - - - - - - - - - 16.18 -
9132.96 879.31 -9.21 1104 9138.94 roll -1.56 - - 1959.56 - 3.38 0.062 2129.62 425.8 -107.06 - - 3454.88 - - - - - - - - - 16.18 -
9442.99 903.91 -7.85 1136 9450.19 roll -1.56 - - 1959.31 - 3.75 0.126 690.50 -383.8 -107.06 - - 3452.25 - - - - - - - - - 16.18 -
9498.64 908.86 -8.79 1147 9504.85 roll -1.56 - - 1959.31 - 3.37 0.061 2129.50 427.0 -107.06 - - 3454.44 - - - - - - - - - 16.17 -
9808.67 933.19 -7.41 1179 9815.86 roll -1.56 - - 1960.00 - 3.76 0.126 689.31 -383.0 -107.06 - - 3452.81 - - - - - - - - - 16.18 -
9908.56 941.89 -8.63 1199 9916.03 roll -1.56 - - 1959.81 - 3.38 0.063 2129.44 426.1 -107.06 - - 3453.25 - - - - - - - - - 16.17 -
10224.34 964.60 -7.25 1231 10226.04 no move -1.56 - - 1959.75 - - - 2129.94 - -107.06 - - 3451.88 - - - - - - - - - - -
10534.38 988.81 -8.13 1262 10541.57 roll -1.56 - - 1959.06 - 3.76 0.127 690.31 -382.9 -107.06 - - 3451.19 - - - - - - - - - 16.18 -
10550 end dive: TARGET_DEPTH_EXCEEDED
10550 begin apogee
10556.48 990.38 -8.91 1265 10650.90 -0.42 2.41 0.127 2239.75 116.5 0.09 0.252 2119.69 15882.0 - 87.00 2.246 3017.12 -5.0 0.365 - - - - - - 16.15 15.53 12.79
10656 end apogee: CONTROL_FINISHED_OK
10656 begin climb
10658.87 992.56 - 1274 10771.03 1.56 3.91 0.060 2729.31 125.2 3.30 0.107 3360.81 376.1 107.06 95.86 2.180 2582.88 -4.5 0.342 - - - - - - 15.64 15.30 12.76
10899.60 976.17 10.91 1320 10905.41 done 1.56 - - 2730.06 - 3.01 0.055 2121.75 -411.6 107.06 - - 2574.53 - - - - - - - - - 15.73 -
11209.61 944.82 9.54 1352 11215.48 done 1.56 - - 2730.31 - 3.14 0.104 3361.19 394.7 107.06 - - 2569.59 - - - - - - - - - 15.90 -
11379.65 925.95 11.11 1386 11385.45 done 1.56 - - 2729.44 - 2.96 0.055 2120.38 -419.2 107.06 - - 2568.31 - - - - - - - - - 15.97 -
11689.67 894.25 10.00 1418 11695.57 done 1.56 - - 2729.50 - 3.12 0.103 3362.62 398.2 107.06 - - 2568.66 - - - - - - - - - 16.01 -
11813.94 880.14 11.29 1443 11821.49 done 1.56 - - 2730.38 - 2.94 0.055 2119.81 -422.7 107.06 - - 2566.03 - - - - - - - - - 16.04 -
12129.71 847.06 10.82 1475 12135.59 done 1.56 - - 2730.12 - 3.12 0.103 3361.88 398.1 107.06 - - 2564.81 - - - - - - - - - 16.06 -
12314.00 825.55 12.33 1512 12321.26 done 1.56 - - 2730.31 - 2.93 0.056 2120.19 -423.8 107.06 - - 2564.59 - - - - - - - - - 16.09 -
12629.76 792.62 10.33 1544 12635.68 done 1.56 - - 2730.50 - 3.12 0.103 3363.19 398.4 107.06 - - 2563.94 - - - - - - - - - 16.12 -
12769.80 776.40 12.38 1572 12775.57 done 1.56 - - 2730.00 - 2.92 0.056 2119.31 -426.0 107.06 - - 2563.66 - - - - - - - - - 16.11 -
13079.81 745.25 9.37 1604 13085.68 done 1.56 - - 2729.69 - 3.11 0.102 3362.50 399.7 107.06 - - 2562.28 - - - - - - - - - 16.12 -
13314.11 721.93 9.84 1651 13321.38 done 1.56 - - 2730.12 - 2.92 0.056 2117.81 -426.3 107.06 - - 2562.78 - - - - - - - - - 16.14 -
13629.89 695.52 8.36 1683 13631.47 VBD 1.56 - - 2730.12 - - - 2117.88 - 107.06 - - 2560.62 - - - - - - - - - - -
13939.91 669.36 8.52 1714 13945.72 done 1.56 - - 2730.12 - 3.10 0.102 3360.69 400.9 107.06 - - 2562.34 - - - - - - - - - 16.16 -
14134.18 650.87 9.50 1753 14141.44 done 1.56 - - 2729.44 - 2.91 0.056 2118.56 -426.8 107.06 - - 2563.22 - - - - - - - - - 16.15 -
14449.95 623.28 8.57 1785 14455.83 done 1.56 - - 2729.44 - 3.12 0.102 3363.62 399.1 107.06 - - 2562.34 - - - - - - - - - 16.16 -
14514.22 617.22 9.13 1798 14521.52 done 1.56 - - 2730.19 - 2.91 0.055 2118.50 -427.9 107.06 - - 2560.44 - - - - - - - - - 16.18 -
14829.99 592.12 7.64 1830 14835.86 done 1.56 - - 2730.56 - 3.12 0.101 3361.94 398.5 107.06 - - 2561.41 - - - - - - - - - 16.15 -
15030.05 575.43 8.15 1870 15035.83 done 1.56 - - 2729.44 - 2.92 0.055 2118.75 -425.8 107.06 - - 2561.69 - - - - - - - - - 16.18 -
15340.14 554.84 6.21 1902 15346.21 done 1.62 - - 2729.44 - 3.12 0.101 3360.44 398.0 107.06 - - 2563.31 - - - - - - - - - 16.18 -
15484.43 544.35 7.00 1931 15491.69 done 1.65 - - 2729.44 - 2.91 0.056 2119.00 -426.6 107.06 - - 2561.62 - - - - - - - - - 16.17 -
15800.20 524.31 6.56 1963 15806.18 1.70 0.17 0.073 2761.00 185.6 3.12 0.101 3362.56 398.6 107.06 - - 2562.19 - - - - - - - - 16.21 16.15 -
15880.18 517.81 8.35 1979 15885.96 done 1.70 - - 2760.75 - 2.91 0.055 2117.56 -427.8 107.06 - - 2561.19 - - - - - - - - - 16.18 -
16190.24 494.37 7.46 2011 16191.81 VBD 1.71 - - 2761.56 - - - 2117.50 - 107.06 - - 2558.12 - - - - - - - - - - -
16500.26 471.81 7.54 2042 16501.84 VBD 1.73 - - 2761.25 - - - 2117.81 - 107.06 - - 2558.41 - - - - - - - - - - -
16810.29 448.09 7.48 2073 16816.11 done 1.75 - - 2761.69 - 3.14 0.100 3362.00 396.2 107.06 - - 2561.69 - - - - - - - - - 16.17 -
17014.53 431.14 8.61 2114 17021.80 done 1.75 - - 2761.94 - 2.93 0.054 2118.12 -424.5 107.06 - - 2559.44 - - - - - - - - - 16.15 -
17330.35 409.19 6.36 2146 17332.35 1.80 0.12 0.079 2783.56 180.2 - - 2117.88 - 107.06 - - 2557.19 - - - - - - - - 16.22 - -
17640.38 390.80 5.74 2177 17641.96 VBD 1.87 - - 2783.94 - - - 2117.94 - 107.06 - - 2558.75 - - - - - - - - - - -
17950.40 372.24 6.21 2208 17957.69 1.92 0.17 0.065 2817.12 195.2 3.64 0.115 687.69 -392.9 107.06 - - 2561.78 - - - - - - - - 16.21 16.15 -
18066.16 363.48 7.82 2231 18073.41 1.92 0.30 0.178 2802.56 -48.5 3.49 0.062 2181.62 428.1 107.06 - - 2557.38 - - - - - - - - 16.09 16.18 -
18381.21 344.28 5.64 2263 18388.59 1.99 0.23 0.052 2834.81 140.2 3.80 0.113 689.94 -392.5 107.06 - - 2560.81 - - - - - - - - 16.20 16.15 -
18567.12 330.98 7.38 2300 18573.10 done 2.01 - - 2835.94 - 3.49 0.060 2180.50 427.1 107.06 - - 2558.50 - - - - - - - - - 16.17 -
18877.15 310.75 6.58 2332 18882.92 done 2.06 - - 2835.50 - 3.01 0.102 3363.88 393.1 107.06 - - 2558.00 - - - - - - - - - 16.17 -
19057.20 298.63 6.50 2368 19063.31 2.10 0.13 0.071 2860.88 195.2 2.94 0.053 2117.19 -424.0 107.06 - - 2559.59 - - - - - - - - 16.19 16.14 -
19367.21 279.34 5.90 2400 19373.07 done 2.17 - - 2861.25 - 3.14 0.099 3362.81 396.7 107.06 - - 2558.09 - - - - - - - - - 16.13 -
19601.51 264.94 6.31 2447 19608.91 2.22 0.12 0.075 2889.44 234.9 2.93 0.053 2117.88 -424.9 107.06 - - 2557.78 - - - - - - - - 16.15 16.15 -
19917.27 247.03 6.07 2479 19923.09 done 2.28 - - 2888.44 - 3.15 0.098 3364.06 395.6 107.06 - - 2560.72 - - - - - - - - - 16.13 -
20151.58 233.68 5.15 2526 20159.03 2.37 0.22 0.056 2926.06 171.0 2.93 0.053 2117.06 -425.6 107.06 - - 2558.16 - - - - - - - - 16.19 16.13 -
20467.33 217.76 4.91 2558 20522.45 done 2.45 - - 2925.75 - 3.20 0.099 3361.31 388.8 168.41 47.22 1.292 2332.50 -4.8 0.133 - - - - - - - 15.87 12.90
20750.15 181.84 13.79 2614 20757.45 roll 2.45 - - 2926.25 - 2.95 0.053 2117.94 -421.5 168.41 - - 2327.53 - - - - - - - - - 15.98 -
21065.91 142.95 12.00 2646 21067.48 VBD 2.45 - - 2926.38 - - - 2118.62 - 168.41 - - 2323.12 - - - - - - - - - - -
21375.92 110.01 9.84 2677 21377.49 VBD 2.45 - - 2926.62 - - - 2118.75 - 168.41 - - 2322.41 - - - - - - - - - - -
21680.99 86.92 6.40 2727 21685.62 2.50 0.20 0.048 2949.88 116.3 - - 2118.06 - 168.41 - - 2323.12 - - - - - - - - 16.09 - -
21871.00 79.83 2.93 2765 21981.47 2.63 0.23 0.051 2987.56 163.8 - - 2117.88 - 268.37 103.85 1.087 1924.94 -3.8 0.047 - - - - - - 16.11 - 12.79
22164.87 55.23 11.56 2823 22171.54 roll 2.63 - - 2987.19 - 3.22 0.096 3361.88 386.3 268.37 - - 1924.38 - - - - - - - - - 15.82 -
22355.19 30.99 11.95 2861 22361.87 roll back 2.63 0.28 0.170 2972.50 -52.5 2.97 0.051 2118.31 -418.7 268.37 - - 1922.09 - - - - - - - - 15.88 15.89 -
22545.43 30.04 -1.19 2899 22731.52 2.86 0.58 0.036 3044.31 123.8 3.80 0.113 690.62 -375.7 448.80 172.71 1.015 1189.91 -4.2 0.021 - - - - - - 15.98 15.49 12.76
22735.50 17.11 15.67 2935 22741.83 roll 2.86 - - 3043.25 - 3.61 0.056 2180.19 412.6 448.80 - - 1189.72 - - - - - - - - - 15.60 -
22835 end climb: SURFACE_DEPTH_REACHED
22835 begin surface coast
22850 end surface coast: CONTROL_FINISHED_OK
22850 begin surface
SM 1.85 - - - - 182.8 25.01 0.937 1084.7 43.4 21.86 0.038 1096.5 50.2 - 0.22 0.093 1072.8 4860.0 -9.881 - - 12.75 15.78 15.75 -