NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 116 * Raw log
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• Previous call tries 1 • 55.19 of 575.00 AH used of 24V (90.40% remains)
• Surface angle -62.2 deg, depth 1.40 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.00 (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
8.92 - - - 75.67 VBD -1.56 - - 181.88 - - - 2137.81 - -107.06 65.11 0.005 2469.81 - - - - - - - - - - 15.74
76.10 3.15 -2.91 13 128.01 -1.56 16.48 0.238 1959.94 107.9 3.11 0.106 3361.25 393.4 -107.06 24.55 0.006 3457.97 40.3 -3.502 - - - - - - 15.70 15.70 15.75
241.31 36.42 -17.37 45 247.76 roll -1.56 - - 1959.94 - 3.06 0.050 2068.06 -422.6 -107.06 - - 3459.94 - - - - - - - - - 15.86 -
431.39 64.48 -15.07 83 435.75 no move -1.56 - - 1959.81 - - - 2068.69 - -107.06 - - 3460.28 - - - - - - - - - - -
616.40 91.83 -12.86 120 622.91 roll -1.56 - - 1959.69 - 3.23 0.098 3360.62 400.0 -107.06 - - 3461.50 - - - - - - - - - 15.94 -
666.41 98.40 -12.67 130 672.80 roll -1.56 - - 1959.62 - 3.02 0.049 2066.31 -428.6 -107.06 - - 3461.19 - - - - - - - - - 15.94 -
861.41 118.74 -10.42 151 862.94 no move -1.56 - - 1959.88 - - - 2066.06 - -107.06 - - 3460.88 - - - - - - - - - - -
1171.42 148.17 -8.90 182 1172.95 no move -1.56 - - 1959.81 - - - 2066.31 - -107.06 - - 3461.19 - - - - - - - - - - -
1481.43 178.04 -10.17 213 1482.96 no move -1.56 - - 1960.06 - - - 2066.31 - -107.06 - - 3461.78 - - - - - - - - - - -
1791.46 209.03 -10.26 244 1797.33 roll -1.56 - - 1960.12 - 3.55 0.122 689.38 -387.9 -107.06 - - 3461.59 - - - - - - - - - 16.06 -
1841.47 214.94 -12.04 254 1847.26 roll -1.56 - - 1959.12 - 3.34 0.055 2132.69 432.1 -107.06 - - 3463.22 - - - - - - - - - 16.07 -
2151.49 247.47 -10.62 286 2153.02 no move -1.56 - - 1960.00 - - - 2133.12 - -107.06 - - 3461.59 - - - - - - - - - - -
2461.55 279.84 -9.82 317 2463.12 no move -1.56 - - 1959.50 - - - 2133.31 - -107.06 - - 3461.53 - - - - - - - - - - -
2771.58 309.54 -9.23 348 2778.76 roll -1.56 - - 1959.25 - 3.71 0.118 689.75 -389.1 -107.06 - - 3462.03 - - - - - - - - - 16.10 -
2871.47 320.24 -10.30 368 2878.94 roll -1.56 - - 1960.12 - 3.34 0.057 2129.88 431.2 -107.06 - - 3462.31 - - - - - - - - - 16.13 -
3187.81 349.54 -9.31 400 3189.38 no move -1.56 - - 1959.38 - - - 2129.75 - -107.06 - - 3461.50 - - - - - - - - - - -
3497.29 378.38 -9.66 431 3504.48 roll -1.56 - - 1960.19 - 3.71 0.119 688.75 -388.4 -107.06 - - 3461.56 - - - - - - - - - 16.13 -
3592.93 388.78 -10.92 450 3598.88 roll -1.56 - - 1960.62 - 3.33 0.057 2131.94 433.4 -107.06 - - 3462.66 - - - - - - - - - 16.14 -
3902.96 417.03 -8.95 482 3904.53 no move -1.56 - - 1959.69 - - - 2130.62 - -107.06 - - 3461.72 - - - - - - - - - - -
4212.99 446.09 -9.60 513 4220.17 roll -1.56 - - 1960.12 - 3.70 0.119 688.50 -389.8 -107.06 - - 3459.88 - - - - - - - - - 16.15 -
4278.62 453.24 -10.92 526 4284.81 roll -1.56 - - 1960.50 - 3.33 0.058 2130.00 432.9 -107.06 - - 3461.34 - - - - - - - - - 16.15 -
4588.65 483.67 -9.96 558 4590.22 no move -1.56 - - 1959.62 - - - 2129.88 - -107.06 - - 3459.53 - - - - - - - - - - -
4898.68 513.34 -9.10 589 4905.82 roll -1.56 - - 1960.25 - 3.69 0.120 688.56 -390.6 -107.06 - - 3458.69 - - - - - - - - - 16.17 -
4968.50 520.43 -10.02 603 4975.72 roll -1.56 - - 1959.69 - 3.33 0.057 2129.94 432.8 -107.06 - - 3460.06 - - - - - - - - - 16.18 -
5284.29 546.38 -7.75 635 5291.49 roll -1.56 - - 1959.94 - 3.71 0.121 689.56 -388.2 -107.06 - - 3461.53 - - - - - - - - - 16.17 -
5349.93 552.43 -9.10 648 5355.89 roll -1.56 - - 1959.25 - 3.33 0.059 2130.88 432.8 -107.06 - - 3461.00 - - - - - - - - - 16.18 -
5659.96 578.25 -8.73 680 5667.15 roll -1.56 - - 1959.62 - 3.70 0.122 689.50 -389.6 -107.06 - - 3458.94 - - - - - - - - - 16.17 -
5685.59 580.90 -9.01 685 5691.54 roll -1.56 - - 1958.31 - 3.33 0.057 2132.19 433.2 -107.06 - - 3460.31 - - - - - - - - - 16.17 -
5995.62 608.36 -8.67 717 6003.07 roll -1.56 - - 1959.62 - 3.72 0.121 690.69 -387.5 -107.06 - - 3458.62 - - - - - - - - - 16.16 -
6041.63 612.93 -9.77 726 6047.58 roll -1.56 - - 1960.00 - 3.32 0.059 2129.50 433.4 -107.06 - - 3460.12 - - - - - - - - - 16.19 -
6351.66 638.54 -8.03 758 6358.85 roll -1.56 - - 1959.88 - 3.74 0.122 688.44 -385.3 -107.06 - - 3456.41 - - - - - - - - - 16.17 -
6397.30 643.07 -9.55 767 6403.57 roll -1.56 - - 1960.12 - 3.32 0.058 2130.25 434.3 -107.06 - - 3457.84 - - - - - - - - - 16.18 -
6707.32 667.95 -8.01 799 6713.15 roll -1.56 - - 1959.25 - 3.07 0.107 3360.62 400.8 -107.06 - - 3459.31 - - - - - - - - - 16.17 -
6747.32 671.53 -8.60 807 6753.12 roll -1.56 - - 1960.06 - 3.07 0.054 2070.88 -420.1 -107.06 - - 3458.03 - - - - - - - - - 16.18 -
7057.34 695.66 -7.73 839 7058.91 no move -1.56 - - 1959.50 - - - 2070.31 - -107.06 - - 3455.84 - - - - - - - - - - -
7367.35 720.54 -7.94 870 7373.44 roll -1.56 - - 1959.94 - 3.58 0.127 690.62 -385.4 -107.06 - - 3456.31 - - - - - - - - - 16.17 -
7397.36 723.47 -8.79 876 7403.56 roll -1.56 - - 1959.88 - 3.34 0.060 2130.62 431.1 -107.06 - - 3456.19 - - - - - - - - - 16.17 -
7707.38 748.39 -7.86 908 7714.58 roll -1.56 - - 1960.06 - 3.76 0.123 689.69 -383.2 -107.06 - - 3457.22 - - - - - - - - - 16.18 -
7753.02 752.87 -9.77 917 7759.02 roll -1.56 - - 1960.19 - 3.32 0.060 2129.81 433.8 -107.06 - - 3455.41 - - - - - - - - - 16.19 -
8063.06 778.79 -8.60 949 8064.63 no move -1.56 - - 1959.31 - - - 2129.81 - -107.06 - - 3453.72 - - - - - - - - - - -
8373.11 805.06 -8.78 980 8380.31 roll -1.56 - - 1959.38 - 3.74 0.123 689.38 -385.1 -107.06 - - 3454.62 - - - - - - - - - 16.18 -
8452.99 812.76 -9.53 996 8460.46 roll -1.56 - - 1958.38 - 3.34 0.060 2128.62 430.9 -107.06 - - 3455.91 - - - - - - - - - 16.19 -
8768.78 839.31 -8.49 1028 8775.97 roll -1.56 - - 1959.69 - 3.72 0.123 690.31 -386.6 -107.06 - - 3452.50 - - - - - - - - - 16.17 -
8818.66 843.96 -9.18 1038 8826.13 roll -1.56 - - 1960.50 - 3.31 0.062 2131.00 435.3 -107.06 - - 3454.00 - - - - - - - - - 16.16 -
9134.45 870.52 -8.44 1070 9141.89 roll -1.56 - - 1960.06 - 3.72 0.125 689.56 -387.5 -107.06 - - 3452.34 - - - - - - - - - 16.18 -
9170.45 873.75 -9.02 1077 9176.42 roll -1.56 - - 1959.62 - 3.32 0.060 2131.94 434.5 -107.06 - - 3454.19 - - - - - - - - - 16.19 -
9480.48 898.47 -7.67 1109 9487.67 roll -1.56 - - 1959.69 - 3.73 0.125 689.62 -386.7 -107.06 - - 3455.06 - - - - - - - - - 16.17 -
9530.35 902.76 -8.81 1119 9537.83 roll -1.56 - - 1959.56 - 3.31 0.059 2130.50 435.3 -107.06 - - 3454.38 - - - - - - - - - 16.19 -
9846.17 925.00 -6.69 1151 9853.39 roll -1.56 - - 1958.62 - 3.73 0.125 689.44 -386.3 -107.06 - - 3455.00 - - - - - - - - - 16.18 -
9871.83 927.17 -6.86 1156 9877.77 roll -1.56 - - 1960.06 - 3.32 0.061 2130.62 434.1 -107.06 - - 3455.00 - - - - - - - - - 16.17 -
10181.85 948.49 -6.81 1188 10189.04 roll -1.56 - - 1960.38 - 3.73 0.126 690.62 -386.1 -107.06 - - 3454.56 - - - - - - - - - 16.17 -
10227.49 952.36 -8.51 1197 10233.46 roll -1.56 - - 1959.75 - 3.31 0.061 2130.94 435.1 -107.06 - - 3453.19 - - - - - - - - - 16.17 -
10537.51 973.68 -7.15 1229 10539.09 no move -1.56 - - 1959.62 - - - 2130.56 - -107.06 - - 3451.69 - - - - - - - - - - -
10757 end dive: TARGET_DEPTH_EXCEEDED
10757 begin apogee
10759.22 990.12 -7.52 1251 10854.57 -0.42 2.36 0.123 2241.19 119.3 0.10 0.242 2119.25 -113.1 - 87.17 2.257 3016.09 -5.0 0.363 - - - - - - 16.13 15.53 12.79
10865 end apogee: CONTROL_FINISHED_OK
10866 begin climb
10868.74 991.47 - 1260 10980.78 1.56 3.74 0.056 2730.69 130.9 3.26 0.107 3361.00 380.9 107.06 95.43 2.192 2582.94 -4.5 0.340 - - - - - - 15.66 15.28 12.76
11113.60 972.42 11.82 1307 11120.94 done 1.56 - - 2730.75 - 3.02 0.056 2122.69 -410.0 107.06 - - 2576.31 - - - - - - - - - 15.72 -
11429.38 937.85 10.94 1339 11435.24 done 1.56 - - 2731.00 - 3.11 0.103 3362.69 398.7 107.06 - - 2569.94 - - - - - - - - - 15.91 -
11569.40 921.92 11.96 1367 11575.20 done 1.56 - - 2730.06 - 2.94 0.056 2119.88 -422.7 107.06 - - 2569.44 - - - - - - - - - 15.96 -
11879.42 889.36 10.16 1399 11885.24 done 1.56 - - 2730.94 - 3.07 0.104 3364.25 405.3 107.06 - - 2566.03 - - - - - - - - - 16.00 -
12093.71 865.99 10.92 1442 12100.98 done 1.56 - - 2730.62 - 2.92 0.056 2119.69 -426.2 107.06 - - 2566.19 - - - - - - - - - 16.05 -
12409.48 833.81 10.21 1474 12415.34 done 1.56 - - 2730.25 - 3.08 0.104 3362.81 403.6 107.06 - - 2564.31 - - - - - - - - - 16.07 -
12629.52 809.51 11.28 1518 12635.32 done 1.56 - - 2730.94 - 2.91 0.056 2119.62 -427.2 107.06 - - 2564.06 - - - - - - - - - 16.09 -
12939.54 779.58 9.46 1550 12941.11 VBD 1.56 - - 2730.38 - - - 2119.56 - 107.06 - - 2562.00 - - - - - - - - - - -
13249.59 749.49 9.76 1581 13255.58 done 1.56 - - 2730.00 - 3.08 0.104 3362.69 403.6 107.06 - - 2562.66 - - - - - - - - - 16.12 -
13449.64 728.36 10.93 1621 13455.55 done 1.56 - - 2730.88 - 2.93 0.056 2118.81 -424.5 107.06 - - 2561.84 - - - - - - - - - 16.14 -
13759.64 698.93 9.10 1653 13761.26 VBD 1.56 - - 2730.38 - - - 2118.44 - 107.06 - - 2560.75 - - - - - - - - - - -
14069.66 673.66 7.58 1684 14075.69 done 1.56 - - 2730.69 - 3.07 0.103 3362.56 405.3 107.06 - - 2560.88 - - - - - - - - - 16.14 -
14303.96 654.59 8.18 1731 14311.37 done 1.56 - - 2729.50 - 2.93 0.056 2119.25 -424.3 107.06 - - 2563.16 - - - - - - - - - 16.15 -
14619.71 630.36 8.17 1763 14625.73 done 1.56 - - 2731.19 - 3.08 0.102 3362.56 403.7 107.06 - - 2560.56 - - - - - - - - - 16.14 -
14789.76 614.93 8.90 1797 14795.72 done 1.56 - - 2731.25 - 2.93 0.055 2118.38 -424.6 107.06 - - 2561.59 - - - - - - - - - 16.16 -
15099.75 588.24 7.90 1829 15106.03 done 1.56 - - 2730.81 - 3.10 0.101 3362.62 401.4 107.06 - - 2559.84 - - - - - - - - - 16.17 -
15284.04 571.99 8.97 1866 15291.46 done 1.56 - - 2730.50 - 2.94 0.056 2119.88 -422.7 107.06 - - 2560.81 - - - - - - - - - 16.16 -
15599.85 547.78 7.31 1898 15601.46 VBD 1.59 - - 2730.38 - - - 2119.62 - 107.06 - - 2558.91 - - - - - - - - - - -
15909.86 526.67 6.63 1929 15911.48 VBD 1.63 - - 2730.62 - - - 2119.62 - 107.06 - - 2558.97 - - - - - - - - - - -
16219.88 505.49 6.92 1960 16221.70 1.66 0.12 0.075 2752.44 181.8 - - 2120.00 - 107.06 - - 2557.59 - - - - - - - - 16.24 - -
16529.90 482.51 7.45 1991 16535.81 done 1.68 - - 2752.69 - 3.10 0.101 3362.69 400.9 107.06 - - 2559.00 - - - - - - - - - 16.16 -
16729.90 466.29 8.22 2031 16735.86 done 1.68 - - 2752.25 - 2.93 0.055 2118.19 -424.7 107.06 - - 2562.03 - - - - - - - - - 16.18 -
17039.96 443.34 6.81 2063 17045.94 done 1.72 - - 2753.19 - 3.11 0.101 3362.50 400.1 107.06 - - 2558.81 - - - - - - - - - 16.15 -
17220.00 430.00 7.35 2099 17225.86 done 1.74 - - 2752.75 - 2.94 0.055 2117.88 -423.3 107.06 - - 2558.97 - - - - - - - - - 16.18 -
17530.00 408.83 7.52 2131 17535.92 done 1.75 - - 2752.75 - 3.10 0.101 3362.19 401.4 107.06 - - 2562.03 - - - - - - - - - 16.16 -
17579.96 404.93 7.91 2141 17585.88 done 1.75 - - 2752.88 - 2.93 0.054 2118.81 -424.4 107.06 - - 2561.84 - - - - - - - - - 16.17 -
17890.02 383.18 6.96 2173 17897.50 1.79 0.19 0.056 2782.50 155.9 3.66 0.117 688.50 -390.8 107.06 - - 2557.75 - - - - - - - - 16.22 16.14 -
18126.03 365.06 7.58 2220 18132.27 done 1.79 - - 2783.75 - 3.47 0.061 2182.62 430.6 107.06 - - 2557.69 - - - - - - - - - 16.16 -
18436.08 346.77 5.58 2252 18443.50 done 1.86 - - 2783.31 - 3.82 0.113 687.44 -391.4 107.06 - - 2556.06 - - - - - - - - - 16.16 -
18492.05 343.11 6.55 2263 18499.47 1.91 0.22 0.033 2804.00 94.0 3.45 0.060 2182.12 433.2 107.06 - - 2556.53 - - - - - - - - 16.22 16.16 -
18807.07 325.23 5.44 2295 18808.88 1.98 0.18 0.040 2823.94 110.8 - - 2183.25 - 107.06 - - 2556.72 - - - - - - - - 16.23 - -
19117.10 307.49 6.02 2326 19122.96 done 2.05 - - 2824.62 - 2.94 0.101 3361.44 400.7 107.06 - - 2558.66 - - - - - - - - - 16.14 -
19351.39 292.41 6.21 2373 19358.99 2.10 0.21 0.052 2860.94 173.0 2.93 0.054 2117.56 -424.5 107.06 - - 2559.16 - - - - - - - - 16.20 16.17 -
19667.17 273.47 5.45 2405 19674.49 done 2.18 - - 2860.88 - 3.65 0.113 688.25 -391.6 107.06 - - 2556.84 - - - - - - - - - 16.12 -
19847.30 262.83 5.84 2441 19855.19 2.24 0.26 0.034 2888.50 106.2 3.47 0.061 2182.62 430.7 107.06 - - 2558.97 - - - - - - - - 16.22 16.13 -
20163.08 247.74 4.91 2473 20218.82 2.32 0.14 0.045 2908.31 141.5 2.99 0.101 3362.50 394.6 168.41 47.51 1.334 2334.22 -4.7 0.146 - - - - - - 16.23 15.85 12.89
20242.78 241.41 9.51 2487 20248.74 roll 2.32 - - 2908.06 - 2.97 0.053 2117.38 -419.2 168.41 - - 2329.78 - - - - - - - - - 15.95 -
20552.78 202.72 12.84 2519 20558.81 done 2.32 - - 2908.88 - 3.11 0.100 3361.75 400.1 168.41 - - 2324.38 - - - - - - - - - 16.00 -
20652.81 188.51 14.27 2539 20658.77 done 2.32 - - 2907.19 - 2.94 0.054 2119.50 -422.5 168.41 - - 2323.56 - - - - - - - - - 16.02 -
20962.82 148.10 11.15 2571 20968.79 done 2.32 - - 2908.38 - 3.10 0.099 3362.81 401.1 168.41 - - 2322.66 - - - - - - - - - 16.04 -
21197.12 119.98 10.73 2618 21204.54 done 2.32 - - 2908.31 - 2.93 0.053 2117.69 -425.0 168.41 - - 2324.19 - - - - - - - - - 16.04 -
21507.94 98.57 4.86 2652 21585.03 2.41 0.17 0.046 2929.69 125.8 3.17 0.099 3362.31 392.6 230.71 67.76 1.103 2076.25 -3.7 0.054 - - - - - - 16.11 15.75 12.73
21653.62 87.35 11.01 2680 21660.29 roll 2.41 - - 2930.44 - 2.95 0.052 2119.06 -421.4 230.71 - - 2076.28 - - - - - - - - - 15.86 -
21843.72 69.24 8.35 2718 21850.85 roll 2.41 - - 2930.75 - 3.67 0.112 687.56 -390.1 230.71 - - 2073.59 - - - - - - - - - 15.91 -
22079.43 53.45 6.03 2765 22086.36 roll 2.47 - - 2931.00 - 3.48 0.057 2183.25 429.8 230.71 - - 2072.16 - - - - - - - - - 15.95 -
22269.85 45.74 3.56 2803 22367.30 2.58 0.35 0.040 2979.38 138.2 3.90 0.109 687.38 -383.6 318.31 86.54 1.044 1720.94 -4.1 0.029 - - - - - - 16.03 15.64 12.76
22595.87 19.10 4.79 2867 22667.49 done 2.66 - - 2979.44 - 3.51 0.056 2185.69 426.9 381.87 62.40 0.997 1461.88 -4.2 0.013 - - - - - - - 15.87 12.76
22840 end climb: SURFACE_DEPTH_REACHED
22841 begin surface coast
22866 end surface coast: CONTROL_FINISHED_OK
22866 begin surface
SM 1.41 - - - - 188.6 86.73 0.995 1083.6 11.8 21.11 0.038 1100.4 52.1 - 0.23 0.094 1066.8 4623.0 -7.088 - - 12.74 15.88 15.85 -