NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 103 * Raw log
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• Previous call tries 1 • 50.67 of 575.00 AH used of 24V (91.19% remains)
• Surface angle -61.3 deg, depth 1.32 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.96 (SM_CC=475)
• GPS1 time: 38 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
8.91 - - - 80.83 VBD -1.56 - - 185.38 - - - 2141.69 - -107.06 70.25 0.005 2555.44 - - - - - - - - - - 15.73
81.26 3.31 -3.19 14 132.12 -1.56 16.66 0.237 1961.25 106.6 3.18 0.103 3359.81 383.1 -107.06 22.58 0.006 3457.50 39.9 -3.648 - - - - - - 15.72 15.73 15.75
230.42 30.46 -18.04 43 237.19 roll -1.56 - - 1960.50 - 3.12 0.049 2069.69 -413.5 -107.06 - - 3460.78 - - - - - - - - - 15.86 -
420.67 58.02 -14.25 81 427.18 roll -1.56 - - 1960.94 - 3.32 0.098 3361.25 389.0 -107.06 - - 3460.22 - - - - - - - - - 15.90 -
470.67 66.13 -16.51 91 477.06 roll -1.56 - - 1961.38 - 3.08 0.049 2068.00 -419.9 -107.06 - - 3459.41 - - - - - - - - - 15.90 -
660.68 89.51 -10.40 129 667.16 roll -1.56 - - 1960.38 - 3.30 0.097 3360.44 391.6 -107.06 - - 3461.84 - - - - - - - - - 15.94 -
715.69 95.71 -11.82 140 722.09 roll -1.56 - - 1960.88 - 3.06 0.048 2068.44 -422.2 -107.06 - - 3460.31 - - - - - - - - - 15.94 -
905.69 114.40 -8.84 163 911.56 roll -1.56 - - 1959.94 - 3.59 0.118 691.00 -383.7 -107.06 - - 3462.25 - - - - - - - - - 15.97 -
1049.97 130.20 -11.31 192 1057.31 roll -1.56 - - 1960.75 - 3.40 0.052 2129.81 423.2 -107.06 - - 3460.09 - - - - - - - - - 16.02 -
1365.75 161.70 -9.62 224 1371.42 roll -1.56 - - 1961.56 - 3.16 0.101 3359.81 389.2 -107.06 - - 3462.44 - - - - - - - - - 16.00 -
1400.02 165.29 -10.26 231 1407.34 roll -1.56 - - 1961.06 - 3.06 0.048 2069.25 -421.8 -107.06 - - 3461.22 - - - - - - - - - 16.06 -
1715.79 194.92 -9.08 263 1721.74 roll -1.56 - - 1960.56 - 3.31 0.098 3360.06 390.0 -107.06 - - 3461.41 - - - - - - - - - 16.04 -
1760.06 199.63 -10.34 272 1767.36 roll -1.56 - - 1960.94 - 3.04 0.049 2068.19 -425.0 -107.06 - - 3460.50 - - - - - - - - - 16.07 -
2075.82 229.65 -9.89 304 2077.39 no move -1.56 - - 1961.25 - - - 2068.50 - -107.06 - - 3460.53 - - - - - - - - - - -
2385.84 256.86 -9.16 335 2391.80 roll -1.56 - - 1960.50 - 3.32 0.099 3363.44 390.0 -107.06 - - 3462.19 - - - - - - - - - 16.07 -
2435.86 261.99 -10.28 345 2441.64 roll -1.56 - - 1960.75 - 3.06 0.050 2068.31 -423.2 -107.06 - - 3463.09 - - - - - - - - - 16.06 -
2745.88 293.23 -10.79 377 2751.97 roll -1.56 - - 1961.31 - 3.61 0.122 688.56 -382.2 -107.06 - - 3460.97 - - - - - - - - - 16.07 -
2805.88 300.46 -11.87 389 2811.88 roll -1.56 - - 1961.31 - 3.41 0.055 2130.00 422.7 -107.06 - - 3462.22 - - - - - - - - - 16.09 -
3116.16 332.42 -10.29 421 3117.73 no move -1.56 - - 1960.56 - - - 2130.00 - -107.06 - - 3460.53 - - - - - - - - - - -
3425.94 365.36 -10.65 452 3433.13 roll -1.56 - - 1960.31 - 3.76 0.119 689.56 -383.1 -107.06 - - 3463.12 - - - - - - - - - 16.11 -
3525.82 377.25 -11.81 472 3533.28 roll -1.56 - - 1960.44 - 3.40 0.057 2130.75 423.9 -107.06 - - 3462.56 - - - - - - - - - 16.12 -
3841.61 408.04 -9.39 504 3848.81 roll -1.56 - - 1961.44 - 3.76 0.121 689.75 -383.2 -107.06 - - 3460.41 - - - - - - - - - 16.14 -
3877.24 411.72 -10.28 511 3883.21 roll -1.56 - - 1961.06 - 3.39 0.057 2129.50 424.7 -107.06 - - 3461.69 - - - - - - - - - 16.16 -
4187.28 437.12 -8.07 543 4194.47 roll -1.56 - - 1961.12 - 3.73 0.120 690.75 -385.7 -107.06 - - 3462.31 - - - - - - - - - 16.16 -
4233.02 441.39 -8.80 552 4238.97 roll -1.56 - - 1961.31 - 3.36 0.056 2128.69 428.0 -107.06 - - 3460.69 - - - - - - - - - 16.16 -
4543.07 469.49 -9.30 584 4550.26 roll -1.56 - - 1960.69 - 3.75 0.120 689.38 -383.8 -107.06 - - 3460.53 - - - - - - - - - 16.14 -
4578.95 473.55 -11.28 591 4584.90 roll -1.56 - - 1960.88 - 3.38 0.056 2129.38 426.0 -107.06 - - 3460.41 - - - - - - - - - 16.16 -
4888.98 504.21 -9.30 623 4896.16 roll -1.56 - - 1960.69 - 3.74 0.121 688.69 -385.2 -107.06 - - 3459.88 - - - - - - - - - 16.16 -
4954.61 511.45 -10.94 636 4960.57 roll -1.56 - - 1961.69 - 3.37 0.058 2129.50 427.5 -107.06 - - 3460.50 - - - - - - - - - 16.16 -
5264.64 539.67 -9.14 668 5271.83 roll -1.56 - - 1961.12 - 3.73 0.121 691.06 -385.6 -107.06 - - 3458.53 - - - - - - - - - 16.17 -
5340.28 547.32 -10.32 683 5346.23 roll -1.56 - - 1961.00 - 3.39 0.059 2130.00 424.5 -107.06 - - 3459.38 - - - - - - - - - 16.18 -
5650.30 576.35 -9.17 715 5657.49 roll -1.56 - - 1960.38 - 3.74 0.124 690.62 -384.9 -107.06 - - 3460.09 - - - - - - - - - 16.16 -
5685.94 580.14 -10.58 722 5691.89 roll -1.56 - - 1960.94 - 3.38 0.059 2130.25 425.9 -107.06 - - 3458.38 - - - - - - - - - 16.16 -
5995.96 607.61 -9.06 754 6003.51 roll -1.56 - - 1961.00 - 3.74 0.123 688.44 -385.5 -107.06 - - 3458.50 - - - - - - - - - 16.15 -
6026.29 610.98 -10.20 760 6033.77 roll -1.56 - - 1961.12 - 3.40 0.056 2129.50 423.8 -107.06 - - 3458.06 - - - - - - - - - 16.16 -
6342.12 638.15 -8.13 792 6349.31 roll -1.56 - - 1960.00 - 3.74 0.123 690.38 -384.8 -107.06 - - 3458.88 - - - - - - - - - 16.18 -
6417.77 645.34 -9.34 807 6423.75 roll -1.56 - - 1960.50 - 3.39 0.059 2128.06 424.1 -107.06 - - 3458.47 - - - - - - - - - 16.17 -
6727.79 670.27 -7.71 839 6729.36 no move -1.56 - - 1960.31 - - - 2127.31 - -107.06 - - 3456.72 - - - - - - - - - - -
7037.83 696.82 -8.80 870 7039.40 no move -1.56 - - 1961.06 - - - 2127.81 - -107.06 - - 3456.25 - - - - - - - - - - -
7347.85 726.38 -9.68 901 7355.06 roll -1.56 - - 1960.38 - 3.75 0.125 691.00 -383.1 -107.06 - - 3457.75 - - - - - - - - - 16.18 -
7413.51 733.47 -10.61 914 7419.45 roll -1.56 - - 1961.25 - 3.38 0.061 2127.75 425.1 -107.06 - - 3457.94 - - - - - - - - - 16.18 -
7723.55 762.65 -8.42 946 7731.00 roll -1.56 - - 1961.44 - 3.75 0.127 690.81 -383.2 -107.06 - - 3455.41 - - - - - - - - - 16.17 -
7759.55 766.29 -9.06 953 7765.56 roll -1.56 - - 1961.25 - 3.39 0.060 2129.81 424.5 -107.06 - - 3455.72 - - - - - - - - - 16.17 -
8069.91 792.11 -8.57 985 8076.77 roll -1.56 - - 1961.00 - 3.76 0.126 689.62 -383.0 -107.06 - - 3455.28 - - - - - - - - - 16.17 -
8109.45 795.77 -9.07 993 8116.92 roll -1.56 - - 1961.31 - 3.38 0.060 2127.75 425.5 -107.06 - - 3455.78 - - - - - - - - - 16.17 -
8425.24 822.14 -7.99 1025 8432.45 roll -1.56 - - 1961.19 - 3.76 0.127 690.81 -382.2 -107.06 - - 3455.94 - - - - - - - - - 16.17 -
8470.90 826.38 -9.66 1034 8476.85 roll -1.56 - - 1960.25 - 3.38 0.061 2127.62 425.1 -107.06 - - 3456.34 - - - - - - - - - 16.18 -
8780.93 851.83 -8.51 1066 8788.11 roll -1.56 - - 1959.88 - 3.75 0.126 690.31 -383.3 -107.06 - - 3455.81 - - - - - - - - - 16.18 -
8820.79 855.42 -8.88 1074 8828.29 roll -1.56 - - 1960.25 - 3.38 0.061 2127.44 425.2 -107.06 - - 3455.19 - - - - - - - - - 16.17 -
9136.59 880.27 -8.09 1106 9138.16 no move -1.56 - - 1961.12 - - - 2127.69 - -107.06 - - 3452.66 - - - - - - - - - - -
9446.61 903.95 -7.89 1137 9448.18 no move -1.56 - - 1960.88 - - - 2127.56 - -107.06 - - 3452.78 - - - - - - - - - - -
9756.64 928.09 -8.11 1168 9763.83 roll -1.56 - - 1960.31 - 3.76 0.129 690.56 -382.2 -107.06 - - 3454.31 - - - - - - - - - 16.18 -
9852.29 936.70 -8.94 1187 9858.25 roll -1.56 - - 1960.06 - 3.38 0.063 2129.31 425.7 -107.06 - - 3454.47 - - - - - - - - - 16.18 -
10162.43 954.62 -3.36 1219 10164.00 no move -1.56 - - 1960.62 - - - 2129.88 - -107.06 - - 3452.34 - - - - - - - - - - -
10462 end dive: NO_VERTICAL_VELOCITY
10462 begin apogee
10464.04 954.51 - 1249 10558.07 -0.42 2.30 0.075 2242.12 122.4 0.09 0.247 2119.31 -117.4 - 86.26 2.211 3017.88 -5.0 0.360 - - - - - - 16.19 15.54 12.86
10569 end apogee: CONTROL_FINISHED_OK
10569 begin climb
10572.25 954.56 - 1258 10676.83 1.56 3.94 0.066 2722.31 121.9 - - 2118.88 - 107.06 94.43 2.144 2584.88 -4.6 0.338 - - - - - - 15.68 - 12.75
10980.34 924.44 10.96 1299 10986.27 done 1.56 - - 2722.38 - 3.26 0.105 3360.75 380.9 107.06 - - 2569.59 - - - - - - - - - 15.85 -
11214.63 896.82 11.74 1346 11221.93 done 1.56 - - 2722.69 - 2.98 0.058 2121.44 -415.9 107.06 - - 2569.34 - - - - - - - - - 15.95 -
11530.40 865.48 9.87 1378 11536.30 done 1.56 - - 2721.81 - 3.18 0.104 3360.75 389.7 107.06 - - 2568.91 - - - - - - - - - 16.00 -
11764.92 841.82 10.19 1425 11772.00 done 1.56 - - 2722.25 - 2.96 0.057 2121.44 -418.7 107.06 - - 2566.78 - - - - - - - - - 16.05 -
12080.47 813.68 8.69 1457 12082.04 VBD 1.56 - - 2722.38 - - - 2121.88 - 107.06 - - 2563.50 - - - - - - - - - - -
12390.49 787.83 8.31 1488 12392.07 VBD 1.56 - - 2722.69 - - - 2121.69 - 107.06 - - 2562.56 - - - - - - - - - - -
12700.52 761.21 8.48 1519 12706.43 done 1.56 - - 2722.62 - 3.19 0.103 3362.38 388.9 107.06 - - 2562.72 - - - - - - - - - 16.12 -
12934.83 737.99 9.92 1566 12942.09 done 1.56 - - 2722.56 - 2.94 0.056 2119.31 -422.8 107.06 - - 2563.44 - - - - - - - - - 16.12 -
13250.60 710.29 8.56 1598 13256.48 done 1.56 - - 2722.12 - 3.18 0.102 3361.06 390.5 107.06 - - 2563.69 - - - - - - - - - 16.14 -
13370.63 698.84 9.34 1622 13376.43 done 1.56 - - 2723.06 - 2.96 0.056 2119.75 -419.4 107.06 - - 2562.12 - - - - - - - - - 16.15 -
13680.65 672.50 8.32 1654 13686.61 done 1.56 - - 2722.88 - 3.19 0.102 3360.75 389.0 107.06 - - 2561.50 - - - - - - - - - 16.14 -
13834.93 658.46 8.69 1685 13842.20 done 1.56 - - 2722.12 - 2.94 0.056 2120.81 -421.7 107.06 - - 2560.94 - - - - - - - - - 16.17 -
14150.74 635.93 6.66 1717 14156.60 done 1.61 - - 2722.62 - 3.17 0.101 3361.25 391.3 107.06 - - 2561.94 - - - - - - - - - 16.15 -
14224.97 629.86 7.95 1732 14232.26 done 1.61 - - 2722.00 - 2.94 0.055 2118.88 -422.6 107.06 - - 2562.25 - - - - - - - - - 16.16 -
14540.74 604.73 8.40 1764 14547.92 done 1.61 - - 2722.94 - 3.69 0.120 688.50 -387.6 107.06 - - 2560.44 - - - - - - - - - 16.16 -
14596.36 599.23 10.05 1775 14602.46 done 1.61 - - 2723.38 - 3.58 0.062 2179.00 416.3 107.06 - - 2560.66 - - - - - - - - - 16.16 -
14906.42 574.05 7.08 1807 14912.34 1.64 0.10 0.080 2752.62 292.4 3.05 0.103 3361.94 387.8 107.06 - - 2559.38 - - - - - - - - 16.22 16.14 -
15030.64 563.36 8.88 1832 15038.17 1.64 0.34 0.154 2731.56 -61.9 2.93 0.055 2118.38 -424.4 107.06 - - 2559.00 - - - - - - - - 16.13 16.16 -
15346.45 539.35 7.50 1864 15352.32 done 1.65 - - 2731.94 - 3.20 0.102 3359.94 388.0 107.06 - - 2559.25 - - - - - - - - - 16.16 -
15486.44 528.63 8.08 1892 15492.24 done 1.65 - - 2731.69 - 2.94 0.055 2119.31 -422.0 107.06 - - 2559.62 - - - - - - - - - 16.17 -
15796.50 508.44 6.13 1924 15803.85 1.71 0.24 0.052 2768.88 155.0 3.69 0.117 688.50 -387.8 107.06 - - 2557.25 - - - - - - - - 16.22 16.15 -
15862.42 503.56 8.18 1937 15869.72 1.71 0.27 0.164 2750.31 -68.8 3.56 0.062 2177.19 418.2 107.06 - - 2560.97 - - - - - - - - 16.10 16.18 -
16177.47 483.52 6.23 1969 16179.23 1.76 0.20 0.052 2786.12 179.0 - - 2176.88 - 107.06 - - 2559.00 - - - - - - - - 16.20 - -
16487.49 461.81 7.41 2000 16489.29 1.78 0.28 0.153 2767.12 -67.9 - - 2176.69 - 107.06 - - 2559.19 - - - - - - - - 16.14 - -
16797.45 437.09 8.48 2031 16799.02 VBD 1.78 - - 2767.56 - - - 2176.94 - 107.06 - - 2558.03 - - - - - - - - - - -
17107.46 412.11 7.91 2062 17113.27 done 1.78 - - 2768.00 - 3.06 0.103 3360.00 386.6 107.06 - - 2558.94 - - - - - - - - - 16.15 -
17177.48 406.36 8.05 2076 17183.28 done 1.78 - - 2767.62 - 2.96 0.055 2118.62 -419.4 107.06 - - 2559.72 - - - - - - - - - 16.18 -
17487.54 385.35 6.47 2108 17493.68 1.83 0.20 0.050 2801.25 168.2 3.20 0.100 3361.25 388.3 107.06 - - 2559.94 - - - - - - - - 16.21 16.15 -
17607.57 376.46 7.41 2132 17613.49 1.85 0.25 0.164 2782.31 -75.8 2.95 0.054 2118.44 -421.3 107.06 - - 2559.06 - - - - - - - - 16.11 16.17 -
17917.58 357.02 5.72 2164 17924.91 1.92 0.23 0.048 2823.50 179.1 3.69 0.116 688.69 -387.5 107.06 - - 2556.81 - - - - - - - - 16.18 16.14 -
17973.41 353.08 7.41 2175 17980.90 1.94 0.26 0.174 2804.25 -74.0 3.56 0.061 2180.81 419.1 107.06 - - 2557.44 - - - - - - - - 16.13 16.17 -
18288.40 334.27 5.88 2207 18294.37 2.00 0.22 0.045 2843.56 178.7 3.04 0.101 3360.88 388.2 107.06 - - 2559.91 - - - - - - - - 16.19 16.13 -
18408.39 325.01 7.81 2231 18414.39 2.00 0.28 0.168 2819.50 -85.9 2.95 0.054 2118.25 -421.2 107.06 - - 2558.72 - - - - - - - - 16.11 16.15 -
18718.39 302.04 7.88 2263 18724.52 done 2.00 - - 2819.31 - 3.67 0.115 688.12 -389.7 107.06 - - 2560.91 - - - - - - - - - 16.13 -
18848.44 291.18 8.31 2289 18854.49 done 2.00 - - 2820.50 - 3.57 0.060 2171.12 415.4 107.06 - - 2559.09 - - - - - - - - - 16.12 -
19158.49 271.60 6.18 2321 19164.46 2.06 0.21 0.048 2856.56 171.7 3.03 0.102 3359.81 392.3 107.06 - - 2560.19 - - - - - - - - 16.15 16.10 -
19382.79 254.47 7.24 2366 19390.27 2.08 0.27 0.165 2839.88 -61.8 2.94 0.053 2117.56 -422.5 107.06 - - 2559.56 - - - - - - - - 16.10 16.16 -
19698.56 238.54 4.30 2398 19761.51 2.18 0.29 0.039 2885.81 158.4 - - 2117.75 - 180.26 56.59 1.325 2282.47 -4.9 0.146 - - - - - - 16.14 - 12.82
20068.53 193.88 12.57 2435 20074.67 2.18 0.30 0.161 2862.81 -76.7 3.22 0.099 3362.62 386.6 180.26 - - 2277.81 - - - - - - - - 15.91 15.94 -
20278.58 165.39 13.26 2477 20284.38 done 2.18 - - 2862.25 - 2.99 0.053 2119.25 -415.8 180.26 - - 2275.84 - - - - - - - - - 15.97 -
20588.58 131.33 10.44 2509 20594.82 done 2.18 - - 2863.19 - 3.20 0.098 3362.19 388.4 180.26 - - 2273.94 - - - - - - - - - 16.00 -
20822.90 103.91 11.89 2556 20830.17 done 2.18 - - 2863.38 - 2.97 0.052 2119.44 -418.4 180.26 - - 2272.19 - - - - - - - - - 16.04 -
21133.71 75.76 5.64 2614 21140.50 2.25 0.25 0.042 2903.50 160.5 3.20 0.097 3362.44 388.4 180.26 - - 2272.84 - - - - - - - - 16.06 16.03 -
21369.02 70.42 1.68 2661 21518.90 2.41 0.17 0.056 2938.44 205.5 2.96 0.050 2116.75 -420.8 304.64 140.10 1.064 1778.50 -3.5 0.039 - - - - - - 16.09 16.04 12.86
21702.31 37.58 11.09 2726 21709.44 roll back 2.41 0.29 0.148 2920.12 -63.2 3.26 0.097 3360.25 381.4 304.64 - - 1776.38 - - - - - - - - 15.76 15.79 -
21938.09 21.24 3.31 2773 22050.76 2.53 0.34 0.039 2970.25 147.4 2.99 0.049 2117.94 -415.5 397.17 100.51 0.994 1399.78 -3.7 0.013 - - - - - - 15.92 15.88 12.80
22209 end climb: SURFACE_DEPTH_REACHED
22209 begin surface coast
22229 end surface coast: CONTROL_FINISHED_OK
22229 begin surface
SM 1.59 - - - - 184.2 77.76 0.979 1083.8 12.6 21.04 0.036 1095.6 52.1 - 0.06 0.166 1071.9 17815.2 -17.440 - - 12.77 15.83 15.81 -