NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 109 * Raw log
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• Previous call tries 1 • 52.78 of 575.00 AH used of 24V (90.82% remains)
• Surface angle -62.8 deg, depth 1.45 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 617.98 (beyond SM_CC=475)
• GPS1 time: 41 s
• GPS2 time: 4 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 - - - 70.48 VBD -1.56 - - 182.62 - - - 2135.56 - -107.06 60.08 0.005 2371.12 - - - - - - - - - - 15.74
70.92 3.06 -2.89 12 126.93 -1.56 16.50 0.246 1961.06 107.8 3.16 0.106 3361.25 387.9 -107.06 28.91 0.006 3457.56 37.6 -3.177 - - - - - - 15.73 15.70 15.75
310.39 47.56 -16.75 59 316.70 roll -1.56 - - 1960.81 - 3.08 0.050 2070.12 -419.2 -107.06 - - 3459.72 - - - - - - - - - 15.88 -
500.31 75.66 -14.78 97 504.68 no move -1.56 - - 1961.00 - - - 2069.50 - -107.06 - - 3459.28 - - - - - - - - - - -
685.33 98.02 -11.21 134 691.81 roll -1.56 - - 1959.81 - 3.30 0.097 3360.44 391.2 -107.06 - - 3461.91 - - - - - - - - - 15.96 -
755.34 106.15 -11.33 148 760.98 roll -1.56 - - 1960.25 - 3.05 0.047 2068.75 -423.5 -107.06 - - 3460.81 - - - - - - - - - 15.97 -
1065.35 139.22 -10.65 180 1071.21 roll -1.56 - - 1960.75 - 3.59 0.118 688.94 -384.3 -107.06 - - 3462.12 - - - - - - - - - 16.00 -
1119.61 145.39 -11.39 191 1126.94 roll -1.56 - - 1960.88 - 3.35 0.052 2131.06 430.5 -107.06 - - 3462.44 - - - - - - - - - 16.03 -
1435.38 175.18 -9.94 223 1442.38 roll -1.56 - - 1960.12 - 3.72 0.114 688.56 -387.8 -107.06 - - 3460.84 - - - - - - - - - 16.02 -
1490.78 181.37 -11.39 234 1496.59 roll -1.56 - - 1961.25 - 3.35 0.052 2132.12 430.9 -107.06 - - 3462.47 - - - - - - - - - 16.04 -
1800.83 212.76 -9.79 266 1808.03 roll -1.56 - - 1961.38 - 3.73 0.114 688.69 -387.0 -107.06 - - 3461.22 - - - - - - - - - 16.06 -
1840.82 217.20 -11.05 274 1848.32 roll -1.56 - - 1960.88 - 3.32 0.053 2132.75 435.0 -107.06 - - 3463.03 - - - - - - - - - 16.05 -
2156.62 247.63 -9.54 306 2158.19 no move -1.56 - - 1961.19 - - - 2133.25 - -107.06 - - 3460.72 - - - - - - - - - - -
2466.65 278.69 -10.06 337 2473.83 roll -1.56 - - 1960.44 - 3.74 0.118 690.44 -385.8 -107.06 - - 3461.72 - - - - - - - - - 16.10 -
2526.52 285.62 -11.24 349 2533.99 roll -1.56 - - 1961.12 - 3.33 0.055 2130.88 432.6 -107.06 - - 3461.56 - - - - - - - - - 16.08 -
2842.31 315.95 -9.58 381 2848.15 roll -1.56 - - 1960.00 - 3.11 0.103 3359.94 395.2 -107.06 - - 3463.34 - - - - - - - - - 16.11 -
2872.31 319.06 -10.06 387 2878.11 roll -1.56 - - 1960.88 - 3.04 0.050 2066.94 -425.3 -107.06 - - 3462.41 - - - - - - - - - 16.13 -
3182.32 348.42 -9.28 419 3188.22 roll -1.56 - - 1960.94 - 3.26 0.100 3361.44 397.1 -107.06 - - 3461.25 - - - - - - - - - 16.15 -
3222.33 352.74 -10.36 427 3228.14 roll -1.56 - - 1961.00 - 3.04 0.051 2069.50 -425.0 -107.06 - - 3460.78 - - - - - - - - - 16.15 -
3532.35 381.05 -9.15 459 3538.43 roll -1.56 - - 1961.38 - 3.59 0.122 688.12 -384.8 -107.06 - - 3462.44 - - - - - - - - - 16.14 -
3586.60 386.99 -10.82 470 3594.09 roll -1.56 - - 1960.69 - 3.33 0.054 2130.50 433.1 -107.06 - - 3462.47 - - - - - - - - - 16.14 -
3902.40 417.58 -9.66 502 3909.59 roll -1.56 - - 1960.75 - 3.74 0.119 688.81 -385.5 -107.06 - - 3462.75 - - - - - - - - - 16.14 -
3992.29 427.52 -11.07 520 3999.80 roll -1.56 - - 1960.94 - 3.36 0.056 2131.12 429.3 -107.06 - - 3461.62 - - - - - - - - - 16.15 -
4308.11 456.22 -8.78 552 4309.68 no move -1.56 - - 1961.19 - - - 2130.88 - -107.06 - - 3460.44 - - - - - - - - - - -
4618.15 482.46 -8.13 583 4625.33 roll -1.56 - - 1960.50 - 3.73 0.120 689.69 -386.4 -107.06 - - 3459.34 - - - - - - - - - 16.16 -
4693.79 489.46 -9.18 598 4699.72 roll -1.56 - - 1961.12 - 3.34 0.059 2130.69 431.4 -107.06 - - 3460.47 - - - - - - - - - 16.16 -
5003.80 514.63 -8.37 630 5011.00 roll -1.56 - - 1961.56 - 3.76 0.122 690.19 -383.1 -107.06 - - 3458.66 - - - - - - - - - 16.17 -
5049.56 519.19 -9.86 639 5055.55 roll -1.56 - - 1960.88 - 3.34 0.057 2130.38 431.2 -107.06 - - 3460.44 - - - - - - - - - 16.17 -
5359.60 547.27 -9.63 671 5366.79 roll -1.56 - - 1960.25 - 3.76 0.122 688.69 -383.4 -107.06 - - 3459.31 - - - - - - - - - 16.17 -
5435.25 555.25 -10.49 686 5441.19 roll -1.56 - - 1961.44 - 3.34 0.057 2130.62 431.7 -107.06 - - 3458.75 - - - - - - - - - 16.17 -
5745.28 584.15 -9.21 718 5746.85 no move -1.56 - - 1960.94 - - - 2130.94 - -107.06 - - 3457.91 - - - - - - - - - - -
6055.30 611.55 -8.57 749 6062.49 roll -1.56 - - 1960.75 - 3.74 0.122 690.50 -385.1 -107.06 - - 3456.88 - - - - - - - - - 16.17 -
6115.17 617.60 -9.48 761 6122.65 roll -1.56 - - 1960.94 - 3.34 0.059 2129.62 430.9 -107.06 - - 3457.84 - - - - - - - - - 16.19 -
6430.97 643.69 -8.24 793 6438.52 roll -1.56 - - 1960.12 - 3.75 0.124 690.88 -383.7 -107.06 - - 3458.62 - - - - - - - - - 16.18 -
6507.09 651.04 -10.01 808 6513.08 roll -1.56 - - 1960.38 - 3.35 0.060 2129.19 429.3 -107.06 - - 3458.22 - - - - - - - - - 16.19 -
6817.14 677.87 -8.82 840 6818.71 no move -1.56 - - 1960.69 - - - 2129.50 - -107.06 - - 3456.28 - - - - - - - - - - -
7127.17 706.42 -9.31 871 7134.36 roll -1.56 - - 1959.06 - 3.73 0.124 690.38 -385.8 -107.06 - - 3457.62 - - - - - - - - - 16.18 -
7172.81 710.95 -10.05 880 7178.76 roll -1.56 - - 1961.31 - 3.34 0.060 2128.50 430.6 -107.06 - - 3455.88 - - - - - - - - - 16.18 -
7482.84 739.67 -8.75 912 7490.03 roll -1.56 - - 1960.94 - 3.74 0.125 689.25 -384.8 -107.06 - - 3454.91 - - - - - - - - - 16.18 -
7562.72 748.01 -10.07 928 7570.21 roll -1.56 - - 1960.44 - 3.35 0.060 2130.12 430.1 -107.06 - - 3455.88 - - - - - - - - - 16.17 -
7878.52 775.11 -8.49 960 7880.09 no move -1.56 - - 1960.75 - - - 2129.69 - -107.06 - - 3453.59 - - - - - - - - - - -
8188.54 800.15 -7.65 991 8195.97 roll -1.56 - - 1961.44 - 3.76 0.124 689.06 -383.1 -107.06 - - 3452.62 - - - - - - - - - 16.19 -
8248.77 805.32 -8.94 1003 8256.25 roll -1.56 - - 1961.12 - 3.35 0.061 2129.75 430.1 -107.06 - - 3454.22 - - - - - - - - - 16.20 -
8564.57 828.86 -7.46 1035 8566.14 no move -1.56 - - 1960.62 - - - 2129.38 - -107.06 - - 3452.78 - - - - - - - - - - -
8874.60 853.22 -8.18 1066 8881.78 roll -1.56 - - 1961.56 - 3.75 0.126 689.56 -384.0 -107.06 - - 3452.50 - - - - - - - - - 16.18 -
8934.47 858.37 -9.16 1078 8941.94 roll -1.56 - - 1961.12 - 3.36 0.062 2130.88 429.0 -107.06 - - 3454.22 - - - - - - - - - 16.19 -
9250.26 881.96 -7.40 1110 9257.46 roll -1.56 - - 1960.44 - 3.74 0.126 688.50 -385.7 -107.06 - - 3453.00 - - - - - - - - - 16.18 -
9305.92 886.68 -8.13 1121 9311.85 roll -1.56 - - 1960.69 - 3.34 0.060 2129.25 431.4 -107.06 - - 3453.09 - - - - - - - - - 16.19 -
9615.93 908.94 -6.94 1153 9623.11 roll -1.56 - - 1960.62 - 3.73 0.126 689.81 -385.9 -107.06 - - 3452.81 - - - - - - - - - 16.17 -
9681.56 914.16 -8.02 1166 9687.76 roll -1.56 - - 1960.50 - 3.33 0.062 2129.44 432.3 -107.06 - - 3454.16 - - - - - - - - - 16.19 -
9991.59 936.31 -7.34 1198 9993.16 no move -1.56 - - 1960.94 - - - 2129.56 - -107.06 - - 3451.78 - - - - - - - - - - -
10301.61 957.76 -6.80 1229 10308.80 roll -1.56 - - 1959.94 - 3.76 0.127 691.38 -382.5 -107.06 - - 3452.66 - - - - - - - - - 16.17 -
10361.60 962.67 -7.81 1241 10369.06 roll -1.56 - - 1960.12 - 3.34 0.063 2129.25 430.5 -107.06 - - 3453.12 - - - - - - - - - 16.18 -
10677.40 984.98 -6.52 1273 10684.60 roll -1.56 - - 1959.94 - 3.75 0.127 689.50 -383.9 -107.06 - - 3451.09 - - - - - - - - - 16.18 -
10743 end dive: TARGET_DEPTH_EXCEEDED
10743 begin apogee
10749.56 990.41 -8.18 1286 10844.01 -0.42 2.42 0.124 2238.94 115.3 0.10 0.239 2119.12 14296.2 - 86.33 2.253 3021.19 -5.0 0.363 - - - - - - 16.14 15.53 12.79
10855 end apogee: CONTROL_FINISHED_OK
10855 begin climb
10858.19 991.33 - 1295 10962.90 1.56 3.84 0.059 2729.50 127.7 - - 2119.50 - 107.06 94.90 2.195 2582.16 -4.6 0.346 - - - - - - 15.67 - 12.82
11266.41 956.41 11.04 1345 11272.28 done 1.56 - - 2729.69 - 3.18 0.105 3361.88 390.7 107.06 - - 2569.22 - - - - - - - - - 15.84 -
11436.45 936.76 11.65 1379 11442.30 done 1.56 - - 2728.69 - 3.01 0.055 2120.19 -412.5 107.06 - - 2569.72 - - - - - - - - - 15.92 -
11746.46 905.49 9.77 1411 11752.34 done 1.56 - - 2728.62 - 3.16 0.104 3361.00 392.7 107.06 - - 2566.44 - - - - - - - - - 16.00 -
11940.75 883.42 10.91 1450 11948.02 done 1.56 - - 2727.81 - 2.96 0.056 2118.38 -419.8 107.06 - - 2568.25 - - - - - - - - - 16.03 -
12256.52 850.85 10.52 1482 12262.64 done 1.56 - - 2728.75 - 3.13 0.103 3361.56 397.2 107.06 - - 2566.25 - - - - - - - - - 16.06 -
12380.79 837.08 10.66 1507 12388.07 done 1.56 - - 2727.94 - 2.95 0.055 2119.38 -421.1 107.06 - - 2566.84 - - - - - - - - - 16.08 -
12696.56 807.39 9.22 1539 12702.43 done 1.56 - - 2729.12 - 3.13 0.103 3360.88 396.6 107.06 - - 2563.53 - - - - - - - - - 16.08 -
12806.59 796.62 10.10 1561 12812.35 done 1.56 - - 2729.81 - 2.94 0.056 2120.81 -421.8 107.06 - - 2563.94 - - - - - - - - - 16.11 -
13116.61 769.98 7.86 1593 13122.50 done 1.56 - - 2729.00 - 3.14 0.102 3361.81 395.2 107.06 - - 2561.97 - - - - - - - - - 16.13 -
13300.90 754.00 8.65 1630 13308.16 done 1.56 - - 2728.12 - 2.96 0.056 2119.19 -419.8 107.06 - - 2564.22 - - - - - - - - - 16.12 -
13616.67 729.61 7.72 1662 13623.88 done 1.56 - - 2728.75 - 3.71 0.120 688.75 -385.6 107.06 - - 2561.84 - - - - - - - - - 16.13 -
13692.34 722.61 9.51 1677 13698.64 done 1.56 - - 2729.94 - 3.53 0.063 2177.56 421.8 107.06 - - 2559.84 - - - - - - - - - 16.13 -
14002.33 697.55 7.89 1709 14008.08 done 1.56 - - 2729.12 - 2.99 0.104 3361.94 396.1 107.06 - - 2560.84 - - - - - - - - - 16.14 -
14236.61 676.34 9.74 1756 14243.92 done 1.56 - - 2728.88 - 2.94 0.055 2120.06 -422.4 107.06 - - 2559.72 - - - - - - - - - 16.16 -
14552.39 648.55 8.82 1788 14558.29 done 1.56 - - 2729.62 - 3.13 0.103 3361.50 396.6 107.06 - - 2560.75 - - - - - - - - - 16.16 -
14696.67 634.77 9.71 1817 14703.93 done 1.56 - - 2729.44 - 2.94 0.056 2120.12 -422.2 107.06 - - 2559.38 - - - - - - - - - 16.15 -
15012.44 608.49 7.95 1849 15018.31 done 1.56 - - 2729.75 - 3.15 0.102 3361.25 394.0 107.06 - - 2559.62 - - - - - - - - - 16.17 -
15212.48 591.53 8.37 1889 15218.24 done 1.56 - - 2728.44 - 2.94 0.055 2118.62 -422.7 107.06 - - 2562.09 - - - - - - - - - 16.16 -
15522.54 570.14 7.07 1921 15528.61 done 1.59 - - 2729.31 - 3.15 0.101 3360.25 394.2 107.06 - - 2562.00 - - - - - - - - - 16.17 -
15672.53 558.61 7.77 1951 15678.29 done 1.59 - - 2729.56 - 2.92 0.055 2118.12 -425.4 107.06 - - 2561.75 - - - - - - - - - 16.16 -
15982.60 536.01 7.40 1983 15988.47 done 1.61 - - 2729.81 - 3.13 0.100 3360.88 397.0 107.06 - - 2561.81 - - - - - - - - - 16.18 -
16166.83 520.42 8.24 2020 16174.10 done 1.61 - - 2729.56 - 2.92 0.055 2114.88 -426.7 107.06 - - 2560.31 - - - - - - - - - 16.18 -
16482.60 496.44 8.42 2052 16484.17 VBD 1.61 - - 2730.62 - - - 2115.38 - 107.06 - - 2558.28 - - - - - - - - - - -
16792.63 471.45 7.68 2083 16798.50 done 1.61 - - 2728.94 - 3.15 0.101 3360.31 395.2 107.06 - - 2560.66 - - - - - - - - - 16.17 -
17016.98 454.10 7.34 2128 17024.20 done 1.63 - - 2730.12 - 2.93 0.054 2119.31 -423.5 107.06 - - 2558.66 - - - - - - - - - 16.18 -
17332.74 434.40 6.10 2160 17340.39 1.69 0.19 0.062 2762.62 171.1 3.67 0.117 689.56 -389.6 107.06 - - 2561.75 - - - - - - - - 16.24 16.15 -
17463.20 424.11 8.53 2186 17470.97 1.69 0.31 0.165 2745.38 -55.6 3.49 0.063 2180.88 427.3 107.06 - - 2559.31 - - - - - - - - 16.12 16.18 -
17779.00 404.16 6.16 2218 17780.81 1.75 0.22 0.055 2777.19 144.6 - - 2182.12 - 107.06 - - 2557.03 - - - - - - - - 16.22 - -
18089.01 384.58 5.86 2249 18094.73 done 1.82 - - 2777.19 - 2.98 0.102 3362.81 396.2 107.06 - - 2558.66 - - - - - - - - - 16.17 -
18249.04 373.95 6.84 2281 18254.78 done 1.85 - - 2776.62 - 2.95 0.053 2118.56 -421.8 107.06 - - 2560.16 - - - - - - - - - 16.17 -
18559.06 353.98 6.32 2313 18565.10 1.90 0.22 0.052 2814.00 169.9 3.15 0.099 3363.06 395.1 107.06 - - 2558.66 - - - - - - - - 16.22 16.16 -
18703.36 343.62 7.22 2342 18710.63 done 1.93 - - 2814.94 - 2.95 0.054 2118.62 -421.8 107.06 - - 2560.25 - - - - - - - - - 16.17 -
19019.14 323.82 5.88 2374 19020.71 VBD 1.99 - - 2815.94 - - - 2118.56 - 107.06 - - 2556.69 - - - - - - - - - - -
19329.17 306.43 5.45 2405 19336.51 2.07 0.29 0.046 2854.38 132.6 3.68 0.115 688.69 -388.6 107.06 - - 2556.94 - - - - - - - - 16.23 16.15 -
19405.13 301.85 6.23 2420 19411.09 done 2.13 - - 2853.06 - 3.49 0.060 2174.94 425.9 107.06 - - 2559.97 - - - - - - - - - 16.17 -
19715.17 285.91 5.10 2452 19722.54 2.22 0.20 0.053 2890.00 184.7 3.83 0.111 688.50 -388.1 107.06 - - 2560.19 - - - - - - - - 16.20 16.14 -
19951.05 271.15 6.63 2499 19957.28 done 2.26 - - 2889.88 - 3.49 0.059 2183.25 428.3 107.06 - - 2558.06 - - - - - - - - - 16.16 -
20261.09 251.79 5.40 2531 20268.45 2.34 0.16 0.055 2916.38 165.6 3.84 0.110 688.62 -389.2 107.06 - - 2560.19 - - - - - - - - 16.23 16.12 -
20496.96 235.40 7.35 2578 20502.97 done 2.36 - - 2917.69 - 3.52 0.059 2181.56 424.1 107.06 - - 2558.00 - - - - - - - - - 16.14 -
20806.96 216.75 5.59 2610 20814.18 done 2.43 - - 2917.19 - 3.84 0.109 689.38 -388.6 107.06 - - 2558.09 - - - - - - - - - 16.15 -
21042.82 204.93 4.66 2657 21119.31 2.52 0.30 0.046 2961.50 147.7 3.49 0.058 2183.19 428.0 173.26 67.41 1.221 2310.91 -3.7 0.102 - - - - - - 16.20 16.14 12.85
21422.72 156.71 14.84 2702 21430.05 roll 2.52 - - 2961.44 - 3.91 0.109 688.62 -382.2 173.26 - - 2304.44 - - - - - - - - - 15.96 -
21528.62 140.35 14.95 2723 21535.99 2.52 0.32 0.185 2946.94 -45.3 3.57 0.058 2177.31 417.0 173.26 - - 2304.19 - - - - - - - - 15.89 15.97 -
21843.63 105.54 9.29 2755 21849.48 done 2.52 - - 2945.81 - 3.03 0.098 3361.12 390.7 173.26 - - 2304.22 - - - - - - - - - 16.01 -
21893.71 100.88 9.36 2765 21899.45 done 2.52 - - 2946.06 - 2.98 0.050 2117.69 -417.3 173.26 - - 2303.91 - - - - - - - - - 16.02 -
22203.69 81.01 3.98 2827 22296.08 2.62 0.33 0.043 2985.00 118.0 3.24 0.097 3361.88 384.0 252.70 83.07 1.087 1989.06 -3.8 0.047 - - - - - - 16.06 15.68 12.87
22524.56 47.07 11.06 2890 22531.13 roll 2.62 - - 2985.50 - 3.02 0.051 2120.44 -411.1 252.70 - - 1987.28 - - - - - - - - - 15.85 -
22714.97 30.41 7.82 2928 22719.37 no move 2.62 - - 2985.62 - - - 2120.25 - 252.70 - - 1987.78 - - - - - - - - - - -
22904.71 28.66 -0.26 2966 22994.60 2.83 0.39 0.040 3037.12 132.1 - - 2119.31 - 414.91 85.62 1.024 1629.16 -4.2 0.019 - - - - - - 16.00 - 12.69
22995 end climb: NO_VERTICAL_VELOCITY
22995 begin surface
SM 1.16 - - - - 186.8 - - 497.1 - 22.08 0.041 526.4 23.8 - 0.07 0.163 467.7 6681.4 -4.860 - - 30.00 15.65 15.61 -