NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 113 * Raw log
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• Previous call tries 1 • 54.15 of 575.00 AH used of 24V (90.58% remains)
• Surface angle -62.7 deg, depth 1.47 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.08 (SM_CC=475)
• GPS1 time: 36 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
8.90 - - - 75.64 VBD -1.56 - - 183.00 - - - 2059.12 - -107.06 65.18 0.005 2464.81 - - - - - - - - - - 15.74
76.08 3.08 -2.77 13 131.79 -1.56 16.08 0.239 1961.19 110.6 3.36 0.103 3360.75 387.4 -107.06 25.21 0.006 3458.66 39.4 -3.354 - - - - - - 15.69 15.71 15.76
215.09 31.38 -20.30 40 221.92 roll -1.56 - - 1961.38 - 3.11 0.049 2072.12 -414.4 -107.06 - - 3459.50 - - - - - - - - - 15.88 -
405.40 59.80 -14.14 78 409.80 no move -1.56 - - 1961.44 - - - 2071.81 - -107.06 - - 3459.38 - - - - - - - - - - -
590.42 84.97 -12.97 115 597.09 roll -1.56 - - 1961.06 - 3.63 0.117 689.31 -380.9 -107.06 - - 3460.44 - - - - - - - - - 15.93 -
615.48 88.28 -12.75 120 622.01 roll -1.56 - - 1961.44 - 3.36 0.052 2132.62 429.6 -107.06 - - 3462.00 - - - - - - - - - 15.93 -
805.49 109.48 -10.33 149 811.17 roll -1.56 - - 1960.69 - 3.12 0.099 3359.06 393.1 -107.06 - - 3461.09 - - - - - - - - - 15.95 -
845.50 113.61 -10.44 157 851.17 roll -1.56 - - 1960.25 - 3.06 0.046 2066.50 -422.4 -107.06 - - 3462.84 - - - - - - - - - 15.97 -
1155.51 144.02 -9.86 189 1157.04 no move -1.56 - - 1961.00 - - - 2067.19 - -107.06 - - 3460.78 - - - - - - - - - - -
1465.52 175.39 -10.58 220 1467.05 no move -1.56 - - 1960.81 - - - 2067.12 - -107.06 - - 3461.94 - - - - - - - - - - -
1775.54 208.30 -10.55 251 1781.26 roll -1.56 - - 1961.19 - 3.30 0.099 3359.69 391.7 -107.06 - - 3463.84 - - - - - - - - - 16.02 -
1829.79 214.61 -11.67 262 1837.32 roll -1.56 - - 1961.06 - 3.06 0.049 2069.88 -421.5 -107.06 - - 3462.97 - - - - - - - - - 16.09 -
2145.59 246.38 -10.09 294 2147.17 no move -1.56 - - 1961.19 - - - 2069.62 - -107.06 - - 3461.28 - - - - - - - - - - -
2455.61 276.71 -9.17 325 2461.86 roll -1.56 - - 1961.00 - 3.29 0.100 3361.38 392.6 -107.06 - - 3463.62 - - - - - - - - - 16.07 -
2529.87 284.46 -10.22 340 2537.18 roll -1.56 - - 1960.88 - 3.06 0.050 2071.06 -421.7 -107.06 - - 3462.44 - - - - - - - - - 16.12 -
2845.64 312.65 -8.75 372 2847.22 no move -1.56 - - 1960.75 - - - 2071.19 - -107.06 - - 3461.62 - - - - - - - - - - -
3155.66 342.80 -10.15 403 3161.76 roll -1.56 - - 1960.00 - 3.63 0.122 690.50 -380.4 -107.06 - - 3464.31 - - - - - - - - - 16.11 -
3205.68 348.65 -11.68 413 3211.63 roll -1.56 - - 1960.69 - 3.37 0.057 2129.94 427.1 -107.06 - - 3461.84 - - - - - - - - - 16.12 -
3515.71 379.47 -9.05 445 3521.55 roll -1.56 - - 1960.88 - 3.12 0.104 3361.88 394.9 -107.06 - - 3462.28 - - - - - - - - - 16.11 -
3565.71 384.47 -9.93 455 3571.56 roll -1.56 - - 1961.06 - 3.06 0.051 2070.50 -422.0 -107.06 - - 3462.72 - - - - - - - - - 16.13 -
3875.74 411.89 -9.11 487 3877.31 no move -1.56 - - 1961.12 - - - 2069.94 - -107.06 - - 3460.72 - - - - - - - - - - -
4185.75 441.32 -9.61 518 4187.32 no move -1.56 - - 1960.88 - - - 2069.81 - -107.06 - - 3460.72 - - - - - - - - - - -
4495.77 469.91 -9.25 549 4497.34 no move -1.56 - - 1960.94 - - - 2070.06 - -107.06 - - 3459.38 - - - - - - - - - - -
4805.78 498.81 -8.98 580 4807.35 no move -1.56 - - 1960.81 - - - 2069.94 - -107.06 - - 3459.69 - - - - - - - - - - -
5115.81 527.47 -8.99 611 5117.38 no move -1.56 - - 1960.81 - - - 2069.75 - -107.06 - - 3459.66 - - - - - - - - - - -
5425.83 553.93 -8.03 642 5431.72 roll -1.56 - - 1961.44 - 3.27 0.104 3361.38 395.0 -107.06 - - 3459.81 - - - - - - - - - 16.15 -
5465.84 557.45 -8.74 650 5471.67 roll -1.56 - - 1960.69 - 3.07 0.054 2071.06 -420.3 -107.06 - - 3459.22 - - - - - - - - - 16.17 -
5775.85 579.70 -7.12 682 5781.95 roll -1.56 - - 1960.94 - 3.63 0.127 687.44 -381.2 -107.06 - - 3457.59 - - - - - - - - - 16.17 -
5855.88 586.39 -8.33 698 5861.83 roll -1.56 - - 1960.62 - 3.37 0.057 2130.50 428.2 -107.06 - - 3457.94 - - - - - - - - - 16.19 -
6165.91 611.77 -8.68 730 6167.47 no move -1.56 - - 1960.94 - - - 2130.25 - -107.06 - - 3456.50 - - - - - - - - - - -
6475.93 638.37 -8.59 761 6483.12 roll -1.56 - - 1960.56 - 3.77 0.123 689.69 -382.1 -107.06 - - 3457.62 - - - - - - - - - 16.18 -
6525.92 643.35 -9.88 771 6533.39 roll -1.56 - - 1959.69 - 3.36 0.061 2127.56 427.9 -107.06 - - 3459.09 - - - - - - - - - 16.17 -
6841.71 671.46 -9.44 803 6848.90 roll -1.56 - - 1961.12 - 3.78 0.124 690.50 -380.2 -107.06 - - 3455.78 - - - - - - - - - 16.18 -
6887.34 676.04 -9.98 812 6893.29 roll -1.56 - - 1961.31 - 3.37 0.060 2129.44 427.0 -107.06 - - 3457.31 - - - - - - - - - 16.17 -
7197.37 702.91 -8.67 844 7198.94 no move -1.56 - - 1961.25 - - - 2129.44 - -107.06 - - 3455.47 - - - - - - - - - - -
7507.40 729.56 -8.18 875 7514.59 roll -1.56 - - 1961.19 - 3.78 0.124 690.44 -380.7 -107.06 - - 3454.44 - - - - - - - - - 16.19 -
7597.28 738.11 -9.38 893 7604.75 roll -1.56 - - 1961.00 - 3.37 0.062 2128.44 426.7 -107.06 - - 3455.94 - - - - - - - - - 16.19 -
7913.10 763.96 -8.41 925 7914.67 no move -1.56 - - 1960.69 - - - 2128.62 - -107.06 - - 3454.44 - - - - - - - - - - -
8223.15 789.70 -8.30 956 8230.60 roll -1.56 - - 1959.62 - 3.76 0.125 689.75 -382.7 -107.06 - - 3456.38 - - - - - - - - - 16.18 -
8329.17 799.59 -9.34 977 8335.13 roll -1.56 - - 1960.88 - 3.37 0.062 2129.88 427.3 -107.06 - - 3453.88 - - - - - - - - - 16.18 -
8639.20 826.46 -8.46 1009 8640.77 no move -1.56 - - 1961.12 - - - 2129.75 - -107.06 - - 3452.91 - - - - - - - - - - -
8949.23 850.85 -7.37 1040 8956.44 roll -1.56 - - 1960.12 - 3.76 0.126 689.50 -383.0 -107.06 - - 3454.03 - - - - - - - - - 16.18 -
9004.89 855.46 -8.38 1051 9010.85 roll -1.56 - - 1960.56 - 3.35 0.062 2128.56 429.6 -107.06 - - 3454.94 - - - - - - - - - 16.18 -
9314.92 877.28 -6.80 1083 9322.11 roll -1.56 - - 1961.00 - 3.73 0.126 690.38 -385.6 -107.06 - - 3452.22 - - - - - - - - - 16.17 -
9390.56 883.30 -8.23 1098 9396.53 roll -1.56 - - 1960.62 - 3.36 0.062 2129.19 428.2 -107.06 - - 3453.72 - - - - - - - - - 16.19 -
9700.59 904.34 -6.75 1130 9702.16 no move -1.56 - - 1961.44 - - - 2129.50 - -107.06 - - 3451.44 - - - - - - - - - - -
10010.62 925.31 -7.84 1161 10018.06 roll -1.56 - - 1960.75 - 3.77 0.128 691.25 -381.5 -107.06 - - 3452.47 - - - - - - - - - 16.17 -
10050.85 928.64 -8.21 1169 10058.32 roll -1.56 - - 1960.38 - 3.38 0.063 2127.44 424.9 -107.06 - - 3454.50 - - - - - - - - - 16.16 -
10366.67 952.21 -8.15 1201 10368.24 no move -1.56 - - 1961.25 - - - 2127.94 - -107.06 - - 3451.66 - - - - - - - - - - -
10676.68 976.18 -7.20 1232 10683.87 roll -1.56 - - 1960.75 - 3.78 0.128 691.44 -380.0 -107.06 - - 3451.25 - - - - - - - - - 16.18 -
10742.43 982.04 -8.70 1245 10748.38 roll -1.56 - - 1960.62 - 3.37 0.063 2127.69 426.2 -107.06 - - 3453.25 - - - - - - - - - 16.17 -
10852 end dive: TARGET_DEPTH_EXCEEDED
10852 begin apogee
10854.14 990.60 -7.85 1257 10948.38 -0.42 2.40 0.116 2241.50 117.0 0.09 0.259 2121.50 -68.8 - 86.67 2.254 3018.53 -5.0 0.365 - - - - - - 16.15 15.53 12.73
10953 end apogee: CONTROL_FINISHED_OK
10953 begin climb
10956.34 992.14 - 1266 11068.45 1.56 3.77 0.053 2732.38 130.2 3.32 0.107 3358.81 372.7 107.06 95.61 2.186 2583.84 -4.5 0.342 - - - - - - 15.66 15.30 12.76
11087.00 985.74 7.70 1288 11093.06 roll back 1.56 0.31 0.154 2713.88 -59.7 3.06 0.055 2122.25 -404.1 107.06 - - 2581.28 - - - - - - - - 15.47 15.53 -
11397.00 956.55 9.27 1320 11403.15 done 1.56 - - 2714.00 - 3.20 0.104 3360.38 386.9 107.06 - - 2570.31 - - - - - - - - - 15.87 -
11591.31 936.53 10.30 1359 11598.62 done 1.56 - - 2714.31 - 3.02 0.057 2119.25 -411.0 107.06 - - 2568.94 - - - - - - - - - 15.94 -
11907.10 905.22 10.14 1391 11912.97 done 1.56 - - 2714.25 - 3.20 0.103 3361.19 388.1 107.06 - - 2566.84 - - - - - - - - - 16.00 -
12141.41 879.50 11.19 1438 12148.93 done 1.56 - - 2714.88 - 2.98 0.056 2122.38 -415.7 107.06 - - 2566.16 - - - - - - - - - 16.05 -
12457.18 848.04 9.62 1470 12463.10 done 1.56 - - 2713.25 - 3.20 0.102 3362.06 387.4 107.06 - - 2567.25 - - - - - - - - - 16.07 -
12691.48 824.06 9.56 1517 12698.77 done 1.56 - - 2713.25 - 2.98 0.055 2119.31 -417.0 107.06 - - 2567.34 - - - - - - - - - 16.09 -
13007.25 798.56 7.60 1549 13013.12 done 1.56 - - 2713.88 - 3.19 0.102 3363.69 390.1 107.06 - - 2563.50 - - - - - - - - - 16.11 -
13121.52 788.98 8.07 1572 13128.84 done 1.56 - - 2713.94 - 2.97 0.055 2119.81 -418.8 107.06 - - 2562.94 - - - - - - - - - 16.12 -
13437.34 765.09 7.51 1604 13438.92 VBD 1.58 - - 2714.06 - - - 2119.31 - 107.06 - - 2561.53 - - - - - - - - - - -
13747.32 739.12 8.41 1635 13753.19 done 1.58 - - 2714.31 - 3.18 0.103 3360.75 390.4 107.06 - - 2561.84 - - - - - - - - - 16.15 -
13861.59 729.07 8.96 1658 13868.86 done 1.58 - - 2714.56 - 2.96 0.056 2119.62 -419.3 107.06 - - 2561.72 - - - - - - - - - 16.15 -
14177.35 702.81 8.31 1690 14178.93 VBD 1.58 - - 2713.88 - - - 2119.69 - 107.06 - - 2560.62 - - - - - - - - - - -
14487.38 676.33 8.37 1721 14493.29 done 1.58 - - 2714.56 - 3.19 0.102 3361.19 389.2 107.06 - - 2560.19 - - - - - - - - - 16.16 -
14721.67 655.08 8.96 1768 14728.94 done 1.58 - - 2714.12 - 2.98 0.055 2120.88 -416.2 107.06 - - 2561.41 - - - - - - - - - 16.16 -
15037.49 631.03 7.40 1800 15043.46 1.60 0.19 0.053 2741.56 144.4 3.19 0.102 3361.69 389.0 107.06 - - 2560.38 - - - - - - - - 16.18 16.15 -
15201.82 617.09 8.56 1833 15209.23 1.60 0.26 0.160 2723.81 -68.3 2.96 0.055 2120.62 -419.3 107.06 - - 2560.38 - - - - - - - - 16.10 16.17 -
15517.52 593.70 7.50 1865 15519.10 VBD 1.62 - - 2722.25 - - - 2120.56 - 107.06 - - 2559.28 - - - - - - - - - - -
15827.55 571.24 7.47 1896 15833.52 1.63 0.18 0.056 2750.06 154.5 3.18 0.101 3361.00 390.1 107.06 - - 2560.41 - - - - - - - - 16.22 16.15 -
16021.78 555.07 8.16 1935 16029.50 1.63 0.27 0.159 2730.69 -71.7 2.96 0.055 2118.50 -419.8 107.06 - - 2559.69 - - - - - - - - 16.14 16.17 -
16337.59 535.22 5.96 1967 16343.63 1.70 0.22 0.052 2767.31 166.5 3.19 0.101 3362.50 390.0 107.06 - - 2560.84 - - - - - - - - 16.19 16.16 -
16541.83 519.55 7.68 2008 16549.31 1.70 0.27 0.159 2746.62 -76.6 2.94 0.054 2117.69 -423.4 107.06 - - 2561.47 - - - - - - - - 16.13 16.17 -
16857.65 499.15 6.46 2040 16864.93 1.74 0.20 0.054 2776.44 149.1 3.67 0.119 688.62 -389.4 107.06 - - 2557.19 - - - - - - - - 16.21 16.16 -
16993.41 488.61 8.11 2067 17000.71 1.74 0.24 0.167 2758.25 -75.8 3.54 0.061 2177.31 420.5 107.06 - - 2556.34 - - - - - - - - 16.10 16.17 -
17308.44 466.86 6.60 2099 17314.36 1.79 0.19 0.056 2790.94 172.1 3.03 0.102 3358.81 389.9 107.06 - - 2560.19 - - - - - - - - 16.18 16.15 -
17542.69 448.96 7.57 2146 17550.53 1.79 0.28 0.160 2768.62 -79.7 2.94 0.055 2117.75 -422.1 107.06 - - 2558.06 - - - - - - - - 16.12 16.14 -
17858.49 429.03 6.14 2178 17864.46 1.84 0.20 0.055 2808.12 197.5 3.18 0.101 3362.50 391.4 107.06 - - 2558.72 - - - - - - - - 16.19 16.16 -
18038.50 415.07 7.91 2214 18044.50 1.84 0.32 0.162 2781.94 -81.8 2.94 0.055 2118.00 -423.3 107.06 - - 2560.97 - - - - - - - - 16.11 16.17 -
18348.54 393.03 7.01 2246 18350.30 1.88 0.17 0.057 2809.75 163.6 - - 2118.75 - 107.06 - - 2557.53 - - - - - - - - 16.21 - -
18658.55 371.86 6.44 2277 18665.68 done 1.92 - - 2808.19 - 3.68 0.115 689.50 -388.4 107.06 - - 2559.34 - - - - - - - - - 16.16 -
18734.17 366.53 7.00 2292 18740.19 done 1.96 - - 2809.38 - 3.55 0.060 2178.56 419.5 107.06 - - 2559.66 - - - - - - - - - 16.18 -
19044.19 347.27 6.05 2324 19051.57 2.02 0.17 0.058 2846.06 215.8 3.84 0.111 687.31 -388.3 107.06 - - 2557.62 - - - - - - - - 16.22 16.15 -
19270.47 329.68 7.29 2369 19277.49 2.04 0.28 0.176 2829.31 -59.8 3.52 0.060 2179.62 424.0 107.06 - - 2556.72 - - - - - - - - 16.09 16.17 -
19585.45 311.66 5.53 2401 19591.19 2.11 0.24 0.048 2870.00 169.5 3.02 0.101 3362.31 391.6 107.06 - - 2559.03 - - - - - - - - 16.16 16.14 -
19819.53 295.93 7.07 2448 19826.79 done 2.14 - - 2870.00 - 2.94 0.053 2116.44 -423.8 107.06 - - 2558.03 - - - - - - - - - 16.16 -
20135.28 277.28 5.73 2480 20141.10 done 2.21 - - 2870.38 - 3.12 0.100 3363.00 399.5 107.06 - - 2557.88 - - - - - - - - - 16.13 -
20369.59 262.25 6.79 2527 20376.98 2.25 0.12 0.073 2901.75 261.4 2.92 0.054 2116.69 -426.8 107.06 - - 2559.12 - - - - - - - - 16.17 16.16 -
20685.35 241.67 5.79 2559 20692.46 done 2.32 - - 2902.44 - 3.64 0.112 687.56 -392.6 107.06 - - 2557.81 - - - - - - - - - 16.10 -
20871.21 230.56 5.96 2596 20878.12 2.38 0.14 0.056 2930.25 198.6 3.49 0.060 2183.62 428.7 107.06 - - 2556.09 - - - - - - - - 16.18 16.15 -
21185.97 213.48 5.19 2628 21191.69 done 2.47 - - 2929.69 - 2.97 0.100 3362.94 397.1 107.06 - - 2558.09 - - - - - - - - - 16.10 -
21420.24 201.01 5.30 2675 21427.68 2.55 0.25 0.046 2971.31 166.5 2.91 0.052 2117.38 -428.0 107.06 - - 2557.62 - - - - - - - - 16.19 16.15 -
21736.00 189.34 3.07 2707 21846.50 2.68 0.12 0.075 3003.31 266.7 3.76 0.112 687.38 -380.3 204.23 98.23 1.206 2187.03 -3.8 0.098 - - - - - - 16.15 15.68 12.81
21979.96 154.91 21.41 2755 21987.33 roll back 2.68 0.36 0.186 2983.12 -56.1 3.56 0.061 2177.19 418.5 204.23 - - 2181.03 - - - - - - - - 15.82 15.86 -
22294.96 103.21 15.70 2787 22296.54 VBD 2.68 - - 2984.69 - - - 2176.69 - 204.23 - - 2175.78 - - - - - - - - - - -
22600.04 74.16 4.85 2845 22675.41 2.76 0.26 0.044 3021.81 142.8 3.87 0.109 688.62 -384.5 266.78 63.40 1.080 1931.53 -3.9 0.044 - - - - - - 16.02 15.71 12.67
22818.87 50.43 12.41 2888 22825.96 roll back 2.76 0.31 0.185 3003.56 -58.9 3.54 0.058 2178.12 420.8 266.78 - - 1929.00 - - - - - - - - 15.80 15.86 -
23009.36 32.22 8.62 2926 23015.96 roll 2.76 - - 3003.81 - 3.01 0.098 3362.81 393.6 266.78 - - 1928.59 - - - - - - - - - 15.89 -
23149.44 23.19 5.02 2954 23215.47 2.83 0.26 0.051 3039.44 137.0 2.93 0.050 2116.88 -425.2 325.95 58.13 1.020 1690.00 -4.1 0.015 - - - - - - 15.96 15.91 12.73
23399.02 17.06 2.68 3003 23511.29 2.97 0.17 0.060 3075.25 210.6 3.77 0.110 689.44 -378.6 430.77 100.82 1.002 1264.62 -4.2 0.012 - - - - - - 15.91 15.55 12.68
23564 end climb: SURFACE_DEPTH_REACHED
23565 begin surface coast
23580 end surface coast: CONTROL_FINISHED_OK
23580 begin surface
SM 1.49 - - - - 181.8 43.02 0.968 1083.3 22.8 21.82 0.033 1097.2 50.3 - 3.43 0.055 1069.3 310.7 -0.860 - - 12.76 15.76 15.74 -