NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 114 * Raw log
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• Previous call tries 2 • 54.49 of 575.00 AH used of 24V (90.52% remains)
• Surface angle -62.5 deg, depth 1.44 m • Intended pitch -17.1 deg, speed -8.049 cm/s
• VBD pumped to 475.00 (SM_CC=475)
• GPS1 time: 30 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 - - - 75.64 VBD -1.56 - - 180.38 - - - 2068.12 - -107.06 65.11 0.005 2486.84 - - - - - - - - - - 15.75
76.08 3.33 -3.20 13 127.96 -1.56 16.13 0.238 1960.69 110.4 3.35 0.104 3361.81 386.2 -107.06 24.52 0.006 3456.69 39.6 -3.636 - - - - - - 15.71 15.71 15.76
256.90 37.67 -17.14 48 263.30 roll -1.56 - - 1960.94 - 3.05 0.049 2069.25 -423.8 -107.06 - - 3459.47 - - - - - - - - - 15.88 -
446.92 65.79 -15.08 86 453.41 roll -1.56 - - 1960.94 - 3.30 0.097 3360.19 391.2 -107.06 - - 3459.94 - - - - - - - - - 15.89 -
486.92 72.17 -15.96 94 493.31 roll -1.56 - - 1960.88 - 3.02 0.047 2068.62 -427.7 -107.06 - - 3459.84 - - - - - - - - - 15.93 -
676.94 97.83 -12.63 132 683.42 roll -1.56 - - 1960.38 - 3.29 0.096 3360.25 392.6 -107.06 - - 3461.16 - - - - - - - - - 15.95 -
701.18 101.12 -13.07 137 708.33 roll -1.56 - - 1961.44 - 3.02 0.047 2067.38 -428.1 -107.06 - - 3459.62 - - - - - - - - - 15.94 -
1016.94 132.05 -8.84 169 1018.47 no move -1.56 - - 1961.00 - - - 2067.19 - -107.06 - - 3460.19 - - - - - - - - - - -
1326.96 160.33 -9.24 200 1328.49 no move -1.56 - - 1961.25 - - - 2067.12 - -107.06 - - 3460.53 - - - - - - - - - - -
1636.97 190.00 -10.02 231 1638.50 no move -1.56 - - 1960.94 - - - 2067.75 - -107.06 - - 3460.62 - - - - - - - - - - -
1946.99 221.49 -10.14 262 1948.51 no move -1.56 - - 1960.94 - - - 2067.38 - -107.06 - - 3460.66 - - - - - - - - - - -
2257.03 252.37 -9.70 293 2263.38 roll -1.56 - - 1960.44 - 3.57 0.122 690.94 -385.6 -107.06 - - 3462.28 - - - - - - - - - 16.02 -
2297.08 256.88 -10.91 301 2303.03 roll -1.56 - - 1961.06 - 3.38 0.056 2130.38 425.9 -107.06 - - 3461.03 - - - - - - - - - 16.10 -
2607.14 285.54 -9.12 333 2608.71 no move -1.56 - - 1961.25 - - - 2130.06 - -107.06 - - 3460.50 - - - - - - - - - - -
2917.17 314.12 -9.16 364 2924.35 roll -1.56 - - 1961.38 - 3.73 0.120 689.56 -386.2 -107.06 - - 3460.94 - - - - - - - - - 16.11 -
2977.04 320.79 -11.06 376 2984.50 roll -1.56 - - 1960.75 - 3.36 0.057 2129.62 428.6 -107.06 - - 3462.78 - - - - - - - - - 16.13 -
3292.83 353.54 -10.67 408 3294.40 no move -1.56 - - 1960.62 - - - 2129.75 - -107.06 - - 3460.19 - - - - - - - - - - -
3602.86 384.61 -9.60 439 3610.04 roll -1.56 - - 1960.38 - 3.71 0.120 689.31 -388.3 -107.06 - - 3462.56 - - - - - - - - - 16.14 -
3642.72 389.11 -10.58 447 3650.18 roll -1.56 - - 1960.94 - 3.33 0.057 2131.00 432.9 -107.06 - - 3461.38 - - - - - - - - - 16.15 -
3958.51 418.26 -8.59 479 3964.86 roll -1.56 - - 1961.19 - 3.65 0.121 689.38 -395.0 -107.06 - - 3459.28 - - - - - - - - - 16.14 -
4022.76 424.85 -10.24 492 4030.23 roll -1.56 - - 1961.06 - 3.33 0.059 2129.75 432.5 -107.06 - - 3460.03 - - - - - - - - - 16.15 -
4338.55 453.09 -8.73 524 4340.12 no move -1.56 - - 1960.75 - - - 2129.75 - -107.06 - - 3458.81 - - - - - - - - - - -
4648.58 479.87 -8.64 555 4655.77 roll -1.56 - - 1959.94 - 3.71 0.122 689.25 -388.3 -107.06 - - 3460.09 - - - - - - - - - 16.15 -
4708.45 485.91 -10.12 567 4715.98 roll -1.56 - - 1961.12 - 3.33 0.059 2131.00 433.0 -107.06 - - 3458.97 - - - - - - - - - 16.16 -
5024.24 513.50 -9.23 599 5025.81 no move -1.56 - - 1961.25 - - - 2130.75 - -107.06 - - 3457.94 - - - - - - - - - - -
5334.27 541.99 -9.45 630 5341.46 roll -1.56 - - 1960.88 - 3.70 0.122 689.69 -389.5 -107.06 - - 3456.06 - - - - - - - - - 16.17 -
5460.12 554.78 -10.38 655 5465.87 roll -1.56 - - 1960.62 - 3.32 0.060 2130.06 433.8 -107.06 - - 3457.31 - - - - - - - - - 16.17 -
5769.94 581.48 -8.76 687 5771.51 no move -1.56 - - 1960.88 - - - 2129.88 - -107.06 - - 3455.66 - - - - - - - - - - -
6079.97 608.47 -8.76 718 6087.36 roll -1.56 - - 1960.88 - 3.68 0.123 689.56 -391.4 -107.06 - - 3455.75 - - - - - - - - - 16.17 -
6135.91 614.03 -9.75 729 6141.81 roll -1.56 - - 1960.69 - 3.30 0.060 2131.44 436.9 -107.06 - - 3457.50 - - - - - - - - - 16.18 -
6445.95 642.26 -9.22 761 6447.52 no move -1.56 - - 1961.06 - - - 2131.25 - -107.06 - - 3454.72 - - - - - - - - - - -
6755.97 670.21 -9.08 792 6763.11 roll -1.56 - - 1960.62 - 3.67 0.124 688.44 -393.1 -107.06 - - 3454.81 - - - - - - - - - 16.18 -
6831.57 677.79 -9.71 807 6837.52 roll -1.56 - - 1960.81 - 3.31 0.061 2130.19 435.6 -107.06 - - 3455.03 - - - - - - - - - 16.19 -
7141.60 703.78 -8.38 839 7147.69 roll -1.56 - - 1960.88 - 3.65 0.123 689.50 -394.7 -107.06 - - 3455.31 - - - - - - - - - 16.18 -
7221.61 711.50 -9.71 855 7227.53 roll -1.56 - - 1961.44 - 3.30 0.061 2130.50 436.7 -107.06 - - 3454.41 - - - - - - - - - 16.18 -
7531.64 737.40 -7.91 887 7538.78 roll -1.56 - - 1960.88 - 3.67 0.124 688.69 -392.9 -107.06 - - 3453.06 - - - - - - - - - 16.17 -
7567.23 740.68 -8.87 894 7573.38 roll -1.56 - - 1960.12 - 3.31 0.060 2130.88 435.7 -107.06 - - 3455.22 - - - - - - - - - 16.17 -
7877.25 765.16 -7.96 926 7884.39 roll -1.56 - - 1959.94 - 3.67 0.124 688.50 -393.0 -107.06 - - 3454.38 - - - - - - - - - 16.16 -
7932.83 769.91 -8.65 937 7938.79 roll -1.56 - - 1961.12 - 3.32 0.059 2129.56 434.1 -107.06 - - 3453.03 - - - - - - - - - 16.17 -
8242.87 791.50 -6.86 969 8250.01 roll -1.56 - - 1959.69 - 3.67 0.124 690.31 -392.2 -107.06 - - 3454.84 - - - - - - - - - 16.18 -
8322.70 797.92 -7.91 985 8330.16 roll -1.56 - - 1960.38 - 3.32 0.062 2129.31 433.4 -107.06 - - 3454.94 - - - - - - - - - 16.17 -
8638.49 820.37 -7.36 1017 8640.06 no move -1.56 - - 1960.69 - - - 2128.94 - -107.06 - - 3452.06 - - - - - - - - - - -
8948.52 844.56 -7.83 1048 8950.09 no move -1.56 - - 1960.44 - - - 2128.75 - -107.06 - - 3451.56 - - - - - - - - - - -
9258.55 869.93 -8.22 1079 9264.38 roll -1.56 - - 1961.00 - 3.06 0.109 3361.81 403.0 -107.06 - - 3451.88 - - - - - - - - - 16.17 -
9332.80 876.91 -9.01 1094 9340.36 roll -1.56 - - 1960.69 - 3.03 0.056 2070.00 -426.3 -107.06 - - 3452.88 - - - - - - - - - 16.19 -
9648.59 901.48 -7.77 1126 9654.65 roll -1.56 - - 1960.88 - 3.58 0.132 690.50 -385.3 -107.06 - - 3451.16 - - - - - - - - - 16.17 -
9698.60 905.96 -9.09 1136 9704.55 roll -1.56 - - 1961.19 - 3.36 0.063 2130.88 428.7 -107.06 - - 3450.84 - - - - - - - - - 16.18 -
10008.64 928.22 -6.90 1168 10010.21 no move -1.56 - - 1960.44 - - - 2130.75 - -107.06 - - 3449.69 - - - - - - - - - - -
10318.66 949.54 -6.64 1199 10325.85 roll -1.56 - - 1960.62 - 3.71 0.127 689.31 -388.5 -107.06 - - 3449.72 - - - - - - - - - 16.17 -
10364.29 953.21 -8.13 1208 10370.80 roll -1.56 - - 1960.81 - 3.33 0.061 2130.38 432.8 -107.06 - - 3450.75 - - - - - - - - - 16.18 -
10674.34 977.32 -8.45 1240 10675.92 no move -1.56 - - 1960.44 - - - 2131.00 - -107.06 - - 3449.56 - - - - - - - - - - -
10834 end dive: TARGET_DEPTH_EXCEEDED
10834 begin apogee
10836.09 990.54 -8.29 1256 10930.43 -0.42 2.44 0.121 2238.94 114.1 0.09 0.241 2118.12 -143.1 - 86.73 2.247 3021.41 -4.9 0.360 - - - - - - 16.15 15.53 12.70
10941 end apogee: CONTROL_FINISHED_OK
10942 begin climb
10944.71 992.22 - 1265 11056.72 1.56 3.80 0.056 2728.25 128.8 3.26 0.108 3360.38 381.1 107.06 95.82 2.181 2585.50 -4.5 0.343 - - - - - - 15.67 15.29 12.79
11169.53 976.03 11.53 1308 11176.79 done 1.56 - - 2727.94 - 2.98 0.056 2121.00 -415.9 107.06 - - 2577.53 - - - - - - - - - 15.70 -
11485.30 940.91 11.66 1340 11491.17 done 1.56 - - 2729.31 - 3.11 0.105 3362.44 399.2 107.06 - - 2569.97 - - - - - - - - - 15.90 -
11665.35 918.83 12.11 1376 11671.14 done 1.56 - - 2728.94 - 2.92 0.056 2119.25 -425.8 107.06 - - 2570.12 - - - - - - - - - 15.96 -
11975.36 885.58 10.74 1408 11981.48 done 1.56 - - 2729.50 - 3.10 0.104 3363.44 401.4 107.06 - - 2567.62 - - - - - - - - - 16.00 -
12095.40 871.87 11.44 1432 12101.16 done 1.56 - - 2729.62 - 2.90 0.056 2119.00 -429.1 107.06 - - 2566.44 - - - - - - - - - 16.03 -
12405.42 840.79 9.54 1464 12411.23 done 1.56 - - 2728.69 - 3.08 0.104 3362.94 403.9 107.06 - - 2567.19 - - - - - - - - - 16.06 -
12639.71 816.57 9.23 1511 12646.97 done 1.56 - - 2728.19 - 2.90 0.056 2120.38 -428.5 107.06 - - 2567.59 - - - - - - - - - 16.08 -
12955.49 789.12 8.29 1543 12961.33 done 1.56 - - 2729.19 - 3.07 0.104 3363.19 404.8 107.06 - - 2563.78 - - - - - - - - - 16.10 -
13059.76 778.91 10.36 1564 13067.02 done 1.56 - - 2729.12 - 2.90 0.056 2120.38 -428.6 107.06 - - 2564.06 - - - - - - - - - 16.11 -
13375.53 752.14 8.79 1596 13381.34 done 1.56 - - 2728.38 - 3.08 0.103 3363.00 403.4 107.06 - - 2564.41 - - - - - - - - - 16.12 -
13610.08 728.81 9.48 1643 13617.08 done 1.56 - - 2729.31 - 2.89 0.056 2118.12 -430.8 107.06 - - 2563.75 - - - - - - - - - 16.13 -
13925.60 701.77 8.40 1675 13931.46 done 1.56 - - 2729.50 - 3.08 0.103 3363.94 404.5 107.06 - - 2562.69 - - - - - - - - - 16.15 -
14089.88 685.68 9.90 1708 14097.10 done 1.56 - - 2728.81 - 2.89 0.056 2116.38 -431.7 107.06 - - 2563.72 - - - - - - - - - 16.16 -
14405.66 659.48 7.90 1740 14411.47 done 1.56 - - 2729.38 - 3.07 0.104 3361.88 405.7 107.06 - - 2561.50 - - - - - - - - - 16.16 -
14459.91 654.76 8.92 1751 14467.13 done 1.56 - - 2728.62 - 2.89 0.056 2117.56 -430.6 107.06 - - 2563.78 - - - - - - - - - 16.16 -
14775.73 631.20 7.46 1783 14781.53 done 1.58 - - 2728.69 - 3.09 0.104 3363.25 403.1 107.06 - - 2561.69 - - - - - - - - - 16.15 -
15009.98 610.88 8.56 1830 15017.23 done 1.58 - - 2728.62 - 2.90 0.056 2117.75 -429.5 107.06 - - 2563.03 - - - - - - - - - 16.17 -
15325.75 586.59 7.63 1862 15331.56 done 1.58 - - 2728.56 - 3.06 0.103 3362.75 406.9 107.06 - - 2561.31 - - - - - - - - - 16.16 -
15550.04 568.71 7.79 1907 15557.29 done 1.58 - - 2729.38 - 2.89 0.056 2117.88 -430.8 107.06 - - 2561.47 - - - - - - - - - 16.16 -
15865.86 546.08 7.07 1939 15871.90 done 1.61 - - 2729.44 - 3.57 0.119 689.62 -400.1 107.06 - - 2561.12 - - - - - - - - - 16.16 -
16060.12 530.10 7.97 1978 16067.67 done 1.61 - - 2728.19 - 3.44 0.064 2180.62 433.4 107.06 - - 2561.69 - - - - - - - - - 16.16 -
16375.93 506.95 7.19 2010 16381.63 done 1.64 - - 2728.38 - 2.93 0.104 3362.31 403.3 107.06 - - 2561.47 - - - - - - - - - 16.15 -
16500.14 497.11 7.74 2035 16507.39 done 1.64 - - 2729.75 - 2.90 0.055 2119.06 -428.7 107.06 - - 2558.91 - - - - - - - - - 16.16 -
16815.96 475.63 6.52 2067 16821.92 1.68 0.17 0.058 2760.31 179.8 3.08 0.102 3362.38 403.7 107.06 - - 2561.19 - - - - - - - - 16.21 16.15 -
16855.98 472.76 6.66 2075 16861.63 done 1.72 - - 2760.50 - 2.89 0.055 2116.56 -431.1 107.06 - - 2559.09 - - - - - - - - - 16.17 -
17165.99 450.89 7.07 2107 17171.78 done 1.75 - - 2759.50 - 3.08 0.102 3362.06 404.4 107.06 - - 2560.72 - - - - - - - - - 16.17 -
17210.25 447.52 7.50 2116 17217.42 done 1.77 - - 2760.12 - 2.90 0.055 2117.19 -429.3 107.06 - - 2559.00 - - - - - - - - - 16.14 -
17526.01 425.13 6.93 2148 17527.77 1.80 0.14 0.072 2791.69 225.5 - - 2117.12 - 107.06 - - 2559.22 - - - - - - - - 16.18 - -
17836.04 403.77 6.46 2179 17841.81 done 1.85 - - 2792.00 - 3.09 0.102 3363.50 403.4 107.06 - - 2559.03 - - - - - - - - - 16.15 -
17916.07 398.36 6.86 2195 17921.93 done 1.89 - - 2792.06 - 2.91 0.055 2118.19 -427.9 107.06 - - 2561.19 - - - - - - - - - 16.16 -
18226.12 379.38 5.99 2227 18227.88 1.95 0.16 0.059 2824.94 205.5 - - 2118.19 - 107.06 - - 2558.34 - - - - - - - - 16.21 - -
18536.16 359.48 6.14 2258 18541.96 done 2.01 - - 2824.75 - 3.10 0.100 3362.94 401.5 107.06 - - 2560.69 - - - - - - - - - 16.16 -
18696.23 348.50 7.06 2290 18701.88 done 2.04 - - 2825.00 - 2.89 0.054 2116.62 -431.3 107.06 - - 2559.88 - - - - - - - - - 16.17 -
19006.21 329.31 5.37 2322 19013.49 2.12 0.22 0.056 2864.81 181.0 3.58 0.115 686.62 -399.4 107.06 - - 2557.09 - - - - - - - - 16.19 16.14 -
19242.00 313.70 6.40 2369 19247.95 done 2.17 - - 2863.88 - 3.46 0.060 2182.56 432.4 107.06 - - 2560.41 - - - - - - - - - 16.16 -
19552.00 298.33 4.62 2401 19607.84 2.25 0.19 0.055 2898.12 180.2 - - 2183.38 - 173.95 52.37 1.411 2311.75 -4.7 0.166 - - - - - - 16.20 - 12.77
19911.98 255.26 13.71 2437 19918.04 2.25 0.32 0.164 2880.06 -56.4 2.98 0.103 3362.56 395.7 173.95 - - 2304.84 - - - - - - - - 15.94 15.96 -
20032.00 237.53 15.03 2461 20037.78 done 2.25 - - 2880.69 - 2.94 0.054 2118.31 -423.2 173.95 - - 2301.81 - - - - - - - - - 15.99 -
20342.00 196.12 13.18 2493 20347.86 done 2.25 - - 2880.62 - 3.12 0.100 3363.19 399.0 173.95 - - 2300.38 - - - - - - - - - 16.02 -
20396.26 188.48 13.95 2504 20403.53 done 2.25 - - 2881.19 - 2.91 0.054 2118.88 -427.6 173.95 - - 2299.47 - - - - - - - - - 16.02 -
20712.04 150.15 11.06 2536 20717.91 done 2.25 - - 2881.69 - 3.11 0.099 3363.12 400.1 173.95 - - 2300.75 - - - - - - - - - 16.03 -
20796.32 140.71 10.57 2553 20803.62 done 2.25 - - 2880.62 - 2.92 0.053 2118.19 -426.3 173.95 - - 2298.03 - - - - - - - - - 16.05 -
21112.11 111.10 8.72 2585 21113.69 VBD 2.25 - - 2881.06 - - - 2117.88 - 173.95 - - 2296.91 - - - - - - - - - - -
21417.21 88.40 5.58 2631 21421.88 2.33 0.26 0.046 2918.25 143.0 - - 2117.12 - 173.95 - - 2298.75 - - - - - - - - 16.12 - -
21607.22 85.95 0.63 2669 21761.18 2.52 0.26 0.053 2962.19 169.0 - - 2117.31 - 318.94 147.56 1.095 1718.50 -3.9 0.051 - - - - - - 16.12 - 12.75
21944.69 49.40 15.22 2735 21951.78 roll back 2.52 0.28 0.153 2944.44 -63.4 3.70 0.114 687.50 -386.4 318.94 - - 1716.81 - - - - - - - - 15.78 15.80 -
22045.43 34.03 14.47 2755 22052.26 roll 2.52 - - 2944.88 - 3.50 0.058 2181.12 426.7 318.94 - - 1716.69 - - - - - - - - - 15.85 -
22235.68 21.11 4.13 2793 22321.77 2.61 0.31 0.046 2985.38 130.6 3.83 0.112 688.69 -389.7 395.52 74.79 1.009 1406.69 -4.1 0.014 - - - - - - 15.94 15.63 12.76
22410.22 10.96 10.28 2827 22417.28 roll back 2.61 0.26 0.172 2969.25 -62.0 3.51 0.057 2180.19 424.9 395.52 - - 1405.50 - - - - - - - - 15.74 15.78 -
22500 end climb: SURFACE_DEPTH_REACHED
22500 begin surface coast
22525 end surface coast: CONTROL_FINISHED_OK
22526 begin surface
SM 1.06 - - - - 184.2 74.03 0.996 1083.6 14.6 21.43 0.037 1102.8 51.4 - 0.22 0.089 1064.4 4822.2 -5.870 - - 12.79 15.87 15.85 -