NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 115 * Raw log
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• Previous call tries 1 • 54.84 of 575.00 AH used of 24V (90.46% remains)
• Surface angle -61.7 deg, depth 1.42 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.88 (SM_CC=475)
• GPS1 time: 27 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 - - - 80.81 VBD -1.56 - - 181.81 - - - 2133.00 - -107.06 70.28 0.005 2597.44 - - - - - - - - - - 15.74
81.25 3.54 -3.33 14 131.89 -1.56 16.57 0.239 1961.12 107.4 3.11 0.105 3361.81 395.1 -107.06 20.03 0.006 3458.09 43.0 -4.202 - - - - - - 15.72 15.69 15.77
225.18 34.54 -19.75 42 231.64 roll -1.56 - - 1961.19 - 3.07 0.050 2070.19 -420.7 -107.06 - - 3460.31 - - - - - - - - - 15.85 -
415.25 63.11 -14.04 80 419.62 no move -1.56 - - 1961.00 - - - 2070.44 - -107.06 - - 3460.03 - - - - - - - - - - -
600.27 87.65 -12.90 117 606.75 roll -1.56 - - 1960.94 - 3.27 0.098 3362.31 395.1 -107.06 - - 3461.03 - - - - - - - - - 15.95 -
640.28 93.29 -14.27 125 646.67 roll -1.56 - - 1960.94 - 3.04 0.048 2067.06 -426.1 -107.06 - - 3461.16 - - - - - - - - - 15.95 -
830.29 114.13 -10.35 150 831.82 no move -1.56 - - 1960.62 - - - 2067.06 - -107.06 - - 3460.81 - - - - - - - - - - -
1140.30 146.17 -10.68 181 1141.83 no move -1.56 - - 1960.56 - - - 2066.88 - -107.06 - - 3461.41 - - - - - - - - - - -
1450.31 178.14 -10.04 212 1451.84 no move -1.56 - - 1960.81 - - - 2066.94 - -107.06 - - 3461.59 - - - - - - - - - - -
1760.33 209.97 -9.86 243 1766.08 roll -1.56 - - 1961.75 - 3.23 0.100 3360.88 400.6 -107.06 - - 3463.25 - - - - - - - - - 16.06 -
1790.33 213.31 -10.42 249 1795.98 roll -1.56 - - 1961.44 - 3.04 0.050 2069.12 -424.9 -107.06 - - 3463.34 - - - - - - - - - 16.05 -
2100.35 243.16 -8.89 281 2106.48 roll -1.56 - - 1960.38 - 3.58 0.121 688.69 -385.6 -107.06 - - 3464.28 - - - - - - - - - 16.06 -
2154.64 248.93 -10.18 292 2162.09 roll -1.56 - - 1960.94 - 3.33 0.053 2132.19 433.5 -107.06 - - 3464.25 - - - - - - - - - 16.10 -
2470.42 277.44 -9.03 324 2471.99 no move -1.56 - - 1960.94 - - - 2133.19 - -107.06 - - 3461.97 - - - - - - - - - - -
2780.46 305.69 -9.29 355 2782.03 no move -1.56 - - 1960.75 - - - 2132.94 - -107.06 - - 3461.31 - - - - - - - - - - -
3090.48 333.92 -9.01 386 3097.66 roll -1.56 - - 1960.81 - 3.72 0.118 688.75 -388.2 -107.06 - - 3462.09 - - - - - - - - - 16.11 -
3116.10 336.37 -9.37 391 3122.06 roll -1.56 - - 1961.06 - 3.32 0.054 2133.62 435.2 -107.06 - - 3462.00 - - - - - - - - - 16.14 -
3426.16 363.00 -8.36 423 3432.26 roll -1.56 - - 1960.62 - 3.65 0.118 689.31 -395.7 -107.06 - - 3463.50 - - - - - - - - - 16.15 -
3516.18 372.31 -10.37 441 3522.12 roll -1.56 - - 1960.88 - 3.32 0.058 2131.00 434.2 -107.06 - - 3463.25 - - - - - - - - - 16.13 -
3826.20 401.00 -9.54 473 3827.77 no move -1.56 - - 1961.00 - - - 2131.25 - -107.06 - - 3461.25 - - - - - - - - - - -
4136.23 430.45 -9.27 504 4143.62 roll -1.56 - - 1961.25 - 3.69 0.119 688.56 -391.0 -107.06 - - 3460.62 - - - - - - - - - 16.16 -
4162.17 433.06 -9.35 509 4168.13 roll -1.56 - - 1960.75 - 3.32 0.056 2130.75 434.4 -107.06 - - 3463.53 - - - - - - - - - 16.17 -
4472.20 461.93 -9.26 541 4473.77 no move -1.56 - - 1961.12 - - - 2130.44 - -107.06 - - 3459.72 - - - - - - - - - - -
4782.23 490.97 -9.26 572 4789.37 roll -1.56 - - 1960.81 - 3.69 0.121 689.75 -390.4 -107.06 - - 3459.03 - - - - - - - - - 16.16 -
4847.82 497.85 -10.42 585 4853.81 roll -1.56 - - 1961.56 - 3.33 0.059 2128.94 432.2 -107.06 - - 3460.66 - - - - - - - - - 16.15 -
5157.85 527.80 -9.51 617 5164.99 roll -1.56 - - 1960.56 - 3.68 0.121 689.69 -391.1 -107.06 - - 3460.19 - - - - - - - - - 16.16 -
5193.43 531.56 -10.56 624 5199.37 roll -1.56 - - 1961.06 - 3.33 0.058 2131.44 433.0 -107.06 - - 3460.81 - - - - - - - - - 16.17 -
5503.46 559.09 -8.43 656 5509.77 roll -1.56 - - 1960.56 - 3.69 0.123 689.75 -390.7 -107.06 - - 3459.16 - - - - - - - - - 16.16 -
5563.47 564.87 -9.93 668 5569.67 roll -1.56 - - 1961.31 - 3.34 0.059 2129.94 431.2 -107.06 - - 3458.50 - - - - - - - - - 16.17 -
5873.50 591.21 -8.76 700 5880.64 roll -1.56 - - 1961.62 - 3.67 0.123 688.50 -392.8 -107.06 - - 3459.16 - - - - - - - - - 16.17 -
5933.33 597.28 -9.81 712 5940.80 roll -1.56 - - 1961.12 - 3.32 0.058 2129.88 434.2 -107.06 - - 3459.56 - - - - - - - - - 16.17 -
6249.15 625.78 -8.67 744 6250.72 no move -1.56 - - 1960.94 - - - 2129.69 - -107.06 - - 3456.69 - - - - - - - - - - -
6559.18 652.50 -8.62 775 6566.31 roll -1.56 - - 1961.06 - 3.67 0.125 688.75 -392.6 -107.06 - - 3459.22 - - - - - - - - - 16.18 -
6694.77 665.60 -9.35 802 6700.72 roll -1.56 - - 1961.00 - 3.32 0.061 2129.81 434.1 -107.06 - - 3457.31 - - - - - - - - - 16.16 -
7004.80 691.92 -8.39 834 7011.96 roll -1.56 - - 1960.38 - 3.70 0.123 689.56 -389.3 -107.06 - - 3455.75 - - - - - - - - - 16.18 -
7040.40 695.38 -9.76 841 7046.36 roll -1.56 - - 1961.44 - 3.31 0.058 2130.50 435.3 -107.06 - - 3457.16 - - - - - - - - - 16.15 -
7350.44 721.84 -8.75 873 7352.01 no move -1.56 - - 1961.12 - - - 2130.56 - -107.06 - - 3454.91 - - - - - - - - - - -
7660.46 747.58 -8.00 904 7667.65 roll -1.56 - - 1961.50 - 3.71 0.123 689.31 -388.5 -107.06 - - 3455.66 - - - - - - - - - 16.17 -
7716.10 752.63 -9.01 915 7722.07 roll -1.56 - - 1960.94 - 3.33 0.061 2129.31 432.4 -107.06 - - 3455.38 - - - - - - - - - 16.18 -
8026.16 776.61 -7.80 947 8033.30 roll -1.56 - - 1961.06 - 3.69 0.125 689.62 -390.2 -107.06 - - 3456.69 - - - - - - - - - 16.17 -
8125.99 785.30 -8.50 967 8133.50 roll -1.56 - - 1960.94 - 3.34 0.062 2129.31 431.0 -107.06 - - 3455.03 - - - - - - - - - 16.19 -
8441.78 807.84 -7.05 999 8443.36 no move -1.56 - - 1960.81 - - - 2129.94 - -107.06 - - 3453.03 - - - - - - - - - - -
8751.81 829.46 -6.90 1030 8759.00 roll -1.56 - - 1959.69 - 3.73 0.126 689.56 -386.2 -107.06 - - 3455.16 - - - - - - - - - 16.18 -
8787.44 832.24 -7.09 1037 8793.40 roll -1.56 - - 1960.69 - 3.33 0.061 2130.88 432.8 -107.06 - - 3454.66 - - - - - - - - - 16.17 -
9097.48 853.98 -7.26 1069 9104.92 roll -1.56 - - 1960.88 - 3.73 0.126 690.62 -386.1 -107.06 - - 3454.34 - - - - - - - - - 16.18 -
9193.49 861.68 -7.99 1088 9199.45 roll -1.56 - - 1960.69 - 3.32 0.062 2128.06 433.0 -107.06 - - 3453.84 - - - - - - - - - 16.18 -
9503.52 883.29 -6.80 1120 9510.72 roll -1.56 - - 1960.06 - 3.74 0.126 689.31 -384.7 -107.06 - - 3455.00 - - - - - - - - - 16.18 -
9563.40 888.29 -8.38 1132 9570.87 roll -1.56 - - 1960.06 - 3.34 0.060 2129.25 431.1 -107.06 - - 3455.09 - - - - - - - - - 16.17 -
9879.19 911.18 -7.37 1164 9886.39 roll -1.56 - - 1960.06 - 3.72 0.125 690.50 -386.8 -107.06 - - 3453.34 - - - - - - - - - 16.18 -
9934.83 915.91 -8.68 1175 9940.83 roll -1.56 - - 1961.19 - 3.32 0.062 2128.19 433.0 -107.06 - - 3454.38 - - - - - - - - - 16.18 -
10244.86 940.95 -7.47 1207 10246.44 no move -1.56 - - 1960.88 - - - 2128.38 - -107.06 - - 3451.78 - - - - - - - - - - -
10554.89 965.36 -7.36 1238 10562.08 roll -1.56 - - 1960.50 - 3.72 0.128 691.38 -386.3 -107.06 - - 3452.62 - - - - - - - - - 16.16 -
10624.88 971.43 -8.51 1252 10632.36 roll -1.56 - - 1960.94 - 3.33 0.062 2129.75 431.9 -107.06 - - 3453.09 - - - - - - - - - 16.16 -
10890 end dive: TARGET_DEPTH_EXCEEDED
10890 begin apogee
10892.40 990.28 -6.76 1279 10986.50 -0.42 2.38 0.116 2239.88 117.2 0.09 0.260 2120.75 -100.0 - 86.78 2.254 3018.66 -5.0 0.365 - - - - - - 16.16 15.52 12.77
10997 end apogee: CONTROL_FINISHED_OK
10998 begin climb
11000.67 990.36 - 1288 11112.20 1.56 3.78 0.054 2732.38 130.3 3.27 0.108 3360.06 379.0 107.06 95.62 2.187 2585.09 -4.5 0.340 - - - - - - 15.66 15.30 12.76
11140.75 981.40 9.85 1314 11146.81 roll back 1.56 0.31 0.156 2714.56 -57.5 3.03 0.055 2121.75 -408.7 107.06 - - 2578.94 - - - - - - - - 15.51 15.55 -
11450.75 948.42 10.79 1346 11456.61 done 1.56 - - 2714.06 - 3.16 0.105 3361.19 392.2 107.06 - - 2569.56 - - - - - - - - - 15.88 -
11575.02 934.05 11.84 1371 11582.29 done 1.56 - - 2714.50 - 2.95 0.055 2120.88 -420.4 107.06 - - 2571.09 - - - - - - - - - 15.94 -
11890.80 902.75 9.90 1403 11896.69 done 1.56 - - 2714.00 - 3.13 0.105 3363.62 397.0 107.06 - - 2567.97 - - - - - - - - - 15.98 -
12050.83 885.83 10.53 1435 12056.60 done 1.56 - - 2714.19 - 2.93 0.055 2118.75 -424.9 107.06 - - 2566.78 - - - - - - - - - 16.02 -
12360.85 856.78 9.33 1467 12366.72 done 1.56 - - 2714.12 - 3.12 0.103 3361.81 398.4 107.06 - - 2566.25 - - - - - - - - - 16.06 -
12435.12 849.57 10.14 1482 12442.38 done 1.56 - - 2713.81 - 2.92 0.055 2119.19 -425.6 107.06 - - 2567.72 - - - - - - - - - 16.07 -
12750.89 822.11 8.73 1514 12756.79 done 1.56 - - 2714.12 - 3.11 0.104 3361.62 399.5 107.06 - - 2563.84 - - - - - - - - - 16.09 -
12885.15 809.15 10.18 1541 12892.41 done 1.56 - - 2714.00 - 2.92 0.055 2118.06 -425.9 107.06 - - 2564.31 - - - - - - - - - 16.10 -
13200.92 779.96 9.26 1573 13202.50 VBD 1.56 - - 2714.69 - - - 2118.62 - 107.06 - - 2561.94 - - - - - - - - - - -
13510.95 749.57 9.82 1604 13516.81 done 1.56 - - 2714.38 - 3.11 0.104 3362.06 399.8 107.06 - - 2564.47 - - - - - - - - - 16.11 -
13680.97 732.24 10.04 1638 13686.95 done 1.56 - - 2714.25 - 2.92 0.055 2120.38 -425.2 107.06 - - 2562.50 - - - - - - - - - 16.15 -
13990.98 705.09 8.15 1670 13996.89 done 1.56 - - 2714.69 - 3.11 0.104 3362.19 399.3 107.06 - - 2562.56 - - - - - - - - - 16.15 -
14141.01 691.79 8.70 1700 14146.77 done 1.56 - - 2714.94 - 2.92 0.055 2118.81 -425.8 107.06 - - 2562.69 - - - - - - - - - 16.14 -
14451.10 668.99 7.10 1732 14456.91 done 1.59 - - 2714.25 - 3.09 0.103 3362.25 402.4 107.06 - - 2561.59 - - - - - - - - - 16.15 -
14505.32 664.57 8.35 1743 14512.79 done 1.59 - - 2714.62 - 2.89 0.055 2117.88 -430.6 107.06 - - 2561.62 - - - - - - - - - 16.16 -
14821.16 641.77 6.88 1775 14827.19 1.63 0.26 0.047 2748.81 131.5 3.11 0.104 3363.50 400.5 107.06 - - 2561.62 - - - - - - - - 16.22 16.14 -
14871.14 637.57 8.41 1785 14877.11 1.63 0.28 0.164 2729.31 -69.6 2.91 0.056 2117.88 -428.0 107.06 - - 2560.34 - - - - - - - - 16.10 16.15 -
15181.16 613.94 7.97 1817 15187.06 done 1.63 - - 2729.38 - 3.11 0.104 3362.44 400.2 107.06 - - 2560.19 - - - - - - - - - 16.15 -
15231.18 609.93 8.55 1827 15236.88 done 1.63 - - 2729.25 - 2.89 0.055 2117.69 -430.7 107.06 - - 2562.97 - - - - - - - - - 16.17 -
15541.19 586.07 7.90 1859 15547.05 done 1.63 - - 2729.38 - 3.11 0.103 3364.25 400.8 107.06 - - 2561.09 - - - - - - - - - 16.16 -
15671.22 574.58 9.17 1885 15677.01 done 1.63 - - 2728.69 - 2.91 0.056 2117.12 -428.6 107.06 - - 2562.31 - - - - - - - - - 16.17 -
15981.24 546.50 9.38 1917 15982.81 VBD 1.63 - - 2729.25 - - - 2117.50 - 107.06 - - 2558.59 - - - - - - - - - - -
16291.26 518.80 8.76 1948 16297.32 done 1.63 - - 2729.00 - 3.09 0.102 3363.06 403.1 107.06 - - 2562.34 - - - - - - - - - 16.16 -
16525.56 498.10 8.55 1995 16532.83 done 1.63 - - 2729.38 - 2.91 0.055 2117.62 -428.0 107.06 - - 2561.81 - - - - - - - - - 16.16 -
16841.37 475.31 6.74 2027 16847.42 1.67 0.20 0.057 2758.44 145.3 3.08 0.102 3363.69 404.6 107.06 - - 2559.69 - - - - - - - - 16.21 16.16 -
16945.60 467.01 7.98 2048 16953.02 1.67 0.27 0.164 2739.00 -72.0 2.89 0.055 2116.44 -431.6 107.06 - - 2559.88 - - - - - - - - 16.12 16.16 -
17261.42 448.60 5.36 2080 17267.51 1.75 0.26 0.048 2779.44 155.5 3.09 0.102 3362.81 403.4 107.06 - - 2562.22 - - - - - - - - 16.21 16.15 -
17345.69 443.32 6.19 2097 17352.85 done 1.80 - - 2780.62 - 2.89 0.054 2118.62 -430.5 107.06 - - 2559.69 - - - - - - - - - 16.17 -
17661.46 425.88 5.41 2129 17663.21 1.88 0.12 0.069 2810.44 248.5 - - 2119.06 - 107.06 - - 2557.72 - - - - - - - - 16.22 - -
17971.47 405.73 6.75 2160 17973.04 VBD 1.92 - - 2811.06 - - - 2118.88 - 107.06 - - 2558.38 - - - - - - - - - - -
18281.48 384.79 6.52 2191 18287.27 done 1.97 - - 2810.31 - 3.09 0.101 3363.25 402.7 107.06 - - 2562.03 - - - - - - - - - 16.16 -
18355.76 379.70 6.90 2206 18363.13 2.00 0.12 0.072 2837.88 229.8 2.90 0.054 2116.88 -429.8 107.06 - - 2559.66 - - - - - - - - 16.20 16.18 -
18671.50 359.13 6.67 2238 18673.08 VBD 2.04 - - 2837.56 - - - 2116.38 - 107.06 - - 2558.53 - - - - - - - - - - -
18981.52 339.39 6.41 2269 18987.29 done 2.09 - - 2837.06 - 3.09 0.099 3365.50 404.2 107.06 - - 2560.16 - - - - - - - - - 16.17 -
19215.82 322.16 6.84 2316 19223.20 2.13 0.14 0.070 2868.00 221.0 2.91 0.054 2115.25 -429.6 107.06 - - 2559.62 - - - - - - - - 16.20 16.17 -
19531.58 301.37 6.50 2348 19533.16 VBD 2.18 - - 2867.81 - - - 2115.56 - 107.06 - - 2559.03 - - - - - - - - - - -
19841.59 281.01 5.61 2379 19843.35 2.25 0.14 0.064 2902.19 245.6 - - 2115.56 - 107.06 - - 2557.78 - - - - - - - - 16.18 - -
20151.60 263.97 5.75 2410 20157.65 done 2.32 - - 2901.94 - 3.60 0.114 686.44 -397.0 107.06 - - 2557.88 - - - - - - - - - 16.12 -
20385.95 246.68 7.45 2457 20393.60 done 2.34 - - 2902.31 - 3.44 0.060 2183.38 435.2 107.06 - - 2558.09 - - - - - - - - - 16.16 -
20701.71 227.91 5.90 2489 20707.75 2.40 0.15 0.057 2935.19 219.2 2.92 0.099 3363.12 404.0 107.06 - - 2559.47 - - - - - - - - 16.14 16.11 -
20936.02 213.91 5.84 2536 20943.41 done 2.47 - - 2935.44 - 2.90 0.053 2114.69 -430.5 107.06 - - 2558.81 - - - - - - - - - 16.14 -
21251.78 199.99 4.40 2568 21337.12 2.56 0.22 0.049 2974.00 175.3 3.16 0.099 3362.00 394.7 178.30 72.83 1.211 2292.75 -3.7 0.100 - - - - - - 16.17 15.79 12.83
21565.65 155.88 16.38 2630 21571.85 roll back 2.56 0.31 0.185 2955.81 -58.7 2.93 0.053 2119.88 -423.9 178.30 - - 2285.38 - - - - - - - - 15.88 15.95 -
21875.64 115.36 12.29 2662 21877.26 VBD 2.56 - - 2955.81 - - - 2119.81 - 178.30 - - 2282.31 - - - - - - - - - - -
22181.06 85.64 7.42 2708 22187.46 done 2.58 - - 2955.56 - 3.11 0.098 3362.31 399.5 178.30 - - 2283.31 - - - - - - - - - 15.99 -
22416.02 83.32 -1.08 2755 22613.23 2.81 0.62 0.032 3034.81 127.8 2.92 0.053 2113.62 -427.6 356.66 180.61 1.086 1565.53 -4.0 0.051 - - - - - - 16.08 16.02 12.69
22796.66 33.97 17.20 2829 22803.99 roll back 2.81 0.32 0.159 3016.12 -58.4 3.15 0.098 3362.44 396.5 356.66 - - 1562.78 - - - - - - - - 15.74 15.74 -
23032.65 7.93 6.35 2876 23039.53 roll back 2.86 0.22 0.056 3045.62 134.1 2.92 0.051 2116.38 -426.7 356.66 - - 1562.66 - - - - - - - - 15.91 15.88 -
23122 end climb: SURFACE_DEPTH_REACHED
23123 begin surface coast
23158 end surface coast: CONTROL_FINISHED_OK
23158 begin surface
SM 1.32 - - - - 183.1 108.22 1.012 1084.1 10.0 21.20 0.041 1104.5 52.1 - 0.06 0.180 1063.7 17679.7 -13.251 - - 12.77 15.94 15.92 -