NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 145 * Raw log
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• Previous call tries 1 • 65.25 of 575.00 AH used of 24V (88.65% remains)
• Surface angle -63.5 deg, depth 1.49 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.92 (SM_CC=475)
• GPS1 time: 53 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
8.90 - - - 75.62 VBD -1.56 - - 184.19 - - - 2056.38 - -107.06 65.17 0.005 2503.16 - - - - - - - - - - 15.71
76.06 3.33 -3.13 13 126.93 -1.56 16.17 0.240 1960.62 109.9 3.60 0.118 689.00 -379.8 -107.06 22.88 0.006 3458.91 41.8 -3.835 - - - - - - 15.70 15.69 15.71
305.30 48.73 -16.47 58 311.84 roll -1.56 - - 1960.94 - 3.36 0.050 2129.81 428.8 -107.06 - - 3460.00 - - - - - - - - - 15.88 -
495.33 76.29 -14.03 96 501.79 roll -1.56 - - 1961.12 - 3.12 0.099 3361.81 394.9 -107.06 - - 3460.78 - - - - - - - - - 15.90 -
525.33 80.57 -14.28 102 531.72 roll -1.56 - - 1960.88 - 3.06 0.043 2066.38 -423.3 -107.06 - - 3460.09 - - - - - - - - - 15.93 -
715.36 103.25 -10.63 137 721.10 roll -1.56 - - 1961.00 - 3.21 0.093 3363.44 404.1 -107.06 - - 3459.88 - - - - - - - - - 15.95 -
825.36 116.10 -11.75 159 831.01 roll -1.56 - - 1961.00 - 3.05 0.044 2068.69 -424.5 -107.06 - - 3460.62 - - - - - - - - - 15.96 -
1135.38 144.98 -8.91 191 1136.91 no move -1.56 - - 1960.81 - - - 2067.56 - -107.06 - - 3460.53 - - - - - - - - - - -
1445.39 174.59 -9.23 222 1446.92 no move -1.56 - - 1960.94 - - - 2067.56 - -107.06 - - 3461.41 - - - - - - - - - - -
1755.49 203.98 -10.19 253 1761.27 roll -1.56 - - 1961.50 - 3.57 0.118 689.81 -385.9 -107.06 - - 3463.22 - - - - - - - - - 16.00 -
1799.66 208.74 -11.16 262 1807.26 roll -1.56 - - 1960.69 - 3.34 0.049 2133.69 432.3 -107.06 - - 3462.41 - - - - - - - - - 16.07 -
2115.48 239.84 -10.15 294 2122.67 roll -1.56 - - 1961.19 - 3.74 0.115 689.81 -386.1 -107.06 - - 3460.91 - - - - - - - - - 16.04 -
2181.12 246.96 -10.83 307 2187.07 roll -1.56 - - 1961.50 - 3.33 0.050 2134.62 433.9 -107.06 - - 3463.12 - - - - - - - - - 16.09 -
2491.15 276.72 -9.45 339 2498.34 roll -1.56 - - 1961.44 - 3.76 0.113 689.94 -384.2 -107.06 - - 3461.06 - - - - - - - - - 16.09 -
2541.03 282.10 -10.39 349 2548.50 roll -1.56 - - 1960.94 - 3.34 0.049 2132.38 431.9 -107.06 - - 3463.16 - - - - - - - - - 16.11 -
2856.82 311.10 -9.11 381 2864.02 roll -1.56 - - 1961.06 - 3.75 0.115 689.31 -384.8 -107.06 - - 3460.72 - - - - - - - - - 16.11 -
2892.46 314.67 -9.62 388 2898.41 roll -1.56 - - 1961.38 - 3.34 0.050 2133.56 432.4 -107.06 - - 3462.19 - - - - - - - - - 16.12 -
3202.49 342.76 -8.90 420 3204.06 no move -1.56 - - 1960.44 - - - 2133.38 - -107.06 - - 3461.34 - - - - - - - - - - -
3512.52 371.23 -9.32 451 3514.09 no move -1.56 - - 1960.94 - - - 2133.38 - -107.06 - - 3460.91 - - - - - - - - - - -
3822.54 401.44 -9.96 482 3829.75 roll -1.56 - - 1960.94 - 3.77 0.118 688.88 -383.2 -107.06 - - 3460.97 - - - - - - - - - 16.12 -
3882.55 408.24 -11.19 494 3890.01 roll -1.56 - - 1961.06 - 3.34 0.053 2131.12 431.8 -107.06 - - 3460.88 - - - - - - - - - 16.13 -
4198.34 439.15 -9.52 526 4199.91 no move -1.56 - - 1961.06 - - - 2130.69 - -107.06 - - 3459.34 - - - - - - - - - - -
4508.37 467.49 -8.82 557 4509.98 no move -1.56 - - 1961.06 - - - 2131.25 - -107.06 - - 3458.78 - - - - - - - - - - -
4818.39 494.09 -8.59 588 4819.96 no move -1.56 - - 1960.88 - - - 2130.88 - -107.06 - - 3457.88 - - - - - - - - - - -
5128.51 520.78 -8.52 619 5135.36 roll -1.56 - - 1961.25 - 3.78 0.119 688.50 -381.6 -107.06 - - 3456.78 - - - - - - - - - 16.15 -
5203.80 528.19 -9.93 634 5209.75 roll -1.56 - - 1960.94 - 3.35 0.055 2130.69 430.5 -107.06 - - 3458.28 - - - - - - - - - 16.15 -
5513.84 554.08 -8.10 666 5515.40 no move -1.56 - - 1960.44 - - - 2130.00 - -107.06 - - 3456.28 - - - - - - - - - - -
5823.88 579.90 -8.40 697 5825.44 no move -1.56 - - 1961.12 - - - 2129.69 - -107.06 - - 3455.47 - - - - - - - - - - -
6133.89 606.58 -8.71 728 6141.32 roll -1.56 - - 1961.00 - 3.77 0.120 687.94 -382.4 -107.06 - - 3454.50 - - - - - - - - - 16.16 -
6214.12 614.34 -9.99 744 6221.60 roll -1.56 - - 1961.06 - 3.33 0.056 2130.00 433.1 -107.06 - - 3457.72 - - - - - - - - - 16.17 -
6529.92 641.89 -8.62 776 6531.48 no move -1.56 - - 1960.88 - - - 2129.88 - -107.06 - - 3454.50 - - - - - - - - - - -
6839.94 668.65 -8.34 807 6847.13 roll -1.56 - - 1961.19 - 3.73 0.122 689.75 -386.1 -107.06 - - 3454.00 - - - - - - - - - 16.16 -
6925.59 676.87 -9.44 824 6931.58 roll -1.56 - - 1961.19 - 3.33 0.056 2130.62 432.7 -107.06 - - 3453.47 - - - - - - - - - 16.15 -
7235.62 701.90 -7.86 856 7237.19 no move -1.56 - - 1961.19 - - - 2130.19 - -107.06 - - 3453.16 - - - - - - - - - - -
7545.65 725.29 -7.17 887 7547.22 no move -1.56 - - 1960.69 - - - 2129.88 - -107.06 - - 3452.47 - - - - - - - - - - -
7855.67 747.42 -7.17 918 7862.86 roll -1.56 - - 1961.44 - 3.76 0.122 688.94 -383.2 -107.06 - - 3454.19 - - - - - - - - - 16.16 -
7945.55 755.18 -8.89 936 7953.06 roll -1.56 - - 1961.06 - 3.36 0.057 2129.31 428.7 -107.06 - - 3453.22 - - - - - - - - - 16.17 -
8261.34 778.35 -7.56 968 8263.16 no move -1.56 - - 1960.75 - - - 2129.12 - -107.06 - - 3452.00 - - - - - - - - - - -
8571.37 801.56 -7.44 999 8572.94 no move -1.56 - - 1960.94 - - - 2129.12 - -107.06 - - 3451.22 - - - - - - - - - - -
8881.40 825.56 -8.15 1030 8888.58 roll -1.56 - - 1959.25 - 3.77 0.123 688.62 -382.1 -107.06 - - 3451.22 - - - - - - - - - 16.16 -
8987.05 835.23 -9.31 1051 8993.00 roll -1.56 - - 1961.44 - 3.35 0.058 2128.88 429.9 -107.06 - - 3451.22 - - - - - - - - - 16.14 -
9297.10 860.76 -8.16 1083 9304.31 roll -1.56 - - 1960.81 - 3.76 0.125 691.88 -382.2 -107.06 - - 3451.94 - - - - - - - - - 16.15 -
9347.00 865.36 -9.38 1093 9354.47 roll -1.56 - - 1960.75 - 3.33 0.058 2129.88 431.8 -107.06 - - 3451.53 - - - - - - - - - 16.15 -
9662.79 890.63 -7.74 1125 9664.36 no move -1.56 - - 1961.00 - - - 2129.75 - -107.06 - - 3450.06 - - - - - - - - - - -
9972.82 916.36 -8.28 1156 9980.01 roll -1.56 - - 1961.25 - 3.74 0.125 690.50 -384.8 -107.06 - - 3450.47 - - - - - - - - - 16.15 -
10018.58 920.44 -9.62 1165 10024.52 roll -1.56 - - 1960.75 - 3.35 0.058 2129.81 429.6 -107.06 - - 3449.66 - - - - - - - - - 16.15 -
10328.61 945.33 -7.53 1197 10335.80 roll -1.56 - - 1960.44 - 3.77 0.125 688.75 -382.2 -107.06 - - 3450.62 - - - - - - - - - 16.14 -
10388.60 950.68 -8.95 1209 10396.06 roll -1.56 - - 1960.75 - 3.37 0.059 2129.56 427.5 -107.06 - - 3450.41 - - - - - - - - - 16.15 -
10704.39 973.66 -6.68 1241 10711.59 roll -1.56 - - 1960.62 - 3.77 0.124 690.81 -381.6 -107.06 - - 3448.59 - - - - - - - - - 16.15 -
10764.39 978.42 -7.85 1253 10771.87 roll -1.56 - - 1960.44 - 3.35 0.057 2129.25 429.4 -107.06 - - 3450.56 - - - - - - - - - 16.14 -
10940 end dive: TARGET_DEPTH_EXCEEDED
10940 begin apogee
10941.87 990.02 -6.41 1271 11035.97 -0.42 2.33 0.120 2241.44 120.6 0.10 0.237 2118.19 -110.6 - 86.30 2.235 3019.69 -5.0 0.366 - - - - - - 16.13 15.54 12.60
11047 end apogee: CONTROL_FINISHED_OK
11047 begin climb
11050.14 990.07 - 1280 11154.91 1.56 3.81 0.061 2729.88 128.2 - - 2118.25 - 107.06 95.38 2.172 2582.09 -4.6 0.346 - - - - - - 15.67 - 12.69
11458.65 949.73 11.29 1324 11464.29 done 1.56 - - 2730.56 - 3.17 0.104 3362.62 392.5 107.06 - - 2569.31 - - - - - - - - - 15.84 -
11578.45 935.07 12.63 1348 11584.21 done 1.56 - - 2729.94 - 2.99 0.053 2119.25 -415.8 107.06 - - 2570.56 - - - - - - - - - 15.90 -
11888.47 899.88 10.90 1380 11894.33 done 1.56 - - 2729.44 - 3.12 0.099 3362.25 398.4 107.06 - - 2567.75 - - - - - - - - - 15.97 -
12048.51 881.10 11.83 1412 12054.27 done 1.56 - - 2730.12 - 2.95 0.052 2121.00 -420.8 107.06 - - 2565.09 - - - - - - - - - 16.01 -
12358.52 847.30 10.63 1444 12364.39 done 1.56 - - 2730.00 - 3.11 0.098 3362.88 399.3 107.06 - - 2565.72 - - - - - - - - - 16.04 -
12478.55 833.37 11.68 1468 12484.56 done 1.56 - - 2730.06 - 2.94 0.051 2119.19 -423.0 107.06 - - 2565.97 - - - - - - - - - 16.07 -
12788.57 802.29 9.85 1500 12790.14 VBD 1.56 - - 2729.56 - - - 2118.50 - 107.06 - - 2561.16 - - - - - - - - - - -
13098.59 773.11 9.06 1531 13104.41 done 1.56 - - 2730.38 - 3.09 0.098 3362.88 402.7 107.06 - - 2561.47 - - - - - - - - - 16.09 -
13262.88 757.42 9.66 1564 13270.19 done 1.56 - - 2730.31 - 2.94 0.054 2118.75 -423.2 107.06 - - 2561.38 - - - - - - - - - 16.11 -
13578.65 730.94 8.06 1596 13580.23 VBD 1.56 - - 2730.06 - - - 2118.44 - 107.06 - - 2559.56 - - - - - - - - - - -
13888.68 705.86 7.99 1627 13894.49 done 1.56 - - 2729.69 - 3.10 0.099 3363.00 401.5 107.06 - - 2560.03 - - - - - - - - - 16.12 -
14082.97 688.96 8.28 1666 14090.22 done 1.56 - - 2730.19 - 2.91 0.053 2119.69 -427.3 107.06 - - 2561.12 - - - - - - - - - 16.13 -
14398.74 662.21 8.36 1698 14404.57 done 1.56 - - 2730.31 - 3.09 0.097 3362.62 402.2 107.06 - - 2559.75 - - - - - - - - - 16.13 -
14523.01 651.02 9.00 1723 14530.52 done 1.56 - - 2730.00 - 2.91 0.052 2119.44 -427.2 107.06 - - 2560.56 - - - - - - - - - 16.14 -
14838.78 625.40 8.27 1755 14844.59 done 1.56 - - 2729.12 - 3.10 0.097 3362.06 400.8 107.06 - - 2560.28 - - - - - - - - - 16.13 -
15023.07 609.04 8.76 1792 15030.38 done 1.56 - - 2730.00 - 2.90 0.052 2119.00 -428.6 107.06 - - 2560.94 - - - - - - - - - 16.13 -
15338.85 583.30 8.34 1824 15344.70 done 1.56 - - 2730.25 - 3.09 0.097 3361.19 402.0 107.06 - - 2559.78 - - - - - - - - - 16.14 -
15568.89 561.75 9.12 1870 15574.65 done 1.56 - - 2728.88 - 2.90 0.052 2118.50 -428.5 107.06 - - 2560.09 - - - - - - - - - 16.14 -
15878.95 537.53 7.40 1902 15880.53 VBD 1.58 - - 2729.94 - - - 2118.19 - 107.06 - - 2557.62 - - - - - - - - - - -
16188.99 515.60 6.91 1933 16194.76 done 1.62 - - 2729.31 - 3.09 0.099 3362.56 402.7 107.06 - - 2558.69 - - - - - - - - - 16.14 -
16313.25 506.46 7.34 1958 16320.72 done 1.64 - - 2730.50 - 2.90 0.052 2119.50 -428.6 107.06 - - 2558.69 - - - - - - - - - 16.14 -
16629.02 484.72 7.15 1990 16636.30 1.67 0.12 0.079 2751.56 175.5 3.66 0.117 688.62 -391.0 107.06 - - 2557.81 - - - - - - - - 16.22 16.11 -
16674.75 480.83 8.46 1999 16680.79 done 1.67 - - 2753.00 - 3.46 0.058 2180.25 431.1 107.06 - - 2559.97 - - - - - - - - - 16.13 -
16984.79 458.38 7.21 2031 16986.36 VBD 1.69 - - 2752.44 - - - 2180.88 - 107.06 - - 2556.12 - - - - - - - - - - -
17294.80 436.27 7.54 2062 17302.02 done 1.71 - - 2753.19 - 3.84 0.113 688.62 -388.6 107.06 - - 2556.72 - - - - - - - - - 16.14 -
17414.72 427.13 7.64 2086 17422.27 done 1.71 - - 2753.19 - 3.46 0.059 2182.38 431.7 107.06 - - 2558.03 - - - - - - - - - 16.15 -
17730.52 407.10 6.36 2118 17736.37 1.76 0.09 0.096 2775.25 245.1 2.95 0.102 3361.56 399.7 107.06 - - 2557.81 - - - - - - - - 16.19 16.12 -
17944.93 390.93 7.48 2161 17952.03 done 1.77 - - 2774.88 - 2.93 0.052 2116.94 -424.8 107.06 - - 2558.62 - - - - - - - - - 16.15 -
18260.58 369.94 6.57 2193 18267.71 done 1.82 - - 2775.06 - 3.67 0.115 687.69 -389.4 107.06 - - 2555.66 - - - - - - - - - 16.13 -
18436.34 356.93 7.42 2228 18442.30 done 1.84 - - 2775.31 - 3.48 0.058 2182.56 429.6 107.06 - - 2558.00 - - - - - - - - - 16.10 -
18746.35 337.48 5.93 2260 18752.22 1.90 0.19 0.062 2812.19 194.1 2.94 0.099 3362.56 401.4 107.06 - - 2556.84 - - - - - - - - 16.13 16.08 -
18980.64 320.59 7.18 2307 18987.90 done 1.93 - - 2811.19 - 2.94 0.052 2116.19 -423.9 107.06 - - 2557.31 - - - - - - - - - 16.13 -
19296.40 298.67 6.99 2339 19302.23 done 1.96 - - 2812.94 - 3.12 0.096 3362.31 399.4 107.06 - - 2556.44 - - - - - - - - - 16.08 -
19476.43 285.82 6.99 2375 19482.15 done 1.99 - - 2812.75 - 2.94 0.051 2114.31 -424.5 107.06 - - 2557.16 - - - - - - - - - 16.06 -
19786.82 267.24 5.71 2407 19793.80 2.06 0.22 0.062 2851.31 175.3 3.66 0.112 688.81 -389.5 107.06 - - 2557.09 - - - - - - - - 16.17 16.08 -
19872.41 261.37 6.86 2424 19878.36 done 2.10 - - 2850.88 - 3.49 0.056 2183.88 428.4 107.06 - - 2557.53 - - - - - - - - - 16.14 -
20182.42 242.89 5.93 2456 20188.13 done 2.16 - - 2850.69 - 2.93 0.095 3362.88 402.4 107.06 - - 2557.22 - - - - - - - - - 16.11 -
20406.71 228.79 6.44 2501 20414.15 2.21 0.20 0.056 2886.75 180.3 2.92 0.050 2116.75 -426.8 107.06 - - 2556.62 - - - - - - - - 16.17 16.09 -
20722.48 209.37 5.89 2533 20729.60 done 2.27 - - 2884.44 - 3.64 0.110 689.00 -392.2 107.06 - - 2557.09 - - - - - - - - - 16.07 -
20958.11 192.52 7.59 2580 20964.12 done 2.27 - - 2886.38 - 3.50 0.055 2185.25 427.5 107.06 - - 2558.97 - - - - - - - - - 16.11 -
21268.18 175.38 4.58 2612 21353.54 2.36 0.23 0.054 2924.44 165.5 3.90 0.108 687.56 -384.0 174.91 72.70 1.160 2304.47 -3.5 0.088 - - - - - - 16.18 15.79 12.62
21366.33 166.84 12.68 2631 21374.17 roll back 2.36 0.38 0.170 2908.75 -41.3 3.56 0.055 2183.06 420.1 174.91 - - 2302.62 - - - - - - - - 15.81 15.82 -
21682.13 128.57 11.87 2663 21687.89 done 2.36 - - 2908.00 - 2.96 0.095 3366.12 399.7 174.91 - - 2298.41 - - - - - - - - - 15.95 -
21742.13 121.65 10.55 2675 21747.90 done 2.36 - - 2908.75 - 2.95 0.047 2118.00 -423.1 174.91 - - 2296.66 - - - - - - - - - 15.97 -
22052.20 101.79 5.13 2707 22058.22 2.45 0.28 0.051 2942.00 118.7 3.12 0.092 3362.50 398.9 174.91 - - 2294.94 - - - - - - - - 16.06 15.97 -
22082.20 100.40 4.86 2713 22157.42 done 2.53 - - 2942.31 - 2.92 0.047 2113.94 -427.6 237.27 67.17 1.081 2052.16 -3.6 0.056 - - - - - - - 15.99 12.70
22340.98 79.80 6.84 2764 22348.02 roll back 2.57 0.15 0.067 2972.38 200.5 3.70 0.110 689.00 -385.1 237.27 - - 2047.53 - - - - - - - - 15.88 15.82 -
22521.53 68.51 5.91 2800 22528.30 roll 2.63 - - 2972.31 - 3.53 0.054 2185.25 423.9 237.27 - - 2046.53 - - - - - - - - - 15.88 -
22711.74 58.62 5.21 2838 22718.46 2.72 0.21 0.058 3008.19 170.9 2.95 0.093 3363.06 399.3 237.27 - - 2046.06 - - - - - - - - 15.95 15.91 -
22946.95 43.10 6.53 2885 22953.40 done 2.76 - - 3008.38 - 2.94 0.047 2116.19 -424.1 237.27 - - 2044.56 - - - - - - - - - 15.95 -
23136.96 37.82 1.99 2923 23265.05 2.92 0.32 0.049 3058.44 156.4 3.20 0.091 3362.56 389.5 355.62 115.75 1.012 1569.66 -4.1 0.025 - - - - - - 16.01 15.60 12.69
23493.60 15.11 8.60 2993 23500.38 roll back 2.92 0.31 0.168 3042.19 -52.4 2.97 0.046 2116.69 -419.5 355.62 - - 1566.62 - - - - - - - - 15.77 15.86 -
23633 end climb: SURFACE_DEPTH_REACHED
23634 begin surface coast
23659 end surface coast: CONTROL_FINISHED_OK
23659 begin surface
SM 1.97 - - - - 184.2 111.29 0.966 1083.9 9.7 20.94 0.056 1099.3 52.5 - 0.06 0.176 1068.6 17760.5 -20.318 - - 12.74 15.93 15.90 -