NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 146 * Raw log
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• Previous call tries 2 • 65.60 of 575.00 AH used of 24V (88.59% remains)
• Surface angle -59.9 deg, depth 1.45 m • Intended pitch -17.1 deg, speed -8.049 cm/s
• VBD pumped to 475.02 (SM_CC=475)
• GPS1 time: 13 s
• GPS2 time: 7 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
8.93 - - - 75.66 VBD -1.56 - - 181.69 - - - 2130.94 - -107.06 65.17 0.005 2525.47 - - - - - - - - - - 15.74
76.10 3.35 -3.16 13 127.58 -1.56 16.65 0.237 1959.94 106.8 3.76 0.117 689.75 -383.3 -107.06 21.64 0.006 3459.00 43.1 -3.981 - - - - - - 15.70 15.72 15.76
206.10 31.57 -22.43 38 212.67 roll -1.56 - - 1960.12 - 3.37 0.048 2129.38 427.2 -107.06 - - 3458.78 - - - - - - - - - 15.86 -
396.14 59.31 -14.31 76 402.57 roll -1.56 - - 1959.75 - 3.13 0.097 3361.56 393.7 -107.06 - - 3460.53 - - - - - - - - - 15.89 -
451.14 67.79 -15.85 87 457.56 roll -1.56 - - 1959.19 - 3.05 0.044 2066.88 -424.5 -107.06 - - 3459.94 - - - - - - - - - 15.91 -
641.16 92.49 -10.19 125 645.56 no move -1.56 - - 1959.94 - - - 2067.06 - -107.06 - - 3459.66 - - - - - - - - - - -
831.18 114.11 -11.22 151 837.08 roll -1.56 - - 1960.12 - 3.56 0.115 689.94 -386.8 -107.06 - - 3461.25 - - - - - - - - - 15.97 -
861.19 117.80 -12.30 157 867.00 roll -1.56 - - 1959.62 - 3.34 0.045 2133.94 432.3 -107.06 - - 3460.59 - - - - - - - - - 15.99 -
1171.21 147.27 -8.42 189 1172.74 no move -1.56 - - 1959.62 - - - 2134.12 - -107.06 - - 3460.81 - - - - - - - - - - -
1481.22 172.91 -8.55 220 1482.75 no move -1.56 - - 1959.94 - - - 2134.31 - -107.06 - - 3461.12 - - - - - - - - - - -
1791.23 200.63 -9.39 251 1798.51 roll -1.56 - - 1959.94 - 3.74 0.112 688.69 -386.5 -107.06 - - 3462.75 - - - - - - - - - 16.05 -
1847.07 206.31 -10.44 262 1853.03 roll -1.56 - - 1959.94 - 3.33 0.050 2132.31 433.5 -107.06 - - 3462.97 - - - - - - - - - 16.05 -
2157.13 235.88 -10.06 294 2158.70 no move -1.56 - - 1959.56 - - - 2132.19 - -107.06 - - 3461.53 - - - - - - - - - - -
2467.17 267.58 -10.25 325 2468.74 no move -1.56 - - 1959.81 - - - 2132.06 - -107.06 - - 3461.31 - - - - - - - - - - -
2777.20 297.52 -9.48 356 2784.39 roll -1.56 - - 1959.00 - 3.76 0.115 688.75 -383.9 -107.06 - - 3462.25 - - - - - - - - - 16.08 -
2862.84 306.58 -10.71 373 2868.83 roll -1.56 - - 1959.81 - 3.36 0.052 2130.69 429.1 -107.06 - - 3463.72 - - - - - - - - - 16.10 -
3172.87 334.54 -8.92 405 3180.06 roll -1.56 - - 1959.00 - 3.74 0.117 688.69 -385.6 -107.06 - - 3461.94 - - - - - - - - - 16.11 -
3208.50 338.09 -9.63 412 3214.44 roll -1.56 - - 1959.94 - 3.37 0.052 2133.06 428.6 -107.06 - - 3462.44 - - - - - - - - - 16.13 -
3518.53 366.55 -9.28 444 3524.37 roll -1.56 - - 1960.31 - 3.11 0.102 3361.69 395.1 -107.06 - - 3460.62 - - - - - - - - - 16.12 -
3578.54 373.07 -10.97 456 3584.59 roll -1.56 - - 1959.50 - 3.04 0.050 2069.00 -425.2 -107.06 - - 3461.56 - - - - - - - - - 16.14 -
3888.55 402.76 -9.60 488 3894.64 roll -1.56 - - 1959.75 - 3.60 0.123 690.19 -383.0 -107.06 - - 3459.94 - - - - - - - - - 16.14 -
3938.56 408.09 -10.84 498 3944.54 roll -1.56 - - 1959.44 - 3.35 0.054 2131.94 430.4 -107.06 - - 3461.56 - - - - - - - - - 16.13 -
4248.59 437.27 -9.49 530 4250.15 no move -1.56 - - 1959.69 - - - 2132.12 - -107.06 - - 3458.56 - - - - - - - - - - -
4558.64 466.91 -9.50 561 4565.81 roll -1.56 - - 1959.94 - 3.75 0.118 688.94 -384.8 -107.06 - - 3458.19 - - - - - - - - - 16.15 -
4618.50 473.43 -10.92 573 4625.97 roll -1.56 - - 1959.62 - 3.35 0.055 2131.25 430.5 -107.06 - - 3458.78 - - - - - - - - - 16.14 -
4934.29 502.71 -9.22 605 4935.86 no move -1.56 - - 1960.06 - - - 2130.94 - -107.06 - - 3456.47 - - - - - - - - - - -
5244.32 530.95 -9.05 636 5245.89 no move -1.56 - - 1959.56 - - - 2130.69 - -107.06 - - 3456.62 - - - - - - - - - - -
5554.35 558.92 -8.94 667 5561.54 roll -1.56 - - 1959.31 - 3.76 0.120 687.62 -383.8 -107.06 - - 3456.66 - - - - - - - - - 16.15 -
5600.23 563.45 -9.75 676 5605.92 roll -1.56 - - 1959.88 - 3.35 0.055 2130.00 430.6 -107.06 - - 3457.44 - - - - - - - - - 16.14 -
5910.01 591.36 -8.93 708 5911.58 no move -1.56 - - 1959.56 - - - 2131.69 - -107.06 - - 3454.75 - - - - - - - - - - -
6220.03 618.01 -8.36 739 6227.23 roll -1.56 - - 1960.06 - 3.76 0.120 689.62 -383.5 -107.06 - - 3454.72 - - - - - - - - - 16.15 -
6309.92 626.67 -9.37 757 6317.43 roll -1.56 - - 1959.94 - 3.35 0.055 2130.12 430.0 -107.06 - - 3453.91 - - - - - - - - - 16.18 -
6625.72 652.13 -8.14 789 6627.29 no move -1.56 - - 1960.00 - - - 2129.56 - -107.06 - - 3452.66 - - - - - - - - - - -
6935.74 676.15 -7.45 820 6942.93 roll -1.56 - - 1959.94 - 3.78 0.123 690.75 -380.6 -107.06 - - 3452.62 - - - - - - - - - 16.15 -
7025.62 684.28 -8.46 838 7033.10 roll -1.56 - - 1960.19 - 3.35 0.057 2129.62 429.5 -107.06 - - 3453.56 - - - - - - - - - 16.16 -
7341.41 709.27 -8.37 870 7348.59 roll -1.56 - - 1957.44 - 3.75 0.122 689.75 -384.0 -107.06 - - 3453.19 - - - - - - - - - 16.16 -
7381.27 713.11 -9.47 878 7388.99 roll -1.56 - - 1960.06 - 3.36 0.056 2129.56 428.5 -107.06 - - 3453.31 - - - - - - - - - 16.15 -
7697.08 739.52 -8.22 910 7704.27 roll -1.56 - - 1959.56 - 3.76 0.122 689.31 -383.0 -107.06 - - 3451.91 - - - - - - - - - 16.15 -
7742.73 743.89 -9.70 919 7748.70 roll -1.56 - - 1960.00 - 3.36 0.055 2130.12 428.8 -107.06 - - 3453.00 - - - - - - - - - 16.15 -
8052.74 771.34 -9.04 951 8059.92 roll -1.56 - - 1959.19 - 3.74 0.122 689.88 -385.1 -107.06 - - 3451.25 - - - - - - - - - 16.15 -
8108.39 776.84 -9.51 962 8114.32 roll -1.56 - - 1959.69 - 3.35 0.056 2131.94 430.5 -107.06 - - 3452.53 - - - - - - - - - 16.17 -
8418.41 803.72 -8.61 994 8425.60 roll -1.56 - - 1959.50 - 3.74 0.122 688.69 -385.9 -107.06 - - 3451.38 - - - - - - - - - 16.15 -
8474.05 809.06 -9.53 1005 8480.04 roll -1.56 - - 1959.88 - 3.33 0.055 2131.00 433.1 -107.06 - - 3451.22 - - - - - - - - - 16.16 -
8784.11 836.01 -8.78 1037 8785.68 no move -1.56 - - 1959.31 - - - 2130.62 - -107.06 - - 3450.03 - - - - - - - - - - -
9094.42 863.98 -9.20 1068 9095.99 no move -1.56 - - 1959.62 - - - 2131.19 - -107.06 - - 3449.09 - - - - - - - - - - -
9404.19 891.57 -8.78 1099 9411.39 roll -1.56 - - 1960.25 - 3.76 0.123 689.38 -383.5 -107.06 - - 3448.41 - - - - - - - - - 16.16 -
9479.84 898.84 -9.36 1114 9485.79 roll -1.56 - - 1959.44 - 3.34 0.056 2129.62 431.2 -107.06 - - 3449.28 - - - - - - - - - 16.15 -
9789.87 924.04 -7.97 1146 9797.07 roll -1.56 - - 1960.56 - 3.75 0.125 688.69 -384.2 -107.06 - - 3448.12 - - - - - - - - - 16.16 -
9825.52 927.01 -8.36 1153 9831.47 roll -1.56 - - 1959.75 - 3.35 0.055 2130.19 430.3 -107.06 - - 3450.12 - - - - - - - - - 16.16 -
10135.55 950.33 -7.71 1185 10137.12 no move -1.56 - - 1959.75 - - - 2131.06 - -107.06 - - 3447.94 - - - - - - - - - - -
10445.58 973.36 -7.38 1216 10447.15 no move -1.56 - - 1959.94 - - - 2130.50 - -107.06 - - 3448.09 - - - - - - - - - - -
10675 end dive: TARGET_DEPTH_EXCEEDED
10675 begin apogee
10677.29 990.37 -7.53 1239 10771.66 -0.42 2.50 0.118 2239.00 111.6 0.10 0.233 2119.00 -115.0 - 85.68 2.228 3019.44 -5.0 0.368 - - - - - - 16.11 15.55 12.67
10783 end apogee: CONTROL_FINISHED_OK
10783 begin climb
10785.94 991.54 - 1248 10897.47 1.56 3.91 0.058 2730.25 125.6 3.30 0.104 3361.81 376.6 107.06 94.58 2.171 2584.22 -4.6 0.347 - - - - - - 15.67 15.35 12.79
10956.01 981.40 9.95 1280 10961.83 roll 1.56 - - 2730.75 - 3.01 0.047 2120.44 -412.4 107.06 - - 2575.78 - - - - - - - - - 15.63 -
11266.05 948.12 11.24 1312 11271.91 done 1.56 - - 2730.56 - 3.14 0.101 3361.88 395.4 107.06 - - 2569.81 - - - - - - - - - 15.90 -
11500.37 920.02 11.73 1359 11507.63 done 1.56 - - 2730.12 - 2.94 0.051 2120.88 -422.1 107.06 - - 2568.16 - - - - - - - - - 15.96 -
11816.16 885.98 10.29 1391 11822.40 done 1.56 - - 2730.69 - 3.11 0.098 3362.12 399.1 107.06 - - 2566.44 - - - - - - - - - 15.99 -
11940.44 872.28 11.26 1416 11947.70 done 1.56 - - 2730.31 - 2.96 0.052 2118.62 -420.1 107.06 - - 2567.44 - - - - - - - - - 16.03 -
12256.22 839.58 10.00 1448 12262.08 done 1.56 - - 2730.38 - 3.12 0.098 3362.88 398.8 107.06 - - 2564.91 - - - - - - - - - 16.05 -
12490.52 814.48 10.71 1495 12497.78 done 1.56 - - 2730.62 - 2.93 0.052 2118.50 -424.7 107.06 - - 2566.19 - - - - - - - - - 16.09 -
12806.28 783.48 9.47 1527 12812.10 done 1.56 - - 2730.38 - 3.10 0.096 3365.94 402.4 107.06 - - 2562.19 - - - - - - - - - 16.08 -
13040.66 759.94 9.95 1574 13047.87 done 1.56 - - 2730.12 - 2.92 0.048 2119.44 -426.9 107.06 - - 2561.91 - - - - - - - - - 16.12 -
13356.34 730.78 9.39 1606 13362.17 done 1.56 - - 2730.44 - 3.09 0.096 3365.62 403.3 107.06 - - 2560.47 - - - - - - - - - 16.11 -
13410.61 725.18 10.59 1617 13418.15 done 1.56 - - 2730.69 - 2.91 0.049 2118.69 -428.5 107.06 - - 2563.59 - - - - - - - - - 16.12 -
13726.38 696.74 8.51 1649 13732.20 done 1.56 - - 2730.25 - 3.07 0.096 3363.94 405.6 107.06 - - 2562.28 - - - - - - - - - 16.12 -
13880.68 682.35 9.10 1680 13887.97 done 1.56 - - 2730.31 - 2.90 0.049 2118.38 -429.5 107.06 - - 2560.75 - - - - - - - - - 16.13 -
14196.44 656.14 8.18 1712 14198.05 VBD 1.56 - - 2730.75 - - - 2118.69 - 107.06 - - 2559.78 - - - - - - - - - - -
14506.47 629.99 8.52 1743 14512.29 done 1.56 - - 2730.62 - 3.08 0.097 3363.00 404.0 107.06 - - 2559.47 - - - - - - - - - 16.14 -
14740.76 607.54 9.52 1790 14748.03 done 1.56 - - 2730.88 - 2.90 0.049 2118.50 -429.1 107.06 - - 2559.56 - - - - - - - - - 16.15 -
15056.53 581.49 8.19 1822 15062.39 done 1.56 - - 2729.75 - 3.09 0.096 3363.75 403.0 107.06 - - 2560.22 - - - - - - - - - 16.15 -
15190.81 569.79 8.57 1849 15198.27 done 1.56 - - 2730.69 - 2.89 0.048 2115.38 -432.0 107.06 - - 2559.47 - - - - - - - - - 16.15 -
15506.58 545.17 7.71 1881 15512.41 done 1.56 - - 2730.19 - 3.10 0.097 3363.75 402.7 107.06 - - 2559.00 - - - - - - - - - 16.13 -
15660.86 532.24 8.32 1912 15668.12 done 1.56 - - 2730.75 - 2.90 0.048 2118.38 -429.4 107.06 - - 2558.28 - - - - - - - - - 16.16 -
15976.68 510.23 6.92 1944 15982.48 done 1.60 - - 2730.56 - 3.11 0.097 3361.25 399.6 107.06 - - 2558.72 - - - - - - - - - 16.14 -
16166.67 495.38 7.70 1982 16172.42 done 1.60 - - 2730.62 - 2.90 0.048 2117.62 -428.8 107.06 - - 2559.16 - - - - - - - - - 16.15 -
16476.74 474.96 6.69 2014 16478.31 VBD 1.64 - - 2730.06 - - - 2117.50 - 107.06 - - 2557.25 - - - - - - - - - - -
16786.77 454.30 6.66 2045 16792.76 1.68 0.14 0.070 2756.12 186.1 3.12 0.096 3362.38 399.0 107.06 - - 2558.31 - - - - - - - - 16.20 16.11 -
16946.76 441.50 8.15 2077 16952.51 done 1.68 - - 2756.38 - 2.90 0.047 2116.81 -429.5 107.06 - - 2558.59 - - - - - - - - - 16.14 -
17256.83 418.83 7.14 2109 17258.40 VBD 1.71 - - 2756.62 - - - 2116.25 - 107.06 - - 2556.72 - - - - - - - - - - -
17566.85 397.48 6.85 2140 17572.67 done 1.74 - - 2756.44 - 3.14 0.095 3364.12 397.4 107.06 - - 2559.41 - - - - - - - - - 16.13 -
17696.89 387.86 7.29 2166 17702.61 done 1.77 - - 2756.69 - 2.90 0.050 2117.12 -430.0 107.06 - - 2558.97 - - - - - - - - - 16.14 -
18006.90 368.09 5.99 2198 18014.23 1.83 0.22 0.059 2793.94 169.3 3.63 0.115 688.88 -393.5 107.06 - - 2558.22 - - - - - - - - 16.18 16.11 -
18046.95 365.22 6.66 2206 18054.41 done 1.87 - - 2795.00 - 3.47 0.057 2183.00 430.6 107.06 - - 2557.72 - - - - - - - - - 16.15 -
18362.71 343.13 7.13 2238 18368.43 done 1.90 - - 2794.88 - 2.95 0.097 3363.25 400.1 107.06 - - 2556.69 - - - - - - - - - 16.14 -
18596.95 323.47 8.65 2285 18604.17 done 1.90 - - 2794.94 - 2.89 0.046 2115.62 -431.7 107.06 - - 2556.28 - - - - - - - - - 16.14 -
18912.76 299.07 7.43 2317 18919.91 done 1.92 - - 2794.75 - 3.65 0.115 688.75 -390.9 107.06 - - 2554.66 - - - - - - - - - 16.08 -
19148.57 281.14 7.44 2364 19155.70 1.93 0.12 0.076 2819.88 209.4 3.48 0.056 2183.62 429.6 107.06 - - 2557.97 - - - - - - - - 16.13 16.12 -
19463.55 261.87 5.41 2396 19470.77 done 2.01 - - 2819.12 - 3.82 0.107 688.69 -391.3 107.06 - - 2554.59 - - - - - - - - - 16.10 -
19559.27 256.07 5.96 2415 19566.42 2.08 0.19 0.060 2853.81 182.6 3.48 0.054 2184.75 429.9 107.06 - - 2554.97 - - - - - - - - 16.15 16.11 -
19874.27 238.66 5.72 2447 19879.98 done 2.15 - - 2854.00 - 2.95 0.095 3362.12 399.1 107.06 - - 2558.09 - - - - - - - - - 16.10 -
20108.56 224.15 6.02 2494 20115.98 2.21 0.24 0.047 2885.50 131.2 2.90 0.046 2114.56 -430.2 107.06 - - 2556.34 - - - - - - - - 16.17 16.12 -
20424.33 203.01 6.96 2526 20430.41 done 2.24 - - 2885.44 - 3.13 0.092 3363.44 399.0 107.06 - - 2556.75 - - - - - - - - - 16.10 -
20658.62 186.59 6.38 2573 20665.89 done 2.29 - - 2885.38 - 2.91 0.045 2114.62 -429.1 107.06 - - 2556.03 - - - - - - - - - 16.11 -
20974.39 171.52 4.20 2605 21064.91 2.39 0.28 0.050 2928.38 153.6 3.74 0.112 688.62 -381.3 182.21 80.67 1.156 2276.41 -3.5 0.085 - - - - - - 16.16 15.75 12.59
21158.37 151.30 16.27 2641 21164.47 roll 2.39 - - 2931.00 - 3.55 0.055 2181.56 420.5 182.21 - - 2271.72 - - - - - - - - - 15.86 -
21468.38 114.61 8.99 2673 21474.17 done 2.39 - - 2929.38 - 2.99 0.093 3363.62 395.3 182.21 - - 2267.38 - - - - - - - - - 15.95 -
21678.45 102.57 5.23 2715 21684.43 done 2.47 - - 2930.12 - 2.91 0.044 2117.44 -428.2 182.21 - - 2265.38 - - - - - - - - - 15.98 -
21988.47 95.19 1.54 2771 22132.39 2.64 0.43 0.042 2990.00 139.3 3.80 0.110 689.19 -375.9 309.39 130.57 1.072 1758.44 -3.9 0.057 - - - - - - 16.05 15.56 12.67
22360.87 47.46 15.30 2844 22367.69 roll 2.64 - - 2990.12 - 3.56 0.052 2182.75 419.5 309.39 - - 1754.66 - - - - - - - - - 15.85 -
22551.24 35.39 2.90 2882 22663.82 2.77 0.18 0.059 3021.31 173.3 3.95 0.106 688.06 -378.4 409.93 100.01 1.000 1348.19 -4.1 0.024 - - - - - - 15.93 15.59 12.63
22892.40 3.11 17.33 2949 22899.26 roll 2.77 - - 3022.12 - 3.55 0.052 2184.12 421.4 409.93 - - 1345.00 - - - - - - - - - 15.79 -
22902 end climb: SURFACE_DEPTH_REACHED
22902 begin surface coast
22917 end surface coast: CONTROL_FINISHED_OK
22918 begin surface
SM 1.24 - - - - 185.4 61.58 0.961 1083.5 17.6 21.10 0.048 1094.5 51.9 - 0.24 0.093 1072.5 4454.0 -6.070 - - 12.72 15.84 15.85 -