NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 153 * Raw log
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• Previous call tries 1 • 68.07 of 575.00 AH used of 24V (88.16% remains)
• Surface angle -63.6 deg, depth 1.38 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 617.88 (beyond SM_CC=475)
• GPS1 time: 25 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 - - - 75.66 VBD -1.56 - - 184.19 - - - 2065.69 - -107.06 65.15 0.005 2467.19 - - - - - - - - - - 15.71
76.10 3.04 -2.65 13 128.21 -1.56 16.53 0.237 1960.00 107.4 3.61 0.121 689.75 -381.1 -107.06 24.33 0.006 3456.34 40.7 -3.405 - - - - - - 15.69 15.67 15.73
356.59 56.48 -15.32 68 363.13 roll -1.56 - - 1960.12 - 3.38 0.048 2130.31 426.2 -107.06 - - 3459.50 - - - - - - - - - 15.90 -
546.62 82.07 -13.43 106 551.31 no move -1.56 - - 1959.94 - - - 2131.06 - -107.06 - - 3459.72 - - - - - - - - - - -
741.64 103.35 -10.10 142 743.17 no move -1.56 - - 1960.00 - - - 2131.06 - -107.06 - - 3459.94 - - - - - - - - - - -
1051.65 132.97 -9.90 173 1057.61 roll -1.56 - - 1959.44 - 3.71 0.111 688.88 -388.7 -107.06 - - 3460.81 - - - - - - - - - 15.93 -
1085.89 136.90 -11.22 180 1093.21 roll -1.56 - - 1959.94 - 3.36 0.049 2132.19 429.6 -107.06 - - 3462.94 - - - - - - - - - 15.97 -
1401.67 170.45 -10.60 212 1407.34 roll -1.56 - - 1959.06 - 3.13 0.100 3360.75 392.5 -107.06 - - 3463.41 - - - - - - - - - 16.04 -
1465.92 178.02 -11.59 225 1473.07 roll -1.56 - - 1959.69 - 3.05 0.046 2068.12 -423.8 -107.06 - - 3463.28 - - - - - - - - - 16.01 -
1781.70 211.13 -10.16 257 1783.23 no move -1.56 - - 1959.75 - - - 2068.25 - -107.06 - - 3462.31 - - - - - - - - - - -
2091.71 242.87 -10.51 288 2093.24 no move -1.56 - - 1959.81 - - - 2068.44 - -107.06 - - 3462.44 - - - - - - - - - - -
2402.03 274.12 -9.97 319 2407.65 roll -1.56 - - 1960.06 - 3.30 0.099 3361.19 391.7 -107.06 - - 3462.91 - - - - - - - - - 16.05 -
2461.75 280.71 -11.02 331 2467.55 roll -1.56 - - 1958.94 - 3.04 0.048 2069.00 -425.1 -107.06 - - 3463.47 - - - - - - - - - 16.11 -
2771.78 311.66 -10.00 363 2773.35 no move -1.56 - - 1959.56 - - - 2068.75 - -107.06 - - 3461.78 - - - - - - - - - - -
3081.80 342.14 -9.81 394 3083.36 no move -1.56 - - 1960.00 - - - 2068.19 - -107.06 - - 3462.50 - - - - - - - - - - -
3391.81 372.13 -9.42 425 3397.87 roll -1.56 - - 1959.69 - 3.60 0.124 689.25 -383.0 -107.06 - - 3463.81 - - - - - - - - - 16.08 -
3421.82 375.47 -10.24 431 3427.77 roll -1.56 - - 1960.00 - 3.34 0.053 2133.38 432.4 -107.06 - - 3464.44 - - - - - - - - - 16.13 -
3731.85 404.74 -9.23 463 3733.42 no move -1.56 - - 1959.81 - - - 2133.31 - -107.06 - - 3461.91 - - - - - - - - - - -
4041.87 432.75 -9.09 494 4049.06 roll -1.56 - - 1959.62 - 3.77 0.119 689.31 -383.0 -107.06 - - 3461.16 - - - - - - - - - 16.11 -
4087.51 437.30 -9.89 503 4093.50 roll -1.56 - - 1959.56 - 3.35 0.053 2132.38 430.8 -107.06 - - 3461.34 - - - - - - - - - 16.13 -
4397.54 465.11 -9.17 535 4403.38 roll -1.56 - - 1959.62 - 3.12 0.103 3361.12 393.8 -107.06 - - 3461.16 - - - - - - - - - 16.12 -
4437.54 469.23 -9.87 543 4443.37 roll -1.56 - - 1960.12 - 3.06 0.050 2069.31 -422.2 -107.06 - - 3461.72 - - - - - - - - - 16.15 -
4747.56 496.02 -8.67 575 4753.70 roll -1.56 - - 1960.00 - 3.61 0.123 690.44 -382.0 -107.06 - - 3462.16 - - - - - - - - - 16.13 -
4787.57 500.01 -9.96 583 4793.53 roll -1.56 - - 1959.62 - 3.37 0.054 2130.44 427.3 -107.06 - - 3462.81 - - - - - - - - - 16.13 -
5097.60 526.31 -8.18 615 5104.78 roll -1.56 - - 1957.94 - 3.77 0.121 690.94 -381.8 -107.06 - - 3460.03 - - - - - - - - - 16.14 -
5133.23 529.61 -9.05 622 5139.18 roll -1.56 - - 1959.25 - 3.36 0.054 2129.25 428.1 -107.06 - - 3459.44 - - - - - - - - - 16.14 -
5443.26 555.96 -8.73 654 5444.83 no move -1.56 - - 1959.94 - - - 2130.00 - -107.06 - - 3458.44 - - - - - - - - - - -
5753.29 583.55 -9.01 685 5754.86 no move -1.56 - - 1959.81 - - - 2130.12 - -107.06 - - 3457.41 - - - - - - - - - - -
6063.31 610.64 -8.43 716 6070.74 roll -1.56 - - 1959.38 - 3.76 0.122 689.62 -383.1 -107.06 - - 3458.62 - - - - - - - - - 16.15 -
6153.55 619.78 -10.03 734 6161.02 roll -1.56 - - 1959.88 - 3.36 0.055 2130.25 428.8 -107.06 - - 3458.28 - - - - - - - - - 16.17 -
6469.34 646.56 -8.29 766 6470.91 no move -1.56 - - 1959.31 - - - 2129.62 - -107.06 - - 3456.94 - - - - - - - - - - -
6779.38 671.43 -7.94 797 6786.56 roll -1.56 - - 1957.31 - 3.78 0.122 690.69 -380.7 -107.06 - - 3457.44 - - - - - - - - - 16.15 -
6845.00 677.33 -9.03 810 6850.94 roll -1.56 - - 1959.94 - 3.37 0.056 2128.88 426.8 -107.06 - - 3456.50 - - - - - - - - - 16.16 -
7155.04 702.41 -8.43 842 7162.23 roll -1.56 - - 1958.69 - 3.78 0.122 688.81 -381.0 -107.06 - - 3456.25 - - - - - - - - - 16.15 -
7210.68 707.82 -9.44 853 7216.69 roll -1.56 - - 1960.00 - 3.37 0.055 2129.38 427.5 -107.06 - - 3455.69 - - - - - - - - - 16.15 -
7520.71 733.11 -7.88 885 7527.90 roll -1.56 - - 1959.94 - 3.76 0.121 689.88 -382.8 -107.06 - - 3454.00 - - - - - - - - - 16.15 -
7606.35 740.88 -8.92 902 7612.55 roll -1.56 - - 1959.94 - 3.34 0.055 2130.81 431.4 -107.06 - - 3455.72 - - - - - - - - - 16.14 -
7916.38 766.40 -8.47 934 7923.57 roll -1.56 - - 1960.19 - 3.74 0.118 690.25 -385.2 -107.06 - - 3456.06 - - - - - - - - - 16.15 -
7972.02 771.69 -9.42 945 7977.98 roll -1.56 - - 1959.94 - 3.33 0.053 2130.62 432.5 -107.06 - - 3455.94 - - - - - - - - - 16.15 -
8282.08 798.02 -8.78 977 8283.66 no move -1.56 - - 1959.62 - - - 2130.69 - -107.06 - - 3453.56 - - - - - - - - - - -
8592.13 823.54 -7.90 1008 8599.34 roll -1.56 - - 1958.56 - 3.73 0.120 689.69 -386.3 -107.06 - - 3454.88 - - - - - - - - - 16.15 -
8652.02 829.19 -9.14 1020 8659.50 roll -1.56 - - 1958.19 - 3.33 0.053 2131.81 433.1 -107.06 - - 3454.56 - - - - - - - - - 16.15 -
8967.82 854.15 -8.23 1052 8969.39 no move -1.56 - - 1959.56 - - - 2131.75 - -107.06 - - 3452.97 - - - - - - - - - - -
9277.85 878.61 -7.55 1083 9285.02 roll -1.56 - - 1958.94 - 3.73 0.119 689.69 -386.6 -107.06 - - 3453.34 - - - - - - - - - 16.15 -
9347.71 884.93 -8.84 1097 9355.22 roll -1.56 - - 1959.75 - 3.33 0.054 2131.62 433.0 -107.06 - - 3454.16 - - - - - - - - - 16.14 -
9663.50 908.86 -7.46 1129 9670.75 roll -1.56 - - 1960.38 - 3.73 0.118 689.75 -386.6 -107.06 - - 3452.66 - - - - - - - - - 16.15 -
9723.43 913.95 -8.89 1141 9730.94 roll -1.56 - - 1959.38 - 3.34 0.053 2130.56 431.4 -107.06 - - 3453.50 - - - - - - - - - 16.15 -
10039.23 936.95 -7.19 1173 10046.42 roll -1.56 - - 1958.06 - 3.75 0.118 689.81 -384.2 -107.06 - - 3453.44 - - - - - - - - - 16.15 -
10114.88 943.00 -8.13 1188 10120.82 roll -1.56 - - 1959.44 - 3.34 0.053 2130.81 431.4 -107.06 - - 3452.69 - - - - - - - - - 16.14 -
10424.91 965.40 -6.92 1220 10432.10 roll -1.56 - - 1957.94 - 3.76 0.119 688.69 -383.5 -107.06 - - 3453.12 - - - - - - - - - 16.14 -
10474.90 969.67 -9.15 1230 10482.40 roll -1.56 - - 1958.56 - 3.35 0.053 2129.38 430.1 -107.06 - - 3452.78 - - - - - - - - - 16.15 -
10760 end dive: TARGET_DEPTH_EXCEEDED
10760 begin apogee
10762.41 990.75 -7.66 1259 10856.82 -0.42 2.54 0.118 2240.44 111.0 0.10 0.233 2116.06 -133.2 - 86.50 2.232 3018.19 -5.0 0.369 - - - - - - 16.10 15.54 12.53
10868 end apogee: CONTROL_FINISHED_OK
10868 begin climb
10871.10 991.69 - 1268 10975.65 1.56 3.92 0.059 2727.94 124.4 - - 2116.44 - 107.06 94.95 2.169 2581.28 -4.6 0.348 - - - - - - 15.66 - 12.77
11279.16 956.15 11.17 1309 11285.11 done 1.56 - - 2728.19 - 3.27 0.104 3362.06 380.9 107.06 - - 2570.03 - - - - - - - - - 15.85 -
11429.19 939.22 11.57 1339 11435.00 done 1.56 - - 2728.69 - 3.01 0.052 2118.75 -413.1 107.06 - - 2569.91 - - - - - - - - - 15.92 -
11739.22 907.99 9.40 1371 11745.09 done 1.56 - - 2728.56 - 3.19 0.100 3360.81 389.4 107.06 - - 2565.47 - - - - - - - - - 15.98 -
11809.23 900.28 11.86 1385 11815.00 done 1.56 - - 2728.50 - 2.98 0.052 2121.62 -415.8 107.06 - - 2566.94 - - - - - - - - - 16.00 -
12119.25 869.90 9.84 1417 12125.12 done 1.56 - - 2728.69 - 3.17 0.101 3361.88 391.2 107.06 - - 2566.62 - - - - - - - - - 16.03 -
12233.53 858.09 9.93 1440 12240.83 done 1.56 - - 2728.75 - 2.96 0.052 2120.56 -419.4 107.06 - - 2566.34 - - - - - - - - - 16.05 -
12549.30 827.80 9.51 1472 12555.18 done 1.56 - - 2728.75 - 3.16 0.098 3362.19 392.9 107.06 - - 2562.47 - - - - - - - - - 16.06 -
12783.60 803.01 10.56 1519 12790.89 done 1.56 - - 2728.62 - 2.94 0.052 2120.31 -422.4 107.06 - - 2562.44 - - - - - - - - - 16.10 -
13099.37 772.68 9.68 1551 13105.28 done 1.56 - - 2729.06 - 3.15 0.099 3363.12 394.5 107.06 - - 2562.38 - - - - - - - - - 16.09 -
13333.67 747.45 10.29 1598 13340.92 done 1.56 - - 2728.88 - 2.93 0.052 2119.81 -424.3 107.06 - - 2561.22 - - - - - - - - - 16.11 -
13649.44 718.14 9.03 1630 13651.01 VBD 1.56 - - 2728.44 - - - 2119.75 - 107.06 - - 2559.62 - - - - - - - - - - -
13959.47 690.40 9.00 1661 13966.69 done 1.56 - - 2728.06 - 3.71 0.118 688.81 -385.7 107.06 - - 2561.62 - - - - - - - - - 16.11 -
14025.13 683.50 10.71 1674 14031.14 done 1.56 - - 2728.50 - 3.49 0.060 2179.62 427.2 107.06 - - 2559.41 - - - - - - - - - 16.12 -
14335.14 657.15 7.96 1706 14340.90 done 1.56 - - 2729.06 - 2.99 0.105 3362.81 395.7 107.06 - - 2558.75 - - - - - - - - - 16.11 -
14569.43 635.28 9.49 1753 14576.93 done 1.56 - - 2728.50 - 2.94 0.053 2118.44 -423.3 107.06 - - 2559.44 - - - - - - - - - 16.13 -
14885.20 610.23 8.00 1785 14891.10 done 1.56 - - 2728.81 - 3.14 0.098 3362.31 396.1 107.06 - - 2560.38 - - - - - - - - - 16.14 -
15109.48 590.68 8.74 1830 15116.75 done 1.56 - - 2728.50 - 2.93 0.052 2117.94 -424.7 107.06 - - 2559.81 - - - - - - - - - 16.14 -
15425.51 567.40 7.34 1862 15431.35 done 1.59 - - 2729.06 - 3.16 0.099 3361.88 393.7 107.06 - - 2558.53 - - - - - - - - - 16.15 -
15495.28 561.60 8.28 1876 15501.08 done 1.59 - - 2728.62 - 2.93 0.052 2118.62 -424.3 107.06 - - 2559.50 - - - - - - - - - 16.14 -
15805.30 538.90 7.73 1908 15811.17 done 1.59 - - 2729.44 - 3.13 0.097 3361.75 397.2 107.06 - - 2559.00 - - - - - - - - - 16.13 -
15965.34 525.91 8.18 1940 15971.10 done 1.59 - - 2729.19 - 2.91 0.051 2118.88 -427.1 107.06 - - 2558.94 - - - - - - - - - 16.15 -
16275.36 502.07 7.61 1972 16281.23 done 1.59 - - 2727.56 - 3.13 0.095 3362.12 397.2 107.06 - - 2559.28 - - - - - - - - - 16.13 -
16469.65 485.33 8.83 2011 16476.88 done 1.59 - - 2729.12 - 2.90 0.049 2120.00 -428.3 107.06 - - 2558.75 - - - - - - - - - 16.15 -
16785.42 461.02 7.76 2043 16791.32 done 1.59 - - 2728.31 - 3.12 0.095 3362.75 398.3 107.06 - - 2558.97 - - - - - - - - - 16.15 -
16829.69 457.06 9.01 2052 16837.20 done 1.59 - - 2729.44 - 2.92 0.050 2116.19 -426.9 107.06 - - 2560.03 - - - - - - - - - 16.14 -
17145.50 433.49 7.17 2084 17151.37 done 1.61 - - 2728.44 - 3.15 0.098 3362.44 395.6 107.06 - - 2559.50 - - - - - - - - - 16.14 -
17195.48 429.49 7.98 2094 17201.25 done 1.61 - - 2727.69 - 2.91 0.049 2117.69 -427.7 107.06 - - 2558.88 - - - - - - - - - 16.15 -
17505.54 408.33 6.43 2126 17507.30 1.66 0.10 0.083 2749.69 220.0 - - 2116.62 - 107.06 - - 2558.38 - - - - - - - - 16.19 - -
17815.57 389.10 5.87 2157 17821.38 done 1.73 - - 2748.88 - 3.14 0.097 3362.50 396.8 107.06 - - 2559.69 - - - - - - - - - 16.14 -
18049.85 374.69 6.05 2204 18057.42 1.79 0.21 0.059 2781.38 154.8 2.90 0.049 2117.75 -429.2 107.06 - - 2558.72 - - - - - - - - 16.16 16.13 -
18365.63 357.25 5.61 2236 18367.20 VBD 1.86 - - 2781.50 - - - 2117.69 - 107.06 - - 2557.06 - - - - - - - - - - -
18675.66 340.20 5.92 2267 18682.94 1.92 0.19 0.062 2818.88 196.7 3.65 0.114 687.31 -391.9 107.06 - - 2555.69 - - - - - - - - 16.19 16.11 -
18911.46 322.88 7.54 2314 18917.43 done 1.94 - - 2818.25 - 3.47 0.058 2179.12 429.9 107.06 - - 2557.34 - - - - - - - - - 16.12 -
19221.46 304.46 5.74 2346 19227.17 done 2.01 - - 2818.50 - 2.98 0.100 3362.25 397.0 107.06 - - 2556.56 - - - - - - - - - 16.11 -
19405.73 293.60 5.70 2383 19413.12 2.08 0.19 0.068 2853.81 185.8 2.93 0.050 2116.56 -425.2 107.06 - - 2557.19 - - - - - - - - 16.12 16.14 -
19721.51 278.06 5.07 2415 19728.64 done 2.17 - - 2852.88 - 3.67 0.111 687.56 -389.4 107.06 - - 2557.25 - - - - - - - - - 16.08 -
19957.19 263.97 6.53 2462 19964.35 2.21 0.20 0.064 2883.94 155.3 3.49 0.057 2185.00 429.1 107.06 - - 2556.34 - - - - - - - - 16.09 16.09 -
20272.20 247.16 5.16 2494 20279.45 done 2.30 - - 2884.62 - 3.85 0.108 687.88 -388.9 107.06 - - 2558.50 - - - - - - - - - 16.09 -
20507.98 231.44 6.88 2541 20515.18 2.33 0.21 0.058 2912.88 134.6 3.48 0.056 2182.94 429.6 107.06 - - 2556.38 - - - - - - - - 16.13 16.12 -
20822.97 214.74 4.86 2573 20881.56 done 2.42 - - 2913.44 - 3.90 0.110 688.62 -383.2 169.31 47.58 1.270 2327.41 -4.8 0.135 - - - - - - - 15.88 12.51
21065.04 184.50 15.33 2621 21071.10 roll 2.42 - - 2913.38 - 3.53 0.056 2177.75 421.8 169.31 - - 2323.59 - - - - - - - - - 15.99 -
21375.08 144.28 11.42 2653 21380.88 done 2.42 - - 2914.31 - 3.02 0.100 3363.38 392.6 169.31 - - 2319.25 - - - - - - - - - 15.98 -
21439.33 136.36 12.09 2666 21446.59 done 2.42 - - 2912.50 - 2.96 0.049 2118.75 -420.5 169.31 - - 2319.66 - - - - - - - - - 16.00 -
21755.13 105.23 8.91 2698 21761.00 done 2.42 - - 2913.12 - 3.16 0.096 3362.56 393.6 169.31 - - 2317.47 - - - - - - - - - 16.03 -
21779.63 103.13 8.39 2703 21786.70 done 2.42 - - 2913.25 - 2.95 0.048 2117.06 -422.2 169.31 - - 2319.09 - - - - - - - - - 16.03 -
22090.22 91.93 1.78 2760 22229.03 2.57 0.42 0.045 2975.25 147.6 3.83 0.111 688.81 -372.9 291.68 127.77 1.076 1829.31 -3.8 0.054 - - - - - - 16.10 15.59 12.67
22457.51 50.04 13.26 2832 22464.32 roll 2.57 - - 2975.69 - 3.54 0.055 2178.38 420.8 291.68 - - 1826.72 - - - - - - - - - 15.82 -
22647.83 30.51 8.18 2870 22654.67 roll back 2.57 0.32 0.166 2958.94 -52.3 3.05 0.099 3362.00 388.1 291.68 - - 1826.75 - - - - - - - - 15.83 15.87 -
22883.18 29.77 -0.47 2917 22905.96 2.79 0.56 0.040 3025.50 118.9 2.98 0.047 2115.62 -418.2 458.04 16.16 0.918 1773.69 -3.3 0.018 - - - - - - 15.94 15.94 12.67
22906 end climb: NO_VERTICAL_VELOCITY
22906 begin surface
SM 1.03 - - - - 185.4 - - 496.1 - 21.13 0.044 523.9 24.8 - 0.06 0.171 468.2 7753.7 -4.773 - - 30.00 15.67 15.62 -