NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 232 * Raw log
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• Previous call tries 4 • 93.01 of 575.00 AH used of 24V (83.82% remains)
• Surface angle -64.0 deg, depth 1.60 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.89 (SM_CC=475)
• GPS1 time: 31 s
• GPS2 time: 3 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
9.01 - - - 70.60 VBD -1.56 - - 180.62 - - - 2148.25 - -107.06 60.06 0.005 2458.25 - - - - - - - - - - 15.67
71.04 3.39 -3.40 12 123.76 -1.56 16.45 0.231 1959.50 108.1 3.82 0.110 689.12 -382.0 -107.06 22.61 0.006 3457.50 44.2 -4.130 - - - - - - 15.68 15.67 15.70
352.33 57.71 -14.18 67 358.86 roll -1.56 - - 1959.88 - 3.38 0.042 2134.19 427.5 -107.06 - - 3458.28 - - - - - - - - - 15.91 -
542.34 81.61 -13.08 105 546.78 no move -1.56 - - 1960.25 - - - 2134.12 - -107.06 - - 3459.16 - - - - - - - - - - -
727.40 104.65 -11.26 138 733.24 roll -1.56 - - 1960.81 - 3.12 0.092 3362.25 393.6 -107.06 - - 3460.00 - - - - - - - - - 15.95 -
761.63 108.59 -11.25 145 769.65 roll -1.56 - - 1959.75 - 2.98 0.037 2064.06 -435.6 -107.06 - - 3460.75 - - - - - - - - - 15.97 -
1077.42 140.27 -9.92 177 1083.31 roll -1.56 - - 1958.88 - 3.28 0.088 3360.81 395.4 -107.06 - - 3462.59 - - - - - - - - - 15.99 -
1127.41 145.80 -11.15 187 1133.16 roll -1.56 - - 1959.56 - 2.98 0.039 2065.38 -434.7 -107.06 - - 3462.78 - - - - - - - - - 16.03 -
1437.74 175.76 -9.05 219 1439.35 no move -1.56 - - 1959.75 - - - 2064.50 - -107.06 - - 3460.59 - - - - - - - - - - -
1747.80 203.65 -9.16 250 1749.41 no move -1.56 - - 1959.06 - - - 2064.62 - -107.06 - - 3461.00 - - - - - - - - - - -
2057.86 232.44 -9.21 281 2064.88 roll -1.56 - - 1959.19 - 3.56 0.114 689.44 -386.3 -107.06 - - 3462.16 - - - - - - - - - 16.02 -
2093.66 236.10 -10.19 288 2099.54 roll -1.56 - - 1960.25 - 3.36 0.046 2123.38 426.8 -107.06 - - 3460.91 - - - - - - - - - 16.07 -
2403.72 265.43 -9.51 320 2405.33 no move -1.56 - - 1959.69 - - - 2134.31 - -107.06 - - 3460.28 - - - - - - - - - - -
2713.79 294.95 -9.14 351 2720.92 roll -1.56 - - 1959.38 - 3.75 0.110 688.75 -385.5 -107.06 - - 3461.28 - - - - - - - - - 16.07 -
2759.71 299.76 -10.53 360 2766.64 roll -1.56 - - 1960.50 - 3.36 0.047 2131.44 429.4 -107.06 - - 3460.59 - - - - - - - - - 16.10 -
3074.77 327.77 -8.68 392 3076.38 no move -1.56 - - 1959.44 - - - 2132.31 - -107.06 - - 3460.53 - - - - - - - - - - -
3384.83 353.23 -7.91 423 3386.44 no move -1.56 - - 1959.31 - - - 2132.25 - -107.06 - - 3459.22 - - - - - - - - - - -
3694.89 378.53 -8.65 454 3702.03 roll -1.56 - - 1959.06 - 3.77 0.112 688.50 -383.0 -107.06 - - 3459.22 - - - - - - - - - 16.11 -
3730.81 381.94 -9.27 461 3737.73 roll -1.56 - - 1958.69 - 3.37 0.049 2134.12 429.0 -107.06 - - 3459.84 - - - - - - - - - 16.08 -
4045.87 410.93 -9.62 493 4047.47 no move -1.56 - - 1959.38 - - - 2134.62 - -107.06 - - 3457.00 - - - - - - - - - - -
4356.17 440.92 -9.70 524 4357.78 no move -1.56 - - 1959.69 - - - 2134.12 - -107.06 - - 3456.47 - - - - - - - - - - -
4665.98 470.91 -9.66 555 4673.12 roll -1.56 - - 1959.56 - 3.77 0.114 688.62 -383.4 -107.06 - - 3454.88 - - - - - - - - - 16.11 -
4725.91 477.44 -10.64 567 4733.80 roll -1.56 - - 1959.38 - 3.37 0.048 2132.81 428.5 -107.06 - - 3456.25 - - - - - - - - - 16.12 -
5041.97 507.27 -8.92 599 5047.78 roll -1.56 - - 1960.00 - 3.12 0.097 3362.81 394.2 -107.06 - - 3454.00 - - - - - - - - - 16.10 -
5081.98 511.48 -10.55 607 5087.72 roll -1.56 - - 1959.31 - 3.01 0.042 2066.25 -430.8 -107.06 - - 3454.34 - - - - - - - - - 16.11 -
5392.03 537.85 -8.59 639 5399.07 roll -1.56 - - 1958.69 - 3.59 0.116 690.00 -383.4 -107.06 - - 3453.56 - - - - - - - - - 16.11 -
5441.96 542.73 -9.53 649 5449.85 roll -1.56 - - 1959.06 - 3.36 0.048 2134.06 429.8 -107.06 - - 3454.12 - - - - - - - - - 16.12 -
5758.02 569.89 -8.92 681 5759.63 no move -1.56 - - 1959.44 - - - 2133.94 - -107.06 - - 3452.22 - - - - - - - - - - -
6068.08 597.99 -9.08 712 6075.47 roll -1.56 - - 1960.19 - 3.76 0.111 688.62 -384.4 -107.06 - - 3452.72 - - - - - - - - - 16.11 -
6114.38 602.78 -10.23 721 6120.26 roll -1.56 - - 1959.88 - 3.36 0.048 2121.81 426.5 -107.06 - - 3453.19 - - - - - - - - - 16.12 -
6424.43 628.96 -8.19 753 6426.05 no move -1.56 - - 1959.44 - - - 2133.50 - -107.06 - - 3451.28 - - - - - - - - - - -
6734.49 654.06 -8.11 784 6741.64 roll -1.56 - - 1959.38 - 3.75 0.111 688.88 -385.2 -107.06 - - 3452.47 - - - - - - - - - 16.12 -
6790.43 659.07 -8.74 795 6796.31 roll -1.56 - - 1958.69 - 3.36 0.047 2121.25 426.3 -107.06 - - 3451.62 - - - - - - - - - 16.11 -
7100.49 682.86 -7.70 827 7102.10 no move -1.56 - - 1960.12 - - - 2133.19 - -107.06 - - 3449.84 - - - - - - - - - - -
7410.55 705.79 -7.25 858 7417.70 roll -1.56 - - 1959.75 - 3.77 0.113 689.69 -382.9 -107.06 - - 3450.62 - - - - - - - - - 16.11 -
7456.49 709.64 -8.47 867 7462.37 roll -1.56 - - 1959.38 - 3.36 0.048 2122.12 426.3 -107.06 - - 3449.44 - - - - - - - - - 16.12 -
7766.55 733.19 -7.95 899 7768.16 no move -1.56 - - 1959.62 - - - 2130.69 - -107.06 - - 3448.03 - - - - - - - - - - -
8076.60 758.18 -8.17 930 8078.22 no move -1.56 - - 1959.69 - - - 2130.88 - -107.06 - - 3447.12 - - - - - - - - - - -
8386.66 782.96 -7.86 961 8388.27 no move -1.56 - - 1959.75 - - - 2130.81 - -107.06 - - 3447.06 - - - - - - - - - - -
8696.72 808.51 -8.49 992 8703.86 roll -1.56 - - 1958.38 - 3.77 0.115 688.00 -382.7 -107.06 - - 3447.59 - - - - - - - - - 16.09 -
8732.65 811.85 -9.48 999 8739.58 roll -1.56 - - 1958.75 - 3.36 0.049 2134.25 430.4 -107.06 - - 3446.91 - - - - - - - - - 16.11 -
9047.71 837.76 -8.00 1031 9053.47 roll -1.56 - - 1960.12 - 3.12 0.097 3362.44 393.7 -107.06 - - 3447.16 - - - - - - - - - 16.09 -
9097.71 842.34 -8.89 1041 9103.49 roll -1.56 - - 1959.38 - 3.02 0.043 2066.69 -429.1 -107.06 - - 3445.84 - - - - - - - - - 16.11 -
9407.76 867.41 -7.88 1073 9409.38 no move -1.56 - - 1960.12 - - - 2066.81 - -107.06 - - 3444.81 - - - - - - - - - - -
9717.83 892.02 -7.82 1104 9724.20 roll -1.56 - - 1959.25 - 3.61 0.120 690.94 -381.1 -107.06 - - 3444.75 - - - - - - - - - 16.05 -
9781.99 897.92 -8.80 1117 9790.13 roll -1.56 - - 1958.44 - 3.37 0.050 2131.75 427.5 -107.06 - - 3445.91 - - - - - - - - - 16.12 -
10098.05 922.82 -7.87 1149 10099.67 no move -1.56 - - 1959.62 - - - 2132.06 - -107.06 - - 3443.50 - - - - - - - - - - -
10408.11 947.13 -7.91 1180 10409.72 no move -1.56 - - 1960.06 - - - 2131.88 - -107.06 - - 3443.12 - - - - - - - - - - -
10718.15 971.04 -7.56 1211 10725.28 roll -1.56 - - 1959.38 - 3.78 0.114 689.00 -381.7 -107.06 - - 3443.62 - - - - - - - - - 16.10 -
10774.10 976.06 -8.97 1222 10781.02 roll -1.56 - - 1959.44 - 3.37 0.050 2133.31 428.6 -107.06 - - 3444.09 - - - - - - - - - 16.11 -
10959 end dive: TARGET_DEPTH_EXCEEDED
10959 begin apogee
10960.86 990.58 -7.94 1241 11055.69 -0.42 2.48 0.117 2241.06 113.6 0.10 0.219 2115.81 -175.0 - 84.68 2.231 3020.16 -5.0 0.368 - - - - - - 16.06 15.54 12.31
11061 end apogee: CONTROL_FINISHED_OK
11061 begin climb
11064.05 992.12 - 1250 11169.75 1.56 3.94 0.059 2729.81 124.0 - - 2115.69 - 107.06 94.53 2.167 2579.69 -4.7 0.353 - - - - - - 15.64 - 12.73
11473.62 959.44 10.34 1291 11479.46 done 1.56 - - 2728.88 - 3.24 0.095 3361.88 384.6 107.06 - - 2568.53 - - - - - - - - - 15.82 -
11627.67 942.50 10.91 1322 11635.38 done 1.56 - - 2729.31 - 2.97 0.045 2117.88 -418.9 107.06 - - 2566.78 - - - - - - - - - 15.91 -
11943.72 910.98 10.06 1354 11949.55 done 1.56 - - 2728.62 - 3.21 0.095 3362.75 387.8 107.06 - - 2565.38 - - - - - - - - - 15.96 -
12123.78 891.90 10.35 1390 12129.50 done 1.56 - - 2729.62 - 2.93 0.042 2117.56 -425.0 107.06 - - 2564.50 - - - - - - - - - 16.01 -
12433.82 862.29 9.39 1422 12435.43 VBD 1.56 - - 2728.81 - - - 2117.56 - 107.06 - - 2561.22 - - - - - - - - - - -
12743.87 835.35 8.57 1453 12749.70 done 1.56 - - 2728.38 - 3.18 0.093 3362.06 391.4 107.06 - - 2562.28 - - - - - - - - - 16.05 -
12977.94 812.67 9.59 1500 12985.60 done 1.56 - - 2729.25 - 2.91 0.043 2116.25 -428.1 107.06 - - 2562.00 - - - - - - - - - 16.05 -
13293.98 784.33 8.73 1532 13295.59 VBD 1.56 - - 2729.12 - - - 2116.50 - 107.06 - - 2559.09 - - - - - - - - - - -
13604.03 756.75 8.59 1563 13609.82 done 1.56 - - 2729.19 - 3.17 0.093 3361.75 392.8 107.06 - - 2559.69 - - - - - - - - - 16.08 -
13724.06 745.25 9.55 1587 13729.75 done 1.56 - - 2728.88 - 2.90 0.043 2115.69 -429.7 107.06 - - 2560.22 - - - - - - - - - 16.08 -
14034.10 718.12 8.83 1619 14039.92 done 1.56 - - 2728.81 - 3.15 0.092 3363.88 396.3 107.06 - - 2559.34 - - - - - - - - - 16.08 -
14268.13 695.22 9.47 1666 14275.78 done 1.56 - - 2729.56 - 2.89 0.043 2115.94 -431.8 107.06 - - 2560.25 - - - - - - - - - 16.09 -
14584.15 668.50 7.96 1698 14589.95 done 1.56 - - 2729.00 - 3.15 0.092 3364.06 396.2 107.06 - - 2558.34 - - - - - - - - - 16.11 -
14708.17 657.71 8.58 1723 14715.79 done 1.56 - - 2729.00 - 2.88 0.043 2114.25 -434.0 107.06 - - 2559.59 - - - - - - - - - 16.09 -
15024.18 632.83 7.87 1755 15030.25 done 1.56 - - 2729.75 - 3.14 0.093 3363.44 397.8 107.06 - - 2557.84 - - - - - - - - - 16.09 -
15118.20 624.33 8.65 1774 15125.81 done 1.56 - - 2730.19 - 2.88 0.043 2115.31 -433.4 107.06 - - 2557.59 - - - - - - - - - 16.09 -
15434.26 600.05 7.51 1806 15440.00 done 1.58 - - 2730.12 - 3.13 0.092 3363.38 398.7 107.06 - - 2558.88 - - - - - - - - - 16.09 -
15604.24 585.57 8.54 1840 15609.86 done 1.58 - - 2730.12 - 2.87 0.042 2115.38 -434.8 107.06 - - 2558.47 - - - - - - - - - 16.11 -
15914.25 562.10 7.79 1872 15920.05 done 1.58 - - 2729.88 - 3.15 0.092 3365.38 396.8 107.06 - - 2557.03 - - - - - - - - - 16.10 -
15988.28 555.83 8.32 1887 15995.90 done 1.58 - - 2730.31 - 2.87 0.042 2116.75 -435.1 107.06 - - 2557.88 - - - - - - - - - 16.12 -
16304.51 532.12 7.63 1919 16311.47 done 1.58 - - 2729.38 - 3.62 0.109 687.25 -394.9 107.06 - - 2555.94 - - - - - - - - - 16.10 -
16444.38 519.71 8.89 1947 16452.39 done 1.58 - - 2730.19 - 3.48 0.051 2185.38 430.5 107.06 - - 2555.47 - - - - - - - - - 16.11 -
16760.48 496.15 6.90 1979 16766.10 done 1.61 - - 2730.12 - 2.98 0.094 3364.12 395.6 107.06 - - 2556.69 - - - - - - - - - 16.05 -
16880.45 487.00 7.71 2003 16886.13 done 1.61 - - 2729.94 - 2.90 0.042 2113.12 -431.4 107.06 - - 2556.41 - - - - - - - - - 16.06 -
17190.55 466.45 6.35 2035 17196.46 1.67 0.10 0.083 2754.94 250.0 3.16 0.091 3363.31 395.6 107.06 - - 2554.84 - - - - - - - - 16.07 16.02 -
17270.59 460.57 7.18 2051 17276.14 done 1.69 - - 2754.94 - 2.89 0.041 2113.88 -432.3 107.06 - - 2555.59 - - - - - - - - - 16.05 -
17580.62 439.83 6.61 2083 17587.70 done 1.74 - - 2754.56 - 3.62 0.107 688.56 -393.7 107.06 - - 2557.00 - - - - - - - - - 16.03 -
17636.54 435.77 7.45 2094 17643.49 done 1.75 - - 2755.38 - 3.47 0.050 2187.44 432.0 107.06 - - 2553.44 - - - - - - - - - 16.09 -
17951.57 417.22 5.69 2126 17957.42 1.82 0.22 0.057 2794.44 177.5 2.96 0.093 3364.56 397.7 107.06 - - 2555.25 - - - - - - - - 16.15 16.05 -
18025.60 412.45 6.45 2141 18033.17 done 1.87 - - 2794.25 - 2.89 0.041 2114.00 -432.7 107.06 - - 2556.12 - - - - - - - - - 16.10 -
18341.63 393.77 5.75 2173 18343.44 1.94 0.12 0.080 2821.00 222.9 - - 2114.31 - 107.06 - - 2553.38 - - - - - - - - 16.15 - -
18651.67 374.85 6.04 2204 18657.72 done 2.00 - - 2821.06 - 3.14 0.089 3365.19 398.4 107.06 - - 2556.56 - - - - - - - - - 16.09 -
18741.70 368.80 6.68 2222 18747.44 2.04 0.12 0.076 2846.44 211.5 2.88 0.041 2113.31 -434.7 107.06 - - 2556.28 - - - - - - - - 16.14 16.09 -
19051.74 348.86 6.37 2254 19053.36 VBD 2.09 - - 2846.50 - - - 2113.62 - 107.06 - - 2554.34 - - - - - - - - - - -
19361.79 330.49 5.69 2285 19363.70 2.16 0.14 0.076 2874.94 203.1 - - 2113.56 - 107.06 - - 2553.66 - - - - - - - - 16.12 - -
19671.84 312.30 5.93 2316 19678.87 done 2.23 - - 2875.56 - 3.60 0.104 688.56 -395.8 107.06 - - 2555.16 - - - - - - - - - 16.08 -
19907.90 296.86 6.46 2363 19915.02 2.27 0.12 0.075 2903.62 233.8 3.47 0.049 2187.56 432.0 107.06 - - 2554.16 - - - - - - - - 16.09 16.04 -
20222.92 278.79 5.50 2395 20230.05 done 2.35 - - 2903.44 - 3.77 0.099 688.75 -397.6 107.06 - - 2553.16 - - - - - - - - - 16.04 -
20362.92 270.14 5.96 2423 20371.36 2.41 0.17 0.063 2935.94 191.2 3.48 0.049 2189.31 431.2 107.06 - - 2555.19 - - - - - - - - 16.09 16.07 -
20678.97 255.02 4.46 2455 20743.72 done 2.50 - - 2935.06 - 2.98 0.094 3362.69 393.8 177.09 53.67 1.314 2297.25 -4.8 0.154 - - - - - - - 15.83 12.35
20747.08 250.64 7.14 2463 20754.34 roll back 2.53 0.13 0.075 2965.00 230.3 2.93 0.041 2115.19 -425.8 177.09 - - 2293.81 - - - - - - - - 15.90 15.88 -
21062.51 206.28 14.96 2495 21068.30 done 2.53 - - 2964.50 - 3.17 0.091 3365.00 394.3 177.09 - - 2286.75 - - - - - - - - - 15.95 -
21146.53 192.78 16.01 2512 21154.21 done 2.53 - - 2964.50 - 2.92 0.042 2117.31 -427.3 177.09 - - 2288.59 - - - - - - - - - 15.97 -
21462.58 146.76 14.21 2544 21468.37 done 2.53 - - 2964.62 - 3.16 0.089 3364.00 394.5 177.09 - - 2285.88 - - - - - - - - - 15.99 -
21556.60 133.16 13.84 2563 21564.28 done 2.53 - - 2965.19 - 2.91 0.041 2114.00 -429.6 177.09 - - 2284.50 - - - - - - - - - 15.98 -
21872.70 102.31 6.92 2595 21878.68 done 2.57 - - 2965.81 - 3.13 0.088 3366.62 400.2 177.09 - - 2285.34 - - - - - - - - - 16.01 -
21947.72 99.35 4.59 2610 22028.68 2.65 0.14 0.077 2993.06 194.6 2.88 0.041 2113.56 -435.1 244.59 72.21 1.080 2021.66 -3.7 0.056 - - - - - - 16.01 15.98 12.44
22212.44 81.03 7.68 2662 22219.54 roll 2.65 - - 2992.19 - 3.61 0.102 688.12 -394.9 244.59 - - 2020.09 - - - - - - - - - 15.84 -
22448.40 60.92 8.80 2709 22455.41 roll 2.65 - - 2993.19 - 3.48 0.047 2186.50 430.6 244.59 - - 2017.22 - - - - - - - - - 15.89 -
22639.32 47.50 6.54 2747 22646.41 roll 2.70 - - 2993.00 - 3.79 0.097 686.81 -395.7 244.59 - - 2015.94 - - - - - - - - - 15.91 -
22875.28 37.35 2.49 2794 22998.79 2.84 0.29 0.049 3040.75 164.7 3.48 0.047 2189.88 431.9 353.08 110.54 1.011 1580.22 -3.9 0.024 - - - - - - 15.98 15.92 12.47
23182.74 19.35 5.82 2854 23189.93 roll 2.91 - - 3040.50 - 3.83 0.097 688.75 -391.9 353.08 - - 1578.19 - - - - - - - - - 15.82 -
23418.95 10.79 2.14 2901 23547.97 3.06 0.34 0.043 3093.81 156.8 3.48 0.046 2191.12 431.7 468.50 117.17 0.957 1110.03 -4.0 0.007 - - - - - - 15.93 15.91 12.55
23571 end climb: SURFACE_DEPTH_REACHED
23572 begin surface coast
23597 end surface coast: CONTROL_FINISHED_OK
23597 begin surface
SM 1.53 - - - - 184.1 8.39 0.751 1084.0 115.2 22.30 0.042 1085.1 48.6 - 0.25 0.081 1083.0 4318.1 -8.336 - - 12.62 15.72 15.74 -