NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 233 * Raw log
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• Previous call tries 1 • 93.35 of 575.00 AH used of 24V (83.77% remains)
• Surface angle -64.5 deg, depth 1.64 m • Intended pitch -17.1 deg, speed -8.049 cm/s
• No surface pump (final VBD was 1066.8, 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
8.99 - - - 65.39 VBD -1.56 - - 182.88 - - - 2139.12 - -107.06 54.96 0.005 2282.97 - - - - - - - - - - 15.64
65.83 3.05 -2.84 11 128.31 -1.56 16.55 0.230 1961.56 107.5 3.74 0.109 690.00 -387.5 -107.06 29.81 0.006 3456.38 39.4 -3.308 - - - - - - 15.66 15.60 15.66
271.86 42.53 -15.01 51 278.42 roll -1.56 - - 1961.25 - 3.34 0.043 2133.38 432.1 -107.06 - - 3458.81 - - - - - - - - - 15.86 -
461.87 66.16 -12.65 89 468.26 roll -1.56 - - 1960.81 - 3.09 0.092 3360.62 397.2 -107.06 - - 3460.72 - - - - - - - - - 15.90 -
486.87 69.52 -13.58 94 493.21 roll -1.56 - - 1961.44 - 3.00 0.038 2063.56 -432.4 -107.06 - - 3460.09 - - - - - - - - - 15.91 -
676.92 93.22 -11.73 132 683.75 roll -1.56 - - 1961.25 - 3.52 0.109 688.62 -390.6 -107.06 - - 3460.31 - - - - - - - - - 15.86 -
797.35 107.86 -12.43 156 803.31 roll -1.56 - - 1960.75 - 3.33 0.041 2136.44 434.8 -107.06 - - 3461.59 - - - - - - - - - 15.97 -
1107.37 137.48 -8.94 188 1113.16 roll -1.56 - - 1961.62 - 3.07 0.090 3363.94 399.8 -107.06 - - 3463.44 - - - - - - - - - 15.97 -
1131.60 139.77 -8.91 193 1138.89 roll -1.56 - - 1960.62 - 2.99 0.036 2062.25 -435.3 -107.06 - - 3463.59 - - - - - - - - - 15.99 -
1447.47 168.32 -9.29 225 1453.30 roll -1.56 - - 1961.44 - 3.27 0.090 3363.12 397.8 -107.06 - - 3463.00 - - - - - - - - - 15.96 -
1491.63 172.80 -10.01 234 1498.98 roll -1.56 - - 1960.00 - 3.01 0.038 2064.00 -431.6 -107.06 - - 3465.16 - - - - - - - - - 16.01 -
1807.40 202.19 -9.25 266 1808.98 no move -1.56 - - 1960.50 - - - 2064.38 - -107.06 - - 3462.66 - - - - - - - - - - -
2117.42 231.16 -9.66 297 2123.37 roll -1.56 - - 1961.75 - 3.26 0.090 3362.69 398.3 -107.06 - - 3464.59 - - - - - - - - - 16.04 -
2167.42 236.70 -10.77 307 2173.26 roll -1.56 - - 1960.44 - 3.01 0.040 2064.75 -431.2 -107.06 - - 3464.03 - - - - - - - - - 16.07 -
2477.44 268.30 -10.30 339 2479.01 no move -1.56 - - 1960.50 - - - 2065.12 - -107.06 - - 3462.59 - - - - - - - - - - -
2787.45 300.25 -10.24 370 2789.02 no move -1.56 - - 1961.44 - - - 2065.19 - -107.06 - - 3463.09 - - - - - - - - - - -
3097.47 330.23 -9.40 401 3103.40 roll -1.56 - - 1960.69 - 3.24 0.093 3363.25 400.6 -107.06 - - 3464.56 - - - - - - - - - 16.09 -
3131.71 334.12 -11.11 408 3139.03 roll -1.56 - - 1960.88 - 3.01 0.042 2066.88 -430.7 -107.06 - - 3463.91 - - - - - - - - - 16.10 -
3447.81 364.91 -9.80 440 3449.38 no move -1.56 - - 1960.81 - - - 2065.94 - -107.06 - - 3461.59 - - - - - - - - - - -
3757.51 394.50 -9.54 471 3759.08 no move -1.56 - - 1960.62 - - - 2066.44 - -107.06 - - 3461.62 - - - - - - - - - - -
4067.51 422.97 -9.33 502 4069.09 no move -1.56 - - 1960.50 - - - 2066.62 - -107.06 - - 3460.56 - - - - - - - - - - -
4377.61 451.67 -9.45 533 4379.19 no move -1.56 - - 1960.75 - - - 2066.25 - -107.06 - - 3459.41 - - - - - - - - - - -
4687.54 480.47 -9.35 564 4689.11 no move -1.56 - - 1960.50 - - - 2066.44 - -107.06 - - 3459.09 - - - - - - - - - - -
4997.56 508.84 -9.20 595 5003.49 roll -1.56 - - 1961.06 - 3.28 0.095 3361.69 394.9 -107.06 - - 3459.31 - - - - - - - - - 16.12 -
5047.56 513.93 -9.87 605 5053.41 roll -1.56 - - 1961.19 - 3.02 0.044 2066.88 -428.7 -107.06 - - 3460.31 - - - - - - - - - 16.11 -
5357.59 542.31 -9.10 637 5359.16 no move -1.56 - - 1960.94 - - - 2067.62 - -107.06 - - 3456.94 - - - - - - - - - - -
5667.60 570.50 -9.21 668 5673.64 roll -1.56 - - 1960.56 - 3.59 0.119 689.56 -383.9 -107.06 - - 3458.12 - - - - - - - - - 16.10 -
5707.62 574.45 -9.88 676 5713.60 roll -1.56 - - 1959.62 - 3.33 0.049 2133.81 433.7 -107.06 - - 3458.25 - - - - - - - - - 16.11 -
6017.65 601.40 -8.96 708 6019.22 no move -1.56 - - 1961.31 - - - 2134.31 - -107.06 - - 3455.62 - - - - - - - - - - -
6327.68 627.92 -8.57 739 6334.87 roll -1.56 - - 1960.69 - 3.73 0.112 689.81 -387.3 -107.06 - - 3455.81 - - - - - - - - - 16.11 -
6397.71 634.91 -9.96 753 6405.19 roll -1.56 - - 1960.75 - 3.34 0.049 2132.12 431.8 -107.06 - - 3456.06 - - - - - - - - - 16.12 -
6713.50 661.40 -8.08 785 6715.07 no move -1.56 - - 1960.75 - - - 2131.94 - -107.06 - - 3453.53 - - - - - - - - - - -
7023.53 686.50 -7.96 816 7030.72 roll -1.56 - - 1961.12 - 3.73 0.112 690.00 -386.6 -107.06 - - 3452.94 - - - - - - - - - 16.11 -
7113.45 695.03 -9.43 834 7121.19 roll -1.56 - - 1960.62 - 3.33 0.049 2133.62 433.5 -107.06 - - 3454.75 - - - - - - - - - 16.12 -
7429.25 719.87 -7.61 866 7430.84 no move -1.56 - - 1961.06 - - - 2133.94 - -107.06 - - 3452.72 - - - - - - - - - - -
7739.28 743.76 -7.86 897 7740.85 no move -1.56 - - 1960.19 - - - 2133.81 - -107.06 - - 3452.53 - - - - - - - - - - -
8049.31 767.47 -7.62 928 8056.49 roll -1.56 - - 1960.38 - 3.75 0.114 690.12 -385.0 -107.06 - - 3453.09 - - - - - - - - - 16.11 -
8109.33 772.70 -8.52 940 8116.81 roll -1.56 - - 1961.19 - 3.34 0.049 2131.69 431.6 -107.06 - - 3453.41 - - - - - - - - - 16.11 -
8425.12 795.76 -7.13 972 8426.69 no move -1.56 - - 1960.62 - - - 2131.69 - -107.06 - - 3452.00 - - - - - - - - - - -
8735.15 817.18 -7.01 1003 8742.35 roll -1.56 - - 1961.00 - 3.74 0.113 689.19 -385.7 -107.06 - - 3451.47 - - - - - - - - - 16.10 -
8840.84 825.78 -8.03 1024 8846.79 roll -1.56 - - 1961.06 - 3.33 0.049 2132.81 433.5 -107.06 - - 3451.38 - - - - - - - - - 16.11 -
9150.87 847.77 -6.99 1056 9158.07 roll -1.56 - - 1961.56 - 3.76 0.114 688.81 -384.0 -107.06 - - 3450.19 - - - - - - - - - 16.10 -
9200.91 851.93 -8.92 1066 9208.37 roll -1.56 - - 1960.56 - 3.34 0.049 2132.94 432.4 -107.06 - - 3451.34 - - - - - - - - - 16.11 -
9516.70 875.99 -7.71 1098 9518.27 no move -1.56 - - 1960.62 - - - 2133.12 - -107.06 - - 3450.50 - - - - - - - - - - -
9826.74 899.58 -7.58 1129 9833.92 roll -1.56 - - 1961.44 - 3.76 0.114 687.88 -384.4 -107.06 - - 3449.44 - - - - - - - - - 16.07 -
9906.66 907.01 -8.91 1145 9914.15 roll -1.56 - - 1960.94 - 3.35 0.048 2133.12 431.4 -107.06 - - 3450.78 - - - - - - - - - 16.11 -
10222.45 931.79 -7.78 1177 10224.02 no move -1.56 - - 1960.50 - - - 2133.12 - -107.06 - - 3449.16 - - - - - - - - - - -
10532.48 955.51 -7.79 1208 10539.67 roll -1.56 - - 1960.31 - 3.78 0.114 688.50 -382.2 -107.06 - - 3447.97 - - - - - - - - - 16.10 -
10612.41 962.58 -8.12 1224 10620.13 roll -1.56 - - 1960.81 - 3.35 0.049 2132.00 430.9 -107.06 - - 3449.47 - - - - - - - - - 16.11 -
10928.19 984.91 -6.61 1256 10929.77 no move -1.56 - - 1960.75 - - - 2132.88 - -107.06 - - 3448.25 - - - - - - - - - - -
11008 end dive: TARGET_DEPTH_EXCEEDED
11008 begin apogee
11009.91 990.39 -6.66 1264 11104.07 -0.42 2.47 0.116 2240.44 113.2 0.10 0.218 2115.44 -174.4 - 85.42 2.238 3018.84 -5.0 0.368 - - - - - - 16.06 15.54 12.24
11115 end apogee: CONTROL_FINISHED_OK
11115 begin climb
11118.39 991.01 - 1273 11230.41 1.56 4.03 0.057 2729.50 121.4 3.32 0.097 3362.19 375.5 107.06 94.48 2.163 2580.22 -4.6 0.352 - - - - - - 15.65 15.33 12.70
11279.00 980.55 10.71 1303 11284.81 done 1.56 - - 2729.50 - 3.01 0.041 2118.69 -413.1 107.06 - - 2574.62 - - - - - - - - - 15.64 -
11589.29 944.91 11.34 1335 11594.91 done 1.56 - - 2729.88 - 3.18 0.094 3362.69 391.2 107.06 - - 2567.59 - - - - - - - - - 15.85 -
11723.33 928.47 12.46 1362 11730.64 done 1.56 - - 2729.56 - 2.95 0.042 2118.81 -421.7 107.06 - - 2567.06 - - - - - - - - - 15.92 -
12039.35 895.00 10.18 1394 12045.02 done 1.56 - - 2728.88 - 3.14 0.093 3364.06 396.6 107.06 - - 2564.88 - - - - - - - - - 15.97 -
12153.38 883.01 10.49 1417 12160.65 done 1.56 - - 2729.31 - 2.93 0.041 2118.31 -425.2 107.06 - - 2564.09 - - - - - - - - - 16.01 -
12469.17 852.91 8.87 1449 12475.03 done 1.56 - - 2729.31 - 3.14 0.092 3363.56 396.6 107.06 - - 2563.88 - - - - - - - - - 16.02 -
12703.47 829.72 10.31 1496 12710.74 done 1.56 - - 2729.19 - 2.93 0.042 2114.38 -426.3 107.06 - - 2562.38 - - - - - - - - - 16.05 -
13019.49 802.95 8.89 1528 13025.12 done 1.56 - - 2729.25 - 3.15 0.091 3362.88 396.3 107.06 - - 2561.50 - - - - - - - - - 16.06 -
13179.29 787.95 9.11 1560 13185.04 done 1.56 - - 2728.62 - 2.90 0.042 2115.69 -430.1 107.06 - - 2562.78 - - - - - - - - - 16.07 -
13489.61 763.09 7.39 1592 13495.43 done 1.58 - - 2729.31 - 3.14 0.092 3362.12 397.0 107.06 - - 2560.56 - - - - - - - - - 16.06 -
13723.62 743.43 8.53 1639 13730.89 done 1.58 - - 2729.31 - 2.89 0.042 2115.81 -431.2 107.06 - - 2561.34 - - - - - - - - - 16.08 -
14039.70 720.89 7.10 1671 14045.32 done 1.61 - - 2729.56 - 3.12 0.091 3364.69 400.3 107.06 - - 2559.75 - - - - - - - - - 16.08 -
14273.70 702.03 8.26 1718 14281.25 done 1.61 - - 2729.38 - 2.90 0.041 2116.44 -430.4 107.06 - - 2560.59 - - - - - - - - - 16.11 -
14589.73 679.00 7.74 1750 14595.37 done 1.61 - - 2729.06 - 3.12 0.090 3363.88 399.8 107.06 - - 2558.66 - - - - - - - - - 16.08 -
14823.78 658.75 8.59 1797 14831.06 done 1.61 - - 2729.06 - 2.91 0.041 2116.44 -428.7 107.06 - - 2559.69 - - - - - - - - - 16.09 -
15139.85 635.42 7.10 1829 15145.67 done 1.64 - - 2728.75 - 3.12 0.090 3364.44 400.0 107.06 - - 2559.09 - - - - - - - - - 16.10 -
15373.91 617.41 7.29 1876 15381.27 1.66 0.11 0.089 2751.56 207.4 2.90 0.041 2114.50 -431.0 107.06 - - 2559.69 - - - - - - - - 16.11 16.09 -
15689.69 596.46 6.44 1908 15695.51 done 1.71 - - 2751.75 - 3.12 0.089 3364.31 400.6 107.06 - - 2559.88 - - - - - - - - - 16.09 -
15923.98 578.55 7.33 1955 15931.45 done 1.73 - - 2752.31 - 2.89 0.041 2114.88 -432.3 107.06 - - 2559.22 - - - - - - - - - 16.09 -
16239.76 558.05 6.34 1987 16245.79 1.78 0.17 0.065 2782.75 179.1 3.13 0.089 3364.62 399.3 107.06 - - 2558.59 - - - - - - - - 16.14 16.06 -
16474.02 540.61 7.58 2034 16481.29 done 1.78 - - 2781.75 - 2.89 0.041 2114.12 -432.7 107.06 - - 2559.38 - - - - - - - - - 16.12 -
16789.85 518.95 7.26 2066 16796.04 done 1.81 - - 2781.75 - 3.13 0.088 3363.50 399.2 107.06 - - 2558.34 - - - - - - - - - 16.10 -
17024.06 500.27 7.86 2113 17031.30 done 1.81 - - 2780.94 - 2.90 0.042 2113.56 -431.0 107.06 - - 2558.34 - - - - - - - - - 16.11 -
17339.88 477.12 7.03 2145 17345.72 done 1.84 - - 2782.44 - 3.15 0.091 3362.50 396.5 107.06 - - 2558.47 - - - - - - - - - 16.10 -
17574.11 459.03 7.68 2192 17581.59 done 1.84 - - 2782.00 - 2.89 0.042 2113.75 -432.1 107.06 - - 2557.47 - - - - - - - - - 16.08 -
17889.93 437.90 6.62 2224 17895.92 1.88 0.12 0.077 2807.00 208.3 3.13 0.090 3361.88 398.8 107.06 - - 2557.84 - - - - - - - - 16.16 16.05 -
18109.90 420.70 7.99 2268 18115.63 done 1.88 - - 2807.12 - 2.88 0.041 2112.88 -433.7 107.06 - - 2557.88 - - - - - - - - - 16.09 -
18420.22 399.91 6.56 2300 18427.36 done 1.93 - - 2804.81 - 3.62 0.106 688.00 -393.6 107.06 - - 2559.19 - - - - - - - - - 16.08 -
18516.02 392.84 7.49 2319 18521.99 done 1.94 - - 2806.94 - 3.47 0.049 2187.00 432.0 107.06 - - 2556.31 - - - - - - - - - 16.09 -
18826.06 373.69 5.45 2351 18831.93 2.02 0.19 0.057 2840.69 177.6 2.98 0.092 3363.12 394.7 107.06 - - 2557.19 - - - - - - - - 16.14 16.05 -
18906.07 368.67 6.33 2367 18911.80 done 2.07 - - 2841.06 - 2.90 0.041 2114.38 -430.6 107.06 - - 2557.00 - - - - - - - - - 16.08 -
19216.35 351.84 5.62 2399 19223.41 2.15 0.14 0.067 2871.56 217.9 3.62 0.103 688.31 -393.9 107.06 - - 2555.06 - - - - - - - - 16.15 16.05 -
19282.06 347.61 6.56 2412 19288.07 done 2.19 - - 2871.69 - 3.47 0.048 2186.88 431.9 107.06 - - 2556.16 - - - - - - - - - 16.10 -
19592.09 329.34 5.89 2444 19597.97 2.26 0.12 0.076 2897.44 214.6 2.96 0.091 3363.12 397.4 107.06 - - 2555.72 - - - - - - - - 16.12 16.04 -
19732.11 319.70 7.02 2472 19737.82 done 2.29 - - 2897.12 - 2.89 0.041 2111.88 -433.0 107.06 - - 2556.91 - - - - - - - - - 16.08 -
20042.14 300.17 6.14 2504 20043.72 VBD 2.34 - - 2897.38 - - - 2112.12 - 107.06 - - 2554.69 - - - - - - - - - - -
20352.18 282.42 5.30 2535 20358.21 2.43 0.24 0.053 2937.81 168.5 3.15 0.088 3363.88 397.4 107.06 - - 2556.19 - - - - - - - - 16.07 16.00 -
20586.47 268.73 5.69 2582 20593.65 done 2.50 - - 2937.94 - 2.88 0.040 2114.50 -433.8 107.06 - - 2557.41 - - - - - - - - - 16.08 -
20902.24 255.01 4.16 2614 20971.64 2.60 0.25 0.055 2979.38 165.8 3.68 0.103 688.38 -387.5 182.92 58.31 1.318 2273.50 -4.9 0.156 - - - - - - 16.07 15.81 12.30
21155.26 220.41 17.72 2664 21162.60 2.60 0.32 0.190 2963.06 -51.0 3.50 0.048 2181.88 426.7 182.92 - - 2266.09 - - - - - - - - 15.85 15.90 -
21470.27 173.88 14.45 2696 21476.09 done 2.60 - - 2965.19 - 3.01 0.090 3361.94 392.0 182.92 - - 2261.66 - - - - - - - - - 15.90 -
21590.29 155.33 15.41 2720 21596.07 done 2.60 - - 2965.00 - 2.92 0.041 2116.31 -426.6 182.92 - - 2261.62 - - - - - - - - - 15.92 -
21900.57 116.83 10.40 2752 21902.15 VBD 2.60 - - 2964.56 - - - 2116.25 - 182.92 - - 2259.09 - - - - - - - - - - -
22205.43 95.28 4.38 2792 22291.74 2.69 0.28 0.049 3002.50 135.5 3.71 0.105 686.81 -385.3 254.66 75.99 1.072 1980.91 -3.7 0.054 - - - - - - 16.02 15.72 12.34
22520.38 64.67 9.23 2854 22527.20 roll 2.69 - - 3002.56 - 3.52 0.048 2185.50 425.8 254.66 - - 1979.66 - - - - - - - - - 15.86 -
22710.69 49.11 7.52 2892 22717.93 roll 2.71 - - 3001.88 - 3.83 0.097 687.50 -391.1 254.66 - - 1979.09 - - - - - - - - - 15.92 -
22861.59 44.93 2.40 2922 22984.38 2.85 0.24 0.051 3040.88 162.5 3.49 0.047 2189.75 430.4 364.98 112.79 1.011 1531.41 -4.0 0.029 - - - - - - 15.94 15.89 12.53
23167.88 24.19 7.01 2982 23172.56 no move 2.88 - - 3040.81 - - - 2189.44 - 364.98 - - 1536.69 - - - - - - - - - - -
23357.85 8.53 8.24 3020 23364.36 roll 2.88 - - 3040.50 - 2.99 0.089 3362.19 392.2 364.98 - - 1539.59 - - - - - - - - - 15.85 -
23592.90 2.81 1.95 3067 23620.89 3.03 0.29 0.046 3086.25 157.8 2.90 0.037 2109.38 -432.0 484.19 21.61 0.897 1457.81 -3.8 0.002 - - - - - - 15.95 15.91 12.56
23621 end climb: SURFACE_DEPTH_REACHED
23621 begin surface coast
23700 end surface coast: CONTROL_FINISHED_OK
23700 begin surface
SM 1.49 - - - - 181.8 86.04 0.957 1084.3 12.4 21.40 0.046 1101.8 51.5 - 0.05 0.202 1066.8 21278.0 -16.042 - - 12.61 15.95 15.90 -