NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 293 * Raw log
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• Previous call tries 1 • 111.77 of 575.00 AH used of 24V (80.56% remains)
• Surface angle -66.0 deg, depth 1.66 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.00 (SM_CC=475)
• GPS1 time: 52 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
9.00 - - - 60.42 VBD -1.56 - - 183.88 - - - 2141.56 - -107.06 50.03 0.005 2187.84 - - - - - - - - - - 15.58
60.86 3.33 -3.83 10 123.07 -1.56 16.23 0.236 1960.12 109.4 3.07 0.095 3364.69 398.4 -107.06 32.34 0.006 3456.94 39.2 -3.607 - - - - - - 15.64 15.55 15.60
351.63 52.22 -14.63 67 358.02 roll -1.56 - - 1959.38 - 3.01 0.038 2065.12 -431.8 -107.06 - - 3460.06 - - - - - - - - - 15.85 -
541.65 77.31 -11.61 105 548.12 roll -1.56 - - 1960.25 - 3.26 0.087 3363.06 398.1 -107.06 - - 3460.19 - - - - - - - - - 15.88 -
612.18 85.84 -12.19 119 618.23 roll -1.56 - - 1959.88 - 2.99 0.036 2062.75 -434.9 -107.06 - - 3460.53 - - - - - - - - - 15.90 -
806.80 104.72 -8.69 153 808.37 no move -1.56 - - 1959.75 - - - 2062.81 - -107.06 - - 3461.22 - - - - - - - - - - -
1116.82 134.36 -10.16 184 1122.90 roll -1.56 - - 1960.56 - 3.58 0.109 687.56 -384.1 -107.06 - - 3463.12 - - - - - - - - - 15.90 -
1166.83 139.91 -11.55 194 1172.78 roll -1.56 - - 1960.00 - 3.34 0.042 2136.56 433.8 -107.06 - - 3465.31 - - - - - - - - - 15.99 -
1476.84 170.82 -9.76 226 1484.04 roll -1.56 - - 1960.94 - 3.77 0.105 687.62 -384.3 -107.06 - - 3464.47 - - - - - - - - - 15.93 -
1532.65 176.83 -10.88 237 1538.63 roll -1.56 - - 1959.75 - 3.33 0.042 2135.56 434.8 -107.06 - - 3464.75 - - - - - - - - - 16.01 -
1842.65 207.05 -10.65 269 1848.43 roll -1.56 - - 1960.25 - 3.07 0.090 3362.31 399.6 -107.06 - - 3465.09 - - - - - - - - - 16.01 -
1896.90 213.65 -11.96 280 1904.15 roll -1.56 - - 1961.06 - 3.00 0.037 2065.31 -432.3 -107.06 - - 3464.12 - - - - - - - - - 16.04 -
2212.67 246.16 -10.13 312 2214.23 no move -1.56 - - 1960.50 - - - 2065.25 - -107.06 - - 3463.81 - - - - - - - - - - -
2522.68 277.82 -9.75 343 2528.58 roll -1.56 - - 1960.06 - 3.23 0.089 3362.94 401.8 -107.06 - - 3464.59 - - - - - - - - - 16.03 -
2562.69 282.06 -10.41 351 2568.44 roll -1.56 - - 1959.50 - 2.99 0.038 2063.44 -434.6 -107.06 - - 3464.56 - - - - - - - - - 16.06 -
2872.71 311.60 -9.84 383 2874.28 no move -1.56 - - 1960.38 - - - 2064.19 - -107.06 - - 3463.38 - - - - - - - - - - -
3182.72 342.73 -9.72 414 3188.66 roll -1.56 - - 1959.88 - 3.23 0.090 3360.88 401.5 -107.06 - - 3464.28 - - - - - - - - - 16.03 -
3216.96 346.61 -11.08 421 3224.23 roll -1.56 - - 1959.25 - 2.99 0.040 2066.50 -432.9 -107.06 - - 3464.31 - - - - - - - - - 16.07 -
3532.84 375.57 -9.02 453 3534.41 no move -1.56 - - 1960.44 - - - 2066.88 - -107.06 - - 3462.44 - - - - - - - - - - -
3842.76 403.31 -8.60 484 3848.67 roll -1.56 - - 1961.06 - 3.24 0.092 3360.06 399.1 -107.06 - - 3462.59 - - - - - - - - - 16.05 -
3872.76 406.22 -9.12 490 3878.59 roll -1.56 - - 1960.44 - 3.02 0.041 2067.56 -428.0 -107.06 - - 3463.84 - - - - - - - - - 16.06 -
4182.78 433.40 -9.33 522 4188.88 roll -1.56 - - 1960.62 - 3.61 0.113 687.88 -382.2 -107.06 - - 3460.47 - - - - - - - - - 16.00 -
4237.03 438.97 -10.20 533 4244.51 roll -1.56 - - 1960.81 - 3.32 0.045 2136.06 436.2 -107.06 - - 3462.38 - - - - - - - - - 16.08 -
4552.81 468.17 -9.02 565 4554.38 no move -1.56 - - 1960.38 - - - 2135.94 - -107.06 - - 3459.88 - - - - - - - - - - -
4862.83 496.04 -8.85 596 4870.02 roll -1.56 - - 1959.12 - 3.78 0.111 688.62 -382.9 -107.06 - - 3460.00 - - - - - - - - - 16.01 -
4908.51 500.61 -10.07 605 4914.47 roll -1.56 - - 1960.25 - 3.33 0.046 2134.50 434.2 -107.06 - - 3461.00 - - - - - - - - - 16.07 -
5218.53 526.90 -8.10 637 5220.11 no move -1.56 - - 1960.31 - - - 2134.69 - -107.06 - - 3458.25 - - - - - - - - - - -
5528.53 553.87 -9.41 668 5535.73 roll -1.56 - - 1957.88 - 3.76 0.110 687.62 -384.9 -107.06 - - 3458.56 - - - - - - - - - 16.06 -
5574.48 558.45 -10.14 677 5580.18 roll -1.56 - - 1960.75 - 3.34 0.045 2131.06 432.2 -107.06 - - 3458.50 - - - - - - - - - 16.08 -
5884.26 586.58 -8.92 709 5885.83 no move -1.56 - - 1960.31 - - - 2134.06 - -107.06 - - 3457.00 - - - - - - - - - - -
6194.29 613.85 -8.80 740 6201.49 roll -1.56 - - 1960.50 - 3.77 0.111 687.31 -383.8 -107.06 - - 3456.03 - - - - - - - - - 16.06 -
6264.21 620.82 -10.08 754 6271.68 roll -1.56 - - 1960.38 - 3.35 0.046 2134.25 431.9 -107.06 - - 3457.78 - - - - - - - - - 16.09 -
6579.99 648.37 -8.51 786 6581.57 no move -1.56 - - 1960.38 - - - 2133.88 - -107.06 - - 3454.38 - - - - - - - - - - -
6890.06 676.44 -9.48 817 6897.25 roll -1.56 - - 1960.31 - 3.79 0.111 687.75 -381.6 -107.06 - - 3453.53 - - - - - - - - - 16.05 -
6965.85 684.27 -10.38 832 6971.84 roll -1.56 - - 1960.50 - 3.36 0.046 2135.25 430.8 -107.06 - - 3453.94 - - - - - - - - - 16.07 -
7275.87 710.92 -8.23 864 7277.44 no move -1.56 - - 1960.38 - - - 2135.00 - -107.06 - - 3452.88 - - - - - - - - - - -
7585.90 737.71 -8.92 895 7593.15 roll -1.56 - - 1960.25 - 3.81 0.113 687.25 -380.0 -107.06 - - 3453.72 - - - - - - - - - 16.05 -
7665.92 746.00 -10.36 911 7673.82 roll -1.56 - - 1959.81 - 3.32 0.047 2132.88 435.4 -107.06 - - 3453.47 - - - - - - - - - 16.07 -
7981.99 772.19 -8.05 943 7983.60 no move -1.56 - - 1959.88 - - - 2132.62 - -107.06 - - 3452.66 - - - - - - - - - - -
8292.05 797.00 -8.07 974 8293.66 no move -1.56 - - 1960.69 - - - 2132.75 - -107.06 - - 3452.81 - - - - - - - - - - -
8602.09 821.40 -7.59 1005 8609.25 roll -1.56 - - 1960.38 - 3.79 0.114 687.38 -381.4 -107.06 - - 3452.44 - - - - - - - - - 16.03 -
8652.02 825.93 -8.63 1015 8659.92 roll -1.56 - - 1960.56 - 3.33 0.048 2132.94 434.1 -107.06 - - 3454.12 - - - - - - - - - 16.06 -
8968.09 848.86 -7.49 1047 8969.70 no move -1.56 - - 1959.56 - - - 2132.94 - -107.06 - - 3451.53 - - - - - - - - - - -
9278.12 871.74 -8.13 1078 9285.27 roll -1.56 - - 1960.38 - 3.79 0.113 688.62 -381.1 -107.06 - - 3452.66 - - - - - - - - - 16.04 -
9368.06 879.96 -8.75 1096 9375.97 roll -1.56 - - 1960.44 - 3.35 0.047 2132.19 430.9 -107.06 - - 3451.06 - - - - - - - - - 16.06 -
9684.10 904.48 -8.16 1128 9685.71 no move -1.56 - - 1960.44 - - - 2132.25 - -107.06 - - 3449.88 - - - - - - - - - - -
9994.13 927.07 -6.64 1159 10001.34 roll -1.56 - - 1959.94 - 3.81 0.113 687.38 -379.2 -107.06 - - 3449.44 - - - - - - - - - 16.03 -
10114.13 936.66 -8.33 1183 10122.03 roll -1.56 - - 1960.31 - 3.37 0.048 2131.75 428.6 -107.06 - - 3450.00 - - - - - - - - - 16.08 -
10430.17 959.16 -7.60 1215 10437.40 roll -1.56 - - 1959.00 - 3.82 0.113 687.19 -378.2 -107.06 - - 3449.91 - - - - - - - - - 16.02 -
10506.32 965.78 -8.66 1230 10513.26 roll -1.56 - - 1959.50 - 3.35 0.048 2133.00 431.6 -107.06 - - 3449.44 - - - - - - - - - 16.06 -
10821.37 989.82 -7.61 1262 10827.10 roll -1.56 - - 1960.44 - 3.09 0.096 3361.62 397.6 -107.06 - - 3449.88 - - - - - - - - - 16.05 -
10831 end dive: TARGET_DEPTH_EXCEEDED
10831 begin apogee
10837.25 990.45 -7.49 1264 10931.11 -0.42 2.33 0.122 2240.12 120.0 0.10 0.220 2179.75 -11818.7 - 85.84 2.227 3019.41 -5.0 0.369 - - - - - - 16.00 15.52 11.96
10936 end apogee: CONTROL_FINISHED_OK
10937 begin climb
10939.59 991.85 - 1273 11054.22 1.56 3.88 0.058 2731.19 126.6 4.05 0.109 688.75 -368.1 107.06 95.54 2.147 2580.25 -4.6 0.352 - - - - - - 15.65 15.33 12.66
11097.11 982.85 9.75 1302 11105.12 done 1.56 - - 2730.56 - 3.59 0.049 2178.62 415.0 107.06 - - 2575.47 - - - - - - - - - 15.61 -
11413.11 952.14 10.13 1334 11418.85 done 1.56 - - 2730.81 - 3.01 0.092 3362.12 393.2 107.06 - - 2569.16 - - - - - - - - - 15.82 -
11487.12 943.29 12.48 1349 11494.78 done 1.56 - - 2729.06 - 2.94 0.041 2114.94 -424.2 107.06 - - 2568.22 - - - - - - - - - 15.86 -
11803.12 908.14 10.91 1381 11804.74 VBD 1.56 - - 2730.44 - - - 2115.69 - 107.06 - - 2564.22 - - - - - - - - - - -
12113.13 875.87 10.13 1412 12114.75 VBD 1.56 - - 2730.50 - - - 2115.75 - 107.06 - - 2562.84 - - - - - - - - - - -
12423.15 845.82 9.65 1443 12428.95 done 1.56 - - 2730.81 - 3.15 0.093 3365.62 396.8 107.06 - - 2563.44 - - - - - - - - - 16.01 -
12527.18 834.66 10.39 1464 12534.84 done 1.56 - - 2730.12 - 2.92 0.041 2117.00 -427.6 107.06 - - 2563.00 - - - - - - - - - 16.01 -
12843.18 804.87 9.17 1496 12848.97 done 1.56 - - 2729.94 - 3.12 0.090 3363.62 399.6 107.06 - - 2562.41 - - - - - - - - - 16.02 -
13063.21 783.74 9.06 1540 13068.92 done 1.56 - - 2730.69 - 2.90 0.041 2118.00 -429.5 107.06 - - 2561.91 - - - - - - - - - 16.04 -
13373.22 759.97 7.81 1572 13374.84 VBD 1.56 - - 2730.38 - - - 2117.88 - 107.06 - - 2560.19 - - - - - - - - - - -
13683.24 737.47 7.81 1603 13684.85 VBD 1.56 - - 2730.94 - - - 2117.94 - 107.06 - - 2559.22 - - - - - - - - - - -
13993.26 712.81 8.24 1634 13999.07 done 1.56 - - 2730.44 - 3.12 0.092 3363.75 399.3 107.06 - - 2560.38 - - - - - - - - - 16.04 -
14223.34 691.67 9.39 1680 14229.02 done 1.56 - - 2730.56 - 2.89 0.042 2116.75 -431.5 107.06 - - 2559.88 - - - - - - - - - 16.06 -
14533.37 665.10 8.51 1712 14539.18 done 1.56 - - 2730.38 - 3.12 0.090 3365.06 400.1 107.06 - - 2559.25 - - - - - - - - - 16.04 -
14767.45 643.04 9.18 1759 14775.23 done 1.56 - - 2730.69 - 2.90 0.041 2116.81 -430.4 107.06 - - 2559.28 - - - - - - - - - 16.06 -
15083.55 618.45 6.84 1791 15089.33 done 1.60 - - 2730.75 - 3.13 0.089 3362.69 398.0 107.06 - - 2558.53 - - - - - - - - - 16.03 -
15173.58 612.18 6.89 1809 15179.14 done 1.64 - - 2730.50 - 2.89 0.041 2115.19 -431.7 107.06 - - 2559.81 - - - - - - - - - 16.05 -
15483.61 594.54 5.51 1841 15490.58 1.71 0.19 0.065 2765.12 182.2 3.12 0.089 3363.25 400.0 107.06 - - 2560.53 - - - - - - - - 16.13 16.02 -
15529.41 591.60 5.75 1850 15534.97 done 1.78 - - 2765.44 - 2.88 0.040 2116.19 -433.0 107.06 - - 2558.97 - - - - - - - - - 16.07 -
15839.43 571.40 6.89 1882 15841.25 1.82 0.11 0.088 2791.94 240.9 - - 2116.25 - 107.06 - - 2555.81 - - - - - - - - 16.12 - -
16149.48 550.78 6.89 1913 16151.09 VBD 1.85 - - 2792.38 - - - 2116.00 - 107.06 - - 2556.72 - - - - - - - - - - -
16459.52 527.84 7.38 1944 16461.14 VBD 1.87 - - 2791.88 - - - 2115.50 - 107.06 - - 2557.00 - - - - - - - - - - -
16769.51 504.89 7.76 1975 16775.37 done 1.87 - - 2791.56 - 3.15 0.091 3364.62 396.5 107.06 - - 2558.00 - - - - - - - - - 16.04 -
16933.58 491.49 8.04 2008 16941.26 done 1.87 - - 2792.06 - 2.92 0.047 2115.94 -427.6 107.06 - - 2559.16 - - - - - - - - - 16.05 -
17249.66 470.57 6.27 2040 17256.91 1.92 0.11 0.077 2815.94 217.1 3.68 0.108 686.75 -388.4 107.06 - - 2558.62 - - - - - - - - 16.13 15.98 -
17385.79 460.54 7.31 2067 17392.73 done 1.95 - - 2818.19 - 3.49 0.053 2183.19 428.8 107.06 - - 2555.34 - - - - - - - - - 15.98 -
17700.82 440.63 6.40 2099 17706.48 done 2.00 - - 2817.56 - 2.99 0.093 3365.12 395.3 107.06 - - 2557.44 - - - - - - - - - 16.05 -
17810.86 432.53 7.49 2121 17816.47 done 2.01 - - 2817.81 - 2.93 0.046 2116.88 -426.0 107.06 - - 2557.50 - - - - - - - - - 16.05 -
18120.89 411.04 6.73 2153 18128.19 2.05 0.16 0.068 2851.56 210.9 3.71 0.107 686.31 -385.6 107.06 - - 2558.53 - - - - - - - - 16.12 15.99 -
18357.06 392.33 7.62 2200 18364.65 2.05 0.32 0.161 2832.44 -59.7 3.51 0.052 2182.69 426.3 107.06 - - 2556.44 - - - - - - - - 15.94 16.05 -
18672.14 372.75 5.95 2232 18679.54 2.12 0.22 0.057 2865.25 149.1 3.87 0.102 687.00 -386.5 107.06 - - 2558.06 - - - - - - - - 16.08 15.98 -
18908.45 356.41 6.63 2279 18915.39 done 2.16 - - 2864.75 - 3.49 0.052 2182.00 428.4 107.06 - - 2554.88 - - - - - - - - - 16.03 -
19223.48 338.91 5.75 2311 19230.89 2.23 0.11 0.078 2891.12 239.7 3.86 0.101 686.81 -387.4 107.06 - - 2555.66 - - - - - - - - 16.11 15.98 -
19353.87 330.01 7.22 2337 19361.77 done 2.25 - - 2891.25 - 3.49 0.050 2182.12 428.5 107.06 - - 2558.28 - - - - - - - - - 16.03 -
19669.91 311.39 5.87 2369 19671.62 VBD 2.32 - - 2891.06 - - - 2182.62 - 107.06 - - 2554.56 - - - - - - - - - - -
19979.95 294.58 5.01 2400 20035.26 2.39 0.25 0.049 2931.12 160.2 3.88 0.104 686.88 -385.5 166.36 45.97 1.353 2337.66 -4.7 0.170 - - - - - - 16.05 15.86 11.91
20174.18 271.91 15.66 2438 20181.24 done 2.39 - - 2929.88 - 3.53 0.051 2181.06 423.3 166.36 - - 2332.56 - - - - - - - - - 15.91 -
20489.18 229.33 12.79 2470 20496.42 done 2.39 - - 2931.69 - 3.88 0.102 687.44 -385.0 166.36 - - 2329.75 - - - - - - - - - 15.90 -
20725.24 197.33 12.98 2517 20732.49 done 2.39 - - 2929.00 - 3.49 0.049 2180.88 427.9 166.36 - - 2329.19 - - - - - - - - - 15.96 -
21040.24 161.23 11.46 2549 21047.71 2.39 0.27 0.164 2916.44 -46.5 3.87 0.101 687.44 -385.9 166.36 - - 2325.84 - - - - - - - - 15.88 15.83 -
21136.52 149.27 12.12 2568 21143.51 done 2.39 - - 2916.06 - 3.48 0.048 2181.25 429.3 166.36 - - 2328.22 - - - - - - - - - 15.92 -
21451.57 119.44 7.76 2600 21457.28 done 2.39 - - 2916.00 - 2.96 0.089 3364.75 399.8 166.36 - - 2328.25 - - - - - - - - - 15.93 -
21631.69 107.31 5.53 2636 21637.49 2.47 0.26 0.052 2948.19 123.8 2.89 0.038 2112.56 -433.3 166.36 - - 2327.00 - - - - - - - - 16.00 15.97 -
21941.74 93.28 3.02 2685 22060.05 2.60 0.17 0.062 2981.06 193.4 3.21 0.089 3365.19 390.2 264.58 104.10 1.065 1939.56 -3.7 0.054 - - - - - - 16.01 15.66 12.25
22289.03 58.13 10.21 2753 22295.93 roll back 2.60 0.27 0.168 2964.50 -61.3 2.92 0.038 2114.69 -428.3 264.58 - - 1937.81 - - - - - - - - 15.75 15.79 -
22479.86 45.90 6.15 2791 22487.19 roll back 2.65 0.22 0.052 2994.44 136.1 3.71 0.100 686.31 -385.0 264.58 - - 1937.94 - - - - - - - - 15.87 15.81 -
22716.09 37.83 1.61 2838 22860.73 2.82 0.25 0.049 3033.69 157.0 3.49 0.044 2189.94 430.8 390.30 129.41 0.990 1428.94 -3.9 0.025 - - - - - - 15.91 15.86 12.31
23044.66 13.49 4.83 2902 23124.99 done 2.90 - - 3034.50 - 3.97 0.097 687.12 -378.5 453.18 67.63 0.938 1172.03 -3.8 0.009 - - - - - - - 15.60 12.48
23213 end climb: SURFACE_DEPTH_REACHED
23214 begin surface coast
23234 end surface coast: CONTROL_FINISHED_OK
23234 begin surface
SM 4.10 - - - - 183.0 23.85 0.908 1083.6 42.6 22.03 0.039 1091.9 49.6 - 3.36 0.044 1075.3 318.8 -3.037 - - 12.48 15.85 15.80 -