NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 353 * Raw log
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• Previous call tries 1 • 132.98 of 575.00 AH used of 24V (76.87% remains)
• Surface angle -64.6 deg, depth 1.54 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.97 (SM_CC=475)
• GPS1 time: 38 s
• GPS2 time: 4 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
9.03 - - - 70.77 VBD -1.56 - - 181.44 - - - 2061.88 - -107.06 60.24 0.005 2389.50 - - - - - - - - - - 15.47
71.20 3.39 -3.34 12 128.87 -1.56 16.83 0.236 1961.38 105.8 3.64 0.111 686.25 -377.9 -107.06 25.47 0.006 3456.78 41.9 -3.927 - - - - - - 15.54 15.43 15.55
187.40 29.30 -24.49 34 193.97 roll -1.56 - - 1962.00 - 3.38 0.041 2133.69 428.2 -107.06 - - 3458.69 - - - - - - - - - 15.77 -
377.42 56.93 -13.88 72 381.82 no move -1.56 - - 1961.25 - - - 2132.94 - -107.06 - - 3458.59 - - - - - - - - - - -
562.43 81.56 -12.39 109 567.15 no move -1.56 - - 1960.81 - - - 2133.25 - -107.06 - - 3460.16 - - - - - - - - - - -
757.49 103.57 -10.57 145 764.67 roll -1.56 - - 1960.50 - 3.77 0.101 686.75 -383.7 -107.06 - - 3460.69 - - - - - - - - - 15.77 -
857.52 115.13 -11.47 165 865.03 roll -1.56 - - 1961.44 - 3.36 0.039 2138.00 431.9 -107.06 - - 3461.50 - - - - - - - - - 15.93 -
1173.30 148.85 -11.25 197 1180.49 roll -1.56 - - 1960.44 - 3.77 0.102 686.56 -385.0 -107.06 - - 3461.25 - - - - - - - - - 15.88 -
1269.00 160.45 -12.24 216 1275.14 roll -1.56 - - 1960.62 - 3.33 0.039 2138.25 435.9 -107.06 - - 3462.72 - - - - - - - - - 15.94 -
1579.05 192.29 -9.98 248 1580.62 no move -1.56 - - 1961.06 - - - 2138.31 - -107.06 - - 3461.84 - - - - - - - - - - -
1889.08 221.98 -9.71 279 1890.65 no move -1.56 - - 1961.38 - - - 2138.75 - -107.06 - - 3461.41 - - - - - - - - - - -
2199.10 252.86 -9.70 310 2206.31 roll -1.56 - - 1960.94 - 3.79 0.103 687.75 -382.8 -107.06 - - 3461.53 - - - - - - - - - 15.90 -
2259.04 259.56 -10.67 322 2266.50 roll -1.56 - - 1960.94 - 3.35 0.041 2137.69 432.8 -107.06 - - 3463.28 - - - - - - - - - 16.00 -
2574.83 287.87 -8.53 354 2582.02 roll -1.56 - - 1959.56 - 3.77 0.101 686.69 -384.9 -107.06 - - 3463.25 - - - - - - - - - 15.94 -
2640.51 294.06 -9.20 367 2646.45 roll -1.56 - - 1960.56 - 3.33 0.040 2137.38 435.6 -107.06 - - 3463.12 - - - - - - - - - 15.93 -
2950.53 320.50 -8.70 399 2952.10 no move -1.56 - - 1961.31 - - - 2137.06 - -107.06 - - 3461.69 - - - - - - - - - - -
3260.57 347.96 -8.91 430 3268.01 roll -1.56 - - 1961.19 - 3.78 0.102 686.94 -383.6 -107.06 - - 3461.81 - - - - - - - - - 15.96 -
3330.85 355.08 -10.08 444 3338.31 roll -1.56 - - 1960.81 - 3.33 0.040 2136.94 435.4 -107.06 - - 3462.56 - - - - - - - - - 15.93 -
3646.64 384.40 -9.71 476 3653.82 roll -1.56 - - 1960.69 - 3.77 0.101 686.38 -384.8 -107.06 - - 3461.59 - - - - - - - - - 15.93 -
3676.54 387.79 -10.22 482 3684.01 roll -1.56 - - 1961.00 - 3.33 0.039 2137.06 435.6 -107.06 - - 3462.47 - - - - - - - - - 16.00 -
3992.34 418.15 -10.15 514 3993.91 no move -1.56 - - 1961.12 - - - 2137.38 - -107.06 - - 3460.69 - - - - - - - - - - -
4302.37 449.63 -10.58 545 4309.57 roll -1.56 - - 1961.00 - 3.77 0.103 687.44 -384.6 -107.06 - - 3460.56 - - - - - - - - - 15.96 -
4358.17 456.10 -11.64 556 4364.11 roll -1.56 - - 1960.12 - 3.34 0.040 2136.25 433.8 -107.06 - - 3462.16 - - - - - - - - - 16.01 -
4668.20 487.33 -10.01 588 4675.40 roll -1.56 - - 1959.75 - 3.74 0.102 687.19 -387.4 -107.06 - - 3460.69 - - - - - - - - - 15.91 -
4718.11 492.93 -11.20 598 4725.59 roll -1.56 - - 1961.19 - 3.33 0.039 2136.38 435.2 -107.06 - - 3461.00 - - - - - - - - - 16.02 -
5033.91 523.30 -9.58 630 5041.10 roll -1.56 - - 1961.25 - 3.74 0.103 687.56 -387.4 -107.06 - - 3458.62 - - - - - - - - - 15.95 -
5063.93 526.64 -10.41 636 5071.40 roll -1.56 - - 1961.00 - 3.31 0.039 2138.06 438.2 -107.06 - - 3460.56 - - - - - - - - - 16.03 -
5379.72 555.98 -8.78 668 5386.91 roll -1.56 - - 1959.38 - 3.76 0.103 687.62 -385.8 -107.06 - - 3460.19 - - - - - - - - - 15.96 -
5415.38 559.76 -10.58 675 5421.37 roll -1.56 - - 1961.12 - 3.32 0.039 2138.44 437.0 -107.06 - - 3460.12 - - - - - - - - - 16.02 -
5725.67 586.79 -8.63 707 5732.61 roll -1.56 - - 1961.00 - 3.74 0.103 686.94 -388.1 -107.06 - - 3457.06 - - - - - - - - - 15.95 -
5795.44 593.90 -10.08 721 5802.96 roll -1.56 - - 1961.00 - 3.32 0.040 2136.88 436.7 -107.06 - - 3458.97 - - - - - - - - - 16.01 -
6111.24 620.83 -7.97 753 6112.81 no move -1.56 - - 1961.06 - - - 2137.31 - -107.06 - - 3456.84 - - - - - - - - - - -
6421.27 645.74 -7.74 784 6428.46 roll -1.56 - - 1960.94 - 3.76 0.106 686.75 -385.8 -107.06 - - 3457.59 - - - - - - - - - 15.94 -
6496.94 652.74 -9.33 799 6502.91 roll -1.56 - - 1960.94 - 3.32 0.041 2136.81 436.8 -107.06 - - 3458.00 - - - - - - - - - 16.01 -
6807.07 676.90 -7.31 831 6808.65 no move -1.56 - - 1961.00 - - - 2136.62 - -107.06 - - 3455.00 - - - - - - - - - - -
7117.01 700.15 -7.99 862 7124.21 roll -1.56 - - 1961.81 - 3.76 0.105 686.94 -385.6 -107.06 - - 3454.41 - - - - - - - - - 15.95 -
7176.93 705.50 -8.90 874 7184.45 roll -1.56 - - 1960.94 - 3.32 0.040 2136.06 436.5 -107.06 - - 3454.62 - - - - - - - - - 16.01 -
7492.73 729.30 -7.59 906 7499.93 roll -1.56 - - 1961.06 - 3.76 0.107 687.50 -385.3 -107.06 - - 3453.09 - - - - - - - - - 15.92 -
7528.52 732.50 -8.73 913 7534.47 roll -1.56 - - 1959.88 - 3.33 0.040 2136.25 435.1 -107.06 - - 3455.72 - - - - - - - - - 16.02 -
7838.55 756.59 -8.02 945 7845.75 roll -1.56 - - 1961.06 - 3.74 0.104 687.38 -387.4 -107.06 - - 3452.91 - - - - - - - - - 15.93 -
7878.47 760.60 -9.91 953 7885.94 roll -1.56 - - 1960.25 - 3.33 0.039 2136.44 435.2 -107.06 - - 3454.50 - - - - - - - - - 15.99 -
8194.27 786.44 -8.17 985 8201.46 roll -1.56 - - 1960.88 - 3.76 0.106 687.50 -385.4 -107.06 - - 3453.91 - - - - - - - - - 15.91 -
8284.31 794.98 -9.54 1003 8291.83 roll -1.56 - - 1960.75 - 3.32 0.041 2136.25 436.4 -107.06 - - 3453.12 - - - - - - - - - 16.02 -
8600.09 820.82 -8.01 1035 8607.29 roll -1.56 - - 1959.94 - 3.77 0.104 686.81 -384.5 -107.06 - - 3453.62 - - - - - - - - - 15.93 -
8660.01 826.55 -9.16 1047 8667.49 roll -1.56 - - 1961.12 - 3.34 0.039 2135.94 433.9 -107.06 - - 3454.12 - - - - - - - - - 16.01 -
8975.79 852.63 -8.65 1079 8982.99 roll -1.56 - - 1959.88 - 3.79 0.106 687.31 -382.2 -107.06 - - 3452.72 - - - - - - - - - 15.91 -
9031.59 857.73 -9.22 1090 9037.56 roll -1.56 - - 1961.19 - 3.35 0.039 2136.69 432.7 -107.06 - - 3452.44 - - - - - - - - - 16.00 -
9341.61 881.28 -7.23 1122 9348.82 roll -1.56 - - 1960.94 - 3.78 0.104 686.44 -383.7 -107.06 - - 3451.81 - - - - - - - - - 15.93 -
9377.30 885.00 -10.45 1129 9383.26 roll -1.56 - - 1960.94 - 3.34 0.038 2135.00 433.7 -107.06 - - 3452.53 - - - - - - - - - 16.00 -
9687.56 908.43 -7.33 1161 9693.12 roll -1.56 - - 1960.88 - 3.10 0.093 3363.81 396.4 -107.06 - - 3452.81 - - - - - - - - - 15.93 -
9777.33 917.07 -8.26 1179 9783.14 roll -1.56 - - 1960.56 - 3.03 0.038 2063.88 -429.0 -107.06 - - 3452.91 - - - - - - - - - 16.01 -
10087.39 927.06 -1.90 1211 10093.46 roll -1.56 - - 1961.25 - 3.62 0.110 687.25 -380.3 -107.06 - - 3451.28 - - - - - - - - - 15.90 -
10317 end dive: NO_VERTICAL_VELOCITY
10317 begin apogee
10323.92 927.03 - 1257 10417.48 -0.42 2.40 0.079 2241.56 116.8 0.11 0.206 2112.31 12955.1 - 85.97 2.139 3019.69 -5.0 0.361 - - - - - - 15.98 15.52 11.59
10421 end apogee: CONTROL_FINISHED_OK
10421 begin climb
10423.92 927.13 - 1266 10537.22 1.56 3.95 0.073 2722.38 121.7 3.86 0.105 687.69 -369.1 107.06 94.89 2.060 2580.12 -4.6 0.346 - - - - - - 15.61 15.33 12.55
10765.84 900.59 11.85 1332 10771.90 done 1.56 - - 2722.19 - 3.54 0.044 2181.81 422.1 107.06 - - 2569.41 - - - - - - - - - 15.75 -
11075.84 870.14 8.79 1364 11083.16 done 1.56 - - 2722.44 - 3.93 0.102 686.62 -380.5 107.06 - - 2564.19 - - - - - - - - - 15.83 -
11145.88 862.60 10.24 1378 11153.39 done 1.56 - - 2722.94 - 3.48 0.043 2184.25 430.4 107.06 - - 2565.25 - - - - - - - - - 15.88 -
11461.64 833.25 9.40 1410 11467.47 done 1.56 - - 2721.88 - 2.97 0.090 3364.44 397.4 107.06 - - 2564.72 - - - - - - - - - 15.92 -
11581.66 820.72 10.79 1434 11587.42 done 1.56 - - 2723.19 - 2.93 0.037 2113.81 -426.8 107.06 - - 2564.00 - - - - - - - - - 15.95 -
11891.94 792.78 8.39 1466 11897.60 done 1.56 - - 2722.50 - 3.14 0.087 3361.75 397.4 107.06 - - 2563.84 - - - - - - - - - 15.95 -
11961.71 785.88 9.47 1480 11967.51 done 1.56 - - 2722.75 - 2.92 0.037 2114.00 -427.3 107.06 - - 2562.25 - - - - - - - - - 15.99 -
12271.75 758.33 8.88 1512 12277.61 done 1.56 - - 2722.94 - 3.14 0.087 3363.38 397.9 107.06 - - 2563.03 - - - - - - - - - 15.96 -
12506.05 735.42 9.31 1559 12513.36 done 1.56 - - 2722.69 - 2.92 0.037 2114.19 -427.8 107.06 - - 2561.94 - - - - - - - - - 16.00 -
12822.07 709.14 8.30 1591 12827.70 done 1.56 - - 2723.12 - 3.14 0.086 3363.88 398.0 107.06 - - 2561.47 - - - - - - - - - 15.98 -
13056.33 687.88 9.44 1638 13063.38 done 1.56 - - 2722.69 - 2.91 0.036 2113.75 -429.6 107.06 - - 2561.97 - - - - - - - - - 16.00 -
13371.89 661.70 7.96 1670 13377.76 done 1.56 - - 2723.38 - 3.15 0.086 3363.75 396.8 107.06 - - 2561.34 - - - - - - - - - 15.98 -
13581.91 644.66 7.78 1712 13587.63 done 1.56 - - 2722.88 - 2.89 0.036 2111.94 -433.2 107.06 - - 2560.50 - - - - - - - - - 16.01 -
13892.23 622.57 6.44 1744 13898.22 done 1.61 - - 2723.25 - 3.14 0.085 3364.12 398.8 107.06 - - 2561.50 - - - - - - - - - 15.98 -
13962.00 617.61 7.49 1758 13967.71 done 1.63 - - 2722.75 - 2.89 0.036 2112.31 -433.2 107.06 - - 2560.06 - - - - - - - - - 16.01 -
14272.04 598.86 5.54 1790 14278.12 1.70 0.23 0.058 2761.94 170.4 3.14 0.085 3363.88 398.6 107.06 - - 2560.91 - - - - - - - - 16.04 15.93 -
14326.32 595.35 6.37 1801 14333.49 done 1.76 - - 2762.19 - 2.89 0.036 2111.19 -433.5 107.06 - - 2560.53 - - - - - - - - - 16.01 -
14642.12 577.08 5.64 1833 14649.66 1.83 0.16 0.068 2793.19 193.8 3.68 0.101 686.38 -387.2 107.06 - - 2558.72 - - - - - - - - 16.06 15.92 -
14722.55 571.38 7.32 1849 14730.02 done 1.85 - - 2793.69 - 3.48 0.044 2183.31 430.2 107.06 - - 2559.28 - - - - - - - - - 16.00 -
15038.31 551.99 6.37 1881 15044.06 done 1.90 - - 2794.00 - 2.98 0.088 3364.56 396.4 107.06 - - 2559.00 - - - - - - - - - 15.98 -
15272.60 534.45 7.38 1928 15279.78 done 1.92 - - 2793.12 - 2.90 0.037 2113.06 -431.6 107.06 - - 2559.03 - - - - - - - - - 16.00 -
15588.39 512.32 7.31 1960 15590.15 1.94 0.13 0.069 2820.88 213.5 - - 2113.69 - 107.06 - - 2556.12 - - - - - - - - 16.08 - -
15898.38 487.27 8.37 1991 15904.27 done 1.94 - - 2821.62 - 3.17 0.087 3363.50 394.3 107.06 - - 2557.53 - - - - - - - - - 15.93 -
16082.67 471.15 8.68 2028 16089.91 done 1.94 - - 2821.44 - 2.90 0.037 2113.00 -431.2 107.06 - - 2557.84 - - - - - - - - - 16.01 -
16398.70 446.05 7.85 2060 16404.37 done 1.94 - - 2821.50 - 3.16 0.085 3362.25 395.3 107.06 - - 2557.94 - - - - - - - - - 15.92 -
16432.72 443.29 7.93 2067 16439.99 done 1.94 - - 2820.25 - 2.89 0.037 2111.00 -433.0 107.06 - - 2558.41 - - - - - - - - - 15.98 -
16748.54 420.82 6.85 2099 16750.12 VBD 1.98 - - 2821.62 - - - 2111.38 - 107.06 - - 2556.59 - - - - - - - - - - -
17058.58 400.16 6.46 2130 17064.44 done 2.03 - - 2821.56 - 3.18 0.084 3365.25 394.3 107.06 - - 2559.22 - - - - - - - - - 15.92 -
17128.61 395.43 7.02 2144 17134.77 2.06 0.14 0.072 2850.75 208.5 2.90 0.036 2112.62 -431.9 107.06 - - 2557.94 - - - - - - - - 15.97 16.02 -
17439.21 376.46 5.66 2176 17440.78 VBD 2.13 - - 2849.62 - - - 2112.94 - 107.06 - - 2556.50 - - - - - - - - - - -
17748.65 358.57 5.82 2207 17755.95 2.19 0.18 0.063 2884.38 193.1 3.66 0.099 686.06 -389.9 107.06 - - 2556.19 - - - - - - - - 16.07 15.89 -
17984.53 343.56 6.13 2254 17990.73 done 2.25 - - 2883.62 - 3.49 0.044 2186.06 429.8 107.06 - - 2557.81 - - - - - - - - - 15.99 -
18294.53 327.60 5.09 2286 18296.32 2.34 0.19 0.056 2918.38 182.9 - - 2186.31 - 107.06 - - 2556.91 - - - - - - - - 16.08 - -
18604.55 309.85 5.55 2317 18606.12 VBD 2.42 - - 2920.12 - - - 2186.81 - 107.06 - - 2555.59 - - - - - - - - - - -
18914.56 292.67 5.56 2348 18916.43 2.49 0.20 0.054 2952.50 161.9 - - 2187.50 - 107.06 - - 2557.19 - - - - - - - - 15.96 - -
19224.57 278.51 4.41 2379 19282.44 VBD 2.58 - - 2955.31 - - - 2186.81 - 178.11 55.42 1.335 2293.12 -4.8 0.165 - - - - - - - - 11.72
19586.03 232.95 15.33 2415 19587.61 VBD 2.58 - - 2955.56 - - - 2187.25 - 178.11 - - 2282.34 - - - - - - - - - - -
19896.06 188.45 14.56 2446 19901.87 done 2.58 - - 2954.50 - 3.03 0.089 3362.00 387.7 178.11 - - 2281.94 - - - - - - - - - 15.86 -
19950.31 179.89 15.36 2457 19957.58 done 2.58 - - 2955.94 - 2.93 0.038 2115.69 -425.4 178.11 - - 2281.22 - - - - - - - - - 15.82 -
20266.33 137.37 12.73 2489 20272.01 done 2.58 - - 2955.75 - 3.19 0.085 3361.19 390.4 178.11 - - 2279.91 - - - - - - - - - 15.90 -
20366.12 125.83 11.60 2509 20371.92 done 2.58 - - 2955.12 - 2.93 0.037 2114.75 -425.4 178.11 - - 2279.69 - - - - - - - - - 15.89 -
20676.45 98.87 6.57 2542 20683.26 2.63 0.23 0.048 2987.50 140.8 3.69 0.097 686.44 -387.1 178.11 - - 2279.91 - - - - - - - - 16.03 15.77 -
20911.82 84.76 5.54 2589 20918.60 done 2.70 - - 2988.31 - 3.51 0.044 2187.06 427.5 178.11 - - 2276.91 - - - - - - - - - 15.90 -
21102.22 79.49 2.57 2627 21225.54 2.84 0.34 0.044 3041.81 157.4 3.92 0.095 687.31 -382.6 285.16 111.20 1.049 1856.72 -3.8 0.047 - - - - - - 16.00 15.64 12.14
21454.17 38.51 13.31 2696 21461.26 roll back 2.84 0.32 0.171 3023.75 -56.4 3.54 0.044 2183.25 422.6 285.16 - - 1855.25 - - - - - - - - 15.70 15.72 -
21644.87 25.59 5.08 2734 21652.31 roll back 2.93 0.29 0.046 3060.62 127.1 3.89 0.094 686.88 -384.7 285.16 - - 1854.62 - - - - - - - - 15.82 15.69 -
21880.97 23.85 -0.09 2781 22061.60 3.14 0.35 0.044 3112.94 149.5 3.49 0.043 2189.25 430.5 444.11 164.73 0.972 1208.84 -3.9 0.016 - - - - - - 15.84 15.83 12.22
22145 end climb: SURFACE_DEPTH_REACHED
22145 begin surface coast
22165 end surface coast: CONTROL_FINISHED_OK
22165 begin surface
SM 0.99 - - - - 182.9 30.85 0.925 1083.7 29.8 22.32 0.040 1086.5 48.7 - 0.26 0.085 1080.9 4143.9 -4.933 - - 12.43 15.74 15.72 -