NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 25 * Raw log
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• Previous call tries 2 • 26.59 of 575.00 AH used of 24V (95.38% remains)
• Surface angle -62.0 deg, depth 1.50 m • Intended pitch -17.9 deg, speed -8.462 cm/s
• No surface pump (final VBD was 1155.9, SM_CC=475)
• GPS1 time: 25 s, HDOP was 2.6 m
• 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
8.89 - - - 70.47 VBD -1.32 - - 181.62 - - - 2172.25 - -107.06 60.08 0.005 2544.06 - - - - - - - - - - 15.82
70.91 3.53 -3.62 12 126.96 -1.32 16.74 0.241 1979.56 107.4 3.10 0.112 3361.25 383.5 -107.06 26.13 0.006 3637.72 41.9 -4.059 - - - - - - 15.74 15.79 15.83
310.33 48.17 -16.43 59 316.64 roll -1.32 - - 1979.44 - 2.87 0.055 2166.69 -416.2 -107.06 - - 3640.19 - - - - - - - - - 15.95 -
500.36 73.97 -12.80 97 504.73 no move -1.32 - - 1979.75 - - - 2167.00 - -107.06 - - 3640.22 - - - - - - - - - - -
685.37 93.57 -9.53 134 692.08 roll -1.32 - - 1979.19 - 3.70 0.122 729.88 -388.4 -107.06 - - 3640.72 - - - - - - - - - 15.99 -
715.47 96.63 -9.89 140 722.10 roll -1.32 - - 1979.75 - 3.53 0.059 2226.38 423.9 -107.06 - - 3640.44 - - - - - - - - - 15.98 -
910.46 114.50 -9.02 163 917.50 roll -1.32 - - 1978.81 - 3.83 0.118 730.25 -390.6 -107.06 - - 3642.81 - - - - - - - - - 16.03 -
965.91 120.09 -10.28 174 971.79 roll -1.32 - - 1979.88 - 3.52 0.059 2226.69 425.1 -107.06 - - 3642.06 - - - - - - - - - 16.01 -
1275.89 150.37 -9.66 206 1281.54 roll -1.32 - - 1979.94 - 2.92 0.110 3361.69 388.7 -107.06 - - 3642.47 - - - - - - - - - 16.04 -
1300.15 153.13 -10.05 211 1307.21 roll -1.32 - - 1978.31 - 2.84 0.054 2165.00 -421.4 -107.06 - - 3642.75 - - - - - - - - - 16.07 -
1616.20 182.17 -8.92 243 1623.11 roll -1.32 - - 1979.38 - 3.69 0.124 729.81 -388.9 -107.06 - - 3641.69 - - - - - - - - - 16.05 -
1651.67 185.71 -9.94 250 1657.72 roll -1.32 - - 1979.56 - 3.57 0.060 2228.25 419.7 -107.06 - - 3643.09 - - - - - - - - - 16.08 -
1961.67 214.40 -9.29 282 1968.92 roll -1.32 - - 1979.62 - 3.84 0.121 731.44 -389.8 -107.06 - - 3641.38 - - - - - - - - - 16.09 -
2027.37 221.29 -10.43 295 2033.43 roll -1.32 - - 1979.75 - 3.56 0.061 2227.12 420.1 -107.06 - - 3642.34 - - - - - - - - - 16.12 -
2337.37 251.09 -9.64 327 2343.91 roll -1.32 - - 1980.00 - 3.83 0.122 731.62 -390.5 -107.06 - - 3641.12 - - - - - - - - - 16.13 -
2387.47 256.52 -10.75 337 2393.52 roll -1.32 - - 1978.62 - 3.55 0.062 2224.25 420.5 -107.06 - - 3643.09 - - - - - - - - - 16.15 -
2697.47 285.92 -9.29 369 2704.74 roll -1.32 - - 1978.75 - 3.84 0.124 730.44 -389.0 -107.06 - - 3642.19 - - - - - - - - - 16.14 -
2773.19 293.73 -10.25 384 2779.53 roll -1.32 - - 1979.62 - 3.55 0.063 2225.00 421.0 -107.06 - - 3642.69 - - - - - - - - - 16.16 -
3083.18 321.67 -9.22 416 3090.44 roll -1.32 - - 1979.06 - 3.83 0.124 730.75 -390.1 -107.06 - - 3642.38 - - - - - - - - - 16.16 -
3168.90 330.32 -9.99 433 3174.95 roll -1.32 - - 1979.38 - 3.53 0.064 2225.56 423.5 -107.06 - - 3642.94 - - - - - - - - - 16.16 -
3478.99 358.42 -9.22 465 3486.16 roll -1.32 - - 1979.56 - 3.81 0.123 731.62 -392.1 -107.06 - - 3642.28 - - - - - - - - - 16.17 -
3508.84 361.76 -10.21 471 3516.41 roll -1.32 - - 1979.38 - 3.55 0.063 2227.00 421.2 -107.06 - - 3642.16 - - - - - - - - - 16.18 -
3824.59 391.30 -9.57 503 3831.85 roll -1.32 - - 1978.19 - 3.83 0.124 730.31 -390.8 -107.06 - - 3642.94 - - - - - - - - - 16.18 -
3940.31 403.77 -10.74 526 3946.36 roll -1.32 - - 1979.12 - 3.56 0.066 2225.56 420.0 -107.06 - - 3642.69 - - - - - - - - - 16.18 -
4250.31 433.77 -9.78 558 4257.82 roll -1.32 - - 1979.25 - 3.83 0.126 730.38 -390.4 -107.06 - - 3640.31 - - - - - - - - - 16.18 -
4380.63 447.85 -10.73 584 4388.23 roll -1.32 - - 1979.19 - 3.56 0.066 2225.56 420.0 -107.06 - - 3641.78 - - - - - - - - - 16.19 -
4696.39 477.65 -9.47 616 4703.66 roll -1.32 - - 1979.56 - 3.83 0.127 731.25 -390.2 -107.06 - - 3639.38 - - - - - - - - - 16.19 -
4756.36 483.86 -10.22 628 4763.94 roll -1.32 - - 1979.88 - 3.55 0.066 2226.69 421.3 -107.06 - - 3640.00 - - - - - - - - - 16.20 -
5072.14 510.79 -8.24 660 5073.71 no move -1.32 - - 1979.62 - - - 2226.62 - -107.06 - - 3638.69 - - - - - - - - - - -
5382.18 535.83 -7.89 691 5389.43 roll -1.32 - - 1979.31 - 3.83 0.127 730.94 -390.5 -107.06 - - 3639.88 - - - - - - - - - 16.20 -
5442.11 541.35 -8.78 703 5449.69 roll -1.32 - - 1979.75 - 3.55 0.067 2225.62 421.0 -107.06 - - 3639.19 - - - - - - - - - 16.21 -
5757.88 565.98 -7.92 735 5765.13 roll -1.32 - - 1978.56 - 3.82 0.129 730.56 -391.4 -107.06 - - 3639.16 - - - - - - - - - 16.20 -
5783.82 568.50 -8.23 740 5789.90 roll -1.32 - - 1979.31 - 3.53 0.067 2224.94 423.3 -107.06 - - 3638.28 - - - - - - - - - 16.21 -
6093.83 592.76 -7.96 772 6101.07 roll -1.32 - - 1978.50 - 3.82 0.130 732.38 -390.7 -107.06 - - 3639.00 - - - - - - - - - 16.20 -
6133.75 596.62 -9.46 780 6141.37 roll -1.32 - - 1978.31 - 3.54 0.068 2225.31 421.7 -107.06 - - 3638.78 - - - - - - - - - 16.21 -
6449.52 621.85 -8.10 812 6456.78 roll -1.32 - - 1979.25 - 3.82 0.130 732.31 -390.8 -107.06 - - 3635.81 - - - - - - - - - 16.20 -
6489.45 625.67 -9.35 820 6497.03 roll -1.32 - - 1979.12 - 3.53 0.068 2225.50 423.0 -107.06 - - 3637.06 - - - - - - - - - 16.21 -
6805.21 650.36 -8.07 852 6812.48 roll -1.32 - - 1979.31 - 3.82 0.130 731.25 -391.2 -107.06 - - 3635.03 - - - - - - - - - 16.20 -
6860.92 655.62 -9.14 863 6867.00 roll -1.32 - - 1979.88 - 3.51 0.069 2226.19 425.9 -107.06 - - 3635.66 - - - - - - - - - 16.22 -
7170.93 680.56 -8.11 895 7177.35 roll -1.32 - - 1980.00 - 3.80 0.129 730.94 -393.5 -107.06 - - 3635.25 - - - - - - - - - 16.21 -
7225.19 686.08 -9.58 906 7232.75 roll -1.32 - - 1978.12 - 3.52 0.069 2227.44 425.1 -107.06 - - 3636.88 - - - - - - - - - 16.23 -
7540.94 712.62 -8.51 938 7548.22 roll -1.32 - - 1977.88 - 3.81 0.132 731.38 -392.7 -107.06 - - 3635.66 - - - - - - - - - 16.21 -
7590.90 717.72 -9.56 948 7598.47 roll -1.32 - - 1979.25 - 3.51 0.069 2227.62 426.3 -107.06 - - 3635.69 - - - - - - - - - 16.21 -
7906.66 743.27 -7.70 980 7913.91 roll -1.32 - - 1979.38 - 3.82 0.131 731.50 -391.7 -107.06 - - 3635.06 - - - - - - - - - 16.21 -
7976.60 749.70 -8.70 994 7984.15 roll -1.32 - - 1979.00 - 3.50 0.070 2226.38 427.1 -107.06 - - 3635.34 - - - - - - - - - 16.22 -
8292.36 773.16 -7.67 1026 8299.62 roll -1.32 - - 1979.25 - 3.82 0.131 731.44 -391.3 -107.06 - - 3632.78 - - - - - - - - - 16.20 -
8348.07 778.04 -8.64 1037 8354.33 roll -1.32 - - 1977.88 - 3.48 0.070 2225.50 429.3 -107.06 - - 3635.66 - - - - - - - - - 16.22 -
8658.10 800.76 -7.75 1069 8665.48 roll -1.32 - - 1978.75 - 3.81 0.132 731.38 -392.2 -107.06 - - 3634.66 - - - - - - - - - 16.21 -
8733.93 806.93 -7.95 1084 8739.98 roll -1.32 - - 1979.50 - 3.51 0.070 2225.00 425.5 -107.06 - - 3633.59 - - - - - - - - - 16.22 -
9043.93 829.12 -7.75 1116 9051.18 roll -1.32 - - 1979.12 - 3.83 0.132 731.50 -389.9 -107.06 - - 3632.38 - - - - - - - - - 16.21 -
9083.85 832.67 -8.35 1124 9091.44 roll -1.32 - - 1979.50 - 3.51 0.070 2225.06 425.5 -107.06 - - 3633.75 - - - - - - - - - 16.23 -
9399.62 857.04 -7.83 1156 9406.89 roll -1.32 - - 1979.50 - 3.84 0.133 731.19 -389.0 -107.06 - - 3632.22 - - - - - - - - - 16.21 -
9439.56 860.84 -9.34 1164 9447.09 roll -1.32 - - 1979.44 - 3.49 0.071 2225.56 428.2 -107.06 - - 3631.72 - - - - - - - - - 16.23 -
9755.32 886.54 -8.17 1196 9762.84 roll -1.32 - - 1978.56 - 3.84 0.133 731.31 -389.1 -107.06 - - 3632.62 - - - - - - - - - 16.21 -
9795.64 890.62 -9.93 1204 9803.25 roll -1.32 - - 1979.94 - 3.54 0.071 2226.25 422.3 -107.06 - - 3632.06 - - - - - - - - - 16.22 -
10111.40 915.83 -7.69 1236 10118.67 roll -1.32 - - 1978.25 - 3.85 0.133 731.88 -388.1 -107.06 - - 3632.12 - - - - - - - - - 16.20 -
10167.24 920.87 -8.32 1247 10173.29 roll -1.32 - - 1979.00 - 3.54 0.071 2226.12 422.1 -107.06 - - 3632.25 - - - - - - - - - 16.21 -
10477.23 943.82 -7.77 1279 10484.49 roll -1.32 - - 1979.12 - 3.87 0.134 731.88 -386.1 -107.06 - - 3631.16 - - - - - - - - - 16.21 -
10507.17 946.87 -9.09 1285 10514.75 roll -1.32 - - 1978.31 - 3.53 0.070 2225.81 423.2 -107.06 - - 3632.16 - - - - - - - - - 16.23 -
10822.93 970.17 -7.82 1317 10830.20 roll -1.32 - - 1978.69 - 3.85 0.133 731.62 -388.1 -107.06 - - 3628.81 - - - - - - - - - 16.21 -
10862.88 974.11 -9.11 1325 10870.46 roll -1.32 - - 1979.25 - 3.53 0.070 2224.50 422.9 -107.06 - - 3629.91 - - - - - - - - - 16.22 -
11088 end dive: TARGET_DEPTH_EXCEEDED
11088 begin apogee
11090.69 990.36 -7.20 1348 11179.98 -0.29 1.97 0.124 2228.94 126.7 0.10 0.228 2078.25 -1462.5 - 82.86 2.063 3199.34 -5.2 0.411 - - - - - - 16.17 15.60 13.04
11191 end apogee: CONTROL_FINISHED_OK
11191 begin climb
11194.16 991.82 - 1356 11293.93 1.32 2.82 0.073 2626.44 141.0 - - 2078.12 - 107.06 90.50 2.005 2762.97 -4.8 0.393 - - - - - - 15.70 - 12.72
11597.82 975.31 6.07 1397 11642.52 done 1.43 - - 2627.75 - 3.41 0.115 3360.31 376.0 151.64 36.78 1.917 2578.94 -5.0 0.420 - - - - - - - 15.53 12.87
11686.08 968.77 8.81 1414 11692.03 roll 1.43 - - 2627.56 - 3.32 0.065 2024.12 -402.5 151.64 - - 2579.94 - - - - - - - - - 15.70 -
11996.13 941.07 8.78 1446 12002.18 roll 1.43 - - 2627.44 - 3.49 0.110 3359.94 382.8 151.64 - - 2577.22 - - - - - - - - - 15.90 -
12110.41 930.33 9.11 1469 12117.82 roll 1.43 - - 2627.31 - 3.27 0.066 2024.00 -408.5 151.64 - - 2577.00 - - - - - - - - - 15.93 -
12426.24 905.16 7.80 1501 12433.39 roll back 1.45 0.19 0.086 2660.62 175.3 3.47 0.110 3360.69 385.2 151.64 - - 2577.03 - - - - - - - - 16.02 16.00 -
12516.08 896.85 9.12 1519 12523.50 roll 1.45 - - 2661.69 - 3.24 0.067 2024.75 -412.3 151.64 - - 2575.16 - - - - - - - - - 16.01 -
12831.90 871.57 7.69 1551 12837.85 roll 1.48 - - 2661.88 - 3.45 0.109 3361.19 387.4 151.64 - - 2574.00 - - - - - - - - - 16.07 -
12916.11 864.66 8.58 1568 12923.53 roll 1.48 - - 2661.12 - 3.23 0.067 2023.69 -414.1 151.64 - - 2575.31 - - - - - - - - - 16.08 -
13231.94 840.43 7.76 1600 13238.07 done 1.50 - - 2661.25 - 3.44 0.110 3359.31 388.3 151.64 - - 2574.75 - - - - - - - - - 16.09 -
13386.16 827.04 8.33 1631 13393.61 done 1.50 - - 2661.94 - 3.22 0.066 2024.25 -414.6 151.64 - - 2574.03 - - - - - - - - - 16.11 -
13701.93 803.15 8.01 1663 13703.51 VBD 1.50 - - 2661.06 - - - 2024.31 - 151.64 - - 2571.78 - - - - - - - - - - -
14011.95 778.62 8.13 1694 14017.99 done 1.50 - - 2661.94 - 3.43 0.110 3359.69 389.3 151.64 - - 2572.56 - - - - - - - - - 16.14 -
14101.95 770.77 8.45 1712 14107.86 done 1.50 - - 2659.75 - 3.22 0.067 2022.31 -415.3 151.64 - - 2575.25 - - - - - - - - - 16.15 -
14411.97 744.76 8.61 1744 14417.96 done 1.50 - - 2660.25 - 3.42 0.109 3360.69 391.3 151.64 - - 2574.94 - - - - - - - - - 16.16 -
14471.98 739.30 9.10 1756 14477.92 done 1.50 - - 2660.25 - 3.21 0.067 2024.06 -416.4 151.64 - - 2574.94 - - - - - - - - - 16.16 -
14781.99 712.49 8.49 1788 14783.56 VBD 1.50 - - 2661.50 - - - 2024.25 - 151.64 - - 2570.91 - - - - - - - - - - -
15092.00 687.62 8.40 1819 15093.58 VBD 1.50 - - 2660.81 - - - 2024.25 - 151.64 - - 2570.09 - - - - - - - - - - -
15402.06 663.78 7.33 1850 15409.06 done 1.53 - - 2660.69 - 3.44 0.109 3360.75 388.5 151.64 - - 2570.44 - - - - - - - - - 16.18 -
15461.86 658.83 8.14 1862 15469.51 done 1.53 - - 2660.88 - 3.21 0.067 2023.56 -416.6 151.64 - - 2571.62 - - - - - - - - - 16.17 -
15777.68 637.05 6.62 1894 15783.64 done 1.59 - - 2661.94 - 3.42 0.108 3361.00 391.1 151.64 - - 2571.66 - - - - - - - - - 16.19 -
15841.93 632.63 7.01 1907 15849.66 1.63 0.50 0.039 2693.69 63.5 3.19 0.067 2025.00 -418.8 151.64 - - 2572.84 - - - - - - - - 16.22 16.18 -
16157.71 611.51 6.41 1939 16200.27 done 1.73 - - 2693.56 - 3.47 0.110 3360.50 384.9 189.83 32.17 1.545 2424.31 -4.6 0.301 - - - - - - - 15.93 13.09
16332.98 595.58 10.22 1974 16340.39 roll 1.73 - - 2694.12 - 3.23 0.066 2025.00 -413.5 189.83 - - 2421.88 - - - - - - - - - 16.04 -
16648.75 566.78 9.35 2006 16650.32 no move 1.73 - - 2694.00 - - - 2025.31 - 189.83 - - 2419.22 - - - - - - - - - - -
16958.77 538.13 9.66 2037 16966.07 roll back 1.73 0.40 0.033 2716.06 55.1 3.44 0.108 3359.94 388.0 189.83 - - 2418.94 - - - - - - - - 16.13 16.10 -
17094.64 523.48 10.94 2064 17100.54 roll 1.73 - - 2716.50 - 3.22 0.066 2021.56 -415.6 189.83 - - 2418.56 - - - - - - - - - 16.11 -
17404.66 491.07 10.46 2096 17410.70 done 1.73 - - 2716.06 - 3.43 0.108 3358.94 389.9 189.83 - - 2419.41 - - - - - - - - - 16.13 -
17488.92 481.68 11.45 2113 17496.38 done 1.73 - - 2717.06 - 3.20 0.066 2022.56 -417.6 189.83 - - 2418.28 - - - - - - - - - 16.14 -
17804.69 450.70 9.50 2145 17810.70 done 1.73 - - 2717.38 - 3.42 0.107 3359.19 390.8 189.83 - - 2417.78 - - - - - - - - - 16.12 -
17868.95 443.95 10.61 2158 17876.37 done 1.73 - - 2717.06 - 3.20 0.066 2021.75 -417.9 189.83 - - 2417.56 - - - - - - - - - 16.15 -
18184.72 415.09 9.45 2190 18186.30 VBD 1.73 - - 2717.12 - - - 2021.88 - 189.83 - - 2415.97 - - - - - - - - - - -
18494.74 387.87 8.48 2221 18501.03 done 1.73 - - 2716.56 - 3.43 0.107 3358.94 389.8 189.83 - - 2419.28 - - - - - - - - - 16.16 -
18729.02 366.49 8.73 2268 18736.43 done 1.73 - - 2716.62 - 3.19 0.065 2022.12 -419.1 189.83 - - 2416.72 - - - - - - - - - 16.16 -
19044.85 342.19 7.40 2300 19050.84 done 1.76 - - 2716.38 - 3.42 0.106 3360.62 391.4 189.83 - - 2417.97 - - - - - - - - - 16.17 -
19144.83 333.63 8.46 2320 19150.73 done 1.76 - - 2717.00 - 3.21 0.065 2021.81 -417.1 189.83 - - 2416.59 - - - - - - - - - 16.17 -
19454.83 306.76 9.05 2352 19456.41 VBD 1.76 - - 2716.75 - - - 2021.88 - 189.83 - - 2415.38 - - - - - - - - - - -
19764.85 279.55 8.40 2383 19770.88 done 1.76 - - 2716.88 - 3.42 0.106 3360.69 391.5 189.83 - - 2417.91 - - - - - - - - - 16.19 -
19949.13 262.80 8.80 2420 19956.54 done 1.76 - - 2715.56 - 3.20 0.064 2021.56 -418.5 189.83 - - 2419.03 - - - - - - - - - 16.19 -
20264.96 239.47 6.63 2452 20266.52 VBD 1.81 - - 2716.88 - - - 2021.50 - 189.83 - - 2415.22 - - - - - - - - - - -
20574.97 219.36 6.22 2483 20630.71 1.92 0.81 0.034 2766.31 61.0 3.47 0.104 3361.19 386.1 231.58 46.23 1.019 2252.09 -3.5 0.125 - - - - - - 16.20 15.96 13.08
20734.28 203.70 11.71 2514 20740.19 roll 1.92 - - 2767.00 - 3.23 0.063 2021.69 -414.7 231.58 - - 2250.19 - - - - - - - - - 16.04 -
21044.29 171.04 11.54 2546 21045.87 no move 1.92 - - 2766.06 - - - 2022.50 - 231.58 - - 2248.41 - - - - - - - - - - -
21354.31 137.22 10.64 2577 21355.88 VBD 1.92 - - 2766.06 - - - 2021.88 - 231.58 - - 2247.16 - - - - - - - - - - -
21664.33 107.00 8.65 2608 21670.40 done 1.92 - - 2767.00 - 3.45 0.103 3359.62 387.8 231.58 - - 2247.59 - - - - - - - - - 16.06 -
21899.37 89.56 8.22 2655 21906.03 done 1.92 - - 2766.50 - 3.20 0.061 2021.75 -418.1 231.58 - - 2246.84 - - - - - - - - - 16.11 -
22089.48 78.95 4.08 2693 22202.00 2.12 0.92 0.029 2820.50 58.7 3.48 0.102 3360.19 384.6 313.16 98.53 0.876 1921.47 -3.3 0.049 - - - - - - 16.14 15.76 13.02
22265.55 66.64 9.74 2727 22272.26 roll 2.12 - - 2820.31 - 3.25 0.060 2021.50 -411.9 313.16 - - 1923.25 - - - - - - - - - 15.87 -
22455.83 50.91 6.78 2765 22462.59 roll 2.17 - - 2820.88 - 3.47 0.129 689.88 -383.8 313.16 - - 1920.34 - - - - - - - - - 15.92 -
22596.06 39.14 9.08 2793 22602.82 roll 2.17 - - 2820.62 - 3.32 0.064 2080.56 418.9 313.16 - - 1920.06 - - - - - - - - - 15.96 -
22786.27 26.89 4.73 2831 22878.00 2.35 0.62 0.036 2879.56 95.1 3.66 0.121 689.50 -380.1 382.66 81.63 0.817 1638.78 -3.4 0.019 - - - - - - 16.03 15.72 12.87
22976.60 23.00 1.87 2868 23126.90 2.65 0.80 0.033 2952.31 90.9 3.38 0.062 2085.00 412.9 505.31 138.74 0.794 1141.12 -3.6 0.017 - - - - - - 15.88 15.85 12.80
23210 end climb: SURFACE_DEPTH_REACHED
23210 begin surface coast
23230 end surface coast: CONTROL_FINISHED_OK
23230 begin surface
SM 1.71 - - - - 191.5 - - 1141.1 - 21.54 0.051 1126.4 52.3 - 0.30 0.088 1155.9 3841.7 -7.630 - - 30.00 15.70 15.75 -