NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 253 * Raw log
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• Previous call tries 1 • 100.29 of 575.00 AH used of 24V (82.56% remains)
• Surface angle -65.5 deg, depth 1.58 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.92 (SM_CC=475)
• GPS1 time: 25 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
9.03 - - - 65.42 VBD -1.56 - - 183.19 - - - 2143.12 - -107.06 54.97 0.005 2259.28 - - - - - - - - - - 15.64
65.86 3.33 -3.49 11 124.33 -1.56 16.20 0.240 1959.75 109.7 3.85 0.110 689.38 -377.6 -107.06 29.17 0.006 3456.06 41.0 -3.766 - - - - - - 15.64 15.59 15.66
282.88 46.86 -16.06 53 289.41 roll -1.56 - - 1959.50 - 3.40 0.042 2133.31 424.7 -107.06 - - 3459.84 - - - - - - - - - 15.90 -
472.89 71.32 -12.02 91 479.66 roll -1.56 - - 1960.12 - 3.80 0.102 689.75 -379.9 -107.06 - - 3459.88 - - - - - - - - - 15.89 -
523.08 77.95 -13.36 101 529.90 roll -1.56 - - 1959.88 - 3.36 0.040 2133.38 429.7 -107.06 - - 3459.84 - - - - - - - - - 15.95 -
713.47 99.19 -11.31 139 717.96 no move -1.56 - - 1959.69 - - - 2133.38 - -107.06 - - 3462.12 - - - - - - - - - - -
903.48 119.07 -9.58 159 909.37 roll -1.56 - - 1959.44 - 3.11 0.091 3361.25 394.8 -107.06 - - 3463.66 - - - - - - - - - 15.95 -
973.49 126.91 -11.29 173 979.32 roll -1.56 - - 1960.62 - 3.03 0.037 2065.50 -427.6 -107.06 - - 3462.38 - - - - - - - - - 16.00 -
1283.50 156.70 -9.47 205 1285.07 no move -1.56 - - 1959.88 - - - 2064.62 - -107.06 - - 3462.38 - - - - - - - - - - -
1593.52 186.77 -9.42 236 1595.09 no move -1.56 - - 1959.62 - - - 2064.75 - -107.06 - - 3463.44 - - - - - - - - - - -
1903.53 217.77 -10.30 267 1905.11 no move -1.56 - - 1959.81 - - - 2064.62 - -107.06 - - 3462.91 - - - - - - - - - - -
2213.64 248.89 -10.06 298 2215.21 no move -1.56 - - 1959.94 - - - 2064.62 - -107.06 - - 3462.91 - - - - - - - - - - -
2523.78 279.19 -9.86 329 2525.35 no move -1.56 - - 1959.69 - - - 2064.50 - -107.06 - - 3463.12 - - - - - - - - - - -
2833.59 308.75 -9.49 360 2835.16 no move -1.56 - - 1959.75 - - - 2064.25 - -107.06 - - 3463.28 - - - - - - - - - - -
3143.61 338.85 -9.55 391 3145.18 no move -1.56 - - 1959.75 - - - 2064.50 - -107.06 - - 3462.59 - - - - - - - - - - -
3453.61 367.63 -9.01 422 3459.52 roll -1.56 - - 1958.94 - 3.30 0.095 3361.88 393.1 -107.06 - - 3464.31 - - - - - - - - - 16.08 -
3497.87 372.14 -9.77 431 3505.22 roll -1.56 - - 1960.12 - 3.05 0.043 2068.69 -424.0 -107.06 - - 3463.34 - - - - - - - - - 16.10 -
3813.65 399.77 -8.84 463 3819.76 roll -1.56 - - 1960.19 - 3.63 0.116 689.25 -380.0 -107.06 - - 3462.72 - - - - - - - - - 16.06 -
3857.90 404.30 -9.85 472 3865.42 roll -1.56 - - 1960.00 - 3.37 0.046 2135.12 429.0 -107.06 - - 3462.75 - - - - - - - - - 16.10 -
4173.69 432.49 -9.31 504 4180.89 roll -1.56 - - 1960.19 - 3.80 0.108 688.31 -380.7 -107.06 - - 3462.56 - - - - - - - - - 16.07 -
4233.61 439.17 -10.98 516 4241.09 roll -1.56 - - 1959.94 - 3.37 0.045 2134.94 429.3 -107.06 - - 3461.94 - - - - - - - - - 16.10 -
4549.41 469.43 -9.56 548 4550.98 no move -1.56 - - 1959.94 - - - 2134.31 - -107.06 - - 3460.12 - - - - - - - - - - -
4859.43 497.82 -9.26 579 4861.00 no move -1.56 - - 1959.62 - - - 2134.88 - -107.06 - - 3459.53 - - - - - - - - - - -
5169.46 526.99 -9.69 610 5176.66 roll -1.56 - - 1959.75 - 3.79 0.109 688.00 -381.8 -107.06 - - 3458.41 - - - - - - - - - 16.10 -
5259.38 536.97 -10.72 628 5266.86 roll -1.56 - - 1960.25 - 3.37 0.046 2133.00 428.8 -107.06 - - 3459.69 - - - - - - - - - 16.11 -
5575.19 566.80 -9.51 660 5576.75 no move -1.56 - - 1959.62 - - - 2133.31 - -107.06 - - 3457.38 - - - - - - - - - - -
5885.21 597.06 -9.52 691 5892.41 roll -1.56 - - 1957.62 - 3.79 0.109 687.75 -381.4 -107.06 - - 3458.62 - - - - - - - - - 16.11 -
5960.90 605.14 -10.62 706 5966.85 roll -1.56 - - 1959.62 - 3.38 0.045 2132.38 427.4 -107.06 - - 3457.94 - - - - - - - - - 16.11 -
6270.92 633.15 -8.66 738 6278.36 roll -1.56 - - 1960.00 - 3.80 0.109 687.94 -380.1 -107.06 - - 3456.59 - - - - - - - - - 16.10 -
6326.95 638.70 -10.20 749 6332.94 roll -1.56 - - 1960.12 - 3.33 0.045 2132.62 433.8 -107.06 - - 3456.50 - - - - - - - - - 16.11 -
6636.98 663.99 -7.75 781 6638.55 no move -1.56 - - 1959.38 - - - 2133.44 - -107.06 - - 3453.94 - - - - - - - - - - -
6947.02 688.16 -7.90 812 6954.27 roll -1.56 - - 1960.06 - 3.82 0.111 688.81 -378.2 -107.06 - - 3453.75 - - - - - - - - - 16.09 -
7002.75 693.25 -9.11 823 7008.85 roll -1.56 - - 1959.69 - 3.39 0.046 2130.88 425.4 -107.06 - - 3453.88 - - - - - - - - - 16.10 -
7312.79 717.51 -7.96 855 7320.03 roll -1.56 - - 1960.38 - 3.81 0.111 687.81 -378.8 -107.06 - - 3452.59 - - - - - - - - - 16.09 -
7382.88 724.17 -9.10 869 7390.35 roll -1.56 - - 1959.56 - 3.38 0.046 2131.56 427.1 -107.06 - - 3454.62 - - - - - - - - - 16.09 -
7698.67 749.29 -8.20 901 7700.25 no move -1.56 - - 1959.75 - - - 2131.62 - -107.06 - - 3452.34 - - - - - - - - - - -
8008.70 774.65 -8.27 932 8016.12 roll -1.56 - - 1958.50 - 3.83 0.111 687.69 -377.0 -107.06 - - 3453.47 - - - - - - - - - 16.09 -
8109.03 784.13 -9.12 952 8116.53 roll -1.56 - - 1960.12 - 3.40 0.047 2132.81 425.0 -107.06 - - 3452.84 - - - - - - - - - 16.11 -
8424.83 811.40 -8.74 984 8432.09 roll -1.56 - - 1959.12 - 3.82 0.111 687.56 -378.3 -107.06 - - 3452.78 - - - - - - - - - 16.09 -
8480.57 816.84 -9.45 995 8486.53 roll -1.56 - - 1960.06 - 3.37 0.046 2134.12 429.2 -107.06 - - 3452.06 - - - - - - - - - 16.10 -
8790.60 843.14 -8.21 1027 8798.09 roll -1.56 - - 1959.44 - 3.82 0.112 687.81 -378.6 -107.06 - - 3452.28 - - - - - - - - - 16.08 -
8870.93 851.21 -9.88 1043 8878.52 roll -1.56 - - 1959.94 - 3.40 0.047 2132.25 424.8 -107.06 - - 3452.00 - - - - - - - - - 16.10 -
9186.48 878.35 -8.82 1075 9188.05 no move -1.56 - - 1959.75 - - - 2132.25 - -107.06 - - 3450.41 - - - - - - - - - - -
9496.75 904.09 -7.88 1106 9504.02 roll -1.56 - - 1960.00 - 3.82 0.112 688.88 -377.8 -107.06 - - 3451.38 - - - - - - - - - 16.07 -
9576.75 911.17 -8.62 1122 9584.22 roll -1.56 - - 1959.62 - 3.38 0.047 2132.19 427.0 -107.06 - - 3450.84 - - - - - - - - - 16.08 -
9892.54 935.43 -7.62 1154 9899.75 roll -1.56 - - 1960.56 - 3.80 0.112 689.00 -379.8 -107.06 - - 3449.91 - - - - - - - - - 16.08 -
9942.59 940.10 -9.01 1164 9950.11 roll -1.56 - - 1959.75 - 3.38 0.047 2131.88 426.9 -107.06 - - 3450.31 - - - - - - - - - 16.09 -
10258.38 965.12 -7.33 1196 10259.96 no move -1.56 - - 1959.81 - - - 2132.00 - -107.06 - - 3448.84 - - - - - - - - - - -
10568.41 987.53 -6.99 1227 10575.69 roll -1.56 - - 1960.50 - 3.82 0.113 689.38 -377.6 -107.06 - - 3448.06 - - - - - - - - - 16.07 -
10598 end dive: TARGET_DEPTH_EXCEEDED
10598 begin apogee
10604.97 990.01 -7.57 1233 10699.64 -0.42 2.48 0.120 2238.31 112.0 0.11 0.207 2116.00 12969.3 - 86.38 2.221 3020.75 -4.9 0.365 - - - - - - 16.04 15.53 12.20
10703 end apogee: CONTROL_FINISHED_OK
10703 begin climb
10705.96 991.28 - 1242 10818.99 1.56 3.79 0.059 2730.75 129.9 3.33 0.095 3361.62 374.1 107.06 95.75 2.143 2581.88 -4.6 0.351 - - - - - - 15.65 15.34 12.75
10867.57 981.83 9.60 1272 10873.39 roll 1.56 - - 2730.38 - 3.02 0.040 2119.44 -411.3 107.06 - - 2575.09 - - - - - - - - - 15.64 -
11177.60 948.35 11.13 1304 11183.50 done 1.56 - - 2730.75 - 3.20 0.091 3363.88 388.9 107.06 - - 2567.78 - - - - - - - - - 15.84 -
11361.90 926.91 11.84 1341 11369.16 done 1.56 - - 2730.31 - 2.96 0.041 2117.31 -421.1 107.06 - - 2568.22 - - - - - - - - - 15.91 -
11677.68 894.15 10.26 1373 11683.55 done 1.56 - - 2728.88 - 3.18 0.091 3361.62 391.3 107.06 - - 2565.94 - - - - - - - - - 15.97 -
11857.72 875.11 10.84 1409 11863.50 done 1.56 - - 2730.88 - 2.93 0.041 2116.75 -424.9 107.06 - - 2565.56 - - - - - - - - - 16.01 -
12167.76 845.97 9.25 1441 12173.65 done 1.56 - - 2730.25 - 3.17 0.090 3364.19 393.5 107.06 - - 2563.97 - - - - - - - - - 16.03 -
12332.05 829.32 10.41 1474 12339.78 1.56 0.28 0.155 2714.50 -56.2 2.93 0.041 2116.56 -425.8 107.06 - - 2562.94 - - - - - - - - 15.98 15.99 -
12648.08 801.40 8.63 1506 12653.71 done 1.56 - - 2713.94 - 3.18 0.091 3362.38 391.8 107.06 - - 2563.12 - - - - - - - - - 16.05 -
12802.10 787.20 9.19 1537 12809.38 done 1.56 - - 2714.25 - 2.92 0.041 2118.00 -426.2 107.06 - - 2563.00 - - - - - - - - - 16.07 -
13118.12 761.39 7.77 1569 13123.76 done 1.56 - - 2714.75 - 3.14 0.091 3362.62 396.4 107.06 - - 2560.97 - - - - - - - - - 16.06 -
13222.14 752.31 8.50 1590 13229.42 done 1.56 - - 2714.31 - 2.92 0.041 2117.00 -426.6 107.06 - - 2561.69 - - - - - - - - - 16.08 -
13538.16 727.67 7.73 1622 13543.83 done 1.56 - - 2714.88 - 3.14 0.090 3361.94 396.5 107.06 - - 2560.53 - - - - - - - - - 16.06 -
13697.94 714.04 8.56 1654 13703.76 done 1.56 - - 2713.25 - 2.91 0.041 2114.31 -428.7 107.06 - - 2561.25 - - - - - - - - - 16.08 -
14008.20 689.49 7.90 1686 14013.83 done 1.56 - - 2714.00 - 3.16 0.090 3363.25 395.2 107.06 - - 2559.56 - - - - - - - - - 16.08 -
14122.22 679.59 8.78 1709 14129.52 done 1.56 - - 2713.44 - 2.90 0.041 2114.75 -430.5 107.06 - - 2561.72 - - - - - - - - - 16.09 -
14438.25 654.60 7.66 1741 14439.83 VBD 1.56 - - 2714.12 - - - 2114.50 - 107.06 - - 2558.47 - - - - - - - - - - -
14748.06 630.05 7.65 1772 14753.95 done 1.56 - - 2714.19 - 3.17 0.091 3362.62 393.7 107.06 - - 2558.66 - - - - - - - - - 16.09 -
14912.35 616.53 8.23 1805 14919.63 done 1.56 - - 2714.50 - 2.91 0.041 2115.69 -428.5 107.06 - - 2559.47 - - - - - - - - - 16.03 -
15228.44 592.26 7.24 1837 15234.02 done 1.59 - - 2713.88 - 3.14 0.090 3362.88 397.2 107.06 - - 2559.25 - - - - - - - - - 16.09 -
15398.24 580.27 7.01 1871 15404.22 1.62 0.22 0.061 2742.69 131.0 2.90 0.041 2118.12 -429.2 107.06 - - 2559.12 - - - - - - - - 16.11 16.08 -
15708.63 560.26 6.08 1903 15710.21 VBD 1.68 - - 2742.50 - - - 2118.00 - 107.06 - - 2557.50 - - - - - - - - - - -
16018.31 541.08 6.14 1934 16024.35 1.74 0.14 0.077 2771.19 204.9 3.15 0.091 3362.62 395.1 107.06 - - 2559.22 - - - - - - - - 16.12 16.04 -
16188.35 528.69 7.05 1968 16194.01 done 1.77 - - 2771.44 - 2.89 0.042 2117.44 -430.9 107.06 - - 2559.56 - - - - - - - - - 16.10 -
16498.38 508.31 6.60 2000 16499.96 VBD 1.81 - - 2771.31 - - - 2117.75 - 107.06 - - 2557.66 - - - - - - - - - - -
16808.68 488.53 6.17 2031 16815.73 1.87 0.17 0.070 2803.44 189.0 3.70 0.109 688.56 -386.3 107.06 - - 2555.50 - - - - - - - - 16.15 16.02 -
16978.59 475.60 7.69 2065 16986.12 done 1.87 - - 2804.00 - 3.49 0.051 2181.25 427.7 107.06 - - 2556.34 - - - - - - - - - 16.08 -
17294.40 453.45 7.38 2097 17300.12 done 1.89 - - 2802.19 - 2.98 0.093 3363.69 396.8 107.06 - - 2557.62 - - - - - - - - - 16.06 -
17428.90 443.47 7.13 2124 17435.91 done 1.91 - - 2803.38 - 2.91 0.041 2114.50 -429.3 107.06 - - 2557.12 - - - - - - - - - 16.09 -
17744.72 422.61 6.38 2156 17746.30 VBD 1.96 - - 2803.19 - - - 2114.25 - 107.06 - - 2555.25 - - - - - - - - - - -
18054.78 403.48 6.01 2187 18061.88 2.03 0.23 0.054 2842.25 169.8 3.67 0.106 688.81 -388.4 107.06 - - 2557.00 - - - - - - - - 16.13 16.02 -
18260.44 389.17 6.93 2228 18266.69 done 2.06 - - 2842.75 - 3.49 0.049 2183.75 428.3 107.06 - - 2556.53 - - - - - - - - - 16.08 -
18570.78 370.49 6.09 2260 18577.68 done 2.12 - - 2843.19 - 3.87 0.099 687.88 -386.5 107.06 - - 2554.91 - - - - - - - - - 16.07 -
18696.22 362.12 6.50 2285 18703.45 2.16 0.17 0.062 2875.69 191.2 3.51 0.048 2184.00 426.2 107.06 - - 2555.91 - - - - - - - - 16.12 16.08 -
19011.24 343.44 6.20 2317 19016.99 done 2.22 - - 2875.69 - 2.97 0.091 3363.56 397.2 107.06 - - 2557.12 - - - - - - - - - 16.07 -
19205.53 331.21 6.03 2356 19212.92 2.28 0.13 0.078 2904.19 219.2 2.92 0.040 2112.06 -428.6 107.06 - - 2555.81 - - - - - - - - 16.11 16.09 -
19521.31 312.70 5.96 2388 19522.98 VBD 2.34 - - 2904.62 - - - 2112.00 - 107.06 - - 2554.62 - - - - - - - - - - -
19831.35 295.49 5.66 2419 19833.11 2.41 0.17 0.067 2936.25 186.1 - - 2112.44 - 107.06 - - 2556.53 - - - - - - - - 16.07 - -
20141.39 278.98 5.09 2450 20148.53 done 2.50 - - 2936.12 - 3.69 0.101 687.56 -386.1 107.06 - - 2554.28 - - - - - - - - - 16.01 -
20181.41 276.76 5.17 2458 20189.16 2.59 0.27 0.051 2980.50 164.4 3.54 0.049 2188.62 424.0 107.06 - - 2556.28 - - - - - - - - 16.11 16.00 -
20497.18 261.51 4.75 2490 20556.07 done 2.67 - - 2979.94 - 3.92 0.098 687.00 -383.1 171.52 50.04 1.313 2318.53 -4.8 0.157 - - - - - - - 15.85 12.16
20583.79 254.22 12.43 2507 20591.61 roll 2.67 - - 2980.50 - 3.55 0.048 2182.19 421.2 171.52 - - 2315.62 - - - - - - - - - 15.91 -
20899.57 210.29 14.25 2539 20901.14 VBD 2.67 - - 2980.50 - - - 2182.88 - 171.52 - - 2308.12 - - - - - - - - - - -
21209.59 167.95 12.90 2570 21216.86 done 2.67 - - 2981.44 - 3.89 0.098 687.69 -384.4 171.52 - - 2306.84 - - - - - - - - - 15.93 -
21259.58 161.24 13.45 2580 21267.16 done 2.67 - - 2979.88 - 3.52 0.047 2183.12 424.8 171.52 - - 2308.28 - - - - - - - - - 15.98 -
21575.35 124.48 10.55 2612 21581.36 done 2.67 - - 2980.44 - 2.98 0.090 3364.31 396.4 171.52 - - 2307.31 - - - - - - - - - 15.99 -
21619.60 119.20 11.77 2621 21626.89 done 2.67 - - 2979.69 - 2.93 0.039 2117.12 -425.7 171.52 - - 2307.03 - - - - - - - - - 16.00 -
21930.43 97.86 4.53 2657 22016.29 2.76 0.28 0.045 3020.19 144.6 3.76 0.101 687.12 -380.3 240.23 73.75 1.065 2038.47 -3.6 0.055 - - - - - - 16.04 15.75 12.42
22244.82 67.87 10.01 2719 22251.65 roll 2.76 - - 3020.56 - 3.55 0.046 2186.44 422.3 240.23 - - 2035.22 - - - - - - - - - 15.89 -
22435.26 54.88 5.80 2757 22442.25 done 2.83 - - 3019.75 - 3.88 0.094 686.69 -386.5 240.23 - - 2033.50 - - - - - - - - - 15.90 -
22605.79 46.08 4.77 2791 22681.28 2.91 0.23 0.048 3056.88 161.4 3.51 0.045 2192.69 429.1 304.31 65.83 0.999 1779.38 -3.9 0.029 - - - - - - 16.00 15.90 12.48
22864.90 27.24 5.92 2842 22872.13 roll 2.98 - - 3056.12 - 3.89 0.094 686.88 -387.1 304.31 - - 1776.62 - - - - - - - - - 15.84 -
22885.76 26.10 5.59 2846 22892.65 roll back 3.05 0.19 0.054 3091.56 186.5 3.49 0.044 2191.75 431.2 304.31 - - 1775.88 - - - - - - - - 15.92 15.83 -
23076.14 25.66 -0.26 2884 23256.63 3.26 0.32 0.043 3143.81 163.3 3.00 0.091 3363.06 390.4 466.67 168.65 0.962 1117.25 -3.9 0.017 - - - - - - 15.95 15.51 12.52
23315 end climb: SURFACE_DEPTH_REACHED
23315 begin surface coast
23330 end surface coast: CONTROL_FINISHED_OK
23330 begin surface
SM 1.83 - - - - 182.9 11.09 0.811 1083.9 82.5 22.90 0.041 1087.9 47.5 - 3.05 0.037 1080.0 353.1 -1.785 - - 12.49 15.76 15.74 -