NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 373 * Raw log
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• Previous call tries 1 • 139.71 of 575.00 AH used of 24V (75.70% remains)
• Surface angle -66.2 deg, depth 1.57 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 474.92 (SM_CC=475)
• GPS1 time: 58 s
• GPS2 time: 2 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
9.07 - - - 60.49 VBD -1.56 - - 186.75 - - - 2135.81 - -107.06 50.03 0.005 2187.59 - - - - - - - - - - 15.48
60.93 3.12 -3.40 10 118.08 -1.56 16.70 0.233 1959.88 106.2 - - 2137.25 - -107.06 32.36 0.005 3455.47 39.2 -4.071 - - - - - - 15.51 - 15.54
301.59 46.95 -15.47 57 308.01 roll -1.56 - - 1958.94 - 3.14 0.088 3363.12 390.4 -107.06 - - 3459.72 - - - - - - - - - 15.74 -
376.68 59.06 -15.88 72 382.99 roll -1.56 - - 1959.94 - 3.04 0.035 2063.06 -427.7 -107.06 - - 3460.25 - - - - - - - - - 15.79 -
566.61 83.75 -12.35 110 571.04 no move -1.56 - - 1959.94 - - - 2063.00 - -107.06 - - 3460.56 - - - - - - - - - - -
756.65 106.37 -11.89 143 758.22 no move -1.56 - - 1959.62 - - - 2063.50 - -107.06 - - 3460.84 - - - - - - - - - - -
1066.91 137.74 -9.15 174 1072.61 roll -1.56 - - 1959.44 - 3.33 0.087 3361.25 389.7 -107.06 - - 3463.72 - - - - - - - - - 15.92 -
1096.67 140.41 -8.79 180 1102.48 roll -1.56 - - 1959.81 - 3.05 0.037 2064.75 -425.1 -107.06 - - 3463.81 - - - - - - - - - 15.92 -
1406.69 166.49 -9.06 212 1412.75 roll -1.56 - - 1960.12 - 3.59 0.105 687.75 -383.6 -107.06 - - 3463.91 - - - - - - - - - 15.91 -
1456.95 171.73 -10.57 222 1462.65 roll -1.56 - - 1959.62 - 3.33 0.040 2134.25 434.4 -107.06 - - 3462.97 - - - - - - - - - 15.95 -
1766.73 198.52 -8.77 254 1768.30 no move -1.56 - - 1959.88 - - - 2136.25 - -107.06 - - 3463.22 - - - - - - - - - - -
2076.76 227.78 -9.80 285 2084.00 roll -1.56 - - 1960.25 - 3.81 0.103 687.81 -380.2 -107.06 - - 3463.56 - - - - - - - - - 15.81 -
2162.49 237.95 -11.74 302 2168.49 roll -1.56 - - 1960.62 - 3.36 0.041 2136.50 431.2 -107.06 - - 3464.28 - - - - - - - - - 15.93 -
2472.52 268.47 -9.85 334 2474.09 no move -1.56 - - 1959.56 - - - 2136.38 - -107.06 - - 3463.69 - - - - - - - - - - -
2782.55 300.39 -10.45 365 2789.74 roll -1.56 - - 1958.50 - 3.80 0.105 687.44 -381.3 -107.06 - - 3463.50 - - - - - - - - - 15.94 -
2848.23 308.03 -11.75 378 2854.17 roll -1.56 - - 1959.44 - 3.37 0.042 2134.69 429.5 -107.06 - - 3465.09 - - - - - - - - - 15.99 -
3158.25 338.33 -9.22 410 3159.82 no move -1.56 - - 1959.75 - - - 2135.12 - -107.06 - - 3463.47 - - - - - - - - - - -
3468.28 367.54 -9.56 441 3475.52 roll -1.56 - - 1960.25 - 3.82 0.104 687.75 -378.9 -107.06 - - 3462.75 - - - - - - - - - 15.89 -
3524.11 373.60 -10.88 452 3530.07 roll -1.56 - - 1960.19 - 3.35 0.043 2135.88 432.3 -107.06 - - 3463.59 - - - - - - - - - 16.01 -
3834.14 401.18 -8.74 484 3841.34 roll -1.56 - - 1960.00 - 3.80 0.104 686.25 -381.5 -107.06 - - 3462.41 - - - - - - - - - 15.94 -
3889.82 406.68 -9.61 495 3895.77 roll -1.56 - - 1959.44 - 3.35 0.043 2135.62 432.6 -107.06 - - 3463.34 - - - - - - - - - 16.01 -
4199.85 429.91 -6.98 527 4201.42 no move -1.56 - - 1959.81 - - - 2135.50 - -107.06 - - 3460.88 - - - - - - - - - - -
4509.88 452.15 -7.36 558 4517.11 roll -1.56 - - 1959.56 - 3.81 0.107 688.38 -379.8 -107.06 - - 3459.69 - - - - - - - - - 15.92 -
4555.59 456.27 -9.13 567 4561.54 roll -1.56 - - 1959.75 - 3.36 0.044 2136.56 431.0 -107.06 - - 3460.53 - - - - - - - - - 16.01 -
4865.62 482.75 -9.19 599 4872.82 roll -1.56 - - 1960.44 - 3.77 0.107 687.62 -384.3 -107.06 - - 3458.47 - - - - - - - - - 15.93 -
4951.56 491.84 -10.48 616 4957.27 roll -1.56 - - 1958.69 - 3.36 0.044 2129.69 429.2 -107.06 - - 3459.91 - - - - - - - - - 15.97 -
5261.34 521.66 -9.20 648 5268.54 roll -1.56 - - 1959.44 - 3.79 0.106 687.00 -380.7 -107.06 - - 3457.62 - - - - - - - - - 15.93 -
5311.59 527.30 -10.52 658 5318.74 roll -1.56 - - 1959.75 - 3.36 0.043 2136.31 431.3 -107.06 - - 3458.94 - - - - - - - - - 16.00 -
5627.08 555.53 -8.92 690 5634.32 roll -1.56 - - 1959.06 - 3.82 0.109 687.69 -379.2 -107.06 - - 3458.16 - - - - - - - - - 15.91 -
5703.08 562.85 -9.81 705 5708.79 roll -1.56 - - 1958.31 - 3.35 0.044 2130.69 430.7 -107.06 - - 3458.50 - - - - - - - - - 16.01 -
6012.87 588.26 -8.18 737 6020.06 roll -1.56 - - 1960.38 - 3.79 0.107 686.62 -381.0 -107.06 - - 3454.44 - - - - - - - - - 15.91 -
6082.77 594.76 -8.89 751 6090.41 roll -1.56 - - 1960.00 - 3.33 0.044 2134.81 434.9 -107.06 - - 3456.22 - - - - - - - - - 16.02 -
6398.58 621.26 -8.67 783 6400.15 no move -1.56 - - 1960.00 - - - 2134.81 - -107.06 - - 3454.12 - - - - - - - - - - -
6708.60 649.35 -9.26 814 6715.85 roll -1.56 - - 1959.94 - 3.82 0.108 687.19 -379.0 -107.06 - - 3453.59 - - - - - - - - - 15.91 -
6808.70 659.75 -9.68 834 6816.17 roll -1.56 - - 1958.62 - 3.37 0.045 2135.00 429.6 -107.06 - - 3455.09 - - - - - - - - - 16.02 -
7124.49 686.69 -8.49 866 7131.74 roll -1.56 - - 1960.00 - 3.81 0.106 686.75 -380.1 -107.06 - - 3452.59 - - - - - - - - - 15.91 -
7154.45 689.71 -9.18 872 7161.92 roll -1.56 - - 1960.06 - 3.35 0.042 2136.00 432.6 -107.06 - - 3453.56 - - - - - - - - - 15.99 -
7470.25 714.33 -7.26 904 7477.50 roll -1.56 - - 1960.31 - 3.81 0.104 687.12 -380.3 -107.06 - - 3451.81 - - - - - - - - - 15.90 -
7520.34 718.92 -8.57 914 7527.86 roll -1.56 - - 1959.38 - 3.34 0.041 2135.38 433.6 -107.06 - - 3453.81 - - - - - - - - - 16.00 -
7836.13 741.20 -6.98 946 7843.33 roll -1.56 - - 1959.50 - 3.80 0.104 687.00 -381.2 -107.06 - - 3453.59 - - - - - - - - - 15.90 -
7871.81 744.24 -7.93 953 7877.77 roll -1.56 - - 1960.12 - 3.33 0.041 2136.00 435.1 -107.06 - - 3453.06 - - - - - - - - - 16.00 -
8181.84 768.59 -8.31 985 8189.09 roll -1.56 - - 1959.44 - 3.82 0.104 686.88 -379.4 -107.06 - - 3453.28 - - - - - - - - - 15.90 -
8227.68 772.61 -9.32 994 8233.69 roll -1.56 - - 1959.75 - 3.35 0.040 2135.25 432.3 -107.06 - - 3452.94 - - - - - - - - - 16.01 -
8537.71 797.88 -8.34 1026 8544.96 roll -1.56 - - 1958.62 - 3.83 0.104 687.44 -378.0 -107.06 - - 3452.50 - - - - - - - - - 15.90 -
8593.45 803.25 -9.74 1037 8599.40 roll -1.56 - - 1959.94 - 3.36 0.040 2135.31 430.9 -107.06 - - 3451.31 - - - - - - - - - 16.00 -
8903.47 828.07 -8.26 1069 8910.73 roll -1.56 - - 1959.69 - 3.81 0.104 686.81 -380.2 -107.06 - - 3450.28 - - - - - - - - - 15.89 -
8979.33 834.80 -8.91 1084 8985.31 roll -1.56 - - 1959.56 - 3.34 0.040 2136.38 434.0 -107.06 - - 3451.38 - - - - - - - - - 16.01 -
9289.37 858.97 -7.80 1116 9296.58 roll -1.56 - - 1959.81 - 3.79 0.105 686.38 -382.6 -107.06 - - 3449.53 - - - - - - - - - 15.87 -
9349.31 864.68 -9.16 1128 9356.79 roll -1.56 - - 1959.56 - 3.33 0.040 2136.31 435.4 -107.06 - - 3451.22 - - - - - - - - - 16.00 -
9665.11 888.46 -7.34 1160 9672.31 roll -1.56 - - 1959.44 - 3.80 0.105 686.38 -381.6 -107.06 - - 3449.00 - - - - - - - - - 15.88 -
9735.15 894.17 -7.85 1174 9742.65 roll -1.56 - - 1960.00 - 3.33 0.040 2136.62 435.5 -107.06 - - 3451.00 - - - - - - - - - 15.99 -
10050.95 916.90 -7.47 1206 10052.64 no move -1.56 - - 1959.44 - - - 2136.81 - -107.06 - - 3449.28 - - - - - - - - - - -
10360.98 940.65 -7.64 1237 10368.18 roll -1.56 - - 1958.88 - 3.80 0.108 686.69 -381.6 -107.06 - - 3450.34 - - - - - - - - - 15.86 -
10486.80 952.65 -9.41 1262 10492.76 roll -1.56 - - 1959.25 - 3.34 0.042 2134.38 433.4 -107.06 - - 3449.97 - - - - - - - - - 16.00 -
10796.83 979.13 -8.62 1294 10804.08 roll -1.56 - - 1959.44 - 3.81 0.106 686.19 -380.1 -107.06 - - 3447.62 - - - - - - - - - 15.83 -
10866.81 986.39 -9.65 1308 10874.29 roll -1.56 - - 1959.69 - 3.35 0.040 2133.88 432.1 -107.06 - - 3448.81 - - - - - - - - - 16.00 -
10922 end dive: TARGET_DEPTH_EXCEEDED
10922 begin apogee
10924.27 990.76 -8.59 1314 11018.69 -0.42 2.45 0.117 2241.25 114.9 0.10 0.221 2117.12 -167.6 - 86.32 2.229 3018.91 -5.0 0.369 - - - - - - 15.87 15.48 11.43
11022 end apogee: CONTROL_FINISHED_OK
11023 begin climb
11025.56 992.87 - 1323 11138.57 1.56 3.84 0.059 2732.81 128.0 3.28 0.092 3361.75 379.5 107.06 94.99 2.154 2581.22 -4.6 0.354 - - - - - - 15.62 15.29 12.44
11157.20 987.33 7.38 1347 11162.92 roll 1.58 - - 2732.88 - 3.00 0.036 2117.00 -414.9 107.06 - - 2576.19 - - - - - - - - - 15.52 -
11467.18 956.06 10.52 1379 11468.75 VBD 1.58 - - 2733.00 - - - 2117.38 - 107.06 - - 2567.22 - - - - - - - - - - -
11777.21 924.28 10.13 1410 11783.10 done 1.58 - - 2732.50 - 3.17 0.087 3364.19 393.3 107.06 - - 2565.38 - - - - - - - - - 15.85 -
11961.50 904.40 10.68 1447 11968.80 done 1.58 - - 2732.44 - 2.94 0.037 2116.62 -424.3 107.06 - - 2564.50 - - - - - - - - - 15.91 -
12277.28 876.44 8.51 1479 12283.16 done 1.58 - - 2732.50 - 3.15 0.087 3365.94 396.6 107.06 - - 2563.94 - - - - - - - - - 15.92 -
12451.56 859.99 9.32 1514 12458.87 done 1.58 - - 2732.81 - 2.91 0.037 2118.00 -428.8 107.06 - - 2563.03 - - - - - - - - - 15.94 -
12767.34 834.43 7.57 1546 12773.25 done 1.58 - - 2731.94 - 3.16 0.086 3364.88 394.6 107.06 - - 2563.34 - - - - - - - - - 15.94 -
12911.62 822.38 8.79 1575 12918.88 done 1.58 - - 2731.44 - 2.93 0.037 2114.81 -426.6 107.06 - - 2563.25 - - - - - - - - - 15.96 -
13227.89 798.04 8.30 1607 13233.28 done 1.58 - - 2732.12 - 3.14 0.087 3363.25 397.6 107.06 - - 2559.66 - - - - - - - - - 15.95 -
13337.44 788.01 8.80 1629 13343.19 done 1.58 - - 2732.88 - 2.94 0.037 2114.69 -424.7 107.06 - - 2562.62 - - - - - - - - - 15.97 -
13647.45 763.32 8.28 1661 13649.02 VBD 1.58 - - 2732.62 - - - 2115.31 - 107.06 - - 2559.66 - - - - - - - - - - -
13957.48 739.23 7.60 1692 13963.36 done 1.58 - - 2731.75 - 3.18 0.086 3362.88 392.3 107.06 - - 2562.31 - - - - - - - - - 15.96 -
14137.53 723.91 8.61 1728 14143.30 done 1.58 - - 2732.94 - 2.92 0.037 2117.12 -426.6 107.06 - - 2561.09 - - - - - - - - - 15.98 -
14447.60 701.10 7.23 1760 14449.17 VBD 1.61 - - 2732.88 - - - 2116.94 - 107.06 - - 2559.03 - - - - - - - - - - -
14757.64 680.88 6.63 1791 14763.45 done 1.65 - - 2731.69 - 3.18 0.086 3364.06 392.2 107.06 - - 2561.84 - - - - - - - - - 15.95 -
14991.89 663.27 7.66 1838 14999.17 done 1.65 - - 2733.00 - 2.94 0.037 2114.69 -425.0 107.06 - - 2559.44 - - - - - - - - - 15.88 -
15307.71 640.13 7.30 1870 15313.70 1.67 0.10 0.084 2755.19 221.9 3.20 0.086 3365.38 390.8 107.06 - - 2560.72 - - - - - - - - 16.06 15.89 -
15541.97 619.84 8.96 1917 15549.24 done 1.67 - - 2754.88 - 2.91 0.037 2115.44 -429.5 107.06 - - 2560.22 - - - - - - - - - 16.00 -
15857.79 595.40 7.11 1949 15863.63 done 1.70 - - 2754.75 - 3.20 0.085 3364.56 390.3 107.06 - - 2558.38 - - - - - - - - - 15.95 -
16092.09 577.18 7.28 1996 16099.31 done 1.73 - - 2754.00 - 2.92 0.038 2116.81 -427.3 107.06 - - 2560.50 - - - - - - - - - 15.97 -
16407.87 558.03 5.47 2028 16409.68 1.80 0.25 0.047 2786.75 131.0 - - 2117.00 - 107.06 - - 2557.69 - - - - - - - - 16.06 - -
16717.90 540.35 5.81 2059 16719.48 VBD 1.87 - - 2787.50 - - - 2116.88 - 107.06 - - 2557.34 - - - - - - - - - - -
17028.18 521.79 6.40 2090 17034.97 1.92 0.19 0.054 2816.88 154.6 3.18 0.085 3363.25 391.9 107.06 - - 2556.81 - - - - - - - - 16.08 15.88 -
17243.58 504.76 7.98 2133 17249.60 1.92 0.28 0.166 2800.62 -58.1 2.93 0.038 2116.06 -425.7 107.06 - - 2559.09 - - - - - - - - 15.80 15.99 -
17553.90 482.73 7.38 2165 17561.01 done 1.94 - - 2801.12 - 3.73 0.102 686.38 -383.3 107.06 - - 2557.12 - - - - - - - - - 15.87 -
17703.94 469.44 9.40 2195 17711.53 done 1.94 - - 2801.12 - 3.52 0.045 2182.25 425.0 107.06 - - 2557.25 - - - - - - - - - 16.00 -
18019.75 444.51 7.32 2227 18021.53 1.96 0.18 0.064 2827.38 145.9 - - 2183.56 - 107.06 - - 2556.78 - - - - - - - - 16.00 - -
18329.77 422.31 6.51 2258 18335.65 done 2.01 - - 2827.88 - 3.02 0.088 3364.06 390.9 107.06 - - 2557.75 - - - - - - - - - 15.84 -
18564.06 406.92 6.43 2305 18571.29 done 2.06 - - 2827.75 - 2.94 0.037 2114.00 -425.2 107.06 - - 2557.12 - - - - - - - - - 15.99 -
18879.83 389.53 5.20 2337 18885.93 2.14 0.26 0.051 2870.25 163.5 3.22 0.084 3366.12 388.9 107.06 - - 2557.75 - - - - - - - - 16.03 15.86 -
19114.13 375.57 5.66 2384 19121.35 done 2.21 - - 2869.44 - 2.93 0.036 2113.69 -427.5 107.06 - - 2557.97 - - - - - - - - - 15.96 -
19429.89 360.79 4.70 2416 19489.74 2.30 0.24 0.050 2907.75 159.6 3.21 0.088 3362.50 389.0 172.50 51.44 1.450 2313.94 -4.7 0.197 - - - - - - 16.05 15.78 11.60
19518.32 353.52 11.40 2433 19524.08 roll 2.30 - - 2908.25 - 2.96 0.036 2115.31 -421.3 172.50 - - 2312.03 - - - - - - - - - 15.85 -
19828.34 312.90 13.45 2465 19829.92 VBD 2.30 - - 2907.25 - - - 2115.19 - 172.50 - - 2304.53 - - - - - - - - - - -
20138.60 270.66 13.26 2496 20140.19 VBD 2.30 - - 2907.62 - - - 2115.00 - 172.50 - - 2304.22 - - - - - - - - - - -
20448.37 231.63 12.38 2527 20454.34 done 2.30 - - 2907.19 - 3.23 0.085 3362.94 386.4 172.50 - - 2304.44 - - - - - - - - - 15.82 -
20512.63 222.93 13.62 2540 20519.91 done 2.30 - - 2907.06 - 2.94 0.036 2116.81 -423.9 172.50 - - 2305.06 - - - - - - - - - 15.88 -
20828.40 185.35 11.43 2572 20834.28 done 2.30 - - 2907.81 - 3.19 0.085 3364.06 391.0 172.50 - - 2302.84 - - - - - - - - - 15.82 -
20882.65 178.44 12.67 2583 20890.42 done 2.30 - - 2907.94 - 2.95 0.037 2116.62 -422.9 172.50 - - 2302.84 - - - - - - - - - 15.86 -
21198.67 145.05 10.64 2615 21204.39 done 2.30 - - 2908.62 - 3.20 0.083 3364.06 389.8 172.50 - - 2302.12 - - - - - - - - - 15.83 -
21432.72 119.92 9.71 2662 21440.00 done 2.30 - - 2908.75 - 2.94 0.036 2114.00 -425.2 172.50 - - 2301.88 - - - - - - - - - 15.88 -
21743.54 96.63 6.32 2698 21750.40 done 2.35 - - 2908.81 - 3.20 0.081 3363.94 390.6 172.50 - - 2301.03 - - - - - - - - - 15.83 -
21979.10 92.93 -0.07 2745 22155.66 2.56 0.48 0.042 2969.38 126.2 2.92 0.034 2110.81 -429.2 331.06 164.62 1.067 1669.22 -3.8 0.056 - - - - - - 15.85 15.82 12.00
22339.23 56.32 13.43 2815 22345.93 roll 2.56 - - 2970.62 - 3.27 0.085 3362.56 382.8 331.06 - - 1673.94 - - - - - - - - - 15.63 -
22574.58 31.67 5.81 2862 22581.06 roll 2.62 - - 2970.81 - 2.95 0.035 2115.62 -422.7 331.06 - - 1673.88 - - - - - - - - - 15.77 -
22764.86 26.52 1.89 2900 22908.49 2.78 0.41 0.040 3024.94 132.0 3.25 0.084 3364.12 384.2 451.33 132.68 0.979 1179.53 -3.7 0.017 - - - - - - 15.93 15.56 12.14
23057 end climb: SURFACE_DEPTH_REACHED
23057 begin surface coast
23077 end surface coast: CONTROL_FINISHED_OK
23077 begin surface
SM 2.61 - - - - 188.1 25.00 0.924 1083.9 38.0 22.01 0.047 1089.6 49.5 - 3.08 0.036 1078.2 349.0 -2.586 - - 12.33 15.80 15.76 -