NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 290 * Raw log
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• Previous call tries 1 • 110.75 of 575.00 AH used of 24V (80.74% remains)
• Surface angle -66.2 deg, depth 1.63 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 475.02 (SM_CC=475)
• GPS1 time: 34 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
9.00 - - - 60.41 VBD -1.56 - - 182.94 - - - 2151.19 - -107.06 50.01 0.005 2163.62 - - - - - - - - - - 15.62
60.85 3.03 -3.16 10 124.07 -1.56 16.28 0.237 1958.50 109.1 3.10 0.095 3362.81 390.8 -107.06 35.21 0.005 3456.50 36.7 -3.683 - - - - - - 15.66 15.56 15.63
127.60 12.44 -18.85 22 133.99 roll -1.56 - - 1959.88 - 3.05 0.038 2067.88 -424.6 -107.06 - - 3458.19 - - - - - - - - - 15.86 -
317.61 44.94 -15.29 60 324.27 roll -1.56 - - 1960.19 - 3.59 0.107 688.12 -384.3 -107.06 - - 3459.09 - - - - - - - - - 15.85 -
372.70 53.42 -15.45 71 379.22 roll -1.56 - - 1958.12 - 3.36 0.041 2134.19 430.4 -107.06 - - 3459.88 - - - - - - - - - 15.92 -
562.75 76.46 -10.78 109 569.29 roll -1.56 - - 1960.56 - 3.10 0.089 3362.44 396.2 -107.06 - - 3460.38 - - - - - - - - - 15.90 -
627.88 83.97 -11.85 122 634.42 roll -1.56 - - 1958.44 - 3.01 0.036 2065.00 -431.0 -107.06 - - 3462.47 - - - - - - - - - 15.95 -
817.90 104.18 -10.42 156 823.95 roll -1.56 - - 1959.94 - 3.57 0.107 687.81 -385.8 -107.06 - - 3462.56 - - - - - - - - - 15.92 -
922.15 116.97 -12.26 177 929.62 roll -1.56 - - 1960.44 - 3.34 0.040 2137.00 433.9 -107.06 - - 3462.94 - - - - - - - - - 15.95 -
1237.92 148.07 -9.23 209 1243.71 roll -1.56 - - 1959.75 - 3.09 0.089 3363.00 396.8 -107.06 - - 3464.53 - - - - - - - - - 15.97 -
1327.93 157.67 -10.80 227 1333.68 roll -1.56 - - 1959.56 - 2.99 0.036 2065.44 -434.0 -107.06 - - 3463.91 - - - - - - - - - 16.02 -
1637.94 188.60 -9.17 259 1643.85 roll -1.56 - - 1961.06 - 3.28 0.087 3361.25 395.1 -107.06 - - 3465.06 - - - - - - - - - 15.99 -
1672.18 192.09 -9.95 266 1679.47 roll -1.56 - - 1959.00 - 2.99 0.037 2064.31 -433.8 -107.06 - - 3464.59 - - - - - - - - - 15.98 -
1987.96 221.13 -9.31 298 1994.00 roll -1.56 - - 1960.06 - 3.56 0.111 688.12 -386.6 -107.06 - - 3464.81 - - - - - - - - - 15.98 -
2027.96 225.39 -10.37 306 2033.91 roll -1.56 - - 1959.62 - 3.32 0.043 2136.38 436.2 -107.06 - - 3464.09 - - - - - - - - - 16.06 -
2337.99 256.12 -9.75 338 2345.17 roll -1.56 - - 1960.56 - 3.72 0.106 687.56 -389.5 -107.06 - - 3463.31 - - - - - - - - - 15.99 -
2383.66 260.93 -10.60 347 2389.65 roll -1.56 - - 1960.00 - 3.34 0.042 2135.38 433.5 -107.06 - - 3463.69 - - - - - - - - - 16.07 -
2693.68 290.89 -10.02 379 2695.25 no move -1.56 - - 1960.25 - - - 2134.94 - -107.06 - - 3462.88 - - - - - - - - - - -
3003.71 321.19 -9.86 410 3009.53 roll -1.56 - - 1960.50 - 3.10 0.092 3363.25 396.2 -107.06 - - 3464.28 - - - - - - - - - 16.07 -
3043.69 325.60 -10.74 418 3049.44 roll -1.56 - - 1960.44 - 2.99 0.039 2065.44 -434.1 -107.06 - - 3464.19 - - - - - - - - - 16.08 -
3353.72 357.00 -9.38 450 3359.80 roll -1.56 - - 1958.62 - 3.57 0.113 687.94 -385.9 -107.06 - - 3464.12 - - - - - - - - - 16.05 -
3393.72 361.16 -10.12 458 3399.67 roll -1.56 - - 1960.62 - 3.34 0.044 2133.69 432.9 -107.06 - - 3463.81 - - - - - - - - - 16.08 -
3703.74 389.24 -8.74 490 3705.31 no move -1.56 - - 1960.44 - - - 2134.44 - -107.06 - - 3461.91 - - - - - - - - - - -
4013.77 416.05 -8.11 521 4020.96 roll -1.56 - - 1961.31 - 3.78 0.109 687.75 -382.7 -107.06 - - 3462.31 - - - - - - - - - 16.07 -
4053.69 419.86 -9.30 529 4061.15 roll -1.56 - - 1960.62 - 3.35 0.044 2132.75 431.3 -107.06 - - 3463.22 - - - - - - - - - 16.08 -
4369.46 445.30 -8.07 561 4376.66 roll -1.56 - - 1959.75 - 3.78 0.108 687.69 -382.3 -107.06 - - 3461.94 - - - - - - - - - 16.06 -
4415.14 449.57 -9.43 570 4421.10 roll -1.56 - - 1960.56 - 3.31 0.043 2135.12 437.3 -107.06 - - 3462.28 - - - - - - - - - 16.08 -
4725.15 474.18 -7.98 602 4732.35 roll -1.56 - - 1958.62 - 3.79 0.110 687.62 -381.9 -107.06 - - 3461.28 - - - - - - - - - 16.07 -
4765.18 477.87 -9.06 610 4772.71 roll -1.56 - - 1960.62 - 3.35 0.045 2133.75 431.7 -107.06 - - 3460.56 - - - - - - - - - 16.10 -
5080.96 505.13 -8.84 642 5082.52 no move -1.56 - - 1960.25 - - - 2133.69 - -107.06 - - 3458.66 - - - - - - - - - - -
5390.98 532.66 -8.64 673 5398.17 roll -1.56 - - 1960.38 - 3.80 0.110 687.12 -380.7 -107.06 - - 3459.97 - - - - - - - - - 16.02 -
5441.00 537.71 -9.90 683 5448.48 roll -1.56 - - 1959.94 - 3.35 0.045 2133.50 431.8 -107.06 - - 3459.44 - - - - - - - - - 16.09 -
5756.79 564.93 -8.84 715 5763.98 roll -1.56 - - 1960.00 - 3.80 0.110 686.81 -380.7 -107.06 - - 3459.09 - - - - - - - - - 16.07 -
5812.46 570.45 -9.99 726 5818.41 roll -1.56 - - 1960.62 - 3.34 0.045 2133.75 433.2 -107.06 - - 3458.09 - - - - - - - - - 16.08 -
6122.47 598.13 -9.21 758 6124.05 no move -1.56 - - 1960.56 - - - 2134.62 - -107.06 - - 3456.50 - - - - - - - - - - -
6432.49 627.22 -9.32 789 6439.74 roll -1.56 - - 1958.19 - 3.81 0.112 687.94 -379.7 -107.06 - - 3457.34 - - - - - - - - - 16.06 -
6502.46 635.08 -10.76 803 6509.96 roll -1.56 - - 1960.00 - 3.38 0.046 2133.56 427.7 -107.06 - - 3455.97 - - - - - - - - - 16.10 -
6818.25 665.68 -9.49 835 6819.83 no move -1.56 - - 1959.88 - - - 2133.75 - -107.06 - - 3454.88 - - - - - - - - - - -
7128.27 691.27 -7.85 866 7135.54 roll -1.56 - - 1961.06 - 3.81 0.112 686.38 -379.9 -107.06 - - 3454.38 - - - - - - - - - 16.03 -
7238.39 701.79 -9.54 888 7245.87 roll -1.56 - - 1960.38 - 3.36 0.046 2133.75 430.8 -107.06 - - 3454.28 - - - - - - - - - 16.07 -
7554.17 727.07 -7.92 920 7555.74 no move -1.56 - - 1960.00 - - - 2133.62 - -107.06 - - 3453.66 - - - - - - - - - - -
7864.19 749.91 -7.81 951 7871.37 roll -1.56 - - 1960.94 - 3.80 0.113 688.88 -380.2 -107.06 - - 3453.56 - - - - - - - - - 16.06 -
7924.09 755.28 -8.69 963 7931.62 roll -1.56 - - 1959.88 - 3.34 0.046 2132.62 432.3 -107.06 - - 3453.94 - - - - - - - - - 16.09 -
8239.87 779.53 -7.61 995 8247.14 roll -1.56 - - 1960.50 - 3.82 0.111 687.69 -378.3 -107.06 - - 3452.16 - - - - - - - - - 16.06 -
8285.62 783.56 -9.02 1004 8291.61 roll -1.56 - - 1960.88 - 3.36 0.045 2133.25 430.2 -107.06 - - 3453.25 - - - - - - - - - 16.09 -
8595.63 807.58 -7.97 1036 8602.88 roll -1.56 - - 1959.56 - 3.83 0.112 687.38 -377.5 -107.06 - - 3452.41 - - - - - - - - - 16.06 -
8635.60 811.27 -9.18 1044 8643.37 roll -1.56 - - 1960.38 - 3.36 0.046 2134.31 430.6 -107.06 - - 3453.69 - - - - - - - - - 16.09 -
8951.38 836.69 -8.73 1076 8952.95 no move -1.56 - - 1960.50 - - - 2133.69 - -107.06 - - 3451.78 - - - - - - - - - - -
9261.41 863.30 -7.80 1107 9268.64 roll -1.56 - - 1957.88 - 3.82 0.112 688.31 -378.4 -107.06 - - 3452.16 - - - - - - - - - 16.05 -
9381.38 874.00 -8.24 1131 9388.89 roll -1.56 - - 1960.50 - 3.37 0.047 2133.44 428.8 -107.06 - - 3451.81 - - - - - - - - - 16.07 -
9697.17 894.29 -6.04 1163 9704.42 roll -1.56 - - 1958.69 - 3.82 0.113 687.50 -378.5 -107.06 - - 3451.31 - - - - - - - - - 16.05 -
9777.28 900.63 -7.83 1179 9784.76 roll -1.56 - - 1959.81 - 3.37 0.046 2132.38 428.7 -107.06 - - 3451.88 - - - - - - - - - 16.06 -
10093.08 926.41 -9.48 1211 10094.65 no move -1.56 - - 1959.94 - - - 2131.69 - -107.06 - - 3450.97 - - - - - - - - - - -
10403.09 949.02 -5.91 1242 10404.67 no move -1.56 - - 1960.25 - - - 2131.81 - -107.06 - - 3449.88 - - - - - - - - - - -
10713.13 972.15 -8.00 1273 10720.38 roll -1.56 - - 1959.56 - 3.82 0.114 687.12 -378.2 -107.06 - - 3452.03 - - - - - - - - - 16.04 -
10793.22 979.25 -8.48 1289 10800.69 roll -1.56 - - 1960.38 - 3.38 0.047 2131.38 427.3 -107.06 - - 3449.78 - - - - - - - - - 16.07 -
10949 end dive: TARGET_DEPTH_EXCEEDED
10949 begin apogee
10950.69 990.01 -6.94 1305 11044.78 -0.42 2.41 0.118 2240.69 116.3 0.10 0.221 2117.06 -143.2 - 85.86 2.226 3020.31 -5.0 0.368 - - - - - - 16.02 15.54 12.07
11056 end apogee: CONTROL_FINISHED_OK
11056 begin climb
11059.10 990.30 - 1314 11163.86 1.56 3.82 0.061 2732.12 128.6 - - 2117.06 - 107.06 94.81 2.151 2581.75 -4.6 0.352 - - - - - - 15.69 - 12.57
11467.42 952.72 10.79 1358 11473.59 1.56 0.28 0.142 2713.62 -66.1 3.21 0.093 3363.56 388.3 107.06 - - 2568.78 - - - - - - - - 15.79 15.74 -
11567.44 942.32 10.52 1378 11573.20 done 1.56 - - 2714.62 - 2.96 0.041 2117.12 -421.1 107.06 - - 2567.88 - - - - - - - - - 15.86 -
11877.47 912.23 10.40 1410 11883.37 done 1.56 - - 2714.94 - 3.18 0.091 3364.25 392.2 107.06 - - 2565.66 - - - - - - - - - 15.95 -
11951.73 904.23 9.74 1425 11959.05 done 1.56 - - 2712.94 - 2.93 0.041 2115.19 -426.3 107.06 - - 2565.66 - - - - - - - - - 15.94 -
12267.51 874.26 10.40 1457 12274.74 done 1.56 - - 2713.44 - 3.76 0.112 687.44 -379.7 107.06 - - 2560.53 - - - - - - - - - 15.97 -
12323.22 868.27 11.29 1468 12329.28 done 1.56 - - 2713.31 - 3.54 0.050 2181.56 422.1 107.06 - - 2562.66 - - - - - - - - - 16.01 -
12633.27 841.06 7.44 1500 12639.02 done 1.58 - - 2713.88 - 2.98 0.093 3364.38 396.9 107.06 - - 2561.12 - - - - - - - - - 15.99 -
12693.23 836.14 7.87 1512 12698.99 done 1.58 - - 2714.19 - 2.91 0.041 2115.81 -429.1 107.06 - - 2561.00 - - - - - - - - - 16.01 -
13003.50 811.04 8.12 1544 13009.17 done 1.58 - - 2714.44 - 3.14 0.090 3363.12 397.2 107.06 - - 2560.75 - - - - - - - - - 16.04 -
13137.53 799.03 9.44 1571 13144.78 done 1.58 - - 2714.31 - 2.89 0.041 2115.38 -431.7 107.06 - - 2561.62 - - - - - - - - - 16.05 -
13453.31 772.41 8.40 1603 13454.88 VBD 1.58 - - 2714.19 - - - 2114.75 - 107.06 - - 2559.31 - - - - - - - - - - -
13763.59 747.11 7.95 1634 13769.21 done 1.58 - - 2713.50 - 3.17 0.092 3362.81 393.7 107.06 - - 2560.03 - - - - - - - - - 16.04 -
13973.39 728.37 8.94 1676 13979.10 done 1.58 - - 2714.56 - 2.89 0.041 2114.94 -431.8 107.06 - - 2561.91 - - - - - - - - - 16.05 -
14283.41 703.64 8.04 1708 14290.59 done 1.58 - - 2713.94 - 3.68 0.108 687.62 -387.9 107.06 - - 2557.25 - - - - - - - - - 16.04 -
14329.24 699.82 9.00 1717 14335.25 done 1.58 - - 2713.31 - 3.51 0.049 2183.31 426.1 107.06 - - 2558.12 - - - - - - - - - 16.06 -
14639.24 677.84 6.85 1749 14645.32 1.62 0.23 0.055 2743.00 129.1 3.00 0.092 3365.06 393.9 107.06 - - 2558.06 - - - - - - - - 16.15 16.02 -
14739.21 669.80 8.15 1769 14744.96 done 1.62 - - 2742.94 - 2.90 0.041 2116.25 -430.6 107.06 - - 2559.00 - - - - - - - - - 16.07 -
15049.28 647.29 6.59 1801 15050.86 VBD 1.66 - - 2742.56 - - - 2115.94 - 107.06 - - 2556.69 - - - - - - - - - - -
15359.57 625.82 7.15 1832 15361.14 VBD 1.69 - - 2743.06 - - - 2115.75 - 107.06 - - 2556.66 - - - - - - - - - - -
15669.55 600.79 8.07 1863 15675.22 done 1.69 - - 2742.88 - 3.17 0.092 3364.06 393.8 107.06 - - 2557.12 - - - - - - - - - 16.06 -
15859.36 584.82 8.48 1901 15865.32 done 1.69 - - 2743.50 - 2.90 0.041 2113.88 -431.1 107.06 - - 2557.94 - - - - - - - - - 16.07 -
16169.63 560.94 7.67 1933 16176.56 done 1.69 - - 2741.94 - 3.65 0.107 686.56 -391.0 107.06 - - 2556.44 - - - - - - - - - 16.04 -
16319.32 548.05 8.61 1963 16326.85 done 1.69 - - 2743.19 - 3.49 0.050 2181.25 428.3 107.06 - - 2556.31 - - - - - - - - - 16.08 -
16635.13 527.89 6.04 1995 16641.07 1.75 0.17 0.060 2774.94 186.8 2.97 0.091 3363.81 398.2 107.06 - - 2556.41 - - - - - - - - 16.13 16.02 -
16689.39 524.21 6.69 2006 16696.57 done 1.79 - - 2775.31 - 2.89 0.041 2112.81 -432.9 107.06 - - 2557.62 - - - - - - - - - 16.07 -
17005.41 505.48 6.08 2038 17012.40 1.85 0.10 0.081 2800.12 248.1 3.63 0.105 686.81 -392.8 107.06 - - 2555.09 - - - - - - - - 16.02 15.95 -
17215.15 489.44 8.23 2080 17222.89 1.85 0.26 0.163 2783.69 -63.2 3.49 0.050 2182.00 428.4 107.06 - - 2556.03 - - - - - - - - 15.97 16.03 -
17530.96 469.36 5.80 2112 17536.88 1.92 0.22 0.054 2816.44 148.9 2.98 0.090 3365.31 397.1 107.06 - - 2556.38 - - - - - - - - 16.11 16.00 -
17560.97 467.19 6.38 2118 17566.64 done 1.97 - - 2816.94 - 2.88 0.040 2115.69 -433.9 107.06 - - 2555.47 - - - - - - - - - 16.06 -
17870.93 444.75 7.67 2150 17876.81 done 1.97 - - 2816.25 - 3.13 0.089 3364.19 398.9 107.06 - - 2555.66 - - - - - - - - - 16.04 -
17935.19 439.67 7.96 2163 17942.46 done 1.97 - - 2815.75 - 2.88 0.040 2114.81 -433.8 107.06 - - 2556.34 - - - - - - - - - 16.01 -
18251.23 416.19 7.55 2195 18258.37 done 1.97 - - 2817.19 - 3.61 0.104 686.94 -395.5 107.06 - - 2553.81 - - - - - - - - - 16.03 -
18347.38 408.55 7.95 2214 18354.30 done 1.97 - - 2817.25 - 3.47 0.048 2183.12 431.2 107.06 - - 2554.50 - - - - - - - - - 16.05 -
18662.38 387.65 6.90 2246 18664.00 VBD 2.00 - - 2817.19 - - - 2183.25 - 107.06 - - 2554.69 - - - - - - - - - - -
18972.42 366.74 7.02 2277 18974.33 2.03 0.14 0.065 2844.12 192.4 - - 2184.12 - 107.06 - - 2554.00 - - - - - - - - 16.11 - -
19282.47 344.69 6.95 2308 19284.08 VBD 2.07 - - 2844.00 - - - 2183.62 - 107.06 - - 2554.69 - - - - - - - - - - -
19592.50 325.90 5.62 2339 19598.31 2.14 0.11 0.079 2869.31 230.1 3.00 0.091 3364.38 393.6 107.06 - - 2556.81 - - - - - - - - 16.12 15.99 -
19826.58 310.97 6.19 2386 19834.20 done 2.19 - - 2869.06 - 2.89 0.041 2115.94 -432.0 107.06 - - 2555.91 - - - - - - - - - 16.05 -
20142.62 294.56 4.85 2418 20201.43 2.28 0.18 0.062 2902.69 186.8 3.20 0.089 3364.50 390.2 169.62 48.49 1.355 2325.09 -4.8 0.171 - - - - - - 16.06 15.85 12.00
20319.35 276.48 13.32 2453 20327.04 done 2.28 - - 2902.06 - 2.92 0.041 2117.62 -427.0 169.62 - - 2321.38 - - - - - - - - - 15.91 -
20635.39 239.98 11.10 2485 20637.01 VBD 2.28 - - 2902.50 - - - 2116.75 - 169.62 - - 2316.47 - - - - - - - - - - -
20945.49 202.18 12.15 2516 20952.56 done 2.28 - - 2900.94 - 3.69 0.105 686.75 -387.5 169.62 - - 2315.25 - - - - - - - - - 15.90 -
21101.52 179.41 14.34 2547 21108.57 done 2.28 - - 2902.25 - 3.52 0.049 2181.94 424.8 169.62 - - 2313.97 - - - - - - - - - 15.93 -
21416.55 142.51 10.29 2579 21422.22 done 2.28 - - 2904.12 - 2.97 0.087 3364.31 398.1 169.62 - - 2314.50 - - - - - - - - - 15.98 -
21476.57 136.75 9.66 2591 21482.23 done 2.28 - - 2902.94 - 2.88 0.038 2114.06 -434.1 169.62 - - 2313.31 - - - - - - - - - 15.99 -
21786.60 106.91 8.48 2623 21793.74 done 2.28 - - 2902.81 - 3.63 0.101 686.75 -393.2 169.62 - - 2315.81 - - - - - - - - - 15.96 -
22022.77 87.88 7.43 2670 22029.73 done 2.29 - - 2902.94 - 3.49 0.047 2184.44 429.1 169.62 - - 2313.34 - - - - - - - - - 15.94 -
22213.57 81.79 2.42 2708 22342.16 2.44 0.21 0.056 2940.56 179.1 3.05 0.090 3363.50 386.6 279.51 115.84 1.059 1879.12 -3.7 0.048 - - - - - - 16.04 15.64 12.23
22571.11 45.71 12.42 2778 22577.78 roll 2.44 - - 2941.50 - 2.92 0.038 2115.38 -427.4 279.51 - - 1877.62 - - - - - - - - - 15.83 -
22761.71 28.47 6.38 2816 22766.48 no move 2.49 - - 2941.44 - - - 2115.69 - 279.51 - - 1877.25 - - - - - - - - - - -
22951.76 25.27 1.19 2854 23106.21 2.66 0.37 0.043 2997.19 150.7 3.25 0.086 3364.00 384.1 413.51 138.82 0.980 1334.03 -3.9 0.017 - - - - - - 15.91 15.56 12.33
23285 end climb: SURFACE_DEPTH_REACHED
23285 begin surface coast
23310 end surface coast: CONTROL_FINISHED_OK
23310 begin surface
SM 2.14 - - - - 183.2 62.60 0.952 1083.5 15.1 21.50 0.051 1095.3 50.9 - 3.02 0.038 1071.8 353.8 -2.037 - - 12.43 15.84 15.82 -