NANOOS May22 * SG236 * Dive index * Mission links * Dive 101 * Raw log
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• Previous call tries 1 • 50.24 of 575.00 AH used of 24V (91.26% remains)
• Surface angle -62.9 deg, depth 1.43 m • Intended pitch -20.9 deg, speed -7.857 cm/s
• VBD pumped to 399.70 (SM_CC=400)
• GPS1 time: 20 s
• GPS2 time: 2 s • Transponder ping count: 91
• 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
1 end surface: CONTROL_FINISHED_OK
1 begin dive
4.34 - - - 75.10 VBD -1.29 - - 171.44 - - - 2262.88 - -82.73 70.26 0.005 2614.56 - - - - - - - - - - 15.65
75.33 3.29 -2.71 13 117.64 -1.29 15.82 0.255 2055.69 119.1 3.58 0.102 3640.62 384.8 -82.73 16.45 0.006 3188.25 34.9 -3.174 - - - - - - 15.69 15.65 15.68
345.58 60.14 -21.37 67 351.29 roll -1.29 - - 2055.50 - 3.42 0.059 2203.56 -420.2 -82.73 - - 3190.00 - - - - - - - - - 15.86 -
535.60 92.13 -13.74 105 539.60 no move -1.29 - - 2055.31 - - - 2203.50 - -82.73 - - 3189.12 - - - - - - - - - - -
720.62 119.04 -13.22 142 726.37 roll -1.29 - - 2055.81 - 3.68 0.097 3640.12 390.4 -82.73 - - 3189.25 - - - - - - - - - 15.93 -
795.67 129.66 -13.82 157 801.34 roll -1.29 - - 2055.19 - 3.38 0.057 2201.81 -425.5 -82.73 - - 3188.88 - - - - - - - - - 15.94 -
1105.71 165.54 -10.79 219 1111.45 roll -1.29 - - 2055.38 - 3.72 0.145 800.19 -376.8 -82.73 - - 3191.34 - - - - - - - - - 15.97 -
1150.71 171.29 -12.67 228 1156.42 roll -1.29 - - 2055.06 - 3.44 0.055 2255.62 423.1 -82.73 - - 3190.28 - - - - - - - - - 15.99 -
1460.80 205.23 -10.29 290 1466.49 roll -1.29 - - 2055.56 - 3.55 0.100 3640.19 390.0 -82.73 - - 3189.72 - - - - - - - - - 16.00 -
1505.77 210.70 -12.03 299 1511.47 roll -1.29 - - 2053.88 - 3.40 0.057 2203.50 -422.6 -82.73 - - 3190.81 - - - - - - - - - 16.02 -
1815.85 245.84 -11.78 361 1819.86 no move -1.29 - - 2055.19 - - - 2203.81 - -82.73 - - 3190.91 - - - - - - - - - - -
2120.88 279.48 -11.45 422 2126.61 roll -1.29 - - 2055.75 - 3.66 0.099 3639.25 392.2 -82.73 - - 3190.88 - - - - - - - - - 16.05 -
2150.88 283.12 -12.14 428 2156.60 roll -1.29 - - 2055.31 - 3.39 0.057 2202.81 -423.7 -82.73 - - 3190.91 - - - - - - - - - 16.06 -
2462.48 318.81 -11.87 473 2472.46 no move -1.29 - - 2055.19 - - - 2202.50 - -82.73 - - 3190.47 - - - - - - - - - - -
2782.54 354.55 -11.02 505 2797.04 roll -1.29 - - 2055.19 - 3.76 0.149 800.88 -372.8 -82.73 - - 3192.06 - - - - - - - - - 16.07 -
2842.03 363.25 -14.32 514 2854.81 roll -1.29 - - 2055.25 - 3.45 0.059 2255.88 421.7 -82.73 - - 3193.00 - - - - - - - - - 16.08 -
3164.26 397.09 -9.96 546 3174.24 no move -1.29 - - 2055.81 - - - 2256.19 - -82.73 - - 3191.69 - - - - - - - - - - -
3484.31 430.88 -10.73 578 3494.30 no move -1.29 - - 2055.88 - - - 2256.38 - -82.73 - - 3190.81 - - - - - - - - - - -
3804.37 463.57 -10.43 610 3814.36 no move -1.29 - - 2055.38 - - - 2255.94 - -82.73 - - 3189.62 - - - - - - - - - - -
4124.42 496.82 -9.62 642 4138.95 roll -1.29 - - 2055.50 - 3.90 0.147 801.81 -372.9 -82.73 - - 3188.50 - - - - - - - - - 16.09 -
4155.51 501.33 -12.12 647 4168.30 roll -1.29 - - 2056.00 - 3.46 0.061 2255.06 420.0 -82.73 - - 3188.81 - - - - - - - - - 16.11 -
4482.60 533.18 -9.56 669 4490.05 roll -1.29 - - 2055.25 - 3.89 0.147 802.25 -373.5 -82.73 - - 3188.16 - - - - - - - - - 16.10 -
4523.57 538.29 -11.49 676 4529.28 roll -1.29 - - 2055.12 - 3.45 0.060 2254.88 421.1 -82.73 - - 3188.59 - - - - - - - - - 16.12 -
4840.69 567.79 -9.09 698 4848.14 roll -1.29 - - 2055.31 - 3.88 0.146 800.81 -374.8 -82.73 - - 3188.62 - - - - - - - - - 16.10 -
4881.66 572.54 -9.96 705 4887.36 roll -1.29 - - 2055.94 - 3.43 0.061 2253.56 423.5 -82.73 - - 3190.03 - - - - - - - - - 16.12 -
5198.77 600.88 -8.83 727 5206.18 roll -1.29 - - 2055.62 - 3.57 0.105 3640.50 388.5 -82.73 - - 3186.88 - - - - - - - - - 16.12 -
5237.59 604.97 -10.12 733 5244.99 roll -1.29 - - 2055.44 - 3.40 0.060 2203.38 -422.7 -82.73 - - 3188.31 - - - - - - - - - 16.12 -
5557.22 635.05 -9.38 756 5558.56 no move -1.29 - - 2055.94 - - - 2203.88 - -82.73 - - 3186.69 - - - - - - - - - - -
5872.40 666.02 -10.07 777 5879.98 roll -1.29 - - 2055.62 - 3.77 0.151 802.19 -371.8 -82.73 - - 3186.94 - - - - - - - - - 16.11 -
5913.50 671.73 -12.31 784 5919.07 roll -1.29 - - 2055.56 - 3.43 0.059 2254.88 423.5 -82.73 - - 3187.16 - - - - - - - - - 16.13 -
6230.55 702.46 -10.02 806 6231.88 no move -1.29 - - 2055.75 - - - 2254.50 - -82.73 - - 3186.28 - - - - - - - - - - -
6545.52 732.63 -9.48 827 6552.98 roll -1.29 - - 2055.38 - 3.93 0.147 800.62 -369.9 -82.73 - - 3186.69 - - - - - - - - - 16.12 -
6586.48 737.65 -10.50 834 6592.19 roll -1.29 - - 2055.56 - 3.45 0.061 2254.62 421.4 -82.73 - - 3184.88 - - - - - - - - - 16.13 -
6903.61 766.11 -8.85 856 6904.95 no move -1.29 - - 2055.44 - - - 2255.00 - -82.73 - - 3185.47 - - - - - - - - - - -
7218.75 792.53 -8.16 877 7226.15 roll -1.29 - - 2055.69 - 3.54 0.107 3640.00 391.2 -82.73 - - 3184.50 - - - - - - - - - 16.12 -
7276.78 797.19 -8.84 886 7284.17 roll -1.29 - - 2055.25 - 3.47 0.063 2205.12 -413.5 -82.73 - - 3184.97 - - - - - - - - - 16.13 -
7596.59 825.85 -8.86 909 7604.04 roll -1.29 - - 2055.44 - 3.81 0.152 801.69 -368.4 -82.73 - - 3183.47 - - - - - - - - - 16.12 -
7642.69 830.94 -9.86 917 7655.34 roll -1.29 - - 2054.94 - 3.45 0.060 2254.75 421.2 -82.73 - - 3183.62 - - - - - - - - - 16.14 -
7969.65 859.38 -8.81 939 7970.98 no move -1.29 - - 2055.38 - - - 2255.00 - -82.73 - - 3182.28 - - - - - - - - - - -
8284.66 886.31 -9.16 960 8292.07 roll -1.29 - - 2054.94 - 3.61 0.106 3638.50 383.2 -82.73 - - 3182.78 - - - - - - - - - 16.12 -
8311.41 889.19 -8.40 965 8324.19 roll -1.29 - - 2055.12 - 3.46 0.062 2205.31 -414.2 -82.73 - - 3184.91 - - - - - - - - - 16.14 -
8638.56 916.40 -8.08 987 8645.99 roll -1.29 - - 2055.38 - 3.73 0.103 3637.56 384.0 -82.73 - - 3182.69 - - - - - - - - - 16.13 -
8718.00 924.73 -10.18 1000 8723.68 roll -1.29 - - 2053.94 - 3.44 0.062 2205.69 -416.2 -82.73 - - 3183.56 - - - - - - - - - 16.14 -
9035.11 950.37 -8.24 1022 9042.54 roll -1.29 - - 2055.44 - 3.73 0.103 3637.25 383.8 -82.73 - - 3181.69 - - - - - - - - - 16.14 -
9076.10 955.22 -11.08 1029 9081.91 roll -1.29 - - 2054.56 - 3.44 0.063 2205.69 -416.2 -82.73 - - 3182.47 - - - - - - - - - 16.14 -
9393.19 981.02 -8.47 1051 9394.53 no move -1.29 - - 2055.19 - - - 2205.62 - -82.73 - - 3180.72 - - - - - - - - - - -
9513 end dive: TARGET_DEPTH_EXCEEDED
9513 begin apogee
9514.92 990.90 -7.93 1059 9589.95 -0.25 1.83 0.143 2308.69 138.5 0.09 0.232 2435.94 2559.1 - 68.56 2.227 2850.03 -4.8 0.356 - - - - - - 16.10 15.56 12.90
9592 end apogee: CONTROL_FINISHED_OK
9592 begin climb
9594.93 993.23 - 1064 9674.44 1.29 2.64 0.087 2688.44 143.8 0.10 0.140 2494.25 583.1 82.73 74.22 2.185 2511.22 -4.6 0.344 - - - - - - 15.63 15.66 12.74
9987.36 958.78 10.25 1097 9988.70 no move 1.29 - - 2688.56 - - - 2493.94 - 82.73 - - 2509.75 - - - - - - - - - - -
10302.52 925.79 10.78 1118 10306.69 roll 1.29 - - 2688.31 - 3.06 0.111 3638.81 374.1 82.73 - - 2505.97 - - - - - - - - - 15.87 -
10381.93 916.25 11.70 1131 10394.66 roll 1.29 - - 2688.50 - 2.93 0.060 2434.88 -410.9 82.73 - - 2508.97 - - - - - - - - - 15.90 -
10709.21 881.94 10.52 1153 10716.54 roll 1.29 - - 2688.31 - 3.18 0.106 3639.19 378.7 82.73 - - 2506.88 - - - - - - - - - 15.95 -
10812.86 870.14 11.20 1170 10825.55 roll 1.29 - - 2688.50 - 2.89 0.058 2437.00 -416.0 82.73 - - 2507.88 - - - - - - - - - 15.97 -
11139.97 838.33 9.53 1192 11147.40 roll 1.29 - - 2688.50 - 3.79 0.124 1001.31 -378.8 82.73 - - 2506.66 - - - - - - - - - 16.00 -
11185.93 832.04 11.28 1200 11198.75 done 1.29 - - 2688.44 - 3.61 0.059 2493.00 413.2 82.73 - - 2505.97 - - - - - - - - - 16.01 -
11513.04 801.80 9.95 1222 11514.38 VBD 1.29 - - 2688.12 - - - 2493.88 - 82.73 - - 2505.22 - - - - - - - - - - -
11828.08 772.28 9.41 1243 11829.42 VBD 1.29 - - 2688.19 - - - 2493.81 - 82.73 - - 2504.16 - - - - - - - - - - -
12143.13 742.20 10.25 1264 12147.29 done 1.29 - - 2688.81 - 3.02 0.110 3640.94 379.8 82.73 - - 2503.06 - - - - - - - - - 16.06 -
12198.31 735.90 10.99 1273 12203.92 done 1.29 - - 2688.44 - 2.89 0.058 2432.38 -418.2 82.73 - - 2503.94 - - - - - - - - - 16.07 -
12515.45 706.57 9.29 1295 12522.80 done 1.29 - - 2688.38 - 3.17 0.106 3638.88 380.6 82.73 - - 2503.62 - - - - - - - - - 16.07 -
12594.99 697.16 12.63 1308 12600.48 done 1.29 - - 2688.19 - 2.90 0.058 2432.81 -415.9 82.73 - - 2503.59 - - - - - - - - - 16.08 -
12911.98 670.25 8.04 1330 12919.42 done 1.29 - - 2688.69 - 3.75 0.122 1000.94 -381.8 82.73 - - 2504.19 - - - - - - - - - 16.08 -
13106.76 651.82 8.77 1361 13112.50 done 1.29 - - 2688.25 - 3.61 0.058 2493.69 413.5 82.73 - - 2501.72 - - - - - - - - - 16.09 -
13423.89 629.59 7.30 1383 13431.34 done 1.31 - - 2688.31 - 3.88 0.117 1001.50 -384.6 82.73 - - 2503.88 - - - - - - - - - 16.09 -
13657.08 609.31 8.96 1420 13662.84 done 1.31 - - 2688.25 - 3.62 0.061 2490.19 411.2 82.73 - - 2502.44 - - - - - - - - - 16.10 -
13974.20 587.26 7.26 1442 13981.66 done 1.33 - - 2688.12 - 3.88 0.117 1002.25 -383.5 82.73 - - 2501.47 - - - - - - - - - 16.10 -
14053.61 580.10 7.56 1455 14059.38 done 1.33 - - 2688.44 - 3.56 0.060 2492.69 418.7 82.73 - - 2501.78 - - - - - - - - - 16.11 -
14370.71 556.77 8.35 1477 14372.05 VBD 1.33 - - 2688.62 - - - 2492.38 - 82.73 - - 2500.22 - - - - - - - - - - -
14685.86 532.51 7.91 1498 14687.20 VBD 1.33 - - 2688.12 - - - 2492.62 - 82.73 - - 2500.03 - - - - - - - - - - -
15000.78 510.01 7.25 1519 15008.23 done 1.35 - - 2688.38 - 3.89 0.116 1000.88 -383.5 82.73 - - 2501.88 - - - - - - - - - 16.12 -
15189.75 494.53 8.38 1548 15202.56 done 1.35 - - 2688.50 - 3.58 0.059 2493.12 416.8 82.73 - - 2501.75 - - - - - - - - - 16.12 -
15512.03 475.68 5.54 1580 15556.62 1.45 0.22 0.080 2730.06 188.9 3.94 0.116 1001.19 -378.7 118.84 30.13 1.552 2365.22 -4.5 0.231 - - - - - - 16.12 15.89 12.94
15615.83 465.99 11.15 1595 15628.66 roll 1.45 - - 2729.06 - 3.64 0.058 2488.38 408.6 118.84 - - 2364.56 - - - - - - - - - 15.97 -
15938.11 435.04 9.85 1627 15942.27 roll 1.45 - - 2729.25 - 3.03 0.108 3639.75 380.0 118.84 - - 2366.53 - - - - - - - - - 16.00 -
16028.85 424.97 10.69 1640 16033.14 roll 1.45 - - 2727.38 - 2.90 0.057 2430.88 -416.9 118.84 - - 2364.25 - - - - - - - - - 16.02 -
16338.50 395.50 9.44 1671 16353.02 roll 1.45 - - 2729.19 - 3.77 0.122 1000.75 -379.3 118.84 - - 2363.16 - - - - - - - - - 16.03 -
16369.57 391.65 10.23 1676 16382.39 roll 1.45 - - 2729.44 - 3.62 0.058 2492.44 412.1 118.84 - - 2363.66 - - - - - - - - - 16.04 -
16691.85 362.29 10.16 1708 16696.01 roll 1.45 - - 2728.88 - 3.00 0.107 3640.12 382.6 118.84 - - 2363.81 - - - - - - - - - 16.05 -
16924.87 337.16 11.51 1741 16929.01 roll 1.45 - - 2729.38 - 2.90 0.057 2430.94 -417.0 118.84 - - 2360.91 - - - - - - - - - 16.05 -
17234.52 309.26 8.83 1772 17248.95 roll 1.45 - - 2730.06 - 3.17 0.104 3640.69 381.6 118.84 - - 2361.97 - - - - - - - - - 16.08 -
17320.24 300.50 9.32 1784 17324.38 roll 1.45 - - 2729.19 - 2.90 0.056 2428.75 -417.9 118.84 - - 2364.31 - - - - - - - - - 16.07 -
17627.92 272.03 9.01 1845 17633.38 roll 1.45 - - 2729.31 - 3.17 0.103 3641.00 382.4 118.84 - - 2362.22 - - - - - - - - - 16.08 -
17692.73 266.03 9.04 1858 17698.21 roll 1.45 - - 2729.00 - 2.88 0.056 2432.94 -419.5 118.84 - - 2364.16 - - - - - - - - - 16.08 -
18002.67 241.84 7.80 1920 18008.42 roll 1.45 - - 2729.31 - 3.74 0.121 1001.50 -382.7 118.84 - - 2362.34 - - - - - - - - - 16.08 -
18052.67 237.76 8.41 1930 18058.39 roll 1.45 - - 2729.44 - 3.58 0.057 2494.75 417.1 118.84 - - 2363.00 - - - - - - - - - 16.08 -
18362.72 214.12 8.59 1992 18368.33 roll 1.45 - - 2729.38 - 2.97 0.106 3641.12 386.0 118.84 - - 2362.03 - - - - - - - - - 16.08 -
18412.86 209.51 9.34 2002 18418.33 roll 1.45 - - 2729.19 - 2.87 0.056 2429.00 -422.3 118.84 - - 2361.59 - - - - - - - - - 16.10 -
18722.83 185.95 7.02 2064 18726.83 no move 1.48 - - 2729.38 - - - 2429.19 - 118.84 - - 2362.88 - - - - - - - - - - -
19027.98 165.26 6.65 2125 19031.98 no move 1.52 - - 2730.06 - - - 2428.88 - 118.84 - - 2362.44 - - - - - - - - - - -
19333.04 146.88 5.12 2186 19380.55 1.64 0.25 0.079 2774.94 179.5 3.75 0.120 1001.19 -380.7 161.41 41.67 1.151 2190.09 -4.1 0.088 - - - - - - 16.11 15.87 13.00
19448.57 137.63 9.53 2209 19454.15 roll 1.64 - - 2776.31 - 3.59 0.056 2494.88 416.1 161.41 - - 2193.16 - - - - - - - - - 15.95 -
19758.54 107.34 9.51 2271 19764.17 roll 1.64 - - 2776.94 - 2.98 0.105 3640.56 384.5 161.41 - - 2190.47 - - - - - - - - - 15.97 -
19868.60 97.76 7.70 2293 19874.18 roll 1.64 - - 2776.88 - 2.88 0.054 2427.62 -421.2 161.41 - - 2190.41 - - - - - - - - - 16.00 -
20058.62 91.33 2.56 2331 20146.12 1.89 0.32 0.075 2837.81 190.4 3.21 0.100 3640.06 377.7 243.86 82.10 1.070 1855.38 -4.1 0.058 - - - - - - 16.02 15.67 12.93
20374.01 63.42 8.40 2394 20379.64 roll 1.89 - - 2838.19 - 2.91 0.053 2435.12 -414.1 243.86 - - 1854.28 - - - - - - - - - 15.85 -
20564.06 51.87 5.56 2432 20605.45 done 2.00 - - 2838.19 - 3.20 0.098 3640.56 376.7 279.55 37.08 1.004 1709.16 -3.9 0.034 - - - - - - - 15.71 12.79
20834.08 27.51 9.63 2486 20839.70 roll 2.00 - - 2836.00 - 2.90 0.051 2434.12 -416.0 279.55 - - 1708.19 - - - - - - - - - 15.87 -
21024.12 9.05 9.80 2524 21029.88 roll 2.00 - - 2837.56 - 3.78 0.115 1000.94 -379.1 279.55 - - 1708.12 - - - - - - - - - 15.90 -
21089 end climb: SURFACE_DEPTH_REACHED
21089 begin surface coast
21109 end surface coast: CONTROL_FINISHED_OK
21109 begin surface
SM 1.36 - - - - 173.9 109.59 0.983 1220.6 11.1 17.57 0.047 1207.1 68.7 - 2.98 0.054 1234.1 412.9 -1.063 - - 12.86 15.90 15.92 -