NANOOS May22 * SG236 * Dive index * Mission links * Dive 107 * Raw log
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• Previous call tries 1 • 52.33 of 575.00 AH used of 24V (90.90% remains)
• Surface angle -56.6 deg, depth 1.19 m • Intended pitch -20.9 deg, speed -7.857 cm/s
• VBD pumped to 400.06 (SM_CC=400)
• GPS1 time: 64 s
• GPS2 time: 4 s • Transponder ping count: 89
• 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 - - - 110.75 VBD -1.29 - - 170.25 - - - 2257.31 - -82.73 105.99 0.005 2534.94 - - - - - - - - - - 15.69
110.95 3.02 -1.52 20 157.63 -1.29 15.47 0.244 2055.50 121.9 3.63 0.100 3641.69 381.4 -82.73 20.31 0.006 3187.97 32.2 -2.684 - - - - - - 15.72 15.68 15.73
370.57 57.15 -21.15 72 376.27 roll -1.29 - - 2055.31 - 3.50 0.057 2212.81 -408.3 -82.73 - - 3189.56 - - - - - - - - - 15.87 -
560.60 94.31 -16.29 110 564.60 no move -1.29 - - 2055.75 - - - 2212.62 - -82.73 - - 3189.53 - - - - - - - - - - -
745.63 121.38 -13.09 147 751.40 roll -1.29 - - 2055.31 - 3.81 0.138 800.69 -370.6 -82.73 - - 3189.53 - - - - - - - - - 15.93 -
820.67 132.27 -14.67 162 826.37 roll -1.29 - - 2055.81 - 3.51 0.055 2261.38 416.2 -82.73 - - 3188.75 - - - - - - - - - 15.96 -
1130.71 168.64 -11.68 224 1136.41 roll -1.29 - - 2055.62 - 3.57 0.097 3640.75 386.4 -82.73 - - 3189.72 - - - - - - - - - 15.99 -
1230.73 181.57 -13.46 244 1236.42 roll -1.29 - - 2055.75 - 3.48 0.058 2209.50 -411.3 -82.73 - - 3189.94 - - - - - - - - - 16.01 -
1540.83 218.87 -11.51 306 1546.53 roll -1.29 - - 2055.56 - 3.82 0.147 801.94 -368.5 -82.73 - - 3190.72 - - - - - - - - - 16.00 -
1665.77 236.34 -13.63 331 1671.48 roll -1.29 - - 2055.50 - 3.49 0.059 2259.00 417.5 -82.73 - - 3192.69 - - - - - - - - - 16.03 -
1975.87 269.76 -10.95 393 1979.88 no move -1.29 - - 2055.50 - - - 2258.81 - -82.73 - - 3191.91 - - - - - - - - - - -
2282.43 302.75 -11.74 451 2292.41 no move -1.29 - - 2055.62 - - - 2259.50 - -82.73 - - 3191.94 - - - - - - - - - - -
2602.49 339.49 -11.30 483 2616.96 roll -1.29 - - 2055.69 - 3.57 0.103 3639.94 386.7 -82.73 - - 3190.88 - - - - - - - - - 16.06 -
2647.73 345.79 -12.59 490 2660.54 roll -1.29 - - 2055.44 - 3.46 0.060 2212.12 -412.7 -82.73 - - 3193.09 - - - - - - - - - 16.08 -
2969.99 381.01 -10.94 522 2979.97 no move -1.29 - - 2055.75 - - - 2211.38 - -82.73 - - 3191.34 - - - - - - - - - - -
3290.03 415.97 -10.36 554 3304.54 roll -1.29 - - 2055.69 - 3.79 0.151 800.94 -372.1 -82.73 - - 3191.28 - - - - - - - - - 16.07 -
3347.38 423.01 -12.99 562 3361.84 roll -1.29 - - 2055.56 - 3.48 0.061 2260.44 419.4 -82.73 - - 3192.44 - - - - - - - - - 16.10 -
3662.02 458.47 -10.53 594 3676.50 roll -1.29 - - 2055.19 - 3.56 0.103 3640.88 387.8 -82.73 - - 3190.12 - - - - - - - - - 16.08 -
3707.26 465.05 -13.70 601 3720.05 roll -1.29 - - 2055.88 - 3.47 0.062 2211.12 -412.0 -82.73 - - 3190.56 - - - - - - - - - 16.10 -
4029.50 500.08 -10.60 633 4030.86 no move -1.29 - - 2055.75 - - - 2211.56 - -82.73 - - 3189.81 - - - - - - - - - - -
4344.54 532.63 -10.35 654 4345.88 no move -1.29 - - 2055.62 - - - 2211.81 - -82.73 - - 3188.97 - - - - - - - - - - -
4659.57 566.78 -11.22 675 4667.00 roll -1.29 - - 2055.69 - 3.72 0.105 3638.19 383.4 -82.73 - - 3189.09 - - - - - - - - - 16.13 -
4700.53 572.59 -11.89 682 4706.24 roll -1.29 - - 2055.44 - 3.45 0.064 2210.81 -413.7 -82.73 - - 3189.34 - - - - - - - - - 16.12 -
5017.66 604.27 -9.91 704 5019.00 no move -1.29 - - 2055.50 - - - 2211.50 - -82.73 - - 3187.50 - - - - - - - - - - -
5332.65 635.14 -9.57 725 5340.07 roll -1.29 - - 2055.75 - 3.72 0.105 3639.00 383.7 -82.73 - - 3188.88 - - - - - - - - - 16.13 -
5373.61 640.77 -12.71 732 5379.32 roll -1.29 - - 2055.44 - 3.45 0.064 2212.94 -413.4 -82.73 - - 3188.97 - - - - - - - - - 16.12 -
5690.72 670.25 -9.88 754 5692.05 no move -1.29 - - 2056.06 - - - 2211.69 - -82.73 - - 3187.66 - - - - - - - - - - -
6005.90 699.64 -9.67 775 6013.33 roll -1.29 - - 2055.00 - 3.71 0.106 3638.50 384.6 -82.73 - - 3187.03 - - - - - - - - - 16.14 -
6066.23 706.12 -10.39 785 6071.80 roll -1.29 - - 2056.00 - 3.46 0.065 2212.06 -412.3 -82.73 - - 3187.12 - - - - - - - - - 16.14 -
6383.24 733.64 -8.94 807 6384.58 no move -1.29 - - 2055.31 - - - 2212.75 - -82.73 - - 3186.00 - - - - - - - - - - -
6698.24 762.15 -9.03 828 6699.57 no move -1.29 - - 2055.50 - - - 2212.88 - -82.73 - - 3184.78 - - - - - - - - - - -
7013.27 790.61 -9.23 849 7014.61 no move -1.29 - - 2055.12 - - - 2212.50 - -82.73 - - 3186.31 - - - - - - - - - - -
7328.45 817.88 -9.34 870 7335.88 roll -1.29 - - 2056.06 - 3.71 0.109 3638.94 384.5 -82.73 - - 3185.75 - - - - - - - - - 16.14 -
7369.42 822.19 -8.92 877 7375.13 roll -1.29 - - 2054.31 - 3.47 0.067 2211.44 -411.4 -82.73 - - 3186.56 - - - - - - - - - 16.14 -
7686.54 849.18 -7.90 899 7687.88 no move -1.29 - - 2054.75 - - - 2211.50 - -82.73 - - 3184.78 - - - - - - - - - - -
8001.58 875.19 -8.29 920 8009.01 roll -1.29 - - 2055.50 - 3.75 0.109 3638.44 380.5 -82.73 - - 3184.84 - - - - - - - - - 16.13 -
8028.32 878.28 -8.14 925 8041.10 roll -1.29 - - 2055.81 - 3.46 0.066 2212.38 -412.2 -82.73 - - 3184.72 - - - - - - - - - 16.14 -
8355.42 905.24 -8.43 947 8356.76 no move -1.29 - - 2055.00 - - - 2213.38 - -82.73 - - 3183.75 - - - - - - - - - - -
8670.61 932.39 -9.03 968 8678.04 roll -1.29 - - 2055.81 - 3.73 0.109 3640.00 382.5 -82.73 - - 3185.19 - - - - - - - - - 16.14 -
8711.75 936.95 -11.73 975 8717.46 roll -1.29 - - 2055.69 - 3.45 0.068 2213.44 -413.5 -82.73 - - 3186.06 - - - - - - - - - 16.14 -
9028.90 963.27 -9.09 997 9030.24 no move -1.29 - - 2055.44 - - - 2212.75 - -82.73 - - 3183.56 - - - - - - - - - - -
9344 end dive: TARGET_DEPTH_EXCEEDED
9344 begin apogee
9345.66 990.83 -8.81 1018 9420.67 -0.25 1.81 0.144 2310.00 140.6 0.09 0.242 2450.19 2638.2 - 68.67 2.237 2847.88 -4.9 0.359 - - - - - - 16.10 15.56 13.00
9423 end apogee: CONTROL_FINISHED_OK
9423 begin climb
9425.65 993.30 - 1023 9505.59 1.29 2.58 0.086 2688.00 146.5 0.10 0.140 2507.69 575.0 82.73 73.78 2.199 2511.34 -4.6 0.342 - - - - - - 15.63 15.66 12.86
9818.66 966.69 8.15 1056 9826.13 roll 1.29 - - 2687.62 - 3.99 0.125 1015.38 -374.0 82.73 - - 2512.34 - - - - - - - - - 15.76 -
9845.54 964.25 8.51 1061 9858.22 roll 1.29 - - 2686.31 - 3.70 0.063 2503.62 402.2 82.73 - - 2511.84 - - - - - - - - - 15.79 -
10172.52 938.80 7.26 1083 10173.86 no move 1.31 - - 2687.94 - - - 2503.88 - 82.73 - - 2509.16 - - - - - - - - - - -
10487.56 913.86 7.81 1104 10495.02 roll 1.31 - - 2688.19 - 3.95 0.124 1015.38 -376.8 82.73 - - 2510.59 - - - - - - - - - 15.94 -
10564.82 906.91 9.40 1116 10572.23 roll 1.31 - - 2688.06 - 3.62 0.063 2503.00 410.9 82.73 - - 2508.34 - - - - - - - - - 15.97 -
10884.45 881.97 7.80 1139 10885.79 no move 1.31 - - 2688.00 - - - 2502.56 - 82.73 - - 2508.06 - - - - - - - - - - -
11199.49 858.31 7.92 1160 11200.83 no move 1.31 - - 2687.31 - - - 2502.75 - 82.73 - - 2505.84 - - - - - - - - - - -
11514.56 836.07 6.26 1181 11522.02 roll 1.36 - - 2687.50 - 3.92 0.123 1016.50 -379.1 82.73 - - 2510.12 - - - - - - - - - 16.04 -
11579.77 829.60 8.87 1192 11592.56 roll 1.36 - - 2687.62 - 3.62 0.066 2504.50 411.0 82.73 - - 2506.44 - - - - - - - - - 16.05 -
11906.86 805.41 8.01 1214 11908.20 no move 1.36 - - 2687.81 - - - 2505.25 - 82.73 - - 2506.34 - - - - - - - - - - -
12222.09 783.90 6.66 1235 12229.55 roll 1.40 - - 2687.38 - 3.92 0.123 1016.19 -379.9 82.73 - - 2507.44 - - - - - - - - - 16.07 -
12282.30 778.68 7.75 1245 12287.99 roll 1.40 - - 2686.44 - 3.60 0.065 2505.44 413.7 82.73 - - 2507.97 - - - - - - - - - 16.08 -
12599.40 758.56 5.77 1267 12634.30 1.49 0.28 0.076 2739.38 189.1 - - 2506.00 - 115.15 28.50 1.891 2380.12 -4.5 0.298 - - - - - - 16.08 - 12.97
12948.64 729.32 8.37 1292 12956.09 roll 1.49 - - 2737.44 - 3.94 0.122 1015.25 -378.4 115.15 - - 2381.31 - - - - - - - - - 15.96 -
13047.28 716.08 13.49 1308 13053.02 roll 1.49 - - 2739.12 - 3.62 0.065 2503.94 411.2 115.15 - - 2381.56 - - - - - - - - - 15.98 -
13364.39 679.76 11.62 1330 13365.73 no move 1.49 - - 2739.38 - - - 2504.19 - 115.15 - - 2380.41 - - - - - - - - - - -
13679.44 644.67 11.12 1351 13680.78 no move 1.49 - - 2739.81 - - - 2503.88 - 115.15 - - 2377.88 - - - - - - - - - - -
13994.47 609.84 11.20 1372 14001.93 roll 1.49 - - 2739.25 - 3.94 0.121 1016.06 -377.6 115.15 - - 2380.91 - - - - - - - - - 16.05 -
14035.46 604.16 12.18 1379 14041.29 roll 1.49 - - 2738.88 - 3.59 0.065 2503.94 414.5 115.15 - - 2380.88 - - - - - - - - - 16.06 -
14352.55 570.04 11.34 1401 14356.69 roll 1.49 - - 2739.25 - 2.99 0.118 3638.75 379.5 115.15 - - 2375.88 - - - - - - - - - 16.06 -
14407.74 562.82 12.54 1410 14413.35 roll 1.49 - - 2739.19 - 2.90 0.063 2447.81 -410.7 115.15 - - 2377.78 - - - - - - - - - 16.07 -
14724.87 530.53 10.33 1432 14726.20 no move 1.49 - - 2739.31 - - - 2447.12 - 115.15 - - 2377.59 - - - - - - - - - - -
15040.17 498.59 10.43 1453 15049.87 no move 1.49 - - 2739.38 - - - 2446.56 - 115.15 - - 2376.78 - - - - - - - - - - -
15359.93 467.36 9.25 1485 15374.33 roll 1.49 - - 2739.50 - 3.16 0.115 3638.56 377.2 115.15 - - 2376.25 - - - - - - - - - 16.09 -
15476.22 455.20 9.71 1502 15488.89 roll 1.49 - - 2738.94 - 2.88 0.063 2446.31 -414.0 115.15 - - 2377.50 - - - - - - - - - 16.10 -
15798.35 427.79 9.09 1534 15808.33 no move 1.49 - - 2738.88 - - - 2445.12 - 115.15 - - 2376.03 - - - - - - - - - - -
16118.40 400.08 8.88 1566 16132.79 roll 1.49 - - 2738.94 - 3.16 0.113 3640.12 378.2 115.15 - - 2375.62 - - - - - - - - - 16.10 -
16218.33 390.25 10.17 1580 16222.60 roll 1.49 - - 2739.56 - 2.88 0.062 2445.31 -414.9 115.15 - - 2373.00 - - - - - - - - - 16.10 -
16527.97 361.82 8.96 1611 16537.96 no move 1.49 - - 2739.38 - - - 2444.44 - 115.15 - - 2374.97 - - - - - - - - - - -
16848.02 333.95 8.42 1643 16862.52 done 1.49 - - 2739.94 - 3.76 0.124 1015.62 -380.0 115.15 - - 2374.44 - - - - - - - - - 16.10 -
16907.50 328.14 8.62 1652 16920.32 roll 1.49 - - 2739.12 - 3.62 0.062 2505.00 411.4 115.15 - - 2373.22 - - - - - - - - - 16.13 -
17229.75 303.65 7.98 1684 17239.72 no move 1.49 - - 2738.75 - - - 2505.06 - 115.15 - - 2373.78 - - - - - - - - - - -
17541.69 278.83 7.43 1741 17547.47 done 1.49 - - 2739.62 - 3.90 0.118 1014.62 -382.2 115.15 - - 2372.62 - - - - - - - - - 16.11 -
17666.71 267.67 9.30 1766 17672.44 done 1.49 - - 2738.31 - 3.57 0.062 2506.19 417.8 115.15 - - 2372.28 - - - - - - - - - 16.11 -
17976.77 245.32 7.22 1828 17982.40 done 1.51 - - 2738.25 - 2.96 0.113 3639.38 382.8 115.15 - - 2372.09 - - - - - - - - - 16.10 -
18196.79 227.65 8.45 1872 18202.40 done 1.51 - - 2739.56 - 2.87 0.061 2442.56 -417.0 115.15 - - 2373.28 - - - - - - - - - 16.11 -
18506.90 206.89 6.21 1934 18512.61 done 1.56 - - 2739.50 - 3.71 0.120 1014.00 -385.1 115.15 - - 2371.78 - - - - - - - - - 16.11 -
18666.88 194.85 7.78 1966 18672.61 done 1.56 - - 2739.12 - 3.55 0.060 2504.75 419.9 115.15 - - 2370.22 - - - - - - - - - 16.11 -
18976.95 172.44 7.02 2028 18982.72 done 1.59 - - 2739.56 - 3.87 0.114 1014.12 -385.2 115.15 - - 2369.69 - - - - - - - - - 16.11 -
19211.98 156.76 5.73 2075 19244.35 1.69 0.25 0.085 2786.81 189.0 3.56 0.059 2505.00 418.8 148.24 27.12 1.167 2242.09 -4.7 0.105 - - - - - - 16.09 16.11 13.00
19547.27 133.51 6.94 2142 19553.04 roll 1.71 - - 2784.56 - 3.90 0.113 1013.94 -382.3 148.24 - - 2244.38 - - - - - - - - - 16.03 -
19772.49 115.62 7.35 2187 19778.04 roll 1.73 - - 2785.62 - 3.60 0.059 2503.06 413.6 148.24 - - 2243.38 - - - - - - - - - 16.04 -
20082.44 105.15 1.95 2249 20180.08 2.00 0.43 0.068 2864.75 184.0 3.97 0.113 1016.00 -374.6 240.15 91.24 1.086 1871.72 -4.1 0.065 - - - - - - 16.06 15.67 12.91
20243.11 93.46 11.52 2281 20248.71 roll 2.00 - - 2864.56 - 3.65 0.057 2499.75 406.5 240.15 - - 1873.00 - - - - - - - - - 15.79 -
20432.98 78.17 7.76 2319 20438.64 roll 2.00 - - 2864.62 - 3.05 0.110 3638.88 373.5 240.15 - - 1872.69 - - - - - - - - - 15.85 -
20668.02 58.72 7.20 2366 20673.64 roll 2.02 - - 2864.56 - 2.92 0.058 2442.56 -409.7 240.15 - - 1870.66 - - - - - - - - - 15.92 -
20858.06 47.61 5.50 2404 20900.46 done 2.13 - - 2865.12 - 3.23 0.109 3638.31 370.2 276.86 38.06 1.004 1718.66 -4.0 0.031 - - - - - - - 15.75 12.90
20933.37 43.30 5.93 2419 20939.05 roll back 2.19 0.23 0.081 2909.12 191.3 2.93 0.057 2436.88 -410.0 276.86 - - 1719.84 - - - - - - - - 15.82 15.83 -
21123.45 30.02 8.16 2457 21127.46 no move 2.19 - - 2909.94 - - - 2436.88 - 276.86 - - 1718.69 - - - - - - - - - - -
21308.49 10.86 13.08 2494 21314.25 roll 2.19 - - 2908.88 - 3.76 0.117 1013.69 -378.5 276.86 - - 1717.97 - - - - - - - - - 15.93 -
21368.54 2.44 14.92 2506 21374.44 roll 2.19 - - 2909.31 - 3.61 0.057 2502.00 412.3 276.86 - - 1718.03 - - - - - - - - - 15.94 -
21378 end climb: SURFACE_DEPTH_REACHED
21378 begin surface coast
21393 end surface coast: CONTROL_FINISHED_OK
21394 begin surface
SM 1.34 - - - - 173.7 110.36 0.981 1219.1 11.0 17.81 0.052 1206.6 67.7 - 0.67 0.074 1231.6 1832.8 -3.392 - - 12.80 15.93 15.95 -