NANOOS May22 * SG236 * Dive index * Mission links * Dive 114 * Raw log
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• Previous call tries 1 • 54.75 of 575.00 AH used of 24V (90.48% remains)
• Surface angle -67.4 deg, depth 1.51 m • Intended pitch -20.9 deg, speed -7.857 cm/s
VBD pumped to 400.17 (SM_CC=400)
• GPS1 time: 25 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 - - - 64.93 VBD -1.29 - - 170.12 - - - 2261.25 - -82.73 60.07 0.005 2374.09 - - - - - - - - - - 15.66
65.13 3.11 -2.84 11 112.81 -1.29 15.51 0.254 2056.06 121.6 4.05 0.157 802.94 -360.1 -82.73 24.31 0.006 3189.38 33.5 -2.883 - - - - - - 15.69 15.64 15.68
340.72 75.83 -26.08 66 346.44 roll -1.29 - - 2056.19 - 3.55 0.064 2258.00 409.9 -82.73 - - 3189.34 - - - - - - - - - 15.87 -
530.74 111.69 -15.42 104 536.52 roll -1.29 - - 2056.31 - 4.00 0.155 802.94 -363.8 -82.73 - - 3189.75 - - - - - - - - - 15.88 -
595.77 122.96 -17.69 117 601.48 roll -1.29 - - 2056.31 - 3.52 0.062 2259.56 413.8 -82.73 - - 3189.47 - - - - - - - - - 15.91 -
905.83 167.38 -14.18 179 909.83 no move -1.29 - - 2056.00 - - - 2259.75 - -82.73 - - 3190.53 - - - - - - - - - - -
1210.86 208.54 -13.23 240 1214.86 no move -1.29 - - 2056.62 - - - 2259.81 - -82.73 - - 3191.69 - - - - - - - - - - -
1515.90 252.24 -14.84 301 1521.63 roll -1.29 - - 2056.00 - 3.60 0.111 3639.06 383.1 -82.73 - - 3191.25 - - - - - - - - - 16.02 -
1560.91 258.90 -15.15 310 1566.62 roll -1.29 - - 2056.31 - 3.45 0.063 2212.38 -413.5 -82.73 - - 3193.72 - - - - - - - - - 16.02 -
1882.56 303.14 -13.80 371 1897.10 roll -1.29 - - 2055.44 - 3.86 0.162 801.69 -365.5 -82.73 - - 3191.91 - - - - - - - - - 16.02 -
1956.33 316.01 -15.88 382 1969.09 roll -1.29 - - 2056.31 - 3.50 0.064 2257.69 416.0 -82.73 - - 3192.12 - - - - - - - - - 16.05 -
2278.54 359.27 -14.02 414 2288.52 no move -1.29 - - 2056.12 - - - 2257.69 - -82.73 - - 3192.19 - - - - - - - - - - -
2598.58 401.16 -13.35 446 2613.05 roll -1.29 - - 2055.81 - 3.59 0.111 3638.25 384.6 -82.73 - - 3192.84 - - - - - - - - - 16.06 -
2627.46 405.32 -14.47 450 2641.92 roll -1.29 - - 2055.44 - 3.44 0.061 2211.12 -414.9 -82.73 - - 3192.25 - - - - - - - - - 16.07 -
2942.11 446.62 -13.35 482 2956.63 roll -1.29 - - 2056.12 - 3.86 0.160 802.75 -364.9 -82.73 - - 3192.16 - - - - - - - - - 16.06 -
3027.97 459.66 -15.99 494 3042.43 roll -1.29 - - 2056.50 - 3.47 0.063 2258.00 419.4 -82.73 - - 3191.53 - - - - - - - - - 16.08 -
3357.60 502.97 -12.74 527 3364.99 roll -1.29 - - 2056.31 - 3.53 0.110 3636.88 390.6 -82.73 - - 3192.59 - - - - - - - - - 16.07 -
3379.34 506.86 -13.03 531 3385.21 roll -1.29 - - 2056.31 - 3.41 0.059 2211.75 -417.9 -82.73 - - 3192.97 - - - - - - - - - 16.09 -
3696.63 545.77 -12.57 553 3704.06 roll -1.29 - - 2055.69 - 3.71 0.109 3640.50 385.1 -82.73 - - 3194.59 - - - - - - - - - 16.10 -
3735.48 551.23 -13.16 559 3742.87 roll -1.29 - - 2056.31 - 3.43 0.060 2209.00 -417.3 -82.73 - - 3191.97 - - - - - - - - - 16.09 -
4055.11 591.27 -12.13 582 4062.55 roll -1.29 - - 2055.00 - 3.83 0.159 801.69 -367.4 -82.73 - - 3191.78 - - - - - - - - - 16.08 -
4158.73 606.44 -13.81 599 4171.53 roll -1.29 - - 2056.56 - 3.49 0.062 2258.06 417.3 -82.73 - - 3192.03 - - - - - - - - - 16.11 -
4485.88 643.86 -11.54 621 4487.22 no move -1.29 - - 2056.00 - - - 2257.56 - -82.73 - - 3191.09 - - - - - - - - - - -
4800.89 678.41 -12.00 642 4808.29 roll -1.29 - - 2056.12 - 3.59 0.111 3639.62 385.0 -82.73 - - 3190.66 - - - - - - - - - 16.10 -
4858.93 685.86 -13.13 651 4866.30 roll -1.29 - - 2056.25 - 3.43 0.061 2211.75 -416.3 -82.73 - - 3189.50 - - - - - - - - - 16.11 -
5178.55 722.98 -11.74 674 5186.10 roll -1.29 - - 2055.94 - 3.86 0.163 802.56 -365.1 -82.73 - - 3190.56 - - - - - - - - - 16.10 -
5217.36 728.10 -14.07 680 5224.77 roll -1.29 - - 2055.00 - 3.52 0.064 2259.81 414.0 -82.73 - - 3188.84 - - - - - - - - - 16.12 -
5536.99 765.50 -11.51 703 5538.32 no move -1.29 - - 2056.44 - - - 2259.38 - -82.73 - - 3189.09 - - - - - - - - - - -
5852.04 802.46 -11.91 724 5853.38 no move -1.29 - - 2056.75 - - - 2259.88 - -82.73 - - 3189.00 - - - - - - - - - - -
6167.07 838.25 -11.75 745 6174.54 roll -1.29 - - 2056.12 - 3.98 0.159 801.81 -366.3 -82.73 - - 3187.78 - - - - - - - - - 16.10 -
6213.04 845.47 -15.09 753 6225.85 roll -1.29 - - 2054.31 - 3.51 0.065 2257.38 414.7 -82.73 - - 3188.78 - - - - - - - - - 16.14 -
6540.15 882.80 -12.15 775 6541.49 no move -1.29 - - 2056.25 - - - 2257.56 - -82.73 - - 3186.59 - - - - - - - - - - -
6855.33 918.53 -10.83 796 6862.73 roll -1.29 - - 2056.00 - 3.57 0.112 3637.50 386.5 -82.73 - - 3186.41 - - - - - - - - - 16.12 -
6896.30 924.75 -12.85 803 6902.00 roll -1.29 - - 2055.88 - 3.44 0.062 2211.75 -414.5 -82.73 - - 3186.91 - - - - - - - - - 16.14 -
7213.44 958.24 -10.81 825 7214.77 no move -1.29 - - 2056.19 - - - 2211.69 - -82.73 - - 3186.16 - - - - - - - - - - -
7528 end dive: TARGET_DEPTH_EXCEEDED
7528 begin apogee
7530.28 990.58 -10.02 846 7605.31 -0.25 1.79 0.150 2309.25 141.4 0.09 0.253 2467.62 2843.7 - 68.60 2.235 2848.94 -4.9 0.361 - - - - - - 16.09 15.57 12.93
7608 end apogee: CONTROL_FINISHED_OK
7608 begin climb
7610.30 993.49 - 851 7689.68 1.29 2.60 0.096 2687.31 145.4 0.10 0.144 2523.56 559.4 82.73 73.87 2.187 2512.44 -4.6 0.343 - - - - - - 15.62 15.66 12.86
8002.72 972.80 6.28 884 8004.05 no move 1.34 - - 2687.50 - - - 2523.94 - 82.73 - - 2510.28 - - - - - - - - - - -
8317.68 954.81 4.89 905 8363.58 1.48 0.26 0.077 2738.06 194.5 - - 2523.94 - 128.98 40.88 2.104 2322.75 -4.6 0.345 - - - - - - 15.88 - 12.78
8677.83 924.51 8.86 929 8679.17 no move 1.48 - - 2738.06 - - - 2524.12 - 128.98 - - 2324.41 - - - - - - - - - - -
8992.71 897.34 8.53 950 8994.05 no move 1.48 - - 2737.75 - - - 2523.69 - 128.98 - - 2323.41 - - - - - - - - - - -
9307.90 870.83 8.07 971 9312.06 roll 1.48 - - 2737.81 - 3.02 0.122 3638.62 369.2 128.98 - - 2320.47 - - - - - - - - - 15.95 -
9363.11 865.15 7.92 980 9368.83 roll 1.48 - - 2737.19 - 2.85 0.063 2467.56 -410.9 128.98 - - 2322.84 - - - - - - - - - 15.98 -
9680.21 837.57 8.37 1002 9681.54 no move 1.48 - - 2738.25 - - - 2468.25 - 128.98 - - 2322.41 - - - - - - - - - - -
9995.25 810.50 8.12 1023 10002.70 roll 1.48 - - 2737.81 - 3.84 0.133 1038.12 -372.4 128.98 - - 2322.56 - - - - - - - - - 16.02 -
10055.46 804.14 9.55 1033 10061.18 roll 1.48 - - 2738.31 - 3.65 0.068 2519.44 405.8 128.98 - - 2321.78 - - - - - - - - - 16.03 -
10372.55 778.30 7.61 1055 10373.89 no move 1.48 - - 2737.69 - - - 2519.69 - 128.98 - - 2320.81 - - - - - - - - - - -
10687.58 752.14 8.81 1076 10688.92 no move 1.48 - - 2737.75 - - - 2519.56 - 128.98 - - 2321.16 - - - - - - - - - - -
11002.61 726.68 7.97 1097 11006.75 roll 1.48 - - 2738.75 - 2.97 0.122 3636.88 376.2 128.98 - - 2321.44 - - - - - - - - - 16.06 -
11096.24 717.87 8.28 1112 11101.83 roll 1.48 - - 2737.94 - 2.80 0.062 2465.06 -418.5 128.98 - - 2321.28 - - - - - - - - - 16.08 -
11413.36 692.99 7.78 1134 11414.70 no move 1.48 - - 2738.31 - - - 2465.00 - 128.98 - - 2320.03 - - - - - - - - - - -
11728.40 667.54 8.12 1155 11735.85 roll 1.48 - - 2737.56 - 3.82 0.133 1036.75 -373.9 128.98 - - 2320.59 - - - - - - - - - 16.08 -
11774.40 662.99 9.21 1163 11787.34 roll 1.48 - - 2738.00 - 3.63 0.067 2520.88 408.9 128.98 - - 2320.94 - - - - - - - - - 16.09 -
12101.48 637.98 8.14 1185 12108.96 roll 1.48 - - 2738.94 - 3.93 0.127 1038.50 -377.2 128.98 - - 2320.75 - - - - - - - - - 16.09 -
12219.33 626.19 10.34 1204 12225.08 roll 1.48 - - 2736.75 - 3.61 0.067 2519.62 410.3 128.98 - - 2321.94 - - - - - - - - - 16.11 -
12536.44 602.50 7.36 1226 12537.78 no move 1.48 - - 2737.75 - - - 2519.62 - 128.98 - - 2319.84 - - - - - - - - - - -
12851.54 579.69 6.94 1247 12859.02 roll 1.51 - - 2738.19 - 3.91 0.126 1036.62 -379.3 128.98 - - 2319.97 - - - - - - - - - 16.10 -
12935.96 572.65 8.12 1261 12948.77 roll 1.51 - - 2738.81 - 3.57 0.067 2520.12 415.5 128.98 - - 2322.81 - - - - - - - - - 16.10 -
13263.09 550.34 6.97 1283 13270.56 roll 1.53 - - 2738.12 - 3.89 0.126 1037.00 -381.3 128.98 - - 2319.78 - - - - - - - - - 16.10 -
13380.95 540.97 7.86 1302 13386.69 roll 1.53 - - 2738.38 - 3.60 0.067 2520.94 412.2 128.98 - - 2320.41 - - - - - - - - - 16.11 -
13698.09 520.65 6.58 1324 13699.43 no move 1.57 - - 2738.50 - - - 2520.44 - 128.98 - - 2319.41 - - - - - - - - - - -
14013.28 501.19 6.10 1345 14014.75 pitch 1.63 0.16 0.098 2771.62 207.0 - - 2520.88 - 128.98 - - 2318.84 - - - - - - - - 16.11 - -
14323.17 481.27 6.48 1375 14333.15 no move 1.67 - - 2771.50 - - - 2521.06 - 128.98 - - 2320.00 - - - - - - - - - - -
14643.24 461.31 6.13 1407 14657.79 roll 1.72 - - 2771.00 - 3.90 0.126 1037.62 -380.4 128.98 - - 2320.09 - - - - - - - - - 16.11 -
14759.66 452.28 7.37 1424 14772.48 roll 1.72 - - 2771.25 - 3.58 0.068 2521.62 414.5 128.98 - - 2322.56 - - - - - - - - - 16.12 -
15081.96 431.75 6.75 1456 15091.91 no move 1.75 - - 2770.75 - - - 2521.50 - 128.98 - - 2319.78 - - - - - - - - - - -
15402.00 410.05 6.35 1488 15412.10 pitch 1.80 0.21 0.086 2812.69 199.7 - - 2522.06 - 128.98 - - 2321.22 - - - - - - - - 16.11 - -
15722.06 385.90 6.91 1520 15736.82 roll 1.82 - - 2813.12 - 3.93 0.127 1037.69 -377.7 128.98 - - 2321.34 - - - - - - - - - 16.11 -
15793.91 380.00 8.43 1530 15808.38 roll 1.82 - - 2813.38 - 3.58 0.067 2521.75 414.5 128.98 - - 2319.81 - - - - - - - - - 16.11 -
16118.57 355.95 6.93 1563 16128.54 no move 1.85 - - 2813.69 - - - 2521.44 - 128.98 - - 2320.47 - - - - - - - - - - -
16438.60 333.55 7.12 1595 16448.57 no move 1.87 - - 2813.38 - - - 2522.06 - 128.98 - - 2320.16 - - - - - - - - - - -
16758.63 311.24 6.71 1627 16772.88 roll 1.91 - - 2813.12 - 3.91 0.124 1036.69 -379.9 128.98 - - 2319.97 - - - - - - - - - 16.11 -
16889.00 301.49 7.33 1646 16901.78 roll 1.92 - - 2813.44 - 3.58 0.065 2520.00 414.3 128.98 - - 2320.97 - - - - - - - - - 16.13 -
17203.14 280.51 6.59 1705 17208.80 roll back 1.96 0.19 0.087 2854.06 213.8 2.95 0.118 3639.69 379.6 128.98 - - 2320.09 - - - - - - - - 16.12 16.10 -
17263.13 275.94 7.77 1717 17268.74 roll 1.96 - - 2853.81 - 2.81 0.059 2461.19 -419.4 128.98 - - 2319.53 - - - - - - - - - 16.11 -
17573.24 254.52 6.24 1779 17577.25 no move 2.01 - - 2854.31 - - - 2461.69 - 128.98 - - 2320.75 - - - - - - - - - - -
17878.30 235.07 6.06 1840 17884.14 roll 2.07 - - 2853.38 - 3.76 0.128 1038.00 -378.6 128.98 - - 2322.22 - - - - - - - - - 16.10 -
18033.28 223.54 7.60 1871 18039.00 roll 2.07 - - 2854.19 - 3.60 0.063 2522.88 412.5 128.98 - - 2321.19 - - - - - - - - - 16.11 -
18343.41 205.10 5.64 1933 18379.49 2.17 0.26 0.082 2905.12 195.9 3.93 0.121 1037.38 -378.0 163.54 27.53 1.240 2182.12 -5.1 0.139 - - - - - - 16.11 15.93 12.89
18488.59 192.21 10.71 1962 18494.17 roll 2.17 - - 2904.19 - 3.61 0.064 2517.19 409.9 163.54 - - 2184.34 - - - - - - - - - 16.01 -
18798.54 162.47 8.89 2024 18804.16 roll 2.17 - - 2905.19 - 2.96 0.116 3637.94 378.6 163.54 - - 2184.34 - - - - - - - - - 16.03 -
18828.54 159.26 10.33 2030 18834.15 roll 2.17 - - 2904.62 - 2.81 0.057 2460.38 -419.1 163.54 - - 2184.38 - - - - - - - - - 16.04 -
19138.67 132.85 7.30 2092 19144.37 roll 2.19 - - 2903.81 - 3.76 0.125 1038.25 -378.2 163.54 - - 2184.91 - - - - - - - - - 16.04 -
19173.76 130.10 8.03 2099 19179.35 roll 2.19 - - 2904.81 - 3.57 0.062 2521.31 415.4 163.54 - - 2184.41 - - - - - - - - - 16.05 -
19483.69 112.44 5.72 2161 19525.11 done 2.29 - - 2904.50 - 2.97 0.116 3639.12 376.4 196.85 35.26 1.087 2047.56 -3.9 0.067 - - - - - - - 15.88 12.90
19753.71 90.50 8.15 2215 19759.33 roll 2.29 - - 2905.00 - 2.84 0.056 2459.88 -415.2 196.85 - - 2045.28 - - - - - - - - - 15.98 -
19943.76 83.72 2.37 2253 20036.49 2.54 0.52 0.065 2994.56 172.2 3.88 0.125 1036.75 -366.8 282.27 86.62 1.060 1698.12 -4.0 0.053 - - - - - - 15.99 15.64 12.90
20174.38 63.35 12.25 2299 20180.13 roll 2.54 - - 2994.19 - 3.67 0.060 2522.56 404.9 282.27 - - 1697.84 - - - - - - - - - 15.79 -
20364.47 43.50 9.88 2337 20370.08 roll 2.54 - - 2994.75 - 2.97 0.113 3637.88 375.5 282.27 - - 1697.53 - - - - - - - - - 15.85 -
20599.54 18.44 8.57 2384 20605.14 roll 2.54 - - 2994.44 - 2.83 0.055 2464.25 -414.7 282.27 - - 1696.25 - - - - - - - - - 15.92 -
20789.61 7.41 6.22 2422 20795.24 roll 2.59 - - 2994.31 - 3.11 0.105 3638.25 377.5 282.27 - - 1696.25 - - - - - - - - - 15.94 -
20894.65 2.07 4.96 2443 20900.35 2.73 0.23 0.082 3040.12 199.2 2.78 0.055 2461.38 -423.3 327.43 1.60 0.145 1696.78 - - - - - - - - 15.94 15.96 15.88
20900 end climb: SURFACE_DEPTH_REACHED
20900 begin surface coast
20915 end surface coast: CONTROL_FINISHED_OK
20915 begin surface
SM 1.52 - - - - 170.2 106.48 0.991 1218.7 11.4 18.95 0.088 1202.9 63.5 - 0.56 0.083 1234.4 2199.3 -4.117 - - 12.86 15.91 15.96 -