NANOOS May22 * SG236 * Dive index * Mission links * Dive 118 * Raw log
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• Previous call tries 1 • 56.07 of 575.00 AH used of 24V (90.25% remains)
• Surface angle -66.7 deg, depth 1.49 m • Intended pitch -20.9 deg, speed -7.857 cm/s
• VBD pumped to 400.10 (SM_CC=400)
• GPS1 time: 20 s
• GPS2 time: 3 s • Transponder ping count: 96
• 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 - - - 64.92 VBD -1.29 - - 171.62 - - - 2245.12 - -82.73 60.11 0.005 2385.06 - - - - - - - - - - 15.68
65.13 3.11 -2.80 11 112.84 -1.29 16.10 0.284 2054.38 116.9 3.72 0.109 3640.38 375.1 -82.73 22.90 0.006 3188.53 35.1 -3.014 - - - - - - 15.68 15.66 15.70
135.67 17.75 -26.69 25 141.41 roll -1.29 - - 2055.50 - 3.57 0.063 2202.31 -402.8 -82.73 - - 3189.91 - - - - - - - - - 15.80 -
325.75 67.73 -25.11 63 331.52 roll -1.29 - - 2055.69 - 3.91 0.160 803.19 -357.8 -82.73 - - 3188.97 - - - - - - - - - 15.83 -
555.77 115.83 -19.43 109 561.50 roll -1.29 - - 2056.00 - 3.51 0.061 2246.69 411.3 -82.73 - - 3189.06 - - - - - - - - - 15.92 -
865.86 162.73 -15.36 171 869.86 no move -1.29 - - 2055.69 - - - 2247.19 - -82.73 - - 3190.03 - - - - - - - - - - -
1170.88 208.52 -15.42 232 1176.66 roll -1.29 - - 2054.62 - 3.98 0.153 802.00 -363.1 -82.73 - - 3191.00 - - - - - - - - - 15.97 -
1195.88 213.07 -18.20 237 1201.61 roll -1.29 - - 2055.25 - 3.52 0.059 2246.56 410.4 -82.73 - - 3191.47 - - - - - - - - - 16.01 -
1505.92 261.40 -14.81 299 1509.93 no move -1.29 - - 2055.19 - - - 2246.94 - -82.73 - - 3191.56 - - - - - - - - - - -
1812.54 304.30 -13.43 356 1822.52 no move -1.29 - - 2055.62 - - - 2246.38 - -82.73 - - 3191.62 - - - - - - - - - - -
2132.58 347.87 -14.04 388 2142.56 no move -1.29 - - 2055.00 - - - 2246.94 - -82.73 - - 3191.12 - - - - - - - - - - -
2452.61 392.02 -13.91 420 2462.60 no move -1.29 - - 2055.44 - - - 2245.94 - -82.73 - - 3191.66 - - - - - - - - - - -
2772.63 435.61 -13.51 452 2782.63 no move -1.29 - - 2055.75 - - - 2245.88 - -82.73 - - 3191.88 - - - - - - - - - - -
3092.66 477.31 -12.68 484 3102.67 no move -1.29 - - 2055.38 - - - 2246.00 - -82.73 - - 3191.91 - - - - - - - - - - -
3407.14 517.99 -12.95 511 3414.61 roll -1.29 - - 2055.56 - 3.97 0.159 801.62 -363.8 -82.73 - - 3191.31 - - - - - - - - - 16.07 -
3505.82 534.13 -16.45 527 3511.55 roll -1.29 - - 2055.44 - 3.53 0.067 2247.38 409.6 -82.73 - - 3190.53 - - - - - - - - - 16.11 -
3822.94 576.77 -13.48 549 3827.89 roll -1.29 - - 2055.31 - 3.65 0.111 3636.88 380.7 -82.73 - - 3192.38 - - - - - - - - - 16.10 -
3858.93 582.66 -13.93 555 3864.64 roll -1.29 - - 2055.81 - 3.49 0.064 2204.38 -410.5 -82.73 - - 3190.25 - - - - - - - - - 16.10 -
4176.08 624.30 -13.71 577 4183.51 roll -1.29 - - 2055.69 - 3.77 0.108 3637.19 380.1 -82.73 - - 3189.28 - - - - - - - - - 16.11 -
4234.11 632.53 -16.15 586 4241.54 roll -1.29 - - 2055.75 - 3.48 0.064 2204.62 -411.7 -82.73 - - 3189.88 - - - - - - - - - 16.11 -
4553.72 673.99 -12.81 609 4561.17 roll -1.29 - - 2055.25 - 3.85 0.163 803.19 -364.0 -82.73 - - 3188.19 - - - - - - - - - 16.09 -
4580.46 678.80 -15.10 614 4593.28 roll -1.29 - - 2055.75 - 3.51 0.064 2248.12 411.7 -82.73 - - 3188.69 - - - - - - - - - 16.12 -
4907.56 720.19 -13.10 636 4915.12 roll -1.29 - - 2055.56 - 3.66 0.111 3637.62 379.6 -82.73 - - 3188.41 - - - - - - - - - 16.11 -
4946.39 725.33 -14.08 642 4953.77 roll -1.29 - - 2055.56 - 3.46 0.065 2204.38 -414.2 -82.73 - - 3188.72 - - - - - - - - - 16.11 -
5266.02 767.48 -12.51 665 5267.35 no move -1.29 - - 2055.62 - - - 2203.81 - -82.73 - - 3186.97 - - - - - - - - - - -
5581.07 806.37 -12.15 686 5588.52 roll -1.29 - - 2055.25 - 3.84 0.165 802.94 -364.8 -82.73 - - 3186.53 - - - - - - - - - 16.10 -
5641.31 815.79 -15.25 696 5646.99 roll -1.29 - - 2055.88 - 3.49 0.068 2249.62 414.5 -82.73 - - 3187.69 - - - - - - - - - 16.13 -
5958.39 850.62 -11.01 718 5965.86 roll -1.29 - - 2055.19 - 3.96 0.161 802.06 -365.5 -82.73 - - 3186.47 - - - - - - - - - 16.10 -
6018.64 858.95 -12.29 728 6024.31 roll -1.29 - - 2055.19 - 3.51 0.068 2247.88 411.9 -82.73 - - 3186.97 - - - - - - - - - 16.12 -
6335.68 891.24 -10.64 750 6337.01 no move -1.29 - - 2055.44 - - - 2247.12 - -82.73 - - 3185.22 - - - - - - - - - - -
6650.85 923.65 -10.38 771 6652.19 no move -1.29 - - 2055.19 - - - 2247.19 - -82.73 - - 3185.47 - - - - - - - - - - -
6965.86 957.70 -10.82 792 6973.33 roll -1.29 - - 2055.88 - 3.93 0.161 802.88 -367.5 -82.73 - - 3184.72 - - - - - - - - - 16.10 -
7011.84 963.99 -12.43 800 7024.62 roll -1.29 - - 2055.50 - 3.49 0.069 2248.81 414.3 -82.73 - - 3185.06 - - - - - - - - - 16.12 -
7264 end dive: TARGET_DEPTH_EXCEEDED
7264 begin apogee
7265.70 990.54 -10.75 817 7340.71 -0.25 1.85 0.158 2310.44 137.8 0.08 0.263 2470.56 2771.9 - 68.36 2.221 2848.31 -4.9 0.364 - - - - - - 16.10 15.57 12.96
7343 end apogee: CONTROL_FINISHED_OK
7343 begin climb
7345.73 994.19 - 822 7425.44 1.29 2.62 0.101 2686.94 143.7 0.11 0.147 2525.75 501.7 82.73 74.53 2.177 2512.31 -4.5 0.341 - - - - - - 15.62 15.66 12.80
7738.13 977.72 4.91 855 7785.67 1.43 0.19 0.077 2727.06 211.2 3.12 0.123 3637.44 356.3 128.55 40.40 2.100 2324.28 -4.7 0.359 - - - - - - 15.78 15.43 12.83
7861.03 968.90 8.32 875 7873.72 roll 1.43 - - 2726.25 - 2.89 0.060 2472.12 -403.2 128.55 - - 2325.75 - - - - - - - - - 15.64 -
8188.18 944.57 7.13 897 8195.66 roll 1.45 - - 2726.81 - 3.90 0.132 1039.62 -367.3 128.55 - - 2324.50 - - - - - - - - - 15.82 -
8286.95 934.51 8.51 913 8292.82 roll 1.45 - - 2726.44 - 3.70 0.064 2521.19 400.4 128.55 - - 2327.53 - - - - - - - - - 15.87 -
8604.07 909.39 7.69 935 8605.41 no move 1.45 - - 2727.44 - - - 2520.81 - 128.55 - - 2323.53 - - - - - - - - - - -
8919.10 883.43 7.95 956 8920.44 no move 1.45 - - 2726.62 - - - 2521.25 - 128.55 - - 2323.00 - - - - - - - - - - -
9234.14 857.95 7.51 977 9238.29 roll 1.45 - - 2726.88 - 2.98 0.120 3639.00 375.1 128.55 - - 2323.00 - - - - - - - - - 15.99 -
9347.04 847.52 9.01 995 9352.76 roll 1.45 - - 2726.62 - 2.83 0.062 2469.12 -413.4 128.55 - - 2325.06 - - - - - - - - - 16.02 -
9664.14 824.44 7.75 1017 9671.59 roll 1.45 - - 2727.44 - 3.83 0.133 1039.62 -373.2 128.55 - - 2322.16 - - - - - - - - - 16.03 -
9762.78 815.42 9.54 1033 9768.53 roll 1.45 - - 2726.81 - 3.64 0.066 2520.69 406.9 128.55 - - 2322.34 - - - - - - - - - 16.04 -
10079.89 793.03 7.42 1055 10087.36 roll 1.45 - - 2726.94 - 3.93 0.126 1039.56 -376.9 128.55 - - 2323.50 - - - - - - - - - 16.04 -
10159.30 786.79 8.18 1068 10165.04 roll 1.45 - - 2727.06 - 3.63 0.065 2521.06 408.1 128.55 - - 2322.88 - - - - - - - - - 16.06 -
10476.43 765.38 6.76 1090 10477.77 no move 1.49 - - 2727.19 - - - 2520.75 - 128.55 - - 2319.75 - - - - - - - - - - -
10791.52 742.83 7.05 1111 10792.86 no move 1.51 - - 2727.25 - - - 2521.25 - 128.55 - - 2320.72 - - - - - - - - - - -
11106.55 720.44 6.68 1132 11107.88 no move 1.55 - - 2727.19 - - - 2521.38 - 128.55 - - 2320.09 - - - - - - - - - - -
11421.58 698.27 6.61 1153 11423.05 pitch 1.58 0.16 0.087 2760.81 210.1 - - 2520.44 - 128.55 - - 2319.88 - - - - - - - - 16.10 - -
11736.61 672.88 8.28 1174 11737.95 no move 1.58 - - 2761.88 - - - 2520.19 - 128.55 - - 2320.84 - - - - - - - - - - -
12051.68 648.86 6.78 1195 12059.29 roll 1.61 - - 2761.50 - 3.92 0.125 1039.38 -377.8 128.55 - - 2319.66 - - - - - - - - - 16.10 -
12092.83 644.78 8.78 1202 12098.40 roll 1.61 - - 2761.88 - 3.64 0.063 2522.38 407.4 128.55 - - 2319.84 - - - - - - - - - 16.12 -
12409.77 622.41 7.20 1224 12411.10 no move 1.63 - - 2761.62 - - - 2522.31 - 128.55 - - 2317.41 - - - - - - - - - - -
12724.82 600.91 6.49 1245 12732.47 roll 1.68 - - 2762.12 - 3.91 0.124 1039.19 -379.3 128.55 - - 2319.22 - - - - - - - - - 16.10 -
12765.85 597.57 6.65 1252 12771.53 roll 1.71 - - 2761.50 - 3.61 0.063 2521.75 410.7 128.55 - - 2320.19 - - - - - - - - - 16.12 -
13082.92 576.88 6.69 1274 13084.38 pitch 1.75 0.19 0.079 2804.75 227.6 - - 2521.50 - 128.55 - - 2321.41 - - - - - - - - 16.12 - -
13397.99 553.93 7.54 1295 13402.14 roll 1.75 - - 2804.19 - 2.97 0.119 3637.69 375.8 128.55 - - 2318.38 - - - - - - - - - 16.10 -
13477.41 545.84 8.81 1308 13490.08 roll 1.75 - - 2803.62 - 2.81 0.059 2464.94 -417.3 128.55 - - 2320.28 - - - - - - - - - 16.12 -
13804.53 520.28 8.26 1330 13808.74 roll 1.75 - - 2804.12 - 3.12 0.116 3637.06 375.7 128.55 - - 2318.50 - - - - - - - - - 16.11 -
13876.93 513.69 9.01 1341 13881.05 roll 1.75 - - 2804.31 - 2.80 0.059 2465.19 -418.5 128.55 - - 2319.56 - - - - - - - - - 16.12 -
14186.57 488.44 8.32 1367 14201.08 roll 1.75 - - 2803.88 - 3.79 0.130 1039.44 -376.2 128.55 - - 2320.22 - - - - - - - - - 16.11 -
14274.56 479.63 9.08 1380 14287.34 roll 1.75 - - 2804.31 - 3.62 0.064 2520.62 409.2 128.55 - - 2320.09 - - - - - - - - - 16.12 -
14596.78 454.79 8.15 1412 14600.93 roll 1.75 - - 2804.81 - 2.98 0.117 3637.94 374.9 128.55 - - 2319.09 - - - - - - - - - 16.11 -
14659.04 449.25 9.41 1421 14663.16 roll 1.75 - - 2804.88 - 2.79 0.058 2462.50 -421.3 128.55 - - 2319.12 - - - - - - - - - 16.13 -
14968.66 425.52 7.46 1452 14983.16 roll 1.75 - - 2803.06 - 3.76 0.127 1038.19 -378.8 128.55 - - 2319.72 - - - - - - - - - 16.11 -
15068.99 417.25 8.91 1466 15083.49 roll 1.75 - - 2804.12 - 3.61 0.062 2522.88 411.3 128.55 - - 2319.69 - - - - - - - - - 16.11 -
15393.63 392.47 7.76 1499 15403.61 no move 1.75 - - 2804.62 - - - 2523.31 - 128.55 - - 2318.81 - - - - - - - - - - -
15713.67 370.59 6.26 1531 15723.63 no move 1.79 - - 2804.31 - - - 2523.50 - 128.55 - - 2318.97 - - - - - - - - - - -
16033.69 352.11 5.62 1563 16077.40 1.90 0.15 0.095 2839.62 235.4 3.92 0.122 1039.12 -378.7 163.36 28.30 1.400 2183.22 -4.8 0.200 - - - - - - 16.11 15.92 12.91
16148.70 342.98 9.10 1579 16163.20 roll 1.90 - - 2839.62 - 3.62 0.062 2519.62 409.0 163.36 - - 2184.78 - - - - - - - - - 15.99 -
16473.36 314.83 8.83 1612 16477.51 roll 1.90 - - 2839.75 - 2.99 0.117 3638.56 374.2 163.36 - - 2185.84 - - - - - - - - - 16.02 -
16538.01 307.59 9.81 1622 16550.55 roll 1.90 - - 2839.00 - 2.81 0.058 2464.69 -417.7 163.36 - - 2184.81 - - - - - - - - - 16.03 -
16851.91 278.04 9.57 1675 16857.55 roll 1.90 - - 2839.06 - 3.13 0.114 3640.06 375.5 163.36 - - 2185.72 - - - - - - - - - 16.05 -
16911.93 272.16 9.83 1687 16917.65 roll 1.90 - - 2839.06 - 2.81 0.058 2464.19 -418.5 163.36 - - 2184.62 - - - - - - - - - 16.05 -
17222.01 242.48 10.59 1749 17226.01 no move 1.90 - - 2839.44 - - - 2463.31 - 163.36 - - 2184.50 - - - - - - - - - - -
17527.02 214.38 8.76 1810 17531.08 no move 1.90 - - 2839.56 - - - 2463.75 - 163.36 - - 2184.53 - - - - - - - - - - -
17832.06 189.39 8.06 1871 17837.82 roll 1.90 - - 2839.44 - 3.78 0.126 1039.38 -376.8 163.36 - - 2183.72 - - - - - - - - - 16.07 -
17872.06 186.00 8.47 1879 17877.81 roll 1.90 - - 2840.12 - 3.61 0.061 2521.38 410.5 163.36 - - 2183.81 - - - - - - - - - 16.08 -
18182.12 161.23 7.55 1941 18187.73 roll 1.90 - - 2839.88 - 2.96 0.116 3640.19 378.0 163.36 - - 2183.44 - - - - - - - - - 16.07 -
18262.12 154.54 8.13 1957 18267.71 roll 1.90 - - 2840.12 - 2.80 0.057 2464.31 -420.0 163.36 - - 2185.84 - - - - - - - - - 16.08 -
18572.35 133.29 6.23 2019 18577.94 roll 1.95 - - 2840.44 - 3.74 0.123 1039.25 -381.0 163.36 - - 2183.94 - - - - - - - - - 16.08 -
18632.23 129.37 6.66 2031 18637.91 roll 1.98 - - 2840.31 - 3.59 0.060 2524.62 413.8 163.36 - - 2184.47 - - - - - - - - - 16.09 -
18942.26 112.22 4.47 2093 19004.18 2.14 0.31 0.071 2899.88 192.2 3.96 0.119 1038.31 -375.3 216.03 54.09 1.152 1968.62 -4.0 0.064 - - - - - - 16.09 15.82 12.91
19112.25 99.65 9.02 2127 19118.01 roll 2.14 - - 2901.06 - 3.63 0.060 2519.38 408.0 216.03 - - 1967.62 - - - - - - - - - 15.91 -
19302.34 86.12 6.33 2165 19307.95 roll 2.19 - - 2900.06 - 2.97 0.113 3639.12 377.0 216.03 - - 1966.88 - - - - - - - - - 15.95 -
19537.42 71.47 4.76 2212 19594.04 2.33 0.21 0.077 2944.44 211.3 2.80 0.055 2460.19 -421.0 264.25 49.83 1.022 1773.94 -3.9 0.045 - - - - - - 15.97 15.99 12.82
19777.49 56.24 5.09 2260 19828.68 done 2.46 - - 2944.50 - 3.18 0.108 3638.00 370.4 307.40 43.37 1.029 1595.66 -4.1 0.037 - - - - - - - 15.67 12.73
20057.58 37.69 6.68 2316 20063.22 roll back 2.50 0.19 0.083 2985.50 215.8 2.83 0.054 2462.44 -415.4 307.40 - - 1594.69 - - - - - - - - 15.84 15.85 -
20247.62 21.88 8.89 2354 20253.28 roll 2.50 - - 2985.94 - 3.14 0.107 3638.56 374.6 307.40 - - 1594.19 - - - - - - - - - 15.90 -
20473 end climb: SURFACE_DEPTH_REACHED
20473 begin surface coast
20498 end surface coast: CONTROL_FINISHED_OK
20498 begin surface
SM 1.97 - - - - 172.8 84.50 1.020 1218.9 14.4 18.45 0.048 1204.2 65.3 - 3.48 0.061 1233.6 353.6 -1.167 - - 12.91 15.94 15.95 -