NANOOS May22 * SG236 * Dive index * Mission links * Dive 122 * Raw log
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• Previous call tries 1 • 57.41 of 575.00 AH used of 24V (90.02% remains)
• Surface angle -65.0 deg, depth 1.40 m • Intended pitch -20.9 deg, speed -7.857 cm/s
VBD pumped to 400.01 (SM_CC=400)
• GPS1 time: 30 s
• GPS2 time: 2 s • Transponder ping count: 94
• 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
4.35 - - - 70.02 VBD -1.29 - - 173.88 - - - 2251.81 - -82.73 65.17 0.005 2332.09 - - - - - - - - - - 15.67
70.23 3.06 -2.17 12 117.48 -1.29 15.82 0.262 2055.00 118.9 4.01 0.155 802.00 -361.5 -82.73 20.05 0.006 3019.78 34.3 -2.917 - - - - - - 15.70 15.66 15.70
270.37 55.15 -31.17 52 276.09 roll -1.29 - - 2054.88 - 3.57 0.062 2247.44 404.9 -82.73 - - 3019.84 - - - - - - - - - 15.85 -
460.46 95.79 -15.02 90 464.46 no move -1.29 - - 2054.75 - - - 2247.50 - -82.73 - - 3019.16 - - - - - - - - - - -
645.51 124.80 -15.70 127 651.26 roll -1.29 - - 2054.75 - 3.62 0.105 3638.12 384.1 -82.73 - - 3018.53 - - - - - - - - - 15.93 -
830.58 153.57 -13.73 164 836.29 roll -1.29 - - 2055.00 - 3.45 0.057 2205.25 -415.3 -82.73 - - 3020.12 - - - - - - - - - 15.95 -
1140.68 197.60 -14.21 226 1146.39 roll -1.29 - - 2054.00 - 3.73 0.100 3636.94 383.8 -82.73 - - 3019.78 - - - - - - - - - 15.99 -
1170.64 202.12 -15.57 232 1176.35 roll -1.29 - - 2054.94 - 3.42 0.058 2203.94 -419.0 -82.73 - - 3021.38 - - - - - - - - - 15.99 -
1480.74 243.91 -13.54 294 1484.74 no move -1.29 - - 2055.12 - - - 2204.06 - -82.73 - - 3020.00 - - - - - - - - - - -
1785.75 286.57 -13.63 355 1789.75 no move -1.29 - - 2055.00 - - - 2203.75 - -82.73 - - 3020.00 - - - - - - - - - - -
2092.36 324.94 -12.04 395 2102.33 no move -1.29 - - 2054.69 - - - 2204.31 - -82.73 - - 3020.28 - - - - - - - - - - -
2412.39 363.95 -12.92 427 2422.39 no move -1.29 - - 2054.75 - - - 2204.81 - -82.73 - - 3020.19 - - - - - - - - - - -
2732.45 404.48 -12.12 459 2746.98 roll -1.29 - - 2054.56 - 3.81 0.161 802.00 -368.2 -82.73 - - 3021.41 - - - - - - - - - 16.06 -
2763.53 410.08 -15.35 464 2776.30 roll -1.29 - - 2055.06 - 3.49 0.062 2249.31 414.7 -82.73 - - 3019.84 - - - - - - - - - 16.09 -
3085.72 449.14 -12.31 496 3100.27 roll -1.29 - - 2054.69 - 3.90 0.156 803.19 -370.8 -82.73 - - 3019.53 - - - - - - - - - 16.07 -
3114.67 453.04 -12.93 500 3129.13 roll -1.29 - - 2055.06 - 3.47 0.061 2249.25 416.7 -82.73 - - 3019.09 - - - - - - - - - 16.10 -
3429.31 491.31 -11.56 532 3443.81 roll -1.29 - - 2054.69 - 3.61 0.106 3638.12 384.7 -82.73 - - 3019.25 - - - - - - - - - 16.08 -
3474.58 498.16 -13.23 539 3487.36 roll -1.29 - - 2053.94 - 3.44 0.061 2202.50 -417.3 -82.73 - - 3020.41 - - - - - - - - - 16.09 -
3791.77 538.33 -13.23 561 3799.22 roll -1.29 - - 2055.12 - 3.73 0.104 3638.19 384.9 -82.73 - - 3019.22 - - - - - - - - - 16.10 -
3869.08 549.55 -14.65 573 3876.47 roll -1.29 - - 2053.62 - 3.43 0.063 2204.31 -418.0 -82.73 - - 3019.81 - - - - - - - - - 16.10 -
4188.69 590.25 -12.53 596 4196.12 roll -1.29 - - 2055.00 - 3.80 0.162 802.62 -368.9 -82.73 - - 3018.91 - - - - - - - - - 16.09 -
4306.73 607.70 -14.01 615 4312.31 roll -1.29 - - 2054.69 - 3.49 0.064 2248.56 414.3 -82.73 - - 3019.34 - - - - - - - - - 16.12 -
4623.69 642.84 -10.96 637 4625.03 no move -1.29 - - 2054.75 - - - 2248.44 - -82.73 - - 3017.66 - - - - - - - - - - -
4938.71 678.55 -11.11 658 4940.05 no move -1.29 - - 2055.06 - - - 2248.75 - -82.73 - - 3017.31 - - - - - - - - - - -
5253.73 711.56 -10.62 679 5261.14 roll -1.29 - - 2054.81 - 3.63 0.110 3638.50 382.9 -82.73 - - 3017.66 - - - - - - - - - 16.12 -
5352.40 724.19 -11.73 695 5358.11 roll -1.29 - - 2054.44 - 3.44 0.064 2203.25 -417.2 -82.73 - - 3016.72 - - - - - - - - - 16.12 -
5669.52 757.80 -10.26 717 5670.85 no move -1.29 - - 2054.44 - - - 2204.25 - -82.73 - - 3016.81 - - - - - - - - - - -
5984.53 790.65 -10.20 738 5985.87 no move -1.29 - - 2055.25 - - - 2203.75 - -82.73 - - 3014.38 - - - - - - - - - - -
6299.55 825.01 -10.44 759 6307.00 roll -1.29 - - 2054.69 - 3.74 0.108 3638.56 383.6 -82.73 - - 3014.78 - - - - - - - - - 16.13 -
6338.75 829.94 -12.89 765 6346.13 roll -1.29 - - 2055.06 - 3.42 0.064 2202.94 -419.8 -82.73 - - 3017.38 - - - - - - - - - 16.13 -
6658.38 863.90 -10.44 788 6665.81 roll -1.29 - - 2054.56 - 3.72 0.106 3637.44 385.6 -82.73 - - 3015.34 - - - - - - - - - 16.12 -
6699.34 869.27 -13.02 795 6705.06 roll -1.29 - - 2055.12 - 3.44 0.064 2205.69 -416.2 -82.73 - - 3014.38 - - - - - - - - - 16.13 -
7016.46 902.62 -10.88 817 7023.90 roll -1.29 - - 2053.81 - 3.82 0.163 801.62 -367.6 -82.73 - - 3015.22 - - - - - - - - - 16.10 -
7076.67 910.73 -12.66 827 7082.36 roll -1.29 - - 2055.12 - 3.46 0.064 2252.25 419.3 -82.73 - - 3014.25 - - - - - - - - - 16.13 -
7393.77 942.67 -10.11 849 7395.11 no move -1.29 - - 2055.19 - - - 2251.81 - -82.73 - - 3014.19 - - - - - - - - - - -
7708.76 972.65 -8.84 870 7710.09 no move -1.29 - - 2055.12 - - - 2251.25 - -82.73 - - 3013.88 - - - - - - - - - - -
7904 end dive: TARGET_DEPTH_EXCEEDED
7904 begin apogee
7905.46 991.15 -9.48 883 7980.96 -0.25 1.85 0.160 2308.88 137.2 0.09 0.241 2462.19 2343.8 - 69.07 2.224 2679.66 -4.8 0.360 - - - - - - 16.09 15.57 12.86
7983 end apogee: CONTROL_FINISHED_OK
7984 begin climb
7986.12 994.11 - 888 8068.73 1.29 2.72 0.125 2685.75 138.6 3.22 0.117 3638.06 365.2 82.73 75.21 2.183 2342.59 -4.5 0.340 - - - - - - 15.62 15.66 12.75
8085.60 989.82 4.03 904 8142.68 1.47 0.28 0.071 2736.50 181.2 2.89 0.057 2462.81 -406.7 142.38 51.58 2.124 2099.97 -4.7 0.366 - - - - - - 15.43 15.43 12.78
8456.03 954.34 10.13 933 8463.47 roll 1.47 - - 2735.50 - 3.87 0.131 1031.62 -369.8 142.38 - - 2096.56 - - - - - - - - - 15.76 -
8516.24 946.70 10.47 943 8521.97 roll 1.47 - - 2735.31 - 3.70 0.063 2513.31 400.5 142.38 - - 2097.00 - - - - - - - - - 15.80 -
8833.32 916.17 9.45 965 8834.66 no move 1.47 - - 2736.94 - - - 2513.88 - 142.38 - - 2094.97 - - - - - - - - - - -
9148.38 886.15 9.32 986 9155.86 roll 1.47 - - 2737.12 - 3.93 0.125 1031.94 -377.1 142.38 - - 2094.97 - - - - - - - - - 15.94 -
9213.60 878.48 9.58 997 9226.39 roll 1.47 - - 2737.50 - 3.66 0.064 2515.69 405.4 142.38 - - 2095.56 - - - - - - - - - 15.97 -
9540.67 846.90 9.60 1019 9542.01 no move 1.47 - - 2736.88 - - - 2515.25 - 142.38 - - 2094.75 - - - - - - - - - - -
9855.69 816.75 9.14 1040 9857.03 no move 1.47 - - 2736.88 - - - 2515.62 - 142.38 - - 2094.00 - - - - - - - - - - -
10170.71 785.45 11.00 1061 10172.05 no move 1.47 - - 2736.56 - - - 2515.38 - 142.38 - - 2092.59 - - - - - - - - - - -
10485.73 754.44 9.45 1082 10487.07 no move 1.47 - - 2735.69 - - - 2515.19 - 142.38 - - 2093.31 - - - - - - - - - - -
10800.75 724.67 8.97 1103 10802.08 no move 1.47 - - 2737.19 - - - 2515.19 - 142.38 - - 2093.31 - - - - - - - - - - -
11115.77 696.62 8.82 1124 11123.22 roll 1.47 - - 2737.06 - 3.90 0.125 1032.00 -380.3 142.38 - - 2091.69 - - - - - - - - - 16.08 -
11156.74 692.03 10.53 1131 11162.46 roll 1.47 - - 2736.56 - 3.58 0.066 2516.44 414.6 142.38 - - 2093.22 - - - - - - - - - 16.09 -
11473.84 663.38 9.48 1153 11475.18 VBD 1.47 - - 2737.00 - - - 2516.56 - 142.38 - - 2092.31 - - - - - - - - - - -
11788.89 635.12 8.30 1174 11793.06 roll 1.47 - - 2737.19 - 2.96 0.118 3637.50 378.7 142.38 - - 2091.75 - - - - - - - - - 16.09 -
11830.18 630.61 10.50 1181 11842.71 roll 1.47 - - 2737.50 - 2.79 0.058 2459.88 -422.1 142.38 - - 2093.28 - - - - - - - - - 16.10 -
12157.16 602.99 8.07 1203 12164.58 done 1.47 - - 2736.06 - 3.77 0.131 1030.88 -379.0 142.38 - - 2091.81 - - - - - - - - - 16.10 -
12234.45 595.51 9.96 1215 12241.85 done 1.47 - - 2736.94 - 3.60 0.063 2515.75 412.5 142.38 - - 2091.06 - - - - - - - - - 16.10 -
12554.08 568.76 8.53 1238 12555.42 VBD 1.47 - - 2736.81 - - - 2515.44 - 142.38 - - 2090.75 - - - - - - - - - - -
12869.12 544.32 8.19 1259 12876.58 roll 1.47 - - 2736.75 - 3.89 0.123 1031.31 -381.5 142.38 - - 2091.62 - - - - - - - - - 16.10 -
13004.07 531.88 10.39 1280 13011.49 done 1.47 - - 2736.88 - 3.62 0.063 2516.19 410.2 142.38 - - 2092.91 - - - - - - - - - 16.11 -
13323.69 505.34 8.66 1303 13331.14 done 1.47 - - 2736.50 - 3.89 0.121 1031.12 -381.8 142.38 - - 2090.88 - - - - - - - - - 16.11 -
13393.19 498.06 10.34 1314 13406.05 done 1.47 - - 2736.69 - 3.61 0.063 2517.06 411.6 142.38 - - 2090.91 - - - - - - - - - 16.12 -
13715.50 472.60 7.77 1346 13725.57 VBD 1.47 - - 2737.12 - - - 2517.81 - 142.38 - - 2090.97 - - - - - - - - - - -
14035.56 447.00 7.71 1378 14045.54 VBD 1.47 - - 2737.25 - - - 2517.12 - 142.38 - - 2091.38 - - - - - - - - - - -
14355.61 422.74 7.12 1410 14370.14 done 1.49 - - 2736.75 - 3.90 0.123 1031.56 -380.9 142.38 - - 2092.22 - - - - - - - - - 16.10 -
14441.43 415.60 8.89 1422 14455.93 done 1.49 - - 2736.75 - 3.61 0.064 2516.31 411.3 142.38 - - 2091.69 - - - - - - - - - 16.11 -
14756.47 392.37 7.25 1454 14766.07 VBD 1.51 - - 2737.75 - - - 2515.38 - 142.38 - - 2091.75 - - - - - - - - - - -
15076.14 368.60 7.40 1486 15090.66 done 1.51 - - 2737.69 - 3.90 0.122 1030.94 -380.6 142.38 - - 2091.25 - - - - - - - - - 16.11 -
15149.90 361.59 8.77 1497 15162.67 done 1.51 - - 2735.38 - 3.59 0.062 2516.75 413.9 142.38 - - 2091.88 - - - - - - - - - 16.12 -
15472.15 340.35 6.07 1529 15486.70 done 1.57 - - 2737.00 - 3.88 0.120 1030.81 -383.0 142.38 - - 2091.66 - - - - - - - - - 16.11 -
15515.47 337.20 6.65 1535 15529.95 done 1.60 - - 2736.75 - 3.58 0.061 2516.75 415.1 142.38 - - 2093.16 - - - - - - - - - 16.12 -
15840.13 314.93 6.92 1568 15850.22 1.63 0.17 0.082 2774.62 222.8 - - 2516.56 - 142.38 - - 2092.34 - - - - - - - - 16.12 - -
16152.07 289.13 7.98 1611 16156.07 VBD 1.63 - - 2774.12 - - - 2517.25 - 142.38 - - 2091.94 - - - - - - - - - - -
16457.15 266.20 7.31 1672 16461.16 VBD 1.65 - - 2773.81 - - - 2516.75 - 142.38 - - 2091.97 - - - - - - - - - - -
16762.18 243.07 7.54 1733 16767.95 done 1.65 - - 2773.69 - 3.89 0.121 1030.44 -382.1 142.38 - - 2093.25 - - - - - - - - - 16.10 -
16877.19 233.28 8.85 1756 16882.92 done 1.65 - - 2773.94 - 3.54 0.063 2517.06 419.9 142.38 - - 2091.47 - - - - - - - - - 16.12 -
17187.26 211.53 6.89 1818 17191.26 VBD 1.68 - - 2773.94 - - - 2516.31 - 142.38 - - 2091.72 - - - - - - - - - - -
17492.51 189.57 6.91 1879 17496.52 VBD 1.70 - - 2774.50 - - - 2516.69 - 142.38 - - 2091.91 - - - - - - - - - - -
17797.47 167.86 7.74 1940 17803.09 done 1.70 - - 2774.00 - 2.93 0.115 3637.81 382.6 142.38 - - 2091.78 - - - - - - - - - 16.12 -
17872.49 161.24 9.16 1955 17878.09 done 1.70 - - 2774.25 - 2.78 0.054 2454.75 -425.6 142.38 - - 2091.81 - - - - - - - - - 16.12 -
18182.62 140.25 6.30 2017 18188.36 done 1.75 - - 2773.69 - 3.74 0.123 1029.50 -381.1 142.38 - - 2091.19 - - - - - - - - - 16.10 -
18262.65 134.73 7.15 2033 18268.39 1.77 0.15 0.092 2811.19 250.0 3.60 0.059 2518.12 413.5 142.38 - - 2091.09 - - - - - - - - 16.10 16.12 -
18572.68 115.85 6.08 2095 18578.28 done 1.83 - - 2811.38 - 2.93 0.112 3638.00 382.2 142.38 - - 2091.19 - - - - - - - - - 16.11 -
18807.74 100.89 5.97 2142 18813.43 done 1.88 - - 2811.00 - 2.78 0.053 2455.50 -425.4 142.38 - - 2092.00 - - - - - - - - - 16.12 -
19117.80 89.68 3.48 2204 19190.92 2.09 0.40 0.069 2886.25 188.1 3.80 0.122 1030.56 -375.0 210.55 67.26 1.068 1819.47 -4.1 0.057 - - - - - - 16.12 15.82 12.90
19194.01 86.09 5.03 2219 19245.41 done 2.22 - - 2886.44 - 3.67 0.055 2523.88 406.9 254.51 45.38 1.009 1641.81 -3.9 0.056 - - - - - - - 15.88 12.76
19428.82 68.44 7.32 2266 19434.48 roll back 2.24 0.15 0.090 2923.62 247.9 2.99 0.110 3638.94 372.9 254.51 - - 1639.78 - - - - - - - - 15.85 15.84 -
19663.84 51.32 7.98 2313 19669.48 roll 2.24 - - 2923.38 - 2.82 0.052 2462.88 -417.0 254.51 - - 1641.38 - - - - - - - - - 15.92 -
19853.89 39.02 6.18 2351 19859.65 roll 2.29 - - 2923.31 - 3.79 0.121 1030.00 -378.1 254.51 - - 1639.59 - - - - - - - - - 15.94 -
20088.93 24.44 5.80 2398 20126.30 done 2.38 - - 2924.19 - 3.62 0.057 2529.62 414.3 286.55 32.71 0.957 1511.56 -3.9 0.017 - - - - - - - 15.97 12.76
20309.22 9.72 6.96 2442 20315.02 roll back 2.41 0.19 0.079 2964.56 212.5 3.95 0.114 1031.44 -379.3 286.55 - - 1510.19 - - - - - - - - 15.92 15.91 -
20399 end climb: SURFACE_DEPTH_REACHED
20399 begin surface coast
20404 end surface coast: CONTROL_FINISHED_OK
20404 begin surface
SM 1.49 - - - - 170.2 103.97 0.960 1049.3 10.1 18.47 0.086 1037.1 56.1 - 2.90 0.055 1061.6 364.7 -1.010 - - 12.83 15.90 15.94 -