NANOOS May22 * SG236 * Dive index * Mission links * Dive 123 * Raw log
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• Previous call tries 1 • 57.74 of 575.00 AH used of 24V (89.96% remains)
• Surface angle -64.9 deg, depth 1.37 m • Intended pitch -20.9 deg, speed -7.857 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 14 s
• GPS2 time: 4 s • Transponder ping count: 101
• 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
4.38 - - - 70.05 VBD -1.29 - - 169.94 - - - 2192.19 - -82.73 65.15 0.005 2337.09 - - - - - - - - - - 15.67
70.26 3.30 -3.09 12 113.80 -1.29 15.94 0.271 2052.75 118.1 3.89 0.159 802.56 -357.2 -82.73 19.31 0.006 3018.88 35.3 -3.225 - - - - - - 15.70 15.65 15.70
341.71 69.26 -19.59 66 347.41 roll -1.29 - - 2054.94 - 3.54 0.061 2249.75 408.8 -82.73 - - 3018.53 - - - - - - - - - 15.88 -
531.72 100.88 -18.90 104 537.46 roll -1.29 - - 2054.88 - 3.63 0.104 3638.81 382.7 -82.73 - - 3019.78 - - - - - - - - - 15.91 -
766.76 140.68 -14.78 151 772.47 roll -1.29 - - 2054.50 - 3.46 0.057 2207.25 -413.7 -82.73 - - 3018.41 - - - - - - - - - 15.95 -
1076.85 184.23 -14.81 213 1080.85 no move -1.29 - - 2054.75 - - - 2207.19 - -82.73 - - 3019.69 - - - - - - - - - - -
1381.87 226.61 -13.79 274 1387.63 roll -1.29 - - 2053.06 - 3.72 0.101 3638.00 384.6 -82.73 - - 3019.22 - - - - - - - - - 16.02 -
1451.88 236.96 -14.87 288 1457.59 roll -1.29 - - 2054.88 - 3.44 0.058 2206.00 -416.3 -82.73 - - 3020.12 - - - - - - - - - 16.02 -
1761.97 276.05 -17.60 350 1767.71 roll -1.29 - - 2054.88 - 3.86 0.156 802.81 -363.5 -82.73 - - 3018.75 - - - - - - - - - 16.02 -
1806.96 282.60 -15.64 359 1812.66 roll -1.29 - - 2054.62 - 3.54 0.062 2255.25 410.3 -82.73 - - 3019.56 - - - - - - - - - 16.04 -
2118.55 322.42 -12.86 403 2128.53 no move -1.29 - - 2055.38 - - - 2255.31 - -82.73 - - 3018.94 - - - - - - - - - - -
2438.59 361.37 -12.52 435 2453.16 roll -1.29 - - 2054.69 - 4.12 0.190 803.25 -352.4 -82.73 - - 3019.12 - - - - - - - - - 16.03 -
2524.43 373.21 -14.32 447 2538.93 roll -1.29 - - 2055.06 - 3.52 0.067 2253.62 412.0 -82.73 - - 3019.62 - - - - - - - - - 16.07 -
2849.07 411.20 -11.64 480 2863.63 roll -1.29 - - 2055.19 - 4.09 0.187 803.12 -354.6 -82.73 - - 3019.16 - - - - - - - - - 16.04 -
2894.40 418.28 -14.18 487 2907.21 roll -1.29 - - 2054.75 - 3.51 0.066 2253.81 413.3 -82.73 - - 3019.28 - - - - - - - - - 16.08 -
3216.63 455.08 -11.47 519 3231.10 roll -1.29 - - 2055.38 - 3.57 0.107 3638.06 387.7 -82.73 - - 3020.19 - - - - - - - - - 16.08 -
3290.31 465.82 -13.21 530 3303.11 roll -1.29 - - 2055.19 - 3.43 0.063 2210.19 -416.3 -82.73 - - 3019.59 - - - - - - - - - 16.10 -
3607.56 502.74 -11.21 561 3615.03 roll -1.29 - - 2055.44 - 3.92 0.183 803.38 -358.9 -82.73 - - 3020.59 - - - - - - - - - 16.06 -
3725.47 519.69 -14.70 580 3731.19 roll -1.29 - - 2054.81 - 3.51 0.067 2253.44 413.1 -82.73 - - 3019.09 - - - - - - - - - 16.10 -
4042.58 554.67 -11.14 602 4050.00 roll -1.29 - - 2055.00 - 3.58 0.107 3639.56 387.2 -82.73 - - 3020.56 - - - - - - - - - 16.10 -
4083.55 560.12 -12.37 609 4089.26 roll -1.29 - - 2053.38 - 3.44 0.063 2208.44 -416.0 -82.73 - - 3018.97 - - - - - - - - - 16.11 -
4400.63 595.53 -11.11 631 4401.97 no move -1.29 - - 2054.69 - - - 2208.25 - -82.73 - - 3017.66 - - - - - - - - - - -
4715.66 632.78 -11.99 652 4723.12 roll -1.29 - - 2055.00 - 3.92 0.183 803.94 -358.2 -82.73 - - 3017.28 - - - - - - - - - 16.08 -
4775.87 642.37 -15.34 662 4781.57 roll -1.29 - - 2055.50 - 3.51 0.067 2253.44 413.0 -82.73 - - 3017.00 - - - - - - - - - 16.12 -
5092.96 680.14 -11.56 684 5100.46 roll -1.29 - - 2055.00 - 4.01 0.177 803.31 -361.6 -82.73 - - 3016.25 - - - - - - - - - 16.08 -
5170.22 691.10 -14.93 696 5177.63 roll -1.29 - - 2054.69 - 3.46 0.067 2251.50 418.6 -82.73 - - 3016.56 - - - - - - - - - 16.11 -
5489.85 728.22 -11.06 719 5491.18 no move -1.29 - - 2054.56 - - - 2251.75 - -82.73 - - 3015.47 - - - - - - - - - - -
5804.88 761.38 -10.54 740 5812.28 roll -1.29 - - 2055.25 - 3.57 0.108 3638.56 388.5 -82.73 - - 3015.34 - - - - - - - - - 16.12 -
5845.86 766.79 -11.46 747 5851.57 roll -1.29 - - 2055.44 - 3.44 0.064 2205.56 -416.6 -82.73 - - 3015.28 - - - - - - - - - 16.13 -
6163.14 798.65 -10.76 769 6164.48 no move -1.29 - - 2054.62 - - - 2206.50 - -82.73 - - 3014.94 - - - - - - - - - - -
6478.13 829.29 -9.54 790 6485.56 roll -1.29 - - 2054.75 - 3.71 0.107 3637.62 385.7 -82.73 - - 3015.62 - - - - - - - - - 16.12 -
6543.32 836.68 -11.18 801 6556.11 roll -1.29 - - 2055.00 - 3.43 0.065 2207.38 -417.0 -82.73 - - 3014.31 - - - - - - - - - 16.13 -
6870.47 867.85 -8.94 823 6871.80 no move -1.29 - - 2054.12 - - - 2206.94 - -82.73 - - 3014.22 - - - - - - - - - - -
7185.64 898.72 -9.99 844 7186.97 no move -1.29 - - 2054.50 - - - 2206.75 - -82.73 - - 3014.09 - - - - - - - - - - -
7500.65 929.80 -9.39 865 7508.12 roll -1.29 - - 2055.06 - 3.89 0.182 802.25 -361.1 -82.73 - - 3014.06 - - - - - - - - - 16.09 -
7558.83 936.81 -12.75 874 7566.22 roll -1.29 - - 2054.25 - 3.48 0.068 2251.62 416.5 -82.73 - - 3012.66 - - - - - - - - - 16.12 -
7878.46 968.84 -10.36 897 7879.79 no move -1.29 - - 2054.88 - - - 2251.38 - -82.73 - - 3012.47 - - - - - - - - - - -
8088 end dive: TARGET_DEPTH_EXCEEDED
8088 begin apogee
8090.21 990.28 -9.64 911 8165.26 -0.25 1.86 0.161 2307.38 135.8 0.09 0.252 2469.31 2421.4 - 69.17 2.210 2679.69 -4.8 0.358 - - - - - - 16.10 15.58 12.85
8168 end apogee: CONTROL_FINISHED_OK
8168 begin climb
8170.24 994.88 - 916 8253.80 1.29 2.71 0.125 2684.12 139.0 3.16 0.116 3638.25 369.9 82.73 75.35 2.168 2341.94 -4.5 0.342 - - - - - - 15.62 15.65 12.81
8265.37 990.31 5.85 931 8302.86 done 1.39 - - 2684.88 - 2.89 0.057 2469.00 -404.6 114.04 28.74 2.023 2214.06 -4.4 0.362 - - - - - - - 15.42 12.72
8616.69 967.82 6.35 957 8624.25 roll back 1.43 0.21 0.084 2726.25 197.0 3.93 0.148 1039.50 -363.7 114.04 - - 2212.34 - - - - - - - - 15.77 15.75 -
8676.88 961.06 8.96 967 8682.63 roll 1.43 - - 2726.31 - 3.69 0.069 2520.50 401.4 114.04 - - 2211.47 - - - - - - - - - 15.79 -
8994.00 932.21 9.35 989 9001.47 roll 1.43 - - 2726.25 - 3.99 0.140 1039.31 -371.2 114.04 - - 2210.72 - - - - - - - - - 15.87 -
9052.07 926.57 8.91 998 9059.49 roll 1.43 - - 2726.12 - 3.63 0.068 2520.44 408.0 114.04 - - 2211.41 - - - - - - - - - 15.91 -
9371.68 897.46 8.91 1021 9379.15 roll 1.43 - - 2726.31 - 3.97 0.139 1039.25 -373.1 114.04 - - 2210.03 - - - - - - - - - 15.94 -
9431.91 891.40 8.81 1031 9437.62 roll 1.43 - - 2726.19 - 3.61 0.067 2518.19 409.7 114.04 - - 2210.56 - - - - - - - - - 15.95 -
9748.99 865.35 8.44 1053 9750.32 no move 1.43 - - 2726.12 - - - 2518.25 - 114.04 - - 2208.88 - - - - - - - - - - -
10064.06 839.13 7.96 1074 10071.66 roll 1.43 - - 2726.50 - 3.95 0.139 1039.31 -374.4 114.04 - - 2208.91 - - - - - - - - - 16.00 -
10129.29 832.12 9.95 1085 10142.06 roll 1.43 - - 2726.19 - 3.63 0.067 2521.44 408.3 114.04 - - 2210.03 - - - - - - - - - 16.02 -
10456.37 804.30 8.63 1107 10457.70 no move 1.43 - - 2726.44 - - - 2521.00 - 114.04 - - 2208.38 - - - - - - - - - - -
10771.55 777.92 8.49 1128 10772.89 no move 1.43 - - 2726.06 - - - 2520.38 - 114.04 - - 2208.44 - - - - - - - - - - -
11086.45 751.52 8.25 1149 11087.79 no move 1.43 - - 2726.19 - - - 2520.81 - 114.04 - - 2207.47 - - - - - - - - - - -
11401.53 728.24 7.01 1170 11409.01 roll 1.46 - - 2726.56 - 3.93 0.138 1039.12 -377.0 114.04 - - 2209.53 - - - - - - - - - 16.06 -
11481.12 721.41 6.51 1183 11486.85 done 1.50 - - 2725.88 - 3.59 0.067 2520.44 412.6 114.04 - - 2207.12 - - - - - - - - - 16.08 -
11798.25 700.06 6.41 1205 11799.59 no move 1.54 - - 2726.69 - - - 2520.81 - 114.04 - - 2206.22 - - - - - - - - - - -
12113.31 677.26 7.10 1226 12120.78 done 1.56 - - 2726.88 - 3.93 0.138 1038.50 -377.2 114.04 - - 2208.38 - - - - - - - - - 16.08 -
12216.96 668.31 7.72 1243 12229.79 done 1.56 - - 2726.31 - 3.57 0.068 2519.19 414.8 114.04 - - 2207.91 - - - - - - - - - 16.09 -
12544.09 644.02 7.28 1265 12551.63 1.58 0.17 0.088 2761.62 207.7 3.92 0.136 1039.56 -377.5 114.04 - - 2206.38 - - - - - - - - 16.10 16.08 -
12698.26 628.94 9.85 1289 12705.66 done 1.58 - - 2761.56 - 3.55 0.067 2519.25 416.8 114.04 - - 2205.94 - - - - - - - - - 16.09 -
13017.90 601.73 8.45 1312 13019.23 VBD 1.58 - - 2761.25 - - - 2519.62 - 114.04 - - 2206.25 - - - - - - - - - - -
13332.93 576.80 8.30 1333 13334.27 VBD 1.58 - - 2761.19 - - - 2519.25 - 114.04 - - 2205.38 - - - - - - - - - - -
13647.98 552.67 7.60 1354 13649.32 VBD 1.58 - - 2761.88 - - - 2519.44 - 114.04 - - 2205.31 - - - - - - - - - - -
13963.01 528.44 7.52 1375 13967.15 done 1.58 - - 2761.94 - 2.90 0.116 3639.00 386.1 114.04 - - 2204.31 - - - - - - - - - 16.11 -
14016.05 523.98 9.02 1383 14020.22 done 1.58 - - 2761.56 - 2.78 0.057 2460.38 -424.0 114.04 - - 2204.31 - - - - - - - - - 16.11 -
14325.68 498.43 8.71 1405 14335.64 VBD 1.58 - - 2762.19 - - - 2460.38 - 114.04 - - 2206.25 - - - - - - - - - - -
14645.67 473.45 7.67 1437 14649.85 done 1.58 - - 2761.31 - 3.11 0.115 3638.19 378.7 114.04 - - 2206.44 - - - - - - - - - 16.11 -
14779.76 462.18 8.74 1456 14784.01 done 1.58 - - 2759.31 - 2.74 0.058 2460.31 -429.9 114.04 - - 2204.66 - - - - - - - - - 16.11 -
15089.41 439.19 7.67 1487 15103.92 done 1.58 - - 2761.12 - 3.76 0.143 1039.31 -377.9 114.04 - - 2205.91 - - - - - - - - - 16.10 -
15203.66 430.58 7.68 1503 15218.14 done 1.58 - - 2762.00 - 3.57 0.065 2520.56 414.9 114.04 - - 2204.28 - - - - - - - - - 16.11 -
15528.33 407.71 6.20 1536 15542.87 done 1.63 - - 2759.94 - 3.90 0.133 1038.81 -379.9 114.04 - - 2205.03 - - - - - - - - - 16.10 -
15587.90 402.45 7.30 1545 15600.65 done 1.65 - - 2761.75 - 3.57 0.064 2521.12 415.2 114.04 - - 2205.25 - - - - - - - - - 16.11 -
15910.12 381.25 6.44 1577 15914.27 done 1.69 - - 2762.00 - 2.90 0.115 3640.06 385.8 114.04 - - 2203.88 - - - - - - - - - 16.10 -
15986.62 375.26 7.96 1588 15990.74 done 1.69 - - 2761.88 - 2.76 0.056 2458.81 -428.0 114.04 - - 2202.56 - - - - - - - - - 16.11 -
16296.28 355.12 6.09 1619 16311.01 1.74 0.19 0.088 2801.75 209.8 3.76 0.139 1038.75 -377.7 114.04 - - 2204.44 - - - - - - - - 16.12 16.09 -
16356.16 349.65 8.39 1628 16368.97 done 1.74 - - 2802.31 - 3.56 0.064 2521.25 416.4 114.04 - - 2204.12 - - - - - - - - - 16.10 -
16678.42 326.51 7.52 1660 16693.18 done 1.74 - - 2802.31 - 3.91 0.131 1038.56 -379.2 114.04 - - 2206.16 - - - - - - - - - 16.09 -
16766.63 318.37 9.43 1673 16779.48 done 1.74 - - 2802.62 - 3.55 0.065 2519.56 417.2 114.04 - - 2206.31 - - - - - - - - - 16.11 -
17080.83 295.06 7.51 1710 17086.44 done 1.74 - - 2802.06 - 2.90 0.114 3639.69 386.3 114.04 - - 2204.38 - - - - - - - - - 16.11 -
17175.84 287.77 8.21 1729 17181.43 done 1.74 - - 2801.75 - 2.76 0.055 2459.38 -427.6 114.04 - - 2204.91 - - - - - - - - - 16.11 -
17485.94 266.02 6.74 1791 17491.65 done 1.78 - - 2801.38 - 3.74 0.137 1039.75 -379.6 114.04 - - 2204.34 - - - - - - - - - 16.09 -
17696.06 249.83 7.71 1833 17701.65 done 1.78 - - 2801.69 - 3.56 0.066 2520.25 415.9 114.04 - - 2204.94 - - - - - - - - - 16.10 -
18005.99 229.75 6.34 1895 18011.76 done 1.82 - - 2802.00 - 3.89 0.128 1038.56 -380.9 114.04 - - 2203.78 - - - - - - - - - 16.09 -
18130.99 219.46 8.30 1920 18136.72 done 1.82 - - 2801.50 - 3.54 0.064 2519.00 418.2 114.04 - - 2204.41 - - - - - - - - - 16.10 -
18441.06 199.87 6.22 1982 18445.07 VBD 1.87 - - 2801.75 - - - 2518.88 - 114.04 - - 2204.62 - - - - - - - - - - -
18746.16 180.18 6.53 2043 18751.94 1.91 0.19 0.081 2842.50 214.5 3.90 0.127 1038.50 -379.6 114.04 - - 2203.62 - - - - - - - - 16.12 16.09 -
18981.17 161.03 8.85 2090 18986.89 done 1.91 - - 2842.94 - 3.55 0.063 2519.00 417.0 114.04 - - 2204.31 - - - - - - - - - 16.10 -
19291.21 142.08 5.60 2152 19327.58 done 2.02 - - 2842.56 - 3.92 0.127 1039.38 -377.5 149.24 29.54 1.129 2069.94 -4.5 0.095 - - - - - - - 15.94 12.88
19461.36 128.59 8.30 2186 19466.94 roll 2.02 - - 2842.31 - 3.59 0.062 2517.50 411.7 149.24 - - 2075.03 - - - - - - - - - 16.00 -
19771.33 111.83 4.97 2248 19822.92 2.15 0.31 0.074 2901.44 190.7 2.95 0.112 3638.94 380.1 194.11 45.06 1.075 1888.97 -4.1 0.071 - - - - - - 16.03 15.82 12.82
20051.40 82.96 9.49 2304 20057.01 roll 2.15 - - 2901.31 - 2.81 0.053 2457.12 -420.6 194.11 - - 1885.78 - - - - - - - - - 15.93 -
20241.50 74.04 3.78 2342 20313.25 2.34 0.22 0.080 2946.00 203.1 3.17 0.108 3639.81 373.1 257.52 63.69 1.036 1629.94 -4.0 0.048 - - - - - - 15.96 15.69 12.83
20541.55 54.09 9.56 2402 20547.17 roll 2.34 - - 2945.75 - 2.82 0.053 2456.75 -419.5 257.52 - - 1627.41 - - - - - - - - - 15.86 -
20731.61 39.30 6.21 2440 20737.25 roll 2.39 - - 2945.88 - 3.12 0.104 3640.31 379.3 257.52 - - 1627.78 - - - - - - - - - 15.91 -
20966.63 22.24 8.20 2487 20972.23 roll 2.39 - - 2945.06 - 2.79 0.052 2456.56 -424.3 257.52 - - 1627.22 - - - - - - - - - 15.95 -
21156.69 15.10 3.15 2525 21233.97 2.61 0.37 0.065 3013.50 185.0 3.15 0.106 3639.81 375.6 330.83 72.31 0.974 1331.41 -4.1 0.011 - - - - - - 15.96 15.70 12.77
21307 end climb: SURFACE_DEPTH_REACHED
21307 begin surface coast
21327 end surface coast: CONTROL_FINISHED_OK
21327 begin surface
SM 1.50 - - - - 171.7 63.37 0.955 1049.0 15.4 18.51 0.052 1033.8 55.8 - 3.44 0.059 1064.2 308.4 -0.801 - - 12.78 15.80 15.81 -