NANOOS May22 * SG236 * Dive index * Mission links * Dive 134 * Raw log
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• Previous call tries 1 • 61.33 of 575.00 AH used of 24V (89.33% remains)
• Surface angle -67.5 deg, depth -0.05 m • Intended pitch -20.9 deg, speed -7.857 cm/s
VBD pumped to 534.64 (beyond SM_CC=400)
• GPS1 time: 34 s
• GPS2 time: 2 s • Transponder ping count: 92
• 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 - - - 75.10 VBD -1.29 - - 168.88 - - - 2230.81 - -82.73 70.29 0.005 2477.78 - - - - - - - - - - 15.69
75.32 3.18 -4.69 13 112.58 -1.29 15.77 0.265 2056.19 119.7 3.69 0.105 3639.88 381.9 -82.73 12.54 0.007 3019.59 43.2 -3.251 - - - - - - 15.73 15.66 15.72
340.50 75.09 -23.92 66 346.23 roll -1.29 - - 2055.62 - 3.59 0.060 2183.62 -405.6 -82.73 - - 3019.72 - - - - - - - - - 15.88 -
530.59 104.83 -14.21 104 536.35 roll -1.29 - - 2056.12 - 3.83 0.098 3639.00 380.0 -82.73 - - 3020.97 - - - - - - - - - 15.93 -
610.63 116.97 -16.35 120 616.33 roll -1.29 - - 2056.31 - 3.54 0.057 2186.50 -410.3 -82.73 - - 3019.75 - - - - - - - - - 15.94 -
920.69 157.71 -11.45 182 926.43 roll -1.29 - - 2055.81 - 3.84 0.158 803.00 -360.3 -82.73 - - 3019.44 - - - - - - - - - 15.95 -
955.66 162.88 -15.14 189 961.37 roll -1.29 - - 2056.12 - 3.45 0.055 2231.56 414.1 -82.73 - - 3019.44 - - - - - - - - - 15.99 -
1265.75 204.05 -12.88 251 1271.51 roll -1.29 - - 2056.25 - 3.96 0.155 802.94 -360.8 -82.73 - - 3019.53 - - - - - - - - - 15.99 -
1340.75 215.47 -14.76 266 1346.43 roll -1.29 - - 2056.38 - 3.41 0.056 2231.44 418.9 -82.73 - - 3019.28 - - - - - - - - - 16.02 -
1650.83 254.88 -12.97 328 1656.52 roll -1.29 - - 2056.31 - 3.62 0.100 3639.81 389.1 -82.73 - - 3019.00 - - - - - - - - - 16.03 -
1675.78 258.31 -13.61 333 1681.50 roll -1.29 - - 2056.62 - 3.51 0.057 2184.75 -414.5 -82.73 - - 3019.78 - - - - - - - - - 16.05 -
1985.86 298.08 -14.72 395 1989.87 no move -1.29 - - 2056.69 - - - 2184.75 - -82.73 - - 3019.91 - - - - - - - - - - -
2292.43 341.15 -14.65 427 2306.97 roll -1.29 - - 2056.56 - 3.84 0.161 803.00 -359.8 -82.73 - - 3018.94 - - - - - - - - - 16.04 -
2378.30 355.38 -17.09 439 2392.76 roll -1.29 - - 2056.06 - 3.45 0.058 2230.31 413.7 -82.73 - - 3019.06 - - - - - - - - - 16.07 -
2692.95 399.38 -13.03 471 2707.58 roll -1.29 - - 2056.38 - 3.68 0.104 3639.62 383.0 -82.73 - - 3018.97 - - - - - - - - - 16.07 -
2778.88 412.12 -14.02 483 2793.35 roll -1.29 - - 2056.31 - 3.51 0.059 2187.94 -413.6 -82.73 - - 3018.56 - - - - - - - - - 16.09 -
3103.53 454.98 -12.80 516 3118.07 roll -1.29 - - 2057.12 - 3.86 0.161 802.94 -358.8 -82.73 - - 3018.66 - - - - - - - - - 16.06 -
3234.18 475.86 -15.82 535 3246.97 roll -1.29 - - 2055.88 - 3.43 0.058 2228.44 415.6 -82.73 - - 3021.16 - - - - - - - - - 16.10 -
3551.42 515.25 -14.00 563 3552.75 no move -1.29 - - 2055.81 - - - 2227.69 - -82.73 - - 3018.31 - - - - - - - - - - -
3866.45 552.60 -11.01 584 3873.92 roll -1.29 - - 2057.00 - 3.94 0.158 803.00 -361.6 -82.73 - - 3017.88 - - - - - - - - - 16.08 -
3924.53 559.81 -13.00 593 3931.92 roll -1.29 - - 2056.31 - 3.46 0.060 2231.75 412.9 -82.73 - - 3019.09 - - - - - - - - - 16.10 -
4244.15 595.80 -12.13 616 4245.49 no move -1.29 - - 2056.06 - - - 2231.56 - -82.73 - - 3017.38 - - - - - - - - - - -
4559.19 632.29 -11.67 637 4566.61 roll -1.29 - - 2056.50 - 3.68 0.105 3637.88 382.2 -82.73 - - 3017.47 - - - - - - - - - 16.11 -
4696.26 651.17 -13.70 659 4701.99 roll -1.29 - - 2055.75 - 3.54 0.062 2184.50 -410.6 -82.73 - - 3019.12 - - - - - - - - - 16.11 -
5013.39 686.67 -11.22 681 5020.84 roll -1.29 - - 2056.81 - 3.82 0.163 803.88 -361.4 -82.73 - - 3016.31 - - - - - - - - - 16.09 -
5052.22 691.66 -14.33 687 5059.61 roll -1.29 - - 2055.94 - 3.45 0.060 2229.88 413.3 -82.73 - - 3017.16 - - - - - - - - - 16.11 -
5371.85 730.61 -13.07 710 5379.26 roll -1.29 - - 2056.25 - 3.67 0.104 3640.56 384.4 -82.73 - - 3015.69 - - - - - - - - - 16.10 -
5468.37 743.75 -14.48 725 5475.77 roll -1.29 - - 2055.94 - 3.53 0.060 2185.88 -412.1 -82.73 - - 3016.00 - - - - - - - - - 16.12 -
5788.01 788.24 -11.87 748 5795.46 roll -1.29 - - 2056.38 - 3.84 0.165 802.94 -360.1 -82.73 - - 3015.22 - - - - - - - - - 16.09 -
5833.97 795.60 -14.85 756 5846.76 roll -1.29 - - 2054.50 - 3.45 0.060 2229.25 413.4 -82.73 - - 3015.88 - - - - - - - - - 16.12 -
6161.08 830.88 -10.49 778 6168.49 roll -1.29 - - 2056.00 - 3.67 0.106 3637.94 383.8 -82.73 - - 3014.78 - - - - - - - - - 16.10 -
6317.37 849.83 -14.36 803 6323.10 roll -1.29 - - 2056.00 - 3.53 0.062 2188.06 -410.7 -82.73 - - 3015.19 - - - - - - - - - 16.12 -
6634.49 883.29 -11.18 825 6641.96 roll -1.29 - - 2056.00 - 3.84 0.165 803.81 -360.5 -82.73 - - 3014.22 - - - - - - - - - 16.09 -
6714.06 894.00 -11.55 838 6719.60 roll -1.29 - - 2054.88 - 3.48 0.062 2232.25 410.5 -82.73 - - 3015.38 - - - - - - - - - 16.12 -
7031.05 891.41 -6.23 860 7032.38 no move -1.29 - - 2055.56 - - - 2232.19 - -82.73 - - 3012.53 - - - - - - - - - - -
7346.20 915.15 -9.18 881 7353.61 roll -1.29 - - 2055.31 - 3.68 0.107 3637.94 382.0 -82.73 - - 3013.03 - - - - - - - - - 16.12 -
7442.72 932.17 -11.59 896 7450.12 roll -1.29 - - 2056.38 - 3.53 0.063 2188.12 -410.7 -82.73 - - 3012.53 - - - - - - - - - 16.12 -
7762.36 969.27 -10.56 919 7763.70 no move -1.29 - - 2056.00 - - - 2188.62 - -82.73 - - 3011.81 - - - - - - - - - - -
7987 end dive: TARGET_DEPTH_EXCEEDED
7987 begin apogee
7989.13 990.22 -8.93 934 8064.14 -0.25 1.86 0.157 2310.44 136.8 0.09 0.237 2411.44 2475.8 - 69.00 2.241 2681.00 -4.8 0.351 - - - - - - 16.08 15.59 12.74
8067 end apogee: CONTROL_FINISHED_OK
8067 begin climb
8069.12 993.28 - 939 8148.68 1.29 2.66 0.104 2686.19 141.3 0.09 0.139 2460.50 545.1 82.73 75.32 2.188 2341.28 -4.5 0.339 - - - - - - 15.62 15.66 12.83
8461.54 966.60 7.57 972 8469.20 roll 1.29 - - 2686.12 - 4.09 0.133 976.81 -362.8 82.73 - - 2338.72 - - - - - - - - - 15.77 -
8521.92 962.53 6.79 982 8527.48 roll 1.33 - - 2686.38 - 3.74 0.064 2460.88 396.8 82.73 - - 2336.38 - - - - - - - - - 15.81 -
8838.83 939.11 7.55 1004 8846.16 done 1.33 - - 2685.50 - 3.17 0.115 3637.31 371.1 82.73 - - 2334.59 - - - - - - - - - 15.90 -
8879.79 935.88 8.08 1011 8885.42 done 1.33 - - 2686.56 - 2.99 0.056 2407.25 -411.4 82.73 - - 2334.03 - - - - - - - - - 15.91 -
9196.92 914.31 7.94 1033 9204.37 done 1.33 - - 2685.69 - 3.88 0.136 976.56 -368.7 82.73 - - 2331.94 - - - - - - - - - 15.95 -
9235.73 911.39 7.87 1039 9243.14 done 1.33 - - 2684.62 - 3.68 0.062 2461.56 403.5 82.73 - - 2331.94 - - - - - - - - - 15.96 -
9555.39 891.97 5.16 1062 9595.77 1.45 0.22 0.077 2732.44 217.4 3.19 0.116 3638.00 368.8 124.71 34.16 2.037 2170.75 -4.7 0.342 - - - - - - 15.99 15.69 12.88
9622.36 886.83 7.95 1073 9635.20 roll 1.45 - - 2733.00 - 2.99 0.055 2408.00 -411.4 124.71 - - 2171.34 - - - - - - - - - 15.79 -
9949.49 862.17 8.12 1095 9950.83 no move 1.45 - - 2732.56 - - - 2408.50 - 124.71 - - 2171.94 - - - - - - - - - - -
10264.52 836.52 7.49 1116 10271.87 roll 1.45 - - 2731.62 - 3.28 0.111 3639.06 375.2 124.71 - - 2172.75 - - - - - - - - - 15.96 -
10291.27 833.80 7.87 1121 10303.96 roll 1.45 - - 2731.00 - 2.96 0.056 2408.31 -415.8 124.71 - - 2172.59 - - - - - - - - - 15.96 -
10618.43 811.81 7.18 1143 10619.77 no move 1.47 - - 2732.12 - - - 2408.56 - 124.71 - - 2171.81 - - - - - - - - - - -
10933.42 789.62 7.73 1164 10940.87 roll 1.47 - - 2733.00 - 3.88 0.136 974.69 -369.6 124.71 - - 2172.19 - - - - - - - - - 16.02 -
10979.43 786.01 5.91 1172 10992.21 roll 1.53 - - 2732.62 - 3.66 0.062 2463.25 406.7 124.71 - - 2171.47 - - - - - - - - - 16.03 -
11306.52 765.10 7.12 1194 11307.86 no move 1.55 - - 2732.62 - - - 2463.50 - 124.71 - - 2170.25 - - - - - - - - - - -
11621.58 742.92 6.85 1215 11622.92 no move 1.58 - - 2732.44 - - - 2463.75 - 124.71 - - 2170.56 - - - - - - - - - - -
11936.71 719.07 7.95 1236 11938.05 no move 1.58 - - 2732.69 - - - 2463.75 - 124.71 - - 2171.19 - - - - - - - - - - -
12251.65 695.62 7.04 1257 12260.05 roll back 1.61 0.17 0.084 2769.94 219.1 4.02 0.132 976.56 -369.9 124.71 - - 2170.31 - - - - - - - - 16.08 16.07 -
12290.48 691.37 10.66 1263 12297.90 roll 1.61 - - 2770.56 - 3.66 0.062 2462.88 406.1 124.71 - - 2169.91 - - - - - - - - - 16.07 -
12610.12 653.62 12.25 1286 12611.46 no move 1.61 - - 2770.31 - - - 2463.38 - 124.71 - - 2170.41 - - - - - - - - - - -
12925.16 616.32 11.23 1307 12929.33 roll 1.61 - - 2770.56 - 3.09 0.113 3637.94 380.1 124.71 - - 2171.03 - - - - - - - - - 16.10 -
12961.12 611.59 11.38 1313 12966.75 roll 1.61 - - 2770.19 - 2.96 0.056 2404.94 -416.6 124.71 - - 2171.50 - - - - - - - - - 16.10 -
13278.25 575.84 11.73 1335 13285.61 roll 1.61 - - 2769.94 - 3.27 0.108 3638.38 377.2 124.71 - - 2170.84 - - - - - - - - - 16.10 -
13319.21 569.63 12.99 1342 13324.84 roll 1.61 - - 2770.31 - 2.93 0.056 2406.19 -420.5 124.71 - - 2170.25 - - - - - - - - - 16.11 -
13636.33 537.82 9.56 1364 13643.96 roll 1.61 - - 2770.50 - 3.85 0.135 974.62 -371.8 124.71 - - 2169.81 - - - - - - - - - 16.09 -
13778.60 521.10 10.44 1387 13791.24 roll 1.61 - - 2769.75 - 3.65 0.063 2460.00 407.0 124.71 - - 2171.38 - - - - - - - - - 16.11 -
14100.55 492.39 10.21 1411 14110.53 no move 1.61 - - 2770.94 - - - 2459.75 - 124.71 - - 2170.47 - - - - - - - - - - -
14420.59 459.92 10.29 1443 14430.58 no move 1.61 - - 2770.31 - - - 2460.50 - 124.71 - - 2170.19 - - - - - - - - - - -
14740.61 430.17 11.16 1475 14744.80 roll 1.61 - - 2770.50 - 3.13 0.113 3637.81 376.1 124.71 - - 2170.47 - - - - - - - - - 16.10 -
14776.71 424.93 11.84 1481 14789.27 roll 1.61 - - 2771.12 - 2.91 0.055 2405.62 -423.4 124.71 - - 2172.12 - - - - - - - - - 16.11 -
15098.69 393.12 9.79 1513 15113.29 roll 1.61 - - 2770.62 - 3.84 0.134 975.81 -372.3 124.71 - - 2169.97 - - - - - - - - - 16.09 -
15272.30 373.06 10.26 1538 15285.14 roll 1.61 - - 2770.94 - 3.65 0.063 2460.50 406.8 124.71 - - 2169.78 - - - - - - - - - 16.11 -
15594.59 345.93 8.74 1570 15598.80 roll 1.61 - - 2771.12 - 3.10 0.110 3639.88 380.4 124.71 - - 2171.41 - - - - - - - - - 16.10 -
15716.04 333.85 9.88 1588 15728.61 roll 1.61 - - 2771.12 - 2.94 0.054 2405.62 -419.8 124.71 - - 2171.03 - - - - - - - - - 16.11 -
16038.06 304.29 9.59 1620 16052.60 roll 1.61 - - 2771.38 - 3.85 0.132 975.06 -371.6 124.71 - - 2170.16 - - - - - - - - - 16.10 -
16090.46 298.45 11.97 1627 16095.26 roll 1.61 - - 2771.25 - 3.64 0.062 2460.88 408.2 124.71 - - 2171.53 - - - - - - - - - 16.10 -
16398.61 269.01 8.31 1689 16404.40 roll 1.61 - - 2770.94 - 3.98 0.125 976.31 -373.0 124.71 - - 2169.94 - - - - - - - - - 16.09 -
16438.62 265.17 9.62 1697 16444.36 roll 1.61 - - 2770.75 - 3.63 0.060 2460.56 408.9 124.71 - - 2169.88 - - - - - - - - - 16.10 -
16748.67 238.98 8.12 1759 16752.68 no move 1.61 - - 2771.50 - - - 2460.50 - 124.71 - - 2170.78 - - - - - - - - - - -
17054.02 212.77 8.81 1820 17058.02 no move 1.61 - - 2770.88 - - - 2460.00 - 124.71 - - 2170.88 - - - - - - - - - - -
17358.78 186.50 8.65 1881 17364.42 roll 1.61 - - 2771.50 - 3.11 0.109 3640.25 379.5 124.71 - - 2170.00 - - - - - - - - - 16.10 -
17438.79 179.46 8.98 1897 17444.41 roll 1.61 - - 2771.81 - 2.94 0.053 2403.00 -420.8 124.71 - - 2169.78 - - - - - - - - - 16.10 -
17748.84 156.92 7.53 1959 17754.51 roll 1.61 - - 2771.62 - 3.23 0.105 3638.69 382.6 124.71 - - 2170.53 - - - - - - - - - 16.11 -
17803.84 152.32 8.15 1970 17809.47 roll 1.61 - - 2771.06 - 2.93 0.052 2400.88 -422.5 124.71 - - 2169.66 - - - - - - - - - 16.10 -
18113.95 128.56 7.06 2032 18119.67 roll 1.63 - - 2770.75 - 3.81 0.130 974.88 -374.3 124.71 - - 2169.78 - - - - - - - - - 16.09 -
18213.91 120.73 8.74 2052 18219.66 roll 1.63 - - 2771.44 - 3.62 0.059 2462.00 410.8 124.71 - - 2170.00 - - - - - - - - - 16.10 -
18523.98 104.31 3.86 2114 18592.08 1.82 0.23 0.076 2821.81 219.0 4.03 0.124 974.69 -369.1 186.86 61.83 1.157 1916.00 -4.1 0.061 - - - - - - 16.10 15.81 12.77
18655.10 94.74 9.18 2140 18660.69 roll 1.82 - - 2821.94 - 3.65 0.058 2460.12 407.0 186.86 - - 1916.12 - - - - - - - - - 15.90 -
18845.15 81.24 6.61 2178 18850.62 roll 1.85 - - 2821.31 - 3.09 0.106 3639.75 381.8 186.86 - - 1916.53 - - - - - - - - - 15.93 -
19080.03 66.25 4.48 2225 19141.83 2.01 0.22 0.079 2867.38 209.4 2.95 0.051 2399.12 -420.6 239.42 54.70 1.081 1704.03 -3.9 0.039 - - - - - - 15.95 15.97 12.82
19325.08 51.88 6.36 2274 19330.73 roll 2.06 - - 2867.25 - 3.25 0.103 3639.94 381.8 239.42 - - 1701.38 - - - - - - - - - 15.87 -
19485.09 44.23 3.85 2306 19551.98 2.24 0.28 0.068 2924.31 203.8 2.97 0.050 2396.00 -418.8 301.79 62.05 1.031 1449.53 -4.1 0.029 - - - - - - 15.89 15.90 12.86
19735.16 25.44 8.26 2356 19740.89 roll 2.24 - - 2924.62 - 3.87 0.127 975.19 -367.1 301.79 - - 1447.41 - - - - - - - - - 15.81 -
19950.15 5.67 9.98 2399 19955.91 roll 2.24 - - 2925.06 - 3.66 0.058 2459.88 405.7 301.79 - - 1447.16 - - - - - - - - - 15.89 -
20140.21 4.02 -0.83 2437 20227.01 2.65 0.56 0.052 3023.44 175.7 - - 2460.75 - 437.01 85.72 0.982 1086.03 -4.2 0.003 - - - - - - 15.92 - 12.81
20227 end climb: NO_VERTICAL_VELOCITY
20227 begin surface
SM 0.08 - - - - 170.1 - - 500.9 - 19.01 0.046 493.7 25.9 - 0.68 0.084 508.1 747.2 -0.073 - - 30.00 15.57 15.57 -