NANOOS May22 * SG236 * Dive index * Mission links * Dive 69 * Raw log
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• Previous call tries 2 • 39.28 of 575.00 AH used of 24V (93.17% remains)
• Surface angle -62.1 deg, depth 1.25 m • Intended pitch -18.4 deg, speed -9.167 cm/s
VBD pumped to 450.27 (SM_CC=450)
• GPS1 time: 18 s
• GPS2 time: 2 s • Transponder ping count: 87
• 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
4.33 - - - 115.83 VBD -1.27 - - 169.12 - - - 2303.56 - -116.79 111.06 0.005 2879.50 - - - - - - - - - - 15.61
116.03 3.69 -2.18 21 162.79 -1.27 15.71 0.260 2040.94 119.1 3.60 0.114 3638.06 370.7 -116.79 20.07 0.006 3677.00 39.7 -4.100 - - - - - - 15.66 15.63 15.67
305.66 44.26 -21.66 59 311.35 roll -1.27 - - 2040.19 - 3.37 0.066 2260.50 -408.8 -116.79 - - 3679.38 - - - - - - - - - 15.80 -
495.69 79.74 -16.11 97 499.70 no move -1.27 - - 2040.50 - - - 2261.00 - -116.79 - - 3679.84 - - - - - - - - - - -
680.72 105.16 -12.42 134 684.73 no move -1.27 - - 2040.81 - - - 2260.62 - -116.79 - - 3680.28 - - - - - - - - - - -
985.78 142.88 -11.90 195 991.51 roll -1.27 - - 2040.69 - 3.58 0.112 3637.88 384.7 -116.79 - - 3681.22 - - - - - - - - - 15.94 -
1085.82 156.63 -13.18 215 1091.48 roll -1.27 - - 2040.19 - 3.32 0.065 2261.75 -414.5 -116.79 - - 3681.19 - - - - - - - - - 15.95 -
1395.88 193.40 -10.27 277 1401.62 roll -1.27 - - 2041.06 - 3.86 0.153 819.62 -373.6 -116.79 - - 3680.59 - - - - - - - - - 15.97 -
1425.88 196.97 -11.89 283 1431.60 roll -1.27 - - 2040.88 - 3.62 0.063 2312.12 412.3 -116.79 - - 3680.84 - - - - - - - - - 15.99 -
1735.91 229.39 -10.54 345 1739.91 no move -1.27 - - 2040.75 - - - 2312.06 - -116.79 - - 3681.91 - - - - - - - - - - -
2040.96 263.81 -10.77 406 2044.96 no move -1.27 - - 2041.31 - - - 2312.12 - -116.79 - - 3681.72 - - - - - - - - - - -
2346.01 296.66 -10.06 467 2351.82 roll -1.27 - - 2041.31 - 4.01 0.150 820.75 -371.9 -116.79 - - 3681.53 - - - - - - - - - 16.03 -
2404.75 303.17 -10.59 478 2417.51 roll -1.27 - - 2040.81 - 3.59 0.066 2309.69 414.7 -116.79 - - 3681.91 - - - - - - - - - 16.05 -
2726.95 336.23 -9.83 510 2736.93 no move -1.27 - - 2040.75 - - - 2310.12 - -116.79 - - 3680.91 - - - - - - - - - - -
3047.00 368.59 -9.77 542 3061.54 roll -1.27 - - 2039.75 - 3.98 0.152 819.88 -374.4 -116.79 - - 3682.09 - - - - - - - - - 16.05 -
3118.63 377.00 -11.29 552 3133.10 roll -1.27 - - 2041.19 - 3.60 0.066 2309.75 413.9 -116.79 - - 3681.25 - - - - - - - - - 16.08 -
3443.29 407.87 -9.54 585 3457.86 roll -1.27 - - 2041.06 - 4.01 0.152 819.44 -371.6 -116.79 - - 3680.97 - - - - - - - - - 16.07 -
3474.42 412.05 -10.15 590 3487.20 roll -1.27 - - 2040.62 - 3.58 0.065 2309.88 416.3 -116.79 - - 3681.44 - - - - - - - - - 16.09 -
3796.61 445.28 -11.30 622 3806.60 no move -1.27 - - 2040.88 - - - 2309.50 - -116.79 - - 3681.25 - - - - - - - - - - -
4116.63 480.24 -11.70 654 4126.62 no move -1.27 - - 2041.81 - - - 2309.25 - -116.79 - - 3680.31 - - - - - - - - - - -
4441.65 512.86 -9.45 682 4449.14 roll -1.27 - - 2039.88 - 4.01 0.154 819.94 -371.4 -116.79 - - 3681.00 - - - - - - - - - 16.09 -
4521.05 522.27 -10.86 695 4526.79 roll -1.27 - - 2041.19 - 3.60 0.069 2308.56 413.5 -116.79 - - 3680.00 - - - - - - - - - 16.11 -
4838.18 551.43 -9.38 717 4845.67 roll -1.27 - - 2040.38 - 4.01 0.154 819.88 -371.2 -116.79 - - 3680.34 - - - - - - - - - 16.09 -
4877.00 555.33 -9.97 723 4884.39 roll -1.27 - - 2041.06 - 3.54 0.069 2307.94 420.4 -116.79 - - 3680.06 - - - - - - - - - 16.11 -
5196.62 581.79 -8.22 746 5197.96 no move -1.27 - - 2041.12 - - - 2308.56 - -116.79 - - 3679.09 - - - - - - - - - - -
5511.62 611.29 -10.53 767 5512.96 no move -1.27 - - 2040.88 - - - 2308.75 - -116.79 - - 3677.78 - - - - - - - - - - -
5826.78 644.68 -10.22 788 5828.12 no move -1.27 - - 2041.19 - - - 2308.38 - -116.79 - - 3678.41 - - - - - - - - - - -
6141.82 676.07 -9.07 809 6149.31 roll -1.27 - - 2040.69 - 4.02 0.156 820.62 -370.1 -116.79 - - 3678.69 - - - - - - - - - 16.11 -
6182.78 681.54 -11.96 816 6188.54 roll -1.27 - - 2039.94 - 3.63 0.070 2306.88 409.4 -116.79 - - 3678.88 - - - - - - - - - 16.13 -
6499.90 708.07 -8.86 838 6501.24 no move -1.27 - - 2041.06 - - - 2307.31 - -116.79 - - 3678.44 - - - - - - - - - - -
6814.94 732.67 -7.43 859 6822.42 roll -1.27 - - 2040.25 - 4.02 0.156 820.69 -369.8 -116.79 - - 3677.66 - - - - - - - - - 16.11 -
6855.90 736.93 -9.70 866 6861.65 roll -1.27 - - 2039.25 - 3.61 0.070 2307.69 411.9 -116.79 - - 3678.16 - - - - - - - - - 16.14 -
7173.02 763.69 -9.04 888 7180.41 roll -1.27 - - 2040.75 - 3.55 0.125 3636.94 374.4 -116.79 - - 3677.16 - - - - - - - - - 16.12 -
7213.98 768.23 -10.38 895 7219.67 roll -1.27 - - 2040.88 - 3.34 0.071 2258.50 -412.7 -116.79 - - 3677.22 - - - - - - - - - 16.13 -
7531.25 795.85 -9.45 917 7532.59 no move -1.27 - - 2040.81 - - - 2258.94 - -116.79 - - 3676.34 - - - - - - - - - - -
7846.28 825.25 -8.39 938 7847.63 no move -1.27 - - 2040.81 - - - 2258.38 - -116.79 - - 3675.62 - - - - - - - - - - -
8161.24 852.41 -8.67 959 8168.80 roll -1.27 - - 2040.88 - 3.66 0.119 3638.00 376.9 -116.79 - - 3675.50 - - - - - - - - - 16.14 -
8202.21 856.17 -7.78 966 8207.89 roll -1.27 - - 2040.81 - 3.34 0.072 2258.38 -413.1 -116.79 - - 3676.09 - - - - - - - - - 16.15 -
8519.36 881.38 -8.96 988 8526.81 roll -1.27 - - 2039.81 - 3.88 0.163 819.38 -370.9 -116.79 - - 3675.12 - - - - - - - - - 16.12 -
8579.58 887.82 -10.13 998 8585.29 roll -1.27 - - 2039.69 - 3.63 0.071 2307.38 409.9 -116.79 - - 3675.66 - - - - - - - - - 16.14 -
8896.65 914.56 -8.14 1020 8897.99 no move -1.27 - - 2040.81 - - - 2307.31 - -116.79 - - 3674.44 - - - - - - - - - - -
9211.66 941.50 -9.44 1041 9212.99 no move -1.27 - - 2040.75 - - - 2306.81 - -116.79 - - 3674.50 - - - - - - - - - - -
9526.72 969.15 -8.79 1062 9534.21 roll -1.27 - - 2040.75 - 4.03 0.161 822.00 -368.4 -116.79 - - 3673.09 - - - - - - - - - 16.12 -
9606.13 978.32 -11.18 1075 9611.88 roll -1.27 - - 2041.00 - 3.63 0.072 2305.56 408.7 -116.79 - - 3673.75 - - - - - - - - - 16.14 -
9758 end dive: TARGET_DEPTH_EXCEEDED
9758 begin apogee
9759.41 991.20 -8.43 1086 9865.64 -0.25 1.75 0.132 2290.06 142.3 0.08 0.272 2477.69 2151.6 - 95.57 2.301 3199.78 -5.0 0.358 - - - - - - 16.10 15.38 12.94
9868 end apogee: CONTROL_FINISHED_OK
9868 begin climb
9870.62 992.68 - 1093 9978.01 1.27 2.51 0.070 2665.06 149.4 0.10 0.151 2530.44 527.5 116.79 103.85 2.245 2721.44 -4.6 0.342 - - - - - - 15.48 15.50 12.61
10281.46 952.29 12.69 1130 10282.80 VBD 1.27 - - 2665.25 - - - 2529.94 - 116.79 - - 2711.03 - - - - - - - - - - -
10596.62 911.97 13.02 1151 10604.10 done 1.27 - - 2665.31 - 4.01 0.131 1041.88 -371.1 116.79 - - 2708.97 - - - - - - - - - 15.83 -
10661.80 901.58 14.95 1162 10674.64 done 1.27 - - 2663.81 - 3.77 0.070 2524.25 393.2 116.79 - - 2707.97 - - - - - - - - - 15.86 -
10988.91 862.01 11.69 1184 10993.10 done 1.27 - - 2665.44 - 3.04 0.126 3638.81 366.6 116.79 - - 2703.34 - - - - - - - - - 15.91 -
11080.54 849.34 14.47 1198 11084.67 done 1.27 - - 2664.62 - 2.82 0.069 2474.19 -413.0 116.79 - - 2703.72 - - - - - - - - - 15.93 -
11395.21 812.77 11.06 1220 11396.55 VBD 1.27 - - 2664.94 - - - 2472.50 - 116.79 - - 2703.47 - - - - - - - - - - -
11710.20 780.19 10.78 1241 11711.54 VBD 1.27 - - 2665.62 - - - 2473.62 - 116.79 - - 2704.22 - - - - - - - - - - -
12025.25 747.41 10.12 1262 12026.58 VBD 1.27 - - 2665.00 - - - 2473.62 - 116.79 - - 2703.12 - - - - - - - - - - -
12340.27 715.43 10.06 1283 12344.46 done 1.27 - - 2664.88 - 3.11 0.122 3637.06 374.1 116.79 - - 2701.38 - - - - - - - - - 16.03 -
12573.52 685.62 12.00 1320 12586.21 done 1.27 - - 2665.00 - 2.81 0.070 2474.75 -413.6 116.79 - - 2703.41 - - - - - - - - - 16.06 -
12900.63 651.85 10.33 1342 12901.97 VBD 1.27 - - 2665.44 - - - 2474.38 - 116.79 - - 2700.97 - - - - - - - - - - -
13215.65 621.10 9.62 1363 13223.09 done 1.27 - - 2665.19 - 3.79 0.135 1041.81 -378.0 116.79 - - 2700.44 - - - - - - - - - 16.07 -
13273.69 614.98 11.26 1372 13281.10 done 1.27 - - 2665.19 - 3.69 0.070 2523.88 401.6 116.79 - - 2699.53 - - - - - - - - - 16.07 -
13593.33 587.69 8.60 1395 13613.85 done 1.30 - - 2664.62 - 2.99 0.131 3638.94 372.9 127.41 7.26 1.274 2680.88 -2.6 0.199 - - - - - - - 15.96 12.95
13698.11 576.72 11.08 1412 13710.79 roll 1.30 - - 2664.44 - 2.80 0.069 2473.38 -416.3 127.41 - - 2681.09 - - - - - - - - - 16.07 -
14025.25 547.07 8.95 1434 14045.66 done 1.31 - - 2665.19 - 3.11 0.126 3638.81 374.7 131.40 6.26 1.141 2664.50 -2.7 0.213 - - - - - - - 15.95 12.96
14086.46 539.72 11.96 1444 14092.08 roll 1.31 - - 2664.75 - 2.82 0.069 2473.50 -413.2 131.40 - - 2663.22 - - - - - - - - - 16.06 -
14403.60 510.46 8.97 1466 14424.62 done 1.32 - - 2665.25 - 3.79 0.136 1042.00 -377.7 135.07 5.83 1.050 2647.97 -2.6 0.213 - - - - - - - 15.95 12.89
14484.80 501.71 11.72 1479 14490.54 roll 1.32 - - 2664.75 - 3.69 0.069 2526.56 402.3 135.07 - - 2646.78 - - - - - - - - - 16.05 -
14796.94 478.01 7.73 1510 14827.54 1.41 0.15 0.099 2697.69 219.6 - - 2527.31 - 162.00 25.05 1.590 2537.25 -4.4 0.221 - - - - - - 16.05 - 12.86
15137.00 439.61 12.00 1544 15146.97 no move 1.41 - - 2698.00 - - - 2527.69 - 162.00 - - 2533.38 - - - - - - - - - - -
15457.04 398.89 13.56 1576 15471.58 done 1.41 - - 2697.56 - 3.93 0.128 1040.62 -378.4 162.00 - - 2531.50 - - - - - - - - - 15.99 -
15516.60 389.11 14.89 1585 15529.40 done 1.41 - - 2698.25 - 3.71 0.068 2525.69 400.3 162.00 - - 2531.34 - - - - - - - - - 16.01 -
15838.86 348.63 12.69 1617 15848.84 VBD 1.41 - - 2698.19 - - - 2525.62 - 162.00 - - 2530.88 - - - - - - - - - - -
16158.90 313.16 10.56 1649 16168.89 VBD 1.41 - - 2698.62 - - - 2526.38 - 162.00 - - 2530.25 - - - - - - - - - - -
16470.86 279.84 10.37 1699 16474.87 VBD 1.41 - - 2698.25 - - - 2526.06 - 162.00 - - 2530.59 - - - - - - - - - - -
16775.92 251.27 9.28 1760 16781.53 done 1.41 - - 2697.56 - 2.98 0.126 3637.56 373.0 162.00 - - 2530.66 - - - - - - - - - 16.06 -
16975.94 228.51 12.83 1800 16981.53 done 1.41 - - 2697.75 - 2.79 0.067 2472.62 -417.5 162.00 - - 2530.41 - - - - - - - - - 16.07 -
17286.03 197.55 9.60 1862 17290.04 VBD 1.41 - - 2698.19 - - - 2472.31 - 162.00 - - 2530.34 - - - - - - - - - - -
17591.05 167.77 10.75 1923 17596.81 done 1.41 - - 2698.81 - 3.74 0.129 1040.62 -382.8 162.00 - - 2528.81 - - - - - - - - - 16.08 -
17641.06 161.74 12.25 1933 17646.80 done 1.41 - - 2698.12 - 3.65 0.066 2528.88 407.7 162.00 - - 2528.75 - - - - - - - - - 16.08 -
17951.12 132.47 7.91 1995 17980.78 VBD 1.48 - - 2698.75 - - - 2528.38 - 185.50 25.57 1.136 2442.41 -3.4 0.066 - - - - - - - - 12.87
18281.25 101.97 8.48 2061 18302.35 done 1.51 - - 2698.12 - 3.90 0.123 1041.56 -381.2 198.33 15.70 1.039 2389.91 -3.3 0.055 - - - - - - - 15.90 12.90
18491.43 83.77 7.22 2103 18538.06 1.62 0.29 0.077 2749.25 176.3 3.69 0.064 2529.56 403.3 234.89 40.33 1.089 2240.34 -3.7 0.048 - - - - - - 15.96 15.98 12.97
18721.39 64.12 9.56 2149 18726.97 done 1.62 - - 2749.62 - 3.00 0.121 3636.88 369.1 234.89 - - 2234.06 - - - - - - - - - 15.88 -
18956.44 53.63 2.48 2196 19089.57 2.00 0.55 0.066 2843.50 170.7 2.79 0.062 2473.00 -417.2 360.41 127.35 1.071 1729.75 -4.0 0.033 - - - - - - 15.92 15.93 12.85
19272.48 23.79 14.23 2259 19276.49 VBD 2.00 - - 2843.06 - - - 2473.00 - 360.41 - - 1722.62 - - - - - - - - - - -
19443 end climb: SURFACE_DEPTH_REACHED
19443 begin surface coast
19463 end surface coast: CONTROL_FINISHED_OK
19463 begin surface
SM 1.42 - - - - 172.5 82.61 1.018 1364.4 16.5 17.98 0.047 1370.6 76.2 - 0.48 0.082 1358.2 2829.6 -5.008 - - 12.80 15.80 15.81 -