NANOOS May22 * SG236 * Dive index * Mission links * Dive 93 * Raw log
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• Previous call tries 3 • 47.55 of 575.00 AH used of 24V (91.73% remains)
• Surface angle -61.5 deg, depth 1.34 m • Intended pitch -20.4 deg, speed -7.857 cm/s
VBD pumped to 400.28 (SM_CC=400)
• GPS1 time: 31 s
• GPS2 time: 3 s • Transponder ping count: 105
• 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 - - - 75.09 VBD -1.27 - - 173.69 - - - 2254.62 - -82.73 70.25 0.005 2676.62 - - - - - - - - - - 14.53
75.31 3.26 -2.77 13 117.67 -1.27 15.35 0.253 2012.75 119.8 4.09 0.156 803.88 -354.7 -82.73 18.47 0.006 3317.66 34.7 -3.128 - - - - - - 15.68 15.65 15.69
200.53 29.85 -24.93 38 206.26 roll -1.27 - - 2012.88 - 3.56 0.062 2252.94 407.0 -82.73 - - 3318.62 - - - - - - - - - 15.80 -
390.60 72.41 -19.85 76 394.60 no move -1.27 - - 2012.50 - - - 2252.94 - -82.73 - - 3319.47 - - - - - - - - - - -
575.63 104.83 -14.46 113 581.37 roll -1.27 - - 2012.50 - 3.64 0.111 3637.06 380.3 -82.73 - - 3318.62 - - - - - - - - - 15.89 -
625.64 112.44 -15.38 123 631.36 roll -1.27 - - 2011.75 - 3.51 0.061 2209.25 -406.8 -82.73 - - 3321.12 - - - - - - - - - 15.91 -
935.73 149.13 -11.55 185 939.73 no move -1.27 - - 2012.50 - - - 2209.31 - -82.73 - - 3320.16 - - - - - - - - - - -
1240.75 186.98 -12.60 246 1246.52 roll -1.27 - - 2012.81 - 3.88 0.154 802.19 -362.7 -82.73 - - 3321.12 - - - - - - - - - 15.97 -
1305.79 196.62 -15.79 259 1311.46 roll -1.27 - - 2012.88 - 3.47 0.060 2256.75 419.2 -82.73 - - 3320.66 - - - - - - - - - 16.00 -
1615.84 234.46 -11.51 321 1621.60 roll -1.27 - - 2012.94 - 3.97 0.150 801.69 -366.5 -82.73 - - 3320.34 - - - - - - - - - 16.00 -
1665.83 241.23 -13.93 331 1671.53 roll -1.27 - - 2013.31 - 3.46 0.061 2254.44 419.9 -82.73 - - 3321.38 - - - - - - - - - 16.02 -
1975.90 276.30 -11.62 393 1979.91 no move -1.27 - - 2012.75 - - - 2254.94 - -82.73 - - 3321.34 - - - - - - - - - - -
2282.47 312.42 -12.15 443 2296.94 roll -1.27 - - 2012.62 - 3.57 0.112 3639.50 387.8 -82.73 - - 3320.47 - - - - - - - - - 16.05 -
2339.78 319.69 -12.31 451 2354.23 roll -1.27 - - 2013.12 - 3.50 0.063 2209.00 -408.7 -82.73 - - 3321.19 - - - - - - - - - 16.06 -
2654.43 357.31 -11.90 483 2664.41 no move -1.27 - - 2012.44 - - - 2208.50 - -82.73 - - 3321.59 - - - - - - - - - - -
2974.48 394.56 -10.99 515 2984.47 no move -1.27 - - 2012.62 - - - 2208.06 - -82.73 - - 3320.53 - - - - - - - - - - -
3294.54 432.49 -11.31 547 3304.53 no move -1.27 - - 2012.69 - - - 2207.75 - -82.73 - - 3322.06 - - - - - - - - - - -
3614.59 467.35 -10.78 579 3624.58 no move -1.27 - - 2012.69 - - - 2208.06 - -82.73 - - 3320.78 - - - - - - - - - - -
3934.62 499.60 -9.68 611 3944.61 no move -1.27 - - 2012.12 - - - 2207.88 - -82.73 - - 3321.97 - - - - - - - - - - -
4259.68 530.15 -9.35 633 4261.01 no move -1.27 - - 2012.88 - - - 2207.50 - -82.73 - - 3320.38 - - - - - - - - - - -
4574.68 561.47 -10.40 654 4576.02 no move -1.27 - - 2012.69 - - - 2208.00 - -82.73 - - 3319.41 - - - - - - - - - - -
4889.69 594.44 -10.21 675 4891.02 no move -1.27 - - 2012.94 - - - 2207.62 - -82.73 - - 3319.25 - - - - - - - - - - -
5204.70 627.36 -10.18 696 5206.04 no move -1.27 - - 2013.25 - - - 2208.00 - -82.73 - - 3318.78 - - - - - - - - - - -
5519.72 658.98 -9.97 717 5527.15 roll -1.27 - - 2012.31 - 3.74 0.114 3637.56 382.2 -82.73 - - 3320.53 - - - - - - - - - 16.13 -
5579.90 666.41 -12.58 727 5585.63 roll -1.27 - - 2012.44 - 3.52 0.068 2209.06 -405.8 -82.73 - - 3320.62 - - - - - - - - - 16.13 -
5897.01 697.70 -10.13 749 5898.35 no move -1.27 - - 2012.69 - - - 2208.94 - -82.73 - - 3318.06 - - - - - - - - - - -
6212.44 728.60 -9.82 770 6213.77 no move -1.27 - - 2012.81 - - - 2209.31 - -82.73 - - 3319.38 - - - - - - - - - - -
6527.23 759.32 -9.81 791 6534.67 roll -1.27 - - 2012.94 - 3.75 0.115 3637.44 380.8 -82.73 - - 3317.69 - - - - - - - - - 16.14 -
6568.20 764.00 -10.08 798 6573.93 roll -1.27 - - 2012.69 - 3.51 0.069 2211.19 -406.3 -82.73 - - 3319.66 - - - - - - - - - 16.14 -
6885.31 793.04 -8.86 820 6892.77 roll -1.27 - - 2012.62 - 3.76 0.114 3637.31 379.3 -82.73 - - 3317.22 - - - - - - - - - 16.13 -
6945.51 799.63 -10.65 830 6951.37 roll -1.27 - - 2012.75 - 3.49 0.068 2210.19 -408.9 -82.73 - - 3318.09 - - - - - - - - - 16.14 -
7262.78 826.41 -8.47 852 7264.11 no move -1.27 - - 2012.31 - - - 2210.50 - -82.73 - - 3317.12 - - - - - - - - - - -
7577.77 853.70 -8.71 873 7585.19 roll -1.27 - - 2012.38 - 3.76 0.115 3638.19 379.7 -82.73 - - 3317.09 - - - - - - - - - 16.14 -
7637.95 860.56 -10.04 883 7643.67 roll -1.27 - - 2012.81 - 3.51 0.069 2210.06 -406.9 -82.73 - - 3316.19 - - - - - - - - - 16.14 -
7955.05 890.64 -9.72 905 7956.39 no move -1.27 - - 2012.94 - - - 2211.19 - -82.73 - - 3315.72 - - - - - - - - - - -
8270.09 920.62 -9.98 926 8271.43 no move -1.27 - - 2012.69 - - - 2210.44 - -82.73 - - 3317.03 - - - - - - - - - - -
8585.14 949.24 -9.01 947 8586.47 no move -1.27 - - 2012.75 - - - 2210.56 - -82.73 - - 3315.81 - - - - - - - - - - -
8900.18 976.75 -8.58 968 8901.52 no move -1.27 - - 2012.62 - - - 2210.62 - -82.73 - - 3314.09 - - - - - - - - - - -
9065 end dive: TARGET_DEPTH_EXCEEDED
9065 begin apogee
9066.92 990.81 -8.28 979 9141.94 -0.25 1.77 0.152 2260.44 140.0 0.09 0.256 2467.31 2852.1 - 68.62 2.231 2981.16 -4.9 0.357 - - - - - - 16.09 15.57 12.88
9144 end apogee: CONTROL_FINISHED_OK
9144 begin climb
9146.92 993.51 - 984 9226.42 1.27 2.55 0.087 2632.12 145.8 0.09 0.152 2521.88 606.3 82.73 73.57 2.188 2641.94 -4.6 0.347 - - - - - - 15.63 15.66 12.72
9539.30 966.86 7.43 1017 9546.80 roll 1.27 - - 2631.12 - 4.08 0.129 1033.12 -364.9 82.73 - - 2639.91 - - - - - - - - - 15.75 -
9676.36 954.17 10.07 1039 9682.11 roll 1.27 - - 2631.19 - 3.70 0.067 2516.44 400.9 82.73 - - 2640.06 - - - - - - - - - 15.81 -
9993.49 932.05 7.32 1061 10000.97 roll 1.28 - - 2631.81 - 4.03 0.127 1033.38 -368.0 82.73 - - 2638.38 - - - - - - - - - 15.90 -
10058.69 926.96 7.20 1072 10071.49 roll 1.30 - - 2631.25 - 3.65 0.066 2518.62 406.9 82.73 - - 2639.19 - - - - - - - - - 15.91 -
10385.79 906.55 5.54 1094 10426.17 1.41 0.19 0.086 2669.81 202.9 4.05 0.129 1033.00 -366.8 119.15 31.15 2.043 2493.56 -4.7 0.344 - - - - - - 15.96 15.67 12.94
10505.42 895.39 10.88 1113 10511.26 roll 1.41 - - 2670.19 - 3.67 0.067 2516.81 404.3 119.15 - - 2494.62 - - - - - - - - - 15.79 -
10822.51 868.62 8.55 1135 10829.99 roll 1.41 - - 2670.25 - 3.98 0.128 1033.19 -372.8 119.15 - - 2492.91 - - - - - - - - - 15.88 -
10882.72 861.92 9.96 1145 10888.43 roll 1.41 - - 2670.62 - 3.62 0.067 2514.38 409.2 119.15 - - 2493.75 - - - - - - - - - 15.91 -
11199.78 835.93 8.05 1167 11201.12 no move 1.41 - - 2670.56 - - - 2514.94 - 119.15 - - 2493.31 - - - - - - - - - - -
11514.95 810.02 8.54 1188 11522.59 roll 1.41 - - 2670.81 - 3.98 0.128 1032.81 -372.4 119.15 - - 2492.41 - - - - - - - - - 15.98 -
11580.13 803.05 9.96 1199 11592.93 roll 1.41 - - 2670.88 - 3.60 0.067 2515.06 411.7 119.15 - - 2493.56 - - - - - - - - - 16.00 -
11907.25 776.88 8.40 1221 11908.59 no move 1.41 - - 2671.38 - - - 2515.25 - 119.15 - - 2491.66 - - - - - - - - - - -
12222.29 749.91 8.59 1242 12223.63 no move 1.41 - - 2671.12 - - - 2515.38 - 119.15 - - 2490.81 - - - - - - - - - - -
12537.33 723.47 8.89 1263 12538.67 no move 1.41 - - 2670.81 - - - 2514.94 - 119.15 - - 2491.34 - - - - - - - - - - -
12852.36 698.49 8.39 1284 12859.86 roll 1.41 - - 2671.19 - 3.93 0.128 1033.12 -377.1 119.15 - - 2492.72 - - - - - - - - - 16.06 -
12975.23 687.35 8.51 1304 12988.04 roll 1.41 - - 2670.81 - 3.60 0.068 2517.19 412.2 119.15 - - 2490.47 - - - - - - - - - 16.07 -
13302.34 661.04 8.50 1326 13303.69 no move 1.41 - - 2670.62 - - - 2517.19 - 119.15 - - 2488.56 - - - - - - - - - - -
13617.38 636.60 7.69 1347 13624.85 roll 1.41 - - 2671.06 - 3.94 0.128 1034.19 -376.4 119.15 - - 2490.00 - - - - - - - - - 16.09 -
13721.00 627.20 8.40 1364 13733.81 roll 1.41 - - 2671.06 - 3.58 0.066 2516.38 414.0 119.15 - - 2488.94 - - - - - - - - - 16.09 -
14048.14 603.13 7.16 1386 14049.48 no move 1.43 - - 2670.94 - - - 2515.31 - 119.15 - - 2487.44 - - - - - - - - - - -
14363.17 580.50 7.37 1407 14370.63 roll 1.43 - - 2670.00 - 3.94 0.127 1032.94 -376.2 119.15 - - 2489.19 - - - - - - - - - 16.10 -
14447.57 573.23 7.84 1421 14460.37 roll 1.43 - - 2669.81 - 3.56 0.066 2516.56 416.7 119.15 - - 2490.56 - - - - - - - - - 16.10 -
14774.68 549.79 7.08 1443 14776.02 no move 1.46 - - 2671.50 - - - 2516.44 - 119.15 - - 2486.25 - - - - - - - - - - -
15089.73 526.91 7.19 1464 15091.07 no move 1.48 - - 2671.12 - - - 2516.06 - 119.15 - - 2488.56 - - - - - - - - - - -
15405.05 504.44 6.76 1485 15406.39 no move 1.51 - - 2670.94 - - - 2516.56 - 119.15 - - 2488.16 - - - - - - - - - - -
15714.73 481.39 7.63 1514 15729.27 roll 1.51 - - 2671.06 - 3.93 0.127 1033.69 -377.3 119.15 - - 2487.84 - - - - - - - - - 16.11 -
15800.55 474.07 8.67 1526 15815.03 roll 1.51 - - 2670.69 - 3.57 0.067 2516.06 415.2 119.15 - - 2489.59 - - - - - - - - - 16.11 -
16125.22 448.97 7.30 1559 16135.18 no move 1.52 - - 2671.06 - - - 2516.19 - 119.15 - - 2487.03 - - - - - - - - - - -
16445.27 426.49 6.54 1591 16459.87 1.56 0.19 0.088 2707.75 193.1 3.91 0.126 1032.12 -379.6 119.15 - - 2487.38 - - - - - - - - 16.11 16.11 -
16504.87 421.59 7.31 1600 16517.67 done 1.58 - - 2708.38 - 3.52 0.064 2518.94 422.4 119.15 - - 2488.50 - - - - - - - - - 16.12 -
16827.13 401.44 5.87 1632 16837.10 no move 1.64 - - 2708.62 - - - 2518.12 - 119.15 - - 2487.59 - - - - - - - - - - -
17147.19 380.94 6.49 1664 17161.74 done 1.68 - - 2707.69 - 3.91 0.123 1033.12 -379.8 119.15 - - 2486.53 - - - - - - - - - 16.11 -
17263.87 371.80 6.92 1681 17276.85 roll back 1.71 0.16 0.098 2740.94 207.8 3.52 0.065 2519.00 422.1 119.15 - - 2486.38 - - - - - - - - 16.10 16.12 -
17586.31 350.37 6.70 1713 17600.86 roll 1.74 - - 2740.50 - 3.91 0.123 1033.19 -380.0 119.15 - - 2486.66 - - - - - - - - - 16.12 -
17643.73 346.09 8.67 1721 17658.20 roll 1.74 - - 2739.56 - 3.55 0.064 2515.12 417.4 119.15 - - 2488.91 - - - - - - - - - 16.11 -
17958.40 326.95 6.01 1753 17968.36 no move 1.80 - - 2740.62 - - - 2515.38 - 119.15 - - 2487.84 - - - - - - - - - - -
18278.45 308.22 6.05 1785 18293.07 1.85 0.19 0.091 2777.00 191.5 3.91 0.122 1032.38 -379.3 119.15 - - 2487.38 - - - - - - - - 16.11 16.12 -
18440.49 293.15 9.07 1811 18446.22 roll 1.85 - - 2777.50 - 3.54 0.064 2516.50 419.2 119.15 - - 2486.62 - - - - - - - - - 16.11 -
18750.60 266.91 7.87 1873 18756.22 roll 1.85 - - 2777.50 - 2.90 0.121 3639.94 387.4 119.15 - - 2487.59 - - - - - - - - - 16.11 -
18820.93 259.89 10.01 1887 18826.22 done 1.85 - - 2777.62 - 2.84 0.062 2459.12 -415.8 119.15 - - 2487.16 - - - - - - - - - 16.12 -
19130.67 233.33 8.03 1949 19134.67 VBD 1.85 - - 2777.75 - - - 2458.12 - 119.15 - - 2487.34 - - - - - - - - - - -
19435.73 208.85 7.96 2010 19441.35 done 1.85 - - 2776.88 - 3.10 0.114 3638.44 380.7 119.15 - - 2486.00 - - - - - - - - - 16.11 -
19670.77 189.91 7.05 2057 19676.36 done 1.88 - - 2777.25 - 2.86 0.061 2457.19 -413.0 119.15 - - 2486.38 - - - - - - - - - 16.13 -
19980.87 168.28 6.69 2119 19986.47 done 1.91 - - 2776.81 - 3.11 0.114 3640.38 380.4 119.15 - - 2489.06 - - - - - - - - - 16.11 -
20215.87 153.75 6.14 2166 20221.46 done 1.96 - - 2777.50 - 2.85 0.061 2457.50 -415.0 119.15 - - 2486.06 - - - - - - - - - 16.12 -
20525.96 136.87 5.43 2228 20566.76 2.08 0.28 0.078 2831.94 194.4 - - 2457.19 - 157.27 38.98 1.177 2339.22 -3.8 0.073 - - - - - - 16.11 - 12.89
20870.96 108.55 8.89 2297 20876.62 roll 2.08 - - 2831.81 - 3.15 0.113 3638.62 375.1 157.27 - - 2340.22 - - - - - - - - - 15.99 -
20980.97 98.31 8.91 2319 20986.58 roll 2.08 - - 2832.56 - 2.84 0.060 2457.06 -416.0 157.27 - - 2339.16 - - - - - - - - - 16.02 -
21171.03 90.22 3.13 2357 21248.58 2.30 0.28 0.081 2885.25 188.2 - - 2456.00 - 231.49 75.78 1.067 2034.97 -4.0 0.056 - - - - - - 16.02 - 12.85
21431.49 68.44 10.64 2409 21437.27 roll 2.30 - - 2886.12 - 3.82 0.123 1032.12 -372.7 231.49 - - 2033.50 - - - - - - - - - 15.84 -
21666.73 52.75 3.98 2456 21734.60 2.48 0.23 0.090 2928.50 184.3 3.63 0.058 2522.81 410.7 292.40 61.98 1.018 1786.47 -4.0 0.034 - - - - - - 15.88 15.90 12.86
21917.51 28.08 11.62 2506 21923.30 roll 2.48 - - 2928.06 - 3.99 0.115 1032.94 -373.4 292.40 - - 1786.62 - - - - - - - - - 15.81 -
22002.54 17.21 13.42 2523 22008.27 roll 2.48 - - 2928.75 - 3.60 0.060 2511.75 410.8 292.40 - - 1785.69 - - - - - - - - - 15.83 -
22123 end climb: SURFACE_DEPTH_REACHED
22123 begin surface coast
22143 end surface coast: CONTROL_FINISHED_OK
22143 begin surface
SM 1.59 - - - - 175.2 95.73 0.989 1348.2 14.1 18.02 0.049 1336.8 74.2 - 0.70 0.071 1359.6 1937.1 -4.434 - - 12.84 15.87 15.88 -