NANOOS May22 * SG236 * Dive index * Mission links * Dive 102 * Raw log
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• Previous call tries 1 • 50.58 of 575.00 AH used of 24V (91.20% remains)
• Surface angle -64.9 deg, depth 1.44 m • Intended pitch -20.9 deg, speed -7.857 cm/s
• VBD pumped to 400.09 (SM_CC=400)
• GPS1 time: 24 s
• GPS2 time: 2 s • Transponder ping count: 91
• 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 - - - 75.11 VBD -1.29 - - 172.56 - - - 2203.88 - -82.73 70.31 0.005 2576.44 - - - - - - - - - - 15.65
75.33 3.38 -3.03 13 117.69 -1.29 15.89 0.257 2055.62 118.5 3.79 0.099 3639.81 378.9 -82.73 17.49 0.006 3188.75 35.0 -3.271 - - - - - - 15.68 15.65 15.68
345.57 61.78 -20.88 67 351.35 roll -1.29 - - 2055.62 - 3.52 0.056 2206.31 -407.2 -82.73 - - 3188.28 - - - - - - - - - 15.85 -
535.61 92.47 -12.86 105 541.37 roll -1.29 - - 2056.19 - 3.71 0.093 3640.44 386.6 -82.73 - - 3189.31 - - - - - - - - - 15.90 -
615.66 103.47 -14.19 121 621.34 roll -1.29 - - 2055.75 - 3.48 0.055 2204.38 -412.7 -82.73 - - 3190.47 - - - - - - - - - 15.91 -
925.69 138.93 -11.60 183 931.43 roll -1.29 - - 2056.31 - 3.71 0.094 3641.31 387.3 -82.73 - - 3189.75 - - - - - - - - - 15.95 -
980.70 146.15 -12.99 194 986.40 roll -1.29 - - 2056.56 - 3.47 0.056 2207.12 -413.3 -82.73 - - 3189.06 - - - - - - - - - 15.96 -
1290.77 182.13 -11.16 256 1294.78 no move -1.29 - - 2056.81 - - - 2206.94 - -82.73 - - 3190.00 - - - - - - - - - - -
1595.80 217.20 -10.34 317 1599.81 no move -1.29 - - 2056.12 - - - 2206.75 - -82.73 - - 3190.97 - - - - - - - - - - -
1900.86 251.68 -11.47 378 1904.86 no move -1.29 - - 2056.06 - - - 2206.62 - -82.73 - - 3191.06 - - - - - - - - - - -
2205.91 285.70 -11.21 439 2209.91 no move -1.29 - - 2056.19 - - - 2207.12 - -82.73 - - 3191.47 - - - - - - - - - - -
2517.51 318.74 -10.93 483 2527.48 no move -1.29 - - 2056.19 - - - 2206.19 - -82.73 - - 3190.91 - - - - - - - - - - -
2837.69 351.95 -10.56 515 2847.54 no move -1.29 - - 2056.44 - - - 2207.12 - -82.73 - - 3190.66 - - - - - - - - - - -
3157.58 385.80 -11.08 547 3172.07 roll -1.29 - - 2055.50 - 3.68 0.099 3639.62 389.3 -82.73 - - 3191.28 - - - - - - - - - 16.09 -
3231.30 395.39 -12.43 558 3244.07 roll -1.29 - - 2056.69 - 3.45 0.059 2207.38 -415.1 -82.73 - - 3191.28 - - - - - - - - - 16.10 -
3553.53 428.07 -10.57 590 3563.51 no move -1.29 - - 2056.00 - - - 2208.19 - -82.73 - - 3190.84 - - - - - - - - - - -
3873.57 463.29 -11.33 622 3883.54 no move -1.29 - - 2055.81 - - - 2208.69 - -82.73 - - 3190.75 - - - - - - - - - - -
4193.58 500.07 -11.84 654 4194.94 no move -1.29 - - 2055.56 - - - 2207.50 - -82.73 - - 3189.19 - - - - - - - - - - -
4508.61 535.16 -10.75 675 4509.94 no move -1.29 - - 2056.19 - - - 2207.38 - -82.73 - - 3188.97 - - - - - - - - - - -
4823.63 567.65 -9.96 696 4831.07 roll -1.29 - - 2055.94 - 3.70 0.102 3637.94 386.6 -82.73 - - 3187.97 - - - - - - - - - 16.12 -
4864.65 572.35 -10.73 703 4870.48 roll -1.29 - - 2055.50 - 3.45 0.062 2207.56 -414.6 -82.73 - - 3187.97 - - - - - - - - - 16.13 -
5181.90 601.34 -8.92 725 5189.33 roll -1.29 - - 2055.69 - 3.78 0.151 801.69 -371.9 -82.73 - - 3188.06 - - - - - - - - - 16.11 -
5261.34 610.44 -11.13 738 5267.01 roll -1.29 - - 2056.00 - 3.49 0.062 2258.12 417.3 -82.73 - - 3188.81 - - - - - - - - - 16.13 -
5578.46 637.12 -8.54 760 5579.80 no move -1.29 - - 2056.88 - - - 2257.12 - -82.73 - - 3187.72 - - - - - - - - - - -
5893.60 664.45 -8.65 781 5901.08 roll -1.29 - - 2056.31 - 3.92 0.148 801.94 -371.2 -82.73 - - 3186.88 - - - - - - - - - 16.12 -
5934.70 669.19 -10.19 788 5940.28 roll -1.29 - - 2056.44 - 3.44 0.061 2256.69 422.9 -82.73 - - 3186.66 - - - - - - - - - 16.14 -
6251.70 696.66 -8.58 810 6253.04 no move -1.29 - - 2056.38 - - - 2256.69 - -82.73 - - 3185.66 - - - - - - - - - - -
6566.68 725.43 -9.47 831 6568.02 no move -1.29 - - 2056.19 - - - 2256.88 - -82.73 - - 3186.50 - - - - - - - - - - -
6881.69 755.60 -10.14 852 6889.09 roll -1.29 - - 2056.06 - 3.58 0.106 3638.81 386.0 -82.73 - - 3185.16 - - - - - - - - - 16.13 -
6908.43 758.82 -10.78 857 6921.24 roll -1.29 - - 2056.31 - 3.45 0.061 2208.12 -414.7 -82.73 - - 3186.12 - - - - - - - - - 16.14 -
7235.73 788.99 -9.49 879 7237.07 no move -1.29 - - 2055.75 - - - 2206.88 - -82.73 - - 3185.06 - - - - - - - - - - -
7550.58 816.76 -8.81 900 7551.92 no move -1.29 - - 2056.00 - - - 2207.31 - -82.73 - - 3185.38 - - - - - - - - - - -
7865.59 842.18 -7.61 921 7866.93 no move -1.29 - - 2055.81 - - - 2207.44 - -82.73 - - 3184.44 - - - - - - - - - - -
8180.61 866.65 -7.59 942 8181.95 no move -1.29 - - 2056.38 - - - 2206.94 - -82.73 - - 3184.31 - - - - - - - - - - -
8495.63 892.53 -7.98 963 8503.06 roll -1.29 - - 2055.94 - 3.73 0.104 3640.19 384.2 -82.73 - - 3186.28 - - - - - - - - - 16.14 -
8541.60 897.45 -9.10 971 8554.38 roll -1.29 - - 2055.75 - 3.46 0.063 2207.19 -414.2 -82.73 - - 3184.00 - - - - - - - - - 16.15 -
8868.73 923.87 -8.20 993 8870.06 no move -1.29 - - 2055.50 - - - 2206.81 - -82.73 - - 3182.09 - - - - - - - - - - -
9183.72 950.52 -8.11 1014 9185.05 no move -1.29 - - 2055.88 - - - 2206.88 - -82.73 - - 3182.06 - - - - - - - - - - -
9498.73 976.35 -8.77 1035 9500.06 no move -1.29 - - 2055.69 - - - 2206.88 - -82.73 - - 3182.41 - - - - - - - - - - -
9679 end dive: TARGET_DEPTH_EXCEEDED
9679 begin apogee
9680.47 990.06 -7.97 1047 9755.50 -0.25 1.83 0.144 2310.00 139.0 0.09 0.235 2433.81 2521.4 - 68.43 2.238 2848.06 -4.9 0.358 - - - - - - 16.10 15.57 12.91
9758 end apogee: CONTROL_FINISHED_OK
9758 begin climb
9760.48 991.73 - 1052 9840.02 1.29 2.62 0.086 2688.81 144.6 0.10 0.141 2491.62 578.1 82.73 73.64 2.188 2511.09 -4.6 0.344 - - - - - - 15.63 15.65 12.88
10152.91 961.27 9.08 1085 10154.03 no move 1.29 - - 2688.38 - - - 2491.81 - 82.73 - - 2508.97 - - - - - - - - - - -
10467.91 932.71 9.15 1106 10469.25 no move 1.29 - - 2687.50 - - - 2491.69 - 82.73 - - 2507.53 - - - - - - - - - - -
10782.94 904.83 8.83 1127 10790.41 roll 1.29 - - 2688.25 - 3.97 0.123 1001.31 -375.4 82.73 - - 2508.94 - - - - - - - - - 15.93 -
10828.94 899.46 10.49 1135 10841.73 roll 1.29 - - 2688.19 - 3.65 0.062 2490.81 408.1 82.73 - - 2506.41 - - - - - - - - - 15.95 -
11156.03 873.03 8.67 1157 11157.36 no move 1.29 - - 2686.12 - - - 2491.81 - 82.73 - - 2504.84 - - - - - - - - - - -
11471.07 846.95 8.39 1178 11472.41 no move 1.29 - - 2688.12 - - - 2491.38 - 82.73 - - 2503.72 - - - - - - - - - - -
11786.11 822.70 7.66 1199 11787.45 VBD 1.29 - - 2688.38 - - - 2492.00 - 82.73 - - 2503.38 - - - - - - - - - - -
12101.14 799.25 7.36 1220 12108.61 done 1.29 - - 2688.56 - 3.95 0.121 998.50 -378.1 82.73 - - 2505.97 - - - - - - - - - 16.05 -
12238.18 787.30 8.58 1242 12244.06 done 1.29 - - 2688.25 - 3.62 0.061 2492.94 412.8 82.73 - - 2503.03 - - - - - - - - - 16.06 -
12555.30 763.65 7.79 1264 12559.47 done 1.29 - - 2686.69 - 3.02 0.111 3641.19 380.2 82.73 - - 2502.47 - - - - - - - - - 16.06 -
12608.34 759.39 8.39 1272 12612.50 done 1.29 - - 2686.62 - 2.91 0.057 2431.75 -415.6 82.73 - - 2502.44 - - - - - - - - - 16.07 -
12923.04 737.23 6.93 1294 12930.37 done 1.32 - - 2689.00 - 3.18 0.107 3639.44 379.8 82.73 - - 2502.69 - - - - - - - - - 16.08 -
13007.46 730.37 7.90 1308 13020.14 done 1.32 - - 2688.62 - 2.88 0.058 2434.06 -418.5 82.73 - - 2502.88 - - - - - - - - - 16.09 -
13334.62 709.17 6.21 1330 13335.95 VBD 1.37 - - 2687.94 - - - 2433.62 - 82.73 - - 2502.94 - - - - - - - - - - -
13649.59 690.22 5.85 1351 13680.22 1.46 0.24 0.084 2734.19 192.7 - - 2433.69 - 113.91 26.42 1.797 2384.69 -4.5 0.285 - - - - - - 16.10 - 12.90
13994.77 660.35 9.36 1374 13996.11 no move 1.46 - - 2734.00 - - - 2433.69 - 113.91 - - 2385.75 - - - - - - - - - - -
14309.79 631.91 9.14 1395 14311.13 no move 1.46 - - 2733.75 - - - 2433.88 - 113.91 - - 2383.78 - - - - - - - - - - -
14624.62 604.16 8.90 1416 14631.98 roll 1.46 - - 2733.56 - 3.19 0.107 3639.56 378.0 113.91 - - 2385.34 - - - - - - - - - 16.03 -
14728.40 593.45 11.08 1433 14740.96 roll 1.46 - - 2734.50 - 2.90 0.058 2434.56 -415.5 113.91 - - 2386.38 - - - - - - - - - 16.05 -
15055.39 565.96 8.75 1455 15056.73 no move 1.46 - - 2733.88 - - - 2434.69 - 113.91 - - 2381.34 - - - - - - - - - - -
15370.68 539.67 8.34 1476 15372.02 no move 1.46 - - 2734.06 - - - 2435.50 - 113.91 - - 2381.97 - - - - - - - - - - -
15685.59 513.11 8.04 1497 15692.93 roll 1.46 - - 2734.06 - 3.17 0.105 3641.00 380.3 113.91 - - 2382.84 - - - - - - - - - 16.08 -
15762.87 505.48 10.13 1509 15767.01 roll 1.46 - - 2733.38 - 2.89 0.057 2434.38 -417.5 113.91 - - 2380.78 - - - - - - - - - 16.09 -
16067.52 478.69 8.71 1538 16081.93 roll 1.46 - - 2733.12 - 3.15 0.103 3640.88 383.0 113.91 - - 2382.38 - - - - - - - - - 16.09 -
16167.46 469.40 8.68 1552 16171.62 roll 1.46 - - 2733.94 - 2.91 0.057 2433.50 -414.9 113.91 - - 2380.88 - - - - - - - - - 16.09 -
16477.11 446.30 7.99 1583 16487.09 no move 1.46 - - 2733.88 - - - 2433.81 - 113.91 - - 2382.44 - - - - - - - - - - -
16797.17 423.48 7.22 1615 16807.14 no move 1.48 - - 2733.88 - - - 2434.00 - 113.91 - - 2382.59 - - - - - - - - - - -
17117.26 401.25 6.56 1647 17127.20 no move 1.52 - - 2734.50 - - - 2434.19 - 113.91 - - 2383.28 - - - - - - - - - - -
17437.29 379.02 6.98 1679 17451.70 roll 1.55 - - 2734.38 - 3.18 0.106 3639.81 379.1 113.91 - - 2382.06 - - - - - - - - - 16.11 -
17496.69 374.14 8.22 1688 17509.39 roll 1.55 - - 2733.69 - 2.90 0.057 2435.06 -415.4 113.91 - - 2382.19 - - - - - - - - - 16.11 -
17818.87 353.14 6.90 1720 17833.38 roll 1.58 - - 2733.69 - 3.77 0.121 999.50 -380.8 113.91 - - 2381.41 - - - - - - - - - 16.10 -
18004.28 339.10 7.83 1746 18018.76 roll 1.58 - - 2733.88 - 3.58 0.058 2496.94 418.3 113.91 - - 2383.47 - - - - - - - - - 16.12 -
18328.96 317.85 6.29 1779 18339.03 pitch 1.62 0.19 0.087 2769.88 189.5 - - 2495.81 - 113.91 - - 2381.88 - - - - - - - - 16.11 - -
18640.90 295.04 7.17 1816 18644.91 no move 1.65 - - 2770.00 - - - 2495.81 - 113.91 - - 2382.47 - - - - - - - - - - -
18945.99 274.90 6.97 1877 18950.00 no move 1.67 - - 2771.00 - - - 2496.38 - 113.91 - - 2381.94 - - - - - - - - - - -
19251.18 254.95 6.22 1938 19256.79 roll 1.72 - - 2770.50 - 3.91 0.116 1000.25 -382.6 113.91 - - 2381.72 - - - - - - - - - 16.11 -
19441.04 241.10 7.25 1976 19446.75 roll 1.74 - - 2770.19 - 3.58 0.059 2494.44 417.4 113.91 - - 2381.75 - - - - - - - - - 16.11 -
19751.10 221.19 6.59 2038 19756.76 roll back 1.78 0.18 0.091 2809.62 219.1 2.99 0.109 3638.38 382.6 113.91 - - 2382.44 - - - - - - - - 16.11 16.09 -
19836.10 214.65 8.13 2055 19841.69 roll 1.78 - - 2808.50 - 2.89 0.056 2432.06 -417.4 113.91 - - 2382.00 - - - - - - - - - 16.11 -
20146.20 193.70 6.98 2117 20151.91 roll 1.80 - - 2809.44 - 3.72 0.120 999.62 -385.1 113.91 - - 2382.16 - - - - - - - - - 16.11 -
20216.19 187.90 8.24 2131 20221.88 roll 1.80 - - 2809.56 - 3.58 0.057 2500.06 419.1 113.91 - - 2381.50 - - - - - - - - - 16.11 -
20526.21 164.22 7.43 2193 20531.99 roll 1.80 - - 2809.62 - 3.88 0.110 998.94 -386.9 113.91 - - 2381.22 - - - - - - - - - 16.12 -
20761.28 145.85 7.73 2240 20767.00 roll 1.80 - - 2810.00 - 3.55 0.056 2499.75 422.8 113.91 - - 2382.16 - - - - - - - - - 16.12 -
21071.41 131.15 3.44 2302 21148.63 2.01 0.29 0.082 2863.69 185.1 3.96 0.110 1001.06 -378.5 182.74 70.60 1.149 2104.41 -3.9 0.074 - - - - - - 16.10 15.78 12.95
21321.55 107.74 12.17 2352 21327.29 roll 2.01 - - 2863.94 - 3.61 0.056 2496.69 414.3 182.74 - - 2101.91 - - - - - - - - - 15.90 -
21631.63 85.10 2.93 2414 21713.95 2.24 0.31 0.078 2920.88 183.7 3.06 0.103 3641.00 374.0 259.46 75.94 1.051 1792.09 -4.1 0.055 - - - - - - 15.96 15.63 12.84
21731.95 80.37 6.34 2434 21737.43 roll 2.29 - - 2921.06 - 2.96 0.053 2433.06 -408.1 259.46 - - 1790.38 - - - - - - - - - 15.72 -
21921.84 61.86 10.69 2472 21927.60 roll 2.29 - - 2920.69 - 3.80 0.115 1000.06 -377.1 259.46 - - 1788.84 - - - - - - - - - 15.82 -
22111.87 43.50 7.57 2510 22117.62 roll 2.29 - - 2921.00 - 3.63 0.055 2500.06 413.2 259.46 - - 1788.72 - - - - - - - - - 15.88 -
22301.90 29.67 7.97 2548 22307.53 roll 2.29 - - 2920.81 - 2.98 0.100 3641.06 382.9 259.46 - - 1790.34 - - - - - - - - - 15.91 -
22461.92 12.92 11.03 2580 22467.56 roll 2.29 - - 2920.94 - 2.90 0.052 2437.44 -415.0 259.46 - - 1788.75 - - - - - - - - - 15.94 -
22567 end climb: SURFACE_DEPTH_REACHED
22567 begin surface coast
22592 end surface coast: CONTROL_FINISHED_OK
22592 begin surface
SM 1.41 - - - - 171.3 127.74 1.036 1219.0 9.5 18.07 0.063 1207.5 66.8 - 0.51 0.081 1230.4 2406.9 -4.282 - - 12.93 15.94 15.95 -