NANOOS May22 * SG236 * Dive index * Mission links * Dive 83 * Raw log
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• Previous call tries 1 • 44.20 of 575.00 AH used of 24V (92.31% remains)
• Surface angle -63.4 deg, depth 1.41 m • Intended pitch -21.3 deg, speed -8.250 cm/s
• VBD pumped to 399.95 (SM_CC=400)
• GPS1 time: 36 s
• GPS2 time: 3 s • Transponder ping count: 80
• 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 - - - 70.01 VBD -1.31 - - 174.06 - - - 2275.62 - -82.73 65.18 0.005 2671.94 - - - - - - - - - - 15.64
70.21 3.51 -3.75 12 113.70 -1.31 15.30 0.252 2001.25 119.4 4.09 0.154 803.00 -360.1 -82.73 20.15 0.006 3387.25 35.5 -3.449 - - - - - - 15.67 15.64 15.68
146.54 19.83 -25.64 27 152.29 roll -1.31 - - 2001.12 - 3.70 0.063 2279.88 399.2 -82.73 - - 3387.69 - - - - - - - - - 15.76 -
336.58 62.38 -20.69 65 340.62 no move -1.31 - - 2001.00 - - - 2280.00 - -82.73 - - 3388.88 - - - - - - - - - - -
521.63 93.51 -15.22 102 527.43 roll -1.31 - - 2001.19 - 4.07 0.152 803.31 -362.8 -82.73 - - 3388.03 - - - - - - - - - 15.86 -
561.62 100.05 -15.26 110 567.37 roll -1.31 - - 2001.00 - 3.61 0.062 2282.75 409.8 -82.73 - - 3387.69 - - - - - - - - - 15.90 -
871.67 140.53 -11.61 172 877.48 roll -1.31 - - 2000.94 - 4.01 0.152 802.25 -369.2 -82.73 - - 3388.12 - - - - - - - - - 15.92 -
941.71 150.43 -14.62 186 947.41 roll -1.31 - - 2000.75 - 3.59 0.062 2283.38 412.6 -82.73 - - 3388.16 - - - - - - - - - 15.95 -
1251.77 187.85 -11.44 248 1257.45 roll -1.31 - - 2000.44 - 3.57 0.113 3636.94 379.1 -82.73 - - 3389.62 - - - - - - - - - 15.97 -
1291.74 192.77 -12.95 256 1297.45 roll -1.31 - - 2000.31 - 3.43 0.062 2234.81 -408.8 -82.73 - - 3390.00 - - - - - - - - - 15.98 -
1601.82 228.88 -12.38 318 1605.83 no move -1.31 - - 2000.75 - - - 2234.19 - -82.73 - - 3389.62 - - - - - - - - - - -
1906.86 264.29 -12.34 379 1910.86 no move -1.31 - - 1999.94 - - - 2233.69 - -82.73 - - 3389.75 - - - - - - - - - - -
2216.98 301.03 -10.94 440 2222.14 roll -1.31 - - 2000.94 - 3.90 0.157 802.31 -367.0 -82.73 - - 3389.84 - - - - - - - - - 16.03 -
2278.25 309.74 -14.16 449 2291.07 roll -1.31 - - 2000.62 - 3.63 0.064 2282.38 407.7 -82.73 - - 3389.03 - - - - - - - - - 16.06 -
2600.52 347.66 -12.28 481 2615.06 roll -1.31 - - 2000.19 - 3.97 0.154 803.38 -372.5 -82.73 - - 3390.50 - - - - - - - - - 16.04 -
2631.61 352.76 -13.27 486 2644.40 roll -1.31 - - 2001.06 - 3.59 0.063 2282.50 412.0 -82.73 - - 3390.03 - - - - - - - - - 16.07 -
2953.86 390.94 -12.14 518 2968.39 roll -1.31 - - 2000.88 - 3.98 0.156 802.19 -371.9 -82.73 - - 3389.16 - - - - - - - - - 16.05 -
3011.23 398.28 -14.30 526 3025.73 roll -1.31 - - 2000.75 - 3.60 0.065 2281.19 410.8 -82.73 - - 3389.28 - - - - - - - - - 16.08 -
3335.88 437.34 -12.27 559 3350.45 roll -1.31 - - 2001.25 - 4.01 0.157 801.94 -368.9 -82.73 - - 3391.16 - - - - - - - - - 16.06 -
3379.07 442.83 -13.29 565 3393.54 roll -1.31 - - 1999.44 - 3.59 0.064 2279.75 411.6 -82.73 - - 3391.12 - - - - - - - - - 16.09 -
3703.69 482.52 -11.76 598 3713.67 no move -1.31 - - 2001.19 - - - 2279.88 - -82.73 - - 3389.47 - - - - - - - - - - -
4028.75 519.18 -10.94 625 4036.24 roll -1.31 - - 2000.50 - 4.01 0.159 802.06 -368.5 -82.73 - - 3388.91 - - - - - - - - - 16.08 -
4094.00 528.32 -12.57 636 4106.78 roll -1.31 - - 2000.56 - 3.59 0.066 2279.75 411.6 -82.73 - - 3389.97 - - - - - - - - - 16.11 -
4421.08 561.54 -10.34 658 4422.42 no move -1.31 - - 1998.94 - - - 2279.25 - -82.73 - - 3390.12 - - - - - - - - - - -
4736.12 592.19 -9.99 679 4737.47 no move -1.31 - - 2000.69 - - - 2279.56 - -82.73 - - 3387.44 - - - - - - - - - - -
5051.16 621.87 -9.53 700 5058.63 roll -1.31 - - 2000.75 - 3.99 0.160 802.81 -370.1 -82.73 - - 3387.84 - - - - - - - - - 16.09 -
5135.64 631.68 -11.07 714 5148.44 roll -1.31 - - 2001.19 - 3.60 0.068 2279.31 410.1 -82.73 - - 3388.97 - - - - - - - - - 16.12 -
5462.74 662.09 -9.14 736 5464.08 no move -1.31 - - 2001.06 - - - 2279.00 - -82.73 - - 3386.88 - - - - - - - - - - -
5777.76 692.08 -9.50 757 5779.10 no move -1.31 - - 2000.81 - - - 2279.50 - -82.73 - - 3386.78 - - - - - - - - - - -
6092.91 722.75 -9.49 778 6094.25 no move -1.31 - - 2000.00 - - - 2279.44 - -82.73 - - 3386.38 - - - - - - - - - - -
6407.94 752.82 -9.78 799 6415.40 roll -1.31 - - 2001.00 - 4.00 0.162 801.75 -369.4 -82.73 - - 3386.34 - - - - - - - - - 16.11 -
6487.42 762.35 -10.85 812 6493.15 roll -1.31 - - 2000.75 - 3.55 0.069 2281.00 416.7 -82.73 - - 3386.38 - - - - - - - - - 16.14 -
6804.55 792.94 -9.84 834 6812.02 roll -1.31 - - 2001.06 - 3.97 0.160 801.56 -372.7 -82.73 - - 3384.97 - - - - - - - - - 16.11 -
6850.51 798.75 -9.85 842 6863.30 roll -1.31 - - 2000.75 - 3.48 0.068 2280.69 425.0 -82.73 - - 3385.44 - - - - - - - - - 16.13 -
7177.78 831.03 -9.43 864 7185.26 roll -1.31 - - 2000.75 - 3.98 0.161 803.25 -371.2 -82.73 - - 3384.81 - - - - - - - - - 16.11 -
7281.46 844.68 -12.33 881 7294.25 roll -1.31 - - 2000.88 - 3.53 0.069 2278.56 417.9 -82.73 - - 3385.34 - - - - - - - - - 16.14 -
7608.55 876.30 -10.42 903 7616.02 roll -1.31 - - 2000.62 - 3.95 0.163 802.88 -373.6 -82.73 - - 3384.53 - - - - - - - - - 16.11 -
7649.71 881.60 -13.38 910 7655.41 roll -1.31 - - 2001.19 - 3.49 0.068 2281.19 423.6 -82.73 - - 3384.94 - - - - - - - - - 16.14 -
7966.85 911.44 -9.73 932 7974.34 roll -1.31 - - 1999.38 - 4.03 0.162 802.44 -366.9 -82.73 - - 3385.97 - - - - - - - - - 16.11 -
8024.93 918.36 -14.08 941 8032.32 roll -1.31 - - 2000.69 - 3.54 0.069 2277.31 416.6 -82.73 - - 3385.03 - - - - - - - - - 16.13 -
8344.55 948.99 -9.24 964 8351.95 roll -1.31 - - 2000.81 - 3.57 0.124 3637.06 380.9 -82.73 - - 3383.91 - - - - - - - - - 16.12 -
8385.52 953.85 -10.32 971 8391.23 roll -1.31 - - 2000.25 - 3.44 0.070 2234.62 -407.7 -82.73 - - 3384.09 - - - - - - - - - 16.14 -
8702.62 982.38 -9.25 993 8703.95 no move -1.31 - - 2000.31 - - - 2234.69 - -82.73 - - 3383.88 - - - - - - - - - - -
8793 end dive: TARGET_DEPTH_EXCEEDED
8793 begin apogee
8794.33 990.23 -8.92 999 8869.51 -0.25 1.88 0.149 2260.19 138.2 0.09 0.260 2481.06 2737.4 - 67.69 2.252 3048.50 -5.0 0.362 - - - - - - 16.09 15.56 12.92
8872 end apogee: CONTROL_FINISHED_OK
8872 begin climb
8874.49 992.25 - 1004 8953.95 1.31 2.65 0.088 2641.94 144.1 0.10 0.151 2534.88 538.2 82.73 71.86 2.205 2714.16 -4.7 0.348 - - - - - - 15.62 15.65 12.76
9266.91 962.87 8.46 1037 9271.07 roll 1.31 - - 2642.62 - 3.04 0.123 3639.94 363.5 82.73 - - 2709.69 - - - - - - - - - 15.74 -
9379.76 950.66 8.10 1055 9385.36 roll 1.31 - - 2642.06 - 2.88 0.066 2479.50 -402.9 82.73 - - 2711.81 - - - - - - - - - 15.81 -
9696.88 923.01 8.70 1077 9701.06 roll 1.31 - - 2642.62 - 3.11 0.122 3638.12 372.5 82.73 - - 2707.59 - - - - - - - - - 15.88 -
9846.03 908.36 10.52 1100 9850.16 roll 1.31 - - 2641.62 - 2.85 0.066 2480.38 -406.2 82.73 - - 2711.25 - - - - - - - - - 15.92 -
10160.71 878.64 9.13 1122 10162.05 no move 1.31 - - 2642.06 - - - 2480.19 - 82.73 - - 2708.19 - - - - - - - - - - -
10475.80 850.31 8.98 1143 10477.14 no move 1.31 - - 2642.50 - - - 2480.56 - 82.73 - - 2708.22 - - - - - - - - - - -
10790.68 822.56 8.40 1164 10792.02 no move 1.31 - - 2641.88 - - - 2480.75 - 82.73 - - 2706.44 - - - - - - - - - - -
11105.70 796.23 7.76 1185 11113.33 roll 1.31 - - 2642.38 - 3.85 0.133 1045.88 -372.7 82.73 - - 2705.50 - - - - - - - - - 16.03 -
11165.92 789.83 9.23 1195 11171.63 roll 1.31 - - 2642.25 - 3.62 0.068 2533.06 410.8 82.73 - - 2707.41 - - - - - - - - - 16.04 -
11483.03 765.80 7.31 1217 11490.50 done 1.34 - - 2642.69 - 3.92 0.126 1045.88 -379.4 82.73 - - 2704.69 - - - - - - - - - 16.05 -
11581.66 757.16 9.11 1233 11587.41 done 1.34 - - 2641.31 - 3.65 0.067 2530.81 406.8 82.73 - - 2706.47 - - - - - - - - - 16.06 -
11898.76 735.62 6.82 1255 11900.10 VBD 1.38 - - 2642.31 - - - 2531.38 - 82.73 - - 2703.97 - - - - - - - - - - -
12213.83 713.29 6.51 1276 12215.30 1.44 0.16 0.100 2674.12 198.8 - - 2531.56 - 82.73 - - 2702.97 - - - - - - - - 16.08 - -
12528.86 690.91 6.08 1297 12564.64 done 1.53 - - 2673.94 - 2.98 0.130 3635.88 370.6 115.25 26.78 1.820 2581.59 -4.5 0.286 - - - - - - - 15.84 13.01
12591.33 684.78 8.46 1306 12603.87 roll 1.53 - - 2674.38 - 2.84 0.066 2478.62 -407.5 115.25 - - 2581.84 - - - - - - - - - 15.93 -
12918.30 653.83 10.62 1328 12919.64 no move 1.53 - - 2674.06 - - - 2477.81 - 115.25 - - 2581.25 - - - - - - - - - - -
13233.34 624.68 8.62 1349 13237.52 roll 1.53 - - 2674.56 - 3.12 0.122 3637.25 371.6 115.25 - - 2580.34 - - - - - - - - - 16.01 -
13305.61 617.52 9.60 1360 13309.75 roll 1.53 - - 2674.00 - 2.81 0.066 2478.62 -412.3 115.25 - - 2581.28 - - - - - - - - - 16.02 -
13620.29 589.12 8.35 1382 13624.47 roll 1.53 - - 2675.12 - 3.12 0.122 3640.00 372.2 115.25 - - 2578.69 - - - - - - - - - 16.03 -
13675.47 582.57 9.63 1391 13681.12 roll 1.53 - - 2675.38 - 2.81 0.067 2479.06 -413.1 115.25 - - 2581.25 - - - - - - - - - 16.04 -
13992.57 555.12 8.63 1413 13993.91 no move 1.53 - - 2674.00 - - - 2478.38 - 115.25 - - 2580.34 - - - - - - - - - - -
14307.59 527.36 8.38 1434 14311.76 roll 1.53 - - 2673.31 - 3.10 0.124 3639.00 374.4 115.25 - - 2579.72 - - - - - - - - - 16.06 -
14516.93 505.66 10.70 1467 14522.68 roll 1.53 - - 2674.00 - 2.82 0.067 2481.12 -410.6 115.25 - - 2581.16 - - - - - - - - - 16.08 -
14824.05 480.25 8.43 1496 14838.58 roll 1.53 - - 2675.06 - 3.81 0.130 1046.25 -376.6 115.25 - - 2582.06 - - - - - - - - - 16.08 -
14926.23 469.79 9.86 1511 14939.05 roll 1.53 - - 2674.31 - 3.67 0.066 2535.50 405.8 115.25 - - 2582.19 - - - - - - - - - 16.09 -
15248.49 442.87 9.11 1543 15252.65 roll 1.53 - - 2674.44 - 2.94 0.126 3638.44 375.1 115.25 - - 2579.59 - - - - - - - - - 16.07 -
15339.21 434.21 9.37 1556 15343.32 roll 1.53 - - 2674.19 - 2.80 0.066 2478.81 -414.2 115.25 - - 2579.56 - - - - - - - - - 16.09 -
15648.86 408.82 8.62 1587 15658.84 no move 1.53 - - 2674.12 - - - 2479.31 - 115.25 - - 2579.94 - - - - - - - - - - -
15968.92 384.42 7.25 1619 15973.09 roll 1.56 - - 2674.75 - 3.09 0.122 3638.81 375.2 115.25 - - 2576.91 - - - - - - - - - 16.09 -
16118.71 371.47 8.60 1641 16131.34 roll 1.56 - - 2676.25 - 2.79 0.066 2477.38 -416.3 115.25 - - 2580.38 - - - - - - - - - 16.11 -
16440.80 349.81 6.63 1673 16455.53 roll back 1.61 0.23 0.097 2717.75 180.4 3.76 0.129 1045.56 -380.8 115.25 - - 2579.72 - - - - - - - - 16.09 16.09 -
16514.90 343.39 8.64 1684 16527.73 roll 1.61 - - 2716.50 - 3.66 0.065 2532.81 406.4 115.25 - - 2582.19 - - - - - - - - - 16.10 -
16837.19 322.47 6.37 1716 16847.17 no move 1.67 - - 2715.50 - - - 2533.75 - 115.25 - - 2580.50 - - - - - - - - - - -
17157.26 302.25 6.28 1748 17167.22 no move 1.73 - - 2716.81 - - - 2533.56 - 115.25 - - 2580.31 - - - - - - - - - - -
17469.44 281.08 7.00 1806 17475.05 roll back 1.77 0.20 0.099 2752.88 180.4 3.92 0.121 1044.19 -379.9 115.25 - - 2579.66 - - - - - - - - 16.11 16.10 -
17559.20 274.16 8.06 1824 17564.96 roll 1.77 - - 2753.62 - 3.65 0.064 2537.44 409.1 115.25 - - 2579.50 - - - - - - - - - 16.12 -
17869.32 250.11 8.12 1886 17873.32 no move 1.77 - - 2752.50 - - - 2536.75 - 115.25 - - 2580.56 - - - - - - - - - - -
18174.49 227.75 6.53 1947 18178.68 no move 1.82 - - 2753.81 - - - 2536.38 - 115.25 - - 2580.47 - - - - - - - - - - -
18479.58 209.43 6.20 2008 18510.90 1.91 0.19 0.101 2788.38 181.9 3.94 0.119 1044.38 -378.7 145.95 25.67 1.251 2454.31 -4.9 0.137 - - - - - - 16.10 15.93 12.94
18549.54 203.61 10.21 2022 18555.29 roll 1.91 - - 2788.19 - 3.63 0.064 2535.75 410.8 145.95 - - 2456.34 - - - - - - - - - 16.00 -
18859.60 173.66 9.84 2084 18865.23 roll 1.91 - - 2789.00 - 2.93 0.122 3638.19 376.3 145.95 - - 2455.62 - - - - - - - - - 16.01 -
19019.62 156.37 10.30 2116 19025.23 roll 1.91 - - 2787.88 - 2.81 0.063 2481.50 -411.6 145.95 - - 2458.38 - - - - - - - - - 16.04 -
19329.86 127.82 10.36 2178 19335.44 roll 1.91 - - 2788.44 - 3.80 0.123 1045.38 -377.9 145.95 - - 2457.56 - - - - - - - - - 16.05 -
19564.74 105.83 7.51 2225 19570.47 roll 1.93 - - 2788.88 - 3.63 0.062 2539.31 411.6 145.95 - - 2456.69 - - - - - - - - - 16.06 -
19874.79 95.60 2.01 2287 19977.52 2.21 0.42 0.078 2862.00 174.1 4.02 0.113 1044.62 -371.8 239.30 95.33 1.103 2072.91 -4.0 0.058 - - - - - - 16.07 15.66 12.91
20205.46 65.82 7.02 2353 20211.21 roll 2.25 - - 2861.06 - 3.70 0.060 2536.19 403.1 239.30 - - 2070.88 - - - - - - - - - 15.84 -
20395.54 58.20 3.34 2391 20478.02 2.47 0.36 0.079 2923.69 174.0 4.05 0.114 1045.12 -368.2 312.76 75.96 1.037 1774.16 -3.9 0.036 - - - - - - 15.89 15.58 12.76
20655.90 25.48 15.58 2443 20661.66 roll 2.47 - - 2924.00 - 3.73 0.061 2530.25 398.2 312.76 - - 1775.38 - - - - - - - - - 15.78 -
20826 end climb: SURFACE_DEPTH_REACHED
20826 begin surface coast
20841 end surface coast: CONTROL_FINISHED_OK
20841 begin surface
SM 1.23 - - - - 179.2 78.87 1.000 1419.5 18.0 18.89 0.058 1413.4 74.8 - 0.69 0.072 1425.6 2060.7 -3.598 - - 12.83 15.83 15.84 -