NANOOS May22 * SG236 * Dive index * Mission links * Dive 119 * Raw log
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• Previous call tries 1 • 56.41 of 575.00 AH used of 24V (90.19% remains)
• Surface angle -67.4 deg, depth 1.46 m • Intended pitch -20.9 deg, speed -7.857 cm/s
VBD pumped to 399.98 (SM_CC=400)
• GPS1 time: 42 s
• GPS2 time: 3 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 - - - 64.92 VBD -1.29 - - 172.75 - - - 2244.56 - -82.73 60.09 0.005 2406.12 - - - - - - - - - - 15.68
65.12 3.49 -3.73 11 112.44 -1.29 16.01 0.278 2055.19 117.6 3.71 0.107 3638.94 375.8 -82.73 21.01 0.006 3189.53 37.3 -3.595 - - - - - - 15.69 15.66 15.71
340.36 73.21 -25.19 66 346.07 roll -1.29 - - 2054.94 - 3.48 0.063 2204.38 -412.2 -82.73 - - 3189.44 - - - - - - - - - 15.87 -
530.46 107.96 -17.06 104 536.20 roll -1.29 - - 2054.88 - 3.78 0.104 3638.25 379.3 -82.73 - - 3191.19 - - - - - - - - - 15.91 -
730.51 142.91 -18.15 144 736.22 roll -1.29 - - 2055.25 - 3.48 0.060 2205.88 -411.6 -82.73 - - 3191.16 - - - - - - - - - 15.94 -
1040.62 187.51 -13.89 206 1046.42 roll -1.29 - - 2054.94 - 3.86 0.159 803.00 -363.4 -82.73 - - 3189.19 - - - - - - - - - 15.96 -
1065.61 191.68 -16.68 211 1071.34 roll -1.29 - - 2055.62 - 3.51 0.059 2253.44 413.2 -82.73 - - 3191.78 - - - - - - - - - 15.99 -
1375.70 236.06 -14.39 273 1379.70 no move -1.29 - - 2055.00 - - - 2253.94 - -82.73 - - 3191.22 - - - - - - - - - - -
1680.73 280.36 -14.95 334 1684.73 no move -1.29 - - 2054.75 - - - 2254.00 - -82.73 - - 3191.38 - - - - - - - - - - -
1987.33 323.14 -13.83 378 2001.89 roll -1.29 - - 2055.12 - 3.97 0.159 801.75 -365.8 -82.73 - - 3190.97 - - - - - - - - - 16.03 -
2032.65 331.52 -17.15 385 2045.45 roll -1.29 - - 2055.12 - 3.45 0.064 2252.06 420.4 -82.73 - - 3192.28 - - - - - - - - - 16.05 -
2354.91 375.92 -13.52 417 2369.49 roll -1.29 - - 2054.94 - 3.96 0.158 802.81 -366.0 -82.73 - - 3190.97 - - - - - - - - - 16.04 -
2426.58 387.17 -16.06 427 2441.04 roll -1.29 - - 2055.00 - 3.43 0.064 2250.19 422.0 -82.73 - - 3190.56 - - - - - - - - - 16.07 -
2741.23 430.27 -14.09 459 2751.21 no move -1.29 - - 2055.06 - - - 2249.38 - -82.73 - - 3191.38 - - - - - - - - - - -
3061.28 473.45 -12.81 491 3071.27 no move -1.29 - - 2054.50 - - - 2249.81 - -82.73 - - 3191.00 - - - - - - - - - - -
3381.33 516.40 -13.34 519 3388.74 roll -1.29 - - 2053.81 - 3.62 0.110 3637.31 383.3 -82.73 - - 3190.59 - - - - - - - - - 16.09 -
3427.29 523.81 -15.07 527 3440.07 roll -1.29 - - 2053.94 - 3.46 0.063 2203.75 -414.3 -82.73 - - 3190.66 - - - - - - - - - 16.09 -
3754.41 567.01 -13.32 549 3762.50 roll -1.29 - - 2054.06 - 3.84 0.163 801.88 -365.1 -82.73 - - 3189.69 - - - - - - - - - 16.08 -
3833.91 579.91 -14.29 562 3839.57 roll -1.29 - - 2055.00 - 3.47 0.066 2248.88 417.0 -82.73 - - 3189.06 - - - - - - - - - 16.11 -
4151.00 620.08 -12.59 584 4158.48 roll -1.29 - - 2054.94 - 3.95 0.160 801.81 -366.3 -82.73 - - 3189.75 - - - - - - - - - 16.08 -
4235.46 632.96 -14.86 598 4248.25 roll -1.29 - - 2054.94 - 3.47 0.066 2248.81 417.0 -82.73 - - 3188.75 - - - - - - - - - 16.12 -
4562.61 674.72 -13.04 620 4570.01 roll -1.29 - - 2054.69 - 3.59 0.112 3638.19 387.0 -82.73 - - 3189.28 - - - - - - - - - 16.11 -
4620.66 682.60 -14.01 629 4628.05 roll -1.29 - - 2055.00 - 3.47 0.063 2202.62 -413.7 -82.73 - - 3188.19 - - - - - - - - - 16.11 -
4940.29 723.27 -12.66 652 4947.76 roll -1.29 - - 2054.25 - 3.84 0.163 802.81 -364.5 -82.73 - - 3187.72 - - - - - - - - - 16.09 -
5082.37 744.94 -14.62 675 5095.16 roll -1.29 - - 2054.75 - 3.49 0.066 2244.12 413.0 -82.73 - - 3187.72 - - - - - - - - - 16.13 -
5409.48 783.77 -11.67 697 5410.82 no move -1.29 - - 2054.75 - - - 2244.19 - -82.73 - - 3187.59 - - - - - - - - - - -
5724.55 820.64 -11.39 718 5725.89 no move -1.29 - - 2054.88 - - - 2244.38 - -82.73 - - 3185.28 - - - - - - - - - - -
6039.56 857.50 -12.25 739 6046.98 roll -1.29 - - 2054.62 - 3.65 0.113 3639.12 382.1 -82.73 - - 3187.25 - - - - - - - - - 16.12 -
6119.00 868.96 -13.97 752 6124.70 roll -1.29 - - 2055.06 - 3.51 0.065 2202.81 -409.2 -82.73 - - 3188.53 - - - - - - - - - 16.13 -
6435.10 905.43 -11.25 774 6440.14 roll -1.29 - - 2054.88 - 3.85 0.164 802.75 -363.7 -82.73 - - 3184.56 - - - - - - - - - 16.10 -
6507.54 914.68 -12.36 785 6514.93 roll -1.29 - - 2054.81 - 3.50 0.066 2245.00 412.1 -82.73 - - 3185.59 - - - - - - - - - 16.12 -
6827.10 951.87 -11.25 808 6834.52 roll -1.29 - - 2054.81 - 3.63 0.113 3637.50 383.6 -82.73 - - 3184.72 - - - - - - - - - 16.11 -
6873.08 958.30 -11.30 816 6885.86 roll -1.29 - - 2054.44 - 3.48 0.065 2203.44 -412.1 -82.73 - - 3186.25 - - - - - - - - - 16.13 -
7155 end dive: TARGET_DEPTH_EXCEEDED
7155 begin apogee
7156.96 990.04 -10.80 835 7232.08 -0.25 1.85 0.150 2309.25 137.7 0.09 0.251 2465.31 2909.7 - 67.92 2.233 2849.53 -5.0 0.364 - - - - - - 16.09 15.57 12.83
7235 end apogee: CONTROL_FINISHED_OK
7235 begin climb
7237.06 994.85 - 840 7319.20 1.29 2.66 0.113 2685.69 141.5 3.21 0.118 3636.12 364.7 82.73 74.80 2.182 2511.28 -4.5 0.342 - - - - - - 15.62 15.65 12.78
7410.55 988.24 4.98 867 7457.53 1.43 0.20 0.076 2727.19 207.5 2.88 0.057 2465.88 -406.3 127.52 40.18 2.105 2332.72 -4.4 0.346 - - - - - - 15.58 15.59 12.77
7768.65 959.98 7.46 896 7776.10 roll 1.43 - - 2728.06 - 3.86 0.131 1034.38 -370.9 127.52 - - 2329.59 - - - - - - - - - 15.76 -
7833.88 953.23 8.83 907 7846.66 roll 1.43 - - 2728.25 - 3.66 0.066 2516.81 405.0 127.52 - - 2328.81 - - - - - - - - - 15.80 -
8160.95 926.10 7.93 929 8165.25 roll 1.43 - - 2728.19 - 3.03 0.118 3637.25 369.8 127.52 - - 2326.16 - - - - - - - - - 15.89 -
8221.14 920.41 8.43 939 8233.82 roll 1.43 - - 2728.25 - 2.84 0.058 2464.88 -412.8 127.52 - - 2327.09 - - - - - - - - - 15.91 -
8548.27 893.96 7.80 961 8555.72 roll 1.43 - - 2727.75 - 3.82 0.131 1033.44 -374.7 127.52 - - 2325.00 - - - - - - - - - 15.96 -
8606.33 888.75 10.21 970 8613.93 roll 1.43 - - 2729.00 - 3.66 0.067 2517.69 405.5 127.52 - - 2325.75 - - - - - - - - - 15.97 -
8925.95 862.97 7.73 993 8933.41 roll 1.43 - - 2727.94 - 3.95 0.125 1033.56 -375.7 127.52 - - 2325.22 - - - - - - - - - 15.99 -
8971.92 858.11 9.78 1001 8984.74 roll 1.43 - - 2728.12 - 3.63 0.066 2517.06 408.7 127.52 - - 2323.75 - - - - - - - - - 16.01 -
9299.03 833.93 8.39 1023 9300.37 no move 1.43 - - 2727.50 - - - 2516.88 - 127.52 - - 2323.88 - - - - - - - - - - -
9614.08 813.09 5.76 1044 9654.10 done 1.53 - - 2727.69 - 3.04 0.121 3636.94 368.4 160.11 27.28 1.934 2197.09 -4.6 0.324 - - - - - - - 15.79 12.93
9750.46 801.53 8.28 1065 9754.72 roll 1.53 - - 2726.56 - 2.85 0.058 2465.81 -410.9 160.11 - - 2198.28 - - - - - - - - - 15.90 -
10065.12 776.70 7.80 1087 10066.46 no move 1.53 - - 2727.88 - - - 2465.88 - 160.11 - - 2196.00 - - - - - - - - - - -
10380.13 751.64 8.16 1108 10381.47 no move 1.53 - - 2728.12 - - - 2465.38 - 160.11 - - 2196.16 - - - - - - - - - - -
10695.17 726.27 8.23 1129 10696.51 no move 1.53 - - 2728.00 - - - 2465.75 - 160.11 - - 2196.66 - - - - - - - - - - -
11010.35 700.91 8.39 1150 11017.80 roll 1.53 - - 2728.75 - 3.84 0.131 1032.50 -373.2 160.11 - - 2196.91 - - - - - - - - - 16.04 -
11089.76 693.10 9.69 1163 11095.51 roll 1.53 - - 2727.88 - 3.66 0.066 2517.62 405.8 160.11 - - 2199.53 - - - - - - - - - 16.06 -
11406.89 669.53 7.86 1185 11408.22 no move 1.53 - - 2728.06 - - - 2516.81 - 160.11 - - 2196.41 - - - - - - - - - - -
11721.95 646.04 7.29 1206 11726.10 roll 1.54 - - 2727.75 - 2.97 0.119 3636.25 376.9 160.11 - - 2194.50 - - - - - - - - - 16.07 -
11757.92 642.48 7.64 1212 11763.52 roll 1.54 - - 2728.56 - 2.82 0.058 2464.19 -415.6 160.11 - - 2196.19 - - - - - - - - - 16.09 -
12075.03 619.40 7.37 1234 12079.25 roll 1.54 - - 2728.31 - 3.12 0.113 3638.44 376.4 160.11 - - 2194.81 - - - - - - - - - 16.09 -
12147.44 613.31 8.93 1245 12151.58 roll 1.54 - - 2728.12 - 2.81 0.058 2462.56 -418.5 160.11 - - 2194.31 - - - - - - - - - 16.08 -
12462.11 589.46 7.81 1267 12469.56 roll 1.54 - - 2728.44 - 3.81 0.130 1032.06 -375.5 160.11 - - 2195.97 - - - - - - - - - 16.08 -
12558.59 580.74 8.74 1282 12566.01 roll 1.54 - - 2727.69 - 3.64 0.065 2517.19 408.0 160.11 - - 2196.84 - - - - - - - - - 16.09 -
12878.22 555.89 7.89 1305 12885.70 roll 1.54 - - 2727.94 - 3.93 0.124 1033.00 -377.7 160.11 - - 2196.72 - - - - - - - - - 16.09 -
12938.45 550.33 9.11 1315 12944.15 roll 1.54 - - 2728.44 - 3.62 0.066 2516.62 409.8 160.11 - - 2195.94 - - - - - - - - - 16.10 -
13255.54 529.25 6.17 1337 13263.06 roll back 1.59 0.18 0.079 2766.81 213.2 3.92 0.123 1033.19 -378.4 160.11 - - 2196.34 - - - - - - - - 16.11 16.10 -
13320.74 523.14 8.97 1348 13333.56 roll 1.59 - - 2767.75 - 3.61 0.065 2516.88 411.0 160.11 - - 2197.81 - - - - - - - - - 16.11 -
13642.87 498.36 7.92 1370 13652.84 no move 1.59 - - 2766.69 - - - 2517.94 - 160.11 - - 2196.03 - - - - - - - - - - -
13962.91 471.59 7.98 1402 13972.90 no move 1.59 - - 2768.56 - - - 2517.75 - 160.11 - - 2195.81 - - - - - - - - - - -
14282.96 445.31 7.93 1434 14287.11 roll 1.59 - - 2767.50 - 2.98 0.117 3640.50 376.8 160.11 - - 2193.72 - - - - - - - - - 16.11 -
14333.16 440.30 8.62 1442 14345.84 roll 1.59 - - 2767.75 - 2.82 0.058 2459.88 -418.7 160.11 - - 2195.22 - - - - - - - - - 16.11 -
14655.28 415.18 7.70 1474 14665.27 no move 1.59 - - 2768.06 - - - 2459.00 - 160.11 - - 2196.12 - - - - - - - - - - -
14975.34 390.87 7.51 1506 14989.84 roll 1.59 - - 2768.31 - 3.79 0.129 1032.69 -376.3 160.11 - - 2195.38 - - - - - - - - - 16.10 -
15034.83 384.67 9.99 1515 15047.66 roll 1.59 - - 2767.69 - 3.62 0.062 2517.75 410.2 160.11 - - 2195.78 - - - - - - - - - 16.11 -
15357.11 360.55 7.62 1547 15361.25 roll 1.59 - - 2767.56 - 2.97 0.115 3637.94 377.2 160.11 - - 2195.78 - - - - - - - - - 16.11 -
15407.29 356.41 7.61 1555 15419.97 roll 1.59 - - 2767.69 - 2.82 0.056 2460.25 -417.6 160.11 - - 2195.31 - - - - - - - - - 16.12 -
15729.45 334.60 7.14 1587 15744.09 roll 1.61 - - 2767.88 - 3.79 0.128 1032.25 -376.8 160.11 - - 2196.03 - - - - - - - - - 16.10 -
15815.63 327.66 8.17 1599 15830.12 roll 1.61 - - 2767.88 - 3.62 0.062 2518.12 410.5 160.11 - - 2195.56 - - - - - - - - - 16.12 -
16140.28 304.88 7.46 1632 16150.27 no move 1.61 - - 2767.81 - - - 2517.44 - 160.11 - - 2195.22 - - - - - - - - - - -
16452.25 281.79 7.76 1687 16458.03 roll 1.61 - - 2767.50 - 3.92 0.121 1033.50 -378.6 160.11 - - 2195.22 - - - - - - - - - 16.10 -
16552.25 274.10 8.12 1707 16558.00 roll 1.61 - - 2766.62 - 3.61 0.063 2516.69 410.9 160.11 - - 2195.59 - - - - - - - - - 16.10 -
16862.38 252.17 7.36 1769 16868.15 roll 1.63 - - 2767.69 - 3.92 0.119 1031.62 -378.8 160.11 - - 2195.12 - - - - - - - - - 16.10 -
16927.42 247.08 8.16 1782 16933.14 roll 1.63 - - 2767.88 - 3.58 0.060 2516.94 414.9 160.11 - - 2195.41 - - - - - - - - - 16.11 -
17237.51 227.41 5.61 1844 17268.10 VBD 1.73 - - 2767.62 - - - 2517.31 - 195.07 28.11 1.263 2052.91 -5.1 0.151 - - - - - - - - 12.90
17572.65 204.95 6.89 1911 17576.79 pitch 1.76 0.17 0.081 2808.62 241.2 - - 2516.81 - 195.07 - - 2052.91 - - - - - - - - 16.02 - -
17877.68 180.84 8.58 1972 17881.68 no move 1.76 - - 2808.38 - - - 2516.88 - 195.07 - - 2052.06 - - - - - - - - - - -
18182.70 155.26 8.14 2033 18186.70 no move 1.76 - - 2808.56 - - - 2516.88 - 195.07 - - 2051.53 - - - - - - - - - - -
18487.76 132.27 7.08 2094 18493.36 roll 1.79 - - 2808.50 - 2.98 0.114 3638.06 376.2 195.07 - - 2053.09 - - - - - - - - - 16.06 -
18722.78 113.52 8.82 2141 18728.38 roll 1.79 - - 2808.44 - 2.83 0.055 2456.19 -417.6 195.07 - - 2051.47 - - - - - - - - - 16.08 -
19032.90 97.81 3.80 2203 19104.96 1.98 0.25 0.075 2860.06 206.5 3.83 0.124 1033.06 -371.6 258.23 64.81 1.069 1796.66 -3.9 0.060 - - - - - - 16.08 15.79 12.87
19183.14 87.48 9.45 2233 19188.59 roll 1.98 - - 2860.19 - 3.61 0.060 2515.94 410.8 258.23 - - 1798.03 - - - - - - - - - 15.88 -
19372.91 75.98 5.89 2271 19378.51 roll 2.04 - - 2860.00 - 3.00 0.112 3641.38 375.1 258.23 - - 1796.22 - - - - - - - - - 15.93 -
19557.93 65.82 4.38 2308 19619.31 2.20 0.26 0.068 2913.31 205.0 2.85 0.053 2454.38 -416.5 312.36 53.67 1.014 1575.66 -4.1 0.044 - - - - - - 15.94 15.96 12.82
19803.00 51.17 6.79 2357 19808.87 roll 2.23 - - 2913.88 - 3.82 0.122 1033.44 -372.0 312.36 - - 1574.06 - - - - - - - - - 15.86 -
20037.99 33.99 7.70 2404 20043.74 roll 2.23 - - 2913.50 - 3.65 0.060 2522.06 407.8 312.36 - - 1573.53 - - - - - - - - - 15.93 -
20228.03 20.15 7.81 2442 20232.03 no move 2.23 - - 2913.69 - - - 2521.75 - 312.36 - - 1574.12 - - - - - - - - - - -
20413.06 6.60 7.12 2479 20418.85 roll 2.25 - - 2913.81 - 3.95 0.116 1032.38 -377.1 312.36 - - 1574.31 - - - - - - - - - 15.97 -
20473 end climb: SURFACE_DEPTH_REACHED
20473 begin surface coast
20503 end surface coast: CONTROL_FINISHED_OK
20503 begin surface
SM 1.75 - - - - 170.0 78.46 0.974 1219.4 15.5 18.06 0.054 1205.2 66.7 - 2.92 0.056 1233.6 421.1 -1.345 - - 12.76 15.94 15.99 -