NANOOS May22 * SG236 * Dive index * Mission links * Dive 130 * Raw log
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• Previous call tries 1 • 60.08 of 575.00 AH used of 24V (89.55% remains)
• Surface angle -67.3 deg, depth -1.09 m • Intended pitch -20.9 deg, speed -7.857 cm/s
VBD pumped to 399.77 (SM_CC=400)
• GPS1 time: 34 s
• GPS2 time: 2 s • Transponder ping count: 93
• 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 - - - 85.30 VBD -1.29 - - 170.31 - - - 2182.50 - -82.73 80.51 0.005 2711.09 - - - - - - - - - - 15.66
85.49 3.01 -11.60 15 117.50 -1.29 15.65 0.264 2053.94 120.4 3.83 0.159 802.50 -360.3 -82.73 6.52 0.008 3018.53 47.2 -2.955 - - - - - - 15.71 15.65 15.68
295.39 64.17 -22.72 57 301.13 roll -1.29 - - 2054.88 - 3.51 0.058 2240.75 409.8 -82.73 - - 3020.31 - - - - - - - - - 15.86 -
485.49 96.40 -15.36 95 489.49 no move -1.29 - - 2055.25 - - - 2240.38 - -82.73 - - 3019.06 - - - - - - - - - - -
670.54 122.52 -14.32 132 676.34 roll -1.29 - - 2055.19 - 3.96 0.155 803.06 -363.0 -82.73 - - 3018.28 - - - - - - - - - 15.91 -
800.58 142.29 -16.02 158 806.28 roll -1.29 - - 2054.50 - 3.46 0.056 2241.69 415.8 -82.73 - - 3019.62 - - - - - - - - - 15.95 -
1110.67 181.71 -13.03 220 1116.42 roll -1.29 - - 2055.12 - 3.95 0.154 801.81 -364.5 -82.73 - - 3020.00 - - - - - - - - - 15.97 -
1300.66 211.54 -17.59 258 1306.37 roll -1.29 - - 2053.38 - 3.44 0.058 2239.62 418.0 -82.73 - - 3020.22 - - - - - - - - - 16.00 -
1610.75 253.96 -13.60 320 1616.45 roll -1.29 - - 2055.12 - 3.63 0.102 3638.81 385.5 -82.73 - - 3019.66 - - - - - - - - - 16.02 -
1660.72 261.10 -15.01 330 1666.45 roll -1.29 - - 2054.50 - 3.49 0.056 2192.25 -414.5 -82.73 - - 3019.44 - - - - - - - - - 16.04 -
1967.36 303.20 -14.47 388 1977.30 no move -1.29 - - 2055.00 - - - 2191.38 - -82.73 - - 3020.47 - - - - - - - - - - -
2287.38 348.01 -14.82 420 2301.91 roll -1.29 - - 2055.38 - 3.84 0.160 802.88 -361.6 -82.73 - - 3021.94 - - - - - - - - - 16.04 -
2330.53 354.56 -16.09 426 2345.00 roll -1.29 - - 2055.12 - 3.46 0.058 2237.62 414.7 -82.73 - - 3020.62 - - - - - - - - - 16.07 -
2645.18 396.75 -12.54 458 2659.67 roll -1.29 - - 2054.75 - 3.63 0.102 3637.44 385.6 -82.73 - - 3019.62 - - - - - - - - - 16.07 -
2702.52 404.58 -13.84 466 2716.98 roll -1.29 - - 2054.88 - 3.48 0.058 2194.25 -414.7 -82.73 - - 3019.53 - - - - - - - - - 16.08 -
3017.17 445.46 -13.60 498 3031.70 roll -1.29 - - 2055.06 - 3.82 0.159 803.00 -364.2 -82.73 - - 3019.53 - - - - - - - - - 16.06 -
3090.94 458.07 -16.10 509 3103.69 roll -1.29 - - 2055.25 - 3.43 0.059 2239.31 418.7 -82.73 - - 3019.97 - - - - - - - - - 16.10 -
3413.14 498.50 -12.39 541 3427.63 roll -1.29 - - 2055.25 - 3.61 0.105 3639.62 387.9 -82.73 - - 3019.22 - - - - - - - - - 16.08 -
3437.04 501.58 -12.94 544 3444.43 roll -1.29 - - 2054.94 - 3.47 0.058 2193.19 -416.8 -82.73 - - 3019.62 - - - - - - - - - 16.10 -
3756.66 535.31 -10.00 567 3764.11 roll -1.29 - - 2054.38 - 3.81 0.164 802.94 -364.9 -82.73 - - 3020.69 - - - - - - - - - 16.07 -
3821.87 543.96 -12.80 578 3834.63 roll -1.29 - - 2055.31 - 3.44 0.059 2239.25 417.5 -82.73 - - 3019.56 - - - - - - - - - 16.11 -
4149.00 579.30 -9.97 600 4156.41 roll -1.29 - - 2055.06 - 3.61 0.104 3637.94 387.4 -82.73 - - 3019.28 - - - - - - - - - 16.10 -
4170.74 582.93 -10.58 604 4176.45 roll -1.29 - - 2054.81 - 3.45 0.058 2192.44 -419.0 -82.73 - - 3020.78 - - - - - - - - - 16.11 -
4487.89 615.85 -10.05 626 4495.33 roll -1.29 - - 2055.06 - 3.79 0.161 803.75 -366.4 -82.73 - - 3018.34 - - - - - - - - - 16.08 -
4533.87 622.65 -11.61 634 4546.67 roll -1.29 - - 2054.75 - 3.41 0.058 2241.44 421.6 -82.73 - - 3019.47 - - - - - - - - - 16.11 -
4861.01 655.43 -10.39 656 4868.41 roll -1.29 - - 2053.50 - 3.60 0.104 3638.12 388.0 -82.73 - - 3019.25 - - - - - - - - - 16.11 -
4959.68 667.27 -10.75 672 4965.37 roll -1.29 - - 2054.56 - 3.47 0.059 2191.44 -416.9 -82.73 - - 3017.34 - - - - - - - - - 16.12 -
5276.79 697.19 -9.46 694 5278.12 no move -1.29 - - 2054.56 - - - 2192.00 - -82.73 - - 3017.97 - - - - - - - - - - -
5591.76 724.23 -9.17 715 5593.10 no move -1.29 - - 2055.12 - - - 2191.81 - -82.73 - - 3015.94 - - - - - - - - - - -
5906.79 756.88 -11.09 736 5914.24 roll -1.29 - - 2054.69 - 3.82 0.164 801.56 -363.9 -82.73 - - 3018.31 - - - - - - - - - 16.09 -
5967.01 765.44 -12.65 746 5972.69 roll -1.29 - - 2055.31 - 3.46 0.063 2239.38 415.6 -82.73 - - 3015.53 - - - - - - - - - 16.13 -
6284.27 801.46 -10.58 768 6291.69 roll -1.29 - - 2054.88 - 3.61 0.107 3640.19 388.0 -82.73 - - 3015.41 - - - - - - - - - 16.11 -
6344.60 809.86 -12.83 778 6350.18 roll -1.29 - - 2054.75 - 3.46 0.061 2194.31 -417.9 -82.73 - - 3015.03 - - - - - - - - - 16.13 -
6661.61 849.88 -11.32 800 6662.95 no move -1.29 - - 2054.38 - - - 2193.94 - -82.73 - - 3015.84 - - - - - - - - - - -
6976.63 887.98 -10.65 821 6977.97 no move -1.29 - - 2055.00 - - - 2193.44 - -82.73 - - 3013.50 - - - - - - - - - - -
7291.75 920.34 -10.70 842 7299.18 roll -1.29 - - 2053.62 - 3.76 0.106 3639.06 384.5 -82.73 - - 3015.00 - - - - - - - - - 16.13 -
7371.20 930.54 -12.32 855 7376.88 roll -1.29 - - 2055.25 - 3.47 0.063 2194.06 -416.4 -82.73 - - 3014.09 - - - - - - - - - 16.12 -
7688.31 942.70 -9.48 877 7689.65 no move -1.29 - - 2054.88 - - - 2194.12 - -82.73 - - 3013.72 - - - - - - - - - - -
8003.34 980.79 -9.47 898 8004.68 no move -1.29 - - 2054.94 - - - 2194.25 - -82.73 - - 3013.56 - - - - - - - - - - -
8123 end dive: TARGET_DEPTH_EXCEEDED
8123 begin apogee
8125.06 990.87 -7.68 906 8200.11 -0.25 1.87 0.160 2309.44 136.1 0.10 0.229 2427.19 2329.4 - 69.47 2.229 2681.59 -4.8 0.354 - - - - - - 16.08 15.57 12.83
8203 end apogee: CONTROL_FINISHED_OK
8203 begin climb
8205.10 990.91 - 911 8292.01 1.29 2.70 0.139 2684.38 138.9 3.98 0.140 997.12 -359.3 82.73 76.21 2.187 2341.56 -4.5 0.337 - - - - - - 15.61 15.65 12.91
8301.85 987.18 4.65 926 8361.02 1.44 0.23 0.075 2729.12 194.5 3.80 0.062 2482.44 390.9 132.60 43.99 2.104 2139.03 -4.6 0.360 - - - - - - 15.42 15.41 12.73
8674.98 953.94 9.08 956 8679.16 roll 1.44 - - 2729.56 - 3.11 0.115 3637.75 371.5 132.60 - - 2135.22 - - - - - - - - - 15.77 -
8735.17 947.16 12.04 966 8747.87 roll 1.44 - - 2729.06 - 2.92 0.056 2433.44 -412.4 132.60 - - 2137.88 - - - - - - - - - 15.81 -
9062.28 920.02 9.26 988 9063.62 no move 1.44 - - 2727.38 - - - 2433.12 - 132.60 - - 2135.25 - - - - - - - - - - -
9377.32 891.67 9.69 1009 9378.65 no move 1.44 - - 2729.19 - - - 2432.19 - 132.60 - - 2136.09 - - - - - - - - - - -
9692.36 862.30 9.78 1030 9699.71 roll 1.44 - - 2728.81 - 3.20 0.112 3639.00 377.1 132.60 - - 2135.41 - - - - - - - - - 15.99 -
9733.32 856.90 13.05 1037 9738.93 roll 1.44 - - 2728.94 - 2.90 0.056 2431.25 -416.5 132.60 - - 2135.16 - - - - - - - - - 16.00 -
10050.45 826.05 9.24 1059 10051.79 no move 1.44 - - 2729.00 - - - 2431.25 - 132.60 - - 2134.81 - - - - - - - - - - -
10365.50 797.75 8.64 1080 10366.84 no move 1.44 - - 2729.25 - - - 2430.94 - 132.60 - - 2134.44 - - - - - - - - - - -
10680.65 772.08 8.15 1101 10681.99 no move 1.44 - - 2728.50 - - - 2430.69 - 132.60 - - 2133.06 - - - - - - - - - - -
10995.56 743.28 8.98 1122 10996.90 no move 1.44 - - 2728.06 - - - 2430.75 - 132.60 - - 2133.12 - - - - - - - - - - -
11310.58 715.90 8.85 1143 11311.92 no move 1.44 - - 2729.94 - - - 2431.69 - 132.60 - - 2132.62 - - - - - - - - - - -
11625.61 690.46 8.74 1164 11633.06 roll 1.44 - - 2728.62 - 3.86 0.138 996.50 -371.8 132.60 - - 2133.06 - - - - - - - - - 16.08 -
11666.59 685.92 9.26 1171 11672.32 roll 1.44 - - 2729.56 - 3.63 0.064 2485.94 410.3 132.60 - - 2132.16 - - - - - - - - - 16.09 -
11983.68 661.14 7.67 1193 11987.85 roll 1.44 - - 2729.44 - 3.04 0.115 3638.44 379.1 132.60 - - 2130.66 - - - - - - - - - 16.08 -
12077.31 653.21 9.64 1208 12082.92 roll 1.44 - - 2729.81 - 2.88 0.056 2430.75 -419.3 132.60 - - 2131.97 - - - - - - - - - 16.10 -
12394.45 631.09 6.49 1230 12395.78 VBD 1.48 - - 2729.94 - - - 2430.81 - 132.60 - - 2131.56 - - - - - - - - - - -
12709.51 610.13 6.72 1251 12716.97 done 1.52 - - 2729.31 - 3.83 0.136 996.81 -374.4 132.60 - - 2131.34 - - - - - - - - - 16.09 -
12748.38 607.20 6.10 1257 12755.82 done 1.57 - - 2728.94 - 3.62 0.062 2487.94 411.9 132.60 - - 2133.12 - - - - - - - - - 16.10 -
13068.02 583.64 7.75 1280 13072.18 roll 1.57 - - 2729.12 - 3.02 0.113 3638.12 380.9 132.60 - - 2130.31 - - - - - - - - - 16.10 -
13108.98 579.84 8.78 1287 13121.67 done 1.57 - - 2730.06 - 2.85 0.055 2430.69 -423.7 132.60 - - 2133.12 - - - - - - - - - 16.12 -
13436.10 555.57 7.76 1309 13443.56 done 1.57 - - 2730.19 - 3.82 0.135 996.75 -375.4 132.60 - - 2131.44 - - - - - - - - - 16.09 -
13532.60 546.08 9.11 1324 13540.00 done 1.57 - - 2729.31 - 3.59 0.061 2488.56 415.5 132.60 - - 2130.69 - - - - - - - - - 16.10 -
13852.24 522.60 6.68 1347 13853.71 1.61 0.19 0.084 2769.38 210.9 - - 2488.75 - 132.60 - - 2130.81 - - - - - - - - 16.11 - -
14157.26 498.35 7.74 1368 14167.25 VBD 1.61 - - 2769.12 - - - 2488.31 - 132.60 - - 2131.09 - - - - - - - - - - -
14477.31 471.25 8.05 1400 14487.30 VBD 1.61 - - 2769.31 - - - 2488.31 - 132.60 - - 2131.47 - - - - - - - - - - -
14797.37 444.78 8.13 1432 14811.92 done 1.61 - - 2769.62 - 3.97 0.127 995.88 -375.9 132.60 - - 2130.69 - - - - - - - - - 16.11 -
14854.76 439.49 10.06 1440 14869.28 done 1.61 - - 2769.31 - 3.61 0.062 2486.94 413.0 132.60 - - 2131.19 - - - - - - - - - 16.11 -
15179.42 413.46 6.70 1473 15183.64 done 1.64 - - 2769.38 - 3.02 0.113 3637.62 381.0 132.60 - - 2129.34 - - - - - - - - - 16.10 -
15284.49 404.65 7.92 1488 15288.63 done 1.64 - - 2769.31 - 2.87 0.054 2429.88 -420.8 132.60 - - 2128.91 - - - - - - - - - 16.11 -
15594.14 382.30 7.78 1519 15608.66 done 1.64 - - 2768.62 - 3.82 0.133 996.88 -375.1 132.60 - - 2131.66 - - - - - - - - - 16.10 -
15639.67 378.14 7.76 1526 15652.48 done 1.64 - - 2769.06 - 3.61 0.061 2489.31 413.4 132.60 - - 2131.66 - - - - - - - - - 16.12 -
15961.94 353.91 7.95 1558 15976.49 done 1.64 - - 2769.06 - 3.95 0.125 996.69 -377.9 132.60 - - 2131.97 - - - - - - - - - 16.10 -
16021.50 347.36 10.75 1567 16034.28 done 1.64 - - 2769.19 - 3.56 0.061 2488.38 419.0 132.60 - - 2130.97 - - - - - - - - - 16.11 -
16343.70 322.43 7.99 1599 16353.68 VBD 1.64 - - 2768.94 - - - 2488.81 - 132.60 - - 2131.38 - - - - - - - - - - -
16655.62 298.53 7.44 1631 16661.54 done 1.64 - - 2769.69 - 3.93 0.125 996.38 -379.8 132.60 - - 2130.94 - - - - - - - - - 16.10 -
16700.63 294.86 8.15 1640 16706.35 done 1.64 - - 2769.06 - 3.58 0.060 2488.00 416.7 132.60 - - 2131.19 - - - - - - - - - 16.11 -
17010.69 275.14 6.02 1702 17014.70 VBD 1.70 - - 2769.06 - - - 2488.94 - 132.60 - - 2131.25 - - - - - - - - - - -
17315.75 255.40 6.76 1763 17321.35 done 1.73 - - 2767.94 - 2.98 0.111 3638.88 385.9 132.60 - - 2131.03 - - - - - - - - - 16.10 -
17340.75 253.68 6.52 1768 17346.40 1.77 0.18 0.090 2809.12 228.8 2.85 0.053 2424.75 -426.0 132.60 - - 2131.69 - - - - - - - - 16.09 16.11 -
17650.84 230.59 7.35 1830 17656.45 done 1.78 - - 2809.62 - 3.16 0.108 3640.50 384.7 132.60 - - 2132.91 - - - - - - - - - 16.11 -
17730.80 224.31 7.63 1846 17736.41 done 1.78 - - 2808.25 - 2.84 0.053 2428.50 -426.8 132.60 - - 2131.75 - - - - - - - - - 16.10 -
18040.87 201.89 7.37 1908 18044.88 VBD 1.78 - - 2809.50 - - - 2429.31 - 132.60 - - 2131.28 - - - - - - - - - - -
18345.91 178.03 7.79 1969 18351.56 done 1.78 - - 2809.56 - 3.14 0.107 3639.94 385.6 132.60 - - 2131.66 - - - - - - - - - 16.12 -
18405.92 173.01 8.34 1981 18411.54 done 1.78 - - 2809.44 - 2.83 0.053 2428.81 -428.0 132.60 - - 2130.34 - - - - - - - - - 16.10 -
18716.02 150.11 6.92 2043 18721.73 done 1.81 - - 2809.06 - 3.77 0.129 995.88 -380.1 132.60 - - 2133.09 - - - - - - - - - 16.10 -
18845.99 139.81 7.92 2069 18851.72 done 1.81 - - 2809.75 - 3.59 0.058 2492.12 416.8 132.60 - - 2130.56 - - - - - - - - - 16.10 -
19156.06 118.64 6.10 2131 19160.06 VBD 1.86 - - 2809.88 - - - 2491.44 - 132.60 - - 2131.47 - - - - - - - - - - -
19461.27 99.85 6.14 2192 19466.79 1.92 0.15 0.089 2845.00 234.1 3.01 0.110 3639.06 381.3 132.60 - - 2131.84 - - - - - - - - 16.11 16.09 -
19696.14 86.60 4.45 2239 19752.79 2.08 0.17 0.094 2882.12 218.4 2.84 0.051 2422.44 -428.4 185.64 51.61 1.057 1921.69 -4.1 0.056 - - - - - - 16.09 16.11 12.87
19936.19 74.85 4.55 2287 19998.07 2.23 0.17 0.086 2920.62 226.5 3.84 0.127 996.75 -371.3 237.10 55.17 1.011 1712.47 -3.8 0.047 - - - - - - 15.97 15.73 12.84
20006.18 70.30 7.32 2301 20011.91 roll 2.25 - - 2920.88 - 3.67 0.057 2485.38 405.6 237.10 - - 1712.69 - - - - - - - - - 15.80 -
20196.22 58.57 5.59 2339 20232.97 VBD 2.35 - - 2918.94 - - - 2484.12 - 272.31 35.92 0.978 1568.97 -4.0 0.040 - - - - - - - - 12.80
20416.25 42.36 6.95 2383 20421.93 roll back 2.38 0.16 0.089 2955.00 225.4 3.06 0.108 3639.06 377.4 272.31 - - 1568.41 - - - - - - - - 15.84 15.84 -
20441.24 40.46 7.48 2388 20446.85 roll 2.38 - - 2955.38 - 2.89 0.049 2421.75 -421.2 272.31 - - 1568.78 - - - - - - - - - 15.86 -
20631.32 29.76 5.32 2426 20677.88 done 2.50 - - 2955.50 - 3.86 0.126 997.88 -368.9 311.84 39.79 0.958 1408.44 -4.0 0.021 - - - - - - - 15.73 12.73
20811.55 13.55 11.40 2462 20817.10 roll 2.50 - - 2955.06 - 3.62 0.056 2483.12 410.3 311.84 - - 1407.28 - - - - - - - - - 15.85 -
20951 end climb: SURFACE_DEPTH_REACHED
20951 begin surface coast
20981 end surface coast: CONTROL_FINISHED_OK
20981 begin surface
SM -0.74 - - - - 172.7 80.66 0.962 1050.3 13.0 18.82 0.078 1031.9 54.8 - 0.68 0.074 1068.6 1566.1 1.601 - - 12.81 15.85 15.90 -