NANOOS May22 * SG236 * Dive index * Mission links * Dive 131 * Raw log
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• Previous call tries 1 • 60.37 of 575.00 AH used of 24V (89.50% remains)
• Surface angle -66.7 deg, depth -0.93 m • Intended pitch -20.9 deg, speed -7.857 cm/s
VBD pumped to 400.00 (SM_CC=400)
• GPS1 time: 26 s
• GPS2 time: 2 s • Transponder ping count: 74
• 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 - - - 80.21 VBD -1.29 - - 168.94 - - - 2246.50 - -82.73 75.42 0.005 2620.38 - - - - - - - - - - 15.67
80.40 3.18 -10.64 14 112.58 -1.29 15.77 0.265 2056.19 119.7 4.07 0.156 802.94 -354.7 -82.73 8.42 0.008 3019.88 47.4 -3.092 - - - - - - 15.71 15.66 15.69
340.49 72.75 -24.45 66 346.21 roll -1.29 - - 2054.69 - 3.48 0.058 2239.94 412.9 -82.73 - - 3019.84 - - - - - - - - - 15.86 -
530.58 101.75 -13.93 104 536.37 roll -1.29 - - 2055.94 - 3.97 0.153 801.75 -362.3 -82.73 - - 3019.69 - - - - - - - - - 15.88 -
765.62 136.43 -13.59 151 771.32 roll -1.29 - - 2055.88 - 3.46 0.055 2244.44 417.0 -82.73 - - 3020.19 - - - - - - - - - 15.95 -
1075.67 171.28 -9.15 213 1081.47 roll -1.29 - - 2055.06 - 3.97 0.154 802.88 -363.1 -82.73 - - 3020.50 - - - - - - - - - 15.96 -
1310.71 205.87 -14.13 260 1316.41 roll -1.29 - - 2055.94 - 3.44 0.057 2241.25 418.1 -82.73 - - 3020.94 - - - - - - - - - 16.00 -
1620.79 242.38 -11.79 322 1626.56 roll -1.29 - - 2056.50 - 3.94 0.155 802.81 -365.1 -82.73 - - 3020.31 - - - - - - - - - 16.00 -
1795.79 268.92 -15.52 357 1801.51 roll -1.29 - - 2056.19 - 3.43 0.058 2238.56 418.6 -82.73 - - 3020.59 - - - - - - - - - 16.04 -
2107.40 306.63 -12.33 413 2121.94 roll -1.29 - - 2056.31 - 3.92 0.156 802.19 -366.4 -82.73 - - 3020.97 - - - - - - - - - 16.03 -
2321.30 337.08 -13.79 443 2335.77 roll -1.29 - - 2056.31 - 3.42 0.059 2236.56 419.4 -82.73 - - 3021.38 - - - - - - - - - 16.07 -
2635.95 372.88 -10.57 475 2650.47 roll -1.29 - - 2056.06 - 3.90 0.156 804.19 -367.3 -82.73 - - 3022.47 - - - - - - - - - 16.05 -
2823.50 398.68 -13.26 502 2836.26 roll -1.29 - - 2056.38 - 3.40 0.060 2233.12 420.3 -82.73 - - 3021.53 - - - - - - - - - 16.09 -
3145.70 432.79 -10.87 534 3160.22 roll -1.29 - - 2056.19 - 3.87 0.157 802.12 -369.8 -82.73 - - 3021.28 - - - - - - - - - 16.06 -
3231.55 443.93 -12.85 546 3246.00 roll -1.29 - - 2056.44 - 3.39 0.059 2235.62 422.9 -82.73 - - 3020.56 - - - - - - - - - 16.09 -
3546.20 479.63 -11.47 578 3560.72 roll -1.29 - - 2056.19 - 3.89 0.158 802.06 -368.5 -82.73 - - 3020.97 - - - - - - - - - 16.07 -
3648.37 494.41 -13.80 593 3661.15 roll -1.29 - - 2056.06 - 3.38 0.060 2234.31 423.7 -82.73 - - 3019.59 - - - - - - - - - 16.09 -
3970.57 532.24 -11.99 616 3978.02 roll -1.29 - - 2055.06 - 3.89 0.159 803.31 -367.9 -82.73 - - 3020.25 - - - - - - - - - 16.08 -
4016.55 548.29 -47.39 624 4029.31 roll -1.29 - - 2056.38 - 3.38 0.060 2234.75 423.5 -82.73 - - 3020.25 - - - - - - - - - 16.11 -
4343.72 583.74 -11.06 646 4350.90 roll -1.29 - - 2055.38 - 3.79 0.159 804.06 -377.5 -82.73 - - 3019.84 - - - - - - - - - 16.08 -
4365.46 587.01 -12.73 650 4371.16 roll -1.29 - - 2055.69 - 3.37 0.059 2234.44 424.4 -82.73 - - 3020.59 - - - - - - - - - 16.11 -
4682.61 620.41 -10.40 672 4690.01 roll -1.29 - - 2056.56 - 3.56 0.105 3637.94 394.2 -82.73 - - 3019.22 - - - - - - - - - 16.10 -
4740.66 627.27 -11.35 681 4748.07 roll -1.29 - - 2056.25 - 3.43 0.060 2186.81 -423.1 -82.73 - - 3019.47 - - - - - - - - - 16.11 -
5060.30 661.29 -10.78 704 5067.71 roll -1.29 - - 2056.06 - 3.66 0.101 3639.31 396.9 -82.73 - - 3019.62 - - - - - - - - - 16.11 -
5120.49 668.95 -11.86 714 5126.20 roll -1.29 - - 2056.19 - 3.44 0.059 2188.19 -421.8 -82.73 - - 3018.59 - - - - - - - - - 16.12 -
5437.62 700.09 -10.57 736 5445.06 roll -1.29 - - 2056.69 - 3.74 0.165 801.94 -370.7 -82.73 - - 3019.38 - - - - - - - - - 16.09 -
5572.59 716.71 -13.41 757 5579.95 roll -1.29 - - 2055.06 - 3.35 0.059 2234.75 427.7 -82.73 - - 3018.50 - - - - - - - - - 16.12 -
5892.20 742.31 -20.59 780 5893.54 no move -1.29 - - 2056.31 - - - 2234.69 - -82.73 - - 3017.34 - - - - - - - - - - -
6117 end dive: TARGET_DEPTH_EXCEEDED
6117 begin apogee
6118.57 766.59 -10.45 795 6194.01 -0.25 1.83 0.159 2309.06 138.1 0.10 0.210 2420.00 1853.1 - 68.92 1.916 2679.31 -4.9 0.322 - - - - - - 16.07 15.64 12.87
6197 end apogee: CONTROL_FINISHED_OK
6197 begin climb
6198.99 769.61 - 800 6281.15 1.29 2.68 0.124 2685.69 140.5 3.21 0.111 3637.50 379.3 82.73 73.83 1.868 2341.31 -4.6 0.309 - - - - - - 15.67 15.72 12.80
6372.48 761.75 6.35 827 6376.63 roll 1.34 - - 2685.19 - 2.90 0.053 2423.38 -418.7 82.73 - - 2337.72 - - - - - - - - - 15.64 -
6687.17 744.79 4.83 849 6733.98 1.48 0.28 0.070 2740.44 197.3 3.89 0.134 992.88 -367.7 129.88 38.83 1.799 2149.94 -4.8 0.328 - - - - - - 15.83 15.56 12.80
6783.71 737.38 8.41 864 6791.14 roll 1.48 - - 2741.06 - 3.63 0.062 2478.81 409.3 129.88 - - 2150.66 - - - - - - - - - 15.69 -
7103.36 713.69 6.98 887 7107.53 roll 1.51 - - 2740.62 - 3.03 0.111 3638.62 382.8 129.88 - - 2150.44 - - - - - - - - - 15.85 -
7216.27 703.38 8.66 905 7221.86 roll 1.51 - - 2741.19 - 2.89 0.054 2422.94 -420.7 129.88 - - 2147.47 - - - - - - - - - 15.90 -
7533.48 678.55 8.20 927 7534.82 no move 1.51 - - 2740.94 - - - 2422.50 - 129.88 - - 2147.84 - - - - - - - - - - -
7848.39 655.47 6.91 948 7849.73 no move 1.54 - - 2740.75 - - - 2422.75 - 129.88 - - 2147.94 - - - - - - - - - - -
8163.43 634.79 7.14 969 8167.63 roll 1.56 - - 2740.75 - 3.16 0.106 3639.94 385.2 129.88 - - 2146.69 - - - - - - - - - 16.02 -
8314.74 621.56 8.99 993 8320.36 roll 1.56 - - 2741.50 - 2.87 0.054 2420.69 -424.8 129.88 - - 2146.69 - - - - - - - - - 16.05 -
8631.87 597.39 8.06 1015 8639.19 roll 1.56 - - 2741.00 - 3.18 0.107 3637.94 382.8 129.88 - - 2148.38 - - - - - - - - - 16.05 -
8689.91 591.65 10.67 1024 8694.04 roll 1.56 - - 2739.62 - 2.87 0.054 2421.19 -424.0 129.88 - - 2146.00 - - - - - - - - - 16.05 -
9004.58 564.13 8.39 1046 9008.77 roll 1.56 - - 2741.31 - 3.14 0.107 3637.62 387.4 129.88 - - 2144.56 - - - - - - - - - 16.08 -
9153.73 550.32 8.95 1069 9157.87 roll 1.56 - - 2741.69 - 2.87 0.053 2423.50 -423.0 129.88 - - 2147.75 - - - - - - - - - 16.07 -
9468.41 527.87 6.62 1091 9472.61 roll 1.59 - - 2741.38 - 3.16 0.105 3639.69 384.9 129.88 - - 2143.44 - - - - - - - - - 16.08 -
9521.60 523.08 9.03 1099 9525.73 roll 1.59 - - 2741.19 - 2.86 0.053 2424.44 -424.9 129.88 - - 2144.34 - - - - - - - - - 16.09 -
9836.28 501.44 6.86 1121 9840.47 roll 1.62 - - 2741.19 - 3.12 0.104 3639.12 389.3 129.88 - - 2143.91 - - - - - - - - - 16.10 -
9927.03 494.40 7.25 1134 9931.24 roll back 1.64 0.17 0.091 2774.50 195.9 2.85 0.053 2422.25 -427.0 129.88 - - 2145.19 - - - - - - - - 16.08 16.09 -
10236.66 470.35 8.12 1165 10251.16 roll 1.64 - - 2776.38 - 3.78 0.133 991.94 -378.4 129.88 - - 2145.59 - - - - - - - - - 16.08 -
10279.78 466.80 8.43 1171 10294.25 roll 1.64 - - 2775.88 - 3.58 0.060 2484.00 416.8 129.88 - - 2145.62 - - - - - - - - - 16.10 -
10594.43 441.81 7.98 1203 10598.59 roll 1.64 - - 2777.12 - 3.00 0.110 3640.44 385.5 129.88 - - 2145.16 - - - - - - - - - 16.09 -
10758.44 427.52 8.31 1227 10771.12 roll 1.64 - - 2776.62 - 2.86 0.054 2426.19 -424.6 129.88 - - 2146.62 - - - - - - - - - 16.10 -
11080.58 405.39 6.96 1259 11090.56 no move 1.67 - - 2776.38 - - - 2425.50 - 129.88 - - 2144.97 - - - - - - - - - - -
11400.61 383.00 6.85 1291 11404.80 roll 1.70 - - 2776.62 - 3.14 0.109 3638.50 386.3 129.88 - - 2142.53 - - - - - - - - - 16.10 -
11436.57 379.67 7.36 1297 11449.26 roll 1.70 - - 2776.50 - 2.85 0.055 2424.69 -425.9 129.88 - - 2146.38 - - - - - - - - - 16.10 -
11758.69 359.52 6.32 1329 11768.66 no move 1.75 - - 2776.75 - - - 2424.56 - 129.88 - - 2144.00 - - - - - - - - - - -
12078.70 336.96 7.38 1361 12082.88 roll 1.75 - - 2773.75 - 3.15 0.107 3639.06 385.6 129.88 - - 2144.22 - - - - - - - - - 16.11 -
12197.85 327.59 8.06 1378 12201.99 roll 1.75 - - 2776.56 - 2.84 0.054 2424.62 -427.6 129.88 - - 2143.44 - - - - - - - - - 16.11 -
12507.51 305.55 7.03 1409 12517.48 no move 1.77 - - 2776.94 - - - 2424.94 - 129.88 - - 2145.09 - - - - - - - - - - -
12819.64 284.26 6.22 1462 12825.22 roll back 1.82 0.20 0.078 2823.19 231.2 3.15 0.106 3640.94 386.0 129.88 - - 2145.59 - - - - - - - - 16.11 16.10 -
12899.70 277.44 7.97 1478 12905.12 roll 1.82 - - 2823.38 - 2.85 0.054 2427.06 -425.9 129.88 - - 2145.66 - - - - - - - - - 16.10 -
13209.66 254.47 6.88 1540 13213.66 no move 1.85 - - 2823.81 - - - 2426.94 - 129.88 - - 2145.06 - - - - - - - - - - -
13514.67 234.90 6.14 1601 13520.30 roll 1.90 - - 2824.06 - 3.15 0.105 3640.31 385.2 129.88 - - 2145.09 - - - - - - - - - 16.11 -
13679.67 221.65 8.66 1634 13685.29 roll 1.90 - - 2824.06 - 2.84 0.053 2428.12 -426.8 129.88 - - 2144.47 - - - - - - - - - 16.11 -
13989.78 201.13 5.88 1696 13995.40 roll 1.96 - - 2823.88 - 3.16 0.105 3640.50 383.7 129.88 - - 2144.41 - - - - - - - - - 16.12 -
14224.78 183.77 8.00 1743 14230.38 roll 1.96 - - 2824.25 - 2.85 0.053 2428.81 -425.2 129.88 - - 2144.31 - - - - - - - - - 16.10 -
14534.91 164.23 6.75 1805 14540.69 roll back 1.99 0.17 0.092 2863.25 229.4 3.15 0.103 3641.19 384.9 129.88 - - 2145.12 - - - - - - - - 16.10 16.10 -
14754.86 146.02 8.97 1849 14760.47 roll 1.99 - - 2863.12 - 2.86 0.051 2430.25 -423.4 129.88 - - 2144.31 - - - - - - - - - 16.11 -
15064.93 123.46 7.58 1911 15068.94 no move 1.99 - - 2863.06 - - - 2430.19 - 129.88 - - 2145.41 - - - - - - - - - - -
15369.99 104.67 5.31 1972 15416.38 done 2.11 - - 2863.31 - 3.17 0.105 3639.81 381.6 169.58 39.79 1.104 1987.38 -4.0 0.062 - - - - - - - 15.90 12.80
15570.00 90.46 7.39 2012 15575.61 roll 2.11 - - 2862.44 - 2.87 0.051 2429.88 -421.6 169.58 - - 1987.28 - - - - - - - - - 15.99 -
15760.05 79.24 6.11 2050 15765.74 roll back 2.16 0.19 0.083 2906.19 230.3 3.14 0.102 3638.62 384.9 169.58 - - 1988.44 - - - - - - - - 16.01 16.00 -
15865.04 69.70 9.99 2071 15870.79 roll 2.16 - - 2906.06 - 2.85 0.049 2430.44 -423.9 169.58 - - 1986.66 - - - - - - - - - 16.02 -
16055.32 59.61 3.88 2109 16121.41 2.35 0.20 0.082 2948.19 210.7 - - 2429.94 - 231.49 64.88 1.036 1735.81 -3.9 0.036 - - - - - - 16.03 - 12.82
16305.28 44.08 7.87 2159 16310.90 roll 2.35 - - 2948.31 - 3.86 0.128 993.19 -372.2 231.49 - - 1737.44 - - - - - - - - - 15.88 -
16460.13 32.51 7.44 2190 16466.01 roll 2.35 - - 2949.06 - 3.67 0.057 2490.62 408.0 231.49 - - 1736.69 - - - - - - - - - 15.92 -
16650.18 24.10 3.92 2228 16717.27 2.53 0.22 0.074 2994.69 207.4 4.03 0.119 992.88 -371.6 292.79 61.03 0.997 1485.94 -4.1 0.016 - - - - - - 15.95 15.70 12.87
16875.18 8.25 9.30 2273 16880.94 roll 2.53 - - 2994.19 - 3.65 0.057 2482.06 408.0 292.79 - - 1484.09 - - - - - - - - - 15.85 -
16960 end climb: SURFACE_DEPTH_REACHED
16960 begin surface coast
16990 end surface coast: CONTROL_FINISHED_OK
16990 begin surface
SM -0.07 - - - - 171.8 95.97 0.939 1049.3 10.9 18.97 0.081 1036.8 54.7 - 0.69 0.074 1061.9 1533.7 0.148 - - 12.80 15.83 15.89 -