NANOOS May22 * SG236 * Dive index * Mission links * Dive 68 * Raw log
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• Previous call tries 1 • 38.91 of 575.00 AH used of 24V (93.23% remains)
• Surface angle -63.5 deg, depth 1.30 m • Intended pitch -18.4 deg, speed -9.167 cm/s
VBD pumped to 595.20 (SM_CC=595.40039)
• GPS1 time: 17 s
• GPS2 time: 4 s • Transponder ping count: 87
• 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
4.33 - - - 115.84 VBD -1.27 - - 171.56 - - - 2317.19 - -116.79 111.08 0.005 2862.41 - - - - - - - - - - 15.58
116.04 3.31 -1.89 21 163.07 -1.27 15.46 0.257 2041.88 121.0 3.59 0.116 3638.56 368.1 -116.79 21.62 0.006 3676.88 37.7 -3.489 - - - - - - 15.64 15.62 15.64
270.92 36.28 -21.42 52 276.66 roll -1.27 - - 2041.56 - 3.40 0.065 2268.69 -402.9 -116.79 - - 3678.72 - - - - - - - - - 15.77 -
460.97 72.97 -18.16 90 466.76 roll -1.27 - - 2041.88 - 3.95 0.153 828.00 -364.7 -116.79 - - 3678.16 - - - - - - - - - 15.81 -
520.98 84.25 -18.79 102 526.74 roll -1.27 - - 2042.00 - 3.68 0.064 2316.44 404.5 -116.79 - - 3678.62 - - - - - - - - - 15.85 -
711.01 109.09 -12.04 140 716.73 roll -1.27 - - 2041.31 - 3.53 0.115 3637.75 374.3 -116.79 - - 3679.44 - - - - - - - - - 15.89 -
761.01 115.61 -12.70 150 766.70 roll -1.27 - - 2040.06 - 3.35 0.063 2265.88 -409.5 -116.79 - - 3679.97 - - - - - - - - - 15.90 -
1071.08 150.78 -11.28 212 1076.81 roll -1.27 - - 2041.69 - 3.64 0.110 3637.62 376.9 -116.79 - - 3679.69 - - - - - - - - - 15.94 -
1136.08 158.64 -12.82 225 1141.79 roll -1.27 - - 2041.44 - 3.34 0.064 2266.19 -410.6 -116.79 - - 3679.00 - - - - - - - - - 15.96 -
1446.17 192.49 -11.41 287 1451.92 roll -1.27 - - 2041.00 - 3.91 0.152 827.31 -368.0 -116.79 - - 3680.34 - - - - - - - - - 15.97 -
1486.14 197.80 -13.54 295 1491.88 roll -1.27 - - 2041.06 - 3.62 0.063 2316.69 411.4 -116.79 - - 3680.28 - - - - - - - - - 15.99 -
1796.23 235.26 -11.96 357 1800.23 no move -1.27 - - 2041.50 - - - 2317.06 - -116.79 - - 3680.91 - - - - - - - - - - -
2101.25 270.66 -11.06 418 2107.05 roll -1.27 - - 2042.06 - 4.03 0.149 826.25 -369.9 -116.79 - - 3680.69 - - - - - - - - - 16.02 -
2151.25 277.49 -13.55 428 2156.98 roll -1.27 - - 2042.06 - 3.59 0.065 2316.75 415.2 -116.79 - - 3680.16 - - - - - - - - - 16.03 -
2462.87 312.71 -11.27 478 2472.84 no move -1.27 - - 2041.50 - - - 2317.50 - -116.79 - - 3681.75 - - - - - - - - - - -
2782.93 346.74 -10.02 510 2797.46 roll -1.27 - - 2041.19 - 3.98 0.150 826.88 -374.5 -116.79 - - 3680.72 - - - - - - - - - 16.05 -
2826.10 351.53 -11.75 516 2840.59 roll -1.27 - - 2041.62 - 3.61 0.065 2315.56 412.4 -116.79 - - 3681.00 - - - - - - - - - 16.06 -
3150.72 384.52 -9.84 549 3160.70 no move -1.27 - - 2041.75 - - - 2316.62 - -116.79 - - 3680.38 - - - - - - - - - - -
3470.74 416.90 -9.46 581 3485.29 roll -1.27 - - 2042.25 - 4.00 0.152 827.06 -372.4 -116.79 - - 3680.53 - - - - - - - - - 16.07 -
3513.91 421.59 -10.84 587 3528.41 roll -1.27 - - 2041.50 - 3.61 0.066 2317.31 412.8 -116.79 - - 3680.22 - - - - - - - - - 16.08 -
3838.56 452.35 -9.55 620 3848.54 no move -1.27 - - 2041.38 - - - 2316.94 - -116.79 - - 3680.78 - - - - - - - - - - -
4158.60 484.32 -10.57 652 4173.14 roll -1.27 - - 2042.06 - 3.99 0.153 827.19 -373.4 -116.79 - - 3680.16 - - - - - - - - - 16.08 -
4258.67 496.01 -11.50 666 4273.14 roll -1.27 - - 2042.31 - 3.60 0.068 2315.38 413.4 -116.79 - - 3679.88 - - - - - - - - - 16.10 -
4588.31 530.30 -10.51 690 4589.65 no move -1.27 - - 2041.81 - - - 2314.94 - -116.79 - - 3679.47 - - - - - - - - - - -
4903.34 561.13 -9.39 711 4904.68 no move -1.27 - - 2041.75 - - - 2315.12 - -116.79 - - 3679.09 - - - - - - - - - - -
5218.41 588.97 -8.92 732 5219.75 no move -1.27 - - 2041.31 - - - 2315.94 - -116.79 - - 3678.88 - - - - - - - - - - -
5533.44 617.02 -8.88 753 5540.93 roll -1.27 - - 2041.44 - 4.01 0.156 826.38 -371.5 -116.79 - - 3678.56 - - - - - - - - - 16.11 -
5637.07 629.22 -11.41 770 5649.88 roll -1.27 - - 2041.06 - 3.58 0.070 2316.62 416.3 -116.79 - - 3678.59 - - - - - - - - - 16.12 -
5964.22 657.47 -8.82 792 5971.70 roll -1.27 - - 2040.31 - 4.01 0.155 826.69 -371.6 -116.79 - - 3678.00 - - - - - - - - - 16.11 -
6010.34 663.01 -10.56 800 6022.99 roll -1.27 - - 2041.19 - 3.59 0.069 2315.62 414.7 -116.79 - - 3678.56 - - - - - - - - - 16.12 -
6337.29 692.05 -9.40 822 6344.78 roll -1.27 - - 2041.88 - 4.01 0.156 827.69 -371.1 -116.79 - - 3677.06 - - - - - - - - - 16.11 -
6414.55 699.74 -10.40 834 6421.95 roll -1.27 - - 2040.00 - 3.55 0.070 2311.81 418.1 -116.79 - - 3678.03 - - - - - - - - - 16.12 -
6734.17 727.90 -9.24 857 6741.55 roll -1.27 - - 2041.62 - 3.47 0.124 3638.69 382.4 -116.79 - - 3676.84 - - - - - - - - - 16.11 -
6775.17 731.48 -6.42 864 6780.96 roll -1.27 - - 2042.19 - 3.34 0.070 2260.81 -412.5 -116.79 - - 3675.94 - - - - - - - - - 16.13 -
7092.29 757.13 -8.11 886 7099.75 roll -1.27 - - 2041.88 - 3.87 0.160 826.31 -370.7 -116.79 - - 3676.16 - - - - - - - - - 16.11 -
7157.52 764.04 -9.47 897 7170.30 roll -1.27 - - 2041.44 - 3.59 0.070 2313.25 414.2 -116.79 - - 3676.22 - - - - - - - - - 16.14 -
7484.61 790.37 -7.48 919 7485.95 no move -1.27 - - 2042.06 - - - 2313.94 - -116.79 - - 3675.38 - - - - - - - - - - -
7799.78 814.52 -7.65 940 7807.25 roll -1.27 - - 2041.56 - 3.96 0.158 826.12 -375.7 -116.79 - - 3675.66 - - - - - - - - - 16.11 -
7845.78 819.07 -8.77 948 7858.54 roll -1.27 - - 2041.75 - 3.57 0.070 2311.88 416.2 -116.79 - - 3675.25 - - - - - - - - - 16.13 -
8172.85 844.00 -7.94 970 8174.19 no move -1.27 - - 2042.25 - - - 2311.94 - -116.79 - - 3674.47 - - - - - - - - - - -
8487.89 871.36 -9.05 991 8489.23 no move -1.27 - - 2041.44 - - - 2311.88 - -116.79 - - 3673.12 - - - - - - - - - - -
8802.90 899.72 -9.76 1012 8807.88 roll -1.27 - - 2041.19 - 3.47 0.126 3636.56 381.8 -116.79 - - 3672.53 - - - - - - - - - 16.13 -
8838.88 903.65 -8.87 1018 8844.58 roll -1.27 - - 2041.50 - 3.31 0.073 2262.06 -415.3 -116.79 - - 3673.62 - - - - - - - - - 16.14 -
9156.16 930.48 -8.33 1040 9163.65 roll -1.27 - - 2041.75 - 3.88 0.163 827.88 -369.6 -116.79 - - 3673.75 - - - - - - - - - 16.12 -
9216.37 936.66 -9.77 1050 9222.08 roll -1.27 - - 2041.44 - 3.62 0.071 2311.94 410.0 -116.79 - - 3673.22 - - - - - - - - - 16.13 -
9533.47 962.53 -8.24 1072 9534.81 no move -1.27 - - 2041.62 - - - 2311.38 - -116.79 - - 3672.75 - - - - - - - - - - -
9848.54 989.27 -8.82 1093 9851.57 roll -1.27 - - 2042.06 - 2.15 0.136 1485.81 -384.0 -116.79 - - 3672.94 - - - - - - - - - 16.13 -
9852 end dive: TARGET_DEPTH_EXCEEDED
9852 begin apogee
9855.26 990.13 -8.46 1094 9962.11 -0.25 1.72 0.130 2291.62 145.1 0.08 0.274 2462.06 12203.1 - 94.84 2.323 3197.81 -5.0 0.359 - - - - - - 16.09 15.38 12.96
9965 end apogee: CONTROL_FINISHED_OK
9965 begin climb
9967.08 991.46 - 1102 10086.06 1.27 2.54 0.097 2662.19 145.9 3.30 0.126 3640.56 357.1 116.79 103.85 2.263 2720.88 -4.6 0.338 - - - - - - 15.48 15.49 12.64
10112.99 982.05 9.52 1125 10125.32 roll 1.27 - - 2661.44 - 2.97 0.067 2462.88 -396.5 116.79 - - 2717.88 - - - - - - - - - 15.37 -
10439.84 943.06 12.54 1147 10441.18 VBD 1.27 - - 2661.31 - - - 2463.12 - 116.79 - - 2707.97 - - - - - - - - - - -
10754.73 904.38 12.01 1168 10756.07 VBD 1.27 - - 2661.75 - - - 2462.81 - 116.79 - - 2706.22 - - - - - - - - - - -
11069.74 866.44 11.92 1189 11071.08 VBD 1.27 - - 2660.81 - - - 2462.88 - 116.79 - - 2702.72 - - - - - - - - - - -
11384.75 830.09 10.97 1210 11392.08 done 1.27 - - 2660.94 - 3.18 0.123 3637.44 369.4 116.79 - - 2702.88 - - - - - - - - - 15.96 -
11464.17 818.32 13.05 1223 11469.77 done 1.27 - - 2660.69 - 2.85 0.070 2460.06 -413.1 116.79 - - 2704.38 - - - - - - - - - 15.97 -
11781.29 783.58 10.86 1245 11788.62 done 1.27 - - 2661.31 - 3.20 0.123 3637.62 368.0 116.79 - - 2701.44 - - - - - - - - - 15.99 -
11897.01 768.68 13.18 1263 11901.28 done 1.27 - - 2661.06 - 2.83 0.070 2461.19 -415.7 116.79 - - 2700.06 - - - - - - - - - 16.02 -
12211.80 733.20 11.42 1285 12213.13 VBD 1.27 - - 2661.38 - - - 2461.69 - 116.79 - - 2700.84 - - - - - - - - - - -
12526.66 698.25 10.11 1306 12528.00 VBD 1.27 - - 2661.75 - - - 2461.19 - 116.79 - - 2699.12 - - - - - - - - - - -
12841.67 667.86 9.52 1327 12849.29 done 1.27 - - 2661.81 - 3.80 0.137 1026.81 -377.5 116.79 - - 2699.00 - - - - - - - - - 16.05 -
12978.74 652.82 9.88 1349 12984.50 done 1.27 - - 2660.00 - 3.70 0.071 2514.06 402.0 116.79 - - 2699.69 - - - - - - - - - 16.06 -
13295.85 625.08 8.63 1371 13316.25 done 1.30 - - 2661.56 - 3.01 0.131 3637.62 373.3 126.84 6.43 1.211 2681.56 -2.8 0.244 - - - - - - - 15.95 12.87
13395.45 613.85 11.06 1387 13401.06 roll 1.30 - - 2661.12 - 2.83 0.070 2461.38 -415.6 126.84 - - 2682.28 - - - - - - - - - 16.05 -
13712.58 582.97 9.18 1409 13720.00 roll 1.30 - - 2660.25 - 3.78 0.135 1026.62 -379.6 126.84 - - 2681.72 - - - - - - - - - 16.05 -
13770.62 576.52 11.84 1418 13778.07 roll 1.30 - - 2661.56 - 3.69 0.069 2515.81 403.6 126.84 - - 2679.88 - - - - - - - - - 16.07 -
14090.26 546.26 9.25 1441 14094.43 roll 1.30 - - 2661.38 - 3.02 0.127 3638.44 371.7 126.84 - - 2679.94 - - - - - - - - - 16.07 -
14164.67 538.32 9.99 1453 14170.28 roll 1.30 - - 2661.38 - 2.84 0.069 2460.25 -414.9 126.84 - - 2680.31 - - - - - - - - - 16.08 -
14482.05 511.23 8.60 1475 14497.05 VBD 1.33 - - 2661.94 - - - 2460.00 - 137.46 11.33 1.428 2638.16 -3.7 0.224 - - - - - - - - 12.84
14806.79 480.73 9.41 1503 14816.77 no move 1.33 - - 2661.81 - - - 2460.25 - 137.46 - - 2635.97 - - - - - - - - - - -
15126.82 449.01 9.47 1535 15137.01 no move 1.33 - - 2661.31 - - - 2459.56 - 137.46 - - 2636.31 - - - - - - - - - - -
15446.84 419.12 9.76 1567 15456.83 no move 1.33 - - 2661.31 - - - 2459.44 - 137.46 - - 2634.78 - - - - - - - - - - -
15766.90 388.23 10.25 1599 15781.30 roll 1.33 - - 2661.44 - 3.16 0.123 3637.38 372.8 137.46 - - 2634.12 - - - - - - - - - 16.07 -
15897.47 372.88 11.43 1618 15910.12 roll 1.33 - - 2661.56 - 2.83 0.069 2459.94 -416.1 137.46 - - 2635.66 - - - - - - - - - 16.09 -
16219.58 342.07 9.13 1650 16229.56 no move 1.33 - - 2661.38 - - - 2460.00 - 138.22 - - 2633.78 - - - - - - - - - - -
16539.63 316.84 7.56 1682 16572.15 1.42 0.20 0.083 2705.06 218.4 3.80 0.132 1027.56 -377.0 168.44 27.14 1.409 2512.78 -4.5 0.168 - - - - - - 16.09 15.90 12.97
16627.53 307.66 10.88 1695 16640.50 roll 1.42 - - 2704.31 - 3.71 0.068 2515.44 401.0 168.44 - - 2510.12 - - - - - - - - - 15.97 -
16941.85 269.10 12.89 1750 16945.85 VBD 1.42 - - 2704.19 - - - 2515.75 - 168.44 - - 2506.06 - - - - - - - - - - -
17246.91 232.64 11.03 1811 17250.91 VBD 1.42 - - 2704.31 - - - 2516.00 - 168.44 - - 2504.62 - - - - - - - - - - -
17551.96 199.06 11.36 1872 17555.97 VBD 1.42 - - 2704.19 - - - 2515.75 - 168.44 - - 2504.44 - - - - - - - - - - -
17857.01 164.83 10.16 1933 17862.78 done 1.42 - - 2704.75 - 3.89 0.126 1027.56 -382.6 168.44 - - 2502.72 - - - - - - - - - 16.05 -
17927.04 156.61 12.25 1947 17932.80 done 1.42 - - 2704.25 - 3.71 0.066 2514.75 400.9 168.44 - - 2502.84 - - - - - - - - - 16.06 -
18237.08 129.21 7.85 2009 18269.39 done 1.50 - - 2704.50 - 3.95 0.123 1026.25 -376.8 193.09 26.84 1.130 2409.31 -3.5 0.067 - - - - - - - 15.89 12.86
18302.27 123.33 10.14 2022 18307.97 roll 1.50 - - 2703.12 - 3.70 0.064 2516.44 402.8 193.09 - - 2409.66 - - - - - - - - - 15.96 -
18612.31 94.02 8.53 2084 18633.22 done 1.53 - - 2704.88 - 3.04 0.124 3637.69 368.8 204.97 14.34 1.014 2362.75 -3.3 0.051 - - - - - - - 15.87 12.84
18862.39 71.24 7.55 2134 18902.83 1.63 0.25 0.074 2753.31 193.7 2.84 0.063 2462.81 -413.7 235.26 33.60 1.103 2238.81 -3.7 0.040 - - - - - - 15.97 15.97 12.88
19087.63 60.15 3.53 2179 19200.26 1.94 0.43 0.065 2831.88 182.7 3.28 0.116 3638.62 358.5 340.98 107.83 1.100 1808.88 -4.0 0.037 - - - - - - 15.90 15.49 12.83
19263.12 45.75 15.72 2214 19268.74 roll 1.94 - - 2831.50 - 2.89 0.063 2471.44 -403.9 340.98 - - 1803.75 - - - - - - - - - 15.65 -
19453.15 18.45 12.60 2252 19458.80 done 1.94 - - 2831.12 - 3.18 0.115 3637.75 366.8 340.98 - - 1799.94 - - - - - - - - - 15.76 -
19573 end climb: SURFACE_DEPTH_REACHED
19573 begin surface coast
19593 end surface coast: CONTROL_FINISHED_OK
19593 begin surface
SM 1.06 - - - - 170.3 233.51 0.997 773.6 3.3 17.70 0.044 764.8 43.2 - 3.36 0.064 782.4 231.9 -0.393 - - 12.78 15.81 15.82 -