NANOOS May22 * SG236 * Dive index * Mission links * Dive 70 * Raw log
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• Previous call tries 1 • 39.65 of 575.00 AH used of 24V (93.10% remains)
• Surface angle -64.0 deg, depth 1.37 m • Intended pitch -16.7 deg, speed -8.250 cm/s
VBD pumped to 449.90 (SM_CC=450)
• GPS1 time: 20 s
• GPS2 time: 4 s • Transponder ping count: 100
• 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 - - - 80.19 VBD -1.18 - - 172.50 - - - 2311.94 - -116.79 75.42 0.005 2746.75 - - - - - - - - - - 15.64
80.39 3.36 -3.17 14 132.48 -1.18 15.94 0.261 2062.12 118.5 3.60 0.117 3637.38 368.2 -116.79 25.51 0.006 3677.09 36.5 -3.427 - - - - - - 15.66 15.63 15.66
195.34 25.86 -22.51 37 201.03 roll -1.18 - - 2061.50 - 3.40 0.066 2257.81 -405.8 -116.79 - - 3678.47 - - - - - - - - - 15.78 -
385.42 65.27 -20.30 75 389.42 no move -1.18 - - 2062.38 - - - 2257.81 - -116.79 - - 3678.34 - - - - - - - - - - -
570.49 89.36 -11.95 112 574.49 no move -1.18 - - 2062.38 - - - 2257.88 - -116.79 - - 3677.81 - - - - - - - - - - -
755.54 112.59 -12.20 149 761.32 roll -1.18 - - 2062.06 - 3.89 0.151 817.69 -370.2 -116.79 - - 3678.00 - - - - - - - - - 15.90 -
855.55 124.90 -12.71 169 861.30 roll -1.18 - - 2062.19 - 3.64 0.065 2308.25 409.5 -116.79 - - 3678.19 - - - - - - - - - 15.92 -
1165.66 157.68 -9.76 231 1171.43 roll -1.18 - - 2062.44 - 4.03 0.146 816.56 -370.1 -116.79 - - 3677.84 - - - - - - - - - 15.95 -
1240.62 166.40 -11.43 246 1246.37 roll -1.18 - - 2060.69 - 3.62 0.064 2305.25 411.2 -116.79 - - 3678.97 - - - - - - - - - 15.98 -
1550.68 196.75 -10.36 308 1554.69 no move -1.18 - - 2062.38 - - - 2305.31 - -116.79 - - 3677.75 - - - - - - - - - - -
1855.76 228.90 -10.48 369 1859.76 no move -1.18 - - 2062.56 - - - 2305.06 - -116.79 - - 3677.53 - - - - - - - - - - -
2160.80 259.85 -9.99 430 2166.61 roll -1.18 - - 2062.19 - 4.01 0.149 816.62 -371.2 -116.79 - - 3677.31 - - - - - - - - - 16.02 -
2190.80 263.23 -11.73 436 2196.54 roll -1.18 - - 2062.00 - 3.61 0.064 2305.88 412.5 -116.79 - - 3676.75 - - - - - - - - - 16.04 -
2500.84 293.82 -9.48 498 2506.58 roll -1.18 - - 2062.25 - 3.54 0.117 3637.12 376.1 -116.79 - - 3675.91 - - - - - - - - - 16.05 -
2540.86 297.98 -10.90 506 2546.54 roll -1.18 - - 2062.19 - 3.33 0.065 2253.50 -415.5 -116.79 - - 3676.91 - - - - - - - - - 16.06 -
2852.45 327.31 -9.68 539 2862.45 no move -1.18 - - 2061.81 - - - 2253.88 - -116.79 - - 3675.34 - - - - - - - - - - -
3172.52 358.18 -8.93 571 3182.50 no move -1.18 - - 2062.06 - - - 2254.31 - -116.79 - - 3674.25 - - - - - - - - - - -
3492.55 388.21 -9.90 603 3507.04 roll -1.18 - - 2061.94 - 3.66 0.115 3637.12 377.8 -116.79 - - 3674.41 - - - - - - - - - 16.08 -
3535.66 392.15 -9.36 609 3550.11 roll -1.18 - - 2062.25 - 3.35 0.067 2255.56 -412.4 -116.79 - - 3674.25 - - - - - - - - - 16.09 -
3850.31 419.85 -8.53 641 3864.85 roll -1.18 - - 2062.69 - 3.83 0.156 815.44 -376.0 -116.79 - - 3672.75 - - - - - - - - - 16.08 -
3893.49 423.96 -10.71 647 3907.99 roll -1.18 - - 2061.88 - 3.63 0.066 2304.81 410.3 -116.79 - - 3672.41 - - - - - - - - - 16.09 -
4218.15 452.44 -8.85 680 4228.13 no move -1.18 - - 2062.06 - - - 2305.12 - -116.79 - - 3672.91 - - - - - - - - - - -
4538.20 482.49 -10.33 712 4548.19 no move -1.18 - - 2062.50 - - - 2305.56 - -116.79 - - 3671.81 - - - - - - - - - - -
4858.25 511.45 -9.01 740 4865.72 roll -1.18 - - 2062.19 - 4.00 0.154 817.62 -372.0 -116.79 - - 3671.38 - - - - - - - - - 16.09 -
4916.31 516.55 -9.43 749 4923.73 roll -1.18 - - 2062.19 - 3.64 0.068 2303.06 408.1 -116.79 - - 3670.28 - - - - - - - - - 16.11 -
5235.95 542.74 -7.84 772 5237.29 no move -1.18 - - 2061.75 - - - 2302.94 - -116.79 - - 3669.12 - - - - - - - - - - -
5551.12 567.62 -8.51 793 5552.46 no move -1.18 - - 2062.19 - - - 2303.00 - -116.79 - - 3669.06 - - - - - - - - - - -
5866.15 596.02 -9.30 814 5867.49 no move -1.18 - - 2061.81 - - - 2302.81 - -116.79 - - 3668.25 - - - - - - - - - - -
6181.09 623.69 -8.18 835 6182.43 no move -1.18 - - 2061.88 - - - 2302.69 - -116.79 - - 3667.69 - - - - - - - - - - -
6496.25 649.93 -8.06 856 6497.59 no move -1.18 - - 2062.06 - - - 2303.00 - -116.79 - - 3666.00 - - - - - - - - - - -
6811.15 674.77 -8.07 877 6818.64 roll -1.18 - - 2062.62 - 4.02 0.157 816.38 -369.8 -116.79 - - 3665.28 - - - - - - - - - 16.12 -
6857.15 679.00 -8.09 885 6869.94 roll -1.18 - - 2061.25 - 3.63 0.070 2300.56 408.9 -116.79 - - 3665.19 - - - - - - - - - 16.14 -
7184.22 708.41 -9.78 907 7191.61 roll -1.18 - - 2061.88 - 3.55 0.124 3636.62 376.4 -116.79 - - 3663.78 - - - - - - - - - 16.12 -
7225.19 713.24 -10.29 914 7230.89 roll -1.18 - - 2062.62 - 3.37 0.071 2254.19 -410.2 -116.79 - - 3663.53 - - - - - - - - - 16.13 -
7542.47 741.77 -9.57 936 7543.81 no move -1.18 - - 2061.81 - - - 2253.88 - -116.79 - - 3662.84 - - - - - - - - - - -
7857.36 768.01 -7.97 957 7858.70 no move -1.18 - - 2062.25 - - - 2254.25 - -116.79 - - 3662.16 - - - - - - - - - - -
8172.38 793.05 -8.27 978 8173.72 no move -1.18 - - 2061.75 - - - 2253.81 - -116.79 - - 3660.19 - - - - - - - - - - -
8487.42 819.56 -8.59 999 8494.88 roll -1.18 - - 2060.44 - 3.91 0.162 816.69 -367.5 -116.79 - - 3660.91 - - - - - - - - - 16.12 -
8528.38 824.23 -10.93 1006 8534.16 roll -1.18 - - 2061.94 - 3.65 0.071 2303.19 407.3 -116.79 - - 3660.38 - - - - - - - - - 16.14 -
8845.50 850.08 -8.42 1028 8852.90 roll -1.18 - - 2061.62 - 3.56 0.125 3635.81 374.3 -116.79 - - 3658.81 - - - - - - - - - 16.12 -
8891.47 854.40 -8.92 1036 8904.24 roll -1.18 - - 2062.44 - 3.37 0.072 2254.12 -410.0 -116.79 - - 3658.12 - - - - - - - - - 16.14 -
9218.60 878.85 -7.41 1058 9219.94 no move -1.18 - - 2061.88 - - - 2253.94 - -116.79 - - 3657.75 - - - - - - - - - - -
9533.59 902.28 -7.95 1079 9534.93 no move -1.18 - - 2062.00 - - - 2254.06 - -116.79 - - 3656.03 - - - - - - - - - - -
9848.61 927.04 -8.21 1100 9849.95 no move -1.18 - - 2062.12 - - - 2253.56 - -116.79 - - 3656.47 - - - - - - - - - - -
10163.64 952.40 -7.58 1121 10171.05 roll -1.18 - - 2062.06 - 3.69 0.123 3637.81 375.1 -116.79 - - 3656.03 - - - - - - - - - 16.14 -
10204.60 956.20 -8.89 1128 10210.29 roll -1.18 - - 2060.50 - 3.37 0.073 2254.38 -410.5 -116.79 - - 3656.06 - - - - - - - - - 16.15 -
10521.70 979.14 -7.60 1150 10523.04 no move -1.18 - - 2061.94 - - - 2254.56 - -116.79 - - 3654.03 - - - - - - - - - - -
10672 end dive: TARGET_DEPTH_EXCEEDED
10672 begin apogee
10673.42 990.81 -7.33 1160 10767.56 -0.25 1.60 0.129 2291.69 143.6 0.09 0.265 2482.44 2532.0 - 91.47 2.300 3198.72 -5.0 0.360 - - - - - - 16.11 15.40 12.89
10770 end apogee: CONTROL_FINISHED_OK
10770 begin climb
10772.54 992.60 - 1166 10891.52 1.18 2.44 0.090 2640.62 143.0 3.27 0.126 3637.12 353.1 116.79 104.31 2.246 2722.28 -4.6 0.339 - - - - - - 15.48 15.50 12.62
10932.34 983.22 10.34 1191 10937.92 roll 1.18 - - 2640.00 - 2.93 0.067 2482.81 -394.0 116.79 - - 2716.09 - - - - - - - - - 15.41 -
11249.42 949.43 12.06 1213 11256.87 done 1.18 - - 2639.62 - 3.88 0.135 1049.12 -369.5 116.79 - - 2706.94 - - - - - - - - - 15.74 -
11348.05 935.60 12.70 1229 11353.81 done 1.18 - - 2640.25 - 3.76 0.070 2530.25 393.9 116.79 - - 2705.53 - - - - - - - - - 15.79 -
11665.17 902.42 10.89 1251 11669.51 done 1.18 - - 2639.25 - 3.02 0.127 3638.88 367.1 116.79 - - 2702.66 - - - - - - - - - 15.87 -
11720.35 894.98 10.90 1260 11725.96 done 1.18 - - 2640.44 - 2.84 0.068 2481.12 -407.7 116.79 - - 2703.94 - - - - - - - - - 15.90 -
12037.47 860.73 11.32 1282 12038.81 VBD 1.18 - - 2639.50 - - - 2480.81 - 116.79 - - 2702.59 - - - - - - - - - - -
12352.51 825.54 11.21 1303 12356.69 done 1.18 - - 2639.50 - 3.13 0.123 3637.25 369.5 116.79 - - 2701.34 - - - - - - - - - 15.98 -
12463.23 812.31 12.35 1320 12467.38 done 1.18 - - 2638.62 - 2.83 0.069 2480.50 -408.7 116.79 - - 2699.69 - - - - - - - - - 15.99 -
12777.90 779.20 9.92 1342 12785.39 done 1.18 - - 2639.56 - 3.83 0.135 1049.81 -373.5 116.79 - - 2698.06 - - - - - - - - - 16.00 -
12838.11 771.82 10.74 1352 12843.83 done 1.18 - - 2640.62 - 3.69 0.070 2531.06 401.4 116.79 - - 2697.81 - - - - - - - - - 16.01 -
13155.19 740.47 10.33 1374 13156.53 VBD 1.18 - - 2639.81 - - - 2531.50 - 116.79 - - 2697.22 - - - - - - - - - - -
13470.24 709.51 9.73 1395 13471.58 VBD 1.18 - - 2640.00 - - - 2532.19 - 116.79 - - 2695.72 - - - - - - - - - - -
13785.27 679.06 9.03 1416 13792.90 done 1.18 - - 2639.50 - 3.95 0.130 1047.56 -375.9 116.79 - - 2695.88 - - - - - - - - - 16.05 -
13908.13 664.47 10.37 1436 13920.95 done 1.18 - - 2639.38 - 3.66 0.071 2530.19 405.1 116.79 - - 2697.00 - - - - - - - - - 16.07 -
14235.25 635.00 9.44 1458 14239.39 done 1.18 - - 2640.38 - 2.98 0.129 3639.88 372.4 116.79 - - 2696.00 - - - - - - - - - 16.06 -
14404.18 616.90 12.37 1484 14408.45 done 1.18 - - 2639.69 - 2.81 0.069 2479.94 -412.8 116.79 - - 2695.88 - - - - - - - - - 16.08 -
14718.99 589.70 7.77 1506 14733.98 VBD 1.21 - - 2640.06 - - - 2479.75 - 126.85 5.51 1.059 2681.75 -2.6 0.240 - - - - - - - - 12.99
15048.85 563.05 7.71 1528 15069.37 done 1.25 - - 2640.19 - 3.12 0.127 3639.50 371.7 138.04 12.33 1.511 2635.72 -3.7 0.233 - - - - - - - 15.93 12.92
15185.03 550.04 11.19 1549 15189.37 roll 1.25 - - 2640.19 - 2.79 0.070 2482.31 -414.8 138.04 - - 2632.59 - - - - - - - - - 16.02 -
15499.82 521.78 9.56 1571 15507.26 roll 1.25 - - 2638.38 - 3.81 0.134 1047.31 -376.6 138.04 - - 2634.41 - - - - - - - - - 16.03 -
15584.22 511.97 11.48 1585 15597.18 roll 1.25 - - 2640.25 - 3.66 0.070 2531.94 405.6 138.04 - - 2634.09 - - - - - - - - - 16.05 -
15906.34 482.27 9.16 1613 15916.33 no move 1.25 - - 2639.62 - - - 2532.19 - 138.04 - - 2632.62 - - - - - - - - - - -
16226.39 453.69 8.77 1645 16230.54 roll 1.25 - - 2639.88 - 2.97 0.128 3640.00 373.0 138.04 - - 2631.34 - - - - - - - - - 16.06 -
16317.09 445.14 9.80 1658 16321.20 roll 1.25 - - 2639.19 - 2.79 0.069 2481.44 -415.3 138.04 - - 2633.06 - - - - - - - - - 16.07 -
16626.76 421.60 6.68 1689 16660.06 1.35 0.22 0.077 2688.06 222.1 3.09 0.123 3637.88 374.3 170.67 28.75 1.539 2504.00 -4.5 0.206 - - - - - - 16.07 15.84 13.04
16719.66 411.75 12.50 1703 16732.34 roll 1.35 - - 2688.88 - 2.82 0.067 2481.19 -410.2 170.67 - - 2500.03 - - - - - - - - - 15.94 -
17041.77 378.53 10.83 1735 17051.76 no move 1.35 - - 2688.38 - - - 2481.88 - 170.67 - - 2498.28 - - - - - - - - - - -
17361.82 342.79 11.97 1767 17366.01 roll 1.35 - - 2685.81 - 3.10 0.123 3638.88 373.2 170.67 - - 2497.09 - - - - - - - - - 16.00 -
17440.58 331.44 14.12 1779 17453.12 done 1.35 - - 2688.75 - 2.82 0.068 2481.25 -410.5 170.67 - - 2496.44 - - - - - - - - - 16.01 -
17754.51 296.04 11.12 1812 17758.51 VBD 1.35 - - 2688.06 - - - 2481.19 - 170.67 - - 2496.44 - - - - - - - - - - -
18059.57 263.67 10.83 1873 18065.32 done 1.35 - - 2688.06 - 3.76 0.130 1047.12 -381.4 170.67 - - 2495.84 - - - - - - - - - 16.04 -
18104.58 258.30 11.84 1882 18110.31 done 1.35 - - 2686.62 - 3.68 0.067 2532.81 403.7 170.67 - - 2495.50 - - - - - - - - - 16.04 -
18414.64 226.93 10.26 1944 18420.25 done 1.35 - - 2688.12 - 2.97 0.126 3638.12 372.2 170.67 - - 2495.19 - - - - - - - - - 16.05 -
18534.69 213.40 11.06 1968 18540.24 done 1.35 - - 2688.19 - 2.77 0.066 2481.44 -417.6 170.67 - - 2493.47 - - - - - - - - - 16.07 -
18844.72 182.61 10.34 2030 18850.53 done 1.35 - - 2688.38 - 3.10 0.120 3639.50 373.6 170.67 - - 2493.78 - - - - - - - - - 16.07 -
18910.04 175.30 11.93 2043 18915.31 done 1.35 - - 2686.44 - 2.78 0.066 2479.69 -417.2 170.67 - - 2494.94 - - - - - - - - - 16.08 -
19219.79 144.21 9.56 2105 19225.53 done 1.35 - - 2688.50 - 3.74 0.128 1048.31 -382.7 170.67 - - 2493.22 - - - - - - - - - 16.07 -
19299.82 136.01 10.00 2121 19305.53 done 1.35 - - 2688.25 - 3.64 0.065 2535.31 408.5 170.67 - - 2493.22 - - - - - - - - - 16.08 -
19609.85 112.67 8.03 2183 19615.46 roll 1.36 - - 2687.06 - 2.93 0.122 3638.25 376.4 175.20 - - 2493.66 - - - - - - - - - 16.08 -
19844.89 93.60 8.20 2230 19855.61 done 1.36 - - 2688.50 - 2.76 0.064 2480.19 -419.6 176.20 6.32 0.832 2481.22 -2.0 0.037 - - - - - - - 16.09 12.93
20039.93 83.61 4.40 2269 20132.45 1.60 0.31 0.065 2750.44 199.8 3.16 0.117 3640.12 367.1 256.23 85.94 1.136 2153.25 -3.8 0.047 - - - - - - 16.07 15.69 12.96
20360.55 57.08 9.39 2333 20366.16 done 1.60 - - 2750.31 - 2.82 0.063 2479.50 -411.6 256.23 - - 2144.75 - - - - - - - - - 15.85 -
20550.60 45.40 5.10 2371 20622.62 1.80 0.22 0.079 2797.44 214.2 3.17 0.116 3638.88 365.7 321.63 66.94 1.068 1887.22 -3.8 0.027 - - - - - - 15.89 15.61 12.90
20735.60 28.18 12.50 2408 20741.20 roll 1.80 - - 2796.31 - 2.79 0.063 2480.19 -415.3 321.63 - - 1882.59 - - - - - - - - - 15.75 -
20925.65 11.00 7.88 2446 20941.89 done 1.82 - - 2797.75 - 3.78 0.124 1048.75 -378.7 329.24 8.57 0.839 1856.81 -3.0 0.007 - - - - - - - 15.74 12.84
20955.65 8.49 7.91 2452 20971.72 done 1.84 - - 2796.75 - 3.73 0.060 2539.81 399.7 336.23 9.79 0.865 1829.34 -2.8 0.005 - - - - - - - 15.81 12.80
21031 end climb: SURFACE_DEPTH_REACHED
21031 begin surface coast
21061 end surface coast: CONTROL_FINISHED_OK
21061 begin surface
SM 1.21 - - - - 165.4 106.07 1.036 1365.9 12.8 17.58 0.042 1361.8 77.5 - 0.65 0.071 1370.1 2102.1 -3.662 - - 12.81 15.82 15.82 -