NANOOS May22 * SG236 * Dive index * Mission links * Dive 84 * Raw log
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• Previous call tries 2 • 44.54 of 575.00 AH used of 24V (92.25% remains)
• Surface angle -62.8 deg, depth 1.33 m • Intended pitch -21.3 deg, speed -8.250 cm/s
VBD pumped to 399.96 (SM_CC=400)
• GPS1 time: 30 s
• GPS2 time: 2 s • Transponder ping count: 86
• 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 - - - 75.09 VBD -1.31 - - 171.69 - - - 2288.69 - -82.73 70.29 0.005 2752.69 - - - - - - - - - - 15.67
75.32 3.50 -3.36 13 117.61 -1.31 15.47 0.258 1999.88 118.2 3.67 0.115 3639.12 368.0 -82.73 17.74 0.006 3389.16 35.9 -3.476 - - - - - - 15.68 15.65 15.69
175.45 24.54 -24.72 33 181.18 roll -1.31 - - 2000.94 - 3.51 0.066 2234.12 -400.3 -82.73 - - 3388.56 - - - - - - - - - 15.79 -
365.50 66.84 -20.52 71 371.44 roll -1.31 - - 2001.12 - 3.77 0.109 3636.88 372.1 -82.73 - - 3388.84 - - - - - - - - - 15.84 -
400.51 74.69 -21.52 78 406.20 roll -1.31 - - 2000.75 - 3.46 0.064 2234.56 -405.3 -82.73 - - 3388.75 - - - - - - - - - 15.85 -
590.54 107.99 -16.24 116 594.54 no move -1.31 - - 2000.69 - - - 2235.06 - -82.73 - - 3388.66 - - - - - - - - - - -
895.59 145.62 -12.04 177 899.59 no move -1.31 - - 2000.62 - - - 2234.56 - -82.73 - - 3389.06 - - - - - - - - - - -
1200.65 182.37 -11.77 238 1206.43 roll -1.31 - - 1999.88 - 3.92 0.153 802.50 -365.3 -82.73 - - 3389.94 - - - - - - - - - 15.96 -
1270.68 192.32 -14.94 252 1276.38 roll -1.31 - - 2001.25 - 3.60 0.062 2279.19 410.2 -82.73 - - 3388.50 - - - - - - - - - 15.99 -
1580.74 226.30 -10.36 314 1586.42 roll -1.31 - - 2001.19 - 3.59 0.110 3637.19 378.3 -82.73 - - 3389.41 - - - - - - - - - 16.01 -
1690.72 240.05 -12.51 336 1696.43 roll -1.31 - - 2001.88 - 3.44 0.063 2222.69 -411.2 -82.73 - - 3389.31 - - - - - - - - - 16.03 -
2000.82 275.61 -11.63 398 2006.53 roll -1.31 - - 2001.50 - 3.73 0.108 3638.94 379.7 -82.73 - - 3388.94 - - - - - - - - - 16.04 -
2110.78 287.83 -10.99 420 2116.50 roll -1.31 - - 2000.88 - 3.48 0.065 2213.75 -409.5 -82.73 - - 3389.78 - - - - - - - - - 16.05 -
2422.41 317.84 -8.96 463 2436.91 roll -1.31 - - 2000.94 - 3.77 0.108 3639.19 378.1 -82.73 - - 3389.00 - - - - - - - - - 16.06 -
2593.56 335.03 -9.73 487 2608.01 roll -1.31 - - 2000.62 - 3.47 0.066 2209.12 -412.1 -82.73 - - 3390.16 - - - - - - - - - 16.06 -
2908.21 364.79 -10.24 519 2922.72 roll -1.31 - - 1999.81 - 3.73 0.110 3638.12 383.1 -82.73 - - 3391.03 - - - - - - - - - 16.07 -
3122.01 388.24 -10.68 549 3136.49 roll -1.31 - - 2001.00 - 3.46 0.067 2204.38 -414.4 -82.73 - - 3389.81 - - - - - - - - - 16.09 -
3446.63 422.84 -11.39 582 3461.14 roll -1.31 - - 2000.94 - 3.77 0.160 803.00 -371.7 -82.73 - - 3389.72 - - - - - - - - - 16.07 -
3619.90 444.07 -12.37 607 3632.71 roll -1.31 - - 2000.69 - 3.52 0.064 2244.44 409.5 -82.73 - - 3390.25 - - - - - - - - - 16.10 -
3942.16 476.55 -10.26 639 3956.65 roll -1.31 - - 2001.06 - 3.67 0.115 3638.31 379.8 -82.73 - - 3388.66 - - - - - - - - - 16.09 -
4072.79 492.48 -11.29 658 4085.58 roll -1.31 - - 2001.44 - 3.50 0.068 2202.94 -410.1 -82.73 - - 3390.28 - - - - - - - - - 16.10 -
4395.01 527.57 -11.37 682 4402.47 roll -1.31 - - 1999.62 - 3.84 0.163 802.19 -364.8 -82.73 - - 3391.16 - - - - - - - - - 16.08 -
4479.42 539.42 -13.60 696 4492.22 roll -1.31 - - 2000.38 - 3.52 0.065 2248.00 410.7 -82.73 - - 3389.41 - - - - - - - - - 16.12 -
4806.51 575.45 -10.53 718 4813.94 roll -1.31 - - 2000.94 - 3.67 0.117 3637.12 378.5 -82.73 - - 3388.91 - - - - - - - - - 16.11 -
4866.71 583.86 -13.28 728 4872.43 roll -1.31 - - 2000.75 - 3.51 0.067 2204.06 -408.3 -82.73 - - 3388.94 - - - - - - - - - 16.12 -
5183.82 617.30 -10.60 750 5185.16 no move -1.31 - - 2000.38 - - - 2203.69 - -82.73 - - 3387.88 - - - - - - - - - - -
5499.00 648.78 -9.75 771 5500.34 no move -1.31 - - 2000.12 - - - 2203.62 - -82.73 - - 3387.84 - - - - - - - - - - -
5814.03 681.36 -10.19 792 5821.47 roll -1.31 - - 2000.88 - 3.76 0.115 3637.25 381.3 -82.73 - - 3388.66 - - - - - - - - - 16.12 -
5859.99 687.08 -9.28 800 5872.80 roll -1.31 - - 2000.94 - 3.52 0.071 2202.50 -407.6 -82.73 - - 3388.53 - - - - - - - - - 16.13 -
6187.10 721.23 -10.19 822 6188.44 no move -1.31 - - 2000.75 - - - 2202.25 - -82.73 - - 3387.31 - - - - - - - - - - -
6502.16 753.26 -10.18 843 6503.50 no move -1.31 - - 2000.88 - - - 2202.56 - -82.73 - - 3388.00 - - - - - - - - - - -
6817.18 783.81 -9.61 864 6824.64 roll -1.31 - - 2000.62 - 3.82 0.166 802.75 -366.4 -82.73 - - 3387.66 - - - - - - - - - 16.11 -
6896.62 793.26 -10.56 877 6902.32 roll -1.31 - - 2000.75 - 3.51 0.068 2245.56 411.1 -82.73 - - 3386.56 - - - - - - - - - 16.15 -
7213.70 822.31 -9.23 899 7215.03 no move -1.31 - - 2000.12 - - - 2245.69 - -82.73 - - 3386.56 - - - - - - - - - - -
7528.89 851.06 -9.74 920 7530.23 no move -1.31 - - 2000.50 - - - 2245.94 - -82.73 - - 3385.56 - - - - - - - - - - -
7843.79 879.78 -9.51 941 7851.21 roll -1.31 - - 2001.00 - 3.68 0.121 3636.88 378.0 -82.73 - - 3386.59 - - - - - - - - - 16.13 -
7966.63 892.87 -9.73 961 7979.44 roll -1.31 - - 2000.31 - 3.52 0.073 2204.12 -407.0 -82.73 - - 3385.75 - - - - - - - - - 16.14 -
8293.75 921.38 -9.49 983 8295.08 no move -1.31 - - 2000.88 - - - 2202.94 - -82.73 - - 3384.75 - - - - - - - - - - -
8608.80 950.53 -9.84 1004 8610.14 no move -1.31 - - 2000.69 - - - 2203.44 - -82.73 - - 3384.19 - - - - - - - - - - -
8923.85 980.61 -9.58 1025 8925.18 no move -1.31 - - 2000.38 - - - 2202.38 - -82.73 - - 3384.44 - - - - - - - - - - -
9029 end dive: TARGET_DEPTH_EXCEEDED
9029 begin apogee
9030.58 990.17 -8.99 1032 9105.61 -0.25 1.88 0.150 2260.12 138.2 0.08 0.267 2481.88 3493.8 - 68.50 2.275 3048.59 -4.9 0.354 - - - - - - 16.11 15.56 12.93
9108 end apogee: CONTROL_FINISHED_OK
9108 begin climb
9110.59 993.21 - 1037 9190.27 1.31 2.66 0.089 2643.00 143.9 0.09 0.153 2532.00 556.9 82.73 72.49 2.226 2711.72 -4.6 0.344 - - - - - - 15.62 15.64 12.80
9503.35 968.82 7.02 1070 9510.84 roll 1.35 - - 2642.38 - 4.05 0.129 1046.81 -366.7 82.73 - - 2710.94 - - - - - - - - - 15.74 -
9587.75 961.22 8.83 1084 9600.60 roll 1.35 - - 2642.50 - 3.73 0.067 2530.00 397.6 82.73 - - 2709.81 - - - - - - - - - 15.79 -
9914.87 937.18 8.24 1106 9916.20 no move 1.35 - - 2641.88 - - - 2529.19 - 82.73 - - 2708.22 - - - - - - - - - - -
10229.93 913.15 7.45 1127 10231.26 no move 1.37 - - 2641.31 - - - 2529.00 - 82.73 - - 2707.47 - - - - - - - - - - -
10544.95 889.69 7.85 1148 10546.29 no move 1.37 - - 2642.00 - - - 2528.38 - 82.73 - - 2707.41 - - - - - - - - - - -
10860.03 868.50 6.68 1169 10861.37 no move 1.42 - - 2641.62 - - - 2529.38 - 82.73 - - 2706.09 - - - - - - - - - - -
11175.03 851.15 5.23 1190 11217.54 1.56 0.35 0.075 2703.31 176.3 3.05 0.129 3637.06 363.2 127.90 37.62 2.043 2527.28 -4.8 0.329 - - - - - - 16.03 15.68 12.99
11336.54 836.58 10.25 1216 11349.08 roll 1.56 - - 2704.00 - 2.85 0.067 2478.50 -406.5 127.90 - - 2532.97 - - - - - - - - - 15.83 -
11663.52 805.46 9.06 1238 11664.86 no move 1.56 - - 2703.12 - - - 2479.25 - 127.90 - - 2529.06 - - - - - - - - - - -
11978.65 774.74 9.42 1259 11979.99 no move 1.56 - - 2703.69 - - - 2479.00 - 127.90 - - 2529.06 - - - - - - - - - - -
12293.52 742.97 10.20 1280 12300.72 roll 1.56 - - 2703.50 - 3.85 0.135 1046.12 -372.2 127.90 - - 2528.94 - - - - - - - - - 15.99 -
12397.17 730.33 11.66 1297 12409.99 roll 1.56 - - 2703.00 - 3.70 0.068 2529.19 400.8 127.90 - - 2530.25 - - - - - - - - - 16.01 -
12724.33 697.61 9.87 1319 12731.80 roll 1.56 - - 2703.06 - 3.92 0.128 1047.75 -377.9 127.90 - - 2528.84 - - - - - - - - - 16.02 -
12782.40 690.99 12.22 1328 12789.82 roll 1.56 - - 2702.44 - 3.68 0.068 2529.25 402.6 127.90 - - 2530.84 - - - - - - - - - 16.03 -
13102.05 659.85 9.57 1351 13103.39 no move 1.56 - - 2702.75 - - - 2528.75 - 127.90 - - 2527.47 - - - - - - - - - - -
13417.08 630.92 9.94 1372 13418.42 no move 1.56 - - 2702.75 - - - 2528.81 - 127.90 - - 2526.53 - - - - - - - - - - -
13732.12 602.56 9.36 1393 13733.46 no move 1.56 - - 2702.19 - - - 2529.50 - 127.90 - - 2527.00 - - - - - - - - - - -
14047.15 574.70 9.25 1414 14048.49 no move 1.56 - - 2702.75 - - - 2529.88 - 127.90 - - 2527.59 - - - - - - - - - - -
14362.20 547.77 8.22 1435 14366.38 roll 1.56 - - 2703.25 - 2.96 0.128 3636.38 373.8 127.90 - - 2524.91 - - - - - - - - - 16.08 -
14398.29 543.58 9.65 1441 14403.75 roll 1.56 - - 2703.31 - 2.80 0.067 2476.50 -414.2 127.90 - - 2526.41 - - - - - - - - - 16.10 -
14715.55 517.45 8.50 1463 14722.99 roll 1.56 - - 2702.00 - 3.79 0.133 1047.38 -377.1 127.90 - - 2527.34 - - - - - - - - - 16.09 -
14792.97 510.55 9.25 1475 14800.38 roll 1.56 - - 2703.38 - 3.64 0.067 2529.06 407.1 127.90 - - 2526.84 - - - - - - - - - 16.10 -
15107.58 484.17 8.58 1504 15117.57 no move 1.56 - - 2703.00 - - - 2529.62 - 127.90 - - 2525.78 - - - - - - - - - - -
15427.60 456.30 9.08 1536 15437.59 no move 1.56 - - 2702.88 - - - 2529.38 - 127.90 - - 2525.28 - - - - - - - - - - -
15747.63 429.25 8.23 1568 15757.62 no move 1.56 - - 2703.31 - - - 2529.12 - 127.90 - - 2526.44 - - - - - - - - - - -
16067.67 404.05 8.13 1600 16082.21 roll 1.56 - - 2702.62 - 3.93 0.126 1046.44 -377.3 127.90 - - 2524.72 - - - - - - - - - 16.10 -
16153.49 396.96 8.11 1612 16167.98 roll 1.56 - - 2702.19 - 3.63 0.066 2530.62 408.9 127.90 - - 2526.09 - - - - - - - - - 16.10 -
16478.18 374.26 6.76 1645 16488.12 no move 1.60 - - 2703.50 - - - 2530.56 - 127.90 - - 2524.41 - - - - - - - - - - -
16798.20 351.96 6.65 1677 16812.75 roll 1.65 - - 2703.75 - 3.91 0.125 1046.31 -379.6 127.90 - - 2523.47 - - - - - - - - - 16.11 -
16886.23 344.38 8.49 1690 16899.06 roll 1.65 - - 2702.75 - 3.63 0.066 2531.00 409.0 127.90 - - 2524.88 - - - - - - - - - 16.11 -
17208.50 321.41 7.26 1722 17212.65 roll 1.68 - - 2703.19 - 2.95 0.126 3638.88 375.6 127.90 - - 2524.91 - - - - - - - - - 16.10 -
17315.58 312.25 7.96 1738 17328.24 roll 1.68 - - 2703.56 - 2.80 0.064 2475.75 -415.4 127.90 - - 2524.75 - - - - - - - - - 16.12 -
17629.62 291.80 6.11 1781 17659.82 1.77 0.29 0.076 2756.38 182.1 - - 2474.88 - 159.91 25.72 1.359 2399.69 -4.9 0.173 - - - - - - 16.12 - 12.93
17964.65 261.95 10.30 1848 17968.65 no move 1.77 - - 2757.56 - - - 2475.31 - 159.91 - - 2400.69 - - - - - - - - - - -
18269.73 232.04 10.18 1909 18275.60 roll 1.77 - - 2757.94 - 3.77 0.128 1047.19 -378.8 159.91 - - 2398.94 - - - - - - - - - 16.03 -
18339.88 224.23 10.57 1923 18345.46 roll 1.77 - - 2756.56 - 3.67 0.066 2530.81 404.3 159.91 - - 2400.66 - - - - - - - - - 16.04 -
18649.77 194.16 9.44 1985 18653.77 no move 1.77 - - 2757.19 - - - 2530.75 - 159.91 - - 2400.03 - - - - - - - - - - -
18954.82 167.04 8.67 2046 18958.83 no move 1.77 - - 2758.12 - - - 2531.06 - 159.91 - - 2400.44 - - - - - - - - - - -
19259.92 142.04 7.03 2107 19263.93 no move 1.81 - - 2757.56 - - - 2531.12 - 159.91 - - 2400.31 - - - - - - - - - - -
19565.10 118.76 7.71 2168 19570.54 roll 1.83 - - 2757.94 - 2.96 0.122 3638.75 374.2 159.91 - - 2399.69 - - - - - - - - - 16.07 -
19799.96 103.21 5.65 2215 19846.48 1.94 0.21 0.092 2798.12 191.3 2.79 0.063 2473.12 -417.8 198.76 42.21 1.101 2239.53 -3.8 0.059 - - - - - - 16.08 16.09 12.91
20150.02 82.29 4.90 2285 20206.71 2.09 0.17 0.093 2835.38 219.2 3.16 0.116 3638.81 368.9 248.92 50.51 1.068 2036.16 -4.0 0.052 - - - - - - 15.97 15.73 12.84
20435.06 68.49 6.11 2342 20471.28 done 2.19 - - 2836.56 - 2.84 0.061 2472.44 -410.7 280.98 32.42 1.021 1902.88 -4.1 0.046 - - - - - - - 15.87 12.82
20655.10 53.42 6.96 2386 20660.87 roll 2.23 - - 2836.38 - 3.83 0.124 1047.12 -372.1 280.98 - - 1901.81 - - - - - - - - - 15.84 -
20830.12 37.10 8.45 2421 20835.87 roll 2.23 - - 2835.50 - 3.69 0.061 2531.88 402.4 280.98 - - 1904.16 - - - - - - - - - 15.87 -
21020.21 24.66 5.84 2459 21061.08 2.34 0.32 0.079 2894.50 184.4 - - 2531.38 - 316.97 38.79 0.994 1756.72 -3.8 0.016 - - - - - - 15.92 - 12.90
21245.45 2.38 11.75 2504 21251.07 roll 2.34 - - 2894.12 - 3.94 0.117 1045.19 -377.2 316.97 - - 1758.78 - - - - - - - - - 15.86 -
21255 end climb: SURFACE_DEPTH_REACHED
21255 begin surface coast
21271 end surface coast: CONTROL_FINISHED_OK
21271 begin surface
SM 1.32 - - - - 181.6 74.00 0.993 1419.5 19.2 18.41 0.050 1417.5 77.0 - 2.90 0.059 1421.5 488.8 -1.118 - - 12.85 15.84 15.86 -