NANOOS May22 * SG236 * Dive index * Mission links * Dive 87 * Raw log
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• Previous call tries 2 • 45.55 of 575.00 AH used of 24V (92.08% remains)
• Surface angle -65.1 deg, depth 1.46 m • Intended pitch -20.4 deg, speed -7.857 cm/s
VBD pumped to 400.25 (SM_CC=400)
• GPS1 time: 27 s
• GPS2 time: 2 s • Transponder ping count: 82
• 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 - - - 80.20 VBD -1.27 - - 172.62 - - - 2244.69 - -82.73 75.39 0.005 2789.91 - - - - - - - - - - 15.65
80.40 3.36 -2.41 14 116.56 -1.27 15.56 0.256 2011.75 118.2 - - 2244.56 - -82.73 14.65 0.006 3316.62 36.0 -3.364 - - - - - - 15.68 - 14.63
299.48 47.69 -19.58 58 305.20 roll -1.27 - - 2011.94 - 3.63 0.111 3638.81 384.1 -82.73 - - 3318.56 - - - - - - - - - 15.81 -
399.55 67.68 -18.93 78 405.24 roll -1.27 - - 2011.94 - 3.59 0.064 2200.19 -400.7 -82.73 - - 3318.72 - - - - - - - - - 15.86 -
589.58 98.38 -12.49 116 595.35 roll -1.27 - - 2011.75 - 3.83 0.157 802.75 -364.9 -82.73 - - 3319.09 - - - - - - - - - 15.87 -
654.62 108.57 -14.09 129 660.30 roll -1.27 - - 2012.19 - 3.44 0.060 2245.94 419.5 -82.73 - - 3318.28 - - - - - - - - - 15.91 -
964.67 147.38 -12.04 191 968.67 no move -1.27 - - 2012.38 - - - 2245.94 - -82.73 - - 3319.22 - - - - - - - - - - -
1269.70 182.50 -11.47 252 1275.41 roll -1.27 - - 2012.81 - 3.60 0.111 3639.38 387.1 -82.73 - - 3318.97 - - - - - - - - - 15.99 -
1329.70 190.69 -14.24 264 1335.42 roll -1.27 - - 2011.56 - 3.54 0.063 2198.94 -406.9 -82.73 - - 3320.62 - - - - - - - - - 16.00 -
1639.78 227.14 -10.75 326 1645.50 roll -1.27 - - 2012.19 - 3.72 0.108 3640.25 387.4 -82.73 - - 3318.69 - - - - - - - - - 16.01 -
1694.77 234.37 -12.93 337 1700.48 roll -1.27 - - 2012.31 - 3.52 0.063 2201.50 -408.7 -82.73 - - 3318.72 - - - - - - - - - 16.01 -
2004.84 269.68 -10.92 399 2010.58 roll -1.27 - - 2012.19 - 3.82 0.159 801.62 -366.5 -82.73 - - 3318.94 - - - - - - - - - 16.02 -
2049.81 275.66 -13.90 408 2055.52 roll -1.27 - - 2012.12 - 3.41 0.062 2249.75 424.7 -82.73 - - 3318.38 - - - - - - - - - 16.03 -
2356.42 308.92 -10.75 460 2366.39 no move -1.27 - - 2011.88 - - - 2249.75 - -82.73 - - 3318.69 - - - - - - - - - - -
2676.47 346.16 -11.69 492 2686.45 no move -1.27 - - 2012.75 - - - 2250.50 - -82.73 - - 3319.03 - - - - - - - - - - -
2996.53 382.96 -11.31 524 3006.51 no move -1.27 - - 2012.38 - - - 2249.62 - -82.73 - - 3318.78 - - - - - - - - - - -
3316.58 417.64 -10.72 556 3326.57 no move -1.27 - - 2012.31 - - - 2249.69 - -82.73 - - 3318.81 - - - - - - - - - - -
3636.61 452.94 -11.88 588 3651.15 roll -1.27 - - 2011.94 - 3.96 0.160 802.69 -365.4 -82.73 - - 3318.84 - - - - - - - - - 16.07 -
3710.38 463.76 -13.43 599 3723.16 roll -1.27 - - 2012.38 - 3.43 0.066 2247.19 421.1 -82.73 - - 3317.69 - - - - - - - - - 16.10 -
4032.60 499.23 -10.95 631 4042.62 no move -1.27 - - 2012.06 - - - 2247.50 - -82.73 - - 3318.66 - - - - - - - - - - -
4352.62 532.04 -9.94 653 4360.02 roll -1.27 - - 2012.69 - 3.58 0.118 3638.75 388.6 -82.73 - - 3316.97 - - - - - - - - - 16.10 -
4417.81 539.83 -11.48 664 4430.60 roll -1.27 - - 2011.88 - 3.50 0.068 2199.75 -411.1 -82.73 - - 3316.81 - - - - - - - - - 16.11 -
4744.96 570.93 -9.96 686 4746.30 no move -1.27 - - 2011.69 - - - 2199.62 - -82.73 - - 3316.34 - - - - - - - - - - -
5059.97 601.01 -9.87 707 5061.30 no move -1.27 - - 2011.62 - - - 2199.94 - -82.73 - - 3317.34 - - - - - - - - - - -
5375.00 632.36 -10.10 728 5376.34 no move -1.27 - - 2012.25 - - - 2199.62 - -82.73 - - 3314.91 - - - - - - - - - - -
5690.04 663.12 -9.82 749 5697.47 roll -1.27 - - 2012.38 - 3.70 0.115 3636.94 388.5 -82.73 - - 3315.75 - - - - - - - - - 16.13 -
5755.24 670.40 -10.46 760 5768.01 roll -1.27 - - 2012.25 - 3.49 0.069 2200.50 -411.6 -82.73 - - 3316.47 - - - - - - - - - 16.13 -
6082.52 701.29 -9.56 782 6083.87 no move -1.27 - - 2012.06 - - - 2200.25 - -82.73 - - 3314.66 - - - - - - - - - - -
6397.52 731.22 -9.82 803 6398.86 no move -1.27 - - 2012.50 - - - 2200.56 - -82.73 - - 3315.59 - - - - - - - - - - -
6712.45 760.95 -9.03 824 6719.88 roll -1.27 - - 2012.56 - 3.80 0.168 802.75 -367.8 -82.73 - - 3314.41 - - - - - - - - - 16.11 -
6789.74 769.61 -11.78 836 6797.11 roll -1.27 - - 2012.00 - 3.36 0.068 2247.69 430.0 -82.73 - - 3314.06 - - - - - - - - - 16.12 -
7109.37 800.54 -9.83 859 7116.77 roll -1.27 - - 2012.38 - 3.58 0.120 3638.31 388.4 -82.73 - - 3313.62 - - - - - - - - - 16.12 -
7167.42 806.37 -10.71 868 7174.79 roll -1.27 - - 2012.19 - 3.47 0.069 2201.25 -414.1 -82.73 - - 3314.09 - - - - - - - - - 16.14 -
7487.03 835.26 -8.95 891 7494.49 roll -1.27 - - 2012.56 - 3.83 0.168 803.12 -365.0 -82.73 - - 3313.97 - - - - - - - - - 16.11 -
7564.33 843.08 -9.57 903 7571.69 roll -1.27 - - 2012.06 - 3.40 0.067 2249.06 425.3 -82.73 - - 3311.62 - - - - - - - - - 16.13 -
7883.97 870.88 -8.39 926 7891.35 roll -1.27 - - 2010.62 - 3.57 0.122 3639.00 389.3 -82.73 - - 3313.91 - - - - - - - - - 16.12 -
7949.16 876.81 -8.92 937 7961.94 roll -1.27 - - 2011.62 - 3.47 0.072 2201.94 -414.1 -82.73 - - 3312.84 - - - - - - - - - 16.14 -
8276.26 902.55 -8.28 959 8283.80 roll -1.27 - - 2011.88 - 3.64 0.119 3637.62 394.4 -82.73 - - 3313.28 - - - - - - - - - 16.13 -
8341.44 908.73 -9.22 970 8354.23 roll -1.27 - - 2012.00 - 3.46 0.071 2201.12 -415.2 -82.73 - - 3313.00 - - - - - - - - - 16.14 -
8668.58 932.56 -7.59 992 8669.92 no move -1.27 - - 2012.81 - - - 2201.94 - -82.73 - - 3310.44 - - - - - - - - - - -
8983.60 954.86 -6.99 1013 8991.05 roll -1.27 - - 2012.00 - 3.82 0.170 802.00 -366.5 -82.73 - - 3310.03 - - - - - - - - - 16.11 -
9060.89 961.74 -9.04 1025 9068.25 roll -1.27 - - 2011.69 - 3.40 0.069 2249.56 425.8 -82.73 - - 3310.84 - - - - - - - - - 16.13 -
9380.52 985.93 -7.55 1048 9381.86 no move -1.27 - - 2012.38 - - - 2249.88 - -82.73 - - 3310.47 - - - - - - - - - - -
9440 end dive: TARGET_DEPTH_EXCEEDED
9441 begin apogee
9442.27 990.66 -7.28 1052 9517.24 -0.25 1.79 0.146 2260.69 138.7 0.08 0.267 2493.88 3050.0 - 67.67 2.262 2980.78 -4.9 0.357 - - - - - - 16.10 15.56 12.83
9520 end apogee: CONTROL_FINISHED_OK
9520 begin climb
9522.22 991.79 - 1057 9604.46 1.27 2.64 0.113 2627.88 139.1 3.09 0.129 3637.31 370.0 82.73 73.38 2.209 2640.75 -4.6 0.348 - - - - - - 15.62 15.64 12.82
9621.02 987.26 4.61 1073 9678.10 1.42 0.23 0.079 2671.31 188.8 2.88 0.064 2492.50 -397.5 133.75 44.76 2.119 2433.38 -4.6 0.361 - - - - - - 15.40 15.40 12.68
9991.59 948.25 11.14 1102 9999.06 roll 1.42 - - 2671.44 - 3.90 0.135 1060.50 -367.2 133.75 - - 2435.44 - - - - - - - - - 15.73 -
10095.23 935.10 10.94 1119 10108.05 roll 1.42 - - 2671.31 - 3.62 0.069 2541.12 409.0 133.75 - - 2437.44 - - - - - - - - - 15.79 -
10422.34 899.43 10.76 1141 10423.68 no move 1.42 - - 2671.62 - - - 2542.06 - 133.75 - - 2433.81 - - - - - - - - - - -
10737.38 867.30 10.04 1162 10741.53 roll 1.42 - - 2671.38 - 2.91 0.129 3637.88 376.6 133.75 - - 2434.03 - - - - - - - - - 15.93 -
10792.59 859.69 14.85 1171 10798.29 roll 1.42 - - 2671.62 - 2.78 0.067 2492.25 -412.1 133.75 - - 2435.28 - - - - - - - - - 15.96 -
11109.67 827.38 10.47 1193 11111.01 no move 1.42 - - 2671.38 - - - 2491.94 - 133.75 - - 2433.78 - - - - - - - - - - -
11424.69 796.00 9.63 1214 11426.03 no move 1.42 - - 2671.44 - - - 2491.81 - 133.75 - - 2433.75 - - - - - - - - - - -
11739.70 765.27 9.77 1235 11741.03 no move 1.42 - - 2671.62 - - - 2492.44 - 133.75 - - 2434.09 - - - - - - - - - - -
12054.71 734.91 9.68 1256 12062.20 roll 1.42 - - 2671.62 - 3.81 0.135 1058.81 -376.3 133.75 - - 2433.66 - - - - - - - - - 16.05 -
12151.19 723.93 11.45 1271 12158.59 roll 1.42 - - 2671.25 - 3.58 0.070 2540.06 413.8 133.75 - - 2432.75 - - - - - - - - - 16.06 -
12470.80 693.46 9.50 1294 12472.13 no move 1.42 - - 2671.88 - - - 2540.69 - 133.75 - - 2431.91 - - - - - - - - - - -
12785.83 662.76 9.57 1315 12787.17 no move 1.42 - - 2671.38 - - - 2540.75 - 133.75 - - 2432.00 - - - - - - - - - - -
13100.88 631.78 10.32 1336 13108.33 roll 1.42 - - 2671.50 - 3.89 0.127 1059.81 -380.7 133.75 - - 2431.56 - - - - - - - - - 16.08 -
13158.94 625.25 11.30 1345 13166.34 roll 1.42 - - 2671.38 - 3.57 0.069 2541.81 415.1 133.75 - - 2433.06 - - - - - - - - - 16.09 -
13478.57 593.71 10.41 1368 13479.91 no move 1.42 - - 2671.38 - - - 2541.25 - 133.75 - - 2431.12 - - - - - - - - - - -
13793.63 564.27 8.83 1389 13801.22 roll 1.42 - - 2671.31 - 3.90 0.127 1059.44 -380.0 133.75 - - 2434.09 - - - - - - - - - 16.10 -
13859.04 557.03 10.66 1400 13871.81 roll 1.42 - - 2671.31 - 3.54 0.068 2541.00 418.5 133.75 - - 2432.75 - - - - - - - - - 16.10 -
14186.14 527.33 9.14 1422 14190.27 roll 1.42 - - 2671.25 - 2.86 0.127 3638.94 383.9 133.75 - - 2430.16 - - - - - - - - - 16.10 -
14241.32 521.73 10.08 1431 14246.91 roll 1.42 - - 2671.50 - 2.75 0.066 2485.31 -419.5 133.75 - - 2433.75 - - - - - - - - - 16.10 -
14553.46 496.35 8.33 1454 14567.96 roll 1.42 - - 2671.94 - 3.74 0.132 1059.44 -381.2 133.75 - - 2432.12 - - - - - - - - - 16.10 -
14598.73 491.68 8.87 1461 14611.53 roll 1.42 - - 2671.38 - 3.57 0.067 2540.12 414.8 133.75 - - 2431.62 - - - - - - - - - 16.11 -
14921.00 466.62 7.25 1493 14925.13 roll 1.44 - - 2671.44 - 2.87 0.126 3638.25 382.6 133.75 - - 2429.25 - - - - - - - - - 16.09 -
15028.21 456.68 9.11 1509 15040.75 roll 1.44 - - 2672.00 - 2.79 0.065 2490.06 -411.5 133.75 - - 2430.91 - - - - - - - - - 16.12 -
15350.20 431.43 8.45 1541 15360.18 no move 1.44 - - 2671.31 - - - 2489.38 - 133.75 - - 2432.09 - - - - - - - - - - -
15670.25 405.66 7.84 1573 15684.77 roll 1.44 - - 2672.12 - 3.78 0.129 1060.12 -378.1 133.75 - - 2430.59 - - - - - - - - - 16.11 -
15812.93 392.62 8.83 1593 15827.40 roll 1.44 - - 2671.06 - 3.58 0.067 2542.25 414.0 133.75 - - 2430.84 - - - - - - - - - 16.11 -
16127.59 368.74 7.33 1625 16131.74 roll 1.45 - - 2671.38 - 2.92 0.127 3638.75 375.5 133.75 - - 2429.00 - - - - - - - - - 16.10 -
16163.55 365.27 7.48 1631 16176.22 roll 1.45 - - 2671.62 - 2.79 0.064 2484.44 -413.7 133.75 - - 2431.31 - - - - - - - - - 16.13 -
16485.64 341.00 7.91 1663 16495.64 no move 1.45 - - 2671.50 - - - 2484.69 - 133.75 - - 2431.38 - - - - - - - - - - -
16805.70 316.29 7.15 1695 16820.21 roll 1.47 - - 2671.25 - 3.79 0.128 1059.19 -376.1 133.75 - - 2431.66 - - - - - - - - - 16.11 -
16850.97 311.45 8.94 1702 16863.77 roll 1.47 - - 2671.44 - 3.56 0.066 2542.19 416.6 133.75 - - 2432.22 - - - - - - - - - 16.11 -
17165.19 288.40 6.48 1748 17169.20 no move 1.52 - - 2671.56 - - - 2541.81 - 133.75 - - 2431.66 - - - - - - - - - - -
17470.27 266.72 6.73 1809 17474.28 no move 1.55 - - 2671.69 - - - 2541.75 - 133.75 - - 2431.78 - - - - - - - - - - -
17775.35 246.86 6.94 1870 17779.48 pitch 1.58 0.19 0.086 2711.56 209.8 - - 2542.06 - 133.75 - - 2431.75 - - - - - - - - 16.11 - -
18080.46 225.10 7.76 1931 18084.46 no move 1.58 - - 2712.62 - - - 2542.00 - 133.75 - - 2432.06 - - - - - - - - - - -
18385.58 203.83 6.29 1992 18389.58 no move 1.62 - - 2712.06 - - - 2541.62 - 133.75 - - 2432.16 - - - - - - - - - - -
18690.66 182.42 7.20 2053 18696.40 roll 1.64 - - 2712.50 - 3.92 0.122 1059.94 -378.0 133.75 - - 2430.97 - - - - - - - - - 16.12 -
18830.63 170.25 7.71 2081 18836.35 roll 1.64 - - 2712.31 - 3.55 0.065 2544.31 418.1 133.75 - - 2431.41 - - - - - - - - - 16.11 -
19140.70 148.48 6.87 2143 19144.71 no move 1.67 - - 2712.06 - - - 2544.75 - 133.75 - - 2432.12 - - - - - - - - - - -
19445.93 129.52 5.91 2204 19450.05 pitch 1.73 0.17 0.096 2746.00 199.6 - - 2543.88 - 133.75 - - 2432.00 - - - - - - - - 16.11 - -
19750.83 113.57 4.43 2265 19813.78 1.89 0.20 0.094 2786.19 201.0 3.95 0.119 1060.00 -375.7 187.65 56.80 1.148 2211.31 -3.9 0.064 - - - - - - 16.12 15.84 12.98
19886.78 104.11 8.73 2292 19892.37 roll 1.89 - - 2786.38 - 3.58 0.063 2543.56 414.4 187.65 - - 2215.31 - - - - - - - - - 15.92 -
20196.71 84.85 5.08 2354 20248.36 done 2.02 - - 2786.38 - 2.91 0.122 3637.81 376.0 231.29 44.83 1.093 2035.06 -4.0 0.052 - - - - - - - 15.74 12.86
20476.75 68.87 5.40 2410 20522.89 2.14 0.32 0.076 2845.62 185.1 2.80 0.060 2487.00 -411.0 269.92 38.90 1.063 1878.72 -4.0 0.044 - - - - - - 15.88 15.89 12.86
20706.80 50.93 8.54 2456 20712.41 roll 2.14 - - 2845.25 - 3.05 0.114 3637.69 377.3 269.92 - - 1877.12 - - - - - - - - - 15.84 -
20861.79 36.94 8.49 2487 20867.38 roll 2.14 - - 2845.38 - 2.80 0.060 2488.12 -410.6 269.92 - - 1878.56 - - - - - - - - - 15.88 -
21051.85 23.97 6.70 2525 21057.61 roll 2.18 - - 2845.44 - 3.81 0.119 1060.19 -374.8 269.92 - - 1877.00 - - - - - - - - - 15.92 -
21256.87 6.12 9.96 2566 21262.59 roll 2.18 - - 2845.19 - 3.60 0.061 2547.00 413.0 269.92 - - 1876.66 - - - - - - - - - 15.94 -
21297 end climb: SURFACE_DEPTH_REACHED
21297 begin surface coast
21322 end surface coast: CONTROL_FINISHED_OK
21322 begin surface
SM 1.56 - - - - 171.6 117.60 1.028 1348.3 11.5 17.95 0.053 1343.0 74.8 - 0.82 0.070 1353.6 1646.3 -3.750 - - 12.79 15.94 15.97 -