NANOOS May22 * SG236 * Dive index * Mission links * Dive 71 * Raw log
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• Previous call tries 1 • 40.03 of 575.00 AH used of 24V (93.04% remains)
• Surface angle -60.9 deg, depth 1.31 m • Intended pitch -16.7 deg, speed -8.250 cm/s
VBD pumped to 449.88 (SM_CC=450)
• GPS1 time: 20 s
• GPS2 time: 4 s • Transponder ping count: 99
• 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 - - 165.19 - - - 2313.50 - -116.79 75.36 0.005 2747.16 - - - - - - - - - - 15.61
80.39 3.12 -2.10 14 127.12 -1.18 16.00 0.257 2060.94 118.5 - - 2313.50 - -116.79 25.21 0.006 3675.41 36.8 -3.215 - - - - - - 15.65 - 15.66
309.97 48.25 -20.33 60 315.80 roll -1.18 - - 2062.19 - 4.11 0.151 813.25 -365.0 -116.79 - - 3677.84 - - - - - - - - - 15.79 -
389.99 64.43 -18.79 76 395.74 roll -1.18 - - 2062.62 - 3.67 0.064 2303.19 406.0 -116.79 - - 3677.94 - - - - - - - - - 15.84 -
580.03 91.73 -12.42 114 585.75 roll -1.18 - - 2062.19 - 3.56 0.115 3637.38 374.8 -116.79 - - 3679.03 - - - - - - - - - 15.87 -
630.03 97.75 -11.78 124 635.73 roll -1.18 - - 2062.12 - 3.38 0.063 2252.75 -409.7 -116.79 - - 3678.38 - - - - - - - - - 15.89 -
820.07 118.61 -12.07 162 825.86 roll -1.18 - - 2062.31 - 3.91 0.151 812.94 -368.2 -116.79 - - 3678.19 - - - - - - - - - 15.90 -
850.07 122.32 -12.37 168 855.81 roll -1.18 - - 2062.38 - 3.63 0.060 2306.69 411.5 -116.79 - - 3678.84 - - - - - - - - - 15.92 -
1160.17 157.26 -11.08 230 1165.84 roll -1.18 - - 2062.50 - 3.54 0.114 3639.44 376.5 -116.79 - - 3679.25 - - - - - - - - - 15.96 -
1190.12 161.11 -12.84 236 1195.82 roll -1.18 - - 2060.75 - 3.36 0.063 2252.94 -412.6 -116.79 - - 3680.28 - - - - - - - - - 15.98 -
1500.21 194.20 -10.64 298 1505.96 roll -1.18 - - 2062.00 - 3.90 0.152 811.38 -369.6 -116.79 - - 3680.03 - - - - - - - - - 15.97 -
1555.19 200.74 -12.15 309 1560.93 roll -1.18 - - 2062.25 - 3.62 0.062 2305.31 412.7 -116.79 - - 3680.09 - - - - - - - - - 16.00 -
1865.26 234.08 -11.03 371 1869.26 no move -1.18 - - 2062.62 - - - 2305.19 - -116.79 - - 3680.50 - - - - - - - - - - -
2170.38 265.90 -10.20 432 2176.19 roll -1.18 - - 2062.94 - 4.02 0.149 813.38 -371.1 -116.79 - - 3680.00 - - - - - - - - - 16.02 -
2215.40 271.26 -11.96 441 2221.12 roll -1.18 - - 2062.31 - 3.58 0.064 2303.62 416.3 -116.79 - - 3680.91 - - - - - - - - - 16.04 -
2527.10 303.96 -11.17 499 2541.66 roll -1.18 - - 2062.44 - 4.02 0.149 812.19 -371.0 -116.79 - - 3680.31 - - - - - - - - - 16.04 -
2572.43 310.09 -11.62 506 2585.24 roll -1.18 - - 2062.50 - 3.58 0.063 2303.25 416.5 -116.79 - - 3680.56 - - - - - - - - - 16.06 -
2894.67 344.32 -10.24 538 2904.65 no move -1.18 - - 2062.38 - - - 2302.88 - -116.79 - - 3681.03 - - - - - - - - - - -
3214.69 375.90 -9.61 570 3229.27 roll -1.18 - - 2061.50 - 4.02 0.152 812.12 -370.8 -116.79 - - 3680.69 - - - - - - - - - 16.06 -
3260.04 381.76 -11.73 577 3272.84 roll -1.18 - - 2062.25 - 3.60 0.064 2303.50 414.3 -116.79 - - 3679.53 - - - - - - - - - 16.08 -
3582.29 413.00 -10.37 609 3592.28 no move -1.18 - - 2062.19 - - - 2303.06 - -116.79 - - 3679.97 - - - - - - - - - - -
3902.39 442.35 -8.48 641 3912.34 no move -1.18 - - 2062.50 - - - 2303.31 - -116.79 - - 3680.59 - - - - - - - - - - -
4222.42 470.54 -8.40 673 4232.40 no move -1.18 - - 2061.94 - - - 2303.06 - -116.79 - - 3679.81 - - - - - - - - - - -
4542.48 496.92 -7.99 705 4557.04 roll -1.18 - - 2062.00 - 4.04 0.155 812.38 -369.0 -116.79 - - 3679.38 - - - - - - - - - 16.08 -
4607.08 504.12 -10.20 715 4612.81 roll -1.18 - - 2062.62 - 3.59 0.067 2300.62 414.6 -116.79 - - 3679.94 - - - - - - - - - 16.11 -
4924.19 534.53 -9.95 737 4925.53 no move -1.18 - - 2062.38 - - - 2299.81 - -116.79 - - 3679.66 - - - - - - - - - - -
5239.27 565.34 -9.76 758 5246.76 roll -1.18 - - 2062.25 - 4.01 0.156 813.44 -370.7 -116.79 - - 3678.09 - - - - - - - - - 16.10 -
5280.23 570.46 -11.01 765 5285.97 roll -1.18 - - 2062.50 - 3.61 0.067 2302.06 412.4 -116.79 - - 3678.72 - - - - - - - - - 16.10 -
5597.34 599.07 -9.39 787 5598.68 no move -1.18 - - 2062.12 - - - 2301.81 - -116.79 - - 3679.19 - - - - - - - - - - -
5912.53 627.45 -8.24 808 5913.87 no move -1.18 - - 2062.25 - - - 2302.19 - -116.79 - - 3677.25 - - - - - - - - - - -
6227.44 654.09 -8.21 829 6234.94 roll -1.18 - - 2062.00 - 4.03 0.158 813.06 -369.5 -116.79 - - 3677.28 - - - - - - - - - 16.10 -
6266.27 657.86 -8.38 835 6273.67 roll -1.18 - - 2062.06 - 3.58 0.068 2302.44 416.0 -116.79 - - 3677.94 - - - - - - - - - 16.12 -
6585.91 682.94 -8.04 858 6587.25 no move -1.18 - - 2062.25 - - - 2302.31 - -116.79 - - 3676.78 - - - - - - - - - - -
6900.96 707.95 -7.66 879 6902.30 no move -1.18 - - 2062.31 - - - 2302.44 - -116.79 - - 3676.00 - - - - - - - - - - -
7216.00 732.70 -7.76 900 7217.34 no move -1.18 - - 2062.25 - - - 2303.06 - -116.79 - - 3677.06 - - - - - - - - - - -
7531.16 759.36 -9.07 921 7538.64 roll -1.18 - - 2062.12 - 4.03 0.159 812.81 -369.8 -116.79 - - 3676.41 - - - - - - - - - 16.11 -
7589.36 764.65 -10.30 930 7596.94 roll -1.18 - - 2061.94 - 3.54 0.070 2299.88 420.1 -116.79 - - 3676.75 - - - - - - - - - 16.13 -
7909.00 792.34 -8.70 953 7910.33 no move -1.18 - - 2062.31 - - - 2299.75 - -116.79 - - 3674.59 - - - - - - - - - - -
8224.05 815.94 -7.47 974 8231.53 roll -1.18 - - 2061.56 - 4.00 0.158 812.00 -371.9 -116.79 - - 3674.81 - - - - - - - - - 16.12 -
8262.89 818.63 -7.13 980 8270.29 roll -1.18 - - 2062.25 - 3.57 0.069 2300.31 416.9 -116.79 - - 3674.88 - - - - - - - - - 16.13 -
8582.53 840.37 -6.15 1003 8583.87 no move -1.18 - - 2061.94 - - - 2299.62 - -116.79 - - 3674.22 - - - - - - - - - - -
8897.58 861.67 -6.96 1024 8898.92 no move -1.18 - - 2062.06 - - - 2299.94 - -116.79 - - 3674.06 - - - - - - - - - - -
9212.64 883.58 -7.17 1045 9213.98 no move -1.18 - - 2062.12 - - - 2299.56 - -116.79 - - 3673.28 - - - - - - - - - - -
9527.61 905.13 -6.72 1066 9535.10 roll -1.18 - - 2062.12 - 4.04 0.159 813.19 -367.9 -116.79 - - 3673.75 - - - - - - - - - 16.12 -
9612.02 912.31 -8.94 1080 9624.83 roll -1.18 - - 2062.56 - 3.57 0.072 2298.75 416.1 -116.79 - - 3673.12 - - - - - - - - - 16.13 -
9939.15 934.65 -6.84 1102 9940.49 no move -1.18 - - 2062.00 - - - 2299.06 - -116.79 - - 3673.72 - - - - - - - - - - -
10254.26 957.02 -6.97 1123 10261.80 roll -1.18 - - 2062.12 - 3.54 0.126 3637.19 378.0 -116.79 - - 3672.09 - - - - - - - - - 16.13 -
10314.65 962.77 -8.00 1133 10320.33 roll -1.18 - - 2061.94 - 3.37 0.073 2250.81 -411.4 -116.79 - - 3673.09 - - - - - - - - - 16.14 -
10631.73 984.53 -7.01 1155 10633.07 no move -1.18 - - 2062.12 - - - 2250.69 - -116.79 - - 3671.94 - - - - - - - - - - -
10722 end dive: TARGET_DEPTH_EXCEEDED
10722 begin apogee
10723.45 991.14 -7.42 1161 10828.93 -0.25 1.59 0.131 2290.00 143.3 0.09 0.261 2485.12 2604.8 - 94.72 2.284 3200.12 -5.0 0.363 - - - - - - 16.11 15.40 12.95
10831 end apogee: CONTROL_FINISHED_OK
10831 begin climb
10833.92 992.77 - 1168 10953.04 1.18 2.44 0.091 2640.56 143.7 3.23 0.126 3636.12 356.3 116.79 103.85 2.259 2722.12 -4.6 0.340 - - - - - - 15.50 15.51 12.66
10955.64 987.92 6.83 1187 10992.87 done 1.27 - - 2640.06 - 2.93 0.066 2485.56 -392.7 146.39 27.99 2.093 2601.38 -4.3 0.342 - - - - - - - 15.28 12.58
11306.71 946.85 12.69 1213 11308.05 VBD 1.27 - - 2639.75 - - - 2485.88 - 146.39 - - 2590.47 - - - - - - - - - - -
11621.71 909.76 11.50 1234 11623.05 VBD 1.27 - - 2640.06 - - - 2486.12 - 146.39 - - 2587.53 - - - - - - - - - - -
11936.72 872.30 11.31 1255 11944.18 done 1.27 - - 2639.88 - 3.84 0.137 1052.12 -373.4 146.39 - - 2584.06 - - - - - - - - - 15.90 -
11996.95 863.30 13.90 1265 12002.68 done 1.27 - - 2639.94 - 3.72 0.071 2532.62 398.0 146.39 - - 2585.22 - - - - - - - - - 15.91 -
12314.02 823.49 12.50 1287 12315.36 VBD 1.27 - - 2640.00 - - - 2532.38 - 146.39 - - 2582.78 - - - - - - - - - - -
12629.07 785.51 11.80 1308 12630.41 VBD 1.27 - - 2639.31 - - - 2532.69 - 146.39 - - 2583.94 - - - - - - - - - - -
12944.09 745.90 12.53 1329 12945.43 VBD 1.27 - - 2640.00 - - - 2532.38 - 146.39 - - 2583.53 - - - - - - - - - - -
13259.12 707.38 12.30 1350 13260.47 VBD 1.27 - - 2639.88 - - - 2532.75 - 146.39 - - 2581.28 - - - - - - - - - - -
13574.30 670.29 11.76 1371 13581.77 done 1.27 - - 2638.75 - 3.91 0.130 1051.69 -378.8 146.39 - - 2582.66 - - - - - - - - - 16.05 -
13651.57 660.68 12.96 1383 13659.00 done 1.27 - - 2639.62 - 3.70 0.070 2533.12 400.4 146.39 - - 2581.62 - - - - - - - - - 16.05 -
13971.20 625.79 10.48 1406 13978.67 done 1.27 - - 2639.19 - 3.92 0.128 1051.25 -378.0 146.39 - - 2581.56 - - - - - - - - - 16.06 -
14017.22 619.93 12.64 1414 14029.99 done 1.27 - - 2639.75 - 3.68 0.069 2533.81 402.9 146.39 - - 2580.38 - - - - - - - - - 16.07 -
14344.29 585.03 10.20 1436 14345.62 VBD 1.27 - - 2639.88 - - - 2533.88 - 146.39 - - 2580.09 - - - - - - - - - - -
14659.34 553.79 9.92 1457 14660.68 VBD 1.27 - - 2639.31 - - - 2533.50 - 146.39 - - 2579.56 - - - - - - - - - - -
14974.64 523.55 9.73 1478 14978.79 done 1.27 - - 2639.31 - 2.95 0.126 3639.06 374.8 146.39 - - 2580.00 - - - - - - - - - 16.08 -
15049.19 514.96 9.93 1490 15054.65 done 1.27 - - 2639.19 - 2.76 0.069 2482.38 -419.1 146.39 - - 2579.50 - - - - - - - - - 16.10 -
15356.22 485.33 9.73 1516 15370.73 done 1.27 - - 2639.81 - 3.78 0.133 1050.81 -378.7 146.39 - - 2578.62 - - - - - - - - - 16.09 -
15444.22 474.98 10.55 1529 15457.02 done 1.27 - - 2640.94 - 3.63 0.069 2535.44 409.0 146.39 - - 2578.50 - - - - - - - - - 16.09 -
15766.47 445.66 9.09 1561 15776.45 VBD 1.27 - - 2640.06 - - - 2535.81 - 146.39 - - 2579.38 - - - - - - - - - - -
16086.52 417.80 9.13 1593 16090.67 done 1.27 - - 2640.19 - 2.93 0.126 3638.19 376.2 146.39 - - 2576.78 - - - - - - - - - 16.10 -
16163.02 410.94 9.26 1604 16167.15 done 1.27 - - 2640.62 - 2.77 0.068 2481.31 -417.6 146.39 - - 2577.00 - - - - - - - - - 16.11 -
16472.65 385.70 7.79 1635 16482.88 1.30 0.15 0.095 2677.44 245.5 - - 2480.69 - 155.99 6.12 1.014 2563.44 -2.2 0.142 - - - - - - 16.10 - 13.01
16792.67 354.76 10.17 1667 16802.65 no move 1.30 - - 2677.25 - - - 2480.81 - 155.99 - - 2562.75 - - - - - - - - - - -
17112.70 322.46 9.06 1699 17127.21 roll 1.30 - - 2677.56 - 3.76 0.130 1051.19 -380.2 155.99 - - 2562.84 - - - - - - - - - 16.09 -
17241.16 309.65 10.46 1717 17255.66 roll 1.30 - - 2676.38 - 3.64 0.068 2536.31 408.0 155.99 - - 2563.53 - - - - - - - - - 16.09 -
17557.74 279.73 8.55 1770 17561.74 no move 1.30 - - 2677.44 - - - 2536.62 - 155.99 - - 2562.66 - - - - - - - - - - -
17862.94 251.78 9.01 1831 17868.56 roll 1.30 - - 2677.94 - 3.89 0.123 1052.69 -381.5 155.99 - - 2561.59 - - - - - - - - - 16.10 -
18057.83 233.27 10.10 1870 18063.58 roll 1.30 - - 2677.12 - 3.64 0.068 2535.06 407.2 155.99 - - 2563.06 - - - - - - - - - 16.11 -
18367.89 209.90 7.85 1932 18383.69 done 1.33 - - 2677.56 - 2.95 0.125 3638.44 374.0 164.28 9.68 1.132 2530.06 -3.4 0.106 - - - - - - - 15.98 12.95
18597.95 187.70 10.79 1978 18603.50 roll 1.33 - - 2677.94 - 2.78 0.065 2480.81 -416.4 164.28 - - 2528.22 - - - - - - - - - 16.08 -
18907.99 159.85 8.07 2040 18918.91 done 1.34 - - 2677.69 - 3.77 0.128 1051.44 -379.1 168.03 5.78 0.848 2514.97 -2.3 0.073 - - - - - - - 15.98 12.94
19143.00 136.85 9.67 2087 19148.88 roll 1.34 - - 2677.75 - 3.64 0.065 2532.38 406.9 168.03 - - 2513.66 - - - - - - - - - 16.07 -
19453.07 114.15 6.23 2149 19504.08 1.46 0.17 0.086 2717.00 230.9 - - 2533.81 - 209.92 47.60 1.182 2343.75 -3.6 0.058 - - - - - - 16.08 - 12.95
19808.29 81.19 7.74 2220 19824.97 done 1.49 - - 2715.94 - 2.97 0.122 3640.38 372.6 220.42 12.53 1.014 2299.03 -3.6 0.048 - - - - - - - 15.84 12.84
19968.12 66.65 8.62 2252 19973.71 roll 1.49 - - 2717.19 - 2.80 0.063 2479.50 -414.6 220.42 - - 2296.50 - - - - - - - - - 15.94 -
20158.17 58.65 3.09 2290 20270.59 1.82 0.47 0.057 2802.12 180.7 - - 2479.69 - 327.55 110.90 1.093 1864.62 -3.9 0.035 - - - - - - 15.96 - 12.84
20453.50 35.53 11.34 2349 20459.16 done 1.82 - - 2802.31 - 3.14 0.115 3638.12 368.9 327.55 - - 1855.25 - - - - - - - - - 15.75 -
20688.56 7.77 11.30 2396 20694.15 done 1.82 - - 2802.81 - 2.80 0.062 2483.31 -412.4 327.55 - - 1851.44 - - - - - - - - - 15.85 -
20744 end climb: SURFACE_DEPTH_REACHED
20744 begin surface coast
20769 end surface coast: CONTROL_FINISHED_OK
20769 begin surface
SM 1.78 - - - - 169.2 113.10 1.029 1366.0 12.1 17.65 0.045 1361.1 77.1 - 0.51 0.078 1370.9 2682.5 -6.257 - - 12.90 15.83 15.87 -