NANOOS May22 * SG236 * Dive index * Mission links * Dive 77 * Raw log
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• Previous call tries 1 • 42.21 of 575.00 AH used of 24V (92.66% remains)
• Surface angle -65.8 deg, depth 1.47 m • Intended pitch -19.5 deg, speed -8.250 cm/s
VBD pumped to 400.12 (SM_CC=400)
• GPS1 time: 29 s
• GPS2 time: 3 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
4.34 - - - 70.02 VBD -1.26 - - 170.19 - - - 2282.19 - -97.32 65.19 0.005 2740.81 - - - - - - - - - - 15.67
70.22 3.16 -2.58 12 117.34 -1.26 15.55 0.260 2012.44 118.5 3.64 0.113 3638.38 372.6 -97.32 20.62 0.006 3477.22 35.7 -3.139 - - - - - - 15.69 15.66 15.70
160.18 22.68 -26.35 30 165.89 roll -1.26 - - 2012.81 - 3.46 0.066 2243.38 -403.2 -97.32 - - 3477.28 - - - - - - - - - 15.78 -
350.23 64.01 -20.08 68 355.98 roll -1.26 - - 2012.38 - 3.74 0.110 3638.19 372.9 -97.32 - - 3477.84 - - - - - - - - - 15.84 -
460.25 83.81 -16.95 90 465.97 roll -1.26 - - 2012.69 - 3.43 0.064 2244.81 -406.2 -97.32 - - 3477.59 - - - - - - - - - 15.87 -
650.33 111.28 -13.39 128 656.12 roll -1.26 - - 2013.00 - 3.95 0.155 802.19 -365.2 -97.32 - - 3477.91 - - - - - - - - - 15.89 -
720.39 121.20 -14.37 142 726.10 roll -1.26 - - 2012.88 - 3.62 0.062 2290.56 411.2 -97.32 - - 3478.28 - - - - - - - - - 15.92 -
1030.50 157.54 -11.38 204 1034.50 no move -1.26 - - 2012.62 - - - 2290.38 - -97.32 - - 3479.75 - - - - - - - - - - -
1335.58 192.94 -10.93 265 1341.39 roll -1.26 - - 2012.69 - 4.03 0.151 803.12 -369.0 -97.32 - - 3479.66 - - - - - - - - - 15.98 -
1420.61 204.24 -13.69 282 1426.31 roll -1.26 - - 2012.19 - 3.60 0.063 2290.44 413.1 -97.32 - - 3480.91 - - - - - - - - - 16.00 -
1730.64 238.85 -10.89 344 1736.45 roll -1.26 - - 2012.56 - 4.03 0.151 802.88 -369.1 -97.32 - - 3480.88 - - - - - - - - - 16.00 -
1790.71 246.80 -13.24 356 1796.38 roll -1.26 - - 2012.19 - 3.53 0.063 2289.50 421.1 -97.32 - - 3480.62 - - - - - - - - - 16.02 -
2100.74 281.99 -11.22 418 2106.51 roll -1.26 - - 2012.38 - 4.03 0.152 802.81 -368.9 -97.32 - - 3480.28 - - - - - - - - - 16.02 -
2135.71 286.57 -12.40 425 2141.46 roll -1.26 - - 2012.50 - 3.58 0.062 2289.44 415.3 -97.32 - - 3480.75 - - - - - - - - - 16.05 -
2447.31 322.18 -11.80 467 2457.29 no move -1.26 - - 2012.44 - - - 2289.44 - -97.32 - - 3481.22 - - - - - - - - - - -
2767.37 358.18 -10.64 499 2777.35 no move -1.26 - - 2012.44 - - - 2290.31 - -97.32 - - 3481.97 - - - - - - - - - - -
3087.42 392.74 -10.34 531 3101.98 roll -1.26 - - 2012.56 - 4.03 0.156 802.62 -369.2 -97.32 - - 3482.91 - - - - - - - - - 16.06 -
3132.76 399.31 -12.65 538 3145.54 roll -1.26 - - 2012.25 - 3.58 0.065 2289.69 415.4 -97.32 - - 3482.47 - - - - - - - - - 16.08 -
3454.99 434.89 -11.26 570 3469.55 roll -1.26 - - 2012.75 - 4.03 0.157 802.00 -369.2 -97.32 - - 3481.00 - - - - - - - - - 16.07 -
3500.33 441.55 -12.92 577 3513.13 roll -1.26 - - 2012.69 - 3.58 0.065 2287.31 414.9 -97.32 - - 3480.97 - - - - - - - - - 16.09 -
3822.57 474.86 -10.56 609 3832.55 no move -1.26 - - 2012.94 - - - 2287.12 - -97.32 - - 3481.97 - - - - - - - - - - -
4137.60 505.90 -9.82 639 4145.08 roll -1.26 - - 2012.38 - 4.02 0.157 802.00 -369.4 -97.32 - - 3481.72 - - - - - - - - - 16.08 -
4217.00 515.59 -11.17 652 4222.73 roll -1.26 - - 2012.69 - 3.58 0.067 2286.62 414.7 -97.32 - - 3479.97 - - - - - - - - - 16.10 -
4534.11 546.88 -10.07 674 4535.44 no move -1.26 - - 2012.50 - - - 2286.38 - -97.32 - - 3480.19 - - - - - - - - - - -
4849.16 578.05 -10.49 695 4856.65 roll -1.26 - - 2012.12 - 4.01 0.159 801.56 -370.3 -97.32 - - 3479.53 - - - - - - - - - 16.09 -
4907.23 585.20 -12.64 704 4914.65 roll -1.26 - - 2011.56 - 3.56 0.068 2287.00 417.3 -97.32 - - 3480.56 - - - - - - - - - 16.11 -
5226.86 618.41 -10.70 727 5234.34 roll -1.26 - - 2013.25 - 4.01 0.159 803.00 -370.1 -97.32 - - 3479.38 - - - - - - - - - 16.10 -
5267.83 623.93 -11.85 734 5273.56 roll -1.26 - - 2013.00 - 3.57 0.066 2287.06 415.7 -97.32 - - 3479.09 - - - - - - - - - 16.12 -
5584.94 655.76 -9.68 756 5586.28 no move -1.26 - - 2011.88 - - - 2285.44 - -97.32 - - 3478.88 - - - - - - - - - - -
5900.12 686.23 -8.87 777 5901.46 no move -1.26 - - 2011.81 - - - 2286.12 - -97.32 - - 3478.88 - - - - - - - - - - -
6215.15 715.47 -9.25 798 6222.65 roll -1.26 - - 2012.19 - 4.03 0.160 801.94 -368.3 -97.32 - - 3479.06 - - - - - - - - - 16.11 -
6294.55 724.46 -11.84 811 6300.29 roll -1.26 - - 2012.75 - 3.59 0.069 2286.25 413.5 -97.32 - - 3478.53 - - - - - - - - - 16.13 -
6611.64 753.63 -9.42 833 6612.98 no move -1.26 - - 2012.12 - - - 2286.19 - -97.32 - - 3478.31 - - - - - - - - - - -
6926.68 783.10 -9.75 854 6934.17 roll -1.26 - - 2013.06 - 4.01 0.160 803.12 -369.8 -97.32 - - 3477.25 - - - - - - - - - 16.11 -
7006.09 792.12 -11.31 867 7011.85 roll -1.26 - - 2013.12 - 3.57 0.069 2285.31 415.2 -97.32 - - 3476.84 - - - - - - - - - 16.14 -
7323.20 819.61 -8.26 889 7330.59 roll -1.26 - - 2012.31 - 3.52 0.121 3636.88 384.0 -97.32 - - 3477.22 - - - - - - - - - 16.12 -
7362.02 823.54 -9.12 895 7369.40 roll -1.26 - - 2012.38 - 3.38 0.069 2240.44 -413.1 -97.32 - - 3477.06 - - - - - - - - - 16.14 -
7681.63 851.46 -8.23 918 7682.97 no move -1.26 - - 2012.62 - - - 2239.94 - -97.32 - - 3476.28 - - - - - - - - - - -
7996.66 878.17 -9.28 939 8004.12 roll -1.26 - - 2013.12 - 3.91 0.166 803.19 -367.5 -97.32 - - 3475.75 - - - - - - - - - 16.11 -
8080.70 886.78 -9.73 953 8093.51 roll -1.26 - - 2012.31 - 3.60 0.069 2285.25 411.7 -97.32 - - 3476.81 - - - - - - - - - 16.14 -
8407.81 914.80 -9.62 975 8409.15 no move -1.26 - - 2010.62 - - - 2284.94 - -97.32 - - 3477.12 - - - - - - - - - - -
8722.87 940.60 -8.02 996 8724.20 no move -1.26 - - 2011.44 - - - 2285.00 - -97.32 - - 3476.41 - - - - - - - - - - -
9037.89 966.48 -8.08 1017 9039.23 no move -1.26 - - 2012.88 - - - 2285.56 - -97.32 - - 3475.66 - - - - - - - - - - -
9338 end dive: TARGET_DEPTH_EXCEEDED
9338 begin apogee
9339.67 990.62 -8.22 1037 9430.02 -0.25 1.78 0.147 2260.31 139.0 0.09 0.260 2501.56 2400.0 - 80.08 2.274 3080.53 -4.9 0.359 - - - - - - 16.11 15.48 12.81
9433 end apogee: CONTROL_FINISHED_OK
9433 begin climb
9435.03 992.67 - 1043 9533.97 1.26 2.57 0.088 2629.38 143.6 0.10 0.159 2553.81 522.5 97.32 86.96 2.227 2681.75 -4.6 0.341 - - - - - - 15.55 15.57 12.78
9846.63 954.34 10.86 1079 9847.97 no move 1.26 - - 2629.00 - - - 2552.81 - 97.32 - - 2675.62 - - - - - - - - - - -
10161.65 919.08 11.88 1100 10162.99 VBD 1.26 - - 2629.44 - - - 2552.38 - 97.32 - - 2672.03 - - - - - - - - - - -
10476.67 886.53 10.69 1121 10478.01 VBD 1.26 - - 2629.62 - - - 2552.94 - 97.32 - - 2670.38 - - - - - - - - - - -
10791.69 854.95 10.11 1142 10793.03 VBD 1.26 - - 2628.62 - - - 2553.19 - 97.32 - - 2667.47 - - - - - - - - - - -
11106.71 824.33 9.42 1163 11114.17 done 1.26 - - 2629.81 - 3.95 0.129 1067.19 -376.2 97.32 - - 2666.19 - - - - - - - - - 15.99 -
11191.12 814.04 11.47 1177 11203.94 done 1.26 - - 2629.12 - 3.69 0.068 2547.31 401.1 97.32 - - 2666.44 - - - - - - - - - 16.01 -
11518.24 783.83 8.88 1199 11519.58 VBD 1.26 - - 2629.69 - - - 2547.00 - 97.32 - - 2664.69 - - - - - - - - - - -
11833.42 755.18 9.19 1220 11837.57 done 1.26 - - 2629.56 - 2.93 0.126 3637.06 372.0 97.32 - - 2663.06 - - - - - - - - - 16.03 -
11907.85 746.57 11.03 1232 11913.43 done 1.26 - - 2628.38 - 2.77 0.068 2496.19 -411.9 97.32 - - 2665.75 - - - - - - - - - 16.05 -
12225.15 717.12 9.00 1254 12232.58 done 1.26 - - 2629.00 - 3.78 0.132 1066.50 -378.2 97.32 - - 2661.91 - - - - - - - - - 16.06 -
12323.78 706.24 10.18 1270 12329.53 done 1.26 - - 2630.00 - 3.67 0.069 2548.75 403.9 97.32 - - 2662.50 - - - - - - - - - 16.08 -
12640.90 679.33 8.38 1292 12648.37 done 1.26 - - 2629.31 - 3.92 0.126 1066.00 -378.3 97.32 - - 2662.31 - - - - - - - - - 16.07 -
12777.97 665.42 9.56 1314 12783.72 done 1.26 - - 2630.19 - 3.65 0.067 2546.69 405.7 97.32 - - 2660.66 - - - - - - - - - 16.09 -
13095.08 639.88 8.26 1336 13099.24 done 1.26 - - 2630.19 - 2.92 0.129 3638.06 373.8 97.32 - - 2659.50 - - - - - - - - - 16.07 -
13148.15 635.63 8.74 1344 13152.40 done 1.26 - - 2629.88 - 2.73 0.067 2492.62 -419.6 97.32 - - 2658.22 - - - - - - - - - 16.09 -
13462.80 610.11 8.04 1366 13464.14 VBD 1.26 - - 2629.50 - - - 2493.75 - 97.32 - - 2658.97 - - - - - - - - - - -
13777.78 585.56 7.87 1387 13785.22 done 1.26 - - 2629.56 - 3.77 0.131 1065.62 -378.8 97.32 - - 2658.34 - - - - - - - - - 16.10 -
13837.99 579.01 10.15 1397 13843.70 done 1.26 - - 2630.38 - 3.63 0.067 2548.19 408.4 97.32 - - 2658.38 - - - - - - - - - 16.10 -
14155.09 555.38 7.39 1419 14159.24 done 1.29 - - 2629.88 - 2.90 0.127 3638.62 376.0 97.32 - - 2655.09 - - - - - - - - - 16.09 -
14229.50 548.41 9.38 1431 14235.10 done 1.29 - - 2630.06 - 2.72 0.068 2494.44 -420.7 97.32 - - 2658.00 - - - - - - - - - 16.10 -
14546.62 524.46 7.40 1453 14554.05 done 1.32 - - 2630.50 - 3.73 0.130 1067.25 -382.6 97.32 - - 2656.06 - - - - - - - - - 16.10 -
14700.80 510.86 7.49 1477 14708.22 done 1.34 - - 2630.31 - 3.63 0.069 2550.12 408.5 97.32 - - 2654.78 - - - - - - - - - 16.12 -
15010.46 485.66 8.01 1505 15014.59 done 1.34 - - 2630.06 - 2.88 0.127 3637.81 377.7 97.32 - - 2654.31 - - - - - - - - - 16.10 -
15103.32 476.76 8.43 1519 15115.98 done 1.34 - - 2630.00 - 2.73 0.067 2494.81 -418.7 97.32 - - 2655.19 - - - - - - - - - 16.11 -
15425.47 451.34 7.39 1551 15435.44 VBD 1.36 - - 2629.75 - - - 2495.19 - 97.32 - - 2654.31 - - - - - - - - - - -
15745.52 427.49 6.89 1583 15759.97 1.41 0.20 0.098 2669.12 196.8 3.04 0.121 3639.75 376.5 97.32 - - 2654.09 - - - - - - - - 16.10 16.10 -
15890.34 415.32 7.41 1604 15903.00 done 1.43 - - 2668.75 - 2.73 0.066 2495.81 -419.0 97.32 - - 2653.59 - - - - - - - - - 16.13 -
16212.48 395.08 6.32 1636 16226.99 done 1.49 - - 2669.06 - 3.71 0.129 1065.75 -385.5 97.32 - - 2653.09 - - - - - - - - - 16.12 -
16355.22 385.00 7.49 1656 16369.71 done 1.51 - - 2668.44 - 3.63 0.068 2550.62 409.1 97.32 - - 2653.78 - - - - - - - - - 16.12 -
16679.88 364.07 6.62 1689 16684.12 1.56 0.19 0.096 2704.38 189.2 2.89 0.126 3640.19 377.0 97.32 - - 2650.97 - - - - - - - - 16.11 16.10 -
16815.40 353.45 7.18 1709 16828.07 done 1.59 - - 2704.44 - 2.72 0.067 2495.06 -421.0 97.32 - - 2652.31 - - - - - - - - - 16.12 -
17137.54 333.78 5.59 1741 17182.04 1.73 0.22 0.091 2745.44 186.4 3.10 0.123 3636.75 368.3 144.20 34.92 1.450 2493.09 -4.6 0.175 - - - - - - 16.11 15.87 13.01
17324.57 312.87 13.26 1767 17328.69 roll 1.73 - - 2746.56 - 2.74 0.066 2498.94 -415.3 144.20 - - 2486.25 - - - - - - - - - 15.98 -
17631.11 274.08 12.29 1817 17635.12 no move 1.73 - - 2746.56 - - - 2498.06 - 144.20 - - 2486.25 - - - - - - - - - - -
17936.16 240.07 10.11 1878 17940.17 no move 1.73 - - 2746.06 - - - 2497.62 - 144.20 - - 2485.06 - - - - - - - - - - -
18241.22 206.92 10.71 1939 18246.97 done 1.73 - - 2746.50 - 3.76 0.125 1066.88 -380.5 144.20 - - 2484.41 - - - - - - - - - 16.04 -
18306.27 199.22 11.99 1952 18312.10 done 1.73 - - 2746.06 - 3.67 0.066 2550.69 404.3 144.20 - - 2483.56 - - - - - - - - - 16.05 -
18616.33 167.17 10.02 2014 18620.33 VBD 1.73 - - 2746.69 - - - 2551.69 - 144.20 - - 2482.31 - - - - - - - - - - -
18921.44 137.92 9.28 2075 18925.44 VBD 1.73 - - 2746.12 - - - 2551.69 - 144.20 - - 2481.62 - - - - - - - - - - -
19226.59 113.10 6.65 2136 19232.32 done 1.78 - - 2746.75 - 3.87 0.119 1064.12 -384.4 144.20 - - 2480.34 - - - - - - - - - 16.08 -
19326.57 104.10 9.26 2156 19332.31 done 1.78 - - 2747.00 - 3.64 0.064 2552.31 408.8 144.20 - - 2480.56 - - - - - - - - - 16.08 -
19636.64 87.20 3.37 2218 19734.12 2.04 0.44 0.080 2819.62 165.0 2.95 0.121 3638.19 368.1 230.12 90.01 1.106 2140.66 -3.8 0.050 - - - - - - 16.08 15.68 12.93
19832.12 67.81 15.19 2257 19837.57 roll 2.04 - - 2819.56 - 2.79 0.062 2498.69 -408.4 230.12 - - 2138.09 - - - - - - - - - 15.80 -
20022.04 51.44 6.26 2295 20027.78 roll 2.10 - - 2819.50 - 3.79 0.120 1067.31 -377.7 230.12 - - 2134.53 - - - - - - - - - 15.87 -
20257.12 42.69 2.59 2342 20360.79 2.40 0.53 0.080 2907.25 165.6 3.66 0.061 2553.81 406.1 329.64 97.46 1.026 1734.53 -4.1 0.028 - - - - - - 15.90 15.92 12.95
20543.67 13.66 15.42 2399 20549.48 roll 2.40 - - 2907.31 - 3.97 0.116 1066.56 -374.6 329.64 - - 1733.62 - - - - - - - - - 15.76 -
20608.84 2.38 17.49 2412 20614.41 roll 2.40 - - 2907.31 - 3.68 0.061 2547.19 402.3 329.64 - - 1733.06 - - - - - - - - - 15.78 -
20619 end climb: SURFACE_DEPTH_REACHED
20619 begin surface coast
20634 end surface coast: CONTROL_FINISHED_OK
20634 begin surface
SM 2.03 - - - - 171.6 63.08 1.030 1448.8 23.0 18.56 0.055 1444.8 77.8 - 0.71 0.067 1452.9 2041.2 -6.321 - - 12.77 15.80 15.80 -