NANOOS May22 * SG236 * Dive index * Mission links * Dive 108 * Raw log
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• Previous call tries 3 • 52.73 of 575.00 AH used of 24V (90.83% remains)
• Surface angle -64.1 deg, depth 1.43 m • Intended pitch -20.9 deg, speed -7.857 cm/s
VBD pumped to 576.18 (beyond SM_CC=400)
• GPS1 time: 38 s
• GPS2 time: 3 s • Transponder ping count: 88
• 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 -1.29 - - 168.94 - - - 2265.81 - -82.73 65.17 0.005 2465.03 - - - - - - - - - - 15.67
70.22 3.02 -2.38 12 117.75 -1.29 15.60 0.251 2056.12 121.0 4.07 0.147 801.06 -359.9 -82.73 21.75 0.006 3187.72 33.2 -2.770 - - - - - - 15.70 15.66 15.70
345.66 60.99 -22.58 67 351.37 roll -1.29 - - 2056.12 - 3.57 0.062 2259.62 408.6 -82.73 - - 3188.00 - - - - - - - - - 15.87 -
535.67 99.09 -17.32 105 541.46 roll -1.29 - - 2056.56 - 4.00 0.143 801.88 -364.4 -82.73 - - 3187.12 - - - - - - - - - 15.89 -
760.71 136.72 -16.07 150 766.44 roll -1.29 - - 2055.12 - 3.54 0.062 2261.12 412.2 -82.73 - - 3188.28 - - - - - - - - - 15.95 -
1070.79 173.07 -10.23 212 1076.56 roll -1.29 - - 2056.00 - 3.97 0.142 800.50 -367.9 -82.73 - - 3188.53 - - - - - - - - - 15.97 -
1165.77 185.68 -13.85 231 1171.51 roll -1.29 - - 2055.94 - 3.53 0.059 2263.12 414.3 -82.73 - - 3187.44 - - - - - - - - - 16.01 -
1475.86 222.56 -13.12 293 1479.86 no move -1.29 - - 2056.19 - - - 2264.25 - -82.73 - - 3188.59 - - - - - - - - - - -
1780.88 260.89 -11.94 354 1784.89 no move -1.29 - - 2056.31 - - - 2263.75 - -82.73 - - 3188.78 - - - - - - - - - - -
2085.94 296.24 -10.52 415 2091.66 roll -1.29 - - 2056.25 - 3.60 0.108 3641.00 382.6 -82.73 - - 3188.25 - - - - - - - - - 16.05 -
2187.34 308.31 -12.35 432 2200.11 roll -1.29 - - 2055.88 - 3.51 0.063 2214.81 -406.3 -82.73 - - 3187.53 - - - - - - - - - 16.06 -
2509.54 343.83 -11.68 464 2524.05 roll -1.29 - - 2056.00 - 3.71 0.105 3639.69 384.1 -82.73 - - 3188.41 - - - - - - - - - 16.07 -
2611.73 357.93 -12.81 479 2624.49 roll -1.29 - - 2056.12 - 3.47 0.062 2215.00 -410.6 -82.73 - - 3188.94 - - - - - - - - - 16.08 -
2933.94 393.85 -10.81 511 2948.44 roll -1.29 - - 2056.38 - 3.68 0.105 3639.38 387.1 -82.73 - - 3187.81 - - - - - - - - - 16.09 -
3033.98 406.32 -12.67 525 3048.44 roll -1.29 - - 2056.50 - 3.47 0.063 2217.50 -409.8 -82.73 - - 3189.06 - - - - - - - - - 16.09 -
3358.60 440.83 -10.24 558 3373.14 roll -1.29 - - 2056.06 - 3.68 0.106 3637.69 385.9 -82.73 - - 3186.97 - - - - - - - - - 16.09 -
3402.12 445.49 -11.71 564 3416.59 roll -1.29 - - 2056.12 - 3.45 0.063 2218.12 -411.5 -82.73 - - 3188.19 - - - - - - - - - 16.09 -
3716.78 477.19 -10.37 596 3731.34 roll -1.29 - - 2056.44 - 3.84 0.152 801.88 -368.8 -82.73 - - 3186.69 - - - - - - - - - 16.08 -
3788.44 485.48 -12.36 606 3802.92 roll -1.29 - - 2056.31 - 3.51 0.064 2265.56 417.0 -82.73 - - 3186.22 - - - - - - - - - 16.10 -
4118.07 520.31 -10.27 633 4125.47 roll -1.29 - - 2056.00 - 3.56 0.109 3637.75 385.4 -82.73 - - 3185.28 - - - - - - - - - 16.10 -
4195.33 529.67 -12.58 645 4202.72 roll -1.29 - - 2056.19 - 3.46 0.065 2218.94 -410.1 -82.73 - - 3185.09 - - - - - - - - - 16.10 -
4514.96 564.93 -11.36 668 4516.29 no move -1.29 - - 2056.06 - - - 2219.12 - -82.73 - - 3185.25 - - - - - - - - - - -
4830.00 599.60 -10.64 689 4831.34 no move -1.29 - - 2056.00 - - - 2219.19 - -82.73 - - 3184.62 - - - - - - - - - - -
5145.03 634.52 -11.15 710 5146.37 no move -1.29 - - 2055.56 - - - 2219.50 - -82.73 - - 3182.31 - - - - - - - - - - -
5460.06 669.22 -10.93 731 5461.39 no move -1.29 - - 2056.38 - - - 2219.25 - -82.73 - - 3182.34 - - - - - - - - - - -
5775.12 701.68 -10.13 752 5776.46 no move -1.29 - - 2055.62 - - - 2219.38 - -82.73 - - 3182.50 - - - - - - - - - - -
6090.27 733.82 -9.83 773 6091.61 no move -1.29 - - 2055.94 - - - 2220.00 - -82.73 - - 3181.12 - - - - - - - - - - -
6405.30 764.49 -9.50 794 6406.64 no move -1.29 - - 2055.94 - - - 2219.62 - -82.73 - - 3180.09 - - - - - - - - - - -
6720.21 792.42 -8.53 815 6727.66 roll -1.29 - - 2055.88 - 3.87 0.155 800.56 -366.7 -82.73 - - 3179.38 - - - - - - - - - 16.11 -
6759.02 796.40 -10.66 821 6766.42 roll -1.29 - - 2055.88 - 3.52 0.067 2265.44 416.2 -82.73 - - 3180.62 - - - - - - - - - 16.13 -
7078.63 824.54 -8.97 844 7079.96 no move -1.29 - - 2056.12 - - - 2266.00 - -82.73 - - 3178.50 - - - - - - - - - - -
7393.65 851.28 -8.70 865 7394.99 no move -1.29 - - 2056.56 - - - 2266.00 - -82.73 - - 3178.97 - - - - - - - - - - -
7708.68 877.62 -8.80 886 7710.02 no move -1.29 - - 2055.88 - - - 2265.88 - -82.73 - - 3176.94 - - - - - - - - - - -
8023.72 904.92 -8.80 907 8025.05 no move -1.29 - - 2056.00 - - - 2265.56 - -82.73 - - 3176.81 - - - - - - - - - - -
8338.76 932.12 -9.52 928 8346.18 roll -1.29 - - 2056.12 - 3.61 0.113 3636.56 379.8 -82.73 - - 3175.75 - - - - - - - - - 16.14 -
8379.72 937.18 -11.58 935 8385.43 roll -1.29 - - 2055.81 - 3.48 0.069 2219.25 -407.3 -82.73 - - 3175.78 - - - - - - - - - 16.15 -
8696.87 965.21 -8.74 957 8698.20 no move -1.29 - - 2055.75 - - - 2219.56 - -82.73 - - 3175.25 - - - - - - - - - - -
8982 end dive: TARGET_DEPTH_EXCEEDED
8982 begin apogee
8983.62 990.19 -8.02 976 9058.73 -0.25 1.81 0.146 2310.81 140.9 0.09 0.244 2446.62 2522.9 - 66.79 2.229 2850.09 -4.9 0.358 - - - - - - 16.10 15.58 12.92
9061 end apogee: CONTROL_FINISHED_OK
9061 begin climb
9063.71 992.58 - 981 9143.49 1.29 2.60 0.086 2687.25 144.8 0.09 0.148 2499.00 582.0 82.73 73.75 2.182 2510.66 -4.6 0.347 - - - - - - 15.64 15.67 12.80
9456.50 966.13 7.87 1014 9457.83 no move 1.29 - - 2686.75 - - - 2499.31 - 82.73 - - 2509.94 - - - - - - - - - - -
9771.52 941.17 7.90 1035 9772.85 no move 1.29 - - 2687.44 - - - 2498.81 - 82.73 - - 2508.34 - - - - - - - - - - -
10086.53 916.61 7.44 1056 10093.99 roll 1.29 - - 2687.00 - 3.99 0.124 1013.38 -372.3 82.73 - - 2507.69 - - - - - - - - - 15.94 -
10127.54 913.05 7.29 1063 10133.24 roll 1.31 - - 2687.38 - 3.65 0.064 2499.69 407.2 82.73 - - 2510.41 - - - - - - - - - 15.95 -
10444.60 889.54 7.34 1085 10445.94 no move 1.33 - - 2687.62 - - - 2500.12 - 82.73 - - 2506.31 - - - - - - - - - - -
10759.63 865.64 7.85 1106 10760.97 no move 1.33 - - 2687.38 - - - 2499.75 - 82.73 - - 2505.88 - - - - - - - - - - -
11075.07 843.94 6.84 1127 11076.41 VBD 1.36 - - 2687.50 - - - 2499.81 - 82.73 - - 2506.03 - - - - - - - - - - -
11389.65 823.79 5.78 1148 11420.33 1.45 0.22 0.080 2729.75 192.0 - - 2499.00 - 115.07 28.22 1.946 2379.31 -4.5 0.315 - - - - - - 16.05 - 12.91
11734.69 793.74 8.48 1171 11738.85 roll 1.45 - - 2729.75 - 3.06 0.117 3637.62 372.1 115.07 - - 2380.22 - - - - - - - - - 15.94 -
11788.05 788.61 9.78 1179 11792.20 roll 1.45 - - 2730.00 - 2.94 0.063 2443.25 -406.2 115.07 - - 2380.00 - - - - - - - - - 15.95 -
12102.83 760.83 8.87 1201 12110.27 roll 1.45 - - 2730.00 - 3.82 0.127 1011.69 -374.8 115.07 - - 2382.09 - - - - - - - - - 15.99 -
12148.79 755.51 9.49 1209 12161.61 roll 1.45 - - 2729.12 - 3.62 0.063 2499.38 411.0 115.07 - - 2381.25 - - - - - - - - - 16.00 -
12475.90 726.01 8.78 1231 12477.23 no move 1.45 - - 2730.44 - - - 2499.56 - 115.07 - - 2379.91 - - - - - - - - - - -
12790.95 697.78 8.30 1252 12795.11 roll 1.45 - - 2729.38 - 3.01 0.117 3637.88 378.2 115.07 - - 2380.00 - - - - - - - - - 16.04 -
12870.38 688.58 11.35 1265 12883.09 roll 1.45 - - 2730.75 - 2.88 0.062 2443.25 -414.8 115.07 - - 2379.41 - - - - - - - - - 16.05 -
13197.61 661.55 8.19 1287 13204.93 roll 1.45 - - 2730.06 - 3.18 0.114 3637.88 375.7 115.07 - - 2379.12 - - - - - - - - - 16.06 -
13257.79 655.70 8.54 1297 13263.40 roll 1.45 - - 2730.62 - 2.89 0.061 2444.25 -413.0 115.07 - - 2380.25 - - - - - - - - - 16.08 -
13574.91 631.71 7.47 1319 13576.25 no move 1.45 - - 2730.62 - - - 2443.94 - 115.07 - - 2378.94 - - - - - - - - - - -
13889.94 608.19 7.41 1340 13891.27 no move 1.45 - - 2730.94 - - - 2443.62 - 115.07 - - 2376.97 - - - - - - - - - - -
14204.98 584.00 8.14 1361 14212.41 roll 1.45 - - 2730.44 - 3.78 0.126 1012.50 -378.6 115.07 - - 2379.28 - - - - - - - - - 16.09 -
14250.96 579.24 8.68 1369 14263.75 roll 1.45 - - 2730.56 - 3.60 0.065 2499.75 413.1 115.07 - - 2379.31 - - - - - - - - - 16.10 -
14578.06 554.20 7.90 1391 14579.40 no move 1.45 - - 2730.88 - - - 2500.12 - 115.07 - - 2377.81 - - - - - - - - - - -
14893.10 530.86 7.50 1412 14894.44 no move 1.45 - - 2730.69 - - - 2499.38 - 115.07 - - 2378.31 - - - - - - - - - - -
15208.15 506.49 8.10 1433 15209.49 no move 1.45 - - 2730.50 - - - 2499.75 - 115.07 - - 2379.44 - - - - - - - - - - -
15518.19 482.61 7.21 1461 15528.16 no move 1.47 - - 2730.56 - - - 2499.44 - 115.07 - - 2379.41 - - - - - - - - - - -
15838.24 460.18 7.15 1493 15852.81 roll 1.49 - - 2731.06 - 3.92 0.121 1011.75 -379.5 115.07 - - 2378.69 - - - - - - - - - 16.11 -
15926.25 452.51 8.33 1506 15939.06 roll 1.49 - - 2731.06 - 3.58 0.063 2499.81 415.7 115.07 - - 2378.12 - - - - - - - - - 16.12 -
16248.50 431.11 6.71 1538 16263.02 roll 1.53 - - 2730.50 - 3.89 0.118 1010.69 -382.8 115.07 - - 2377.97 - - - - - - - - - 16.11 -
16308.03 425.97 8.84 1547 16320.82 roll 1.53 - - 2730.25 - 3.57 0.061 2502.94 418.0 115.07 - - 2380.28 - - - - - - - - - 16.11 -
16630.28 404.81 6.70 1579 16634.43 roll 1.56 - - 2730.38 - 2.98 0.114 3639.44 381.4 115.07 - - 2378.09 - - - - - - - - - 16.10 -
16721.05 398.11 7.40 1592 16725.18 roll 1.56 - - 2728.69 - 2.88 0.062 2438.94 -416.8 115.07 - - 2377.50 - - - - - - - - - 16.12 -
17030.68 378.53 6.05 1623 17040.78 pitch 1.62 0.20 0.084 2770.75 210.3 - - 2438.38 - 115.07 - - 2377.19 - - - - - - - - 16.12 - -
17350.73 358.05 5.73 1655 17394.31 done 1.72 - - 2770.44 - 3.77 0.126 1011.12 -378.6 148.18 28.52 1.412 2245.53 -4.6 0.194 - - - - - - - 15.90 12.98
17451.56 349.81 8.85 1669 17466.05 roll 1.72 - - 2769.50 - 3.64 0.063 2500.50 409.2 148.18 - - 2245.72 - - - - - - - - - 15.99 -
17776.21 321.89 8.70 1702 17780.38 roll 1.72 - - 2769.94 - 3.03 0.115 3636.69 375.0 148.18 - - 2243.16 - - - - - - - - - 16.01 -
17824.24 317.00 10.60 1709 17828.38 roll 1.72 - - 2770.38 - 2.88 0.061 2441.56 -415.0 148.18 - - 2244.88 - - - - - - - - - 16.02 -
18130.79 288.67 8.58 1751 18136.45 roll 1.72 - - 2770.31 - 3.17 0.112 3638.88 377.7 148.18 - - 2243.75 - - - - - - - - - 16.04 -
18155.79 286.49 8.72 1756 18161.40 roll 1.72 - - 2770.19 - 2.88 0.060 2442.38 -415.5 148.18 - - 2244.19 - - - - - - - - - 16.03 -
18465.84 261.35 8.25 1818 18471.50 roll 1.72 - - 2770.19 - 3.15 0.111 3640.00 380.2 148.18 - - 2243.50 - - - - - - - - - 16.05 -
18525.85 256.32 8.63 1830 18531.48 roll 1.72 - - 2770.56 - 2.87 0.060 2441.56 -417.6 148.18 - - 2243.22 - - - - - - - - - 16.05 -
18835.95 232.44 7.15 1892 18841.56 roll 1.74 - - 2770.38 - 3.14 0.111 3639.88 381.6 148.18 - - 2243.72 - - - - - - - - - 16.06 -
18940.92 223.52 8.73 1913 18946.53 roll 1.74 - - 2769.12 - 2.89 0.060 2442.06 -414.5 148.18 - - 2243.59 - - - - - - - - - 16.06 -
19250.98 198.42 7.61 1975 19254.99 no move 1.74 - - 2770.44 - - - 2442.44 - 148.18 - - 2243.44 - - - - - - - - - - -
19556.04 175.82 7.04 2036 19561.74 roll back 1.76 0.16 0.093 2809.19 242.2 3.16 0.109 3640.56 379.2 148.18 - - 2242.31 - - - - - - - - 16.08 16.07 -
19756.06 158.69 8.77 2076 19761.66 roll 1.76 - - 2809.00 - 2.88 0.060 2442.69 -415.9 148.18 - - 2244.91 - - - - - - - - - 16.08 -
20066.13 138.58 5.53 2138 20107.71 done 1.87 - - 2809.31 - 3.79 0.123 1011.25 -377.7 184.42 35.99 1.158 2099.09 -4.1 0.080 - - - - - - - 15.88 12.88
20211.28 126.01 10.35 2167 20216.87 roll 1.87 - - 2809.69 - 3.62 0.059 2503.69 412.3 184.42 - - 2101.28 - - - - - - - - - 15.97 -
20521.25 101.49 7.92 2229 20526.87 roll 1.87 - - 2809.50 - 2.99 0.110 3639.19 379.8 184.42 - - 2098.94 - - - - - - - - - 15.99 -
20661.28 89.71 7.84 2257 20666.90 roll 1.87 - - 2809.06 - 2.88 0.057 2442.56 -415.5 184.42 - - 2098.75 - - - - - - - - - 16.01 -
20851.37 88.10 0.02 2295 20943.30 2.24 0.65 0.062 2923.44 176.0 - - 2442.81 - 306.40 90.83 1.058 1732.12 -4.0 0.056 - - - - - - 16.02 - 12.84
20944 end climb: NO_VERTICAL_VELOCITY
20944 begin surface
SM 0.87 - - - - 170.1 - - 500.9 - 18.13 0.068 487.1 26.8 - 0.52 0.085 514.8 990.0 -1.036 - - 30.00 15.71 15.74 -