NANOOS May22 * SG236 * Dive index * Mission links * Dive 73 * Raw log
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• Previous call tries 1 • 40.83 of 575.00 AH used of 24V (92.90% remains)
• Surface angle -64.7 deg, depth 1.43 m • Intended pitch -18.5 deg, speed -8.250 cm/s
VBD pumped to 649.79 (beyond SM_CC=400)
• GPS1 time: 24 s
• GPS2 time: 2 s • Transponder ping count: 94
• 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 -1.21 - - 166.44 - - - 2300.50 - -97.32 70.27 0.005 2678.62 - - - - - - - - - - 15.64
75.31 3.38 -2.90 13 121.70 -1.21 15.44 0.247 2024.25 120.3 - - 2300.81 - -97.32 24.31 0.006 3546.53 35.7 -3.358 - - - - - - 15.66 - 15.67
304.56 52.54 -22.67 59 308.56 no move -1.21 - - 2023.94 - - - 2301.12 - -97.32 - - 3549.28 - - - - - - - - - - -
489.59 86.28 -16.60 96 495.43 roll -1.21 - - 2024.44 - 4.09 0.151 805.88 -365.6 -97.32 - - 3549.78 - - - - - - - - - 15.85 -
554.64 96.64 -15.13 109 560.35 roll -1.21 - - 2024.69 - 3.64 0.064 2296.19 409.4 -97.32 - - 3549.12 - - - - - - - - - 15.88 -
744.64 120.77 -12.05 147 748.64 no move -1.21 - - 2024.94 - - - 2294.62 - -97.32 - - 3550.06 - - - - - - - - - - -
1049.70 152.96 -10.52 208 1055.51 roll -1.21 - - 2024.62 - 4.04 0.149 806.25 -368.4 -97.32 - - 3550.62 - - - - - - - - - 15.94 -
1089.70 158.03 -12.83 216 1095.42 roll -1.21 - - 2023.88 - 3.57 0.063 2297.94 417.8 -97.32 - - 3551.38 - - - - - - - - - 15.95 -
1399.76 194.33 -12.36 278 1405.57 roll -1.21 - - 2024.19 - 4.07 0.149 806.12 -366.5 -97.32 - - 3551.22 - - - - - - - - - 15.97 -
1439.76 200.01 -14.31 286 1445.49 roll -1.21 - - 2024.56 - 3.56 0.063 2294.75 418.2 -97.32 - - 3551.22 - - - - - - - - - 15.99 -
1749.82 238.16 -13.05 348 1753.82 no move -1.21 - - 2024.44 - - - 2294.81 - -97.32 - - 3551.41 - - - - - - - - - - -
2054.87 273.34 -10.61 409 2058.87 no move -1.21 - - 2024.75 - - - 2295.62 - -97.32 - - 3552.03 - - - - - - - - - - -
2366.47 308.42 -11.28 463 2381.03 roll -1.21 - - 2024.69 - 4.03 0.152 805.38 -369.8 -97.32 - - 3551.81 - - - - - - - - - 16.04 -
2440.28 318.77 -12.82 474 2453.05 roll -1.21 - - 2025.12 - 3.60 0.064 2292.69 413.1 -97.32 - - 3551.72 - - - - - - - - - 16.06 -
2762.50 354.31 -11.18 506 2777.06 roll -1.21 - - 2024.31 - 4.03 0.153 805.94 -368.9 -97.32 - - 3551.12 - - - - - - - - - 16.05 -
2805.67 360.09 -13.02 512 2820.15 roll -1.21 - - 2024.19 - 3.56 0.065 2292.12 417.5 -97.32 - - 3551.47 - - - - - - - - - 16.07 -
3130.33 397.96 -11.88 545 3140.31 no move -1.21 - - 2024.88 - - - 2292.44 - -97.32 - - 3551.59 - - - - - - - - - - -
3450.37 433.34 -10.95 577 3460.36 no move -1.21 - - 2024.38 - - - 2292.56 - -97.32 - - 3552.28 - - - - - - - - - - -
3770.44 467.97 -10.91 609 3780.42 no move -1.21 - - 2024.44 - - - 2292.69 - -97.32 - - 3551.75 - - - - - - - - - - -
4090.49 500.46 -10.37 641 4091.84 no move -1.21 - - 2024.56 - - - 2292.25 - -97.32 - - 3551.34 - - - - - - - - - - -
4405.54 530.95 -9.81 662 4406.88 no move -1.21 - - 2024.12 - - - 2292.62 - -97.32 - - 3551.38 - - - - - - - - - - -
4720.55 561.85 -10.24 683 4728.04 roll -1.21 - - 2024.62 - 4.05 0.159 805.12 -367.3 -97.32 - - 3550.25 - - - - - - - - - 16.09 -
4761.51 566.81 -10.88 690 4767.24 roll -1.21 - - 2024.38 - 3.58 0.068 2290.69 415.0 -97.32 - - 3551.44 - - - - - - - - - 16.12 -
5078.60 596.80 -8.98 712 5079.94 no move -1.21 - - 2024.50 - - - 2291.25 - -97.32 - - 3549.69 - - - - - - - - - - -
5393.62 626.57 -9.36 733 5394.96 no move -1.21 - - 2024.00 - - - 2290.69 - -97.32 - - 3549.97 - - - - - - - - - - -
5708.63 656.31 -9.56 754 5709.97 no move -1.21 - - 2024.44 - - - 2290.38 - -97.32 - - 3548.97 - - - - - - - - - - -
6023.80 686.55 -9.77 775 6025.13 no move -1.21 - - 2024.50 - - - 2291.25 - -97.32 - - 3549.75 - - - - - - - - - - -
6338.80 717.22 -10.10 796 6346.29 roll -1.21 - - 2024.50 - 4.05 0.160 806.69 -366.6 -97.32 - - 3549.19 - - - - - - - - - 16.11 -
6418.20 726.93 -10.43 809 6423.93 roll -1.21 - - 2024.19 - 3.59 0.069 2293.56 414.2 -97.32 - - 3548.62 - - - - - - - - - 16.13 -
6735.32 756.41 -9.43 831 6742.81 roll -1.21 - - 2024.38 - 4.07 0.159 805.94 -365.5 -97.32 - - 3549.25 - - - - - - - - - 16.11 -
6776.30 761.67 -10.41 838 6782.01 roll -1.21 - - 2024.81 - 3.59 0.068 2292.62 414.1 -97.32 - - 3548.12 - - - - - - - - - 16.13 -
7093.39 790.81 -8.95 860 7094.73 no move -1.21 - - 2024.25 - - - 2292.12 - -97.32 - - 3547.38 - - - - - - - - - - -
7408.59 818.28 -8.90 881 7409.92 no move -1.21 - - 2024.50 - - - 2292.00 - -97.32 - - 3547.03 - - - - - - - - - - -
7723.48 846.10 -8.77 902 7730.97 roll -1.21 - - 2024.06 - 4.05 0.162 805.88 -366.9 -97.32 - - 3547.22 - - - - - - - - - 16.11 -
7783.70 852.93 -9.58 912 7789.57 roll -1.21 - - 2023.94 - 3.58 0.070 2291.06 414.9 -97.32 - - 3547.94 - - - - - - - - - 16.14 -
8100.78 879.10 -8.18 934 8108.26 roll -1.21 - - 2024.25 - 4.03 0.161 806.31 -368.4 -97.32 - - 3545.88 - - - - - - - - - 16.12 -
8146.77 884.62 -9.00 942 8159.54 roll -1.21 - - 2024.56 - 3.57 0.071 2290.56 415.8 -97.32 - - 3546.28 - - - - - - - - - 16.14 -
8473.85 911.44 -8.36 964 8475.19 no move -1.21 - - 2024.56 - - - 2290.50 - -97.32 - - 3546.16 - - - - - - - - - - -
8788.57 937.08 -7.59 985 8789.91 no move -1.21 - - 2023.88 - - - 2290.19 - -97.32 - - 3545.94 - - - - - - - - - - -
9103.94 963.25 -8.19 1006 9105.27 no move -1.21 - - 2024.19 - - - 2290.50 - -97.32 - - 3544.31 - - - - - - - - - - -
9418.98 988.60 -7.79 1027 9420.31 no move -1.21 - - 2024.88 - - - 2290.81 - -97.32 - - 3544.50 - - - - - - - - - - -
9434 end dive: TARGET_DEPTH_EXCEEDED
9434 begin apogee
9435.69 990.29 -8.50 1028 9526.02 -0.25 1.67 0.137 2260.06 140.8 0.09 0.250 2487.69 2187.6 - 79.80 2.274 3150.16 -4.9 0.359 - - - - - - 16.11 15.48 12.85
9529 end apogee: CONTROL_FINISHED_OK
9529 begin climb
9531.01 993.13 - 1034 9629.82 1.21 2.47 0.081 2618.94 145.3 0.10 0.159 2541.62 539.3 97.32 87.21 2.228 2750.75 -4.6 0.341 - - - - - - 15.56 15.58 12.72
9942.60 964.86 8.21 1070 9943.94 VBD 1.21 - - 2618.62 - - - 2541.88 - 97.32 - - 2740.22 - - - - - - - - - - -
10257.76 940.32 8.07 1091 10259.10 VBD 1.21 - - 2619.06 - - - 2542.19 - 97.32 - - 2736.78 - - - - - - - - - - -
10572.68 915.74 7.69 1112 10574.02 VBD 1.23 - - 2618.38 - - - 2542.19 - 97.32 - - 2735.44 - - - - - - - - - - -
10887.70 891.82 7.73 1133 10889.04 VBD 1.25 - - 2618.12 - - - 2542.25 - 97.32 - - 2733.59 - - - - - - - - - - -
11202.71 869.31 7.00 1154 11204.05 VBD 1.28 - - 2618.50 - - - 2542.38 - 97.32 - - 2733.44 - - - - - - - - - - -
11517.73 850.22 6.58 1175 11525.22 done 1.33 - - 2617.81 - 3.94 0.130 1054.62 -377.6 97.32 - - 2733.03 - - - - - - - - - 16.01 -
11671.89 839.09 6.80 1199 11679.40 1.38 0.22 0.088 2661.94 200.6 3.65 0.071 2535.31 405.7 97.32 - - 2730.91 - - - - - - - - 16.01 16.02 -
11991.55 816.71 6.92 1222 11992.89 VBD 1.42 - - 2660.12 - - - 2535.38 - 97.32 - - 2730.38 - - - - - - - - - - -
12306.60 794.45 7.14 1243 12307.94 VBD 1.45 - - 2661.38 - - - 2535.12 - 97.32 - - 2729.88 - - - - - - - - - - -
12621.62 771.97 7.64 1264 12629.08 done 1.47 - - 2661.19 - 3.92 0.128 1054.44 -377.7 97.32 - - 2730.81 - - - - - - - - - 16.07 -
12763.68 759.00 9.49 1287 12776.50 done 1.47 - - 2661.31 - 3.65 0.070 2537.94 406.4 97.32 - - 2730.91 - - - - - - - - - 16.08 -
13090.80 734.08 7.87 1309 13098.26 done 1.47 - - 2660.62 - 3.92 0.128 1053.44 -378.7 97.32 - - 2730.00 - - - - - - - - - 16.08 -
13156.02 727.92 8.55 1320 13168.82 done 1.47 - - 2661.12 - 3.64 0.069 2538.81 408.1 97.32 - - 2729.59 - - - - - - - - - 16.09 -
13483.12 704.79 6.79 1342 13487.36 1.51 0.16 0.097 2696.88 223.5 2.92 0.129 3637.88 376.4 97.32 - - 2729.69 - - - - - - - - 16.09 16.07 -
13557.67 697.97 9.36 1354 13563.12 done 1.51 - - 2696.38 - 2.76 0.068 2484.31 -418.0 97.32 - - 2729.50 - - - - - - - - - 16.10 -
13874.65 675.29 7.20 1376 13875.99 VBD 1.54 - - 2695.81 - - - 2484.44 - 97.32 - - 2728.12 - - - - - - - - - - -
14189.69 653.37 6.89 1397 14191.03 VBD 1.59 - - 2696.75 - - - 2484.12 - 97.32 - - 2728.56 - - - - - - - - - - -
14504.71 631.39 6.39 1418 14506.05 VBD 1.64 - - 2696.56 - - - 2482.75 - 97.32 - - 2728.16 - - - - - - - - - - -
14819.73 609.37 6.58 1439 14821.21 1.69 0.20 0.084 2737.69 205.7 - - 2482.94 - 97.32 - - 2728.88 - - - - - - - - 16.12 - -
15134.75 585.68 7.36 1460 15136.09 VBD 1.72 - - 2737.00 - - - 2482.62 - 97.32 - - 2728.31 - - - - - - - - - - -
15450.00 563.21 7.76 1481 15451.34 VBD 1.72 - - 2737.44 - - - 2482.38 - 97.32 - - 2728.56 - - - - - - - - - - -
15764.94 541.52 6.83 1502 15769.11 done 1.76 - - 2737.25 - 3.05 0.121 3638.62 379.1 97.32 - - 2728.66 - - - - - - - - - 16.12 -
15858.57 533.90 8.00 1517 15864.15 done 1.76 - - 2738.31 - 2.79 0.067 2483.38 -414.1 97.32 - - 2728.94 - - - - - - - - - 16.13 -
16175.67 513.64 6.35 1539 16179.83 done 1.82 - - 2736.94 - 3.06 0.123 3638.12 377.4 97.32 - - 2731.06 - - - - - - - - - 16.12 -
16211.65 510.71 7.01 1545 16217.31 1.86 0.20 0.088 2776.25 196.5 2.77 0.068 2484.31 -416.5 97.32 - - 2728.59 - - - - - - - - 16.11 16.13 -
16518.75 490.96 6.50 1571 16533.26 done 1.91 - - 2777.50 - 3.77 0.130 1054.25 -379.3 97.32 - - 2727.47 - - - - - - - - - 16.12 -
16761.02 468.03 10.17 1605 16775.74 done 1.91 - - 2776.81 - 3.63 0.068 2540.50 409.4 97.32 - - 2729.69 - - - - - - - - - 16.13 -
17085.67 441.61 6.98 1638 17089.82 done 1.95 - - 2777.38 - 2.91 0.124 3640.19 377.9 97.32 - - 2725.69 - - - - - - - - - 16.11 -
17235.42 429.14 7.84 1660 17248.06 done 1.95 - - 2776.44 - 2.76 0.067 2484.94 -418.6 97.32 - - 2728.09 - - - - - - - - - 16.14 -
17557.53 409.16 5.95 1692 17598.25 2.07 0.27 0.084 2827.19 188.0 - - 2483.81 - 137.32 30.83 1.523 2589.81 -4.5 0.201 - - - - - - 16.13 - 13.10
17907.68 371.44 12.13 1727 17917.65 no move 2.07 - - 2827.44 - - - 2483.75 - 137.32 - - 2584.59 - - - - - - - - - - -
18227.70 331.03 12.41 1759 18242.24 done 2.07 - - 2828.38 - 3.81 0.126 1053.50 -375.4 137.32 - - 2582.69 - - - - - - - - - 16.02 -
18315.82 317.75 13.79 1772 18328.48 roll 2.07 - - 2827.00 - 3.67 0.068 2539.88 405.0 137.32 - - 2583.31 - - - - - - - - - 16.03 -
18629.88 278.53 11.48 1819 18635.49 done 2.07 - - 2827.31 - 2.94 0.123 3640.06 374.2 137.32 - - 2581.75 - - - - - - - - - 16.04 -
18754.92 263.21 12.24 1844 18760.48 done 2.07 - - 2827.00 - 2.79 0.066 2484.62 -414.1 137.32 - - 2582.94 - - - - - - - - - 16.05 -
19064.95 228.75 11.20 1906 19068.95 VBD 2.07 - - 2827.75 - - - 2484.25 - 137.32 - - 2581.59 - - - - - - - - - - -
19370.00 196.81 10.00 1967 19374.09 VBD 2.07 - - 2827.19 - - - 2485.31 - 137.32 - - 2581.31 - - - - - - - - - - -
19675.05 168.77 8.59 2028 19680.72 done 2.07 - - 2827.88 - 3.05 0.116 3638.56 378.1 137.32 - - 2580.84 - - - - - - - - - 16.07 -
19865.07 151.29 9.67 2066 19870.81 done 2.07 - - 2827.81 - 2.79 0.065 2484.94 -413.5 137.32 - - 2581.00 - - - - - - - - - 16.08 -
20175.18 129.11 6.90 2128 20180.88 done 2.11 - - 2826.50 - 3.75 0.123 1053.62 -381.7 137.32 - - 2583.53 - - - - - - - - - 16.08 -
20235.18 124.76 7.43 2140 20240.88 done 2.13 - - 2827.31 - 3.64 0.064 2542.94 409.2 137.32 - - 2582.53 - - - - - - - - - 16.09 -
20545.21 105.58 4.44 2202 20622.30 2.33 0.36 0.081 2890.94 176.8 2.97 0.120 3637.50 368.5 203.52 72.29 1.170 2318.84 -3.6 0.055 - - - - - - 16.09 15.73 12.99
20770.24 79.48 15.89 2247 20775.83 roll 2.33 - - 2891.56 - 2.79 0.062 2489.62 -411.4 203.52 - - 2312.50 - - - - - - - - - 15.86 -
20960.34 60.73 6.38 2285 20966.10 done 2.39 - - 2891.69 - 3.07 0.113 3637.50 373.9 203.52 - - 2310.03 - - - - - - - - - 15.90 -
21195.42 59.29 -0.01 2332 21231.83 2.82 0.73 0.069 3010.38 162.6 2.76 0.061 2490.12 -415.7 347.03 31.76 1.083 2198.38 -3.5 0.032 - - - - - - 15.92 15.95 12.93
21232 end climb: NO_VERTICAL_VELOCITY
21232 begin surface
SM 1.75 - - - - 175.4 - - 497.7 - 19.85 0.051 496.0 25.0 - 0.58 0.076 499.4 856.3 -2.015 - - 30.00 15.43 15.45 -