NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 173 * Raw log
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• Previous call tries 1 • 60.45 of 506.00 AH used of 24V (88.05% remains)
• Surface angle -65.9 deg, depth 1.14 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.07 (SM_CC=430)
• GPS1 time: 24 s
• GPS2 time: 2 s • Transponder ping count: 0
• 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
18.75 - - - 104.43 VBD -1.18 - - 179.75 - - - 2188.12 - -77.86 60.01 0.005 2628.00 - - - - - - - - - - 15.52
106.65 3.40 -4.29 12 225.54 -1.18 16.54 0.222 2227.56 123.8 3.43 0.084 3351.75 339.3 -77.86 9.56 0.007 3209.53 60.8 -4.861 - - - - - - 15.62 15.50 15.56
326.62 40.75 -12.55 39 344.86 roll -1.18 - - 2227.69 - 2.84 0.020 2196.19 -406.9 -77.86 - - 3212.56 - - - - - - - - - 15.89 -
530.78 62.26 -9.15 77 549.83 roll -1.18 - - 2227.88 - 2.97 0.067 1143.94 -354.3 -77.86 - - 3212.66 - - - - - - - - - 15.85 -
570.98 65.50 -8.14 82 588.83 roll -1.18 - - 2226.94 - 2.80 0.025 2278.50 405.2 -77.86 - - 3214.09 - - - - - - - - - 15.92 -
774.65 82.22 -8.58 120 794.11 roll -1.18 - - 2227.44 - 3.19 0.063 1145.44 -355.2 -77.86 - - 3213.94 - - - - - - - - - 15.84 -
810.27 85.27 -8.62 124 828.98 roll -1.18 - - 2227.94 - 2.82 0.025 2278.44 401.8 -77.86 - - 3213.62 - - - - - - - - - 15.94 -
1014.80 98.87 -5.59 162 1034.64 roll -1.18 - - 2228.38 - 3.12 0.084 3353.06 344.4 -77.86 - - 3214.28 - - - - - - - - - 15.87 -
1055.17 101.59 -6.53 167 1073.03 roll -1.18 - - 2227.56 - 2.79 0.020 2189.94 -416.9 -77.86 - - 3215.53 - - - - - - - - - 15.96 -
1378.83 124.09 -7.21 199 1396.77 roll -1.18 - - 2227.31 - 2.93 0.067 1143.88 -357.0 -77.86 - - 3213.91 - - - - - - - - - 15.91 -
1457.20 130.05 -7.60 212 1475.73 roll -1.18 - - 2227.50 - 2.81 0.025 2278.75 403.9 -77.86 - - 3215.38 - - - - - - - - - 15.99 -
1781.70 152.57 -6.77 244 1785.76 no move -1.18 - - 2227.19 - - - 2278.31 - -77.86 - - 3214.62 - - - - - - - - - - -
2091.75 171.86 -6.36 275 2095.81 no move -1.18 - - 2227.44 - - - 2278.81 - -77.86 - - 3214.72 - - - - - - - - - - -
2401.81 194.76 -8.06 306 2421.17 roll -1.18 - - 2227.62 - 3.20 0.065 1144.00 -354.6 -77.86 - - 3214.88 - - - - - - - - - 16.01 -
2457.37 199.41 -8.35 314 2475.13 roll -1.18 - - 2228.00 - 2.83 0.026 2277.06 400.4 -77.86 - - 3216.50 - - - - - - - - - 16.01 -
2780.99 227.41 -8.57 346 2799.94 roll -1.18 - - 2227.88 - 3.11 0.086 3351.19 345.4 -77.86 - - 3213.81 - - - - - - - - - 16.00 -
2826.13 231.68 -9.28 352 2843.85 roll -1.18 - - 2226.69 - 2.80 0.021 2191.75 -414.1 -77.86 - - 3215.06 - - - - - - - - - 16.01 -
3149.70 258.31 -7.48 384 3170.89 roll -1.18 - - 2226.88 - 3.35 0.082 3353.81 346.9 -77.86 - - 3212.41 - - - - - - - - - 16.03 -
3226.36 265.13 -8.78 396 3244.42 roll -1.18 - - 2226.31 - 2.79 0.020 2193.94 -415.7 -77.86 - - 3215.03 - - - - - - - - - 16.04 -
3550.27 287.80 -6.42 428 3554.33 no move -1.18 - - 2227.38 - - - 2193.25 - -77.86 - - 3212.84 - - - - - - - - - - -
3860.30 307.00 -6.32 459 3864.36 no move -1.18 - - 2227.31 - - - 2192.44 - -77.86 - - 3212.59 - - - - - - - - - - -
4170.33 328.77 -7.54 490 4174.39 no move -1.18 - - 2226.69 - - - 2192.06 - -77.86 - - 3211.66 - - - - - - - - - - -
4480.35 354.06 -8.62 521 4484.41 no move -1.18 - - 2227.50 - - - 2192.88 - -77.86 - - 3211.50 - - - - - - - - - - -
4790.38 378.79 -7.75 552 4811.54 roll -1.18 - - 2226.06 - 3.36 0.084 3350.88 344.6 -77.86 - - 3212.03 - - - - - - - - - 16.04 -
4837.01 382.76 -8.42 558 4855.08 roll -1.18 - - 2227.50 - 2.79 0.021 2195.62 -414.1 -77.86 - - 3211.81 - - - - - - - - - 16.06 -
5160.92 406.61 -7.44 590 5179.08 roll -1.18 - - 2226.75 - 2.96 0.072 1146.38 -354.5 -77.86 - - 3211.38 - - - - - - - - - 16.04 -
5215.28 410.78 -7.51 598 5233.02 roll -1.18 - - 2227.44 - 2.78 0.027 2276.56 406.5 -77.86 - - 3211.69 - - - - - - - - - 16.06 -
5538.88 434.65 -7.52 630 5557.84 roll -1.18 - - 2225.19 - 3.12 0.088 3351.06 344.4 -77.86 - - 3211.59 - - - - - - - - - 16.02 -
5634.04 442.65 -8.33 646 5651.38 roll -1.18 - - 2227.69 - 2.77 0.021 2196.75 -416.7 -77.86 - - 3211.03 - - - - - - - - - 16.06 -
5957.22 466.06 -6.91 678 5975.38 roll -1.18 - - 2227.38 - 2.94 0.072 1146.00 -357.4 -77.86 - - 3208.78 - - - - - - - - - 16.03 -
6021.70 470.83 -7.48 688 6039.45 roll -1.18 - - 2227.44 - 2.79 0.028 2276.38 405.2 -77.86 - - 3210.31 - - - - - - - - - 16.05 -
6345.29 493.47 -6.86 720 6349.35 no move -1.18 - - 2227.69 - - - 2277.06 - -77.86 - - 3208.47 - - - - - - - - - - -
6655.31 516.12 -7.64 751 6674.27 roll -1.18 - - 2225.38 - 3.12 0.089 3351.25 344.3 -77.86 - - 3208.78 - - - - - - - - - 16.02 -
6680.46 517.94 -7.78 753 6697.79 roll -1.18 - - 2227.62 - 2.78 0.021 2195.06 -415.9 -77.86 - - 3208.50 - - - - - - - - - 16.05 -
7003.64 541.67 -6.89 785 7007.70 no move -1.18 - - 2227.12 - - - 2192.81 - -77.86 - - 3208.09 - - - - - - - - - - -
7313.70 562.00 -6.54 816 7334.85 roll -1.18 - - 2226.94 - 3.35 0.086 3350.44 345.6 -77.86 - - 3207.50 - - - - - - - - - 16.03 -
7400.32 568.24 -7.27 830 7418.40 roll -1.18 - - 2227.31 - 2.78 0.021 2194.44 -415.8 -77.86 - - 3208.41 - - - - - - - - - 16.05 -
7724.25 588.73 -6.54 862 7728.31 no move -1.18 - - 2227.44 - - - 2193.94 - -77.86 - - 3206.16 - - - - - - - - - - -
8034.30 611.18 -7.61 893 8038.36 no move -1.18 - - 2226.69 - - - 2193.75 - -77.86 - - 3206.50 - - - - - - - - - - -
8344.61 632.87 -6.77 924 8365.78 roll -1.18 - - 2227.25 - 3.35 0.086 3350.31 345.2 -77.86 - - 3204.84 - - - - - - - - - 16.02 -
8396.99 636.81 -7.00 931 8414.33 roll -1.18 - - 2227.62 - 2.77 0.022 2195.69 -416.8 -77.86 - - 3206.22 - - - - - - - - - 16.06 -
8720.18 656.72 -6.02 963 8724.24 no move -1.18 - - 2227.81 - - - 2195.12 - -77.86 - - 3204.97 - - - - - - - - - - -
9030.44 676.74 -6.74 994 9051.61 roll -1.18 - - 2225.69 - 3.34 0.085 3350.94 346.1 -77.86 - - 3204.72 - - - - - - - - - 16.02 -
9112.83 682.99 -7.51 1007 9130.55 roll -1.18 - - 2227.19 - 2.78 0.022 2197.69 -414.8 -77.86 - - 3204.62 - - - - - - - - - 16.06 -
9436.38 705.69 -6.77 1039 9457.54 roll -1.18 - - 2227.38 - 3.35 0.085 3352.38 344.7 -77.86 - - 3204.97 - - - - - - - - - 16.00 -
9508.75 711.11 -7.62 1050 9526.08 roll -1.18 - - 2227.31 - 2.78 0.021 2197.56 -415.4 -77.86 - - 3204.72 - - - - - - - - - 16.01 -
9831.93 732.43 -6.75 1082 9853.30 roll -1.18 - - 2225.44 - 3.35 0.085 3352.25 344.7 -77.86 - - 3203.50 - - - - - - - - - 16.01 -
9894.67 737.34 -7.61 1091 9912.40 roll -1.18 - - 2227.81 - 2.78 0.021 2197.31 -415.4 -77.86 - - 3205.62 - - - - - - - - - 16.05 -
10117 end dive: TARGET_DEPTH_EXCEEDED
10118 begin apogee
10122.79 751.37 -6.01 1113 10222.42 -0.31 1.53 0.137 2439.50 138.4 0.14 0.157 2182.88 -103.1 - 60.58 2.172 2889.62 -5.2 0.297 - - - - - - 15.93 15.66 11.59
10229 end apogee: CONTROL_FINISHED_OK
10229 begin climb
10232.40 753.32 - 1120 10339.75 1.18 2.50 0.094 2805.56 146.4 - - 2183.00 - 77.86 63.27 2.113 2571.25 -5.0 0.295 - - - - - - 15.72 - 12.48
10646.11 735.41 4.85 1162 10728.61 1.31 0.18 0.090 2846.38 226.8 - - 2182.88 - 143.92 54.81 2.080 2302.81 -4.9 0.285 - - - - - - 15.79 - 12.05
11034.58 706.68 7.74 1199 11038.64 VBD 1.31 - - 2846.81 - - - 2182.50 - 143.92 - - 2292.50 - - - - - - - - - - -
11345.03 684.04 7.07 1230 11366.64 done 1.37 - - 2846.38 - 3.45 0.090 3350.75 338.6 143.92 - - 2290.03 - - - - - - - - - 15.91 -
11397.96 679.52 8.65 1237 11415.30 done 1.37 - - 2845.56 - 2.80 0.023 2205.25 -409.1 143.92 - - 2292.88 - - - - - - - - - 15.94 -
11721.55 656.52 7.17 1269 11725.61 VBD 1.43 - - 2846.56 - - - 2204.69 - 143.92 - - 2289.28 - - - - - - - - - - -
12031.45 632.86 7.78 1300 12035.52 VBD 1.43 - - 2846.94 - - - 2204.50 - 143.92 - - 2288.00 - - - - - - - - - - -
12341.91 610.02 7.26 1331 12363.07 done 1.47 - - 2845.19 - 3.38 0.091 3350.69 339.1 143.92 - - 2289.56 - - - - - - - - - 15.92 -
12374.67 607.53 7.41 1334 12393.65 1.51 0.22 0.077 2894.12 222.4 2.78 0.023 2204.50 -412.3 143.92 - - 2289.28 - - - - - - - - 15.93 16.03 -
12699.50 581.52 8.12 1366 12718.07 done 1.51 - - 2894.88 - 3.02 0.078 1146.88 -350.2 143.92 - - 2287.03 - - - - - - - - - 15.94 -
12744.26 577.79 8.27 1372 12762.00 done 1.51 - - 2894.38 - 2.82 0.031 2275.56 400.2 143.92 - - 2288.88 - - - - - - - - - 16.03 -
13067.85 549.48 9.02 1404 13087.05 done 1.51 - - 2894.81 - 3.17 0.074 1145.31 -356.5 143.92 - - 2286.84 - - - - - - - - - 16.03 -
13113.37 545.05 9.58 1410 13131.52 done 1.51 - - 2894.75 - 2.81 0.031 2274.81 402.0 143.92 - - 2287.12 - - - - - - - - - 16.05 -
13437.33 514.07 9.50 1442 13456.30 done 1.51 - - 2895.12 - 3.17 0.074 1146.69 -355.9 143.92 - - 2286.03 - - - - - - - - - 16.03 -
13482.50 509.61 9.97 1448 13500.66 done 1.51 - - 2894.38 - 2.84 0.031 2273.56 396.8 143.92 - - 2286.84 - - - - - - - - - 15.96 -
13806.51 479.72 8.68 1480 13810.57 VBD 1.51 - - 2895.06 - - - 2273.69 - 143.92 - - 2285.50 - - - - - - - - - - -
14116.56 453.68 8.42 1511 14120.63 VBD 1.51 - - 2893.88 - - - 2273.25 - 143.92 - - 2285.56 - - - - - - - - - - -
14426.62 427.06 8.39 1542 14445.58 done 1.51 - - 2894.38 - 3.20 0.074 1146.75 -352.0 143.92 - - 2286.53 - - - - - - - - - 16.03 -
14501.79 420.66 8.25 1554 14519.54 done 1.51 - - 2894.31 - 2.83 0.031 2273.75 398.2 143.92 - - 2286.78 - - - - - - - - - 15.90 -
14825.76 396.79 7.34 1586 14844.74 done 1.55 - - 2895.06 - 3.17 0.073 1144.94 -356.1 143.92 - - 2284.53 - - - - - - - - - 16.01 -
14910.95 390.07 7.78 1600 14928.95 done 1.55 - - 2893.12 - 2.84 0.031 2273.19 397.3 143.92 - - 2286.12 - - - - - - - - - 16.01 -
15235.31 367.99 6.36 1632 15239.37 VBD 1.66 - - 2894.88 - - - 2273.12 - 143.92 - - 2284.97 - - - - - - - - - - -
15545.62 346.82 7.25 1663 15567.63 1.70 0.22 0.075 2939.62 203.4 3.19 0.073 1145.94 -353.3 143.92 - - 2286.34 - - - - - - - - 15.98 15.97 -
15618.84 340.27 9.33 1674 15636.60 done 1.70 - - 2942.44 - 2.84 0.031 2271.88 396.5 143.92 - - 2286.12 - - - - - - - - - 16.04 -
15942.42 312.26 8.67 1706 15961.38 done 1.70 - - 2941.56 - 3.17 0.093 3349.69 340.0 143.92 - - 2285.12 - - - - - - - - - 15.93 -
16011.86 305.78 9.14 1717 16029.94 done 1.70 - - 2942.00 - 2.74 0.023 2202.69 -418.6 143.92 - - 2285.25 - - - - - - - - - 15.98 -
16335.78 280.10 7.83 1749 16353.96 done 1.70 - - 2941.88 - 2.96 0.076 1145.06 -357.3 143.92 - - 2284.56 - - - - - - - - - 16.02 -
16400.17 274.86 8.52 1759 16417.92 done 1.70 - - 2941.50 - 2.82 0.030 2275.00 400.7 143.92 - - 2286.16 - - - - - - - - - 16.05 -
16724.17 250.88 6.94 1791 16743.38 done 1.77 - - 2942.38 - 3.16 0.072 1145.44 -357.5 143.92 - - 2284.78 - - - - - - - - - 16.01 -
16839.72 241.50 8.45 1811 16857.47 done 1.77 - - 2942.00 - 2.85 0.030 2278.25 397.5 143.92 - - 2284.00 - - - - - - - - - 15.99 -
17163.31 217.37 7.64 1843 17167.37 VBD 1.77 - - 2941.62 - - - 2278.50 - 143.92 - - 2284.44 - - - - - - - - - - -
17473.32 192.06 8.02 1874 17492.29 done 1.77 - - 2941.69 - 3.20 0.071 1145.12 -354.2 143.92 - - 2284.88 - - - - - - - - - 15.93 -
17578.51 183.70 7.90 1892 17596.27 done 1.77 - - 2940.19 - 2.84 0.030 2274.25 397.6 143.92 - - 2285.66 - - - - - - - - - 15.95 -
17902.54 161.88 7.12 1924 17921.53 done 1.82 - - 2942.50 - 3.17 0.071 1144.88 -356.3 143.92 - - 2284.19 - - - - - - - - - 15.92 -
17957.73 157.43 7.98 1932 17975.48 done 1.82 - - 2941.69 - 2.83 0.030 2274.19 399.0 143.92 - - 2284.88 - - - - - - - - - 16.00 -
18281.30 132.81 7.75 1964 18300.27 done 1.82 - - 2941.69 - 3.17 0.070 1145.44 -356.1 143.92 - - 2283.59 - - - - - - - - - 15.85 -
18320.74 129.68 7.86 1969 18339.67 done 1.82 - - 2942.62 - 2.83 0.029 2274.69 399.0 143.92 - - 2286.06 - - - - - - - - - 15.90 -
18646.04 107.50 5.87 2001 18668.05 1.96 0.30 0.064 3005.38 209.2 3.13 0.069 1144.69 -361.0 143.92 - - 2283.97 - - - - - - - - 15.88 15.86 -
18859.70 92.34 7.51 2040 18878.57 done 1.99 - - 3005.88 - 2.84 0.029 2276.00 398.3 143.92 - - 2286.12 - - - - - - - - - 15.95 -
19064.78 81.84 4.98 2078 19154.00 done 2.12 - - 3004.81 - 3.17 0.092 3351.25 339.2 207.30 47.89 1.323 2044.84 -5.0 0.051 - - - - - - - 15.76 11.75
19220.22 69.96 9.15 2102 19238.70 roll 2.12 - - 3005.69 - 2.79 0.021 2198.50 -413.2 207.30 - - 2039.28 - - - - - - - - - 15.85 -
19424.68 52.63 8.15 2140 19445.18 roll 2.12 - - 3005.31 - 3.39 0.085 3350.94 340.0 207.30 - - 2037.44 - - - - - - - - - 15.80 -
19491.79 47.48 7.50 2150 19510.51 roll back 2.15 - - 3005.50 - 2.80 0.022 2198.75 -411.5 207.30 - - 2037.03 - - - - - - - - - 15.75 -
19696.88 37.27 3.52 2188 19815.47 2.34 - - 3005.00 - 3.03 0.076 1146.06 -347.4 300.83 71.15 1.246 1663.72 -5.2 0.026 - - - - - - - 15.64 12.12
19891.68 23.07 9.11 2218 19910.17 roll back 2.34 - - 3005.38 - 2.85 0.027 2277.62 397.0 300.83 - - 1655.53 - - - - - - - - - 15.70 -
20096.44 12.28 3.88 2256 20213.36 2.51 - - 3005.38 - 3.23 0.071 1145.38 -350.5 386.94 67.03 1.189 1311.97 -5.1 0.009 - - - - - - - 15.61 12.12
20264 end climb: SURFACE_DEPTH_REACHED
20265 begin surface coast
20270 end surface coast: CONTROL_FINISHED_OK
20270 begin surface
SM 1.37 - - - - 184.4 33.56 1.161 1136.8 31.9 19.13 0.056 1123.9 58.8 - 2.43 0.029 1149.6 471.8 -2.278 - - 12.14 15.70 15.78 -