NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 771 * Raw log
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• Previous call tries 1 • 261.33 of 506.00 AH used of 24V (48.35% remains)
• Surface angle -60.7 deg, depth 1.00 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.92 (SM_CC=430)
• GPS1 time: 22 s
• GPS2 time: 5 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
19.44 - - - 119.99 VBD -1.18 - - 178.31 - - - 2208.19 - -77.86 70.47 0.005 2843.72 - - - - - - - - - - 14.62
122.22 3.07 -3.24 14 220.49 -1.18 17.46 0.200 2227.94 117.4 - - 2208.62 - -77.86 5.70 0.008 3209.50 64.2 -4.224 - - - - - - 15.22 - 14.98
406.50 49.36 -11.61 56 427.82 roll -1.18 - - 2227.81 - 3.38 0.077 3353.62 338.8 -77.86 - - 3212.72 - - - - - - - - - 15.65 -
479.38 58.62 -12.40 67 498.21 roll -1.18 - - 2227.69 - 2.84 0.018 2199.69 -406.3 -77.86 - - 3213.97 - - - - - - - - - 15.74 -
684.32 80.15 -10.74 105 691.16 no move -1.18 - - 2228.06 - - - 2197.50 - -77.86 - - 3213.19 - - - - - - - - - - -
877.22 99.26 -9.82 143 898.45 roll -1.18 - - 2228.00 - 3.41 0.077 3352.50 338.7 -77.86 - - 3213.06 - - - - - - - - - 15.52 -
955.30 106.96 -9.40 155 973.79 roll -1.18 - - 2227.06 - 2.83 0.018 2196.25 -408.6 -77.86 - - 3212.75 - - - - - - - - - 15.67 -
1279.84 132.45 -6.65 187 1298.74 roll -1.18 - - 2226.88 - 3.01 0.066 1144.69 -349.4 -77.86 - - 3213.47 - - - - - - - - - 15.75 -
1365.19 138.24 -6.87 201 1382.90 roll -1.18 - - 2227.44 - 2.80 0.023 2281.06 405.8 -77.86 - - 3213.34 - - - - - - - - - 15.73 -
1688.96 160.43 -7.02 233 1708.68 roll -1.18 - - 2227.69 - 3.21 0.061 1144.31 -354.1 -77.86 - - 3212.25 - - - - - - - - - 15.73 -
1725.11 163.21 -7.59 237 1743.48 roll -1.18 - - 2227.75 - 2.81 0.022 2281.50 404.7 -77.86 - - 3214.44 - - - - - - - - - 15.75 -
2049.73 187.86 -7.51 269 2069.69 roll -1.18 - - 2227.56 - 3.20 0.061 1144.62 -355.3 -77.86 - - 3212.31 - - - - - - - - - 15.77 -
2086.17 190.67 -7.73 273 2104.09 roll -1.18 - - 2227.38 - 2.79 0.023 2281.00 407.3 -77.86 - - 3213.44 - - - - - - - - - 15.69 -
2410.20 212.76 -6.66 305 2429.73 roll -1.18 - - 2227.69 - 3.15 0.080 3352.75 340.2 -77.86 - - 3214.88 - - - - - - - - - 15.76 -
2470.48 217.06 -6.92 314 2489.13 roll -1.18 - - 2227.88 - 2.78 0.018 2190.19 -418.2 -77.86 - - 3214.22 - - - - - - - - - 15.80 -
2795.23 238.61 -6.93 346 2799.29 no move -1.18 - - 2227.44 - - - 2187.25 - -77.86 - - 3212.97 - - - - - - - - - - -
3105.43 259.28 -6.40 377 3126.19 roll -1.18 - - 2228.12 - 3.41 0.077 3353.75 342.1 -77.86 - - 3215.47 - - - - - - - - - 15.76 -
3196.95 265.70 -7.05 392 3215.98 roll -1.18 - - 2227.75 - 2.79 0.018 2193.81 -415.7 -77.86 - - 3214.50 - - - - - - - - - 15.94 -
3522.08 287.71 -7.07 424 3541.22 roll -1.18 - - 2228.00 - 2.99 0.066 1144.25 -351.0 -77.86 - - 3214.00 - - - - - - - - - 15.80 -
3557.70 290.24 -7.14 428 3575.86 roll -1.18 - - 2227.56 - 2.78 0.023 2280.94 408.9 -77.86 - - 3213.72 - - - - - - - - - 15.87 -
3882.08 312.83 -6.83 460 3886.14 no move -1.18 - - 2227.44 - - - 2281.62 - -77.86 - - 3213.00 - - - - - - - - - - -
4192.25 335.84 -7.06 491 4212.19 roll -1.18 - - 2228.06 - 3.22 0.063 1144.12 -353.3 -77.86 - - 3212.50 - - - - - - - - - 15.80 -
4232.95 339.06 -7.42 496 4251.60 roll -1.18 - - 2227.94 - 2.78 0.024 2279.38 408.4 -77.86 - - 3214.38 - - - - - - - - - 15.94 -
4557.74 359.76 -6.14 528 4561.80 no move -1.18 - - 2226.81 - - - 2279.06 - -77.86 - - 3212.59 - - - - - - - - - - -
4867.90 378.79 -6.43 559 4887.45 roll -1.18 - - 2228.06 - 3.19 0.063 1145.69 -355.3 -77.86 - - 3212.84 - - - - - - - - - 15.68 -
4963.93 385.49 -7.13 575 4982.25 roll -1.18 - - 2227.75 - 2.79 0.024 2281.25 407.0 -77.86 - - 3213.53 - - - - - - - - - 15.94 -
5288.38 407.24 -6.84 607 5292.44 no move -1.18 - - 2227.62 - - - 2280.75 - -77.86 - - 3212.44 - - - - - - - - - - -
5598.58 428.34 -7.04 638 5602.64 no move -1.18 - - 2227.75 - - - 2280.69 - -77.86 - - 3211.88 - - - - - - - - - - -
5908.77 449.74 -6.68 669 5928.96 roll -1.18 - - 2227.06 - 3.23 0.063 1144.44 -351.8 -77.86 - - 3212.66 - - - - - - - - - 15.73 -
5969.84 454.17 -7.09 678 5988.88 roll -1.18 - - 2228.38 - 2.80 0.024 2278.75 405.1 -77.86 - - 3212.69 - - - - - - - - - 15.95 -
6294.99 474.60 -6.29 710 6314.52 roll -1.18 - - 2227.88 - 3.16 0.084 3352.75 339.9 -77.86 - - 3211.59 - - - - - - - - - 15.75 -
6345.27 478.19 -6.92 717 6363.94 roll -1.18 - - 2227.44 - 2.79 0.019 2192.19 -416.0 -77.86 - - 3212.41 - - - - - - - - - 15.94 -
6670.05 497.03 -5.32 749 6690.81 roll -1.18 - - 2227.69 - 3.41 0.080 3352.56 340.3 -77.86 - - 3211.47 - - - - - - - - - 15.74 -
6707.29 499.30 -5.74 753 6725.20 roll -1.18 - - 2227.62 - 2.79 0.019 2192.25 -415.9 -77.86 - - 3212.41 - - - - - - - - - 15.93 -
7031.34 516.33 -5.32 785 7050.08 roll -1.18 - - 2227.31 - 2.99 0.069 1144.50 -350.4 -77.86 - - 3211.62 - - - - - - - - - 15.78 -
7076.58 518.88 -5.61 791 7094.51 roll -1.18 - - 2227.62 - 2.78 0.024 2280.06 408.5 -77.86 - - 3212.75 - - - - - - - - - 15.96 -
7400.64 535.66 -5.54 823 7420.42 roll -1.18 - - 2228.00 - 3.16 0.084 3351.75 339.1 -77.86 - - 3210.00 - - - - - - - - - 15.73 -
7457.00 539.45 -6.60 831 7475.31 roll -1.18 - - 2227.81 - 2.79 0.019 2191.69 -415.8 -77.86 - - 3211.25 - - - - - - - - - 15.96 -
7781.46 559.29 -6.30 863 7785.52 no move -1.18 - - 2228.25 - - - 2190.19 - -77.86 - - 3210.00 - - - - - - - - - - -
8091.66 580.06 -6.67 894 8112.41 roll -1.18 - - 2227.62 - 3.41 0.081 3354.06 341.3 -77.86 - - 3209.47 - - - - - - - - - 15.72 -
8138.89 583.53 -7.23 900 8156.80 roll -1.18 - - 2227.50 - 2.79 0.019 2193.94 -415.8 -77.86 - - 3211.81 - - - - - - - - - 15.96 -
8462.91 602.85 -5.48 932 8482.06 roll -1.18 - - 2227.94 - 3.01 0.070 1143.12 -349.1 -77.86 - - 3210.88 - - - - - - - - - 15.76 -
8518.56 606.28 -5.83 940 8536.49 roll -1.18 - - 2227.75 - 2.79 0.025 2280.06 407.5 -77.86 - - 3209.91 - - - - - - - - - 15.96 -
8843.03 621.89 -4.46 972 8847.09 no move -1.18 - - 2227.06 - - - 2280.56 - -77.86 - - 3208.75 - - - - - - - - - - -
9153.60 636.95 -4.83 1003 9173.54 roll -1.18 - - 2225.94 - 3.22 0.065 1143.38 -353.2 -77.86 - - 3208.97 - - - - - - - - - 15.76 -
9220.02 640.53 -5.29 1013 9238.69 roll -1.18 - - 2226.50 - 2.79 0.025 2280.81 407.7 -77.86 - - 3210.06 - - - - - - - - - 15.94 -
9545.32 656.69 -4.75 1045 9549.38 no move -1.18 - - 2227.81 - - - 2280.19 - -77.86 - - 3207.62 - - - - - - - - - - -
9855.52 672.26 -5.28 1076 9875.06 roll -1.18 - - 2227.44 - 3.17 0.085 3352.75 338.3 -77.86 - - 3209.50 - - - - - - - - - 15.71 -
9901.54 674.95 -5.77 1082 9919.85 roll -1.18 - - 2227.31 - 2.78 0.019 2192.56 -417.3 -77.86 - - 3207.72 - - - - - - - - - 15.94 -
10225.97 693.55 -5.48 1114 10230.03 no move -1.18 - - 2227.94 - - - 2191.06 - -77.86 - - 3207.09 - - - - - - - - - - -
10536.13 710.38 -5.34 1145 10556.89 roll -1.18 - - 2225.50 - 3.40 0.082 3351.38 341.3 -77.86 - - 3207.28 - - - - - - - - - 15.69 -
10607.66 714.91 -6.57 1156 10626.31 roll -1.18 - - 2227.06 - 2.78 0.019 2194.62 -416.1 -77.86 - - 3207.66 - - - - - - - - - 15.93 -
10702 end dive: TARGET_DEPTH_EXCEEDED
10702 begin apogee
10707.25 720.20 -5.41 1165 10810.89 -0.31 1.64 0.133 2440.38 130.1 0.14 0.137 2176.88 -126.7 - 64.43 1.950 2890.34 -4.9 0.312 - - - - - - 15.59 15.16 10.15
10824 end apogee: CONTROL_FINISHED_OK
10825 begin climb
10827.29 722.23 - 1172 10939.73 1.18 2.59 0.088 2805.94 141.1 - - 2175.06 - 77.86 65.50 1.921 2571.81 -4.9 0.314 - - - - - - 15.61 - 11.41
11246.34 704.93 4.43 1215 11343.21 1.33 0.21 0.084 2848.38 202.1 - - 2175.62 - 152.72 64.03 1.890 2266.66 -4.8 0.305 - - - - - - 15.70 - 11.08
11649.86 678.04 7.36 1254 11653.93 VBD 1.37 - - 2847.25 - - - 2175.31 - 152.72 - - 2256.69 - - - - - - - - - - -
11960.55 655.37 6.93 1285 11964.60 VBD 1.44 - - 2847.62 - - - 2175.00 - 152.72 - - 2255.50 - - - - - - - - - - -
12271.12 634.72 6.04 1316 12298.35 1.56 0.31 0.071 2905.69 187.3 3.48 0.086 3348.25 337.1 152.72 - - 2255.25 - - - - - - - - 15.83 15.72 -
12319.83 630.57 8.58 1322 12337.76 done 1.56 - - 2906.50 - 2.80 0.021 2203.12 -409.0 152.72 - - 2255.12 - - - - - - - - - 15.88 -
12644.28 607.36 7.51 1354 12663.66 done 1.59 - - 2907.62 - 3.05 0.074 1146.88 -346.3 152.72 - - 2253.66 - - - - - - - - - 15.76 -
12764.93 598.25 7.05 1375 12783.58 done 1.65 - - 2907.50 - 2.80 0.029 2276.12 403.3 152.72 - - 2253.34 - - - - - - - - - 15.90 -
13089.71 575.72 7.56 1407 13109.67 done 1.65 - - 2906.31 - 3.22 0.070 1144.75 -351.4 152.72 - - 2251.75 - - - - - - - - - 15.77 -
13180.83 569.01 7.26 1422 13199.88 done 1.70 - - 2907.56 - 2.82 0.028 2275.19 400.9 152.72 - - 2252.59 - - - - - - - - - 15.90 -
13506.39 546.66 6.74 1454 13527.99 1.78 0.26 0.067 2960.56 203.8 3.23 0.070 1145.94 -349.6 152.72 - - 2250.94 - - - - - - - - 15.84 15.77 -
13618.76 537.02 8.75 1473 13638.21 done 1.78 - - 2961.81 - 2.83 0.029 2273.81 398.5 152.72 - - 2252.47 - - - - - - - - - 15.92 -
13944.34 510.20 8.25 1505 13964.29 done 1.78 - - 2960.31 - 3.23 0.069 1144.44 -349.7 152.72 - - 2251.22 - - - - - - - - - 15.77 -
14010.77 504.24 9.12 1515 14029.10 done 1.78 - - 2960.38 - 2.83 0.029 2274.81 399.4 152.72 - - 2251.97 - - - - - - - - - 15.93 -
14335.20 477.85 7.95 1547 14355.16 done 1.78 - - 2960.56 - 3.24 0.069 1144.94 -348.7 152.72 - - 2251.00 - - - - - - - - - 15.68 -
14461.77 467.64 7.94 1569 14480.50 done 1.78 - - 2961.69 - 2.84 0.029 2274.19 397.6 152.72 - - 2250.81 - - - - - - - - - 15.91 -
14786.63 440.92 8.50 1601 14806.58 done 1.78 - - 2960.94 - 3.24 0.069 1145.25 -348.4 152.72 - - 2249.50 - - - - - - - - - 15.67 -
14907.34 430.08 8.89 1622 14926.40 done 1.78 - - 2960.81 - 2.84 0.029 2273.31 397.2 152.72 - - 2250.72 - - - - - - - - - 15.87 -
15232.54 403.78 7.74 1654 15252.48 done 1.78 - - 2961.19 - 3.22 0.068 1145.38 -350.3 152.72 - - 2250.69 - - - - - - - - - 15.74 -
15338.97 395.16 7.92 1672 15357.30 done 1.78 - - 2960.56 - 2.84 0.028 2273.94 397.4 152.72 - - 2250.81 - - - - - - - - - 15.65 -
15663.83 371.27 7.33 1704 15683.78 done 1.82 - - 2960.31 - 3.23 0.068 1145.31 -349.4 152.72 - - 2250.06 - - - - - - - - - 15.74 -
15810.27 359.58 8.11 1730 15828.61 done 1.82 - - 2960.69 - 2.83 0.028 2272.81 398.4 152.72 - - 2250.44 - - - - - - - - - 15.92 -
16134.85 334.59 7.73 1762 16138.91 VBD 1.82 - - 2961.44 - - - 2273.31 - 152.72 - - 2249.66 - - - - - - - - - - -
16445.02 310.69 7.83 1793 16464.97 done 1.82 - - 2961.00 - 3.25 0.068 1145.75 -346.9 152.72 - - 2249.56 - - - - - - - - - 15.70 -
16535.74 303.30 7.99 1808 16555.20 done 1.82 - - 2961.19 - 2.84 0.028 2272.88 396.9 152.72 - - 2251.22 - - - - - - - - - 15.67 -
16861.33 278.47 7.67 1840 16881.28 done 1.82 - - 2960.81 - 3.24 0.068 1145.12 -348.1 152.72 - - 2248.44 - - - - - - - - - 15.72 -
16962.04 269.98 8.58 1857 16981.08 done 1.82 - - 2960.62 - 2.83 0.028 2274.38 399.0 152.72 - - 2250.81 - - - - - - - - - 15.90 -
17287.59 245.92 7.11 1889 17307.56 done 1.88 - - 2961.12 - 3.27 0.067 1144.06 -345.7 152.72 - - 2248.25 - - - - - - - - - 15.59 -
17434.45 234.94 7.38 1915 17453.41 done 1.92 - - 2961.50 - 2.83 0.027 2274.81 399.6 152.72 - - 2250.53 - - - - - - - - - 15.91 -
17760.06 213.48 6.40 1947 17781.65 2.02 0.25 0.068 3015.88 217.5 3.23 0.066 1146.00 -349.5 152.72 - - 2250.09 - - - - - - - - 15.67 15.70 -
17912.42 201.66 7.88 1974 17931.48 done 2.02 - - 3016.38 - 2.82 0.027 2275.31 400.5 152.72 - - 2251.66 - - - - - - - - - 15.90 -
18238.02 176.88 7.41 2006 18257.98 done 2.06 - - 3016.62 - 3.26 0.066 1144.75 -346.8 152.72 - - 2249.72 - - - - - - - - - 15.58 -
18308.75 171.40 7.61 2017 18328.19 done 2.06 - - 3015.62 - 2.86 0.027 2275.62 395.4 152.72 - - 2250.06 - - - - - - - - - 15.61 -
18634.72 146.70 7.32 2049 18654.69 done 2.10 - - 3016.00 - 3.21 0.065 1144.50 -352.4 152.72 - - 2248.62 - - - - - - - - - 15.69 -
18701.17 141.39 8.03 2059 18719.52 done 2.10 - - 3016.62 - 2.84 0.027 2276.62 398.6 152.72 - - 2250.91 - - - - - - - - - 15.73 -
19026.05 121.28 4.87 2091 19123.27 2.23 - - 3016.50 - 3.26 0.067 1144.12 -347.4 218.40 52.08 1.207 1998.28 -4.9 0.084 - - - - - - - 15.33 10.43
19149.13 112.13 8.77 2108 19168.60 roll back 2.23 - - 3015.38 - 2.86 0.026 2276.06 395.8 218.40 - - 1994.22 - - - - - - - - - 15.55 -
19475.27 87.83 7.23 2157 19495.96 2.28 - - 3016.12 - 3.24 0.065 1145.56 -348.9 218.40 - - 1991.91 - - - - - - - - - 15.51 -
19727.92 77.29 3.36 2204 19853.31 2.48 - - 3016.12 - 2.87 0.025 2277.56 394.4 315.33 76.39 1.142 1605.25 -5.1 0.059 - - - - - - - 15.72 11.40
20039.46 53.33 7.59 2257 20060.24 2.48 - - 3016.19 - 3.27 0.065 1144.56 -346.5 315.33 - - 1595.34 - - - - - - - - - 15.60 -
20122.13 47.64 6.85 2270 20141.22 2.55 - - 3015.81 - 2.87 0.026 2274.62 393.7 315.33 - - 1594.38 - - - - - - - - - 15.63 -
20327.88 33.57 7.52 2308 20348.57 2.58 - - 3016.75 - 3.27 0.086 3351.31 329.3 315.33 - - 1593.69 - - - - - - - - - 15.52 -
20380.44 29.78 7.39 2315 20399.58 2.62 - - 3016.25 - 2.81 0.019 2198.38 -410.3 315.33 - - 1591.72 - - - - - - - - - 15.77 -
20585.72 11.60 10.71 2353 20592.62 2.62 - - 3016.94 - - - 2195.44 - 315.33 - - 1591.56 - - - - - - - - - - -
20669 end climb: SURFACE_DEPTH_REACHED
20670 begin surface coast
20725 end surface coast: CONTROL_FINISHED_OK
20726 begin surface
SM 0.94 - - - - 179.3 89.60 1.051 1137.4 12.7 19.47 0.048 1139.1 58.5 - 0.17 0.091 1135.6 6680.0 -7.052 - - 10.93 15.77 15.85 -