NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 157 * Raw log
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• Previous call tries 2 • 56.31 of 506.00 AH used of 24V (88.87% remains)
• Surface angle -63.6 deg, depth 1.14 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.10 (SM_CC=430)
• GPS1 time: 44 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
12 begin dive
18.76 - - - 104.07 VBD -1.18 - - 181.88 - - - 2287.88 - -77.86 59.99 0.005 2688.75 - - - - - - - - - - 15.48
105.90 3.82 -5.14 12 219.10 -1.18 16.61 0.228 2228.56 123.2 3.10 0.068 1142.56 -369.5 -77.86 8.14 0.008 3210.34 64.1 -5.027 - - - - - - 15.61 15.49 15.54
305.18 39.02 -10.24 35 323.17 roll -1.18 - - 2228.44 - 2.77 0.026 2275.62 409.0 -77.86 - - 3214.06 - - - - - - - - - 15.87 -
509.08 60.19 -8.84 73 528.11 roll -1.18 - - 2226.69 - 3.06 0.084 3351.62 351.6 -77.86 - - 3215.03 - - - - - - - - - 15.83 -
579.26 67.01 -9.95 84 597.10 roll -1.18 - - 2228.12 - 2.72 0.020 2187.12 -428.1 -77.86 - - 3215.53 - - - - - - - - - 15.85 -
782.93 86.10 -9.20 122 801.59 roll -1.18 - - 2228.06 - 2.81 0.067 1141.62 -372.1 -77.86 - - 3214.66 - - - - - - - - - 15.82 -
957.75 101.59 -8.63 154 974.86 roll -1.18 - - 2228.38 - 2.74 0.026 2281.00 415.8 -77.86 - - 3215.56 - - - - - - - - - 15.91 -
1280.64 127.57 -7.42 186 1298.96 roll -1.18 - - 2228.50 - 3.05 0.063 1144.06 -372.8 -77.86 - - 3214.75 - - - - - - - - - 15.90 -
1319.38 130.61 -7.74 191 1337.22 done -1.18 - - 2228.00 - 2.74 0.026 2278.31 414.0 -77.86 - - 3215.81 - - - - - - - - - 15.97 -
1643.01 153.24 -7.65 223 1647.42 no move -1.18 - - 2228.31 - - - 2278.38 - -77.86 - - 3214.69 - - - - - - - - - - -
1953.23 179.64 -8.65 254 1971.87 roll -1.18 - - 2225.94 - 3.04 0.064 1143.56 -373.3 -77.86 - - 3216.47 - - - - - - - - - 15.90 -
2018.18 185.48 -9.05 264 2035.51 roll -1.18 - - 2227.62 - 2.76 0.026 2277.12 410.7 -77.86 - - 3217.25 - - - - - - - - - 15.94 -
2341.33 210.07 -7.30 296 2359.88 roll -1.18 - - 2227.12 - 3.06 0.087 3352.81 351.5 -77.86 - - 3216.38 - - - - - - - - - 15.96 -
2390.36 214.07 -8.08 303 2408.01 roll -1.18 - - 2228.31 - 2.68 0.021 2189.31 -434.1 -77.86 - - 3215.12 - - - - - - - - - 16.00 -
2713.84 237.83 -7.19 335 2734.59 roll -1.18 - - 2228.12 - 3.29 0.082 3353.12 353.7 -77.86 - - 3214.38 - - - - - - - - - 15.94 -
2760.04 241.44 -7.65 341 2777.70 roll -1.18 - - 2228.25 - 2.70 0.021 2191.12 -430.4 -77.86 - - 3214.66 - - - - - - - - - 16.02 -
3083.53 261.17 -5.97 373 3087.59 no move -1.18 - - 2228.31 - - - 2189.69 - -77.86 - - 3213.41 - - - - - - - - - - -
3393.58 279.61 -6.44 404 3412.92 roll -1.18 - - 2226.06 - 3.24 0.083 3354.12 359.4 -77.86 - - 3214.88 - - - - - - - - - 16.02 -
3429.12 282.16 -7.31 408 3446.44 roll -1.18 - - 2228.75 - 2.70 0.021 2190.81 -430.9 -77.86 - - 3214.28 - - - - - - - - - 16.02 -
3752.29 305.06 -7.32 440 3770.26 roll -1.18 - - 2227.56 - 2.81 0.071 1142.50 -373.1 -77.86 - - 3214.00 - - - - - - - - - 16.04 -
3800.84 308.99 -7.76 447 3819.29 roll -1.18 - - 2228.31 - 2.76 0.027 2279.50 412.0 -77.86 - - 3214.12 - - - - - - - - - 16.05 -
4125.10 334.52 -8.04 479 4129.16 no move -1.18 - - 2228.69 - - - 2279.56 - -77.86 - - 3212.47 - - - - - - - - - - -
4435.16 359.88 -8.03 510 4439.22 no move -1.18 - - 2228.19 - - - 2279.75 - -77.86 - - 3211.59 - - - - - - - - - - -
4745.20 383.86 -7.75 541 4749.26 no move -1.18 - - 2228.31 - - - 2279.88 - -77.86 - - 3211.19 - - - - - - - - - - -
5055.27 406.91 -7.87 572 5073.83 roll -1.18 - - 2227.69 - 3.07 0.067 1143.19 -370.3 -77.86 - - 3210.84 - - - - - - - - - 16.00 -
5100.01 410.44 -8.14 578 5117.34 roll -1.18 - - 2228.31 - 2.76 0.027 2278.69 411.4 -77.86 - - 3211.34 - - - - - - - - - 16.06 -
5423.16 435.35 -7.63 610 5441.69 roll -1.18 - - 2228.19 - 3.08 0.088 3351.81 348.4 -77.86 - - 3211.25 - - - - - - - - - 15.97 -
5467.89 438.98 -8.05 616 5485.62 roll -1.18 - - 2227.88 - 2.71 0.021 2193.00 -427.6 -77.86 - - 3211.47 - - - - - - - - - 15.98 -
5791.48 461.29 -6.73 648 5809.85 roll -1.18 - - 2228.56 - 2.82 0.071 1143.75 -372.1 -77.86 - - 3210.41 - - - - - - - - - 16.04 -
5836.36 464.30 -6.70 654 5853.70 roll -1.18 - - 2228.38 - 2.74 0.027 2279.44 414.5 -77.86 - - 3210.12 - - - - - - - - - 16.06 -
6159.52 486.03 -6.63 686 6178.07 roll -1.18 - - 2228.06 - 3.05 0.088 3351.62 351.5 -77.86 - - 3210.78 - - - - - - - - - 16.03 -
6228.54 490.98 -7.04 697 6246.61 roll -1.18 - - 2228.19 - 2.70 0.021 2192.38 -429.3 -77.86 - - 3209.94 - - - - - - - - - 15.96 -
6552.47 511.87 -6.54 729 6570.20 roll -1.18 - - 2226.00 - 2.82 0.071 1142.75 -372.2 -77.86 - - 3210.72 - - - - - - - - - 16.05 -
6626.39 517.20 -7.59 741 6643.73 roll -1.18 - - 2226.50 - 2.76 0.027 2278.25 411.4 -77.86 - - 3210.31 - - - - - - - - - 16.05 -
6949.57 540.78 -7.27 773 6968.14 roll -1.18 - - 2227.94 - 3.06 0.067 1144.31 -370.6 -77.86 - - 3207.50 - - - - - - - - - 16.05 -
7014.33 545.47 -7.88 783 7032.10 roll -1.18 - - 2226.38 - 2.76 0.027 2276.62 410.3 -77.86 - - 3210.03 - - - - - - - - - 16.05 -
7337.92 569.53 -7.31 815 7341.98 no move -1.18 - - 2227.88 - - - 2277.88 - -77.86 - - 3207.59 - - - - - - - - - - -
7648.00 590.87 -6.76 846 7666.80 roll -1.18 - - 2227.94 - 3.05 0.067 1144.00 -371.8 -77.86 - - 3206.38 - - - - - - - - - 16.04 -
7713.11 595.24 -6.37 856 7730.45 roll -1.18 - - 2227.75 - 2.77 0.027 2276.38 408.8 -77.86 - - 3208.91 - - - - - - - - - 16.05 -
8036.28 616.72 -6.81 888 8040.34 no move -1.18 - - 2228.56 - - - 2276.81 - -77.86 - - 3207.19 - - - - - - - - - - -
8346.34 637.55 -6.36 919 8364.97 roll -1.18 - - 2227.94 - 3.05 0.090 3352.69 352.7 -77.86 - - 3208.66 - - - - - - - - - 16.01 -
8435.45 643.74 -7.17 934 8453.51 roll -1.18 - - 2228.12 - 2.70 0.022 2191.31 -430.1 -77.86 - - 3207.62 - - - - - - - - - 16.04 -
8759.34 664.72 -6.93 966 8780.09 roll -1.18 - - 2228.00 - 3.28 0.086 3353.31 354.3 -77.86 - - 3205.09 - - - - - - - - - 16.02 -
8851.29 671.33 -7.00 981 8869.23 roll -1.18 - - 2227.31 - 2.71 0.022 2194.50 -427.6 -77.86 - - 3206.16 - - - - - - - - - 16.04 -
9175.08 690.16 -5.33 1013 9192.82 roll -1.18 - - 2227.88 - 2.84 0.073 1143.62 -370.0 -77.86 - - 3205.06 - - - - - - - - - 16.04 -
9229.02 693.37 -5.55 1021 9246.65 roll -1.18 - - 2227.81 - 2.75 0.028 2278.19 412.6 -77.86 - - 3205.44 - - - - - - - - - 16.04 -
9552.67 711.83 -5.88 1053 9556.73 no move -1.18 - - 2227.44 - - - 2278.75 - -77.86 - - 3204.88 - - - - - - - - - - -
9752 end dive: TARGET_DEPTH_EXCEEDED
9753 begin apogee
9757.25 725.05 -6.78 1073 9857.26 -0.31 1.54 0.137 2440.44 138.3 0.19 0.138 2285.75 36.8 - 60.51 2.146 2889.78 -5.2 0.289 - - - - - - 15.94 15.66 11.58
9863 end apogee: CONTROL_FINISHED_OK
9863 begin climb
9865.59 727.11 - 1080 9986.89 1.18 2.55 0.097 2805.38 143.1 3.20 0.096 3350.44 332.7 77.86 63.21 2.079 2571.12 -5.0 0.290 - - - - - - 15.73 15.43 12.41
9993.35 722.85 5.08 1093 10013.45 roll back 1.36 0.26 0.075 2856.12 195.2 2.81 0.022 2198.62 -409.9 77.86 - - 2569.62 - - - - - - - - 15.61 15.65 -
10319.79 701.65 7.04 1125 10323.85 VBD 1.42 - - 2856.38 - - - 2196.88 - 77.86 - - 2563.31 - - - - - - - - - - -
10630.07 678.23 7.46 1156 10648.45 done 1.46 - - 2857.19 - 2.91 0.076 1144.94 -361.5 77.86 - - 2562.25 - - - - - - - - - 15.93 -
10709.03 671.81 7.95 1169 10727.09 done 1.46 - - 2856.00 - 2.80 0.030 2274.56 403.4 77.86 - - 2563.69 - - - - - - - - - 15.94 -
11033.34 649.37 6.94 1201 11038.31 1.52 0.17 0.087 2896.75 239.7 - - 2273.94 - 77.86 - - 2560.66 - - - - - - - - 15.94 - -
11344.67 625.74 7.53 1232 11363.24 done 1.55 - - 2897.69 - 3.09 0.093 3351.31 348.7 77.86 - - 2559.50 - - - - - - - - - 15.98 -
11429.45 619.10 7.79 1246 11446.38 done 1.55 - - 2898.06 - 2.69 0.023 2200.00 -428.0 77.86 - - 2562.19 - - - - - - - - - 16.01 -
11752.63 597.01 6.42 1278 11773.40 done 1.65 - - 2897.38 - 3.28 0.090 3351.19 351.0 77.86 - - 2561.50 - - - - - - - - - 15.99 -
11838.87 590.22 7.74 1292 11856.93 done 1.65 - - 2898.50 - 2.71 0.023 2199.69 -424.9 77.86 - - 2561.06 - - - - - - - - - 16.01 -
12163.12 568.75 6.76 1324 12182.51 1.73 0.23 0.077 2945.75 205.4 2.87 0.076 1145.44 -367.3 77.86 - - 2558.66 - - - - - - - - 15.98 15.96 -
12222.96 564.05 8.13 1333 12241.04 done 1.73 - - 2946.06 - 2.77 0.031 2276.75 408.4 77.86 - - 2561.28 - - - - - - - - - 16.03 -
12547.67 541.36 6.18 1365 12566.23 done 1.84 - - 2945.94 - 3.06 0.072 1144.69 -370.0 77.86 - - 2557.97 - - - - - - - - - 16.03 -
12692.84 532.59 6.07 1391 12711.82 1.96 0.27 0.071 3005.44 220.4 2.79 0.031 2275.69 405.4 77.86 - - 2560.16 - - - - - - - - 15.85 16.01 -
13018.05 512.76 6.63 1423 13022.11 VBD 2.05 - - 3005.56 - - - 2275.56 - 77.86 - - 2558.38 - - - - - - - - - - -
13328.34 491.81 7.05 1454 13346.90 done 2.11 - - 3005.94 - 3.03 0.071 1144.50 -373.3 77.86 - - 2557.12 - - - - - - - - - 16.04 -
13577.83 473.57 7.18 1501 13595.89 2.16 - - 3004.69 - 2.78 0.031 2276.62 407.2 77.86 - - 2559.66 - - - - - - - - - 16.04 -
13902.12 452.36 6.72 1533 13920.70 2.24 - - 3006.19 - 3.08 0.093 3352.94 349.5 77.86 - - 2557.47 - - - - - - - - - 15.95 -
13951.58 448.76 6.79 1540 13970.04 2.31 - - 3005.38 - 2.70 0.023 2198.88 -427.4 77.86 - - 2558.19 - - - - - - - - - 16.04 -
14276.50 426.10 6.93 1572 14294.26 2.38 - - 3005.75 - 2.87 0.074 1142.44 -368.1 77.86 - - 2556.94 - - - - - - - - - 16.03 -
14461.00 413.24 6.68 1606 14478.34 2.46 - - 3005.19 - 2.79 0.030 2276.44 406.5 77.86 - - 2558.41 - - - - - - - - - 16.03 -
14784.59 392.57 6.38 1638 14803.15 2.56 - - 3006.00 - 3.08 0.070 1144.44 -367.5 77.86 - - 2558.16 - - - - - - - - - 15.96 -
14999.80 378.88 6.07 1678 15017.15 2.68 - - 3005.38 - 2.80 0.030 2277.06 404.5 77.86 - - 2558.97 - - - - - - - - - 16.03 -
15323.41 360.98 5.24 1710 15342.00 2.85 - - 3005.38 - 3.10 0.092 3353.62 347.3 77.86 - - 2558.31 - - - - - - - - - 15.97 -
15468.62 352.96 5.59 1736 15485.96 3.00 - - 3004.69 - 2.70 0.022 2197.31 -428.3 77.86 - - 2558.53 - - - - - - - - - 16.04 -
15792.15 338.33 4.36 1768 15894.96 3.15 - - 3005.75 - 2.88 0.077 1144.12 -365.7 154.14 59.39 1.678 2262.34 -5.0 0.165 - - - - - - - 15.74 11.66
15915.55 330.03 8.72 1785 15934.03 roll back 3.15 - - 3005.62 - 2.81 0.030 2275.94 402.8 154.14 - - 2257.56 - - - - - - - - - 15.83 -
16239.99 298.82 9.56 1817 16244.07 3.15 - - 3006.19 - - - 2275.56 - 154.14 - - 2251.47 - - - - - - - - - - -
16550.04 266.87 10.66 1848 16568.60 3.15 - - 3006.44 - 3.10 0.071 1144.19 -365.0 154.14 - - 2251.06 - - - - - - - - - 15.95 -
16584.78 263.09 10.92 1852 16602.93 3.15 - - 3005.62 - 2.81 0.030 2275.56 402.6 154.14 - - 2250.12 - - - - - - - - - 15.88 -
16908.74 228.18 10.81 1884 16912.81 3.15 - - 3005.25 - - - 2276.00 - 154.14 - - 2249.06 - - - - - - - - - - -
17218.76 195.95 10.62 1915 17237.33 3.15 - - 3005.56 - 3.08 0.071 1144.06 -367.5 154.14 - - 2249.97 - - - - - - - - - 15.98 -
17313.52 185.85 10.59 1931 17331.67 3.15 - - 3005.88 - 2.82 0.030 2275.19 401.1 154.14 - - 2250.12 - - - - - - - - - 15.98 -
17637.49 153.24 9.83 1963 17656.30 3.15 - - 3004.31 - 3.09 0.070 1145.00 -365.8 154.14 - - 2249.12 - - - - - - - - - 15.94 -
17676.89 149.21 10.13 1968 17695.78 3.15 - - 3005.62 - 2.81 0.029 2274.88 402.1 154.14 - - 2250.50 - - - - - - - - - 15.99 -
18001.61 118.88 9.59 2000 18020.17 3.15 - - 3006.12 - 3.07 0.069 1144.06 -368.3 154.14 - - 2248.62 - - - - - - - - - 15.87 -
18100.66 109.14 9.66 2017 18119.14 3.15 - - 3005.75 - 2.80 0.029 2275.81 404.2 154.14 - - 2247.97 - - - - - - - - - 15.99 -
18425.42 84.11 7.44 2070 18444.71 3.19 - - 3006.12 - 3.07 0.068 1142.69 -369.1 154.14 - - 2248.66 - - - - - - - - - 15.91 -
18676.37 66.82 6.37 2117 18694.92 3.29 - - 3005.88 - 2.79 0.029 2277.12 406.6 154.14 - - 2247.91 - - - - - - - - - 15.97 -
18881.14 53.85 5.68 2155 18900.44 3.43 - - 3005.81 - 3.05 0.067 1142.81 -371.9 154.14 - - 2247.78 - - - - - - - - - 15.87 -
19132.08 41.72 3.65 2202 19248.46 3.61 - - 3006.69 - 2.79 0.028 2275.69 406.1 245.01 68.47 1.264 1890.16 -5.2 0.028 - - - - - - - 15.93 11.93
19434.81 23.57 5.64 2254 19454.49 3.75 - - 3006.44 - 3.09 0.068 1145.25 -365.8 245.01 - - 1881.47 - - - - - - - - - 15.74 -
19611.24 12.87 6.44 2286 19629.32 3.85 - - 3005.88 - 2.79 0.028 2279.56 406.6 245.01 - - 1878.91 - - - - - - - - - 15.83 -
19815.69 9.69 0.50 2324 20003.10 4.16 - - 3006.44 - 3.16 0.091 3352.44 339.5 401.08 118.18 1.192 1254.81 -5.3 0.007 - - - - - - - 15.55 12.14
20010 end climb: SURFACE_DEPTH_REACHED
20011 begin surface coast
20071 end surface coast: CONTROL_FINISHED_OK
20072 begin surface
SM 1.19 - - - - 181.8 22.39 1.120 1136.6 45.5 19.03 0.052 1137.8 59.8 - 2.78 0.028 1135.4 407.3 -1.769 - - 12.17 15.73 15.76 -