NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 171 * Raw log
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• Previous call tries 1 • 59.83 of 506.00 AH used of 24V (88.18% remains)
• Surface angle -66.7 deg, depth 1.15 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.87 (SM_CC=430)
• GPS1 time: 26 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 - - - 97.12 VBD -1.18 - - 180.62 - - - 2288.69 - -77.86 54.88 0.005 2493.56 - - - - - - - - - - 15.53
99.33 3.13 -4.22 11 219.10 -1.18 16.66 0.228 2228.06 122.9 3.12 0.089 3351.56 340.7 -77.86 12.75 0.007 3211.41 56.3 -4.122 - - - - - - 15.62 15.48 15.58
225.13 25.90 -11.83 19 242.56 roll -1.18 - - 2227.62 - 2.78 0.021 2196.56 -415.5 -77.86 - - 3212.00 - - - - - - - - - 15.87 -
428.31 47.95 -11.71 57 446.95 roll -1.18 - - 2227.75 - 2.95 0.069 1145.19 -356.4 -77.86 - - 3212.84 - - - - - - - - - 15.82 -
493.23 54.81 -10.36 67 511.85 roll -1.18 - - 2227.81 - 2.81 0.027 2276.62 402.6 -77.86 - - 3214.44 - - - - - - - - - 15.83 -
697.66 72.70 -8.22 105 717.11 roll -1.18 - - 2228.12 - 3.12 0.085 3351.81 344.6 -77.86 - - 3215.12 - - - - - - - - - 15.87 -
948.30 94.90 -8.15 152 966.55 roll -1.18 - - 2228.25 - 2.77 0.020 2194.44 -417.8 -77.86 - - 3213.47 - - - - - - - - - 15.86 -
1157.33 109.20 -7.29 178 1178.24 roll -1.18 - - 2227.50 - 3.35 0.080 3354.31 346.2 -77.86 - - 3212.25 - - - - - - - - - 15.93 -
1313.67 123.51 -9.35 206 1331.90 roll -1.18 - - 2227.56 - 2.79 0.020 2194.62 -415.7 -77.86 - - 3213.97 - - - - - - - - - 15.92 -
1637.71 147.74 -6.29 238 1658.64 roll -1.18 - - 2227.69 - 3.34 0.080 3352.81 346.8 -77.86 - - 3213.69 - - - - - - - - - 15.92 -
1679.78 150.63 -6.71 243 1697.27 roll -1.18 - - 2227.62 - 2.78 0.020 2192.50 -417.4 -77.86 - - 3216.03 - - - - - - - - - 15.98 -
2003.24 170.71 -6.52 275 2020.98 roll -1.18 - - 2228.44 - 2.89 0.069 1142.81 -363.2 -77.86 - - 3216.12 - - - - - - - - - 15.95 -
2087.18 177.00 -7.72 289 2104.53 roll -1.18 - - 2228.00 - 2.80 0.026 2279.75 406.1 -77.86 - - 3215.53 - - - - - - - - - 16.01 -
2410.35 200.12 -6.97 321 2414.41 no move -1.18 - - 2227.75 - - - 2279.50 - -77.86 - - 3214.19 - - - - - - - - - - -
2720.38 221.95 -7.15 352 2724.44 no move -1.18 - - 2228.25 - - - 2279.38 - -77.86 - - 3213.59 - - - - - - - - - - -
3030.41 244.84 -7.46 383 3049.36 roll -1.18 - - 2226.75 - 3.14 0.066 1144.25 -361.5 -77.86 - - 3215.59 - - - - - - - - - 16.03 -
3095.57 250.04 -8.06 393 3112.91 roll -1.18 - - 2228.38 - 2.80 0.026 2276.69 404.4 -77.86 - - 3216.22 - - - - - - - - - 16.01 -
3418.77 274.56 -7.55 425 3422.83 no move -1.18 - - 2227.94 - - - 2276.62 - -77.86 - - 3213.81 - - - - - - - - - - -
3728.82 298.54 -8.10 456 3747.78 roll -1.18 - - 2228.06 - 3.13 0.066 1146.19 -361.2 -77.86 - - 3213.44 - - - - - - - - - 16.04 -
3783.98 303.37 -8.92 464 3801.32 roll -1.18 - - 2227.69 - 2.78 0.027 2276.75 406.7 -77.86 - - 3215.72 - - - - - - - - - 16.06 -
4107.29 331.18 -8.65 496 4111.35 no move -1.18 - - 2227.38 - - - 2277.06 - -77.86 - - 3213.47 - - - - - - - - - - -
4417.32 357.17 -8.34 527 4436.28 roll -1.18 - - 2228.00 - 3.12 0.087 3352.75 344.8 -77.86 - - 3215.56 - - - - - - - - - 15.98 -
4472.48 362.06 -8.97 535 4490.22 roll -1.18 - - 2227.62 - 2.75 0.021 2193.81 -421.4 -77.86 - - 3212.88 - - - - - - - - - 16.05 -
4796.07 387.38 -7.44 567 4800.13 no move -1.18 - - 2227.56 - - - 2191.25 - -77.86 - - 3212.53 - - - - - - - - - - -
5106.13 410.08 -7.07 598 5110.19 no move -1.18 - - 2228.38 - - - 2190.88 - -77.86 - - 3211.28 - - - - - - - - - - -
5416.19 430.77 -6.60 629 5437.35 roll -1.18 - - 2228.06 - 3.36 0.084 3353.44 346.0 -77.86 - - 3210.94 - - - - - - - - - 16.00 -
5462.82 434.45 -7.55 635 5480.89 roll -1.18 - - 2227.88 - 2.77 0.021 2196.25 -417.8 -77.86 - - 3212.28 - - - - - - - - - 16.06 -
5786.74 456.44 -6.77 667 5790.80 no move -1.18 - - 2227.75 - - - 2194.62 - -77.86 - - 3211.59 - - - - - - - - - - -
6096.80 476.62 -6.14 698 6117.95 roll -1.18 - - 2226.00 - 3.37 0.084 3349.25 342.6 -77.86 - - 3211.97 - - - - - - - - - 15.96 -
6139.13 479.67 -6.89 703 6156.71 roll -1.18 - - 2226.69 - 2.75 0.021 2194.44 -419.9 -77.86 - - 3212.41 - - - - - - - - - 16.06 -
6462.67 499.78 -6.22 735 6466.73 no move -1.18 - - 2227.81 - - - 2193.25 - -77.86 - - 3210.28 - - - - - - - - - - -
6772.73 518.74 -6.25 766 6793.90 roll -1.18 - - 2227.81 - 3.35 0.084 3351.38 345.7 -77.86 - - 3209.53 - - - - - - - - - 16.02 -
6809.36 521.17 -6.15 770 6827.42 roll -1.18 - - 2228.19 - 2.75 0.021 2196.75 -419.9 -77.86 - - 3211.03 - - - - - - - - - 16.05 -
7133.27 541.37 -6.24 802 7154.43 roll -1.18 - - 2228.00 - 3.33 0.084 3352.69 347.1 -77.86 - - 3208.19 - - - - - - - - - 16.03 -
7165.62 543.79 -6.92 805 7182.97 roll -1.18 - - 2226.81 - 2.73 0.021 2196.44 -423.5 -77.86 - - 3210.56 - - - - - - - - - 16.06 -
7488.82 567.92 -8.27 837 7492.88 no move -1.18 - - 2227.88 - - - 2195.00 - -77.86 - - 3208.66 - - - - - - - - - - -
7798.88 593.61 -8.30 868 7820.04 roll -1.18 - - 2228.19 - 3.35 0.085 3354.31 346.1 -77.86 - - 3209.84 - - - - - - - - - 16.02 -
7915.52 604.09 -8.83 888 7933.97 roll -1.18 - - 2226.50 - 2.77 0.021 2198.31 -417.3 -77.86 - - 3209.94 - - - - - - - - - 16.05 -
8239.82 628.03 -6.92 920 8257.99 roll -1.18 - - 2225.75 - 2.90 0.073 1144.06 -363.5 -77.86 - - 3209.59 - - - - - - - - - 16.05 -
8318.57 633.91 -7.35 933 8337.03 roll -1.18 - - 2228.75 - 2.80 0.027 2277.94 405.0 -77.86 - - 3208.81 - - - - - - - - - 15.98 -
8532 end dive: TARGET_DEPTH_EXCEEDED
8532 begin apogee
8537.41 648.11 -6.45 954 8637.43 -0.31 1.53 0.135 2440.88 138.6 0.20 0.130 2286.50 42.8 - 60.25 2.039 2889.62 -5.3 0.276 - - - - - - 15.96 15.68 11.61
8642 end apogee: CONTROL_FINISHED_OK
8643 begin climb
8645.59 650.26 - 961 8748.86 1.18 2.49 0.095 2805.75 146.5 - - 2286.62 - 77.86 62.51 1.979 2570.78 -5.1 0.274 - - - - - - 15.75 - 12.47
9055.23 629.54 6.01 999 9077.23 1.30 0.17 0.091 2843.38 221.4 3.23 0.072 1145.06 -353.4 77.86 - - 2564.34 - - - - - - - - 15.80 15.78 -
9208.84 618.81 7.11 1026 9226.82 done 1.36 - - 2843.44 - 2.85 0.030 2275.00 396.5 77.86 - - 2564.16 - - - - - - - - - 15.90 -
9533.18 597.17 6.31 1058 9554.79 1.47 0.16 0.088 2884.12 254.2 3.15 0.071 1145.25 -358.7 77.86 - - 2561.19 - - - - - - - - 15.92 15.91 -
9616.41 591.27 7.52 1071 9634.15 done 1.50 - - 2884.31 - 2.86 0.030 2276.56 395.6 77.86 - - 2561.12 - - - - - - - - - 15.96 -
9940.40 571.08 6.33 1103 9944.46 VBD 1.60 - - 2883.62 - - - 2276.62 - 77.86 - - 2560.94 - - - - - - - - - - -
10250.71 552.37 6.13 1134 10272.72 1.72 0.29 0.065 2944.56 210.1 3.17 0.092 3350.00 338.6 77.86 - - 2563.09 - - - - - - - - 15.98 15.95 -
10368.21 543.14 8.20 1154 10386.68 done 1.72 - - 2945.12 - 2.77 0.022 2200.75 -414.9 77.86 - - 2563.41 - - - - - - - - - 16.02 -
10692.53 519.64 7.85 1186 10710.68 done 1.72 - - 2944.06 - 2.97 0.075 1146.31 -355.0 77.86 - - 2560.66 - - - - - - - - - 15.93 -
10906.94 500.93 8.74 1226 10924.69 done 1.72 - - 2944.75 - 2.81 0.030 2276.00 402.0 77.86 - - 2560.88 - - - - - - - - - 16.05 -
11231.05 476.65 6.94 1258 11250.01 done 1.78 - - 2945.81 - 3.14 0.092 3352.81 342.9 77.86 - - 2560.44 - - - - - - - - - 15.92 -
11330.60 468.63 7.95 1275 11349.05 done 1.78 - - 2944.81 - 2.76 0.022 2200.94 -417.3 77.86 - - 2560.31 - - - - - - - - - 16.04 -
11655.31 446.05 6.55 1307 11659.37 VBD 1.87 - - 2944.31 - - - 2198.50 - 77.86 - - 2559.00 - - - - - - - - - - -
11965.62 426.27 6.41 1338 11971.00 1.97 0.29 0.068 3007.88 219.2 - - 2198.38 - 77.86 - - 2560.81 - - - - - - - - 16.01 - -
12277.24 405.75 6.31 1369 12295.40 done 2.07 - - 3006.50 - 2.95 0.075 1145.00 -357.1 77.86 - - 2558.69 - - - - - - - - - 16.03 -
12466.32 393.27 6.25 1404 12484.81 2.18 - - 3007.69 - 2.82 0.030 2276.19 401.1 77.86 - - 2559.00 - - - - - - - - - 16.05 -
12791.06 375.23 5.41 1436 12810.05 2.34 - - 3006.19 - 3.18 0.070 1144.81 -355.8 77.86 - - 2559.62 - - - - - - - - - 15.93 -
12890.95 369.70 5.58 1453 12909.44 2.49 - - 3007.44 - 2.81 0.030 2276.06 402.6 77.86 - - 2559.50 - - - - - - - - - 16.05 -
13215.68 352.73 5.08 1485 13234.66 2.67 - - 3006.06 - 3.14 0.091 3353.31 343.1 77.86 - - 2559.41 - - - - - - - - - 15.94 -
13271.38 349.58 5.69 1493 13288.72 2.81 - - 3007.31 - 2.75 0.022 2199.94 -419.4 77.86 - - 2560.78 - - - - - - - - - 16.04 -
13594.98 331.68 5.96 1525 13613.16 2.93 - - 3007.38 - 2.93 0.075 1143.81 -360.5 77.86 - - 2557.88 - - - - - - - - - 15.95 -
13749.77 321.81 6.37 1553 13767.53 3.03 - - 3007.44 - 2.81 0.030 2276.56 403.1 77.86 - - 2560.44 - - - - - - - - - 16.05 -
14073.75 302.22 6.06 1585 14092.74 3.15 - - 3005.81 - 3.17 0.070 1144.81 -357.0 77.86 - - 2557.62 - - - - - - - - - 16.02 -
14173.63 295.68 6.70 1602 14192.52 3.23 - - 3007.75 - 2.84 0.030 2276.00 398.3 77.86 - - 2558.19 - - - - - - - - - 16.03 -
14498.74 278.84 4.20 1634 14604.99 3.39 - - 3006.12 - 3.22 0.073 1146.25 -350.9 157.41 61.35 1.596 2246.75 -5.1 0.145 - - - - - - - 15.75 11.72
14616.37 271.30 8.37 1649 14634.14 roll back 3.39 - - 3008.31 - 2.87 0.030 2272.81 392.5 157.41 - - 2242.66 - - - - - - - - - 15.83 -
14940.10 243.84 8.96 1681 14959.09 3.39 - - 3007.94 - 3.17 0.071 1146.56 -355.3 157.41 - - 2236.78 - - - - - - - - - 15.90 -
15025.30 235.36 10.32 1695 15043.06 3.39 - - 3007.19 - 2.85 0.030 2273.50 395.4 157.41 - - 2236.94 - - - - - - - - - 15.85 -
15348.91 204.53 10.04 1727 15353.00 3.39 - - 3007.56 - - - 2273.88 - 157.41 - - 2235.78 - - - - - - - - - - -
15658.95 172.40 10.59 1758 15677.93 3.39 - - 3008.06 - 3.17 0.071 1145.19 -356.1 157.41 - - 2235.38 - - - - - - - - - 15.94 -
15724.14 164.98 11.43 1768 15741.91 3.39 - - 3007.38 - 2.85 0.030 2274.81 396.4 157.41 - - 2233.97 - - - - - - - - - 15.87 -
16047.75 130.67 9.65 1800 16051.83 3.39 - - 3007.94 - - - 2274.94 - 157.41 - - 2234.50 - - - - - - - - - - -
16357.80 100.75 9.71 1831 16377.02 3.39 - - 3007.69 - 3.17 0.070 1144.00 -356.8 157.41 - - 2234.19 - - - - - - - - - 15.95 -
16463.75 93.01 6.54 1849 16482.25 3.48 - - 3008.06 - 2.86 0.029 2274.56 395.3 157.41 - - 2234.72 - - - - - - - - - 15.98 -
16668.49 79.95 6.76 1887 16675.12 3.56 - - 3007.75 - - - 2274.81 - 157.41 - - 2234.78 - - - - - - - - - - -
16861.38 67.13 5.03 1925 16951.05 3.69 - - 3008.19 - 3.20 0.092 3351.25 336.4 219.85 47.58 1.299 1992.47 -5.1 0.043 - - - - - - - 15.79 11.98
16957.65 61.63 7.01 1937 16976.14 roll back 3.75 - - 3007.81 - 2.82 0.021 2197.50 -409.1 219.85 - - 1989.44 - - - - - - - - - 15.86 -
17162.40 47.06 6.96 1975 17182.93 3.81 - - 3007.50 - 3.40 0.086 3351.56 339.4 219.85 - - 1985.94 - - - - - - - - - 15.81 -
17219.14 42.29 8.22 1983 17238.01 3.81 - - 3007.19 - 2.81 0.021 2200.19 -409.7 219.85 - - 1985.94 - - - - - - - - - 15.80 -
17424.28 29.83 4.39 2021 17527.42 3.97 - - 3007.44 - 3.03 0.076 1146.44 -347.8 295.41 57.99 1.234 1685.03 -5.2 0.021 - - - - - - - 15.70 12.15
17549.14 24.30 6.21 2038 17568.02 roll back 4.08 - - 3008.12 - 2.85 0.028 2274.56 395.8 295.41 - - 1680.31 - - - - - - - - - 15.74 -
17754.40 9.50 5.77 2076 17774.60 4.08 - - 3007.50 - 3.23 0.070 1145.25 -349.6 295.41 - - 1675.94 - - - - - - - - - 15.76 -
17955 end climb: SURFACE_DEPTH_REACHED
17956 begin surface coast
18151 end surface coast: CONTROL_FINISHED_OK
18152 begin surface
SM 1.16 - - - - 183.2 100.47 1.200 1137.6 11.3 18.91 0.059 1110.4 58.7 - 2.79 0.026 1164.8 416.3 -1.898 - - 12.09 15.84 15.94 -