NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 249 * Raw log
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• Previous call tries 1 • 88.72 of 506.00 AH used of 24V (82.47% remains)
• Surface angle -63.8 deg, depth 1.10 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.11 (SM_CC=430)
• GPS1 time: 30 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
18.80 - - - 132.26 VBD -1.18 - - 181.94 - - - 2292.25 - -77.86 80.35 0.005 2626.56 - - - - - - - - - - 15.35
134.48 3.49 -3.21 16 236.40 -1.18 16.99 0.226 2228.06 120.4 - - 2292.19 - -77.86 8.62 0.007 3209.28 67.6 -5.575 - - - - - - 15.53 - 15.43
422.58 47.33 -9.05 59 441.62 roll -1.18 - - 2227.62 - 3.09 0.082 3352.94 343.3 -77.86 - - 3214.00 - - - - - - - - - 15.76 -
447.89 49.92 -9.99 61 465.74 roll -1.18 - - 2227.56 - 2.80 0.019 2188.25 -416.0 -77.86 - - 3211.78 - - - - - - - - - 15.77 -
651.55 66.29 -7.22 99 670.61 roll -1.18 - - 2228.00 - 2.92 0.066 1143.38 -357.8 -77.86 - - 3212.38 - - - - - - - - - 15.77 -
746.76 73.19 -7.36 115 765.01 roll -1.18 - - 2227.31 - 2.78 0.024 2278.19 408.2 -77.86 - - 3213.28 - - - - - - - - - 15.87 -
950.79 87.40 -7.21 153 969.83 roll -1.18 - - 2227.50 - 3.08 0.081 3352.44 348.8 -77.86 - - 3213.72 - - - - - - - - - 15.76 -
1096.01 99.08 -8.15 179 1114.25 roll -1.18 - - 2227.31 - 2.80 0.019 2189.00 -415.5 -77.86 - - 3215.41 - - - - - - - - - 15.91 -
1300.03 114.96 -7.89 199 1320.95 roll -1.18 - - 2227.69 - 3.32 0.077 3351.44 350.1 -77.86 - - 3212.97 - - - - - - - - - 15.84 -
1482.15 130.96 -8.57 232 1499.28 roll -1.18 - - 2228.00 - 2.77 0.019 2190.62 -419.1 -77.86 - - 3213.72 - - - - - - - - - 15.93 -
1805.11 152.44 -6.12 264 1809.17 no move -1.18 - - 2227.62 - - - 2189.00 - -77.86 - - 3212.94 - - - - - - - - - - -
2115.16 172.09 -6.75 295 2119.22 no move -1.18 - - 2227.62 - - - 2189.62 - -77.86 - - 3212.41 - - - - - - - - - - -
2425.21 194.92 -7.92 326 2446.38 roll -1.18 - - 2227.19 - 3.34 0.078 3352.50 348.2 -77.86 - - 3214.06 - - - - - - - - - 15.78 -
2507.59 201.96 -8.70 339 2525.32 roll -1.18 - - 2227.75 - 2.81 0.019 2192.94 -412.7 -77.86 - - 3213.62 - - - - - - - - - 15.94 -
2831.18 225.07 -6.86 371 2835.24 no move -1.18 - - 2227.56 - - - 2191.06 - -77.86 - - 3212.12 - - - - - - - - - - -
3141.23 247.64 -7.85 402 3162.39 roll -1.18 - - 2227.44 - 3.34 0.078 3353.88 348.1 -77.86 - - 3211.41 - - - - - - - - - 15.93 -
3187.87 251.75 -8.77 408 3206.33 roll -1.18 - - 2227.31 - 2.80 0.019 2194.88 -413.9 -77.86 - - 3214.00 - - - - - - - - - 15.95 -
3512.18 276.87 -7.76 440 3516.24 no move -1.18 - - 2227.56 - - - 2194.19 - -77.86 - - 3211.50 - - - - - - - - - - -
3822.23 298.78 -7.01 471 3840.38 roll -1.18 - - 2227.69 - 2.97 0.070 1144.81 -353.3 -77.86 - - 3210.56 - - - - - - - - - 15.95 -
3870.85 302.38 -7.41 478 3889.16 roll -1.18 - - 2227.62 - 2.78 0.025 2279.94 408.3 -77.86 - - 3210.53 - - - - - - - - - 15.99 -
4195.12 326.36 -7.91 510 4199.18 no move -1.18 - - 2227.69 - - - 2279.44 - -77.86 - - 3209.66 - - - - - - - - - - -
4505.18 351.61 -8.11 541 4509.24 no move -1.18 - - 2227.94 - - - 2279.69 - -77.86 - - 3208.59 - - - - - - - - - - -
4815.23 374.98 -7.22 572 4819.29 no move -1.18 - - 2226.81 - - - 2279.25 - -77.86 - - 3208.00 - - - - - - - - - - -
5125.28 397.58 -6.99 603 5129.34 no move -1.18 - - 2227.38 - - - 2279.31 - -77.86 - - 3207.97 - - - - - - - - - - -
5435.33 419.87 -6.99 634 5439.39 no move -1.18 - - 2228.12 - - - 2279.50 - -77.86 - - 3207.25 - - - - - - - - - - -
5745.39 440.93 -6.99 665 5749.45 no move -1.18 - - 2227.50 - - - 2279.44 - -77.86 - - 3206.78 - - - - - - - - - - -
6055.44 463.81 -7.25 696 6074.40 roll -1.18 - - 2227.25 - 3.14 0.084 3351.94 341.6 -77.86 - - 3207.50 - - - - - - - - - 15.76 -
6104.86 467.92 -7.78 703 6122.93 roll -1.18 - - 2226.94 - 2.80 0.020 2195.12 -413.2 -77.86 - - 3208.19 - - - - - - - - - 16.02 -
6428.74 491.54 -7.10 735 6446.91 roll -1.18 - - 2227.25 - 2.99 0.071 1143.38 -351.8 -77.86 - - 3207.25 - - - - - - - - - 15.89 -
6503.11 497.44 -7.94 747 6520.46 roll -1.18 - - 2226.94 - 2.78 0.026 2278.31 408.2 -77.86 - - 3206.78 - - - - - - - - - 16.01 -
6826.31 521.24 -7.35 779 6830.37 no move -1.18 - - 2227.06 - - - 2278.44 - -77.86 - - 3205.06 - - - - - - - - - - -
7136.37 542.74 -6.81 810 7155.33 roll -1.18 - - 2227.38 - 3.14 0.084 3350.38 341.4 -77.86 - - 3204.66 - - - - - - - - - 15.75 -
7201.54 547.84 -7.28 820 7218.89 roll -1.18 - - 2226.94 - 2.78 0.020 2193.94 -416.0 -77.86 - - 3206.31 - - - - - - - - - 16.02 -
7524.70 571.84 -7.46 852 7545.87 roll -1.18 - - 2227.25 - 3.37 0.082 3352.12 343.7 -77.86 - - 3204.62 - - - - - - - - - 15.89 -
7591.34 577.57 -8.20 862 7609.41 roll -1.18 - - 2227.81 - 2.78 0.020 2195.62 -416.0 -77.86 - - 3205.09 - - - - - - - - - 16.01 -
7915.26 599.45 -6.29 894 7919.32 no move -1.18 - - 2227.88 - - - 2194.25 - -77.86 - - 3203.69 - - - - - - - - - - -
8225.30 620.06 -6.98 925 8246.46 roll -1.18 - - 2227.12 - 3.38 0.082 3353.00 342.8 -77.86 - - 3203.03 - - - - - - - - - 15.88 -
8337.67 628.37 -7.19 944 8355.42 roll -1.18 - - 2226.44 - 2.83 0.020 2197.62 -408.3 -77.86 - - 3205.09 - - - - - - - - - 15.93 -
8661.27 647.30 -5.61 976 8679.67 roll -1.18 - - 2227.88 - 2.99 0.072 1144.56 -352.2 -77.86 - - 3203.03 - - - - - - - - - 15.91 -
8750.26 653.11 -6.82 991 8768.34 roll -1.18 - - 2227.25 - 2.79 0.026 2278.56 406.5 -77.86 - - 3205.25 - - - - - - - - - 16.00 -
9074.19 675.07 -7.07 1023 9093.56 roll -1.18 - - 2227.56 - 3.23 0.068 1145.19 -350.9 -77.86 - - 3202.78 - - - - - - - - - 15.90 -
9139.76 679.80 -7.20 1033 9157.50 roll -1.18 - - 2227.56 - 2.81 0.026 2277.00 402.8 -77.86 - - 3203.66 - - - - - - - - - 16.02 -
9463.36 698.45 -5.20 1065 9467.42 no move -1.18 - - 2227.44 - - - 2277.12 - -77.86 - - 3202.00 - - - - - - - - - - -
9633 end dive: TARGET_DEPTH_EXCEEDED
9634 begin apogee
9637.93 706.28 -4.19 1082 9737.54 -0.31 1.57 0.137 2440.50 135.7 0.19 0.133 2284.88 40.8 - 60.78 2.082 2889.16 -5.1 0.289 - - - - - - 15.80 15.62 11.00
9743 end apogee: CONTROL_FINISHED_OK
9743 begin climb
9745.86 707.74 - 1089 9854.19 1.18 2.55 0.092 2806.31 143.5 - - 2284.19 - 77.86 63.91 2.032 2574.22 -4.9 0.284 - - - - - - 15.68 - 12.28
10160.44 687.90 5.78 1131 10165.40 1.32 0.19 0.083 2848.31 221.1 - - 2285.12 - 77.86 - - 2563.12 - - - - - - - - 15.76 - -
10471.76 667.22 7.22 1162 10492.92 done 1.37 - - 2849.81 - 3.31 0.072 1145.81 -344.2 77.86 - - 2561.03 - - - - - - - - - 15.73 -
10688.90 651.03 7.19 1202 10707.37 done 1.42 - - 2849.56 - 2.84 0.030 2276.00 398.0 77.86 - - 2562.53 - - - - - - - - - 15.93 -
11013.73 626.68 7.31 1234 11034.49 done 1.46 - - 2848.88 - 3.27 0.071 1146.19 -345.5 77.86 - - 2562.59 - - - - - - - - - 15.81 -
11266.10 608.49 7.37 1281 11285.10 1.51 0.19 0.074 2894.00 237.5 2.84 0.030 2277.19 398.2 77.86 - - 2559.31 - - - - - - - - 15.82 15.97 -
11591.36 586.34 6.26 1313 11610.32 done 1.61 - - 2895.00 - 3.15 0.091 3352.31 341.3 77.86 - - 2561.88 - - - - - - - - - 15.88 -
11676.93 579.85 7.54 1327 11694.66 done 1.64 - - 2894.75 - 2.83 0.022 2201.69 -406.6 77.86 - - 2559.75 - - - - - - - - - 15.97 -
12000.91 559.81 5.66 1359 12022.90 1.79 0.35 0.061 2961.50 190.7 3.02 0.075 1146.31 -349.5 77.86 - - 2558.78 - - - - - - - - 15.92 15.88 -
12048.90 556.49 7.07 1365 12067.39 done 1.85 - - 2962.44 - 2.81 0.029 2276.31 402.1 77.86 - - 2559.78 - - - - - - - - - 15.99 -
12373.64 536.26 5.43 1397 12396.05 2.00 0.23 0.073 3015.81 232.0 3.23 0.071 1144.94 -350.3 77.86 - - 2558.38 - - - - - - - - 15.95 15.90 -
12477.88 529.44 6.94 1414 12496.03 done 2.07 - - 3016.88 - 2.83 0.030 2275.19 399.4 77.86 - - 2558.75 - - - - - - - - - 15.99 -
12802.29 508.54 6.25 1446 12806.36 2.18 - - 3016.50 - - - 2275.25 - 77.86 - - 2558.12 - - - - - - - - - - -
13112.59 487.23 7.45 1477 13131.96 2.21 - - 3016.38 - 3.22 0.070 1144.56 -351.1 77.86 - - 2556.69 - - - - - - - - - 15.75 -
13362.49 467.09 8.01 1524 13380.96 2.21 - - 3015.88 - 2.83 0.030 2275.06 399.5 77.86 - - 2559.22 - - - - - - - - - 15.94 -
13687.19 442.35 7.33 1556 13691.26 2.26 - - 3017.00 - - - 2274.81 - 77.86 - - 2557.06 - - - - - - - - - - -
13997.63 419.40 7.29 1587 14017.01 2.30 - - 3016.19 - 3.22 0.070 1145.75 -350.6 77.86 - - 2556.31 - - - - - - - - - 15.90 -
14093.63 412.23 7.40 1603 14111.40 2.34 - - 3017.00 - 2.84 0.029 2277.69 398.6 77.86 - - 2555.50 - - - - - - - - - 15.99 -
14417.65 389.01 7.22 1635 14437.02 2.39 - - 3016.19 - 3.23 0.069 1146.50 -350.2 77.86 - - 2556.19 - - - - - - - - - 15.90 -
14503.64 382.67 7.49 1649 14521.41 2.42 - - 3015.81 - 2.85 0.029 2276.62 396.5 77.86 - - 2556.66 - - - - - - - - - 16.00 -
14827.67 361.04 6.11 1681 14847.05 2.54 - - 3015.81 - 3.23 0.068 1146.44 -349.9 77.86 - - 2556.62 - - - - - - - - - 15.90 -
15007.96 350.14 5.83 1714 15026.45 2.67 - - 3016.31 - 2.84 0.029 2276.88 398.0 77.86 - - 2557.50 - - - - - - - - - 16.00 -
15332.71 334.67 4.75 1746 15413.43 2.81 - - 3016.38 - - - 2277.44 - 146.13 53.29 1.630 2293.44 -5.0 0.168 - - - - - - - - 11.35
15719.39 301.29 9.85 1783 15740.17 2.81 - - 3015.69 - 3.27 0.070 1145.31 -346.2 146.13 - - 2284.31 - - - - - - - - - 15.80 -
15825.75 290.28 10.47 1801 15844.63 2.81 - - 3016.19 - 2.85 0.029 2273.69 395.9 146.13 - - 2284.31 - - - - - - - - - 15.86 -
16150.48 259.23 9.47 1833 16154.56 2.81 - - 3016.00 - - - 2274.12 - 146.13 - - 2282.34 - - - - - - - - - - -
16460.55 229.87 8.98 1864 16479.94 2.81 - - 3016.12 - 3.20 0.069 1146.44 -352.4 146.13 - - 2281.59 - - - - - - - - - 15.88 -
16510.41 224.90 9.81 1871 16528.90 2.81 - - 3016.00 - 2.82 0.029 2274.50 400.0 146.13 - - 2282.38 - - - - - - - - - 15.95 -
16834.72 194.44 9.81 1903 16854.11 2.81 - - 3016.12 - 3.23 0.069 1144.50 -349.8 146.13 - - 2281.66 - - - - - - - - - 15.79 -
16894.57 188.45 10.07 1912 16913.45 2.81 - - 3015.88 - 2.85 0.029 2275.62 396.9 146.13 - - 2283.06 - - - - - - - - - 15.82 -
17219.55 158.37 9.28 1944 17239.14 2.81 - - 3016.75 - 3.23 0.069 1144.94 -350.1 146.13 - - 2280.09 - - - - - - - - - 15.87 -
17295.46 150.34 10.67 1956 17313.21 2.81 - - 3015.62 - 2.84 0.029 2275.31 398.0 146.13 - - 2282.94 - - - - - - - - - 15.74 -
17619.06 119.75 8.57 1988 17623.14 2.81 - - 3016.00 - - - 2275.88 - 146.13 - - 2280.50 - - - - - - - - - - -
17929.53 96.24 7.43 2024 17950.04 2.85 - - 3015.25 - 3.23 0.068 1145.00 -350.1 146.13 - - 2282.84 - - - - - - - - - 15.80 -
17976.63 93.04 6.78 2030 17995.52 2.92 - - 3016.50 - 2.82 0.027 2277.50 401.6 146.13 - - 2281.97 - - - - - - - - - 15.89 -
18181.79 81.87 5.67 2068 18202.28 3.07 - - 3016.25 - 3.22 0.067 1145.88 -351.4 146.13 - - 2281.53 - - - - - - - - - 15.71 -
18358.92 70.99 5.86 2100 18377.50 3.20 - - 3016.38 - 2.84 0.028 2276.31 398.0 146.13 - - 2281.09 - - - - - - - - - 15.87 -
18563.76 62.22 3.16 2138 18690.42 3.40 - - 3016.88 - 3.19 0.089 3351.00 336.9 247.28 76.34 1.255 1881.34 -5.2 0.043 - - - - - - - 15.65 11.67
18697.33 54.64 8.19 2155 18715.82 roll back 3.40 - - 3017.06 - 2.83 0.021 2202.50 -405.8 247.28 - - 1876.38 - - - - - - - - - 15.74 -
18902.16 39.99 7.01 2193 18921.45 3.46 - - 3017.06 - 3.02 0.072 1146.31 -349.7 247.28 - - 1870.88 - - - - - - - - - 15.66 -
18988.06 34.46 6.26 2207 19006.55 3.57 - - 3017.31 - 2.83 0.026 2277.75 399.8 247.28 - - 1869.28 - - - - - - - - - 15.76 -
19192.81 22.06 6.62 2245 19199.41 3.65 - - 3016.88 - - - 2278.00 - 247.28 - - 1866.81 - - - - - - - - - - -
19385.63 12.27 4.28 2283 19490.57 3.81 - - 3016.62 - 3.26 0.069 1144.56 -347.7 325.18 59.52 1.159 1563.91 -5.1 0.009 - - - - - - - 15.67 11.84
19497.51 7.83 4.95 2297 19586.77 3.94 - - 3016.56 - 2.84 0.026 2277.94 399.1 389.26 50.60 1.122 1303.22 -5.2 0.006 - - - - - - - 15.76 12.37
19597 end climb: SURFACE_DEPTH_REACHED
19598 begin surface coast
19724 end surface coast: CONTROL_FINISHED_OK
19724 begin surface
SM 1.37 - - - - 180.6 31.21 1.106 1136.6 34.8 19.40 0.049 1128.9 58.2 - 0.12 0.086 1144.2 9511.3 -15.486 - - 11.86 15.72 15.78 -