NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 381 * Raw log
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• Previous call tries 2 • 133.60 of 506.00 AH used of 24V (73.60% remains)
• Surface angle -64.2 deg, depth 0.99 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.96 (SM_CC=430)
• GPS1 time: 28 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
10 end surface: CONTROL_FINISHED_OK
11 begin dive
18.95 - - - 118.62 VBD -1.18 - - 180.69 - - - 2188.12 - -77.86 70.20 0.005 2859.38 - - - - - - - - - - 15.09
120.85 3.29 -3.66 14 236.74 -1.18 17.18 0.217 2227.69 119.2 3.42 0.078 3353.38 340.7 -77.86 4.86 0.009 3210.31 72.2 -4.447 - - - - - - 15.37 15.17 15.31
243.00 39.40 -16.81 21 261.33 roll -1.18 - - 2227.56 - 2.87 0.019 2197.38 -402.8 -77.86 - - 3211.84 - - - - - - - - - 15.76 -
447.16 64.25 -10.11 59 468.29 roll -1.18 - - 2228.69 - 3.41 0.078 3352.06 338.6 -77.86 - - 3212.62 - - - - - - - - - 15.63 -
634.48 85.29 -11.04 93 652.82 roll -1.18 - - 2227.75 - 2.84 0.018 2193.81 -407.8 -77.86 - - 3213.56 - - - - - - - - - 15.65 -
843.61 103.32 -8.03 128 862.01 roll -1.18 - - 2228.38 - 3.04 0.068 1145.00 -345.0 -77.86 - - 3213.78 - - - - - - - - - 15.74 -
898.18 108.12 -8.89 136 915.79 roll -1.18 - - 2228.69 - 2.80 0.024 2281.00 405.7 -77.86 - - 3214.56 - - - - - - - - - 15.87 -
1221.56 131.66 -6.53 168 1225.58 no move -1.18 - - 2228.25 - - - 2280.75 - -77.86 - - 3213.50 - - - - - - - - - - -
1531.58 152.51 -6.95 199 1552.19 roll -1.18 - - 2228.62 - 3.26 0.063 1144.31 -348.6 -77.86 - - 3214.03 - - - - - - - - - 15.67 -
1593.36 157.29 -7.67 208 1610.97 roll -1.18 - - 2228.12 - 2.82 0.024 2279.25 402.5 -77.86 - - 3214.50 - - - - - - - - - 15.81 -
1917.23 180.81 -7.36 240 1936.70 roll -1.18 - - 2226.75 - 3.24 0.063 1145.31 -350.0 -77.86 - - 3214.69 - - - - - - - - - 15.80 -
1987.19 186.07 -7.61 251 2005.74 roll -1.18 - - 2227.88 - 2.82 0.024 2278.12 401.7 -77.86 - - 3214.53 - - - - - - - - - 15.91 -
2311.57 208.48 -7.34 283 2315.63 no move -1.18 - - 2228.06 - - - 2277.81 - -77.86 - - 3213.88 - - - - - - - - - - -
2621.58 231.40 -7.31 314 2641.04 roll -1.18 - - 2226.88 - 3.26 0.064 1146.25 -347.1 -77.86 - - 3214.28 - - - - - - - - - 15.75 -
2687.26 236.54 -8.07 324 2705.11 roll -1.18 - - 2228.12 - 2.81 0.025 2277.31 402.5 -77.86 - - 3213.84 - - - - - - - - - 15.94 -
3010.95 261.21 -7.80 356 3030.40 roll -1.18 - - 2228.44 - 3.22 0.064 1146.38 -351.2 -77.86 - - 3215.78 - - - - - - - - - 15.86 -
3146.62 273.02 -8.95 380 3164.46 roll -1.18 - - 2228.50 - 2.82 0.025 2277.25 401.0 -77.86 - - 3215.66 - - - - - - - - - 15.90 -
3470.30 299.94 -8.04 412 3474.36 no move -1.18 - - 2227.88 - - - 2277.31 - -77.86 - - 3213.62 - - - - - - - - - - -
3780.35 323.37 -7.65 443 3784.66 no move -1.18 - - 2228.19 - - - 2277.31 - -77.86 - - 3212.31 - - - - - - - - - - -
4090.60 346.88 -7.50 474 4094.66 no move -1.18 - - 2228.19 - - - 2278.06 - -77.86 - - 3212.19 - - - - - - - - - - -
4400.61 369.58 -7.43 505 4404.67 no move -1.18 - - 2227.81 - - - 2277.56 - -77.86 - - 3212.28 - - - - - - - - - - -
4710.62 392.16 -7.26 536 4730.09 roll -1.18 - - 2225.50 - 3.24 0.065 1146.06 -349.2 -77.86 - - 3213.00 - - - - - - - - - 15.86 -
4780.57 397.76 -8.13 547 4799.33 roll -1.18 - - 2228.06 - 2.82 0.026 2276.19 400.8 -77.86 - - 3211.94 - - - - - - - - - 15.97 -
5105.17 421.87 -7.22 579 5124.62 roll -1.18 - - 2228.19 - 3.25 0.065 1146.25 -347.7 -77.86 - - 3212.06 - - - - - - - - - 15.82 -
5165.11 426.79 -7.86 588 5183.68 roll -1.18 - - 2228.31 - 2.83 0.025 2275.50 399.0 -77.86 - - 3212.28 - - - - - - - - - 15.97 -
5489.52 451.54 -7.51 620 5508.97 roll -1.18 - - 2228.31 - 3.24 0.066 1144.62 -349.0 -77.86 - - 3210.28 - - - - - - - - - 15.85 -
5585.20 459.02 -7.50 636 5603.04 roll -1.18 - - 2228.44 - 2.83 0.025 2276.06 399.8 -77.86 - - 3211.62 - - - - - - - - - 15.97 -
5908.89 481.52 -6.97 668 5912.95 no move -1.18 - - 2228.25 - - - 2276.06 - -77.86 - - 3209.34 - - - - - - - - - - -
6218.98 502.05 -6.51 699 6238.44 roll -1.18 - - 2227.94 - 3.25 0.066 1146.00 -347.7 -77.86 - - 3211.38 - - - - - - - - - 15.84 -
6314.78 508.88 -6.87 715 6333.06 roll -1.18 - - 2228.50 - 2.83 0.026 2274.19 398.7 -77.86 - - 3210.09 - - - - - - - - - 15.99 -
6638.91 530.01 -6.60 747 6658.38 roll -1.18 - - 2227.50 - 3.23 0.065 1145.75 -349.4 -77.86 - - 3209.69 - - - - - - - - - 15.83 -
6684.59 533.41 -6.90 753 6702.82 roll -1.18 - - 2228.19 - 2.83 0.026 2275.88 399.3 -77.86 - - 3210.44 - - - - - - - - - 15.98 -
7008.65 555.64 -6.92 785 7028.09 roll -1.18 - - 2227.00 - 3.21 0.087 3352.19 335.3 -77.86 - - 3209.53 - - - - - - - - - 15.81 -
7108.57 563.55 -7.64 802 7127.51 roll -1.18 - - 2228.38 - 2.82 0.020 2193.56 -410.9 -77.86 - - 3210.03 - - - - - - - - - 15.99 -
7433.36 584.36 -6.21 834 7437.42 no move -1.18 - - 2227.88 - - - 2191.31 - -77.86 - - 3208.38 - - - - - - - - - - -
7743.41 606.73 -7.04 865 7747.47 no move -1.18 - - 2227.88 - - - 2192.31 - -77.86 - - 3207.00 - - - - - - - - - - -
8053.45 626.94 -6.04 896 8072.33 roll -1.18 - - 2228.25 - 3.04 0.071 1145.56 -344.3 -77.86 - - 3209.53 - - - - - - - - - 15.83 -
8102.92 630.16 -6.17 903 8121.48 roll -1.18 - - 2228.19 - 2.82 0.026 2277.38 401.4 -77.86 - - 3208.59 - - - - - - - - - 15.98 -
8427.33 649.89 -5.88 935 8431.39 no move -1.18 - - 2228.31 - - - 2277.69 - -77.86 - - 3207.12 - - - - - - - - - - -
8737.38 669.12 -6.15 966 8756.82 roll -1.18 - - 2227.62 - 3.27 0.067 1145.19 -346.3 -77.86 - - 3208.56 - - - - - - - - - 15.81 -
8797.31 673.10 -6.45 975 8815.86 roll -1.18 - - 2228.06 - 2.84 0.026 2276.88 398.5 -77.86 - - 3207.41 - - - - - - - - - 15.99 -
9121.68 693.05 -6.03 1007 9125.75 no move -1.18 - - 2228.12 - - - 2276.62 - -77.86 - - 3205.66 - - - - - - - - - - -
9431.70 711.68 -5.97 1038 9451.18 roll -1.18 - - 2227.88 - 3.26 0.067 1146.12 -346.8 -77.86 - - 3207.91 - - - - - - - - - 15.81 -
9517.40 717.09 -6.45 1052 9535.23 roll -1.18 - - 2228.25 - 2.84 0.026 2275.62 397.7 -77.86 - - 3206.75 - - - - - - - - - 15.99 -
9841.08 737.27 -6.06 1084 9860.53 roll -1.18 - - 2227.81 - 3.24 0.067 1146.38 -348.5 -77.86 - - 3205.97 - - - - - - - - - 15.80 -
9896.99 741.06 -6.57 1092 9915.21 roll -1.18 - - 2226.56 - 2.83 0.026 2275.25 398.9 -77.86 - - 3207.53 - - - - - - - - - 15.99 -
10221.18 763.29 -7.16 1124 10225.25 no move -1.18 - - 2227.62 - - - 2276.06 - -77.86 - - 3205.03 - - - - - - - - - - -
10531.23 783.53 -6.12 1155 10550.68 roll -1.18 - - 2227.31 - 3.27 0.067 1147.25 -345.2 -77.86 - - 3206.19 - - - - - - - - - 15.80 -
10596.90 787.72 -6.72 1165 10614.73 roll -1.18 - - 2228.19 - 2.84 0.026 2274.44 396.9 -77.86 - - 3205.16 - - - - - - - - - 15.98 -
10920.57 805.97 -5.19 1197 10924.63 no move -1.18 - - 2227.75 - - - 2274.75 - -77.86 - - 3203.75 - - - - - - - - - - -
10959 end dive: TARGET_DEPTH_EXCEEDED
10960 begin apogee
10965.21 808.21 -5.50 1201 11066.56 -0.31 1.61 0.132 2440.94 132.4 0.20 0.133 2283.50 43.8 - 63.10 2.179 2889.34 -5.0 0.311 - - - - - - 15.68 15.46 10.45
11071 end apogee: CONTROL_FINISHED_OK
11071 begin climb
11074.63 809.68 - 1208 11198.77 1.18 2.59 0.092 2805.38 140.7 3.38 0.095 3350.44 315.7 77.86 64.86 2.146 2572.47 -4.9 0.311 - - - - - - 15.60 15.24 11.88
11205.39 804.58 5.80 1221 11225.59 roll back 1.32 0.19 0.083 2844.50 205.9 2.90 0.021 2201.25 -396.3 77.86 - - 2569.22 - - - - - - - - 15.46 15.47 -
11531.96 784.80 5.75 1253 11551.00 done 1.45 - - 2845.56 - 3.11 0.074 1147.56 -338.8 77.86 - - 2562.84 - - - - - - - - - 15.73 -
11677.65 776.09 6.24 1279 11697.54 1.56 0.31 0.066 2904.00 188.5 2.87 0.029 2275.31 392.9 77.86 - - 2562.97 - - - - - - - - 15.67 15.84 -
12003.79 752.75 7.35 1311 12007.85 VBD 1.61 - - 2906.75 - - - 2274.94 - 77.86 - - 2562.03 - - - - - - - - - - -
12314.08 730.01 7.24 1342 12334.93 done 1.65 - - 2906.31 - 3.28 0.070 1146.62 -344.0 77.86 - - 2559.62 - - - - - - - - - 15.82 -
12426.16 721.28 7.95 1361 12444.00 done 1.65 - - 2906.62 - 2.87 0.030 2275.00 393.2 77.86 - - 2559.81 - - - - - - - - - 15.92 -
12750.25 697.52 7.06 1393 12754.31 VBD 1.71 - - 2906.75 - - - 2275.44 - 77.86 - - 2560.00 - - - - - - - - - - -
13060.40 673.72 7.59 1424 13064.46 VBD 1.71 - - 2906.81 - - - 2275.38 - 77.86 - - 2559.72 - - - - - - - - - - -
13370.83 650.09 7.38 1455 13393.32 1.75 0.22 0.077 2953.62 212.8 3.29 0.071 1144.50 -343.7 77.86 - - 2560.91 - - - - - - - - 15.89 15.82 -
13498.83 639.39 8.37 1477 13517.39 done 1.75 - - 2953.06 - 2.87 0.029 2274.06 393.6 77.86 - - 2560.22 - - - - - - - - - 15.97 -
13823.65 614.62 7.18 1509 13827.72 VBD 1.81 - - 2952.81 - - - 2274.06 - 77.86 - - 2558.91 - - - - - - - - - - -
14133.97 592.82 6.33 1540 14154.84 done 1.91 - - 2952.81 - 3.29 0.070 1145.50 -343.0 77.86 - - 2557.69 - - - - - - - - - 15.83 -
14206.47 587.70 7.48 1551 14225.95 1.94 0.20 0.082 2998.44 228.2 2.87 0.029 2274.75 393.5 77.86 - - 2561.09 - - - - - - - - 15.73 15.95 -
14532.22 565.28 6.59 1583 14551.69 done 2.03 - - 2998.81 - 3.26 0.092 3351.00 330.1 77.86 - - 2560.09 - - - - - - - - - 15.79 -
14572.17 561.99 7.98 1588 14590.73 done 2.03 - - 2998.31 - 2.81 0.021 2201.12 -409.2 77.86 - - 2559.81 - - - - - - - - - 15.94 -
14896.99 542.33 6.00 1620 14916.70 2.15 - 0.028 3000.19 - 3.06 0.074 1146.06 -344.8 77.86 - - 2557.38 - - - - - - - - - 15.83 -
14987.73 536.26 6.77 1635 15006.29 2.23 - - 2999.75 - 2.84 0.029 2275.81 397.8 77.86 - - 2559.22 - - - - - - - - - 15.95 -
15312.55 513.36 7.21 1667 15332.01 2.28 - - 3000.94 - 3.23 0.092 3352.25 333.3 77.86 - - 2559.53 - - - - - - - - - 15.78 -
15552.55 494.80 7.78 1712 15571.14 2.28 - - 2999.88 - 2.82 0.021 2202.88 -407.6 77.86 - - 2559.34 - - - - - - - - - 15.96 -
15877.40 473.13 5.97 1744 15896.06 2.41 - - 3000.38 - 3.06 0.074 1144.44 -345.9 77.86 - - 2558.00 - - - - - - - - - 15.82 -
16127.01 456.99 6.84 1791 16145.59 2.48 - - 3000.62 - 2.85 0.029 2276.19 397.1 77.86 - - 2559.19 - - - - - - - - - 15.95 -
16451.84 436.08 6.70 1823 16471.97 2.56 - - 3000.44 - 3.27 0.069 1144.56 -346.1 77.86 - - 2559.88 - - - - - - - - - 15.70 -
16703.01 418.95 6.82 1870 16721.59 2.63 - - 3000.56 - 2.86 0.029 2274.75 395.2 77.86 - - 2558.00 - - - - - - - - - 15.90 -
17027.85 400.06 5.63 1902 17046.92 2.78 - - 3000.38 - 3.18 0.068 1143.62 -355.7 77.86 - - 2559.38 - - - - - - - - - 15.79 -
17193.59 390.10 5.96 1932 17211.47 2.90 - - 3000.50 - 2.86 0.028 2274.56 395.4 77.86 - - 2557.69 - - - - - - - - - 15.95 -
17517.73 371.86 5.56 1964 17521.81 3.05 - - 3000.25 - - - 2275.31 - 77.86 - - 2557.94 - - - - - - - - - - -
17828.04 355.45 5.53 1995 17847.51 3.20 - - 3001.00 - 3.23 0.090 3352.56 333.5 77.86 - - 2557.38 - - - - - - - - - 15.74 -
17924.13 349.57 6.18 2011 17941.99 3.32 - - 3000.88 - 2.85 0.021 2198.94 -404.8 77.86 - - 2558.47 - - - - - - - - - 15.71 -
18248.24 331.08 5.43 2043 18269.92 3.47 - - 3000.62 - 3.43 0.085 3350.81 335.8 77.86 - - 2559.38 - - - - - - - - - 15.74 -
18325.81 326.66 5.60 2055 18344.79 3.62 - - 3001.00 - 2.83 0.020 2199.31 -406.9 77.86 - - 2558.00 - - - - - - - - - 15.94 -
18651.16 311.53 4.72 2087 18748.35 3.76 - - 3000.62 - 3.11 0.076 1145.44 -338.9 146.69 54.47 1.585 2291.00 -4.9 0.162 - - - - - - - 15.56 10.85
18789.57 301.07 8.72 2107 18807.42 roll back 3.76 - - 3001.00 - 2.87 0.028 2275.88 393.9 146.69 - - 2287.03 - - - - - - - - - 15.77 -
19113.39 268.56 10.02 2139 19134.25 3.76 - - 3000.56 - 3.28 0.069 1146.06 -344.5 146.69 - - 2283.16 - - - - - - - - - 15.74 -
19209.75 258.14 10.89 2155 19228.32 3.76 - - 3000.31 - 2.87 0.028 2274.25 393.1 146.69 - - 2282.75 - - - - - - - - - 15.84 -
19534.17 227.31 8.96 2187 19555.46 3.76 - - 3000.62 - 3.31 0.069 1145.62 -341.0 146.69 - - 2281.66 - - - - - - - - - 15.68 -
19606.68 220.45 9.36 2198 19624.78 3.76 - - 3000.31 - 2.86 0.029 2275.00 394.9 146.69 - - 2279.84 - - - - - - - - - 15.87 -
19930.71 193.63 8.51 2230 19934.78 3.76 - - 3000.69 - - - 2275.19 - 146.69 - - 2280.16 - - - - - - - - - - -
20240.72 165.39 9.36 2261 20244.89 3.76 - - 3000.31 - - - 2275.88 - 146.69 - - 2279.81 - - - - - - - - - - -
20550.78 137.11 9.41 2292 20571.65 3.76 - - 3000.06 - 3.28 0.068 1147.00 -344.2 146.69 - - 2278.72 - - - - - - - - - 15.65 -
20582.98 134.12 9.15 2295 20600.83 3.76 - - 2999.31 - 2.86 0.027 2273.19 393.8 146.69 - - 2280.50 - - - - - - - - - 15.77 -
20907.06 110.06 6.97 2327 20926.54 3.76 - - 2998.88 - 3.24 0.068 1144.69 -348.3 146.69 - - 2280.50 - - - - - - - - - 15.69 -
21053.18 100.42 6.70 2353 21071.45 3.76 - - 2999.62 - 2.86 0.027 2274.56 395.1 146.69 - - 2280.00 - - - - - - - - - 15.77 -
21377.73 83.87 3.77 2415 21496.25 3.93 - - 3001.25 - 3.25 0.091 3351.81 331.5 235.15 68.50 1.278 1931.09 -5.1 0.056 - - - - - - - 15.52 11.44
21687.60 61.55 8.45 2468 21706.19 3.93 - - 3000.56 - 2.86 0.020 2201.56 -402.2 235.15 - - 1922.16 - - - - - - - - - 15.73 -
21892.56 46.93 7.08 2506 21911.95 3.99 - - 3000.19 - 3.09 0.071 1146.19 -341.5 235.15 - - 1919.16 - - - - - - - - - 15.60 -
22143.60 32.92 4.70 2553 22239.19 4.13 - - 3000.94 - 2.84 0.025 2277.25 398.3 304.38 53.56 1.183 1648.34 -5.1 0.024 - - - - - - - 15.78 11.64
22425.45 19.97 4.37 2602 22531.11 4.28 - - 3000.50 - 3.28 0.089 3351.19 327.4 380.40 60.24 1.148 1338.94 -5.1 0.015 - - - - - - - 15.45 11.63
22557.83 12.49 6.85 2620 22576.41 roll back 4.28 - - 2999.94 - 2.88 0.020 2202.50 -398.9 380.40 - - 1335.66 - - - - - - - - - 15.67 -
22681 end climb: SURFACE_DEPTH_REACHED
22682 begin surface coast
22747 end surface coast: CONTROL_FINISHED_OK
22748 begin surface
SM 0.93 - - - - 181.9 38.80 1.113 1137.2 29.3 19.82 0.054 1133.0 57.2 - 0.16 0.089 1141.4 7115.8 -7.600 - - 11.51 15.71 15.78 -