NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 470 * Raw log
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• Previous call tries 1 • 162.12 of 506.00 AH used of 24V (67.96% remains)
• Surface angle -61.4 deg, depth 1.08 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.96 (SM_CC=430)
• GPS1 time: 24 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
19.07 - - - 146.58 VBD -1.18 - - 180.81 - - - 2179.19 - -77.86 90.57 0.005 2785.19 - - - - - - - - - - 14.93
148.79 3.54 -3.00 18 265.12 -1.18 17.18 0.217 2227.56 119.1 3.42 0.080 3354.25 343.6 -77.86 5.72 0.008 3210.91 74.4 -5.568 - - - - - - 15.35 15.05 15.15
271.40 43.20 -18.78 25 289.79 roll -1.18 - - 2227.69 - 2.82 0.019 2197.31 -410.3 -77.86 - - 3214.50 - - - - - - - - - 15.77 -
475.59 65.99 -9.25 63 496.38 roll -1.18 - - 2227.50 - 3.38 0.078 3352.81 341.9 -77.86 - - 3214.25 - - - - - - - - - 15.62 -
502.54 68.78 -10.53 65 520.93 roll -1.18 - - 2226.25 - 2.81 0.019 2195.81 -411.7 -77.86 - - 3214.00 - - - - - - - - - 15.80 -
706.76 88.97 -9.50 103 713.33 no move -1.18 - - 2227.75 - - - 2193.44 - -77.86 - - 3213.75 - - - - - - - - - - -
904.25 106.96 -9.41 135 908.27 no move -1.18 - - 2227.88 - - - 2193.75 - -77.86 - - 3212.97 - - - - - - - - - - -
1214.29 131.92 -6.19 166 1218.31 no move -1.18 - - 2227.50 - - - 2193.62 - -77.86 - - 3213.28 - - - - - - - - - - -
1524.33 152.76 -7.04 197 1528.36 no move -1.18 - - 2227.44 - - - 2193.31 - -77.86 - - 3213.94 - - - - - - - - - - -
1834.37 178.78 -8.80 228 1852.86 roll -1.18 - - 2228.44 - 3.03 0.069 1145.00 -346.0 -77.86 - - 3215.12 - - - - - - - - - 15.73 -
1873.30 182.40 -9.05 233 1891.30 roll -1.18 - - 2227.62 - 2.78 0.024 2279.31 408.0 -77.86 - - 3215.69 - - - - - - - - - 15.87 -
2197.11 211.14 -8.87 265 2216.77 roll -1.18 - - 2227.75 - 3.22 0.064 1144.19 -352.5 -77.86 - - 3216.28 - - - - - - - - - 15.84 -
2287.38 219.48 -8.87 280 2305.61 roll -1.18 - - 2227.31 - 2.77 0.024 2279.00 409.7 -77.86 - - 3214.59 - - - - - - - - - 15.94 -
2611.46 247.45 -8.66 312 2630.57 roll -1.18 - - 2226.88 - 3.19 0.064 1146.12 -355.1 -77.86 - - 3213.66 - - - - - - - - - 15.68 -
2671.07 252.69 -8.86 321 2689.29 roll -1.18 - - 2227.88 - 2.77 0.024 2279.56 409.2 -77.86 - - 3214.53 - - - - - - - - - 15.95 -
2995.14 279.22 -8.14 353 3014.24 roll -1.18 - - 2226.75 - 3.13 0.083 3351.19 342.4 -77.86 - - 3214.91 - - - - - - - - - 15.84 -
3024.74 281.84 -8.45 356 3042.95 roll -1.18 - - 2227.31 - 2.76 0.019 2190.94 -420.4 -77.86 - - 3214.44 - - - - - - - - - 15.84 -
3348.81 306.19 -7.18 388 3370.12 roll -1.18 - - 2227.31 - 3.37 0.080 3350.94 344.2 -77.86 - - 3215.12 - - - - - - - - - 15.85 -
3405.60 310.97 -8.48 396 3423.81 roll -1.18 - - 2227.56 - 2.76 0.019 2191.44 -420.1 -77.86 - - 3215.12 - - - - - - - - - 15.97 -
3729.64 336.21 -7.69 428 3751.22 roll -1.18 - - 2227.12 - 3.36 0.080 3354.06 346.0 -77.86 - - 3213.31 - - - - - - - - - 15.85 -
3782.54 340.79 -8.60 435 3800.02 roll -1.18 - - 2227.38 - 2.77 0.019 2193.69 -418.9 -77.86 - - 3214.47 - - - - - - - - - 15.91 -
4105.87 365.36 -7.46 467 4109.93 no move -1.18 - - 2227.56 - - - 2191.69 - -77.86 - - 3212.81 - - - - - - - - - - -
4415.92 386.46 -6.47 498 4434.21 roll -1.18 - - 2227.81 - 2.93 0.070 1144.31 -357.5 -77.86 - - 3211.91 - - - - - - - - - 15.87 -
4494.71 392.08 -7.19 511 4512.93 roll -1.18 - - 2226.25 - 2.76 0.025 2279.38 411.3 -77.86 - - 3214.75 - - - - - - - - - 15.84 -
4818.79 412.86 -6.35 543 4822.85 no move -1.18 - - 2227.75 - - - 2279.38 - -77.86 - - 3211.84 - - - - - - - - - - -
5128.83 433.78 -6.62 574 5132.89 no move -1.18 - - 2227.06 - - - 2279.69 - -77.86 - - 3211.50 - - - - - - - - - - -
5438.87 455.41 -6.74 605 5442.93 no move -1.18 - - 2227.69 - - - 2279.31 - -77.86 - - 3210.88 - - - - - - - - - - -
5748.91 475.60 -6.67 636 5768.44 roll -1.18 - - 2227.06 - 3.21 0.066 1145.25 -353.3 -77.86 - - 3211.00 - - - - - - - - - 15.86 -
5798.93 479.30 -7.41 643 5817.15 roll -1.18 - - 2227.62 - 2.77 0.025 2278.88 409.3 -77.86 - - 3211.59 - - - - - - - - - 15.97 -
6123.06 501.05 -6.45 675 6127.12 no move -1.18 - - 2227.56 - - - 2279.06 - -77.86 - - 3210.16 - - - - - - - - - - -
6433.10 521.11 -6.95 706 6437.16 no move -1.18 - - 2227.12 - - - 2279.38 - -77.86 - - 3210.16 - - - - - - - - - - -
6743.14 542.44 -6.70 737 6762.25 roll -1.18 - - 2227.12 - 3.19 0.066 1144.38 -355.8 -77.86 - - 3209.47 - - - - - - - - - 15.85 -
6778.48 545.00 -6.53 741 6795.97 roll -1.18 - - 2227.25 - 2.77 0.025 2276.94 408.9 -77.86 - - 3209.88 - - - - - - - - - 15.98 -
7101.82 566.62 -6.54 773 7120.93 roll -1.18 - - 2228.12 - 3.14 0.086 3351.25 342.1 -77.86 - - 3210.94 - - - - - - - - - 15.83 -
7147.15 570.05 -7.14 779 7164.63 roll -1.18 - - 2227.12 - 2.79 0.020 2191.38 -415.7 -77.86 - - 3209.53 - - - - - - - - - 15.99 -
7470.48 590.65 -6.36 811 7488.79 roll -1.18 - - 2227.00 - 2.97 0.071 1145.69 -352.1 -77.86 - - 3208.38 - - - - - - - - - 15.85 -
7515.01 593.90 -6.87 817 7532.51 roll -1.18 - - 2227.19 - 2.76 0.026 2279.00 410.6 -77.86 - - 3209.31 - - - - - - - - - 15.97 -
7838.36 615.13 -6.68 849 7842.43 no move -1.18 - - 2227.56 - - - 2278.75 - -77.86 - - 3208.19 - - - - - - - - - - -
8148.62 633.67 -5.96 880 8167.97 roll -1.18 - - 2227.62 - 3.19 0.066 1145.38 -355.3 -77.86 - - 3210.28 - - - - - - - - - 15.84 -
8258.59 640.74 -6.55 899 8276.80 roll -1.18 - - 2227.81 - 2.77 0.026 2278.31 409.0 -77.86 - - 3208.56 - - - - - - - - - 15.97 -
8582.63 659.77 -5.59 931 8602.17 roll -1.18 - - 2227.50 - 3.22 0.066 1145.94 -351.7 -77.86 - - 3209.53 - - - - - - - - - 15.72 -
8618.38 662.00 -5.96 935 8635.87 roll -1.18 - - 2227.75 - 2.77 0.026 2278.88 409.0 -77.86 - - 3209.66 - - - - - - - - - 15.97 -
8941.73 681.31 -5.91 967 8945.79 no move -1.18 - - 2227.19 - - - 2278.94 - -77.86 - - 3207.38 - - - - - - - - - - -
9251.79 700.42 -6.17 998 9255.85 no move -1.18 - - 2227.25 - - - 2279.31 - -77.86 - - 3206.72 - - - - - - - - - - -
9561.83 718.14 -5.45 1029 9565.89 no move -1.18 - - 2227.38 - - - 2279.19 - -77.86 - - 3206.75 - - - - - - - - - - -
9871.90 734.28 -5.12 1060 9891.42 roll -1.18 - - 2227.56 - 3.21 0.067 1145.88 -353.1 -77.86 - - 3205.09 - - - - - - - - - 15.81 -
9997.65 741.40 -6.04 1082 10015.15 roll -1.18 - - 2227.38 - 2.80 0.026 2277.06 404.0 -77.86 - - 3207.12 - - - - - - - - - 15.97 -
10321.43 758.85 -4.88 1114 10340.78 roll -1.18 - - 2227.12 - 3.18 0.088 3352.25 338.1 -77.86 - - 3207.34 - - - - - - - - - 15.68 -
10401.39 763.06 -5.28 1127 10419.62 roll -1.18 - - 2227.44 - 2.77 0.020 2192.19 -418.8 -77.86 - - 3206.97 - - - - - - - - - 15.96 -
10494 end dive: TARGET_DEPTH_EXCEEDED
10495 begin apogee
10500.12 768.06 -5.00 1136 10602.63 -0.31 1.59 0.134 2440.38 133.9 0.14 0.145 2176.62 -111.2 - 63.44 2.087 2888.06 -5.0 0.313 - - - - - - 15.71 15.39 10.39
10607 end apogee: CONTROL_FINISHED_OK
10607 begin climb
10610.73 769.46 - 1143 10718.79 1.18 2.56 0.091 2805.44 142.6 - - 2176.69 - 77.86 65.08 2.049 2572.59 -4.8 0.308 - - - - - - 15.60 - 11.54
11025.17 746.29 5.01 1181 11125.23 1.31 0.17 0.095 2843.31 222.8 3.55 0.090 3348.88 330.2 140.60 53.33 2.000 2318.47 -4.8 0.301 - - - - - - 15.70 15.34 11.49
11200.84 732.12 9.08 1208 11219.45 roll 1.31 - - 2844.00 - 2.83 0.021 2205.94 -403.9 140.60 - - 2311.91 - - - - - - - - - 15.66 -
11525.42 706.07 7.64 1240 11544.13 done 1.31 - - 2844.19 - 3.05 0.076 1147.06 -347.2 140.60 - - 2305.62 - - - - - - - - - 15.74 -
11620.76 698.70 7.49 1256 11638.64 done 1.34 - - 2844.00 - 2.80 0.029 2274.00 402.5 140.60 - - 2306.94 - - - - - - - - - 15.83 -
11944.89 676.44 7.23 1288 11948.95 VBD 1.39 - - 2843.38 - - - 2274.50 - 140.60 - - 2304.09 - - - - - - - - - - -
12254.81 653.58 8.75 1319 12274.34 done 1.39 - - 2844.19 - 3.24 0.071 1146.75 -348.1 140.60 - - 2303.81 - - - - - - - - - 15.83 -
12350.56 645.51 8.52 1335 12368.05 done 1.39 - - 2844.44 - 2.80 0.030 2273.56 402.4 140.60 - - 2303.75 - - - - - - - - - 15.93 -
12673.91 620.58 7.71 1367 12677.97 VBD 1.39 - - 2844.25 - - - 2274.31 - 140.60 - - 2301.41 - - - - - - - - - - -
12983.95 597.09 7.72 1398 13003.47 done 1.39 - - 2844.44 - 3.23 0.072 1146.19 -349.3 140.60 - - 2304.06 - - - - - - - - - 15.83 -
13083.97 588.57 8.51 1415 13102.44 done 1.39 - - 2844.00 - 2.80 0.030 2274.50 403.0 140.60 - - 2301.75 - - - - - - - - - 15.94 -
13408.41 564.10 7.76 1447 13427.93 done 1.39 - - 2843.44 - 3.22 0.071 1147.00 -350.2 140.60 - - 2300.41 - - - - - - - - - 15.84 -
13464.15 559.71 7.90 1455 13481.65 done 1.39 - - 2842.88 - 2.80 0.029 2273.94 402.5 140.60 - - 2301.81 - - - - - - - - - 15.95 -
13787.89 536.93 6.80 1487 13809.64 1.47 0.17 0.088 2884.06 242.2 3.19 0.093 3351.38 337.8 140.60 - - 2300.66 - - - - - - - - 15.89 15.81 -
13845.14 532.05 8.41 1495 13863.76 done 1.47 - - 2883.94 - 2.79 0.021 2203.12 -411.6 140.60 - - 2303.50 - - - - - - - - - 15.95 -
14169.59 506.78 7.86 1527 14173.65 VBD 1.47 - - 2884.69 - - - 2202.31 - 140.60 - - 2300.34 - - - - - - - - - - -
14480.00 482.55 7.41 1558 14498.71 done 1.50 - - 2884.12 - 3.02 0.075 1146.75 -349.5 140.60 - - 2301.31 - - - - - - - - - 15.82 -
14589.22 473.63 8.34 1577 14607.42 done 1.50 - - 2884.12 - 2.79 0.029 2276.12 404.8 140.60 - - 2300.44 - - - - - - - - - 15.93 -
14913.90 449.19 7.33 1609 14918.20 VBD 1.55 - - 2883.88 - - - 2276.31 - 140.60 - - 2299.22 - - - - - - - - - - -
15224.59 428.30 6.43 1640 15246.76 1.64 0.19 0.082 2927.25 228.3 3.23 0.071 1145.31 -350.2 140.60 - - 2301.06 - - - - - - - - 15.89 15.82 -
15288.39 423.64 7.37 1649 15306.67 done 1.69 - - 2927.31 - 2.81 0.029 2276.81 402.7 140.60 - - 2302.19 - - - - - - - - - 15.88 -
15612.50 399.04 7.58 1681 15632.03 done 1.69 - - 2928.19 - 3.23 0.071 1147.19 -349.7 140.60 - - 2298.75 - - - - - - - - - 15.82 -
15658.26 395.33 8.12 1687 15675.76 done 1.69 - - 2928.31 - 2.80 0.028 2275.56 403.0 140.60 - - 2301.50 - - - - - - - - - 15.77 -
15981.59 368.89 8.40 1719 15985.66 VBD 1.69 - - 2927.88 - - - 2275.56 - 140.60 - - 2299.12 - - - - - - - - - - -
16291.61 342.90 7.96 1750 16295.67 VBD 1.69 - - 2928.44 - - - 2275.06 - 140.60 - - 2299.03 - - - - - - - - - - -
16601.63 314.81 8.79 1781 16605.69 VBD 1.69 - - 2928.69 - - - 2275.50 - 140.60 - - 2299.03 - - - - - - - - - - -
16912.03 290.11 7.30 1812 16931.18 done 1.73 - - 2928.69 - 3.20 0.070 1146.38 -352.8 140.60 - - 2299.12 - - - - - - - - - 15.81 -
17032.09 281.04 7.47 1833 17050.55 done 1.76 - - 2928.25 - 2.78 0.029 2274.25 405.7 140.60 - - 2301.84 - - - - - - - - - 15.96 -
17356.90 258.14 6.98 1865 17378.41 1.83 0.19 0.080 2973.75 239.5 3.17 0.090 3351.12 339.7 140.60 - - 2299.53 - - - - - - - - 15.91 15.73 -
17423.91 252.10 9.02 1875 17442.13 done 1.83 - - 2973.62 - 2.78 0.021 2200.75 -413.8 140.60 - - 2300.12 - - - - - - - - - 15.95 -
17747.99 223.92 8.41 1907 17752.06 VBD 1.83 - - 2974.12 - - - 2198.00 - 140.60 - - 2299.03 - - - - - - - - - - -
18058.04 197.46 8.74 1938 18076.75 done 1.83 - - 2974.06 - 3.03 0.073 1147.31 -346.8 140.60 - - 2298.88 - - - - - - - - - 15.58 -
18197.28 185.01 9.04 1963 18215.50 done 1.83 - - 2974.50 - 2.79 0.028 2275.25 404.3 140.60 - - 2300.81 - - - - - - - - - 15.92 -
18521.36 158.56 8.18 1995 18525.42 VBD 1.83 - - 2974.12 - - - 2275.31 - 140.60 - - 2299.06 - - - - - - - - - - -
18831.40 133.51 8.08 2026 18850.92 done 1.83 - - 2974.50 - 3.25 0.068 1146.56 -347.3 140.60 - - 2298.50 - - - - - - - - - 15.73 -
18891.42 128.58 8.12 2035 18910.30 done 1.83 - - 2974.56 - 2.81 0.027 2275.88 401.9 140.60 - - 2301.66 - - - - - - - - - 15.72 -
19216.68 106.77 6.06 2067 19236.21 done 1.95 - - 2974.62 - 3.24 0.068 1144.69 -349.1 140.60 - - 2298.38 - - - - - - - - - 15.76 -
19272.84 103.65 5.78 2075 19291.66 2.08 0.16 0.085 3016.50 261.8 2.80 0.027 2275.00 403.7 140.60 - - 2299.19 - - - - - - - - 15.58 15.82 -
19597.90 88.47 3.66 2132 19716.65 2.27 - - 3017.12 - 3.29 0.069 1146.00 -343.2 231.31 69.64 1.229 1946.16 -5.1 0.062 - - - - - - - 15.48 10.88
19803.30 76.26 7.42 2164 19821.96 roll back 2.30 - - 3017.44 - 2.85 0.026 2276.75 396.8 231.31 - - 1939.28 - - - - - - - - - 15.65 -
20008.34 62.61 6.25 2202 20028.61 2.41 - - 3017.00 - 3.23 0.087 3351.38 332.7 231.31 - - 1935.91 - - - - - - - - - 15.54 -
20095.25 56.11 7.28 2216 20114.13 2.46 - - 3016.81 - 2.85 0.020 2199.69 -404.1 231.31 - - 1936.47 - - - - - - - - - 15.68 -
20300.52 43.30 6.08 2254 20319.97 2.58 - - 3017.19 - 3.08 0.072 1145.69 -342.2 231.31 - - 1934.50 - - - - - - - - - 15.63 -
20401.67 36.28 7.19 2271 20420.32 2.63 - - 3017.75 - 2.81 0.027 2278.44 403.1 231.31 - - 1933.44 - - - - - - - - - 15.71 -
20606.67 28.16 2.67 2309 20746.90 2.85 - - 3016.38 - 3.21 0.088 3350.19 333.9 342.40 85.54 1.137 1494.81 -5.1 0.021 - - - - - - - 15.42 11.39
20933.16 4.22 8.87 2364 20951.79 2.85 - - 3017.38 - 2.83 0.020 2203.62 -405.1 342.40 - - 1485.78 - - - - - - - - - 15.71 -
20957 end climb: SURFACE_DEPTH_REACHED
20957 begin surface coast
21008 end surface coast: CONTROL_FINISHED_OK
21008 begin surface
SM 1.09 - - - - 179.4 67.54 1.087 1137.2 16.8 19.86 0.048 1133.4 57.1 - 0.16 0.092 1141.0 7113.6 -8.614 - - 11.38 15.73 15.78 -