NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 471 * Raw log
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• Previous call tries 1 • 162.43 of 506.00 AH used of 24V (67.90% remains)
• Surface angle -62.8 deg, depth 1.16 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.99 (SM_CC=430)
• GPS1 time: 17 s
• GPS2 time: 3 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
19.07 - - - 111.87 VBD -1.18 - - 178.12 - - - 2175.44 - -77.86 65.14 0.005 2727.88 - - - - - - - - - - 14.92
114.10 3.02 -3.31 13 216.48 -1.18 17.40 0.218 2227.31 117.8 - - 2174.50 - -77.86 7.51 0.008 3209.41 64.1 -4.103 - - - - - - 15.33 - 15.17
402.21 54.84 -11.42 56 423.38 roll -1.18 - - 2227.62 - 3.43 0.078 3351.25 343.1 -77.86 - - 3213.12 - - - - - - - - - 15.60 -
429.66 58.36 -12.88 58 448.06 roll -1.18 - - 2228.06 - 2.83 0.018 2195.62 -408.3 -77.86 - - 3213.56 - - - - - - - - - 15.63 -
633.88 82.04 -11.13 96 654.66 roll -1.18 - - 2227.94 - 3.39 0.078 3351.75 341.0 -77.86 - - 3214.50 - - - - - - - - - 15.69 -
715.84 91.82 -11.47 109 733.84 roll -1.18 - - 2228.06 - 2.80 0.018 2194.06 -413.5 -77.86 - - 3213.62 - - - - - - - - - 15.74 -
924.66 110.71 -8.98 136 942.72 roll -1.18 - - 2226.94 - 3.00 0.068 1142.88 -350.4 -77.86 - - 3216.12 - - - - - - - - - 15.68 -
1008.90 118.26 -8.72 150 1026.18 roll -1.18 - - 2228.00 - 2.77 0.024 2280.56 410.7 -77.86 - - 3214.91 - - - - - - - - - 15.82 -
1332.00 141.70 -7.39 182 1336.02 no move -1.18 - - 2226.94 - - - 2280.38 - -77.86 - - 3214.41 - - - - - - - - - - -
1642.03 166.24 -8.34 213 1661.31 roll -1.18 - - 2228.12 - 3.24 0.063 1146.00 -350.1 -77.86 - - 3214.38 - - - - - - - - - 15.66 -
1707.50 171.70 -8.52 223 1724.77 roll -1.18 - - 2227.88 - 2.77 0.024 2279.25 409.1 -77.86 - - 3214.38 - - - - - - - - - 15.89 -
2030.62 196.88 -6.99 255 2034.68 no move -1.18 - - 2227.44 - - - 2279.44 - -77.86 - - 3214.00 - - - - - - - - - - -
2340.65 220.36 -8.06 286 2360.17 roll -1.18 - - 2227.38 - 3.24 0.064 1145.69 -349.9 -77.86 - - 3214.44 - - - - - - - - - 15.76 -
2466.42 231.19 -8.77 308 2483.92 roll -1.18 - - 2227.50 - 2.79 0.025 2278.31 406.0 -77.86 - - 3214.59 - - - - - - - - - 15.91 -
2789.78 256.39 -7.44 340 2793.84 no move -1.18 - - 2227.69 - - - 2277.88 - -77.86 - - 3214.47 - - - - - - - - - - -
3099.82 277.79 -6.56 371 3119.35 roll -1.18 - - 2227.75 - 3.21 0.064 1144.56 -353.1 -77.86 - - 3214.28 - - - - - - - - - 15.83 -
3129.84 279.89 -6.57 374 3148.05 roll -1.18 - - 2227.94 - 2.78 0.025 2278.19 407.8 -77.86 - - 3214.72 - - - - - - - - - 15.84 -
3453.92 302.67 -7.18 406 3457.98 no move -1.18 - - 2226.94 - - - 2278.25 - -77.86 - - 3213.38 - - - - - - - - - - -
3763.95 325.43 -7.92 437 3783.06 roll -1.18 - - 2227.81 - 3.19 0.064 1145.50 -355.1 -77.86 - - 3214.16 - - - - - - - - - 15.84 -
3809.28 329.13 -8.09 443 3827.17 roll -1.18 - - 2227.69 - 2.77 0.025 2278.38 409.0 -77.86 - - 3213.78 - - - - - - - - - 15.87 -
4133.02 354.37 -8.00 475 4152.15 roll -1.18 - - 2227.69 - 3.18 0.064 1145.75 -356.2 -77.86 - - 3212.44 - - - - - - - - - 15.86 -
4182.76 358.52 -7.97 482 4200.97 roll -1.18 - - 2227.12 - 2.78 0.025 2278.31 407.4 -77.86 - - 3214.75 - - - - - - - - - 15.96 -
4506.84 383.95 -8.14 514 4510.90 no move -1.18 - - 2227.00 - - - 2278.25 - -77.86 - - 3212.56 - - - - - - - - - - -
4817.11 409.64 -8.41 545 4836.22 roll -1.18 - - 2226.44 - 3.19 0.065 1145.44 -355.1 -77.86 - - 3212.66 - - - - - - - - - 15.76 -
4862.44 413.65 -8.73 551 4880.35 roll -1.18 - - 2227.31 - 2.79 0.025 2276.25 405.3 -77.86 - - 3213.06 - - - - - - - - - 15.96 -
5186.17 439.47 -7.92 583 5190.23 no move -1.18 - - 2227.81 - - - 2276.69 - -77.86 - - 3211.09 - - - - - - - - - - -
5496.18 463.46 -7.58 614 5515.29 roll -1.18 - - 2227.62 - 3.19 0.065 1145.25 -354.7 -77.86 - - 3210.69 - - - - - - - - - 15.75 -
5581.52 470.45 -8.24 628 5599.01 roll -1.18 - - 2227.69 - 2.80 0.026 2276.50 404.0 -77.86 - - 3211.94 - - - - - - - - - 15.96 -
5904.87 494.12 -7.28 660 5908.93 no move -1.18 - - 2227.50 - - - 2276.00 - -77.86 - - 3209.97 - - - - - - - - - - -
6214.91 515.46 -6.66 691 6234.66 roll -1.18 - - 2227.50 - 3.21 0.066 1146.19 -352.0 -77.86 - - 3209.91 - - - - - - - - - 15.85 -
6321.01 522.58 -6.73 709 6338.50 roll -1.18 - - 2227.69 - 2.79 0.026 2276.69 405.2 -77.86 - - 3211.41 - - - - - - - - - 15.96 -
6644.36 544.61 -7.27 741 6648.42 no move -1.18 - - 2227.06 - - - 2276.62 - -77.86 - - 3209.72 - - - - - - - - - - -
6954.40 566.01 -6.59 772 6973.94 roll -1.18 - - 2228.25 - 3.22 0.066 1145.31 -351.3 -77.86 - - 3209.03 - - - - - - - - - 15.85 -
7120.17 578.66 -7.76 802 7138.06 roll -1.18 - - 2227.81 - 2.81 0.026 2276.44 402.5 -77.86 - - 3210.09 - - - - - - - - - 15.98 -
7443.92 601.63 -6.60 834 7463.44 roll -1.18 - - 2227.62 - 3.22 0.066 1146.38 -351.0 -77.86 - - 3207.75 - - - - - - - - - 15.82 -
7513.94 606.53 -6.88 845 7532.58 roll -1.18 - - 2227.50 - 2.82 0.026 2275.62 400.4 -77.86 - - 3209.41 - - - - - - - - - 15.86 -
7838.45 629.09 -6.44 877 7857.56 roll -1.18 - - 2227.62 - 3.20 0.087 3351.56 336.2 -77.86 - - 3207.78 - - - - - - - - - 15.79 -
7898.05 634.02 -7.33 886 7916.51 roll -1.18 - - 2228.06 - 2.78 0.020 2191.31 -417.4 -77.86 - - 3208.91 - - - - - - - - - 15.98 -
8222.50 657.19 -7.18 918 8244.24 roll -1.18 - - 2227.56 - 3.40 0.083 3350.31 340.9 -77.86 - - 3207.50 - - - - - - - - - 15.79 -
8325.49 665.12 -7.81 935 8342.97 roll -1.18 - - 2227.25 - 2.78 0.020 2195.31 -415.5 -77.86 - - 3207.78 - - - - - - - - - 15.97 -
8648.86 688.34 -7.14 967 8652.91 no move -1.18 - - 2227.69 - - - 2195.00 - -77.86 - - 3207.22 - - - - - - - - - - -
8958.91 710.55 -7.40 998 8962.97 no move -1.18 - - 2227.50 - - - 2194.56 - -77.86 - - 3206.31 - - - - - - - - - - -
9268.96 732.61 -6.62 1029 9273.02 no move -1.18 - - 2227.06 - - - 2194.88 - -77.86 - - 3206.22 - - - - - - - - - - -
9579.03 751.43 -6.13 1060 9583.09 no move -1.18 - - 2227.69 - - - 2194.69 - -77.86 - - 3206.25 - - - - - - - - - - -
9889.07 769.90 -5.71 1091 9893.13 no move -1.18 - - 2227.75 - - - 2194.50 - -77.86 - - 3205.66 - - - - - - - - - - -
10199.11 788.53 -5.84 1122 10203.17 no move -1.18 - - 2227.31 - - - 2194.94 - -77.86 - - 3205.69 - - - - - - - - - - -
10509.12 808.30 -6.69 1153 10513.18 no move -1.18 - - 2227.44 - - - 2193.94 - -77.86 - - 3205.72 - - - - - - - - - - -
10819.13 826.78 -5.51 1184 10823.19 no move -1.18 - - 2227.19 - - - 2194.19 - -77.86 - - 3205.19 - - - - - - - - - - -
11028 end dive: TARGET_DEPTH_EXCEEDED
11029 begin apogee
11034.21 837.10 -5.09 1205 11137.28 -0.31 1.59 0.133 2441.12 134.5 0.14 0.152 2185.25 -63.9 - 64.04 2.178 2887.88 -5.0 0.323 - - - - - - 15.71 15.40 10.41
11150 end apogee: CONTROL_FINISHED_OK
11151 begin climb
11153.67 838.46 - 1212 11283.34 1.18 2.57 0.091 2806.00 142.0 3.61 0.089 3349.75 322.6 77.86 65.75 2.135 2571.72 -4.8 0.320 - - - - - - 15.60 15.20 11.57
11290.71 832.82 5.81 1226 11310.26 roll back 1.32 0.19 0.085 2846.00 210.5 2.90 0.020 2203.81 -395.2 77.86 - - 2566.97 - - - - - - - - 15.46 15.54 -
11616.84 811.07 6.98 1258 11635.55 done 1.38 - - 2844.69 - 3.10 0.075 1147.50 -340.7 77.86 - - 2563.25 - - - - - - - - - 15.73 -
11806.48 796.95 7.36 1293 11825.10 done 1.42 - - 2845.81 - 2.85 0.029 2275.06 395.6 77.86 - - 2562.47 - - - - - - - - - 15.83 -
12131.36 773.70 6.95 1325 12136.46 1.49 0.20 0.077 2889.94 220.7 - - 2274.75 - 77.86 - - 2563.91 - - - - - - - - 15.81 - -
12442.84 751.27 6.54 1356 12462.35 done 1.58 - - 2890.19 - 3.24 0.092 3352.69 332.7 77.86 - - 2561.09 - - - - - - - - - 15.78 -
12532.85 744.60 7.62 1371 12551.87 done 1.58 - - 2890.75 - 2.81 0.021 2203.88 -408.8 77.86 - - 2560.78 - - - - - - - - - 15.92 -
12858.12 724.20 6.10 1403 12879.87 1.70 0.23 0.074 2939.69 212.8 3.07 0.076 1145.69 -344.7 77.86 - - 2558.66 - - - - - - - - 15.88 15.82 -
13041.11 710.42 8.01 1436 13059.01 done 1.70 - - 2938.88 - 2.81 0.030 2274.62 401.8 77.86 - - 2560.94 - - - - - - - - - 15.95 -
13365.28 686.54 7.36 1468 13384.80 done 1.74 - - 2940.06 - 3.21 0.091 3351.12 335.4 77.86 - - 2558.41 - - - - - - - - - 15.79 -
13441.03 680.31 8.57 1480 13459.44 done 1.74 - - 2939.44 - 2.81 0.021 2204.06 -408.2 77.86 - - 2560.22 - - - - - - - - - 15.84 -
13765.67 656.75 6.90 1512 13769.73 VBD 1.81 - - 2939.50 - - - 2202.69 - 77.86 - - 2558.81 - - - - - - - - - - -
14076.80 637.51 6.46 1543 14082.30 1.90 0.23 0.072 2989.69 218.2 - - 2201.88 - 77.86 - - 2560.22 - - - - - - - - 15.92 - -
14388.12 615.79 7.64 1574 14406.83 done 1.90 - - 2989.31 - 3.08 0.075 1147.00 -342.5 77.86 - - 2557.28 - - - - - - - - - 15.81 -
14623.10 595.53 8.89 1618 14641.41 done 1.90 - - 2990.44 - 2.81 0.030 2274.25 401.2 77.86 - - 2558.72 - - - - - - - - - 15.96 -
14947.25 567.33 8.85 1650 14951.31 VBD 1.90 - - 2990.25 - - - 2274.06 - 77.86 - - 2557.75 - - - - - - - - - - -
15257.65 544.00 6.72 1681 15277.17 done 1.98 - - 2989.69 - 3.26 0.071 1144.44 -346.5 77.86 - - 2559.56 - - - - - - - - - 15.82 -
15403.83 533.82 7.09 1707 15421.74 done 2.04 - - 2990.88 - 2.83 0.030 2275.62 399.7 77.86 - - 2559.34 - - - - - - - - - 15.96 -
15728.02 515.25 5.75 1739 15748.39 2.18 0.05 0.172 3015.38 490.0 3.20 0.091 3351.12 336.1 77.86 - - 2558.47 - - - - - - - - 15.89 15.75 -
15815.03 509.30 6.86 1753 15832.78 2.25 - - 3015.50 - 2.79 0.021 2200.38 -412.5 77.86 - - 2558.56 - - - - - - - - - 15.98 -
16139.17 488.07 7.19 1785 16143.24 2.30 - - 3014.06 - - - 2199.81 - 77.86 - - 2557.59 - - - - - - - - - - -
16449.50 466.27 6.91 1816 16471.26 2.37 - - 3014.88 - 3.42 0.086 3353.38 337.3 77.86 - - 2560.41 - - - - - - - - - 15.77 -
16626.79 452.71 7.68 1848 16645.46 2.37 - - 3015.50 - 2.81 0.021 2202.06 -409.7 77.86 - - 2557.88 - - - - - - - - - 15.94 -
16951.72 429.21 7.17 1880 16970.44 2.42 - - 3014.69 - 3.06 0.075 1146.38 -345.0 77.86 - - 2559.06 - - - - - - - - - 15.71 -
17056.68 421.54 7.78 1898 17074.19 2.42 - - 3014.44 - 2.80 0.029 2276.06 403.5 77.86 - - 2557.88 - - - - - - - - - 15.97 -
17380.47 398.94 6.79 1930 17400.03 2.50 - - 3015.00 - 3.24 0.070 1145.25 -349.0 77.86 - - 2556.22 - - - - - - - - - 15.68 -
17630.94 381.28 6.72 1977 17649.85 2.58 - - 3015.25 - 2.82 0.029 2276.81 401.3 77.86 - - 2559.06 - - - - - - - - - 15.86 -
17956.23 363.16 5.09 2009 17975.76 2.75 - - 3015.19 - 3.23 0.069 1144.31 -350.6 77.86 - - 2558.72 - - - - - - - - - 15.79 -
18096.68 355.63 5.09 2034 18115.35 2.93 - - 3015.31 - 2.82 0.029 2276.81 401.6 77.86 - - 2558.44 - - - - - - - - - 15.95 -
18421.59 340.25 4.61 2066 18507.65 3.07 - - 3015.19 - - - 2276.12 - 148.91 57.01 1.583 2282.38 -4.8 0.176 - - - - - - - - 10.67
18813.53 302.81 10.79 2107 18833.06 3.07 - - 3014.50 - 3.27 0.071 1146.50 -345.4 148.91 - - 2272.53 - - - - - - - - - 15.72 -
18893.68 293.34 12.13 2120 18912.33 3.07 - - 3015.38 - 2.85 0.029 2274.12 395.7 148.91 - - 2274.97 - - - - - - - - - 15.72 -
19218.17 260.09 9.79 2152 19237.70 3.07 - - 3014.81 - 3.22 0.070 1147.25 -350.0 148.91 - - 2270.91 - - - - - - - - - 15.76 -
19283.93 253.04 11.00 2162 19302.59 3.07 - - 3016.06 - 2.82 0.029 2274.00 399.6 148.91 - - 2272.25 - - - - - - - - - 15.75 -
19608.58 221.41 9.85 2194 19627.71 3.07 - - 3015.00 - 3.19 0.089 3352.44 338.1 148.91 - - 2271.38 - - - - - - - - - 15.73 -
19708.22 210.09 11.34 2211 19727.26 3.07 - - 3014.62 - 2.81 0.021 2203.38 -408.9 148.91 - - 2270.53 - - - - - - - - - 15.89 -
20033.11 178.66 9.25 2243 20051.84 3.07 - - 3015.44 - 3.06 0.073 1144.19 -346.1 148.91 - - 2268.47 - - - - - - - - - 15.67 -
20112.34 170.57 9.98 2256 20131.08 3.07 - - 3015.38 - 2.82 0.028 2275.25 401.1 148.91 - - 2271.84 - - - - - - - - - 15.77 -
20436.96 139.05 9.75 2288 20456.51 3.07 - - 3015.19 - 3.21 0.069 1146.25 -351.7 148.91 - - 2269.78 - - - - - - - - - 15.71 -
20482.85 134.69 9.48 2294 20500.79 3.07 - - 3015.38 - 2.82 0.027 2276.06 400.6 148.91 - - 2269.00 - - - - - - - - - 15.79 -
20807.07 107.86 7.34 2326 20826.20 3.11 - - 3015.62 - 3.18 0.087 3351.00 338.0 148.91 - - 2270.97 - - - - - - - - - 15.66 -
20917.91 98.18 8.81 2345 20936.95 3.11 - - 3015.56 - 2.81 0.020 2199.94 -409.6 148.91 - - 2270.28 - - - - - - - - - 15.79 -
21123.22 82.38 7.20 2383 21143.06 3.17 - - 3015.88 - 3.04 0.071 1145.25 -346.9 148.91 - - 2271.12 - - - - - - - - - 15.66 -
21374.77 67.58 5.38 2430 21393.41 3.33 - - 3015.31 - 2.79 0.026 2279.50 406.5 148.91 - - 2270.09 - - - - - - - - - 15.74 -
21579.63 62.13 1.97 2468 21733.96 3.58 - - 3015.56 - 3.29 0.069 1144.69 -344.9 274.65 95.74 1.204 1769.66 -5.2 0.046 - - - - - - - 15.41 11.23
21835.18 48.22 8.56 2508 21853.82 3.58 - - 3015.81 - 2.84 0.027 2275.38 398.1 274.65 - - 1760.62 - - - - - - - - - 15.61 -
22040.21 32.96 7.38 2546 22047.23 3.62 - - 3015.94 - - - 2275.88 - 274.65 - - 1757.38 - - - - - - - - - - -
22233.57 20.99 5.52 2584 22253.83 3.77 - - 3015.12 - 3.26 0.068 1145.62 -346.7 274.65 - - 1755.78 - - - - - - - - - 15.61 -
22475.50 7.15 6.54 2629 22493.74 3.86 - - 3015.62 - 2.80 0.026 2276.50 403.9 274.65 - - 1754.41 - - - - - - - - - 15.77 -
22549 end climb: SURFACE_DEPTH_REACHED
22549 begin surface coast
22645 end surface coast: CONTROL_FINISHED_OK
22645 begin surface
SM 1.38 - - - - 180.4 118.22 1.107 1137.1 9.6 19.67 0.049 1120.0 56.9 - 0.12 0.082 1154.2 9595.0 -16.504 - - 11.24 15.80 15.88 -