NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 548 * Raw log
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• Previous call tries 1 • 189.53 of 506.00 AH used of 24V (62.54% remains)
• Surface angle -60.5 deg, depth 1.13 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.77 (SM_CC=430)
• GPS1 time: 19 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
19.16 - - - 119.21 VBD -1.18 - - 178.25 - - - 2281.31 - -77.86 70.47 0.005 2856.09 - - - - - - - - - - 14.82
121.42 3.16 -3.08 14 237.41 -1.18 17.47 0.216 2228.31 117.3 3.18 0.065 1144.50 -357.5 -77.86 5.25 0.009 3210.12 67.4 -4.036 - - - - - - 15.30 14.96 15.07
244.24 36.55 -16.39 21 262.98 roll -1.18 - - 2227.81 - 2.83 0.025 2275.69 399.7 -77.86 - - 3212.59 - - - - - - - - - 15.65 -
449.13 62.34 -9.39 59 469.02 roll -1.18 - - 2228.25 - 3.19 0.063 1145.88 -354.2 -77.86 - - 3212.72 - - - - - - - - - 15.68 -
580.45 76.15 -10.77 82 599.11 roll -1.18 - - 2228.50 - 2.80 0.024 2278.38 404.5 -77.86 - - 3213.78 - - - - - - - - - 15.69 -
785.13 96.13 -9.49 120 791.92 no move -1.18 - - 2228.56 - - - 2278.25 - -77.86 - - 3213.06 - - - - - - - - - - -
977.97 114.22 -8.83 143 996.88 roll -1.18 - - 2228.56 - 3.16 0.063 1144.88 -358.7 -77.86 - - 3213.00 - - - - - - - - - 15.73 -
1043.28 120.05 -8.82 153 1060.60 roll -1.18 - - 2227.75 - 2.80 0.023 2278.62 404.9 -77.86 - - 3214.41 - - - - - - - - - 15.79 -
1366.66 145.35 -7.41 185 1385.57 roll -1.18 - - 2228.12 - 3.14 0.082 3353.62 342.4 -77.86 - - 3212.78 - - - - - - - - - 15.69 -
1446.02 152.11 -8.55 198 1464.28 roll -1.18 - - 2228.31 - 2.76 0.018 2188.81 -422.0 -77.86 - - 3214.56 - - - - - - - - - 15.76 -
1770.31 178.35 -8.43 230 1788.43 roll -1.18 - - 2228.25 - 2.88 0.067 1142.88 -363.2 -77.86 - - 3212.50 - - - - - - - - - 15.81 -
1834.99 183.75 -8.44 240 1852.51 roll -1.18 - - 2227.62 - 2.77 0.023 2279.81 410.4 -77.86 - - 3215.38 - - - - - - - - - 15.69 -
2158.60 212.17 -8.61 272 2162.66 no move -1.18 - - 2228.31 - - - 2280.06 - -77.86 - - 3213.06 - - - - - - - - - - -
2468.76 239.73 -8.61 303 2487.91 roll -1.18 - - 2229.00 - 3.12 0.081 3353.31 344.0 -77.86 - - 3212.53 - - - - - - - - - 15.80 -
2564.35 248.92 -9.67 319 2582.26 roll -1.18 - - 2228.44 - 2.74 0.018 2188.38 -425.2 -77.86 - - 3214.62 - - - - - - - - - 15.73 -
2888.34 275.37 -7.74 351 2906.28 roll -1.18 - - 2228.19 - 2.88 0.068 1145.69 -362.0 -77.86 - - 3215.41 - - - - - - - - - 15.84 -
2992.75 284.03 -8.49 369 3010.27 roll -1.18 - - 2227.94 - 2.76 0.024 2279.62 410.8 -77.86 - - 3214.69 - - - - - - - - - 15.91 -
3316.34 310.40 -7.94 401 3335.49 roll -1.18 - - 2228.31 - 3.11 0.082 3354.44 345.6 -77.86 - - 3213.22 - - - - - - - - - 15.83 -
3466.00 323.48 -8.73 428 3484.72 roll -1.18 - - 2228.69 - 2.71 0.018 2189.44 -429.9 -77.86 - - 3214.09 - - - - - - - - - 15.94 -
3790.93 348.07 -7.56 460 3794.99 no move -1.18 - - 2228.12 - - - 2186.62 - -77.86 - - 3213.31 - - - - - - - - - - -
4101.05 371.76 -6.56 491 4105.13 no move -1.18 - - 2227.81 - - - 2186.94 - -77.86 - - 3213.22 - - - - - - - - - - -
4411.19 394.84 -7.40 522 4432.55 roll -1.18 - - 2228.81 - 3.38 0.079 3352.75 344.9 -77.86 - - 3212.78 - - - - - - - - - 15.74 -
4508.04 402.83 -8.30 538 4526.52 roll -1.18 - - 2228.00 - 2.73 0.019 2191.38 -425.4 -77.86 - - 3213.19 - - - - - - - - - 15.95 -
4832.61 425.43 -7.04 570 4850.55 roll -1.18 - - 2228.25 - 2.89 0.070 1142.62 -362.9 -77.86 - - 3212.47 - - - - - - - - - 15.76 -
4897.00 430.59 -7.95 580 4914.54 roll -1.18 - - 2228.69 - 2.77 0.025 2280.50 410.8 -77.86 - - 3213.41 - - - - - - - - - 15.97 -
5220.63 455.11 -8.04 612 5239.78 roll -1.18 - - 2228.50 - 3.15 0.066 1144.44 -360.7 -77.86 - - 3212.19 - - - - - - - - - 15.84 -
5280.26 459.73 -7.65 621 5298.76 roll -1.18 - - 2228.56 - 2.78 0.025 2278.56 408.0 -77.86 - - 3214.09 - - - - - - - - - 15.98 -
5604.85 484.45 -7.74 653 5624.45 roll -1.18 - - 2228.56 - 3.16 0.084 3353.81 340.3 -77.86 - - 3211.72 - - - - - - - - - 15.80 -
5671.01 489.99 -8.47 663 5688.54 roll -1.18 - - 2228.00 - 2.74 0.019 2189.88 -424.8 -77.86 - - 3212.53 - - - - - - - - - 15.96 -
5994.64 516.99 -8.18 695 6012.99 roll -1.18 - - 2228.19 - 2.90 0.070 1145.25 -360.2 -77.86 - - 3210.84 - - - - - - - - - 15.85 -
6029.44 519.76 -8.06 699 6047.35 roll -1.18 - - 2228.12 - 2.76 0.025 2279.62 411.0 -77.86 - - 3212.28 - - - - - - - - - 15.96 -
6353.43 545.14 -7.67 731 6357.49 no move -1.18 - - 2227.62 - - - 2279.81 - -77.86 - - 3210.59 - - - - - - - - - - -
6663.59 567.40 -6.98 762 6682.96 roll -1.18 - - 2227.88 - 3.15 0.066 1145.25 -360.2 -77.86 - - 3210.28 - - - - - - - - - 15.74 -
6799.41 577.52 -7.26 786 6816.93 roll -1.18 - - 2228.19 - 2.78 0.025 2278.12 407.5 -77.86 - - 3211.28 - - - - - - - - - 15.98 -
7123.03 600.76 -7.25 818 7142.19 roll -1.18 - - 2227.69 - 3.15 0.066 1146.00 -359.4 -77.86 - - 3209.78 - - - - - - - - - 15.81 -
7278.66 613.17 -7.81 846 7296.45 roll -1.18 - - 2227.81 - 2.78 0.026 2277.19 406.9 -77.86 - - 3209.75 - - - - - - - - - 15.99 -
7602.67 635.70 -6.68 878 7621.84 roll -1.18 - - 2227.94 - 3.16 0.066 1145.19 -358.2 -77.86 - - 3208.66 - - - - - - - - - 15.81 -
7688.28 641.81 -7.15 892 7706.19 roll -1.18 - - 2228.38 - 2.80 0.025 2279.88 405.2 -77.86 - - 3210.56 - - - - - - - - - 15.96 -
8012.27 664.48 -6.82 924 8031.42 roll -1.18 - - 2227.69 - 3.18 0.086 3351.88 337.1 -77.86 - - 3208.12 - - - - - - - - - 15.68 -
8071.91 668.98 -7.56 933 8090.41 roll -1.18 - - 2227.88 - 2.72 0.020 2190.88 -426.8 -77.86 - - 3211.03 - - - - - - - - - 15.96 -
8396.51 689.11 -5.83 965 8414.45 roll -1.18 - - 2227.94 - 2.90 0.071 1144.12 -361.0 -77.86 - - 3209.50 - - - - - - - - - 15.82 -
8500.91 695.78 -6.25 983 8518.83 roll -1.18 - - 2227.81 - 2.78 0.026 2279.06 408.3 -77.86 - - 3208.50 - - - - - - - - - 15.98 -
8824.93 713.43 -5.13 1015 8829.00 no move -1.18 - - 2227.88 - - - 2278.94 - -77.86 - - 3207.38 - - - - - - - - - - -
9135.20 730.12 -6.13 1046 9154.59 roll -1.18 - - 2228.31 - 3.17 0.067 1146.31 -357.3 -77.86 - - 3206.91 - - - - - - - - - 15.81 -
9245.19 737.43 -6.65 1065 9264.08 roll -1.18 - - 2228.00 - 2.81 0.026 2278.06 402.8 -77.86 - - 3209.50 - - - - - - - - - 15.81 -
9570.14 758.46 -6.63 1097 9589.29 roll -1.18 - - 2228.00 - 3.17 0.087 3351.75 338.7 -77.86 - - 3206.69 - - - - - - - - - 15.76 -
9769.83 773.61 -7.74 1134 9788.32 roll -1.18 - - 2228.50 - 2.74 0.020 2192.25 -423.2 -77.86 - - 3206.91 - - - - - - - - - 15.95 -
10094.39 793.82 -6.33 1166 10112.74 roll -1.18 - - 2228.38 - 2.93 0.072 1145.69 -357.2 -77.86 - - 3205.59 - - - - - - - - - 15.80 -
10163 end dive: TARGET_DEPTH_EXCEEDED
10163 begin apogee
10180.90 798.26 -6.36 1177 10284.97 -0.31 1.59 0.132 2440.94 133.7 0.12 0.165 2179.38 8614.1 - 64.64 2.125 2891.44 -4.9 0.311 - - - - - - 15.71 15.32 10.24
10298 end apogee: CONTROL_FINISHED_OK
10298 begin climb
10301.28 801.36 - 1184 10410.72 1.18 2.58 0.089 2806.06 141.5 - - 2179.44 - 77.86 65.99 2.097 2570.31 -4.9 0.317 - - - - - - 15.59 - 11.52
10717.33 782.39 5.66 1222 10722.46 1.33 0.19 0.082 2847.56 218.4 - - 2178.94 - 77.86 - - 2564.03 - - - - - - - - 15.71 - -
11029.07 760.49 6.89 1253 11033.13 VBD 1.40 - - 2847.56 - - - 2178.94 - 77.86 - - 2562.28 - - - - - - - - - - -
11339.60 740.39 6.15 1284 11363.01 1.51 0.22 0.076 2894.81 214.8 3.46 0.088 3351.94 339.0 77.86 - - 2561.81 - - - - - - - - 15.81 15.76 -
11404.87 735.62 7.51 1293 11422.41 done 1.54 - - 2894.69 - 2.74 0.021 2198.94 -420.8 77.86 - - 2562.94 - - - - - - - - - 15.90 -
11728.48 710.48 8.51 1325 11732.54 VBD 1.54 - - 2894.44 - - - 2197.44 - 77.86 - - 2560.66 - - - - - - - - - - -
12039.03 687.19 7.33 1356 12060.81 done 1.59 - - 2895.00 - 3.41 0.087 3349.31 337.8 77.86 - - 2559.84 - - - - - - - - - 15.78 -
12132.26 679.59 8.40 1371 12150.18 done 1.59 - - 2894.50 - 2.76 0.021 2201.94 -415.7 77.86 - - 2561.00 - - - - - - - - - 15.93 -
12456.87 657.39 6.47 1403 12476.45 1.68 0.17 0.083 2936.25 245.6 2.99 0.075 1145.06 -353.5 77.86 - - 2561.50 - - - - - - - - 15.88 15.81 -
12613.43 646.71 7.09 1431 12631.38 done 1.74 - - 2936.06 - 2.81 0.029 2277.00 402.8 77.86 - - 2561.88 - - - - - - - - - 15.94 -
12937.88 625.59 6.05 1463 12959.67 1.86 0.19 0.080 2979.19 227.0 3.19 0.090 3353.00 337.3 77.86 - - 2560.91 - - - - - - - - 15.89 15.79 -
13071.12 615.52 8.16 1486 13089.03 done 1.86 - - 2980.00 - 2.78 0.021 2200.69 -414.5 77.86 - - 2560.94 - - - - - - - - - 15.82 -
13395.75 594.76 5.72 1518 13414.10 done 2.00 - - 2979.56 - 2.98 0.075 1146.12 -353.9 77.86 - - 2561.66 - - - - - - - - - 15.80 -
13645.06 578.57 7.06 1565 13665.19 2.06 0.12 0.102 3016.25 305.8 2.81 0.029 2275.62 402.0 77.86 - - 2560.12 - - - - - - - - 15.73 15.96 -
13971.25 554.29 7.73 1597 13991.05 done 2.06 - - 3016.19 - 3.21 0.069 1145.50 -352.1 77.86 - - 2557.91 - - - - - - - - - 15.74 -
14161.69 538.78 8.59 1632 14180.60 done 2.06 - - 3016.69 - 2.83 0.029 2274.19 398.8 77.86 - - 2559.94 - - - - - - - - - 15.96 -
14487.10 513.27 7.35 1664 14506.26 done 2.10 - - 3016.06 - 3.18 0.069 1145.81 -354.8 77.86 - - 2557.88 - - - - - - - - - 15.81 -
14572.72 506.49 7.94 1678 14591.05 done 2.10 - - 3016.44 - 2.83 0.028 2275.44 399.2 77.86 - - 2560.53 - - - - - - - - - 15.79 -
14897.53 484.90 7.02 1710 14916.70 done 2.16 - - 3015.56 - 3.20 0.089 3351.69 336.3 77.86 - - 2560.97 - - - - - - - - - 15.77 -
15103.16 469.38 7.94 1748 15120.70 done 2.16 - - 3015.75 - 2.76 0.021 2200.56 -417.1 77.86 - - 2559.91 - - - - - - - - - 15.96 -
15427.20 448.46 6.02 1780 15445.56 2.28 - - 3016.69 - 2.96 0.073 1144.50 -356.8 77.86 - - 2558.00 - - - - - - - - - 15.79 -
15636.48 436.52 5.51 1819 15656.16 2.43 - - 3016.19 - 2.81 0.028 2276.88 403.0 77.86 - - 2558.94 - - - - - - - - - 15.94 -
15962.75 420.72 5.00 1851 16054.89 2.56 - - 3016.38 - 3.20 0.091 3351.56 335.8 140.90 51.72 1.674 2316.84 -4.7 0.201 - - - - - - - 15.43 10.57
16106.33 409.09 9.97 1872 16124.27 roll back 2.56 - - 3016.88 - 2.80 0.021 2205.56 -409.3 140.90 - - 2310.75 - - - - - - - - - 15.77 -
16430.47 377.77 9.61 1904 16449.21 2.56 - - 3016.31 - 3.06 0.074 1146.62 -346.1 140.90 - - 2307.50 - - - - - - - - - 15.61 -
16519.72 369.39 9.59 1919 16538.62 2.56 - - 3016.19 - 2.83 0.029 2275.56 398.9 140.90 - - 2307.50 - - - - - - - - - 15.80 -
16844.72 338.43 9.23 1951 16863.91 2.56 - - 3016.50 - 3.20 0.089 3351.19 336.1 140.90 - - 2304.72 - - - - - - - - - 15.73 -
16914.39 331.17 10.77 1962 16933.27 2.56 - - 3015.88 - 2.80 0.021 2203.38 -409.9 140.90 - - 2307.25 - - - - - - - - - 15.87 -
17239.60 299.67 9.41 1994 17261.40 2.56 - - 3016.38 - 3.41 0.085 3349.62 336.1 140.90 - - 2305.06 - - - - - - - - - 15.68 -
17286.99 294.48 10.90 2000 17305.50 2.56 - - 3016.25 - 2.79 0.021 2202.88 -411.0 140.90 - - 2304.16 - - - - - - - - - 15.92 -
17611.59 260.65 11.07 2032 17630.35 2.56 - - 3017.06 - 3.03 0.074 1145.62 -348.9 140.90 - - 2304.22 - - - - - - - - - 15.76 -
17636.79 257.78 11.38 2034 17655.15 2.56 - - 3017.19 - 2.81 0.028 2276.75 402.5 140.90 - - 2305.06 - - - - - - - - - 15.91 -
17961.21 226.45 9.04 2066 17980.78 2.56 - - 3017.06 - 3.23 0.069 1145.81 -350.1 140.90 - - 2305.44 - - - - - - - - - 15.72 -
18061.27 216.50 10.25 2083 18080.57 2.56 - - 3016.56 - 2.83 0.028 2275.81 399.3 140.90 - - 2302.62 - - - - - - - - - 15.74 -
18386.65 185.62 9.65 2115 18405.81 2.56 - - 3016.06 - 3.19 0.069 1146.19 -354.1 140.90 - - 2304.44 - - - - - - - - - 15.77 -
18536.31 171.32 9.28 2142 18555.21 2.56 - - 3016.25 - 2.83 0.028 2276.12 399.3 140.90 - - 2303.62 - - - - - - - - - 15.84 -
18861.68 146.72 6.25 2174 18881.25 2.67 - - 3016.38 - 3.20 0.088 3352.69 336.4 140.90 - - 2304.53 - - - - - - - - - 15.65 -
18912.25 143.07 7.05 2181 18930.83 2.73 - - 3016.62 - 2.78 0.020 2198.94 -415.0 140.90 - - 2302.38 - - - - - - - - - 15.73 -
19237.33 121.59 7.32 2213 19255.69 2.77 - - 3017.00 - 2.92 0.072 1145.44 -360.8 140.90 - - 2302.31 - - - - - - - - - 15.76 -
19366.18 111.48 7.91 2236 19385.09 2.77 - - 3016.69 - 2.81 0.027 2277.50 402.9 140.90 - - 2304.00 - - - - - - - - - 15.84 -
19691.17 86.91 8.28 2284 19712.12 2.77 - - 3017.25 - 3.20 0.085 3351.75 335.7 140.90 - - 2302.31 - - - - - - - - - 15.62 -
19944.22 68.76 7.26 2331 19962.74 2.82 - - 3017.38 - 2.77 0.019 2199.25 -416.1 140.90 - - 2302.19 - - - - - - - - - 15.75 -
20149.23 59.33 3.55 2369 20255.88 3.00 - - 3017.12 - - - 2197.56 - 233.81 72.12 1.193 1937.66 -5.1 0.043 - - - - - - - - 11.03
20442.07 38.67 9.20 2421 20463.82 3.00 - - 3017.12 - 3.44 0.082 3351.31 335.4 233.81 - - 1927.66 - - - - - - - - - 15.55 -
20525.78 32.44 6.82 2434 20544.68 3.08 - - 3017.50 - 2.81 0.019 2197.06 -410.8 233.81 - - 1926.78 - - - - - - - - - 15.71 -
20731.19 22.27 4.40 2472 20836.58 3.23 - - 3017.31 - 3.44 0.084 3351.88 335.7 309.25 58.89 1.119 1628.97 -5.1 0.017 - - - - - - - 15.41 11.39
20973 end climb: SURFACE_DEPTH_REACHED
20973 begin surface coast
21024 end surface coast: CONTROL_FINISHED_OK
21024 begin surface
SM 1.25 - - - - 180.6 92.55 1.098 1138.0 11.7 19.63 0.037 1126.9 57.4 - 2.77 0.020 1149.1 413.6 -2.642 - - 11.28 15.72 15.78 -