NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 574 * Raw log
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• Previous call tries 1 • 195.88 of 506.00 AH used of 24V (61.29% remains)
• Surface angle -60.3 deg, depth 1.05 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.76 (SM_CC=430)
• GPS1 time: 32 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
19.20 - - - 119.25 VBD -1.18 - - 178.25 - - - 2282.88 - -77.86 70.42 0.005 2824.25 - - - - - - - - - - 14.84
121.48 3.31 -3.75 14 237.09 -1.18 17.16 0.213 2227.62 119.4 3.30 0.068 1145.56 -344.6 -77.86 6.05 0.008 3210.47 63.8 -4.515 - - - - - - 15.32 14.97 15.09
263.42 37.31 -15.67 25 283.01 roll -1.18 - - 2227.69 - 2.85 0.025 2275.50 396.5 -77.86 - - 3212.78 - - - - - - - - - 15.73 -
469.17 65.37 -12.98 63 489.06 roll -1.18 - - 2227.06 - 3.20 0.081 3352.31 336.5 -77.86 - - 3213.50 - - - - - - - - - 15.65 -
540.49 74.74 -13.08 74 559.18 roll -1.18 - - 2227.44 - 2.84 0.018 2195.94 -407.2 -77.86 - - 3212.69 - - - - - - - - - 15.70 -
745.21 96.07 -9.25 112 766.32 roll -1.18 - - 2227.62 - 3.42 0.077 3352.94 338.3 -77.86 - - 3212.16 - - - - - - - - - 15.64 -
782.74 99.58 -9.47 116 801.83 roll -1.18 - - 2227.94 - 2.83 0.018 2193.69 -409.6 -77.86 - - 3212.53 - - - - - - - - - 15.80 -
988.25 116.03 -8.43 136 992.27 no move -1.18 - - 2227.81 - - - 2192.50 - -77.86 - - 3211.91 - - - - - - - - - - -
1298.29 143.19 -8.65 167 1316.83 roll -1.18 - - 2227.31 - 3.03 0.067 1145.31 -345.6 -77.86 - - 3212.19 - - - - - - - - - 15.68 -
1533.26 166.07 -9.35 211 1550.61 roll -1.18 - - 2228.00 - 2.79 0.024 2280.12 406.7 -77.86 - - 3212.94 - - - - - - - - - 15.90 -
1856.79 194.97 -8.88 243 1876.59 roll -1.18 - - 2228.19 - 3.23 0.063 1146.62 -350.9 -77.86 - - 3212.44 - - - - - - - - - 15.64 -
1967.20 205.05 -9.14 262 1986.14 roll -1.18 - - 2227.12 - 2.81 0.024 2278.31 402.7 -77.86 - - 3214.38 - - - - - - - - - 15.80 -
2292.22 232.92 -8.53 294 2296.28 no move -1.18 - - 2227.12 - - - 2278.50 - -77.86 - - 3213.09 - - - - - - - - - - -
2602.57 260.42 -8.89 325 2622.15 roll -1.18 - - 2227.00 - 3.24 0.064 1145.56 -349.7 -77.86 - - 3212.38 - - - - - - - - - 15.85 -
2662.65 265.81 -8.73 334 2681.17 roll -1.18 - - 2228.00 - 2.80 0.024 2279.12 404.8 -77.86 - - 3214.75 - - - - - - - - - 15.96 -
2987.24 294.54 -9.04 366 3006.41 roll -1.18 - - 2227.12 - 3.17 0.083 3351.44 338.3 -77.86 - - 3212.94 - - - - - - - - - 15.73 -
3016.92 297.37 -9.16 369 3036.23 roll -1.18 - - 2227.75 - 2.81 0.018 2192.44 -412.5 -77.86 - - 3214.94 - - - - - - - - - 15.96 -
3342.30 325.45 -8.89 401 3346.36 no move -1.18 - - 2227.31 - - - 2190.69 - -77.86 - - 3212.84 - - - - - - - - - - -
3652.46 352.28 -8.60 432 3671.22 roll -1.18 - - 2227.75 - 3.01 0.068 1145.56 -347.2 -77.86 - - 3212.97 - - - - - - - - - 15.85 -
3767.70 363.27 -9.70 452 3785.27 roll -1.18 - - 2227.56 - 2.79 0.025 2277.12 405.6 -77.86 - - 3213.97 - - - - - - - - - 15.91 -
4091.49 391.70 -8.80 484 4110.66 roll -1.18 - - 2226.25 - 3.16 0.083 3353.88 340.7 -77.86 - - 3215.34 - - - - - - - - - 15.83 -
4141.15 396.87 -10.17 491 4159.66 roll -1.18 - - 2227.75 - 2.80 0.019 2192.12 -414.9 -77.86 - - 3213.06 - - - - - - - - - 15.97 -
4465.54 424.27 -7.84 523 4484.30 roll -1.18 - - 2227.25 - 3.01 0.069 1147.19 -347.2 -77.86 - - 3213.09 - - - - - - - - - 15.86 -
4540.79 429.79 -7.29 535 4558.36 roll -1.18 - - 2226.88 - 2.78 0.025 2277.94 406.7 -77.86 - - 3214.34 - - - - - - - - - 15.97 -
4864.46 450.57 -6.37 567 4884.04 roll -1.18 - - 2226.81 - 3.22 0.065 1145.44 -351.7 -77.86 - - 3214.69 - - - - - - - - - 15.86 -
4930.51 455.44 -7.07 577 4948.06 roll -1.18 - - 2227.62 - 2.80 0.025 2279.31 405.0 -77.86 - - 3214.66 - - - - - - - - - 15.93 -
5254.13 478.31 -7.15 609 5273.55 roll -1.18 - - 2226.56 - 3.16 0.084 3350.94 339.1 -77.86 - - 3214.16 - - - - - - - - - 15.80 -
5300.12 481.92 -7.76 615 5317.69 roll -1.18 - - 2227.69 - 2.80 0.019 2192.25 -413.8 -77.86 - - 3213.09 - - - - - - - - - 15.85 -
5623.79 506.06 -7.42 647 5642.55 roll -1.18 - - 2227.44 - 3.01 0.069 1145.69 -347.7 -77.86 - - 3211.09 - - - - - - - - - 15.85 -
5699.02 511.95 -7.98 659 5716.58 roll -1.18 - - 2227.38 - 2.79 0.025 2277.44 405.6 -77.86 - - 3211.81 - - - - - - - - - 15.99 -
6022.67 535.72 -7.75 691 6042.24 roll -1.18 - - 2226.75 - 3.22 0.065 1145.31 -351.6 -77.86 - - 3212.88 - - - - - - - - - 15.85 -
6138.74 545.57 -8.60 711 6156.71 roll -1.18 - - 2227.75 - 2.81 0.025 2277.38 402.9 -77.86 - - 3212.75 - - - - - - - - - 15.99 -
6462.81 570.49 -7.74 743 6482.39 roll -1.18 - - 2226.94 - 3.23 0.065 1145.31 -350.5 -77.86 - - 3212.81 - - - - - - - - - 15.85 -
6542.89 576.68 -7.72 756 6561.80 roll -1.18 - - 2227.81 - 2.79 0.025 2276.88 405.6 -77.86 - - 3211.31 - - - - - - - - - 15.99 -
6867.91 599.41 -7.28 788 6887.75 roll -1.18 - - 2226.94 - 3.26 0.065 1146.94 -346.6 -77.86 - - 3212.53 - - - - - - - - - 15.72 -
6904.32 602.11 -7.41 792 6921.88 roll -1.18 - - 2227.50 - 2.79 0.025 2278.31 405.5 -77.86 - - 3211.47 - - - - - - - - - 15.99 -
7227.98 624.11 -6.65 824 7232.06 no move -1.18 - - 2227.44 - - - 2278.62 - -77.86 - - 3209.28 - - - - - - - - - - -
7538.13 641.68 -5.10 855 7542.19 no move -1.18 - - 2227.88 - - - 2277.94 - -77.86 - - 3208.69 - - - - - - - - - - -
7848.27 661.55 -7.16 886 7867.85 roll -1.18 - - 2227.81 - 3.24 0.066 1145.94 -349.4 -77.86 - - 3208.16 - - - - - - - - - 15.82 -
7898.35 665.72 -8.38 893 7917.28 roll -1.18 - - 2227.56 - 2.81 0.026 2276.88 402.5 -77.86 - - 3208.75 - - - - - - - - - 15.98 -
8223.36 690.49 -7.05 925 8227.44 no move -1.18 - - 2227.44 - - - 2276.88 - -77.86 - - 3207.19 - - - - - - - - - - -
8533.55 709.22 -5.12 956 8537.61 no move -1.18 - - 2227.69 - - - 2276.69 - -77.86 - - 3207.38 - - - - - - - - - - -
8843.72 726.52 -6.34 987 8847.78 no move -1.18 - - 2227.94 - - - 2276.81 - -77.86 - - 3206.97 - - - - - - - - - - -
9153.89 744.26 -6.18 1018 9157.97 no move -1.18 - - 2226.62 - - - 2276.69 - -77.86 - - 3206.94 - - - - - - - - - - -
9464.05 763.69 -6.25 1049 9468.11 no move -1.18 - - 2227.81 - - - 2277.50 - -77.86 - - 3206.88 - - - - - - - - - - -
9774.18 783.14 -7.08 1080 9794.02 roll -1.18 - - 2227.69 - 3.27 0.067 1145.25 -346.3 -77.86 - - 3206.91 - - - - - - - - - 15.79 -
9914.66 794.25 -8.09 1105 9933.59 roll -1.18 - - 2227.50 - 2.82 0.026 2276.44 401.1 -77.86 - - 3209.28 - - - - - - - - - 15.96 -
10239 end dive: TARGET_DEPTH_EXCEEDED
10240 begin apogee
10244.84 820.00 -7.68 1137 10348.37 -0.31 1.57 0.129 2440.94 135.9 0.21 0.125 2284.12 36.6 - 64.36 2.127 2888.97 -5.0 0.328 - - - - - - 15.73 15.29 10.38
10361 end apogee: CONTROL_FINISHED_OK
10362 begin climb
10364.70 822.94 - 1144 10492.39 1.18 2.54 0.089 2805.94 143.7 3.34 0.093 3351.00 319.4 77.86 65.36 2.100 2572.44 -4.8 0.324 - - - - - - 15.59 15.15 11.54
10500.03 820.74 3.84 1158 10626.91 1.36 0.25 0.070 2856.56 202.5 2.89 0.020 2199.88 -398.3 164.85 75.04 2.073 2216.75 -4.7 0.321 - - - - - - 15.44 15.55 11.58
10933.11 790.33 8.11 1205 10952.31 done 1.36 - - 2856.94 - 3.12 0.075 1146.81 -337.5 164.85 - - 2206.16 - - - - - - - - - 15.71 -
11022.94 782.06 9.19 1220 11041.87 done 1.36 - - 2857.19 - 2.85 0.029 2273.88 395.5 164.85 - - 2203.22 - - - - - - - - - 15.78 -
11347.99 750.25 11.10 1252 11367.58 done 1.36 - - 2858.12 - 3.29 0.071 1146.88 -342.6 164.85 - - 2203.38 - - - - - - - - - 15.79 -
11404.04 744.78 10.04 1260 11422.40 done 1.36 - - 2856.75 - 2.85 0.029 2272.94 395.1 164.85 - - 2203.12 - - - - - - - - - 15.88 -
11728.91 721.53 6.79 1292 11748.50 done 1.43 - - 2856.62 - 3.24 0.092 3349.94 332.4 164.85 - - 2200.44 - - - - - - - - - 15.79 -
11774.97 717.70 8.54 1298 11792.94 done 1.43 - - 2857.56 - 2.82 0.021 2205.19 -405.9 164.85 - - 2201.44 - - - - - - - - - 15.90 -
12099.01 692.31 8.78 1330 12118.04 done 1.43 - - 2857.69 - 3.09 0.075 1147.12 -342.4 164.85 - - 2197.69 - - - - - - - - - 15.82 -
12194.64 683.78 8.91 1346 12212.60 done 1.43 - - 2856.50 - 2.83 0.029 2274.69 398.4 164.85 - - 2199.88 - - - - - - - - - 15.93 -
12518.71 659.85 7.66 1378 12538.31 done 1.43 - - 2856.88 - 3.23 0.092 3351.44 333.4 164.85 - - 2199.06 - - - - - - - - - 15.79 -
12564.78 655.87 8.99 1384 12582.81 done 1.43 - - 2857.94 - 2.81 0.021 2204.94 -408.0 164.85 - - 2200.50 - - - - - - - - - 15.95 -
12888.92 629.36 8.25 1416 12910.72 done 1.43 - - 2857.12 - 3.41 0.088 3349.31 335.6 164.85 - - 2196.84 - - - - - - - - - 15.80 -
12916.22 626.87 9.03 1418 12935.56 done 1.43 - - 2857.56 - 2.83 0.021 2203.12 -405.0 164.85 - - 2198.47 - - - - - - - - - 15.94 -
13242.07 603.10 6.79 1450 13246.13 VBD 1.51 - - 2856.81 - - - 2202.12 - 164.85 - - 2196.78 - - - - - - - - - - -
13552.62 582.21 6.43 1481 13558.19 1.60 0.30 0.067 2917.44 202.1 - - 2202.56 - 164.85 - - 2199.28 - - - - - - - - 15.90 - -
13864.26 556.33 8.95 1512 13868.32 VBD 1.60 - - 2917.62 - - - 2202.12 - 164.85 - - 2196.69 - - - - - - - - - - -
14174.39 528.90 9.25 1543 14193.41 done 1.60 - - 2918.50 - 3.10 0.076 1145.62 -340.8 164.85 - - 2196.88 - - - - - - - - - 15.81 -
14310.01 514.64 10.73 1567 14328.37 done 1.60 - - 2918.62 - 2.82 0.029 2275.31 400.6 164.85 - - 2197.03 - - - - - - - - - 15.98 -
14634.48 483.08 9.74 1599 14655.47 done 1.60 - - 2918.38 - 3.30 0.070 1146.56 -342.0 164.85 - - 2196.03 - - - - - - - - - 15.73 -
14686.93 477.80 10.48 1606 14705.30 done 1.60 - - 2918.44 - 2.83 0.029 2274.88 398.7 164.85 - - 2197.12 - - - - - - - - - 15.97 -
15011.38 446.35 9.38 1638 15030.99 done 1.60 - - 2918.75 - 3.28 0.071 1145.94 -344.2 164.85 - - 2198.38 - - - - - - - - - 15.77 -
15077.47 439.96 9.67 1648 15095.45 done 1.60 - - 2917.94 - 2.84 0.029 2273.06 396.9 164.85 - - 2197.78 - - - - - - - - - 15.95 -
15401.57 410.59 9.06 1680 15405.63 VBD 1.60 - - 2918.12 - - - 2272.75 - 164.85 - - 2195.50 - - - - - - - - - - -
15711.73 380.86 9.44 1711 15715.80 VBD 1.60 - - 2918.75 - - - 2272.81 - 164.85 - - 2195.25 - - - - - - - - - - -
16021.90 352.60 8.38 1742 16041.75 done 1.60 - - 2918.12 - 3.28 0.070 1145.69 -343.6 164.85 - - 2194.84 - - - - - - - - - 15.70 -
16092.36 346.39 8.66 1753 16111.31 done 1.60 - - 2918.19 - 2.84 0.029 2272.38 396.7 164.85 - - 2196.75 - - - - - - - - - 15.85 -
16417.80 321.09 6.97 1785 16421.86 VBD 1.67 - - 2918.81 - - - 2273.12 - 164.85 - - 2194.75 - - - - - - - - - - -
16728.37 300.90 6.27 1816 16750.59 1.78 0.17 0.080 2960.38 244.5 3.23 0.091 3349.75 333.3 164.85 - - 2195.69 - - - - - - - - 15.90 15.75 -
16786.09 296.23 7.97 1824 16805.29 done 1.78 - - 2961.38 - 2.82 0.021 2203.62 -406.4 164.85 - - 2195.62 - - - - - - - - - 15.95 -
17111.36 270.85 8.20 1856 17130.14 done 1.78 - - 2961.44 - 3.07 0.073 1145.94 -344.5 164.85 - - 2194.88 - - - - - - - - - 15.79 -
17196.62 262.69 10.16 1870 17214.18 done 1.78 - - 2961.19 - 2.80 0.029 2274.62 403.1 164.85 - - 2197.50 - - - - - - - - - 15.94 -
17520.26 232.25 8.76 1902 17539.87 done 1.78 - - 2961.62 - 3.26 0.069 1146.12 -346.2 164.85 - - 2195.56 - - - - - - - - - 15.78 -
17620.37 222.88 9.47 1919 17639.56 done 1.78 - - 2961.81 - 2.83 0.029 2275.00 398.9 164.85 - - 2195.28 - - - - - - - - - 15.94 -
17945.78 192.48 10.10 1951 17966.77 done 1.78 - - 2961.38 - 3.29 0.069 1145.44 -343.3 164.85 - - 2194.81 - - - - - - - - - 15.73 -
18082.27 178.57 10.03 1975 18101.21 done 1.78 - - 2961.75 - 2.84 0.028 2274.62 397.6 164.85 - - 2195.91 - - - - - - - - - 15.70 -
18407.40 148.73 8.62 2007 18427.11 done 1.78 - - 2961.31 - 3.28 0.068 1146.75 -343.9 164.85 - - 2196.38 - - - - - - - - - 15.63 -
18507.62 139.86 8.58 2024 18526.95 done 1.78 - - 2961.06 - 2.83 0.027 2274.62 398.5 164.85 - - 2196.91 - - - - - - - - - 15.80 -
18833.43 116.53 6.65 2056 18837.49 VBD 1.86 - - 2961.50 - - - 2274.88 - 164.85 - - 2194.66 - - - - - - - - - - -
19143.98 98.31 6.03 2089 19166.16 1.98 0.21 0.075 3012.12 241.0 3.27 0.088 3351.75 329.3 164.85 - - 2195.59 - - - - - - - - 15.83 15.58 -
19303.06 86.76 6.66 2117 19322.40 done 2.06 - - 3012.38 - 2.84 0.020 2199.75 -405.6 164.85 - - 2196.22 - - - - - - - - - 15.75 -
19508.90 75.06 5.19 2155 19529.05 2.24 - - 3012.31 - 3.10 0.070 1145.00 -340.2 164.85 - - 2195.66 - - - - - - - - - 15.60 -
19761.10 66.61 3.03 2202 19892.19 2.44 - - 3012.12 - 2.80 0.026 2279.06 405.0 268.60 79.39 1.193 1796.16 -5.0 0.048 - - - - - - - 15.73 10.67
20078.28 48.35 8.56 2256 20099.25 2.44 - - 3012.44 - 3.34 0.067 1147.00 -338.9 268.60 - - 1785.06 - - - - - - - - - 15.55 -
20286.30 32.99 7.35 2294 20305.26 2.49 - - 3012.69 - 2.83 0.026 2277.31 399.4 268.60 - - 1782.19 - - - - - - - - - 15.67 -
20491.74 20.93 4.44 2332 20596.97 2.63 - - 3012.38 - 3.23 0.089 3351.06 332.4 343.11 59.17 1.104 1491.66 -4.9 0.016 - - - - - - - 15.38 11.25
20603.54 11.78 9.46 2346 20622.88 roll back 2.63 - - 3012.69 - 2.88 0.020 2205.44 -397.8 343.11 - - 1487.47 - - - - - - - - - 15.67 -
20673 end climb: SURFACE_DEPTH_REACHED
20674 begin surface coast
20715 end surface coast: CONTROL_FINISHED_OK
20715 begin surface
SM 1.16 - - - - 179.4 68.24 1.085 1138.0 16.7 20.15 0.061 1136.4 56.4 - 0.14 0.077 1139.6 8119.4 -12.502 - - 11.27 15.64 15.77 -