NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 653 * Raw log
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• Previous call tries 1 • 224.02 of 506.00 AH used of 24V (55.73% remains)
• Surface angle -63.9 deg, depth 1.13 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.04 (SM_CC=430)
• GPS1 time: 21 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
19.30 - - - 126.36 VBD -1.18 - - 178.31 - - - 2282.62 - -77.86 75.54 0.005 2995.22 - - - - - - - - - - 14.71
128.58 3.61 -3.57 15 239.25 -1.18 17.59 0.207 2227.38 116.5 3.14 0.082 3352.94 340.9 -77.86 3.02 0.011 3210.00 71.1 -3.976 - - - - - - 15.25 14.90 15.03
316.55 47.24 -14.45 35 334.90 roll -1.18 - - 2228.00 - 2.72 0.019 2193.50 -426.3 -77.86 - - 3212.62 - - - - - - - - - 15.65 -
520.94 72.52 -10.50 73 528.13 no move -1.18 - - 2228.25 - - - 2191.56 - -77.86 - - 3212.53 - - - - - - - - - - -
714.21 90.52 -9.82 111 733.34 roll -1.18 - - 2227.50 - 2.90 0.068 1143.69 -361.3 -77.86 - - 3212.88 - - - - - - - - - 15.62 -
739.76 92.85 -9.26 113 758.13 roll -1.18 - - 2228.00 - 2.77 0.024 2279.75 410.1 -77.86 - - 3212.91 - - - - - - - - - 15.69 -
944.19 109.42 -7.54 139 962.78 roll -1.18 - - 2228.06 - 3.10 0.063 1143.50 -366.5 -77.86 - - 3211.31 - - - - - - - - - 15.65 -
1073.27 120.48 -8.68 162 1091.61 roll -1.18 - - 2227.62 - 2.77 0.024 2279.69 410.2 -77.86 - - 3212.81 - - - - - - - - - 15.72 -
1397.66 145.55 -8.22 194 1401.68 no move -1.18 - - 2228.12 - - - 2278.94 - -77.86 - - 3212.16 - - - - - - - - - - -
1707.72 170.89 -8.40 225 1726.32 roll -1.18 - - 2227.56 - 3.10 0.063 1143.00 -366.4 -77.86 - - 3211.31 - - - - - - - - - 15.67 -
1776.77 176.89 -8.68 236 1795.38 roll -1.18 - - 2228.12 - 2.74 0.024 2280.31 415.1 -77.86 - - 3213.19 - - - - - - - - - 15.83 -
2101.59 203.64 -7.92 268 2105.65 no move -1.18 - - 2227.75 - - - 2280.31 - -77.86 - - 3212.38 - - - - - - - - - - -
2411.73 228.01 -7.88 299 2415.79 no move -1.18 - - 2227.44 - - - 2280.06 - -77.86 - - 3212.91 - - - - - - - - - - -
2721.86 251.78 -7.47 330 2740.67 roll -1.18 - - 2228.75 - 3.03 0.083 3352.12 353.8 -77.86 - - 3212.19 - - - - - - - - - 15.77 -
2801.19 258.48 -8.38 343 2819.75 roll -1.18 - - 2227.81 - 2.70 0.019 2188.50 -431.0 -77.86 - - 3214.88 - - - - - - - - - 15.90 -
3125.83 282.33 -7.31 375 3144.23 roll -1.18 - - 2226.94 - 2.84 0.068 1143.44 -368.0 -77.86 - - 3214.91 - - - - - - - - - 15.79 -
3270.70 293.48 -7.63 401 3288.30 roll -1.18 - - 2227.75 - 2.73 0.025 2281.62 416.9 -77.86 - - 3214.34 - - - - - - - - - 15.88 -
3594.40 317.40 -7.12 433 3613.20 roll -1.18 - - 2227.69 - 3.05 0.082 3352.69 351.2 -77.86 - - 3212.19 - - - - - - - - - 15.79 -
3653.70 321.98 -7.71 442 3672.65 roll -1.18 - - 2227.75 - 2.70 0.018 2185.69 -432.2 -77.86 - - 3213.69 - - - - - - - - - 15.95 -
3978.74 344.61 -6.89 474 3997.00 roll -1.18 - - 2227.75 - 2.82 0.069 1143.25 -369.7 -77.86 - - 3213.78 - - - - - - - - - 15.76 -
4033.58 349.02 -7.93 482 4051.16 roll -1.18 - - 2228.50 - 2.70 0.024 2280.88 421.3 -77.86 - - 3215.09 - - - - - - - - - 15.95 -
4357.28 375.33 -8.34 514 4376.09 roll -1.18 - - 2227.75 - 3.09 0.065 1143.88 -368.0 -77.86 - - 3213.09 - - - - - - - - - 15.70 -
4436.60 382.61 -9.16 527 4455.16 roll -1.18 - - 2227.75 - 2.73 0.025 2281.81 416.8 -77.86 - - 3214.31 - - - - - - - - - 15.96 -
4761.28 409.94 -7.85 559 4765.34 no move -1.18 - - 2228.00 - - - 2281.31 - -77.86 - - 3212.72 - - - - - - - - - - -
5071.46 433.97 -7.57 590 5090.29 roll -1.18 - - 2228.12 - 3.09 0.065 1143.88 -368.1 -77.86 - - 3213.94 - - - - - - - - - 15.82 -
5116.76 437.83 -8.65 596 5134.36 roll -1.18 - - 2227.69 - 2.74 0.025 2280.25 414.7 -77.86 - - 3213.41 - - - - - - - - - 15.96 -
5440.47 462.06 -7.16 628 5459.29 roll -1.18 - - 2228.12 - 3.05 0.065 1142.50 -373.0 -77.86 - - 3213.84 - - - - - - - - - 15.80 -
5479.80 465.07 -7.56 633 5498.36 roll -1.18 - - 2227.56 - 2.74 0.025 2280.06 415.2 -77.86 - - 3213.97 - - - - - - - - - 15.85 -
5804.46 487.85 -7.52 665 5808.52 no move -1.18 - - 2227.69 - - - 2280.50 - -77.86 - - 3212.38 - - - - - - - - - - -
6114.72 510.01 -6.98 696 6118.78 no move -1.18 - - 2227.62 - - - 2280.69 - -77.86 - - 3211.84 - - - - - - - - - - -
6424.86 533.18 -7.17 727 6443.68 roll -1.18 - - 2227.56 - 3.09 0.065 1144.44 -367.7 -77.86 - - 3211.53 - - - - - - - - - 15.77 -
6460.15 535.67 -6.91 731 6478.15 roll -1.18 - - 2227.69 - 2.74 0.025 2279.12 414.1 -77.86 - - 3212.84 - - - - - - - - - 15.82 -
6784.27 557.78 -7.19 763 6803.10 roll -1.18 - - 2228.25 - 3.10 0.065 1142.56 -366.6 -77.86 - - 3212.62 - - - - - - - - - 15.72 -
6859.57 563.39 -7.52 775 6877.17 roll -1.18 - - 2227.44 - 2.74 0.025 2278.69 414.6 -77.86 - - 3212.38 - - - - - - - - - 15.96 -
7183.29 585.98 -6.68 807 7202.13 roll -1.18 - - 2228.00 - 3.07 0.065 1143.50 -369.8 -77.86 - - 3210.16 - - - - - - - - - 15.79 -
7308.60 594.43 -6.72 829 7326.59 roll -1.18 - - 2227.81 - 2.74 0.025 2277.06 413.7 -77.86 - - 3211.03 - - - - - - - - - 15.97 -
7632.69 614.41 -5.72 861 7636.75 no move -1.18 - - 2228.19 - - - 2277.44 - -77.86 - - 3209.19 - - - - - - - - - - -
7942.86 631.90 -6.06 892 7947.16 no move -1.18 - - 2227.75 - - - 2277.94 - -77.86 - - 3208.94 - - - - - - - - - - -
8253.39 652.02 -6.51 923 8257.46 no move -1.18 - - 2227.69 - - - 2278.50 - -77.86 - - 3209.41 - - - - - - - - - - -
8563.58 672.83 -6.44 954 8582.40 roll -1.18 - - 2227.31 - 3.09 0.067 1142.25 -367.7 -77.86 - - 3210.31 - - - - - - - - - 15.77 -
8658.87 679.55 -6.91 970 8676.86 roll -1.18 - - 2226.69 - 2.75 0.026 2278.00 413.0 -77.86 - - 3210.38 - - - - - - - - - 15.97 -
8762 end dive: TARGET_DEPTH_EXCEEDED
8762 begin apogee
8767.71 686.35 -6.55 980 8872.26 -0.31 1.60 0.129 2439.69 133.1 0.22 0.122 2286.31 37.8 - 64.60 1.939 2889.41 -5.0 0.300 - - - - - - 15.69 15.26 10.33
8885 end apogee: CONTROL_FINISHED_OK
8885 begin climb
8888.60 688.77 - 987 8997.22 1.18 2.60 0.095 2806.06 140.9 - - 2286.06 - 77.86 65.54 1.909 2570.94 -4.9 0.299 - - - - - - 15.61 - 11.48
9303.83 675.87 3.61 1025 9436.61 1.37 0.28 0.071 2858.81 188.4 3.23 0.073 1144.62 -353.4 169.65 77.64 1.896 2197.53 -4.8 0.292 - - - - - - 15.71 15.16 11.14
9497.23 662.53 7.78 1054 9516.22 roll 1.37 - - 2859.06 - 2.82 0.029 2274.06 400.5 169.65 - - 2190.47 - - - - - - - - - 15.57 -
9822.84 639.34 7.32 1086 9826.90 VBD 1.41 - - 2858.19 - - - 2273.50 - 169.65 - - 2185.50 - - - - - - - - - - -
10133.37 617.54 6.89 1117 10137.44 VBD 1.48 - - 2858.62 - - - 2273.75 - 169.65 - - 2184.06 - - - - - - - - - - -
10443.92 595.32 7.33 1148 10464.38 1.52 0.16 0.086 2894.88 226.6 3.11 0.071 1145.50 -362.8 169.65 - - 2181.62 - - - - - - - - 15.84 15.77 -
10480.83 592.06 8.32 1152 10498.43 done 1.52 - - 2895.00 - 2.76 0.029 2276.75 409.9 169.65 - - 2183.78 - - - - - - - - - 15.89 -
10804.52 565.31 7.67 1184 10823.33 done 1.52 - - 2893.00 - 3.06 0.071 1143.94 -370.2 169.65 - - 2182.81 - - - - - - - - - 15.79 -
10919.79 555.56 8.54 1204 10937.79 done 1.52 - - 2893.94 - 2.75 0.029 2276.00 411.7 169.65 - - 2181.94 - - - - - - - - - 15.91 -
11243.99 530.02 7.69 1236 11248.05 VBD 1.52 - - 2894.88 - - - 2276.31 - 169.65 - - 2180.69 - - - - - - - - - - -
11554.55 506.54 7.35 1267 11558.62 VBD 1.56 - - 2895.12 - - - 2276.12 - 169.65 - - 2180.53 - - - - - - - - - - -
11865.09 484.39 7.42 1298 11869.15 VBD 1.60 - - 2894.50 - - - 2275.06 - 169.65 - - 2179.97 - - - - - - - - - - -
12175.65 460.89 7.11 1329 12179.72 VBD 1.66 - - 2894.56 - - - 2275.75 - 169.65 - - 2179.84 - - - - - - - - - - -
12486.18 439.38 6.96 1360 12491.78 1.72 0.25 0.070 2946.12 206.2 - - 2275.56 - 169.65 - - 2180.03 - - - - - - - - 15.89 - -
12797.85 412.44 8.66 1391 12816.66 done 1.72 - - 2946.62 - 3.09 0.071 1145.19 -365.8 169.65 - - 2178.75 - - - - - - - - - 15.64 -
12887.17 404.38 9.16 1406 12905.75 done 1.72 - - 2946.12 - 2.78 0.029 2274.62 406.3 169.65 - - 2179.69 - - - - - - - - - 15.83 -
13211.81 376.68 8.27 1438 13230.62 done 1.72 - - 2945.88 - 3.05 0.070 1143.94 -370.7 169.65 - - 2180.06 - - - - - - - - - 15.78 -
13247.07 373.61 8.70 1442 13264.68 done 1.72 - - 2946.88 - 2.77 0.029 2274.56 408.2 169.65 - - 2180.38 - - - - - - - - - 15.83 -
13570.74 346.54 8.24 1474 13589.79 done 1.72 - - 2945.94 - 3.07 0.070 1144.00 -368.3 169.65 - - 2178.47 - - - - - - - - - 15.78 -
13610.41 342.95 8.63 1479 13628.98 done 1.72 - - 2946.62 - 2.76 0.029 2274.31 409.5 169.65 - - 2179.38 - - - - - - - - - 15.94 -
13935.08 316.45 7.92 1511 13954.32 done 1.72 - - 2946.25 - 3.15 0.092 3352.06 342.1 169.65 - - 2178.50 - - - - - - - - - 15.73 -
13970.76 313.23 8.47 1515 13987.95 done 1.72 - - 2946.38 - 2.69 0.021 2198.62 -428.8 169.65 - - 2180.47 - - - - - - - - - 15.94 -
14294.04 285.98 8.50 1547 14312.04 done 1.72 - - 2947.12 - 2.88 0.074 1143.56 -366.3 169.65 - - 2178.72 - - - - - - - - - 15.78 -
14442.57 271.87 9.51 1574 14461.13 done 1.72 - - 2946.88 - 2.78 0.028 2275.69 407.2 169.65 - - 2178.31 - - - - - - - - - 15.93 -
14767.22 245.18 8.52 1606 14786.44 done 1.72 - - 2945.12 - 3.14 0.069 1143.69 -360.5 169.65 - - 2178.59 - - - - - - - - - 15.58 -
14822.91 240.47 8.51 1614 14840.73 done 1.72 - - 2946.75 - 2.76 0.028 2277.50 410.8 169.65 - - 2178.62 - - - - - - - - - 15.92 -
15147.20 216.26 7.50 1646 15151.50 VBD 1.76 - - 2946.50 - - - 2277.62 - 169.65 - - 2177.38 - - - - - - - - - - -
15458.08 192.45 7.53 1677 15462.14 VBD 1.79 - - 2946.56 - - - 2277.50 - 169.65 - - 2177.09 - - - - - - - - - - -
15768.63 170.33 7.04 1708 15787.85 done 1.85 - - 2946.81 - 3.14 0.068 1145.62 -360.5 169.65 - - 2177.50 - - - - - - - - - 15.64 -
15818.75 166.56 7.28 1715 15838.53 1.89 0.18 0.078 2988.31 230.6 2.79 0.027 2277.00 405.5 169.65 - - 2179.62 - - - - - - - - 15.67 15.77 -
16145.01 140.56 7.21 1747 16149.07 VBD 1.94 - - 2989.56 - - - 2277.19 - 169.65 - - 2178.00 - - - - - - - - - - -
16455.59 118.65 7.51 1778 16474.83 done 1.98 - - 2988.50 - 3.11 0.088 3351.06 345.3 169.65 - - 2179.09 - - - - - - - - - 15.69 -
16705.80 100.19 7.00 1825 16724.59 done 2.04 - - 2989.62 - 2.71 0.020 2195.81 -426.3 169.65 - - 2179.03 - - - - - - - - - 15.87 -
17031.54 84.21 3.42 1887 17158.75 2.23 0.06 0.148 3016.25 443.8 3.36 0.084 3351.44 343.9 265.41 73.85 1.181 1808.16 -5.0 0.061 - - - - - - 15.82 15.32 10.51
17275.76 69.59 5.99 1926 17294.33 roll back 2.36 - - 3015.06 - 2.74 0.019 2195.94 -421.7 265.41 - - 1800.62 - - - - - - - - - 15.61 -
17480.95 57.78 6.34 1964 17500.73 2.46 - - 3015.00 - 2.92 0.071 1144.88 -360.0 265.41 - - 1798.50 - - - - - - - - - 15.58 -
17622.62 47.64 6.94 1989 17641.20 2.52 - - 3015.62 - 2.78 0.026 2279.38 408.1 265.41 - - 1795.78 - - - - - - - - - 15.67 -
17827.31 33.44 7.64 2027 17834.58 2.52 - - 3016.06 - - - 2278.75 - 265.41 - - 1795.19 - - - - - - - - - - -
18021.04 19.81 7.35 2065 18041.61 2.57 - - 3015.94 - 3.13 0.066 1144.56 -362.4 265.41 - - 1794.84 - - - - - - - - - 15.55 -
18068.06 15.87 8.40 2071 18086.73 2.57 - - 3015.94 - 2.79 0.025 2278.88 406.6 265.41 - - 1794.75 - - - - - - - - - 15.74 -
18222 end climb: SURFACE_DEPTH_REACHED
18222 begin surface coast
18283 end surface coast: CONTROL_FINISHED_OK
18283 begin surface
SM 1.14 - - - - 179.4 125.39 1.071 1136.9 9.1 19.92 0.049 1126.8 56.6 - 0.12 0.086 1147.0 9535.1 -12.918 - - 11.00 15.82 15.89 -