NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 654 * Raw log
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• Previous call tries 1 • 224.29 of 506.00 AH used of 24V (55.67% remains)
• Surface angle -62.6 deg, depth 1.12 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.96 (SM_CC=430)
• GPS1 time: 25 s
• GPS2 time: 1 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
19.30 - - - 126.72 VBD -1.18 - - 178.38 - - - 2301.31 - -77.86 75.53 0.005 2978.06 - - - - - - - - - - 14.73
128.94 3.23 -3.02 15 238.86 -1.18 17.52 0.211 2227.56 117.0 3.06 0.084 3352.81 343.6 -77.86 3.37 0.011 3209.44 68.7 -3.413 - - - - - - 15.24 14.86 15.04
365.28 51.59 -13.88 45 383.63 roll -1.18 - - 2227.75 - 2.77 0.019 2193.75 -418.4 -77.86 - - 3211.91 - - - - - - - - - 15.59 -
569.84 76.35 -11.96 83 589.38 roll -1.18 - - 2227.81 - 2.91 0.068 1142.75 -361.2 -77.86 - - 3212.44 - - - - - - - - - 15.64 -
645.82 84.76 -10.07 95 664.17 roll -1.18 - - 2227.88 - 2.76 0.024 2281.69 412.7 -77.86 - - 3212.25 - - - - - - - - - 15.68 -
850.25 102.65 -8.37 130 868.82 roll -1.18 - - 2227.56 - 3.06 0.080 3352.62 350.0 -77.86 - - 3212.91 - - - - - - - - - 15.63 -
909.29 108.52 -10.03 139 928.05 roll -1.18 - - 2226.56 - 2.76 0.018 2189.19 -421.5 -77.86 - - 3214.06 - - - - - - - - - 15.77 -
1234.09 133.81 -7.68 171 1255.26 roll -1.18 - - 2226.19 - 3.32 0.077 3354.81 351.1 -77.86 - - 3213.22 - - - - - - - - - 15.73 -
1396.70 147.70 -8.92 200 1414.49 roll -1.18 - - 2227.06 - 2.73 0.018 2191.06 -426.3 -77.86 - - 3214.38 - - - - - - - - - 15.87 -
1720.53 171.31 -6.88 232 1724.55 no move -1.18 - - 2227.06 - - - 2188.88 - -77.86 - - 3211.75 - - - - - - - - - - -
2030.62 193.73 -7.15 263 2048.63 roll -1.18 - - 2228.25 - 2.89 0.067 1143.75 -361.6 -77.86 - - 3212.06 - - - - - - - - - 15.66 -
2115.23 200.20 -7.53 277 2132.83 roll -1.18 - - 2227.50 - 2.73 0.023 2282.75 417.2 -77.86 - - 3213.41 - - - - - - - - - 15.80 -
2438.94 223.25 -7.07 309 2457.76 roll -1.18 - - 2227.75 - 3.07 0.081 3354.00 348.9 -77.86 - - 3213.72 - - - - - - - - - 15.68 -
2488.26 227.36 -8.11 316 2506.83 roll -1.18 - - 2228.25 - 2.72 0.018 2187.06 -429.0 -77.86 - - 3214.19 - - - - - - - - - 15.92 -
2812.94 251.04 -7.46 348 2817.00 no move -1.18 - - 2227.69 - - - 2185.25 - -77.86 - - 3211.56 - - - - - - - - - - -
3123.10 272.87 -7.28 379 3141.11 roll -1.18 - - 2228.50 - 2.86 0.068 1143.62 -364.2 -77.86 - - 3213.03 - - - - - - - - - 15.73 -
3181.61 277.55 -7.80 388 3200.17 roll -1.18 - - 2227.69 - 2.72 0.024 2282.25 418.6 -77.86 - - 3213.81 - - - - - - - - - 15.93 -
3506.30 300.12 -6.84 420 3510.36 no move -1.18 - - 2227.62 - - - 2282.06 - -77.86 - - 3212.44 - - - - - - - - - - -
3816.44 321.19 -6.94 451 3835.27 roll -1.18 - - 2226.94 - 3.07 0.081 3353.62 349.0 -77.86 - - 3212.81 - - - - - - - - - 15.73 -
3861.74 324.71 -7.55 457 3879.58 roll -1.18 - - 2228.12 - 2.71 0.018 2188.06 -430.1 -77.86 - - 3212.81 - - - - - - - - - 15.94 -
4185.82 345.05 -6.25 489 4189.88 no move -1.18 - - 2227.44 - - - 2187.12 - -77.86 - - 3212.38 - - - - - - - - - - -
4496.00 365.33 -6.40 520 4500.05 no move -1.18 - - 2227.81 - - - 2186.56 - -77.86 - - 3212.41 - - - - - - - - - - -
4806.16 386.15 -6.60 551 4827.61 roll -1.18 - - 2227.56 - 3.33 0.078 3353.75 350.5 -77.86 - - 3212.38 - - - - - - - - - 15.80 -
4859.08 390.15 -7.29 558 4876.68 roll -1.18 - - 2227.88 - 2.73 0.018 2190.88 -426.0 -77.86 - - 3214.06 - - - - - - - - - 15.95 -
5182.80 412.47 -7.19 590 5186.86 no move -1.18 - - 2227.25 - - - 2189.31 - -77.86 - - 3212.25 - - - - - - - - - - -
5492.99 433.44 -6.51 621 5511.41 roll -1.18 - - 2228.31 - 2.91 0.070 1145.25 -358.8 -77.86 - - 3212.62 - - - - - - - - - 15.70 -
5527.87 435.98 -7.04 625 5545.47 roll -1.18 - - 2227.19 - 2.73 0.024 2282.38 416.5 -77.86 - - 3214.16 - - - - - - - - - 15.96 -
5851.57 455.74 -6.14 657 5870.80 roll -1.18 - - 2227.00 - 3.14 0.065 1145.56 -362.0 -77.86 - - 3212.97 - - - - - - - - - 15.77 -
5937.28 461.71 -6.88 671 5955.11 roll -1.18 - - 2227.50 - 2.73 0.025 2281.31 416.0 -77.86 - - 3213.66 - - - - - - - - - 15.95 -
6261.33 482.95 -6.90 703 6280.56 roll -1.18 - - 2227.50 - 3.13 0.065 1143.50 -363.5 -77.86 - - 3211.97 - - - - - - - - - 15.81 -
6367.05 490.83 -7.26 721 6384.67 roll -1.18 - - 2227.88 - 2.74 0.025 2280.00 414.8 -77.86 - - 3212.00 - - - - - - - - - 15.96 -
6690.82 510.44 -5.67 753 6694.88 no move -1.18 - - 2227.50 - - - 2280.06 - -77.86 - - 3210.88 - - - - - - - - - - -
7001.01 528.79 -5.92 784 7019.80 roll -1.18 - - 2227.50 - 3.10 0.083 3352.25 345.9 -77.86 - - 3209.97 - - - - - - - - - 15.78 -
7066.28 533.14 -6.52 794 7083.87 roll -1.18 - - 2227.44 - 2.71 0.019 2191.25 -428.4 -77.86 - - 3211.81 - - - - - - - - - 15.95 -
7390.02 553.05 -6.43 826 7408.05 roll -1.18 - - 2226.19 - 2.89 0.070 1143.31 -362.6 -77.86 - - 3210.59 - - - - - - - - - 15.81 -
7454.52 557.33 -6.62 836 7472.12 roll -1.18 - - 2227.56 - 2.74 0.025 2281.44 415.4 -77.86 - - 3211.56 - - - - - - - - - 15.96 -
7778.25 578.70 -6.95 868 7782.70 no move -1.18 - - 2227.06 - - - 2281.44 - -77.86 - - 3209.84 - - - - - - - - - - -
7818 end dive: TARGET_DEPTH_EXCEEDED
7819 begin apogee
7823.77 581.28 -6.56 872 7927.20 -0.31 1.59 0.134 2440.69 134.4 0.22 0.112 2288.31 31.2 - 63.97 1.786 2888.31 -5.0 0.277 - - - - - - 15.70 15.29 10.35
7940 end apogee: CONTROL_FINISHED_OK
7941 begin climb
7943.65 583.36 - 879 8066.93 1.18 2.60 0.096 2803.50 139.5 3.18 0.089 3351.81 334.4 77.86 64.49 1.760 2572.03 -4.9 0.275 - - - - - - 15.63 15.17 11.50
8108.90 578.51 4.79 899 8210.75 1.32 0.19 0.081 2846.12 224.3 2.76 0.019 2193.44 -419.7 145.28 57.24 1.728 2297.78 -4.8 0.272 - - - - - - 15.53 15.63 11.36
8517.38 551.85 6.80 943 8535.79 done 1.39 - - 2845.31 - 2.94 0.074 1145.00 -356.6 145.28 - - 2287.03 - - - - - - - - - 15.71 -
8566.80 548.17 7.25 950 8585.59 done 1.44 - - 2845.12 - 2.77 0.027 2279.44 409.5 145.28 - - 2287.41 - - - - - - - - - 15.80 -
8891.83 525.78 7.67 982 8911.05 done 1.44 - - 2845.62 - 3.14 0.069 1144.94 -361.3 145.28 - - 2283.72 - - - - - - - - - 15.77 -
8937.51 522.12 7.96 988 8955.11 done 1.44 - - 2845.38 - 2.77 0.027 2277.62 408.9 145.28 - - 2285.53 - - - - - - - - - 15.86 -
9261.62 499.21 6.77 1020 9267.22 1.52 0.23 0.074 2893.81 210.6 - - 2277.75 - 145.28 - - 2284.03 - - - - - - - - 15.85 - -
9573.32 472.99 8.85 1051 9592.54 done 1.52 - - 2892.25 - 3.15 0.088 3351.88 341.0 145.28 - - 2282.97 - - - - - - - - - 15.65 -
9609.00 469.62 9.34 1055 9627.00 done 1.52 - - 2893.25 - 2.73 0.020 2199.94 -422.0 145.28 - - 2283.12 - - - - - - - - - 15.93 -
9933.10 442.74 7.98 1087 9951.49 done 1.52 - - 2893.12 - 2.96 0.074 1145.19 -356.3 145.28 - - 2282.81 - - - - - - - - - 15.67 -
9987.96 438.27 8.05 1095 10005.55 done 1.52 - - 2893.88 - 2.76 0.028 2278.44 410.6 145.28 - - 2283.12 - - - - - - - - - 15.93 -
10312.01 414.37 7.10 1127 10331.23 done 1.57 - - 2893.44 - 3.16 0.070 1145.06 -358.7 145.28 - - 2280.88 - - - - - - - - - 15.71 -
10391.73 408.31 7.65 1140 10410.69 done 1.57 - - 2893.06 - 2.77 0.028 2276.44 408.4 145.28 - - 2282.50 - - - - - - - - - 15.87 -
10717.29 384.84 7.33 1172 10736.51 done 1.62 - - 2893.44 - 3.16 0.070 1145.25 -358.0 145.28 - - 2281.03 - - - - - - - - - 15.80 -
10843.40 375.64 7.16 1194 10862.25 1.67 0.17 0.086 2933.75 237.1 2.79 0.028 2277.69 405.9 145.28 - - 2279.47 - - - - - - - - 15.74 15.95 -
11168.83 351.20 7.25 1226 11188.08 done 1.72 - - 2935.00 - 3.14 0.069 1145.06 -360.7 145.28 - - 2280.16 - - - - - - - - - 15.81 -
11218.98 347.29 7.46 1233 11237.54 done 1.75 - - 2934.38 - 2.77 0.027 2276.75 408.6 145.28 - - 2281.06 - - - - - - - - - 15.93 -
11544.01 323.06 7.22 1265 11563.24 done 1.80 - - 2934.31 - 3.14 0.069 1145.50 -360.3 145.28 - - 2280.09 - - - - - - - - - 15.81 -
11579.70 320.21 7.58 1269 11597.29 done 1.80 - - 2935.50 - 2.77 0.027 2277.38 408.6 145.28 - - 2280.81 - - - - - - - - - 15.94 -
11903.77 295.54 7.32 1301 11908.97 1.85 0.19 0.077 2976.81 217.4 - - 2277.62 - 145.28 - - 2279.88 - - - - - - - - 15.87 - -
12215.07 269.86 8.36 1332 12234.29 done 1.85 - - 2977.44 - 3.13 0.088 3353.06 343.6 145.28 - - 2280.59 - - - - - - - - - 15.74 -
12300.87 262.01 9.38 1346 12318.48 done 1.85 - - 2977.38 - 2.71 0.020 2199.81 -425.6 145.28 - - 2280.72 - - - - - - - - - 15.93 -
12624.54 234.57 7.98 1378 12642.96 done 1.85 - - 2977.06 - 2.95 0.072 1143.94 -357.9 145.28 - - 2279.56 - - - - - - - - - 15.70 -
12843.48 216.27 8.50 1419 12862.43 done 1.85 - - 2976.44 - 2.79 0.027 2279.31 406.9 145.28 - - 2281.31 - - - - - - - - - 15.82 -
13168.91 191.47 7.10 1451 13187.73 done 1.90 - - 2976.56 - 3.10 0.086 3352.75 346.3 145.28 - - 2278.78 - - - - - - - - - 15.74 -
13258.24 184.28 8.05 1466 13276.83 done 1.90 - - 2977.88 - 2.73 0.020 2197.81 -423.1 145.28 - - 2279.44 - - - - - - - - - 15.92 -
13583.33 162.62 6.32 1498 13604.78 done 2.01 - - 2976.19 - 3.35 0.082 3354.38 345.2 145.28 - - 2279.62 - - - - - - - - - 15.60 -
13660.29 156.77 7.77 1510 13679.49 done 2.01 - - 2977.38 - 2.71 0.020 2198.75 -426.4 145.28 - - 2279.91 - - - - - - - - - 15.89 -
13986.08 134.59 6.62 1542 13991.29 2.09 0.14 0.091 3014.50 265.1 - - 2196.88 - 145.28 - - 2278.22 - - - - - - - - 15.80 - -
14297.77 114.80 5.37 1573 14319.24 2.25 - - 3016.19 - 3.31 0.080 3352.00 349.0 145.28 - - 2279.69 - - - - - - - - - 15.66 -
14551.12 99.74 5.71 1620 14570.11 2.39 - - 3016.44 - 2.71 0.019 2194.44 -427.1 145.28 - - 2280.09 - - - - - - - - - 15.85 -
14756.62 90.63 3.95 1658 14867.85 2.56 - - 3015.88 - 2.93 0.073 1143.56 -358.7 229.97 65.49 1.190 1950.97 -5.0 0.065 - - - - - - - 15.36 10.45
14874.99 83.63 8.11 1673 14893.97 roll back 2.56 - - 3015.94 - 2.77 0.025 2279.50 410.1 229.97 - - 1946.59 - - - - - - - - - 15.59 -
15080.60 71.38 4.50 1711 15183.82 2.71 - - 3017.00 - 3.13 0.086 3354.69 343.5 303.30 57.65 1.140 1652.19 -5.1 0.054 - - - - - - - 15.31 11.25
15190.78 65.04 7.45 1725 15209.37 roll back 2.75 - - 3016.62 - 2.77 0.019 2198.38 -417.4 303.30 - - 1649.47 - - - - - - - - - 15.57 -
15395.44 48.54 8.56 1763 15414.82 2.75 - - 3016.81 - 2.96 0.072 1145.50 -355.7 303.30 - - 1644.19 - - - - - - - - - 15.64 -
15436.28 45.05 8.70 1768 15454.86 2.75 - - 3015.50 - 2.76 0.025 2279.81 411.0 303.30 - - 1644.22 - - - - - - - - - 15.72 -
15641.37 29.66 7.25 1806 15648.64 2.79 - - 3016.44 - - - 2280.19 - 303.30 - - 1642.16 - - - - - - - - - - -
15834.71 14.54 7.80 1844 15854.89 2.79 - - 3015.81 - 3.13 0.066 1145.12 -362.6 303.30 - - 1641.81 - - - - - - - - - 15.61 -
15896.34 9.30 8.45 1853 15915.30 2.79 - - 3015.25 - 2.75 0.025 2278.56 412.2 303.30 - - 1641.28 - - - - - - - - - 15.76 -
15960 end climb: SURFACE_DEPTH_REACHED
15961 begin surface coast
16017 end surface coast: CONTROL_FINISHED_OK
16017 begin surface
SM 1.01 - - - - 179.6 96.93 1.071 1137.2 11.7 20.02 0.051 1132.2 56.6 - 0.12 0.078 1142.2 9495.4 -12.567 - - 10.96 15.81 15.88 -