NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 672 * Raw log
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• Previous call tries 1 • 228.28 of 506.00 AH used of 24V (54.89% remains)
• Surface angle -63.2 deg, depth 1.22 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.04 (SM_CC=430)
• GPS1 time: 30 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
19.32 - - - 126.75 VBD -1.18 - - 178.12 - - - 2286.31 - -77.86 75.56 0.005 2988.06 - - - - - - - - - - 14.75
128.98 3.28 -2.71 15 226.39 -1.18 17.34 0.208 2227.94 118.2 - - 2286.31 - -77.86 3.12 0.012 3209.16 70.9 -3.270 - - - - - - 15.32 - 15.01
412.38 57.91 -12.33 57 433.14 roll -1.18 - - 2227.38 - 3.21 0.063 1143.75 -355.9 -77.86 - - 3212.06 - - - - - - - - - 15.60 -
589.74 80.61 -11.40 89 608.12 roll -1.18 - - 2228.00 - 2.80 0.024 2278.31 405.2 -77.86 - - 3212.62 - - - - - - - - - 15.73 -
794.17 98.53 -8.01 127 814.14 roll -1.18 - - 2228.12 - 3.19 0.062 1144.06 -355.6 -77.86 - - 3211.56 - - - - - - - - - 15.70 -
880.58 105.31 -7.98 141 897.99 roll -1.18 - - 2227.44 - 2.78 0.023 2280.00 408.6 -77.86 - - 3213.03 - - - - - - - - - 15.67 -
1204.03 131.18 -7.52 173 1223.04 roll -1.18 - - 2227.81 - 3.13 0.082 3352.62 342.7 -77.86 - - 3211.34 - - - - - - - - - 15.75 -
1249.46 134.63 -7.57 179 1266.86 roll -1.18 - - 2227.50 - 2.77 0.018 2187.69 -420.6 -77.86 - - 3213.19 - - - - - - - - - 15.83 -
1572.91 160.06 -8.13 211 1591.11 roll -1.18 - - 2227.31 - 2.93 0.066 1143.62 -356.3 -77.86 - - 3211.47 - - - - - - - - - 15.74 -
1657.55 167.48 -9.25 225 1674.95 roll -1.18 - - 2226.69 - 2.76 0.024 2278.81 411.3 -77.86 - - 3213.72 - - - - - - - - - 15.80 -
1981.00 193.91 -7.86 257 2000.49 roll -1.18 - - 2227.50 - 3.16 0.062 1143.69 -359.2 -77.86 - - 3211.88 - - - - - - - - - 15.79 -
2057.08 200.25 -8.60 269 2074.70 roll -1.18 - - 2227.69 - 2.76 0.024 2279.00 411.3 -77.86 - - 3213.62 - - - - - - - - - 15.91 -
2380.80 225.15 -7.17 301 2384.88 no move -1.18 - - 2227.69 - - - 2279.56 - -77.86 - - 3211.72 - - - - - - - - - - -
2690.94 246.58 -6.77 332 2710.17 roll -1.18 - - 2227.88 - 3.15 0.062 1143.69 -360.6 -77.86 - - 3211.53 - - - - - - - - - 15.84 -
2900.72 261.13 -6.98 371 2919.71 roll -1.18 - - 2227.75 - 2.77 0.024 2279.88 410.2 -77.86 - - 3213.62 - - - - - - - - - 15.95 -
3225.83 283.14 -7.21 403 3245.06 roll -1.18 - - 2226.69 - 3.14 0.062 1142.62 -362.2 -77.86 - - 3212.81 - - - - - - - - - 15.86 -
3285.69 287.87 -7.89 412 3304.66 roll -1.18 - - 2227.44 - 2.76 0.024 2278.88 411.7 -77.86 - - 3213.28 - - - - - - - - - 15.89 -
3610.77 310.27 -6.84 444 3630.03 roll -1.18 - - 2227.81 - 3.15 0.062 1141.94 -360.9 -77.86 - - 3211.91 - - - - - - - - - 15.87 -
3656.50 313.78 -7.32 450 3674.76 roll -1.18 - - 2226.50 - 2.75 0.024 2279.69 413.7 -77.86 - - 3213.62 - - - - - - - - - 15.95 -
3980.98 336.99 -7.33 482 4000.22 roll -1.18 - - 2227.75 - 3.15 0.063 1142.69 -361.0 -77.86 - - 3211.62 - - - - - - - - - 15.87 -
4030.73 340.68 -7.24 489 4049.31 roll -1.18 - - 2227.44 - 2.76 0.024 2280.38 412.2 -77.86 - - 3213.38 - - - - - - - - - 15.98 -
4355.43 360.42 -5.93 521 4374.69 roll -1.18 - - 2227.75 - 3.14 0.063 1143.62 -362.0 -77.86 - - 3211.53 - - - - - - - - - 15.85 -
4471.17 367.82 -6.41 541 4489.00 roll -1.18 - - 2227.38 - 2.74 0.025 2279.56 414.6 -77.86 - - 3212.94 - - - - - - - - - 15.98 -
4795.08 389.03 -6.76 573 4799.14 no move -1.18 - - 2227.06 - - - 2280.12 - -77.86 - - 3212.06 - - - - - - - - - - -
5105.24 410.31 -6.78 604 5124.48 roll -1.18 - - 2226.44 - 3.16 0.063 1143.69 -359.6 -77.86 - - 3212.47 - - - - - - - - - 15.87 -
5174.99 415.29 -7.08 615 5193.60 roll -1.18 - - 2227.56 - 2.77 0.024 2278.94 409.8 -77.86 - - 3212.41 - - - - - - - - - 15.86 -
5499.72 435.18 -6.24 647 5503.78 no move -1.18 - - 2228.38 - - - 2278.75 - -77.86 - - 3211.25 - - - - - - - - - - -
5809.91 454.66 -6.35 678 5829.16 roll -1.18 - - 2227.50 - 3.18 0.063 1144.00 -356.8 -77.86 - - 3212.41 - - - - - - - - - 15.84 -
5935.77 463.23 -6.72 700 5953.38 roll -1.18 - - 2227.44 - 2.78 0.025 2277.62 407.8 -77.86 - - 3212.53 - - - - - - - - - 15.90 -
6259.51 482.14 -5.66 732 6278.75 roll -1.18 - - 2226.62 - 3.19 0.064 1144.88 -355.1 -77.86 - - 3211.66 - - - - - - - - - 15.83 -
6319.25 485.84 -6.20 741 6337.84 roll -1.18 - - 2227.88 - 2.77 0.025 2277.62 408.9 -77.86 - - 3211.09 - - - - - - - - - 15.96 -
6643.94 505.44 -6.53 773 6663.18 roll -1.18 - - 2227.62 - 3.14 0.064 1145.25 -360.6 -77.86 - - 3211.38 - - - - - - - - - 15.85 -
6689.65 508.60 -6.72 779 6707.29 roll -1.18 - - 2228.06 - 2.76 0.025 2278.62 410.6 -77.86 - - 3210.94 - - - - - - - - - 15.97 -
7013.41 529.61 -6.37 811 7017.47 no move -1.18 - - 2227.12 - - - 2278.25 - -77.86 - - 3209.44 - - - - - - - - - - -
7173 end dive: TARGET_DEPTH_EXCEEDED
7174 begin apogee
7178.36 540.17 -6.58 827 7280.36 -0.31 1.57 0.130 2440.38 135.8 0.22 0.113 2285.81 34.4 - 63.28 1.723 2888.78 -5.1 0.268 - - - - - - 15.74 15.31 10.45
7287 end apogee: CONTROL_FINISHED_OK
7288 begin climb
7290.61 541.94 - 834 7397.10 1.18 2.55 0.091 2805.56 143.2 - - 2286.06 - 77.86 63.55 1.693 2572.16 -5.0 0.269 - - - - - - 15.64 - 11.53
7703.70 527.55 3.35 872 7821.02 1.38 0.28 0.072 2859.50 192.6 - - 2286.38 - 175.03 79.31 1.685 2176.91 -5.0 0.263 - - - - - - 15.73 - 11.18
8127.10 499.04 7.64 913 8146.76 done 1.38 - - 2860.88 - 3.26 0.069 1145.25 -350.0 175.03 - - 2164.31 - - - - - - - - - 15.74 -
8203.35 492.70 8.09 925 8221.37 done 1.38 - - 2859.19 - 2.82 0.028 2273.44 400.1 175.03 - - 2164.91 - - - - - - - - - 15.79 -
8527.47 468.71 7.84 957 8546.71 done 1.38 - - 2859.75 - 3.19 0.068 1145.56 -353.6 175.03 - - 2162.59 - - - - - - - - - 15.80 -
8587.47 463.72 8.35 966 8606.46 done 1.38 - - 2859.62 - 2.81 0.028 2275.62 402.2 175.03 - - 2162.56 - - - - - - - - - 15.88 -
8913.08 440.01 7.19 998 8932.32 done 1.43 - - 2860.38 - 3.19 0.069 1145.50 -354.3 175.03 - - 2161.38 - - - - - - - - - 15.82 -
8999.21 433.84 6.96 1012 9016.83 done 1.49 - - 2859.75 - 2.79 0.028 2273.88 404.4 175.03 - - 2161.19 - - - - - - - - - 15.85 -
9323.33 411.30 7.26 1044 9345.62 1.54 0.18 0.087 2899.38 220.2 3.21 0.092 3351.44 335.7 175.03 - - 2161.66 - - - - - - - - 15.87 15.79 -
9371.12 406.96 9.18 1050 9389.72 done 1.54 - - 2901.56 - 2.76 0.021 2198.88 -417.6 175.03 - - 2161.09 - - - - - - - - - 15.84 -
9695.83 380.13 8.14 1082 9714.47 done 1.54 - - 2901.19 - 2.97 0.073 1144.94 -354.9 175.03 - - 2159.69 - - - - - - - - - 15.84 -
9774.98 373.40 8.55 1095 9793.57 done 1.54 - - 2901.81 - 2.77 0.028 2276.38 408.5 175.03 - - 2158.69 - - - - - - - - - 15.95 -
10100.09 349.47 6.74 1127 10104.15 VBD 1.62 - - 2901.31 - - - 2275.31 - 175.03 - - 2158.03 - - - - - - - - - - -
10410.64 328.10 6.86 1158 10429.89 done 1.69 - - 2899.81 - 3.19 0.069 1144.44 -354.5 175.03 - - 2159.09 - - - - - - - - - 15.83 -
10526.50 318.74 8.79 1178 10544.11 done 1.69 - - 2901.75 - 2.80 0.028 2275.00 403.8 175.03 - - 2158.09 - - - - - - - - - 15.95 -
10850.21 291.66 8.35 1210 10869.46 done 1.69 - - 2902.19 - 3.20 0.091 3351.00 336.2 175.03 - - 2156.97 - - - - - - - - - 15.76 -
10936.04 283.84 9.32 1224 10953.66 done 1.69 - - 2902.06 - 2.76 0.021 2200.44 -416.9 175.03 - - 2159.03 - - - - - - - - - 15.96 -
11259.77 258.19 7.87 1256 11278.20 done 1.69 - - 2902.50 - 2.99 0.072 1145.00 -353.0 175.03 - - 2158.00 - - - - - - - - - 15.66 -
11354.70 250.25 8.69 1272 11372.33 done 1.69 - - 2901.31 - 2.77 0.028 2277.50 408.8 175.03 - - 2157.47 - - - - - - - - - 15.96 -
11678.85 225.22 7.18 1304 11701.14 1.74 0.23 0.072 2951.38 217.7 3.19 0.069 1145.19 -355.0 175.03 - - 2155.44 - - - - - - - - 15.90 15.62 -
11742.62 219.75 8.72 1313 11760.50 done 1.74 - - 2952.25 - 2.77 0.028 2276.25 408.3 175.03 - - 2156.97 - - - - - - - - - 15.80 -
12066.73 192.01 8.85 1345 12086.00 done 1.74 - - 2951.00 - 3.20 0.067 1144.88 -353.6 175.03 - - 2155.62 - - - - - - - - - 15.80 -
12142.48 185.27 8.98 1357 12160.10 done 1.74 - - 2951.31 - 2.79 0.027 2276.50 405.6 175.03 - - 2157.41 - - - - - - - - - 15.78 -
12466.21 159.22 7.84 1389 12470.26 VBD 1.74 - - 2951.12 - - - 2275.62 - 175.03 - - 2155.38 - - - - - - - - - - -
12776.38 135.32 7.76 1420 12795.64 done 1.74 - - 2951.00 - 3.19 0.067 1144.75 -354.5 175.03 - - 2156.94 - - - - - - - - - 15.79 -
12896.17 125.44 8.09 1441 12915.15 done 1.74 - - 2951.25 - 2.79 0.027 2277.44 406.0 175.03 - - 2157.41 - - - - - - - - - 15.81 -
13221.65 103.43 6.52 1473 13240.89 done 1.83 - - 2951.44 - 3.19 0.066 1145.19 -354.9 175.03 - - 2155.25 - - - - - - - - - 15.69 -
13271.80 100.09 6.51 1480 13291.62 1.93 0.19 0.076 2999.81 254.6 2.80 0.026 2277.31 404.3 175.03 - - 2157.91 - - - - - - - - 15.70 15.66 -
13598.55 75.40 6.78 1542 13618.76 done 2.00 - - 3000.12 - 3.18 0.087 3350.56 337.5 175.03 - - 2157.16 - - - - - - - - - 15.54 -
13630.75 73.49 6.20 1545 13649.74 2.11 - - 3000.12 - 2.77 0.019 2193.12 -417.8 175.03 - - 2158.44 - - - - - - - - - 15.79 -
13836.26 68.58 1.57 1583 13998.37 2.38 - - 3000.88 - 3.01 0.071 1145.06 -348.2 308.90 102.30 1.152 1630.12 -5.2 0.052 - - - - - - - 15.27 10.62
14050.26 58.34 6.70 1614 14069.67 roll back 2.46 - - 3000.50 - 2.81 0.026 2278.94 403.5 308.90 - - 1623.88 - - - - - - - - - 15.66 -
14255.92 43.25 8.00 1652 14276.16 2.46 - - 3001.25 - 3.20 0.087 3352.19 335.4 308.90 - - 1620.88 - - - - - - - - - 15.59 -
14292.63 40.01 8.83 1656 14311.22 2.46 - - 3001.44 - 2.78 0.019 2198.62 -415.0 308.90 - - 1620.28 - - - - - - - - - 15.66 -
14497.71 24.14 7.33 1694 14517.12 2.51 - - 3000.56 - 2.97 0.069 1145.81 -354.5 308.90 - - 1618.97 - - - - - - - - - 15.70 -
14563.71 19.05 7.92 1704 14582.30 2.51 - - 3001.12 - 2.79 0.026 2277.69 405.7 308.90 - - 1618.25 - - - - - - - - - 15.70 -
14758 end climb: SURFACE_DEPTH_REACHED
14758 begin surface coast
14819 end surface coast: CONTROL_FINISHED_OK
14820 begin surface
SM 1.31 - - - - 179.0 93.36 1.062 1136.9 12.2 19.73 0.049 1133.0 57.4 - 0.12 0.084 1140.8 9483.4 -15.116 - - 11.05 15.82 15.89 -