NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 770 * Raw log
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• Previous call tries 1 • 261.02 of 506.00 AH used of 24V (48.42% remains)
• Surface angle -64.5 deg, depth 1.15 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.94 (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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
19.42 - - - 105.71 VBD -1.18 - - 178.31 - - - 2288.94 - -77.86 60.28 0.005 2613.53 - - - - - - - - - - 14.65
107.92 3.35 -4.13 12 230.99 -1.18 17.45 0.201 2227.94 117.5 3.26 0.065 1144.75 -351.0 -77.86 9.81 0.007 3211.28 60.9 -4.961 - - - - - - 15.20 14.82 14.99
237.69 29.40 -12.25 20 257.45 roll -1.18 - - 2227.56 - 2.83 0.024 2275.75 399.6 -77.86 - - 3212.59 - - - - - - - - - 15.64 -
443.67 54.62 -11.81 58 464.11 roll -1.18 - - 2227.88 - 3.21 0.082 3352.19 335.3 -77.86 - - 3212.50 - - - - - - - - - 15.50 -
590.58 71.70 -11.56 84 609.79 roll -1.18 - - 2227.88 - 2.83 0.018 2195.69 -408.7 -77.86 - - 3213.94 - - - - - - - - - 15.61 -
795.86 90.38 -8.63 122 802.70 no move -1.18 - - 2228.25 - - - 2194.69 - -77.86 - - 3212.44 - - - - - - - - - - -
988.79 106.92 -8.72 152 1009.29 roll -1.18 - - 2227.38 - 3.41 0.078 3352.62 339.6 -77.86 - - 3214.16 - - - - - - - - - 15.64 -
1035.73 111.76 -10.15 158 1054.22 roll -1.18 - - 2227.81 - 2.83 0.018 2194.88 -409.1 -77.86 - - 3213.81 - - - - - - - - - 15.63 -
1360.31 139.89 -7.46 190 1378.81 roll -1.18 - - 2227.62 - 2.98 0.067 1144.38 -352.5 -77.86 - - 3213.31 - - - - - - - - - 15.75 -
1439.51 145.81 -7.55 203 1457.95 roll -1.18 - - 2228.00 - 2.78 0.023 2280.69 408.7 -77.86 - - 3212.88 - - - - - - - - - 15.87 -
1764.02 164.38 -5.28 235 1784.14 roll -1.18 - - 2227.81 - 3.22 0.061 1145.00 -352.7 -77.86 - - 3214.41 - - - - - - - - - 15.62 -
1825.01 168.21 -6.23 244 1843.67 roll -1.18 - - 2227.25 - 2.80 0.023 2280.12 405.4 -77.86 - - 3214.03 - - - - - - - - - 15.76 -
2149.80 189.27 -6.55 276 2169.34 roll -1.18 - - 2227.31 - 3.19 0.061 1144.50 -356.0 -77.86 - - 3211.72 - - - - - - - - - 15.77 -
2190.09 192.01 -6.75 281 2208.74 roll -1.18 - - 2227.62 - 2.78 0.023 2279.94 408.4 -77.86 - - 3214.25 - - - - - - - - - 15.84 -
2514.86 212.28 -6.00 313 2534.40 roll -1.18 - - 2227.69 - 3.17 0.081 3352.06 338.2 -77.86 - - 3212.12 - - - - - - - - - 15.64 -
2575.15 216.23 -6.45 322 2594.18 roll -1.18 - - 2227.81 - 2.80 0.018 2189.44 -415.2 -77.86 - - 3213.25 - - - - - - - - - 15.76 -
2900.30 236.03 -6.22 354 2920.64 roll -1.18 - - 2228.56 - 3.38 0.077 3352.50 344.1 -77.86 - - 3212.00 - - - - - - - - - 15.76 -
2951.39 239.73 -7.22 361 2970.08 roll -1.18 - - 2227.12 - 2.79 0.018 2191.81 -416.0 -77.86 - - 3213.56 - - - - - - - - - 15.92 -
3276.18 261.50 -6.62 393 3295.56 roll -1.18 - - 2227.06 - 2.97 0.067 1144.75 -352.5 -77.86 - - 3213.81 - - - - - - - - - 15.80 -
3352.15 266.96 -7.36 405 3370.09 roll -1.18 - - 2227.00 - 2.77 0.024 2280.69 410.1 -77.86 - - 3214.19 - - - - - - - - - 15.92 -
3676.19 288.04 -6.58 437 3695.73 roll -1.18 - - 2226.06 - 3.19 0.063 1143.06 -356.6 -77.86 - - 3213.47 - - - - - - - - - 15.81 -
3726.48 291.67 -7.00 444 3745.52 roll -1.18 - - 2228.25 - 2.77 0.023 2280.62 410.7 -77.86 - - 3214.94 - - - - - - - - - 15.91 -
4051.65 313.94 -7.00 476 4055.71 no move -1.18 - - 2227.38 - - - 2280.50 - -77.86 - - 3213.12 - - - - - - - - - - -
4361.84 335.50 -7.04 507 4365.90 no move -1.18 - - 2227.62 - - - 2280.94 - -77.86 - - 3212.94 - - - - - - - - - - -
4672.00 357.32 -7.09 538 4676.06 no move -1.18 - - 2228.19 - - - 2280.94 - -77.86 - - 3212.28 - - - - - - - - - - -
4982.17 379.31 -6.99 569 5001.71 roll -1.18 - - 2227.88 - 3.20 0.064 1144.25 -355.2 -77.86 - - 3210.53 - - - - - - - - - 15.70 -
5082.46 386.61 -7.11 586 5101.50 roll -1.18 - - 2228.25 - 2.79 0.024 2277.69 406.3 -77.86 - - 3212.59 - - - - - - - - - 15.81 -
5407.64 407.67 -6.58 618 5427.42 roll -1.18 - - 2227.88 - 3.20 0.063 1144.50 -354.1 -77.86 - - 3210.38 - - - - - - - - - 15.78 -
5454.01 411.15 -6.68 624 5471.94 roll -1.18 - - 2227.69 - 2.79 0.024 2279.12 406.7 -77.86 - - 3211.88 - - - - - - - - - 15.91 -
5778.25 432.50 -6.53 656 5797.79 roll -1.18 - - 2227.94 - 3.17 0.084 3352.25 338.5 -77.86 - - 3210.50 - - - - - - - - - 15.75 -
5818.54 435.58 -7.10 661 5837.59 roll -1.18 - - 2227.69 - 2.79 0.019 2190.50 -416.4 -77.86 - - 3211.84 - - - - - - - - - 15.95 -
6143.73 456.77 -6.48 693 6164.48 roll -1.18 - - 2226.19 - 3.44 0.080 3353.62 338.1 -77.86 - - 3210.44 - - - - - - - - - 15.66 -
6200.96 461.12 -7.75 701 6218.87 roll -1.18 - - 2227.62 - 2.80 0.019 2193.06 -414.5 -77.86 - - 3210.41 - - - - - - - - - 15.95 -
6524.98 481.77 -5.95 733 6545.75 roll -1.18 - - 2227.81 - 3.44 0.079 3352.81 337.1 -77.86 - - 3211.59 - - - - - - - - - 15.64 -
6622.24 489.22 -8.24 749 6640.15 roll -1.18 - - 2228.00 - 2.80 0.019 2193.38 -414.1 -77.86 - - 3211.06 - - - - - - - - - 15.96 -
6946.26 508.45 -6.17 781 6965.62 roll -1.18 - - 2227.00 - 2.98 0.069 1144.56 -352.0 -77.86 - - 3211.47 - - - - - - - - - 15.76 -
6972.21 510.10 -6.29 783 6990.12 roll -1.18 - - 2227.94 - 2.79 0.024 2280.12 407.0 -77.86 - - 3210.59 - - - - - - - - - 15.94 -
7296.23 531.33 -6.82 815 7300.29 no move -1.18 - - 2227.50 - - - 2280.75 - -77.86 - - 3209.91 - - - - - - - - - - -
7606.42 552.17 -6.58 846 7625.96 roll -1.18 - - 2227.56 - 3.18 0.084 3353.56 337.4 -77.86 - - 3209.31 - - - - - - - - - 15.73 -
7696.72 559.05 -7.60 861 7715.36 roll -1.18 - - 2228.00 - 2.80 0.019 2191.56 -415.0 -77.86 - - 3210.09 - - - - - - - - - 15.96 -
8021.50 580.73 -6.76 893 8040.64 roll -1.18 - - 2227.81 - 2.97 0.070 1145.62 -352.2 -77.86 - - 3210.34 - - - - - - - - - 15.77 -
8087.12 585.68 -7.28 903 8105.03 roll -1.18 - - 2227.75 - 2.79 0.025 2278.25 406.0 -77.86 - - 3211.19 - - - - - - - - - 15.86 -
8111 end dive: TARGET_DEPTH_EXCEEDED
8111 begin apogee
8115.95 587.21 -6.54 905 8219.18 -0.31 1.58 0.128 2440.75 134.8 0.23 0.109 2284.44 26.9 - 63.96 1.755 2891.09 -5.0 0.285 - - - - - - 15.67 15.21 10.29
8232 end apogee: CONTROL_FINISHED_OK
8233 begin climb
8235.57 589.83 - 912 8342.50 1.18 2.58 0.088 2804.44 141.0 - - 2284.56 - 77.86 64.75 1.731 2571.84 -4.9 0.286 - - - - - - 15.63 - 11.39
8649.15 577.46 4.13 952 8769.22 1.34 0.23 0.071 2854.94 219.6 3.32 0.071 1145.50 -343.1 158.93 68.07 1.715 2241.09 -4.9 0.278 - - - - - - 15.71 15.20 11.07
8916.24 560.67 6.68 996 8934.56 done 1.43 - - 2856.38 - 2.85 0.027 2275.50 396.5 158.93 - - 2233.06 - - - - - - - - - 15.73 -
9241.09 541.11 6.10 1028 9246.76 1.54 0.21 0.073 2904.56 229.4 - - 2275.25 - 158.93 - - 2228.56 - - - - - - - - 15.80 - -
9553.27 518.94 7.41 1059 9557.33 VBD 1.58 - - 2904.56 - - - 2274.88 - 158.93 - - 2228.34 - - - - - - - - - - -
9863.87 498.32 5.97 1090 9884.06 done 1.71 - - 2904.50 - 3.23 0.069 1144.88 -349.8 158.93 - - 2228.72 - - - - - - - - - 15.59 -
9981.08 490.28 6.59 1110 10001.05 1.79 0.29 0.062 2964.31 206.2 2.84 0.028 2275.50 398.1 158.93 - - 2227.78 - - - - - - - - 15.71 15.92 -
10307.16 466.42 8.04 1142 10311.22 VBD 1.79 - - 2964.44 - - - 2275.69 - 158.93 - - 2226.62 - - - - - - - - - - -
10617.36 440.90 8.40 1173 10637.31 done 1.79 - - 2964.38 - 3.23 0.069 1145.94 -349.8 158.93 - - 2226.19 - - - - - - - - - 15.78 -
10668.07 436.24 9.11 1180 10687.13 done 1.79 - - 2964.50 - 2.83 0.028 2275.50 399.1 158.93 - - 2226.34 - - - - - - - - - 15.91 -
10993.24 408.83 7.78 1212 11013.17 done 1.79 - - 2963.69 - 3.23 0.068 1144.69 -350.1 158.93 - - 2225.09 - - - - - - - - - 15.74 -
11084.05 400.99 8.48 1227 11103.50 done 1.79 - - 2963.81 - 2.84 0.028 2274.88 398.0 158.93 - - 2226.91 - - - - - - - - - 15.83 -
11409.64 373.16 8.83 1259 11429.60 done 1.79 - - 2964.81 - 3.21 0.068 1144.88 -352.0 158.93 - - 2225.62 - - - - - - - - - 15.76 -
11510.36 363.71 9.05 1276 11529.66 done 1.79 - - 2964.81 - 2.83 0.028 2273.75 398.9 158.93 - - 2225.12 - - - - - - - - - 15.92 -
11835.88 336.35 8.43 1308 11855.82 done 1.79 - - 2964.31 - 3.23 0.068 1144.38 -349.7 158.93 - - 2226.19 - - - - - - - - - 15.76 -
11926.60 328.65 8.40 1323 11945.67 done 1.79 - - 2965.19 - 2.84 0.028 2274.38 397.9 158.93 - - 2225.94 - - - - - - - - - 15.87 -
12251.81 302.78 7.88 1355 12271.75 done 1.79 - - 2963.88 - 3.23 0.068 1145.38 -349.5 158.93 - - 2224.75 - - - - - - - - - 15.75 -
12442.52 287.94 7.95 1390 12461.59 done 1.79 - - 2964.38 - 2.83 0.028 2274.50 399.0 158.93 - - 2224.19 - - - - - - - - - 15.94 -
12767.72 263.32 7.91 1422 12787.68 done 1.79 - - 2965.00 - 3.22 0.068 1145.81 -350.5 158.93 - - 2224.06 - - - - - - - - - 15.75 -
12868.43 255.36 7.93 1439 12887.49 done 1.79 - - 2964.19 - 2.84 0.028 2275.31 397.7 158.93 - - 2224.31 - - - - - - - - - 15.76 -
13194.03 231.26 7.51 1471 13214.22 done 1.83 - - 2965.00 - 3.26 0.067 1144.69 -346.8 158.93 - - 2222.78 - - - - - - - - - 15.53 -
13295.10 223.44 7.69 1488 13314.17 done 1.83 - - 2964.38 - 2.85 0.027 2274.00 396.2 158.93 - - 2223.94 - - - - - - - - - 15.70 -
13620.68 201.76 6.59 1520 13640.63 done 1.91 - - 2964.94 - 3.22 0.089 3351.75 334.7 158.93 - - 2222.91 - - - - - - - - - 15.70 -
13687.11 196.76 7.78 1530 13705.45 done 1.91 - - 2965.31 - 2.83 0.020 2198.62 -407.5 158.93 - - 2224.25 - - - - - - - - - 15.65 -
14011.98 174.60 6.37 1562 14032.79 2.02 0.22 0.070 3016.06 230.7 3.03 0.071 1144.44 -347.9 158.93 - - 2224.56 - - - - - - - - 15.69 15.64 -
14149.70 164.77 7.17 1586 14168.04 done 2.07 - - 3016.50 - 2.84 0.027 2276.12 398.5 158.93 - - 2223.31 - - - - - - - - - 15.76 -
14474.56 141.38 6.77 1618 14478.62 VBD 2.14 - - 3015.56 - - - 2275.88 - 158.93 - - 2222.53 - - - - - - - - - - -
14785.16 119.74 6.55 1649 14805.14 2.23 - - 3016.75 - 3.26 0.066 1144.69 -347.0 158.93 - - 2224.06 - - - - - - - - - 15.52 -
15036.33 105.27 4.50 1696 15138.71 2.38 - - 3016.81 - 2.86 0.026 2276.38 395.7 232.22 57.73 1.176 1941.75 -4.9 0.074 - - - - - - - 15.75 10.56
15445.35 81.86 5.64 1770 15466.05 2.53 - - 3016.19 - 3.29 0.065 1144.56 -344.0 232.22 - - 1933.62 - - - - - - - - - 15.55 -
15568.08 75.49 4.93 1791 15658.32 2.65 - - 3015.44 - 2.83 0.025 2278.31 400.6 296.59 51.49 1.118 1680.84 -4.9 0.056 - - - - - - - 15.67 11.33
15844.47 56.69 7.83 1839 15865.16 roll back 2.65 - - 3015.50 - 3.24 0.087 3352.38 331.5 296.59 - - 1674.03 - - - - - - - - - 15.46 -
15906.64 51.50 8.29 1848 15925.72 roll back 2.65 - - 3016.94 - 2.84 0.019 2197.50 -406.6 296.59 - - 1674.41 - - - - - - - - - 15.61 -
16112.25 36.93 7.28 1886 16132.14 2.70 - - 3016.56 - 3.04 0.069 1145.50 -346.1 296.59 - - 1670.38 - - - - - - - - - 15.58 -
16163.74 32.99 7.78 1893 16182.81 2.70 - - 3016.44 - 2.81 0.025 2277.19 402.7 296.59 - - 1669.88 - - - - - - - - - 15.71 -
16369.32 19.77 6.08 1931 16390.39 2.82 - - 3017.19 - 3.21 0.085 3352.62 335.0 296.59 - - 1669.81 - - - - - - - - - 15.47 -
16567.28 7.68 5.02 1967 16657.49 2.94 - - 3016.00 - 2.82 0.018 2187.31 -413.2 359.10 50.62 1.031 1426.12 -4.8 0.006 - - - - - - - 15.61 11.09
16664 end climb: SURFACE_DEPTH_REACHED
16664 begin surface coast
16730 end surface coast: CONTROL_FINISHED_OK
16731 begin surface
SM 1.22 - - - - 179.3 56.43 1.033 1137.3 19.3 19.16 0.038 1143.1 59.7 - 0.19 0.073 1131.4 5939.9 -10.146 - - 11.21 15.73 15.79 -