NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 886 * Raw log
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• Previous call tries 1 • 300.76 of 506.00 AH used of 24V (40.56% remains)
• Surface angle -59.6 deg, depth 1.13 m • Intended pitch -17.5 deg, speed -8.462 cm/s
VBD pumped to 400.05 (SM_CC=400)
• GPS1 time: 34 s
• GPS2 time: 3 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
19.72 - - - 107.58 VBD -1.33 - - 181.88 - - - 2207.00 - -116.79 61.42 0.005 2746.69 - - - - - - - - - - 14.61
109.80 3.35 -4.22 12 233.34 -1.33 17.30 0.197 2193.25 116.3 3.43 0.083 3360.94 336.4 -116.79 10.43 0.007 3369.16 59.7 -4.917 - - - - - - 15.16 14.82 14.99
289.69 35.74 -12.50 30 309.30 roll -1.33 - - 2192.81 - 2.83 0.018 2203.50 -409.0 -116.79 - - 3371.50 - - - - - - - - - 15.67 -
495.54 59.38 -10.82 68 502.38 no move -1.33 - - 2193.62 - - - 2201.75 - -116.79 - - 3371.94 - - - - - - - - - - -
688.49 79.69 -9.84 106 695.55 no move -1.33 - - 2193.69 - - - 2201.75 - -116.79 - - 3371.81 - - - - - - - - - - -
881.62 99.11 -9.84 144 888.46 no move -1.33 - - 2193.69 - - - 2201.62 - -116.79 - - 3371.91 - - - - - - - - - - -
1074.54 118.05 -9.49 164 1078.55 no move -1.33 - - 2193.25 - - - 2201.75 - -116.79 - - 3371.38 - - - - - - - - - - -
1384.58 146.65 -8.84 195 1403.15 roll -1.33 - - 2193.75 - 3.00 0.066 1153.75 -349.3 -116.79 - - 3372.06 - - - - - - - - - 15.64 -
1503.88 158.46 -9.85 216 1522.99 roll -1.33 - - 2194.00 - 2.78 0.024 2287.00 407.6 -116.79 - - 3372.94 - - - - - - - - - 15.75 -
1829.09 187.78 -8.06 248 1848.87 roll -1.33 - - 2193.69 - 3.22 0.061 1153.69 -352.0 -116.79 - - 3371.88 - - - - - - - - - 15.51 -
1869.58 191.36 -8.49 253 1888.89 roll -1.33 - - 2193.69 - 2.81 0.024 2287.44 403.5 -116.79 - - 3372.06 - - - - - - - - - 15.70 -
2194.97 215.28 -7.29 285 2214.68 roll -1.33 - - 2193.31 - 3.18 0.060 1154.62 -356.2 -116.79 - - 3372.56 - - - - - - - - - 15.74 -
2245.56 219.15 -7.64 292 2264.29 roll -1.33 - - 2192.75 - 2.79 0.024 2287.25 406.0 -116.79 - - 3373.25 - - - - - - - - - 15.89 -
2570.42 243.19 -7.61 324 2590.45 roll -1.33 - - 2193.44 - 3.21 0.060 1152.94 -353.4 -116.79 - - 3372.09 - - - - - - - - - 15.65 -
2606.93 246.11 -8.10 328 2624.94 roll -1.33 - - 2193.00 - 2.79 0.024 2286.06 406.1 -116.79 - - 3372.66 - - - - - - - - - 15.89 -
2931.07 270.28 -7.32 360 2935.13 no move -1.33 - - 2193.62 - - - 2286.56 - -116.79 - - 3371.59 - - - - - - - - - - -
3241.29 293.45 -7.68 391 3245.35 no move -1.33 - - 2193.44 - - - 2286.44 - -116.79 - - 3371.62 - - - - - - - - - - -
3551.48 318.94 -8.28 422 3555.54 no move -1.33 - - 2193.44 - - - 2286.81 - -116.79 - - 3371.53 - - - - - - - - - - -
3861.66 343.35 -7.57 453 3865.72 no move -1.33 - - 2193.19 - - - 2286.06 - -116.79 - - 3371.72 - - - - - - - - - - -
4171.83 366.31 -7.80 484 4191.84 roll -1.33 - - 2192.81 - 3.21 0.061 1154.56 -352.5 -116.79 - - 3372.00 - - - - - - - - - 15.75 -
4198.33 368.46 -8.16 486 4216.74 roll -1.33 - - 2193.88 - 2.81 0.025 2286.19 402.7 -116.79 - - 3371.97 - - - - - - - - - 15.80 -
4522.85 394.55 -7.84 518 4526.92 no move -1.33 - - 2193.00 - - - 2285.62 - -116.79 - - 3371.66 - - - - - - - - - - -
4833.37 418.32 -7.51 549 4853.39 roll -1.33 - - 2193.31 - 3.21 0.062 1154.88 -352.3 -116.79 - - 3372.28 - - - - - - - - - 15.74 -
4879.88 421.86 -7.50 555 4898.28 roll -1.33 - - 2193.56 - 2.84 0.025 2285.44 398.1 -116.79 - - 3373.19 - - - - - - - - - 15.73 -
5204.42 447.36 -7.87 587 5224.04 roll -1.33 - - 2193.81 - 3.19 0.062 1154.88 -354.4 -116.79 - - 3371.78 - - - - - - - - - 15.73 -
5234.80 449.86 -7.93 590 5253.54 roll -1.33 - - 2193.88 - 2.80 0.025 2285.88 403.9 -116.79 - - 3371.47 - - - - - - - - - 15.93 -
5559.65 476.51 -8.07 622 5579.67 roll -1.33 - - 2192.00 - 3.21 0.061 1155.00 -352.3 -116.79 - - 3371.72 - - - - - - - - - 15.69 -
5590.42 479.14 -8.47 625 5609.55 roll -1.33 - - 2191.94 - 2.81 0.025 2285.88 402.4 -116.79 - - 3371.81 - - - - - - - - - 15.89 -
5915.66 502.36 -6.43 657 5935.28 roll -1.33 - - 2193.31 - 3.20 0.062 1154.50 -353.6 -116.79 - - 3369.94 - - - - - - - - - 15.73 -
5996.06 508.55 -7.20 670 6015.19 roll -1.33 - - 2193.50 - 2.82 0.025 2285.50 401.1 -116.79 - - 3372.56 - - - - - - - - - 15.92 -
6321.33 529.67 -6.47 702 6325.39 no move -1.33 - - 2192.25 - - - 2285.56 - -116.79 - - 3369.50 - - - - - - - - - - -
6631.62 549.13 -6.33 733 6651.64 roll -1.33 - - 2193.88 - 3.21 0.062 1155.12 -352.2 -116.79 - - 3368.84 - - - - - - - - - 15.73 -
6682.40 552.93 -7.09 740 6701.54 roll -1.33 - - 2192.25 - 2.83 0.026 2284.25 399.0 -116.79 - - 3370.72 - - - - - - - - - 15.73 -
7007.67 574.55 -6.34 772 7027.69 roll -1.33 - - 2191.88 - 3.25 0.087 3359.81 330.9 -116.79 - - 3370.06 - - - - - - - - - 15.65 -
7054.18 577.86 -6.70 778 7072.17 roll -1.33 - - 2193.06 - 2.77 0.019 2198.25 -419.3 -116.79 - - 3369.56 - - - - - - - - - 15.93 -
7378.32 598.85 -6.65 810 7382.38 no move -1.33 - - 2192.75 - - - 2196.12 - -116.79 - - 3369.06 - - - - - - - - - - -
7688.51 621.49 -7.05 841 7709.37 roll -1.33 - - 2193.44 - 3.50 0.083 3361.31 332.9 -116.79 - - 3367.44 - - - - - - - - - 15.52 -
7740.13 625.93 -8.42 848 7758.85 roll -1.33 - - 2193.06 - 2.80 0.019 2198.94 -415.1 -116.79 - - 3369.25 - - - - - - - - - 15.93 -
8064.96 647.41 -6.05 880 8069.02 no move -1.33 - - 2193.00 - - - 2196.69 - -116.79 - - 3368.44 - - - - - - - - - - -
8375.56 664.40 -4.45 911 8396.63 roll -1.33 - - 2191.31 - 3.47 0.083 3361.00 335.5 -116.79 - - 3368.09 - - - - - - - - - 15.64 -
8417.93 667.01 -5.31 916 8436.66 roll -1.33 - - 2193.69 - 2.79 0.019 2199.06 -416.5 -116.79 - - 3368.19 - - - - - - - - - 15.88 -
8742.77 684.66 -6.85 948 8746.83 no move -1.33 - - 2192.75 - - - 2198.44 - -116.79 - - 3366.84 - - - - - - - - - - -
8772 end dive: TARGET_DEPTH_EXCEEDED
8772 begin apogee
8779.44 686.47 -7.44 951 8927.18 -0.31 1.88 0.120 2438.94 131.0 0.14 0.145 2085.12 -809.4 - 94.95 1.907 2889.81 -5.0 0.311 - - - - - - 15.45 15.08 10.11
8932 end apogee: CONTROL_FINISHED_OK
8932 begin climb
8935.72 690.19 - 961 9110.63 1.33 2.88 0.087 2840.06 139.3 3.54 0.082 923.44 -328.2 116.79 98.12 1.866 2413.97 -4.8 0.309 - - - - - - 15.53 15.01 11.43
9118.34 684.37 5.97 981 9138.78 roll back 1.48 0.22 0.074 2886.75 212.2 2.81 0.020 2062.62 405.4 116.79 - - 2406.72 - - - - - - - - 15.44 15.57 -
9445.39 663.78 5.99 1013 9464.98 done 1.63 - - 2887.38 - 3.12 0.077 3125.38 340.6 116.79 - - 2401.97 - - - - - - - - - 15.65 -
9626.17 651.27 6.69 1046 9647.36 1.73 0.31 0.064 2948.12 195.9 2.85 0.024 1989.50 -398.6 116.79 - - 2400.69 - - - - - - - - 15.61 15.82 -
9953.89 630.17 6.12 1078 9974.33 done 1.87 - - 2948.31 - 3.33 0.073 3125.50 341.1 116.79 - - 2398.38 - - - - - - - - - 15.70 -
10015.50 626.00 6.63 1087 10036.68 1.98 0.31 0.066 3010.19 199.6 2.85 0.024 1990.50 -398.2 116.79 - - 2400.16 - - - - - - - - 15.66 15.85 -
10343.19 603.61 7.35 1119 10362.80 done 2.05 - - 3010.44 - 3.14 0.083 923.38 -339.8 116.79 - - 2397.38 - - - - - - - - - 15.68 -
10389.30 599.68 8.13 1125 10407.32 done 2.05 - - 3010.25 - 2.77 0.021 2060.88 410.6 116.79 - - 2399.28 - - - - - - - - - 15.85 -
10713.85 575.78 7.04 1157 10734.31 done 2.13 - - 3010.19 - 3.33 0.078 923.50 -341.6 116.79 - - 2398.19 - - - - - - - - - 15.67 -
10811.33 568.27 7.63 1173 10829.35 2.18 - - 3009.88 - 2.77 0.022 2060.88 410.6 116.79 - - 2397.41 - - - - - - - - - 15.89 -
11135.90 544.58 7.57 1205 11139.98 2.24 - - 3011.00 - - - 2061.06 - 116.79 - - 2395.88 - - - - - - - - - - -
11446.63 520.40 7.85 1236 11467.08 2.27 - - 3010.69 - 3.35 0.079 922.44 -339.9 116.79 - - 2398.34 - - - - - - - - - 15.65 -
11623.60 505.29 8.51 1268 11641.61 2.27 - - 3010.19 - 2.77 0.022 2061.31 411.1 116.79 - - 2396.31 - - - - - - - - - 15.93 -
11948.13 481.06 7.73 1300 11967.78 2.32 - - 3010.25 - 3.13 0.077 3125.81 340.1 116.79 - - 2396.16 - - - - - - - - - 15.63 -
12014.27 475.57 8.51 1310 12032.69 2.32 - - 3010.12 - 2.83 0.024 1991.62 -400.8 116.79 - - 2396.34 - - - - - - - - - 15.90 -
12339.21 451.71 6.52 1342 12359.54 2.43 - - 3009.94 - 3.14 0.083 922.25 -340.6 116.79 - - 2395.75 - - - - - - - - - 15.64 -
12426.57 445.71 6.89 1356 12444.58 2.53 - - 3010.12 - 2.78 0.022 2061.38 409.8 116.79 - - 2395.56 - - - - - - - - - 15.73 -
12751.10 426.85 5.91 1388 12771.54 2.68 - - 3008.75 - 3.34 0.079 922.19 -341.1 116.79 - - 2395.19 - - - - - - - - - 15.62 -
12858.44 419.65 6.69 1406 12876.46 2.79 - - 3010.12 - 2.77 0.022 2061.19 411.2 116.79 - - 2396.69 - - - - - - - - - 15.89 -
13183.00 397.49 7.61 1438 13203.44 2.84 - - 3010.25 - 3.33 0.078 924.00 -341.5 116.79 - - 2393.56 - - - - - - - - - 15.63 -
13299.94 387.30 8.71 1458 13317.97 2.84 - - 3010.25 - 2.74 0.022 2061.62 415.2 116.79 - - 2395.31 - - - - - - - - - 15.91 -
13624.11 360.03 9.22 1490 13643.34 2.84 - - 3010.44 - 3.10 0.077 3125.25 343.1 116.79 - - 2395.50 - - - - - - - - - 15.52 -
13684.10 354.34 9.59 1499 13702.85 2.84 - - 3011.12 - 2.79 0.024 1989.62 -407.0 116.79 - - 2395.03 - - - - - - - - - 15.91 -
14009.37 328.04 7.37 1531 14029.01 2.91 - - 3010.88 - 3.13 0.082 923.69 -340.6 116.79 - - 2395.47 - - - - - - - - - 15.61 -
14076.02 323.02 7.65 1541 14094.03 2.95 - - 3011.12 - 2.75 0.022 2062.69 414.2 116.79 - - 2396.69 - - - - - - - - - 15.84 -
14400.58 305.50 4.62 1573 14508.10 3.11 - - 3010.56 - 3.36 0.081 921.94 -339.5 194.30 62.03 1.438 2095.47 -4.9 0.178 - - - - - - - 15.24 10.39
14514.99 298.24 7.82 1587 14534.12 roll back 3.15 - - 3010.88 - 2.80 0.022 2061.31 406.9 194.30 - - 2092.72 - - - - - - - - - 15.70 -
14840.38 271.55 9.11 1619 14860.83 3.15 - - 3010.38 - 3.32 0.079 922.31 -343.1 194.30 - - 2087.25 - - - - - - - - - 15.61 -
14897.33 266.06 9.65 1627 14915.36 3.15 - - 3010.69 - 2.76 0.022 2059.94 412.2 194.30 - - 2088.19 - - - - - - - - - 15.71 -
15221.49 237.95 8.69 1659 15242.19 3.15 - - 3010.50 - 3.34 0.078 921.69 -340.8 194.30 - - 2087.84 - - - - - - - - - 15.62 -
15303.07 229.80 9.89 1672 15321.82 3.15 - - 3010.88 - 2.76 0.022 2061.88 413.1 194.30 - - 2086.25 - - - - - - - - - 15.87 -
15627.93 200.25 8.68 1704 15647.58 3.15 - - 3010.69 - 3.11 0.077 3125.88 342.1 194.30 - - 2085.50 - - - - - - - - - 15.55 -
15698.34 193.66 9.18 1715 15717.57 3.15 - - 3010.81 - 2.81 0.024 1989.69 -404.3 194.30 - - 2085.88 - - - - - - - - - 15.66 -
16024.08 168.38 7.33 1747 16043.72 3.21 - - 3010.94 - 3.12 0.082 922.12 -342.2 194.30 - - 2084.25 - - - - - - - - - 15.48 -
16150.65 159.21 7.21 1769 16168.66 3.29 - - 3010.44 - 2.76 0.022 2062.00 413.0 194.30 - - 2084.16 - - - - - - - - - 15.77 -
16475.17 136.29 7.38 1801 16495.64 3.35 - - 3010.75 - 3.34 0.078 922.19 -341.3 194.30 - - 2083.41 - - - - - - - - - 15.39 -
16606.83 126.13 7.42 1824 16625.58 3.42 - - 3011.12 - 2.79 0.021 2062.81 408.8 194.30 - - 2083.69 - - - - - - - - - 15.70 -
16932.09 102.55 6.92 1856 16951.32 3.51 - - 3011.06 - 3.08 0.075 3126.62 345.4 194.30 - - 2084.88 - - - - - - - - - 15.64 -
17008.32 96.68 7.57 1868 17027.97 3.56 - - 3011.62 - 2.81 0.023 1988.81 -404.9 194.30 - - 2083.81 - - - - - - - - - 15.66 -
17214.52 83.14 5.98 1906 17234.48 3.71 - - 3011.12 - 3.10 0.081 923.75 -343.6 194.30 - - 2084.22 - - - - - - - - - 15.36 -
17296.37 79.20 5.06 1919 17392.50 3.85 - - 3011.06 - 2.74 0.020 2067.50 417.4 263.01 54.24 1.127 1816.78 -4.9 0.060 - - - - - - - 15.70 11.15
17579.02 62.40 5.85 1968 17600.22 4.01 - - 3010.06 - 3.32 0.077 923.50 -344.6 263.01 - - 1809.91 - - - - - - - - - 15.46 -
17667.11 56.79 6.44 1982 17686.24 4.01 - - 3010.56 - 2.78 0.020 2065.25 410.7 263.01 - - 1809.19 - - - - - - - - - 15.63 -
17872.79 46.26 4.95 2020 17957.95 4.15 - - 3010.75 - - - 2065.75 - 333.83 56.27 1.072 1528.62 -5.0 0.037 - - - - - - - - 11.44
18144.62 30.67 5.73 2069 18165.80 roll back 4.15 - - 3011.31 - 3.36 0.077 923.81 -339.9 333.83 - - 1522.31 - - - - - - - - - 15.41 -
18217.81 26.08 6.24 2080 18236.55 4.15 - - 3010.75 - 2.79 0.020 2064.62 408.9 333.83 - - 1520.66 - - - - - - - - - 15.52 -
18423.07 11.55 6.64 2118 18430.37 4.26 - - 3010.94 - - - 2064.44 - 333.83 - - 1519.59 - - - - - - - - - - -
18580 end climb: SURFACE_DEPTH_REACHED
18581 begin surface coast
18692 end surface coast: CONTROL_FINISHED_OK
18692 begin surface
SM 1.02 - - - - 180.8 52.71 1.030 1259.1 23.9 20.10 0.051 1275.4 63.5 - 0.50 0.050 1242.8 2485.6 -5.183 - - 11.00 15.76 15.85 -