NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 888 * Raw log
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• Previous call tries 1 • 301.42 of 506.00 AH used of 24V (40.43% remains)
• Surface angle -59.1 deg, depth 1.06 m • Intended pitch -17.5 deg, speed -8.462 cm/s
VBD pumped to 400.25 (SM_CC=400)
• GPS1 time: 23 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
19.71 - - - 121.43 VBD -1.33 - - 178.31 - - - 2187.06 - -116.79 71.64 0.005 2970.78 - - - - - - - - - - 14.61
123.66 3.27 -3.28 14 239.06 -1.33 17.24 0.201 2193.31 116.9 2.91 0.065 1153.69 -355.1 -116.79 6.15 0.008 3369.12 64.8 -4.583 - - - - - - 15.12 14.83 14.95
355.49 44.99 -11.75 43 374.39 roll -1.33 - - 2193.75 - 2.85 0.025 2285.00 397.0 -116.79 - - 3372.28 - - - - - - - - - 15.64 -
560.58 68.48 -11.27 81 567.42 no move -1.33 - - 2193.81 - - - 2285.25 - -116.79 - - 3372.12 - - - - - - - - - - -
753.50 86.98 -9.69 119 760.34 no move -1.33 - - 2193.31 - - - 2284.94 - -116.79 - - 3372.31 - - - - - - - - - - -
951.41 105.57 -9.26 152 970.79 roll -1.33 - - 2193.31 - 3.19 0.059 1153.38 -354.7 -116.79 - - 3371.53 - - - - - - - - - 15.56 -
997.23 109.99 -9.53 158 1015.40 roll -1.33 - - 2193.50 - 2.81 0.024 2285.75 403.0 -116.79 - - 3373.53 - - - - - - - - - 15.82 -
1321.48 136.41 -7.81 190 1340.85 roll -1.33 - - 2194.38 - 3.19 0.084 3360.06 336.8 -116.79 - - 3372.50 - - - - - - - - - 15.54 -
1377.29 140.96 -8.24 198 1395.06 roll -1.33 - - 2193.88 - 2.78 0.018 2196.81 -418.4 -116.79 - - 3373.31 - - - - - - - - - 15.84 -
1701.17 166.47 -8.81 230 1705.19 no move -1.33 - - 2193.19 - - - 2194.31 - -116.79 - - 3372.53 - - - - - - - - - - -
2011.29 193.85 -8.23 261 2015.31 no move -1.33 - - 2193.50 - - - 2193.50 - -116.79 - - 3372.00 - - - - - - - - - - -
2321.39 220.42 -9.09 292 2325.41 no move -1.33 - - 2193.06 - - - 2193.62 - -116.79 - - 3372.50 - - - - - - - - - - -
2631.51 250.07 -9.65 323 2635.57 no move -1.33 - - 2193.25 - - - 2193.69 - -116.79 - - 3371.81 - - - - - - - - - - -
2941.79 276.91 -7.66 354 2945.85 no move -1.33 - - 2193.06 - - - 2194.19 - -116.79 - - 3372.41 - - - - - - - - - - -
3251.99 299.36 -7.03 385 3272.82 roll -1.33 - - 2193.75 - 3.43 0.081 3361.25 340.3 -116.79 - - 3371.84 - - - - - - - - - 15.66 -
3293.58 302.95 -8.36 390 3312.28 roll -1.33 - - 2192.00 - 2.79 0.018 2195.94 -417.7 -116.79 - - 3373.72 - - - - - - - - - 15.88 -
3618.39 329.14 -8.42 422 3622.45 no move -1.33 - - 2193.56 - - - 2195.12 - -116.79 - - 3372.72 - - - - - - - - - - -
3928.57 353.68 -7.44 453 3949.39 roll -1.33 - - 2193.62 - 3.43 0.081 3360.62 339.8 -116.79 - - 3373.53 - - - - - - - - - 15.54 -
3995.88 359.04 -8.02 463 4013.86 roll -1.33 - - 2193.31 - 2.79 0.018 2202.12 -415.2 -116.79 - - 3374.66 - - - - - - - - - 15.90 -
4320.00 382.14 -6.89 495 4324.06 no move -1.33 - - 2193.12 - - - 2199.56 - -116.79 - - 3371.94 - - - - - - - - - - -
4630.19 406.03 -7.78 526 4634.25 no move -1.33 - - 2192.62 - - - 2199.69 - -116.79 - - 3372.41 - - - - - - - - - - -
4940.37 429.76 -7.34 557 4961.44 roll -1.33 - - 2193.44 - 3.45 0.080 3360.69 336.5 -116.79 - - 3372.62 - - - - - - - - - 15.66 -
4982.33 433.25 -7.98 562 5001.03 roll -1.33 - - 2193.06 - 2.79 0.019 2202.19 -415.2 -116.79 - - 3373.69 - - - - - - - - - 15.91 -
5307.16 456.17 -7.26 594 5311.22 no move -1.33 - - 2193.19 - - - 2200.25 - -116.79 - - 3372.41 - - - - - - - - - - -
5617.35 478.89 -7.29 625 5638.17 roll -1.33 - - 2190.88 - 3.43 0.080 3360.31 338.2 -116.79 - - 3372.50 - - - - - - - - - 15.60 -
5664.65 483.02 -8.90 631 5683.04 roll -1.33 - - 2193.56 - 2.79 0.019 2198.69 -416.4 -116.79 - - 3372.56 - - - - - - - - - 15.92 -
5989.38 507.13 -7.37 663 5993.83 no move -1.33 - - 2193.44 - - - 2196.38 - -116.79 - - 3371.50 - - - - - - - - - - -
6299.97 528.19 -6.61 694 6304.03 no move -1.33 - - 2193.81 - - - 2197.25 - -116.79 - - 3370.78 - - - - - - - - - - -
6610.17 547.92 -6.22 725 6630.98 roll -1.33 - - 2190.56 - 3.44 0.081 3360.38 338.1 -116.79 - - 3371.03 - - - - - - - - - 15.64 -
6661.73 551.39 -6.70 732 6680.43 roll -1.33 - - 2193.38 - 2.79 0.019 2201.81 -415.3 -116.79 - - 3370.34 - - - - - - - - - 15.93 -
6986.53 572.26 -6.91 764 6990.59 no move -1.33 - - 2193.19 - - - 2200.25 - -116.79 - - 3369.44 - - - - - - - - - - -
7296.70 598.35 -8.67 795 7300.76 no move -1.33 - - 2193.06 - - - 2200.50 - -116.79 - - 3368.94 - - - - - - - - - - -
7606.90 624.36 -8.06 826 7610.96 no move -1.33 - - 2193.19 - - - 2200.69 - -116.79 - - 3369.44 - - - - - - - - - - -
7917.21 648.62 -7.85 857 7921.27 no move -1.33 - - 2194.06 - - - 2199.94 - -116.79 - - 3368.47 - - - - - - - - - - -
8227.38 669.17 -6.12 888 8248.24 roll -1.33 - - 2193.81 - 3.44 0.081 3362.12 337.8 -116.79 - - 3370.56 - - - - - - - - - 15.63 -
8284.72 673.08 -7.04 896 8302.69 roll -1.33 - - 2193.56 - 2.78 0.019 2201.31 -417.6 -116.79 - - 3369.75 - - - - - - - - - 15.93 -
8608.81 690.39 -5.59 928 8612.87 no move -1.33 - - 2192.88 - - - 2200.44 - -116.79 - - 3368.12 - - - - - - - - - - -
8919.01 709.64 -6.04 959 8923.07 no move -1.33 - - 2193.12 - - - 2200.50 - -116.79 - - 3367.75 - - - - - - - - - - -
9229.21 729.75 -7.12 990 9233.26 no move -1.33 - - 2193.19 - - - 2200.19 - -116.79 - - 3367.31 - - - - - - - - - - -
9539.38 752.79 -6.85 1021 9560.20 roll -1.33 - - 2193.56 - 3.44 0.081 3362.56 337.9 -116.79 - - 3367.19 - - - - - - - - - 15.61 -
9590.96 756.95 -7.38 1028 9610.07 roll -1.33 - - 2193.25 - 2.83 0.019 2204.06 -409.4 -116.79 - - 3368.56 - - - - - - - - - 15.73 -
9916.21 778.54 -6.38 1060 9920.27 no move -1.33 - - 2192.62 - - - 2202.50 - -116.79 - - 3366.31 - - - - - - - - - - -
10165 end dive: TARGET_DEPTH_EXCEEDED
10166 begin apogee
10172.50 794.01 -5.79 1085 10322.29 -0.31 1.86 0.119 2441.06 133.6 0.13 0.158 2082.31 -924.5 - 96.32 2.046 2889.50 -5.0 0.333 - - - - - - 15.55 15.04 9.97
10335 end apogee: CONTROL_FINISHED_OK
10336 begin climb
10339.14 796.38 - 1095 10514.45 1.33 2.87 0.086 2841.75 139.6 3.57 0.086 925.38 -324.1 116.79 99.29 2.004 2412.06 -4.8 0.331 - - - - - - 15.52 14.98 11.48
10522.05 787.62 6.68 1115 10540.43 roll 1.44 - - 2841.94 - 2.81 0.021 2060.94 404.1 116.79 - - 2406.97 - - - - - - - - - 15.56 -
10847.05 771.26 4.54 1147 10966.44 1.59 0.41 0.062 2913.62 174.8 3.18 0.080 3126.75 335.2 195.91 67.43 1.957 2090.66 -4.7 0.320 - - - - - - 15.71 15.12 11.11
10974.15 762.93 7.70 1163 10992.55 roll 1.64 - - 2913.56 - 2.88 0.024 1992.94 -393.7 195.91 - - 2085.59 - - - - - - - - - 15.57 -
11298.78 739.16 8.10 1195 11302.84 VBD 1.64 - - 2913.75 - - - 1993.19 - 195.91 - - 2079.94 - - - - - - - - - - -
11608.98 712.62 8.45 1226 11628.99 done 1.64 - - 2913.50 - 3.22 0.087 923.69 -332.1 195.91 - - 2078.53 - - - - - - - - - 15.48 -
11645.58 709.12 8.96 1230 11663.95 done 1.64 - - 2913.38 - 2.77 0.022 2060.88 410.5 195.91 - - 2079.31 - - - - - - - - - 15.85 -
11970.10 681.44 8.20 1262 11974.16 VBD 1.64 - - 2913.25 - - - 2061.31 - 195.91 - - 2076.34 - - - - - - - - - - -
12280.70 657.37 7.24 1293 12299.90 done 1.71 - - 2913.88 - 3.10 0.078 3126.31 343.5 195.91 - - 2076.31 - - - - - - - - - 15.71 -
12336.78 653.04 7.94 1301 12355.16 done 1.74 - - 2912.69 - 2.84 0.025 1991.31 -399.6 195.91 - - 2076.28 - - - - - - - - - 15.88 -
12661.71 630.12 7.04 1333 12667.67 1.83 0.30 0.067 2972.62 199.8 - - 1991.38 - 195.91 - - 2076.56 - - - - - - - - 15.84 - -
12973.93 603.92 8.94 1364 12993.53 done 1.83 - - 2971.69 - 3.15 0.087 923.50 -339.0 195.91 - - 2075.22 - - - - - - - - - 15.64 -
13030.03 598.27 9.51 1372 13048.02 done 1.83 - - 2972.81 - 2.76 0.023 2059.88 411.7 195.91 - - 2075.09 - - - - - - - - - 15.92 -
13354.16 567.99 9.33 1404 13373.77 done 1.83 - - 2973.19 - 3.11 0.078 3126.56 343.0 195.91 - - 2074.59 - - - - - - - - - 15.68 -
13404.53 562.79 10.17 1411 13423.65 done 1.83 - - 2972.12 - 2.82 0.025 1991.50 -402.5 195.91 - - 2075.53 - - - - - - - - - 15.92 -
13729.76 532.29 9.16 1443 13749.77 done 1.83 - - 2972.81 - 3.29 0.075 3127.88 345.4 195.91 - - 2073.25 - - - - - - - - - 15.67 -
13790.53 526.27 10.19 1452 13809.65 done 1.83 - - 2973.00 - 2.84 0.025 1992.38 -399.8 195.91 - - 2073.88 - - - - - - - - - 15.89 -
14115.76 500.31 8.56 1484 14135.37 done 1.83 - - 2972.56 - 3.17 0.087 923.62 -337.1 195.91 - - 2072.69 - - - - - - - - - 15.60 -
14211.88 491.18 9.60 1500 14230.12 done 1.83 - - 2972.88 - 2.76 0.023 2059.81 411.7 195.91 - - 2073.53 - - - - - - - - - 15.87 -
14536.37 463.10 8.61 1532 14540.43 VBD 1.83 - - 2972.50 - - - 2060.00 - 195.91 - - 2072.44 - - - - - - - - - - -
14846.54 435.65 8.79 1563 14850.60 VBD 1.83 - - 2972.19 - - - 2060.44 - 195.91 - - 2072.06 - - - - - - - - - - -
15156.71 408.65 8.09 1594 15177.15 done 1.83 - - 2971.44 - 3.37 0.082 923.75 -337.3 195.91 - - 2072.75 - - - - - - - - - 15.59 -
15203.63 404.73 8.50 1600 15222.01 done 1.83 - - 2972.19 - 2.75 0.022 2061.12 413.6 195.91 - - 2073.56 - - - - - - - - - 15.91 -
15528.79 382.59 6.29 1632 15549.20 done 1.96 - - 2972.88 - 3.37 0.082 922.25 -337.9 195.91 - - 2071.91 - - - - - - - - - 15.50 -
15606.10 376.98 7.33 1644 15625.33 2.03 0.17 0.085 3014.06 242.2 2.76 0.022 2059.81 412.2 195.91 - - 2072.81 - - - - - - - - 15.66 15.91 -
15931.44 352.31 8.07 1676 15951.04 done 2.03 - - 3015.88 - 3.12 0.077 3126.50 341.9 195.91 - - 2072.25 - - - - - - - - - 15.53 -
15977.52 348.29 8.87 1682 15995.92 done 2.03 - - 3014.62 - 2.83 0.024 1993.00 -400.5 195.91 - - 2072.22 - - - - - - - - - 15.89 -
16302.06 320.77 8.86 1714 16321.67 done 2.03 - - 3015.00 - 3.15 0.084 923.25 -339.6 195.91 - - 2072.41 - - - - - - - - - 15.59 -
16438.30 307.16 9.71 1738 16456.29 done 2.03 - - 3015.06 - 2.76 0.022 2060.25 412.0 195.91 - - 2074.19 - - - - - - - - - 15.79 -
16762.81 279.71 7.87 1770 16782.42 done 2.06 - - 3015.38 - 3.09 0.077 3125.75 344.8 195.91 - - 2072.22 - - - - - - - - - 15.64 -
16808.91 275.84 8.31 1776 16827.31 done 2.06 - - 3015.25 - 2.83 0.024 1991.56 -400.8 195.91 - - 2072.38 - - - - - - - - - 15.74 -
17133.81 249.94 7.82 1808 17153.41 done 2.10 - - 3013.81 - 3.15 0.085 922.06 -339.5 195.91 - - 2071.28 - - - - - - - - - 15.56 -
17259.93 238.11 9.57 1830 17277.93 done 2.10 - - 3015.31 - 2.79 0.022 2061.38 408.4 195.91 - - 2072.41 - - - - - - - - - 15.71 -
17584.06 208.23 9.73 1862 17588.14 VBD 2.10 - - 3014.94 - - - 2061.50 - 195.91 - - 2071.53 - - - - - - - - - - -
17894.28 178.62 9.33 1893 17915.01 done 2.10 - - 3015.31 - 3.36 0.080 922.31 -339.0 195.91 - - 2070.88 - - - - - - - - - 15.50 -
17971.62 171.02 9.76 1905 17989.61 done 2.10 - - 3015.25 - 2.78 0.022 2062.25 410.1 195.91 - - 2072.50 - - - - - - - - - 15.53 -
18295.72 143.06 8.36 1937 18316.15 done 2.10 - - 3014.69 - 3.35 0.079 923.75 -339.9 195.91 - - 2070.28 - - - - - - - - - 15.54 -
18376.92 135.67 8.84 1950 18395.65 done 2.10 - - 3014.94 - 2.76 0.021 2064.00 413.1 195.91 - - 2072.03 - - - - - - - - - 15.81 -
18702.16 112.37 6.83 1982 18722.68 2.20 - - 3014.75 - 3.33 0.078 923.25 -342.6 195.91 - - 2071.34 - - - - - - - - - 15.48 -
18869.61 99.74 7.61 2012 18889.13 2.25 - - 3015.62 - 2.78 0.021 2062.00 409.6 195.91 - - 2072.81 - - - - - - - - - 15.64 -
19075.90 84.94 7.09 2050 19096.65 2.33 - - 3015.38 - 3.12 0.074 3127.00 341.3 195.91 - - 2072.28 - - - - - - - - - 15.51 -
19288.60 69.43 5.93 2089 19307.98 2.48 - - 3015.06 - 2.83 0.022 1988.44 -402.3 195.91 - - 2071.97 - - - - - - - - - 15.57 -
19494.65 62.12 3.40 2127 19627.15 2.69 - - 3015.25 - 3.14 0.084 923.81 -339.1 298.02 79.00 1.118 1673.50 -5.0 0.049 - - - - - - - 15.21 10.74
19634.74 55.58 6.39 2145 19653.47 roll back 2.81 - - 3015.38 - 2.78 0.020 2066.94 411.2 298.02 - - 1669.50 - - - - - - - - - 15.63 -
19840.09 43.67 5.94 2183 19861.25 2.96 - - 3016.00 - 3.38 0.078 922.62 -338.6 298.02 - - 1665.59 - - - - - - - - - 15.46 -
19948.15 36.13 6.94 2201 19966.89 3.06 - - 3014.56 - 2.76 0.020 2063.31 413.3 298.02 - - 1665.31 - - - - - - - - - 15.60 -
20153.44 23.84 5.70 2239 20173.37 3.22 - - 3015.31 - 3.08 0.073 3127.25 345.4 298.02 - - 1664.91 - - - - - - - - - 15.40 -
20200.25 21.35 5.29 2245 20290.78 3.35 - - 3014.75 - 2.84 0.022 1987.12 -401.5 361.95 51.96 1.042 1415.03 -4.8 0.017 - - - - - - - 15.66 11.45
20466 end climb: SURFACE_DEPTH_REACHED
20467 begin surface coast
20527 end surface coast: CONTROL_FINISHED_OK
20528 begin surface
SM 1.25 - - - - 179.9 31.57 1.014 1258.3 38.2 20.07 0.045 1285.5 64.1 - 0.73 0.047 1231.2 1682.7 -4.574 - - 11.09 15.70 15.79 -