NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 12 * Raw log
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• Previous call tries 1 • 5.24 of 506.00 AH used of 24V (98.96% remains)
• Surface angle -66.6 deg, depth 1.20 m • Intended pitch -20.6 deg, speed -8.462 cm/s
VBD pumped to 449.79 (SM_CC=450)
• GPS1 time: 32 s
• GPS2 time: 2 s • Transponder ping count: 17
• 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
11 begin dive
18.59 - - - 96.78 VBD -1.58 - - 178.19 - - - 2243.50 - -87.59 54.89 0.005 2505.72 - - - - - - - - - - 15.04
98.98 3.26 -4.30 11 196.52 -1.58 15.65 0.231 2176.50 127.7 - - 2243.56 - -87.59 12.43 0.007 3325.62 66.0 -5.133 - - - - - - 15.65 - 15.16
382.23 67.71 -16.47 54 401.08 roll -1.58 - - 2176.38 - 3.01 0.086 1093.94 -381.9 -87.59 - - 3329.53 - - - - - - - - - 15.87 -
487.14 85.23 -16.80 72 505.35 roll -1.58 - - 2175.81 - 2.81 0.039 2226.31 403.0 -87.59 - - 3331.28 - - - - - - - - - 15.89 -
696.25 116.66 -13.43 100 713.66 roll -1.58 - - 2176.62 - 2.89 0.096 3304.38 373.0 -87.59 - - 3331.12 - - - - - - - - - 15.94 -
829.80 135.12 -12.55 124 846.82 roll -1.58 - - 2175.88 - 2.72 0.036 2159.19 -421.0 -87.59 - - 3332.19 - - - - - - - - - 15.96 -
1152.61 167.46 -10.18 156 1156.61 no move -1.58 - - 2176.56 - - - 2156.75 - -87.59 - - 3331.28 - - - - - - - - - - -
1462.66 199.82 -10.95 187 1480.87 roll -1.58 - - 2176.94 - 3.06 0.094 3303.69 374.8 -87.59 - - 3331.38 - - - - - - - - - 15.95 -
1567.00 213.09 -13.23 205 1584.01 roll -1.58 - - 2175.00 - 2.71 0.036 2157.62 -422.9 -87.59 - - 3333.81 - - - - - - - - - 16.01 -
1889.81 250.37 -10.73 237 1893.81 no move -1.58 - - 2176.38 - - - 2156.94 - -87.59 - - 3331.69 - - - - - - - - - - -
2199.86 282.30 -10.26 268 2204.24 no move -1.58 - - 2176.44 - - - 2156.88 - -87.59 - - 3332.19 - - - - - - - - - - -
2510.01 316.44 -11.34 299 2528.21 roll -1.58 - - 2176.00 - 3.06 0.097 3304.56 375.1 -87.59 - - 3333.50 - - - - - - - - - 16.06 -
2604.47 328.64 -13.20 315 2622.23 roll -1.58 - - 2177.00 - 2.71 0.039 2160.38 -422.2 -87.59 - - 3332.09 - - - - - - - - - 16.08 -
2928.17 366.33 -11.81 347 2946.60 roll -1.58 - - 2176.31 - 3.04 0.097 3302.56 375.7 -87.59 - - 3330.88 - - - - - - - - - 16.07 -
2982.78 373.27 -12.42 355 2999.61 roll -1.58 - - 2176.38 - 2.68 0.038 2159.56 -426.5 -87.59 - - 3331.47 - - - - - - - - - 16.09 -
3305.43 410.22 -11.43 387 3323.87 roll -1.58 - - 2175.44 - 3.05 0.097 3304.00 375.2 -87.59 - - 3332.41 - - - - - - - - - 16.08 -
3340.04 414.59 -12.60 391 3357.25 roll -1.58 - - 2176.31 - 2.69 0.038 2159.56 -425.4 -87.59 - - 3331.25 - - - - - - - - - 16.10 -
3663.05 452.11 -11.33 423 3667.08 no move -1.58 - - 2176.38 - - - 2158.50 - -87.59 - - 3329.62 - - - - - - - - - - -
3973.07 487.88 -11.41 454 3977.11 no move -1.58 - - 2175.88 - - - 2158.38 - -87.59 - - 3329.53 - - - - - - - - - - -
4283.11 522.66 -10.36 485 4300.73 roll -1.58 - - 2176.19 - 2.76 0.099 1094.12 -385.6 -87.59 - - 3330.12 - - - - - - - - - 16.10 -
4326.90 527.96 -11.86 491 4344.14 roll -1.58 - - 2176.50 - 2.77 0.043 2224.50 408.1 -87.59 - - 3329.06 - - - - - - - - - 16.07 -
4649.95 561.31 -10.00 523 4653.99 no move -1.58 - - 2176.19 - - - 2224.62 - -87.59 - - 3327.31 - - - - - - - - - - -
4959.99 591.91 -10.00 554 4977.61 roll -1.58 - - 2176.00 - 2.89 0.103 3302.38 372.9 -87.59 - - 3328.03 - - - - - - - - - 16.10 -
4998.05 595.84 -9.83 559 5016.00 roll -1.58 - - 2176.44 - 2.70 0.039 2160.75 -422.8 -87.59 - - 3328.00 - - - - - - - - - 16.11 -
5321.83 626.49 -9.93 591 5325.87 no move -1.58 - - 2176.56 - - - 2159.38 - -87.59 - - 3325.91 - - - - - - - - - - -
5631.89 656.30 -9.36 622 5650.33 roll -1.58 - - 2176.62 - 3.07 0.099 3302.50 372.4 -87.59 - - 3324.97 - - - - - - - - - 16.10 -
5746.53 668.86 -11.01 642 5764.15 roll -1.58 - - 2176.06 - 2.70 0.039 2161.12 -422.7 -87.59 - - 3326.38 - - - - - - - - - 16.12 -
6069.96 701.26 -9.98 674 6074.00 no move -1.58 - - 2176.12 - - - 2161.38 - -87.59 - - 3324.75 - - - - - - - - - - -
6379.98 731.98 -9.67 705 6397.21 roll -1.58 - - 2176.12 - 2.77 0.098 1095.25 -384.9 -87.59 - - 3324.28 - - - - - - - - - 16.11 -
6477.68 743.10 -11.27 722 6496.04 roll -1.58 - - 2176.38 - 2.78 0.041 2225.19 406.5 -87.59 - - 3324.56 - - - - - - - - - 16.12 -
6801.88 776.88 -10.28 754 6805.92 no move -1.58 - - 2176.25 - - - 2224.75 - -87.59 - - 3323.84 - - - - - - - - - - -
7111.93 807.73 -9.78 785 7115.97 no move -1.58 - - 2176.38 - - - 2224.69 - -87.59 - - 3322.78 - - - - - - - - - - -
7421.96 837.55 -8.99 816 7426.00 no move -1.58 - - 2176.31 - - - 2224.62 - -87.59 - - 3323.25 - - - - - - - - - - -
7731.98 865.71 -9.22 847 7736.02 no move -1.58 - - 2176.12 - - - 2225.00 - -87.59 - - 3322.53 - - - - - - - - - - -
8042.00 893.47 -8.99 878 8059.64 roll -1.58 - - 2176.31 - 2.89 0.106 3302.38 372.8 -87.59 - - 3321.22 - - - - - - - - - 16.10 -
8090.09 898.61 -9.60 885 8108.43 roll -1.58 - - 2176.00 - 2.71 0.041 2160.50 -421.4 -87.59 - - 3323.31 - - - - - - - - - 16.10 -
8414.26 928.94 -9.26 917 8418.30 no move -1.58 - - 2176.69 - - - 2159.62 - -87.59 - - 3321.38 - - - - - - - - - - -
8724.31 956.73 -8.73 948 8728.35 no move -1.58 - - 2176.88 - - - 2159.44 - -87.59 - - 3320.41 - - - - - - - - - - -
9034.37 985.12 -10.06 979 9038.41 no move -1.58 - - 2175.75 - - - 2159.75 - -87.59 - - 3320.53 - - - - - - - - - - -
9094 end dive: TARGET_DEPTH_EXCEEDED
9094 begin apogee
9100.91 990.12 -9.18 985 9215.92 -0.34 2.14 0.154 2478.25 141.4 0.09 0.270 2362.31 2250.7 - 69.07 2.560 2967.03 -5.1 0.331 - - - - - - 16.03 15.49 12.18
9221 end apogee: CONTROL_FINISHED_OK
9221 begin climb
9223.91 992.46 - 993 9362.35 1.58 3.14 0.087 2947.38 149.4 2.92 0.092 1294.75 -365.6 87.59 73.96 2.504 2611.84 -4.8 0.318 - - - - - - 15.69 15.24 12.54
9368.91 984.40 7.91 1005 9401.75 done 1.60 - - 2947.94 - 2.95 0.051 2419.94 381.4 96.18 9.03 1.857 2576.16 -4.0 0.350 - - - - - - - 15.61 12.46
9707.70 950.11 10.43 1039 9711.74 no move 1.60 - - 2948.44 - - - 2419.75 - 96.18 - - 2569.72 - - - - - - - - - - -
10017.75 918.91 9.75 1070 10035.79 roll 1.60 - - 2948.00 - 2.93 0.083 1293.56 -384.4 96.18 - - 2568.91 - - - - - - - - - 15.93 -
10166.25 904.14 9.74 1097 10184.62 roll 1.60 - - 2948.88 - 2.87 0.051 2418.06 391.8 96.18 - - 2568.34 - - - - - - - - - 15.96 -
10490.46 873.17 8.95 1129 10494.50 VBD 1.60 - - 2948.62 - - - 2417.81 - 96.18 - - 2566.81 - - - - - - - - - - -
10800.50 845.26 8.91 1160 10818.54 done 1.60 - - 2947.81 - 2.92 0.085 1295.12 -384.5 96.18 - - 2566.72 - - - - - - - - - 16.03 -
10878.99 838.01 9.15 1173 10897.76 done 1.60 - - 2948.62 - 2.85 0.052 2418.81 394.3 96.18 - - 2568.19 - - - - - - - - - 16.04 -
11204.10 810.34 8.28 1205 11222.14 roll 1.60 - - 2947.12 - 2.90 0.082 1293.06 -388.2 99.01 - - 2569.00 - - - - - - - - - 16.05 -
11238.42 807.14 8.99 1209 11256.06 roll 1.60 - - 2948.25 - 2.85 0.051 2421.44 395.9 99.01 - - 2564.91 - - - - - - - - - 16.05 -
11562.29 780.77 8.14 1241 11576.45 VBD 1.61 - - 2947.94 - - - 2421.31 - 103.99 7.36 1.626 2541.44 -3.2 0.256 - - - - - - - - 12.29
11882.28 752.16 8.95 1273 11899.93 roll 1.61 - - 2948.25 - 2.89 0.081 1293.75 -390.2 103.99 - - 2542.31 - - - - - - - - - 16.07 -
12046.15 736.49 8.95 1303 12063.79 roll 1.61 - - 2948.12 - 2.85 0.053 2419.19 394.9 103.99 - - 2544.12 - - - - - - - - - 16.07 -
12370.01 709.82 7.91 1335 12402.12 done 1.63 - - 2948.75 - 2.92 0.086 1293.25 -385.6 112.57 9.54 1.776 2510.69 -3.5 0.234 - - - - - - - 15.93 12.27
12632.64 685.96 9.66 1384 12651.25 roll 1.63 - - 2948.50 - 2.87 0.053 2418.12 391.9 112.57 - - 2506.91 - - - - - - - - - 16.05 -
12957.20 657.32 8.61 1416 12961.24 no move 1.63 - - 2947.75 - - - 2418.06 - 112.57 - - 2506.12 - - - - - - - - - - -
13267.65 632.59 8.03 1447 13299.36 done 1.64 - - 2948.50 - 2.93 0.088 1293.31 -383.9 119.24 8.06 1.598 2483.25 -2.8 0.188 - - - - - - - 15.94 12.32
13529.86 609.11 9.22 1496 13548.64 roll 1.64 - - 2948.62 - 2.87 0.053 2418.56 392.1 119.24 - - 2479.59 - - - - - - - - - 16.07 -
13854.87 581.47 8.16 1528 13882.89 done 1.65 - - 2948.81 - 2.94 0.119 3502.88 368.8 123.90 6.28 1.351 2461.00 -3.0 0.213 - - - - - - - 15.94 12.32
13904.06 576.67 10.22 1534 13920.89 roll 1.65 - - 2948.62 - 2.69 0.033 2348.12 -429.3 123.90 - - 2462.00 - - - - - - - - - 16.05 -
14226.73 547.32 9.39 1566 14243.96 roll 1.65 - - 2949.62 - 2.71 0.090 1293.38 -389.2 123.90 - - 2462.19 - - - - - - - - - 16.07 -
14424.46 528.77 9.05 1603 14443.07 roll 1.65 - - 2949.00 - 2.85 0.052 2420.25 395.4 123.90 - - 2462.59 - - - - - - - - - 16.08 -
14748.98 500.95 8.62 1635 14767.04 roll 1.65 - - 2947.81 - 2.92 0.084 1293.88 -385.7 123.90 - - 2462.72 - - - - - - - - - 15.98 -
14997.55 478.11 9.26 1682 15015.92 roll 1.65 - - 2949.19 - 2.86 0.052 2420.75 394.0 123.90 - - 2463.72 - - - - - - - - - 16.08 -
15322.27 451.19 8.17 1714 15352.32 done 1.66 - - 2949.31 - 2.93 0.086 1293.62 -384.7 128.42 6.33 1.261 2444.94 -3.0 0.177 - - - - - - - 15.98 12.29
15508.94 434.93 8.21 1748 15538.19 done 1.67 - - 2949.19 - 2.85 0.051 2419.94 395.2 132.34 5.99 1.201 2427.22 -3.0 0.179 - - - - - - - 16.07 12.44
15844.39 407.79 7.91 1782 15861.36 VBD 1.69 - - 2949.19 - - - 2418.62 - 140.83 9.51 1.500 2391.47 -3.8 0.171 - - - - - - - - 12.39
16167.20 380.34 8.90 1814 16185.25 roll 1.69 - - 2949.62 - 2.93 0.083 1294.81 -383.6 140.83 - - 2390.75 - - - - - - - - - 16.05 -
16261.63 371.97 9.05 1830 16279.33 roll 1.69 - - 2948.88 - 2.86 0.050 2419.62 393.3 140.83 - - 2393.34 - - - - - - - - - 16.04 -
16585.68 345.29 8.38 1862 16589.72 no move 1.69 - - 2949.06 - - - 2420.69 - 142.07 - - 2390.81 - - - - - - - - - - -
16895.95 321.72 7.45 1893 16923.56 1.72 0.17 0.093 2989.44 237.5 - - 2420.38 - 157.77 15.95 1.600 2324.47 -4.2 0.140 - - - - - - 16.02 - 12.39
17229.39 290.45 9.24 1926 17247.43 roll 1.72 - - 2990.12 - 2.95 0.083 1293.19 -382.1 157.77 - - 2318.84 - - - - - - - - - 16.03 -
17403.64 273.72 9.66 1958 17421.30 roll 1.72 - - 2989.38 - 2.88 0.050 2419.44 391.1 157.77 - - 2318.34 - - - - - - - - - 16.05 -
17727.12 243.90 9.00 1990 17745.15 roll 1.72 - - 2989.56 - 2.92 0.081 1293.56 -385.6 157.77 - - 2319.12 - - - - - - - - - 16.05 -
17891.37 228.57 9.32 2020 17909.02 roll 1.72 - - 2989.62 - 2.87 0.049 2418.50 392.0 157.77 - - 2318.34 - - - - - - - - - 16.07 -
18214.85 200.44 8.96 2052 18233.15 roll 1.72 - - 2989.88 - 2.90 0.079 1292.44 -388.3 157.77 - - 2319.59 - - - - - - - - - 16.05 -
18279.45 194.47 9.22 2062 18297.10 roll 1.72 - - 2989.50 - 2.83 0.048 2420.69 398.7 157.77 - - 2321.06 - - - - - - - - - 16.04 -
18603.33 167.74 7.69 2094 18641.40 done 1.74 - - 2990.62 - 2.90 0.080 1293.44 -388.7 169.65 11.53 1.332 2276.12 -3.9 0.082 - - - - - - - 15.93 12.31
18672.58 161.86 8.66 2104 18690.24 roll 1.74 - - 2989.62 - 2.85 0.047 2423.00 396.3 169.65 - - 2276.06 - - - - - - - - - 15.97 -
18996.44 136.87 8.05 2136 19010.61 VBD 1.76 - - 2990.44 - - - 2423.38 - 176.03 7.43 1.106 2248.72 -3.7 0.076 - - - - - - - - 12.37
19316.84 114.38 5.27 2168 19391.85 done 1.85 - - 2990.06 - 2.99 0.082 1293.75 -377.8 225.39 40.19 1.441 2048.19 -5.0 0.066 - - - - - - - 15.75 12.47
19623.61 91.63 7.66 2223 19662.22 1.88 0.05 0.180 3013.88 476.4 2.87 0.048 2420.94 392.7 237.75 11.18 1.205 1997.91 -4.5 0.057 - - - - - - 15.86 15.89 12.42
19848.43 76.22 7.38 2264 19888.53 done 1.91 - - 3013.19 - 2.96 0.081 1294.38 -380.6 254.57 14.95 1.257 1930.53 -4.5 0.046 - - - - - - - 15.76 12.41
20055.26 62.45 6.25 2301 20114.99 1.98 - - 3013.62 - 2.87 0.047 2420.94 392.5 288.73 27.61 1.319 1790.72 -5.1 0.040 - - - - - - - 15.91 12.34
20301.23 44.66 7.57 2345 20340.31 2.01 - - 3013.88 - 2.95 0.112 3501.94 366.4 302.53 12.45 1.169 1733.94 -4.6 0.029 - - - - - - - 15.72 12.43
20346.59 40.66 9.38 2350 20364.56 roll back 2.01 - - 3014.25 - 2.73 0.033 2343.19 -424.5 302.53 - - 1732.88 - - - - - - - - - 15.76 -
20550.79 26.32 6.47 2388 20604.30 2.07 - - 3014.06 - 2.77 0.084 1293.94 -378.8 333.37 25.52 1.258 1608.19 -4.9 0.017 - - - - - - - 15.71 12.42
20835.93 12.74 2.83 2440 20952.42 2.24 - - 3013.38 - 2.86 0.045 2423.25 394.9 420.55 68.10 1.278 1255.00 -5.2 0.009 - - - - - - - 15.89 12.35
21013 end climb: SURFACE_DEPTH_REACHED
21013 begin surface coast
21079 end surface coast: CONTROL_FINISHED_OK
21079 begin surface
SM 1.06 - - - - 179.6 22.90 1.204 1134.4 46.6 17.93 0.051 1137.3 63.4 - 0.57 0.051 1131.4 1979.9 -4.206 - - 12.43 15.79 15.81 -