NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 172 * Raw log
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• Previous call tries 2 • 60.14 of 506.00 AH used of 24V (88.12% remains)
• Surface angle -66.5 deg, depth 1.16 m • Intended pitch -16.4 deg, speed -8.049 cm/s
• No surface pump (final VBD was 1076.9, SM_CC=430)
• GPS1 time: 29 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
18.75 - - - 104.07 VBD -1.18 - - 181.94 - - - 2192.00 - -77.86 60.00 0.005 2640.09 - - - - - - - - - - 15.52
106.29 3.21 -3.85 12 225.18 -1.18 16.65 0.227 2227.50 122.9 3.42 0.084 3352.25 339.3 -77.86 9.07 0.007 3209.84 62.8 -4.730 - - - - - - 15.64 15.53 15.58
366.27 49.22 -10.73 47 384.76 roll -1.18 - - 2227.31 - 2.81 0.020 2195.69 -411.6 -77.86 - - 3213.44 - - - - - - - - - 15.90 -
570.67 71.20 -11.35 85 589.31 roll -1.18 - - 2228.38 - 2.95 0.068 1144.88 -356.2 -77.86 - - 3214.22 - - - - - - - - - 15.86 -
610.46 75.90 -12.07 90 629.66 roll -1.18 - - 2226.00 - 2.81 0.025 2277.81 403.2 -77.86 - - 3214.53 - - - - - - - - - 15.90 -
815.48 92.80 -7.46 128 834.94 roll -1.18 - - 2227.75 - 3.18 0.064 1145.00 -356.2 -77.86 - - 3213.91 - - - - - - - - - 15.88 -
846.21 95.37 -8.15 131 864.85 roll -1.18 - - 2228.38 - 2.81 0.025 2277.06 402.9 -77.86 - - 3214.59 - - - - - - - - - 15.95 -
1050.64 110.55 -7.94 155 1054.67 no move -1.18 - - 2227.94 - - - 2277.19 - -77.86 - - 3214.03 - - - - - - - - - - -
1360.67 132.17 -6.49 186 1364.69 no move -1.18 - - 2227.62 - - - 2277.06 - -77.86 - - 3213.97 - - - - - - - - - - -
1670.70 152.44 -6.43 217 1689.44 roll -1.18 - - 2227.44 - 3.15 0.064 1143.88 -359.7 -77.86 - - 3216.41 - - - - - - - - - 15.96 -
1729.86 156.71 -7.09 226 1748.12 roll -1.18 - - 2228.12 - 2.81 0.026 2277.12 403.3 -77.86 - - 3215.06 - - - - - - - - - 15.99 -
2053.94 180.07 -7.94 258 2073.13 roll -1.18 - - 2227.69 - 3.17 0.065 1145.50 -357.0 -77.86 - - 3214.25 - - - - - - - - - 16.00 -
2109.44 184.99 -8.81 266 2127.18 roll -1.18 - - 2227.75 - 2.80 0.026 2276.38 403.9 -77.86 - - 3215.53 - - - - - - - - - 15.94 -
2433.04 212.22 -8.38 298 2437.10 no move -1.18 - - 2227.69 - - - 2277.06 - -77.86 - - 3213.53 - - - - - - - - - - -
2743.09 235.36 -7.05 329 2747.15 no move -1.18 - - 2227.25 - - - 2277.50 - -77.86 - - 3213.72 - - - - - - - - - - -
3053.14 255.86 -6.47 360 3072.10 roll -1.18 - - 2226.88 - 3.17 0.066 1145.44 -357.1 -77.86 - - 3213.41 - - - - - - - - - 15.97 -
3078.30 257.66 -6.91 362 3096.03 roll -1.18 - - 2227.44 - 2.80 0.026 2276.12 403.8 -77.86 - - 3214.25 - - - - - - - - - 16.04 -
3401.88 280.14 -7.03 394 3405.94 no move -1.18 - - 2227.31 - - - 2276.25 - -77.86 - - 3213.09 - - - - - - - - - - -
3711.92 301.97 -7.04 425 3715.98 no move -1.18 - - 2227.56 - - - 2276.44 - -77.86 - - 3212.56 - - - - - - - - - - -
4021.98 325.30 -7.69 456 4026.04 no move -1.18 - - 2227.19 - - - 2276.06 - -77.86 - - 3212.31 - - - - - - - - - - -
4332.04 349.22 -7.68 487 4351.00 roll -1.18 - - 2227.69 - 3.16 0.067 1144.38 -358.1 -77.86 - - 3213.62 - - - - - - - - - 16.05 -
4387.20 353.37 -7.66 495 4405.20 roll -1.18 - - 2227.50 - 2.82 0.027 2275.44 401.1 -77.86 - - 3212.94 - - - - - - - - - 16.06 -
4711.17 376.52 -6.70 527 4730.13 roll -1.18 - - 2228.00 - 3.14 0.066 1143.88 -360.4 -77.86 - - 3212.97 - - - - - - - - - 16.01 -
4760.60 380.08 -7.08 534 4779.09 roll -1.18 - - 2227.81 - 2.82 0.027 2275.81 401.4 -77.86 - - 3211.97 - - - - - - - - - 16.04 -
5084.94 402.31 -7.09 566 5089.00 no move -1.18 - - 2227.56 - - - 2275.44 - -77.86 - - 3210.56 - - - - - - - - - - -
5395.00 423.89 -6.81 597 5399.06 no move -1.18 - - 2226.88 - - - 2275.94 - -77.86 - - 3210.16 - - - - - - - - - - -
5705.06 447.32 -7.84 628 5724.03 roll -1.18 - - 2228.12 - 3.15 0.067 1143.81 -359.4 -77.86 - - 3211.22 - - - - - - - - - 16.05 -
5780.24 453.30 -8.18 640 5798.00 roll -1.18 - - 2227.69 - 2.83 0.027 2273.56 399.2 -77.86 - - 3210.09 - - - - - - - - - 16.06 -
6103.82 476.16 -6.40 672 6122.79 roll -1.18 - - 2226.38 - 3.17 0.090 3352.06 340.2 -77.86 - - 3210.72 - - - - - - - - - 16.02 -
6163.26 480.17 -7.05 681 6181.32 roll -1.18 - - 2228.00 - 2.77 0.022 2196.50 -417.2 -77.86 - - 3210.03 - - - - - - - - - 15.97 -
6487.17 498.27 -5.81 713 6508.60 roll -1.18 - - 2227.50 - 3.37 0.086 3350.12 342.3 -77.86 - - 3208.59 - - - - - - - - - 16.03 -
6544.19 501.94 -6.19 721 6562.65 roll -1.18 - - 2227.69 - 2.79 0.021 2195.44 -413.9 -77.86 - - 3210.12 - - - - - - - - - 16.06 -
6868.50 522.46 -6.55 753 6872.56 no move -1.18 - - 2227.12 - - - 2194.50 - -77.86 - - 3208.16 - - - - - - - - - - -
7178.56 543.45 -6.72 784 7182.62 no move -1.18 - - 2226.94 - - - 2194.88 - -77.86 - - 3208.28 - - - - - - - - - - -
7488.61 561.57 -5.48 815 7506.77 roll -1.18 - - 2225.31 - 2.91 0.072 1144.25 -361.0 -77.86 - - 3208.62 - - - - - - - - - 16.05 -
7542.98 564.92 -5.60 823 7560.33 roll -1.18 - - 2226.62 - 2.80 0.027 2277.12 404.6 -77.86 - - 3208.72 - - - - - - - - - 15.99 -
7866.17 583.93 -5.86 855 7885.14 roll -1.18 - - 2225.62 - 3.17 0.068 1144.88 -357.2 -77.86 - - 3208.31 - - - - - - - - - 16.04 -
7901.34 586.06 -5.72 859 7919.08 roll -1.18 - - 2227.75 - 2.82 0.027 2276.62 401.3 -77.86 - - 3207.91 - - - - - - - - - 16.06 -
8224.93 606.15 -6.44 891 8243.89 roll -1.18 - - 2226.00 - 3.15 0.090 3352.19 341.5 -77.86 - - 3207.38 - - - - - - - - - 16.02 -
8290.10 610.97 -7.78 901 8307.69 roll -1.18 - - 2227.19 - 2.77 0.021 2195.62 -417.5 -77.86 - - 3206.19 - - - - - - - - - 16.06 -
8613.66 632.97 -7.20 933 8617.72 no move -1.18 - - 2227.62 - - - 2195.44 - -77.86 - - 3206.09 - - - - - - - - - - -
8923.69 655.59 -7.51 964 8944.86 roll -1.18 - - 2226.00 - 3.38 0.086 3351.69 342.1 -77.86 - - 3206.06 - - - - - - - - - 16.00 -
8986.05 660.98 -7.95 973 9003.39 roll -1.18 - - 2228.12 - 2.78 0.021 2197.00 -415.4 -77.86 - - 3207.47 - - - - - - - - - 16.05 -
9309.24 683.87 -6.59 1005 9313.30 no move -1.18 - - 2227.50 - - - 2196.44 - -77.86 - - 3205.50 - - - - - - - - - - -
9619.30 702.81 -6.10 1036 9623.36 no move -1.18 - - 2227.56 - - - 2195.88 - -77.86 - - 3205.06 - - - - - - - - - - -
9879 end dive: TARGET_DEPTH_EXCEEDED
9880 begin apogee
9883.89 718.11 -6.08 1062 9983.50 -0.31 1.54 0.138 2440.88 138.5 0.13 0.159 2186.50 -72.2 - 60.75 2.131 2888.66 -5.2 0.288 - - - - - - 15.94 15.66 11.54
9997 end apogee: CONTROL_FINISHED_OK
9997 begin climb
9999.69 720.26 - 1069 10120.50 1.18 2.51 0.093 2806.06 145.5 3.03 0.078 1146.56 -343.2 77.86 62.86 2.071 2571.00 -5.1 0.289 - - - - - - 15.73 15.46 12.42
10127.09 714.86 5.59 1079 10147.23 roll back 1.33 0.20 0.082 2850.06 220.0 2.91 0.029 2274.06 387.5 77.86 - - 2568.84 - - - - - - - - 15.59 15.67 -
10453.60 692.69 6.53 1111 10472.98 roll 1.42 - - 2850.19 - 3.23 0.093 3350.19 333.2 77.86 - - 2564.03 - - - - - - - - - 15.83 -
10529.18 687.17 7.63 1123 10546.92 roll 1.42 - - 2850.12 - 2.80 0.022 2199.75 -410.9 77.86 - - 2565.78 - - - - - - - - - 15.88 -
10853.15 665.66 6.20 1155 10872.93 1.53 0.22 0.074 2898.75 221.0 2.96 0.076 1145.25 -356.2 77.86 - - 2563.22 - - - - - - - - 15.89 15.88 -
10959.15 657.69 7.66 1173 10976.90 done 1.53 - - 2900.69 - 2.85 0.031 2274.56 396.2 77.86 - - 2562.91 - - - - - - - - - 15.97 -
11283.12 634.07 7.49 1205 11302.10 done 1.57 - - 2899.56 - 3.19 0.072 1146.44 -353.6 77.86 - - 2561.25 - - - - - - - - - 15.98 -
11368.42 627.46 8.10 1219 11386.41 done 1.57 - - 2900.25 - 2.84 0.031 2273.75 396.9 77.86 - - 2561.31 - - - - - - - - - 15.99 -
11692.37 602.95 7.60 1251 11711.33 done 1.57 - - 2900.56 - 3.17 0.072 1145.56 -355.9 77.86 - - 2560.59 - - - - - - - - - 16.00 -
11741.81 598.86 8.08 1258 11760.29 done 1.57 - - 2899.94 - 2.84 0.031 2273.00 397.0 77.86 - - 2561.38 - - - - - - - - - 16.02 -
12066.54 575.28 7.39 1290 12070.60 VBD 1.61 - - 2900.38 - - - 2273.31 - 77.86 - - 2560.78 - - - - - - - - - - -
12376.85 552.70 7.19 1321 12395.82 done 1.66 - - 2898.81 - 3.17 0.072 1145.25 -355.9 77.86 - - 2562.03 - - - - - - - - - 16.02 -
12562.47 539.57 6.78 1355 12581.85 1.73 0.22 0.075 2948.75 227.0 2.85 0.031 2271.94 395.3 77.86 - - 2559.66 - - - - - - - - 15.92 16.04 -
12888.08 518.41 6.19 1387 12907.06 done 1.84 - - 2948.94 - 3.18 0.071 1145.56 -354.2 77.86 - - 2560.19 - - - - - - - - - 15.96 -
12983.68 512.29 6.45 1403 13003.31 1.94 0.22 0.067 3000.69 235.2 2.85 0.031 2274.81 396.2 77.86 - - 2558.78 - - - - - - - - 15.94 16.05 -
13309.67 491.06 7.45 1435 13328.64 done 1.98 - - 3001.19 - 3.18 0.071 1145.38 -355.2 77.86 - - 2558.56 - - - - - - - - - 15.96 -
13445.27 480.55 7.49 1459 13463.03 done 2.01 - - 3001.12 - 2.84 0.031 2274.31 397.5 77.86 - - 2560.16 - - - - - - - - - 16.05 -
13768.88 456.34 7.66 1491 13772.94 VBD 2.01 - - 3001.31 - - - 2274.56 - 77.86 - - 2558.78 - - - - - - - - - - -
14079.13 431.62 8.04 1522 14098.10 done 2.01 - - 3001.62 - 3.19 0.071 1146.19 -353.7 77.86 - - 2558.22 - - - - - - - - - 15.96 -
14324.77 412.52 7.31 1568 14342.53 done 2.05 - - 3001.50 - 2.85 0.031 2275.00 396.1 77.86 - - 2559.66 - - - - - - - - - 16.05 -
14648.78 393.76 5.17 1600 14652.86 2.23 - - 3001.25 - - - 2274.81 - 77.86 - - 2558.34 - - - - - - - - - - -
14959.08 379.42 4.32 1631 15063.52 2.38 - - 3001.81 - 3.26 0.074 1144.88 -346.6 154.93 60.65 1.726 2258.59 -4.9 0.178 - - - - - - - 15.73 11.76
15204.14 358.00 10.13 1672 15223.02 2.38 - - 3001.94 - 2.89 0.031 2271.75 389.9 154.93 - - 2249.03 - - - - - - - - - 15.85 -
15528.98 324.76 9.90 1704 15548.37 2.38 - - 3001.44 - 3.20 0.071 1145.88 -351.8 154.93 - - 2245.91 - - - - - - - - - 15.80 -
15614.58 315.39 11.28 1718 15632.35 2.38 - - 3001.31 - 2.86 0.031 2273.38 394.2 154.93 - - 2244.78 - - - - - - - - - 15.93 -
15938.19 281.57 10.21 1750 15957.17 2.38 - - 3001.94 - 3.15 0.071 1144.19 -358.5 154.93 - - 2244.41 - - - - - - - - - 15.94 -
16027.66 271.89 10.76 1765 16046.56 2.38 - - 3002.06 - 2.87 0.031 2272.62 393.2 154.93 - - 2244.44 - - - - - - - - - 15.98 -
16352.41 238.28 10.47 1797 16371.38 2.38 - - 3001.50 - 3.19 0.071 1145.25 -353.4 154.93 - - 2243.75 - - - - - - - - - 15.98 -
16481.88 223.43 11.65 1820 16500.61 2.38 - - 3002.38 - 2.86 0.031 2273.44 394.5 154.93 - - 2245.38 - - - - - - - - - 15.99 -
16806.56 189.40 10.94 1852 16810.64 2.38 - - 3002.06 - - - 2273.50 - 154.93 - - 2243.31 - - - - - - - - - - -
17116.60 159.23 8.96 1883 17120.69 2.38 - - 3002.31 - - - 2273.00 - 154.93 - - 2243.03 - - - - - - - - - - -
17426.65 134.40 7.70 1914 17446.04 2.38 - - 3001.12 - 3.20 0.070 1145.00 -352.5 154.93 - - 2244.09 - - - - - - - - - 15.90 -
17512.25 126.87 8.79 1928 17530.02 2.38 - - 3002.00 - 2.86 0.030 2273.06 394.4 154.93 - - 2244.16 - - - - - - - - - 16.00 -
17836.27 103.00 6.11 1960 17840.35 2.50 - - 3001.81 - - - 2273.25 - 154.93 - - 2242.88 - - - - - - - - - - -
18146.62 82.98 6.22 2017 18166.33 2.61 - - 3000.94 - 3.20 0.092 3350.50 336.6 154.93 - - 2244.03 - - - - - - - - - 15.85 -
18242.94 77.68 5.42 2033 18261.03 2.76 - - 3002.00 - 2.79 0.022 2197.69 -413.2 154.93 - - 2244.62 - - - - - - - - - 15.98 -
18447.29 67.33 4.81 2071 18537.59 2.90 - - 3002.12 - 3.01 0.075 1145.12 -349.7 221.96 50.83 1.312 1985.25 -5.1 0.043 - - - - - - - 15.78 11.86
18769.36 46.17 4.56 2128 18865.63 3.04 - - 3002.44 - 2.85 0.029 2275.44 396.6 294.12 55.22 1.259 1690.91 -5.3 0.032 - - - - - - - 15.81 12.17
19051.89 27.03 6.77 2177 19072.01 3.12 - - 3002.00 - 3.25 0.070 1146.12 -347.5 294.12 - - 1681.56 - - - - - - - - - 15.78 -
19303.40 11.39 7.55 2224 19322.27 3.12 - - 3001.00 - 2.88 0.028 2276.81 392.6 294.12 - - 1678.47 - - - - - - - - - 15.78 -
19508.53 7.11 1.12 2262 19671.86 3.41 - - 3002.06 - 1.58 0.053 1710.00 -358.7 437.44 109.75 1.193 1107.09 -5.2 0.005 - - - - - - - 15.57 12.09
19674 end climb: SURFACE_DEPTH_REACHED
19674 begin surface coast
19790 end surface coast: CONTROL_FINISHED_OK
19791 begin surface
SM 1.08 - - - - 180.9 - - 1095.7 - 18.99 0.052 1114.4 58.7 - 1.43 0.034 1076.9 752.0 -2.441 - - 30.00 15.76 15.80 -