NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 24 * Raw log
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• Previous call tries 1 • 9.65 of 506.00 AH used of 24V (98.09% remains)
• Surface angle -64.1 deg, depth 1.15 m • Intended pitch -16.9 deg, speed -8.462 cm/s
VBD pumped to 586.03 (beyond SM_CC=430)
• GPS1 time: 19 s
• GPS2 time: 2 s • Transponder ping count: 12
• 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
10 end surface: CONTROL_FINISHED_OK
11 begin dive
18.62 - - - 118.02 VBD -1.23 - - 178.31 - - - 2257.25 - -87.59 70.18 0.005 2753.97 - - - - - - - - - - 15.08
120.23 3.60 -3.77 14 229.44 -1.23 16.11 0.233 2216.62 126.5 2.84 0.088 3304.25 368.7 -87.59 6.68 0.008 3251.97 74.6 -5.591 - - - - - - 15.74 15.65 15.71
255.49 46.34 -20.11 25 272.83 roll -1.23 - - 2217.56 - 2.76 0.025 2156.12 -416.0 -87.59 - - 3253.06 - - - - - - - - - 15.90 -
459.14 75.65 -14.97 63 465.67 no move -1.23 - - 2217.62 - - - 2153.56 - -87.59 - - 3254.12 - - - - - - - - - - -
656.45 104.21 -13.32 99 660.45 no move -1.23 - - 2217.25 - - - 2153.88 - -87.59 - - 3254.12 - - - - - - - - - - -
966.48 137.03 -7.97 130 984.71 done -1.23 - - 2217.62 - 3.09 0.081 3304.38 372.3 -87.59 - - 3257.84 - - - - - - - - - 16.00 -
1040.85 143.45 -8.85 142 1057.88 done -1.23 - - 2216.69 - 2.72 0.025 2149.19 -424.7 -87.59 - - 3257.03 - - - - - - - - - 16.00 -
1363.68 171.87 -8.48 174 1367.69 VBD -1.23 - - 2216.69 - - - 2148.50 - -87.59 - - 3255.69 - - - - - - - - - - -
1673.74 200.24 -9.35 205 1677.74 no move -1.23 - - 2216.81 - - - 2148.12 - -87.59 - - 3255.66 - - - - - - - - - - -
1983.79 229.44 -9.76 236 2002.03 roll -1.23 - - 2217.56 - 3.09 0.084 3303.69 374.0 -87.59 - - 3255.16 - - - - - - - - - 16.02 -
2088.17 240.37 -10.58 254 2105.21 roll -1.23 - - 2217.69 - 2.70 0.026 2153.81 -425.9 -87.59 - - 3256.81 - - - - - - - - - 16.07 -
2411.01 271.69 -10.06 286 2415.01 no move -1.23 - - 2217.19 - - - 2153.69 - -87.59 - - 3255.78 - - - - - - - - - - -
2721.06 301.05 -9.36 317 2739.61 roll -1.23 - - 2216.56 - 3.07 0.085 3303.94 374.7 -87.59 - - 3257.31 - - - - - - - - - 16.09 -
2785.91 307.70 -10.25 327 2802.75 roll -1.23 - - 2217.12 - 2.70 0.027 2155.25 -425.4 -87.59 - - 3255.56 - - - - - - - - - 16.10 -
3108.59 336.66 -8.66 359 3112.63 no move -1.23 - - 2217.25 - - - 2154.31 - -87.59 - - 3253.22 - - - - - - - - - - -
3418.64 364.18 -8.96 390 3437.10 roll -1.23 - - 2216.88 - 3.07 0.086 3303.25 374.2 -87.59 - - 3252.94 - - - - - - - - - 16.10 -
3503.28 372.61 -10.20 404 3520.53 roll -1.23 - - 2215.94 - 2.70 0.027 2154.56 -425.4 -87.59 - - 3255.44 - - - - - - - - - 16.10 -
3826.35 400.25 -8.25 436 3830.39 no move -1.23 - - 2217.12 - - - 2154.94 - -87.59 - - 3252.44 - - - - - - - - - - -
4136.37 427.03 -8.48 467 4154.84 roll -1.23 - - 2216.75 - 3.07 0.086 3304.56 374.5 -87.59 - - 3252.97 - - - - - - - - - 16.11 -
4185.29 431.85 -9.94 474 4202.85 roll -1.23 - - 2217.50 - 2.68 0.028 2154.50 -429.1 -87.59 - - 3252.31 - - - - - - - - - 16.13 -
4508.69 461.24 -9.67 506 4527.14 roll -1.23 - - 2217.25 - 3.07 0.086 3303.81 374.4 -87.59 - - 3251.09 - - - - - - - - - 16.12 -
4567.59 467.04 -10.43 515 4585.40 roll -1.23 - - 2217.38 - 2.67 0.028 2153.44 -430.9 -87.59 - - 3252.09 - - - - - - - - - 16.13 -
4891.34 495.42 -8.49 547 4895.38 no move -1.23 - - 2216.88 - - - 2153.19 - -87.59 - - 3250.50 - - - - - - - - - - -
5201.37 522.10 -8.45 578 5219.83 roll -1.23 - - 2216.69 - 3.08 0.088 3305.50 374.1 -87.59 - - 3249.88 - - - - - - - - - 16.12 -
5280.29 529.20 -8.94 591 5298.24 roll -1.23 - - 2215.94 - 2.67 0.028 2154.12 -431.2 -87.59 - - 3251.53 - - - - - - - - - 16.11 -
5604.07 554.34 -7.13 623 5608.11 no move -1.23 - - 2216.44 - - - 2154.50 - -87.59 - - 3248.97 - - - - - - - - - - -
5914.12 576.97 -7.41 654 5918.17 no move -1.23 - - 2216.50 - - - 2154.50 - -87.59 - - 3248.03 - - - - - - - - - - -
6224.19 600.60 -7.88 685 6241.44 roll -1.23 - - 2217.00 - 2.77 0.087 1092.94 -383.2 -87.59 - - 3248.50 - - - - - - - - - 16.13 -
6261.89 603.78 -8.60 690 6279.87 roll -1.23 - - 2217.38 - 2.76 0.032 2228.44 411.4 -87.59 - - 3248.78 - - - - - - - - - 16.13 -
6585.70 629.44 -7.82 722 6603.75 roll -1.23 - - 2216.56 - 2.95 0.081 1094.12 -384.5 -87.59 - - 3247.53 - - - - - - - - - 16.13 -
6654.22 635.50 -8.91 733 6672.20 roll -1.23 - - 2217.44 - 2.78 0.032 2228.88 408.2 -87.59 - - 3247.81 - - - - - - - - - 16.13 -
6978.04 661.70 -7.88 765 6995.69 roll -1.23 - - 2216.81 - 2.90 0.094 3304.88 371.0 -87.59 - - 3247.09 - - - - - - - - - 16.11 -
7046.27 668.15 -9.73 776 7064.25 roll -1.23 - - 2217.00 - 2.70 0.027 2153.81 -426.3 -87.59 - - 3246.66 - - - - - - - - - 16.13 -
7370.08 694.77 -8.91 808 7374.14 no move -1.23 - - 2216.56 - - - 2153.62 - -87.59 - - 3246.25 - - - - - - - - - - -
7680.14 721.00 -8.77 839 7697.39 roll -1.23 - - 2216.75 - 2.79 0.086 1095.00 -379.4 -87.59 - - 3246.31 - - - - - - - - - 16.11 -
7763.59 728.94 -9.27 853 7780.86 roll -1.23 - - 2216.88 - 2.78 0.032 2228.56 407.8 -87.59 - - 3246.16 - - - - - - - - - 16.13 -
8086.90 757.60 -8.78 885 8090.95 no move -1.23 - - 2216.94 - - - 2229.19 - -87.59 - - 3244.53 - - - - - - - - - - -
8396.78 784.61 -8.62 916 8414.94 roll -1.23 - - 2217.25 - 2.97 0.081 1094.12 -382.2 -87.59 - - 3243.50 - - - - - - - - - 16.13 -
8511.14 794.92 -8.90 936 8528.38 roll -1.23 - - 2217.56 - 2.79 0.032 2227.06 406.1 -87.59 - - 3244.84 - - - - - - - - - 16.13 -
8834.61 818.76 -6.33 968 8852.90 roll -1.23 - - 2217.12 - 2.90 0.094 3303.81 371.3 -87.59 - - 3244.03 - - - - - - - - - 16.10 -
8939.21 826.59 -7.04 986 8956.06 roll -1.23 - - 2217.12 - 2.70 0.027 2153.94 -425.9 -87.59 - - 3244.47 - - - - - - - - - 16.12 -
9262.30 845.10 -5.48 1018 9266.34 no move -1.23 - - 2216.62 - - - 2153.38 - -87.59 - - 3242.69 - - - - - - - - - - -
9572.58 863.00 -6.17 1049 9590.23 roll -1.23 - - 2216.38 - 2.81 0.087 1094.19 -376.9 -87.59 - - 3244.03 - - - - - - - - - 16.03 -
9616.82 865.85 -6.02 1055 9634.08 roll -1.23 - - 2216.94 - 2.76 0.032 2230.62 411.8 -87.59 - - 3243.53 - - - - - - - - - 16.12 -
9940.31 884.98 -6.21 1087 9958.37 roll -1.23 - - 2216.31 - 2.98 0.080 1093.88 -381.5 -87.59 - - 3243.50 - - - - - - - - - 16.10 -
9984.55 888.03 -6.47 1093 10001.80 roll -1.23 - - 2217.25 - 2.77 0.032 2228.69 409.7 -87.59 - - 3243.50 - - - - - - - - - 16.13 -
10307.64 910.45 -7.08 1125 10311.69 no move -1.23 - - 2216.19 - - - 2228.62 - -87.59 - - 3242.62 - - - - - - - - - - -
10617.70 933.35 -7.43 1156 10635.77 roll -1.23 - - 2216.88 - 2.99 0.081 1092.94 -379.8 -87.59 - - 3243.25 - - - - - - - - - 16.11 -
10671.97 937.62 -7.55 1164 10689.47 roll -1.23 - - 2216.88 - 2.79 0.032 2228.81 407.1 -87.59 - - 3243.44 - - - - - - - - - 16.12 -
10995.39 960.13 -6.58 1196 10999.43 no move -1.23 - - 2216.38 - - - 2228.81 - -87.59 - - 3242.00 - - - - - - - - - - -
11305.81 980.02 -6.18 1227 11309.85 no move -1.23 - - 2216.38 - - - 2228.62 - -87.59 - - 3241.22 - - - - - - - - - - -
11475 end dive: TARGET_DEPTH_EXCEEDED
11475 begin apogee
11480.32 990.06 -5.54 1244 11592.22 -0.31 1.58 0.142 2440.38 141.8 0.09 0.235 2203.62 -277.8 - 68.86 2.560 2889.97 -5.1 0.329 - - - - - - 16.02 15.52 12.16
11605 end apogee: CONTROL_FINISHED_OK
11605 begin climb
11608.37 991.20 - 1252 11747.56 1.23 2.60 0.098 2816.12 144.5 3.35 0.103 3351.44 342.6 87.59 73.53 2.501 2532.38 -4.9 0.321 - - - - - - 15.70 15.26 12.61
11754.13 982.15 7.53 1262 11772.11 roll 1.25 - - 2816.75 - 2.79 0.027 2209.56 -409.3 87.59 - - 2526.97 - - - - - - - - - 15.62 -
12078.06 954.93 8.23 1294 12095.95 done 1.25 - - 2815.56 - 2.86 0.086 1145.56 -372.0 87.59 - - 2522.34 - - - - - - - - - 15.85 -
12182.26 946.07 8.79 1312 12199.92 done 1.25 - - 2814.81 - 2.85 0.037 2273.88 395.9 87.59 - - 2522.38 - - - - - - - - - 15.89 -
12506.15 920.51 7.51 1344 12510.20 VBD 1.27 - - 2815.56 - - - 2274.12 - 87.59 - - 2518.69 - - - - - - - - - - -
12816.43 897.55 7.12 1375 12834.90 done 1.29 - - 2816.00 - 3.01 0.081 1144.69 -375.2 87.59 - - 2518.19 - - - - - - - - - 15.94 -
12925.76 889.14 7.63 1394 12944.14 done 1.31 - - 2815.12 - 2.85 0.037 2272.50 395.7 87.59 - - 2521.00 - - - - - - - - - 16.01 -
13250.37 865.74 7.10 1426 13254.41 VBD 1.34 - - 2815.69 - - - 2272.50 - 87.59 - - 2516.88 - - - - - - - - - - -
13560.64 844.09 6.47 1457 13580.33 1.38 0.20 0.086 2861.88 231.0 2.99 0.082 1141.25 -378.3 87.59 - - 2520.00 - - - - - - - - 16.02 16.03 -
13706.55 832.14 8.18 1483 13724.20 done 1.38 - - 2862.44 - 2.83 0.038 2273.31 400.0 87.59 - - 2518.12 - - - - - - - - - 16.07 -
14030.04 805.17 8.21 1515 14048.34 done 1.38 - - 2862.56 - 2.95 0.103 3352.00 365.7 87.59 - - 2517.78 - - - - - - - - - 16.05 -
14208.95 789.48 8.17 1548 14226.51 done 1.38 - - 2861.94 - 2.69 0.028 2203.06 -427.1 87.59 - - 2519.03 - - - - - - - - - 16.08 -
14532.73 765.30 7.04 1580 14536.78 VBD 1.41 - - 2862.00 - - - 2203.00 - 87.59 - - 2515.78 - - - - - - - - - - -
14843.00 743.67 6.89 1611 14860.25 done 1.44 - - 2860.94 - 2.79 0.086 1144.50 -379.4 87.59 - - 2517.53 - - - - - - - - - 16.08 -
14986.84 733.89 7.31 1637 15004.90 done 1.46 - - 2861.69 - 2.82 0.037 2274.25 400.6 87.59 - - 2517.78 - - - - - - - - - 16.10 -
15311.13 711.90 7.15 1669 15329.19 done 1.49 - - 2861.81 - 2.92 0.103 3352.38 369.2 87.59 - - 2515.00 - - - - - - - - - 16.08 -
15415.36 703.65 8.32 1687 15432.20 done 1.49 - - 2863.12 - 2.67 0.028 2205.06 -429.7 87.59 - - 2516.19 - - - - - - - - - 16.10 -
15738.44 680.43 7.52 1719 15742.48 VBD 1.50 - - 2861.81 - - - 2204.75 - 87.59 - - 2514.91 - - - - - - - - - - -
16048.71 659.54 6.64 1750 16053.65 1.54 0.16 0.095 2900.56 242.2 - - 2204.12 - 87.59 - - 2514.47 - - - - - - - - 16.08 - -
16359.66 635.40 8.29 1781 16363.71 VBD 1.54 - - 2900.50 - - - 2205.06 - 87.59 - - 2515.06 - - - - - - - - - - -
16670.11 610.99 7.77 1812 16674.16 VBD 1.55 - - 2900.50 - - - 2204.25 - 87.59 - - 2515.16 - - - - - - - - - - -
16980.38 586.26 7.32 1843 16984.43 VBD 1.58 - - 2899.94 - - - 2204.44 - 87.59 - - 2514.88 - - - - - - - - - - -
17290.67 563.42 7.72 1874 17309.53 done 1.59 - - 2900.06 - 3.12 0.099 3353.00 368.1 87.59 - - 2517.66 - - - - - - - - - 16.09 -
17360.00 557.99 8.00 1885 17377.96 done 1.59 - - 2899.31 - 2.67 0.028 2204.94 -430.0 87.59 - - 2516.94 - - - - - - - - - 16.09 -
17684.19 535.66 6.61 1917 17703.06 done 1.63 - - 2899.06 - 3.11 0.098 3353.00 369.2 87.59 - - 2515.47 - - - - - - - - - 16.07 -
17709.63 533.76 6.99 1919 17726.50 done 1.66 - - 2899.62 - 2.67 0.028 2204.25 -430.2 87.59 - - 2515.69 - - - - - - - - - 16.10 -
18032.72 511.75 6.26 1951 18089.23 1.75 0.25 0.077 2952.88 213.0 - - 2202.69 - 133.89 36.56 1.957 2343.41 -4.7 0.205 - - - - - - 16.08 - 12.28
18395.06 473.63 11.25 1986 18413.94 roll 1.75 - - 2953.25 - 3.14 0.098 3353.56 366.5 133.89 - - 2335.22 - - - - - - - - - 15.95 -
18454.50 466.78 12.48 1995 18472.09 roll 1.75 - - 2953.38 - 2.69 0.028 2209.19 -425.4 133.89 - - 2336.69 - - - - - - - - - 15.99 -
18777.92 431.48 10.77 2027 18795.96 done 1.75 - - 2952.75 - 2.81 0.087 1143.69 -379.2 133.89 - - 2338.06 - - - - - - - - - 16.02 -
18826.41 426.02 11.48 2034 18844.79 done 1.75 - - 2953.38 - 2.80 0.037 2274.50 403.9 133.89 - - 2335.72 - - - - - - - - - 15.99 -
19150.63 392.78 9.86 2066 19168.69 done 1.75 - - 2952.88 - 2.93 0.101 3353.38 368.2 133.89 - - 2337.34 - - - - - - - - - 16.02 -
19194.87 388.01 10.57 2072 19212.12 done 1.75 - - 2952.06 - 2.68 0.027 2205.94 -428.1 133.89 - - 2336.06 - - - - - - - - - 16.04 -
19517.94 357.20 9.41 2104 19521.99 VBD 1.75 - - 2953.62 - - - 2204.44 - 133.89 - - 2333.72 - - - - - - - - - - -
19828.00 327.41 9.64 2135 19845.25 done 1.75 - - 2953.06 - 2.78 0.087 1143.62 -381.6 133.89 - - 2333.59 - - - - - - - - - 16.06 -
19885.69 321.75 9.90 2144 19904.08 done 1.75 - - 2953.31 - 2.81 0.036 2275.50 402.8 133.89 - - 2334.06 - - - - - - - - - 16.07 -
20209.91 291.78 9.40 2176 20227.99 done 1.75 - - 2952.12 - 2.96 0.080 1144.06 -382.2 133.89 - - 2334.50 - - - - - - - - - 16.07 -
20298.56 282.85 10.09 2191 20316.95 done 1.75 - - 2952.38 - 2.80 0.036 2275.25 404.0 133.89 - - 2335.00 - - - - - - - - - 16.07 -
20622.78 251.82 9.46 2223 20626.83 VBD 1.75 - - 2953.06 - - - 2275.44 - 133.89 - - 2332.75 - - - - - - - - - - -
20932.84 224.65 8.36 2254 20950.99 done 1.75 - - 2952.69 - 2.97 0.079 1144.38 -380.8 133.89 - - 2332.88 - - - - - - - - - 16.08 -
20987.18 219.66 9.17 2262 21004.84 done 1.75 - - 2953.62 - 2.81 0.035 2273.94 402.0 133.89 - - 2334.81 - - - - - - - - - 16.01 -
21311.07 192.27 7.67 2294 21329.13 done 1.77 - - 2952.62 - 2.96 0.079 1143.81 -381.8 133.89 - - 2334.34 - - - - - - - - - 16.07 -
21510.11 176.58 7.60 2331 21528.50 done 1.78 - - 2953.44 - 2.81 0.035 2275.19 402.6 133.89 - - 2333.78 - - - - - - - - - 16.06 -
21834.74 154.25 6.89 2363 21838.79 VBD 1.82 - - 2953.31 - - - 2275.56 - 133.89 - - 2332.94 - - - - - - - - - - -
22145.02 134.10 5.64 2394 22232.89 1.93 0.19 0.086 2998.56 238.2 3.03 0.079 1142.94 -373.8 193.27 46.69 1.482 2100.88 -5.0 0.075 - - - - - - 16.02 15.77 12.38
22253.45 125.58 9.14 2409 22272.23 roll 1.93 - - 2998.44 - 2.84 0.034 2275.94 398.9 193.27 - - 2096.78 - - - - - - - - - 15.86 -
22578.07 99.81 8.33 2441 22597.28 done 1.93 - - 2998.06 - 2.99 0.077 1143.56 -378.7 193.27 - - 2092.59 - - - - - - - - - 15.91 -
22628.87 96.65 6.48 2448 22647.24 done 1.97 - - 2998.06 - 2.81 0.032 2277.38 403.5 193.27 - - 2094.44 - - - - - - - - - 15.95 -
22833.49 85.36 5.49 2486 22923.75 2.10 - 0.036 2998.94 - 3.04 0.078 1142.75 -373.2 255.85 48.35 1.398 1847.12 -5.1 0.052 - - - - - - - 15.68 12.38
23029.96 71.09 8.41 2518 23048.36 roll 2.10 - - 2999.38 - 2.84 0.033 2274.81 398.6 255.85 - - 1839.09 - - - - - - - - - 15.85 -
23234.72 55.75 6.93 2556 23254.33 2.13 0.05 0.278 2994.88 -90.0 2.94 0.097 3353.62 366.9 255.85 - - 1835.47 - - - - - - - - 15.82 15.84 -
23395.94 44.82 7.25 2585 23414.74 2.15 0.05 0.177 3012.12 344.8 2.70 0.025 2200.69 -427.0 255.85 - - 1835.06 - - - - - - - - 15.88 15.92 -
23600.98 29.65 7.75 2623 23620.59 2.17 - - 3012.31 - 3.14 0.092 3353.00 367.0 255.85 - - 1834.38 - - - - - - - - - 15.93 -
23677.17 23.91 7.11 2635 23694.75 2.20 - - 3012.38 - 2.67 0.025 2198.00 -432.6 255.85 - - 1833.78 - - - - - - - - - 15.89 -
23880.99 22.63 -0.24 2673 23988.40 2.56 - - 3013.06 - - - 2197.56 - 438.88 75.50 1.305 1445.94 -5.1 0.015 - - - - - - - - 12.45
23990 end climb: NO_VERTICAL_VELOCITY
23991 begin surface
SM 0.96 - - - - 179.4 - - 494.8 - 18.10 0.045 463.5 25.6 - 0.02 0.284 526.0 26300.0 -9.086 - - 30.00 15.66 30.36 -