NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 31 * Raw log
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• Previous call tries 1 • 12.12 of 506.00 AH used of 24V (97.60% remains)
• Surface angle -65.1 deg, depth 1.17 m • Intended pitch -16.9 deg, speed -8.462 cm/s
VBD pumped to 429.97 (SM_CC=430)
• GPS1 time: 21 s
• GPS2 time: 2 s • Transponder ping count: 16
• 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
18.63 - - - 104.17 VBD -1.23 - - 178.31 - - - 2260.12 - -87.59 60.03 0.005 2647.94 - - - - - - - - - - 15.05
106.38 3.56 -4.35 12 217.21 -1.23 16.50 0.246 2216.56 123.5 2.82 0.087 3304.06 370.2 -87.59 8.74 0.007 3249.91 68.9 -5.841 - - - - - - 15.65 15.63 15.10
448.29 77.14 -15.26 64 466.51 roll -1.23 - - 2217.00 - 2.74 0.023 2152.00 -420.5 -87.59 - - 3252.66 - - - - - - - - - 15.86 -
652.40 101.05 -10.13 101 669.83 roll -1.23 - - 2216.19 - 2.82 0.073 1092.75 -375.6 -87.59 - - 3253.94 - - - - - - - - - 15.88 -
760.27 113.09 -10.74 120 778.05 roll -1.23 - - 2217.06 - 2.74 0.027 2232.50 416.0 -87.59 - - 3255.03 - - - - - - - - - 15.96 -
1083.85 142.69 -8.38 152 1087.86 no move -1.23 - - 2217.38 - - - 2232.69 - -87.59 - - 3254.69 - - - - - - - - - - -
1393.90 169.61 -8.86 183 1397.91 no move -1.23 - - 2216.81 - - - 2232.62 - -87.59 - - 3255.22 - - - - - - - - - - -
1703.96 197.16 -8.90 214 1707.97 VBD -1.23 - - 2216.62 - - - 2232.62 - -87.59 - - 3255.44 - - - - - - - - - - -
2014.02 226.21 -9.37 245 2031.47 roll -1.23 - - 2216.56 - 2.84 0.087 3303.88 377.2 -87.59 - - 3254.69 - - - - - - - - - 16.00 -
2151.91 240.55 -10.53 270 2169.68 roll -1.23 - - 2216.75 - 2.74 0.024 2150.38 -421.0 -87.59 - - 3256.06 - - - - - - - - - 16.05 -
2475.45 272.40 -9.90 302 2493.70 roll -1.23 - - 2216.75 - 3.08 0.084 3305.06 374.9 -87.59 - - 3255.00 - - - - - - - - - 16.07 -
2534.11 278.88 -11.12 311 2552.61 roll -1.23 - - 2216.88 - 2.70 0.024 2151.81 -427.1 -87.59 - - 3255.00 - - - - - - - - - 16.06 -
2858.56 309.48 -9.33 343 2862.61 no move -1.23 - - 2216.56 - - - 2151.94 - -87.59 - - 3254.22 - - - - - - - - - - -
3168.62 336.96 -8.55 374 3172.66 no move -1.23 - - 2216.62 - - - 2150.12 - -87.59 - - 3254.38 - - - - - - - - - - -
3478.68 362.62 -8.15 405 3497.16 roll -1.23 - - 2216.81 - 3.07 0.085 3304.62 376.1 -87.59 - - 3254.78 - - - - - - - - - 16.09 -
3523.33 366.51 -8.95 411 3540.19 roll -1.23 - - 2216.06 - 2.70 0.024 2150.62 -427.4 -87.59 - - 3255.47 - - - - - - - - - 16.09 -
3846.02 393.36 -8.17 443 3864.50 roll -1.23 - - 2217.12 - 3.07 0.086 3304.06 375.7 -87.59 - - 3253.00 - - - - - - - - - 16.09 -
3960.70 403.97 -9.26 463 3977.96 roll -1.23 - - 2217.50 - 2.71 0.025 2153.00 -424.7 -87.59 - - 3252.94 - - - - - - - - - 16.10 -
4283.79 430.40 -8.01 495 4287.84 no move -1.23 - - 2216.75 - - - 2153.25 - -87.59 - - 3251.50 - - - - - - - - - - -
4593.85 455.93 -8.52 526 4597.90 no move -1.23 - - 2216.56 - - - 2151.62 - -87.59 - - 3251.12 - - - - - - - - - - -
4903.90 482.19 -8.65 557 4907.95 no move -1.23 - - 2216.69 - - - 2151.44 - -87.59 - - 3250.31 - - - - - - - - - - -
5213.95 509.98 -8.95 588 5218.00 no move -1.23 - - 2216.38 - - - 2151.19 - -87.59 - - 3249.53 - - - - - - - - - - -
5524.01 537.87 -9.38 619 5542.50 roll -1.23 - - 2216.81 - 3.07 0.087 3303.94 375.5 -87.59 - - 3249.72 - - - - - - - - - 16.11 -
5568.80 542.04 -9.19 625 5586.05 roll -1.23 - - 2216.75 - 2.72 0.025 2151.88 -423.6 -87.59 - - 3250.72 - - - - - - - - - 16.11 -
5891.90 569.43 -8.57 657 5910.36 roll -1.23 - - 2216.62 - 3.08 0.087 3303.94 374.0 -87.59 - - 3249.31 - - - - - - - - - 16.12 -
5950.82 574.81 -8.69 666 5969.20 roll -1.23 - - 2217.38 - 2.70 0.025 2153.19 -426.2 -87.59 - - 3248.47 - - - - - - - - - 16.12 -
6275.03 601.80 -8.32 698 6293.51 roll -1.23 - - 2214.50 - 3.04 0.088 3304.62 378.8 -87.59 - - 3248.22 - - - - - - - - - 16.12 -
6343.97 608.09 -9.04 709 6361.54 roll -1.23 - - 2216.38 - 2.69 0.025 2154.06 -427.7 -87.59 - - 3247.84 - - - - - - - - - 16.11 -
6667.36 633.59 -7.29 741 6671.40 no move -1.23 - - 2216.75 - - - 2154.00 - -87.59 - - 3246.38 - - - - - - - - - - -
6977.39 656.47 -7.98 772 6981.43 no move -1.23 - - 2215.69 - - - 2153.19 - -87.59 - - 3245.84 - - - - - - - - - - -
7287.42 679.47 -7.90 803 7306.14 roll -1.23 - - 2217.25 - 3.06 0.089 3302.88 375.7 -87.59 - - 3248.22 - - - - - - - - - 16.11 -
7382.43 687.34 -8.34 819 7399.28 roll -1.23 - - 2216.56 - 2.69 0.026 2152.19 -427.8 -87.59 - - 3247.22 - - - - - - - - - 16.11 -
7705.12 711.01 -7.60 851 7709.17 no move -1.23 - - 2215.94 - - - 2151.94 - -87.59 - - 3244.88 - - - - - - - - - - -
8015.39 733.99 -7.59 882 8019.44 no move -1.23 - - 2216.44 - - - 2151.94 - -87.59 - - 3244.75 - - - - - - - - - - -
8325.27 758.00 -7.26 913 8343.75 roll -1.23 - - 2216.00 - 3.09 0.089 3305.25 373.2 -87.59 - - 3243.91 - - - - - - - - - 16.11 -
8369.93 762.04 -8.60 919 8387.58 roll -1.23 - - 2216.06 - 2.71 0.026 2153.88 -424.9 -87.59 - - 3246.34 - - - - - - - - - 16.10 -
8693.39 785.89 -7.12 951 8697.43 no move -1.23 - - 2216.62 - - - 2152.75 - -87.59 - - 3244.38 - - - - - - - - - - -
9003.82 806.19 -6.32 982 9007.86 no move -1.23 - - 2216.25 - - - 2152.69 - -87.59 - - 3243.69 - - - - - - - - - - -
9314.10 824.51 -5.73 1013 9318.15 no move -1.23 - - 2216.31 - - - 2152.31 - -87.59 - - 3243.03 - - - - - - - - - - -
9624.39 841.61 -5.81 1044 9642.95 roll -1.23 - - 2216.31 - 3.06 0.090 3304.62 376.6 -87.59 - - 3245.41 - - - - - - - - - 16.10 -
9679.53 844.99 -6.09 1052 9696.80 roll -1.23 - - 2217.12 - 2.71 0.026 2154.81 -424.3 -87.59 - - 3243.28 - - - - - - - - - 16.12 -
10003.03 862.55 -5.97 1084 10007.08 no move -1.23 - - 2216.56 - - - 2153.94 - -87.59 - - 3242.59 - - - - - - - - - - -
10313.43 881.70 -6.28 1115 10317.48 no move -1.23 - - 2217.19 - - - 2152.75 - -87.59 - - 3242.09 - - - - - - - - - - -
10623.31 902.57 -7.43 1146 10627.36 no move -1.23 - - 2216.62 - - - 2152.94 - -87.59 - - 3242.16 - - - - - - - - - - -
10933.35 924.26 -7.15 1177 10937.40 no move -1.23 - - 2216.25 - - - 2153.12 - -87.59 - - 3241.75 - - - - - - - - - - -
11243.38 947.68 -7.40 1208 11261.85 roll -1.23 - - 2216.75 - 3.09 0.091 3303.12 372.2 -87.59 - - 3243.12 - - - - - - - - - 16.10 -
11318.04 954.00 -8.54 1220 11335.72 roll -1.23 - - 2216.50 - 2.72 0.026 2156.50 -421.6 -87.59 - - 3242.03 - - - - - - - - - 16.10 -
11641.67 978.65 -7.84 1252 11660.15 roll -1.23 - - 2216.69 - 3.08 0.090 3303.88 372.5 -87.59 - - 3242.28 - - - - - - - - - 16.10 -
11700.60 983.70 -8.36 1261 11718.59 roll -1.23 - - 2216.94 - 2.71 0.026 2154.19 -424.2 -87.59 - - 3241.25 - - - - - - - - - 16.10 -
11783 end dive: TARGET_DEPTH_EXCEEDED
11784 begin apogee
11789.33 990.00 -7.75 1269 11902.36 -0.31 1.60 0.147 2440.06 139.4 0.11 0.211 2196.38 383.5 - 69.31 2.557 2890.12 -5.1 0.327 - - - - - - 16.01 15.52 12.12
11915 end apogee: CONTROL_FINISHED_OK
11916 begin climb
11918.63 992.97 - 1277 12054.41 1.23 2.56 0.100 2816.25 146.9 2.93 0.086 1145.06 -358.8 87.59 74.12 2.501 2531.53 -4.8 0.320 - - - - - - 15.70 15.27 12.64
12060.98 988.15 5.82 1292 12149.61 done 1.34 - - 2816.81 - 2.87 0.035 2274.75 393.6 143.09 48.09 2.440 2305.38 -4.7 0.318 - - - - - - - 15.61 12.62
12455.56 954.44 9.27 1334 12473.64 done 1.34 - - 2815.69 - 2.99 0.101 3350.56 359.8 143.09 - - 2294.31 - - - - - - - - - 15.81 -
12519.94 947.86 10.26 1344 12537.20 done 1.34 - - 2816.19 - 2.74 0.027 2205.94 -417.7 143.09 - - 2294.66 - - - - - - - - - 15.85 -
12843.03 916.26 9.97 1376 12860.99 done 1.34 - - 2816.38 - 2.84 0.084 1144.19 -373.9 143.09 - - 2291.25 - - - - - - - - - 15.93 -
12901.55 910.14 10.11 1385 12919.94 done 1.34 - - 2816.38 - 2.78 0.036 2274.12 406.4 143.09 - - 2292.28 - - - - - - - - - 15.94 -
13225.77 879.07 9.30 1417 13229.82 VBD 1.34 - - 2816.19 - - - 2273.19 - 143.09 - - 2290.66 - - - - - - - - - - -
13535.83 851.06 8.60 1448 13553.90 done 1.34 - - 2816.31 - 3.00 0.079 1144.50 -376.2 143.09 - - 2288.62 - - - - - - - - - 16.01 -
13630.09 842.45 9.01 1464 13647.75 done 1.34 - - 2816.81 - 2.78 0.036 2274.06 406.3 143.09 - - 2289.78 - - - - - - - - - 16.02 -
13953.59 814.55 8.28 1496 13957.64 VBD 1.34 - - 2816.56 - - - 2274.25 - 143.09 - - 2288.25 - - - - - - - - - - -
14263.65 789.01 8.31 1527 14267.70 VBD 1.34 - - 2816.56 - - - 2274.19 - 143.09 - - 2287.78 - - - - - - - - - - -
14573.70 764.20 8.07 1558 14591.77 done 1.34 - - 2815.62 - 2.99 0.080 1145.38 -377.5 143.09 - - 2287.62 - - - - - - - - - 16.06 -
14647.97 758.12 8.42 1570 14665.23 done 1.34 - - 2816.25 - 2.79 0.036 2274.69 404.8 143.09 - - 2288.81 - - - - - - - - - 16.08 -
14971.07 732.25 8.03 1602 14989.39 done 1.34 - - 2815.56 - 3.00 0.079 1144.12 -376.9 143.09 - - 2287.09 - - - - - - - - - 16.08 -
15045.69 725.55 9.15 1614 15062.97 done 1.34 - - 2816.06 - 2.77 0.036 2274.06 407.9 143.09 - - 2288.25 - - - - - - - - - 16.08 -
15369.20 699.27 7.69 1646 15374.55 1.39 0.22 0.083 2863.38 215.1 - - 2274.06 - 143.09 - - 2286.62 - - - - - - - - 16.05 - -
15680.37 671.02 8.44 1677 15698.05 done 1.39 - - 2864.12 - 2.89 0.102 3352.12 373.0 143.09 - - 2287.72 - - - - - - - - - 16.07 -
15928.55 646.57 10.05 1724 15946.94 done 1.39 - - 2864.69 - 2.71 0.027 2208.25 -422.1 143.09 - - 2286.88 - - - - - - - - - 16.08 -
16252.78 618.45 8.52 1756 16271.67 done 1.39 - - 2864.88 - 3.11 0.098 3353.31 368.2 143.09 - - 2285.16 - - - - - - - - - 16.07 -
16432.17 601.47 9.81 1789 16450.54 done 1.39 - - 2863.06 - 2.72 0.027 2207.31 -421.3 143.09 - - 2286.91 - - - - - - - - - 16.08 -
16756.35 573.40 8.75 1821 16760.40 VBD 1.39 - - 2864.88 - - - 2206.50 - 143.09 - - 2285.50 - - - - - - - - - - -
17066.56 546.02 9.04 1852 17070.67 VBD 1.39 - - 2864.44 - - - 2206.56 - 143.09 - - 2285.66 - - - - - - - - - - -
17376.63 519.45 8.59 1883 17380.67 VBD 1.39 - - 2864.19 - - - 2207.06 - 143.09 - - 2285.50 - - - - - - - - - - -
17686.68 493.21 8.19 1914 17690.73 VBD 1.39 - - 2864.69 - - - 2206.62 - 143.09 - - 2285.25 - - - - - - - - - - -
17996.73 465.55 9.20 1945 18014.40 done 1.39 - - 2864.44 - 2.82 0.084 1142.69 -377.3 143.09 - - 2285.84 - - - - - - - - - 16.06 -
18104.87 455.11 10.02 1964 18122.87 done 1.39 - - 2863.81 - 2.79 0.036 2275.31 406.0 143.09 - - 2285.44 - - - - - - - - - 16.09 -
18428.70 424.73 9.22 1996 18446.78 done 1.39 - - 2864.56 - 3.00 0.079 1143.69 -377.2 143.09 - - 2287.78 - - - - - - - - - 16.08 -
18563.00 411.72 9.67 2020 18580.65 done 1.39 - - 2864.19 - 2.78 0.036 2273.88 406.5 143.09 - - 2286.88 - - - - - - - - - 16.10 -
18886.86 385.02 7.83 2052 18890.91 VBD 1.42 - - 2864.25 - - - 2274.56 - 143.09 - - 2284.78 - - - - - - - - - - -
19197.15 362.81 6.72 2083 19201.19 VBD 1.53 - - 2864.06 - - - 2273.38 - 143.09 - - 2284.59 - - - - - - - - - - -
19507.45 342.88 6.88 2114 19528.80 1.62 0.28 0.073 2921.62 205.6 2.99 0.079 1143.88 -377.8 143.09 - - 2284.72 - - - - - - - - 16.00 16.03 -
19580.10 336.74 8.78 2125 19597.37 done 1.62 - - 2921.62 - 2.80 0.035 2274.88 403.9 143.09 - - 2287.47 - - - - - - - - - 16.09 -
19903.21 309.43 8.35 2157 19921.29 done 1.62 - - 2920.81 - 3.00 0.078 1144.00 -377.0 143.09 - - 2287.56 - - - - - - - - - 16.08 -
19967.46 303.39 9.65 2167 19984.85 done 1.62 - - 2921.44 - 2.80 0.035 2274.50 403.8 143.09 - - 2287.94 - - - - - - - - - 15.99 -
20290.69 272.79 9.64 2199 20294.74 VBD 1.62 - - 2921.69 - - - 2274.19 - 143.09 - - 2285.00 - - - - - - - - - - -
20600.74 244.69 8.81 2230 20618.81 done 1.62 - - 2921.56 - 2.99 0.078 1144.31 -377.9 143.09 - - 2284.34 - - - - - - - - - 16.09 -
20849.33 220.85 9.41 2277 20867.43 done 1.62 - - 2922.25 - 2.78 0.035 2275.75 407.0 143.09 - - 2285.44 - - - - - - - - - 16.08 -
21173.26 192.35 9.06 2309 21191.34 done 1.62 - - 2922.69 - 3.00 0.077 1143.69 -377.4 143.09 - - 2287.09 - - - - - - - - - 16.06 -
21217.64 187.89 10.00 2315 21235.54 done 1.62 - - 2922.50 - 2.78 0.034 2275.25 407.0 143.09 - - 2287.69 - - - - - - - - - 15.98 -
21541.85 159.90 7.81 2347 21560.33 done 1.66 - - 2922.06 - 3.01 0.076 1143.00 -376.2 143.09 - - 2284.22 - - - - - - - - - 16.00 -
21656.94 151.01 7.60 2367 21674.62 done 1.71 - - 2922.62 - 2.81 0.033 2275.06 402.9 143.09 - - 2286.16 - - - - - - - - - 15.97 -
21980.82 129.45 5.93 2399 22057.15 1.82 0.21 0.079 2970.50 228.0 2.96 0.100 3352.56 364.0 196.33 40.49 1.490 2088.19 -4.9 0.071 - - - - - - 16.01 15.81 12.28
22133.33 115.93 9.93 2423 22150.61 roll 1.82 - - 2970.44 - 2.73 0.025 2202.12 -421.4 196.33 - - 2084.09 - - - - - - - - - 15.92 -
22456.98 89.97 6.08 2470 22531.59 done 1.92 - - 2969.38 - 2.86 0.081 1144.31 -369.9 246.46 39.83 1.412 1884.81 -5.0 0.053 - - - - - - - 15.71 12.42
22577.78 80.60 8.88 2488 22596.42 roll 1.92 - - 2970.50 - 2.81 0.033 2275.62 402.6 246.46 - - 1882.09 - - - - - - - - - 15.82 -
22782.36 64.34 8.13 2526 22801.56 roll 1.92 - - 2971.00 - 3.05 0.075 1144.19 -371.0 246.46 - - 1877.22 - - - - - - - - - 15.82 -
22933.19 52.70 6.83 2553 22952.83 2.02 0.18 0.084 3016.50 252.8 2.82 0.032 2277.75 402.0 246.46 - - 1878.28 - - - - - - - - 15.87 15.88 -
23139.07 40.36 5.48 2591 23210.16 VBD 2.14 - - 3016.56 - - - 2278.06 - 309.13 48.53 1.342 1630.16 -5.1 0.026 - - - - - - - - 12.43
23396.40 21.82 7.82 2638 23415.62 roll back 2.18 - - 3016.12 - 3.06 0.074 1143.69 -370.7 309.13 - - 1622.28 - - - - - - - - - 15.86 -
23537.34 16.02 3.48 2663 23668.79 2.39 - - 3017.12 - 2.80 0.029 2280.88 406.1 413.87 81.81 1.290 1202.72 -5.1 0.011 - - - - - - - 15.84 12.43
23784 end climb: SURFACE_DEPTH_REACHED
23784 begin surface coast
23865 end surface coast: CONTROL_FINISHED_OK
23865 begin surface
SM 1.33 - - - - 178.2 12.81 1.131 1137.2 82.4 18.30 0.056 1146.9 62.7 - 0.23 0.057 1127.4 4889.6 -11.661 - - 12.48 15.80 15.84 -