NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 751 * Raw log
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• Previous call tries 2 • 256.32 of 506.00 AH used of 24V (49.34% remains)
• Surface angle -62.6 deg, depth 1.09 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.10 (SM_CC=430)
• GPS1 time: 21 s
• GPS2 time: 1 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
19.41 - - - 126.91 VBD -1.18 - - 178.44 - - - 2181.62 - -77.86 75.59 0.005 2986.19 - - - - - - - - - - 14.63
129.13 3.54 -3.53 15 246.01 -1.18 17.55 0.202 2227.62 116.8 3.48 0.079 3352.62 336.5 -77.86 3.18 0.011 3210.03 70.4 -3.875 - - - - - - 15.19 14.86 15.01
252.55 35.95 -14.23 22 270.96 roll -1.18 - - 2226.88 - 2.74 0.019 2197.31 -421.6 -77.86 - - 3212.09 - - - - - - - - - 15.72 -
457.02 60.09 -11.58 60 477.84 roll -1.18 - - 2227.50 - 3.39 0.077 3352.94 340.9 -77.86 - - 3211.97 - - - - - - - - - 15.48 -
709.49 91.83 -13.09 107 728.28 roll -1.18 - - 2227.56 - 2.77 0.018 2197.44 -417.1 -77.86 - - 3212.69 - - - - - - - - - 15.73 -
919.35 112.51 -7.51 132 923.37 no move -1.18 - - 2227.44 - - - 2194.25 - -77.86 - - 3210.75 - - - - - - - - - - -
1229.44 133.47 -7.03 163 1249.52 roll -1.18 - - 2227.62 - 3.38 0.077 3352.88 342.8 -77.86 - - 3213.09 - - - - - - - - - 15.69 -
1335.94 141.85 -8.28 181 1353.63 roll -1.18 - - 2227.56 - 2.77 0.018 2192.38 -419.0 -77.86 - - 3212.78 - - - - - - - - - 15.61 -
1659.70 167.79 -7.81 213 1663.72 no move -1.18 - - 2227.56 - - - 2189.56 - -77.86 - - 3211.66 - - - - - - - - - - -
1969.81 188.00 -6.19 244 1987.89 roll -1.18 - - 2226.62 - 2.90 0.068 1143.00 -360.9 -77.86 - - 3214.41 - - - - - - - - - 15.73 -
2024.35 191.21 -5.92 252 2042.64 roll -1.18 - - 2227.62 - 2.79 0.023 2281.06 407.9 -77.86 - - 3212.59 - - - - - - - - - 15.77 -
2349.29 206.79 -4.64 284 2353.35 no move -1.18 - - 2227.81 - - - 2281.62 - -77.86 - - 3212.09 - - - - - - - - - - -
2659.49 224.20 -6.20 315 2679.02 roll -1.18 - - 2227.44 - 3.13 0.080 3352.62 342.2 -77.86 - - 3212.81 - - - - - - - - - 15.75 -
2699.77 227.07 -6.66 320 2718.78 roll -1.18 - - 2228.38 - 2.73 0.018 2188.50 -426.4 -77.86 - - 3214.72 - - - - - - - - - 15.92 -
3024.90 248.63 -6.66 352 3043.61 roll -1.18 - - 2227.38 - 2.91 0.068 1143.19 -359.2 -77.86 - - 3213.81 - - - - - - - - - 15.65 -
3090.08 253.45 -7.55 362 3107.97 roll -1.18 - - 2226.12 - 2.76 0.024 2280.44 412.0 -77.86 - - 3213.44 - - - - - - - - - 15.91 -
3414.09 275.43 -6.85 394 3433.62 roll -1.18 - - 2227.94 - 3.18 0.063 1144.00 -357.4 -77.86 - - 3213.53 - - - - - - - - - 15.63 -
3464.36 278.97 -6.86 401 3483.37 roll -1.18 - - 2228.50 - 2.78 0.024 2280.50 408.8 -77.86 - - 3214.53 - - - - - - - - - 15.92 -
3789.50 298.89 -6.27 433 3809.66 roll -1.18 - - 2227.62 - 3.12 0.064 1142.50 -364.7 -77.86 - - 3213.56 - - - - - - - - - 15.77 -
3830.52 301.69 -6.30 438 3849.16 roll -1.18 - - 2227.25 - 2.77 0.024 2279.88 410.6 -77.86 - - 3214.91 - - - - - - - - - 15.93 -
4155.26 320.77 -6.04 470 4159.32 no move -1.18 - - 2227.94 - - - 2279.38 - -77.86 - - 3212.16 - - - - - - - - - - -
4465.46 339.93 -6.27 501 4484.97 roll -1.18 - - 2226.56 - 3.13 0.064 1143.00 -363.1 -77.86 - - 3214.25 - - - - - - - - - 15.78 -
4491.44 341.83 -6.82 503 4509.35 roll -1.18 - - 2227.50 - 2.78 0.024 2280.88 409.3 -77.86 - - 3213.81 - - - - - - - - - 15.93 -
4815.48 363.34 -6.77 535 4835.00 roll -1.18 - - 2227.94 - 3.14 0.064 1141.69 -362.8 -77.86 - - 3213.69 - - - - - - - - - 15.78 -
4885.75 368.41 -7.33 546 4904.38 roll -1.18 - - 2227.75 - 2.80 0.024 2279.19 406.2 -77.86 - - 3212.38 - - - - - - - - - 15.78 -
5210.52 388.92 -6.20 578 5214.58 no move -1.18 - - 2227.88 - - - 2279.75 - -77.86 - - 3210.94 - - - - - - - - - - -
5520.71 407.90 -6.27 609 5540.24 roll -1.18 - - 2227.44 - 3.15 0.064 1143.25 -360.8 -77.86 - - 3213.09 - - - - - - - - - 15.78 -
5591.00 412.67 -6.94 620 5609.86 roll -1.18 - - 2227.50 - 2.80 0.025 2279.62 405.8 -77.86 - - 3213.75 - - - - - - - - - 15.93 -
5916.09 432.96 -6.22 652 5935.61 roll -1.18 - - 2227.81 - 3.14 0.064 1141.56 -362.4 -77.86 - - 3211.09 - - - - - - - - - 15.78 -
5992.08 438.07 -6.52 664 6010.39 roll -1.18 - - 2227.44 - 2.81 0.025 2279.31 404.9 -77.86 - - 3212.72 - - - - - - - - - 15.93 -
6316.53 459.34 -6.83 696 6320.59 no move -1.18 - - 2227.50 - - - 2279.81 - -77.86 - - 3210.34 - - - - - - - - - - -
6626.73 479.07 -6.11 727 6630.79 no move -1.18 - - 2227.75 - - - 2279.69 - -77.86 - - 3209.91 - - - - - - - - - - -
6936.90 498.36 -6.35 758 6956.43 roll -1.18 - - 2226.88 - 3.16 0.065 1142.81 -359.8 -77.86 - - 3211.72 - - - - - - - - - 15.76 -
6967.17 500.36 -6.42 761 6985.81 roll -1.18 - - 2227.75 - 2.80 0.025 2279.25 405.9 -77.86 - - 3210.41 - - - - - - - - - 15.92 -
7291.92 519.92 -5.95 793 7311.44 roll -1.18 - - 2226.75 - 3.13 0.065 1143.00 -363.0 -77.86 - - 3211.56 - - - - - - - - - 15.76 -
7402.20 527.18 -6.61 812 7421.22 roll -1.18 - - 2227.12 - 2.78 0.025 2278.69 408.5 -77.86 - - 3211.50 - - - - - - - - - 15.95 -
7727.35 547.30 -6.11 844 7731.41 no move -1.18 - - 2227.81 - - - 2278.12 - -77.86 - - 3208.84 - - - - - - - - - - -
8037.92 565.43 -5.49 875 8057.45 roll -1.18 - - 2227.31 - 3.11 0.065 1142.31 -365.2 -77.86 - - 3210.12 - - - - - - - - - 15.75 -
8073.92 567.56 -5.65 879 8091.82 roll -1.18 - - 2227.75 - 2.80 0.025 2278.62 405.8 -77.86 - - 3209.91 - - - - - - - - - 15.95 -
8397.93 584.79 -5.38 911 8417.84 roll -1.18 - - 2227.62 - 3.12 0.065 1142.00 -364.3 -77.86 - - 3209.16 - - - - - - - - - 15.75 -
8434.32 586.84 -5.63 915 8452.22 roll -1.18 - - 2227.88 - 2.79 0.025 2278.06 407.2 -77.86 - - 3210.50 - - - - - - - - - 15.95 -
8758.35 605.82 -6.26 947 8777.87 roll -1.18 - - 2228.44 - 3.18 0.086 3352.31 337.8 -77.86 - - 3208.78 - - - - - - - - - 15.70 -
8818.62 610.22 -7.01 956 8837.24 roll -1.18 - - 2227.81 - 2.72 0.020 2188.69 -427.8 -77.86 - - 3209.34 - - - - - - - - - 15.94 -
9143.38 631.21 -6.78 988 9162.11 roll -1.18 - - 2227.69 - 2.92 0.071 1144.75 -357.5 -77.86 - - 3207.94 - - - - - - - - - 15.73 -
9192.86 634.56 -7.30 995 9211.48 roll -1.18 - - 2227.62 - 2.78 0.025 2279.88 408.3 -77.86 - - 3208.97 - - - - - - - - - 15.92 -
9517.61 656.68 -5.37 1027 9521.67 no move -1.18 - - 2227.81 - - - 2278.94 - -77.86 - - 3206.59 - - - - - - - - - - -
9828.30 656.80 -0.07 1058 9847.81 roll -1.18 - - 2227.56 - 3.19 0.089 3350.81 336.0 -77.86 - - 3206.44 - - - - - - - - - 15.66 -
9879 end dive: NO_VERTICAL_VELOCITY
9879 begin apogee
9896.09 656.75 - 1065 9999.25 -0.31 1.54 0.091 2442.75 139.7 0.19 0.126 2287.38 -5597.0 - 64.44 1.874 2889.28 -4.9 0.295 - - - - - - 15.64 15.20 10.16
10012 end apogee: CONTROL_FINISHED_OK
10013 begin climb
10015.62 656.56 - 1072 10143.72 1.18 2.58 0.078 2806.75 141.1 3.28 0.071 1144.19 -348.5 77.86 65.99 1.844 2572.78 -4.8 0.292 - - - - - - 15.63 15.11 11.47
10160.58 652.24 3.77 1088 10287.98 1.36 0.25 0.074 2857.00 201.0 2.85 0.027 2277.62 397.7 166.34 76.27 1.825 2210.78 -4.7 0.290 - - - - - - 15.46 15.59 11.28
10594.16 622.09 7.93 1135 10613.68 done 1.36 - - 2856.88 - 3.18 0.069 1143.12 -356.8 166.34 - - 2199.28 - - - - - - - - - 15.69 -
10660.26 616.39 8.63 1145 10678.96 done 1.36 - - 2857.12 - 2.82 0.028 2276.81 402.0 166.34 - - 2200.75 - - - - - - - - - 15.79 -
10985.04 590.70 8.04 1177 11004.56 done 1.36 - - 2857.19 - 3.19 0.069 1144.19 -355.1 166.34 - - 2196.91 - - - - - - - - - 15.58 -
11041.03 585.91 8.76 1185 11059.33 done 1.36 - - 2857.12 - 2.82 0.028 2276.12 401.4 166.34 - - 2196.59 - - - - - - - - - 15.87 -
11365.57 559.20 8.31 1217 11385.08 done 1.36 - - 2857.00 - 3.12 0.069 1142.94 -363.2 166.34 - - 2197.78 - - - - - - - - - 15.75 -
11421.55 554.48 8.45 1225 11440.00 done 1.36 - - 2857.44 - 2.82 0.028 2274.94 401.4 166.34 - - 2195.16 - - - - - - - - - 15.90 -
11746.47 529.69 7.36 1257 11766.34 done 1.40 - - 2856.00 - 3.13 0.069 1143.25 -361.6 166.34 - - 2194.56 - - - - - - - - - 15.76 -
11857.60 521.38 7.27 1276 11876.64 done 1.45 - - 2857.38 - 2.83 0.028 2274.75 399.8 166.34 - - 2194.97 - - - - - - - - - 15.92 -
12183.14 499.34 6.45 1308 12204.30 1.54 0.21 0.079 2899.38 200.0 3.17 0.069 1144.06 -356.7 166.34 - - 2192.78 - - - - - - - - 15.88 15.65 -
12310.78 489.08 8.01 1330 12329.49 done 1.54 - - 2900.00 - 2.83 0.028 2274.50 399.4 166.34 - - 2193.75 - - - - - - - - - 15.91 -
12635.59 462.10 8.55 1362 12655.09 done 1.54 - - 2899.50 - 3.18 0.069 1144.19 -355.4 166.34 - - 2194.84 - - - - - - - - - 15.74 -
12695.85 456.60 9.20 1371 12714.87 done 1.54 - - 2899.88 - 2.83 0.028 2275.75 399.8 166.34 - - 2193.19 - - - - - - - - - 15.90 -
13020.94 425.54 9.46 1403 13040.46 done 1.54 - - 2899.44 - 3.18 0.069 1145.56 -355.4 166.34 - - 2193.09 - - - - - - - - - 15.76 -
13106.94 417.69 9.20 1417 13125.47 done 1.54 - - 2899.62 - 2.84 0.028 2273.62 397.2 166.34 - - 2192.66 - - - - - - - - - 15.80 -
13432.09 393.24 6.36 1449 13451.60 done 1.64 - - 2900.38 - 3.14 0.069 1144.44 -359.6 166.34 - - 2190.91 - - - - - - - - - 15.75 -
13568.48 384.74 6.20 1473 13588.83 1.76 0.26 0.068 2951.94 198.3 2.84 0.028 2273.62 397.6 166.34 - - 2191.78 - - - - - - - - 15.68 15.80 -
13894.93 359.59 8.27 1505 13899.00 VBD 1.76 - - 2953.12 - - - 2275.12 - 166.34 - - 2190.69 - - - - - - - - - - -
14205.07 330.63 9.68 1536 14224.58 done 1.76 - - 2953.25 - 3.19 0.069 1143.94 -354.6 166.34 - - 2190.12 - - - - - - - - - 15.66 -
14345.34 317.37 8.80 1561 14364.75 done 1.76 - - 2953.81 - 2.84 0.028 2273.94 397.9 166.34 - - 2192.09 - - - - - - - - - 15.69 -
14671.25 294.12 6.37 1593 14690.77 done 1.86 - - 2953.44 - 3.16 0.069 1144.25 -357.5 166.34 - - 2189.94 - - - - - - - - - 15.72 -
14771.93 287.04 7.13 1610 14792.58 1.91 0.16 0.084 2992.94 246.9 2.82 0.028 2275.88 401.3 166.34 - - 2191.34 - - - - - - - - 15.66 15.89 -
15098.93 260.19 8.84 1642 15118.45 done 1.91 - - 2992.81 - 3.11 0.068 1144.12 -363.9 166.34 - - 2192.25 - - - - - - - - - 15.74 -
15235.04 246.98 10.00 1666 15253.50 done 1.91 - - 2993.38 - 2.81 0.028 2274.75 402.4 166.34 - - 2191.47 - - - - - - - - - 15.80 -
15559.61 218.89 7.70 1698 15579.12 done 1.91 - - 2992.81 - 3.12 0.068 1143.25 -362.7 166.34 - - 2191.91 - - - - - - - - - 15.73 -
15676.02 210.61 6.97 1718 15694.32 done 1.98 - - 2992.38 - 2.86 0.028 2275.94 396.0 166.34 - - 2191.12 - - - - - - - - - 15.74 -
16000.85 189.18 7.45 1750 16020.37 done 2.01 - - 2993.81 - 3.17 0.089 3351.25 339.2 166.34 - - 2192.25 - - - - - - - - - 15.59 -
16056.84 184.25 8.52 1758 16075.14 done 2.01 - - 2993.56 - 2.74 0.020 2197.06 -421.2 166.34 - - 2191.94 - - - - - - - - - 15.61 -
16381.20 157.29 8.01 1790 16399.90 done 2.01 - - 2993.88 - 2.89 0.071 1144.00 -364.4 166.34 - - 2190.91 - - - - - - - - - 15.67 -
16520.67 146.14 7.83 1815 16539.93 done 2.01 - - 2993.62 - 2.79 0.027 2277.56 406.3 166.34 - - 2191.66 - - - - - - - - - 15.81 -
16846.52 125.14 5.92 1847 16866.87 2.14 0.04 0.203 3015.38 544.0 3.16 0.066 1144.12 -358.7 166.34 - - 2191.22 - - - - - - - - 15.67 15.52 -
16913.75 120.76 6.40 1857 16931.42 2.24 - - 3014.88 - 2.78 0.026 2276.94 407.5 166.34 - - 2190.66 - - - - - - - - - 15.74 -
17237.97 102.23 4.18 1889 17349.08 2.40 - - 3014.88 - 3.21 0.088 3352.12 334.9 246.32 62.60 1.190 1885.16 -4.9 0.072 - - - - - - - 15.31 10.39
17516.01 86.83 6.65 1936 17535.05 roll back 2.48 - - 3014.94 - 2.79 0.019 2196.56 -414.2 246.32 - - 1880.94 - - - - - - - - - 15.67 -
17721.64 76.16 4.48 1974 17825.75 2.63 - - 3015.44 - 2.94 0.073 1144.00 -358.0 320.17 59.08 1.138 1584.84 -5.0 0.057 - - - - - - - 15.30 11.31
17877.74 66.35 7.01 1997 17896.78 roll back 2.69 - - 3015.19 - 2.82 0.026 2278.25 402.2 320.17 - - 1578.28 - - - - - - - - - 15.56 -
18083.30 51.83 7.53 2035 18103.56 2.72 - - 3015.38 - 3.20 0.087 3351.00 335.2 320.17 - - 1575.56 - - - - - - - - - 15.52 -
18110.02 49.60 8.12 2037 18128.66 2.72 - - 3015.25 - 2.78 0.019 2198.12 -414.7 320.17 - - 1576.53 - - - - - - - - - 15.66 -
18314.77 33.72 7.77 2075 18334.21 2.72 - - 3015.81 - 2.96 0.070 1144.06 -356.1 320.17 - - 1573.72 - - - - - - - - - 15.48 -
18410.70 25.67 8.44 2091 18430.22 2.72 - - 3015.75 - 2.81 0.026 2276.88 403.1 320.17 - - 1573.44 - - - - - - - - - 15.69 -
18616.28 9.25 7.75 2129 18636.52 2.72 - - 3014.62 - 3.19 0.065 1143.12 -355.4 320.17 - - 1573.34 - - - - - - - - - 15.59 -
18683 end climb: SURFACE_DEPTH_REACHED
18683 begin surface coast
18704 end surface coast: CONTROL_FINISHED_OK
18704 begin surface
SM 1.13 - - - - 180.6 85.68 1.067 1136.7 13.3 19.82 0.045 1138.6 57.4 - 2.76 0.025 1134.8 410.0 -1.894 - - 10.92 15.75 15.87 -