NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 15 * Raw log
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• Previous call tries 4 • 6.35 of 506.00 AH used of 24V (98.75% remains)
• Surface angle -64.4 deg, depth 1.16 m • Intended pitch -16.9 deg, speed -8.462 cm/s
• VBD pumped to 449.73 (SM_CC=450)
• GPS1 time: 31 s
• GPS2 time: 2 s • Transponder ping count: 14
• 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
18.60 - - - 97.16 VBD -1.32 - - 176.06 - - - 2242.38 - -87.59 54.91 0.005 2541.91 - - - - - - - - - - 15.17
99.36 3.06 -4.02 11 199.62 -1.32 16.32 0.235 2239.62 126.4 - - 2242.50 - -87.59 12.27 0.007 3326.94 64.0 -4.670 - - - - - - 15.68 - 15.69
385.29 58.56 -14.29 54 404.43 roll -1.32 - - 2239.06 - 3.03 0.082 1093.19 -379.3 -87.59 - - 3330.19 - - - - - - - - - 15.89 -
420.67 63.72 -14.57 58 438.81 roll -1.32 - - 2239.00 - 2.79 0.035 2228.88 407.1 -87.59 - - 3330.47 - - - - - - - - - 15.92 -
624.61 92.83 -13.89 96 642.75 roll -1.32 - - 2239.00 - 2.88 0.089 3303.88 373.3 -87.59 - - 3332.50 - - - - - - - - - 15.89 -
688.88 102.29 -14.83 106 706.28 roll -1.32 - - 2239.31 - 2.71 0.033 2155.25 -423.8 -87.59 - - 3330.41 - - - - - - - - - 15.96 -
1012.07 136.66 -9.61 138 1029.09 roll -1.32 - - 2239.19 - 2.77 0.085 1094.44 -383.0 -87.59 - - 3332.06 - - - - - - - - - 15.95 -
1049.50 140.45 -10.10 143 1067.26 roll -1.32 - - 2239.12 - 2.74 0.033 2230.19 414.5 -87.59 - - 3333.06 - - - - - - - - - 16.00 -
1373.45 171.25 -8.39 175 1377.45 no move -1.32 - - 2239.06 - - - 2229.62 - -87.59 - - 3330.62 - - - - - - - - - - -
1683.24 198.75 -9.43 206 1700.67 roll -1.32 - - 2239.12 - 2.88 0.092 3306.25 373.8 -87.59 - - 3331.16 - - - - - - - - - 15.98 -
1736.80 204.16 -10.31 214 1753.82 roll -1.32 - - 2239.00 - 2.70 0.033 2154.81 -426.5 -87.59 - - 3331.41 - - - - - - - - - 16.04 -
2059.64 236.01 -10.32 246 2078.09 roll -1.32 - - 2239.50 - 3.06 0.089 3304.06 375.6 -87.59 - - 3330.03 - - - - - - - - - 16.05 -
2178.65 249.07 -11.19 267 2196.60 roll -1.32 - - 2239.31 - 2.71 0.035 2157.25 -423.2 -87.59 - - 3332.00 - - - - - - - - - 16.07 -
2502.79 279.05 -8.40 299 2520.03 roll -1.32 - - 2238.88 - 2.76 0.090 1094.50 -385.1 -87.59 - - 3331.09 - - - - - - - - - 16.04 -
2566.21 284.74 -9.05 309 2583.44 roll -1.32 - - 2238.56 - 2.72 0.035 2228.56 416.9 -87.59 - - 3332.06 - - - - - - - - - 16.08 -
2889.28 312.15 -8.74 341 2906.93 roll -1.32 - - 2239.06 - 2.84 0.094 3304.00 378.7 -87.59 - - 3330.53 - - - - - - - - - 16.07 -
2937.37 316.86 -9.51 348 2954.92 roll -1.32 - - 2239.06 - 2.69 0.033 2156.00 -426.8 -87.59 - - 3330.66 - - - - - - - - - 16.06 -
3260.75 345.63 -8.71 380 3279.19 roll -1.32 - - 2238.25 - 3.05 0.091 3303.50 376.2 -87.59 - - 3330.00 - - - - - - - - - 16.10 -
3365.37 356.13 -10.13 398 3382.99 roll -1.32 - - 2238.31 - 2.70 0.035 2158.44 -424.1 -87.59 - - 3328.59 - - - - - - - - - 16.10 -
3688.82 385.45 -8.98 430 3692.87 no move -1.32 - - 2238.81 - - - 2157.12 - -87.59 - - 3326.84 - - - - - - - - - - -
3999.27 411.94 -8.31 461 4003.31 no move -1.32 - - 2238.75 - - - 2156.69 - -87.59 - - 3326.00 - - - - - - - - - - -
4309.31 436.79 -8.18 492 4313.35 no move -1.32 - - 2238.56 - - - 2156.62 - -87.59 - - 3326.06 - - - - - - - - - - -
4619.21 462.73 -8.86 523 4637.64 roll -1.32 - - 2236.62 - 3.07 0.094 3303.56 373.6 -87.59 - - 3326.78 - - - - - - - - - 16.11 -
4703.83 470.73 -9.44 537 4721.46 roll -1.32 - - 2239.38 - 2.71 0.035 2158.00 -422.7 -87.59 - - 3324.91 - - - - - - - - - 16.12 -
5027.69 498.80 -8.46 569 5031.73 no move -1.32 - - 2238.81 - - - 2157.69 - -87.59 - - 3324.25 - - - - - - - - - - -
5337.96 525.70 -8.22 600 5356.40 roll -1.32 - - 2238.88 - 3.05 0.094 3303.56 375.7 -87.59 - - 3325.81 - - - - - - - - - 16.11 -
5402.58 531.38 -8.89 610 5419.41 roll -1.32 - - 2239.19 - 2.69 0.036 2160.00 -425.1 -87.59 - - 3325.56 - - - - - - - - - 16.12 -
5725.25 558.06 -8.55 642 5743.72 roll -1.32 - - 2238.75 - 3.05 0.095 3304.25 375.2 -87.59 - - 3321.56 - - - - - - - - - 16.12 -
5784.16 563.64 -9.69 651 5801.96 roll -1.32 - - 2238.81 - 2.69 0.036 2158.62 -425.9 -87.59 - - 3322.28 - - - - - - - - - 16.12 -
6107.89 591.89 -8.58 683 6111.93 no move -1.32 - - 2238.69 - - - 2158.62 - -87.59 - - 3321.38 - - - - - - - - - - -
6418.35 618.56 -8.40 714 6422.40 no move -1.32 - - 2238.81 - - - 2157.25 - -87.59 - - 3320.34 - - - - - - - - - - -
6728.63 643.94 -8.05 745 6747.09 roll -1.32 - - 2238.44 - 3.04 0.095 3302.00 376.6 -87.59 - - 3321.69 - - - - - - - - - 16.12 -
6793.27 649.52 -8.78 755 6810.89 roll -1.32 - - 2238.88 - 2.70 0.036 2160.31 -422.8 -87.59 - - 3320.84 - - - - - - - - - 16.12 -
7117.11 674.56 -7.27 787 7121.16 no move -1.32 - - 2239.00 - - - 2159.25 - -87.59 - - 3319.56 - - - - - - - - - - -
7427.38 698.57 -7.57 818 7444.62 roll -1.32 - - 2239.00 - 2.80 0.097 1095.69 -379.8 -87.59 - - 3319.75 - - - - - - - - - 16.11 -
7501.21 704.69 -8.25 830 7518.46 roll -1.32 - - 2238.69 - 2.74 0.038 2226.44 412.7 -87.59 - - 3320.06 - - - - - - - - - 16.13 -
7824.70 728.50 -6.90 862 7842.33 roll -1.32 - - 2239.12 - 2.88 0.099 3303.94 374.1 -87.59 - - 3317.38 - - - - - - - - - 16.11 -
7888.91 733.49 -7.92 872 7905.98 roll -1.32 - - 2238.56 - 2.69 0.035 2159.00 -425.6 -87.59 - - 3318.66 - - - - - - - - - 16.11 -
8212.32 754.87 -6.42 904 8216.36 no move -1.32 - - 2238.44 - - - 2158.62 - -87.59 - - 3317.59 - - - - - - - - - - -
8522.59 776.81 -7.20 935 8526.63 no move -1.32 - - 2238.56 - - - 2158.06 - -87.59 - - 3316.75 - - - - - - - - - - -
8832.83 799.72 -7.27 966 8851.28 roll -1.32 - - 2238.00 - 3.06 0.097 3303.81 374.4 -87.59 - - 3318.38 - - - - - - - - - 16.11 -
8877.85 803.74 -8.46 972 8894.67 roll -1.32 - - 2237.31 - 2.70 0.037 2159.81 -423.7 -87.59 - - 3319.19 - - - - - - - - - 16.12 -
9200.89 828.76 -7.87 1004 9219.35 roll -1.32 - - 2238.69 - 3.05 0.096 3302.06 374.5 -87.59 - - 3317.91 - - - - - - - - - 16.12 -
9245.92 832.25 -7.79 1010 9262.75 roll -1.32 - - 2238.88 - 2.67 0.037 2159.62 -427.9 -87.59 - - 3318.81 - - - - - - - - - 16.12 -
9568.98 857.66 -7.33 1042 9587.44 roll -1.32 - - 2238.56 - 3.05 0.097 3301.56 374.4 -87.59 - - 3316.44 - - - - - - - - - 16.10 -
9608.28 861.26 -7.86 1047 9625.84 roll -1.32 - - 2239.25 - 2.66 0.038 2159.88 -429.2 -87.59 - - 3316.75 - - - - - - - - - 16.09 -
9932.19 887.23 -7.59 1079 9936.26 no move -1.32 - - 2238.12 - - - 2159.56 - -87.59 - - 3315.56 - - - - - - - - - - -
10242.49 912.52 -8.29 1110 10260.94 roll -1.32 - - 2237.12 - 3.06 0.097 3302.00 373.3 -87.59 - - 3318.00 - - - - - - - - - 16.05 -
10291.78 916.63 -7.94 1117 10309.75 roll -1.32 - - 2239.12 - 2.70 0.038 2160.56 -422.8 -87.59 - - 3317.84 - - - - - - - - - 16.10 -
10615.99 940.83 -7.30 1149 10634.45 roll -1.32 - - 2238.56 - 3.04 0.098 3301.56 375.3 -87.59 - - 3315.25 - - - - - - - - - 16.10 -
10651.01 943.38 -7.08 1153 10668.24 roll -1.32 - - 2239.19 - 2.69 0.038 2161.19 -423.9 -87.59 - - 3317.91 - - - - - - - - - 16.10 -
10974.48 967.05 -7.23 1185 10992.93 roll -1.32 - - 2239.19 - 3.06 0.097 3303.50 373.3 -87.59 - - 3316.09 - - - - - - - - - 16.09 -
11019.50 970.38 -7.16 1191 11037.13 roll -1.32 - - 2238.38 - 2.71 0.038 2161.81 -421.3 -87.59 - - 3317.75 - - - - - - - - - 16.11 -
11322 end dive: TARGET_DEPTH_EXCEEDED
11323 begin apogee
11329.61 990.54 -6.67 1221 11438.27 -0.34 1.70 0.142 2478.31 141.1 0.09 0.253 2358.94 2190.3 - 68.02 2.577 2968.06 -5.1 0.330 - - - - - - 16.03 15.50 12.21
11451 end apogee: CONTROL_FINISHED_OK
11451 begin climb
11454.54 992.35 - 1228 11574.58 1.32 2.73 0.088 2884.19 148.7 - - 2359.31 - 87.59 73.74 2.514 2612.19 -4.8 0.318 - - - - - - 15.70 - 12.66
11880.94 962.79 7.88 1267 11914.45 done 1.35 - - 2885.00 - 2.84 0.092 1293.44 -375.3 99.75 10.95 2.010 2560.41 -4.7 0.378 - - - - - - - 15.68 12.40
11980.42 954.31 7.72 1283 12020.95 done 1.38 - - 2884.75 - 2.85 0.049 2419.88 395.2 115.43 15.59 2.186 2497.34 -4.0 0.295 - - - - - - - 15.83 12.44
12327.00 921.93 9.51 1318 12345.05 roll 1.38 - - 2884.31 - 2.95 0.080 1293.50 -381.8 115.43 - - 2494.34 - - - - - - - - - 15.89 -
12471.24 907.77 10.37 1344 12488.88 roll 1.38 - - 2885.44 - 2.85 0.049 2418.75 394.8 115.43 - - 2492.78 - - - - - - - - - 15.93 -
12794.71 877.56 9.51 1376 12812.76 roll 1.38 - - 2884.50 - 2.93 0.079 1293.75 -384.0 115.43 - - 2488.84 - - - - - - - - - 15.98 -
12889.06 868.71 8.72 1392 12906.72 roll 1.38 - - 2884.81 - 2.84 0.050 2419.56 396.4 115.43 - - 2490.12 - - - - - - - - - 16.00 -
13212.55 840.82 8.74 1424 13230.82 roll 1.38 - - 2885.44 - 2.94 0.080 1294.75 -382.6 115.43 - - 2487.94 - - - - - - - - - 16.02 -
13447.45 820.27 8.40 1468 13465.10 roll 1.38 - - 2885.19 - 2.84 0.050 2419.56 396.1 116.62 - - 2487.41 - - - - - - - - - 16.04 -
13771.33 794.21 8.21 1500 13801.40 done 1.39 - - 2885.25 - 2.93 0.083 1294.69 -383.9 121.84 6.57 1.518 2470.81 -2.5 0.221 - - - - - - - 15.94 12.36
13837.96 788.79 7.64 1510 13883.28 done 1.43 - - 2885.62 - 2.83 0.048 2418.88 397.2 139.19 17.17 2.117 2400.19 -4.1 0.256 - - - - - - - 16.05 12.61
14189.11 757.80 9.07 1546 14207.16 roll 1.43 - - 2884.81 - 2.91 0.079 1295.06 -386.2 139.19 - - 2398.12 - - - - - - - - - 15.99 -
14363.62 740.57 9.69 1578 14381.27 roll 1.43 - - 2885.56 - 2.85 0.049 2421.00 395.1 139.19 - - 2396.09 - - - - - - - - - 16.01 -
14687.11 711.98 8.70 1610 14691.15 no move 1.43 - - 2885.56 - - - 2420.12 - 139.19 - - 2393.09 - - - - - - - - - - -
14997.16 684.23 9.00 1641 15015.20 roll 1.43 - - 2885.38 - 2.93 0.079 1293.50 -384.5 139.19 - - 2392.34 - - - - - - - - - 16.05 -
15131.79 672.05 8.40 1665 15149.43 roll 1.43 - - 2884.50 - 2.85 0.049 2420.56 395.5 140.57 - - 2393.16 - - - - - - - - - 16.07 -
15455.67 644.75 8.35 1697 15473.72 roll 1.43 - - 2885.31 - 2.92 0.078 1293.81 -385.9 142.91 - - 2395.66 - - - - - - - - - 16.08 -
15534.18 637.73 8.73 1710 15552.54 roll 1.43 - - 2885.44 - 2.83 0.048 2419.06 397.6 142.91 - - 2395.56 - - - - - - - - - 16.09 -
15858.35 610.24 8.53 1742 15876.40 roll 1.43 - - 2885.69 - 2.91 0.080 1295.00 -386.3 142.91 - - 2393.31 - - - - - - - - - 16.08 -
15986.87 598.70 8.97 1765 16005.49 roll 1.43 - - 2885.25 - 2.84 0.049 2418.81 395.7 142.91 - - 2394.19 - - - - - - - - - 16.08 -
16311.81 572.94 7.45 1797 16365.93 1.48 0.20 0.084 2931.94 233.5 2.93 0.082 1292.75 -384.3 164.25 22.00 1.959 2297.44 -4.4 0.215 - - - - - - 16.06 15.87 12.37
16527.13 551.68 11.32 1835 16544.78 roll 1.48 - - 2931.19 - 2.85 0.049 2420.88 395.8 164.25 - - 2296.06 - - - - - - - - - 16.01 -
16850.62 520.10 10.30 1867 16854.66 no move 1.48 - - 2931.38 - - - 2420.19 - 164.25 - - 2292.31 - - - - - - - - - - -
17160.67 486.90 11.12 1898 17178.31 roll 1.48 - - 2930.75 - 2.89 0.080 1293.56 -389.8 164.25 - - 2294.75 - - - - - - - - - 15.99 -
17294.51 471.66 11.05 1922 17312.17 roll 1.48 - - 2931.31 - 2.84 0.049 2420.69 396.9 164.25 - - 2294.06 - - - - - - - - - 16.07 -
17618.01 437.76 10.69 1954 17622.05 no move 1.48 - - 2931.62 - - - 2419.81 - 164.25 - - 2291.09 - - - - - - - - - - -
17928.06 405.13 10.55 1985 17946.11 roll 1.48 - - 2931.62 - 2.92 0.078 1293.25 -385.8 164.25 - - 2292.84 - - - - - - - - - 16.04 -
18056.57 390.55 11.24 2008 18074.96 roll 1.48 - - 2930.94 - 2.85 0.048 2419.56 395.2 164.25 - - 2292.91 - - - - - - - - - 16.08 -
18380.90 355.06 10.58 2040 18398.95 roll 1.48 - - 2932.31 - 2.92 0.078 1293.88 -385.5 164.25 - - 2289.69 - - - - - - - - - 16.09 -
18585.16 333.95 10.50 2078 18602.80 roll 1.48 - - 2931.44 - 2.85 0.047 2420.44 395.3 164.25 - - 2290.47 - - - - - - - - - 16.09 -
18909.03 305.29 8.27 2110 18934.88 done 1.48 - - 2930.56 - 2.92 0.080 1293.50 -385.9 168.24 4.80 0.903 2283.03 -1.5 0.088 - - - - - - - 15.98 12.31
18970.72 300.09 8.41 2119 18989.08 roll 1.49 - - 2931.38 - 2.84 0.046 2421.38 397.1 169.28 - - 2283.91 - - - - - - - - - 16.08 -
19294.92 271.88 9.45 2151 19312.97 roll 1.49 - - 2931.19 - 2.92 0.113 3502.62 370.3 169.28 - - 2280.44 - - - - - - - - - 16.06 -
19333.42 267.49 10.78 2156 19351.38 roll 1.49 - - 2931.50 - 2.68 0.030 2345.50 -431.8 169.28 - - 2281.97 - - - - - - - - - 16.08 -
19657.21 234.47 10.28 2188 19675.09 roll 1.49 - - 2931.94 - 2.73 0.082 1293.88 -385.2 169.28 - - 2281.09 - - - - - - - - - 16.06 -
19881.39 211.45 9.91 2230 19899.04 roll 1.49 - - 2931.50 - 2.85 0.048 2421.00 395.5 169.28 - - 2280.91 - - - - - - - - - 16.08 -
20205.27 184.97 7.87 2262 20229.86 VBD 1.51 - - 2931.38 - - - 2420.56 - 181.78 13.82 1.410 2226.56 -3.9 0.086 - - - - - - - - 12.36
20535.72 157.55 8.55 2295 20540.15 no move 1.51 - - 2932.19 - - - 2420.56 - 181.78 - - 2222.66 - - - - - - - - - - -
20846.50 132.10 6.60 2326 20913.68 done 1.59 - - 2931.56 - 2.97 0.078 1292.69 -379.8 220.94 32.35 1.467 2066.53 -4.8 0.073 - - - - - - - 15.79 12.34
20919.12 126.57 8.71 2333 20937.51 roll 1.59 - - 2931.94 - 2.87 0.043 2420.12 392.8 220.94 - - 2062.75 - - - - - - - - - 15.91 -
21243.74 102.24 4.51 2365 21356.49 1.76 0.34 0.068 3000.81 202.6 3.04 0.110 3501.88 355.8 304.13 64.11 1.439 1727.66 -5.2 0.062 - - - - - - 15.90 15.61 12.47
21467.81 83.06 11.02 2401 21486.17 roll 1.76 - - 3001.06 - 2.74 0.029 2345.56 -422.0 304.13 - - 1721.19 - - - - - - - - - 15.76 -
21672.52 65.78 7.91 2439 21704.95 done 1.78 - - 3001.31 - 2.78 0.083 1294.00 -378.3 315.81 9.78 1.124 1681.59 -4.0 0.040 - - - - - - - 15.76 12.44
21811.14 53.00 9.34 2463 21829.53 roll 1.78 - - 3001.25 - 2.86 0.044 2420.06 393.7 315.81 - - 1677.72 - - - - - - - - - 15.88 -
22015.75 35.87 7.85 2501 22037.67 VBD 1.80 - - 3001.94 - - - 2420.19 - 328.69 12.13 1.162 1628.00 -4.1 0.021 - - - - - - - - 12.40
22223.87 19.79 6.64 2541 22290.55 done 1.88 - - 3001.75 - 3.01 0.077 1294.88 -373.9 367.04 32.04 1.282 1470.94 -4.9 0.013 - - - - - - - 15.70 12.41
22297.12 15.29 6.02 2550 22376.87 1.98 - - 3001.62 - 2.86 0.041 2419.44 393.2 418.46 41.90 1.266 1262.31 -5.0 0.010 - - - - - - - 15.82 12.46
22487 end climb: SURFACE_DEPTH_REACHED
22487 begin surface coast
22553 end surface coast: CONTROL_FINISHED_OK
22554 begin surface
SM 1.22 - - - - 179.5 24.67 1.224 1134.6 44.3 17.57 0.056 1143.1 65.1 - 0.57 0.054 1126.1 1970.6 -4.550 - - 12.50 15.80 15.84 -