NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 21 * Raw log
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• Previous call tries 1 • 8.53 of 506.00 AH used of 24V (98.32% remains)
• Surface angle -64.8 deg, depth 1.15 m • Intended pitch -16.9 deg, speed -8.462 cm/s
• No surface pump (final VBD was 1096.4, SM_CC=430)
• GPS1 time: 19 s
• GPS2 time: 2 s • Transponder ping count: 17
• 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 - - - 111.09 VBD -1.23 - - 178.44 - - - 2248.62 - -87.59 65.11 0.005 2571.09 - - - - - - - - - - 15.09
113.30 3.02 -3.21 13 222.88 -1.23 15.97 0.225 2217.38 127.7 2.87 0.090 3304.81 368.0 -87.59 10.03 0.007 3248.94 67.6 -4.865 - - - - - - 15.70 15.65 15.67
433.98 73.80 -16.91 61 451.77 roll -1.23 - - 2217.69 - 2.72 0.027 2154.88 -422.8 -87.59 - - 3253.31 - - - - - - - - - 15.89 -
637.70 100.61 -12.61 99 641.10 no move -1.23 - - 2217.44 - - - 2152.69 - -87.59 - - 3253.00 - - - - - - - - - - -
947.76 132.33 -10.45 130 951.76 no move -1.23 - - 2217.19 - - - 2152.62 - -87.59 - - 3253.81 - - - - - - - - - - -
1257.82 166.20 -10.60 161 1261.82 no move -1.23 - - 2217.00 - - - 2152.25 - -87.59 - - 3254.69 - - - - - - - - - - -
1568.26 194.67 -7.93 192 1572.27 no move -1.23 - - 2217.75 - - - 2152.19 - -87.59 - - 3254.69 - - - - - - - - - - -
1878.07 219.78 -8.52 223 1896.29 roll -1.23 - - 2217.94 - 3.08 0.085 3303.31 373.7 -87.59 - - 3255.84 - - - - - - - - - 15.98 -
1942.42 225.68 -9.44 233 1959.45 roll -1.23 - - 2217.94 - 2.72 0.029 2154.44 -422.4 -87.59 - - 3255.53 - - - - - - - - - 16.06 -
2265.24 254.44 -8.90 265 2283.47 roll -1.23 - - 2216.56 - 3.07 0.085 3305.25 374.9 -87.59 - - 3257.31 - - - - - - - - - 16.06 -
2349.73 262.94 -10.30 279 2367.14 roll -1.23 - - 2217.69 - 2.71 0.028 2154.25 -424.7 -87.59 - - 3254.81 - - - - - - - - - 16.07 -
2673.32 290.02 -7.79 311 2677.33 no move -1.23 - - 2217.31 - - - 2155.00 - -87.59 - - 3253.81 - - - - - - - - - - -
2983.51 315.31 -8.24 342 3002.17 roll -1.23 - - 2216.06 - 3.07 0.086 3303.12 374.0 -87.59 - - 3256.28 - - - - - - - - - 16.09 -
3042.73 320.80 -9.18 351 3060.29 roll -1.23 - - 2217.19 - 2.69 0.029 2153.19 -427.5 -87.59 - - 3255.62 - - - - - - - - - 16.09 -
3366.12 348.58 -9.33 383 3384.58 roll -1.23 - - 2217.75 - 3.07 0.087 3304.38 375.0 -87.59 - - 3252.38 - - - - - - - - - 16.08 -
3425.02 354.79 -10.62 392 3442.97 roll -1.23 - - 2217.00 - 2.70 0.030 2155.50 -425.5 -87.59 - - 3255.19 - - - - - - - - - 16.10 -
3748.81 385.26 -9.06 424 3752.85 no move -1.23 - - 2217.69 - - - 2155.25 - -87.59 - - 3252.94 - - - - - - - - - - -
4058.88 412.82 -8.89 455 4077.33 roll -1.23 - - 2216.81 - 3.07 0.088 3304.94 374.5 -87.59 - - 3252.19 - - - - - - - - - 16.10 -
4087.77 415.56 -9.18 458 4105.72 roll -1.23 - - 2217.44 - 2.70 0.030 2154.38 -426.1 -87.59 - - 3253.09 - - - - - - - - - 16.04 -
4411.95 443.02 -8.23 490 4430.41 roll -1.23 - - 2217.75 - 3.05 0.088 3304.06 376.9 -87.59 - - 3251.19 - - - - - - - - - 16.11 -
4490.87 450.32 -9.32 503 4508.83 roll -1.23 - - 2217.31 - 2.70 0.029 2155.19 -425.5 -87.59 - - 3253.09 - - - - - - - - - 16.12 -
4815.05 476.05 -7.86 535 4819.10 no move -1.23 - - 2217.44 - - - 2154.62 - -87.59 - - 3249.53 - - - - - - - - - - -
5125.44 500.32 -7.75 566 5129.48 no move -1.23 - - 2217.44 - - - 2154.81 - -87.59 - - 3249.38 - - - - - - - - - - -
5435.71 525.01 -7.69 597 5454.17 roll -1.23 - - 2216.19 - 3.06 0.089 3302.06 374.9 -87.59 - - 3251.69 - - - - - - - - - 16.12 -
5480.35 528.85 -8.47 603 5497.59 roll -1.23 - - 2217.50 - 2.70 0.029 2156.25 -424.4 -87.59 - - 3250.12 - - - - - - - - - 16.12 -
5803.79 553.46 -7.36 635 5807.83 no move -1.23 - - 2217.06 - - - 2155.75 - -87.59 - - 3248.50 - - - - - - - - - - -
6114.06 576.60 -7.01 666 6132.51 roll -1.23 - - 2216.50 - 3.07 0.090 3304.12 374.1 -87.59 - - 3248.75 - - - - - - - - - 16.12 -
6159.09 580.62 -7.79 672 6175.94 roll -1.23 - - 2217.44 - 2.70 0.028 2155.00 -425.6 -87.59 - - 3248.00 - - - - - - - - - 16.13 -
6482.16 605.08 -7.68 704 6499.40 roll -1.23 - - 2216.94 - 2.78 0.087 1093.88 -381.7 -87.59 - - 3249.47 - - - - - - - - - 16.11 -
6540.25 609.84 -8.12 713 6558.23 roll -1.23 - - 2217.31 - 2.75 0.032 2229.75 413.0 -87.59 - - 3249.28 - - - - - - - - - 16.13 -
6864.47 633.57 -7.15 745 6882.52 roll -1.23 - - 2218.44 - 2.98 0.082 1093.06 -381.4 -87.59 - - 3247.31 - - - - - - - - - 16.12 -
6893.48 635.84 -7.32 748 6911.47 roll -1.23 - - 2217.69 - 2.76 0.032 2228.56 411.4 -87.59 - - 3246.31 - - - - - - - - - 16.13 -
7217.71 659.75 -7.35 780 7221.75 no move -1.23 - - 2217.31 - - - 2228.62 - -87.59 - - 3245.25 - - - - - - - - - - -
7527.98 681.70 -6.81 811 7532.03 no move -1.23 - - 2218.00 - - - 2228.88 - -87.59 - - 3245.34 - - - - - - - - - - -
7838.26 703.77 -7.13 842 7842.30 no move -1.23 - - 2216.81 - - - 2228.69 - -87.59 - - 3245.12 - - - - - - - - - - -
8148.54 727.94 -7.92 873 8152.58 no move -1.23 - - 2217.25 - - - 2228.44 - -87.59 - - 3244.59 - - - - - - - - - - -
8458.79 753.47 -8.00 904 8462.83 no move -1.23 - - 2216.94 - - - 2228.75 - -87.59 - - 3244.44 - - - - - - - - - - -
8769.06 778.53 -8.02 935 8773.10 no move -1.23 - - 2216.94 - - - 2228.81 - -87.59 - - 3243.66 - - - - - - - - - - -
9079.34 803.22 -7.95 966 9083.38 no move -1.23 - - 2217.06 - - - 2228.88 - -87.59 - - 3243.50 - - - - - - - - - - -
9389.61 826.70 -7.41 997 9393.66 no move -1.23 - - 2217.25 - - - 2228.94 - -87.59 - - 3243.34 - - - - - - - - - - -
9699.87 849.37 -7.24 1028 9717.95 roll -1.23 - - 2216.94 - 2.99 0.084 1093.75 -379.7 -87.59 - - 3242.69 - - - - - - - - - 16.12 -
9764.53 854.42 -7.39 1038 9782.04 roll -1.23 - - 2217.50 - 2.79 0.033 2228.62 406.8 -87.59 - - 3243.09 - - - - - - - - - 16.12 -
10088.39 876.68 -6.87 1070 10092.43 no move -1.23 - - 2216.62 - - - 2228.44 - -87.59 - - 3242.06 - - - - - - - - - - -
10398.67 896.56 -6.28 1101 10416.33 roll -1.23 - - 2217.44 - 2.89 0.097 3302.31 371.6 -87.59 - - 3241.41 - - - - - - - - - 16.09 -
10482.91 902.56 -6.90 1115 10500.55 roll -1.23 - - 2217.38 - 2.71 0.028 2155.00 -423.4 -87.59 - - 3242.38 - - - - - - - - - 16.11 -
10806.76 922.26 -6.16 1147 10810.80 no move -1.23 - - 2217.44 - - - 2153.94 - -87.59 - - 3241.59 - - - - - - - - - - -
11117.04 940.90 -5.92 1178 11121.08 no move -1.23 - - 2216.62 - - - 2154.19 - -87.59 - - 3241.41 - - - - - - - - - - -
11427.31 961.20 -7.48 1209 11431.36 no move -1.23 - - 2217.69 - - - 2154.19 - -87.59 - - 3240.88 - - - - - - - - - - -
11737.61 981.82 -6.52 1240 11756.08 roll -1.23 - - 2217.25 - 3.10 0.094 3302.69 370.5 -87.59 - - 3242.00 - - - - - - - - - 16.11 -
11792.82 985.94 -7.15 1248 11810.06 roll -1.23 - - 2217.12 - 2.71 0.030 2158.19 -422.3 -87.59 - - 3241.69 - - - - - - - - - 16.11 -
11855 end dive: TARGET_DEPTH_EXCEEDED
11855 begin apogee
11861.56 990.13 -6.84 1254 11974.22 -0.31 1.58 0.142 2438.75 140.3 0.10 0.222 2253.94 957.5 - 69.00 2.575 2890.41 -5.1 0.327 - - - - - - 16.02 15.50 12.29
11987 end apogee: CONTROL_FINISHED_OK
11987 begin climb
11990.53 992.44 - 1262 12110.43 1.23 2.56 0.099 2815.44 147.1 - - 2253.81 - 87.59 73.94 2.518 2530.81 -4.9 0.320 - - - - - - 15.69 - 12.58
12416.78 966.01 6.66 1301 12468.37 VBD 1.30 - - 2815.19 - - - 2253.25 - 125.39 32.06 2.394 2377.16 -4.8 0.323 - - - - - - - - 12.45
12774.75 939.00 7.84 1336 12813.71 done 1.33 - - 2815.56 - 2.86 0.092 1194.75 -370.1 138.49 12.42 2.065 2324.12 -4.3 0.324 - - - - - - - 15.69 12.46
12849.21 932.71 8.64 1347 12867.80 roll 1.33 - - 2813.88 - 2.87 0.040 2320.12 392.1 138.49 - - 2323.69 - - - - - - - - - 15.84 -
13174.18 905.67 8.37 1379 13193.10 roll 1.33 - - 2816.00 - 3.01 0.081 1196.38 -373.3 140.48 - - 2319.62 - - - - - - - - - 15.93 -
13243.71 899.69 8.50 1390 13262.30 roll 1.33 - - 2816.12 - 2.86 0.040 2321.62 393.4 140.48 - - 2320.44 - - - - - - - - - 15.95 -
13568.56 873.20 8.04 1422 13607.94 1.35 0.17 0.095 2856.12 235.3 3.03 0.085 1194.69 -371.9 149.26 10.94 1.963 2280.66 -3.6 0.270 - - - - - - 15.97 15.82 12.41
13619.16 868.24 9.88 1427 13637.03 roll 1.35 - - 2856.44 - 2.87 0.040 2320.69 392.3 149.26 - - 2277.88 - - - - - - - - - 15.91 -
13942.89 836.11 9.88 1459 13946.97 no move 1.35 - - 2854.88 - - - 2320.88 - 149.26 - - 2277.00 - - - - - - - - - - -
14252.92 806.71 9.46 1490 14271.60 roll 1.35 - - 2856.31 - 3.01 0.082 1194.69 -374.1 149.26 - - 2276.41 - - - - - - - - - 16.03 -
14347.86 797.79 9.77 1506 14365.73 roll 1.35 - - 2856.19 - 2.85 0.040 2319.69 394.7 149.26 - - 2277.09 - - - - - - - - - 16.04 -
14671.58 768.59 9.00 1538 14689.86 roll 1.35 - - 2855.19 - 2.99 0.081 1194.81 -376.2 149.26 - - 2278.69 - - - - - - - - - 16.05 -
14746.09 761.78 9.35 1550 14764.20 roll 1.35 - - 2855.25 - 2.81 0.040 2320.12 400.5 149.26 - - 2275.88 - - - - - - - - - 16.07 -
15070.18 732.59 8.99 1582 15074.26 no move 1.35 - - 2855.94 - - - 2320.00 - 149.26 - - 2274.62 - - - - - - - - - - -
15380.22 705.12 9.26 1613 15398.49 roll 1.35 - - 2856.12 - 2.98 0.081 1194.75 -377.6 149.26 - - 2274.88 - - - - - - - - - 16.07 -
15458.99 697.75 9.42 1626 15477.59 roll 1.35 - - 2856.19 - 2.81 0.040 2321.31 400.9 149.26 - - 2275.62 - - - - - - - - - 16.08 -
15783.42 667.53 9.32 1658 15787.50 no move 1.35 - - 2855.50 - - - 2321.94 - 149.26 - - 2274.28 - - - - - - - - - - -
16093.42 638.81 9.09 1689 16111.70 roll 1.35 - - 2855.94 - 2.97 0.081 1194.75 -379.5 149.26 - - 2274.47 - - - - - - - - - 16.09 -
16152.20 633.17 9.24 1698 16171.19 roll 1.35 - - 2855.94 - 2.82 0.040 2320.81 399.3 149.26 - - 2274.94 - - - - - - - - - 16.10 -
16477.05 604.16 8.63 1730 16495.33 roll 1.35 - - 2855.44 - 2.98 0.081 1194.94 -377.8 149.26 - - 2273.06 - - - - - - - - - 16.10 -
16551.57 597.61 8.73 1742 16569.44 roll 1.35 - - 2857.00 - 2.79 0.040 2320.06 403.3 149.26 - - 2275.00 - - - - - - - - - 16.11 -
16875.70 571.28 8.01 1774 16892.59 VBD 1.37 - - 2856.12 - - - 2320.00 - 158.82 9.64 1.660 2242.50 -3.4 0.194 - - - - - - - - 12.28
17198.56 543.59 9.04 1807 17216.84 roll 1.37 - - 2854.88 - 2.97 0.081 1195.06 -378.8 158.82 - - 2242.66 - - - - - - - - - 16.07 -
17307.36 533.59 9.27 1826 17325.96 roll 1.37 - - 2856.00 - 2.81 0.040 2320.19 400.4 158.82 - - 2240.09 - - - - - - - - - 16.08 -
17631.83 504.98 8.67 1858 17650.10 roll 1.37 - - 2856.12 - 2.96 0.080 1195.75 -379.9 158.82 - - 2237.78 - - - - - - - - - 16.09 -
17686.32 500.00 8.76 1866 17704.60 roll 1.37 - - 2855.75 - 2.81 0.040 2322.00 400.8 158.82 - - 2239.03 - - - - - - - - - 16.10 -
18010.44 471.59 8.94 1898 18014.52 no move 1.37 - - 2855.94 - - - 2321.62 - 158.82 - - 2238.41 - - - - - - - - - - -
18320.45 444.93 8.63 1929 18324.53 no move 1.37 - - 2856.06 - - - 2322.12 - 158.82 - - 2237.97 - - - - - - - - - - -
18630.87 419.26 8.12 1960 18663.28 done 1.39 - - 2856.25 - 3.01 0.084 1194.69 -374.6 165.98 8.36 1.447 2212.53 -3.0 0.147 - - - - - - - 15.97 12.41
18769.52 406.97 9.07 1984 18787.64 roll 1.39 - - 2855.81 - 2.83 0.040 2321.50 398.2 165.98 - - 2212.78 - - - - - - - - - 16.07 -
19094.01 380.53 8.08 2016 19110.94 VBD 1.40 - - 2855.38 - - - 2321.06 - 174.01 9.13 1.453 2180.66 -3.5 0.154 - - - - - - - - 12.48
19416.81 351.79 8.88 2048 19435.08 roll 1.40 - - 2856.00 - 2.99 0.080 1194.81 -376.7 174.01 - - 2178.25 - - - - - - - - - 16.06 -
19531.32 341.67 8.75 2068 19549.18 roll 1.40 - - 2856.75 - 2.82 0.039 2322.75 400.0 174.01 - - 2177.66 - - - - - - - - - 16.08 -
19855.56 315.12 7.88 2100 19879.80 VBD 1.43 - - 2856.56 - - - 2322.50 - 186.35 12.23 1.522 2129.84 -3.9 0.135 - - - - - - - - 12.46
20186.07 287.91 7.98 2133 20220.68 done 1.45 - - 2855.31 - 3.01 0.082 1194.62 -374.7 196.51 10.72 1.436 2088.25 -3.9 0.130 - - - - - - - 15.92 12.49
20272.32 280.85 8.35 2146 20290.19 roll 1.45 - - 2856.19 - 2.84 0.039 2321.88 396.9 198.78 - - 2086.19 - - - - - - - - - 16.02 -
20596.46 256.82 7.22 2178 20651.38 done 1.50 - - 2855.12 - 3.03 0.081 1195.81 -371.6 224.81 24.95 1.603 1973.75 -4.5 0.120 - - - - - - - 15.84 12.46
20657.39 252.24 7.58 2184 20704.08 1.54 0.19 0.091 2900.31 237.8 2.85 0.038 2322.88 395.5 243.42 17.02 1.501 1897.00 -4.5 0.126 - - - - - - 15.89 15.93 12.60
21009.94 216.79 10.28 2220 21028.64 roll 1.54 - - 2900.44 - 3.03 0.078 1194.94 -372.3 243.42 - - 1893.25 - - - - - - - - - 15.91 -
21059.25 211.51 10.54 2227 21077.84 roll 1.54 - - 2900.56 - 2.84 0.038 2321.75 396.8 243.42 - - 1891.19 - - - - - - - - - 15.89 -
21383.71 178.09 10.38 2259 21387.79 VBD 1.54 - - 2900.81 - - - 2321.19 - 243.42 - - 1888.56 - - - - - - - - - - -
21693.75 147.91 9.59 2290 21712.04 done 1.54 - - 2901.50 - 2.99 0.077 1194.69 -376.8 243.42 - - 1887.47 - - - - - - - - - 15.97 -
21838.44 133.04 10.12 2316 21856.31 done 1.54 - - 2901.06 - 2.83 0.037 2322.19 398.4 243.42 - - 1888.00 - - - - - - - - - 15.97 -
22162.57 107.63 6.94 2348 22201.74 VBD 1.60 - - 2901.38 - - - 2320.81 - 275.47 25.83 1.404 1767.72 -4.7 0.060 - - - - - - - - 12.45
22508.05 83.34 5.58 2407 22580.70 1.73 0.20 0.084 2946.19 224.0 - - 2322.00 - 335.98 47.69 1.396 1519.88 -5.2 0.052 - - - - - - 15.94 - 12.58
22767.10 64.12 8.14 2454 22781.30 VBD 1.74 - - 2946.12 - - - 2321.81 - 342.68 6.78 0.958 1493.28 -3.9 0.044 - - - - - - - - 12.49
22967.29 47.08 8.60 2493 22986.70 roll 1.74 - - 2947.06 - 3.03 0.077 1195.94 -371.6 342.68 - - 1491.06 - - - - - - - - - 15.86 -
23062.94 38.72 8.88 2509 23081.53 roll 1.74 - - 2946.69 - 2.84 0.036 2322.75 396.8 342.68 - - 1490.06 - - - - - - - - - 15.91 -
23267.78 22.15 7.67 2547 23308.78 done 1.77 - - 2947.19 - 3.02 0.077 1194.75 -373.5 359.34 15.12 1.190 1424.84 -4.3 0.013 - - - - - - - 15.80 12.49
23475.43 8.07 5.13 2584 23574.30 1.91 0.19 0.092 2989.62 223.3 2.82 0.034 2325.00 400.8 429.39 56.30 1.275 1140.62 -5.0 0.005 - - - - - - 15.88 15.90 12.47
23580 end climb: SURFACE_DEPTH_REACHED
23580 begin surface coast
23656 end surface coast: CONTROL_FINISHED_OK
23657 begin surface
SM 1.29 - - - - 179.2 - - 1131.7 - 17.94 0.049 1166.9 65.0 - 0.36 0.052 1096.4 3037.7 -7.702 - - 30.00 15.79 15.83 -