NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 29 * Raw log
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• Previous call tries 1 • 11.42 of 506.00 AH used of 24V (97.74% remains)
• Surface angle -65.7 deg, depth 1.20 m • Intended pitch -16.9 deg, speed -8.462 cm/s
VBD pumped to 430.10 (SM_CC=430)
• GPS1 time: 18 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
18.62 - - - 104.56 VBD -1.23 - - 181.06 - - - 2147.75 - -87.59 60.01 0.005 2637.50 - - - - - - - - - - 15.06
106.77 3.02 -3.51 12 219.14 -1.23 16.32 0.239 2217.00 124.8 3.16 0.089 3302.94 365.6 -87.59 9.01 0.007 3250.81 68.1 -4.894 - - - - - - 15.69 15.65 15.66
335.20 60.10 -17.19 41 353.27 roll -1.23 - - 2217.50 - 2.76 0.023 2153.50 -416.5 -87.59 - - 3253.09 - - - - - - - - - 15.91 -
539.20 89.47 -13.66 79 546.13 no move -1.23 - - 2217.06 - - - 2150.50 - -87.59 - - 3254.12 - - - - - - - - - - -
736.91 111.93 -10.71 107 754.57 roll -1.23 - - 2217.06 - 2.82 0.073 1091.81 -375.4 -87.59 - - 3255.09 - - - - - - - - - 15.97 -
790.71 117.83 -10.69 115 807.77 roll -1.23 - - 2217.81 - 2.74 0.028 2231.50 415.9 -87.59 - - 3255.97 - - - - - - - - - 15.97 -
1113.57 149.18 -9.80 147 1131.01 done -1.23 - - 2216.88 - 2.86 0.086 3304.94 375.3 -87.59 - - 3254.50 - - - - - - - - - 15.99 -
1211.43 160.12 -11.08 164 1229.20 done -1.23 - - 2217.44 - 2.73 0.023 2148.81 -423.5 -87.59 - - 3256.72 - - - - - - - - - 16.01 -
1535.01 187.80 -8.28 196 1553.25 done -1.23 - - 2217.12 - 3.06 0.082 3306.56 378.3 -87.59 - - 3257.66 - - - - - - - - - 15.96 -
1629.39 197.14 -10.14 212 1646.44 done -1.23 - - 2217.00 - 2.71 0.023 2150.38 -426.6 -87.59 - - 3258.62 - - - - - - - - - 16.03 -
1952.24 226.77 -9.25 244 1970.48 roll -1.23 - - 2216.81 - 3.07 0.083 3304.06 375.8 -87.59 - - 3257.50 - - - - - - - - - 16.04 -
2036.65 234.91 -9.83 258 2054.30 roll -1.23 - - 2217.19 - 2.70 0.024 2150.62 -427.2 -87.59 - - 3257.72 - - - - - - - - - 16.06 -
2360.25 264.53 -9.06 290 2377.51 roll -1.23 - - 2216.31 - 2.79 0.077 1093.06 -379.1 -87.59 - - 3257.00 - - - - - - - - - 16.07 -
2473.71 275.30 -9.53 310 2490.97 roll -1.23 - - 2217.06 - 2.72 0.029 2232.94 419.1 -87.59 - - 3256.38 - - - - - - - - - 16.08 -
2796.82 304.32 -9.43 342 2800.87 no move -1.23 - - 2216.69 - - - 2232.50 - -87.59 - - 3255.81 - - - - - - - - - - -
3106.88 332.77 -8.85 373 3110.93 no move -1.23 - - 2217.00 - - - 2232.25 - -87.59 - - 3254.81 - - - - - - - - - - -
3416.93 360.91 -9.17 404 3434.59 roll -1.23 - - 2216.56 - 2.84 0.089 3302.75 376.9 -87.59 - - 3254.47 - - - - - - - - - 16.09 -
3560.80 376.27 -10.93 430 3578.05 roll -1.23 - - 2216.38 - 2.70 0.024 2152.19 -426.1 -87.59 - - 3256.03 - - - - - - - - - 16.11 -
3883.88 409.29 -10.42 462 3887.92 no move -1.23 - - 2216.88 - - - 2151.06 - -87.59 - - 3253.47 - - - - - - - - - - -
4193.93 439.00 -9.44 493 4212.39 roll -1.23 - - 2216.88 - 3.04 0.086 3303.81 379.2 -87.59 - - 3253.81 - - - - - - - - - 16.10 -
4238.81 443.39 -9.64 499 4256.07 roll -1.23 - - 2217.38 - 2.70 0.025 2150.94 -427.0 -87.59 - - 3252.09 - - - - - - - - - 16.11 -
4562.02 472.05 -8.85 531 4580.48 roll -1.23 - - 2216.75 - 3.05 0.086 3304.06 378.1 -87.59 - - 3253.47 - - - - - - - - - 16.10 -
4620.95 477.89 -9.20 540 4638.93 roll -1.23 - - 2216.94 - 2.71 0.025 2152.19 -425.0 -87.59 - - 3253.09 - - - - - - - - - 16.13 -
4944.76 506.96 -9.70 572 4948.81 no move -1.23 - - 2216.62 - - - 2151.88 - -87.59 - - 3250.78 - - - - - - - - - - -
5254.81 534.26 -8.38 603 5272.07 roll -1.23 - - 2217.25 - 2.79 0.081 1093.94 -379.2 -87.59 - - 3252.81 - - - - - - - - - 16.11 -
5332.53 541.72 -9.16 616 5350.52 roll -1.23 - - 2217.19 - 2.72 0.030 2232.81 418.7 -87.59 - - 3250.72 - - - - - - - - - 16.12 -
5656.34 568.27 -7.89 648 5660.39 no move -1.23 - - 2216.31 - - - 2232.88 - -87.59 - - 3249.06 - - - - - - - - - - -
5966.37 592.99 -7.66 679 5970.41 no move -1.23 - - 2216.56 - - - 2232.75 - -87.59 - - 3248.81 - - - - - - - - - - -
6276.39 616.92 -7.83 710 6294.46 roll -1.23 - - 2216.69 - 2.99 0.077 1094.12 -380.8 -87.59 - - 3248.47 - - - - - - - - - 16.12 -
6320.65 620.46 -7.68 716 6338.15 roll -1.23 - - 2215.94 - 2.74 0.030 2230.69 414.8 -87.59 - - 3250.09 - - - - - - - - - 16.14 -
6644.11 644.34 -7.28 748 6648.16 no move -1.23 - - 2217.12 - - - 2231.69 - -87.59 - - 3246.75 - - - - - - - - - - -
6954.17 666.60 -6.99 779 6958.21 no move -1.23 - - 2217.19 - - - 2231.50 - -87.59 - - 3246.47 - - - - - - - - - - -
7264.22 689.11 -7.20 810 7268.27 no move -1.23 - - 2216.25 - - - 2231.38 - -87.59 - - 3246.31 - - - - - - - - - - -
7574.28 712.32 -7.66 841 7591.95 roll -1.23 - - 2217.12 - 2.86 0.093 3303.50 374.9 -87.59 - - 3245.38 - - - - - - - - - 16.11 -
7648.14 718.52 -8.48 853 7665.40 roll -1.23 - - 2217.19 - 2.70 0.026 2151.00 -426.9 -87.59 - - 3245.84 - - - - - - - - - 16.12 -
7971.24 743.54 -7.26 885 7975.28 no move -1.23 - - 2217.00 - - - 2151.00 - -87.59 - - 3245.53 - - - - - - - - - - -
8281.29 766.67 -7.04 916 8285.33 no move -1.23 - - 2216.56 - - - 2151.19 - -87.59 - - 3244.34 - - - - - - - - - - -
8591.33 790.15 -8.26 947 8609.80 roll -1.23 - - 2216.50 - 3.09 0.089 3304.00 373.1 -87.59 - - 3244.06 - - - - - - - - - 16.11 -
8635.98 793.99 -8.51 953 8653.33 roll -1.23 - - 2216.69 - 2.71 0.025 2152.25 -425.0 -87.59 - - 3244.00 - - - - - - - - - 16.12 -
8959.17 820.33 -8.74 985 8977.88 roll -1.23 - - 2216.50 - 3.09 0.089 3305.06 373.1 -87.59 - - 3242.94 - - - - - - - - - 16.12 -
8998.44 824.08 -8.70 990 9016.82 roll -1.23 - - 2217.12 - 2.72 0.025 2153.75 -423.3 -87.59 - - 3243.91 - - - - - - - - - 16.12 -
9322.66 850.68 -8.23 1022 9326.70 no move -1.23 - - 2216.38 - - - 2153.19 - -87.59 - - 3242.75 - - - - - - - - - - -
9632.72 875.80 -8.00 1053 9636.77 no move -1.23 - - 2216.69 - - - 2153.31 - -87.59 - - 3242.69 - - - - - - - - - - -
9942.78 899.22 -7.46 1084 9961.26 roll -1.23 - - 2216.25 - 3.08 0.090 3305.12 374.0 -87.59 - - 3241.94 - - - - - - - - - 16.10 -
10027.43 906.02 -7.82 1098 10044.69 roll -1.23 - - 2216.62 - 2.70 0.026 2154.38 -426.2 -87.59 - - 3243.53 - - - - - - - - - 16.11 -
10350.53 928.18 -6.98 1130 10369.00 roll -1.23 - - 2216.44 - 3.08 0.090 3303.81 373.2 -87.59 - - 3244.66 - - - - - - - - - 16.10 -
10429.45 934.06 -7.16 1143 10447.43 roll -1.23 - - 2217.19 - 2.69 0.026 2155.31 -427.0 -87.59 - - 3242.50 - - - - - - - - - 16.11 -
10753.67 954.28 -6.37 1175 10770.93 roll -1.23 - - 2215.50 - 2.80 0.084 1093.88 -379.1 -87.59 - - 3242.81 - - - - - - - - - 16.09 -
10811.38 958.44 -6.64 1184 10830.00 roll -1.23 - - 2217.25 - 2.73 0.031 2231.19 416.6 -87.59 - - 3242.38 - - - - - - - - - 16.11 -
11136.36 978.63 -6.43 1216 11140.41 no move -1.23 - - 2216.75 - - - 2230.94 - -87.59 - - 3241.12 - - - - - - - - - - -
11305 end dive: TARGET_DEPTH_EXCEEDED
11306 begin apogee
11310.53 990.03 -6.76 1233 11423.00 -0.31 1.59 0.147 2440.62 140.8 0.10 0.226 2196.44 -345.0 - 69.29 2.570 2889.12 -5.1 0.326 - - - - - - 16.02 15.52 12.13
11435 end apogee: CONTROL_FINISHED_OK
11436 begin climb
11439.16 992.32 - 1241 11559.85 1.23 2.57 0.100 2816.19 146.1 - - 2194.88 - 87.59 74.19 2.520 2531.62 -4.8 0.316 - - - - - - 15.69 - 12.68
11866.20 967.53 6.78 1280 11870.25 VBD 1.30 - - 2816.50 - - - 2194.44 - 87.59 - - 2521.22 - - - - - - - - - - -
12176.60 946.00 6.86 1311 12181.54 1.36 0.19 0.089 2858.00 218.4 - - 2195.12 - 87.59 - - 2519.81 - - - - - - - - 15.90 - -
12487.75 922.26 7.44 1342 12491.79 VBD 1.40 - - 2857.50 - - - 2195.50 - 87.59 - - 2518.84 - - - - - - - - - - -
12798.28 898.50 7.47 1373 12817.14 done 1.44 - - 2858.31 - 3.18 0.098 3352.06 363.7 87.59 - - 2519.75 - - - - - - - - - 16.00 -
12857.71 892.97 10.20 1382 12876.08 done 1.44 - - 2858.44 - 2.72 0.027 2207.19 -420.9 87.59 - - 2518.69 - - - - - - - - - 16.02 -
13182.33 868.18 7.61 1414 13186.77 VBD 1.47 - - 2858.12 - - - 2205.50 - 87.59 - - 2517.06 - - - - - - - - - - -
13493.01 844.48 7.59 1445 13497.06 VBD 1.51 - - 2857.88 - - - 2206.06 - 87.59 - - 2516.62 - - - - - - - - - - -
13803.29 820.38 7.46 1476 13808.24 1.55 0.20 0.086 2903.00 225.6 - - 2205.31 - 87.59 - - 2517.22 - - - - - - - - 16.03 - -
14114.08 791.20 9.28 1507 14118.13 VBD 1.55 - - 2903.69 - - - 2205.25 - 87.59 - - 2516.31 - - - - - - - - - - -
14424.13 762.43 9.49 1538 14428.18 VBD 1.55 - - 2903.25 - - - 2206.44 - 87.59 - - 2516.62 - - - - - - - - - - -
14734.18 734.93 8.58 1569 14738.23 VBD 1.55 - - 2902.50 - - - 2206.44 - 87.59 - - 2516.06 - - - - - - - - - - -
15044.24 707.99 8.72 1600 15048.28 VBD 1.55 - - 2902.88 - - - 2205.31 - 87.59 - - 2515.75 - - - - - - - - - - -
15354.29 681.27 8.71 1631 15372.76 done 1.55 - - 2904.12 - 3.10 0.097 3353.25 370.3 87.59 - - 2518.47 - - - - - - - - - 16.07 -
15428.96 674.43 9.95 1643 15446.86 done 1.55 - - 2903.56 - 2.70 0.027 2205.81 -425.0 87.59 - - 2516.50 - - - - - - - - - 16.09 -
15752.81 645.09 8.60 1675 15756.85 VBD 1.55 - - 2903.62 - - - 2204.19 - 87.59 - - 2515.19 - - - - - - - - - - -
16062.87 619.09 8.46 1706 16066.92 VBD 1.55 - - 2902.81 - - - 2204.31 - 87.59 - - 2515.12 - - - - - - - - - - -
16373.32 594.60 7.67 1737 16377.36 VBD 1.58 - - 2903.69 - - - 2204.69 - 87.59 - - 2515.25 - - - - - - - - - - -
16683.60 571.40 7.19 1768 16701.25 done 1.63 - - 2903.12 - 2.81 0.085 1142.62 -378.0 87.59 - - 2515.94 - - - - - - - - - 16.09 -
16797.84 562.29 7.95 1788 16815.50 done 1.65 - - 2903.38 - 2.77 0.036 2276.69 409.4 87.59 - - 2516.28 - - - - - - - - - 16.11 -
17121.73 539.25 6.98 1820 17126.67 1.71 0.17 0.090 2942.69 231.2 - - 2276.25 - 87.59 - - 2514.22 - - - - - - - - 16.09 - -
17432.52 513.28 8.33 1851 17450.20 done 1.71 - - 2942.88 - 2.90 0.099 3351.62 370.8 87.59 - - 2513.78 - - - - - - - - - 16.08 -
17486.38 508.18 9.54 1859 17503.24 done 1.71 - - 2942.94 - 2.69 0.026 2204.38 -426.5 87.59 - - 2515.25 - - - - - - - - - 16.11 -
17809.48 481.14 7.67 1891 17813.53 VBD 1.74 - - 2943.25 - - - 2204.00 - 87.59 - - 2514.81 - - - - - - - - - - -
18119.74 456.64 7.72 1922 18138.47 done 1.77 - - 2942.81 - 3.08 0.096 3353.38 373.2 87.59 - - 2517.44 - - - - - - - - - 16.08 -
18204.78 449.70 8.49 1936 18221.66 done 1.77 - - 2942.81 - 2.69 0.026 2205.31 -426.8 87.59 - - 2514.78 - - - - - - - - - 16.09 -
18528.10 427.39 6.51 1968 18532.15 VBD 1.85 - - 2942.81 - - - 2203.44 - 87.59 - - 2514.56 - - - - - - - - - - -
18838.38 407.92 6.16 1999 18913.48 1.95 0.27 0.072 3002.75 222.0 2.84 0.086 1143.69 -373.2 135.96 38.06 1.847 2336.78 -4.7 0.172 - - - - - - 16.06 15.82 12.29
18959.69 396.08 11.79 2017 18976.96 roll 1.95 - - 3002.75 - 2.80 0.036 2274.69 403.9 135.96 - - 2331.31 - - - - - - - - - 15.95 -
19282.95 357.64 11.60 2049 19301.42 done 1.95 - - 3002.44 - 3.01 0.079 1143.00 -376.0 135.96 - - 2330.00 - - - - - - - - - 15.98 -
19381.89 345.58 12.12 2066 19399.90 done 1.95 - - 3002.25 - 2.80 0.036 2274.75 404.2 135.96 - - 2328.09 - - - - - - - - - 16.00 -
19705.74 308.97 11.16 2098 19709.79 VBD 1.95 - - 3002.75 - - - 2273.88 - 135.96 - - 2325.91 - - - - - - - - - - -
20015.78 276.25 10.30 2129 20019.83 VBD 1.95 - - 3003.19 - - - 2274.19 - 135.96 - - 2325.00 - - - - - - - - - - -
20325.82 244.83 10.62 2160 20343.89 done 1.95 - - 3002.62 - 2.94 0.098 3353.44 367.1 135.96 - - 2323.84 - - - - - - - - - 15.98 -
20510.10 220.83 13.49 2194 20527.36 done 1.95 - - 3002.56 - 2.71 0.026 2205.75 -423.5 135.96 - - 2326.94 - - - - - - - - - 16.05 -
20833.19 187.38 10.53 2226 20850.86 done 1.95 - - 3002.31 - 2.82 0.082 1143.00 -376.9 135.96 - - 2326.97 - - - - - - - - - 16.02 -
20981.35 172.00 10.22 2253 20999.35 done 1.95 - - 3003.00 - 2.78 0.035 2276.75 407.8 135.96 - - 2325.16 - - - - - - - - - 16.05 -
21305.16 141.09 9.90 2285 21323.33 done 1.95 - - 3002.81 - 2.99 0.077 1143.31 -379.1 135.96 - - 2323.09 - - - - - - - - - 16.01 -
21413.93 130.54 9.16 2304 21431.93 done 1.95 - - 3002.56 - 2.80 0.034 2276.50 404.7 135.96 - - 2324.47 - - - - - - - - - 16.05 -
21738.16 111.54 5.03 2336 21835.67 done 2.09 - - 3002.94 - 3.05 0.078 1144.19 -371.2 208.03 56.28 1.479 2041.00 -5.0 0.063 - - - - - - - 15.74 12.35
22067.02 84.67 8.00 2394 22085.41 done 2.09 - - 3001.50 - 2.81 0.034 2274.94 402.4 208.03 - - 2032.47 - - - - - - - - - 15.88 -
22271.76 73.12 4.14 2432 22388.90 2.27 - - 3002.56 - 3.02 0.098 3352.00 356.6 298.91 68.91 1.413 1670.34 -5.3 0.045 - - - - - - - 15.57 12.44
22475.10 56.90 10.34 2464 22493.10 roll back 2.27 - - 3003.06 - 2.76 0.025 2204.81 -415.6 298.91 - - 1663.62 - - - - - - - - - 15.79 -
22679.06 39.35 8.48 2502 22697.47 2.27 - - 3003.00 - 2.85 0.080 1144.31 -372.1 298.91 - - 1659.62 - - - - - - - - - 15.82 -
22783.69 30.05 8.88 2520 22802.33 2.27 - - 3003.25 - 2.78 0.032 2276.88 407.4 298.91 - - 1658.72 - - - - - - - - - 15.85 -
22988.68 18.37 4.68 2558 23080.42 2.43 - - 3003.00 - - - 2276.81 - 378.51 61.97 1.315 1347.38 -5.0 0.012 - - - - - - - - 12.50
23245 end climb: SURFACE_DEPTH_REACHED
23246 begin surface coast
23316 end surface coast: CONTROL_FINISHED_OK
23317 begin surface
SM 1.38 - - - - 178.6 39.39 1.272 1136.6 27.3 18.02 0.054 1134.2 62.9 - 0.23 0.068 1139.0 4952.2 -10.272 - - 12.43 15.83 15.86 -