NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 33 * Raw log
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• Previous call tries 1 • 12.83 of 506.00 AH used of 24V (97.46% remains)
• Surface angle -64.4 deg, depth 1.22 m • Intended pitch -16.9 deg, speed -8.462 cm/s
VBD pumped to 430.00 (SM_CC=430)
• GPS1 time: 33 s
• GPS2 time: 2 s • Transponder ping count: 10
• 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 - - - 104.18 VBD -1.23 - - 178.12 - - - 2163.00 - -87.59 59.99 0.005 2657.78 - - - - - - - - - - 15.04
106.38 3.42 -4.06 12 218.02 -1.23 16.45 0.240 2217.00 123.9 3.08 0.085 3303.88 370.4 -87.59 8.53 0.007 3251.41 69.6 -5.666 - - - - - - 15.67 15.65 15.67
249.06 45.53 -19.42 24 266.42 roll -1.23 - - 2216.88 - 2.75 0.023 2154.94 -417.8 -87.59 - - 3253.31 - - - - - - - - - 15.85 -
452.22 76.71 -13.72 62 458.76 no move -1.23 - - 2216.69 - - - 2152.12 - -87.59 - - 3253.78 - - - - - - - - - - -
644.69 99.11 -9.57 100 651.23 no move -1.23 - - 2216.38 - - - 2152.12 - -87.59 - - 3255.44 - - - - - - - - - - -
837.01 116.07 -9.93 120 855.25 done -1.23 - - 2216.56 - 3.08 0.081 3305.56 374.5 -87.59 - - 3257.16 - - - - - - - - - 15.95 -
935.65 126.67 -10.49 137 953.43 done -1.23 - - 2216.12 - 2.75 0.022 2149.69 -420.3 -87.59 - - 3256.44 - - - - - - - - - 15.99 -
1259.23 155.97 -8.75 169 1277.48 done -1.23 - - 2216.75 - 3.06 0.080 3304.81 377.5 -87.59 - - 3256.00 - - - - - - - - - 15.99 -
1348.02 164.66 -10.00 184 1365.80 done -1.23 - - 2216.19 - 2.72 0.023 2149.75 -424.7 -87.59 - - 3257.25 - - - - - - - - - 15.95 -
1671.60 193.53 -8.97 216 1689.04 done -1.23 - - 2215.62 - 2.79 0.076 1092.88 -378.8 -87.59 - - 3258.81 - - - - - - - - - 16.02 -
1725.17 198.51 -9.33 224 1742.24 done -1.23 - - 2215.19 - 2.72 0.027 2232.19 418.9 -87.59 - - 3257.69 - - - - - - - - - 16.03 -
2048.04 227.41 -9.30 256 2052.05 no move -1.23 - - 2216.31 - - - 2232.88 - -87.59 - - 3256.88 - - - - - - - - - - -
2358.12 256.39 -9.05 287 2376.19 roll -1.23 - - 2216.56 - 3.00 0.073 1092.69 -380.1 -87.59 - - 3259.16 - - - - - - - - - 16.03 -
2432.50 263.34 -9.39 299 2449.77 roll -1.23 - - 2216.88 - 2.72 0.028 2231.81 418.8 -87.59 - - 3257.88 - - - - - - - - - 16.07 -
2755.60 290.77 -8.80 331 2759.65 no move -1.23 - - 2216.62 - - - 2231.38 - -87.59 - - 3255.19 - - - - - - - - - - -
3065.67 317.35 -8.27 362 3083.33 roll -1.23 - - 2216.75 - 2.87 0.088 3304.62 374.0 -87.59 - - 3256.25 - - - - - - - - - 16.06 -
3113.79 322.05 -9.43 369 3131.76 roll -1.23 - - 2216.50 - 2.70 0.024 2150.44 -427.5 -87.59 - - 3255.91 - - - - - - - - - 16.08 -
3437.59 349.97 -8.74 401 3456.07 roll -1.23 - - 2215.94 - 3.08 0.084 3304.56 374.7 -87.59 - - 3255.50 - - - - - - - - - 16.06 -
3526.29 358.81 -10.47 416 3544.27 roll -1.23 - - 2216.50 - 2.71 0.023 2151.69 -425.4 -87.59 - - 3255.62 - - - - - - - - - 16.10 -
3850.11 387.53 -9.05 448 3854.16 no move -1.23 - - 2216.25 - - - 2151.81 - -87.59 - - 3253.50 - - - - - - - - - - -
4160.16 415.35 -9.34 479 4164.21 no move -1.23 - - 2216.50 - - - 2150.44 - -87.59 - - 3252.72 - - - - - - - - - - -
4470.21 443.22 -8.31 510 4474.26 no move -1.23 - - 2216.12 - - - 2150.88 - -87.59 - - 3252.50 - - - - - - - - - - -
4780.29 469.78 -8.23 541 4798.77 roll -1.23 - - 2216.25 - 3.06 0.086 3304.31 376.9 -87.59 - - 3251.38 - - - - - - - - - 16.10 -
4815.06 472.70 -8.47 545 4832.31 roll -1.23 - - 2216.19 - 2.68 0.024 2152.50 -429.8 -87.59 - - 3251.66 - - - - - - - - - 16.10 -
5138.14 497.91 -7.96 577 5156.62 roll -1.23 - - 2216.44 - 3.08 0.085 3304.94 374.2 -87.59 - - 3250.66 - - - - - - - - - 16.08 -
5187.06 501.98 -8.00 584 5205.45 roll -1.23 - - 2216.44 - 2.71 0.024 2152.88 -425.1 -87.59 - - 3251.34 - - - - - - - - - 16.11 -
5511.29 527.62 -8.05 616 5515.34 no move -1.23 - - 2216.25 - - - 2152.81 - -87.59 - - 3250.31 - - - - - - - - - - -
5821.34 551.49 -7.77 647 5839.81 roll -1.23 - - 2216.62 - 3.08 0.086 3303.38 373.6 -87.59 - - 3249.03 - - - - - - - - - 16.12 -
5865.99 555.09 -8.05 653 5883.26 roll -1.23 - - 2216.50 - 2.71 0.024 2153.38 -424.4 -87.59 - - 3250.12 - - - - - - - - - 16.12 -
6189.09 578.74 -6.89 685 6193.14 no move -1.23 - - 2216.25 - - - 2153.38 - -87.59 - - 3249.06 - - - - - - - - - - -
6499.15 601.22 -7.48 716 6503.19 no move -1.23 - - 2216.19 - - - 2152.31 - -87.59 - - 3249.09 - - - - - - - - - - -
6809.20 624.64 -7.55 747 6813.49 no move -1.23 - - 2215.50 - - - 2152.06 - -87.59 - - 3247.50 - - - - - - - - - - -
7119.41 647.58 -6.52 778 7137.90 roll -1.23 - - 2216.06 - 3.09 0.087 3303.94 372.8 -87.59 - - 3246.56 - - - - - - - - - 16.12 -
7174.08 652.40 -8.33 786 7191.72 roll -1.23 - - 2215.19 - 2.70 0.025 2151.69 -426.8 -87.59 - - 3247.66 - - - - - - - - - 16.12 -
7497.56 676.92 -7.79 818 7501.60 no move -1.23 - - 2215.75 - - - 2152.62 - -87.59 - - 3246.62 - - - - - - - - - - -
7807.61 700.27 -7.52 849 7811.66 no move -1.23 - - 2216.00 - - - 2152.44 - -87.59 - - 3244.94 - - - - - - - - - - -
8117.67 723.20 -7.34 880 8121.72 no move -1.23 - - 2217.19 - - - 2151.06 - -87.59 - - 3245.34 - - - - - - - - - - -
8427.73 746.54 -7.37 911 8431.87 no move -1.23 - - 2216.75 - - - 2151.19 - -87.59 - - 3245.19 - - - - - - - - - - -
8737.79 770.76 -8.45 942 8741.84 no move -1.23 - - 2215.81 - - - 2149.81 - -87.59 - - 3245.41 - - - - - - - - - - -
9047.84 795.39 -8.19 973 9066.32 roll -1.23 - - 2216.06 - 3.09 0.089 3303.19 373.3 -87.59 - - 3243.34 - - - - - - - - - 16.10 -
9142.51 803.72 -8.75 989 9159.78 roll -1.23 - - 2216.69 - 2.73 0.025 2153.50 -421.1 -87.59 - - 3245.34 - - - - - - - - - 16.12 -
9465.62 828.95 -8.41 1021 9469.66 no move -1.23 - - 2216.38 - - - 2153.62 - -87.59 - - 3243.38 - - - - - - - - - - -
9775.68 852.23 -7.22 1052 9779.73 no move -1.23 - - 2216.44 - - - 2151.88 - -87.59 - - 3243.69 - - - - - - - - - - -
10085.73 873.98 -7.08 1083 10089.78 no move -1.23 - - 2215.50 - - - 2152.62 - -87.59 - - 3242.88 - - - - - - - - - - -
10395.78 894.71 -6.70 1114 10399.83 no move -1.23 - - 2215.94 - - - 2151.62 - -87.59 - - 3242.31 - - - - - - - - - - -
10706.24 914.17 -5.56 1145 10710.29 no move -1.23 - - 2216.31 - - - 2151.25 - -87.59 - - 3241.84 - - - - - - - - - - -
11016.53 933.27 -6.37 1176 11035.01 roll -1.23 - - 2216.12 - 3.09 0.090 3303.06 372.8 -87.59 - - 3244.75 - - - - - - - - - 16.11 -
11075.49 937.44 -6.78 1185 11093.48 roll -1.23 - - 2216.38 - 2.72 0.026 2155.06 -422.1 -87.59 - - 3242.44 - - - - - - - - - 16.09 -
11400.21 957.11 -6.43 1217 11404.26 no move -1.23 - - 2215.88 - - - 2153.88 - -87.59 - - 3242.00 - - - - - - - - - - -
11710.62 977.11 -6.45 1248 11714.67 no move -1.23 - - 2216.25 - - - 2154.25 - -87.59 - - 3241.12 - - - - - - - - - - -
11909 end dive: TARGET_DEPTH_EXCEEDED
11910 begin apogee
11915.81 990.84 -7.36 1268 12028.56 -0.31 1.60 0.147 2440.31 140.0 0.11 0.212 2195.88 378.5 - 69.58 2.565 2890.12 -5.0 0.325 - - - - - - 16.02 15.52 12.12
12035 end apogee: CONTROL_FINISHED_OK
12035 begin climb
12038.50 993.52 - 1276 12176.39 1.23 2.60 0.100 2815.56 144.3 2.95 0.086 1145.50 -356.1 87.59 74.60 2.514 2532.47 -4.8 0.316 - - - - - - 15.69 15.27 12.62
12183.68 987.49 6.30 1292 12257.97 done 1.32 - - 2815.38 - 2.85 0.035 2273.38 395.7 133.10 40.03 2.434 2346.31 -4.7 0.314 - - - - - - - 15.61 12.62
12564.53 957.27 8.20 1332 12568.58 VBD 1.32 - - 2815.00 - - - 2272.25 - 133.10 - - 2335.78 - - - - - - - - - - -
12874.52 931.38 8.39 1363 12893.00 done 1.32 - - 2815.38 - 3.04 0.079 1144.94 -370.8 133.10 - - 2332.97 - - - - - - - - - 15.91 -
12909.17 928.34 9.08 1367 12926.83 done 1.32 - - 2815.69 - 2.78 0.035 2272.75 405.7 133.10 - - 2333.81 - - - - - - - - - 15.93 -
13232.66 901.87 8.39 1399 13236.71 VBD 1.32 - - 2816.06 - - - 2272.88 - 133.10 - - 2331.34 - - - - - - - - - - -
13542.72 877.52 7.99 1430 13561.45 done 1.32 - - 2815.44 - 3.01 0.079 1144.31 -374.9 133.10 - - 2329.81 - - - - - - - - - 16.01 -
13612.03 871.86 8.00 1441 13630.02 done 1.32 - - 2815.06 - 2.80 0.036 2273.00 403.1 133.10 - - 2333.66 - - - - - - - - - 16.02 -
13935.86 846.09 8.07 1473 13939.91 VBD 1.32 - - 2814.94 - - - 2272.88 - 133.10 - - 2330.44 - - - - - - - - - - -
14245.92 821.14 8.22 1504 14264.41 done 1.32 - - 2815.38 - 3.01 0.079 1145.12 -374.7 133.10 - - 2329.53 - - - - - - - - - 16.06 -
14314.88 815.03 8.81 1515 14332.86 done 1.32 - - 2815.50 - 2.77 0.036 2271.88 406.8 133.10 - - 2330.22 - - - - - - - - - 16.04 -
14639.09 788.32 7.79 1547 14644.03 1.36 0.18 0.094 2856.00 225.0 - - 2272.00 - 133.10 - - 2328.47 - - - - - - - - 16.04 - -
14949.87 758.56 9.72 1578 14953.92 VBD 1.36 - - 2856.31 - - - 2271.81 - 133.10 - - 2328.19 - - - - - - - - - - -
15259.93 730.04 9.29 1609 15263.98 VBD 1.36 - - 2856.62 - - - 2272.12 - 133.10 - - 2327.50 - - - - - - - - - - -
15569.98 702.34 8.84 1640 15588.06 done 1.36 - - 2854.94 - 3.00 0.079 1144.19 -376.0 133.10 - - 2330.69 - - - - - - - - - 16.08 -
15638.52 696.13 9.21 1651 15657.15 done 1.36 - - 2856.62 - 2.77 0.036 2273.69 407.8 133.10 - - 2328.75 - - - - - - - - - 16.09 -
15963.50 669.39 7.94 1683 15981.58 done 1.39 - - 2856.38 - 2.93 0.103 3351.94 368.0 133.10 - - 2327.41 - - - - - - - - - 16.07 -
16022.03 664.11 8.85 1692 16040.42 done 1.39 - - 2857.00 - 2.72 0.027 2205.56 -421.5 133.10 - - 2328.19 - - - - - - - - - 16.09 -
16346.26 637.68 7.98 1724 16363.95 done 1.39 - - 2857.62 - 2.83 0.083 1142.69 -375.6 133.10 - - 2327.50 - - - - - - - - - 16.10 -
16414.40 631.86 8.66 1735 16432.40 done 1.39 - - 2857.25 - 2.77 0.036 2274.50 408.6 133.10 - - 2328.81 - - - - - - - - - 16.08 -
16738.22 605.34 7.99 1767 16742.27 VBD 1.39 - - 2857.75 - - - 2275.00 - 133.10 - - 2327.16 - - - - - - - - - - -
17048.28 578.32 8.87 1798 17052.35 VBD 1.39 - - 2856.75 - - - 2275.06 - 133.10 - - 2326.53 - - - - - - - - - - -
17358.34 552.36 8.26 1829 17376.82 done 1.39 - - 2857.56 - 3.01 0.079 1144.38 -375.6 133.10 - - 2326.09 - - - - - - - - - 16.10 -
17417.28 547.47 8.26 1838 17435.28 done 1.39 - - 2857.38 - 2.74 0.036 2274.06 412.3 133.10 - - 2329.44 - - - - - - - - - 16.10 -
17741.51 523.28 7.17 1870 17759.83 done 1.47 - - 2857.62 - 2.91 0.102 3353.81 371.0 133.10 - - 2329.12 - - - - - - - - - 16.08 -
17800.80 518.62 7.83 1879 17818.79 done 1.51 - - 2857.38 - 2.71 0.026 2204.81 -424.0 133.10 - - 2327.69 - - - - - - - - - 16.09 -
18125.03 495.81 7.20 1911 18144.33 1.58 0.26 0.082 2910.88 205.8 2.82 0.083 1145.69 -375.6 133.10 - - 2325.31 - - - - - - - - 16.06 16.04 -
18214.79 487.62 9.57 1926 18232.79 done 1.58 - - 2910.88 - 2.76 0.036 2274.56 409.0 133.10 - - 2326.97 - - - - - - - - - 16.09 -
18538.64 457.72 9.48 1958 18556.71 done 1.58 - - 2910.69 - 3.00 0.078 1144.06 -376.8 133.10 - - 2328.38 - - - - - - - - - 16.08 -
18657.18 445.32 10.84 1979 18675.17 done 1.58 - - 2910.62 - 2.77 0.036 2273.44 407.7 133.10 - - 2328.31 - - - - - - - - - 16.05 -
18981.01 410.94 10.54 2011 18985.06 VBD 1.58 - - 2910.88 - - - 2273.31 - 133.10 - - 2326.44 - - - - - - - - - - -
19291.07 378.89 9.92 2042 19295.12 VBD 1.58 - - 2910.75 - - - 2273.88 - 133.10 - - 2325.56 - - - - - - - - - - -
19601.13 348.34 9.61 2073 19619.45 done 1.58 - - 2911.50 - 2.92 0.101 3352.75 369.5 133.10 - - 2325.41 - - - - - - - - - 16.07 -
19710.04 337.10 9.96 2092 19728.04 done 1.58 - - 2911.75 - 2.71 0.025 2205.19 -423.5 133.10 - - 2327.66 - - - - - - - - - 16.08 -
20033.87 309.65 8.52 2124 20037.92 VBD 1.58 - - 2910.94 - - - 2203.69 - 133.10 - - 2326.16 - - - - - - - - - - -
20343.93 283.05 8.71 2155 20347.98 VBD 1.58 - - 2911.69 - - - 2203.50 - 133.10 - - 2325.59 - - - - - - - - - - -
20653.99 256.30 9.08 2186 20658.12 VBD 1.58 - - 2911.25 - - - 2204.00 - 133.10 - - 2325.50 - - - - - - - - - - -
20964.04 229.26 8.66 2217 20968.09 VBD 1.58 - - 2911.62 - - - 2203.12 - 133.10 - - 2325.78 - - - - - - - - - - -
21274.50 204.65 7.31 2248 21292.17 done 1.65 - - 2911.25 - 2.83 0.081 1144.81 -374.0 133.10 - - 2328.97 - - - - - - - - - 16.00 -
21328.76 200.68 7.23 2256 21346.03 done 1.73 - - 2912.06 - 2.76 0.034 2276.06 409.9 133.10 - - 2327.69 - - - - - - - - - 16.06 -
21652.27 177.44 6.55 2288 21658.02 1.84 0.31 0.067 2974.31 200.8 - - 2276.38 - 133.10 - - 2325.72 - - - - - - - - 15.99 - -
21963.97 152.36 8.15 2319 21982.04 done 1.84 - - 2972.94 - 2.90 0.097 3352.00 370.9 133.10 - - 2326.72 - - - - - - - - - 15.98 -
22042.50 145.61 8.46 2332 22060.74 done 1.84 - - 2975.00 - 2.71 0.025 2202.00 -424.4 133.10 - - 2327.97 - - - - - - - - - 15.99 -
22367.09 123.26 6.39 2364 22419.77 VBD 1.93 - - 2975.50 - - - 2201.00 - 176.60 33.22 1.498 2171.25 -4.7 0.065 - - - - - - - - 12.19
22726.02 95.88 5.84 2409 22808.49 2.04 0.15 0.092 3015.31 265.4 2.88 0.081 1144.88 -366.7 231.75 43.92 1.438 1944.84 -5.2 0.057 - - - - - - 15.94 15.71 12.47
23040.26 76.50 5.31 2465 23129.74 2.17 - - 3015.06 - 2.81 0.032 2276.75 402.8 298.12 51.07 1.384 1674.62 -5.3 0.049 - - - - - - - 15.89 12.48
23315.59 52.63 9.24 2513 23334.82 2.17 - - 3015.12 - 3.07 0.075 1144.38 -368.9 298.12 - - 1665.19 - - - - - - - - - 15.83 -
23566.18 31.19 8.38 2560 23584.58 2.17 - - 3015.25 - 2.79 0.032 2277.75 406.2 298.12 - - 1662.41 - - - - - - - - - 15.89 -
23770.95 18.43 5.50 2598 23859.62 2.30 - - 3016.06 - 2.95 0.095 3353.62 364.7 360.43 48.62 1.302 1420.38 -5.0 0.012 - - - - - - - 15.65 12.41
24010 end climb: SURFACE_DEPTH_REACHED
24011 begin surface coast
24026 end surface coast: CONTROL_FINISHED_OK
24026 begin surface
SM 1.23 - - - - 179.5 53.39 1.274 1137.1 20.4 18.29 0.058 1130.1 61.8 - 2.87 0.024 1144.0 397.6 -2.083 - - 12.43 15.81 15.87 -