NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 367 * Raw log
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• Previous call tries 1 • 130.12 of 506.00 AH used of 24V (74.29% remains)
• Surface angle -63.0 deg, depth 1.09 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.96 (SM_CC=430)
• GPS1 time: 48 s
• GPS2 time: 2 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
18.96 - - - 104.73 VBD -1.18 - - 178.38 - - - 2278.19 - -77.86 59.99 0.005 2605.03 - - - - - - - - - - 15.09
106.95 3.01 -3.63 12 228.75 -1.18 17.21 0.218 2227.50 119.1 3.27 0.065 1144.56 -346.7 -77.86 10.12 0.007 3210.81 59.9 -4.298 - - - - - - 15.40 15.16 15.26
299.83 36.19 -10.93 33 318.57 roll -1.18 - - 2228.25 - 2.84 0.024 2277.62 399.0 -77.86 - - 3214.47 - - - - - - - - - 15.70 -
504.50 55.57 -8.76 71 524.38 roll -1.18 - - 2227.69 - 3.19 0.081 3353.56 337.3 -77.86 - - 3212.78 - - - - - - - - - 15.64 -
585.56 64.02 -10.71 84 604.27 roll -1.18 - - 2227.69 - 2.84 0.019 2191.69 -409.1 -77.86 - - 3213.72 - - - - - - - - - 15.81 -
790.09 80.90 -7.49 122 809.23 roll -1.18 - - 2228.12 - 3.01 0.065 1144.00 -348.1 -77.86 - - 3214.38 - - - - - - - - - 15.76 -
975.42 95.69 -8.74 156 993.74 roll -1.18 - - 2226.88 - 2.81 0.025 2277.81 403.5 -77.86 - - 3215.03 - - - - - - - - - 15.77 -
1179.52 112.11 -7.91 179 1198.32 roll -1.18 - - 2228.12 - 3.17 0.081 3352.94 339.2 -77.86 - - 3214.66 - - - - - - - - - 15.69 -
1318.79 125.02 -9.33 204 1337.51 roll -1.18 - - 2227.44 - 2.84 0.018 2190.56 -409.3 -77.86 - - 3215.41 - - - - - - - - - 15.70 -
1643.28 150.91 -8.35 236 1662.00 roll -1.18 - - 2228.38 - 3.02 0.066 1143.69 -346.6 -77.86 - - 3215.94 - - - - - - - - - 15.84 -
1779.51 162.74 -8.48 260 1797.72 roll -1.18 - - 2227.00 - 2.81 0.024 2278.12 403.7 -77.86 - - 3215.84 - - - - - - - - - 15.73 -
2103.57 190.05 -8.26 292 2123.02 roll -1.18 - - 2228.19 - 3.25 0.062 1144.81 -348.7 -77.86 - - 3214.03 - - - - - - - - - 15.85 -
2143.48 193.38 -8.15 297 2162.03 roll -1.18 - - 2228.38 - 2.81 0.024 2277.69 403.2 -77.86 - - 3214.88 - - - - - - - - - 15.88 -
2467.88 219.94 -8.28 329 2487.32 roll -1.18 - - 2228.69 - 3.26 0.063 1144.81 -347.5 -77.86 - - 3214.38 - - - - - - - - - 15.76 -
2517.80 224.21 -8.40 336 2536.34 roll -1.18 - - 2226.62 - 2.83 0.024 2277.19 400.1 -77.86 - - 3215.75 - - - - - - - - - 15.88 -
2842.19 251.03 -8.31 368 2861.62 roll -1.18 - - 2226.25 - 3.23 0.063 1143.94 -350.9 -77.86 - - 3215.12 - - - - - - - - - 15.86 -
2917.84 257.72 -8.82 380 2935.66 roll -1.18 - - 2228.19 - 2.82 0.025 2277.75 402.1 -77.86 - - 3214.41 - - - - - - - - - 15.97 -
3241.49 284.73 -7.77 412 3260.76 roll -1.18 - - 2227.44 - 3.17 0.083 3352.50 339.0 -77.86 - - 3212.53 - - - - - - - - - 15.85 -
3311.37 290.52 -8.39 423 3330.32 roll -1.18 - - 2227.94 - 2.81 0.019 2192.06 -413.0 -77.86 - - 3214.69 - - - - - - - - - 15.96 -
3636.16 318.04 -8.44 455 3640.22 no move -1.18 - - 2227.56 - - - 2190.69 - -77.86 - - 3213.16 - - - - - - - - - - -
3946.19 343.49 -8.14 486 3950.25 no move -1.18 - - 2227.88 - - - 2190.38 - -77.86 - - 3212.56 - - - - - - - - - - -
4256.20 367.42 -7.43 517 4274.83 roll -1.18 - - 2228.06 - 3.02 0.068 1144.31 -346.4 -77.86 - - 3212.97 - - - - - - - - - 15.78 -
4311.03 371.79 -7.92 525 4328.46 roll -1.18 - - 2226.12 - 2.80 0.025 2277.56 404.7 -77.86 - - 3214.31 - - - - - - - - - 15.97 -
4634.28 395.89 -6.73 557 4653.72 roll -1.18 - - 2228.31 - 3.23 0.064 1144.81 -350.7 -77.86 - - 3212.88 - - - - - - - - - 15.87 -
4734.21 403.35 -7.59 574 4753.15 roll -1.18 - - 2227.56 - 2.82 0.025 2277.25 401.6 -77.86 - - 3213.38 - - - - - - - - - 15.98 -
5059.00 424.00 -6.18 606 5078.45 roll -1.18 - - 2228.38 - 3.25 0.064 1144.81 -348.4 -77.86 - - 3212.66 - - - - - - - - - 15.86 -
5134.67 429.09 -6.77 618 5152.73 roll -1.18 - - 2227.94 - 2.82 0.025 2278.00 401.8 -77.86 - - 3213.00 - - - - - - - - - 15.97 -
5458.69 449.00 -6.03 650 5462.75 no move -1.18 - - 2227.56 - - - 2277.44 - -77.86 - - 3211.22 - - - - - - - - - - -
5768.73 466.75 -6.03 681 5788.18 roll -1.18 - - 2227.56 - 3.26 0.064 1145.44 -347.2 -77.86 - - 3210.44 - - - - - - - - - 15.76 -
5824.40 470.47 -6.59 689 5842.61 roll -1.18 - - 2227.69 - 2.82 0.025 2277.94 401.6 -77.86 - - 3210.88 - - - - - - - - - 16.00 -
6148.86 487.37 -4.87 721 6168.30 roll -1.18 - - 2228.19 - 3.22 0.065 1143.62 -352.3 -77.86 - - 3210.12 - - - - - - - - - 15.85 -
6208.78 490.78 -5.43 730 6227.32 roll -1.18 - - 2228.12 - 2.82 0.025 2276.75 401.8 -77.86 - - 3211.12 - - - - - - - - - 15.86 -
6533.17 509.35 -6.10 762 6537.23 no move -1.18 - - 2228.56 - - - 2277.44 - -77.86 - - 3209.03 - - - - - - - - - - -
6843.20 529.08 -6.64 793 6862.64 roll -1.18 - - 2227.75 - 3.22 0.065 1146.25 -351.3 -77.86 - - 3210.19 - - - - - - - - - 15.85 -
6923.14 534.85 -6.99 806 6942.07 roll -1.18 - - 2228.00 - 2.82 0.026 2276.50 400.8 -77.86 - - 3211.16 - - - - - - - - - 16.00 -
7247.91 556.76 -6.37 838 7266.96 roll -1.18 - - 2227.81 - 3.19 0.065 1144.12 -355.0 -77.86 - - 3210.09 - - - - - - - - - 15.84 -
7333.28 563.21 -7.51 852 7351.10 roll -1.18 - - 2228.62 - 2.82 0.026 2276.38 401.5 -77.86 - - 3210.59 - - - - - - - - - 15.98 -
7656.94 585.44 -6.85 884 7675.98 roll -1.18 - - 2226.25 - 3.20 0.086 3351.88 336.1 -77.86 - - 3209.59 - - - - - - - - - 15.81 -
7726.46 590.80 -7.83 895 7744.59 roll -1.18 - - 2228.00 - 2.80 0.020 2192.00 -414.2 -77.86 - - 3208.69 - - - - - - - - - 16.00 -
8050.45 612.29 -6.24 927 8068.67 roll -1.18 - - 2226.50 - 2.99 0.070 1144.44 -350.4 -77.86 - - 3209.16 - - - - - - - - - 15.83 -
8094.88 615.25 -6.77 933 8112.29 roll -1.18 - - 2228.31 - 2.80 0.025 2278.88 405.2 -77.86 - - 3209.34 - - - - - - - - - 15.98 -
8418.16 637.20 -7.10 965 8437.18 roll -1.18 - - 2227.81 - 3.16 0.086 3350.19 339.0 -77.86 - - 3208.28 - - - - - - - - - 15.80 -
8493.39 642.62 -7.28 977 8511.31 roll -1.18 - - 2228.44 - 2.78 0.020 2191.31 -416.9 -77.86 - - 3209.00 - - - - - - - - - 15.98 -
8516 end dive: TARGET_DEPTH_EXCEEDED
8517 begin apogee
8522.19 644.11 -6.75 979 8622.69 -0.31 1.60 0.132 2440.06 132.3 0.15 0.138 2175.44 -105.8 - 62.37 1.963 2890.75 -5.1 0.280 - - - - - - 15.75 15.52 10.57
8635 end apogee: CONTROL_FINISHED_OK
8636 begin climb
8639.03 645.83 - 986 8762.60 1.18 2.57 0.089 2804.19 141.7 3.57 0.086 3351.88 329.5 77.86 63.60 1.923 2571.16 -5.0 0.282 - - - - - - 15.65 15.33 11.79
8769.22 640.88 5.38 999 8789.41 roll back 1.34 0.22 0.069 2854.88 230.4 2.86 0.020 2198.25 -403.4 77.86 - - 2568.38 - - - - - - - - 15.50 15.50 -
9095.77 620.11 6.89 1031 9114.41 done 1.41 - - 2855.06 - 3.05 0.073 1145.75 -345.1 77.86 - - 2563.28 - - - - - - - - - 15.75 -
9165.29 614.97 7.50 1042 9183.84 roll 1.45 - - 2855.81 - 2.84 0.028 2275.94 398.0 77.86 - - 2565.22 - - - - - - - - - 15.83 -
9490.09 592.30 6.75 1074 9511.15 1.52 0.19 0.076 2900.25 233.9 3.20 0.090 3350.69 335.9 77.86 - - 2562.84 - - - - - - - - 15.72 15.74 -
9527.86 589.38 7.49 1078 9545.26 done 1.56 - - 2900.31 - 2.80 0.021 2200.25 -410.9 77.86 - - 2563.25 - - - - - - - - - 15.90 -
9851.52 566.49 6.98 1110 9855.59 VBD 1.62 - - 2900.81 - - - 2200.00 - 77.86 - - 2561.16 - - - - - - - - - - -
10161.83 546.78 6.14 1141 10185.12 1.74 0.22 0.070 2951.56 230.7 3.41 0.086 3352.75 338.0 77.86 - - 2562.59 - - - - - - - - 15.89 15.83 -
10226.73 542.15 7.31 1150 10244.15 done 1.78 - - 2951.38 - 2.79 0.021 2199.88 -413.2 77.86 - - 2562.94 - - - - - - - - - 15.95 -
10550.39 519.89 6.84 1182 10569.01 done 1.85 - - 2952.44 - 3.03 0.073 1145.50 -348.0 77.86 - - 2560.16 - - - - - - - - - 15.85 -
10755.22 503.74 7.81 1220 10773.44 done 1.85 - - 2952.44 - 2.83 0.029 2275.38 399.3 77.86 - - 2561.56 - - - - - - - - - 15.95 -
11079.81 481.07 6.36 1252 11085.25 1.95 0.22 0.068 3006.50 245.7 - - 2276.06 - 77.86 - - 2560.03 - - - - - - - - 15.91 - -
11391.49 460.90 6.02 1283 11395.88 VBD 2.08 - - 3006.75 - - - 2275.31 - 77.86 - - 2559.72 - - - - - - - - - - -
11702.29 442.32 5.64 1314 11722.00 2.22 - - 3006.38 - 3.22 0.069 1144.62 -351.1 77.86 - - 2558.41 - - - - - - - - - 15.85 -
11908.68 431.26 5.94 1352 11926.73 2.35 - - 3006.50 - 2.84 0.029 2276.00 398.4 77.86 - - 2559.66 - - - - - - - - - 15.85 -
12233.02 413.01 5.77 1384 12252.31 2.48 - - 3006.69 - 3.19 0.088 3350.75 336.9 77.86 - - 2558.50 - - - - - - - - - 15.79 -
12308.97 408.20 5.71 1396 12326.63 2.62 - - 3006.50 - 2.80 0.021 2197.44 -411.9 77.86 - - 2559.03 - - - - - - - - - 15.72 -
12632.91 389.04 6.42 1428 12651.77 2.72 - - 3006.25 - 3.02 0.073 1145.94 -348.2 77.86 - - 2558.75 - - - - - - - - - 15.83 -
12882.75 371.51 7.42 1475 12901.51 2.76 - - 3006.12 - 2.81 0.029 2276.62 402.4 77.86 - - 2559.94 - - - - - - - - - 15.98 -
13207.82 351.02 6.20 1507 13227.75 2.87 - - 3007.31 - 3.22 0.088 3350.88 333.6 77.86 - - 2557.66 - - - - - - - - - 15.66 -
13284.52 346.02 6.34 1519 13302.17 2.97 - - 3006.44 - 2.77 0.021 2196.19 -416.9 77.86 - - 2558.44 - - - - - - - - - 15.98 -
13608.46 329.74 4.99 1551 13700.42 3.10 - - 3006.06 - 3.43 0.087 3350.44 336.5 141.05 50.05 1.602 2315.12 -4.9 0.167 - - - - - - - 15.62 11.02
13711.00 322.57 8.30 1564 13730.17 roll back 3.10 - - 3006.81 - 2.83 0.021 2201.75 -405.9 141.05 - - 2310.78 - - - - - - - - - 15.78 -
14036.18 293.36 8.93 1596 14055.04 3.10 - - 3007.12 - 3.04 0.074 1145.00 -347.6 141.05 - - 2305.22 - - - - - - - - - 15.69 -
14125.57 284.87 9.29 1611 14144.34 3.10 - - 3005.88 - 2.82 0.028 2275.62 400.9 141.05 - - 2306.16 - - - - - - - - - 15.86 -
14450.22 255.21 9.69 1643 14454.34 3.10 - - 3007.00 - - - 2276.00 - 141.05 - - 2303.59 - - - - - - - - - - -
14760.23 225.78 9.69 1674 14764.34 3.10 - - 3006.00 - - - 2276.25 - 141.05 - - 2302.97 - - - - - - - - - - -
15070.21 195.91 9.91 1705 15089.91 3.10 - - 3007.19 - 3.21 0.069 1145.94 -352.1 141.05 - - 2301.69 - - - - - - - - - 15.76 -
15150.54 187.65 10.07 1718 15169.31 3.10 - - 3006.75 - 2.83 0.028 2276.75 399.6 141.05 - - 2303.62 - - - - - - - - - 15.90 -
15475.20 158.87 8.28 1750 15479.32 3.10 - - 3006.50 - - - 2275.69 - 141.05 - - 2302.06 - - - - - - - - - - -
15785.21 133.47 8.48 1781 15804.90 3.10 - - 3005.88 - 3.23 0.068 1145.06 -350.0 141.05 - - 2302.94 - - - - - - - - - 15.65 -
15851.16 127.50 8.91 1791 15869.60 3.10 - - 3006.75 - 2.84 0.027 2274.62 397.7 141.05 - - 2302.81 - - - - - - - - - 15.85 -
16175.49 100.41 8.14 1823 16179.60 3.10 - - 3006.75 - - - 2274.56 - 141.05 - - 2301.38 - - - - - - - - - - -
16485.97 77.96 6.32 1884 16506.38 3.20 - - 3006.69 - 3.25 0.067 1145.88 -347.3 141.05 - - 2303.38 - - - - - - - - - 15.60 -
16738.08 64.84 4.02 1931 16849.31 3.37 - - 3006.31 - 2.85 0.026 2277.75 397.1 224.41 64.04 1.237 1974.22 -5.1 0.045 - - - - - - - 15.77 11.44
17035.70 44.16 6.89 1982 17056.10 3.44 - - 3006.81 - 3.28 0.066 1145.88 -345.1 224.41 - - 1966.06 - - - - - - - - - 15.60 -
17062.75 42.42 6.58 1984 17081.93 3.53 - - 3006.88 - 2.87 0.025 2277.75 394.4 224.41 - - 1964.81 - - - - - - - - - 15.76 -
17268.23 31.52 4.85 2022 17360.11 3.66 - - 3005.56 - 3.23 0.088 3351.81 332.5 290.63 51.33 1.165 1704.75 -5.1 0.023 - - - - - - - 15.53 11.65
17591.93 13.11 4.79 2079 17688.24 3.79 - - 3006.94 - 2.85 0.019 2194.38 -406.1 357.91 53.15 1.127 1430.41 -5.2 0.010 - - - - - - - 15.77 11.64
17743 end climb: SURFACE_DEPTH_REACHED
17744 begin surface coast
17810 end surface coast: CONTROL_FINISHED_OK
17810 begin surface
SM 1.13 - - - - 179.6 55.53 1.114 1137.2 19.5 19.68 0.051 1133.8 57.6 - 0.17 0.077 1140.6 6692.6 -10.038 - - 11.57 15.71 15.77 -