NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 81 * Raw log
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• Previous call tries 1 • 28.72 of 506.00 AH used of 24V (94.32% remains)
• Surface angle -66.7 deg, depth 1.16 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.90 (SM_CC=430)
• GPS1 time: 18 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
18.73 - - - 97.10 VBD -1.18 - - 177.25 - - - 2150.00 - -77.86 54.89 0.005 2413.25 - - - - - - - - - - 15.62
99.31 3.01 -3.90 11 218.71 -1.18 16.50 0.228 2227.81 124.3 3.19 0.082 3304.75 362.0 -77.86 13.71 0.006 3210.34 58.1 -4.786 - - - - - - 15.71 15.62 15.69
234.76 28.78 -13.28 21 252.18 roll -1.18 - - 2226.44 - 2.73 0.021 2148.50 -423.5 -77.86 - - 3213.44 - - - - - - - - - 15.89 -
437.99 52.90 -13.14 59 457.43 roll -1.18 - - 2227.81 - 3.15 0.077 3304.88 367.1 -77.86 - - 3213.25 - - - - - - - - - 15.87 -
508.70 62.66 -13.67 70 526.93 roll -1.18 - - 2227.94 - 2.73 0.021 2146.19 -424.4 -77.86 - - 3213.22 - - - - - - - - - 15.90 -
712.76 85.07 -9.40 108 732.80 roll -1.18 - - 2227.81 - 3.14 0.077 3304.44 368.9 -77.86 - - 3213.94 - - - - - - - - - 15.89 -
788.96 92.22 -9.33 120 806.82 roll -1.18 - - 2227.56 - 2.71 0.020 2145.88 -427.5 -77.86 - - 3214.38 - - - - - - - - - 15.93 -
997.62 108.17 -8.60 149 1014.75 roll -1.18 - - 2227.12 - 2.80 0.072 1092.94 -376.1 -77.86 - - 3216.19 - - - - - - - - - 15.92 -
1020.91 110.08 -8.40 151 1038.04 roll -1.18 - - 2227.50 - 2.74 0.024 2234.50 416.6 -77.86 - - 3215.25 - - - - - - - - - 15.99 -
1343.85 135.04 -8.40 183 1361.78 roll -1.18 - - 2227.50 - 2.90 0.080 3303.25 368.5 -77.86 - - 3214.16 - - - - - - - - - 16.01 -
1438.04 142.97 -8.20 199 1455.16 roll -1.18 - - 2227.69 - 2.71 0.020 2143.50 -428.0 -77.86 - - 3215.41 - - - - - - - - - 15.95 -
1761.01 168.38 -8.24 231 1765.07 no move -1.18 - - 2227.69 - - - 2143.44 - -77.86 - - 3214.94 - - - - - - - - - - -
2071.04 194.07 -8.37 262 2075.10 no move -1.18 - - 2228.31 - - - 2142.38 - -77.86 - - 3214.50 - - - - - - - - - - -
2381.07 218.38 -7.57 293 2385.13 no move -1.18 - - 2227.00 - - - 2141.44 - -77.86 - - 3214.72 - - - - - - - - - - -
2691.09 240.03 -7.01 324 2710.04 roll -1.18 - - 2227.50 - 3.16 0.079 3305.62 368.4 -77.86 - - 3214.03 - - - - - - - - - 16.05 -
2740.51 243.92 -7.47 331 2758.16 roll -1.18 - - 2227.56 - 2.68 0.021 2145.81 -432.8 -77.86 - - 3215.38 - - - - - - - - - 16.08 -
3064.01 268.18 -8.19 363 3082.98 roll -1.18 - - 2227.88 - 3.14 0.079 3304.81 369.1 -77.86 - - 3213.56 - - - - - - - - - 16.08 -
3149.17 275.72 -9.12 377 3166.09 roll -1.18 - - 2226.38 - 2.68 0.021 2145.56 -432.6 -77.86 - - 3215.28 - - - - - - - - - 16.07 -
3471.94 301.93 -8.09 409 3476.00 no move -1.18 - - 2227.81 - - - 2146.19 - -77.86 - - 3213.59 - - - - - - - - - - -
3782.20 326.86 -8.11 440 3801.17 roll -1.18 - - 2227.81 - 3.16 0.080 3304.44 366.5 -77.86 - - 3212.22 - - - - - - - - - 16.09 -
3847.37 332.29 -8.47 450 3864.31 roll -1.18 - - 2227.19 - 2.69 0.021 2146.94 -430.3 -77.86 - - 3213.50 - - - - - - - - - 16.07 -
4170.56 354.93 -6.71 482 4174.62 no move -1.18 - - 2227.69 - - - 2146.94 - -77.86 - - 3212.19 - - - - - - - - - - -
4480.63 376.52 -6.83 513 4484.69 no move -1.18 - - 2227.25 - - - 2147.69 - -77.86 - - 3211.66 - - - - - - - - - - -
4790.68 398.13 -7.14 544 4794.74 no move -1.18 - - 2227.94 - - - 2146.31 - -77.86 - - 3211.16 - - - - - - - - - - -
5100.73 420.87 -7.59 575 5119.28 roll -1.18 - - 2227.94 - 3.06 0.081 3304.38 378.5 -77.86 - - 3211.25 - - - - - - - - - 16.10 -
5215.51 429.94 -7.75 595 5232.43 roll -1.18 - - 2227.62 - 2.70 0.022 2148.88 -428.0 -77.86 - - 3212.03 - - - - - - - - - 16.08 -
5538.27 453.62 -7.75 627 5557.23 roll -1.18 - - 2227.69 - 3.13 0.081 3303.81 369.0 -77.86 - - 3209.09 - - - - - - - - - 16.01 -
5593.42 458.14 -8.18 635 5610.36 roll -1.18 - - 2227.38 - 2.69 0.022 2148.12 -429.6 -77.86 - - 3210.50 - - - - - - - - - 16.10 -
5916.17 482.60 -7.52 667 5935.13 roll -1.18 - - 2227.69 - 3.13 0.081 3302.50 368.8 -77.86 - - 3209.28 - - - - - - - - - 16.09 -
6085.65 496.73 -8.72 698 6103.94 roll -1.18 - - 2227.38 - 2.69 0.022 2149.44 -428.6 -77.86 - - 3210.53 - - - - - - - - - 16.10 -
6409.90 522.44 -8.30 730 6413.96 no move -1.18 - - 2227.25 - - - 2150.00 - -77.86 - - 3208.62 - - - - - - - - - - -
6719.95 548.10 -8.48 761 6738.89 roll -1.18 - - 2227.75 - 3.16 0.082 3303.94 365.2 -77.86 - - 3208.75 - - - - - - - - - 16.11 -
6755.09 551.26 -8.63 765 6772.42 roll -1.18 - - 2227.31 - 2.68 0.022 2148.44 -431.2 -77.86 - - 3208.97 - - - - - - - - - 16.10 -
7078.27 578.02 -7.96 797 7097.23 roll -1.18 - - 2227.50 - 3.13 0.082 3303.44 369.0 -77.86 - - 3207.22 - - - - - - - - - 16.10 -
7133.43 582.94 -8.65 805 7150.36 roll -1.18 - - 2226.31 - 2.69 0.022 2147.62 -429.7 -77.86 - - 3209.47 - - - - - - - - - 16.10 -
7456.17 606.49 -6.48 837 7460.23 no move -1.18 - - 2227.19 - - - 2147.56 - -77.86 - - 3207.16 - - - - - - - - - - -
7766.20 626.17 -6.16 868 7770.25 no move -1.18 - - 2227.31 - - - 2146.31 - -77.86 - - 3207.12 - - - - - - - - - - -
8076.27 646.70 -7.24 899 8095.22 roll -1.18 - - 2224.88 - 3.12 0.083 3301.25 370.2 -77.86 - - 3208.00 - - - - - - - - - 16.10 -
8171.44 653.30 -7.17 915 8188.37 roll -1.18 - - 2227.62 - 2.69 0.022 2149.75 -428.1 -77.86 - - 3206.75 - - - - - - - - - 16.10 -
8494.19 674.43 -6.84 947 8513.16 roll -1.18 - - 2227.69 - 3.16 0.083 3302.56 364.8 -77.86 - - 3207.03 - - - - - - - - - 16.10 -
8563.75 679.43 -6.28 958 8581.80 roll -1.18 - - 2227.31 - 2.69 0.022 2148.69 -428.9 -77.86 - - 3206.09 - - - - - - - - - 16.10 -
8887.65 698.43 -5.18 990 8906.60 roll -1.18 - - 2227.06 - 3.16 0.083 3302.56 365.1 -77.86 - - 3206.03 - - - - - - - - - 16.04 -
8957.07 703.07 -6.38 1001 8974.73 roll -1.18 - - 2227.12 - 2.69 0.022 2147.75 -429.3 -77.86 - - 3206.28 - - - - - - - - - 16.10 -
9280.58 724.12 -6.13 1033 9299.54 roll -1.18 - - 2226.81 - 3.17 0.083 3303.12 364.5 -77.86 - - 3206.22 - - - - - - - - - 16.09 -
9380.02 731.05 -7.17 1050 9398.08 roll -1.18 - - 2227.75 - 2.69 0.022 2148.44 -429.2 -77.86 - - 3205.00 - - - - - - - - - 16.09 -
9703.93 751.46 -6.88 1082 9722.88 roll -1.18 - - 2227.25 - 3.17 0.084 3302.44 364.0 -77.86 - - 3204.62 - - - - - - - - - 16.09 -
9743.36 753.73 -6.32 1087 9761.01 roll -1.18 - - 2226.12 - 2.68 0.022 2148.31 -430.6 -77.86 - - 3205.56 - - - - - - - - - 16.09 -
10066.85 771.44 -6.23 1119 10070.92 no move -1.18 - - 2227.00 - - - 2147.94 - -77.86 - - 3204.66 - - - - - - - - - - -
10126 end dive: TARGET_DEPTH_EXCEEDED
10127 begin apogee
10131.81 775.18 -6.23 1125 10231.45 -0.31 1.53 0.140 2441.25 140.0 0.12 0.189 2183.25 294.2 - 60.12 2.216 2889.75 -5.2 0.301 - - - - - - 15.99 15.68 11.96
10238 end apogee: CONTROL_FINISHED_OK
10239 begin climb
10241.41 776.88 - 1132 10347.56 1.18 2.47 0.095 2805.50 147.5 - - 2183.50 - 77.86 62.85 2.163 2572.03 -5.1 0.298 - - - - - - 15.77 - 12.67
10653.93 754.18 5.38 1176 10673.32 1.34 0.22 0.082 2853.81 219.6 2.81 0.080 1145.06 -369.6 77.86 - - 2563.09 - - - - - - - - 15.83 15.83 -
10904.38 737.05 7.18 1223 10922.86 done 1.39 - - 2854.62 - 2.82 0.032 2275.19 400.8 77.86 - - 2563.38 - - - - - - - - - 15.93 -
11229.23 716.41 5.82 1255 11249.26 1.53 0.19 0.079 2901.06 244.4 3.02 0.094 3351.50 356.4 77.86 - - 2562.53 - - - - - - - - 15.96 15.94 -
11295.59 710.88 8.53 1265 11313.33 done 1.53 - - 2900.44 - 2.70 0.023 2200.06 -426.5 77.86 - - 2562.44 - - - - - - - - - 15.99 -
11619.54 685.58 7.45 1297 11636.87 done 1.56 - - 2901.00 - 2.80 0.078 1143.94 -377.2 77.86 - - 2561.50 - - - - - - - - - 16.03 -
11747.35 674.79 8.63 1320 11765.42 done 1.56 - - 2900.75 - 2.79 0.032 2276.19 405.8 77.86 - - 2561.31 - - - - - - - - - 16.03 -
12071.27 649.30 7.91 1352 12089.42 done 1.56 - - 2899.31 - 3.00 0.075 1143.19 -377.7 77.86 - - 2560.16 - - - - - - - - - 16.04 -
12319.96 628.73 9.05 1399 12338.03 done 1.56 - - 2900.88 - 2.79 0.032 2274.31 405.4 77.86 - - 2560.47 - - - - - - - - - 16.07 -
12643.87 602.54 8.03 1431 12662.03 done 1.56 - - 2900.56 - 2.99 0.074 1142.94 -378.4 77.86 - - 2560.75 - - - - - - - - - 16.07 -
12892.56 581.32 8.49 1478 12911.26 done 1.56 - - 2899.69 - 2.82 0.032 2275.12 401.5 77.86 - - 2561.06 - - - - - - - - - 16.07 -
13217.59 556.90 7.49 1510 13235.74 done 1.60 - - 2900.94 - 2.98 0.074 1144.06 -379.6 77.86 - - 2560.00 - - - - - - - - - 16.06 -
13462.39 540.35 6.38 1556 13480.96 1.70 0.16 0.087 2940.75 248.8 2.80 0.032 2274.62 403.8 77.86 - - 2559.97 - - - - - - - - 16.00 16.08 -
13787.22 521.88 5.90 1588 13791.28 VBD 1.83 - - 2941.75 - - - 2275.19 - 77.86 - - 2558.16 - - - - - - - - - - -
14097.49 503.82 6.09 1619 14117.30 1.94 0.27 0.067 3002.94 226.6 2.99 0.074 1144.06 -378.3 77.86 - - 2558.34 - - - - - - - - 16.04 16.03 -
14167.79 498.54 7.83 1630 14186.27 done 1.94 - - 3003.06 - 2.81 0.031 2275.69 402.7 77.86 - - 2558.75 - - - - - - - - - 16.10 -
14492.08 472.04 8.05 1662 14496.15 VBD 1.94 - - 3002.81 - - - 2275.88 - 77.86 - - 2557.47 - - - - - - - - - - -
14802.50 448.14 7.37 1693 14821.05 done 1.98 - - 3003.25 - 3.01 0.073 1143.31 -376.3 77.86 - - 2558.69 - - - - - - - - - 16.08 -
15051.59 428.31 7.62 1740 15070.09 done 1.98 - - 3003.06 - 2.82 0.031 2276.69 401.9 77.86 - - 2558.16 - - - - - - - - - 16.07 -
15376.46 404.66 7.10 1772 15395.01 done 2.04 - - 3002.56 - 3.01 0.072 1143.00 -376.6 77.86 - - 2558.25 - - - - - - - - - 16.06 -
15495.50 395.54 8.07 1793 15513.99 done 2.04 - - 3003.81 - 2.82 0.031 2275.44 401.6 77.86 - - 2558.91 - - - - - - - - - 16.08 -
15820.23 371.92 7.17 1825 15838.81 done 2.09 - - 3001.81 - 3.02 0.093 3353.25 356.9 77.86 - - 2558.06 - - - - - - - - - 16.01 -
15945.03 361.68 8.19 1847 15961.97 done 2.09 - - 3003.25 - 2.68 0.022 2196.88 -431.5 77.86 - - 2558.22 - - - - - - - - - 16.09 -
16267.83 336.25 7.68 1879 16285.17 done 2.09 - - 3003.44 - 2.80 0.076 1144.31 -375.9 77.86 - - 2558.28 - - - - - - - - - 16.05 -
16411.41 324.63 8.36 1905 16429.57 done 2.09 - - 3003.00 - 2.81 0.031 2277.38 403.2 77.86 - - 2557.91 - - - - - - - - - 16.07 -
16735.88 302.16 6.45 1937 16739.96 2.19 - - 3003.12 - - - 2277.56 - 77.86 - - 2556.66 - - - - - - - - - - -
17046.31 284.02 5.59 1968 17064.89 2.34 - - 3001.81 - 3.01 0.072 1143.06 -376.9 77.86 - - 2557.25 - - - - - - - - - 16.08 -
17295.78 268.25 6.55 2015 17314.39 2.43 - - 3003.31 - 2.81 0.031 2276.19 403.2 77.86 - - 2557.19 - - - - - - - - - 16.08 -
17620.64 250.41 4.87 2047 17709.96 2.56 - - 3003.25 - 3.06 0.074 1144.81 -369.7 143.58 50.37 1.598 2303.31 -5.0 0.130 - - - - - - - 15.80 12.02
17810.44 234.44 9.85 2078 17829.32 roll back 2.56 - - 3003.31 - 2.85 0.031 2274.31 396.3 143.58 - - 2298.72 - - - - - - - - - 15.86 -
18135.28 203.11 9.60 2110 18139.35 2.56 - - 3002.56 - - - 2274.50 - 143.58 - - 2294.78 - - - - - - - - - - -
18445.32 171.07 10.00 2141 18463.89 2.56 - - 3001.50 - 3.03 0.072 1144.12 -373.1 143.58 - - 2294.34 - - - - - - - - - 15.94 -
18554.37 160.45 9.60 2160 18572.88 2.56 - - 3003.50 - 2.84 0.030 2274.62 398.1 143.58 - - 2293.72 - - - - - - - - - 15.99 -
18878.84 128.13 9.17 2192 18897.40 2.56 - - 3001.75 - 3.03 0.071 1143.00 -373.5 143.58 - - 2293.28 - - - - - - - - - 15.99 -
18983.63 117.84 9.76 2210 19001.40 2.56 - - 3003.50 - 2.83 0.031 2276.12 400.4 143.58 - - 2293.66 - - - - - - - - - 16.00 -
19307.64 94.58 5.26 2251 19327.34 2.73 - - 3002.75 - 3.03 0.070 1142.75 -374.0 143.58 - - 2292.88 - - - - - - - - - 15.97 -
19408.97 87.97 6.71 2268 19427.46 2.81 - - 3003.00 - 2.83 0.029 2276.88 400.8 143.58 - - 2293.03 - - - - - - - - - 16.02 -
19613.71 81.35 2.47 2306 19753.43 3.04 - - 3003.19 - 3.08 0.072 1145.00 -367.5 258.94 86.93 1.359 1832.06 -5.3 0.052 - - - - - - - 15.65 12.24
19834.76 62.69 11.07 2340 19853.35 3.04 - - 3003.06 - 2.86 0.029 2275.31 395.2 258.94 - - 1825.69 - - - - - - - - - 15.77 -
20039.33 44.83 7.71 2378 20059.03 3.04 - - 3003.25 - 3.05 0.070 1142.81 -371.3 258.94 - - 1821.78 - - - - - - - - - 15.84 -
20135.66 37.56 7.09 2394 20154.14 3.09 - - 3003.19 - 2.84 0.029 2277.31 399.5 258.94 - - 1820.75 - - - - - - - - - 15.85 -
20340.40 26.54 5.16 2432 20360.09 3.27 - - 3003.12 - 3.02 0.091 3354.12 356.6 258.94 - - 1820.00 - - - - - - - - - 15.83 -
20591.76 11.31 3.96 2479 20701.12 3.44 - - 3002.75 - 2.70 0.021 2190.25 -431.1 343.43 64.34 1.243 1490.25 -5.1 0.008 - - - - - - - 15.95 12.38
20887.38 4.85 4.60 2530 20910.83 3.58 - - 3003.75 - - - 2189.62 - 414.70 14.27 1.103 1422.00 -4.8 0.003 - - - - - - - - 12.41
20912 end climb: SURFACE_DEPTH_REACHED
20913 begin surface coast
21009 end surface coast: CONTROL_FINISHED_OK
21009 begin surface
SM 1.05 - - - - 175.9 53.15 1.208 1137.5 21.1 18.28 0.056 1135.1 62.1 - 0.05 0.180 1139.9 22798.0 -13.592 - - 12.46 15.84 15.87 -