NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 863 * Raw log
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• Previous call tries 2 • 295.15 of 506.00 AH used of 24V (41.67% remains)
• Surface angle -63.0 deg, depth 0.94 m • Intended pitch -17.5 deg, speed -8.462 cm/s
VBD pumped to 399.88 (SM_CC=400)
• GPS1 time: 19 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
12 begin dive
19.65 - - - 121.39 VBD -1.33 - - 178.31 - - - 2173.38 - -116.79 71.66 0.005 2963.69 - - - - - - - - - - 14.57
123.60 3.52 -3.81 14 241.38 -1.33 17.28 0.202 2192.88 116.6 3.49 0.079 3353.00 338.0 -116.79 6.11 0.008 3369.38 66.4 -5.047 - - - - - - 15.13 14.83 14.97
247.93 33.51 -13.74 21 266.81 roll -1.33 - - 2192.69 - 2.82 0.018 2197.50 -409.8 -116.79 - - 3371.25 - - - - - - - - - 15.70 -
452.93 57.48 -11.89 59 474.60 roll -1.33 - - 2192.75 - 3.42 0.077 3351.94 337.6 -116.79 - - 3371.56 - - - - - - - - - 15.41 -
636.07 81.17 -11.34 92 654.54 roll -1.33 - - 2192.31 - 2.80 0.018 2196.25 -412.7 -116.79 - - 3371.69 - - - - - - - - - 15.56 -
840.58 100.43 -9.24 130 844.00 no move -1.33 - - 2193.31 - - - 2193.94 - -116.79 - - 3370.88 - - - - - - - - - - -
1150.59 126.92 -7.61 161 1171.13 roll -1.33 - - 2191.81 - 3.41 0.077 3353.38 340.0 -116.79 - - 3371.09 - - - - - - - - - 15.56 -
1227.56 133.47 -8.66 173 1245.70 roll -1.33 - - 2193.62 - 2.77 0.018 2193.88 -418.6 -116.79 - - 3372.09 - - - - - - - - - 15.83 -
1551.74 159.41 -7.98 205 1555.77 no move -1.33 - - 2193.44 - - - 2192.50 - -116.79 - - 3371.69 - - - - - - - - - - -
1861.84 184.73 -8.17 236 1865.86 no move -1.33 - - 2192.88 - - - 2191.69 - -116.79 - - 3370.91 - - - - - - - - - - -
2171.96 209.15 -7.56 267 2192.45 roll -1.33 - - 2193.62 - 3.39 0.077 3354.62 343.0 -116.79 - - 3371.28 - - - - - - - - - 15.66 -
2283.33 217.87 -7.75 286 2302.41 roll -1.33 - - 2193.56 - 2.79 0.018 2195.12 -415.6 -116.79 - - 3373.31 - - - - - - - - - 15.88 -
2608.47 240.19 -7.29 318 2612.54 no move -1.33 - - 2192.75 - - - 2192.62 - -116.79 - - 3371.94 - - - - - - - - - - -
2918.62 264.29 -7.65 349 2939.41 roll -1.33 - - 2193.06 - 3.41 0.077 3352.75 340.2 -116.79 - - 3372.19 - - - - - - - - - 15.45 -
2950.16 267.04 -8.53 352 2968.84 roll -1.33 - - 2193.06 - 2.80 0.018 2193.88 -413.9 -116.79 - - 3372.19 - - - - - - - - - 15.86 -
3274.95 293.49 -7.93 384 3279.00 no move -1.33 - - 2193.62 - - - 2192.44 - -116.79 - - 3371.50 - - - - - - - - - - -
3585.12 318.62 -8.04 415 3589.18 no move -1.33 - - 2193.44 - - - 2191.44 - -116.79 - - 3371.78 - - - - - - - - - - -
3895.28 344.85 -8.48 446 3915.68 roll -1.33 - - 2193.50 - 3.39 0.078 3351.81 342.3 -116.79 - - 3372.97 - - - - - - - - - 15.65 -
3946.43 349.73 -9.52 453 3965.11 roll -1.33 - - 2193.44 - 2.76 0.018 2193.62 -419.6 -116.79 - - 3373.78 - - - - - - - - - 15.93 -
4271.21 379.01 -9.53 485 4275.26 no move -1.33 - - 2193.69 - - - 2192.06 - -116.79 - - 3372.56 - - - - - - - - - - -
4581.38 408.84 -9.84 516 4602.04 roll -1.33 - - 2193.69 - 3.38 0.078 3354.00 343.8 -116.79 - - 3374.03 - - - - - - - - - 15.68 -
4652.91 416.21 -10.23 527 4671.60 roll -1.33 - - 2192.44 - 2.77 0.018 2193.75 -418.9 -116.79 - - 3372.44 - - - - - - - - - 15.88 -
4977.67 446.21 -9.11 559 4981.73 no move -1.33 - - 2193.56 - - - 2192.56 - -116.79 - - 3371.47 - - - - - - - - - - -
5287.83 472.65 -8.32 590 5291.89 no move -1.33 - - 2193.38 - - - 2192.06 - -116.79 - - 3371.00 - - - - - - - - - - -
5598.02 494.90 -6.53 621 5618.85 roll -1.33 - - 2193.38 - 3.42 0.080 3351.38 339.0 -116.79 - - 3370.91 - - - - - - - - - 15.53 -
5695.32 502.46 -7.47 637 5713.30 roll -1.33 - - 2193.19 - 2.78 0.019 2195.12 -415.9 -116.79 - - 3370.69 - - - - - - - - - 15.91 -
6019.39 523.24 -6.36 669 6023.45 no move -1.33 - - 2193.50 - - - 2193.38 - -116.79 - - 3370.16 - - - - - - - - - - -
6329.53 543.40 -6.64 700 6350.34 roll -1.33 - - 2192.12 - 3.41 0.079 3353.19 340.1 -116.79 - - 3371.25 - - - - - - - - - 15.60 -
6411.09 549.59 -7.37 713 6429.77 roll -1.33 - - 2193.06 - 2.79 0.019 2194.88 -415.2 -116.79 - - 3370.72 - - - - - - - - - 15.90 -
6735.87 573.77 -8.36 745 6756.92 roll -1.33 - - 2192.94 - 3.41 0.080 3354.12 340.0 -116.79 - - 3369.22 - - - - - - - - - 15.65 -
6777.79 577.27 -8.29 750 6796.47 roll -1.33 - - 2193.31 - 2.79 0.019 2195.06 -415.4 -116.79 - - 3369.72 - - - - - - - - - 15.91 -
7102.53 602.44 -8.00 782 7106.60 no move -1.33 - - 2193.44 - - - 2193.81 - -116.79 - - 3369.00 - - - - - - - - - - -
7412.68 626.51 -7.80 813 7416.74 no move -1.33 - - 2193.62 - - - 2194.12 - -116.79 - - 3368.66 - - - - - - - - - - -
7722.85 647.46 -6.59 844 7742.41 roll -1.33 - - 2192.88 - 3.01 0.073 1145.50 -348.4 -116.79 - - 3369.12 - - - - - - - - - 15.66 -
7753.17 649.92 -5.91 847 7771.85 roll -1.33 - - 2192.50 - 2.79 0.026 2279.44 406.4 -116.79 - - 3369.12 - - - - - - - - - 15.90 -
8077.99 671.20 -6.22 879 8097.80 roll -1.33 - - 2193.50 - 3.19 0.084 3353.81 336.8 -116.79 - - 3367.78 - - - - - - - - - 15.51 -
8174.28 678.25 -7.71 895 8192.25 roll -1.33 - - 2193.38 - 2.77 0.019 2193.25 -419.0 -116.79 - - 3368.16 - - - - - - - - - 15.91 -
8498.35 700.40 -7.11 927 8502.40 no move -1.33 - - 2193.62 - - - 2191.81 - -116.79 - - 3368.09 - - - - - - - - - - -
8808.48 722.75 -7.72 958 8812.54 no move -1.33 - - 2192.62 - - - 2191.88 - -116.79 - - 3366.78 - - - - - - - - - - -
9118.62 744.97 -7.52 989 9122.68 no move -1.33 - - 2193.38 - - - 2191.94 - -116.79 - - 3367.03 - - - - - - - - - - -
9428.92 767.24 -7.10 1020 9447.69 roll -1.33 - - 2193.69 - 3.00 0.073 1143.62 -349.4 -116.79 - - 3367.03 - - - - - - - - - 15.62 -
9464.16 770.12 -7.49 1024 9482.12 roll -1.33 - - 2193.31 - 2.80 0.026 2278.31 405.2 -116.79 - - 3367.66 - - - - - - - - - 15.90 -
9487 end dive: TARGET_DEPTH_EXCEEDED
9488 begin apogee
9495.52 771.91 -7.50 1026 9645.02 -0.31 1.88 0.126 2440.50 131.5 0.14 0.148 2061.56 -1548.2 - 96.13 2.009 2889.00 -5.0 0.330 - - - - - - 15.52 15.05 10.02
9658 end apogee: CONTROL_FINISHED_OK
9658 begin climb
9661.61 775.67 - 1036 9836.59 1.33 2.87 0.087 2841.31 139.7 3.48 0.089 899.62 -333.9 116.79 99.14 1.972 2411.88 -4.8 0.327 - - - - - - 15.53 14.99 11.39
9844.29 770.40 5.41 1056 9942.00 1.45 0.17 0.082 2879.31 223.5 2.81 0.021 2040.50 406.0 178.41 53.57 1.915 2161.12 -4.7 0.325 - - - - - - 15.44 15.55 11.34
10248.64 742.10 6.95 1099 10268.22 done 1.54 - - 2879.00 - 3.11 0.076 3101.50 341.2 178.41 - - 2151.75 - - - - - - - - - 15.66 -
10285.08 739.55 7.15 1103 10305.07 1.62 0.19 0.082 2922.62 229.6 2.85 0.025 1969.88 -397.1 178.41 - - 2152.03 - - - - - - - - 15.59 15.77 -
10611.61 715.09 7.93 1135 10630.80 done 1.65 - - 2922.19 - 3.10 0.091 898.44 -345.6 178.41 - - 2149.94 - - - - - - - - - 15.62 -
10667.27 710.36 8.53 1143 10685.24 done 1.65 - - 2922.19 - 2.75 0.022 2037.94 414.4 178.41 - - 2149.03 - - - - - - - - - 15.85 -
10991.35 683.36 8.81 1175 10995.42 VBD 1.65 - - 2922.12 - - - 2038.38 - 178.41 - - 2148.25 - - - - - - - - - - -
11301.51 657.37 8.84 1206 11320.72 done 1.65 - - 2922.12 - 3.08 0.077 3102.50 345.5 178.41 - - 2149.00 - - - - - - - - - 15.71 -
11367.30 651.31 9.34 1216 11385.66 done 1.65 - - 2922.12 - 2.84 0.026 1967.81 -399.5 178.41 - - 2148.97 - - - - - - - - - 15.90 -
11692.13 623.84 7.92 1248 11711.71 done 1.69 - - 2922.19 - 3.16 0.090 899.81 -338.0 178.41 - - 2145.94 - - - - - - - - - 15.63 -
11728.19 620.70 8.61 1252 11746.16 done 1.69 - - 2921.75 - 2.73 0.022 2039.00 417.3 178.41 - - 2147.69 - - - - - - - - - 15.91 -
12052.70 595.05 7.81 1284 12073.11 done 1.72 - - 2922.12 - 3.38 0.086 899.00 -337.3 178.41 - - 2145.09 - - - - - - - - - 15.62 -
12139.59 587.59 8.78 1298 12157.56 done 1.72 - - 2923.19 - 2.76 0.022 2037.94 412.7 178.41 - - 2146.59 - - - - - - - - - 15.89 -
12463.65 561.85 7.99 1330 12482.84 done 1.72 - - 2923.12 - 3.09 0.077 3102.19 344.4 178.41 - - 2146.22 - - - - - - - - - 15.70 -
12533.58 556.07 8.12 1341 12552.68 done 1.72 - - 2923.44 - 2.84 0.026 1968.62 -399.1 178.41 - - 2145.47 - - - - - - - - - 15.90 -
12858.76 529.67 8.96 1373 12879.02 done 1.72 - - 2923.00 - 3.28 0.073 3100.44 345.1 178.41 - - 2144.44 - - - - - - - - - 15.69 -
12925.59 523.38 10.04 1383 12943.96 done 1.72 - - 2922.62 - 2.84 0.026 1968.31 -398.6 178.41 - - 2145.59 - - - - - - - - - 15.91 -
13250.49 497.01 7.54 1415 13254.55 VBD 1.78 - - 2922.44 - - - 1968.12 - 178.41 - - 2143.56 - - - - - - - - - - -
13561.03 475.97 6.46 1446 13587.49 1.90 0.35 0.060 2991.12 196.2 3.28 0.072 3103.25 346.1 178.41 - - 2144.28 - - - - - - - - 15.82 15.58 -
13603.23 472.30 8.80 1451 13622.32 done 1.90 - - 2991.44 - 2.86 0.026 1967.50 -397.1 178.41 - - 2143.94 - - - - - - - - - 15.77 -
13928.40 445.37 8.77 1483 13948.40 done 1.90 - - 2991.06 - 3.28 0.072 3101.75 345.8 178.41 - - 2142.75 - - - - - - - - - 15.67 -
13964.86 441.96 9.34 1487 13983.23 done 1.90 - - 2991.50 - 2.85 0.026 1967.50 -398.0 178.41 - - 2144.47 - - - - - - - - - 15.89 -
14289.38 410.96 9.26 1519 14308.99 done 1.90 - - 2991.12 - 3.17 0.090 898.12 -337.3 178.41 - - 2143.25 - - - - - - - - - 15.59 -
14355.47 404.14 10.13 1529 14373.68 done 1.90 - - 2991.31 - 2.75 0.022 2040.69 415.5 178.41 - - 2143.31 - - - - - - - - - 15.86 -
14679.91 373.00 9.56 1561 14700.32 done 1.90 - - 2991.12 - 3.38 0.085 899.56 -337.6 178.41 - - 2143.53 - - - - - - - - - 15.47 -
14726.79 368.13 10.39 1567 14745.18 done 1.90 - - 2991.12 - 2.73 0.022 2039.50 417.6 178.41 - - 2143.75 - - - - - - - - - 15.90 -
15051.30 337.98 8.77 1599 15070.89 done 1.90 - - 2991.62 - 3.08 0.076 3102.81 345.2 178.41 - - 2143.62 - - - - - - - - - 15.52 -
15101.63 333.16 9.50 1606 15121.11 done 1.90 - - 2991.75 - 2.82 0.025 1966.44 -403.0 178.41 - - 2143.16 - - - - - - - - - 15.79 -
15427.62 305.95 7.91 1638 15431.68 VBD 1.93 - - 2992.06 - - - 1967.12 - 178.41 - - 2142.50 - - - - - - - - - - -
15737.79 281.52 7.98 1669 15757.46 done 1.93 - - 2991.38 - 3.15 0.089 899.75 -338.8 178.41 - - 2141.84 - - - - - - - - - 15.54 -
15843.95 272.13 9.00 1687 15861.92 done 1.93 - - 2991.69 - 2.73 0.022 2039.56 417.5 178.41 - - 2144.72 - - - - - - - - - 15.78 -
16168.44 246.77 7.96 1719 16188.28 done 1.96 - - 2991.31 - 3.05 0.075 3102.31 348.4 178.41 - - 2142.94 - - - - - - - - - 15.64 -
16234.87 240.99 8.90 1729 16253.66 done 1.96 - - 2990.56 - 2.84 0.025 1967.25 -399.7 178.41 - - 2142.62 - - - - - - - - - 15.68 -
16560.14 215.23 7.89 1761 16579.73 done 2.00 - - 2991.06 - 3.16 0.087 898.56 -338.2 178.41 - - 2142.75 - - - - - - - - - 15.32 -
16610.48 210.96 8.28 1768 16629.56 done 2.00 - - 2990.62 - 2.73 0.022 2040.69 418.4 178.41 - - 2143.91 - - - - - - - - - 15.65 -
16936.05 186.27 7.04 1800 16957.39 2.08 0.05 0.178 3015.12 490.0 3.35 0.083 898.19 -341.0 178.41 - - 2142.84 - - - - - - - - 15.79 15.43 -
16978.14 182.69 7.98 1805 16997.34 done 2.08 - - 3016.19 - 2.76 0.021 2041.81 414.4 178.41 - - 2143.69 - - - - - - - - - 15.69 -
17303.42 156.74 8.28 1837 17307.48 VBD 2.08 - - 3016.94 - - - 2041.12 - 178.41 - - 2142.03 - - - - - - - - - - -
17613.98 131.98 7.36 1868 17634.40 done 2.15 - - 3014.19 - 3.39 0.081 898.44 -337.1 178.41 - - 2142.81 - - - - - - - - - 15.52 -
17710.89 124.23 7.99 1884 17729.54 done 2.15 - - 3016.00 - 2.78 0.021 2038.56 410.1 178.41 - - 2143.38 - - - - - - - - - 15.59 -
18036.19 101.23 6.44 1916 18056.86 2.27 - - 3015.69 - 3.38 0.080 899.62 -337.0 178.41 - - 2141.53 - - - - - - - - - 15.45 -
18133.81 95.65 5.66 1932 18152.72 2.44 - - 3016.50 - 2.77 0.020 2043.44 412.9 178.41 - - 2143.22 - - - - - - - - - 15.50 -
18339.33 87.21 3.81 1970 18464.86 2.62 - - 3017.00 - 3.08 0.073 3102.75 343.9 272.31 73.14 1.152 1779.16 -5.0 0.065 - - - - - - - 15.26 10.55
18591.81 72.52 5.96 2011 18611.14 roll back 2.77 - - 3016.06 - 2.87 0.023 1968.06 -395.4 272.31 - - 1771.56 - - - - - - - - - 15.60 -
18797.82 60.27 6.22 2049 18818.37 2.91 - - 3015.62 - 3.19 0.085 898.12 -335.4 272.31 - - 1770.12 - - - - - - - - - 15.48 -
18850.30 56.68 6.89 2056 18869.58 3.00 - - 3016.88 - 2.74 0.020 2043.50 418.0 272.31 - - 1769.47 - - - - - - - - - 15.69 -
19056.26 44.31 5.88 2094 19076.16 3.16 - - 3016.75 - 3.07 0.072 3102.06 344.8 272.31 - - 1768.00 - - - - - - - - - 15.41 -
19093.07 41.96 6.35 2098 19112.80 3.29 - - 3016.12 - 2.86 0.023 1966.38 -397.1 272.31 - - 1767.47 - - - - - - - - - 15.57 -
19299.37 29.27 6.24 2136 19319.93 3.42 - - 3016.56 - 3.14 0.085 898.62 -340.1 272.31 - - 1767.22 - - - - - - - - - 15.56 -
19346.86 26.12 6.45 2142 19365.78 3.54 - - 3016.94 - 2.75 0.020 2047.50 417.8 272.31 - - 1766.62 - - - - - - - - - 15.66 -
19552.34 14.84 5.36 2180 19643.95 3.66 - - 3016.44 - 3.04 0.073 3101.50 346.7 334.87 50.62 1.030 1524.34 -4.8 0.012 - - - - - - - 15.31 11.24
19690.46 4.21 8.58 2200 19709.79 roll back 3.66 - - 3016.31 - 2.83 0.023 1967.12 -400.8 334.87 - - 1520.66 - - - - - - - - - 15.59 -
19715 end climb: SURFACE_DEPTH_REACHED
19715 begin surface coast
19776 end surface coast: CONTROL_FINISHED_OK
19777 begin surface
SM 1.01 - - - - 179.2 52.48 1.028 1259.8 24.0 20.31 0.050 1273.8 62.7 - 0.73 0.037 1245.8 1702.7 -4.750 - - 11.17 15.72 15.79 -