NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 391 * Raw log
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• Previous call tries 2 • 122.32 of 550.00 AH used of 24V (77.76% remains)
• Surface angle -63.5 deg, depth 0.68 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.80 (SM_CC=425)
• GPS1 time: 57 s
• GPS2 time: 4 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
3 end surface: CONTROL_FINISHED_OK
4 begin dive
5.10 - - - 67.00 VBD -1.37 - - 177.00 - - - 2246.12 - -82.73 60.77 0.005 2594.09 - - - - - - - - - - 15.61
67.74 3.66 -6.12 11 101.62 -1.37 14.09 0.255 1988.62 128.6 2.92 0.090 3428.31 404.9 -82.73 11.09 0.007 3110.19 46.5 -4.000 - - - - - - 15.73 15.57 15.68
293.71 49.59 -16.08 56 299.24 roll -1.37 - - 1988.38 - 2.55 0.022 2250.69 -461.8 -82.73 - - 3112.34 - - - - - - - - - 15.90 -
484.11 73.00 -11.00 94 488.86 roll -1.37 - - 1988.69 - 2.44 0.066 1207.25 -427.6 -82.73 - - 3112.50 - - - - - - - - - 15.93 -
508.85 75.66 -10.67 99 514.30 roll -1.37 - - 1988.44 - 2.61 0.029 2354.38 439.5 -82.73 - - 3112.28 - - - - - - - - - 15.94 -
699.48 94.19 -9.16 137 704.32 roll -1.37 - - 1988.56 - 2.62 0.089 3428.19 409.9 -82.73 - - 3113.06 - - - - - - - - - 15.94 -
848.79 109.23 -9.93 167 854.33 roll -1.37 - - 1988.81 - 2.54 0.022 2246.75 -465.1 -82.73 - - 3112.62 - - - - - - - - - 15.99 -
1158.84 134.96 -8.69 229 1160.17 no move -1.37 - - 1988.25 - - - 2245.00 - -82.73 - - 3112.62 - - - - - - - - - - -
1463.91 162.25 -8.13 290 1469.48 roll -1.37 - - 1989.00 - 2.88 0.083 3428.31 410.9 -82.73 - - 3115.12 - - - - - - - - - 16.03 -
1638.95 178.24 -9.02 325 1644.50 roll -1.37 - - 1988.62 - 2.53 0.022 2247.94 -466.5 -82.73 - - 3114.72 - - - - - - - - - 16.04 -
1949.06 202.97 -7.95 387 1954.63 roll -1.37 - - 1988.94 - 2.88 0.083 3427.50 409.6 -82.73 - - 3114.16 - - - - - - - - - 16.05 -
2074.09 214.82 -9.87 412 2079.80 roll -1.37 - - 1987.44 - 2.53 0.022 2248.12 -466.2 -82.73 - - 3114.66 - - - - - - - - - 16.06 -
2384.21 242.55 -8.83 474 2385.54 no move -1.37 - - 1988.25 - - - 2246.50 - -82.73 - - 3113.56 - - - - - - - - - - -
2689.31 270.47 -9.32 535 2690.64 no move -1.37 - - 1988.56 - - - 2246.06 - -82.73 - - 3112.78 - - - - - - - - - - -
2994.42 299.74 -9.55 596 3000.00 roll -1.37 - - 1988.38 - 2.87 0.085 3428.88 412.1 -82.73 - - 3113.50 - - - - - - - - - 16.07 -
3072.51 308.03 -10.97 607 3087.25 roll -1.37 - - 1987.56 - 2.51 0.023 2250.25 -469.6 -82.73 - - 3114.47 - - - - - - - - - 16.09 -
3388.58 338.20 -9.39 636 3393.24 roll -1.37 - - 1988.69 - 2.87 0.085 3426.88 410.0 -82.73 - - 3113.72 - - - - - - - - - 16.08 -
3600.90 360.46 -10.63 664 3615.44 roll -1.37 - - 1988.88 - 2.52 0.023 2249.88 -467.1 -82.73 - - 3112.38 - - - - - - - - - 16.10 -
3916.65 389.55 -9.29 693 3921.31 roll -1.37 - - 1988.00 - 2.86 0.086 3427.19 411.6 -82.73 - - 3112.56 - - - - - - - - - 16.09 -
3955.20 393.31 -9.81 699 3970.12 roll -1.37 - - 1989.00 - 2.52 0.023 2249.62 -467.3 -82.73 - - 3112.25 - - - - - - - - - 16.10 -
4271.73 423.56 -9.09 728 4282.80 no move -1.37 - - 1988.56 - - - 2249.50 - -82.73 - - 3111.78 - - - - - - - - - - -
4584.68 451.33 -8.97 757 4589.34 roll -1.37 - - 1988.69 - 2.86 0.087 3429.06 412.4 -82.73 - - 3111.44 - - - - - - - - - 16.09 -
4637.60 456.50 -9.47 764 4642.22 roll -1.37 - - 1987.69 - 2.52 0.023 2251.12 -467.4 -82.73 - - 3111.44 - - - - - - - - - 16.10 -
4949.70 483.17 -8.65 793 4954.35 roll -1.37 - - 1988.75 - 2.86 0.087 3426.75 411.1 -82.73 - - 3110.94 - - - - - - - - - 16.09 -
5003.97 488.19 -9.25 801 5018.89 roll -1.37 - - 1988.38 - 2.52 0.023 2251.19 -466.5 -82.73 - - 3111.72 - - - - - - - - - 16.11 -
5328.43 516.10 -8.57 826 5329.75 no move -1.37 - - 1988.44 - - - 2250.94 - -82.73 - - 3109.22 - - - - - - - - - - -
5643.46 541.83 -8.03 847 5648.12 roll -1.37 - - 1987.94 - 2.86 0.088 3425.31 410.6 -82.73 - - 3108.75 - - - - - - - - - 16.09 -
5785.70 554.30 -8.96 868 5791.23 roll -1.37 - - 1988.56 - 2.52 0.023 2252.12 -465.6 -82.73 - - 3109.50 - - - - - - - - - 16.12 -
6105.10 579.95 -7.94 890 6106.43 no move -1.37 - - 1988.44 - - - 2251.88 - -82.73 - - 3108.03 - - - - - - - - - - -
6420.12 604.60 -7.73 911 6424.78 roll -1.37 - - 1988.50 - 2.88 0.088 3430.81 409.4 -82.73 - - 3107.56 - - - - - - - - - 16.09 -
6561.00 616.42 -8.46 931 6565.79 roll -1.37 - - 1987.00 - 2.53 0.023 2251.69 -466.1 -82.73 - - 3108.75 - - - - - - - - - 16.10 -
6877.67 641.71 -8.15 953 6879.00 no move -1.37 - - 1989.06 - - - 2251.25 - -82.73 - - 3107.06 - - - - - - - - - - -
7192.51 666.78 -8.02 974 7193.84 no move -1.37 - - 1988.06 - - - 2251.50 - -82.73 - - 3106.91 - - - - - - - - - - -
7507.52 692.20 -8.22 995 7512.12 roll -1.37 - - 1988.31 - 2.43 0.073 1207.44 -429.7 -82.73 - - 3105.81 - - - - - - - - - 16.10 -
7551.06 695.42 -8.49 1002 7566.32 roll -1.37 - - 1988.19 - 2.58 0.032 2353.19 444.1 -82.73 - - 3107.12 - - - - - - - - - 16.12 -
7880.48 723.07 -8.06 1024 7881.81 no move -1.37 - - 1988.62 - - - 2353.25 - -82.73 - - 3105.34 - - - - - - - - - - -
8195.52 746.94 -7.32 1045 8200.15 roll -1.37 - - 1988.31 - 2.68 0.067 1208.56 -427.1 -82.73 - - 3104.84 - - - - - - - - - 16.10 -
8274.19 753.26 -7.94 1056 8278.80 roll -1.37 - - 1988.31 - 2.59 0.032 2354.38 442.4 -82.73 - - 3104.44 - - - - - - - - - 16.11 -
8590.65 774.44 -6.83 1078 8595.28 roll -1.37 - - 1986.44 - 2.62 0.095 3425.88 409.0 -82.73 - - 3106.62 - - - - - - - - - 16.08 -
8731.52 786.47 -8.83 1098 8736.14 roll -1.37 - - 1988.50 - 2.52 0.024 2252.81 -465.5 -82.73 - - 3105.62 - - - - - - - - - 16.09 -
9048.00 808.03 -6.19 1120 9052.67 roll -1.37 - - 1988.12 - 2.88 0.089 3427.12 407.7 -82.73 - - 3106.06 - - - - - - - - - 16.09 -
9106.10 811.99 -6.66 1128 9110.77 roll -1.37 - - 1988.75 - 2.52 0.023 2250.50 -466.9 -82.73 - - 3104.66 - - - - - - - - - 16.10 -
9303 end dive: TARGET_DEPTH_EXCEEDED
9303 begin apogee
9304.34 823.26 -5.51 1142 9379.63 -0.28 1.82 0.148 2253.69 145.6 0.14 0.175 2289.44 278.1 - 60.31 2.216 2775.62 -5.5 0.333 - - - - - - 16.03 15.71 12.11
9381 end apogee: CONTROL_FINISHED_OK
9381 begin climb
9381.46 824.27 - 1147 9454.38 1.37 2.62 0.095 2656.69 153.8 2.87 0.080 1129.69 -404.1 82.73 64.21 2.192 2438.41 -5.3 0.325 - - - - - - 15.74 15.40 12.78
9508.76 816.64 6.69 1166 9514.30 roll 1.40 - - 2655.25 - 2.66 0.030 2270.94 429.0 82.73 - - 2434.72 - - - - - - - - - 15.61 -
9828.18 792.90 6.88 1188 9829.51 no move 1.43 - - 2656.44 - - - 2270.50 - 82.73 - - 2431.16 - - - - - - - - - - -
10143.20 770.49 6.90 1209 10144.53 no move 1.47 - - 2656.50 - - - 2271.06 - 82.73 - - 2429.62 - - - - - - - - - - -
10458.21 749.37 7.07 1230 10462.91 roll back 1.49 0.16 0.097 2699.75 270.3 2.66 0.093 3345.06 403.8 82.73 - - 2430.56 - - - - - - - - 15.92 15.89 -
10578.55 738.34 9.32 1247 10583.23 roll 1.49 - - 2699.94 - 2.55 0.025 2189.50 -453.2 82.73 - - 2430.88 - - - - - - - - - 15.96 -
10895.04 712.91 7.75 1269 10899.65 done 1.51 - - 2700.19 - 2.52 0.081 1128.81 -420.9 82.73 - - 2428.56 - - - - - - - - - 15.98 -
11042.26 702.24 7.54 1291 11057.16 done 1.53 - - 2699.50 - 2.60 0.031 2275.94 441.2 82.73 - - 2431.03 - - - - - - - - - 16.01 -
11371.67 679.35 6.45 1313 11400.89 done 1.58 - - 2700.25 - 2.74 0.079 1129.75 -418.3 112.13 23.13 1.939 2318.03 -4.9 0.281 - - - - - - - 15.89 12.32
11482.44 670.85 8.12 1330 11497.39 roll 1.58 - - 2700.25 - 2.62 0.032 2272.12 436.0 112.13 - - 2316.78 - - - - - - - - - 15.95 -
11812.08 644.42 7.60 1352 11816.72 roll 1.60 - - 2700.31 - 2.73 0.076 1129.88 -418.4 112.13 - - 2313.41 - - - - - - - - - 15.97 -
11890.73 637.79 8.33 1363 11895.35 roll 1.60 - - 2698.31 - 2.61 0.032 2273.56 438.2 112.13 - - 2315.00 - - - - - - - - - 15.98 -
12207.38 613.97 7.33 1385 12212.01 roll 1.62 - - 2700.50 - 2.63 0.093 3345.31 407.5 112.13 - - 2314.28 - - - - - - - - - 15.99 -
12287.38 607.17 8.50 1397 12293.10 roll 1.62 - - 2700.19 - 2.55 0.025 2188.38 -453.7 112.13 - - 2315.69 - - - - - - - - - 16.02 -
12606.91 582.54 7.61 1419 12608.24 no move 1.64 - - 2700.06 - - - 2188.06 - 112.13 - - 2312.47 - - - - - - - - - - -
12921.81 556.19 8.57 1440 12923.14 no move 1.64 - - 2700.75 - - - 2187.81 - 112.13 - - 2312.56 - - - - - - - - - - -
13236.85 530.14 7.56 1461 13241.47 roll 1.66 - - 2700.31 - 2.51 0.082 1128.50 -422.0 112.13 - - 2312.19 - - - - - - - - - 16.05 -
13280.40 527.23 7.66 1468 13295.37 roll back 1.68 0.17 0.092 2742.31 247.1 2.59 0.032 2273.06 441.9 112.13 - - 2313.03 - - - - - - - - 15.98 16.06 -
13609.97 500.33 7.81 1490 13614.62 roll 1.69 - - 2741.94 - 2.70 0.076 1130.94 -423.0 112.13 - - 2313.59 - - - - - - - - - 16.06 -
13685.71 494.00 8.49 1500 13700.63 roll 1.69 - - 2742.31 - 2.59 0.032 2275.12 441.8 112.13 - - 2313.19 - - - - - - - - - 16.07 -
14001.80 469.47 7.62 1529 14012.88 no move 1.71 - - 2742.31 - - - 2275.06 - 112.13 - - 2312.88 - - - - - - - - - - -
14314.41 443.30 8.76 1558 14325.82 no move 1.71 - - 2742.50 - - - 2275.44 - 112.13 - - 2312.53 - - - - - - - - - - -
14627.36 414.54 9.25 1587 14638.43 no move 1.71 - - 2742.56 - - - 2275.38 - 112.13 - - 2313.03 - - - - - - - - - - -
14939.99 387.15 7.84 1616 14951.06 no move 1.72 - - 2742.12 - - - 2275.62 - 112.13 - - 2312.88 - - - - - - - - - - -
15252.83 364.41 6.85 1645 15257.46 roll 1.75 - - 2742.75 - 2.70 0.076 1130.00 -424.3 112.13 - - 2310.88 - - - - - - - - - 16.08 -
15353.15 356.15 8.40 1658 15357.83 roll 1.75 - - 2742.44 - 2.58 0.031 2274.31 443.5 112.13 - - 2311.22 - - - - - - - - - 16.08 -
15665.31 331.17 7.65 1687 15676.38 no move 1.77 - - 2742.44 - - - 2274.44 - 112.13 - - 2312.62 - - - - - - - - - - -
15978.38 310.04 6.38 1716 16012.01 done 1.83 - - 2742.31 - 2.71 0.078 1130.12 -422.3 142.60 24.01 1.518 2191.84 -5.0 0.169 - - - - - - - 15.99 12.16
16075.65 302.18 8.32 1728 16080.26 roll 1.83 - - 2742.38 - 2.59 0.031 2272.88 441.2 142.60 - - 2189.47 - - - - - - - - - 16.03 -
16385.03 277.00 8.04 1786 16390.57 roll 1.83 - - 2742.44 - 2.62 0.091 3347.31 410.1 142.60 - - 2190.09 - - - - - - - - - 16.00 -
16555.47 261.55 9.22 1820 16560.62 roll 1.83 - - 2742.94 - 2.54 0.025 2188.56 -456.2 142.60 - - 2191.25 - - - - - - - - - 16.02 -
16865.17 235.49 8.27 1882 16866.50 no move 1.83 - - 2742.19 - - - 2188.31 - 142.60 - - 2187.53 - - - - - - - - - - -
17170.27 209.35 8.84 1943 17171.60 no move 1.83 - - 2742.25 - - - 2188.56 - 142.60 - - 2187.72 - - - - - - - - - - -
17475.48 182.67 8.81 2004 17476.81 no move 1.83 - - 2742.00 - - - 2186.88 - 142.60 - - 2188.41 - - - - - - - - - - -
17780.49 158.04 7.76 2065 17786.05 roll 1.84 - - 2743.31 - 2.84 0.087 3346.88 408.5 142.60 - - 2189.31 - - - - - - - - - 16.04 -
17835.48 153.25 8.91 2076 17841.03 roll 1.84 - - 2742.94 - 2.54 0.025 2185.94 -457.1 142.60 - - 2188.69 - - - - - - - - - 16.06 -
18145.55 130.24 6.86 2138 18146.99 pitch 1.87 0.19 0.077 2787.88 236.5 - - 2185.31 - 142.60 - - 2191.66 - - - - - - - - 16.04 - -
18450.97 108.14 7.53 2199 18452.30 no move 1.89 - - 2787.75 - - - 2185.88 - 142.60 - - 2188.09 - - - - - - - - - - -
18755.63 90.42 6.05 2260 18787.08 done 1.96 - - 2788.56 - 2.84 0.087 3347.31 409.0 177.93 26.89 1.255 2050.53 -5.1 0.061 - - - - - - - 15.97 12.24
18791.22 88.15 6.40 2267 18821.38 done 2.02 - - 2788.94 - 2.55 0.024 2185.00 -455.8 208.08 24.17 1.216 1926.69 -5.1 0.061 - - - - - - - 16.03 12.92
19005.65 71.98 6.65 2310 19011.28 roll back 2.06 0.18 0.086 2831.81 238.2 2.86 0.084 3347.25 406.4 208.08 - - 1920.38 - - - - - - - - 15.92 15.92 -
19160.67 58.29 7.30 2341 19166.20 roll 2.08 - - 2831.31 - 2.55 0.024 2182.69 -456.7 208.08 - - 1919.53 - - - - - - - - - 15.95 -
19350.69 48.22 4.66 2379 19397.43 done 2.19 - - 2832.12 - 2.87 0.085 3346.75 405.6 263.79 41.14 1.207 1699.16 -5.4 0.035 - - - - - - - 15.82 12.38
19440.69 41.89 8.89 2397 19446.23 roll 2.19 - - 2831.62 - 2.56 0.024 2188.81 -452.3 263.79 - - 1696.06 - - - - - - - - - 15.88 -
19630.73 26.82 6.93 2435 19636.30 2.22 0.17 0.087 2870.94 231.3 2.52 0.079 1130.12 -420.1 263.79 - - 1691.31 - - - - - - - - 15.89 15.87 -
19715.74 21.12 6.33 2452 19746.50 done 2.29 - - 2871.81 - 2.59 0.029 2275.25 442.1 295.01 24.19 1.125 1571.97 -4.9 0.015 - - - - - - - 15.92 12.45
19930.76 10.74 3.37 2495 19988.30 2.44 0.23 0.074 2922.50 220.4 - - 2275.75 - 369.53 55.98 1.145 1268.53 -5.4 0.008 - - - - - - 15.89 - 12.44
20116 end climb: SURFACE_DEPTH_REACHED
20116 begin surface coast
20161 end surface coast: CONTROL_FINISHED_OK
20161 begin surface
SM 0.35 - - - - 180.8 41.42 1.133 1043.2 23.8 16.80 0.043 998.5 59.4 - 0.12 0.132 1088.0 9066.7 -2.457 - - 12.57 15.80 15.81 -