NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 620 * Raw log
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• Previous call tries 1 • 206.03 of 550.00 AH used of 24V (62.54% remains)
• Surface angle -60.1 deg, depth 0.45 m • Intended pitch -21.3 deg, speed -9.167 cm/s
• No surface pump (final VBD was 799.2, SM_CC=425)
• GPS1 time: 22 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
3 begin dive
5.31 - - - 82.59 VBD -1.43 - - 178.06 - - - 2237.19 - -121.65 75.77 0.005 2461.66 - - - - - - - - - - 15.18
83.33 3.17 -4.65 14 125.07 -1.43 14.40 0.242 1984.25 125.4 2.47 0.067 1207.19 -417.0 -121.65 17.23 0.006 3271.00 47.0 -4.225 - - - - - - 15.45 15.13 15.31
352.17 52.17 -15.47 68 357.72 roll -1.43 - - 1984.69 - 2.62 0.029 2353.31 437.5 -121.65 - - 3271.75 - - - - - - - - - 15.78 -
542.84 78.05 -12.76 106 547.75 roll -1.43 - - 1984.75 - 2.65 0.083 3429.00 405.9 -121.65 - - 3271.00 - - - - - - - - - 15.80 -
777.24 109.74 -12.92 153 782.77 roll -1.43 - - 1985.38 - 2.57 0.020 2246.75 -460.0 -121.65 - - 3271.88 - - - - - - - - - 15.87 -
1087.28 140.77 -10.59 215 1092.88 roll -1.43 - - 1984.50 - 2.91 0.079 3427.00 405.6 -121.65 - - 3273.19 - - - - - - - - - 15.86 -
1322.32 168.71 -11.71 262 1327.85 roll -1.43 - - 1984.25 - 2.55 0.020 2245.25 -463.4 -121.65 - - 3273.03 - - - - - - - - - 15.90 -
1632.37 202.87 -10.62 324 1633.69 no move -1.43 - - 1984.81 - - - 2244.00 - -121.65 - - 3272.19 - - - - - - - - - - -
1937.42 235.15 -10.51 385 1938.75 no move -1.43 - - 1984.62 - - - 2243.88 - -121.65 - - 3272.06 - - - - - - - - - - -
2242.47 266.57 -10.03 446 2243.80 no move -1.43 - - 1984.75 - - - 2243.56 - -121.65 - - 3270.44 - - - - - - - - - - -
2547.76 297.29 -9.91 507 2552.69 roll -1.43 - - 1984.56 - 2.48 0.067 1208.44 -417.4 -121.65 - - 3270.94 - - - - - - - - - 15.93 -
2582.55 300.35 -10.18 514 2588.13 roll -1.43 - - 1984.50 - 2.60 0.029 2354.62 440.8 -121.65 - - 3270.72 - - - - - - - - - 15.96 -
2896.74 332.33 -10.13 543 2907.81 no move -1.43 - - 1985.06 - - - 2354.50 - -121.65 - - 3269.50 - - - - - - - - - - -
3209.19 363.63 -9.64 572 3213.84 roll -1.43 - - 1985.12 - 2.74 0.062 1209.69 -417.8 -121.65 - - 3270.38 - - - - - - - - - 15.94 -
3325.06 375.03 -9.81 587 3329.68 roll -1.43 - - 1985.12 - 2.60 0.030 2351.75 439.3 -121.65 - - 3270.75 - - - - - - - - - 15.98 -
3636.49 404.57 -9.42 616 3647.55 no move -1.43 - - 1984.88 - - - 2352.12 - -121.65 - - 3268.16 - - - - - - - - - - -
3949.61 434.33 -9.49 645 3960.68 no move -1.43 - - 1985.12 - - - 2351.94 - -121.65 - - 3267.56 - - - - - - - - - - -
4262.30 464.24 -9.48 674 4266.95 roll -1.43 - - 1985.00 - 2.76 0.064 1208.38 -414.3 -121.65 - - 3265.94 - - - - - - - - - 15.94 -
4378.17 475.98 -10.11 689 4382.79 roll -1.43 - - 1984.38 - 2.60 0.030 2352.38 440.0 -121.65 - - 3265.84 - - - - - - - - - 15.99 -
4696.36 506.35 -9.33 717 4697.69 no move -1.43 - - 1984.38 - - - 2352.75 - -121.65 - - 3264.84 - - - - - - - - - - -
5011.01 536.42 -9.65 738 5015.84 roll -1.43 - - 1984.75 - 2.74 0.064 1209.62 -417.2 -121.65 - - 3265.25 - - - - - - - - - 15.94 -
5096.20 544.13 -9.79 751 5110.94 roll -1.43 - - 1985.00 - 2.60 0.030 2350.31 438.7 -121.65 - - 3266.22 - - - - - - - - - 16.00 -
5425.43 575.14 -9.04 773 5430.07 roll -1.43 - - 1984.94 - 2.76 0.064 1208.50 -413.7 -121.65 - - 3263.69 - - - - - - - - - 15.94 -
5484.88 580.63 -9.39 782 5490.26 roll -1.43 - - 1984.81 - 2.61 0.030 2351.56 438.0 -121.65 - - 3264.12 - - - - - - - - - 16.01 -
5804.11 607.33 -8.12 804 5805.44 no move -1.43 - - 1984.81 - - - 2351.50 - -121.65 - - 3262.12 - - - - - - - - - - -
6119.13 632.77 -8.24 825 6123.78 roll -1.43 - - 1984.44 - 2.76 0.064 1208.25 -414.2 -121.65 - - 3263.22 - - - - - - - - - 15.93 -
6197.81 639.65 -8.69 836 6202.45 roll -1.43 - - 1984.25 - 2.62 0.031 2351.44 436.3 -121.65 - - 3262.59 - - - - - - - - - 16.00 -
6514.29 666.27 -8.44 858 6515.62 no move -1.43 - - 1984.81 - - - 2351.44 - -121.65 - - 3261.06 - - - - - - - - - - -
6829.30 692.76 -8.49 879 6833.94 roll -1.43 - - 1984.81 - 2.78 0.064 1208.44 -411.2 -121.65 - - 3260.19 - - - - - - - - - 15.92 -
6888.57 697.80 -8.65 888 6894.13 roll -1.43 - - 1984.56 - 2.61 0.031 2350.81 437.7 -121.65 - - 3261.91 - - - - - - - - - 16.01 -
7208.00 723.99 -8.19 910 7212.64 roll -1.43 - - 1984.00 - 2.77 0.064 1209.44 -412.0 -121.65 - - 3261.12 - - - - - - - - - 15.91 -
7286.88 730.76 -8.55 921 7291.70 roll -1.43 - - 1985.00 - 2.62 0.031 2350.81 435.6 -121.65 - - 3260.16 - - - - - - - - - 16.00 -
7603.47 757.00 -8.46 943 7608.11 roll -1.43 - - 1983.88 - 2.74 0.064 1211.12 -415.9 -121.65 - - 3261.41 - - - - - - - - - 15.91 -
7647.01 760.31 -8.68 950 7661.95 roll -1.43 - - 1984.56 - 2.61 0.031 2351.94 437.1 -121.65 - - 3260.25 - - - - - - - - - 16.00 -
7976.42 788.79 -8.58 972 7977.75 no move -1.43 - - 1984.94 - - - 2352.19 - -121.65 - - 3259.22 - - - - - - - - - - -
8291.44 816.26 -8.70 993 8296.08 roll -1.43 - - 1984.75 - 2.78 0.065 1209.50 -411.0 -121.65 - - 3257.94 - - - - - - - - - 15.90 -
8355.71 821.52 -8.98 1003 8370.65 roll -1.43 - - 1984.38 - 2.61 0.031 2351.50 437.5 -121.65 - - 3259.94 - - - - - - - - - 16.01 -
8685.12 851.07 -8.79 1025 8686.45 no move -1.43 - - 1984.31 - - - 2351.56 - -121.65 - - 3258.62 - - - - - - - - - - -
9000.14 879.09 -9.02 1046 9001.47 no move -1.43 - - 1984.81 - - - 2351.81 - -121.65 - - 3258.25 - - - - - - - - - - -
9315.16 906.89 -8.90 1067 9319.80 roll -1.43 - - 1984.81 - 2.76 0.065 1208.19 -414.4 -121.65 - - 3257.16 - - - - - - - - - 15.89 -
9436.66 917.83 -9.12 1085 9442.21 roll -1.43 - - 1984.62 - 2.62 0.032 2351.50 436.4 -121.65 - - 3257.81 - - - - - - - - - 16.00 -
9756.09 944.92 -8.18 1107 9760.74 roll -1.43 - - 1983.88 - 2.77 0.065 1210.75 -411.8 -121.65 - - 3259.06 - - - - - - - - - 15.88 -
9794.63 948.06 -8.32 1113 9800.37 roll -1.43 - - 1984.75 - 2.61 0.031 2351.44 437.0 -121.65 - - 3256.91 - - - - - - - - - 16.01 -
10114.18 974.06 -8.06 1135 10115.51 no move -1.43 - - 1984.75 - - - 2352.25 - -121.65 - - 3256.47 - - - - - - - - - - -
10323 end dive: TARGET_DEPTH_EXCEEDED
10324 begin apogee
10325.91 991.05 -8.03 1149 10432.37 -0.28 1.97 0.137 2264.12 141.8 0.22 0.129 2281.50 -321.6 - 91.89 2.439 2774.62 -5.2 0.363 - - - - - - 15.77 15.34 10.51
10433 end apogee: CONTROL_FINISHED_OK
10434 begin climb
10434.46 993.38 - 1156 10543.94 1.43 2.77 0.084 2680.88 150.5 2.85 0.096 3345.75 373.4 121.65 100.22 2.386 2280.38 -4.9 0.350 - - - - - - 15.44 15.07 12.00
10587.78 984.44 7.25 1178 10593.15 roll 1.47 - - 2681.81 - 2.70 0.023 2191.56 -427.5 121.65 - - 2274.88 - - - - - - - - - 15.35 -
10907.02 955.18 9.00 1200 10911.83 done 1.47 - - 2681.88 - 2.66 0.078 1132.12 -398.3 121.65 - - 2270.16 - - - - - - - - - 15.66 -
10965.07 949.59 9.46 1208 10969.70 done 1.47 - - 2682.06 - 2.66 0.030 2269.12 427.4 121.65 - - 2267.81 - - - - - - - - - 15.70 -
11281.54 920.80 8.79 1230 11282.87 VBD 1.47 - - 2681.94 - - - 2269.31 - 121.65 - - 2267.34 - - - - - - - - - - -
11596.55 892.16 9.13 1251 11601.22 done 1.47 - - 2682.31 - 2.83 0.075 1130.94 -402.3 121.65 - - 2266.59 - - - - - - - - - 15.82 -
11718.40 880.84 9.41 1269 11723.95 done 1.47 - - 2682.06 - 2.64 0.031 2270.00 431.5 121.65 - - 2268.62 - - - - - - - - - 15.87 -
12037.82 854.19 8.00 1291 12039.15 VBD 1.49 - - 2681.75 - - - 2270.25 - 121.65 - - 2265.84 - - - - - - - - - - -
12352.83 829.69 7.74 1312 12354.17 VBD 1.52 - - 2682.31 - - - 2270.25 - 121.65 - - 2265.62 - - - - - - - - - - -
12667.85 806.88 6.97 1333 12713.59 1.60 0.23 0.073 2732.75 219.3 - - 2269.94 - 164.88 34.97 2.170 2102.06 -4.7 0.296 - - - - - - 15.90 - 11.34
13027.87 771.35 10.39 1357 13032.53 roll 1.60 - - 2732.56 - 2.85 0.075 1132.25 -399.2 164.88 - - 2094.91 - - - - - - - - - 15.80 -
13092.14 764.87 11.01 1367 13107.08 roll 1.60 - - 2733.06 - 2.65 0.032 2270.12 429.4 164.88 - - 2095.53 - - - - - - - - - 15.83 -
13421.55 728.94 11.10 1389 13426.39 roll 1.60 - - 2733.88 - 2.84 0.074 1132.38 -400.6 164.88 - - 2093.25 - - - - - - - - - 15.84 -
13458.90 724.60 11.44 1394 13463.53 done 1.60 - - 2733.31 - 2.62 0.032 2271.19 434.7 164.88 - - 2094.09 - - - - - - - - - 15.87 -
13775.39 689.21 11.28 1416 13780.06 done 1.60 - - 2732.81 - 2.83 0.074 1132.38 -402.4 164.88 - - 2093.81 - - - - - - - - - 15.86 -
13813.93 684.91 11.39 1422 13819.48 done 1.60 - - 2733.62 - 2.63 0.032 2272.31 433.4 164.88 - - 2093.84 - - - - - - - - - 15.91 -
14133.34 650.25 10.75 1444 14134.68 VBD 1.60 - - 2733.50 - - - 2272.06 - 164.88 - - 2092.28 - - - - - - - - - - -
14448.36 617.08 10.19 1465 14453.02 done 1.60 - - 2732.69 - 2.83 0.074 1131.19 -403.1 164.88 - - 2094.62 - - - - - - - - - 15.87 -
14507.81 610.81 10.67 1474 14513.18 done 1.60 - - 2733.44 - 2.62 0.032 2272.62 435.7 164.88 - - 2094.47 - - - - - - - - - 15.94 -
14827.06 577.98 10.00 1496 14831.71 done 1.60 - - 2733.50 - 2.72 0.093 3345.69 394.5 164.88 - - 2091.34 - - - - - - - - - 15.86 -
14886.34 571.63 10.71 1505 14891.87 done 1.60 - - 2733.94 - 2.58 0.024 2189.81 -448.0 164.88 - - 2092.69 - - - - - - - - - 15.95 -
15205.75 540.29 9.86 1527 15210.38 done 1.60 - - 2732.69 - 2.61 0.078 1131.06 -405.7 164.88 - - 2092.22 - - - - - - - - - 15.88 -
15286.10 532.12 10.33 1539 15291.84 done 1.60 - - 2732.81 - 2.63 0.031 2271.25 433.5 164.88 - - 2093.28 - - - - - - - - - 15.96 -
15605.68 501.27 9.62 1561 15607.01 VBD 1.60 - - 2733.56 - - - 2271.44 - 164.88 - - 2091.28 - - - - - - - - - - -
15910.70 473.04 9.11 1589 15915.34 done 1.60 - - 2733.62 - 2.80 0.074 1132.44 -406.8 164.88 - - 2090.66 - - - - - - - - - 15.88 -
15964.99 467.89 9.53 1597 15979.92 done 1.60 - - 2732.81 - 2.62 0.031 2271.81 434.9 164.88 - - 2093.38 - - - - - - - - - 15.97 -
16281.50 439.36 8.67 1626 16292.58 VBD 1.60 - - 2734.00 - - - 2272.31 - 164.88 - - 2091.88 - - - - - - - - - - -
16594.20 412.10 8.70 1655 16598.87 done 1.60 - - 2733.94 - 2.82 0.074 1132.31 -404.3 164.88 - - 2090.09 - - - - - - - - - 15.88 -
16695.69 402.49 9.63 1669 16710.62 done 1.60 - - 2733.50 - 2.62 0.031 2271.69 434.9 164.88 - - 2092.09 - - - - - - - - - 15.98 -
17012.39 372.65 9.44 1698 17017.05 done 1.60 - - 2734.31 - 2.82 0.073 1130.94 -404.5 164.88 - - 2090.62 - - - - - - - - - 15.87 -
17081.05 365.65 10.09 1707 17085.69 done 1.60 - - 2733.38 - 2.63 0.031 2272.38 434.0 164.88 - - 2090.19 - - - - - - - - - 15.97 -
17392.69 336.57 9.09 1736 17403.77 VBD 1.60 - - 2734.31 - - - 2272.56 - 164.88 - - 2092.12 - - - - - - - - - - -
17705.62 309.06 8.71 1765 17710.47 done 1.60 - - 2733.06 - 2.81 0.073 1132.19 -405.8 164.88 - - 2091.38 - - - - - - - - - 15.87 -
17758.72 304.27 8.92 1772 17763.35 done 1.60 - - 2732.94 - 2.63 0.031 2272.38 433.5 164.88 - - 2091.75 - - - - - - - - - 15.97 -
18064.60 280.75 7.34 1827 18065.93 VBD 1.64 - - 2733.62 - - - 2272.31 - 164.88 - - 2091.47 - - - - - - - - - - -
18369.69 257.46 7.60 1888 18375.26 done 1.67 - - 2734.31 - 2.83 0.073 1132.69 -402.7 164.88 - - 2092.34 - - - - - - - - - 15.86 -
18444.79 251.10 8.55 1903 18450.24 done 1.68 - - 2733.62 - 2.62 0.030 2273.50 435.4 164.88 - - 2092.38 - - - - - - - - - 15.96 -
18754.81 225.78 8.10 1965 18760.38 done 1.71 - - 2734.12 - 2.81 0.073 1130.12 -406.9 164.88 - - 2091.41 - - - - - - - - - 15.85 -
18789.83 222.83 8.35 1972 18795.36 done 1.72 - - 2734.06 - 2.62 0.030 2273.50 436.4 164.88 - - 2092.41 - - - - - - - - - 15.96 -
19099.93 198.39 7.76 2034 19101.26 VBD 1.75 - - 2733.81 - - - 2273.88 - 164.88 - - 2091.34 - - - - - - - - - - -
19405.22 174.00 8.12 2095 19406.66 1.77 0.16 0.094 2773.12 245.7 - - 2273.50 - 164.88 - - 2091.19 - - - - - - - - 15.92 - -
19710.51 146.68 8.30 2156 19715.65 done 1.79 - - 2774.75 - 2.68 0.090 3345.62 400.0 164.88 - - 2092.22 - - - - - - - - - 15.82 -
19785.11 140.26 8.80 2171 19790.65 done 1.79 - - 2774.69 - 2.57 0.023 2186.25 -451.1 164.88 - - 2092.38 - - - - - - - - - 15.96 -
20095.16 122.53 4.82 2233 20161.79 1.96 0.19 0.081 2817.25 224.0 - - 2186.75 - 250.51 63.66 1.337 1753.53 -5.3 0.083 - - - - - - 15.93 - 10.89
20465.19 89.41 9.11 2307 20470.75 done 1.96 - - 2817.94 - 2.61 0.077 1132.44 -404.0 250.51 - - 1742.81 - - - - - - - - - 15.77 -
20640.22 75.02 7.51 2342 20645.77 done 1.99 - - 2818.19 - 2.63 0.029 2273.62 433.9 250.51 - - 1741.38 - - - - - - - - - 15.83 -
20830.43 61.35 7.40 2380 20831.77 VBD 2.03 - - 2817.75 - - - 2273.94 - 250.51 - - 1739.44 - - - - - - - - - - -
21015.26 49.57 5.03 2417 21082.76 2.19 0.27 0.068 2877.12 219.9 2.70 0.090 3347.44 397.6 332.08 60.63 1.214 1421.31 -5.2 0.036 - - - - - - 15.84 15.63 11.50
21200.27 33.72 9.55 2454 21205.82 roll 2.19 - - 2877.56 - 2.61 0.022 2183.56 -445.9 332.08 - - 1415.81 - - - - - - - - - 15.73 -
21390.31 29.57 1.42 2492 21509.46 2.50 0.35 0.067 2947.25 199.1 2.64 0.078 1130.88 -398.7 484.80 111.82 1.166 798.69 -5.5 0.024 - - - - - - 15.74 15.43 11.63
21596.56 13.43 12.04 2533 21602.12 roll 2.50 - - 2947.88 - 2.67 0.030 2271.56 427.2 484.80 - - 794.56 - - - - - - - - - 15.60 -
21686 end climb: SURFACE_DEPTH_REACHED
21686 begin surface coast
21727 end surface coast: CONTROL_FINISHED_OK
21727 begin surface
SM 0.72 - - - - 180.7 - - 791.1 - 17.17 0.044 783.0 45.6 - 0.14 0.127 799.2 5689.5 -3.297 - - 30.00 15.62 15.64 -