NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 941 * Raw log
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• Previous call tries 2 • 328.65 of 550.00 AH used of 24V (40.24% remains)
• Surface angle -63.1 deg, depth 0.40 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.97 (SM_CC=425)
• GPS1 time: 54 s
• GPS2 time: 3 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
5.69 - - - 77.14 VBD -1.35 - - 181.75 - - - 2247.56 - -82.73 70.26 0.005 2734.62 - - - - - - - - - - 14.98
78.26 3.34 -5.35 13 110.67 -1.35 14.72 0.232 1994.50 123.1 3.05 0.081 3427.44 386.8 -82.73 8.51 0.007 3111.66 44.3 -3.596 - - - - - - 15.48 14.97 15.09
287.79 40.15 -15.11 55 293.33 roll -1.35 - - 1993.94 - 2.60 0.017 2250.12 -452.8 -82.73 - - 3113.78 - - - - - - - - - 15.85 -
478.24 66.85 -14.04 93 483.68 roll -1.35 - - 1993.12 - 3.03 0.077 3426.12 388.1 -82.73 - - 3113.19 - - - - - - - - - 15.84 -
518.00 72.73 -14.95 101 523.43 roll -1.35 - - 1993.25 - 2.59 0.018 2247.69 -455.0 -82.73 - - 3113.00 - - - - - - - - - 15.89 -
708.63 94.01 -9.14 139 713.44 roll -1.35 - - 1993.56 - 2.53 0.061 1209.06 -410.5 -82.73 - - 3113.03 - - - - - - - - - 15.91 -
762.93 98.60 -8.28 150 768.48 roll -1.35 - - 1994.44 - 2.65 0.024 2347.50 429.6 -82.73 - - 3112.75 - - - - - - - - - 15.93 -
952.94 114.75 -8.44 188 958.51 roll -1.35 - - 1992.88 - 2.76 0.081 3427.50 391.3 -82.73 - - 3114.16 - - - - - - - - - 15.90 -
992.95 118.12 -8.36 196 998.49 roll -1.35 - - 1994.69 - 2.60 0.018 2233.25 -459.3 -82.73 - - 3113.56 - - - - - - - - - 15.94 -
1303.03 143.14 -8.61 258 1308.13 roll -1.35 - - 1994.62 - 2.48 0.062 1207.31 -413.7 -82.73 - - 3113.59 - - - - - - - - - 15.96 -
1463.04 156.84 -8.17 290 1468.58 roll -1.35 - - 1994.81 - 2.63 0.025 2342.06 431.5 -82.73 - - 3113.59 - - - - - - - - - 15.97 -
1773.28 181.47 -8.31 352 1778.71 roll -1.35 - - 1994.69 - 2.76 0.057 1208.44 -410.7 -82.73 - - 3113.50 - - - - - - - - - 15.97 -
1903.11 192.92 -8.79 378 1908.64 roll -1.35 - - 1994.75 - 2.60 0.025 2331.88 432.1 -82.73 - - 3114.41 - - - - - - - - - 15.99 -
2213.17 217.28 -7.56 440 2214.50 no move -1.35 - - 1994.69 - - - 2332.06 - -82.73 - - 3112.59 - - - - - - - - - - -
2518.21 241.45 -8.06 501 2523.78 roll -1.35 - - 1993.31 - 2.74 0.058 1208.31 -410.1 -82.73 - - 3115.19 - - - - - - - - - 15.99 -
2608.22 248.97 -8.48 519 2613.76 roll -1.35 - - 1994.56 - 2.60 0.025 2330.38 431.6 -82.73 - - 3114.19 - - - - - - - - - 16.00 -
2918.52 274.65 -8.31 581 2923.86 roll -1.35 - - 1995.25 - 2.74 0.058 1209.44 -409.1 -82.73 - - 3114.12 - - - - - - - - - 15.98 -
2988.30 280.69 -8.60 595 2993.84 roll -1.35 - - 1994.38 - 2.58 0.025 2326.94 433.1 -82.73 - - 3113.16 - - - - - - - - - 16.00 -
3305.14 304.62 -7.39 651 3309.80 roll -1.35 - - 1995.12 - 2.73 0.059 1209.12 -409.5 -82.73 - - 3115.12 - - - - - - - - - 16.00 -
3343.79 307.50 -7.58 657 3358.60 roll -1.35 - - 1994.62 - 2.58 0.025 2325.12 432.6 -82.73 - - 3114.34 - - - - - - - - - 16.03 -
3659.88 330.06 -7.21 686 3664.53 roll -1.35 - - 1994.56 - 2.72 0.059 1209.38 -410.2 -82.73 - - 3113.94 - - - - - - - - - 15.99 -
3714.16 334.13 -7.60 694 3729.09 roll -1.35 - - 1995.06 - 2.57 0.025 2320.38 432.3 -82.73 - - 3117.31 - - - - - - - - - 16.02 -
4030.38 357.21 -7.25 723 4035.03 roll -1.35 - - 1994.62 - 2.70 0.060 1209.19 -411.6 -82.73 - - 3114.53 - - - - - - - - - 15.99 -
4083.30 361.12 -7.31 730 4087.92 roll -1.35 - - 1994.88 - 2.57 0.025 2316.00 430.7 -82.73 - - 3115.91 - - - - - - - - - 16.02 -
4394.60 382.97 -7.00 759 4405.67 no move -1.35 - - 1994.94 - - - 2316.31 - -82.73 - - 3113.09 - - - - - - - - - - -
4707.34 404.17 -6.96 788 4712.00 roll -1.35 - - 1994.81 - 2.71 0.060 1208.94 -408.6 -82.73 - - 3111.72 - - - - - - - - - 15.99 -
4825.33 412.81 -7.43 804 4840.08 roll -1.35 - - 1995.19 - 2.57 0.026 2316.38 430.9 -82.73 - - 3113.56 - - - - - - - - - 16.03 -
5141.48 436.87 -7.44 833 5146.13 roll -1.35 - - 1994.44 - 2.70 0.060 1208.44 -410.3 -82.73 - - 3111.62 - - - - - - - - - 15.99 -
5180.01 439.60 -7.31 839 5195.12 roll -1.35 - - 1994.75 - 2.56 0.026 2314.56 432.1 -82.73 - - 3112.19 - - - - - - - - - 16.02 -
5497.03 462.98 -7.37 868 5501.66 roll -1.35 - - 1994.19 - 2.69 0.061 1209.50 -410.8 -82.73 - - 3110.41 - - - - - - - - - 15.98 -
5565.70 468.37 -7.75 877 5570.31 roll -1.35 - - 1994.00 - 2.56 0.026 2311.62 430.5 -82.73 - - 3111.28 - - - - - - - - - 16.01 -
5877.01 489.31 -6.71 906 5881.66 roll -1.35 - - 1994.06 - 2.70 0.061 1208.06 -408.7 -82.73 - - 3112.66 - - - - - - - - - 15.98 -
5978.51 496.86 -7.65 920 5993.43 roll -1.35 - - 1995.06 - 2.54 0.026 2303.00 431.1 -82.73 - - 3111.59 - - - - - - - - - 16.02 -
6296.36 520.98 -7.39 942 6297.69 no move -1.35 - - 1994.56 - - - 2303.69 - -82.73 - - 3110.28 - - - - - - - - - - -
6611.38 544.07 -7.27 963 6616.05 roll -1.35 - - 1993.69 - 2.89 0.086 3425.25 388.1 -82.73 - - 3110.00 - - - - - - - - - 15.94 -
6648.57 546.98 -7.57 968 6653.21 roll -1.35 - - 1994.75 - 2.70 0.019 2203.06 -452.7 -82.73 - - 3109.53 - - - - - - - - - 16.02 -
6965.23 567.59 -6.35 990 6966.56 no move -1.35 - - 1994.31 - - - 2201.88 - -82.73 - - 3109.50 - - - - - - - - - - -
7280.06 590.34 -7.78 1011 7284.78 roll -1.35 - - 1995.06 - 3.15 0.082 3426.75 388.8 -82.73 - - 3109.25 - - - - - - - - - 15.93 -
7318.61 593.51 -8.17 1017 7324.35 roll -1.35 - - 1993.31 - 2.69 0.019 2202.06 -455.3 -82.73 - - 3110.72 - - - - - - - - - 16.02 -
7638.19 617.36 -7.05 1039 7639.52 no move -1.35 - - 1994.50 - - - 2200.56 - -82.73 - - 3107.88 - - - - - - - - - - -
7953.04 639.57 -7.05 1060 7954.37 no move -1.35 - - 1994.62 - - - 2200.69 - -82.73 - - 3108.47 - - - - - - - - - - -
8223 end dive: TARGET_DEPTH_EXCEEDED
8223 begin apogee
8224.87 657.88 -6.93 1078 8300.43 -0.28 1.85 0.130 2255.94 141.3 0.17 0.129 2163.88 -216.5 - 64.46 1.956 2775.00 -5.2 0.296 - - - - - - 15.87 15.38 10.62
8302 end apogee: CONTROL_FINISHED_OK
8302 begin climb
8302.88 659.75 - 1083 8377.90 1.35 2.73 0.115 2647.12 143.3 2.98 0.078 993.88 -392.6 82.73 66.22 1.894 2436.38 -5.1 0.303 - - - - - - 15.54 15.68 11.78
8427.12 655.75 4.25 1102 8506.16 1.50 0.22 0.081 2696.62 225.0 2.72 0.022 2141.56 421.9 161.23 64.92 1.862 2116.53 -4.9 0.295 - - - - - - 15.46 15.54 11.57
8818.61 623.59 8.69 1133 8819.94 VBD 1.50 - - 2696.50 - - - 2141.94 - 161.23 - - 2108.31 - - - - - - - - - - -
9133.61 596.93 8.14 1154 9134.95 VBD 1.50 - - 2696.88 - - - 2141.62 - 161.23 - - 2105.03 - - - - - - - - - - -
9448.65 575.10 6.69 1175 9453.33 done 1.54 - - 2696.25 - 2.91 0.078 992.19 -395.0 161.23 - - 2106.31 - - - - - - - - - 15.86 -
9512.95 570.73 7.32 1185 9527.88 done 1.56 - - 2697.44 - 2.66 0.023 2136.75 430.3 161.23 - - 2105.28 - - - - - - - - - 15.91 -
9842.36 547.16 7.20 1207 9847.01 done 1.59 - - 2695.62 - 2.73 0.080 3203.94 390.9 161.23 - - 2104.34 - - - - - - - - - 15.90 -
9906.89 542.68 7.60 1217 9921.79 done 1.60 - - 2696.75 - 2.60 0.023 2057.81 -440.8 161.23 - - 2104.09 - - - - - - - - - 15.94 -
10236.31 520.39 6.40 1239 10280.16 1.68 0.19 0.086 2736.69 210.2 2.97 0.079 3205.12 386.3 199.67 31.36 1.739 1961.44 -4.5 0.232 - - - - - - 15.92 15.52 11.04
10344.84 511.60 8.23 1255 10350.01 roll 1.68 - - 2737.75 - 2.61 0.024 2065.38 -436.7 199.67 - - 1958.91 - - - - - - - - - 15.84 -
10660.07 485.52 8.67 1281 10671.14 no move 1.68 - - 2737.25 - - - 2066.00 - 199.67 - - 1955.31 - - - - - - - - - - -
10973.26 457.15 9.54 1310 10978.08 roll 1.68 - - 2738.31 - 2.69 0.083 993.69 -398.6 199.67 - - 1954.81 - - - - - - - - - 15.88 -
11027.66 451.67 10.15 1318 11042.47 roll 1.68 - - 2737.75 - 2.67 0.024 2149.25 432.8 199.67 - - 1954.91 - - - - - - - - - 15.93 -
11343.77 422.97 8.44 1347 11348.44 roll 1.68 - - 2737.75 - 2.89 0.078 993.94 -399.8 199.67 - - 1951.88 - - - - - - - - - 15.89 -
11398.38 418.21 8.84 1355 11413.32 roll 1.68 - - 2737.88 - 2.66 0.024 2143.81 432.3 199.67 - - 1952.84 - - - - - - - - - 15.95 -
11715.00 393.40 7.63 1384 11719.65 done 1.70 - - 2738.31 - 2.70 0.082 3205.94 393.4 199.67 - - 1951.31 - - - - - - - - - 15.92 -
11783.68 387.75 8.10 1393 11788.30 done 1.70 - - 2737.81 - 2.57 0.024 2067.00 -443.2 199.67 - - 1951.62 - - - - - - - - - 15.97 -
12095.36 362.57 8.46 1422 12100.21 done 1.70 - - 2735.81 - 2.67 0.083 993.25 -402.2 199.67 - - 1952.44 - - - - - - - - - 15.91 -
12164.03 356.14 9.19 1431 12168.67 done 1.70 - - 2737.88 - 2.66 0.024 2148.94 434.5 199.67 - - 1951.47 - - - - - - - - - 15.98 -
12475.71 329.10 8.73 1460 12486.79 VBD 1.70 - - 2738.25 - - - 2149.06 - 199.67 - - 1951.75 - - - - - - - - - - -
12788.49 304.19 7.70 1489 12793.34 done 1.71 - - 2737.81 - 2.89 0.077 994.06 -399.7 199.67 - - 1951.75 - - - - - - - - - 15.91 -
12879.57 296.64 8.34 1503 12884.94 done 1.71 - - 2737.62 - 2.66 0.024 2145.38 432.8 199.67 - - 1952.47 - - - - - - - - - 15.98 -
13189.87 275.03 6.99 1565 13195.07 done 1.74 - - 2737.50 - 2.90 0.077 993.81 -397.1 199.67 - - 1951.84 - - - - - - - - - 15.89 -
13224.52 272.28 7.69 1572 13230.06 done 1.76 - - 2737.88 - 2.66 0.023 2143.31 432.1 199.67 - - 1951.31 - - - - - - - - - 15.98 -
13534.63 247.48 8.39 1634 13540.18 done 1.76 - - 2738.12 - 2.72 0.081 3204.69 390.2 199.67 - - 1951.97 - - - - - - - - - 15.91 -
13574.63 243.82 9.16 1642 13580.16 done 1.76 - - 2738.00 - 2.60 0.023 2056.94 -441.4 199.67 - - 1951.81 - - - - - - - - - 15.98 -
13884.77 218.52 7.54 1704 13890.35 done 1.78 - - 2737.94 - 2.94 0.077 3206.62 391.0 199.67 - - 1951.22 - - - - - - - - - 15.91 -
13919.76 215.79 7.70 1711 13925.29 done 1.79 - - 2738.19 - 2.58 0.024 2063.50 -443.1 199.67 - - 1951.53 - - - - - - - - - 15.98 -
14229.94 192.56 7.52 1773 14235.45 done 1.81 - - 2737.81 - 2.91 0.077 3206.31 392.7 199.67 - - 1952.06 - - - - - - - - - 15.90 -
14294.87 187.28 8.20 1786 14300.41 done 1.81 - - 2737.00 - 2.55 0.023 2071.19 -445.1 199.67 - - 1951.72 - - - - - - - - - 15.97 -
14604.95 164.72 6.94 1848 14606.39 1.84 0.17 0.088 2778.81 245.9 - - 2070.88 - 199.67 - - 1950.19 - - - - - - - - 15.95 - -
14910.38 141.88 7.12 1909 14915.52 done 1.87 - - 2777.25 - 2.68 0.081 993.69 -401.9 199.67 - - 1951.94 - - - - - - - - - 15.89 -
15010.00 134.37 7.49 1929 15015.54 done 1.89 - - 2779.00 - 2.65 0.023 2150.38 436.5 199.67 - - 1950.94 - - - - - - - - - 15.98 -
15320.05 111.90 7.43 1991 15325.61 done 1.91 - - 2777.62 - 2.88 0.075 993.69 -401.6 199.67 - - 1952.12 - - - - - - - - - 15.90 -
15500.06 99.68 6.08 2027 15541.89 2.00 0.16 0.091 2816.50 243.0 2.62 0.023 2140.00 437.5 244.02 35.61 1.254 1780.62 -4.8 0.065 - - - - - - 15.84 15.98 10.77
15725.11 87.94 5.36 2072 15776.90 done 2.11 - - 2817.06 - 2.75 0.081 3205.50 387.5 301.96 46.24 1.235 1544.00 -5.1 0.062 - - - - - - - 15.46 11.40
15950.52 72.09 7.04 2117 15955.65 roll 2.14 - - 2816.38 - 2.59 0.022 2066.94 -439.6 301.96 - - 1537.94 - - - - - - - - - 15.79 -
16140.16 61.80 5.31 2155 16192.43 2.26 0.33 0.067 2881.25 196.6 2.72 0.081 992.75 -394.9 360.69 46.48 1.184 1305.06 -5.0 0.044 - - - - - - 15.81 15.43 11.26
16420.25 40.48 6.32 2211 16457.73 done 2.34 - - 2881.00 - 2.65 0.022 2138.19 432.2 400.69 32.28 1.129 1141.22 -5.1 0.031 - - - - - - - 15.79 11.40
16640.28 24.56 7.21 2255 16645.77 roll 2.36 - - 2880.31 - 2.74 0.078 3205.69 389.6 400.69 - - 1137.34 - - - - - - - - - 15.77 -
16700.21 19.27 9.44 2267 16705.77 roll 2.36 - - 2881.38 - 2.63 0.023 2051.50 -438.9 400.69 - - 1136.66 - - - - - - - - - 15.80 -
16890.26 5.63 6.88 2305 16895.85 roll 2.39 - - 2880.88 - 2.96 0.074 3205.69 389.9 400.69 - - 1135.50 - - - - - - - - - 15.81 -
16910 end climb: SURFACE_DEPTH_REACHED
16910 begin surface coast
16970 end surface coast: CONTROL_FINISHED_OK
16970 begin surface
SM 0.41 - - - - 180.6 19.91 1.071 1042.5 52.4 16.63 0.045 1027.8 61.8 - 2.05 0.017 1057.2 514.3 -1.268 - - 11.20 15.81 15.85 -