NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1049 * Raw log
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• Previous call tries 3 • 372.54 of 550.00 AH used of 24V (32.27% remains)
• Surface angle -63.0 deg, depth 0.65 m • Intended pitch -25.2 deg, speed -8.462 cm/s
VBD pumped to 424.96 (SM_CC=425)
• GPS1 time: 29 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
2 end surface: CONTROL_FINISHED_OK
3 begin dive
5.80 - - - 77.13 VBD -1.56 - - 178.25 - - - 2244.56 - -82.73 70.16 0.005 2738.34 - - - - - - - - - - 14.84
78.25 3.13 -4.38 13 110.51 -1.56 14.32 0.235 1941.62 123.1 2.56 0.069 1207.94 -404.9 -82.73 8.94 0.007 3112.38 41.8 -3.241 - - - - - - 15.38 14.90 15.01
177.59 19.75 -14.23 33 183.14 roll -1.56 - - 1941.69 - 2.68 0.027 2349.69 426.0 -82.73 - - 3112.62 - - - - - - - - - 15.79 -
368.00 47.35 -14.32 71 369.32 no move -1.56 - - 1941.88 - - - 2350.44 - -82.73 - - 3112.56 - - - - - - - - - - -
553.30 71.53 -11.81 108 558.22 roll -1.56 - - 1941.25 - 2.78 0.084 3427.38 387.4 -82.73 - - 3112.09 - - - - - - - - - 15.79 -
617.67 79.48 -11.72 121 623.21 roll -1.56 - - 1941.81 - 2.54 0.019 2274.19 -454.0 -82.73 - - 3113.34 - - - - - - - - - 15.87 -
808.09 97.18 -9.10 159 809.42 no move -1.56 - - 1941.62 - - - 2273.88 - -82.73 - - 3112.22 - - - - - - - - - - -
992.72 113.62 -8.50 196 998.32 roll -1.56 - - 1942.06 - 2.95 0.079 3426.44 390.7 -82.73 - - 3113.00 - - - - - - - - - 15.84 -
1027.72 116.91 -9.27 203 1032.85 roll -1.56 - - 1941.62 - 2.49 0.018 2281.25 -459.9 -82.73 - - 3112.97 - - - - - - - - - 15.93 -
1337.78 144.43 -9.24 265 1343.33 roll -1.56 - - 1942.00 - 2.62 0.064 1209.50 -409.1 -82.73 - - 3113.06 - - - - - - - - - 15.90 -
1367.78 147.35 -9.59 271 1373.34 roll -1.56 - - 1941.62 - 2.78 0.027 2399.94 428.2 -82.73 - - 3113.34 - - - - - - - - - 15.95 -
1677.86 176.95 -9.68 333 1683.43 roll -1.56 - - 1941.62 - 2.89 0.058 1209.25 -412.0 -82.73 - - 3113.12 - - - - - - - - - 15.91 -
1782.88 187.24 -9.82 354 1788.63 roll -1.56 - - 1941.38 - 2.73 0.026 2386.19 431.1 -82.73 - - 3113.72 - - - - - - - - - 15.96 -
2093.17 215.17 -8.46 416 2098.57 roll -1.56 - - 1941.38 - 2.88 0.058 1207.88 -409.1 -82.73 - - 3113.31 - - - - - - - - - 15.91 -
2133.00 218.76 -8.97 424 2138.56 roll -1.56 - - 1941.69 - 2.73 0.026 2385.19 431.2 -82.73 - - 3113.53 - - - - - - - - - 15.97 -
2443.12 245.07 -9.02 486 2448.70 roll -1.56 - - 1941.75 - 2.87 0.059 1208.38 -410.0 -82.73 - - 3113.25 - - - - - - - - - 15.92 -
2538.14 254.07 -9.45 505 2543.71 roll -1.56 - - 1941.88 - 2.71 0.026 2377.25 431.3 -82.73 - - 3113.00 - - - - - - - - - 15.97 -
2848.26 282.13 -9.16 567 2853.83 roll -1.56 - - 1940.75 - 2.84 0.059 1208.38 -411.6 -82.73 - - 3114.03 - - - - - - - - - 15.93 -
2928.27 289.73 -9.54 583 2933.81 roll -1.56 - - 1941.50 - 2.70 0.026 2372.31 431.1 -82.73 - - 3113.06 - - - - - - - - - 15.97 -
3239.06 315.64 -8.01 624 3243.91 roll -1.56 - - 1940.94 - 2.83 0.059 1208.81 -411.1 -82.73 - - 3112.31 - - - - - - - - - 15.94 -
3309.21 321.45 -8.39 634 3324.02 roll -1.56 - - 1941.25 - 2.66 0.026 2362.00 433.5 -82.73 - - 3113.81 - - - - - - - - - 15.99 -
3625.58 349.15 -9.34 663 3636.66 no move -1.56 - - 1941.75 - - - 2362.06 - -82.73 - - 3113.09 - - - - - - - - - - -
3938.27 378.63 -9.60 692 3942.93 roll -1.56 - - 1941.38 - 2.81 0.060 1207.88 -410.7 -82.73 - - 3111.91 - - - - - - - - - 15.94 -
4055.48 390.01 -9.77 708 4070.42 roll -1.56 - - 1941.38 - 2.66 0.027 2363.81 434.6 -82.73 - - 3114.31 - - - - - - - - - 15.99 -
4372.58 417.54 -8.23 737 4377.22 roll -1.56 - - 1940.19 - 2.80 0.060 1209.00 -412.4 -82.73 - - 3112.75 - - - - - - - - - 15.94 -
4521.26 429.80 -8.23 757 4536.20 roll -1.56 - - 1941.50 - 2.63 0.026 2349.19 433.5 -82.73 - - 3112.84 - - - - - - - - - 16.00 -
4837.43 453.62 -7.69 786 4848.50 no move -1.56 - - 1941.62 - - - 2348.94 - -82.73 - - 3112.66 - - - - - - - - - - -
5150.85 477.99 -8.22 815 5155.50 roll -1.56 - - 1941.75 - 2.78 0.061 1207.81 -410.5 -82.73 - - 3113.25 - - - - - - - - - 15.93 -
5205.12 482.61 -8.54 823 5220.06 roll -1.56 - - 1941.38 - 2.64 0.026 2351.94 433.4 -82.73 - - 3111.81 - - - - - - - - - 16.00 -
5529.70 509.17 -8.07 850 5534.53 roll -1.56 - - 1940.88 - 2.79 0.061 1207.88 -410.1 -82.73 - - 3112.22 - - - - - - - - - 15.93 -
5573.41 512.36 -8.37 857 5588.17 roll -1.56 - - 1941.31 - 2.63 0.026 2345.44 432.5 -82.73 - - 3113.31 - - - - - - - - - 16.00 -
5902.65 539.37 -7.60 879 5903.98 no move -1.56 - - 1941.88 - - - 2346.25 - -82.73 - - 3110.88 - - - - - - - - - - -
6217.66 564.06 -7.95 900 6222.31 roll -1.56 - - 1941.12 - 2.78 0.061 1209.12 -409.0 -82.73 - - 3111.38 - - - - - - - - - 15.93 -
6276.95 568.96 -8.33 909 6282.50 roll -1.56 - - 1940.56 - 2.63 0.027 2349.56 433.6 -82.73 - - 3111.72 - - - - - - - - - 16.00 -
6596.38 594.50 -7.86 931 6597.71 no move -1.56 - - 1941.31 - - - 2350.12 - -82.73 - - 3109.97 - - - - - - - - - - -
6911.41 616.95 -7.00 952 6916.05 roll -1.56 - - 1941.31 - 2.79 0.062 1210.94 -408.3 -82.73 - - 3111.50 - - - - - - - - - 15.92 -
6991.42 622.69 -7.27 964 6996.97 roll -1.56 - - 1941.25 - 2.63 0.027 2347.62 432.2 -82.73 - - 3110.78 - - - - - - - - - 16.00 -
7310.83 645.74 -7.26 986 7315.48 roll -1.56 - - 1941.50 - 2.78 0.062 1209.38 -409.4 -82.73 - - 3108.59 - - - - - - - - - 15.92 -
7410.45 653.32 -7.63 1000 7415.09 roll -1.56 - - 1941.81 - 2.62 0.026 2338.25 430.9 -82.73 - - 3107.84 - - - - - - - - - 15.99 -
7726.93 677.09 -7.55 1022 7731.58 roll -1.56 - - 1941.62 - 2.78 0.085 3424.88 390.9 -82.73 - - 3108.41 - - - - - - - - - 15.88 -
7764.31 680.27 -8.11 1027 7769.00 roll -1.56 - - 1940.19 - 2.63 0.018 2226.25 -455.8 -82.73 - - 3108.31 - - - - - - - - - 15.99 -
8080.78 705.16 -8.07 1049 8085.48 roll -1.56 - - 1941.31 - 3.08 0.080 3426.00 389.5 -82.73 - - 3108.06 - - - - - - - - - 15.88 -
8119.32 708.43 -8.44 1055 8124.87 roll -1.56 - - 1940.62 - 2.63 0.019 2232.69 -453.7 -82.73 - - 3109.44 - - - - - - - - - 16.00 -
8438.86 733.15 -7.72 1077 8443.47 roll -1.56 - - 1940.81 - 2.51 0.069 1209.25 -407.7 -82.73 - - 3108.69 - - - - - - - - - 15.91 -
8498.13 737.82 -7.89 1086 8503.69 roll -1.56 - - 1940.31 - 2.64 0.027 2339.44 428.1 -82.73 - - 3109.25 - - - - - - - - - 16.01 -
8682 end dive: TARGET_DEPTH_EXCEEDED
8682 begin apogee
8684.42 751.24 -7.04 1099 8760.04 -0.28 2.23 0.143 2253.62 140.5 0.17 0.142 2157.50 -1070.2 - 66.15 2.077 2774.34 -5.1 0.317 - - - - - - 15.76 15.20 10.28
8761 end apogee: CONTROL_FINISHED_OK
8761 begin climb
8762.62 752.71 - 1104 8850.50 1.56 3.06 0.103 2702.56 146.7 2.97 0.081 993.31 -392.0 82.73 68.54 2.047 2436.72 -4.9 0.314 - - - - - - 15.47 15.62 11.61
8853.28 750.37 3.45 1117 8958.49 1.78 0.31 0.066 2765.25 202.2 2.74 0.023 2140.50 418.7 190.08 91.33 2.063 1999.41 -4.8 0.302 - - - - - - 15.35 15.43 11.57
9270.58 712.40 9.70 1152 9271.92 VBD 1.78 - - 2765.44 - - - 2140.50 - 190.08 - - 1988.75 - - - - - - - - - - -
9585.49 680.90 9.87 1173 9586.82 VBD 1.78 - - 2765.25 - - - 2140.44 - 190.08 - - 1986.22 - - - - - - - - - - -
9900.50 652.01 8.82 1194 9905.18 done 1.78 - - 2766.56 - 2.90 0.079 994.38 -395.2 190.08 - - 1985.12 - - - - - - - - - 15.82 -
9960.00 646.66 9.13 1203 9965.33 done 1.78 - - 2765.00 - 2.64 0.024 2134.62 431.9 190.08 - - 1985.75 - - - - - - - - - 15.90 -
10279.20 619.58 8.41 1225 10283.87 done 1.78 - - 2766.44 - 2.89 0.079 992.31 -395.3 190.08 - - 1984.09 - - - - - - - - - 15.85 -
10343.49 614.10 9.21 1235 10358.43 done 1.78 - - 2765.75 - 2.62 0.024 2126.50 432.9 190.08 - - 1984.66 - - - - - - - - - 15.94 -
10673.08 584.86 8.61 1257 10677.84 done 1.78 - - 2765.44 - 2.75 0.080 3206.19 392.6 190.08 - - 1984.84 - - - - - - - - - 15.88 -
10710.26 581.31 9.04 1262 10714.90 done 1.78 - - 2766.31 - 2.62 0.024 2050.50 -441.1 190.08 - - 1985.31 - - - - - - - - - 15.94 -
11026.75 553.45 8.67 1284 11031.38 done 1.78 - - 2765.94 - 2.67 0.085 993.44 -395.9 190.08 - - 1983.25 - - - - - - - - - 15.86 -
11049.55 552.04 8.57 1288 11064.48 done 1.78 - - 2765.88 - 2.64 0.024 2137.88 433.5 190.08 - - 1984.75 - - - - - - - - - 15.96 -
11378.97 524.24 8.36 1310 11383.62 done 1.78 - - 2766.00 - 2.72 0.080 3204.94 392.3 190.08 - - 1983.59 - - - - - - - - - 15.89 -
11500.48 513.50 8.97 1328 11506.01 done 1.78 - - 2766.50 - 2.60 0.024 2059.69 -440.5 190.08 - - 1983.53 - - - - - - - - - 15.97 -
11809.43 486.92 9.08 1353 11820.51 VBD 1.78 - - 2766.25 - - - 2059.75 - 190.08 - - 1983.19 - - - - - - - - - - -
12122.13 459.99 8.03 1382 12133.21 VBD 1.78 - - 2766.06 - - - 2060.19 - 190.08 - - 1983.31 - - - - - - - - - - -
12435.07 435.55 7.76 1411 12439.75 done 1.79 - - 2764.94 - 2.93 0.077 3205.50 390.9 190.08 - - 1982.66 - - - - - - - - - 15.88 -
12552.31 425.19 9.06 1427 12567.22 done 1.79 - - 2766.06 - 2.59 0.025 2063.81 -440.8 190.08 - - 1983.53 - - - - - - - - - 15.98 -
12868.65 399.43 8.11 1456 12873.35 done 1.79 - - 2765.56 - 2.71 0.085 994.81 -394.5 190.08 - - 1982.56 - - - - - - - - - 15.85 -
12954.58 391.94 8.82 1468 12969.33 done 1.79 - - 2765.44 - 2.66 0.024 2142.62 431.5 190.08 - - 1983.66 - - - - - - - - - 15.98 -
13271.71 364.38 8.89 1497 13282.78 VBD 1.79 - - 2766.88 - - - 2142.75 - 190.08 - - 1981.72 - - - - - - - - - - -
13584.52 337.48 8.49 1526 13589.21 done 1.79 - - 2766.50 - 2.93 0.080 995.06 -391.7 190.08 - - 1980.31 - - - - - - - - - 15.85 -
13638.81 332.65 8.93 1534 13653.73 done 1.79 - - 2765.50 - 2.63 0.024 2132.38 432.4 190.08 - - 1981.25 - - - - - - - - - 15.99 -
13955.32 306.53 8.13 1563 13959.97 done 1.79 - - 2767.00 - 2.73 0.080 3203.50 392.4 190.08 - - 1980.31 - - - - - - - - - 15.87 -
14066.87 297.50 7.91 1579 14072.38 done 1.80 - - 2766.12 - 2.58 0.024 2058.06 -444.0 190.08 - - 1981.66 - - - - - - - - - 15.96 -
14376.97 277.53 6.19 1641 14417.71 VBD 1.90 - - 2766.12 - - - 2058.19 - 238.65 38.58 1.521 1803.16 -4.6 0.146 - - - - - - - - 10.52
14722.11 252.28 7.54 1710 14727.61 roll 1.92 - - 2766.50 - 2.70 0.084 994.44 -394.0 238.65 - - 1796.94 - - - - - - - - - 15.78 -
14757.05 249.31 8.30 1717 14762.60 roll 1.92 - - 2766.44 - 2.66 0.024 2145.38 432.7 238.65 - - 1796.88 - - - - - - - - - 15.87 -
15067.16 222.89 9.19 1779 15068.49 no move 1.92 - - 2766.56 - - - 2145.25 - 238.65 - - 1795.16 - - - - - - - - - - -
15372.36 194.02 9.28 1840 15373.69 no move 1.92 - - 2766.50 - - - 2145.62 - 238.65 - - 1794.66 - - - - - - - - - - -
15677.35 166.77 8.43 1901 15682.95 roll 1.92 - - 2767.12 - 2.94 0.079 993.81 -391.8 238.65 - - 1795.16 - - - - - - - - - 15.82 -
15717.35 163.24 8.84 1909 15722.90 roll 1.92 - - 2766.38 - 2.66 0.024 2145.81 433.1 238.65 - - 1795.50 - - - - - - - - - 15.93 -
16027.45 139.63 8.10 1971 16033.05 roll 1.92 - - 2766.56 - 2.93 0.078 993.75 -393.2 238.65 - - 1794.44 - - - - - - - - - 15.84 -
16067.46 136.19 8.60 1979 16073.18 roll 1.92 - - 2766.38 - 2.66 0.023 2146.25 433.3 238.65 - - 1794.59 - - - - - - - - - 15.95 -
16377.51 111.80 8.00 2041 16383.10 roll 1.92 - - 2766.69 - 2.91 0.077 993.62 -396.1 238.65 - - 1795.06 - - - - - - - - - 15.84 -
16437.50 106.66 8.67 2053 16443.05 roll 1.92 - - 2766.69 - 2.65 0.023 2144.25 434.2 238.65 - - 1794.84 - - - - - - - - - 15.95 -
16747.56 82.16 7.55 2115 16753.10 roll 1.94 - - 2765.62 - 2.70 0.079 3206.56 393.4 238.65 - - 1795.91 - - - - - - - - - 15.86 -
16787.54 78.94 8.00 2123 16793.07 roll 1.94 - - 2767.38 - 2.60 0.023 2062.25 -440.1 238.65 - - 1795.31 - - - - - - - - - 15.96 -
16977.57 66.31 5.82 2161 17029.82 2.05 0.31 0.070 2828.25 196.4 2.74 0.082 994.19 -389.8 295.26 45.40 1.221 1571.03 -4.9 0.046 - - - - - - 15.92 15.39 10.73
17077.58 59.56 7.39 2181 17083.10 roll 2.07 - - 2828.50 - 2.69 0.023 2154.75 431.4 295.26 - - 1567.56 - - - - - - - - - 15.83 -
17267.62 47.42 6.04 2219 17314.29 done 2.18 - - 2829.25 - 2.69 0.080 3205.94 390.8 347.07 41.66 1.173 1360.50 -5.0 0.035 - - - - - - - 15.37 11.23
17477.61 30.85 8.45 2261 17483.15 roll 2.18 - - 2828.12 - 2.59 0.022 2076.56 -436.1 347.07 - - 1357.12 - - - - - - - - - 15.80 -
17668.03 15.47 8.22 2299 17673.20 roll 2.18 - - 2828.38 - 2.76 0.083 995.12 -391.8 347.07 - - 1354.56 - - - - - - - - - 15.74 -
17712.65 11.95 7.82 2308 17718.21 roll 2.19 - - 2829.50 - 2.71 0.024 2163.94 431.3 347.07 - - 1353.94 - - - - - - - - - 15.85 -
17812 end climb: SURFACE_DEPTH_REACHED
17812 begin surface coast
17867 end surface coast: CONTROL_FINISHED_OK
17868 begin surface
SM 0.55 - - - - 184.4 59.80 1.141 1042.6 17.4 16.59 0.057 1003.4 60.5 - 0.40 0.066 1081.8 2697.7 -2.298 - - 11.11 15.81 15.86 -