NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1050 * Raw log
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• Previous call tries 1 • 372.85 of 550.00 AH used of 24V (32.21% remains)
• Surface angle -61.8 deg, depth 0.63 m • Intended pitch -25.2 deg, speed -8.462 cm/s
VBD pumped to 425.06 (SM_CC=425)
• GPS1 time: 32 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
5.81 - - - 77.13 VBD -1.56 - - 175.81 - - - 2235.56 - -82.73 70.19 0.005 2736.97 - - - - - - - - - - 14.85
78.25 3.19 -4.50 13 110.51 -1.56 14.27 0.231 1941.69 123.7 2.58 0.068 1207.56 -398.4 -82.73 9.02 0.007 3112.84 41.7 -3.248 - - - - - - 15.41 14.84 15.02
147.59 15.17 -14.91 27 153.14 roll -1.56 - - 1940.69 - 2.69 0.026 2351.50 425.3 -82.73 - - 3112.53 - - - - - - - - - 15.79 -
338.04 42.03 -13.94 65 343.24 roll -1.56 - - 1940.88 - 2.83 0.059 1208.56 -403.9 -82.73 - - 3112.34 - - - - - - - - - 15.80 -
357.85 44.88 -14.22 69 363.29 roll -1.56 - - 1941.50 - 2.67 0.026 2347.44 426.5 -82.73 - - 3112.34 - - - - - - - - - 15.84 -
548.14 68.57 -10.95 107 553.31 roll -1.56 - - 1941.62 - 2.77 0.059 1209.50 -410.8 -82.73 - - 3113.06 - - - - - - - - - 15.83 -
592.75 73.09 -10.01 116 598.31 roll -1.56 - - 1941.81 - 2.62 0.025 2340.50 431.7 -82.73 - - 3112.78 - - - - - - - - - 15.89 -
783.21 92.22 -10.88 154 788.38 roll -1.56 - - 1941.00 - 2.78 0.083 3426.56 390.7 -82.73 - - 3113.19 - - - - - - - - - 15.82 -
847.83 99.80 -11.80 167 853.38 roll -1.56 - - 1941.69 - 2.61 0.018 2238.31 -455.3 -82.73 - - 3113.41 - - - - - - - - - 15.91 -
1037.89 117.13 -8.51 205 1043.42 roll -1.56 - - 1941.19 - 2.52 0.064 1208.00 -408.9 -82.73 - - 3113.69 - - - - - - - - - 15.89 -
1062.89 119.32 -8.69 210 1068.44 roll -1.56 - - 1942.19 - 2.64 0.025 2343.94 430.3 -82.73 - - 3114.09 - - - - - - - - - 15.93 -
1373.01 144.90 -8.08 272 1374.33 no move -1.56 - - 1941.75 - - - 2343.69 - -82.73 - - 3112.06 - - - - - - - - - - -
1678.09 170.10 -8.02 333 1683.84 roll -1.56 - - 1940.81 - 2.77 0.059 1208.12 -410.0 -82.73 - - 3113.16 - - - - - - - - - 15.92 -
1718.26 173.43 -8.26 341 1723.65 roll -1.56 - - 1940.94 - 2.61 0.025 2339.06 433.3 -82.73 - - 3113.69 - - - - - - - - - 15.96 -
2028.15 197.90 -7.89 403 2033.71 roll -1.56 - - 1941.94 - 2.75 0.059 1208.50 -411.1 -82.73 - - 3113.56 - - - - - - - - - 15.92 -
2063.15 200.85 -8.29 410 2068.67 roll -1.56 - - 1940.50 - 2.60 0.025 2334.88 433.2 -82.73 - - 3114.78 - - - - - - - - - 15.97 -
2373.19 225.26 -7.44 472 2378.75 roll -1.56 - - 1940.31 - 2.74 0.059 1208.25 -411.2 -82.73 - - 3114.09 - - - - - - - - - 15.93 -
2418.19 228.87 -8.03 481 2423.73 roll -1.56 - - 1942.38 - 2.59 0.025 2329.62 433.0 -82.73 - - 3113.84 - - - - - - - - - 15.98 -
2728.25 252.63 -7.59 543 2733.80 roll -1.56 - - 1941.38 - 2.71 0.059 1208.69 -413.6 -82.73 - - 3113.06 - - - - - - - - - 15.93 -
2778.24 256.70 -8.19 553 2783.78 roll -1.56 - - 1941.19 - 2.58 0.026 2326.62 433.3 -82.73 - - 3115.69 - - - - - - - - - 15.98 -
3088.48 281.94 -8.10 615 3093.91 roll -1.56 - - 1940.88 - 2.71 0.060 1208.94 -412.4 -82.73 - - 3114.62 - - - - - - - - - 15.93 -
3143.30 286.66 -8.67 626 3148.83 roll -1.56 - - 1941.69 - 2.57 0.025 2324.19 433.9 -82.73 - - 3113.19 - - - - - - - - - 15.98 -
3450.60 311.10 -8.13 672 3455.24 roll -1.56 - - 1941.38 - 2.70 0.060 1208.19 -413.3 -82.73 - - 3114.53 - - - - - - - - - 15.94 -
3536.35 318.24 -8.46 684 3551.27 roll -1.56 - - 1941.56 - 2.56 0.025 2320.62 434.5 -82.73 - - 3113.53 - - - - - - - - - 16.01 -
3852.51 344.50 -8.32 713 3863.58 no move -1.56 - - 1941.69 - - - 2320.25 - -82.73 - - 3113.56 - - - - - - - - - - -
4165.51 371.98 -8.70 742 4170.16 roll -1.56 - - 1942.00 - 2.70 0.060 1208.12 -411.9 -82.73 - - 3113.31 - - - - - - - - - 15.94 -
4265.65 381.61 -9.66 755 4270.27 roll -1.56 - - 1941.69 - 2.56 0.026 2316.62 433.0 -82.73 - - 3112.69 - - - - - - - - - 16.00 -
4576.90 410.72 -9.47 784 4587.97 no move -1.56 - - 1941.38 - - - 2316.50 - -82.73 - - 3112.81 - - - - - - - - - - -
4890.34 438.16 -8.25 813 4894.99 roll -1.56 - - 1941.69 - 2.71 0.061 1209.69 -408.4 -82.73 - - 3112.25 - - - - - - - - - 15.94 -
4913.14 440.07 -8.49 817 4928.06 roll -1.56 - - 1941.56 - 2.55 0.025 2314.50 433.3 -82.73 - - 3112.72 - - - - - - - - - 16.00 -
5229.48 467.52 -8.72 846 5234.20 roll -1.56 - - 1941.69 - 2.84 0.084 3424.62 390.9 -82.73 - - 3113.09 - - - - - - - - - 15.90 -
5283.75 472.50 -9.23 854 5298.69 roll -1.56 - - 1941.50 - 2.67 0.019 2210.88 -454.6 -82.73 - - 3112.38 - - - - - - - - - 16.00 -
5600.26 498.84 -7.88 883 5604.85 roll -1.56 - - 1940.44 - 2.46 0.067 1207.38 -407.9 -82.73 - - 3113.03 - - - - - - - - - 15.93 -
5678.96 505.34 -8.23 894 5683.58 roll -1.56 - - 1941.38 - 2.55 0.026 2311.44 433.0 -82.73 - - 3111.34 - - - - - - - - - 15.99 -
5995.43 527.81 -6.72 916 6000.09 roll -1.56 - - 1941.56 - 2.86 0.084 3424.25 389.1 -82.73 - - 3111.19 - - - - - - - - - 15.89 -
6158.62 541.35 -8.55 940 6164.17 roll -1.56 - - 1941.88 - 2.67 0.019 2214.44 -453.1 -82.73 - - 3112.38 - - - - - - - - - 16.00 -
6478.05 565.22 -7.58 962 6482.77 roll -1.56 - - 1941.69 - 3.12 0.080 3426.62 388.5 -82.73 - - 3109.59 - - - - - - - - - 15.89 -
6537.32 570.24 -8.37 971 6542.88 roll -1.56 - - 1941.81 - 2.66 0.019 2223.19 -452.4 -82.73 - - 3111.84 - - - - - - - - - 16.00 -
6856.73 594.60 -7.85 993 6861.34 roll -1.56 - - 1941.19 - 2.51 0.067 1207.81 -404.5 -82.73 - - 3110.41 - - - - - - - - - 15.93 -
6900.45 597.67 -8.07 1000 6915.24 roll -1.56 - - 1941.69 - 2.59 0.026 2324.50 431.2 -82.73 - - 3110.38 - - - - - - - - - 16.01 -
7229.86 623.39 -7.69 1022 7234.52 roll -1.56 - - 1941.00 - 2.83 0.086 3423.81 388.4 -82.73 - - 3110.72 - - - - - - - - - 15.88 -
7309.87 630.07 -8.37 1034 7315.42 roll -1.56 - - 1941.38 - 2.65 0.019 2224.38 -452.6 -82.73 - - 3110.66 - - - - - - - - - 16.00 -
7629.27 652.19 -6.81 1056 7633.88 roll -1.56 - - 1941.50 - 2.51 0.068 1208.00 -404.9 -82.73 - - 3109.06 - - - - - - - - - 15.92 -
7667.81 654.92 -7.09 1062 7673.35 roll -1.56 - - 1941.31 - 2.60 0.026 2325.50 429.8 -82.73 - - 3109.75 - - - - - - - - - 16.00 -
7942 end dive: TARGET_DEPTH_EXCEEDED
7942 begin apogee
7944.10 674.66 -7.12 1081 8019.71 -0.28 2.23 0.143 2254.50 140.4 0.17 0.140 2158.44 -982.7 - 65.71 1.971 2775.19 -5.1 0.298 - - - - - - 15.77 15.23 10.34
8021 end apogee: CONTROL_FINISHED_OK
8022 begin climb
8022.28 676.73 - 1086 8110.13 1.56 3.16 0.123 2700.69 141.2 2.73 0.079 3206.25 383.8 82.73 67.36 1.935 2435.97 -5.0 0.301 - - - - - - 15.52 15.64 11.59
8194.08 670.12 5.10 1110 8259.55 1.71 0.22 0.072 2746.19 206.8 2.66 0.023 2057.69 -431.8 154.64 60.26 1.935 2144.19 -4.8 0.287 - - - - - - 15.51 15.59 11.42
8572.10 640.66 7.45 1140 8576.75 roll 1.73 - - 2745.25 - 2.72 0.084 993.38 -391.3 154.64 - - 2136.41 - - - - - - - - - 15.72 -
8734.05 626.27 8.88 1163 8738.68 done 1.73 - - 2746.00 - 2.66 0.024 2130.38 427.4 154.64 - - 2133.25 - - - - - - - - - 15.81 -
9050.54 602.74 7.38 1185 9051.87 VBD 1.75 - - 2745.62 - - - 2130.25 - 154.64 - - 2132.53 - - - - - - - - - - -
9365.55 577.96 7.96 1206 9370.22 done 1.76 - - 2746.25 - 2.88 0.079 993.50 -394.7 154.64 - - 2131.69 - - - - - - - - - 15.84 -
9425.05 572.96 8.43 1215 9430.61 done 1.76 - - 2746.19 - 2.62 0.024 2129.38 433.5 154.64 - - 2132.56 - - - - - - - - - 15.93 -
9744.48 549.69 7.32 1237 9749.14 done 1.78 - - 2745.75 - 2.77 0.082 3205.12 388.4 154.64 - - 2131.31 - - - - - - - - - 15.87 -
9788.23 546.64 7.80 1244 9803.07 done 1.79 - - 2746.25 - 2.62 0.024 2054.62 -439.1 154.64 - - 2131.94 - - - - - - - - - 15.94 -
10117.48 522.00 7.32 1266 10122.17 done 1.82 - - 2744.56 - 2.96 0.077 3206.88 389.3 154.64 - - 2131.59 - - - - - - - - - 15.88 -
10175.42 517.39 7.82 1274 10180.05 done 1.83 - - 2744.69 - 2.61 0.025 2060.38 -439.3 154.64 - - 2132.44 - - - - - - - - - 15.95 -
10481.74 494.00 7.95 1297 10486.42 done 1.84 - - 2745.56 - 2.94 0.077 3203.31 388.8 154.64 - - 2132.12 - - - - - - - - - 15.88 -
10598.97 483.94 8.83 1313 10613.88 done 1.84 - - 2745.00 - 2.58 0.025 2070.38 -439.1 154.64 - - 2131.56 - - - - - - - - - 15.97 -
10915.14 460.28 7.67 1342 10919.79 done 1.86 - - 2746.44 - 2.72 0.084 994.75 -395.5 154.64 - - 2129.25 - - - - - - - - - 15.87 -
11032.59 451.24 7.79 1358 11047.58 1.87 0.17 0.088 2787.38 240.8 2.67 0.025 2150.75 433.0 154.64 - - 2131.31 - - - - - - - - 15.82 15.98 -
11349.19 426.08 8.14 1387 11360.26 VBD 1.87 - - 2787.62 - - - 2152.00 - 154.64 - - 2130.41 - - - - - - - - - - -
11662.13 400.44 7.83 1416 11666.78 done 1.88 - - 2786.25 - 2.70 0.081 3208.56 391.3 154.64 - - 2130.88 - - - - - - - - - 15.88 -
11762.46 391.66 8.76 1429 11767.13 done 1.88 - - 2787.94 - 2.59 0.024 2067.88 -440.4 154.64 - - 2129.00 - - - - - - - - - 15.98 -
12074.12 368.05 7.30 1458 12085.19 VBD 1.91 - - 2788.12 - - - 2067.88 - 154.64 - - 2130.19 - - - - - - - - - - -
12387.86 344.91 7.15 1487 12392.55 done 1.93 - - 2788.50 - 2.92 0.077 3205.50 389.6 154.64 - - 2129.97 - - - - - - - - - 15.88 -
12426.42 342.03 7.43 1493 12441.32 done 1.95 - - 2788.12 - 2.57 0.024 2071.69 -441.2 154.64 - - 2129.88 - - - - - - - - - 15.98 -
12742.58 320.55 6.60 1522 12747.21 done 1.99 - - 2787.69 - 2.70 0.083 994.94 -398.8 154.64 - - 2128.78 - - - - - - - - - 15.86 -
12781.14 317.92 6.86 1528 12796.07 done 2.02 - - 2787.88 - 2.65 0.024 2155.38 437.9 154.64 - - 2130.16 - - - - - - - - - 15.99 -
13101.46 296.20 7.23 1562 13107.03 2.05 0.17 0.087 2829.12 242.6 2.68 0.080 3205.81 392.0 154.64 - - 2130.22 - - - - - - - - 15.94 15.83 -
13281.48 280.86 8.75 1598 13287.01 done 2.05 - - 2829.25 - 2.55 0.024 2079.31 -441.8 154.64 - - 2130.06 - - - - - - - - - 15.97 -
13591.78 255.56 8.50 1660 13597.21 done 2.05 - - 2828.44 - 2.74 0.081 993.12 -396.4 154.64 - - 2130.34 - - - - - - - - - 15.85 -
13666.61 248.77 9.07 1675 13672.17 done 2.05 - - 2829.44 - 2.70 0.024 2164.44 433.8 154.64 - - 2130.16 - - - - - - - - - 15.97 -
13976.74 224.56 7.35 1737 13982.26 done 2.07 - - 2829.81 - 2.66 0.080 3206.50 391.8 154.64 - - 2129.62 - - - - - - - - - 15.86 -
14031.74 220.27 7.93 1748 14037.25 done 2.08 - - 2829.44 - 2.52 0.023 2085.38 -444.9 154.64 - - 2130.81 - - - - - - - - - 15.96 -
14341.84 198.34 7.15 1810 14343.18 VBD 2.11 - - 2829.88 - - - 2085.31 - 154.64 - - 2128.53 - - - - - - - - - - -
14646.93 175.90 7.49 1871 14652.50 done 2.13 - - 2829.69 - 2.87 0.076 3206.06 390.5 154.64 - - 2129.31 - - - - - - - - - 15.87 -
14731.94 168.90 8.15 1888 14737.48 done 2.13 - - 2828.25 - 2.52 0.023 2086.94 -444.1 154.64 - - 2129.75 - - - - - - - - - 15.97 -
15042.07 146.91 6.69 1950 15047.80 done 2.16 - - 2830.19 - 2.76 0.080 993.62 -396.1 154.64 - - 2129.44 - - - - - - - - - 15.84 -
15162.27 138.52 6.76 1974 15167.65 done 2.19 - - 2829.38 - 2.71 0.024 2171.12 434.5 154.64 - - 2129.50 - - - - - - - - - 15.96 -
15472.13 118.26 6.99 2036 15477.71 2.22 0.19 0.081 2872.94 229.3 2.63 0.079 3206.31 393.6 154.64 - - 2130.19 - - - - - - - - 15.94 15.83 -
15697.15 101.15 7.16 2081 15702.69 done 2.25 - - 2873.88 - 2.52 0.023 2091.06 -442.6 154.64 - - 2130.09 - - - - - - - - - 15.96 -
16007.21 86.37 4.88 2143 16071.67 2.40 0.17 0.083 2915.38 244.1 2.81 0.081 994.88 -390.1 231.31 58.72 1.256 1830.69 -5.1 0.060 - - - - - - 15.93 15.31 10.44
16148.77 73.72 10.43 2171 16154.34 roll 2.40 - - 2915.69 - 2.76 0.023 2174.56 427.4 231.31 - - 1827.94 - - - - - - - - - 15.81 -
16338.83 56.16 9.23 2209 16344.38 roll 2.40 - - 2914.75 - 2.65 0.077 3208.06 390.0 231.31 - - 1824.25 - - - - - - - - - 15.78 -
16573.91 44.24 3.26 2256 16664.19 2.63 0.26 0.074 2965.94 196.9 2.52 0.022 2091.31 -443.2 342.69 84.80 1.178 1378.69 -5.3 0.034 - - - - - - 15.75 15.88 11.05
16846.30 20.79 10.48 2310 16851.88 roll 2.63 - - 2967.00 - 2.89 0.074 3206.62 385.9 342.69 - - 1369.94 - - - - - - - - - 15.71 -
16986.31 5.05 12.48 2338 16991.85 done 2.63 - - 2966.81 - 2.53 0.022 2097.50 -438.4 342.69 - - 1368.94 - - - - - - - - - 15.79 -
16996 end climb: SURFACE_DEPTH_REACHED
16996 begin surface coast
17036 end surface coast: CONTROL_FINISHED_OK
17036 begin surface
SM 0.44 - - - - 177.1 62.01 1.121 1042.2 16.8 17.43 0.053 997.4 57.2 - 0.54 0.053 1087.0 2008.3 -1.704 - - 11.16 15.73 15.80 -