NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 106 * Raw log
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• Previous call tries 4 • 39.60 of 550.00 AH used of 24V (92.80% remains)
• Surface angle -61.2 deg, depth 1.41 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 375.03 (SM_CC=375)
• GPS1 time: 35 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
4 end surface: CONTROL_FINISHED_OK
5 begin dive
6.33 - - - 59.67 VBD -1.37 - - 178.56 - - - 2249.00 - -82.73 52.13 0.005 2489.44 - - - - - - - - - - 15.82
60.40 3.11 -3.39 10 98.55 -1.37 13.60 0.250 1988.56 133.1 2.53 0.070 1207.75 -411.6 -82.73 16.40 0.006 3111.00 37.9 -3.228 - - - - - - 15.79 15.79 15.83
156.53 20.09 -20.07 29 162.08 roll -1.37 - - 1988.50 - 2.65 0.033 2348.00 430.3 -82.73 - - 3113.88 - - - - - - - - - 15.89 -
347.25 52.20 -15.16 67 352.17 roll -1.37 - - 1989.25 - 2.69 0.089 3425.00 400.4 -82.73 - - 3112.31 - - - - - - - - - 15.94 -
481.69 74.36 -15.12 94 487.21 roll -1.37 - - 1989.69 - 2.59 0.024 2252.62 -452.7 -82.73 - - 3114.50 - - - - - - - - - 15.97 -
672.15 94.65 -10.27 132 675.74 no move -1.37 - - 1989.94 - - - 2250.38 - -82.73 - - 3112.88 - - - - - - - - - - -
856.81 113.59 -10.54 156 858.13 no move -1.37 - - 1989.19 - - - 2250.25 - -82.73 - - 3112.47 - - - - - - - - - - -
1167.25 141.71 -9.42 187 1168.58 no move -1.37 - - 1989.50 - - - 2250.62 - -82.73 - - 3111.78 - - - - - - - - - - -
1477.32 172.28 -10.32 218 1478.65 no move -1.37 - - 1989.56 - - - 2250.81 - -82.73 - - 3112.31 - - - - - - - - - - -
1787.38 205.87 -10.56 249 1788.71 no move -1.37 - - 1989.62 - - - 2250.88 - -82.73 - - 3113.06 - - - - - - - - - - -
2097.44 235.23 -9.22 280 2102.18 roll -1.37 - - 1989.94 - 2.92 0.086 3427.56 403.0 -82.73 - - 3113.59 - - - - - - - - - 16.11 -
2221.63 248.14 -10.01 305 2227.61 roll -1.37 - - 1988.50 - 2.58 0.024 2250.25 -456.3 -82.73 - - 3113.47 - - - - - - - - - 16.14 -
2537.15 276.92 -9.06 337 2542.28 roll -1.37 - - 1989.75 - 2.92 0.085 3426.62 402.9 -82.73 - - 3112.88 - - - - - - - - - 16.12 -
2627.18 286.09 -10.28 355 2632.24 roll -1.37 - - 1989.62 - 2.57 0.024 2253.19 -456.6 -82.73 - - 3113.53 - - - - - - - - - 16.13 -
2937.46 314.56 -9.49 387 2938.79 no move -1.37 - - 1989.38 - - - 2250.94 - -82.73 - - 3111.97 - - - - - - - - - - -
3247.76 342.49 -8.61 418 3249.08 no move -1.37 - - 1989.62 - - - 2250.62 - -82.73 - - 3112.81 - - - - - - - - - - -
3557.68 372.44 -9.90 449 3559.01 no move -1.37 - - 1989.50 - - - 2250.31 - -82.73 - - 3112.31 - - - - - - - - - - -
3867.70 399.89 -9.23 480 3869.03 no move -1.37 - - 1989.44 - - - 2250.62 - -82.73 - - 3112.56 - - - - - - - - - - -
4177.74 427.42 -8.50 511 4179.06 no move -1.37 - - 1989.69 - - - 2250.38 - -82.73 - - 3110.94 - - - - - - - - - - -
4487.77 453.19 -8.58 542 4489.10 no move -1.37 - - 1989.44 - - - 2250.50 - -82.73 - - 3111.19 - - - - - - - - - - -
4797.81 480.53 -9.31 573 4799.13 no move -1.37 - - 1989.38 - - - 2250.38 - -82.73 - - 3111.06 - - - - - - - - - - -
5107.83 509.85 -9.36 604 5112.09 roll -1.37 - - 1989.88 - 2.48 0.072 1208.81 -420.0 -82.73 - - 3111.62 - - - - - - - - - 16.20 -
5207.46 519.83 -9.96 624 5212.54 roll -1.37 - - 1988.50 - 2.61 0.032 2350.94 437.6 -82.73 - - 3111.94 - - - - - - - - - 16.21 -
5517.53 549.27 -9.15 656 5522.82 roll -1.37 - - 1989.69 - 2.66 0.092 3426.25 404.3 -82.73 - - 3111.12 - - - - - - - - - 16.19 -
5567.53 554.43 -10.27 666 5572.61 roll -1.37 - - 1989.25 - 2.58 0.025 2252.69 -454.9 -82.73 - - 3110.47 - - - - - - - - - 16.20 -
5877.61 581.69 -8.90 698 5882.92 roll -1.37 - - 1989.62 - 2.90 0.088 3425.56 404.4 -82.73 - - 3110.94 - - - - - - - - - 16.21 -
5927.79 586.58 -9.55 708 5932.69 roll -1.37 - - 1989.12 - 2.56 0.025 2251.56 -458.6 -82.73 - - 3110.50 - - - - - - - - - 16.21 -
6237.69 611.35 -8.00 740 6242.82 roll -1.37 - - 1988.69 - 2.91 0.088 3424.94 403.2 -82.73 - - 3111.81 - - - - - - - - - 16.21 -
6297.70 616.87 -9.11 752 6302.77 roll -1.37 - - 1989.62 - 2.57 0.025 2251.69 -456.5 -82.73 - - 3111.56 - - - - - - - - - 16.22 -
6607.77 641.13 -7.96 784 6612.90 roll -1.37 - - 1989.81 - 2.91 0.088 3425.62 403.4 -82.73 - - 3109.50 - - - - - - - - - 16.20 -
6637.77 643.97 -8.65 790 6642.83 roll -1.37 - - 1988.88 - 2.56 0.025 2250.12 -459.2 -82.73 - - 3109.78 - - - - - - - - - 16.22 -
6947.84 668.62 -7.61 822 6949.16 no move -1.37 - - 1989.38 - - - 2249.94 - -82.73 - - 3107.94 - - - - - - - - - - -
7258.28 691.90 -7.86 853 7259.61 no move -1.37 - - 1989.50 - - - 2249.62 - -82.73 - - 3108.12 - - - - - - - - - - -
7568.35 715.47 -7.30 884 7572.62 roll -1.37 - - 1989.69 - 2.48 0.073 1208.69 -419.7 -82.73 - - 3108.41 - - - - - - - - - 16.21 -
7752.96 720.51 -1.29 921 7758.57 roll -1.37 - - 1989.69 - 2.62 0.034 2350.62 435.9 -82.73 - - 3108.22 - - - - - - - - - 16.22 -
7887 end dive: NO_VERTICAL_VELOCITY
7888 begin apogee
7890.07 720.65 - 935 7953.38 -0.28 1.70 0.112 2255.25 156.2 0.19 0.141 2281.44 -364.1 - 59.58 2.056 2774.16 -5.6 0.323 - - - - - - 16.18 15.76 13.03
7954 end apogee: CONTROL_FINISHED_OK
7954 begin climb
7955.36 720.72 - 941 8026.53 1.37 2.54 0.078 2658.06 158.6 2.90 0.077 1131.56 -396.5 82.73 62.43 1.993 2438.66 -5.4 0.319 - - - - - - 15.80 15.44 12.83
8255.08 700.67 8.16 1000 8260.18 roll 1.37 - - 2658.00 - 2.67 0.032 2270.81 426.7 82.73 - - 2430.59 - - - - - - - - - 15.79 -
8565.56 676.42 7.79 1032 8570.26 roll 1.38 - - 2658.12 - 2.80 0.075 1131.31 -407.0 82.73 - - 2430.19 - - - - - - - - - 15.93 -
8799.76 656.38 8.39 1079 8805.77 done 1.38 - - 2658.06 - 2.64 0.033 2271.81 432.0 82.73 - - 2429.00 - - - - - - - - - 15.99 -
9115.90 633.08 6.82 1111 9120.35 done 1.41 - - 2657.44 - 2.78 0.075 1130.19 -410.7 82.73 - - 2429.78 - - - - - - - - - 16.04 -
9229.82 624.50 8.02 1134 9235.82 done 1.41 - - 2658.19 - 2.62 0.033 2271.69 435.7 82.73 - - 2430.38 - - - - - - - - - 16.03 -
9545.71 603.95 6.83 1166 9550.40 done 1.45 - - 2658.31 - 2.67 0.094 3346.00 402.4 82.73 - - 2428.91 - - - - - - - - - 16.07 -
9690.64 592.37 7.96 1195 9695.87 done 1.45 - - 2658.31 - 2.59 0.026 2189.06 -446.7 82.73 - - 2431.00 - - - - - - - - - 16.10 -
10005.78 570.63 7.01 1227 10010.50 done 1.48 - - 2658.44 - 2.88 0.090 3343.69 400.9 82.73 - - 2429.91 - - - - - - - - - 16.10 -
10119.96 561.63 7.72 1250 10125.94 done 1.49 - - 2658.62 - 2.57 0.027 2187.62 -449.8 82.73 - - 2428.06 - - - - - - - - - 16.12 -
10435.85 538.98 7.34 1282 10437.28 1.51 0.17 0.095 2701.19 250.4 - - 2187.50 - 82.73 - - 2427.34 - - - - - - - - 16.12 - -
10745.54 514.87 7.86 1313 10750.60 done 1.52 - - 2701.94 - 2.88 0.089 3346.38 402.4 82.73 - - 2429.38 - - - - - - - - - 16.14 -
10825.52 507.94 9.05 1329 10830.78 done 1.52 - - 2701.88 - 2.57 0.027 2188.88 -450.4 82.73 - - 2428.31 - - - - - - - - - 16.15 -
11135.70 482.86 8.01 1361 11140.66 done 1.52 - - 2702.25 - 2.55 0.081 1129.50 -415.4 82.73 - - 2427.84 - - - - - - - - - 16.16 -
11270.18 471.71 8.76 1388 11276.17 done 1.52 - - 2702.19 - 2.59 0.033 2273.81 441.8 82.73 - - 2428.94 - - - - - - - - - 16.17 -
11586.11 448.89 7.08 1420 11587.44 VBD 1.55 - - 2701.75 - - - 2273.62 - 82.73 - - 2427.06 - - - - - - - - - - -
11896.17 427.18 6.98 1451 11897.50 VBD 1.58 - - 2701.56 - - - 2273.94 - 82.73 - - 2426.72 - - - - - - - - - - -
12206.24 406.18 6.17 1482 12232.39 VBD 1.65 - - 2702.44 - - - 2273.44 - 116.32 25.20 1.651 2298.59 -5.1 0.206 - - - - - - - - 13.07
12536.52 381.39 7.01 1515 12541.00 roll 1.68 - - 2700.56 - 2.74 0.076 1131.38 -416.8 116.32 - - 2298.22 - - - - - - - - - 16.08 -
12630.47 373.72 8.52 1534 12636.48 roll 1.68 - - 2701.62 - 2.62 0.033 2273.44 435.9 116.32 - - 2296.56 - - - - - - - - - 16.10 -
12946.40 350.75 7.32 1566 12947.83 pitch 1.70 0.19 0.084 2747.38 240.8 - - 2273.38 - 116.32 - - 2295.38 - - - - - - - - 16.09 - -
13256.06 323.82 9.20 1597 13261.34 roll 1.70 - - 2747.81 - 2.65 0.093 3346.00 404.8 116.32 - - 2296.34 - - - - - - - - - 16.11 -
13310.79 317.96 10.82 1608 13316.61 roll 1.70 - - 2748.06 - 2.56 0.027 2188.75 -452.1 116.32 - - 2296.28 - - - - - - - - - 16.14 -
13626.53 287.22 9.70 1640 13631.26 roll 1.70 - - 2748.00 - 2.86 0.089 3345.06 404.3 116.32 - - 2296.75 - - - - - - - - - 16.12 -
13700.71 279.27 10.93 1655 13706.69 roll 1.70 - - 2747.31 - 2.56 0.027 2190.12 -451.1 116.32 - - 2296.88 - - - - - - - - - 16.14 -
14016.62 251.96 7.73 1687 14017.95 no move 1.72 - - 2747.69 - - - 2190.00 - 116.32 - - 2295.53 - - - - - - - - - - -
14326.66 227.08 7.94 1718 14331.37 roll 1.73 - - 2748.38 - 2.86 0.089 3346.50 404.4 116.32 - - 2297.69 - - - - - - - - - 16.15 -
14440.83 216.43 9.45 1741 14446.82 roll 1.73 - - 2748.31 - 2.56 0.027 2190.38 -451.6 116.32 - - 2296.44 - - - - - - - - - 16.16 -
14756.72 191.85 7.33 1773 14761.39 roll 1.75 - - 2747.75 - 2.54 0.080 1131.19 -417.0 116.32 - - 2296.03 - - - - - - - - - 16.15 -
14816.34 187.32 7.68 1785 14821.40 roll 1.76 - - 2747.31 - 2.60 0.032 2275.19 440.0 116.32 - - 2296.25 - - - - - - - - - 16.17 -
15126.78 165.82 7.60 1817 15128.11 no move 1.78 - - 2748.12 - - - 2275.25 - 116.32 - - 2295.56 - - - - - - - - - - -
15437.05 142.41 7.91 1848 15441.49 roll 1.79 - - 2748.12 - 2.64 0.091 3347.06 406.0 116.32 - - 2296.53 - - - - - - - - - 16.15 -
15530.99 135.03 7.76 1867 15536.96 roll 1.81 - - 2748.62 - 2.56 0.026 2185.62 -453.7 116.32 - - 2296.03 - - - - - - - - - 16.17 -
15846.87 114.47 6.08 1899 15877.94 1.88 0.16 0.094 2789.25 253.9 2.54 0.081 1130.12 -415.6 151.17 26.39 1.323 2157.75 -5.2 0.074 - - - - - - 16.13 15.98 12.89
15891.20 111.34 6.55 1908 15897.01 roll 1.91 - - 2789.56 - 2.61 0.031 2275.12 438.7 151.17 - - 2156.66 - - - - - - - - - 16.06 -
16201.57 86.64 8.53 1956 16207.12 roll 1.91 - - 2789.31 - 2.76 0.073 1129.94 -414.9 151.17 - - 2154.66 - - - - - - - - - 16.08 -
16226.57 84.68 7.98 1961 16232.11 roll 1.91 - - 2789.12 - 2.61 0.031 2275.19 438.8 151.17 - - 2154.69 - - - - - - - - - 16.06 -
16416.65 75.99 3.25 1999 16477.43 2.07 0.19 0.084 2835.38 243.5 - - 2275.25 - 227.56 56.24 1.301 1846.41 -5.5 0.053 - - - - - - 16.06 - 12.96
16661.84 59.78 8.36 2048 16667.29 done 2.07 - - 2835.25 - 2.80 0.073 1130.25 -408.9 227.56 - - 1838.81 - - - - - - - - - 15.92 -
16881.82 43.64 7.12 2092 16887.35 done 2.09 - - 2835.06 - 2.63 0.031 2273.62 434.7 227.56 - - 1835.53 - - - - - - - - - 15.96 -
17071.89 30.77 5.97 2130 17104.34 done 2.17 - - 2836.06 - 2.69 0.091 3346.81 399.0 264.10 27.17 1.192 1697.34 -5.1 0.022 - - - - - - - 15.83 12.89
17167.52 25.47 5.95 2149 17203.86 2.24 0.17 0.088 2877.75 245.2 2.61 0.024 2181.44 -446.5 300.96 28.93 1.175 1548.28 -5.2 0.018 - - - - - - 15.90 15.89 12.79
17387.38 7.42 9.22 2193 17392.97 roll 2.24 - - 2877.88 - 2.93 0.085 3345.88 397.4 300.96 - - 1540.78 - - - - - - - - - 15.87 -
17442 end climb: SURFACE_DEPTH_REACHED
17442 begin surface coast
17467 end surface coast: CONTROL_FINISHED_OK
17467 begin surface
SM 1.83 - - - - 181.5 54.90 1.173 1246.2 22.7 16.42 0.041 1218.9 74.2 - 2.40 0.030 1273.4 529.4 -3.300 - - 12.88 15.88 15.92 -