NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 107 * Raw log
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• Previous call tries 5 • 39.85 of 550.00 AH used of 24V (92.75% remains)
• Surface angle -58.5 deg, depth 1.40 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 375.19 (SM_CC=375)
• GPS1 time: 26 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
4 end surface: CONTROL_FINISHED_OK
5 begin dive
6.45 - - - 64.90 VBD -1.37 - - 180.62 - - - 2375.56 - -82.73 57.29 0.005 2592.31 - - - - - - - - - - 15.80
65.64 3.03 -3.53 11 103.75 -1.37 13.70 0.255 1988.75 132.0 2.63 0.093 3427.38 399.9 -82.73 13.56 0.006 3113.09 38.4 -3.184 - - - - - - 15.75 15.77 15.81
131.73 14.58 -19.26 24 137.26 roll -1.37 - - 1988.50 - 2.60 0.024 2258.06 -449.7 -82.73 - - 3114.44 - - - - - - - - - 15.87 -
322.45 49.25 -15.92 62 327.42 roll -1.37 - - 1988.81 - 2.92 0.085 3427.00 400.3 -82.73 - - 3112.97 - - - - - - - - - 15.92 -
421.87 67.36 -17.08 82 427.38 roll -1.37 - - 1988.62 - 2.60 0.024 2256.75 -450.1 -82.73 - - 3114.09 - - - - - - - - - 15.95 -
612.33 90.84 -12.01 120 615.92 no move -1.37 - - 1988.94 - - - 2254.62 - -82.73 - - 3113.09 - - - - - - - - - - -
796.99 112.25 -11.86 147 802.05 roll -1.37 - - 1988.94 - 2.51 0.068 1208.69 -416.7 -82.73 - - 3113.81 - - - - - - - - - 15.99 -
851.71 118.38 -10.92 158 857.55 roll -1.37 - - 1989.50 - 2.62 0.030 2353.25 436.9 -82.73 - - 3113.44 - - - - - - - - - 16.04 -
1167.07 148.85 -9.30 190 1172.16 roll -1.37 - - 1989.50 - 2.73 0.063 1208.56 -419.3 -82.73 - - 3113.19 - - - - - - - - - 16.06 -
1251.63 156.17 -8.59 207 1257.63 roll -1.37 - - 1988.62 - 2.62 0.030 2352.31 436.5 -82.73 - - 3114.88 - - - - - - - - - 16.06 -
1567.15 183.79 -9.09 239 1572.23 roll -1.37 - - 1989.12 - 2.65 0.090 3425.44 405.0 -82.73 - - 3113.47 - - - - - - - - - 16.08 -
1681.72 195.86 -10.53 262 1687.71 roll -1.37 - - 1987.88 - 2.57 0.024 2247.94 -458.2 -82.73 - - 3114.66 - - - - - - - - - 16.09 -
1997.25 224.28 -10.06 294 1998.58 no move -1.37 - - 1989.25 - - - 2248.25 - -82.73 - - 3113.09 - - - - - - - - - - -
2307.94 253.49 -9.07 325 2312.44 roll -1.37 - - 1989.06 - 2.91 0.086 3424.56 404.2 -82.73 - - 3114.16 - - - - - - - - - 16.13 -
2397.33 263.36 -11.51 343 2402.40 roll -1.37 - - 1988.62 - 2.56 0.025 2250.81 -458.5 -82.73 - - 3114.25 - - - - - - - - - 16.14 -
2707.37 293.57 -9.75 375 2708.70 no move -1.37 - - 1990.12 - - - 2250.12 - -82.73 - - 3113.06 - - - - - - - - - - -
3017.79 323.50 -9.43 406 3022.53 roll -1.37 - - 1989.62 - 2.90 0.087 3425.00 405.1 -82.73 - - 3115.34 - - - - - - - - - 16.14 -
3151.97 337.70 -10.21 433 3157.95 roll -1.37 - - 1988.50 - 2.56 0.025 2251.62 -458.4 -82.73 - - 3113.72 - - - - - - - - - 16.15 -
3467.47 366.99 -9.14 465 3468.80 no move -1.37 - - 1989.81 - - - 2251.94 - -82.73 - - 3112.50 - - - - - - - - - - -
3777.88 395.23 -8.87 496 3782.62 roll -1.37 - - 1988.25 - 2.91 0.087 3425.75 403.4 -82.73 - - 3114.56 - - - - - - - - - 16.18 -
3852.05 402.92 -10.51 511 3858.03 roll -1.37 - - 1989.88 - 2.56 0.025 2247.81 -460.1 -82.73 - - 3113.75 - - - - - - - - - 16.18 -
4167.54 430.31 -8.44 543 4172.67 roll -1.37 - - 1989.69 - 2.91 0.088 3424.25 404.3 -82.73 - - 3113.66 - - - - - - - - - 16.17 -
4237.74 437.01 -9.48 557 4242.69 roll -1.37 - - 1989.50 - 2.55 0.025 2254.50 -458.7 -82.73 - - 3112.66 - - - - - - - - - 16.19 -
4547.60 461.68 -8.28 589 4548.93 no move -1.37 - - 1989.50 - - - 2251.75 - -82.73 - - 3111.09 - - - - - - - - - - -
4858.04 488.35 -8.97 620 4859.37 no move -1.37 - - 1989.75 - - - 2252.06 - -82.73 - - 3111.62 - - - - - - - - - - -
5168.10 514.91 -8.75 651 5172.84 roll -1.37 - - 1989.44 - 2.89 0.089 3426.19 406.3 -82.73 - - 3113.00 - - - - - - - - - 16.19 -
5202.27 518.58 -10.47 658 5208.46 roll -1.37 - - 1988.25 - 2.54 0.026 2252.56 -462.1 -82.73 - - 3112.56 - - - - - - - - - 16.21 -
5517.81 547.39 -9.31 690 5519.13 no move -1.37 - - 1989.75 - - - 2252.81 - -82.73 - - 3110.44 - - - - - - - - - - -
5828.26 575.30 -8.72 721 5829.59 no move -1.37 - - 1989.69 - - - 2252.88 - -82.73 - - 3110.88 - - - - - - - - - - -
6138.32 601.69 -7.95 752 6139.65 no move -1.37 - - 1989.69 - - - 2252.81 - -82.73 - - 3109.62 - - - - - - - - - - -
6448.38 627.22 -7.98 783 6453.11 roll -1.37 - - 1989.56 - 2.89 0.089 3425.62 405.8 -82.73 - - 3110.25 - - - - - - - - - 16.21 -
6508.02 633.20 -9.85 795 6513.08 roll -1.37 - - 1989.06 - 2.55 0.025 2253.06 -459.8 -82.73 - - 3109.78 - - - - - - - - - 16.21 -
6818.08 658.33 -7.60 827 6823.19 roll -1.37 - - 1988.25 - 2.88 0.089 3425.12 407.0 -82.73 - - 3110.19 - - - - - - - - - 16.20 -
6932.84 668.22 -8.64 850 6938.69 roll -1.37 - - 1990.00 - 2.55 0.026 2250.75 -460.5 -82.73 - - 3109.31 - - - - - - - - - 16.21 -
7248.18 691.47 -6.79 882 7253.30 roll -1.37 - - 1988.00 - 2.89 0.089 3425.25 406.4 -82.73 - - 3109.84 - - - - - - - - - 16.21 -
7368.21 701.62 -8.71 906 7373.28 roll -1.37 - - 1989.62 - 2.56 0.025 2254.56 -457.3 -82.73 - - 3109.12 - - - - - - - - - 16.22 -
7587 end dive: TARGET_DEPTH_EXCEEDED
7588 begin apogee
7590.06 718.39 -7.81 929 7653.56 -0.28 1.77 0.154 2253.62 149.2 0.14 0.177 2288.19 240.2 - 59.67 2.059 2772.56 -5.6 0.323 - - - - - - 16.16 15.75 12.93
7654 end apogee: CONTROL_FINISHED_OK
7654 begin climb
7655.44 720.14 - 935 7726.60 1.37 2.62 0.102 2654.50 153.0 2.91 0.079 1131.69 -397.4 82.73 62.44 2.003 2437.03 -5.4 0.317 - - - - - - 15.79 15.45 12.91
7785.29 712.92 7.67 960 7790.20 roll 1.38 - - 2654.62 - 2.70 0.032 2273.00 422.7 82.73 - - 2435.22 - - - - - - - - - 15.63 -
8095.69 690.20 7.46 992 8100.27 roll 1.40 - - 2653.62 - 2.71 0.093 3345.69 395.8 82.73 - - 2431.91 - - - - - - - - - 15.86 -
8175.20 683.43 8.58 1008 8180.27 roll 1.40 - - 2654.31 - 2.62 0.026 2191.81 -440.4 82.73 - - 2432.31 - - - - - - - - - 15.90 -
8485.67 661.41 7.43 1040 8487.00 no move 1.42 - - 2654.31 - - - 2191.19 - 82.73 - - 2429.25 - - - - - - - - - - -
8795.73 640.27 7.30 1071 8800.44 done 1.45 - - 2654.38 - 2.89 0.090 3346.69 399.8 82.73 - - 2430.59 - - - - - - - - - 16.03 -
8885.35 633.23 7.30 1089 8890.41 done 1.47 - - 2653.94 - 2.59 0.027 2191.00 -446.2 82.73 - - 2430.03 - - - - - - - - - 16.03 -
9195.77 610.57 7.12 1121 9197.21 1.50 0.16 0.093 2698.44 278.1 - - 2191.31 - 82.73 - - 2427.97 - - - - - - - - 16.06 - -
9505.40 584.82 8.94 1152 9510.47 done 1.50 - - 2697.50 - 2.57 0.082 1130.00 -413.0 82.73 - - 2430.06 - - - - - - - - - 16.09 -
9595.43 576.78 8.85 1170 9600.50 done 1.50 - - 2697.81 - 2.60 0.033 2272.75 439.5 82.73 - - 2429.16 - - - - - - - - - 16.12 -
9906.04 552.56 7.58 1202 9910.57 done 1.51 - - 2698.19 - 2.75 0.076 1130.19 -415.5 82.73 - - 2428.97 - - - - - - - - - 16.12 -
10000.21 544.72 8.34 1221 10006.07 done 1.51 - - 2698.44 - 2.60 0.033 2274.50 440.1 82.73 - - 2428.34 - - - - - - - - - 16.13 -
10315.92 520.84 7.05 1253 10317.25 VBD 1.54 - - 2698.00 - - - 2274.12 - 82.73 - - 2427.72 - - - - - - - - - - -
10626.00 500.32 6.58 1284 10630.65 done 1.58 - - 2697.81 - 2.75 0.076 1131.38 -415.5 82.73 - - 2428.41 - - - - - - - - - 16.16 -
10660.11 497.71 7.16 1291 10666.14 done 1.61 - - 2697.81 - 2.61 0.033 2272.50 437.2 82.73 - - 2429.00 - - - - - - - - - 16.15 -
10976.00 475.72 7.00 1323 10980.69 done 1.64 - - 2698.06 - 2.77 0.075 1131.06 -412.1 82.73 - - 2427.81 - - - - - - - - - 16.17 -
11060.18 469.44 7.21 1340 11066.22 1.66 0.14 0.099 2736.25 272.8 2.62 0.033 2273.56 436.1 82.73 - - 2427.59 - - - - - - - - 16.14 16.18 -
11375.70 444.68 7.51 1372 11380.78 done 1.68 - - 2735.94 - 2.66 0.094 3345.31 402.9 82.73 - - 2428.25 - - - - - - - - - 16.16 -
11455.73 437.82 8.58 1388 11460.80 done 1.68 - - 2737.44 - 2.58 0.027 2187.81 -448.6 82.73 - - 2427.91 - - - - - - - - - 16.18 -
11766.18 415.79 6.95 1420 11771.08 done 1.71 - - 2736.94 - 2.88 0.089 3346.44 402.3 82.73 - - 2430.47 - - - - - - - - - 16.19 -
12000.41 397.07 8.04 1467 12006.40 done 1.71 - - 2737.44 - 2.58 0.027 2188.69 -448.7 82.73 - - 2427.81 - - - - - - - - - 16.17 -
12316.33 374.74 6.90 1499 12317.67 VBD 1.74 - - 2737.50 - - - 2188.62 - 82.73 - - 2426.94 - - - - - - - - - - -
12626.39 354.25 6.20 1530 12657.38 done 1.81 - - 2736.88 - 2.56 0.084 1129.94 -413.5 115.80 24.66 1.583 2301.62 -5.1 0.187 - - - - - - - 15.99 13.03
12720.57 347.26 7.80 1549 12726.57 roll 1.82 - - 2736.38 - 2.64 0.032 2272.12 432.6 115.80 - - 2301.88 - - - - - - - - - 16.08 -
13036.49 321.93 7.69 1581 13037.92 pitch 1.84 0.17 0.089 2780.62 260.2 - - 2272.62 - 115.80 - - 2298.09 - - - - - - - - 16.09 - -
13346.14 294.68 8.22 1612 13351.26 roll 1.84 - - 2780.50 - 2.78 0.075 1131.06 -410.6 115.80 - - 2298.19 - - - - - - - - - 16.10 -
13476.19 283.28 8.86 1638 13481.28 roll 1.84 - - 2780.38 - 2.63 0.033 2273.06 434.2 115.80 - - 2298.28 - - - - - - - - - 16.13 -
13786.64 258.52 8.20 1670 13791.34 roll 1.84 - - 2780.31 - 2.67 0.093 3346.00 401.9 115.80 - - 2298.44 - - - - - - - - - 16.13 -
13836.44 253.98 9.08 1680 13841.39 roll 1.84 - - 2780.81 - 2.58 0.026 2188.06 -448.8 115.80 - - 2299.81 - - - - - - - - - 16.14 -
14146.33 226.37 9.11 1712 14147.66 no move 1.84 - - 2780.56 - - - 2187.75 - 115.80 - - 2297.78 - - - - - - - - - - -
14456.75 198.32 9.45 1743 14458.08 no move 1.84 - - 2780.81 - - - 2187.75 - 115.80 - - 2297.28 - - - - - - - - - - -
14766.78 171.20 8.44 1774 14768.11 no move 1.84 - - 2780.31 - - - 2186.38 - 115.80 - - 2297.19 - - - - - - - - - - -
15076.84 148.16 7.23 1805 15081.51 roll 1.86 - - 2780.75 - 2.56 0.079 1130.00 -412.6 115.80 - - 2298.22 - - - - - - - - - 16.15 -
15126.45 144.53 7.25 1815 15131.54 roll 1.88 - - 2780.69 - 2.62 0.032 2272.81 436.2 115.80 - - 2298.84 - - - - - - - - - 16.17 -
15436.88 124.40 6.78 1847 15441.58 roll 1.92 - - 2779.06 - 2.78 0.073 1130.12 -411.0 115.80 - - 2298.66 - - - - - - - - - 16.16 -
15571.45 115.24 6.53 1874 15577.06 roll 1.96 - - 2781.19 - 2.61 0.031 2275.00 438.7 115.80 - - 2299.03 - - - - - - - - - 16.16 -
15886.94 100.52 4.60 1906 15933.30 2.07 0.25 0.073 2836.69 222.0 2.70 0.092 3346.31 396.8 172.36 41.51 1.335 2071.88 -5.5 0.068 - - - - - - 16.15 15.91 13.00
16032.12 90.28 8.28 1935 16037.55 roll 2.07 - - 2835.25 - 2.62 0.026 2187.19 -442.4 172.36 - - 2067.72 - - - - - - - - - 16.01 -
16222.09 76.51 6.90 1973 16227.68 roll 2.10 - - 2836.69 - 2.91 0.085 3347.06 398.6 172.36 - - 2065.28 - - - - - - - - - 16.03 -
16457.18 64.24 3.50 2020 16515.51 2.25 0.17 0.091 2876.50 234.2 2.60 0.025 2181.50 -448.3 245.05 53.28 1.274 1774.53 -5.5 0.045 - - - - - - 16.02 16.03 12.94
16698.51 45.68 9.66 2068 16704.13 done 2.25 - - 2877.06 - 2.95 0.085 3346.94 395.1 245.05 - - 1766.62 - - - - - - - - - 15.91 -
16933.58 23.82 7.14 2115 16939.11 done 2.27 - - 2875.81 - 2.61 0.025 2189.12 -443.6 245.05 - - 1765.12 - - - - - - - - - 15.96 -
17123.65 18.48 2.34 2153 17196.51 2.45 0.23 0.078 2929.38 232.9 2.93 0.084 3345.81 394.8 334.74 65.04 1.200 1409.94 -5.5 0.014 - - - - - - 15.97 15.69 12.78
17310.21 2.23 12.78 2190 17315.58 roll 2.45 - - 2929.88 - 2.62 0.027 2192.75 -440.1 334.74 - - 1403.56 - - - - - - - - - 15.82 -
17320 end climb: SURFACE_DEPTH_REACHED
17320 begin surface coast
17339 end surface coast: CONTROL_FINISHED_OK
17340 begin surface
SM 1.79 - - - - 179.6 30.39 1.143 1245.5 41.0 16.91 0.048 1221.7 72.2 - 0.32 0.054 1269.3 3958.4 -13.411 - - 12.81 15.83 15.85 -