NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1074 * Raw log
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• Previous call tries 2 • 378.54 of 550.00 AH used of 24V (31.17% remains)
• Surface angle -63.9 deg, depth 0.68 m • Intended pitch -25.2 deg, speed -8.462 cm/s
VBD pumped to 424.85 (SM_CC=425)
• GPS1 time: 24 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.83 - - - 82.60 VBD -1.56 - - 174.56 - - - 2250.56 - -82.73 75.29 0.005 2871.75 - - - - - - - - - - 14.82
83.33 3.58 -4.86 14 112.60 -1.56 14.34 0.246 1941.50 123.2 3.06 0.081 3424.31 383.6 -82.73 5.45 0.009 3112.53 44.2 -2.996 - - - - - - 15.41 14.88 15.00
205.07 25.08 -15.55 38 210.27 roll -1.56 - - 1941.50 - 2.64 0.018 2254.50 -443.1 -82.73 - - 3112.53 - - - - - - - - - 15.82 -
395.14 53.05 -13.64 76 396.47 no move -1.56 - - 1941.25 - - - 2252.50 - -82.73 - - 3111.50 - - - - - - - - - - -
579.88 77.31 -12.56 113 581.21 no move -1.56 - - 1941.19 - - - 2252.50 - -82.73 - - 3111.03 - - - - - - - - - - -
764.89 97.97 -9.20 150 766.22 no move -1.56 - - 1941.25 - - - 2252.50 - -82.73 - - 3111.41 - - - - - - - - - - -
949.95 114.04 -8.52 187 955.48 roll -1.56 - - 1941.56 - 2.59 0.063 1209.44 -402.7 -82.73 - - 3112.72 - - - - - - - - - 15.91 -
1019.96 120.45 -9.19 201 1025.52 roll -1.56 - - 1942.06 - 2.69 0.025 2356.75 426.5 -82.73 - - 3113.16 - - - - - - - - - 15.94 -
1330.03 149.80 -9.70 263 1335.60 roll -1.56 - - 1941.75 - 2.85 0.058 1209.19 -402.7 -82.73 - - 3113.62 - - - - - - - - - 15.94 -
1380.02 154.70 -9.85 273 1385.58 roll -1.56 - - 1941.56 - 2.67 0.025 2355.12 429.2 -82.73 - - 3112.91 - - - - - - - - - 15.96 -
1690.08 184.15 -9.31 335 1695.66 roll -1.56 - - 1941.50 - 2.84 0.058 1208.00 -403.9 -82.73 - - 3113.72 - - - - - - - - - 15.95 -
1740.08 188.98 -9.76 345 1745.64 roll -1.56 - - 1941.62 - 2.65 0.025 2352.75 432.0 -82.73 - - 3113.06 - - - - - - - - - 15.98 -
2050.32 219.59 -9.95 407 2055.78 roll -1.56 - - 1941.69 - 2.82 0.057 1208.12 -405.9 -82.73 - - 3112.75 - - - - - - - - - 15.95 -
2130.14 228.01 -10.70 423 2135.70 roll -1.56 - - 1941.50 - 2.64 0.025 2347.94 431.8 -82.73 - - 3113.44 - - - - - - - - - 15.98 -
2440.19 255.74 -7.62 485 2441.52 no move -1.56 - - 1941.38 - - - 2347.69 - -82.73 - - 3112.22 - - - - - - - - - - -
2745.25 275.62 -6.19 546 2750.81 roll -1.56 - - 1941.62 - 2.81 0.058 1209.44 -405.1 -82.73 - - 3113.50 - - - - - - - - - 15.96 -
2825.24 281.21 -7.12 562 2830.80 roll -1.56 - - 1941.06 - 2.62 0.025 2344.69 433.3 -82.73 - - 3113.84 - - - - - - - - - 15.99 -
3137.75 306.39 -8.69 616 3142.39 roll -1.56 - - 1941.94 - 2.74 0.082 3426.00 394.6 -82.73 - - 3113.28 - - - - - - - - - 15.94 -
3192.03 311.56 -9.49 624 3206.97 roll -1.56 - - 1941.44 - 2.62 0.017 2230.88 -456.2 -82.73 - - 3113.34 - - - - - - - - - 16.01 -
3508.24 338.95 -8.31 653 3519.31 no move -1.56 - - 1941.12 - - - 2229.25 - -82.73 - - 3113.97 - - - - - - - - - - -
3821.28 362.02 -6.73 682 3826.08 roll -1.56 - - 1941.62 - 2.54 0.064 1208.19 -402.0 -82.73 - - 3112.00 - - - - - - - - - 15.97 -
3860.00 364.62 -6.81 688 3874.76 roll -1.56 - - 1940.88 - 2.61 0.025 2335.94 432.1 -82.73 - - 3113.84 - - - - - - - - - 16.00 -
4176.03 387.20 -7.77 717 4180.68 roll -1.56 - - 1940.94 - 2.80 0.083 3428.38 390.2 -82.73 - - 3113.16 - - - - - - - - - 15.93 -
4246.36 393.45 -8.96 727 4261.31 roll -1.56 - - 1941.00 - 2.65 0.018 2228.44 -452.8 -82.73 - - 3112.78 - - - - - - - - - 16.01 -
4562.58 422.50 -8.97 756 4567.27 roll -1.56 - - 1940.75 - 3.07 0.079 3427.94 390.7 -82.73 - - 3113.38 - - - - - - - - - 15.93 -
4615.51 428.04 -10.16 763 4620.14 roll -1.56 - - 1941.25 - 2.64 0.019 2230.75 -453.5 -82.73 - - 3113.25 - - - - - - - - - 16.00 -
4927.19 457.39 -9.30 792 4931.80 roll -1.56 - - 1941.94 - 2.53 0.065 1208.25 -404.2 -82.73 - - 3112.53 - - - - - - - - - 15.96 -
4982.21 462.60 -9.56 800 4996.98 roll -1.56 - - 1941.31 - 2.61 0.025 2333.62 431.2 -82.73 - - 3112.81 - - - - - - - - - 16.01 -
5298.37 492.69 -9.27 829 5303.02 roll -1.56 - - 1941.00 - 2.80 0.060 1207.81 -402.1 -82.73 - - 3110.28 - - - - - - - - - 15.96 -
5389.14 500.82 -9.62 842 5404.27 roll -1.56 - - 1942.00 - 2.61 0.025 2327.88 429.1 -82.73 - - 3111.91 - - - - - - - - - 16.01 -
5718.65 530.96 -8.83 864 5719.98 no move -1.56 - - 1941.31 - - - 2327.75 - -82.73 - - 3110.78 - - - - - - - - - - -
6033.56 555.72 -7.53 885 6034.89 no move -1.56 - - 1941.44 - - - 2327.75 - -82.73 - - 3111.25 - - - - - - - - - - -
6348.56 576.88 -6.68 906 6353.20 roll -1.56 - - 1941.06 - 2.77 0.060 1210.69 -403.3 -82.73 - - 3110.78 - - - - - - - - - 15.95 -
6371.36 577.98 -6.57 910 6386.29 roll -1.56 - - 1941.88 - 2.58 0.025 2325.06 431.9 -82.73 - - 3110.84 - - - - - - - - - 16.02 -
6700.80 601.30 -7.19 932 6702.13 no move -1.56 - - 1941.56 - - - 2325.25 - -82.73 - - 3109.75 - - - - - - - - - - -
7016.01 623.13 -6.71 953 7017.34 no move -1.56 - - 1941.44 - - - 2325.06 - -82.73 - - 3109.22 - - - - - - - - - - -
7330.87 643.72 -6.78 974 7335.54 roll -1.56 - - 1941.00 - 2.83 0.086 3425.69 388.9 -82.73 - - 3108.78 - - - - - - - - - 15.90 -
7369.40 646.52 -7.24 980 7374.96 roll -1.56 - - 1940.94 - 2.68 0.019 2217.38 -450.9 -82.73 - - 3110.88 - - - - - - - - - 16.01 -
7508 end dive: TARGET_DEPTH_EXCEEDED
7509 begin apogee
7510.64 655.91 -6.76 990 7586.28 -0.28 2.21 0.142 2254.12 141.7 0.16 0.136 2163.44 -337.1 - 64.79 1.947 2775.19 -5.2 0.298 - - - - - - 15.81 15.26 10.39
7588 end apogee: CONTROL_FINISHED_OK
7588 begin climb
7588.89 657.73 - 995 7662.03 1.56 2.98 0.086 2704.81 151.2 0.19 0.077 2037.38 -663.5 82.73 66.47 1.891 2438.38 -5.1 0.300 - - - - - - 15.55 15.67 11.58
7973.80 639.87 4.77 1027 8046.14 1.72 0.20 0.074 2755.25 252.2 3.09 0.078 3205.94 378.2 161.89 64.87 1.869 2116.28 -5.0 0.290 - - - - - - 15.73 15.23 11.13
8105.73 631.15 7.31 1047 8120.48 roll 1.74 - - 2754.88 - 2.67 0.024 2065.75 -427.0 161.89 - - 2111.06 - - - - - - - - - 15.61 -
8434.98 607.77 6.77 1069 8436.31 VBD 1.78 - - 2755.56 - - - 2065.56 - 161.89 - - 2105.06 - - - - - - - - - - -
8749.98 585.76 7.68 1090 8754.67 done 1.79 - - 2754.44 - 2.94 0.077 3205.12 387.6 161.89 - - 2105.41 - - - - - - - - - 15.84 -
8814.27 580.61 8.61 1100 8829.21 done 1.79 - - 2755.00 - 2.62 0.025 2061.62 -436.5 161.89 - - 2105.03 - - - - - - - - - 15.89 -
9143.67 550.54 9.14 1122 9148.36 done 1.79 - - 2756.06 - 2.93 0.077 3207.44 391.1 161.89 - - 2103.06 - - - - - - - - - 15.88 -
9182.23 547.01 9.27 1128 9187.96 done 1.79 - - 2756.12 - 2.62 0.024 2061.44 -437.4 161.89 - - 2103.66 - - - - - - - - - 15.93 -
9501.75 519.82 8.01 1150 9506.43 done 1.79 - - 2755.19 - 2.93 0.077 3205.00 390.3 161.89 - - 2102.47 - - - - - - - - - 15.89 -
9706.64 504.25 7.38 1180 9711.77 done 1.82 - - 2755.31 - 2.59 0.025 2073.44 -436.9 161.89 - - 2103.53 - - - - - - - - - 15.96 -
10017.94 483.56 6.61 1208 10022.60 done 1.85 - - 2755.44 - 2.75 0.084 994.75 -392.3 161.89 - - 2100.78 - - - - - - - - - 15.89 -
10165.32 472.99 7.17 1227 10169.96 done 1.88 - - 2755.56 - 2.66 0.024 2145.19 432.5 161.89 - - 2101.72 - - - - - - - - - 15.98 -
10477.03 450.48 7.60 1256 10481.66 done 1.90 - - 2754.44 - 2.70 0.081 3202.25 391.5 161.89 - - 2102.38 - - - - - - - - - 15.90 -
10547.05 444.76 8.20 1266 10561.98 done 1.90 - - 2755.44 - 2.58 0.024 2070.12 -438.8 161.89 - - 2102.16 - - - - - - - - - 15.98 -
10863.49 421.26 7.31 1295 10868.25 1.92 0.17 0.082 2802.31 275.7 2.91 0.077 3205.75 390.3 161.89 - - 2101.84 - - - - - - - - 15.94 15.87 -
10947.92 414.40 8.10 1306 10952.72 done 1.92 - - 2802.00 - 2.59 0.024 2074.88 -436.6 161.89 - - 2101.22 - - - - - - - - - 15.98 -
11259.78 390.20 7.42 1335 11264.43 done 1.94 - - 2802.06 - 2.76 0.083 993.31 -391.9 161.89 - - 2100.91 - - - - - - - - - 15.89 -
11377.01 380.38 8.67 1351 11391.97 done 1.94 - - 2801.81 - 2.71 0.024 2159.06 430.2 161.89 - - 2102.03 - - - - - - - - - 15.99 -
11693.63 355.73 7.81 1380 11704.71 VBD 1.95 - - 2802.00 - - - 2159.62 - 161.89 - - 2101.12 - - - - - - - - - - -
12006.97 331.00 8.59 1409 12011.65 done 1.95 - - 2802.31 - 2.98 0.077 993.31 -391.4 161.89 - - 2100.97 - - - - - - - - - 15.88 -
12059.90 325.84 9.44 1416 12063.87 done 1.95 - - 2801.62 - 2.68 0.024 2150.69 431.9 161.89 - - 2099.22 - - - - - - - - - 15.99 -
12366.10 296.91 9.16 1447 12371.64 done 1.95 - - 2801.56 - 2.66 0.081 3202.50 395.4 161.89 - - 2100.62 - - - - - - - - - 15.88 -
12431.11 290.55 9.85 1460 12436.64 done 1.95 - - 2801.25 - 2.56 0.023 2074.75 -440.5 161.89 - - 2101.34 - - - - - - - - - 15.97 -
12741.17 266.53 6.74 1522 12746.74 done 1.99 - - 2801.06 - 2.90 0.077 3204.75 389.7 161.89 - - 2102.00 - - - - - - - - - 15.88 -
12821.35 260.67 7.37 1538 12826.75 done 2.01 - - 2801.75 - 2.55 0.024 2083.56 -439.7 161.89 - - 2100.97 - - - - - - - - - 15.98 -
13131.23 242.60 5.74 1600 13183.50 2.13 0.20 0.077 2852.56 254.0 2.90 0.078 3204.56 386.6 220.29 46.44 1.469 1877.28 -4.8 0.136 - - - - - - 15.92 15.36 10.63
13226.21 235.29 9.13 1619 13231.76 roll 2.13 - - 2852.56 - 2.56 0.023 2090.94 -435.0 220.29 - - 1874.56 - - - - - - - - - 15.80 -
13536.26 207.31 9.49 1681 13541.83 roll 2.13 - - 2851.75 - 2.87 0.077 3207.31 389.0 220.29 - - 1871.44 - - - - - - - - - 15.81 -
13566.25 204.18 10.31 1687 13571.80 roll 2.13 - - 2852.31 - 2.55 0.024 2092.19 -437.3 220.29 - - 1870.56 - - - - - - - - - 15.87 -
13876.31 171.87 10.93 1749 13881.88 roll 2.13 - - 2851.94 - 2.85 0.076 3205.94 390.8 220.29 - - 1870.62 - - - - - - - - - 15.84 -
13941.31 164.52 11.31 1762 13947.02 roll 2.13 - - 2852.62 - 2.53 0.024 2093.56 -439.7 220.29 - - 1870.50 - - - - - - - - - 15.91 -
14251.42 136.81 7.91 1824 14256.96 done 2.14 - - 2852.50 - 2.79 0.081 993.62 -394.2 220.29 - - 1869.34 - - - - - - - - - 15.85 -
14351.43 128.74 8.11 1844 14357.00 done 2.14 - - 2852.38 - 2.72 0.024 2171.88 433.2 220.29 - - 1868.41 - - - - - - - - - 15.94 -
14661.55 102.74 8.45 1906 14667.08 done 2.14 - - 2852.31 - 2.63 0.080 3206.38 393.3 220.29 - - 1868.69 - - - - - - - - - 15.87 -
14686.54 100.56 8.56 1911 14692.08 done 2.14 - - 2852.81 - 2.54 0.023 2087.38 -440.6 220.29 - - 1868.81 - - - - - - - - - 15.95 -
14996.67 78.75 6.84 1973 15002.21 done 2.17 - - 2852.50 - 2.77 0.079 993.19 -395.0 220.29 - - 1868.22 - - - - - - - - - 15.87 -
15231.73 65.06 4.59 2020 15303.83 2.34 0.20 0.075 2902.69 251.0 2.66 0.023 2155.31 436.9 303.30 64.96 1.234 1539.56 -5.1 0.045 - - - - - - 15.82 15.96 10.84
15486.81 50.47 6.98 2071 15492.38 roll 2.36 - - 2903.25 - 2.98 0.075 993.56 -389.8 303.30 - - 1531.59 - - - - - - - - - 15.76 -
15661.83 36.40 8.33 2106 15667.39 done 2.36 - - 2902.50 - 2.67 0.023 2145.75 431.5 303.30 - - 1529.69 - - - - - - - - - 15.85 -
15851.89 20.61 8.51 2144 15857.46 done 2.36 - - 2903.69 - 2.71 0.078 3206.25 391.3 303.30 - - 1528.38 - - - - - - - - - 15.82 -
15891.90 17.01 9.01 2152 15897.45 done 2.36 - - 2903.38 - 2.63 0.023 2061.31 -435.3 303.30 - - 1528.25 - - - - - - - - - 15.88 -
16047 end climb: SURFACE_DEPTH_REACHED
16047 begin surface coast
16102 end surface coast: CONTROL_FINISHED_OK
16102 begin surface
SM 0.57 - - - - 174.8 91.03 1.150 1043.0 11.5 16.75 0.049 990.9 59.2 - 0.63 0.053 1095.2 1734.2 -1.906 - - 11.04 15.84 15.91 -