NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 108 * Raw log
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• Previous call tries 1 • 40.12 of 550.00 AH used of 24V (92.71% remains)
• Surface angle -63.8 deg, depth 1.53 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 374.97 (SM_CC=375)
• GPS1 time: 43 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 - - - 64.91 VBD -1.37 - - 178.69 - - - 2258.38 - -82.73 57.28 0.005 2599.66 - - - - - - - - - - 15.77
65.65 3.06 -3.26 11 103.02 -1.37 13.75 0.248 1989.12 131.7 2.54 0.074 1209.88 -412.8 -82.73 13.18 0.007 3111.91 38.9 -2.782 - - - - - - 15.72 15.75 15.79
105.98 10.44 -17.14 19 111.53 roll -1.37 - - 1988.56 - 2.66 0.031 2349.00 428.2 -82.73 - - 3112.69 - - - - - - - - - 15.82 -
296.44 47.10 -17.00 57 301.62 roll -1.37 - - 1989.38 - 2.70 0.089 3426.00 398.9 -82.73 - - 3112.91 - - - - - - - - - 15.87 -
346.27 56.32 -18.64 67 351.69 roll -1.37 - - 1989.88 - 2.61 0.024 2256.94 -447.9 -82.73 - - 3113.59 - - - - - - - - - 15.91 -
536.55 84.29 -11.80 105 541.76 roll -1.37 - - 1989.38 - 2.94 0.085 3426.62 397.9 -82.73 - - 3114.28 - - - - - - - - - 15.93 -
626.19 96.98 -14.84 123 631.72 roll -1.37 - - 1989.62 - 2.60 0.024 2255.75 -450.3 -82.73 - - 3114.25 - - - - - - - - - 15.95 -
821.24 118.83 -10.55 145 826.37 roll -1.37 - - 1990.06 - 2.93 0.084 3425.81 399.3 -82.73 - - 3113.78 - - - - - - - - - 16.01 -
1055.85 146.02 -10.34 192 1061.83 roll -1.37 - - 1989.56 - 2.60 0.024 2253.75 -450.8 -82.73 - - 3114.25 - - - - - - - - - 16.02 -
1371.35 175.87 -9.96 224 1372.68 no move -1.37 - - 1989.62 - - - 2252.94 - -82.73 - - 3113.69 - - - - - - - - - - -
1681.76 205.31 -9.20 255 1683.09 no move -1.37 - - 1989.44 - - - 2252.81 - -82.73 - - 3113.41 - - - - - - - - - - -
1991.80 234.28 -9.36 286 1993.13 no move -1.37 - - 1989.62 - - - 2253.00 - -82.73 - - 3113.69 - - - - - - - - - - -
2301.83 264.79 -10.21 317 2303.16 no move -1.37 - - 1989.94 - - - 2253.12 - -82.73 - - 3114.12 - - - - - - - - - - -
2611.86 295.27 -9.72 348 2616.62 roll -1.37 - - 1989.56 - 2.92 0.086 3425.62 401.5 -82.73 - - 3115.97 - - - - - - - - - 16.13 -
2721.68 307.22 -10.64 370 2726.63 roll -1.37 - - 1989.75 - 2.58 0.024 2254.12 -454.1 -82.73 - - 3113.97 - - - - - - - - - 16.14 -
3031.54 334.67 -8.02 402 3032.87 no move -1.37 - - 1989.62 - - - 2253.00 - -82.73 - - 3113.44 - - - - - - - - - - -
3342.13 359.42 -8.33 433 3346.65 roll -1.37 - - 1989.75 - 2.51 0.072 1208.00 -416.3 -82.73 - - 3115.41 - - - - - - - - - 16.17 -
3401.58 364.91 -9.16 445 3406.67 roll -1.37 - - 1989.69 - 2.62 0.032 2351.62 436.5 -82.73 - - 3114.75 - - - - - - - - - 16.16 -
3711.65 391.06 -8.59 477 3712.98 no move -1.37 - - 1989.62 - - - 2351.50 - -82.73 - - 3113.84 - - - - - - - - - - -
4022.09 417.14 -8.29 508 4026.81 roll -1.37 - - 1989.69 - 2.76 0.066 1209.75 -413.7 -82.73 - - 3114.34 - - - - - - - - - 16.19 -
4081.73 422.82 -9.63 520 4086.82 roll -1.37 - - 1989.44 - 2.61 0.032 2353.19 438.1 -82.73 - - 3113.75 - - - - - - - - - 16.18 -
4391.81 450.49 -8.79 552 4393.14 no move -1.37 - - 1989.94 - - - 2352.94 - -82.73 - - 3113.69 - - - - - - - - - - -
4702.24 478.91 -9.08 583 4706.94 roll -1.37 - - 1988.19 - 2.64 0.093 3426.38 406.6 -82.73 - - 3114.59 - - - - - - - - - 16.19 -
4781.88 487.16 -10.44 599 4786.95 roll -1.37 - - 1989.50 - 2.57 0.025 2253.00 -456.6 -82.73 - - 3113.00 - - - - - - - - - 16.19 -
5092.13 516.72 -9.32 631 5093.45 no move -1.37 - - 1989.25 - - - 2251.81 - -82.73 - - 3112.53 - - - - - - - - - - -
5402.50 544.32 -9.03 662 5403.83 no move -1.37 - - 1989.62 - - - 2251.88 - -82.73 - - 3112.28 - - - - - - - - - - -
5712.46 570.94 -8.51 693 5713.79 no move -1.37 - - 1989.25 - - - 2251.88 - -82.73 - - 3111.06 - - - - - - - - - - -
6022.52 596.61 -8.31 724 6027.27 roll -1.37 - - 1989.81 - 2.91 0.089 3426.00 403.5 -82.73 - - 3113.00 - - - - - - - - - 16.21 -
6062.14 600.64 -10.07 732 6067.21 roll -1.37 - - 1989.75 - 2.56 0.025 2255.06 -457.4 -82.73 - - 3111.72 - - - - - - - - - 16.22 -
6372.21 625.70 -8.20 764 6373.54 no move -1.37 - - 1989.56 - - - 2252.81 - -82.73 - - 3110.72 - - - - - - - - - - -
6682.66 650.41 -7.80 795 6683.99 no move -1.37 - - 1988.81 - - - 2252.50 - -82.73 - - 3109.66 - - - - - - - - - - -
6992.72 675.13 -8.10 826 6997.46 roll -1.37 - - 1989.69 - 2.92 0.089 3426.88 402.2 -82.73 - - 3110.59 - - - - - - - - - 16.21 -
7092.35 684.27 -9.16 846 7097.41 roll -1.37 - - 1989.50 - 2.57 0.025 2254.25 -456.3 -82.73 - - 3112.09 - - - - - - - - - 16.22 -
7402.40 705.55 -6.15 878 7403.73 no move -1.37 - - 1989.75 - - - 2253.44 - -82.73 - - 3109.16 - - - - - - - - - - -
7712.82 723.31 -5.88 909 7714.15 no move -1.37 - - 1989.56 - - - 2253.44 - -82.73 - - 3109.62 - - - - - - - - - - -
8022.85 742.23 -6.45 940 8027.78 roll -1.37 - - 1989.31 - 2.91 0.089 3425.12 402.6 -82.73 - - 3109.69 - - - - - - - - - 16.22 -
8087.11 747.91 -8.91 953 8092.98 roll -1.37 - - 1989.62 - 2.58 0.025 2255.00 -453.5 -82.73 - - 3111.12 - - - - - - - - - 16.24 -
8402.70 771.58 -7.30 985 8407.62 roll -1.37 - - 1988.25 - 2.92 0.090 3425.75 400.9 -82.73 - - 3110.12 - - - - - - - - - 16.22 -
8467.04 776.84 -7.95 998 8473.03 roll -1.37 - - 1989.38 - 2.57 0.025 2251.56 -456.9 -82.73 - - 3109.53 - - - - - - - - - 16.23 -
8782.54 801.08 -7.79 1030 8783.87 no move -1.37 - - 1989.50 - - - 2251.62 - -82.73 - - 3108.44 - - - - - - - - - - -
8932 end dive: TARGET_DEPTH_EXCEEDED
8932 begin apogee
8934.34 812.58 -7.85 1045 8998.88 -0.28 1.77 0.153 2252.44 148.6 0.14 0.181 2286.38 248.3 - 60.38 2.189 2774.38 -5.5 0.336 - - - - - - 16.17 15.73 12.96
9008 end apogee: CONTROL_FINISHED_OK
9008 begin climb
9008.91 814.03 - 1051 9077.56 1.37 2.62 0.103 2655.00 153.6 - - 2286.75 - 82.73 63.09 2.117 2438.84 -5.3 0.335 - - - - - - 15.78 - 12.83
9381.97 789.81 8.26 1089 9387.12 roll 1.37 - - 2653.50 - 2.90 0.078 1132.56 -398.0 82.73 - - 2432.50 - - - - - - - - - 15.82 -
9516.68 777.01 9.53 1116 9522.57 roll 1.37 - - 2655.25 - 2.67 0.031 2271.31 426.5 82.73 - - 2430.53 - - - - - - - - - 15.88 -
9832.49 757.25 4.17 1148 9888.22 1.49 0.16 0.100 2693.62 239.8 2.91 0.080 1132.69 -391.3 145.57 48.40 2.059 2181.16 -5.2 0.310 - - - - - - 15.95 15.60 12.92
9946.82 745.84 10.32 1171 9952.67 roll 1.49 - - 2695.12 - 2.70 0.032 2270.25 421.3 145.57 - - 2176.56 - - - - - - - - - 15.73 -
10262.74 711.12 11.49 1203 10267.26 roll 1.49 - - 2694.69 - 2.73 0.094 3345.44 393.8 145.57 - - 2173.56 - - - - - - - - - 15.87 -
10312.18 704.94 12.76 1213 10317.26 roll 1.49 - - 2695.38 - 2.64 0.027 2195.25 -435.7 145.57 - - 2174.19 - - - - - - - - - 15.91 -
10622.65 671.73 10.35 1245 10627.34 done 1.49 - - 2695.31 - 2.64 0.082 1132.69 -402.5 145.57 - - 2173.38 - - - - - - - - - 15.98 -
10666.80 666.60 11.97 1254 10672.81 done 1.49 - - 2695.38 - 2.66 0.033 2270.81 427.9 145.57 - - 2172.66 - - - - - - - - - 15.99 -
10983.07 633.79 9.79 1286 10987.42 done 1.49 - - 2695.44 - 2.71 0.095 3345.62 396.6 145.57 - - 2171.53 - - - - - - - - - 16.02 -
11032.67 628.40 10.94 1296 11037.42 done 1.49 - - 2695.56 - 2.61 0.027 2193.69 -441.4 145.57 - - 2172.81 - - - - - - - - - 16.03 -
11342.78 598.75 9.58 1328 11347.46 done 1.49 - - 2695.19 - 2.62 0.083 1132.38 -405.1 145.57 - - 2173.50 - - - - - - - - - 16.07 -
11426.93 590.06 10.13 1345 11432.93 done 1.49 - - 2695.31 - 2.65 0.034 2271.06 429.7 145.57 - - 2174.16 - - - - - - - - - 16.08 -
11742.82 557.31 10.46 1377 11744.16 VBD 1.49 - - 2695.12 - - - 2271.06 - 145.57 - - 2170.72 - - - - - - - - - - -
12052.86 525.96 9.54 1408 12057.58 done 1.49 - - 2693.88 - 2.83 0.078 1131.44 -402.7 145.57 - - 2171.91 - - - - - - - - - 16.12 -
12092.47 521.93 10.28 1416 12097.56 done 1.49 - - 2695.62 - 2.64 0.033 2269.69 431.2 145.57 - - 2171.88 - - - - - - - - - 16.13 -
12402.91 490.55 10.04 1448 12407.63 done 1.49 - - 2695.56 - 2.82 0.077 1131.06 -403.8 145.57 - - 2171.59 - - - - - - - - - 16.14 -
12447.06 485.87 10.74 1457 12453.06 done 1.49 - - 2695.75 - 2.64 0.033 2270.00 431.4 145.57 - - 2171.69 - - - - - - - - - 16.15 -
12763.20 453.28 10.19 1489 12764.53 VBD 1.49 - - 2695.38 - - - 2269.75 - 145.57 - - 2169.69 - - - - - - - - - - -
13072.98 421.10 10.54 1520 13074.31 VBD 1.49 - - 2695.56 - - - 2269.81 - 145.57 - - 2169.53 - - - - - - - - - - -
13383.04 389.10 10.42 1551 13387.75 done 1.49 - - 2695.31 - 2.80 0.078 1132.62 -406.1 145.57 - - 2171.62 - - - - - - - - - 16.16 -
13533.10 372.37 11.26 1581 13537.79 done 1.49 - - 2694.94 - 2.63 0.033 2271.56 433.1 145.57 - - 2172.12 - - - - - - - - - 16.17 -
13843.17 343.73 9.19 1613 13844.50 VBD 1.49 - - 2695.12 - - - 2271.06 - 145.57 - - 2168.91 - - - - - - - - - - -
14153.24 314.25 9.40 1644 14154.57 VBD 1.49 - - 2695.38 - - - 2271.19 - 145.57 - - 2168.59 - - - - - - - - - - -
14463.31 285.29 9.09 1675 14464.64 VBD 1.49 - - 2695.75 - - - 2271.38 - 145.57 - - 2168.66 - - - - - - - - - - -
14773.38 259.84 7.95 1706 14778.10 done 1.50 - - 2695.50 - 2.83 0.077 1131.19 -402.9 145.57 - - 2169.72 - - - - - - - - - 16.18 -
14897.56 248.84 8.86 1731 14903.56 done 1.50 - - 2695.31 - 2.62 0.033 2272.56 435.6 145.57 - - 2170.97 - - - - - - - - - 16.18 -
15213.47 222.47 8.93 1763 15218.16 done 1.50 - - 2695.19 - 2.68 0.093 3345.56 400.4 145.57 - - 2169.88 - - - - - - - - - 16.16 -
15347.66 209.32 9.70 1790 15353.83 done 1.50 - - 2695.81 - 2.59 0.026 2191.31 -445.7 145.57 - - 2170.28 - - - - - - - - - 16.19 -
15663.76 182.64 8.38 1822 15668.28 done 1.50 - - 2695.81 - 2.61 0.080 1131.25 -406.2 145.57 - - 2170.12 - - - - - - - - - 16.15 -
15737.75 176.05 8.84 1837 15743.76 done 1.50 - - 2695.44 - 2.63 0.032 2273.81 434.4 145.57 - - 2171.12 - - - - - - - - - 16.19 -
16053.68 151.45 7.48 1869 16058.36 done 1.52 - - 2695.50 - 2.66 0.091 3347.06 403.5 145.57 - - 2170.47 - - - - - - - - - 16.14 -
16157.85 142.33 8.76 1890 16163.84 done 1.52 - - 2695.62 - 2.59 0.026 2187.62 -447.7 145.57 - - 2171.00 - - - - - - - - - 16.18 -
16473.75 121.64 6.15 1922 16500.43 VBD 1.59 - - 2695.31 - - - 2187.81 - 179.48 25.04 1.329 2042.50 -5.1 0.077 - - - - - - - - 12.99
16808.80 99.36 6.67 1956 16813.92 roll 1.63 - - 2695.62 - 2.60 0.079 1131.44 -406.3 179.48 - - 2038.31 - - - - - - - - - 16.09 -
17043.46 82.77 7.18 2003 17048.99 roll 1.65 - - 2695.88 - 2.62 0.031 2273.38 435.9 179.48 - - 2038.03 - - - - - - - - - 16.08 -
17233.55 73.03 4.07 2041 17284.90 1.78 0.35 0.070 2765.06 197.7 - - 2273.56 - 243.83 48.01 1.286 1782.47 -5.3 0.050 - - - - - - 16.07 - 12.98
17468.54 59.01 7.24 2088 17474.09 done 1.80 - - 2765.69 - 2.70 0.089 3345.44 397.0 243.83 - - 1772.16 - - - - - - - - - 15.95 -
17488.54 57.43 7.55 2092 17494.07 done 1.82 - - 2765.75 - 2.62 0.025 2186.81 -442.2 243.83 - - 1771.66 - - - - - - - - - 15.96 -
17678.58 44.15 6.58 2130 17679.91 VBD 1.86 - - 2766.62 - - - 2186.31 - 243.83 - - 1769.88 - - - - - - - - - - -
17863.64 34.13 5.12 2167 17905.35 1.96 0.17 0.088 2808.25 244.9 2.94 0.086 3345.69 394.3 292.85 36.44 1.207 1580.66 -5.2 0.024 - - - - - - 15.99 15.84 12.83
17909.05 31.23 6.25 2176 17940.08 done 2.02 - - 2809.00 - 2.62 0.025 2186.06 -442.6 325.26 26.03 1.150 1448.56 -5.1 0.023 - - - - - - - 15.88 12.88
18123.73 14.72 6.86 2219 18129.44 roll 2.06 - - 2808.25 - 2.61 0.079 1132.56 -403.6 325.26 - - 1441.97 - - - - - - - - - 15.85 -
18299 end climb: SURFACE_DEPTH_REACHED
18299 begin surface coast
18323 end surface coast: CONTROL_FINISHED_OK
18324 begin surface
SM 1.29 - - - - 185.9 37.11 1.159 1246.4 33.6 16.02 0.047 1240.8 77.5 - 2.81 0.032 1252.0 444.6 -1.832 - - 12.94 15.92 15.94 -