NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1223 * Raw log
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• Previous call tries 4 • 435.81 of 550.00 AH used of 24V (20.76% remains)
• Surface angle -59.9 deg, depth 0.70 m • Intended pitch -21.8 deg, speed -9.167 cm/s
• No surface pump (final VBD was 1105.9, SM_CC=400)
• GPS1 time: 45 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
2 end surface: CONTROL_FINISHED_OK
3 begin dive
6.00 - - - 82.59 VBD -1.44 - - 176.88 - - - 2248.44 - -116.79 75.06 0.005 2822.88 - - - - - - - - - - 14.84
83.33 3.68 -4.96 14 116.68 -1.44 14.45 0.230 1971.69 124.2 3.10 0.083 3428.12 380.5 -116.79 9.92 0.007 3249.97 43.1 -3.924 - - - - - - 15.29 14.84 15.02
228.77 27.42 -13.98 43 234.33 roll -1.44 - - 1972.00 - 2.64 0.018 2254.38 -444.6 -116.79 - - 3251.06 - - - - - - - - - 15.82 -
419.49 52.04 -13.02 81 424.47 roll -1.44 - - 1970.19 - 3.06 0.078 3424.25 382.3 -116.79 - - 3252.22 - - - - - - - - - 15.73 -
433.85 54.08 -13.38 84 439.40 roll -1.44 - - 1972.31 - 2.62 0.018 2255.50 -446.1 -116.79 - - 3251.62 - - - - - - - - - 15.85 -
624.32 76.58 -10.29 122 629.53 roll -1.44 - - 1971.12 - 3.04 0.078 3426.38 385.2 -116.79 - - 3251.88 - - - - - - - - - 15.75 -
678.93 82.63 -11.06 133 684.47 roll -1.44 - - 1972.00 - 2.57 0.018 2274.19 -448.3 -116.79 - - 3250.88 - - - - - - - - - 15.88 -
869.39 99.88 -8.50 171 874.55 roll -1.44 - - 1972.12 - 2.66 0.064 1207.88 -400.9 -116.79 - - 3251.47 - - - - - - - - - 15.82 -
894.00 102.16 -8.88 176 899.57 roll -1.44 - - 1972.44 - 2.77 0.026 2381.00 423.5 -116.79 - - 3252.91 - - - - - - - - - 15.90 -
1204.12 128.77 -8.01 238 1205.45 no move -1.44 - - 1971.44 - - - 2381.12 - -116.79 - - 3249.78 - - - - - - - - - - -
1509.21 152.91 -7.95 299 1514.81 roll -1.44 - - 1971.38 - 2.93 0.058 1208.06 -400.4 -116.79 - - 3251.72 - - - - - - - - - 15.85 -
1559.22 157.16 -8.58 309 1564.98 roll -1.44 - - 1972.12 - 2.76 0.026 2381.19 425.0 -116.79 - - 3251.09 - - - - - - - - - 15.94 -
1869.34 183.77 -8.57 371 1870.67 no move -1.44 - - 1971.81 - - - 2381.25 - -116.79 - - 3250.91 - - - - - - - - - - -
2174.42 209.35 -8.05 432 2180.02 roll -1.44 - - 1972.56 - 2.94 0.058 1209.25 -398.6 -116.79 - - 3250.97 - - - - - - - - - 15.86 -
2194.62 211.01 -8.17 436 2199.98 roll -1.44 - - 1972.25 - 2.75 0.025 2378.81 425.3 -116.79 - - 3251.75 - - - - - - - - - 15.94 -
2504.47 235.08 -7.91 498 2505.80 no move -1.44 - - 1972.25 - - - 2378.81 - -116.79 - - 3249.84 - - - - - - - - - - -
2809.51 258.81 -7.89 559 2815.10 roll -1.44 - - 1972.19 - 2.94 0.058 1209.06 -397.9 -116.79 - - 3251.22 - - - - - - - - - 15.86 -
2834.50 260.89 -8.12 564 2840.07 roll -1.44 - - 1972.38 - 2.74 0.026 2377.94 426.6 -116.79 - - 3251.28 - - - - - - - - - 15.95 -
3144.56 284.64 -7.30 626 3150.15 roll -1.44 - - 1972.25 - 2.93 0.058 1209.06 -398.9 -116.79 - - 3251.28 - - - - - - - - - 15.86 -
3159.54 285.71 -7.22 629 3165.30 roll -1.44 - - 1972.06 - 2.72 0.026 2374.62 428.5 -116.79 - - 3253.50 - - - - - - - - - 15.95 -
3469.10 307.62 -7.25 679 3480.17 no move -1.44 - - 1972.19 - - - 2374.56 - -116.79 - - 3251.62 - - - - - - - - - - -
3781.94 331.23 -7.44 708 3786.62 roll -1.44 - - 1971.75 - 2.93 0.059 1208.75 -397.9 -116.79 - - 3252.41 - - - - - - - - - 15.87 -
3851.96 336.58 -7.71 718 3866.91 roll -1.44 - - 1972.25 - 2.72 0.026 2371.44 427.5 -116.79 - - 3252.09 - - - - - - - - - 15.98 -
4168.38 361.63 -8.23 747 4173.02 roll -1.44 - - 1971.88 - 2.73 0.085 3427.88 387.0 -116.79 - - 3250.84 - - - - - - - - - 15.82 -
4205.57 365.07 -8.93 752 4210.19 roll -1.44 - - 1971.69 - 2.58 0.018 2265.06 -450.7 -116.79 - - 3250.34 - - - - - - - - - 15.96 -
4517.45 391.10 -8.44 781 4528.52 no move -1.44 - - 1972.50 - - - 2263.56 - -116.79 - - 3251.53 - - - - - - - - - - -
4831.14 416.77 -8.19 810 4835.84 roll -1.44 - - 1971.75 - 3.02 0.081 3424.50 384.4 -116.79 - - 3250.53 - - - - - - - - - 15.82 -
4869.68 420.20 -8.76 816 4884.60 roll -1.44 - - 1971.69 - 2.55 0.018 2266.81 -454.0 -116.79 - - 3250.78 - - - - - - - - - 15.97 -
5185.86 448.70 -9.57 845 5196.93 no move -1.44 - - 1972.31 - - - 2266.75 - -116.79 - - 3250.94 - - - - - - - - - - -
5498.91 477.34 -8.49 874 5503.77 roll -1.44 - - 1972.69 - 2.99 0.080 3423.38 386.8 -116.79 - - 3249.97 - - - - - - - - - 15.82 -
5551.99 482.29 -9.07 881 5556.60 roll -1.44 - - 1972.25 - 2.55 0.018 2270.06 -452.3 -116.79 - - 3253.03 - - - - - - - - - 15.95 -
5867.40 506.75 -7.31 908 5872.03 roll -1.44 - - 1972.25 - 2.64 0.066 1209.25 -401.8 -116.79 - - 3249.38 - - - - - - - - - 15.85 -
5925.34 511.19 -7.56 916 5929.99 roll -1.44 - - 1972.00 - 2.75 0.027 2381.00 426.1 -116.79 - - 3248.75 - - - - - - - - - 15.96 -
6241.83 532.92 -6.79 938 6243.16 no move -1.44 - - 1972.12 - - - 2381.44 - -116.79 - - 3249.41 - - - - - - - - - - -
6556.83 556.38 -7.38 959 6561.50 roll -1.44 - - 1971.81 - 2.92 0.061 1210.19 -401.1 -116.79 - - 3250.25 - - - - - - - - - 15.85 -
6616.10 560.76 -7.50 968 6621.68 roll -1.44 - - 1971.94 - 2.72 0.028 2376.94 429.0 -116.79 - - 3250.41 - - - - - - - - - 15.97 -
6935.54 582.52 -6.93 990 6936.87 no move -1.44 - - 1972.12 - - - 2376.62 - -116.79 - - 3248.50 - - - - - - - - - - -
7250.54 603.35 -6.12 1011 7255.20 roll -1.44 - - 1971.88 - 2.90 0.061 1208.94 -402.6 -116.79 - - 3248.88 - - - - - - - - - 15.84 -
7309.84 607.20 -6.53 1020 7315.38 roll -1.44 - - 1970.81 - 2.70 0.027 2369.56 429.9 -116.79 - - 3250.78 - - - - - - - - - 15.97 -
7629.26 627.46 -6.37 1042 7634.09 roll -1.44 - - 1971.56 - 2.73 0.087 3427.12 387.4 -116.79 - - 3250.72 - - - - - - - - - 15.79 -
7672.99 630.17 -6.91 1049 7687.73 roll -1.44 - - 1972.12 - 2.58 0.018 2262.12 -451.6 -116.79 - - 3248.59 - - - - - - - - - 15.96 -
8002.24 654.51 -7.78 1071 8003.57 no move -1.44 - - 1971.88 - - - 2261.19 - -116.79 - - 3247.56 - - - - - - - - - - -
8301 end dive: TARGET_DEPTH_EXCEEDED
8302 begin apogee
8304.13 678.49 -8.02 1091 8410.72 -0.28 2.00 0.136 2254.12 141.1 0.16 0.143 2161.06 -625.8 - 91.91 2.031 2774.31 -5.1 0.298 - - - - - - 15.69 15.06 10.22
8412 end apogee: CONTROL_FINISHED_OK
8413 begin climb
8413.61 682.13 - 1098 8523.09 1.44 2.90 0.110 2672.38 144.2 3.05 0.078 994.50 -382.5 116.79 95.71 1.978 2297.53 -5.0 0.298 - - - - - - 15.37 15.52 11.47
8566.92 677.74 4.21 1120 8698.20 1.74 0.46 0.060 2756.69 183.3 2.73 0.022 2140.94 419.9 266.70 124.38 1.963 1689.38 -4.9 0.293 - - - - - - 15.39 15.49 11.38
9009.90 638.15 9.52 1159 9014.53 done 1.74 - - 2757.06 - 2.76 0.079 3204.00 385.2 266.70 - - 1675.16 - - - - - - - - - 15.70 -
9047.08 634.28 9.97 1164 9051.72 done 1.74 - - 2757.06 - 2.69 0.024 2058.25 -425.9 266.70 - - 1674.19 - - - - - - - - - 15.75 -
9363.57 601.69 10.57 1186 9368.22 done 1.74 - - 2756.88 - 2.77 0.085 995.81 -383.6 266.70 - - 1671.78 - - - - - - - - - 15.75 -
9402.11 597.46 11.07 1192 9407.67 done 1.74 - - 2756.75 - 2.67 0.023 2142.12 429.3 266.70 - - 1673.22 - - - - - - - - - 15.85 -
9721.53 562.43 11.17 1214 9726.21 done 1.74 - - 2754.06 - 2.99 0.080 994.50 -383.8 266.70 - - 1671.81 - - - - - - - - - 15.78 -
9779.69 555.83 11.23 1222 9784.32 done 1.74 - - 2756.94 - 2.65 0.023 2133.62 429.9 266.70 - - 1671.78 - - - - - - - - - 15.90 -
10096.38 524.22 9.59 1244 10101.14 done 1.74 - - 2756.56 - 2.75 0.080 3201.44 388.3 266.70 - - 1671.31 - - - - - - - - - 15.82 -
10119.19 522.57 9.68 1248 10134.12 done 1.74 - - 2757.00 - 2.68 0.024 2047.88 -430.4 266.70 - - 1671.41 - - - - - - - - - 15.92 -
10438.02 493.48 8.38 1271 10442.67 done 1.76 - - 2756.56 - 2.71 0.085 995.75 -388.2 266.70 - - 1670.41 - - - - - - - - - 15.81 -
10506.70 487.31 8.91 1280 10511.33 done 1.76 - - 2756.94 - 2.62 0.023 2126.75 431.7 266.70 - - 1669.56 - - - - - - - - - 15.93 -
10818.70 461.02 8.69 1309 10829.78 VBD 1.76 - - 2757.38 - - - 2126.56 - 266.70 - - 1670.34 - - - - - - - - - - -
11131.43 431.73 9.67 1338 11142.50 VBD 1.76 - - 2757.44 - - - 2126.56 - 266.70 - - 1669.78 - - - - - - - - - - -
11444.37 401.18 9.45 1367 11449.02 done 1.76 - - 2756.75 - 2.78 0.080 3206.62 388.5 266.70 - - 1668.31 - - - - - - - - - 15.82 -
11482.92 397.50 9.67 1373 11497.86 done 1.76 - - 2757.31 - 2.69 0.024 2047.00 -431.1 266.70 - - 1669.19 - - - - - - - - - 15.95 -
11799.13 368.30 8.93 1402 11810.21 VBD 1.76 - - 2756.81 - - - 2046.25 - 266.70 - - 1669.06 - - - - - - - - - - -
12112.08 341.87 8.15 1431 12116.73 done 1.78 - - 2756.88 - 2.72 0.085 994.44 -386.7 266.70 - - 1667.78 - - - - - - - - - 15.79 -
12165.02 337.20 8.61 1438 12169.84 done 1.79 - - 2756.94 - 2.63 0.023 2128.31 431.1 266.70 - - 1669.00 - - - - - - - - - 15.95 -
12477.14 311.54 8.36 1467 12481.80 done 1.81 - - 2756.50 - 2.77 0.080 3203.88 388.3 266.70 - - 1668.09 - - - - - - - - - 15.81 -
12499.96 309.58 8.65 1471 12514.88 done 1.82 - - 2757.25 - 2.68 0.024 2045.38 -432.3 266.70 - - 1669.47 - - - - - - - - - 15.95 -
12819.41 282.31 8.62 1522 12824.98 done 1.83 - - 2756.75 - 2.99 0.076 3203.31 387.3 266.70 - - 1668.81 - - - - - - - - - 15.79 -
12849.39 279.58 8.96 1528 12854.94 done 1.83 - - 2756.94 - 2.68 0.024 2049.56 -430.5 266.70 - - 1669.34 - - - - - - - - - 15.93 -
13159.47 254.14 8.07 1590 13160.81 VBD 1.85 - - 2756.88 - - - 2049.50 - 266.70 - - 1667.78 - - - - - - - - - - -
13464.52 228.68 8.54 1651 13470.10 done 1.86 - - 2756.81 - 2.99 0.076 3203.12 385.8 266.70 - - 1668.84 - - - - - - - - - 15.79 -
13509.50 224.46 9.47 1660 13515.07 done 1.86 - - 2757.12 - 2.67 0.024 2054.94 -430.0 266.70 - - 1668.72 - - - - - - - - - 15.94 -
13819.68 196.59 8.78 1722 13825.16 done 1.86 - - 2757.44 - 2.97 0.076 3203.56 386.7 266.70 - - 1668.50 - - - - - - - - - 15.77 -
13839.55 194.79 8.89 1726 13845.11 done 1.86 - - 2757.12 - 2.65 0.024 2056.75 -432.8 266.70 - - 1669.09 - - - - - - - - - 15.93 -
14149.64 168.57 7.83 1788 14150.97 VBD 1.89 - - 2757.00 - - - 2057.00 - 266.70 - - 1667.94 - - - - - - - - - - -
14454.68 147.90 6.96 1849 14513.05 2.02 0.34 0.068 2822.00 191.2 2.78 0.088 994.56 -382.2 333.32 52.94 1.371 1415.62 -4.8 0.089 - - - - - - 15.89 15.28 10.44
14545.14 139.43 10.37 1867 14550.69 roll 2.02 - - 2821.06 - 2.69 0.022 2139.19 425.5 333.32 - - 1414.16 - - - - - - - - - 15.77 -
14855.50 111.59 8.64 1929 14860.85 roll 2.03 - - 2822.50 - 2.97 0.078 994.94 -385.3 333.32 - - 1410.47 - - - - - - - - - 15.71 -
14970.29 100.33 9.79 1952 14976.03 roll 2.03 - - 2822.31 - 2.64 0.023 2125.62 428.3 333.32 - - 1409.31 - - - - - - - - - 15.86 -
15280.41 71.50 8.98 2014 15285.99 roll 2.03 - - 2821.50 - 2.95 0.078 994.56 -383.4 333.32 - - 1408.78 - - - - - - - - - 15.75 -
15320.40 67.96 8.83 2022 15325.96 roll 2.03 - - 2822.62 - 2.62 0.021 2122.12 430.4 333.32 - - 1408.44 - - - - - - - - - 15.90 -
15510.45 54.20 6.83 2060 15572.81 done 2.17 - - 2822.31 - 2.83 0.080 3203.75 382.2 403.91 56.86 1.233 1129.19 -4.9 0.037 - - - - - - - 15.31 10.97
15690.46 41.08 7.57 2096 15696.08 roll back 2.21 0.21 0.081 2868.44 219.7 2.68 0.023 2055.31 -428.5 403.91 - - 1125.53 - - - - - - - - 15.63 15.76 -
15880.49 25.45 7.92 2134 15886.04 roll 2.23 - - 2868.75 - 2.76 0.081 993.62 -384.7 403.91 - - 1124.19 - - - - - - - - - 15.71 -
16075.52 8.97 8.54 2173 16081.25 roll 2.24 - - 2868.81 - 2.62 0.022 2119.00 429.5 403.91 - - 1122.81 - - - - - - - - - 15.85 -
16140 end climb: SURFACE_DEPTH_REACHED
16140 begin surface coast
16195 end surface coast: CONTROL_FINISHED_OK
16196 begin surface
SM 0.62 - - - - 178.3 - - 1119.7 - 16.75 0.052 1133.6 67.7 - 0.50 0.054 1105.9 2206.6 -2.589 - - 30.00 15.80 15.86 -