NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 142 * Raw log
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• Previous call tries 1 • 50.12 of 550.00 AH used of 24V (90.89% remains)
• Surface angle -64.4 deg, depth 1.54 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• No surface pump (final VBD was 1170.3, SM_CC=375)
• GPS1 time: 25 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
6.52 - - - 60.17 VBD -1.37 - - 184.31 - - - 2242.19 - -82.73 52.46 0.005 2502.38 - - - - - - - - - - 15.74
60.91 3.36 -3.72 10 99.13 -1.37 13.80 0.260 1988.00 130.7 3.08 0.085 3427.19 384.7 -82.73 15.57 0.006 3112.78 39.2 -3.622 - - - - - - 15.72 15.74 15.76
292.17 51.23 -19.29 56 297.71 roll -1.37 - - 1988.44 - 2.67 0.023 2260.50 -437.0 -82.73 - - 3112.72 - - - - - - - - - 15.90 -
482.88 79.63 -13.24 94 487.79 roll -1.37 - - 1988.25 - 2.63 0.067 1210.00 -399.4 -82.73 - - 3113.72 - - - - - - - - - 15.93 -
552.27 88.67 -12.95 108 557.82 roll -1.37 - - 1988.44 - 2.67 0.029 2351.88 427.7 -82.73 - - 3113.31 - - - - - - - - - 15.96 -
747.51 108.95 -9.79 138 752.44 roll -1.37 - - 1988.69 - 2.83 0.061 1209.75 -403.6 -82.73 - - 3113.34 - - - - - - - - - 15.99 -
827.35 116.93 -9.99 154 832.42 roll -1.37 - - 1988.38 - 2.64 0.029 2351.75 432.6 -82.73 - - 3114.88 - - - - - - - - - 16.01 -
1137.38 145.02 -9.31 186 1142.48 roll -1.37 - - 1988.25 - 2.73 0.088 3425.75 393.4 -82.73 - - 3114.75 - - - - - - - - - 16.04 -
1221.93 153.78 -10.20 203 1227.94 roll -1.37 - - 1988.19 - 2.63 0.023 2248.19 -447.7 -82.73 - - 3113.84 - - - - - - - - - 16.04 -
1537.43 186.09 -10.50 235 1538.76 no move -1.37 - - 1988.56 - - - 2248.81 - -82.73 - - 3113.47 - - - - - - - - - - -
1847.85 216.33 -9.30 266 1849.18 no move -1.37 - - 1988.31 - - - 2247.94 - -82.73 - - 3113.91 - - - - - - - - - - -
2157.88 244.87 -9.31 297 2162.63 roll -1.37 - - 1988.56 - 3.00 0.086 3424.69 392.2 -82.73 - - 3114.75 - - - - - - - - - 16.11 -
2197.49 249.02 -11.02 305 2202.57 roll -1.37 - - 1987.81 - 2.63 0.024 2252.25 -445.8 -82.73 - - 3116.19 - - - - - - - - - 16.11 -
2507.72 279.12 -9.76 337 2512.65 roll -1.37 - - 1988.56 - 2.58 0.068 1210.88 -403.6 -82.73 - - 3114.66 - - - - - - - - - 16.12 -
2562.08 284.82 -10.73 348 2568.09 roll -1.37 - - 1988.62 - 2.66 0.031 2351.69 428.9 -82.73 - - 3114.91 - - - - - - - - - 16.14 -
2877.57 316.15 -9.67 380 2878.90 no move -1.37 - - 1988.62 - - - 2352.06 - -82.73 - - 3114.25 - - - - - - - - - - -
3188.02 346.36 -9.64 411 3189.35 no move -1.37 - - 1988.44 - - - 2351.38 - -82.73 - - 3113.84 - - - - - - - - - - -
3498.08 376.18 -9.62 442 3502.81 roll -1.37 - - 1988.00 - 2.84 0.064 1209.94 -401.9 -82.73 - - 3115.09 - - - - - - - - - 16.17 -
3607.74 387.13 -9.89 464 3612.82 roll -1.37 - - 1988.88 - 2.68 0.031 2350.62 425.6 -82.73 - - 3114.47 - - - - - - - - - 16.16 -
3917.81 416.39 -9.11 496 3919.14 no move -1.37 - - 1988.50 - - - 2350.75 - -82.73 - - 3113.31 - - - - - - - - - - -
4228.26 444.18 -8.90 527 4229.58 no move -1.37 - - 1988.62 - - - 2350.31 - -82.73 - - 3112.81 - - - - - - - - - - -
4538.32 472.00 -8.98 558 4539.65 no move -1.37 - - 1988.50 - - - 2350.44 - -82.73 - - 3112.38 - - - - - - - - - - -
4848.38 499.55 -8.58 589 4849.71 no move -1.37 - - 1988.50 - - - 2350.88 - -82.73 - - 3111.72 - - - - - - - - - - -
5158.44 526.07 -8.92 620 5163.17 roll -1.37 - - 1988.56 - 2.83 0.065 1211.25 -402.7 -82.73 - - 3112.00 - - - - - - - - - 16.21 -
5232.80 532.93 -9.31 635 5238.69 roll -1.37 - - 1988.56 - 2.67 0.032 2349.06 426.1 -82.73 - - 3111.94 - - - - - - - - - 16.19 -
5548.15 560.94 -9.14 667 5549.48 no move -1.37 - - 1988.56 - - - 2349.06 - -82.73 - - 3110.56 - - - - - - - - - - -
5858.60 588.26 -8.91 698 5863.33 roll -1.37 - - 1988.81 - 2.81 0.065 1209.38 -405.6 -82.73 - - 3111.75 - - - - - - - - - 16.21 -
5912.76 593.47 -9.51 709 5918.77 roll -1.37 - - 1988.81 - 2.65 0.032 2350.50 430.6 -82.73 - - 3111.06 - - - - - - - - - 16.22 -
6228.29 620.52 -8.19 741 6233.40 roll -1.37 - - 1989.06 - 2.82 0.065 1209.50 -404.6 -82.73 - - 3111.06 - - - - - - - - - 16.20 -
6258.29 623.07 -8.45 747 6263.38 roll -1.37 - - 1988.75 - 2.66 0.031 2351.19 429.2 -82.73 - - 3110.88 - - - - - - - - - 16.22 -
6568.34 648.48 -8.19 779 6569.66 no move -1.37 - - 1988.69 - - - 2350.81 - -82.73 - - 3109.66 - - - - - - - - - - -
6878.75 672.46 -7.64 810 6880.08 no move -1.37 - - 1988.50 - - - 2351.06 - -82.73 - - 3108.78 - - - - - - - - - - -
7188.80 694.83 -7.63 841 7190.12 no move -1.37 - - 1988.56 - - - 2351.00 - -82.73 - - 3108.50 - - - - - - - - - - -
7498.81 717.88 -7.12 872 7503.54 roll -1.37 - - 1987.88 - 2.82 0.066 1209.31 -404.9 -82.73 - - 3111.19 - - - - - - - - - 16.22 -
7608.45 727.01 -8.39 894 7613.72 roll -1.37 - - 1989.12 - 2.68 0.032 2349.75 425.5 -82.73 - - 3109.12 - - - - - - - - - 16.21 -
7918.66 750.73 -7.53 926 7923.60 roll -1.37 - - 1988.56 - 2.82 0.065 1209.50 -404.3 -82.73 - - 3109.50 - - - - - - - - - 16.23 -
8018.50 758.87 -7.93 946 8023.59 roll -1.37 - - 1989.19 - 2.68 0.032 2348.94 425.2 -82.73 - - 3108.47 - - - - - - - - - 16.23 -
8328.54 782.65 -7.94 978 8329.87 no move -1.37 - - 1988.81 - - - 2348.44 - -82.73 - - 3107.34 - - - - - - - - - - -
8638.96 807.13 -8.05 1009 8643.68 roll -1.37 - - 1989.00 - 2.78 0.095 3424.62 387.1 -82.73 - - 3107.84 - - - - - - - - - 16.21 -
8693.13 812.12 -8.68 1020 8699.14 roll -1.37 - - 1989.00 - 2.62 0.025 2251.38 -447.8 -82.73 - - 3109.16 - - - - - - - - - 16.23 -
9008.66 835.54 -7.29 1052 9009.99 no move -1.37 - - 1989.38 - - - 2251.56 - -82.73 - - 3106.34 - - - - - - - - - - -
9319.11 857.37 -6.76 1083 9320.43 no move -1.37 - - 1989.12 - - - 2251.75 - -82.73 - - 3105.97 - - - - - - - - - - -
9629.18 878.12 -6.85 1114 9633.95 roll -1.37 - - 1989.12 - 3.01 0.090 3426.25 390.2 -82.73 - - 3106.91 - - - - - - - - - 16.20 -
9728.82 886.16 -7.81 1134 9733.91 roll -1.37 - - 1988.56 - 2.62 0.025 2254.25 -447.3 -82.73 - - 3107.50 - - - - - - - - - 16.22 -
10038.89 907.01 -6.53 1166 10040.22 no move -1.37 - - 1989.00 - - - 2254.25 - -82.73 - - 3106.16 - - - - - - - - - - -
10349.60 927.08 -6.36 1197 10350.93 no move -1.37 - - 1988.88 - - - 2254.31 - -82.73 - - 3105.47 - - - - - - - - - - -
10659.59 946.41 -6.01 1228 10660.92 no move -1.37 - - 1989.06 - - - 2253.94 - -82.73 - - 3104.94 - - - - - - - - - - -
10969.48 965.12 -6.36 1259 10970.81 no move -1.37 - - 1989.12 - - - 2254.25 - -82.73 - - 3105.22 - - - - - - - - - - -
11279.53 984.46 -6.55 1290 11280.86 no move -1.37 - - 1989.69 - - - 2254.38 - -82.73 - - 3105.34 - - - - - - - - - - -
11368 end dive: TARGET_DEPTH_EXCEEDED
11369 begin apogee
11370.96 990.11 -6.11 1299 11436.51 -0.28 1.79 0.160 2252.44 146.8 0.14 0.182 2282.88 203.6 - 61.29 2.401 2775.09 -5.4 0.367 - - - - - - 16.16 15.69 12.82
11437 end apogee: CONTROL_FINISHED_OK
11437 begin climb
11438.43 991.08 - 1305 11510.45 1.37 2.63 0.108 2654.00 152.7 - - 2283.75 - 82.73 65.00 2.329 2436.34 -5.2 0.366 - - - - - - 15.72 - 12.84
11813.58 962.07 8.59 1347 11818.72 roll 1.37 - - 2653.75 - 2.99 0.077 1132.44 -385.1 82.73 - - 2430.31 - - - - - - - - - 15.80 -
11903.64 954.06 8.42 1365 11908.92 done 1.37 - - 2653.62 - 2.73 0.031 2269.81 416.6 82.73 - - 2430.25 - - - - - - - - - 15.85 -
12214.24 927.96 8.22 1397 12215.58 VBD 1.37 - - 2654.06 - - - 2269.88 - 82.73 - - 2428.28 - - - - - - - - - - -
12524.16 904.16 7.59 1428 12525.49 VBD 1.38 - - 2653.19 - - - 2269.81 - 82.73 - - 2427.66 - - - - - - - - - - -
12834.22 880.45 7.44 1459 12835.55 VBD 1.40 - - 2653.88 - - - 2269.94 - 82.73 - - 2427.34 - - - - - - - - - - -
13144.27 856.66 8.01 1490 13148.99 done 1.40 - - 2654.19 - 2.80 0.094 3344.12 383.6 82.73 - - 2427.97 - - - - - - - - - 16.06 -
13198.43 852.34 7.99 1501 13204.45 done 1.40 - - 2654.00 - 2.65 0.026 2193.94 -434.0 82.73 - - 2428.00 - - - - - - - - - 16.08 -
13514.36 829.25 6.04 1533 13549.30 done 1.48 - - 2653.75 - 3.03 0.093 3345.25 380.0 118.16 28.01 2.113 2292.06 -4.9 0.314 - - - - - - - 15.84 12.92
13613.99 820.30 9.37 1553 13619.07 roll 1.48 - - 2653.75 - 2.68 0.026 2194.94 -429.2 118.16 - - 2291.00 - - - - - - - - - 15.95 -
13924.44 794.12 8.40 1585 13925.77 no move 1.48 - - 2654.38 - - - 2195.56 - 118.16 - - 2288.12 - - - - - - - - - - -
14234.51 769.46 8.00 1616 14239.25 roll 1.48 - - 2653.69 - 2.99 0.090 3345.06 384.4 118.16 - - 2289.84 - - - - - - - - - 16.05 -
14288.86 764.37 9.02 1627 14294.74 roll 1.48 - - 2654.00 - 2.65 0.026 2192.75 -434.8 118.16 - - 2288.56 - - - - - - - - - 16.06 -
14604.65 738.86 7.94 1659 14609.33 roll back 1.49 0.16 0.104 2692.38 239.9 2.68 0.081 1132.44 -395.6 118.16 - - 2288.41 - - - - - - - - 16.07 16.07 -
14648.75 734.50 8.97 1668 14654.76 roll 1.49 - - 2693.00 - 2.68 0.032 2271.12 424.9 118.16 - - 2287.62 - - - - - - - - - 16.09 -
14964.66 705.08 9.50 1700 14965.99 no move 1.49 - - 2692.38 - - - 2271.00 - 118.16 - - 2286.28 - - - - - - - - - - -
15274.72 675.37 9.50 1731 15276.05 no move 1.49 - - 2692.88 - - - 2271.25 - 118.16 - - 2286.56 - - - - - - - - - - -
15584.75 645.55 10.09 1762 15586.08 no move 1.49 - - 2692.69 - - - 2271.31 - 118.16 - - 2285.88 - - - - - - - - - - -
15894.79 615.60 9.76 1793 15896.11 no move 1.49 - - 2692.50 - - - 2271.06 - 118.16 - - 2286.41 - - - - - - - - - - -
16204.82 585.84 9.30 1824 16209.54 roll 1.49 - - 2692.50 - 2.87 0.076 1132.50 -396.7 118.16 - - 2286.56 - - - - - - - - - 16.16 -
16324.46 574.21 9.35 1848 16329.55 roll 1.49 - - 2692.88 - 2.68 0.032 2270.19 424.5 118.16 - - 2287.06 - - - - - - - - - 16.16 -
16634.89 547.04 8.61 1880 16636.21 no move 1.49 - - 2693.50 - - - 2269.81 - 118.16 - - 2286.00 - - - - - - - - - - -
16944.94 521.76 7.95 1911 16946.27 no move 1.50 - - 2693.50 - - - 2270.00 - 118.16 - - 2285.81 - - - - - - - - - - -
17255.19 496.13 8.37 1942 17259.66 roll 1.50 - - 2693.88 - 2.78 0.094 3345.62 386.9 118.16 - - 2286.91 - - - - - - - - - 16.16 -
17324.58 489.39 9.65 1956 17329.67 roll 1.50 - - 2693.75 - 2.64 0.026 2191.56 -437.1 118.16 - - 2288.06 - - - - - - - - - 16.18 -
17635.04 463.12 8.44 1988 17639.79 roll 1.50 - - 2693.06 - 2.97 0.089 3343.75 387.9 118.16 - - 2287.53 - - - - - - - - - 16.17 -
17804.72 446.35 10.16 2022 17809.82 roll 1.50 - - 2693.81 - 2.62 0.026 2191.69 -439.7 118.16 - - 2286.72 - - - - - - - - - 16.18 -
18115.36 419.23 8.34 2054 18116.69 no move 1.50 - - 2694.00 - - - 2191.69 - 118.16 - - 2285.94 - - - - - - - - - - -
18425.26 395.09 7.56 2085 18426.59 no move 1.51 - - 2694.50 - - - 2191.69 - 118.16 - - 2285.88 - - - - - - - - - - -
18735.33 373.28 7.03 2116 18736.66 no move 1.54 - - 2693.81 - - - 2190.75 - 118.16 - - 2286.03 - - - - - - - - - - -
19045.39 352.98 6.25 2147 19076.47 done 1.61 - - 2692.94 - 3.01 0.092 3344.31 383.2 150.53 25.56 1.582 2162.53 -4.8 0.178 - - - - - - - 15.98 12.92
19155.02 344.60 8.79 2169 19160.28 roll 1.61 - - 2693.94 - 2.65 0.026 2194.19 -434.0 150.53 - - 2160.41 - - - - - - - - - 16.07 -
19465.58 318.95 8.48 2201 19466.91 no move 1.61 - - 2694.44 - - - 2193.81 - 150.53 - - 2156.16 - - - - - - - - - - -
19775.53 292.98 8.30 2232 19776.86 no move 1.61 - - 2694.06 - - - 2194.25 - 150.53 - - 2155.31 - - - - - - - - - - -
20085.60 267.14 8.33 2263 20090.34 roll 1.61 - - 2694.56 - 2.98 0.089 3344.62 386.0 150.53 - - 2156.78 - - - - - - - - - 16.09 -
20145.22 261.42 9.69 2275 20150.31 roll 1.61 - - 2694.31 - 2.64 0.026 2193.06 -436.2 150.53 - - 2156.03 - - - - - - - - - 16.09 -
20455.86 237.64 7.30 2307 20457.19 no move 1.63 - - 2694.44 - - - 2192.75 - 150.53 - - 2155.53 - - - - - - - - - - -
20765.74 214.75 7.47 2338 20767.17 pitch 1.65 0.17 0.099 2731.69 219.1 - - 2191.38 - 150.53 - - 2154.72 - - - - - - - - 16.10 - -
21075.38 188.05 8.56 2369 21080.51 roll 1.65 - - 2730.81 - 2.98 0.087 3344.88 387.1 150.53 - - 2156.97 - - - - - - - - - 16.12 -
21175.40 178.58 9.72 2389 21180.49 roll 1.65 - - 2731.38 - 2.63 0.026 2192.19 -438.3 150.53 - - 2156.31 - - - - - - - - - 16.14 -
21485.84 153.20 7.74 2421 21487.17 no move 1.67 - - 2731.62 - - - 2192.38 - 150.53 - - 2155.50 - - - - - - - - - - -
21795.88 130.93 7.56 2452 21800.60 roll 1.68 - - 2731.81 - 2.98 0.086 3345.12 386.8 150.53 - - 2156.06 - - - - - - - - - 16.13 -
22030.12 111.17 8.20 2499 22036.06 roll 1.68 - - 2731.88 - 2.61 0.025 2189.19 -442.9 150.53 - - 2156.56 - - - - - - - - - 16.16 -
22340.58 93.36 4.72 2543 22387.33 done 1.79 - - 2732.25 - 3.02 0.087 3344.56 382.6 205.32 41.25 1.312 1937.72 -5.3 0.062 - - - - - - - 15.91 12.91
22400.58 90.04 5.53 2555 22441.47 1.88 0.26 0.079 2786.75 209.6 2.65 0.025 2187.62 -436.6 248.23 33.42 1.265 1762.28 -5.2 0.062 - - - - - - 15.95 15.96 12.84
22625.67 71.80 6.58 2600 22631.19 done 1.92 - - 2786.50 - 2.67 0.077 1131.44 -395.6 248.23 - - 1753.97 - - - - - - - - - 15.89 -
22860.74 54.93 7.22 2647 22866.30 done 1.94 - - 2786.75 - 2.71 0.029 2272.56 421.1 248.23 - - 1749.41 - - - - - - - - - 15.97 -
23050.82 41.99 6.60 2685 23056.56 done 1.98 - - 2787.62 - 2.77 0.088 3345.12 387.2 248.23 - - 1748.78 - - - - - - - - - 15.98 -
23186.04 31.39 8.72 2712 23191.40 done 1.98 - - 2787.12 - 2.63 0.024 2181.50 -442.4 248.23 - - 1748.84 - - - - - - - - - 16.00 -
23375.95 26.48 2.19 2750 23448.54 2.16 0.35 0.071 2856.06 197.0 2.67 0.076 1131.06 -393.4 340.10 66.86 1.215 1388.03 -5.4 0.019 - - - - - - 15.98 15.72 12.84
23457.10 22.74 5.31 2766 23498.53 done 2.25 - - 2855.56 - 2.72 0.027 2271.62 419.3 386.31 35.67 1.150 1201.38 -5.2 0.017 - - - - - - - 15.80 12.80
23666 end climb: SURFACE_DEPTH_REACHED
23666 begin surface coast
23686 end surface coast: CONTROL_FINISHED_OK
23687 begin surface
SM 1.48 - - - - 180.6 - - 1189.6 - 16.39 0.041 1208.9 73.8 - 0.14 0.116 1170.3 8339.9 -10.875 - - 30.00 15.79 15.81 -