NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 199 * Raw log
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• Previous call tries 2 • 65.83 of 550.00 AH used of 24V (88.03% remains)
• Surface angle -61.1 deg, depth 1.41 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 425.07 (SM_CC=425)
• GPS1 time: 13 s
• GPS2 time: 4 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
6.64 - - - 65.87 VBD -1.37 - - 179.56 - - - 2238.19 - -82.73 58.06 0.005 2441.09 - - - - - - - - - - 15.73
66.61 3.08 -3.29 11 109.11 -1.37 13.97 0.259 1988.12 129.5 2.61 0.068 1209.88 -394.0 -82.73 17.36 0.006 3112.06 38.7 -3.273 - - - - - - 15.71 15.71 15.76
212.11 28.85 -20.45 40 217.66 roll -1.37 - - 1988.00 - 2.68 0.030 2350.75 425.7 -82.73 - - 3112.78 - - - - - - - - - 15.89 -
402.57 60.54 -15.92 78 407.96 roll -1.37 - - 1988.31 - 2.87 0.060 1209.94 -397.5 -82.73 - - 3113.69 - - - - - - - - - 15.93 -
487.35 72.86 -13.23 95 492.78 roll -1.37 - - 1988.81 - 2.65 0.029 2350.38 430.4 -82.73 - - 3112.81 - - - - - - - - - 15.92 -
677.69 92.71 -10.85 133 681.29 no move -1.37 - - 1988.62 - - - 2350.75 - -82.73 - - 3113.25 - - - - - - - - - - -
867.34 111.83 -9.15 159 872.41 roll -1.37 - - 1988.75 - 2.70 0.086 3426.00 398.2 -82.73 - - 3113.50 - - - - - - - - - 16.00 -
1021.91 128.77 -9.92 190 1027.91 roll -1.37 - - 1989.31 - 2.65 0.021 2249.56 -443.9 -82.73 - - 3113.66 - - - - - - - - - 16.02 -
1337.41 157.68 -9.78 222 1338.74 no move -1.37 - - 1988.38 - - - 2249.19 - -82.73 - - 3113.16 - - - - - - - - - - -
1647.82 186.26 -9.02 253 1652.57 roll -1.37 - - 1988.19 - 2.96 0.082 3426.50 397.7 -82.73 - - 3113.22 - - - - - - - - - 16.08 -
1707.44 192.31 -10.23 265 1712.52 roll -1.37 - - 1988.81 - 2.62 0.022 2252.31 -448.2 -82.73 - - 3115.56 - - - - - - - - - 16.08 -
2017.48 222.25 -9.28 297 2022.61 roll -1.37 - - 1988.62 - 2.94 0.082 3427.00 399.6 -82.73 - - 3114.44 - - - - - - - - - 16.07 -
2097.50 230.48 -10.39 313 2102.88 roll -1.37 - - 1988.50 - 2.62 0.022 2251.38 -448.7 -82.73 - - 3115.72 - - - - - - - - - 16.11 -
2407.65 257.46 -8.60 345 2412.59 roll -1.37 - - 1989.62 - 2.57 0.067 1209.88 -405.3 -82.73 - - 3114.78 - - - - - - - - - 16.11 -
2497.55 265.37 -8.76 363 2502.64 roll -1.37 - - 1988.56 - 2.63 0.030 2352.44 434.4 -82.73 - - 3113.84 - - - - - - - - - 16.08 -
2807.59 292.70 -9.07 395 2812.67 roll -1.37 - - 1988.69 - 2.69 0.089 3427.12 399.5 -82.73 - - 3115.34 - - - - - - - - - 16.10 -
2857.61 297.74 -10.30 405 2862.68 roll -1.37 - - 1989.38 - 2.62 0.022 2252.00 -448.5 -82.73 - - 3114.09 - - - - - - - - - 16.11 -
3167.85 325.28 -9.04 437 3169.17 no move -1.37 - - 1989.50 - - - 2249.81 - -82.73 - - 3112.53 - - - - - - - - - - -
3478.12 352.03 -8.37 468 3482.80 roll -1.37 - - 1989.31 - 2.56 0.068 1210.12 -406.1 -82.73 - - 3114.12 - - - - - - - - - 16.15 -
3507.75 354.78 -8.73 474 3512.83 roll -1.37 - - 1989.38 - 2.63 0.030 2351.81 434.1 -82.73 - - 3112.94 - - - - - - - - - 16.14 -
3817.82 381.63 -8.70 506 3819.15 no move -1.37 - - 1989.19 - - - 2351.94 - -82.73 - - 3111.97 - - - - - - - - - - -
4128.26 409.05 -8.90 537 4132.99 roll -1.37 - - 1989.44 - 2.81 0.064 1210.00 -406.4 -82.73 - - 3112.62 - - - - - - - - - 16.17 -
4177.89 413.59 -9.35 547 4183.16 roll -1.37 - - 1989.50 - 2.64 0.031 2352.19 432.6 -82.73 - - 3113.16 - - - - - - - - - 16.15 -
4488.07 440.33 -8.58 579 4489.40 no move -1.37 - - 1989.50 - - - 2351.81 - -82.73 - - 3111.38 - - - - - - - - - - -
4798.41 466.60 -8.05 610 4799.74 no move -1.37 - - 1989.56 - - - 2351.50 - -82.73 - - 3110.50 - - - - - - - - - - -
5108.47 493.71 -9.05 641 5113.18 roll -1.37 - - 1989.81 - 2.70 0.091 3424.94 397.6 -82.73 - - 3111.66 - - - - - - - - - 16.16 -
5188.10 501.98 -10.57 657 5193.19 roll -1.37 - - 1989.69 - 2.61 0.023 2253.88 -448.7 -82.73 - - 3111.78 - - - - - - - - - 16.17 -
5498.18 531.84 -10.24 689 5503.23 roll -1.37 - - 1990.00 - 2.58 0.069 1210.25 -404.5 -82.73 - - 3110.56 - - - - - - - - - 16.18 -
5562.73 538.62 -10.62 702 5568.73 roll -1.37 - - 1989.69 - 2.64 0.031 2352.00 432.5 -82.73 - - 3110.25 - - - - - - - - - 16.18 -
5878.25 566.45 -8.58 734 5883.36 roll -1.37 - - 1989.75 - 2.82 0.064 1209.81 -405.0 -82.73 - - 3110.28 - - - - - - - - - 16.19 -
5928.26 570.72 -8.61 744 5933.35 roll -1.37 - - 1989.81 - 2.62 0.031 2351.88 435.9 -82.73 - - 3109.41 - - - - - - - - - 16.18 -
6238.34 597.09 -8.49 776 6239.67 no move -1.37 - - 1989.75 - - - 2351.88 - -82.73 - - 3109.16 - - - - - - - - - - -
6548.74 623.26 -8.42 807 6550.07 no move -1.37 - - 1989.44 - - - 2352.56 - -82.73 - - 3108.97 - - - - - - - - - - -
6859.01 648.76 -8.25 838 6860.34 no move -1.37 - - 1989.56 - - - 2351.56 - -82.73 - - 3108.56 - - - - - - - - - - -
7168.80 672.21 -7.28 869 7170.13 no move -1.37 - - 1989.38 - - - 2351.50 - -82.73 - - 3107.25 - - - - - - - - - - -
7478.84 694.44 -7.25 900 7480.17 no move -1.37 - - 1989.25 - - - 2351.62 - -82.73 - - 3107.09 - - - - - - - - - - -
7788.87 719.25 -8.66 931 7790.19 no move -1.37 - - 1989.69 - - - 2351.31 - -82.73 - - 3106.75 - - - - - - - - - - -
8098.90 747.08 -9.05 962 8103.62 roll -1.37 - - 1989.50 - 2.83 0.065 1210.31 -403.2 -82.73 - - 3107.44 - - - - - - - - - 16.20 -
8178.53 754.71 -9.48 978 8183.61 roll -1.37 - - 1989.75 - 2.63 0.031 2350.38 433.5 -82.73 - - 3107.38 - - - - - - - - - 16.20 -
8488.56 781.21 -8.48 1010 8493.67 roll -1.37 - - 1989.62 - 2.70 0.093 3425.56 398.2 -82.73 - - 3107.09 - - - - - - - - - 16.17 -
8598.58 792.09 -10.00 1032 8603.65 roll -1.37 - - 1989.50 - 2.60 0.023 2253.69 -450.7 -82.73 - - 3107.41 - - - - - - - - - 16.19 -
8908.64 817.18 -7.72 1064 8913.78 roll -1.37 - - 1989.56 - 2.94 0.088 3425.88 398.7 -82.73 - - 3107.22 - - - - - - - - - 16.17 -
9033.23 827.93 -8.55 1089 9039.23 roll -1.37 - - 1989.38 - 2.61 0.023 2253.44 -449.2 -82.73 - - 3106.88 - - - - - - - - - 16.19 -
9228 end dive: TARGET_DEPTH_EXCEEDED
9228 begin apogee
9230.52 842.57 -7.73 1109 9295.34 -0.28 1.79 0.157 2252.94 147.2 0.16 0.166 2286.50 206.6 - 60.10 2.208 2772.44 -5.6 0.350 - - - - - - 16.12 15.72 12.77
9296 end apogee: CONTROL_FINISHED_OK
9296 begin climb
9297.50 844.00 - 1115 9369.95 1.37 2.63 0.104 2655.81 153.2 3.02 0.077 1132.75 -382.0 82.73 63.51 2.138 2435.19 -5.3 0.346 - - - - - - 15.77 15.42 12.94
9452.79 833.98 8.20 1145 9458.63 roll 1.37 - - 2656.06 - 2.73 0.030 2269.88 416.5 82.73 - - 2435.03 - - - - - - - - - 15.65 -
9768.54 809.02 7.67 1177 9773.24 roll 1.38 - - 2655.56 - 2.78 0.091 3345.50 386.9 82.73 - - 2433.81 - - - - - - - - - 15.87 -
9828.15 804.08 8.53 1189 9833.24 roll 1.38 - - 2656.12 - 2.68 0.024 2189.75 -431.2 82.73 - - 2432.38 - - - - - - - - - 15.88 -
10138.79 780.84 7.54 1221 10143.36 roll 1.40 - - 2656.38 - 2.95 0.088 3346.75 392.2 82.73 - - 2431.38 - - - - - - - - - 15.96 -
10188.42 776.55 7.89 1231 10193.38 roll 1.41 - - 2654.50 - 2.66 0.024 2188.38 -435.5 82.73 - - 2431.62 - - - - - - - - - 15.98 -
10498.69 751.80 8.04 1263 10503.43 roll 1.41 - - 2656.00 - 2.94 0.088 3344.31 393.2 82.73 - - 2430.88 - - - - - - - - - 16.03 -
10548.31 747.41 9.02 1273 10553.40 roll 1.41 - - 2656.06 - 2.64 0.024 2188.50 -437.8 82.73 - - 2430.53 - - - - - - - - - 16.04 -
10858.79 722.54 7.93 1305 10863.44 roll 1.42 - - 2655.88 - 2.67 0.078 1131.31 -396.0 82.73 - - 2430.50 - - - - - - - - - 16.06 -
10982.92 711.89 8.83 1330 10988.93 done 1.42 - - 2656.06 - 2.65 0.031 2272.56 430.7 82.73 - - 2430.03 - - - - - - - - - 16.06 -
11298.82 686.67 7.86 1362 11300.15 VBD 1.44 - - 2655.69 - - - 2272.88 - 82.73 - - 2428.56 - - - - - - - - - - -
11608.86 662.82 7.62 1393 11613.57 done 1.45 - - 2656.12 - 2.88 0.074 1131.06 -396.5 82.73 - - 2431.28 - - - - - - - - - 16.11 -
11673.01 657.52 8.47 1406 11679.02 done 1.45 - - 2655.88 - 2.64 0.031 2272.62 432.4 82.73 - - 2430.19 - - - - - - - - - 16.11 -
11988.91 634.43 7.44 1438 11990.24 VBD 1.47 - - 2656.25 - - - 2272.44 - 82.73 - - 2428.66 - - - - - - - - - - -
12299.18 610.97 7.21 1469 12303.71 1.50 0.16 0.101 2696.94 254.3 2.87 0.073 1131.50 -397.5 82.73 - - 2428.91 - - - - - - - - 16.11 16.13 -
12423.50 600.62 8.35 1494 12429.10 done 1.50 - - 2697.75 - 2.64 0.031 2273.62 432.6 82.73 - - 2429.47 - - - - - - - - - 16.14 -
12739.03 576.91 7.10 1526 12740.37 VBD 1.52 - - 2697.38 - - - 2274.06 - 82.73 - - 2428.53 - - - - - - - - - - -
13049.10 554.43 7.28 1557 13053.82 done 1.55 - - 2697.94 - 2.86 0.073 1132.31 -399.2 82.73 - - 2430.19 - - - - - - - - - 16.15 -
13283.34 537.22 6.95 1604 13289.33 done 1.58 - - 2697.81 - 2.62 0.031 2273.06 435.4 82.73 - - 2429.12 - - - - - - - - - 16.15 -
13599.27 516.37 6.65 1636 13600.60 VBD 1.61 - - 2697.94 - - - 2272.44 - 82.73 - - 2428.19 - - - - - - - - - - -
13909.32 496.62 6.51 1667 13910.65 VBD 1.65 - - 2698.44 - - - 2273.00 - 82.73 - - 2428.19 - - - - - - - - - - -
14219.39 476.49 6.51 1698 14224.16 1.69 0.19 0.082 2744.62 243.1 2.86 0.073 1130.38 -399.5 82.73 - - 2429.03 - - - - - - - - 16.15 16.16 -
14429.06 459.71 7.65 1740 14434.32 done 1.71 - - 2744.44 - 2.62 0.031 2273.88 436.5 82.73 - - 2429.56 - - - - - - - - - 16.16 -
14739.63 439.53 6.06 1772 14769.67 VBD 1.78 - - 2744.62 - - - 2274.06 - 117.87 26.71 1.668 2294.53 -5.1 0.220 - - - - - - - - 12.85
15079.57 412.94 8.24 1806 15084.30 roll 1.78 - - 2743.75 - 2.88 0.073 1131.25 -396.8 117.87 - - 2290.41 - - - - - - - - - 16.07 -
15143.74 407.04 9.37 1819 15149.75 roll 1.78 - - 2745.06 - 2.65 0.031 2273.12 430.9 117.87 - - 2290.22 - - - - - - - - - 16.08 -
15459.66 378.49 9.44 1851 15464.39 roll 1.78 - - 2744.62 - 2.88 0.072 1131.62 -396.4 117.87 - - 2290.59 - - - - - - - - - 16.10 -
15509.28 373.57 9.96 1861 15514.38 roll 1.78 - - 2745.31 - 2.65 0.031 2274.00 431.1 117.87 - - 2289.50 - - - - - - - - - 16.10 -
15819.72 345.84 8.56 1893 15821.05 no move 1.78 - - 2744.00 - - - 2273.62 - 117.87 - - 2288.34 - - - - - - - - - - -
16129.76 321.04 8.29 1924 16134.47 roll 1.78 - - 2744.38 - 2.72 0.091 3345.50 394.1 117.87 - - 2290.16 - - - - - - - - - 16.11 -
16153.91 318.97 8.30 1929 16159.92 roll 1.78 - - 2745.00 - 2.65 0.024 2189.06 -436.4 117.87 - - 2289.31 - - - - - - - - - 16.13 -
16470.02 291.11 8.98 1961 16474.68 roll 1.78 - - 2745.62 - 2.66 0.077 1132.50 -397.2 117.87 - - 2290.00 - - - - - - - - - 16.10 -
16524.14 286.07 9.38 1972 16529.97 roll 1.78 - - 2744.75 - 2.65 0.031 2274.00 430.8 117.87 - - 2289.59 - - - - - - - - - 16.11 -
16839.85 258.41 8.89 2004 16841.17 no move 1.78 - - 2745.38 - - - 2273.81 - 117.87 - - 2288.53 - - - - - - - - - - -
17149.90 232.31 7.69 2035 17154.63 roll 1.79 - - 2744.62 - 2.87 0.072 1131.44 -398.0 117.87 - - 2288.78 - - - - - - - - - 16.14 -
17289.53 219.81 9.46 2063 17294.61 roll 1.79 - - 2744.81 - 2.63 0.031 2272.00 433.7 117.87 - - 2290.44 - - - - - - - - - 16.13 -
17599.97 194.52 7.23 2095 17604.69 roll 1.82 - - 2745.62 - 2.85 0.071 1131.62 -400.1 117.87 - - 2289.34 - - - - - - - - - 16.15 -
17694.31 187.36 7.60 2114 17700.12 roll 1.84 - - 2744.94 - 2.65 0.030 2273.94 431.1 117.87 - - 2289.66 - - - - - - - - - 16.10 -
18010.04 166.17 7.79 2146 18014.76 roll 1.85 - - 2745.12 - 2.86 0.071 1130.06 -400.0 117.87 - - 2289.69 - - - - - - - - - 16.12 -
18160.08 153.64 8.03 2176 18164.78 roll 1.85 - - 2745.06 - 2.64 0.030 2274.12 433.4 117.87 - - 2291.34 - - - - - - - - - 16.13 -
18470.40 134.85 5.19 2208 18509.82 1.95 0.28 0.068 2807.88 224.4 - - 2274.88 - 165.79 35.85 1.343 2099.62 -5.3 0.089 - - - - - - 16.12 - 12.86
18819.85 102.46 7.37 2243 18824.95 roll 1.97 - - 2808.50 - 2.88 0.071 1131.12 -397.1 165.79 - - 2093.91 - - - - - - - - - 16.02 -
18854.40 99.88 7.52 2250 18860.38 roll 1.99 - - 2807.00 - 2.64 0.029 2272.75 432.4 165.79 - - 2093.62 - - - - - - - - - 16.04 -
19164.98 84.41 3.18 2312 19227.40 2.14 0.19 0.082 2855.44 254.9 2.75 0.090 3347.00 390.6 243.21 57.40 1.283 1782.78 -5.4 0.059 - - - - - - 16.01 15.77 12.71
19310.51 76.59 7.72 2341 19316.07 roll 2.16 - - 2855.25 - 2.67 0.023 2187.00 -434.5 243.21 - - 1778.28 - - - - - - - - - 15.85 -
19500.56 61.31 7.72 2379 19501.89 VBD 2.17 - - 2855.38 - - - 2187.19 - 243.21 - - 1773.16 - - - - - - - - - - -
19685.60 45.59 8.51 2416 19691.33 done 2.17 - - 2854.38 - 2.66 0.074 1131.31 -396.9 243.21 - - 1773.28 - - - - - - - - - 15.95 -
19895.70 28.45 7.24 2458 19901.24 done 2.20 - - 2855.50 - 2.67 0.028 2274.88 428.3 243.21 - - 1771.91 - - - - - - - - - 16.00 -
20085.76 18.68 4.08 2496 20138.06 2.32 0.17 0.088 2899.06 256.2 2.91 0.070 1131.12 -393.0 307.40 47.17 1.181 1520.34 -5.3 0.014 - - - - - - 15.99 15.79 12.77
20241.10 9.34 7.94 2527 20246.63 roll 2.33 - - 2898.62 - 2.68 0.029 2273.31 426.2 307.40 - - 1515.22 - - - - - - - - - 15.89 -
20330 end climb: SURFACE_DEPTH_REACHED
20331 begin surface coast
20361 end surface coast: CONTROL_FINISHED_OK
20361 begin surface
SM 0.97 - - - - 186.9 85.93 1.169 1042.2 12.1 16.64 0.050 991.2 59.6 - 0.13 0.118 1093.1 8387.8 -7.047 - - 12.72 15.90 15.91 -