NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 200 * Raw log
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• Previous call tries 2 • 66.10 of 550.00 AH used of 24V (87.98% remains)
• Surface angle -62.9 deg, depth 1.48 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.99 (SM_CC=425)
• GPS1 time: 30 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.39 - - - 65.61 VBD -1.37 - - 181.88 - - - 2239.50 - -82.73 58.02 0.005 2465.59 - - - - - - - - - - 15.72
66.35 3.61 -3.37 11 104.52 -1.37 13.93 0.256 1988.56 129.7 2.59 0.066 1208.62 -398.0 -82.73 15.94 0.006 3112.03 40.6 -4.012 - - - - - - 15.71 15.69 15.74
212.52 30.53 -18.26 40 218.07 roll -1.37 - - 1988.38 - 2.69 0.030 2349.31 424.0 -82.73 - - 3115.03 - - - - - - - - - 15.88 -
402.98 59.00 -13.86 78 406.58 no move -1.37 - - 1988.44 - - - 2349.38 - -82.73 - - 3113.47 - - - - - - - - - - -
588.32 82.18 -11.97 115 593.26 roll -1.37 - - 1987.94 - 2.84 0.059 1209.94 -401.2 -82.73 - - 3113.91 - - - - - - - - - 15.96 -
622.70 86.52 -12.56 122 628.24 roll -1.37 - - 1988.69 - 2.65 0.029 2351.94 430.9 -82.73 - - 3113.56 - - - - - - - - - 15.97 -
818.15 106.20 -9.86 155 822.86 roll -1.37 - - 1988.31 - 2.70 0.086 3427.69 398.4 -82.73 - - 3114.94 - - - - - - - - - 15.98 -
992.74 125.32 -9.35 190 998.36 roll -1.37 - - 1989.56 - 2.63 0.021 2251.00 -447.4 -82.73 - - 3115.81 - - - - - - - - - 16.02 -
1307.99 151.70 -8.62 222 1309.32 no move -1.37 - - 1989.75 - - - 2249.50 - -82.73 - - 3113.00 - - - - - - - - - - -
1618.33 179.34 -8.86 253 1619.65 no move -1.37 - - 1989.38 - - - 2249.50 - -82.73 - - 3113.16 - - - - - - - - - - -
1928.37 206.98 -9.41 284 1929.70 no move -1.37 - - 1989.38 - - - 2249.06 - -82.73 - - 3113.53 - - - - - - - - - - -
2238.40 236.52 -9.51 315 2239.73 no move -1.37 - - 1989.25 - - - 2249.25 - -82.73 - - 3113.34 - - - - - - - - - - -
2548.43 267.43 -10.70 346 2553.18 roll -1.37 - - 1989.44 - 2.97 0.084 3426.56 396.4 -82.73 - - 3114.50 - - - - - - - - - 16.11 -
2602.59 273.85 -11.81 357 2608.61 roll -1.37 - - 1989.62 - 2.62 0.022 2249.62 -449.2 -82.73 - - 3114.88 - - - - - - - - - 16.12 -
2918.27 304.55 -9.35 389 2923.21 roll -1.37 - - 1989.69 - 2.56 0.067 1209.75 -406.2 -82.73 - - 3115.06 - - - - - - - - - 16.13 -
2948.08 307.50 -9.60 395 2953.18 roll -1.37 - - 1990.12 - 2.64 0.030 2352.69 432.9 -82.73 - - 3114.44 - - - - - - - - - 16.13 -
3258.13 336.01 -9.18 427 3259.46 no move -1.37 - - 1989.44 - - - 2352.69 - -82.73 - - 3112.91 - - - - - - - - - - -
3568.55 364.27 -9.41 458 3569.88 no move -1.37 - - 1989.38 - - - 2353.12 - -82.73 - - 3112.41 - - - - - - - - - - -
3878.58 392.86 -9.35 489 3879.91 no move -1.37 - - 1989.62 - - - 2352.69 - -82.73 - - 3112.12 - - - - - - - - - - -
4188.63 422.90 -10.17 520 4193.36 roll -1.37 - - 1990.12 - 2.82 0.064 1211.12 -404.8 -82.73 - - 3113.03 - - - - - - - - - 16.15 -
4288.29 433.70 -10.77 540 4293.37 roll -1.37 - - 1989.62 - 2.62 0.030 2351.88 435.4 -82.73 - - 3113.81 - - - - - - - - - 16.17 -
4598.35 465.88 -10.00 572 4599.68 no move -1.37 - - 1989.75 - - - 2351.56 - -82.73 - - 3111.59 - - - - - - - - - - -
4908.80 495.38 -9.22 603 4910.12 no move -1.37 - - 1989.75 - - - 2351.25 - -82.73 - - 3110.53 - - - - - - - - - - -
5218.86 523.93 -8.89 634 5223.60 roll -1.37 - - 1989.81 - 2.83 0.064 1209.69 -403.4 -82.73 - - 3111.41 - - - - - - - - - 16.17 -
5283.04 530.08 -9.75 647 5289.05 roll -1.37 - - 1989.75 - 2.65 0.031 2352.00 431.1 -82.73 - - 3110.97 - - - - - - - - - 16.17 -
5598.75 558.80 -9.20 679 5600.08 no move -1.37 - - 1990.00 - - - 2352.00 - -82.73 - - 3110.38 - - - - - - - - - - -
5909.19 586.70 -8.79 710 5910.52 no move -1.37 - - 1989.50 - - - 2352.19 - -82.73 - - 3109.19 - - - - - - - - - - -
6219.08 615.63 -9.00 741 6223.83 roll -1.37 - - 1989.69 - 2.82 0.064 1211.25 -404.6 -82.73 - - 3110.09 - - - - - - - - - 16.18 -
6278.71 621.41 -9.61 753 6283.80 roll -1.37 - - 1990.06 - 2.64 0.031 2354.62 433.1 -82.73 - - 3109.62 - - - - - - - - - 16.18 -
6588.79 648.10 -8.37 785 6593.90 roll -1.37 - - 1989.25 - 2.82 0.064 1209.88 -405.9 -82.73 - - 3109.62 - - - - - - - - - 16.20 -
6673.35 655.54 -8.56 802 6679.35 roll -1.37 - - 1989.94 - 2.63 0.031 2350.50 433.7 -82.73 - - 3109.19 - - - - - - - - - 16.19 -
6988.88 680.19 -7.76 834 6993.98 roll -1.37 - - 1990.00 - 2.80 0.064 1209.69 -407.4 -82.73 - - 3109.59 - - - - - - - - - 16.20 -
7043.43 684.67 -7.86 845 7049.44 roll -1.37 - - 1990.00 - 2.62 0.031 2349.38 435.0 -82.73 - - 3108.47 - - - - - - - - - 16.20 -
7358.95 709.12 -8.30 877 7360.28 no move -1.37 - - 1989.50 - - - 2349.94 - -82.73 - - 3107.09 - - - - - - - - - - -
7669.37 733.39 -7.85 908 7674.08 roll -1.37 - - 1989.81 - 2.70 0.093 3425.25 398.3 -82.73 - - 3108.47 - - - - - - - - - 16.18 -
7713.71 737.54 -9.28 917 7719.58 roll -1.37 - - 1989.75 - 2.60 0.023 2250.31 -451.9 -82.73 - - 3107.59 - - - - - - - - - 16.18 -
8029.03 760.47 -7.39 949 8034.09 roll -1.37 - - 1989.88 - 2.56 0.070 1209.38 -406.6 -82.73 - - 3106.94 - - - - - - - - - 16.19 -
8109.04 766.62 -7.70 965 8114.13 roll -1.37 - - 1989.31 - 2.64 0.031 2349.19 431.7 -82.73 - - 3108.06 - - - - - - - - - 16.18 -
8419.08 788.75 -7.43 997 8420.41 no move -1.37 - - 1989.69 - - - 2349.56 - -82.73 - - 3106.22 - - - - - - - - - - -
8729.51 812.65 -7.86 1028 8730.84 no move -1.37 - - 1989.19 - - - 2349.94 - -82.73 - - 3105.62 - - - - - - - - - - -
9039.54 835.45 -6.94 1059 9044.27 roll -1.37 - - 1988.50 - 2.81 0.066 1210.44 -405.5 -82.73 - - 3107.22 - - - - - - - - - 16.19 -
9059 end dive: TARGET_DEPTH_EXCEEDED
9059 begin apogee
9062.87 837.18 -7.21 1063 9127.49 -0.28 1.82 0.163 2252.81 145.2 0.12 0.182 2165.06 7955.2 - 60.13 2.204 2773.50 -5.5 0.347 - - - - - - 16.13 15.72 12.75
9129 end apogee: CONTROL_FINISHED_OK
9129 begin climb
9129.53 838.39 - 1069 9205.26 1.37 2.65 0.103 2653.62 151.2 3.12 0.091 3343.56 377.7 82.73 63.44 2.130 2437.06 -5.3 0.343 - - - - - - 15.76 15.41 12.89
9238.09 831.84 7.02 1090 9243.93 roll 1.40 - - 2655.06 - 2.71 0.024 2189.19 -426.0 82.73 - - 2435.59 - - - - - - - - - 15.57 -
9553.84 807.81 7.22 1122 9555.17 no move 1.42 - - 2654.81 - - - 2189.31 - 82.73 - - 2430.66 - - - - - - - - - - -
9863.91 785.78 6.81 1153 9865.24 no move 1.45 - - 2654.88 - - - 2188.94 - 82.73 - - 2429.91 - - - - - - - - - - -
10173.97 764.21 6.88 1184 10178.77 roll back 1.49 0.14 0.098 2695.50 290.1 2.94 0.089 3345.19 393.3 82.73 - - 2430.72 - - - - - - - - 15.99 16.00 -
10253.60 757.17 9.45 1200 10258.68 roll 1.49 - - 2696.00 - 2.65 0.025 2189.62 -436.1 82.73 - - 2430.75 - - - - - - - - - 16.01 -
10564.22 731.31 8.44 1232 10565.55 no move 1.49 - - 2695.75 - - - 2189.62 - 82.73 - - 2429.12 - - - - - - - - - - -
10874.19 706.66 7.39 1263 10875.52 VBD 1.51 - - 2695.44 - - - 2189.44 - 82.73 - - 2428.62 - - - - - - - - - - -
11183.80 683.19 7.74 1294 11185.13 VBD 1.52 - - 2695.94 - - - 2189.25 - 82.73 - - 2428.59 - - - - - - - - - - -
11494.25 658.97 7.73 1325 11495.58 VBD 1.54 - - 2695.06 - - - 2189.56 - 82.73 - - 2428.22 - - - - - - - - - - -
11804.56 635.44 7.87 1356 11809.00 done 1.55 - - 2695.69 - 2.63 0.078 1131.31 -402.4 82.73 - - 2429.56 - - - - - - - - - 16.13 -
11878.48 629.25 8.71 1371 11884.49 done 1.55 - - 2695.50 - 2.62 0.031 2273.12 435.8 82.73 - - 2429.44 - - - - - - - - - 16.13 -
12194.38 608.14 6.56 1403 12199.06 done 1.59 - - 2696.19 - 2.67 0.093 3344.94 401.4 82.73 - - 2430.44 - - - - - - - - - 16.13 -
12258.55 603.43 7.46 1416 12264.55 done 1.61 - - 2696.25 - 2.62 0.024 2189.00 -441.2 82.73 - - 2430.38 - - - - - - - - - 16.15 -
12574.42 582.89 6.28 1448 12600.62 1.67 0.17 0.089 2736.88 239.0 - - 2188.25 - 114.62 24.75 1.819 2306.16 -5.0 0.264 - - - - - - 16.12 - 12.79
12904.06 553.07 9.70 1481 12905.39 no move 1.67 - - 2737.62 - - - 2188.44 - 114.62 - - 2302.69 - - - - - - - - - - -
13214.49 522.25 10.14 1512 13215.82 no move 1.67 - - 2737.00 - - - 2188.31 - 114.62 - - 2302.28 - - - - - - - - - - -
13524.52 493.88 9.29 1543 13525.85 no move 1.67 - - 2737.25 - - - 2187.75 - 114.62 - - 2302.34 - - - - - - - - - - -
13834.56 464.19 10.35 1574 13835.89 no move 1.67 - - 2737.06 - - - 2187.75 - 114.62 - - 2302.00 - - - - - - - - - - -
14144.59 434.25 9.92 1605 14149.32 roll 1.67 - - 2736.38 - 2.90 0.089 3345.44 399.2 114.62 - - 2303.00 - - - - - - - - - 16.12 -
14214.42 427.00 10.33 1619 14219.37 roll 1.67 - - 2736.50 - 2.62 0.025 2188.69 -441.5 114.62 - - 2303.22 - - - - - - - - - 16.12 -
14524.68 400.78 8.02 1651 14526.01 no move 1.67 - - 2737.88 - - - 2188.94 - 114.62 - - 2301.78 - - - - - - - - - - -
14834.76 376.09 8.00 1682 14836.08 no move 1.67 - - 2737.25 - - - 2189.12 - 114.62 - - 2301.72 - - - - - - - - - - -
15144.83 351.43 7.87 1713 15149.54 roll 1.68 - - 2737.19 - 2.88 0.088 3346.75 402.0 114.62 - - 2303.12 - - - - - - - - - 16.14 -
15204.44 346.26 9.03 1725 15209.54 roll 1.68 - - 2737.81 - 2.61 0.025 2189.12 -443.5 114.62 - - 2302.50 - - - - - - - - - 16.14 -
15514.90 321.51 8.28 1757 15519.62 roll 1.68 - - 2738.00 - 2.88 0.087 3346.69 401.9 114.62 - - 2302.94 - - - - - - - - - 16.14 -
15609.08 312.71 9.74 1776 15615.09 roll 1.68 - - 2737.75 - 2.62 0.025 2189.06 -441.8 114.62 - - 2303.38 - - - - - - - - - 16.15 -
15925.00 286.23 8.35 1808 15926.33 no move 1.68 - - 2737.62 - - - 2189.00 - 114.62 - - 2302.53 - - - - - - - - - - -
16235.08 261.75 7.44 1839 16239.79 roll 1.70 - - 2737.88 - 2.87 0.087 3347.12 403.5 114.62 - - 2302.97 - - - - - - - - - 16.15 -
16429.30 246.49 7.62 1878 16435.48 roll 1.72 - - 2736.56 - 2.62 0.025 2188.19 -442.3 114.62 - - 2303.38 - - - - - - - - - 16.16 -
16745.37 223.27 8.03 1910 16746.70 no move 1.72 - - 2737.81 - - - 2188.44 - 114.62 - - 2301.94 - - - - - - - - - - -
17055.28 196.77 7.72 1941 17056.61 no move 1.73 - - 2737.62 - - - 2187.56 - 114.62 - - 2301.72 - - - - - - - - - - -
17365.33 175.43 6.39 1972 17396.17 done 1.79 - - 2736.50 - 2.92 0.088 3346.38 396.9 144.98 23.51 1.350 2183.72 -5.0 0.107 - - - - - - - 15.99 12.80
17559.51 160.26 8.11 2011 17565.52 roll 1.79 - - 2737.44 - 2.61 0.024 2188.94 -443.5 144.98 - - 2180.59 - - - - - - - - - 16.08 -
17875.42 134.11 7.73 2043 17880.10 roll 1.81 - - 2737.12 - 2.63 0.076 1131.12 -402.2 144.98 - - 2180.72 - - - - - - - - - 16.08 -
18065.06 121.07 6.55 2081 18070.20 roll back 1.85 0.17 0.088 2783.00 269.9 2.63 0.029 2274.06 434.6 144.98 - - 2179.78 - - - - - - - - 16.06 16.09 -
18375.09 100.05 6.43 2113 18405.80 done 1.91 - - 2782.94 - 2.70 0.090 3347.38 397.5 174.80 23.37 1.247 2062.06 -5.0 0.066 - - - - - - - 15.95 12.72
18630.27 86.06 3.04 2164 18696.88 2.07 0.23 0.073 2834.94 226.1 2.63 0.023 2179.81 -443.9 254.28 59.32 1.280 1738.44 -5.5 0.060 - - - - - - 16.01 16.03 12.75
18880.18 69.06 9.54 2214 18885.72 done 2.07 - - 2835.56 - 2.67 0.076 1131.44 -392.6 254.28 - - 1728.47 - - - - - - - - - 15.88 -
19060.23 52.71 8.69 2250 19065.78 done 2.07 - - 2835.94 - 2.66 0.029 2272.75 429.1 254.28 - - 1725.66 - - - - - - - - - 15.93 -
19250.32 37.18 7.82 2288 19255.88 done 2.08 - - 2836.81 - 2.89 0.070 1131.50 -394.9 254.28 - - 1725.19 - - - - - - - - - 15.96 -
19310.34 32.39 8.06 2300 19315.89 done 2.08 - - 2836.94 - 2.65 0.028 2273.56 431.0 254.28 - - 1723.66 - - - - - - - - - 15.99 -
19500.42 20.57 5.98 2338 19532.04 done 2.15 - - 2837.44 - 2.71 0.089 3347.38 396.2 290.67 27.00 1.151 1589.97 -5.0 0.015 - - - - - - - 15.84 12.71
19580.62 17.57 4.00 2354 19637.74 2.28 0.22 0.076 2887.62 228.1 2.65 0.023 2181.75 -439.9 356.06 50.24 1.163 1324.50 -5.3 0.013 - - - - - - 15.90 15.92 12.77
19800 end climb: SURFACE_DEPTH_REACHED
19801 begin surface coast
19831 end surface coast: CONTROL_FINISHED_OK
19831 begin surface
SM 1.81 - - - - 191.7 51.04 1.147 1042.5 19.4 16.62 0.050 993.5 59.8 - 0.37 0.061 1091.4 2942.6 -8.924 - - 12.68 15.84 15.87 -