NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 27 * Raw log
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• Previous call tries 1 • 17.35 of 550.00 AH used of 24V (96.85% remains)
• Surface angle -63.1 deg, depth 1.59 m • Intended pitch -17.6 deg, speed -10.000 cm/s
• No surface pump (final VBD was 1022.2, SM_CC=450)
• GPS1 time: 18 s
• GPS2 time: 4 s • Transponder ping count: 22
• 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
6.38 - - - 69.04 VBD -0.88 - - 185.81 - - - 2275.50 - -145.99 61.53 0.005 2516.78 - - - - - - - - - - 15.84
69.77 3.35 -3.21 12 123.12 -0.88 15.19 0.260 2115.31 127.0 3.43 0.096 849.31 -415.8 -145.99 25.62 0.006 3564.59 40.9 -3.844 - - - - - - 15.79 15.81 15.84
156.09 16.12 -15.12 29 161.78 roll -0.88 - - 2115.25 - 3.41 0.040 2346.44 439.0 -145.99 - - 3564.41 - - - - - - - - - 15.87 -
346.26 43.77 -13.38 67 351.94 roll back -1.02 0.26 0.073 2064.06 -196.9 3.49 0.111 3789.50 413.5 -145.99 - - 3564.22 - - - - - - - - 15.90 15.90 -
391.21 51.79 -18.86 76 396.87 roll -1.02 - - 2062.12 - 3.38 0.033 2265.06 -451.0 -145.99 - - 3564.91 - - - - - - - - - 15.94 -
581.30 75.75 -9.94 114 582.63 no move -1.12 - - 2062.31 - - - 2263.06 - -145.99 - - 3563.22 - - - - - - - - - - -
766.37 94.74 -10.53 151 772.14 roll back -1.25 0.25 0.074 2004.69 -230.5 3.67 0.107 3786.75 415.2 -145.99 - - 3564.28 - - - - - - - - 15.99 15.98 -
816.75 102.24 -15.53 161 822.63 roll back -1.13 0.39 0.180 2056.06 131.7 3.36 0.033 2264.31 -453.1 -145.99 - - 3564.22 - - - - - - - - 15.97 15.99 -
1131.39 135.71 -9.99 193 1132.84 pitch -1.27 0.26 0.071 2002.50 -206.0 - - 2261.81 - -145.99 - - 3564.72 - - - - - - - - 16.05 - -
1441.39 174.29 -12.81 224 1446.64 roll -1.27 - - 2002.50 - 3.64 0.107 3788.75 419.5 -145.99 - - 3564.25 - - - - - - - - - 16.05 -
1526.34 187.10 -15.66 241 1532.15 roll back -1.16 0.35 0.178 2050.25 136.4 3.34 0.032 2262.00 -457.1 -145.99 - - 3564.72 - - - - - - - - 16.04 16.08 -
1841.51 218.87 -10.03 273 1842.96 pitch -1.31 0.28 0.069 1993.56 -202.5 - - 2259.12 - -145.99 - - 3564.50 - - - - - - - - 16.10 - -
2151.46 256.91 -12.32 304 2152.78 no move -1.31 - - 1993.56 - - - 2259.12 - -145.99 - - 3563.41 - - - - - - - - - - -
2461.87 295.27 -12.75 335 2463.20 no move -1.31 - - 1993.31 - - - 2259.06 - -145.99 - - 3562.91 - - - - - - - - - - -
2771.91 335.01 -12.38 366 2776.72 roll -1.31 - - 1993.44 - 3.35 0.097 850.19 -420.6 -145.99 - - 3565.62 - - - - - - - - - 16.15 -
2836.07 343.81 -13.84 379 2842.20 roll -1.31 - - 1992.56 - 3.35 0.039 2347.62 447.0 -145.99 - - 3565.69 - - - - - - - - - 16.16 -
3151.56 385.40 -12.96 411 3152.89 no move -1.31 - - 1993.50 - - - 2348.12 - -145.99 - - 3564.12 - - - - - - - - - - -
3461.99 423.41 -11.80 442 3467.86 roll -1.31 - - 1992.88 - 3.54 0.091 850.31 -423.1 -145.99 - - 3563.91 - - - - - - - - - 16.17 -
3521.16 431.16 -13.17 454 3527.30 roll -1.31 - - 1993.31 - 3.35 0.040 2349.19 447.4 -145.99 - - 3565.50 - - - - - - - - - 16.18 -
3836.68 467.75 -11.33 486 3838.01 no move -1.31 - - 1993.50 - - - 2348.88 - -145.99 - - 3563.22 - - - - - - - - - - -
4147.13 501.79 -10.80 517 4152.99 roll -1.31 - - 1991.88 - 3.55 0.090 849.00 -422.5 -145.99 - - 3564.53 - - - - - - - - - 16.19 -
4221.96 510.59 -11.90 532 4227.04 roll -1.31 - - 1992.81 - 3.35 0.040 2348.81 447.7 -145.99 - - 3563.28 - - - - - - - - - 16.20 -
4531.83 543.92 -10.17 564 4533.16 no move -1.31 - - 1993.25 - - - 2349.56 - -145.99 - - 3562.94 - - - - - - - - - - -
4842.29 575.97 -10.62 595 4843.61 no move -1.31 - - 1993.19 - - - 2349.19 - -145.99 - - 3561.91 - - - - - - - - - - -
5152.35 610.44 -11.42 626 5158.21 roll -1.31 - - 1993.12 - 3.54 0.089 848.75 -423.9 -145.99 - - 3563.59 - - - - - - - - - 16.20 -
5176.98 613.42 -11.82 631 5182.17 roll -1.31 - - 1991.44 - 3.35 0.040 2347.31 447.3 -145.99 - - 3562.47 - - - - - - - - - 16.20 -
5487.02 649.68 -11.74 663 5488.35 no move -1.31 - - 1993.19 - - - 2347.75 - -145.99 - - 3561.16 - - - - - - - - - - -
5797.48 685.24 -11.11 694 5802.32 roll -1.31 - - 1993.56 - 3.43 0.116 3788.06 419.9 -145.99 - - 3562.06 - - - - - - - - - 16.20 -
5821.64 688.51 -12.15 699 5827.75 roll -1.31 - - 1993.19 - 3.33 0.034 2264.06 -457.7 -145.99 - - 3562.69 - - - - - - - - - 16.22 -
6137.16 722.40 -10.47 731 6142.41 roll -1.31 - - 1993.38 - 3.63 0.111 3789.19 420.1 -145.99 - - 3561.91 - - - - - - - - - 16.21 -
6167.16 726.41 -13.36 737 6172.55 roll -1.31 - - 1993.44 - 3.32 0.034 2264.44 -459.3 -145.99 - - 3560.97 - - - - - - - - - 16.22 -
6477.22 759.83 -10.42 769 6478.55 no move -1.31 - - 1992.88 - - - 2263.06 - -145.99 - - 3560.09 - - - - - - - - - - -
6787.69 790.02 -9.27 800 6793.55 roll -1.31 - - 1993.06 - 3.63 0.112 3787.62 420.0 -145.99 - - 3558.75 - - - - - - - - - 16.21 -
6826.84 794.81 -11.57 808 6832.97 roll -1.31 - - 1993.75 - 3.32 0.036 2267.69 -457.8 -145.99 - - 3560.06 - - - - - - - - - 16.23 -
7142.35 824.57 -9.36 840 7147.59 roll -1.31 - - 1993.56 - 3.63 0.111 3789.19 419.1 -145.99 - - 3560.34 - - - - - - - - - 16.21 -
7192.35 830.64 -12.50 850 7197.55 roll -1.31 - - 1993.25 - 3.33 0.036 2266.94 -457.1 -145.99 - - 3560.84 - - - - - - - - - 16.22 -
7502.38 861.62 -10.30 882 7503.71 no move -1.31 - - 1993.44 - - - 2265.94 - -145.99 - - 3558.97 - - - - - - - - - - -
7812.83 891.86 -9.68 913 7818.67 roll -1.40 - - 1991.88 - 3.63 0.112 3786.38 418.9 -145.99 - - 3560.12 - - - - - - - - - 16.22 -
7851.96 896.67 -12.99 921 7858.08 roll -1.40 - - 1993.19 - 3.33 0.036 2266.50 -456.4 -145.99 - - 3559.06 - - - - - - - - - 16.22 -
8167.65 928.64 -10.10 953 8173.83 roll back -1.50 0.18 0.098 1947.50 -253.8 3.63 0.112 3789.25 419.5 -145.99 - - 3559.69 - - - - - - - - 16.22 16.20 -
8212.48 935.07 -14.40 962 8217.78 roll back -1.35 0.41 0.186 2003.62 136.9 3.33 0.036 2266.00 -457.4 -145.99 - - 3559.69 - - - - - - - - 16.18 16.22 -
8522.52 965.16 -9.29 994 8523.97 pitch -1.48 0.25 0.086 1952.19 -205.7 - - 2265.38 - -145.99 - - 3557.28 - - - - - - - - 16.22 - -
8752 end dive: TARGET_DEPTH_EXCEEDED
8752 begin apogee
8754.72 990.57 -11.15 1017 8867.52 -0.20 2.32 0.158 2281.31 141.9 0.16 0.180 2254.00 -71.1 - 107.25 2.439 2965.78 -5.5 0.377 - - - - - - 16.20 15.38 13.13
8868 end apogee: CONTROL_FINISHED_OK
8868 begin climb
8869.35 992.43 - 1028 8992.70 0.88 1.80 0.096 2549.81 149.2 3.88 0.107 742.94 -389.4 145.99 114.81 2.373 2370.44 -5.2 0.365 - - - - - - 15.44 15.04 12.71
9051.41 984.06 6.83 1063 9113.73 1.08 0.28 0.076 2604.62 195.7 3.52 0.038 2239.62 425.2 214.07 54.83 2.282 2096.44 -5.0 0.363 - - - - - - 15.36 15.37 12.63
9421.29 950.41 9.21 1106 9442.64 done 1.20 - - 2605.44 - 3.59 0.116 3676.50 400.2 231.10 14.80 2.002 2024.91 -4.8 0.386 - - - - - - - 15.53 12.78
9475.80 944.95 10.27 1117 9481.95 roll 1.20 - - 2606.12 - 3.46 0.035 2170.31 -435.3 231.10 - - 2023.28 - - - - - - - - - 15.62 -
9791.35 915.44 9.36 1149 9805.32 1.33 0.29 0.078 2662.94 195.9 - - 2170.31 - 244.82 12.84 1.950 1968.97 -4.2 0.334 - - - - - - 15.82 - 12.89
10111.36 878.76 11.52 1181 10116.61 roll 1.33 - - 2662.44 - 3.69 0.110 3678.00 408.6 244.82 - - 1966.25 - - - - - - - - - 15.87 -
10141.58 875.02 12.46 1187 10147.68 roll back 1.21 0.35 0.185 2617.12 -129.5 3.41 0.037 2170.06 -442.2 244.82 - - 1965.69 - - - - - - - - 15.84 15.89 -
10456.42 844.84 9.36 1219 10477.66 1.34 0.26 0.082 2664.81 183.4 3.69 0.113 3678.25 408.7 258.68 13.13 1.933 1912.91 -4.0 0.296 - - - - - - 15.95 15.82 12.94
10500.95 839.51 12.63 1228 10507.17 roll back 1.21 0.35 0.184 2615.94 -139.6 3.41 0.037 2167.31 -443.1 258.68 - - 1911.88 - - - - - - - - 15.84 15.89 -
10816.46 810.34 9.11 1260 10836.51 1.36 0.30 0.079 2668.88 176.5 - - 2166.62 - 277.81 17.33 2.004 1835.06 -4.4 0.302 - - - - - - 15.96 - 12.95
11146.58 773.12 11.13 1293 11151.72 roll 1.36 - - 2670.69 - 3.68 0.111 3677.75 410.6 277.81 - - 1831.03 - - - - - - - - - 15.94 -
11196.49 766.34 14.12 1303 11201.77 roll back 1.25 0.33 0.184 2626.19 -134.8 3.39 0.037 2170.81 -444.5 277.81 - - 1831.94 - - - - - - - - 15.91 15.97 -
11506.54 735.49 9.48 1335 11518.47 1.40 0.30 0.080 2679.19 176.7 - - 2169.88 - 288.90 10.77 1.770 1791.47 -3.8 0.263 - - - - - - 16.01 - 13.02
11826.73 697.32 11.59 1367 11828.06 no move 1.40 - - 2680.50 - - - 2169.69 - 288.90 - - 1786.44 - - - - - - - - - - -
12137.07 662.18 11.14 1398 12138.40 no move 1.40 - - 2680.00 - - - 2170.25 - 288.90 - - 1786.09 - - - - - - - - - - -
12447.01 625.96 12.01 1429 12452.89 roll 1.40 - - 2680.12 - 3.64 0.111 3679.31 414.6 288.90 - - 1785.19 - - - - - - - - - 16.07 -
12506.21 617.75 14.39 1441 12512.41 roll back 1.28 0.33 0.184 2634.94 -136.9 3.37 0.038 2168.38 -448.3 288.90 - - 1786.88 - - - - - - - - 16.03 16.08 -
12821.74 586.09 9.63 1473 12831.64 1.42 0.28 0.082 2685.38 180.1 - - 2167.50 - 296.91 8.55 1.545 1757.22 -3.5 0.222 - - - - - - 16.10 - 13.11
13141.77 549.42 11.38 1505 13147.03 roll 1.42 - - 2686.62 - 3.64 0.110 3677.38 414.8 296.91 - - 1755.84 - - - - - - - - - 16.08 -
13201.81 541.34 13.75 1517 13207.09 roll back 1.30 0.34 0.187 2638.94 -140.2 3.38 0.038 2169.00 -446.3 296.91 - - 1756.84 - - - - - - - - 16.04 16.09 -
13511.89 511.59 9.52 1549 13523.82 1.45 0.29 0.081 2693.06 186.6 - - 2168.38 - 307.27 10.71 1.598 1716.06 -3.8 0.205 - - - - - - 16.11 - 13.13
13831.92 472.93 11.88 1581 13833.25 no move 1.45 - - 2692.62 - - - 2168.19 - 307.27 - - 1711.81 - - - - - - - - - - -
14142.61 436.56 11.70 1612 14143.94 no move 1.45 - - 2692.94 - - - 2167.56 - 307.27 - - 1711.75 - - - - - - - - - - -
14452.43 399.78 11.87 1643 14458.30 roll 1.45 - - 2692.31 - 3.63 0.111 3676.50 415.7 307.27 - - 1711.75 - - - - - - - - - 16.10 -
14521.62 390.51 13.41 1657 14527.83 roll back 1.34 0.32 0.187 2647.19 -141.0 3.37 0.036 2166.81 -448.0 307.27 - - 1713.94 - - - - - - - - 16.07 16.13 -
14837.16 361.44 8.73 1689 14861.72 1.50 0.32 0.079 2704.62 179.5 - - 2166.25 - 334.56 23.28 1.628 1603.91 -4.7 0.177 - - - - - - 16.13 - 13.16
15167.18 322.68 11.92 1722 15168.51 no move 1.50 - - 2703.69 - - - 2165.56 - 334.56 - - 1598.31 - - - - - - - - - - -
15477.65 284.98 12.49 1753 15478.98 no move 1.50 - - 2704.12 - - - 2166.19 - 334.56 - - 1597.94 - - - - - - - - - - -
15787.73 244.36 13.14 1784 15789.06 no move 1.50 - - 2704.69 - - - 2165.38 - 334.56 - - 1597.44 - - - - - - - - - - -
16097.74 205.38 11.91 1815 16103.61 roll 1.50 - - 2703.12 - 3.62 0.109 3678.25 417.9 334.56 - - 1599.41 - - - - - - - - - 16.10 -
16146.90 198.56 14.07 1825 16153.02 roll 1.50 - - 2704.94 - 3.37 0.038 2170.25 -447.5 334.56 - - 1599.03 - - - - - - - - - 16.12 -
16462.39 163.40 10.46 1857 16463.72 no move 1.50 - - 2704.88 - - - 2170.50 - 334.56 - - 1596.88 - - - - - - - - - - -
16773.05 130.85 10.73 1888 16778.68 roll 1.50 - - 2705.12 - 3.62 0.108 3676.50 416.0 334.56 - - 1597.53 - - - - - - - - - 16.13 -
16817.42 125.29 12.83 1897 16822.62 roll 1.50 - - 2705.00 - 3.35 0.036 2169.62 -449.8 334.56 - - 1599.06 - - - - - - - - - 16.13 -
17127.48 92.56 9.61 1936 17137.31 VBD 1.51 - - 2705.25 - - - 2169.75 - 342.89 8.05 1.089 1569.72 -3.6 0.052 - - - - - - - - 13.13
17322.52 75.06 8.14 1975 17363.49 done 1.56 - - 2705.25 - 3.66 0.108 3679.25 412.4 382.96 32.39 1.310 1407.16 -5.0 0.048 - - - - - - - 15.93 13.06
17397.90 68.13 10.19 1990 17403.18 roll 1.56 - - 2704.88 - 3.39 0.037 2169.00 -445.5 382.96 - - 1404.75 - - - - - - - - - 15.98 -
17587.58 51.48 7.57 2028 17629.46 1.82 0.43 0.076 2780.38 175.6 - - 2167.75 - 435.23 40.44 1.267 1193.97 -5.2 0.036 - - - - - - 16.00 - 12.99
17813.47 31.05 9.58 2073 17828.81 done 1.83 - - 2781.94 - 3.68 0.108 3676.12 409.9 444.21 8.45 0.999 1158.19 -4.2 0.022 - - - - - - - 15.83 12.89
17857.89 25.93 11.67 2082 17863.58 roll 1.83 - - 2780.50 - 3.40 0.037 2168.44 -443.4 444.21 - - 1156.94 - - - - - - - - - 15.89 -
18048.01 7.19 8.84 2120 18074.51 1.99 0.20 0.095 2820.69 201.0 3.47 0.106 742.19 -411.0 469.23 20.86 1.155 1056.12 -4.8 0.005 - - - - - - 15.94 15.81 12.90
18087.99 3.21 10.01 2128 18093.68 roll 1.99 - - 2821.38 - 3.41 0.037 2243.38 440.2 469.23 - - 1054.31 - - - - - - - - - 15.87 -
18102 end climb: SURFACE_DEPTH_REACHED
18102 begin surface coast
18127 end surface coast: CONTROL_FINISHED_OK
18128 begin surface
SM 1.62 - - - - 185.6 - - 1051.7 - 16.49 0.055 1081.2 65.6 - 0.19 0.099 1022.2 5362.1 -8.968 - - 30.00 15.87 15.89 -