NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 28 * Raw log
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• Previous call tries 2 • 17.75 of 550.00 AH used of 24V (96.77% remains)
• Surface angle -64.2 deg, depth 1.62 m • Intended pitch -17.6 deg, speed -10.000 cm/s
• No surface pump (final VBD was 874.6, SM_CC=450)
• GPS1 time: 15 s
• GPS2 time: 2 s • Transponder ping count: 24
• 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
6.10 - - - 73.79 VBD -0.88 - - 185.44 - - - 2267.12 - -145.99 66.57 0.005 2632.06 - - - - - - - - - - 15.82
74.53 3.60 -3.49 13 122.80 -0.88 15.28 0.268 2115.81 126.3 3.40 0.093 850.50 -416.7 -145.99 21.14 0.006 3563.84 44.1 -4.462 - - - - - - 15.75 15.81 15.84
145.78 15.86 -14.48 27 151.45 roll -0.88 - - 2115.25 - 3.42 0.040 2347.94 437.8 -145.99 - - 3564.12 - - - - - - - - - 15.86 -
335.93 41.38 -13.33 65 341.62 roll back -1.01 0.26 0.071 2065.00 -193.3 3.49 0.110 3788.44 412.8 -145.99 - - 3564.72 - - - - - - - - 15.92 15.90 -
360.87 45.48 -16.37 70 366.53 roll -1.01 - - 2064.69 - 3.38 0.032 2265.31 -450.6 -145.99 - - 3566.03 - - - - - - - - - 15.94 -
550.96 70.73 -10.97 108 554.76 no move -1.12 - - 2064.50 - - - 2262.94 - -145.99 - - 3565.16 - - - - - - - - - - -
735.95 92.16 -11.03 145 737.40 pitch -1.25 0.25 0.074 2007.44 -228.2 - - 2262.88 - -145.99 - - 3564.94 - - - - - - - - 15.98 - -
926.35 117.49 -12.93 170 927.68 no move -1.25 - - 2007.00 - - - 2263.19 - -145.99 - - 3564.28 - - - - - - - - - - -
1236.37 156.71 -12.79 201 1242.25 roll -1.25 - - 2007.56 - 3.66 0.105 3788.25 416.7 -145.99 - - 3564.81 - - - - - - - - - 16.05 -
1295.56 166.18 -16.31 213 1301.75 roll back -1.12 0.38 0.177 2059.56 136.8 3.36 0.032 2264.88 -453.4 -145.99 - - 3565.53 - - - - - - - - 16.02 16.06 -
1611.06 199.79 -9.96 245 1612.51 pitch -1.27 0.28 0.073 2002.62 -203.4 - - 2262.81 - -145.99 - - 3565.59 - - - - - - - - 16.08 - -
1921.06 237.28 -12.05 276 1926.32 roll -1.27 - - 2002.25 - 3.64 0.105 3788.81 419.2 -145.99 - - 3566.69 - - - - - - - - - 16.10 -
1951.25 241.49 -14.05 282 1956.27 roll -1.27 - - 2001.50 - 3.34 0.034 2264.94 -456.2 -145.99 - - 3565.97 - - - - - - - - - 16.10 -
2261.09 279.39 -11.73 314 2262.42 no move -1.27 - - 2002.44 - - - 2264.12 - -145.99 - - 3564.66 - - - - - - - - - - -
2571.52 314.74 -12.04 345 2572.84 no move -1.27 - - 2002.31 - - - 2264.56 - -145.99 - - 3564.62 - - - - - - - - - - -
2881.54 351.27 -11.98 376 2887.41 roll -1.27 - - 2002.56 - 3.64 0.106 3788.81 418.8 -145.99 - - 3565.47 - - - - - - - - - 16.15 -
2930.71 358.32 -14.57 386 2936.83 roll -1.27 - - 2002.56 - 3.35 0.034 2266.56 -454.4 -145.99 - - 3566.03 - - - - - - - - - 16.15 -
3246.20 395.62 -11.93 418 3247.53 no move -1.27 - - 2002.50 - - - 2263.94 - -145.99 - - 3564.47 - - - - - - - - - - -
3556.66 431.78 -11.39 449 3557.99 no move -1.27 - - 2002.31 - - - 2264.38 - -145.99 - - 3564.16 - - - - - - - - - - -
3866.72 469.19 -11.66 480 3872.60 roll -1.27 - - 2002.38 - 3.63 0.107 3787.12 419.5 -145.99 - - 3563.94 - - - - - - - - - 16.17 -
3905.89 474.62 -14.25 488 3912.01 roll -1.27 - - 2003.19 - 3.34 0.035 2266.88 -455.2 -145.99 - - 3565.56 - - - - - - - - - 16.17 -
4221.42 511.56 -11.78 520 4226.67 roll -1.27 - - 2002.50 - 3.63 0.107 3788.44 419.2 -145.99 - - 3564.22 - - - - - - - - - 16.17 -
4281.61 519.80 -14.05 532 4286.69 roll -1.27 - - 2002.50 - 3.34 0.033 2265.44 -456.0 -145.99 - - 3563.03 - - - - - - - - - 16.18 -
4591.49 556.59 -11.72 564 4592.81 no move -1.27 - - 2002.06 - - - 2264.25 - -145.99 - - 3562.97 - - - - - - - - - - -
4901.95 592.53 -11.44 595 4907.82 roll -1.27 - - 2002.56 - 3.63 0.107 3790.69 420.5 -145.99 - - 3563.44 - - - - - - - - - 16.20 -
4931.10 596.49 -13.22 601 4937.23 roll -1.27 - - 2002.44 - 3.34 0.035 2265.56 -456.6 -145.99 - - 3563.03 - - - - - - - - - 16.21 -
5246.64 629.36 -9.46 633 5247.97 no move -1.27 - - 2002.38 - - - 2264.19 - -145.99 - - 3562.25 - - - - - - - - - - -
5557.07 660.85 -10.16 664 5562.95 roll -1.27 - - 2000.12 - 3.64 0.108 3790.25 419.2 -145.99 - - 3562.38 - - - - - - - - - 16.21 -
5596.24 665.67 -12.10 672 5602.37 roll -1.27 - - 2002.31 - 3.35 0.035 2266.38 -454.9 -145.99 - - 3563.16 - - - - - - - - - 16.20 -
5911.79 696.83 -9.41 704 5913.12 no move -1.37 - - 2001.75 - - - 2265.62 - -145.99 - - 3560.72 - - - - - - - - - - -
6222.24 725.88 -9.24 735 6228.14 roll back -1.47 0.20 0.087 1950.94 -254.0 3.63 0.109 3787.88 419.4 -145.99 - - 3560.88 - - - - - - - - 16.20 16.20 -
6267.03 731.72 -13.25 744 6273.21 roll back -1.30 0.46 0.185 2012.19 133.2 3.33 0.035 2265.38 -457.2 -145.99 - - 3561.31 - - - - - - - - 16.17 16.22 -
6581.93 759.46 -8.31 776 6588.23 roll back -1.44 0.27 0.079 1960.69 -190.7 3.63 0.109 3787.94 419.4 -145.99 - - 3560.50 - - - - - - - - 16.20 16.20 -
6627.31 765.01 -12.59 785 6633.22 roll back -1.31 0.40 0.182 2012.94 130.6 3.33 0.034 2265.19 -457.3 -145.99 - - 3561.19 - - - - - - - - 16.17 16.21 -
6941.98 791.46 -8.08 817 6948.28 roll back -1.45 0.26 0.080 1959.88 -204.1 3.63 0.109 3787.75 419.4 -145.99 - - 3560.00 - - - - - - - - 16.20 16.21 -
6991.90 797.44 -12.04 827 6997.72 roll back -1.31 0.40 0.184 2013.50 134.0 3.33 0.035 2265.62 -457.1 -145.99 - - 3560.28 - - - - - - - - 16.17 16.21 -
7307.02 823.17 -8.15 859 7313.32 roll back -1.46 0.28 0.079 1958.50 -196.4 3.63 0.110 3789.69 419.9 -145.99 - - 3560.72 - - - - - - - - 16.20 16.21 -
7362.40 830.14 -13.14 870 7368.31 roll back -1.31 0.41 0.182 2013.25 133.5 3.33 0.034 2267.56 -457.1 -145.99 - - 3560.25 - - - - - - - - 16.18 16.22 -
7677.12 858.42 -9.18 902 7682.31 roll back -1.46 0.28 0.077 1957.19 -200.2 3.35 0.098 848.81 -423.5 -145.99 - - 3560.56 - - - - - - - - 16.21 16.21 -
7711.57 862.70 -11.98 909 7717.71 roll -1.46 - - 1956.31 - 3.36 0.042 2348.44 446.3 -145.99 - - 3559.84 - - - - - - - - - 16.21 -
8027.07 898.82 -11.57 941 8028.40 no move -1.46 - - 1956.12 - - - 2348.31 - -145.99 - - 3557.78 - - - - - - - - - - -
8337.49 933.85 -11.45 972 8343.34 roll -1.46 - - 1955.81 - 3.54 0.093 851.38 -422.9 -145.99 - - 3557.47 - - - - - - - - - 16.22 -
8366.65 937.43 -11.94 978 8372.78 roll -1.46 - - 1956.06 - 3.35 0.041 2348.69 447.0 -145.99 - - 3558.06 - - - - - - - - - 16.22 -
8682.13 973.19 -11.47 1010 8683.46 no move -1.46 - - 1956.50 - - - 2348.94 - -145.99 - - 3557.25 - - - - - - - - - - -
8842 end dive: TARGET_DEPTH_EXCEEDED
8842 begin apogee
8844.00 991.32 -11.42 1026 8955.74 -0.20 2.30 0.156 2282.31 141.7 0.16 0.183 2252.00 -605.9 - 107.21 2.446 2967.00 -5.5 0.376 - - - - - - 16.19 15.38 13.21
8957 end apogee: CONTROL_FINISHED_OK
8958 begin climb
8958.44 993.44 - 1037 9081.56 0.88 1.78 0.094 2548.44 149.5 3.88 0.105 741.56 -389.3 145.99 114.25 2.371 2369.75 -5.2 0.370 - - - - - - 15.44 15.04 12.75
9134.80 986.57 5.38 1071 9219.96 1.12 0.34 0.073 2611.38 185.1 3.54 0.038 2239.81 423.2 245.23 78.94 2.333 1968.22 -5.1 0.363 - - - - - - 15.35 15.35 12.61
9525.12 951.51 9.61 1118 9534.92 VBD 1.24 - - 2612.06 - - - 2238.81 - 253.61 7.51 1.623 1934.28 -4.5 0.447 - - - - - - - - 12.75
9845.15 920.71 9.80 1150 9857.23 1.36 0.30 0.081 2671.38 197.7 3.54 0.117 3676.62 406.2 257.80 6.04 1.415 1915.28 -3.1 0.345 - - - - - - 15.82 15.72 12.91
9880.34 916.16 13.46 1157 9885.65 roll back 1.24 0.35 0.188 2625.50 -131.1 3.42 0.036 2169.62 -440.6 257.80 - - 1916.59 - - - - - - - - 15.77 15.82 -
10190.59 884.10 9.96 1189 10192.04 pitch 1.34 0.22 0.088 2665.75 183.0 - - 2169.12 - 258.62 - - 1916.75 - - - - - - - - 15.90 - -
10500.46 848.35 11.70 1220 10501.79 no move 1.34 - - 2665.31 - - - 2168.81 - 258.62 - - 1912.91 - - - - - - - - - - -
10810.91 813.18 11.32 1251 10816.78 roll 1.34 - - 2665.56 - 3.66 0.110 3679.06 412.6 258.62 - - 1912.88 - - - - - - - - - 16.02 -
10875.56 804.48 13.96 1264 10880.84 roll back 1.20 0.37 0.187 2615.50 -135.3 3.39 0.037 2170.19 -445.1 258.62 - - 1915.50 - - - - - - - - 15.99 16.03 -
11185.64 775.15 8.70 1296 11217.26 1.36 0.31 0.081 2670.62 177.8 3.69 0.112 3676.88 408.3 286.52 24.56 2.061 1799.31 -4.7 0.300 - - - - - - 16.05 15.83 12.98
11256.01 766.91 12.96 1310 11261.94 roll back 1.25 0.31 0.181 2628.31 -136.5 3.41 0.037 2171.00 -441.6 286.52 - - 1796.91 - - - - - - - - 15.87 15.91 -
11570.76 736.04 9.65 1342 11580.58 1.38 0.26 0.084 2676.81 186.5 - - 2169.94 - 294.01 7.91 1.577 1768.94 -3.5 0.278 - - - - - - 15.99 - 13.03
11890.79 699.19 12.06 1374 11892.12 no move 1.38 - - 2675.75 - - - 2170.12 - 294.01 - - 1766.34 - - - - - - - - - - -
12201.18 662.60 11.51 1405 12202.52 no move 1.38 - - 2676.19 - - - 2170.19 - 294.01 - - 1765.81 - - - - - - - - - - -
12511.26 626.68 11.49 1436 12512.59 no move 1.38 - - 2676.50 - - - 2169.31 - 294.01 - - 1765.41 - - - - - - - - - - -
12821.31 591.64 11.08 1467 12827.19 roll 1.38 - - 2675.81 - 3.64 0.110 3676.25 414.0 294.01 - - 1766.50 - - - - - - - - - 16.10 -
12855.95 587.18 12.95 1474 12861.21 roll back 1.29 0.29 0.187 2636.19 -136.6 3.38 0.038 2168.25 -446.2 294.01 - - 1767.69 - - - - - - - - 16.05 16.10 -
13165.99 556.86 9.77 1506 13175.85 1.42 0.25 0.086 2684.25 192.2 - - 2167.44 - 298.93 6.12 1.283 1749.81 -2.9 0.214 - - - - - - 16.12 - 13.12
13486.00 520.05 11.96 1538 13491.25 roll 1.42 - - 2684.25 - 3.64 0.110 3676.94 414.7 298.93 - - 1749.16 - - - - - - - - - 16.11 -
13526.02 514.87 13.10 1546 13531.30 roll back 1.30 0.31 0.186 2640.06 -142.5 3.38 0.037 2168.44 -446.3 298.93 - - 1748.34 - - - - - - - - 16.06 16.11 -
13836.25 484.55 9.27 1578 13852.07 1.44 0.28 0.084 2691.81 184.8 - - 2167.50 - 314.71 14.98 1.679 1684.66 -4.3 0.207 - - - - - - 16.11 - 13.05
14156.08 446.40 12.45 1610 14161.32 roll 1.44 - - 2691.25 - 3.65 0.109 3677.12 413.6 314.71 - - 1681.34 - - - - - - - - - 16.07 -
14200.63 440.02 14.72 1619 14206.83 roll back 1.32 0.34 0.186 2643.94 -139.1 3.37 0.037 2169.38 -447.4 314.71 - - 1683.31 - - - - - - - - 16.03 16.09 -
14516.14 409.52 9.01 1651 14536.60 1.48 0.31 0.080 2699.62 179.6 - - 2167.88 - 335.93 18.62 1.651 1598.62 -4.5 0.190 - - - - - - 16.08 - 13.11
14846.52 370.17 11.75 1684 14852.40 roll 1.48 - - 2699.81 - 3.65 0.109 3678.25 413.8 335.93 - - 1594.44 - - - - - - - - - 16.03 -
14881.17 365.54 13.08 1691 14886.42 roll back 1.38 0.29 0.190 2659.12 -140.3 3.37 0.037 2167.06 -448.4 335.93 - - 1594.59 - - - - - - - - 16.00 16.05 -
15191.19 333.56 10.09 1723 15192.64 pitch 1.51 0.25 0.085 2705.75 186.5 - - 2166.12 - 335.93 - - 1592.81 - - - - - - - - 16.07 - -
15501.22 296.29 11.63 1754 15506.48 roll 1.51 - - 2705.81 - 3.65 0.109 3677.81 414.2 335.93 - - 1594.59 - - - - - - - - - 16.09 -
15535.98 291.79 12.90 1761 15542.05 roll back 1.39 0.34 0.186 2658.38 -139.5 3.37 0.038 2170.00 -447.4 335.93 - - 1593.59 - - - - - - - - 16.05 16.09 -
15851.33 262.67 9.04 1793 15876.64 1.54 0.30 0.079 2714.12 185.8 3.66 0.110 3677.88 412.0 356.53 17.70 1.483 1514.53 -4.5 0.133 - - - - - - 16.11 15.98 13.06
15901.51 256.63 13.14 1803 15907.67 roll back 1.44 0.31 0.187 2671.56 -137.3 3.38 0.037 2169.88 -446.2 356.53 - - 1514.69 - - - - - - - - 15.99 16.04 -
16216.39 223.42 10.53 1835 16217.84 pitch 1.56 0.25 0.084 2716.75 180.8 - - 2168.38 - 356.53 - - 1511.28 - - - - - - - - 16.06 - -
16526.46 185.03 12.10 1866 16527.79 no move 1.56 - - 2717.19 - - - 2168.44 - 356.53 - - 1509.62 - - - - - - - - - - -
16836.89 148.02 11.54 1897 16838.22 no move 1.56 - - 2717.06 - - - 2169.00 - 356.53 - - 1509.75 - - - - - - - - - - -
17146.95 113.81 10.43 1928 17152.83 roll 1.56 - - 2717.38 - 3.62 0.107 3678.75 417.1 356.53 - - 1509.00 - - - - - - - - - 16.12 -
17186.12 109.26 11.28 1936 17192.24 roll 1.56 - - 2717.69 - 3.36 0.036 2169.31 -449.2 356.53 - - 1510.53 - - - - - - - - - 16.11 -
17496.90 82.18 7.63 1988 17543.98 1.72 0.18 0.098 2757.69 222.2 3.46 0.107 740.50 -413.0 407.40 39.90 1.328 1306.59 -5.1 0.053 - - - - - - 16.10 15.89 13.10
17572.08 74.53 11.14 2003 17577.74 roll 1.72 - - 2757.38 - 3.40 0.038 2240.56 441.2 407.40 - - 1305.34 - - - - - - - - - 15.96 -
17762.12 55.26 9.69 2041 17777.24 done 1.73 - - 2757.25 - 3.48 0.111 3679.56 413.5 414.03 7.01 0.969 1281.00 -3.5 0.033 - - - - - - - 15.91 13.11
17837.12 46.69 12.11 2056 17842.79 roll 1.73 - - 2756.62 - 3.39 0.034 2168.12 -445.9 414.03 - - 1279.78 - - - - - - - - - 15.97 -
18027.20 28.07 9.25 2094 18042.12 VBD 1.84 - - 2758.50 - - - 2168.44 - 430.08 14.30 1.153 1214.75 -4.5 0.019 - - - - - - - - 13.10
18227.26 14.39 6.26 2134 18289.89 2.10 0.52 0.072 2847.38 170.9 - - 2168.19 - 510.43 60.75 1.211 888.06 -5.4 0.011 - - - - - - 15.97 - 13.02
18352 end climb: SURFACE_DEPTH_REACHED
18353 begin surface coast
18373 end surface coast: CONTROL_FINISHED_OK
18373 begin surface
SM 1.78 - - - - 184.8 - - 882.4 - 16.68 0.054 890.2 53.3 - 0.38 0.081 874.6 2301.6 -5.169 - - 30.00 15.80 15.82 -