NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 293 * Raw log
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• Previous call tries 3 • 93.16 of 550.00 AH used of 24V (83.06% remains)
• Surface angle -62.8 deg, depth 1.51 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.90 (SM_CC=425)
• GPS1 time: 55 s
• GPS2 time: 3 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
6.84 - - - 61.91 VBD -1.37 - - 183.31 - - - 2358.50 - -82.73 53.71 0.005 2402.66 - - - - - - - - - - 15.65
62.77 3.31 -3.73 10 101.92 -1.37 13.68 0.251 1987.88 131.9 2.67 0.089 3427.00 400.2 -82.73 16.99 0.006 3113.22 41.8 -3.793 - - - - - - 15.69 15.63 15.71
324.98 49.35 -16.08 62 330.49 roll -1.37 - - 1987.38 - 2.60 0.022 2254.69 -450.9 -82.73 - - 3114.38 - - - - - - - - - 15.91 -
515.68 74.73 -12.79 100 520.58 roll -1.37 - - 1988.69 - 2.53 0.066 1207.62 -413.9 -82.73 - - 3114.03 - - - - - - - - - 15.91 -
625.10 88.99 -12.82 122 630.64 roll -1.37 - - 1988.62 - 2.64 0.028 2353.38 434.0 -82.73 - - 3113.44 - - - - - - - - - 15.96 -
820.15 110.40 -11.33 152 825.25 roll -1.37 - - 1988.31 - 2.74 0.060 1207.56 -418.2 -82.73 - - 3114.25 - - - - - - - - - 15.99 -
870.16 115.96 -10.99 162 875.25 roll -1.37 - - 1988.44 - 2.63 0.028 2354.44 436.1 -82.73 - - 3113.97 - - - - - - - - - 15.99 -
1180.23 143.12 -8.10 194 1185.33 roll -1.37 - - 1988.69 - 2.75 0.060 1207.06 -417.2 -82.73 - - 3114.31 - - - - - - - - - 16.02 -
1414.84 164.18 -8.86 241 1420.84 roll -1.37 - - 1988.75 - 2.63 0.029 2352.75 435.6 -82.73 - - 3114.81 - - - - - - - - - 16.06 -
1730.35 190.43 -8.16 273 1735.44 roll -1.37 - - 1988.38 - 2.72 0.061 1207.25 -421.1 -82.73 - - 3114.41 - - - - - - - - - 16.07 -
1790.35 195.66 -8.77 285 1795.44 roll -1.37 - - 1988.38 - 2.62 0.028 2354.50 437.9 -82.73 - - 3114.75 - - - - - - - - - 16.06 -
2100.39 221.75 -7.71 317 2105.67 roll -1.37 - - 1988.44 - 2.76 0.061 1208.50 -415.2 -82.73 - - 3114.59 - - - - - - - - - 16.07 -
2280.42 237.86 -9.13 353 2285.51 roll -1.37 - - 1988.12 - 2.62 0.029 2352.44 436.6 -82.73 - - 3114.31 - - - - - - - - - 16.09 -
2590.46 264.72 -8.82 385 2595.55 roll -1.37 - - 1988.06 - 2.74 0.062 1209.19 -417.2 -82.73 - - 3114.19 - - - - - - - - - 16.10 -
2780.50 282.72 -9.51 423 2785.58 roll -1.37 - - 1987.50 - 2.62 0.029 2354.06 437.0 -82.73 - - 3115.31 - - - - - - - - - 16.09 -
3090.54 311.63 -9.35 455 3095.64 roll -1.37 - - 1988.75 - 2.74 0.062 1208.75 -418.0 -82.73 - - 3114.22 - - - - - - - - - 16.09 -
3185.10 320.87 -9.94 474 3191.10 roll -1.37 - - 1988.94 - 2.61 0.030 2351.88 438.0 -82.73 - - 3112.97 - - - - - - - - - 16.10 -
3500.58 350.01 -9.33 506 3505.67 roll -1.37 - - 1988.06 - 2.76 0.062 1209.25 -414.0 -82.73 - - 3113.59 - - - - - - - - - 16.11 -
3690.65 368.28 -9.45 544 3695.74 roll -1.37 - - 1988.56 - 2.62 0.030 2352.81 436.5 -82.73 - - 3112.31 - - - - - - - - - 16.11 -
4000.91 394.99 -8.28 576 4005.88 roll -1.37 - - 1987.69 - 2.73 0.063 1209.69 -418.7 -82.73 - - 3112.47 - - - - - - - - - 16.12 -
4140.77 407.06 -8.62 604 4145.86 roll -1.37 - - 1988.31 - 2.61 0.030 2352.56 437.9 -82.73 - - 3112.00 - - - - - - - - - 16.13 -
4450.84 432.47 -8.44 636 4455.94 roll -1.37 - - 1988.12 - 2.74 0.063 1208.94 -417.4 -82.73 - - 3110.38 - - - - - - - - - 16.13 -
4615.81 446.84 -8.57 669 4621.43 roll -1.37 - - 1988.12 - 2.62 0.030 2353.12 436.7 -82.73 - - 3112.34 - - - - - - - - - 16.14 -
4930.95 471.88 -7.92 701 4936.04 roll -1.37 - - 1988.44 - 2.74 0.064 1208.12 -417.9 -82.73 - - 3110.56 - - - - - - - - - 16.13 -
5155.55 491.15 -8.59 746 5161.57 roll -1.37 - - 1988.44 - 2.61 0.030 2353.38 438.8 -82.73 - - 3109.97 - - - - - - - - - 16.15 -
5471.09 515.57 -7.48 778 5476.18 roll -1.37 - - 1988.62 - 2.74 0.064 1208.62 -417.8 -82.73 - - 3108.94 - - - - - - - - - 16.14 -
5705.70 534.55 -8.20 825 5711.71 roll -1.37 - - 1988.31 - 2.62 0.030 2352.00 436.4 -82.73 - - 3109.50 - - - - - - - - - 16.14 -
6021.41 559.40 -8.02 857 6026.39 roll -1.37 - - 1988.50 - 2.75 0.064 1208.50 -415.8 -82.73 - - 3107.81 - - - - - - - - - 16.15 -
6161.28 571.75 -8.98 885 6166.36 roll -1.37 - - 1987.94 - 2.62 0.030 2352.38 436.6 -82.73 - - 3109.16 - - - - - - - - - 16.15 -
6471.33 597.25 -8.27 917 6476.42 roll -1.37 - - 1987.69 - 2.76 0.064 1209.69 -414.0 -82.73 - - 3107.22 - - - - - - - - - 16.10 -
6705.91 618.35 -8.62 964 6711.92 roll -1.37 - - 1988.31 - 2.62 0.030 2350.19 435.3 -82.73 - - 3107.62 - - - - - - - - - 16.15 -
7021.41 642.38 -8.04 996 7026.50 roll -1.37 - - 1988.06 - 2.74 0.064 1209.50 -416.3 -82.73 - - 3107.47 - - - - - - - - - 16.14 -
7225.99 658.85 -7.96 1037 7232.00 roll -1.37 - - 1988.56 - 2.63 0.031 2353.12 434.8 -82.73 - - 3105.97 - - - - - - - - - 16.14 -
7541.49 681.22 -7.00 1069 7546.58 roll -1.37 - - 1989.00 - 2.77 0.064 1208.81 -413.1 -82.73 - - 3105.56 - - - - - - - - - 16.13 -
7756.07 696.85 -7.33 1112 7762.26 roll -1.37 - - 1988.75 - 2.63 0.031 2351.88 434.6 -82.73 - - 3105.41 - - - - - - - - - 16.14 -
8071.74 718.85 -7.37 1144 8076.66 roll -1.37 - - 1988.25 - 2.76 0.064 1209.69 -413.8 -82.73 - - 3106.69 - - - - - - - - - 16.14 -
8126.11 723.21 -7.77 1155 8132.12 roll -1.37 - - 1988.44 - 2.62 0.030 2351.56 435.8 -82.73 - - 3104.84 - - - - - - - - - 16.13 -
8441.64 745.66 -6.84 1187 8446.72 roll -1.37 - - 1988.06 - 2.77 0.065 1208.88 -412.5 -82.73 - - 3105.47 - - - - - - - - - 16.14 -
8602.25 757.86 -7.41 1219 8606.77 roll -1.37 - - 1988.38 - 2.62 0.031 2350.56 435.8 -82.73 - - 3104.59 - - - - - - - - - 16.15 -
8911.76 779.89 -7.10 1251 8913.08 no move -1.37 - - 1988.31 - - - 2350.44 - -82.73 - - 3102.91 - - - - - - - - - - -
9222.20 802.88 -7.19 1282 9226.91 roll -1.37 - - 1987.94 - 2.77 0.065 1210.06 -411.7 -82.73 - - 3104.72 - - - - - - - - - 16.14 -
9387.12 815.14 -7.25 1315 9392.41 roll -1.37 - - 1988.75 - 2.62 0.031 2351.56 435.7 -82.73 - - 3103.38 - - - - - - - - - 16.14 -
9421 end dive: TARGET_DEPTH_EXCEEDED
9421 begin apogee
9423.69 817.31 -6.63 1319 9487.45 -0.28 1.77 0.149 2253.19 149.4 0.22 0.124 2281.12 -320.2 - 59.52 2.208 2772.50 -5.6 0.338 - - - - - - 16.05 15.73 12.36
9497 end apogee: CONTROL_FINISHED_OK
9497 begin climb
9497.96 818.16 - 1325 9573.12 1.37 2.60 0.094 2656.31 155.0 2.93 0.076 1132.56 -392.0 82.73 63.58 2.134 2436.59 -5.3 0.333 - - - - - - 15.76 15.43 12.89
9646.36 809.45 7.86 1354 9652.18 roll 1.38 - - 2655.25 - 2.70 0.030 2271.88 422.0 82.73 - - 2434.06 - - - - - - - - - 15.66 -
9962.09 786.41 7.27 1386 9966.81 roll 1.40 - - 2656.38 - 2.85 0.073 1131.38 -400.2 82.73 - - 2431.03 - - - - - - - - - 15.84 -
10156.33 771.59 7.20 1425 10162.33 roll 1.43 - - 2655.69 - 2.65 0.030 2274.06 431.2 82.73 - - 2431.62 - - - - - - - - - 15.92 -
10472.24 749.55 6.68 1457 10476.96 roll 1.46 - - 2656.31 - 2.84 0.074 1130.88 -402.5 82.73 - - 2430.12 - - - - - - - - - 15.97 -
10661.96 736.53 7.57 1495 10666.98 done 1.48 - - 2656.69 - 2.63 0.030 2272.06 433.9 82.73 - - 2429.69 - - - - - - - - - 16.00 -
10972.36 716.47 6.55 1527 10977.15 1.52 0.19 0.084 2705.44 256.6 2.82 0.073 1130.25 -404.9 82.73 - - 2429.06 - - - - - - - - 16.00 16.01 -
11206.58 697.33 8.32 1574 11212.58 done 1.52 - - 2704.50 - 2.64 0.031 2273.44 433.0 82.73 - - 2430.06 - - - - - - - - - 16.04 -
11522.50 675.56 6.92 1606 11527.20 done 1.55 - - 2704.69 - 2.80 0.074 1131.38 -407.9 82.73 - - 2430.41 - - - - - - - - - 16.05 -
11756.73 658.07 7.74 1653 11762.72 done 1.57 - - 2705.69 - 2.63 0.031 2273.06 434.1 82.73 - - 2429.28 - - - - - - - - - 16.08 -
12072.65 636.37 6.76 1685 12077.34 done 1.60 - - 2705.75 - 2.80 0.073 1130.00 -408.2 82.73 - - 2429.19 - - - - - - - - - 16.09 -
12306.87 619.40 7.35 1732 12312.87 done 1.62 - - 2704.31 - 2.62 0.031 2274.00 436.6 82.73 - - 2430.97 - - - - - - - - - 16.10 -
12623.00 597.24 6.97 1764 12627.48 done 1.65 - - 2705.69 - 2.81 0.073 1129.94 -407.1 82.73 - - 2428.75 - - - - - - - - - 16.10 -
12856.97 579.65 7.35 1811 12862.96 done 1.67 - - 2705.19 - 2.62 0.031 2274.25 436.8 82.73 - - 2429.47 - - - - - - - - - 16.09 -
13173.18 556.96 7.17 1843 13177.61 1.70 0.16 0.086 2748.06 267.9 2.77 0.074 1131.25 -412.6 82.73 - - 2428.66 - - - - - - - - 16.08 16.09 -
13407.04 536.93 8.10 1890 13413.05 done 1.70 - - 2748.50 - 2.61 0.031 2272.81 437.4 82.73 - - 2428.53 - - - - - - - - - 16.09 -
13722.93 512.64 7.62 1922 13727.62 done 1.72 - - 2749.06 - 2.67 0.091 3346.88 402.3 82.73 - - 2428.38 - - - - - - - - - 16.09 -
13927.14 496.12 7.91 1963 13933.11 done 1.73 - - 2748.12 - 2.58 0.024 2186.06 -449.9 82.73 - - 2428.06 - - - - - - - - - 16.12 -
14243.05 474.73 6.69 1995 14247.72 done 1.76 - - 2748.31 - 2.56 0.079 1131.44 -412.0 82.73 - - 2427.31 - - - - - - - - - 16.10 -
14477.36 457.76 7.08 2042 14483.29 done 1.79 - - 2747.94 - 2.62 0.030 2273.25 435.8 82.73 - - 2427.44 - - - - - - - - - 16.11 -
14793.22 436.18 6.51 2074 14797.92 done 1.83 - - 2748.12 - 2.80 0.073 1131.25 -407.9 82.73 - - 2426.97 - - - - - - - - - 16.12 -
15027.44 418.56 7.13 2121 15033.44 done 1.86 - - 2748.50 - 2.62 0.030 2273.31 435.9 82.73 - - 2428.78 - - - - - - - - - 16.12 -
15343.35 398.88 6.45 2153 15370.98 1.92 0.20 0.074 2801.94 267.2 2.81 0.076 1129.88 -406.9 112.21 22.27 1.619 2314.56 -5.1 0.208 - - - - - - 16.09 15.98 12.49
15599.03 375.32 9.89 2204 15604.13 roll 1.92 - - 2802.00 - 2.64 0.031 2273.19 433.1 112.21 - - 2314.53 - - - - - - - - - 16.06 -
15909.49 347.39 8.62 2236 15914.19 roll 1.92 - - 2801.56 - 2.68 0.090 3346.75 400.6 112.21 - - 2314.34 - - - - - - - - - 16.03 -
16143.71 326.98 8.15 2283 16149.71 roll 1.92 - - 2802.06 - 2.60 0.024 2186.38 -446.3 112.21 - - 2314.00 - - - - - - - - - 16.07 -
16459.76 304.35 7.09 2315 16464.32 roll 1.94 - - 2802.06 - 2.59 0.077 1129.81 -407.9 112.21 - - 2313.53 - - - - - - - - - 16.07 -
16639.31 290.29 7.92 2351 16644.38 roll 1.95 - - 2802.00 - 2.64 0.030 2272.56 432.9 112.21 - - 2313.53 - - - - - - - - - 16.06 -
16949.74 266.73 7.89 2383 16954.45 roll 1.96 - - 2801.62 - 2.78 0.073 1131.50 -410.5 112.21 - - 2313.09 - - - - - - - - - 16.08 -
17183.93 245.93 8.84 2430 17189.94 roll 1.96 - - 2801.50 - 2.63 0.030 2271.88 433.6 112.21 - - 2314.25 - - - - - - - - - 16.09 -
17499.82 217.75 8.50 2462 17504.53 roll 1.96 - - 2801.25 - 2.79 0.072 1130.94 -408.9 112.21 - - 2313.47 - - - - - - - - - 16.09 -
17734.02 197.60 8.55 2509 17740.03 roll 1.96 - - 2801.31 - 2.63 0.030 2274.81 434.9 112.21 - - 2314.97 - - - - - - - - - 16.09 -
18049.92 174.74 7.43 2541 18054.78 roll 1.99 - - 2801.75 - 2.68 0.088 3347.62 400.3 112.21 - - 2313.50 - - - - - - - - - 16.04 -
18284.11 156.29 8.22 2588 18290.09 roll 1.99 - - 2800.75 - 2.59 0.023 2182.75 -449.8 112.21 - - 2315.16 - - - - - - - - - 16.08 -
18600.20 135.89 5.22 2620 18641.20 done 2.08 - - 2802.25 - 2.59 0.078 1131.62 -405.8 159.70 35.62 1.343 2122.31 -5.4 0.090 - - - - - - - 15.92 12.55
18694.21 129.46 7.94 2639 18700.25 roll back 2.09 0.15 0.098 2838.31 240.4 2.65 0.029 2271.75 430.2 159.70 - - 2120.91 - - - - - - - - 15.95 15.98 -
19004.71 98.02 8.83 2672 19010.29 roll 2.09 - - 2839.38 - 2.82 0.071 1130.25 -404.8 159.70 - - 2117.41 - - - - - - - - - 16.00 -
19239.82 78.36 6.63 2719 19245.35 roll 2.13 - - 2838.56 - 2.64 0.028 2273.81 433.2 159.70 - - 2117.66 - - - - - - - - - 15.97 -
19429.89 71.26 2.87 2757 19497.56 2.29 0.22 0.075 2890.38 235.5 2.71 0.088 3346.25 395.7 241.58 59.97 1.266 1789.28 -5.5 0.051 - - - - - - 15.97 15.75 12.54
19725.81 47.15 8.86 2816 19731.36 done 2.29 - - 2891.06 - 2.61 0.023 2187.12 -444.1 241.58 - - 1783.47 - - - - - - - - - 15.89 -
19915.89 30.95 8.48 2854 19921.42 done 2.29 - - 2891.25 - 2.59 0.076 1130.06 -408.1 241.58 - - 1779.22 - - - - - - - - - 15.91 -
20151.03 18.56 3.21 2901 20213.32 done 2.45 - - 2890.62 - 2.66 0.027 2278.19 431.6 318.48 55.90 1.178 1476.81 -5.4 0.014 - - - - - - - 15.95 12.58
20396.41 9.35 3.61 2950 20454.75 2.59 0.34 0.059 2963.44 214.2 2.87 0.072 1130.12 -400.0 389.53 52.90 1.138 1186.56 -5.5 0.007 - - - - - - 15.85 15.65 12.67
20507 end climb: SURFACE_DEPTH_REACHED
20507 begin surface coast
20527 end surface coast: CONTROL_FINISHED_OK
20528 begin surface
SM 3.57 - - - - 178.2 27.22 1.103 1042.8 36.4 17.24 0.051 1001.0 58.0 - 2.86 0.031 1084.7 378.3 -4.452 - - 12.74 15.76 15.77 -