NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 392 * Raw log
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• Previous call tries 4 • 122.68 of 550.00 AH used of 24V (77.69% remains)
• Surface angle -64.0 deg, depth 0.63 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.86 (SM_CC=425)
• GPS1 time: 41 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.05 - - - 61.85 VBD -1.37 - - 180.69 - - - 2238.50 - -82.73 55.65 0.005 2522.81 - - - - - - - - - - 15.54
62.58 3.37 -6.59 10 99.95 -1.37 14.12 0.254 1988.31 128.0 2.92 0.085 3428.38 407.5 -82.73 12.73 0.006 3112.50 46.3 -4.304 - - - - - - 15.66 15.51 15.59
327.09 53.06 -15.96 63 332.62 roll -1.37 - - 1988.62 - 2.55 0.021 2249.44 -462.3 -82.73 - - 3112.78 - - - - - - - - - 15.87 -
517.78 76.32 -10.57 101 522.74 roll -1.37 - - 1988.38 - 2.87 0.079 3429.19 411.1 -82.73 - - 3113.19 - - - - - - - - - 15.90 -
712.17 98.93 -10.96 140 717.71 roll -1.37 - - 1988.50 - 2.53 0.020 2245.50 -467.9 -82.73 - - 3113.22 - - - - - - - - - 15.96 -
902.58 118.17 -10.32 178 903.91 no move -1.37 - - 1988.44 - - - 2243.69 - -82.73 - - 3112.28 - - - - - - - - - - -
1207.23 148.44 -10.20 239 1212.80 roll -1.37 - - 1987.38 - 2.88 0.080 3430.38 412.0 -82.73 - - 3114.00 - - - - - - - - - 16.00 -
1322.25 160.98 -10.53 262 1327.77 roll -1.37 - - 1988.81 - 2.53 0.021 2245.75 -468.2 -82.73 - - 3113.44 - - - - - - - - - 16.02 -
1632.28 190.98 -9.88 324 1633.61 no move -1.37 - - 1988.69 - - - 2244.06 - -82.73 - - 3113.16 - - - - - - - - - - -
1937.32 222.44 -9.86 385 1942.90 roll -1.37 - - 1988.62 - 2.87 0.082 3427.31 412.3 -82.73 - - 3114.59 - - - - - - - - - 16.05 -
2002.33 229.99 -11.91 398 2007.86 roll -1.37 - - 1987.88 - 2.51 0.022 2250.88 -468.7 -82.73 - - 3112.81 - - - - - - - - - 16.05 -
2312.43 260.56 -9.20 460 2313.76 no move -1.37 - - 1988.56 - - - 2249.38 - -82.73 - - 3111.31 - - - - - - - - - - -
2617.41 288.43 -8.69 521 2618.74 no move -1.37 - - 1988.44 - - - 2249.56 - -82.73 - - 3111.34 - - - - - - - - - - -
2927.41 316.94 -9.19 563 2932.08 roll -1.37 - - 1987.88 - 2.85 0.083 3426.06 412.8 -82.73 - - 3112.72 - - - - - - - - - 16.08 -
3043.26 329.28 -10.82 578 3047.88 roll -1.37 - - 1988.50 - 2.52 0.022 2253.62 -465.3 -82.73 - - 3112.81 - - - - - - - - - 16.08 -
3354.67 358.74 -9.23 607 3359.33 roll -1.37 - - 1988.50 - 2.85 0.083 3430.25 412.9 -82.73 - - 3112.69 - - - - - - - - - 16.08 -
3440.41 367.21 -9.99 619 3455.33 roll -1.37 - - 1988.00 - 2.52 0.022 2250.62 -468.1 -82.73 - - 3109.88 - - - - - - - - - 16.09 -
3756.68 394.64 -8.44 648 3767.75 no move -1.37 - - 1988.75 - - - 2251.06 - -82.73 - - 3109.66 - - - - - - - - - - -
4069.74 419.21 -7.70 677 4074.32 roll -1.37 - - 1988.75 - 2.43 0.072 1208.50 -429.0 -82.73 - - 3107.47 - - - - - - - - - 16.10 -
4171.20 427.72 -8.58 691 4186.11 roll -1.37 - - 1988.44 - 2.57 0.031 2352.00 444.9 -82.73 - - 3109.50 - - - - - - - - - 16.11 -
4487.46 453.26 -8.23 720 4498.53 no move -1.37 - - 1988.19 - - - 2352.06 - -82.73 - - 3108.19 - - - - - - - - - - -
4800.70 477.70 -8.17 749 4811.77 no move -1.37 - - 1988.69 - - - 2352.31 - -82.73 - - 3107.91 - - - - - - - - - - -
5115.40 504.59 -8.73 777 5120.03 roll -1.37 - - 1988.50 - 2.68 0.067 1206.06 -427.7 -82.73 - - 3105.94 - - - - - - - - - 16.10 -
5195.42 512.03 -9.35 789 5200.96 roll -1.37 - - 1986.94 - 2.57 0.031 2353.56 446.5 -82.73 - - 3108.19 - - - - - - - - - 16.11 -
5515.01 540.98 -9.26 811 5519.63 roll -1.37 - - 1987.88 - 2.68 0.066 1207.50 -427.6 -82.73 - - 3105.03 - - - - - - - - - 16.10 -
5600.02 548.40 -9.39 824 5614.94 roll -1.37 - - 1989.06 - 2.57 0.031 2352.75 445.6 -82.73 - - 3106.12 - - - - - - - - - 16.10 -
5929.43 578.23 -9.43 846 5930.76 no move -1.37 - - 1988.69 - - - 2352.62 - -82.73 - - 3103.97 - - - - - - - - - - -
6244.44 604.72 -7.94 867 6249.06 roll -1.37 - - 1988.50 - 2.68 0.066 1208.06 -427.1 -82.73 - - 3107.41 - - - - - - - - - 16.10 -
6454.25 621.43 -8.30 898 6468.78 roll -1.37 - - 1988.94 - 2.58 0.032 2352.50 443.6 -82.73 - - 3104.38 - - - - - - - - - 16.12 -
6783.27 647.35 -7.25 920 6784.60 no move -1.37 - - 1988.31 - - - 2352.81 - -82.73 - - 3102.31 - - - - - - - - - - -
7098.29 671.75 -7.86 941 7102.91 roll -1.37 - - 1988.69 - 2.67 0.066 1207.50 -429.0 -82.73 - - 3101.50 - - - - - - - - - 16.10 -
7178.31 678.07 -7.99 953 7184.02 roll -1.37 - - 1987.12 - 2.57 0.032 2353.50 445.9 -82.73 - - 3103.25 - - - - - - - - - 16.11 -
7497.83 703.35 -7.75 975 7502.44 roll -1.37 - - 1987.88 - 2.60 0.094 3428.94 413.6 -82.73 - - 3103.91 - - - - - - - - - 16.08 -
7562.11 708.44 -8.50 985 7577.02 roll -1.37 - - 1988.62 - 2.52 0.023 2248.69 -468.4 -82.73 - - 3102.72 - - - - - - - - - 16.11 -
7891.52 734.20 -7.38 1007 7896.18 roll -1.37 - - 1988.19 - 2.86 0.088 3427.31 412.1 -82.73 - - 3101.97 - - - - - - - - - 16.08 -
7971.52 740.85 -8.36 1019 7977.05 roll -1.37 - - 1988.44 - 2.52 0.023 2250.62 -466.9 -82.73 - - 3103.50 - - - - - - - - - 16.11 -
8290.95 764.53 -7.45 1041 8292.27 no move -1.37 - - 1988.31 - - - 2250.12 - -82.73 - - 3100.69 - - - - - - - - - - -
8605.99 788.80 -7.56 1062 8610.66 roll -1.37 - - 1988.75 - 2.87 0.089 3426.81 410.0 -82.73 - - 3100.78 - - - - - - - - - 16.09 -
8663.90 793.65 -8.11 1070 8668.51 roll -1.37 - - 1987.06 - 2.52 0.023 2251.31 -466.5 -82.73 - - 3101.31 - - - - - - - - - 16.10 -
8860 end dive: TARGET_DEPTH_EXCEEDED
8860 begin apogee
8862.15 808.33 -7.24 1084 8925.67 -0.28 1.80 0.147 2254.31 148.5 0.14 0.176 2290.25 278.1 - 59.28 2.190 2776.16 -5.5 0.335 - - - - - - 16.02 15.73 12.16
8926 end apogee: CONTROL_FINISHED_OK
8927 begin climb
8927.50 810.11 - 1088 9000.36 1.37 2.62 0.096 2656.19 153.4 2.69 0.095 3346.81 392.8 82.73 63.96 2.162 2437.66 -5.3 0.328 - - - - - - 15.74 15.40 12.81
9018.84 806.74 4.92 1102 9075.88 done 1.47 - - 2656.31 - 2.62 0.024 2189.25 -441.8 134.64 42.44 2.100 2224.12 -5.0 0.320 - - - - - - - 15.54 12.68
9389.18 774.72 8.46 1130 9390.50 no move 1.47 - - 2655.88 - - - 2188.81 - 134.64 - - 2217.47 - - - - - - - - - - -
9704.31 747.60 8.65 1151 9705.64 VBD 1.47 - - 2655.31 - - - 2189.06 - 134.64 - - 2216.00 - - - - - - - - - - -
10019.21 721.82 8.07 1172 10023.87 done 1.47 - - 2655.75 - 2.85 0.090 3346.06 406.0 134.64 - - 2215.19 - - - - - - - - - 15.92 -
10099.23 714.33 9.40 1184 10104.76 done 1.47 - - 2654.62 - 2.55 0.025 2190.25 -453.3 134.64 - - 2216.12 - - - - - - - - - 15.96 -
10418.65 688.31 7.76 1206 10423.30 done 1.48 - - 2655.88 - 2.83 0.090 3346.00 408.4 134.64 - - 2214.03 - - - - - - - - - 15.97 -
10462.41 685.09 8.23 1213 10477.30 done 1.48 - - 2655.50 - 2.55 0.026 2187.69 -454.2 134.64 - - 2216.12 - - - - - - - - - 15.98 -
10791.76 657.45 8.13 1235 10796.37 done 1.48 - - 2655.25 - 2.51 0.081 1128.88 -421.8 134.64 - - 2214.84 - - - - - - - - - 16.00 -
10830.30 654.24 8.43 1241 10835.83 done 1.48 - - 2655.44 - 2.58 0.032 2272.38 443.2 134.64 - - 2214.97 - - - - - - - - - 16.01 -
11149.70 627.09 8.81 1263 11151.03 VBD 1.48 - - 2655.44 - - - 2272.94 - 134.64 - - 2213.66 - - - - - - - - - - -
11464.71 597.53 9.48 1284 11469.36 done 1.48 - - 2655.75 - 2.71 0.077 1130.06 -421.7 134.64 - - 2213.19 - - - - - - - - - 16.03 -
11606.94 583.27 10.19 1305 11612.47 done 1.48 - - 2655.31 - 2.57 0.032 2275.12 445.5 134.64 - - 2214.94 - - - - - - - - - 16.05 -
11926.34 554.10 8.92 1327 11930.95 done 1.48 - - 2655.75 - 2.60 0.095 3348.31 412.8 134.64 - - 2212.81 - - - - - - - - - 16.03 -
12006.35 546.66 9.41 1339 12011.89 done 1.48 - - 2655.88 - 2.55 0.026 2187.19 -455.3 134.64 - - 2214.00 - - - - - - - - - 16.05 -
12325.75 520.21 8.38 1361 12330.35 done 1.48 - - 2653.50 - 2.49 0.081 1130.31 -424.4 134.64 - - 2213.88 - - - - - - - - - 16.05 -
12410.76 512.82 9.31 1374 12425.67 done 1.48 - - 2655.69 - 2.57 0.032 2273.44 444.8 134.64 - - 2213.69 - - - - - - - - - 16.07 -
12731.87 485.16 8.26 1400 12742.94 VBD 1.48 - - 2655.38 - - - 2273.31 - 134.64 - - 2213.09 - - - - - - - - - - -
13044.98 460.92 7.63 1429 13056.17 1.50 0.17 0.090 2700.75 266.9 - - 2273.19 - 134.64 - - 2213.06 - - - - - - - - 16.04 - -
13357.84 434.30 8.19 1458 13362.47 done 1.50 - - 2700.81 - 2.70 0.076 1130.19 -423.3 134.64 - - 2211.00 - - - - - - - - - 16.07 -
13426.48 428.62 8.27 1467 13431.09 done 1.50 - - 2701.31 - 2.56 0.032 2272.62 446.3 134.64 - - 2211.16 - - - - - - - - - 16.07 -
13738.89 404.48 7.99 1496 13743.50 done 1.50 - - 2699.75 - 2.60 0.093 3344.94 412.4 134.64 - - 2212.00 - - - - - - - - - 16.05 -
13793.15 399.55 8.95 1504 13808.07 done 1.50 - - 2701.06 - 2.53 0.026 2187.50 -457.5 134.64 - - 2213.66 - - - - - - - - - 16.08 -
14109.18 373.24 8.25 1533 14113.85 done 1.50 - - 2701.81 - 2.81 0.089 3347.31 412.7 134.64 - - 2211.78 - - - - - - - - - 16.07 -
14226.38 362.71 9.15 1549 14241.29 done 1.50 - - 2701.75 - 2.53 0.025 2188.50 -458.0 134.64 - - 2213.03 - - - - - - - - - 16.08 -
14542.75 336.66 8.05 1578 14547.35 done 1.50 - - 2702.12 - 2.48 0.080 1128.88 -427.3 134.64 - - 2210.38 - - - - - - - - - 16.06 -
14628.48 329.32 8.67 1590 14643.39 done 1.50 - - 2701.25 - 2.57 0.032 2275.06 446.0 134.64 - - 2212.75 - - - - - - - - - 16.08 -
14944.70 303.77 7.66 1619 14949.39 done 1.52 - - 2701.62 - 2.69 0.075 1129.00 -426.0 134.64 - - 2212.28 - - - - - - - - - 16.07 -
15024.73 297.19 8.30 1631 15030.59 done 1.52 - - 2701.31 - 2.57 0.031 2274.44 445.7 134.64 - - 2213.19 - - - - - - - - - 16.08 -
15334.84 272.75 8.44 1693 15336.17 VBD 1.52 - - 2700.88 - - - 2274.62 - 134.64 - - 2211.38 - - - - - - - - - - -
15639.96 248.68 7.50 1754 15641.29 VBD 1.54 - - 2702.19 - - - 2274.69 - 134.64 - - 2211.31 - - - - - - - - - - -
15945.07 225.91 7.13 1815 15950.59 done 1.56 - - 2701.38 - 2.69 0.075 1130.31 -425.4 134.64 - - 2213.03 - - - - - - - - - 16.07 -
15990.07 222.48 7.63 1824 15995.59 done 1.58 - - 2701.56 - 2.56 0.031 2274.62 447.0 134.64 - - 2211.94 - - - - - - - - - 16.08 -
16300.17 201.00 6.66 1886 16305.71 done 1.62 - - 2702.06 - 2.69 0.074 1129.00 -425.9 134.64 - - 2212.66 - - - - - - - - - 16.08 -
16410.18 193.35 6.96 1908 16415.88 done 1.65 - - 2702.06 - 2.57 0.031 2275.94 446.3 134.64 - - 2212.19 - - - - - - - - - 16.07 -
16720.22 173.00 6.59 1970 16725.79 1.68 0.16 0.087 2744.12 262.9 2.58 0.092 3347.50 415.3 134.64 - - 2213.12 - - - - - - - - 16.05 16.01 -
16855.22 160.52 9.75 1997 16860.75 done 1.68 - - 2744.88 - 2.52 0.025 2185.62 -461.1 134.64 - - 2212.31 - - - - - - - - - 16.07 -
17165.28 137.16 6.41 2059 17191.18 done 1.74 - - 2744.50 - 2.47 0.081 1130.06 -427.4 164.69 21.72 1.298 2104.53 -5.0 0.087 - - - - - - - 15.99 12.10
17335.29 122.56 8.48 2093 17340.81 roll 1.74 - - 2744.81 - 2.57 0.031 2275.81 445.8 164.69 - - 2101.00 - - - - - - - - - 16.03 -
17645.35 100.70 7.22 2155 17650.88 roll 1.77 - - 2744.00 - 2.69 0.073 1129.94 -426.0 164.69 - - 2099.75 - - - - - - - - - 16.02 -
17685.35 97.78 7.26 2163 17690.87 roll 1.79 - - 2744.62 - 2.56 0.030 2276.38 447.8 164.69 - - 2100.88 - - - - - - - - - 16.03 -
17875.44 85.27 7.29 2201 17880.92 roll 1.82 - - 2744.75 - 2.68 0.073 1130.19 -427.7 164.69 - - 2101.41 - - - - - - - - - 16.04 -
18110.41 72.52 4.05 2248 18163.68 1.94 0.29 0.064 2809.62 223.7 2.56 0.029 2275.94 447.6 229.32 48.10 1.259 1839.09 -5.5 0.052 - - - - - - 15.97 16.04 12.28
18345.94 57.84 6.24 2295 18376.73 done 2.01 - - 2810.19 - 2.61 0.092 3347.19 410.4 261.88 25.10 1.179 1707.50 -5.2 0.043 - - - - - - - 15.81 12.60
18460.96 49.28 8.02 2318 18466.49 roll 2.01 - - 2810.38 - 2.56 0.024 2185.56 -453.8 261.88 - - 1703.31 - - - - - - - - - 15.87 -
18651.03 36.81 5.88 2356 18686.91 done 2.09 - - 2810.75 - 2.85 0.087 3348.69 408.1 299.78 29.13 1.159 1553.44 -5.1 0.027 - - - - - - - 15.78 12.42
18746.05 30.52 7.80 2375 18751.75 roll 2.10 - - 2809.88 - 2.57 0.024 2186.38 -452.3 299.78 - - 1549.97 - - - - - - - - - 15.85 -
18936.11 17.12 5.74 2413 18972.67 2.18 0.23 0.073 2862.56 229.0 2.52 0.080 1130.00 -419.2 339.66 31.00 1.135 1390.41 -5.1 0.013 - - - - - - 15.88 15.76 12.49
19011.12 11.85 7.47 2428 19016.64 roll 2.20 - - 2862.94 - 2.59 0.029 2277.44 443.0 339.66 - - 1387.31 - - - - - - - - - 15.84 -
19201.15 2.98 4.11 2466 19231.76 VBD 2.33 - - 2862.75 - - - 2277.94 - 403.48 29.88 1.111 1235.12 -5.1 0.002 - - - - - - - - 12.33
19232 end climb: SURFACE_DEPTH_REACHED
19232 begin surface coast
19291 end surface coast: CONTROL_FINISHED_OK
19291 begin surface
SM 2.30 - - - - 179.7 36.01 1.130 1043.0 28.1 16.39 0.040 999.2 61.0 - 0.12 0.128 1086.8 9056.7 -16.633 - - 12.53 15.80 15.81 -