NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 446 * Raw log
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• Previous call tries 2 • 143.44 of 550.00 AH used of 24V (73.92% remains)
• Surface angle -63.6 deg, depth 0.67 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.81 (SM_CC=425)
• GPS1 time: 54 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.11 - - - 56.77 VBD -1.37 - - 178.25 - - - 2375.50 - -82.73 50.49 0.005 2282.16 - - - - - - - - - - 15.49
57.49 3.07 -6.46 9 100.04 -1.37 14.05 0.251 1988.31 128.8 2.86 0.062 1209.50 -407.7 -82.73 18.29 0.006 3112.75 45.4 -3.856 - - - - - - 15.65 15.44 15.54
327.50 56.66 -14.31 63 332.73 roll -1.37 - - 1988.06 - 2.62 0.028 2352.94 436.4 -82.73 - - 3113.69 - - - - - - - - - 15.87 -
517.62 81.71 -12.05 101 523.00 roll -1.37 - - 1988.62 - 2.80 0.057 1210.06 -408.2 -82.73 - - 3114.09 - - - - - - - - - 15.90 -
752.32 107.59 -9.61 148 757.87 roll -1.37 - - 1988.69 - 2.61 0.028 2354.31 438.4 -82.73 - - 3114.44 - - - - - - - - - 15.94 -
1062.44 134.08 -8.45 210 1063.77 no move -1.37 - - 1988.81 - - - 2354.31 - -82.73 - - 3113.56 - - - - - - - - - - -
1367.53 160.98 -9.48 271 1368.86 no move -1.37 - - 1988.88 - - - 2354.62 - -82.73 - - 3114.06 - - - - - - - - - - -
1672.63 189.28 -10.23 332 1673.96 no move -1.37 - - 1988.50 - - - 2354.00 - -82.73 - - 3113.81 - - - - - - - - - - -
1977.67 219.77 -9.97 393 1983.26 roll -1.37 - - 1988.50 - 2.81 0.060 1210.00 -407.1 -82.73 - - 3114.81 - - - - - - - - - 16.02 -
2087.68 230.88 -9.89 415 2093.23 roll -1.37 - - 1988.06 - 2.61 0.029 2353.44 438.1 -82.73 - - 3115.31 - - - - - - - - - 16.03 -
2397.74 259.58 -8.97 477 2403.28 roll -1.37 - - 1988.38 - 2.64 0.088 3428.56 407.2 -82.73 - - 3114.03 - - - - - - - - - 16.01 -
2447.92 264.62 -10.33 487 2453.33 roll -1.37 - - 1988.44 - 2.59 0.022 2247.38 -456.1 -82.73 - - 3114.62 - - - - - - - - - 16.03 -
2757.79 293.92 -9.53 549 2763.38 roll -1.37 - - 1989.06 - 2.91 0.084 3426.19 405.1 -82.73 - - 3113.50 - - - - - - - - - 16.03 -
2880.15 307.13 -11.11 570 2894.89 roll -1.37 - - 1988.38 - 2.59 0.022 2248.12 -454.9 -82.73 - - 3114.09 - - - - - - - - - 16.05 -
3196.50 337.35 -9.82 599 3201.11 roll -1.37 - - 1987.44 - 2.54 0.067 1210.19 -408.6 -82.73 - - 3113.53 - - - - - - - - - 16.05 -
3266.50 344.58 -10.48 609 3281.44 roll -1.37 - - 1988.38 - 2.61 0.029 2353.31 438.0 -82.73 - - 3112.59 - - - - - - - - - 16.06 -
3582.62 377.06 -9.82 638 3593.69 no move -1.37 - - 1988.88 - - - 2353.44 - -82.73 - - 3110.94 - - - - - - - - - - -
3895.46 407.56 -9.72 667 3900.11 roll -1.37 - - 1988.38 - 2.79 0.063 1209.50 -410.0 -82.73 - - 3110.19 - - - - - - - - - 16.06 -
3948.38 412.94 -10.03 674 3952.99 roll -1.37 - - 1988.31 - 2.60 0.030 2352.00 439.4 -82.73 - - 3110.75 - - - - - - - - - 16.06 -
4259.57 441.29 -8.90 703 4264.20 roll -1.37 - - 1988.44 - 2.65 0.090 3427.06 405.7 -82.73 - - 3109.94 - - - - - - - - - 16.04 -
4361.43 451.52 -10.31 717 4376.23 roll -1.37 - - 1987.31 - 2.60 0.022 2248.88 -453.1 -82.73 - - 3110.97 - - - - - - - - - 16.07 -
4677.52 480.48 -8.95 746 4688.58 no move -1.37 - - 1988.75 - - - 2248.94 - -82.73 - - 3108.31 - - - - - - - - - - -
4994.30 508.52 -8.70 773 4995.63 no move -1.37 - - 1988.50 - - - 2248.81 - -82.73 - - 3106.75 - - - - - - - - - - -
5309.11 534.82 -8.20 794 5313.78 roll -1.37 - - 1987.44 - 2.92 0.087 3424.81 402.7 -82.73 - - 3108.06 - - - - - - - - - 16.05 -
5449.98 547.68 -9.18 814 5454.58 roll -1.37 - - 1988.81 - 2.60 0.023 2252.06 -451.1 -82.73 - - 3105.94 - - - - - - - - - 16.06 -
5766.47 572.40 -7.85 836 5767.80 no move -1.37 - - 1988.81 - - - 2251.19 - -82.73 - - 3105.03 - - - - - - - - - - -
6081.51 597.55 -7.75 857 6082.84 no move -1.37 - - 1988.12 - - - 2250.31 - -82.73 - - 3104.84 - - - - - - - - - - -
6396.55 622.63 -7.99 878 6397.88 no move -1.37 - - 1988.19 - - - 2250.56 - -82.73 - - 3103.72 - - - - - - - - - - -
6711.77 648.08 -7.97 899 6713.09 no move -1.37 - - 1988.88 - - - 2250.75 - -82.73 - - 3102.69 - - - - - - - - - - -
7026.63 675.06 -8.78 920 7031.64 roll -1.37 - - 1988.19 - 2.91 0.086 3426.31 404.0 -82.73 - - 3102.50 - - - - - - - - - 16.05 -
7127.39 685.03 -10.05 935 7132.92 roll -1.37 - - 1988.88 - 2.60 0.022 2251.81 -451.7 -82.73 - - 3104.34 - - - - - - - - - 16.07 -
7446.80 713.86 -8.72 957 7448.13 no move -1.37 - - 1988.62 - - - 2250.75 - -82.73 - - 3101.81 - - - - - - - - - - -
7761.81 738.80 -7.42 978 7766.68 roll -1.37 - - 1988.75 - 2.91 0.086 3427.75 404.5 -82.73 - - 3101.22 - - - - - - - - - 16.04 -
7840.64 745.24 -8.09 989 7845.25 roll -1.37 - - 1988.25 - 2.59 0.022 2251.19 -454.3 -82.73 - - 3102.06 - - - - - - - - - 16.06 -
8157.12 765.61 -6.21 1011 8158.45 no move -1.37 - - 1988.56 - - - 2250.81 - -82.73 - - 3100.62 - - - - - - - - - - -
8472.13 785.67 -6.49 1032 8473.46 no move -1.37 - - 1988.56 - - - 2250.62 - -82.73 - - 3100.75 - - - - - - - - - - -
8787.16 806.11 -6.55 1053 8788.48 no move -1.37 - - 1988.50 - - - 2250.25 - -82.73 - - 3100.59 - - - - - - - - - - -
9102.18 827.59 -6.99 1074 9103.51 no move -1.37 - - 1988.50 - - - 2250.75 - -82.73 - - 3099.75 - - - - - - - - - - -
9417.20 850.31 -7.23 1095 9418.53 no move -1.37 - - 1988.44 - - - 2250.31 - -82.73 - - 3100.03 - - - - - - - - - - -
9732.22 873.63 -7.31 1116 9733.55 no move -1.37 - - 1988.44 - - - 2250.06 - -82.73 - - 3099.28 - - - - - - - - - - -
10047.24 896.29 -6.90 1137 10048.57 no move -1.37 - - 1988.75 - - - 2250.38 - -82.73 - - 3099.22 - - - - - - - - - - -
10362.27 916.92 -6.33 1158 10363.60 no move -1.37 - - 1988.38 - - - 2250.50 - -82.73 - - 3098.97 - - - - - - - - - - -
10677.30 936.56 -6.20 1179 10681.98 roll -1.37 - - 1988.19 - 2.93 0.088 3427.25 401.6 -82.73 - - 3099.12 - - - - - - - - - 16.02 -
10736.56 940.76 -6.99 1188 10742.09 roll -1.37 - - 1988.25 - 2.59 0.023 2251.31 -454.0 -82.73 - - 3099.88 - - - - - - - - - 16.05 -
11056.16 961.01 -6.26 1210 11057.49 no move -1.37 - - 1988.31 - - - 2251.25 - -82.73 - - 3097.97 - - - - - - - - - - -
11370.98 981.87 -6.69 1231 11372.31 no move -1.37 - - 1988.62 - - - 2250.50 - -82.73 - - 3097.62 - - - - - - - - - - -
11506 end dive: TARGET_DEPTH_EXCEEDED
11506 begin apogee
11507.78 990.88 -6.69 1240 11583.29 -0.28 1.84 0.144 2254.50 144.5 0.15 0.175 2289.06 257.1 - 60.42 2.432 2774.69 -5.3 0.361 - - - - - - 15.94 15.64 11.48
11585 end apogee: CONTROL_FINISHED_OK
11585 begin climb
11585.30 992.38 - 1245 11659.47 1.37 2.64 0.091 2656.94 152.4 - - 2289.06 - 82.73 66.60 2.399 2437.34 -5.1 0.348 - - - - - - 15.68 - 12.69
11971.80 965.09 8.21 1271 11976.48 roll 1.37 - - 2656.44 - 2.96 0.076 1133.75 -390.3 82.73 - - 2429.50 - - - - - - - - - 15.71 -
12036.06 960.06 8.56 1281 12050.99 roll 1.37 - - 2656.06 - 2.65 0.030 2273.50 430.1 82.73 - - 2432.03 - - - - - - - - - 15.74 -
12365.48 932.26 8.00 1303 12366.80 no move 1.37 - - 2657.31 - - - 2273.31 - 82.73 - - 2428.09 - - - - - - - - - - -
12680.53 908.03 7.74 1324 12681.86 VBD 1.38 - - 2657.19 - - - 2273.44 - 82.73 - - 2427.78 - - - - - - - - - - -
12995.57 884.41 7.36 1345 12996.90 VBD 1.40 - - 2656.88 - - - 2273.69 - 82.73 - - 2427.78 - - - - - - - - - - -
13310.61 860.81 7.37 1366 13311.94 VBD 1.43 - - 2656.75 - - - 2273.56 - 82.73 - - 2427.62 - - - - - - - - - - -
13625.64 837.09 7.41 1387 13626.97 VBD 1.45 - - 2657.25 - - - 2273.06 - 82.73 - - 2427.50 - - - - - - - - - - -
13940.66 814.24 7.08 1408 13945.32 done 1.47 - - 2656.00 - 2.88 0.077 1133.50 -395.7 82.73 - - 2427.97 - - - - - - - - - 15.97 -
13999.94 809.93 7.33 1417 14005.72 1.50 0.15 0.099 2698.81 285.4 2.62 0.031 2272.38 434.7 82.73 - - 2429.84 - - - - - - - - 15.86 15.99 -
14319.47 785.91 7.47 1439 14324.09 done 1.52 - - 2697.94 - 2.69 0.093 3345.88 399.1 82.73 - - 2428.72 - - - - - - - - - 15.96 -
14358.01 782.90 7.77 1445 14363.57 done 1.53 - - 2699.12 - 2.62 0.024 2187.62 -442.1 82.73 - - 2428.88 - - - - - - - - - 16.00 -
14677.45 758.60 7.56 1467 14678.78 VBD 1.55 - - 2698.75 - - - 2187.81 - 82.73 - - 2427.19 - - - - - - - - - - -
14992.65 734.53 7.85 1488 14993.98 VBD 1.56 - - 2699.12 - - - 2187.25 - 82.73 - - 2426.53 - - - - - - - - - - -
15307.52 710.56 7.45 1509 15312.19 done 1.58 - - 2699.06 - 2.90 0.089 3346.94 399.9 82.73 - - 2426.72 - - - - - - - - - 15.99 -
15366.80 705.81 8.01 1518 15372.34 done 1.58 - - 2699.44 - 2.61 0.025 2189.31 -443.5 82.73 - - 2427.41 - - - - - - - - - 16.03 -
15686.21 684.00 6.55 1540 15687.55 VBD 1.62 - - 2698.69 - - - 2188.56 - 82.73 - - 2426.09 - - - - - - - - - - -
16001.25 663.73 6.43 1561 16031.95 1.68 0.17 0.085 2739.44 239.7 - - 2188.44 - 112.54 23.50 1.942 2315.41 -4.7 0.267 - - - - - - 15.99 - 11.77
16346.24 635.06 8.62 1584 16350.90 roll 1.68 - - 2740.00 - 2.89 0.088 3344.25 399.9 112.54 - - 2312.25 - - - - - - - - - 15.93 -
16405.51 629.59 9.21 1593 16411.06 roll 1.68 - - 2738.50 - 2.62 0.025 2191.75 -439.9 112.54 - - 2314.28 - - - - - - - - - 15.95 -
16725.09 602.36 8.28 1615 16726.42 no move 1.68 - - 2740.31 - - - 2191.44 - 112.54 - - 2311.47 - - - - - - - - - - -
17040.05 576.08 8.25 1636 17044.71 roll 1.68 - - 2739.75 - 2.88 0.088 3345.81 400.8 112.54 - - 2311.44 - - - - - - - - - 15.97 -
17078.59 572.62 8.79 1642 17084.13 roll 1.68 - - 2739.25 - 2.62 0.025 2191.50 -440.6 112.54 - - 2313.06 - - - - - - - - - 15.99 -
17397.99 545.60 8.31 1664 17399.32 no move 1.68 - - 2740.19 - - - 2191.94 - 112.54 - - 2310.28 - - - - - - - - - - -
17713.01 518.02 8.69 1685 17717.64 roll 1.68 - - 2739.12 - 2.65 0.080 1132.88 -399.6 112.54 - - 2311.53 - - - - - - - - - 15.99 -
17777.50 512.58 9.17 1695 17792.44 roll 1.68 - - 2738.62 - 2.61 0.031 2273.00 436.8 112.54 - - 2312.41 - - - - - - - - - 16.00 -
18098.56 484.50 8.26 1721 18103.19 roll 1.68 - - 2738.19 - 2.67 0.092 3346.94 402.2 112.54 - - 2311.84 - - - - - - - - - 15.98 -
18168.56 478.09 9.20 1731 18183.49 roll 1.68 - - 2740.25 - 2.61 0.024 2189.94 -443.3 112.54 - - 2310.97 - - - - - - - - - 16.02 -
18485.54 452.24 7.82 1760 18490.16 roll 1.69 - - 2739.88 - 2.63 0.080 1132.50 -402.1 112.54 - - 2311.69 - - - - - - - - - 15.99 -
18554.19 446.41 8.36 1769 18558.80 roll 1.69 - - 2740.00 - 2.60 0.031 2273.69 438.9 112.54 - - 2312.22 - - - - - - - - - 16.01 -
18865.97 421.47 7.84 1798 18870.62 roll 1.70 - - 2739.81 - 2.87 0.075 1132.56 -397.6 112.54 - - 2312.06 - - - - - - - - - 16.00 -
18920.24 417.03 8.16 1806 18935.17 roll 1.70 - - 2739.75 - 2.61 0.031 2273.44 437.1 112.54 - - 2312.12 - - - - - - - - - 16.01 -
19236.65 393.06 7.38 1835 19241.31 roll 1.73 - - 2740.06 - 2.87 0.075 1131.50 -397.9 112.54 - - 2312.16 - - - - - - - - - 16.00 -
19290.92 388.91 7.73 1843 19305.84 roll 1.74 - - 2739.62 - 2.61 0.031 2274.56 438.0 112.54 - - 2310.59 - - - - - - - - - 16.03 -
19607.36 367.50 6.58 1872 19618.43 no move 1.78 - - 2740.38 - - - 2274.81 - 112.54 - - 2311.44 - - - - - - - - - - -
19920.17 347.14 6.64 1901 19931.24 no move 1.81 - - 2740.19 - - - 2275.00 - 112.54 - - 2311.28 - - - - - - - - - - -
20232.76 325.82 7.04 1930 20243.94 pitch 1.84 0.16 0.085 2784.88 279.3 - - 2274.62 - 112.54 - - 2311.25 - - - - - - - - 15.99 - -
20545.46 300.27 8.45 1959 20556.53 no move 1.84 - - 2784.31 - - - 2274.62 - 112.54 - - 2311.41 - - - - - - - - - - -
20859.45 274.10 8.28 2020 20865.02 roll 1.84 - - 2785.62 - 2.87 0.074 1130.50 -398.6 112.54 - - 2312.47 - - - - - - - - - 15.99 -
21094.51 254.63 8.27 2067 21100.25 roll 1.84 - - 2785.12 - 2.62 0.031 2273.88 436.4 112.54 - - 2312.22 - - - - - - - - - 16.01 -
21404.64 231.63 7.62 2129 21405.97 no move 1.86 - - 2785.31 - - - 2274.19 - 112.54 - - 2310.75 - - - - - - - - - - -
21709.87 210.31 6.51 2190 21715.22 roll 1.90 - - 2784.75 - 2.64 0.089 3345.81 405.9 112.54 - - 2312.06 - - - - - - - - - 15.98 -
21824.69 201.56 8.12 2213 21830.24 roll 1.90 - - 2785.69 - 2.61 0.024 2186.06 -444.3 112.54 - - 2312.31 - - - - - - - - - 16.02 -
22134.75 180.03 7.02 2275 22140.29 roll 1.93 - - 2785.50 - 2.63 0.078 1131.69 -400.9 112.54 - - 2312.00 - - - - - - - - - 15.99 -
22199.76 175.13 7.64 2288 22205.28 roll 1.94 - - 2785.62 - 2.60 0.030 2276.44 440.3 112.54 - - 2311.69 - - - - - - - - - 16.02 -
22509.81 155.40 6.12 2350 22541.27 done 2.01 - - 2786.06 - 2.85 0.075 1132.94 -401.2 146.81 26.56 1.350 2176.12 -5.1 0.098 - - - - - - - 15.95 11.71
22660.00 143.65 8.83 2380 22665.36 roll 2.01 - - 2785.38 - 2.62 0.030 2273.50 435.3 146.81 - - 2173.66 - - - - - - - - - 15.95 -
22969.88 121.34 6.92 2442 22975.49 roll back 2.04 0.18 0.077 2831.19 254.5 2.87 0.072 1132.25 -397.6 146.81 - - 2172.09 - - - - - - - - 15.93 15.90 -
23204.89 103.52 6.39 2489 23233.26 done 2.10 - - 2831.25 - 2.60 0.030 2274.56 439.3 177.21 23.83 1.258 2051.59 -5.1 0.069 - - - - - - - 15.96 12.24
23535.45 87.92 2.79 2555 23602.99 2.27 0.24 0.064 2889.94 244.5 2.91 0.074 1131.50 -392.8 260.30 61.95 1.283 1713.12 -5.5 0.062 - - - - - - 15.91 15.74 12.27
23705.47 75.07 11.04 2589 23711.03 done 2.27 - - 2890.38 - 2.64 0.030 2275.25 433.2 260.30 - - 1705.75 - - - - - - - - - 15.79 -
23895.58 56.96 8.85 2627 23901.11 done 2.27 - - 2889.69 - 2.89 0.072 1131.38 -395.8 260.30 - - 1701.75 - - - - - - - - - 15.83 -
23930.54 53.93 8.63 2634 23936.09 done 2.27 - - 2890.31 - 2.63 0.029 2273.75 434.4 260.30 - - 1701.84 - - - - - - - - - 15.82 -
24120.60 40.98 5.95 2672 24153.10 done 2.34 - - 2889.81 - 2.88 0.073 1131.38 -396.7 297.13 27.39 1.165 1563.50 -5.1 0.029 - - - - - - - 15.80 12.19
24380.65 34.80 0.45 2724 24474.00 2.58 0.34 0.058 2962.06 212.5 2.62 0.028 2277.25 437.4 414.53 86.60 1.186 1084.88 -5.5 0.027 - - - - - - 15.78 15.84 12.29
24656.15 17.40 8.13 2779 24661.74 roll 2.58 - - 2962.75 - 2.91 0.072 1132.00 -393.6 414.53 - - 1077.53 - - - - - - - - - 15.74 -
24801 end climb: SURFACE_DEPTH_REACHED
24802 begin surface coast
24851 end surface coast: CONTROL_FINISHED_OK
24852 begin surface
SM 3.47 - - - - 190.5 8.62 0.913 1043.2 121.0 17.15 0.044 1028.6 60.0 - 2.81 0.031 1057.8 375.4 -4.295 - - 12.27 15.76 15.81 -