NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 464 * Raw log
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• Previous call tries 3 • 150.20 of 550.00 AH used of 24V (72.69% remains)
• Surface angle -63.2 deg, depth 0.63 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.99 (SM_CC=425)
• GPS1 time: 53 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.13 - - - 66.94 VBD -1.37 - - 178.19 - - - 2241.00 - -82.73 60.62 0.005 2616.50 - - - - - - - - - - 15.47
67.69 3.26 -5.59 11 100.48 -1.37 14.28 0.251 1998.56 127.5 2.47 0.065 1206.62 -418.8 -82.73 10.48 0.007 3112.66 47.3 -3.657 - - - - - - 15.62 15.41 15.49
327.61 47.14 -14.43 63 333.16 roll -1.37 - - 1998.81 - 2.62 0.029 2353.19 437.6 -82.73 - - 3112.56 - - - - - - - - - 15.84 -
518.27 69.66 -10.70 101 523.21 roll -1.37 - - 1998.69 - 2.72 0.059 1208.50 -420.8 -82.73 - - 3113.78 - - - - - - - - - 15.88 -
727.67 93.39 -12.85 143 733.20 roll -1.37 - - 1998.25 - 2.60 0.029 2353.50 440.4 -82.73 - - 3113.53 - - - - - - - - - 15.91 -
918.08 113.58 -9.56 181 923.26 roll -1.37 - - 1997.69 - 2.72 0.059 1206.00 -421.9 -82.73 - - 3114.91 - - - - - - - - - 15.93 -
1012.71 122.62 -9.12 200 1018.24 roll -1.37 - - 1998.62 - 2.60 0.028 2354.75 441.8 -82.73 - - 3113.53 - - - - - - - - - 15.94 -
1322.76 149.65 -8.63 262 1328.30 roll -1.37 - - 1998.00 - 2.62 0.086 3428.75 409.9 -82.73 - - 3113.56 - - - - - - - - - 15.94 -
1382.77 155.72 -10.39 274 1388.30 roll -1.37 - - 1998.44 - 2.55 0.020 2239.25 -466.5 -82.73 - - 3113.16 - - - - - - - - - 15.97 -
1692.98 185.28 -9.53 336 1694.31 no move -1.37 - - 1998.44 - - - 2238.88 - -82.73 - - 3113.03 - - - - - - - - - - -
1997.85 214.36 -9.06 397 2003.42 roll -1.37 - - 1998.31 - 2.89 0.081 3427.94 411.4 -82.73 - - 3113.59 - - - - - - - - - 15.99 -
2138.05 228.86 -10.23 425 2143.46 roll -1.37 - - 1998.62 - 2.55 0.021 2244.25 -464.2 -82.73 - - 3112.53 - - - - - - - - - 16.00 -
2447.91 256.22 -8.61 487 2453.03 roll -1.37 - - 1999.00 - 2.45 0.067 1208.56 -422.7 -82.73 - - 3113.31 - - - - - - - - - 16.01 -
2512.92 262.04 -9.07 500 2518.45 roll -1.37 - - 1998.50 - 2.59 0.029 2352.88 441.8 -82.73 - - 3112.88 - - - - - - - - - 16.01 -
2822.98 290.32 -9.20 562 2828.54 roll -1.37 - - 1999.38 - 2.72 0.062 1208.81 -420.6 -82.73 - - 3111.59 - - - - - - - - - 16.03 -
2882.99 296.01 -9.49 574 2888.51 roll -1.37 - - 1999.44 - 2.59 0.029 2353.62 442.0 -82.73 - - 3111.47 - - - - - - - - - 16.02 -
3193.83 324.01 -8.77 607 3204.90 no move -1.37 - - 1999.19 - - - 2353.19 - -82.73 - - 3111.28 - - - - - - - - - - -
3506.46 350.38 -8.38 636 3511.09 roll -1.37 - - 1999.56 - 2.61 0.089 3425.25 410.8 -82.73 - - 3109.97 - - - - - - - - - 16.01 -
3576.47 357.02 -9.44 646 3591.39 roll -1.37 - - 1998.88 - 2.55 0.021 2244.62 -463.0 -82.73 - - 3110.03 - - - - - - - - - 16.04 -
3892.78 384.11 -8.30 675 3897.62 roll -1.37 - - 1997.81 - 2.88 0.085 3427.25 410.6 -82.73 - - 3111.44 - - - - - - - - - 16.02 -
3962.90 390.71 -9.46 685 3977.71 roll -1.37 - - 1999.38 - 2.54 0.022 2245.75 -465.2 -82.73 - - 3110.44 - - - - - - - - - 16.04 -
4279.49 418.18 -8.65 714 4290.55 no move -1.37 - - 1999.12 - - - 2245.62 - -82.73 - - 3109.75 - - - - - - - - - - -
4592.56 446.43 -8.97 743 4603.63 no move -1.37 - - 1998.56 - - - 2245.62 - -82.73 - - 3108.84 - - - - - - - - - - -
4905.20 474.55 -9.21 772 4909.86 roll -1.37 - - 1998.81 - 2.89 0.086 3428.62 409.3 -82.73 - - 3107.12 - - - - - - - - - 16.02 -
5005.33 485.08 -10.62 785 5009.94 roll -1.37 - - 1998.88 - 2.55 0.022 2246.88 -463.4 -82.73 - - 3107.66 - - - - - - - - - 16.04 -
5317.07 514.23 -9.56 810 5318.40 no move -1.37 - - 1999.25 - - - 2245.81 - -82.73 - - 3106.47 - - - - - - - - - - -
5631.90 542.98 -8.86 831 5636.55 roll -1.37 - - 1998.00 - 2.88 0.086 3427.25 410.2 -82.73 - - 3108.72 - - - - - - - - - 16.03 -
5691.17 548.89 -9.85 840 5696.70 roll -1.37 - - 1997.81 - 2.55 0.022 2246.75 -462.9 -82.73 - - 3108.34 - - - - - - - - - 16.06 -
6010.60 577.38 -8.77 862 6015.59 roll -1.37 - - 1998.75 - 2.88 0.086 3424.62 409.0 -82.73 - - 3105.62 - - - - - - - - - 16.03 -
6069.87 583.10 -9.60 871 6075.40 roll -1.37 - - 1999.00 - 2.54 0.022 2247.12 -463.6 -82.73 - - 3105.84 - - - - - - - - - 16.05 -
6389.45 611.11 -8.23 893 6390.78 no move -1.37 - - 1999.31 - - - 2246.88 - -82.73 - - 3104.12 - - - - - - - - - - -
6704.40 636.90 -8.05 914 6709.07 roll -1.37 - - 1999.00 - 2.88 0.087 3427.31 409.9 -82.73 - - 3104.66 - - - - - - - - - 16.03 -
6825.90 648.02 -9.34 932 6831.77 roll -1.37 - - 1999.06 - 2.55 0.022 2249.12 -462.0 -82.73 - - 3104.75 - - - - - - - - - 16.06 -
7145.30 672.25 -7.44 954 7146.63 no move -1.37 - - 1999.06 - - - 2248.69 - -82.73 - - 3102.94 - - - - - - - - - - -
7460.31 695.37 -7.22 975 7464.97 roll -1.37 - - 1998.88 - 2.88 0.087 3427.88 409.4 -82.73 - - 3104.12 - - - - - - - - - 16.02 -
7559.73 703.57 -8.28 989 7564.34 roll -1.37 - - 1999.19 - 2.54 0.023 2249.25 -464.0 -82.73 - - 3102.69 - - - - - - - - - 16.05 -
7876.20 727.35 -7.48 1011 7880.79 roll -1.37 - - 1997.50 - 2.46 0.070 1208.50 -423.1 -82.73 - - 3104.25 - - - - - - - - - 16.04 -
7914.72 730.37 -7.83 1017 7920.26 roll -1.37 - - 1999.12 - 2.59 0.031 2353.31 442.0 -82.73 - - 3103.03 - - - - - - - - - 16.06 -
8234.31 756.69 -8.11 1039 8238.93 roll -1.37 - - 1999.00 - 2.62 0.093 3426.19 409.5 -82.73 - - 3101.62 - - - - - - - - - 16.01 -
8335.05 765.73 -9.11 1054 8340.59 roll -1.37 - - 1998.81 - 2.54 0.023 2248.38 -463.7 -82.73 - - 3102.56 - - - - - - - - - 16.05 -
8654.48 790.11 -7.72 1076 8655.81 no move -1.37 - - 1998.94 - - - 2247.62 - -82.73 - - 3101.25 - - - - - - - - - - -
8969.70 813.43 -7.03 1097 8974.35 roll -1.37 - - 1998.56 - 2.47 0.071 1208.56 -420.7 -82.73 - - 3102.41 - - - - - - - - - 16.03 -
9013.24 816.11 -7.05 1104 9028.15 roll -1.37 - - 1998.94 - 2.59 0.031 2350.56 440.9 -82.73 - - 3102.09 - - - - - - - - - 16.05 -
9328 end dive: TARGET_DEPTH_EXCEEDED
9328 begin apogee
9329.47 838.27 -7.34 1125 9392.98 -0.28 1.82 0.140 2262.31 144.7 0.22 0.131 2282.88 -307.6 - 59.61 2.232 2775.78 -5.5 0.341 - - - - - - 15.95 15.68 11.52
9394 end apogee: CONTROL_FINISHED_OK
9395 begin climb
9394.90 839.80 - 1129 9468.84 1.37 2.63 0.091 2666.06 153.5 2.89 0.076 1132.75 -398.0 82.73 65.10 2.184 2436.91 -5.2 0.332 - - - - - - 15.72 15.37 12.73
9497.26 835.18 5.83 1145 9535.18 done 1.44 - - 2666.62 - 2.67 0.030 2272.12 426.7 121.28 32.55 2.102 2279.88 -4.8 0.318 - - - - - - - 15.52 12.41
9838.02 805.28 8.78 1171 9839.35 no move 1.44 - - 2666.38 - - - 2272.19 - 121.28 - - 2273.53 - - - - - - - - - - -
10153.24 778.39 8.53 1192 10157.94 done 1.44 - - 2666.12 - 2.80 0.074 1132.38 -407.1 121.28 - - 2272.62 - - - - - - - - - 15.81 -
10279.77 767.85 8.78 1211 10294.98 done 1.44 - - 2666.00 - 2.61 0.031 2272.19 436.7 121.28 - - 2272.34 - - - - - - - - - 15.85 -
10609.12 740.58 8.31 1233 10610.45 VBD 1.44 - - 2665.75 - - - 2272.06 - 121.28 - - 2270.03 - - - - - - - - - - -
10924.31 713.52 8.39 1254 10925.64 VBD 1.44 - - 2666.19 - - - 2271.75 - 121.28 - - 2269.78 - - - - - - - - - - -
11239.15 684.48 9.06 1275 11240.48 VBD 1.44 - - 2666.25 - - - 2272.31 - 121.28 - - 2269.06 - - - - - - - - - - -
11554.17 657.38 8.24 1296 11558.79 done 1.44 - - 2664.75 - 2.65 0.094 3347.06 405.6 121.28 - - 2271.09 - - - - - - - - - 15.94 -
11597.70 654.03 8.65 1303 11612.62 done 1.44 - - 2665.44 - 2.57 0.024 2185.94 -451.8 121.28 - - 2269.38 - - - - - - - - - 15.97 -
11927.11 627.08 8.05 1325 11931.72 done 1.44 - - 2665.56 - 2.55 0.079 1131.44 -413.5 121.28 - - 2269.28 - - - - - - - - - 15.96 -
11991.37 622.07 8.56 1335 12006.28 done 1.44 - - 2666.25 - 2.60 0.031 2274.75 439.7 121.28 - - 2269.34 - - - - - - - - - 15.99 -
12320.78 592.44 8.80 1357 12322.11 VBD 1.44 - - 2666.44 - - - 2274.81 - 121.28 - - 2267.56 - - - - - - - - - - -
12635.82 566.10 7.88 1378 12640.46 done 1.46 - - 2666.25 - 2.78 0.075 1131.38 -411.3 121.28 - - 2267.69 - - - - - - - - - 15.99 -
12695.08 561.40 8.03 1387 12700.80 done 1.46 - - 2664.69 - 2.59 0.031 2273.88 441.1 121.28 - - 2270.78 - - - - - - - - - 16.00 -
13014.63 540.46 6.20 1409 13045.10 1.52 0.19 0.089 2711.00 243.7 - - 2274.56 - 154.45 25.82 1.813 2145.50 -4.9 0.240 - - - - - - 15.97 - 11.76
13359.72 511.34 8.81 1432 13361.05 no move 1.52 - - 2711.62 - - - 2273.88 - 154.45 - - 2139.41 - - - - - - - - - - -
13666.27 484.35 9.02 1457 13670.91 roll 1.52 - - 2712.19 - 2.78 0.075 1131.25 -411.0 154.45 - - 2140.44 - - - - - - - - - 15.94 -
13734.93 477.70 9.61 1466 13739.54 roll 1.52 - - 2710.38 - 2.60 0.032 2272.38 438.9 154.45 - - 2141.41 - - - - - - - - - 15.95 -
14046.97 449.34 9.37 1495 14058.04 no move 1.52 - - 2711.69 - - - 2272.25 - 154.45 - - 2139.47 - - - - - - - - - - -
14359.74 420.33 9.25 1524 14370.81 no move 1.52 - - 2711.62 - - - 2272.38 - 154.45 - - 2139.03 - - - - - - - - - - -
14672.71 390.38 9.40 1553 14683.79 no move 1.52 - - 2712.00 - - - 2272.12 - 154.45 - - 2139.06 - - - - - - - - - - -
14995.42 361.15 8.48 1583 15000.06 roll 1.52 - - 2711.38 - 2.76 0.075 1132.19 -413.0 154.45 - - 2138.97 - - - - - - - - - 15.99 -
15080.48 353.32 9.27 1595 15095.41 roll 1.52 - - 2711.25 - 2.59 0.031 2273.12 440.5 154.45 - - 2138.38 - - - - - - - - - 16.01 -
15396.83 324.56 9.10 1624 15407.90 no move 1.52 - - 2712.50 - - - 2272.75 - 154.45 - - 2138.38 - - - - - - - - - - -
15710.13 297.65 7.79 1655 15715.84 roll 1.54 - - 2711.06 - 2.64 0.092 3347.31 407.0 154.45 - - 2139.72 - - - - - - - - - 15.97 -
15755.25 293.72 8.87 1664 15760.67 roll 1.54 - - 2711.50 - 2.56 0.024 2185.44 -453.9 154.45 - - 2140.03 - - - - - - - - - 15.99 -
16065.25 268.67 7.81 1726 16066.58 no move 1.55 - - 2712.00 - - - 2185.88 - 154.45 - - 2137.16 - - - - - - - - - - -
16370.35 244.90 7.56 1787 16371.68 no move 1.57 - - 2711.50 - - - 2186.25 - 154.45 - - 2137.19 - - - - - - - - - - -
16675.44 220.78 8.09 1848 16680.97 roll 1.57 - - 2711.75 - 2.54 0.078 1130.06 -415.8 154.45 - - 2140.16 - - - - - - - - - 15.99 -
16725.45 216.63 8.35 1858 16730.98 roll 1.57 - - 2712.25 - 2.58 0.030 2273.31 443.1 154.45 - - 2138.31 - - - - - - - - - 16.00 -
17035.57 191.48 7.99 1920 17041.12 roll 1.57 - - 2712.69 - 2.62 0.090 3348.19 410.3 154.45 - - 2138.50 - - - - - - - - - 15.98 -
17095.58 186.20 8.93 1932 17101.11 roll 1.57 - - 2711.94 - 2.55 0.023 2185.88 -455.8 154.45 - - 2139.19 - - - - - - - - - 16.01 -
17405.86 164.02 6.45 1994 17431.20 VBD 1.63 - - 2711.88 - - - 2186.12 - 183.90 22.97 1.334 2025.88 -4.9 0.101 - - - - - - - - 11.67
17735.71 139.80 7.39 2060 17741.28 roll 1.65 - - 2711.81 - 2.86 0.086 3346.94 405.9 183.90 - - 2022.38 - - - - - - - - - 15.95 -
17760.72 137.78 7.82 2065 17766.23 roll 1.66 - - 2712.50 - 2.56 0.024 2184.69 -454.0 183.90 - - 2022.03 - - - - - - - - - 15.95 -
18070.75 113.47 7.57 2127 18072.08 no move 1.68 - - 2711.56 - - - 2185.19 - 183.90 - - 2020.53 - - - - - - - - - - -
18375.79 90.93 7.39 2188 18381.42 roll back 1.70 0.19 0.084 2758.00 244.4 2.85 0.085 3348.25 408.1 183.90 - - 2021.75 - - - - - - - - 15.95 15.89 -
18470.98 83.10 7.87 2207 18476.33 roll 1.71 - - 2758.12 - 2.55 0.023 2185.00 -456.2 183.90 - - 2021.09 - - - - - - - - - 15.98 -
18660.83 70.44 7.02 2245 18666.35 roll 1.74 - - 2757.69 - 2.53 0.077 1131.50 -416.4 183.90 - - 2021.19 - - - - - - - - - 15.98 -
18896.04 54.16 4.89 2292 18941.93 done 1.84 - - 2758.06 - 2.59 0.029 2278.62 442.9 236.18 39.62 1.220 1811.41 -5.3 0.039 - - - - - - - 15.99 11.94
19125.89 40.89 5.53 2338 19163.52 1.93 0.23 0.075 2811.81 233.7 2.79 0.073 1131.19 -411.3 279.13 32.77 1.166 1636.62 -5.3 0.031 - - - - - - 15.88 15.80 12.39
19391.51 16.73 8.82 2391 19396.45 roll 1.93 - - 2811.81 - 2.61 0.029 2272.75 437.4 279.13 - - 1629.06 - - - - - - - - - 15.86 -
19580.94 4.95 3.89 2429 19632.31 done 2.06 - - 2811.88 - - - 2272.25 - 346.07 50.32 1.139 1365.34 -5.2 0.004 - - - - - - - - 12.09
19633 end climb: SURFACE_DEPTH_REACHED
19633 begin surface coast
19796 end surface coast: CONTROL_FINISHED_OK
19796 begin surface
SM 1.50 - - - - 180.8 58.19 1.145 1042.5 17.1 16.32 0.054 994.6 60.9 - 0.13 0.126 1090.4 8387.7 -10.206 - - 12.33 15.78 15.79 -