NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 465 * Raw log
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• Previous call tries 1 • 150.52 of 550.00 AH used of 24V (72.63% remains)
• Surface angle -62.6 deg, depth 0.67 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.74 (SM_CC=425)
• GPS1 time: 52 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
5.13 - - - 66.95 VBD -1.37 - - 180.12 - - - 2247.12 - -82.73 60.63 0.005 2577.38 - - - - - - - - - - 15.46
67.69 3.60 -6.18 11 101.50 -1.37 14.19 0.249 1997.12 128.0 2.50 0.066 1207.12 -416.0 -82.73 11.59 0.007 3113.09 46.2 -3.932 - - - - - - 15.62 15.41 15.52
298.62 43.13 -15.36 57 304.17 roll -1.37 - - 1998.50 - 2.63 0.030 2351.31 435.1 -82.73 - - 3111.62 - - - - - - - - - 15.82 -
489.02 67.90 -11.40 95 494.41 roll -1.37 - - 1998.44 - 2.73 0.059 1208.69 -418.5 -82.73 - - 3112.81 - - - - - - - - - 15.87 -
508.77 70.17 -11.36 99 514.21 roll -1.37 - - 1997.31 - 2.62 0.029 2352.44 436.5 -82.73 - - 3113.88 - - - - - - - - - 15.88 -
699.40 90.92 -10.74 137 704.25 roll -1.37 - - 1998.44 - 2.72 0.059 1208.75 -420.5 -82.73 - - 3113.28 - - - - - - - - - 15.91 -
783.70 99.24 -9.28 154 789.22 roll -1.37 - - 1998.25 - 2.60 0.029 2352.25 439.8 -82.73 - - 3113.00 - - - - - - - - - 15.92 -
974.11 116.21 -9.87 192 979.26 roll -1.37 - - 1996.88 - 2.64 0.088 3428.38 407.6 -82.73 - - 3115.31 - - - - - - - - - 15.91 -
1144.13 136.00 -11.28 226 1149.28 roll -1.37 - - 1998.38 - 2.56 0.021 2245.44 -462.1 -82.73 - - 3112.66 - - - - - - - - - 15.94 -
1453.79 165.42 -8.77 288 1455.12 no move -1.37 - - 1998.44 - - - 2243.69 - -82.73 - - 3111.72 - - - - - - - - - - -
1758.83 190.20 -7.94 349 1764.42 roll -1.37 - - 1998.38 - 2.89 0.083 3428.56 410.0 -82.73 - - 3112.50 - - - - - - - - - 15.98 -
1873.85 200.79 -9.46 372 1879.38 roll -1.37 - - 1997.56 - 2.55 0.021 2244.88 -464.2 -82.73 - - 3114.91 - - - - - - - - - 15.98 -
2184.02 225.87 -8.27 434 2189.01 roll -1.37 - - 1998.81 - 2.45 0.066 1208.25 -423.1 -82.73 - - 3112.59 - - - - - - - - - 15.99 -
2228.89 229.78 -8.72 443 2234.43 roll -1.37 - - 1998.50 - 2.60 0.029 2354.94 441.0 -82.73 - - 3113.00 - - - - - - - - - 16.02 -
2538.95 254.65 -7.76 505 2544.72 roll -1.37 - - 1997.50 - 2.72 0.061 1208.69 -421.4 -82.73 - - 3113.16 - - - - - - - - - 16.01 -
2583.96 258.40 -8.33 514 2589.48 roll -1.37 - - 1998.38 - 2.59 0.029 2353.50 442.0 -82.73 - - 3112.91 - - - - - - - - - 16.01 -
2894.01 284.37 -8.48 576 2899.55 roll -1.37 - - 1998.75 - 2.62 0.089 3428.19 410.2 -82.73 - - 3112.62 - - - - - - - - - 15.99 -
2954.01 289.76 -9.07 588 2959.55 roll -1.37 - - 1998.00 - 2.54 0.021 2240.31 -467.7 -82.73 - - 3112.19 - - - - - - - - - 16.01 -
3264.22 314.04 -7.63 630 3275.29 no move -1.37 - - 1998.81 - - - 2240.88 - -82.73 - - 3112.47 - - - - - - - - - - -
3577.28 336.80 -7.27 659 3581.96 roll -1.37 - - 1997.62 - 2.91 0.084 3428.69 408.2 -82.73 - - 3112.12 - - - - - - - - - 16.03 -
3677.58 344.90 -8.11 672 3682.25 roll -1.37 - - 1997.25 - 2.55 0.021 2243.19 -464.9 -82.73 - - 3114.41 - - - - - - - - - 16.04 -
3988.78 367.02 -7.01 701 3999.85 no move -1.37 - - 1998.19 - - - 2242.56 - -82.73 - - 3111.84 - - - - - - - - - - -
4301.72 388.39 -6.93 730 4306.31 roll -1.37 - - 1998.19 - 2.44 0.067 1207.50 -424.2 -82.73 - - 3111.28 - - - - - - - - - 16.04 -
4386.11 394.71 -7.44 741 4390.72 roll -1.37 - - 1997.81 - 2.59 0.029 2354.56 442.9 -82.73 - - 3111.00 - - - - - - - - - 16.05 -
4697.30 416.40 -6.99 770 4708.37 no move -1.37 - - 1998.12 - - - 2354.81 - -82.73 - - 3111.53 - - - - - - - - - - -
5010.68 438.84 -7.34 799 5015.31 roll -1.37 - - 1998.00 - 2.71 0.062 1207.94 -423.2 -82.73 - - 3111.00 - - - - - - - - - 16.04 -
5112.14 446.54 -7.66 813 5127.06 roll -1.37 - - 1998.56 - 2.59 0.030 2353.44 442.3 -82.73 - - 3111.06 - - - - - - - - - 16.05 -
5428.23 469.38 -7.24 842 5432.85 roll -1.37 - - 1998.50 - 2.62 0.090 3428.88 410.5 -82.73 - - 3109.81 - - - - - - - - - 16.02 -
5466.76 472.40 -7.84 848 5481.68 roll -1.37 - - 1998.94 - 2.55 0.022 2239.06 -466.6 -82.73 - - 3110.38 - - - - - - - - - 16.05 -
5783.18 496.16 -7.56 877 5794.26 no move -1.37 - - 1998.81 - - - 2239.19 - -82.73 - - 3110.38 - - - - - - - - - - -
6107.91 519.87 -7.19 900 6112.75 roll -1.37 - - 1998.25 - 2.90 0.085 3426.75 409.5 -82.73 - - 3110.19 - - - - - - - - - 16.03 -
6229.51 530.08 -8.62 918 6234.93 roll -1.37 - - 1998.19 - 2.54 0.022 2244.94 -465.3 -82.73 - - 3110.84 - - - - - - - - - 16.06 -
6548.80 553.93 -7.50 940 6550.12 no move -1.37 - - 1998.19 - - - 2245.19 - -82.73 - - 3108.31 - - - - - - - - - - -
6863.99 577.51 -7.45 961 6868.64 roll -1.37 - - 1997.69 - 2.89 0.085 3429.19 409.7 -82.73 - - 3112.16 - - - - - - - - - 16.03 -
6923.26 582.39 -8.18 970 6928.79 roll -1.37 - - 1997.56 - 2.54 0.022 2245.12 -466.2 -82.73 - - 3111.03 - - - - - - - - - 16.05 -
7242.66 606.67 -7.84 992 7247.25 roll -1.37 - - 1998.50 - 2.44 0.068 1209.62 -424.4 -82.73 - - 3107.72 - - - - - - - - - 16.05 -
7301.93 611.57 -8.35 1001 7307.47 roll -1.37 - - 1998.62 - 2.58 0.030 2353.44 443.3 -82.73 - - 3108.94 - - - - - - - - - 16.05 -
7621.34 636.14 -7.72 1023 7622.67 no move -1.37 - - 1998.69 - - - 2353.62 - -82.73 - - 3107.72 - - - - - - - - - - -
7936.37 659.51 -7.20 1044 7941.01 roll -1.37 - - 1999.31 - 2.73 0.063 1208.44 -419.5 -82.73 - - 3106.88 - - - - - - - - - 16.05 -
8021.38 665.62 -7.71 1057 8036.29 roll -1.37 - - 1997.31 - 2.58 0.030 2351.88 443.2 -82.73 - - 3111.09 - - - - - - - - - 16.06 -
8350.78 689.44 -6.90 1079 8352.11 no move -1.37 - - 1998.88 - - - 2352.25 - -82.73 - - 3106.81 - - - - - - - - - - -
8665.79 710.72 -6.84 1100 8670.60 roll -1.37 - - 1997.75 - 2.64 0.091 3428.62 407.7 -82.73 - - 3106.88 - - - - - - - - - 16.02 -
8911 end dive: TARGET_DEPTH_EXCEEDED
8911 begin apogee
8915.55 728.23 -7.32 1135 8989.32 -0.28 1.82 0.139 2264.94 146.8 0.17 0.153 2292.38 -6683.8 - 59.58 2.060 2774.47 -5.6 0.326 - - - - - - 15.95 15.71 11.57
8991 end apogee: CONTROL_FINISHED_OK
8991 begin climb
8991.24 729.81 - 1140 9067.30 1.37 2.60 0.083 2668.38 155.2 2.69 0.091 3347.50 392.2 82.73 63.86 2.031 2437.38 -5.3 0.314 - - - - - - 15.75 15.41 12.62
9070.09 726.46 5.29 1149 9112.62 done 1.46 - - 2668.00 - 2.65 0.023 2185.31 -438.6 129.20 38.10 1.963 2248.34 -5.0 0.304 - - - - - - - 15.52 12.52
9415.36 693.25 9.88 1176 9420.02 roll 1.46 - - 2668.56 - 2.89 0.086 3343.25 400.7 129.20 - - 2239.81 - - - - - - - - - 15.71 -
9474.63 686.93 10.69 1185 9480.35 roll 1.46 - - 2666.81 - 2.59 0.024 2188.56 -445.8 129.20 - - 2241.84 - - - - - - - - - 15.77 -
9794.20 655.81 9.28 1207 9795.53 VBD 1.46 - - 2668.00 - - - 2187.62 - 129.20 - - 2237.50 - - - - - - - - - - -
10109.05 625.31 9.56 1228 10110.38 VBD 1.46 - - 2668.44 - - - 2188.62 - 129.20 - - 2237.03 - - - - - - - - - - -
10424.24 596.45 8.83 1249 10425.57 VBD 1.46 - - 2668.38 - - - 2187.88 - 129.20 - - 2236.94 - - - - - - - - - - -
10739.08 569.51 7.94 1270 10740.42 VBD 1.47 - - 2668.31 - - - 2188.12 - 129.20 - - 2236.34 - - - - - - - - - - -
11054.10 545.49 7.63 1291 11058.71 done 1.49 - - 2668.25 - 2.57 0.078 1129.94 -411.7 129.20 - - 2235.91 - - - - - - - - - 15.97 -
11153.48 537.42 8.12 1305 11158.09 done 1.49 - - 2666.69 - 2.60 0.030 2273.06 439.7 129.20 - - 2237.97 - - - - - - - - - 15.98 -
11469.97 514.88 6.95 1327 11474.67 1.52 0.18 0.087 2713.31 259.0 2.64 0.091 3348.38 407.3 129.20 - - 2236.09 - - - - - - - - 15.95 15.88 -
11527.90 509.89 8.17 1335 11532.53 done 1.52 - - 2712.88 - 2.56 0.024 2186.19 -454.0 129.20 - - 2234.94 - - - - - - - - - 15.99 -
11836.26 484.95 8.27 1361 11847.33 VBD 1.52 - - 2712.94 - - - 2185.81 - 129.20 - - 2236.00 - - - - - - - - - - -
12148.85 460.36 7.64 1390 12159.92 VBD 1.53 - - 2713.56 - - - 2185.69 - 129.20 - - 2235.88 - - - - - - - - - - -
12461.43 436.73 7.75 1419 12472.50 VBD 1.55 - - 2713.56 - - - 2185.25 - 129.20 - - 2235.88 - - - - - - - - - - -
12774.24 412.70 7.88 1448 12779.04 done 1.56 - - 2712.75 - 2.55 0.078 1128.75 -414.3 129.20 - - 2233.88 - - - - - - - - - 16.01 -
12860.08 405.40 8.58 1460 12874.89 done 1.56 - - 2712.88 - 2.59 0.030 2275.12 442.6 129.20 - - 2236.09 - - - - - - - - - 16.02 -
13176.03 380.06 7.87 1489 13187.10 VBD 1.57 - - 2713.12 - - - 2275.12 - 129.20 - - 2234.78 - - - - - - - - - - -
13489.44 355.22 8.75 1518 13500.52 VBD 1.57 - - 2712.94 - - - 2274.88 - 129.20 - - 2234.91 - - - - - - - - - - -
13802.15 328.92 8.21 1547 13813.23 VBD 1.57 - - 2713.25 - - - 2274.69 - 129.20 - - 2235.22 - - - - - - - - - - -
14115.24 302.10 8.67 1576 14119.89 done 1.57 - - 2712.94 - 2.76 0.073 1131.56 -414.2 129.20 - - 2235.06 - - - - - - - - - 16.01 -
14219.56 292.52 9.16 1594 14225.09 done 1.57 - - 2713.69 - 2.59 0.030 2274.88 441.4 129.20 - - 2234.56 - - - - - - - - - 16.01 -
14529.67 266.66 7.66 1656 14535.21 done 1.59 - - 2713.19 - 2.76 0.073 1131.00 -414.4 129.20 - - 2234.66 - - - - - - - - - 16.00 -
14614.65 259.13 9.29 1673 14620.19 done 1.59 - - 2714.00 - 2.60 0.030 2275.00 440.0 129.20 - - 2235.19 - - - - - - - - - 16.02 -
14924.71 233.03 8.59 1735 14930.44 done 1.59 - - 2713.81 - 2.64 0.090 3347.00 406.1 129.20 - - 2234.88 - - - - - - - - - 15.99 -
14969.88 228.84 9.42 1744 14975.24 done 1.59 - - 2713.38 - 2.55 0.023 2185.00 -455.7 129.20 - - 2235.09 - - - - - - - - - 16.01 -
15279.76 202.71 8.22 1806 15281.10 VBD 1.59 - - 2712.75 - - - 2184.25 - 129.20 - - 2233.34 - - - - - - - - - - -
15584.83 179.28 7.29 1867 15590.34 done 1.61 - - 2713.75 - 2.54 0.077 1130.06 -415.0 129.20 - - 2234.69 - - - - - - - - - 16.00 -
15649.83 174.48 7.45 1880 15655.35 done 1.63 - - 2713.69 - 2.59 0.029 2277.44 443.0 129.20 - - 2234.75 - - - - - - - - - 16.02 -
15959.89 152.99 6.46 1942 15965.42 done 1.67 - - 2712.56 - 2.63 0.089 3346.50 406.5 129.20 - - 2235.94 - - - - - - - - - 15.99 -
16059.90 145.52 7.66 1962 16065.48 1.69 0.16 0.091 2750.88 239.5 2.55 0.023 2184.56 -455.7 129.20 - - 2235.34 - - - - - - - - 15.91 16.02 -
16369.95 125.66 5.55 2024 16406.60 done 1.77 - - 2750.19 - 2.53 0.079 1130.38 -416.7 171.84 30.55 1.306 2075.12 -5.2 0.083 - - - - - - - 15.93 11.67
16544.96 113.18 7.75 2059 16550.48 roll 1.79 - - 2750.75 - 2.60 0.030 2274.50 440.0 171.84 - - 2070.25 - - - - - - - - - 15.93 -
16855.01 91.46 6.60 2121 16860.53 roll 1.82 - - 2751.19 - 2.63 0.088 3346.50 407.6 171.84 - - 2069.34 - - - - - - - - - 15.93 -
16875.00 90.01 6.88 2125 16880.58 roll back 1.86 0.17 0.085 2793.69 250.0 2.56 0.023 2178.94 -456.1 171.84 - - 2069.22 - - - - - - - - 15.86 15.95 -
17065.07 74.88 7.61 2163 17066.40 no move 1.87 - - 2793.88 - - - 2179.12 - 171.84 - - 2067.53 - - - - - - - - - - -
17250.13 65.96 4.01 2200 17304.12 done 2.00 - - 2792.81 - 2.88 0.085 3346.12 405.2 236.99 48.29 1.235 1810.50 -5.3 0.047 - - - - - - - 15.83 11.97
17341.52 60.60 7.35 2218 17346.92 roll back 2.03 0.17 0.090 2832.50 233.5 2.58 0.023 2184.81 -450.1 236.99 - - 1805.94 - - - - - - - - 15.84 15.88 -
17531.40 44.72 7.54 2256 17537.10 roll 2.04 - - 2833.06 - 2.55 0.076 1129.81 -413.7 236.99 - - 1802.41 - - - - - - - - - 15.86 -
17696.95 31.51 7.86 2289 17701.99 done 2.06 - - 2833.19 - 2.62 0.029 2275.94 437.5 236.99 - - 1800.66 - - - - - - - - - 15.89 -
17886.51 18.73 5.96 2327 17918.97 done 2.13 - - 2832.38 - 2.77 0.073 1130.38 -413.6 273.58 27.61 1.133 1660.56 -5.1 0.014 - - - - - - - 15.84 12.09
18146.59 9.91 0.82 2379 18234.85 2.35 0.41 0.056 2914.19 199.5 2.60 0.027 2281.12 442.6 385.48 82.59 1.146 1203.09 -5.5 0.008 - - - - - - 15.82 15.89 12.20
18292 end climb: SURFACE_DEPTH_REACHED
18292 begin surface coast
18357 end surface coast: CONTROL_FINISHED_OK
18357 begin surface
SM 0.50 - - - - 184.6 29.77 1.099 1043.5 32.3 16.83 0.042 1019.7 60.6 - 0.11 0.125 1067.2 9678.2 -3.957 - - 12.41 15.71 15.73 -