NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 48 * Raw log
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• Previous call tries 2 • 24.11 of 550.00 AH used of 24V (95.62% remains)
• Surface angle -60.5 deg, depth 1.55 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 375.13 (SM_CC=375)
• GPS1 time: 34 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
4 end surface: CONTROL_FINISHED_OK
5 begin dive
6.12 - - - 63.91 VBD -1.37 - - 181.94 - - - 2267.75 - -82.73 56.65 0.005 2582.94 - - - - - - - - - - 15.75
64.64 3.28 -3.23 11 97.98 -1.37 14.34 0.266 1988.19 126.0 - - 2267.31 - -82.73 13.81 0.006 3110.28 38.2 -3.488 - - - - - - 15.67 - 15.78
280.99 42.37 -19.80 54 282.32 no move -1.37 - - 1988.00 - - - 2267.38 - -82.73 - - 3111.53 - - - - - - - - - - -
466.02 75.94 -15.41 91 471.60 roll -1.37 - - 1988.38 - 2.83 0.090 3428.56 410.3 -82.73 - - 3112.97 - - - - - - - - - 15.90 -
631.70 97.74 -11.93 124 636.60 roll -1.37 - - 1987.81 - 2.58 0.027 2257.75 -453.8 -82.73 - - 3114.22 - - - - - - - - - 15.95 -
826.10 117.84 -10.47 146 830.76 roll -1.37 - - 1988.31 - 2.47 0.073 1208.44 -424.8 -82.73 - - 3112.78 - - - - - - - - - 16.00 -
906.11 125.16 -9.16 162 911.18 roll -1.37 - - 1988.56 - 2.59 0.035 2353.25 442.0 -82.73 - - 3113.38 - - - - - - - - - 15.99 -
1216.15 152.00 -9.16 194 1221.22 roll -1.37 - - 1987.88 - 2.58 0.094 3427.62 416.4 -82.73 - - 3114.06 - - - - - - - - - 16.02 -
1266.34 157.38 -11.09 204 1271.22 roll -1.37 - - 1989.38 - 2.56 0.027 2254.25 -458.3 -82.73 - - 3113.22 - - - - - - - - - 16.03 -
1576.20 187.10 -10.07 236 1581.31 roll -1.37 - - 1988.00 - 2.82 0.090 3426.62 415.7 -82.73 - - 3115.09 - - - - - - - - - 16.07 -
1660.75 197.06 -11.99 253 1666.74 roll -1.37 - - 1988.94 - 2.55 0.028 2255.56 -459.2 -82.73 - - 3115.75 - - - - - - - - - 16.08 -
1976.28 231.39 -11.00 285 1977.61 no move -1.37 - - 1989.56 - - - 2255.94 - -82.73 - - 3113.12 - - - - - - - - - - -
2286.72 264.17 -9.92 316 2288.05 no move -1.37 - - 1988.44 - - - 2255.62 - -82.73 - - 3113.75 - - - - - - - - - - -
2596.79 295.67 -10.36 347 2598.12 no move -1.37 - - 1988.94 - - - 2255.25 - -82.73 - - 3113.06 - - - - - - - - - - -
2907.05 326.96 -9.86 378 2911.64 roll -1.37 - - 1988.38 - 2.80 0.092 3427.38 418.6 -82.73 - - 3114.97 - - - - - - - - - 16.14 -
3006.50 338.38 -12.02 398 3011.57 roll -1.37 - - 1988.50 - 2.54 0.028 2257.75 -460.5 -82.73 - - 3114.31 - - - - - - - - - 16.16 -
3316.57 370.57 -9.98 430 3317.89 no move -1.37 - - 1988.50 - - - 2256.94 - -82.73 - - 3113.34 - - - - - - - - - - -
3627.02 401.67 -9.90 461 3631.74 roll -1.37 - - 1988.88 - 2.80 0.092 3429.31 418.7 -82.73 - - 3114.69 - - - - - - - - - 16.17 -
3681.19 408.00 -11.39 472 3687.17 roll -1.37 - - 1988.75 - 2.54 0.029 2257.31 -461.4 -82.73 - - 3114.44 - - - - - - - - - 16.18 -
3996.72 439.64 -9.89 504 4001.81 roll -1.37 - - 1988.19 - 2.80 0.092 3427.31 417.9 -82.73 - - 3113.91 - - - - - - - - - 16.18 -
4051.27 445.71 -10.81 515 4057.25 roll -1.37 - - 1988.94 - 2.54 0.029 2256.69 -460.9 -82.73 - - 3115.03 - - - - - - - - - 16.17 -
4366.80 474.32 -8.46 547 4368.12 no move -1.37 - - 1988.81 - - - 2256.94 - -82.73 - - 3113.66 - - - - - - - - - - -
4677.24 501.13 -8.25 578 4678.57 no move -1.37 - - 1988.75 - - - 2256.75 - -82.73 - - 3112.25 - - - - - - - - - - -
4987.31 526.90 -8.38 609 4988.64 no move -1.37 - - 1989.00 - - - 2256.69 - -82.73 - - 3111.94 - - - - - - - - - - -
5297.35 551.74 -7.81 640 5298.68 no move -1.37 - - 1988.81 - - - 2256.62 - -82.73 - - 3110.91 - - - - - - - - - - -
5607.62 575.49 -7.62 671 5612.10 roll -1.37 - - 1988.31 - 2.80 0.094 3426.50 417.8 -82.73 - - 3112.62 - - - - - - - - - 16.22 -
5697.01 583.58 -8.92 689 5702.08 roll -1.37 - - 1989.31 - 2.54 0.029 2257.88 -460.1 -82.73 - - 3111.78 - - - - - - - - - 16.22 -
6007.05 607.84 -8.10 721 6008.38 no move -1.37 - - 1988.50 - - - 2256.50 - -82.73 - - 3110.62 - - - - - - - - - - -
6317.47 632.92 -8.12 752 6318.80 no move -1.37 - - 1988.75 - - - 2256.75 - -82.73 - - 3110.03 - - - - - - - - - - -
6627.51 658.97 -8.49 783 6632.21 roll -1.37 - - 1986.69 - 2.80 0.095 3425.44 417.4 -82.73 - - 3111.72 - - - - - - - - - 16.22 -
6671.67 663.54 -10.52 792 6677.66 roll -1.37 - - 1987.75 - 2.54 0.030 2256.38 -460.3 -82.73 - - 3111.06 - - - - - - - - - 16.22 -
6987.16 690.97 -8.87 824 6992.28 roll -1.37 - - 1988.62 - 2.81 0.096 3428.12 417.0 -82.73 - - 3111.50 - - - - - - - - - 16.23 -
7047.16 697.26 -10.56 836 7052.24 roll -1.37 - - 1988.19 - 2.55 0.029 2256.50 -459.5 -82.73 - - 3109.84 - - - - - - - - - 16.23 -
7357.20 724.72 -8.78 868 7361.87 roll -1.37 - - 1988.62 - 2.46 0.079 1209.06 -425.8 -82.73 - - 3110.19 - - - - - - - - - 16.23 -
7407.41 729.52 -9.22 878 7412.27 roll -1.37 - - 1988.38 - 2.56 0.037 2351.19 446.1 -82.73 - - 3109.56 - - - - - - - - - 16.23 -
7717.46 757.59 -9.27 910 7718.79 no move -1.37 - - 1988.44 - - - 2350.38 - -82.73 - - 3108.56 - - - - - - - - - - -
8027.84 785.67 -8.89 941 8029.17 no move -1.37 - - 1988.50 - - - 2350.88 - -82.73 - - 3107.81 - - - - - - - - - - -
8337.78 811.03 -7.42 972 8339.11 no move -1.37 - - 1987.94 - - - 2350.81 - -82.73 - - 3107.62 - - - - - - - - - - -
8647.85 833.81 -6.92 1003 8649.18 no move -1.37 - - 1988.75 - - - 2350.62 - -82.73 - - 3107.88 - - - - - - - - - - -
8957.92 854.61 -6.57 1034 8959.25 no move -1.37 - - 1987.94 - - - 2351.12 - -82.73 - - 3107.53 - - - - - - - - - - -
9268.00 874.06 -6.05 1065 9269.33 no move -1.37 - - 1988.00 - - - 2350.81 - -82.73 - - 3107.12 - - - - - - - - - - -
9578.07 891.91 -5.82 1096 9579.40 no move -1.37 - - 1988.19 - - - 2350.50 - -82.73 - - 3106.91 - - - - - - - - - - -
9888.12 910.46 -5.95 1127 9892.81 roll -1.37 - - 1988.75 - 2.70 0.075 1209.38 -422.6 -82.73 - - 3107.09 - - - - - - - - - 16.24 -
9977.75 916.78 -6.87 1145 9982.82 roll -1.37 - - 1988.38 - 2.56 0.038 2351.00 445.9 -82.73 - - 3109.00 - - - - - - - - - 16.24 -
10287.82 937.56 -7.14 1177 10289.15 no move -1.37 - - 1987.94 - - - 2351.50 - -82.73 - - 3106.53 - - - - - - - - - - -
10598.27 960.10 -7.13 1208 10602.95 roll -1.37 - - 1988.44 - 2.58 0.102 3426.69 416.7 -82.73 - - 3107.03 - - - - - - - - - 16.23 -
10658.07 965.29 -8.39 1220 10662.98 roll -1.37 - - 1988.69 - 2.54 0.030 2255.19 -461.2 -82.73 - - 3106.62 - - - - - - - - - 16.25 -
10968.15 988.80 -7.63 1252 10972.62 roll -1.37 - - 1988.62 - 2.46 0.079 1208.69 -425.4 -82.73 - - 3107.31 - - - - - - - - - 16.24 -
10982 end dive: TARGET_DEPTH_EXCEEDED
10982 begin apogee
10986.20 990.05 -7.80 1255 11051.54 -0.28 1.84 0.168 2254.38 144.4 0.12 0.203 2184.38 8130.8 - 61.62 2.441 2774.44 -5.4 0.366 - - - - - - 16.19 15.69 13.12
11053 end apogee: CONTROL_FINISHED_OK
11053 begin climb
11053.38 991.88 - 1262 11127.49 1.37 2.69 0.108 2653.56 148.4 2.97 0.100 3343.00 390.1 82.73 64.96 2.375 2436.44 -5.2 0.363 - - - - - - 15.72 15.30 12.84
11136.15 988.10 5.16 1272 11182.19 done 1.46 - - 2654.94 - 2.67 0.030 2193.88 -430.4 131.15 40.49 2.300 2240.41 -4.8 0.348 - - - - - - - 15.42 12.65
11486.01 955.32 9.98 1312 11491.26 done 1.46 - - 2654.75 - 2.62 0.088 1132.31 -405.2 131.15 - - 2232.44 - - - - - - - - - 15.72 -
11516.52 952.28 10.27 1318 11521.10 done 1.46 - - 2654.94 - 2.63 0.038 2269.69 432.5 131.15 - - 2231.50 - - - - - - - - - 15.74 -
11826.43 920.83 9.83 1350 11827.77 VBD 1.46 - - 2654.25 - - - 2269.75 - 131.15 - - 2228.34 - - - - - - - - - - -
12136.47 889.28 10.62 1381 12137.80 VBD 1.46 - - 2654.69 - - - 2269.81 - 131.15 - - 2228.22 - - - - - - - - - - -
12446.69 858.24 9.87 1412 12451.21 done 1.46 - - 2655.00 - 2.76 0.084 1131.31 -412.5 131.15 - - 2229.81 - - - - - - - - - 16.02 -
12486.13 854.26 10.52 1420 12491.19 done 1.46 - - 2655.25 - 2.59 0.038 2271.25 440.1 131.15 - - 2229.00 - - - - - - - - - 16.02 -
12796.17 824.83 9.41 1452 12797.50 VBD 1.46 - - 2654.81 - - - 2271.19 - 131.15 - - 2226.81 - - - - - - - - - - -
13106.59 795.97 9.80 1483 13107.92 VBD 1.46 - - 2654.25 - - - 2271.31 - 131.15 - - 2226.28 - - - - - - - - - - -
13416.65 765.24 9.62 1514 13417.98 VBD 1.46 - - 2654.38 - - - 2271.12 - 131.15 - - 2226.38 - - - - - - - - - - -
13726.71 734.61 9.96 1545 13728.04 VBD 1.46 - - 2654.12 - - - 2271.69 - 131.15 - - 2226.16 - - - - - - - - - - -
14036.77 704.34 9.72 1576 14038.11 VBD 1.46 - - 2654.44 - - - 2271.06 - 131.15 - - 2225.72 - - - - - - - - - - -
14346.84 675.35 8.92 1607 14351.57 done 1.46 - - 2655.31 - 2.74 0.085 1130.94 -416.1 131.15 - - 2226.62 - - - - - - - - - 16.16 -
14396.47 670.87 9.46 1617 14401.72 done 1.46 - - 2655.00 - 2.57 0.039 2270.94 443.6 131.15 - - 2227.59 - - - - - - - - - 16.16 -
14706.66 644.96 8.11 1649 14707.99 VBD 1.46 - - 2654.31 - - - 2271.19 - 131.15 - - 2225.59 - - - - - - - - - - -
15017.00 619.02 8.50 1680 15018.33 VBD 1.46 - - 2654.75 - - - 2271.25 - 131.15 - - 2225.12 - - - - - - - - - - -
15327.06 591.04 9.18 1711 15328.39 VBD 1.46 - - 2654.31 - - - 2271.00 - 131.15 - - 2225.41 - - - - - - - - - - -
15637.12 562.15 9.26 1742 15638.45 VBD 1.46 - - 2655.69 - - - 2271.38 - 131.15 - - 2225.38 - - - - - - - - - - -
15947.19 533.63 9.09 1773 15951.91 done 1.46 - - 2654.62 - 2.73 0.085 1131.12 -417.7 131.15 - - 2226.03 - - - - - - - - - 16.19 -
16001.35 528.47 9.74 1784 16007.34 done 1.46 - - 2654.69 - 2.56 0.038 2270.75 445.2 131.15 - - 2227.09 - - - - - - - - - 16.20 -
16317.26 499.78 8.97 1816 16318.59 VBD 1.46 - - 2654.50 - - - 2271.44 - 131.15 - - 2225.59 - - - - - - - - - - -
16627.33 471.97 8.95 1847 16632.04 done 1.46 - - 2654.94 - 2.72 0.083 1131.31 -419.2 131.15 - - 2228.09 - - - - - - - - - 16.20 -
16696.96 465.42 9.50 1861 16702.02 done 1.46 - - 2655.19 - 2.56 0.038 2271.88 445.5 131.15 - - 2227.12 - - - - - - - - - 16.19 -
17007.00 437.81 8.63 1893 17008.33 VBD 1.46 - - 2654.94 - - - 2272.12 - 131.15 - - 2225.19 - - - - - - - - - - -
17317.41 411.77 8.32 1924 17322.27 done 1.46 - - 2655.56 - 2.58 0.101 3345.69 416.1 131.15 - - 2228.31 - - - - - - - - - 16.19 -
17401.70 403.83 9.58 1941 17407.57 done 1.46 - - 2653.94 - 2.55 0.031 2190.50 -453.0 131.15 - - 2226.97 - - - - - - - - - 16.20 -
17717.46 376.40 8.69 1973 17718.79 VBD 1.46 - - 2655.31 - - - 2190.94 - 131.15 - - 2225.66 - - - - - - - - - - -
18027.50 350.14 7.99 2004 18028.83 VBD 1.46 - - 2654.88 - - - 2191.69 - 131.15 - - 2225.50 - - - - - - - - - - -
18337.55 327.25 6.59 2035 18338.99 1.50 0.17 0.093 2699.38 261.8 - - 2189.69 - 131.15 - - 2224.91 - - - - - - - - 16.20 - -
18647.20 304.01 7.70 2066 18652.29 done 1.52 - - 2699.88 - 2.78 0.096 3347.25 416.4 131.15 - - 2226.84 - - - - - - - - - 16.20 -
18701.74 299.42 8.49 2077 18707.73 done 1.52 - - 2700.25 - 2.55 0.031 2192.81 -452.7 131.15 - - 2226.28 - - - - - - - - - 16.20 -
19017.65 276.48 7.31 2109 19022.36 done 1.54 - - 2699.50 - 2.78 0.095 3346.81 415.1 131.15 - - 2226.62 - - - - - - - - - 16.19 -
19097.28 269.99 8.04 2125 19102.36 done 1.54 - - 2699.88 - 2.55 0.031 2191.69 -453.0 131.15 - - 2226.53 - - - - - - - - - 16.21 -
19407.75 249.11 6.75 2157 19412.45 done 1.57 - - 2699.00 - 2.78 0.095 3346.44 415.4 131.15 - - 2227.34 - - - - - - - - - 16.20 -
19622.03 231.60 8.29 2200 19627.96 done 1.57 - - 2700.50 - 2.55 0.031 2191.94 -452.7 131.15 - - 2226.88 - - - - - - - - - 16.20 -
19937.89 205.28 8.91 2232 19942.60 done 1.57 - - 2699.88 - 2.77 0.094 3344.94 416.2 131.15 - - 2228.03 - - - - - - - - - 16.20 -
20082.09 190.88 9.96 2261 20088.08 done 1.57 - - 2698.94 - 2.55 0.030 2192.50 -451.9 131.15 - - 2227.56 - - - - - - - - - 16.20 -
20398.18 165.04 7.46 2293 20402.71 done 1.59 - - 2699.94 - 2.76 0.093 3347.06 418.3 131.15 - - 2229.03 - - - - - - - - - 16.20 -
20472.17 158.99 7.98 2308 20478.16 done 1.59 - - 2699.12 - 2.55 0.030 2190.25 -453.7 131.15 - - 2227.56 - - - - - - - - - 16.19 -
20788.10 138.46 6.40 2340 20811.20 VBD 1.65 - - 2700.06 - - - 2189.75 - 161.39 22.15 1.377 2115.91 -5.0 0.085 - - - - - - - - 13.21
21118.17 114.59 7.04 2373 21122.93 roll back 1.68 0.17 0.092 2741.19 241.9 2.77 0.093 3346.19 417.5 161.39 - - 2112.81 - - - - - - - - 16.11 16.11 -
21157.80 111.42 7.31 2381 21162.85 roll 1.71 - - 2741.25 - 2.56 0.030 2189.12 -452.0 161.39 - - 2112.78 - - - - - - - - - 16.10 -
21467.96 89.48 7.39 2427 21473.44 roll 1.73 - - 2740.56 - 2.78 0.092 3346.19 416.2 161.39 - - 2112.84 - - - - - - - - - 16.11 -
21572.93 81.15 7.56 2448 21578.45 roll 1.75 - - 2741.19 - 2.56 0.029 2188.62 -452.2 161.39 - - 2112.97 - - - - - - - - - 16.13 -
21762.98 70.70 4.54 2486 21810.73 1.86 0.18 0.090 2785.00 243.4 2.55 0.086 1131.38 -414.6 218.86 42.89 1.324 1880.88 -5.4 0.048 - - - - - - 16.12 15.89 13.03
21859.23 67.52 3.32 2505 21921.43 done 2.01 - - 2784.56 - 2.57 0.034 2274.94 445.0 294.15 56.08 1.291 1575.88 -5.4 0.048 - - - - - - - 15.96 12.93
22104.59 51.78 8.03 2554 22110.12 done 2.01 - - 2784.88 - 2.60 0.095 3348.00 412.7 294.15 - - 1565.12 - - - - - - - - - 15.84 -
22184.63 44.28 9.38 2570 22190.16 done 2.01 - - 2785.44 - 2.60 0.029 2191.62 -444.8 294.15 - - 1564.41 - - - - - - - - - 15.87 -
22374.76 28.98 8.10 2608 22380.57 done 2.01 - - 2785.19 - 2.56 0.084 1130.12 -414.6 294.15 - - 1561.22 - - - - - - - - - 15.91 -
22414.71 25.52 8.63 2616 22420.25 done 2.01 - - 2785.00 - 2.59 0.035 2273.38 441.4 294.15 - - 1560.47 - - - - - - - - - 15.93 -
22604.80 13.19 5.83 2654 22640.58 2.09 0.25 0.073 2840.31 221.2 2.60 0.096 3347.94 413.3 332.68 28.40 1.194 1419.03 -5.0 0.009 - - - - - - 15.97 15.81 12.99
22730 end climb: SURFACE_DEPTH_REACHED
22730 begin surface coast
22755 end surface coast: CONTROL_FINISHED_OK
22755 begin surface
SM 1.56 - - - - 179.4 32.83 1.186 1245.8 37.1 16.51 0.054 1234.4 74.8 - 2.38 0.028 1257.1 527.1 -3.002 - - 12.94 15.89 15.91 -