NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 481 * Raw log
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• Previous call tries 2 • 154.39 of 550.00 AH used of 24V (71.93% remains)
• Surface angle -63.4 deg, depth 0.57 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.81 (SM_CC=425)
• GPS1 time: 46 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
5.15 - - - 66.94 VBD -1.37 - - 177.06 - - - 2396.12 - -82.73 60.65 0.005 2547.31 - - - - - - - - - - 15.45
67.68 3.27 -5.74 11 102.52 -1.37 14.02 0.250 1997.12 129.8 2.52 0.091 3430.12 410.3 -82.73 12.52 0.007 3112.06 45.1 -3.485 - - - - - - 15.62 15.38 15.50
329.66 53.71 -14.62 63 335.20 roll -1.37 - - 1997.56 - 2.55 0.020 2248.31 -463.5 -82.73 - - 3113.78 - - - - - - - - - 15.84 -
520.09 76.96 -12.27 101 525.49 roll -1.37 - - 1997.44 - 2.87 0.081 3428.50 411.2 -82.73 - - 3114.53 - - - - - - - - - 15.87 -
724.80 101.77 -13.12 142 730.33 roll -1.37 - - 1997.44 - 2.53 0.020 2244.19 -468.1 -82.73 - - 3113.44 - - - - - - - - - 15.89 -
1034.89 135.09 -9.55 204 1040.00 roll -1.37 - - 1997.44 - 2.40 0.064 1206.31 -432.5 -82.73 - - 3113.38 - - - - - - - - - 15.93 -
1114.91 142.75 -9.53 220 1120.44 roll -1.37 - - 1996.81 - 2.57 0.028 2356.00 447.4 -82.73 - - 3114.97 - - - - - - - - - 15.95 -
1425.03 171.38 -9.23 282 1430.55 roll -1.37 - - 1996.94 - 2.57 0.086 3430.12 417.9 -82.73 - - 3113.84 - - - - - - - - - 15.95 -
1505.05 179.80 -10.65 298 1510.57 roll -1.37 - - 1997.50 - 2.52 0.020 2243.81 -470.8 -82.73 - - 3115.03 - - - - - - - - - 15.97 -
1815.13 207.68 -8.38 360 1816.46 no move -1.37 - - 1996.94 - - - 2241.00 - -82.73 - - 3113.81 - - - - - - - - - - -
2120.18 234.13 -9.28 421 2125.76 roll -1.37 - - 1997.06 - 2.85 0.082 3428.62 416.7 -82.73 - - 3114.66 - - - - - - - - - 15.99 -
2160.36 238.27 -10.51 429 2165.78 roll -1.37 - - 1997.62 - 2.52 0.021 2242.94 -470.5 -82.73 - - 3113.84 - - - - - - - - - 15.99 -
2470.24 269.05 -9.72 491 2475.82 roll -1.37 - - 1997.19 - 2.85 0.082 3429.12 416.2 -82.73 - - 3114.19 - - - - - - - - - 15.99 -
2540.24 276.67 -11.10 505 2545.78 roll -1.37 - - 1996.88 - 2.51 0.021 2243.12 -472.5 -82.73 - - 3113.41 - - - - - - - - - 16.01 -
2851.28 304.97 -9.04 561 2855.94 roll -1.37 - - 1997.25 - 2.85 0.083 3429.62 416.3 -82.73 - - 3113.94 - - - - - - - - - 16.00 -
2921.29 311.89 -9.93 571 2936.22 roll -1.37 - - 1995.88 - 2.51 0.021 2243.38 -472.6 -82.73 - - 3113.06 - - - - - - - - - 16.03 -
3237.73 341.19 -9.48 600 3248.80 no move -1.37 - - 1997.44 - - - 2243.06 - -82.73 - - 3113.09 - - - - - - - - - - -
3550.37 372.91 -10.71 629 3561.44 no move -1.37 - - 1997.31 - - - 2243.25 - -82.73 - - 3113.50 - - - - - - - - - - -
3863.22 406.06 -10.30 658 3867.88 roll -1.37 - - 1997.12 - 2.84 0.084 3428.31 417.3 -82.73 - - 3112.38 - - - - - - - - - 16.02 -
3980.44 419.41 -11.54 674 3995.35 roll -1.37 - - 1997.31 - 2.52 0.021 2244.31 -469.8 -82.73 - - 3112.94 - - - - - - - - - 16.04 -
4296.73 448.63 -8.82 703 4307.80 no move -1.37 - - 1996.88 - - - 2245.19 - -82.73 - - 3112.41 - - - - - - - - - - -
4609.98 474.70 -8.08 732 4614.65 roll -1.37 - - 1996.75 - 2.85 0.085 3430.00 415.7 -82.73 - - 3110.41 - - - - - - - - - 16.02 -
4679.99 481.04 -9.05 742 4694.91 roll -1.37 - - 1997.12 - 2.52 0.022 2245.00 -470.2 -82.73 - - 3111.72 - - - - - - - - - 16.04 -
4996.00 506.34 -7.88 769 4997.33 no move -1.37 - - 1997.50 - - - 2245.38 - -82.73 - - 3110.44 - - - - - - - - - - -
5311.04 531.70 -7.92 790 5315.44 roll -1.37 - - 1996.50 - 2.84 0.086 3426.56 415.9 -82.73 - - 3110.78 - - - - - - - - - 16.02 -
5349.58 534.84 -8.16 796 5355.12 roll -1.37 - - 1997.25 - 2.51 0.022 2243.88 -471.2 -82.73 - - 3111.84 - - - - - - - - - 16.05 -
5669.01 559.48 -7.42 818 5673.67 roll -1.37 - - 1997.00 - 2.86 0.086 3428.69 414.3 -82.73 - - 3111.41 - - - - - - - - - 16.03 -
5749.01 566.17 -8.39 830 5754.55 roll -1.37 - - 1997.06 - 2.52 0.022 2246.06 -469.3 -82.73 - - 3109.81 - - - - - - - - - 16.04 -
6068.42 591.35 -8.10 852 6069.75 no move -1.37 - - 1996.94 - - - 2244.81 - -82.73 - - 3108.59 - - - - - - - - - - -
6383.44 619.30 -9.29 873 6384.77 no move -1.37 - - 1997.00 - - - 2245.19 - -82.73 - - 3108.03 - - - - - - - - - - -
6698.63 649.26 -9.44 894 6703.29 roll -1.37 - - 1995.69 - 2.86 0.087 3428.25 413.7 -82.73 - - 3109.50 - - - - - - - - - 16.01 -
6778.65 657.39 -10.21 906 6784.36 roll -1.37 - - 1997.50 - 2.52 0.022 2245.06 -469.5 -82.73 - - 3109.06 - - - - - - - - - 16.04 -
7098.24 686.81 -8.90 928 7099.57 no move -1.37 - - 1997.12 - - - 2243.88 - -82.73 - - 3107.06 - - - - - - - - - - -
7413.11 711.98 -7.55 949 7414.43 no move -1.37 - - 1996.94 - - - 2243.81 - -82.73 - - 3107.16 - - - - - - - - - - -
7728.12 736.24 -7.38 970 7729.45 no move -1.37 - - 1997.00 - - - 2244.62 - -82.73 - - 3106.41 - - - - - - - - - - -
8043.13 759.37 -7.12 991 8047.79 roll -1.37 - - 1995.81 - 2.87 0.087 3428.12 412.4 -82.73 - - 3108.12 - - - - - - - - - 16.01 -
8246 end dive: TARGET_DEPTH_EXCEEDED
8246 begin apogee
8250.88 776.35 -8.52 1020 8324.68 -0.28 1.82 0.146 2263.25 146.9 0.16 0.161 2293.25 -7092.9 - 60.69 2.147 2775.03 -5.5 0.328 - - - - - - 15.93 15.69 11.59
8326 end apogee: CONTROL_FINISHED_OK
8326 begin climb
8326.61 777.96 - 1025 8399.51 1.37 2.60 0.088 2666.94 155.3 2.86 0.076 1131.31 -406.3 82.73 64.24 2.114 2439.69 -5.2 0.318 - - - - - - 15.71 15.39 12.64
8433.16 772.32 6.01 1041 8474.81 done 1.44 - - 2667.25 - 2.65 0.028 2275.12 431.6 118.62 30.31 2.011 2290.09 -4.9 0.314 - - - - - - - 15.54 12.43
8788.69 741.95 8.55 1067 8793.32 roll 1.44 - - 2667.00 - 2.64 0.091 3345.62 405.5 118.62 - - 2283.38 - - - - - - - - - 15.70 -
8846.95 736.60 8.92 1075 8851.55 roll 1.44 - - 2666.69 - 2.58 0.023 2185.44 -449.7 118.62 - - 2286.06 - - - - - - - - - 15.75 -
9163.42 710.25 8.70 1097 9168.04 done 1.44 - - 2667.44 - 2.53 0.077 1128.50 -417.8 118.62 - - 2282.91 - - - - - - - - - 15.83 -
9243.42 703.06 9.06 1109 9248.95 done 1.44 - - 2666.88 - 2.60 0.030 2273.50 440.4 118.62 - - 2283.38 - - - - - - - - - 15.85 -
9562.83 676.01 8.03 1131 9567.45 done 1.44 - - 2666.75 - 2.62 0.092 3347.44 409.9 118.62 - - 2283.06 - - - - - - - - - 15.87 -
9601.36 672.64 8.56 1137 9606.90 done 1.44 - - 2666.81 - 2.55 0.024 2185.62 -455.6 118.62 - - 2282.56 - - - - - - - - - 15.90 -
9920.77 645.47 8.28 1159 9925.43 done 1.44 - - 2667.12 - 2.84 0.088 3347.44 409.1 118.62 - - 2280.25 - - - - - - - - - 15.92 -
9959.31 641.99 8.85 1165 9964.85 done 1.44 - - 2665.62 - 2.55 0.024 2182.31 -456.9 118.62 - - 2282.03 - - - - - - - - - 15.94 -
10278.92 618.65 6.99 1187 10280.25 VBD 1.47 - - 2667.06 - - - 2182.56 - 118.62 - - 2280.16 - - - - - - - - - - -
10593.88 597.18 7.06 1208 10595.31 1.50 0.15 0.093 2705.06 253.3 - - 2182.56 - 118.62 - - 2280.44 - - - - - - - - 15.95 - -
10908.77 572.35 8.14 1229 10910.10 VBD 1.50 - - 2705.50 - - - 2182.69 - 118.62 - - 2279.94 - - - - - - - - - - -
11223.79 545.08 8.98 1250 11228.46 done 1.50 - - 2705.25 - 2.83 0.088 3344.75 410.6 118.62 - - 2281.72 - - - - - - - - - 15.98 -
11302.45 537.30 9.82 1261 11307.07 done 1.50 - - 2705.19 - 2.52 0.024 2185.88 -459.9 118.62 - - 2279.44 - - - - - - - - - 15.99 -
11618.96 507.59 9.16 1283 11620.29 VBD 1.50 - - 2706.00 - - - 2185.69 - 118.62 - - 2278.78 - - - - - - - - - - -
11928.23 483.05 7.56 1309 11932.83 done 1.51 - - 2706.06 - 2.49 0.078 1129.62 -424.1 118.62 - - 2279.50 - - - - - - - - - 15.99 -
12075.55 470.84 8.42 1328 12080.17 done 1.51 - - 2705.88 - 2.57 0.030 2276.25 446.2 118.62 - - 2281.03 - - - - - - - - - 16.00 -
12387.32 448.07 7.17 1357 12398.39 VBD 1.54 - - 2705.94 - - - 2276.00 - 118.62 - - 2280.09 - - - - - - - - - - -
12699.93 426.79 7.00 1386 12704.58 done 1.57 - - 2705.56 - 2.71 0.074 1129.62 -423.0 118.62 - - 2278.62 - - - - - - - - - 16.00 -
12784.33 420.35 7.58 1397 12788.94 done 1.59 - - 2703.62 - 2.56 0.030 2274.31 447.1 118.62 - - 2280.53 - - - - - - - - - 16.01 -
13096.35 398.33 7.18 1426 13101.00 done 1.61 - - 2706.00 - 2.70 0.073 1131.12 -423.4 118.62 - - 2278.06 - - - - - - - - - 16.00 -
13227.94 387.80 7.99 1443 13232.55 done 1.61 - - 2705.81 - 2.56 0.030 2275.94 447.2 118.62 - - 2279.16 - - - - - - - - - 16.01 -
13539.48 363.95 7.99 1472 13550.55 VBD 1.61 - - 2705.88 - - - 2276.25 - 118.62 - - 2279.75 - - - - - - - - - - -
13852.82 338.32 8.10 1501 13863.90 VBD 1.61 - - 2706.06 - - - 2275.88 - 118.62 - - 2279.91 - - - - - - - - - - -
14165.73 314.75 7.55 1530 14170.38 done 1.63 - - 2704.44 - 2.71 0.073 1131.00 -422.5 118.62 - - 2279.38 - - - - - - - - - 16.00 -
14204.27 311.69 7.95 1536 14219.18 done 1.64 - - 2704.44 - 2.56 0.029 2275.62 447.1 118.62 - - 2279.97 - - - - - - - - - 16.03 -
14521.55 287.15 7.21 1582 14527.16 1.67 0.17 0.087 2746.81 249.2 2.71 0.072 1130.00 -422.7 118.62 - - 2279.16 - - - - - - - - 15.97 15.91 -
14756.63 267.41 7.95 1629 14762.15 done 1.68 - - 2747.62 - 2.56 0.030 2275.50 447.5 118.62 - - 2279.28 - - - - - - - - - 16.01 -
15066.73 247.33 6.14 1691 15098.44 done 1.74 - - 2747.50 - 2.71 0.075 1130.19 -422.6 152.66 25.40 1.460 2152.66 -5.0 0.140 - - - - - - - 15.93 11.62
15241.76 233.46 8.52 1726 15247.30 roll 1.74 - - 2747.31 - 2.57 0.030 2273.88 445.0 152.66 - - 2149.09 - - - - - - - - - 15.95 -
15551.89 209.05 7.60 1788 15553.22 no move 1.76 - - 2746.69 - - - 2273.81 - 152.66 - - 2147.53 - - - - - - - - - - -
15856.99 186.91 7.58 1849 15862.51 roll 1.78 - - 2747.25 - 2.60 0.090 3346.12 412.4 152.66 - - 2148.16 - - - - - - - - - 15.94 -
15896.98 183.38 8.82 1857 15902.51 roll 1.78 - - 2746.94 - 2.53 0.023 2184.12 -459.3 152.66 - - 2148.22 - - - - - - - - - 15.96 -
16207.10 158.11 7.94 1919 16212.67 roll 1.79 - - 2747.00 - 2.82 0.085 3346.75 412.3 152.66 - - 2147.69 - - - - - - - - - 15.96 -
16292.11 150.66 8.93 1936 16297.64 roll 1.79 - - 2747.25 - 2.54 0.023 2182.88 -458.2 152.66 - - 2147.59 - - - - - - - - - 15.97 -
16602.34 124.08 8.27 1998 16607.27 roll 1.79 - - 2746.50 - 2.49 0.077 1130.38 -422.7 152.66 - - 2148.19 - - - - - - - - - 15.96 -
16837.18 103.70 8.40 2045 16842.72 roll 1.79 - - 2746.62 - 2.57 0.029 2276.25 445.9 152.66 - - 2147.50 - - - - - - - - - 15.99 -
17147.25 81.04 5.18 2107 17188.89 1.89 0.22 0.072 2801.94 251.5 2.59 0.091 3347.00 413.4 200.75 36.31 1.267 1956.56 -5.3 0.056 - - - - - - 15.96 15.89 11.86
17417.66 61.78 7.82 2161 17422.79 roll 1.90 - - 2800.38 - 2.54 0.023 2182.06 -458.6 200.75 - - 1952.03 - - - - - - - - - 15.90 -
17607.29 51.21 4.81 2199 17653.38 done 2.01 - - 2802.25 - 2.51 0.078 1129.69 -419.3 254.21 40.37 1.206 1737.91 -5.3 0.037 - - - - - - - 15.80 12.19
17882.97 33.47 7.40 2254 17887.86 done 2.03 - - 2801.88 - 2.59 0.028 2275.94 442.6 254.21 - - 1730.41 - - - - - - - - - 15.85 -
18072.37 19.43 6.36 2292 18100.84 2.09 0.20 0.077 2852.62 253.7 2.74 0.071 1130.06 -418.2 285.07 23.58 1.117 1612.47 -5.0 0.014 - - - - - - 15.86 15.80 12.13
18328.01 15.37 0.80 2343 18417.27 2.31 0.22 0.071 2904.81 237.2 2.58 0.027 2279.94 445.7 397.32 83.31 1.152 1156.03 -5.5 0.012 - - - - - - 15.80 15.86 12.22
18519 end climb: SURFACE_DEPTH_REACHED
18519 begin surface coast
18569 end surface coast: CONTROL_FINISHED_OK
18569 begin surface
SM 1.01 - - - - 178.1 21.53 1.071 1043.2 44.6 16.70 0.038 1007.8 60.3 - 0.11 0.128 1078.6 9782.0 -7.889 - - 12.40 15.69 15.72 -