NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 804 * Raw log
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• Previous call tries 2 • 275.26 of 550.00 AH used of 24V (49.95% remains)
• Surface angle -54.7 deg, depth 0.36 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.94 (SM_CC=425)
• GPS1 time: 35 s, HDOP was 2.1 m
• GPS2 time: 4 s, HDOP was 2.1 m • 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
5.53 - - - 77.54 VBD -1.35 - - 183.12 - - - 2234.75 - -82.73 70.88 0.005 2749.44 - - - - - - - - - - 15.00
78.66 3.05 -4.02 13 106.11 -1.35 14.44 0.240 1993.06 125.3 - - 2234.62 - -82.73 8.23 0.007 3111.81 44.0 -3.237 - - - - - - 15.47 - 15.19
288.20 38.47 -15.16 55 289.53 no move -1.35 - - 1993.06 - - - 2235.00 - -82.73 - - 3112.78 - - - - - - - - - - -
473.22 62.68 -11.66 92 474.55 no move -1.35 - - 1993.31 - - - 2234.56 - -82.73 - - 3113.81 - - - - - - - - - - -
658.27 83.83 -10.71 129 659.60 no move -1.35 - - 1993.12 - - - 2235.00 - -82.73 - - 3112.91 - - - - - - - - - - -
843.41 103.84 -10.42 166 848.97 roll -1.35 - - 1993.44 - 3.02 0.081 3426.56 394.6 -82.73 - - 3114.44 - - - - - - - - - 15.87 -
1018.40 122.42 -10.76 201 1023.95 roll -1.35 - - 1993.94 - 2.59 0.019 2242.69 -457.1 -82.73 - - 3114.62 - - - - - - - - - 15.91 -
1328.53 149.86 -9.15 263 1334.11 roll -1.35 - - 1993.75 - 2.99 0.079 3428.12 396.5 -82.73 - - 3115.28 - - - - - - - - - 15.91 -
1393.54 156.56 -10.54 276 1399.08 roll -1.35 - - 1993.31 - 2.60 0.019 2237.38 -458.0 -82.73 - - 3114.81 - - - - - - - - - 15.95 -
1703.67 182.95 -8.40 338 1708.79 roll -1.35 - - 1993.75 - 2.48 0.062 1208.38 -414.9 -82.73 - - 3114.59 - - - - - - - - - 15.96 -
1738.67 186.04 -8.78 345 1744.23 roll -1.35 - - 1993.38 - 2.64 0.026 2349.38 432.2 -82.73 - - 3115.59 - - - - - - - - - 15.97 -
2048.80 211.51 -8.33 407 2054.35 roll -1.35 - - 1993.31 - 2.80 0.057 1208.19 -407.6 -82.73 - - 3115.56 - - - - - - - - - 15.97 -
2198.84 224.66 -8.89 437 2204.58 roll -1.35 - - 1993.38 - 2.62 0.026 2342.75 433.0 -82.73 - - 3115.09 - - - - - - - - - 15.99 -
2508.93 250.87 -8.59 499 2514.49 roll -1.35 - - 1992.56 - 2.78 0.058 1209.44 -407.7 -82.73 - - 3115.88 - - - - - - - - - 15.98 -
2543.93 254.01 -8.90 506 2549.47 roll -1.35 - - 1992.06 - 2.62 0.026 2341.31 432.0 -82.73 - - 3117.94 - - - - - - - - - 16.00 -
2853.98 279.15 -7.88 568 2859.55 roll -1.35 - - 1993.44 - 2.76 0.086 3426.25 393.1 -82.73 - - 3115.16 - - - - - - - - - 15.94 -
2898.98 283.14 -9.00 577 2904.54 roll -1.35 - - 1993.25 - 2.61 0.019 2233.69 -456.9 -82.73 - - 3114.25 - - - - - - - - - 15.98 -
3207.97 307.62 -8.03 628 3219.04 no move -1.35 - - 1993.62 - - - 2232.62 - -82.73 - - 3114.75 - - - - - - - - - - -
3521.13 333.13 -8.45 657 3532.20 no move -1.35 - - 1993.25 - - - 2232.31 - -82.73 - - 3114.06 - - - - - - - - - - -
3833.86 358.86 -7.79 686 3844.93 no move -1.35 - - 1993.56 - - - 2232.44 - -82.73 - - 3113.31 - - - - - - - - - - -
4146.59 383.55 -8.19 715 4157.66 no move -1.35 - - 1993.56 - - - 2232.25 - -82.73 - - 3113.19 - - - - - - - - - - -
4459.52 408.32 -7.94 744 4464.22 roll -1.35 - - 1993.62 - 3.04 0.083 3423.44 391.8 -82.73 - - 3111.78 - - - - - - - - - 15.95 -
4513.99 412.98 -8.55 752 4528.80 roll -1.35 - - 1993.38 - 2.61 0.020 2233.69 -455.8 -82.73 - - 3112.72 - - - - - - - - - 16.01 -
4830.19 438.38 -8.49 781 4834.81 roll -1.35 - - 1992.06 - 2.51 0.065 1207.56 -408.8 -82.73 - - 3113.31 - - - - - - - - - 15.99 -
4884.47 443.21 -9.02 789 4899.39 roll -1.35 - - 1994.12 - 2.60 0.027 2335.19 433.7 -82.73 - - 3112.34 - - - - - - - - - 16.02 -
5201.54 470.86 -8.18 818 5206.19 roll -1.35 - - 1993.31 - 2.74 0.060 1209.50 -410.8 -82.73 - - 3111.16 - - - - - - - - - 15.99 -
5270.21 476.66 -8.40 827 5274.83 roll -1.35 - - 1993.12 - 2.60 0.027 2336.06 433.3 -82.73 - - 3110.62 - - - - - - - - - 16.02 -
5586.16 501.92 -8.05 856 5590.80 roll -1.35 - - 1993.31 - 2.77 0.089 3425.06 393.1 -82.73 - - 3109.88 - - - - - - - - - 15.93 -
5664.83 508.64 -8.44 867 5669.47 roll -1.35 - - 1993.25 - 2.62 0.020 2233.06 -455.0 -82.73 - - 3110.50 - - - - - - - - - 16.01 -
5981.32 529.81 -6.23 889 5982.65 no move -1.35 - - 1993.31 - - - 2231.94 - -82.73 - - 3109.88 - - - - - - - - - - -
6296.36 548.61 -6.28 910 6301.06 roll -1.35 - - 1993.19 - 3.04 0.085 3428.06 393.5 -82.73 - - 3111.56 - - - - - - - - - 15.93 -
6355.65 552.72 -6.87 919 6361.39 roll -1.35 - - 1993.50 - 2.62 0.020 2235.00 -455.4 -82.73 - - 3111.44 - - - - - - - - - 16.02 -
6675.25 572.02 -6.13 941 6679.17 roll -1.35 - - 1993.75 - 2.49 0.066 1208.94 -412.1 -82.73 - - 3108.25 - - - - - - - - - 15.97 -
6733.79 575.85 -6.43 949 6738.41 roll -1.35 - - 1993.56 - 2.60 0.028 2337.75 434.2 -82.73 - - 3108.81 - - - - - - - - - 16.01 -
7050.27 597.02 -7.17 971 7051.60 no move -1.35 - - 1993.12 - - - 2338.06 - -82.73 - - 3108.75 - - - - - - - - - - -
7365.29 618.94 -6.52 992 7369.94 roll -1.35 - - 1992.38 - 2.77 0.090 3423.06 391.7 -82.73 - - 3108.75 - - - - - - - - - 15.91 -
7383.09 620.05 -6.67 995 7388.65 roll -1.35 - - 1993.31 - 2.62 0.020 2228.88 -455.8 -82.73 - - 3109.72 - - - - - - - - - 16.02 -
7702.50 642.06 -6.50 1017 7707.20 roll -1.35 - - 1993.56 - 3.06 0.085 3426.00 391.2 -82.73 - - 3107.91 - - - - - - - - - 15.92 -
7824.02 650.70 -7.27 1035 7829.58 roll -1.35 - - 1993.50 - 2.61 0.021 2238.12 -455.1 -82.73 - - 3108.72 - - - - - - - - - 16.02 -
8143.44 670.73 -6.37 1057 8148.05 roll -1.35 - - 1993.44 - 2.51 0.067 1209.31 -409.9 -82.73 - - 3107.28 - - - - - - - - - 15.96 -
8202.73 674.81 -7.05 1066 8208.28 roll -1.35 - - 1992.88 - 2.62 0.028 2338.88 431.1 -82.73 - - 3108.66 - - - - - - - - - 16.01 -
8522.13 696.46 -6.84 1088 8523.46 no move -1.35 - - 1993.81 - - - 2338.62 - -82.73 - - 3106.56 - - - - - - - - - - -
8837.34 717.47 -6.70 1109 8838.67 no move -1.35 - - 1993.88 - - - 2339.00 - -82.73 - - 3106.38 - - - - - - - - - - -
9152.34 738.07 -6.76 1130 9156.99 roll -1.35 - - 1992.19 - 2.79 0.062 1209.25 -404.9 -82.73 - - 3106.62 - - - - - - - - - 15.95 -
9294.56 745.54 -4.99 1151 9300.09 roll -1.35 - - 1992.88 - 2.61 0.028 2338.75 432.8 -82.73 - - 3106.75 - - - - - - - - - 16.03 -
9613.97 745.63 -1.45 1173 9618.61 roll -1.35 - - 1993.31 - 2.80 0.094 3424.88 387.9 -82.73 - - 3106.03 - - - - - - - - - 15.89 -
9838 end dive: NO_VERTICAL_VELOCITY
9838 begin apogee
9843.39 745.64 - 1205 9917.23 -0.28 1.75 0.101 2256.88 150.6 0.14 0.166 2162.38 -9017.9 - 63.38 2.107 2774.50 -5.2 0.312 - - - - - - 15.92 15.45 10.48
9919 end apogee: CONTROL_FINISHED_OK
9919 begin climb
9919.53 745.76 - 1210 9994.54 1.35 2.63 0.100 2650.12 149.5 2.99 0.080 993.94 -390.8 82.73 66.28 2.035 2437.69 -5.1 0.314 - - - - - - 15.55 15.67 12.11
10205.03 732.40 5.52 1252 10255.18 done 1.46 - - 2649.69 - 2.68 0.024 2137.06 426.5 137.53 45.67 1.986 2214.19 -4.9 0.304 - - - - - - - 15.68 11.54
10561.02 708.95 6.65 1279 10565.77 roll back 1.49 0.19 0.085 2696.12 244.4 2.95 0.077 992.44 -388.0 137.53 - - 2209.31 - - - - - - - - 15.70 15.67 -
10639.72 702.52 7.99 1290 10644.35 roll 1.49 - - 2696.81 - 2.64 0.025 2135.06 432.8 137.53 - - 2206.75 - - - - - - - - - 15.77 -
10956.20 676.68 8.27 1312 10957.53 no move 1.49 - - 2697.12 - - - 2135.00 - 137.53 - - 2206.12 - - - - - - - - - - -
11271.22 653.19 6.78 1333 11275.90 done 1.53 - - 2696.19 - 2.93 0.078 993.56 -389.6 137.53 - - 2205.19 - - - - - - - - - 15.85 -
11351.25 647.35 7.35 1345 11356.79 done 1.55 - - 2696.88 - 2.63 0.025 2134.25 433.7 137.53 - - 2204.78 - - - - - - - - - 15.90 -
11670.69 624.12 6.89 1367 11675.34 done 1.58 - - 2695.25 - 2.71 0.084 3205.50 395.3 137.53 - - 2204.50 - - - - - - - - - 15.88 -
11833.86 611.32 7.92 1391 11839.28 done 1.59 - - 2696.62 - 2.62 0.025 2063.56 -435.9 137.53 - - 2204.66 - - - - - - - - - 15.94 -
12153.09 586.43 7.96 1413 12154.43 VBD 1.60 - - 2697.38 - - - 2063.69 - 137.53 - - 2202.44 - - - - - - - - - - -
12468.43 562.60 7.29 1434 12473.10 done 1.62 - - 2695.94 - 2.89 0.081 3205.25 395.0 137.53 - - 2204.88 - - - - - - - - - 15.90 -
12651.20 548.48 7.55 1460 12655.83 done 1.64 - - 2696.00 - 2.61 0.025 2067.00 -436.1 137.53 - - 2204.72 - - - - - - - - - 15.97 -
12967.72 527.37 6.56 1482 12969.16 1.68 0.19 0.083 2741.19 237.8 - - 2067.62 - 137.53 - - 2202.47 - - - - - - - - 15.94 - -
13283.13 503.39 7.81 1503 13287.42 done 1.69 - - 2741.50 - 2.88 0.080 3205.00 394.9 137.53 - - 2202.53 - - - - - - - - - 15.91 -
13305.95 502.02 7.91 1507 13320.86 done 1.70 - - 2741.44 - 2.59 0.024 2067.44 -439.2 137.53 - - 2203.38 - - - - - - - - - 15.99 -
13625.58 478.01 7.16 1536 13630.22 done 1.73 - - 2742.25 - 2.70 0.083 995.44 -397.0 137.53 - - 2201.47 - - - - - - - - - 15.90 -
13679.87 473.53 8.16 1544 13694.81 done 1.73 - - 2742.00 - 2.65 0.025 2146.88 434.5 137.53 - - 2203.66 - - - - - - - - - 15.99 -
13996.47 450.23 7.28 1573 14001.56 done 1.75 - - 2741.69 - 2.93 0.078 992.62 -393.9 137.53 - - 2201.69 - - - - - - - - - 15.90 -
14193.11 434.43 8.35 1599 14207.50 done 1.75 - - 2742.06 - 2.62 0.025 2128.88 433.7 137.53 - - 2202.25 - - - - - - - - - 16.00 -
14509.08 412.60 6.99 1628 14513.73 done 1.78 - - 2741.31 - 2.71 0.084 3206.56 397.7 137.53 - - 2201.75 - - - - - - - - - 15.90 -
14562.61 408.35 7.66 1635 14567.25 done 1.80 - - 2742.00 - 2.63 0.025 2050.75 -439.5 137.53 - - 2203.66 - - - - - - - - - 15.98 -
14874.44 385.81 7.31 1664 14885.53 VBD 1.82 - - 2741.94 - - - 2051.06 - 137.53 - - 2202.50 - - - - - - - - - - -
15187.10 363.76 6.92 1693 15191.86 1.85 0.17 0.089 2782.88 240.8 2.92 0.079 3208.25 396.3 137.53 - - 2200.84 - - - - - - - - 15.95 15.85 -
15271.51 356.47 8.54 1704 15276.15 done 1.85 - - 2782.25 - 2.62 0.025 2054.62 -440.3 137.53 - - 2201.19 - - - - - - - - - 15.98 -
15583.31 331.30 8.17 1733 15588.00 done 1.85 - - 2783.31 - 2.91 0.079 3207.56 396.2 137.53 - - 2200.81 - - - - - - - - - 15.90 -
15621.86 328.04 8.51 1739 15636.78 done 1.85 - - 2782.88 - 2.60 0.024 2058.50 -441.9 137.53 - - 2202.31 - - - - - - - - - 16.00 -
15937.97 303.36 7.13 1768 15942.82 done 1.88 - - 2783.19 - 2.89 0.078 3205.75 397.0 137.53 - - 2201.31 - - - - - - - - - 15.90 -
16001.83 298.57 7.45 1776 16006.47 done 1.90 - - 2782.25 - 2.60 0.025 2058.81 -441.1 137.53 - - 2203.69 - - - - - - - - - 15.97 -
16308.99 278.40 6.15 1838 16344.65 VBD 1.99 - - 2783.12 - - - 2059.56 - 180.70 33.53 1.509 2038.72 -4.9 0.153 - - - - - - - - 10.68
16649.03 252.01 7.69 1906 16654.57 roll 2.00 - - 2783.44 - 2.69 0.082 992.44 -396.7 180.70 - - 2034.22 - - - - - - - - - 15.83 -
16754.04 242.13 9.97 1927 16759.60 roll 2.00 - - 2782.62 - 2.64 0.025 2142.00 435.4 180.70 - - 2032.50 - - - - - - - - - 15.89 -
17064.09 214.18 9.37 1989 17069.68 roll 2.00 - - 2783.31 - 2.92 0.077 992.00 -393.8 180.70 - - 2032.12 - - - - - - - - - 15.85 -
17094.08 211.19 9.84 1995 17099.88 roll 2.00 - - 2783.81 - 2.63 0.025 2145.19 438.5 180.70 - - 2031.69 - - - - - - - - - 15.92 -
17404.32 183.90 8.40 2057 17409.77 roll 2.00 - - 2783.00 - 2.86 0.076 992.25 -403.1 180.70 - - 2033.19 - - - - - - - - - 15.85 -
17474.14 177.52 9.18 2071 17479.70 roll 2.00 - - 2783.00 - 2.64 0.025 2143.88 436.2 180.70 - - 2031.56 - - - - - - - - - 15.93 -
17784.19 151.84 8.25 2133 17789.77 roll 2.00 - - 2784.38 - 2.86 0.076 991.38 -403.0 180.70 - - 2030.97 - - - - - - - - - 15.87 -
17884.21 143.33 8.36 2153 17889.74 roll 2.00 - - 2782.81 - 2.60 0.024 2132.94 439.1 180.70 - - 2031.03 - - - - - - - - - 15.95 -
18194.34 120.08 6.94 2215 18195.78 pitch 2.03 0.19 0.083 2826.50 229.9 - - 2133.62 - 180.70 - - 2030.88 - - - - - - - - 15.91 - -
18499.75 102.02 5.55 2276 18547.06 done 2.14 - - 2827.38 - 2.67 0.083 3208.19 402.5 234.98 42.44 1.280 1816.72 -5.0 0.068 - - - - - - - 15.61 11.05
18624.37 92.64 9.24 2301 18630.11 roll 2.14 - - 2827.06 - 2.64 0.024 2043.50 -441.2 234.98 - - 1816.62 - - - - - - - - - 15.83 -
18814.44 80.79 5.28 2339 18866.68 2.26 0.26 0.073 2882.06 211.5 2.62 0.083 992.31 -401.2 294.38 46.38 1.241 1574.66 -5.2 0.057 - - - - - - 15.82 15.54 11.52
18879.45 76.56 6.86 2352 18884.99 roll 2.29 - - 2881.25 - 2.63 0.024 2137.38 435.4 294.38 - - 1572.97 - - - - - - - - - 15.74 -
19069.51 60.48 7.90 2390 19075.08 roll 2.30 - - 2881.81 - 2.86 0.075 991.38 -400.7 294.38 - - 1566.97 - - - - - - - - - 15.76 -
19184.56 50.35 7.07 2413 19190.08 done 2.33 - - 2881.12 - 2.58 0.023 2121.94 438.2 294.38 - - 1565.75 - - - - - - - - - 15.81 -
19374.61 44.55 2.36 2451 19467.33 2.56 0.37 0.065 2952.62 193.2 2.77 0.080 3205.88 391.3 408.19 85.82 1.189 1111.03 -5.3 0.033 - - - - - - 15.81 15.45 11.31
19614.65 22.11 13.12 2499 19620.21 roll 2.56 - - 2952.44 - 2.70 0.024 2035.69 -433.4 408.19 - - 1106.69 - - - - - - - - - 15.69 -
19744 end climb: SURFACE_DEPTH_REACHED
19745 begin surface coast
19780 end surface coast: CONTROL_FINISHED_OK
19780 begin surface
SM 1.19 - - - - 192.9 13.91 1.028 1042.7 75.0 17.15 0.048 1023.8 59.7 - 0.70 0.051 1061.6 1512.7 -3.608 - - 11.49 15.71 15.76 -