NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 81 * Raw log
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• Previous call tries 2 • 33.94 of 550.00 AH used of 24V (93.83% remains)
• Surface angle -63.5 deg, depth 1.65 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 374.89 (SM_CC=375)
• GPS1 time: 43 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
4 end surface: CONTROL_FINISHED_OK
5 begin dive
6.14 - - - 64.31 VBD -1.37 - - 184.06 - - - 2247.75 - -82.73 56.99 0.005 2605.94 - - - - - - - - - - 15.77
65.05 3.20 -3.29 11 102.43 -1.37 13.85 0.259 1988.81 130.3 2.52 0.071 1208.62 -412.4 -82.73 13.09 0.007 3112.72 38.7 -2.916 - - - - - - 15.73 15.76 15.79
330.48 55.29 -16.37 64 336.03 roll -1.37 - - 1988.19 - 2.64 0.033 2349.31 432.1 -82.73 - - 3114.00 - - - - - - - - - 15.91 -
521.33 79.88 -11.90 102 526.13 roll -1.37 - - 1988.38 - 2.74 0.064 1208.88 -416.2 -82.73 - - 3112.84 - - - - - - - - - 15.96 -
580.60 86.46 -10.69 114 586.15 roll -1.37 - - 1988.88 - 2.63 0.033 2351.06 434.3 -82.73 - - 3113.47 - - - - - - - - - 15.97 -
775.68 106.79 -10.65 147 780.76 roll -1.37 - - 1987.56 - 2.73 0.064 1208.75 -418.4 -82.73 - - 3112.81 - - - - - - - - - 15.99 -
880.23 119.01 -11.50 168 886.25 roll -1.37 - - 1988.69 - 2.63 0.032 2352.75 435.0 -82.73 - - 3114.34 - - - - - - - - - 16.00 -
1195.94 153.49 -10.23 200 1200.85 roll -1.37 - - 1987.94 - 2.66 0.090 3426.62 403.7 -82.73 - - 3114.50 - - - - - - - - - 16.04 -
1270.32 161.88 -11.06 215 1276.52 roll -1.37 - - 1989.12 - 2.57 0.024 2248.00 -458.6 -82.73 - - 3113.59 - - - - - - - - - 16.06 -
1585.84 192.34 -9.67 247 1587.17 no move -1.37 - - 1988.56 - - - 2247.50 - -82.73 - - 3113.06 - - - - - - - - - - -
1896.29 222.26 -9.87 278 1897.62 no move -1.37 - - 1988.56 - - - 2247.94 - -82.73 - - 3112.66 - - - - - - - - - - -
2206.34 255.08 -11.00 309 2207.67 no move -1.37 - - 1988.00 - - - 2248.06 - -82.73 - - 3112.62 - - - - - - - - - - -
2516.37 289.41 -11.04 340 2521.11 roll -1.37 - - 1988.31 - 2.91 0.087 3424.81 404.4 -82.73 - - 3115.59 - - - - - - - - - 16.13 -
2656.20 307.08 -12.83 368 2661.14 roll -1.37 - - 1988.06 - 2.56 0.025 2254.25 -457.2 -82.73 - - 3113.44 - - - - - - - - - 16.13 -
2966.05 341.32 -10.79 400 2970.70 roll -1.37 - - 1988.00 - 2.48 0.072 1208.31 -421.8 -82.73 - - 3115.75 - - - - - - - - - 16.14 -
3096.07 355.26 -10.39 426 3101.17 roll -1.37 - - 1988.31 - 2.61 0.033 2350.44 437.6 -82.73 - - 3114.41 - - - - - - - - - 16.16 -
3406.12 385.22 -9.78 458 3411.21 roll -1.37 - - 1988.38 - 2.72 0.067 1208.44 -419.9 -82.73 - - 3114.53 - - - - - - - - - 16.16 -
3450.65 389.59 -10.20 467 3456.66 roll -1.37 - - 1988.31 - 2.61 0.033 2353.31 438.6 -82.73 - - 3114.00 - - - - - - - - - 16.17 -
3766.16 419.77 -9.01 499 3767.49 no move -1.37 - - 1988.81 - - - 2352.56 - -82.73 - - 3112.69 - - - - - - - - - - -
4076.57 448.32 -9.25 530 4077.90 no move -1.37 - - 1989.06 - - - 2353.31 - -82.73 - - 3113.25 - - - - - - - - - - -
4386.62 475.41 -8.61 561 4387.94 no move -1.37 - - 1988.38 - - - 2352.81 - -82.73 - - 3112.38 - - - - - - - - - - -
4696.69 503.38 -9.45 592 4698.02 no move -1.37 - - 1988.75 - - - 2353.38 - -82.73 - - 3111.56 - - - - - - - - - - -
5006.75 531.87 -8.63 623 5011.44 roll -1.37 - - 1988.38 - 2.65 0.093 3425.38 404.5 -82.73 - - 3112.09 - - - - - - - - - 16.19 -
5070.92 538.01 -9.25 636 5077.09 roll -1.37 - - 1988.12 - 2.56 0.025 2252.12 -458.3 -82.73 - - 3112.91 - - - - - - - - - 16.21 -
5386.58 563.73 -7.63 668 5391.58 roll -1.37 - - 1988.31 - 2.90 0.088 3425.94 404.8 -82.73 - - 3112.38 - - - - - - - - - 16.22 -
5466.47 571.25 -9.66 684 5471.53 roll -1.37 - - 1987.50 - 2.55 0.026 2252.00 -460.4 -82.73 - - 3113.81 - - - - - - - - - 16.20 -
5776.54 597.47 -9.06 716 5777.86 no move -1.37 - - 1988.31 - - - 2251.88 - -82.73 - - 3110.69 - - - - - - - - - - -
6086.99 626.03 -9.18 747 6088.32 no move -1.37 - - 1988.19 - - - 2251.06 - -82.73 - - 3110.22 - - - - - - - - - - -
6397.05 654.29 -8.79 778 6401.80 roll -1.37 - - 1988.38 - 2.91 0.089 3426.56 404.0 -82.73 - - 3110.81 - - - - - - - - - 16.21 -
6486.70 663.34 -10.40 796 6491.76 roll -1.37 - - 1988.50 - 2.55 0.026 2255.38 -459.3 -82.73 - - 3111.44 - - - - - - - - - 16.23 -
6796.76 691.43 -8.82 828 6798.09 no move -1.37 - - 1988.38 - - - 2254.19 - -82.73 - - 3109.69 - - - - - - - - - - -
7107.20 716.97 -7.88 859 7111.96 roll -1.37 - - 1988.94 - 2.91 0.090 3425.31 402.4 -82.73 - - 3110.59 - - - - - - - - - 16.22 -
7251.41 729.76 -8.63 888 7257.39 roll -1.37 - - 1988.44 - 2.55 0.026 2253.88 -459.4 -82.73 - - 3109.75 - - - - - - - - - 16.21 -
7566.94 754.10 -8.03 920 7571.58 roll -1.37 - - 1988.56 - 2.49 0.075 1211.00 -418.8 -82.73 - - 3109.81 - - - - - - - - - 16.23 -
7631.65 759.60 -8.67 933 7637.47 roll -1.37 - - 1987.62 - 2.60 0.034 2351.81 438.8 -82.73 - - 3111.38 - - - - - - - - - 16.22 -
7946.98 783.99 -7.53 965 7952.08 roll -1.37 - - 1988.62 - 2.72 0.069 1208.62 -420.3 -82.73 - - 3109.41 - - - - - - - - - 16.22 -
7991.52 787.46 -7.72 974 7997.52 roll -1.37 - - 1988.56 - 2.60 0.034 2350.62 439.2 -82.73 - - 3109.59 - - - - - - - - - 16.24 -
8307.02 811.65 -7.40 1006 8308.35 no move -1.37 - - 1988.38 - - - 2349.94 - -82.73 - - 3107.47 - - - - - - - - - - -
8617.44 834.83 -7.13 1037 8618.77 no move -1.37 - - 1988.00 - - - 2350.19 - -82.73 - - 3107.59 - - - - - - - - - - -
8927.49 857.48 -7.83 1068 8932.18 roll -1.37 - - 1987.25 - 2.68 0.095 3425.31 401.2 -82.73 - - 3109.69 - - - - - - - - - 16.22 -
9037.12 866.94 -8.71 1090 9042.19 roll -1.37 - - 1988.38 - 2.55 0.026 2252.88 -459.8 -82.73 - - 3108.28 - - - - - - - - - 16.23 -
9347.16 889.88 -7.33 1122 9348.49 no move -1.37 - - 1988.88 - - - 2251.88 - -82.73 - - 3106.56 - - - - - - - - - - -
9657.58 912.24 -6.84 1153 9662.33 roll -1.37 - - 1988.38 - 2.92 0.090 3425.75 402.0 -82.73 - - 3108.44 - - - - - - - - - 16.22 -
9741.75 919.29 -8.11 1170 9747.91 roll -1.37 - - 1988.31 - 2.56 0.026 2251.25 -458.8 -82.73 - - 3108.19 - - - - - - - - - 16.23 -
10057.39 941.27 -6.76 1202 10061.92 roll -1.37 - - 1988.50 - 2.48 0.075 1209.69 -420.0 -82.73 - - 3107.34 - - - - - - - - - 16.22 -
10102.00 944.95 -8.17 1211 10107.83 roll -1.37 - - 1988.00 - 2.61 0.034 2351.88 437.6 -82.73 - - 3108.09 - - - - - - - - - 16.24 -
10417.74 968.60 -7.70 1243 10422.44 roll -1.37 - - 1987.19 - 2.67 0.096 3426.12 402.3 -82.73 - - 3108.34 - - - - - - - - - 16.22 -
10527.40 978.50 -8.84 1265 10532.48 roll -1.37 - - 1988.12 - 2.55 0.026 2252.12 -460.4 -82.73 - - 3108.09 - - - - - - - - - 16.23 -
10687 end dive: TARGET_DEPTH_EXCEEDED
10687 begin apogee
10689.23 990.34 -7.63 1282 10754.77 -0.28 1.79 0.157 2252.38 147.6 0.14 0.193 2285.19 236.2 - 61.22 2.394 2774.94 -5.4 0.371 - - - - - - 16.18 15.69 13.00
10764 end apogee: CONTROL_FINISHED_OK
10764 begin climb
10764.77 992.15 - 1288 10834.44 1.37 2.65 0.105 2655.50 152.1 - - 2285.56 - 82.73 64.63 2.334 2435.44 -5.3 0.368 - - - - - - 15.74 - 12.83
11137.97 967.47 7.47 1326 11139.30 no move 1.39 - - 2655.31 - - - 2285.25 - 82.73 - - 2429.12 - - - - - - - - - - -
11448.31 945.40 6.81 1357 11449.64 no move 1.42 - - 2655.81 - - - 2285.06 - 82.73 - - 2428.78 - - - - - - - - - - -
11758.36 922.87 7.26 1388 11763.07 done 1.44 - - 2654.81 - 2.84 0.081 1130.69 -406.5 82.73 - - 2430.88 - - - - - - - - - 15.98 -
11832.53 917.10 7.86 1403 11838.52 done 1.46 - - 2654.50 - 2.64 0.035 2270.19 431.6 82.73 - - 2429.09 - - - - - - - - - 16.00 -
12148.42 893.49 7.76 1435 12149.75 VBD 1.47 - - 2654.38 - - - 2270.31 - 82.73 - - 2427.66 - - - - - - - - - - -
12458.45 869.40 7.61 1466 12463.19 1.49 0.14 0.098 2695.56 294.1 2.70 0.096 3345.56 398.2 82.73 - - 2428.41 - - - - - - - - 16.07 16.06 -
12498.05 865.94 8.66 1474 12503.12 done 1.49 - - 2695.25 - 2.59 0.028 2191.31 -445.7 82.73 - - 2428.66 - - - - - - - - - 16.07 -
12808.09 839.20 8.83 1506 12813.22 done 1.49 - - 2694.88 - 2.90 0.092 3345.50 398.0 82.73 - - 2429.81 - - - - - - - - - 16.10 -
12892.66 830.98 9.85 1523 12898.63 done 1.49 - - 2695.50 - 2.58 0.028 2191.62 -447.2 82.73 - - 2428.00 - - - - - - - - - 16.10 -
13208.15 801.75 9.20 1555 13209.48 VBD 1.49 - - 2695.62 - - - 2191.38 - 82.73 - - 2427.22 - - - - - - - - - - -
13518.81 771.70 9.39 1586 13520.15 VBD 1.49 - - 2695.44 - - - 2191.38 - 82.73 - - 2427.34 - - - - - - - - - - -
13828.62 741.27 9.87 1617 13833.29 done 1.49 - - 2695.81 - 2.55 0.084 1131.31 -415.7 82.73 - - 2428.47 - - - - - - - - - 16.16 -
14008.69 722.24 10.58 1653 14013.38 done 1.49 - - 2695.31 - 2.61 0.035 2272.38 437.2 82.73 - - 2429.31 - - - - - - - - - 16.16 -
14318.76 692.76 9.43 1685 14320.10 VBD 1.49 - - 2695.56 - - - 2272.44 - 82.73 - - 2427.03 - - - - - - - - - - -
14628.83 665.53 8.01 1716 14633.54 done 1.49 - - 2695.12 - 2.74 0.078 1130.12 -416.9 82.73 - - 2427.84 - - - - - - - - - 16.18 -
14678.45 660.97 8.78 1726 14683.54 done 1.49 - - 2694.56 - 2.62 0.035 2271.94 435.8 82.73 - - 2430.28 - - - - - - - - - 16.19 -
14988.93 637.77 7.09 1758 14990.26 VBD 1.51 - - 2695.69 - - - 2271.50 - 82.73 - - 2426.91 - - - - - - - - - - -
15298.98 618.54 5.80 1789 15330.22 VBD 1.59 - - 2695.94 - - - 2272.00 - 121.73 30.06 1.929 2277.31 -5.0 0.263 - - - - - - - - 13.06
15638.65 592.25 8.28 1823 15639.98 no move 1.59 - - 2695.81 - - - 2271.69 - 121.73 - - 2273.38 - - - - - - - - - - -
15949.11 566.37 8.22 1854 15950.44 no move 1.59 - - 2696.00 - - - 2271.88 - 121.73 - - 2272.50 - - - - - - - - - - -
16259.42 541.65 7.77 1885 16260.75 no move 1.61 - - 2695.31 - - - 2271.50 - 121.73 - - 2272.19 - - - - - - - - - - -
16569.23 515.98 8.57 1916 16570.56 no move 1.61 - - 2695.75 - - - 2271.88 - 121.73 - - 2272.59 - - - - - - - - - - -
16879.29 489.65 8.43 1947 16883.99 roll 1.61 - - 2695.62 - 2.69 0.096 3345.06 399.0 121.73 - - 2275.34 - - - - - - - - - 16.14 -
16913.46 486.53 8.74 1954 16919.78 roll 1.61 - - 2695.31 - 2.58 0.028 2189.19 -448.0 121.73 - - 2273.75 - - - - - - - - - 16.14 -
17229.35 458.90 8.89 1986 17234.02 roll 1.61 - - 2695.75 - 2.57 0.083 1132.25 -411.3 121.73 - - 2273.03 - - - - - - - - - 16.14 -
17288.97 453.07 9.62 1998 17294.06 roll 1.61 - - 2695.25 - 2.61 0.034 2271.25 436.4 121.73 - - 2273.97 - - - - - - - - - 16.16 -
17599.58 424.74 8.98 2030 17600.91 no move 1.61 - - 2696.12 - - - 2271.12 - 121.73 - - 2270.84 - - - - - - - - - - -
17909.44 397.20 8.81 2061 17910.77 no move 1.61 - - 2695.56 - - - 2271.44 - 121.73 - - 2271.31 - - - - - - - - - - -
18219.48 370.74 8.64 2092 18224.18 roll 1.61 - - 2695.75 - 2.78 0.078 1129.69 -410.7 121.73 - - 2273.16 - - - - - - - - - 16.18 -
18293.64 364.11 8.90 2107 18299.64 roll 1.61 - - 2695.06 - 2.63 0.034 2272.25 434.4 121.73 - - 2274.09 - - - - - - - - - 16.18 -
18609.54 338.30 7.83 2139 18614.42 roll 1.62 - - 2695.75 - 2.78 0.077 1129.62 -411.0 121.73 - - 2273.47 - - - - - - - - - 16.18 -
18663.86 333.59 8.82 2150 18669.70 roll 1.62 - - 2696.19 - 2.61 0.034 2268.56 436.4 121.73 - - 2272.34 - - - - - - - - - 16.18 -
18979.58 312.19 6.04 2182 19014.53 1.69 0.20 0.084 2740.88 223.5 2.78 0.079 1132.50 -408.7 157.18 27.58 1.566 2135.16 -5.0 0.163 - - - - - - 16.17 15.98 13.10
19069.20 304.32 9.85 2200 19074.28 roll 1.69 - - 2741.56 - 2.64 0.034 2271.25 431.3 157.18 - - 2131.38 - - - - - - - - - 16.04 -
19379.63 274.42 9.67 2232 19384.34 roll 1.69 - - 2741.50 - 2.78 0.077 1131.25 -410.1 157.18 - - 2130.12 - - - - - - - - - 16.09 -
19443.81 267.42 10.86 2245 19449.82 roll 1.69 - - 2742.19 - 2.63 0.034 2270.56 433.2 157.18 - - 2129.22 - - - - - - - - - 16.10 -
19759.90 236.24 10.15 2277 19761.23 no move 1.69 - - 2741.69 - - - 2269.81 - 157.18 - - 2127.47 - - - - - - - - - - -
20069.79 202.14 12.34 2308 20071.12 no move 1.69 - - 2742.44 - - - 2270.00 - 157.18 - - 2126.91 - - - - - - - - - - -
20379.86 166.34 10.92 2339 20384.56 roll 1.69 - - 2741.88 - 2.77 0.075 1131.62 -411.0 157.18 - - 2128.22 - - - - - - - - - 16.12 -
20499.50 153.40 11.24 2363 20504.78 roll 1.69 - - 2742.19 - 2.62 0.034 2271.06 434.9 157.18 - - 2127.81 - - - - - - - - - 16.12 -
20810.09 127.07 7.21 2395 20814.67 roll 1.71 - - 2741.12 - 2.77 0.075 1130.06 -411.9 157.18 - - 2129.97 - - - - - - - - - 16.15 -
20899.61 120.53 7.19 2413 20904.68 roll 1.74 - - 2741.69 - 2.62 0.033 2271.38 435.6 157.18 - - 2127.81 - - - - - - - - - 16.14 -
21210.07 100.73 6.92 2445 21214.76 roll 1.77 - - 2742.00 - 2.68 0.092 3345.56 400.8 157.18 - - 2128.59 - - - - - - - - - 16.13 -
21269.71 96.75 6.79 2457 21275.21 roll 1.80 - - 2741.69 - 2.56 0.026 2184.25 -453.6 157.18 - - 2129.62 - - - - - - - - - 16.14 -
21459.77 84.34 6.81 2495 21465.28 roll 1.84 - - 2742.12 - 2.52 0.079 1129.94 -418.4 157.18 - - 2128.59 - - - - - - - - - 16.13 -
21694.87 70.23 4.97 2542 21737.57 1.94 0.29 0.072 2805.19 217.5 2.60 0.031 2276.25 440.9 208.29 38.04 1.282 1925.62 -5.3 0.048 - - - - - - 16.12 16.16 13.03
21920.63 58.05 5.79 2587 21957.36 done 2.02 - - 2806.06 - 2.78 0.075 1131.50 -411.8 247.46 30.03 1.234 1764.44 -5.4 0.042 - - - - - - - 15.83 12.93
22110.69 43.60 7.95 2625 22116.22 roll 2.03 - - 2805.25 - 2.62 0.032 2272.06 435.3 247.46 - - 1758.22 - - - - - - - - - 15.94 -
22300.76 31.65 6.11 2663 22330.58 VBD 2.10 - - 2804.62 - - - 2272.12 - 281.86 26.32 1.183 1627.06 -5.0 0.022 - - - - - - - - 12.95
22515.83 21.25 5.17 2706 22557.51 2.19 0.28 0.070 2867.44 224.4 2.69 0.093 3344.38 398.6 330.08 37.10 1.183 1428.59 -5.3 0.016 - - - - - - 15.93 15.74 12.89
22600.86 14.03 10.16 2723 22606.38 roll 2.19 - - 2865.81 - 2.61 0.026 2188.25 -443.0 330.08 - - 1426.50 - - - - - - - - - 15.82 -
22720 end climb: SURFACE_DEPTH_REACHED
22721 begin surface coast
22746 end surface coast: CONTROL_FINISHED_OK
22746 begin surface
SM 2.15 - - - - 183.4 34.06 1.162 1246.7 36.6 16.53 0.051 1229.4 74.4 - 0.33 0.052 1264.1 3822.7 -16.154 - - 12.90 15.86 15.89 -