NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 88 * Raw log
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• Previous call tries 1 • 35.98 of 550.00 AH used of 24V (93.46% remains)
• Surface angle -59.1 deg, depth 1.44 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 375.13 (SM_CC=375)
• GPS1 time: 35 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
6.14 - - - 64.40 VBD -1.37 - - 180.75 - - - 2266.88 - -82.73 57.10 0.005 2606.09 - - - - - - - - - - 15.75
65.14 3.49 -3.81 11 102.46 -1.37 13.67 0.256 1988.56 132.2 2.59 0.070 1208.50 -408.6 -82.73 12.64 0.007 3113.22 40.1 -3.293 - - - - - - 15.71 15.75 15.78
330.51 52.50 -14.59 64 336.05 roll -1.37 - - 1988.94 - 2.66 0.032 2349.81 429.1 -82.73 - - 3115.00 - - - - - - - - - 15.90 -
521.23 76.50 -11.57 102 526.16 roll -1.37 - - 1988.88 - 2.79 0.062 1208.81 -409.0 -82.73 - - 3113.81 - - - - - - - - - 15.95 -
755.22 102.74 -9.58 149 761.23 roll -1.37 - - 1988.75 - 2.64 0.031 2352.75 433.3 -82.73 - - 3113.25 - - - - - - - - - 15.98 -
1070.75 129.01 -8.59 181 1075.85 roll -1.37 - - 1989.00 - 2.77 0.062 1208.75 -413.0 -82.73 - - 3114.03 - - - - - - - - - 16.02 -
1305.36 149.98 -8.80 228 1311.37 roll -1.37 - - 1989.50 - 2.63 0.031 2353.12 435.1 -82.73 - - 3115.66 - - - - - - - - - 16.05 -
1620.89 178.03 -9.75 260 1625.99 roll -1.37 - - 1989.62 - 2.74 0.062 1208.75 -417.7 -82.73 - - 3113.84 - - - - - - - - - 16.08 -
1855.49 202.33 -10.26 307 1861.50 roll -1.37 - - 1989.25 - 2.61 0.032 2351.44 437.8 -82.73 - - 3114.38 - - - - - - - - - 16.10 -
2170.99 235.46 -10.26 339 2176.09 roll -1.37 - - 1989.50 - 2.76 0.063 1208.38 -414.2 -82.73 - - 3114.16 - - - - - - - - - 16.11 -
2405.57 257.70 -9.06 386 2411.76 roll -1.37 - - 1989.62 - 2.61 0.032 2351.88 438.1 -82.73 - - 3114.38 - - - - - - - - - 16.14 -
2721.26 284.58 -8.23 418 2722.59 no move -1.37 - - 1989.75 - - - 2351.69 - -82.73 - - 3113.53 - - - - - - - - - - -
3031.50 309.54 -8.29 449 3036.21 roll -1.37 - - 1989.19 - 2.74 0.064 1208.75 -417.1 -82.73 - - 3116.41 - - - - - - - - - 16.15 -
3191.52 323.71 -8.63 481 3196.22 roll -1.37 - - 1989.69 - 2.62 0.033 2352.19 436.4 -82.73 - - 3114.94 - - - - - - - - - 16.16 -
3501.18 350.17 -8.46 513 3506.25 roll -1.37 - - 1989.75 - 2.67 0.093 3425.62 402.0 -82.73 - - 3114.69 - - - - - - - - - 16.15 -
3575.73 357.33 -9.60 528 3581.71 roll -1.37 - - 1990.06 - 2.58 0.025 2251.50 -455.1 -82.73 - - 3116.34 - - - - - - - - - 16.18 -
3891.24 383.89 -8.41 560 3892.57 no move -1.37 - - 1989.44 - - - 2251.56 - -82.73 - - 3113.28 - - - - - - - - - - -
4201.69 411.57 -9.70 591 4205.96 roll -1.37 - - 1989.62 - 2.50 0.071 1209.75 -416.7 -82.73 - - 3114.03 - - - - - - - - - 16.19 -
4311.34 422.67 -9.97 613 4316.44 roll -1.37 - - 1989.81 - 2.62 0.033 2351.88 435.9 -82.73 - - 3114.38 - - - - - - - - - 16.19 -
4621.42 454.37 -10.56 645 4626.69 roll -1.37 - - 1989.31 - 2.73 0.066 1208.31 -418.9 -82.73 - - 3114.47 - - - - - - - - - 16.19 -
4781.58 471.48 -10.51 677 4786.55 roll -1.37 - - 1989.31 - 2.62 0.034 2351.75 436.4 -82.73 - - 3113.62 - - - - - - - - - 16.20 -
5091.53 503.58 -10.94 709 5092.86 no move -1.37 - - 1990.06 - - - 2351.44 - -82.73 - - 3112.34 - - - - - - - - - - -
5401.98 535.62 -10.53 740 5403.31 no move -1.37 - - 1990.06 - - - 2351.38 - -82.73 - - 3111.47 - - - - - - - - - - -
5712.04 567.39 -9.87 771 5713.37 no move -1.37 - - 1990.31 - - - 2352.12 - -82.73 - - 3111.47 - - - - - - - - - - -
6022.11 596.95 -9.69 802 6026.83 roll -1.37 - - 1990.00 - 2.74 0.067 1208.56 -417.4 -82.73 - - 3112.62 - - - - - - - - - 16.21 -
6176.31 611.81 -9.38 833 6182.31 roll -1.37 - - 1989.56 - 2.62 0.034 2350.75 436.0 -82.73 - - 3112.47 - - - - - - - - - 16.22 -
6491.84 638.41 -8.36 865 6496.94 roll -1.37 - - 1989.94 - 2.72 0.066 1208.50 -419.9 -82.73 - - 3112.47 - - - - - - - - - 16.23 -
6726.45 658.75 -8.38 912 6732.46 roll -1.37 - - 1989.75 - 2.61 0.034 2349.31 437.1 -82.73 - - 3112.09 - - - - - - - - - 16.23 -
7041.97 683.10 -7.61 944 7043.30 no move -1.37 - - 1989.62 - - - 2348.56 - -82.73 - - 3109.38 - - - - - - - - - - -
7352.38 704.93 -6.88 975 7357.26 roll -1.37 - - 1989.62 - 2.67 0.096 3427.19 404.0 -82.73 - - 3110.50 - - - - - - - - - 16.21 -
7426.66 710.98 -8.07 990 7432.53 roll -1.37 - - 1989.75 - 2.57 0.026 2252.00 -457.3 -82.73 - - 3110.38 - - - - - - - - - 16.23 -
7742.04 733.29 -7.06 1022 7743.37 no move -1.37 - - 1989.56 - - - 2251.50 - -82.73 - - 3109.09 - - - - - - - - - - -
8052.47 754.03 -6.78 1053 8057.13 roll -1.37 - - 1989.38 - 2.49 0.073 1209.31 -418.6 -82.73 - - 3110.44 - - - - - - - - - 16.23 -
8212.51 764.27 -5.86 1085 8217.20 roll -1.37 - - 1989.56 - 2.61 0.034 2350.69 437.3 -82.73 - - 3109.56 - - - - - - - - - 16.23 -
8522.56 783.20 -6.26 1117 8527.23 roll -1.37 - - 1989.50 - 2.66 0.096 3426.69 404.5 -82.73 - - 3109.50 - - - - - - - - - 16.23 -
8642.18 792.24 -7.69 1141 8647.25 roll -1.37 - - 1989.38 - 2.57 0.026 2253.69 -456.4 -82.73 - - 3110.12 - - - - - - - - - 16.22 -
8952.21 813.06 -6.91 1173 8957.33 roll -1.37 - - 1989.62 - 2.90 0.091 3425.88 404.2 -82.73 - - 3109.62 - - - - - - - - - 16.21 -
9187.01 833.33 -8.76 1220 9192.84 roll -1.37 - - 1989.12 - 2.56 0.026 2253.94 -457.8 -82.73 - - 3109.12 - - - - - - - - - 16.23 -
9502.55 858.11 -7.89 1252 9503.88 no move -1.37 - - 1989.50 - - - 2254.12 - -82.73 - - 3107.72 - - - - - - - - - - -
9712 end dive: TARGET_DEPTH_EXCEEDED
9712 begin apogee
9714.38 874.22 -7.97 1273 9778.74 -0.28 1.76 0.155 2254.25 150.4 0.14 0.184 2284.00 213.4 - 60.68 2.255 2772.66 -5.5 0.352 - - - - - - 16.18 15.72 13.01
9780 end apogee: CONTROL_FINISHED_OK
9780 begin climb
9780.58 876.06 - 1279 9852.76 1.37 2.61 0.101 2654.56 153.4 2.78 0.097 3344.38 381.4 82.73 63.65 2.188 2436.12 -5.3 0.349 - - - - - - 15.76 15.37 12.91
9895.99 870.28 6.40 1301 9927.22 done 1.43 - - 2655.44 - 2.68 0.027 2192.38 -429.9 112.89 25.25 2.048 2313.91 -4.8 0.339 - - - - - - - 15.58 12.70
10231.73 843.04 8.21 1338 10233.06 no move 1.43 - - 2655.81 - - - 2193.00 - 112.89 - - 2307.56 - - - - - - - - - - -
10541.78 815.65 8.91 1369 10546.53 roll 1.43 - - 2655.31 - 2.91 0.093 3345.88 396.2 112.89 - - 2307.62 - - - - - - - - - 15.91 -
10646.18 804.86 10.19 1390 10652.04 roll 1.43 - - 2655.00 - 2.62 0.028 2192.44 -440.2 112.89 - - 2307.16 - - - - - - - - - 15.95 -
10961.88 776.51 8.41 1422 10966.63 done 1.43 - - 2655.62 - 2.90 0.092 3345.00 397.4 112.89 - - 2306.25 - - - - - - - - - 16.01 -
11056.07 767.05 9.73 1441 11062.06 done 1.43 - - 2655.56 - 2.60 0.028 2192.62 -443.2 112.89 - - 2306.66 - - - - - - - - - 16.02 -
11371.60 740.14 8.85 1473 11376.71 done 1.43 - - 2655.12 - 2.90 0.092 3346.00 397.7 112.89 - - 2307.03 - - - - - - - - - 16.06 -
11486.17 729.02 9.28 1496 11492.16 done 1.43 - - 2655.62 - 2.60 0.028 2191.12 -444.2 112.89 - - 2304.84 - - - - - - - - - 16.06 -
11802.08 703.46 8.02 1528 11803.41 VBD 1.43 - - 2655.12 - - - 2191.38 - 112.89 - - 2303.19 - - - - - - - - - - -
12112.15 678.01 8.19 1559 12116.89 done 1.43 - - 2655.44 - 2.90 0.092 3346.44 398.3 112.89 - - 2304.78 - - - - - - - - - 16.12 -
12221.79 667.48 9.43 1581 12226.88 done 1.43 - - 2655.06 - 2.61 0.028 2192.56 -442.1 112.89 - - 2306.97 - - - - - - - - - 16.12 -
12532.24 641.98 8.13 1613 12537.15 done 1.43 - - 2654.44 - 2.89 0.093 3344.31 398.5 112.89 - - 2306.78 - - - - - - - - - 16.14 -
12582.04 637.10 9.48 1623 12586.94 done 1.43 - - 2655.12 - 2.59 0.028 2190.00 -445.7 112.89 - - 2306.50 - - - - - - - - - 16.14 -
12891.95 611.66 8.55 1655 12897.01 done 1.43 - - 2654.88 - 2.58 0.083 1130.56 -410.6 112.89 - - 2305.66 - - - - - - - - - 16.15 -
13026.52 599.86 9.00 1682 13032.53 done 1.43 - - 2655.44 - 2.63 0.035 2271.56 433.8 112.89 - - 2305.12 - - - - - - - - - 16.17 -
13342.42 575.70 7.47 1714 13343.75 VBD 1.45 - - 2655.25 - - - 2271.75 - 112.89 - - 2303.00 - - - - - - - - - - -
13652.46 553.24 7.00 1745 13657.14 done 1.48 - - 2655.44 - 2.68 0.096 3345.00 400.5 112.89 - - 2305.00 - - - - - - - - - 16.17 -
13706.60 548.91 8.05 1756 13712.59 done 1.48 - - 2654.56 - 2.58 0.028 2188.06 -448.4 112.89 - - 2304.84 - - - - - - - - - 16.19 -
14022.51 524.96 7.25 1788 14023.95 1.50 0.17 0.094 2699.31 263.2 - - 2187.50 - 112.89 - - 2302.88 - - - - - - - - 16.16 - -
14332.13 498.14 8.29 1819 14337.25 done 1.50 - - 2698.38 - 2.90 0.092 3345.88 399.4 112.89 - - 2305.16 - - - - - - - - - 16.19 -
14366.69 495.15 8.26 1826 14372.67 done 1.50 - - 2698.81 - 2.58 0.028 2188.88 -448.4 112.89 - - 2306.00 - - - - - - - - - 16.19 -
14682.94 469.74 7.34 1858 14687.29 done 1.52 - - 2699.50 - 2.89 0.092 3346.44 400.5 112.89 - - 2304.81 - - - - - - - - - 16.19 -
14762.20 463.31 7.97 1874 14767.26 done 1.52 - - 2700.44 - 2.59 0.028 2189.44 -446.7 112.89 - - 2303.59 - - - - - - - - - 16.19 -
15072.65 439.85 7.73 1906 15077.36 done 1.54 - - 2699.94 - 2.89 0.091 3345.94 400.2 112.89 - - 2305.91 - - - - - - - - - 16.19 -
15182.29 430.35 8.83 1928 15187.35 done 1.54 - - 2700.38 - 2.58 0.028 2189.81 -448.1 112.89 - - 2304.06 - - - - - - - - - 16.19 -
15492.36 404.58 8.23 1960 15493.69 VBD 1.54 - - 2700.50 - - - 2190.00 - 112.89 - - 2302.25 - - - - - - - - - - -
15802.82 379.02 8.05 1991 15804.15 VBD 1.54 - - 2700.75 - - - 2190.25 - 112.89 - - 2302.31 - - - - - - - - - - -
16112.90 356.08 7.11 2022 16117.60 done 1.56 - - 2700.56 - 2.88 0.091 3345.81 401.2 112.89 - - 2304.62 - - - - - - - - - 16.19 -
16152.52 352.80 7.45 2030 16157.58 done 1.59 - - 2700.00 - 2.58 0.028 2190.00 -448.0 112.89 - - 2303.66 - - - - - - - - - 16.20 -
16462.97 331.49 6.67 2062 16467.68 done 1.62 - - 2699.44 - 2.89 0.090 3346.94 400.3 112.89 - - 2304.94 - - - - - - - - - 16.19 -
16537.14 325.71 7.94 2077 16543.31 done 1.63 - - 2700.19 - 2.57 0.027 2188.12 -450.9 112.89 - - 2304.75 - - - - - - - - - 16.20 -
16853.17 303.07 6.96 2109 16857.72 done 1.66 - - 2700.31 - 2.55 0.082 1131.25 -414.5 112.89 - - 2303.81 - - - - - - - - - 16.20 -
16952.70 295.64 7.67 2129 16957.82 1.68 0.16 0.093 2739.75 246.5 2.61 0.033 2272.31 437.2 112.89 - - 2305.09 - - - - - - - - 16.18 16.20 -
17262.76 271.81 7.08 2161 17264.09 VBD 1.70 - - 2740.56 - - - 2272.62 - 112.89 - - 2303.00 - - - - - - - - - - -
17573.21 248.05 8.40 2192 17574.54 VBD 1.70 - - 2740.94 - - - 2271.88 - 112.89 - - 2303.31 - - - - - - - - - - -
17883.27 221.49 8.22 2223 17884.60 VBD 1.70 - - 2741.00 - - - 2273.12 - 112.89 - - 2303.34 - - - - - - - - - - -
18193.35 199.04 6.80 2254 18194.69 VBD 1.74 - - 2740.88 - - - 2272.62 - 112.89 - - 2303.31 - - - - - - - - - - -
18503.57 176.73 6.98 2285 18504.90 VBD 1.77 - - 2740.75 - - - 2272.50 - 112.89 - - 2303.41 - - - - - - - - - - -
18813.43 153.25 7.43 2316 18818.12 done 1.79 - - 2740.12 - 2.75 0.075 1131.56 -414.9 112.89 - - 2306.25 - - - - - - - - - 16.20 -
18933.04 144.08 8.01 2340 18938.13 done 1.79 - - 2740.75 - 2.62 0.032 2273.94 436.0 112.89 - - 2305.19 - - - - - - - - - 16.19 -
19243.49 121.04 5.81 2372 19279.01 1.87 0.18 0.084 2786.81 255.9 2.69 0.094 3345.88 398.5 151.74 28.46 1.343 2157.16 -5.2 0.077 - - - - - - 16.16 16.00 13.10
19363.49 111.27 9.16 2396 19368.17 roll 1.87 - - 2786.75 - 2.58 0.026 2187.31 -449.1 151.74 - - 2154.34 - - - - - - - - - 16.06 -
19673.19 88.33 6.41 2443 19703.79 done 1.93 - - 2787.56 - 2.56 0.080 1130.25 -412.9 181.80 23.27 1.266 2032.38 -5.2 0.060 - - - - - - - 15.94 12.96
19933.21 68.27 8.08 2495 19938.76 roll 1.93 - - 2788.12 - 2.65 0.031 2271.31 430.6 181.80 - - 2028.19 - - - - - - - - - 16.02 -
20123.29 58.41 4.22 2533 20175.55 2.05 0.17 0.088 2830.69 250.4 2.72 0.093 3346.81 395.4 243.89 46.26 1.261 1780.16 -5.4 0.041 - - - - - - 16.02 15.81 13.06
20378.62 38.59 8.13 2584 20384.17 roll 2.05 - - 2830.31 - 2.62 0.025 2188.06 -442.3 243.89 - - 1772.44 - - - - - - - - - 15.94 -
20568.72 26.06 5.20 2622 20610.27 done 2.15 - - 2830.88 - 2.62 0.080 1130.12 -403.8 291.70 35.67 1.195 1585.09 -5.3 0.019 - - - - - - - 15.77 12.96
20663.72 20.53 6.33 2641 20695.17 2.21 0.16 0.091 2871.19 251.9 2.65 0.031 2273.56 431.5 322.93 24.84 1.149 1458.12 -5.1 0.015 - - - - - - 15.84 15.86 12.92
20858 end climb: SURFACE_DEPTH_REACHED
20859 begin surface coast
20884 end surface coast: CONTROL_FINISHED_OK
20884 begin surface
SM 1.16 - - - - 187.0 39.19 1.163 1245.7 31.2 16.63 0.057 1236.9 74.4 - 0.12 0.128 1254.5 10432.1 -9.663 - - 12.84 15.86 15.87 -