NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 89 * Raw log
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• Previous call tries 3 • 36.24 of 550.00 AH used of 24V (93.41% remains)
• Surface angle -58.7 deg, depth 1.42 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 374.96 (SM_CC=375)
• GPS1 time: 26 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 - - - 64.39 VBD -1.37 - - 185.56 - - - 2236.25 - -82.73 57.04 0.005 2613.44 - - - - - - - - - - 15.78
65.13 3.49 -3.65 11 102.46 -1.37 13.66 0.260 1987.94 131.9 2.51 0.072 1207.94 -409.7 -82.73 12.55 0.007 3112.00 39.7 -3.248 - - - - - - 15.74 15.77 15.82
330.51 54.49 -17.33 64 336.07 roll -1.37 - - 1987.56 - 2.66 0.033 2347.88 428.5 -82.73 - - 3113.38 - - - - - - - - - 15.92 -
521.24 80.94 -11.39 102 526.16 roll -1.37 - - 1988.19 - 2.77 0.062 1208.56 -411.3 -82.73 - - 3113.97 - - - - - - - - - 15.96 -
660.84 96.68 -10.59 130 666.20 roll -1.37 - - 1988.88 - 2.64 0.031 2351.44 432.9 -82.73 - - 3113.34 - - - - - - - - - 15.99 -
855.71 116.47 -10.25 153 860.81 roll -1.37 - - 1988.56 - 2.77 0.063 1208.12 -412.8 -82.73 - - 3113.06 - - - - - - - - - 16.00 -
1045.76 135.21 -8.98 191 1050.85 roll -1.37 - - 1988.31 - 2.63 0.032 2350.56 434.4 -82.73 - - 3113.47 - - - - - - - - - 16.05 -
1355.83 161.27 -9.00 223 1360.93 roll -1.37 - - 1987.94 - 2.74 0.064 1208.69 -416.7 -82.73 - - 3113.75 - - - - - - - - - 16.05 -
1490.41 175.69 -11.25 250 1496.41 roll -1.37 - - 1988.62 - 2.63 0.032 2351.00 434.3 -82.73 - - 3113.56 - - - - - - - - - 16.06 -
1805.94 210.05 -10.54 282 1811.02 roll -1.37 - - 1988.44 - 2.67 0.092 3427.38 403.1 -82.73 - - 3113.72 - - - - - - - - - 16.08 -
1860.48 216.55 -12.02 293 1866.48 roll -1.37 - - 1988.56 - 2.59 0.025 2248.38 -455.2 -82.73 - - 3113.53 - - - - - - - - - 16.10 -
2175.98 250.16 -9.96 325 2180.63 roll -1.37 - - 1987.81 - 2.49 0.069 1207.75 -417.9 -82.73 - - 3115.72 - - - - - - - - - 16.11 -
2206.09 253.08 -9.87 331 2211.12 roll -1.37 - - 1988.94 - 2.62 0.032 2351.75 436.6 -82.73 - - 3114.59 - - - - - - - - - 16.11 -
2516.02 284.49 -9.66 363 2521.11 roll -1.37 - - 1988.88 - 2.73 0.064 1207.38 -419.2 -82.73 - - 3113.88 - - - - - - - - - 16.14 -
2540.55 286.81 -9.44 368 2546.57 roll -1.37 - - 1988.75 - 2.61 0.032 2351.75 438.5 -82.73 - - 3113.91 - - - - - - - - - 16.15 -
2856.06 316.37 -8.73 400 2861.15 roll -1.37 - - 1988.31 - 2.73 0.064 1208.69 -418.7 -82.73 - - 3113.81 - - - - - - - - - 16.15 -
2940.61 324.37 -9.63 417 2946.62 roll -1.37 - - 1988.75 - 2.62 0.033 2350.56 435.8 -82.73 - - 3113.72 - - - - - - - - - 16.16 -
3256.11 354.41 -9.43 449 3257.44 no move -1.37 - - 1987.94 - - - 2350.06 - -82.73 - - 3112.78 - - - - - - - - - - -
3566.53 383.12 -8.84 480 3571.24 roll -1.37 - - 1988.50 - 2.73 0.065 1208.00 -418.3 -82.73 - - 3114.34 - - - - - - - - - 16.17 -
3640.69 389.93 -9.21 495 3646.70 roll -1.37 - - 1988.81 - 2.62 0.033 2350.19 436.0 -82.73 - - 3113.28 - - - - - - - - - 16.18 -
3956.19 417.42 -8.29 527 3961.28 roll -1.37 - - 1988.44 - 2.73 0.065 1209.25 -417.9 -82.73 - - 3113.91 - - - - - - - - - 16.18 -
4126.86 432.21 -8.64 561 4131.32 roll -1.37 - - 1987.19 - 2.62 0.034 2348.56 434.9 -82.73 - - 3115.41 - - - - - - - - - 16.18 -
4436.30 457.47 -8.35 593 4441.38 roll -1.37 - - 1987.94 - 2.67 0.095 3425.44 403.3 -82.73 - - 3115.12 - - - - - - - - - 16.19 -
4526.33 466.06 -9.49 611 4531.40 roll -1.37 - - 1988.00 - 2.57 0.025 2250.56 -457.2 -82.73 - - 3113.38 - - - - - - - - - 16.20 -
4836.40 490.93 -8.45 643 4837.73 no move -1.37 - - 1988.50 - - - 2249.00 - -82.73 - - 3111.78 - - - - - - - - - - -
5146.85 515.33 -7.83 674 5151.60 roll -1.37 - - 1988.75 - 2.93 0.090 3426.00 401.7 -82.73 - - 3112.84 - - - - - - - - - 16.20 -
5261.04 526.04 -9.00 697 5267.03 roll -1.37 - - 1987.12 - 2.57 0.026 2252.19 -456.7 -82.73 - - 3114.09 - - - - - - - - - 16.22 -
5576.56 549.87 -7.79 729 5577.89 no move -1.37 - - 1988.75 - - - 2251.94 - -82.73 - - 3110.28 - - - - - - - - - - -
5887.02 573.62 -7.94 760 5891.76 roll -1.37 - - 1988.12 - 2.92 0.090 3425.38 401.9 -82.73 - - 3112.28 - - - - - - - - - 16.22 -
5951.19 579.79 -9.22 773 5957.17 roll -1.37 - - 1987.25 - 2.56 0.026 2251.62 -458.5 -82.73 - - 3112.31 - - - - - - - - - 16.22 -
6266.73 606.89 -8.70 805 6271.37 roll -1.37 - - 1988.50 - 2.49 0.073 1208.62 -418.9 -82.73 - - 3111.16 - - - - - - - - - 16.21 -
6396.93 618.57 -8.59 831 6401.84 roll -1.37 - - 1988.75 - 2.63 0.033 2350.50 434.2 -82.73 - - 3111.16 - - - - - - - - - 16.22 -
6706.83 643.67 -7.85 863 6711.90 roll -1.37 - - 1987.94 - 2.68 0.095 3426.50 401.5 -82.73 - - 3111.44 - - - - - - - - - 16.22 -
6776.84 650.63 -9.90 877 6781.91 roll -1.37 - - 1988.25 - 2.58 0.026 2251.81 -455.3 -82.73 - - 3109.91 - - - - - - - - - 16.22 -
7086.92 676.66 -7.85 909 7091.57 roll -1.37 - - 1988.62 - 2.50 0.073 1209.25 -417.0 -82.73 - - 3110.88 - - - - - - - - - 16.22 -
7221.49 687.17 -7.89 936 7227.50 roll -1.37 - - 1987.00 - 2.63 0.034 2349.94 433.7 -82.73 - - 3110.94 - - - - - - - - - 16.23 -
7536.99 711.01 -7.79 968 7542.07 roll -1.37 - - 1987.88 - 2.69 0.096 3426.00 400.0 -82.73 - - 3109.31 - - - - - - - - - 16.21 -
7647 end dive: TARGET_DEPTH_EXCEEDED
7647 begin apogee
7651.68 721.01 -8.90 990 7715.53 -0.28 1.78 0.164 2252.94 148.9 0.16 0.161 2285.69 -7126.9 - 59.69 2.060 2772.47 -5.6 0.324 - - - - - - 16.18 15.76 13.10
7725 end apogee: CONTROL_FINISHED_OK
7725 begin climb
7725.83 722.40 - 996 7793.46 1.37 2.62 0.107 2654.50 153.3 - - 2285.50 - 82.73 62.44 1.997 2437.47 -5.4 0.318 - - - - - - 15.80 - 12.91
8098.89 694.69 8.77 1034 8103.99 roll 1.37 - - 2654.94 - 2.72 0.093 3344.06 389.2 82.73 - - 2431.06 - - - - - - - - - 15.82 -
8153.45 689.27 10.17 1045 8159.46 roll 1.37 - - 2654.12 - 2.64 0.027 2190.81 -436.8 82.73 - - 2433.53 - - - - - - - - - 15.86 -
8469.36 664.21 7.19 1077 8470.69 no move 1.39 - - 2654.50 - - - 2191.62 - 82.73 - - 2429.03 - - - - - - - - - - -
8779.38 638.92 9.49 1108 8784.07 roll 1.39 - - 2654.38 - 2.62 0.081 1132.25 -404.3 82.73 - - 2431.91 - - - - - - - - - 16.01 -
8893.56 628.60 7.98 1131 8899.56 done 1.39 - - 2655.62 - 2.65 0.033 2272.81 430.4 82.73 - - 2429.44 - - - - - - - - - 16.03 -
9209.45 608.06 7.71 1163 9210.78 VBD 1.41 - - 2654.44 - - - 2272.06 - 82.73 - - 2428.09 - - - - - - - - - - -
9520.20 584.64 5.70 1194 9552.79 1.49 0.15 0.102 2694.62 267.9 - - 2272.38 - 123.26 30.94 1.840 2272.06 -5.0 0.263 - - - - - - 16.09 - 13.01
9859.13 555.11 9.96 1228 9864.24 roll 1.49 - - 2696.31 - 2.83 0.077 1131.38 -403.2 123.26 - - 2268.28 - - - - - - - - - 16.00 -
9993.70 541.19 10.48 1255 9999.72 roll 1.49 - - 2696.81 - 2.66 0.033 2271.69 428.7 123.26 - - 2267.12 - - - - - - - - - 16.03 -
10309.59 511.94 9.59 1287 10314.29 roll 1.49 - - 2696.69 - 2.72 0.095 3345.94 394.9 123.26 - - 2266.97 - - - - - - - - - 16.04 -
10409.23 500.97 10.96 1307 10414.32 roll 1.49 - - 2696.62 - 2.62 0.027 2191.38 -440.7 123.26 - - 2267.38 - - - - - - - - - 16.08 -
10719.70 473.84 8.13 1339 10721.03 no move 1.49 - - 2696.56 - - - 2190.50 - 123.26 - - 2265.12 - - - - - - - - - - -
11029.76 448.45 8.41 1370 11034.50 roll 1.49 - - 2696.19 - 2.92 0.091 3345.56 395.6 123.26 - - 2265.88 - - - - - - - - - 16.10 -
11189.42 433.77 9.47 1402 11194.52 roll 1.49 - - 2696.81 - 2.61 0.027 2192.06 -442.0 123.26 - - 2265.62 - - - - - - - - - 16.12 -
11499.88 407.23 8.67 1434 11504.63 roll 1.49 - - 2696.31 - 2.91 0.091 3345.56 396.4 123.26 - - 2265.53 - - - - - - - - - 16.14 -
11574.35 399.79 10.30 1449 11580.10 roll 1.49 - - 2696.56 - 2.60 0.027 2191.44 -443.9 123.26 - - 2265.50 - - - - - - - - - 16.14 -
11889.58 373.85 8.23 1481 11894.65 roll 1.49 - - 2696.38 - 2.59 0.080 1130.00 -409.8 123.26 - - 2265.88 - - - - - - - - - 16.16 -
11964.15 367.47 8.38 1496 11970.16 roll 1.49 - - 2696.44 - 2.65 0.033 2271.31 430.7 123.26 - - 2265.34 - - - - - - - - - 16.16 -
12280.07 340.90 8.58 1528 12281.40 no move 1.49 - - 2696.38 - - - 2271.12 - 123.26 - - 2263.91 - - - - - - - - - - -
12590.12 315.30 8.01 1559 12594.84 roll 1.49 - - 2696.25 - 2.78 0.075 1131.56 -409.9 123.26 - - 2265.38 - - - - - - - - - 16.17 -
12764.32 300.63 8.13 1594 12770.33 roll 1.49 - - 2696.31 - 2.64 0.033 2271.31 431.7 123.26 - - 2265.19 - - - - - - - - - 16.17 -
13080.26 276.13 7.75 1626 13084.93 roll 1.50 - - 2697.06 - 2.70 0.095 3345.00 397.7 123.26 - - 2264.59 - - - - - - - - - 16.15 -
13109.87 273.73 7.84 1632 13114.93 roll 1.52 - - 2696.75 - 2.59 0.026 2188.25 -446.6 123.26 - - 2265.28 - - - - - - - - - 16.16 -
13420.33 250.73 7.64 1664 13421.66 no move 1.53 - - 2696.75 - - - 2188.62 - 123.26 - - 2263.16 - - - - - - - - - - -
13730.62 228.04 7.10 1695 13735.10 roll 1.56 - - 2695.50 - 2.91 0.090 3345.06 397.4 123.26 - - 2266.03 - - - - - - - - - 16.18 -
13850.01 218.51 7.93 1719 13855.07 roll 1.57 - - 2697.12 - 2.60 0.027 2188.88 -444.7 123.26 - - 2264.88 - - - - - - - - - 16.17 -
14160.44 197.58 6.27 1751 14186.56 VBD 1.63 - - 2696.88 - - - 2188.50 - 155.31 24.52 1.412 2139.75 -5.1 0.117 - - - - - - - - 13.07
14490.64 171.68 9.06 1784 14495.15 roll 1.63 - - 2697.06 - 2.61 0.080 1131.25 -405.1 155.31 - - 2138.16 - - - - - - - - - 16.07 -
14600.10 160.95 9.76 1806 14605.18 roll 1.63 - - 2697.44 - 2.65 0.032 2272.44 430.6 155.31 - - 2139.00 - - - - - - - - - 16.10 -
14910.54 135.08 7.52 1838 14915.23 roll 1.65 - - 2696.56 - 2.70 0.093 3347.19 398.1 155.31 - - 2137.97 - - - - - - - - - 16.09 -
15020.16 125.64 8.78 1860 15025.25 roll 1.65 - - 2696.81 - 2.61 0.026 2188.69 -443.9 155.31 - - 2137.94 - - - - - - - - - 16.13 -
15330.60 102.54 6.52 1892 15332.04 pitch 1.69 0.20 0.084 2741.00 221.0 - - 2187.19 - 155.31 - - 2136.50 - - - - - - - - 16.10 - -
15635.50 80.46 7.30 1949 15640.89 roll 1.71 - - 2742.06 - 2.58 0.077 1131.31 -409.3 155.31 - - 2137.38 - - - - - - - - - 16.14 -
15870.44 68.52 3.74 1996 15927.72 1.85 0.16 0.096 2783.75 260.6 2.64 0.030 2275.88 433.5 224.52 51.08 1.294 1859.16 -5.4 0.047 - - - - - - 16.10 16.14 13.02
16110.78 58.82 3.70 2044 16166.42 VBD 1.99 - - 2782.75 - - - 2276.06 - 294.30 51.72 1.251 1574.16 -5.5 0.042 - - - - - - - - 12.86
16350.85 40.88 8.52 2092 16356.42 done 1.99 - - 2783.25 - 2.86 0.073 1131.44 -400.2 294.30 - - 1564.78 - - - - - - - - - 15.86 -
16560.94 22.35 7.74 2134 16566.48 done 2.01 - - 2782.44 - 2.66 0.031 2272.69 429.0 294.30 - - 1562.78 - - - - - - - - - 15.93 -
16750.99 10.19 7.19 2172 16756.78 2.03 0.18 0.088 2828.75 257.3 2.72 0.090 3343.81 393.8 294.30 - - 1560.84 - - - - - - - - 15.94 15.95 -
16786.10 7.19 8.12 2179 16791.53 done 2.03 - - 2828.56 - 2.62 0.025 2187.62 -441.3 294.30 - - 1561.22 - - - - - - - - - 15.97 -
16846 end climb: SURFACE_DEPTH_REACHED
16846 begin surface coast
16871 end surface coast: CONTROL_FINISHED_OK
16871 begin surface
SM 0.99 - - - - 181.8 58.60 1.195 1246.4 21.3 16.17 0.051 1217.5 75.3 - 0.34 0.063 1275.3 3743.2 -6.012 - - 12.97 15.98 15.99 -