NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 914 * Raw log
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• Previous call tries 1 • 321.00 of 550.00 AH used of 24V (41.64% remains)
• Surface angle -63.6 deg, depth 0.56 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.91 (SM_CC=425)
• GPS1 time: 24 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
5.66 - - - 77.14 VBD -1.35 - - 179.38 - - - 2251.38 - -82.73 70.31 0.005 2723.94 - - - - - - - - - - 14.95
78.25 3.05 -4.54 13 111.74 -1.35 14.95 0.243 1992.00 121.2 3.04 0.084 3426.56 386.6 -82.73 9.11 0.007 3110.78 42.5 -3.198 - - - - - - 15.40 14.97 15.14
318.87 44.24 -16.33 61 324.42 roll -1.35 - - 1992.00 - 2.60 0.018 2252.38 -451.6 -82.73 - - 3111.78 - - - - - - - - - 15.81 -
509.58 68.48 -9.45 99 514.47 roll -1.35 - - 1992.19 - 2.56 0.060 1208.94 -407.6 -82.73 - - 3113.25 - - - - - - - - - 15.84 -
623.99 80.18 -10.49 122 629.53 roll -1.35 - - 1992.19 - 2.64 0.026 2341.56 429.0 -82.73 - - 3112.81 - - - - - - - - - 15.88 -
814.43 98.56 -9.51 160 819.60 roll -1.35 - - 1991.69 - 2.78 0.056 1209.19 -407.3 -82.73 - - 3114.31 - - - - - - - - - 15.88 -
834.03 100.58 -9.81 164 839.59 roll -1.35 - - 1991.06 - 2.62 0.025 2341.62 432.2 -82.73 - - 3113.38 - - - - - - - - - 15.91 -
1144.10 126.79 -7.86 226 1149.64 roll -1.35 - - 1991.81 - 2.77 0.084 3425.81 391.4 -82.73 - - 3113.50 - - - - - - - - - 15.87 -
1239.10 135.28 -8.78 245 1244.66 roll -1.35 - - 1992.44 - 2.61 0.018 2235.75 -456.0 -82.73 - - 3113.50 - - - - - - - - - 15.93 -
1549.15 159.80 -8.20 307 1554.67 roll -1.35 - - 1992.12 - 2.51 0.062 1208.44 -409.3 -82.73 - - 3112.47 - - - - - - - - - 15.94 -
1609.15 164.87 -8.50 319 1614.70 roll -1.35 - - 1992.25 - 2.61 0.025 2337.06 432.4 -82.73 - - 3114.12 - - - - - - - - - 15.96 -
1919.32 190.17 -8.15 381 1924.78 roll -1.35 - - 1992.38 - 2.76 0.057 1208.06 -409.1 -82.73 - - 3112.94 - - - - - - - - - 15.94 -
2019.21 198.98 -8.77 401 2024.75 roll -1.35 - - 1992.12 - 2.59 0.025 2329.31 432.9 -82.73 - - 3114.03 - - - - - - - - - 15.97 -
2329.27 224.29 -8.04 463 2334.83 roll -1.35 - - 1992.81 - 2.74 0.058 1209.50 -408.7 -82.73 - - 3114.16 - - - - - - - - - 15.95 -
2404.28 230.75 -8.61 478 2409.82 roll -1.35 - - 1992.25 - 2.58 0.025 2323.50 431.8 -82.73 - - 3113.03 - - - - - - - - - 15.98 -
2714.33 257.05 -8.32 540 2715.66 no move -1.35 - - 1992.00 - - - 2323.56 - -82.73 - - 3112.06 - - - - - - - - - - -
3019.38 281.42 -7.67 601 3024.95 roll -1.35 - - 1992.12 - 2.72 0.058 1208.12 -410.1 -82.73 - - 3115.28 - - - - - - - - - 15.96 -
3069.38 285.44 -8.11 611 3074.92 roll -1.35 - - 1991.88 - 2.56 0.025 2319.12 434.0 -82.73 - - 3113.34 - - - - - - - - - 15.99 -
3380.91 310.64 -8.29 659 3385.75 roll -1.35 - - 1992.31 - 2.82 0.085 3424.94 392.1 -82.73 - - 3112.72 - - - - - - - - - 15.92 -
3418.28 314.06 -8.79 664 3422.92 roll -1.35 - - 1992.12 - 2.65 0.019 2212.62 -457.5 -82.73 - - 3113.78 - - - - - - - - - 15.99 -
3729.95 339.71 -8.16 693 3741.02 no move -1.35 - - 1992.12 - - - 2211.00 - -82.73 - - 3113.12 - - - - - - - - - - -
4042.70 364.57 -7.89 722 4053.77 no move -1.35 - - 1992.44 - - - 2210.75 - -82.73 - - 3113.12 - - - - - - - - - - -
4355.74 389.53 -8.28 751 4360.44 roll -1.35 - - 1991.69 - 3.10 0.081 3427.69 392.6 -82.73 - - 3114.00 - - - - - - - - - 15.92 -
4408.67 394.40 -8.93 758 4413.30 roll -1.35 - - 1992.25 - 2.63 0.019 2221.44 -458.7 -82.73 - - 3113.06 - - - - - - - - - 15.99 -
4720.35 419.56 -7.51 787 4731.41 no move -1.35 - - 1992.56 - - - 2220.75 - -82.73 - - 3112.47 - - - - - - - - - - -
5033.83 442.88 -7.30 816 5044.90 no move -1.35 - - 1992.44 - - - 2220.56 - -82.73 - - 3112.47 - - - - - - - - - - -
5346.67 466.53 -7.62 845 5357.74 no move -1.35 - - 1992.81 - - - 2220.19 - -82.73 - - 3112.28 - - - - - - - - - - -
5659.73 490.95 -7.66 874 5664.43 roll -1.35 - - 1992.62 - 3.09 0.082 3427.19 390.6 -82.73 - - 3111.88 - - - - - - - - - 15.91 -
5698.28 494.16 -8.21 880 5713.22 roll -1.35 - - 1992.81 - 2.65 0.019 2220.38 -455.4 -82.73 - - 3111.12 - - - - - - - - - 16.01 -
6018.36 519.02 -7.42 903 6019.69 no move -1.35 - - 1992.19 - - - 2220.12 - -82.73 - - 3110.00 - - - - - - - - - - -
6333.37 541.77 -6.99 924 6338.25 roll -1.35 - - 1992.06 - 3.08 0.083 3426.62 391.7 -82.73 - - 3108.84 - - - - - - - - - 15.90 -
6392.82 545.97 -7.13 933 6398.27 roll -1.35 - - 1992.12 - 2.63 0.019 2225.19 -456.8 -82.73 - - 3110.94 - - - - - - - - - 16.01 -
6712.14 566.54 -6.24 955 6716.73 roll -1.35 - - 1992.44 - 2.49 0.066 1209.12 -408.1 -82.73 - - 3109.47 - - - - - - - - - 15.95 -
6817.90 573.20 -6.70 971 6832.82 roll -1.35 - - 1992.31 - 2.56 0.027 2318.62 433.4 -82.73 - - 3110.34 - - - - - - - - - 16.01 -
7147.49 597.20 -7.25 993 7152.13 roll -1.35 - - 1992.25 - 2.72 0.061 1209.12 -407.9 -82.73 - - 3110.38 - - - - - - - - - 15.95 -
7253.27 604.52 -7.34 1009 7268.18 roll -1.35 - - 1992.31 - 2.54 0.027 2307.75 432.5 -82.73 - - 3110.47 - - - - - - - - - 16.02 -
7582.69 626.66 -6.34 1031 7587.31 roll -1.35 - - 1991.38 - 2.70 0.062 1209.38 -406.8 -82.73 - - 3110.62 - - - - - - - - - 15.95 -
7667.73 632.17 -6.94 1044 7682.66 roll -1.35 - - 1991.38 - 2.52 0.027 2300.75 433.1 -82.73 - - 3111.22 - - - - - - - - - 16.01 -
7997.13 655.63 -7.27 1066 7998.46 no move -1.35 - - 1992.00 - - - 2300.81 - -82.73 - - 3108.88 - - - - - - - - - - -
8312.17 677.24 -6.46 1087 8313.50 no move -1.35 - - 1991.88 - - - 2300.69 - -82.73 - - 3107.84 - - - - - - - - - - -
8627.16 698.52 -6.94 1108 8631.98 roll -1.35 - - 1992.19 - 2.66 0.063 1209.31 -410.3 -82.73 - - 3107.22 - - - - - - - - - 15.94 -
8685.22 702.79 -7.26 1116 8689.83 roll -1.35 - - 1991.94 - 2.51 0.026 2300.38 434.7 -82.73 - - 3108.84 - - - - - - - - - 16.01 -
9001.69 725.75 -7.01 1138 9006.35 roll -1.35 - - 1992.19 - 2.89 0.089 3427.06 389.9 -82.73 - - 3109.81 - - - - - - - - - 15.88 -
9123.54 735.50 -8.21 1156 9129.09 roll -1.35 - - 1992.25 - 2.67 0.020 2206.31 -457.2 -82.73 - - 3108.12 - - - - - - - - - 16.00 -
9442.98 757.10 -6.28 1178 9447.57 roll -1.35 - - 1991.88 - 2.45 0.070 1209.56 -406.8 -82.73 - - 3109.50 - - - - - - - - - 15.93 -
9480.19 759.26 -6.04 1183 9484.80 roll -1.35 - - 1991.81 - 2.52 0.026 2306.00 435.1 -82.73 - - 3110.38 - - - - - - - - - 15.99 -
9796.67 762.82 -1.53 1205 9798.00 no move -1.35 - - 1992.12 - - - 2305.94 - -82.73 - - 3105.91 - - - - - - - - - - -
10036 end dive: NO_VERTICAL_VELOCITY
10037 begin apogee
10038.78 762.88 - 1221 10114.07 -0.28 1.76 0.090 2257.75 150.9 0.17 0.143 2162.56 -843.4 - 65.58 2.112 2774.12 -5.1 0.316 - - - - - - 15.93 15.31 10.48
10116 end apogee: CONTROL_FINISHED_OK
10116 begin climb
10116.50 762.91 - 1226 10204.32 1.35 2.73 0.116 2650.81 144.0 3.00 0.082 996.69 -388.6 82.73 68.20 2.091 2437.53 -4.9 0.311 - - - - - - 15.50 15.64 11.77
10207.10 762.72 0.20 1239 10354.69 1.65 0.45 0.061 2733.88 184.6 2.71 0.022 2142.94 423.0 236.82 130.04 2.094 1807.62 -4.8 0.305 - - - - - - 15.34 15.42 11.64
10666.26 720.20 10.30 1280 10670.91 done 1.65 - - 2733.88 - 2.74 0.084 3205.69 387.9 236.82 - - 1797.78 - - - - - - - - - 15.68 -
10788.11 706.13 11.80 1298 10793.67 done 1.65 - - 2734.00 - 2.66 0.025 2048.12 -435.2 236.82 - - 1796.62 - - - - - - - - - 15.76 -
11107.52 673.02 9.89 1320 11108.86 VBD 1.65 - - 2733.88 - - - 2048.31 - 236.82 - - 1793.09 - - - - - - - - - - -
11422.53 640.88 10.40 1341 11427.40 done 1.65 - - 2734.31 - 2.96 0.079 3202.56 389.9 236.82 - - 1794.38 - - - - - - - - - 15.85 -
11501.37 632.23 10.93 1352 11506.01 done 1.65 - - 2733.94 - 2.61 0.025 2056.38 -439.1 236.82 - - 1794.47 - - - - - - - - - 15.89 -
11817.88 600.14 10.06 1374 11822.56 done 1.65 - - 2734.25 - 2.94 0.080 3205.88 391.0 236.82 - - 1792.88 - - - - - - - - - 15.87 -
11856.42 596.15 10.43 1380 11861.98 done 1.65 - - 2733.38 - 2.61 0.025 2056.12 -440.5 236.82 - - 1793.62 - - - - - - - - - 15.93 -
12175.85 565.30 9.00 1402 12180.49 done 1.65 - - 2734.19 - 2.66 0.085 993.69 -399.4 236.82 - - 1791.00 - - - - - - - - - 15.87 -
12255.88 558.03 9.20 1414 12261.43 done 1.65 - - 2734.56 - 2.62 0.025 2128.94 433.3 236.82 - - 1791.59 - - - - - - - - - 15.95 -
12575.29 530.12 8.66 1436 12579.96 done 1.65 - - 2734.31 - 2.85 0.080 993.62 -398.4 236.82 - - 1790.41 - - - - - - - - - 15.88 -
12613.83 526.56 9.12 1442 12619.39 done 1.65 - - 2734.19 - 2.61 0.024 2124.19 433.2 236.82 - - 1791.25 - - - - - - - - - 15.96 -
12933.24 498.81 8.60 1464 12937.91 done 1.65 - - 2734.25 - 2.74 0.084 3202.75 393.6 236.82 - - 1790.66 - - - - - - - - - 15.89 -
12956.06 496.86 8.70 1468 12971.00 done 1.65 - - 2734.31 - 2.62 0.025 2048.69 -440.5 236.82 - - 1791.41 - - - - - - - - - 15.97 -
13273.14 468.11 9.01 1497 13277.83 done 1.65 - - 2734.38 - 2.95 0.079 3203.00 391.3 236.82 - - 1788.81 - - - - - - - - - 15.89 -
13311.68 464.59 9.25 1503 13326.62 done 1.65 - - 2734.12 - 2.61 0.024 2056.12 -439.4 236.82 - - 1789.94 - - - - - - - - - 15.97 -
13627.90 437.27 8.94 1532 13638.98 VBD 1.65 - - 2735.00 - - - 2056.62 - 236.82 - - 1790.09 - - - - - - - - - - -
13940.64 406.42 10.01 1561 13945.32 done 1.65 - - 2735.00 - 2.94 0.079 3203.75 390.2 236.82 - - 1789.03 - - - - - - - - - 15.90 -
13993.91 400.76 10.41 1568 13998.55 done 1.65 - - 2734.94 - 2.61 0.024 2057.81 -439.1 236.82 - - 1791.09 - - - - - - - - - 15.97 -
14306.20 370.81 9.73 1597 14310.89 done 1.65 - - 2735.06 - 2.93 0.078 3204.81 391.5 236.82 - - 1789.16 - - - - - - - - - 15.89 -
14329.02 368.57 9.96 1601 14343.94 done 1.65 - - 2734.75 - 2.60 0.024 2061.69 -439.7 236.82 - - 1790.06 - - - - - - - - - 15.98 -
14645.23 336.03 10.34 1630 14656.31 VBD 1.65 - - 2735.19 - - - 2061.56 - 236.82 - - 1789.78 - - - - - - - - - - -
14958.31 304.73 9.49 1659 14963.00 done 1.65 - - 2734.75 - 2.91 0.078 3204.50 392.8 236.82 - - 1789.31 - - - - - - - - - 15.89 -
14996.87 300.96 9.83 1665 15011.97 done 1.65 - - 2734.69 - 2.60 0.024 2058.00 -441.0 236.82 - - 1789.62 - - - - - - - - - 15.99 -
15315.01 272.46 8.77 1726 15320.61 done 1.65 - - 2734.69 - 2.92 0.078 3204.81 392.7 236.82 - - 1789.50 - - - - - - - - - 15.88 -
15340.00 270.13 9.11 1731 15345.55 done 1.65 - - 2734.56 - 2.59 0.024 2060.06 -442.0 236.82 - - 1789.41 - - - - - - - - - 15.96 -
15650.07 244.54 8.18 1793 15655.62 done 1.65 - - 2734.69 - 2.69 0.084 993.50 -396.5 236.82 - - 1790.56 - - - - - - - - - 15.86 -
15680.06 241.93 8.56 1799 15685.62 done 1.65 - - 2734.81 - 2.63 0.024 2141.75 436.6 236.82 - - 1790.22 - - - - - - - - - 15.97 -
15990.14 218.10 7.40 1861 15995.69 done 1.68 - - 2735.31 - 2.89 0.078 993.62 -397.3 236.82 - - 1790.22 - - - - - - - - - 15.87 -
16040.13 214.18 7.93 1871 16045.67 done 1.69 - - 2735.06 - 2.63 0.024 2138.56 435.3 236.82 - - 1789.09 - - - - - - - - - 15.97 -
16350.20 193.46 6.57 1933 16355.92 done 1.72 - - 2735.44 - 2.70 0.082 3204.69 394.9 236.82 - - 1789.12 - - - - - - - - - 15.88 -
16370.30 191.99 6.92 1937 16375.72 done 1.76 - - 2733.75 - 2.61 0.024 2052.69 -441.4 236.82 - - 1791.03 - - - - - - - - - 15.97 -
16680.23 170.76 7.06 1999 16685.81 done 1.78 - - 2734.62 - 2.93 0.077 3203.06 392.6 236.82 - - 1789.47 - - - - - - - - - 15.87 -
16725.23 167.39 7.50 2008 16730.75 done 1.80 - - 2733.69 - 2.59 0.024 2056.44 -442.7 236.82 - - 1790.91 - - - - - - - - - 15.97 -
17035.29 145.42 7.18 2070 17040.87 1.83 0.17 0.088 2778.38 262.9 2.67 0.082 993.81 -398.0 236.82 - - 1789.75 - - - - - - - - 15.93 15.84 -
17130.28 137.57 9.07 2089 17135.83 done 1.83 - - 2778.38 - 2.62 0.023 2136.69 436.2 236.82 - - 1789.50 - - - - - - - - - 15.97 -
17440.35 111.65 7.86 2151 17441.69 VBD 1.84 - - 2778.56 - - - 2136.56 - 236.82 - - 1789.12 - - - - - - - - - - -
17745.57 88.97 6.06 2212 17786.36 done 1.93 - - 2778.12 - 2.74 0.081 3206.50 390.5 281.64 34.52 1.255 1626.62 -4.7 0.058 - - - - - - - 15.41 10.65
17940.43 76.97 6.04 2251 17983.12 2.02 0.20 0.080 2824.25 230.7 2.64 0.023 2046.12 -439.5 326.91 37.33 1.228 1442.19 -4.9 0.054 - - - - - - 15.75 15.87 11.35
18165.51 60.77 6.39 2296 18202.07 done 2.10 - - 2825.06 - 2.99 0.076 3205.69 387.8 365.48 31.75 1.183 1285.69 -4.9 0.044 - - - - - - - 15.44 11.26
18300.53 51.09 7.61 2323 18306.05 roll 2.11 - - 2825.31 - 2.58 0.022 2076.56 -437.6 365.48 - - 1282.97 - - - - - - - - - 15.76 -
18490.99 38.77 6.25 2361 18526.31 2.20 0.17 0.086 2865.50 236.4 - - 2075.94 - 406.67 33.47 1.151 1117.56 -4.9 0.029 - - - - - - 15.78 - 11.27
18710.65 20.03 9.27 2405 18716.24 roll 2.20 - - 2866.44 - 2.90 0.075 3206.06 389.7 406.67 - - 1113.12 - - - - - - - - - 15.75 -
18760.65 14.97 10.36 2415 18766.38 roll 2.20 - - 2866.94 - 2.57 0.023 2078.81 -438.6 406.67 - - 1112.75 - - - - - - - - - 15.80 -
18875 end climb: SURFACE_DEPTH_REACHED
18875 begin surface coast
18921 end surface coast: CONTROL_FINISHED_OK
18921 begin surface
SM 0.59 - - - - 189.3 15.81 1.058 1042.8 66.0 16.60 0.044 1017.8 61.3 - 0.59 0.050 1067.8 1805.5 -2.177 - - 11.29 15.77 15.82 -