NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1231 * Raw log
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• Previous call tries 3 • 439.37 of 550.00 AH used of 24V (20.12% remains)
• Surface angle -62.8 deg, depth 0.73 m • Intended pitch -21.8 deg, speed -9.167 cm/s
VBD pumped to 399.92 (SM_CC=400)
• GPS1 time: 55 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
6.02 - - - 72.04 VBD -1.44 - - 178.31 - - - 2252.69 - -116.79 64.85 0.005 2703.03 - - - - - - - - - - 14.74
72.78 3.08 -4.57 12 110.74 -1.44 14.60 0.228 1969.81 122.7 3.14 0.086 3425.81 373.6 -116.79 13.73 0.006 3250.97 39.9 -3.582 - - - - - - 15.29 14.77 15.02
237.84 27.25 -13.78 45 243.59 roll -1.44 - - 1971.06 - 2.68 0.018 2256.75 -436.2 -116.79 - - 3250.84 - - - - - - - - - 15.80 -
428.41 51.71 -12.95 83 429.74 no move -1.44 - - 1970.94 - - - 2255.12 - -116.79 - - 3250.53 - - - - - - - - - - -
612.93 75.91 -12.03 120 618.55 roll -1.44 - - 1971.62 - 3.10 0.080 3424.69 377.3 -116.79 - - 3250.59 - - - - - - - - - 15.72 -
778.35 96.11 -10.95 153 783.51 roll -1.44 - - 1971.50 - 2.66 0.018 2254.12 -440.1 -116.79 - - 3250.94 - - - - - - - - - 15.87 -
967.99 113.82 -8.90 191 969.31 no move -1.44 - - 1970.88 - - - 2252.75 - -116.79 - - 3250.25 - - - - - - - - - - -
1273.04 141.48 -8.64 252 1278.66 roll -1.44 - - 1971.00 - 3.11 0.079 3425.75 377.2 -116.79 - - 3251.62 - - - - - - - - - 15.76 -
1323.05 146.41 -10.03 262 1328.59 roll -1.44 - - 1970.94 - 2.63 0.018 2256.88 -444.4 -116.79 - - 3250.47 - - - - - - - - - 15.91 -
1633.08 175.37 -9.62 324 1638.62 roll -1.44 - - 1971.12 - 2.67 0.065 1210.50 -391.9 -116.79 - - 3251.00 - - - - - - - - - 15.83 -
1673.08 179.26 -9.72 332 1678.65 roll -1.44 - - 1970.81 - 2.74 0.026 2364.25 421.1 -116.79 - - 3251.31 - - - - - - - - - 15.93 -
1983.20 206.97 -8.50 394 1988.73 roll -1.44 - - 1969.62 - 2.94 0.059 1208.81 -393.0 -116.79 - - 3251.75 - - - - - - - - - 15.83 -
2018.13 210.14 -8.99 401 2023.71 roll -1.44 - - 1970.88 - 2.72 0.026 2360.44 423.4 -116.79 - - 3250.88 - - - - - - - - - 15.93 -
2328.19 236.61 -8.01 463 2333.78 roll -1.44 - - 1970.75 - 2.92 0.058 1208.88 -394.4 -116.79 - - 3250.34 - - - - - - - - - 15.85 -
2363.19 239.57 -8.21 470 2368.76 roll -1.44 - - 1971.19 - 2.70 0.025 2356.81 425.2 -116.79 - - 3250.47 - - - - - - - - - 15.95 -
2673.24 263.76 -7.92 532 2674.57 no move -1.44 - - 1971.19 - - - 2356.69 - -116.79 - - 3249.78 - - - - - - - - - - -
2978.28 290.79 -9.66 593 2979.61 no move -1.44 - - 1970.88 - - - 2357.25 - -116.79 - - 3250.16 - - - - - - - - - - -
3290.54 320.97 -9.71 632 3295.22 roll -1.44 - - 1971.00 - 2.91 0.059 1208.31 -394.8 -116.79 - - 3250.44 - - - - - - - - - 15.86 -
3313.34 323.13 -9.90 636 3328.28 roll -1.44 - - 1969.94 - 2.70 0.026 2354.19 424.4 -116.79 - - 3251.84 - - - - - - - - - 15.97 -
3629.93 354.41 -9.57 665 3641.00 no move -1.44 - - 1970.81 - - - 2354.38 - -116.79 - - 3250.88 - - - - - - - - - - -
3942.84 382.92 -8.63 694 3953.91 no move -1.44 - - 1971.00 - - - 2353.88 - -116.79 - - 3251.22 - - - - - - - - - - -
4255.84 407.94 -7.67 723 4260.51 roll -1.44 - - 1971.38 - 2.91 0.060 1210.12 -393.0 -116.79 - - 3249.38 - - - - - - - - - 15.85 -
4308.76 412.28 -7.98 730 4313.41 roll -1.44 - - 1970.88 - 2.72 0.026 2356.44 421.4 -116.79 - - 3249.91 - - - - - - - - - 15.97 -
4620.54 435.78 -7.72 759 4631.61 no move -1.44 - - 1971.25 - - - 2356.81 - -116.79 - - 3251.25 - - - - - - - - - - -
4933.24 457.99 -7.06 788 4944.31 no move -1.44 - - 1971.12 - - - 2356.56 - -116.79 - - 3250.81 - - - - - - - - - - -
5246.68 482.08 -7.90 817 5251.36 roll -1.44 - - 1971.19 - 2.92 0.060 1209.88 -392.7 -116.79 - - 3250.19 - - - - - - - - - 15.84 -
5253.75 482.08 -7.90 819 5268.69 roll -1.44 - - 1970.44 - 2.69 0.026 2353.88 425.3 -116.79 - - 3251.19 - - - - - - - - - 15.97 -
5578.34 508.71 -8.01 846 5583.02 roll -1.44 - - 1970.81 - 2.91 0.060 1210.31 -393.0 -116.79 - - 3249.50 - - - - - - - - - 15.84 -
5616.88 511.86 -8.26 852 5622.43 roll -1.44 - - 1969.69 - 2.68 0.027 2349.88 425.2 -116.79 - - 3250.72 - - - - - - - - - 15.97 -
5936.29 538.78 -8.71 874 5941.15 roll -1.44 - - 1970.81 - 2.90 0.061 1210.00 -393.1 -116.79 - - 3249.06 - - - - - - - - - 15.84 -
5974.97 542.34 -9.22 880 5980.39 roll -1.44 - - 1969.50 - 2.70 0.027 2344.00 420.0 -116.79 - - 3251.41 - - - - - - - - - 15.97 -
6294.27 570.15 -7.86 902 6295.60 no move -1.44 - - 1971.12 - - - 2344.06 - -116.79 - - 3248.47 - - - - - - - - - - -
6609.27 592.02 -7.29 923 6613.93 roll -1.44 - - 1969.25 - 2.88 0.061 1210.25 -393.7 -116.79 - - 3249.22 - - - - - - - - - 15.84 -
6632.07 593.24 -7.32 927 6647.01 roll -1.44 - - 1971.25 - 2.68 0.027 2349.88 425.2 -116.79 - - 3248.69 - - - - - - - - - 15.98 -
6961.49 617.76 -7.55 949 6966.15 roll -1.44 - - 1969.69 - 2.90 0.061 1210.44 -392.9 -116.79 - - 3248.12 - - - - - - - - - 15.84 -
7000.04 620.69 -7.73 955 7005.59 roll -1.44 - - 1970.38 - 2.69 0.027 2346.25 422.2 -116.79 - - 3248.66 - - - - - - - - - 15.97 -
7319.62 646.20 -8.37 977 7324.28 roll -1.44 - - 1971.00 - 2.85 0.089 3425.88 378.8 -116.79 - - 3247.66 - - - - - - - - - 15.77 -
7342.42 647.65 -8.44 981 7357.37 roll -1.44 - - 1970.62 - 2.66 0.019 2241.88 -445.1 -116.79 - - 3248.72 - - - - - - - - - 15.96 -
7671.85 676.40 -8.92 1003 7673.18 no move -1.44 - - 1971.00 - - - 2241.62 - -116.79 - - 3247.03 - - - - - - - - - - -
7986.89 703.89 -8.40 1024 7991.61 roll -1.44 - - 1971.25 - 3.15 0.085 3425.25 375.8 -116.79 - - 3247.81 - - - - - - - - - 15.76 -
8009.70 705.28 -8.39 1028 8024.83 roll -1.44 - - 1971.00 - 2.64 0.019 2244.94 -447.1 -116.79 - - 3248.00 - - - - - - - - - 15.96 -
8339.23 732.07 -7.77 1050 8343.94 roll -1.44 - - 1970.19 - 3.12 0.085 3423.38 377.7 -116.79 - - 3247.53 - - - - - - - - - 15.76 -
8377.78 735.49 -8.50 1056 8383.33 roll -1.44 - - 1970.94 - 2.63 0.019 2248.19 -446.8 -116.79 - - 3248.22 - - - - - - - - - 15.96 -
8697.18 759.68 -7.26 1078 8698.51 no move -1.44 - - 1970.75 - - - 2247.12 - -116.79 - - 3245.94 - - - - - - - - - - -
9012.21 783.37 -7.84 1099 9016.93 roll -1.44 - - 1971.19 - 3.11 0.086 3423.00 378.1 -116.79 - - 3245.47 - - - - - - - - - 15.75 -
9132.35 793.88 -8.79 1116 9136.98 roll -1.44 - - 1970.88 - 2.62 0.019 2256.19 -445.3 -116.79 - - 3246.50 - - - - - - - - - 15.95 -
9449.06 818.20 -7.61 1138 9450.39 no move -1.44 - - 1971.19 - - - 2254.75 - -116.79 - - 3244.97 - - - - - - - - - - -
9763.88 841.92 -7.47 1159 9768.58 roll -1.44 - - 1969.81 - 3.09 0.086 3423.94 378.4 -116.79 - - 3246.66 - - - - - - - - - 15.74 -
9801.08 845.02 -7.94 1164 9805.71 roll -1.44 - - 1970.88 - 2.62 0.020 2258.75 -444.7 -116.79 - - 3244.69 - - - - - - - - - 15.95 -
10117.57 867.78 -6.95 1186 10118.90 no move -1.44 - - 1971.06 - - - 2257.69 - -116.79 - - 3244.72 - - - - - - - - - - -
10432.58 868.85 -1.17 1207 10437.43 roll -1.44 - - 1970.50 - 2.68 0.070 1210.56 -390.7 -116.79 - - 3245.38 - - - - - - - - - 15.78 -
10615 end dive: NO_VERTICAL_VELOCITY
10615 begin apogee
10619.23 868.88 - 1233 10724.02 -0.28 1.95 0.097 2256.44 146.6 0.14 0.162 2042.62 5943.3 - 94.05 2.274 2775.16 -5.0 0.334 - - - - - - 15.78 15.00 10.11
10726 end apogee: CONTROL_FINISHED_OK
10726 begin climb
10726.92 868.96 - 1240 10837.83 1.44 2.94 0.110 2672.38 141.5 3.13 0.080 3201.44 370.2 116.79 99.88 2.221 2299.19 -4.8 0.326 - - - - - - 15.33 15.46 11.57
10960.02 857.59 5.95 1274 11050.67 1.64 0.28 0.073 2728.75 201.3 2.71 0.024 2061.31 -420.7 214.04 83.68 2.188 1902.34 -4.7 0.325 - - - - - - 15.45 15.59 11.34
11362.27 826.45 7.70 1308 11363.60 VBD 1.67 - - 2727.88 - - - 2061.06 - 214.04 - - 1891.28 - - - - - - - - - - -
11677.29 802.83 7.52 1329 11678.62 VBD 1.70 - - 2727.88 - - - 2060.56 - 214.04 - - 1888.62 - - - - - - - - - - -
11992.63 778.37 7.56 1350 11997.31 done 1.73 - - 2728.44 - 2.99 0.078 3202.50 381.9 214.04 - - 1888.41 - - - - - - - - - 15.77 -
12029.84 775.15 8.14 1355 12034.47 done 1.75 - - 2727.62 - 2.65 0.025 2062.50 -430.2 214.04 - - 1890.16 - - - - - - - - - 15.87 -
12346.33 748.21 8.46 1377 12351.01 done 1.77 - - 2728.12 - 3.00 0.078 3203.56 380.4 214.04 - - 1887.47 - - - - - - - - - 15.79 -
12384.88 744.84 8.77 1383 12390.43 done 1.77 - - 2727.06 - 2.65 0.025 2067.56 -428.7 214.04 - - 1888.81 - - - - - - - - - 15.91 -
12704.30 718.29 8.37 1405 12705.63 VBD 1.78 - - 2728.94 - - - 2067.31 - 214.04 - - 1886.56 - - - - - - - - - - -
13019.31 692.26 8.05 1426 13024.04 1.80 0.19 0.088 2770.38 218.1 2.82 0.087 994.31 -380.5 214.04 - - 1885.59 - - - - - - - - 15.87 15.76 -
13062.89 688.81 8.68 1433 13077.82 done 1.80 - - 2771.25 - 2.69 0.024 2144.88 427.7 214.04 - - 1887.91 - - - - - - - - - 15.95 -
13392.48 659.06 9.09 1455 13393.81 VBD 1.80 - - 2770.88 - - - 2144.94 - 214.04 - - 1886.00 - - - - - - - - - - -
13707.42 629.62 9.55 1476 13712.12 done 1.80 - - 2771.25 - 3.01 0.081 994.56 -382.2 214.04 - - 1885.69 - - - - - - - - - 15.78 -
13745.97 625.74 10.01 1482 13751.52 done 1.80 - - 2770.12 - 2.69 0.024 2139.06 425.5 214.04 - - 1886.53 - - - - - - - - - 15.95 -
14065.55 593.10 10.39 1504 14070.23 done 1.80 - - 2770.88 - 3.00 0.081 995.62 -381.1 214.04 - - 1886.56 - - - - - - - - - 15.78 -
14124.83 586.40 11.26 1513 14130.38 done 1.80 - - 2771.12 - 2.65 0.024 2127.69 427.2 214.04 - - 1885.94 - - - - - - - - - 15.95 -
14444.24 553.33 9.92 1535 14448.90 done 1.80 - - 2770.62 - 2.82 0.083 3204.81 382.0 214.04 - - 1884.78 - - - - - - - - - 15.78 -
14502.18 547.24 10.38 1543 14506.83 done 1.80 - - 2770.94 - 2.69 0.025 2050.94 -428.9 214.04 - - 1885.84 - - - - - - - - - 15.93 -
14818.68 517.24 9.31 1565 14823.33 done 1.80 - - 2771.25 - 2.76 0.086 993.25 -383.2 214.04 - - 1884.53 - - - - - - - - - 15.77 -
14836.48 515.69 9.31 1568 14842.04 done 1.80 - - 2771.12 - 2.66 0.023 2127.38 426.4 214.04 - - 1885.38 - - - - - - - - - 15.95 -
15146.09 487.60 8.60 1593 15150.77 done 1.82 - - 2769.56 - 2.98 0.081 994.50 -380.2 214.04 - - 1884.94 - - - - - - - - - 15.76 -
15200.55 482.71 9.06 1601 15215.38 done 1.82 - - 2771.38 - 2.64 0.023 2121.56 426.9 214.04 - - 1886.06 - - - - - - - - - 15.96 -
15517.65 456.73 8.08 1630 15522.32 done 1.84 - - 2771.62 - 2.83 0.082 3202.56 382.0 214.04 - - 1884.44 - - - - - - - - - 15.77 -
15603.41 449.15 8.90 1642 15618.34 done 1.84 - - 2771.31 - 2.68 0.025 2053.12 -428.9 214.04 - - 1885.28 - - - - - - - - - 15.95 -
15919.98 421.91 8.95 1671 15924.63 done 1.84 - - 2771.38 - 2.79 0.085 993.69 -379.7 214.04 - - 1884.84 - - - - - - - - - 15.75 -
15972.92 416.82 9.44 1678 15977.55 done 1.84 - - 2771.31 - 2.65 0.024 2124.44 426.7 214.04 - - 1883.75 - - - - - - - - - 15.94 -
16284.80 389.56 8.12 1707 16289.47 done 1.86 - - 2771.81 - 2.83 0.081 3205.31 381.9 214.04 - - 1883.66 - - - - - - - - - 15.77 -
16354.84 383.77 8.34 1717 16369.77 done 1.88 - - 2771.19 - 2.68 0.025 2051.50 -430.5 214.04 - - 1884.97 - - - - - - - - - 15.95 -
16671.42 360.41 7.18 1746 16676.07 done 1.92 - - 2770.81 - 2.77 0.085 995.62 -381.2 214.04 - - 1885.09 - - - - - - - - - 15.75 -
16740.10 355.26 7.41 1755 16744.92 done 1.95 - - 2770.56 - 2.64 0.023 2126.50 428.4 214.04 - - 1885.19 - - - - - - - - - 15.95 -
17052.22 334.19 7.71 1784 17056.96 1.98 0.17 0.086 2813.44 252.2 2.82 0.081 3204.25 382.2 214.04 - - 1884.69 - - - - - - - - 15.90 15.75 -
17138.01 327.40 8.01 1796 17152.93 done 2.00 - - 2814.56 - 2.68 0.024 2050.56 -430.5 214.04 - - 1884.56 - - - - - - - - - 15.95 -
17454.58 301.81 8.17 1825 17459.23 done 2.02 - - 2813.81 - 2.76 0.084 994.62 -382.6 214.04 - - 1884.00 - - - - - - - - - 15.74 -
17553.41 293.27 8.69 1843 17558.97 done 2.02 - - 2814.25 - 2.62 0.023 2120.44 429.7 214.04 - - 1885.62 - - - - - - - - - 15.93 -
17863.52 267.05 8.72 1905 17869.09 done 2.02 - - 2812.88 - 2.81 0.080 3203.56 385.5 214.04 - - 1885.50 - - - - - - - - - 15.74 -
17933.54 260.53 9.52 1919 17939.09 done 2.02 - - 2814.31 - 2.68 0.024 2050.50 -430.2 214.04 - - 1884.62 - - - - - - - - - 15.91 -
18243.64 232.22 9.42 1981 18244.98 VBD 2.02 - - 2813.94 - - - 2050.38 - 214.04 - - 1884.41 - - - - - - - - - - -
18548.94 205.10 8.51 2042 18554.41 done 2.04 - - 2814.44 - 3.02 0.076 3202.94 381.6 214.04 - - 1884.75 - - - - - - - - - 15.72 -
18689.16 192.39 9.11 2070 18694.33 done 2.04 - - 2814.81 - 2.68 0.024 2051.81 -429.5 214.04 - - 1884.81 - - - - - - - - - 15.93 -
18998.91 167.57 7.83 2132 19004.50 done 2.06 - - 2814.44 - 3.01 0.075 3205.00 383.1 214.04 - - 1885.66 - - - - - - - - - 15.74 -
19063.92 162.16 8.39 2145 19069.46 done 2.08 - - 2815.31 - 2.67 0.024 2057.00 -430.0 214.04 - - 1884.91 - - - - - - - - - 15.92 -
19374.14 138.76 7.05 2207 19426.39 2.21 0.26 0.073 2869.94 210.1 - - 2057.12 - 277.96 50.24 1.361 1641.75 -4.8 0.086 - - - - - - 15.87 - 10.32
19729.38 104.63 10.23 2278 19734.55 done 2.21 - - 2869.56 - 2.78 0.083 995.88 -381.7 277.96 - - 1634.31 - - - - - - - - - 15.68 -
19844.19 91.78 10.87 2301 19849.61 done 2.21 - - 2871.00 - 2.69 0.023 2138.50 424.8 277.96 - - 1632.00 - - - - - - - - - 15.85 -
20034.05 75.21 8.08 2339 20039.63 done 2.23 - - 2870.88 - 3.00 0.077 993.75 -381.6 277.96 - - 1632.56 - - - - - - - - - 15.71 -
20214.06 61.32 6.78 2375 20277.44 done 2.37 - - 2870.06 - 2.62 0.021 2118.06 429.1 349.93 58.02 1.241 1347.59 -4.9 0.042 - - - - - - - 15.88 11.12
20459.60 42.80 7.90 2424 20465.21 roll back 2.40 0.19 0.082 2915.25 237.8 2.86 0.077 3205.00 380.0 349.93 - - 1342.81 - - - - - - - - 15.72 15.65 -
20514.58 37.77 9.37 2435 20520.15 roll 2.40 - - 2915.25 - 2.76 0.023 2038.00 -422.8 349.93 - - 1342.66 - - - - - - - - - 15.78 -
20704.67 21.36 8.49 2473 20710.27 roll 2.41 - - 2915.50 - 3.06 0.073 3205.31 381.5 349.93 - - 1341.50 - - - - - - - - - 15.71 -
20734.65 18.68 8.80 2479 20740.41 roll 2.41 - - 2915.56 - 2.72 0.023 2041.56 -427.8 349.93 - - 1341.06 - - - - - - - - - 15.83 -
20905 end climb: SURFACE_DEPTH_REACHED
20905 begin surface coast
20955 end surface coast: CONTROL_FINISHED_OK
20955 begin surface
SM 0.87 - - - - 182.5 39.42 1.169 1144.7 29.0 17.04 0.050 1118.7 65.7 - 0.70 0.050 1170.7 1668.5 -2.967 - - 11.06 15.78 15.85 -