NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 184 * Raw log
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• Previous call tries 2 • 62.45 of 550.00 AH used of 24V (88.65% remains)
• Surface angle -65.5 deg, depth 1.53 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 374.99 (SM_CC=375)
• GPS1 time: 49 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
6.49 - - - 60.47 VBD -1.37 - - 184.12 - - - 2242.31 - -82.73 52.79 0.005 2531.72 - - - - - - - - - - 15.71
61.21 3.40 -4.10 10 99.38 -1.37 14.06 0.261 1988.56 128.3 2.54 0.069 1208.12 -407.2 -82.73 14.40 0.006 3112.75 40.3 -3.732 - - - - - - 15.70 15.70 15.74
327.39 50.08 -15.54 63 333.14 roll -1.37 - - 1988.88 - 2.71 0.030 2351.06 421.7 -82.73 - - 3113.66 - - - - - - - - - 15.89 -
518.00 73.59 -12.19 101 523.00 roll -1.37 - - 1988.81 - 2.77 0.060 1209.62 -412.1 -82.73 - - 3113.12 - - - - - - - - - 15.96 -
752.49 98.05 -10.06 148 758.04 roll -1.37 - - 1989.00 - 2.69 0.029 2351.19 424.4 -82.73 - - 3113.25 - - - - - - - - - 15.99 -
942.53 117.62 -10.40 169 943.86 no move -1.37 - - 1988.44 - - - 2350.62 - -82.73 - - 3111.91 - - - - - - - - - - -
1252.98 147.22 -8.65 200 1257.70 roll -1.37 - - 1988.81 - 2.75 0.060 1208.62 -415.3 -82.73 - - 3114.09 - - - - - - - - - 16.06 -
1372.64 158.55 -9.82 224 1377.73 roll -1.37 - - 1988.25 - 2.67 0.029 2352.56 428.4 -82.73 - - 3114.78 - - - - - - - - - 16.06 -
1682.71 188.24 -9.26 256 1687.80 roll -1.37 - - 1987.25 - 2.75 0.060 1209.94 -415.5 -82.73 - - 3114.56 - - - - - - - - - 16.09 -
1777.27 197.59 -9.98 275 1783.28 roll -1.37 - - 1988.69 - 2.66 0.029 2352.19 429.4 -82.73 - - 3113.66 - - - - - - - - - 16.10 -
2092.80 228.58 -9.43 307 2097.90 roll -1.37 - - 1989.81 - 2.71 0.088 3426.94 396.6 -82.73 - - 3113.78 - - - - - - - - - 16.09 -
2157.36 235.38 -10.50 320 2163.53 roll -1.37 - - 1990.06 - 2.58 0.022 2246.69 -457.5 -82.73 - - 3114.03 - - - - - - - - - 16.08 -
2473.00 265.02 -9.56 352 2477.53 roll -1.37 - - 1988.12 - 2.49 0.067 1208.69 -416.9 -82.73 - - 3114.97 - - - - - - - - - 16.11 -
2537.43 271.44 -10.28 365 2543.44 roll -1.37 - - 1989.19 - 2.66 0.029 2350.81 429.4 -82.73 - - 3114.28 - - - - - - - - - 16.13 -
2852.97 301.94 -9.82 397 2854.29 no move -1.37 - - 1989.62 - - - 2350.88 - -82.73 - - 3113.22 - - - - - - - - - - -
3163.41 333.32 -10.44 428 3168.13 roll -1.37 - - 1989.75 - 2.74 0.063 1209.56 -416.5 -82.73 - - 3113.66 - - - - - - - - - 16.15 -
3307.61 349.07 -10.95 457 3313.61 roll -1.37 - - 1990.06 - 2.67 0.030 2349.38 426.9 -82.73 - - 3113.81 - - - - - - - - - 16.16 -
3623.14 380.34 -9.75 489 3628.23 roll -1.37 - - 1989.25 - 2.71 0.090 3427.00 397.6 -82.73 - - 3113.66 - - - - - - - - - 16.14 -
3673.15 385.75 -11.12 499 3678.21 roll -1.37 - - 1989.31 - 2.57 0.022 2249.50 -458.2 -82.73 - - 3113.44 - - - - - - - - - 16.16 -
3983.21 415.15 -9.82 531 3987.86 roll -1.37 - - 1989.62 - 2.49 0.068 1208.44 -418.1 -82.73 - - 3113.12 - - - - - - - - - 16.16 -
4023.22 419.00 -9.61 539 4028.30 roll -1.37 - - 1989.69 - 2.65 0.030 2350.56 431.0 -82.73 - - 3112.66 - - - - - - - - - 16.17 -
4333.44 449.33 -9.68 571 4338.41 roll -1.37 - - 1990.00 - 2.71 0.090 3425.06 396.5 -82.73 - - 3112.91 - - - - - - - - - 16.15 -
4373.26 453.35 -10.26 579 4378.32 roll -1.37 - - 1989.94 - 2.57 0.022 2246.88 -458.4 -82.73 - - 3112.19 - - - - - - - - - 16.17 -
4683.31 482.52 -8.89 611 4684.63 no move -1.37 - - 1989.38 - - - 2246.44 - -82.73 - - 3111.31 - - - - - - - - - - -
4993.71 511.16 -9.55 642 4998.45 roll -1.37 - - 1989.94 - 2.97 0.087 3426.81 397.4 -82.73 - - 3112.66 - - - - - - - - - 16.18 -
5057.88 517.98 -10.48 655 5063.86 roll -1.37 - - 1989.88 - 2.57 0.023 2248.56 -458.5 -82.73 - - 3111.19 - - - - - - - - - 16.19 -
5373.38 546.82 -8.94 687 5378.03 roll -1.37 - - 1989.62 - 2.49 0.069 1208.75 -417.6 -82.73 - - 3112.00 - - - - - - - - - 16.18 -
5453.38 554.02 -9.33 703 5458.47 roll -1.37 - - 1989.94 - 2.64 0.031 2351.88 433.0 -82.73 - - 3111.28 - - - - - - - - - 16.19 -
5763.42 579.53 -7.55 735 5768.52 roll -1.37 - - 1989.19 - 2.71 0.092 3425.44 396.1 -82.73 - - 3111.12 - - - - - - - - - 16.17 -
5887.99 589.97 -8.48 760 5893.97 roll -1.37 - - 1989.88 - 2.57 0.023 2248.94 -457.8 -82.73 - - 3110.06 - - - - - - - - - 16.20 -
6203.66 613.99 -7.40 792 6208.12 roll -1.37 - - 1989.94 - 2.48 0.069 1209.88 -419.0 -82.73 - - 3110.34 - - - - - - - - - 16.18 -
6273.50 619.54 -8.34 806 6278.58 roll -1.37 - - 1989.88 - 2.65 0.031 2350.44 430.4 -82.73 - - 3109.47 - - - - - - - - - 16.21 -
6583.57 643.41 -7.43 838 6584.90 no move -1.37 - - 1989.25 - - - 2350.25 - -82.73 - - 3108.28 - - - - - - - - - - -
6894.02 665.85 -7.36 869 6895.34 no move -1.37 - - 1989.56 - - - 2350.44 - -82.73 - - 3107.69 - - - - - - - - - - -
7204.08 688.02 -7.47 900 7205.41 no move -1.37 - - 1989.56 - - - 2350.75 - -82.73 - - 3107.41 - - - - - - - - - - -
7514.15 713.52 -8.18 931 7515.48 no move -1.37 - - 1990.00 - - - 2350.44 - -82.73 - - 3107.56 - - - - - - - - - - -
7683 end dive: TARGET_DEPTH_EXCEEDED
7683 begin apogee
7685.62 728.05 -8.80 948 7749.11 -0.28 1.79 0.150 2254.31 147.7 0.21 0.128 2281.75 -327.1 - 59.56 2.067 2772.59 -5.6 0.323 - - - - - - 16.13 15.74 12.82
7750 end apogee: CONTROL_FINISHED_OK
7750 begin climb
7751.12 730.22 - 954 7822.16 1.37 2.65 0.105 2656.19 151.7 2.90 0.075 1131.50 -396.6 82.73 62.18 1.995 2434.78 -5.4 0.325 - - - - - - 15.78 15.46 12.84
7915.36 721.62 6.62 986 7921.58 roll 1.40 - - 2656.19 - 2.72 0.030 2270.25 418.7 82.73 - - 2433.06 - - - - - - - - - 15.71 -
8231.16 699.61 6.39 1018 8262.18 done 1.46 - - 2655.75 - 2.80 0.093 3344.69 383.7 113.15 24.24 1.873 2313.97 -4.9 0.300 - - - - - - - 15.69 12.78
8405.35 682.89 11.16 1053 8411.35 roll 1.46 - - 2656.56 - 2.64 0.024 2190.19 -437.3 113.15 - - 2310.12 - - - - - - - - - 15.86 -
8720.88 654.45 8.78 1085 8726.00 roll 1.46 - - 2654.56 - 2.96 0.087 3345.50 390.3 113.15 - - 2309.47 - - - - - - - - - 15.95 -
8770.89 649.36 10.52 1095 8775.98 roll 1.46 - - 2656.12 - 2.61 0.024 2187.56 -443.7 113.15 - - 2309.94 - - - - - - - - - 15.96 -
9080.96 622.10 8.73 1127 9082.29 no move 1.46 - - 2656.62 - - - 2188.06 - 113.15 - - 2307.25 - - - - - - - - - - -
9391.41 596.45 8.22 1158 9392.74 no move 1.46 - - 2656.38 - - - 2187.94 - 113.15 - - 2306.94 - - - - - - - - - - -
9701.50 572.58 7.67 1189 9702.83 no move 1.48 - - 2656.62 - - - 2187.06 - 113.15 - - 2306.25 - - - - - - - - - - -
10011.73 550.19 7.14 1220 10013.16 pitch 1.51 0.17 0.094 2698.88 248.6 - - 2186.62 - 113.15 - - 2306.25 - - - - - - - - 16.08 - -
10321.40 526.13 7.04 1251 10326.40 roll 1.54 - - 2698.94 - 2.93 0.086 3347.19 396.1 113.15 - - 2307.94 - - - - - - - - - 16.11 -
10555.81 507.84 8.13 1298 10561.79 roll 1.54 - - 2700.06 - 2.59 0.024 2188.94 -447.2 113.15 - - 2307.00 - - - - - - - - - 16.12 -
10871.71 485.55 6.84 1330 10876.45 roll 1.57 - - 2700.06 - 2.93 0.085 3347.19 395.3 113.15 - - 2306.28 - - - - - - - - - 16.15 -
11105.90 467.56 7.68 1377 11111.90 roll 1.58 - - 2700.44 - 2.58 0.025 2187.81 -449.4 113.15 - - 2306.88 - - - - - - - - - 16.14 -
11421.79 445.43 7.04 1409 11426.51 roll 1.61 - - 2700.12 - 2.92 0.086 3346.25 396.7 113.15 - - 2307.22 - - - - - - - - - 16.16 -
11655.99 427.61 7.29 1456 11661.97 roll 1.64 - - 2699.31 - 2.58 0.024 2186.75 -449.4 113.15 - - 2305.66 - - - - - - - - - 16.16 -
11971.87 408.26 6.22 1488 12003.18 1.70 0.20 0.085 2743.19 219.4 2.96 0.088 3345.38 391.4 145.99 25.51 1.629 2180.06 -4.9 0.201 - - - - - - 16.15 15.96 12.91
12231.57 384.96 9.63 1540 12236.64 roll 1.70 - - 2743.44 - 2.60 0.025 2190.44 -444.2 145.99 - - 2176.06 - - - - - - - - - 16.06 -
12542.02 360.09 8.44 1572 12546.76 roll 1.70 - - 2743.62 - 2.93 0.086 3345.19 394.1 145.99 - - 2176.16 - - - - - - - - - 16.08 -
12776.25 334.66 11.62 1619 12782.24 roll 1.70 - - 2742.31 - 2.59 0.025 2189.88 -446.1 145.99 - - 2176.06 - - - - - - - - - 16.10 -
13092.16 303.48 9.68 1651 13096.90 roll 1.70 - - 2743.25 - 2.93 0.086 3345.75 394.5 145.99 - - 2174.50 - - - - - - - - - 16.11 -
13196.35 292.27 10.89 1672 13202.34 roll 1.70 - - 2742.50 - 2.59 0.024 2188.62 -446.8 145.99 - - 2175.50 - - - - - - - - - 16.12 -
13511.87 260.53 10.31 1704 13516.94 roll 1.70 - - 2743.44 - 2.57 0.078 1128.94 -412.3 145.99 - - 2175.72 - - - - - - - - - 16.12 -
13571.88 253.95 11.06 1716 13576.97 roll 1.70 - - 2742.75 - 2.65 0.030 2272.12 431.4 145.99 - - 2175.09 - - - - - - - - - 16.14 -
13882.34 222.40 10.51 1748 13887.23 roll 1.70 - - 2743.81 - 2.78 0.072 1130.19 -410.8 145.99 - - 2173.84 - - - - - - - - - 16.11 -
13916.61 218.74 10.46 1755 13922.50 roll 1.70 - - 2743.81 - 2.65 0.030 2271.12 430.5 145.99 - - 2175.22 - - - - - - - - - 16.14 -
14232.41 187.11 9.74 1787 14237.12 roll 1.70 - - 2742.00 - 2.78 0.071 1130.06 -410.5 145.99 - - 2175.06 - - - - - - - - - 16.15 -
14302.05 180.06 9.76 1801 14307.14 roll 1.70 - - 2743.38 - 2.65 0.030 2272.19 431.0 145.99 - - 2174.88 - - - - - - - - - 16.12 -
14612.50 152.19 8.33 1833 14613.83 no move 1.70 - - 2743.25 - - - 2272.31 - 145.99 - - 2173.59 - - - - - - - - - - -
14922.58 127.75 7.60 1864 14927.28 roll 1.72 - - 2743.56 - 2.71 0.089 3344.94 395.8 145.99 - - 2174.50 - - - - - - - - - 16.15 -
15032.23 119.11 7.79 1886 15037.28 roll 1.73 - - 2742.56 - 2.59 0.024 2185.25 -447.8 145.99 - - 2174.97 - - - - - - - - - 16.15 -
15342.26 97.22 6.54 1922 15347.78 roll 1.77 - - 2743.50 - 2.56 0.075 1128.62 -412.7 145.99 - - 2175.06 - - - - - - - - - 16.13 -
15402.28 94.23 5.04 1934 15444.97 1.87 0.18 0.086 2788.06 247.6 2.64 0.028 2275.25 434.3 196.15 37.50 1.290 1973.44 -5.4 0.064 - - - - - - 16.12 16.14 12.82
15628.09 80.62 6.44 1979 15658.69 done 1.93 - - 2788.12 - 2.82 0.072 1130.19 -406.0 225.72 23.43 1.223 1853.66 -5.1 0.055 - - - - - - - 15.87 12.83
15773.23 68.36 8.57 2008 15778.61 roll 1.93 - - 2788.31 - 2.64 0.029 2272.25 432.6 225.72 - - 1850.31 - - - - - - - - - 15.95 -
15963.15 56.27 6.36 2046 15994.56 done 1.99 - - 2787.88 - 2.82 0.072 1130.25 -405.0 256.50 24.08 1.187 1728.69 -5.1 0.039 - - - - - - - 15.85 12.76
16133.59 45.67 5.56 2080 16174.09 2.08 0.22 0.079 2837.44 225.3 2.66 0.029 2274.81 430.3 299.00 33.02 1.193 1555.78 -5.2 0.033 - - - - - - 15.92 15.95 12.80
16358.24 28.70 8.19 2125 16363.81 roll 2.08 - - 2837.44 - 2.74 0.088 3345.81 390.9 299.00 - - 1549.97 - - - - - - - - - 15.89 -
16378.25 27.02 8.11 2129 16383.98 roll 2.08 - - 2838.12 - 2.62 0.023 2184.25 -443.3 299.00 - - 1549.47 - - - - - - - - - 15.90 -
16568.29 16.83 4.74 2167 16614.96 done 2.19 - - 2838.62 - 2.62 0.077 1132.31 -401.5 353.58 41.56 1.160 1334.00 -5.2 0.012 - - - - - - - 15.75 12.78
16683.31 9.14 7.87 2190 16688.84 roll 2.20 - - 2837.75 - 2.69 0.028 2274.06 424.4 353.58 - - 1329.38 - - - - - - - - - 15.82 -
16773 end climb: SURFACE_DEPTH_REACHED
16773 begin surface coast
16803 end surface coast: CONTROL_FINISHED_OK
16803 begin surface
SM 4.84 - - - - 181.8 17.23 1.090 1246.3 72.3 16.36 0.053 1230.1 75.2 - 0.12 0.119 1262.6 10499.2 -43.645 - - 12.72 15.87 15.89 -