NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 404 * Raw log
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• Previous call tries 4 • 127.32 of 550.00 AH used of 24V (76.85% remains)
• Surface angle -59.9 deg, depth 0.72 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• No surface pump (final VBD was 952.4, SM_CC=425)
• GPS1 time: 45 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.07 - - - 56.77 VBD -1.37 - - 181.69 - - - 2240.88 - -82.73 50.49 0.005 2406.34 - - - - - - - - - - 15.57
57.49 3.34 -7.80 9 95.62 -1.37 14.11 0.253 1988.88 128.1 2.88 0.083 3427.25 411.9 -82.73 15.01 0.006 3110.72 46.9 -4.324 - - - - - - 15.72 15.56 15.62
312.77 51.56 -15.29 60 318.30 roll -1.37 - - 1988.12 - 2.55 0.021 2248.19 -462.4 -82.73 - - 3112.78 - - - - - - - - - 15.91 -
503.47 76.52 -12.71 98 508.42 roll -1.37 - - 1988.44 - 2.85 0.079 3428.50 414.1 -82.73 - - 3112.09 - - - - - - - - - 15.94 -
547.85 82.59 -13.62 107 553.38 roll -1.37 - - 1988.56 - 2.54 0.021 2245.31 -465.8 -82.73 - - 3112.44 - - - - - - - - - 15.95 -
738.30 102.52 -10.05 145 743.50 roll -1.37 - - 1988.75 - 2.84 0.079 3427.25 416.2 -82.73 - - 3113.19 - - - - - - - - - 15.96 -
972.97 125.48 -9.56 192 978.51 roll -1.37 - - 1988.75 - 2.53 0.021 2244.12 -467.6 -82.73 - - 3114.19 - - - - - - - - - 16.00 -
1283.07 152.31 -8.17 254 1288.64 roll -1.37 - - 1988.81 - 2.84 0.080 3429.00 417.2 -82.73 - - 3113.00 - - - - - - - - - 16.01 -
1518.12 176.11 -10.77 301 1523.67 roll -1.37 - - 1988.19 - 2.54 0.021 2245.69 -465.9 -82.73 - - 3113.38 - - - - - - - - - 16.02 -
1828.17 205.27 -9.37 363 1833.75 roll -1.37 - - 1988.81 - 2.85 0.081 3427.88 414.8 -82.73 - - 3112.88 - - - - - - - - - 16.03 -
2063.25 229.86 -10.25 410 2068.72 roll -1.37 - - 1988.56 - 2.53 0.022 2247.69 -466.5 -82.73 - - 3111.62 - - - - - - - - - 16.05 -
2373.24 258.78 -9.43 472 2378.82 roll -1.37 - - 1988.69 - 2.84 0.082 3427.38 415.4 -82.73 - - 3110.97 - - - - - - - - - 16.06 -
2608.26 284.67 -10.90 519 2613.80 roll -1.37 - - 1988.56 - 2.53 0.022 2248.12 -466.1 -82.73 - - 3110.47 - - - - - - - - - 16.06 -
2921.09 314.61 -9.80 565 2925.75 roll -1.37 - - 1988.31 - 2.83 0.084 3428.06 416.9 -82.73 - - 3110.44 - - - - - - - - - 16.06 -
3163.22 340.64 -11.06 596 3167.83 roll -1.37 - - 1988.06 - 2.52 0.022 2251.38 -466.9 -82.73 - - 3110.28 - - - - - - - - - 16.08 -
3474.42 371.01 -9.55 625 3479.01 roll -1.37 - - 1988.75 - 2.44 0.070 1208.69 -427.3 -82.73 - - 3108.41 - - - - - - - - - 16.08 -
3717.09 395.09 -9.77 656 3721.70 roll -1.37 - - 1988.44 - 2.56 0.030 2353.19 447.1 -82.73 - - 3106.38 - - - - - - - - - 16.09 -
4028.47 423.84 -9.09 685 4033.14 roll -1.37 - - 1988.75 - 2.59 0.090 3429.19 415.4 -82.73 - - 3108.00 - - - - - - - - - 16.07 -
4240.40 444.75 -9.65 713 4255.32 roll -1.37 - - 1988.69 - 2.52 0.023 2246.75 -469.2 -82.73 - - 3107.53 - - - - - - - - - 16.09 -
4556.51 472.11 -8.92 742 4561.17 roll -1.37 - - 1988.25 - 2.85 0.086 3429.62 415.0 -82.73 - - 3105.25 - - - - - - - - - 16.08 -
4798.64 496.89 -10.18 773 4803.25 roll -1.37 - - 1988.56 - 2.53 0.023 2251.88 -465.5 -82.73 - - 3105.62 - - - - - - - - - 16.08 -
5111.75 525.04 -8.63 795 5116.41 roll -1.37 - - 1988.56 - 2.84 0.086 3427.25 413.9 -82.73 - - 3103.97 - - - - - - - - - 16.08 -
5342.30 546.27 -9.36 829 5357.23 roll -1.37 - - 1988.69 - 2.53 0.023 2250.12 -465.3 -82.73 - - 3103.94 - - - - - - - - - 16.10 -
5671.72 573.06 -7.87 851 5676.38 roll -1.37 - - 1988.12 - 2.85 0.087 3425.62 412.5 -82.73 - - 3102.84 - - - - - - - - - 16.08 -
5902.27 593.30 -9.13 885 5917.20 roll -1.37 - - 1988.62 - 2.51 0.023 2252.38 -467.4 -82.73 - - 3103.22 - - - - - - - - - 16.09 -
6231.68 620.26 -7.79 907 6236.52 roll -1.37 - - 1988.12 - 2.84 0.087 3427.56 413.8 -82.73 - - 3104.47 - - - - - - - - - 16.08 -
6462.34 639.97 -8.77 941 6477.27 roll -1.37 - - 1988.56 - 2.54 0.023 2250.56 -463.4 -82.73 - - 3101.44 - - - - - - - - - 16.10 -
6791.75 665.61 -7.37 963 6796.34 roll -1.37 - - 1988.19 - 2.46 0.072 1208.38 -423.7 -82.73 - - 3102.12 - - - - - - - - - 16.09 -
7022.52 682.49 -7.62 997 7037.04 roll -1.37 - - 1988.44 - 2.57 0.031 2352.81 445.3 -82.73 - - 3100.84 - - - - - - - - - 16.10 -
7351.53 709.06 -8.13 1019 7356.14 roll -1.37 - - 1986.88 - 2.59 0.093 3426.19 414.4 -82.73 - - 3101.22 - - - - - - - - - 16.06 -
7596.48 732.12 -9.44 1054 7601.10 roll -1.37 - - 1988.69 - 2.52 0.023 2249.94 -466.8 -82.73 - - 3099.94 - - - - - - - - - 16.08 -
7913.15 757.86 -7.96 1076 7917.81 roll -1.37 - - 1988.44 - 2.86 0.088 3427.12 411.6 -82.73 - - 3100.56 - - - - - - - - - 16.08 -
8157.71 779.54 -8.74 1111 8162.32 roll -1.37 - - 1988.81 - 2.53 0.023 2253.31 -464.0 -82.73 - - 3100.16 - - - - - - - - - 16.09 -
8474.17 804.05 -7.63 1133 8479.02 roll -1.37 - - 1988.38 - 2.85 0.088 3426.62 411.7 -82.73 - - 3097.91 - - - - - - - - - 16.08 -
8719.11 825.27 -8.75 1168 8723.72 roll -1.37 - - 1988.38 - 2.53 0.023 2253.19 -463.8 -82.73 - - 3097.59 - - - - - - - - - 16.08 -
9035.58 848.01 -7.00 1190 9040.25 roll -1.37 - - 1988.88 - 2.85 0.088 3428.25 412.3 -82.73 - - 3096.94 - - - - - - - - - 16.07 -
9265.96 867.44 -8.84 1224 9280.89 roll -1.37 - - 1988.38 - 2.53 0.023 2252.12 -464.9 -82.73 - - 3098.00 - - - - - - - - - 16.09 -
9595.37 893.75 -7.62 1246 9600.03 roll -1.37 - - 1986.50 - 2.84 0.088 3426.31 413.4 -82.73 - - 3098.44 - - - - - - - - - 16.07 -
9825.91 912.72 -8.61 1280 9840.84 roll -1.37 - - 1988.50 - 2.53 0.023 2250.50 -464.7 -82.73 - - 3097.34 - - - - - - - - - 16.09 -
10155.32 938.19 -7.19 1302 10159.92 roll -1.37 - - 1987.12 - 2.46 0.074 1208.75 -423.5 -82.73 - - 3096.34 - - - - - - - - - 16.08 -
10400.26 956.63 -7.46 1337 10404.87 roll -1.37 - - 1988.75 - 2.57 0.032 2351.44 444.6 -82.73 - - 3097.50 - - - - - - - - - 16.09 -
10716.75 977.44 -5.90 1359 10721.56 roll -1.37 - - 1987.06 - 2.62 0.094 3426.56 410.4 -82.73 - - 3095.84 - - - - - - - - - 16.05 -
10879.88 988.40 -6.93 1383 10885.24 roll -1.37 - - 1988.19 - 2.52 0.023 2250.75 -466.6 -82.73 - - 3096.62 - - - - - - - - - 16.07 -
10913 end dive: TARGET_DEPTH_EXCEEDED
10914 begin apogee
10915.88 990.69 -6.81 1386 10979.41 -0.28 1.83 0.149 2251.94 144.1 0.15 0.177 2283.38 217.5 - 59.81 2.412 2775.47 -5.4 0.365 - - - - - - 15.99 15.68 11.80
10980 end apogee: CONTROL_FINISHED_OK
10980 begin climb
10981.25 991.86 - 1390 11057.67 1.37 2.66 0.099 2656.31 152.0 - - 2291.69 - 82.73 66.62 2.398 2436.88 -5.1 0.348 - - - - - - 15.71 - 12.72
11370.37 963.72 7.95 1421 11375.03 roll 1.38 - - 2655.75 - 2.83 0.078 1132.56 -409.6 82.73 - - 2430.97 - - - - - - - - - 15.74 -
11614.89 943.67 8.04 1456 11619.51 roll 1.38 - - 2653.50 - 2.61 0.031 2272.38 436.7 82.73 - - 2430.69 - - - - - - - - - 15.85 -
11931.37 919.31 7.68 1478 11936.01 done 1.39 - - 2656.31 - 2.76 0.077 1129.81 -414.0 82.73 - - 2428.34 - - - - - - - - - 15.89 -
12162.08 900.55 8.51 1512 12177.01 done 1.39 - - 2656.06 - 2.60 0.032 2273.06 439.7 82.73 - - 2429.16 - - - - - - - - - 15.94 -
12491.50 875.85 7.10 1534 12496.13 done 1.42 - - 2656.44 - 2.63 0.094 3347.94 408.7 82.73 - - 2430.22 - - - - - - - - - 15.94 -
12721.99 857.94 7.97 1568 12736.90 done 1.42 - - 2656.62 - 2.57 0.025 2187.69 -451.5 82.73 - - 2431.06 - - - - - - - - - 15.98 -
13051.41 835.90 6.08 1590 13082.02 1.49 0.15 0.102 2694.19 250.5 - - 2187.62 - 117.60 27.78 2.157 2294.81 -4.9 0.315 - - - - - - 15.97 - 12.17
13396.58 807.74 8.40 1613 13401.19 roll 1.49 - - 2695.00 - 2.54 0.082 1131.31 -415.9 117.60 - - 2290.09 - - - - - - - - - 15.91 -
13627.16 786.80 9.75 1647 13641.68 roll 1.49 - - 2692.88 - 2.60 0.032 2273.19 439.2 117.60 - - 2291.22 - - - - - - - - - 15.96 -
13956.18 755.60 9.57 1669 13960.81 roll 1.49 - - 2694.94 - 2.62 0.093 3346.62 409.7 117.60 - - 2289.97 - - - - - - - - - 15.95 -
14200.72 729.06 10.93 1704 14205.33 roll 1.49 - - 2694.44 - 2.55 0.025 2189.81 -453.7 117.60 - - 2288.16 - - - - - - - - - 15.99 -
14517.38 699.57 9.19 1726 14522.05 roll 1.49 - - 2694.38 - 2.55 0.082 1129.81 -415.7 117.60 - - 2290.00 - - - - - - - - - 15.99 -
14747.93 677.36 9.90 1760 14762.45 roll 1.49 - - 2695.06 - 2.59 0.032 2273.44 441.6 117.60 - - 2289.56 - - - - - - - - - 16.03 -
15076.98 646.85 8.97 1782 15081.62 roll 1.49 - - 2694.69 - 2.74 0.077 1130.88 -417.0 117.60 - - 2287.53 - - - - - - - - - 16.03 -
15321.52 624.37 9.06 1817 15326.13 roll 1.49 - - 2695.00 - 2.57 0.032 2270.75 443.5 117.60 - - 2288.53 - - - - - - - - - 16.03 -
15638.01 598.65 8.08 1839 15642.66 roll 1.49 - - 2693.19 - 2.73 0.076 1131.50 -417.3 117.60 - - 2289.12 - - - - - - - - - 16.04 -
15868.79 578.86 8.85 1873 15883.72 roll 1.49 - - 2694.50 - 2.57 0.032 2272.19 443.8 117.60 - - 2288.84 - - - - - - - - - 16.06 -
16198.20 551.90 8.13 1895 16202.83 roll 1.49 - - 2694.62 - 2.61 0.093 3346.12 411.5 117.60 - - 2288.03 - - - - - - - - - 16.03 -
16428.76 531.66 8.85 1929 16443.69 roll 1.49 - - 2694.50 - 2.55 0.025 2188.88 -453.8 117.60 - - 2288.94 - - - - - - - - - 16.05 -
16758.37 506.92 7.31 1951 16763.03 roll 1.51 - - 2694.38 - 2.53 0.081 1131.38 -418.0 117.60 - - 2287.72 - - - - - - - - - 16.05 -
16994.76 488.14 7.79 1982 16999.37 roll 1.53 - - 2694.62 - 2.57 0.032 2273.38 444.4 117.60 - - 2289.44 - - - - - - - - - 16.06 -
17306.65 465.69 7.56 2011 17311.29 roll 1.54 - - 2694.56 - 2.73 0.076 1131.38 -418.3 117.60 - - 2287.41 - - - - - - - - - 16.06 -
17549.35 446.09 8.07 2042 17553.96 roll 1.54 - - 2694.75 - 2.57 0.031 2273.81 444.5 117.60 - - 2287.50 - - - - - - - - - 16.06 -
17861.23 421.62 7.34 2071 17865.84 roll 1.57 - - 2694.19 - 2.60 0.092 3346.00 412.4 117.60 - - 2287.59 - - - - - - - - - 16.03 -
18103.32 400.70 8.89 2102 18107.92 roll 1.57 - - 2693.56 - 2.53 0.024 2186.00 -458.5 117.60 - - 2287.91 - - - - - - - - - 16.06 -
18415.07 376.34 8.03 2131 18419.67 roll 1.57 - - 2694.88 - 2.52 0.081 1130.00 -419.0 117.60 - - 2287.75 - - - - - - - - - 16.05 -
18642.78 357.23 8.31 2161 18657.51 roll 1.57 - - 2695.06 - 2.58 0.031 2275.12 443.8 117.60 - - 2288.78 - - - - - - - - - 16.07 -
18959.26 334.94 6.69 2190 18963.90 roll 1.60 - - 2694.88 - 2.72 0.075 1130.25 -420.9 117.60 - - 2288.22 - - - - - - - - - 16.05 -
19201.59 318.84 6.50 2221 19206.20 roll 1.64 - - 2694.56 - 2.56 0.031 2275.62 447.4 117.60 - - 2287.59 - - - - - - - - - 16.06 -
19513.13 300.66 5.79 2250 19548.34 1.72 0.26 0.078 2748.75 208.4 2.74 0.077 1130.06 -418.1 156.73 30.02 1.536 2135.75 -5.1 0.164 - - - - - - 16.03 15.95 11.95
19777.20 277.52 9.13 2301 19782.35 roll 1.72 - - 2748.38 - 2.59 0.031 2274.00 441.7 156.73 - - 2131.22 - - - - - - - - - 15.97 -
20086.91 250.63 8.84 2363 20092.47 roll 1.72 - - 2748.06 - 2.73 0.075 1131.44 -418.5 156.73 - - 2131.09 - - - - - - - - - 15.99 -
20321.98 228.26 9.49 2410 20327.74 roll 1.72 - - 2749.00 - 2.58 0.031 2274.00 442.9 156.73 - - 2130.09 - - - - - - - - - 16.00 -
20632.14 200.57 8.98 2472 20637.60 roll 1.72 - - 2748.50 - 2.60 0.091 3345.88 412.3 156.73 - - 2130.09 - - - - - - - - - 15.98 -
20812.51 182.80 9.63 2508 20817.66 roll 1.72 - - 2748.31 - 2.55 0.024 2185.69 -455.0 156.73 - - 2130.41 - - - - - - - - - 16.02 -
21122.18 158.81 7.23 2570 21127.69 roll 1.74 - - 2748.44 - 2.51 0.079 1130.12 -420.5 156.73 - - 2130.19 - - - - - - - - - 16.01 -
21357.18 139.54 8.30 2617 21362.74 roll 1.74 - - 2748.69 - 2.57 0.030 2274.88 445.4 156.73 - - 2129.59 - - - - - - - - - 16.04 -
21667.24 116.49 7.20 2679 21672.79 roll 1.77 - - 2747.44 - 2.72 0.073 1128.88 -421.3 156.73 - - 2129.34 - - - - - - - - - 16.03 -
21902.27 100.19 6.52 2726 21907.79 roll 1.81 - - 2748.25 - 2.57 0.030 2277.00 446.7 156.73 - - 2129.44 - - - - - - - - - 16.04 -
22212.44 88.58 2.47 2788 22281.89 1.98 0.32 0.070 2814.44 206.8 2.62 0.091 3349.88 409.5 244.56 64.44 1.294 1778.19 -5.5 0.062 - - - - - - 16.02 15.81 12.12
22464.13 70.92 8.78 2838 22469.66 roll 1.98 - - 2815.00 - 2.57 0.023 2183.88 -453.7 244.56 - - 1771.28 - - - - - - - - - 15.88 -
22654.16 57.94 6.80 2876 22659.67 done 2.02 - - 2813.00 - 2.52 0.078 1131.25 -417.7 244.56 - - 1767.22 - - - - - - - - - 15.89 -
22889.19 40.63 6.58 2923 22894.73 done 2.05 - - 2814.31 - 2.59 0.029 2276.69 442.3 244.56 - - 1764.47 - - - - - - - - - 15.94 -
23079.22 32.41 3.65 2961 23136.85 2.20 0.22 0.078 2863.75 224.7 2.76 0.073 1130.56 -415.3 315.09 51.15 1.190 1491.03 -5.3 0.024 - - - - - - 15.93 15.79 12.31
23204.35 25.56 7.21 2986 23209.75 roll 2.22 - - 2863.19 - 2.60 0.029 2275.50 440.4 315.09 - - 1484.84 - - - - - - - - - 15.85 -
23394.25 18.61 2.45 3024 23466.18 2.40 0.22 0.078 2912.50 224.1 2.65 0.088 3349.44 405.3 403.17 64.96 1.153 1132.25 -5.4 0.015 - - - - - - 15.86 15.65 12.41
23514.26 14.73 5.57 3048 23551.78 done 2.48 - - 2910.69 - 2.60 0.022 2181.00 -449.4 445.56 32.58 1.095 959.59 -5.3 0.012 - - - - - - - 15.75 12.54
23674 end climb: SURFACE_DEPTH_REACHED
23674 begin surface coast
23699 end surface coast: CONTROL_FINISHED_OK
23699 begin surface
SM 0.72 - - - - 185.5 - - 951.3 - 16.89 0.049 950.2 56.3 - 0.35 0.057 952.4 2713.7 -3.503 - - 30.00 15.74 15.75 -