NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 57 * Raw log
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• Previous call tries 2 • 26.80 of 550.00 AH used of 24V (95.13% remains)
• Surface angle -58.9 deg, depth 1.44 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 374.83 (SM_CC=375)
• GPS1 time: 52 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.41 - - - 64.29 VBD -1.37 - - 183.56 - - - 2253.62 - -82.73 56.71 0.005 2566.31 - - - - - - - - - - 15.75
65.03 3.04 -3.20 11 103.21 -1.37 14.05 0.253 1988.25 128.4 2.52 0.074 1206.94 -415.3 -82.73 15.07 0.006 3112.38 36.2 -3.027 - - - - - - 15.71 15.74 15.78
331.25 47.71 -16.20 64 336.80 roll -1.37 - - 1989.38 - 2.62 0.035 2349.38 436.0 -82.73 - - 3112.72 - - - - - - - - - 15.90 -
522.08 78.14 -14.46 102 526.89 roll -1.37 - - 1987.62 - 2.71 0.067 1208.19 -421.1 -82.73 - - 3113.44 - - - - - - - - - 15.93 -
556.34 82.80 -13.53 109 561.90 roll -1.37 - - 1989.56 - 2.62 0.035 2351.75 436.5 -82.73 - - 3113.06 - - - - - - - - - 15.93 -
746.43 105.47 -10.74 142 747.76 no move -1.37 - - 1989.06 - - - 2351.94 - -82.73 - - 3112.44 - - - - - - - - - - -
1056.87 135.38 -9.93 173 1061.58 roll -1.37 - - 1989.38 - 2.70 0.067 1207.38 -423.9 -82.73 - - 3113.72 - - - - - - - - - 16.03 -
1091.03 138.67 -9.63 180 1097.03 roll -1.37 - - 1989.56 - 2.60 0.034 2351.50 440.0 -82.73 - - 3114.62 - - - - - - - - - 16.04 -
1406.57 168.56 -9.74 212 1411.64 roll -1.37 - - 1989.50 - 2.69 0.067 1208.25 -425.0 -82.73 - - 3114.12 - - - - - - - - - 16.06 -
1601.15 188.95 -10.41 251 1607.15 roll -1.37 - - 1988.38 - 2.59 0.035 2350.81 441.1 -82.73 - - 3114.78 - - - - - - - - - 16.07 -
1916.70 221.63 -10.50 283 1918.02 no move -1.37 - - 1989.81 - - - 2351.19 - -82.73 - - 3112.69 - - - - - - - - - - -
2227.15 253.27 -9.91 314 2228.47 no move -1.37 - - 1989.44 - - - 2351.56 - -82.73 - - 3112.53 - - - - - - - - - - -
2537.20 282.74 -9.41 345 2538.53 no move -1.37 - - 1989.38 - - - 2351.00 - -82.73 - - 3112.88 - - - - - - - - - - -
2847.27 313.64 -10.15 376 2852.12 roll -1.37 - - 1989.62 - 2.60 0.096 3426.25 413.6 -82.73 - - 3113.91 - - - - - - - - - 16.13 -
2887.06 318.11 -11.52 384 2891.96 roll -1.37 - - 1989.88 - 2.54 0.028 2253.12 -461.9 -82.73 - - 3113.97 - - - - - - - - - 16.15 -
3196.96 349.61 -10.06 416 3198.28 no move -1.37 - - 1989.69 - - - 2252.00 - -82.73 - - 3112.56 - - - - - - - - - - -
3507.38 380.25 -9.83 447 3511.64 roll -1.37 - - 1988.75 - 2.44 0.075 1207.44 -428.1 -82.73 - - 3114.00 - - - - - - - - - 16.17 -
3587.00 387.99 -9.98 463 3592.06 roll -1.37 - - 1989.69 - 2.58 0.036 2352.44 443.8 -82.73 - - 3114.31 - - - - - - - - - 16.17 -
3897.04 417.05 -9.10 495 3898.37 no move -1.37 - - 1989.75 - - - 2352.50 - -82.73 - - 3112.66 - - - - - - - - - - -
4207.46 445.64 -9.23 526 4212.15 roll -1.37 - - 1989.50 - 2.68 0.070 1210.00 -426.3 -82.73 - - 3113.84 - - - - - - - - - 16.19 -
4341.64 458.39 -9.64 553 4347.63 roll -1.37 - - 1989.50 - 2.57 0.036 2351.25 444.1 -82.73 - - 3113.28 - - - - - - - - - 16.19 -
4657.14 487.40 -9.15 585 4658.47 no move -1.37 - - 1989.44 - - - 2351.12 - -82.73 - - 3111.81 - - - - - - - - - - -
4967.55 513.18 -8.07 616 4968.88 no move -1.37 - - 1989.75 - - - 2351.56 - -82.73 - - 3111.56 - - - - - - - - - - -
5277.59 537.61 -7.70 647 5282.27 roll -1.37 - - 1989.31 - 2.59 0.098 3425.88 414.8 -82.73 - - 3111.84 - - - - - - - - - 16.19 -
5371.96 545.75 -8.57 666 5377.82 roll -1.37 - - 1988.31 - 2.54 0.028 2254.56 -461.1 -82.73 - - 3112.66 - - - - - - - - - 16.20 -
5687.30 568.83 -7.06 698 5692.42 roll -1.37 - - 1989.50 - 2.83 0.093 3426.81 414.2 -82.73 - - 3111.19 - - - - - - - - - 16.20 -
5751.86 574.32 -8.24 711 5757.85 roll -1.37 - - 1988.88 - 2.53 0.029 2254.31 -463.4 -82.73 - - 3112.16 - - - - - - - - - 16.22 -
6067.40 596.84 -7.21 743 6068.73 no move -1.37 - - 1989.88 - - - 2255.00 - -82.73 - - 3109.47 - - - - - - - - - - -
6377.84 620.41 -8.25 774 6382.57 roll -1.37 - - 1989.31 - 2.84 0.094 3426.38 412.5 -82.73 - - 3111.72 - - - - - - - - - 16.21 -
6447.48 627.00 -9.14 788 6452.54 roll -1.37 - - 1988.81 - 2.53 0.028 2256.56 -462.4 -82.73 - - 3111.25 - - - - - - - - - 16.22 -
6757.54 654.08 -9.16 820 6762.67 roll -1.37 - - 1990.06 - 2.83 0.095 3425.12 412.9 -82.73 - - 3110.72 - - - - - - - - - 16.21 -
6822.10 660.96 -10.83 833 6828.09 roll -1.37 - - 1989.50 - 2.53 0.029 2256.00 -462.1 -82.73 - - 3111.19 - - - - - - - - - 16.23 -
7137.64 689.49 -8.92 865 7142.75 roll -1.37 - - 1989.94 - 2.83 0.095 3427.12 413.8 -82.73 - - 3109.91 - - - - - - - - - 16.22 -
7217.66 697.38 -9.83 881 7222.90 roll -1.37 - - 1989.25 - 2.53 0.029 2255.25 -463.2 -82.73 - - 3110.44 - - - - - - - - - 16.23 -
7527.89 723.81 -8.49 913 7529.22 no move -1.37 - - 1989.62 - - - 2255.06 - -82.73 - - 3107.75 - - - - - - - - - - -
7838.17 749.29 -8.28 944 7839.50 no move -1.37 - - 1989.56 - - - 2255.38 - -82.73 - - 3107.09 - - - - - - - - - - -
8148.24 773.74 -7.92 975 8152.97 roll -1.37 - - 1989.56 - 2.83 0.096 3425.50 413.5 -82.73 - - 3108.69 - - - - - - - - - 16.21 -
8207.87 778.84 -8.59 987 8212.94 roll -1.37 - - 1989.56 - 2.52 0.029 2256.50 -463.9 -82.73 - - 3108.19 - - - - - - - - - 16.23 -
8517.93 800.61 -6.50 1019 8522.58 roll -1.37 - - 1989.56 - 2.44 0.079 1209.56 -429.1 -82.73 - - 3107.88 - - - - - - - - - 16.22 -
8562.48 803.62 -6.91 1028 8568.47 roll -1.37 - - 1989.44 - 2.57 0.037 2351.00 444.1 -82.73 - - 3108.69 - - - - - - - - - 16.24 -
8877.98 824.81 -6.55 1060 8879.31 no move -1.37 - - 1989.62 - - - 2351.69 - -82.73 - - 3106.72 - - - - - - - - - - -
9188.41 845.75 -6.68 1091 9189.74 no move -1.37 - - 1989.50 - - - 2351.50 - -82.73 - - 3106.16 - - - - - - - - - - -
9498.46 865.17 -6.05 1122 9499.79 no move -1.37 - - 1989.31 - - - 2351.69 - -82.73 - - 3105.66 - - - - - - - - - - -
9808.48 884.21 -5.99 1153 9809.81 no move -1.37 - - 1989.25 - - - 2351.06 - -82.73 - - 3105.69 - - - - - - - - - - -
10118.52 902.70 -5.95 1184 10123.39 roll -1.37 - - 1989.25 - 2.61 0.101 3426.75 412.1 -82.73 - - 3106.88 - - - - - - - - - 16.23 -
10172.84 906.58 -6.83 1195 10178.66 roll -1.37 - - 1989.94 - 2.52 0.029 2254.50 -465.2 -82.73 - - 3106.38 - - - - - - - - - 16.23 -
10488.34 926.66 -6.55 1227 10493.29 roll -1.37 - - 1989.62 - 2.83 0.096 3425.38 413.7 -82.73 - - 3106.47 - - - - - - - - - 16.22 -
10572.73 933.56 -8.05 1244 10578.72 roll -1.37 - - 1989.50 - 2.53 0.029 2253.56 -463.2 -82.73 - - 3106.22 - - - - - - - - - 16.23 -
10888.24 957.02 -7.64 1276 10889.57 no move -1.37 - - 1989.62 - - - 2254.12 - -82.73 - - 3104.69 - - - - - - - - - - -
11198.68 981.48 -8.10 1307 11203.42 roll -1.37 - - 1989.50 - 2.84 0.096 3425.38 412.4 -82.73 - - 3105.31 - - - - - - - - - 16.23 -
11292 end dive: TARGET_DEPTH_EXCEEDED
11293 begin apogee
11297.14 990.11 -9.23 1326 11362.50 -0.28 1.82 0.167 2253.31 145.0 0.14 0.187 2286.94 -8131.7 - 61.42 2.417 2773.47 -5.4 0.365 - - - - - - 16.19 15.69 13.13
11372 end apogee: CONTROL_FINISHED_OK
11372 begin climb
11372.55 992.53 - 1333 11442.25 1.37 2.67 0.108 2654.56 150.3 - - 2286.50 - 82.73 65.01 2.362 2435.38 -5.2 0.360 - - - - - - 15.73 - 12.87
11745.69 969.62 6.97 1371 11747.01 no move 1.40 - - 2653.62 - - - 2286.38 - 82.73 - - 2429.94 - - - - - - - - - - -
12056.08 947.69 7.04 1402 12060.78 roll 1.43 - - 2654.38 - 2.80 0.084 1131.38 -412.5 82.73 - - 2429.88 - - - - - - - - - 15.90 -
12125.72 942.53 7.62 1416 12130.79 done 1.44 - - 2654.38 - 2.62 0.037 2271.31 435.1 82.73 - - 2429.06 - - - - - - - - - 15.92 -
12436.18 921.29 7.04 1448 12437.51 VBD 1.47 - - 2654.00 - - - 2270.56 - 82.73 - - 2428.03 - - - - - - - - - - -
12746.23 899.87 6.99 1479 12747.67 1.50 0.17 0.095 2697.25 254.4 - - 2270.19 - 82.73 - - 2427.66 - - - - - - - - 16.02 - -
13055.90 873.87 8.61 1510 13057.23 VBD 1.50 - - 2697.31 - - - 2270.25 - 82.73 - - 2427.12 - - - - - - - - - - -
13366.34 846.00 9.00 1541 13367.67 VBD 1.50 - - 2697.44 - - - 2270.50 - 82.73 - - 2426.69 - - - - - - - - - - -
13676.38 817.92 9.11 1572 13677.72 VBD 1.50 - - 2697.50 - - - 2270.38 - 82.73 - - 2426.59 - - - - - - - - - - -
13986.41 791.08 8.44 1603 13991.12 done 1.50 - - 2696.81 - 2.72 0.083 1131.12 -418.8 82.73 - - 2428.72 - - - - - - - - - 16.13 -
14166.06 774.67 8.93 1639 14171.32 done 1.50 - - 2697.88 - 2.59 0.038 2270.00 439.7 82.73 - - 2427.25 - - - - - - - - - 16.15 -
14476.22 749.61 8.15 1671 14477.56 VBD 1.50 - - 2697.31 - - - 2269.88 - 82.73 - - 2426.91 - - - - - - - - - - -
14786.52 724.45 8.04 1702 14791.23 done 1.50 - - 2697.19 - 2.72 0.083 1129.88 -419.1 82.73 - - 2428.91 - - - - - - - - - 16.16 -
14850.69 718.94 8.39 1715 14856.68 done 1.50 - - 2698.00 - 2.59 0.038 2273.50 441.6 82.73 - - 2427.69 - - - - - - - - - 16.16 -
15166.58 696.12 7.02 1747 15167.91 VBD 1.53 - - 2697.62 - - - 2272.88 - 82.73 - - 2426.72 - - - - - - - - - - -
15476.62 676.37 5.97 1778 15511.51 done 1.60 - - 2697.62 - 2.75 0.086 1131.38 -415.1 119.21 28.34 1.985 2287.47 -4.9 0.276 - - - - - - - 15.92 13.09
15576.26 669.08 7.78 1798 15581.33 roll 1.62 - - 2695.81 - 2.61 0.037 2271.19 436.7 119.21 - - 2286.97 - - - - - - - - - 16.01 -
15886.72 645.11 7.83 1830 15891.41 roll 1.63 - - 2697.44 - 2.74 0.083 1130.00 -416.5 119.21 - - 2284.88 - - - - - - - - - 16.05 -
15960.88 638.74 8.61 1845 15966.89 roll 1.63 - - 2698.38 - 2.61 0.038 2271.50 437.4 119.21 - - 2284.66 - - - - - - - - - 16.07 -
16277.06 615.30 7.63 1877 16278.39 no move 1.64 - - 2698.56 - - - 2270.94 - 119.21 - - 2282.38 - - - - - - - - - - -
16586.87 589.82 8.42 1908 16591.57 roll 1.64 - - 2697.69 - 2.63 0.100 3346.75 409.1 119.21 - - 2283.25 - - - - - - - - - 16.10 -
16656.50 583.42 9.67 1922 16661.57 roll 1.64 - - 2696.12 - 2.55 0.031 2192.50 -452.6 119.21 - - 2284.19 - - - - - - - - - 16.11 -
16966.58 556.87 8.77 1954 16971.69 roll 1.64 - - 2697.38 - 2.83 0.096 3345.81 407.5 119.21 - - 2283.66 - - - - - - - - - 16.12 -
17051.15 548.61 9.74 1971 17057.13 roll 1.64 - - 2697.62 - 2.55 0.031 2192.88 -452.1 119.21 - - 2284.56 - - - - - - - - - 16.14 -
17366.67 519.67 9.50 2003 17371.79 roll 1.64 - - 2696.38 - 2.83 0.096 3346.81 407.7 119.21 - - 2284.03 - - - - - - - - - 16.14 -
17436.70 512.15 10.65 2017 17441.76 roll 1.64 - - 2697.69 - 2.56 0.031 2191.56 -451.3 119.21 - - 2283.25 - - - - - - - - - 16.14 -
17746.77 482.08 9.68 2049 17751.88 roll 1.64 - - 2697.12 - 2.83 0.096 3346.81 408.2 119.21 - - 2284.00 - - - - - - - - - 16.16 -
17826.79 473.54 10.97 2065 17831.85 roll 1.64 - - 2697.50 - 2.55 0.030 2191.19 -453.2 119.21 - - 2283.84 - - - - - - - - - 16.17 -
18137.03 445.48 8.15 2097 18138.36 no move 1.64 - - 2697.31 - - - 2191.44 - 119.21 - - 2281.91 - - - - - - - - - - -
18447.43 421.88 7.37 2128 18452.03 roll back 1.67 0.17 0.097 2735.50 224.6 2.52 0.087 1130.00 -421.2 119.21 - - 2283.03 - - - - - - - - 16.17 16.16 -
18491.47 418.01 8.59 2137 18497.45 roll 1.67 - - 2736.06 - 2.58 0.037 2273.50 443.2 119.21 - - 2282.94 - - - - - - - - - 16.18 -
18806.98 391.29 8.58 2169 18812.04 roll 1.67 - - 2735.81 - 2.60 0.099 3347.12 412.9 119.21 - - 2282.81 - - - - - - - - - 16.16 -
18856.98 386.49 9.76 2179 18862.39 roll 1.67 - - 2735.62 - 2.55 0.031 2191.44 -453.2 119.21 - - 2282.94 - - - - - - - - - 16.18 -
19167.41 359.59 8.18 2211 19172.12 roll 1.67 - - 2736.12 - 2.80 0.095 3345.31 412.1 119.21 - - 2283.16 - - - - - - - - - 16.18 -
19227.03 354.15 9.18 2223 19232.11 roll 1.67 - - 2736.81 - 2.54 0.030 2191.19 -454.4 119.21 - - 2282.56 - - - - - - - - - 16.19 -
19537.47 330.49 7.38 2255 19542.19 roll 1.69 - - 2736.12 - 2.81 0.095 3345.62 410.8 119.21 - - 2282.47 - - - - - - - - - 16.18 -
19587.08 326.42 8.29 2265 19592.16 roll 1.69 - - 2735.94 - 2.54 0.030 2190.12 -454.9 119.21 - - 2283.00 - - - - - - - - - 16.18 -
19897.68 300.61 8.60 2297 19902.20 roll 1.69 - - 2734.94 - 2.51 0.086 1129.56 -422.5 119.21 - - 2283.53 - - - - - - - - - 16.19 -
20001.80 290.72 9.94 2318 20007.67 roll 1.69 - - 2734.94 - 2.58 0.036 2272.56 443.0 119.21 - - 2283.72 - - - - - - - - - 16.19 -
20317.56 261.40 8.91 2350 20322.25 roll 1.69 - - 2736.94 - 2.70 0.080 1129.56 -423.3 119.21 - - 2282.62 - - - - - - - - - 16.18 -
20437.21 251.43 7.97 2374 20442.27 roll 1.69 - - 2736.06 - 2.58 0.036 2273.94 443.6 119.21 - - 2282.62 - - - - - - - - - 16.18 -
20747.66 231.50 6.32 2406 20778.68 done 1.75 - - 2736.31 - 2.72 0.082 1130.06 -420.5 150.59 24.48 1.463 2160.59 -5.0 0.130 - - - - - - - 16.01 13.13
20857.30 222.88 8.53 2428 20862.36 roll 1.75 - - 2735.19 - 2.59 0.036 2271.12 440.6 150.59 - - 2158.00 - - - - - - - - - 16.08 -
21167.75 196.18 8.73 2460 21169.08 no move 1.75 - - 2736.62 - - - 2271.44 - 150.59 - - 2155.66 - - - - - - - - - - -
21477.83 168.86 8.70 2491 21479.16 no move 1.75 - - 2736.19 - - - 2271.00 - 150.59 - - 2155.22 - - - - - - - - - - -
21787.88 142.37 8.18 2522 21792.58 roll 1.75 - - 2735.69 - 2.61 0.097 3346.19 412.0 150.59 - - 2156.41 - - - - - - - - - 16.12 -
21917.73 130.81 9.11 2548 21922.67 roll 1.75 - - 2736.69 - 2.55 0.029 2189.69 -453.5 150.59 - - 2156.44 - - - - - - - - - 16.12 -
22228.00 111.45 5.19 2580 22269.30 1.85 0.19 0.087 2782.31 240.1 2.84 0.094 3346.75 407.4 198.51 36.29 1.348 1964.78 -5.3 0.072 - - - - - - 16.14 15.92 13.07
22372.18 99.61 9.22 2609 22378.17 roll 1.85 - - 2781.31 - 2.56 0.029 2190.81 -451.5 198.51 - - 1960.34 - - - - - - - - - 16.01 -
22682.78 76.86 6.15 2671 22714.23 done 1.91 - - 2781.75 - 2.86 0.093 3346.25 404.0 232.31 26.09 1.264 1827.19 -5.1 0.051 - - - - - - - 15.86 13.02
22918.08 63.27 5.85 2718 22954.32 done 1.99 - - 2781.81 - 2.57 0.028 2189.25 -450.2 270.63 29.68 1.246 1672.00 -5.2 0.044 - - - - - - - 15.96 13.04
23137.95 47.64 7.45 2762 23139.38 pitch 2.01 0.16 0.095 2818.62 230.1 - - 2188.69 - 270.63 - - 1663.47 - - - - - - - - 15.89 - -
23323.04 30.98 9.24 2799 23326.63 VBD 2.01 - - 2817.81 - - - 2188.19 - 270.63 - - 1662.97 - - - - - - - - - - -
23508.03 17.56 6.61 2836 23513.61 done 2.05 - - 2818.06 - 2.86 0.091 3344.94 404.5 270.63 - - 1662.25 - - - - - - - - - 15.97 -
23703 end climb: SURFACE_DEPTH_REACHED
23703 begin surface coast
23718 end surface coast: CONTROL_FINISHED_OK
23718 begin surface
SM 1.85 - - - - 190.0 76.22 1.205 1247.0 16.4 16.10 0.047 1223.2 76.0 - 2.36 0.029 1270.8 537.3 -3.503 - - 12.97 16.00 16.02 -