NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 921 * Raw log
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• Previous call tries 1 • 323.25 of 550.00 AH used of 24V (41.23% remains)
• Surface angle -61.7 deg, depth 0.56 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.80 (SM_CC=425)
• GPS1 time: 15 s
• GPS2 time: 3 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
5.65 - - - 77.12 VBD -1.35 - - 176.31 - - - 2223.88 - -82.73 70.29 0.005 2747.66 - - - - - - - - - - 14.93
78.23 3.32 -4.93 13 110.54 -1.35 14.69 0.238 1994.06 123.7 2.52 0.065 1208.06 -403.1 -82.73 8.32 0.007 3112.88 43.9 -3.503 - - - - - - 15.46 14.96 15.08
147.62 16.41 -15.45 27 153.19 roll -1.35 - - 1993.88 - 2.70 0.026 2352.19 423.8 -82.73 - - 3112.69 - - - - - - - - - 15.80 -
338.07 45.52 -15.90 65 343.27 roll -1.35 - - 1993.19 - 2.82 0.056 1209.38 -405.3 -82.73 - - 3113.44 - - - - - - - - - 15.84 -
372.88 51.31 -16.66 72 378.31 roll -1.35 - - 1993.69 - 2.68 0.026 2349.50 425.4 -82.73 - - 3112.72 - - - - - - - - - 15.86 -
563.17 77.74 -12.04 110 568.33 roll -1.35 - - 1993.94 - 2.80 0.056 1208.25 -407.6 -82.73 - - 3113.12 - - - - - - - - - 15.87 -
602.77 82.59 -12.17 118 608.32 roll -1.35 - - 1993.19 - 2.65 0.025 2339.31 426.8 -82.73 - - 3113.06 - - - - - - - - - 15.90 -
792.83 102.97 -10.59 156 794.16 no move -1.35 - - 1993.50 - - - 2339.94 - -82.73 - - 3112.88 - - - - - - - - - - -
1097.94 129.33 -8.56 217 1099.27 no move -1.35 - - 1993.62 - - - 2339.62 - -82.73 - - 3112.84 - - - - - - - - - - -
1403.04 155.98 -9.78 278 1404.37 no move -1.35 - - 1993.56 - - - 2339.19 - -82.73 - - 3113.00 - - - - - - - - - - -
1708.08 187.39 -10.64 339 1709.41 no move -1.35 - - 1993.06 - - - 2339.62 - -82.73 - - 3113.00 - - - - - - - - - - -
2013.12 219.26 -9.87 400 2018.68 roll -1.35 - - 1993.56 - 2.74 0.057 1208.12 -413.0 -82.73 - - 3115.06 - - - - - - - - - 15.97 -
2058.12 223.92 -10.41 409 2063.67 roll -1.35 - - 1993.56 - 2.60 0.025 2332.31 432.4 -82.73 - - 3114.50 - - - - - - - - - 15.98 -
2368.23 251.49 -8.16 471 2373.73 roll -1.35 - - 1993.38 - 2.74 0.058 1209.19 -409.9 -82.73 - - 3115.97 - - - - - - - - - 15.98 -
2453.18 258.84 -8.64 488 2458.71 roll -1.35 - - 1992.62 - 2.59 0.025 2323.69 430.3 -82.73 - - 3115.41 - - - - - - - - - 15.99 -
2763.24 284.91 -8.32 550 2768.79 roll -1.35 - - 1993.44 - 2.71 0.058 1206.75 -412.2 -82.73 - - 3114.41 - - - - - - - - - 15.98 -
2823.23 290.22 -8.88 562 2828.76 roll -1.35 - - 1992.81 - 2.57 0.025 2316.94 432.0 -82.73 - - 3115.44 - - - - - - - - - 16.01 -
3139.21 314.74 -7.54 604 3143.86 roll -1.35 - - 1993.31 - 2.71 0.058 1209.38 -408.7 -82.73 - - 3112.62 - - - - - - - - - 15.99 -
3176.41 317.73 -7.87 609 3181.03 roll -1.35 - - 1993.81 - 2.55 0.025 2312.62 432.6 -82.73 - - 3113.78 - - - - - - - - - 16.01 -
3487.69 340.58 -7.35 638 3498.76 no move -1.35 - - 1993.50 - - - 2312.44 - -82.73 - - 3114.22 - - - - - - - - - - -
3800.72 362.38 -6.88 667 3805.37 roll -1.35 - - 1993.75 - 2.70 0.059 1209.12 -408.6 -82.73 - - 3113.38 - - - - - - - - - 15.99 -
3948.26 372.69 -7.22 686 3952.94 roll -1.35 - - 1993.44 - 2.54 0.025 2306.69 432.1 -82.73 - - 3113.41 - - - - - - - - - 16.02 -
4259.56 394.80 -7.27 715 4264.22 roll -1.35 - - 1993.88 - 2.86 0.084 3426.69 391.6 -82.73 - - 3113.50 - - - - - - - - - 15.95 -
4313.85 398.92 -7.60 723 4329.10 roll -1.35 - - 1993.69 - 2.69 0.018 2204.00 -454.5 -82.73 - - 3113.41 - - - - - - - - - 16.02 -
4630.39 423.15 -7.30 752 4634.98 roll -1.35 - - 1993.69 - 2.43 0.065 1209.56 -409.2 -82.73 - - 3115.88 - - - - - - - - - 15.98 -
4699.05 428.42 -7.63 761 4703.66 roll -1.35 - - 1994.25 - 2.53 0.025 2303.75 432.5 -82.73 - - 3112.06 - - - - - - - - - 16.01 -
5010.34 449.70 -6.77 790 5021.41 no move -1.35 - - 1994.31 - - - 2303.00 - -82.73 - - 3112.34 - - - - - - - - - - -
5323.82 470.44 -6.73 819 5328.48 roll -1.35 - - 1992.94 - 2.88 0.084 3425.62 389.8 -82.73 - - 3114.03 - - - - - - - - - 15.94 -
5376.77 474.58 -7.54 826 5381.42 roll -1.35 - - 1994.19 - 2.70 0.018 2201.19 -453.5 -82.73 - - 3111.41 - - - - - - - - - 16.01 -
5688.44 495.53 -6.71 855 5693.16 roll -1.35 - - 1993.94 - 3.13 0.080 3425.62 391.2 -82.73 - - 3110.69 - - - - - - - - - 15.94 -
5726.99 498.40 -7.35 861 5742.24 roll -1.35 - - 1994.69 - 2.69 0.019 2201.56 -455.0 -82.73 - - 3112.19 - - - - - - - - - 16.01 -
6053.95 522.47 -8.01 883 6058.66 roll -1.35 - - 1993.00 - 3.14 0.081 3426.62 390.1 -82.73 - - 3112.53 - - - - - - - - - 15.93 -
6113.23 527.61 -8.69 892 6118.79 roll -1.35 - - 1993.62 - 2.67 0.019 2208.94 -456.1 -82.73 - - 3112.50 - - - - - - - - - 16.01 -
6252 end dive: TARGET_DEPTH_EXCEEDED
6252 begin apogee
6254.46 538.52 -7.47 902 6330.00 -0.28 1.83 0.130 2254.31 142.5 0.17 0.125 2163.38 -268.0 - 63.44 1.806 2774.75 -5.3 0.267 - - - - - - 15.88 15.41 10.66
6332 end apogee: CONTROL_FINISHED_OK
6332 begin climb
6332.43 541.20 - 907 6403.88 1.35 2.66 0.092 2650.19 148.8 0.18 0.077 2033.81 -719.8 82.73 64.76 1.751 2437.75 -5.2 0.271 - - - - - - 15.60 15.70 11.84
6716.33 530.19 3.45 939 6793.04 1.53 0.25 0.077 2705.00 219.2 - - 2033.62 - 176.17 74.71 1.765 2055.91 -5.1 0.258 - - - - - - 15.73 - 11.37
7106.25 503.26 7.71 965 7110.93 done 1.55 - - 2705.00 - 2.98 0.075 3203.75 392.7 176.17 - - 2048.09 - - - - - - - - - 15.76 -
7174.93 497.31 8.55 974 7179.57 done 1.55 - - 2705.62 - 2.61 0.023 2060.94 -437.9 176.17 - - 2048.84 - - - - - - - - - 15.79 -
7486.62 473.04 6.88 1003 7491.31 done 1.58 - - 2705.12 - 2.92 0.076 3206.38 392.3 176.17 - - 2045.72 - - - - - - - - - 15.85 -
7525.51 470.39 6.86 1009 7540.43 done 1.61 - - 2705.12 - 2.58 0.023 2068.75 -440.9 176.17 - - 2046.88 - - - - - - - - - 15.88 -
7841.73 449.44 6.50 1038 7846.42 done 1.65 - - 2705.75 - 2.90 0.077 3206.62 392.4 176.17 - - 2043.66 - - - - - - - - - 15.89 -
7926.17 443.46 7.08 1049 7930.80 done 1.68 - - 2705.56 - 2.55 0.023 2080.06 -441.8 176.17 - - 2042.66 - - - - - - - - - 15.92 -
8238.10 423.30 6.63 1078 8249.28 1.72 0.20 0.085 2746.69 205.7 - - 2079.62 - 176.17 - - 2043.81 - - - - - - - - 15.91 - -
8550.95 399.77 7.31 1107 8555.61 done 1.74 - - 2746.25 - 2.72 0.082 993.25 -399.4 176.17 - - 2043.53 - - - - - - - - - 15.91 -
8589.51 396.75 7.81 1113 8604.45 done 1.75 - - 2747.06 - 2.71 0.024 2166.06 432.8 176.17 - - 2043.47 - - - - - - - - - 15.97 -
8906.37 372.38 7.26 1142 8911.01 done 1.78 - - 2747.56 - 2.66 0.082 3205.44 390.7 176.17 - - 2042.34 - - - - - - - - - 15.93 -
8959.65 368.19 7.63 1149 8964.27 done 1.79 - - 2747.62 - 2.54 0.023 2081.81 -442.4 176.17 - - 2044.97 - - - - - - - - - 15.97 -
9271.36 346.26 8.03 1178 9276.01 done 1.79 - - 2748.00 - 2.73 0.081 993.56 -398.6 176.17 - - 2040.62 - - - - - - - - - 15.92 -
9388.58 335.62 9.25 1194 9403.53 done 1.79 - - 2746.75 - 2.71 0.024 2167.81 433.3 176.17 - - 2044.34 - - - - - - - - - 15.99 -
9705.03 306.27 9.40 1223 9709.72 done 1.79 - - 2746.75 - 2.95 0.076 992.44 -398.4 176.17 - - 2040.94 - - - - - - - - - 15.93 -
9727.84 304.18 9.57 1227 9742.80 done 1.79 - - 2747.56 - 2.70 0.024 2166.81 435.0 176.17 - - 2041.81 - - - - - - - - - 16.00 -
10047.93 273.62 9.40 1285 10053.47 done 1.79 - - 2747.12 - 2.64 0.082 3204.12 392.9 176.17 - - 2041.47 - - - - - - - - - 15.92 -
10127.95 265.90 9.77 1301 10133.48 done 1.79 - - 2748.19 - 2.52 0.023 2080.75 -445.8 176.17 - - 2041.59 - - - - - - - - - 15.98 -
10438.23 237.81 8.99 1363 10443.66 done 1.79 - - 2747.12 - 2.72 0.080 993.62 -399.7 176.17 - - 2041.91 - - - - - - - - - 15.91 -
10588.45 224.39 8.38 1393 10593.61 done 1.79 - - 2747.12 - 2.69 0.024 2159.44 433.4 176.17 - - 2041.09 - - - - - - - - - 15.99 -
10898.14 202.22 7.02 1455 10903.71 done 1.82 - - 2747.75 - 2.94 0.076 993.50 -396.6 176.17 - - 2041.38 - - - - - - - - - 15.91 -
10968.14 196.95 7.67 1469 10973.67 done 1.84 - - 2747.12 - 2.67 0.024 2155.06 435.0 176.17 - - 2041.00 - - - - - - - - - 15.98 -
11278.18 178.21 5.74 1531 11319.02 1.94 0.26 0.073 2804.19 219.5 - - 2155.56 - 226.90 39.05 1.385 1850.16 -4.9 0.106 - - - - - - 15.95 - 10.77
11623.21 148.63 9.50 1600 11624.54 no move 1.94 - - 2804.38 - - - 2155.12 - 226.90 - - 1842.88 - - - - - - - - - - -
11928.25 120.73 8.36 1661 11933.98 roll 1.94 - - 2805.19 - 2.67 0.080 3204.00 392.8 226.90 - - 1843.25 - - - - - - - - - 15.88 -
12008.42 113.26 9.64 1677 12013.79 roll 1.94 - - 2803.88 - 2.59 0.023 2060.00 -441.7 226.90 - - 1844.69 - - - - - - - - - 15.92 -
12318.32 90.98 6.37 1739 12354.82 done 2.02 - - 2804.56 - 2.69 0.082 992.38 -396.9 265.85 31.28 1.244 1691.75 -4.9 0.060 - - - - - - - 15.54 11.05
12438.72 82.59 7.70 1763 12443.86 roll 2.03 - - 2805.12 - 2.66 0.022 2139.56 431.3 265.85 - - 1687.53 - - - - - - - - - 15.87 -
12628.35 72.70 3.99 1801 12700.31 2.20 0.30 0.069 2866.56 204.8 2.77 0.081 3204.50 384.5 349.38 64.77 1.232 1351.44 -5.2 0.052 - - - - - - 15.85 15.44 11.35
12848.38 57.73 7.39 1845 12853.90 roll 2.22 - - 2866.69 - 2.60 0.022 2068.88 -436.8 349.38 - - 1345.28 - - - - - - - - - 15.77 -
13038.46 43.18 8.01 1883 13043.97 done 2.22 - - 2866.81 - 2.72 0.079 992.69 -395.7 349.38 - - 1342.66 - - - - - - - - - 15.79 -
13093.41 38.21 9.22 1894 13098.97 done 2.22 - - 2866.81 - 2.70 0.022 2155.25 430.6 349.38 - - 1342.03 - - - - - - - - - 15.84 -
13283.49 23.26 7.66 1932 13289.03 done 2.24 - - 2867.12 - 2.69 0.079 3205.62 390.5 349.38 - - 1341.53 - - - - - - - - - 15.84 -
13328.49 18.91 9.74 1941 13334.03 done 2.24 - - 2867.50 - 2.55 0.022 2077.31 -442.5 349.38 - - 1340.94 - - - - - - - - - 15.87 -
13503 end climb: SURFACE_DEPTH_REACHED
13504 begin surface coast
13553 end surface coast: CONTROL_FINISHED_OK
13553 begin surface
SM 0.74 - - - - 191.5 56.93 1.152 1043.2 18.3 16.65 0.052 999.7 60.0 - 0.58 0.044 1086.8 1869.4 -3.213 - - 11.08 15.84 15.90 -