NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1075 * Raw log
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• Previous call tries 1 • 378.89 of 550.00 AH used of 24V (31.11% remains)
• Surface angle -62.2 deg, depth 0.63 m • Intended pitch -25.2 deg, speed -8.462 cm/s
VBD pumped to 425.10 (SM_CC=425)
• GPS1 time: 23 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
5.84 - - - 82.60 VBD -1.56 - - 174.38 - - - 2231.44 - -82.73 75.24 0.005 2886.31 - - - - - - - - - - 14.80
83.34 3.85 -5.65 14 111.53 -1.56 14.43 0.245 1940.81 122.4 2.58 0.067 1209.06 -396.3 -82.73 5.03 0.009 3113.09 45.1 -3.320 - - - - - - 15.39 14.88 14.99
293.65 38.69 -15.14 56 299.21 roll -1.56 - - 1940.50 - 2.69 0.027 2349.44 423.9 -82.73 - - 3114.03 - - - - - - - - - 15.83 -
484.12 65.74 -13.02 94 485.45 no move -1.56 - - 1941.44 - - - 2349.69 - -82.73 - - 3111.69 - - - - - - - - - - -
668.86 84.87 -11.35 131 670.19 no move -1.56 - - 1941.12 - - - 2349.62 - -82.73 - - 3112.28 - - - - - - - - - - -
853.86 106.90 -10.06 168 859.45 roll -1.56 - - 1941.62 - 2.85 0.058 1208.94 -400.2 -82.73 - - 3112.47 - - - - - - - - - 15.89 -
928.89 113.07 -7.74 183 934.44 roll -1.56 - - 1941.19 - 2.66 0.026 2348.56 428.4 -82.73 - - 3112.62 - - - - - - - - - 15.93 -
1239.01 138.60 -9.21 245 1244.59 roll -1.56 - - 1941.81 - 2.82 0.058 1208.00 -404.5 -82.73 - - 3112.84 - - - - - - - - - 15.92 -
1299.02 144.55 -10.10 257 1304.58 roll -1.56 - - 1941.50 - 2.66 0.025 2346.69 428.1 -82.73 - - 3112.72 - - - - - - - - - 15.96 -
1609.11 174.27 -9.04 319 1614.67 roll -1.56 - - 1941.75 - 2.80 0.058 1209.25 -406.2 -82.73 - - 3112.78 - - - - - - - - - 15.93 -
1644.11 177.39 -8.86 326 1649.66 roll -1.56 - - 1941.50 - 2.62 0.025 2342.69 432.6 -82.73 - - 3112.78 - - - - - - - - - 15.96 -
1954.17 201.59 -8.41 388 1955.49 no move -1.56 - - 1941.62 - - - 2342.38 - -82.73 - - 3111.72 - - - - - - - - - - -
2259.32 228.34 -9.37 449 2260.65 no move -1.56 - - 1941.94 - - - 2342.69 - -82.73 - - 3112.56 - - - - - - - - - - -
2564.26 257.32 -9.28 510 2570.03 roll -1.56 - - 1941.06 - 2.80 0.058 1209.12 -404.8 -82.73 - - 3113.59 - - - - - - - - - 15.95 -
2619.26 262.66 -9.77 521 2624.82 roll -1.56 - - 1941.31 - 2.62 0.025 2339.25 431.3 -82.73 - - 3113.53 - - - - - - - - - 15.99 -
2929.33 289.27 -8.82 583 2930.66 no move -1.56 - - 1941.94 - - - 2339.31 - -82.73 - - 3112.78 - - - - - - - - - - -
3234.53 316.93 -9.13 624 3239.17 roll -1.56 - - 1941.38 - 2.79 0.059 1208.12 -405.4 -82.73 - - 3112.47 - - - - - - - - - 15.96 -
3273.07 320.36 -9.16 630 3287.66 roll -1.56 - - 1941.44 - 2.61 0.026 2337.25 432.6 -82.73 - - 3112.81 - - - - - - - - - 16.00 -
3589.64 348.61 -8.62 659 3594.28 roll -1.56 - - 1942.00 - 2.78 0.059 1207.88 -406.2 -82.73 - - 3113.75 - - - - - - - - - 15.96 -
3643.92 353.41 -8.98 667 3658.86 roll -1.56 - - 1941.81 - 2.61 0.026 2333.00 431.1 -82.73 - - 3112.66 - - - - - - - - - 16.00 -
3960.08 377.87 -6.94 696 3971.15 no move -1.56 - - 1941.75 - - - 2333.12 - -82.73 - - 3113.62 - - - - - - - - - - -
4273.02 398.88 -6.96 725 4277.67 roll -1.56 - - 1942.00 - 2.77 0.060 1208.94 -405.8 -82.73 - - 3112.00 - - - - - - - - - 15.96 -
4358.77 405.30 -7.53 737 4373.69 roll -1.56 - - 1941.50 - 2.60 0.026 2332.19 432.0 -82.73 - - 3113.25 - - - - - - - - - 16.01 -
4674.94 429.58 -7.98 766 4679.60 roll -1.56 - - 1941.62 - 2.81 0.086 3428.25 390.1 -82.73 - - 3112.50 - - - - - - - - - 15.91 -
4713.47 432.93 -8.65 772 4728.41 roll -1.56 - - 1941.06 - 2.64 0.019 2224.44 -456.0 -82.73 - - 3113.66 - - - - - - - - - 16.00 -
5030.41 459.27 -7.91 801 5035.02 roll -1.56 - - 1941.69 - 2.52 0.065 1208.94 -403.0 -82.73 - - 3111.56 - - - - - - - - - 15.95 -
5131.89 467.55 -8.29 815 5146.81 roll -1.56 - - 1941.62 - 2.59 0.026 2328.12 432.1 -82.73 - - 3112.59 - - - - - - - - - 16.01 -
5448.04 492.55 -8.01 844 5459.11 no move -1.56 - - 1941.56 - - - 2328.00 - -82.73 - - 3112.78 - - - - - - - - - - -
5770.70 519.45 -8.63 868 5775.37 roll -1.56 - - 1941.50 - 2.83 0.086 3424.81 387.6 -82.73 - - 3112.66 - - - - - - - - - 15.91 -
5855.72 527.16 -9.67 881 5870.65 roll -1.56 - - 1941.06 - 2.67 0.019 2221.06 -450.8 -82.73 - - 3112.28 - - - - - - - - - 16.01 -
6185.12 554.10 -7.34 903 6190.00 roll -1.56 - - 1940.69 - 3.10 0.082 3426.75 388.9 -82.73 - - 3110.97 - - - - - - - - - 15.90 -
6270.32 560.45 -7.99 916 6285.10 roll -1.56 - - 1941.50 - 2.65 0.019 2227.44 -452.6 -82.73 - - 3111.19 - - - - - - - - - 16.00 -
6599.56 583.29 -6.70 938 6604.17 roll -1.56 - - 1941.25 - 2.53 0.066 1209.38 -402.4 -82.73 - - 3110.53 - - - - - - - - - 15.95 -
6638.10 585.96 -6.95 944 6643.66 roll -1.56 - - 1941.81 - 2.61 0.026 2332.06 430.1 -82.73 - - 3111.06 - - - - - - - - - 16.01 -
6957.69 607.60 -6.60 966 6962.34 roll -1.56 - - 1941.62 - 2.78 0.062 1209.19 -403.9 -82.73 - - 3109.38 - - - - - - - - - 15.94 -
6994.88 610.29 -6.94 971 6999.51 roll -1.56 - - 1941.44 - 2.61 0.026 2328.69 428.9 -82.73 - - 3110.94 - - - - - - - - - 16.00 -
7311.36 631.95 -6.98 993 7312.69 no move -1.56 - - 1941.38 - - - 2329.25 - -82.73 - - 3110.12 - - - - - - - - - - -
7626.36 654.10 -7.12 1014 7627.69 no move -1.56 - - 1941.62 - - - 2329.12 - -82.73 - - 3109.53 - - - - - - - - - - -
7941.37 676.67 -6.65 1035 7946.02 roll -1.56 - - 1941.50 - 2.79 0.064 1210.56 -400.9 -82.73 - - 3108.50 - - - - - - - - - 15.93 -
7979.94 678.88 -6.26 1041 7985.46 roll -1.56 - - 1941.94 - 2.59 0.026 2326.06 430.7 -82.73 - - 3110.09 - - - - - - - - - 16.00 -
8299.34 700.56 -5.41 1063 8300.67 no move -1.56 - - 1941.69 - - - 2325.56 - -82.73 - - 3109.31 - - - - - - - - - - -
8614.34 722.43 -7.38 1084 8619.17 roll -1.56 - - 1940.69 - 2.79 0.063 1208.94 -400.2 -82.73 - - 3108.38 - - - - - - - - - 15.93 -
8673.79 726.71 -7.33 1093 8679.15 roll -1.56 - - 1941.94 - 2.60 0.027 2322.56 428.3 -82.73 - - 3108.75 - - - - - - - - - 16.00 -
8993.06 747.82 -6.24 1115 8994.38 no move -1.56 - - 1941.06 - - - 2322.50 - -82.73 - - 3108.12 - - - - - - - - - - -
9308.07 771.09 -7.90 1136 9312.72 roll -1.56 - - 1941.56 - 2.78 0.063 1210.62 -400.0 -82.73 - - 3106.62 - - - - - - - - - 15.92 -
9388.09 777.65 -8.35 1148 9393.62 roll -1.56 - - 1941.69 - 2.60 0.027 2318.56 426.1 -82.73 - - 3108.97 - - - - - - - - - 16.00 -
9542 end dive: TARGET_DEPTH_EXCEEDED
9542 begin apogee
9544.37 790.02 -7.87 1159 9619.97 -0.28 2.23 0.143 2254.25 140.2 0.17 0.139 2158.69 -940.4 - 65.93 2.135 2774.75 -5.1 0.323 - - - - - - 15.78 15.22 10.35
9622 end apogee: CONTROL_FINISHED_OK
9622 begin climb
9622.57 792.36 - 1164 9697.18 1.56 3.01 0.087 2703.62 149.3 0.17 0.078 2036.31 -719.9 82.73 68.43 2.070 2436.81 -4.9 0.325 - - - - - - 15.51 15.63 11.59
10001.51 774.22 5.45 1195 10063.23 1.69 0.15 0.086 2742.12 256.7 - - 2036.44 - 147.33 54.38 2.030 2173.94 -4.8 0.317 - - - - - - 15.72 - 11.11
10376.85 744.87 7.64 1220 10381.56 roll 1.71 - - 2742.75 - 3.06 0.079 3205.44 382.0 147.33 - - 2166.41 - - - - - - - - - 15.74 -
10456.87 738.44 8.05 1232 10462.42 roll 1.71 - - 2742.62 - 2.64 0.024 2062.94 -432.8 147.33 - - 2167.62 - - - - - - - - - 15.81 -
10776.29 714.09 7.65 1254 10777.62 VBD 1.73 - - 2741.62 - - - 2062.62 - 147.33 - - 2164.81 - - - - - - - - - - -
11091.31 690.69 6.99 1275 11095.99 done 1.75 - - 2742.88 - 2.95 0.079 3204.44 387.1 147.33 - - 2165.19 - - - - - - - - - 15.85 -
11211.67 680.18 8.95 1292 11216.31 done 1.75 - - 2742.31 - 2.62 0.025 2068.69 -433.5 147.33 - - 2165.25 - - - - - - - - - 15.92 -
11528.14 653.90 8.14 1314 11529.47 VBD 1.75 - - 2742.69 - - - 2068.62 - 147.33 - - 2164.88 - - - - - - - - - - -
11843.18 631.86 6.51 1335 11847.83 done 1.79 - - 2742.94 - 2.77 0.084 994.62 -387.7 147.33 - - 2164.00 - - - - - - - - - 15.87 -
11881.74 629.22 6.78 1341 11887.29 done 1.83 - - 2742.06 - 2.69 0.024 2147.38 428.5 147.33 - - 2163.94 - - - - - - - - - 15.96 -
12201.15 609.58 6.19 1363 12248.16 1.92 0.26 0.067 2801.88 230.1 2.76 0.086 3204.75 383.1 196.04 40.78 1.901 1973.97 -4.7 0.257 - - - - - - 15.92 15.40 10.73
12328.47 598.94 9.18 1382 12343.24 roll 1.92 - - 2802.06 - 2.62 0.024 2074.88 -431.2 196.04 - - 1971.94 - - - - - - - - - 15.80 -
12657.70 566.35 10.24 1404 12662.34 roll 1.92 - - 2802.94 - 2.79 0.084 994.88 -387.1 196.04 - - 1968.12 - - - - - - - - - 15.80 -
12715.63 559.99 10.77 1412 12720.27 roll 1.92 - - 2802.25 - 2.71 0.024 2153.25 427.4 196.04 - - 1969.12 - - - - - - - - - 15.88 -
13032.10 528.09 9.83 1434 13033.43 VBD 1.92 - - 2801.62 - - - 2153.50 - 196.04 - - 1967.03 - - - - - - - - - - -
13347.12 498.95 8.75 1455 13358.21 VBD 1.92 - - 2802.12 - - - 2152.62 - 196.04 - - 1967.53 - - - - - - - - - - -
13659.84 474.00 7.99 1484 13664.49 done 1.92 - - 2801.38 - 2.70 0.083 3203.81 389.3 196.04 - - 1966.38 - - - - - - - - - 15.87 -
13777.25 463.87 8.82 1500 13791.99 done 1.92 - - 2802.44 - 2.58 0.025 2073.94 -437.9 196.04 - - 1966.56 - - - - - - - - - 15.97 -
14093.36 436.68 8.52 1529 14104.43 VBD 1.92 - - 2801.94 - - - 2074.25 - 196.04 - - 1966.09 - - - - - - - - - - -
14406.41 409.91 8.86 1558 14411.28 done 1.92 - - 2802.31 - 2.90 0.078 3203.69 389.5 196.04 - - 1964.38 - - - - - - - - - 15.88 -
14490.97 401.87 9.46 1569 14495.59 done 1.92 - - 2802.06 - 2.57 0.025 2076.50 -438.6 196.04 - - 1965.56 - - - - - - - - - 15.97 -
14802.63 375.03 8.86 1598 14807.30 done 1.92 - - 2802.12 - 2.90 0.078 3204.06 388.8 196.04 - - 1965.28 - - - - - - - - - 15.88 -
14825.43 373.03 9.02 1602 14840.35 done 1.92 - - 2802.00 - 2.55 0.024 2081.00 -440.4 196.04 - - 1966.44 - - - - - - - - - 15.97 -
15141.94 345.14 8.42 1631 15153.02 VBD 1.92 - - 2802.31 - - - 2081.38 - 196.04 - - 1965.50 - - - - - - - - - - -
15454.67 321.46 7.25 1660 15459.33 done 1.95 - - 2802.81 - 2.86 0.078 3201.44 391.6 196.04 - - 1964.16 - - - - - - - - - 15.88 -
15508.96 317.40 7.48 1668 15523.86 done 1.97 - - 2802.25 - 2.53 0.024 2084.50 -441.5 196.04 - - 1965.25 - - - - - - - - - 15.98 -
15827.85 294.38 7.55 1704 15833.40 done 1.99 - - 2802.44 - 2.78 0.083 993.88 -392.3 196.04 - - 1965.09 - - - - - - - - - 15.85 -
15892.85 288.91 8.56 1717 15898.42 done 1.99 - - 2803.12 - 2.70 0.024 2168.94 435.2 196.04 - - 1965.28 - - - - - - - - - 15.97 -
16203.16 264.69 7.17 1779 16208.50 done 2.01 - - 2801.69 - 2.64 0.082 3205.25 392.5 196.04 - - 1965.69 - - - - - - - - - 15.86 -
16273.10 259.48 7.53 1793 16278.50 done 2.03 - - 2802.25 - 2.55 0.023 2087.75 -438.2 196.04 - - 1966.00 - - - - - - - - - 15.97 -
16583.10 238.26 7.09 1855 16584.43 VBD 2.06 - - 2802.94 - - - 2088.12 - 196.04 - - 1963.59 - - - - - - - - - - -
16888.12 213.85 8.71 1916 16889.46 VBD 2.06 - - 2802.75 - - - 2088.25 - 196.04 - - 1964.00 - - - - - - - - - - -
17193.18 189.03 7.38 1977 17198.74 done 2.08 - - 2803.31 - 2.86 0.077 3204.69 390.4 196.04 - - 1964.75 - - - - - - - - - 15.86 -
17253.18 184.43 7.71 1989 17258.76 2.10 0.16 0.093 2840.44 232.1 2.54 0.023 2091.00 -438.5 196.04 - - 1966.19 - - - - - - - - 15.81 15.96 -
17563.24 161.78 7.33 2051 17564.57 VBD 2.12 - - 2841.38 - - - 2091.19 - 196.04 - - 1964.12 - - - - - - - - - - -
17868.26 136.74 8.89 2112 17873.83 done 2.12 - - 2842.12 - 2.85 0.076 3205.62 391.0 196.04 - - 1965.31 - - - - - - - - - 15.86 -
17963.46 127.72 9.31 2131 17968.87 done 2.12 - - 2842.12 - 2.53 0.023 2092.62 -439.9 196.04 - - 1965.00 - - - - - - - - - 15.97 -
18273.33 105.34 7.44 2193 18278.90 done 2.14 - - 2842.88 - 2.86 0.075 3206.88 389.6 196.04 - - 1965.59 - - - - - - - - - 15.87 -
18413.77 93.74 9.09 2221 18418.86 done 2.14 - - 2841.75 - 2.51 0.022 2100.31 -440.9 196.04 - - 1965.88 - - - - - - - - - 15.96 -
18603.35 78.80 8.09 2259 18604.68 VBD 2.14 - - 2842.25 - - - 2100.50 - 196.04 - - 1964.25 - - - - - - - - - - -
18788.37 68.72 3.92 2296 18870.92 2.33 0.27 0.068 2900.25 214.8 2.87 0.081 993.56 -385.7 293.27 75.57 1.239 1578.84 -5.1 0.049 - - - - - - 15.93 15.35 10.56
19038.39 47.40 9.03 2346 19043.99 done 2.33 - - 2899.06 - 2.82 0.023 2192.94 425.3 293.27 - - 1571.78 - - - - - - - - - 15.78 -
19228.49 33.15 7.27 2384 19233.94 done 2.36 - - 2899.94 - 2.60 0.079 3204.19 388.9 293.27 - - 1568.81 - - - - - - - - - 15.78 -
19273.43 30.12 6.73 2393 19278.96 done 2.39 - - 2898.81 - 2.52 0.022 2105.19 -436.1 293.27 - - 1569.03 - - - - - - - - - 15.84 -
19463.46 19.24 5.50 2431 19520.13 2.52 0.19 0.081 2944.56 240.8 2.87 0.079 993.44 -387.4 356.78 49.38 1.135 1320.03 -5.0 0.015 - - - - - - 15.83 15.39 11.03
19568.46 10.68 10.51 2452 19574.03 roll 2.52 - - 2945.12 - 2.80 0.023 2192.88 428.4 356.78 - - 1317.78 - - - - - - - - - 15.76 -
19638 end climb: SURFACE_DEPTH_REACHED
19638 begin surface coast
19689 end surface coast: CONTROL_FINISHED_OK
19689 begin surface
SM 0.71 - - - - 175.9 52.36 1.127 1042.0 19.9 17.17 0.053 992.5 57.8 - 0.33 0.071 1091.6 3299.4 -3.372 - - 11.26 15.73 15.77 -