NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1052 * Raw log
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• Previous call tries 1 • 373.45 of 550.00 AH used of 24V (32.10% remains)
• Surface angle -62.4 deg, depth 0.62 m • Intended pitch -25.2 deg, speed -8.462 cm/s
VBD pumped to 424.86 (SM_CC=425)
• GPS1 time: 22 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
2 end surface: CONTROL_FINISHED_OK
3 begin dive
5.80 - - - 77.11 VBD -1.56 - - 175.88 - - - 2256.69 - -82.73 70.11 0.005 2741.97 - - - - - - - - - - 14.85
78.22 3.19 -4.58 13 110.50 -1.56 14.26 0.234 1940.25 123.7 2.62 0.068 1209.19 -399.8 -82.73 8.91 0.007 3111.78 41.5 -3.215 - - - - - - 15.42 14.87 15.01
157.57 16.46 -14.79 29 163.14 roll -1.56 - - 1941.62 - 2.70 0.026 2351.81 423.2 -82.73 - - 3111.69 - - - - - - - - - 15.81 -
347.98 44.17 -14.80 67 349.31 no move -1.56 - - 1941.06 - - - 2352.12 - -82.73 - - 3110.50 - - - - - - - - - - -
532.62 69.83 -12.21 104 538.39 roll -1.56 - - 1941.62 - 2.77 0.082 3424.75 387.2 -82.73 - - 3111.19 - - - - - - - - - 15.82 -
622.83 80.86 -12.17 122 628.21 roll -1.56 - - 1942.06 - 2.62 0.018 2248.62 -448.9 -82.73 - - 3111.41 - - - - - - - - - 15.89 -
812.68 100.58 -10.36 160 818.21 roll -1.56 - - 1941.31 - 2.56 0.063 1207.62 -406.6 -82.73 - - 3111.88 - - - - - - - - - 15.89 -
867.68 105.80 -9.35 171 873.23 roll -1.56 - - 1941.44 - 2.68 0.025 2355.75 428.4 -82.73 - - 3111.06 - - - - - - - - - 15.92 -
1177.73 131.30 -7.75 233 1183.31 roll -1.56 - - 1940.81 - 2.82 0.058 1208.94 -406.7 -82.73 - - 3111.69 - - - - - - - - - 15.91 -
1282.75 140.29 -8.82 254 1288.29 roll -1.56 - - 1940.75 - 2.66 0.026 2353.56 430.3 -82.73 - - 3111.62 - - - - - - - - - 15.95 -
1592.80 166.89 -8.60 316 1594.12 no move -1.56 - - 1941.75 - - - 2353.69 - -82.73 - - 3110.88 - - - - - - - - - - -
1897.87 192.54 -8.18 377 1903.44 roll -1.56 - - 1941.56 - 2.79 0.058 1208.12 -410.6 -82.73 - - 3111.81 - - - - - - - - - 15.93 -
2038.10 205.17 -8.87 405 2043.53 roll -1.56 - - 1941.94 - 2.66 0.026 2351.06 429.7 -82.73 - - 3112.19 - - - - - - - - - 15.97 -
2348.02 230.91 -8.46 467 2353.58 roll -1.56 - - 1941.88 - 2.80 0.058 1209.31 -407.8 -82.73 - - 3111.94 - - - - - - - - - 15.94 -
2423.04 237.72 -9.10 482 2428.58 roll -1.56 - - 1941.56 - 2.63 0.026 2344.06 431.5 -82.73 - - 3112.09 - - - - - - - - - 15.98 -
2733.16 263.78 -8.47 544 2738.72 roll -1.56 - - 1941.44 - 2.78 0.059 1207.75 -408.7 -82.73 - - 3111.84 - - - - - - - - - 15.94 -
2783.17 268.41 -9.38 554 2788.72 roll -1.56 - - 1941.69 - 2.62 0.025 2336.19 430.7 -82.73 - - 3111.81 - - - - - - - - - 15.98 -
3093.27 296.77 -9.28 616 3098.83 roll -1.56 - - 1941.69 - 2.78 0.059 1207.62 -406.0 -82.73 - - 3111.41 - - - - - - - - - 15.94 -
3154.16 302.58 -9.91 627 3168.91 roll -1.56 - - 1941.31 - 2.59 0.025 2327.81 432.5 -82.73 - - 3111.81 - - - - - - - - - 16.00 -
3470.58 331.90 -9.11 656 3475.40 roll -1.56 - - 1941.44 - 2.73 0.059 1207.94 -410.2 -82.73 - - 3111.12 - - - - - - - - - 15.95 -
3539.40 338.40 -9.42 665 3544.02 roll -1.56 - - 1940.88 - 2.58 0.026 2323.94 432.6 -82.73 - - 3112.44 - - - - - - - - - 15.99 -
3850.63 366.28 -9.19 694 3855.30 roll -1.56 - - 1941.62 - 2.81 0.084 3426.19 392.3 -82.73 - - 3110.75 - - - - - - - - - 15.91 -
3903.55 371.69 -10.04 701 3908.18 roll -1.56 - - 1941.69 - 2.66 0.018 2215.62 -455.1 -82.73 - - 3110.50 - - - - - - - - - 16.00 -
4215.50 398.78 -8.39 730 4220.10 roll -1.56 - - 1941.38 - 2.45 0.066 1208.12 -411.2 -82.73 - - 3111.69 - - - - - - - - - 15.95 -
4254.04 402.01 -8.51 736 4268.97 roll -1.56 - - 1941.81 - 2.58 0.026 2323.31 432.2 -82.73 - - 3113.22 - - - - - - - - - 16.00 -
4570.19 427.05 -7.51 765 4574.85 roll -1.56 - - 1941.25 - 2.83 0.084 3427.94 390.3 -82.73 - - 3111.25 - - - - - - - - - 15.91 -
4624.46 431.51 -8.21 773 4639.40 roll -1.56 - - 1941.44 - 2.64 0.019 2216.88 -458.7 -82.73 - - 3111.56 - - - - - - - - - 16.00 -
4941.50 455.07 -7.31 802 4946.09 roll -1.56 - - 1941.62 - 2.45 0.066 1207.81 -411.9 -82.73 - - 3112.44 - - - - - - - - - 15.95 -
4995.78 459.23 -7.59 810 5010.69 roll -1.56 - - 1940.38 - 2.58 0.026 2322.25 432.0 -82.73 - - 3113.41 - - - - - - - - - 16.01 -
5312.10 485.72 -8.61 839 5316.81 roll -1.56 - - 1941.56 - 2.72 0.061 1208.00 -409.7 -82.73 - - 3110.09 - - - - - - - - - 15.94 -
5382.12 492.05 -9.12 849 5397.04 roll -1.56 - - 1941.19 - 2.55 0.025 2315.44 434.3 -82.73 - - 3111.72 - - - - - - - - - 16.01 -
5697.90 519.54 -8.08 872 5702.56 roll -1.56 - - 1939.88 - 2.83 0.085 3422.81 391.3 -82.73 - - 3112.12 - - - - - - - - - 15.90 -
5736.43 522.83 -8.44 878 5741.98 roll -1.56 - - 1940.25 - 2.68 0.019 2206.06 -454.0 -82.73 - - 3111.44 - - - - - - - - - 16.00 -
6055.84 549.58 -8.29 900 6060.55 roll -1.56 - - 1941.88 - 3.13 0.081 3426.38 389.9 -82.73 - - 3109.16 - - - - - - - - - 15.89 -
6140.85 556.54 -8.77 913 6155.79 roll -1.56 - - 1941.50 - 2.67 0.019 2216.12 -453.3 -82.73 - - 3110.34 - - - - - - - - - 16.01 -
6470.27 583.25 -8.00 935 6474.99 roll -1.56 - - 1941.38 - 3.11 0.081 3425.88 389.0 -82.73 - - 3108.22 - - - - - - - - - 15.89 -
6507 end dive: TARGET_DEPTH_EXCEEDED
6507 begin apogee
6512.68 586.51 -8.42 940 6586.80 -0.28 2.25 0.142 2254.25 139.1 0.14 0.146 2162.94 -9021.0 - 64.90 1.839 2773.62 -5.2 0.280 - - - - - - 15.78 15.28 10.42
6588 end apogee: CONTROL_FINISHED_OK
6588 begin climb
6589.67 589.26 - 945 6662.23 1.56 3.01 0.090 2703.69 149.3 0.18 0.077 2033.81 -717.4 82.73 66.46 1.811 2437.06 -5.1 0.280 - - - - - - 15.57 15.68 11.77
6974.00 575.22 4.34 977 7060.86 1.74 0.25 0.072 2754.38 202.8 3.09 0.077 3203.81 378.6 170.93 71.61 1.820 2079.09 -5.0 0.269 - - - - - - 15.73 15.21 11.15
7088.97 567.72 6.96 994 7103.71 roll 1.77 - - 2753.56 - 2.65 0.023 2062.94 -430.5 170.93 - - 2075.00 - - - - - - - - - 15.57 -
7418.21 539.76 8.51 1016 7422.89 roll 1.77 - - 2754.00 - 2.93 0.076 3205.00 389.8 170.93 - - 2069.09 - - - - - - - - - 15.77 -
7482.48 534.65 8.74 1026 7497.41 done 1.77 - - 2754.44 - 2.60 0.024 2066.06 -438.1 170.93 - - 2071.16 - - - - - - - - - 15.83 -
7812.07 505.81 8.68 1048 7816.81 done 1.77 - - 2755.00 - 2.92 0.077 3207.06 390.8 170.93 - - 2069.00 - - - - - - - - - 15.84 -
7907.84 497.32 8.98 1062 7922.76 done 1.77 - - 2754.50 - 2.58 0.024 2072.25 -439.8 170.93 - - 2068.00 - - - - - - - - - 15.90 -
8224.31 470.06 8.32 1091 8228.96 done 1.77 - - 2754.12 - 2.70 0.083 994.88 -399.0 170.93 - - 2065.97 - - - - - - - - - 15.86 -
8278.60 465.32 8.83 1099 8293.53 done 1.77 - - 2754.44 - 2.67 0.024 2156.06 434.9 170.93 - - 2067.06 - - - - - - - - - 15.94 -
8594.76 437.38 8.37 1128 8599.45 done 1.77 - - 2754.62 - 2.93 0.078 992.56 -397.1 170.93 - - 2065.31 - - - - - - - - - 15.88 -
8680.74 430.05 8.67 1140 8695.68 done 1.77 - - 2754.38 - 2.65 0.024 2146.94 435.6 170.93 - - 2066.16 - - - - - - - - - 15.96 -
8996.93 405.50 7.80 1169 9001.60 done 1.78 - - 2753.31 - 2.90 0.078 993.56 -397.7 170.93 - - 2065.19 - - - - - - - - - 15.88 -
9035.47 402.44 8.04 1175 9050.41 done 1.78 - - 2754.81 - 2.64 0.024 2144.31 435.9 170.93 - - 2065.75 - - - - - - - - - 15.98 -
9352.05 378.41 7.49 1204 9356.69 done 1.80 - - 2753.12 - 2.69 0.082 3203.94 393.9 170.93 - - 2065.88 - - - - - - - - - 15.90 -
9406.74 374.15 7.83 1212 9421.53 done 1.81 - - 2754.44 - 2.59 0.024 2061.88 -440.9 170.93 - - 2066.00 - - - - - - - - - 15.98 -
9722.89 351.21 7.07 1241 9727.53 done 1.84 - - 2754.81 - 2.68 0.082 993.38 -398.7 170.93 - - 2065.16 - - - - - - - - - 15.88 -
9777.18 347.25 7.35 1249 9792.12 done 1.86 - - 2754.94 - 2.66 0.024 2148.56 434.3 170.93 - - 2064.75 - - - - - - - - - 15.98 -
10093.76 326.25 6.70 1278 10098.81 1.90 0.16 0.093 2794.50 247.2 2.68 0.082 3206.31 394.7 170.93 - - 2065.81 - - - - - - - - 15.94 15.84 -
10163.83 320.81 7.73 1288 10178.74 done 1.91 - - 2795.38 - 2.56 0.024 2071.19 -443.4 170.93 - - 2064.94 - - - - - - - - - 15.98 -
10480.31 297.35 7.00 1320 10485.45 done 1.94 - - 2795.62 - 2.71 0.082 993.00 -397.9 170.93 - - 2064.62 - - - - - - - - - 15.86 -
10589.93 289.09 7.60 1342 10595.48 done 1.96 - - 2794.94 - 2.67 0.024 2149.38 433.1 170.93 - - 2064.44 - - - - - - - - - 15.97 -
10900.04 268.22 6.52 1404 10901.37 VBD 2.00 - - 2795.69 - - - 2149.06 - 170.93 - - 2062.84 - - - - - - - - - - -
11205.88 248.35 6.55 1465 11210.71 done 2.04 - - 2795.44 - 2.91 0.077 994.69 -396.7 170.93 - - 2064.62 - - - - - - - - - 15.86 -
11245.19 245.41 7.22 1473 11250.68 done 2.06 - - 2795.12 - 2.65 0.024 2145.94 434.4 170.93 - - 2064.09 - - - - - - - - - 15.97 -
11555.25 224.11 6.98 1535 11560.83 2.09 0.19 0.081 2841.00 241.5 2.69 0.080 3204.88 393.7 170.93 - - 2063.81 - - - - - - - - 15.94 15.84 -
11625.24 218.42 8.23 1549 11630.78 done 2.09 - - 2841.12 - 2.59 0.023 2064.69 -440.2 170.93 - - 2063.88 - - - - - - - - - 15.97 -
11935.37 195.15 7.48 1611 11940.92 done 2.11 - - 2840.94 - 2.70 0.080 993.88 -396.6 170.93 - - 2063.81 - - - - - - - - - 15.87 -
12090.81 182.93 7.96 1642 12095.96 done 2.12 - - 2841.19 - 2.64 0.024 2140.00 434.1 170.93 - - 2063.75 - - - - - - - - - 15.97 -
12400.49 160.20 7.92 1704 12406.04 done 2.13 - - 2841.19 - 2.88 0.076 992.56 -398.4 170.93 - - 2063.59 - - - - - - - - - 15.87 -
12455.46 155.28 9.07 1715 12461.19 done 2.13 - - 2841.75 - 2.60 0.023 2132.00 438.2 170.93 - - 2064.09 - - - - - - - - - 15.98 -
12765.52 130.64 7.25 1777 12766.85 VBD 2.16 - - 2840.75 - - - 2131.88 - 170.93 - - 2063.25 - - - - - - - - - - -
13070.56 112.06 5.91 1838 13118.33 2.27 0.18 0.081 2885.75 250.0 2.74 0.080 3205.00 391.6 225.50 42.74 1.278 1855.31 -4.9 0.073 - - - - - - 15.94 15.36 10.54
13190.83 101.87 9.43 1862 13196.38 roll 2.27 - - 2885.50 - 2.67 0.024 2045.00 -434.5 225.50 - - 1850.91 - - - - - - - - - 15.84 -
13500.96 73.71 7.39 1924 13506.48 done 2.29 - - 2885.62 - 2.66 0.080 993.75 -395.2 225.50 - - 1848.00 - - - - - - - - - 15.82 -
13600.98 67.05 6.42 1944 13641.92 done 2.38 - - 2885.25 - 2.58 0.022 2118.50 435.9 269.16 35.22 1.192 1677.69 -4.8 0.046 - - - - - - - 15.90 11.05
13826.04 52.96 5.56 1989 13882.72 2.50 0.25 0.070 2939.12 215.5 2.79 0.078 3204.81 389.4 331.34 49.57 1.172 1424.50 -5.1 0.039 - - - - - - 15.80 15.36 11.26
13886.04 48.86 7.18 2001 13891.60 roll 2.53 - - 2939.25 - 2.72 0.023 2035.38 -429.9 331.34 - - 1424.50 - - - - - - - - - 15.70 -
14076.09 32.18 9.19 2039 14081.64 roll 2.53 - - 2940.19 - 2.65 0.080 992.50 -393.5 331.34 - - 1418.06 - - - - - - - - - 15.74 -
14101.09 29.66 9.79 2044 14106.65 roll 2.53 - - 2939.25 - 2.61 0.022 2124.62 433.8 331.34 - - 1417.16 - - - - - - - - - 15.79 -
14291.15 11.51 9.51 2082 14292.48 VBD 2.53 - - 2939.56 - - - 2124.44 - 331.34 - - 1414.06 - - - - - - - - - - -
14370 end climb: SURFACE_DEPTH_REACHED
14370 begin surface coast
14416 end surface coast: CONTROL_FINISHED_OK
14416 begin surface
SM 0.67 - - - - 177.0 70.26 1.128 1043.0 14.8 17.20 0.056 1001.4 58.2 - 0.49 0.053 1084.6 2213.5 -2.860 - - 11.12 15.79 15.85 -