NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 271 * Raw log
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• Previous call tries 2 • 88.11 of 550.00 AH used of 24V (83.98% remains)
• Surface angle -62.2 deg, depth 1.54 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.78 (SM_CC=425)
• GPS1 time: 55 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
4 end surface: CONTROL_FINISHED_OK
5 begin dive
6.79 - - - 56.47 VBD -1.37 - - 185.00 - - - 2245.75 - -82.73 48.48 0.005 2277.84 - - - - - - - - - - 15.71
57.21 3.55 -4.30 9 100.36 -1.37 13.59 0.251 1987.88 132.7 2.53 0.069 1208.75 -409.9 -82.73 19.62 0.006 3113.44 42.6 -4.135 - - - - - - 15.71 15.68 15.71
183.90 25.94 -17.06 34 188.90 roll -1.37 - - 1988.62 - 2.65 0.030 2351.56 431.2 -82.73 - - 3113.56 - - - - - - - - - 15.85 -
373.76 53.79 -14.21 72 377.35 no move -1.37 - - 1989.06 - - - 2351.06 - -82.73 - - 3113.19 - - - - - - - - - - -
559.07 79.44 -13.22 109 562.66 no move -1.37 - - 1988.88 - - - 2351.06 - -82.73 - - 3113.66 - - - - - - - - - - -
743.87 99.74 -9.70 146 749.04 roll -1.37 - - 1988.75 - 2.75 0.060 1208.62 -415.4 -82.73 - - 3114.09 - - - - - - - - - 15.97 -
793.48 104.72 -10.22 156 798.57 roll -1.37 - - 1988.00 - 2.62 0.029 2354.31 437.3 -82.73 - - 3114.16 - - - - - - - - - 15.98 -
1103.53 132.13 -7.87 188 1108.63 roll -1.37 - - 1988.62 - 2.74 0.060 1208.62 -418.1 -82.73 - - 3114.56 - - - - - - - - - 16.02 -
1268.48 147.31 -9.22 221 1274.10 roll -1.37 - - 1988.50 - 2.61 0.029 2354.50 439.0 -82.73 - - 3114.94 - - - - - - - - - 16.04 -
1583.59 177.49 -9.60 253 1588.68 roll -1.37 - - 1988.62 - 2.77 0.061 1208.56 -413.7 -82.73 - - 3114.94 - - - - - - - - - 16.05 -
1628.14 181.84 -9.87 262 1634.15 roll -1.37 - - 1989.38 - 2.61 0.029 2354.31 439.0 -82.73 - - 3115.28 - - - - - - - - - 16.06 -
1943.67 211.37 -9.24 294 1945.00 no move -1.37 - - 1989.06 - - - 2353.94 - -82.73 - - 3113.72 - - - - - - - - - - -
2254.13 236.78 -7.83 325 2258.84 roll -1.37 - - 1989.12 - 2.77 0.062 1208.00 -413.7 -82.73 - - 3114.88 - - - - - - - - - 16.08 -
2303.75 240.96 -8.94 335 2309.02 roll -1.37 - - 1989.25 - 2.61 0.030 2352.50 438.5 -82.73 - - 3115.03 - - - - - - - - - 16.09 -
2614.00 269.47 -9.03 367 2618.90 roll -1.37 - - 1989.75 - 2.65 0.090 3427.88 405.8 -82.73 - - 3114.03 - - - - - - - - - 16.07 -
2718.39 280.81 -11.07 388 2724.37 roll -1.37 - - 1988.69 - 2.58 0.023 2247.50 -457.5 -82.73 - - 3114.22 - - - - - - - - - 16.10 -
3033.91 308.82 -9.20 420 3039.05 roll -1.37 - - 1989.56 - 2.92 0.085 3427.31 404.0 -82.73 - - 3113.44 - - - - - - - - - 16.08 -
3103.93 316.27 -10.72 434 3109.00 roll -1.37 - - 1989.81 - 2.57 0.023 2250.19 -458.0 -82.73 - - 3114.53 - - - - - - - - - 16.10 -
3414.00 343.63 -8.84 466 3415.33 no move -1.37 - - 1990.25 - - - 2249.50 - -82.73 - - 3111.28 - - - - - - - - - - -
3724.45 369.55 -7.96 497 3725.78 no move -1.37 - - 1989.50 - - - 2249.38 - -82.73 - - 3110.88 - - - - - - - - - - -
4034.51 396.11 -9.04 528 4039.26 roll -1.37 - - 1989.75 - 2.90 0.086 3426.75 406.0 -82.73 - - 3111.75 - - - - - - - - - 16.12 -
4104.15 403.43 -10.76 542 4109.21 roll -1.37 - - 1988.94 - 2.56 0.023 2250.12 -459.6 -82.73 - - 3112.81 - - - - - - - - - 16.12 -
4414.22 431.95 -8.99 574 4415.55 no move -1.37 - - 1989.69 - - - 2249.44 - -82.73 - - 3110.31 - - - - - - - - - - -
4724.67 459.97 -8.80 605 4728.93 roll -1.37 - - 1989.75 - 2.49 0.069 1209.56 -417.6 -82.73 - - 3110.03 - - - - - - - - - 16.14 -
4779.00 464.51 -8.75 616 4784.84 roll -1.37 - - 1989.38 - 2.61 0.031 2352.25 437.8 -82.73 - - 3110.59 - - - - - - - - - 16.13 -
5094.35 491.20 -8.51 648 5099.44 roll -1.37 - - 1989.38 - 2.75 0.064 1209.88 -415.4 -82.73 - - 3110.44 - - - - - - - - - 16.14 -
5188.90 499.43 -8.86 667 5194.91 roll -1.37 - - 1989.69 - 2.61 0.031 2351.81 437.5 -82.73 - - 3109.69 - - - - - - - - - 16.14 -
5504.40 524.84 -7.54 699 5509.48 roll -1.37 - - 1989.75 - 2.66 0.092 3427.31 404.3 -82.73 - - 3109.03 - - - - - - - - - 16.13 -
5644.44 536.66 -8.67 727 5649.50 roll -1.37 - - 1989.06 - 2.57 0.023 2251.69 -457.4 -82.73 - - 3110.28 - - - - - - - - - 16.14 -
5954.47 559.66 -6.97 759 5955.80 no move -1.37 - - 1989.56 - - - 2250.38 - -82.73 - - 3107.25 - - - - - - - - - - -
6264.89 581.83 -7.26 790 6266.22 no move -1.37 - - 1989.62 - - - 2249.75 - -82.73 - - 3107.09 - - - - - - - - - - -
6574.94 604.59 -7.38 821 6579.19 roll -1.37 - - 1989.44 - 2.50 0.070 1210.00 -415.9 -82.73 - - 3107.19 - - - - - - - - - 16.15 -
6604.54 606.78 -7.53 827 6609.64 roll -1.37 - - 1989.19 - 2.61 0.031 2351.25 437.3 -82.73 - - 3107.94 - - - - - - - - - 16.16 -
6914.77 631.14 -7.54 859 6916.10 no move -1.37 - - 1989.50 - - - 2352.06 - -82.73 - - 3106.06 - - - - - - - - - - -
7225.15 654.24 -7.63 890 7226.48 no move -1.37 - - 1989.38 - - - 2351.94 - -82.73 - - 3105.53 - - - - - - - - - - -
7535.11 678.91 -8.25 921 7539.80 roll -1.37 - - 1989.69 - 2.77 0.065 1209.75 -412.3 -82.73 - - 3107.16 - - - - - - - - - 16.16 -
7604.73 684.63 -8.27 935 7609.82 roll -1.37 - - 1989.75 - 2.61 0.032 2351.12 437.3 -82.73 - - 3106.50 - - - - - - - - - 16.15 -
7914.81 708.29 -7.45 967 7919.90 roll -1.37 - - 1989.81 - 2.76 0.065 1208.56 -414.0 -82.73 - - 3105.16 - - - - - - - - - 16.16 -
7994.82 714.97 -8.66 983 7999.91 roll -1.37 - - 1989.88 - 2.61 0.032 2352.06 438.1 -82.73 - - 3105.59 - - - - - - - - - 16.15 -
8304.90 739.76 -7.82 1015 8309.99 roll -1.37 - - 1989.62 - 2.76 0.065 1210.19 -413.7 -82.73 - - 3106.09 - - - - - - - - - 16.15 -
8354.90 743.55 -8.10 1025 8359.97 roll -1.37 - - 1989.88 - 2.60 0.032 2351.88 439.1 -82.73 - - 3105.44 - - - - - - - - - 16.14 -
8664.98 767.19 -7.58 1057 8666.30 no move -1.37 - - 1989.44 - - - 2351.06 - -82.73 - - 3103.88 - - - - - - - - - - -
8854 end dive: TARGET_DEPTH_EXCEEDED
8854 begin apogee
8856.84 782.37 -7.99 1076 8920.57 -0.28 1.75 0.150 2254.06 151.2 0.21 0.133 2282.06 -328.6 - 59.56 2.158 2773.06 -5.6 0.330 - - - - - - 16.05 15.73 12.57
8922 end apogee: CONTROL_FINISHED_OK
8922 begin climb
8922.87 783.86 - 1082 8991.51 1.37 2.60 0.103 2656.38 154.7 - - 2281.81 - 82.73 63.46 2.082 2437.75 -5.3 0.326 - - - - - - 15.76 - 12.89
9295.95 760.60 6.88 1123 9297.28 no move 1.40 - - 2656.25 - - - 2281.38 - 82.73 - - 2430.34 - - - - - - - - - - -
9606.40 737.17 7.73 1154 9611.12 roll 1.41 - - 2655.62 - 2.86 0.074 1131.69 -402.0 82.73 - - 2430.78 - - - - - - - - - 15.92 -
9656.01 733.17 7.99 1164 9661.10 roll 1.41 - - 2655.88 - 2.63 0.031 2272.25 433.7 82.73 - - 2430.31 - - - - - - - - - 15.93 -
9966.48 711.64 6.35 1196 9992.62 VBD 1.48 - - 2655.25 - - - 2271.62 - 113.72 24.55 1.938 2309.47 -4.9 0.297 - - - - - - - - 12.48
10296.71 685.60 8.27 1229 10301.26 roll 1.48 - - 2655.50 - 2.85 0.074 1131.12 -400.2 113.72 - - 2308.84 - - - - - - - - - 15.94 -
10380.72 678.45 8.60 1246 10386.73 roll 1.48 - - 2655.88 - 2.63 0.032 2272.38 433.9 113.72 - - 2306.97 - - - - - - - - - 15.95 -
10696.86 652.79 8.30 1278 10698.19 no move 1.48 - - 2656.06 - - - 2271.94 - 113.72 - - 2305.84 - - - - - - - - - - -
11006.70 627.56 7.85 1309 11008.14 pitch 1.49 0.14 0.107 2693.25 265.6 - - 2272.00 - 113.72 - - 2304.72 - - - - - - - - 16.02 - -
11316.34 600.79 8.27 1340 11317.67 no move 1.49 - - 2692.69 - - - 2272.25 - 113.72 - - 2304.84 - - - - - - - - - - -
11626.77 573.97 8.93 1371 11631.50 roll 1.49 - - 2693.38 - 2.81 0.075 1130.38 -406.4 113.72 - - 2305.75 - - - - - - - - - 16.09 -
11700.94 567.05 9.40 1386 11706.94 roll 1.49 - - 2692.69 - 2.61 0.032 2270.19 436.7 113.72 - - 2305.91 - - - - - - - - - 16.10 -
12016.82 540.36 8.29 1418 12021.52 roll 1.49 - - 2692.88 - 2.67 0.094 3345.56 402.8 113.72 - - 2305.34 - - - - - - - - - 16.08 -
12136.46 528.79 10.03 1442 12141.54 roll 1.49 - - 2693.31 - 2.58 0.025 2189.38 -448.1 113.72 - - 2305.12 - - - - - - - - - 16.11 -
12446.90 503.12 7.50 1474 12451.61 roll 1.51 - - 2692.38 - 2.88 0.089 3346.31 401.7 113.72 - - 2306.84 - - - - - - - - - 16.10 -
12481.06 500.17 7.75 1481 12487.03 roll 1.52 - - 2693.12 - 2.58 0.025 2187.75 -449.1 113.72 - - 2305.19 - - - - - - - - - 16.11 -
12796.95 474.95 7.80 1513 12798.27 no move 1.53 - - 2692.62 - - - 2187.56 - 113.72 - - 2303.91 - - - - - - - - - - -
13107.22 451.20 7.40 1544 13108.55 no move 1.56 - - 2693.31 - - - 2187.50 - 113.72 - - 2303.81 - - - - - - - - - - -
13417.04 428.41 7.46 1575 13421.70 roll 1.58 - - 2692.88 - 2.58 0.079 1131.25 -409.4 113.72 - - 2306.12 - - - - - - - - - 16.11 -
13516.69 420.44 7.91 1595 13521.76 roll 1.59 - - 2692.62 - 2.61 0.031 2272.31 437.2 113.72 - - 2304.34 - - - - - - - - - 16.13 -
13827.15 397.88 7.17 1627 13828.48 no move 1.61 - - 2693.44 - - - 2272.81 - 113.72 - - 2303.81 - - - - - - - - - - -
14137.22 375.43 7.38 1658 14138.54 no move 1.63 - - 2693.25 - - - 2273.06 - 113.72 - - 2303.84 - - - - - - - - - - -
14447.28 353.08 7.00 1689 14452.04 roll back 1.66 0.17 0.092 2733.19 234.9 2.80 0.074 1131.44 -407.7 113.72 - - 2305.62 - - - - - - - - 16.10 16.11 -
14641.48 337.11 8.02 1728 14647.49 roll 1.66 - - 2734.81 - 2.61 0.031 2273.75 437.7 113.72 - - 2305.19 - - - - - - - - - 16.11 -
14957.41 312.42 7.79 1760 14962.10 roll 1.68 - - 2734.62 - 2.65 0.092 3346.19 404.7 113.72 - - 2305.22 - - - - - - - - - 16.11 -
14981.56 310.34 8.00 1765 14987.55 roll 1.68 - - 2735.50 - 2.60 0.024 2185.25 -446.5 113.72 - - 2304.38 - - - - - - - - - 16.13 -
15297.48 285.05 7.58 1797 15302.38 roll 1.69 - - 2734.44 - 2.85 0.087 3344.88 406.9 113.72 - - 2305.19 - - - - - - - - - 16.08 -
15391.77 276.67 9.32 1816 15397.64 roll 1.69 - - 2735.44 - 2.59 0.025 2186.75 -447.2 113.72 - - 2304.59 - - - - - - - - - 16.14 -
15707.58 251.22 7.82 1848 15712.57 roll 1.71 - - 2735.38 - 2.57 0.078 1131.31 -410.7 113.72 - - 2305.31 - - - - - - - - - 16.10 -
15841.78 240.53 7.71 1875 15847.76 roll 1.72 - - 2734.50 - 2.61 0.031 2274.81 438.1 113.72 - - 2306.62 - - - - - - - - - 16.12 -
16157.69 217.44 6.96 1907 16159.02 no move 1.75 - - 2735.50 - - - 2274.31 - 113.72 - - 2303.88 - - - - - - - - - - -
16467.78 196.50 6.36 1938 16492.85 VBD 1.81 - - 2735.81 - - - 2274.00 - 144.44 23.60 1.371 2183.84 -5.1 0.120 - - - - - - - - 12.51
16797.88 173.93 7.47 1971 16802.54 roll back 1.83 0.17 0.092 2778.31 250.0 2.82 0.073 1131.31 -405.2 144.44 - - 2182.31 - - - - - - - - 16.00 16.01 -
16847.38 169.51 8.99 1981 16852.47 roll 1.83 - - 2778.38 - 2.62 0.030 2275.50 436.7 144.44 - - 2182.41 - - - - - - - - - 16.04 -
17157.81 143.07 8.14 2013 17162.51 roll 1.83 - - 2778.19 - 2.64 0.090 3347.50 406.1 144.44 - - 2182.31 - - - - - - - - - 16.02 -
17342.05 124.97 9.54 2050 17347.99 roll 1.83 - - 2777.88 - 2.59 0.024 2187.12 -448.0 144.44 - - 2182.34 - - - - - - - - - 16.07 -
17657.89 103.79 6.16 2082 17688.90 done 1.90 - - 2778.62 - 2.60 0.078 1130.62 -406.3 178.23 26.11 1.258 2047.47 -5.2 0.070 - - - - - - - 15.95 12.61
17842.53 88.65 7.58 2119 17848.07 roll 1.92 - - 2777.94 - 2.62 0.029 2276.25 437.3 178.23 - - 2043.81 - - - - - - - - - 16.00 -
18032.58 77.32 4.23 2157 18085.06 2.04 0.22 0.082 2826.88 222.5 2.85 0.073 1130.19 -402.1 240.21 46.62 1.256 1794.53 -5.3 0.054 - - - - - - 15.99 15.80 12.70
18313.15 59.95 5.92 2213 18348.86 done 2.12 - - 2826.75 - 2.63 0.029 2276.50 435.9 277.44 28.34 1.186 1642.72 -5.4 0.044 - - - - - - - 15.92 12.66
18533.34 41.97 7.71 2257 18538.75 roll 2.13 - - 2827.50 - 2.67 0.087 3347.94 401.3 277.44 - - 1637.25 - - - - - - - - - 15.88 -
18598.23 36.75 8.34 2270 18603.78 roll 2.13 - - 2827.38 - 2.62 0.023 2185.06 -443.8 277.44 - - 1636.28 - - - - - - - - - 15.88 -
18788.31 23.92 6.13 2308 18819.77 2.20 0.17 0.094 2866.25 228.6 2.59 0.077 1130.94 -407.0 311.54 26.40 1.138 1504.81 -5.0 0.017 - - - - - - 15.88 15.78 12.60
18823.31 21.97 5.61 2315 18860.88 done 2.28 - - 2866.50 - 2.63 0.027 2278.06 436.2 353.33 33.15 1.130 1334.41 -5.1 0.016 - - - - - - - 15.85 12.70
19043.98 7.63 5.27 2359 19085.56 2.38 0.17 0.088 2907.62 241.9 2.68 0.087 3347.00 398.9 400.16 35.64 1.114 1144.62 -5.3 0.006 - - - - - - 15.84 15.70 12.65
19124 end climb: SURFACE_DEPTH_REACHED
19124 begin surface coast
19153 end surface coast: CONTROL_FINISHED_OK
19154 begin surface
SM 3.00 - - - - 181.9 20.18 1.077 1043.3 49.9 16.80 0.047 1009.9 60.1 - 2.42 0.022 1076.8 443.9 -6.186 - - 12.67 15.76 15.79 -