NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 291 * Raw log
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• Previous call tries 1 • 92.59 of 550.00 AH used of 24V (83.17% remains)
• Surface angle -64.7 deg, depth 1.56 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.88 (SM_CC=425)
• GPS1 time: 30 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
4 end surface: CONTROL_FINISHED_OK
5 begin dive
6.83 - - - 56.70 VBD -1.37 - - 178.25 - - - 2266.06 - -82.73 48.68 0.005 2248.56 - - - - - - - - - - 15.69
57.44 3.02 -3.83 9 101.74 -1.37 13.73 0.252 1988.25 131.8 2.94 0.086 3428.62 395.4 -82.73 21.82 0.006 3111.97 39.6 -3.266 - - - - - - 15.68 15.66 15.71
329.80 54.47 -16.18 63 335.33 roll -1.37 - - 1989.25 - 2.58 0.022 2255.62 -454.7 -82.73 - - 3112.00 - - - - - - - - - 15.91 -
520.45 82.30 -13.36 101 525.54 roll -1.37 - - 1989.38 - 2.94 0.080 3428.25 398.9 -82.73 - - 3113.12 - - - - - - - - - 15.94 -
670.33 102.56 -12.35 131 675.01 roll -1.37 - - 1989.50 - 2.59 0.021 2246.75 -456.2 -82.73 - - 3111.91 - - - - - - - - - 15.98 -
980.01 130.97 -9.29 163 984.66 roll -1.37 - - 1989.56 - 2.49 0.068 1208.38 -417.0 -82.73 - - 3113.78 - - - - - - - - - 16.01 -
1044.56 137.63 -10.57 176 1050.57 roll -1.37 - - 1989.81 - 2.63 0.028 2353.25 435.3 -82.73 - - 3115.06 - - - - - - - - - 16.03 -
1360.10 167.09 -8.57 208 1365.19 roll -1.37 - - 1989.12 - 2.74 0.061 1207.31 -418.2 -82.73 - - 3114.44 - - - - - - - - - 16.04 -
1420.11 172.69 -9.44 220 1425.20 roll -1.37 - - 1990.12 - 2.63 0.028 2354.50 436.2 -82.73 - - 3113.72 - - - - - - - - - 16.04 -
1730.18 200.30 -9.14 252 1735.28 roll -1.37 - - 1989.94 - 2.74 0.061 1206.44 -419.0 -82.73 - - 3114.06 - - - - - - - - - 16.07 -
1770.18 204.04 -9.36 260 1775.27 roll -1.37 - - 1989.38 - 2.63 0.029 2353.12 436.0 -82.73 - - 3114.41 - - - - - - - - - 16.06 -
2080.26 232.11 -9.13 292 2081.58 no move -1.37 - - 1989.38 - - - 2353.69 - -82.73 - - 3113.53 - - - - - - - - - - -
2390.70 262.79 -9.93 323 2395.60 roll -1.37 - - 1989.69 - 2.73 0.062 1208.69 -419.4 -82.73 - - 3113.56 - - - - - - - - - 16.09 -
2444.97 268.31 -10.08 334 2450.86 roll -1.37 - - 1990.19 - 2.62 0.029 2352.69 436.6 -82.73 - - 3114.09 - - - - - - - - - 16.10 -
2760.36 297.92 -9.39 366 2761.69 no move -1.37 - - 1989.50 - - - 2353.25 - -82.73 - - 3112.91 - - - - - - - - - - -
3070.94 325.49 -8.92 397 3072.27 no move -1.37 - - 1990.00 - - - 2353.50 - -82.73 - - 3112.38 - - - - - - - - - - -
3380.82 352.46 -8.85 428 3385.52 roll -1.37 - - 1989.31 - 2.73 0.063 1208.44 -419.4 -82.73 - - 3113.50 - - - - - - - - - 16.11 -
3440.44 358.23 -9.79 440 3445.52 roll -1.37 - - 1989.56 - 2.61 0.029 2352.19 438.2 -82.73 - - 3112.53 - - - - - - - - - 16.13 -
3750.47 387.43 -9.46 472 3755.57 roll -1.37 - - 1989.75 - 2.72 0.063 1207.12 -421.0 -82.73 - - 3111.59 - - - - - - - - - 16.12 -
3805.02 392.75 -10.08 483 3811.02 roll -1.37 - - 1989.69 - 2.62 0.030 2353.12 437.4 -82.73 - - 3112.38 - - - - - - - - - 16.13 -
4120.52 421.46 -8.50 515 4121.85 no move -1.37 - - 1989.81 - - - 2353.25 - -82.73 - - 3111.12 - - - - - - - - - - -
4430.94 448.31 -8.52 546 4435.65 roll -1.37 - - 1989.00 - 2.72 0.063 1208.12 -421.0 -82.73 - - 3113.03 - - - - - - - - - 16.12 -
4495.11 454.17 -9.15 559 4501.29 roll -1.37 - - 1990.19 - 2.61 0.030 2352.62 438.5 -82.73 - - 3111.06 - - - - - - - - - 16.15 -
4810.81 481.86 -8.85 591 4815.71 roll -1.37 - - 1990.12 - 2.72 0.064 1207.12 -421.1 -82.73 - - 3110.34 - - - - - - - - - 16.14 -
4905.18 490.75 -9.49 610 4911.19 roll -1.37 - - 1989.69 - 2.62 0.030 2353.06 437.4 -82.73 - - 3110.62 - - - - - - - - - 16.15 -
5220.71 519.88 -9.49 642 5222.04 no move -1.37 - - 1989.38 - - - 2352.56 - -82.73 - - 3108.59 - - - - - - - - - - -
5531.16 549.06 -9.53 673 5535.87 roll -1.37 - - 1989.00 - 2.72 0.064 1208.56 -420.6 -82.73 - - 3111.28 - - - - - - - - - 16.14 -
5570.78 552.89 -9.59 681 5575.86 roll -1.37 - - 1988.88 - 2.60 0.030 2351.25 439.5 -82.73 - - 3110.78 - - - - - - - - - 16.12 -
5880.86 582.99 -9.65 713 5885.95 roll -1.37 - - 1989.88 - 2.71 0.065 1207.75 -422.0 -82.73 - - 3108.47 - - - - - - - - - 16.14 -
5960.88 591.25 -10.46 729 5965.94 roll -1.37 - - 1989.12 - 2.60 0.030 2352.06 440.1 -82.73 - - 3108.97 - - - - - - - - - 16.14 -
6270.95 618.88 -7.87 761 6272.27 no move -1.37 - - 1989.56 - - - 2351.62 - -82.73 - - 3107.41 - - - - - - - - - - -
6581.40 641.21 -6.90 792 6586.12 roll -1.37 - - 1989.56 - 2.71 0.065 1208.62 -421.8 -82.73 - - 3107.84 - - - - - - - - - 16.15 -
6725.60 652.67 -8.05 821 6731.78 roll -1.37 - - 1989.50 - 2.61 0.031 2351.69 438.0 -82.73 - - 3107.97 - - - - - - - - - 16.14 -
7041.24 677.92 -8.01 853 7042.57 no move -1.37 - - 1989.75 - - - 2351.50 - -82.73 - - 3107.00 - - - - - - - - - - -
7351.57 702.59 -8.12 884 7356.28 roll -1.37 - - 1988.31 - 2.71 0.066 1209.25 -421.5 -82.73 - - 3108.66 - - - - - - - - - 16.14 -
7455.75 711.73 -8.71 905 7461.76 roll -1.37 - - 1989.44 - 2.62 0.031 2350.12 435.4 -82.73 - - 3107.22 - - - - - - - - - 16.16 -
7560 end dive: TARGET_DEPTH_EXCEEDED
7561 begin apogee
7563.06 721.03 -8.71 916 7626.55 -0.28 1.75 0.147 2253.38 150.8 0.22 0.122 2282.50 -307.4 - 59.15 2.067 2774.34 -5.6 0.322 - - - - - - 16.06 15.75 12.48
7628 end apogee: CONTROL_FINISHED_OK
7628 begin climb
7628.76 722.93 - 922 7696.39 1.37 2.60 0.099 2655.06 154.5 - - 2282.00 - 82.73 62.38 2.004 2437.22 -5.4 0.320 - - - - - - 15.78 - 12.78
8001.84 702.09 6.68 960 8003.17 no move 1.40 - - 2655.81 - - - 2282.62 - 82.73 - - 2430.44 - - - - - - - - - - -
8312.30 680.46 7.54 991 8317.20 roll 1.42 - - 2655.44 - 2.82 0.074 1131.12 -408.3 82.73 - - 2430.91 - - - - - - - - - 15.93 -
8402.11 673.33 7.75 1009 8407.01 roll 1.44 - - 2655.00 - 2.64 0.030 2272.06 432.2 82.73 - - 2432.50 - - - - - - - - - 15.95 -
8712.39 651.15 6.60 1041 8713.72 no move 1.47 - - 2655.81 - - - 2271.56 - 82.73 - - 2429.25 - - - - - - - - - - -
9022.46 632.39 5.70 1072 9059.23 1.55 0.24 0.076 2712.19 234.9 2.82 0.077 1131.38 -404.3 123.13 31.08 1.901 2270.03 -5.1 0.279 - - - - - - 16.01 15.82 12.64
9167.23 619.43 9.65 1101 9172.32 roll 1.55 - - 2712.12 - 2.66 0.031 2271.62 428.7 123.13 - - 2269.16 - - - - - - - - - 15.92 -
9477.30 590.49 9.19 1133 9478.63 no move 1.55 - - 2712.19 - - - 2271.00 - 123.13 - - 2266.78 - - - - - - - - - - -
9787.72 563.18 8.32 1164 9789.05 no move 1.55 - - 2712.12 - - - 2270.94 - 123.13 - - 2266.38 - - - - - - - - - - -
10097.77 535.88 8.88 1195 10099.10 no move 1.55 - - 2711.94 - - - 2270.69 - 123.13 - - 2266.03 - - - - - - - - - - -
10407.97 507.38 9.25 1226 10409.30 no move 1.55 - - 2711.62 - - - 2270.94 - 123.13 - - 2265.50 - - - - - - - - - - -
10717.85 481.26 7.86 1257 10722.55 roll 1.57 - - 2711.94 - 2.78 0.074 1131.12 -410.0 123.13 - - 2265.81 - - - - - - - - - 16.07 -
10787.64 475.21 9.06 1271 10792.61 roll 1.57 - - 2712.56 - 2.63 0.031 2272.00 433.8 123.13 - - 2266.06 - - - - - - - - - 16.10 -
11097.89 449.57 8.64 1303 11102.60 roll 1.57 - - 2712.56 - 2.77 0.074 1129.94 -412.3 123.13 - - 2265.88 - - - - - - - - - 16.09 -
11232.07 437.16 9.30 1330 11238.08 roll 1.57 - - 2711.38 - 2.64 0.031 2273.62 433.2 123.13 - - 2266.78 - - - - - - - - - 16.09 -
11547.95 408.19 9.05 1362 11549.28 no move 1.57 - - 2711.69 - - - 2273.88 - 123.13 - - 2264.25 - - - - - - - - - - -
11858.00 381.07 8.75 1393 11859.33 no move 1.57 - - 2712.56 - - - 2274.12 - 123.13 - - 2264.16 - - - - - - - - - - -
12168.08 353.99 8.57 1424 12169.41 no move 1.57 - - 2712.81 - - - 2274.12 - 123.13 - - 2264.28 - - - - - - - - - - -
12478.13 328.32 8.13 1455 12479.46 VBD 1.57 - - 2712.44 - - - 2273.62 - 123.13 - - 2264.44 - - - - - - - - - - -
12788.22 304.59 7.75 1486 12792.92 done 1.58 - - 2712.75 - 2.78 0.073 1130.44 -411.2 123.13 - - 2265.62 - - - - - - - - - 16.12 -
12852.38 298.93 9.06 1499 12858.40 done 1.58 - - 2711.81 - 2.63 0.030 2275.25 435.3 123.13 - - 2265.66 - - - - - - - - - 16.12 -
13168.30 274.00 7.92 1531 13172.99 roll 1.59 - - 2712.62 - 2.67 0.091 3344.88 400.6 123.13 - - 2265.50 - - - - - - - - - 16.10 -
13268.12 265.18 8.91 1551 13273.06 roll 1.59 - - 2712.31 - 2.59 0.024 2187.38 -446.9 123.13 - - 2265.53 - - - - - - - - - 16.07 -
13578.41 240.00 7.62 1583 13583.08 done 1.61 - - 2712.81 - 2.56 0.077 1130.00 -413.0 123.13 - - 2264.66 - - - - - - - - - 16.10 -
13642.57 234.82 8.07 1596 13648.58 done 1.61 - - 2712.75 - 2.62 0.030 2276.31 437.5 123.13 - - 2265.00 - - - - - - - - - 16.11 -
13958.49 211.01 7.04 1628 13959.82 VBD 1.64 - - 2712.56 - - - 2275.62 - 123.13 - - 2264.47 - - - - - - - - - - -
14268.72 189.35 6.78 1659 14273.23 done 1.67 - - 2712.69 - 2.67 0.090 3347.69 401.5 123.13 - - 2265.12 - - - - - - - - - 16.08 -
14318.17 185.85 7.00 1669 14323.22 roll 1.70 - - 2712.31 - 2.57 0.024 2184.19 -452.7 123.13 - - 2266.75 - - - - - - - - - 16.07 -
14628.62 167.27 5.95 1701 14660.79 1.77 0.22 0.078 2764.75 238.4 2.89 0.088 3345.00 401.7 159.95 27.35 1.355 2122.69 -5.3 0.107 - - - - - - 16.08 15.96 12.54
14698.33 161.75 8.58 1715 14704.31 roll 1.77 - - 2764.62 - 2.59 0.024 2185.94 -447.5 159.95 - - 2121.09 - - - - - - - - - 16.03 -
15014.25 136.15 7.94 1747 15019.09 roll 1.78 - - 2764.69 - 2.55 0.077 1129.88 -414.1 159.95 - - 2117.97 - - - - - - - - - 16.03 -
15094.05 129.32 8.67 1763 15098.96 roll 1.78 - - 2764.75 - 2.63 0.029 2273.50 434.8 159.95 - - 2119.31 - - - - - - - - - 16.04 -
15404.34 105.31 6.63 1795 15405.67 no move 1.82 - - 2764.69 - - - 2274.12 - 159.95 - - 2116.88 - - - - - - - - - - -
15709.05 87.47 5.49 1847 15746.60 done 1.91 - - 2764.56 - 2.79 0.074 1129.94 -410.1 203.41 32.87 1.252 1946.19 -5.2 0.059 - - - - - - - 15.90 12.60
15804.61 80.65 7.48 1866 15810.14 roll 1.93 - - 2764.31 - 2.64 0.029 2274.75 433.6 203.41 - - 1943.16 - - - - - - - - - 15.97 -
15994.68 66.27 7.42 1904 16000.27 roll back 1.95 0.16 0.092 2807.94 272.7 2.69 0.089 3346.50 398.4 203.41 - - 1941.03 - - - - - - - - 15.96 15.96 -
16229.78 54.81 3.57 1951 16288.22 done 2.09 - - 2808.44 - 2.57 0.023 2180.56 -453.7 275.15 52.86 1.223 1653.19 -5.4 0.040 - - - - - - - 15.99 12.64
16471.35 37.64 8.51 1999 16476.96 done 2.09 - - 2809.12 - 2.94 0.083 3345.44 396.2 275.15 - - 1644.84 - - - - - - - - - 15.89 -
16591.38 27.49 8.74 2023 16596.91 done 2.09 - - 2808.62 - 2.60 0.023 2186.50 -445.7 275.15 - - 1644.69 - - - - - - - - - 15.92 -
16781.42 18.01 4.43 2061 16832.47 2.21 0.29 0.068 2872.00 218.6 2.59 0.078 1131.25 -407.4 334.25 43.92 1.156 1411.72 -5.3 0.014 - - - - - - 15.93 15.75 12.60
17061.47 2.65 4.79 2117 17103.11 done 2.32 - - 2872.00 - 2.65 0.026 2275.56 431.8 388.03 37.44 1.113 1211.25 -5.4 0.002 - - - - - - - 15.87 12.68
17103 end climb: SURFACE_DEPTH_REACHED
17103 begin surface coast
17166 end surface coast: CONTROL_FINISHED_OK
17166 begin surface
SM 3.40 - - - - 183.2 31.54 1.113 1042.9 31.9 16.53 0.045 999.6 60.5 - 0.12 0.124 1086.2 9029.6 -25.305 - - 12.65 15.79 15.81 -