NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 435 * Raw log
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• Previous call tries 3 • 139.22 of 550.00 AH used of 24V (74.69% remains)
• Surface angle -64.9 deg, depth 0.77 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 557.92 (beyond SM_CC=425)
• GPS1 time: 105 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
5.10 - - - 56.77 VBD -1.37 - - 179.50 - - - 2256.44 - -82.73 50.49 0.005 2427.66 - - - - - - - - - - 15.52
57.49 3.78 -8.35 9 94.88 -1.37 14.07 0.252 1988.75 128.6 2.49 0.067 1206.75 -421.6 -82.73 13.89 0.006 3111.34 49.2 -5.143 - - - - - - 15.67 15.46 15.56
191.96 36.51 -19.86 36 197.50 roll -1.37 - - 1988.69 - 2.61 0.029 2352.50 439.0 -82.73 - - 3111.91 - - - - - - - - - 15.84 -
382.37 65.37 -13.39 74 387.74 roll -1.37 - - 1987.75 - 2.70 0.058 1207.44 -424.1 -82.73 - - 3114.44 - - - - - - - - - 15.88 -
432.12 72.29 -13.99 84 437.54 roll -1.37 - - 1988.81 - 2.59 0.028 2355.69 443.3 -82.73 - - 3112.28 - - - - - - - - - 15.90 -
622.47 94.63 -11.12 122 623.79 no move -1.37 - - 1988.12 - - - 2355.00 - -82.73 - - 3111.47 - - - - - - - - - - -
807.13 112.49 -8.28 159 812.66 roll -1.37 - - 1987.44 - 2.58 0.084 3429.38 416.4 -82.73 - - 3115.50 - - - - - - - - - 15.93 -
837.13 115.12 -8.64 165 842.68 roll -1.37 - - 1988.75 - 2.54 0.020 2236.50 -469.6 -82.73 - - 3113.03 - - - - - - - - - 15.94 -
1147.24 140.16 -8.94 227 1152.82 roll -1.37 - - 1988.56 - 2.87 0.079 3427.31 414.9 -82.73 - - 3113.88 - - - - - - - - - 15.97 -
1212.26 146.93 -10.53 240 1217.79 roll -1.37 - - 1988.19 - 2.53 0.021 2241.62 -468.7 -82.73 - - 3114.66 - - - - - - - - - 15.97 -
1522.37 176.87 -9.46 302 1527.48 roll -1.37 - - 1989.31 - 2.42 0.065 1207.31 -427.4 -82.73 - - 3114.06 - - - - - - - - - 15.99 -
1587.38 183.31 -10.09 315 1592.91 roll -1.37 - - 1988.44 - 2.57 0.029 2356.19 447.0 -82.73 - - 3113.56 - - - - - - - - - 16.00 -
1897.67 212.13 -9.58 377 1903.08 roll -1.37 - - 1988.81 - 2.57 0.086 3427.25 416.8 -82.73 - - 3113.25 - - - - - - - - - 16.00 -
1952.50 218.32 -11.57 388 1958.03 roll -1.37 - - 1988.44 - 2.53 0.021 2243.25 -468.0 -82.73 - - 3113.12 - - - - - - - - - 16.02 -
2262.78 248.17 -9.55 450 2267.72 roll -1.37 - - 1988.38 - 2.42 0.066 1206.00 -428.6 -82.73 - - 3113.00 - - - - - - - - - 16.04 -
2342.63 255.91 -9.69 466 2348.16 roll -1.37 - - 1989.00 - 2.57 0.029 2355.19 447.2 -82.73 - - 3112.72 - - - - - - - - - 16.03 -
2652.67 284.32 -9.30 528 2654.00 no move -1.37 - - 1988.75 - - - 2354.31 - -82.73 - - 3110.72 - - - - - - - - - - -
2964.60 313.27 -9.45 575 2975.67 no move -1.37 - - 1988.75 - - - 2354.56 - -82.73 - - 3111.28 - - - - - - - - - - -
3277.22 342.30 -9.26 604 3281.84 roll -1.37 - - 1988.06 - 2.69 0.062 1208.06 -426.2 -82.73 - - 3109.34 - - - - - - - - - 16.05 -
3315.76 345.97 -9.61 610 3330.67 roll -1.37 - - 1989.00 - 2.57 0.030 2354.25 446.0 -82.73 - - 3110.59 - - - - - - - - - 16.06 -
3631.84 374.85 -9.09 639 3636.45 roll -1.37 - - 1988.50 - 2.59 0.090 3429.50 415.2 -82.73 - - 3108.50 - - - - - - - - - 16.03 -
3717.97 383.40 -10.08 651 3732.76 roll -1.37 - - 1989.00 - 2.53 0.022 2246.69 -467.5 -82.73 - - 3109.59 - - - - - - - - - 16.06 -
4034.05 410.54 -8.29 680 4045.12 no move -1.37 - - 1988.62 - - - 2246.00 - -82.73 - - 3108.94 - - - - - - - - - - -
4347.28 437.23 -8.55 709 4358.35 no move -1.37 - - 1988.56 - - - 2246.25 - -82.73 - - 3107.97 - - - - - - - - - - -
4660.36 465.76 -9.37 738 4671.43 no move -1.37 - - 1988.81 - - - 2245.88 - -82.73 - - 3107.34 - - - - - - - - - - -
4973.00 495.86 -9.63 767 4977.65 roll -1.37 - - 1988.06 - 2.86 0.086 3427.00 413.0 -82.73 - - 3106.44 - - - - - - - - - 16.05 -
5058.74 505.09 -10.86 779 5064.27 roll -1.37 - - 1988.31 - 2.53 0.022 2249.12 -465.6 -82.73 - - 3107.09 - - - - - - - - - 16.07 -
5378.32 535.33 -9.15 801 5379.65 no move -1.37 - - 1988.50 - - - 2248.75 - -82.73 - - 3104.47 - - - - - - - - - - -
5693.17 563.25 -8.79 822 5694.50 no move -1.37 - - 1988.50 - - - 2248.94 - -82.73 - - 3103.84 - - - - - - - - - - -
6008.18 589.47 -8.04 843 6012.84 roll -1.37 - - 1987.75 - 2.85 0.087 3425.25 412.7 -82.73 - - 3104.56 - - - - - - - - - 16.05 -
6067.45 594.73 -8.78 852 6072.99 roll -1.37 - - 1988.19 - 2.53 0.023 2248.88 -465.0 -82.73 - - 3104.66 - - - - - - - - - 16.07 -
6386.86 619.75 -7.55 874 6388.19 no move -1.37 - - 1988.62 - - - 2249.12 - -82.73 - - 3102.88 - - - - - - - - - - -
6701.88 644.62 -7.95 895 6706.53 roll -1.37 - - 1987.62 - 2.85 0.087 3427.00 413.3 -82.73 - - 3102.88 - - - - - - - - - 16.05 -
6801.28 653.46 -8.91 909 6806.07 roll -1.37 - - 1988.38 - 2.53 0.023 2249.06 -465.6 -82.73 - - 3102.50 - - - - - - - - - 16.06 -
7117.86 678.11 -7.70 931 7119.19 no move -1.37 - - 1988.44 - - - 2247.88 - -82.73 - - 3100.91 - - - - - - - - - - -
7432.77 702.73 -8.00 952 7434.09 no move -1.37 - - 1988.69 - - - 2248.62 - -82.73 - - 3100.59 - - - - - - - - - - -
7747.78 727.93 -8.01 973 7752.44 roll -1.37 - - 1988.69 - 2.85 0.087 3425.94 413.1 -82.73 - - 3100.50 - - - - - - - - - 16.04 -
7826.44 734.93 -8.79 984 7831.04 roll -1.37 - - 1987.69 - 2.53 0.023 2250.31 -464.7 -82.73 - - 3101.62 - - - - - - - - - 16.06 -
8142.91 760.24 -8.12 1006 8147.50 roll -1.37 - - 1988.56 - 2.45 0.071 1208.31 -425.3 -82.73 - - 3099.62 - - - - - - - - - 16.05 -
8222.91 766.96 -8.50 1018 8228.45 roll -1.37 - - 1987.94 - 2.57 0.031 2354.19 445.9 -82.73 - - 3101.91 - - - - - - - - - 16.07 -
8542.50 792.09 -7.78 1040 8543.82 no move -1.37 - - 1988.00 - - - 2354.69 - -82.73 - - 3099.84 - - - - - - - - - - -
8857.35 815.51 -7.47 1061 8858.67 no move -1.37 - - 1988.75 - - - 2353.88 - -82.73 - - 3098.56 - - - - - - - - - - -
9172.38 839.09 -7.48 1082 9177.02 roll -1.37 - - 1987.50 - 2.70 0.066 1208.50 -424.2 -82.73 - - 3102.56 - - - - - - - - - 16.05 -
9215.91 841.95 -7.58 1089 9230.82 roll -1.37 - - 1988.44 - 2.56 0.031 2352.50 446.9 -82.73 - - 3100.00 - - - - - - - - - 16.07 -
9545.32 866.47 -7.44 1111 9549.95 roll -1.37 - - 1988.69 - 2.70 0.066 1208.06 -423.9 -82.73 - - 3098.41 - - - - - - - - - 16.05 -
9624.14 872.49 -7.63 1122 9628.82 roll -1.37 - - 1988.56 - 2.56 0.032 2353.25 447.3 -82.73 - - 3098.25 - - - - - - - - - 16.05 -
9940.64 895.13 -7.04 1144 9941.97 no move -1.37 - - 1988.81 - - - 2353.06 - -82.73 - - 3097.66 - - - - - - - - - - -
10255.66 917.24 -7.02 1165 10256.99 no move -1.37 - - 1988.19 - - - 2353.19 - -82.73 - - 3097.22 - - - - - - - - - - -
10570.68 939.25 -6.93 1186 10572.00 no move -1.37 - - 1988.81 - - - 2353.19 - -82.73 - - 3096.91 - - - - - - - - - - -
10885.70 960.72 -6.76 1207 10887.02 no move -1.37 - - 1988.12 - - - 2353.06 - -82.73 - - 3096.66 - - - - - - - - - - -
11200.72 981.66 -6.74 1228 11202.05 no move -1.37 - - 1987.69 - - - 2353.00 - -82.73 - - 3096.09 - - - - - - - - - - -
11336 end dive: TARGET_DEPTH_EXCEEDED
11336 begin apogee
11337.55 991.05 -6.99 1237 11412.80 -0.28 1.82 0.145 2253.50 146.0 0.20 0.142 2282.31 -353.5 - 60.36 2.432 2775.62 -5.3 0.359 - - - - - - 15.95 15.64 11.52
11414 end apogee: CONTROL_FINISHED_OK
11414 begin climb
11414.68 992.85 - 1242 11488.84 1.37 2.63 0.091 2655.94 153.0 - - 2282.75 - 82.73 66.59 2.393 2436.97 -5.1 0.350 - - - - - - 15.68 - 12.65
11801.19 967.25 7.59 1268 11802.52 no move 1.38 - - 2656.25 - - - 2283.31 - 82.73 - - 2429.81 - - - - - - - - - - -
12116.21 943.13 7.54 1289 12121.01 roll 1.40 - - 2654.38 - 2.64 0.095 3346.88 402.9 82.73 - - 2432.28 - - - - - - - - - 15.80 -
12159.93 940.05 7.91 1296 12174.67 roll 1.41 - - 2655.94 - 2.59 0.025 2188.38 -447.3 82.73 - - 2429.81 - - - - - - - - - 15.84 -
12489.17 914.42 7.53 1318 12493.82 done 1.43 - - 2655.69 - 2.86 0.090 3346.38 404.9 82.73 - - 2429.31 - - - - - - - - - 15.87 -
12553.43 909.52 8.25 1328 12568.34 done 1.43 - - 2655.50 - 2.58 0.025 2188.06 -449.0 82.73 - - 2430.50 - - - - - - - - - 15.90 -
12882.85 883.54 7.88 1350 12884.18 VBD 1.44 - - 2656.06 - - - 2188.00 - 82.73 - - 2427.34 - - - - - - - - - - -
13197.87 859.26 7.69 1371 13199.20 VBD 1.46 - - 2655.19 - - - 2187.75 - 82.73 - - 2427.28 - - - - - - - - - - -
13512.89 836.62 6.95 1392 13514.33 1.49 0.15 0.098 2694.38 261.3 - - 2187.25 - 82.73 - - 2427.72 - - - - - - - - 15.94 - -
13828.29 813.23 7.48 1413 13829.62 VBD 1.51 - - 2694.12 - - - 2187.12 - 82.73 - - 2427.66 - - - - - - - - - - -
14142.92 791.50 6.68 1434 14144.25 VBD 1.55 - - 2695.06 - - - 2187.12 - 82.73 - - 2427.53 - - - - - - - - - - -
14457.95 770.90 6.64 1455 14462.61 done 1.58 - - 2695.56 - 2.84 0.090 3346.81 408.3 82.73 - - 2426.53 - - - - - - - - - 15.99 -
14501.50 768.21 6.95 1462 14516.41 done 1.61 - - 2695.12 - 2.56 0.025 2187.62 -452.8 82.73 - - 2428.28 - - - - - - - - - 16.01 -
14831.08 744.85 6.84 1484 14832.42 VBD 1.64 - - 2695.44 - - - 2188.25 - 82.73 - - 2426.44 - - - - - - - - - - -
15145.93 722.47 7.10 1505 15147.37 1.67 0.19 0.085 2736.75 217.4 - - 2187.75 - 82.73 - - 2427.09 - - - - - - - - 15.98 - -
15460.93 696.10 8.51 1526 15462.27 VBD 1.67 - - 2737.25 - - - 2187.38 - 82.73 - - 2426.81 - - - - - - - - - - -
15776.14 669.17 8.50 1547 15777.47 VBD 1.67 - - 2737.19 - - - 2186.75 - 82.73 - - 2426.19 - - - - - - - - - - -
16091.10 643.87 7.61 1568 16092.43 VBD 1.69 - - 2737.12 - - - 2187.44 - 82.73 - - 2426.00 - - - - - - - - - - -
16406.01 620.10 7.24 1589 16407.35 VBD 1.71 - - 2737.38 - - - 2187.00 - 82.73 - - 2426.16 - - - - - - - - - - -
16721.03 597.24 7.23 1610 16722.36 VBD 1.74 - - 2737.44 - - - 2187.00 - 82.73 - - 2426.19 - - - - - - - - - - -
17036.05 574.06 7.24 1631 17037.38 VBD 1.76 - - 2737.38 - - - 2186.94 - 82.73 - - 2425.78 - - - - - - - - - - -
17351.07 552.61 6.67 1652 17352.40 VBD 1.80 - - 2737.56 - - - 2187.75 - 82.73 - - 2425.72 - - - - - - - - - - -
17666.08 532.59 6.20 1673 17696.43 1.86 0.20 0.080 2786.69 245.7 2.83 0.091 3345.25 409.0 115.91 25.49 1.806 2300.81 -4.9 0.240 - - - - - - 15.99 15.93 11.73
17740.62 526.12 8.32 1685 17746.15 roll 1.86 - - 2786.81 - 2.57 0.025 2190.12 -449.5 115.91 - - 2300.41 - - - - - - - - - 15.98 -
18047.22 495.73 9.91 1707 18058.28 no move 1.86 - - 2786.94 - - - 2190.12 - 115.91 - - 2299.31 - - - - - - - - - - -
18360.38 464.90 9.83 1736 18371.46 no move 1.86 - - 2786.81 - - - 2189.44 - 115.91 - - 2299.12 - - - - - - - - - - -
18673.41 434.59 9.76 1765 18684.48 no move 1.86 - - 2786.75 - - - 2188.88 - 115.91 - - 2298.94 - - - - - - - - - - -
18985.97 403.67 9.86 1794 18990.58 roll 1.86 - - 2786.81 - 2.56 0.080 1130.19 -413.6 115.91 - - 2298.28 - - - - - - - - - 15.99 -
19087.43 393.38 10.28 1808 19102.54 roll 1.86 - - 2787.12 - 2.59 0.031 2273.56 441.5 115.91 - - 2298.97 - - - - - - - - - 16.01 -
19404.28 363.52 9.43 1837 19408.92 roll 1.86 - - 2786.75 - 2.75 0.074 1130.12 -415.8 115.91 - - 2297.34 - - - - - - - - - 15.99 -
19472.93 356.68 9.88 1846 19477.53 roll 1.86 - - 2786.06 - 2.58 0.031 2274.81 443.7 115.91 - - 2299.50 - - - - - - - - - 16.00 -
19784.06 327.50 9.29 1875 19788.71 roll 1.86 - - 2786.69 - 2.75 0.074 1130.62 -416.1 115.91 - - 2297.75 - - - - - - - - - 16.01 -
19901.24 316.31 9.69 1891 19916.16 roll 1.86 - - 2787.06 - 2.58 0.031 2273.31 442.9 115.91 - - 2299.81 - - - - - - - - - 16.01 -
20220.65 288.72 8.10 1934 20226.19 roll 1.86 - - 2787.12 - 2.62 0.091 3348.81 410.5 115.91 - - 2298.38 - - - - - - - - - 15.98 -
20320.89 279.69 9.29 1954 20326.19 roll 1.86 - - 2785.75 - 2.56 0.024 2186.44 -454.1 115.91 - - 2300.06 - - - - - - - - - 16.00 -
20630.71 255.80 7.70 2016 20632.04 no move 1.88 - - 2786.81 - - - 2186.62 - 115.91 - - 2297.53 - - - - - - - - - - -
20935.74 231.50 8.23 2077 20941.46 roll 1.88 - - 2787.56 - 2.52 0.079 1131.38 -418.7 115.91 - - 2298.69 - - - - - - - - - 16.00 -
21106.27 216.10 9.26 2111 21111.30 roll 1.88 - - 2787.19 - 2.58 0.030 2275.62 443.5 115.91 - - 2298.50 - - - - - - - - - 16.01 -
21416.53 190.93 8.11 2173 21421.38 roll 1.88 - - 2787.38 - 2.61 0.089 3348.44 411.0 115.91 - - 2299.09 - - - - - - - - - 15.99 -
21505.83 183.20 8.70 2191 21511.37 roll 1.88 - - 2786.62 - 2.56 0.024 2182.69 -455.4 115.91 - - 2300.84 - - - - - - - - - 16.02 -
21815.90 161.46 6.44 2253 21841.39 VBD 1.94 - - 2787.69 - - - 2182.88 - 145.55 23.33 1.351 2181.53 -5.1 0.101 - - - - - - - - 11.80
22145.94 135.53 7.80 2319 22151.45 roll 1.95 - - 2786.50 - 2.53 0.078 1130.12 -416.1 145.55 - - 2179.25 - - - - - - - - - 15.95 -
22355.96 118.63 7.27 2361 22361.49 roll 1.98 - - 2786.06 - 2.58 0.030 2276.12 444.2 145.55 - - 2179.38 - - - - - - - - - 15.98 -
22666.07 103.34 4.76 2423 22708.90 2.08 0.23 0.070 2840.06 234.8 - - 2275.25 - 199.76 41.11 1.300 1959.88 -5.3 0.070 - - - - - - 15.95 - 12.20
23011.60 73.88 5.71 2492 23048.10 done 2.16 - - 2841.31 - 2.78 0.074 1130.19 -411.9 240.02 30.79 1.225 1795.56 -5.3 0.053 - - - - - - - 15.80 12.32
23126.62 67.21 6.68 2515 23132.15 roll 2.20 - - 2841.75 - 2.61 0.029 2277.75 439.7 240.02 - - 1791.81 - - - - - - - - - 15.85 -
23316.65 54.83 6.61 2553 23322.22 roll 2.24 - - 2841.69 - 2.77 0.072 1130.00 -414.4 240.02 - - 1788.72 - - - - - - - - - 15.87 -
23381.67 50.54 6.70 2566 23387.24 2.27 0.17 0.081 2889.19 279.4 2.59 0.029 2276.50 442.7 240.02 - - 1788.38 - - - - - - - - 15.80 15.88 -
23571.69 38.63 5.59 2604 23608.38 done 2.36 - - 2889.31 - 2.63 0.089 3348.19 407.5 282.05 31.57 1.174 1625.06 -5.2 0.028 - - - - - - - 15.79 12.23
23836.72 35.42 -0.84 2657 23894.44 2.63 0.42 0.055 2972.12 197.2 2.59 0.022 2174.00 -453.4 418.32 52.69 1.174 1340.75 -5.4 0.027 - - - - - - 15.81 15.86 12.28
23895 end climb: NO_VERTICAL_VELOCITY
23895 begin surface
SM 0.65 - - - - 179.5 - - 494.4 - 17.43 0.050 453.4 26.0 - 0.37 0.067 535.4 1440.0 -1.428 - - 30.00 15.57 15.62 -