NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 480 * Raw log
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• Previous call tries 1 • 154.07 of 550.00 AH used of 24V (71.99% remains)
• Surface angle -64.6 deg, depth 0.60 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 425.01 (SM_CC=425)
• GPS1 time: 25 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.15 - - - 72.03 VBD -1.37 - - 180.75 - - - 2371.06 - -82.73 65.72 0.005 2678.53 - - - - - - - - - - 15.45
72.77 3.88 -6.30 12 105.44 -1.37 13.98 0.251 1998.50 130.0 2.57 0.088 3429.19 411.7 -82.73 9.12 0.007 3112.12 47.5 -4.327 - - - - - - 15.63 15.41 15.55
227.55 36.33 -19.52 43 233.08 roll -1.37 - - 1998.31 - 2.55 0.020 2252.19 -461.6 -82.73 - - 3112.31 - - - - - - - - - 15.82 -
417.98 62.60 -11.95 81 419.31 no move -1.37 - - 1998.12 - - - 2250.06 - -82.73 - - 3111.47 - - - - - - - - - - -
602.63 83.02 -10.43 118 608.40 roll -1.37 - - 1998.25 - 2.84 0.080 3428.56 415.0 -82.73 - - 3113.66 - - - - - - - - - 15.88 -
837.67 107.71 -10.65 165 843.22 roll -1.37 - - 1998.81 - 2.53 0.020 2247.00 -467.0 -82.73 - - 3113.00 - - - - - - - - - 15.92 -
1147.72 135.48 -9.82 227 1149.05 no move -1.37 - - 1998.06 - - - 2245.12 - -82.73 - - 3112.00 - - - - - - - - - - -
1452.78 164.40 -8.76 288 1458.56 roll -1.37 - - 1996.69 - 2.84 0.081 3428.38 416.6 -82.73 - - 3113.84 - - - - - - - - - 15.96 -
1637.78 183.26 -10.41 325 1643.33 roll -1.37 - - 1998.88 - 2.52 0.020 2247.81 -468.5 -82.73 - - 3113.22 - - - - - - - - - 15.98 -
1947.84 211.95 -9.65 387 1949.17 no move -1.37 - - 1998.62 - - - 2245.44 - -82.73 - - 3112.09 - - - - - - - - - - -
2252.90 241.67 -10.08 448 2258.47 roll -1.37 - - 1998.19 - 2.84 0.082 3428.62 416.6 -82.73 - - 3113.38 - - - - - - - - - 15.99 -
2397.91 258.63 -12.10 477 2403.62 roll -1.37 - - 1998.06 - 2.52 0.021 2246.62 -469.0 -82.73 - - 3113.75 - - - - - - - - - 16.01 -
2707.96 291.89 -10.20 539 2713.08 roll -1.37 - - 1998.38 - 2.41 0.069 1207.38 -431.2 -82.73 - - 3115.59 - - - - - - - - - 16.01 -
2777.97 299.45 -10.96 553 2783.51 roll -1.37 - - 1998.00 - 2.56 0.030 2355.25 448.4 -82.73 - - 3114.78 - - - - - - - - - 16.02 -
3091.86 330.78 -9.36 582 3102.93 no move -1.37 - - 1998.81 - - - 2355.06 - -82.73 - - 3113.19 - - - - - - - - - - -
3404.62 359.19 -8.76 611 3409.24 roll -1.37 - - 1997.25 - 2.66 0.064 1208.19 -431.2 -82.73 - - 3112.59 - - - - - - - - - 16.03 -
3457.55 363.83 -8.70 618 3462.16 roll -1.37 - - 1998.62 - 2.55 0.030 2355.38 449.9 -82.73 - - 3113.53 - - - - - - - - - 16.03 -
3769.09 388.55 -7.82 647 3773.69 roll -1.37 - - 1997.31 - 2.56 0.089 3427.06 418.6 -82.73 - - 3112.66 - - - - - - - - - 16.01 -
3823.36 393.35 -8.76 655 3838.28 roll -1.37 - - 1998.25 - 2.52 0.021 2243.19 -469.8 -82.73 - - 3111.78 - - - - - - - - - 16.04 -
4139.47 420.35 -9.22 684 4150.54 no move -1.37 - - 1998.69 - - - 2242.88 - -82.73 - - 3111.75 - - - - - - - - - - -
4452.12 449.22 -8.80 713 4456.79 roll -1.37 - - 1997.75 - 2.84 0.084 3426.44 416.7 -82.73 - - 3112.03 - - - - - - - - - 16.03 -
4585.47 462.83 -10.57 731 4600.27 roll -1.37 - - 1998.25 - 2.51 0.021 2245.00 -470.7 -82.73 - - 3111.91 - - - - - - - - - 16.05 -
4901.58 491.94 -8.79 760 4906.23 roll -1.37 - - 1998.12 - 2.83 0.085 3425.69 417.2 -82.73 - - 3110.91 - - - - - - - - - 16.03 -
4971.58 498.56 -9.51 770 4986.49 roll -1.37 - - 1997.31 - 2.51 0.022 2245.00 -470.4 -82.73 - - 3111.34 - - - - - - - - - 16.04 -
5301.16 525.50 -7.74 792 5305.82 roll -1.37 - - 1996.88 - 2.83 0.086 3426.88 417.6 -82.73 - - 3111.94 - - - - - - - - - 16.03 -
5401.92 534.27 -8.82 807 5407.04 roll -1.37 - - 1996.75 - 2.49 0.022 2248.38 -473.3 -82.73 - - 3111.56 - - - - - - - - - 16.04 -
5721.32 558.38 -7.96 829 5725.97 roll -1.37 - - 1998.12 - 2.83 0.086 3429.00 417.2 -82.73 - - 3110.72 - - - - - - - - - 16.03 -
5779.25 563.67 -8.86 837 5783.85 roll -1.37 - - 1998.50 - 2.52 0.022 2246.31 -469.3 -82.73 - - 3109.38 - - - - - - - - - 16.04 -
6095.72 590.13 -8.33 859 6100.70 roll -1.37 - - 1996.94 - 2.84 0.086 3426.00 415.4 -82.73 - - 3110.16 - - - - - - - - - 16.03 -
6154.99 595.45 -8.92 868 6160.11 roll -1.37 - - 1998.31 - 2.50 0.022 2248.88 -470.8 -82.73 - - 3109.09 - - - - - - - - - 16.04 -
6474.40 619.96 -7.60 890 6475.73 no move -1.37 - - 1998.62 - - - 2248.00 - -82.73 - - 3108.16 - - - - - - - - - - -
6789.63 645.68 -8.27 911 6794.29 roll -1.37 - - 1998.06 - 2.84 0.088 3425.31 414.5 -82.73 - - 3107.56 - - - - - - - - - 16.03 -
6828.18 649.27 -8.99 917 6833.71 roll -1.37 - - 1998.44 - 2.51 0.022 2245.81 -469.9 -82.73 - - 3109.38 - - - - - - - - - 16.05 -
7147.59 676.99 -7.88 939 7152.18 roll -1.37 - - 1998.38 - 2.43 0.071 1208.25 -427.0 -82.73 - - 3107.03 - - - - - - - - - 16.03 -
7227.61 682.91 -7.51 951 7233.15 roll -1.37 - - 1998.25 - 2.56 0.031 2354.44 447.7 -82.73 - - 3108.09 - - - - - - - - - 16.05 -
7547.01 705.84 -7.11 973 7548.34 no move -1.37 - - 1997.75 - - - 2354.19 - -82.73 - - 3107.16 - - - - - - - - - - -
7862.04 725.36 -4.24 994 7866.65 roll -1.37 - - 1998.12 - 2.60 0.095 3426.19 412.3 -82.73 - - 3108.25 - - - - - - - - - 16.01 -
8092.88 725.38 -1.20 1028 8107.39 roll -1.37 - - 1998.12 - 2.52 0.022 2243.56 -469.3 -82.73 - - 3107.12 - - - - - - - - - 16.04 -
8287 end dive: NO_VERTICAL_VELOCITY
8287 begin apogee
8288.68 725.39 - 1041 8363.91 -0.28 1.72 0.106 2265.00 155.2 0.14 0.174 2291.75 344.2 - 60.06 2.073 2776.19 -5.5 0.317 - - - - - - 15.97 15.70 11.57
8365 end apogee: CONTROL_FINISHED_OK
8366 begin climb
8365.83 725.52 - 1046 8438.73 1.37 2.53 0.076 2666.62 158.7 2.87 0.077 1129.69 -404.9 82.73 63.88 2.036 2436.81 -5.3 0.311 - - - - - - 15.73 15.41 12.66
8616.51 711.58 6.99 1082 8621.14 roll 1.40 - - 2666.06 - 2.61 0.029 2273.56 438.3 82.73 - - 2431.22 - - - - - - - - - 15.66 -
8932.99 688.55 7.07 1104 8934.32 no move 1.42 - - 2665.81 - - - 2273.62 - 82.73 - - 2430.16 - - - - - - - - - - -
9248.00 665.40 7.24 1125 9252.63 roll 1.45 - - 2666.00 - 2.61 0.092 3345.56 410.7 82.73 - - 2429.88 - - - - - - - - - 15.85 -
9348.75 657.33 8.14 1140 9354.50 roll 1.45 - - 2665.75 - 2.55 0.024 2184.31 -455.4 82.73 - - 2431.84 - - - - - - - - - 15.88 -
9668.16 634.83 6.16 1162 9699.49 1.52 0.19 0.077 2714.38 255.9 2.52 0.082 1131.06 -418.0 116.47 26.58 1.892 2299.66 -5.0 0.274 - - - - - - 15.88 15.79 11.96
9888.17 615.83 8.85 1195 9893.71 roll 1.52 - - 2714.19 - 2.60 0.031 2274.25 439.7 116.47 - - 2297.47 - - - - - - - - - 15.86 -
10207.78 588.58 8.84 1217 10209.11 no move 1.52 - - 2714.00 - - - 2274.38 - 116.47 - - 2294.25 - - - - - - - - - - -
10522.80 560.31 9.14 1238 10527.45 roll 1.52 - - 2714.38 - 2.73 0.075 1129.25 -419.5 116.47 - - 2293.69 - - - - - - - - - 15.93 -
10663.69 546.31 10.05 1258 10668.30 roll 1.52 - - 2713.94 - 2.57 0.031 2273.12 445.1 116.47 - - 2293.44 - - - - - - - - - 15.94 -
10980.67 518.13 8.40 1280 10982.00 no move 1.52 - - 2714.19 - - - 2273.62 - 116.47 - - 2294.53 - - - - - - - - - - -
11291.04 492.83 8.27 1303 11295.68 roll 1.52 - - 2714.62 - 2.71 0.074 1131.12 -421.6 116.47 - - 2293.94 - - - - - - - - - 15.97 -
11423.96 481.17 8.87 1321 11438.89 roll 1.52 - - 2713.75 - 2.57 0.031 2273.81 444.6 116.47 - - 2295.19 - - - - - - - - - 15.99 -
11740.24 454.99 8.33 1350 11751.31 no move 1.52 - - 2714.38 - - - 2274.62 - 116.47 - - 2294.38 - - - - - - - - - - -
12052.82 429.21 8.28 1379 12063.89 no move 1.52 - - 2714.44 - - - 2274.62 - 116.47 - - 2294.00 - - - - - - - - - - -
12365.43 404.80 7.48 1408 12370.08 roll 1.54 - - 2714.00 - 2.72 0.074 1130.31 -420.7 116.47 - - 2294.53 - - - - - - - - - 16.00 -
12498.57 394.35 7.98 1426 12513.49 roll 1.54 - - 2713.94 - 2.57 0.030 2274.81 445.3 116.47 - - 2294.09 - - - - - - - - - 16.01 -
12814.65 371.37 6.90 1455 12825.72 no move 1.57 - - 2714.50 - - - 2274.06 - 116.47 - - 2293.81 - - - - - - - - - - -
13127.49 349.58 6.96 1484 13138.56 no move 1.60 - - 2714.00 - - - 2275.12 - 116.47 - - 2293.88 - - - - - - - - - - -
13440.97 328.79 6.42 1513 13474.58 done 1.66 - - 2714.62 - 2.73 0.077 1129.88 -419.5 146.43 23.69 1.548 2177.84 -4.9 0.171 - - - - - - - 15.94 11.66
13649.99 311.47 9.12 1540 13664.74 roll 1.66 - - 2713.88 - 2.57 0.031 2275.25 445.7 146.43 - - 2173.91 - - - - - - - - - 15.96 -
13966.48 284.59 8.50 1587 13972.02 roll 1.66 - - 2714.44 - 2.61 0.092 3347.12 410.7 146.43 - - 2175.12 - - - - - - - - - 15.94 -
14061.51 276.07 8.96 1606 14067.05 roll 1.66 - - 2715.00 - 2.54 0.024 2186.00 -457.1 146.43 - - 2173.34 - - - - - - - - - 15.96 -
14371.62 252.99 7.18 1668 14372.95 no move 1.68 - - 2714.38 - - - 2185.69 - 146.43 - - 2171.56 - - - - - - - - - - -
14676.67 230.54 7.31 1729 14678.11 pitch 1.71 0.17 0.084 2755.75 243.4 - - 2184.81 - 146.43 - - 2171.81 - - - - - - - - 15.95 - -
14981.71 203.41 9.15 1790 14983.04 no move 1.71 - - 2757.81 - - - 2185.06 - 146.43 - - 2173.25 - - - - - - - - - - -
15286.75 176.54 8.00 1851 15292.27 roll 1.71 - - 2758.19 - 2.51 0.078 1130.56 -420.1 146.43 - - 2173.00 - - - - - - - - - 15.99 -
15361.75 170.02 8.89 1866 15367.29 roll 1.71 - - 2758.00 - 2.56 0.030 2277.62 448.1 146.43 - - 2172.53 - - - - - - - - - 16.00 -
15671.80 142.12 9.11 1928 15673.13 no move 1.71 - - 2758.06 - - - 2277.75 - 146.43 - - 2172.41 - - - - - - - - - - -
15976.86 118.26 6.50 1989 15982.40 roll 1.75 - - 2758.00 - 2.73 0.072 1128.94 -420.8 146.43 - - 2172.88 - - - - - - - - - 16.01 -
16161.87 105.05 7.35 2026 16167.40 roll 1.77 - - 2758.00 - 2.57 0.029 2275.38 446.1 146.43 - - 2172.84 - - - - - - - - - 16.01 -
16471.92 85.70 5.23 2088 16513.51 done 1.86 - - 2758.75 - 2.72 0.074 1130.06 -421.1 193.73 35.56 1.262 1984.62 -5.3 0.059 - - - - - - - 15.92 11.75
16662.00 71.06 7.31 2126 16667.52 roll back 1.88 0.17 0.084 2804.69 270.2 2.58 0.029 2277.12 444.6 193.73 - - 1979.50 - - - - - - - - 15.84 15.92 -
16851.97 57.67 7.03 2164 16857.49 roll 1.91 - - 2805.50 - 2.60 0.088 3348.88 412.2 193.73 - - 1978.66 - - - - - - - - - 15.91 -
16906.97 53.66 7.38 2175 16912.49 roll 1.94 - - 2805.81 - 2.55 0.023 2181.75 -457.7 193.73 - - 1978.84 - - - - - - - - - 15.94 -
17097.00 42.20 4.35 2213 17148.09 done 2.06 - - 2805.25 - 2.51 0.078 1127.75 -419.9 253.99 44.94 1.201 1739.12 -5.3 0.031 - - - - - - - 15.81 12.01
17157.56 40.30 3.36 2225 17219.40 2.21 0.37 0.055 2884.12 213.2 2.60 0.027 2279.06 442.8 328.71 55.69 1.174 1434.56 -5.5 0.031 - - - - - - 15.84 15.88 12.70
17402.07 16.86 7.01 2274 17403.40 VBD 2.23 - - 2884.25 - - - 2278.62 - 328.71 - - 1425.50 - - - - - - - - - - -
17587.12 8.23 4.16 2311 17639.13 done 2.36 - - 2883.81 - 2.63 0.089 3347.19 406.3 391.70 46.81 1.120 1178.72 -5.3 0.006 - - - - - - - 15.66 12.16
17652 end climb: SURFACE_DEPTH_REACHED
17652 begin surface coast
17717 end surface coast: CONTROL_FINISHED_OK
17717 begin surface
SM 0.99 - - - - 177.2 26.26 1.092 1042.4 37.9 16.67 0.046 1004.7 60.3 - 2.37 0.022 1080.1 454.6 -2.091 - - 12.42 15.71 15.74 -