NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 482 * Raw log
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• Previous call tries 1 • 154.72 of 550.00 AH used of 24V (71.87% remains)
• Surface angle -62.8 deg, depth 0.57 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.98 (SM_CC=425)
• GPS1 time: 13 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
5.16 - - - 66.95 VBD -1.37 - - 177.62 - - - 2249.56 - -82.73 60.62 0.005 2547.78 - - - - - - - - - - 15.44
67.69 3.37 -5.99 11 104.93 -1.37 14.02 0.251 1999.00 129.9 2.90 0.085 3430.38 407.2 -82.73 12.50 0.007 3111.97 45.1 -3.585 - - - - - - 15.59 15.38 15.50
302.07 50.36 -15.83 58 307.59 roll -1.37 - - 1999.25 - 2.56 0.020 2251.25 -460.6 -82.73 - - 3114.12 - - - - - - - - - 15.83 -
492.50 74.90 -11.76 96 497.91 roll -1.37 - - 1997.56 - 2.87 0.080 3429.25 410.5 -82.73 - - 3114.00 - - - - - - - - - 15.85 -
707.21 100.21 -10.73 139 713.07 roll -1.37 - - 1999.12 - 2.55 0.020 2243.62 -465.0 -82.73 - - 3113.69 - - - - - - - - - 15.90 -
1017.32 130.92 -9.75 201 1018.65 no move -1.37 - - 1999.25 - - - 2242.81 - -82.73 - - 3113.25 - - - - - - - - - - -
1322.43 158.11 -9.37 262 1327.55 roll -1.37 - - 1999.25 - 2.43 0.067 1207.25 -426.2 -82.73 - - 3113.97 - - - - - - - - - 15.96 -
1402.45 165.90 -9.70 278 1407.98 roll -1.37 - - 1999.31 - 2.58 0.029 2355.69 445.1 -82.73 - - 3114.91 - - - - - - - - - 15.96 -
1712.56 195.17 -9.56 340 1718.08 roll -1.37 - - 1998.50 - 2.59 0.086 3428.44 414.2 -82.73 - - 3114.50 - - - - - - - - - 15.96 -
1797.57 204.27 -10.66 357 1803.11 roll -1.37 - - 1999.25 - 2.55 0.021 2244.75 -464.2 -82.73 - - 3115.09 - - - - - - - - - 15.97 -
2107.65 233.02 -8.86 419 2113.22 roll -1.37 - - 1999.19 - 2.86 0.082 3427.00 413.4 -82.73 - - 3114.38 - - - - - - - - - 15.98 -
2177.84 239.71 -9.60 433 2183.25 roll -1.37 - - 1999.56 - 2.52 0.021 2246.31 -468.5 -82.73 - - 3113.81 - - - - - - - - - 15.99 -
2487.70 265.90 -9.33 495 2493.28 roll -1.37 - - 1999.81 - 2.85 0.083 3427.88 414.6 -82.73 - - 3114.19 - - - - - - - - - 15.99 -
2587.71 276.90 -11.29 515 2593.24 roll -1.37 - - 1999.62 - 2.53 0.021 2246.12 -467.1 -82.73 - - 3113.78 - - - - - - - - - 16.01 -
2895.21 307.73 -10.07 568 2906.28 no move -1.37 - - 1999.75 - - - 2244.00 - -82.73 - - 3114.19 - - - - - - - - - - -
3208.30 339.60 -10.71 597 3212.90 roll -1.37 - - 1998.81 - 2.41 0.068 1208.81 -429.5 -82.73 - - 3114.00 - - - - - - - - - 16.02 -
3278.31 347.20 -10.98 607 3293.23 roll -1.37 - - 1999.88 - 2.56 0.029 2354.75 447.6 -82.73 - - 3113.91 - - - - - - - - - 16.04 -
3594.42 379.48 -9.67 636 3605.49 no move -1.37 - - 1999.88 - - - 2355.12 - -82.73 - - 3113.12 - - - - - - - - - - -
3907.27 407.14 -8.51 665 3911.91 roll -1.37 - - 1999.19 - 2.69 0.063 1208.44 -426.3 -82.73 - - 3112.84 - - - - - - - - - 16.03 -
3991.66 414.92 -9.14 676 3996.27 roll -1.37 - - 1999.50 - 2.56 0.030 2354.50 447.7 -82.73 - - 3112.53 - - - - - - - - - 16.03 -
4303.06 442.86 -9.34 705 4314.13 no move -1.37 - - 1999.81 - - - 2354.12 - -82.73 - - 3112.78 - - - - - - - - - - -
4616.32 472.75 -9.45 734 4627.40 no move -1.37 - - 1999.75 - - - 2354.25 - -82.73 - - 3112.28 - - - - - - - - - - -
4937.52 503.24 -9.17 763 4942.14 roll -1.37 - - 1999.38 - 2.60 0.091 3427.06 412.6 -82.73 - - 3109.94 - - - - - - - - - 16.00 -
5001.80 509.09 -9.77 773 5016.74 roll -1.37 - - 2000.06 - 2.53 0.022 2246.50 -466.6 -82.73 - - 3111.00 - - - - - - - - - 16.04 -
5331.37 537.27 -8.02 795 5332.70 no move -1.37 - - 1999.31 - - - 2245.94 - -82.73 - - 3110.22 - - - - - - - - - - -
5646.21 561.72 -8.02 816 5650.87 roll -1.37 - - 1999.06 - 2.87 0.086 3428.69 412.1 -82.73 - - 3110.34 - - - - - - - - - 16.02 -
5704.14 567.04 -8.86 824 5708.75 roll -1.37 - - 1997.00 - 2.52 0.022 2247.88 -468.6 -82.73 - - 3110.84 - - - - - - - - - 16.04 -
6020.62 593.02 -7.91 846 6021.95 no move -1.37 - - 1999.44 - - - 2247.25 - -82.73 - - 3108.81 - - - - - - - - - - -
6335.65 616.50 -6.58 867 6340.31 roll -1.37 - - 1999.69 - 2.86 0.087 3428.94 413.2 -82.73 - - 3109.50 - - - - - - - - - 16.02 -
6393.57 620.67 -6.98 875 6398.19 roll -1.37 - - 1999.31 - 2.52 0.022 2246.56 -469.2 -82.73 - - 3108.56 - - - - - - - - - 16.03 -
6710.23 639.64 -6.03 897 6711.56 no move -1.37 - - 1999.56 - - - 2244.94 - -82.73 - - 3108.41 - - - - - - - - - - -
7025.06 659.64 -6.57 918 7026.39 no move -1.37 - - 1999.25 - - - 2244.88 - -82.73 - - 3108.28 - - - - - - - - - - -
7340.07 680.92 -7.02 939 7344.93 roll -1.37 - - 1999.56 - 2.87 0.087 3429.62 412.8 -82.73 - - 3107.19 - - - - - - - - - 16.01 -
7418.89 687.53 -8.26 950 7423.50 roll -1.37 - - 1999.50 - 2.53 0.022 2247.81 -467.1 -82.73 - - 3107.22 - - - - - - - - - 16.03 -
7735.37 709.54 -6.31 972 7740.03 roll -1.37 - - 1999.44 - 2.85 0.086 3427.94 414.1 -82.73 - - 3107.25 - - - - - - - - - 16.01 -
7815.38 715.64 -7.61 984 7820.91 roll -1.37 - - 1998.81 - 2.52 0.022 2250.38 -467.3 -82.73 - - 3107.31 - - - - - - - - - 16.04 -
8134.78 739.02 -7.26 1006 8139.45 roll -1.37 - - 1999.69 - 2.85 0.086 3427.00 412.8 -82.73 - - 3108.22 - - - - - - - - - 16.00 -
8173.32 741.96 -7.59 1012 8178.87 roll -1.37 - - 1999.31 - 2.52 0.022 2246.88 -468.3 -82.73 - - 3107.66 - - - - - - - - - 16.03 -
8492.73 765.24 -7.20 1034 8494.05 no move -1.37 - - 1999.69 - - - 2246.44 - -82.73 - - 3106.03 - - - - - - - - - - -
8807.75 785.42 -6.04 1055 8812.41 roll -1.37 - - 1998.00 - 2.87 0.087 3429.56 412.2 -82.73 - - 3107.94 - - - - - - - - - 15.99 -
9011 end dive: TARGET_DEPTH_EXCEEDED
9011 begin apogee
9015.48 799.30 -6.93 1084 9089.53 -0.28 1.81 0.145 2264.00 147.0 0.16 0.162 2293.88 -7098.0 - 60.90 2.192 2774.22 -5.5 0.330 - - - - - - 15.92 15.67 11.47
9091 end apogee: CONTROL_FINISHED_OK
9091 begin climb
9091.58 800.56 - 1089 9164.48 1.37 2.58 0.087 2666.69 156.1 2.88 0.077 1130.62 -403.9 82.73 64.59 2.158 2438.38 -5.2 0.318 - - - - - - 15.70 15.37 12.64
9259.42 790.30 7.41 1114 9264.96 roll 1.39 - - 2665.19 - 2.64 0.029 2273.25 432.8 82.73 - - 2433.88 - - - - - - - - - 15.58 -
9578.84 765.11 7.95 1136 9583.48 roll 1.40 - - 2666.62 - 2.78 0.074 1130.06 -411.2 82.73 - - 2430.53 - - - - - - - - - 15.75 -
9658.86 759.07 7.70 1148 9664.40 roll 1.41 - - 2667.62 - 2.61 0.030 2273.31 438.0 82.73 - - 2431.53 - - - - - - - - - 15.79 -
9978.26 734.67 7.38 1170 9982.91 roll 1.44 - - 2665.00 - 2.75 0.074 1130.38 -415.6 82.73 - - 2429.81 - - - - - - - - - 15.85 -
10079.01 726.71 8.01 1185 10084.55 roll 1.44 - - 2667.00 - 2.59 0.030 2273.12 441.2 82.73 - - 2431.22 - - - - - - - - - 15.88 -
10398.46 704.05 6.84 1207 10399.79 no move 1.47 - - 2666.56 - - - 2273.50 - 82.73 - - 2429.88 - - - - - - - - - - -
10713.68 684.59 5.87 1228 10757.55 1.54 0.22 0.075 2721.50 249.7 2.76 0.077 1130.25 -414.2 120.67 29.91 1.987 2281.78 -5.0 0.281 - - - - - - 15.89 15.79 11.82
10822.33 674.90 9.04 1244 10827.48 roll 1.54 - - 2720.69 - 2.60 0.031 2271.94 439.1 120.67 - - 2279.50 - - - - - - - - - 15.84 -
11141.52 643.52 10.00 1266 11142.85 no move 1.54 - - 2721.81 - - - 2271.75 - 120.67 - - 2276.78 - - - - - - - - - - -
11456.39 613.25 9.09 1287 11461.04 roll 1.54 - - 2721.69 - 2.73 0.075 1129.81 -418.3 120.67 - - 2277.53 - - - - - - - - - 15.90 -
11535.04 605.42 9.86 1298 11539.66 roll 1.54 - - 2721.62 - 2.59 0.031 2272.94 441.4 120.67 - - 2277.59 - - - - - - - - - 15.91 -
11851.54 577.17 8.86 1320 11852.87 no move 1.54 - - 2721.19 - - - 2273.00 - 120.67 - - 2276.47 - - - - - - - - - - -
12166.59 549.18 9.04 1341 12171.24 roll 1.54 - - 2721.69 - 2.73 0.075 1129.12 -419.0 120.67 - - 2275.12 - - - - - - - - - 15.95 -
12307.67 535.48 9.74 1361 12312.28 roll 1.54 - - 2721.94 - 2.57 0.031 2273.06 445.1 120.67 - - 2276.97 - - - - - - - - - 15.96 -
12624.16 508.57 7.95 1383 12628.80 roll 1.55 - - 2720.50 - 2.73 0.074 1130.69 -418.5 120.67 - - 2277.09 - - - - - - - - - 15.97 -
12723.75 500.71 7.90 1397 12728.42 roll 1.57 - - 2721.44 - 2.57 0.031 2273.50 444.7 120.67 - - 2275.06 - - - - - - - - - 15.98 -
13030.65 480.62 6.82 1426 13041.72 no move 1.60 - - 2722.06 - - - 2273.06 - 120.67 - - 2276.03 - - - - - - - - - - -
13343.25 459.33 7.40 1455 13347.89 roll 1.62 - - 2722.06 - 2.73 0.074 1129.88 -418.7 120.67 - - 2274.66 - - - - - - - - - 15.99 -
13490.57 446.60 8.88 1474 13495.19 roll 1.62 - - 2719.31 - 2.58 0.031 2273.94 443.4 120.67 - - 2276.78 - - - - - - - - - 16.00 -
13802.76 419.64 8.88 1503 13813.83 no move 1.62 - - 2721.88 - - - 2274.50 - 120.67 - - 2275.88 - - - - - - - - - - -
14115.48 391.76 8.92 1532 14120.12 roll 1.62 - - 2721.06 - 2.73 0.074 1130.06 -419.2 120.67 - - 2273.97 - - - - - - - - - 15.99 -
14185.48 385.21 9.41 1542 14200.39 roll 1.62 - - 2721.81 - 2.57 0.031 2274.38 445.3 120.67 - - 2277.00 - - - - - - - - - 16.02 -
14501.75 356.96 8.63 1571 14506.40 roll 1.62 - - 2721.12 - 2.74 0.073 1130.19 -417.6 120.67 - - 2277.06 - - - - - - - - - 15.99 -
14634.69 345.10 9.06 1589 14649.62 roll 1.62 - - 2721.62 - 2.57 0.030 2274.50 445.3 120.67 - - 2275.62 - - - - - - - - - 16.02 -
14951.76 321.67 6.83 1618 14962.83 no move 1.65 - - 2722.31 - - - 2275.12 - 120.67 - - 2275.72 - - - - - - - - - - -
15264.96 302.45 6.18 1647 15298.66 1.72 0.16 0.092 2763.00 254.3 2.60 0.095 3347.44 412.4 154.15 26.06 1.533 2146.06 -5.0 0.162 - - - - - - 15.98 15.92 11.61
15372.34 293.18 9.67 1664 15377.87 roll 1.72 - - 2763.50 - 2.56 0.024 2185.50 -453.9 154.15 - - 2143.84 - - - - - - - - - 15.93 -
15682.45 266.07 8.72 1726 15687.99 roll 1.72 - - 2764.06 - 2.52 0.078 1131.25 -418.4 154.15 - - 2141.78 - - - - - - - - - 15.92 -
15742.47 260.20 10.10 1738 15748.00 roll 1.72 - - 2764.25 - 2.58 0.030 2275.69 443.6 154.15 - - 2142.06 - - - - - - - - - 15.95 -
16052.58 229.91 9.93 1800 16058.11 roll 1.72 - - 2764.25 - 2.60 0.091 3345.62 411.5 154.15 - - 2141.56 - - - - - - - - - 15.92 -
16097.58 225.00 11.13 1809 16103.11 roll 1.72 - - 2763.31 - 2.54 0.023 2186.62 -456.3 154.15 - - 2141.97 - - - - - - - - - 15.95 -
16407.65 194.74 9.00 1871 16413.35 roll 1.72 - - 2763.44 - 2.52 0.078 1130.31 -419.2 154.15 - - 2141.38 - - - - - - - - - 15.95 -
16542.83 182.30 9.23 1898 16548.19 roll 1.72 - - 2763.69 - 2.57 0.030 2276.50 446.0 154.15 - - 2141.22 - - - - - - - - - 15.97 -
16852.71 153.61 9.12 1960 16858.26 roll 1.72 - - 2763.06 - 2.73 0.073 1130.06 -419.9 154.15 - - 2141.00 - - - - - - - - - 15.97 -
17018.11 137.79 9.43 1993 17023.26 roll 1.72 - - 2764.75 - 2.57 0.030 2274.38 445.3 154.15 - - 2140.53 - - - - - - - - - 15.98 -
17327.78 113.10 8.24 2055 17333.32 roll 1.72 - - 2764.56 - 2.61 0.089 3350.12 412.2 154.15 - - 2141.31 - - - - - - - - - 15.97 -
17372.77 108.77 10.00 2064 17378.31 roll 1.72 - - 2764.12 - 2.55 0.023 2182.44 -457.9 154.15 - - 2140.53 - - - - - - - - - 15.99 -
17682.83 85.41 5.32 2126 17718.51 VBD 1.81 - - 2764.44 - - - 2182.06 - 200.24 34.90 1.275 1958.16 -5.2 0.058 - - - - - - - - 11.81
17902.85 72.01 6.33 2170 17933.95 done 1.87 - - 2763.94 - 2.51 0.079 1131.31 -418.6 231.48 24.66 1.207 1830.84 -5.2 0.051 - - - - - - - 15.82 12.30
17937.85 69.55 6.86 2177 17943.42 roll back 1.91 0.17 0.085 2807.69 257.4 2.59 0.028 2278.19 442.8 231.48 - - 1829.31 - - - - - - - - 15.85 15.89 -
18127.87 52.94 7.69 2215 18129.20 no move 1.92 - - 2809.00 - - - 2278.69 - 231.48 - - 1824.69 - - - - - - - - - - -
18312.90 43.04 5.00 2252 18355.53 done 2.02 - - 2809.81 - 2.61 0.090 3348.25 409.8 282.19 38.24 1.191 1623.75 -5.3 0.031 - - - - - - - 15.76 12.13
18427.89 33.24 10.21 2275 18433.42 roll 2.02 - - 2809.50 - 2.58 0.022 2183.25 -451.6 282.19 - - 1621.47 - - - - - - - - - 15.82 -
18617.93 18.68 6.96 2313 18623.46 roll 2.05 - - 2809.12 - 2.51 0.077 1130.12 -419.6 282.19 - - 1616.84 - - - - - - - - - 15.83 -
18637.94 17.05 7.72 2317 18643.46 done 2.07 - - 2809.00 - 2.59 0.027 2277.38 443.0 282.19 - - 1616.38 - - - - - - - - - 15.85 -
18827.96 8.36 3.34 2355 18890.64 2.22 0.37 0.060 2885.88 207.8 2.76 0.073 1130.38 -415.6 357.26 56.42 1.149 1319.09 -5.3 0.006 - - - - - - 15.84 15.71 12.10
18923 end climb: SURFACE_DEPTH_REACHED
18923 begin surface coast
19003 end surface coast: CONTROL_FINISHED_OK
19003 begin surface
SM 0.73 - - - - 175.9 50.38 1.136 1042.5 19.6 16.65 0.047 999.4 60.0 - 2.77 0.030 1085.6 390.9 -0.972 - - 12.45 15.74 15.77 -