NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 919 * Raw log
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• Previous call tries 3 • 322.66 of 550.00 AH used of 24V (41.33% remains)
• Surface angle -65.6 deg, depth 0.59 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.81 (SM_CC=425)
• GPS1 time: 35 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
2 end surface: CONTROL_FINISHED_OK
3 begin dive
5.65 - - - 77.11 VBD -1.35 - - 178.31 - - - 2244.19 - -82.73 70.30 0.005 2762.72 - - - - - - - - - - 14.97
78.23 3.53 -5.17 13 110.56 -1.35 14.73 0.237 1994.19 123.3 2.57 0.064 1208.12 -403.1 -82.73 7.80 0.007 3111.50 44.7 -3.831 - - - - - - 15.46 14.99 15.11
218.01 26.99 -14.06 41 223.20 roll -1.35 - - 1994.44 - 2.69 0.027 2352.56 425.4 -82.73 - - 3111.69 - - - - - - - - - 15.83 -
408.43 51.93 -13.12 79 413.26 roll -1.35 - - 1994.81 - 2.81 0.056 1209.06 -406.9 -82.73 - - 3111.97 - - - - - - - - - 15.85 -
437.69 55.91 -13.28 85 443.24 roll -1.35 - - 1995.44 - 2.65 0.026 2344.88 428.6 -82.73 - - 3111.25 - - - - - - - - - 15.88 -
628.10 78.00 -9.74 123 629.43 no move -1.35 - - 1994.81 - - - 2345.00 - -82.73 - - 3111.41 - - - - - - - - - - -
812.73 96.64 -9.62 160 818.30 roll -1.35 - - 1993.81 - 2.76 0.082 3426.19 391.7 -82.73 - - 3113.75 - - - - - - - - - 15.88 -
862.74 101.87 -10.74 170 868.27 roll -1.35 - - 1995.00 - 2.59 0.017 2240.69 -457.7 -82.73 - - 3111.50 - - - - - - - - - 15.91 -
1172.84 128.06 -7.51 232 1178.37 roll -1.35 - - 1995.38 - 2.51 0.061 1208.12 -411.4 -82.73 - - 3111.94 - - - - - - - - - 15.94 -
1307.87 140.55 -9.67 259 1313.42 roll -1.35 - - 1994.88 - 2.63 0.025 2344.62 432.1 -82.73 - - 3112.31 - - - - - - - - - 15.95 -
1617.98 167.74 -8.20 321 1623.55 roll -1.35 - - 1995.06 - 2.79 0.057 1208.00 -407.4 -82.73 - - 3112.38 - - - - - - - - - 15.96 -
1683.00 173.10 -8.37 334 1688.73 roll -1.35 - - 1994.75 - 2.61 0.025 2338.50 433.1 -82.73 - - 3113.12 - - - - - - - - - 15.98 -
1993.09 197.82 -8.08 396 1994.42 no move -1.35 - - 1994.56 - - - 2338.69 - -82.73 - - 3111.91 - - - - - - - - - - -
2298.19 225.18 -9.27 457 2303.75 roll -1.35 - - 1994.56 - 2.77 0.057 1208.81 -407.9 -82.73 - - 3112.38 - - - - - - - - - 15.98 -
2408.22 235.92 -10.00 479 2413.76 roll -1.35 - - 1994.94 - 2.60 0.025 2330.56 431.4 -82.73 - - 3113.06 - - - - - - - - - 15.99 -
2718.34 261.84 -7.39 541 2723.92 roll -1.35 - - 1994.44 - 2.81 0.082 3427.88 390.5 -82.73 - - 3113.22 - - - - - - - - - 15.94 -
2778.36 266.91 -8.58 553 2783.89 roll -1.35 - - 1994.44 - 2.62 0.018 2223.56 -459.7 -82.73 - - 3113.47 - - - - - - - - - 15.99 -
3088.42 290.15 -7.51 615 3094.03 roll -1.35 - - 1994.88 - 3.07 0.079 3426.25 391.8 -82.73 - - 3112.97 - - - - - - - - - 15.93 -
3173.42 297.56 -8.99 632 3178.97 roll -1.35 - - 1994.88 - 2.62 0.018 2228.31 -457.2 -82.73 - - 3112.09 - - - - - - - - - 15.99 -
3480.53 320.82 -7.43 663 3485.12 roll -1.35 - - 1994.31 - 2.47 0.064 1208.88 -412.7 -82.73 - - 3114.00 - - - - - - - - - 15.99 -
3550.55 326.28 -7.83 673 3565.49 roll -1.35 - - 1994.62 - 2.61 0.026 2339.12 433.0 -82.73 - - 3113.09 - - - - - - - - - 16.02 -
3866.96 349.52 -7.01 702 3878.03 no move -1.35 - - 1994.88 - - - 2339.62 - -82.73 - - 3111.56 - - - - - - - - - - -
4180.14 369.52 -6.09 731 4184.79 roll -1.35 - - 1994.56 - 2.77 0.059 1209.50 -408.0 -82.73 - - 3111.06 - - - - - - - - - 15.99 -
4281.63 376.39 -6.93 745 4296.58 roll -1.35 - - 1994.81 - 2.62 0.026 2336.75 430.2 -82.73 - - 3111.38 - - - - - - - - - 16.02 -
4597.86 397.89 -7.10 774 4602.50 roll -1.35 - - 1994.69 - 2.75 0.059 1208.12 -410.4 -82.73 - - 3112.19 - - - - - - - - - 15.99 -
4650.79 402.02 -7.64 781 4655.41 roll -1.35 - - 1993.44 - 2.61 0.026 2331.81 430.5 -82.73 - - 3111.56 - - - - - - - - - 16.02 -
4963.21 427.29 -8.19 810 4967.86 roll -1.35 - - 1994.75 - 2.75 0.060 1208.75 -408.4 -82.73 - - 3110.78 - - - - - - - - - 15.98 -
5048.98 434.00 -7.93 822 5063.90 roll -1.35 - - 1994.88 - 2.59 0.026 2323.12 430.3 -82.73 - - 3110.50 - - - - - - - - - 16.01 -
5365.18 456.40 -7.48 851 5370.01 roll -1.35 - - 1993.56 - 2.73 0.060 1209.44 -407.9 -82.73 - - 3112.38 - - - - - - - - - 15.98 -
5419.64 460.24 -7.33 859 5434.49 roll -1.35 - - 1994.38 - 2.58 0.026 2318.62 429.9 -82.73 - - 3110.59 - - - - - - - - - 16.03 -
5736.12 485.26 -7.83 888 5747.20 no move -1.35 - - 1994.81 - - - 2319.06 - -82.73 - - 3109.91 - - - - - - - - - - -
6058.93 514.72 -9.07 914 6063.57 roll -1.35 - - 1993.50 - 2.73 0.061 1209.38 -406.5 -82.73 - - 3109.88 - - - - - - - - - 15.98 -
6137.60 522.11 -9.34 925 6142.22 roll -1.35 - - 1994.62 - 2.56 0.026 2313.75 431.4 -82.73 - - 3109.03 - - - - - - - - - 16.01 -
6454.08 547.34 -7.69 947 6458.73 roll -1.35 - - 1994.19 - 2.71 0.061 1208.38 -407.9 -82.73 - - 3109.62 - - - - - - - - - 15.97 -
6554.84 554.81 -7.51 962 6560.38 roll -1.35 - - 1994.38 - 2.55 0.026 2308.00 431.2 -82.73 - - 3110.19 - - - - - - - - - 16.02 -
6874.28 576.68 -7.15 984 6878.90 roll -1.35 - - 1993.56 - 2.68 0.062 1209.19 -410.0 -82.73 - - 3108.91 - - - - - - - - - 15.97 -
6933.55 580.90 -7.25 993 6939.09 roll -1.35 - - 1994.81 - 2.53 0.026 2302.75 432.2 -82.73 - - 3108.28 - - - - - - - - - 16.02 -
6952 end dive: TARGET_DEPTH_EXCEEDED
6952 begin apogee
6954.81 582.25 -7.08 995 7030.57 -0.28 1.83 0.135 2254.31 141.8 0.20 0.116 2161.31 -707.2 - 63.40 1.863 2774.28 -5.3 0.280 - - - - - - 15.87 15.38 10.63
7032 end apogee: CONTROL_FINISHED_OK
7032 begin climb
7033.11 584.09 - 1000 7107.04 1.35 2.70 0.112 2647.88 145.8 2.95 0.076 992.56 -396.2 82.73 65.00 1.817 2435.59 -5.2 0.285 - - - - - - 15.56 15.70 11.77
7135.53 581.23 4.10 1016 7214.60 1.51 0.23 0.075 2701.94 235.0 2.72 0.022 2140.25 421.9 164.18 66.59 1.807 2106.56 -4.9 0.270 - - - - - - 15.45 15.53 11.68
7527.20 550.87 7.34 1047 7531.88 done 1.53 - - 2701.75 - 2.92 0.076 994.94 -392.2 164.18 - - 2098.12 - - - - - - - - - 15.74 -
7626.63 543.23 7.69 1061 7631.26 done 1.55 - - 2701.81 - 2.66 0.023 2132.75 427.7 164.18 - - 2094.78 - - - - - - - - - 15.78 -
7943.13 523.45 5.86 1083 7988.67 done 1.64 - - 2701.75 - 2.92 0.079 993.50 -390.2 212.72 39.59 1.749 1908.34 -4.7 0.239 - - - - - - - 15.45 11.17
8033.59 517.28 7.22 1097 8048.51 roll 1.67 - - 2701.62 - 2.65 0.023 2125.69 427.2 212.72 - - 1904.34 - - - - - - - - - 15.72 -
8358.89 493.95 6.80 1121 8363.60 roll back 1.70 0.19 0.079 2745.25 229.6 2.78 0.081 3205.81 388.5 212.72 - - 1901.03 - - - - - - - - 15.79 15.74 -
8397.44 490.69 8.03 1127 8412.38 roll 1.70 - - 2745.19 - 2.66 0.023 2047.19 -435.6 212.72 - - 1901.00 - - - - - - - - - 15.85 -
8714.60 463.46 9.28 1156 8719.29 done 1.70 - - 2745.38 - 2.97 0.078 3205.62 390.0 212.72 - - 1897.81 - - - - - - - - - 15.87 -
8737.42 461.42 9.39 1160 8752.35 done 1.70 - - 2744.75 - 2.62 0.023 2052.06 -440.3 212.72 - - 1900.59 - - - - - - - - - 15.90 -
9053.65 431.83 9.58 1189 9058.28 done 1.70 - - 2745.62 - 2.66 0.082 993.81 -397.8 212.72 - - 1897.84 - - - - - - - - - 15.89 -
9107.93 426.64 9.79 1197 9122.86 done 1.70 - - 2745.62 - 2.62 0.024 2128.94 433.3 212.72 - - 1898.38 - - - - - - - - - 15.95 -
9424.35 398.87 8.73 1226 9429.18 done 1.70 - - 2745.62 - 2.73 0.081 3202.06 393.1 212.72 - - 1898.03 - - - - - - - - - 15.91 -
9461.67 395.38 9.13 1231 9466.30 done 1.70 - - 2745.94 - 2.61 0.024 2051.69 -440.8 212.72 - - 1896.62 - - - - - - - - - 15.95 -
9773.34 367.15 9.02 1260 9777.97 done 1.70 - - 2745.94 - 2.65 0.082 993.50 -399.3 212.72 - - 1895.62 - - - - - - - - - 15.91 -
9826.27 361.91 9.65 1267 9830.91 done 1.70 - - 2744.88 - 2.63 0.024 2133.00 433.3 212.72 - - 1897.06 - - - - - - - - - 15.97 -
10138.29 332.61 9.53 1296 10142.94 done 1.70 - - 2745.25 - 2.73 0.081 3204.69 392.6 212.72 - - 1898.09 - - - - - - - - - 15.92 -
10206.96 325.77 9.85 1305 10211.60 done 1.70 - - 2745.06 - 2.61 0.024 2050.81 -442.1 212.72 - - 1895.22 - - - - - - - - - 15.97 -
10513.18 297.59 8.78 1336 10518.72 done 1.70 - - 2745.88 - 2.64 0.082 992.50 -400.9 212.72 - - 1895.94 - - - - - - - - - 15.91 -
10528.17 296.22 8.87 1339 10533.74 done 1.70 - - 2746.19 - 2.63 0.023 2136.12 434.8 212.72 - - 1896.16 - - - - - - - - - 15.97 -
10838.29 268.06 9.29 1401 10843.84 done 1.70 - - 2745.56 - 2.72 0.080 3205.00 393.0 212.72 - - 1896.69 - - - - - - - - - 15.92 -
10928.49 259.57 9.32 1419 10933.91 done 1.70 - - 2745.94 - 2.59 0.024 2055.12 -444.0 212.72 - - 1895.94 - - - - - - - - - 15.98 -
11238.41 235.15 7.43 1481 11243.93 done 1.72 - - 2745.88 - 2.66 0.082 993.69 -399.0 212.72 - - 1895.47 - - - - - - - - - 15.91 -
11258.40 233.63 7.48 1485 11263.94 done 1.74 - - 2746.00 - 2.63 0.024 2137.44 434.9 212.72 - - 1895.06 - - - - - - - - - 15.97 -
11568.45 213.28 6.54 1547 11574.00 done 1.78 - - 2746.06 - 2.72 0.081 3206.12 392.9 212.72 - - 1895.12 - - - - - - - - - 15.92 -
11603.45 210.79 6.97 1554 11608.98 done 1.81 - - 2745.81 - 2.61 0.023 2053.44 -441.6 212.72 - - 1895.91 - - - - - - - - - 15.98 -
11913.51 192.07 5.52 1616 11962.69 1.92 0.23 0.080 2796.00 218.2 2.66 0.084 993.69 -398.4 267.61 43.29 1.410 1683.34 -4.9 0.114 - - - - - - 15.95 15.50 10.86
11979.96 187.33 7.64 1629 11985.33 roll 1.94 - - 2796.25 - 2.66 0.023 2138.81 430.5 267.61 - - 1683.09 - - - - - - - - - 15.83 -
12289.91 164.44 6.74 1691 12291.24 no move 1.97 - - 2795.75 - - - 2138.50 - 267.61 - - 1676.84 - - - - - - - - - - -
12595.01 139.66 9.06 1752 12600.58 roll 1.97 - - 2795.81 - 2.87 0.076 993.12 -399.1 267.61 - - 1675.41 - - - - - - - - - 15.86 -
12665.02 132.76 9.95 1766 12670.57 done 1.97 - - 2795.94 - 2.63 0.023 2133.31 433.5 267.61 - - 1674.38 - - - - - - - - - 15.92 -
12975.15 100.14 9.24 1828 12980.70 done 1.97 - - 2795.75 - 2.73 0.079 3206.25 393.0 267.61 - - 1674.34 - - - - - - - - - 15.89 -
13020.14 95.89 9.44 1837 13025.69 done 1.97 - - 2796.12 - 2.62 0.023 2042.56 -444.2 267.61 - - 1674.34 - - - - - - - - - 15.94 -
13210.22 81.07 7.65 1875 13215.81 done 1.99 - - 2796.00 - 2.98 0.074 3207.56 390.9 267.61 - - 1673.38 - - - - - - - - - 15.90 -
13245.22 78.30 7.83 1882 13250.75 done 2.00 - - 2796.75 - 2.59 0.023 2056.50 -444.4 267.61 - - 1673.44 - - - - - - - - - 15.95 -
13435.30 67.34 4.81 1920 13493.94 2.14 0.25 0.077 2849.50 211.0 2.95 0.077 3205.19 389.4 335.80 53.13 1.232 1405.44 -5.0 0.047 - - - - - - 15.92 15.53 10.96
13501.15 63.08 6.88 1933 13506.69 roll 2.17 - - 2849.69 - 2.62 0.023 2056.62 -438.4 335.80 - - 1405.16 - - - - - - - - - 15.79 -
13691.21 47.82 7.78 1971 13696.75 roll 2.18 - - 2849.56 - 2.67 0.081 992.25 -398.6 335.80 - - 1400.12 - - - - - - - - - 15.80 -
13736.21 43.84 8.95 1980 13741.76 roll 2.18 - - 2848.81 - 2.68 0.023 2151.62 432.6 335.80 - - 1400.12 - - - - - - - - - 15.84 -
13926.26 27.32 8.80 2018 13931.82 roll 2.18 - - 2849.69 - 2.68 0.079 3207.12 393.8 335.80 - - 1398.56 - - - - - - - - - 15.85 -
14001.28 20.99 8.10 2033 14006.83 roll 2.18 - - 2849.25 - 2.57 0.022 2067.88 -443.3 335.80 - - 1398.34 - - - - - - - - - 15.89 -
14191.36 6.81 6.83 2071 14192.69 VBD 2.21 - - 2849.31 - - - 2067.75 - 335.80 - - 1397.25 - - - - - - - - - - -
14235 end climb: SURFACE_DEPTH_REACHED
14236 begin surface coast
14306 end surface coast: CONTROL_FINISHED_OK
14306 begin surface
SM 0.43 - - - - 181.9 67.26 1.160 1043.2 15.5 16.52 0.057 1003.9 60.8 - 0.61 0.046 1082.5 1774.6 -1.695 - - 11.18 15.86 15.92 -