NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 346 * Raw log
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• Previous call tries 5 • 110.20 of 550.00 AH used of 24V (79.96% remains)
• Surface angle -63.4 deg, depth 1.51 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 424.84 (SM_CC=425)
• GPS1 time: 59 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.75 - - - 57.08 VBD -1.37 - - 178.31 - - - 2234.00 - -82.73 49.15 0.005 2324.78 - - - - - - - - - - 15.60
57.82 3.02 -3.38 9 101.03 -1.37 13.98 0.252 1988.94 129.5 2.46 0.066 1207.25 -417.4 -82.73 19.42 0.006 3112.25 40.5 -3.371 - - - - - - 15.66 15.59 15.64
324.04 48.97 -14.67 62 329.59 roll -1.37 - - 1988.50 - 2.63 0.028 2352.06 435.3 -82.73 - - 3112.88 - - - - - - - - - 15.89 -
514.72 75.54 -13.17 100 519.65 roll -1.37 - - 1988.12 - 2.74 0.059 1207.38 -417.8 -82.73 - - 3114.12 - - - - - - - - - 15.92 -
569.10 82.70 -12.85 111 574.65 roll -1.37 - - 1988.38 - 2.62 0.027 2353.88 437.6 -82.73 - - 3113.22 - - - - - - - - - 15.94 -
764.56 103.37 -10.04 147 769.26 roll -1.37 - - 1988.31 - 2.64 0.083 3427.19 406.6 -82.73 - - 3113.69 - - - - - - - - - 15.95 -
934.25 123.92 -12.06 181 939.31 roll -1.37 - - 1988.69 - 2.57 0.020 2244.25 -460.3 -82.73 - - 3112.97 - - - - - - - - - 15.98 -
1244.32 151.31 -8.83 213 1245.65 no move -1.37 - - 1988.31 - - - 2242.69 - -82.73 - - 3112.16 - - - - - - - - - - -
1554.78 180.04 -9.53 244 1559.05 roll -1.37 - - 1988.12 - 2.46 0.065 1206.75 -421.1 -82.73 - - 3113.62 - - - - - - - - - 16.03 -
1644.41 188.88 -9.89 262 1649.50 roll -1.37 - - 1988.62 - 2.62 0.028 2355.12 438.3 -82.73 - - 3114.09 - - - - - - - - - 16.04 -
1954.48 217.62 -8.60 294 1955.81 no move -1.37 - - 1989.31 - - - 2355.12 - -82.73 - - 3111.75 - - - - - - - - - - -
2264.93 244.25 -9.10 325 2269.66 roll -1.37 - - 1989.00 - 2.74 0.061 1206.56 -419.2 -82.73 - - 3113.62 - - - - - - - - - 16.05 -
2334.57 250.87 -9.69 339 2339.83 roll -1.37 - - 1988.44 - 2.61 0.028 2354.25 439.7 -82.73 - - 3112.03 - - - - - - - - - 16.07 -
2644.81 279.58 -9.64 371 2649.73 roll -1.37 - - 1988.31 - 2.71 0.061 1208.75 -422.7 -82.73 - - 3112.97 - - - - - - - - - 16.05 -
2704.65 285.26 -9.60 383 2709.71 roll -1.37 - - 1988.94 - 2.60 0.028 2355.25 441.0 -82.73 - - 3112.50 - - - - - - - - - 16.08 -
3014.73 314.10 -9.58 415 3016.05 no move -1.37 - - 1988.25 - - - 2354.25 - -82.73 - - 3110.12 - - - - - - - - - - -
3325.17 342.99 -9.01 446 3329.89 roll -1.37 - - 1987.94 - 2.70 0.062 1208.50 -424.4 -82.73 - - 3111.75 - - - - - - - - - 16.08 -
3379.34 348.11 -9.76 457 3385.33 roll -1.37 - - 1988.38 - 2.60 0.029 2353.31 440.3 -82.73 - - 3110.91 - - - - - - - - - 16.08 -
3694.85 378.94 -9.99 489 3696.18 no move -1.37 - - 1988.19 - - - 2353.12 - -82.73 - - 3109.19 - - - - - - - - - - -
4005.27 410.56 -10.33 520 4009.99 roll -1.37 - - 1988.44 - 2.72 0.062 1208.62 -420.8 -82.73 - - 3109.03 - - - - - - - - - 16.10 -
4054.89 415.80 -10.60 530 4059.96 roll -1.37 - - 1988.31 - 2.60 0.029 2354.25 440.6 -82.73 - - 3108.72 - - - - - - - - - 16.10 -
4364.93 447.33 -10.21 562 4370.02 roll -1.37 - - 1988.88 - 2.71 0.062 1208.00 -423.0 -82.73 - - 3108.44 - - - - - - - - - 16.09 -
4474.95 458.58 -10.24 584 4480.20 roll -1.37 - - 1988.19 - 2.59 0.029 2352.75 442.0 -82.73 - - 3109.00 - - - - - - - - - 16.11 -
4785.16 487.56 -8.89 616 4790.09 roll -1.37 - - 1987.56 - 2.70 0.063 1208.44 -423.8 -82.73 - - 3108.03 - - - - - - - - - 16.10 -
4835.00 491.53 -7.93 626 4840.06 roll -1.37 - - 1988.50 - 2.60 0.029 2354.00 440.6 -82.73 - - 3107.91 - - - - - - - - - 16.10 -
5145.04 518.04 -8.45 658 5150.46 roll -1.37 - - 1989.06 - 2.72 0.063 1208.38 -421.2 -82.73 - - 3106.31 - - - - - - - - - 16.11 -
5225.05 524.62 -8.35 674 5230.12 roll -1.37 - - 1988.69 - 2.60 0.029 2353.62 440.5 -82.73 - - 3106.44 - - - - - - - - - 16.11 -
5535.14 549.97 -7.94 706 5540.18 roll -1.37 - - 1988.62 - 2.72 0.063 1207.44 -421.4 -82.73 - - 3106.25 - - - - - - - - - 16.10 -
5589.63 554.17 -8.30 717 5595.62 roll -1.37 - - 1987.06 - 2.60 0.029 2351.81 440.1 -82.73 - - 3106.56 - - - - - - - - - 16.10 -
5905.17 579.16 -7.95 749 5906.49 no move -1.37 - - 1988.19 - - - 2352.25 - -82.73 - - 3103.41 - - - - - - - - - - -
6215.61 604.17 -7.45 780 6220.32 roll -1.37 - - 1988.94 - 2.73 0.063 1208.06 -419.1 -82.73 - - 3105.03 - - - - - - - - - 16.11 -
6285.25 609.89 -8.30 794 6290.33 roll -1.37 - - 1988.25 - 2.60 0.030 2352.62 440.2 -82.73 - - 3104.34 - - - - - - - - - 16.11 -
6595.51 635.93 -8.74 826 6596.84 no move -1.37 - - 1988.56 - - - 2353.00 - -82.73 - - 3103.50 - - - - - - - - - - -
6905.89 662.57 -8.89 857 6907.22 no move -1.37 - - 1988.50 - - - 2353.62 - -82.73 - - 3101.84 - - - - - - - - - - -
7215.83 690.03 -8.90 888 7220.54 roll -1.37 - - 1988.62 - 2.72 0.064 1208.69 -420.9 -82.73 - - 3102.59 - - - - - - - - - 16.12 -
7275.46 695.39 -9.37 900 7280.54 roll -1.37 - - 1987.56 - 2.61 0.030 2352.94 438.4 -82.73 - - 3102.84 - - - - - - - - - 16.12 -
7585.53 722.87 -8.72 932 7586.86 no move -1.37 - - 1988.00 - - - 2353.00 - -82.73 - - 3100.59 - - - - - - - - - - -
7895.98 749.40 -8.69 963 7900.69 roll -1.37 - - 1988.12 - 2.72 0.065 1208.75 -420.7 -82.73 - - 3102.34 - - - - - - - - - 16.10 -
8040.18 761.78 -8.48 992 8046.16 roll -1.37 - - 1988.19 - 2.60 0.030 2352.56 439.9 -82.73 - - 3102.06 - - - - - - - - - 16.12 -
8355.71 785.43 -7.08 1024 8360.80 roll -1.37 - - 1987.50 - 2.73 0.064 1208.50 -419.1 -82.73 - - 3101.69 - - - - - - - - - 16.07 -
8405.71 789.24 -7.83 1034 8410.79 roll -1.37 - - 1988.12 - 2.60 0.030 2352.56 440.0 -82.73 - - 3101.00 - - - - - - - - - 16.11 -
8715.79 810.34 -6.53 1066 8720.88 roll -1.37 - - 1988.50 - 2.65 0.093 3427.00 405.4 -82.73 - - 3100.91 - - - - - - - - - 16.06 -
8800.54 817.23 -8.23 1083 8806.40 roll -1.37 - - 1988.94 - 2.56 0.022 2248.31 -460.4 -82.73 - - 3101.62 - - - - - - - - - 16.09 -
9115.86 838.56 -6.77 1115 9120.50 roll -1.37 - - 1988.56 - 2.47 0.070 1208.44 -421.0 -82.73 - - 3100.66 - - - - - - - - - 16.09 -
9150.39 841.18 -6.97 1122 9156.39 roll -1.37 - - 1988.50 - 2.60 0.030 2353.06 440.2 -82.73 - - 3099.97 - - - - - - - - - 16.11 -
9465.90 863.40 -6.92 1154 9471.00 roll -1.37 - - 1988.25 - 2.73 0.065 1208.56 -419.2 -82.73 - - 3099.56 - - - - - - - - - 16.11 -
9535.91 868.50 -7.31 1168 9540.98 roll -1.37 - - 1987.88 - 2.60 0.030 2351.00 439.4 -82.73 - - 3100.38 - - - - - - - - - 16.10 -
9845.97 888.80 -6.41 1200 9851.06 roll -1.37 - - 1988.62 - 2.73 0.065 1209.81 -418.0 -82.73 - - 3099.91 - - - - - - - - - 16.10 -
9960.69 896.69 -7.00 1223 9966.50 roll -1.37 - - 1989.19 - 2.60 0.031 2352.69 439.6 -82.73 - - 3099.16 - - - - - - - - - 16.12 -
10276.02 917.67 -6.54 1255 10277.35 no move -1.37 - - 1988.94 - - - 2353.19 - -82.73 - - 3098.25 - - - - - - - - - - -
10586.44 939.03 -7.17 1286 10587.77 no move -1.37 - - 1988.38 - - - 2353.31 - -82.73 - - 3097.84 - - - - - - - - - - -
10896.47 961.86 -7.61 1317 10897.80 no move -1.37 - - 1988.94 - - - 2353.06 - -82.73 - - 3097.31 - - - - - - - - - - -
11206.78 985.05 -7.45 1348 11211.25 roll -1.37 - - 1988.38 - 2.74 0.065 1208.69 -417.7 -82.73 - - 3097.94 - - - - - - - - - 16.10 -
11276 end dive: TARGET_DEPTH_EXCEEDED
11276 begin apogee
11279.93 990.37 -7.36 1362 11344.51 -0.28 1.83 0.158 2253.69 145.0 0.12 0.202 2164.38 7964.1 - 60.24 2.443 2772.56 -5.4 0.362 - - - - - - 16.00 15.66 12.15
11346 end apogee: CONTROL_FINISHED_OK
11346 begin climb
11346.82 992.12 - 1368 11417.51 1.37 2.68 0.102 2655.81 150.0 - - 2164.56 - 82.73 66.01 2.361 2435.03 -5.1 0.355 - - - - - - 15.70 - 12.76
11720.67 967.04 7.40 1406 11722.00 no move 1.39 - - 2655.12 - - - 2164.19 - 82.73 - - 2430.22 - - - - - - - - - - -
12031.11 942.83 8.17 1437 12035.85 roll 1.39 - - 2654.75 - 2.96 0.091 3345.44 399.1 82.73 - - 2430.22 - - - - - - - - - 15.85 -
12085.28 938.08 8.86 1448 12091.27 roll 1.39 - - 2655.19 - 2.60 0.024 2188.56 -445.0 82.73 - - 2429.94 - - - - - - - - - 15.89 -
12401.43 912.09 8.63 1480 12405.92 done 1.39 - - 2655.00 - 2.90 0.090 3346.75 399.4 82.73 - - 2429.25 - - - - - - - - - 15.93 -
12465.37 905.96 9.58 1493 12471.35 done 1.39 - - 2655.06 - 2.60 0.024 2187.44 -445.9 82.73 - - 2429.09 - - - - - - - - - 15.94 -
12780.87 878.64 8.97 1525 12785.93 done 1.39 - - 2654.94 - 2.58 0.079 1131.38 -409.3 82.73 - - 2429.91 - - - - - - - - - 15.97 -
12900.89 867.99 8.83 1549 12905.98 done 1.39 - - 2653.62 - 2.62 0.031 2271.00 435.0 82.73 - - 2430.31 - - - - - - - - - 15.98 -
13211.32 841.89 8.17 1581 13212.65 VBD 1.39 - - 2654.81 - - - 2271.62 - 82.73 - - 2427.91 - - - - - - - - - - -
13521.35 816.55 8.21 1612 13526.06 done 1.39 - - 2655.75 - 2.79 0.074 1131.31 -408.7 82.73 - - 2429.06 - - - - - - - - - 16.02 -
13645.53 806.01 8.23 1637 13651.54 done 1.39 - - 2655.12 - 2.62 0.030 2272.38 435.5 82.73 - - 2428.78 - - - - - - - - - 16.05 -
13961.43 782.65 7.05 1669 13966.11 done 1.42 - - 2653.69 - 2.67 0.094 3345.31 401.8 82.73 - - 2429.25 - - - - - - - - - 16.03 -
14045.59 775.94 8.04 1686 14051.58 done 1.42 - - 2655.81 - 2.57 0.025 2186.44 -450.9 82.73 - - 2429.19 - - - - - - - - - 16.03 -
14361.73 753.99 6.55 1718 14363.06 VBD 1.45 - - 2655.56 - - - 2186.44 - 82.73 - - 2427.22 - - - - - - - - - - -
14671.54 734.93 5.95 1749 14701.80 1.53 0.21 0.082 2704.31 232.1 - - 2185.81 - 119.58 28.98 2.050 2287.62 -4.8 0.285 - - - - - - 16.03 - 12.30
15011.23 708.09 7.84 1783 15012.56 no move 1.54 - - 2704.31 - - - 2185.12 - 119.58 - - 2282.06 - - - - - - - - - - -
15321.67 682.54 8.28 1814 15323.00 no move 1.54 - - 2704.69 - - - 2185.06 - 119.58 - - 2280.91 - - - - - - - - - - -
15631.73 655.73 8.68 1845 15636.40 roll 1.54 - - 2704.31 - 2.57 0.079 1132.50 -409.6 119.58 - - 2282.22 - - - - - - - - - 16.00 -
15665.89 652.53 8.92 1852 15671.90 roll 1.54 - - 2703.62 - 2.62 0.031 2272.81 435.2 119.58 - - 2281.81 - - - - - - - - - 16.01 -
15981.80 624.39 9.04 1884 15986.49 roll 1.54 - - 2705.38 - 2.66 0.093 3345.94 403.4 119.58 - - 2281.31 - - - - - - - - - 16.00 -
16015.96 621.12 8.85 1891 16021.95 roll 1.54 - - 2705.12 - 2.57 0.024 2187.06 -450.9 119.58 - - 2281.31 - - - - - - - - - 16.02 -
16331.88 591.71 9.30 1923 16333.21 no move 1.54 - - 2704.75 - - - 2187.00 - 119.58 - - 2280.59 - - - - - - - - - - -
16641.94 563.57 9.07 1954 16643.27 no move 1.54 - - 2705.19 - - - 2186.62 - 119.58 - - 2279.72 - - - - - - - - - - -
16952.00 536.39 8.05 1985 16956.85 roll 1.54 - - 2705.69 - 2.56 0.079 1131.25 -412.3 119.58 - - 2281.44 - - - - - - - - - 16.05 -
17001.74 532.11 8.69 1995 17006.72 roll 1.54 - - 2705.12 - 2.61 0.031 2273.12 437.5 119.58 - - 2282.56 - - - - - - - - - 16.05 -
17312.10 506.67 7.82 2027 17316.78 roll 1.55 - - 2705.56 - 2.65 0.093 3346.75 405.1 119.58 - - 2281.16 - - - - - - - - - 16.04 -
17356.26 502.86 8.58 2036 17362.25 roll 1.55 - - 2703.81 - 2.57 0.024 2186.25 -451.6 119.58 - - 2281.69 - - - - - - - - - 16.05 -
17672.17 476.69 8.31 2068 17673.50 no move 1.55 - - 2705.44 - - - 2186.06 - 119.58 - - 2280.69 - - - - - - - - - - -
17982.35 451.02 8.09 2099 17983.67 no move 1.55 - - 2705.31 - - - 2186.19 - 119.58 - - 2279.88 - - - - - - - - - - -
18292.28 427.25 7.80 2130 18293.62 no move 1.57 - - 2705.31 - - - 2184.94 - 119.58 - - 2279.81 - - - - - - - - - - -
18602.32 403.54 7.30 2161 18606.98 roll 1.59 - - 2705.31 - 2.55 0.078 1129.94 -413.7 119.58 - - 2282.78 - - - - - - - - - 16.07 -
18691.94 396.26 8.34 2179 18697.02 roll 1.59 - - 2705.75 - 2.62 0.030 2275.50 437.2 119.58 - - 2281.47 - - - - - - - - - 16.07 -
19002.37 374.45 6.60 2211 19007.05 roll 1.63 - - 2704.69 - 2.64 0.092 3345.50 405.3 119.58 - - 2281.69 - - - - - - - - - 16.05 -
19056.54 370.50 7.26 2222 19062.69 roll 1.65 - - 2705.50 - 2.57 0.023 2186.38 -451.0 119.58 - - 2281.34 - - - - - - - - - 16.06 -
19372.54 348.07 7.19 2254 19377.07 roll 1.68 - - 2704.00 - 2.55 0.077 1130.75 -414.0 119.58 - - 2281.78 - - - - - - - - - 16.06 -
19442.04 342.64 7.72 2268 19447.11 roll 1.69 - - 2705.81 - 2.60 0.030 2275.62 440.3 119.58 - - 2280.88 - - - - - - - - - 16.08 -
19752.65 319.44 7.50 2300 19754.08 pitch 1.71 0.19 0.083 2749.31 228.9 - - 2275.31 - 119.58 - - 2279.88 - - - - - - - - 16.05 - -
20062.14 294.19 7.90 2331 20063.47 no move 1.72 - - 2749.38 - - - 2275.44 - 119.58 - - 2280.12 - - - - - - - - - - -
20372.61 270.11 7.86 2362 20377.29 roll 1.73 - - 2749.44 - 2.77 0.073 1131.44 -413.0 119.58 - - 2281.97 - - - - - - - - - 16.07 -
20472.24 261.81 8.18 2382 20477.32 roll 1.73 - - 2749.56 - 2.61 0.030 2274.31 437.9 119.58 - - 2280.84 - - - - - - - - - 16.02 -
20782.70 236.68 8.07 2414 20787.39 roll 1.73 - - 2749.50 - 2.64 0.090 3347.44 406.5 119.58 - - 2280.75 - - - - - - - - - 16.04 -
20902.34 225.51 9.68 2438 20907.41 roll 1.73 - - 2749.56 - 2.56 0.023 2184.81 -454.2 119.58 - - 2282.03 - - - - - - - - - 16.05 -
21212.81 200.20 7.85 2470 21217.65 roll 1.75 - - 2747.94 - 2.53 0.077 1130.12 -416.9 119.58 - - 2281.94 - - - - - - - - - 16.04 -
21257.13 196.46 8.31 2479 21262.94 roll 1.75 - - 2749.75 - 2.60 0.029 2273.88 439.9 119.58 - - 2282.84 - - - - - - - - - 16.07 -
21572.88 174.37 6.88 2511 21574.21 no move 1.78 - - 2749.69 - - - 2273.88 - 119.58 - - 2280.78 - - - - - - - - - - -
21882.94 156.27 4.90 2542 21928.81 1.88 0.16 0.090 2793.19 271.9 2.77 0.074 1129.00 -413.3 171.70 38.94 1.359 2073.88 -5.3 0.101 - - - - - - 15.98 15.91 12.18
21962.56 150.88 7.64 2558 21967.63 roll 1.90 - - 2792.19 - 2.62 0.029 2274.75 437.3 171.70 - - 2072.44 - - - - - - - - - 15.96 -
22273.00 124.36 8.62 2590 22277.72 roll 1.90 - - 2791.69 - 2.75 0.072 1130.12 -416.2 171.70 - - 2068.97 - - - - - - - - - 15.92 -
22497.23 108.07 6.33 2635 22527.87 done 1.96 - - 2792.81 - 2.60 0.029 2274.44 440.1 202.96 24.34 1.246 1947.00 -5.0 0.072 - - - - - - - 15.99 12.34
22832.81 84.90 5.44 2695 22868.50 VBD 2.05 - - 2793.44 - - - 2274.50 - 247.25 34.15 1.242 1766.50 -5.3 0.060 - - - - - - - - 12.54
23052.87 72.16 6.18 2739 23084.35 2.12 0.25 0.069 2850.38 227.8 2.79 0.073 1130.00 -410.2 280.66 25.86 1.188 1630.75 -5.2 0.053 - - - - - - 15.84 15.76 12.55
23207.88 57.64 10.44 2770 23213.47 roll 2.12 - - 2850.69 - 2.62 0.029 2273.62 436.5 280.66 - - 1624.19 - - - - - - - - - 15.85 -
23397.92 38.31 10.70 2808 23399.25 VBD 2.12 - - 2850.50 - - - 2273.38 - 280.66 - - 1621.53 - - - - - - - - - - -
23582.97 22.56 7.23 2845 23588.52 done 2.14 - - 2850.62 - 2.65 0.087 3347.75 405.4 280.66 - - 1620.91 - - - - - - - - - 15.85 -
23818.03 22.54 -1.00 2892 23927.16 2.42 0.34 0.060 2922.19 210.5 2.59 0.022 2171.56 -454.1 419.30 100.56 1.172 1065.12 -5.5 0.018 - - - - - - 15.89 15.95 12.47
24110.39 2.09 9.28 2950 24115.92 roll 2.42 - - 2921.94 - 2.55 0.075 1128.75 -408.9 419.30 - - 1058.66 - - - - - - - - - 15.77 -
24120 end climb: SURFACE_DEPTH_REACHED
24120 begin surface coast
24145 end surface coast: CONTROL_FINISHED_OK
24145 begin surface
SM 2.71 - - - - 178.3 5.28 0.700 1043.1 197.6 16.86 0.046 1031.6 61.2 - 2.81 0.031 1054.6 374.4 -3.345 - - 12.53 15.78 15.81 -