NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 362 * Raw log
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• Previous call tries 1 • 115.25 of 550.00 AH used of 24V (79.05% remains)
• Surface angle -65.2 deg, depth 1.56 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.76 (SM_CC=425)
• GPS1 time: 49 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.79 - - - 51.82 VBD -1.37 - - 178.12 - - - 2248.06 - -82.73 44.22 0.005 2180.41 - - - - - - - - - - 15.57
52.93 3.04 -3.17 8 100.44 -1.37 13.74 0.250 1988.12 131.7 2.48 0.066 1206.12 -420.1 -82.73 22.86 0.006 3112.19 40.8 -3.414 - - - - - - 15.60 15.54 15.57
183.43 28.38 -21.00 34 188.98 roll -1.37 - - 1988.69 - 2.63 0.029 2352.44 435.9 -82.73 - - 3112.56 - - - - - - - - - 15.81 -
373.89 57.67 -14.03 72 377.47 no move -1.37 - - 1988.75 - - - 2351.75 - -82.73 - - 3112.84 - - - - - - - - - - -
559.48 82.84 -13.38 109 563.07 no move -1.37 - - 1988.69 - - - 2351.44 - -82.73 - - 3113.03 - - - - - - - - - - -
744.23 103.44 -10.59 143 748.75 roll -1.37 - - 1988.25 - 2.70 0.059 1205.88 -424.3 -82.73 - - 3114.47 - - - - - - - - - 15.93 -
823.69 111.75 -10.55 159 828.78 roll -1.37 - - 1988.38 - 2.62 0.028 2356.00 439.0 -82.73 - - 3113.28 - - - - - - - - - 15.95 -
1133.77 139.34 -9.10 191 1135.10 no move -1.37 - - 1988.69 - - - 2356.12 - -82.73 - - 3112.97 - - - - - - - - - - -
1444.21 170.04 -10.26 222 1448.93 roll -1.37 - - 1988.75 - 2.71 0.059 1207.12 -424.0 -82.73 - - 3114.81 - - - - - - - - - 16.01 -
1543.85 180.33 -10.17 242 1548.92 roll -1.37 - - 1988.69 - 2.60 0.028 2354.69 441.4 -82.73 - - 3115.62 - - - - - - - - - 16.01 -
1853.90 211.31 -9.75 274 1855.22 no move -1.37 - - 1988.88 - - - 2354.88 - -82.73 - - 3112.84 - - - - - - - - - - -
2164.31 244.19 -10.64 305 2169.00 roll -1.37 - - 1988.50 - 2.62 0.087 3427.50 409.4 -82.73 - - 3113.44 - - - - - - - - - 16.02 -
2223.93 251.13 -11.57 317 2229.00 roll -1.37 - - 1988.25 - 2.55 0.021 2244.75 -463.8 -82.73 - - 3113.19 - - - - - - - - - 16.04 -
2533.97 282.48 -9.76 349 2539.10 roll -1.37 - - 1988.06 - 2.90 0.082 3427.69 407.9 -82.73 - - 3112.84 - - - - - - - - - 16.04 -
2608.53 290.78 -11.29 364 2614.69 roll -1.37 - - 1988.69 - 2.54 0.021 2244.50 -465.8 -82.73 - - 3114.12 - - - - - - - - - 16.07 -
2924.13 320.28 -8.95 396 2929.15 roll -1.37 - - 1987.12 - 2.90 0.082 3429.06 408.5 -82.73 - - 3113.78 - - - - - - - - - 16.05 -
2968.56 324.85 -10.65 405 2974.55 roll -1.37 - - 1987.38 - 2.56 0.021 2242.88 -463.4 -82.73 - - 3112.56 - - - - - - - - - 16.07 -
3284.07 354.91 -9.88 437 3285.39 no move -1.37 - - 1988.94 - - - 2242.94 - -82.73 - - 3110.31 - - - - - - - - - - -
3594.49 385.18 -9.70 468 3598.76 roll -1.37 - - 1988.50 - 2.44 0.067 1207.44 -424.4 -82.73 - - 3110.44 - - - - - - - - - 16.07 -
3694.14 394.96 -9.56 488 3699.23 roll -1.37 - - 1988.81 - 2.61 0.029 2354.62 439.5 -82.73 - - 3111.69 - - - - - - - - - 16.08 -
4004.21 422.35 -8.50 520 4009.31 roll -1.37 - - 1987.56 - 2.71 0.062 1207.50 -423.3 -82.73 - - 3111.22 - - - - - - - - - 16.08 -
4118.79 432.82 -9.10 543 4124.80 roll -1.37 - - 1988.56 - 2.61 0.030 2353.31 439.0 -82.73 - - 3110.00 - - - - - - - - - 16.09 -
4434.32 461.45 -9.42 575 4439.40 roll -1.37 - - 1988.25 - 2.64 0.090 3427.06 406.7 -82.73 - - 3109.56 - - - - - - - - - 16.06 -
4508.88 469.26 -10.37 590 4515.04 roll -1.37 - - 1988.75 - 2.55 0.022 2245.25 -463.5 -82.73 - - 3110.25 - - - - - - - - - 16.08 -
4824.58 498.64 -9.19 622 4825.91 no move -1.37 - - 1988.06 - - - 2246.06 - -82.73 - - 3107.16 - - - - - - - - - - -
5134.86 527.93 -8.88 653 5136.19 no move -1.37 - - 1988.38 - - - 2245.12 - -82.73 - - 3107.19 - - - - - - - - - - -
5444.92 555.86 -8.74 684 5446.25 no move -1.37 - - 1988.75 - - - 2245.25 - -82.73 - - 3105.66 - - - - - - - - - - -
5754.98 582.20 -7.75 715 5756.31 no move -1.37 - - 1988.50 - - - 2245.50 - -82.73 - - 3105.97 - - - - - - - - - - -
6065.04 607.03 -8.12 746 6066.37 no move -1.37 - - 1988.38 - - - 2245.44 - -82.73 - - 3104.94 - - - - - - - - - - -
6375.11 632.66 -8.50 777 6376.44 no move -1.37 - - 1988.12 - - - 2245.44 - -82.73 - - 3104.34 - - - - - - - - - - -
6685.17 659.00 -8.44 808 6689.44 roll -1.37 - - 1988.50 - 2.46 0.070 1208.06 -421.7 -82.73 - - 3105.88 - - - - - - - - - 16.08 -
6764.81 666.12 -8.59 824 6769.90 roll -1.37 - - 1988.62 - 2.61 0.030 2353.25 438.8 -82.73 - - 3104.47 - - - - - - - - - 16.11 -
7074.87 691.38 -8.32 856 7079.96 roll -1.37 - - 1988.00 - 2.72 0.064 1207.44 -421.3 -82.73 - - 3104.78 - - - - - - - - - 16.09 -
7179.42 700.58 -8.56 877 7185.41 roll -1.37 - - 1988.38 - 2.60 0.031 2351.38 440.0 -82.73 - - 3104.09 - - - - - - - - - 16.09 -
7494.92 727.79 -8.73 909 7500.01 roll -1.37 - - 1988.50 - 2.72 0.064 1208.69 -420.1 -82.73 - - 3103.56 - - - - - - - - - 16.09 -
7589.66 736.66 -9.64 928 7595.52 roll -1.37 - - 1988.62 - 2.59 0.031 2351.38 441.2 -82.73 - - 3103.12 - - - - - - - - - 16.11 -
7904.98 762.95 -8.02 960 7906.30 no move -1.37 - - 1988.00 - - - 2351.69 - -82.73 - - 3101.94 - - - - - - - - - - -
8215.40 786.62 -7.13 991 8220.10 roll -1.37 - - 1989.00 - 2.71 0.065 1208.25 -421.9 -82.73 - - 3102.41 - - - - - - - - - 16.09 -
8295.03 792.87 -7.68 1007 8300.09 roll -1.37 - - 1988.56 - 2.60 0.031 2351.25 439.6 -82.73 - - 3103.12 - - - - - - - - - 16.10 -
8605.06 815.08 -6.78 1039 8606.39 no move -1.37 - - 1988.62 - - - 2351.38 - -82.73 - - 3101.06 - - - - - - - - - - -
8915.49 834.62 -6.32 1070 8920.20 roll -1.37 - - 1988.62 - 2.73 0.065 1208.12 -418.8 -82.73 - - 3101.41 - - - - - - - - - 16.09 -
8995.14 840.11 -6.35 1086 9000.22 roll -1.37 - - 1988.88 - 2.61 0.031 2354.62 439.3 -82.73 - - 3101.56 - - - - - - - - - 16.09 -
9305.19 862.93 -7.66 1118 9310.27 roll -1.37 - - 1988.56 - 2.64 0.093 3426.62 406.1 -82.73 - - 3100.97 - - - - - - - - - 16.06 -
9419.77 873.39 -9.45 1141 9425.76 roll -1.37 - - 1988.62 - 2.55 0.022 2247.56 -462.4 -82.73 - - 3101.03 - - - - - - - - - 16.09 -
9735.30 898.59 -8.09 1173 9736.63 no move -1.37 - - 1988.88 - - - 2247.25 - -82.73 - - 3099.69 - - - - - - - - - - -
10046.00 923.71 -7.68 1204 10047.32 no move -1.37 - - 1988.88 - - - 2247.25 - -82.73 - - 3099.12 - - - - - - - - - - -
10355.99 948.46 -7.98 1235 10357.32 no move -1.37 - - 1988.44 - - - 2246.81 - -82.73 - - 3099.50 - - - - - - - - - - -
10665.89 969.95 -7.12 1266 10670.55 roll -1.37 - - 1988.25 - 2.48 0.071 1209.81 -418.1 -82.73 - - 3101.59 - - - - - - - - - 16.08 -
10805.54 980.46 -7.12 1294 10810.61 roll -1.37 - - 1987.00 - 2.60 0.031 2353.31 439.8 -82.73 - - 3100.69 - - - - - - - - - 16.08 -
10945 end dive: TARGET_DEPTH_EXCEEDED
10945 begin apogee
10947.40 990.59 -7.14 1309 11011.91 -0.28 1.77 0.148 2254.00 150.8 0.22 0.135 2284.38 -313.3 - 60.44 2.414 2772.66 -5.4 0.368 - - - - - - 16.00 15.66 12.03
11022 end apogee: CONTROL_FINISHED_OK
11022 begin climb
11022.42 991.80 - 1315 11093.03 1.37 2.60 0.095 2656.81 154.9 - - 2284.50 - 82.73 65.89 2.399 2435.97 -5.1 0.349 - - - - - - 15.70 - 12.85
11396.19 966.34 7.70 1353 11397.52 no move 1.38 - - 2656.56 - - - 2284.25 - 82.73 - - 2430.94 - - - - - - - - - - -
11706.88 941.09 8.25 1384 11711.36 roll 1.38 - - 2656.38 - 2.82 0.074 1131.44 -408.8 82.73 - - 2431.94 - - - - - - - - - 15.86 -
11836.31 929.95 8.91 1410 11841.39 roll 1.38 - - 2656.00 - 2.62 0.031 2273.38 435.9 82.73 - - 2430.41 - - - - - - - - - 15.89 -
12146.76 904.87 8.08 1442 12148.09 VBD 1.38 - - 2656.50 - - - 2273.50 - 82.73 - - 2428.34 - - - - - - - - - - -
12456.85 880.69 7.44 1473 12461.53 done 1.40 - - 2656.19 - 2.67 0.094 3346.69 401.9 82.73 - - 2431.09 - - - - - - - - - 15.95 -
12556.47 872.48 8.27 1493 12561.54 done 1.40 - - 2656.88 - 2.58 0.024 2186.44 -449.7 82.73 - - 2429.41 - - - - - - - - - 15.99 -
12866.94 851.09 6.40 1525 12892.07 VBD 1.46 - - 2656.31 - - - 2186.38 - 112.93 24.32 2.152 2312.03 -4.8 0.316 - - - - - - - - 12.28
13197.00 825.98 8.09 1558 13201.73 roll 1.46 - - 2656.69 - 2.89 0.089 3345.31 401.0 112.93 - - 2310.72 - - - - - - - - - 15.91 -
13241.17 821.66 9.41 1567 13247.16 roll 1.46 - - 2656.50 - 2.58 0.025 2187.50 -448.8 112.93 - - 2312.22 - - - - - - - - - 15.93 -
13557.07 794.15 8.54 1599 13558.40 no move 1.46 - - 2656.44 - - - 2187.00 - 112.93 - - 2308.75 - - - - - - - - - - -
13867.14 766.82 8.73 1630 13868.47 no move 1.46 - - 2656.06 - - - 2187.56 - 112.93 - - 2308.00 - - - - - - - - - - -
14177.45 741.71 7.61 1661 14178.78 no move 1.48 - - 2655.88 - - - 2187.81 - 112.93 - - 2307.69 - - - - - - - - - - -
14487.25 716.42 8.20 1692 14488.58 no move 1.48 - - 2656.31 - - - 2188.00 - 112.93 - - 2307.75 - - - - - - - - - - -
14797.30 691.59 7.77 1723 14798.73 pitch 1.49 0.15 0.099 2698.75 282.9 - - 2186.38 - 112.93 - - 2307.09 - - - - - - - - 16.00 - -
15106.93 662.53 9.21 1754 15112.00 roll 1.49 - - 2698.19 - 2.55 0.080 1131.25 -413.8 112.93 - - 2309.31 - - - - - - - - - 16.03 -
15191.50 654.33 9.84 1771 15197.49 roll 1.49 - - 2697.31 - 2.60 0.031 2273.38 439.3 112.93 - - 2308.22 - - - - - - - - - 16.04 -
15507.38 627.45 8.31 1803 15508.71 no move 1.49 - - 2697.81 - - - 2273.50 - 112.93 - - 2307.25 - - - - - - - - - - -
15817.42 601.81 8.20 1834 15822.13 roll 1.49 - - 2698.12 - 2.77 0.075 1130.00 -412.8 112.93 - - 2308.75 - - - - - - - - - 16.05 -
15907.27 594.23 8.52 1852 15912.11 roll 1.49 - - 2696.50 - 2.60 0.031 2271.81 439.2 112.93 - - 2309.12 - - - - - - - - - 16.05 -
16217.49 570.28 7.42 1884 16222.17 roll 1.51 - - 2697.00 - 2.65 0.093 3347.56 405.9 112.93 - - 2309.38 - - - - - - - - - 16.04 -
16257.11 567.31 7.37 1892 16262.16 roll 1.54 - - 2698.12 - 2.57 0.024 2184.50 -452.6 112.93 - - 2310.47 - - - - - - - - - 16.06 -
16567.82 544.54 7.48 1924 16569.15 no move 1.56 - - 2698.12 - - - 2185.62 - 112.93 - - 2307.09 - - - - - - - - - - -
16877.62 521.02 7.97 1955 16882.35 roll 1.56 - - 2697.00 - 2.89 0.088 3346.56 401.7 112.93 - - 2308.81 - - - - - - - - - 16.07 -
16907.25 518.37 8.43 1961 16912.32 roll 1.56 - - 2698.69 - 2.57 0.024 2186.12 -451.5 112.93 - - 2308.16 - - - - - - - - - 16.07 -
17217.32 492.06 8.28 1993 17218.65 no move 1.56 - - 2699.00 - - - 2186.56 - 112.93 - - 2306.81 - - - - - - - - - - -
17527.79 467.20 7.57 2024 17532.51 roll 1.57 - - 2698.75 - 2.90 0.088 3346.56 400.0 112.93 - - 2310.09 - - - - - - - - - 16.05 -
17577.40 462.93 8.55 2034 17582.47 roll 1.57 - - 2698.19 - 2.58 0.024 2186.31 -449.7 112.93 - - 2307.59 - - - - - - - - - 16.05 -
17887.87 439.59 7.49 2066 17889.20 no move 1.59 - - 2698.31 - - - 2186.38 - 112.93 - - 2306.91 - - - - - - - - - - -
18197.93 417.63 6.91 2097 18199.26 no move 1.62 - - 2698.62 - - - 2186.31 - 112.93 - - 2306.66 - - - - - - - - - - -
18508.00 396.84 6.72 2128 18509.33 no move 1.66 - - 2698.19 - - - 2186.50 - 112.93 - - 2306.62 - - - - - - - - - - -
18818.23 375.25 7.03 2159 18822.84 roll back 1.69 0.19 0.084 2745.81 250.6 2.90 0.087 3346.00 399.8 112.93 - - 2308.09 - - - - - - - - 16.02 16.01 -
18847.68 372.76 7.63 2165 18852.73 roll 1.70 - - 2745.75 - 2.57 0.024 2186.44 -451.2 112.93 - - 2308.78 - - - - - - - - - 16.07 -
19158.37 350.06 6.73 2197 19162.79 roll 1.74 - - 2745.38 - 2.55 0.078 1131.00 -413.9 112.93 - - 2308.66 - - - - - - - - - 16.05 -
19302.33 339.87 6.82 2226 19308.31 roll 1.77 - - 2745.88 - 2.61 0.030 2272.00 437.2 112.93 - - 2309.09 - - - - - - - - - 16.06 -
19618.24 320.04 6.48 2258 19619.56 no move 1.81 - - 2745.62 - - - 2272.25 - 112.93 - - 2307.66 - - - - - - - - - - -
19928.46 299.83 6.52 2289 19929.79 no move 1.85 - - 2745.69 - - - 2271.94 - 112.93 - - 2307.34 - - - - - - - - - - -
20238.31 279.21 6.51 2320 20239.74 pitch 1.89 0.19 0.078 2796.44 267.1 - - 2271.88 - 112.93 - - 2307.91 - - - - - - - - 16.02 - -
20547.96 257.47 6.74 2351 20549.29 no move 1.92 - - 2796.69 - - - 2271.88 - 112.93 - - 2307.53 - - - - - - - - - - -
20858.38 235.32 7.70 2382 20859.71 no move 1.94 - - 2796.75 - - - 2272.31 - 112.93 - - 2307.62 - - - - - - - - - - -
21168.42 210.44 8.67 2413 21173.12 roll 1.94 - - 2797.31 - 2.76 0.072 1129.94 -413.9 112.93 - - 2309.09 - - - - - - - - - 16.05 -
21258.03 202.00 9.41 2431 21263.12 roll 1.94 - - 2796.56 - 2.62 0.029 2274.88 437.0 112.93 - - 2309.31 - - - - - - - - - 16.04 -
21568.48 178.00 6.86 2463 21569.81 no move 1.97 - - 2796.12 - - - 2274.88 - 112.93 - - 2308.28 - - - - - - - - - - -
21878.52 157.30 6.84 2494 21883.39 roll 2.00 - - 2796.06 - 2.77 0.071 1128.88 -413.7 112.93 - - 2309.06 - - - - - - - - - 15.97 -
22112.77 139.31 7.32 2541 22118.76 roll 2.03 - - 2795.56 - 2.62 0.029 2276.06 437.9 112.93 - - 2310.34 - - - - - - - - - 16.05 -
22428.68 124.16 4.23 2573 22480.52 2.15 0.26 0.066 2858.31 241.3 2.79 0.072 1130.31 -410.7 174.95 45.53 1.330 2060.62 -5.5 0.085 - - - - - - 16.02 15.90 12.05
22618.92 107.18 10.20 2611 22623.63 roll 2.15 - - 2858.88 - 2.62 0.029 2273.69 436.4 174.95 - - 2056.09 - - - - - - - - - 15.92 -
22928.66 85.31 6.06 2665 22960.10 done 2.22 - - 2859.25 - 2.77 0.071 1128.75 -413.3 210.09 26.75 1.240 1917.91 -5.2 0.059 - - - - - - - 15.82 12.38
23188.74 69.02 5.49 2717 23226.58 done 2.31 - - 2858.75 - 2.62 0.028 2276.06 437.9 253.55 33.26 1.220 1740.69 -5.3 0.050 - - - - - - - 15.85 12.49
23409.76 53.23 7.90 2761 23415.29 done 2.32 - - 2859.06 - 2.79 0.069 1129.75 -410.9 253.55 - - 1733.31 - - - - - - - - - 15.84 -
23529.79 42.71 9.10 2785 23535.33 done 2.32 - - 2859.69 - 2.61 0.028 2274.62 438.6 253.55 - - 1731.25 - - - - - - - - - 15.88 -
23719.86 30.13 5.08 2823 23761.54 2.42 0.28 0.061 2924.06 229.9 2.80 0.070 1128.88 -409.2 303.15 36.94 1.174 1538.62 -5.2 0.022 - - - - - - 15.84 15.76 12.47
23959.91 22.29 2.71 2871 24027.35 done 2.59 - - 2923.62 - 2.63 0.027 2277.56 436.8 387.44 62.53 1.165 1195.47 -5.5 0.017 - - - - - - - 15.83 12.40
24210.42 8.63 7.72 2921 24216.17 roll back 2.60 0.16 0.081 2965.62 262.5 2.68 0.086 3345.06 398.3 387.44 - - 1188.09 - - - - - - - - 15.78 15.76 -
24280 end climb: SURFACE_DEPTH_REACHED
24280 begin surface coast
24305 end surface coast: CONTROL_FINISHED_OK
24306 begin surface
SM 1.46 - - - - 187.9 28.23 1.103 1043.4 37.0 17.17 0.052 1005.5 58.6 - 2.38 0.021 1081.3 453.2 -3.220 - - 12.40 15.80 15.83 -