NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 393 * Raw log
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• Previous call tries 5 • 123.06 of 550.00 AH used of 24V (77.63% remains)
• Surface angle -66.8 deg, depth 0.64 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 424.91 (SM_CC=425)
• GPS1 time: 52 s
• GPS2 time: 4 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
5.04 - - - 61.86 VBD -1.37 - - 179.56 - - - 2242.31 - -82.73 55.61 0.005 2506.00 - - - - - - - - - - 15.61
62.58 3.46 -6.57 10 99.91 -1.37 13.95 0.255 1988.75 129.7 2.88 0.087 3429.06 412.1 -82.73 12.90 0.006 3111.84 47.0 -4.486 - - - - - - 15.76 15.59 15.65
327.04 52.54 -15.82 63 332.58 roll -1.37 - - 1988.25 - 2.54 0.021 2251.62 -463.6 -82.73 - - 3113.25 - - - - - - - - - 15.93 -
517.75 77.59 -11.98 101 522.70 roll -1.37 - - 1987.38 - 2.83 0.081 3428.75 415.9 -82.73 - - 3114.03 - - - - - - - - - 15.95 -
612.14 88.65 -10.17 120 617.67 roll -1.37 - - 1988.62 - 2.53 0.021 2246.56 -467.3 -82.73 - - 3112.97 - - - - - - - - - 15.97 -
802.55 107.34 -10.33 158 803.88 no move -1.37 - - 1988.38 - - - 2245.31 - -82.73 - - 3112.12 - - - - - - - - - - -
1107.20 136.94 -8.49 219 1108.52 no move -1.37 - - 1988.56 - - - 2245.31 - -82.73 - - 3113.16 - - - - - - - - - - -
1412.25 164.58 -9.19 280 1413.57 no move -1.37 - - 1988.38 - - - 2245.38 - -82.73 - - 3113.16 - - - - - - - - - - -
1717.29 192.10 -8.62 341 1722.88 roll -1.37 - - 1988.44 - 2.85 0.083 3429.38 415.4 -82.73 - - 3114.47 - - - - - - - - - 16.04 -
1897.31 209.81 -9.66 377 1902.85 roll -1.37 - - 1988.44 - 2.53 0.022 2248.25 -466.8 -82.73 - - 3113.03 - - - - - - - - - 16.06 -
2207.37 238.72 -9.90 439 2212.95 roll -1.37 - - 1988.56 - 2.83 0.083 3428.88 417.2 -82.73 - - 3113.47 - - - - - - - - - 16.05 -
2292.55 248.27 -11.67 456 2297.97 roll -1.37 - - 1988.75 - 2.52 0.022 2250.81 -467.5 -82.73 - - 3112.84 - - - - - - - - - 16.08 -
2602.43 278.08 -9.28 518 2603.76 no move -1.37 - - 1988.56 - - - 2249.56 - -82.73 - - 3111.66 - - - - - - - - - - -
2914.19 306.43 -9.75 573 2918.85 roll -1.37 - - 1988.75 - 2.82 0.083 3429.50 418.4 -82.73 - - 3110.34 - - - - - - - - - 16.08 -
3047.12 321.18 -11.55 591 3062.04 roll -1.37 - - 1988.38 - 2.51 0.022 2250.38 -469.8 -82.73 - - 3111.09 - - - - - - - - - 16.10 -
3363.22 355.12 -10.61 620 3374.28 no move -1.37 - - 1989.00 - - - 2250.25 - -82.73 - - 3111.53 - - - - - - - - - - -
3676.05 387.73 -10.52 649 3680.63 roll -1.37 - - 1988.75 - 2.41 0.070 1206.06 -433.3 -82.73 - - 3111.16 - - - - - - - - - 16.09 -
3823.38 403.38 -10.49 668 3827.99 roll -1.37 - - 1988.50 - 2.55 0.030 2353.31 449.9 -82.73 - - 3109.38 - - - - - - - - - 16.10 -
4134.55 434.29 -9.58 697 4139.17 roll -1.37 - - 1988.44 - 2.66 0.064 1206.19 -431.2 -82.73 - - 3108.59 - - - - - - - - - 16.10 -
4187.47 439.49 -9.75 704 4192.07 roll -1.37 - - 1988.38 - 2.55 0.030 2354.06 450.1 -82.73 - - 3108.84 - - - - - - - - - 16.10 -
4499.05 468.56 -9.04 733 4503.71 roll -1.37 - - 1988.19 - 2.57 0.091 3428.94 418.2 -82.73 - - 3108.00 - - - - - - - - - 16.08 -
4537.58 472.20 -9.50 739 4552.50 roll -1.37 - - 1987.56 - 2.51 0.023 2246.12 -471.2 -82.73 - - 3109.19 - - - - - - - - - 16.10 -
4853.67 498.54 -8.11 768 4858.33 roll -1.37 - - 1986.75 - 2.83 0.086 3429.06 418.0 -82.73 - - 3108.28 - - - - - - - - - 16.09 -
4954.43 507.64 -9.15 783 4959.96 roll -1.37 - - 1988.62 - 2.52 0.023 2248.69 -468.4 -82.73 - - 3107.88 - - - - - - - - - 16.11 -
5274.00 531.14 -6.88 805 5275.33 no move -1.37 - - 1988.50 - - - 2248.31 - -82.73 - - 3106.34 - - - - - - - - - - -
5588.85 554.31 -7.36 826 5590.18 no move -1.37 - - 1988.69 - - - 2248.06 - -82.73 - - 3106.06 - - - - - - - - - - -
5903.87 579.06 -8.52 847 5905.20 no move -1.37 - - 1988.25 - - - 2248.12 - -82.73 - - 3105.16 - - - - - - - - - - -
6218.90 607.38 -9.11 868 6223.56 roll -1.37 - - 1988.56 - 2.82 0.087 3426.38 417.8 -82.73 - - 3107.03 - - - - - - - - - 16.09 -
6262.43 611.18 -9.71 875 6277.36 roll -1.37 - - 1988.62 - 2.51 0.023 2248.38 -469.3 -82.73 - - 3105.25 - - - - - - - - - 16.10 -
6591.83 639.16 -7.47 897 6596.49 roll -1.37 - - 1988.75 - 2.81 0.088 3427.44 419.6 -82.73 - - 3104.12 - - - - - - - - - 16.08 -
6635.36 642.28 -7.95 904 6650.29 roll -1.37 - - 1988.19 - 2.51 0.024 2250.06 -469.1 -82.73 - - 3104.84 - - - - - - - - - 16.10 -
6965.45 669.14 -7.74 926 6970.10 roll -1.37 - - 1988.88 - 2.42 0.072 1207.62 -430.8 -82.73 - - 3105.28 - - - - - - - - - 16.10 -
7029.73 673.86 -7.97 936 7044.65 roll -1.37 - - 1988.88 - 2.54 0.031 2352.94 450.9 -82.73 - - 3104.94 - - - - - - - - - 16.11 -
7359.15 697.80 -7.15 958 7360.48 no move -1.37 - - 1988.50 - - - 2353.19 - -82.73 - - 3104.00 - - - - - - - - - - -
7674.16 722.40 -8.13 979 7678.77 roll -1.37 - - 1988.12 - 2.55 0.094 3427.50 421.3 -82.73 - - 3103.03 - - - - - - - - - 16.08 -
7717.70 725.83 -8.74 986 7732.61 roll -1.37 - - 1988.19 - 2.51 0.023 2250.31 -469.0 -82.73 - - 3103.53 - - - - - - - - - 16.11 -
8047.13 753.15 -8.15 1008 8048.46 no move -1.37 - - 1988.19 - - - 2250.44 - -82.73 - - 3102.56 - - - - - - - - - - -
8362.16 778.06 -7.95 1029 8366.81 roll -1.37 - - 1988.38 - 2.81 0.088 3427.31 418.8 -82.73 - - 3102.91 - - - - - - - - - 16.08 -
8426.43 783.19 -8.63 1039 8440.94 roll -1.37 - - 1988.50 - 2.50 0.023 2252.50 -469.9 -82.73 - - 3103.59 - - - - - - - - - 16.11 -
8755.83 808.41 -7.39 1061 8760.42 roll -1.37 - - 1988.31 - 2.42 0.072 1207.25 -431.9 -82.73 - - 3101.97 - - - - - - - - - 16.09 -
8820.31 812.75 -7.42 1071 8835.22 roll -1.37 - - 1988.25 - 2.55 0.031 2355.81 450.4 -82.73 - - 3103.84 - - - - - - - - - 16.09 -
9149.73 834.47 -6.22 1093 9154.36 roll -1.37 - - 1988.44 - 2.67 0.067 1207.12 -430.2 -82.73 - - 3100.50 - - - - - - - - - 16.09 -
9193.46 836.80 -6.16 1100 9208.24 roll -1.37 - - 1988.12 - 2.55 0.031 2354.38 449.9 -82.73 - - 3102.38 - - - - - - - - - 16.10 -
9522.67 858.21 -6.62 1122 9527.28 roll -1.37 - - 1988.31 - 2.54 0.093 3428.00 422.7 -82.73 - - 3100.06 - - - - - - - - - 16.07 -
9559.85 860.96 -7.06 1127 9564.44 roll -1.37 - - 1988.25 - 2.49 0.023 2251.69 -472.4 -82.73 - - 3100.66 - - - - - - - - - 16.08 -
9876.33 881.85 -7.05 1149 9880.97 roll -1.37 - - 1987.75 - 2.80 0.088 3425.19 419.1 -82.73 - - 3101.41 - - - - - - - - - 16.08 -
9913.51 884.82 -7.58 1154 9918.10 roll -1.37 - - 1988.25 - 2.49 0.023 2250.19 -471.9 -82.73 - - 3100.84 - - - - - - - - - 16.09 -
10230.02 905.98 -6.15 1176 10234.61 roll -1.37 - - 1988.50 - 2.41 0.073 1208.69 -432.2 -82.73 - - 3100.22 - - - - - - - - - 16.08 -
10310.01 911.31 -6.72 1188 10315.54 roll -1.37 - - 1986.88 - 2.54 0.032 2354.31 451.0 -82.73 - - 3102.56 - - - - - - - - - 16.10 -
10629.42 933.31 -6.68 1210 10634.04 roll -1.37 - - 1988.31 - 2.66 0.067 1207.38 -431.2 -82.73 - - 3099.44 - - - - - - - - - 16.08 -
10709.41 938.84 -6.97 1222 10714.94 roll -1.37 - - 1987.56 - 2.54 0.032 2354.12 451.5 -82.73 - - 3100.41 - - - - - - - - - 16.10 -
11029.42 960.40 -6.99 1244 11030.75 no move -1.37 - - 1988.38 - - - 2353.94 - -82.73 - - 3098.91 - - - - - - - - - - -
11344.01 982.65 -7.11 1265 11348.67 roll -1.37 - - 1988.50 - 2.55 0.095 3425.38 420.2 -82.73 - - 3101.59 - - - - - - - - - 16.06 -
11574.90 985.84 -1.60 1299 11589.42 roll -1.37 - - 1988.12 - 2.51 0.023 2244.00 -470.7 -82.73 - - 3099.47 - - - - - - - - - 16.09 -
11888 end dive: NO_VERTICAL_VELOCITY
11889 begin apogee
11890.72 985.90 - 1320 11965.98 -0.28 1.76 0.123 2254.38 151.3 0.13 0.205 2288.25 340.4 - 60.55 2.429 2773.53 -5.4 0.362 - - - - - - 16.01 15.66 11.97
11967 end apogee: CONTROL_FINISHED_OK
11967 begin climb
11967.81 986.08 - 1325 12041.93 1.37 2.58 0.082 2656.62 155.9 - - 2287.69 - 82.73 65.79 2.412 2438.97 -5.1 0.344 - - - - - - 15.70 - 12.72
12354.31 961.96 7.60 1351 12355.64 no move 1.38 - - 2656.31 - - - 2288.38 - 82.73 - - 2431.41 - - - - - - - - - - -
12669.33 938.14 7.80 1372 12670.67 no move 1.40 - - 2655.94 - - - 2287.94 - 82.73 - - 2430.19 - - - - - - - - - - -
12984.34 912.63 8.22 1393 12988.98 roll 1.40 - - 2656.12 - 2.76 0.077 1129.62 -419.7 82.73 - - 2428.47 - - - - - - - - - 15.91 -
13064.34 905.84 8.59 1405 13070.06 roll 1.40 - - 2656.69 - 2.58 0.031 2274.62 443.8 82.73 - - 2431.44 - - - - - - - - - 15.93 -
13383.86 879.24 8.11 1427 13388.51 done 1.40 - - 2655.88 - 2.71 0.076 1128.69 -422.9 82.73 - - 2429.34 - - - - - - - - - 15.96 -
13524.73 867.28 8.50 1447 13529.34 done 1.40 - - 2656.12 - 2.57 0.032 2275.62 446.3 82.73 - - 2431.19 - - - - - - - - - 15.97 -
13841.21 845.07 6.57 1469 13842.54 no move 1.44 - - 2655.88 - - - 2275.88 - 82.73 - - 2429.19 - - - - - - - - - - -
14156.23 824.37 6.88 1490 14157.57 VBD 1.47 - - 2656.50 - - - 2275.75 - 82.73 - - 2428.56 - - - - - - - - - - -
14471.42 803.15 6.32 1511 14501.86 1.53 0.19 0.087 2705.38 257.3 - - 2276.06 - 114.04 24.95 2.098 2309.28 -4.8 0.303 - - - - - - 16.00 - 12.12
14816.43 772.67 9.21 1534 14817.76 no move 1.53 - - 2705.19 - - - 2276.25 - 114.04 - - 2304.41 - - - - - - - - - - -
15131.27 744.08 9.12 1555 15135.91 roll 1.53 - - 2705.38 - 2.72 0.077 1131.12 -421.0 114.04 - - 2307.09 - - - - - - - - - 15.98 -
15190.88 738.29 9.73 1564 15196.41 roll 1.53 - - 2705.19 - 2.56 0.032 2272.56 445.9 114.04 - - 2305.78 - - - - - - - - - 15.99 -
15510.28 708.68 9.00 1586 15511.61 no move 1.53 - - 2705.12 - - - 2271.62 - 114.04 - - 2304.28 - - - - - - - - - - -
15825.30 680.81 9.04 1607 15826.63 no move 1.53 - - 2705.38 - - - 2271.94 - 114.04 - - 2304.25 - - - - - - - - - - -
16140.32 653.09 8.46 1628 16145.18 roll 1.53 - - 2703.38 - 2.71 0.077 1129.75 -421.5 114.04 - - 2304.34 - - - - - - - - - 16.03 -
16282.72 639.87 9.54 1649 16288.12 roll 1.53 - - 2705.44 - 2.57 0.032 2273.25 444.9 114.04 - - 2304.50 - - - - - - - - - 16.04 -
16601.96 612.39 8.36 1671 16603.29 no move 1.53 - - 2705.12 - - - 2272.88 - 114.04 - - 2304.44 - - - - - - - - - - -
16917.00 585.79 8.56 1692 16921.64 roll 1.53 - - 2704.69 - 2.71 0.076 1130.12 -421.7 114.04 - - 2303.25 - - - - - - - - - 16.05 -
16981.27 580.48 9.01 1702 16996.19 roll 1.53 - - 2705.12 - 2.56 0.032 2274.50 447.0 114.04 - - 2305.78 - - - - - - - - - 16.05 -
17310.68 550.72 8.98 1724 17315.29 roll 1.53 - - 2705.25 - 2.57 0.093 3346.44 417.1 114.04 - - 2305.38 - - - - - - - - - 16.04 -
17349.19 547.12 9.36 1730 17354.74 roll 1.53 - - 2705.12 - 2.53 0.025 2185.81 -458.7 114.04 - - 2304.03 - - - - - - - - - 16.06 -
17668.61 519.64 8.20 1752 17669.94 no move 1.53 - - 2706.00 - - - 2185.44 - 114.04 - - 2303.03 - - - - - - - - - - -
17973.01 494.80 8.05 1774 17984.08 no move 1.53 - - 2706.06 - - - 2184.88 - 114.04 - - 2304.47 - - - - - - - - - - -
18285.59 469.87 7.82 1803 18296.67 no move 1.54 - - 2705.88 - - - 2184.81 - 114.04 - - 2304.16 - - - - - - - - - - -
18598.17 445.88 7.42 1832 18602.77 roll 1.56 - - 2705.44 - 2.48 0.080 1130.19 -425.2 114.04 - - 2303.28 - - - - - - - - - 16.06 -
18763.17 432.92 8.11 1854 18777.91 roll 1.56 - - 2706.00 - 2.56 0.032 2273.62 446.7 114.04 - - 2304.16 - - - - - - - - - 16.08 -
19079.32 411.11 6.20 1883 19113.00 done 1.63 - - 2706.19 - 2.59 0.096 3347.19 414.5 147.17 26.38 1.656 2174.97 -4.9 0.201 - - - - - - - 15.94 12.06
19130.93 407.60 6.79 1890 19145.83 roll 1.66 - - 2705.81 - 2.54 0.025 2187.75 -456.5 147.17 - - 2171.97 - - - - - - - - - 16.02 -
19447.38 384.86 7.12 1919 19452.01 roll 1.69 - - 2705.44 - 2.78 0.088 3345.56 416.5 147.17 - - 2171.56 - - - - - - - - - 15.98 -
19548.85 376.50 8.47 1933 19563.77 roll 1.69 - - 2705.75 - 2.53 0.025 2187.88 -457.6 147.17 - - 2170.91 - - - - - - - - - 16.00 -
19864.75 350.88 8.47 1962 19875.81 no move 1.69 - - 2706.00 - - - 2188.38 - 147.17 - - 2170.06 - - - - - - - - - - -
20177.59 322.93 9.20 1991 20182.18 roll 1.69 - - 2705.88 - 2.50 0.081 1130.25 -423.3 147.17 - - 2168.22 - - - - - - - - - 16.02 -
20326.25 309.24 9.02 2011 20341.17 roll 1.69 - - 2704.75 - 2.56 0.031 2275.00 447.2 147.17 - - 2169.12 - - - - - - - - - 16.03 -
20645.62 282.16 8.31 2062 20651.17 roll 1.69 - - 2706.50 - 2.70 0.076 1129.94 -424.1 147.17 - - 2168.75 - - - - - - - - - 16.04 -
20715.64 276.04 8.80 2076 20721.35 roll 1.69 - - 2705.88 - 2.55 0.032 2275.00 449.0 147.17 - - 2169.31 - - - - - - - - - 16.03 -
21025.75 253.53 6.98 2138 21031.35 roll back 1.72 0.19 0.086 2748.44 224.0 2.70 0.075 1130.12 -424.0 147.17 - - 2169.31 - - - - - - - - 16.02 16.00 -
21075.92 249.41 8.41 2148 21081.28 roll 1.72 - - 2749.56 - 2.56 0.031 2277.50 448.2 147.17 - - 2170.28 - - - - - - - - - 16.04 -
21385.92 220.91 9.25 2210 21387.25 no move 1.72 - - 2749.19 - - - 2277.31 - 147.17 - - 2167.66 - - - - - - - - - - -
21690.98 194.73 8.03 2271 21696.53 roll 1.72 - - 2749.31 - 2.70 0.075 1130.00 -424.9 147.17 - - 2168.38 - - - - - - - - - 16.05 -
21776.01 187.98 7.82 2288 21781.53 roll 1.73 - - 2747.88 - 2.55 0.031 2275.94 449.4 147.17 - - 2169.03 - - - - - - - - - 16.05 -
22086.12 167.19 6.48 2350 22091.65 roll 1.77 - - 2749.88 - 2.70 0.074 1130.00 -424.4 147.17 - - 2169.31 - - - - - - - - - 16.05 -
22206.13 157.49 8.10 2374 22211.85 roll 1.77 - - 2749.81 - 2.55 0.031 2274.56 448.8 147.17 - - 2169.66 - - - - - - - - - 16.06 -
22516.19 132.98 8.43 2436 22517.52 no move 1.77 - - 2748.62 - - - 2275.25 - 147.17 - - 2168.56 - - - - - - - - - - -
22821.25 108.75 7.60 2497 22822.58 no move 1.79 - - 2750.00 - - - 2274.56 - 147.17 - - 2168.47 - - - - - - - - - - -
23126.29 94.33 3.36 2558 23188.01 1.94 0.23 0.071 2805.62 241.8 2.59 0.092 3347.19 414.1 221.84 54.96 1.292 1870.81 -5.4 0.065 - - - - - - 16.03 15.86 12.03
23371.31 74.49 9.10 2607 23376.84 roll 1.94 - - 2805.31 - 2.55 0.024 2185.94 -455.4 221.84 - - 1863.94 - - - - - - - - - 15.92 -
23561.34 62.71 6.40 2645 23588.70 done 2.00 - - 2805.44 - 2.51 0.080 1130.06 -420.7 252.11 23.24 1.181 1746.16 -5.1 0.045 - - - - - - - 15.83 12.42
23781.35 43.59 8.51 2689 23786.89 roll 2.00 - - 2805.38 - 2.58 0.030 2277.12 444.6 252.11 - - 1742.16 - - - - - - - - - 15.91 -
23971.40 33.67 4.21 2727 24019.74 2.12 0.17 0.085 2851.00 268.4 - - 2277.44 - 314.39 46.58 1.184 1493.72 -5.3 0.025 - - - - - - 15.92 - 12.43
24201.88 19.31 6.11 2773 24233.31 done 2.19 - - 2851.62 - 2.60 0.090 3347.00 411.4 348.92 27.08 1.120 1354.28 -5.1 0.015 - - - - - - - 15.73 12.53
24461.96 7.39 4.84 2825 24508.67 2.30 0.16 0.089 2892.62 256.2 2.56 0.023 2181.06 -455.4 401.94 40.49 1.119 1137.34 -5.4 0.006 - - - - - - 15.82 15.86 12.39
24541 end climb: SURFACE_DEPTH_REACHED
24542 begin surface coast
24577 end surface coast: CONTROL_FINISHED_OK
24577 begin surface
SM 1.43 - - - - 191.1 18.83 1.068 1042.8 53.2 16.61 0.042 1009.8 60.8 - 0.35 0.066 1075.8 3066.4 -6.790 - - 12.48 15.77 15.78 -