NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 396 * Raw log
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• Previous call tries 2 • 124.21 of 550.00 AH used of 24V (77.42% remains)
• Surface angle -63.5 deg, depth 0.64 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• No surface pump (final VBD was 951.5, SM_CC=425)
• GPS1 time: 14 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
5.05 - - - 61.87 VBD -1.37 - - 179.38 - - - 2369.38 - -82.73 55.69 0.005 2475.84 - - - - - - - - - - 15.56
62.59 3.66 -7.63 10 99.89 -1.37 14.06 0.257 1988.88 128.7 2.59 0.090 3426.31 408.1 -82.73 13.40 0.006 3112.41 47.5 -4.813 - - - - - - 15.69 15.52 15.60
327.00 55.22 -16.07 63 332.53 roll -1.37 - - 1988.75 - 2.56 0.021 2250.56 -459.3 -82.73 - - 3113.44 - - - - - - - - - 15.88 -
517.44 79.28 -11.12 101 522.86 roll -1.37 - - 1988.50 - 2.86 0.081 3428.06 411.7 -82.73 - - 3113.66 - - - - - - - - - 15.91 -
552.19 83.40 -11.75 108 557.61 roll -1.37 - - 1988.44 - 2.55 0.022 2249.12 -462.3 -82.73 - - 3113.97 - - - - - - - - - 15.93 -
742.53 104.67 -9.65 146 747.26 roll -1.37 - - 1989.06 - 2.43 0.065 1207.38 -428.7 -82.73 - - 3113.94 - - - - - - - - - 15.95 -
857.17 114.94 -8.66 169 862.71 roll -1.37 - - 1987.31 - 2.58 0.029 2354.56 444.6 -82.73 - - 3114.38 - - - - - - - - - 15.96 -
1167.28 142.82 -9.25 231 1172.80 roll -1.37 - - 1988.69 - 2.58 0.087 3429.81 416.8 -82.73 - - 3114.66 - - - - - - - - - 15.98 -
1317.33 159.40 -11.52 261 1322.86 roll -1.37 - - 1988.88 - 2.53 0.022 2246.75 -467.6 -82.73 - - 3115.72 - - - - - - - - - 16.01 -
1627.44 188.48 -9.03 323 1633.01 roll -1.37 - - 1988.44 - 2.84 0.083 3427.81 415.9 -82.73 - - 3115.56 - - - - - - - - - 16.01 -
1687.45 194.53 -10.34 335 1692.98 roll -1.37 - - 1988.75 - 2.53 0.022 2247.00 -466.7 -82.73 - - 3116.59 - - - - - - - - - 16.03 -
1997.75 223.84 -9.79 397 2003.21 roll -1.37 - - 1988.94 - 2.85 0.084 3427.19 414.1 -82.73 - - 3114.84 - - - - - - - - - 16.03 -
2032.57 227.58 -10.66 404 2038.10 roll -1.37 - - 1988.69 - 2.52 0.022 2247.81 -468.0 -82.73 - - 3115.53 - - - - - - - - - 16.05 -
2342.66 256.81 -9.09 466 2343.99 no move -1.37 - - 1988.50 - - - 2246.00 - -82.73 - - 3113.84 - - - - - - - - - - -
2647.71 286.00 -9.90 527 2649.04 no move -1.37 - - 1988.56 - - - 2246.31 - -82.73 - - 3113.41 - - - - - - - - - - -
2951.28 316.15 -10.21 570 2955.94 roll -1.37 - - 1988.81 - 2.85 0.086 3429.69 415.2 -82.73 - - 3113.25 - - - - - - - - - 16.06 -
3098.83 332.32 -10.90 589 3103.45 roll -1.37 - - 1986.62 - 2.53 0.022 2249.06 -466.7 -82.73 - - 3113.81 - - - - - - - - - 16.08 -
3410.05 362.45 -9.87 618 3414.65 roll -1.37 - - 1988.50 - 2.42 0.069 1208.69 -429.9 -82.73 - - 3111.03 - - - - - - - - - 16.09 -
3478.71 369.15 -9.76 627 3483.33 roll -1.37 - - 1988.50 - 2.57 0.030 2354.75 445.9 -82.73 - - 3111.19 - - - - - - - - - 16.08 -
3790.12 396.92 -8.98 656 3795.04 roll -1.37 - - 1987.88 - 2.58 0.092 3427.12 415.6 -82.73 - - 3111.22 - - - - - - - - - 16.06 -
3939.01 412.40 -10.74 676 3953.81 roll -1.37 - - 1988.81 - 2.53 0.023 2249.12 -465.6 -82.73 - - 3111.50 - - - - - - - - - 16.10 -
4255.61 441.61 -9.20 705 4266.68 no move -1.37 - - 1988.88 - - - 2249.06 - -82.73 - - 3111.00 - - - - - - - - - - -
4568.70 471.41 -9.36 734 4579.78 no move -1.37 - - 1988.44 - - - 2249.31 - -82.73 - - 3110.78 - - - - - - - - - - -
4885.63 502.24 -10.02 763 4886.96 no move -1.37 - - 1988.50 - - - 2249.19 - -82.73 - - 3109.75 - - - - - - - - - - -
5200.24 531.74 -8.84 784 5204.91 roll -1.37 - - 1988.69 - 2.85 0.088 3425.12 412.6 -82.73 - - 3108.38 - - - - - - - - - 16.08 -
5343.24 545.27 -9.61 805 5348.60 roll -1.37 - - 1988.50 - 2.51 0.023 2252.25 -467.3 -82.73 - - 3108.94 - - - - - - - - - 16.11 -
5662.48 571.64 -8.23 827 5667.15 roll -1.37 - - 1988.50 - 2.84 0.088 3426.94 413.6 -82.73 - - 3109.00 - - - - - - - - - 16.08 -
5726.78 577.18 -9.22 837 5741.70 roll -1.37 - - 1988.38 - 2.53 0.023 2250.25 -465.1 -82.73 - - 3109.03 - - - - - - - - - 16.11 -
6056.18 606.33 -8.30 859 6060.84 roll -1.37 - - 1988.56 - 2.85 0.088 3428.38 413.4 -82.73 - - 3109.56 - - - - - - - - - 16.09 -
6141.20 613.80 -9.38 872 6156.13 roll -1.37 - - 1988.81 - 2.52 0.023 2250.44 -467.4 -82.73 - - 3107.03 - - - - - - - - - 16.10 -
6470.79 642.81 -8.77 894 6472.12 no move -1.37 - - 1988.25 - - - 2250.19 - -82.73 - - 3106.22 - - - - - - - - - - -
6785.76 669.99 -8.72 915 6790.42 roll -1.37 - - 1987.75 - 2.86 0.089 3426.94 411.5 -82.73 - - 3107.50 - - - - - - - - - 16.08 -
6866.11 677.75 -9.74 927 6871.32 roll -1.37 - - 1988.56 - 2.52 0.023 2250.12 -467.0 -82.73 - - 3106.25 - - - - - - - - - 16.10 -
7185.19 704.71 -8.26 949 7186.51 no move -1.37 - - 1988.12 - - - 2249.38 - -82.73 - - 3104.75 - - - - - - - - - - -
7500.20 729.93 -7.91 970 7504.87 roll -1.37 - - 1988.62 - 2.87 0.090 3427.88 410.6 -82.73 - - 3104.66 - - - - - - - - - 16.08 -
7585.23 737.17 -9.07 983 7600.15 roll -1.37 - - 1988.56 - 2.53 0.023 2251.25 -465.1 -82.73 - - 3105.91 - - - - - - - - - 16.11 -
7914.64 764.01 -7.74 1005 7919.24 roll -1.37 - - 1988.50 - 2.44 0.072 1208.56 -427.3 -82.73 - - 3104.03 - - - - - - - - - 16.09 -
7958.19 766.99 -7.91 1012 7973.11 roll -1.37 - - 1988.56 - 2.57 0.031 2353.38 445.5 -82.73 - - 3104.31 - - - - - - - - - 16.10 -
8287.61 792.33 -7.63 1034 8292.24 roll -1.37 - - 1987.38 - 2.69 0.066 1207.44 -426.0 -82.73 - - 3106.28 - - - - - - - - - 16.10 -
8346.90 796.77 -7.62 1043 8352.43 roll -1.37 - - 1988.31 - 2.58 0.031 2353.38 444.2 -82.73 - - 3104.28 - - - - - - - - - 16.10 -
8666.48 820.36 -7.56 1065 8670.63 roll -1.37 - - 1987.62 - 2.68 0.066 1208.12 -427.3 -82.73 - - 3104.94 - - - - - - - - - 16.10 -
8746.61 826.69 -7.98 1077 8752.02 roll -1.37 - - 1987.75 - 2.57 0.032 2352.12 445.1 -82.73 - - 3103.25 - - - - - - - - - 16.10 -
9065.89 850.46 -7.16 1099 9070.53 roll -1.37 - - 1986.38 - 2.61 0.095 3425.75 411.4 -82.73 - - 3104.16 - - - - - - - - - 16.06 -
9123.82 855.15 -7.85 1107 9128.45 roll -1.37 - - 1988.62 - 2.52 0.024 2249.38 -466.8 -82.73 - - 3104.56 - - - - - - - - - 16.08 -
9440.30 878.64 -7.41 1129 9444.90 roll -1.37 - - 1988.44 - 2.43 0.072 1208.56 -428.3 -82.73 - - 3103.78 - - - - - - - - - 16.08 -
9504.91 883.12 -7.66 1139 9519.83 roll -1.37 - - 1988.50 - 2.57 0.032 2351.88 444.9 -82.73 - - 3103.44 - - - - - - - - - 16.10 -
9834.32 907.27 -7.19 1161 9835.65 no move -1.37 - - 1988.75 - - - 2351.56 - -82.73 - - 3101.12 - - - - - - - - - - -
10149.33 929.12 -6.64 1182 10150.66 no move -1.37 - - 1988.50 - - - 2352.06 - -82.73 - - 3101.22 - - - - - - - - - - -
10464.36 949.96 -6.56 1203 10468.99 roll -1.37 - - 1988.44 - 2.69 0.067 1208.50 -425.1 -82.73 - - 3101.38 - - - - - - - - - 16.08 -
10522.50 953.79 -6.55 1211 10527.12 roll -1.37 - - 1988.06 - 2.57 0.032 2354.00 445.7 -82.73 - - 3100.81 - - - - - - - - - 16.09 -
10839.00 973.54 -6.21 1233 10840.33 no move -1.37 - - 1988.75 - - - 2354.12 - -82.73 - - 3100.47 - - - - - - - - - - -
11094 end dive: TARGET_DEPTH_EXCEEDED
11094 begin apogee
11095.82 990.76 -7.23 1250 11171.31 -0.28 1.78 0.150 2253.06 148.5 0.20 0.143 2283.50 -353.1 - 60.68 2.424 2774.41 -5.4 0.365 - - - - - - 16.00 15.66 11.95
11173 end apogee: CONTROL_FINISHED_OK
11173 begin climb
11173.26 992.62 - 1255 11247.62 1.37 2.63 0.098 2657.31 153.7 2.72 0.099 3346.12 390.7 82.73 65.71 2.423 2435.06 -5.2 0.351 - - - - - - 15.70 15.32 12.76
11290.50 986.92 5.73 1272 11334.31 done 1.45 - - 2657.31 - 2.63 0.025 2187.94 -440.4 122.69 34.08 2.313 2273.66 -4.7 0.336 - - - - - - - 15.53 12.66
11647.74 954.57 9.64 1299 11652.35 roll 1.45 - - 2655.12 - 2.57 0.080 1131.38 -411.1 122.69 - - 2268.19 - - - - - - - - - 15.73 -
11707.02 948.72 10.01 1308 11712.57 done 1.45 - - 2656.56 - 2.63 0.032 2272.81 434.0 122.69 - - 2266.75 - - - - - - - - - 15.78 -
12026.45 918.70 9.21 1330 12027.78 VBD 1.45 - - 2657.00 - - - 2273.38 - 122.69 - - 2264.44 - - - - - - - - - - -
12341.65 889.03 9.54 1351 12342.98 VBD 1.45 - - 2656.81 - - - 2272.94 - 122.69 - - 2263.78 - - - - - - - - - - -
12656.69 859.04 9.51 1372 12661.40 done 1.45 - - 2657.44 - 2.75 0.077 1129.88 -415.7 122.69 - - 2263.53 - - - - - - - - - 15.96 -
12762.51 849.16 9.92 1388 12777.38 done 1.45 - - 2656.75 - 2.59 0.032 2270.12 440.2 122.69 - - 2263.78 - - - - - - - - - 15.97 -
13091.86 816.42 10.17 1410 13096.51 done 1.45 - - 2657.69 - 2.72 0.076 1129.88 -419.2 122.69 - - 2264.62 - - - - - - - - - 15.99 -
13191.59 806.25 10.20 1424 13196.22 done 1.45 - - 2656.88 - 2.59 0.032 2273.62 441.6 122.69 - - 2262.03 - - - - - - - - - 16.00 -
13508.07 776.64 9.26 1446 13509.40 VBD 1.45 - - 2657.00 - - - 2274.25 - 122.69 - - 2261.75 - - - - - - - - - - -
13823.09 749.46 8.35 1467 13824.43 VBD 1.45 - - 2657.31 - - - 2273.81 - 122.69 - - 2262.91 - - - - - - - - - - -
14138.29 723.38 8.23 1488 14139.62 VBD 1.45 - - 2656.88 - - - 2274.00 - 122.69 - - 2261.75 - - - - - - - - - - -
14453.11 697.75 8.21 1509 14454.45 VBD 1.45 - - 2657.12 - - - 2274.06 - 122.69 - - 2261.84 - - - - - - - - - - -
14768.12 671.20 8.52 1530 14769.46 VBD 1.45 - - 2656.69 - - - 2273.88 - 122.69 - - 2261.16 - - - - - - - - - - -
15083.15 644.50 8.13 1551 15087.80 done 1.45 - - 2657.50 - 2.73 0.077 1130.12 -419.0 122.69 - - 2260.75 - - - - - - - - - 16.05 -
15183.92 636.03 8.53 1566 15189.45 done 1.45 - - 2656.81 - 2.57 0.032 2270.88 443.9 122.69 - - 2262.19 - - - - - - - - - 16.06 -
15503.34 611.19 7.37 1588 15504.67 VBD 1.47 - - 2656.75 - - - 2270.94 - 122.69 - - 2261.16 - - - - - - - - - - -
15818.36 587.33 7.31 1609 15823.27 1.49 0.14 0.101 2696.44 283.5 2.71 0.076 1129.81 -421.1 122.69 - - 2261.66 - - - - - - - - 16.03 15.99 -
16001.65 570.57 9.39 1635 16006.27 done 1.49 - - 2696.81 - 2.56 0.032 2271.12 445.8 122.69 - - 2261.97 - - - - - - - - - 16.06 -
16318.12 541.36 9.25 1657 16322.76 done 1.49 - - 2697.00 - 2.62 0.095 3345.81 410.2 122.69 - - 2261.94 - - - - - - - - - 16.03 -
16356.67 537.66 9.63 1663 16362.20 done 1.49 - - 2697.56 - 2.55 0.025 2186.75 -454.5 122.69 - - 2262.06 - - - - - - - - - 16.07 -
16676.25 509.26 8.45 1685 16677.58 VBD 1.49 - - 2697.38 - - - 2186.62 - 122.69 - - 2260.38 - - - - - - - - - - -
16978.88 484.15 8.52 1710 16989.96 VBD 1.49 - - 2697.94 - - - 2186.88 - 122.69 - - 2261.84 - - - - - - - - - - -
17291.49 457.10 8.80 1739 17302.56 VBD 1.49 - - 2697.88 - - - 2185.94 - 122.69 - - 2261.62 - - - - - - - - - - -
17604.33 431.53 7.69 1768 17609.01 done 1.51 - - 2697.94 - 2.82 0.090 3347.06 411.7 122.69 - - 2261.38 - - - - - - - - - 16.05 -
17658.61 427.14 8.10 1776 17673.53 done 1.51 - - 2698.44 - 2.54 0.025 2186.62 -456.9 122.69 - - 2261.25 - - - - - - - - - 16.06 -
17974.69 404.48 7.34 1805 17979.31 done 1.53 - - 2697.88 - 2.51 0.081 1129.94 -421.0 122.69 - - 2261.47 - - - - - - - - - 16.06 -
18076.17 396.71 7.75 1819 18091.26 done 1.54 - - 2698.06 - 2.57 0.031 2273.50 445.0 122.69 - - 2263.56 - - - - - - - - - 16.07 -
18393.05 373.16 7.66 1848 18397.70 done 1.56 - - 2697.62 - 2.72 0.075 1130.00 -420.4 122.69 - - 2260.72 - - - - - - - - - 16.06 -
18494.52 365.19 7.99 1862 18509.43 done 1.56 - - 2697.50 - 2.57 0.031 2273.69 445.0 122.69 - - 2262.25 - - - - - - - - - 16.07 -
18810.59 342.15 7.21 1891 18815.23 done 1.59 - - 2697.88 - 2.61 0.093 3348.00 411.6 122.69 - - 2260.72 - - - - - - - - - 16.05 -
18879.27 336.68 7.85 1900 18883.12 done 1.60 - - 2697.94 - 2.54 0.025 2192.19 -455.0 122.69 - - 2262.88 - - - - - - - - - 16.06 -
19190.82 313.05 7.69 1929 19195.41 done 1.61 - - 2696.50 - 2.50 0.080 1130.00 -424.9 122.69 - - 2260.94 - - - - - - - - - 16.05 -
19245.08 308.62 8.16 1937 19260.00 done 1.61 - - 2697.00 - 2.57 0.031 2274.25 445.2 122.69 - - 2262.62 - - - - - - - - - 16.07 -
19565.19 284.79 7.29 1987 19570.75 done 1.64 - - 2698.38 - 2.71 0.075 1130.12 -422.2 122.69 - - 2262.50 - - - - - - - - - 16.06 -
19645.21 278.75 7.66 2003 19650.73 done 1.65 - - 2697.00 - 2.57 0.031 2272.31 444.4 122.69 - - 2262.50 - - - - - - - - - 16.06 -
19955.44 257.09 6.91 2065 19960.91 1.68 0.19 0.082 2745.06 252.9 2.61 0.093 3347.12 411.8 122.69 - - 2263.41 - - - - - - - - 16.03 15.98 -
20030.33 250.76 8.75 2080 20035.87 done 1.68 - - 2744.75 - 2.54 0.025 2184.50 -457.7 122.69 - - 2263.91 - - - - - - - - - 16.05 -
20340.45 226.31 7.54 2142 20346.01 done 1.70 - - 2744.62 - 2.84 0.087 3348.25 409.8 122.69 - - 2262.22 - - - - - - - - - 16.05 -
20410.45 220.68 8.12 2156 20415.99 done 1.70 - - 2744.12 - 2.55 0.025 2184.25 -456.5 122.69 - - 2262.91 - - - - - - - - - 16.05 -
20720.56 198.68 7.24 2218 20726.06 done 1.73 - - 2745.19 - 2.49 0.080 1130.38 -423.2 122.69 - - 2263.97 - - - - - - - - - 16.04 -
20795.59 192.87 7.82 2233 20801.10 done 1.74 - - 2744.88 - 2.58 0.030 2274.50 443.5 122.69 - - 2262.59 - - - - - - - - - 16.06 -
21105.66 170.87 7.01 2295 21111.39 done 1.77 - - 2744.50 - 2.72 0.074 1130.00 -420.8 122.69 - - 2263.25 - - - - - - - - - 16.07 -
21235.80 161.14 7.22 2321 21241.20 done 1.79 - - 2745.12 - 2.57 0.030 2275.88 445.9 122.69 - - 2262.81 - - - - - - - - - 16.05 -
21545.73 141.12 6.39 2383 21573.11 done 1.85 - - 2744.81 - 2.73 0.075 1130.19 -419.7 153.09 22.30 1.284 2152.34 -5.0 0.090 - - - - - - - 15.99 11.94
21650.91 133.36 7.69 2404 21656.33 roll back 1.87 0.16 0.092 2788.44 272.7 2.58 0.030 2276.38 444.3 153.09 - - 2148.25 - - - - - - - - 15.95 16.02 -
21960.79 110.54 7.00 2466 21962.12 no move 1.90 - - 2788.19 - - - 2276.06 - 153.09 - - 2146.09 - - - - - - - - - - -
22265.83 90.38 6.38 2527 22291.31 VBD 1.96 - - 2788.81 - - - 2276.25 - 183.54 23.89 1.233 2026.88 -5.0 0.061 - - - - - - - - 12.35
22475.85 77.66 6.41 2569 22504.42 done 2.02 - - 2789.31 - 2.62 0.092 3347.00 408.7 213.60 23.92 1.205 1905.59 -5.1 0.054 - - - - - - - 15.86 12.54
22642.22 68.71 5.32 2602 22683.30 2.11 0.26 0.071 2848.44 227.4 2.56 0.023 2180.25 -455.8 259.69 35.38 1.214 1717.66 -5.3 0.050 - - - - - - 15.87 15.93 12.59
22866.69 52.73 7.75 2647 22868.02 VBD 2.13 - - 2847.75 - - - 2180.31 - 259.69 - - 1707.72 - - - - - - - - - - -
23051.69 37.37 8.40 2684 23057.22 done 2.13 - - 2847.19 - 2.52 0.078 1130.00 -416.8 259.69 - - 1706.94 - - - - - - - - - 15.89 -
23286.74 20.77 4.61 2731 23333.43 done 2.24 - - 2849.00 - 2.60 0.029 2278.50 441.7 316.08 42.19 1.164 1486.19 -5.2 0.016 - - - - - - - 15.94 12.35
23516.77 13.16 2.93 2777 23584.29 2.40 0.32 0.067 2915.12 206.6 2.79 0.073 1131.56 -411.1 397.07 60.67 1.143 1156.25 -5.4 0.010 - - - - - - 15.84 15.66 12.50
23636.77 8.56 4.99 2801 23680.43 done 2.50 - - 2916.19 - 2.63 0.028 2278.69 436.2 447.98 38.67 1.096 948.72 -5.4 0.007 - - - - - - - 15.75 12.53
23718 end climb: SURFACE_DEPTH_REACHED
23718 begin surface coast
23743 end surface coast: CONTROL_FINISHED_OK
23743 begin surface
SM 0.68 - - - - 179.6 - - 943.0 - 16.88 0.046 934.6 55.4 - 0.12 0.139 951.5 7907.2 -3.954 - - 30.00 15.70 15.70 -