NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 416 * Raw log
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• Previous call tries 1 • 131.94 of 550.00 AH used of 24V (76.01% remains)
• Surface angle -64.4 deg, depth 0.66 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• No surface pump (final VBD was 997.1, SM_CC=425)
• GPS1 time: 25 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.07 - - - 66.94 VBD -1.37 - - 179.44 - - - 2247.94 - -82.73 60.72 0.005 2382.88 - - - - - - - - - - 15.53
67.68 3.01 -4.83 11 106.64 -1.37 14.08 0.255 1988.88 128.5 2.92 0.086 3427.62 404.0 -82.73 15.70 0.006 3109.09 46.3 -3.849 - - - - - - 15.67 15.48 15.58
334.10 59.98 -15.02 64 339.31 roll -1.37 - - 1988.94 - 2.55 0.021 2248.06 -462.6 -82.73 - - 3112.28 - - - - - - - - - 15.88 -
524.23 80.90 -10.57 102 529.62 roll -1.37 - - 1988.75 - 2.90 0.080 3427.94 406.9 -82.73 - - 3111.31 - - - - - - - - - 15.90 -
713.91 101.05 -9.84 140 719.45 roll -1.37 - - 1987.06 - 2.54 0.021 2243.19 -466.4 -82.73 - - 3112.41 - - - - - - - - - 15.93 -
1024.03 129.19 -8.48 202 1029.60 roll -1.37 - - 1988.94 - 2.90 0.080 3428.12 408.6 -82.73 - - 3113.56 - - - - - - - - - 15.96 -
1109.04 137.87 -10.72 219 1114.58 roll -1.37 - - 1989.12 - 2.54 0.021 2244.81 -465.9 -82.73 - - 3112.59 - - - - - - - - - 15.98 -
1419.15 165.67 -8.66 281 1420.48 no move -1.37 - - 1988.25 - - - 2243.50 - -82.73 - - 3111.56 - - - - - - - - - - -
1724.25 192.39 -8.82 342 1729.36 roll -1.37 - - 1988.56 - 2.44 0.067 1207.25 -424.7 -82.73 - - 3113.25 - - - - - - - - - 16.02 -
1799.25 199.48 -9.50 357 1804.79 roll -1.37 - - 1988.69 - 2.59 0.029 2354.56 443.0 -82.73 - - 3114.03 - - - - - - - - - 16.03 -
2109.30 227.33 -9.18 419 2110.63 no move -1.37 - - 1989.00 - - - 2354.56 - -82.73 - - 3112.41 - - - - - - - - - - -
2414.41 257.12 -9.86 480 2415.74 no move -1.37 - - 1988.06 - - - 2354.44 - -82.73 - - 3111.09 - - - - - - - - - - -
2719.40 287.33 -10.02 541 2724.96 roll -1.37 - - 1988.56 - 2.70 0.063 1208.50 -424.4 -82.73 - - 3112.81 - - - - - - - - - 16.05 -
2799.41 295.70 -10.43 557 2804.94 roll -1.37 - - 1987.88 - 2.59 0.030 2353.00 441.9 -82.73 - - 3111.91 - - - - - - - - - 16.06 -
3110.75 324.93 -9.31 590 3121.82 no move -1.37 - - 1989.06 - - - 2353.25 - -82.73 - - 3111.16 - - - - - - - - - - -
3423.51 352.67 -8.46 619 3434.58 no move -1.37 - - 1988.56 - - - 2353.69 - -82.73 - - 3110.38 - - - - - - - - - - -
3736.36 379.64 -8.63 648 3747.43 no move -1.37 - - 1988.94 - - - 2353.12 - -82.73 - - 3110.06 - - - - - - - - - - -
4049.00 406.71 -8.65 677 4060.07 no move -1.37 - - 1988.88 - - - 2353.31 - -82.73 - - 3109.56 - - - - - - - - - - -
4361.64 433.70 -8.52 706 4366.28 roll -1.37 - - 1986.62 - 2.71 0.064 1208.12 -422.6 -82.73 - - 3109.00 - - - - - - - - - 16.07 -
4463.11 442.75 -9.04 720 4478.04 roll -1.37 - - 1988.50 - 2.59 0.030 2353.31 442.2 -82.73 - - 3107.50 - - - - - - - - - 16.09 -
4779.23 469.62 -8.43 749 4783.86 roll -1.37 - - 1988.56 - 2.63 0.092 3427.06 408.3 -82.73 - - 3107.06 - - - - - - - - - 16.05 -
4817.77 473.12 -9.06 755 4832.87 roll -1.37 - - 1987.31 - 2.54 0.022 2245.88 -465.0 -82.73 - - 3108.28 - - - - - - - - - 16.08 -
5134.36 499.74 -8.27 784 5145.43 no move -1.37 - - 1988.62 - - - 2246.62 - -82.73 - - 3107.06 - - - - - - - - - - -
5460.99 527.04 -8.45 806 5465.65 roll -1.37 - - 1988.62 - 2.89 0.088 3428.06 408.8 -82.73 - - 3104.84 - - - - - - - - - 16.07 -
5582.48 538.98 -10.03 824 5588.01 roll -1.37 - - 1988.69 - 2.54 0.023 2248.81 -464.3 -82.73 - - 3107.53 - - - - - - - - - 16.08 -
5901.88 567.32 -8.90 846 5906.54 roll -1.37 - - 1988.44 - 2.88 0.087 3427.19 409.2 -82.73 - - 3107.44 - - - - - - - - - 16.07 -
5940.43 570.95 -9.34 852 5945.97 roll -1.37 - - 1988.94 - 2.54 0.023 2249.25 -463.8 -82.73 - - 3106.25 - - - - - - - - - 16.08 -
6259.83 599.14 -8.76 874 6261.16 no move -1.37 - - 1988.69 - - - 2249.12 - -82.73 - - 3103.97 - - - - - - - - - - -
6575.02 626.59 -8.49 895 6576.35 no move -1.37 - - 1988.12 - - - 2248.88 - -82.73 - - 3103.62 - - - - - - - - - - -
6889.86 652.57 -8.23 916 6891.19 no move -1.37 - - 1988.50 - - - 2248.62 - -82.73 - - 3102.31 - - - - - - - - - - -
7204.87 676.58 -7.21 937 7209.53 roll -1.37 - - 1988.69 - 2.89 0.088 3427.56 407.9 -82.73 - - 3102.66 - - - - - - - - - 16.07 -
7269.16 681.20 -7.75 947 7284.07 roll -1.37 - - 1988.81 - 2.53 0.023 2249.69 -465.6 -82.73 - - 3103.16 - - - - - - - - - 16.08 -
7598.57 705.41 -7.18 969 7603.41 roll -1.37 - - 1988.62 - 2.88 0.089 3427.62 409.0 -82.73 - - 3101.91 - - - - - - - - - 16.07 -
7656.62 710.23 -8.01 977 7661.24 roll -1.37 - - 1988.56 - 2.53 0.023 2251.25 -465.0 -82.73 - - 3100.91 - - - - - - - - - 16.07 -
7973.45 733.31 -7.37 999 7974.78 no move -1.37 - - 1988.69 - - - 2249.44 - -82.73 - - 3100.56 - - - - - - - - - - -
8288.15 755.65 -7.17 1020 8292.75 roll -1.37 - - 1988.44 - 2.47 0.071 1207.12 -422.0 -82.73 - - 3100.28 - - - - - - - - - 16.07 -
8347.43 760.28 -7.80 1029 8352.97 roll -1.37 - - 1988.75 - 2.60 0.031 2353.19 440.8 -82.73 - - 3102.12 - - - - - - - - - 16.09 -
8666.83 785.00 -7.53 1051 8668.16 no move -1.37 - - 1988.25 - - - 2352.62 - -82.73 - - 3100.16 - - - - - - - - - - -
8981.85 809.14 -7.62 1072 8986.50 roll -1.37 - - 1988.50 - 2.72 0.065 1209.75 -420.2 -82.73 - - 3099.81 - - - - - - - - - 16.07 -
9061.88 815.50 -8.04 1084 9067.40 roll -1.37 - - 1989.31 - 2.59 0.031 2351.44 440.8 -82.73 - - 3100.47 - - - - - - - - - 16.09 -
9381.26 839.97 -7.51 1106 9382.59 no move -1.37 - - 1988.62 - - - 2351.81 - -82.73 - - 3099.44 - - - - - - - - - - -
9696.29 863.67 -7.55 1127 9697.62 no move -1.37 - - 1988.06 - - - 2352.12 - -82.73 - - 3099.22 - - - - - - - - - - -
10011.29 886.73 -7.26 1148 10012.62 no move -1.37 - - 1988.56 - - - 2351.69 - -82.73 - - 3099.06 - - - - - - - - - - -
10326.32 909.37 -7.08 1169 10327.65 no move -1.37 - - 1988.50 - - - 2351.81 - -82.73 - - 3099.09 - - - - - - - - - - -
10641.33 930.51 -6.61 1190 10642.66 no move -1.37 - - 1988.62 - - - 2351.69 - -82.73 - - 3098.62 - - - - - - - - - - -
10956.49 949.98 -6.04 1211 10957.82 no move -1.37 - - 1988.25 - - - 2351.38 - -82.73 - - 3097.78 - - - - - - - - - - -
11271.36 970.79 -6.73 1232 11276.19 roll -1.37 - - 1988.38 - 2.73 0.066 1208.12 -418.8 -82.73 - - 3098.81 - - - - - - - - - 16.07 -
11350.13 976.32 -6.99 1243 11354.74 roll -1.37 - - 1987.06 - 2.60 0.031 2351.81 439.9 -82.73 - - 3097.69 - - - - - - - - - 16.07 -
11546 end dive: TARGET_DEPTH_EXCEEDED
11546 begin apogee
11548.42 990.11 -7.06 1257 11623.68 -0.28 1.82 0.148 2254.69 147.0 0.22 0.133 2284.06 -308.0 - 60.61 2.416 2774.34 -5.3 0.363 - - - - - - 15.97 15.66 11.78
11624 end apogee: CONTROL_FINISHED_OK
11625 begin climb
11625.54 991.84 - 1262 11700.52 1.37 2.61 0.095 2654.50 153.2 2.91 0.077 1132.62 -395.7 82.73 66.46 2.391 2439.06 -5.0 0.347 - - - - - - 15.69 15.33 12.69
11765.42 984.66 5.87 1283 11806.98 done 1.44 - - 2655.62 - 2.68 0.030 2271.44 424.9 120.75 32.63 2.295 2281.66 -4.8 0.343 - - - - - - - 15.57 12.44
12120.44 955.78 8.19 1309 12121.77 no move 1.44 - - 2655.31 - - - 2271.25 - 120.75 - - 2274.91 - - - - - - - - - - -
12435.64 929.48 8.27 1330 12440.34 done 1.44 - - 2654.69 - 2.79 0.075 1131.12 -408.6 120.75 - - 2275.00 - - - - - - - - - 15.84 -
12493.56 924.30 8.76 1338 12498.19 done 1.44 - - 2654.31 - 2.62 0.031 2271.56 435.3 120.75 - - 2274.78 - - - - - - - - - 15.86 -
12810.66 898.72 8.16 1360 12815.29 done 1.44 - - 2655.31 - 2.68 0.095 3345.94 400.9 120.75 - - 2274.31 - - - - - - - - - 15.89 -
12849.20 895.36 8.55 1366 12854.74 done 1.44 - - 2655.62 - 2.58 0.025 2189.25 -448.3 120.75 - - 2273.69 - - - - - - - - - 15.92 -
13168.60 868.35 8.62 1388 13169.93 VBD 1.44 - - 2654.94 - - - 2188.81 - 120.75 - - 2272.16 - - - - - - - - - - -
13483.61 841.50 8.45 1409 13484.95 VBD 1.44 - - 2655.38 - - - 2188.50 - 120.75 - - 2271.31 - - - - - - - - - - -
13798.63 814.72 8.29 1430 13803.29 done 1.44 - - 2654.94 - 2.87 0.091 3344.31 402.7 120.75 - - 2270.66 - - - - - - - - - 15.97 -
13857.91 809.44 8.91 1439 13863.45 done 1.44 - - 2655.12 - 2.56 0.025 2188.56 -451.5 120.75 - - 2272.75 - - - - - - - - - 16.00 -
14177.32 783.22 8.21 1461 14178.65 VBD 1.44 - - 2654.38 - - - 2187.69 - 120.75 - - 2270.62 - - - - - - - - - - -
14492.33 757.44 8.34 1482 14493.66 VBD 1.44 - - 2655.31 - - - 2187.75 - 120.75 - - 2270.56 - - - - - - - - - - -
14807.51 730.41 8.81 1503 14808.85 VBD 1.44 - - 2654.88 - - - 2188.19 - 120.75 - - 2270.03 - - - - - - - - - - -
15122.36 702.97 8.44 1524 15126.97 done 1.44 - - 2655.12 - 2.55 0.081 1129.94 -415.0 120.75 - - 2272.47 - - - - - - - - - 16.02 -
15186.83 697.83 8.74 1534 15201.62 done 1.44 - - 2654.94 - 2.59 0.031 2269.94 440.2 120.75 - - 2271.50 - - - - - - - - - 16.04 -
15516.43 670.66 7.88 1556 15517.77 VBD 1.45 - - 2654.38 - - - 2270.19 - 120.75 - - 2270.56 - - - - - - - - - - -
15831.12 645.90 7.84 1577 15835.76 done 1.47 - - 2654.88 - 2.76 0.077 1130.06 -413.1 120.75 - - 2270.91 - - - - - - - - - 16.03 -
15889.04 641.07 8.22 1585 15893.66 done 1.47 - - 2654.38 - 2.59 0.031 2273.38 441.4 120.75 - - 2271.50 - - - - - - - - - 16.04 -
16205.53 617.31 7.39 1607 16206.97 1.49 0.15 0.095 2697.19 285.4 - - 2273.31 - 120.75 - - 2271.88 - - - - - - - - 16.01 - -
16520.54 589.55 9.00 1628 16525.18 done 1.49 - - 2697.00 - 2.76 0.076 1131.19 -413.8 120.75 - - 2269.78 - - - - - - - - - 16.04 -
16600.56 581.87 9.68 1640 16606.09 done 1.49 - - 2697.06 - 2.60 0.031 2271.12 438.4 120.75 - - 2272.34 - - - - - - - - - 16.06 -
16919.97 553.83 8.46 1662 16921.30 VBD 1.49 - - 2697.31 - - - 2271.62 - 120.75 - - 2270.09 - - - - - - - - - - -
17235.19 527.17 8.38 1683 17239.81 done 1.49 - - 2696.19 - 2.65 0.094 3342.06 403.9 120.75 - - 2271.34 - - - - - - - - - 16.03 -
17299.45 521.76 9.05 1693 17314.72 done 1.49 - - 2697.50 - 2.55 0.024 2188.44 -452.4 120.75 - - 2271.31 - - - - - - - - - 16.05 -
17618.25 494.00 8.30 1716 17629.33 VBD 1.49 - - 2698.19 - - - 2187.94 - 120.75 - - 2271.06 - - - - - - - - - - -
17931.09 468.51 8.09 1745 17942.16 VBD 1.49 - - 2697.75 - - - 2187.69 - 120.75 - - 2271.41 - - - - - - - - - - -
18244.15 444.30 7.65 1774 18255.23 VBD 1.50 - - 2697.62 - - - 2187.12 - 120.75 - - 2271.16 - - - - - - - - - - -
18556.76 420.51 7.66 1803 18567.83 VBD 1.52 - - 2698.31 - - - 2187.19 - 120.75 - - 2271.44 - - - - - - - - - - -
18869.36 397.36 7.23 1832 18874.25 done 1.55 - - 2698.19 - 2.86 0.088 3346.81 405.5 120.75 - - 2271.06 - - - - - - - - - 16.04 -
18922.29 393.13 7.78 1839 18926.90 done 1.56 - - 2698.00 - 2.56 0.025 2187.12 -453.0 120.75 - - 2270.31 - - - - - - - - - 16.05 -
19233.85 370.23 7.16 1868 19238.47 done 1.59 - - 2697.88 - 2.55 0.080 1130.06 -414.5 120.75 - - 2270.09 - - - - - - - - - 16.04 -
19272.40 367.37 7.44 1874 19287.31 done 1.61 - - 2698.25 - 2.59 0.030 2272.38 441.1 120.75 - - 2270.97 - - - - - - - - - 16.05 -
19589.07 344.10 7.56 1903 19600.14 VBD 1.62 - - 2698.00 - - - 2271.88 - 120.75 - - 2270.91 - - - - - - - - - - -
19901.67 321.19 7.12 1932 19906.32 done 1.65 - - 2698.25 - 2.76 0.075 1130.00 -413.7 120.75 - - 2269.22 - - - - - - - - - 16.05 -
20034.62 310.99 7.79 1950 20049.58 1.66 0.16 0.095 2738.94 254.3 2.60 0.030 2273.88 440.0 120.75 - - 2270.94 - - - - - - - - 15.93 16.06 -
20351.41 285.66 7.93 1997 20356.83 done 1.67 - - 2737.88 - 2.76 0.074 1130.06 -414.4 120.75 - - 2271.34 - - - - - - - - - 16.04 -
20501.64 273.34 7.86 2027 20506.78 done 1.69 - - 2739.75 - 2.59 0.031 2273.75 441.6 120.75 - - 2270.59 - - - - - - - - - 16.04 -
20811.30 251.67 6.89 2089 20816.84 done 1.72 - - 2739.62 - 2.75 0.073 1130.44 -415.7 120.75 - - 2272.69 - - - - - - - - - 16.03 -
20891.31 246.15 6.88 2105 20896.83 done 1.75 - - 2740.25 - 2.59 0.030 2273.69 441.4 120.75 - - 2270.44 - - - - - - - - - 16.04 -
21201.35 226.05 6.23 2167 21226.86 VBD 1.81 - - 2740.00 - - - 2273.50 - 153.43 24.41 1.421 2149.41 -5.0 0.131 - - - - - - - - 11.78
21531.39 199.23 8.51 2233 21536.93 roll 1.81 - - 2739.56 - 2.64 0.092 3346.56 406.5 153.43 - - 2146.97 - - - - - - - - - 15.96 -
21596.38 192.93 9.99 2246 21601.92 roll 1.81 - - 2740.12 - 2.56 0.024 2187.25 -452.9 153.43 - - 2147.50 - - - - - - - - - 15.97 -
21906.49 164.87 8.73 2308 21911.97 roll 1.81 - - 2739.69 - 2.53 0.078 1131.25 -417.4 153.43 - - 2144.94 - - - - - - - - - 15.99 -
21976.44 158.28 9.56 2322 21981.97 roll 1.81 - - 2739.69 - 2.59 0.030 2274.69 441.5 153.43 - - 2144.50 - - - - - - - - - 15.99 -
22286.49 130.86 8.44 2384 22287.82 no move 1.81 - - 2739.25 - - - 2274.62 - 153.43 - - 2143.25 - - - - - - - - - - -
22591.55 109.16 6.49 2445 22592.99 pitch 1.85 0.17 0.084 2787.31 282.7 - - 2274.44 - 153.43 - - 2143.22 - - - - - - - - 15.98 - -
22896.97 91.43 6.26 2506 22928.01 done 1.92 - - 2786.69 - 2.73 0.074 1128.94 -419.6 185.73 25.11 1.253 2018.62 -5.0 0.060 - - - - - - - 15.95 12.12
23156.62 70.84 6.60 2558 23162.16 roll 1.96 - - 2787.00 - 2.61 0.029 2277.19 439.9 185.73 - - 2014.75 - - - - - - - - - 15.97 -
23346.68 63.71 3.26 2596 23409.35 2.11 0.26 0.067 2848.19 235.3 2.78 0.073 1131.19 -412.2 261.92 56.37 1.243 1707.22 -5.5 0.046 - - - - - - 15.95 15.80 12.31
23636.76 40.93 8.20 2654 23642.30 done 2.11 - - 2849.19 - 2.62 0.029 2276.38 437.1 261.92 - - 1696.69 - - - - - - - - - 15.86 -
23826.82 31.13 5.04 2692 23868.46 done 2.21 - - 2849.06 - 2.78 0.072 1128.75 -412.8 312.03 37.15 1.165 1504.56 -5.2 0.023 - - - - - - - 15.76 12.32
23991.86 25.14 4.08 2725 24046.14 2.34 0.22 0.072 2902.50 242.9 2.62 0.028 2276.06 437.9 376.19 48.60 1.155 1241.25 -5.4 0.020 - - - - - - 15.78 15.84 12.54
24228.27 15.32 4.43 2772 24277.21 done 2.46 - - 2903.31 - 2.79 0.073 1129.81 -410.8 435.21 44.32 1.121 1001.38 -5.4 0.012 - - - - - - - 15.63 12.43
24345.00 8.09 7.28 2795 24350.54 roll 2.48 - - 2903.25 - 2.64 0.028 2276.38 434.3 435.21 - - 997.31 - - - - - - - - - 15.74 -
24409 end climb: SURFACE_DEPTH_REACHED
24409 begin surface coast
24480 end surface coast: CONTROL_FINISHED_OK
24480 begin surface
SM 0.49 - - - - 178.2 - - 993.5 - 16.67 0.040 990.0 59.4 - 0.12 0.125 997.1 8287.2 -3.320 - - 30.00 15.74 15.77 -