NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 357 * Raw log
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• Previous call tries 2 • 113.65 of 550.00 AH used of 24V (79.34% remains)
• Surface angle -64.9 deg, depth 1.56 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• No surface pump (final VBD was 1087.2, SM_CC=425)
• GPS1 time: 96 s
• GPS2 time: 5 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
4 end surface: CONTROL_FINISHED_OK
5 begin dive
6.97 - - - 51.97 VBD -1.37 - - 180.50 - - - 2243.62 - -82.73 44.22 0.005 2182.28 - - - - - - - - - - 15.60
53.09 3.24 -4.07 8 100.60 -1.37 13.86 0.253 1987.94 130.4 2.48 0.066 1208.81 -417.3 -82.73 22.92 0.006 3113.28 40.6 -3.628 - - - - - - 15.63 15.57 15.60
308.62 47.63 -14.24 59 314.17 roll -1.37 - - 1986.81 - 2.65 0.029 2351.56 431.2 -82.73 - - 3113.94 - - - - - - - - - 15.88 -
499.08 72.73 -12.46 97 504.47 roll -1.37 - - 1988.19 - 2.74 0.058 1208.69 -417.1 -82.73 - - 3113.47 - - - - - - - - - 15.91 -
534.85 76.94 -12.16 104 539.27 roll -1.37 - - 1988.06 - 2.63 0.028 2351.50 434.5 -82.73 - - 3113.31 - - - - - - - - - 15.92 -
724.21 97.77 -9.88 142 727.80 no move -1.37 - - 1988.38 - - - 2352.25 - -82.73 - - 3113.34 - - - - - - - - - - -
908.86 115.95 -9.76 163 913.95 roll -1.37 - - 1987.56 - 2.71 0.059 1208.69 -422.0 -82.73 - - 3115.25 - - - - - - - - - 15.98 -
1053.61 132.13 -11.35 192 1059.45 roll -1.37 - - 1988.00 - 2.62 0.029 2352.12 436.4 -82.73 - - 3114.16 - - - - - - - - - 15.98 -
1368.97 162.90 -8.84 224 1374.06 roll -1.37 - - 1988.38 - 2.65 0.088 3427.38 405.8 -82.73 - - 3114.16 - - - - - - - - - 15.99 -
1428.99 168.61 -9.96 236 1434.05 roll -1.37 - - 1988.31 - 2.56 0.021 2242.25 -462.9 -82.73 - - 3114.62 - - - - - - - - - 16.01 -
1739.06 197.15 -9.62 268 1743.71 roll -1.37 - - 1988.38 - 2.44 0.065 1208.44 -423.7 -82.73 - - 3114.78 - - - - - - - - - 16.02 -
1843.62 207.17 -9.44 289 1849.60 roll -1.37 - - 1988.44 - 2.60 0.029 2353.38 440.4 -82.73 - - 3115.25 - - - - - - - - - 16.03 -
2159.15 238.72 -10.13 321 2164.25 roll -1.37 - - 1987.31 - 2.71 0.061 1207.00 -423.0 -82.73 - - 3114.78 - - - - - - - - - 16.04 -
2253.90 248.24 -9.92 340 2259.78 roll -1.37 - - 1988.81 - 2.61 0.029 2353.19 439.2 -82.73 - - 3114.56 - - - - - - - - - 16.05 -
2569.25 279.37 -9.69 372 2570.57 no move -1.37 - - 1988.38 - - - 2353.25 - -82.73 - - 3112.88 - - - - - - - - - - -
2879.70 309.65 -9.77 403 2884.41 roll -1.37 - - 1987.81 - 2.71 0.062 1207.50 -422.8 -82.73 - - 3112.72 - - - - - - - - - 16.07 -
2969.34 318.84 -10.32 421 2974.40 roll -1.37 - - 1988.69 - 2.60 0.030 2353.19 440.7 -82.73 - - 3113.66 - - - - - - - - - 16.06 -
3279.37 350.11 -9.56 453 3280.70 no move -1.37 - - 1988.19 - - - 2353.31 - -82.73 - - 3111.38 - - - - - - - - - - -
3589.79 379.90 -9.63 484 3594.49 roll -1.37 - - 1988.44 - 2.64 0.091 3426.81 406.6 -82.73 - - 3112.25 - - - - - - - - - 16.06 -
3653.96 386.63 -10.50 497 3659.96 roll -1.37 - - 1988.44 - 2.55 0.022 2246.94 -462.7 -82.73 - - 3111.44 - - - - - - - - - 16.08 -
3969.46 416.22 -9.31 529 3974.11 roll -1.37 - - 1988.50 - 2.45 0.067 1208.50 -423.9 -82.73 - - 3111.28 - - - - - - - - - 16.08 -
4014.00 420.34 -9.74 538 4020.01 roll -1.37 - - 1988.56 - 2.61 0.030 2353.19 438.6 -82.73 - - 3111.38 - - - - - - - - - 16.08 -
4329.51 450.57 -9.33 570 4334.78 roll -1.37 - - 1988.75 - 2.72 0.063 1207.06 -421.4 -82.73 - - 3110.97 - - - - - - - - - 16.10 -
4394.17 456.56 -9.74 583 4400.06 roll -1.37 - - 1988.69 - 2.61 0.030 2353.00 439.1 -82.73 - - 3109.81 - - - - - - - - - 16.09 -
4709.56 485.54 -8.64 615 4714.65 roll -1.37 - - 1988.62 - 2.72 0.063 1208.50 -420.8 -82.73 - - 3110.00 - - - - - - - - - 16.09 -
4779.57 491.66 -9.01 629 4784.63 roll -1.37 - - 1988.38 - 2.60 0.030 2352.00 439.8 -82.73 - - 3109.84 - - - - - - - - - 16.08 -
5089.61 519.46 -8.92 661 5090.94 no move -1.37 - - 1988.19 - - - 2352.06 - -82.73 - - 3108.16 - - - - - - - - - - -
5400.06 547.46 -8.89 692 5404.77 roll -1.37 - - 1988.25 - 2.72 0.063 1204.81 -421.8 -82.73 - - 3108.81 - - - - - - - - - 16.10 -
5469.69 553.61 -8.74 706 5474.77 roll -1.37 - - 1988.50 - 2.61 0.030 2351.75 439.4 -82.73 - - 3107.75 - - - - - - - - - 16.09 -
5779.77 580.94 -8.79 738 5781.10 no move -1.37 - - 1988.38 - - - 2351.62 - -82.73 - - 3107.12 - - - - - - - - - - -
6090.22 606.69 -8.59 769 6094.94 roll -1.37 - - 1988.25 - 2.72 0.064 1207.44 -420.7 -82.73 - - 3107.66 - - - - - - - - - 16.08 -
6194.41 615.70 -8.63 790 6200.39 roll -1.37 - - 1988.69 - 2.60 0.030 2351.50 440.0 -82.73 - - 3106.84 - - - - - - - - - 16.10 -
6509.94 642.48 -8.12 822 6515.21 roll -1.37 - - 1988.25 - 2.72 0.064 1208.12 -420.4 -82.73 - - 3107.28 - - - - - - - - - 16.10 -
6544.60 645.38 -8.23 829 6550.47 roll -1.37 - - 1987.38 - 2.60 0.030 2350.88 439.5 -82.73 - - 3106.28 - - - - - - - - - 16.10 -
6860.02 670.64 -7.71 861 6865.10 roll -1.37 - - 1988.19 - 2.71 0.064 1208.31 -421.6 -82.73 - - 3106.16 - - - - - - - - - 16.11 -
6994.59 681.87 -8.22 888 7000.59 roll -1.37 - - 1987.69 - 2.61 0.031 2351.69 438.1 -82.73 - - 3106.47 - - - - - - - - - 16.11 -
7310.12 706.11 -7.39 920 7315.21 roll -1.37 - - 1988.25 - 2.71 0.064 1208.75 -421.7 -82.73 - - 3106.12 - - - - - - - - - 16.11 -
7380.14 711.54 -7.58 934 7385.20 roll -1.37 - - 1988.56 - 2.60 0.031 2352.12 439.8 -82.73 - - 3105.06 - - - - - - - - - 16.10 -
7690.21 735.70 -7.67 966 7691.54 no move -1.37 - - 1988.19 - - - 2351.81 - -82.73 - - 3103.69 - - - - - - - - - - -
8000.66 761.43 -8.44 997 8005.37 roll -1.37 - - 1988.81 - 2.72 0.064 1208.75 -420.2 -82.73 - - 3104.12 - - - - - - - - - 16.11 -
8030.27 763.86 -8.27 1003 8035.34 roll -1.37 - - 1987.88 - 2.60 0.030 2350.12 439.0 -82.73 - - 3105.34 - - - - - - - - - 16.11 -
8340.34 790.72 -8.87 1035 8341.67 no move -1.37 - - 1988.62 - - - 2351.75 - -82.73 - - 3102.84 - - - - - - - - - - -
8650.94 817.68 -8.43 1066 8655.52 roll -1.37 - - 1988.56 - 2.72 0.065 1208.25 -420.4 -82.73 - - 3103.09 - - - - - - - - - 16.10 -
8710.37 822.87 -8.72 1078 8715.47 roll -1.37 - - 1988.75 - 2.61 0.031 2351.81 438.1 -82.73 - - 3103.03 - - - - - - - - - 16.09 -
9020.42 847.71 -7.62 1110 9025.52 roll -1.37 - - 1988.38 - 2.72 0.064 1208.56 -420.3 -82.73 - - 3102.69 - - - - - - - - - 16.09 -
9070.42 851.51 -7.93 1120 9075.50 roll -1.37 - - 1988.88 - 2.61 0.031 2351.94 438.1 -82.73 - - 3102.72 - - - - - - - - - 16.10 -
9380.47 874.78 -7.25 1152 9381.79 no move -1.37 - - 1988.25 - - - 2352.00 - -82.73 - - 3101.38 - - - - - - - - - - -
9690.88 898.17 -7.93 1183 9695.60 roll -1.37 - - 1988.31 - 2.73 0.065 1208.56 -418.8 -82.73 - - 3102.28 - - - - - - - - - 16.10 -
9880.53 913.36 -8.24 1221 9885.63 roll -1.37 - - 1987.31 - 2.62 0.031 2351.25 436.1 -82.73 - - 3103.09 - - - - - - - - - 16.10 -
10190.58 936.98 -7.80 1253 10195.68 roll -1.37 - - 1988.19 - 2.72 0.065 1208.31 -420.2 -82.73 - - 3101.75 - - - - - - - - - 16.11 -
10275.14 943.95 -8.63 1270 10281.13 roll -1.37 - - 1988.62 - 2.61 0.032 2352.81 438.5 -82.73 - - 3103.19 - - - - - - - - - 16.08 -
10591.29 968.10 -7.63 1302 10595.75 roll -1.37 - - 1988.62 - 2.68 0.095 3426.12 400.5 -82.73 - - 3101.69 - - - - - - - - - 16.07 -
10680.70 975.68 -8.42 1320 10685.76 roll -1.37 - - 1988.56 - 2.56 0.023 2247.88 -460.2 -82.73 - - 3101.84 - - - - - - - - - 16.09 -
10880 end dive: TARGET_DEPTH_EXCEEDED
10880 begin apogee
10882.53 990.20 -6.90 1341 10947.08 -0.28 1.82 0.151 2253.62 145.6 0.15 0.178 2285.12 248.3 - 60.85 2.421 2775.28 -5.4 0.363 - - - - - - 15.99 15.66 12.02
10948 end apogee: CONTROL_FINISHED_OK
10948 begin climb
10949.42 991.45 - 1347 11020.87 1.37 2.64 0.096 2656.38 152.6 - - 2288.25 - 82.73 66.18 2.388 2437.22 -5.1 0.351 - - - - - - 15.69 - 12.82
11326.42 963.79 8.22 1388 11331.34 roll 1.37 - - 2654.94 - 2.85 0.075 1131.25 -406.0 82.73 - - 2432.53 - - - - - - - - - 15.75 -
11360.79 960.88 8.32 1395 11366.79 roll 1.37 - - 2655.00 - 2.66 0.030 2272.50 429.0 82.73 - - 2430.59 - - - - - - - - - 15.78 -
11676.71 935.85 7.65 1427 11681.59 roll 1.38 - - 2655.81 - 2.72 0.094 3345.44 394.5 82.73 - - 2430.41 - - - - - - - - - 15.81 -
11731.04 931.26 8.48 1438 11736.85 done 1.38 - - 2656.31 - 2.59 0.025 2187.38 -447.1 82.73 - - 2429.56 - - - - - - - - - 15.88 -
12046.76 908.21 6.90 1470 12051.42 done 1.41 - - 2655.69 - 2.56 0.078 1130.06 -413.0 82.73 - - 2430.47 - - - - - - - - - 15.94 -
12106.40 903.86 7.18 1482 12111.46 done 1.44 - - 2656.12 - 2.62 0.031 2271.12 435.5 82.73 - - 2429.59 - - - - - - - - - 15.95 -
12416.82 882.92 6.29 1514 12447.90 1.50 0.17 0.091 2698.81 251.1 2.79 0.077 1130.00 -409.0 114.54 25.64 2.195 2308.28 -4.7 0.315 - - - - - - 15.94 15.81 12.33
12576.44 868.45 8.58 1546 12581.53 roll 1.50 - - 2700.12 - 2.63 0.032 2271.56 434.1 114.54 - - 2306.75 - - - - - - - - - 15.88 -
12886.87 839.64 9.84 1578 12888.20 no move 1.50 - - 2699.94 - - - 2271.00 - 114.54 - - 2303.03 - - - - - - - - - - -
13196.91 809.12 10.02 1609 13198.24 no move 1.50 - - 2700.25 - - - 2271.31 - 114.54 - - 2302.34 - - - - - - - - - - -
13506.95 778.07 10.26 1640 13508.28 no move 1.50 - - 2700.25 - - - 2271.12 - 114.54 - - 2301.50 - - - - - - - - - - -
13816.99 748.76 9.27 1671 13818.32 no move 1.50 - - 2700.44 - - - 2271.75 - 114.54 - - 2301.78 - - - - - - - - - - -
14127.30 720.06 8.99 1702 14131.76 roll 1.50 - - 2700.12 - 2.75 0.075 1130.38 -415.0 114.54 - - 2303.00 - - - - - - - - - 16.02 -
14171.23 715.93 9.54 1711 14177.23 roll 1.50 - - 2700.00 - 2.61 0.031 2271.38 437.2 114.54 - - 2303.50 - - - - - - - - - 16.03 -
14487.47 688.06 8.82 1743 14491.85 roll 1.50 - - 2700.56 - 2.74 0.074 1130.12 -416.5 114.54 - - 2302.47 - - - - - - - - - 16.03 -
14581.33 679.18 9.21 1762 14587.33 roll 1.50 - - 2700.31 - 2.61 0.031 2271.44 437.3 114.54 - - 2301.97 - - - - - - - - - 16.05 -
14897.24 652.33 8.49 1794 14901.95 roll 1.50 - - 2700.44 - 2.74 0.074 1129.12 -416.9 114.54 - - 2302.66 - - - - - - - - - 16.05 -
14966.87 646.04 9.10 1808 14971.96 roll 1.50 - - 2700.00 - 2.61 0.031 2271.62 437.7 114.54 - - 2301.91 - - - - - - - - - 16.05 -
15277.33 619.74 8.03 1840 15278.66 no move 1.50 - - 2700.00 - - - 2272.12 - 114.54 - - 2300.59 - - - - - - - - - - -
15587.39 595.52 8.19 1871 15592.11 roll 1.50 - - 2700.19 - 2.74 0.074 1130.25 -416.7 114.54 - - 2302.06 - - - - - - - - - 16.06 -
15711.59 584.95 8.30 1896 15717.58 roll 1.50 - - 2701.19 - 2.60 0.031 2273.25 439.6 114.54 - - 2301.41 - - - - - - - - - 16.07 -
16027.75 559.77 8.08 1928 16029.08 no move 1.50 - - 2700.62 - - - 2272.94 - 114.54 - - 2300.69 - - - - - - - - - - -
16337.57 534.57 8.01 1959 16338.90 no move 1.50 - - 2700.19 - - - 2273.12 - 114.54 - - 2300.59 - - - - - - - - - - -
16647.65 509.80 7.85 1990 16648.97 no move 1.52 - - 2700.62 - - - 2273.38 - 114.54 - - 2300.25 - - - - - - - - - - -
16957.69 485.03 8.09 2021 16962.40 roll 1.52 - - 2698.62 - 2.74 0.074 1128.94 -417.7 114.54 - - 2302.69 - - - - - - - - - 16.07 -
17067.34 475.14 9.26 2043 17072.40 roll 1.52 - - 2700.44 - 2.60 0.031 2273.69 440.3 114.54 - - 2301.56 - - - - - - - - - 16.07 -
17377.38 449.92 8.18 2075 17382.47 roll 1.52 - - 2700.06 - 2.73 0.073 1130.25 -418.8 114.54 - - 2302.00 - - - - - - - - - 16.05 -
17437.39 444.65 8.89 2087 17442.47 roll 1.52 - - 2700.44 - 2.61 0.031 2274.12 438.3 114.54 - - 2302.09 - - - - - - - - - 16.06 -
17747.84 420.15 7.87 2119 17749.17 no move 1.53 - - 2700.69 - - - 2273.62 - 114.54 - - 2300.84 - - - - - - - - - - -
18058.05 396.10 7.49 2150 18059.38 no move 1.55 - - 2700.25 - - - 2274.25 - 114.54 - - 2300.69 - - - - - - - - - - -
18367.91 373.78 6.95 2181 18372.58 roll 1.58 - - 2700.69 - 2.67 0.092 3346.94 401.8 114.54 - - 2302.19 - - - - - - - - - 16.05 -
18407.52 370.64 7.56 2189 18412.77 roll 1.60 - - 2700.62 - 2.55 0.024 2185.19 -455.6 114.54 - - 2301.88 - - - - - - - - - 16.08 -
18718.12 349.77 6.70 2221 18722.66 roll 1.63 - - 2700.00 - 2.88 0.087 3347.00 403.4 114.54 - - 2301.59 - - - - - - - - - 16.05 -
18767.57 346.23 7.08 2231 18772.62 roll 1.66 - - 2699.69 - 2.55 0.024 2184.38 -455.9 114.54 - - 2302.31 - - - - - - - - - 16.06 -
19077.99 326.74 6.14 2263 19109.08 1.73 0.23 0.076 2752.19 228.3 2.54 0.082 1129.88 -415.2 148.53 26.57 1.552 2169.31 -5.0 0.174 - - - - - - 16.04 15.95 12.20
19172.34 318.84 9.41 2282 19178.17 roll 1.73 - - 2751.25 - 2.62 0.030 2272.50 436.1 148.53 - - 2166.28 - - - - - - - - - 16.00 -
19488.08 290.11 9.17 2314 19492.78 roll 1.73 - - 2751.31 - 2.68 0.091 3347.81 401.2 148.53 - - 2165.50 - - - - - - - - - 15.98 -
19557.72 282.90 10.55 2328 19562.79 roll 1.73 - - 2750.62 - 2.57 0.024 2186.94 -451.7 148.53 - - 2165.16 - - - - - - - - - 15.99 -
19867.79 252.69 9.88 2360 19869.12 no move 1.73 - - 2752.31 - - - 2187.19 - 148.53 - - 2163.34 - - - - - - - - - - -
20178.24 222.66 9.25 2391 20182.97 roll 1.73 - - 2751.00 - 2.89 0.086 3346.12 401.0 148.53 - - 2165.38 - - - - - - - - - 16.02 -
20222.59 218.39 9.80 2400 20228.46 roll 1.73 - - 2752.69 - 2.56 0.024 2186.44 -453.0 148.53 - - 2165.00 - - - - - - - - - 16.01 -
20537.94 192.07 8.81 2432 20543.06 roll 1.73 - - 2752.62 - 2.89 0.086 3345.88 401.2 148.53 - - 2164.41 - - - - - - - - - 16.02 -
20587.96 187.51 9.51 2442 20593.03 roll 1.73 - - 2751.75 - 2.57 0.024 2185.38 -451.6 148.53 - - 2164.12 - - - - - - - - - 15.97 -
20898.02 161.20 8.27 2474 20903.08 roll 1.73 - - 2751.44 - 2.52 0.077 1130.44 -418.6 148.53 - - 2164.47 - - - - - - - - - 16.02 -
20982.60 154.42 7.70 2491 20988.59 roll 1.74 - - 2751.62 - 2.61 0.030 2274.69 438.4 148.53 - - 2163.91 - - - - - - - - - 16.03 -
21298.51 134.28 6.21 2523 21329.53 done 1.81 - - 2751.12 - 2.77 0.074 1129.75 -413.3 181.45 25.74 1.311 2034.72 -5.0 0.085 - - - - - - - 15.95 12.26
21488.16 117.24 9.72 2561 21493.25 roll 1.81 - - 2751.94 - 2.62 0.030 2272.94 436.3 181.45 - - 2031.81 - - - - - - - - - 15.94 -
21798.26 93.88 6.96 2601 21804.00 roll 1.84 - - 2752.06 - 2.76 0.071 1128.94 -414.5 181.45 - - 2029.88 - - - - - - - - - 15.94 -
21968.32 83.92 5.23 2635 22009.99 1.93 0.22 0.079 2804.00 236.1 2.62 0.029 2277.50 438.4 228.87 36.36 1.264 1842.75 -5.1 0.057 - - - - - - 15.93 15.95 12.35
22193.37 68.11 8.64 2680 22198.92 roll 1.93 - - 2805.38 - 2.78 0.070 1129.75 -412.9 228.87 - - 1835.66 - - - - - - - - - 15.92 -
22268.38 62.24 7.69 2695 22273.92 roll 1.95 - - 2804.94 - 2.62 0.028 2275.56 437.3 228.87 - - 1834.91 - - - - - - - - - 15.88 -
22458.42 51.08 5.40 2733 22499.25 done 2.04 - - 2805.38 - 2.79 0.072 1130.31 -410.5 273.74 33.99 1.207 1659.28 -5.2 0.036 - - - - - - - 15.80 12.45
22533.50 46.34 6.79 2748 22538.97 roll 2.07 - - 2805.19 - 2.64 0.028 2275.44 433.8 273.74 - - 1654.97 - - - - - - - - - 15.87 -
22723.48 33.56 7.21 2786 22724.81 no move 2.10 - - 2805.06 - - - 2275.44 - 273.74 - - 1651.16 - - - - - - - - - - -
22908.69 22.43 4.22 2823 22961.82 2.22 0.33 0.066 2874.25 209.7 2.79 0.071 1130.31 -410.4 335.92 47.03 1.175 1405.34 -5.2 0.017 - - - - - - 15.85 15.72 12.47
23054.97 14.83 6.04 2852 23087.40 done 2.29 - - 2874.69 - 2.64 0.028 2275.06 433.6 371.44 27.93 1.118 1260.75 -5.2 0.011 - - - - - - - 15.82 12.48
23270.42 2.23 5.07 2895 23275.26 2.39 0.14 0.091 2913.38 276.4 - - 2275.88 - 421.08 4.20 0.541 1248.97 -2.8 0.002 - - - - - - 15.80 - 12.50
23275 end climb: SURFACE_DEPTH_REACHED
23275 begin surface coast
23320 end surface coast: CONTROL_FINISHED_OK
23320 begin surface
SM 4.21 - - - - 183.0 39.01 1.143 1043.3 26.6 16.79 0.048 999.3 59.5 - 0.12 0.129 1087.2 9060.0 -30.220 - - 12.53 15.80 15.83 -