NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 258 * Raw log
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• Previous call tries 2 • 84.11 of 550.00 AH used of 24V (84.71% remains)
• Surface angle -63.5 deg, depth 1.45 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• No surface pump (final VBD was 1003.9, SM_CC=425)
• GPS1 time: 76 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
4 end surface: CONTROL_FINISHED_OK
5 begin dive
6.78 - - - 56.30 VBD -1.37 - - 177.12 - - - 2247.31 - -82.73 48.35 0.005 2269.25 - - - - - - - - - - 15.68
57.04 3.16 -3.51 9 100.26 -1.37 13.69 0.252 1988.50 132.3 2.60 0.066 1208.56 -399.5 -82.73 21.00 0.006 3111.28 40.1 -3.479 - - - - - - 15.70 15.68 15.72
183.25 26.42 -18.90 34 188.83 roll -1.37 - - 1988.81 - 2.70 0.029 2352.12 423.5 -82.73 - - 3112.31 - - - - - - - - - 15.85 -
373.87 55.02 -14.42 72 377.46 no move -1.37 - - 1988.38 - - - 2351.94 - -82.73 - - 3112.78 - - - - - - - - - - -
559.22 80.28 -12.64 109 562.82 no move -1.37 - - 1988.88 - - - 2352.19 - -82.73 - - 3113.12 - - - - - - - - - - -
753.41 102.46 -11.23 146 754.74 no move -1.37 - - 1988.62 - - - 2351.62 - -82.73 - - 3111.59 - - - - - - - - - - -
1063.83 131.92 -8.52 177 1068.56 roll -1.37 - - 1988.44 - 2.84 0.060 1208.94 -402.4 -82.73 - - 3113.66 - - - - - - - - - 16.03 -
1148.00 140.36 -10.22 194 1154.00 roll -1.37 - - 1988.81 - 2.65 0.028 2353.25 431.8 -82.73 - - 3114.31 - - - - - - - - - 16.02 -
1463.49 169.44 -9.27 226 1464.82 no move -1.37 - - 1988.62 - - - 2353.19 - -82.73 - - 3112.41 - - - - - - - - - - -
1773.91 199.33 -9.59 257 1778.63 roll -1.37 - - 1988.44 - 2.82 0.060 1208.88 -405.8 -82.73 - - 3113.66 - - - - - - - - - 16.06 -
1858.07 207.68 -9.80 274 1864.08 roll -1.37 - - 1988.81 - 2.64 0.028 2353.25 433.5 -82.73 - - 3113.53 - - - - - - - - - 16.08 -
2173.57 240.19 -10.10 306 2178.69 roll -1.37 - - 1988.88 - 2.82 0.060 1208.62 -405.9 -82.73 - - 3113.50 - - - - - - - - - 16.09 -
2313.62 254.52 -9.95 334 2318.69 roll -1.37 - - 1988.19 - 2.64 0.029 2351.56 432.9 -82.73 - - 3114.53 - - - - - - - - - 16.09 -
2623.68 284.35 -9.57 366 2625.01 no move -1.37 - - 1988.31 - - - 2351.44 - -82.73 - - 3112.25 - - - - - - - - - - -
2934.36 314.78 -9.84 397 2938.86 roll -1.37 - - 1988.62 - 2.82 0.061 1208.56 -405.3 -82.73 - - 3112.78 - - - - - - - - - 16.12 -
2968.28 318.12 -9.78 404 2974.29 roll -1.37 - - 1988.62 - 2.64 0.029 2352.31 433.2 -82.73 - - 3112.44 - - - - - - - - - 16.13 -
3283.81 348.97 -9.31 436 3285.14 no move -1.37 - - 1988.62 - - - 2352.12 - -82.73 - - 3111.12 - - - - - - - - - - -
3594.27 376.06 -8.85 467 3599.00 roll -1.37 - - 1988.56 - 2.81 0.062 1210.25 -406.4 -82.73 - - 3111.91 - - - - - - - - - 16.13 -
3768.46 392.77 -9.65 502 3774.47 roll -1.37 - - 1988.31 - 2.64 0.029 2350.38 431.9 -82.73 - - 3113.19 - - - - - - - - - 16.14 -
4084.00 423.02 -9.81 534 4085.32 no move -1.37 - - 1989.06 - - - 2350.44 - -82.73 - - 3109.59 - - - - - - - - - - -
4394.45 453.06 -9.72 565 4395.78 no move -1.37 - - 1988.69 - - - 2350.94 - -82.73 - - 3109.69 - - - - - - - - - - -
4704.50 481.44 -9.04 596 4709.24 roll -1.37 - - 1989.19 - 2.83 0.062 1209.69 -403.3 -82.73 - - 3109.28 - - - - - - - - - 16.14 -
4864.55 496.23 -8.79 628 4869.25 roll -1.37 - - 1988.81 - 2.64 0.030 2351.94 432.7 -82.73 - - 3109.25 - - - - - - - - - 16.16 -
5174.23 524.30 -9.26 660 5179.53 roll -1.37 - - 1989.19 - 2.82 0.063 1210.12 -404.9 -82.73 - - 3109.03 - - - - - - - - - 16.16 -
5244.42 530.62 -9.30 674 5249.34 roll -1.37 - - 1989.44 - 2.64 0.030 2351.50 432.3 -82.73 - - 3108.56 - - - - - - - - - 16.16 -
5554.32 558.14 -8.36 706 5559.43 roll -1.37 - - 1989.12 - 2.83 0.063 1209.81 -403.4 -82.73 - - 3108.06 - - - - - - - - - 16.16 -
5598.86 561.85 -8.86 715 5604.87 roll -1.37 - - 1989.31 - 2.64 0.030 2352.81 433.0 -82.73 - - 3107.31 - - - - - - - - - 16.15 -
5914.37 588.43 -8.14 747 5919.47 roll -1.37 - - 1988.56 - 2.82 0.063 1208.69 -405.7 -82.73 - - 3108.34 - - - - - - - - - 16.15 -
5988.91 594.73 -8.51 762 5994.93 roll -1.37 - - 1989.06 - 2.65 0.030 2353.12 431.9 -82.73 - - 3106.91 - - - - - - - - - 16.15 -
6304.41 622.52 -8.77 794 6305.74 no move -1.37 - - 1989.12 - - - 2353.56 - -82.73 - - 3105.34 - - - - - - - - - - -
6614.82 649.43 -8.26 825 6619.53 roll -1.37 - - 1989.44 - 2.71 0.091 3426.75 396.0 -82.73 - - 3106.31 - - - - - - - - - 16.14 -
6704.45 657.77 -9.32 843 6709.54 roll -1.37 - - 1988.62 - 2.63 0.022 2250.38 -447.3 -82.73 - - 3107.38 - - - - - - - - - 16.16 -
7014.49 681.43 -7.84 875 7015.82 no move -1.37 - - 1989.88 - - - 2248.88 - -82.73 - - 3103.81 - - - - - - - - - - -
7324.91 706.00 -7.90 906 7329.84 roll -1.37 - - 1989.94 - 2.97 0.087 3426.81 396.6 -82.73 - - 3105.06 - - - - - - - - - 16.15 -
7374.71 710.47 -8.98 916 7379.61 roll -1.37 - - 1989.38 - 2.62 0.022 2251.19 -448.7 -82.73 - - 3105.38 - - - - - - - - - 16.16 -
7684.56 734.76 -7.82 948 7689.63 roll -1.37 - - 1989.62 - 2.58 0.070 1210.00 -403.6 -82.73 - - 3104.22 - - - - - - - - - 16.15 -
7734.56 738.72 -8.14 958 7739.66 roll -1.37 - - 1989.94 - 2.64 0.030 2351.88 432.5 -82.73 - - 3104.12 - - - - - - - - - 16.15 -
8044.62 763.43 -8.11 990 8045.95 no move -1.37 - - 1989.56 - - - 2351.38 - -82.73 - - 3102.41 - - - - - - - - - - -
8355.07 789.51 -8.54 1021 8356.40 no move -1.37 - - 1988.88 - - - 2351.50 - -82.73 - - 3101.94 - - - - - - - - - - -
8665.14 815.63 -8.83 1052 8669.87 roll -1.37 - - 1989.38 - 2.84 0.065 1209.94 -402.0 -82.73 - - 3102.41 - - - - - - - - - 16.16 -
8729.30 821.27 -8.75 1065 8735.31 roll -1.37 - - 1989.75 - 2.64 0.031 2352.12 432.6 -82.73 - - 3103.91 - - - - - - - - - 16.17 -
9044.84 846.43 -7.57 1097 9049.95 roll -1.37 - - 1988.69 - 2.84 0.065 1209.69 -402.3 -82.73 - - 3103.03 - - - - - - - - - 16.17 -
9139.40 853.87 -7.90 1116 9145.41 roll -1.37 - - 1989.56 - 2.64 0.031 2352.94 433.0 -82.73 - - 3101.78 - - - - - - - - - 16.15 -
9455.12 876.74 -7.20 1148 9460.11 roll -1.37 - - 1989.69 - 2.85 0.065 1209.88 -401.1 -82.73 - - 3102.44 - - - - - - - - - 16.15 -
9514.95 881.01 -7.45 1160 9520.03 roll -1.37 - - 1990.12 - 2.64 0.031 2353.25 433.1 -82.73 - - 3102.12 - - - - - - - - - 16.16 -
9825.02 903.25 -7.15 1192 9830.12 roll -1.37 - - 1989.81 - 2.70 0.093 3425.88 397.3 -82.73 - - 3102.31 - - - - - - - - - 16.14 -
9905.04 909.81 -8.02 1208 9910.13 roll -1.37 - - 1989.88 - 2.63 0.023 2251.31 -446.6 -82.73 - - 3100.97 - - - - - - - - - 16.16 -
10215.67 931.51 -7.01 1240 10220.18 roll -1.37 - - 1988.62 - 2.58 0.070 1211.38 -403.1 -82.73 - - 3103.19 - - - - - - - - - 16.16 -
10305.18 937.90 -7.16 1258 10310.23 roll -1.37 - - 1989.62 - 2.63 0.031 2352.00 433.7 -82.73 - - 3101.44 - - - - - - - - - 16.15 -
10615.58 959.98 -7.27 1290 10620.32 roll -1.37 - - 1989.62 - 2.85 0.065 1211.19 -400.3 -82.73 - - 3101.25 - - - - - - - - - 16.15 -
10665.22 963.59 -6.32 1300 10670.30 roll -1.37 - - 1988.19 - 2.64 0.031 2350.88 431.7 -82.73 - - 3102.88 - - - - - - - - - 16.14 -
10975.67 984.58 -6.55 1332 10980.58 roll -1.37 - - 1989.81 - 2.84 0.065 1211.25 -401.3 -82.73 - - 3101.16 - - - - - - - - - 16.14 -
11059 end dive: TARGET_DEPTH_EXCEEDED
11059 begin apogee
11063.68 990.17 -6.14 1349 11128.99 -0.28 1.78 0.157 2254.69 148.8 0.11 0.203 2171.69 8731.3 - 60.47 2.415 2774.75 -5.4 0.365 - - - - - - 16.07 15.69 12.47
11138 end apogee: CONTROL_FINISHED_OK
11138 begin climb
11139.30 991.03 - 1356 11208.98 1.37 2.59 0.094 2656.25 155.0 - - 2171.81 - 82.73 65.04 2.340 2436.22 -5.2 0.363 - - - - - - 15.72 - 12.86
11512.35 960.90 8.65 1394 11513.68 no move 1.37 - - 2655.94 - - - 2172.06 - 82.73 - - 2430.28 - - - - - - - - - - -
11822.79 936.08 7.95 1425 11824.11 no move 1.38 - - 2655.88 - - - 2171.75 - 82.73 - - 2429.59 - - - - - - - - - - -
12132.82 912.68 7.19 1456 12134.15 no move 1.40 - - 2655.62 - - - 2172.06 - 82.73 - - 2428.88 - - - - - - - - - - -
12442.86 889.79 7.80 1487 12447.60 done 1.42 - - 2656.31 - 3.01 0.092 3344.31 389.5 82.73 - - 2429.84 - - - - - - - - - 16.00 -
12482.47 886.39 8.41 1495 12487.73 done 1.42 - - 2655.38 - 2.66 0.024 2191.25 -433.5 82.73 - - 2429.09 - - - - - - - - - 16.01 -
12793.00 861.58 8.14 1527 12797.63 done 1.42 - - 2655.81 - 2.98 0.090 3345.69 387.4 82.73 - - 2429.06 - - - - - - - - - 16.04 -
12842.51 856.82 9.35 1537 12847.59 done 1.42 - - 2656.00 - 2.66 0.025 2190.31 -434.4 82.73 - - 2429.84 - - - - - - - - - 16.04 -
13152.95 832.90 6.96 1569 13154.28 VBD 1.45 - - 2655.56 - - - 2190.06 - 82.73 - - 2427.00 - - - - - - - - - - -
13462.99 808.25 7.62 1600 13464.32 VBD 1.46 - - 2655.31 - - - 2190.00 - 82.73 - - 2427.22 - - - - - - - - - - -
13773.05 784.77 7.31 1631 13774.38 VBD 1.49 - - 2655.44 - - - 2189.75 - 82.73 - - 2427.25 - - - - - - - - - - -
14083.13 763.90 6.85 1662 14087.91 1.52 0.19 0.083 2706.12 266.7 2.96 0.090 3345.50 390.5 82.73 - - 2427.94 - - - - - - - - 16.07 16.07 -
14157.30 757.62 8.80 1677 14163.30 done 1.52 - - 2705.56 - 2.64 0.025 2189.50 -437.9 82.73 - - 2428.28 - - - - - - - - - 16.12 -
14473.20 731.31 8.59 1709 14477.90 done 1.52 - - 2704.56 - 2.66 0.078 1132.81 -397.3 82.73 - - 2429.31 - - - - - - - - - 16.10 -
14557.38 723.58 9.43 1726 14563.40 done 1.52 - - 2704.94 - 2.66 0.031 2273.50 428.8 82.73 - - 2428.72 - - - - - - - - - 16.10 -
14873.50 698.94 7.67 1758 14874.83 VBD 1.53 - - 2705.56 - - - 2273.31 - 82.73 - - 2427.72 - - - - - - - - - - -
15183.49 676.68 7.09 1789 15188.09 done 1.56 - - 2704.94 - 2.88 0.073 1132.12 -396.2 82.73 - - 2428.97 - - - - - - - - - 16.12 -
15233.00 672.55 7.85 1799 15238.08 done 1.57 - - 2706.31 - 2.65 0.031 2272.06 430.2 82.73 - - 2428.53 - - - - - - - - - 16.12 -
15543.46 649.87 7.09 1831 15548.15 done 1.60 - - 2704.12 - 2.73 0.093 3345.44 393.2 82.73 - - 2429.44 - - - - - - - - - 16.10 -
15633.10 643.29 7.54 1849 15638.17 done 1.62 - - 2704.62 - 2.64 0.024 2189.25 -438.0 82.73 - - 2429.16 - - - - - - - - - 16.12 -
15943.55 623.19 6.55 1881 15944.88 VBD 1.66 - - 2705.56 - - - 2188.56 - 82.73 - - 2427.09 - - - - - - - - - - -
16253.61 602.79 6.57 1912 16255.04 1.70 0.15 0.091 2742.81 248.3 - - 2187.88 - 82.73 - - 2427.16 - - - - - - - - 16.11 - -
16563.28 579.02 7.88 1943 16568.41 done 1.71 - - 2745.06 - 2.93 0.088 3345.06 394.9 82.73 - - 2427.84 - - - - - - - - - 16.11 -
16667.85 569.34 9.48 1964 16673.85 done 1.71 - - 2744.19 - 2.62 0.024 2188.81 -441.3 82.73 - - 2428.56 - - - - - - - - - 16.14 -
16983.74 541.99 8.60 1996 16988.62 done 1.71 - - 2745.12 - 2.64 0.078 1130.50 -400.9 82.73 - - 2427.72 - - - - - - - - - 16.12 -
17048.07 536.05 9.18 2009 17053.90 done 1.71 - - 2744.62 - 2.64 0.030 2273.31 432.9 82.73 - - 2427.88 - - - - - - - - - 16.14 -
17363.81 510.70 7.91 2041 17365.14 VBD 1.72 - - 2744.62 - - - 2273.31 - 82.73 - - 2427.00 - - - - - - - - - - -
17673.84 488.79 6.71 2072 17678.56 done 1.75 - - 2745.44 - 2.86 0.073 1131.19 -399.3 82.73 - - 2428.44 - - - - - - - - - 16.12 -
17908.04 471.98 7.59 2119 17914.03 done 1.77 - - 2745.38 - 2.65 0.031 2271.69 430.4 82.73 - - 2427.62 - - - - - - - - - 16.12 -
18223.92 452.34 6.45 2151 18248.03 VBD 1.83 - - 2743.81 - - - 2271.62 - 112.19 22.53 1.685 2315.19 -5.0 0.221 - - - - - - - - 12.52
18553.56 425.42 8.38 2184 18558.66 roll 1.83 - - 2745.00 - 2.72 0.092 3344.31 394.4 112.19 - - 2316.78 - - - - - - - - - 16.03 -
18633.58 417.82 9.21 2200 18638.67 roll 1.83 - - 2745.00 - 2.65 0.024 2189.75 -435.7 112.19 - - 2314.34 - - - - - - - - - 16.05 -
18944.01 391.27 8.42 2232 18948.72 roll 1.83 - - 2744.81 - 2.66 0.077 1132.62 -397.4 112.19 - - 2313.94 - - - - - - - - - 16.07 -
19104.32 377.42 8.77 2264 19108.78 roll 1.83 - - 2744.31 - 2.65 0.030 2271.75 429.9 112.19 - - 2315.59 - - - - - - - - - 16.08 -
19414.33 353.92 7.48 2296 19415.66 no move 1.85 - - 2744.62 - - - 2272.56 - 112.19 - - 2313.56 - - - - - - - - - - -
19724.23 331.16 7.45 2327 19725.67 pitch 1.87 0.16 0.082 2791.44 292.6 - - 2272.44 - 112.19 - - 2313.66 - - - - - - - - 16.08 - -
20033.89 305.26 7.96 2358 20035.21 no move 1.87 - - 2791.44 - - - 2271.94 - 112.19 - - 2313.12 - - - - - - - - - - -
20344.34 280.28 8.30 2389 20345.67 no move 1.87 - - 2791.69 - - - 2272.12 - 112.19 - - 2313.25 - - - - - - - - - - -
20654.42 254.63 7.75 2420 20659.12 roll 1.88 - - 2791.75 - 2.71 0.090 3347.12 396.7 112.19 - - 2313.78 - - - - - - - - - 16.09 -
20708.57 249.92 8.51 2431 20714.58 roll 1.88 - - 2792.06 - 2.64 0.024 2188.19 -439.0 112.19 - - 2314.25 - - - - - - - - - 16.10 -
21024.66 225.30 7.98 2463 21029.18 roll 1.88 - - 2791.75 - 2.63 0.076 1131.44 -401.8 112.19 - - 2316.12 - - - - - - - - - 16.10 -
21084.12 220.25 8.67 2475 21089.20 roll 1.88 - - 2791.88 - 2.64 0.029 2272.69 432.3 112.19 - - 2313.81 - - - - - - - - - 16.10 -
21394.58 196.41 7.65 2507 21399.29 roll 1.90 - - 2791.75 - 2.70 0.089 3346.44 397.7 112.19 - - 2314.78 - - - - - - - - - 16.05 -
21518.95 185.76 8.49 2532 21524.83 roll 1.90 - - 2792.44 - 2.62 0.023 2186.06 -442.9 112.19 - - 2315.19 - - - - - - - - - 16.10 -
21834.69 162.13 7.49 2564 21836.02 no move 1.92 - - 2792.44 - - - 2186.06 - 112.19 - - 2313.94 - - - - - - - - - - -
22144.74 139.37 6.63 2595 22149.42 roll 1.96 - - 2791.56 - 2.61 0.075 1131.00 -404.2 112.19 - - 2314.75 - - - - - - - - - 16.07 -
22378.94 124.82 5.12 2642 22420.60 2.05 0.15 0.092 2834.56 286.7 2.63 0.029 2274.62 434.8 161.12 36.56 1.324 2117.12 -5.4 0.084 - - - - - - 16.05 16.11 12.56
22724.45 100.25 7.93 2681 22729.55 roll 2.06 - - 2835.38 - 2.70 0.087 3346.94 397.2 161.12 - - 2112.03 - - - - - - - - - 16.00 -
22754.45 97.91 7.69 2687 22759.99 roll 2.08 - - 2835.00 - 2.64 0.023 2184.06 -440.5 161.12 - - 2111.88 - - - - - - - - - 15.99 -
22944.48 87.66 4.70 2725 22991.15 done 2.19 - - 2834.69 - 2.65 0.077 1132.81 -396.7 216.24 40.94 1.263 1892.91 -5.3 0.061 - - - - - - - 15.81 12.70
23219.92 68.75 6.90 2780 23225.07 done 2.22 - - 2834.44 - 2.66 0.028 2274.06 429.0 216.24 - - 1885.59 - - - - - - - - - 15.94 -
23409.58 59.71 4.29 2818 23461.85 2.34 0.32 0.056 2905.75 222.8 2.91 0.071 1132.81 -392.2 277.31 44.92 1.214 1644.81 -5.4 0.043 - - - - - - 15.94 15.75 12.64
23689.93 34.68 7.69 2874 23695.46 done 2.36 - - 2905.19 - 2.66 0.028 2273.50 428.8 277.31 - - 1635.38 - - - - - - - - - 15.88 -
23880.00 28.27 2.42 2912 23952.58 2.54 0.18 0.076 2950.25 250.3 2.93 0.071 1132.44 -389.4 365.87 64.96 1.172 1282.94 -5.4 0.022 - - - - - - 15.91 15.66 12.59
23965.56 25.09 3.73 2929 24022.84 done 2.67 - - 2950.88 - 2.68 0.027 2272.88 425.5 435.22 51.72 1.129 1000.78 -5.5 0.020 - - - - - - - 15.74 12.71
24186 end climb: SURFACE_DEPTH_REACHED
24186 begin surface coast
24205 end surface coast: CONTROL_FINISHED_OK
24206 begin surface
SM 1.44 - - - - 180.9 - - 992.3 - 16.95 0.038 980.7 57.9 - 0.13 0.112 1003.9 7701.7 -10.121 - - 30.00 15.76 15.77 -