NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 412 * Raw log
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• Previous call tries 4 • 130.40 of 550.00 AH used of 24V (76.29% remains)
• Surface angle -65.5 deg, depth 0.69 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• No surface pump (final VBD was 952.8, SM_CC=425)
• GPS1 time: 31 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
5.07 - - - 61.86 VBD -1.37 - - 181.81 - - - 2248.12 - -82.73 55.64 0.005 2547.12 - - - - - - - - - - 15.54
62.58 3.49 -6.50 10 96.51 -1.37 13.85 0.248 1988.56 130.5 2.89 0.083 3429.12 408.7 -82.73 11.73 0.007 3111.12 48.1 -3.973 - - - - - - 15.68 15.50 15.59
293.60 55.46 -13.48 56 299.13 roll -1.37 - - 1988.44 - 2.55 0.020 2248.00 -463.2 -82.73 - - 3113.56 - - - - - - - - - 15.87 -
484.27 77.89 -10.64 94 485.60 no move -1.37 - - 1988.25 - - - 2246.81 - -82.73 - - 3112.09 - - - - - - - - - - -
668.65 96.92 -9.46 131 669.98 no move -1.37 - - 1988.62 - - - 2246.12 - -82.73 - - 3112.69 - - - - - - - - - - -
853.67 114.12 -8.79 168 858.79 roll -1.37 - - 1988.25 - 2.44 0.062 1206.31 -426.2 -82.73 - - 3114.16 - - - - - - - - - 15.97 -
993.70 126.54 -8.87 196 999.23 roll -1.37 - - 1988.56 - 2.59 0.027 2355.94 443.9 -82.73 - - 3114.38 - - - - - - - - - 15.98 -
1303.75 153.85 -9.19 258 1309.27 roll -1.37 - - 1988.62 - 2.59 0.086 3428.81 414.2 -82.73 - - 3114.34 - - - - - - - - - 15.98 -
1393.75 163.13 -10.50 276 1399.28 roll -1.37 - - 1988.19 - 2.54 0.021 2240.62 -467.8 -82.73 - - 3115.22 - - - - - - - - - 16.00 -
1703.81 193.36 -9.64 338 1708.91 roll -1.37 - - 1988.50 - 2.43 0.063 1207.06 -425.3 -82.73 - - 3116.03 - - - - - - - - - 16.02 -
1778.80 200.97 -10.30 353 1784.34 roll -1.37 - - 1988.62 - 2.58 0.028 2354.44 444.7 -82.73 - - 3115.12 - - - - - - - - - 16.03 -
2089.04 229.08 -8.89 415 2090.37 no move -1.37 - - 1988.25 - - - 2354.50 - -82.73 - - 3113.09 - - - - - - - - - - -
2393.94 255.86 -8.71 476 2399.50 roll -1.37 - - 1988.88 - 2.71 0.059 1207.25 -423.3 -82.73 - - 3114.31 - - - - - - - - - 16.05 -
2478.96 263.77 -9.40 493 2484.50 roll -1.37 - - 1988.62 - 2.58 0.029 2355.62 445.1 -82.73 - - 3113.62 - - - - - - - - - 16.05 -
2789.08 292.57 -9.71 555 2794.64 roll -1.37 - - 1988.75 - 2.71 0.059 1207.38 -423.7 -82.73 - - 3112.31 - - - - - - - - - 16.05 -
2951.61 309.88 -10.80 581 2956.22 roll -1.37 - - 1988.50 - 2.58 0.029 2355.75 445.1 -82.73 - - 3112.88 - - - - - - - - - 16.07 -
3262.81 342.15 -9.88 610 3267.42 roll -1.37 - - 1988.25 - 2.60 0.089 3429.12 412.8 -82.73 - - 3114.38 - - - - - - - - - 16.05 -
3317.08 347.96 -10.70 618 3332.00 roll -1.37 - - 1988.50 - 2.55 0.021 2243.69 -464.9 -82.73 - - 3112.59 - - - - - - - - - 16.07 -
3633.69 377.60 -8.59 647 3644.76 no move -1.37 - - 1988.38 - - - 2243.75 - -82.73 - - 3110.69 - - - - - - - - - - -
3946.73 405.28 -8.81 676 3951.32 roll -1.37 - - 1988.31 - 2.43 0.066 1208.69 -426.0 -82.73 - - 3109.34 - - - - - - - - - 16.07 -
4016.91 411.89 -9.46 686 4031.71 roll -1.37 - - 1988.88 - 2.57 0.030 2353.00 445.3 -82.73 - - 3109.06 - - - - - - - - - 16.08 -
4333.01 441.90 -9.63 715 4344.40 no move -1.37 - - 1988.75 - - - 2353.31 - -82.73 - - 3109.12 - - - - - - - - - - -
4645.97 471.47 -9.37 744 4650.61 roll -1.37 - - 1986.88 - 2.71 0.062 1208.50 -422.4 -82.73 - - 3108.38 - - - - - - - - - 16.08 -
4715.97 478.28 -9.80 754 4730.89 roll -1.37 - - 1988.44 - 2.57 0.030 2351.94 444.9 -82.73 - - 3108.28 - - - - - - - - - 16.09 -
5031.97 506.80 -8.82 781 5036.59 roll -1.37 - - 1988.50 - 2.70 0.062 1207.44 -423.9 -82.73 - - 3106.78 - - - - - - - - - 16.08 -
5112.83 514.17 -9.25 793 5118.19 roll -1.37 - - 1988.75 - 2.58 0.030 2352.19 443.7 -82.73 - - 3107.94 - - - - - - - - - 16.08 -
5432.06 541.16 -8.08 815 5433.39 no move -1.37 - - 1988.12 - - - 2352.44 - -82.73 - - 3105.56 - - - - - - - - - - -
5747.07 566.33 -7.99 836 5751.72 roll -1.37 - - 1986.81 - 2.71 0.062 1208.38 -422.2 -82.73 - - 3105.62 - - - - - - - - - 16.08 -
5846.47 574.78 -8.51 850 5851.08 roll -1.37 - - 1988.88 - 2.57 0.031 2353.25 445.5 -82.73 - - 3104.06 - - - - - - - - - 16.08 -
6162.94 600.46 -7.95 872 6164.27 no move -1.37 - - 1988.56 - - - 2352.88 - -82.73 - - 3103.88 - - - - - - - - - - -
6477.96 625.22 -8.01 893 6482.78 roll -1.37 - - 1989.06 - 2.72 0.062 1208.50 -420.7 -82.73 - - 3102.78 - - - - - - - - - 16.08 -
6556.74 631.70 -8.20 904 6561.35 roll -1.37 - - 1988.62 - 2.57 0.031 2351.56 444.8 -82.73 - - 3102.94 - - - - - - - - - 16.08 -
6873.20 658.28 -8.51 926 6874.53 no move -1.37 - - 1988.62 - - - 2351.81 - -82.73 - - 3102.00 - - - - - - - - - - -
7188.22 684.77 -8.54 947 7192.86 roll -1.37 - - 1988.38 - 2.72 0.063 1208.69 -420.3 -82.73 - - 3103.66 - - - - - - - - - 16.08 -
7268.22 691.55 -8.60 959 7273.76 roll -1.37 - - 1988.44 - 2.58 0.031 2353.00 443.5 -82.73 - - 3102.44 - - - - - - - - - 16.08 -
7587.80 717.53 -8.09 981 7589.13 no move -1.37 - - 1988.25 - - - 2352.88 - -82.73 - - 3101.59 - - - - - - - - - - -
7902.64 742.10 -7.40 1002 7907.28 roll -1.37 - - 1987.12 - 2.73 0.063 1207.44 -419.6 -82.73 - - 3101.56 - - - - - - - - - 16.08 -
7961.92 746.55 -7.57 1011 7967.45 roll -1.37 - - 1988.25 - 2.58 0.031 2352.38 443.8 -82.73 - - 3101.88 - - - - - - - - - 16.08 -
8281.34 769.34 -6.72 1033 8282.67 no move -1.37 - - 1988.44 - - - 2352.75 - -82.73 - - 3101.03 - - - - - - - - - - -
8596.40 789.55 -6.46 1054 8601.05 roll -1.37 - - 1988.62 - 2.72 0.064 1209.69 -420.2 -82.73 - - 3100.19 - - - - - - - - - 16.07 -
8716.75 797.45 -6.56 1071 8721.37 roll -1.37 - - 1988.38 - 2.58 0.031 2352.50 442.9 -82.73 - - 3100.69 - - - - - - - - - 16.08 -
9033.23 817.50 -6.36 1093 9038.05 roll -1.37 - - 1988.06 - 2.73 0.064 1207.44 -419.4 -82.73 - - 3099.97 - - - - - - - - - 16.07 -
9097.67 821.53 -6.81 1103 9112.41 roll -1.37 - - 1988.44 - 2.58 0.031 2352.31 443.7 -82.73 - - 3100.22 - - - - - - - - - 16.09 -
9426.90 845.16 -7.18 1125 9431.54 roll -1.37 - - 1988.69 - 2.73 0.064 1209.88 -418.5 -82.73 - - 3099.56 - - - - - - - - - 16.07 -
9507.24 851.01 -7.42 1137 9512.44 roll -1.37 - - 1988.81 - 2.58 0.031 2352.00 442.7 -82.73 - - 3099.72 - - - - - - - - - 16.08 -
9826.33 873.84 -7.43 1159 9830.96 roll -1.37 - - 1986.38 - 2.72 0.064 1208.56 -420.4 -82.73 - - 3100.00 - - - - - - - - - 16.07 -
9906.33 880.08 -7.88 1171 9911.86 roll -1.37 - - 1987.12 - 2.59 0.032 2352.69 441.7 -82.73 - - 3100.44 - - - - - - - - - 16.08 -
10225.74 904.92 -7.87 1193 10230.38 roll -1.37 - - 1988.44 - 2.73 0.064 1209.06 -418.9 -82.73 - - 3098.16 - - - - - - - - - 16.06 -
10326.70 913.35 -8.48 1208 10332.02 roll -1.37 - - 1988.75 - 2.58 0.031 2352.06 443.0 -82.73 - - 3099.38 - - - - - - - - - 16.08 -
10645.88 939.75 -8.28 1230 10650.50 roll -1.37 - - 1988.12 - 2.63 0.096 3427.00 408.7 -82.73 - - 3099.75 - - - - - - - - - 16.04 -
10705.14 944.93 -8.74 1239 10710.68 roll -1.37 - - 1988.75 - 2.54 0.023 2244.19 -465.7 -82.73 - - 3099.56 - - - - - - - - - 16.07 -
11024.73 969.55 -7.42 1261 11029.38 roll -1.37 - - 1988.19 - 2.46 0.069 1208.62 -421.0 -82.73 - - 3096.66 - - - - - - - - - 16.06 -
11144.86 979.03 -7.92 1278 11148.81 roll -1.37 - - 1987.62 - 2.58 0.031 2351.81 443.1 -82.73 - - 3098.00 - - - - - - - - - 16.07 -
11296 end dive: TARGET_DEPTH_EXCEEDED
11297 begin apogee
11298.17 990.04 -7.14 1289 11373.40 -0.28 1.79 0.149 2253.00 148.3 0.22 0.130 2284.38 -306.5 - 60.38 2.422 2774.44 -5.4 0.363 - - - - - - 15.97 15.66 11.71
11375 end apogee: CONTROL_FINISHED_OK
11375 begin climb
11375.26 991.81 - 1294 11450.25 1.37 2.62 0.097 2656.62 154.1 2.91 0.076 1131.00 -396.4 82.73 66.51 2.406 2439.16 -5.0 0.344 - - - - - - 15.69 15.33 12.69
11515.20 983.98 6.37 1315 11556.58 done 1.43 - - 2656.38 - 2.67 0.030 2272.25 427.4 113.31 26.30 2.251 2314.84 -4.7 0.342 - - - - - - - 15.56 12.42
11870.16 952.24 9.27 1341 11871.49 no move 1.43 - - 2656.12 - - - 2272.00 - 113.31 - - 2306.31 - - - - - - - - - - -
12185.36 924.41 8.34 1362 12190.06 roll 1.43 - - 2655.88 - 2.79 0.073 1130.38 -409.2 113.31 - - 2305.00 - - - - - - - - - 15.85 -
12223.90 921.17 8.49 1368 12229.45 roll 1.43 - - 2655.56 - 2.62 0.030 2272.19 435.8 113.31 - - 2308.19 - - - - - - - - - 15.86 -
12543.34 895.29 7.89 1390 12544.67 no move 1.44 - - 2655.12 - - - 2271.94 - 113.31 - - 2305.22 - - - - - - - - - - -
12858.38 870.66 7.80 1411 12863.03 roll 1.45 - - 2655.19 - 2.79 0.074 1130.06 -409.3 113.31 - - 2304.66 - - - - - - - - - 15.94 -
12917.65 865.68 8.40 1420 12923.20 roll 1.45 - - 2656.12 - 2.61 0.031 2272.88 437.9 113.31 - - 2306.38 - - - - - - - - - 15.95 -
13237.08 840.75 7.61 1442 13238.41 VBD 1.47 - - 2655.12 - - - 2273.38 - 113.31 - - 2303.50 - - - - - - - - - - -
13552.24 815.17 8.09 1463 13556.88 done 1.47 - - 2654.81 - 2.79 0.074 1131.19 -409.4 113.31 - - 2302.94 - - - - - - - - - 15.98 -
13595.76 811.98 8.32 1470 13610.69 done 1.47 - - 2655.75 - 2.59 0.031 2272.88 440.8 113.31 - - 2304.22 - - - - - - - - - 16.00 -
13925.36 785.07 7.86 1492 13926.69 VBD 1.48 - - 2656.00 - - - 2273.81 - 113.31 - - 2303.22 - - - - - - - - - - -
14240.20 761.10 7.19 1513 14244.92 1.51 0.17 0.092 2699.44 255.5 2.77 0.074 1131.12 -412.5 113.31 - - 2302.56 - - - - - - - - 15.98 15.95 -
14299.49 756.12 8.21 1522 14305.03 done 1.51 - - 2700.12 - 2.59 0.031 2272.81 440.8 113.31 - - 2304.06 - - - - - - - - - 16.02 -
14619.08 729.87 8.02 1544 14620.41 VBD 1.51 - - 2700.44 - - - 2273.31 - 113.31 - - 2302.03 - - - - - - - - - - -
14934.02 704.42 8.34 1565 14935.36 VBD 1.51 - - 2699.94 - - - 2273.38 - 113.31 - - 2302.19 - - - - - - - - - - -
15248.94 678.07 8.42 1586 15253.59 done 1.51 - - 2700.38 - 2.77 0.074 1129.75 -412.9 113.31 - - 2301.53 - - - - - - - - - 16.04 -
15308.20 672.72 9.05 1595 15313.74 done 1.51 - - 2700.69 - 2.59 0.031 2273.19 441.5 113.31 - - 2303.09 - - - - - - - - - 16.05 -
15627.61 644.90 8.58 1617 15632.26 done 1.51 - - 2700.19 - 2.75 0.073 1130.12 -415.7 113.31 - - 2301.94 - - - - - - - - - 16.04 -
15707.83 637.42 9.39 1629 15713.38 done 1.51 - - 2700.12 - 2.59 0.031 2274.00 441.7 113.31 - - 2302.69 - - - - - - - - - 16.05 -
16027.24 609.57 8.73 1651 16028.57 VBD 1.51 - - 2700.12 - - - 2274.00 - 113.31 - - 2301.88 - - - - - - - - - - -
16342.30 584.17 7.86 1672 16343.63 VBD 1.52 - - 2700.25 - - - 2273.88 - 113.31 - - 2301.91 - - - - - - - - - - -
16657.56 558.23 8.72 1693 16662.20 done 1.52 - - 2700.31 - 2.79 0.074 1131.25 -409.5 113.31 - - 2301.62 - - - - - - - - - 16.05 -
16756.95 549.00 9.28 1707 16761.57 done 1.52 - - 2699.38 - 2.59 0.031 2275.00 441.6 113.31 - - 2301.97 - - - - - - - - - 16.05 -
17073.02 521.57 8.75 1729 17074.35 VBD 1.52 - - 2700.38 - - - 2274.69 - 113.31 - - 2301.81 - - - - - - - - - - -
17382.14 495.34 8.41 1751 17386.97 done 1.52 - - 2700.19 - 2.78 0.073 1129.81 -411.8 113.31 - - 2305.75 - - - - - - - - - 16.05 -
17450.91 489.16 8.95 1760 17455.52 done 1.52 - - 2699.56 - 2.59 0.031 2275.50 442.4 113.31 - - 2302.69 - - - - - - - - - 16.05 -
17762.97 464.26 7.83 1789 17774.04 VBD 1.53 - - 2700.12 - - - 2275.81 - 113.31 - - 2302.84 - - - - - - - - - - -
18075.69 440.29 7.46 1818 18080.33 done 1.55 - - 2700.44 - 2.79 0.073 1129.94 -410.7 113.31 - - 2301.28 - - - - - - - - - 16.05 -
18175.81 432.10 8.24 1831 18180.42 done 1.55 - - 2700.25 - 2.58 0.031 2272.44 442.8 113.31 - - 2302.56 - - - - - - - - - 16.05 -
18487.69 409.48 6.90 1860 18498.76 VBD 1.58 - - 2700.81 - - - 2272.81 - 113.31 - - 2303.09 - - - - - - - - - - -
18800.29 389.12 6.30 1889 18833.76 VBD 1.65 - - 2700.12 - - - 2272.88 - 144.93 24.48 1.617 2185.09 -4.8 0.192 - - - - - - - - 11.77
19135.56 363.77 7.83 1920 19146.63 no move 1.66 - - 2700.69 - - - 2273.19 - 144.93 - - 2180.91 - - - - - - - - - - -
19448.17 338.72 8.34 1949 19452.81 roll 1.66 - - 2700.69 - 2.79 0.073 1130.06 -409.7 144.93 - - 2179.22 - - - - - - - - - 15.99 -
19502.42 334.01 8.72 1957 19517.34 roll 1.66 - - 2700.25 - 2.60 0.030 2273.50 439.8 144.93 - - 2180.44 - - - - - - - - - 16.01 -
19818.44 309.31 7.64 1986 19829.62 pitch 1.68 0.16 0.092 2739.31 244.1 - - 2273.38 - 144.93 - - 2181.09 - - - - - - - - 15.98 - -
20134.17 281.50 8.73 2037 20139.73 roll 1.68 - - 2739.06 - 2.79 0.073 1131.25 -409.4 144.93 - - 2181.19 - - - - - - - - - 16.01 -
20279.22 268.54 8.84 2066 20284.75 roll 1.68 - - 2739.62 - 2.59 0.031 2274.19 441.3 144.93 - - 2179.06 - - - - - - - - - 16.02 -
20589.33 242.11 8.40 2128 20590.66 no move 1.68 - - 2738.50 - - - 2274.00 - 144.93 - - 2178.38 - - - - - - - - - - -
20895.16 219.28 7.08 2189 20896.49 no move 1.70 - - 2739.31 - - - 2273.75 - 144.93 - - 2178.06 - - - - - - - - - - -
21199.54 196.99 7.35 2250 21205.09 roll 1.73 - - 2738.88 - 2.78 0.072 1130.00 -411.4 144.93 - - 2179.44 - - - - - - - - - 16.02 -
21274.53 191.10 8.10 2265 21280.06 roll 1.73 - - 2739.38 - 2.59 0.030 2275.00 442.1 144.93 - - 2180.75 - - - - - - - - - 16.03 -
21584.59 168.51 7.28 2327 21585.92 no move 1.75 - - 2740.00 - - - 2275.31 - 144.93 - - 2178.09 - - - - - - - - - - -
21889.69 146.42 6.86 2388 21895.17 roll 1.78 - - 2738.31 - 2.77 0.071 1130.25 -413.4 144.93 - - 2179.78 - - - - - - - - - 16.04 -
21944.63 142.46 7.27 2399 21950.15 roll 1.81 - - 2739.00 - 2.58 0.029 2275.44 443.9 144.93 - - 2180.53 - - - - - - - - - 16.04 -
22254.68 120.96 7.10 2461 22260.26 roll back 1.83 0.14 0.095 2781.69 304.9 2.62 0.090 3349.56 410.0 144.93 - - 2180.09 - - - - - - - - 16.01 15.94 -
22409.67 107.54 9.12 2492 22415.21 roll 1.83 - - 2781.75 - 2.55 0.023 2184.94 -456.7 144.93 - - 2179.34 - - - - - - - - - 16.03 -
22719.73 86.59 5.07 2554 22761.33 done 1.93 - - 2782.00 - 2.55 0.077 1130.00 -413.7 194.59 37.10 1.270 1982.09 -5.3 0.060 - - - - - - - 15.93 12.00
22944.77 71.59 7.03 2599 22950.28 roll 1.96 - - 2780.94 - 2.60 0.029 2275.88 440.7 194.59 - - 1976.97 - - - - - - - - - 15.96 -
23134.84 62.30 4.66 2637 23180.04 2.07 0.23 0.072 2835.12 235.6 - - 2276.25 - 250.27 41.94 1.227 1754.19 -5.3 0.045 - - - - - - 15.94 - 12.32
23365.38 45.67 7.00 2683 23370.38 roll 2.10 - - 2835.00 - 2.81 0.070 1130.31 -407.8 250.27 - - 1748.25 - - - - - - - - - 15.88 -
23599.84 30.81 5.42 2730 23637.37 done 2.19 - - 2835.62 - 2.60 0.028 2276.25 440.7 294.89 33.38 1.160 1573.88 -5.2 0.023 - - - - - - - 15.91 12.29
23819.87 23.64 3.11 2774 23884.37 2.35 0.31 0.063 2899.94 207.5 2.84 0.071 1131.75 -403.0 373.30 58.85 1.161 1252.88 -5.5 0.018 - - - - - - 15.85 15.66 12.42
23922.04 20.44 3.44 2794 23983.18 done 2.49 - - 2901.25 - 2.63 0.027 2277.81 435.8 446.84 54.81 1.127 954.16 -5.5 0.016 - - - - - - - 15.75 12.54
24167 end climb: SURFACE_DEPTH_REACHED
24167 begin surface coast
24217 end surface coast: CONTROL_FINISHED_OK
24217 begin surface
SM 0.56 - - - - 188.0 - - 945.4 - 16.75 0.045 938.1 56.0 - 0.12 0.123 952.8 7918.1 -3.685 - - 30.00 15.74 15.75 -