NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 413 * Raw log
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• Previous call tries 1 • 130.78 of 550.00 AH used of 24V (76.22% remains)
• Surface angle -63.9 deg, depth 0.64 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• No surface pump (final VBD was 903.1, SM_CC=425)
• GPS1 time: 65 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.07 - - - 66.95 VBD -1.37 - - 188.19 - - - 2235.88 - -82.73 60.70 0.005 2551.75 - - - - - - - - - - 15.54
67.67 3.77 -6.48 11 101.54 -1.37 13.89 0.255 1988.88 129.6 2.93 0.083 3429.69 407.4 -82.73 11.36 0.007 3111.56 49.3 -4.396 - - - - - - 15.67 15.49 15.59
223.65 43.43 -17.37 42 229.18 roll -1.37 - - 1988.69 - 2.59 0.020 2249.50 -455.7 -82.73 - - 3112.41 - - - - - - - - - 15.84 -
414.08 67.61 -11.34 80 418.84 roll -1.37 - - 1988.38 - 2.50 0.063 1208.88 -416.2 -82.73 - - 3112.91 - - - - - - - - - 15.90 -
528.88 81.48 -10.79 103 534.29 roll -1.37 - - 1988.81 - 2.60 0.027 2355.69 441.1 -82.73 - - 3113.41 - - - - - - - - - 15.91 -
719.21 99.99 -8.93 141 724.39 roll -1.37 - - 1987.88 - 2.71 0.057 1207.12 -423.8 -82.73 - - 3114.62 - - - - - - - - - 15.95 -
793.84 106.65 -8.87 156 799.37 roll -1.37 - - 1988.44 - 2.59 0.027 2356.69 443.8 -82.73 - - 3114.44 - - - - - - - - - 15.95 -
1103.96 134.28 -9.47 218 1109.49 roll -1.37 - - 1989.19 - 2.60 0.084 3428.56 412.3 -82.73 - - 3113.88 - - - - - - - - - 15.96 -
1213.98 146.57 -11.53 240 1219.51 roll -1.37 - - 1988.88 - 2.56 0.020 2244.19 -462.6 -82.73 - - 3114.91 - - - - - - - - - 15.99 -
1524.09 175.19 -9.50 302 1529.20 roll -1.37 - - 1989.06 - 2.46 0.064 1207.44 -421.4 -82.73 - - 3115.84 - - - - - - - - - 16.01 -
1594.10 181.96 -9.68 316 1599.64 roll -1.37 - - 1988.81 - 2.59 0.028 2355.94 443.4 -82.73 - - 3114.97 - - - - - - - - - 16.02 -
1904.22 211.64 -9.37 378 1909.96 roll -1.37 - - 1988.25 - 2.73 0.059 1207.38 -420.7 -82.73 - - 3114.75 - - - - - - - - - 16.02 -
1974.35 218.41 -9.68 392 1979.77 roll -1.37 - - 1989.06 - 2.58 0.028 2354.81 444.7 -82.73 - - 3115.09 - - - - - - - - - 16.03 -
2284.29 247.56 -9.25 454 2285.62 no move -1.37 - - 1988.25 - - - 2355.31 - -82.73 - - 3112.75 - - - - - - - - - - -
2589.34 274.86 -9.52 515 2594.90 roll -1.37 - - 1988.81 - 2.72 0.060 1207.31 -422.1 -82.73 - - 3113.28 - - - - - - - - - 16.05 -
2639.34 279.83 -10.03 525 2644.88 roll -1.37 - - 1988.88 - 2.59 0.029 2353.19 442.4 -82.73 - - 3113.84 - - - - - - - - - 16.05 -
2948.31 308.66 -9.14 576 2959.71 no move -1.37 - - 1988.38 - - - 2353.12 - -82.73 - - 3113.00 - - - - - - - - - - -
3261.41 337.24 -8.99 605 3266.05 roll -1.37 - - 1988.56 - 2.71 0.061 1208.62 -422.3 -82.73 - - 3110.75 - - - - - - - - - 16.07 -
3393.01 349.90 -9.58 622 3397.62 roll -1.37 - - 1988.75 - 2.57 0.030 2353.62 445.5 -82.73 - - 3113.88 - - - - - - - - - 16.07 -
3704.42 376.81 -8.55 651 3709.07 roll -1.37 - - 1988.88 - 2.70 0.061 1208.56 -424.1 -82.73 - - 3110.03 - - - - - - - - - 16.07 -
3789.00 384.34 -8.92 662 3793.68 roll -1.37 - - 1988.56 - 2.57 0.029 2352.12 445.0 -82.73 - - 3110.00 - - - - - - - - - 16.07 -
4100.20 411.99 -9.13 691 4111.28 no move -1.37 - - 1989.06 - - - 2351.94 - -82.73 - - 3110.88 - - - - - - - - - - -
4413.18 439.68 -8.52 720 4417.82 roll -1.37 - - 1988.50 - 2.72 0.062 1208.62 -420.3 -82.73 - - 3109.41 - - - - - - - - - 16.08 -
4529.04 450.30 -9.20 735 4533.65 roll -1.37 - - 1988.69 - 2.59 0.030 2354.38 442.4 -82.73 - - 3109.62 - - - - - - - - - 16.08 -
4840.24 477.25 -8.49 764 4844.89 roll -1.37 - - 1988.50 - 2.70 0.062 1208.69 -424.3 -82.73 - - 3108.56 - - - - - - - - - 16.08 -
4894.51 481.83 -8.58 772 4909.43 roll -1.37 - - 1988.44 - 2.58 0.030 2352.75 443.4 -82.73 - - 3109.09 - - - - - - - - - 16.08 -
5215.52 507.87 -8.21 799 5220.17 roll -1.37 - - 1988.31 - 2.70 0.062 1208.19 -423.9 -82.73 - - 3109.72 - - - - - - - - - 16.08 -
5279.79 512.80 -8.40 809 5294.70 roll -1.37 - - 1988.44 - 2.59 0.030 2353.00 442.0 -82.73 - - 3109.06 - - - - - - - - - 16.08 -
5609.21 540.65 -8.68 831 5613.85 roll -1.37 - - 1986.38 - 2.71 0.062 1208.50 -422.3 -82.73 - - 3107.25 - - - - - - - - - 16.08 -
5750.08 553.67 -9.25 851 5754.88 roll -1.37 - - 1988.56 - 2.59 0.030 2352.00 441.5 -82.73 - - 3106.00 - - - - - - - - - 16.08 -
6066.67 581.74 -9.10 873 6071.31 roll -1.37 - - 1988.38 - 2.72 0.062 1207.31 -420.8 -82.73 - - 3105.19 - - - - - - - - - 16.07 -
6151.69 589.16 -9.41 886 6166.60 roll -1.37 - - 1988.56 - 2.58 0.030 2351.50 443.5 -82.73 - - 3106.72 - - - - - - - - - 16.08 -
6481.11 619.08 -8.74 908 6485.75 roll -1.37 - - 1988.38 - 2.71 0.063 1208.44 -421.8 -82.73 - - 3107.53 - - - - - - - - - 16.08 -
6581.87 627.77 -8.75 923 6587.40 roll -1.37 - - 1988.94 - 2.58 0.030 2352.12 443.3 -82.73 - - 3108.31 - - - - - - - - - 16.09 -
6901.39 655.14 -8.54 945 6902.71 no move -1.37 - - 1988.25 - - - 2351.69 - -82.73 - - 3104.38 - - - - - - - - - - -
7216.29 682.03 -8.45 966 7217.62 no move -1.37 - - 1988.31 - - - 2352.25 - -82.73 - - 3103.56 - - - - - - - - - - -
7531.30 707.81 -8.04 987 7535.94 roll -1.37 - - 1988.44 - 2.71 0.063 1207.25 -422.5 -82.73 - - 3104.03 - - - - - - - - - 16.07 -
7651.65 717.83 -8.38 1004 7656.27 roll -1.37 - - 1988.44 - 2.59 0.031 2351.81 441.9 -82.73 - - 3103.66 - - - - - - - - - 16.08 -
7968.13 742.71 -7.79 1026 7972.77 roll -1.37 - - 1988.62 - 2.72 0.064 1207.44 -420.7 -82.73 - - 3101.94 - - - - - - - - - 16.08 -
8032.40 747.52 -8.15 1036 8047.51 roll -1.37 - - 1988.75 - 2.59 0.031 2353.12 442.3 -82.73 - - 3103.22 - - - - - - - - - 16.09 -
8361.98 773.33 -7.79 1058 8366.62 roll -1.37 - - 1988.25 - 2.71 0.064 1209.69 -421.9 -82.73 - - 3103.66 - - - - - - - - - 16.07 -
8405.52 776.32 -7.89 1065 8420.44 roll -1.37 - - 1988.44 - 2.58 0.031 2353.31 443.3 -82.73 - - 3105.59 - - - - - - - - - 16.09 -
8734.93 802.10 -7.64 1087 8739.57 roll -1.37 - - 1988.62 - 2.71 0.064 1208.50 -422.4 -82.73 - - 3103.16 - - - - - - - - - 16.08 -
8835.66 810.10 -8.06 1102 8841.20 roll -1.37 - - 1988.50 - 2.58 0.031 2351.31 442.9 -82.73 - - 3103.59 - - - - - - - - - 16.08 -
9155.09 835.61 -8.06 1124 9159.72 roll -1.37 - - 1988.19 - 2.70 0.064 1209.81 -422.8 -82.73 - - 3102.66 - - - - - - - - - 16.07 -
9233.75 842.23 -8.38 1135 9238.35 roll -1.37 - - 1988.88 - 2.57 0.031 2353.31 444.9 -82.73 - - 3103.38 - - - - - - - - - 16.08 -
9550.23 868.44 -8.24 1157 9554.86 roll -1.37 - - 1988.56 - 2.62 0.095 3425.94 409.4 -82.73 - - 3105.03 - - - - - - - - - 16.04 -
9628.88 875.61 -9.02 1168 9633.50 roll -1.37 - - 1987.88 - 2.52 0.023 2246.69 -468.0 -82.73 - - 3101.81 - - - - - - - - - 16.06 -
9945.35 900.00 -7.54 1190 9950.02 roll -1.37 - - 1988.56 - 2.88 0.089 3425.50 409.3 -82.73 - - 3100.72 - - - - - - - - - 16.06 -
10004.63 904.83 -8.12 1199 10010.37 roll -1.37 - - 1988.38 - 2.54 0.023 2247.81 -463.7 -82.73 - - 3101.06 - - - - - - - - - 16.07 -
10324.17 928.48 -7.17 1221 10325.50 no move -1.37 - - 1988.50 - - - 2247.69 - -82.73 - - 3100.16 - - - - - - - - - - -
10639.09 950.03 -6.84 1242 10640.42 no move -1.37 - - 1988.62 - - - 2246.62 - -82.73 - - 3099.88 - - - - - - - - - - -
10954.15 970.75 -6.21 1263 10958.75 roll -1.37 - - 1988.19 - 2.46 0.070 1207.19 -422.5 -82.73 - - 3100.12 - - - - - - - - - 16.06 -
11055.06 977.55 -6.85 1278 11060.47 roll -1.37 - - 1988.44 - 2.59 0.031 2351.81 441.9 -82.73 - - 3101.19 - - - - - - - - - 16.07 -
11254 end dive: TARGET_DEPTH_EXCEEDED
11254 begin apogee
11256.12 990.37 -6.37 1292 11331.38 -0.28 1.81 0.151 2254.00 146.7 0.22 0.131 2284.31 -306.8 - 60.73 2.413 2775.00 -5.4 0.365 - - - - - - 15.97 15.65 11.72
11332 end apogee: CONTROL_FINISHED_OK
11332 begin climb
11333.23 991.54 - 1297 11404.51 1.37 2.62 0.096 2656.81 153.7 - - 2284.25 - 82.73 66.22 2.399 2437.25 -5.1 0.349 - - - - - - 15.69 - 12.67
11716.24 963.53 8.32 1326 11720.90 roll 1.37 - - 2656.56 - 2.83 0.074 1130.19 -407.8 82.73 - - 2430.78 - - - - - - - - - 15.73 -
11775.69 958.38 8.73 1335 11781.12 roll 1.37 - - 2656.06 - 2.65 0.030 2271.69 430.8 82.73 - - 2432.22 - - - - - - - - - 15.77 -
12094.94 933.05 7.69 1357 12096.26 no move 1.38 - - 2656.12 - - - 2272.06 - 82.73 - - 2429.09 - - - - - - - - - - -
12409.96 909.86 7.18 1378 12414.62 done 1.41 - - 2656.00 - 2.78 0.074 1131.25 -410.4 82.73 - - 2429.69 - - - - - - - - - 15.90 -
12515.71 902.08 7.84 1394 12530.62 done 1.42 - - 2656.50 - 2.61 0.031 2270.88 436.6 82.73 - - 2431.19 - - - - - - - - - 15.93 -
12845.13 878.31 6.86 1416 12846.46 VBD 1.45 - - 2657.12 - - - 2271.44 - 82.73 - - 2428.69 - - - - - - - - - - -
13160.18 857.05 6.76 1437 13161.51 VBD 1.49 - - 2656.38 - - - 2271.62 - 82.73 - - 2428.53 - - - - - - - - - - -
13475.21 836.71 6.41 1458 13505.78 1.55 0.23 0.078 2710.25 234.2 - - 2271.81 - 112.78 24.19 2.135 2315.53 -4.7 0.303 - - - - - - 15.96 - 11.98
13820.41 806.19 9.08 1481 13825.06 roll 1.55 - - 2709.94 - 2.78 0.074 1132.50 -409.8 112.78 - - 2309.72 - - - - - - - - - 15.92 -
13900.61 798.44 9.75 1493 13905.98 roll 1.55 - - 2710.38 - 2.61 0.031 2271.06 436.2 112.78 - - 2312.03 - - - - - - - - - 15.93 -
14219.84 767.99 9.48 1515 14221.17 no move 1.55 - - 2710.38 - - - 2270.75 - 112.78 - - 2310.25 - - - - - - - - - - -
14534.86 738.84 9.07 1536 14539.81 roll 1.55 - - 2708.62 - 2.74 0.074 1131.38 -415.8 112.78 - - 2310.34 - - - - - - - - - 15.99 -
14656.56 727.55 9.45 1554 14661.92 roll 1.55 - - 2710.88 - 2.60 0.031 2272.06 438.7 112.78 - - 2310.44 - - - - - - - - - 16.00 -
14975.81 699.02 8.73 1576 14977.14 no move 1.55 - - 2710.44 - - - 2272.12 - 112.78 - - 2309.44 - - - - - - - - - - -
15290.83 672.55 8.29 1597 15295.47 roll 1.55 - - 2710.62 - 2.74 0.074 1130.81 -416.5 112.78 - - 2310.72 - - - - - - - - - 16.01 -
15390.22 664.06 8.54 1611 15394.83 roll 1.55 - - 2711.25 - 2.59 0.031 2273.56 441.2 112.78 - - 2308.12 - - - - - - - - - 16.02 -
15706.71 639.15 7.80 1633 15708.04 no move 1.56 - - 2710.75 - - - 2272.88 - 112.78 - - 2308.16 - - - - - - - - - - -
16021.72 614.63 7.54 1654 16026.37 roll 1.58 - - 2710.94 - 2.76 0.074 1129.81 -414.2 112.78 - - 2308.09 - - - - - - - - - 16.03 -
16183.34 601.19 8.44 1677 16187.96 roll 1.58 - - 2710.38 - 2.60 0.031 2271.62 439.2 112.78 - - 2309.41 - - - - - - - - - 16.05 -
16500.06 576.61 7.89 1699 16501.39 no move 1.59 - - 2710.00 - - - 2271.19 - 112.78 - - 2308.22 - - - - - - - - - - -
16814.86 551.78 7.49 1720 16816.19 no move 1.61 - - 2710.31 - - - 2271.25 - 112.78 - - 2308.19 - - - - - - - - - - -
17129.88 526.62 8.16 1741 17131.20 no move 1.61 - - 2711.06 - - - 2271.44 - 112.78 - - 2307.72 - - - - - - - - - - -
17444.90 502.36 7.21 1762 17446.23 no move 1.63 - - 2711.25 - - - 2271.62 - 112.78 - - 2308.16 - - - - - - - - - - -
17748.04 480.43 7.13 1789 17759.11 no move 1.66 - - 2711.19 - - - 2271.62 - 112.78 - - 2308.62 - - - - - - - - - - -
18061.28 456.87 7.71 1818 18065.93 roll 1.68 - - 2711.12 - 2.75 0.074 1132.31 -414.3 112.78 - - 2307.31 - - - - - - - - - 16.05 -
18147.02 449.60 8.52 1830 18161.94 roll 1.68 - - 2711.06 - 2.59 0.031 2274.56 441.0 112.78 - - 2308.56 - - - - - - - - - 16.06 -
18463.44 424.58 7.63 1859 18468.06 roll 1.69 - - 2710.44 - 2.62 0.092 3344.75 408.5 112.78 - - 2310.12 - - - - - - - - - 16.03 -
18533.44 418.88 8.21 1869 18548.36 roll 1.69 - - 2710.69 - 2.54 0.024 2185.56 -456.4 112.78 - - 2309.09 - - - - - - - - - 16.05 -
18849.91 395.18 7.32 1898 18854.53 roll 1.72 - - 2711.88 - 2.53 0.078 1131.25 -416.7 112.78 - - 2308.94 - - - - - - - - - 16.04 -
19028.94 381.52 7.53 1921 19033.63 roll back 1.73 0.17 0.091 2753.62 245.5 2.59 0.030 2274.88 441.6 112.78 - - 2307.50 - - - - - - - - 15.94 16.05 -
19340.51 357.55 7.58 1950 19351.58 no move 1.75 - - 2753.19 - - - 2274.50 - 112.78 - - 2309.44 - - - - - - - - - - -
19653.35 333.76 7.59 1979 19658.00 roll 1.77 - - 2754.25 - 2.75 0.073 1129.88 -416.2 112.78 - - 2311.16 - - - - - - - - - 16.04 -
19817.76 320.38 7.94 2001 19832.85 roll 1.78 - - 2753.94 - 2.59 0.031 2274.06 441.8 112.78 - - 2309.88 - - - - - - - - - 16.06 -
20135.34 297.76 7.34 2032 20136.67 no move 1.80 - - 2754.56 - - - 2273.88 - 112.78 - - 2308.31 - - - - - - - - - - -
20439.86 277.19 6.51 2093 20445.41 roll 1.84 - - 2754.12 - 2.76 0.072 1130.06 -414.4 112.78 - - 2310.94 - - - - - - - - - 16.03 -
20529.89 271.12 6.88 2111 20535.40 roll 1.87 - - 2754.38 - 2.59 0.030 2276.00 442.4 112.78 - - 2308.97 - - - - - - - - - 16.04 -
20839.97 250.82 6.60 2173 20841.41 pitch 1.91 0.16 0.093 2797.75 271.1 - - 2275.94 - 112.78 - - 2307.53 - - - - - - - - 16.00 - -
21145.45 227.90 7.57 2234 21146.78 no move 1.93 - - 2798.25 - - - 2275.31 - 112.78 - - 2307.72 - - - - - - - - - - -
21450.15 205.83 7.27 2295 21455.68 roll 1.95 - - 2798.31 - 2.62 0.089 3348.25 409.5 112.78 - - 2309.62 - - - - - - - - - 16.02 -
21495.16 202.35 7.74 2304 21500.68 roll 1.97 - - 2797.75 - 2.56 0.023 2183.94 -454.8 112.78 - - 2310.69 - - - - - - - - - 16.03 -
21805.44 180.07 6.65 2366 21806.77 no move 2.00 - - 2798.19 - - - 2183.50 - 112.78 - - 2309.09 - - - - - - - - - - -
22110.30 160.70 6.47 2427 22115.81 roll 2.04 - - 2798.50 - 2.52 0.077 1130.12 -418.0 112.78 - - 2310.00 - - - - - - - - - 16.03 -
22340.32 146.21 5.46 2473 22377.93 2.13 0.22 0.080 2851.25 239.8 2.59 0.029 2277.31 442.9 156.75 32.81 1.348 2134.47 -5.3 0.096 - - - - - - 15.92 16.04 11.87
22680.35 118.96 8.59 2541 22685.91 roll 2.13 - - 2852.25 - 2.77 0.071 1129.81 -414.3 156.75 - - 2131.47 - - - - - - - - - 15.96 -
22900.38 98.34 8.36 2585 22905.92 roll 2.13 - - 2851.62 - 2.59 0.029 2274.75 442.1 156.75 - - 2130.44 - - - - - - - - - 15.97 -
23090.42 86.51 5.96 2623 23122.91 done 2.20 - - 2852.38 - 2.76 0.072 1127.88 -415.5 193.37 28.08 1.245 1985.44 -5.2 0.059 - - - - - - - 15.90 12.20
23335.50 70.31 5.67 2672 23371.95 done 2.28 - - 2852.38 - 2.60 0.029 2276.06 441.6 234.24 31.65 1.218 1819.75 -5.2 0.050 - - - - - - - 15.94 12.46
23555.47 54.02 6.99 2716 23561.06 roll back 2.31 0.17 0.084 2897.00 262.5 2.64 0.088 3347.06 405.7 234.24 - - 1813.72 - - - - - - - - 15.86 15.84 -
23790.51 41.95 3.89 2763 23844.72 done 2.45 - - 2897.50 - 2.56 0.022 2177.56 -456.8 301.17 49.35 1.192 1547.09 -5.4 0.031 - - - - - - - 15.91 12.24
24026.87 26.82 5.67 2810 24063.52 2.53 0.23 0.075 2948.38 221.2 2.90 0.083 3347.38 403.4 342.02 31.32 1.136 1382.09 -5.3 0.021 - - - - - - 15.81 15.70 12.47
24216.92 25.15 0.55 2848 24307.46 2.76 0.25 0.078 3001.62 213.0 2.58 0.022 2175.69 -454.1 457.89 84.62 1.148 908.81 -5.6 0.020 - - - - - - 15.77 15.81 12.48
24489 end climb: SURFACE_DEPTH_REACHED
24489 begin surface coast
24530 end surface coast: CONTROL_FINISHED_OK
24530 begin surface
SM 0.82 - - - - 180.6 - - 899.9 - 17.44 0.050 896.8 51.4 - 0.37 0.065 903.1 2433.8 -3.138 - - 30.00 15.73 15.75 -