NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 528 * Raw log
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• Previous call tries 1 • 172.13 of 550.00 AH used of 24V (68.70% remains)
• Surface angle -63.1 deg, depth 0.63 m • Intended pitch -20.3 deg, speed -8.462 cm/s
• No surface pump (final VBD was 988.2, SM_CC=425)
• GPS1 time: 66 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.21 - - - 61.86 VBD -1.29 - - 180.44 - - - 2363.31 - -82.73 55.49 0.005 2508.53 - - - - - - - - - - 15.35
62.59 3.63 -7.02 10 99.99 -1.29 14.70 0.250 2015.31 124.8 2.68 0.086 3430.38 398.2 -82.73 12.38 0.007 3113.31 48.9 -4.239 - - - - - - 15.52 15.28 15.42
277.08 50.04 -14.77 53 282.64 roll -1.29 - - 2017.00 - 2.62 0.020 2248.81 -451.0 -82.73 - - 3114.06 - - - - - - - - - 15.78 -
467.86 74.68 -11.97 91 469.19 no move -1.29 - - 2016.62 - - - 2247.00 - -82.73 - - 3113.12 - - - - - - - - - - -
652.13 95.04 -10.46 128 657.66 roll -1.29 - - 2016.69 - 2.51 0.064 1207.56 -414.1 -82.73 - - 3114.78 - - - - - - - - - 15.86 -
682.14 98.27 -10.77 134 688.00 roll -1.29 - - 2016.81 - 2.62 0.027 2354.62 437.8 -82.73 - - 3114.47 - - - - - - - - - 15.86 -
872.16 117.36 -9.62 172 877.73 roll -1.29 - - 2016.81 - 2.76 0.059 1206.88 -415.8 -82.73 - - 3115.03 - - - - - - - - - 15.88 -
942.18 124.08 -9.57 186 947.73 roll -1.29 - - 2017.12 - 2.62 0.027 2354.38 438.0 -82.73 - - 3114.19 - - - - - - - - - 15.90 -
1252.23 150.62 -8.50 248 1257.79 roll -1.29 - - 2017.38 - 2.76 0.059 1208.56 -415.2 -82.73 - - 3115.28 - - - - - - - - - 15.92 -
1317.23 156.01 -8.22 261 1322.78 roll -1.29 - - 2017.25 - 2.61 0.027 2354.69 439.1 -82.73 - - 3115.50 - - - - - - - - - 15.92 -
1627.27 180.36 -7.92 323 1628.60 no move -1.29 - - 2017.00 - - - 2354.75 - -82.73 - - 3114.03 - - - - - - - - - - -
1932.37 205.00 -8.37 384 1933.70 no move -1.29 - - 2017.25 - - - 2354.69 - -82.73 - - 3113.78 - - - - - - - - - - -
2237.59 231.03 -8.80 445 2243.03 roll -1.29 - - 2016.88 - 2.77 0.060 1208.50 -413.8 -82.73 - - 3114.38 - - - - - - - - - 15.97 -
2292.48 236.04 -9.15 456 2298.03 roll -1.29 - - 2017.81 - 2.61 0.028 2354.56 439.1 -82.73 - - 3114.38 - - - - - - - - - 15.97 -
2602.59 264.01 -8.80 518 2603.92 no move -1.29 - - 2017.25 - - - 2354.69 - -82.73 - - 3113.25 - - - - - - - - - - -
2907.90 290.52 -8.54 579 2913.25 roll -1.29 - - 2017.50 - 2.78 0.061 1209.81 -411.8 -82.73 - - 3114.34 - - - - - - - - - 15.98 -
2967.72 295.60 -8.53 591 2973.25 roll -1.29 - - 2017.25 - 2.61 0.028 2351.38 437.4 -82.73 - - 3114.91 - - - - - - - - - 15.99 -
3282.85 320.06 -7.72 626 3293.92 no move -1.29 - - 2017.31 - - - 2351.25 - -82.73 - - 3112.69 - - - - - - - - - - -
3596.00 344.51 -7.81 655 3600.64 roll -1.29 - - 2015.56 - 2.78 0.062 1208.81 -410.9 -82.73 - - 3112.72 - - - - - - - - - 16.00 -
3648.93 348.91 -8.13 662 3653.55 roll -1.29 - - 2016.69 - 2.61 0.029 2350.88 437.6 -82.73 - - 3113.12 - - - - - - - - - 16.01 -
3960.13 374.58 -8.44 691 3971.20 no move -1.29 - - 2017.06 - - - 2352.31 - -82.73 - - 3111.84 - - - - - - - - - - -
4273.01 400.46 -8.21 720 4277.97 roll -1.29 - - 2016.69 - 2.78 0.063 1209.56 -411.1 -82.73 - - 3110.81 - - - - - - - - - 16.00 -
4327.34 404.96 -8.36 728 4342.28 roll -1.29 - - 2016.62 - 2.61 0.029 2351.31 437.5 -82.73 - - 3111.75 - - - - - - - - - 16.02 -
4643.47 430.71 -8.27 757 4648.11 roll -1.29 - - 2016.00 - 2.78 0.062 1210.00 -410.5 -82.73 - - 3111.06 - - - - - - - - - 16.00 -
4727.88 438.19 -8.86 768 4732.50 roll -1.29 - - 2016.94 - 2.61 0.029 2351.62 437.4 -82.73 - - 3109.47 - - - - - - - - - 16.01 -
5039.84 464.41 -8.66 797 5044.46 roll -1.29 - - 2016.62 - 2.66 0.091 3424.19 403.2 -82.73 - - 3110.59 - - - - - - - - - 15.96 -
5125.58 472.62 -9.68 809 5140.52 roll -1.29 - - 2017.44 - 2.57 0.021 2245.88 -458.5 -82.73 - - 3108.78 - - - - - - - - - 16.02 -
5441.73 499.86 -8.35 838 5452.79 no move -1.29 - - 2017.31 - - - 2245.62 - -82.73 - - 3109.34 - - - - - - - - - - -
5768.18 526.19 -8.03 860 5769.51 no move -1.29 - - 2017.06 - - - 2246.00 - -82.73 - - 3107.28 - - - - - - - - - - -
6083.19 550.92 -7.93 881 6084.52 no move -1.29 - - 2017.12 - - - 2245.94 - -82.73 - - 3106.97 - - - - - - - - - - -
6398.22 576.12 -8.13 902 6399.55 no move -1.29 - - 2017.62 - - - 2245.50 - -82.73 - - 3105.72 - - - - - - - - - - -
6713.22 601.85 -8.21 923 6714.54 no move -1.29 - - 2017.31 - - - 2245.56 - -82.73 - - 3105.12 - - - - - - - - - - -
7028.23 627.31 -7.93 944 7032.90 roll -1.29 - - 2014.88 - 2.95 0.087 3423.94 399.5 -82.73 - - 3106.53 - - - - - - - - - 15.94 -
7108.42 634.36 -8.86 956 7113.82 roll -1.29 - - 2015.75 - 2.57 0.022 2248.88 -457.2 -82.73 - - 3106.78 - - - - - - - - - 16.02 -
7427.81 658.08 -7.00 978 7429.14 no move -1.29 - - 2016.81 - - - 2248.19 - -82.73 - - 3104.78 - - - - - - - - - - -
7742.66 680.14 -6.98 999 7743.99 no move -1.29 - - 2017.31 - - - 2248.19 - -82.73 - - 3103.88 - - - - - - - - - - -
8057.69 702.08 -6.91 1020 8059.02 no move -1.29 - - 2017.12 - - - 2248.00 - -82.73 - - 3102.31 - - - - - - - - - - -
8372.73 723.87 -7.13 1041 8374.06 no move -1.29 - - 2016.75 - - - 2247.81 - -82.73 - - 3102.69 - - - - - - - - - - -
8687.77 746.70 -7.24 1062 8692.44 roll -1.29 - - 2015.25 - 2.96 0.089 3426.00 398.0 -82.73 - - 3103.84 - - - - - - - - - 15.91 -
8808.12 756.70 -8.38 1079 8812.73 roll -1.29 - - 2015.88 - 2.57 0.022 2250.88 -457.2 -82.73 - - 3103.25 - - - - - - - - - 16.02 -
9124.60 779.37 -7.11 1101 9125.93 no move -1.29 - - 2016.56 - - - 2250.69 - -82.73 - - 3101.84 - - - - - - - - - - -
9439.62 802.36 -7.45 1122 9440.95 no move -1.29 - - 2017.12 - - - 2249.88 - -82.73 - - 3101.12 - - - - - - - - - - -
9754.87 824.90 -6.86 1143 9759.55 roll -1.29 - - 2017.31 - 2.97 0.089 3425.81 395.9 -82.73 - - 3101.97 - - - - - - - - - 15.90 -
9834.87 831.15 -7.83 1155 9840.40 roll -1.29 - - 2016.88 - 2.58 0.023 2252.12 -454.9 -82.73 - - 3101.91 - - - - - - - - - 16.01 -
10154.29 852.21 -6.21 1177 10158.97 roll -1.29 - - 2017.56 - 2.95 0.088 3425.62 397.8 -82.73 - - 3100.53 - - - - - - - - - 15.89 -
10253.86 859.39 -7.24 1191 10258.53 roll -1.29 - - 2016.69 - 2.58 0.023 2252.31 -454.8 -82.73 - - 3100.47 - - - - - - - - - 16.00 -
10570.34 879.36 -6.15 1213 10574.95 roll -1.29 - - 2017.00 - 2.53 0.072 1209.31 -412.3 -82.73 - - 3100.38 - - - - - - - - - 15.93 -
10629.95 883.18 -6.45 1222 10635.48 roll -1.29 - - 2017.38 - 2.62 0.031 2350.31 435.5 -82.73 - - 3101.62 - - - - - - - - - 16.01 -
10949.36 902.65 -5.88 1244 10950.69 no move -1.29 - - 2017.06 - - - 2350.31 - -82.73 - - 3099.97 - - - - - - - - - - -
11264.39 920.75 -5.72 1265 11269.02 roll -1.29 - - 2015.38 - 2.78 0.066 1209.88 -410.2 -82.73 - - 3101.38 - - - - - - - - - 15.92 -
11323.67 924.29 -6.00 1274 11329.20 roll -1.29 - - 2017.00 - 2.62 0.031 2351.50 435.7 -82.73 - - 3101.25 - - - - - - - - - 16.01 -
11643.08 941.82 -5.29 1296 11644.41 no move -1.29 - - 2017.25 - - - 2351.75 - -82.73 - - 3099.47 - - - - - - - - - - -
11958.27 959.07 -5.58 1317 11962.91 roll -1.29 - - 2017.38 - 2.78 0.067 1210.00 -410.7 -82.73 - - 3099.47 - - - - - - - - - 15.92 -
12022.56 962.56 -5.90 1327 12037.48 roll -1.29 - - 2016.94 - 2.62 0.031 2351.81 435.8 -82.73 - - 3100.12 - - - - - - - - - 16.01 -
12351.96 982.90 -6.15 1349 12353.29 no move -1.29 - - 2017.06 - - - 2352.00 - -82.73 - - 3098.53 - - - - - - - - - - -
12472 end dive: TARGET_DEPTH_EXCEEDED
12472 begin apogee
12473.78 990.51 -6.35 1357 12549.88 -0.28 1.74 0.141 2264.62 142.3 0.20 0.143 2282.00 -350.0 - 61.40 2.452 2773.66 -5.3 0.358 - - - - - - 15.80 15.57 10.86
12551 end apogee: CONTROL_FINISHED_OK
12551 begin climb
12551.98 992.03 - 1362 12626.13 1.29 2.56 0.093 2650.12 150.6 - - 2281.38 - 82.73 67.31 2.414 2436.84 -5.0 0.344 - - - - - - 15.63 - 12.38
12938.50 968.41 7.06 1388 12943.16 roll 1.32 - - 2649.69 - 2.89 0.075 1133.56 -397.2 82.73 - - 2430.06 - - - - - - - - - 15.66 -
12996.43 964.11 7.31 1396 13001.05 roll 1.35 - - 2648.75 - 2.65 0.031 2271.12 429.3 82.73 - - 2431.16 - - - - - - - - - 15.69 -
13312.93 942.69 6.66 1418 13314.26 no move 1.38 - - 2649.62 - - - 2272.31 - 82.73 - - 2429.16 - - - - - - - - - - -
13627.95 920.84 6.96 1439 13632.61 roll 1.41 - - 2649.94 - 2.82 0.075 1132.69 -404.1 82.73 - - 2430.25 - - - - - - - - - 15.81 -
13706.61 914.82 7.57 1450 13711.31 roll back 1.43 0.16 0.098 2691.19 257.8 2.63 0.031 2270.38 432.6 82.73 - - 2429.19 - - - - - - - - 15.70 15.84 -
14023.10 888.54 8.48 1472 14027.74 done 1.43 - - 2690.19 - 2.71 0.095 3344.81 396.5 82.73 - - 2429.06 - - - - - - - - - 15.82 -
14060.46 885.13 8.87 1477 14065.13 roll 1.43 - - 2690.19 - 2.60 0.024 2187.75 -445.0 82.73 - - 2430.44 - - - - - - - - - 15.88 -
14376.95 857.64 8.71 1499 14381.26 done 1.43 - - 2691.88 - 2.62 0.078 1132.62 -402.7 82.73 - - 2430.31 - - - - - - - - - 15.86 -
14456.95 850.37 9.18 1511 14462.50 done 1.43 - - 2691.56 - 2.62 0.031 2272.81 435.2 82.73 - - 2430.19 - - - - - - - - - 15.91 -
14776.35 822.37 8.83 1533 14781.01 done 1.43 - - 2691.94 - 2.83 0.074 1132.00 -403.1 82.73 - - 2430.44 - - - - - - - - - 15.87 -
14814.89 819.03 8.90 1539 14820.43 done 1.43 - - 2691.44 - 2.62 0.031 2273.25 435.6 82.73 - - 2430.28 - - - - - - - - - 15.93 -
15134.29 792.36 8.02 1561 15138.96 done 1.43 - - 2691.81 - 2.81 0.074 1131.00 -406.5 82.73 - - 2429.19 - - - - - - - - - 15.88 -
15198.56 787.52 8.24 1571 15213.49 done 1.43 - - 2691.50 - 2.61 0.031 2272.50 437.4 82.73 - - 2429.22 - - - - - - - - - 15.95 -
15527.98 762.69 7.18 1593 15529.31 VBD 1.45 - - 2691.94 - - - 2272.25 - 82.73 - - 2428.12 - - - - - - - - - - -
15843.00 740.21 6.95 1614 15844.33 VBD 1.49 - - 2691.69 - - - 2272.25 - 82.73 - - 2427.59 - - - - - - - - - - -
16158.02 718.73 6.86 1635 16162.68 done 1.52 - - 2691.56 - 2.81 0.075 1132.19 -405.7 82.73 - - 2427.75 - - - - - - - - - 15.89 -
16284.91 709.57 7.66 1654 16299.69 done 1.53 - - 2691.56 - 2.60 0.031 2272.12 438.4 82.73 - - 2429.16 - - - - - - - - - 15.97 -
16614.13 687.63 6.30 1676 16657.98 1.61 0.18 0.084 2735.06 241.7 2.81 0.078 1129.81 -406.5 123.25 32.17 2.030 2271.31 -4.9 0.278 - - - - - - 15.94 15.81 11.37
16727.25 678.26 8.77 1693 16742.19 roll 1.61 - - 2734.94 - 2.63 0.031 2270.62 433.8 123.25 - - 2268.12 - - - - - - - - - 15.83 -
17056.68 645.27 9.96 1715 17058.01 no move 1.61 - - 2735.38 - - - 2270.94 - 123.25 - - 2266.62 - - - - - - - - - - -
17371.73 615.22 9.37 1736 17373.06 no move 1.61 - - 2735.19 - - - 2270.81 - 123.25 - - 2266.03 - - - - - - - - - - -
17686.76 586.11 9.30 1757 17688.09 no move 1.61 - - 2734.81 - - - 2270.81 - 123.25 - - 2265.94 - - - - - - - - - - -
18001.80 558.25 8.83 1778 18006.46 roll 1.61 - - 2732.81 - 2.82 0.075 1131.19 -404.1 123.25 - - 2266.91 - - - - - - - - - 15.87 -
18061.07 552.55 9.60 1787 18066.62 roll 1.61 - - 2734.19 - 2.62 0.031 2272.56 435.6 123.25 - - 2267.97 - - - - - - - - - 15.93 -
18380.47 523.14 9.22 1809 18381.80 no move 1.61 - - 2734.94 - - - 2272.69 - 123.25 - - 2265.59 - - - - - - - - - - -
18689.16 494.03 9.30 1831 18700.23 no move 1.61 - - 2735.62 - - - 2273.25 - 123.25 - - 2266.66 - - - - - - - - - - -
19001.95 465.92 8.75 1860 19013.02 no move 1.61 - - 2735.44 - - - 2272.19 - 123.25 - - 2266.47 - - - - - - - - - - -
19314.71 440.17 7.83 1889 19319.41 roll 1.63 - - 2735.38 - 2.78 0.074 1131.06 -410.5 123.25 - - 2264.88 - - - - - - - - - 15.88 -
19416.17 431.89 8.32 1903 19431.08 roll 1.63 - - 2734.56 - 2.60 0.031 2271.50 438.6 123.25 - - 2267.56 - - - - - - - - - 15.97 -
19732.55 407.78 7.42 1932 19743.62 no move 1.65 - - 2735.31 - - - 2271.62 - 123.25 - - 2265.91 - - - - - - - - - - -
20045.13 384.61 7.61 1961 20049.77 roll 1.66 - - 2735.19 - 2.80 0.074 1131.12 -407.3 123.25 - - 2265.81 - - - - - - - - - 15.88 -
20145.24 376.55 8.06 1974 20149.84 roll 1.66 - - 2734.38 - 2.60 0.031 2274.56 439.8 123.25 - - 2265.56 - - - - - - - - - 15.96 -
20456.99 353.89 7.55 2003 20468.06 no move 1.68 - - 2736.06 - - - 2274.31 - 123.25 - - 2266.25 - - - - - - - - - - -
20770.19 330.62 7.48 2032 20781.25 no move 1.70 - - 2735.81 - - - 2274.88 - 123.25 - - 2266.09 - - - - - - - - - - -
21083.22 306.90 7.76 2061 21087.86 roll 1.72 - - 2733.19 - 2.80 0.074 1132.25 -408.1 123.25 - - 2266.75 - - - - - - - - - 15.88 -
21121.78 303.93 7.85 2067 21136.68 roll 1.73 - - 2734.81 - 2.60 0.030 2273.50 438.9 123.25 - - 2266.47 - - - - - - - - - 15.98 -
21437.51 281.39 7.08 2123 21438.84 no move 1.76 - - 2734.81 - - - 2274.00 - 123.25 - - 2264.88 - - - - - - - - - - -
21742.69 260.44 7.04 2184 21744.12 pitch 1.78 0.16 0.094 2778.19 271.1 - - 2273.12 - 123.25 - - 2264.81 - - - - - - - - 15.93 - -
22048.11 238.11 7.12 2245 22049.44 no move 1.81 - - 2778.06 - - - 2273.00 - 123.25 - - 2264.56 - - - - - - - - - - -
22352.84 216.97 6.67 2306 22358.41 roll 1.85 - - 2778.31 - 2.81 0.073 1129.81 -406.8 123.25 - - 2267.25 - - - - - - - - - 15.87 -
22477.88 208.04 7.18 2331 22483.41 roll 1.87 - - 2778.44 - 2.61 0.030 2274.38 438.5 123.25 - - 2266.56 - - - - - - - - - 15.97 -
22787.95 187.44 6.42 2393 22818.61 1.95 0.14 0.092 2817.62 279.9 - - 2274.69 - 161.53 29.55 1.411 2116.12 -5.1 0.113 - - - - - - 15.94 - 11.26
23122.97 159.07 8.75 2460 23128.53 roll 1.95 - - 2816.94 - 2.80 0.072 1132.38 -408.0 161.53 - - 2111.72 - - - - - - - - - 15.86 -
23252.99 146.71 9.55 2486 23258.73 roll 1.95 - - 2816.81 - 2.61 0.030 2276.06 438.2 161.53 - - 2111.03 - - - - - - - - - 15.90 -
23563.03 120.02 8.14 2548 23568.58 roll 1.95 - - 2817.06 - 2.66 0.089 3346.50 402.4 161.53 - - 2111.78 - - - - - - - - - 15.85 -
23638.05 113.53 8.99 2563 23643.57 roll 1.95 - - 2817.06 - 2.58 0.023 2183.38 -450.8 161.53 - - 2111.81 - - - - - - - - - 15.91 -
23948.11 93.55 5.50 2625 23990.93 VBD 2.06 - - 2817.00 - - - 2183.69 - 217.05 42.12 1.293 1889.41 -5.3 0.064 - - - - - - - - 11.75
24173.13 79.42 6.31 2670 24209.74 2.14 0.19 0.079 2861.69 235.2 2.91 0.086 3347.38 399.9 257.42 31.31 1.223 1726.44 -5.2 0.057 - - - - - - 15.79 15.72 12.07
24368.14 63.17 8.83 2709 24373.67 roll 2.14 - - 2861.50 - 2.60 0.023 2187.31 -446.2 257.42 - - 1721.69 - - - - - - - - - 15.78 -
24558.58 48.80 7.21 2747 24563.88 roll 2.17 - - 2862.50 - 2.56 0.076 1129.69 -413.1 257.42 - - 1718.25 - - - - - - - - - 15.80 -
24583.30 46.86 7.56 2752 24588.73 done 2.18 - - 2862.81 - 2.62 0.028 2277.50 438.1 257.42 - - 1717.25 - - - - - - - - - 15.82 -
24773.22 37.27 4.23 2790 24837.70 2.34 0.22 0.073 2912.25 224.7 2.79 0.072 1131.19 -410.9 336.85 59.03 1.195 1401.91 -5.3 0.028 - - - - - - 15.82 15.67 11.84
25065.25 22.21 3.09 2848 25145.00 2.54 0.22 0.073 2962.44 228.1 2.61 0.027 2278.31 439.5 437.61 74.39 1.150 991.78 -5.5 0.018 - - - - - - 15.66 15.75 11.98
25302 end climb: SURFACE_DEPTH_REACHED
25302 begin surface coast
25347 end surface coast: CONTROL_FINISHED_OK
25347 begin surface
SM 0.81 - - - - 176.9 - - 984.6 - 17.22 0.045 980.9 57.0 - 0.11 0.128 988.2 8959.9 -5.795 - - 30.00 15.65 15.68 -