NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 613 * Raw log
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• Previous call tries 1 • 203.09 of 550.00 AH used of 24V (63.07% remains)
• Surface angle -62.9 deg, depth 0.56 m • Intended pitch -20.3 deg, speed -8.462 cm/s
• No surface pump (final VBD was 882.6, SM_CC=425)
• GPS1 time: 23 s
• GPS2 time: 3 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
5.31 - - - 66.96 VBD -1.29 - - 176.81 - - - 2249.88 - -82.73 60.51 0.005 2492.88 - - - - - - - - - - 15.21
67.68 3.64 -6.63 11 105.71 -1.29 14.75 0.246 2017.56 124.8 2.98 0.083 3430.00 396.0 -82.73 12.74 0.007 3112.09 48.6 -4.290 - - - - - - 15.46 15.17 15.31
132.78 20.72 -25.82 24 138.33 roll -1.29 - - 2017.69 - 2.62 0.020 2254.50 -448.7 -82.73 - - 3113.00 - - - - - - - - - 15.74 -
323.23 53.79 -12.66 62 328.56 roll -1.29 - - 2017.50 - 2.55 0.064 1208.56 -410.2 -82.73 - - 3113.44 - - - - - - - - - 15.79 -
433.00 67.93 -12.12 84 438.44 roll -1.29 - - 2017.56 - 2.62 0.028 2353.62 437.0 -82.73 - - 3113.31 - - - - - - - - - 15.81 -
623.34 89.37 -9.63 122 628.51 roll -1.29 - - 2017.31 - 2.77 0.059 1208.31 -413.5 -82.73 - - 3114.34 - - - - - - - - - 15.84 -
677.97 94.36 -9.09 133 683.52 roll -1.29 - - 2017.25 - 2.61 0.027 2354.88 439.3 -82.73 - - 3113.84 - - - - - - - - - 15.85 -
868.01 111.16 -9.12 171 869.34 no move -1.29 - - 2017.00 - - - 2355.31 - -82.73 - - 3112.66 - - - - - - - - - - -
1173.06 138.61 -9.38 232 1178.62 roll -1.29 - - 2017.44 - 2.79 0.059 1208.50 -411.0 -82.73 - - 3114.75 - - - - - - - - - 15.90 -
1223.07 143.15 -9.08 242 1228.59 roll -1.29 - - 2017.25 - 2.60 0.027 2356.38 441.5 -82.73 - - 3115.59 - - - - - - - - - 15.90 -
1533.10 169.34 -7.88 304 1534.43 no move -1.29 - - 2017.12 - - - 2355.94 - -82.73 - - 3114.12 - - - - - - - - - - -
1838.13 194.88 -8.23 365 1843.71 roll -1.29 - - 2017.31 - 2.80 0.060 1208.44 -409.8 -82.73 - - 3115.09 - - - - - - - - - 15.92 -
1878.13 198.29 -8.53 373 1883.88 roll -1.29 - - 2017.44 - 2.61 0.028 2355.44 439.5 -82.73 - - 3115.03 - - - - - - - - - 15.94 -
2188.29 222.85 -7.79 435 2193.74 roll -1.29 - - 2017.88 - 2.79 0.060 1209.44 -410.8 -82.73 - - 3114.91 - - - - - - - - - 15.93 -
2253.18 228.28 -8.46 448 2258.72 roll -1.29 - - 2017.31 - 2.60 0.028 2353.31 439.9 -82.73 - - 3115.59 - - - - - - - - - 15.94 -
2563.23 253.58 -8.13 510 2564.56 no move -1.29 - - 2017.31 - - - 2353.69 - -82.73 - - 3114.00 - - - - - - - - - - -
2868.26 276.79 -7.65 571 2873.82 roll -1.29 - - 2017.25 - 2.78 0.061 1209.62 -411.5 -82.73 - - 3114.12 - - - - - - - - - 15.94 -
2923.26 281.27 -8.22 582 2928.80 roll -1.29 - - 2016.88 - 2.59 0.029 2354.12 441.9 -82.73 - - 3115.00 - - - - - - - - - 15.96 -
3229.86 305.06 -7.63 636 3234.52 roll -1.29 - - 2017.44 - 2.77 0.062 1208.56 -413.6 -82.73 - - 3111.84 - - - - - - - - - 15.95 -
3314.26 311.74 -7.91 647 3318.88 roll -1.29 - - 2016.75 - 2.60 0.029 2353.50 440.4 -82.73 - - 3113.97 - - - - - - - - - 15.99 -
3625.95 334.78 -7.29 676 3637.03 no move -1.29 - - 2017.56 - - - 2353.50 - -82.73 - - 3112.72 - - - - - - - - - - -
3938.98 357.83 -7.56 705 3950.04 no move -1.29 - - 2017.69 - - - 2353.88 - -82.73 - - 3112.28 - - - - - - - - - - -
4252.61 382.69 -7.95 734 4257.25 roll -1.29 - - 2017.69 - 2.79 0.063 1209.38 -410.2 -82.73 - - 3110.12 - - - - - - - - - 15.95 -
4338.35 389.82 -8.38 746 4353.27 roll -1.29 - - 2017.25 - 2.60 0.029 2353.88 440.2 -82.73 - - 3110.50 - - - - - - - - - 16.00 -
4654.55 413.52 -7.44 775 4659.19 roll -1.29 - - 2017.88 - 2.80 0.062 1208.25 -409.2 -82.73 - - 3110.28 - - - - - - - - - 15.94 -
4724.56 418.88 -7.75 785 4739.48 roll -1.29 - - 2016.88 - 2.59 0.029 2352.69 441.9 -82.73 - - 3110.44 - - - - - - - - - 16.00 -
5041.50 443.42 -7.92 814 5046.16 roll -1.29 - - 2015.00 - 2.79 0.062 1210.00 -409.6 -82.73 - - 3109.59 - - - - - - - - - 15.94 -
5095.78 447.88 -8.32 822 5110.71 roll -1.29 - - 2017.12 - 2.59 0.030 2353.56 441.5 -82.73 - - 3110.81 - - - - - - - - - 16.00 -
5411.96 473.38 -8.10 851 5416.61 roll -1.29 - - 2017.62 - 2.79 0.062 1209.38 -410.1 -82.73 - - 3110.66 - - - - - - - - - 15.94 -
5466.23 477.88 -8.41 859 5481.17 roll -1.29 - - 2016.88 - 2.61 0.030 2353.44 438.3 -82.73 - - 3109.19 - - - - - - - - - 16.00 -
5785.01 504.05 -8.21 887 5789.72 roll -1.29 - - 2017.50 - 2.79 0.063 1209.56 -410.0 -82.73 - - 3108.41 - - - - - - - - - 15.94 -
5828.56 507.21 -8.32 894 5843.47 roll -1.29 - - 2017.06 - 2.60 0.030 2352.62 439.6 -82.73 - - 3108.34 - - - - - - - - - 16.00 -
6157.99 533.25 -7.71 916 6159.32 no move -1.29 - - 2017.06 - - - 2352.50 - -82.73 - - 3107.28 - - - - - - - - - - -
6473.02 556.80 -7.36 937 6477.66 roll -1.29 - - 2017.25 - 2.80 0.063 1209.06 -408.4 -82.73 - - 3106.06 - - - - - - - - - 15.93 -
6553.37 562.82 -7.57 949 6558.93 roll -1.29 - - 2016.94 - 2.61 0.030 2353.50 438.5 -82.73 - - 3107.69 - - - - - - - - - 16.00 -
6872.79 585.05 -6.71 971 6874.11 no move -1.29 - - 2017.56 - - - 2353.25 - -82.73 - - 3105.94 - - - - - - - - - - -
7187.84 605.75 -6.31 992 7192.48 roll -1.29 - - 2017.19 - 2.80 0.063 1209.75 -408.4 -82.73 - - 3105.50 - - - - - - - - - 15.93 -
7267.85 610.90 -6.52 1004 7273.41 roll -1.29 - - 2017.25 - 2.61 0.030 2352.62 437.9 -82.73 - - 3107.97 - - - - - - - - - 16.00 -
7587.27 630.40 -6.07 1026 7591.91 roll -1.29 - - 2017.31 - 2.79 0.063 1208.25 -410.2 -82.73 - - 3104.88 - - - - - - - - - 15.92 -
7651.57 634.18 -6.41 1036 7666.49 roll -1.29 - - 2016.94 - 2.61 0.030 2351.56 438.0 -82.73 - - 3105.47 - - - - - - - - - 16.01 -
7980.99 655.32 -6.44 1058 7982.32 no move -1.29 - - 2016.88 - - - 2351.69 - -82.73 - - 3105.12 - - - - - - - - - - -
8296.19 677.27 -7.26 1079 8300.84 roll -1.29 - - 2017.56 - 2.78 0.063 1210.81 -410.4 -82.73 - - 3104.22 - - - - - - - - - 15.91 -
8360.81 681.79 -7.61 1089 8375.76 roll -1.29 - - 2016.44 - 2.61 0.030 2352.50 437.4 -82.73 - - 3105.56 - - - - - - - - - 16.01 -
8690.21 707.99 -8.07 1111 8694.86 roll -1.29 - - 2017.19 - 2.78 0.063 1209.62 -411.1 -82.73 - - 3103.06 - - - - - - - - - 15.91 -
8775.23 714.72 -8.51 1124 8790.17 roll -1.29 - - 2017.50 - 2.61 0.031 2353.19 438.1 -82.73 - - 3105.66 - - - - - - - - - 16.00 -
9104.64 742.19 -8.07 1146 9105.97 no move -1.29 - - 2017.25 - - - 2353.31 - -82.73 - - 3103.38 - - - - - - - - - - -
9419.65 767.04 -8.02 1167 9420.98 no move -1.29 - - 2017.00 - - - 2353.19 - -82.73 - - 3103.34 - - - - - - - - - - -
9734.66 792.62 -8.17 1188 9739.31 roll -1.29 - - 2017.38 - 2.80 0.064 1209.38 -408.5 -82.73 - - 3103.75 - - - - - - - - - 15.90 -
9861.16 802.36 -8.10 1207 9876.08 roll -1.29 - - 2016.00 - 2.60 0.031 2350.00 438.7 -82.73 - - 3104.16 - - - - - - - - - 16.00 -
10190.56 827.76 -7.55 1229 10191.89 no move -1.29 - - 2017.12 - - - 2350.69 - -82.73 - - 3101.97 - - - - - - - - - - -
10505.58 851.16 -7.19 1250 10510.22 roll -1.29 - - 2015.31 - 2.79 0.064 1210.75 -408.6 -82.73 - - 3102.25 - - - - - - - - - 15.89 -
10584.24 857.07 -7.48 1261 10588.88 roll -1.29 - - 2017.75 - 2.61 0.031 2351.88 437.2 -82.73 - - 3101.69 - - - - - - - - - 15.99 -
10900.90 879.33 -6.99 1283 10902.23 no move -1.29 - - 2017.31 - - - 2352.19 - -82.73 - - 3101.34 - - - - - - - - - - -
11215.84 900.80 -6.84 1304 11220.49 roll -1.29 - - 2017.50 - 2.79 0.065 1210.75 -409.1 -82.73 - - 3102.38 - - - - - - - - - 15.88 -
11275.12 904.94 -7.05 1313 11280.65 roll -1.29 - - 2016.88 - 2.60 0.031 2351.75 438.8 -82.73 - - 3103.59 - - - - - - - - - 16.00 -
11594.51 927.05 -6.88 1335 11595.84 no move -1.29 - - 2017.50 - - - 2351.94 - -82.73 - - 3101.00 - - - - - - - - - - -
11909.52 948.29 -6.58 1356 11914.17 roll -1.29 - - 2017.69 - 2.80 0.065 1210.75 -407.6 -82.73 - - 3100.06 - - - - - - - - - 15.87 -
12009.13 955.23 -6.97 1370 12013.76 roll -1.29 - - 2017.00 - 2.61 0.031 2350.75 436.8 -82.73 - - 3100.28 - - - - - - - - - 15.98 -
12325.62 975.76 -6.42 1392 12326.95 no move -1.29 - - 2017.19 - - - 2350.56 - -82.73 - - 3099.97 - - - - - - - - - - -
12565 end dive: TARGET_DEPTH_EXCEEDED
12565 begin apogee
12567.63 990.64 -6.02 1408 12642.99 -0.28 1.75 0.143 2263.94 141.0 0.22 0.137 2283.62 -304.3 - 62.51 2.437 2774.94 -5.2 0.359 - - - - - - 15.72 15.50 10.45
12644 end apogee: CONTROL_FINISHED_OK
12644 begin climb
12645.06 992.00 - 1413 12732.39 1.29 2.56 0.090 2649.25 150.5 2.79 0.097 3347.25 381.2 82.73 67.88 2.354 2438.47 -5.0 0.355 - - - - - - 15.59 15.20 12.12
12756.29 986.66 5.69 1429 12806.40 done 1.40 - - 2648.94 - 2.69 0.023 2188.75 -430.7 134.74 45.06 2.330 2224.53 -4.7 0.341 - - - - - - - 15.42 12.03
13112.19 955.54 9.12 1456 13116.82 roll 1.40 - - 2649.69 - 2.67 0.079 1133.75 -395.1 134.74 - - 2218.62 - - - - - - - - - 15.64 -
13155.74 951.91 9.46 1463 13170.67 done 1.40 - - 2648.81 - 2.66 0.030 2271.12 427.6 134.74 - - 2218.22 - - - - - - - - - 15.68 -
13485.15 921.00 8.97 1485 13489.81 done 1.40 - - 2648.88 - 2.86 0.075 1132.31 -398.2 134.74 - - 2214.59 - - - - - - - - - 15.77 -
13544.43 915.57 9.26 1494 13549.99 done 1.40 - - 2648.94 - 2.63 0.031 2271.75 433.2 134.74 - - 2216.06 - - - - - - - - - 15.80 -
13864.04 886.79 8.92 1516 13865.37 VBD 1.40 - - 2648.88 - - - 2272.44 - 134.74 - - 2214.44 - - - - - - - - - - -
14178.89 858.73 8.85 1537 14183.56 done 1.40 - - 2647.06 - 2.84 0.075 1133.50 -401.0 134.74 - - 2213.53 - - - - - - - - - 15.84 -
14217.63 855.23 9.14 1543 14223.06 done 1.40 - - 2647.81 - 2.61 0.031 2270.50 435.6 134.74 - - 2214.81 - - - - - - - - - 15.89 -
14536.87 826.13 9.07 1565 14538.20 VBD 1.40 - - 2649.06 - - - 2270.44 - 134.74 - - 2213.72 - - - - - - - - - - -
14851.89 797.65 9.05 1586 14856.56 done 1.40 - - 2648.44 - 2.82 0.075 1132.44 -403.5 134.74 - - 2212.59 - - - - - - - - - 15.86 -
14909.83 792.06 9.51 1594 14914.46 done 1.40 - - 2646.88 - 2.61 0.031 2269.69 435.7 134.74 - - 2212.97 - - - - - - - - - 15.92 -
15226.30 763.85 8.69 1616 15230.97 done 1.40 - - 2648.88 - 2.82 0.075 1130.88 -403.8 134.74 - - 2213.19 - - - - - - - - - 15.87 -
15284.25 758.59 8.96 1624 15288.88 done 1.40 - - 2648.81 - 2.62 0.031 2272.12 435.6 134.74 - - 2212.75 - - - - - - - - - 15.93 -
15600.73 735.32 6.77 1646 15605.44 1.43 0.17 0.092 2691.88 253.4 2.69 0.093 3345.44 399.0 134.74 - - 2211.25 - - - - - - - - 15.90 15.78 -
15845.35 715.36 8.33 1681 15849.99 done 1.43 - - 2691.62 - 2.58 0.024 2190.44 -447.7 134.74 - - 2211.84 - - - - - - - - - 15.95 -
16161.86 691.97 7.27 1703 16166.55 done 1.46 - - 2691.69 - 2.90 0.089 3343.81 397.7 134.74 - - 2211.09 - - - - - - - - - 15.85 -
16283.60 681.82 8.50 1721 16289.33 done 1.46 - - 2691.19 - 2.58 0.024 2188.44 -447.8 134.74 - - 2212.44 - - - - - - - - - 15.96 -
16603.21 657.22 7.68 1743 16604.54 VBD 1.47 - - 2691.50 - - - 2188.69 - 134.74 - - 2211.06 - - - - - - - - - - -
16918.03 631.83 8.30 1764 16922.67 done 1.47 - - 2691.75 - 2.61 0.080 1132.25 -404.8 134.74 - - 2213.38 - - - - - - - - - 15.87 -
16977.33 626.70 8.71 1773 16982.88 done 1.47 - - 2691.56 - 2.61 0.031 2272.81 437.0 134.74 - - 2213.28 - - - - - - - - - 15.97 -
17296.91 600.89 8.01 1795 17298.24 VBD 1.47 - - 2692.12 - - - 2272.44 - 134.74 - - 2210.94 - - - - - - - - - - -
17611.76 576.64 7.61 1816 17613.09 VBD 1.49 - - 2691.81 - - - 2272.62 - 134.74 - - 2211.22 - - - - - - - - - - -
17926.77 551.97 8.03 1837 17931.43 done 1.49 - - 2691.50 - 2.83 0.075 1131.75 -403.1 134.74 - - 2213.12 - - - - - - - - - 15.86 -
18027.88 543.37 8.66 1852 18033.08 done 1.49 - - 2691.94 - 2.60 0.031 2272.38 438.7 134.74 - - 2211.66 - - - - - - - - - 15.98 -
18346.97 517.48 7.94 1874 18348.30 VBD 1.50 - - 2692.06 - - - 2272.38 - 134.74 - - 2211.28 - - - - - - - - - - -
18658.26 493.02 7.85 1897 18662.93 done 1.51 - - 2692.12 - 2.83 0.074 1132.06 -402.9 134.74 - - 2211.47 - - - - - - - - - 15.86 -
18711.20 488.62 8.17 1904 18715.82 done 1.51 - - 2691.12 - 2.60 0.031 2272.94 438.8 134.74 - - 2211.56 - - - - - - - - - 15.98 -
19023.00 463.45 7.98 1933 19034.07 VBD 1.51 - - 2692.00 - - - 2273.31 - 134.74 - - 2212.16 - - - - - - - - - - -
19335.89 439.86 7.18 1962 19346.96 VBD 1.54 - - 2692.44 - - - 2273.38 - 134.74 - - 2211.88 - - - - - - - - - - -
19648.65 417.11 7.14 1991 19653.30 done 1.56 - - 2691.12 - 2.80 0.074 1132.06 -407.6 134.74 - - 2213.09 - - - - - - - - - 15.85 -
19797.33 405.69 7.70 2011 19812.24 done 1.58 - - 2691.62 - 2.59 0.030 2274.00 440.9 134.74 - - 2212.34 - - - - - - - - - 15.97 -
20113.42 383.24 6.89 2040 20124.60 1.61 0.17 0.084 2734.25 250.8 - - 2273.94 - 134.74 - - 2213.75 - - - - - - - - 15.94 - -
20426.39 358.54 8.01 2069 20431.06 done 1.61 - - 2733.94 - 2.82 0.074 1131.25 -405.2 134.74 - - 2210.94 - - - - - - - - - 15.85 -
20557.99 347.34 8.50 2086 20562.61 done 1.61 - - 2732.00 - 2.59 0.031 2274.69 441.5 134.74 - - 2212.00 - - - - - - - - - 15.97 -
20869.57 321.71 8.28 2115 20880.64 VBD 1.61 - - 2733.38 - - - 2274.50 - 134.74 - - 2212.41 - - - - - - - - - - -
21186.09 294.75 8.55 2150 21187.42 VBD 1.61 - - 2733.88 - - - 2275.19 - 134.74 - - 2210.78 - - - - - - - - - - -
21491.29 268.09 9.05 2211 21492.63 VBD 1.61 - - 2733.50 - - - 2274.75 - 134.74 - - 2211.25 - - - - - - - - - - -
21796.34 242.01 8.35 2272 21801.79 done 1.61 - - 2733.94 - 2.80 0.073 1132.12 -408.1 134.74 - - 2212.06 - - - - - - - - - 15.83 -
21971.18 226.67 8.63 2307 21976.72 done 1.61 - - 2734.38 - 2.58 0.030 2273.75 442.5 134.74 - - 2212.59 - - - - - - - - - 15.95 -
22281.23 203.12 7.43 2369 22286.79 done 1.63 - - 2734.31 - 2.79 0.072 1129.69 -410.1 134.74 - - 2212.34 - - - - - - - - - 15.83 -
22336.22 198.66 8.20 2380 22341.76 done 1.63 - - 2733.88 - 2.59 0.030 2273.69 441.7 134.74 - - 2212.81 - - - - - - - - - 15.96 -
22646.26 174.86 8.27 2442 22651.80 done 1.63 - - 2733.25 - 2.66 0.091 3345.38 402.9 134.74 - - 2213.62 - - - - - - - - - 15.80 -
22771.27 163.26 9.20 2467 22776.81 done 1.63 - - 2734.38 - 2.57 0.023 2183.06 -452.3 134.74 - - 2213.00 - - - - - - - - - 15.96 -
23081.33 141.48 6.88 2529 23082.66 VBD 1.66 - - 2733.94 - - - 2182.62 - 134.74 - - 2211.50 - - - - - - - - - - -
23386.55 123.79 4.82 2590 23438.83 1.80 0.19 0.085 2779.38 239.2 - - 2182.25 - 203.11 50.47 1.327 1945.53 -5.3 0.083 - - - - - - 15.92 - 10.84
23741.79 97.59 6.09 2661 23778.09 VBD 1.89 - - 2779.56 - - - 2181.94 - 247.53 34.58 1.252 1764.31 -5.2 0.069 - - - - - - - - 11.63
23961.47 84.39 6.52 2705 23967.06 roll 1.93 - - 2779.38 - 2.91 0.085 3346.25 400.1 247.53 - - 1759.38 - - - - - - - - - 15.75 -
23986.48 82.52 7.01 2710 23992.05 roll back 1.96 0.15 0.094 2815.31 239.5 2.60 0.022 2182.31 -447.7 247.53 - - 1759.50 - - - - - - - - 15.68 15.78 -
24176.52 67.23 7.99 2748 24177.85 VBD 1.96 - - 2815.56 - - - 2182.50 - 247.53 - - 1756.06 - - - - - - - - - - -
24361.60 56.18 4.81 2785 24414.98 VBD 2.09 - - 2815.81 - - - 2182.44 - 316.10 51.56 1.217 1486.88 -5.2 0.041 - - - - - - - - 11.62
24597.10 40.12 7.23 2832 24598.53 pitch 2.12 0.17 0.087 2855.75 234.9 - - 2182.62 - 316.10 - - 1479.34 - - - - - - - - 15.71 - -
24782.18 32.98 2.91 2869 24865.29 2.33 0.23 0.079 2906.31 219.8 2.63 0.078 1131.00 -399.9 420.19 77.43 1.177 1063.03 -5.4 0.026 - - - - - - 15.76 15.52 11.66
24942.69 25.68 6.16 2901 24981.07 done 2.41 - - 2904.50 - 2.65 0.028 2273.25 431.0 463.40 33.36 1.104 886.16 -5.3 0.021 - - - - - - - 15.64 12.20
25163.29 6.98 11.24 2945 25164.62 no move 2.41 - - 2906.75 - - - 2273.31 - 463.40 - - 880.84 - - - - - - - - - - -
25188 end climb: SURFACE_DEPTH_REACHED
25188 begin surface coast
25228 end surface coast: CONTROL_FINISHED_OK
25228 begin surface
SM 0.38 - - - - 181.6 - - 879.4 - 17.03 0.052 876.3 51.5 - 0.13 0.122 882.6 6789.2 -2.161 - - 30.00 15.67 15.68 -