NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 410 * Raw log
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• Previous call tries 2 • 129.63 of 550.00 AH used of 24V (76.43% remains)
• Surface angle -60.1 deg, depth 0.65 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• No surface pump (final VBD was 1014.2, SM_CC=425)
• GPS1 time: 44 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
5.08 - - - 66.97 VBD -1.37 - - 180.88 - - - 2233.19 - -82.73 60.71 0.005 2475.62 - - - - - - - - - - 15.53
67.70 3.90 -6.83 11 105.00 -1.37 14.13 0.255 1988.56 127.9 2.92 0.083 3429.06 409.5 -82.73 12.76 0.007 3112.47 49.9 -4.634 - - - - - - 15.67 15.50 15.56
332.14 57.51 -16.18 64 338.00 roll -1.37 - - 1988.75 - 2.57 0.020 2247.88 -459.6 -82.73 - - 3112.84 - - - - - - - - - 15.87 -
522.57 82.81 -11.10 102 523.90 no move -1.37 - - 1989.12 - - - 2246.00 - -82.73 - - 3111.91 - - - - - - - - - - -
707.37 100.76 -9.11 139 712.39 roll -1.37 - - 1988.31 - 2.45 0.063 1207.50 -423.9 -82.73 - - 3113.34 - - - - - - - - - 15.95 -
812.29 109.92 -8.48 160 817.82 roll -1.37 - - 1988.62 - 2.59 0.027 2356.94 443.8 -82.73 - - 3115.06 - - - - - - - - - 15.96 -
1122.41 134.62 -8.55 222 1123.73 no move -1.37 - - 1988.75 - - - 2357.12 - -82.73 - - 3113.59 - - - - - - - - - - -
1427.51 162.61 -9.22 283 1433.24 roll -1.37 - - 1989.25 - 2.59 0.084 3429.44 414.0 -82.73 - - 3115.97 - - - - - - - - - 15.98 -
1507.52 170.64 -10.11 299 1513.06 roll -1.37 - - 1989.38 - 2.56 0.021 2245.31 -462.6 -82.73 - - 3114.28 - - - - - - - - - 16.01 -
1817.63 199.39 -9.24 361 1822.75 roll -1.37 - - 1989.38 - 2.45 0.065 1206.25 -424.1 -82.73 - - 3115.84 - - - - - - - - - 16.04 -
1857.63 203.20 -9.52 369 1863.17 roll -1.37 - - 1989.75 - 2.57 0.028 2354.62 446.8 -82.73 - - 3117.59 - - - - - - - - - 16.03 -
2167.69 230.56 -8.18 431 2173.43 roll -1.37 - - 1989.38 - 2.72 0.060 1207.19 -421.8 -82.73 - - 3113.59 - - - - - - - - - 16.05 -
2232.80 236.18 -8.75 444 2238.23 roll -1.37 - - 1990.00 - 2.58 0.029 2356.50 445.5 -82.73 - - 3115.91 - - - - - - - - - 16.05 -
2542.75 262.82 -8.99 506 2548.31 roll -1.37 - - 1989.81 - 2.73 0.060 1206.19 -421.4 -82.73 - - 3114.66 - - - - - - - - - 16.05 -
2622.75 270.48 -9.69 522 2628.28 roll -1.37 - - 1990.00 - 2.57 0.029 2354.81 446.9 -82.73 - - 3113.22 - - - - - - - - - 16.05 -
2932.80 298.37 -8.84 584 2938.36 roll -1.37 - - 1989.69 - 2.71 0.061 1208.81 -422.9 -82.73 - - 3112.44 - - - - - - - - - 16.06 -
2999.26 304.65 -9.73 595 3014.18 roll -1.37 - - 1989.38 - 2.57 0.029 2355.88 446.3 -82.73 - - 3112.22 - - - - - - - - - 16.07 -
3315.38 336.16 -10.17 624 3320.02 roll -1.37 - - 1989.50 - 2.72 0.061 1207.50 -422.2 -82.73 - - 3113.34 - - - - - - - - - 16.07 -
3369.66 341.70 -10.35 632 3384.58 roll -1.37 - - 1990.38 - 2.57 0.029 2354.38 446.3 -82.73 - - 3111.50 - - - - - - - - - 16.08 -
3685.99 372.81 -9.61 661 3690.78 roll -1.37 - - 1989.94 - 2.59 0.090 3427.12 414.2 -82.73 - - 3109.59 - - - - - - - - - 16.05 -
3754.75 380.24 -10.70 670 3759.37 roll -1.37 - - 1989.69 - 2.54 0.022 2247.00 -464.6 -82.73 - - 3110.75 - - - - - - - - - 16.08 -
4066.14 408.76 -8.98 699 4077.21 no move -1.37 - - 1990.00 - - - 2245.81 - -82.73 - - 3110.25 - - - - - - - - - - -
4379.23 436.56 -8.97 728 4383.82 roll -1.37 - - 1990.06 - 2.46 0.067 1207.38 -422.1 -82.73 - - 3107.53 - - - - - - - - - 16.07 -
4433.51 441.69 -9.49 736 4448.42 roll -1.37 - - 1989.75 - 2.57 0.030 2355.81 446.9 -82.73 - - 3109.09 - - - - - - - - - 16.09 -
4749.62 470.53 -9.29 765 4760.70 no move -1.37 - - 1989.94 - - - 2356.00 - -82.73 - - 3108.53 - - - - - - - - - - -
5063.13 498.85 -8.60 794 5067.77 roll -1.37 - - 1990.06 - 2.72 0.063 1208.75 -421.8 -82.73 - - 3107.44 - - - - - - - - - 16.09 -
5141.82 505.74 -8.66 805 5146.43 roll -1.37 - - 1989.88 - 2.56 0.030 2354.38 447.5 -82.73 - - 3106.44 - - - - - - - - - 16.09 -
5458.29 531.38 -8.00 827 5459.61 no move -1.37 - - 1990.00 - - - 2354.50 - -82.73 - - 3105.12 - - - - - - - - - - -
5773.30 556.25 -7.91 848 5777.95 roll -1.37 - - 1989.75 - 2.72 0.063 1208.62 -421.3 -82.73 - - 3105.53 - - - - - - - - - 16.09 -
5816.84 559.43 -8.26 855 5831.76 roll -1.37 - - 1990.00 - 2.55 0.030 2354.75 449.5 -82.73 - - 3106.94 - - - - - - - - - 16.09 -
6146.25 587.86 -8.53 877 6151.07 roll -1.37 - - 1989.50 - 2.72 0.063 1208.81 -421.3 -82.73 - - 3105.09 - - - - - - - - - 16.08 -
6184.90 591.18 -8.70 883 6190.32 roll -1.37 - - 1989.81 - 2.56 0.030 2354.50 447.5 -82.73 - - 3105.72 - - - - - - - - - 16.09 -
6504.19 620.12 -9.05 905 6505.52 no move -1.37 - - 1989.56 - - - 2354.19 - -82.73 - - 3104.94 - - - - - - - - - - -
6819.55 647.35 -8.42 926 6824.19 roll -1.37 - - 1989.00 - 2.72 0.063 1208.88 -421.1 -82.73 - - 3105.34 - - - - - - - - - 16.08 -
6877.49 652.42 -8.58 934 6882.10 roll -1.37 - - 1990.19 - 2.56 0.030 2354.94 447.7 -82.73 - - 3105.09 - - - - - - - - - 16.08 -
7193.95 678.78 -8.39 956 7198.60 roll -1.37 - - 1989.75 - 2.73 0.063 1209.62 -419.5 -82.73 - - 3105.53 - - - - - - - - - 16.08 -
7272.61 685.48 -8.48 967 7277.23 roll -1.37 - - 1989.94 - 2.56 0.030 2353.75 446.9 -82.73 - - 3101.78 - - - - - - - - - 16.09 -
7589.08 711.25 -8.31 989 7590.41 no move -1.37 - - 1989.81 - - - 2353.81 - -82.73 - - 3101.72 - - - - - - - - - - -
7904.27 738.38 -8.65 1010 7905.60 no move -1.37 - - 1989.62 - - - 2353.81 - -82.73 - - 3101.31 - - - - - - - - - - -
8219.10 764.90 -8.55 1031 8223.75 roll -1.37 - - 1989.69 - 2.74 0.064 1207.69 -418.3 -82.73 - - 3103.78 - - - - - - - - - 16.08 -
8262.65 768.19 -8.71 1038 8277.57 roll -1.37 - - 1989.38 - 2.57 0.030 2353.38 445.8 -82.73 - - 3103.28 - - - - - - - - - 16.09 -
8592.05 796.16 -8.20 1060 8593.38 no move -1.37 - - 1989.12 - - - 2354.00 - -82.73 - - 3100.81 - - - - - - - - - - -
8907.25 821.88 -7.85 1081 8911.96 roll -1.37 - - 1989.50 - 2.74 0.064 1208.50 -418.1 -82.73 - - 3101.59 - - - - - - - - - 16.09 -
9006.63 829.82 -7.98 1095 9011.25 roll -1.37 - - 1989.69 - 2.57 0.031 2354.31 445.8 -82.73 - - 3102.56 - - - - - - - - - 16.08 -
9323.10 852.42 -6.96 1117 9327.75 roll -1.37 - - 1989.69 - 2.74 0.064 1209.50 -417.8 -82.73 - - 3100.78 - - - - - - - - - 16.09 -
9361.64 855.11 -7.08 1123 9367.19 roll -1.37 - - 1989.62 - 2.57 0.031 2352.88 444.9 -82.73 - - 3100.62 - - - - - - - - - 16.09 -
9681.04 878.31 -7.20 1145 9685.68 roll -1.37 - - 1990.06 - 2.74 0.064 1208.44 -417.7 -82.73 - - 3101.00 - - - - - - - - - 16.08 -
9738.97 882.62 -7.34 1153 9743.58 roll -1.37 - - 1989.56 - 2.57 0.031 2355.50 446.3 -82.73 - - 3101.97 - - - - - - - - - 16.08 -
10055.47 904.92 -6.80 1175 10056.80 no move -1.37 - - 1989.44 - - - 2355.88 - -82.73 - - 3098.81 - - - - - - - - - - -
10370.50 927.76 -7.31 1196 10375.15 roll -1.37 - - 1989.56 - 2.74 0.065 1210.06 -418.2 -82.73 - - 3100.94 - - - - - - - - - 16.07 -
10490.62 936.82 -7.55 1213 10495.23 roll -1.37 - - 1989.50 - 2.57 0.031 2354.81 445.4 -82.73 - - 3098.97 - - - - - - - - - 16.08 -
10807.09 957.97 -6.69 1235 10808.42 no move -1.37 - - 1989.75 - - - 2354.50 - -82.73 - - 3098.16 - - - - - - - - - - -
11122.11 980.04 -7.03 1256 11123.44 no move -1.37 - - 1989.56 - - - 2354.12 - -82.73 - - 3097.81 - - - - - - - - - - -
11272 end dive: TARGET_DEPTH_EXCEEDED
11272 begin apogee
11274.18 990.48 -6.88 1266 11349.19 -0.28 1.82 0.149 2253.38 145.0 0.21 0.124 2283.94 -334.2 - 60.10 2.411 2777.28 -5.3 0.365 - - - - - - 15.98 15.68 11.84
11351 end apogee: CONTROL_FINISHED_OK
11351 begin climb
11351.15 992.27 - 1271 11426.04 1.37 2.62 0.096 2657.12 154.1 2.71 0.095 3344.62 391.4 82.73 66.43 2.396 2435.66 -5.1 0.355 - - - - - - 15.70 15.32 12.69
11449.53 988.04 5.38 1286 11492.51 done 1.46 - - 2656.06 - 2.67 0.023 2186.31 -433.8 127.86 38.32 2.319 2252.69 -4.8 0.339 - - - - - - - 15.50 12.58
11795.26 958.64 8.65 1313 11799.89 roll 1.46 - - 2656.06 - 2.62 0.078 1131.06 -402.8 127.86 - - 2248.78 - - - - - - - - - 15.72 -
11853.18 953.31 9.05 1321 11857.80 done 1.46 - - 2654.94 - 2.62 0.030 2272.25 435.6 127.86 - - 2244.12 - - - - - - - - - 15.76 -
12169.83 925.60 8.64 1343 12171.16 VBD 1.46 - - 2655.75 - - - 2272.31 - 127.86 - - 2242.66 - - - - - - - - - - -
12484.77 898.21 8.98 1364 12489.43 done 1.46 - - 2656.00 - 2.81 0.075 1130.00 -406.5 127.86 - - 2241.44 - - - - - - - - - 15.91 -
12542.71 892.65 9.44 1372 12547.33 done 1.46 - - 2656.50 - 2.60 0.031 2271.38 439.0 127.86 - - 2242.75 - - - - - - - - - 15.92 -
12859.18 864.75 8.60 1394 12863.82 done 1.46 - - 2656.19 - 2.79 0.075 1130.00 -409.1 127.86 - - 2240.75 - - - - - - - - - 15.95 -
12918.47 859.46 8.97 1403 12924.00 done 1.46 - - 2656.06 - 2.60 0.031 2269.94 438.4 127.86 - - 2242.28 - - - - - - - - - 15.97 -
13237.89 832.22 8.56 1425 13242.53 done 1.46 - - 2656.00 - 2.80 0.075 1130.31 -407.0 127.86 - - 2241.03 - - - - - - - - - 15.98 -
13316.56 824.96 9.15 1436 13321.17 done 1.46 - - 2656.44 - 2.60 0.031 2271.06 438.8 127.86 - - 2243.19 - - - - - - - - - 15.99 -
13633.03 797.42 8.74 1458 13634.37 VBD 1.46 - - 2656.50 - - - 2271.00 - 127.86 - - 2239.66 - - - - - - - - - - -
13948.05 770.09 8.45 1479 13949.38 VBD 1.46 - - 2656.88 - - - 2270.69 - 127.86 - - 2239.97 - - - - - - - - - - -
14263.24 744.21 8.04 1500 14267.90 done 1.46 - - 2656.50 - 2.78 0.075 1132.12 -409.6 127.86 - - 2240.09 - - - - - - - - - 16.01 -
14301.77 741.03 8.27 1506 14307.30 done 1.46 - - 2654.81 - 2.58 0.031 2272.12 441.9 127.86 - - 2240.53 - - - - - - - - - 16.04 -
14621.36 715.96 8.03 1528 14622.69 VBD 1.46 - - 2655.88 - - - 2272.62 - 127.86 - - 2240.28 - - - - - - - - - - -
14936.31 689.54 8.61 1549 14940.96 done 1.46 - - 2656.00 - 2.78 0.075 1130.06 -411.0 127.86 - - 2241.59 - - - - - - - - - 16.03 -
15037.40 680.54 9.01 1564 15042.94 done 1.46 - - 2655.75 - 2.58 0.031 2272.94 443.0 127.86 - - 2240.59 - - - - - - - - - 16.04 -
15356.80 654.02 8.06 1586 15358.13 VBD 1.46 - - 2656.56 - - - 2273.19 - 127.86 - - 2239.78 - - - - - - - - - - -
15671.82 628.31 8.39 1607 15676.46 done 1.46 - - 2656.06 - 2.79 0.075 1131.19 -409.3 127.86 - - 2240.28 - - - - - - - - - 16.05 -
15751.83 621.25 8.90 1619 15757.37 done 1.46 - - 2656.06 - 2.57 0.031 2274.44 444.8 127.86 - - 2240.72 - - - - - - - - - 16.06 -
16071.23 594.77 8.03 1641 16072.57 VBD 1.46 - - 2656.56 - - - 2274.12 - 127.86 - - 2239.12 - - - - - - - - - - -
16386.43 570.49 7.14 1662 16391.13 done 1.48 - - 2656.12 - 2.77 0.075 1129.88 -413.1 127.86 - - 2239.78 - - - - - - - - - 16.05 -
16450.73 565.99 7.57 1672 16465.69 1.50 0.17 0.098 2699.31 254.1 2.58 0.031 2275.00 443.8 127.86 - - 2240.16 - - - - - - - - 15.95 16.07 -
16780.12 537.97 8.32 1694 16781.46 VBD 1.50 - - 2699.12 - - - 2274.81 - 127.86 - - 2239.47 - - - - - - - - - - -
17095.16 512.28 7.96 1715 17096.49 VBD 1.51 - - 2699.06 - - - 2274.25 - 127.86 - - 2239.31 - - - - - - - - - - -
17406.50 486.54 8.32 1740 17411.33 done 1.51 - - 2698.94 - 2.76 0.075 1129.62 -414.7 127.86 - - 2238.59 - - - - - - - - - 16.05 -
17539.59 474.59 9.09 1758 17554.67 done 1.51 - - 2699.38 - 2.58 0.031 2274.75 443.8 127.86 - - 2241.53 - - - - - - - - - 16.06 -
17855.81 448.19 8.13 1787 17860.46 done 1.51 - - 2698.88 - 2.78 0.074 1131.50 -411.2 127.86 - - 2239.19 - - - - - - - - - 16.06 -
17941.54 440.93 8.59 1799 17956.46 done 1.51 - - 2699.38 - 2.58 0.031 2274.50 443.0 127.86 - - 2239.81 - - - - - - - - - 16.06 -
18258.23 415.72 7.74 1828 18269.30 VBD 1.53 - - 2699.69 - - - 2275.06 - 127.86 - - 2240.34 - - - - - - - - - - -
18570.84 391.54 7.86 1857 18575.49 done 1.54 - - 2699.69 - 2.78 0.074 1130.25 -411.8 127.86 - - 2239.66 - - - - - - - - - 16.05 -
18655.23 384.42 8.38 1868 18659.85 done 1.54 - - 2698.81 - 2.58 0.030 2275.00 443.7 127.86 - - 2238.97 - - - - - - - - - 16.06 -
18966.78 361.97 6.91 1897 18971.42 done 1.57 - - 2698.56 - 2.78 0.073 1131.25 -411.4 127.86 - - 2239.12 - - - - - - - - - 16.05 -
19036.79 356.60 7.67 1907 19051.70 done 1.58 - - 2698.25 - 2.58 0.030 2276.00 443.7 127.86 - - 2241.75 - - - - - - - - - 16.06 -
19353.23 332.92 7.28 1936 19358.06 done 1.61 - - 2699.44 - 2.77 0.073 1130.12 -413.7 127.86 - - 2238.19 - - - - - - - - - 16.05 -
19423.40 327.20 8.15 1946 19438.14 done 1.61 - - 2698.69 - 2.57 0.030 2273.88 445.0 127.86 - - 2241.66 - - - - - - - - - 16.07 -
19739.64 302.57 7.38 1975 19750.72 VBD 1.63 - - 2699.50 - - - 2273.88 - 127.86 - - 2240.16 - - - - - - - - - - -
20055.78 280.73 6.75 2033 20057.11 VBD 1.66 - - 2699.06 - - - 2274.06 - 127.86 - - 2238.91 - - - - - - - - - - -
20361.53 261.02 6.53 2094 20366.43 1.70 0.21 0.082 2746.88 227.7 2.79 0.074 1131.31 -409.6 127.86 - - 2240.47 - - - - - - - - 16.01 15.98 -
20515.82 248.78 7.84 2125 20521.35 done 1.72 - - 2747.06 - 2.57 0.030 2276.00 445.4 127.86 - - 2240.59 - - - - - - - - - 16.05 -
20826.04 224.57 7.85 2187 20827.37 VBD 1.73 - - 2746.62 - - - 2276.00 - 127.86 - - 2239.53 - - - - - - - - - - -
21130.89 200.96 8.05 2248 21132.22 VBD 1.73 - - 2746.88 - - - 2276.25 - 127.86 - - 2239.34 - - - - - - - - - - -
21435.94 178.10 7.09 2309 21437.27 VBD 1.76 - - 2746.88 - - - 2275.81 - 127.86 - - 2238.97 - - - - - - - - - - -
21741.04 157.27 6.74 2370 21742.37 VBD 1.79 - - 2747.50 - - - 2275.75 - 127.86 - - 2239.50 - - - - - - - - - - -
22046.02 138.75 5.55 2431 22082.59 1.87 0.16 0.088 2791.75 276.6 2.80 0.074 1130.19 -409.1 170.48 31.00 1.325 2078.72 -5.2 0.091 - - - - - - 16.01 15.96 11.82
22186.04 126.85 10.18 2459 22191.58 roll 1.87 - - 2792.00 - 2.60 0.030 2275.38 440.5 170.48 - - 2075.47 - - - - - - - - - 15.98 -
22496.15 100.30 8.65 2521 22501.70 roll 1.87 - - 2792.25 - 2.79 0.071 1130.12 -410.5 170.48 - - 2073.69 - - - - - - - - - 15.98 -
22646.59 88.75 7.50 2551 22651.72 roll 1.89 - - 2791.81 - 2.58 0.029 2275.19 443.8 170.48 - - 2073.59 - - - - - - - - - 15.99 -
22836.25 76.54 5.73 2589 22867.88 VBD 1.97 - - 2792.00 - - - 2275.00 - 210.44 30.17 1.235 1917.41 -5.2 0.053 - - - - - - - - 12.29
23051.39 62.93 7.14 2632 23056.88 roll 2.00 - - 2792.56 - 2.80 0.071 1130.06 -408.9 210.44 - - 1912.16 - - - - - - - - - 15.94 -
23116.34 58.74 6.39 2645 23144.76 2.06 0.17 0.088 2835.50 252.6 2.59 0.028 2278.00 443.2 240.75 23.99 1.183 1792.66 -5.0 0.041 - - - - - - 15.87 15.94 12.46
23326.88 47.68 5.82 2687 23362.74 done 2.14 - - 2836.00 - 2.62 0.090 3347.56 408.2 279.46 29.89 1.173 1635.06 -5.3 0.036 - - - - - - - 15.77 12.36
23451.89 38.07 8.70 2712 23457.42 roll 2.14 - - 2836.44 - 2.60 0.023 2186.25 -446.7 279.46 - - 1631.81 - - - - - - - - - 15.86 -
23641.92 29.36 3.64 2750 23700.30 2.28 0.21 0.076 2885.56 233.9 2.88 0.084 3346.81 403.0 350.03 52.92 1.171 1348.72 -5.3 0.022 - - - - - - 15.86 15.69 12.36
23717.57 25.02 6.78 2765 23722.94 roll 2.31 - - 2886.31 - 2.61 0.022 2183.94 -445.5 350.03 - - 1346.34 - - - - - - - - - 15.77 -
23907.51 16.42 2.99 2803 23969.03 2.47 0.20 0.080 2933.56 236.2 - - 2184.50 - 430.27 59.47 1.140 1022.22 -5.5 0.013 - - - - - - 15.79 - 12.42
24092 end climb: SURFACE_DEPTH_REACHED
24093 begin surface coast
24138 end surface coast: CONTROL_FINISHED_OK
24138 begin surface
SM 0.93 - - - - 183.0 - - 1013.9 - 16.89 0.043 1013.6 60.0 - 0.34 0.058 1014.2 2982.9 -4.889 - - 30.00 15.74 15.76 -