NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 730 * Raw log
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• Previous call tries 1 • 247.36 of 550.00 AH used of 24V (55.02% remains)
• Surface angle -61.8 deg, depth 0.47 m • Intended pitch -21.3 deg, speed -8.462 cm/s
• No surface pump (final VBD was 1016.1, SM_CC=425)
• GPS1 time: 52 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
5.43 - - - 72.05 VBD -1.35 - - 175.75 - - - 2253.50 - -82.73 65.47 0.005 2641.59 - - - - - - - - - - 15.08
72.79 3.24 -5.39 12 106.65 -1.35 14.96 0.248 2003.00 122.1 2.54 0.065 1208.00 -411.6 -82.73 10.70 0.007 3112.41 44.0 -3.462 - - - - - - 15.42 15.09 15.24
333.80 47.24 -16.43 64 339.34 roll -1.35 - - 2004.12 - 2.64 0.028 2352.12 433.4 -82.73 - - 3112.47 - - - - - - - - - 15.79 -
524.50 70.43 -10.64 102 529.43 roll -1.35 - - 2004.50 - 2.70 0.084 3427.25 398.2 -82.73 - - 3111.75 - - - - - - - - - 15.79 -
758.94 96.40 -10.59 149 764.48 roll -1.35 - - 2004.69 - 2.58 0.019 2242.50 -459.2 -82.73 - - 3111.78 - - - - - - - - - 15.86 -
949.40 112.80 -8.23 187 954.61 roll -1.35 - - 2004.50 - 2.96 0.078 3427.88 400.5 -82.73 - - 3112.59 - - - - - - - - - 15.84 -
1184.05 134.51 -9.34 234 1189.58 roll -1.35 - - 2004.94 - 2.57 0.019 2242.56 -461.2 -82.73 - - 3112.75 - - - - - - - - - 15.90 -
1494.10 160.08 -8.02 296 1499.70 roll -1.35 - - 2004.38 - 2.95 0.078 3427.06 401.5 -82.73 - - 3113.03 - - - - - - - - - 15.88 -
1694.12 178.50 -9.52 336 1699.66 roll -1.35 - - 2004.94 - 2.56 0.019 2245.25 -461.6 -82.73 - - 3112.75 - - - - - - - - - 15.93 -
2004.17 202.36 -7.30 398 2005.49 no move -1.35 - - 2004.44 - - - 2244.12 - -82.73 - - 3112.47 - - - - - - - - - - -
2309.39 224.82 -7.62 459 2314.86 roll -1.35 - - 2004.19 - 2.94 0.079 3426.44 402.1 -82.73 - - 3113.91 - - - - - - - - - 15.89 -
2374.21 230.42 -8.78 472 2379.75 roll -1.35 - - 2004.81 - 2.56 0.019 2242.88 -462.3 -82.73 - - 3113.56 - - - - - - - - - 15.95 -
2684.26 257.43 -9.27 534 2685.59 no move -1.35 - - 2004.75 - - - 2241.62 - -82.73 - - 3112.19 - - - - - - - - - - -
2989.29 284.54 -8.61 595 2994.88 roll -1.35 - - 2004.69 - 2.97 0.080 3427.88 399.4 -82.73 - - 3113.12 - - - - - - - - - 15.91 -
3054.29 290.72 -9.64 608 3059.83 roll -1.35 - - 2004.56 - 2.56 0.020 2243.88 -462.5 -82.73 - - 3112.28 - - - - - - - - - 15.96 -
3365.81 316.44 -7.77 648 3376.88 no move -1.35 - - 2004.50 - - - 2242.75 - -82.73 - - 3111.97 - - - - - - - - - - -
3678.74 341.27 -8.27 677 3683.42 roll -1.35 - - 2003.06 - 2.94 0.081 3426.69 402.7 -82.73 - - 3112.25 - - - - - - - - - 15.92 -
3747.41 347.68 -9.17 686 3752.02 roll -1.35 - - 2004.06 - 2.55 0.020 2245.94 -463.0 -82.73 - - 3111.25 - - - - - - - - - 15.99 -
4058.87 374.13 -8.76 715 4063.48 roll -1.35 - - 2003.50 - 2.49 0.067 1207.44 -417.1 -82.73 - - 3112.22 - - - - - - - - - 15.96 -
4097.52 377.51 -8.94 721 4112.35 roll -1.35 - - 2004.19 - 2.61 0.028 2352.88 438.9 -82.73 - - 3111.97 - - - - - - - - - 16.01 -
4413.94 405.44 -8.75 750 4418.59 roll -1.35 - - 2004.69 - 2.74 0.061 1208.50 -417.7 -82.73 - - 3111.97 - - - - - - - - - 15.95 -
4452.48 408.73 -8.78 756 4467.41 roll -1.35 - - 2004.06 - 2.60 0.027 2354.81 440.9 -82.73 - - 3111.41 - - - - - - - - - 16.00 -
4768.68 434.25 -7.49 785 4779.75 no move -1.35 - - 2004.62 - - - 2354.62 - -82.73 - - 3110.47 - - - - - - - - - - -
5082.16 456.62 -7.04 814 5093.23 no move -1.35 - - 2004.62 - - - 2354.50 - -82.73 - - 3110.25 - - - - - - - - - - -
5394.99 477.60 -7.00 843 5399.63 roll -1.35 - - 2004.19 - 2.77 0.062 1208.19 -413.8 -82.73 - - 3108.38 - - - - - - - - - 15.95 -
5433.53 480.43 -7.38 849 5448.47 roll -1.35 - - 2004.38 - 2.61 0.028 2354.56 439.2 -82.73 - - 3109.53 - - - - - - - - - 16.01 -
5752.13 504.13 -7.69 877 5753.46 no move -1.35 - - 2004.44 - - - 2354.06 - -82.73 - - 3108.50 - - - - - - - - - - -
6067.14 529.08 -7.73 898 6071.77 roll -1.35 - - 2003.25 - 2.69 0.089 3424.50 397.9 -82.73 - - 3109.12 - - - - - - - - - 15.90 -
6105.68 532.25 -8.13 904 6111.22 roll -1.35 - - 2003.75 - 2.56 0.020 2245.62 -460.5 -82.73 - - 3108.75 - - - - - - - - - 16.00 -
6425.09 557.10 -7.60 926 6426.42 no move -1.35 - - 2004.38 - - - 2245.25 - -82.73 - - 3107.62 - - - - - - - - - - -
6740.30 581.22 -7.57 947 6745.04 roll -1.35 - - 2004.38 - 2.96 0.084 3425.81 398.8 -82.73 - - 3106.22 - - - - - - - - - 15.90 -
6820.32 587.78 -8.25 959 6825.85 roll -1.35 - - 2004.38 - 2.56 0.021 2249.12 -459.6 -82.73 - - 3107.53 - - - - - - - - - 16.00 -
7139.72 610.55 -6.85 981 7141.05 no move -1.35 - - 2004.25 - - - 2248.38 - -82.73 - - 3105.94 - - - - - - - - - - -
7454.76 630.35 -6.16 1002 7459.43 roll -1.35 - - 2004.25 - 2.95 0.084 3429.38 400.3 -82.73 - - 3106.34 - - - - - - - - - 15.90 -
7534.79 635.93 -7.00 1014 7540.33 roll -1.35 - - 2004.88 - 2.57 0.020 2247.88 -459.7 -82.73 - - 3106.22 - - - - - - - - - 16.01 -
7854.38 656.60 -6.35 1036 7859.06 roll -1.35 - - 2003.44 - 2.95 0.084 3426.81 399.6 -82.73 - - 3106.03 - - - - - - - - - 15.88 -
7934.41 662.59 -7.48 1048 7939.95 roll -1.35 - - 2004.25 - 2.57 0.021 2247.56 -458.9 -82.73 - - 3106.56 - - - - - - - - - 16.00 -
8253.83 684.64 -7.00 1070 8258.52 roll -1.35 - - 2004.62 - 2.95 0.085 3426.31 399.6 -82.73 - - 3104.94 - - - - - - - - - 15.88 -
8334.20 691.05 -8.04 1082 8339.40 roll -1.35 - - 2004.50 - 2.57 0.021 2247.50 -458.7 -82.73 - - 3105.28 - - - - - - - - - 16.01 -
8653.26 714.70 -7.12 1104 8654.59 no move -1.35 - - 2004.56 - - - 2246.44 - -82.73 - - 3104.88 - - - - - - - - - - -
8968.29 737.31 -7.17 1125 8973.16 roll -1.35 - - 2004.12 - 2.95 0.085 3426.12 399.9 -82.73 - - 3104.12 - - - - - - - - - 15.88 -
9027.72 741.87 -7.70 1134 9033.15 roll -1.35 - - 2004.62 - 2.56 0.021 2247.00 -460.6 -82.73 - - 3105.06 - - - - - - - - - 16.00 -
9347.03 765.45 -7.47 1156 9351.71 roll -1.35 - - 2004.56 - 2.95 0.085 3424.38 399.1 -82.73 - - 3104.84 - - - - - - - - - 15.87 -
9411.31 770.14 -7.94 1166 9426.23 roll -1.35 - - 2004.38 - 2.57 0.021 2247.25 -458.0 -82.73 - - 3104.88 - - - - - - - - - 16.00 -
9740.71 794.21 -7.01 1188 9742.04 no move -1.35 - - 2004.56 - - - 2248.00 - -82.73 - - 3102.84 - - - - - - - - - - -
10055.74 815.08 -6.33 1209 10060.42 roll -1.35 - - 2004.56 - 2.97 0.086 3426.25 396.7 -82.73 - - 3102.41 - - - - - - - - - 15.86 -
10120.02 819.24 -6.96 1219 10134.94 roll -1.35 - - 2004.50 - 2.58 0.021 2249.06 -456.3 -82.73 - - 3104.25 - - - - - - - - - 16.00 -
10449.43 840.26 -6.25 1241 10450.76 no move -1.35 - - 2004.06 - - - 2249.25 - -82.73 - - 3102.16 - - - - - - - - - - -
10764.45 859.40 -5.92 1262 10769.13 roll -1.35 - - 2004.88 - 2.97 0.086 3426.75 396.5 -82.73 - - 3101.75 - - - - - - - - - 15.85 -
10843.11 864.73 -6.69 1273 10847.73 roll -1.35 - - 2004.50 - 2.57 0.021 2249.44 -458.1 -82.73 - - 3102.59 - - - - - - - - - 15.99 -
11159.59 884.38 -6.20 1295 11160.92 no move -1.35 - - 2004.19 - - - 2249.12 - -82.73 - - 3102.19 - - - - - - - - - - -
11474.79 903.96 -5.99 1316 11479.54 roll -1.35 - - 2004.88 - 2.95 0.087 3425.62 398.8 -82.73 - - 3101.03 - - - - - - - - - 15.84 -
11554.81 909.31 -6.69 1328 11560.35 roll -1.35 - - 2003.81 - 2.57 0.021 2249.88 -457.5 -82.73 - - 3102.75 - - - - - - - - - 15.99 -
11874.21 929.71 -6.52 1350 11875.54 no move -1.35 - - 2004.06 - - - 2249.62 - -82.73 - - 3101.22 - - - - - - - - - - -
12189.41 950.38 -6.36 1371 12190.74 no move -1.35 - - 2004.38 - - - 2249.00 - -82.73 - - 3100.88 - - - - - - - - - - -
12504.25 970.44 -6.44 1392 12505.58 no move -1.35 - - 2004.12 - - - 2248.81 - -82.73 - - 3100.44 - - - - - - - - - - -
12819 end dive: TARGET_DEPTH_EXCEEDED
12819 begin apogee
12821.04 990.79 -6.43 1413 12896.64 -0.28 1.86 0.137 2263.88 139.7 0.16 0.170 2286.94 238.3 - 64.18 2.431 2773.78 -5.1 0.353 - - - - - - 15.76 15.41 10.12
12898 end apogee: CONTROL_FINISHED_OK
12898 begin climb
12898.85 992.48 - 1418 12986.64 1.35 2.67 0.088 2663.38 149.6 2.96 0.077 1131.06 -390.5 82.73 68.60 2.347 2438.00 -4.9 0.352 - - - - - - 15.56 15.19 12.02
13072.29 983.49 6.47 1443 13077.89 roll 1.39 - - 2661.88 - 2.70 0.029 2269.69 421.7 82.73 - - 2433.53 - - - - - - - - - 15.51 -
13391.68 962.59 6.71 1465 13393.01 no move 1.42 - - 2663.25 - - - 2269.88 - 82.73 - - 2430.06 - - - - - - - - - - -
13706.60 940.47 6.92 1486 13711.26 roll 1.45 - - 2663.25 - 2.83 0.074 1132.06 -402.1 82.73 - - 2432.03 - - - - - - - - - 15.79 -
13828.08 930.68 8.25 1504 13833.65 roll 1.45 - - 2663.19 - 2.64 0.030 2271.19 431.5 82.73 - - 2430.34 - - - - - - - - - 15.84 -
14147.67 905.80 7.54 1526 14148.99 no move 1.47 - - 2662.56 - - - 2271.62 - 82.73 - - 2428.84 - - - - - - - - - - -
14462.51 882.95 7.05 1547 14467.25 roll back 1.50 0.19 0.087 2707.62 237.2 2.83 0.074 1129.62 -403.5 82.73 - - 2430.22 - - - - - - - - 15.86 15.78 -
14688.02 865.53 7.60 1580 14693.56 done 1.52 - - 2707.25 - 2.63 0.031 2274.06 435.1 82.73 - - 2430.38 - - - - - - - - - 15.93 -
15007.42 844.65 6.15 1602 15053.12 VBD 1.60 - - 2708.44 - - - 2273.81 - 125.85 35.60 2.190 2260.59 -4.8 0.313 - - - - - - - - 11.10
15367.47 816.55 8.26 1626 15372.14 roll 1.60 - - 2708.38 - 2.84 0.074 1129.81 -402.8 125.85 - - 2255.41 - - - - - - - - - 15.80 -
15509.71 804.08 8.92 1647 15515.79 roll 1.60 - - 2708.06 - 2.65 0.031 2271.06 430.7 125.85 - - 2256.16 - - - - - - - - - 15.85 -
15829.31 777.82 7.89 1669 15833.97 roll 1.61 - - 2706.94 - 2.84 0.074 1132.19 -401.0 125.85 - - 2255.69 - - - - - - - - - 15.85 -
15928.73 769.28 8.59 1683 15933.38 roll 1.61 - - 2708.31 - 2.64 0.031 2271.06 431.4 125.85 - - 2254.22 - - - - - - - - - 15.89 -
16245.22 744.90 7.56 1705 16246.55 no move 1.63 - - 2707.88 - - - 2270.94 - 125.85 - - 2254.09 - - - - - - - - - - -
16560.22 719.47 8.15 1726 16564.88 roll 1.63 - - 2708.38 - 2.83 0.074 1132.50 -402.3 125.85 - - 2255.91 - - - - - - - - - 15.87 -
16686.72 709.14 8.66 1745 16701.67 roll 1.63 - - 2707.50 - 2.63 0.031 2270.19 432.6 125.85 - - 2255.12 - - - - - - - - - 15.94 -
17016.13 681.99 8.01 1767 17020.79 roll 1.63 - - 2706.50 - 2.81 0.074 1130.81 -405.5 125.85 - - 2256.50 - - - - - - - - - 15.88 -
17059.67 678.82 8.28 1774 17074.63 roll 1.63 - - 2708.38 - 2.62 0.030 2270.88 435.1 125.85 - - 2254.47 - - - - - - - - - 15.95 -
17389.08 651.38 8.17 1796 17390.41 no move 1.63 - - 2708.56 - - - 2271.44 - 125.85 - - 2253.50 - - - - - - - - - - -
17704.12 626.95 7.70 1817 17708.76 roll 1.65 - - 2707.69 - 2.79 0.074 1131.12 -408.7 125.85 - - 2254.34 - - - - - - - - - 15.88 -
17763.40 622.33 7.89 1826 17769.14 roll 1.66 - - 2708.69 - 2.62 0.030 2272.31 435.6 125.85 - - 2254.84 - - - - - - - - - 15.98 -
18082.95 598.20 7.86 1848 18087.68 roll back 1.67 0.17 0.088 2748.94 236.8 2.81 0.074 1130.94 -406.2 125.85 - - 2254.09 - - - - - - - - 15.92 15.82 -
18182.70 588.97 9.27 1862 18187.34 done 1.67 - - 2749.94 - 2.62 0.030 2272.50 435.7 125.85 - - 2253.09 - - - - - - - - - 15.96 -
18499.16 561.35 8.62 1884 18503.83 done 1.67 - - 2749.75 - 2.82 0.073 1132.25 -404.3 125.85 - - 2253.00 - - - - - - - - - 15.88 -
18599.90 552.45 8.95 1899 18605.46 roll 1.67 - - 2749.50 - 2.62 0.030 2272.88 435.4 125.85 - - 2253.81 - - - - - - - - - 15.99 -
18919.32 527.12 7.74 1921 18920.65 VBD 1.69 - - 2749.44 - - - 2272.31 - 125.85 - - 2253.66 - - - - - - - - - - -
19234.33 502.56 7.94 1942 19238.99 done 1.70 - - 2749.50 - 2.82 0.073 1132.00 -404.4 125.85 - - 2253.06 - - - - - - - - - 15.88 -
19350.22 492.51 8.75 1957 19354.85 done 1.70 - - 2749.31 - 2.61 0.030 2272.19 436.9 125.85 - - 2252.16 - - - - - - - - - 15.97 -
19662.41 466.91 7.94 1986 19667.08 done 1.71 - - 2749.25 - 2.81 0.073 1130.56 -406.3 125.85 - - 2252.34 - - - - - - - - - 15.88 -
19748.48 459.25 8.95 1998 19763.60 done 1.71 - - 2748.38 - 2.62 0.030 2272.75 436.0 125.85 - - 2256.16 - - - - - - - - - 15.98 -
20065.46 433.87 7.60 2027 20070.13 done 1.72 - - 2749.81 - 2.83 0.072 1130.88 -403.5 125.85 - - 2253.66 - - - - - - - - - 15.88 -
20182.69 424.81 7.79 2043 20197.61 done 1.74 - - 2749.75 - 2.62 0.030 2273.38 436.1 125.85 - - 2253.62 - - - - - - - - - 15.99 -
20499.51 402.18 6.97 2072 20504.14 done 1.77 - - 2750.44 - 2.70 0.091 3343.31 396.3 125.85 - - 2253.25 - - - - - - - - - 15.85 -
20583.92 395.64 7.68 2083 20588.53 done 1.78 - - 2750.06 - 2.58 0.023 2184.94 -449.0 125.85 - - 2252.53 - - - - - - - - - 15.98 -
20895.50 374.73 6.38 2112 20931.68 1.86 0.19 0.085 2796.19 242.8 2.59 0.080 1130.94 -406.9 164.67 31.36 1.646 2101.97 -4.8 0.186 - - - - - - 15.93 15.67 10.75
20997.43 366.10 8.89 2126 21011.98 roll 1.86 - - 2795.94 - 2.63 0.030 2272.25 434.0 164.67 - - 2099.88 - - - - - - - - - 15.87 -
21314.09 335.39 9.69 2155 21318.76 roll 1.86 - - 2794.81 - 2.83 0.073 1132.12 -402.9 164.67 - - 2095.72 - - - - - - - - - 15.84 -
21382.76 328.52 9.91 2164 21387.58 roll 1.86 - - 2795.50 - 2.62 0.030 2271.06 434.7 164.67 - - 2095.59 - - - - - - - - - 15.89 -
21694.60 299.66 9.27 2193 21706.65 roll 1.86 - - 2795.69 - 2.82 0.072 1132.00 -403.9 164.67 - - 2097.25 - - - - - - - - - 15.84 -
21803.94 288.92 10.03 2214 21809.32 roll 1.86 - - 2795.31 - 2.62 0.030 2272.75 435.4 164.67 - - 2096.53 - - - - - - - - - 15.90 -
22113.88 259.48 9.62 2276 22119.46 roll 1.86 - - 2795.25 - 2.81 0.072 1130.94 -406.3 164.67 - - 2096.09 - - - - - - - - - 15.85 -
22283.92 242.04 10.16 2310 22289.48 roll 1.86 - - 2795.56 - 2.62 0.030 2272.88 435.9 164.67 - - 2096.28 - - - - - - - - - 15.93 -
22594.03 212.35 9.78 2372 22599.60 roll 1.86 - - 2795.44 - 2.82 0.071 1131.06 -404.9 164.67 - - 2095.44 - - - - - - - - - 15.86 -
22719.04 199.51 10.36 2397 22724.59 done 1.86 - - 2795.75 - 2.62 0.029 2272.69 435.7 164.67 - - 2095.88 - - - - - - - - - 15.94 -
23029.27 171.29 8.21 2459 23030.60 VBD 1.86 - - 2794.69 - - - 2272.56 - 164.67 - - 2095.00 - - - - - - - - - - -
23334.12 147.19 7.70 2520 23339.69 roll 1.87 - - 2795.12 - 2.82 0.071 1129.88 -405.2 164.67 - - 2095.62 - - - - - - - - - 15.87 -
23504.13 134.39 7.41 2554 23509.92 done 1.90 - - 2795.25 - 2.61 0.029 2273.56 438.2 164.67 - - 2096.16 - - - - - - - - - 15.96 -
23814.20 113.79 5.56 2616 23861.13 done 2.00 - - 2795.94 - 2.69 0.091 3346.00 398.7 218.76 42.15 1.319 1883.34 -5.0 0.074 - - - - - - - 15.66 11.14
23984.22 102.49 7.09 2650 23989.80 roll back 2.03 0.17 0.091 2833.31 219.8 2.58 0.022 2186.50 -449.4 218.76 - - 1878.97 - - - - - - - - 15.72 15.83 -
24294.26 82.70 5.26 2712 24341.15 VBD 2.15 - - 2833.69 - - - 2186.25 - 278.51 46.10 1.257 1639.31 -5.2 0.058 - - - - - - - - 11.46
24524.80 64.35 7.79 2758 24526.13 no move 2.16 - - 2833.50 - - - 2186.50 - 278.51 - - 1630.88 - - - - - - - - - - -
24709.32 50.91 6.82 2795 24714.96 2.20 0.18 0.085 2877.06 242.0 2.94 0.083 3347.81 395.0 278.51 - - 1630.19 - - - - - - - - 15.78 15.72 -
24729.33 49.55 6.67 2799 24734.84 done 2.23 - - 2877.25 - 2.59 0.022 2183.62 -449.5 278.51 - - 1629.84 - - - - - - - - - 15.81 -
24919.35 47.39 0.37 2837 25038.55 2.53 0.41 0.063 2955.25 190.2 2.63 0.078 1130.75 -400.3 429.45 112.00 1.208 1024.09 -5.4 0.036 - - - - - - 15.81 15.42 11.32
25071.21 38.40 10.68 2867 25076.20 roll 2.53 - - 2954.81 - 2.67 0.027 2275.38 428.7 429.45 - - 1020.47 - - - - - - - - - 15.57 -
25260.81 15.17 10.66 2905 25262.14 no move 2.53 - - 2955.12 - - - 2274.81 - 429.45 - - 1017.06 - - - - - - - - - - -
25370 end climb: SURFACE_DEPTH_REACHED
25370 begin surface coast
25400 end surface coast: CONTROL_FINISHED_OK
25401 begin surface
SM 0.49 - - - - 179.4 - - 1014.2 - 17.37 0.052 1012.2 58.3 - 0.12 0.114 1016.1 8467.5 -3.720 - - 30.00 15.70 15.72 -