NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1135 * Raw log
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• Previous call tries 1 • 404.13 of 550.00 AH used of 24V (26.52% remains)
• Surface angle -62.2 deg, depth 0.55 m • Intended pitch -21.9 deg, speed -9.429 cm/s
• No surface pump (final VBD was 905.4, SM_CC=400)
• GPS1 time: 31 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
5.91 - - - 82.60 VBD -1.45 - - 177.00 - - - 2244.56 - -116.79 75.21 0.005 2839.22 - - - - - - - - - - 14.89
83.34 3.73 -5.11 14 115.60 -1.45 14.49 0.233 1967.56 123.6 2.65 0.068 1210.50 -390.2 -116.79 9.49 0.007 3252.06 43.5 -4.097 - - - - - - 15.32 14.87 15.06
117.67 11.08 -18.26 21 123.25 roll -1.45 - - 1967.44 - 2.71 0.027 2350.38 420.6 -116.79 - - 3252.72 - - - - - - - - - 15.78 -
308.11 37.93 -14.15 59 309.44 no move -1.45 - - 1967.12 - - - 2350.06 - -116.79 - - 3250.81 - - - - - - - - - - -
492.87 63.57 -13.86 96 498.38 roll -1.45 - - 1967.56 - 2.89 0.060 1210.69 -394.2 -116.79 - - 3251.53 - - - - - - - - - 15.78 -
517.81 67.04 -13.90 101 523.37 roll -1.45 - - 1967.62 - 2.70 0.027 2347.81 421.2 -116.79 - - 3251.56 - - - - - - - - - 15.87 -
708.27 88.30 -10.26 139 713.46 roll -1.45 - - 1967.50 - 2.87 0.060 1209.19 -396.7 -116.79 - - 3252.06 - - - - - - - - - 15.79 -
772.89 95.20 -10.71 152 778.44 roll -1.45 - - 1967.31 - 2.68 0.027 2344.12 423.5 -116.79 - - 3251.84 - - - - - - - - - 15.90 -
962.97 113.99 -9.90 190 964.29 no move -1.45 - - 1967.12 - - - 2343.88 - -116.79 - - 3251.94 - - - - - - - - - - -
1268.04 142.08 -8.87 251 1273.61 roll -1.45 - - 1967.31 - 2.86 0.060 1210.31 -396.4 -116.79 - - 3252.38 - - - - - - - - - 15.84 -
1348.05 149.22 -8.88 267 1353.59 roll -1.45 - - 1966.44 - 2.66 0.027 2342.38 425.6 -116.79 - - 3253.00 - - - - - - - - - 15.93 -
1658.10 175.68 -9.31 329 1663.68 roll -1.45 - - 1967.25 - 2.85 0.059 1210.50 -397.2 -116.79 - - 3252.84 - - - - - - - - - 15.86 -
1678.09 177.60 -9.43 333 1683.84 roll -1.45 - - 1966.12 - 2.64 0.026 2336.50 426.5 -116.79 - - 3253.12 - - - - - - - - - 15.93 -
1988.15 205.57 -8.67 395 1993.73 roll -1.45 - - 1967.38 - 2.84 0.060 1209.00 -397.0 -116.79 - - 3252.97 - - - - - - - - - 15.87 -
2018.14 208.25 -8.85 401 2023.70 roll -1.45 - - 1967.38 - 2.63 0.026 2335.69 428.4 -116.79 - - 3252.97 - - - - - - - - - 15.95 -
2328.20 233.81 -8.04 463 2329.53 no move -1.45 - - 1967.56 - - - 2335.88 - -116.79 - - 3251.97 - - - - - - - - - - -
2633.23 259.31 -8.53 524 2638.80 roll -1.45 - - 1967.50 - 2.82 0.060 1209.19 -399.5 -116.79 - - 3253.62 - - - - - - - - - 15.87 -
2678.23 263.40 -9.10 533 2683.79 roll -1.45 - - 1967.81 - 2.63 0.027 2334.56 427.9 -116.79 - - 3254.09 - - - - - - - - - 15.95 -
2988.29 290.54 -8.81 595 2993.86 roll -1.45 - - 1967.12 - 2.81 0.060 1210.19 -400.1 -116.79 - - 3253.66 - - - - - - - - - 15.87 -
3043.29 295.62 -9.28 606 3048.84 roll -1.45 - - 1967.62 - 2.62 0.026 2329.88 427.4 -116.79 - - 3254.19 - - - - - - - - - 15.95 -
3353.63 322.13 -8.63 640 3358.29 roll -1.45 - - 1967.44 - 2.81 0.060 1209.00 -398.9 -116.79 - - 3252.81 - - - - - - - - - 15.88 -
3392.17 325.54 -8.90 646 3407.11 roll -1.45 - - 1967.75 - 2.63 0.027 2329.50 426.0 -116.79 - - 3253.47 - - - - - - - - - 15.98 -
3708.70 351.98 -8.09 675 3719.77 no move -1.45 - - 1967.56 - - - 2330.56 - -116.79 - - 3253.41 - - - - - - - - - - -
4021.41 376.30 -7.80 704 4026.07 roll -1.45 - - 1967.12 - 2.82 0.061 1209.88 -397.4 -116.79 - - 3253.31 - - - - - - - - - 15.88 -
4090.08 381.92 -8.09 713 4094.71 roll -1.45 - - 1967.19 - 2.63 0.027 2326.00 424.4 -116.79 - - 3252.72 - - - - - - - - - 15.98 -
4401.94 406.45 -8.16 742 4413.01 no move -1.45 - - 1966.94 - - - 2325.25 - -116.79 - - 3253.25 - - - - - - - - - - -
4714.64 432.60 -8.47 771 4719.30 roll -1.45 - - 1967.19 - 2.82 0.062 1210.44 -395.3 -116.79 - - 3252.12 - - - - - - - - - 15.88 -
4753.18 435.90 -8.65 777 4768.11 roll -1.45 - - 1967.62 - 2.62 0.027 2323.50 424.8 -116.79 - - 3252.81 - - - - - - - - - 15.99 -
5070.12 463.00 -8.51 806 5081.19 no move -1.45 - - 1966.94 - - - 2324.69 - -116.79 - - 3252.78 - - - - - - - - - - -
5382.94 488.37 -7.82 835 5387.60 roll -1.45 - - 1967.19 - 2.81 0.062 1210.25 -396.6 -116.79 - - 3252.25 - - - - - - - - - 15.87 -
5421.48 491.40 -7.96 841 5436.61 roll -1.45 - - 1966.62 - 2.61 0.027 2321.38 425.7 -116.79 - - 3253.72 - - - - - - - - - 15.98 -
5744.24 515.51 -7.18 865 5745.58 no move -1.45 - - 1967.44 - - - 2321.12 - -116.79 - - 3250.97 - - - - - - - - - - -
6059.08 537.57 -6.96 886 6063.75 roll -1.45 - - 1965.69 - 2.81 0.063 1210.31 -395.3 -116.79 - - 3252.56 - - - - - - - - - 15.87 -
6118.39 541.87 -7.28 895 6123.93 roll -1.45 - - 1967.38 - 2.62 0.027 2320.38 423.7 -116.79 - - 3253.28 - - - - - - - - - 15.98 -
6437.82 564.59 -7.16 917 6439.15 no move -1.45 - - 1967.38 - - - 2320.25 - -116.79 - - 3250.12 - - - - - - - - - - -
6753.03 586.90 -7.12 938 6754.35 no move -1.45 - - 1966.94 - - - 2320.25 - -116.79 - - 3250.25 - - - - - - - - - - -
7067.88 609.85 -7.55 959 7072.54 roll -1.45 - - 1966.69 - 2.81 0.063 1209.00 -395.5 -116.79 - - 3249.19 - - - - - - - - - 15.86 -
7111.42 612.85 -7.84 966 7126.35 roll -1.45 - - 1967.06 - 2.61 0.028 2321.31 426.2 -116.79 - - 3250.25 - - - - - - - - - 15.98 -
7440.85 639.52 -8.15 988 7442.18 no move -1.45 - - 1967.19 - - - 2321.38 - -116.79 - - 3249.62 - - - - - - - - - - -
7755.87 664.11 -7.68 1009 7760.54 roll -1.45 - - 1967.12 - 2.81 0.063 1210.25 -395.4 -116.79 - - 3249.75 - - - - - - - - - 15.85 -
7799.41 667.05 -7.78 1016 7814.35 roll -1.45 - - 1967.00 - 2.61 0.028 2321.00 425.6 -116.79 - - 3250.75 - - - - - - - - - 15.98 -
8128.85 691.68 -7.20 1038 8133.51 roll -1.45 - - 1966.88 - 2.81 0.063 1210.44 -395.2 -116.79 - - 3249.31 - - - - - - - - - 15.85 -
8167.59 694.47 -7.37 1044 8172.98 roll -1.45 - - 1967.12 - 2.60 0.027 2317.75 425.9 -116.79 - - 3252.12 - - - - - - - - - 15.98 -
8486.82 718.42 -7.63 1066 8488.15 no move -1.45 - - 1967.00 - - - 2317.56 - -116.79 - - 3247.94 - - - - - - - - - - -
8801.85 742.22 -7.45 1087 8806.51 roll -1.45 - - 1966.62 - 2.81 0.064 1211.75 -393.5 -116.79 - - 3249.41 - - - - - - - - - 15.85 -
8845.39 745.06 -7.52 1094 8860.32 roll -1.45 - - 1967.62 - 2.58 0.027 2312.25 426.6 -116.79 - - 3249.88 - - - - - - - - - 15.99 -
9174.83 768.26 -6.66 1116 9176.15 no move -1.45 - - 1967.06 - - - 2312.25 - -116.79 - - 3247.72 - - - - - - - - - - -
9489.86 788.92 -6.34 1137 9491.19 no move -1.45 - - 1967.06 - - - 2311.88 - -116.79 - - 3248.69 - - - - - - - - - - -
9804.90 809.48 -6.67 1158 9809.54 roll -1.45 - - 1967.31 - 2.80 0.065 1211.75 -392.9 -116.79 - - 3247.31 - - - - - - - - - 15.84 -
9843.46 812.12 -6.90 1164 9849.03 roll -1.45 - - 1966.75 - 2.59 0.027 2311.44 424.6 -116.79 - - 3248.81 - - - - - - - - - 15.97 -
10162.88 833.88 -6.78 1186 10164.21 no move -1.45 - - 1967.44 - - - 2311.88 - -116.79 - - 3247.53 - - - - - - - - - - -
10477.93 855.97 -7.10 1207 10482.61 roll -1.45 - - 1967.06 - 2.81 0.065 1210.75 -391.9 -116.79 - - 3247.28 - - - - - - - - - 15.83 -
10535.90 860.23 -7.26 1215 10540.51 roll -1.45 - - 1966.88 - 2.59 0.027 2309.25 424.1 -116.79 - - 3247.41 - - - - - - - - - 15.97 -
10852.57 882.19 -6.84 1237 10857.31 roll -1.45 - - 1966.81 - 2.93 0.090 3424.06 380.5 -116.79 - - 3247.44 - - - - - - - - - 15.76 -
10889.78 884.96 -7.13 1242 10894.43 roll -1.45 - - 1966.94 - 2.71 0.020 2214.50 -446.3 -116.79 - - 3247.34 - - - - - - - - - 15.96 -
11206.43 906.08 -6.76 1264 11211.05 roll -1.45 - - 1967.44 - 2.53 0.070 1210.56 -396.8 -116.79 - - 3248.41 - - - - - - - - - 15.82 -
11244.99 908.74 -6.97 1270 11250.51 roll -1.45 - - 1967.31 - 2.59 0.028 2310.12 424.5 -116.79 - - 3247.53 - - - - - - - - - 15.97 -
11564.39 930.65 -7.08 1292 11569.08 roll -1.45 - - 1967.12 - 2.93 0.091 3423.94 380.1 -116.79 - - 3246.34 - - - - - - - - - 15.75 -
11587.21 931.88 -7.17 1296 11602.13 roll -1.45 - - 1966.81 - 2.70 0.020 2212.94 -448.5 -116.79 - - 3246.50 - - - - - - - - - 15.96 -
11916.62 956.01 -7.22 1318 11917.95 no move -1.45 - - 1966.88 - - - 2212.94 - -116.79 - - 3245.28 - - - - - - - - - - -
12231.63 979.38 -7.38 1339 12236.34 roll -1.45 - - 1965.56 - 3.17 0.087 3424.94 382.3 -116.79 - - 3247.12 - - - - - - - - - 15.74 -
12290.91 984.13 -8.00 1348 12296.46 roll -1.45 - - 1966.75 - 2.70 0.020 2219.06 -446.6 -116.79 - - 3246.44 - - - - - - - - - 15.97 -
12370 end dive: TARGET_DEPTH_EXCEEDED
12370 begin apogee
12372.12 990.28 -7.64 1354 12478.92 -0.28 2.05 0.135 2254.38 140.3 0.15 0.163 2155.56 -423.3 - 96.12 2.427 2776.69 -4.9 0.352 - - - - - - 15.68 14.97 10.02
12481 end apogee: CONTROL_FINISHED_OK
12481 begin climb
12481.70 993.70 - 1361 12593.67 1.45 2.91 0.109 2674.94 144.5 3.04 0.081 996.50 -381.3 116.79 101.66 2.395 2298.16 -4.7 0.345 - - - - - - 15.28 15.42 11.55
12605.42 990.11 3.77 1378 12764.07 1.80 0.52 0.058 2769.38 181.6 2.79 0.024 2135.81 408.4 289.63 151.93 2.378 1593.69 -4.6 0.341 - - - - - - 15.20 15.27 11.46
13067.15 943.84 10.76 1421 13071.81 done 1.80 - - 2768.88 - 2.83 0.084 3206.06 378.2 289.63 - - 1583.28 - - - - - - - - - 15.65 -
13104.34 939.64 10.99 1426 13108.98 done 1.80 - - 2768.31 - 2.67 0.025 2058.75 -429.7 289.63 - - 1581.81 - - - - - - - - - 15.70 -
13420.84 904.03 11.67 1448 13425.49 done 1.80 - - 2769.12 - 2.75 0.087 995.62 -386.6 289.63 - - 1579.81 - - - - - - - - - 15.74 -
13459.38 899.46 11.97 1454 13464.94 done 1.80 - - 2768.75 - 2.68 0.024 2131.44 423.8 289.63 - - 1580.84 - - - - - - - - - 15.82 -
13778.82 861.98 11.64 1476 13780.15 VBD 1.80 - - 2768.31 - - - 2131.06 - 289.63 - - 1579.72 - - - - - - - - - - -
14094.03 826.92 10.77 1497 14095.36 VBD 1.80 - - 2769.00 - - - 2130.69 - 289.63 - - 1579.91 - - - - - - - - - - -
14408.88 794.66 10.09 1518 14413.57 done 1.80 - - 2768.31 - 2.93 0.084 996.12 -387.2 289.63 - - 1579.62 - - - - - - - - - 15.80 -
14468.16 788.44 10.55 1527 14473.72 done 1.80 - - 2768.62 - 2.65 0.025 2128.69 427.4 289.63 - - 1578.62 - - - - - - - - - 15.92 -
14787.58 756.12 10.02 1549 14788.91 VBD 1.80 - - 2768.81 - - - 2128.69 - 289.63 - - 1578.31 - - - - - - - - - - -
15102.58 724.05 10.34 1570 15107.45 done 1.80 - - 2768.62 - 2.91 0.084 993.19 -390.2 289.63 - - 1579.53 - - - - - - - - - 15.80 -
15139.96 719.93 10.72 1575 15144.59 done 1.80 - - 2768.56 - 2.66 0.024 2127.06 426.3 289.63 - - 1577.75 - - - - - - - - - 15.94 -
15456.45 687.03 10.27 1597 15457.78 VBD 1.80 - - 2768.62 - - - 2127.62 - 289.63 - - 1578.06 - - - - - - - - - - -
15771.45 654.16 10.42 1618 15772.78 VBD 1.80 - - 2768.50 - - - 2126.75 - 289.63 - - 1577.78 - - - - - - - - - - -
16086.47 620.53 11.03 1639 16091.16 done 1.80 - - 2768.81 - 2.92 0.083 995.25 -387.5 289.63 - - 1577.31 - - - - - - - - - 15.80 -
16144.41 613.67 11.67 1647 16149.06 done 1.80 - - 2768.56 - 2.65 0.024 2126.75 427.0 289.63 - - 1577.09 - - - - - - - - - 15.95 -
16460.92 577.43 11.45 1669 16465.59 done 1.80 - - 2768.50 - 2.82 0.084 3205.44 382.5 289.63 - - 1577.16 - - - - - - - - - 15.81 -
16499.47 572.91 11.82 1675 16505.02 done 1.80 - - 2768.69 - 2.67 0.026 2052.00 -432.0 289.63 - - 1578.41 - - - - - - - - - 15.95 -
16818.89 536.97 10.92 1697 16820.22 VBD 1.80 - - 2768.69 - - - 2051.56 - 289.63 - - 1577.16 - - - - - - - - - - -
17134.11 503.20 10.69 1718 17135.44 VBD 1.80 - - 2768.56 - - - 2052.06 - 289.63 - - 1576.47 - - - - - - - - - - -
17436.95 471.59 10.39 1745 17441.65 done 1.80 - - 2768.81 - 3.02 0.080 3206.06 382.1 289.63 - - 1577.25 - - - - - - - - - 15.80 -
17475.49 467.47 10.76 1751 17490.43 done 1.80 - - 2768.62 - 2.66 0.026 2052.69 -433.6 289.63 - - 1578.53 - - - - - - - - - 15.96 -
17792.23 435.72 9.60 1780 17803.31 VBD 1.80 - - 2768.62 - - - 2052.94 - 289.63 - - 1577.25 - - - - - - - - - - -
18105.26 407.21 8.88 1809 18109.96 done 1.81 - - 2767.38 - 3.02 0.080 3203.00 380.8 289.63 - - 1577.16 - - - - - - - - - 15.79 -
18143.81 403.61 9.33 1815 18158.75 done 1.81 - - 2769.06 - 2.65 0.026 2056.94 -432.5 289.63 - - 1576.88 - - - - - - - - - 15.95 -
18460.37 374.12 9.84 1844 18465.02 done 1.81 - - 2769.62 - 2.75 0.088 994.75 -386.3 289.63 - - 1576.25 - - - - - - - - - 15.77 -
18497.56 370.13 10.42 1849 18502.19 done 1.81 - - 2767.12 - 2.64 0.024 2131.62 430.6 289.63 - - 1576.97 - - - - - - - - - 15.96 -
18809.26 337.16 10.95 1878 18813.92 done 1.81 - - 2768.81 - 2.80 0.083 3203.75 382.9 289.63 - - 1576.34 - - - - - - - - - 15.79 -
18846.45 332.84 11.31 1883 18851.09 done 1.81 - - 2769.00 - 2.65 0.025 2053.75 -434.0 289.63 - - 1577.44 - - - - - - - - - 15.94 -
19158.37 300.14 10.42 1912 19163.02 done 1.81 - - 2768.88 - 2.73 0.087 993.75 -388.3 289.63 - - 1576.34 - - - - - - - - - 15.77 -
19196.95 295.87 10.83 1918 19202.51 done 1.81 - - 2768.69 - 2.64 0.024 2125.56 428.7 289.63 - - 1576.53 - - - - - - - - - 15.94 -
19507.18 267.15 8.54 1980 19512.62 done 1.83 - - 2768.00 - 2.81 0.083 3205.25 384.2 289.63 - - 1577.09 - - - - - - - - - 15.77 -
19547.04 263.53 9.05 1988 19552.59 done 1.83 - - 2769.19 - 2.66 0.025 2052.38 -433.4 289.63 - - 1576.72 - - - - - - - - - 15.94 -
19857.12 237.25 8.88 2050 19858.45 VBD 1.84 - - 2769.38 - - - 2052.62 - 289.63 - - 1576.31 - - - - - - - - - - -
20162.14 207.65 10.46 2111 20167.76 done 1.84 - - 2769.31 - 3.02 0.079 3204.69 381.5 289.63 - - 1576.97 - - - - - - - - - 15.76 -
20217.15 201.63 11.03 2122 20222.69 done 1.84 - - 2769.06 - 2.64 0.025 2054.50 -435.7 289.63 - - 1577.41 - - - - - - - - - 15.94 -
20527.21 171.27 9.24 2184 20528.54 VBD 1.84 - - 2768.44 - - - 2054.25 - 289.63 - - 1576.28 - - - - - - - - - - -
20832.28 145.46 7.82 2245 20833.61 VBD 1.87 - - 2769.06 - - - 2054.50 - 289.63 - - 1576.56 - - - - - - - - - - -
21137.49 122.62 7.52 2306 21142.97 done 1.91 - - 2769.69 - 3.02 0.078 3206.25 381.4 289.63 - - 1577.00 - - - - - - - - - 15.75 -
21207.31 116.88 8.30 2320 21212.86 done 1.93 - - 2769.12 - 2.65 0.025 2055.56 -434.2 289.63 - - 1577.38 - - - - - - - - - 15.93 -
21517.38 92.97 7.55 2382 21518.82 1.97 0.17 0.090 2809.69 238.6 - - 2055.19 - 289.63 - - 1576.62 - - - - - - - - 15.89 - -
21702.39 78.89 7.34 2419 21759.66 done 2.09 - - 2810.19 - 2.75 0.087 995.88 -385.2 353.44 51.21 1.285 1334.94 -4.7 0.051 - - - - - - - 15.27 10.36
21817.59 69.73 8.43 2442 21822.97 roll 2.11 - - 2809.19 - 2.71 0.023 2142.00 422.9 353.44 - - 1331.62 - - - - - - - - - 15.80 -
22007.48 58.15 5.95 2480 22094.93 2.33 0.47 0.062 2898.94 191.0 - - 2142.94 - 459.70 84.36 1.229 901.62 -5.1 0.043 - - - - - - 15.79 - 11.18
22277.53 32.56 10.40 2534 22283.14 roll 2.33 - - 2898.50 - 3.02 0.079 994.62 -380.2 459.70 - - 895.44 - - - - - - - - - 15.62 -
22327.54 27.03 11.23 2544 22333.11 roll 2.33 - - 2899.12 - 2.71 0.022 2137.75 421.8 459.70 - - 895.34 - - - - - - - - - 15.74 -
22517.61 7.89 9.04 2582 22523.19 roll 2.33 - - 2898.44 - 2.81 0.080 3206.50 380.3 459.70 - - 893.25 - - - - - - - - - 15.69 -
22557 end climb: SURFACE_DEPTH_REACHED
22557 begin surface coast
22572 end surface coast: CONTROL_FINISHED_OK
22573 begin surface
SM 0.45 - - - - 179.4 - - 892.8 - 17.32 0.076 880.1 50.8 - 2.09 0.021 905.4 431.9 -0.946 - - 30.00 15.57 15.79 -