NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 436 * Raw log
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• Previous call tries 2 • 139.61 of 550.00 AH used of 24V (74.62% remains)
• Surface angle -62.9 deg, depth 0.61 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• No surface pump (final VBD was 1010.1, SM_CC=425)
• GPS1 time: 30 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
5.10 - - - 82.58 VBD -1.37 - - 178.75 - - - 2253.12 - -82.73 75.98 0.005 2603.22 - - - - - - - - - - 15.45
83.32 3.91 -6.41 14 115.51 -1.37 14.10 0.250 1988.38 128.3 2.50 0.067 1207.50 -418.2 -82.73 9.86 0.007 3112.44 51.6 -4.785 - - - - - - 15.60 15.43 15.50
197.60 33.98 -22.77 37 203.16 roll -1.37 - - 1988.44 - 2.62 0.029 2353.38 437.4 -82.73 - - 3113.03 - - - - - - - - - 15.79 -
388.30 61.09 -11.55 75 393.21 roll -1.37 - - 1988.62 - 2.61 0.080 3428.94 412.1 -82.73 - - 3112.97 - - - - - - - - - 15.84 -
422.69 65.83 -13.80 82 428.22 roll -1.37 - - 1988.69 - 2.56 0.020 2247.19 -461.6 -82.73 - - 3112.88 - - - - - - - - - 15.86 -
613.13 89.15 -10.21 120 617.86 roll -1.37 - - 1988.62 - 2.46 0.063 1207.19 -422.8 -82.73 - - 3112.66 - - - - - - - - - 15.90 -
697.76 97.93 -10.89 137 703.30 roll -1.37 - - 1988.94 - 2.59 0.027 2354.88 443.1 -82.73 - - 3113.59 - - - - - - - - - 15.91 -
888.22 115.33 -8.94 175 893.36 roll -1.37 - - 1988.56 - 2.60 0.081 3428.31 412.9 -82.73 - - 3113.16 - - - - - - - - - 15.92 -
1027.88 129.81 -10.69 203 1033.41 roll -1.37 - - 1988.81 - 2.56 0.020 2241.31 -463.7 -82.73 - - 3113.44 - - - - - - - - - 15.94 -
1337.99 155.90 -7.74 265 1343.11 roll -1.37 - - 1988.25 - 2.44 0.064 1207.31 -423.8 -82.73 - - 3113.69 - - - - - - - - - 15.97 -
1423.01 162.94 -8.36 282 1428.54 roll -1.37 - - 1988.62 - 2.58 0.028 2356.25 445.3 -82.73 - - 3112.75 - - - - - - - - - 15.99 -
1733.30 189.60 -9.31 344 1734.63 no move -1.37 - - 1988.31 - - - 2356.31 - -82.73 - - 3112.25 - - - - - - - - - - -
2038.17 216.80 -8.47 405 2039.50 no move -1.37 - - 1988.69 - - - 2355.50 - -82.73 - - 3112.28 - - - - - - - - - - -
2343.22 242.85 -8.79 466 2344.55 no move -1.37 - - 1988.56 - - - 2355.75 - -82.73 - - 3111.09 - - - - - - - - - - -
2648.26 269.83 -8.92 527 2653.82 roll -1.37 - - 1989.06 - 2.72 0.062 1207.19 -422.3 -82.73 - - 3111.22 - - - - - - - - - 16.04 -
2713.27 275.99 -9.52 540 2718.80 roll -1.37 - - 1988.75 - 2.58 0.029 2356.19 445.3 -82.73 - - 3111.25 - - - - - - - - - 16.04 -
3023.41 303.70 -8.98 597 3028.05 roll -1.37 - - 1987.25 - 2.72 0.062 1208.12 -422.1 -82.73 - - 3110.69 - - - - - - - - - 16.05 -
3077.68 308.63 -9.20 605 3092.59 roll -1.37 - - 1988.62 - 2.57 0.029 2353.25 445.6 -82.73 - - 3109.97 - - - - - - - - - 16.05 -
3393.78 339.31 -10.19 634 3398.38 roll -1.37 - - 1988.25 - 2.60 0.087 3429.50 413.9 -82.73 - - 3109.22 - - - - - - - - - 16.02 -
3432.31 343.44 -10.79 640 3447.23 roll -1.37 - - 1988.12 - 2.55 0.021 2244.88 -464.6 -82.73 - - 3109.56 - - - - - - - - - 16.06 -
3748.79 376.05 -9.92 669 3759.86 no move -1.37 - - 1988.38 - - - 2245.12 - -82.73 - - 3108.44 - - - - - - - - - - -
4061.63 405.12 -9.01 698 4066.29 roll -1.37 - - 1988.81 - 2.87 0.084 3428.69 412.4 -82.73 - - 3106.19 - - - - - - - - - 16.04 -
4131.63 412.17 -10.06 708 4146.56 roll -1.37 - - 1987.56 - 2.55 0.022 2248.75 -462.7 -82.73 - - 3106.44 - - - - - - - - - 16.07 -
4448.05 439.63 -8.42 737 4459.12 no move -1.37 - - 1989.12 - - - 2249.19 - -82.73 - - 3106.00 - - - - - - - - - - -
4760.67 465.73 -8.21 766 4771.74 no move -1.37 - - 1988.62 - - - 2249.44 - -82.73 - - 3104.88 - - - - - - - - - - -
5074.15 490.45 -7.83 795 5078.80 roll -1.37 - - 1987.44 - 2.87 0.085 3428.56 410.8 -82.73 - - 3104.91 - - - - - - - - - 16.05 -
5159.88 498.09 -8.95 807 5174.79 roll -1.37 - - 1988.25 - 2.55 0.022 2250.56 -462.0 -82.73 - - 3103.94 - - - - - - - - - 16.06 -
5486.24 524.52 -8.20 829 5487.57 no move -1.37 - - 1988.06 - - - 2250.56 - -82.73 - - 3102.00 - - - - - - - - - - -
5801.25 550.77 -8.45 850 5805.91 roll -1.37 - - 1988.00 - 2.86 0.085 3427.56 411.5 -82.73 - - 3100.91 - - - - - - - - - 16.06 -
5879.92 558.54 -9.73 861 5884.53 roll -1.37 - - 1988.38 - 2.54 0.022 2250.62 -463.4 -82.73 - - 3101.00 - - - - - - - - - 16.07 -
6196.38 587.23 -9.11 883 6197.71 no move -1.37 - - 1988.75 - - - 2249.88 - -82.73 - - 3100.62 - - - - - - - - - - -
6511.39 616.21 -9.47 904 6516.17 roll -1.37 - - 1988.50 - 2.47 0.070 1208.38 -421.7 -82.73 - - 3099.72 - - - - - - - - - 16.06 -
6569.48 621.87 -9.68 912 6574.08 roll -1.37 - - 1987.31 - 2.57 0.031 2354.25 445.9 -82.73 - - 3101.41 - - - - - - - - - 16.07 -
6885.97 650.94 -9.04 934 6890.58 roll -1.37 - - 1988.56 - 2.60 0.092 3427.75 412.9 -82.73 - - 3099.69 - - - - - - - - - 16.04 -
6945.24 656.83 -9.87 943 6950.78 roll -1.37 - - 1988.06 - 2.55 0.022 2248.25 -462.5 -82.73 - - 3100.03 - - - - - - - - - 16.07 -
7264.65 685.79 -8.47 965 7265.98 no move -1.37 - - 1988.62 - - - 2247.88 - -82.73 - - 3098.59 - - - - - - - - - - -
7579.84 712.48 -8.33 986 7584.43 roll -1.37 - - 1988.81 - 2.47 0.070 1209.19 -420.5 -82.73 - - 3098.09 - - - - - - - - - 16.06 -
7644.12 717.42 -8.41 996 7659.04 roll -1.37 - - 1988.38 - 2.57 0.031 2353.06 445.1 -82.73 - - 3099.19 - - - - - - - - - 16.07 -
7973.52 744.24 -7.89 1018 7974.85 no move -1.37 - - 1988.44 - - - 2352.75 - -82.73 - - 3097.66 - - - - - - - - - - -
8288.54 768.10 -7.41 1039 8289.87 no move -1.37 - - 1988.50 - - - 2353.12 - -82.73 - - 3097.19 - - - - - - - - - - -
8603.57 791.17 -7.16 1060 8604.90 no move -1.37 - - 1988.38 - - - 2353.06 - -82.73 - - 3096.56 - - - - - - - - - - -
8918.59 814.09 -7.28 1081 8923.23 roll -1.37 - - 1988.69 - 2.73 0.066 1208.56 -419.2 -82.73 - - 3096.38 - - - - - - - - - 16.07 -
8957.12 816.94 -7.47 1087 8962.65 roll -1.37 - - 1988.06 - 2.58 0.031 2352.75 443.5 -82.73 - - 3097.41 - - - - - - - - - 16.06 -
9276.54 839.89 -7.25 1109 9281.36 roll -1.37 - - 1988.44 - 2.74 0.066 1208.69 -417.5 -82.73 - - 3096.84 - - - - - - - - - 16.06 -
9356.65 845.91 -7.61 1121 9362.05 roll -1.37 - - 1988.44 - 2.58 0.032 2352.50 443.3 -82.73 - - 3097.59 - - - - - - - - - 16.06 -
9675.95 868.77 -7.14 1143 9680.58 roll -1.37 - - 1988.06 - 2.62 0.094 3426.75 410.0 -82.73 - - 3096.19 - - - - - - - - - 16.03 -
9735.22 873.51 -7.93 1152 9740.75 roll -1.37 - - 1988.38 - 2.56 0.023 2248.56 -460.2 -82.73 - - 3096.56 - - - - - - - - - 16.06 -
10054.62 897.13 -7.39 1174 10055.96 no move -1.37 - - 1988.88 - - - 2248.12 - -82.73 - - 3094.41 - - - - - - - - - - -
10369.65 920.02 -7.30 1195 10370.97 no move -1.37 - - 1988.69 - - - 2248.12 - -82.73 - - 3094.09 - - - - - - - - - - -
10684.66 943.29 -7.28 1216 10689.32 roll -1.37 - - 1987.12 - 2.88 0.088 3426.69 409.2 -82.73 - - 3095.38 - - - - - - - - - 16.03 -
10769.67 949.77 -8.13 1229 10784.60 roll -1.37 - - 1987.94 - 2.56 0.023 2248.56 -460.2 -82.73 - - 3095.06 - - - - - - - - - 16.06 -
11099.09 974.56 -7.13 1251 11100.42 no move -1.37 - - 1988.69 - - - 2248.81 - -82.73 - - 3093.62 - - - - - - - - - - -
11324 end dive: TARGET_DEPTH_EXCEEDED
11324 begin apogee
11325.93 990.26 -6.89 1266 11389.45 -0.28 1.84 0.143 2254.38 144.4 0.14 0.189 2289.75 292.4 - 59.48 2.436 2774.41 -5.4 0.362 - - - - - - 15.96 15.65 11.61
11390 end apogee: CONTROL_FINISHED_OK
11391 begin climb
11391.32 991.81 - 1270 11465.50 1.37 2.66 0.092 2656.56 151.2 - - 2289.75 - 82.73 66.97 2.396 2436.56 -5.0 0.346 - - - - - - 15.69 - 12.72
11777.83 965.73 7.56 1296 11782.49 roll 1.39 - - 2655.12 - 2.87 0.076 1131.12 -403.7 82.73 - - 2431.47 - - - - - - - - - 15.72 -
11842.11 961.07 7.90 1306 11857.03 roll 1.40 - - 2656.00 - 2.62 0.031 2271.25 435.2 82.73 - - 2431.00 - - - - - - - - - 15.75 -
12171.51 935.52 7.53 1328 12172.84 VBD 1.41 - - 2656.25 - - - 2271.56 - 82.73 - - 2428.50 - - - - - - - - - - -
12486.53 912.16 7.45 1349 12491.15 done 1.44 - - 2655.50 - 2.65 0.093 3345.38 405.2 82.73 - - 2429.47 - - - - - - - - - 15.87 -
12544.46 907.38 8.05 1357 12549.07 done 1.44 - - 2655.50 - 2.59 0.025 2188.38 -446.7 82.73 - - 2427.81 - - - - - - - - - 15.90 -
12860.97 884.46 7.01 1379 12862.30 VBD 1.46 - - 2655.62 - - - 2189.25 - 82.73 - - 2426.81 - - - - - - - - - - -
13176.01 862.11 7.24 1400 13177.45 1.49 0.14 0.097 2694.06 274.6 - - 2188.25 - 82.73 - - 2426.81 - - - - - - - - 15.92 - -
13491.42 837.25 7.80 1421 13496.08 done 1.50 - - 2693.50 - 2.85 0.089 3346.56 406.4 82.73 - - 2426.50 - - - - - - - - - 15.96 -
13534.95 833.97 8.31 1428 13550.05 done 1.50 - - 2694.44 - 2.58 0.025 2187.62 -449.2 82.73 - - 2427.75 - - - - - - - - - 15.98 -
13864.55 806.68 7.94 1450 13865.88 VBD 1.51 - - 2694.38 - - - 2187.94 - 82.73 - - 2426.69 - - - - - - - - - - -
14179.40 782.10 7.73 1471 14184.06 done 1.53 - - 2694.06 - 2.85 0.089 3346.38 406.5 82.73 - - 2428.41 - - - - - - - - - 15.98 -
14238.67 777.17 8.32 1480 14244.20 done 1.53 - - 2695.31 - 2.57 0.025 2189.75 -450.1 82.73 - - 2428.00 - - - - - - - - - 16.01 -
14558.29 753.53 7.19 1502 14559.62 VBD 1.55 - - 2694.94 - - - 2189.75 - 82.73 - - 2425.88 - - - - - - - - - - -
14873.15 731.95 6.79 1523 14877.81 done 1.59 - - 2695.50 - 2.84 0.089 3347.19 407.5 82.73 - - 2425.69 - - - - - - - - - 16.00 -
14937.42 727.61 7.31 1533 14952.33 done 1.61 - - 2694.81 - 2.57 0.025 2189.12 -450.6 82.73 - - 2427.50 - - - - - - - - - 16.02 -
15266.83 704.28 7.24 1555 15268.16 VBD 1.63 - - 2695.31 - - - 2189.69 - 82.73 - - 2425.78 - - - - - - - - - - -
15581.85 681.64 7.22 1576 15583.29 1.66 0.17 0.092 2734.31 229.4 - - 2189.06 - 82.73 - - 2424.94 - - - - - - - - 15.99 - -
15897.03 655.40 8.75 1597 15901.64 done 1.66 - - 2733.69 - 2.57 0.081 1131.56 -411.5 82.73 - - 2425.91 - - - - - - - - - 16.01 -
15956.29 650.07 9.02 1606 15961.84 done 1.66 - - 2733.81 - 2.58 0.031 2273.50 442.6 82.73 - - 2426.31 - - - - - - - - - 16.04 -
16275.70 622.29 8.29 1628 16277.03 VBD 1.66 - - 2733.81 - - - 2273.44 - 82.73 - - 2425.22 - - - - - - - - - - -
16590.92 596.31 7.94 1649 16592.25 VBD 1.67 - - 2733.94 - - - 2273.56 - 82.73 - - 2424.94 - - - - - - - - - - -
16905.87 572.21 7.52 1670 16910.51 done 1.69 - - 2733.69 - 2.78 0.076 1131.00 -411.0 82.73 - - 2425.28 - - - - - - - - - 16.02 -
17048.09 561.13 7.90 1691 17053.60 done 1.70 - - 2734.00 - 2.59 0.032 2273.69 441.2 82.73 - - 2426.25 - - - - - - - - - 16.03 -
17367.49 539.72 6.20 1713 17398.00 VBD 1.76 - - 2732.88 - - - 2273.94 - 115.83 25.36 1.810 2303.44 -4.8 0.239 - - - - - - - - 11.75
17712.51 513.79 7.73 1736 17717.16 roll 1.78 - - 2733.69 - 2.79 0.076 1131.25 -409.6 115.83 - - 2297.94 - - - - - - - - - 15.95 -
17751.04 510.72 7.99 1742 17756.58 roll 1.78 - - 2732.50 - 2.60 0.031 2271.81 438.7 115.83 - - 2300.47 - - - - - - - - - 15.97 -
18062.33 484.50 8.68 1768 18073.40 no move 1.78 - - 2733.94 - - - 2271.69 - 115.83 - - 2298.53 - - - - - - - - - - -
18375.08 456.21 9.17 1797 18386.14 no move 1.78 - - 2734.12 - - - 2272.19 - 115.83 - - 2298.16 - - - - - - - - - - -
18687.76 427.72 9.22 1826 18692.41 roll 1.78 - - 2733.88 - 2.78 0.076 1132.38 -410.0 115.83 - - 2296.78 - - - - - - - - - 15.99 -
18758.10 421.28 9.29 1836 18773.02 roll 1.78 - - 2733.62 - 2.59 0.032 2274.00 440.8 115.83 - - 2299.72 - - - - - - - - - 16.00 -
19074.12 394.33 8.25 1865 19078.94 roll 1.78 - - 2733.94 - 2.64 0.092 3347.19 406.5 115.83 - - 2296.91 - - - - - - - - - 15.98 -
19128.56 389.48 8.95 1873 19143.30 roll 1.78 - - 2733.69 - 2.58 0.025 2187.12 -449.6 115.83 - - 2299.69 - - - - - - - - - 16.02 -
19444.76 365.66 7.26 1902 19455.83 no move 1.80 - - 2734.56 - - - 2186.88 - 115.83 - - 2298.22 - - - - - - - - - - -
19757.33 343.75 6.65 1931 19768.52 pitch 1.84 0.19 0.085 2778.94 233.6 - - 2186.62 - 115.83 - - 2298.41 - - - - - - - - 15.98 - -
20070.01 319.51 8.06 1960 20074.61 roll 1.84 - - 2779.00 - 2.58 0.079 1131.12 -409.1 115.83 - - 2297.78 - - - - - - - - - 16.01 -
20170.12 311.01 8.49 1973 20174.74 roll 1.84 - - 2779.88 - 2.59 0.031 2273.12 440.9 115.83 - - 2298.16 - - - - - - - - - 16.02 -
20477.47 288.19 7.24 2018 20478.81 no move 1.86 - - 2778.75 - - - 2273.50 - 115.83 - - 2297.00 - - - - - - - - - - -
20782.55 265.15 7.55 2079 20783.88 no move 1.88 - - 2779.44 - - - 2273.31 - 115.83 - - 2296.75 - - - - - - - - - - -
21087.66 242.75 7.59 2140 21088.99 no move 1.90 - - 2779.31 - - - 2273.69 - 115.83 - - 2297.03 - - - - - - - - - - -
21392.94 219.00 7.78 2201 21394.27 no move 1.91 - - 2779.38 - - - 2273.19 - 115.83 - - 2297.16 - - - - - - - - - - -
21697.99 196.08 7.04 2262 21703.42 roll 1.94 - - 2779.94 - 2.78 0.074 1129.94 -411.2 115.83 - - 2298.03 - - - - - - - - - 16.00 -
21837.93 185.44 7.71 2290 21843.44 roll 1.96 - - 2780.06 - 2.59 0.030 2275.88 442.4 115.83 - - 2299.03 - - - - - - - - - 16.02 -
22148.04 163.09 6.81 2352 22149.37 no move 1.99 - - 2779.75 - - - 2275.75 - 115.83 - - 2297.28 - - - - - - - - - - -
22453.14 143.55 5.67 2413 22485.84 2.07 0.25 0.070 2836.12 225.5 - - 2275.38 - 156.71 31.14 1.339 2137.03 -5.1 0.092 - - - - - - 15.99 - 11.81
22788.18 115.45 8.46 2480 22793.74 roll 2.07 - - 2837.25 - 2.79 0.073 1130.12 -410.5 156.71 - - 2130.91 - - - - - - - - - 15.96 -
22913.21 105.18 7.88 2505 22918.72 roll 2.08 - - 2836.50 - 2.60 0.030 2274.75 440.2 156.71 - - 2132.00 - - - - - - - - - 15.96 -
23223.43 89.57 2.91 2567 23290.17 2.25 0.17 0.087 2880.88 261.1 2.81 0.074 1130.50 -407.2 238.12 60.28 1.285 1802.75 -5.5 0.063 - - - - - - 15.94 15.78 12.22
23498.26 67.44 8.66 2622 23503.81 done 2.25 - - 2880.81 - 2.62 0.030 2275.00 436.8 238.12 - - 1793.59 - - - - - - - - - 15.84 -
23688.29 54.79 6.05 2660 23719.75 done 2.32 - - 2880.06 - 2.81 0.074 1130.25 -407.4 273.52 26.25 1.172 1660.22 -5.1 0.039 - - - - - - - 15.78 12.23
23948.32 39.94 3.07 2712 24012.78 2.48 0.25 0.073 2933.75 214.8 2.61 0.028 2278.62 440.0 352.54 58.90 1.189 1339.25 -5.4 0.030 - - - - - - 15.79 15.86 12.32
24195.04 27.34 6.46 2761 24222.68 done 2.53 - - 2933.81 - 2.83 0.073 1131.12 -405.5 381.88 22.72 1.098 1217.91 -5.3 0.022 - - - - - - - 15.69 12.41
24450.29 11.46 5.25 2812 24491.72 done 2.63 - - 2934.38 - 2.61 0.028 2274.56 438.1 428.86 36.03 1.109 1027.72 -5.3 0.009 - - - - - - - 15.81 12.29
24570 end climb: SURFACE_DEPTH_REACHED
24570 begin surface coast
24630 end surface coast: CONTROL_FINISHED_OK
24630 begin surface
SM 1.22 - - - - 179.4 - - 1020.7 - 16.96 0.045 1031.2 60.8 - 0.12 0.124 1010.1 8395.8 -8.443 - - 30.00 15.75 15.76 -