NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 454 * Raw log
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• Previous call tries 4 • 146.49 of 550.00 AH used of 24V (73.37% remains)
• Surface angle -63.3 deg, depth 0.66 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• No surface pump (final VBD was 933.2, SM_CC=425)
• GPS1 time: 70 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
5.12 - - - 56.77 VBD -1.37 - - 177.25 - - - 2233.00 - -82.73 50.47 0.005 2427.53 - - - - - - - - - - 15.52
57.49 3.38 -7.03 9 94.90 -1.37 14.26 0.252 1988.00 127.0 2.45 0.065 1207.19 -418.7 -82.73 13.86 0.006 3111.94 49.4 -4.620 - - - - - - 15.65 15.42 15.53
322.04 55.69 -13.75 62 327.58 roll -1.37 - - 1988.19 - 2.62 0.028 2352.56 437.2 -82.73 - - 3112.69 - - - - - - - - - 15.86 -
512.74 79.86 -11.78 100 514.07 no move -1.37 - - 1988.75 - - - 2352.81 - -82.73 - - 3110.97 - - - - - - - - - - -
697.13 100.15 -10.20 137 702.69 roll -1.37 - - 1988.88 - 2.64 0.084 3428.88 407.6 -82.73 - - 3112.47 - - - - - - - - - 15.91 -
767.15 107.97 -11.51 151 772.69 roll -1.37 - - 1988.00 - 2.56 0.021 2239.31 -464.7 -82.73 - - 3114.19 - - - - - - - - - 15.94 -
1077.18 135.16 -7.47 213 1082.30 roll -1.37 - - 1987.44 - 2.43 0.064 1208.31 -424.3 -82.73 - - 3113.38 - - - - - - - - - 15.96 -
1142.19 140.61 -8.57 226 1147.73 roll -1.37 - - 1988.69 - 2.59 0.028 2354.56 442.6 -82.73 - - 3112.97 - - - - - - - - - 15.97 -
1452.24 166.59 -8.62 288 1457.80 roll -1.37 - - 1987.56 - 2.71 0.059 1206.19 -423.8 -82.73 - - 3114.09 - - - - - - - - - 16.00 -
1512.24 171.88 -8.82 300 1517.77 roll -1.37 - - 1988.25 - 2.60 0.028 2355.88 442.2 -82.73 - - 3113.31 - - - - - - - - - 16.00 -
1822.30 200.28 -9.60 362 1823.63 no move -1.37 - - 1988.94 - - - 2355.69 - -82.73 - - 3111.28 - - - - - - - - - - -
2127.33 228.62 -8.92 423 2133.08 roll -1.37 - - 1988.56 - 2.72 0.060 1208.44 -421.8 -82.73 - - 3111.62 - - - - - - - - - 16.02 -
2192.45 234.89 -9.82 436 2197.86 roll -1.37 - - 1987.19 - 2.59 0.029 2353.44 442.1 -82.73 - - 3113.34 - - - - - - - - - 16.01 -
2502.39 264.76 -9.73 498 2507.95 roll -1.37 - - 1988.62 - 2.72 0.061 1208.56 -420.9 -82.73 - - 3111.47 - - - - - - - - - 16.03 -
2652.41 279.79 -9.80 528 2657.94 roll -1.37 - - 1988.62 - 2.59 0.029 2353.25 442.0 -82.73 - - 3111.03 - - - - - - - - - 16.04 -
2961.40 308.83 -9.24 579 2966.03 roll -1.37 - - 1988.00 - 2.70 0.061 1209.12 -423.8 -82.73 - - 3108.94 - - - - - - - - - 16.04 -
2998.59 312.53 -9.72 584 3003.21 roll -1.37 - - 1987.94 - 2.58 0.029 2353.62 443.6 -82.73 - - 3108.66 - - - - - - - - - 16.04 -
3309.78 341.20 -9.34 613 3320.85 no move -1.37 - - 1988.62 - - - 2352.94 - -82.73 - - 3108.69 - - - - - - - - - - -
3622.41 370.69 -9.45 642 3633.69 no move -1.37 - - 1989.19 - - - 2353.50 - -82.73 - - 3107.84 - - - - - - - - - - -
3935.84 401.71 -9.97 671 3946.91 no move -1.37 - - 1988.38 - - - 2353.19 - -82.73 - - 3107.22 - - - - - - - - - - -
4248.57 431.29 -8.88 700 4253.40 roll -1.37 - - 1988.75 - 2.72 0.063 1207.31 -421.3 -82.73 - - 3105.66 - - - - - - - - - 16.06 -
4318.75 437.52 -8.99 710 4333.49 roll -1.37 - - 1988.69 - 2.60 0.030 2352.44 440.4 -82.73 - - 3105.78 - - - - - - - - - 16.07 -
4634.98 464.62 -8.60 739 4639.60 roll -1.37 - - 1988.56 - 2.65 0.091 3428.19 405.9 -82.73 - - 3105.19 - - - - - - - - - 16.03 -
4689.25 469.78 -9.53 747 4704.17 roll -1.37 - - 1987.50 - 2.55 0.022 2244.69 -464.1 -82.73 - - 3106.19 - - - - - - - - - 16.05 -
5005.33 495.87 -7.55 776 5010.00 roll -1.37 - - 1988.31 - 2.91 0.086 3426.19 406.0 -82.73 - - 3104.00 - - - - - - - - - 16.04 -
5096.84 503.12 -8.52 789 5111.57 roll -1.37 - - 1988.19 - 2.54 0.023 2247.00 -464.2 -82.73 - - 3104.50 - - - - - - - - - 16.06 -
5426.09 528.89 -7.41 811 5430.68 roll -1.37 - - 1987.25 - 2.46 0.069 1206.25 -423.1 -82.73 - - 3106.06 - - - - - - - - - 16.05 -
5526.83 536.66 -7.83 826 5532.36 roll -1.37 - - 1988.19 - 2.60 0.030 2352.31 440.8 -82.73 - - 3102.94 - - - - - - - - - 16.06 -
5846.24 559.94 -6.84 848 5847.57 no move -1.37 - - 1988.38 - - - 2352.50 - -82.73 - - 3100.81 - - - - - - - - - - -
6161.25 581.87 -7.21 869 6165.90 roll -1.37 - - 1988.38 - 2.71 0.064 1208.25 -422.2 -82.73 - - 3100.34 - - - - - - - - - 16.06 -
6262.00 589.76 -7.96 884 6267.72 roll -1.37 - - 1988.25 - 2.59 0.031 2350.44 441.0 -82.73 - - 3101.28 - - - - - - - - - 16.06 -
6581.52 614.20 -7.73 906 6582.85 no move -1.37 - - 1988.44 - - - 2350.50 - -82.73 - - 3099.53 - - - - - - - - - - -
6896.42 639.22 -8.04 927 6901.07 roll -1.37 - - 1988.88 - 2.71 0.064 1208.31 -421.5 -82.73 - - 3099.88 - - - - - - - - - 16.05 -
6955.68 644.18 -8.42 936 6961.22 roll -1.37 - - 1988.56 - 2.59 0.031 2352.69 441.8 -82.73 - - 3100.66 - - - - - - - - - 16.07 -
7275.12 671.70 -8.70 958 7279.74 roll -1.37 - - 1987.69 - 2.66 0.092 3427.00 403.9 -82.73 - - 3099.06 - - - - - - - - - 16.03 -
7353.77 679.44 -9.72 969 7358.38 roll -1.37 - - 1988.56 - 2.55 0.022 2248.69 -462.1 -82.73 - - 3097.81 - - - - - - - - - 16.05 -
7670.84 707.00 -8.87 991 7675.43 roll -1.37 - - 1988.81 - 2.47 0.069 1208.88 -421.0 -82.73 - - 3098.56 - - - - - - - - - 16.05 -
7735.11 712.46 -9.21 1001 7750.02 roll -1.37 - - 1987.38 - 2.59 0.031 2352.00 441.4 -82.73 - - 3099.97 - - - - - - - - - 16.06 -
8064.51 740.88 -8.57 1023 8069.15 roll -1.37 - - 1988.19 - 2.72 0.064 1208.50 -420.4 -82.73 - - 3097.44 - - - - - - - - - 16.05 -
8144.53 747.92 -8.90 1035 8150.06 roll -1.37 - - 1988.19 - 2.59 0.031 2351.50 441.3 -82.73 - - 3097.84 - - - - - - - - - 16.06 -
8463.96 773.58 -7.76 1057 8465.29 no move -1.37 - - 1988.75 - - - 2351.50 - -82.73 - - 3095.88 - - - - - - - - - - -
8779.00 797.70 -7.53 1078 8783.84 roll -1.37 - - 1988.00 - 2.72 0.065 1209.56 -419.8 -82.73 - - 3098.03 - - - - - - - - - 16.05 -
8843.43 802.10 -7.59 1088 8858.19 roll -1.37 - - 1988.75 - 2.60 0.031 2353.12 439.8 -82.73 - - 3097.38 - - - - - - - - - 16.06 -
9172.67 825.49 -6.92 1110 9177.31 roll -1.37 - - 1988.81 - 2.73 0.064 1207.38 -419.7 -82.73 - - 3095.19 - - - - - - - - - 16.05 -
9251.31 831.36 -7.38 1121 9255.91 roll -1.37 - - 1987.81 - 2.60 0.031 2351.44 440.0 -82.73 - - 3095.91 - - - - - - - - - 16.04 -
9567.78 854.98 -7.55 1143 9569.11 no move -1.37 - - 1988.38 - - - 2351.69 - -82.73 - - 3094.38 - - - - - - - - - - -
9882.81 878.84 -7.25 1164 9884.14 no move -1.37 - - 1988.06 - - - 2351.56 - -82.73 - - 3094.34 - - - - - - - - - - -
10197.83 901.38 -7.31 1185 10202.48 roll -1.37 - - 1989.06 - 2.73 0.065 1208.31 -418.8 -82.73 - - 3094.03 - - - - - - - - - 16.03 -
10255.75 905.84 -7.61 1193 10260.36 roll -1.37 - - 1988.50 - 2.60 0.031 2352.38 440.0 -82.73 - - 3094.62 - - - - - - - - - 16.05 -
10572.22 927.85 -6.93 1215 10573.55 no move -1.37 - - 1988.88 - - - 2352.56 - -82.73 - - 3093.72 - - - - - - - - - - -
10887.24 950.47 -7.49 1236 10891.89 roll -1.37 - - 1988.50 - 2.72 0.065 1209.62 -420.2 -82.73 - - 3093.38 - - - - - - - - - 16.03 -
10986.63 958.35 -7.93 1250 10991.24 roll -1.37 - - 1987.94 - 2.59 0.031 2349.12 440.0 -82.73 - - 3093.97 - - - - - - - - - 16.04 -
11303.12 982.06 -7.25 1272 11308.15 roll -1.37 - - 1988.19 - 2.68 0.094 3425.88 401.8 -82.73 - - 3095.34 - - - - - - - - - 15.99 -
11382.09 988.29 -7.82 1283 11386.70 roll -1.37 - - 1988.56 - 2.55 0.023 2246.06 -462.7 -82.73 - - 3094.69 - - - - - - - - - 16.03 -
11413 end dive: TARGET_DEPTH_EXCEEDED
11413 begin apogee
11415.34 990.47 -7.66 1286 11490.01 -0.28 1.83 0.149 2253.62 144.8 0.16 0.170 2290.44 277.4 - 59.64 2.431 2774.44 -5.4 0.363 - - - - - - 15.91 15.64 11.48
11491 end apogee: CONTROL_FINISHED_OK
11491 begin climb
11491.91 992.15 - 1291 11566.24 1.37 2.64 0.092 2657.00 152.8 - - 2290.69 - 82.73 66.57 2.394 2436.84 -5.1 0.349 - - - - - - 15.68 - 12.63
11878.58 965.72 7.76 1317 11879.91 no move 1.38 - - 2656.19 - - - 2290.88 - 82.73 - - 2430.22 - - - - - - - - - - -
12193.60 941.01 7.90 1338 12198.23 roll 1.39 - - 2655.19 - 2.68 0.093 3345.12 393.4 82.73 - - 2430.66 - - - - - - - - - 15.79 -
12230.78 937.78 8.32 1343 12235.39 roll 1.39 - - 2656.25 - 2.59 0.025 2188.19 -446.7 82.73 - - 2429.25 - - - - - - - - - 15.82 -
12547.26 910.74 8.40 1365 12551.87 done 1.39 - - 2655.81 - 2.57 0.079 1132.69 -410.7 82.73 - - 2429.09 - - - - - - - - - 15.86 -
12627.44 903.79 8.78 1377 12632.87 done 1.39 - - 2656.19 - 2.62 0.031 2271.44 434.6 82.73 - - 2429.75 - - - - - - - - - 15.90 -
12946.68 879.63 6.93 1399 12951.33 done 1.42 - - 2656.19 - 2.70 0.094 3346.75 398.3 82.73 - - 2428.62 - - - - - - - - - 15.89 -
13005.97 875.17 7.49 1408 13011.49 roll 1.44 - - 2656.06 - 2.57 0.025 2185.25 -451.9 82.73 - - 2430.41 - - - - - - - - - 15.92 -
13325.38 853.51 6.40 1430 13355.93 1.50 0.16 0.091 2697.94 261.8 - - 2184.75 - 112.90 24.50 2.161 2313.84 -4.8 0.312 - - - - - - 15.91 - 11.89
13670.57 824.68 8.53 1453 13671.90 no move 1.50 - - 2697.62 - - - 2184.62 - 112.90 - - 2309.53 - - - - - - - - - - -
13985.47 797.97 8.41 1474 13986.80 no move 1.50 - - 2698.06 - - - 2184.81 - 112.90 - - 2308.97 - - - - - - - - - - -
14300.60 770.11 9.19 1495 14301.93 no move 1.50 - - 2697.62 - - - 2184.69 - 112.90 - - 2309.03 - - - - - - - - - - -
14615.45 739.88 9.60 1516 14616.78 no move 1.50 - - 2697.81 - - - 2184.62 - 112.90 - - 2307.84 - - - - - - - - - - -
14930.48 709.74 9.23 1537 14935.15 roll 1.50 - - 2698.25 - 2.90 0.089 3344.12 399.8 112.90 - - 2308.66 - - - - - - - - - 15.96 -
14969.00 706.14 9.49 1543 14974.54 roll 1.50 - - 2698.06 - 2.56 0.025 2188.62 -451.4 112.90 - - 2310.34 - - - - - - - - - 15.98 -
15288.40 678.40 8.47 1565 15289.73 no move 1.50 - - 2698.44 - - - 2188.94 - 112.90 - - 2307.44 - - - - - - - - - - -
15603.43 652.94 7.99 1586 15608.27 roll 1.50 - - 2698.38 - 2.89 0.089 3345.25 400.1 112.90 - - 2307.88 - - - - - - - - - 15.97 -
15647.09 649.55 8.61 1593 15661.90 roll 1.50 - - 2698.00 - 2.55 0.025 2189.50 -453.2 112.90 - - 2307.78 - - - - - - - - - 16.00 -
15976.39 620.61 8.87 1615 15977.72 no move 1.50 - - 2698.19 - - - 2189.25 - 112.90 - - 2307.50 - - - - - - - - - - -
16291.42 594.89 7.66 1636 16296.09 roll 1.52 - - 2698.75 - 2.90 0.089 3347.00 399.2 112.90 - - 2308.59 - - - - - - - - - 15.98 -
16392.14 586.03 8.95 1651 16397.68 roll 1.52 - - 2698.38 - 2.56 0.025 2187.62 -452.9 112.90 - - 2307.91 - - - - - - - - - 16.01 -
16711.55 558.89 8.72 1673 16716.15 roll 1.52 - - 2698.62 - 2.55 0.079 1129.94 -414.8 112.90 - - 2306.72 - - - - - - - - - 15.99 -
16812.50 549.66 9.30 1688 16817.82 roll 1.52 - - 2698.12 - 2.60 0.031 2273.38 439.8 112.90 - - 2308.44 - - - - - - - - - 16.01 -
17131.69 522.65 8.17 1710 17133.01 no move 1.52 - - 2698.56 - - - 2273.25 - 112.90 - - 2306.19 - - - - - - - - - - -
17442.46 498.48 7.56 1731 17453.53 no move 1.54 - - 2698.19 - - - 2273.19 - 112.90 - - 2307.84 - - - - - - - - - - -
17755.27 475.15 7.33 1760 17759.91 roll 1.56 - - 2697.31 - 2.76 0.075 1130.88 -413.9 112.90 - - 2307.41 - - - - - - - - - 15.99 -
17887.02 464.82 7.84 1777 17891.65 roll 1.57 - - 2698.06 - 2.61 0.031 2273.81 437.9 112.90 - - 2305.94 - - - - - - - - - 16.02 -
18198.78 443.69 6.45 1806 18232.37 done 1.63 - - 2698.69 - 2.67 0.096 3346.75 401.9 142.30 23.58 1.690 2193.78 -4.8 0.207 - - - - - - - 15.93 11.73
18281.77 437.25 7.81 1817 18296.67 roll 1.64 - - 2698.62 - 2.57 0.024 2187.44 -451.1 142.30 - - 2191.72 - - - - - - - - - 15.98 -
18598.22 411.92 7.82 1846 18609.29 no move 1.66 - - 2699.00 - - - 2186.81 - 142.30 - - 2191.19 - - - - - - - - - - -
18910.85 387.05 8.04 1875 18915.46 roll 1.66 - - 2698.62 - 2.56 0.079 1131.19 -412.4 142.30 - - 2190.38 - - - - - - - - - 15.96 -
19012.32 378.38 8.68 1889 19027.24 roll 1.66 - - 2698.69 - 2.59 0.031 2273.62 441.1 142.30 - - 2190.19 - - - - - - - - - 15.98 -
19328.63 354.85 6.88 1918 19339.80 pitch 1.69 0.19 0.080 2743.44 235.5 - - 2273.62 - 142.30 - - 2190.03 - - - - - - - - 15.94 - -
19641.29 328.46 8.68 1947 19652.36 no move 1.69 - - 2744.06 - - - 2274.06 - 142.30 - - 2189.84 - - - - - - - - - - -
19954.69 301.31 8.39 1976 19959.33 roll 1.69 - - 2743.06 - 2.75 0.075 1131.12 -415.6 142.30 - - 2189.53 - - - - - - - - - 15.98 -
20148.27 284.01 8.93 2013 20153.81 roll 1.69 - - 2743.56 - 2.59 0.031 2272.69 440.8 142.30 - - 2189.69 - - - - - - - - - 15.99 -
20458.39 257.93 8.21 2075 20459.72 no move 1.69 - - 2743.88 - - - 2272.62 - 142.30 - - 2188.38 - - - - - - - - - - -
20763.38 232.43 8.64 2136 20764.71 no move 1.69 - - 2743.75 - - - 2272.56 - 142.30 - - 2188.88 - - - - - - - - - - -
21068.60 206.18 8.25 2197 21073.98 roll 1.69 - - 2742.50 - 2.74 0.073 1130.00 -417.0 142.30 - - 2190.44 - - - - - - - - - 15.98 -
21108.43 202.65 8.84 2205 21113.97 roll 1.69 - - 2743.81 - 2.58 0.030 2273.75 443.3 142.30 - - 2190.09 - - - - - - - - - 16.01 -
21418.50 178.14 7.75 2267 21424.04 roll 1.70 - - 2743.88 - 2.74 0.073 1130.06 -417.4 142.30 - - 2191.38 - - - - - - - - - 15.99 -
21513.49 170.47 8.02 2286 21519.03 roll 1.70 - - 2744.62 - 2.57 0.030 2274.94 445.5 142.30 - - 2190.25 - - - - - - - - - 16.01 -
21823.62 148.02 7.34 2348 21824.95 no move 1.72 - - 2743.38 - - - 2274.56 - 142.30 - - 2188.78 - - - - - - - - - - -
22128.73 125.79 6.39 2409 22154.40 VBD 1.79 - - 2743.75 - - - 2274.44 - 172.65 23.83 1.287 2070.00 -5.0 0.081 - - - - - - - - 11.67
22458.84 102.40 6.61 2475 22460.17 no move 1.82 - - 2743.94 - - - 2274.75 - 172.65 - - 2066.00 - - - - - - - - - - -
22763.94 88.52 3.54 2536 22823.32 1.97 0.31 0.061 2811.50 217.9 2.65 0.091 3345.25 404.0 244.75 54.00 1.278 1776.00 -5.4 0.062 - - - - - - 15.94 15.79 12.14
22840.60 84.60 5.46 2551 22878.94 done 2.05 - - 2812.88 - 2.57 0.023 2182.19 -452.6 288.73 33.76 1.215 1597.97 -5.3 0.061 - - - - - - - 15.86 12.71
23061.17 66.33 8.77 2595 23066.69 done 2.05 - - 2812.44 - 2.55 0.077 1129.94 -412.6 288.73 - - 1588.88 - - - - - - - - - 15.76 -
23201.18 54.10 8.43 2623 23206.73 done 2.05 - - 2813.50 - 2.62 0.029 2273.50 436.5 288.73 - - 1586.41 - - - - - - - - - 15.81 -
23391.21 38.58 7.09 2661 23396.95 done 2.08 - - 2811.62 - 2.76 0.072 1131.00 -413.9 288.73 - - 1586.06 - - - - - - - - - 15.85 -
23431.38 36.04 6.28 2669 23462.05 2.15 0.17 0.087 2857.94 272.5 2.61 0.028 2277.00 439.1 320.65 24.10 1.138 1468.06 -4.9 0.026 - - - - - - 15.77 15.86 12.09
23646.24 27.08 3.02 2712 23713.01 done 2.31 - - 2856.88 - 2.67 0.090 3348.88 401.5 400.44 60.35 1.168 1143.03 -5.4 0.021 - - - - - - - 15.64 12.28
23726.42 23.36 4.96 2728 23772.31 2.41 0.28 0.065 2915.88 210.7 2.60 0.023 2179.06 -449.9 451.72 39.19 1.120 934.03 -5.3 0.018 - - - - - - 15.70 15.72 12.65
23956.27 6.23 7.55 2774 23961.79 roll 2.43 - - 2916.50 - 2.55 0.077 1131.19 -410.9 451.72 - - 927.06 - - - - - - - - - 15.72 -
23986 end climb: SURFACE_DEPTH_REACHED
23986 begin surface coast
24026 end surface coast: CONTROL_FINISHED_OK
24026 begin surface
SM 1.06 - - - - 180.7 - - 924.4 - 16.93 0.049 915.6 54.1 - 2.79 0.029 933.2 333.6 -1.246 - - 30.00 15.72 15.75 -