NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 607 * Raw log
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• Previous call tries 1 • 200.66 of 550.00 AH used of 24V (63.52% remains)
• Surface angle -63.3 deg, depth 0.66 m • Intended pitch -20.3 deg, speed -8.462 cm/s
• No surface pump (final VBD was 605.4, 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
5.31 - - - 61.89 VBD -1.29 - - 180.50 - - - 2236.06 - -82.73 55.41 0.005 2442.53 - - - - - - - - - - 15.24
62.62 3.11 -5.68 10 100.73 -1.29 14.74 0.244 2016.38 124.6 2.98 0.079 3427.88 399.9 -82.73 14.36 0.006 3113.91 46.8 -4.083 - - - - - - 15.46 15.16 15.32
327.88 52.84 -13.43 63 333.41 roll -1.29 - - 2014.44 - 2.58 0.018 2246.31 -458.0 -82.73 - - 3112.91 - - - - - - - - - 15.78 -
518.55 74.08 -10.96 101 519.88 no move -1.29 - - 2015.75 - - - 2244.88 - -82.73 - - 3112.19 - - - - - - - - - - -
702.95 90.95 -8.45 138 704.28 no move -1.29 - - 2016.00 - - - 2244.06 - -82.73 - - 3112.91 - - - - - - - - - - -
887.97 105.08 -7.29 175 893.10 roll -1.29 - - 2016.38 - 2.49 0.064 1208.44 -415.9 -82.73 - - 3114.00 - - - - - - - - - 15.88 -
983.00 114.55 -10.53 194 988.55 roll -1.29 - - 2016.25 - 2.63 0.027 2354.56 435.8 -82.73 - - 3114.50 - - - - - - - - - 15.89 -
1293.05 139.34 -7.73 256 1298.61 roll -1.29 - - 2016.00 - 2.78 0.059 1208.50 -412.3 -82.73 - - 3115.53 - - - - - - - - - 15.90 -
1403.07 148.37 -8.32 278 1408.61 roll -1.29 - - 2015.75 - 2.63 0.027 2354.38 435.7 -82.73 - - 3115.88 - - - - - - - - - 15.92 -
1713.11 173.93 -8.34 340 1718.67 roll -1.29 - - 2015.19 - 2.79 0.059 1208.38 -410.8 -82.73 - - 3114.50 - - - - - - - - - 15.92 -
1803.34 181.57 -8.57 358 1808.68 roll -1.29 - - 2016.06 - 2.63 0.027 2354.56 435.8 -82.73 - - 3114.56 - - - - - - - - - 15.94 -
2113.36 206.44 -8.05 420 2118.79 roll -1.29 - - 2016.62 - 2.78 0.060 1208.12 -412.4 -82.73 - - 3115.28 - - - - - - - - - 15.93 -
2148.17 209.52 -8.72 427 2153.73 roll -1.29 - - 2015.88 - 2.62 0.027 2354.44 437.5 -82.73 - - 3114.31 - - - - - - - - - 15.96 -
2458.22 237.28 -9.05 489 2459.55 no move -1.29 - - 2015.81 - - - 2354.50 - -82.73 - - 3113.06 - - - - - - - - - - -
2763.26 265.67 -9.52 550 2768.81 roll -1.29 - - 2016.19 - 2.78 0.061 1210.06 -411.7 -82.73 - - 3113.69 - - - - - - - - - 15.95 -
2883.28 277.98 -10.25 574 2888.83 roll -1.29 - - 2016.25 - 2.61 0.028 2354.12 438.3 -82.73 - - 3113.81 - - - - - - - - - 15.97 -
3190.66 306.89 -9.36 627 3195.31 roll -1.29 - - 2016.12 - 2.78 0.061 1209.81 -411.6 -82.73 - - 3111.28 - - - - - - - - - 15.95 -
3244.93 312.05 -9.64 635 3259.87 roll -1.29 - - 2016.25 - 2.63 0.028 2354.88 435.4 -82.73 - - 3112.56 - - - - - - - - - 15.99 -
3561.52 340.39 -8.84 664 3572.59 no move -1.29 - - 2016.31 - - - 2354.56 - -82.73 - - 3111.44 - - - - - - - - - - -
3874.34 367.91 -8.80 693 3879.18 roll -1.29 - - 2015.81 - 2.78 0.062 1209.50 -411.9 -82.73 - - 3109.53 - - - - - - - - - 15.95 -
3991.68 378.39 -8.96 709 4006.51 roll -1.29 - - 2016.88 - 2.62 0.028 2355.12 437.3 -82.73 - - 3110.56 - - - - - - - - - 16.01 -
4308.08 405.09 -8.44 738 4319.15 no move -1.29 - - 2016.50 - - - 2354.50 - -82.73 - - 3109.84 - - - - - - - - - - -
4620.80 430.87 -8.15 767 4631.87 no move -1.29 - - 2016.56 - - - 2354.50 - -82.73 - - 3109.75 - - - - - - - - - - -
4933.52 455.71 -7.94 796 4938.16 roll -1.29 - - 2015.38 - 2.77 0.062 1208.31 -413.8 -82.73 - - 3108.72 - - - - - - - - - 15.95 -
5050.92 465.23 -8.17 812 5065.68 roll -1.29 - - 2014.81 - 2.62 0.029 2351.50 436.3 -82.73 - - 3109.84 - - - - - - - - - 16.01 -
5367.08 489.87 -7.66 841 5371.73 roll -1.29 - - 2015.94 - 2.78 0.062 1209.31 -410.9 -82.73 - - 3108.09 - - - - - - - - - 15.94 -
5437.10 495.34 -7.93 851 5452.04 roll -1.29 - - 2016.25 - 2.62 0.029 2351.88 436.1 -82.73 - - 3108.00 - - - - - - - - - 16.01 -
5761.44 517.86 -6.87 874 5762.77 no move -1.29 - - 2015.56 - - - 2351.69 - -82.73 - - 3106.59 - - - - - - - - - - -
6076.46 539.06 -6.83 895 6081.10 roll -1.29 - - 2015.81 - 2.79 0.063 1209.69 -409.3 -82.73 - - 3107.16 - - - - - - - - - 15.94 -
6120.00 541.69 -6.93 902 6134.93 roll -1.29 - - 2016.12 - 2.61 0.029 2352.25 437.8 -82.73 - - 3107.19 - - - - - - - - - 16.01 -
6449.59 565.71 -7.42 924 6450.92 no move -1.29 - - 2016.00 - - - 2352.31 - -82.73 - - 3105.75 - - - - - - - - - - -
6764.52 590.17 -8.06 945 6769.17 roll -1.29 - - 2016.12 - 2.80 0.063 1208.38 -408.5 -82.73 - - 3104.31 - - - - - - - - - 15.93 -
6843.20 596.76 -8.32 956 6847.83 roll -1.29 - - 2016.00 - 2.63 0.029 2353.75 435.5 -82.73 - - 3104.41 - - - - - - - - - 16.00 -
7159.69 622.99 -8.32 978 7164.34 roll -1.29 - - 2016.38 - 2.80 0.063 1208.31 -409.1 -82.73 - - 3105.22 - - - - - - - - - 15.93 -
7217.64 628.15 -8.77 986 7222.27 roll -1.29 - - 2015.88 - 2.62 0.029 2352.44 436.7 -82.73 - - 3103.81 - - - - - - - - - 16.00 -
7534.22 655.41 -8.69 1008 7535.55 no move -1.29 - - 2015.75 - - - 2352.56 - -82.73 - - 3104.12 - - - - - - - - - - -
7849.13 681.23 -7.82 1029 7850.46 no move -1.29 - - 2015.69 - - - 2353.19 - -82.73 - - 3102.72 - - - - - - - - - - -
8164.15 704.88 -7.29 1050 8168.81 roll -1.29 - - 2016.19 - 2.81 0.063 1210.69 -406.6 -82.73 - - 3102.12 - - - - - - - - - 15.91 -
8242.83 711.01 -7.72 1061 8247.46 roll -1.29 - - 2015.75 - 2.62 0.029 2351.38 435.4 -82.73 - - 3104.00 - - - - - - - - - 16.00 -
8559.30 734.69 -7.37 1083 8563.95 roll -1.29 - - 2015.94 - 2.80 0.064 1209.94 -407.7 -82.73 - - 3102.19 - - - - - - - - - 15.91 -
8639.33 740.76 -7.65 1095 8644.89 roll -1.29 - - 2016.00 - 2.61 0.030 2352.94 437.9 -82.73 - - 3102.97 - - - - - - - - - 16.02 -
8958.94 763.76 -7.11 1117 8960.26 no move -1.29 - - 2016.56 - - - 2352.81 - -82.73 - - 3101.19 - - - - - - - - - - -
9273.96 785.70 -6.97 1138 9278.60 roll -1.29 - - 2016.19 - 2.80 0.064 1210.81 -407.9 -82.73 - - 3101.19 - - - - - - - - - 15.91 -
9354.31 791.38 -7.15 1150 9359.87 roll -1.29 - - 2016.00 - 2.62 0.030 2352.44 435.7 -82.73 - - 3101.72 - - - - - - - - - 16.00 -
9673.74 813.36 -6.89 1172 9675.07 no move -1.29 - - 2016.25 - - - 2351.81 - -82.73 - - 3100.91 - - - - - - - - - - -
9988.77 834.42 -6.57 1193 9990.10 no move -1.29 - - 2016.38 - - - 2352.06 - -82.73 - - 3100.22 - - - - - - - - - - -
10303.81 855.04 -6.58 1214 10308.48 roll -1.29 - - 2016.25 - 2.81 0.064 1209.62 -406.6 -82.73 - - 3101.00 - - - - - - - - - 15.89 -
10409.56 861.85 -6.86 1230 10424.53 roll -1.29 - - 2016.06 - 2.63 0.030 2352.31 434.5 -82.73 - - 3100.31 - - - - - - - - - 16.01 -
10738.97 883.25 -6.30 1252 10740.29 no move -1.29 - - 2015.56 - - - 2352.81 - -82.73 - - 3099.12 - - - - - - - - - - -
11053.99 903.26 -6.34 1273 11058.65 roll -1.29 - - 2014.06 - 2.81 0.064 1209.56 -406.9 -82.73 - - 3100.47 - - - - - - - - - 15.88 -
11113.25 907.04 -6.47 1282 11118.81 roll -1.29 - - 2015.88 - 2.62 0.030 2353.12 436.5 -82.73 - - 3100.09 - - - - - - - - - 16.00 -
11432.70 926.58 -5.99 1304 11434.03 no move -1.29 - - 2016.00 - - - 2352.38 - -82.73 - - 3098.56 - - - - - - - - - - -
11747.92 944.88 -5.67 1325 11749.25 no move -1.29 - - 2016.00 - - - 2352.75 - -82.73 - - 3098.56 - - - - - - - - - - -
12062.98 963.42 -5.90 1346 12067.69 roll -1.29 - - 2016.12 - 2.81 0.065 1210.94 -406.3 -82.73 - - 3100.28 - - - - - - - - - 15.87 -
12226.68 973.66 -6.37 1370 12231.84 roll -1.29 - - 2015.69 - 2.62 0.030 2351.38 435.3 -82.73 - - 3100.44 - - - - - - - - - 16.01 -
12500 end dive: TARGET_DEPTH_EXCEEDED
12501 begin apogee
12502.53 990.19 -6.12 1389 12578.08 -0.28 1.74 0.139 2263.44 142.4 0.22 0.136 2280.44 -322.5 - 62.51 2.446 2773.47 -5.2 0.357 - - - - - - 15.74 15.50 10.45
12579 end apogee: CONTROL_FINISHED_OK
12580 begin climb
12580.16 991.65 - 1394 12660.09 1.29 2.56 0.090 2649.81 150.9 - - 2280.75 - 82.73 68.11 2.359 2438.00 -4.9 0.349 - - - - - - 15.60 - 12.09
12972.41 966.05 7.41 1422 12977.09 roll 1.32 - - 2649.50 - 2.91 0.074 1132.38 -394.6 82.73 - - 2432.88 - - - - - - - - - 15.67 -
13036.69 961.53 7.69 1432 13051.62 roll 1.33 - - 2649.50 - 2.67 0.029 2270.62 426.3 82.73 - - 2430.88 - - - - - - - - - 15.71 -
13366.08 936.88 7.43 1454 13370.93 roll 1.35 - - 2648.25 - 2.87 0.073 1132.44 -396.6 82.73 - - 2429.72 - - - - - - - - - 15.77 -
13425.55 932.39 7.68 1463 13430.92 roll 1.37 - - 2649.75 - 2.63 0.029 2272.19 433.4 82.73 - - 2431.00 - - - - - - - - - 15.81 -
13744.80 910.28 6.77 1485 13749.45 roll 1.40 - - 2649.81 - 2.73 0.092 3344.25 392.7 82.73 - - 2430.34 - - - - - - - - - 15.80 -
13845.58 902.80 7.54 1500 13851.09 done 1.42 - - 2648.50 - 2.60 0.023 2187.25 -445.0 82.73 - - 2429.66 - - - - - - - - - 15.87 -
14165.14 881.48 6.39 1522 14208.98 1.50 0.26 0.082 2704.56 215.6 2.65 0.082 1132.31 -398.1 121.60 32.08 2.232 2276.97 -4.8 0.317 - - - - - - 15.84 15.65 11.29
14251.46 874.40 8.01 1534 14256.09 roll 1.50 - - 2702.38 - 2.66 0.030 2275.06 429.6 121.60 - - 2275.88 - - - - - - - - - 15.74 -
14567.94 846.87 8.52 1556 14569.27 no move 1.50 - - 2704.88 - - - 2275.25 - 121.60 - - 2274.12 - - - - - - - - - - -
14882.96 820.62 8.15 1577 14884.28 no move 1.50 - - 2704.62 - - - 2274.88 - 121.60 - - 2272.72 - - - - - - - - - - -
15197.97 794.96 8.38 1598 15199.30 no move 1.50 - - 2704.44 - - - 2274.81 - 121.60 - - 2272.38 - - - - - - - - - - -
15512.99 768.21 8.57 1619 15517.65 roll 1.50 - - 2704.06 - 2.87 0.074 1132.19 -398.1 121.60 - - 2271.50 - - - - - - - - - 15.85 -
15593.19 761.10 8.98 1631 15598.62 roll 1.50 - - 2704.19 - 2.64 0.030 2272.50 431.9 121.60 - - 2273.75 - - - - - - - - - 15.92 -
15912.43 734.24 8.34 1653 15913.76 no move 1.50 - - 2704.06 - - - 2272.00 - 121.60 - - 2271.28 - - - - - - - - - - -
16227.43 708.03 8.34 1674 16232.09 roll 1.50 - - 2704.50 - 2.86 0.074 1132.56 -398.4 121.60 - - 2272.66 - - - - - - - - - 15.87 -
16286.70 702.91 8.70 1683 16292.25 roll 1.50 - - 2703.38 - 2.62 0.030 2272.06 434.9 121.60 - - 2271.81 - - - - - - - - - 15.95 -
16606.10 676.52 8.06 1705 16607.43 no move 1.50 - - 2704.06 - - - 2272.06 - 121.60 - - 2270.72 - - - - - - - - - - -
16921.10 651.39 8.18 1726 16922.43 no move 1.50 - - 2705.06 - - - 2272.06 - 121.60 - - 2271.31 - - - - - - - - - - -
17236.13 625.81 7.75 1747 17237.46 no move 1.51 - - 2704.44 - - - 2271.81 - 121.60 - - 2270.78 - - - - - - - - - - -
17551.14 601.63 7.55 1768 17555.81 roll 1.53 - - 2703.62 - 2.85 0.074 1131.06 -400.3 121.60 - - 2272.12 - - - - - - - - - 15.87 -
17651.90 593.79 7.88 1783 17657.44 roll 1.54 - - 2704.44 - 2.62 0.030 2271.69 435.4 121.60 - - 2271.50 - - - - - - - - - 15.97 -
17971.30 571.25 7.10 1805 17975.94 roll 1.57 - - 2704.25 - 2.72 0.091 3344.38 394.4 121.60 - - 2271.81 - - - - - - - - - 15.85 -
18030.58 566.67 7.70 1814 18036.10 roll 1.58 - - 2704.56 - 2.58 0.023 2187.81 -448.3 121.60 - - 2271.34 - - - - - - - - - 15.98 -
18350.16 543.78 7.26 1836 18354.85 roll 1.61 - - 2704.38 - 2.61 0.078 1131.00 -404.9 121.60 - - 2270.75 - - - - - - - - - 15.86 -
18451.26 536.06 7.77 1851 18456.79 done 1.62 - - 2704.62 - 2.63 0.030 2273.06 434.2 121.60 - - 2272.25 - - - - - - - - - 15.98 -
18770.85 512.57 7.27 1873 18775.50 roll 1.65 - - 2702.62 - 2.71 0.091 3346.75 396.2 121.60 - - 2272.34 - - - - - - - - - 15.84 -
18850.86 506.03 8.18 1885 18856.40 roll 1.65 - - 2704.44 - 2.57 0.023 2187.31 -451.1 121.60 - - 2271.81 - - - - - - - - - 15.98 -
19166.73 481.85 7.38 1913 19171.42 1.67 0.19 0.085 2744.50 210.8 2.60 0.078 1131.06 -406.2 121.60 - - 2270.09 - - - - - - - - 15.93 15.79 -
19314.42 469.18 8.61 1932 19319.06 done 1.67 - - 2744.06 - 2.62 0.030 2273.75 436.1 121.60 - - 2272.09 - - - - - - - - - 15.97 -
19626.00 445.04 7.44 1961 19630.66 roll 1.69 - - 2744.44 - 2.72 0.090 3344.12 393.5 121.60 - - 2273.31 - - - - - - - - - 15.84 -
19727.47 436.89 8.20 1975 19742.39 roll 1.69 - - 2744.75 - 2.58 0.023 2185.94 -448.9 121.60 - - 2271.44 - - - - - - - - - 15.98 -
20043.80 414.11 6.97 2004 20048.62 roll 1.72 - - 2744.44 - 2.61 0.078 1130.25 -404.5 121.60 - - 2271.00 - - - - - - - - - 15.85 -
20114.00 409.05 7.32 2014 20128.76 roll 1.74 - - 2745.06 - 2.62 0.030 2273.12 436.2 121.60 - - 2271.44 - - - - - - - - - 15.99 -
20430.33 387.47 6.94 2043 20435.00 roll 1.77 - - 2745.00 - 2.84 0.073 1131.06 -402.1 121.60 - - 2270.28 - - - - - - - - - 15.85 -
20579.36 376.46 7.44 2063 20594.28 roll 1.79 - - 2744.62 - 2.64 0.030 2274.50 433.1 121.60 - - 2271.78 - - - - - - - - - 15.99 -
20895.85 354.31 7.01 2092 20907.03 pitch 1.82 0.16 0.091 2785.62 256.2 - - 2274.25 - 121.60 - - 2271.72 - - - - - - - - 15.94 - -
21208.58 329.55 8.65 2121 21219.66 no move 1.82 - - 2785.69 - - - 2274.88 - 121.60 - - 2272.00 - - - - - - - - - - -
21521.44 302.78 8.45 2150 21526.10 roll 1.82 - - 2785.62 - 2.84 0.072 1130.88 -402.8 121.60 - - 2271.50 - - - - - - - - - 15.85 -
21620.75 294.26 8.56 2167 21626.30 roll 1.82 - - 2785.44 - 2.62 0.029 2273.88 436.3 121.60 - - 2271.78 - - - - - - - - - 15.96 -
21931.02 268.68 8.22 2229 21932.35 no move 1.82 - - 2785.44 - - - 2273.38 - 121.60 - - 2270.75 - - - - - - - - - - -
22235.93 244.20 7.81 2290 22237.27 no move 1.83 - - 2785.50 - - - 2273.50 - 121.60 - - 2271.12 - - - - - - - - - - -
22541.07 219.46 8.35 2351 22546.54 roll 1.83 - - 2785.56 - 2.84 0.071 1132.62 -401.7 121.60 - - 2272.50 - - - - - - - - - 15.83 -
22630.97 211.58 8.61 2369 22636.51 roll 1.83 - - 2785.19 - 2.61 0.029 2274.94 437.7 121.60 - - 2272.03 - - - - - - - - - 15.96 -
22941.02 189.87 6.33 2431 22972.65 VBD 1.91 - - 2785.88 - - - 2274.44 - 161.64 30.89 1.410 2116.75 -5.0 0.114 - - - - - - - - 10.83
23276.06 162.68 8.50 2498 23277.39 no move 1.91 - - 2785.31 - - - 2274.75 - 161.64 - - 2110.84 - - - - - - - - - - -
23581.11 138.86 7.28 2559 23586.67 roll 1.94 - - 2785.88 - 2.83 0.071 1130.94 -404.2 161.64 - - 2111.28 - - - - - - - - - 15.83 -
23701.12 130.22 7.04 2583 23706.66 roll 1.96 - - 2785.69 - 2.62 0.029 2274.69 436.5 161.64 - - 2110.44 - - - - - - - - - 15.91 -
24011.36 112.42 5.72 2645 24057.33 2.07 0.26 0.071 2843.31 221.6 2.69 0.090 3346.56 398.5 213.06 39.84 1.303 1905.62 -5.1 0.075 - - - - - - 15.88 15.74 11.55
24186.18 94.26 13.04 2680 24191.74 roll 2.07 - - 2843.31 - 2.61 0.023 2188.38 -443.7 213.06 - - 1902.84 - - - - - - - - - 15.81 -
24376.21 77.47 7.48 2718 24377.54 no move 2.09 - - 2843.12 - - - 2187.06 - 213.06 - - 1898.94 - - - - - - - - - - -
24561.24 67.20 4.76 2755 24618.57 2.23 0.15 0.090 2883.25 267.5 2.61 0.077 1131.19 -404.5 282.52 52.44 1.237 1623.75 -5.2 0.048 - - - - - - 15.82 15.65 11.64
24676.42 59.39 8.93 2778 24681.80 roll 2.23 - - 2883.06 - 2.66 0.028 2275.31 430.1 282.52 - - 1617.84 - - - - - - - - - 15.74 -
24866.28 41.05 9.69 2816 24867.61 VBD 2.23 - - 2882.81 - - - 2274.50 - 282.52 - - 1613.69 - - - - - - - - - - -
25051.35 27.02 6.92 2853 25056.90 done 2.26 - - 2882.88 - 2.72 0.087 3346.44 394.1 282.52 - - 1612.75 - - - - - - - - - 15.77 -
25186.57 29.89 -5.20 2880 25378.82 2.77 0.75 0.054 3015.69 177.1 2.58 0.021 2177.38 -453.1 538.80 184.79 1.165 578.69 -5.6 0.024 - - - - - - 15.71 15.82 11.55
25461 end climb: SURFACE_DEPTH_REACHED
25462 begin surface coast
25491 end surface coast: CONTROL_FINISHED_OK
25491 begin surface
SM 0.85 - - - - 178.2 - - 572.8 - 17.89 0.051 540.2 30.2 - 0.38 0.063 605.4 1586.4 -2.188 - - 30.00 15.51 15.55 -