NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 640 * Raw log
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• Previous call tries 1 • 214.24 of 550.00 AH used of 24V (61.05% remains)
• Surface angle -60.3 deg, depth 0.68 m • Intended pitch -21.3 deg, speed -8.462 cm/s
• No surface pump (final VBD was 1005.2, SM_CC=425)
• GPS1 time: 22 s, HDOP was 8.2 m
• 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
5.34 - - - 66.96 VBD -1.35 - - 181.88 - - - 2238.56 - -82.73 60.44 0.005 2555.06 - - - - - - - - - - 15.22
67.69 3.65 -6.56 11 102.73 -1.35 14.73 0.247 2003.75 123.7 3.02 0.085 3426.62 393.4 -82.73 11.61 0.007 3113.53 48.1 -4.240 - - - - - - 15.41 15.15 15.30
329.88 59.38 -14.62 63 335.73 roll -1.35 - - 2003.31 - 2.59 0.019 2248.62 -454.8 -82.73 - - 3113.22 - - - - - - - - - 15.79 -
520.31 83.42 -12.83 101 525.74 roll -1.35 - - 2003.88 - 2.96 0.079 3426.81 398.0 -82.73 - - 3113.50 - - - - - - - - - 15.79 -
635.15 98.14 -11.71 124 640.52 roll -1.35 - - 2003.19 - 2.57 0.020 2246.31 -459.3 -82.73 - - 3114.44 - - - - - - - - - 15.84 -
825.42 115.93 -8.87 162 826.75 no move -1.35 - - 2003.00 - - - 2244.19 - -82.73 - - 3113.06 - - - - - - - - - - -
1130.08 144.11 -9.87 223 1135.68 roll -1.35 - - 2002.31 - 2.96 0.079 3426.31 399.4 -82.73 - - 3115.28 - - - - - - - - - 15.86 -
1225.09 153.85 -10.49 242 1230.62 roll -1.35 - - 2003.06 - 2.56 0.020 2244.12 -461.8 -82.73 - - 3114.41 - - - - - - - - - 15.91 -
1535.14 179.03 -7.60 304 1540.74 roll -1.35 - - 2003.62 - 2.96 0.080 3425.38 399.1 -82.73 - - 3114.12 - - - - - - - - - 15.88 -
1610.15 185.57 -9.06 319 1615.69 roll -1.35 - - 2003.12 - 2.56 0.020 2242.50 -462.1 -82.73 - - 3114.09 - - - - - - - - - 15.93 -
1920.20 211.23 -8.49 381 1925.32 roll -1.35 - - 2003.56 - 2.48 0.067 1208.50 -416.9 -82.73 - - 3114.50 - - - - - - - - - 15.92 -
1985.39 217.33 -9.54 394 1990.82 roll -1.35 - - 2002.50 - 2.63 0.028 2352.69 435.1 -82.73 - - 3114.91 - - - - - - - - - 15.95 -
2295.25 245.24 -8.98 456 2300.82 roll -1.35 - - 2003.44 - 2.75 0.061 1209.69 -415.6 -82.73 - - 3113.69 - - - - - - - - - 15.93 -
2405.27 255.73 -9.50 478 2410.82 roll -1.35 - - 2003.50 - 2.62 0.028 2353.56 436.6 -82.73 - - 3113.94 - - - - - - - - - 15.96 -
2715.31 283.86 -8.95 540 2716.64 no move -1.35 - - 2003.50 - - - 2353.56 - -82.73 - - 3113.00 - - - - - - - - - - -
3026.51 311.02 -8.66 588 3031.16 roll -1.35 - - 2002.19 - 2.76 0.062 1210.19 -414.3 -82.73 - - 3113.94 - - - - - - - - - 15.95 -
3080.79 315.91 -9.13 596 3095.74 roll -1.35 - - 2003.06 - 2.62 0.029 2352.69 436.1 -82.73 - - 3112.94 - - - - - - - - - 16.00 -
3397.01 343.97 -9.08 625 3401.65 roll -1.35 - - 2002.94 - 2.75 0.062 1209.81 -415.6 -82.73 - - 3111.59 - - - - - - - - - 15.95 -
3482.76 351.91 -9.41 637 3497.70 roll -1.35 - - 2002.88 - 2.61 0.029 2352.50 437.8 -82.73 - - 3112.50 - - - - - - - - - 16.00 -
3799.17 379.89 -8.47 666 3810.24 no move -1.35 - - 2003.50 - - - 2352.06 - -82.73 - - 3112.41 - - - - - - - - - - -
4112.08 406.83 -8.39 695 4123.15 no move -1.35 - - 2003.44 - - - 2352.44 - -82.73 - - 3111.38 - - - - - - - - - - -
4425.24 432.99 -8.20 724 4429.88 roll -1.35 - - 2002.19 - 2.76 0.062 1208.19 -414.6 -82.73 - - 3111.53 - - - - - - - - - 15.95 -
4542.47 443.05 -8.64 740 4557.41 roll -1.35 - - 2003.56 - 2.62 0.029 2353.19 437.0 -82.73 - - 3110.62 - - - - - - - - - 16.01 -
4858.68 467.87 -7.69 769 4869.75 no move -1.35 - - 2003.50 - - - 2353.38 - -82.73 - - 3110.28 - - - - - - - - - - -
5172.25 490.69 -7.17 798 5176.91 roll -1.35 - - 2002.56 - 2.75 0.063 1210.88 -415.5 -82.73 - - 3109.97 - - - - - - - - - 15.95 -
5240.92 495.99 -7.61 807 5245.55 roll -1.35 - - 2003.19 - 2.61 0.029 2351.50 437.0 -82.73 - - 3108.62 - - - - - - - - - 16.00 -
5560.34 520.07 -7.65 830 5561.67 no move -1.35 - - 2002.62 - - - 2351.56 - -82.73 - - 3108.72 - - - - - - - - - - -
5875.35 544.66 -8.10 851 5880.00 roll -1.35 - - 2002.81 - 2.74 0.063 1209.62 -416.8 -82.73 - - 3107.12 - - - - - - - - - 15.94 -
5934.64 549.70 -8.52 860 5940.19 roll -1.35 - - 2003.75 - 2.62 0.030 2350.94 435.6 -82.73 - - 3107.81 - - - - - - - - - 16.01 -
6254.04 576.34 -8.25 882 6255.37 no move -1.35 - - 2002.81 - - - 2350.50 - -82.73 - - 3107.59 - - - - - - - - - - -
6569.06 601.67 -7.70 903 6573.89 roll -1.35 - - 2002.75 - 2.74 0.063 1209.44 -416.4 -82.73 - - 3105.84 - - - - - - - - - 15.94 -
6628.46 606.36 -7.97 912 6633.90 roll -1.35 - - 2003.31 - 2.62 0.030 2351.94 436.1 -82.73 - - 3107.94 - - - - - - - - - 16.01 -
6947.76 630.58 -7.41 934 6952.40 roll -1.35 - - 2003.12 - 2.75 0.064 1209.69 -415.4 -82.73 - - 3106.78 - - - - - - - - - 15.93 -
7007.05 635.00 -7.54 943 7012.60 roll -1.35 - - 2003.31 - 2.62 0.030 2351.19 435.7 -82.73 - - 3107.03 - - - - - - - - - 16.01 -
7326.45 658.29 -7.23 965 7327.78 no move -1.35 - - 2002.62 - - - 2351.19 - -82.73 - - 3105.44 - - - - - - - - - - -
7641.47 680.70 -7.09 986 7646.12 roll -1.35 - - 2003.38 - 2.75 0.064 1209.62 -415.1 -82.73 - - 3104.75 - - - - - - - - - 15.92 -
7720.16 686.87 -7.78 997 7724.79 roll -1.35 - - 2002.88 - 2.63 0.030 2352.88 434.7 -82.73 - - 3106.09 - - - - - - - - - 16.00 -
8036.63 710.62 -7.50 1019 8041.27 roll -1.35 - - 2003.31 - 2.77 0.064 1209.31 -412.8 -82.73 - - 3104.62 - - - - - - - - - 15.92 -
8075.77 713.52 -7.60 1025 8081.15 roll -1.35 - - 2002.44 - 2.62 0.030 2351.50 436.0 -82.73 - - 3105.81 - - - - - - - - - 16.01 -
8395.02 737.25 -7.29 1047 8399.67 roll -1.35 - - 2002.50 - 2.78 0.064 1208.56 -411.1 -82.73 - - 3104.91 - - - - - - - - - 15.91 -
8454.30 741.72 -7.58 1056 8459.85 roll -1.35 - - 2002.12 - 2.63 0.030 2353.56 435.4 -82.73 - - 3106.84 - - - - - - - - - 16.01 -
8773.89 765.35 -7.27 1078 8778.59 roll -1.35 - - 2003.31 - 2.77 0.064 1209.19 -413.1 -82.73 - - 3104.00 - - - - - - - - - 15.91 -
8831.82 769.66 -7.36 1086 8836.44 roll -1.35 - - 2002.88 - 2.62 0.030 2351.06 435.8 -82.73 - - 3105.31 - - - - - - - - - 15.99 -
9148.29 791.93 -7.03 1108 9149.62 no move -1.35 - - 2002.88 - - - 2351.44 - -82.73 - - 3102.56 - - - - - - - - - - -
9463.29 813.36 -6.80 1129 9464.62 no move -1.35 - - 2003.44 - - - 2351.06 - -82.73 - - 3102.47 - - - - - - - - - - -
9778.32 834.25 -6.41 1150 9782.96 roll -1.35 - - 2002.00 - 2.78 0.065 1209.25 -410.7 -82.73 - - 3105.25 - - - - - - - - - 15.90 -
9815.52 836.74 -6.54 1155 9820.16 roll -1.35 - - 2002.88 - 2.63 0.030 2349.81 433.7 -82.73 - - 3101.75 - - - - - - - - - 15.99 -
10132.03 856.40 -6.11 1177 10133.35 no move -1.35 - - 2002.94 - - - 2349.50 - -82.73 - - 3102.06 - - - - - - - - - - -
10447.04 875.03 -5.89 1198 10451.68 roll -1.35 - - 2002.81 - 2.78 0.065 1209.69 -410.0 -82.73 - - 3102.59 - - - - - - - - - 15.89 -
10527.07 880.12 -6.41 1210 10532.60 roll -1.35 - - 2002.19 - 2.63 0.030 2350.25 433.7 -82.73 - - 3103.41 - - - - - - - - - 16.00 -
10846.46 899.55 -6.11 1232 10847.80 no move -1.35 - - 2002.75 - - - 2350.44 - -82.73 - - 3101.44 - - - - - - - - - - -
11161.49 918.55 -6.04 1253 11162.82 no move -1.35 - - 2003.06 - - - 2349.94 - -82.73 - - 3101.28 - - - - - - - - - - -
11476.49 937.55 -6.04 1274 11477.82 no move -1.35 - - 2003.25 - - - 2350.69 - -82.73 - - 3100.59 - - - - - - - - - - -
11791.71 956.20 -6.01 1295 11796.42 roll -1.35 - - 2003.12 - 2.79 0.065 1209.81 -408.9 -82.73 - - 3100.53 - - - - - - - - - 15.87 -
11871.73 961.31 -6.43 1307 11877.26 roll -1.35 - - 2003.19 - 2.63 0.031 2351.50 434.1 -82.73 - - 3102.12 - - - - - - - - - 16.00 -
12191.12 980.50 -5.81 1329 12192.45 no move -1.35 - - 2002.88 - - - 2350.75 - -82.73 - - 3100.88 - - - - - - - - - - -
12356 end dive: TARGET_DEPTH_EXCEEDED
12356 begin apogee
12357.95 990.16 -5.91 1340 12433.52 -0.28 1.83 0.142 2263.25 142.3 0.22 0.130 2280.69 -318.5 - 63.34 2.430 2773.91 -5.2 0.356 - - - - - - 15.73 15.48 10.33
12435 end apogee: CONTROL_FINISHED_OK
12435 begin climb
12435.63 991.23 - 1345 12509.83 1.35 2.65 0.093 2662.31 150.6 - - 2280.44 - 82.73 68.77 2.370 2436.81 -4.9 0.347 - - - - - - 15.57 - 12.09
12822.13 965.18 7.55 1371 12823.46 no move 1.36 - - 2662.00 - - - 2280.88 - 82.73 - - 2430.19 - - - - - - - - - - -
13137.14 942.88 6.85 1392 13141.80 roll 1.40 - - 2661.25 - 2.86 0.075 1132.12 -401.7 82.73 - - 2429.62 - - - - - - - - - 15.76 -
13215.82 937.25 7.11 1403 13220.63 done 1.42 - - 2661.50 - 2.65 0.030 2270.12 429.4 82.73 - - 2430.69 - - - - - - - - - 15.79 -
13532.47 917.15 6.21 1425 13578.03 1.51 0.20 0.087 2708.38 234.4 - - 2270.38 - 124.68 34.96 2.283 2264.97 -4.7 0.322 - - - - - - 15.82 - 11.48
13892.30 887.10 8.51 1449 13893.63 no move 1.51 - - 2707.56 - - - 2270.06 - 124.68 - - 2261.12 - - - - - - - - - - -
14207.32 860.17 8.48 1470 14208.65 no move 1.51 - - 2708.12 - - - 2270.12 - 124.68 - - 2260.34 - - - - - - - - - - -
14522.34 833.78 8.31 1491 14527.01 roll 1.51 - - 2708.00 - 2.84 0.074 1132.06 -400.7 124.68 - - 2258.88 - - - - - - - - - 15.84 -
14582.38 828.62 8.75 1500 14587.19 roll 1.51 - - 2707.31 - 2.63 0.031 2270.38 432.8 124.68 - - 2260.50 - - - - - - - - - 15.89 -
14901.04 800.70 8.99 1522 14902.37 no move 1.51 - - 2708.50 - - - 2269.31 - 124.68 - - 2259.69 - - - - - - - - - - -
15216.06 772.77 9.12 1543 15217.39 no move 1.51 - - 2708.50 - - - 2270.19 - 124.68 - - 2258.41 - - - - - - - - - - -
15531.07 743.77 9.27 1564 15535.74 roll 1.51 - - 2708.50 - 2.81 0.075 1131.12 -405.4 124.68 - - 2259.12 - - - - - - - - - 15.86 -
15589.34 738.14 9.56 1572 15593.98 roll 1.51 - - 2708.00 - 2.62 0.031 2271.00 435.1 124.68 - - 2259.78 - - - - - - - - - 15.93 -
15905.84 709.76 8.81 1594 15907.17 no move 1.51 - - 2708.38 - - - 2270.94 - 124.68 - - 2258.59 - - - - - - - - - - -
16220.88 683.07 8.47 1615 16225.54 roll 1.51 - - 2709.00 - 2.82 0.075 1131.25 -404.1 124.68 - - 2258.06 - - - - - - - - - 15.88 -
16285.35 677.82 8.92 1625 16300.17 roll 1.51 - - 2706.75 - 2.62 0.031 2271.88 435.4 124.68 - - 2261.28 - - - - - - - - - 15.96 -
16614.60 651.58 7.75 1647 16615.93 no move 1.52 - - 2707.69 - - - 2272.38 - 124.68 - - 2257.66 - - - - - - - - - - -
16929.61 627.74 7.69 1668 16934.27 done 1.54 - - 2707.50 - 2.82 0.074 1131.31 -404.6 124.68 - - 2258.22 - - - - - - - - - 15.88 -
17051.10 617.70 8.43 1686 17056.66 done 1.54 - - 2708.19 - 2.62 0.031 2271.06 435.0 124.68 - - 2258.84 - - - - - - - - - 15.97 -
17370.50 591.89 8.17 1708 17371.83 VBD 1.54 - - 2708.38 - - - 2271.19 - 124.68 - - 2257.78 - - - - - - - - - - -
17685.50 565.57 8.45 1729 17690.16 done 1.54 - - 2707.75 - 2.80 0.074 1132.44 -406.7 124.68 - - 2257.28 - - - - - - - - - 15.87 -
17765.52 558.60 8.83 1741 17771.08 done 1.54 - - 2709.00 - 2.61 0.031 2271.00 436.2 124.68 - - 2258.97 - - - - - - - - - 15.98 -
18085.12 532.69 8.05 1763 18086.45 VBD 1.54 - - 2707.88 - - - 2271.56 - 124.68 - - 2257.50 - - - - - - - - - - -
18400.01 508.73 7.18 1784 18401.34 VBD 1.56 - - 2708.56 - - - 2271.19 - 124.68 - - 2257.66 - - - - - - - - - - -
18707.10 487.84 6.77 1809 18711.77 done 1.60 - - 2707.12 - 2.82 0.074 1130.62 -404.5 124.68 - - 2258.56 - - - - - - - - - 15.86 -
18855.80 477.45 7.02 1829 18870.89 done 1.63 - - 2707.81 - 2.62 0.030 2272.06 435.7 124.68 - - 2259.72 - - - - - - - - - 15.98 -
19173.09 457.14 6.53 1858 19184.27 1.66 0.16 0.094 2746.00 238.7 - - 2271.94 - 124.68 - - 2258.53 - - - - - - - - 15.93 - -
19485.85 434.16 7.51 1887 19490.52 done 1.68 - - 2746.62 - 2.83 0.073 1132.44 -402.7 124.68 - - 2256.38 - - - - - - - - - 15.86 -
19555.87 428.57 8.08 1897 19570.81 done 1.68 - - 2746.56 - 2.62 0.030 2272.12 435.0 124.68 - - 2259.34 - - - - - - - - - 15.99 -
19872.61 404.38 7.75 1926 19883.69 VBD 1.70 - - 2746.31 - - - 2272.25 - 124.68 - - 2258.59 - - - - - - - - - - -
20185.24 379.35 8.24 1955 20196.32 VBD 1.70 - - 2745.81 - - - 2272.44 - 124.68 - - 2258.75 - - - - - - - - - - -
20498.12 354.11 7.91 1984 20502.79 done 1.71 - - 2746.56 - 2.81 0.073 1131.12 -406.2 124.68 - - 2256.66 - - - - - - - - - 15.86 -
20552.39 349.65 8.23 1992 20567.33 done 1.71 - - 2745.75 - 2.62 0.030 2274.25 436.3 124.68 - - 2258.47 - - - - - - - - - 15.98 -
20868.90 324.93 7.76 2021 20879.97 VBD 1.72 - - 2746.50 - - - 2273.75 - 124.68 - - 2258.84 - - - - - - - - - - -
21181.54 300.82 7.49 2050 21192.62 VBD 1.74 - - 2746.25 - - - 2273.19 - 124.68 - - 2258.59 - - - - - - - - - - -
21495.93 277.10 7.56 2111 21501.29 done 1.76 - - 2746.69 - 2.83 0.072 1130.81 -403.7 124.68 - - 2258.53 - - - - - - - - - 15.82 -
21610.69 267.88 7.95 2134 21616.12 done 1.77 - - 2746.25 - 2.63 0.029 2273.25 434.4 124.68 - - 2258.69 - - - - - - - - - 15.97 -
21920.68 246.05 6.95 2196 21922.01 VBD 1.80 - - 2746.06 - - - 2273.75 - 124.68 - - 2258.53 - - - - - - - - - - -
22225.78 225.08 7.05 2257 22231.40 roll back 1.83 0.16 0.092 2786.19 250.8 2.83 0.072 1131.06 -403.8 124.68 - - 2258.94 - - - - - - - - 15.92 15.80 -
22346.37 215.68 7.78 2281 22351.34 done 1.84 - - 2786.94 - 2.62 0.029 2274.19 436.3 124.68 - - 2259.66 - - - - - - - - - 15.96 -
22655.92 194.14 6.76 2343 22657.25 no move 1.88 - - 2786.75 - - - 2274.31 - 124.68 - - 2258.53 - - - - - - - - - - -
22961.02 173.74 6.77 2404 22966.58 roll 1.91 - - 2786.31 - 2.81 0.071 1131.12 -406.8 124.68 - - 2260.19 - - - - - - - - - 15.84 -
23081.04 165.53 6.68 2428 23086.58 roll 1.95 - - 2787.19 - 2.63 0.029 2276.19 435.4 124.68 - - 2259.28 - - - - - - - - - 15.95 -
23391.14 146.56 5.79 2490 23431.89 2.05 0.23 0.075 2839.56 227.7 - - 2275.62 - 174.51 37.97 1.354 2065.31 -5.1 0.093 - - - - - - 15.92 - 10.76
23736.13 117.68 7.32 2559 23741.69 roll 2.07 - - 2840.56 - 2.84 0.070 1130.75 -403.1 174.51 - - 2059.12 - - - - - - - - - 15.83 -
23841.13 109.19 8.15 2580 23846.68 roll 2.07 - - 2840.50 - 2.63 0.028 2273.75 434.6 174.51 - - 2058.50 - - - - - - - - - 15.87 -
24151.19 92.70 3.31 2642 24225.39 2.26 0.22 0.076 2893.38 240.4 - - 2274.12 - 270.57 72.26 1.286 1670.97 -5.4 0.065 - - - - - - 15.86 - 11.59
24407.53 73.20 9.35 2693 24413.12 done 2.26 - - 2893.81 - 2.84 0.071 1132.31 -402.0 270.57 - - 1663.03 - - - - - - - - - 15.72 -
24572.64 57.67 10.05 2726 24578.14 done 2.26 - - 2893.50 - 2.65 0.029 2273.69 430.7 270.57 - - 1659.44 - - - - - - - - - 15.77 -
24762.65 41.98 6.35 2764 24798.90 done 2.34 - - 2893.25 - 2.70 0.088 3346.75 397.4 309.92 30.08 1.165 1512.16 -4.9 0.030 - - - - - - - 15.63 11.52
25027.73 34.91 1.85 2817 25126.19 2.59 0.41 0.059 2972.06 192.2 2.61 0.021 2173.56 -449.5 433.18 92.39 1.176 1009.66 -5.4 0.027 - - - - - - 15.68 15.78 11.66
25308.67 11.26 12.99 2873 25313.81 roll 2.59 - - 2970.94 - 2.59 0.075 1130.12 -402.9 433.18 - - 1002.12 - - - - - - - - - 15.66 -
25363 end climb: SURFACE_DEPTH_REACHED
25363 begin surface coast
25398 end surface coast: CONTROL_FINISHED_OK
25398 begin surface
SM 0.80 - - - - 184.2 - - 999.6 - 17.31 0.043 993.9 57.4 - 2.82 0.027 1005.2 355.5 -1.077 - - 30.00 15.65 15.70 -