NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 641 * Raw log
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• Previous call tries 1 • 214.65 of 550.00 AH used of 24V (60.97% remains)
• Surface angle -65.7 deg, depth 0.69 m • Intended pitch -21.3 deg, speed -8.462 cm/s
• No surface pump (final VBD was 627.4, SM_CC=425)
• GPS1 time: 16 s
• GPS2 time: 3 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
5.33 - - - 66.95 VBD -1.35 - - 183.38 - - - 2278.38 - -82.73 60.47 0.005 2563.69 - - - - - - - - - - 15.23
67.69 3.30 -5.25 11 102.70 -1.35 14.83 0.253 2004.38 122.8 2.90 0.084 3426.75 396.0 -82.73 11.56 0.007 3113.03 47.5 -3.787 - - - - - - 15.45 15.16 15.32
309.84 55.61 -15.07 59 315.37 roll -1.35 - - 2004.38 - 2.60 0.020 2248.44 -453.2 -82.73 - - 3112.91 - - - - - - - - - 15.79 -
500.27 79.97 -13.10 97 501.60 no move -1.35 - - 2003.88 - - - 2246.12 - -82.73 - - 3111.91 - - - - - - - - - - -
685.03 99.60 -9.63 134 690.57 roll -1.35 - - 2004.06 - 2.97 0.079 3427.06 397.6 -82.73 - - 3113.38 - - - - - - - - - 15.82 -
714.97 102.73 -10.24 140 720.51 roll -1.35 - - 2004.19 - 2.58 0.019 2245.38 -458.0 -82.73 - - 3112.81 - - - - - - - - - 15.86 -
1025.04 129.82 -7.91 202 1026.37 no move -1.35 - - 2003.94 - - - 2244.88 - -82.73 - - 3112.41 - - - - - - - - - - -
1330.08 155.26 -8.13 263 1335.60 roll -1.35 - - 2004.06 - 2.51 0.065 1209.56 -412.5 -82.73 - - 3114.41 - - - - - - - - - 15.90 -
1435.09 164.56 -9.05 284 1440.63 roll -1.35 - - 2002.88 - 2.62 0.027 2354.62 437.0 -82.73 - - 3115.34 - - - - - - - - - 15.92 -
1745.14 192.50 -9.34 346 1750.70 roll -1.35 - - 2004.00 - 2.76 0.060 1209.62 -414.9 -82.73 - - 3114.81 - - - - - - - - - 15.92 -
1825.15 200.18 -9.68 362 1830.69 roll -1.35 - - 2003.56 - 2.61 0.028 2355.12 438.9 -82.73 - - 3113.88 - - - - - - - - - 15.94 -
2135.19 227.52 -8.67 424 2136.52 no move -1.35 - - 2004.06 - - - 2354.62 - -82.73 - - 3113.38 - - - - - - - - - - -
2440.34 253.83 -8.64 485 2445.79 roll -1.35 - - 2004.12 - 2.77 0.061 1209.75 -413.3 -82.73 - - 3113.75 - - - - - - - - - 15.93 -
2525.24 261.66 -9.21 502 2530.78 roll -1.35 - - 2002.88 - 2.62 0.028 2353.38 436.5 -82.73 - - 3114.75 - - - - - - - - - 15.96 -
2835.28 288.16 -8.67 564 2836.61 no move -1.35 - - 2004.06 - - - 2353.56 - -82.73 - - 3112.09 - - - - - - - - - - -
3144.58 314.42 -8.54 607 3149.22 roll -1.35 - - 2002.75 - 2.77 0.062 1209.31 -413.1 -82.73 - - 3112.88 - - - - - - - - - 15.95 -
3244.72 323.47 -9.01 620 3249.35 roll -1.35 - - 2004.19 - 2.62 0.029 2353.00 436.5 -82.73 - - 3111.34 - - - - - - - - - 15.98 -
3556.38 350.20 -8.77 649 3561.02 roll -1.35 - - 2002.75 - 2.76 0.062 1209.75 -414.2 -82.73 - - 3114.31 - - - - - - - - - 15.95 -
3625.26 356.51 -9.06 658 3629.89 roll -1.35 - - 2003.75 - 2.62 0.029 2353.94 436.7 -82.73 - - 3110.78 - - - - - - - - - 15.98 -
3936.91 383.17 -8.44 687 3941.55 roll -1.35 - - 2003.88 - 2.77 0.062 1208.44 -413.5 -82.73 - - 3110.91 - - - - - - - - - 15.95 -
4007.10 389.24 -8.77 697 4021.91 roll -1.35 - - 2003.12 - 2.62 0.029 2352.00 436.5 -82.73 - - 3114.31 - - - - - - - - - 16.01 -
4323.78 414.65 -7.65 726 4334.85 no move -1.35 - - 2004.12 - - - 2352.31 - -82.73 - - 3111.09 - - - - - - - - - - -
4636.60 439.07 -7.93 755 4641.24 roll -1.35 - - 2004.12 - 2.76 0.062 1210.81 -413.6 -82.73 - - 3109.47 - - - - - - - - - 15.95 -
4705.27 444.86 -8.34 764 4709.90 roll -1.35 - - 2003.12 - 2.61 0.029 2352.81 437.5 -82.73 - - 3110.72 - - - - - - - - - 16.00 -
5016.91 470.32 -8.34 793 5021.31 roll -1.35 - - 2003.31 - 2.76 0.062 1208.06 -414.8 -82.73 - - 3109.19 - - - - - - - - - 15.94 -
5085.57 476.30 -8.63 802 5090.20 roll -1.35 - - 2004.19 - 2.62 0.029 2351.50 436.4 -82.73 - - 3108.78 - - - - - - - - - 16.00 -
5401.48 502.04 -8.00 831 5406.12 roll -1.35 - - 2004.25 - 2.76 0.063 1208.50 -414.1 -82.73 - - 3107.66 - - - - - - - - - 15.94 -
5465.77 506.99 -8.37 841 5480.70 roll -1.35 - - 2003.06 - 2.62 0.029 2352.81 436.8 -82.73 - - 3110.75 - - - - - - - - - 16.01 -
5795.18 533.19 -7.69 863 5796.51 no move -1.35 - - 2004.19 - - - 2353.38 - -82.73 - - 3108.09 - - - - - - - - - - -
6110.19 557.77 -7.77 884 6114.83 roll -1.35 - - 2002.31 - 2.77 0.063 1209.25 -413.0 -82.73 - - 3108.91 - - - - - - - - - 15.94 -
6211.13 566.00 -8.29 899 6216.57 roll -1.35 - - 2003.94 - 2.62 0.030 2352.75 436.5 -82.73 - - 3107.97 - - - - - - - - - 16.01 -
6530.36 590.70 -7.61 921 6531.69 no move -1.35 - - 2004.06 - - - 2353.00 - -82.73 - - 3106.44 - - - - - - - - - - -
6845.38 614.57 -7.57 942 6850.02 roll -1.35 - - 2003.19 - 2.77 0.064 1210.00 -412.6 -82.73 - - 3106.75 - - - - - - - - - 15.93 -
6883.92 617.46 -7.71 948 6889.47 roll -1.35 - - 2003.94 - 2.61 0.029 2352.88 437.9 -82.73 - - 3107.78 - - - - - - - - - 16.00 -
7203.32 641.22 -7.46 970 7207.97 roll -1.35 - - 2003.06 - 2.76 0.064 1209.62 -414.2 -82.73 - - 3106.94 - - - - - - - - - 15.93 -
7288.35 647.28 -7.66 983 7303.29 roll -1.35 - - 2003.62 - 2.62 0.030 2352.25 436.1 -82.73 - - 3106.28 - - - - - - - - - 16.01 -
7617.77 672.01 -7.38 1005 7622.42 roll -1.35 - - 2003.81 - 2.77 0.063 1210.06 -412.3 -82.73 - - 3105.34 - - - - - - - - - 15.92 -
7696.44 678.16 -7.78 1016 7701.07 roll -1.35 - - 2004.25 - 2.61 0.030 2351.31 437.3 -82.73 - - 3104.12 - - - - - - - - - 16.01 -
8012.94 700.10 -6.84 1038 8014.27 no move -1.35 - - 2003.56 - - - 2351.81 - -82.73 - - 3103.69 - - - - - - - - - - -
8328.15 721.38 -6.73 1059 8329.47 no move -1.35 - - 2003.62 - - - 2351.69 - -82.73 - - 3103.84 - - - - - - - - - - -
8643.01 743.25 -7.07 1080 8644.34 no move -1.35 - - 2004.06 - - - 2351.88 - -82.73 - - 3103.53 - - - - - - - - - - -
8958.03 765.87 -7.17 1101 8962.86 roll -1.35 - - 2003.19 - 2.76 0.065 1210.94 -413.4 -82.73 - - 3102.47 - - - - - - - - - 15.91 -
9001.76 768.62 -7.28 1108 9016.52 roll -1.35 - - 2003.75 - 2.62 0.030 2351.12 435.2 -82.73 - - 3103.25 - - - - - - - - - 16.01 -
9331.01 792.07 -6.62 1130 9332.33 no move -1.35 - - 2003.56 - - - 2351.25 - -82.73 - - 3101.62 - - - - - - - - - - -
9646.05 812.16 -6.26 1151 9650.69 roll -1.35 - - 2003.81 - 2.77 0.065 1210.06 -412.0 -82.73 - - 3101.94 - - - - - - - - - 15.90 -
9746.78 818.72 -6.61 1166 9752.33 roll -1.35 - - 2004.19 - 2.62 0.031 2350.94 435.5 -82.73 - - 3102.59 - - - - - - - - - 16.00 -
10066.20 838.96 -6.42 1188 10067.53 no move -1.35 - - 2004.12 - - - 2350.50 - -82.73 - - 3100.56 - - - - - - - - - - -
10381.20 860.64 -7.08 1209 10382.53 no move -1.35 - - 2003.81 - - - 2350.81 - -82.73 - - 3100.75 - - - - - - - - - - -
10696.21 883.33 -7.21 1230 10700.86 roll -1.35 - - 2003.50 - 2.78 0.065 1210.62 -410.1 -82.73 - - 3101.94 - - - - - - - - - 15.89 -
10774.88 889.34 -7.58 1241 10779.51 roll -1.35 - - 2003.62 - 2.62 0.030 2350.00 434.9 -82.73 - - 3101.97 - - - - - - - - - 15.99 -
11091.33 912.35 -7.27 1263 11092.67 no move -1.35 - - 2003.75 - - - 2350.12 - -82.73 - - 3100.31 - - - - - - - - - - -
11406.58 934.07 -6.64 1284 11411.22 roll -1.35 - - 2003.50 - 2.77 0.065 1209.69 -411.7 -82.73 - - 3099.34 - - - - - - - - - 15.88 -
11512.32 940.91 -6.88 1300 11527.44 roll -1.35 - - 2003.56 - 2.62 0.031 2351.62 435.9 -82.73 - - 3101.28 - - - - - - - - - 16.00 -
11841.92 961.30 -5.89 1322 11843.25 no move -1.35 - - 2003.62 - - - 2351.50 - -82.73 - - 3099.97 - - - - - - - - - - -
12156.80 979.18 -5.80 1343 12158.12 no move -1.35 - - 2003.62 - - - 2351.69 - -82.73 - - 3099.22 - - - - - - - - - - -
12351 end dive: TARGET_DEPTH_EXCEEDED
12352 begin apogee
12353.63 990.71 -5.92 1356 12429.20 -0.28 1.83 0.135 2264.25 142.4 0.22 0.137 2282.94 -312.5 - 63.92 2.424 2775.00 -5.1 0.350 - - - - - - 15.76 15.48 10.32
12430 end apogee: CONTROL_FINISHED_OK
12431 begin climb
12431.32 991.86 - 1361 12511.29 1.35 2.63 0.090 2661.44 151.0 - - 2283.69 - 82.73 69.00 2.373 2437.38 -4.9 0.346 - - - - - - 15.57 - 12.13
12823.58 964.88 7.84 1389 12824.91 no move 1.36 - - 2662.19 - - - 2282.62 - 82.73 - - 2429.59 - - - - - - - - - - -
13138.59 940.49 7.64 1410 13143.26 roll 1.38 - - 2661.62 - 2.86 0.074 1132.06 -402.3 82.73 - - 2428.31 - - - - - - - - - 15.77 -
13197.89 935.81 7.96 1419 13203.42 roll 1.39 - - 2661.88 - 2.64 0.031 2272.56 432.0 82.73 - - 2429.94 - - - - - - - - - 15.80 -
13517.29 912.30 7.27 1441 13518.62 VBD 1.41 - - 2662.00 - - - 2272.56 - 82.73 - - 2428.62 - - - - - - - - - - -
13832.49 890.30 6.73 1462 13837.21 done 1.44 - - 2661.81 - 2.82 0.074 1129.94 -405.2 82.73 - - 2427.81 - - - - - - - - - 15.83 -
13953.97 881.67 7.21 1480 13959.52 done 1.47 - - 2662.38 - 2.64 0.031 2272.19 432.7 82.73 - - 2429.25 - - - - - - - - - 15.90 -
14273.54 860.36 6.77 1502 14274.98 1.50 0.19 0.085 2708.19 241.1 - - 2271.44 - 82.73 - - 2426.88 - - - - - - - - 15.87 - -
14588.37 834.98 8.32 1523 14593.04 done 1.50 - - 2709.50 - 2.82 0.074 1130.81 -404.5 82.73 - - 2426.16 - - - - - - - - - 15.87 -
14673.38 828.14 8.64 1536 14688.31 done 1.50 - - 2708.38 - 2.62 0.031 2271.81 435.5 82.73 - - 2430.06 - - - - - - - - - 15.94 -
15002.80 800.08 8.31 1558 15004.14 VBD 1.50 - - 2709.31 - - - 2271.75 - 82.73 - - 2426.09 - - - - - - - - - - -
15317.86 774.89 7.87 1579 15322.53 done 1.51 - - 2709.56 - 2.82 0.074 1131.00 -404.5 82.73 - - 2426.31 - - - - - - - - - 15.87 -
15377.15 770.01 8.31 1588 15382.70 done 1.51 - - 2709.62 - 2.62 0.030 2273.44 436.0 82.73 - - 2427.38 - - - - - - - - - 15.96 -
15696.57 746.34 7.01 1610 15701.23 done 1.54 - - 2708.69 - 2.83 0.074 1132.44 -403.2 82.73 - - 2426.44 - - - - - - - - - 15.87 -
15775.25 740.61 7.23 1621 15779.88 done 1.57 - - 2709.19 - 2.63 0.031 2272.81 433.6 82.73 - - 2426.84 - - - - - - - - - 15.95 -
16091.92 720.33 6.09 1643 16135.82 done 1.66 - - 2709.69 - 2.84 0.077 1129.56 -402.6 126.99 35.65 2.084 2256.31 -4.8 0.280 - - - - - - - 15.69 11.07
16205.80 712.70 7.13 1660 16220.22 roll back 1.68 0.19 0.087 2753.06 228.3 2.66 0.030 2271.12 429.2 126.99 - - 2254.84 - - - - - - - - 15.68 15.80 -
16534.64 685.16 8.17 1682 16539.31 roll 1.68 - - 2753.12 - 2.83 0.074 1131.19 -402.8 126.99 - - 2251.03 - - - - - - - - - 15.82 -
16619.66 678.43 8.51 1695 16634.60 roll 1.68 - - 2753.25 - 2.64 0.031 2271.19 431.8 126.99 - - 2252.72 - - - - - - - - - 15.86 -
16949.06 649.63 8.63 1717 16950.39 no move 1.68 - - 2753.38 - - - 2271.00 - 126.99 - - 2251.22 - - - - - - - - - - -
17264.08 621.70 8.99 1738 17268.74 roll 1.68 - - 2752.06 - 2.82 0.074 1130.88 -404.3 126.99 - - 2250.75 - - - - - - - - - 15.85 -
17364.83 612.02 9.75 1753 17370.39 roll 1.68 - - 2753.12 - 2.62 0.031 2271.00 435.2 126.99 - - 2251.38 - - - - - - - - - 15.92 -
17684.24 582.87 8.77 1775 17685.57 no move 1.68 - - 2753.06 - - - 2271.12 - 126.99 - - 2250.41 - - - - - - - - - - -
17999.24 554.57 9.00 1796 18003.91 roll 1.68 - - 2753.12 - 2.81 0.074 1130.94 -405.8 126.99 - - 2250.41 - - - - - - - - - 15.86 -
18100.18 545.16 9.47 1811 18105.61 roll 1.68 - - 2753.44 - 2.62 0.031 2273.25 436.0 126.99 - - 2251.03 - - - - - - - - - 15.96 -
18419.39 516.44 8.98 1833 18420.72 no move 1.68 - - 2753.38 - - - 2273.94 - 126.99 - - 2249.59 - - - - - - - - - - -
18721.72 488.40 9.46 1856 18726.38 roll 1.68 - - 2752.00 - 2.82 0.074 1132.19 -404.9 126.99 - - 2252.12 - - - - - - - - - 15.86 -
18870.38 474.07 9.60 1876 18885.32 roll 1.68 - - 2753.12 - 2.62 0.031 2273.12 435.5 126.99 - - 2250.34 - - - - - - - - - 15.97 -
19186.49 445.74 8.79 1905 19191.15 roll 1.68 - - 2752.25 - 2.82 0.073 1129.94 -405.4 126.99 - - 2252.91 - - - - - - - - - 15.86 -
19270.87 438.02 9.14 1916 19275.51 roll 1.68 - - 2753.06 - 2.62 0.030 2272.88 436.2 126.99 - - 2248.91 - - - - - - - - - 15.96 -
19582.54 413.15 7.86 1945 19593.62 no move 1.70 - - 2753.44 - - - 2272.56 - 126.99 - - 2251.03 - - - - - - - - - - -
19895.18 388.16 7.96 1974 19899.84 roll 1.71 - - 2752.38 - 2.82 0.073 1130.00 -405.2 126.99 - - 2250.62 - - - - - - - - - 15.86 -
19996.65 379.44 8.80 1988 20011.58 roll 1.71 - - 2753.38 - 2.61 0.031 2272.56 437.8 126.99 - - 2250.22 - - - - - - - - - 15.97 -
20313.75 353.73 7.96 2017 20324.82 no move 1.72 - - 2753.44 - - - 2272.62 - 126.99 - - 2250.75 - - - - - - - - - - -
20626.74 330.84 7.00 2046 20637.81 no move 1.74 - - 2753.06 - - - 2272.31 - 126.99 - - 2250.91 - - - - - - - - - - -
20939.83 308.44 6.77 2075 20944.49 roll 1.78 - - 2752.38 - 2.82 0.073 1131.19 -404.7 126.99 - - 2252.31 - - - - - - - - - 15.86 -
21024.25 302.11 7.44 2086 21028.88 roll 1.80 - - 2753.00 - 2.61 0.030 2273.50 437.7 126.99 - - 2249.62 - - - - - - - - - 15.97 -
21333.63 280.10 7.19 2144 21334.96 no move 1.82 - - 2752.69 - - - 2273.56 - 126.99 - - 2249.66 - - - - - - - - - - -
21638.89 257.94 7.61 2205 21644.26 roll 1.84 - - 2752.31 - 2.80 0.072 1132.19 -407.6 126.99 - - 2252.22 - - - - - - - - - 15.84 -
21728.73 250.51 8.27 2223 21734.25 roll 1.84 - - 2752.94 - 2.60 0.030 2273.50 439.0 126.99 - - 2251.22 - - - - - - - - - 15.95 -
22038.82 225.95 8.07 2285 22040.15 no move 1.84 - - 2753.06 - - - 2273.38 - 126.99 - - 2250.41 - - - - - - - - - - -
22343.92 203.63 6.69 2346 22345.36 pitch 1.88 0.19 0.082 2800.12 247.7 - - 2273.44 - 126.99 - - 2249.31 - - - - - - - - 15.92 - -
22649.64 181.52 6.78 2407 22650.97 no move 1.91 - - 2800.19 - - - 2273.81 - 126.99 - - 2249.88 - - - - - - - - - - -
22954.06 160.28 7.08 2468 22959.61 roll 1.94 - - 2800.25 - 2.80 0.071 1130.00 -408.5 126.99 - - 2250.75 - - - - - - - - - 15.85 -
23149.08 146.89 6.52 2507 23154.62 roll 1.98 - - 2800.00 - 2.61 0.029 2273.38 438.1 126.99 - - 2251.44 - - - - - - - - - 15.95 -
23459.13 130.20 5.36 2569 23510.72 2.09 0.22 0.077 2850.00 227.3 2.66 0.092 3345.38 403.0 184.92 44.35 1.350 2021.31 -5.2 0.085 - - - - - - 15.92 15.72 10.97
23739.15 102.44 10.09 2625 23744.69 roll 2.09 - - 2850.81 - 2.60 0.023 2184.88 -446.3 184.92 - - 2015.50 - - - - - - - - - 15.84 -
24049.21 79.09 5.00 2687 24103.65 done 2.22 - - 2850.12 - 2.59 0.078 1129.62 -407.4 249.60 49.13 1.264 1757.47 -5.3 0.056 - - - - - - - 15.64 11.51
24195.88 69.38 8.07 2716 24201.43 roll 2.22 - - 2850.25 - 2.63 0.028 2275.06 435.5 249.60 - - 1751.00 - - - - - - - - - 15.75 -
24385.95 55.44 6.94 2754 24391.56 2.25 0.16 0.092 2888.75 240.6 2.68 0.087 3346.12 399.6 249.60 - - 1748.25 - - - - - - - - 15.76 15.67 -
24540.99 44.18 6.15 2785 24578.53 done 2.34 - - 2888.44 - 2.59 0.022 2181.38 -449.7 292.71 33.03 1.180 1581.09 -5.1 0.032 - - - - - - - 15.82 11.57
24761.04 35.70 2.77 2829 24848.62 2.55 0.38 0.067 2959.31 186.5 2.61 0.077 1130.56 -402.6 398.98 79.96 1.181 1148.41 -5.4 0.028 - - - - - - 15.73 15.48 11.60
24851.23 34.68 1.31 2847 24955.01 2.82 0.25 0.083 3011.38 208.3 2.66 0.026 2278.88 431.7 532.42 97.19 1.139 605.12 -5.6 0.029 - - - - - - 15.55 15.60 12.02
25097 end climb: SURFACE_DEPTH_REACHED
25098 begin surface coast
25127 end surface coast: CONTROL_FINISHED_OK
25127 begin surface
SM 0.73 - - - - 179.4 - - 598.8 - 17.77 0.049 570.1 32.1 - 0.12 0.127 627.4 5206.2 -3.059 - - 30.00 15.57 15.58 -