NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 107 * Raw log
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• Previous call tries 1 • 37.99 of 506.00 AH used of 24V (92.49% remains)
• Surface angle -66.4 deg, depth 1.15 m • Intended pitch -16.4 deg, speed -8.049 cm/s
• No surface pump (final VBD was 884.1, SM_CC=430)
• GPS1 time: 13 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
10 end surface: CONTROL_FINISHED_OK
11 begin dive
18.71 - - - 104.80 VBD -1.18 - - 178.31 - - - 2247.69 - -77.86 60.03 0.005 2509.94 - - - - - - - - - - 15.56
107.01 3.40 -4.09 12 225.25 -1.18 16.68 0.227 2227.69 122.9 2.97 0.085 3304.44 355.8 -77.86 10.62 0.007 3210.06 65.9 -5.307 - - - - - - 15.66 15.57 15.62
281.30 41.36 -13.33 30 299.12 roll -1.18 - - 2227.19 - 2.74 0.021 2144.62 -423.3 -77.86 - - 3213.34 - - - - - - - - - 15.88 -
485.06 64.88 -11.33 68 491.62 no move -1.18 - - 2227.31 - - - 2144.81 - -77.86 - - 3213.47 - - - - - - - - - - -
677.41 87.10 -11.99 106 697.64 roll -1.18 - - 2227.75 - 3.20 0.077 3302.56 361.8 -77.86 - - 3213.97 - - - - - - - - - 15.89 -
728.79 93.64 -12.95 113 746.64 roll -1.18 - - 2226.31 - 2.71 0.021 2143.44 -427.7 -77.86 - - 3215.69 - - - - - - - - - 15.90 -
937.42 113.26 -8.39 137 941.45 no move -1.18 - - 2227.62 - - - 2143.12 - -77.86 - - 3214.69 - - - - - - - - - - -
1247.48 136.29 -7.43 168 1266.60 roll -1.18 - - 2226.75 - 3.21 0.077 3302.75 361.3 -77.86 - - 3216.28 - - - - - - - - - 15.94 -
1307.03 141.15 -8.14 177 1324.88 roll -1.18 - - 2227.19 - 2.71 0.021 2142.75 -428.0 -77.86 - - 3215.66 - - - - - - - - - 16.00 -
1630.70 163.35 -7.25 209 1649.42 roll -1.18 - - 2227.81 - 3.20 0.077 3304.06 362.9 -77.86 - - 3215.06 - - - - - - - - - 16.01 -
1675.57 167.00 -8.23 215 1692.69 roll -1.18 - - 2228.00 - 2.71 0.021 2143.62 -428.2 -77.86 - - 3215.62 - - - - - - - - - 16.01 -
1998.51 190.01 -7.17 247 2002.53 no move -1.18 - - 2227.38 - - - 2143.56 - -77.86 - - 3215.44 - - - - - - - - - - -
2308.60 212.80 -7.51 278 2327.55 roll -1.18 - - 2227.75 - 3.19 0.077 3303.69 363.7 -77.86 - - 3214.78 - - - - - - - - - 15.98 -
2433.89 223.51 -8.64 300 2451.62 roll -1.18 - - 2227.44 - 2.71 0.021 2144.94 -427.6 -77.86 - - 3216.03 - - - - - - - - - 16.05 -
2757.43 248.88 -7.60 332 2761.49 no move -1.18 - - 2227.88 - - - 2145.06 - -77.86 - - 3213.94 - - - - - - - - - - -
3067.49 272.43 -7.38 363 3086.43 roll -1.18 - - 2226.81 - 3.18 0.078 3303.38 364.3 -77.86 - - 3215.88 - - - - - - - - - 16.04 -
3156.92 280.20 -8.65 378 3174.97 roll -1.18 - - 2227.44 - 2.71 0.021 2146.44 -426.9 -77.86 - - 3215.56 - - - - - - - - - 16.07 -
3480.82 304.71 -7.99 410 3484.89 no move -1.18 - - 2227.44 - - - 2147.06 - -77.86 - - 3212.62 - - - - - - - - - - -
3790.88 330.50 -8.59 441 3809.83 roll -1.18 - - 2227.38 - 3.17 0.079 3304.62 365.2 -77.86 - - 3211.47 - - - - - - - - - 16.08 -
3910.31 341.51 -9.17 462 3928.36 roll -1.18 - - 2227.06 - 2.69 0.022 2146.88 -430.4 -77.86 - - 3213.31 - - - - - - - - - 16.08 -
4234.21 367.01 -7.89 494 4253.43 roll -1.18 - - 2226.75 - 3.17 0.080 3303.00 364.7 -77.86 - - 3211.69 - - - - - - - - - 16.06 -
4279.73 370.73 -7.96 500 4297.06 roll -1.18 - - 2226.00 - 2.71 0.022 2148.75 -425.9 -77.86 - - 3212.34 - - - - - - - - - 16.08 -
4602.91 395.00 -7.46 532 4621.86 roll -1.18 - - 2226.56 - 3.17 0.080 3302.44 363.9 -77.86 - - 3211.22 - - - - - - - - - 16.08 -
4642.32 398.37 -8.02 537 4660.37 roll -1.18 - - 2226.31 - 2.70 0.022 2147.31 -427.8 -77.86 - - 3212.66 - - - - - - - - - 16.07 -
4966.22 422.47 -7.26 569 4970.28 no move -1.18 - - 2226.69 - - - 2146.94 - -77.86 - - 3209.41 - - - - - - - - - - -
5276.27 445.25 -7.05 600 5295.23 roll -1.18 - - 2226.31 - 3.19 0.081 3301.62 362.0 -77.86 - - 3209.38 - - - - - - - - - 16.07 -
5345.69 451.00 -8.22 611 5363.75 roll -1.18 - - 2226.81 - 2.70 0.022 2148.31 -427.2 -77.86 - - 3209.00 - - - - - - - - - 16.07 -
5669.59 473.85 -6.55 643 5688.55 roll -1.18 - - 2227.81 - 3.20 0.081 3303.62 361.0 -77.86 - - 3206.53 - - - - - - - - - 16.09 -
5734.75 478.70 -6.92 653 5752.08 roll -1.18 - - 2227.06 - 2.70 0.022 2150.06 -427.2 -77.86 - - 3208.53 - - - - - - - - - 16.09 -
6057.94 499.68 -6.52 685 6076.90 roll -1.18 - - 2227.69 - 3.18 0.081 3303.31 362.7 -77.86 - - 3206.84 - - - - - - - - - 16.02 -
6097.47 502.57 -6.43 690 6115.12 roll -1.18 - - 2226.88 - 2.68 0.022 2147.00 -431.5 -77.86 - - 3208.75 - - - - - - - - - 16.07 -
6420.96 523.69 -6.51 722 6425.02 no move -1.18 - - 2227.31 - - - 2148.31 - -77.86 - - 3205.88 - - - - - - - - - - -
6731.02 544.93 -7.19 753 6735.08 no move -1.18 - - 2227.19 - - - 2148.00 - -77.86 - - 3204.97 - - - - - - - - - - -
7041.10 566.88 -7.05 784 7060.44 roll -1.18 - - 2226.38 - 3.18 0.082 3302.81 363.1 -77.86 - - 3206.94 - - - - - - - - - 16.08 -
7076.64 569.70 -7.52 788 7093.96 roll -1.18 - - 2226.25 - 2.70 0.022 2148.25 -427.6 -77.86 - - 3206.78 - - - - - - - - - 16.09 -
7399.81 592.99 -7.21 820 7403.87 no move -1.18 - - 2227.44 - - - 2149.06 - -77.86 - - 3204.19 - - - - - - - - - - -
7709.86 614.21 -6.75 851 7728.83 roll -1.18 - - 2227.38 - 3.19 0.083 3302.75 361.7 -77.86 - - 3202.97 - - - - - - - - - 16.09 -
7759.30 618.00 -6.66 858 7776.96 roll -1.18 - - 2227.56 - 2.69 0.022 2148.88 -428.9 -77.86 - - 3204.53 - - - - - - - - - 16.01 -
8082.81 638.55 -6.35 890 8086.87 no move -1.18 - - 2227.06 - - - 2148.50 - -77.86 - - 3202.69 - - - - - - - - - - -
8393.12 657.95 -6.36 921 8397.18 no move -1.18 - - 2226.94 - - - 2148.94 - -77.86 - - 3202.09 - - - - - - - - - - -
8703.18 678.96 -6.75 952 8722.13 roll -1.18 - - 2226.00 - 3.18 0.083 3303.00 362.9 -77.86 - - 3204.28 - - - - - - - - - 16.08 -
8768.32 684.42 -6.81 962 8785.66 roll -1.18 - - 2227.12 - 2.71 0.023 2149.06 -425.8 -77.86 - - 3203.41 - - - - - - - - - 16.09 -
9091.50 706.77 -6.63 994 9095.56 no move -1.18 - - 2227.44 - - - 2148.94 - -77.86 - - 3201.38 - - - - - - - - - - -
9401.57 727.03 -6.64 1025 9420.52 roll -1.18 - - 2227.31 - 3.20 0.083 3303.56 360.8 -77.86 - - 3200.94 - - - - - - - - - 16.07 -
9521.01 735.69 -6.93 1046 9539.07 roll -1.18 - - 2227.88 - 2.73 0.023 2150.81 -422.3 -77.86 - - 3201.16 - - - - - - - - - 16.07 -
9844.92 754.55 -5.92 1078 9864.28 roll -1.18 - - 2225.81 - 3.21 0.083 3301.06 358.3 -77.86 - - 3202.22 - - - - - - - - - 16.07 -
9904.75 758.40 -6.05 1087 9922.41 roll -1.18 - - 2227.75 - 2.70 0.022 2150.88 -426.0 -77.86 - - 3201.59 - - - - - - - - - 16.07 -
10228.26 777.13 -5.94 1119 10232.32 no move -1.18 - - 2227.38 - - - 2150.00 - -77.86 - - 3199.94 - - - - - - - - - - -
10538.30 796.43 -6.06 1150 10542.37 no move -1.18 - - 2226.06 - - - 2149.75 - -77.86 - - 3199.25 - - - - - - - - - - -
10848.33 816.75 -6.59 1181 10852.39 no move -1.18 - - 2226.50 - - - 2149.69 - -77.86 - - 3199.19 - - - - - - - - - - -
11158.35 836.57 -6.55 1212 11177.74 roll -1.18 - - 2226.75 - 3.21 0.084 3302.94 359.3 -77.86 - - 3200.22 - - - - - - - - - 16.06 -
11193.93 839.01 -6.50 1216 11211.27 roll -1.18 - - 2227.94 - 2.71 0.023 2148.75 -425.9 -77.86 - - 3199.38 - - - - - - - - - 16.09 -
11517.12 859.37 -6.19 1248 11536.49 roll -1.18 - - 2226.88 - 3.22 0.084 3303.12 358.5 -77.86 - - 3199.62 - - - - - - - - - 16.06 -
11577.07 863.54 -6.45 1257 11595.53 roll -1.18 - - 2227.38 - 2.71 0.023 2149.56 -425.7 -77.86 - - 3200.81 - - - - - - - - - 16.08 -
11901.37 883.06 -6.01 1289 11905.43 no move -1.18 - - 2227.50 - - - 2149.38 - -77.86 - - 3198.22 - - - - - - - - - - -
12211.39 902.13 -5.95 1320 12215.45 no move -1.18 - - 2227.19 - - - 2150.00 - -77.86 - - 3198.00 - - - - - - - - - - -
12521.42 920.77 -5.87 1351 12540.79 roll -1.18 - - 2227.50 - 3.21 0.085 3303.25 359.3 -77.86 - - 3197.22 - - - - - - - - - 16.05 -
12586.99 925.15 -6.45 1361 12604.57 roll -1.18 - - 2227.62 - 2.72 0.023 2150.31 -423.9 -77.86 - - 3198.50 - - - - - - - - - 16.07 -
12910.53 943.73 -5.75 1393 12914.59 no move -1.18 - - 2227.25 - - - 2150.88 - -77.86 - - 3197.25 - - - - - - - - - - -
13220.58 960.69 -5.33 1424 13224.64 no move -1.18 - - 2227.19 - - - 2150.69 - -77.86 - - 3197.41 - - - - - - - - - - -
13530.64 977.63 -5.68 1455 13534.70 no move -1.18 - - 2227.25 - - - 2150.69 - -77.86 - - 3196.88 - - - - - - - - - - -
13760 end dive: TARGET_DEPTH_EXCEEDED
13760 begin apogee
13765.64 990.29 -5.42 1478 13865.27 -0.31 1.54 0.141 2439.25 137.7 0.12 0.196 2186.81 301.0 - 60.53 2.489 2891.38 -5.0 0.333 - - - - - - 15.94 15.61 11.72
13870 end apogee: CONTROL_FINISHED_OK
13870 begin climb
13873.28 992.29 - 1485 13981.09 1.18 2.55 0.097 2805.00 143.4 - - 2186.94 - 77.86 65.37 2.437 2570.97 -4.9 0.331 - - - - - - 15.71 - 12.46
14287.45 971.46 5.64 1523 14292.42 1.33 0.20 0.086 2846.69 208.5 - - 2186.50 - 77.86 - - 2564.56 - - - - - - - - 15.79 - -
14598.76 951.59 6.44 1554 14602.82 VBD 1.42 - - 2847.50 - - - 2186.75 - 77.86 - - 2560.78 - - - - - - - - - - -
14909.08 930.94 6.84 1585 14931.51 1.50 0.19 0.084 2891.12 229.6 3.35 0.094 3352.12 347.9 77.86 - - 2559.88 - - - - - - - - 15.91 15.90 -
14942.83 928.22 8.06 1588 14960.17 done 1.50 - - 2892.50 - 2.73 0.024 2201.62 -421.4 77.86 - - 2560.53 - - - - - - - - - 15.96 -
15266.02 902.40 8.02 1620 15270.09 VBD 1.50 - - 2891.75 - - - 2199.75 - 77.86 - - 2559.56 - - - - - - - - - - -
15576.08 876.66 8.58 1651 15580.14 VBD 1.50 - - 2891.94 - - - 2199.56 - 77.86 - - 2559.00 - - - - - - - - - - -
15886.13 850.84 7.63 1682 15890.19 VBD 1.50 - - 2892.25 - - - 2199.94 - 77.86 - - 2558.66 - - - - - - - - - - -
16196.19 826.17 8.26 1713 16216.96 done 1.50 - - 2891.88 - 3.30 0.094 3351.38 348.9 77.86 - - 2560.44 - - - - - - - - - 16.03 -
16268.17 820.27 8.49 1724 16285.50 done 1.50 - - 2892.69 - 2.71 0.025 2205.00 -423.0 77.86 - - 2559.09 - - - - - - - - - 16.03 -
16591.72 796.65 6.59 1756 16609.46 done 1.58 - - 2891.12 - 2.85 0.082 1144.06 -372.3 77.86 - - 2559.62 - - - - - - - - - 16.05 -
16765.70 783.38 7.88 1788 16783.29 done 1.58 - - 2891.31 - 2.78 0.033 2274.88 406.8 77.86 - - 2560.00 - - - - - - - - - 16.05 -
17089.71 760.80 6.68 1820 17094.67 1.67 0.17 0.089 2931.06 233.8 - - 2274.62 - 77.86 - - 2558.19 - - - - - - - - 16.00 - -
17400.52 737.00 7.64 1851 17419.08 done 1.67 - - 2932.50 - 3.04 0.077 1145.25 -371.5 77.86 - - 2555.97 - - - - - - - - - 16.05 -
17479.56 730.22 8.66 1864 17498.05 done 1.67 - - 2932.06 - 2.81 0.033 2275.31 402.2 77.86 - - 2557.53 - - - - - - - - - 16.03 -
17803.90 703.76 8.44 1896 17822.47 done 1.67 - - 2931.81 - 3.06 0.097 3350.56 351.4 77.86 - - 2557.09 - - - - - - - - - 16.04 -
17862.95 698.11 10.43 1905 17880.61 done 1.67 - - 2931.81 - 2.69 0.024 2200.38 -427.6 77.86 - - 2558.28 - - - - - - - - - 16.05 -
18186.43 669.46 9.77 1937 18190.49 VBD 1.67 - - 2932.25 - - - 2199.88 - 77.86 - - 2556.56 - - - - - - - - - - -
18496.49 642.19 9.26 1968 18500.55 VBD 1.67 - - 2931.69 - - - 2198.62 - 77.86 - - 2556.38 - - - - - - - - - - -
18806.54 616.62 8.07 1999 18810.60 VBD 1.67 - - 2932.06 - - - 2199.12 - 77.86 - - 2555.62 - - - - - - - - - - -
19116.60 592.13 7.61 2030 19120.67 VBD 1.67 - - 2931.12 - - - 2199.50 - 77.86 - - 2555.84 - - - - - - - - - - -
19427.31 569.62 6.51 2061 19446.68 done 1.76 - - 2931.88 - 3.25 0.094 3352.75 354.8 77.86 - - 2555.38 - - - - - - - - - 16.04 -
19507.28 563.14 7.91 2074 19525.35 done 1.76 - - 2931.38 - 2.71 0.024 2202.88 -424.3 77.86 - - 2557.72 - - - - - - - - - 16.05 -
19831.60 540.23 7.00 2106 19850.99 done 1.82 - - 2931.75 - 3.25 0.093 3352.50 353.7 77.86 - - 2558.19 - - - - - - - - - 16.05 -
19881.46 536.48 7.61 2113 19899.94 done 1.82 - - 2932.12 - 2.72 0.024 2202.25 -422.9 77.86 - - 2557.72 - - - - - - - - - 15.98 -
20206.19 512.86 6.47 2145 20211.97 1.92 0.31 0.067 2993.75 198.8 - - 2200.31 - 77.86 - - 2558.12 - - - - - - - - 16.01 - -
20517.82 487.86 7.91 2176 20521.88 VBD 1.92 - - 2994.12 - - - 2201.44 - 77.86 - - 2555.47 - - - - - - - - - - -
20828.29 465.56 6.71 2207 20846.43 done 2.00 - - 2995.62 - 2.82 0.079 1144.00 -375.0 77.86 - - 2556.78 - - - - - - - - - 16.05 -
20963.07 455.78 7.24 2231 20981.23 done 2.04 - - 2995.06 - 2.81 0.032 2277.69 403.4 77.86 - - 2556.78 - - - - - - - - - 15.98 -
21287.48 434.18 6.79 2263 21292.03 2.12 0.03 0.306 3011.56 550.0 - - 2276.50 - 77.86 - - 2555.25 - - - - - - - - 16.00 - -
21598.70 411.06 7.40 2294 21617.27 2.16 - - 3012.50 - 3.03 0.075 1143.81 -373.8 77.86 - - 2555.66 - - - - - - - - - 16.02 -
21708.16 402.64 7.32 2313 21726.25 2.20 - - 3012.50 - 2.79 0.032 2276.31 405.9 77.86 - - 2557.09 - - - - - - - - - 16.05 -
22032.61 380.81 6.55 2345 22036.69 2.29 - - 3013.31 - - - 2275.88 - 77.86 - - 2555.62 - - - - - - - - - - -
22342.94 359.79 6.23 2376 22361.51 2.40 - - 3013.00 - 3.03 0.074 1144.25 -373.5 77.86 - - 2557.00 - - - - - - - - - 15.96 -
22528.16 348.00 6.14 2410 22546.33 2.52 - - 3011.94 - 2.81 0.032 2274.19 402.1 77.86 - - 2558.50 - - - - - - - - - 16.04 -
22852.57 328.15 6.12 2442 22856.74 2.63 - - 3013.44 - - - 2274.94 - 77.86 - - 2555.34 - - - - - - - - - - -
23162.99 310.10 5.53 2473 23181.17 2.78 - - 3013.12 - 2.98 0.074 1142.81 -379.9 77.86 - - 2557.47 - - - - - - - - - 16.03 -
23387.78 297.48 5.20 2515 23405.80 2.95 - - 3012.88 - 2.81 0.032 2277.06 403.6 77.86 - - 2555.66 - - - - - - - - - 16.04 -
23712.16 282.59 4.54 2547 23810.08 3.10 - - 3013.12 - 3.12 0.096 3352.00 344.5 150.35 56.44 1.636 2278.03 -4.9 0.141 - - - - - - - 15.76 11.85
23816.16 275.04 9.76 2560 23834.24 roll back 3.10 - - 3012.88 - 2.72 0.023 2201.75 -422.9 150.35 - - 2272.97 - - - - - - - - - 15.86 -
24140.21 243.23 10.10 2592 24157.97 3.10 - - 3013.00 - 2.82 0.079 1143.94 -375.1 150.35 - - 2268.34 - - - - - - - - - 15.86 -
24234.19 233.34 10.57 2608 24252.36 3.10 - - 3013.44 - 2.83 0.032 2274.75 399.6 150.35 - - 2266.78 - - - - - - - - - 15.92 -
24558.20 201.38 10.20 2640 24576.79 3.10 - - 3012.62 - 3.02 0.075 1144.19 -374.4 150.35 - - 2267.28 - - - - - - - - - 15.96 -
24613.00 195.49 11.10 2648 24630.76 3.10 - - 3012.62 - 2.85 0.031 2274.56 396.6 150.35 - - 2266.75 - - - - - - - - - 15.90 -
24936.61 165.08 8.64 2680 24940.68 3.10 - - 3013.50 - - - 2274.12 - 150.35 - - 2264.09 - - - - - - - - - - -
25246.65 138.97 8.89 2711 25250.73 3.10 - - 3014.06 - - - 2274.50 - 150.35 - - 2263.53 - - - - - - - - - - -
25557.10 114.52 6.99 2742 25575.28 3.16 - - 3013.00 - 2.99 0.073 1144.00 -378.1 150.35 - - 2265.97 - - - - - - - - - 15.92 -
25631.91 109.86 6.49 2754 25649.68 3.26 - - 3013.31 - 2.82 0.030 2276.31 401.5 150.35 - - 2265.44 - - - - - - - - - 15.88 -
25955.93 97.47 3.44 2793 26061.92 3.45 - - 3013.31 - - - 2277.12 - 245.55 72.01 1.381 1888.81 -5.2 0.061 - - - - - - - - 12.20
26247.78 76.64 7.98 2845 26267.10 3.45 - - 3013.50 - 3.05 0.073 1142.88 -371.9 245.55 - - 1879.09 - - - - - - - - - 15.79 -
26468.83 60.81 6.88 2886 26487.32 3.52 - - 3013.94 - 2.82 0.030 2275.88 401.8 245.55 - - 1876.53 - - - - - - - - - 15.88 -
26673.58 47.46 6.52 2924 26693.29 3.61 - - 3013.62 - 3.07 0.092 3352.75 350.8 245.55 - - 1874.84 - - - - - - - - - 15.84 -
26790.03 39.97 6.18 2944 26808.35 3.72 - - 3013.69 - 2.72 0.022 2196.00 -425.3 245.55 - - 1874.28 - - - - - - - - - 15.92 -
26994.61 29.92 4.67 2982 27072.85 3.86 - - 3014.25 - - - 2194.19 - 315.47 52.82 1.255 1603.38 -5.1 0.020 - - - - - - - - 12.25
27259.10 17.32 3.45 3030 27382.70 4.05 - - 3014.12 - 2.87 0.077 1144.56 -365.7 410.62 73.36 1.216 1214.16 -5.3 0.013 - - - - - - - 15.59 12.47
27459.31 11.04 4.36 3061 27561.83 4.20 - - 3014.12 - 2.83 0.027 2278.00 400.5 486.90 58.17 1.173 905.09 -5.3 0.008 - - - - - - - 15.77 12.39
27592 end climb: SURFACE_DEPTH_REACHED
27592 begin surface coast
27668 end surface coast: CONTROL_FINISHED_OK
27668 begin surface
SM 1.17 - - - - 179.3 - - 897.1 - 18.68 0.053 910.1 48.7 - 0.23 0.055 884.1 3831.6 -8.331 - - 30.00 15.76 15.79 -