NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 111 * Raw log
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• Previous call tries 2 • 39.45 of 506.00 AH used of 24V (92.20% remains)
• Surface angle -64.7 deg, depth 1.19 m • Intended pitch -16.4 deg, speed -8.049 cm/s
• No surface pump (final VBD was 929.0, SM_CC=430)
• GPS1 time: 15 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
10 end surface: CONTROL_FINISHED_OK
11 begin dive
18.72 - - - 97.09 VBD -1.18 - - 180.81 - - - 2295.56 - -77.86 54.88 0.005 2419.31 - - - - - - - - - - 15.57
99.30 3.22 -4.07 11 218.29 -1.18 16.55 0.223 2227.12 123.6 3.04 0.085 3354.25 348.3 -77.86 12.51 0.007 3211.56 63.3 -4.828 - - - - - - 15.64 15.55 15.63
224.33 32.44 -15.17 19 242.12 roll -1.18 - - 2227.56 - 2.77 0.020 2191.81 -419.7 -77.86 - - 3213.62 - - - - - - - - - 15.83 -
428.04 57.02 -12.18 57 446.27 roll -1.18 - - 2227.50 - 2.81 0.067 1142.75 -373.3 -77.86 - - 3213.59 - - - - - - - - - 15.84 -
537.45 70.21 -11.28 76 555.30 roll -1.18 - - 2227.62 - 2.80 0.025 2279.44 406.0 -77.86 - - 3214.03 - - - - - - - - - 15.89 -
741.12 90.25 -9.70 114 747.67 no move -1.18 - - 2228.31 - - - 2279.56 - -77.86 - - 3214.94 - - - - - - - - - - -
938.47 109.20 -9.75 144 956.77 roll -1.18 - - 2226.44 - 3.01 0.081 3354.56 357.1 -77.86 - - 3217.38 - - - - - - - - - 15.88 -
997.20 115.29 -10.23 153 1015.05 roll -1.18 - - 2227.75 - 2.76 0.020 2187.25 -422.9 -77.86 - - 3216.53 - - - - - - - - - 15.98 -
1320.86 143.01 -7.56 185 1341.37 done -1.18 - - 2227.88 - 3.28 0.077 3354.25 355.8 -77.86 - - 3215.50 - - - - - - - - - 15.99 -
1372.51 147.32 -8.29 192 1389.64 done -1.18 - - 2227.69 - 2.74 0.019 2187.50 -425.8 -77.86 - - 3215.59 - - - - - - - - - 15.99 -
1695.44 172.00 -7.22 224 1699.46 VBD -1.18 - - 2227.56 - - - 2186.00 - -77.86 - - 3215.56 - - - - - - - - - - -
2005.50 194.56 -7.14 255 2009.53 no move -1.18 - - 2227.25 - - - 2186.12 - -77.86 - - 3215.09 - - - - - - - - - - -
2315.59 217.87 -7.95 286 2336.35 roll -1.18 - - 2227.38 - 3.29 0.079 3353.88 354.9 -77.86 - - 3216.44 - - - - - - - - - 16.03 -
2341.92 220.27 -8.60 288 2359.98 roll -1.18 - - 2227.75 - 2.74 0.020 2187.75 -425.6 -77.86 - - 3214.66 - - - - - - - - - 16.05 -
2665.84 245.76 -7.71 320 2686.59 roll -1.18 - - 2227.50 - 3.26 0.079 3353.38 357.6 -77.86 - - 3215.03 - - - - - - - - - 16.04 -
2738.01 251.81 -8.50 331 2755.34 roll -1.18 - - 2227.12 - 2.72 0.020 2190.38 -427.6 -77.86 - - 3215.19 - - - - - - - - - 16.06 -
3060.96 275.08 -7.15 363 3080.31 roll -1.18 - - 2227.25 - 3.24 0.079 3352.12 358.6 -77.86 - - 3213.53 - - - - - - - - - 16.06 -
3126.53 280.41 -8.16 373 3143.86 roll -1.18 - - 2227.75 - 2.71 0.020 2190.31 -428.7 -77.86 - - 3214.91 - - - - - - - - - 16.06 -
3449.71 305.18 -7.42 405 3453.76 no move -1.18 - - 2227.75 - - - 2189.06 - -77.86 - - 3211.84 - - - - - - - - - - -
3759.76 328.29 -7.34 436 3780.52 roll -1.18 - - 2227.88 - 3.25 0.080 3352.81 358.1 -77.86 - - 3212.97 - - - - - - - - - 16.06 -
3841.72 335.35 -8.64 449 3858.89 roll -1.18 - - 2227.69 - 2.69 0.020 2191.81 -431.6 -77.86 - - 3211.75 - - - - - - - - - 16.09 -
4164.86 360.47 -7.68 481 4184.21 roll -1.18 - - 2226.88 - 3.24 0.081 3354.00 358.7 -77.86 - - 3212.59 - - - - - - - - - 16.07 -
4264.68 369.02 -8.66 498 4283.13 roll -1.18 - - 2227.94 - 2.71 0.020 2192.88 -428.5 -77.86 - - 3210.88 - - - - - - - - - 16.08 -
4588.98 393.40 -7.64 530 4593.03 no move -1.18 - - 2227.88 - - - 2191.56 - -77.86 - - 3209.47 - - - - - - - - - - -
4899.02 416.35 -7.30 561 4919.79 roll -1.18 - - 2227.62 - 3.27 0.081 3353.19 355.2 -77.86 - - 3209.06 - - - - - - - - - 16.08 -
4945.26 419.93 -7.39 567 4963.31 roll -1.18 - - 2227.38 - 2.69 0.021 2194.69 -430.7 -77.86 - - 3208.88 - - - - - - - - - 16.08 -
5269.16 443.35 -7.18 599 5273.22 no move -1.18 - - 2227.31 - - - 2193.38 - -77.86 - - 3207.59 - - - - - - - - - - -
5579.21 464.68 -6.77 630 5599.97 roll -1.18 - - 2227.44 - 3.28 0.082 3353.94 353.8 -77.86 - - 3206.72 - - - - - - - - - 16.07 -
5731.18 476.65 -7.79 657 5749.14 roll -1.18 - - 2227.81 - 2.72 0.021 2196.88 -425.4 -77.86 - - 3207.97 - - - - - - - - - 16.09 -
6055.11 499.21 -7.14 689 6059.17 no move -1.18 - - 2227.62 - - - 2195.19 - -77.86 - - 3205.28 - - - - - - - - - - -
6365.16 521.57 -7.12 720 6385.92 roll -1.18 - - 2228.12 - 3.28 0.082 3353.75 353.2 -77.86 - - 3207.03 - - - - - - - - - 16.08 -
6411.39 525.20 -7.95 726 6429.47 roll -1.18 - - 2227.62 - 2.72 0.021 2195.62 -425.8 -77.86 - - 3205.47 - - - - - - - - - 16.09 -
6735.30 548.06 -7.09 758 6739.36 no move -1.18 - - 2227.19 - - - 2194.19 - -77.86 - - 3204.38 - - - - - - - - - - -
7045.33 569.22 -6.97 789 7049.39 no move -1.18 - - 2227.62 - - - 2194.06 - -77.86 - - 3202.72 - - - - - - - - - - -
7355.36 591.56 -7.55 820 7376.12 roll -1.18 - - 2226.88 - 3.28 0.083 3353.31 353.4 -77.86 - - 3204.78 - - - - - - - - - 16.09 -
7397.31 594.82 -7.73 825 7415.05 roll -1.18 - - 2227.56 - 2.74 0.021 2195.44 -422.6 -77.86 - - 3203.78 - - - - - - - - - 16.04 -
7720.91 618.59 -7.21 857 7724.97 no move -1.18 - - 2227.44 - - - 2195.12 - -77.86 - - 3201.41 - - - - - - - - - - -
8030.96 639.30 -6.46 888 8035.02 no move -1.18 - - 2227.31 - - - 2195.44 - -77.86 - - 3201.03 - - - - - - - - - - -
8341.01 657.98 -5.89 919 8345.08 no move -1.18 - - 2227.44 - - - 2195.19 - -77.86 - - 3200.22 - - - - - - - - - - -
8651.32 677.39 -6.43 950 8655.38 no move -1.18 - - 2227.88 - - - 2195.19 - -77.86 - - 3199.78 - - - - - - - - - - -
8961.32 698.25 -6.93 981 8965.47 no move -1.18 - - 2227.81 - - - 2194.44 - -77.86 - - 3199.06 - - - - - - - - - - -
9271.34 720.57 -7.40 1012 9292.11 roll -1.18 - - 2227.44 - 3.29 0.084 3352.31 351.9 -77.86 - - 3201.47 - - - - - - - - - 16.09 -
9337.58 725.89 -8.38 1022 9356.03 roll -1.18 - - 2227.62 - 2.74 0.021 2196.50 -421.8 -77.86 - - 3200.00 - - - - - - - - - 16.09 -
9661.88 747.97 -6.43 1054 9682.65 roll -1.18 - - 2226.38 - 3.28 0.084 3354.25 353.0 -77.86 - - 3201.16 - - - - - - - - - 16.08 -
9703.85 751.05 -7.30 1059 9721.19 roll -1.18 - - 2227.62 - 2.72 0.021 2196.88 -425.5 -77.86 - - 3199.25 - - - - - - - - - 16.08 -
10027.04 770.81 -6.17 1091 10031.10 no move -1.18 - - 2226.88 - - - 2195.25 - -77.86 - - 3198.19 - - - - - - - - - - -
10337.09 788.40 -5.69 1122 10357.85 roll -1.18 - - 2227.19 - 3.29 0.084 3352.25 351.7 -77.86 - - 3197.44 - - - - - - - - - 16.04 -
10399.04 792.28 -6.76 1131 10416.49 roll -1.18 - - 2228.00 - 2.75 0.021 2196.06 -420.4 -77.86 - - 3198.94 - - - - - - - - - 16.01 -
10722.32 811.52 -5.97 1163 10743.33 roll -1.18 - - 2227.38 - 3.28 0.084 3353.69 352.9 -77.86 - - 3196.84 - - - - - - - - - 16.06 -
10778.91 815.36 -6.96 1171 10796.98 roll -1.18 - - 2227.50 - 2.74 0.021 2196.62 -422.3 -77.86 - - 3198.03 - - - - - - - - - 16.08 -
11102.83 834.31 -5.89 1203 11106.89 no move -1.18 - - 2226.88 - - - 2195.38 - -77.86 - - 3197.72 - - - - - - - - - - -
11412.89 852.03 -5.77 1234 11416.95 no move -1.18 - - 2226.94 - - - 2194.75 - -77.86 - - 3196.91 - - - - - - - - - - -
11722.94 869.86 -5.75 1265 11727.00 no move -1.18 - - 2226.88 - - - 2194.94 - -77.86 - - 3196.88 - - - - - - - - - - -
12033.00 887.63 -5.88 1296 12037.06 no move -1.18 - - 2227.56 - - - 2194.38 - -77.86 - - 3196.09 - - - - - - - - - - -
12343.06 905.90 -5.91 1327 12347.12 no move -1.18 - - 2227.19 - - - 2195.00 - -77.86 - - 3195.81 - - - - - - - - - - -
12653.10 924.03 -5.79 1358 12657.16 no move -1.18 - - 2227.31 - - - 2195.56 - -77.86 - - 3195.44 - - - - - - - - - - -
12963.56 940.41 -5.03 1389 12981.31 roll -1.18 - - 2227.56 - 2.89 0.079 1144.38 -363.7 -77.86 - - 3196.91 - - - - - - - - - 16.06 -
13067.53 946.35 -5.66 1407 13084.87 roll -1.18 - - 2226.06 - 2.80 0.029 2275.81 404.1 -77.86 - - 3197.88 - - - - - - - - - 16.07 -
13390.71 963.37 -5.58 1439 13394.77 no move -1.18 - - 2227.44 - - - 2276.69 - -77.86 - - 3194.66 - - - - - - - - - - -
13700.75 980.07 -5.13 1470 13704.82 no move -1.18 - - 2227.81 - - - 2276.75 - -77.86 - - 3194.06 - - - - - - - - - - -
13890 end dive: TARGET_DEPTH_EXCEEDED
13890 begin apogee
13895.78 990.50 -5.31 1489 13995.41 -0.31 1.53 0.137 2439.94 138.6 0.19 0.149 2284.44 40.5 - 60.10 2.491 2889.19 -5.1 0.334 - - - - - - 15.96 15.60 11.85
14008 end apogee: CONTROL_FINISHED_OK
14009 begin climb
14011.58 991.94 - 1496 14120.76 1.18 2.52 0.095 2805.06 144.9 - - 2284.38 - 77.86 65.18 2.434 2572.56 -4.9 0.328 - - - - - - 15.71 - 12.50
14427.13 966.80 7.01 1536 14446.09 done 1.25 - - 2806.06 - 3.17 0.095 3351.62 336.7 77.86 - - 2561.75 - - - - - - - - - 15.80 -
14496.67 961.14 7.97 1547 14514.74 done 1.25 - - 2805.31 - 2.80 0.024 2204.50 -409.7 77.86 - - 2563.53 - - - - - - - - - 15.85 -
14821.00 937.47 7.21 1579 14825.06 VBD 1.30 - - 2805.56 - - - 2203.50 - 77.86 - - 2560.03 - - - - - - - - - - -
15131.31 914.55 7.10 1610 15151.36 1.35 0.24 0.080 2856.06 210.4 2.95 0.081 1145.38 -358.7 77.86 - - 2562.00 - - - - - - - - 15.93 15.92 -
15231.97 906.07 8.73 1627 15250.45 done 1.35 - - 2855.94 - 2.84 0.033 2273.62 397.3 77.86 - - 2561.53 - - - - - - - - - 15.99 -
15556.70 880.51 7.44 1659 15560.76 VBD 1.39 - - 2854.69 - - - 2273.44 - 77.86 - - 2558.62 - - - - - - - - - - -
15867.01 857.92 7.38 1690 15871.07 VBD 1.43 - - 2855.88 - - - 2273.38 - 77.86 - - 2558.12 - - - - - - - - - - -
16177.34 837.47 6.59 1721 16182.30 1.52 0.16 0.092 2894.56 241.7 - - 2273.44 - 77.86 - - 2557.09 - - - - - - - - 16.00 - -
16488.55 815.06 7.01 1752 16492.62 VBD 1.58 - - 2895.12 - - - 2273.12 - 77.86 - - 2558.06 - - - - - - - - - - -
16798.85 793.12 6.38 1783 16803.81 1.68 0.17 0.093 2934.12 229.4 - - 2272.75 - 77.86 - - 2557.41 - - - - - - - - 16.01 - -
17110.06 769.70 7.42 1814 17114.12 VBD 1.72 - - 2934.50 - - - 2273.31 - 77.86 - - 2557.22 - - - - - - - - - - -
17419.97 745.84 7.93 1845 17424.03 VBD 1.72 - - 2934.00 - - - 2273.19 - 77.86 - - 2556.81 - - - - - - - - - - -
17730.02 721.17 8.15 1876 17734.08 VBD 1.72 - - 2933.81 - - - 2273.69 - 77.86 - - 2557.12 - - - - - - - - - - -
18040.06 695.09 9.05 1907 18059.26 done 1.72 - - 2934.62 - 3.12 0.095 3351.12 345.3 77.86 - - 2556.56 - - - - - - - - - 15.96 -
18109.85 688.23 9.93 1918 18127.92 done 1.72 - - 2933.88 - 2.73 0.024 2202.81 -420.6 77.86 - - 2558.56 - - - - - - - - - 16.06 -
18433.77 660.55 7.67 1950 18437.83 VBD 1.72 - - 2934.56 - - - 2202.19 - 77.86 - - 2556.47 - - - - - - - - - - -
18743.82 636.08 7.87 1981 18747.88 VBD 1.72 - - 2934.06 - - - 2202.25 - 77.86 - - 2555.81 - - - - - - - - - - -
19054.28 613.52 6.62 2012 19058.35 VBD 1.80 - - 2934.06 - - - 2202.25 - 77.86 - - 2556.03 - - - - - - - - - - -
19364.59 593.04 6.43 2043 19369.96 1.90 0.26 0.075 2988.19 208.2 - - 2201.94 - 77.86 - - 2556.59 - - - - - - - - 16.02 - -
19676.21 570.30 7.34 2074 19694.36 done 1.94 - - 2989.44 - 2.93 0.080 1143.88 -361.1 77.86 - - 2556.03 - - - - - - - - - 16.06 -
19740.57 565.44 8.24 2084 19758.33 done 1.94 - - 2988.75 - 2.83 0.032 2275.25 399.8 77.86 - - 2556.53 - - - - - - - - - 16.06 -
20064.58 541.21 7.46 2116 20083.56 done 1.98 - - 2988.69 - 3.12 0.093 3353.62 345.6 77.86 - - 2555.22 - - - - - - - - - 16.04 -
20124.04 536.35 8.22 2125 20142.50 done 1.98 - - 2988.81 - 2.73 0.024 2203.56 -421.3 77.86 - - 2557.41 - - - - - - - - - 16.06 -
20448.33 511.51 7.83 2157 20452.39 VBD 1.98 - - 2988.31 - - - 2201.94 - 77.86 - - 2555.50 - - - - - - - - - - -
20758.35 485.63 8.50 2188 20776.51 done 1.98 - - 2988.88 - 2.91 0.080 1145.44 -363.1 77.86 - - 2554.88 - - - - - - - - - 16.00 -
20816.99 480.56 9.21 2197 20836.10 done 1.98 - - 2988.50 - 2.83 0.032 2277.00 399.8 77.86 - - 2556.03 - - - - - - - - - 16.07 -
21141.95 454.16 8.19 2229 21160.91 done 1.98 - - 2988.62 - 3.11 0.093 3352.00 345.7 77.86 - - 2556.69 - - - - - - - - - 16.03 -
21197.11 449.30 8.86 2237 21214.46 done 1.98 - - 2988.81 - 2.73 0.023 2200.81 -421.7 77.86 - - 2556.72 - - - - - - - - - 16.06 -
21520.70 424.92 7.01 2269 21538.44 done 2.04 - - 2988.00 - 2.90 0.079 1145.44 -363.9 77.86 - - 2555.28 - - - - - - - - - 15.91 -
21769.38 406.98 7.31 2316 21788.71 2.08 0.07 0.154 3013.75 367.9 2.84 0.032 2276.69 398.3 77.86 - - 2557.00 - - - - - - - - 15.93 16.06 -
22095.07 386.33 6.02 2348 22113.88 2.21 - - 3014.12 - 3.09 0.092 3351.50 347.8 77.86 - - 2558.34 - - - - - - - - - 16.03 -
22214.90 378.25 6.76 2369 22232.98 2.28 - - 3014.69 - 2.71 0.023 2202.19 -424.1 77.86 - - 2556.53 - - - - - - - - - 16.06 -
22539.24 360.20 5.41 2401 22557.01 2.44 - - 3013.62 - 2.89 0.079 1145.25 -365.7 77.86 - - 2556.56 - - - - - - - - - 15.96 -
22787.93 345.73 5.91 2448 22806.43 2.57 - - 3014.25 - 2.82 0.032 2275.94 401.0 77.86 - - 2556.47 - - - - - - - - - 16.03 -
23112.67 329.14 5.18 2480 23116.84 2.74 - - 3014.00 - - - 2276.12 - 77.86 - - 2555.41 - - - - - - - - - - -
23423.08 312.64 5.33 2511 23441.66 2.90 - - 3013.81 - 3.08 0.074 1144.19 -367.5 77.86 - - 2555.47 - - - - - - - - - 16.03 -
23542.56 305.63 5.85 2532 23561.06 3.04 - - 3014.38 - 2.84 0.031 2275.50 398.3 77.86 - - 2557.25 - - - - - - - - - 16.04 -
23867.30 288.90 5.19 2564 23871.37 3.21 - - 3014.62 - - - 2274.88 - 77.86 - - 2555.53 - - - - - - - - - - -
24177.62 273.37 4.88 2595 24268.08 3.34 - - 3013.75 - 3.13 0.077 1145.56 -360.8 143.35 51.00 1.620 2304.94 -4.9 0.137 - - - - - - - 15.80 11.70
24369.40 257.57 9.75 2626 24387.40 roll back 3.34 - - 3013.88 - 2.88 0.032 2273.81 391.8 143.35 - - 2299.53 - - - - - - - - - 15.90 -
24693.33 227.31 9.34 2658 24711.92 3.34 - - 3014.50 - 3.09 0.075 1144.12 -365.6 143.35 - - 2293.84 - - - - - - - - - 15.93 -
24758.12 220.97 9.80 2668 24775.88 3.34 - - 3014.56 - 2.87 0.032 2273.75 393.6 143.35 - - 2297.09 - - - - - - - - - 15.92 -
25081.73 192.53 8.38 2700 25085.80 3.34 - - 3014.31 - - - 2273.69 - 143.35 - - 2293.28 - - - - - - - - - - -
25391.77 167.47 7.90 2731 25410.35 3.34 - - 3013.69 - 3.08 0.074 1145.75 -366.2 143.35 - - 2292.16 - - - - - - - - - 15.91 -
25486.57 159.37 8.45 2747 25504.33 3.34 - - 3014.12 - 2.84 0.031 2275.50 397.8 143.35 - - 2293.84 - - - - - - - - - 15.98 -
25810.19 135.35 7.59 2779 25829.42 3.34 - - 3014.56 - 3.12 0.091 3351.62 344.9 143.35 - - 2294.03 - - - - - - - - - 15.86 -
25985.78 121.04 7.86 2811 26003.53 3.34 - - 3014.69 - 2.73 0.022 2198.06 -422.5 143.35 - - 2293.34 - - - - - - - - - 15.91 -
26309.75 105.82 3.56 2843 26426.80 3.52 - - 3014.88 - 2.93 0.079 1144.12 -359.7 236.13 70.84 1.381 1926.22 -5.2 0.066 - - - - - - - 15.69 12.04
26463.00 95.52 8.61 2865 26481.51 roll back 3.52 - - 3014.81 - 2.87 0.030 2275.06 394.1 236.13 - - 1920.41 - - - - - - - - - 15.81 -
26667.89 82.78 5.88 2903 26687.59 3.65 - - 3014.81 - 3.14 0.090 3350.94 342.6 236.13 - - 1916.50 - - - - - - - - - 15.80 -
26734.20 78.16 6.93 2913 26752.68 3.72 - - 3014.62 - 2.76 0.022 2199.00 -417.4 236.13 - - 1915.12 - - - - - - - - - 15.86 -
26938.95 65.86 5.56 2951 26958.10 3.87 - - 3015.06 - 2.91 0.076 1145.69 -362.0 236.13 - - 1913.88 - - - - - - - - - 15.86 -
27189.83 50.51 6.33 2998 27208.33 3.97 - - 3014.94 - 2.85 0.029 2278.50 397.5 236.13 - - 1912.75 - - - - - - - - - 15.87 -
27394.59 41.23 4.11 3036 27499.13 4.14 - - 3015.06 - 3.16 0.091 3351.31 339.5 317.53 60.71 1.263 1595.22 -5.2 0.028 - - - - - - - 15.69 12.18
27505.33 33.84 8.24 3050 27523.41 roll back 4.14 - - 3015.12 - 2.78 0.022 2202.38 -413.3 317.53 - - 1592.06 - - - - - - - - - 15.76 -
27709.68 18.46 6.40 3088 27728.56 4.14 - - 3014.19 - 2.92 0.075 1144.25 -362.4 317.53 - - 1586.97 - - - - - - - - - 15.82 -
27960.24 14.21 0.47 3135 28142.37 4.45 - - 3015.62 - 2.81 0.027 2279.50 404.0 474.12 118.16 1.198 958.22 -5.3 0.010 - - - - - - - 15.82 12.23
28197 end climb: SURFACE_DEPTH_REACHED
28198 begin surface coast
28278 end surface coast: CONTROL_FINISHED_OK
28279 begin surface
SM 1.28 - - - - 179.5 - - 946.5 - 18.77 0.057 963.9 51.4 - 0.12 0.085 929.0 7718.3 -11.879 - - 30.00 15.76 15.80 -