NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 114 * Raw log
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• Previous call tries 1 • 40.56 of 506.00 AH used of 24V (91.98% remains)
• Surface angle -61.8 deg, depth 1.05 m • Intended pitch -16.4 deg, speed -8.049 cm/s
• No surface pump (final VBD was 938.0, SM_CC=430)
• GPS1 time: 23 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
18.74 - - - 125.27 VBD -1.18 - - 180.75 - - - 2291.75 - -77.86 75.31 0.005 2510.50 - - - - - - - - - - 15.57
127.49 3.21 -3.29 15 229.37 -1.18 16.74 0.228 2228.19 122.3 - - 2291.19 - -77.86 10.26 0.007 3208.38 68.0 -5.170 - - - - - - 15.67 - 15.63
415.11 49.77 -10.59 58 421.93 no move -1.18 - - 2228.44 - - - 2291.31 - -77.86 - - 3213.12 - - - - - - - - - - -
607.70 71.60 -11.75 96 626.74 roll -1.18 - - 2228.44 - 3.09 0.061 1143.00 -371.6 -77.86 - - 3213.50 - - - - - - - - - 15.85 -
798.03 95.18 -11.62 131 816.29 roll -1.18 - - 2228.19 - 2.81 0.026 2276.88 403.5 -77.86 - - 3214.38 - - - - - - - - - 15.88 -
1007.08 113.38 -8.20 154 1025.40 roll -1.18 - - 2228.31 - 3.04 0.061 1142.81 -373.0 -77.86 - - 3214.50 - - - - - - - - - 15.97 -
1045.83 116.59 -8.18 159 1063.68 roll -1.18 - - 2228.94 - 2.80 0.025 2278.31 405.5 -77.86 - - 3216.03 - - - - - - - - - 15.98 -
1369.50 138.71 -7.40 191 1387.81 roll -1.18 - - 2228.00 - 3.06 0.082 3352.75 351.1 -77.86 - - 3214.31 - - - - - - - - - 15.94 -
1428.23 143.66 -8.24 200 1446.09 roll -1.18 - - 2227.56 - 2.72 0.020 2183.88 -429.7 -77.86 - - 3216.44 - - - - - - - - - 15.92 -
1751.89 167.30 -6.29 232 1772.41 roll -1.18 - - 2228.12 - 3.30 0.078 3354.06 354.6 -77.86 - - 3215.50 - - - - - - - - - 16.01 -
1823.56 172.45 -7.35 243 1841.07 roll -1.18 - - 2228.19 - 2.71 0.020 2184.44 -431.6 -77.86 - - 3214.97 - - - - - - - - - 15.99 -
2146.91 193.20 -6.55 275 2150.97 no move -1.18 - - 2228.75 - - - 2183.75 - -77.86 - - 3213.91 - - - - - - - - - - -
2456.94 214.04 -6.43 306 2477.70 roll -1.18 - - 2228.88 - 3.30 0.078 3352.06 354.0 -77.86 - - 3214.62 - - - - - - - - - 16.02 -
2578.91 223.14 -7.56 327 2595.84 roll -1.18 - - 2227.50 - 2.68 0.020 2189.81 -433.7 -77.86 - - 3214.88 - - - - - - - - - 15.99 -
2901.69 246.49 -7.46 359 2905.75 no move -1.18 - - 2227.62 - - - 2187.75 - -77.86 - - 3212.44 - - - - - - - - - - -
3211.75 269.89 -7.57 390 3215.81 no move -1.18 - - 2227.69 - - - 2188.50 - -77.86 - - 3211.53 - - - - - - - - - - -
3521.80 293.92 -7.70 421 3542.57 roll -1.18 - - 2227.75 - 3.28 0.080 3351.75 354.6 -77.86 - - 3210.59 - - - - - - - - - 16.07 -
3633.77 303.94 -9.20 440 3650.90 roll -1.18 - - 2227.62 - 2.70 0.020 2190.94 -429.9 -77.86 - - 3211.22 - - - - - - - - - 16.08 -
3956.76 329.10 -7.36 472 3977.51 roll -1.18 - - 2228.62 - 3.28 0.080 3354.44 354.7 -77.86 - - 3210.91 - - - - - - - - - 16.07 -
3992.97 332.03 -7.80 476 4010.62 roll -1.18 - - 2228.44 - 2.69 0.020 2189.06 -433.2 -77.86 - - 3210.12 - - - - - - - - - 16.08 -
4316.47 355.45 -7.15 508 4337.24 roll -1.18 - - 2227.81 - 3.28 0.081 3353.75 355.1 -77.86 - - 3207.81 - - - - - - - - - 16.07 -
4368.55 359.50 -7.52 515 4385.87 roll -1.18 - - 2228.00 - 2.67 0.020 2190.81 -435.6 -77.86 - - 3209.75 - - - - - - - - - 16.06 -
4691.73 382.88 -7.75 547 4695.78 no move -1.18 - - 2227.69 - - - 2189.62 - -77.86 - - 3207.91 - - - - - - - - - - -
5001.77 406.54 -7.67 578 5022.53 roll -1.18 - - 2227.88 - 3.27 0.082 3353.94 356.1 -77.86 - - 3206.59 - - - - - - - - - 16.07 -
5118.01 416.68 -8.92 598 5135.68 roll -1.18 - - 2228.25 - 2.69 0.021 2192.75 -431.7 -77.86 - - 3207.22 - - - - - - - - - 16.02 -
5441.52 440.88 -7.09 630 5445.58 no move -1.18 - - 2228.44 - - - 2190.94 - -77.86 - - 3205.66 - - - - - - - - - - -
5751.58 462.06 -6.61 661 5772.34 roll -1.18 - - 2227.50 - 3.26 0.082 3353.62 356.7 -77.86 - - 3205.16 - - - - - - - - - 16.08 -
5813.55 466.72 -7.54 670 5830.48 roll -1.18 - - 2226.94 - 2.66 0.021 2191.38 -436.9 -77.86 - - 3204.69 - - - - - - - - - 16.08 -
6136.32 487.76 -6.53 702 6157.32 roll -1.18 - - 2228.12 - 3.28 0.083 3353.56 354.3 -77.86 - - 3203.78 - - - - - - - - - 16.06 -
6188.64 491.72 -7.66 709 6205.56 roll -1.18 - - 2228.06 - 2.68 0.021 2191.12 -433.7 -77.86 - - 3203.84 - - - - - - - - - 16.01 -
6511.41 514.22 -7.09 741 6532.17 roll -1.18 - - 2228.31 - 3.28 0.083 3351.88 353.9 -77.86 - - 3202.38 - - - - - - - - - 16.08 -
6567.64 518.90 -8.27 749 6585.70 roll -1.18 - - 2227.88 - 2.69 0.021 2193.75 -430.5 -77.86 - - 3203.41 - - - - - - - - - 16.08 -
6891.55 543.69 -7.97 781 6895.61 no move -1.18 - - 2228.38 - - - 2192.56 - -77.86 - - 3201.78 - - - - - - - - - - -
7201.61 567.47 -7.68 812 7222.36 roll -1.18 - - 2227.56 - 3.27 0.084 3354.00 355.2 -77.86 - - 3200.91 - - - - - - - - - 16.07 -
7273.56 573.41 -8.43 823 7290.48 roll -1.18 - - 2227.94 - 2.68 0.021 2193.50 -433.0 -77.86 - - 3202.09 - - - - - - - - - 16.09 -
7596.33 597.03 -7.15 855 7600.39 no move -1.18 - - 2228.00 - - - 2191.81 - -77.86 - - 3200.91 - - - - - - - - - - -
7906.39 617.91 -6.49 886 7910.46 no move -1.18 - - 2227.88 - - - 2191.56 - -77.86 - - 3200.12 - - - - - - - - - - -
8216.44 637.45 -5.96 917 8237.44 roll -1.18 - - 2228.19 - 3.28 0.085 3353.38 354.2 -77.86 - - 3198.69 - - - - - - - - - 16.08 -
8268.76 640.96 -6.59 924 8285.69 roll -1.18 - - 2227.81 - 2.67 0.022 2192.50 -434.8 -77.86 - - 3200.53 - - - - - - - - - 16.08 -
8591.53 661.05 -6.26 956 8595.59 no move -1.18 - - 2228.31 - - - 2191.50 - -77.86 - - 3199.09 - - - - - - - - - - -
8901.59 680.99 -6.49 987 8922.36 roll -1.18 - - 2227.50 - 3.29 0.085 3352.81 353.0 -77.86 - - 3198.50 - - - - - - - - - 16.07 -
8967.83 686.17 -8.46 997 8985.48 roll -1.18 - - 2228.25 - 2.69 0.022 2194.38 -430.6 -77.86 - - 3199.09 - - - - - - - - - 16.09 -
9291.34 708.50 -6.89 1029 9312.50 roll -1.18 - - 2228.38 - 3.28 0.085 3353.12 353.3 -77.86 - - 3198.94 - - - - - - - - - 16.07 -
9377.98 715.52 -7.87 1043 9396.44 roll -1.18 - - 2227.94 - 2.70 0.021 2194.19 -429.2 -77.86 - - 3198.75 - - - - - - - - - 16.07 -
9702.29 738.56 -6.84 1075 9723.06 roll -1.18 - - 2226.75 - 3.29 0.085 3351.12 351.7 -77.86 - - 3199.53 - - - - - - - - - 16.06 -
9738.52 741.58 -7.48 1079 9756.18 roll -1.18 - - 2228.44 - 2.70 0.022 2192.88 -429.0 -77.86 - - 3198.12 - - - - - - - - - 16.07 -
10062.25 762.72 -6.07 1111 10066.31 no move -1.18 - - 2227.88 - - - 2192.06 - -77.86 - - 3196.38 - - - - - - - - - - -
10372.27 780.66 -5.51 1142 10376.33 no move -1.18 - - 2227.56 - - - 2190.94 - -77.86 - - 3197.06 - - - - - - - - - - -
10682.33 796.97 -5.12 1173 10686.39 no move -1.18 - - 2227.12 - - - 2191.50 - -77.86 - - 3196.50 - - - - - - - - - - -
10992.39 813.06 -5.12 1204 10996.45 no move -1.18 - - 2227.81 - - - 2191.88 - -77.86 - - 3196.06 - - - - - - - - - - -
11302.44 829.63 -5.53 1235 11323.61 roll -1.18 - - 2227.56 - 3.31 0.086 3351.94 350.5 -77.86 - - 3196.81 - - - - - - - - - 16.04 -
11374.92 834.32 -6.62 1246 11391.86 roll -1.18 - - 2228.25 - 2.69 0.022 2194.81 -430.2 -77.86 - - 3197.28 - - - - - - - - - 16.07 -
11697.71 854.13 -6.44 1278 11715.85 roll -1.18 - - 2228.06 - 2.84 0.077 1143.88 -370.0 -77.86 - - 3197.12 - - - - - - - - - 16.06 -
11762.04 858.53 -6.58 1288 11779.39 roll -1.18 - - 2227.94 - 2.77 0.029 2277.62 409.3 -77.86 - - 3196.72 - - - - - - - - - 16.07 -
12085.23 878.98 -6.64 1320 12089.29 no move -1.18 - - 2228.19 - - - 2278.00 - -77.86 - - 3194.53 - - - - - - - - - - -
12395.28 897.71 -5.84 1351 12413.82 roll -1.18 - - 2227.69 - 3.08 0.091 3350.81 348.3 -77.86 - - 3194.97 - - - - - - - - - 16.04 -
12500.02 904.52 -6.52 1369 12517.35 roll -1.18 - - 2228.00 - 2.68 0.022 2194.31 -431.5 -77.86 - - 3195.91 - - - - - - - - - 16.06 -
12823.32 924.08 -6.57 1401 12827.38 no move -1.18 - - 2227.62 - - - 2193.44 - -77.86 - - 3194.31 - - - - - - - - - - -
13133.37 942.67 -6.01 1432 13154.13 roll -1.18 - - 2228.06 - 3.30 0.087 3352.06 351.1 -77.86 - - 3193.69 - - - - - - - - - 16.04 -
13239.63 950.61 -7.45 1450 13258.08 roll -1.18 - - 2226.94 - 2.70 0.022 2195.06 -428.5 -77.86 - - 3196.62 - - - - - - - - - 16.06 -
13563.92 971.25 -6.13 1482 13567.98 no move -1.18 - - 2227.69 - - - 2195.19 - -77.86 - - 3193.41 - - - - - - - - - - -
13873.95 989.82 -5.79 1513 13878.01 no move -1.18 - - 2227.00 - - - 2194.62 - -77.86 - - 3194.06 - - - - - - - - - - -
13883 end dive: TARGET_DEPTH_EXCEEDED
13884 begin apogee
13888.48 990.49 -5.96 1514 13987.69 -0.31 1.54 0.140 2439.19 137.8 0.14 0.176 2183.81 -77.2 - 59.99 2.498 2891.16 -5.0 0.332 - - - - - - 15.96 15.61 11.66
14001 end apogee: CONTROL_FINISHED_OK
14001 begin climb
14003.87 992.10 - 1521 14112.31 1.18 2.54 0.097 2805.38 144.2 - - 2183.75 - 77.86 65.29 2.438 2569.69 -4.9 0.332 - - - - - - 15.72 - 12.46
14418.68 967.47 6.53 1559 14422.74 VBD 1.27 - - 2804.62 - - - 2184.06 - 77.86 - - 2562.12 - - - - - - - - - - -
14729.11 946.13 6.91 1590 14734.48 1.34 0.23 0.082 2851.50 203.8 - - 2183.06 - 77.86 - - 2560.75 - - - - - - - - 15.89 - -
15040.33 922.32 7.58 1621 15061.91 done 1.34 - - 2851.44 - 3.40 0.093 3349.56 343.1 77.86 - - 2559.22 - - - - - - - - - 15.94 -
15117.39 915.45 8.78 1633 15135.46 done 1.34 - - 2851.25 - 2.74 0.024 2202.94 -418.5 77.86 - - 2559.59 - - - - - - - - - 15.96 -
15441.32 889.95 7.95 1665 15445.38 VBD 1.34 - - 2851.00 - - - 2200.44 - 77.86 - - 2558.22 - - - - - - - - - - -
15751.36 865.58 8.00 1696 15755.43 VBD 1.34 - - 2851.62 - - - 2200.69 - 77.86 - - 2558.88 - - - - - - - - - - -
16061.42 840.70 8.02 1727 16082.59 done 1.34 - - 2851.81 - 3.31 0.093 3352.00 347.8 77.86 - - 2557.31 - - - - - - - - - 16.02 -
16108.05 836.47 9.75 1733 16126.13 done 1.34 - - 2851.12 - 2.71 0.024 2203.06 -424.0 77.86 - - 2558.38 - - - - - - - - - 16.03 -
16432.00 811.51 7.81 1765 16436.08 VBD 1.34 - - 2851.38 - - - 2202.31 - 77.86 - - 2556.84 - - - - - - - - - - -
16742.41 788.46 7.07 1796 16746.47 VBD 1.40 - - 2851.06 - - - 2202.50 - 77.86 - - 2556.97 - - - - - - - - - - -
17052.73 766.18 7.00 1827 17073.90 done 1.46 - - 2851.38 - 3.31 0.093 3350.75 346.9 77.86 - - 2556.25 - - - - - - - - - 16.03 -
17109.38 761.49 8.67 1835 17127.47 done 1.46 - - 2851.50 - 2.73 0.024 2202.44 -420.6 77.86 - - 2557.00 - - - - - - - - - 16.05 -
17433.71 738.76 6.32 1867 17439.08 1.57 0.28 0.073 2906.12 195.1 - - 2202.56 - 77.86 - - 2557.66 - - - - - - - - 15.94 - -
17744.92 713.30 8.80 1898 17748.98 VBD 1.57 - - 2907.44 - - - 2201.88 - 77.86 - - 2556.12 - - - - - - - - - - -
18054.95 688.98 8.23 1929 18059.01 VBD 1.57 - - 2906.56 - - - 2202.25 - 77.86 - - 2556.06 - - - - - - - - - - -
18365.38 667.43 6.81 1960 18386.56 done 1.64 - - 2908.00 - 3.32 0.093 3352.50 346.5 77.86 - - 2556.66 - - - - - - - - - 16.04 -
18487.78 658.49 7.57 1981 18505.12 done 1.64 - - 2908.12 - 2.72 0.024 2202.31 -422.9 77.86 - - 2557.09 - - - - - - - - - 16.07 -
18811.35 637.28 6.15 2013 18816.71 1.76 0.22 0.079 2953.56 206.5 - - 2200.81 - 77.86 - - 2555.66 - - - - - - - - 16.03 - -
19122.57 615.61 7.72 2044 19140.32 done 1.76 - - 2953.31 - 2.86 0.080 1145.44 -369.0 77.86 - - 2555.19 - - - - - - - - - 16.05 -
19230.92 607.18 7.96 2063 19249.40 done 1.76 - - 2953.44 - 2.81 0.032 2275.56 402.2 77.86 - - 2556.28 - - - - - - - - - 16.04 -
19555.25 582.16 8.22 2095 19573.83 done 1.76 - - 2952.50 - 3.04 0.076 1144.12 -372.2 77.86 - - 2558.50 - - - - - - - - - 16.06 -
19740.04 565.73 9.13 2129 19757.79 done 1.76 - - 2953.56 - 2.81 0.033 2274.94 402.4 77.86 - - 2557.09 - - - - - - - - - 16.05 -
20063.63 539.33 8.09 2161 20067.70 VBD 1.76 - - 2952.81 - - - 2275.94 - 77.86 - - 2554.66 - - - - - - - - - - -
20373.68 514.97 7.57 2192 20377.74 VBD 1.76 - - 2953.75 - - - 2275.50 - 77.86 - - 2554.94 - - - - - - - - - - -
20684.12 492.69 6.55 2223 20688.19 VBD 1.85 - - 2952.81 - - - 2274.94 - 77.86 - - 2554.75 - - - - - - - - - - -
20994.40 473.66 5.82 2254 20999.78 1.98 0.26 0.072 3009.00 216.1 - - 2274.44 - 77.86 - - 2554.81 - - - - - - - - 16.01 - -
21306.03 454.12 5.99 2285 21324.85 done 2.10 - - 3010.44 - 3.09 0.094 3352.00 348.7 77.86 - - 2554.47 - - - - - - - - - 16.03 -
21391.58 447.90 7.30 2299 21408.94 2.15 - - 3009.25 - 2.73 0.023 2201.56 -421.4 77.86 - - 2556.94 - - - - - - - - - 16.06 -
21715.19 426.72 6.77 2331 21732.96 2.22 - - 3009.88 - 2.85 0.078 1145.06 -370.7 77.86 - - 2555.62 - - - - - - - - - 16.03 -
21924.00 411.30 7.16 2370 21942.10 2.28 - - 3010.00 - 2.79 0.032 2274.75 404.9 77.86 - - 2555.94 - - - - - - - - - 16.06 -
22248.33 390.81 6.43 2402 22266.90 2.37 - - 3009.38 - 3.04 0.074 1144.81 -371.7 77.86 - - 2557.94 - - - - - - - - - 16.05 -
22497.84 374.06 6.75 2449 22516.34 2.45 - - 3010.00 - 2.82 0.032 2276.56 401.3 77.86 - - 2556.03 - - - - - - - - - 16.04 -
22822.59 353.49 6.50 2481 22841.16 2.55 - - 3009.31 - 3.03 0.074 1143.75 -373.9 77.86 - - 2557.84 - - - - - - - - - 15.97 -
23057.83 338.54 6.12 2525 23075.43 2.66 - - 3010.50 - 2.80 0.032 2276.62 404.6 77.86 - - 2555.72 - - - - - - - - - 16.03 -
23381.80 319.44 5.96 2557 23385.96 2.79 - - 3010.88 - - - 2276.56 - 77.86 - - 2554.66 - - - - - - - - - - -
23692.21 301.87 5.43 2588 23710.79 2.94 - - 3009.75 - 3.04 0.073 1142.75 -373.0 77.86 - - 2556.62 - - - - - - - - - 16.00 -
23941.70 288.60 5.24 2635 23960.41 3.11 - - 3010.38 - 2.81 0.032 2274.75 402.8 77.86 - - 2556.03 - - - - - - - - - 16.05 -
24266.65 274.26 4.19 2667 24375.75 3.27 - - 3009.94 - 3.14 0.095 3352.19 343.1 157.64 61.97 1.623 2246.09 -5.0 0.140 - - - - - - - 15.74 11.86
24381.83 265.71 9.90 2681 24400.30 roll back 3.27 - - 3010.31 - 2.76 0.023 2202.88 -416.4 157.64 - - 2243.22 - - - - - - - - - 15.84 -
24706.28 233.46 10.06 2713 24724.28 3.27 - - 3010.94 - 2.86 0.077 1143.94 -370.3 157.64 - - 2236.38 - - - - - - - - - 15.90 -
24784.87 224.86 10.78 2726 24803.37 3.27 - - 3011.06 - 2.81 0.032 2273.88 402.1 157.64 - - 2236.06 - - - - - - - - - 15.91 -
25109.22 192.05 9.72 2758 25127.82 3.27 - - 3011.44 - 3.04 0.074 1143.88 -371.7 157.64 - - 2234.31 - - - - - - - - - 15.88 -
25198.31 182.90 10.11 2773 25216.80 3.27 - - 3010.38 - 2.81 0.032 2274.12 402.2 157.64 - - 2234.84 - - - - - - - - - 15.93 -
25522.65 151.66 9.71 2805 25541.23 3.27 - - 3010.25 - 3.03 0.073 1144.38 -372.9 157.64 - - 2231.91 - - - - - - - - - 15.86 -
25767.52 128.38 8.94 2851 25785.29 3.27 - - 3010.94 - 2.82 0.031 2274.81 400.9 157.64 - - 2233.94 - - - - - - - - - 15.91 -
26091.54 108.48 5.36 2883 26095.62 3.43 - - 3010.31 - - - 2274.81 - 157.64 - - 2232.31 - - - - - - - - - - -
26401.89 95.63 3.53 2926 26506.86 3.62 - - 3010.94 - - - 2274.62 - 251.12 70.76 1.368 1866.09 -5.2 0.060 - - - - - - - - 12.11
26692.84 75.31 8.44 2978 26712.14 3.62 - - 3010.94 - 3.08 0.072 1144.50 -366.9 251.12 - - 1855.66 - - - - - - - - - 15.76 -
26833.48 63.71 7.75 3003 26851.97 3.62 - - 3010.44 - 2.85 0.030 2276.38 397.2 251.12 - - 1855.41 - - - - - - - - - 15.82 -
27038.24 50.37 6.53 3041 27045.25 3.71 - - 3011.00 - - - 2275.62 - 251.12 - - 1852.25 - - - - - - - - - - -
27231.51 39.09 5.24 3079 27251.24 3.88 - - 3010.44 - 3.12 0.091 3352.25 345.1 251.12 - - 1852.38 - - - - - - - - - 15.87 -
27307.85 34.84 5.71 3091 27325.92 4.02 - - 3011.38 - 2.74 0.022 2197.62 -421.4 251.12 - - 1851.28 - - - - - - - - - 15.83 -
27512.19 25.38 4.63 3129 27590.45 4.16 - - 3011.31 - - - 2196.12 - 321.87 53.69 1.235 1577.53 -5.1 0.017 - - - - - - - - 12.18
27776.74 18.33 0.83 3177 27957.03 4.46 - - 3011.50 - 2.93 0.077 1144.00 -359.1 470.98 113.12 1.201 969.81 -5.4 0.014 - - - - - - - 15.50 12.37
27964.38 11.39 5.77 3202 27983.06 roll back 4.46 - - 3010.81 - 2.83 0.027 2279.44 401.2 470.98 - - 965.59 - - - - - - - - - 15.70 -
28098 end climb: SURFACE_DEPTH_REACHED
28099 begin surface coast
28180 end surface coast: CONTROL_FINISHED_OK
28180 begin surface
SM 1.28 - - - - 183.1 - - 959.0 - 18.57 0.052 980.0 52.8 - 0.12 0.085 938.0 7793.1 -11.994 - - 30.00 15.80 15.83 -