NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 115 * Raw log
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• Previous call tries 1 • 40.92 of 506.00 AH used of 24V (91.91% remains)
• Surface angle -65.7 deg, depth 1.17 m • Intended pitch -16.4 deg, speed -8.049 cm/s
• No surface pump (final VBD was 943.1, SM_CC=430)
• GPS1 time: 16 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
18.73 - - - 97.10 VBD -1.18 - - 181.75 - - - 2283.94 - -77.86 54.90 0.005 2405.81 - - - - - - - - - - 15.56
99.32 3.28 -4.12 11 206.16 -1.18 16.80 0.233 2228.00 121.8 - - 2284.19 - -77.86 12.62 0.007 3208.47 63.6 -4.940 - - - - - - 15.67 - 15.63
391.88 53.95 -11.12 55 410.46 roll -1.18 - - 2227.75 - 3.05 0.082 3353.06 350.4 -77.86 - - 3213.72 - - - - - - - - - 15.88 -
536.61 70.25 -10.93 81 554.45 roll -1.18 - - 2227.75 - 2.74 0.020 2188.62 -425.0 -77.86 - - 3212.56 - - - - - - - - - 15.93 -
740.39 92.27 -10.80 119 746.93 no move -1.18 - - 2227.75 - - - 2187.12 - -77.86 - - 3213.78 - - - - - - - - - - -
932.73 109.92 -8.48 146 949.84 roll -1.18 - - 2226.50 - 2.79 0.067 1142.75 -374.3 -77.86 - - 3216.25 - - - - - - - - - 15.89 -
1016.00 117.15 -8.76 160 1033.13 roll -1.18 - - 2227.06 - 2.77 0.025 2279.75 410.5 -77.86 - - 3215.56 - - - - - - - - - 15.98 -
1338.92 141.59 -7.47 192 1357.24 roll -1.18 - - 2227.06 - 3.04 0.081 3353.31 353.1 -77.86 - - 3214.25 - - - - - - - - - 15.99 -
1403.40 146.57 -7.85 202 1420.52 roll -1.18 - - 2227.62 - 2.73 0.020 2185.06 -427.9 -77.86 - - 3215.59 - - - - - - - - - 15.92 -
1726.32 168.55 -6.66 234 1730.34 no move -1.18 - - 2227.44 - - - 2183.62 - -77.86 - - 3214.31 - - - - - - - - - - -
2036.38 188.87 -6.18 265 2056.90 roll -1.18 - - 2227.38 - 3.30 0.078 3352.81 354.3 -77.86 - - 3215.06 - - - - - - - - - 16.03 -
2088.05 192.58 -7.17 272 2105.82 roll -1.18 - - 2227.44 - 2.71 0.020 2186.75 -430.3 -77.86 - - 3216.50 - - - - - - - - - 15.98 -
2411.78 215.38 -7.29 304 2415.84 no move -1.18 - - 2227.25 - - - 2185.56 - -77.86 - - 3215.34 - - - - - - - - - - -
2721.83 239.12 -8.00 335 2742.59 roll -1.18 - - 2227.25 - 3.28 0.079 3352.88 355.9 -77.86 - - 3212.75 - - - - - - - - - 16.04 -
2753.79 241.87 -8.44 338 2771.51 roll -1.18 - - 2227.19 - 2.71 0.020 2188.88 -429.5 -77.86 - - 3214.88 - - - - - - - - - 15.99 -
3077.37 267.13 -7.56 370 3098.13 roll -1.18 - - 2226.88 - 3.26 0.079 3352.25 356.9 -77.86 - - 3213.97 - - - - - - - - - 16.04 -
3173.61 275.41 -8.45 386 3192.07 roll -1.18 - - 2227.38 - 2.71 0.020 2192.44 -428.0 -77.86 - - 3213.56 - - - - - - - - - 16.06 -
3497.91 299.01 -7.24 418 3501.98 no move -1.18 - - 2227.50 - - - 2191.56 - -77.86 - - 3212.41 - - - - - - - - - - -
3807.94 320.64 -6.95 449 3828.68 roll -1.18 - - 2227.06 - 3.27 0.081 3352.75 355.1 -77.86 - - 3211.47 - - - - - - - - - 16.02 -
3904.17 328.42 -8.25 465 3921.82 roll -1.18 - - 2227.69 - 2.69 0.021 2193.25 -431.0 -77.86 - - 3211.41 - - - - - - - - - 16.07 -
4227.67 351.97 -7.61 497 4231.73 no move -1.18 - - 2227.44 - - - 2192.94 - -77.86 - - 3210.06 - - - - - - - - - - -
4537.76 375.74 -8.10 528 4558.52 roll -1.18 - - 2226.94 - 3.26 0.082 3352.75 355.8 -77.86 - - 3211.91 - - - - - - - - - 16.01 -
4584.09 379.94 -8.69 534 4602.15 roll -1.18 - - 2227.69 - 2.71 0.021 2192.69 -428.1 -77.86 - - 3210.09 - - - - - - - - - 16.07 -
4907.97 406.90 -8.23 566 4928.73 roll -1.18 - - 2226.44 - 3.27 0.082 3353.75 355.1 -77.86 - - 3208.59 - - - - - - - - - 16.02 -
4954.20 411.13 -8.81 572 4971.85 roll -1.18 - - 2227.62 - 2.69 0.021 2193.56 -431.3 -77.86 - - 3209.78 - - - - - - - - - 16.08 -
5277.72 436.97 -7.65 604 5298.47 roll -1.18 - - 2225.81 - 3.27 0.082 3354.00 354.9 -77.86 - - 3209.72 - - - - - - - - - 16.02 -
5329.66 441.31 -8.38 611 5346.98 roll -1.18 - - 2226.94 - 2.70 0.021 2193.19 -429.9 -77.86 - - 3208.28 - - - - - - - - - 16.09 -
5652.83 465.11 -7.14 643 5673.59 roll -1.18 - - 2227.31 - 3.27 0.083 3352.00 354.4 -77.86 - - 3206.28 - - - - - - - - - 16.08 -
5714.81 470.04 -7.66 652 5731.72 roll -1.18 - - 2227.38 - 2.70 0.021 2193.50 -429.1 -77.86 - - 3207.41 - - - - - - - - - 16.08 -
6037.57 492.41 -6.97 684 6058.33 roll -1.18 - - 2227.56 - 3.26 0.083 3354.12 356.0 -77.86 - - 3204.62 - - - - - - - - - 16.04 -
6083.81 495.88 -7.39 690 6101.46 roll -1.18 - - 2227.56 - 2.69 0.021 2193.81 -431.3 -77.86 - - 3206.53 - - - - - - - - - 16.07 -
6407.31 517.35 -6.70 722 6428.09 roll -1.18 - - 2227.62 - 3.26 0.083 3353.94 355.9 -77.86 - - 3203.94 - - - - - - - - - 16.08 -
6459.29 521.04 -7.44 729 6476.22 roll -1.18 - - 2228.12 - 2.68 0.021 2192.94 -433.2 -77.86 - - 3205.44 - - - - - - - - - 16.08 -
6782.03 542.38 -6.49 761 6786.10 no move -1.18 - - 2227.12 - - - 2192.38 - -77.86 - - 3204.62 - - - - - - - - - - -
7092.09 562.42 -6.68 792 7096.15 no move -1.18 - - 2227.06 - - - 2191.62 - -77.86 - - 3203.59 - - - - - - - - - - -
7402.15 582.91 -6.60 823 7406.21 no move -1.18 - - 2227.00 - - - 2191.56 - -77.86 - - 3202.75 - - - - - - - - - - -
7712.20 603.56 -6.41 854 7732.97 roll -1.18 - - 2227.56 - 3.29 0.084 3352.00 352.7 -77.86 - - 3202.75 - - - - - - - - - 16.09 -
7774.18 608.32 -7.47 863 7791.51 roll -1.18 - - 2227.12 - 2.70 0.022 2194.56 -428.7 -77.86 - - 3202.62 - - - - - - - - - 16.09 -
8097.36 630.66 -6.87 895 8101.42 no move -1.18 - - 2226.69 - - - 2193.50 - -77.86 - - 3202.12 - - - - - - - - - - -
8407.42 651.18 -6.47 926 8428.20 roll -1.18 - - 2227.56 - 3.28 0.085 3351.50 353.0 -77.86 - - 3200.72 - - - - - - - - - 16.08 -
8459.40 654.82 -7.05 933 8476.74 roll -1.18 - - 2227.25 - 2.71 0.022 2195.19 -426.7 -77.86 - - 3201.59 - - - - - - - - - 16.07 -
8782.59 676.00 -6.59 965 8786.65 no move -1.18 - - 2227.81 - - - 2193.88 - -77.86 - - 3200.34 - - - - - - - - - - -
9092.65 695.92 -6.40 996 9096.71 no move -1.18 - - 2227.69 - - - 2193.31 - -77.86 - - 3199.97 - - - - - - - - - - -
9402.70 715.26 -6.18 1027 9406.76 no move -1.18 - - 2227.06 - - - 2193.62 - -77.86 - - 3199.69 - - - - - - - - - - -
9712.75 735.35 -6.58 1058 9733.92 roll -1.18 - - 2228.00 - 3.31 0.086 3351.38 349.8 -77.86 - - 3199.91 - - - - - - - - - 16.07 -
9809.41 742.49 -7.42 1074 9827.07 roll -1.18 - - 2226.94 - 2.70 0.022 2196.12 -427.9 -77.86 - - 3200.09 - - - - - - - - - 16.08 -
10132.91 763.13 -6.33 1106 10136.97 no move -1.18 - - 2227.56 - - - 2194.69 - -77.86 - - 3198.94 - - - - - - - - - - -
10442.93 781.61 -5.84 1137 10462.41 roll -1.18 - - 2226.69 - 3.29 0.086 3351.56 351.6 -77.86 - - 3199.62 - - - - - - - - - 16.06 -
10528.86 787.46 -7.01 1151 10545.80 roll -1.18 - - 2226.06 - 2.69 0.022 2195.44 -429.8 -77.86 - - 3200.69 - - - - - - - - - 16.08 -
10851.76 807.07 -6.01 1183 10855.82 no move -1.18 - - 2227.38 - - - 2194.50 - -77.86 - - 3197.84 - - - - - - - - - - -
11161.82 826.75 -6.48 1214 11165.88 no move -1.18 - - 2227.06 - - - 2194.38 - -77.86 - - 3197.22 - - - - - - - - - - -
11471.88 845.83 -6.25 1245 11475.95 no move -1.18 - - 2227.62 - - - 2194.25 - -77.86 - - 3197.34 - - - - - - - - - - -
11781.92 863.49 -5.38 1276 11785.98 no move -1.18 - - 2227.31 - - - 2194.31 - -77.86 - - 3197.22 - - - - - - - - - - -
12091.94 881.20 -5.71 1307 12096.00 no move -1.18 - - 2227.62 - - - 2194.12 - -77.86 - - 3196.50 - - - - - - - - - - -
12401.97 899.21 -5.89 1338 12419.72 roll -1.18 - - 2227.31 - 2.86 0.079 1143.94 -367.2 -77.86 - - 3198.06 - - - - - - - - - 16.01 -
12465.92 903.26 -6.70 1348 12483.25 roll -1.18 - - 2226.56 - 2.79 0.029 2275.62 405.6 -77.86 - - 3198.75 - - - - - - - - - 16.06 -
12789.11 923.26 -6.22 1380 12793.18 no move -1.18 - - 2227.88 - - - 2276.94 - -77.86 - - 3195.75 - - - - - - - - - - -
13098.92 943.08 -6.35 1411 13102.97 no move -1.18 - - 2227.38 - - - 2276.44 - -77.86 - - 3196.16 - - - - - - - - - - -
13409.19 962.55 -6.27 1442 13428.00 roll -1.18 - - 2226.38 - 3.06 0.074 1145.25 -369.7 -77.86 - - 3197.44 - - - - - - - - - 16.05 -
13468.59 966.42 -6.42 1451 13487.46 roll -1.18 - - 2227.12 - 2.81 0.029 2276.25 402.5 -77.86 - - 3197.12 - - - - - - - - - 16.05 -
13793.32 985.08 -5.57 1483 13797.38 no move -1.18 - - 2228.00 - - - 2276.06 - -77.86 - - 3195.34 - - - - - - - - - - -
13893 end dive: TARGET_DEPTH_EXCEEDED
13893 begin apogee
13898.27 990.37 -5.23 1493 13997.89 -0.31 1.55 0.138 2439.06 136.2 0.18 0.159 2282.81 37.5 - 60.53 2.493 2890.75 -5.0 0.331 - - - - - - 15.95 15.59 11.62
14011 end apogee: CONTROL_FINISHED_OK
14011 begin climb
14014.07 991.74 - 1500 14122.58 1.18 2.55 0.096 2804.19 143.2 - - 2282.81 - 77.86 65.43 2.432 2572.38 -4.9 0.329 - - - - - - 15.71 - 12.49
14428.96 965.24 7.26 1538 14433.01 VBD 1.23 - - 2805.44 - - - 2282.50 - 77.86 - - 2562.47 - - - - - - - - - - -
14739.36 943.21 6.68 1569 14760.55 1.31 0.17 0.090 2844.12 227.5 3.10 0.077 1145.50 -366.8 77.86 - - 2561.03 - - - - - - - - 15.89 15.84 -
14812.04 937.34 8.17 1580 14829.79 done 1.31 - - 2844.75 - 2.85 0.033 2273.94 395.9 77.86 - - 2559.12 - - - - - - - - - 15.94 -
15136.16 913.57 7.14 1612 15140.23 VBD 1.37 - - 2844.25 - - - 2274.31 - 77.86 - - 2559.47 - - - - - - - - - - -
15446.47 892.28 6.75 1643 15465.03 done 1.44 - - 2844.38 - 3.06 0.077 1145.62 -368.9 77.86 - - 2560.16 - - - - - - - - - 15.99 -
15541.64 885.19 7.32 1659 15560.63 1.49 0.20 0.084 2890.38 230.0 2.85 0.033 2272.38 395.4 77.86 - - 2558.22 - - - - - - - - 15.90 16.02 -
15866.89 860.61 7.22 1691 15885.46 done 1.54 - - 2889.38 - 3.07 0.077 1143.81 -367.6 77.86 - - 2559.84 - - - - - - - - - 16.01 -
15961.66 853.00 8.12 1707 15979.41 done 1.54 - - 2890.25 - 2.85 0.033 2272.75 396.1 77.86 - - 2558.25 - - - - - - - - - 16.03 -
16285.67 829.29 7.38 1739 16289.73 VBD 1.58 - - 2890.94 - - - 2272.31 - 77.86 - - 2557.44 - - - - - - - - - - -
16596.21 807.30 6.99 1770 16614.78 done 1.64 - - 2889.56 - 3.06 0.076 1145.62 -368.2 77.86 - - 2558.03 - - - - - - - - - 16.04 -
16745.26 795.92 7.87 1797 16764.38 done 1.64 - - 2890.50 - 2.84 0.033 2271.44 396.4 77.86 - - 2558.34 - - - - - - - - - 16.05 -
17070.75 773.46 7.30 1829 17076.11 1.69 0.22 0.077 2935.81 206.0 - - 2271.19 - 77.86 - - 2556.66 - - - - - - - - 16.01 - -
17381.92 747.14 8.78 1860 17385.98 VBD 1.69 - - 2937.62 - - - 2271.25 - 77.86 - - 2556.78 - - - - - - - - - - -
17691.93 718.99 9.14 1891 17710.50 done 1.69 - - 2936.31 - 3.03 0.076 1145.25 -371.6 77.86 - - 2558.81 - - - - - - - - - 16.05 -
17760.98 712.53 9.11 1902 17779.46 done 1.69 - - 2936.88 - 2.83 0.033 2272.44 398.3 77.86 - - 2557.66 - - - - - - - - - 16.07 -
18085.31 683.30 8.75 1934 18103.86 done 1.69 - - 2936.94 - 3.03 0.076 1144.25 -372.3 77.86 - - 2556.78 - - - - - - - - - 16.05 -
18204.36 672.77 8.48 1955 18222.84 done 1.69 - - 2937.19 - 2.83 0.034 2272.88 398.8 77.86 - - 2557.69 - - - - - - - - - 16.05 -
18529.10 647.90 7.21 1987 18533.17 VBD 1.74 - - 2936.88 - - - 2273.00 - 77.86 - - 2556.41 - - - - - - - - - - -
18839.39 626.86 6.38 2018 18843.45 VBD 1.84 - - 2936.75 - - - 2273.50 - 77.86 - - 2555.81 - - - - - - - - - - -
19149.97 605.97 6.98 2049 19155.33 1.90 0.24 0.074 2987.88 213.0 - - 2272.12 - 77.86 - - 2558.50 - - - - - - - - 16.01 - -
19461.30 579.85 8.81 2080 19465.36 VBD 1.90 - - 2989.81 - - - 2272.25 - 77.86 - - 2555.53 - - - - - - - - - - -
19771.34 553.64 8.10 2111 19789.92 done 1.90 - - 2989.50 - 3.04 0.076 1143.81 -371.2 77.86 - - 2555.88 - - - - - - - - - 16.06 -
19896.15 542.57 8.92 2133 19913.91 done 1.90 - - 2989.56 - 2.85 0.033 2273.50 396.4 77.86 - - 2557.34 - - - - - - - - - 16.07 -
20220.15 517.58 7.14 2165 20224.22 VBD 1.95 - - 2988.81 - - - 2273.81 - 77.86 - - 2555.81 - - - - - - - - - - -
20530.44 495.57 7.25 2196 20534.50 VBD 2.00 - - 2989.81 - - - 2273.12 - 77.86 - - 2555.50 - - - - - - - - - - -
20840.75 473.33 6.95 2227 20860.16 2.07 0.06 0.165 3014.75 415.7 3.05 0.075 1143.88 -370.2 77.86 - - 2555.31 - - - - - - - - 16.02 15.96 -
21010.67 460.04 7.83 2258 21029.16 done 2.07 - - 3015.12 - 2.85 0.033 2274.25 396.6 77.86 - - 2556.06 - - - - - - - - - 16.04 -
21335.38 436.56 6.83 2290 21354.35 done 2.14 - - 3015.25 - 3.14 0.096 3350.75 342.8 77.86 - - 2554.81 - - - - - - - - - 16.03 -
21481.02 426.07 7.23 2316 21498.59 2.19 - - 3015.12 - 2.72 0.023 2201.38 -422.6 77.86 - - 2556.16 - - - - - - - - - 16.06 -
21804.99 405.86 6.12 2348 21822.97 2.31 - - 3014.44 - 2.86 0.077 1142.81 -370.1 77.86 - - 2556.94 - - - - - - - - - 16.03 -
21949.67 396.12 6.95 2374 21967.65 2.37 - - 3014.50 - 2.83 0.032 2275.12 400.1 77.86 - - 2557.00 - - - - - - - - - 16.04 -
22273.94 375.74 6.24 2406 22278.05 2.48 - - 3015.06 - - - 2274.75 - 77.86 - - 2555.47 - - - - - - - - - - -
22584.33 355.31 6.39 2437 22603.54 2.58 - - 3014.81 - 3.14 0.095 3352.31 343.2 77.86 - - 2555.72 - - - - - - - - - 16.02 -
22624.46 352.35 6.90 2442 22643.16 2.65 - - 3015.12 - 2.72 0.023 2199.81 -423.7 77.86 - - 2555.91 - - - - - - - - - 16.03 -
22949.41 331.85 6.18 2474 22967.48 2.76 - - 3015.19 - 2.86 0.077 1143.44 -369.4 77.86 - - 2554.75 - - - - - - - - - 16.00 -
23038.41 326.02 6.45 2489 23057.38 2.86 - - 3015.19 - 2.83 0.031 2275.50 400.0 77.86 - - 2556.81 - - - - - - - - - 16.05 -
23363.79 307.80 5.21 2521 23367.91 3.03 - - 3015.00 - - - 2275.38 - 77.86 - - 2555.12 - - - - - - - - - - -
23674.20 291.89 5.19 2552 23693.01 3.20 - - 3013.94 - 3.06 0.073 1142.81 -370.1 77.86 - - 2556.47 - - - - - - - - - 16.04 -
23833.98 283.36 5.16 2581 23853.09 3.37 - - 3015.25 - 2.83 0.032 2276.00 400.4 77.86 - - 2556.19 - - - - - - - - - 16.05 -
24159.35 267.90 4.85 2613 24251.14 3.50 - - 3014.62 - 3.10 0.076 1145.62 -364.6 144.01 51.49 1.602 2302.25 -4.9 0.137 - - - - - - - 15.79 11.76
24262.46 260.29 8.96 2626 24280.45 roll back 3.50 - - 3014.56 - 2.88 0.031 2274.06 391.8 144.01 - - 2295.75 - - - - - - - - - 15.86 -
24586.45 227.34 10.29 2658 24605.26 3.50 - - 3014.69 - 3.07 0.073 1144.12 -368.1 144.01 - - 2292.47 - - - - - - - - - 15.92 -
24645.78 220.90 10.57 2667 24664.73 3.50 - - 3015.06 - 2.85 0.032 2273.00 396.1 144.01 - - 2292.81 - - - - - - - - - 15.92 -
24970.73 189.38 9.37 2699 24974.85 3.50 - - 3014.81 - - - 2273.19 - 144.01 - - 2291.31 - - - - - - - - - - -
25280.77 162.20 7.81 2730 25299.58 3.50 - - 3015.38 - 3.08 0.072 1144.25 -366.5 144.01 - - 2291.59 - - - - - - - - - 15.90 -
25435.85 148.84 8.84 2758 25453.83 3.50 - - 3015.00 - 2.85 0.031 2274.06 396.4 144.01 - - 2291.78 - - - - - - - - - 15.97 -
25760.12 125.54 5.69 2790 25764.24 3.65 - - 3015.56 - - - 2274.25 - 144.01 - - 2289.91 - - - - - - - - - - -
26070.53 108.07 4.86 2821 26162.60 3.78 - - 3015.25 - 3.11 0.073 1144.06 -363.4 209.97 51.06 1.379 2034.12 -5.0 0.065 - - - - - - - 15.77 12.08
26389.32 86.73 6.35 2877 26408.43 3.88 - - 3015.25 - 2.87 0.030 2273.81 393.6 209.97 - - 2025.00 - - - - - - - - - 15.85 -
26594.72 74.22 5.31 2915 26601.63 3.88 - - 3015.44 - - - 2274.00 - 209.97 - - 2022.59 - - - - - - - - - - -
26788.26 66.25 3.81 2953 26887.23 4.05 - - 3014.50 - - - 2274.31 - 297.62 66.04 1.306 1675.62 -5.3 0.044 - - - - - - - - 12.22
27073.53 48.67 6.84 3004 27093.47 4.05 - - 3014.88 - 3.18 0.093 3351.69 338.8 297.62 - - 1665.94 - - - - - - - - - 15.77 -
27109.82 45.71 8.05 3008 27128.11 4.05 - - 3015.25 - 2.76 0.022 2198.75 -417.7 297.62 - - 1665.56 - - - - - - - - - 15.83 -
27313.97 30.34 8.16 3046 27320.64 4.05 - - 3014.75 - - - 2197.25 - 297.62 - - 1663.44 - - - - - - - - - - -
27506.95 19.28 4.76 3084 27602.49 4.19 - - 3015.50 - 2.91 0.077 1144.19 -361.9 365.54 52.38 1.214 1398.88 -5.1 0.013 - - - - - - - 15.67 12.23
27804.18 12.09 2.97 3136 27936.69 4.40 - - 3015.38 - 2.82 0.027 2278.50 402.2 470.47 80.10 1.179 972.62 -5.3 0.009 - - - - - - - 15.81 12.39
27972 end climb: SURFACE_DEPTH_REACHED
27973 begin surface coast
28053 end surface coast: CONTROL_FINISHED_OK
28054 begin surface
SM 1.30 - - - - 180.6 - - 962.4 - 18.33 0.045 981.8 53.6 - 0.12 0.091 943.1 7835.7 -11.441 - - 30.00 15.76 15.81 -