NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 117 * Raw log
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• Previous call tries 1 • 41.66 of 506.00 AH used of 24V (91.77% remains)
• Surface angle -65.3 deg, depth 1.20 m • Intended pitch -16.4 deg, speed -8.049 cm/s
• No surface pump (final VBD was 1039.2, SM_CC=430)
• GPS1 time: 18 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
18.73 - - - 104.04 VBD -1.18 - - 179.50 - - - 2290.25 - -77.86 59.99 0.005 2410.19 - - - - - - - - - - 15.57
106.26 3.18 -3.62 12 226.02 -1.18 16.67 0.229 2227.69 122.9 3.06 0.086 3353.69 347.5 -77.86 12.73 0.007 3209.06 62.8 -4.728 - - - - - - 15.65 15.57 15.62
342.10 48.90 -13.45 42 360.01 roll -1.18 - - 2226.75 - 2.78 0.020 2192.94 -417.5 -77.86 - - 3214.06 - - - - - - - - - 15.90 -
545.95 71.19 -10.96 80 552.50 no move -1.18 - - 2228.06 - - - 2191.31 - -77.86 - - 3213.34 - - - - - - - - - - -
738.31 91.13 -9.36 118 758.15 roll -1.18 - - 2227.50 - 3.30 0.077 3352.75 352.0 -77.86 - - 3214.81 - - - - - - - - - 15.87 -
838.58 100.59 -9.51 135 856.45 roll -1.18 - - 2227.12 - 2.75 0.019 2189.62 -423.0 -77.86 - - 3215.19 - - - - - - - - - 15.94 -
1162.25 124.60 -7.32 167 1179.78 done -1.18 - - 2226.81 - 2.85 0.067 1142.88 -367.3 -77.86 - - 3216.41 - - - - - - - - - 15.99 -
1250.22 131.48 -7.70 182 1268.46 done -1.18 - - 2228.00 - 2.77 0.025 2280.56 410.7 -77.86 - - 3215.69 - - - - - - - - - 16.00 -
1574.27 152.24 -6.50 214 1578.29 VBD -1.18 - - 2227.44 - - - 2280.75 - -77.86 - - 3215.12 - - - - - - - - - - -
1884.30 173.86 -7.11 245 1902.65 done -1.18 - - 2226.44 - 3.08 0.064 1142.81 -369.5 -77.86 - - 3218.12 - - - - - - - - - 15.98 -
2008.83 183.92 -8.23 267 2025.95 done -1.18 - - 2226.75 - 2.79 0.026 2277.75 406.8 -77.86 - - 3217.47 - - - - - - - - - 16.03 -
2331.78 207.76 -7.19 299 2335.84 no move -1.18 - - 2227.69 - - - 2277.81 - -77.86 - - 3214.50 - - - - - - - - - - -
2641.84 230.91 -7.53 330 2645.90 no move -1.18 - - 2226.81 - - - 2278.25 - -77.86 - - 3214.09 - - - - - - - - - - -
2951.90 254.51 -7.87 361 2955.96 no move -1.18 - - 2227.38 - - - 2277.50 - -77.86 - - 3213.75 - - - - - - - - - - -
3261.96 278.50 -7.37 392 3266.01 no move -1.18 - - 2227.81 - - - 2277.81 - -77.86 - - 3213.09 - - - - - - - - - - -
3572.01 302.02 -7.49 423 3590.56 roll -1.18 - - 2227.69 - 3.08 0.086 3352.31 348.9 -77.86 - - 3212.78 - - - - - - - - - 16.06 -
3656.77 308.91 -8.47 437 3674.11 roll -1.18 - - 2227.62 - 2.73 0.021 2190.94 -425.4 -77.86 - - 3212.72 - - - - - - - - - 16.08 -
3979.95 332.62 -7.11 469 3984.01 no move -1.18 - - 2228.06 - - - 2189.38 - -77.86 - - 3210.12 - - - - - - - - - - -
4290.01 354.53 -7.01 500 4311.18 roll -1.18 - - 2228.12 - 3.31 0.083 3350.69 350.8 -77.86 - - 3210.19 - - - - - - - - - 16.07 -
4406.66 363.94 -8.04 520 4425.11 roll -1.18 - - 2227.56 - 2.72 0.021 2192.25 -425.9 -77.86 - - 3210.06 - - - - - - - - - 16.08 -
4730.96 387.25 -7.26 552 4752.48 roll -1.18 - - 2227.25 - 3.31 0.083 3351.00 350.1 -77.86 - - 3210.53 - - - - - - - - - 16.07 -
4823.81 394.60 -8.01 567 4841.14 roll -1.18 - - 2226.44 - 2.73 0.021 2193.56 -424.0 -77.86 - - 3211.00 - - - - - - - - - 16.02 -
5146.99 417.13 -6.57 599 5167.75 roll -1.18 - - 2226.88 - 3.29 0.083 3352.62 352.3 -77.86 - - 3209.16 - - - - - - - - - 16.08 -
5178.94 419.58 -7.20 602 5196.27 roll -1.18 - - 2227.62 - 2.71 0.021 2192.06 -428.3 -77.86 - - 3209.22 - - - - - - - - - 16.09 -
5502.12 441.53 -6.68 634 5522.89 roll -1.18 - - 2227.31 - 3.29 0.083 3352.50 352.7 -77.86 - - 3207.66 - - - - - - - - - 16.08 -
5594.08 448.57 -7.74 649 5611.42 roll -1.18 - - 2227.88 - 2.72 0.021 2194.69 -425.7 -77.86 - - 3207.88 - - - - - - - - - 16.08 -
5917.27 470.76 -6.71 681 5921.32 no move -1.18 - - 2227.00 - - - 2193.75 - -77.86 - - 3206.22 - - - - - - - - - - -
6227.31 491.19 -6.89 712 6248.08 roll -1.18 - - 2227.50 - 3.30 0.083 3351.44 350.8 -77.86 - - 3204.62 - - - - - - - - - 16.05 -
6279.28 494.90 -7.15 719 6296.62 roll -1.18 - - 2227.12 - 2.73 0.021 2194.12 -423.9 -77.86 - - 3205.97 - - - - - - - - - 16.09 -
6602.44 517.50 -6.90 751 6623.21 roll -1.18 - - 2227.62 - 3.27 0.084 3353.25 354.5 -77.86 - - 3203.81 - - - - - - - - - 16.08 -
6648.79 521.05 -7.22 757 6666.86 roll -1.18 - - 2227.69 - 2.71 0.021 2193.12 -428.1 -77.86 - - 3204.94 - - - - - - - - - 16.08 -
6972.71 542.86 -6.80 789 6993.47 roll -1.18 - - 2226.75 - 3.28 0.084 3352.25 353.4 -77.86 - - 3203.97 - - - - - - - - - 16.07 -
7014.67 545.88 -7.30 794 7032.01 roll -1.18 - - 2227.38 - 2.72 0.021 2194.94 -425.5 -77.86 - - 3204.28 - - - - - - - - - 16.08 -
7337.85 568.33 -7.21 826 7341.91 no move -1.18 - - 2226.88 - - - 2193.38 - -77.86 - - 3202.72 - - - - - - - - - - -
7647.90 589.65 -7.00 857 7651.97 no move -1.18 - - 2227.94 - - - 2193.44 - -77.86 - - 3202.06 - - - - - - - - - - -
7958.17 610.96 -7.03 888 7962.23 no move -1.18 - - 2227.25 - - - 2192.81 - -77.86 - - 3202.66 - - - - - - - - - - -
8268.08 632.08 -6.87 919 8272.14 no move -1.18 - - 2226.56 - - - 2193.31 - -77.86 - - 3201.41 - - - - - - - - - - -
8578.13 651.81 -6.38 950 8599.31 roll -1.18 - - 2227.38 - 3.32 0.085 3352.38 349.1 -77.86 - - 3200.84 - - - - - - - - - 16.01 -
8624.78 655.16 -7.20 956 8642.96 roll -1.18 - - 2227.31 - 2.73 0.022 2196.56 -423.4 -77.86 - - 3200.72 - - - - - - - - - 16.08 -
8949.21 675.32 -5.74 988 8970.37 roll -1.18 - - 2227.12 - 3.31 0.085 3351.06 348.8 -77.86 - - 3201.25 - - - - - - - - - 16.07 -
9001.57 678.85 -6.91 995 9018.91 roll -1.18 - - 2227.62 - 2.73 0.022 2194.31 -423.7 -77.86 - - 3200.03 - - - - - - - - - 16.08 -
9324.76 698.45 -6.00 1027 9345.52 roll -1.18 - - 2227.50 - 3.30 0.085 3353.12 351.2 -77.86 - - 3200.91 - - - - - - - - - 16.07 -
9386.73 702.60 -6.60 1036 9404.48 roll -1.18 - - 2227.38 - 2.71 0.021 2195.75 -427.1 -77.86 - - 3200.38 - - - - - - - - - 16.09 -
9710.32 722.31 -6.04 1068 9714.37 no move -1.18 - - 2226.94 - - - 2194.62 - -77.86 - - 3199.62 - - - - - - - - - - -
10020.34 742.48 -6.67 1099 10041.50 roll -1.18 - - 2226.50 - 3.32 0.085 3352.44 348.7 -77.86 - - 3200.06 - - - - - - - - - 16.07 -
10082.71 747.03 -7.36 1108 10100.04 roll -1.18 - - 2227.12 - 2.72 0.022 2194.19 -425.8 -77.86 - - 3200.31 - - - - - - - - - 16.08 -
10405.89 769.36 -6.95 1140 10409.96 no move -1.18 - - 2227.31 - - - 2193.19 - -77.86 - - 3198.94 - - - - - - - - - - -
10715.95 791.59 -7.11 1171 10720.01 no move -1.18 - - 2227.69 - - - 2193.19 - -77.86 - - 3197.81 - - - - - - - - - - -
11026.00 813.21 -6.66 1202 11047.17 roll -1.18 - - 2225.75 - 3.33 0.086 3352.19 348.0 -77.86 - - 3198.62 - - - - - - - - - 16.06 -
11068.48 816.35 -7.50 1207 11086.21 roll -1.18 - - 2227.56 - 2.72 0.022 2195.81 -425.1 -77.86 - - 3199.16 - - - - - - - - - 16.06 -
11392.06 836.75 -6.15 1239 11396.13 no move -1.18 - - 2226.81 - - - 2194.50 - -77.86 - - 3197.47 - - - - - - - - - - -
11702.12 854.03 -5.60 1270 11723.28 roll -1.18 - - 2226.69 - 3.32 0.087 3351.12 348.4 -77.86 - - 3197.72 - - - - - - - - - 16.06 -
11748.75 856.92 -6.27 1276 11767.21 roll -1.18 - - 2227.25 - 2.72 0.022 2194.69 -425.2 -77.86 - - 3198.72 - - - - - - - - - 16.06 -
12073.46 873.80 -5.04 1308 12077.53 no move -1.18 - - 2227.12 - - - 2193.12 - -77.86 - - 3196.78 - - - - - - - - - - -
12383.34 889.60 -5.34 1339 12387.41 no move -1.18 - - 2227.44 - - - 2194.00 - -77.86 - - 3196.72 - - - - - - - - - - -
12693.37 907.07 -5.91 1370 12697.42 no move -1.18 - - 2227.25 - - - 2193.00 - -77.86 - - 3196.12 - - - - - - - - - - -
13003.38 926.66 -7.23 1401 13007.45 no move -1.18 - - 2227.75 - - - 2192.81 - -77.86 - - 3196.06 - - - - - - - - - - -
13313.41 949.05 -7.75 1432 13334.83 roll -1.18 - - 2227.25 - 3.33 0.088 3351.00 347.8 -77.86 - - 3195.44 - - - - - - - - - 16.04 -
13380.41 954.75 -8.61 1442 13398.49 roll -1.18 - - 2227.56 - 2.74 0.023 2199.69 -420.2 -77.86 - - 3197.28 - - - - - - - - - 16.07 -
13704.31 978.90 -7.13 1474 13708.37 no move -1.18 - - 2227.00 - - - 2198.06 - -77.86 - - 3195.44 - - - - - - - - - - -
13873 end dive: TARGET_DEPTH_EXCEEDED
13874 begin apogee
13878.93 990.40 -6.73 1491 13978.55 -0.31 1.54 0.139 2440.06 138.4 0.13 0.181 2190.44 -58.6 - 60.53 2.504 2889.97 -5.0 0.331 - - - - - - 15.96 15.61 11.75
13991 end apogee: CONTROL_FINISHED_OK
13992 begin climb
13994.73 992.82 - 1498 14103.04 1.18 2.53 0.096 2804.75 144.1 - - 2189.62 - 77.86 65.44 2.444 2572.12 -4.9 0.327 - - - - - - 15.71 - 12.53
14409.41 969.27 7.51 1536 14413.47 VBD 1.21 - - 2805.38 - - - 2189.31 - 77.86 - - 2562.59 - - - - - - - - - - -
14719.81 945.74 7.42 1567 14723.88 VBD 1.25 - - 2805.56 - - - 2189.31 - 77.86 - - 2560.34 - - - - - - - - - - -
15030.12 922.80 6.55 1598 15035.49 1.34 0.22 0.082 2851.56 209.1 - - 2189.88 - 77.86 - - 2560.50 - - - - - - - - 15.92 - -
15342.17 897.81 7.44 1629 15346.23 VBD 1.38 - - 2852.69 - - - 2189.19 - 77.86 - - 2559.16 - - - - - - - - - - -
15652.49 875.16 7.01 1660 15656.55 VBD 1.44 - - 2851.88 - - - 2189.94 - 77.86 - - 2558.50 - - - - - - - - - - -
15962.77 853.62 7.31 1691 15966.83 VBD 1.49 - - 2852.06 - - - 2189.81 - 77.86 - - 2557.66 - - - - - - - - - - -
16273.09 832.12 6.83 1722 16278.46 1.56 0.25 0.074 2906.50 217.8 - - 2188.94 - 77.86 - - 2559.38 - - - - - - - - 15.99 - -
16584.31 806.92 8.02 1753 16588.38 VBD 1.56 - - 2905.38 - - - 2189.06 - 77.86 - - 2557.84 - - - - - - - - - - -
16894.33 781.63 7.94 1784 16898.39 VBD 1.56 - - 2906.00 - - - 2189.38 - 77.86 - - 2557.41 - - - - - - - - - - -
17204.36 755.68 8.25 1815 17208.42 VBD 1.56 - - 2905.56 - - - 2189.75 - 77.86 - - 2557.28 - - - - - - - - - - -
17514.79 731.44 7.47 1846 17518.84 VBD 1.59 - - 2905.38 - - - 2190.25 - 77.86 - - 2557.16 - - - - - - - - - - -
17825.11 708.20 7.28 1877 17829.17 VBD 1.64 - - 2905.06 - - - 2189.69 - 77.86 - - 2556.38 - - - - - - - - - - -
18135.43 686.39 7.08 1908 18156.61 done 1.70 - - 2904.38 - 3.37 0.093 3350.69 344.5 77.86 - - 2557.75 - - - - - - - - - 16.04 -
18182.08 682.85 8.03 1914 18200.14 done 1.70 - - 2904.94 - 2.76 0.024 2204.56 -415.3 77.86 - - 2558.25 - - - - - - - - - 16.06 -
18506.38 661.24 6.87 1946 18526.20 1.77 0.25 0.074 2956.75 207.2 2.94 0.082 1146.94 -359.7 77.86 - - 2557.53 - - - - - - - - 16.01 15.99 -
18616.81 652.40 7.94 1965 18635.30 done 1.77 - - 2957.19 - 2.81 0.033 2274.25 401.2 77.86 - - 2557.81 - - - - - - - - - 16.07 -
18941.14 627.02 7.62 1997 18945.20 VBD 1.77 - - 2957.25 - - - 2274.00 - 77.86 - - 2555.94 - - - - - - - - - - -
19251.59 603.39 7.48 2028 19270.55 done 1.80 - - 2956.31 - 3.11 0.077 1145.50 -362.9 77.86 - - 2557.97 - - - - - - - - - 16.05 -
19326.76 597.12 8.63 2040 19344.53 done 1.80 - - 2956.88 - 2.83 0.033 2273.31 398.5 77.86 - - 2556.66 - - - - - - - - - 16.06 -
19650.75 572.43 7.37 2072 19669.71 done 1.84 - - 2956.56 - 3.11 0.076 1144.12 -363.1 77.86 - - 2555.56 - - - - - - - - - 16.05 -
19725.92 566.08 8.34 2084 19743.67 done 1.84 - - 2956.81 - 2.85 0.033 2273.50 396.3 77.86 - - 2556.44 - - - - - - - - - 16.06 -
20049.52 541.58 7.77 2116 20068.33 done 1.84 - - 2957.06 - 3.10 0.075 1144.38 -364.2 77.86 - - 2554.75 - - - - - - - - - 16.06 -
20094.65 537.90 8.03 2122 20112.42 done 1.84 - - 2957.31 - 2.82 0.032 2273.75 400.5 77.86 - - 2557.16 - - - - - - - - - 16.07 -
20418.67 513.85 7.07 2154 20422.74 VBD 1.90 - - 2957.12 - - - 2273.31 - 77.86 - - 2555.16 - - - - - - - - - - -
20728.99 492.18 6.92 2185 20751.00 1.97 0.22 0.080 3007.75 230.1 3.12 0.075 1144.00 -362.0 77.86 - - 2555.06 - - - - - - - - 16.00 15.99 -
20876.50 480.17 8.30 2211 20894.99 done 1.97 - - 3008.00 - 2.83 0.033 2274.06 399.3 77.86 - - 2556.31 - - - - - - - - - 16.07 -
21200.83 456.30 7.67 2243 21219.79 done 1.97 - - 3007.38 - 3.17 0.095 3350.50 339.6 77.86 - - 2557.09 - - - - - - - - - 15.91 -
21246.00 452.49 8.61 2249 21263.35 done 1.97 - - 3008.12 - 2.72 0.024 2200.69 -422.7 77.86 - - 2556.47 - - - - - - - - - 16.04 -
21569.60 429.48 6.63 2281 21573.67 VBD 2.05 - - 3007.88 - - - 2200.12 - 77.86 - - 2555.31 - - - - - - - - - - -
21879.94 410.81 5.85 2312 21901.13 2.19 - - 3007.38 - 3.32 0.091 3350.94 346.6 77.86 - - 2554.53 - - - - - - - - - 15.97 -
21987.11 403.76 6.58 2330 22005.21 2.27 - - 3008.31 - 2.74 0.023 2202.31 -419.2 77.86 - - 2556.03 - - - - - - - - - 16.04 -
22311.57 385.19 5.91 2362 22329.74 2.40 - - 3008.19 - 2.91 0.078 1144.06 -363.7 77.86 - - 2557.16 - - - - - - - - - 15.99 -
22560.69 368.43 6.79 2409 22579.19 2.48 - - 3008.19 - 2.81 0.032 2274.06 402.1 77.86 - - 2556.53 - - - - - - - - - 16.05 -
22885.45 347.58 6.44 2441 22904.03 2.57 - - 3006.62 - 3.10 0.074 1143.56 -364.7 77.86 - - 2556.56 - - - - - - - - - 16.03 -
23060.66 335.17 7.18 2473 23078.94 2.63 - - 3007.69 - 2.82 0.032 2275.25 401.3 77.86 - - 2555.84 - - - - - - - - - 16.00 -
23385.19 313.90 6.41 2505 23389.26 2.73 - - 3007.88 - - - 2275.38 - 77.86 - - 2555.59 - - - - - - - - - - -
23695.51 296.04 5.38 2536 23714.50 2.89 - - 3007.88 - 3.11 0.073 1145.31 -363.4 77.86 - - 2554.84 - - - - - - - - - 16.04 -
23935.44 283.48 4.70 2581 24030.31 3.02 - - 3008.69 - 2.84 0.032 2274.94 397.8 147.15 53.99 1.638 2289.53 -4.9 0.141 - - - - - - - 16.05 11.81
24336.27 248.83 9.48 2624 24355.26 3.02 - - 3008.31 - 3.13 0.074 1145.81 -360.7 147.15 - - 2280.53 - - - - - - - - - 15.91 -
24371.58 245.34 10.05 2628 24389.10 3.02 - - 3006.75 - 2.88 0.031 2272.94 391.4 147.15 - - 2280.78 - - - - - - - - - 15.91 -
24694.94 213.66 10.15 2660 24713.92 3.02 - - 3008.50 - 3.12 0.074 1144.06 -361.8 147.15 - - 2278.44 - - - - - - - - - 15.90 -
24744.40 208.51 10.39 2667 24763.29 3.02 - - 3009.00 - 2.85 0.031 2274.12 396.5 147.15 - - 2278.38 - - - - - - - - - 15.89 -
25069.14 176.24 9.59 2699 25073.21 3.02 - - 3008.06 - - - 2274.00 - 147.15 - - 2277.91 - - - - - - - - - - -
25379.18 148.42 8.54 2730 25397.75 3.02 - - 3009.12 - 3.10 0.073 1144.38 -364.4 147.15 - - 2277.44 - - - - - - - - - 15.96 -
25513.99 136.19 8.57 2754 25531.77 3.02 - - 3008.38 - 2.85 0.031 2275.94 397.0 147.15 - - 2277.75 - - - - - - - - - 15.86 -
25838.13 112.35 6.83 2786 25857.12 3.10 - - 3008.62 - 3.13 0.092 3352.06 343.8 147.15 - - 2275.53 - - - - - - - - - 15.94 -
25907.99 107.53 7.15 2797 25926.09 3.15 - - 3008.94 - 2.72 0.022 2198.00 -424.3 147.15 - - 2277.22 - - - - - - - - - 15.95 -
26232.35 93.71 3.71 2844 26350.95 3.33 - - 3008.75 - 3.36 0.089 3351.69 343.4 236.80 68.43 1.366 1923.50 -5.2 0.059 - - - - - - - 15.69 12.07
26357.75 86.31 8.06 2860 26375.85 roll back 3.33 - - 3009.00 - 2.78 0.022 2202.50 -413.4 236.80 - - 1919.22 - - - - - - - - - 15.80 -
26562.22 74.00 5.27 2898 26581.50 3.50 - - 3008.75 - 2.95 0.076 1143.88 -358.9 236.80 - - 1915.28 - - - - - - - - - 15.82 -
26793.16 61.32 5.63 2941 26811.66 3.64 - - 3008.94 - 2.83 0.029 2276.94 400.4 236.80 - - 1912.34 - - - - - - - - - 15.81 -
26998.03 49.31 5.60 2979 27017.74 3.79 - - 3008.69 - 3.12 0.091 3351.44 344.4 236.80 - - 1910.19 - - - - - - - - - 15.84 -
27104.37 42.89 5.98 2997 27122.84 3.91 - - 3008.12 - 2.71 0.022 2197.12 -425.9 236.80 - - 1911.03 - - - - - - - - - 15.86 -
27309.10 34.70 3.79 3035 27421.87 4.09 - - 3009.25 - 3.37 0.088 3351.50 342.5 324.81 66.45 1.259 1565.25 -5.2 0.024 - - - - - - - 15.67 12.13
27508.49 22.52 6.66 3066 27526.57 roll back 4.17 - - 3008.69 - 2.78 0.022 2198.56 -414.7 324.81 - - 1558.59 - - - - - - - - - 15.75 -
27712.80 15.80 2.25 3104 27859.13 4.41 - - 3008.62 - 3.00 0.077 1146.38 -350.7 444.65 91.54 1.206 1076.66 -5.3 0.011 - - - - - - - 15.56 12.30
27945.86 6.86 5.19 3140 27964.36 roll back 4.41 - - 3008.69 - 2.83 0.027 2278.69 400.1 444.65 - - 1069.47 - - - - - - - - - 15.77 -
28009 end climb: SURFACE_DEPTH_REACHED
28010 begin surface coast
28110 end surface coast: CONTROL_FINISHED_OK
28111 begin surface
SM 1.25 - - - - 179.4 - - 1063.8 - 18.41 0.049 1088.4 59.1 - 0.12 0.088 1039.2 8636.4 -12.538 - - 30.00 15.81 15.85 -