NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 121 * Raw log
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• Previous call tries 1 • 43.10 of 506.00 AH used of 24V (91.48% remains)
• Surface angle -65.6 deg, depth 1.18 m • Intended pitch -16.4 deg, speed -8.049 cm/s
• No surface pump (final VBD was 1002.9, SM_CC=430)
• GPS1 time: 21 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
18.74 - - - 104.82 VBD -1.18 - - 178.19 - - - 2300.69 - -77.86 60.01 0.005 2588.62 - - - - - - - - - - 15.57
107.05 3.71 -4.64 12 207.42 -1.18 16.69 0.230 2228.06 122.8 - - 2300.75 - -77.86 8.80 0.007 3210.16 70.6 -6.213 - - - - - - 15.64 - 15.57
393.17 58.33 -11.40 55 412.15 roll -1.18 - - 2227.38 - 3.12 0.063 1142.81 -371.1 -77.86 - - 3215.72 - - - - - - - - - 15.83 -
488.28 68.84 -10.79 71 506.14 roll -1.18 - - 2227.44 - 2.77 0.025 2279.44 410.3 -77.86 - - 3215.12 - - - - - - - - - 15.84 -
692.07 87.69 -8.53 109 711.50 done -1.18 - - 2227.25 - 3.04 0.082 3352.81 353.1 -77.86 - - 3215.75 - - - - - - - - - 15.92 -
752.66 93.33 -9.44 118 770.89 roll -1.18 - - 2227.75 - 2.72 0.020 2184.81 -429.4 -77.86 - - 3215.62 - - - - - - - - - 15.88 -
961.68 109.22 -7.52 145 978.81 done -1.18 - - 2227.56 - 2.78 0.067 1142.94 -374.8 -77.86 - - 3217.06 - - - - - - - - - 15.97 -
1119.27 122.28 -8.47 174 1137.51 done -1.18 - - 2227.19 - 2.76 0.025 2279.75 411.9 -77.86 - - 3216.84 - - - - - - - - - 15.93 -
1443.30 147.12 -7.97 206 1461.62 done -1.18 - - 2227.25 - 3.02 0.083 3351.62 354.9 -77.86 - - 3216.75 - - - - - - - - - 15.94 -
1517.99 153.28 -8.14 218 1534.73 done -1.18 - - 2227.31 - 2.69 0.020 2183.19 -434.4 -77.86 - - 3217.44 - - - - - - - - - 15.91 -
1840.54 175.38 -7.11 250 1857.91 done -1.18 - - 2227.56 - 2.78 0.068 1142.81 -374.2 -77.86 - - 3218.66 - - - - - - - - - 16.01 -
1908.50 180.41 -7.41 261 1926.57 done -1.18 - - 2227.75 - 2.76 0.025 2280.06 412.0 -77.86 - - 3218.47 - - - - - - - - - 15.94 -
2232.39 202.19 -6.98 293 2250.94 roll -1.18 - - 2226.56 - 3.03 0.084 3354.06 354.5 -77.86 - - 3218.12 - - - - - - - - - 16.01 -
2307.14 208.42 -8.42 305 2324.07 roll -1.18 - - 2227.12 - 2.69 0.021 2186.81 -433.9 -77.86 - - 3217.97 - - - - - - - - - 16.03 -
2629.92 233.36 -7.57 337 2650.68 roll -1.18 - - 2227.56 - 3.27 0.080 3352.44 356.5 -77.86 - - 3217.66 - - - - - - - - - 16.03 -
2721.89 241.15 -8.44 352 2738.83 roll -1.18 - - 2227.62 - 2.69 0.020 2189.81 -432.2 -77.86 - - 3216.44 - - - - - - - - - 16.05 -
3044.70 265.86 -7.40 384 3062.43 roll -1.18 - - 2226.69 - 2.81 0.070 1143.06 -372.5 -77.86 - - 3217.25 - - - - - - - - - 16.04 -
3108.64 271.11 -8.21 394 3125.97 roll -1.18 - - 2226.12 - 2.74 0.026 2280.31 415.1 -77.86 - - 3217.50 - - - - - - - - - 16.06 -
3431.83 294.60 -7.36 426 3435.88 no move -1.18 - - 2227.44 - - - 2280.31 - -77.86 - - 3214.56 - - - - - - - - - - -
3741.88 318.16 -7.46 457 3760.68 roll -1.18 - - 2227.06 - 3.05 0.085 3353.25 351.8 -77.86 - - 3216.19 - - - - - - - - - 16.07 -
3837.00 326.17 -8.42 473 3853.93 roll -1.18 - - 2227.44 - 2.69 0.021 2189.88 -432.5 -77.86 - - 3214.66 - - - - - - - - - 16.07 -
4159.78 349.94 -7.17 505 4163.83 no move -1.18 - - 2227.38 - - - 2188.25 - -77.86 - - 3212.47 - - - - - - - - - - -
4469.83 371.54 -6.84 536 4490.59 roll -1.18 - - 2227.38 - 3.28 0.083 3354.00 355.4 -77.86 - - 3211.78 - - - - - - - - - 16.05 -
4541.80 377.10 -7.80 547 4558.74 roll -1.18 - - 2227.56 - 2.68 0.021 2188.94 -434.7 -77.86 - - 3212.69 - - - - - - - - - 16.08 -
4864.60 398.90 -6.28 579 4868.66 no move -1.18 - - 2227.44 - - - 2187.56 - -77.86 - - 3210.62 - - - - - - - - - - -
5174.65 419.05 -6.57 610 5195.42 roll -1.18 - - 2227.25 - 3.28 0.083 3354.19 355.7 -77.86 - - 3210.97 - - - - - - - - - 16.08 -
5230.89 423.17 -6.92 618 5248.54 roll -1.18 - - 2227.12 - 2.70 0.021 2190.69 -430.9 -77.86 - - 3211.47 - - - - - - - - - 16.07 -
5554.36 446.03 -7.24 650 5558.43 no move -1.18 - - 2227.19 - - - 2189.75 - -77.86 - - 3209.72 - - - - - - - - - - -
5864.39 468.77 -7.32 681 5885.39 roll -1.18 - - 2227.69 - 3.28 0.084 3352.25 354.4 -77.86 - - 3210.00 - - - - - - - - - 16.06 -
5946.71 475.35 -8.03 694 5963.65 roll -1.18 - - 2227.56 - 2.69 0.021 2191.06 -431.7 -77.86 - - 3208.75 - - - - - - - - - 16.07 -
6269.49 497.94 -6.74 726 6290.27 roll -1.18 - - 2226.06 - 3.30 0.083 3353.62 352.3 -77.86 - - 3208.94 - - - - - - - - - 16.03 -
6311.46 500.90 -6.79 731 6328.40 roll -1.18 - - 2227.12 - 2.68 0.022 2193.06 -433.0 -77.86 - - 3208.03 - - - - - - - - - 16.09 -
6634.25 522.15 -6.35 763 6655.01 roll -1.18 - - 2227.44 - 3.26 0.084 3353.50 356.0 -77.86 - - 3207.06 - - - - - - - - - 16.08 -
6676.20 525.01 -6.65 768 6693.14 roll -1.18 - - 2227.50 - 2.67 0.022 2191.44 -435.2 -77.86 - - 3207.38 - - - - - - - - - 16.08 -
6998.99 544.29 -5.91 800 7003.06 no move -1.18 - - 2227.12 - - - 2190.00 - -77.86 - - 3206.09 - - - - - - - - - - -
7309.04 562.75 -5.93 831 7329.80 roll -1.18 - - 2227.38 - 3.27 0.085 3354.12 356.0 -77.86 - - 3205.78 - - - - - - - - - 16.06 -
7355.27 565.92 -6.67 837 7373.00 roll -1.18 - - 2227.62 - 2.69 0.022 2191.00 -432.4 -77.86 - - 3206.56 - - - - - - - - - 16.09 -
7678.86 584.74 -6.02 869 7682.93 no move -1.18 - - 2227.69 - - - 2189.94 - -77.86 - - 3205.41 - - - - - - - - - - -
7988.90 603.76 -6.12 900 7992.96 no move -1.18 - - 2227.00 - - - 2189.69 - -77.86 - - 3204.50 - - - - - - - - - - -
8298.96 621.48 -5.70 931 8303.02 no move -1.18 - - 2226.50 - - - 2189.75 - -77.86 - - 3204.06 - - - - - - - - - - -
8609.01 638.13 -5.38 962 8630.18 roll -1.18 - - 2226.62 - 3.31 0.086 3353.12 351.5 -77.86 - - 3205.44 - - - - - - - - - 15.99 -
8675.65 642.41 -6.39 972 8693.30 roll -1.18 - - 2227.69 - 2.69 0.022 2193.56 -431.1 -77.86 - - 3203.91 - - - - - - - - - 16.08 -
8999.15 661.26 -6.38 1004 9003.20 no move -1.18 - - 2227.88 - - - 2192.94 - -77.86 - - 3202.75 - - - - - - - - - - -
9309.20 682.77 -7.21 1035 9313.26 no move -1.18 - - 2227.19 - - - 2192.00 - -77.86 - - 3203.16 - - - - - - - - - - -
9619.26 705.84 -7.33 1066 9623.32 no move -1.18 - - 2226.94 - - - 2192.88 - -77.86 - - 3202.34 - - - - - - - - - - -
9929.31 729.37 -7.56 1097 9950.48 roll -1.18 - - 2226.56 - 3.31 0.087 3353.94 350.8 -77.86 - - 3203.09 - - - - - - - - - 15.98 -
10045.98 738.81 -7.98 1117 10064.17 roll -1.18 - - 2227.56 - 2.70 0.022 2195.75 -429.0 -77.86 - - 3202.44 - - - - - - - - - 16.06 -
10370.02 760.02 -6.49 1149 10374.08 no move -1.18 - - 2226.94 - - - 2194.62 - -77.86 - - 3201.44 - - - - - - - - - - -
10680.07 778.88 -5.84 1180 10701.24 roll -1.18 - - 2227.38 - 3.31 0.087 3352.12 349.7 -77.86 - - 3201.16 - - - - - - - - - 15.99 -
10716.71 781.44 -6.27 1184 10734.36 roll -1.18 - - 2227.06 - 2.68 0.022 2193.94 -432.2 -77.86 - - 3202.50 - - - - - - - - - 16.08 -
11040.22 800.40 -6.00 1216 11044.29 no move -1.18 - - 2227.06 - - - 2192.19 - -77.86 - - 3200.53 - - - - - - - - - - -
11350.27 818.90 -5.83 1247 11354.33 no move -1.18 - - 2227.31 - - - 2192.25 - -77.86 - - 3200.69 - - - - - - - - - - -
11660.31 837.36 -6.02 1278 11681.48 roll -1.18 - - 2226.12 - 3.31 0.087 3352.75 350.6 -77.86 - - 3201.50 - - - - - - - - - 16.04 -
11712.68 840.71 -6.71 1285 11730.41 roll -1.18 - - 2227.75 - 2.70 0.022 2193.81 -429.2 -77.86 - - 3200.81 - - - - - - - - - 16.08 -
12036.27 860.18 -6.00 1317 12040.34 no move -1.18 - - 2227.12 - - - 2192.62 - -77.86 - - 3199.66 - - - - - - - - - - -
12346.32 878.14 -5.75 1348 12350.38 no move -1.18 - - 2227.00 - - - 2192.12 - -77.86 - - 3199.53 - - - - - - - - - - -
12656.33 895.42 -5.65 1379 12660.39 no move -1.18 - - 2227.38 - - - 2192.06 - -77.86 - - 3199.47 - - - - - - - - - - -
12966.36 912.96 -5.83 1410 12970.42 no move -1.18 - - 2227.25 - - - 2192.69 - -77.86 - - 3198.81 - - - - - - - - - - -
13276.68 931.12 -5.83 1441 13280.74 no move -1.18 - - 2227.25 - - - 2192.12 - -77.86 - - 3198.50 - - - - - - - - - - -
13586.74 948.82 -6.06 1472 13607.90 roll -1.18 - - 2225.81 - 3.34 0.088 3353.25 347.6 -77.86 - - 3199.50 - - - - - - - - - 15.97 -
13623.37 951.04 -6.39 1476 13641.83 roll -1.18 - - 2227.50 - 2.70 0.023 2197.06 -428.2 -77.86 - - 3199.62 - - - - - - - - - 15.97 -
13947.69 969.23 -5.38 1508 13968.86 roll -1.18 - - 2226.88 - 3.31 0.088 3352.69 349.1 -77.86 - - 3199.34 - - - - - - - - - 15.97 -
14044.35 975.36 -6.32 1524 14062.00 roll -1.18 - - 2226.25 - 2.70 0.023 2199.50 -427.1 -77.86 - - 3200.12 - - - - - - - - - 16.05 -
14307 end dive: TARGET_DEPTH_EXCEEDED
14307 begin apogee
14312.45 990.63 -5.83 1550 14412.50 -0.31 1.55 0.139 2439.75 137.7 0.13 0.181 2186.94 -96.6 - 61.15 2.502 2889.81 -5.1 0.333 - - - - - - 15.96 15.59 11.68
14425 end apogee: CONTROL_FINISHED_OK
14426 begin climb
14428.69 992.48 - 1557 14537.00 1.18 2.52 0.094 2804.81 144.9 - - 2186.69 - 77.86 65.46 2.444 2570.72 -4.9 0.329 - - - - - - 15.70 - 12.39
14843.37 972.55 5.75 1595 14848.33 1.32 0.19 0.089 2846.38 218.8 - - 2186.62 - 77.86 - - 2561.88 - - - - - - - - 15.77 - -
15154.70 952.55 7.22 1626 15158.76 VBD 1.37 - - 2847.06 - - - 2186.44 - 77.86 - - 2560.25 - - - - - - - - - - -
15465.01 931.04 7.10 1657 15469.07 VBD 1.43 - - 2846.25 - - - 2186.69 - 77.86 - - 2559.88 - - - - - - - - - - -
15775.33 907.85 7.50 1688 15779.39 VBD 1.46 - - 2846.81 - - - 2186.62 - 77.86 - - 2559.31 - - - - - - - - - - -
16085.24 884.27 8.18 1719 16102.98 done 1.46 - - 2846.19 - 2.88 0.082 1145.00 -361.7 77.86 - - 2560.91 - - - - - - - - - 15.99 -
16153.46 878.52 8.41 1730 16171.94 done 1.46 - - 2846.81 - 2.81 0.032 2273.88 401.7 77.86 - - 2558.94 - - - - - - - - - 16.02 -
16478.20 853.76 7.36 1762 16483.57 1.50 0.20 0.078 2893.81 235.0 - - 2274.44 - 77.86 - - 2558.44 - - - - - - - - 15.91 - -
16789.40 827.09 8.54 1793 16807.95 done 1.50 - - 2893.69 - 3.10 0.077 1145.31 -364.2 77.86 - - 2559.53 - - - - - - - - - 16.03 -
16924.42 814.99 8.81 1817 16942.17 done 1.50 - - 2894.56 - 2.81 0.033 2275.00 402.0 77.86 - - 2559.12 - - - - - - - - - 16.03 -
17248.55 791.73 6.29 1849 17252.61 VBD 1.61 - - 2894.62 - - - 2275.75 - 77.86 - - 2557.06 - - - - - - - - - - -
17558.83 771.31 6.59 1880 17563.80 1.69 0.20 0.079 2939.88 226.3 - - 2275.12 - 77.86 - - 2557.38 - - - - - - - - 15.94 - -
17870.05 748.24 7.45 1911 17874.11 VBD 1.73 - - 2939.00 - - - 2275.06 - 77.86 - - 2557.12 - - - - - - - - - - -
18179.96 722.91 8.76 1942 18184.02 VBD 1.73 - - 2939.69 - - - 2275.56 - 77.86 - - 2556.59 - - - - - - - - - - -
18490.01 696.17 8.68 1973 18508.57 done 1.73 - - 2940.31 - 3.08 0.077 1144.19 -367.3 77.86 - - 2556.50 - - - - - - - - - 16.05 -
18564.78 689.17 9.45 1985 18582.94 done 1.73 - - 2940.19 - 2.81 0.032 2274.62 402.3 77.86 - - 2558.69 - - - - - - - - - 16.05 -
18888.79 660.98 8.72 2017 18907.37 done 1.73 - - 2939.56 - 3.09 0.076 1145.25 -365.5 77.86 - - 2557.97 - - - - - - - - - 16.05 -
19057.88 645.51 8.95 2048 19076.36 done 1.73 - - 2939.19 - 2.82 0.033 2273.69 400.2 77.86 - - 2558.06 - - - - - - - - - 15.92 -
19382.21 619.02 7.84 2080 19386.27 VBD 1.73 - - 2940.44 - - - 2274.31 - 77.86 - - 2556.47 - - - - - - - - - - -
19692.25 595.41 7.82 2111 19696.31 VBD 1.73 - - 2940.62 - - - 2274.06 - 77.86 - - 2556.22 - - - - - - - - - - -
20002.30 571.25 7.71 2142 20020.87 done 1.73 - - 2940.38 - 3.07 0.076 1144.00 -368.1 77.86 - - 2555.28 - - - - - - - - - 16.04 -
20191.38 555.63 8.02 2177 20210.25 done 1.73 - - 2939.62 - 2.82 0.033 2272.81 400.3 77.86 - - 2558.88 - - - - - - - - - 16.06 -
20516.49 532.94 6.78 2209 20520.56 VBD 1.81 - - 2940.25 - - - 2273.25 - 77.86 - - 2555.78 - - - - - - - - - - -
20826.78 513.13 6.21 2240 20832.15 1.92 0.25 0.072 2995.44 220.8 - - 2273.12 - 77.86 - - 2554.66 - - - - - - - - 16.03 - -
21138.40 492.02 7.06 2271 21142.46 VBD 1.98 - - 2995.25 - - - 2273.06 - 77.86 - - 2555.66 - - - - - - - - - - -
21448.70 469.93 7.40 2302 21467.26 done 2.01 - - 2994.88 - 3.10 0.095 3352.19 348.1 77.86 - - 2555.09 - - - - - - - - - 16.03 -
21527.74 463.14 8.64 2315 21545.41 done 2.01 - - 2995.75 - 2.68 0.024 2199.81 -430.0 77.86 - - 2556.91 - - - - - - - - - 15.97 -
21851.75 438.24 7.48 2347 21869.76 done 2.05 - - 2995.50 - 2.83 0.079 1142.62 -373.6 77.86 - - 2556.59 - - - - - - - - - 16.04 -
21996.10 426.71 8.17 2373 22013.85 done 2.05 - - 2994.75 - 2.77 0.032 2276.06 409.2 77.86 - - 2556.94 - - - - - - - - - 16.03 -
22320.09 402.26 7.16 2405 22339.49 2.10 0.03 0.309 3012.44 589.7 3.06 0.074 1145.12 -369.6 77.86 - - 2555.62 - - - - - - - - 15.99 15.91 -
22435.74 393.46 7.56 2425 22453.09 done 2.10 - - 3012.06 - 2.80 0.032 2276.00 403.9 77.86 - - 2557.41 - - - - - - - - - 16.05 -
22759.33 372.74 6.54 2457 22777.91 2.19 - - 3012.56 - 3.07 0.074 1144.00 -368.7 77.86 - - 2557.62 - - - - - - - - - 16.03 -
23008.83 354.86 7.02 2504 23027.33 2.25 - - 3013.50 - 2.82 0.032 2275.25 401.2 77.86 - - 2556.62 - - - - - - - - - 16.05 -
23333.58 336.03 5.59 2536 23352.16 2.40 - - 3013.00 - 3.06 0.073 1144.25 -369.6 77.86 - - 2554.53 - - - - - - - - - 16.03 -
23583.06 321.48 5.93 2583 23601.96 2.53 - - 3013.38 - 2.82 0.032 2276.25 401.4 77.86 - - 2557.44 - - - - - - - - - 16.03 -
23908.32 305.06 4.82 2615 24004.06 2.66 - - 3012.81 - 3.12 0.076 1144.00 -362.9 144.63 52.15 1.666 2301.03 -4.9 0.149 - - - - - - - 15.78 11.86
24039.53 295.20 8.67 2634 24058.03 roll back 2.66 - - 3012.94 - 2.85 0.032 2273.19 396.2 144.63 - - 2294.62 - - - - - - - - - 15.87 -
24363.99 262.99 10.21 2666 24382.66 2.66 - - 3013.56 - 3.09 0.074 1145.44 -365.0 144.63 - - 2291.62 - - - - - - - - - 15.90 -
24478.89 250.71 10.78 2686 24497.04 2.66 - - 3014.00 - 2.84 0.032 2274.00 397.4 144.63 - - 2291.06 - - - - - - - - - 15.93 -
24802.89 218.16 9.75 2718 24806.98 2.66 - - 3012.75 - - - 2274.38 - 144.63 - - 2288.59 - - - - - - - - - - -
25112.94 188.55 9.92 2749 25131.76 2.66 - - 3012.88 - 3.06 0.074 1144.56 -369.2 144.63 - - 2288.16 - - - - - - - - - 15.90 -
25222.36 177.13 10.22 2768 25240.86 2.66 - - 3013.44 - 2.83 0.032 2274.38 399.2 144.63 - - 2288.94 - - - - - - - - - 15.90 -
25547.11 150.25 7.37 2800 25565.71 2.70 - - 3013.06 - 3.08 0.072 1144.62 -366.8 144.63 - - 2286.78 - - - - - - - - - 15.88 -
25621.92 144.03 8.38 2812 25639.68 2.70 - - 3013.19 - 2.81 0.031 2274.69 402.2 144.63 - - 2289.84 - - - - - - - - - 15.95 -
25945.93 119.33 7.49 2844 25950.01 2.74 - - 3013.38 - - - 2275.00 - 144.63 - - 2287.28 - - - - - - - - - - -
26256.26 98.37 6.12 2877 26275.96 2.85 - - 3013.50 - 3.06 0.071 1143.00 -369.9 144.63 - - 2287.56 - - - - - - - - - 15.93 -
26507.62 86.84 3.59 2924 26624.58 3.04 - - 3013.38 - 2.80 0.029 2275.88 404.6 236.86 70.31 1.353 1924.25 -5.2 0.055 - - - - - - - 15.86 12.12
26810.41 68.34 7.93 2976 26830.11 3.04 - - 3013.44 - 3.10 0.072 1143.88 -365.2 236.86 - - 1915.16 - - - - - - - - - 15.80 -
27001.83 53.62 7.10 3011 27020.32 3.09 - - 3013.75 - 2.84 0.029 2275.88 398.6 236.86 - - 1912.62 - - - - - - - - - 15.79 -
27206.57 42.80 4.62 3049 27303.24 3.23 - - 3013.62 - 3.07 0.073 1143.75 -368.8 307.71 53.38 1.261 1634.22 -5.2 0.029 - - - - - - - 15.68 12.14
27379.83 30.44 7.18 3076 27398.32 roll back 3.29 - - 3013.62 - 2.84 0.029 2274.88 398.3 307.71 - - 1628.75 - - - - - - - - - 15.81 -
27584.58 25.25 0.94 3114 27760.19 3.58 - - 3013.44 - 3.11 0.073 1145.44 -363.2 454.57 111.32 1.220 1036.50 -5.3 0.018 - - - - - - - 15.50 12.30
27767.50 18.73 6.12 3138 27786.38 roll back 3.70 - - 3014.00 - 2.85 0.027 2277.12 397.1 454.57 - - 1030.31 - - - - - - - - - 15.65 -
27972.72 6.59 6.00 3176 27992.40 3.82 - - 3013.88 - 3.13 0.090 3352.75 343.7 454.57 - - 1027.28 - - - - - - - - - 15.73 -
28013 end climb: SURFACE_DEPTH_REACHED
28014 begin surface coast
28074 end surface coast: CONTROL_FINISHED_OK
28074 begin surface
SM 1.27 - - - - 179.4 - - 1024.2 - 18.44 0.051 1045.4 56.7 - 2.68 0.021 1002.9 373.0 -2.306 - - 30.00 15.82 15.86 -