NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 202 * Raw log
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• Previous call tries 1 • 71.02 of 506.00 AH used of 24V (85.96% remains)
• Surface angle -60.9 deg, depth 1.25 m • Intended pitch -16.4 deg, speed -8.049 cm/s
• No surface pump (final VBD was 942.0, SM_CC=430)
• GPS1 time: 20 s, HDOP was 2.5 m
• 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
18.76 - - - 104.46 VBD -1.18 - - 184.38 - - - 2175.19 - -77.86 59.95 0.005 2510.47 - - - - - - - - - - 15.42
106.68 3.11 -3.11 12 226.85 -1.18 16.65 0.221 2227.88 122.7 3.43 0.082 3351.94 343.1 -77.86 10.73 0.007 3209.72 65.2 -4.831 - - - - - - 15.59 15.40 15.49
337.95 51.39 -13.72 41 356.75 roll -1.18 - - 2227.94 - 2.86 0.019 2197.12 -403.8 -77.86 - - 3213.31 - - - - - - - - - 15.79 -
542.70 72.74 -9.21 79 562.95 roll -1.18 - - 2228.19 - 3.32 0.076 3352.62 348.0 -77.86 - - 3214.09 - - - - - - - - - 15.81 -
569.08 75.31 -9.72 81 587.33 roll -1.18 - - 2228.31 - 2.84 0.019 2193.06 -408.3 -77.86 - - 3213.88 - - - - - - - - - 15.83 -
773.15 92.57 -9.30 119 791.81 roll -1.18 - - 2226.25 - 3.00 0.066 1145.00 -349.4 -77.86 - - 3216.25 - - - - - - - - - 15.80 -
922.27 107.69 -9.30 146 940.13 roll -1.18 - - 2227.44 - 2.78 0.024 2280.44 408.4 -77.86 - - 3215.81 - - - - - - - - - 15.93 -
1245.94 132.40 -7.53 178 1249.96 no move -1.18 - - 2228.00 - - - 2281.38 - -77.86 - - 3215.00 - - - - - - - - - - -
1555.99 154.65 -6.08 209 1576.53 done -1.18 - - 2226.50 - 3.25 0.062 1143.94 -350.0 -77.86 - - 3217.28 - - - - - - - - - 15.88 -
1627.70 159.33 -6.46 220 1645.24 done -1.18 - - 2228.75 - 2.82 0.024 2278.00 402.1 -77.86 - - 3215.78 - - - - - - - - - 15.89 -
1951.05 180.54 -6.76 252 1955.07 VBD -1.18 - - 2227.75 - - - 2278.12 - -77.86 - - 3215.19 - - - - - - - - - - -
2261.13 201.83 -7.10 283 2280.50 roll -1.18 - - 2227.88 - 3.23 0.063 1144.62 -350.9 -77.86 - - 3213.94 - - - - - - - - - 15.99 -
2316.82 206.09 -7.57 291 2334.58 roll -1.18 - - 2227.94 - 2.82 0.025 2277.25 401.6 -77.86 - - 3215.72 - - - - - - - - - 15.99 -
2640.39 229.35 -7.72 323 2644.45 no move -1.18 - - 2226.88 - - - 2276.88 - -77.86 - - 3213.84 - - - - - - - - - - -
2950.41 254.15 -7.79 354 2954.47 no move -1.18 - - 2227.69 - - - 2277.25 - -77.86 - - 3213.19 - - - - - - - - - - -
3260.45 277.19 -7.00 385 3279.81 roll -1.18 - - 2228.31 - 3.23 0.065 1146.25 -350.2 -77.86 - - 3212.78 - - - - - - - - - 16.01 -
3300.28 280.24 -7.31 390 3318.75 roll -1.18 - - 2227.69 - 2.81 0.025 2277.38 402.5 -77.86 - - 3213.94 - - - - - - - - - 16.02 -
3624.60 303.86 -7.43 422 3628.66 no move -1.18 - - 2227.44 - - - 2277.75 - -77.86 - - 3212.03 - - - - - - - - - - -
3934.65 326.53 -7.22 453 3953.61 roll -1.18 - - 2228.06 - 3.16 0.086 3351.81 339.9 -77.86 - - 3210.19 - - - - - - - - - 15.95 -
3969.80 329.33 -7.75 457 3987.14 roll -1.18 - - 2227.81 - 2.80 0.020 2195.44 -413.0 -77.86 - - 3210.62 - - - - - - - - - 16.03 -
4293.00 352.92 -7.05 489 4297.30 no move -1.18 - - 2228.00 - - - 2193.88 - -77.86 - - 3209.38 - - - - - - - - - - -
4603.27 375.52 -7.30 520 4607.33 no move -1.18 - - 2227.31 - - - 2193.75 - -77.86 - - 3208.97 - - - - - - - - - - -
4913.50 398.77 -7.39 551 4934.67 roll -1.18 - - 2226.75 - 3.39 0.083 3351.50 341.5 -77.86 - - 3210.16 - - - - - - - - - 16.00 -
4965.87 402.84 -7.91 558 4983.61 roll -1.18 - - 2227.94 - 2.81 0.020 2195.75 -411.3 -77.86 - - 3208.25 - - - - - - - - - 16.02 -
5289.43 425.30 -6.92 590 5293.49 no move -1.18 - - 2227.56 - - - 2195.44 - -77.86 - - 3206.78 - - - - - - - - - - -
5599.49 446.50 -6.97 621 5603.55 no move -1.18 - - 2228.06 - - - 2194.75 - -77.86 - - 3205.94 - - - - - - - - - - -
5909.53 469.06 -7.29 652 5931.11 roll -1.18 - - 2227.81 - 3.41 0.083 3352.44 339.5 -77.86 - - 3204.97 - - - - - - - - - 15.99 -
5962.31 473.38 -7.99 659 5980.05 roll -1.18 - - 2227.94 - 2.83 0.020 2197.62 -408.1 -77.86 - - 3206.00 - - - - - - - - - 16.03 -
6285.90 497.79 -7.36 691 6289.96 no move -1.18 - - 2228.38 - - - 2197.38 - -77.86 - - 3204.94 - - - - - - - - - - -
6595.97 520.47 -7.15 722 6600.03 no move -1.18 - - 2227.44 - - - 2196.88 - -77.86 - - 3203.28 - - - - - - - - - - -
6906.00 542.20 -7.00 753 6927.42 roll -1.18 - - 2227.56 - 3.39 0.083 3349.69 340.1 -77.86 - - 3203.72 - - - - - - - - - 15.98 -
6978.74 547.88 -7.88 764 6996.48 roll -1.18 - - 2227.62 - 2.85 0.021 2199.62 -403.5 -77.86 - - 3202.12 - - - - - - - - - 15.93 -
7302.30 570.20 -6.87 796 7320.87 roll -1.18 - - 2227.94 - 3.06 0.073 1145.75 -344.4 -77.86 - - 3203.34 - - - - - - - - - 15.98 -
7367.08 574.85 -6.92 806 7384.83 roll -1.18 - - 2228.25 - 2.81 0.027 2277.06 402.6 -77.86 - - 3202.59 - - - - - - - - - 16.04 -
7690.68 598.15 -7.61 838 7694.74 no move -1.18 - - 2227.50 - - - 2277.62 - -77.86 - - 3200.78 - - - - - - - - - - -
8000.73 620.23 -7.50 869 8004.79 no move -1.18 - - 2227.62 - - - 2278.00 - -77.86 - - 3200.56 - - - - - - - - - - -
8310.79 642.67 -7.10 900 8330.17 roll -1.18 - - 2227.75 - 3.25 0.069 1146.25 -348.2 -77.86 - - 3200.94 - - - - - - - - - 15.98 -
8376.37 647.62 -7.43 910 8394.11 roll -1.18 - - 2227.12 - 2.84 0.027 2276.12 397.8 -77.86 - - 3201.72 - - - - - - - - - 16.05 -
8699.97 669.61 -6.62 942 8704.03 no move -1.18 - - 2228.19 - - - 2276.38 - -77.86 - - 3199.75 - - - - - - - - - - -
9010.02 688.65 -5.74 973 9014.08 no move -1.18 - - 2228.19 - - - 2275.00 - -77.86 - - 3199.03 - - - - - - - - - - -
9320.31 706.12 -5.46 1004 9324.46 no move -1.18 - - 2227.88 - - - 2275.56 - -77.86 - - 3198.31 - - - - - - - - - - -
9630.38 724.24 -6.03 1035 9634.44 no move -1.18 - - 2227.62 - - - 2276.00 - -77.86 - - 3197.88 - - - - - - - - - - -
9940.39 742.07 -5.64 1066 9944.45 no move -1.18 - - 2227.62 - - - 2276.12 - -77.86 - - 3197.47 - - - - - - - - - - -
10250.42 759.92 -5.74 1097 10254.48 no move -1.18 - - 2228.56 - - - 2275.75 - -77.86 - - 3197.12 - - - - - - - - - - -
10560.43 778.63 -5.87 1128 10579.81 roll -1.18 - - 2226.88 - 3.20 0.089 3352.25 336.4 -77.86 - - 3199.19 - - - - - - - - - 15.92 -
10656.01 785.26 -6.74 1144 10673.78 roll -1.18 - - 2227.88 - 2.83 0.021 2198.00 -407.9 -77.86 - - 3197.47 - - - - - - - - - 16.04 -
10979.63 804.58 -6.12 1176 10983.69 no move -1.18 - - 2228.44 - - - 2196.94 - -77.86 - - 3196.22 - - - - - - - - - - -
11289.69 821.93 -5.65 1207 11310.86 roll -1.18 - - 2227.06 - 3.39 0.085 3350.00 340.1 -77.86 - - 3196.72 - - - - - - - - - 15.92 -
11326.32 824.38 -6.16 1211 11344.80 roll -1.18 - - 2227.62 - 2.86 0.021 2198.31 -402.7 -77.86 - - 3197.19 - - - - - - - - - 16.02 -
11650.64 842.57 -5.79 1243 11671.82 roll -1.18 - - 2227.50 - 3.39 0.085 3349.81 339.7 -77.86 - - 3198.06 - - - - - - - - - 15.92 -
11707.64 846.47 -6.05 1251 11726.12 roll -1.18 - - 2227.88 - 2.83 0.021 2199.50 -406.5 -77.86 - - 3195.84 - - - - - - - - - 16.02 -
12032.09 865.56 -5.73 1283 12036.15 no move -1.18 - - 2228.06 - - - 2197.44 - -77.86 - - 3195.59 - - - - - - - - - - -
12342.14 884.04 -5.74 1314 12346.20 no move -1.18 - - 2227.50 - - - 2197.75 - -77.86 - - 3195.16 - - - - - - - - - - -
12652.20 902.63 -5.99 1345 12656.26 no move -1.18 - - 2227.12 - - - 2198.56 - -77.86 - - 3194.19 - - - - - - - - - - -
12962.25 920.25 -5.39 1376 12966.31 no move -1.18 - - 2227.31 - - - 2197.06 - -77.86 - - 3194.22 - - - - - - - - - - -
13272.70 936.62 -5.05 1407 13294.28 roll -1.18 - - 2227.69 - 3.42 0.086 3352.62 337.9 -77.86 - - 3193.69 - - - - - - - - - 15.90 -
13335.48 940.55 -5.73 1416 13353.23 roll -1.18 - - 2228.00 - 2.85 0.021 2203.62 -403.2 -77.86 - - 3193.62 - - - - - - - - - 16.02 -
13659.08 957.19 -5.28 1448 13663.15 no move -1.18 - - 2227.94 - - - 2202.44 - -77.86 - - 3193.66 - - - - - - - - - - -
13969.14 973.65 -5.30 1479 13990.73 roll -1.18 - - 2227.12 - 3.41 0.087 3352.06 337.1 -77.86 - - 3192.97 - - - - - - - - - 15.89 -
14006.19 976.16 -5.83 1483 14025.31 roll -1.18 - - 2227.88 - 2.87 0.022 2202.38 -400.6 -77.86 - - 3194.66 - - - - - - - - - 16.00 -
14270 end dive: TARGET_DEPTH_EXCEEDED
14271 begin apogee
14275.86 990.41 -5.16 1509 14375.52 -0.31 1.55 0.137 2440.19 137.0 0.12 0.179 2192.81 -79.8 - 60.87 2.490 2890.44 -5.0 0.332 - - - - - - 15.84 15.57 11.12
14388 end apogee: CONTROL_FINISHED_OK
14389 begin climb
14391.70 992.26 - 1516 14501.67 1.18 2.55 0.092 2805.75 143.4 - - 2193.12 - 77.86 66.20 2.440 2572.44 -4.8 0.326 - - - - - - 15.64 - 12.25
14808.04 972.52 5.81 1555 14813.01 1.32 0.17 0.089 2845.44 233.5 - - 2193.06 - 77.86 - - 2562.25 - - - - - - - - 15.73 - -
15119.38 953.83 5.95 1586 15123.44 VBD 1.44 - - 2846.31 - - - 2193.38 - 77.86 - - 2560.75 - - - - - - - - - - -
15429.69 934.40 6.57 1617 15435.06 1.53 0.26 0.073 2900.44 208.2 - - 2192.38 - 77.86 - - 2559.56 - - - - - - - - 15.87 - -
15740.90 909.17 9.41 1648 15759.47 done 1.53 - - 2900.62 - 3.09 0.080 1147.44 -338.2 77.86 - - 2558.84 - - - - - - - - - 15.90 -
15815.68 902.88 8.90 1660 15833.68 done 1.53 - - 2900.06 - 2.84 0.032 2273.75 396.6 77.86 - - 2561.94 - - - - - - - - - 15.96 -
16139.64 874.63 8.77 1692 16143.70 VBD 1.53 - - 2900.75 - - - 2274.19 - 77.86 - - 2558.47 - - - - - - - - - - -
16449.69 848.77 8.42 1723 16470.46 done 1.53 - - 2901.31 - 3.30 0.075 1147.56 -341.4 77.86 - - 2556.75 - - - - - - - - - 15.93 -
16605.97 835.55 8.43 1751 16624.46 done 1.53 - - 2901.06 - 2.85 0.032 2273.75 395.2 77.86 - - 2558.78 - - - - - - - - - 15.98 -
16930.30 811.89 7.56 1783 16951.08 done 1.53 - - 2899.81 - 3.28 0.075 1146.00 -343.8 77.86 - - 2558.44 - - - - - - - - - 15.94 -
17016.56 805.27 7.80 1797 17035.43 done 1.53 - - 2900.69 - 2.86 0.032 2273.62 394.3 77.86 - - 2558.03 - - - - - - - - - 16.00 -
17341.68 783.03 6.76 1829 17362.46 done 1.61 - - 2900.44 - 3.30 0.074 1145.94 -341.7 77.86 - - 2559.25 - - - - - - - - - 15.90 -
17404.07 778.60 7.33 1838 17421.83 done 1.65 - - 2901.06 - 2.87 0.032 2274.12 393.1 77.86 - - 2557.28 - - - - - - - - - 16.00 -
17728.09 756.27 6.94 1870 17748.94 1.72 0.19 0.079 2944.31 227.6 3.22 0.095 3350.94 334.4 77.86 - - 2558.66 - - - - - - - - 15.93 15.88 -
17799.53 750.16 8.58 1881 17818.02 done 1.72 - - 2945.19 - 2.82 0.023 2204.75 -406.5 77.86 - - 2558.19 - - - - - - - - - 16.02 -
18123.87 723.80 8.47 1913 18127.93 VBD 1.72 - - 2945.75 - - - 2203.81 - 77.86 - - 2556.81 - - - - - - - - - - -
18433.92 698.24 8.46 1944 18452.48 done 1.72 - - 2944.56 - 3.09 0.077 1146.25 -342.3 77.86 - - 2556.47 - - - - - - - - - 15.94 -
18608.73 682.92 8.93 1976 18626.48 done 1.72 - - 2945.38 - 2.83 0.032 2274.00 398.5 77.86 - - 2557.66 - - - - - - - - - 16.00 -
18932.30 656.01 8.17 2008 18936.36 VBD 1.72 - - 2945.81 - - - 2273.94 - 77.86 - - 2556.59 - - - - - - - - - - -
19242.31 630.89 7.87 2039 19261.69 done 1.72 - - 2945.12 - 3.26 0.074 1146.38 -345.9 77.86 - - 2558.00 - - - - - - - - - 15.93 -
19392.20 617.62 8.75 2066 19410.69 done 1.72 - - 2945.00 - 2.86 0.031 2274.19 394.3 77.86 - - 2557.84 - - - - - - - - - 16.02 -
19716.55 592.16 7.58 2098 19720.61 VBD 1.72 - - 2946.38 - - - 2274.69 - 77.86 - - 2556.12 - - - - - - - - - - -
20026.99 569.96 7.45 2129 20047.76 done 1.75 - - 2944.56 - 3.26 0.073 1146.88 -346.0 77.86 - - 2556.75 - - - - - - - - - 15.94 -
20193.68 557.38 7.49 2159 20212.17 done 1.79 - - 2945.12 - 2.84 0.032 2273.31 396.6 77.86 - - 2558.31 - - - - - - - - - 16.01 -
20518.43 536.22 6.05 2191 20540.86 1.91 0.20 0.079 2992.81 238.5 3.29 0.073 1146.38 -342.5 77.86 - - 2558.25 - - - - - - - - 15.95 15.79 -
20592.06 530.87 7.73 2202 20609.82 done 1.91 - - 2993.12 - 2.85 0.031 2274.69 395.9 77.86 - - 2554.44 - - - - - - - - - 16.02 -
20916.08 509.20 6.49 2234 20920.14 VBD 2.00 - - 2993.06 - - - 2275.00 - 77.86 - - 2555.25 - - - - - - - - - - -
21226.38 489.22 6.45 2265 21247.98 2.10 0.04 0.223 3013.00 498.5 3.24 0.073 1146.19 -348.4 77.86 - - 2558.78 - - - - - - - - 15.94 15.83 -
21379.21 477.64 7.71 2292 21397.21 done 2.10 - - 3012.00 - 2.85 0.031 2273.31 395.5 77.86 - - 2556.62 - - - - - - - - - 15.99 -
21703.17 453.17 7.86 2324 21722.54 done 2.10 - - 3013.31 - 3.26 0.072 1146.75 -345.6 77.86 - - 2555.59 - - - - - - - - - 15.91 -
21783.14 446.61 8.02 2337 21801.63 done 2.10 - - 3013.50 - 2.84 0.031 2273.50 396.7 77.86 - - 2557.97 - - - - - - - - - 15.99 -
22107.85 423.36 7.00 2369 22127.24 2.16 - - 3013.94 - 3.20 0.093 3351.44 336.9 77.86 - - 2555.47 - - - - - - - - - 15.80 -
22178.13 417.86 7.53 2380 22196.22 2.19 - - 3013.69 - 2.80 0.022 2202.19 -410.4 77.86 - - 2558.62 - - - - - - - - - 16.00 -
22502.47 399.63 5.13 2412 22521.05 2.37 - - 3012.88 - 3.05 0.075 1145.94 -346.3 77.86 - - 2556.53 - - - - - - - - - 15.90 -
22657.68 391.81 4.93 2440 22748.03 2.50 - - 3014.25 - 2.83 0.031 2274.50 398.8 142.32 51.31 1.773 2308.44 -4.8 0.178 - - - - - - - 15.97 11.50
23053.88 358.36 9.62 2482 23073.27 2.50 - - 3013.31 - 3.25 0.073 1146.31 -347.1 142.32 - - 2302.88 - - - - - - - - - 15.82 -
23103.87 353.26 10.10 2489 23122.46 2.50 - - 3014.31 - 2.86 0.031 2272.50 393.8 142.32 - - 2301.44 - - - - - - - - - 15.86 -
23428.30 321.02 10.19 2521 23432.38 2.50 - - 3013.75 - - - 2272.94 - 142.32 - - 2299.19 - - - - - - - - - - -
23738.31 289.09 10.47 2552 23757.71 2.50 - - 3013.19 - 3.25 0.073 1146.75 -346.5 142.32 - - 2300.62 - - - - - - - - - 15.82 -
23808.18 281.56 10.76 2563 23826.69 2.50 - - 3013.88 - 2.85 0.031 2272.25 394.9 142.32 - - 2299.12 - - - - - - - - - 15.91 -
24132.53 249.55 9.67 2595 24152.07 2.50 - - 3013.50 - 3.26 0.072 1145.12 -345.7 142.32 - - 2299.28 - - - - - - - - - 15.90 -
24192.55 243.63 9.85 2604 24211.44 2.50 - - 3013.19 - 2.85 0.031 2273.56 395.9 142.32 - - 2297.72 - - - - - - - - - 15.96 -
24517.29 214.42 8.80 2636 24521.37 2.50 - - 3014.12 - - - 2274.56 - 142.32 - - 2296.62 - - - - - - - - - - -
24827.31 188.34 7.92 2667 24846.94 2.50 - - 3012.75 - 3.21 0.093 3349.12 334.8 142.32 - - 2299.47 - - - - - - - - - 15.77 -
24873.25 184.31 9.08 2673 24891.02 2.50 - - 3014.00 - 2.81 0.022 2203.00 -407.9 142.32 - - 2297.47 - - - - - - - - - 15.95 -
25196.87 157.60 8.58 2705 25200.95 2.50 - - 3014.19 - - - 2199.62 - 142.32 - - 2296.84 - - - - - - - - - - -
25507.35 133.38 7.19 2736 25511.42 2.55 - - 3013.75 - - - 2200.25 - 142.32 - - 2296.12 - - - - - - - - - - -
25817.68 114.25 5.58 2767 25836.26 2.70 - - 3013.44 - 3.04 0.074 1145.44 -347.0 142.32 - - 2295.12 - - - - - - - - - 15.75 -
26067.21 102.99 3.59 2814 26184.95 2.88 - - 3013.75 - 2.83 0.028 2278.88 400.5 234.49 70.88 1.378 1933.34 -5.1 0.064 - - - - - - - 15.95 11.86
26491.67 75.64 6.39 2890 26511.78 2.98 - - 3013.12 - 3.30 0.070 1146.88 -343.0 234.49 - - 1922.97 - - - - - - - - - 15.75 -
26743.68 59.70 5.96 2937 26762.40 3.11 - - 3013.75 - 2.85 0.029 2274.62 395.7 234.49 - - 1920.06 - - - - - - - - - 15.81 -
26948.67 49.40 5.29 2975 26968.79 3.27 - - 3013.94 - 3.27 0.068 1146.38 -345.0 234.49 - - 1919.25 - - - - - - - - - 15.76 -
27080.42 42.70 4.98 2998 27168.00 3.40 - - 3013.94 - 2.84 0.028 2276.31 397.9 297.86 47.72 1.256 1676.56 -5.1 0.029 - - - - - - - 15.76 11.96
27354.27 27.19 4.26 3046 27459.62 3.55 - - 3013.00 - 3.21 0.090 3350.25 334.6 376.14 61.33 1.215 1355.91 -5.2 0.020 - - - - - - - 15.59 12.00
27661.28 20.35 3.46 3099 27783.62 3.74 - - 3013.81 - 2.83 0.020 2193.94 -408.6 471.01 72.79 1.180 970.72 -5.3 0.015 - - - - - - - 15.69 12.10
27964 end climb: SURFACE_DEPTH_REACHED
27964 begin surface coast
28035 end surface coast: CONTROL_FINISHED_OK
28035 begin surface
SM 1.24 - - - - 183.2 - - 957.4 - 19.10 0.040 972.8 50.9 - 0.17 0.084 942.0 5524.5 -8.335 - - 30.00 15.78 15.82 -