NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 341 * Raw log
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• Previous call tries 3 • 120.93 of 506.00 AH used of 24V (76.10% remains)
• Surface angle -59.9 deg, depth 0.93 m • Intended pitch -17.5 deg, speed -9.167 cm/s
• No surface pump (final VBD was 1029.2, SM_CC=430)
• GPS1 time: 19 s
• 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
18.91 - - - 132.45 VBD -1.33 - - 180.56 - - - 2314.94 - -116.79 80.39 0.005 2834.53 - - - - - - - - - - 15.15
134.66 3.67 -3.60 16 248.39 -1.33 16.85 0.215 2192.88 119.4 3.06 0.083 3352.06 338.9 -116.79 6.86 0.008 3370.41 78.1 -6.105 - - - - - - 15.43 15.19 15.30
284.65 44.98 -13.20 29 302.94 roll -1.33 - - 2193.56 - 2.85 0.018 2195.56 -405.8 -116.79 - - 3372.78 - - - - - - - - - 15.70 -
488.78 70.32 -11.98 67 508.26 roll -1.33 - - 2193.38 - 3.04 0.066 1144.88 -345.6 -116.79 - - 3373.44 - - - - - - - - - 15.67 -
619.44 87.08 -12.28 90 637.34 roll -1.33 - - 2193.44 - 2.80 0.024 2280.75 405.7 -116.79 - - 3373.88 - - - - - - - - - 15.72 -
828.14 109.26 -9.52 120 832.16 no move -1.33 - - 2192.94 - - - 2280.94 - -116.79 - - 3374.00 - - - - - - - - - - -
1138.19 135.23 -8.76 151 1156.97 done -1.33 - - 2194.00 - 3.15 0.080 3351.75 339.9 -116.79 - - 3373.88 - - - - - - - - - 15.73 -
1177.39 139.22 -10.00 156 1195.70 roll -1.33 - - 2193.00 - 2.83 0.018 2191.69 -409.9 -116.79 - - 3375.62 - - - - - - - - - 15.86 -
1501.51 167.49 -9.10 188 1522.49 done -1.33 - - 2192.69 - 3.36 0.077 3350.88 345.0 -116.79 - - 3375.69 - - - - - - - - - 15.76 -
1553.64 172.74 -9.94 195 1571.48 done -1.33 - - 2194.00 - 2.83 0.018 2193.81 -408.9 -116.79 - - 3373.28 - - - - - - - - - 15.82 -
1877.43 200.83 -8.87 227 1896.04 roll -1.33 - - 2193.62 - 3.04 0.068 1144.75 -345.1 -116.79 - - 3373.75 - - - - - - - - - 15.78 -
1946.52 207.35 -9.31 238 1964.65 roll -1.33 - - 2193.31 - 2.79 0.025 2280.06 406.9 -116.79 - - 3373.81 - - - - - - - - - 15.92 -
2270.49 236.15 -8.89 270 2289.90 roll -1.33 - - 2193.44 - 3.23 0.064 1146.25 -351.0 -116.79 - - 3373.66 - - - - - - - - - 15.78 -
2306.09 239.39 -9.35 274 2323.87 roll -1.33 - - 2193.31 - 2.78 0.024 2277.44 406.9 -116.79 - - 3374.00 - - - - - - - - - 15.93 -
2629.71 267.91 -8.34 306 2633.77 no move -1.33 - - 2193.19 - - - 2277.00 - -116.79 - - 3373.16 - - - - - - - - - - -
2939.76 296.02 -9.52 337 2959.19 roll -1.33 - - 2193.00 - 3.24 0.065 1144.69 -349.5 -116.79 - - 3371.66 - - - - - - - - - 15.88 -
2995.40 301.61 -10.16 345 3012.80 roll -1.33 - - 2193.00 - 2.80 0.025 2279.12 405.2 -116.79 - - 3372.47 - - - - - - - - - 15.96 -
3318.63 333.65 -10.06 377 3338.05 roll -1.33 - - 2192.81 - 3.26 0.065 1145.25 -347.8 -116.79 - - 3372.72 - - - - - - - - - 15.87 -
3368.51 338.80 -10.49 384 3386.90 roll -1.33 - - 2193.50 - 2.80 0.025 2279.06 404.9 -116.79 - - 3371.78 - - - - - - - - - 15.98 -
3692.87 367.42 -8.31 416 3696.93 no move -1.33 - - 2193.12 - - - 2278.75 - -116.79 - - 3370.19 - - - - - - - - - - -
4002.91 394.02 -9.33 447 4006.97 no move -1.33 - - 2193.62 - - - 2279.31 - -116.79 - - 3368.84 - - - - - - - - - - -
4312.97 422.99 -9.15 478 4333.78 roll -1.33 - - 2192.56 - 3.27 0.065 1146.88 -346.3 -116.79 - - 3369.12 - - - - - - - - - 15.87 -
4379.26 429.72 -9.92 488 4398.18 roll -1.33 - - 2193.19 - 2.81 0.026 2276.44 402.0 -116.79 - - 3369.03 - - - - - - - - - 15.98 -
4704.03 459.11 -9.25 520 4708.09 no move -1.33 - - 2192.75 - - - 2276.44 - -116.79 - - 3368.06 - - - - - - - - - - -
5014.07 489.29 -9.83 551 5034.88 roll -1.33 - - 2192.25 - 3.27 0.066 1145.12 -346.0 -116.79 - - 3368.41 - - - - - - - - - 15.85 -
5060.35 494.10 -10.10 557 5078.87 roll -1.33 - - 2193.25 - 2.81 0.026 2276.38 402.6 -116.79 - - 3369.31 - - - - - - - - - 15.97 -
5384.71 525.69 -9.58 589 5388.77 no move -1.33 - - 2193.00 - - - 2276.12 - -116.79 - - 3366.78 - - - - - - - - - - -
5694.76 555.64 -9.08 620 5715.91 roll -1.33 - - 2192.31 - 3.26 0.066 1145.69 -346.8 -116.79 - - 3366.53 - - - - - - - - - 15.85 -
5737.27 559.53 -9.33 625 5755.28 roll -1.33 - - 2192.38 - 2.82 0.026 2274.88 400.4 -116.79 - - 3368.22 - - - - - - - - - 15.99 -
6061.15 585.35 -7.20 657 6065.25 no move -1.33 - - 2193.00 - - - 2275.25 - -116.79 - - 3365.47 - - - - - - - - - - -
6371.19 606.78 -6.62 688 6390.85 roll -1.33 - - 2191.44 - 3.26 0.067 1145.19 -346.6 -116.79 - - 3366.03 - - - - - - - - - 15.85 -
6431.77 610.66 -6.07 697 6450.51 roll -1.33 - - 2192.44 - 2.82 0.026 2276.44 401.2 -116.79 - - 3365.66 - - - - - - - - - 16.00 -
6756.36 632.16 -7.09 729 6776.01 roll -1.33 - - 2192.75 - 3.25 0.067 1145.94 -347.8 -116.79 - - 3364.38 - - - - - - - - - 15.84 -
6806.53 635.78 -6.75 736 6825.27 roll -1.33 - - 2193.19 - 2.84 0.026 2275.44 397.7 -116.79 - - 3364.38 - - - - - - - - - 15.91 -
7131.13 657.39 -7.04 768 7150.78 roll -1.33 - - 2192.38 - 3.25 0.067 1145.81 -347.6 -116.79 - - 3363.66 - - - - - - - - - 15.84 -
7181.32 661.19 -7.29 775 7200.05 roll -1.33 - - 2192.88 - 2.81 0.026 2275.12 401.9 -116.79 - - 3364.81 - - - - - - - - - 15.96 -
7505.92 686.08 -8.38 807 7510.02 no move -1.33 - - 2193.69 - - - 2275.25 - -116.79 - - 3363.09 - - - - - - - - - - -
7816.01 713.96 -9.29 838 7835.67 roll -1.33 - - 2193.19 - 3.27 0.067 1146.06 -345.3 -116.79 - - 3362.59 - - - - - - - - - 15.83 -
7871.91 719.10 -8.79 846 7890.02 roll -1.33 - - 2193.56 - 2.83 0.027 2274.31 398.7 -116.79 - - 3363.94 - - - - - - - - - 16.00 -
8195.88 747.59 -8.37 878 8215.53 roll -1.33 - - 2193.12 - 3.27 0.067 1146.38 -344.9 -116.79 - - 3363.25 - - - - - - - - - 15.82 -
8231.78 751.04 -8.87 882 8249.80 roll -1.33 - - 2193.88 - 2.83 0.027 2275.25 398.9 -116.79 - - 3363.06 - - - - - - - - - 16.00 -
8555.67 777.62 -8.25 914 8559.77 no move -1.33 - - 2193.12 - - - 2275.38 - -116.79 - - 3360.78 - - - - - - - - - - -
8865.72 802.91 -8.17 945 8885.36 roll -1.33 - - 2194.06 - 3.25 0.068 1145.88 -347.5 -116.79 - - 3361.38 - - - - - - - - - 15.82 -
8915.90 807.30 -8.38 952 8934.65 roll -1.33 - - 2193.38 - 2.84 0.027 2275.62 397.8 -116.79 - - 3361.38 - - - - - - - - - 15.97 -
9240.52 833.12 -7.96 984 9260.17 roll -1.33 - - 2192.69 - 3.26 0.068 1146.25 -346.4 -116.79 - - 3360.56 - - - - - - - - - 15.81 -
9311.17 839.37 -8.95 995 9329.92 roll -1.33 - - 2193.12 - 2.83 0.027 2274.38 398.6 -116.79 - - 3360.16 - - - - - - - - - 15.99 -
9635.80 864.07 -7.57 1027 9639.90 no move -1.33 - - 2193.12 - - - 2274.06 - -116.79 - - 3358.97 - - - - - - - - - - -
9945.83 888.64 -7.48 1058 9965.49 roll -1.33 - - 2193.25 - 3.27 0.068 1146.56 -344.8 -116.79 - - 3360.09 - - - - - - - - - 15.80 -
10001.75 893.37 -8.00 1066 10019.76 roll -1.33 - - 2192.56 - 2.84 0.028 2275.12 397.4 -116.79 - - 3360.06 - - - - - - - - - 15.97 -
10325.64 917.14 -6.18 1098 10329.75 no move -1.33 - - 2193.19 - - - 2274.56 - -116.79 - - 3358.88 - - - - - - - - - - -
10635.69 937.79 -6.63 1129 10639.79 no move -1.33 - - 2192.81 - - - 2275.12 - -116.79 - - 3357.47 - - - - - - - - - - -
10945.73 957.94 -6.49 1160 10949.83 no move -1.33 - - 2193.25 - - - 2274.88 - -116.79 - - 3357.44 - - - - - - - - - - -
11256.18 976.84 -5.82 1191 11275.85 roll -1.33 - - 2192.00 - 3.26 0.091 3350.69 330.0 -116.79 - - 3357.97 - - - - - - - - - 15.73 -
11296.35 979.77 -7.03 1196 11315.50 roll -1.33 - - 2192.88 - 2.85 0.021 2199.12 -404.1 -116.79 - - 3357.84 - - - - - - - - - 15.96 -
11480 end dive: TARGET_DEPTH_EXCEEDED
11481 begin apogee
11486.53 990.42 -5.93 1214 11632.97 -0.31 1.87 0.137 2440.38 132.4 0.14 0.158 2187.19 -85.2 - 93.93 2.457 2888.38 -5.0 0.343 - - - - - - 15.60 15.30 10.45
11646 end apogee: CONTROL_FINISHED_OK
11646 begin climb
11649.34 992.09 - 1224 11805.68 1.33 2.84 0.086 2840.81 141.0 - - 2187.38 - 116.79 98.79 2.411 2412.31 -4.8 0.338 - - - - - - 15.51 - 11.78
12111.67 956.79 8.67 1265 12133.96 done 1.33 - - 2839.88 - 3.54 0.091 3349.31 328.2 116.79 - - 2401.97 - - - - - - - - - 15.70 -
12155.31 952.94 8.71 1270 12173.33 done 1.33 - - 2841.06 - 2.88 0.022 2207.12 -396.6 116.79 - - 2400.06 - - - - - - - - - 15.79 -
12479.62 926.06 7.81 1302 12499.11 done 1.41 - - 2841.44 - 3.13 0.077 1146.25 -338.9 116.79 - - 2398.81 - - - - - - - - - 15.79 -
12520.15 922.94 7.63 1307 12540.54 1.50 0.25 0.071 2892.38 203.8 2.86 0.030 2274.94 394.6 116.79 - - 2398.91 - - - - - - - - 15.71 15.86 -
12846.39 892.19 9.99 1339 12850.49 VBD 1.50 - - 2891.69 - - - 2275.00 - 116.79 - - 2396.25 - - - - - - - - - - -
13156.46 861.81 9.94 1370 13177.94 done 1.50 - - 2891.94 - 3.31 0.073 1148.25 -340.4 116.79 - - 2396.50 - - - - - - - - - 15.69 -
13213.45 855.74 10.67 1378 13232.19 done 1.50 - - 2891.94 - 2.85 0.031 2272.69 394.5 116.79 - - 2397.66 - - - - - - - - - 15.94 -
13538.30 825.21 9.24 1410 13542.41 VBD 1.50 - - 2892.19 - - - 2273.00 - 116.79 - - 2394.97 - - - - - - - - - - -
13848.69 797.83 8.59 1441 13869.76 done 1.54 - - 2892.50 - 3.29 0.073 1145.62 -342.7 116.79 - - 2393.78 - - - - - - - - - 15.85 -
13921.00 790.94 9.52 1452 13939.00 done 1.54 - - 2892.62 - 2.86 0.031 2271.88 393.8 116.79 - - 2394.84 - - - - - - - - - 15.95 -
14244.89 761.82 8.88 1484 14249.00 VBD 1.54 - - 2891.88 - - - 2271.50 - 116.79 - - 2393.62 - - - - - - - - - - -
14554.95 734.49 8.78 1515 14575.26 done 1.54 - - 2891.81 - 3.29 0.073 1146.75 -341.9 116.79 - - 2393.72 - - - - - - - - - 15.85 -
14650.92 725.03 9.62 1531 14669.65 done 1.54 - - 2891.94 - 2.87 0.031 2272.31 392.2 116.79 - - 2395.00 - - - - - - - - - 15.98 -
14975.54 693.87 9.71 1563 14996.62 done 1.54 - - 2891.88 - 3.29 0.072 1145.75 -342.4 116.79 - - 2392.06 - - - - - - - - - 15.83 -
15027.87 688.41 10.74 1570 15045.88 done 1.54 - - 2891.25 - 2.86 0.031 2271.69 393.7 116.79 - - 2393.16 - - - - - - - - - 15.98 -
15352.19 659.00 8.35 1602 15373.26 done 1.58 - - 2892.00 - 3.30 0.072 1146.75 -340.9 116.79 - - 2391.69 - - - - - - - - - 15.84 -
15394.91 655.35 8.29 1607 15412.92 done 1.64 - - 2892.06 - 2.87 0.030 2273.31 392.5 116.79 - - 2394.19 - - - - - - - - - 15.98 -
15719.22 632.15 6.82 1639 15725.10 1.78 0.35 0.064 2958.38 189.5 - - 2273.31 - 116.79 - - 2394.03 - - - - - - - - 15.90 - -
16031.00 604.59 9.18 1670 16052.48 done 1.78 - - 2959.31 - 3.31 0.071 1145.69 -340.7 116.79 - - 2392.22 - - - - - - - - - 15.83 -
16153.76 592.26 10.21 1691 16172.03 done 1.78 - - 2959.06 - 2.86 0.031 2271.12 393.5 116.79 - - 2393.88 - - - - - - - - - 15.98 -
16478.03 560.49 10.24 1723 16499.12 done 1.78 - - 2959.50 - 3.29 0.071 1145.94 -342.0 116.79 - - 2391.34 - - - - - - - - - 15.80 -
16590.37 548.35 10.76 1742 16608.39 done 1.78 - - 2958.62 - 2.86 0.030 2271.56 393.6 116.79 - - 2393.31 - - - - - - - - - 15.98 -
16914.27 516.17 9.49 1774 16935.35 done 1.78 - - 2959.88 - 3.30 0.071 1146.25 -341.0 116.79 - - 2392.31 - - - - - - - - - 15.82 -
16960.88 511.44 9.70 1780 16979.62 done 1.78 - - 2959.00 - 2.86 0.030 2272.38 393.8 116.79 - - 2394.44 - - - - - - - - - 15.96 -
17285.91 482.09 8.63 1812 17290.01 VBD 1.81 - - 2959.81 - - - 2272.75 - 116.79 - - 2392.22 - - - - - - - - - - -
17596.31 459.13 6.92 1843 17619.05 1.94 0.17 0.085 3001.62 245.9 3.31 0.070 1146.69 -340.2 116.79 - - 2393.28 - - - - - - - - 15.92 15.61 -
17680.71 452.29 8.14 1856 17698.74 done 2.01 - - 3001.06 - 2.86 0.030 2273.06 393.8 116.79 - - 2393.44 - - - - - - - - - 15.96 -
18004.63 424.66 8.97 1888 18024.31 done 2.01 - - 3001.12 - 3.28 0.070 1146.94 -343.3 116.79 - - 2393.72 - - - - - - - - - 15.81 -
18060.67 419.23 9.89 1896 18078.69 done 2.01 - - 2999.88 - 2.86 0.030 2273.75 394.0 116.79 - - 2393.34 - - - - - - - - - 15.95 -
18384.57 388.27 9.47 1928 18405.63 done 2.01 - - 3000.19 - 3.28 0.069 1145.38 -344.0 116.79 - - 2392.66 - - - - - - - - - 15.80 -
18411.15 385.54 9.87 1930 18429.92 done 2.01 - - 3000.81 - 2.86 0.029 2274.31 394.7 116.79 - - 2393.44 - - - - - - - - - 15.97 -
18735.81 354.45 8.91 1962 18755.87 done 2.01 - - 3000.75 - 3.28 0.069 1146.06 -344.0 116.79 - - 2393.38 - - - - - - - - - 15.59 -
18782.12 350.19 9.05 1968 18800.13 done 2.01 - - 3000.69 - 2.85 0.029 2273.19 395.5 116.79 - - 2393.69 - - - - - - - - - 15.95 -
19105.99 321.57 8.69 2000 19110.10 VBD 2.01 - - 3001.50 - - - 2273.44 - 116.79 - - 2393.06 - - - - - - - - - - -
19416.48 295.12 8.08 2031 19420.67 VBD 2.07 - - 3001.38 - - - 2273.56 - 116.79 - - 2391.91 - - - - - - - - - - -
19726.98 269.87 8.53 2062 19746.89 done 2.11 - - 3001.25 - 3.28 0.068 1145.94 -343.8 116.79 - - 2392.12 - - - - - - - - - 15.73 -
19793.25 263.71 9.33 2072 19811.28 2.11 - - 3001.06 - 2.84 0.029 2274.44 397.4 116.79 - - 2392.88 - - - - - - - - - 15.97 -
20117.57 236.99 7.66 2104 20138.65 2.20 - - 3000.25 - 3.26 0.090 3348.88 329.6 116.79 - - 2392.69 - - - - - - - - - 15.58 -
20164.57 233.17 8.01 2110 20183.34 2.27 - - 3001.38 - 2.82 0.021 2200.50 -407.2 116.79 - - 2393.41 - - - - - - - - - 15.94 -
20489.62 211.40 6.07 2142 20586.73 2.40 - - 3001.69 - 3.44 0.089 3350.56 334.3 183.76 51.62 1.465 2139.50 -4.9 0.121 - - - - - - - 15.63 11.03
20592.87 202.86 10.11 2155 20611.63 roll back 2.40 - - 3001.25 - 2.85 0.021 2205.19 -401.9 183.76 - - 2137.28 - - - - - - - - - 15.78 -
20917.64 169.77 10.30 2187 20936.92 2.40 - - 3001.38 - 3.12 0.073 1146.50 -339.3 183.76 - - 2130.16 - - - - - - - - - 15.64 -
21093.19 148.96 12.90 2219 21111.46 2.40 - - 3000.81 - 2.85 0.029 2273.38 395.4 183.76 - - 2130.69 - - - - - - - - - 15.84 -
21417.45 113.32 9.68 2251 21437.12 2.40 - - 3001.19 - 3.25 0.090 3349.81 331.2 183.76 - - 2128.50 - - - - - - - - - 15.60 -
21487.64 106.25 9.91 2262 21506.82 2.40 - - 3001.62 - 2.84 0.021 2203.00 -403.8 183.76 - - 2129.19 - - - - - - - - - 15.80 -
21813.32 77.87 7.75 2319 21832.90 2.49 - - 3000.62 - 3.10 0.072 1146.12 -340.9 183.76 - - 2129.50 - - - - - - - - - 15.67 -
21944.58 68.15 7.43 2342 21963.32 2.59 - - 3000.81 - 2.85 0.028 2276.75 396.7 183.76 - - 2129.12 - - - - - - - - - 15.72 -
22149.62 58.54 3.83 2380 22296.09 2.82 - - 3001.50 - 3.33 0.070 1146.06 -339.5 299.13 87.58 1.258 1668.72 -5.3 0.042 - - - - - - - 15.51 11.50
22303.05 49.00 8.72 2400 22322.21 roll back 2.82 - - 3001.94 - 2.89 0.027 2275.00 390.6 299.13 - - 1663.41 - - - - - - - - - 15.67 -
22508.63 32.49 6.72 2438 22529.43 2.97 - - 3002.38 - 3.26 0.089 3350.19 329.8 299.13 - - 1658.66 - - - - - - - - - 15.58 -
22607.03 25.99 6.67 2454 22626.19 3.12 - - 3001.50 - 2.84 0.020 2197.56 -405.9 299.13 - - 1657.88 - - - - - - - - - 15.74 -
22812.47 20.03 2.38 2492 22994.81 3.41 - - 3001.69 - 3.49 0.084 3352.25 330.9 445.91 112.56 1.179 1071.03 -5.2 0.015 - - - - - - - 15.43 11.65
23051 end climb: SURFACE_DEPTH_REACHED
23051 begin surface coast
23101 end surface coast: CONTROL_FINISHED_OK
23102 begin surface
SM 0.97 - - - - 179.2 - - 1061.3 - 19.50 0.045 1093.4 56.1 - 2.44 0.019 1029.2 420.4 -2.193 - - 30.00 15.67 15.72 -