NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 39 * Raw log
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• Previous call tries 2 • 15.00 of 506.00 AH used of 24V (97.04% remains)
• Surface angle -62.8 deg, depth 1.15 m • Intended pitch -16.9 deg, speed -8.462 cm/s
• VBD pumped to 430.04 (SM_CC=430)
• GPS1 time: 21 s
• GPS2 time: 2 s • Transponder ping count: 14
• 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
12 begin dive
18.65 - - - 111.16 VBD -1.23 - - 178.25 - - - 2154.75 - -87.59 65.08 0.005 2858.06 - - - - - - - - - - 15.07
113.37 3.55 -4.22 13 222.26 -1.23 16.42 0.233 2216.62 124.1 2.81 0.073 1093.00 -377.8 -87.59 5.30 0.009 3251.25 74.2 -4.873 - - - - - - 15.70 15.64 15.68
228.28 40.44 -19.06 20 246.33 roll -1.23 - - 2216.19 - 2.77 0.026 2231.75 411.1 -87.59 - - 3254.34 - - - - - - - - - 15.85 -
432.21 69.54 -12.65 58 450.37 roll -1.23 - - 2215.06 - 2.89 0.082 3303.19 370.7 -87.59 - - 3255.75 - - - - - - - - - 15.87 -
486.50 76.59 -13.27 66 504.26 roll -1.23 - - 2216.88 - 2.73 0.022 2147.75 -423.2 -87.59 - - 3254.12 - - - - - - - - - 15.93 -
690.08 101.32 -11.50 103 707.14 roll -1.23 - - 2216.50 - 2.79 0.072 1093.00 -378.0 -87.59 - - 3254.16 - - - - - - - - - 15.96 -
747.55 108.01 -11.16 112 765.70 roll -1.23 - - 2216.56 - 2.74 0.026 2232.88 416.0 -87.59 - - 3256.44 - - - - - - - - - 15.90 -
1071.47 137.84 -6.91 144 1088.91 roll -1.23 - - 2217.00 - 2.85 0.082 3304.38 376.0 -87.59 - - 3257.47 - - - - - - - - - 15.99 -
1115.04 141.36 -7.79 150 1132.10 done -1.23 - - 2216.31 - 2.72 0.022 2146.50 -425.7 -87.59 - - 3257.53 - - - - - - - - - 16.00 -
1437.89 169.02 -9.31 182 1455.33 done -1.23 - - 2216.94 - 2.78 0.073 1092.00 -379.3 -87.59 - - 3255.59 - - - - - - - - - 15.96 -
1531.47 178.63 -10.36 198 1549.29 roll -1.23 - - 2216.56 - 2.74 0.026 2230.81 415.6 -87.59 - - 3255.41 - - - - - - - - - 16.03 -
1855.23 207.70 -9.10 230 1873.71 roll -1.23 - - 2216.06 - 3.01 0.069 1093.19 -377.9 -87.59 - - 3254.16 - - - - - - - - - 16.04 -
1909.88 212.81 -9.52 238 1927.55 roll -1.23 - - 2216.19 - 2.74 0.027 2232.25 415.7 -87.59 - - 3256.09 - - - - - - - - - 16.06 -
2233.36 239.94 -8.54 270 2251.02 roll -1.23 - - 2216.81 - 2.86 0.085 3303.38 374.5 -87.59 - - 3254.19 - - - - - - - - - 16.04 -
2427.25 259.49 -10.16 306 2444.51 roll -1.23 - - 2216.00 - 2.72 0.023 2150.12 -424.0 -87.59 - - 3256.16 - - - - - - - - - 16.07 -
2750.31 288.61 -9.18 338 2767.58 roll -1.23 - - 2216.44 - 2.78 0.076 1093.00 -380.3 -87.59 - - 3254.41 - - - - - - - - - 16.08 -
2803.75 293.88 -9.93 346 2821.01 roll -1.23 - - 2216.81 - 2.73 0.027 2230.88 416.8 -87.59 - - 3254.56 - - - - - - - - - 16.09 -
3126.80 323.32 -8.96 378 3144.46 roll -1.23 - - 2216.31 - 2.87 0.085 3303.81 373.8 -87.59 - - 3253.72 - - - - - - - - - 16.09 -
3210.64 331.71 -10.28 392 3228.53 roll -1.23 - - 2216.00 - 2.70 0.023 2151.00 -427.0 -87.59 - - 3254.47 - - - - - - - - - 16.10 -
3534.45 359.85 -8.47 424 3538.49 no move -1.23 - - 2216.75 - - - 2149.19 - -87.59 - - 3250.22 - - - - - - - - - - -
3844.48 386.68 -9.87 455 3848.53 no move -1.23 - - 2216.69 - - - 2148.56 - -87.59 - - 3249.53 - - - - - - - - - - -
4154.53 411.67 -8.82 486 4172.99 roll -1.23 - - 2215.88 - 3.09 0.084 3305.31 374.4 -87.59 - - 3251.66 - - - - - - - - - 16.10 -
4253.46 421.10 -9.54 503 4271.03 roll -1.23 - - 2216.44 - 2.69 0.024 2150.75 -429.2 -87.59 - - 3250.94 - - - - - - - - - 16.10 -
4576.80 448.29 -9.62 535 4580.85 no move -1.23 - - 2216.00 - - - 2150.62 - -87.59 - - 3248.22 - - - - - - - - - - -
4886.86 472.35 -7.64 566 4904.12 roll -1.23 - - 2216.62 - 2.79 0.079 1092.50 -379.3 -87.59 - - 3247.75 - - - - - - - - - 16.11 -
4970.30 479.40 -8.49 580 4987.56 roll -1.23 - - 2216.12 - 2.73 0.029 2232.75 417.7 -87.59 - - 3248.22 - - - - - - - - - 16.13 -
5293.37 503.46 -6.99 612 5297.41 no move -1.23 - - 2216.31 - - - 2232.56 - -87.59 - - 3245.94 - - - - - - - - - - -
5603.43 524.16 -7.01 643 5607.48 no move -1.23 - - 2215.62 - - - 2231.94 - -87.59 - - 3244.41 - - - - - - - - - - -
5913.46 547.53 -8.09 674 5917.75 no move -1.23 - - 2216.56 - - - 2232.44 - -87.59 - - 3244.09 - - - - - - - - - - -
6223.67 573.58 -8.26 705 6227.72 no move -1.23 - - 2216.75 - - - 2232.69 - -87.59 - - 3242.94 - - - - - - - - - - -
6533.73 598.68 -7.68 736 6552.21 roll -1.23 - - 2215.62 - 3.01 0.075 1092.75 -378.7 -87.59 - - 3244.53 - - - - - - - - - 16.11 -
6632.68 606.68 -7.96 753 6651.07 roll -1.23 - - 2216.75 - 2.74 0.029 2228.88 414.6 -87.59 - - 3244.75 - - - - - - - - - 16.08 -
6956.88 629.85 -6.90 785 6974.55 roll -1.23 - - 2216.06 - 2.90 0.090 3304.06 370.8 -87.59 - - 3244.97 - - - - - - - - - 16.10 -
7054.99 637.52 -8.03 802 7072.59 roll -1.23 - - 2215.88 - 2.70 0.024 2152.19 -426.6 -87.59 - - 3242.75 - - - - - - - - - 16.11 -
7378.40 659.88 -6.93 834 7382.45 no move -1.23 - - 2215.94 - - - 2152.44 - -87.59 - - 3240.88 - - - - - - - - - - -
7688.44 681.74 -7.00 865 7692.49 no move -1.23 - - 2216.44 - - - 2152.31 - -87.59 - - 3241.09 - - - - - - - - - - -
7998.48 703.88 -7.25 896 8002.53 no move -1.23 - - 2216.12 - - - 2151.81 - -87.59 - - 3239.72 - - - - - - - - - - -
8308.52 726.10 -7.11 927 8327.39 roll -1.23 - - 2213.56 - 3.12 0.087 3303.44 369.1 -87.59 - - 3240.25 - - - - - - - - - 16.12 -
8373.57 731.37 -7.98 937 8391.08 roll -1.23 - - 2216.44 - 2.71 0.025 2151.50 -425.1 -87.59 - - 3241.59 - - - - - - - - - 16.11 -
8697.00 753.43 -6.60 969 8701.04 no move -1.23 - - 2216.50 - - - 2151.19 - -87.59 - - 3239.25 - - - - - - - - - - -
9007.03 773.53 -6.37 1000 9011.56 no move -1.23 - - 2216.12 - - - 2151.19 - -87.59 - - 3238.72 - - - - - - - - - - -
9317.37 793.18 -6.81 1031 9336.25 roll -1.23 - - 2216.50 - 3.11 0.087 3299.88 369.4 -87.59 - - 3237.56 - - - - - - - - - 16.11 -
9372.42 797.24 -7.31 1039 9389.69 roll -1.23 - - 2215.88 - 2.71 0.025 2152.44 -423.4 -87.59 - - 3238.72 - - - - - - - - - 16.11 -
9695.50 818.94 -6.29 1071 9699.55 no move -1.23 - - 2215.94 - - - 2152.00 - -87.59 - - 3237.44 - - - - - - - - - - -
10005.54 838.78 -6.08 1102 10009.59 no move -1.23 - - 2216.69 - - - 2152.38 - -87.59 - - 3236.97 - - - - - - - - - - -
10315.35 859.60 -6.93 1133 10334.22 roll -1.23 - - 2216.69 - 3.11 0.088 3304.06 370.3 -87.59 - - 3239.34 - - - - - - - - - 16.08 -
10380.40 864.78 -7.48 1143 10398.07 roll -1.23 - - 2216.88 - 2.72 0.025 2153.00 -423.2 -87.59 - - 3237.53 - - - - - - - - - 16.10 -
10703.89 887.09 -6.92 1175 10707.94 no move -1.23 - - 2215.94 - - - 2152.81 - -87.59 - - 3236.41 - - - - - - - - - - -
11013.93 907.69 -6.61 1206 11033.05 roll -1.23 - - 2216.25 - 3.11 0.088 3301.75 369.4 -87.59 - - 3238.81 - - - - - - - - - 16.09 -
11109.34 915.00 -7.99 1222 11127.00 roll -1.23 - - 2216.81 - 2.71 0.025 2153.62 -423.7 -87.59 - - 3236.41 - - - - - - - - - 16.10 -
11432.96 934.36 -5.53 1254 11450.64 roll -1.23 - - 2216.75 - 2.82 0.082 1094.31 -375.6 -87.59 - - 3236.59 - - - - - - - - - 16.02 -
11506.82 939.38 -6.92 1266 11524.08 roll -1.23 - - 2216.38 - 2.74 0.030 2231.00 414.9 -87.59 - - 3237.53 - - - - - - - - - 16.11 -
11829.88 959.41 -6.14 1298 11847.95 roll -1.23 - - 2216.25 - 2.90 0.093 3302.88 369.6 -87.59 - - 3234.94 - - - - - - - - - 16.08 -
11904.13 964.59 -6.94 1310 11921.81 roll -1.23 - - 2216.62 - 2.72 0.025 2153.25 -422.7 -87.59 - - 3235.88 - - - - - - - - - 16.10 -
12227.62 983.07 -5.64 1342 12231.67 no move -1.23 - - 2216.19 - - - 2153.25 - -87.59 - - 3234.97 - - - - - - - - - - -
12357 end dive: TARGET_DEPTH_EXCEEDED
12358 begin apogee
12363.00 990.02 -5.22 1355 12475.90 -0.31 1.61 0.146 2440.75 139.5 0.12 0.205 2195.19 349.5 - 68.50 2.570 2888.81 -5.1 0.324 - - - - - - 16.02 15.53 12.08
12481 end apogee: CONTROL_FINISHED_OK
12482 begin climb
12484.01 991.29 - 1363 12604.82 1.23 2.60 0.097 2816.06 144.3 - - 2194.50 - 87.59 74.51 2.519 2531.06 -4.8 0.315 - - - - - - 15.70 - 12.56
12911.12 962.05 7.37 1402 12915.17 VBD 1.29 - - 2815.75 - - - 2194.25 - 87.59 - - 2520.47 - - - - - - - - - - -
13221.52 940.40 6.83 1433 13243.83 1.39 0.23 0.078 2867.94 226.9 3.20 0.096 3351.19 361.5 87.59 - - 2521.12 - - - - - - - - 15.90 15.89 -
13255.39 937.65 7.75 1436 13272.65 done 1.43 - - 2867.50 - 2.76 0.026 2204.88 -415.3 87.59 - - 2520.00 - - - - - - - - - 15.92 -
13578.46 910.91 8.03 1468 13582.50 VBD 1.43 - - 2868.31 - - - 2203.56 - 87.59 - - 2517.97 - - - - - - - - - - -
13888.50 886.10 8.14 1499 13892.55 VBD 1.43 - - 2867.12 - - - 2203.38 - 87.59 - - 2516.72 - - - - - - - - - - -
14198.57 860.74 8.25 1530 14217.45 done 1.43 - - 2867.19 - 3.14 0.097 3352.12 365.8 87.59 - - 2516.56 - - - - - - - - - 16.02 -
14227.88 858.03 8.34 1533 14246.11 done 1.43 - - 2868.12 - 2.72 0.026 2204.19 -422.0 87.59 - - 2517.47 - - - - - - - - - 16.03 -
14552.03 830.25 8.65 1565 14556.08 VBD 1.43 - - 2867.06 - - - 2203.69 - 87.59 - - 2516.66 - - - - - - - - - - -
14862.07 803.59 8.26 1596 14879.74 done 1.43 - - 2867.50 - 2.83 0.083 1145.19 -374.0 87.59 - - 2517.72 - - - - - - - - - 16.05 -
14900.58 800.46 7.90 1601 14918.96 done 1.47 - - 2868.12 - 2.79 0.035 2274.81 404.9 87.59 - - 2516.59 - - - - - - - - - 16.07 -
15225.13 775.22 7.15 1633 15229.18 VBD 1.55 - - 2867.38 - - - 2275.00 - 87.59 - - 2515.22 - - - - - - - - - - -
15535.39 752.13 7.16 1664 15556.91 1.63 0.25 0.075 2921.62 217.0 3.02 0.079 1144.06 -374.5 87.59 - - 2518.56 - - - - - - - - 16.05 16.03 -
15598.09 746.77 8.78 1673 15615.35 done 1.63 - - 2921.62 - 2.80 0.035 2275.00 403.9 87.59 - - 2517.56 - - - - - - - - - 16.08 -
15921.16 719.07 8.41 1705 15925.21 VBD 1.63 - - 2921.62 - - - 2275.19 - 87.59 - - 2515.41 - - - - - - - - - - -
16231.20 691.17 8.90 1736 16235.25 VBD 1.63 - - 2922.00 - - - 2274.94 - 87.59 - - 2515.50 - - - - - - - - - - -
16541.27 662.42 9.29 1767 16559.60 done 1.63 - - 2922.00 - 2.96 0.099 3351.50 363.7 87.59 - - 2514.38 - - - - - - - - - 16.07 -
16585.88 657.85 9.81 1773 16602.75 done 1.63 - - 2922.00 - 2.69 0.026 2203.31 -426.8 87.59 - - 2515.84 - - - - - - - - - 16.09 -
16908.54 628.98 8.63 1805 16912.60 VBD 1.63 - - 2921.75 - - - 2202.00 - 87.59 - - 2514.81 - - - - - - - - - - -
17218.59 602.52 8.42 1836 17222.64 VBD 1.63 - - 2922.06 - - - 2202.56 - 87.59 - - 2514.50 - - - - - - - - - - -
17529.05 579.16 7.65 1867 17533.10 VBD 1.67 - - 2921.38 - - - 2202.00 - 87.59 - - 2514.94 - - - - - - - - - - -
17839.31 557.31 7.82 1898 17843.36 VBD 1.71 - - 2921.50 - - - 2202.69 - 87.59 - - 2514.59 - - - - - - - - - - -
18149.56 535.54 6.85 1929 18168.46 1.81 0.20 0.081 2967.75 231.2 2.81 0.082 1144.19 -376.7 87.59 - - 2514.50 - - - - - - - - 16.07 16.06 -
18188.91 532.25 8.08 1934 18206.90 done 1.81 - - 2968.12 - 2.76 0.035 2277.38 410.6 87.59 - - 2514.31 - - - - - - - - - 16.10 -
18512.93 502.95 9.22 1966 18516.98 VBD 1.81 - - 2967.19 - - - 2276.94 - 87.59 - - 2513.69 - - - - - - - - - - -
18822.76 475.60 8.34 1997 18841.24 done 1.81 - - 2967.56 - 3.02 0.077 1143.00 -375.5 87.59 - - 2514.19 - - - - - - - - - 16.03 -
18877.41 470.79 8.76 2005 18894.91 done 1.81 - - 2967.81 - 2.77 0.034 2275.12 408.7 87.59 - - 2515.16 - - - - - - - - - 16.10 -
19201.20 445.08 7.44 2037 19219.68 done 1.87 - - 2967.88 - 3.01 0.077 1144.06 -375.8 87.59 - - 2516.22 - - - - - - - - - 16.08 -
19360.17 431.83 8.40 2066 19378.17 done 1.87 - - 2968.00 - 2.80 0.035 2275.25 404.0 87.59 - - 2514.94 - - - - - - - - - 16.07 -
19684.39 405.75 7.94 2098 19688.44 VBD 1.90 - - 2968.94 - - - 2274.81 - 87.59 - - 2513.88 - - - - - - - - - - -
19994.64 382.12 7.51 2129 20012.72 done 1.96 - - 2968.31 - 2.99 0.077 1143.06 -378.5 87.59 - - 2512.69 - - - - - - - - - 16.08 -
20113.59 372.75 7.78 2150 20132.82 2.00 0.19 0.086 3015.06 246.1 2.78 0.034 2275.06 407.2 87.59 - - 2514.84 - - - - - - - - 16.00 16.02 -
20439.05 348.70 7.05 2182 20457.13 done 2.08 - - 3015.00 - 2.94 0.097 3351.94 366.3 87.59 - - 2513.91 - - - - - - - - - 16.05 -
20527.58 341.59 7.98 2197 20545.58 done 2.08 - - 3015.38 - 2.72 0.025 2203.31 -422.3 87.59 - - 2516.25 - - - - - - - - - 16.08 -
20851.81 318.86 7.02 2229 20871.07 2.17 - - 3014.94 - 3.12 0.093 3353.12 368.5 87.59 - - 2517.00 - - - - - - - - - 16.04 -
20882.03 316.58 7.14 2232 20900.12 2.25 - - 3014.75 - 2.70 0.025 2200.75 -426.8 87.59 - - 2514.84 - - - - - - - - - 16.03 -
21206.33 293.48 7.09 2264 21210.39 2.33 - - 3014.25 - - - 2200.62 - 87.59 - - 2513.88 - - - - - - - - - - -
21516.60 272.24 7.05 2295 21534.69 2.42 - - 3014.88 - 2.81 0.080 1143.00 -376.4 87.59 - - 2515.12 - - - - - - - - - 16.07 -
21765.72 253.46 7.50 2342 21783.71 2.47 - - 3015.38 - 2.79 0.034 2276.50 406.3 87.59 - - 2515.03 - - - - - - - - - 16.08 -
22089.93 232.38 6.37 2374 22108.01 2.60 - - 3014.88 - 2.99 0.074 1144.44 -378.6 87.59 - - 2516.56 - - - - - - - - - 15.97 -
22338.92 216.08 6.29 2421 22356.94 2.73 - - 3015.00 - 2.79 0.033 2277.81 406.2 87.59 - - 2515.09 - - - - - - - - - 16.06 -
22663.12 197.91 5.54 2453 22681.45 2.91 - - 3014.19 - 2.99 0.074 1142.00 -379.9 87.59 - - 2515.28 - - - - - - - - - 15.99 -
22728.14 194.03 5.95 2463 22745.42 3.06 - - 3015.19 - 2.79 0.032 2277.44 407.0 87.59 - - 2514.50 - - - - - - - - - 16.03 -
23051.63 177.03 5.04 2495 23132.85 3.20 - - 3015.00 - - - 2277.62 - 159.57 55.58 1.555 2239.38 -4.9 0.094 - - - - - - - - 12.16
23438.65 137.49 11.57 2532 23442.71 3.20 - - 3014.88 - - - 2277.25 - 159.57 - - 2230.06 - - - - - - - - - - -
23748.71 111.05 8.24 2563 23766.80 3.20 - - 3015.38 - 2.94 0.095 3354.00 366.2 159.57 - - 2228.25 - - - - - - - - - 15.94 -
23863.39 101.17 7.89 2583 23880.68 3.23 - - 3015.00 - 2.73 0.024 2199.56 -422.9 159.57 - - 2228.59 - - - - - - - - - 15.91 -
24186.95 92.97 1.52 2645 24361.77 3.53 - - 3014.12 - 3.28 0.092 3351.50 351.2 305.54 109.94 1.425 1643.59 -5.3 0.058 - - - - - - - 15.51 12.39
24413.06 74.83 12.42 2678 24431.44 roll back 3.53 - - 3015.12 - 2.79 0.024 2205.81 -410.6 305.54 - - 1637.62 - - - - - - - - - 15.71 -
24617.37 54.05 9.60 2716 24635.77 3.53 - - 3014.56 - 2.87 0.078 1145.06 -369.6 305.54 - - 1632.56 - - - - - - - - - 15.78 -
24646.94 51.13 10.00 2719 24665.74 3.53 - - 3015.19 - 2.81 0.031 2276.12 402.5 305.54 - - 1631.34 - - - - - - - - - 15.81 -
24851.56 32.44 8.32 2757 24870.77 3.53 - - 3014.88 - 3.04 0.074 1145.31 -372.0 305.54 - - 1630.25 - - - - - - - - - 15.88 -
25087.40 14.23 6.30 2801 25105.81 3.66 - - 3014.19 - 2.81 0.030 2279.19 403.5 305.54 - - 1628.09 - - - - - - - - - 15.86 -
25292.04 6.55 3.51 2839 25371.66 3.86 - - 3015.62 - - - 2279.12 - 409.71 55.10 1.269 1353.25 -5.0 0.004 - - - - - - - - 12.40
25374 end climb: SURFACE_DEPTH_REACHED
25374 begin surface coast
25480 end surface coast: CONTROL_FINISHED_OK
25480 begin surface
SM 1.23 - - - - 181.8 40.18 1.236 1136.9 26.9 18.31 0.052 1131.6 61.8 - 0.25 0.066 1142.1 4568.4 -8.702 - - 12.46 15.81 15.84 -