NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 88 * Raw log
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• Previous call tries 2 • 31.17 of 506.00 AH used of 24V (93.84% remains)
• Surface angle -66.9 deg, depth 1.13 m • Intended pitch -16.4 deg, speed -8.049 cm/s
• No surface pump (final VBD was 899.6, SM_CC=430)
• GPS1 time: 29 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
12 begin dive
18.72 - - - 97.46 VBD -1.18 - - 178.38 - - - 2144.69 - -77.86 54.88 0.005 2581.50 - - - - - - - - - - 15.59
99.68 3.55 -4.95 11 217.43 -1.18 16.51 0.226 2227.81 124.1 3.28 0.082 3303.06 353.2 -77.86 9.73 0.007 3211.25 64.7 -5.437 - - - - - - 15.67 15.60 15.63
223.47 31.84 -14.48 19 241.50 roll -1.18 - - 2228.06 - 2.71 0.021 2147.50 -426.4 -77.86 - - 3213.91 - - - - - - - - - 15.80 -
427.43 56.53 -12.11 57 445.66 roll -1.18 - - 2227.44 - 2.83 0.070 1094.25 -372.2 -77.86 - - 3215.16 - - - - - - - - - 15.86 -
621.87 81.01 -11.16 93 640.09 roll -1.18 - - 2226.38 - 2.78 0.025 2232.06 409.3 -77.86 - - 3215.91 - - - - - - - - - 15.95 -
825.92 99.06 -8.08 131 832.47 no move -1.18 - - 2227.81 - - - 2232.75 - -77.86 - - 3215.62 - - - - - - - - - - -
1018.26 115.24 -8.48 151 1036.58 done -1.18 - - 2227.62 - 3.01 0.066 1092.75 -378.7 -77.86 - - 3214.84 - - - - - - - - - 15.91 -
1062.73 119.43 -9.33 157 1079.85 done -1.18 - - 2227.94 - 2.77 0.024 2232.75 411.6 -77.86 - - 3216.66 - - - - - - - - - 15.95 -
1385.66 144.67 -7.96 189 1403.57 done -1.18 - - 2227.00 - 2.93 0.080 3304.06 365.6 -77.86 - - 3217.28 - - - - - - - - - 15.93 -
1459.72 151.04 -8.67 201 1476.85 done -1.18 - - 2227.81 - 2.67 0.020 2139.62 -436.1 -77.86 - - 3215.72 - - - - - - - - - 16.01 -
1782.65 173.02 -6.03 233 1800.49 roll -1.18 - - 2227.50 - 2.76 0.071 1093.12 -379.2 -77.86 - - 3216.34 - - - - - - - - - 15.98 -
1826.81 176.03 -6.62 239 1844.14 roll -1.18 - - 2227.25 - 2.75 0.024 2234.38 415.0 -77.86 - - 3216.03 - - - - - - - - - 16.03 -
2149.99 199.87 -7.83 271 2154.05 no move -1.18 - - 2226.94 - - - 2234.00 - -77.86 - - 3214.31 - - - - - - - - - - -
2460.04 225.43 -8.41 302 2478.19 roll -1.18 - - 2227.50 - 2.92 0.082 3304.00 366.4 -77.86 - - 3213.56 - - - - - - - - - 16.04 -
2538.68 232.66 -9.10 315 2556.33 roll -1.18 - - 2227.69 - 2.67 0.021 2143.38 -434.7 -77.86 - - 3214.22 - - - - - - - - - 16.00 -
2862.17 257.86 -7.88 347 2881.13 roll -1.18 - - 2227.38 - 3.16 0.078 3305.44 367.7 -77.86 - - 3213.50 - - - - - - - - - 16.06 -
2907.32 261.83 -8.75 353 2924.25 roll -1.18 - - 2227.69 - 2.67 0.021 2144.69 -434.7 -77.86 - - 3214.47 - - - - - - - - - 16.05 -
3230.10 289.98 -9.04 385 3249.05 roll -1.18 - - 2227.44 - 3.17 0.078 3304.31 365.8 -77.86 - - 3213.22 - - - - - - - - - 16.08 -
3319.53 299.03 -10.17 400 3337.18 roll -1.18 - - 2226.31 - 2.66 0.021 2144.88 -435.9 -77.86 - - 3214.09 - - - - - - - - - 16.07 -
3643.03 327.04 -8.37 432 3662.00 roll -1.18 - - 2227.81 - 3.17 0.078 3303.94 365.6 -77.86 - - 3211.38 - - - - - - - - - 16.08 -
3698.32 331.81 -8.54 440 3715.24 roll -1.18 - - 2228.06 - 2.67 0.021 2144.25 -434.3 -77.86 - - 3212.03 - - - - - - - - - 16.02 -
4021.09 356.59 -7.21 472 4040.43 roll -1.18 - - 2227.69 - 3.15 0.078 3304.25 368.3 -77.86 - - 3210.78 - - - - - - - - - 16.08 -
4126.65 365.93 -8.88 490 4143.57 roll -1.18 - - 2227.94 - 2.67 0.021 2145.88 -433.8 -77.86 - - 3211.09 - - - - - - - - - 16.08 -
4449.42 391.47 -8.14 522 4453.47 no move -1.18 - - 2227.12 - - - 2145.25 - -77.86 - - 3209.34 - - - - - - - - - - -
4759.47 416.07 -7.32 553 4778.44 roll -1.18 - - 2227.69 - 3.17 0.079 3303.56 365.4 -77.86 - - 3208.19 - - - - - - - - - 16.09 -
4788.90 418.67 -8.15 556 4806.95 roll -1.18 - - 2227.94 - 2.67 0.021 2145.88 -433.6 -77.86 - - 3209.22 - - - - - - - - - 16.09 -
5112.77 445.53 -8.74 588 5116.83 no move -1.18 - - 2226.44 - - - 2145.06 - -77.86 - - 3208.56 - - - - - - - - - - -
5422.80 473.33 -8.73 619 5441.76 roll -1.18 - - 2227.56 - 3.17 0.080 3303.94 365.6 -77.86 - - 3208.28 - - - - - - - - - 16.10 -
5507.96 481.47 -9.62 633 5524.90 roll -1.18 - - 2227.50 - 2.67 0.021 2146.88 -433.4 -77.86 - - 3208.41 - - - - - - - - - 16.03 -
5830.85 509.73 -8.61 665 5834.91 no move -1.18 - - 2227.44 - - - 2147.31 - -77.86 - - 3206.97 - - - - - - - - - - -
6140.91 532.98 -7.07 696 6144.97 no move -1.18 - - 2227.81 - - - 2147.19 - -77.86 - - 3206.28 - - - - - - - - - - -
6450.97 553.89 -6.44 727 6455.03 no move -1.18 - - 2226.81 - - - 2147.31 - -77.86 - - 3205.69 - - - - - - - - - - -
6761.02 574.36 -6.77 758 6765.08 no move -1.18 - - 2227.25 - - - 2146.81 - -77.86 - - 3205.16 - - - - - - - - - - -
7071.08 595.59 -7.11 789 7090.03 roll -1.18 - - 2226.81 - 3.20 0.081 3303.50 361.5 -77.86 - - 3204.41 - - - - - - - - - 16.10 -
7130.49 600.29 -7.46 798 7148.15 roll -1.18 - - 2227.50 - 2.67 0.022 2147.62 -432.9 -77.86 - - 3205.22 - - - - - - - - - 16.10 -
7454.01 621.64 -6.14 830 7458.07 no move -1.18 - - 2227.00 - - - 2147.56 - -77.86 - - 3204.09 - - - - - - - - - - -
7764.04 641.92 -6.42 861 7782.99 roll -1.18 - - 2225.75 - 3.16 0.082 3303.69 365.9 -77.86 - - 3205.62 - - - - - - - - - 16.09 -
7819.19 646.20 -7.04 869 7836.12 roll -1.18 - - 2227.25 - 2.68 0.022 2147.62 -431.4 -77.86 - - 3204.19 - - - - - - - - - 16.09 -
8141.97 668.50 -7.25 901 8146.12 no move -1.18 - - 2227.06 - - - 2148.06 - -77.86 - - 3202.81 - - - - - - - - - - -
8452.08 690.11 -6.81 932 8456.15 no move -1.18 - - 2226.88 - - - 2146.88 - -77.86 - - 3202.19 - - - - - - - - - - -
8762.14 711.56 -6.98 963 8781.09 roll -1.18 - - 2227.75 - 3.20 0.082 3301.25 360.7 -77.86 - - 3202.16 - - - - - - - - - 16.09 -
8827.29 716.45 -6.77 973 8844.22 roll -1.18 - - 2227.06 - 2.67 0.022 2148.12 -431.9 -77.86 - - 3202.25 - - - - - - - - - 16.04 -
9150.06 736.78 -6.06 1005 9169.03 roll -1.18 - - 2227.50 - 3.18 0.083 3303.56 363.3 -77.86 - - 3201.56 - - - - - - - - - 16.10 -
9205.25 740.82 -7.05 1013 9222.18 roll -1.18 - - 2226.88 - 2.68 0.022 2147.12 -431.5 -77.86 - - 3201.56 - - - - - - - - - 16.08 -
9528.03 760.26 -6.36 1045 9532.08 no move -1.18 - - 2226.44 - - - 2147.44 - -77.86 - - 3200.66 - - - - - - - - - - -
9838.08 779.64 -6.22 1076 9857.04 roll -1.18 - - 2226.81 - 3.19 0.083 3302.44 362.1 -77.86 - - 3200.16 - - - - - - - - - 16.08 -
9907.52 784.86 -6.73 1087 9925.69 roll -1.18 - - 2227.69 - 2.68 0.022 2149.62 -430.2 -77.86 - - 3200.75 - - - - - - - - - 16.02 -
10231.53 804.19 -5.48 1119 10235.59 no move -1.18 - - 2226.94 - - - 2148.12 - -77.86 - - 3200.88 - - - - - - - - - - -
10541.91 823.15 -5.98 1150 10559.64 roll -1.18 - - 2227.69 - 2.76 0.080 1094.00 -381.9 -77.86 - - 3200.41 - - - - - - - - - 16.07 -
10585.84 826.57 -6.82 1156 10603.17 roll -1.18 - - 2227.44 - 2.74 0.027 2231.25 415.1 -77.86 - - 3201.06 - - - - - - - - - 16.08 -
10909.02 846.67 -6.21 1188 10927.18 roll -1.18 - - 2227.06 - 2.96 0.088 3301.25 361.5 -77.86 - - 3199.34 - - - - - - - - - 16.07 -
10977.66 851.41 -7.83 1199 10995.72 roll -1.18 - - 2227.44 - 2.65 0.022 2147.12 -435.5 -77.86 - - 3199.72 - - - - - - - - - 16.07 -
11301.56 870.64 -5.84 1231 11305.62 no move -1.18 - - 2227.50 - - - 2145.88 - -77.86 - - 3199.16 - - - - - - - - - - -
11611.62 889.54 -6.18 1262 11615.68 no move -1.18 - - 2227.44 - - - 2146.75 - -77.86 - - 3199.22 - - - - - - - - - - -
11921.68 906.50 -6.13 1293 11941.05 roll -1.18 - - 2227.38 - 3.21 0.085 3303.88 360.5 -77.86 - - 3197.78 - - - - - - - - - 16.07 -
12041.55 913.65 -5.99 1314 12059.60 roll -1.18 - - 2226.25 - 2.66 0.023 2148.12 -434.5 -77.86 - - 3199.84 - - - - - - - - - 16.07 -
12365.86 929.44 -5.02 1346 12370.10 no move -1.18 - - 2227.31 - - - 2148.06 - -77.86 - - 3196.88 - - - - - - - - - - -
12676.52 943.58 -4.60 1377 12680.58 no move -1.18 - - 2226.50 - - - 2148.50 - -77.86 - - 3197.91 - - - - - - - - - - -
12986.84 958.54 -4.61 1408 12990.90 no move -1.18 - - 2226.94 - - - 2148.69 - -77.86 - - 3197.78 - - - - - - - - - - -
13297.12 972.92 -4.17 1439 13301.19 no move -1.18 - - 2227.62 - - - 2147.88 - -77.86 - - 3197.59 - - - - - - - - - - -
13607.44 986.83 -4.48 1470 13611.50 no move -1.18 - - 2227.06 - - - 2147.94 - -77.86 - - 3197.28 - - - - - - - - - - -
13687 end dive: TARGET_DEPTH_EXCEEDED
13688 begin apogee
13692.31 990.46 -4.52 1478 13792.33 -0.31 1.54 0.141 2440.06 138.3 0.12 0.201 2187.94 333.3 - 60.67 2.482 2889.62 -5.1 0.335 - - - - - - 15.98 15.61 11.81
13805 end apogee: CONTROL_FINISHED_OK
13806 begin climb
13808.50 991.34 - 1485 13933.43 1.18 2.52 0.097 2805.44 145.0 2.91 0.084 1145.31 -358.3 77.86 65.29 2.432 2571.75 -4.9 0.329 - - - - - - 15.73 15.36 12.60
13940.76 983.99 6.77 1498 13958.53 roll 1.26 - - 2805.88 - 2.88 0.031 2274.44 392.1 77.86 - - 2565.75 - - - - - - - - - 15.64 -
14264.89 960.14 7.15 1530 14286.48 1.31 0.18 0.088 2846.44 225.3 3.11 0.097 3350.25 345.9 77.86 - - 2561.81 - - - - - - - - 15.80 15.79 -
14321.94 955.04 9.25 1538 14339.61 done 1.31 - - 2847.81 - 2.69 0.024 2202.31 -426.7 77.86 - - 2564.19 - - - - - - - - - 15.85 -
14645.87 930.98 7.30 1570 14649.94 VBD 1.36 - - 2848.12 - - - 2201.31 - 77.86 - - 2560.88 - - - - - - - - - - -
14956.17 907.95 7.22 1601 14973.91 done 1.41 - - 2847.00 - 2.83 0.080 1144.25 -373.5 77.86 - - 2560.41 - - - - - - - - - 15.94 -
15060.12 899.78 7.93 1619 15078.25 done 1.41 - - 2847.31 - 2.81 0.033 2274.38 402.2 77.86 - - 2561.53 - - - - - - - - - 15.99 -
15384.51 876.50 6.80 1651 15404.32 1.48 0.17 0.090 2887.31 235.3 3.05 0.097 3350.81 352.9 77.86 - - 2560.88 - - - - - - - - 15.97 15.94 -
15444.79 871.09 9.54 1660 15462.46 done 1.48 - - 2888.19 - 2.67 0.024 2202.25 -430.2 77.86 - - 2561.56 - - - - - - - - - 16.00 -
15768.31 843.55 9.40 1692 15772.37 VBD 1.48 - - 2888.88 - - - 2200.69 - 77.86 - - 2558.25 - - - - - - - - - - -
16078.36 818.50 8.49 1723 16097.75 done 1.48 - - 2888.25 - 3.23 0.093 3353.31 356.8 77.86 - - 2559.28 - - - - - - - - - 16.02 -
16184.08 809.61 8.99 1741 16201.02 done 1.48 - - 2889.19 - 2.65 0.024 2203.12 -434.0 77.86 - - 2559.88 - - - - - - - - - 16.04 -
16507.27 784.97 7.06 1773 16524.61 done 1.54 - - 2888.62 - 2.80 0.081 1144.81 -378.0 77.86 - - 2558.53 - - - - - - - - - 16.06 -
16685.09 771.68 7.64 1806 16703.55 done 1.54 - - 2888.62 - 2.78 0.033 2275.56 406.7 77.86 - - 2558.47 - - - - - - - - - 16.05 -
17009.80 747.79 7.35 1838 17027.96 done 1.58 - - 2888.31 - 2.99 0.076 1144.12 -378.4 77.86 - - 2557.28 - - - - - - - - - 16.06 -
17098.45 740.29 8.40 1853 17116.52 done 1.58 - - 2889.00 - 2.80 0.033 2274.69 403.8 77.86 - - 2557.97 - - - - - - - - - 16.06 -
17422.37 714.38 7.84 1885 17426.44 VBD 1.58 - - 2889.00 - - - 2274.44 - 77.86 - - 2556.66 - - - - - - - - - - -
17732.43 689.11 7.94 1916 17750.82 done 1.58 - - 2888.50 - 2.97 0.076 1144.25 -380.5 77.86 - - 2556.38 - - - - - - - - - 16.07 -
17837.15 680.26 8.35 1934 17854.88 done 1.58 - - 2888.50 - 2.80 0.032 2274.50 403.7 77.86 - - 2558.00 - - - - - - - - - 15.96 -
18160.70 655.68 7.56 1966 18179.26 done 1.58 - - 2888.62 - 3.03 0.096 3353.56 356.1 77.86 - - 2557.62 - - - - - - - - - 16.05 -
18219.74 650.99 7.97 1975 18237.40 done 1.58 - - 2889.00 - 2.66 0.023 2199.94 -433.7 77.86 - - 2557.31 - - - - - - - - - 16.05 -
18543.67 629.46 6.08 2007 18549.04 1.70 0.25 0.076 2939.44 201.8 - - 2198.69 - 77.86 - - 2558.03 - - - - - - - - 16.03 - -
18855.29 609.86 6.14 2038 18859.35 VBD 1.82 - - 2940.50 - - - 2198.69 - 77.86 - - 2554.75 - - - - - - - - - - -
19165.62 589.64 6.75 2069 19170.99 1.89 0.21 0.080 2988.50 228.6 - - 2199.19 - 77.86 - - 2556.78 - - - - - - - - 16.03 - -
19476.81 566.94 7.68 2100 19480.87 VBD 1.89 - - 2988.69 - - - 2198.44 - 77.86 - - 2556.00 - - - - - - - - - - -
19786.85 541.51 8.46 2131 19790.92 VBD 1.89 - - 2989.00 - - - 2198.69 - 77.86 - - 2556.69 - - - - - - - - - - -
20097.31 517.99 7.28 2162 20116.28 done 1.94 - - 2988.31 - 3.20 0.091 3353.31 360.8 77.86 - - 2555.25 - - - - - - - - - 16.05 -
20256.77 504.24 8.61 2191 20275.08 done 1.94 - - 2989.19 - 2.66 0.024 2201.12 -433.2 77.86 - - 2556.53 - - - - - - - - - 16.05 -
20581.45 481.45 6.25 2223 20600.82 done 2.05 - - 2989.12 - 3.22 0.090 3352.50 357.6 77.86 - - 2556.31 - - - - - - - - - 16.06 -
20731.35 469.33 7.85 2250 20749.40 done 2.05 - - 2989.38 - 2.67 0.024 2200.44 -431.5 77.86 - - 2557.25 - - - - - - - - - 16.07 -
21055.66 445.75 7.02 2282 21077.25 2.11 0.06 0.166 3013.44 401.0 3.23 0.089 3353.31 356.9 77.86 - - 2559.00 - - - - - - - - 16.02 15.98 -
21218.48 433.40 7.75 2311 21235.93 done 2.11 - - 3013.44 - 2.67 0.023 2199.44 -432.2 77.86 - - 2559.19 - - - - - - - - - 16.05 -
21542.29 411.56 5.91 2343 21546.37 2.24 - - 3014.25 - - - 2199.00 - 77.86 - - 2556.84 - - - - - - - - - - -
21852.62 392.16 6.50 2374 21870.79 2.33 - - 3014.12 - 2.82 0.079 1143.50 -374.3 77.86 - - 2556.81 - - - - - - - - - 16.07 -
21951.69 385.09 7.08 2391 21970.02 2.39 - - 3013.50 - 2.78 0.031 2278.12 408.1 77.86 - - 2557.62 - - - - - - - - - 16.06 -
22276.38 363.68 6.55 2423 22280.85 2.48 - - 3014.62 - - - 2277.62 - 77.86 - - 2556.09 - - - - - - - - - - -
22587.08 343.84 5.92 2454 22605.74 2.61 - - 3014.06 - 3.03 0.093 3351.75 354.5 77.86 - - 2555.41 - - - - - - - - - 15.98 -
22736.65 334.14 6.30 2481 22754.33 2.71 - - 3013.62 - 2.67 0.023 2198.69 -431.9 77.86 - - 2557.69 - - - - - - - - - 16.02 -
23060.59 318.46 4.37 2513 23146.90 2.86 - - 3014.31 - - - 2196.62 - 153.98 59.19 1.683 2260.69 -5.0 0.157 - - - - - - - - 11.94
23452.72 282.87 10.68 2550 23473.51 2.86 - - 3013.31 - 3.26 0.089 3351.44 354.2 153.98 - - 2251.25 - - - - - - - - - 15.91 -
23539.10 272.41 12.57 2564 23556.78 2.86 - - 3014.38 - 2.69 0.023 2203.56 -426.7 153.98 - - 2252.38 - - - - - - - - - 15.92 -
23862.64 235.74 11.68 2596 23866.72 2.86 - - 3014.00 - - - 2201.12 - 153.98 - - 2250.12 - - - - - - - - - - -
24172.68 200.92 11.34 2627 24177.00 2.86 - - 3014.19 - - - 2200.50 - 153.98 - - 2249.25 - - - - - - - - - - -
24482.96 169.14 9.88 2658 24487.04 2.86 - - 3014.25 - - - 2201.62 - 153.98 - - 2248.97 - - - - - - - - - - -
24793.02 136.64 10.78 2689 24797.09 2.86 - - 3014.31 - - - 2200.62 - 153.98 - - 2248.22 - - - - - - - - - - -
25103.07 106.05 9.56 2720 25121.06 2.86 - - 3013.94 - 2.82 0.078 1144.00 -374.7 153.98 - - 2249.28 - - - - - - - - - 16.00 -
25177.28 99.20 9.22 2732 25196.19 2.86 - - 3013.75 - 2.81 0.030 2278.62 403.8 153.98 - - 2250.09 - - - - - - - - - 15.91 -
25382.44 85.37 6.82 2770 25401.72 2.94 - - 3014.12 - 3.04 0.091 3352.44 353.2 153.98 - - 2248.88 - - - - - - - - - 15.89 -
25633.38 73.08 3.01 2817 25762.35 3.15 - - 3013.50 - 2.66 0.022 2190.94 -436.7 258.17 78.38 1.347 1838.22 -5.2 0.047 - - - - - - - 15.94 12.21
25947.97 54.16 8.67 2871 25966.86 3.15 - - 3013.88 - 2.84 0.077 1145.06 -368.3 258.17 - - 1826.34 - - - - - - - - - 15.80 -
26043.18 45.05 9.14 2887 26061.67 3.15 - - 3014.00 - 2.82 0.029 2275.75 401.0 258.17 - - 1825.47 - - - - - - - - - 15.82 -
26248.89 34.04 4.38 2925 26350.95 3.30 - - 3014.31 - 3.10 0.093 3352.56 347.4 333.98 57.51 1.258 1527.22 -5.2 0.023 - - - - - - - 15.65 12.33
26362.15 26.39 7.82 2940 26380.23 roll back 3.30 - - 3014.62 - 2.72 0.022 2197.12 -424.8 333.98 - - 1523.81 - - - - - - - - - 15.73 -
26566.49 14.83 4.29 2978 26671.84 3.45 - - 3014.25 - 3.33 0.087 3352.62 347.0 411.77 60.48 1.215 1211.03 -5.2 0.010 - - - - - - - 15.61 12.36
26708.44 9.44 4.61 2998 26804.32 3.60 - - 3014.12 - 2.72 0.021 2195.56 -425.4 482.86 55.24 1.178 921.84 -5.2 0.007 - - - - - - - 15.73 12.53
26810 end climb: SURFACE_DEPTH_REACHED
26810 begin surface coast
26886 end surface coast: CONTROL_FINISHED_OK
26887 begin surface
SM 1.07 - - - - 179.6 - - 912.3 - 18.53 0.050 925.1 49.9 - 0.03 0.245 899.6 29896.0 -13.345 - - 30.00 15.74 15.77 -