NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 128 * Raw log
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• Previous call tries 1 • 45.69 of 506.00 AH used of 24V (90.97% remains)
• Surface angle -64.5 deg, depth 1.16 m • Intended pitch -16.4 deg, speed -8.049 cm/s
• No surface pump (final VBD was 780.6, SM_CC=430)
• GPS1 time: 26 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 - - - 104.06 VBD -1.18 - - 178.25 - - - 2297.31 - -77.86 60.00 0.005 2393.59 - - - - - - - - - - 15.55
106.27 3.33 -4.07 12 226.05 -1.18 16.70 0.234 2227.81 122.7 3.09 0.065 1141.75 -374.0 -77.86 12.30 0.007 3208.91 66.3 -5.230 - - - - - - 15.67 15.56 15.61
352.12 49.55 -12.35 44 370.48 roll -1.18 - - 2227.38 - 2.82 0.025 2278.62 403.1 -77.86 - - 3213.03 - - - - - - - - - 15.90 -
556.37 71.50 -10.29 82 575.43 roll -1.18 - - 2227.50 - 3.03 0.061 1141.56 -375.3 -77.86 - - 3214.66 - - - - - - - - - 15.91 -
636.58 79.64 -9.82 95 654.42 roll -1.18 - - 2227.94 - 2.78 0.024 2279.31 409.3 -77.86 - - 3214.03 - - - - - - - - - 15.94 -
840.21 96.17 -7.47 133 859.24 roll -1.18 - - 2226.06 - 3.01 0.082 3351.75 356.3 -77.86 - - 3216.06 - - - - - - - - - 15.91 -
905.38 100.68 -6.97 143 922.48 roll -1.18 - - 2226.44 - 2.66 0.020 2180.56 -440.3 -77.86 - - 3216.28 - - - - - - - - - 15.96 -
1228.26 121.31 -6.37 175 1232.28 no move -1.18 - - 2227.62 - - - 2179.25 - -77.86 - - 3213.97 - - - - - - - - - - -
1538.28 141.67 -6.70 206 1542.69 no move -1.18 - - 2227.50 - - - 2179.00 - -77.86 - - 3215.31 - - - - - - - - - - -
1848.45 162.23 -6.71 237 1868.96 roll -1.18 - - 2226.12 - 3.29 0.079 3351.62 356.4 -77.86 - - 3215.91 - - - - - - - - - 15.91 -
1904.38 166.78 -7.89 245 1921.83 roll -1.18 - - 2227.75 - 2.65 0.020 2184.00 -440.6 -77.86 - - 3216.03 - - - - - - - - - 16.02 -
2227.61 190.13 -7.62 277 2231.91 no move -1.18 - - 2227.69 - - - 2182.12 - -77.86 - - 3214.53 - - - - - - - - - - -
2537.84 213.19 -7.61 308 2558.58 roll -1.18 - - 2226.56 - 3.29 0.079 3353.12 355.9 -77.86 - - 3215.53 - - - - - - - - - 15.94 -
2609.76 219.16 -8.27 319 2626.70 roll -1.18 - - 2227.94 - 2.67 0.020 2187.31 -436.6 -77.86 - - 3215.03 - - - - - - - - - 16.02 -
2932.53 242.83 -7.17 351 2936.59 no move -1.18 - - 2227.44 - - - 2186.38 - -77.86 - - 3213.03 - - - - - - - - - - -
3242.57 265.15 -7.21 382 3246.63 no move -1.18 - - 2227.81 - - - 2186.19 - -77.86 - - 3212.34 - - - - - - - - - - -
3552.64 288.45 -7.66 413 3573.38 roll -1.18 - - 2226.38 - 3.29 0.080 3353.12 354.7 -77.86 - - 3213.44 - - - - - - - - - 16.06 -
3684.60 299.58 -8.68 436 3701.75 roll -1.18 - - 2227.50 - 2.67 0.021 2188.69 -436.1 -77.86 - - 3211.97 - - - - - - - - - 16.07 -
4007.57 325.18 -7.89 468 4011.63 no move -1.18 - - 2227.12 - - - 2187.12 - -77.86 - - 3210.00 - - - - - - - - - - -
4317.61 348.73 -7.36 499 4338.36 roll -1.18 - - 2227.31 - 3.29 0.080 3352.50 354.2 -77.86 - - 3209.75 - - - - - - - - - 16.05 -
4369.55 352.87 -8.19 506 4386.48 roll -1.18 - - 2226.94 - 2.66 0.020 2188.69 -437.5 -77.86 - - 3211.31 - - - - - - - - - 16.07 -
4692.72 375.37 -6.89 538 4696.78 no move -1.18 - - 2227.62 - - - 2186.75 - -77.86 - - 3208.97 - - - - - - - - - - -
5002.77 396.89 -7.38 569 5023.51 roll -1.18 - - 2225.94 - 3.29 0.082 3353.75 354.7 -77.86 - - 3209.19 - - - - - - - - - 16.07 -
5084.70 403.65 -8.43 582 5102.02 roll -1.18 - - 2227.50 - 2.69 0.021 2192.00 -431.9 -77.86 - - 3208.59 - - - - - - - - - 16.08 -
5407.84 427.84 -7.34 614 5411.90 no move -1.18 - - 2227.25 - - - 2190.44 - -77.86 - - 3206.34 - - - - - - - - - - -
5717.89 450.32 -7.07 645 5738.63 roll -1.18 - - 2227.06 - 3.29 0.082 3351.81 353.0 -77.86 - - 3206.28 - - - - - - - - - 16.01 -
5799.83 456.64 -8.00 658 5817.15 roll -1.18 - - 2227.44 - 2.69 0.021 2191.50 -431.3 -77.86 - - 3205.72 - - - - - - - - - 16.08 -
6122.98 478.51 -6.51 690 6143.73 roll -1.18 - - 2225.12 - 3.27 0.083 3351.81 354.8 -77.86 - - 3206.88 - - - - - - - - - 16.08 -
6169.21 481.78 -7.08 696 6187.25 roll -1.18 - - 2227.56 - 2.68 0.021 2192.38 -432.6 -77.86 - - 3205.81 - - - - - - - - - 16.06 -
6493.07 502.07 -6.23 728 6497.13 no move -1.18 - - 2227.38 - - - 2191.06 - -77.86 - - 3203.72 - - - - - - - - - - -
6803.12 521.63 -6.33 759 6823.87 roll -1.18 - - 2226.81 - 3.28 0.084 3352.12 354.0 -77.86 - - 3203.62 - - - - - - - - - 16.07 -
6875.17 526.98 -7.53 770 6892.50 roll -1.18 - - 2227.44 - 2.70 0.022 2193.75 -429.0 -77.86 - - 3204.31 - - - - - - - - - 16.07 -
7198.30 549.77 -7.33 802 7202.36 no move -1.18 - - 2226.75 - - - 2192.88 - -77.86 - - 3201.81 - - - - - - - - - - -
7508.30 571.75 -6.95 833 7529.05 roll -1.18 - - 2225.81 - 3.29 0.084 3353.12 352.7 -77.86 - - 3202.78 - - - - - - - - - 16.06 -
7614.52 580.56 -8.29 851 7632.57 roll -1.18 - - 2227.12 - 2.71 0.022 2194.38 -427.6 -77.86 - - 3202.72 - - - - - - - - - 16.07 -
7938.37 604.74 -7.33 883 7942.43 no move -1.18 - - 2227.50 - - - 2194.25 - -77.86 - - 3200.00 - - - - - - - - - - -
8248.39 627.09 -6.75 914 8269.14 roll -1.18 - - 2227.19 - 3.29 0.085 3353.88 352.5 -77.86 - - 3199.31 - - - - - - - - - 16.06 -
8330.33 633.17 -7.27 927 8347.66 roll -1.18 - - 2227.19 - 2.70 0.022 2194.81 -429.3 -77.86 - - 3200.28 - - - - - - - - - 16.07 -
8653.51 652.73 -5.68 959 8671.49 roll -1.18 - - 2227.19 - 2.84 0.076 1144.06 -370.0 -77.86 - - 3200.56 - - - - - - - - - 16.07 -
8717.81 656.56 -5.70 969 8735.13 roll -1.18 - - 2227.62 - 2.78 0.028 2277.56 407.7 -77.86 - - 3200.06 - - - - - - - - - 16.08 -
9040.99 674.23 -5.46 1001 9045.04 no move -1.18 - - 2227.31 - - - 2277.75 - -77.86 - - 3198.47 - - - - - - - - - - -
9351.04 690.85 -5.43 1032 9355.10 no move -1.18 - - 2227.25 - - - 2277.62 - -77.86 - - 3198.22 - - - - - - - - - - -
9661.10 708.57 -5.80 1063 9679.65 roll -1.18 - - 2227.88 - 3.04 0.071 1142.88 -373.3 -77.86 - - 3199.16 - - - - - - - - - 16.07 -
9720.12 712.12 -5.43 1072 9738.19 roll -1.18 - - 2227.94 - 2.79 0.028 2276.88 406.5 -77.86 - - 3198.62 - - - - - - - - - 16.08 -
10044.03 730.92 -5.90 1104 10048.10 no move -1.18 - - 2227.19 - - - 2277.00 - -77.86 - - 3197.59 - - - - - - - - - - -
10354.08 750.85 -6.63 1135 10372.65 roll -1.18 - - 2227.06 - 3.04 0.071 1143.88 -372.7 -77.86 - - 3196.66 - - - - - - - - - 16.07 -
10423.12 755.69 -6.23 1146 10441.57 roll -1.18 - - 2227.50 - 2.78 0.029 2277.50 407.8 -77.86 - - 3197.38 - - - - - - - - - 16.08 -
10747.38 776.50 -6.75 1178 10766.16 roll -1.18 - - 2227.69 - 3.07 0.089 3351.94 350.0 -77.86 - - 3197.62 - - - - - - - - - 16.04 -
10806.74 781.09 -7.72 1187 10824.79 roll -1.18 - - 2227.56 - 2.68 0.022 2192.50 -432.6 -77.86 - - 3196.75 - - - - - - - - - 16.07 -
11130.62 801.99 -6.47 1219 11134.68 no move -1.18 - - 2226.50 - - - 2191.06 - -77.86 - - 3196.22 - - - - - - - - - - -
11440.66 822.82 -6.75 1250 11444.72 no move -1.18 - - 2227.88 - - - 2190.56 - -77.86 - - 3195.22 - - - - - - - - - - -
11750.70 842.71 -6.33 1281 11754.76 no move -1.18 - - 2226.75 - - - 2190.69 - -77.86 - - 3195.44 - - - - - - - - - - -
12060.74 860.95 -5.48 1312 12081.90 roll -1.18 - - 2227.56 - 3.32 0.086 3352.75 350.0 -77.86 - - 3193.47 - - - - - - - - - 16.04 -
12133.08 865.69 -6.86 1323 12151.03 roll -1.18 - - 2227.38 - 2.72 0.022 2194.38 -425.9 -77.86 - - 3196.00 - - - - - - - - - 16.06 -
12456.86 883.26 -5.41 1355 12460.93 no move -1.18 - - 2227.00 - - - 2193.38 - -77.86 - - 3194.19 - - - - - - - - - - -
12766.93 899.48 -5.17 1386 12784.67 roll -1.18 - - 2227.19 - 2.86 0.076 1144.00 -366.9 -77.86 - - 3194.84 - - - - - - - - - 16.02 -
12865.16 905.21 -5.78 1403 12883.61 roll -1.18 - - 2227.38 - 2.78 0.029 2277.56 407.8 -77.86 - - 3195.38 - - - - - - - - - 16.06 -
13189.66 923.55 -5.78 1435 13208.21 roll -1.18 - - 2227.38 - 3.09 0.091 3354.12 348.4 -77.86 - - 3193.94 - - - - - - - - - 16.02 -
13308.83 931.55 -6.90 1456 13326.88 roll -1.18 - - 2227.12 - 2.70 0.022 2196.50 -428.7 -77.86 - - 3195.25 - - - - - - - - - 16.04 -
13632.70 951.01 -6.08 1488 13636.76 no move -1.18 - - 2227.12 - - - 2195.31 - -77.86 - - 3193.66 - - - - - - - - - - -
13942.78 969.53 -5.67 1519 13960.52 roll -1.18 - - 2227.50 - 2.85 0.077 1142.69 -369.3 -77.86 - - 3193.97 - - - - - - - - - 16.04 -
14026.72 974.60 -5.95 1533 14044.58 roll -1.18 - - 2226.69 - 2.81 0.029 2276.81 403.6 -77.86 - - 3195.62 - - - - - - - - - 16.06 -
14319 end dive: TARGET_DEPTH_EXCEEDED
14320 begin apogee
14325.33 990.51 -5.45 1562 14424.95 -0.31 1.53 0.138 2440.44 139.7 0.19 0.150 2284.69 41.5 - 60.27 2.483 2888.69 -5.1 0.337 - - - - - - 15.95 15.59 11.63
14437 end apogee: CONTROL_FINISHED_OK
14438 begin climb
14441.12 992.15 - 1569 14549.43 1.18 2.49 0.095 2804.81 146.3 - - 2284.38 - 77.86 65.43 2.430 2572.50 -4.8 0.327 - - - - - - 15.70 - 12.45
14855.73 968.53 6.61 1611 14874.69 done 1.27 - - 2804.25 - 3.13 0.076 1145.44 -363.9 77.86 - - 2563.03 - - - - - - - - - 15.81 -
14931.40 963.48 7.13 1623 14950.37 1.32 0.19 0.083 2849.56 238.5 2.87 0.032 2273.38 393.0 77.86 - - 2562.19 - - - - - - - - 15.75 15.80 -
15256.18 938.24 7.99 1655 15260.25 VBD 1.32 - - 2849.88 - - - 2273.69 - 77.86 - - 2559.28 - - - - - - - - - - -
15566.62 916.40 5.45 1686 15570.69 VBD 1.48 - - 2849.38 - - - 2273.88 - 77.86 - - 2558.81 - - - - - - - - - - -
15876.91 892.55 7.31 1717 15882.27 1.52 0.22 0.075 2899.81 229.2 - - 2273.19 - 77.86 - - 2558.94 - - - - - - - - 15.96 - -
16188.09 866.21 8.59 1748 16206.64 done 1.52 - - 2900.06 - 3.09 0.076 1145.19 -365.0 77.86 - - 2557.72 - - - - - - - - - 15.93 -
16297.11 856.46 9.02 1767 16315.57 done 1.52 - - 2899.69 - 2.85 0.033 2273.19 395.8 77.86 - - 2558.59 - - - - - - - - - 16.01 -
16621.38 827.92 8.39 1799 16625.44 VBD 1.52 - - 2900.50 - - - 2273.56 - 77.86 - - 2557.31 - - - - - - - - - - -
16931.77 801.37 6.87 1830 16935.83 VBD 1.59 - - 2900.31 - - - 2273.94 - 77.86 - - 2557.41 - - - - - - - - - - -
17241.76 774.80 8.26 1861 17260.30 done 1.59 - - 2900.62 - 3.05 0.076 1143.69 -370.6 77.86 - - 2556.62 - - - - - - - - - 16.03 -
17296.49 770.28 8.88 1869 17314.22 done 1.59 - - 2899.69 - 2.84 0.033 2273.19 397.7 77.86 - - 2558.12 - - - - - - - - - 16.03 -
17620.44 746.01 6.76 1901 17624.50 VBD 1.67 - - 2900.56 - - - 2273.38 - 77.86 - - 2556.84 - - - - - - - - - - -
17930.71 722.97 7.17 1932 17952.29 1.72 0.20 0.078 2947.19 233.2 3.06 0.076 1144.81 -368.8 77.86 - - 2557.72 - - - - - - - - 15.93 15.92 -
18003.48 716.96 8.68 1943 18021.23 done 1.72 - - 2946.19 - 2.85 0.033 2272.19 395.6 77.86 - - 2556.19 - - - - - - - - - 16.05 -
18327.28 690.98 8.09 1975 18331.34 VBD 1.72 - - 2947.56 - - - 2273.00 - 77.86 - - 2556.25 - - - - - - - - - - -
18637.16 667.18 7.55 2006 18655.71 done 1.72 - - 2947.12 - 3.06 0.075 1145.19 -368.6 77.86 - - 2555.94 - - - - - - - - - 16.04 -
18796.20 653.60 8.63 2035 18814.66 done 1.72 - - 2947.25 - 2.85 0.033 2274.25 396.2 77.86 - - 2557.59 - - - - - - - - - 16.04 -
19120.82 627.82 7.82 2067 19139.61 done 1.72 - - 2947.31 - 3.07 0.075 1145.19 -367.8 77.86 - - 2557.09 - - - - - - - - - 16.05 -
19235.98 618.60 7.88 2087 19253.93 done 1.72 - - 2947.12 - 2.85 0.032 2273.31 395.8 77.86 - - 2556.75 - - - - - - - - - 16.05 -
19560.21 595.86 6.77 2119 19564.31 VBD 1.80 - - 2947.38 - - - 2273.19 - 77.86 - - 2555.66 - - - - - - - - - - -
19870.59 575.80 6.49 2150 19890.64 1.90 0.17 0.089 2986.38 229.4 3.10 0.075 1144.00 -364.3 77.86 - - 2556.28 - - - - - - - - 16.00 15.97 -
20071.62 561.23 7.16 2187 20090.30 done 1.95 - - 2987.62 - 2.85 0.033 2273.44 396.3 77.86 - - 2555.94 - - - - - - - - - 16.04 -
20396.58 538.94 6.78 2219 20415.36 done 2.02 - - 2988.25 - 3.08 0.074 1143.94 -366.7 77.86 - - 2555.69 - - - - - - - - - 16.04 -
20512.03 530.72 6.93 2239 20530.85 2.09 0.07 0.136 3009.31 300.9 2.83 0.032 2273.44 399.1 77.86 - - 2554.53 - - - - - - - - 15.93 16.04 -
20837.37 507.24 7.39 2271 20856.16 done 2.13 - - 3010.69 - 3.08 0.073 1144.19 -366.6 77.86 - - 2555.19 - - - - - - - - - 16.03 -
20992.56 494.58 8.49 2299 21010.52 done 2.13 - - 3010.31 - 2.84 0.032 2274.31 397.9 77.86 - - 2555.72 - - - - - - - - - 16.05 -
21316.52 469.48 7.75 2331 21335.71 done 2.13 - - 3009.44 - 3.12 0.095 3351.75 345.3 77.86 - - 2556.84 - - - - - - - - - 15.97 -
21471.97 455.82 9.03 2359 21489.10 done 2.13 - - 3010.25 - 2.69 0.024 2201.12 -427.7 77.86 - - 2555.66 - - - - - - - - - 16.03 -
21795.38 433.25 6.52 2391 21799.49 2.22 - - 3011.25 - - - 2199.31 - 77.86 - - 2555.09 - - - - - - - - - - -
22105.75 415.25 5.41 2422 22123.72 2.38 - - 3011.06 - 2.88 0.077 1145.00 -366.1 77.86 - - 2553.94 - - - - - - - - - 16.03 -
22354.72 400.48 5.63 2469 22373.41 2.53 - - 3010.75 - 2.81 0.032 2274.81 402.1 77.86 - - 2556.84 - - - - - - - - - 16.04 -
22679.71 382.35 5.88 2501 22683.82 2.66 - - 3010.50 - - - 2274.50 - 77.86 - - 2555.19 - - - - - - - - - - -
22990.10 363.47 5.94 2532 23008.89 2.78 - - 3010.56 - 3.10 0.072 1144.12 -364.6 77.86 - - 2554.78 - - - - - - - - - 15.95 -
23125.66 355.38 6.11 2556 23143.62 2.90 - - 3010.38 - 2.85 0.032 2274.56 396.6 77.86 - - 2556.34 - - - - - - - - - 16.04 -
23449.91 338.49 5.15 2588 23468.80 3.07 - - 3009.94 - 3.09 0.072 1144.31 -365.8 77.86 - - 2557.66 - - - - - - - - - 15.89 -
23659.76 327.15 5.44 2627 23678.46 3.23 - - 3010.62 - 2.84 0.031 2274.50 398.0 77.86 - - 2555.81 - - - - - - - - - 15.96 -
23984.73 311.01 5.16 2659 23988.84 3.40 - - 3010.88 - - - 2274.00 - 77.86 - - 2554.94 - - - - - - - - - - -
24295.12 294.57 5.30 2690 24299.24 3.57 - - 3010.94 - - - 2274.25 - 77.86 - - 2555.22 - - - - - - - - - - -
24605.51 280.17 4.31 2721 24710.13 3.72 - - 3010.62 - 3.17 0.075 1144.38 -356.4 155.05 60.20 1.626 2257.66 -4.9 0.141 - - - - - - - 15.75 11.80
24770.77 266.47 10.21 2746 24789.86 roll back 3.72 - - 3010.50 - 2.90 0.032 2273.38 389.3 155.05 - - 2251.22 - - - - - - - - - 15.80 -
25095.84 232.42 10.86 2778 25115.04 3.72 - - 3011.44 - 3.11 0.073 1145.25 -362.7 155.05 - - 2244.97 - - - - - - - - - 15.90 -
25165.55 224.52 11.32 2789 25184.24 3.72 - - 3011.06 - 2.85 0.032 2273.25 395.8 155.05 - - 2246.22 - - - - - - - - - 15.91 -
25490.13 190.88 9.97 2821 25494.26 3.72 - - 3010.81 - - - 2272.75 - 155.05 - - 2245.09 - - - - - - - - - - -
25800.17 160.60 10.01 2852 25804.29 3.72 - - 3010.25 - - - 2273.38 - 155.05 - - 2244.03 - - - - - - - - - - -
26110.23 132.20 8.63 2883 26129.44 3.72 - - 3010.44 - 3.12 0.072 1144.44 -361.8 155.05 - - 2243.34 - - - - - - - - - 15.85 -
26245.71 119.57 9.11 2907 26263.67 3.72 - - 3010.50 - 2.85 0.031 2275.06 396.7 155.05 - - 2243.03 - - - - - - - - - 15.96 -
26569.98 97.33 5.97 2943 26589.50 3.72 - - 3011.25 - 3.10 0.070 1143.62 -365.0 155.05 - - 2243.94 - - - - - - - - - 15.86 -
26821.69 83.51 4.13 2990 26925.94 3.88 - - 3010.12 - 2.82 0.029 2278.50 402.4 236.13 61.64 1.340 1927.09 -5.1 0.053 - - - - - - - 15.97 12.10
27112.25 66.07 6.70 3040 27132.20 3.96 - - 3010.62 - 3.13 0.070 1144.19 -362.4 236.13 - - 1917.97 - - - - - - - - - 15.79 -
27363.88 52.24 5.05 3087 27451.51 4.09 - - 3011.06 - 2.86 0.029 2276.44 395.9 298.19 46.96 1.260 1673.53 -5.2 0.036 - - - - - - - 15.89 12.20
27637.78 35.29 5.96 3135 27657.73 4.09 - - 3011.00 - 3.13 0.070 1145.56 -361.3 298.19 - - 1665.34 - - - - - - - - - 15.78 -
27889.55 24.11 3.18 3182 28015.44 4.29 - - 3011.19 - 2.83 0.027 2277.19 399.9 398.88 77.10 1.213 1263.50 -5.2 0.017 - - - - - - - 15.82 12.21
28201.80 15.09 2.46 3235 28328.99 4.52 - - 3011.56 - - - 2277.31 - 514.50 86.97 1.167 792.72 -5.4 0.012 - - - - - - - - 12.34
28434 end climb: SURFACE_DEPTH_REACHED
28435 begin surface coast
28515 end surface coast: CONTROL_FINISHED_OK
28516 begin surface
SM 1.17 - - - - 179.4 - - 782.1 - 18.64 0.047 783.6 42.0 - 0.12 0.097 780.6 6505.0 -8.019 - - 30.00 15.78 15.82 -