NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 482 * Raw log
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• Previous call tries 1 • 166.25 of 506.00 AH used of 24V (67.14% remains)
• Surface angle -59.4 deg, depth 0.87 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.20 (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
19.08 - - - 118.84 VBD -1.18 - - 180.75 - - - 2185.88 - -77.86 70.24 0.005 2814.06 - - - - - - - - - - 14.89
121.05 3.03 -3.45 14 237.16 -1.18 17.38 0.215 2226.94 117.7 3.46 0.080 3352.62 337.2 -77.86 5.93 0.008 3212.22 67.1 -4.356 - - - - - - 15.32 15.01 15.13
418.90 66.83 -12.83 56 437.54 roll -1.18 - - 2227.88 - 2.87 0.018 2196.12 -403.0 -77.86 - - 3213.88 - - - - - - - - - 15.69 -
623.70 87.27 -8.92 94 645.12 roll -1.18 - - 2227.69 - 3.43 0.077 3351.62 336.9 -77.86 - - 3214.56 - - - - - - - - - 15.66 -
711.30 95.68 -9.96 108 729.70 roll -1.18 - - 2228.25 - 2.84 0.018 2196.00 -406.9 -77.86 - - 3213.78 - - - - - - - - - 15.84 -
920.73 115.20 -9.08 131 924.76 no move -1.18 - - 2228.50 - - - 2194.12 - -77.86 - - 3213.44 - - - - - - - - - - -
1230.81 141.02 -7.79 162 1234.83 no move -1.18 - - 2228.00 - - - 2194.00 - -77.86 - - 3213.59 - - - - - - - - - - -
1540.89 162.65 -7.21 193 1544.91 no move -1.18 - - 2228.25 - - - 2193.69 - -77.86 - - 3213.56 - - - - - - - - - - -
1850.97 186.30 -7.89 224 1872.44 roll -1.18 - - 2228.75 - 3.41 0.078 3354.12 340.3 -77.86 - - 3213.62 - - - - - - - - - 15.71 -
1903.60 191.06 -9.04 231 1921.29 roll -1.18 - - 2228.44 - 2.85 0.018 2193.19 -407.3 -77.86 - - 3215.09 - - - - - - - - - 15.91 -
2227.35 217.69 -7.98 263 2231.37 no move -1.18 - - 2229.12 - - - 2192.06 - -77.86 - - 3214.38 - - - - - - - - - - -
2537.68 242.88 -8.33 294 2542.14 no move -1.18 - - 2228.50 - - - 2191.88 - -77.86 - - 3214.22 - - - - - - - - - - -
2848.11 269.02 -8.42 325 2869.83 roll -1.18 - - 2227.44 - 3.40 0.079 3351.44 341.0 -77.86 - - 3213.94 - - - - - - - - - 15.83 -
2901.05 273.77 -9.08 332 2918.95 roll -1.18 - - 2228.19 - 2.83 0.019 2192.88 -409.4 -77.86 - - 3214.59 - - - - - - - - - 15.95 -
3225.06 298.59 -7.92 364 3246.37 roll -1.18 - - 2227.56 - 3.40 0.079 3351.56 340.8 -77.86 - - 3213.44 - - - - - - - - - 15.83 -
3261.85 301.93 -8.93 368 3281.10 roll -1.18 - - 2228.25 - 2.84 0.018 2196.06 -406.9 -77.86 - - 3215.03 - - - - - - - - - 15.93 -
3586.96 326.03 -7.28 400 3591.02 no move -1.18 - - 2228.44 - - - 2194.44 - -77.86 - - 3213.88 - - - - - - - - - - -
3897.01 349.06 -7.86 431 3915.72 roll -1.18 - - 2228.00 - 3.06 0.069 1145.12 -342.9 -77.86 - - 3213.94 - - - - - - - - - 15.84 -
3956.21 354.15 -8.65 440 3974.44 roll -1.18 - - 2227.75 - 2.79 0.025 2278.19 406.1 -77.86 - - 3214.78 - - - - - - - - - 15.96 -
4280.30 378.88 -7.14 472 4284.36 no move -1.18 - - 2228.12 - - - 2278.19 - -77.86 - - 3213.25 - - - - - - - - - - -
4590.34 400.25 -6.97 503 4610.11 roll -1.18 - - 2228.31 - 3.26 0.065 1146.06 -347.3 -77.86 - - 3213.03 - - - - - - - - - 15.85 -
4656.44 405.41 -7.62 513 4674.32 roll -1.18 - - 2227.56 - 2.80 0.025 2277.25 404.0 -77.86 - - 3214.31 - - - - - - - - - 15.97 -
4980.44 430.69 -7.88 545 4999.55 roll -1.18 - - 2227.44 - 3.17 0.083 3350.94 338.7 -77.86 - - 3213.22 - - - - - - - - - 15.83 -
5055.78 437.17 -8.40 557 5074.06 roll -1.18 - - 2227.38 - 2.82 0.019 2193.69 -410.4 -77.86 - - 3214.34 - - - - - - - - - 15.96 -
5379.93 461.11 -7.42 589 5383.99 no move -1.18 - - 2228.12 - - - 2191.94 - -77.86 - - 3212.25 - - - - - - - - - - -
5689.97 483.08 -7.05 620 5708.68 roll -1.18 - - 2228.31 - 3.06 0.069 1145.88 -341.8 -77.86 - - 3211.53 - - - - - - - - - 15.85 -
5799.20 491.37 -7.64 639 5817.81 roll -1.18 - - 2228.31 - 2.80 0.025 2278.50 404.5 -77.86 - - 3212.81 - - - - - - - - - 15.97 -
6123.91 513.10 -6.53 671 6127.97 no move -1.18 - - 2228.06 - - - 2277.88 - -77.86 - - 3211.38 - - - - - - - - - - -
6433.83 534.84 -7.44 702 6452.94 roll -1.18 - - 2228.00 - 3.19 0.085 3351.31 336.5 -77.86 - - 3210.44 - - - - - - - - - 15.81 -
6479.39 538.87 -8.88 708 6497.28 roll -1.18 - - 2227.31 - 2.83 0.019 2194.94 -408.6 -77.86 - - 3212.94 - - - - - - - - - 15.97 -
6803.26 565.87 -8.62 740 6824.99 roll -1.18 - - 2227.06 - 3.42 0.082 3352.56 338.5 -77.86 - - 3212.75 - - - - - - - - - 15.81 -
6840.47 569.33 -8.93 744 6859.10 roll -1.18 - - 2227.69 - 2.83 0.019 2194.94 -409.1 -77.86 - - 3211.88 - - - - - - - - - 15.97 -
7164.99 594.42 -7.21 776 7183.69 roll -1.18 - - 2227.69 - 3.06 0.070 1145.69 -342.9 -77.86 - - 3212.03 - - - - - - - - - 15.83 -
7314.21 605.79 -7.37 803 7332.85 roll -1.18 - - 2228.25 - 2.80 0.026 2278.00 404.4 -77.86 - - 3210.81 - - - - - - - - - 15.86 -
7638.70 628.29 -6.92 835 7657.84 roll -1.18 - - 2228.31 - 3.18 0.085 3351.25 337.5 -77.86 - - 3208.44 - - - - - - - - - 15.78 -
7704.06 633.83 -9.00 845 7721.96 roll -1.18 - - 2227.81 - 2.81 0.019 2194.00 -411.8 -77.86 - - 3210.56 - - - - - - - - - 15.99 -
8027.84 659.61 -8.18 877 8031.89 no move -1.18 - - 2227.75 - - - 2193.19 - -77.86 - - 3208.72 - - - - - - - - - - -
8337.88 683.82 -7.28 908 8342.18 no move -1.18 - - 2227.81 - - - 2193.12 - -77.86 - - 3208.59 - - - - - - - - - - -
8648.18 706.43 -7.45 939 8652.24 no move -1.18 - - 2227.81 - - - 2192.50 - -77.86 - - 3208.09 - - - - - - - - - - -
8958.24 727.72 -6.40 970 8976.95 roll -1.18 - - 2226.75 - 3.06 0.072 1146.38 -341.9 -77.86 - - 3209.53 - - - - - - - - - 15.80 -
9027.45 732.32 -6.64 981 9045.67 roll -1.18 - - 2227.94 - 2.79 0.026 2276.44 405.0 -77.86 - - 3209.16 - - - - - - - - - 15.99 -
9351.51 753.32 -6.36 1013 9355.57 no move -1.18 - - 2227.88 - - - 2277.31 - -77.86 - - 3207.09 - - - - - - - - - - -
9661.55 772.19 -6.03 1044 9665.61 no move -1.18 - - 2228.31 - - - 2276.69 - -77.86 - - 3206.91 - - - - - - - - - - -
9971.55 792.55 -7.05 1075 9991.07 roll -1.18 - - 2227.31 - 3.20 0.087 3350.25 335.5 -77.86 - - 3205.75 - - - - - - - - - 15.76 -
10017.28 796.04 -7.97 1081 10035.17 roll -1.18 - - 2228.12 - 2.82 0.020 2193.12 -410.3 -77.86 - - 3207.59 - - - - - - - - - 15.97 -
10341.03 818.83 -6.70 1113 10345.09 no move -1.18 - - 2227.94 - - - 2191.88 - -77.86 - - 3206.06 - - - - - - - - - - -
10651.08 837.21 -5.47 1144 10672.94 roll -1.18 - - 2227.69 - 3.44 0.084 3350.31 336.8 -77.86 - - 3206.06 - - - - - - - - - 15.74 -
10764.48 843.83 -6.03 1163 10782.38 roll -1.18 - - 2228.12 - 2.83 0.020 2195.81 -408.0 -77.86 - - 3206.06 - - - - - - - - - 15.98 -
11089.01 859.75 -4.74 1195 11107.71 roll -1.18 - - 2228.19 - 3.10 0.073 1145.38 -338.8 -77.86 - - 3204.56 - - - - - - - - - 15.75 -
11143.94 862.65 -5.30 1203 11161.44 roll -1.18 - - 2228.19 - 2.80 0.026 2276.62 404.0 -77.86 - - 3205.56 - - - - - - - - - 15.98 -
11467.31 880.09 -5.88 1235 11471.37 no move -1.18 - - 2227.56 - - - 2276.38 - -77.86 - - 3204.69 - - - - - - - - - - -
11777.59 899.69 -6.44 1266 11781.66 no move -1.18 - - 2227.69 - - - 2276.38 - -77.86 - - 3204.22 - - - - - - - - - - -
12087.50 918.93 -5.99 1297 12108.42 roll -1.18 - - 2226.75 - 3.30 0.069 1146.44 -342.4 -77.86 - - 3206.72 - - - - - - - - - 15.77 -
12159.64 923.17 -5.92 1308 12177.95 roll -1.18 - - 2227.88 - 2.82 0.026 2275.38 400.3 -77.86 - - 3205.12 - - - - - - - - - 15.96 -
12483.83 941.36 -5.83 1340 12504.77 roll -1.18 - - 2227.88 - 3.29 0.068 1147.00 -343.0 -77.86 - - 3203.47 - - - - - - - - - 15.76 -
12556.00 945.81 -6.45 1351 12574.14 roll -1.18 - - 2228.19 - 2.83 0.027 2276.75 399.2 -77.86 - - 3204.97 - - - - - - - - - 15.96 -
12880.13 965.34 -5.73 1383 12884.19 no move -1.18 - - 2227.81 - - - 2276.06 - -77.86 - - 3203.91 - - - - - - - - - - -
13190.19 984.73 -6.08 1414 13194.25 no move -1.18 - - 2227.69 - - - 2276.50 - -77.86 - - 3203.50 - - - - - - - - - - -
13289 end dive: TARGET_DEPTH_EXCEEDED
13290 begin apogee
13295.27 990.53 -6.07 1424 13400.74 -0.31 1.57 0.130 2440.62 135.6 0.20 0.140 2285.06 42.8 - 65.71 2.384 2888.38 -4.8 0.341 - - - - - - 15.67 15.30 10.18
13407 end apogee: CONTROL_FINISHED_OK
13408 begin climb
13410.81 992.49 - 1431 13522.17 1.18 2.56 0.090 2807.06 143.1 - - 2285.06 - 77.86 66.96 2.358 2571.62 -4.7 0.341 - - - - - - 15.56 - 11.65
13828.56 973.28 5.28 1472 13834.07 1.35 0.22 0.074 2854.88 217.4 - - 2284.56 - 77.86 - - 2565.47 - - - - - - - - 15.69 - -
14140.06 950.45 7.79 1503 14159.97 done 1.35 - - 2854.19 - 3.28 0.093 3349.56 324.7 77.86 - - 2565.09 - - - - - - - - - 15.63 -
14201.20 945.80 8.22 1512 14219.33 done 1.35 - - 2855.56 - 2.87 0.021 2204.38 -399.0 77.86 - - 2562.94 - - - - - - - - - 15.65 -
14525.69 923.06 6.84 1544 14544.82 done 1.42 - - 2855.19 - 3.13 0.076 1146.81 -337.9 77.86 - - 2561.47 - - - - - - - - - 15.77 -
14641.47 914.97 7.15 1564 14659.38 done 1.48 - - 2855.00 - 2.85 0.030 2272.94 395.1 77.86 - - 2561.06 - - - - - - - - - 15.89 -
14965.65 892.12 7.40 1596 14987.81 1.51 0.17 0.085 2896.31 243.0 3.29 0.092 3352.56 328.2 77.86 - - 2563.09 - - - - - - - - 15.85 15.76 -
15023.31 886.94 9.47 1604 15042.34 done 1.51 - - 2898.00 - 2.87 0.021 2203.88 -400.2 77.86 - - 2560.66 - - - - - - - - - 15.92 -
15348.44 859.77 8.34 1636 15367.57 done 1.51 - - 2896.94 - 3.11 0.075 1147.12 -339.8 77.86 - - 2559.62 - - - - - - - - - 15.81 -
15488.09 847.07 9.21 1661 15507.11 done 1.51 - - 2896.88 - 2.84 0.030 2272.62 396.3 77.86 - - 2560.06 - - - - - - - - - 15.93 -
15812.98 821.59 7.88 1693 15817.03 VBD 1.51 - - 2897.44 - - - 2272.81 - 77.86 - - 2560.34 - - - - - - - - - - -
16123.42 800.53 6.47 1724 16127.48 VBD 1.61 - - 2897.12 - - - 2272.75 - 77.86 - - 2558.75 - - - - - - - - - - -
16434.08 783.19 5.17 1755 16457.07 1.78 0.33 0.065 2961.44 194.9 3.26 0.092 3350.62 330.6 77.86 - - 2560.09 - - - - - - - - 15.90 15.78 -
16598.31 769.88 8.51 1784 16616.61 done 1.78 - - 2960.62 - 2.86 0.021 2204.25 -400.8 77.86 - - 2560.53 - - - - - - - - - 15.81 -
16922.70 745.07 8.53 1816 16941.82 done 1.78 - - 2961.12 - 3.12 0.075 1144.88 -339.5 77.86 - - 2558.38 - - - - - - - - - 15.79 -
17022.34 736.87 8.66 1833 17040.98 done 1.78 - - 2960.94 - 2.85 0.030 2274.25 396.3 77.86 - - 2558.88 - - - - - - - - - 15.80 -
17346.85 710.50 8.29 1865 17368.18 done 1.78 - - 2960.31 - 3.31 0.071 1146.25 -340.8 77.86 - - 2558.56 - - - - - - - - - 15.80 -
17503.69 696.61 8.89 1893 17522.33 done 1.78 - - 2960.88 - 2.85 0.030 2275.62 396.3 77.86 - - 2559.47 - - - - - - - - - 15.94 -
17828.20 670.86 7.66 1925 17849.78 done 1.78 - - 2960.12 - 3.31 0.070 1146.81 -341.0 77.86 - - 2557.28 - - - - - - - - - 15.79 -
17901.15 665.27 7.59 1936 17919.06 done 1.78 - - 2960.69 - 2.85 0.029 2274.00 395.5 77.86 - - 2557.94 - - - - - - - - - 15.95 -
18225.34 643.70 6.24 1968 18244.87 done 1.89 - - 2960.75 - 3.24 0.091 3350.69 332.3 77.86 - - 2557.22 - - - - - - - - - 15.72 -
18291.50 638.98 7.23 1978 18309.41 done 1.94 - - 2960.19 - 2.83 0.021 2203.38 -405.4 77.86 - - 2558.97 - - - - - - - - - 15.96 -
18615.67 616.31 7.53 2010 18638.65 1.97 0.19 0.076 3007.75 250.3 3.43 0.087 3350.75 334.5 77.86 - - 2556.59 - - - - - - - - 15.90 15.76 -
18844.21 596.65 8.93 2052 18863.24 done 1.97 - - 3007.44 - 2.85 0.021 2204.81 -402.1 77.86 - - 2558.03 - - - - - - - - - 15.94 -
19169.51 572.50 7.13 2084 19191.25 done 2.03 - - 3006.12 - 3.44 0.086 3349.38 332.7 77.86 - - 2558.59 - - - - - - - - - 15.75 -
19236.74 566.89 8.57 2094 19256.27 done 2.03 - - 3007.62 - 2.85 0.021 2205.81 -401.3 77.86 - - 2558.09 - - - - - - - - - 15.97 -
19562.65 546.57 6.21 2126 19581.79 2.14 - - 3007.31 - 3.12 0.074 1146.56 -339.5 77.86 - - 2556.38 - - - - - - - - - 15.76 -
19728.46 535.27 6.96 2156 19746.38 2.20 - - 3007.25 - 2.84 0.029 2276.56 397.9 77.86 - - 2558.97 - - - - - - - - - 15.93 -
20052.66 512.98 7.42 2188 20073.61 2.24 - - 3007.56 - 3.30 0.070 1145.75 -342.7 77.86 - - 2559.78 - - - - - - - - - 15.78 -
20295.32 495.10 6.97 2233 20313.25 2.30 - - 3007.12 - 2.85 0.029 2275.38 396.4 77.86 - - 2557.84 - - - - - - - - - 15.95 -
20619.53 475.50 6.41 2265 20623.60 2.40 - - 3007.38 - - - 2274.81 - 77.86 - - 2558.47 - - - - - - - - - - -
20929.88 456.89 5.88 2296 20933.96 2.53 - - 3007.94 - - - 2275.31 - 77.86 - - 2557.16 - - - - - - - - - - -
21240.35 439.10 5.85 2327 21259.91 2.66 - - 3006.50 - 3.25 0.089 3351.62 331.2 77.86 - - 2560.41 - - - - - - - - - 15.71 -
21296.53 435.84 5.88 2335 21314.45 2.79 - - 3007.25 - 2.84 0.021 2201.31 -405.0 77.86 - - 2558.31 - - - - - - - - - 15.97 -
21621.06 418.69 5.04 2367 21710.96 2.92 - - 3006.69 - 3.13 0.075 1146.62 -337.0 139.99 50.58 1.684 2317.50 -4.8 0.203 - - - - - - - 15.48 10.50
21941.50 388.63 10.41 2424 21960.16 2.92 - - 3007.62 - 2.88 0.029 2274.38 391.6 139.99 - - 2311.06 - - - - - - - - - 15.65 -
22266.16 355.87 10.55 2456 22270.33 2.92 - - 3007.00 - - - 2274.44 - 139.99 - - 2309.19 - - - - - - - - - - -
22576.21 324.97 9.89 2487 22597.55 2.92 - - 3006.94 - 3.33 0.070 1145.44 -339.0 139.99 - - 2309.31 - - - - - - - - - 15.75 -
22743.08 307.95 9.75 2517 22762.14 2.92 - - 3007.62 - 2.88 0.029 2274.94 392.2 139.99 - - 2310.19 - - - - - - - - - 15.88 -
23068.26 278.44 8.81 2549 23072.34 2.92 - - 3007.62 - - - 2274.88 - 139.99 - - 2308.38 - - - - - - - - - - -
23378.60 251.00 8.81 2580 23399.96 2.92 - - 3006.94 - 3.34 0.069 1146.06 -338.0 139.99 - - 2308.16 - - - - - - - - - 15.57 -
23471.20 242.69 8.99 2595 23489.13 2.92 - - 3006.94 - 2.87 0.028 2275.19 393.4 139.99 - - 2309.28 - - - - - - - - - 15.68 -
23795.01 213.08 9.53 2627 23815.96 2.92 - - 3006.62 - 3.30 0.068 1146.81 -341.9 139.99 - - 2310.88 - - - - - - - - - 15.77 -
23937.22 199.02 9.60 2652 23955.54 2.92 - - 3008.19 - 2.85 0.028 2273.75 395.4 139.99 - - 2308.53 - - - - - - - - - 15.93 -
24261.42 170.44 8.57 2684 24282.77 2.92 - - 3008.69 - 3.32 0.068 1145.50 -339.8 139.99 - - 2308.53 - - - - - - - - - 15.64 -
24344.00 162.97 9.08 2697 24361.94 2.92 - - 3007.94 - 2.86 0.028 2273.81 394.5 139.99 - - 2308.25 - - - - - - - - - 15.82 -
24667.81 136.08 8.27 2729 24671.89 2.92 - - 3008.25 - - - 2273.88 - 139.99 - - 2307.97 - - - - - - - - - - -
24978.27 112.45 7.11 2760 24999.87 2.98 - - 3007.12 - 3.33 0.067 1145.81 -338.8 139.99 - - 2307.56 - - - - - - - - - 15.54 -
25121.22 101.11 9.20 2785 25139.14 2.98 - - 3007.81 - 2.87 0.027 2275.38 393.6 139.99 - - 2307.06 - - - - - - - - - 15.64 -
25445.48 78.89 4.32 2847 25550.99 3.13 - - 3007.81 - 3.33 0.068 1145.62 -339.3 216.97 60.56 1.221 2004.03 -5.0 0.055 - - - - - - - 15.53 11.11
25557.84 73.06 7.52 2861 25576.48 roll back 3.16 - - 3008.31 - 2.87 0.026 2273.19 392.9 216.97 - - 1999.91 - - - - - - - - - 15.67 -
25762.36 56.03 9.45 2899 25783.28 3.16 - - 3007.88 - 3.33 0.066 1145.25 -338.7 216.97 - - 1995.94 - - - - - - - - - 15.58 -
26014.94 44.14 2.36 2946 26160.22 3.40 - - 3007.88 - 2.87 0.025 2277.94 394.7 334.46 89.77 1.160 1525.38 -5.2 0.034 - - - - - - - 15.74 11.47
26346.44 25.46 7.79 3002 26367.36 3.40 - - 3008.19 - 3.37 0.067 1145.62 -336.0 334.46 - - 1516.31 - - - - - - - - - 15.55 -
26404.09 21.41 7.01 3010 26422.74 3.46 - - 3007.81 - 2.89 0.026 2274.75 390.7 334.46 - - 1515.22 - - - - - - - - - 15.66 -
26608 end climb: SURFACE_DEPTH_REACHED
26609 begin surface coast
26689 end surface coast: CONTROL_FINISHED_OK
26690 begin surface
SM 0.80 - - - - 179.4 72.93 1.097 1136.2 15.6 19.65 0.038 1123.8 57.2 - 0.11 0.083 1148.7 10416.5 -10.262 - - 11.24 15.78 15.84 -