NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 189 * Raw log
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• Previous call tries 1 • 66.13 of 506.00 AH used of 24V (86.93% remains)
• Surface angle -65.5 deg, depth 1.20 m • Intended pitch -16.4 deg, speed -8.049 cm/s
• No surface pump (final VBD was 906.0, SM_CC=430)
• GPS1 time: 23 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
18.76 - - - 104.07 VBD -1.18 - - 178.38 - - - 2330.56 - -77.86 59.94 0.005 2658.59 - - - - - - - - - - 15.46
106.28 3.65 -4.66 12 221.04 -1.18 16.92 0.230 2227.88 121.1 3.34 0.061 1143.75 -355.3 -77.86 7.76 0.008 3211.38 71.2 -5.416 - - - - - - 15.58 15.46 15.50
307.12 43.29 -12.61 35 325.46 roll -1.18 - - 2227.00 - 2.84 0.025 2275.81 398.6 -77.86 - - 3215.59 - - - - - - - - - 15.87 -
511.36 66.33 -10.81 73 530.82 roll -1.18 - - 2228.44 - 3.15 0.082 3353.44 342.1 -77.86 - - 3214.69 - - - - - - - - - 15.81 -
546.96 70.80 -12.61 77 565.20 roll -1.18 - - 2227.88 - 2.84 0.019 2191.62 -409.1 -77.86 - - 3215.69 - - - - - - - - - 15.90 -
751.01 89.98 -7.72 115 771.66 roll -1.18 - - 2228.88 - 3.38 0.077 3352.56 343.5 -77.86 - - 3215.31 - - - - - - - - - 15.83 -
912.13 104.51 -9.29 144 930.39 done -1.18 - - 2228.25 - 2.83 0.019 2189.62 -410.9 -77.86 - - 3216.81 - - - - - - - - - 15.93 -
1236.19 129.59 -7.21 176 1254.12 done -1.18 - - 2228.31 - 2.95 0.065 1144.19 -354.4 -77.86 - - 3215.66 - - - - - - - - - 15.87 -
1280.27 132.94 -7.29 182 1297.40 done -1.18 - - 2228.25 - 2.80 0.024 2280.06 405.7 -77.86 - - 3217.41 - - - - - - - - - 15.96 -
1603.21 156.18 -7.81 214 1607.23 VBD -1.18 - - 2228.19 - - - 2279.81 - -77.86 - - 3215.94 - - - - - - - - - - -
1913.28 180.30 -7.34 245 1932.32 done -1.18 - - 2227.12 - 3.15 0.082 3353.38 340.8 -77.86 - - 3218.50 - - - - - - - - - 15.91 -
1938.63 182.32 -7.66 247 1956.37 done -1.18 - - 2228.12 - 2.82 0.020 2188.06 -413.2 -77.86 - - 3216.56 - - - - - - - - - 15.85 -
2262.22 204.65 -6.84 279 2266.27 no move -1.18 - - 2228.25 - - - 2186.75 - -77.86 - - 3215.88 - - - - - - - - - - -
2572.29 227.46 -7.68 310 2593.46 roll -1.18 - - 2227.88 - 3.40 0.079 3352.88 343.0 -77.86 - - 3215.25 - - - - - - - - - 15.98 -
2634.66 232.81 -8.71 319 2652.39 roll -1.18 - - 2228.19 - 2.80 0.020 2190.75 -415.0 -77.86 - - 3217.22 - - - - - - - - - 16.01 -
2958.24 258.58 -7.88 351 2962.30 no move -1.18 - - 2227.69 - - - 2189.31 - -77.86 - - 3215.06 - - - - - - - - - - -
3268.30 280.33 -6.58 382 3272.36 no move -1.18 - - 2227.69 - - - 2189.56 - -77.86 - - 3214.53 - - - - - - - - - - -
3578.32 300.63 -6.75 413 3599.50 roll -1.18 - - 2228.25 - 3.39 0.080 3351.94 342.9 -77.86 - - 3212.47 - - - - - - - - - 15.96 -
3630.70 304.65 -7.67 420 3648.04 roll -1.18 - - 2228.31 - 2.80 0.020 2193.50 -413.7 -77.86 - - 3213.75 - - - - - - - - - 16.02 -
3953.89 329.11 -8.02 452 3957.95 no move -1.18 - - 2227.81 - - - 2191.62 - -77.86 - - 3212.56 - - - - - - - - - - -
4263.94 353.71 -7.69 483 4285.36 roll -1.18 - - 2228.38 - 3.38 0.081 3352.25 343.4 -77.86 - - 3212.94 - - - - - - - - - 16.01 -
4320.95 358.76 -8.62 491 4339.41 roll -1.18 - - 2227.00 - 2.81 0.020 2194.69 -411.9 -77.86 - - 3213.97 - - - - - - - - - 16.04 -
4645.27 382.94 -7.12 523 4649.33 no move -1.18 - - 2228.25 - - - 2193.94 - -77.86 - - 3210.50 - - - - - - - - - - -
4955.30 404.96 -7.20 554 4959.36 no move -1.18 - - 2227.75 - - - 2193.81 - -77.86 - - 3210.50 - - - - - - - - - - -
5265.32 426.97 -6.94 585 5286.51 roll -1.18 - - 2227.94 - 3.39 0.082 3352.62 341.8 -77.86 - - 3209.28 - - - - - - - - - 16.00 -
5317.70 431.00 -7.41 592 5335.84 roll -1.18 - - 2227.62 - 2.82 0.020 2196.44 -410.0 -77.86 - - 3210.38 - - - - - - - - - 15.98 -
5641.68 453.18 -6.64 624 5645.74 no move -1.18 - - 2228.00 - - - 2196.19 - -77.86 - - 3208.25 - - - - - - - - - - -
5951.73 474.59 -6.98 655 5972.90 roll -1.18 - - 2228.12 - 3.39 0.082 3352.69 341.2 -77.86 - - 3207.28 - - - - - - - - - 15.96 -
6044.10 481.86 -8.00 670 6061.86 roll -1.18 - - 2228.38 - 2.84 0.020 2197.88 -406.6 -77.86 - - 3208.25 - - - - - - - - - 16.03 -
6367.71 504.84 -7.01 702 6371.77 no move -1.18 - - 2228.25 - - - 2196.38 - -77.86 - - 3207.00 - - - - - - - - - - -
6677.76 526.99 -7.06 733 6698.93 roll -1.18 - - 2228.38 - 3.39 0.082 3352.50 341.0 -77.86 - - 3207.03 - - - - - - - - - 16.00 -
6754.52 532.94 -7.75 745 6773.00 roll -1.18 - - 2228.12 - 2.82 0.020 2197.94 -409.4 -77.86 - - 3207.41 - - - - - - - - - 16.05 -
7078.85 556.67 -7.61 777 7082.91 no move -1.18 - - 2228.00 - - - 2196.75 - -77.86 - - 3205.59 - - - - - - - - - - -
7388.90 578.23 -6.54 808 7392.96 no move -1.18 - - 2228.00 - - - 2196.50 - -77.86 - - 3204.38 - - - - - - - - - - -
7698.96 597.81 -6.43 839 7717.52 roll -1.18 - - 2227.88 - 3.02 0.072 1145.00 -348.2 -77.86 - - 3205.81 - - - - - - - - - 16.00 -
7763.73 602.03 -6.37 849 7781.87 roll -1.18 - - 2226.88 - 2.83 0.027 2276.12 399.7 -77.86 - - 3206.97 - - - - - - - - - 16.04 -
8087.73 621.42 -5.86 881 8091.79 no move -1.18 - - 2227.31 - - - 2276.06 - -77.86 - - 3203.72 - - - - - - - - - - -
8397.78 639.40 -5.59 912 8401.84 no move -1.18 - - 2228.12 - - - 2276.19 - -77.86 - - 3203.41 - - - - - - - - - - -
8707.83 657.72 -5.86 943 8712.03 no move -1.18 - - 2228.38 - - - 2276.12 - -77.86 - - 3202.50 - - - - - - - - - - -
9017.87 677.34 -6.28 974 9037.08 roll -1.18 - - 2228.12 - 3.19 0.088 3351.50 337.1 -77.86 - - 3203.16 - - - - - - - - - 15.97 -
9067.66 681.00 -7.37 981 9086.16 roll -1.18 - - 2227.50 - 2.81 0.021 2196.25 -411.1 -77.86 - - 3203.25 - - - - - - - - - 16.03 -
9392.01 700.65 -6.18 1013 9396.08 no move -1.18 - - 2228.12 - - - 2195.06 - -77.86 - - 3202.31 - - - - - - - - - - -
9702.07 718.00 -5.15 1044 9706.13 no move -1.18 - - 2228.12 - - - 2195.06 - -77.86 - - 3201.34 - - - - - - - - - - -
10012.53 733.00 -4.82 1075 10034.11 roll -1.18 - - 2228.25 - 3.43 0.085 3350.44 336.8 -77.86 - - 3200.19 - - - - - - - - - 15.96 -
10075.30 736.68 -5.42 1084 10093.07 roll -1.18 - - 2227.06 - 2.82 0.021 2198.75 -408.4 -77.86 - - 3203.19 - - - - - - - - - 16.05 -
10399.33 752.84 -5.00 1116 10420.91 roll -1.18 - - 2227.50 - 3.41 0.085 3352.31 338.3 -77.86 - - 3200.66 - - - - - - - - - 15.95 -
10472.11 757.37 -5.91 1127 10489.85 roll -1.18 - - 2226.12 - 2.84 0.021 2197.50 -406.6 -77.86 - - 3201.41 - - - - - - - - - 16.04 -
10795.70 775.33 -5.49 1159 10799.76 no move -1.18 - - 2227.94 - - - 2195.69 - -77.86 - - 3199.81 - - - - - - - - - - -
11105.76 793.87 -5.98 1190 11127.58 roll -1.18 - - 2228.12 - 3.43 0.085 3352.19 337.2 -77.86 - - 3198.72 - - - - - - - - - 15.94 -
11148.89 796.72 -6.11 1195 11166.63 roll -1.18 - - 2228.00 - 2.84 0.021 2197.81 -406.5 -77.86 - - 3199.44 - - - - - - - - - 16.03 -
11472.48 814.68 -5.43 1227 11476.55 no move -1.18 - - 2227.50 - - - 2196.19 - -77.86 - - 3199.97 - - - - - - - - - - -
11782.54 831.29 -5.36 1258 11804.13 roll -1.18 - - 2228.06 - 3.44 0.085 3351.75 335.9 -77.86 - - 3199.41 - - - - - - - - - 15.93 -
11879.60 837.57 -6.26 1274 11898.08 roll -1.18 - - 2227.88 - 2.84 0.021 2198.50 -406.1 -77.86 - - 3200.22 - - - - - - - - - 16.04 -
12203.94 855.57 -5.64 1306 12208.00 no move -1.18 - - 2227.81 - - - 2198.00 - -77.86 - - 3198.72 - - - - - - - - - - -
12513.99 873.89 -5.89 1337 12535.57 roll -1.18 - - 2228.31 - 3.43 0.086 3351.06 336.2 -77.86 - - 3198.41 - - - - - - - - - 15.93 -
12546.77 876.27 -6.32 1340 12564.51 roll -1.18 - - 2227.75 - 2.83 0.021 2198.81 -407.2 -77.86 - - 3199.50 - - - - - - - - - 16.02 -
12870.33 897.05 -6.95 1372 12874.40 no move -1.18 - - 2228.25 - - - 2197.75 - -77.86 - - 3197.97 - - - - - - - - - - -
13180.36 917.68 -7.11 1403 13184.42 no move -1.18 - - 2227.75 - - - 2197.12 - -77.86 - - 3197.66 - - - - - - - - - - -
13490.39 938.04 -6.33 1434 13494.84 no move -1.18 - - 2228.19 - - - 2196.81 - -77.86 - - 3197.75 - - - - - - - - - - -
13800.81 956.67 -5.82 1465 13804.88 no move -1.18 - - 2227.94 - - - 2197.88 - -77.86 - - 3197.25 - - - - - - - - - - -
14110.87 974.02 -5.35 1496 14114.93 no move -1.18 - - 2228.12 - - - 2197.62 - -77.86 - - 3197.72 - - - - - - - - - - -
14410 end dive: TARGET_DEPTH_EXCEEDED
14411 begin apogee
14415.92 990.63 -5.68 1526 14515.97 -0.31 1.56 0.137 2440.19 135.9 0.12 0.180 2193.06 -38.0 - 61.80 2.475 2889.47 -5.0 0.333 - - - - - - 15.85 15.57 11.11
14528 end apogee: CONTROL_FINISHED_OK
14529 begin climb
14532.14 992.43 - 1533 14661.91 1.18 2.56 0.093 2805.75 142.8 3.64 0.093 3348.81 317.5 77.86 65.96 2.428 2571.78 -4.8 0.328 - - - - - - 15.65 15.33 12.23
14668.50 986.34 6.15 1543 14687.38 roll 1.30 - - 2805.50 - 2.93 0.022 2209.25 -388.9 77.86 - - 2568.50 - - - - - - - - - 15.59 -
14993.96 966.96 6.24 1575 15016.39 1.40 0.32 0.069 2868.56 197.1 3.13 0.078 1145.12 -340.0 77.86 - - 2562.91 - - - - - - - - 15.77 15.74 -
15247.77 945.83 8.67 1622 15265.53 done 1.40 - - 2868.50 - 2.89 0.031 2272.56 390.1 77.86 - - 2560.22 - - - - - - - - - 15.88 -
15571.35 919.98 7.92 1654 15575.42 VBD 1.40 - - 2868.19 - - - 2272.62 - 77.86 - - 2560.06 - - - - - - - - - - -
15881.37 894.47 8.64 1685 15902.14 done 1.40 - - 2868.62 - 3.27 0.074 1145.19 -344.8 77.86 - - 2558.34 - - - - - - - - - 15.92 -
16003.35 883.68 9.04 1706 16021.11 done 1.40 - - 2868.88 - 2.88 0.031 2272.25 391.3 77.86 - - 2558.16 - - - - - - - - - 15.97 -
16327.36 857.38 7.45 1738 16331.42 VBD 1.44 - - 2869.00 - - - 2272.56 - 77.86 - - 2559.03 - - - - - - - - - - -
16637.68 834.42 7.31 1769 16657.06 done 1.49 - - 2867.94 - 3.25 0.074 1146.88 -346.4 77.86 - - 2559.84 - - - - - - - - - 15.83 -
16713.67 828.88 7.42 1781 16731.42 done 1.52 - - 2866.38 - 2.88 0.031 2273.12 391.1 77.86 - - 2559.59 - - - - - - - - - 16.01 -
17037.68 805.33 7.36 1813 17042.65 1.56 0.16 0.087 2909.00 266.4 - - 2273.50 - 77.86 - - 2557.59 - - - - - - - - 15.96 - -
17348.61 780.17 7.86 1844 17367.57 done 1.56 - - 2909.50 - 3.20 0.074 1145.00 -352.7 77.86 - - 2556.47 - - - - - - - - - 15.96 -
17458.06 771.00 8.63 1863 17476.55 done 1.56 - - 2909.56 - 2.88 0.032 2270.31 390.7 77.86 - - 2558.03 - - - - - - - - - 16.02 -
17782.37 747.36 7.65 1895 17786.43 VBD 1.56 - - 2909.00 - - - 2270.69 - 77.86 - - 2557.50 - - - - - - - - - - -
18092.80 725.46 6.60 1926 18096.86 VBD 1.65 - - 2909.81 - - - 2270.38 - 77.86 - - 2557.38 - - - - - - - - - - -
18403.12 704.91 6.28 1957 18425.12 1.76 0.20 0.078 2953.50 218.5 3.23 0.074 1146.38 -348.0 77.86 - - 2556.91 - - - - - - - - 15.96 15.91 -
18606.35 688.93 7.98 1994 18624.11 done 1.76 - - 2953.94 - 2.88 0.032 2272.25 390.9 77.86 - - 2558.56 - - - - - - - - - 16.01 -
18930.36 667.60 6.52 2026 18934.42 VBD 1.85 - - 2954.88 - - - 2272.19 - 77.86 - - 2557.22 - - - - - - - - - - -
19240.66 646.23 7.47 2057 19244.72 VBD 1.88 - - 2955.06 - - - 2272.38 - 77.86 - - 2556.72 - - - - - - - - - - -
19550.97 623.63 7.32 2088 19572.99 1.93 0.17 0.086 2998.69 256.6 3.24 0.073 1145.31 -347.9 77.86 - - 2555.41 - - - - - - - - 15.97 15.93 -
19804.33 600.31 8.92 2135 19822.09 done 1.93 - - 2999.19 - 2.89 0.032 2272.38 390.0 77.86 - - 2557.75 - - - - - - - - - 16.02 -
20127.93 573.74 8.00 2167 20132.00 VBD 1.93 - - 2999.94 - - - 2272.50 - 77.86 - - 2556.47 - - - - - - - - - - -
20438.38 549.57 7.32 2198 20442.44 VBD 1.97 - - 2999.12 - - - 2272.31 - 77.86 - - 2556.69 - - - - - - - - - - -
20748.69 526.79 7.33 2229 20768.06 done 2.01 - - 2999.88 - 3.24 0.072 1145.94 -347.6 77.86 - - 2555.34 - - - - - - - - - 15.96 -
20999.00 508.44 7.07 2276 21017.48 done 2.07 - - 2999.19 - 2.89 0.031 2273.06 390.0 77.86 - - 2558.22 - - - - - - - - - 16.03 -
21323.71 487.83 6.40 2308 21343.93 2.17 - 0.030 3000.12 - 3.23 0.071 1145.06 -349.2 77.86 - - 2555.28 - - - - - - - - - 15.94 -
21380.65 483.94 6.73 2316 21398.80 2.25 - - 3000.06 - 2.89 0.030 2273.62 390.5 77.86 - - 2556.19 - - - - - - - - - 15.89 -
21705.16 463.48 6.49 2348 21724.95 2.34 - - 3001.00 - 3.26 0.093 3350.31 330.3 77.86 - - 2557.75 - - - - - - - - - 15.91 -
21765.83 459.14 7.18 2357 21783.92 2.40 - - 3000.62 - 2.79 0.022 2201.12 -411.9 77.86 - - 2557.06 - - - - - - - - - 16.00 -
22090.17 439.52 6.16 2389 22108.76 2.51 - - 3000.94 - 3.02 0.075 1146.31 -349.3 77.86 - - 2557.38 - - - - - - - - - 15.92 -
22279.69 427.60 6.43 2424 22298.59 2.61 - - 3000.75 - 2.87 0.030 2274.31 393.0 77.86 - - 2557.50 - - - - - - - - - 15.92 -
22604.80 407.52 6.12 2456 22624.19 2.72 - - 3001.31 - 3.23 0.071 1145.25 -349.6 77.86 - - 2557.22 - - - - - - - - - 15.93 -
22745.08 398.39 6.48 2481 22763.58 2.82 - - 3001.12 - 2.86 0.030 2274.94 395.0 77.86 - - 2556.38 - - - - - - - - - 16.00 -
23069.80 378.73 6.20 2513 23089.46 2.93 - - 3000.25 - 3.24 0.093 3349.69 331.7 77.86 - - 2555.25 - - - - - - - - - 15.86 -
23140.46 374.00 7.09 2524 23158.54 2.99 - - 3000.81 - 2.80 0.022 2201.31 -410.1 77.86 - - 2558.19 - - - - - - - - - 15.96 -
23464.77 356.00 5.02 2556 23537.02 3.11 - - 3000.38 - - - 2200.38 - 140.51 49.41 1.715 2316.56 -4.9 0.169 - - - - - - - - 11.47
23842.87 322.95 9.32 2592 23846.95 3.11 - - 3000.56 - - - 2200.31 - 140.51 - - 2307.53 - - - - - - - - - - -
24152.92 293.76 9.00 2623 24171.92 3.11 - - 2999.88 - 3.04 0.076 1145.19 -347.1 140.51 - - 2306.56 - - - - - - - - - 15.88 -
24212.40 288.05 9.57 2632 24231.29 3.11 - - 3000.56 - 2.87 0.030 2273.81 393.2 140.51 - - 2307.00 - - - - - - - - - 15.93 -
24537.14 260.51 8.22 2664 24556.54 3.11 - - 2998.19 - 3.23 0.072 1146.50 -349.0 140.51 - - 2306.88 - - - - - - - - - 15.91 -
24622.76 253.64 8.07 2678 24640.52 3.11 - - 2998.12 - 2.88 0.030 2273.44 391.3 140.51 - - 2306.78 - - - - - - - - - 15.93 -
24946.35 227.39 8.38 2710 24950.42 3.11 - - 3000.31 - - - 2274.19 - 140.51 - - 2305.09 - - - - - - - - - - -
25256.36 200.75 8.96 2741 25275.75 3.11 - - 3000.38 - 3.23 0.071 1145.50 -349.4 140.51 - - 2306.59 - - - - - - - - - 15.93 -
25291.96 197.35 9.22 2745 25309.74 3.11 - - 3000.62 - 2.87 0.029 2273.38 393.0 140.51 - - 2306.16 - - - - - - - - - 15.86 -
25615.59 168.91 8.62 2777 25634.99 3.11 - - 2998.69 - 3.24 0.092 3349.00 332.0 140.51 - - 2306.38 - - - - - - - - - 15.89 -
25735.48 157.36 9.60 2798 25753.57 3.11 - - 3000.50 - 2.80 0.022 2202.62 -409.4 140.51 - - 2305.84 - - - - - - - - - 15.91 -
26059.38 130.77 7.79 2830 26077.97 3.11 - - 3001.00 - 3.02 0.074 1146.44 -349.7 140.51 - - 2303.84 - - - - - - - - - 15.80 -
26144.58 124.75 6.97 2844 26162.36 3.18 - - 3000.69 - 2.84 0.029 2276.06 397.8 140.51 - - 2303.69 - - - - - - - - - 15.96 -
26468.61 106.12 6.28 2876 26488.26 3.28 - - 3000.69 - 3.22 0.069 1145.38 -351.1 140.51 - - 2303.47 - - - - - - - - - 15.78 -
26675.03 94.51 5.04 2914 26763.87 3.41 - - 3000.69 - 2.88 0.028 2276.06 392.6 202.72 48.25 1.353 2064.19 -5.0 0.058 - - - - - - - 15.92 11.73
26950.14 76.71 6.98 2962 26957.15 pitch 3.47 - - 3001.38 - - - 2275.94 - 202.72 - - 2056.78 - - - - - - - - - - -
27143.42 65.31 5.03 3000 27214.73 3.59 - - 3001.44 - - - 2275.88 - 265.15 48.25 1.287 1808.97 -5.1 0.043 - - - - - - - - 12.14
27400.99 49.57 6.35 3047 27421.11 3.70 - - 3001.12 - 3.25 0.069 1145.19 -347.9 265.15 - - 1799.56 - - - - - - - - - 15.71 -
27507.84 43.07 5.86 3065 27526.34 3.83 - - 3001.38 - 2.88 0.027 2274.94 392.3 265.15 - - 1797.25 - - - - - - - - - 15.82 -
27712.62 31.99 5.34 3103 27733.39 3.99 - - 3001.25 - 3.24 0.089 3351.31 332.2 265.15 - - 1795.94 - - - - - - - - - 15.77 -
27945.15 20.01 5.04 3146 28033.18 4.11 - - 3000.81 - 2.82 0.021 2195.12 -410.0 327.24 47.98 1.212 1555.59 -5.0 0.014 - - - - - - - 15.89 11.92
28219.44 13.85 0.60 3194 28388.69 4.42 - - 3000.25 - - - 2195.31 - 481.25 117.15 1.186 928.06 -5.4 0.010 - - - - - - - - 12.09
28474 end climb: SURFACE_DEPTH_REACHED
28474 begin surface coast
28575 end surface coast: CONTROL_FINISHED_OK
28575 begin surface
SM 1.09 - - - - 180.7 - - 916.4 - 18.67 0.045 926.8 49.6 - 0.17 0.085 906.0 5329.4 -6.985 - - 30.00 15.74 15.78 -