NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 37 * Raw log
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• Previous call tries 1 • 14.26 of 506.00 AH used of 24V (97.18% remains)
• Surface angle -65.9 deg, depth 1.18 m • Intended pitch -16.9 deg, speed -8.462 cm/s
• VBD pumped to 429.82 (SM_CC=430)
• GPS1 time: 36 s
• GPS2 time: 2 s • Transponder ping count: 13
• 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
18.63 - - - 97.25 VBD -1.23 - - 180.69 - - - 2240.19 - -87.59 54.89 0.005 2499.41 - - - - - - - - - - 15.12
99.45 3.01 -3.54 11 217.68 -1.23 16.41 0.238 2216.44 124.1 3.06 0.070 1093.12 -374.9 -87.59 12.12 0.007 3249.53 61.9 -4.435 - - - - - - 15.66 15.66 15.67
448.78 71.88 -14.07 64 467.04 roll -1.23 - - 2216.62 - 2.78 0.028 2228.94 408.6 -87.59 - - 3255.47 - - - - - - - - - 15.88 -
653.53 97.33 -12.14 102 660.06 no move -1.23 - - 2216.38 - - - 2229.00 - -87.59 - - 3254.50 - - - - - - - - - - -
850.96 117.95 -10.33 124 869.20 roll -1.23 - - 2217.19 - 3.02 0.069 1093.06 -376.1 -87.59 - - 3254.25 - - - - - - - - - 15.97 -
979.61 129.37 -8.60 147 997.37 done -1.23 - - 2216.62 - 2.77 0.027 2231.62 411.0 -87.59 - - 3256.16 - - - - - - - - - 15.99 -
1303.15 156.36 -8.41 179 1320.60 done -1.23 - - 2216.81 - 2.88 0.086 3303.81 372.3 -87.59 - - 3254.22 - - - - - - - - - 15.96 -
1541.08 179.53 -9.86 224 1558.86 done -1.23 - - 2216.44 - 2.74 0.023 2148.44 -421.7 -87.59 - - 3256.25 - - - - - - - - - 16.02 -
1864.67 207.72 -8.80 256 1882.10 roll -1.23 - - 2216.31 - 2.80 0.076 1092.38 -377.2 -87.59 - - 3257.53 - - - - - - - - - 16.00 -
1952.51 216.39 -10.32 271 1970.29 roll -1.23 - - 2216.88 - 2.73 0.028 2230.75 417.0 -87.59 - - 3256.09 - - - - - - - - - 16.01 -
2276.05 247.08 -9.18 303 2293.96 roll -1.23 - - 2216.31 - 2.88 0.087 3305.06 373.0 -87.59 - - 3254.06 - - - - - - - - - 16.05 -
2400.26 259.86 -10.19 325 2417.53 roll -1.23 - - 2215.94 - 2.71 0.023 2150.31 -426.1 -87.59 - - 3255.84 - - - - - - - - - 16.07 -
2723.35 288.29 -8.66 357 2727.40 no move -1.23 - - 2216.31 - - - 2149.56 - -87.59 - - 3254.16 - - - - - - - - - - -
3033.37 313.95 -8.33 388 3037.42 no move -1.23 - - 2216.38 - - - 2148.62 - -87.59 - - 3253.78 - - - - - - - - - - -
3343.37 340.57 -8.56 419 3347.42 no move -1.23 - - 2216.50 - - - 2148.44 - -87.59 - - 3253.22 - - - - - - - - - - -
3653.39 367.79 -8.66 450 3671.85 roll -1.23 - - 2214.25 - 3.10 0.086 3303.25 372.5 -87.59 - - 3253.88 - - - - - - - - - 16.09 -
3748.05 376.98 -9.73 466 3765.31 roll -1.23 - - 2216.06 - 2.72 0.024 2152.19 -423.2 -87.59 - - 3255.00 - - - - - - - - - 16.06 -
4071.13 403.54 -8.18 498 4090.01 roll -1.23 - - 2216.19 - 3.11 0.085 3303.81 370.3 -87.59 - - 3252.34 - - - - - - - - - 16.10 -
4150.47 411.13 -9.87 511 4168.86 roll -1.23 - - 2216.38 - 2.71 0.024 2153.19 -424.6 -87.59 - - 3251.97 - - - - - - - - - 16.10 -
4474.67 437.99 -8.54 543 4478.72 no move -1.23 - - 2216.25 - - - 2153.38 - -87.59 - - 3250.59 - - - - - - - - - - -
4784.74 463.84 -8.32 574 4802.42 roll -1.23 - - 2216.25 - 2.82 0.080 1092.62 -376.2 -87.59 - - 3251.00 - - - - - - - - - 16.11 -
4898.74 473.78 -8.68 594 4916.00 roll -1.23 - - 2216.00 - 2.77 0.030 2230.06 410.6 -87.59 - - 3251.88 - - - - - - - - - 16.12 -
5221.83 500.84 -8.69 626 5240.30 roll -1.23 - - 2216.62 - 3.02 0.075 1093.19 -376.4 -87.59 - - 3250.56 - - - - - - - - - 16.11 -
5306.49 508.61 -9.41 640 5323.74 roll -1.23 - - 2215.88 - 2.78 0.029 2230.00 408.9 -87.59 - - 3250.53 - - - - - - - - - 16.11 -
5629.58 535.93 -8.58 672 5633.65 no move -1.23 - - 2215.88 - - - 2229.69 - -87.59 - - 3248.59 - - - - - - - - - - -
5939.64 562.09 -8.57 703 5958.12 roll -1.23 - - 2216.31 - 3.01 0.076 1093.06 -377.6 -87.59 - - 3248.81 - - - - - - - - - 16.12 -
5988.57 566.61 -9.08 710 6006.94 roll -1.23 - - 2216.50 - 2.74 0.030 2230.19 415.0 -87.59 - - 3251.00 - - - - - - - - - 16.10 -
6312.75 593.43 -8.39 742 6330.41 roll -1.23 - - 2216.31 - 2.89 0.092 3303.06 371.2 -87.59 - - 3247.38 - - - - - - - - - 16.10 -
6386.60 600.23 -9.46 754 6404.11 roll -1.23 - - 2215.94 - 2.71 0.025 2153.25 -424.3 -87.59 - - 3249.22 - - - - - - - - - 16.11 -
6710.05 624.88 -7.15 786 6727.34 roll -1.23 - - 2215.81 - 2.80 0.081 1094.31 -378.2 -87.59 - - 3248.47 - - - - - - - - - 16.10 -
6767.79 629.60 -7.87 795 6786.17 roll -1.23 - - 2216.12 - 2.74 0.030 2230.94 414.8 -87.59 - - 3247.09 - - - - - - - - - 16.11 -
7091.97 653.12 -7.29 827 7109.65 roll -1.23 - - 2216.44 - 2.89 0.091 3303.69 371.2 -87.59 - - 3246.00 - - - - - - - - - 16.10 -
7185.85 660.74 -8.33 843 7203.12 roll -1.23 - - 2216.38 - 2.72 0.025 2152.75 -423.1 -87.59 - - 3245.59 - - - - - - - - - 16.11 -
7508.95 684.87 -7.97 875 7513.00 no move -1.23 - - 2216.44 - - - 2153.44 - -87.59 - - 3244.62 - - - - - - - - - - -
7819.02 708.84 -7.72 906 7823.06 no move -1.23 - - 2216.06 - - - 2153.12 - -87.59 - - 3244.78 - - - - - - - - - - -
8129.07 732.22 -7.78 937 8133.11 no move -1.23 - - 2216.25 - - - 2152.50 - -87.59 - - 3244.81 - - - - - - - - - - -
8439.10 754.40 -7.46 968 8457.97 roll -1.23 - - 2214.75 - 3.11 0.089 3303.06 370.0 -87.59 - - 3245.06 - - - - - - - - - 16.11 -
8518.43 761.16 -8.59 981 8536.75 roll -1.23 - - 2215.31 - 2.73 0.025 2153.12 -421.2 -87.59 - - 3246.06 - - - - - - - - - 16.12 -
8842.70 785.75 -7.59 1013 8846.75 no move -1.23 - - 2216.19 - - - 2152.44 - -87.59 - - 3243.28 - - - - - - - - - - -
9152.74 809.65 -7.32 1044 9156.78 no move -1.23 - - 2215.69 - - - 2151.69 - -87.59 - - 3243.19 - - - - - - - - - - -
9462.79 833.14 -7.92 1075 9466.83 no move -1.23 - - 2216.06 - - - 2151.94 - -87.59 - - 3242.53 - - - - - - - - - - -
9772.83 853.80 -6.21 1106 9776.88 no move -1.23 - - 2216.38 - - - 2151.56 - -87.59 - - 3241.94 - - - - - - - - - - -
10082.87 873.60 -6.12 1137 10086.92 no move -1.23 - - 2216.19 - - - 2151.38 - -87.59 - - 3242.12 - - - - - - - - - - -
10392.92 893.33 -6.61 1168 10411.80 roll -1.23 - - 2216.38 - 3.12 0.090 3301.69 368.7 -87.59 - - 3242.22 - - - - - - - - - 16.10 -
10447.99 897.50 -7.82 1176 10465.26 roll -1.23 - - 2216.31 - 2.74 0.026 2153.06 -419.2 -87.59 - - 3242.47 - - - - - - - - - 16.10 -
10771.08 917.20 -6.57 1208 10775.12 no move -1.23 - - 2216.62 - - - 2152.62 - -87.59 - - 3240.59 - - - - - - - - - - -
11081.12 936.83 -6.07 1239 11100.00 roll -1.23 - - 2215.88 - 3.11 0.090 3301.88 369.5 -87.59 - - 3240.97 - - - - - - - - - 16.11 -
11146.30 941.81 -7.99 1249 11163.70 roll -1.23 - - 2216.50 - 2.74 0.026 2155.38 -418.4 -87.59 - - 3241.44 - - - - - - - - - 16.09 -
11469.53 961.62 -6.05 1281 11473.59 no move -1.23 - - 2216.31 - - - 2155.44 - -87.59 - - 3239.56 - - - - - - - - - - -
11779.57 980.23 -6.00 1312 11798.04 roll -1.23 - - 2216.62 - 3.10 0.090 3302.56 370.0 -87.59 - - 3239.91 - - - - - - - - - 16.10 -
11848.50 985.67 -7.46 1323 11866.50 roll -1.23 - - 2216.25 - 2.71 0.026 2153.25 -424.1 -87.59 - - 3242.66 - - - - - - - - - 16.03 -
11931 end dive: TARGET_DEPTH_EXCEEDED
11932 begin apogee
11937.25 990.27 -6.10 1331 12049.90 -0.31 1.62 0.144 2440.12 138.2 0.12 0.208 2196.94 364.1 - 69.33 2.571 2891.56 -5.1 0.325 - - - - - - 16.02 15.51 12.08
12054 end apogee: CONTROL_FINISHED_OK
12055 begin climb
12057.89 992.18 - 1339 12197.18 1.23 2.59 0.099 2815.62 145.0 3.34 0.098 3352.56 346.0 87.59 74.28 2.518 2530.59 -4.9 0.319 - - - - - - 15.68 15.27 12.61
12204.47 983.86 7.73 1355 12222.16 roll 1.27 - - 2816.50 - 2.81 0.026 2208.88 -407.0 87.59 - - 2526.84 - - - - - - - - - 15.62 -
12528.53 959.19 7.56 1387 12546.19 done 1.33 - - 2814.94 - 2.86 0.083 1145.62 -371.8 87.59 - - 2520.31 - - - - - - - - - 15.84 -
12582.76 955.39 6.90 1395 12601.67 1.42 0.28 0.071 2873.50 209.1 2.80 0.035 2273.62 402.9 87.59 - - 2519.78 - - - - - - - - 15.81 15.87 -
12907.89 928.18 7.92 1427 12911.94 VBD 1.45 - - 2873.94 - - - 2273.38 - 87.59 - - 2518.12 - - - - - - - - - - -
13217.78 902.62 8.27 1458 13235.85 done 1.45 - - 2874.62 - 2.96 0.100 3351.88 364.4 87.59 - - 2520.22 - - - - - - - - - 15.97 -
13276.30 897.31 10.14 1467 13294.29 done 1.45 - - 2874.50 - 2.72 0.026 2205.81 -421.3 87.59 - - 2518.56 - - - - - - - - - 15.99 -
13600.12 870.10 8.53 1499 13604.17 VBD 1.45 - - 2873.88 - - - 2205.00 - 87.59 - - 2516.16 - - - - - - - - - - -
13910.18 843.29 8.65 1530 13914.24 VBD 1.45 - - 2874.56 - - - 2204.19 - 87.59 - - 2516.16 - - - - - - - - - - -
14220.24 815.10 9.23 1561 14224.30 VBD 1.45 - - 2874.31 - - - 2204.75 - 87.59 - - 2515.75 - - - - - - - - - - -
14530.29 785.92 9.37 1592 14534.34 VBD 1.45 - - 2874.94 - - - 2204.81 - 87.59 - - 2515.56 - - - - - - - - - - -
14840.33 758.20 8.33 1623 14844.38 VBD 1.45 - - 2874.44 - - - 2204.56 - 87.59 - - 2514.72 - - - - - - - - - - -
15150.69 732.42 8.22 1654 15154.74 VBD 1.45 - - 2874.19 - - - 2204.06 - 87.59 - - 2514.97 - - - - - - - - - - -
15461.15 709.56 7.10 1685 15480.04 done 1.53 - - 2874.19 - 3.12 0.097 3351.94 367.9 87.59 - - 2515.34 - - - - - - - - - 16.07 -
15530.90 704.00 7.93 1696 15549.29 done 1.57 - - 2873.12 - 2.71 0.026 2205.56 -423.0 87.59 - - 2516.00 - - - - - - - - - 16.08 -
15855.51 680.64 7.04 1728 15860.87 1.65 0.25 0.073 2929.00 223.5 - - 2204.12 - 87.59 - - 2515.62 - - - - - - - - 16.06 - -
16166.70 653.98 8.60 1759 16170.74 VBD 1.65 - - 2929.38 - - - 2205.00 - 87.59 - - 2514.09 - - - - - - - - - - -
16477.16 627.34 7.79 1790 16481.21 VBD 1.69 - - 2928.25 - - - 2204.06 - 87.59 - - 2514.38 - - - - - - - - - - -
16787.02 601.45 8.53 1821 16791.07 VBD 1.69 - - 2929.12 - - - 2204.25 - 87.59 - - 2513.97 - - - - - - - - - - -
17097.46 576.30 7.63 1852 17115.53 done 1.74 - - 2929.25 - 2.83 0.084 1144.44 -374.5 87.59 - - 2515.19 - - - - - - - - - 16.10 -
17151.71 571.78 8.29 1860 17169.38 done 1.74 - - 2928.75 - 2.80 0.036 2275.38 403.9 87.59 - - 2515.94 - - - - - - - - - 16.09 -
17475.61 545.79 7.78 1892 17493.93 done 1.78 - - 2928.69 - 2.93 0.100 3352.00 367.4 87.59 - - 2513.41 - - - - - - - - - 16.08 -
17540.22 539.97 8.92 1902 17557.49 done 1.78 - - 2929.56 - 2.70 0.026 2203.62 -425.3 87.59 - - 2515.88 - - - - - - - - - 16.09 -
17863.31 513.40 8.41 1934 17867.38 VBD 1.78 - - 2928.88 - - - 2202.44 - 87.59 - - 2513.66 - - - - - - - - - - -
18173.35 488.67 7.99 1965 18177.40 VBD 1.78 - - 2929.62 - - - 2202.50 - 87.59 - - 2513.91 - - - - - - - - - - -
18483.38 463.79 8.17 1996 18502.25 done 1.78 - - 2929.31 - 3.12 0.096 3352.88 368.7 87.59 - - 2514.94 - - - - - - - - - 15.98 -
18592.71 454.29 8.37 2015 18610.70 done 1.78 - - 2929.56 - 2.72 0.026 2204.94 -422.0 87.59 - - 2514.44 - - - - - - - - - 16.08 -
18916.92 430.16 6.83 2047 18936.23 1.88 0.26 0.074 2984.88 212.8 2.82 0.083 1143.88 -376.3 87.59 - - 2513.00 - - - - - - - - 16.04 16.03 -
18982.40 424.67 8.21 2057 19000.07 done 1.88 - - 2984.69 - 2.80 0.035 2276.56 404.5 87.59 - - 2514.97 - - - - - - - - - 16.09 -
19306.30 401.32 6.85 2089 19310.35 VBD 1.98 - - 2985.25 - - - 2277.44 - 87.59 - - 2514.09 - - - - - - - - - - -
19616.59 380.41 6.73 2120 19621.37 2.08 0.09 0.131 3011.50 291.7 - - 2276.88 - 87.59 - - 2513.44 - - - - - - - - 16.00 - -
19927.72 359.31 6.90 2151 19945.81 2.17 - - 3012.12 - 2.91 0.098 3353.19 369.9 87.59 - - 2513.22 - - - - - - - - - 16.01 -
20076.29 347.07 8.18 2178 20094.30 2.17 - - 3012.69 - 2.71 0.025 2204.38 -423.9 87.59 - - 2515.56 - - - - - - - - - 16.04 -
20400.53 322.01 7.72 2210 20404.59 2.22 - - 3012.25 - - - 2202.00 - 87.59 - - 2513.81 - - - - - - - - - - -
20710.79 298.84 7.64 2241 20714.85 2.27 - - 3012.31 - - - 2202.25 - 87.59 - - 2513.75 - - - - - - - - - - -
21021.06 276.89 6.47 2272 21038.81 2.39 - - 3012.06 - 2.82 0.080 1143.00 -375.6 87.59 - - 2514.91 - - - - - - - - - 16.07 -
21269.71 259.96 6.58 2319 21287.80 2.50 - - 3012.62 - 2.80 0.034 2277.19 405.1 87.59 - - 2515.03 - - - - - - - - - 16.07 -
21594.15 240.86 6.43 2351 21598.21 2.62 - - 3012.44 - - - 2276.81 - 87.59 - - 2513.78 - - - - - - - - - - -
21904.44 221.53 6.22 2382 21908.50 2.76 - - 3011.62 - - - 2276.81 - 87.59 - - 2513.81 - - - - - - - - - - -
22214.72 202.33 6.07 2413 22233.46 2.90 - - 3011.75 - 3.02 0.074 1143.25 -375.4 87.59 - - 2514.12 - - - - - - - - - 16.03 -
22310.17 196.79 5.84 2429 22328.24 3.06 - - 3012.44 - 2.81 0.033 2278.19 403.9 87.59 - - 2514.78 - - - - - - - - - 16.06 -
22634.50 181.22 4.57 2461 22743.66 3.22 - - 3012.50 - 3.00 0.098 3352.38 358.1 169.50 63.10 1.567 2198.56 -5.0 0.097 - - - - - - - 15.68 12.10
22824.86 163.53 13.40 2491 22842.15 roll back 3.22 - - 3012.75 - 2.77 0.025 2205.75 -413.9 169.50 - - 2193.03 - - - - - - - - - 15.86 -
23148.07 126.22 10.91 2523 23165.76 3.22 - - 3012.81 - 2.83 0.079 1143.62 -375.3 169.50 - - 2185.62 - - - - - - - - - 15.91 -
23206.22 119.51 11.85 2532 23224.63 3.22 - - 3012.69 - 2.81 0.033 2275.56 402.8 169.50 - - 2187.59 - - - - - - - - - 15.86 -
23530.84 99.42 4.79 2565 23635.02 3.38 - - 3012.12 - 3.01 0.097 3351.38 357.4 246.80 59.51 1.435 1884.38 -5.1 0.059 - - - - - - - 15.64 12.27
23731.33 83.66 9.27 2597 23749.34 roll back 3.38 - - 3012.56 - 2.76 0.024 2202.69 -416.2 246.80 - - 1876.53 - - - - - - - - - 15.78 -
23935.57 69.22 6.43 2635 23955.58 3.50 - - 3012.19 - 3.18 0.090 3352.50 361.6 246.80 - - 1872.59 - - - - - - - - - 15.86 -
23987.18 65.58 7.04 2642 24005.18 3.58 - - 3012.44 - 2.74 0.024 2201.25 -420.2 246.80 - - 1874.09 - - - - - - - - - 15.84 -
24191.39 53.26 6.06 2680 24209.80 3.73 - - 3012.75 - 2.82 0.078 1144.25 -374.8 246.80 - - 1870.41 - - - - - - - - - 15.85 -
24321.40 45.13 6.02 2703 24340.22 3.87 - - 3012.25 - 2.81 0.031 2277.75 403.4 246.80 - - 1869.56 - - - - - - - - - 15.87 -
24526.44 35.63 3.76 2741 24652.07 4.07 - - 3012.94 - 3.10 0.075 1144.50 -365.6 345.59 75.17 1.326 1479.84 -5.2 0.023 - - - - - - - 15.61 12.37
24883.79 11.09 6.72 2803 24902.18 4.18 - - 3012.38 - 2.83 0.031 2276.50 400.0 345.59 - - 1471.78 - - - - - - - - - 15.84 -
25002 end climb: SURFACE_DEPTH_REACHED
25003 begin surface coast
25083 end surface coast: CONTROL_FINISHED_OK
25084 begin surface
SM 1.09 - - - - 181.8 62.90 1.265 1137.8 18.1 18.24 0.054 1128.6 61.9 - 0.23 0.066 1146.9 4974.2 -8.396 - - 12.40 15.88 15.91 -