NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 57 * Raw log
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• Previous call tries 1 • 21.51 of 506.00 AH used of 24V (95.75% remains)
• Surface angle -66.6 deg, depth 1.23 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 586.04 (beyond SM_CC=430)
• GPS1 time: 30 s
• GPS2 time: 3 s • Transponder ping count: 11
• 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
18.68 - - - 96.99 VBD -1.18 - - 178.31 - - - 2148.94 - -77.86 54.88 0.005 2583.94 - - - - - - - - - - 15.16
99.20 3.66 -4.86 11 211.08 -1.18 16.58 0.231 2227.81 123.6 2.83 0.072 1091.69 -373.6 -77.86 9.10 0.007 3211.28 68.9 -5.978 - - - - - - 15.67 15.63 15.07
277.14 44.41 -15.04 30 294.89 roll -1.18 - - 2227.75 - 2.76 0.026 2231.88 413.1 -77.86 - - 3214.41 - - - - - - - - - 15.89 -
480.67 72.43 -13.58 68 498.87 roll -1.18 - - 2227.75 - 2.88 0.082 3304.19 372.3 -77.86 - - 3214.53 - - - - - - - - - 15.90 -
615.15 90.22 -13.81 92 632.95 roll -1.18 - - 2227.56 - 2.75 0.021 2146.94 -420.8 -77.86 - - 3214.66 - - - - - - - - - 15.95 -
818.75 109.44 -8.01 119 835.84 roll -1.18 - - 2228.00 - 2.80 0.069 1092.88 -376.4 -77.86 - - 3215.56 - - - - - - - - - 15.94 -
966.28 121.89 -8.51 146 984.08 done -1.18 - - 2227.69 - 2.71 0.025 2235.38 421.6 -77.86 - - 3216.97 - - - - - - - - - 15.99 -
1289.86 145.73 -8.06 178 1307.33 done -1.18 - - 2227.88 - 2.85 0.083 3305.38 375.4 -77.86 - - 3216.06 - - - - - - - - - 15.99 -
1433.50 157.25 -7.38 204 1450.57 done -1.18 - - 2226.62 - 2.71 0.021 2143.31 -428.8 -77.86 - - 3218.34 - - - - - - - - - 16.02 -
1756.33 178.99 -7.37 236 1760.34 VBD -1.18 - - 2228.06 - - - 2142.25 - -77.86 - - 3216.75 - - - - - - - - - - -
2066.36 202.48 -7.41 267 2083.84 roll -1.18 - - 2227.12 - 2.78 0.072 1092.75 -377.5 -77.86 - - 3216.69 - - - - - - - - - 16.05 -
2144.29 208.98 -8.38 280 2162.30 roll -1.18 - - 2225.94 - 2.70 0.026 2233.94 422.7 -77.86 - - 3217.81 - - - - - - - - - 16.05 -
2468.24 234.42 -8.00 312 2485.95 roll -1.18 - - 2227.50 - 2.85 0.085 3303.44 375.3 -77.86 - - 3216.81 - - - - - - - - - 16.01 -
2686.43 255.13 -9.78 353 2704.45 roll -1.18 - - 2227.69 - 2.72 0.022 2148.31 -424.7 -77.86 - - 3216.59 - - - - - - - - - 16.08 -
3010.30 281.79 -8.08 385 3027.59 roll -1.18 - - 2227.81 - 2.79 0.073 1091.81 -378.7 -77.86 - - 3215.50 - - - - - - - - - 16.08 -
3138.06 292.48 -8.49 408 3156.09 roll -1.18 - - 2227.62 - 2.71 0.026 2234.25 421.6 -77.86 - - 3215.19 - - - - - - - - - 16.08 -
3461.91 317.21 -7.53 440 3479.82 roll -1.18 - - 2227.31 - 2.87 0.086 3304.44 372.9 -77.86 - - 3215.66 - - - - - - - - - 16.09 -
3690.31 337.24 -8.67 483 3708.33 roll -1.18 - - 2226.88 - 2.72 0.022 2148.06 -425.1 -77.86 - - 3214.81 - - - - - - - - - 16.09 -
4014.16 362.32 -7.88 515 4032.10 roll -1.18 - - 2227.06 - 2.80 0.075 1092.88 -376.8 -77.86 - - 3214.81 - - - - - - - - - 16.09 -
4098.40 369.25 -8.25 529 4115.69 roll -1.18 - - 2227.62 - 2.72 0.027 2234.31 419.6 -77.86 - - 3214.62 - - - - - - - - - 16.10 -
4421.50 394.15 -7.58 561 4439.19 roll -1.18 - - 2226.00 - 2.86 0.087 3303.50 373.8 -77.86 - - 3212.84 - - - - - - - - - 16.10 -
4539.65 404.08 -8.59 582 4557.67 roll -1.18 - - 2227.75 - 2.71 0.022 2150.00 -425.6 -77.86 - - 3212.28 - - - - - - - - - 16.10 -
4863.50 428.04 -7.09 614 4881.18 roll -1.18 - - 2227.38 - 2.79 0.076 1093.06 -378.8 -77.86 - - 3213.31 - - - - - - - - - 16.09 -
4927.35 432.83 -7.59 624 4945.04 roll -1.18 - - 2228.12 - 2.72 0.027 2234.06 419.5 -77.86 - - 3211.78 - - - - - - - - - 16.06 -
5250.87 455.48 -6.79 656 5254.92 no move -1.18 - - 2227.62 - - - 2234.00 - -77.86 - - 3209.69 - - - - - - - - - - -
5560.93 477.36 -6.94 687 5579.46 roll -1.18 - - 2225.56 - 3.01 0.072 1094.12 -378.7 -77.86 - - 3210.59 - - - - - - - - - 16.11 -
5635.65 483.02 -7.72 699 5653.18 roll -1.18 - - 2227.56 - 2.72 0.027 2231.81 418.3 -77.86 - - 3209.94 - - - - - - - - - 16.10 -
5959.11 506.76 -7.36 731 5976.80 roll -1.18 - - 2227.50 - 2.88 0.088 3303.56 372.1 -77.86 - - 3207.72 - - - - - - - - - 16.08 -
6073.00 516.04 -8.29 751 6090.30 roll -1.18 - - 2227.00 - 2.71 0.023 2148.56 -426.2 -77.86 - - 3208.72 - - - - - - - - - 16.10 -
6396.10 539.91 -7.28 783 6400.16 no move -1.18 - - 2227.00 - - - 2148.12 - -77.86 - - 3206.94 - - - - - - - - - - -
6706.17 563.49 -7.59 814 6723.46 roll -1.18 - - 2226.94 - 2.80 0.077 1092.81 -376.9 -77.86 - - 3207.28 - - - - - - - - - 16.11 -
6763.92 568.13 -7.88 823 6781.94 roll -1.18 - - 2227.44 - 2.71 0.027 2231.44 420.2 -77.86 - - 3207.78 - - - - - - - - - 16.11 -
7087.75 592.38 -7.65 855 7105.45 roll -1.18 - - 2227.31 - 2.88 0.089 3303.81 372.4 -77.86 - - 3206.09 - - - - - - - - - 16.05 -
7235.95 604.94 -8.68 882 7254.57 roll -1.18 - - 2227.81 - 2.72 0.023 2150.00 -424.2 -77.86 - - 3207.12 - - - - - - - - - 16.11 -
7560.34 629.41 -7.64 914 7564.40 no move -1.18 - - 2227.56 - - - 2150.12 - -77.86 - - 3205.19 - - - - - - - - - - -
7870.38 652.72 -7.08 945 7888.33 roll -1.18 - - 2227.50 - 2.81 0.077 1092.81 -376.3 -77.86 - - 3206.41 - - - - - - - - - 16.10 -
7988.92 662.88 -8.24 966 8006.94 roll -1.18 - - 2227.44 - 2.72 0.028 2231.38 418.6 -77.86 - - 3205.34 - - - - - - - - - 16.05 -
8312.76 687.03 -7.30 998 8330.45 roll -1.18 - - 2226.06 - 2.88 0.089 3302.75 372.0 -77.86 - - 3204.97 - - - - - - - - - 16.08 -
8500.96 701.47 -7.50 1033 8519.06 roll -1.18 - - 2227.44 - 2.71 0.023 2149.06 -425.7 -77.86 - - 3204.03 - - - - - - - - - 16.11 -
8824.89 722.38 -6.25 1065 8842.60 roll -1.18 - - 2227.31 - 2.82 0.078 1092.88 -374.5 -77.86 - - 3203.72 - - - - - - - - - 16.09 -
8888.80 726.69 -6.78 1075 8906.09 roll -1.18 - - 2227.56 - 2.72 0.028 2232.06 418.8 -77.86 - - 3203.16 - - - - - - - - - 16.04 -
9211.92 746.87 -6.61 1107 9230.03 roll -1.18 - - 2226.19 - 2.98 0.074 1094.12 -381.9 -77.86 - - 3204.38 - - - - - - - - - 16.11 -
9280.49 751.73 -6.77 1118 9298.62 roll -1.18 - - 2227.50 - 2.72 0.028 2231.44 418.1 -77.86 - - 3203.25 - - - - - - - - - 16.09 -
9604.41 771.63 -6.19 1150 9608.46 no move -1.18 - - 2226.75 - - - 2231.44 - -77.86 - - 3202.75 - - - - - - - - - - -
9914.43 792.28 -7.27 1181 9932.12 roll -1.18 - - 2226.81 - 2.89 0.091 3302.94 370.8 -77.86 - - 3202.75 - - - - - - - - - 16.07 -
10022.59 800.75 -7.87 1200 10040.61 roll -1.18 - - 2225.81 - 2.72 0.023 2149.19 -424.2 -77.86 - - 3203.38 - - - - - - - - - 16.10 -
10346.42 821.73 -6.03 1232 10364.13 roll -1.18 - - 2227.69 - 2.81 0.078 1094.00 -375.5 -77.86 - - 3202.53 - - - - - - - - - 16.09 -
10420.42 826.78 -6.21 1244 10437.72 roll -1.18 - - 2227.31 - 2.72 0.028 2232.00 418.4 -77.86 - - 3201.94 - - - - - - - - - 16.09 -
10743.54 845.58 -5.43 1276 10761.24 roll -1.18 - - 2227.31 - 2.89 0.091 3303.75 370.8 -77.86 - - 3201.94 - - - - - - - - - 16.08 -
10891.71 854.91 -6.42 1303 10909.74 roll -1.18 - - 2227.19 - 2.72 0.023 2149.75 -424.3 -77.86 - - 3201.19 - - - - - - - - - 16.10 -
11215.56 872.28 -5.28 1335 11219.61 no move -1.18 - - 2227.25 - - - 2149.44 - -77.86 - - 3200.34 - - - - - - - - - - -
11525.59 889.75 -5.52 1366 11529.65 no move -1.18 - - 2226.75 - - - 2149.62 - -77.86 - - 3200.53 - - - - - - - - - - -
11835.66 908.24 -5.76 1397 11853.75 roll -1.18 - - 2225.94 - 2.81 0.079 1093.50 -375.8 -77.86 - - 3201.53 - - - - - - - - - 16.08 -
11890.05 911.91 -6.36 1405 11907.75 roll -1.18 - - 2227.50 - 2.72 0.028 2230.94 418.2 -77.86 - - 3200.56 - - - - - - - - - 16.09 -
12213.58 931.97 -6.48 1437 12232.10 roll -1.18 - - 2225.44 - 3.01 0.075 1093.88 -377.8 -77.86 - - 3200.44 - - - - - - - - - 16.09 -
12308.29 937.99 -6.13 1453 12325.58 roll -1.18 - - 2226.69 - 2.74 0.028 2229.94 414.6 -77.86 - - 3201.44 - - - - - - - - - 16.03 -
12631.38 956.01 -5.67 1485 12649.50 roll -1.18 - - 2227.38 - 2.91 0.092 3302.62 368.6 -77.86 - - 3199.34 - - - - - - - - - 16.07 -
12705.69 960.64 -6.68 1497 12723.00 roll -1.18 - - 2228.00 - 2.72 0.024 2150.94 -423.4 -77.86 - - 3199.75 - - - - - - - - - 16.09 -
13028.83 978.38 -5.52 1529 13046.54 roll -1.18 - - 2227.31 - 2.82 0.079 1092.81 -375.2 -77.86 - - 3200.91 - - - - - - - - - 16.01 -
13107.00 983.30 -6.23 1542 13125.03 roll -1.18 - - 2227.75 - 2.72 0.029 2232.81 419.1 -77.86 - - 3199.47 - - - - - - - - - 16.08 -
13230 end dive: TARGET_DEPTH_EXCEEDED
13231 begin apogee
13235.36 990.26 -5.70 1554 13334.48 -0.31 1.54 0.143 2438.75 137.0 0.09 0.226 2194.81 -422.2 - 60.81 2.509 2890.91 -5.1 0.332 - - - - - - 15.99 15.60 11.99
13339 end apogee: CONTROL_FINISHED_OK
13339 begin climb
13342.48 991.88 - 1561 13450.59 1.18 2.52 0.098 2803.69 144.8 - - 2194.94 - 77.86 65.54 2.462 2570.94 -4.9 0.326 - - - - - - 15.72 - 12.63
13756.92 966.32 5.89 1599 13761.88 1.31 0.17 0.096 2843.31 233.1 - - 2195.12 - 77.86 - - 2561.06 - - - - - - - - 15.81 - -
14067.80 938.59 7.92 1630 14071.86 VBD 1.31 - - 2842.88 - - - 2195.06 - 77.86 - - 2560.75 - - - - - - - - - - -
14377.86 913.41 7.98 1661 14396.78 done 1.31 - - 2844.19 - 3.19 0.097 3351.81 362.6 77.86 - - 2560.16 - - - - - - - - - 15.96 -
14422.95 909.27 9.97 1667 14440.24 done 1.31 - - 2844.44 - 2.74 0.024 2202.19 -419.6 77.86 - - 2562.62 - - - - - - - - - 15.99 -
14746.46 885.03 7.08 1699 14764.41 done 1.37 - - 2844.12 - 2.83 0.080 1144.38 -373.8 77.86 - - 2560.47 - - - - - - - - - 16.01 -
14844.99 877.28 7.75 1716 14863.00 done 1.37 - - 2843.44 - 2.77 0.034 2274.19 407.9 77.86 - - 2559.16 - - - - - - - - - 16.02 -
15169.22 855.46 6.54 1748 15174.17 1.46 0.16 0.090 2882.62 244.9 - - 2274.19 - 77.86 - - 2559.41 - - - - - - - - 16.01 - -
15479.99 831.25 7.87 1779 15498.11 done 1.46 - - 2882.81 - 3.00 0.076 1145.69 -376.2 77.86 - - 2558.06 - - - - - - - - - 16.06 -
15538.57 826.40 8.10 1788 15556.98 done 1.46 - - 2882.88 - 2.77 0.034 2275.94 408.0 77.86 - - 2559.31 - - - - - - - - - 16.04 -
15862.79 800.17 8.40 1820 15866.85 VBD 1.46 - - 2881.69 - - - 2275.56 - 77.86 - - 2556.88 - - - - - - - - - - -
16173.24 775.84 7.41 1851 16191.75 done 1.50 - - 2882.81 - 3.02 0.075 1144.25 -374.6 77.86 - - 2557.22 - - - - - - - - - 16.06 -
16232.21 771.14 7.67 1860 16250.23 done 1.50 - - 2882.44 - 2.78 0.033 2276.19 407.2 77.86 - - 2557.81 - - - - - - - - - 16.01 -
16556.46 749.25 6.23 1892 16574.56 done 1.61 - - 2882.25 - 2.96 0.099 3351.94 363.4 77.86 - - 2555.97 - - - - - - - - - 16.05 -
16631.39 743.65 7.19 1904 16650.33 1.66 0.22 0.078 2928.75 211.4 2.71 0.024 2202.31 -424.2 77.86 - - 2557.84 - - - - - - - - 16.00 16.07 -
16956.29 716.85 9.04 1936 16960.34 VBD 1.66 - - 2930.44 - - - 2200.19 - 77.86 - - 2556.06 - - - - - - - - - - -
17266.32 690.88 8.42 1967 17285.26 done 1.66 - - 2929.19 - 3.14 0.095 3352.81 367.1 77.86 - - 2556.66 - - - - - - - - - 16.07 -
17391.44 680.13 8.90 1989 17408.74 done 1.66 - - 2931.00 - 2.71 0.024 2203.31 -424.2 77.86 - - 2556.97 - - - - - - - - - 16.08 -
17714.55 654.36 8.04 2021 17718.61 VBD 1.66 - - 2930.50 - - - 2202.12 - 77.86 - - 2556.44 - - - - - - - - - - -
18024.59 628.31 8.81 2052 18028.65 VBD 1.66 - - 2930.12 - - - 2202.62 - 77.86 - - 2556.50 - - - - - - - - - - -
18334.66 602.01 9.01 2083 18353.58 done 1.66 - - 2930.94 - 3.14 0.095 3351.50 365.9 77.86 - - 2556.53 - - - - - - - - - 16.06 -
18394.05 596.70 8.66 2092 18412.07 done 1.66 - - 2930.50 - 2.72 0.024 2202.25 -422.5 77.86 - - 2556.50 - - - - - - - - - 16.08 -
18717.88 570.36 8.04 2124 18735.99 done 1.66 - - 2930.56 - 2.82 0.079 1144.12 -375.2 77.86 - - 2557.94 - - - - - - - - - 16.08 -
18966.49 549.34 8.35 2171 18984.92 done 1.66 - - 2931.06 - 2.78 0.034 2275.12 406.8 77.86 - - 2556.62 - - - - - - - - - 16.09 -
19291.27 525.55 7.09 2203 19309.39 done 1.72 - - 2931.38 - 2.95 0.097 3351.94 365.0 77.86 - - 2557.00 - - - - - - - - - 15.95 -
19379.86 518.34 8.00 2218 19397.89 done 1.72 - - 2930.94 - 2.72 0.024 2200.81 -423.2 77.86 - - 2557.19 - - - - - - - - - 16.08 -
19704.12 496.94 6.16 2250 19725.67 1.83 0.17 0.087 2969.88 229.1 3.13 0.093 3353.75 368.4 77.86 - - 2556.53 - - - - - - - - 16.05 16.02 -
19787.26 490.70 7.33 2263 19804.57 done 1.87 - - 2971.12 - 2.71 0.024 2201.38 -425.2 77.86 - - 2557.53 - - - - - - - - - 16.09 -
20110.75 468.60 6.74 2295 20128.49 done 1.95 - - 2972.31 - 2.83 0.079 1144.00 -373.6 77.86 - - 2556.03 - - - - - - - - - 16.01 -
20239.08 459.33 7.63 2318 20257.50 done 1.95 - - 2971.62 - 2.78 0.033 2276.44 407.4 77.86 - - 2556.31 - - - - - - - - - 16.07 -
20563.71 438.53 6.27 2350 20568.66 2.06 0.17 0.087 3015.62 258.8 - - 2275.81 - 77.86 - - 2554.44 - - - - - - - - 16.05 - -
20875.00 416.71 6.94 2381 20879.06 VBD 2.12 - - 3015.81 - - - 2276.88 - 77.86 - - 2555.31 - - - - - - - - - - -
21185.29 395.70 6.47 2412 21203.41 2.22 - - 3015.75 - 2.93 0.095 3353.19 367.3 77.86 - - 2556.53 - - - - - - - - - 16.06 -
21289.61 387.83 7.72 2430 21307.31 2.22 - - 3016.00 - 2.71 0.023 2199.88 -425.6 77.86 - - 2556.19 - - - - - - - - - 16.09 -
21613.12 363.77 7.69 2462 21630.84 2.22 - - 3016.00 - 2.82 0.078 1142.88 -374.8 77.86 - - 2557.19 - - - - - - - - - 16.06 -
21861.35 343.13 8.20 2509 21879.48 2.22 - - 3016.62 - 2.76 0.033 2276.94 410.9 77.86 - - 2556.47 - - - - - - - - - 16.00 -
22185.70 320.55 6.68 2541 22204.22 2.30 - - 3015.44 - 3.01 0.072 1142.94 -376.7 77.86 - - 2556.47 - - - - - - - - - 16.08 -
22435.10 303.99 6.32 2588 22453.38 2.41 - - 3015.19 - 2.78 0.032 2277.06 408.0 77.86 - - 2557.22 - - - - - - - - - 16.07 -
22759.71 287.50 4.60 2620 22840.96 2.55 - - 3016.38 - - - 2277.12 - 149.15 55.40 1.659 2280.88 -5.0 0.143 - - - - - - - - 12.11
23146.80 248.90 12.38 2659 23164.93 2.55 - - 3015.38 - 2.96 0.096 3352.69 363.4 149.15 - - 2272.94 - - - - - - - - - 15.92 -
23191.22 242.78 13.90 2665 23208.93 2.55 - - 3015.75 - 2.76 0.024 2203.12 -416.5 149.15 - - 2272.53 - - - - - - - - - 15.86 -
23514.74 204.46 11.84 2697 23532.47 2.55 - - 3015.06 - 2.84 0.077 1142.56 -373.4 149.15 - - 2270.06 - - - - - - - - - 15.98 -
23602.94 192.98 13.40 2712 23620.98 2.55 - - 3015.25 - 2.78 0.032 2275.56 407.6 149.15 - - 2270.06 - - - - - - - - - 15.98 -
23926.80 155.74 10.26 2744 23945.33 2.55 - - 3014.38 - 3.02 0.072 1144.19 -374.6 149.15 - - 2268.91 - - - - - - - - - 15.98 -
23971.51 151.48 9.59 2750 23988.82 2.55 - - 3016.00 - 2.77 0.031 2277.25 409.0 149.15 - - 2270.59 - - - - - - - - - 15.91 -
24294.67 124.06 8.82 2782 24312.82 2.55 - - 3016.75 - 2.92 0.094 3353.75 368.7 149.15 - - 2269.12 - - - - - - - - - 15.98 -
24429.13 111.18 9.18 2806 24446.44 2.55 - - 3016.69 - 2.71 0.022 2200.06 -425.7 149.15 - - 2270.12 - - - - - - - - - 16.00 -
24752.67 90.38 4.33 2854 24855.09 2.70 - - 3015.06 - 2.85 0.076 1143.44 -370.7 226.08 58.53 1.383 1967.62 -5.2 0.056 - - - - - - - 15.73 12.27
24986.30 73.66 8.70 2893 25004.33 2.70 - - 3016.12 - 2.77 0.030 2277.38 409.4 226.08 - - 1960.72 - - - - - - - - - 15.81 -
25190.56 63.22 4.82 2931 25280.54 2.84 - - 3016.56 - 3.08 0.072 1144.44 -367.8 292.80 50.67 1.312 1695.03 -5.2 0.042 - - - - - - - 15.66 12.39
25511.80 34.49 9.33 2988 25530.23 2.84 - - 3016.19 - 2.79 0.030 2276.94 405.9 292.80 - - 1685.88 - - - - - - - - - 15.82 -
25716.57 19.92 5.54 3026 25735.82 2.99 - - 3016.12 - 3.04 0.069 1142.94 -373.0 292.80 - - 1683.78 - - - - - - - - - 15.86 -
25967.49 15.34 0.25 3073 26121.51 3.31 - - 3016.62 - 2.77 0.028 2282.94 411.6 454.00 98.25 1.239 1168.38 -5.2 0.011 - - - - - - - 15.90 12.35
26123 end climb: NO_VERTICAL_VELOCITY
26124 begin surface
SM 1.18 - - - - 181.8 - - 494.4 - 18.55 0.047 457.9 24.7 - 0.25 0.055 531.0 2112.9 -4.633 - - 30.00 15.67 15.69 -