NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 42 * Raw log
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• Previous call tries 4 • 16.05 of 506.00 AH used of 24V (96.83% remains)
• Surface angle -62.4 deg, depth 1.20 m • Intended pitch -16.4 deg, speed -8.049 cm/s
• No surface pump (final VBD was 1049.3, SM_CC=430)
• GPS1 time: 19 s
• GPS2 time: 1 s • Transponder ping count: 15
• 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
18.64 - - - 103.85 VBD -1.18 - - 181.69 - - - 2258.62 - -77.86 59.99 0.005 2712.66 - - - - - - - - - - 15.07
106.06 3.33 -3.98 12 218.13 -1.18 16.43 0.230 2228.62 124.6 3.08 0.069 1090.88 -379.1 -77.86 7.22 0.008 3209.88 68.9 -4.758 - - - - - - 15.71 15.63 15.65
379.54 58.86 -14.23 50 397.31 roll -1.18 - - 2228.38 - 2.76 0.026 2230.00 412.7 -77.86 - - 3214.38 - - - - - - - - - 15.91 -
583.21 85.37 -12.74 88 601.37 roll -1.18 - - 2228.00 - 2.90 0.083 3304.25 370.4 -77.86 - - 3215.09 - - - - - - - - - 15.87 -
702.51 99.71 -11.14 109 720.28 roll -1.18 - - 2228.19 - 2.71 0.022 2146.56 -427.2 -77.86 - - 3216.47 - - - - - - - - - 15.89 -
906.42 119.58 -9.28 129 910.43 no move -1.18 - - 2228.25 - - - 2145.56 - -77.86 - - 3214.22 - - - - - - - - - - -
1216.48 144.77 -7.96 160 1220.49 no move -1.18 - - 2228.00 - - - 2144.69 - -77.86 - - 3214.44 - - - - - - - - - - -
1526.52 166.76 -7.08 191 1530.53 no move -1.18 - - 2228.19 - - - 2144.88 - -77.86 - - 3214.59 - - - - - - - - - - -
1836.57 189.70 -7.48 222 1840.58 no move -1.18 - - 2227.50 - - - 2144.31 - -77.86 - - 3214.91 - - - - - - - - - - -
2146.63 214.07 -8.46 253 2165.27 roll -1.18 - - 2228.56 - 3.12 0.082 3305.12 372.1 -77.86 - - 3215.53 - - - - - - - - - 16.04 -
2261.41 225.01 -9.50 273 2278.45 roll -1.18 - - 2228.31 - 2.69 0.023 2148.06 -430.1 -77.86 - - 3215.09 - - - - - - - - - 16.06 -
2584.24 252.49 -8.12 305 2601.57 roll -1.18 - - 2228.38 - 2.77 0.076 1092.62 -381.0 -77.86 - - 3215.09 - - - - - - - - - 16.06 -
2667.87 260.04 -9.17 319 2685.13 roll -1.18 - - 2227.00 - 2.74 0.027 2232.56 416.0 -77.86 - - 3215.66 - - - - - - - - - 16.05 -
2990.97 287.28 -8.43 351 3009.05 roll -1.18 - - 2227.88 - 2.98 0.071 1092.75 -382.5 -77.86 - - 3214.69 - - - - - - - - - 16.10 -
3049.50 292.82 -9.18 360 3067.50 roll -1.18 - - 2228.25 - 2.75 0.027 2231.25 414.0 -77.86 - - 3214.53 - - - - - - - - - 16.10 -
3373.30 320.44 -8.38 392 3377.36 no move -1.18 - - 2227.94 - - - 2231.44 - -77.86 - - 3211.41 - - - - - - - - - - -
3683.33 344.48 -7.54 423 3687.38 no move -1.18 - - 2228.06 - - - 2231.31 - -77.86 - - 3210.75 - - - - - - - - - - -
3993.36 368.11 -7.59 454 4011.45 roll -1.18 - - 2228.44 - 2.98 0.072 1094.38 -381.5 -77.86 - - 3209.97 - - - - - - - - - 16.12 -
4071.91 374.41 -7.99 467 4090.29 roll -1.18 - - 2227.94 - 2.76 0.028 2229.31 411.2 -77.86 - - 3211.50 - - - - - - - - - 16.11 -
4396.10 397.98 -7.22 499 4413.76 roll -1.18 - - 2227.88 - 2.89 0.089 3303.56 371.7 -77.86 - - 3208.41 - - - - - - - - - 16.10 -
4469.94 403.79 -8.04 511 4487.44 roll -1.18 - - 2228.44 - 2.70 0.024 2149.38 -427.5 -77.86 - - 3209.66 - - - - - - - - - 16.11 -
4793.36 426.39 -6.90 543 4811.02 roll -1.18 - - 2227.81 - 2.77 0.078 1092.94 -381.4 -77.86 - - 3208.22 - - - - - - - - - 16.11 -
4907.20 435.28 -8.11 563 4924.48 roll -1.18 - - 2227.62 - 2.74 0.028 2231.19 415.4 -77.86 - - 3208.09 - - - - - - - - - 16.10 -
5230.28 460.06 -8.04 595 5234.33 no move -1.18 - - 2227.25 - - - 2231.62 - -77.86 - - 3206.53 - - - - - - - - - - -
5540.34 485.69 -8.66 626 5558.42 roll -1.18 - - 2228.06 - 2.99 0.074 1092.81 -380.9 -77.86 - - 3205.53 - - - - - - - - - 16.11 -
5628.88 493.68 -9.08 641 5646.86 roll -1.18 - - 2228.19 - 2.74 0.029 2230.00 415.0 -77.86 - - 3206.31 - - - - - - - - - 16.11 -
5952.66 519.38 -7.74 673 5970.33 roll -1.18 - - 2228.38 - 2.89 0.090 3303.38 371.4 -77.86 - - 3205.19 - - - - - - - - - 16.10 -
6016.51 525.09 -9.20 683 6033.78 roll -1.18 - - 2228.19 - 2.71 0.024 2149.19 -425.9 -77.86 - - 3205.12 - - - - - - - - - 16.11 -
6339.58 550.63 -7.54 715 6343.62 no move -1.18 - - 2228.25 - - - 2148.38 - -77.86 - - 3203.56 - - - - - - - - - - -
6649.62 573.91 -7.12 746 6653.67 no move -1.18 - - 2227.69 - - - 2148.12 - -77.86 - - 3203.47 - - - - - - - - - - -
6959.68 596.67 -7.76 777 6976.96 roll -1.18 - - 2226.62 - 2.78 0.080 1092.69 -379.7 -77.86 - - 3205.22 - - - - - - - - - 16.11 -
7017.40 601.56 -8.63 786 7035.38 roll -1.18 - - 2227.88 - 2.73 0.029 2229.12 416.3 -77.86 - - 3203.72 - - - - - - - - - 16.12 -
7341.19 623.58 -6.36 818 7358.85 roll -1.18 - - 2225.31 - 2.85 0.091 3303.69 377.0 -77.86 - - 3203.03 - - - - - - - - - 16.09 -
7429.31 630.01 -7.08 833 7447.28 roll -1.18 - - 2228.00 - 2.70 0.024 2150.69 -427.0 -77.86 - - 3204.50 - - - - - - - - - 16.12 -
7753.10 650.15 -6.34 865 7770.77 roll -1.18 - - 2228.00 - 2.79 0.079 1093.06 -379.1 -77.86 - - 3203.41 - - - - - - - - - 16.11 -
7831.22 655.56 -6.57 878 7849.61 roll -1.18 - - 2228.00 - 2.73 0.029 2229.69 416.3 -77.86 - - 3202.34 - - - - - - - - - 16.11 -
8155.41 675.78 -5.95 910 8173.48 roll -1.18 - - 2227.94 - 2.99 0.075 1092.94 -380.2 -77.86 - - 3200.25 - - - - - - - - - 16.12 -
8223.94 680.50 -6.82 921 8242.32 roll -1.18 - - 2228.38 - 2.77 0.029 2230.81 410.8 -77.86 - - 3201.56 - - - - - - - - - 16.10 -
8548.13 701.17 -6.52 953 8566.22 roll -1.18 - - 2228.19 - 2.91 0.092 3305.00 369.1 -77.86 - - 3200.25 - - - - - - - - - 16.10 -
8652.53 709.14 -7.62 971 8669.80 roll -1.18 - - 2228.38 - 2.70 0.024 2149.88 -427.8 -77.86 - - 3200.59 - - - - - - - - - 16.11 -
8975.63 730.27 -6.22 1003 8992.90 roll -1.18 - - 2228.00 - 2.79 0.080 1094.06 -378.4 -77.86 - - 3200.88 - - - - - - - - - 16.09 -
9039.07 734.65 -6.65 1013 9056.34 roll -1.18 - - 2227.19 - 2.77 0.029 2230.88 410.4 -77.86 - - 3200.41 - - - - - - - - - 16.06 -
9362.15 756.39 -6.85 1045 9380.21 roll -1.18 - - 2227.75 - 2.91 0.092 3303.00 368.4 -77.86 - - 3200.94 - - - - - - - - - 16.08 -
9460.67 764.12 -7.71 1062 9478.66 roll -1.18 - - 2227.75 - 2.70 0.024 2151.31 -426.6 -77.86 - - 3199.00 - - - - - - - - - 16.10 -
9784.45 785.55 -6.50 1094 9802.11 roll -1.18 - - 2227.62 - 2.80 0.080 1092.94 -378.0 -77.86 - - 3200.16 - - - - - - - - - 16.09 -
9842.55 789.96 -7.24 1103 9861.05 roll -1.18 - - 2228.31 - 2.76 0.029 2230.25 412.1 -77.86 - - 3198.88 - - - - - - - - - 16.10 -
10166.86 810.16 -6.00 1135 10184.53 roll -1.18 - - 2228.12 - 2.90 0.092 3302.75 369.8 -77.86 - - 3198.38 - - - - - - - - - 16.09 -
10250.83 815.95 -6.82 1149 10268.10 roll -1.18 - - 2228.50 - 2.71 0.024 2150.25 -425.3 -77.86 - - 3198.19 - - - - - - - - - 16.11 -
10573.91 835.06 -5.92 1181 10577.96 no move -1.18 - - 2228.00 - - - 2149.88 - -77.86 - - 3197.16 - - - - - - - - - - -
10884.69 854.26 -5.83 1212 10888.74 no move -1.18 - - 2227.69 - - - 2150.81 - -77.86 - - 3196.78 - - - - - - - - - - -
11194.69 873.14 -6.51 1243 11211.96 roll -1.18 - - 2227.81 - 2.79 0.081 1093.12 -379.1 -77.86 - - 3198.47 - - - - - - - - - 16.08 -
11302.42 879.87 -6.41 1262 11320.81 roll -1.18 - - 2228.00 - 2.74 0.029 2230.06 414.9 -77.86 - - 3197.12 - - - - - - - - - 16.10 -
11626.61 898.78 -5.92 1294 11630.66 no move -1.18 - - 2228.19 - - - 2229.75 - -77.86 - - 3196.47 - - - - - - - - - - -
11936.66 917.47 -6.11 1325 11940.71 no move -1.18 - - 2227.25 - - - 2229.75 - -77.86 - - 3195.81 - - - - - - - - - - -
12246.70 936.77 -6.33 1356 12250.75 no move -1.18 - - 2227.00 - - - 2230.62 - -77.86 - - 3196.06 - - - - - - - - - - -
12556.76 956.04 -6.29 1387 12575.49 roll -1.18 - - 2227.94 - 3.01 0.077 1094.06 -377.6 -77.86 - - 3198.19 - - - - - - - - - 16.10 -
12681.81 964.29 -6.53 1409 12699.08 roll -1.18 - - 2228.25 - 2.77 0.029 2228.56 409.6 -77.86 - - 3196.56 - - - - - - - - - 16.10 -
13004.88 984.19 -6.07 1441 13008.93 no move -1.18 - - 2228.06 - - - 2229.06 - -77.86 - - 3195.53 - - - - - - - - - - -
13104 end dive: TARGET_DEPTH_EXCEEDED
13104 begin apogee
13109.41 990.37 -5.99 1451 13208.47 -0.31 1.52 0.143 2440.69 139.9 0.09 0.237 2198.88 -335.3 - 60.67 2.564 2890.28 -5.0 0.323 - - - - - - 16.01 15.59 12.08
13221 end apogee: CONTROL_FINISHED_OK
13222 begin climb
13224.64 992.17 - 1458 13332.79 1.18 2.51 0.099 2805.69 145.4 - - 2198.38 - 77.86 65.69 2.516 2572.31 -4.8 0.317 - - - - - - 15.73 - 12.63
13639.10 966.50 7.26 1496 13643.15 VBD 1.23 - - 2804.69 - - - 2198.00 - 77.86 - - 2562.72 - - - - - - - - - - -
13949.50 943.03 7.53 1527 13968.38 done 1.26 - - 2805.69 - 3.17 0.098 3353.38 364.5 77.86 - - 2560.69 - - - - - - - - - 15.82 -
13994.55 939.06 8.98 1533 14012.45 done 1.26 - - 2805.62 - 2.74 0.025 2203.44 -419.7 77.86 - - 2563.25 - - - - - - - - - 15.93 -
14318.74 915.40 6.82 1565 14338.06 1.33 0.21 0.087 2849.62 209.5 2.83 0.081 1145.12 -374.0 77.86 - - 2562.34 - - - - - - - - 15.94 15.94 -
14388.51 909.55 8.51 1576 14406.92 done 1.33 - - 2850.50 - 2.82 0.034 2275.06 400.7 77.86 - - 2562.12 - - - - - - - - - 16.00 -
14713.11 883.77 7.23 1608 14717.16 VBD 1.38 - - 2849.00 - - - 2275.69 - 77.86 - - 2558.78 - - - - - - - - - - -
15022.97 858.40 7.86 1639 15027.02 VBD 1.38 - - 2850.12 - - - 2275.19 - 77.86 - - 2558.72 - - - - - - - - - - -
15333.02 834.08 8.01 1670 15351.51 done 1.38 - - 2851.06 - 3.01 0.077 1144.62 -375.6 77.86 - - 2558.34 - - - - - - - - - 15.97 -
15391.96 829.06 8.43 1679 15410.74 done 1.38 - - 2850.50 - 2.84 0.034 2274.81 398.0 77.86 - - 2560.28 - - - - - - - - - 16.06 -
15716.96 804.02 7.38 1711 15721.01 VBD 1.42 - - 2850.56 - - - 2274.06 - 77.86 - - 2557.91 - - - - - - - - - - -
16027.23 781.23 7.28 1742 16045.31 done 1.47 - - 2850.69 - 2.98 0.101 3353.00 362.1 77.86 - - 2561.16 - - - - - - - - - 16.05 -
16091.50 775.75 8.86 1752 16109.01 done 1.47 - - 2851.00 - 2.74 0.025 2204.88 -419.0 77.86 - - 2558.69 - - - - - - - - - 16.07 -
16414.93 750.85 7.67 1784 16432.60 done 1.47 - - 2850.31 - 2.83 0.081 1142.81 -375.3 77.86 - - 2560.41 - - - - - - - - - 16.06 -
16468.77 746.23 8.49 1792 16486.46 done 1.47 - - 2851.12 - 2.81 0.035 2274.00 402.6 77.86 - - 2558.53 - - - - - - - - - 16.08 -
16792.26 720.97 7.73 1824 16796.31 VBD 1.47 - - 2851.31 - - - 2273.00 - 77.86 - - 2557.50 - - - - - - - - - - -
17102.70 698.02 7.19 1855 17108.06 1.52 0.21 0.082 2897.31 219.0 - - 2273.88 - 77.86 - - 2557.16 - - - - - - - - 16.06 - -
17414.26 674.31 7.06 1886 17432.74 done 1.58 - - 2898.25 - 3.01 0.077 1144.12 -375.3 77.86 - - 2556.38 - - - - - - - - - 16.08 -
17478.92 669.26 8.24 1896 17496.60 done 1.58 - - 2898.25 - 2.82 0.034 2275.62 401.2 77.86 - - 2560.06 - - - - - - - - - 16.09 -
17802.77 646.62 7.40 1928 17821.26 done 1.62 - - 2898.38 - 3.01 0.077 1144.25 -375.9 77.86 - - 2557.34 - - - - - - - - - 16.09 -
17912.11 638.62 7.43 1947 17930.51 done 1.66 - - 2898.38 - 2.82 0.035 2273.12 400.3 77.86 - - 2557.78 - - - - - - - - - 16.09 -
18236.71 616.96 6.51 1979 18257.84 1.75 0.26 0.074 2951.88 205.8 2.99 0.077 1144.12 -377.6 77.86 - - 2556.72 - - - - - - - - 16.05 16.04 -
18433.44 601.36 8.45 2015 18451.84 done 1.75 - - 2952.38 - 2.84 0.035 2274.31 398.0 77.86 - - 2557.72 - - - - - - - - - 16.08 -
18758.05 578.29 6.84 2047 18776.13 done 1.82 - - 2951.88 - 2.99 0.076 1143.12 -378.3 77.86 - - 2555.97 - - - - - - - - - 16.08 -
18852.31 571.24 7.61 2063 18869.99 done 1.82 - - 2951.69 - 2.82 0.034 2273.00 400.7 77.86 - - 2557.34 - - - - - - - - - 16.09 -
19175.83 547.52 7.62 2095 19193.91 done 1.82 - - 2952.00 - 2.99 0.100 3353.25 361.3 77.86 - - 2556.12 - - - - - - - - - 16.05 -
19230.07 543.20 7.81 2103 19247.34 done 1.82 - - 2952.00 - 2.72 0.025 2201.81 -423.3 77.86 - - 2559.47 - - - - - - - - - 16.08 -
19553.58 519.29 7.42 2135 19572.47 done 1.86 - - 2951.06 - 3.15 0.096 3351.62 365.0 77.86 - - 2557.88 - - - - - - - - - 16.07 -
19688.67 508.48 8.32 2159 19705.98 done 1.86 - - 2952.12 - 2.70 0.025 2203.81 -425.1 77.86 - - 2557.47 - - - - - - - - - 16.09 -
20011.90 483.36 7.79 2191 20015.95 VBD 1.86 - - 2952.75 - - - 2201.62 - 77.86 - - 2555.75 - - - - - - - - - - -
20321.94 458.46 8.30 2222 20339.62 done 1.86 - - 2952.00 - 2.81 0.080 1144.00 -376.4 77.86 - - 2556.59 - - - - - - - - - 16.08 -
20455.83 446.99 8.61 2246 20473.12 done 1.86 - - 2951.75 - 2.80 0.034 2276.31 404.4 77.86 - - 2557.59 - - - - - - - - - 16.08 -
20779.33 423.03 6.62 2278 20799.05 1.95 0.22 0.079 3001.69 227.0 2.99 0.076 1144.00 -378.7 77.86 - - 2559.34 - - - - - - - - 16.05 16.02 -
20829.90 419.25 7.32 2285 20847.89 done 1.99 - - 3001.88 - 2.80 0.034 2275.12 404.0 77.86 - - 2558.00 - - - - - - - - - 16.08 -
21154.10 397.79 6.25 2317 21158.15 VBD 2.10 - - 3001.12 - - - 2275.06 - 77.86 - - 2556.53 - - - - - - - - - - -
21464.49 379.06 5.94 2348 21468.65 2.22 - - 3001.94 - - - 2275.19 - 77.86 - - 2556.50 - - - - - - - - - - -
21774.84 360.45 6.14 2379 21793.20 2.34 - - 3001.38 - 3.00 0.076 1143.19 -377.3 77.86 - - 2555.44 - - - - - - - - - 16.07 -
21889.92 352.59 7.10 2399 21908.22 2.40 - - 3001.56 - 2.82 0.034 2275.81 401.6 77.86 - - 2558.44 - - - - - - - - - 16.09 -
22214.44 331.53 6.50 2431 22218.50 2.49 - - 3001.44 - - - 2276.19 - 77.86 - - 2556.69 - - - - - - - - - - -
22524.73 312.59 6.34 2462 22528.79 2.59 - - 3001.69 - - - 2275.88 - 77.86 - - 2556.22 - - - - - - - - - - -
22835.02 293.39 5.96 2493 22853.24 2.72 - - 3002.38 - 2.95 0.097 3353.38 365.3 77.86 - - 2557.56 - - - - - - - - - 16.04 -
22984.10 284.12 6.06 2520 23002.10 2.84 - - 3002.00 - 2.73 0.024 2199.69 -422.6 77.86 - - 2557.56 - - - - - - - - - 16.07 -
23308.31 267.63 4.94 2552 23381.88 2.96 - - 3001.38 - - - 2198.12 - 142.19 50.26 1.675 2309.88 -4.9 0.131 - - - - - - - - 12.05
23687.71 229.57 11.53 2588 23707.03 2.96 - - 3000.69 - 3.22 0.093 3352.12 358.4 142.19 - - 2301.16 - - - - - - - - - 15.93 -
23783.32 217.58 12.65 2604 23801.23 2.96 - - 3001.94 - 2.74 0.025 2204.62 -418.8 142.19 - - 2301.41 - - - - - - - - - 15.88 -
24107.15 186.16 8.51 2636 24111.21 2.96 - - 3002.25 - - - 2203.44 - 142.19 - - 2297.94 - - - - - - - - - - -
24417.21 160.52 7.62 2667 24436.13 2.96 - - 3001.56 - 3.17 0.092 3353.19 362.7 142.19 - - 2299.62 - - - - - - - - - 15.98 -
24496.58 153.89 8.59 2680 24514.58 2.96 - - 3001.94 - 2.72 0.024 2203.75 -422.6 142.19 - - 2299.69 - - - - - - - - - 15.99 -
24820.76 127.75 7.16 2712 24824.83 3.02 - - 3001.06 - - - 2202.12 - 142.19 - - 2297.44 - - - - - - - - - - -
25131.03 112.49 4.52 2743 25227.55 3.16 - - 3002.25 - 2.86 0.080 1144.12 -369.9 215.20 56.51 1.455 2011.47 -5.1 0.065 - - - - - - - 15.72 12.35
25388.76 92.04 9.03 2787 25407.19 3.16 - - 3001.81 - 2.82 0.032 2276.62 401.6 215.20 - - 2003.59 - - - - - - - - - 15.84 -
25593.40 79.31 5.86 2825 25599.98 3.29 - - 3002.56 - - - 2277.06 - 215.20 - - 2001.28 - - - - - - - - - - -
25786.20 70.12 4.48 2863 25870.84 3.44 - - 3001.56 - - - 2276.31 - 288.94 56.12 1.372 1711.22 -5.2 0.044 - - - - - - - - 12.34
26057.18 50.81 7.14 2912 26076.41 3.50 - - 3001.62 - 3.06 0.074 1144.19 -370.0 288.94 - - 1703.59 - - - - - - - - - 15.84 -
26157.72 42.61 8.46 2929 26176.52 3.50 - - 3001.94 - 2.85 0.031 2275.62 397.0 288.94 - - 1701.19 - - - - - - - - - 15.83 -
26362.32 25.64 7.89 2967 26368.90 3.50 - - 3002.50 - - - 2275.56 - 288.94 - - 1699.56 - - - - - - - - - - -
26555.12 15.27 4.13 3005 26664.90 3.66 - - 3002.19 - 3.02 0.094 3351.25 356.2 369.94 62.99 1.279 1381.44 -5.1 0.010 - - - - - - - 15.63 12.35
26676.46 11.43 4.52 3021 26777.37 3.80 - - 3002.56 - 2.79 0.022 2198.25 -413.3 442.91 57.42 1.237 1083.97 -5.2 0.008 - - - - - - - 15.76 12.54
26812 end climb: SURFACE_DEPTH_REACHED
26813 begin surface coast
26908 end surface coast: CONTROL_FINISHED_OK
26909 begin surface
SM 1.20 - - - - 180.8 - - 1074.2 - 18.35 0.053 1099.1 59.9 - - 0.025 1049.3 - - - - 30.00 15.77 30.36 -