NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 86 * Raw log
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• Previous call tries 1 • 30.45 of 506.00 AH used of 24V (93.98% remains)
• Surface angle -66.7 deg, depth 1.15 m • Intended pitch -16.4 deg, speed -8.049 cm/s
• No surface pump (final VBD was 977.4, SM_CC=430)
• GPS1 time: 28 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
18.73 - - - 97.09 VBD -1.18 - - 179.62 - - - 2151.06 - -77.86 54.90 0.005 2540.38 - - - - - - - - - - 15.59
99.31 3.48 -4.80 11 216.32 -1.18 16.58 0.229 2227.81 123.5 2.85 0.074 1094.00 -370.9 -77.86 10.51 0.007 3209.50 63.7 -5.242 - - - - - - 15.68 15.59 15.69
222.38 31.96 -14.72 19 240.20 roll -1.18 - - 2228.50 - 2.81 0.025 2230.38 404.4 -77.86 - - 3212.94 - - - - - - - - - 15.82 -
426.00 56.45 -12.58 57 444.65 roll -1.18 - - 2226.50 - 2.97 0.082 3304.25 361.6 -77.86 - - 3214.78 - - - - - - - - - 15.86 -
460.91 61.39 -14.13 61 478.35 roll -1.18 - - 2228.19 - 2.69 0.021 2145.69 -430.7 -77.86 - - 3214.19 - - - - - - - - - 15.92 -
664.13 82.08 -7.48 99 670.69 no move -1.18 - - 2228.00 - - - 2145.00 - -77.86 - - 3214.81 - - - - - - - - - - -
856.51 96.80 -8.06 137 876.75 roll -1.18 - - 2227.25 - 3.22 0.077 3304.19 360.0 -77.86 - - 3217.16 - - - - - - - - - 15.94 -
957.18 105.58 -8.59 154 975.42 roll -1.18 - - 2228.06 - 2.71 0.020 2142.50 -428.7 -77.86 - - 3215.59 - - - - - - - - - 15.97 -
1281.24 129.05 -7.54 186 1285.26 VBD -1.18 - - 2228.19 - - - 2141.62 - -77.86 - - 3215.44 - - - - - - - - - - -
1591.68 148.31 -4.85 217 1610.80 done -1.18 - - 2228.50 - 3.20 0.077 3304.31 363.3 -77.86 - - 3216.62 - - - - - - - - - 16.02 -
1716.97 157.59 -8.00 239 1734.09 done -1.18 - - 2228.12 - 2.72 0.021 2142.50 -427.1 -77.86 - - 3217.81 - - - - - - - - - 16.01 -
2039.90 180.96 -8.10 271 2057.40 done -1.18 - - 2228.31 - 2.77 0.073 1093.31 -378.8 -77.86 - - 3218.09 - - - - - - - - - 16.03 -
2288.05 204.12 -9.15 318 2306.11 roll -1.18 - - 2228.31 - 2.78 0.025 2232.94 409.9 -77.86 - - 3217.72 - - - - - - - - - 16.00 -
2611.96 231.80 -8.21 350 2616.02 no move -1.18 - - 2227.88 - - - 2232.88 - -77.86 - - 3215.25 - - - - - - - - - - -
2922.01 256.67 -7.79 381 2926.07 no move -1.18 - - 2227.81 - - - 2232.69 - -77.86 - - 3215.22 - - - - - - - - - - -
3232.06 282.94 -8.59 412 3250.60 roll -1.18 - - 2228.25 - 2.97 0.083 3302.25 360.1 -77.86 - - 3214.38 - - - - - - - - - 16.06 -
3286.80 288.22 -9.49 420 3303.72 roll -1.18 - - 2228.19 - 2.67 0.021 2145.38 -433.3 -77.86 - - 3215.59 - - - - - - - - - 16.07 -
3609.57 316.16 -8.47 452 3628.93 roll -1.18 - - 2228.56 - 3.20 0.080 3302.75 361.7 -77.86 - - 3215.62 - - - - - - - - - 16.06 -
3699.39 324.62 -9.28 467 3717.05 roll -1.18 - - 2228.31 - 2.68 0.021 2146.69 -431.4 -77.86 - - 3214.44 - - - - - - - - - 16.08 -
4022.90 350.10 -7.53 499 4026.96 no move -1.18 - - 2227.81 - - - 2145.81 - -77.86 - - 3213.59 - - - - - - - - - - -
4332.96 372.65 -7.55 530 4352.17 roll -1.18 - - 2227.31 - 3.17 0.080 3302.62 364.9 -77.86 - - 3214.56 - - - - - - - - - 16.03 -
4458.51 383.28 -8.63 552 4475.83 roll -1.18 - - 2228.56 - 2.68 0.022 2147.00 -431.2 -77.86 - - 3213.28 - - - - - - - - - 16.07 -
4781.69 407.69 -7.48 584 4785.75 no move -1.18 - - 2228.38 - - - 2147.62 - -77.86 - - 3211.56 - - - - - - - - - - -
5091.74 430.31 -7.13 615 5110.70 roll -1.18 - - 2228.06 - 3.19 0.081 3303.06 362.2 -77.86 - - 3211.50 - - - - - - - - - 16.09 -
5226.92 441.51 -8.45 639 5243.85 roll -1.18 - - 2227.00 - 2.67 0.022 2146.81 -433.1 -77.86 - - 3212.53 - - - - - - - - - 16.09 -
5549.70 465.70 -7.72 671 5553.76 no move -1.18 - - 2227.88 - - - 2147.25 - -77.86 - - 3210.12 - - - - - - - - - - -
5859.75 490.08 -8.21 702 5879.11 roll -1.18 - - 2228.06 - 3.21 0.081 3301.81 359.7 -77.86 - - 3210.12 - - - - - - - - - 16.07 -
5949.60 498.18 -8.72 717 5967.66 roll -1.18 - - 2227.12 - 2.67 0.022 2148.81 -431.8 -77.86 - - 3211.91 - - - - - - - - - 16.09 -
6273.52 523.23 -7.18 749 6277.58 no move -1.18 - - 2228.25 - - - 2147.81 - -77.86 - - 3208.81 - - - - - - - - - - -
6583.81 544.87 -6.51 780 6602.76 roll -1.18 - - 2227.81 - 3.19 0.082 3304.56 362.6 -77.86 - - 3209.78 - - - - - - - - - 16.10 -
6633.35 548.80 -7.42 787 6651.40 roll -1.18 - - 2227.75 - 2.68 0.022 2148.62 -431.3 -77.86 - - 3209.50 - - - - - - - - - 16.02 -
6957.22 570.15 -6.42 819 6961.30 no move -1.18 - - 2227.44 - - - 2148.44 - -77.86 - - 3208.41 - - - - - - - - - - -
7267.28 588.97 -5.34 850 7271.34 no move -1.18 - - 2228.31 - - - 2148.12 - -77.86 - - 3207.50 - - - - - - - - - - -
7577.34 607.85 -6.28 881 7596.50 roll -1.18 - - 2226.69 - 3.18 0.082 3301.06 362.6 -77.86 - - 3208.91 - - - - - - - - - 16.09 -
7702.73 617.02 -7.57 903 7719.66 roll -1.18 - - 2228.25 - 2.67 0.022 2149.81 -431.2 -77.86 - - 3209.06 - - - - - - - - - 16.10 -
8025.51 639.45 -7.21 935 8044.87 roll -1.18 - - 2228.44 - 3.21 0.082 3302.38 359.1 -77.86 - - 3207.50 - - - - - - - - - 16.10 -
8061.07 642.13 -7.10 939 8077.99 roll -1.18 - - 2227.75 - 2.68 0.022 2148.75 -430.5 -77.86 - - 3207.47 - - - - - - - - - 16.10 -
8383.84 663.82 -6.92 971 8402.79 roll -1.18 - - 2227.88 - 3.18 0.082 3303.56 363.1 -77.86 - - 3205.84 - - - - - - - - - 16.10 -
8489.00 671.36 -7.42 989 8505.94 roll -1.18 - - 2227.75 - 2.68 0.023 2151.94 -429.7 -77.86 - - 3207.31 - - - - - - - - - 16.03 -
8811.90 692.67 -6.76 1021 8815.96 no move -1.18 - - 2228.06 - - - 2152.50 - -77.86 - - 3205.22 - - - - - - - - - - -
9121.97 713.62 -6.77 1052 9139.80 roll -1.18 - - 2228.06 - 2.83 0.078 1094.19 -374.0 -77.86 - - 3206.12 - - - - - - - - - 16.09 -
9160.27 716.27 -6.48 1057 9178.34 roll -1.18 - - 2227.75 - 2.75 0.027 2232.81 414.0 -77.86 - - 3206.56 - - - - - - - - - 16.08 -
9484.17 737.00 -6.38 1089 9488.23 no move -1.18 - - 2227.94 - - - 2232.88 - -77.86 - - 3205.44 - - - - - - - - - - -
9794.17 754.49 -5.56 1120 9812.31 roll -1.18 - - 2227.62 - 2.98 0.088 3304.19 359.5 -77.86 - - 3204.25 - - - - - - - - - 16.07 -
9828.50 756.78 -6.24 1124 9845.45 roll -1.18 - - 2228.19 - 2.68 0.022 2148.12 -431.4 -77.86 - - 3205.56 - - - - - - - - - 16.10 -
10151.30 773.88 -5.80 1156 10170.26 roll -1.18 - - 2228.38 - 3.19 0.084 3302.50 361.9 -77.86 - - 3205.62 - - - - - - - - - 16.08 -
10226.47 778.88 -6.50 1168 10243.39 roll -1.18 - - 2228.31 - 2.69 0.022 2148.38 -429.0 -77.86 - - 3204.88 - - - - - - - - - 16.09 -
10549.22 797.98 -6.27 1200 10553.28 no move -1.18 - - 2227.56 - - - 2147.62 - -77.86 - - 3203.59 - - - - - - - - - - -
10859.27 817.45 -6.04 1231 10878.65 roll -1.18 - - 2227.75 - 3.20 0.084 3301.81 360.7 -77.86 - - 3204.66 - - - - - - - - - 16.08 -
10919.23 821.57 -6.47 1240 10936.89 roll -1.18 - - 2228.38 - 2.68 0.022 2148.38 -430.4 -77.86 - - 3204.38 - - - - - - - - - 16.07 -
11242.74 839.89 -6.51 1272 11261.69 roll -1.18 - - 2228.00 - 3.17 0.084 3302.94 364.2 -77.86 - - 3204.81 - - - - - - - - - 16.08 -
11302.17 844.17 -6.66 1281 11320.22 roll -1.18 - - 2228.00 - 2.67 0.023 2148.62 -432.3 -77.86 - - 3204.59 - - - - - - - - - 16.09 -
11626.07 866.00 -6.41 1313 11645.03 roll -1.18 - - 2227.00 - 3.18 0.084 3303.88 363.3 -77.86 - - 3203.34 - - - - - - - - - 16.08 -
11685.50 870.30 -6.70 1322 11703.16 roll -1.18 - - 2227.69 - 2.68 0.023 2148.56 -431.1 -77.86 - - 3204.50 - - - - - - - - - 16.08 -
12009.01 893.06 -7.47 1354 12013.07 no move -1.18 - - 2227.88 - - - 2147.75 - -77.86 - - 3203.25 - - - - - - - - - - -
12319.06 914.68 -6.79 1385 12323.13 no move -1.18 - - 2227.44 - - - 2148.12 - -77.86 - - 3202.81 - - - - - - - - - - -
12629.09 934.68 -6.09 1416 12633.15 no move -1.18 - - 2228.25 - - - 2147.25 - -77.86 - - 3202.56 - - - - - - - - - - -
12939.12 954.34 -6.34 1447 12943.17 no move -1.18 - - 2227.81 - - - 2148.25 - -77.86 - - 3201.72 - - - - - - - - - - -
13249.14 973.33 -5.79 1478 13253.20 no move -1.18 - - 2227.00 - - - 2147.44 - -77.86 - - 3201.28 - - - - - - - - - - -
13548 end dive: TARGET_DEPTH_EXCEEDED
13549 begin apogee
13554.17 990.36 -5.92 1508 13654.60 -0.31 1.53 0.140 2440.44 139.5 0.12 0.199 2190.12 355.7 - 61.22 2.496 2888.97 -5.1 0.335 - - - - - - 15.96 15.60 11.76
13659 end apogee: CONTROL_FINISHED_OK
13660 begin climb
13662.62 991.72 - 1515 13771.28 1.18 2.52 0.097 2804.31 144.4 - - 2189.25 - 77.86 65.38 2.434 2572.19 -4.8 0.327 - - - - - - 15.72 - 12.55
14077.65 966.53 6.96 1553 14081.71 VBD 1.25 - - 2804.81 - - - 2189.38 - 77.86 - - 2563.34 - - - - - - - - - - -
14388.08 946.03 6.68 1584 14407.46 1.33 0.20 0.088 2849.06 221.2 2.84 0.081 1145.44 -367.6 77.86 - - 2561.47 - - - - - - - - 15.89 15.86 -
14454.07 941.40 7.36 1594 14472.21 done 1.37 - - 2849.81 - 2.82 0.032 2274.69 400.4 77.86 - - 2562.88 - - - - - - - - - 15.93 -
14778.55 916.67 7.35 1626 14782.68 VBD 1.41 - - 2849.75 - - - 2274.25 - 77.86 - - 2560.34 - - - - - - - - - - -
15088.93 893.71 7.03 1657 15107.48 done 1.47 - - 2849.75 - 3.04 0.076 1142.19 -372.4 77.86 - - 2558.84 - - - - - - - - - 16.01 -
15168.37 887.52 7.52 1670 15188.08 1.51 0.19 0.086 2893.25 228.9 2.85 0.032 2274.94 397.5 77.86 - - 2561.12 - - - - - - - - 15.85 16.00 -
15494.33 861.85 7.54 1702 15498.40 VBD 1.54 - - 2893.06 - - - 2275.31 - 77.86 - - 2559.09 - - - - - - - - - - -
15804.24 838.51 7.57 1733 15822.80 done 1.54 - - 2892.69 - 3.03 0.076 1142.88 -373.7 77.86 - - 2557.81 - - - - - - - - - 16.04 -
15879.00 832.35 8.41 1745 15896.75 done 1.54 - - 2892.25 - 2.81 0.033 2273.31 402.3 77.86 - - 2559.97 - - - - - - - - - 16.03 -
16203.00 807.92 7.33 1777 16207.06 VBD 1.58 - - 2893.06 - - - 2274.25 - 77.86 - - 2558.25 - - - - - - - - - - -
16513.32 786.90 7.20 1808 16532.14 done 1.63 - - 2893.75 - 3.03 0.097 3351.19 355.4 77.86 - - 2557.88 - - - - - - - - - 16.05 -
16598.46 779.82 8.39 1822 16615.40 done 1.63 - - 2893.44 - 2.68 0.024 2201.38 -429.0 77.86 - - 2558.19 - - - - - - - - - 16.05 -
16921.64 755.83 7.22 1854 16926.60 1.68 0.17 0.088 2933.69 236.8 - - 2199.88 - 77.86 - - 2557.56 - - - - - - - - 16.02 - -
17232.46 728.62 8.95 1885 17251.82 done 1.68 - - 2934.94 - 3.20 0.093 3353.56 360.5 77.86 - - 2558.38 - - - - - - - - - 16.05 -
17302.30 721.92 9.83 1896 17319.99 done 1.68 - - 2933.94 - 2.68 0.024 2200.75 -430.2 77.86 - - 2559.22 - - - - - - - - - 16.07 -
17625.84 691.84 9.12 1928 17629.90 VBD 1.68 - - 2934.44 - - - 2199.50 - 77.86 - - 2557.09 - - - - - - - - - - -
17935.89 662.13 8.31 1959 17939.95 VBD 1.68 - - 2934.44 - - - 2199.25 - 77.86 - - 2556.94 - - - - - - - - - - -
18245.95 636.43 7.56 1990 18263.70 done 1.68 - - 2934.56 - 2.83 0.079 1144.06 -372.9 77.86 - - 2557.84 - - - - - - - - - 16.07 -
18344.19 628.97 7.85 2007 18362.28 done 1.68 - - 2934.94 - 2.80 0.032 2274.62 403.8 77.86 - - 2557.59 - - - - - - - - - 16.08 -
18668.50 605.13 6.96 2039 18672.57 VBD 1.75 - - 2934.62 - - - 2274.88 - 77.86 - - 2556.69 - - - - - - - - - - -
18978.82 583.30 7.32 2070 18997.38 done 1.79 - - 2934.31 - 3.03 0.075 1143.06 -373.5 77.86 - - 2557.66 - - - - - - - - - 16.06 -
19097.99 573.90 7.83 2091 19116.48 done 1.79 - - 2934.50 - 2.81 0.032 2274.81 402.8 77.86 - - 2557.44 - - - - - - - - - 16.07 -
19422.73 550.88 7.11 2123 19427.69 1.85 0.17 0.086 2976.50 247.1 - - 2275.12 - 77.86 - - 2556.81 - - - - - - - - 16.04 - -
19733.94 529.14 7.23 2154 19752.51 done 1.89 - - 2976.31 - 3.04 0.074 1144.69 -371.9 77.86 - - 2555.44 - - - - - - - - - 16.07 -
19778.72 525.27 8.65 2160 19796.06 done 1.89 - - 2976.31 - 2.79 0.032 2274.38 404.9 77.86 - - 2557.97 - - - - - - - - - 16.06 -
20102.31 501.67 7.45 2192 20106.39 VBD 1.93 - - 2976.19 - - - 2274.94 - 77.86 - - 2556.41 - - - - - - - - - - -
20412.60 480.54 6.39 2223 20432.39 2.03 0.14 0.098 3015.38 279.9 3.01 0.074 1144.00 -375.7 77.86 - - 2555.28 - - - - - - - - 16.03 16.01 -
20662.95 461.15 7.81 2270 20681.82 done 2.03 - - 3014.69 - 2.81 0.032 2274.44 402.3 77.86 - - 2557.91 - - - - - - - - - 16.07 -
20988.47 438.36 7.16 2302 21007.03 done 2.08 - - 3014.88 - 3.02 0.072 1144.19 -374.3 77.86 - - 2556.28 - - - - - - - - - 15.98 -
21063.37 432.63 7.68 2314 21081.11 done 2.08 - - 3014.44 - 2.82 0.031 2275.50 401.2 77.86 - - 2558.09 - - - - - - - - - 16.07 -
21387.36 410.84 6.49 2346 21391.43 2.18 - - 3014.44 - - - 2275.81 - 77.86 - - 2555.81 - - - - - - - - - - -
21697.68 389.95 6.52 2377 21715.86 2.27 - - 3014.69 - 3.00 0.072 1144.25 -377.2 77.86 - - 2556.75 - - - - - - - - - 16.01 -
21942.49 373.10 6.98 2423 21960.26 2.33 - - 3015.06 - 2.83 0.032 2276.44 400.1 77.86 - - 2557.31 - - - - - - - - - 16.06 -
22266.48 351.95 7.41 2455 22270.56 2.37 - - 3015.00 - - - 2276.25 - 77.86 - - 2556.25 - - - - - - - - - - -
22576.81 329.56 6.70 2486 22595.48 2.45 - - 3014.50 - 3.03 0.071 1142.12 -374.3 77.86 - - 2556.41 - - - - - - - - - 16.05 -
22812.14 314.16 6.11 2530 22830.17 2.57 - - 3015.06 - 2.82 0.031 2275.94 402.1 77.86 - - 2557.91 - - - - - - - - - 16.05 -
23136.50 296.09 5.61 2562 23140.58 2.71 - - 3015.50 - - - 2275.75 - 77.86 - - 2556.06 - - - - - - - - - - -
23446.82 278.72 5.51 2593 23465.42 2.87 - - 3015.56 - 3.02 0.071 1144.50 -374.6 77.86 - - 2555.44 - - - - - - - - - 16.06 -
23516.30 274.28 6.32 2604 23534.80 2.97 - - 3015.19 - 2.82 0.030 2276.56 401.4 77.86 - - 2556.78 - - - - - - - - - 16.06 -
23841.04 254.36 5.98 2636 23859.21 3.10 - - 3015.38 - 2.99 0.094 3351.94 359.7 77.86 - - 2555.59 - - - - - - - - - 15.97 -
23915.83 249.44 6.75 2648 23932.77 3.17 - - 3014.81 - 2.69 0.022 2195.44 -429.9 77.86 - - 2558.28 - - - - - - - - - 16.05 -
24239.02 232.04 5.47 2680 24257.17 3.33 - - 3015.50 - 2.82 0.075 1144.25 -372.8 77.86 - - 2558.31 - - - - - - - - - 15.96 -
24353.81 225.97 5.44 2700 24371.56 3.49 - - 3015.31 - 2.78 0.030 2278.31 407.9 77.86 - - 2558.00 - - - - - - - - - 16.04 -
24677.81 209.42 5.77 2732 24696.63 3.62 - - 3015.19 - 3.04 0.070 1143.12 -373.4 77.86 - - 2557.94 - - - - - - - - - 15.95 -
24863.39 197.14 7.00 2766 24881.56 3.62 - - 3015.44 - 2.82 0.030 2275.75 401.6 77.86 - - 2558.03 - - - - - - - - - 16.03 -
25187.81 178.26 5.43 2798 25191.88 3.62 - - 3015.06 - - - 2275.62 - 77.86 - - 2556.50 - - - - - - - - - - -
25498.12 162.79 4.99 2829 25587.06 3.75 - - 3015.44 - 3.06 0.073 1144.62 -369.6 141.09 48.19 1.468 2314.19 -5.0 0.092 - - - - - - - 15.80 11.93
25797.60 136.32 9.28 2882 25816.10 roll back 3.75 - - 3015.25 - 2.82 0.030 2275.75 401.1 141.09 - - 2306.75 - - - - - - - - - 15.87 -
26122.05 109.26 8.30 2914 26140.63 3.75 - - 3015.31 - 3.03 0.070 1144.25 -373.4 141.09 - - 2304.41 - - - - - - - - - 15.93 -
26166.83 105.92 7.69 2920 26184.83 3.75 - - 3014.56 - 2.82 0.029 2276.44 401.5 141.09 - - 2305.81 - - - - - - - - - 15.86 -
26491.23 95.72 2.60 2968 26630.92 3.97 - - 3015.81 - 3.11 0.072 1144.25 -364.0 253.80 85.79 1.362 1854.47 -5.3 0.061 - - - - - - - 15.63 12.30
26762.12 74.38 7.99 3012 26780.63 3.97 - - 3016.00 - 2.86 0.029 2274.75 395.3 253.80 - - 1844.41 - - - - - - - - - 15.77 -
26967.00 61.19 7.08 3050 26986.31 4.03 - - 3016.31 - 3.05 0.070 1144.31 -370.6 253.80 - - 1841.03 - - - - - - - - - 15.82 -
27022.51 57.03 7.56 3058 27041.39 4.03 - - 3015.31 - 2.83 0.029 2276.00 399.9 253.80 - - 1840.59 - - - - - - - - - 15.83 -
27227.64 42.56 6.87 3096 27234.25 4.03 - - 3015.94 - - - 2276.19 - 253.80 - - 1839.44 - - - - - - - - - - -
27420.49 30.52 5.31 3134 27440.43 4.03 - - 3016.25 - 3.03 0.069 1144.31 -373.6 253.80 - - 1838.69 - - - - - - - - - 15.92 -
27672.20 18.86 4.92 3181 27760.63 4.16 - - 3015.25 - 2.81 0.028 2278.75 403.7 318.48 48.97 1.238 1591.25 -5.1 0.013 - - - - - - - 15.90 12.20
27946.89 12.01 0.96 3229 28122.15 4.45 - - 3015.75 - 3.11 0.093 3351.31 344.9 465.05 111.16 1.204 994.38 -5.4 0.009 - - - - - - - 15.51 12.46
28129 end climb: SURFACE_DEPTH_REACHED
28129 begin surface coast
28134 end surface coast: CONTROL_FINISHED_OK
28135 begin surface
SM 1.15 - - - - 179.5 - - 984.6 - 18.80 0.062 991.8 52.8 - 2.83 0.023 977.4 344.3 -1.759 - - 30.00 15.69 15.72 -