NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 552 * Raw log
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• Previous call tries 2 • 181.53 of 550.00 AH used of 24V (66.99% remains)
• Surface angle -61.6 deg, depth 0.53 m • Intended pitch -20.3 deg, speed -8.462 cm/s
• No surface pump (final VBD was 1052.9, SM_CC=425)
• 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.23 - - - 82.59 VBD -1.29 - - 178.19 - - - 2243.75 - -82.73 75.84 0.005 2462.59 - - - - - - - - - - 15.35
83.32 3.31 -4.54 14 120.66 -1.29 14.57 0.247 2015.19 126.1 2.49 0.069 1207.31 -416.2 -82.73 14.23 0.006 3112.78 45.7 -4.167 - - - - - - 15.50 15.26 15.40
297.78 36.97 -13.36 57 303.34 roll -1.29 - - 2014.56 - 2.62 0.029 2353.00 437.3 -82.73 - - 3111.84 - - - - - - - - - 15.78 -
488.49 58.31 -10.19 95 493.42 roll -1.29 - - 2015.25 - 2.74 0.060 1208.56 -417.7 -82.73 - - 3112.31 - - - - - - - - - 15.81 -
567.88 68.68 -13.79 111 573.41 roll -1.29 - - 2015.62 - 2.60 0.029 2353.25 440.3 -82.73 - - 3112.88 - - - - - - - - - 15.84 -
758.31 86.87 -8.96 149 763.48 roll -1.29 - - 2015.44 - 2.73 0.060 1207.31 -419.8 -82.73 - - 3112.88 - - - - - - - - - 15.86 -
852.93 95.53 -9.30 168 858.47 roll -1.29 - - 2014.94 - 2.59 0.028 2355.81 443.4 -82.73 - - 3112.31 - - - - - - - - - 15.87 -
1043.36 112.39 -9.81 206 1044.69 no move -1.29 - - 2014.31 - - - 2355.88 - -82.73 - - 3111.72 - - - - - - - - - - -
1348.01 139.94 -9.23 267 1353.57 roll -1.29 - - 2015.00 - 2.74 0.060 1208.50 -418.8 -82.73 - - 3112.72 - - - - - - - - - 15.91 -
1448.02 149.69 -9.90 287 1453.55 roll -1.29 - - 2015.06 - 2.59 0.028 2354.75 442.6 -82.73 - - 3112.66 - - - - - - - - - 15.92 -
1758.06 177.72 -8.61 349 1759.39 no move -1.29 - - 2015.12 - - - 2354.75 - -82.73 - - 3111.88 - - - - - - - - - - -
2063.10 203.75 -8.05 410 2068.83 roll -1.29 - - 2013.88 - 2.73 0.061 1207.06 -420.4 -82.73 - - 3112.97 - - - - - - - - - 15.94 -
2113.21 207.94 -8.41 420 2118.63 roll -1.29 - - 2014.94 - 2.59 0.029 2355.56 443.4 -82.73 - - 3112.84 - - - - - - - - - 15.95 -
2423.15 233.59 -8.97 482 2424.48 no move -1.29 - - 2014.75 - - - 2355.25 - -82.73 - - 3111.44 - - - - - - - - - - -
2728.17 262.20 -9.88 543 2733.73 roll -1.29 - - 2014.31 - 2.72 0.062 1208.75 -421.5 -82.73 - - 3111.88 - - - - - - - - - 15.96 -
2763.17 265.67 -9.92 550 2768.70 roll -1.29 - - 2014.88 - 2.58 0.029 2354.88 444.2 -82.73 - - 3113.41 - - - - - - - - - 15.96 -
3073.20 295.53 -9.68 612 3074.54 no move -1.29 - - 2015.19 - - - 2355.00 - -82.73 - - 3110.53 - - - - - - - - - - -
3378.53 324.42 -9.75 645 3383.15 roll -1.29 - - 2014.69 - 2.69 0.063 1208.25 -426.3 -82.73 - - 3110.66 - - - - - - - - - 15.97 -
3494.72 335.91 -9.71 660 3499.34 roll -1.29 - - 2014.88 - 2.57 0.030 2354.25 445.9 -82.73 - - 3109.84 - - - - - - - - - 15.99 -
3805.97 365.75 -9.75 689 3817.04 no move -1.29 - - 2015.00 - - - 2354.38 - -82.73 - - 3110.78 - - - - - - - - - - -
4118.66 395.39 -9.24 718 4129.73 no move -1.29 - - 2015.00 - - - 2354.62 - -82.73 - - 3110.06 - - - - - - - - - - -
4431.80 422.48 -8.12 747 4436.45 roll -1.29 - - 2014.88 - 2.71 0.064 1209.88 -422.4 -82.73 - - 3107.69 - - - - - - - - - 15.97 -
4500.46 428.48 -8.54 756 4505.06 roll -1.29 - - 2014.94 - 2.58 0.030 2353.31 443.2 -82.73 - - 3108.78 - - - - - - - - - 16.01 -
4811.71 455.08 -8.10 785 4816.33 roll -1.29 - - 2014.75 - 2.63 0.091 3427.56 408.5 -82.73 - - 3107.53 - - - - - - - - - 15.93 -
4866.84 459.79 -8.74 793 4881.59 roll -1.29 - - 2015.19 - 2.53 0.022 2245.06 -467.4 -82.73 - - 3108.28 - - - - - - - - - 16.00 -
5182.96 483.70 -7.42 822 5187.56 roll -1.29 - - 2014.56 - 2.48 0.069 1208.88 -417.8 -82.73 - - 3108.31 - - - - - - - - - 15.96 -
5251.63 489.12 -7.84 831 5256.24 roll -1.29 - - 2014.56 - 2.58 0.030 2351.81 443.0 -82.73 - - 3107.91 - - - - - - - - - 16.00 -
5566.90 513.29 -7.82 856 5571.55 roll -1.29 - - 2014.56 - 2.73 0.064 1208.44 -418.8 -82.73 - - 3107.09 - - - - - - - - - 15.96 -
5626.18 518.18 -8.31 865 5631.72 roll -1.29 - - 2014.94 - 2.58 0.030 2350.88 442.8 -82.73 - - 3106.34 - - - - - - - - - 16.01 -
5945.59 542.77 -7.36 887 5950.22 roll -1.29 - - 2015.19 - 2.64 0.091 3426.75 407.5 -82.73 - - 3105.25 - - - - - - - - - 15.92 -
6004.87 547.51 -7.94 896 6010.60 roll -1.29 - - 2015.31 - 2.54 0.022 2246.25 -464.8 -82.73 - - 3105.88 - - - - - - - - - 16.00 -
6324.46 568.66 -6.41 918 6325.79 no move -1.29 - - 2015.50 - - - 2246.00 - -82.73 - - 3104.50 - - - - - - - - - - -
6639.31 588.34 -6.20 939 6640.64 no move -1.29 - - 2015.44 - - - 2246.38 - -82.73 - - 3104.44 - - - - - - - - - - -
6954.49 608.57 -6.31 960 6959.17 roll -1.29 - - 2015.56 - 2.91 0.087 3426.50 405.5 -82.73 - - 3104.19 - - - - - - - - - 15.91 -
7039.51 614.46 -7.33 973 7054.42 roll -1.29 - - 2015.38 - 2.56 0.022 2246.44 -461.0 -82.73 - - 3104.72 - - - - - - - - - 16.01 -
7368.94 636.18 -5.88 995 7370.26 no move -1.29 - - 2014.88 - - - 2246.25 - -82.73 - - 3103.12 - - - - - - - - - - -
7683.93 656.43 -6.57 1016 7685.26 no move -1.29 - - 2014.88 - - - 2246.25 - -82.73 - - 3102.69 - - - - - - - - - - -
7998.95 677.07 -6.88 1037 8003.63 roll -1.29 - - 2015.00 - 2.91 0.088 3426.00 405.4 -82.73 - - 3103.25 - - - - - - - - - 15.90 -
8063.24 681.71 -7.67 1047 8078.16 roll -1.29 - - 2014.88 - 2.56 0.022 2249.06 -459.7 -82.73 - - 3104.81 - - - - - - - - - 16.00 -
8392.65 705.40 -6.87 1069 8393.98 no move -1.29 - - 2015.50 - - - 2248.56 - -82.73 - - 3101.47 - - - - - - - - - - -
8677 end dive: TARGET_DEPTH_EXCEEDED
8678 begin apogee
8679.49 724.53 -6.67 1088 8743.00 -0.28 1.74 0.142 2264.06 142.9 0.14 0.177 2289.38 291.6 - 59.77 2.109 2774.59 -5.5 0.311 - - - - - - 15.82 15.65 10.92
8744 end apogee: CONTROL_FINISHED_OK
8744 begin climb
8745.01 725.91 - 1092 8815.64 1.29 2.54 0.094 2648.62 151.4 - - 2289.88 - 82.73 64.88 2.026 2436.94 -5.2 0.308 - - - - - - 15.69 - 12.50
9128.01 703.01 6.65 1121 9132.67 roll 1.33 - - 2648.75 - 2.86 0.075 1131.31 -405.1 82.73 - - 2430.50 - - - - - - - - - 15.69 -
9213.03 697.48 6.97 1134 9227.96 roll 1.36 - - 2649.38 - 2.63 0.030 2271.44 433.5 82.73 - - 2431.06 - - - - - - - - - 15.73 -
9542.44 676.45 5.84 1156 9586.43 1.46 0.20 0.078 2700.00 253.1 2.83 0.076 1131.12 -402.9 131.86 39.29 1.975 2236.59 -4.9 0.280 - - - - - - 15.78 15.61 11.69
9713.32 661.91 9.52 1181 9718.87 roll 1.46 - - 2699.56 - 2.63 0.031 2270.88 433.4 131.86 - - 2234.62 - - - - - - - - - 15.70 -
10032.91 634.89 8.07 1203 10034.24 no move 1.46 - - 2700.00 - - - 2270.88 - 131.86 - - 2230.28 - - - - - - - - - - -
10347.76 608.41 8.28 1224 10349.09 no move 1.46 - - 2699.38 - - - 2271.12 - 131.86 - - 2229.56 - - - - - - - - - - -
10662.80 580.58 8.74 1245 10667.44 roll 1.46 - - 2700.00 - 2.79 0.074 1132.56 -408.1 131.86 - - 2230.31 - - - - - - - - - 15.86 -
10706.52 577.23 8.82 1252 10721.32 roll 1.46 - - 2699.00 - 2.60 0.031 2273.88 439.0 131.86 - - 2230.91 - - - - - - - - - 15.90 -
11035.77 549.38 8.40 1274 11037.10 VBD 1.46 - - 2699.88 - - - 2273.94 - 131.86 - - 2229.09 - - - - - - - - - - -
11350.80 522.17 8.21 1295 11352.13 VBD 1.46 - - 2698.81 - - - 2274.12 - 131.86 - - 2227.81 - - - - - - - - - - -
11657.32 498.16 7.61 1316 11668.39 VBD 1.48 - - 2700.19 - - - 2274.69 - 131.86 - - 2228.59 - - - - - - - - - - -
11969.89 473.52 7.97 1345 11974.54 done 1.48 - - 2699.50 - 2.78 0.074 1132.50 -410.9 131.86 - - 2228.34 - - - - - - - - - 15.90 -
12023.03 468.90 8.48 1352 12027.64 done 1.48 - - 2697.25 - 2.58 0.031 2273.81 442.4 131.86 - - 2229.81 - - - - - - - - - 15.95 -
12334.58 443.74 7.72 1381 12339.21 done 1.49 - - 2698.81 - 2.64 0.093 3345.12 405.8 131.86 - - 2227.03 - - - - - - - - - 15.88 -
12388.84 439.20 8.32 1389 12403.77 done 1.49 - - 2699.81 - 2.56 0.024 2185.00 -453.2 131.86 - - 2229.25 - - - - - - - - - 15.96 -
12704.91 415.87 7.35 1418 12709.57 done 1.51 - - 2699.81 - 2.86 0.088 3346.12 406.0 131.86 - - 2230.00 - - - - - - - - - 15.88 -
12743.45 412.87 7.82 1424 12758.37 done 1.53 - - 2700.19 - 2.54 0.024 2186.50 -456.5 131.86 - - 2228.59 - - - - - - - - - 15.98 -
13059.52 388.86 7.46 1453 13070.59 VBD 1.55 - - 2699.31 - - - 2186.44 - 131.86 - - 2227.91 - - - - - - - - - - -
13372.35 366.09 7.62 1482 13376.97 done 1.56 - - 2700.38 - 2.53 0.079 1131.50 -417.0 131.86 - - 2227.44 - - - - - - - - - 15.90 -
13426.62 361.67 8.13 1490 13442.24 done 1.56 - - 2700.00 - 2.58 0.031 2275.50 443.4 131.86 - - 2229.22 - - - - - - - - - 15.98 -
13744.08 335.85 8.37 1519 13755.16 VBD 1.56 - - 2699.44 - - - 2275.81 - 131.86 - - 2227.31 - - - - - - - - - - -
14056.81 311.29 7.23 1548 14067.89 VBD 1.59 - - 2699.81 - - - 2276.12 - 131.86 - - 2227.69 - - - - - - - - - - -
14372.02 289.75 6.58 1592 14377.57 done 1.62 - - 2700.25 - 2.77 0.074 1131.25 -413.3 131.86 - - 2227.03 - - - - - - - - - 15.89 -
14522.41 279.64 6.65 1622 14527.62 1.66 0.20 0.078 2748.50 241.2 2.59 0.030 2273.69 441.1 131.86 - - 2227.25 - - - - - - - - 15.77 15.97 -
14832.08 258.05 7.28 1684 14837.62 done 1.68 - - 2748.56 - 2.63 0.091 3346.38 407.9 131.86 - - 2226.78 - - - - - - - - - 15.86 -
14912.07 251.64 8.14 1700 14917.61 done 1.68 - - 2748.69 - 2.56 0.024 2185.00 -453.7 131.86 - - 2227.19 - - - - - - - - - 15.96 -
15222.32 228.15 7.77 1762 15223.65 VBD 1.70 - - 2748.44 - - - 2185.00 - 131.86 - - 2225.69 - - - - - - - - - - -
15527.17 203.91 8.25 1823 15528.51 VBD 1.70 - - 2748.25 - - - 2184.62 - 131.86 - - 2226.50 - - - - - - - - - - -
15832.22 178.49 8.39 1884 15837.75 done 1.70 - - 2748.69 - 2.55 0.077 1131.25 -413.1 131.86 - - 2227.75 - - - - - - - - - 15.88 -
15907.22 172.06 8.62 1899 15912.75 done 1.70 - - 2748.44 - 2.59 0.030 2276.06 442.0 131.86 - - 2227.28 - - - - - - - - - 15.97 -
16217.30 147.40 7.24 1961 16218.63 VBD 1.72 - - 2749.12 - - - 2275.88 - 131.86 - - 2226.53 - - - - - - - - - - -
16522.40 126.30 6.46 2022 16554.86 done 1.80 - - 2747.06 - 2.62 0.092 3344.62 407.9 169.38 28.08 1.311 2084.53 -5.1 0.081 - - - - - - - 15.86 11.10
16617.41 118.39 9.40 2041 16622.94 roll 1.80 - - 2748.06 - 2.56 0.023 2185.25 -452.9 169.38 - - 2081.81 - - - - - - - - - 15.91 -
16927.71 96.74 5.02 2103 16981.84 1.93 0.29 0.063 2811.88 220.1 2.56 0.079 1130.00 -412.2 233.88 48.99 1.285 1820.56 -5.3 0.066 - - - - - - 15.88 15.75 11.92
17029.21 88.92 8.93 2123 17034.59 roll 1.93 - - 2813.06 - 2.62 0.029 2275.31 437.1 233.88 - - 1817.12 - - - - - - - - - 15.80 -
17219.07 72.99 8.19 2161 17224.63 done 1.93 - - 2813.50 - 2.79 0.072 1131.38 -410.0 233.88 - - 1814.22 - - - - - - - - - 15.80 -
17359.10 60.79 7.63 2189 17364.64 done 1.94 - - 2813.75 - 2.61 0.029 2277.56 439.1 233.88 - - 1811.88 - - - - - - - - - 15.83 -
17549.18 47.07 7.06 2227 17550.51 VBD 1.97 - - 2813.75 - - - 2277.19 - 233.88 - - 1810.41 - - - - - - - - - - -
17734.15 35.58 5.37 2264 17781.87 done 2.09 - - 2813.75 - 2.64 0.089 3348.69 405.9 291.80 42.94 1.190 1584.91 -5.3 0.026 - - - - - - - 15.73 11.69
17819.16 30.63 6.69 2281 17824.92 roll back 2.12 0.19 0.078 2860.88 248.1 2.58 0.022 2186.00 -450.7 291.80 - - 1583.12 - - - - - - - - 15.74 15.81 -
18009.18 17.99 5.69 2319 18055.25 done 2.23 - - 2861.44 - 2.88 0.082 3348.38 403.6 343.81 40.12 1.143 1373.12 -5.2 0.014 - - - - - - - 15.67 11.94
18060.19 16.14 4.30 2329 18125.99 2.38 0.28 0.064 2923.50 221.6 2.59 0.021 2177.00 -452.3 421.91 58.89 1.128 1055.22 -5.4 0.013 - - - - - - 15.71 15.76 12.39
18219 end climb: SURFACE_DEPTH_REACHED
18219 begin surface coast
18269 end surface coast: CONTROL_FINISHED_OK
18269 begin surface
SM 2.39 - - - - 186.7 3.68 0.438 1042.5 267.3 17.09 0.049 1032.1 60.4 - 0.36 0.061 1052.9 2917.5 -11.683 - - 12.05 15.63 15.65 -