NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 573 * Raw log
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• Previous call tries 2 • 186.98 of 550.00 AH used of 24V (66.00% remains)
• Surface angle -64.5 deg, depth 0.75 m • Intended pitch -20.3 deg, speed -8.462 cm/s
• No surface pump (final VBD was 1036.8, SM_CC=425)
• GPS1 time: 23 s
• GPS2 time: 4 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
5.25 - - - 61.87 VBD -1.29 - - 179.50 - - - 2375.69 - -82.73 55.44 0.005 2473.31 - - - - - - - - - - 15.34
62.59 3.69 -7.06 10 100.64 -1.29 14.70 0.250 2016.44 125.0 2.66 0.089 3429.88 396.3 -82.73 13.35 0.006 3111.31 47.8 -4.881 - - - - - - 15.50 15.24 15.41
327.78 50.15 -13.23 63 333.31 roll -1.29 - - 2016.69 - 2.60 0.020 2252.31 -452.9 -82.73 - - 3113.41 - - - - - - - - - 15.80 -
518.22 69.83 -9.79 101 523.65 roll -1.29 - - 2016.50 - 2.95 0.081 3428.12 398.6 -82.73 - - 3113.34 - - - - - - - - - 15.81 -
752.91 96.06 -9.74 148 758.45 roll -1.29 - - 2016.12 - 2.58 0.020 2247.56 -457.6 -82.73 - - 3114.34 - - - - - - - - - 15.86 -
943.34 110.33 -6.90 186 948.54 roll -1.29 - - 2015.75 - 2.95 0.080 3427.44 400.0 -82.73 - - 3115.03 - - - - - - - - - 15.86 -
1042.96 118.72 -8.85 206 1048.49 roll -1.29 - - 2016.44 - 2.57 0.020 2246.94 -459.3 -82.73 - - 3114.34 - - - - - - - - - 15.89 -
1352.99 144.90 -9.13 268 1354.32 no move -1.29 - - 2016.25 - - - 2245.31 - -82.73 - - 3113.25 - - - - - - - - - - -
1658.03 171.28 -8.24 329 1663.62 roll -1.29 - - 2016.25 - 2.95 0.082 3426.38 400.4 -82.73 - - 3114.41 - - - - - - - - - 15.90 -
1738.04 178.75 -9.37 345 1743.58 roll -1.29 - - 2016.25 - 2.57 0.021 2247.50 -458.7 -82.73 - - 3113.72 - - - - - - - - - 15.93 -
2048.08 203.46 -7.79 407 2053.20 roll -1.29 - - 2016.06 - 2.50 0.069 1209.88 -415.0 -82.73 - - 3114.03 - - - - - - - - - 15.93 -
2123.28 210.22 -9.24 422 2128.70 roll -1.29 - - 2016.31 - 2.62 0.029 2353.62 436.5 -82.73 - - 3113.81 - - - - - - - - - 15.95 -
2433.13 237.42 -8.70 484 2438.68 roll -1.29 - - 2016.56 - 2.69 0.087 3427.38 399.2 -82.73 - - 3113.88 - - - - - - - - - 15.92 -
2478.13 241.75 -9.74 493 2483.67 roll -1.29 - - 2016.06 - 2.58 0.021 2247.25 -457.4 -82.73 - - 3113.66 - - - - - - - - - 15.96 -
2788.18 267.91 -8.34 555 2789.51 no move -1.29 - - 2016.12 - - - 2246.12 - -82.73 - - 3112.47 - - - - - - - - - - -
3093.21 293.20 -8.78 616 3098.73 roll -1.29 - - 2016.12 - 2.52 0.069 1207.12 -412.3 -82.73 - - 3112.91 - - - - - - - - - 15.94 -
3188.38 301.35 -8.96 635 3203.14 roll -1.29 - - 2016.06 - 2.63 0.029 2352.25 435.4 -82.73 - - 3113.91 - - - - - - - - - 16.00 -
3504.83 328.51 -7.85 664 3509.46 roll -1.29 - - 2016.00 - 2.77 0.064 1209.94 -412.4 -82.73 - - 3110.94 - - - - - - - - - 15.96 -
3574.84 333.72 -7.55 674 3589.77 roll -1.29 - - 2015.88 - 2.62 0.029 2350.31 435.3 -82.73 - - 3112.22 - - - - - - - - - 16.00 -
3891.20 356.86 -7.12 703 3902.27 no move -1.29 - - 2016.56 - - - 2351.50 - -82.73 - - 3112.03 - - - - - - - - - - -
4204.45 380.78 -8.07 732 4209.10 roll -1.29 - - 2016.12 - 2.78 0.064 1209.75 -410.7 -82.73 - - 3109.81 - - - - - - - - - 15.96 -
4290.20 388.14 -8.66 744 4305.14 roll -1.29 - - 2014.50 - 2.62 0.029 2350.06 435.2 -82.73 - - 3111.19 - - - - - - - - - 16.01 -
4606.39 413.68 -8.23 773 4617.46 no move -1.29 - - 2016.12 - - - 2350.06 - -82.73 - - 3111.56 - - - - - - - - - - -
4919.95 440.19 -8.70 802 4931.02 no move -1.29 - - 2016.25 - - - 2350.44 - -82.73 - - 3110.81 - - - - - - - - - - -
5232.76 466.69 -8.09 831 5243.83 no move -1.29 - - 2016.25 - - - 2349.88 - -82.73 - - 3110.34 - - - - - - - - - - -
5545.49 488.84 -6.43 860 5550.14 roll -1.29 - - 2016.31 - 2.78 0.065 1209.75 -410.1 -82.73 - - 3109.12 - - - - - - - - - 15.95 -
5631.25 494.40 -6.55 872 5646.52 roll -1.29 - - 2015.94 - 2.62 0.030 2350.62 435.4 -82.73 - - 3110.09 - - - - - - - - - 16.01 -
5947.40 514.14 -6.25 895 5952.04 roll -1.29 - - 2015.69 - 2.78 0.064 1209.50 -410.5 -82.73 - - 3108.69 - - - - - - - - - 15.95 -
6027.42 519.47 -6.72 907 6032.98 roll -1.29 - - 2015.75 - 2.63 0.030 2353.50 435.0 -82.73 - - 3109.44 - - - - - - - - - 16.01 -
6346.85 542.98 -7.70 929 6348.18 no move -1.29 - - 2016.19 - - - 2353.38 - -82.73 - - 3107.62 - - - - - - - - - - -
6661.88 567.80 -7.74 950 6666.71 roll -1.29 - - 2016.38 - 2.79 0.065 1209.44 -410.0 -82.73 - - 3107.22 - - - - - - - - - 15.94 -
6747.02 574.18 -8.05 963 6761.85 roll -1.29 - - 2015.56 - 2.62 0.030 2350.69 435.6 -82.73 - - 3108.97 - - - - - - - - - 16.02 -
7076.49 600.83 -8.08 985 7077.81 no move -1.29 - - 2016.12 - - - 2351.06 - -82.73 - - 3106.56 - - - - - - - - - - -
7391.33 624.55 -6.98 1006 7395.98 roll -1.29 - - 2015.88 - 2.76 0.065 1209.75 -413.5 -82.73 - - 3108.75 - - - - - - - - - 15.94 -
7491.08 631.73 -7.21 1020 7495.71 roll -1.29 - - 2016.06 - 2.61 0.030 2349.94 436.9 -82.73 - - 3106.41 - - - - - - - - - 16.00 -
7807.56 651.17 -5.77 1042 7808.89 no move -1.29 - - 2016.06 - - - 2349.56 - -82.73 - - 3105.97 - - - - - - - - - - -
8122.57 670.05 -6.32 1063 8127.22 roll -1.29 - - 2014.06 - 2.77 0.065 1209.88 -411.4 -82.73 - - 3106.41 - - - - - - - - - 15.93 -
8181.86 674.17 -6.91 1072 8187.42 roll -1.29 - - 2016.44 - 2.62 0.030 2352.50 436.1 -82.73 - - 3108.06 - - - - - - - - - 16.01 -
8501.26 696.51 -7.11 1094 8502.59 no move -1.29 - - 2016.12 - - - 2351.81 - -82.73 - - 3105.62 - - - - - - - - - - -
8816.28 717.97 -6.89 1115 8820.93 roll -1.29 - - 2015.69 - 2.79 0.065 1209.88 -409.3 -82.73 - - 3105.44 - - - - - - - - - 15.92 -
8958.52 728.30 -7.39 1136 8964.07 roll -1.29 - - 2014.50 - 2.63 0.030 2352.56 434.5 -82.73 - - 3106.81 - - - - - - - - - 16.02 -
9278.34 751.05 -6.91 1158 9279.67 no move -1.29 - - 2016.12 - - - 2352.19 - -82.73 - - 3104.56 - - - - - - - - - - -
9593.11 772.30 -6.80 1179 9597.77 roll -1.29 - - 2016.12 - 2.81 0.065 1211.19 -406.0 -82.73 - - 3103.41 - - - - - - - - - 15.91 -
9673.13 778.04 -7.23 1191 9678.68 roll -1.29 - - 2015.94 - 2.62 0.030 2349.62 434.5 -82.73 - - 3106.34 - - - - - - - - - 16.01 -
9977 end dive: TARGET_DEPTH_EXCEEDED
9977 begin apogee
9979.36 798.14 -6.35 1212 10054.59 -0.28 1.74 0.138 2264.25 142.7 0.22 0.127 2282.88 -303.4 - 60.81 2.210 2775.81 -5.4 0.326 - - - - - - 15.81 15.61 10.75
10056 end apogee: CONTROL_FINISHED_OK
10056 begin climb
10056.62 800.04 - 1217 10130.75 1.29 2.54 0.090 2649.75 151.8 - - 2282.94 - 82.73 65.31 2.123 2437.91 -5.2 0.324 - - - - - - 15.65 - 12.34
10443.12 777.26 6.62 1243 10447.79 roll 1.33 - - 2650.75 - 2.88 0.074 1132.50 -399.5 82.73 - - 2430.19 - - - - - - - - - 15.68 -
10564.62 768.53 7.32 1261 10570.17 roll 1.35 - - 2649.94 - 2.67 0.029 2272.25 426.9 82.73 - - 2431.69 - - - - - - - - - 15.74 -
10884.21 748.26 6.30 1283 10929.52 1.44 0.17 0.090 2693.31 255.1 - - 2271.94 - 123.22 32.58 2.027 2273.53 -4.9 0.298 - - - - - - 15.78 - 11.52
11244.03 717.26 9.18 1307 11248.69 roll 1.44 - - 2692.31 - 2.86 0.074 1132.56 -398.4 123.22 - - 2268.53 - - - - - - - - - 15.77 -
11301.96 711.58 9.68 1315 11306.59 roll 1.44 - - 2692.81 - 2.65 0.030 2271.75 429.9 123.22 - - 2265.41 - - - - - - - - - 15.79 -
11619.04 682.44 8.95 1337 11620.37 no move 1.44 - - 2693.12 - - - 2271.31 - 123.22 - - 2265.78 - - - - - - - - - - -
11933.45 655.43 8.41 1358 11938.11 roll 1.44 - - 2693.69 - 2.85 0.074 1131.56 -399.9 123.22 - - 2264.84 - - - - - - - - - 15.85 -
12054.93 644.82 8.87 1376 12060.49 roll 1.44 - - 2693.25 - 2.64 0.030 2271.31 431.7 123.22 - - 2266.03 - - - - - - - - - 15.90 -
12374.33 618.64 8.06 1398 12375.66 no move 1.44 - - 2693.19 - - - 2271.19 - 123.22 - - 2264.66 - - - - - - - - - - -
12689.35 592.19 8.44 1419 12694.03 roll 1.44 - - 2693.12 - 2.85 0.074 1131.31 -400.0 123.22 - - 2265.72 - - - - - - - - - 15.88 -
12769.36 585.24 8.80 1431 12774.91 roll 1.44 - - 2693.06 - 2.64 0.030 2273.56 432.7 123.22 - - 2265.56 - - - - - - - - - 15.94 -
13088.79 559.59 8.06 1453 13090.12 no move 1.44 - - 2693.38 - - - 2273.00 - 123.22 - - 2264.78 - - - - - - - - - - -
13403.83 533.59 8.38 1474 13408.67 done 1.44 - - 2692.56 - 2.86 0.074 1131.00 -399.3 123.22 - - 2266.41 - - - - - - - - - 15.89 -
13525.45 522.96 8.88 1492 13530.88 done 1.44 - - 2693.75 - 2.64 0.030 2273.19 432.6 123.22 - - 2265.28 - - - - - - - - - 15.98 -
13836.42 497.53 7.92 1514 13841.07 done 1.45 - - 2693.25 - 2.72 0.092 3347.19 394.9 123.22 - - 2265.34 - - - - - - - - - 15.88 -
13890.69 493.02 8.32 1522 13905.61 done 1.45 - - 2693.31 - 2.60 0.023 2187.12 -446.2 123.22 - - 2265.69 - - - - - - - - - 15.98 -
14206.78 470.17 6.97 1551 14211.46 done 1.48 - - 2693.25 - 2.94 0.087 3344.50 393.7 123.22 - - 2266.62 - - - - - - - - - 15.88 -
14292.53 463.80 7.54 1563 14307.42 done 1.49 - - 2692.56 - 2.59 0.024 2187.44 -446.7 123.22 - - 2267.25 - - - - - - - - - 15.97 -
14608.94 444.04 5.96 1592 14658.50 done 1.59 - - 2693.06 - 2.62 0.082 1132.69 -402.6 170.19 36.76 1.737 2081.94 -5.0 0.214 - - - - - - - 15.80 11.31
14707.01 436.85 7.66 1604 14711.70 roll back 1.60 0.16 0.092 2731.00 237.1 2.65 0.030 2272.69 430.2 170.19 - - 2078.00 - - - - - - - - 15.74 15.83 -
15018.67 408.07 9.70 1633 15023.50 roll 1.60 - - 2733.75 - 2.72 0.091 3345.12 394.3 170.19 - - 2073.84 - - - - - - - - - 15.83 -
15073.08 402.33 10.58 1641 15087.90 roll 1.60 - - 2734.19 - 2.61 0.024 2189.69 -442.7 170.19 - - 2075.38 - - - - - - - - - 15.87 -
15389.49 368.83 10.04 1670 15394.12 roll 1.60 - - 2733.69 - 2.64 0.079 1131.62 -400.8 170.19 - - 2072.28 - - - - - - - - - 15.85 -
15459.51 361.52 10.56 1680 15474.44 roll 1.60 - - 2734.25 - 2.65 0.030 2272.19 430.4 170.19 - - 2073.94 - - - - - - - - - 15.92 -
15775.70 328.69 9.86 1709 15786.77 no move 1.60 - - 2734.12 - - - 2272.81 - 170.19 - - 2073.62 - - - - - - - - - - -
16088.62 300.24 8.60 1738 16093.29 roll 1.60 - - 2733.94 - 2.85 0.074 1131.12 -400.6 170.19 - - 2071.97 - - - - - - - - - 15.87 -
16207.21 289.54 9.10 1760 16212.75 done 1.60 - - 2734.00 - 2.65 0.030 2271.38 430.3 170.19 - - 2074.09 - - - - - - - - - 15.93 -
16517.25 264.46 8.70 1822 16522.83 done 1.60 - - 2734.31 - 2.85 0.074 1132.31 -399.7 170.19 - - 2073.31 - - - - - - - - - 15.87 -
16612.26 255.73 9.01 1841 16617.80 done 1.60 - - 2733.38 - 2.64 0.030 2272.19 431.8 170.19 - - 2073.50 - - - - - - - - - 15.93 -
16922.38 230.66 8.12 1903 16927.89 done 1.60 - - 2734.31 - 2.72 0.090 3347.00 395.2 170.19 - - 2072.91 - - - - - - - - - 15.85 -
16987.34 224.60 9.59 1916 16992.88 done 1.60 - - 2734.31 - 2.58 0.023 2187.38 -449.5 170.19 - - 2072.34 - - - - - - - - - 15.94 -
17297.45 197.67 8.93 1978 17298.78 VBD 1.60 - - 2734.06 - - - 2187.19 - 170.19 - - 2071.38 - - - - - - - - - - -
17602.55 171.79 8.28 2039 17608.10 done 1.60 - - 2734.19 - 2.61 0.078 1132.62 -404.0 170.19 - - 2072.69 - - - - - - - - - 15.87 -
17642.55 168.13 9.14 2047 17648.11 done 1.60 - - 2734.00 - 2.63 0.029 2274.00 434.0 170.19 - - 2072.12 - - - - - - - - - 15.95 -
17952.67 141.49 7.88 2109 17958.22 done 1.62 - - 2733.94 - 2.80 0.073 1131.12 -408.2 170.19 - - 2072.56 - - - - - - - - - 15.87 -
18012.67 136.26 8.90 2121 18018.22 done 1.62 - - 2734.25 - 2.63 0.029 2275.19 435.0 170.19 - - 2072.94 - - - - - - - - - 15.96 -
18322.95 113.66 6.95 2183 18328.39 done 1.65 - - 2733.69 - 2.83 0.072 1132.81 -403.7 170.19 - - 2072.56 - - - - - - - - - 15.87 -
18372.78 110.00 7.31 2193 18378.32 done 1.67 - - 2734.06 - 2.64 0.028 2274.38 432.4 170.19 - - 2072.88 - - - - - - - - - 15.96 -
18682.87 93.18 4.42 2255 18741.40 1.82 0.22 0.076 2787.50 242.9 - - 2274.25 - 245.96 56.80 1.305 1772.00 -5.3 0.063 - - - - - - 15.92 - 11.27
18923.66 73.27 8.73 2303 18929.24 roll 1.82 - - 2787.00 - 2.87 0.072 1131.00 -398.3 245.96 - - 1764.78 - - - - - - - - - 15.79 -
18993.69 67.46 8.25 2317 18999.23 done 1.82 - - 2786.88 - 2.66 0.028 2273.62 429.6 245.96 - - 1763.25 - - - - - - - - - 15.82 -
19183.74 53.84 7.31 2355 19189.32 done 1.84 - - 2786.50 - 2.86 0.071 1131.12 -399.5 245.96 - - 1762.25 - - - - - - - - - 15.81 -
19218.75 51.23 7.40 2362 19224.29 done 1.86 - - 2786.56 - 2.64 0.028 2274.31 433.0 245.96 - - 1762.22 - - - - - - - - - 15.85 -
19408.86 38.20 6.05 2400 19447.40 done 1.96 - - 2786.81 - 2.86 0.073 1132.75 -399.1 291.13 34.08 1.192 1587.12 -5.1 0.027 - - - - - - - 15.75 11.72
19484.63 33.71 6.08 2415 19525.66 2.04 0.24 0.075 2842.19 230.8 2.65 0.028 2276.62 431.6 335.72 35.03 1.165 1407.19 -5.1 0.025 - - - - - - 15.74 15.82 12.32
19709.69 17.76 6.67 2460 19715.26 roll 2.08 - - 2842.50 - 2.89 0.072 1132.31 -396.0 335.72 - - 1398.94 - - - - - - - - - 15.75 -
19944.76 7.05 3.58 2507 20018.40 2.26 0.22 0.072 2895.50 240.9 2.65 0.027 2273.31 430.6 427.19 68.43 1.138 1034.56 -5.3 0.005 - - - - - - 15.70 15.81 11.79
20021 end climb: SURFACE_DEPTH_REACHED
20021 begin surface coast
20121 end surface coast: CONTROL_FINISHED_OK
20121 begin surface
SM 0.75 - - - - 179.5 - - 1028.2 - 16.81 0.045 1019.6 60.6 - 0.12 0.118 1036.8 8617.9 -5.598 - - 30.00 15.65 15.67 -