NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 572 * Raw log
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• Previous call tries 1 • 186.64 of 550.00 AH used of 24V (66.07% remains)
• Surface angle -61.5 deg, depth 0.66 m • Intended pitch -20.3 deg, speed -8.462 cm/s
VBD pumped to 424.82 (SM_CC=425)
• GPS1 time: 41 s
• GPS2 time: 3 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
2 end surface: CONTROL_FINISHED_OK
3 begin dive
5.25 - - - 61.86 VBD -1.29 - - 177.19 - - - 2243.31 - -82.73 55.44 0.005 2449.28 - - - - - - - - - - 15.27
62.60 3.17 -5.81 10 100.72 -1.29 14.64 0.244 2017.88 125.7 3.03 0.086 3425.75 390.2 -82.73 14.55 0.006 3111.50 45.5 -3.991 - - - - - - 15.49 15.24 15.36
327.87 48.39 -13.27 63 333.41 roll -1.29 - - 2017.50 - 2.61 0.020 2252.06 -449.7 -82.73 - - 3112.31 - - - - - - - - - 15.79 -
518.57 69.23 -11.59 101 523.54 roll -1.29 - - 2017.56 - 2.99 0.081 3424.69 392.2 -82.73 - - 3113.94 - - - - - - - - - 15.82 -
753.01 94.92 -11.64 148 758.55 roll -1.29 - - 2017.38 - 2.59 0.020 2249.94 -453.6 -82.73 - - 3115.66 - - - - - - - - - 15.87 -
943.48 113.58 -9.62 186 948.68 roll -1.29 - - 2017.31 - 2.97 0.081 3427.25 396.4 -82.73 - - 3114.44 - - - - - - - - - 15.87 -
1018.11 121.55 -10.43 201 1023.64 roll -1.29 - - 2017.44 - 2.58 0.020 2245.69 -458.0 -82.73 - - 3113.88 - - - - - - - - - 15.90 -
1328.21 147.23 -7.79 263 1333.80 roll -1.29 - - 2017.44 - 2.95 0.081 3426.56 400.3 -82.73 - - 3114.59 - - - - - - - - - 15.90 -
1423.24 155.55 -8.75 282 1428.77 roll -1.29 - - 2015.62 - 2.59 0.020 2246.50 -455.6 -82.73 - - 3114.75 - - - - - - - - - 15.93 -
1733.31 180.00 -7.85 344 1738.91 roll -1.29 - - 2017.25 - 2.97 0.082 3426.06 397.2 -82.73 - - 3115.31 - - - - - - - - - 15.92 -
1838.51 189.47 -9.13 365 1843.92 roll -1.29 - - 2017.38 - 2.57 0.021 2248.75 -458.1 -82.73 - - 3113.66 - - - - - - - - - 15.94 -
2148.36 214.57 -8.17 427 2153.89 roll -1.29 - - 2016.19 - 2.52 0.069 1208.75 -412.7 -82.73 - - 3114.69 - - - - - - - - - 15.95 -
2178.36 217.22 -8.69 433 2183.92 roll -1.29 - - 2017.75 - 2.63 0.028 2354.88 435.8 -82.73 - - 3114.94 - - - - - - - - - 15.96 -
2488.42 243.76 -8.48 495 2493.97 roll -1.29 - - 2016.88 - 2.80 0.063 1208.50 -409.4 -82.73 - - 3113.84 - - - - - - - - - 15.96 -
2543.43 248.51 -8.72 506 2548.97 roll -1.29 - - 2017.06 - 2.62 0.028 2353.06 436.9 -82.73 - - 3113.66 - - - - - - - - - 15.98 -
2853.46 273.48 -7.98 568 2854.79 no move -1.29 - - 2017.69 - - - 2353.38 - -82.73 - - 3112.38 - - - - - - - - - - -
3158.50 298.80 -8.39 629 3164.08 roll -1.29 - - 2017.75 - 2.81 0.063 1211.00 -406.5 -82.73 - - 3114.28 - - - - - - - - - 15.96 -
3213.61 303.44 -8.47 637 3218.24 roll -1.29 - - 2017.56 - 2.63 0.029 2351.56 433.7 -82.73 - - 3112.03 - - - - - - - - - 15.99 -
3526.08 328.68 -8.26 666 3537.15 no move -1.29 - - 2017.88 - - - 2352.25 - -82.73 - - 3112.09 - - - - - - - - - - -
3838.88 355.87 -9.01 695 3843.52 roll -1.29 - - 2017.56 - 2.80 0.064 1209.62 -408.1 -82.73 - - 3109.97 - - - - - - - - - 15.97 -
3877.42 359.56 -9.59 701 3892.35 roll -1.29 - - 2017.38 - 2.62 0.029 2350.62 435.5 -82.73 - - 3112.22 - - - - - - - - - 16.01 -
4193.91 389.24 -9.28 730 4204.98 no move -1.29 - - 2017.19 - - - 2351.25 - -82.73 - - 3111.78 - - - - - - - - - - -
4506.59 416.80 -8.20 759 4517.66 no move -1.29 - - 2017.56 - - - 2350.88 - -82.73 - - 3110.59 - - - - - - - - - - -
4819.28 441.09 -7.50 788 4823.92 roll -1.29 - - 2015.69 - 2.80 0.064 1211.25 -407.0 -82.73 - - 3111.03 - - - - - - - - - 15.97 -
4920.18 448.60 -7.40 801 4924.80 roll -1.29 - - 2017.31 - 2.63 0.030 2351.50 433.6 -82.73 - - 3109.97 - - - - - - - - - 16.01 -
5231.81 469.26 -6.50 830 5242.88 no move -1.29 - - 2017.25 - - - 2351.38 - -82.73 - - 3110.00 - - - - - - - - - - -
5544.52 491.00 -7.12 859 5549.16 roll -1.29 - - 2017.62 - 2.70 0.091 3427.06 398.4 -82.73 - - 3109.28 - - - - - - - - - 15.93 -
5646.33 499.08 -8.13 873 5661.25 roll -1.29 - - 2017.25 - 2.59 0.021 2249.88 -454.5 -82.73 - - 3109.47 - - - - - - - - - 16.01 -
5975.74 525.25 -8.22 895 5977.07 no move -1.29 - - 2017.25 - - - 2249.94 - -82.73 - - 3107.53 - - - - - - - - - - -
6290.93 552.28 -8.31 916 6292.26 no move -1.29 - - 2017.12 - - - 2250.12 - -82.73 - - 3107.91 - - - - - - - - - - -
6605.94 576.40 -7.37 937 6610.62 roll -1.29 - - 2017.44 - 2.99 0.087 3426.44 393.4 -82.73 - - 3106.78 - - - - - - - - - 15.92 -
6684.95 582.54 -7.69 948 6689.56 roll -1.29 - - 2017.50 - 2.57 0.022 2250.19 -457.7 -82.73 - - 3107.19 - - - - - - - - - 16.00 -
7001.43 603.85 -6.98 970 7006.10 roll -1.29 - - 2017.19 - 2.97 0.087 3426.31 396.0 -82.73 - - 3106.62 - - - - - - - - - 15.92 -
7039.96 606.70 -7.33 976 7045.49 roll -1.29 - - 2017.12 - 2.57 0.022 2248.75 -458.2 -82.73 - - 3107.97 - - - - - - - - - 16.01 -
7359.55 629.79 -7.20 998 7360.88 no move -1.29 - - 2017.25 - - - 2248.88 - -82.73 - - 3106.56 - - - - - - - - - - -
7674.39 652.96 -7.32 1019 7675.72 no move -1.29 - - 2017.56 - - - 2248.81 - -82.73 - - 3105.06 - - - - - - - - - - -
7989.40 675.61 -6.97 1040 7990.73 no move -1.29 - - 2017.12 - - - 2249.31 - -82.73 - - 3105.69 - - - - - - - - - - -
8304.42 698.22 -7.04 1061 8309.09 roll -1.29 - - 2017.19 - 2.98 0.088 3426.75 395.1 -82.73 - - 3107.31 - - - - - - - - - 15.89 -
8363.70 702.88 -7.84 1070 8369.23 roll -1.29 - - 2017.00 - 2.57 0.022 2248.75 -458.4 -82.73 - - 3106.59 - - - - - - - - - 16.01 -
8683.12 725.67 -6.80 1092 8687.73 roll -1.29 - - 2017.12 - 2.52 0.071 1209.69 -412.3 -82.73 - - 3105.34 - - - - - - - - - 15.93 -
8763.15 731.30 -7.11 1104 8768.88 roll -1.29 - - 2017.25 - 2.63 0.030 2352.12 434.4 -82.73 - - 3105.41 - - - - - - - - - 16.02 -
9082.67 753.23 -6.87 1126 9084.00 no move -1.29 - - 2017.25 - - - 2352.31 - -82.73 - - 3104.19 - - - - - - - - - - -
9397.58 774.40 -6.07 1147 9402.23 roll -1.29 - - 2016.75 - 2.71 0.093 3426.25 396.3 -82.73 - - 3105.38 - - - - - - - - - 15.88 -
9436.46 776.91 -6.34 1153 9441.98 roll -1.29 - - 2017.31 - 2.58 0.022 2250.31 -455.8 -82.73 - - 3105.25 - - - - - - - - - 16.00 -
9455 end dive: TARGET_DEPTH_EXCEEDED
9455 begin apogee
9457.64 778.18 -6.34 1155 9532.90 -0.28 1.73 0.142 2263.62 142.4 0.16 0.163 2289.25 243.4 - 60.65 2.162 2774.19 -5.5 0.326 - - - - - - 15.81 15.62 10.81
9534 end apogee: CONTROL_FINISHED_OK
9534 begin climb
9534.93 779.60 - 1160 9611.30 1.29 2.52 0.086 2650.25 153.4 - - 2288.88 - 82.73 65.08 2.095 2435.78 -5.2 0.321 - - - - - - 15.66 - 12.34
9923.68 761.02 6.72 1191 9928.35 roll 1.33 - - 2649.88 - 2.91 0.074 1131.56 -397.7 82.73 - - 2430.97 - - - - - - - - - 15.69 -
10154.23 745.77 6.76 1225 10169.15 roll 1.36 - - 2650.12 - 2.66 0.030 2272.75 429.0 82.73 - - 2430.38 - - - - - - - - - 15.77 -
10483.82 725.27 5.79 1247 10529.62 1.46 0.20 0.083 2699.44 246.6 2.89 0.077 1132.38 -394.6 132.76 39.78 2.024 2233.31 -5.0 0.295 - - - - - - 15.80 15.62 11.57
10652.00 711.64 8.92 1272 10657.39 roll 1.46 - - 2700.50 - 2.67 0.030 2270.19 426.1 132.76 - - 2228.50 - - - - - - - - - 15.72 -
10971.26 683.28 9.36 1294 10975.90 roll 1.46 - - 2700.81 - 2.75 0.093 3345.12 390.9 132.76 - - 2228.19 - - - - - - - - - 15.77 -
11035.53 677.16 10.28 1304 11050.45 roll 1.46 - - 2700.00 - 2.60 0.024 2190.31 -444.2 132.76 - - 2227.91 - - - - - - - - - 15.83 -
11364.93 646.31 9.11 1326 11369.56 roll 1.46 - - 2700.62 - 2.63 0.078 1131.25 -402.7 132.76 - - 2225.12 - - - - - - - - - 15.85 -
11429.21 640.94 9.21 1336 11444.16 roll 1.46 - - 2700.62 - 2.65 0.030 2271.06 430.1 132.76 - - 2227.22 - - - - - - - - - 15.88 -
11758.84 612.61 8.15 1358 11763.49 roll 1.46 - - 2700.25 - 2.73 0.092 3344.44 393.2 132.76 - - 2225.34 - - - - - - - - - 15.85 -
11797.39 609.26 8.60 1364 11802.93 roll 1.46 - - 2700.56 - 2.59 0.024 2189.06 -446.1 132.76 - - 2226.81 - - - - - - - - - 15.91 -
12116.98 581.98 8.42 1386 12118.31 VBD 1.46 - - 2700.06 - - - 2188.00 - 132.76 - - 2225.16 - - - - - - - - - - -
12431.93 556.06 8.57 1407 12433.26 VBD 1.46 - - 2700.69 - - - 2188.88 - 132.76 - - 2224.09 - - - - - - - - - - -
12746.83 527.53 9.33 1428 12751.52 done 1.46 - - 2698.12 - 2.94 0.088 3344.06 392.9 132.76 - - 2225.84 - - - - - - - - - 15.88 -
12826.85 519.60 9.98 1440 12832.39 done 1.46 - - 2700.62 - 2.60 0.024 2189.00 -444.3 132.76 - - 2225.16 - - - - - - - - - 15.95 -
13137.87 490.57 9.00 1464 13142.50 done 1.46 - - 2700.69 - 2.61 0.079 1130.25 -405.7 132.76 - - 2225.44 - - - - - - - - - 15.90 -
13207.88 484.07 9.40 1474 13222.81 done 1.46 - - 2701.19 - 2.63 0.030 2271.81 434.1 132.76 - - 2224.53 - - - - - - - - - 15.97 -
13524.70 457.13 8.17 1503 13529.37 done 1.46 - - 2701.25 - 2.83 0.074 1130.75 -403.2 132.76 - - 2224.22 - - - - - - - - - 15.90 -
13624.83 448.56 8.62 1516 13629.46 done 1.46 - - 2700.44 - 2.62 0.030 2272.56 435.8 132.76 - - 2223.00 - - - - - - - - - 15.97 -
13936.38 425.21 7.21 1545 13947.46 VBD 1.49 - - 2701.12 - - - 2272.06 - 132.76 - - 2225.12 - - - - - - - - - - -
14249.33 402.87 6.83 1574 14253.98 done 1.52 - - 2700.44 - 2.72 0.092 3344.88 394.4 132.76 - - 2223.59 - - - - - - - - - 15.88 -
14319.35 397.57 7.55 1584 14334.44 done 1.54 - - 2701.44 - 2.58 0.024 2187.06 -448.8 132.76 - - 2224.19 - - - - - - - - - 15.97 -
14636.14 376.83 6.36 1613 14669.71 VBD 1.62 - - 2700.44 - - - 2186.75 - 172.20 30.86 1.637 2072.00 -4.9 0.188 - - - - - - - - 11.23
14971.81 350.05 8.68 1644 14982.88 no move 1.62 - - 2701.19 - - - 2186.44 - 172.20 - - 2067.94 - - - - - - - - - - -
15284.53 324.24 7.92 1673 15295.60 no move 1.63 - - 2701.00 - - - 2185.00 - 172.20 - - 2066.72 - - - - - - - - - - -
15597.25 300.51 7.43 1702 15608.42 pitch 1.65 0.19 0.085 2741.19 211.5 - - 2185.31 - 172.20 - - 2066.34 - - - - - - - - 15.89 - -
15911.70 274.53 8.64 1763 15913.03 no move 1.65 - - 2742.00 - - - 2185.38 - 172.20 - - 2065.06 - - - - - - - - - - -
16216.35 248.28 8.47 1824 16221.94 roll 1.65 - - 2741.00 - 2.95 0.087 3345.69 393.3 172.20 - - 2066.88 - - - - - - - - - 15.86 -
16261.35 244.04 9.59 1833 16266.90 roll 1.65 - - 2743.19 - 2.60 0.024 2188.62 -445.0 172.20 - - 2065.62 - - - - - - - - - 15.94 -
16571.39 214.95 9.58 1895 16572.72 no move 1.65 - - 2742.56 - - - 2188.94 - 172.20 - - 2065.56 - - - - - - - - - - -
16876.60 185.19 9.62 1956 16877.93 no move 1.65 - - 2742.50 - - - 2188.12 - 172.20 - - 2064.31 - - - - - - - - - - -
17181.46 158.37 8.10 2017 17187.06 roll 1.65 - - 2742.75 - 2.92 0.086 3347.06 396.9 172.20 - - 2065.53 - - - - - - - - - 15.87 -
17266.47 150.55 9.30 2034 17272.00 roll 1.65 - - 2742.56 - 2.59 0.023 2187.38 -447.8 172.20 - - 2065.69 - - - - - - - - - 15.96 -
17576.52 127.19 7.03 2096 17577.85 no move 1.68 - - 2741.75 - - - 2187.56 - 172.20 - - 2064.38 - - - - - - - - - - -
17881.57 103.53 7.53 2157 17887.10 roll 1.70 - - 2742.94 - 2.61 0.078 1131.12 -404.8 172.20 - - 2065.28 - - - - - - - - - 15.89 -
17966.56 96.64 8.28 2174 17972.11 roll 1.70 - - 2742.12 - 2.62 0.029 2274.56 436.4 172.20 - - 2064.94 - - - - - - - - - 15.96 -
18156.60 81.78 7.25 2212 18162.13 done 1.72 - - 2742.31 - 2.69 0.089 3347.88 399.0 172.20 - - 2065.25 - - - - - - - - - 15.88 -
18246.79 75.39 7.02 2230 18252.13 roll 1.75 - - 2742.62 - 2.59 0.022 2182.31 -450.0 172.20 - - 2066.16 - - - - - - - - - 15.97 -
18436.68 66.73 4.22 2268 18501.11 1.91 0.31 0.066 2808.06 211.1 2.61 0.079 1132.50 -402.2 251.74 59.19 1.261 1748.59 -5.4 0.047 - - - - - - 15.93 15.76 11.35
18508.33 63.18 5.04 2282 18561.52 done 2.04 - - 2808.75 - 2.63 0.027 2276.31 434.9 315.88 48.56 1.211 1486.81 -5.4 0.047 - - - - - - - 15.85 12.49
18743.63 41.87 9.82 2329 18749.21 done 2.04 - - 2807.88 - 2.73 0.088 3345.44 391.6 315.88 - - 1477.12 - - - - - - - - - 15.69 -
18803.63 36.25 9.36 2341 18809.19 done 2.04 - - 2808.00 - 2.62 0.022 2188.38 -441.6 315.88 - - 1476.62 - - - - - - - - - 15.74 -
18993.68 21.20 6.77 2379 18999.27 done 2.07 - - 2808.38 - 2.94 0.083 3347.62 394.3 315.88 - - 1475.22 - - - - - - - - - 15.76 -
19023.69 19.08 6.84 2385 19029.30 2.10 0.20 0.081 2852.12 218.7 2.62 0.022 2184.88 -443.8 315.88 - - 1475.06 - - - - - - - - 15.69 15.78 -
19213.81 7.81 4.34 2423 19277.21 2.26 0.15 0.092 2891.00 259.2 2.95 0.084 3347.38 394.1 393.17 57.90 1.145 1172.31 -5.2 0.006 - - - - - - 15.78 15.66 11.71
19299 end climb: SURFACE_DEPTH_REACHED
19299 begin surface coast
19384 end surface coast: CONTROL_FINISHED_OK
19384 begin surface
SM 2.77 - - - - 179.8 25.20 1.105 1043.2 39.1 16.89 0.050 1003.9 59.4 - 2.40 0.020 1082.4 449.8 -6.367 - - 12.09 15.68 15.72 -