NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 447 * Raw log
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• Previous call tries 1 • 156.70 of 506.00 AH used of 24V (69.03% remains)
• Surface angle -63.7 deg, depth 1.15 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 586.04 (beyond SM_CC=430)
• GPS1 time: 30 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
12 begin dive
19.06 - - - 118.80 VBD -1.18 - - 178.44 - - - 2305.31 - -77.86 70.23 0.005 2862.56 - - - - - - - - - - 14.94
121.01 3.61 -4.04 14 236.68 -1.18 17.42 0.220 2227.69 117.6 3.23 0.062 1144.06 -359.5 -77.86 4.86 0.009 3210.56 71.6 -4.889 - - - - - - 15.33 15.06 15.17
468.35 66.71 -10.90 66 486.74 roll -1.18 - - 2228.56 - 2.85 0.024 2278.44 398.0 -77.86 - - 3214.16 - - - - - - - - - 15.77 -
672.68 86.92 -9.69 104 692.26 roll -1.18 - - 2227.44 - 3.15 0.062 1143.25 -360.4 -77.86 - - 3214.25 - - - - - - - - - 15.65 -
743.43 93.96 -9.59 115 761.83 roll -1.18 - - 2227.88 - 2.83 0.024 2278.00 401.0 -77.86 - - 3215.84 - - - - - - - - - 15.79 -
952.63 111.90 -8.37 140 971.09 roll -1.18 - - 2227.62 - 3.10 0.062 1144.06 -365.8 -77.86 - - 3213.25 - - - - - - - - - 15.74 -
1061.55 120.86 -8.03 159 1079.93 roll -1.18 - - 2226.38 - 2.81 0.024 2276.44 403.0 -77.86 - - 3215.50 - - - - - - - - - 15.83 -
1385.74 145.12 -7.35 191 1404.60 roll -1.18 - - 2227.50 - 3.11 0.062 1142.75 -364.5 -77.86 - - 3214.06 - - - - - - - - - 15.70 -
1465.05 151.76 -8.50 204 1483.04 roll -1.18 - - 2226.56 - 2.80 0.024 2278.12 405.5 -77.86 - - 3215.12 - - - - - - - - - 15.86 -
1788.85 179.11 -8.63 236 1808.11 roll -1.18 - - 2227.69 - 3.18 0.062 1143.94 -356.7 -77.86 - - 3216.53 - - - - - - - - - 15.76 -
1834.44 183.26 -9.07 242 1852.31 roll -1.18 - - 2227.75 - 2.80 0.024 2277.94 405.0 -77.86 - - 3216.16 - - - - - - - - - 15.79 -
2158.14 211.41 -8.70 274 2162.20 no move -1.18 - - 2227.75 - - - 2277.50 - -77.86 - - 3214.38 - - - - - - - - - - -
2468.15 237.50 -7.78 305 2487.24 roll -1.18 - - 2227.06 - 3.18 0.063 1144.50 -356.3 -77.86 - - 3215.12 - - - - - - - - - 15.73 -
2507.73 240.77 -7.88 310 2526.71 roll -1.18 - - 2228.06 - 2.82 0.024 2279.44 402.5 -77.86 - - 3216.56 - - - - - - - - - 15.83 -
2832.57 265.17 -7.63 342 2836.63 no move -1.18 - - 2227.62 - - - 2279.12 - -77.86 - - 3214.88 - - - - - - - - - - -
3142.61 286.74 -6.88 373 3161.72 roll -1.18 - - 2227.12 - 3.16 0.064 1144.44 -359.1 -77.86 - - 3216.28 - - - - - - - - - 15.83 -
3222.21 292.80 -7.72 386 3240.40 roll -1.18 - - 2227.75 - 2.79 0.025 2278.00 406.3 -77.86 - - 3216.28 - - - - - - - - - 15.94 -
3546.22 316.85 -7.63 418 3565.32 roll -1.18 - - 2227.25 - 3.15 0.064 1145.50 -359.5 -77.86 - - 3214.66 - - - - - - - - - 15.75 -
3591.58 320.47 -8.06 424 3609.68 roll -1.18 - - 2227.62 - 2.78 0.025 2279.25 407.8 -77.86 - - 3216.69 - - - - - - - - - 15.96 -
3915.65 346.11 -7.98 456 3934.75 roll -1.18 - - 2228.00 - 3.15 0.064 1143.88 -360.4 -77.86 - - 3216.19 - - - - - - - - - 15.80 -
3990.97 352.58 -8.67 468 4008.43 roll -1.18 - - 2227.94 - 2.79 0.025 2277.62 406.4 -77.86 - - 3215.03 - - - - - - - - - 15.97 -
4314.25 378.52 -7.84 500 4318.31 no move -1.18 - - 2227.50 - - - 2277.62 - -77.86 - - 3212.78 - - - - - - - - - - -
4624.27 403.00 -7.46 531 4628.33 no move -1.18 - - 2227.12 - - - 2277.62 - -77.86 - - 3212.84 - - - - - - - - - - -
4934.29 424.23 -6.57 562 4953.37 roll -1.18 - - 2227.94 - 3.15 0.065 1144.12 -359.8 -77.86 - - 3212.41 - - - - - - - - - 15.84 -
4979.59 427.58 -7.23 568 4997.07 roll -1.18 - - 2228.12 - 2.79 0.025 2278.00 406.4 -77.86 - - 3213.09 - - - - - - - - - 15.82 -
5302.93 449.92 -7.01 600 5322.02 roll -1.18 - - 2227.25 - 3.13 0.065 1144.25 -362.2 -77.86 - - 3213.34 - - - - - - - - - 15.83 -
5358.22 454.11 -7.42 608 5375.70 roll -1.18 - - 2227.56 - 2.80 0.025 2277.12 404.6 -77.86 - - 3212.53 - - - - - - - - - 15.97 -
5681.55 476.90 -6.95 640 5700.89 roll -1.18 - - 2226.94 - 3.17 0.086 3351.44 338.9 -77.86 - - 3210.91 - - - - - - - - - 15.79 -
5747.22 482.05 -8.25 650 5764.69 roll -1.18 - - 2226.31 - 2.77 0.019 2191.44 -418.8 -77.86 - - 3212.59 - - - - - - - - - 15.85 -
6070.53 503.72 -6.29 682 6074.60 no move -1.18 - - 2227.50 - - - 2190.75 - -77.86 - - 3211.19 - - - - - - - - - - -
6380.57 524.39 -7.06 713 6401.86 roll -1.18 - - 2227.75 - 3.39 0.083 3351.88 342.5 -77.86 - - 3212.16 - - - - - - - - - 15.78 -
6487.36 532.90 -7.90 731 6505.96 roll -1.18 - - 2227.75 - 2.76 0.019 2190.81 -420.7 -77.86 - - 3211.16 - - - - - - - - - 15.96 -
6811.83 554.89 -6.92 763 6830.11 roll -1.18 - - 2227.62 - 2.92 0.070 1144.38 -358.4 -77.86 - - 3210.28 - - - - - - - - - 15.84 -
6866.32 559.08 -7.53 771 6884.21 roll -1.18 - - 2227.94 - 2.77 0.025 2278.25 409.3 -77.86 - - 3210.81 - - - - - - - - - 15.96 -
7190.05 582.64 -7.19 803 7194.11 no move -1.18 - - 2226.88 - - - 2278.88 - -77.86 - - 3209.91 - - - - - - - - - - -
7500.11 603.39 -6.76 834 7519.22 roll -1.18 - - 2227.19 - 3.16 0.066 1145.50 -358.7 -77.86 - - 3212.03 - - - - - - - - - 15.81 -
7565.67 608.08 -7.32 844 7583.14 roll -1.18 - - 2226.81 - 2.79 0.025 2277.00 405.6 -77.86 - - 3211.12 - - - - - - - - - 15.96 -
7889.11 629.50 -6.91 876 7908.41 roll -1.18 - - 2227.38 - 3.19 0.066 1144.44 -355.0 -77.86 - - 3209.94 - - - - - - - - - 15.82 -
8024.67 639.48 -7.36 900 8042.94 roll -1.18 - - 2228.31 - 2.81 0.026 2276.31 402.8 -77.86 - - 3210.06 - - - - - - - - - 15.97 -
8348.78 661.31 -6.39 932 8367.87 roll -1.18 - - 2227.56 - 3.18 0.087 3352.06 338.3 -77.86 - - 3209.22 - - - - - - - - - 15.78 -
8454.09 669.34 -7.83 950 8471.56 roll -1.18 - - 2227.56 - 2.77 0.020 2193.00 -418.4 -77.86 - - 3211.00 - - - - - - - - - 15.97 -
8777.43 691.26 -6.96 982 8795.71 roll -1.18 - - 2227.25 - 2.96 0.071 1144.50 -354.2 -77.86 - - 3210.59 - - - - - - - - - 15.72 -
8851.93 696.85 -7.65 994 8869.39 roll -1.18 - - 2226.94 - 2.77 0.026 2278.12 409.2 -77.86 - - 3210.91 - - - - - - - - - 15.98 -
9175.35 721.11 -7.92 1026 9179.41 no move -1.18 - - 2226.94 - - - 2278.00 - -77.86 - - 3208.06 - - - - - - - - - - -
9485.24 745.00 -7.54 1057 9489.54 no move -1.18 - - 2227.25 - - - 2277.75 - -77.86 - - 3208.19 - - - - - - - - - - -
9795.52 767.17 -6.68 1088 9814.62 roll -1.18 - - 2227.88 - 3.16 0.067 1145.44 -358.3 -77.86 - - 3206.41 - - - - - - - - - 15.72 -
9875.11 772.64 -6.70 1101 9893.31 roll -1.18 - - 2227.56 - 2.80 0.026 2276.88 404.1 -77.86 - - 3208.81 - - - - - - - - - 15.97 -
10199.13 792.57 -6.04 1133 10218.23 roll -1.18 - - 2227.12 - 3.19 0.088 3351.88 337.0 -77.86 - - 3206.44 - - - - - - - - - 15.74 -
10284.46 798.24 -6.78 1147 10302.32 roll -1.18 - - 2227.69 - 2.77 0.020 2192.50 -418.5 -77.86 - - 3208.88 - - - - - - - - - 15.96 -
10608.15 819.74 -6.45 1179 10626.42 roll -1.18 - - 2227.06 - 2.96 0.071 1144.06 -354.2 -77.86 - - 3207.28 - - - - - - - - - 15.68 -
10646.90 822.49 -6.71 1184 10665.12 roll -1.18 - - 2227.38 - 2.77 0.026 2279.38 409.9 -77.86 - - 3207.19 - - - - - - - - - 15.94 -
10970.98 843.25 -5.81 1216 10990.07 roll -1.18 - - 2228.00 - 3.16 0.089 3352.00 339.4 -77.86 - - 3207.47 - - - - - - - - - 15.74 -
11056.41 848.98 -7.20 1230 11074.13 roll -1.18 - - 2227.81 - 2.77 0.020 2193.44 -418.3 -77.86 - - 3206.19 - - - - - - - - - 15.94 -
11380.52 865.60 -4.93 1262 11398.80 roll -1.18 - - 2227.62 - 2.95 0.072 1143.75 -355.8 -77.86 - - 3206.31 - - - - - - - - - 15.77 -
11495.02 871.75 -5.74 1282 11512.51 roll -1.18 - - 2228.12 - 2.77 0.026 2278.81 409.8 -77.86 - - 3206.12 - - - - - - - - - 15.98 -
11548 end dive: TARGET_DEPTH_EXCEEDED
11548 begin apogee
11553.00 874.11 -4.77 1287 11657.18 -0.31 1.60 0.131 2440.75 132.9 0.22 0.129 2285.50 30.4 - 64.82 2.254 2891.59 -4.9 0.320 - - - - - - 15.69 15.36 10.28
11670 end apogee: CONTROL_FINISHED_OK
11671 begin climb
11673.45 875.21 - 1294 11785.47 1.18 2.60 0.090 2805.50 140.3 - - 2285.56 - 77.86 66.08 2.220 2571.97 -4.8 0.325 - - - - - - 15.58 - 11.62
12091.83 854.25 5.44 1337 12114.36 1.34 0.22 0.077 2851.44 208.8 3.26 0.071 1145.19 -349.8 77.86 - - 2562.53 - - - - - - - - 15.71 15.68 -
12250.41 843.78 7.31 1365 12269.40 done 1.38 - - 2851.50 - 2.84 0.029 2275.38 398.0 77.86 - - 2564.25 - - - - - - - - - 15.79 -
12575.76 822.98 4.73 1397 12680.92 1.52 0.20 0.076 2898.69 236.0 3.27 0.073 1145.38 -345.6 146.37 58.38 2.161 2292.84 -4.6 0.301 - - - - - - 15.81 15.37 11.30
12687.76 813.73 10.11 1411 12705.63 roll 1.52 - - 2899.12 - 2.88 0.029 2272.25 391.3 146.37 - - 2288.28 - - - - - - - - - 15.61 -
13011.60 780.66 9.79 1443 13015.66 VBD 1.52 - - 2898.88 - - - 2272.31 - 146.37 - - 2282.22 - - - - - - - - - - -
13321.64 748.93 10.20 1474 13325.70 VBD 1.52 - - 2899.25 - - - 2271.56 - 146.37 - - 2279.94 - - - - - - - - - - -
13631.69 719.27 8.72 1505 13650.78 done 1.52 - - 2898.62 - 3.16 0.072 1145.62 -356.3 146.37 - - 2280.06 - - - - - - - - - 15.81 -
13681.27 714.51 9.39 1512 13699.87 done 1.52 - - 2898.88 - 2.84 0.030 2272.75 396.9 146.37 - - 2281.06 - - - - - - - - - 15.91 -
14006.09 685.25 9.40 1544 14010.19 VBD 1.52 - - 2899.19 - - - 2272.94 - 146.37 - - 2278.38 - - - - - - - - - - -
14316.16 655.84 9.63 1575 14335.50 done 1.52 - - 2898.75 - 3.11 0.072 1144.75 -362.8 146.37 - - 2277.97 - - - - - - - - - 15.82 -
14376.03 650.03 10.20 1584 14395.24 done 1.52 - - 2898.75 - 2.84 0.030 2273.19 397.3 146.37 - - 2279.16 - - - - - - - - - 15.94 -
14701.13 619.58 9.20 1616 14705.24 VBD 1.52 - - 2898.88 - - - 2272.81 - 146.37 - - 2277.00 - - - - - - - - - - -
15011.15 591.30 9.20 1647 15030.89 done 1.52 - - 2898.75 - 3.22 0.071 1145.88 -350.0 146.37 - - 2277.78 - - - - - - - - - 15.83 -
15117.15 580.97 9.75 1665 15135.25 done 1.52 - - 2898.44 - 2.84 0.030 2273.25 397.0 146.37 - - 2279.41 - - - - - - - - - 15.96 -
15441.14 551.21 9.20 1697 15445.24 VBD 1.52 - - 2899.12 - - - 2272.81 - 146.37 - - 2275.97 - - - - - - - - - - -
15751.15 521.91 9.43 1728 15770.91 done 1.52 - - 2898.38 - 3.21 0.071 1145.06 -351.3 146.37 - - 2275.62 - - - - - - - - - 15.82 -
15791.43 517.96 10.12 1733 15810.24 done 1.52 - - 2899.12 - 2.82 0.029 2273.25 400.1 146.37 - - 2277.75 - - - - - - - - - 15.95 -
16116.37 488.24 9.06 1765 16136.12 done 1.52 - - 2898.75 - 3.20 0.071 1144.25 -352.8 146.37 - - 2276.62 - - - - - - - - - 15.82 -
16172.49 483.02 9.36 1773 16190.58 done 1.52 - - 2899.00 - 2.83 0.029 2274.31 399.3 146.37 - - 2277.34 - - - - - - - - - 15.96 -
16496.45 454.60 8.36 1805 16515.78 done 1.52 - - 2898.44 - 3.19 0.070 1145.75 -353.8 146.37 - - 2276.84 - - - - - - - - - 15.81 -
16602.04 445.10 9.19 1823 16620.13 done 1.52 - - 2898.50 - 2.85 0.029 2273.00 395.5 146.37 - - 2278.41 - - - - - - - - - 15.80 -
16926.01 417.22 8.13 1855 16945.75 done 1.52 - - 2898.56 - 3.24 0.093 3350.38 332.5 146.37 - - 2276.31 - - - - - - - - - 15.75 -
16972.01 413.08 8.78 1861 16990.10 done 1.52 - - 2899.19 - 2.80 0.021 2202.12 -410.1 146.37 - - 2276.97 - - - - - - - - - 15.96 -
17296.19 386.15 8.23 1893 17314.67 done 1.52 - - 2898.69 - 2.99 0.074 1145.31 -353.4 146.37 - - 2276.38 - - - - - - - - - 15.80 -
17405.21 376.17 9.37 1912 17424.04 done 1.52 - - 2899.31 - 2.81 0.029 2275.25 402.1 146.37 - - 2276.06 - - - - - - - - - 15.93 -
17729.93 348.67 8.23 1944 17749.28 done 1.52 - - 2899.00 - 3.18 0.092 3350.69 338.2 146.37 - - 2274.94 - - - - - - - - - 15.72 -
17759.91 346.01 8.43 1947 17779.05 done 1.52 - - 2899.38 - 2.77 0.021 2199.00 -415.8 146.37 - - 2276.09 - - - - - - - - - 15.95 -
18085.33 320.94 7.33 1979 18103.84 done 1.56 - - 2899.38 - 2.98 0.074 1145.94 -353.4 146.37 - - 2276.16 - - - - - - - - - 15.78 -
18154.36 315.68 7.65 1990 18172.79 done 1.56 - - 2899.62 - 2.79 0.029 2275.56 404.9 146.37 - - 2275.34 - - - - - - - - - 15.94 -
18479.08 292.61 7.41 2022 18483.19 VBD 1.60 - - 2899.94 - - - 2275.06 - 146.37 - - 2274.47 - - - - - - - - - - -
18789.70 269.05 7.34 2053 18809.03 done 1.64 - - 2899.31 - 3.18 0.069 1145.94 -355.1 146.37 - - 2273.66 - - - - - - - - - 15.75 -
18995.29 252.93 7.86 2091 19013.78 done 1.64 - - 2899.62 - 2.81 0.028 2276.38 402.3 146.37 - - 2276.22 - - - - - - - - - 15.96 -
19320.07 229.23 7.31 2123 19339.65 done 1.69 - - 2899.88 - 3.19 0.069 1144.25 -354.9 146.37 - - 2275.03 - - - - - - - - - 15.57 -
19400.30 222.71 8.06 2136 19420.37 1.69 0.17 0.084 2937.62 222.0 2.82 0.028 2275.69 401.2 146.37 - - 2277.44 - - - - - - - - 15.54 15.79 -
19726.22 196.54 7.81 2168 19745.55 done 1.69 - - 2937.75 - 3.20 0.068 1145.44 -353.2 146.37 - - 2275.06 - - - - - - - - - 15.68 -
19821.81 188.19 9.22 2184 19839.94 done 1.69 - - 2937.19 - 2.83 0.028 2274.00 398.8 146.37 - - 2275.34 - - - - - - - - - 15.73 -
20146.24 163.74 7.27 2216 20166.07 done 1.73 - - 2937.31 - 3.23 0.090 3351.38 333.6 146.37 - - 2275.53 - - - - - - - - - 15.61 -
20172.72 161.76 7.38 2218 20190.40 done 1.77 - - 2936.75 - 2.80 0.020 2196.00 -412.6 146.37 - - 2276.38 - - - - - - - - - 15.78 -
20496.67 139.76 6.58 2250 20516.42 1.86 0.19 0.080 2979.94 227.3 2.99 0.072 1145.44 -351.4 146.37 - - 2274.00 - - - - - - - - 15.84 15.69 -
20612.70 130.46 7.73 2270 20630.80 done 1.86 - - 2980.88 - 2.83 0.027 2277.19 399.9 146.37 - - 2276.00 - - - - - - - - - 15.79 -
20936.80 105.94 7.67 2302 20956.84 done 1.86 - - 2981.50 - 3.21 0.067 1144.12 -353.0 146.37 - - 2277.06 - - - - - - - - - 15.72 -
20983.62 102.69 6.93 2308 21001.71 done 1.93 - - 2980.19 - 2.83 0.026 2277.88 400.6 146.37 - - 2276.03 - - - - - - - - - 15.65 -
21308.04 83.33 6.22 2368 21329.75 2.04 0.12 0.096 3013.81 280.2 3.22 0.066 1145.19 -351.8 146.37 - - 2276.41 - - - - - - - - 15.66 15.54 -
21556.48 68.86 4.58 2414 21653.53 2.18 - - 3013.62 - 2.83 0.026 2276.69 399.8 218.00 55.01 1.233 2000.91 -5.0 0.048 - - - - - - - 15.69 10.92
21839.84 53.07 5.42 2463 21860.32 2.34 - - 3013.81 - 3.21 0.086 3352.44 335.1 218.00 - - 1992.88 - - - - - - - - - 15.59 -
22092.16 38.11 5.31 2510 22110.82 2.51 - - 3013.06 - 2.80 0.019 2195.50 -413.2 218.00 - - 1991.72 - - - - - - - - - 15.75 -
22297.24 37.43 -0.59 2548 22398.39 2.86 - - 3014.31 - - - 2194.19 - 396.61 70.48 1.180 1628.75 -5.1 0.028 - - - - - - - - 11.52
22400 end climb: NO_VERTICAL_VELOCITY
22401 begin surface
SM 1.00 - - - - 184.3 - - 491.8 - 20.20 0.058 461.1 22.8 - 0.17 0.088 522.6 3074.1 -3.570 - - 30.00 15.56 15.64 -