NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 384 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 134.65 of 506.00 AH used of 24V (73.39% remains)
• Surface angle -63.9 deg, depth 1.01 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.10 (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
10 end surface: CONTROL_FINISHED_OK
11 begin dive
18.95 - - - 111.68 VBD -1.18 - - 178.38 - - - 2188.38 - -77.86 65.13 0.005 2767.31 - - - - - - - - - - 15.05
113.90 3.56 -4.13 13 229.54 -1.18 17.12 0.219 2227.75 119.7 3.49 0.083 3352.69 333.6 -77.86 6.30 0.008 3211.25 70.5 -5.338 - - - - - - 15.36 15.13 15.25
460.68 69.76 -11.27 65 479.02 roll -1.18 - - 2227.06 - 2.82 0.019 2194.31 -410.8 -77.86 - - 3214.53 - - - - - - - - - 15.79 -
664.96 84.73 -7.23 103 684.09 roll -1.18 - - 2227.62 - 3.05 0.067 1144.44 -344.2 -77.86 - - 3215.38 - - - - - - - - - 15.73 -
715.27 89.31 -9.02 110 733.62 roll -1.18 - - 2227.75 - 2.81 0.024 2278.56 403.6 -77.86 - - 3214.56 - - - - - - - - - 15.73 -
924.42 107.47 -7.74 140 943.23 roll -1.18 - - 2227.50 - 3.16 0.081 3352.00 339.7 -77.86 - - 3215.72 - - - - - - - - - 15.65 -
1153.71 127.53 -8.16 183 1172.04 roll -1.18 - - 2227.62 - 2.82 0.018 2190.69 -411.8 -77.86 - - 3216.03 - - - - - - - - - 15.72 -
1477.86 153.65 -7.84 215 1481.88 VBD -1.18 - - 2227.38 - - - 2189.19 - -77.86 - - 3215.34 - - - - - - - - - - -
1787.91 178.08 -8.27 246 1806.32 done -1.18 - - 2227.31 - 3.02 0.068 1143.44 -346.3 -77.86 - - 3214.50 - - - - - - - - - 15.81 -
1912.50 188.60 -8.35 268 1930.60 roll -1.18 - - 2227.12 - 2.81 0.024 2279.19 404.2 -77.86 - - 3216.06 - - - - - - - - - 15.82 -
2236.56 212.53 -7.30 300 2240.62 no move -1.18 - - 2227.12 - - - 2278.56 - -77.86 - - 3215.25 - - - - - - - - - - -
2546.57 236.12 -7.43 331 2550.64 no move -1.18 - - 2227.75 - - - 2278.62 - -77.86 - - 3215.44 - - - - - - - - - - -
2856.57 259.40 -7.55 362 2876.03 roll -1.18 - - 2227.44 - 3.22 0.064 1145.94 -351.8 -77.86 - - 3215.09 - - - - - - - - - 15.85 -
2922.25 264.69 -8.09 372 2940.09 roll -1.18 - - 2227.44 - 2.81 0.025 2278.38 403.0 -77.86 - - 3215.19 - - - - - - - - - 15.92 -
3245.94 289.18 -7.16 404 3264.99 roll -1.18 - - 2226.56 - 3.17 0.064 1145.94 -357.2 -77.86 - - 3213.44 - - - - - - - - - 15.84 -
3301.20 293.29 -7.15 412 3319.03 roll -1.18 - - 2227.75 - 2.80 0.025 2278.06 404.3 -77.86 - - 3215.19 - - - - - - - - - 15.91 -
3624.88 315.29 -6.94 444 3643.93 roll -1.18 - - 2227.38 - 3.18 0.084 3351.94 337.7 -77.86 - - 3213.03 - - - - - - - - - 15.82 -
3680.14 319.47 -7.41 452 3698.36 roll -1.18 - - 2227.88 - 2.81 0.019 2193.38 -412.3 -77.86 - - 3213.44 - - - - - - - - - 15.97 -
4004.21 340.84 -6.62 484 4008.55 no move -1.18 - - 2227.31 - - - 2191.38 - -77.86 - - 3212.97 - - - - - - - - - - -
4314.55 364.05 -7.93 515 4318.67 no move -1.18 - - 2227.19 - - - 2191.62 - -77.86 - - 3212.75 - - - - - - - - - - -
4624.59 387.86 -8.11 546 4628.69 no move -1.18 - - 2227.50 - - - 2192.12 - -77.86 - - 3212.09 - - - - - - - - - - -
4934.60 411.76 -7.46 577 4938.70 no move -1.18 - - 2227.31 - - - 2192.12 - -77.86 - - 3211.53 - - - - - - - - - - -
5244.61 434.65 -7.16 608 5248.71 no move -1.18 - - 2227.25 - - - 2191.19 - -77.86 - - 3211.53 - - - - - - - - - - -
5554.62 456.42 -6.96 639 5576.55 roll -1.18 - - 2227.06 - 3.44 0.082 3352.38 337.6 -77.86 - - 3212.00 - - - - - - - - - 15.79 -
5592.07 459.48 -8.06 643 5611.25 roll -1.18 - - 2227.88 - 2.84 0.020 2194.25 -407.8 -77.86 - - 3210.62 - - - - - - - - - 15.98 -
5917.14 482.85 -7.86 675 5939.05 roll -1.18 - - 2225.19 - 3.41 0.082 3352.38 339.6 -77.86 - - 3211.09 - - - - - - - - - 15.81 -
5970.30 487.62 -8.98 682 5988.35 roll -1.18 - - 2227.38 - 2.82 0.019 2196.69 -409.8 -77.86 - - 3211.47 - - - - - - - - - 15.96 -
6294.24 511.70 -7.01 714 6315.75 roll -1.18 - - 2227.12 - 3.39 0.082 3352.56 341.0 -77.86 - - 3208.94 - - - - - - - - - 15.81 -
6327.00 514.24 -7.42 717 6345.28 roll -1.18 - - 2227.06 - 2.83 0.019 2194.50 -409.2 -77.86 - - 3210.53 - - - - - - - - - 15.97 -
6651.28 535.28 -6.20 749 6670.15 roll -1.18 - - 2226.25 - 3.05 0.071 1145.69 -343.9 -77.86 - - 3210.06 - - - - - - - - - 15.83 -
6720.68 539.98 -6.69 760 6739.44 roll -1.18 - - 2227.62 - 2.80 0.026 2277.75 404.3 -77.86 - - 3209.47 - - - - - - - - - 15.99 -
7045.33 560.84 -6.91 792 7065.04 roll -1.18 - - 2228.38 - 3.28 0.066 1146.62 -344.9 -77.86 - - 3208.09 - - - - - - - - - 15.82 -
7111.31 565.70 -7.44 802 7129.76 roll -1.18 - - 2227.56 - 2.82 0.026 2276.38 400.6 -77.86 - - 3209.03 - - - - - - - - - 15.91 -
7435.62 587.72 -6.66 834 7439.72 no move -1.18 - - 2227.19 - - - 2276.56 - -77.86 - - 3207.84 - - - - - - - - - - -
7745.63 608.98 -6.66 865 7749.73 no move -1.18 - - 2227.94 - - - 2276.75 - -77.86 - - 3207.38 - - - - - - - - - - -
8055.65 628.67 -6.20 896 8059.75 no move -1.18 - - 2227.44 - - - 2276.31 - -77.86 - - 3206.09 - - - - - - - - - - -
8365.67 647.85 -5.95 927 8369.78 no move -1.18 - - 2227.38 - - - 2276.19 - -77.86 - - 3206.78 - - - - - - - - - - -
8675.67 666.59 -5.92 958 8695.61 roll -1.18 - - 2228.00 - 3.29 0.068 1145.50 -343.7 -77.86 - - 3207.81 - - - - - - - - - 15.81 -
8772.00 672.69 -6.44 974 8790.45 roll -1.18 - - 2227.88 - 2.84 0.026 2276.00 398.1 -77.86 - - 3207.19 - - - - - - - - - 15.89 -
9096.35 690.65 -5.30 1006 9100.54 no move -1.18 - - 2227.12 - - - 2276.50 - -77.86 - - 3206.12 - - - - - - - - - - -
9406.44 707.34 -5.75 1037 9410.55 no move -1.18 - - 2228.19 - - - 2276.62 - -77.86 - - 3205.09 - - - - - - - - - - -
9716.50 728.31 -7.15 1068 9720.60 no move -1.18 - - 2227.25 - - - 2276.50 - -77.86 - - 3204.94 - - - - - - - - - - -
10026.54 749.31 -6.75 1099 10030.64 no move -1.18 - - 2227.31 - - - 2276.25 - -77.86 - - 3204.44 - - - - - - - - - - -
10336.58 767.09 -5.45 1130 10340.68 no move -1.18 - - 2227.38 - - - 2275.88 - -77.86 - - 3204.59 - - - - - - - - - - -
10646.60 783.86 -5.25 1161 10650.70 no move -1.18 - - 2227.56 - - - 2276.31 - -77.86 - - 3204.25 - - - - - - - - - - -
10956.61 799.27 -5.21 1192 10960.71 no move -1.18 - - 2227.44 - - - 2276.75 - -77.86 - - 3204.16 - - - - - - - - - - -
11266.62 816.02 -5.49 1223 11271.12 no move -1.18 - - 2227.12 - - - 2276.31 - -77.86 - - 3203.53 - - - - - - - - - - -
11577.13 835.28 -6.60 1254 11581.23 no move -1.18 - - 2227.38 - - - 2277.00 - -77.86 - - 3203.19 - - - - - - - - - - -
11887.17 856.27 -7.06 1285 11908.68 roll -1.18 - - 2224.94 - 3.33 0.069 1147.06 -339.3 -77.86 - - 3202.75 - - - - - - - - - 15.75 -
11969.95 862.07 -7.32 1298 11988.24 roll -1.18 - - 2227.00 - 2.85 0.027 2275.31 395.9 -77.86 - - 3203.19 - - - - - - - - - 15.97 -
12294.25 883.43 -6.54 1330 12298.35 no move -1.18 - - 2227.38 - - - 2274.75 - -77.86 - - 3203.00 - - - - - - - - - - -
12604.29 902.02 -5.70 1361 12625.80 roll -1.18 - - 2227.25 - 3.32 0.069 1147.50 -339.5 -77.86 - - 3204.31 - - - - - - - - - 15.74 -
12691.34 907.55 -6.52 1375 12710.12 roll -1.18 - - 2227.81 - 2.87 0.027 2275.25 392.9 -77.86 - - 3203.22 - - - - - - - - - 15.84 -
13016.00 925.68 -5.79 1407 13020.10 no move -1.18 - - 2226.81 - - - 2275.12 - -77.86 - - 3202.38 - - - - - - - - - - -
13326.05 943.31 -5.55 1438 13330.15 no move -1.18 - - 2227.12 - - - 2275.19 - -77.86 - - 3201.53 - - - - - - - - - - -
13636.10 961.19 -5.82 1469 13657.62 roll -1.18 - - 2226.94 - 3.31 0.069 1145.19 -341.4 -77.86 - - 3202.47 - - - - - - - - - 15.74 -
13713.16 965.71 -5.92 1481 13732.34 roll -1.18 - - 2227.50 - 2.88 0.027 2274.75 392.2 -77.86 - - 3202.72 - - - - - - - - - 15.85 -
14038.23 984.03 -5.56 1513 14042.33 no move -1.18 - - 2227.38 - - - 2274.50 - -77.86 - - 3200.81 - - - - - - - - - - -
14147 end dive: TARGET_DEPTH_EXCEEDED
14148 begin apogee
14152.98 990.31 -5.62 1524 14256.52 -0.31 1.58 0.129 2440.88 135.1 0.19 0.146 2282.88 44.1 - 64.07 2.422 2891.38 -4.8 0.336 - - - - - - 15.66 15.39 10.26
14269 end apogee: CONTROL_FINISHED_OK
14270 begin climb
14272.92 992.19 - 1531 14382.14 1.18 2.56 0.089 2806.31 142.7 - - 2282.62 - 77.86 65.82 2.405 2573.34 -4.8 0.339 - - - - - - 15.57 - 11.78
14688.55 970.46 5.53 1569 14711.73 1.33 0.20 0.080 2850.75 222.2 3.36 0.073 1147.00 -338.0 77.86 - - 2561.66 - - - - - - - - 15.69 15.65 -
14747.79 966.33 6.98 1577 14766.97 done 1.40 - - 2852.19 - 2.91 0.030 2271.50 386.4 77.86 - - 2564.56 - - - - - - - - - 15.77 -
15073.26 944.64 6.48 1609 15078.36 1.49 0.16 0.085 2890.75 241.0 - - 2271.25 - 77.86 - - 2563.31 - - - - - - - - 15.81 - -
15384.66 922.16 7.16 1640 15406.18 done 1.55 - - 2890.69 - 3.32 0.073 1145.69 -339.0 77.86 - - 2562.00 - - - - - - - - - 15.78 -
15452.36 917.23 7.09 1650 15471.38 done 1.60 - - 2892.12 - 2.89 0.031 2272.44 389.9 77.86 - - 2561.66 - - - - - - - - - 15.90 -
15777.78 893.18 7.28 1682 15781.89 VBD 1.65 - - 2891.81 - - - 2271.44 - 77.86 - - 2560.00 - - - - - - - - - - -
16087.73 869.02 7.86 1713 16109.25 done 1.65 - - 2891.94 - 3.33 0.073 1146.81 -337.7 77.86 - - 2559.56 - - - - - - - - - 15.80 -
16190.52 860.78 8.05 1730 16208.58 done 1.65 - - 2892.12 - 2.88 0.031 2271.31 390.5 77.86 - - 2561.09 - - - - - - - - - 15.92 -
16514.88 836.86 7.49 1762 16537.23 1.68 0.20 0.079 2938.19 230.4 3.30 0.094 3351.75 327.4 77.86 - - 2558.75 - - - - - - - - 15.88 15.78 -
16588.49 830.29 9.31 1773 16606.54 done 1.68 - - 2937.81 - 2.85 0.022 2204.19 -402.7 77.86 - - 2560.16 - - - - - - - - - 15.93 -
16912.84 803.49 7.51 1805 16916.94 VBD 1.71 - - 2937.88 - - - 2202.38 - 77.86 - - 2559.03 - - - - - - - - - - -
17222.82 778.50 7.68 1836 17242.11 done 1.71 - - 2937.69 - 3.13 0.076 1147.25 -337.1 77.86 - - 2560.34 - - - - - - - - - 15.71 -
17298.39 771.36 9.68 1848 17316.69 done 1.71 - - 2937.81 - 2.85 0.030 2274.88 395.7 77.86 - - 2559.41 - - - - - - - - - 15.97 -
17622.66 741.81 9.21 1880 17626.76 VBD 1.71 - - 2937.31 - - - 2275.25 - 77.86 - - 2558.38 - - - - - - - - - - -
17932.67 716.62 8.08 1911 17954.18 done 1.71 - - 2935.88 - 3.32 0.072 1145.94 -340.2 77.86 - - 2559.09 - - - - - - - - - 15.80 -
18019.71 709.69 8.11 1925 18038.50 done 1.71 - - 2938.19 - 2.87 0.030 2272.06 392.4 77.86 - - 2558.53 - - - - - - - - - 15.95 -
18344.80 688.45 6.40 1957 18364.50 done 1.81 - - 2937.19 - 3.29 0.093 3350.62 327.8 77.86 - - 2560.53 - - - - - - - - - 15.74 -
18435.04 681.55 7.62 1972 18454.04 done 1.81 - - 2936.81 - 2.82 0.022 2204.12 -406.6 77.86 - - 2559.47 - - - - - - - - - 15.96 -
18760.33 660.16 6.59 2004 18765.83 1.90 0.25 0.070 2992.00 220.8 - - 2202.81 - 77.86 - - 2559.00 - - - - - - - - 15.91 - -
19071.69 635.96 8.22 2035 19093.63 done 1.90 - - 2991.94 - 3.46 0.089 3351.69 332.0 77.86 - - 2557.41 - - - - - - - - - 15.75 -
19149.17 628.59 9.14 2047 19168.21 done 1.90 - - 2993.00 - 2.83 0.022 2205.62 -405.0 77.86 - - 2559.97 - - - - - - - - - 15.95 -
19474.44 600.57 8.61 2079 19478.54 VBD 1.90 - - 2992.50 - - - 2204.25 - 77.86 - - 2557.69 - - - - - - - - - - -
19784.84 575.53 7.18 2110 19804.13 done 1.95 - - 2993.00 - 3.12 0.076 1147.56 -338.7 77.86 - - 2560.50 - - - - - - - - - 15.76 -
19930.41 564.13 7.75 2136 19948.49 done 1.95 - - 2991.81 - 2.84 0.030 2274.31 396.7 77.86 - - 2559.88 - - - - - - - - - 15.93 -
20254.80 541.79 6.87 2168 20258.90 VBD 2.02 - - 2992.69 - - - 2275.25 - 77.86 - - 2558.31 - - - - - - - - - - -
20565.22 521.86 6.78 2199 20569.90 2.10 0.04 0.209 3016.75 601.5 - - 2274.94 - 77.86 - - 2558.34 - - - - - - - - 15.89 - -
20876.21 500.06 7.09 2230 20880.32 VBD 2.16 - - 3016.38 - - - 2274.94 - 77.86 - - 2557.59 - - - - - - - - - - -
21186.23 477.15 7.83 2261 21190.33 VBD 2.16 - - 3017.56 - - - 2275.25 - 77.86 - - 2557.41 - - - - - - - - - - -
21497.16 454.34 6.86 2292 21516.88 2.23 - - 3016.69 - 3.26 0.091 3351.25 330.1 77.86 - - 2556.88 - - - - - - - - - 15.72 -
21603.68 446.30 7.49 2310 21621.74 2.26 - - 3017.38 - 2.83 0.021 2202.81 -405.8 77.86 - - 2560.34 - - - - - - - - - 15.77 -
21928.51 424.03 6.41 2342 21947.81 2.36 - - 3015.94 - 3.11 0.075 1145.19 -340.1 77.86 - - 2558.09 - - - - - - - - - 15.75 -
22178.82 407.66 6.57 2389 22198.02 2.45 - - 3015.81 - 2.86 0.029 2276.12 395.4 77.86 - - 2559.31 - - - - - - - - - 15.95 -
22504.34 390.58 4.71 2421 22603.31 2.59 - - 3017.31 - 3.35 0.073 1146.56 -337.2 146.83 55.49 1.703 2290.19 -4.8 0.189 - - - - - - - 15.58 10.86
22618.83 382.80 8.33 2436 22638.02 roll back 2.59 - - 3017.62 - 2.90 0.029 2272.19 388.1 146.83 - - 2287.22 - - - - - - - - - 15.74 -
22944.04 351.46 10.13 2468 22965.15 2.59 - - 3016.81 - 3.29 0.091 3350.62 327.8 146.83 - - 2280.16 - - - - - - - - - 15.68 -
23000.69 344.85 11.28 2476 23019.88 2.59 - - 3017.56 - 2.85 0.021 2205.75 -401.7 146.83 - - 2283.19 - - - - - - - - - 15.83 -
23325.74 310.90 10.86 2508 23329.95 2.59 - - 3016.88 - - - 2203.12 - 146.83 - - 2279.56 - - - - - - - - - - -
23635.95 279.81 9.75 2539 23655.25 2.59 - - 3017.44 - 3.11 0.075 1146.38 -339.8 146.83 - - 2280.41 - - - - - - - - - 15.75 -
23831.54 259.64 10.53 2575 23850.01 2.59 - - 3017.31 - 2.86 0.029 2274.75 394.5 146.83 - - 2278.97 - - - - - - - - - 15.89 -
24155.91 229.30 9.27 2607 24160.03 2.59 - - 3017.44 - - - 2274.62 - 146.83 - - 2278.72 - - - - - - - - - - -
24465.96 198.74 9.97 2638 24470.08 2.59 - - 3017.88 - - - 2274.94 - 146.83 - - 2278.44 - - - - - - - - - - -
24776.01 170.33 8.71 2669 24797.56 2.59 - - 3017.31 - 3.32 0.071 1145.62 -340.2 146.83 - - 2276.88 - - - - - - - - - 15.71 -
25028.89 146.09 9.63 2716 25046.96 2.59 - - 3017.88 - 2.86 0.029 2274.06 394.6 146.83 - - 2278.53 - - - - - - - - - 15.90 -
25352.86 117.55 8.23 2748 25356.98 2.59 - - 3017.50 - - - 2273.94 - 146.83 - - 2277.66 - - - - - - - - - - -
25663.33 95.89 6.20 2785 25684.02 2.70 - - 3018.00 - 3.30 0.068 1146.88 -341.5 146.83 - - 2278.00 - - - - - - - - - 15.75 -
25915.87 83.75 4.65 2832 26012.38 2.84 - - 3017.69 - 2.87 0.027 2276.50 393.6 217.11 54.88 1.281 2004.31 -5.0 0.056 - - - - - - - 15.71 11.34
26198.69 67.14 6.30 2881 26219.53 2.94 - - 3017.31 - 3.33 0.068 1146.00 -339.5 217.11 - - 1996.25 - - - - - - - - - 15.67 -
26331.22 57.39 6.96 2904 26350.01 3.01 - - 3017.81 - 2.88 0.027 2276.31 392.5 217.11 - - 1994.22 - - - - - - - - - 15.72 -
26536.32 47.49 4.37 2942 26641.50 3.16 - - 3017.56 - 3.28 0.091 3351.44 327.8 293.15 58.85 1.213 1693.84 -5.1 0.034 - - - - - - - 15.51 11.63
26648.84 40.71 8.18 2956 26667.65 roll back 3.16 - - 3017.25 - 2.88 0.020 2203.75 -398.5 293.15 - - 1690.34 - - - - - - - - - 15.61 -
26854.04 26.28 6.62 2994 26875.70 3.25 - - 3017.94 - 3.46 0.084 3349.81 331.2 293.15 - - 1686.31 - - - - - - - - - 15.54 -
26882.35 24.75 5.71 2996 26901.13 3.39 - - 3017.25 - 2.88 0.020 2198.12 -399.9 293.15 - - 1685.28 - - - - - - - - - 15.61 -
27087.43 14.98 5.50 3034 27107.47 3.54 - - 3017.88 - 3.12 0.072 1145.50 -337.4 293.15 - - 1682.84 - - - - - - - - - 15.61 -
27303 end climb: SURFACE_DEPTH_REACHED
27303 begin surface coast
27349 end surface coast: CONTROL_FINISHED_OK
27349 begin surface
SM 1.23 - - - - 178.1 104.34 1.149 1136.7 10.9 19.72 0.055 1116.3 56.6 - 2.83 0.029 1157.0 407.7 -1.768 - - 11.30 15.72 15.87 -