NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 387 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 135.71 of 506.00 AH used of 24V (73.18% remains)
• Surface angle -63.9 deg, depth 1.12 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.13 (SM_CC=430)
• GPS1 time: 16 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
11 begin dive
18.95 - - - 111.68 VBD -1.18 - - 180.69 - - - 2274.88 - -77.86 65.10 0.005 2746.62 - - - - - - - - - - 15.06
113.90 3.10 -3.46 13 228.34 -1.18 17.27 0.225 2229.25 118.6 3.08 0.064 1143.25 -367.4 -77.86 6.86 0.008 3212.00 67.8 -4.478 - - - - - - 15.35 15.13 15.24
239.41 38.99 -18.53 21 258.23 roll -1.18 - - 2228.12 - 2.85 0.024 2278.12 398.2 -77.86 - - 3213.56 - - - - - - - - - 15.67 -
444.16 62.24 -10.14 59 464.08 roll -1.18 - - 2228.69 - 3.15 0.061 1142.31 -360.6 -77.86 - - 3214.19 - - - - - - - - - 15.64 -
505.24 68.80 -10.43 68 523.57 roll -1.18 - - 2229.00 - 2.82 0.024 2277.06 402.4 -77.86 - - 3214.56 - - - - - - - - - 15.72 -
709.59 89.21 -9.44 106 729.13 roll -1.18 - - 2229.12 - 3.13 0.061 1142.88 -362.4 -77.86 - - 3215.06 - - - - - - - - - 15.69 -
750.30 93.12 -9.47 111 768.63 roll -1.18 - - 2228.56 - 2.81 0.023 2278.12 404.0 -77.86 - - 3215.88 - - - - - - - - - 15.74 -
959.45 109.47 -7.41 138 963.47 no move -1.18 - - 2228.00 - - - 2278.38 - -77.86 - - 3214.62 - - - - - - - - - - -
1269.48 133.18 -7.38 169 1288.67 done -1.18 - - 2228.62 - 3.21 0.060 1144.94 -353.1 -77.86 - - 3215.59 - - - - - - - - - 15.68 -
1504.90 153.60 -8.36 213 1522.51 done -1.18 - - 2229.25 - 2.81 0.024 2278.44 403.4 -77.86 - - 3216.91 - - - - - - - - - 15.88 -
1828.31 180.50 -8.75 245 1832.38 VBD -1.18 - - 2228.38 - - - 2278.44 - -77.86 - - 3216.56 - - - - - - - - - - -
2138.32 204.10 -7.02 276 2142.38 no move -1.18 - - 2228.19 - - - 2278.56 - -77.86 - - 3215.97 - - - - - - - - - - -
2448.34 226.21 -7.54 307 2467.39 roll -1.18 - - 2227.50 - 3.15 0.061 1142.06 -360.8 -77.86 - - 3216.12 - - - - - - - - - 15.77 -
2533.62 232.99 -7.81 321 2551.44 roll -1.18 - - 2228.88 - 2.82 0.025 2277.81 402.7 -77.86 - - 3216.22 - - - - - - - - - 15.93 -
2857.26 257.55 -7.43 353 2876.30 roll -1.18 - - 2228.12 - 3.14 0.085 3351.69 342.0 -77.86 - - 3216.81 - - - - - - - - - 15.74 -
2902.51 261.25 -8.12 359 2919.51 roll -1.18 - - 2228.06 - 2.69 0.020 2187.06 -432.9 -77.86 - - 3215.81 - - - - - - - - - 15.95 -
3225.35 286.02 -7.98 391 3242.76 roll -1.18 - - 2229.00 - 2.78 0.067 1143.38 -375.4 -77.86 - - 3215.94 - - - - - - - - - 15.87 -
3308.98 292.79 -8.22 405 3327.20 roll -1.18 - - 2228.75 - 2.82 0.025 2279.38 402.8 -77.86 - - 3215.38 - - - - - - - - - 15.74 -
3633.05 317.48 -7.84 437 3652.09 roll -1.18 - - 2228.69 - 3.17 0.085 3351.88 338.3 -77.86 - - 3214.66 - - - - - - - - - 15.82 -
3673.05 320.94 -8.17 442 3691.18 roll -1.18 - - 2227.19 - 2.75 0.020 2185.38 -424.2 -77.86 - - 3215.66 - - - - - - - - - 15.95 -
3997.03 345.14 -7.61 474 4001.09 no move -1.18 - - 2228.56 - - - 2184.56 - -77.86 - - 3214.22 - - - - - - - - - - -
4307.07 367.62 -7.01 505 4311.13 no move -1.18 - - 2228.38 - - - 2184.00 - -77.86 - - 3213.25 - - - - - - - - - - -
4617.12 390.09 -7.45 536 4638.78 roll -1.18 - - 2229.00 - 3.45 0.081 3353.75 339.1 -77.86 - - 3213.41 - - - - - - - - - 15.76 -
4649.99 392.79 -8.15 539 4667.80 roll -1.18 - - 2226.50 - 2.74 0.019 2190.44 -424.6 -77.86 - - 3214.38 - - - - - - - - - 15.96 -
4973.65 417.82 -7.81 571 4991.47 roll -1.18 - - 2228.25 - 2.87 0.069 1141.00 -365.7 -77.86 - - 3212.78 - - - - - - - - - 15.83 -
5017.67 421.58 -8.44 577 5035.09 roll -1.18 - - 2228.75 - 2.80 0.025 2278.06 406.1 -77.86 - - 3213.38 - - - - - - - - - 15.97 -
5340.94 445.05 -6.59 609 5345.00 no move -1.18 - - 2228.19 - - - 2278.69 - -77.86 - - 3212.28 - - - - - - - - - - -
5650.98 466.07 -7.04 640 5655.04 no move -1.18 - - 2228.06 - - - 2278.00 - -77.86 - - 3212.00 - - - - - - - - - - -
5961.02 486.96 -6.51 671 5965.08 no move -1.18 - - 2228.88 - - - 2278.00 - -77.86 - - 3211.12 - - - - - - - - - - -
6271.12 507.75 -6.58 702 6275.18 no move -1.18 - - 2228.56 - - - 2277.69 - -77.86 - - 3210.31 - - - - - - - - - - -
6581.14 527.41 -6.08 733 6600.18 roll -1.18 - - 2228.75 - 3.15 0.065 1142.81 -360.3 -77.86 - - 3209.50 - - - - - - - - - 15.83 -
6666.41 533.25 -6.75 747 6684.65 roll -1.18 - - 2229.19 - 2.82 0.026 2277.31 402.3 -77.86 - - 3211.59 - - - - - - - - - 15.89 -
6990.50 552.43 -6.21 779 7009.54 roll -1.18 - - 2228.19 - 3.20 0.086 3351.50 335.7 -77.86 - - 3209.34 - - - - - - - - - 15.79 -
7035.74 555.82 -6.99 785 7053.15 roll -1.18 - - 2228.62 - 2.72 0.020 2189.06 -427.4 -77.86 - - 3210.97 - - - - - - - - - 15.97 -
7359.00 576.78 -6.77 817 7363.06 no move -1.18 - - 2228.25 - - - 2188.69 - -77.86 - - 3208.88 - - - - - - - - - - -
7669.04 598.56 -7.14 848 7673.10 no move -1.18 - - 2228.06 - - - 2188.06 - -77.86 - - 3209.09 - - - - - - - - - - -
7979.08 620.03 -6.68 879 7983.14 no move -1.18 - - 2228.38 - - - 2187.56 - -77.86 - - 3208.91 - - - - - - - - - - -
8289.12 639.91 -6.61 910 8293.18 no move -1.18 - - 2228.50 - - - 2188.12 - -77.86 - - 3208.41 - - - - - - - - - - -
8599.16 661.21 -6.97 941 8603.22 no move -1.18 - - 2228.62 - - - 2187.88 - -77.86 - - 3208.22 - - - - - - - - - - -
8909.18 681.47 -6.33 972 8913.24 no move -1.18 - - 2228.81 - - - 2187.06 - -77.86 - - 3207.81 - - - - - - - - - - -
9219.20 701.39 -6.33 1003 9223.35 no move -1.18 - - 2228.12 - - - 2188.00 - -77.86 - - 3207.28 - - - - - - - - - - -
9529.20 721.84 -6.66 1034 9550.86 roll -1.18 - - 2226.94 - 3.46 0.084 3349.69 335.7 -77.86 - - 3206.59 - - - - - - - - - 15.75 -
9596.33 727.04 -7.52 1044 9614.48 roll -1.18 - - 2228.44 - 2.77 0.020 2193.19 -417.5 -77.86 - - 3208.16 - - - - - - - - - 15.96 -
9920.31 748.67 -6.31 1076 9924.36 no move -1.18 - - 2228.25 - - - 2191.75 - -77.86 - - 3206.56 - - - - - - - - - - -
10230.31 768.78 -6.24 1107 10234.37 no move -1.18 - - 2228.62 - - - 2191.31 - -77.86 - - 3206.56 - - - - - - - - - - -
10540.32 786.45 -5.61 1138 10544.38 no move -1.18 - - 2228.06 - - - 2192.00 - -77.86 - - 3205.97 - - - - - - - - - - -
10850.74 803.13 -4.98 1169 10872.40 roll -1.18 - - 2228.06 - 3.46 0.084 3350.31 334.8 -77.86 - - 3205.75 - - - - - - - - - 15.74 -
10913.61 806.76 -5.30 1178 10931.02 roll -1.18 - - 2228.50 - 2.75 0.020 2192.50 -421.0 -77.86 - - 3205.19 - - - - - - - - - 15.96 -
11236.88 823.38 -5.21 1210 11240.94 no move -1.18 - - 2228.44 - - - 2190.81 - -77.86 - - 3204.75 - - - - - - - - - - -
11546.93 839.57 -5.50 1241 11550.99 no move -1.18 - - 2227.25 - - - 2190.00 - -77.86 - - 3205.25 - - - - - - - - - - -
11857.02 856.26 -5.61 1272 11861.08 no move -1.18 - - 2228.25 - - - 2190.12 - -77.86 - - 3204.59 - - - - - - - - - - -
12167.05 874.32 -5.82 1303 12171.11 no move -1.18 - - 2228.62 - - - 2190.69 - -77.86 - - 3204.81 - - - - - - - - - - -
12477.10 891.53 -5.30 1334 12495.74 roll -1.18 - - 2226.25 - 3.06 0.073 1145.62 -341.5 -77.86 - - 3204.81 - - - - - - - - - 15.76 -
12551.96 895.93 -5.83 1346 12569.79 roll -1.18 - - 2228.00 - 2.83 0.026 2277.00 399.8 -77.86 - - 3204.62 - - - - - - - - - 15.96 -
12876.05 912.00 -4.79 1378 12896.90 roll -1.18 - - 2229.25 - 3.29 0.068 1144.31 -344.3 -77.86 - - 3205.03 - - - - - - - - - 15.63 -
12942.39 915.66 -5.45 1388 12960.95 roll -1.18 - - 2228.44 - 2.84 0.027 2276.38 398.6 -77.86 - - 3205.53 - - - - - - - - - 15.97 -
13266.81 932.07 -5.19 1420 13270.87 no move -1.18 - - 2228.38 - - - 2276.62 - -77.86 - - 3203.50 - - - - - - - - - - -
13576.85 949.17 -5.64 1451 13595.89 roll -1.18 - - 2228.19 - 3.19 0.068 1145.94 -354.4 -77.86 - - 3203.31 - - - - - - - - - 15.75 -
13652.11 953.72 -5.90 1463 13670.34 roll -1.18 - - 2228.06 - 2.84 0.027 2275.94 397.9 -77.86 - - 3204.72 - - - - - - - - - 15.95 -
13976.18 972.74 -5.79 1495 13980.25 no move -1.18 - - 2227.62 - - - 2276.12 - -77.86 - - 3202.72 - - - - - - - - - - -
14286.20 988.97 -5.10 1526 14305.65 roll -1.18 - - 2226.50 - 3.26 0.068 1144.25 -347.2 -77.86 - - 3203.75 - - - - - - - - - 15.60 -
14311 end dive: TARGET_DEPTH_EXCEEDED
14312 begin apogee
14329.89 990.46 -5.32 1528 14433.63 -0.31 1.60 0.133 2440.50 133.8 0.11 0.192 2187.56 9484.6 - 64.37 2.426 2887.81 -4.9 0.341 - - - - - - 15.62 15.39 10.30
14440 end apogee: CONTROL_FINISHED_OK
14441 begin climb
14443.67 992.70 - 1535 14573.20 1.18 2.61 0.092 2805.94 140.0 3.68 0.092 3349.19 315.7 77.86 65.80 2.407 2571.56 -4.8 0.338 - - - - - - 15.56 15.18 11.83
14580.55 985.97 6.44 1549 14598.80 roll 1.28 - - 2805.31 - 2.90 0.021 2203.12 -395.2 77.86 - - 2566.28 - - - - - - - - - 15.51 -
14905.17 966.10 6.29 1581 14927.66 1.38 0.31 0.072 2860.81 179.0 3.14 0.076 1145.81 -336.7 77.86 - - 2563.72 - - - - - - - - 15.71 15.67 -
15023.28 956.20 8.53 1601 15041.83 done 1.38 - - 2862.38 - 2.88 0.030 2272.75 391.3 77.86 - - 2564.06 - - - - - - - - - 15.81 -
15347.67 932.03 7.68 1633 15351.74 VBD 1.38 - - 2862.62 - - - 2272.75 - 77.86 - - 2560.66 - - - - - - - - - - -
15658.12 909.62 7.25 1664 15678.97 done 1.43 - - 2861.00 - 3.29 0.072 1146.75 -342.2 77.86 - - 2561.34 - - - - - - - - - 15.78 -
15760.18 901.66 7.95 1681 15778.02 done 1.43 - - 2861.31 - 2.85 0.030 2272.56 395.0 77.86 - - 2561.78 - - - - - - - - - 15.90 -
16084.26 879.44 6.65 1713 16088.33 VBD 1.52 - - 2862.56 - - - 2271.62 - 77.86 - - 2559.84 - - - - - - - - - - -
16394.58 859.32 6.44 1744 16417.07 1.61 0.28 0.069 2919.38 202.9 3.30 0.072 1145.19 -341.3 77.86 - - 2560.69 - - - - - - - - 15.86 15.80 -
16528.29 848.74 7.89 1767 16546.13 done 1.61 - - 2920.31 - 2.86 0.031 2273.00 394.3 77.86 - - 2560.22 - - - - - - - - - 15.95 -
16852.38 823.63 7.14 1799 16856.44 VBD 1.67 - - 2919.75 - - - 2272.44 - 77.86 - - 2558.88 - - - - - - - - - - -
17162.80 802.83 6.74 1830 17183.66 done 1.75 - - 2919.88 - 3.28 0.072 1145.62 -343.5 77.86 - - 2557.97 - - - - - - - - - 15.80 -
17319.60 791.59 7.18 1858 17339.40 1.80 0.20 0.080 2964.56 223.4 2.86 0.031 2273.31 394.3 77.86 - - 2559.44 - - - - - - - - 15.72 15.94 -
17645.22 765.96 8.21 1890 17649.28 VBD 1.80 - - 2964.31 - - - 2272.88 - 77.86 - - 2558.47 - - - - - - - - - - -
17955.24 742.09 7.75 1921 17974.70 done 1.80 - - 2964.56 - 3.28 0.094 3350.50 328.5 77.86 - - 2560.28 - - - - - - - - - 15.75 -
18025.19 735.95 8.64 1932 18043.75 done 1.80 - - 2964.75 - 2.81 0.022 2204.44 -407.9 77.86 - - 2558.91 - - - - - - - - - 15.97 -
18349.99 712.91 6.71 1964 18369.05 done 1.88 - - 2964.31 - 3.11 0.074 1146.38 -340.2 77.86 - - 2559.81 - - - - - - - - - 15.66 -
18479.54 703.05 7.57 1987 18498.12 done 1.88 - - 2964.31 - 2.83 0.030 2273.88 398.4 77.86 - - 2558.66 - - - - - - - - - 15.95 -
18803.97 678.30 7.79 2019 18808.04 VBD 1.88 - - 2965.06 - - - 2273.00 - 77.86 - - 2557.75 - - - - - - - - - - -
19114.02 653.14 8.41 2050 19135.28 done 1.88 - - 2964.75 - 3.31 0.071 1145.44 -340.7 77.86 - - 2558.56 - - - - - - - - - 15.77 -
19236.53 642.61 8.80 2071 19254.36 done 1.88 - - 2964.62 - 2.86 0.030 2274.12 394.6 77.86 - - 2558.78 - - - - - - - - - 15.94 -
19560.19 616.95 7.63 2103 19581.04 done 1.88 - - 2963.69 - 3.30 0.070 1144.62 -342.3 77.86 - - 2556.88 - - - - - - - - - 15.78 -
19692.66 607.49 7.34 2126 19710.50 done 1.92 - - 2964.62 - 2.85 0.030 2273.06 395.9 77.86 - - 2558.88 - - - - - - - - - 15.94 -
20016.73 587.49 5.65 2158 20039.25 2.06 0.22 0.074 3014.88 228.5 3.26 0.093 3348.56 329.9 77.86 - - 2557.34 - - - - - - - - 15.88 15.73 -
20160.49 576.15 8.09 2183 20178.72 done 2.06 - - 3016.06 - 2.83 0.021 2202.38 -405.0 77.86 - - 2557.94 - - - - - - - - - 15.95 -
20484.97 553.60 7.02 2215 20489.28 VBD 2.13 - - 3014.12 - - - 2201.88 - 77.86 - - 2557.28 - - - - - - - - - - -
20795.21 530.20 7.97 2246 20813.87 done 2.13 - - 3015.12 - 3.10 0.073 1146.62 -340.4 77.86 - - 2556.59 - - - - - - - - - 15.76 -
21045.26 511.96 6.92 2293 21063.85 2.19 - - 3015.19 - 2.84 0.030 2274.56 397.2 77.86 - - 2558.22 - - - - - - - - - 15.95 -
21369.82 488.62 7.73 2325 21373.89 2.19 - - 3014.50 - - - 2274.94 - 77.86 - - 2557.66 - - - - - - - - - - -
21680.27 464.36 7.28 2356 21684.34 2.24 - - 3015.19 - - - 2274.56 - 77.86 - - 2557.75 - - - - - - - - - - -
21990.59 442.32 6.47 2387 21994.67 2.33 - - 3015.06 - - - 2274.69 - 77.86 - - 2557.78 - - - - - - - - - - -
22300.92 424.01 6.07 2418 22322.19 2.45 - - 3015.38 - 3.31 0.069 1143.88 -341.6 77.86 - - 2557.22 - - - - - - - - - 15.65 -
22413.83 416.95 6.46 2437 22431.68 2.55 - - 3014.62 - 2.86 0.029 2274.50 395.3 77.86 - - 2556.34 - - - - - - - - - 15.78 -
22737.94 398.76 5.35 2469 22757.58 2.71 - - 3014.88 - 3.26 0.069 1143.44 -347.0 77.86 - - 2558.44 - - - - - - - - - 15.72 -
22898.68 389.16 6.31 2498 22917.26 2.81 - - 3015.75 - 2.86 0.029 2274.94 395.6 77.86 - - 2559.16 - - - - - - - - - 15.92 -
23223.52 370.61 5.41 2530 23227.59 2.97 - - 3015.00 - - - 2275.00 - 77.86 - - 2557.72 - - - - - - - - - - -
23533.85 352.54 6.29 2561 23553.40 3.08 - - 3015.62 - 3.26 0.090 3350.06 329.8 77.86 - - 2558.44 - - - - - - - - - 15.69 -
23660.04 344.24 6.56 2583 23678.30 3.17 - - 3014.81 - 2.82 0.021 2199.75 -407.9 77.86 - - 2559.12 - - - - - - - - - 15.93 -
23984.77 326.64 5.21 2615 24003.42 3.34 - - 3014.81 - 3.08 0.072 1147.19 -341.7 77.86 - - 2558.59 - - - - - - - - - 15.75 -
24184.35 315.56 5.50 2652 24202.93 3.49 - - 3015.38 - 2.84 0.028 2276.31 397.6 77.86 - - 2559.28 - - - - - - - - - 15.93 -
24509.18 300.96 4.11 2684 24604.85 3.65 - - 3014.94 - - - 2276.38 - 159.37 65.00 1.578 2240.53 -4.9 0.159 - - - - - - - - 10.75
24910.82 263.66 10.85 2722 24930.92 3.65 - - 3015.38 - 3.34 0.070 1145.88 -338.5 159.37 - - 2229.59 - - - - - - - - - 15.61 -
24967.25 256.96 12.24 2730 24985.09 3.65 - - 3014.94 - 2.87 0.029 2274.81 393.4 159.37 - - 2230.31 - - - - - - - - - 15.82 -
25290.94 222.23 10.25 2762 25312.22 3.65 - - 3015.06 - 3.34 0.069 1145.88 -338.0 159.37 - - 2226.38 - - - - - - - - - 15.56 -
25357.71 214.65 11.46 2772 25376.29 3.65 - - 3015.81 - 2.88 0.029 2274.31 391.8 159.37 - - 2228.34 - - - - - - - - - 15.85 -
25682.15 178.83 11.02 2804 25686.22 3.65 - - 3015.25 - - - 2273.75 - 159.37 - - 2226.28 - - - - - - - - - - -
25992.18 148.14 9.13 2835 26013.45 3.65 - - 3014.94 - 3.34 0.068 1145.88 -337.7 159.37 - - 2225.59 - - - - - - - - - 15.62 -
26064.67 140.97 10.12 2846 26082.54 3.65 - - 3015.00 - 2.87 0.028 2275.56 393.6 159.37 - - 2225.34 - - - - - - - - - 15.73 -
26388.39 111.75 8.23 2878 26409.50 3.65 - - 3015.06 - 3.28 0.067 1144.50 -344.8 159.37 - - 2225.72 - - - - - - - - - 15.74 -
26470.84 105.05 8.11 2891 26488.69 3.65 - - 3014.56 - 2.87 0.028 2274.06 393.6 159.37 - - 2225.72 - - - - - - - - - 15.69 -
26794.98 79.83 6.69 2947 26815.18 3.74 - - 3014.75 - 3.26 0.088 3350.69 330.3 159.37 - - 2226.22 - - - - - - - - - 15.54 -
26846.79 76.55 6.40 2954 26865.37 3.83 - - 3015.69 - 2.85 0.020 2197.06 -404.8 159.37 - - 2226.03 - - - - - - - - - 15.78 -
27051.59 67.94 3.58 2992 27169.87 4.02 - - 3015.06 - 3.08 0.073 1145.88 -341.3 251.65 70.54 1.255 1863.06 -5.1 0.047 - - - - - - - 15.55 11.48
27346.12 44.70 7.96 3042 27364.69 4.02 - - 3015.50 - 2.87 0.027 2275.44 393.6 251.65 - - 1853.91 - - - - - - - - - 15.64 -
27551.06 31.04 6.06 3080 27571.26 4.02 - - 3014.62 - 3.26 0.066 1144.62 -346.9 251.65 - - 1852.28 - - - - - - - - - 15.57 -
27577.98 29.94 4.65 3082 27673.93 4.16 - - 3015.00 - 2.87 0.025 2278.06 394.9 321.95 54.75 1.172 1577.81 -5.0 0.022 - - - - - - - 15.67 11.65
27860.18 17.60 4.49 3131 27964.77 4.31 - - 3015.00 - 3.31 0.066 1145.50 -342.2 395.49 58.54 1.139 1276.78 -5.1 0.014 - - - - - - - 15.47 11.62
28071 end climb: SURFACE_DEPTH_REACHED
28071 begin surface coast
28126 end surface coast: CONTROL_FINISHED_OK
28127 begin surface
SM 0.83 - - - - 181.8 26.94 1.085 1136.5 40.0 19.89 0.051 1141.7 57.4 - 2.81 0.023 1131.4 401.5 -1.481 - - 11.39 15.70 15.75 -