NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 432 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 151.51 of 506.00 AH used of 24V (70.06% remains)
• Surface angle -63.5 deg, depth 1.18 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.82 (SM_CC=430)
• GPS1 time: 24 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
19.01 - - - 118.72 VBD -1.18 - - 179.69 - - - 2173.25 - -77.86 70.24 0.005 2901.75 - - - - - - - - - - 14.96
120.93 3.63 -3.87 14 237.14 -1.18 17.22 0.219 2227.88 118.9 3.46 0.078 3352.69 340.9 -77.86 4.26 0.010 3211.03 72.6 -4.505 - - - - - - 15.33 15.09 15.19
268.41 47.85 -16.48 26 286.78 roll -1.18 - - 2227.38 - 2.84 0.019 2198.25 -406.5 -77.86 - - 3214.59 - - - - - - - - - 15.74 -
472.60 72.47 -11.47 64 479.14 no move -1.18 - - 2227.75 - - - 2197.06 - -77.86 - - 3213.56 - - - - - - - - - - -
664.97 91.68 -8.91 102 684.12 roll -1.18 - - 2227.94 - 3.06 0.068 1144.12 -344.1 -77.86 - - 3214.03 - - - - - - - - - 15.71 -
854.59 108.84 -8.47 137 872.95 roll -1.18 - - 2227.56 - 2.81 0.025 2278.31 403.6 -77.86 - - 3214.47 - - - - - - - - - 15.65 -
1178.76 132.42 -7.19 169 1197.59 roll -1.18 - - 2227.50 - 3.15 0.081 3353.00 341.2 -77.86 - - 3214.12 - - - - - - - - - 15.78 -
1278.03 140.33 -7.89 186 1295.98 roll -1.18 - - 2227.81 - 2.79 0.018 2190.44 -416.7 -77.86 - - 3215.47 - - - - - - - - - 15.89 -
1601.76 165.37 -8.08 218 1622.00 roll -1.18 - - 2226.62 - 3.41 0.077 3351.94 340.6 -77.86 - - 3216.66 - - - - - - - - - 15.63 -
1698.17 174.69 -9.97 234 1716.06 roll -1.18 - - 2228.00 - 2.81 0.018 2193.06 -412.4 -77.86 - - 3215.59 - - - - - - - - - 15.90 -
2022.01 201.28 -8.53 266 2026.07 no move -1.18 - - 2227.56 - - - 2191.19 - -77.86 - - 3214.62 - - - - - - - - - - -
2332.08 228.62 -8.94 297 2350.75 roll -1.18 - - 2227.12 - 3.05 0.070 1146.31 -342.6 -77.86 - - 3213.84 - - - - - - - - - 15.72 -
2406.96 235.45 -9.05 309 2424.40 roll -1.18 - - 2226.44 - 2.80 0.025 2278.88 404.5 -77.86 - - 3216.25 - - - - - - - - - 15.88 -
2730.25 259.53 -7.20 341 2749.31 roll -1.18 - - 2227.38 - 3.16 0.081 3352.69 339.8 -77.86 - - 3214.34 - - - - - - - - - 15.82 -
2799.79 264.96 -8.06 352 2818.34 roll -1.18 - - 2227.69 - 2.79 0.018 2194.31 -415.2 -77.86 - - 3215.03 - - - - - - - - - 15.91 -
3124.18 286.21 -6.72 384 3128.25 no move -1.18 - - 2227.19 - - - 2191.94 - -77.86 - - 3215.09 - - - - - - - - - - -
3434.24 308.36 -7.62 415 3438.30 no move -1.18 - - 2227.56 - - - 2191.94 - -77.86 - - 3214.25 - - - - - - - - - - -
3744.31 332.01 -7.59 446 3748.37 no move -1.18 - - 2227.81 - - - 2191.69 - -77.86 - - 3214.62 - - - - - - - - - - -
4054.35 357.86 -8.87 477 4076.03 roll -1.18 - - 2227.69 - 3.41 0.079 3353.38 340.7 -77.86 - - 3214.09 - - - - - - - - - 15.83 -
4137.24 365.92 -9.81 490 4155.35 roll -1.18 - - 2227.12 - 2.81 0.019 2195.94 -411.9 -77.86 - - 3214.88 - - - - - - - - - 15.98 -
4461.31 395.01 -8.03 522 4465.37 no move -1.18 - - 2227.94 - - - 2193.31 - -77.86 - - 3212.62 - - - - - - - - - - -
4771.37 421.69 -8.24 553 4775.43 no move -1.18 - - 2227.69 - - - 2193.19 - -77.86 - - 3213.19 - - - - - - - - - - -
5081.42 444.34 -7.41 584 5085.48 no move -1.18 - - 2227.44 - - - 2193.44 - -77.86 - - 3212.44 - - - - - - - - - - -
5391.48 464.98 -6.40 615 5395.54 no move -1.18 - - 2227.12 - - - 2193.44 - -77.86 - - 3212.00 - - - - - - - - - - -
5701.56 484.70 -6.60 646 5723.24 roll -1.18 - - 2227.62 - 3.40 0.081 3350.50 340.3 -77.86 - - 3211.31 - - - - - - - - - 15.82 -
5798.73 491.80 -7.50 662 5817.50 roll -1.18 - - 2227.44 - 2.81 0.019 2197.88 -410.2 -77.86 - - 3213.34 - - - - - - - - - 15.94 -
6123.36 512.94 -6.61 694 6142.02 roll -1.18 - - 2227.62 - 3.08 0.073 1144.62 -342.0 -77.86 - - 3210.91 - - - - - - - - - 15.83 -
6192.51 517.97 -6.72 705 6211.09 roll -1.18 - - 2227.56 - 2.81 0.026 2278.19 403.4 -77.86 - - 3213.19 - - - - - - - - - 15.97 -
6516.91 539.80 -6.74 737 6520.97 no move -1.18 - - 2227.38 - - - 2278.12 - -77.86 - - 3210.81 - - - - - - - - - - -
6827.13 561.54 -7.34 768 6831.25 no move -1.18 - - 2227.38 - - - 2278.12 - -77.86 - - 3210.28 - - - - - - - - - - -
7137.28 584.39 -7.61 799 7158.16 roll -1.18 - - 2225.69 - 3.29 0.068 1145.81 -344.2 -77.86 - - 3212.38 - - - - - - - - - 15.77 -
7193.64 589.12 -8.07 807 7212.23 roll -1.18 - - 2227.81 - 2.82 0.026 2278.12 401.5 -77.86 - - 3210.72 - - - - - - - - - 15.97 -
7518.08 614.48 -7.95 839 7522.15 no move -1.18 - - 2227.25 - - - 2277.94 - -77.86 - - 3209.16 - - - - - - - - - - -
7828.15 638.43 -7.56 870 7849.03 roll -1.18 - - 2227.50 - 3.29 0.068 1145.00 -344.4 -77.86 - - 3208.88 - - - - - - - - - 15.80 -
7970.26 650.05 -8.12 895 7988.11 roll -1.18 - - 2228.38 - 2.84 0.027 2277.00 398.6 -77.86 - - 3209.19 - - - - - - - - - 15.98 -
8293.95 672.75 -6.50 927 8313.42 roll -1.18 - - 2227.19 - 3.21 0.086 3351.75 334.8 -77.86 - - 3207.59 - - - - - - - - - 15.76 -
8383.91 679.33 -6.99 942 8402.46 roll -1.18 - - 2226.44 - 2.79 0.020 2193.44 -415.2 -77.86 - - 3210.00 - - - - - - - - - 15.98 -
8708.31 697.96 -5.63 974 8730.24 roll -1.18 - - 2227.25 - 3.43 0.082 3352.69 338.0 -77.86 - - 3206.84 - - - - - - - - - 15.77 -
8795.84 703.59 -6.46 988 8814.43 roll -1.18 - - 2227.38 - 2.81 0.020 2195.69 -411.7 -77.86 - - 3208.09 - - - - - - - - - 15.97 -
9120.27 722.37 -5.60 1020 9138.95 roll -1.18 - - 2228.12 - 3.06 0.073 1144.69 -343.5 -77.86 - - 3207.16 - - - - - - - - - 15.80 -
9195.16 726.99 -6.23 1032 9213.01 roll -1.18 - - 2227.38 - 2.81 0.026 2278.25 403.4 -77.86 - - 3208.75 - - - - - - - - - 15.97 -
9518.84 745.11 -5.72 1064 9537.91 roll -1.18 - - 2227.94 - 3.19 0.086 3352.44 336.7 -77.86 - - 3207.28 - - - - - - - - - 15.77 -
9634.13 752.67 -6.68 1084 9651.97 roll -1.18 - - 2226.44 - 2.80 0.020 2196.12 -413.0 -77.86 - - 3208.81 - - - - - - - - - 15.97 -
9957.80 773.19 -6.46 1116 9961.86 no move -1.18 - - 2227.75 - - - 2195.38 - -77.86 - - 3206.16 - - - - - - - - - - -
10267.83 793.52 -6.37 1147 10271.89 no move -1.18 - - 2227.69 - - - 2194.88 - -77.86 - - 3205.31 - - - - - - - - - - -
10577.85 814.32 -6.46 1178 10596.54 roll -1.18 - - 2227.44 - 3.06 0.073 1145.50 -342.9 -77.86 - - 3204.75 - - - - - - - - - 15.79 -
10672.75 820.93 -6.70 1194 10691.23 roll -1.18 - - 2227.50 - 2.81 0.027 2279.06 403.4 -77.86 - - 3206.00 - - - - - - - - - 15.97 -
10997.19 841.48 -6.71 1226 11001.26 no move -1.18 - - 2227.12 - - - 2278.50 - -77.86 - - 3205.25 - - - - - - - - - - -
11307.25 861.11 -6.43 1257 11328.15 roll -1.18 - - 2227.38 - 3.29 0.069 1145.38 -344.4 -77.86 - - 3205.03 - - - - - - - - - 15.76 -
11383.65 866.16 -7.04 1269 11402.23 roll -1.18 - - 2227.38 - 2.82 0.027 2276.50 401.1 -77.86 - - 3205.84 - - - - - - - - - 15.98 -
11708.08 885.62 -5.84 1301 11728.97 roll -1.18 - - 2227.25 - 3.28 0.068 1145.75 -344.7 -77.86 - - 3205.03 - - - - - - - - - 15.76 -
11804.46 891.46 -5.96 1317 11823.42 roll -1.18 - - 2227.88 - 2.83 0.027 2276.81 399.7 -77.86 - - 3205.22 - - - - - - - - - 15.98 -
12129.28 909.11 -5.74 1349 12148.77 roll -1.18 - - 2227.75 - 3.24 0.088 3353.00 332.2 -77.86 - - 3204.12 - - - - - - - - - 15.72 -
12229.26 915.04 -6.05 1366 12247.44 roll -1.18 - - 2227.69 - 2.80 0.020 2195.69 -413.3 -77.86 - - 3204.47 - - - - - - - - - 15.96 -
12553.29 932.70 -5.72 1398 12557.35 no move -1.18 - - 2227.31 - - - 2194.38 - -77.86 - - 3203.75 - - - - - - - - - - -
12863.34 950.78 -5.98 1429 12882.03 roll -1.18 - - 2225.81 - 3.07 0.074 1143.88 -342.2 -77.86 - - 3204.62 - - - - - - - - - 15.68 -
12922.73 954.71 -6.46 1438 12941.32 roll -1.18 - - 2227.12 - 2.84 0.027 2276.38 398.8 -77.86 - - 3204.88 - - - - - - - - - 15.82 -
13247.18 974.75 -6.14 1470 13266.67 roll -1.18 - - 2226.69 - 3.27 0.069 1145.94 -345.7 -77.86 - - 3204.53 - - - - - - - - - 15.74 -
13347.15 981.37 -6.25 1487 13365.74 roll -1.18 - - 2227.00 - 2.82 0.027 2276.94 401.1 -77.86 - - 3204.59 - - - - - - - - - 15.95 -
13491 end dive: TARGET_DEPTH_EXCEEDED
13492 begin apogee
13496.59 990.43 -6.28 1501 13600.76 -0.31 1.60 0.131 2440.75 133.6 0.19 0.145 2284.62 40.4 - 65.11 2.411 2888.53 -4.9 0.341 - - - - - - 15.66 15.33 10.26
13614 end apogee: CONTROL_FINISHED_OK
13614 begin climb
13617.00 992.41 - 1508 13728.88 1.18 2.57 0.091 2805.12 141.8 - - 2284.62 - 77.86 66.76 2.381 2573.62 -4.7 0.336 - - - - - - 15.56 - 11.62
14035.22 974.35 5.30 1549 14058.16 1.35 0.24 0.074 2854.06 203.9 3.32 0.073 1146.88 -342.7 77.86 - - 2563.19 - - - - - - - - 15.70 15.67 -
14119.88 968.96 6.32 1562 14137.74 done 1.45 - - 2853.81 - 2.87 0.030 2271.69 391.9 77.86 - - 2563.34 - - - - - - - - - 15.79 -
14443.98 948.78 6.30 1594 14449.45 1.56 0.25 0.072 2905.44 206.5 - - 2272.31 - 77.86 - - 2562.00 - - - - - - - - 15.81 - -
14755.29 924.83 8.16 1625 14776.17 done 1.56 - - 2905.69 - 3.28 0.072 1145.75 -343.5 77.86 - - 2561.75 - - - - - - - - - 15.79 -
14811.65 920.17 8.20 1633 14830.24 done 1.56 - - 2905.50 - 2.86 0.030 2274.06 394.5 77.86 - - 2563.91 - - - - - - - - - 15.89 -
15136.09 894.46 8.39 1665 15140.15 VBD 1.56 - - 2905.31 - - - 2273.75 - 77.86 - - 2560.16 - - - - - - - - - - -
15446.13 868.71 8.64 1696 15467.01 done 1.56 - - 2905.50 - 3.28 0.072 1146.94 -343.5 77.86 - - 2560.19 - - - - - - - - - 15.80 -
15598.49 854.74 9.34 1723 15616.35 done 1.56 - - 2906.31 - 2.85 0.031 2272.44 394.9 77.86 - - 2559.03 - - - - - - - - - 15.95 -
15922.32 825.52 9.36 1755 15926.38 VBD 1.56 - - 2905.88 - - - 2272.50 - 77.86 - - 2560.19 - - - - - - - - - - -
16232.34 799.17 8.12 1786 16236.41 VBD 1.56 - - 2905.19 - - - 2273.50 - 77.86 - - 2559.38 - - - - - - - - - - -
16542.40 774.57 7.67 1817 16546.46 VBD 1.56 - - 2905.62 - - - 2272.38 - 77.86 - - 2559.12 - - - - - - - - - - -
16852.86 751.94 6.80 1848 16856.92 VBD 1.63 - - 2906.06 - - - 2272.38 - 77.86 - - 2558.94 - - - - - - - - - - -
17162.76 728.99 7.68 1879 17166.83 VBD 1.63 - - 2905.31 - - - 2272.75 - 77.86 - - 2559.19 - - - - - - - - - - -
17472.81 705.90 8.08 1910 17476.87 VBD 1.63 - - 2905.69 - - - 2273.12 - 77.86 - - 2558.16 - - - - - - - - - - -
17783.22 682.93 7.38 1941 17787.28 VBD 1.67 - - 2904.94 - - - 2273.06 - 77.86 - - 2558.22 - - - - - - - - - - -
18093.54 661.74 6.33 1972 18116.07 1.77 0.26 0.072 2958.00 204.1 3.26 0.093 3350.06 330.4 77.86 - - 2558.62 - - - - - - - - 15.89 15.76 -
18137.67 658.60 7.46 1977 18155.52 done 1.81 - - 2957.25 - 2.81 0.022 2202.12 -408.5 77.86 - - 2560.75 - - - - - - - - - 15.97 -
18461.77 635.48 6.78 2009 18481.09 done 1.89 - - 2958.62 - 3.11 0.076 1147.00 -339.3 77.86 - - 2557.50 - - - - - - - - - 15.79 -
18597.84 625.69 7.29 2033 18616.94 1.93 0.16 0.085 2997.38 242.3 2.84 0.030 2275.44 397.3 77.86 - - 2560.88 - - - - - - - - 15.73 15.96 -
18923.19 602.62 6.74 2065 18942.67 done 2.01 - - 2998.50 - 3.25 0.091 3352.31 331.3 77.86 - - 2558.31 - - - - - - - - - 15.74 -
19053.15 592.15 8.00 2088 19071.73 done 2.01 - - 2998.19 - 2.82 0.021 2204.56 -407.0 77.86 - - 2558.50 - - - - - - - - - 15.95 -
19377.99 567.82 7.16 2120 19399.70 done 2.06 - - 2998.25 - 3.44 0.087 3351.38 333.4 77.86 - - 2558.09 - - - - - - - - - 15.75 -
19405.17 565.39 8.21 2122 19423.74 done 2.06 - - 2997.75 - 2.83 0.021 2203.50 -405.6 77.86 - - 2558.91 - - - - - - - - - 15.97 -
19729.98 542.11 7.16 2154 19749.89 2.12 - 0.040 2998.38 - 3.11 0.076 1145.69 -340.1 77.86 - - 2559.84 - - - - - - - - - 15.76 -
19916.78 528.52 7.53 2188 19935.78 2.15 - 0.045 2999.75 - 2.84 0.030 2275.75 397.9 77.86 - - 2558.62 - - - - - - - - - 15.96 -
20242.15 507.08 6.17 2220 20263.86 2.26 - 0.029 2999.50 - 3.30 0.071 1146.81 -342.1 77.86 - - 2556.69 - - - - - - - - - 15.77 -
20495.54 490.05 7.01 2267 20513.41 2.32 - - 3000.19 - 2.85 0.029 2274.50 395.7 77.86 - - 2556.53 - - - - - - - - - 15.90 -
20819.66 469.23 6.49 2299 20840.95 2.42 - - 2999.38 - 3.31 0.070 1147.44 -340.5 77.86 - - 2559.50 - - - - - - - - - 15.76 -
20976.99 458.35 7.05 2327 20995.57 2.48 - - 2999.50 - 2.86 0.029 2273.69 393.8 77.86 - - 2559.69 - - - - - - - - - 15.81 -
21301.84 438.36 5.55 2359 21321.46 2.63 - - 3000.75 - 3.26 0.090 3351.12 330.5 77.86 - - 2557.81 - - - - - - - - - 15.72 -
21492.37 427.03 5.91 2394 21511.78 2.75 0.06 0.264 2996.12 -77.2 2.82 0.021 2200.62 -408.0 77.86 - - 2558.94 - - - - - - - - 15.62 15.94 -
21818.03 412.44 4.10 2426 21932.16 2.92 0.05 0.193 3014.00 357.6 3.49 0.089 3351.50 329.8 159.43 66.38 1.698 2240.25 -4.8 0.199 - - - - - - 15.87 15.47 10.66
21987.80 396.77 13.02 2451 22006.41 roll back 2.92 - - 3013.75 - 2.89 0.021 2207.88 -395.7 159.43 - - 2235.72 - - - - - - - - - 15.70 -
22312.37 358.45 12.17 2483 22331.46 2.92 - - 3014.06 - 3.15 0.076 1146.94 -336.8 159.43 - - 2227.84 - - - - - - - - - 15.70 -
22381.95 350.19 11.89 2494 22400.54 2.92 - - 3014.31 - 2.86 0.029 2272.69 393.6 159.43 - - 2228.12 - - - - - - - - - 15.83 -
22706.40 314.20 11.07 2526 22727.72 2.92 - - 3013.88 - 3.32 0.071 1146.56 -339.2 159.43 - - 2225.91 - - - - - - - - - 15.73 -
22823.20 300.74 11.37 2546 22841.88 2.92 - - 3013.62 - 2.87 0.029 2274.44 393.0 159.43 - - 2226.06 - - - - - - - - - 15.88 -
23147.72 266.84 10.30 2578 23151.80 2.92 - - 3014.31 - - - 2274.00 - 159.43 - - 2225.28 - - - - - - - - - - -
23457.78 233.89 10.42 2609 23461.85 2.92 - - 3013.69 - - - 2274.00 - 159.43 - - 2224.66 - - - - - - - - - - -
23767.80 200.81 10.70 2640 23771.88 2.92 - - 3013.62 - - - 2273.62 - 159.43 - - 2224.31 - - - - - - - - - - -
24077.83 167.88 11.01 2671 24081.92 2.92 - - 3013.31 - - - 2274.62 - 159.43 - - 2224.16 - - - - - - - - - - -
24387.85 136.06 9.59 2702 24409.16 2.92 - - 3014.56 - 3.33 0.069 1146.00 -338.9 159.43 - - 2226.22 - - - - - - - - - 15.75 -
24480.38 126.69 10.59 2717 24498.25 2.92 - - 3013.38 - 2.86 0.028 2274.12 394.4 159.43 - - 2224.75 - - - - - - - - - 15.85 -
24804.10 95.66 9.16 2753 24810.72 2.92 - - 3014.06 - - - 2273.88 - 159.43 - - 2224.62 - - - - - - - - - - -
24996.98 81.12 6.62 2791 25017.62 3.00 - - 3013.75 - 3.33 0.068 1145.69 -338.8 159.43 - - 2224.06 - - - - - - - - - 15.66 -
25069.22 76.44 6.70 2802 25088.20 3.08 - - 3014.12 - 2.85 0.027 2275.44 396.4 159.43 - - 2225.44 - - - - - - - - - 15.70 -
25274.45 65.23 5.72 2840 25294.91 3.22 - - 3014.19 - 3.30 0.066 1145.38 -342.4 159.43 - - 2223.97 - - - - - - - - - 15.56 -
25476.67 59.76 2.27 2877 25622.29 3.46 - - 3014.38 - 2.87 0.025 2277.88 394.6 278.78 90.32 1.206 1752.72 -5.2 0.044 - - - - - - - 15.65 11.29
25808.56 40.41 6.74 2933 25829.19 3.54 - - 3013.75 - 3.34 0.067 1146.94 -338.6 278.78 - - 1743.72 - - - - - - - - - 15.54 -
26060.97 26.72 4.40 2980 26164.26 3.69 - - 3012.75 - 2.88 0.026 2275.75 391.9 354.29 58.57 1.129 1446.25 -5.1 0.021 - - - - - - - 15.74 11.50
26350.52 8.26 6.70 3030 26371.77 3.77 - - 3013.88 - 3.31 0.063 1145.38 -341.5 354.29 - - 1436.94 - - - - - - - - - 15.63 -
26398 end climb: SURFACE_DEPTH_REACHED
26399 begin surface coast
26429 end surface coast: CONTROL_FINISHED_OK
26430 begin surface
SM 1.13 - - - - 180.6 58.31 1.092 1137.8 19.5 19.85 0.050 1135.2 57.2 - 2.85 0.027 1140.4 399.0 -1.707 - - 11.40 15.74 15.79 -