NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 104 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 36.88 of 506.00 AH used of 24V (92.71% remains)
• Surface angle -62.3 deg, depth 1.04 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.04 (SM_CC=430)
• GPS1 time: 25 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
18.73 - - - 125.26 VBD -1.18 - - 178.44 - - - 2133.44 - -77.86 75.31 0.005 2528.56 - - - - - - - - - - 15.58
127.48 3.27 -3.34 15 245.23 -1.18 16.59 0.225 2227.88 123.5 3.23 0.077 3304.12 362.4 -77.86 9.65 0.007 3210.88 70.7 -5.471 - - - - - - 15.68 15.57 15.64
341.31 48.35 -13.11 41 359.43 roll -1.18 - - 2226.50 - 2.71 0.020 2146.19 -427.3 -77.86 - - 3214.66 - - - - - - - - - 15.90 -
545.38 72.47 -11.46 79 551.93 no move -1.18 - - 2227.19 - - - 2146.19 - -77.86 - - 3213.88 - - - - - - - - - - -
737.72 91.09 -8.70 117 744.28 no move -1.18 - - 2227.75 - - - 2145.06 - -77.86 - - 3214.19 - - - - - - - - - - -
935.09 106.90 -7.12 147 953.81 roll -1.18 - - 2228.19 - 3.19 0.074 3304.75 363.5 -77.86 - - 3214.25 - - - - - - - - - 15.97 -
1009.97 112.96 -8.21 159 1027.09 roll -1.18 - - 2227.50 - 2.72 0.020 2144.00 -426.7 -77.86 - - 3215.12 - - - - - - - - - 15.98 -
1332.89 135.95 -6.50 191 1351.61 roll -1.18 - - 2227.19 - 3.20 0.074 3306.00 363.1 -77.86 - - 3214.25 - - - - - - - - - 15.93 -
1522.05 149.87 -7.49 226 1540.28 roll -1.18 - - 2227.88 - 2.72 0.020 2144.12 -427.2 -77.86 - - 3215.38 - - - - - - - - - 16.01 -
1846.09 172.04 -6.94 258 1864.81 roll -1.18 - - 2226.31 - 3.16 0.075 3303.81 367.0 -77.86 - - 3216.34 - - - - - - - - - 16.02 -
1890.96 175.67 -8.13 264 1907.98 roll -1.18 - - 2227.38 - 2.68 0.020 2145.31 -432.3 -77.86 - - 3216.28 - - - - - - - - - 16.03 -
2213.94 201.20 -8.09 296 2218.00 no move -1.18 - - 2227.56 - - - 2146.19 - -77.86 - - 3214.53 - - - - - - - - - - -
2524.00 224.83 -7.30 327 2528.05 no move -1.18 - - 2227.62 - - - 2144.88 - -77.86 - - 3212.59 - - - - - - - - - - -
2834.05 248.20 -7.50 358 2838.11 no move -1.18 - - 2227.81 - - - 2144.88 - -77.86 - - 3212.44 - - - - - - - - - - -
3144.08 271.53 -7.58 389 3163.03 roll -1.18 - - 2228.06 - 3.18 0.077 3304.44 364.6 -77.86 - - 3212.09 - - - - - - - - - 16.06 -
3239.24 279.63 -8.66 405 3256.55 roll -1.18 - - 2227.06 - 2.71 0.021 2146.25 -427.4 -77.86 - - 3212.91 - - - - - - - - - 16.08 -
3562.41 304.27 -7.49 437 3566.47 no move -1.18 - - 2227.69 - - - 2146.56 - -77.86 - - 3209.75 - - - - - - - - - - -
3872.47 327.94 -7.30 468 3891.43 roll -1.18 - - 2227.31 - 3.18 0.078 3303.38 363.8 -77.86 - - 3209.25 - - - - - - - - - 16.06 -
3957.62 335.00 -8.30 482 3974.95 roll -1.18 - - 2228.06 - 2.70 0.021 2148.19 -427.8 -77.86 - - 3209.19 - - - - - - - - - 16.08 -
4280.78 358.35 -7.38 514 4284.84 no move -1.18 - - 2227.81 - - - 2148.31 - -77.86 - - 3207.53 - - - - - - - - - - -
4590.81 379.54 -6.22 545 4594.87 no move -1.18 - - 2226.69 - - - 2148.38 - -77.86 - - 3207.03 - - - - - - - - - - -
4900.87 400.32 -6.65 576 4920.47 roll -1.18 - - 2227.38 - 3.21 0.079 3304.25 360.1 -77.86 - - 3207.72 - - - - - - - - - 16.03 -
4976.83 406.07 -7.68 588 4994.77 roll -1.18 - - 2227.88 - 2.71 0.022 2149.88 -426.0 -77.86 - - 3206.09 - - - - - - - - - 16.09 -
5300.66 428.90 -7.28 620 5304.76 no move -1.18 - - 2227.50 - - - 2149.12 - -77.86 - - 3205.16 - - - - - - - - - - -
5610.70 451.02 -7.13 651 5630.31 roll -1.18 - - 2227.81 - 3.20 0.079 3304.00 360.9 -77.86 - - 3204.03 - - - - - - - - - 16.07 -
5716.56 459.29 -7.58 669 5733.69 roll -1.18 - - 2227.62 - 2.69 0.022 2148.81 -429.4 -77.86 - - 3204.84 - - - - - - - - - 16.08 -
6039.58 483.18 -7.68 701 6058.77 roll -1.18 - - 2227.69 - 3.17 0.080 3303.50 364.3 -77.86 - - 3203.31 - - - - - - - - - 16.02 -
6085.00 486.91 -7.90 707 6102.14 roll -1.18 - - 2226.75 - 2.67 0.022 2147.88 -432.8 -77.86 - - 3203.88 - - - - - - - - - 16.08 -
6408.14 511.70 -7.51 739 6427.32 roll -1.18 - - 2227.00 - 3.18 0.080 3302.94 363.2 -77.86 - - 3204.50 - - - - - - - - - 16.08 -
6513.57 520.82 -8.51 757 6531.06 roll -1.18 - - 2227.62 - 2.68 0.022 2148.44 -430.8 -77.86 - - 3202.50 - - - - - - - - - 16.09 -
6837.06 544.52 -7.04 789 6856.25 roll -1.18 - - 2227.69 - 3.17 0.080 3302.94 364.2 -77.86 - - 3202.69 - - - - - - - - - 16.10 -
6932.50 551.77 -7.57 805 6949.64 roll -1.18 - - 2227.31 - 2.68 0.022 2148.81 -430.6 -77.86 - - 3201.72 - - - - - - - - - 16.09 -
7255.52 573.30 -6.18 837 7259.62 no move -1.18 - - 2226.81 - - - 2148.88 - -77.86 - - 3200.78 - - - - - - - - - - -
7565.58 594.16 -6.71 868 7569.68 no move -1.18 - - 2227.50 - - - 2148.31 - -77.86 - - 3200.03 - - - - - - - - - - -
7875.62 615.07 -6.26 899 7895.22 roll -1.18 - - 2226.56 - 3.20 0.081 3302.25 360.6 -77.86 - - 3201.75 - - - - - - - - - 16.09 -
7935.74 619.54 -6.99 908 7953.60 roll -1.18 - - 2227.62 - 2.68 0.022 2150.69 -429.7 -77.86 - - 3199.81 - - - - - - - - - 16.08 -
8259.48 640.32 -6.31 940 8263.58 no move -1.18 - - 2227.81 - - - 2150.00 - -77.86 - - 3199.62 - - - - - - - - - - -
8569.54 661.94 -7.59 971 8573.64 no move -1.18 - - 2227.44 - - - 2150.75 - -77.86 - - 3198.53 - - - - - - - - - - -
8879.59 682.99 -6.54 1002 8883.69 no move -1.18 - - 2227.25 - - - 2150.62 - -77.86 - - 3198.41 - - - - - - - - - - -
9189.64 703.22 -6.29 1033 9193.98 no move -1.18 - - 2227.19 - - - 2150.06 - -77.86 - - 3197.41 - - - - - - - - - - -
9499.98 721.52 -6.08 1064 9504.09 no move -1.18 - - 2227.62 - - - 2149.25 - -77.86 - - 3197.19 - - - - - - - - - - -
9810.04 742.06 -6.60 1095 9814.14 no move -1.18 - - 2227.31 - - - 2149.50 - -77.86 - - 3196.84 - - - - - - - - - - -
10120.09 761.87 -6.77 1126 10124.20 no move -1.18 - - 2227.19 - - - 2148.75 - -77.86 - - 3196.78 - - - - - - - - - - -
10430.14 781.18 -5.83 1157 10449.75 roll -1.18 - - 2227.62 - 3.23 0.083 3302.75 357.3 -77.86 - - 3196.44 - - - - - - - - - 16.07 -
10490.26 785.97 -7.40 1166 10508.53 roll -1.18 - - 2228.00 - 2.71 0.023 2148.75 -425.8 -77.86 - - 3196.62 - - - - - - - - - 16.07 -
10814.41 807.21 -6.67 1198 10834.02 roll -1.18 - - 2226.75 - 3.23 0.083 3302.50 357.2 -77.86 - - 3197.75 - - - - - - - - - 16.08 -
10894.54 813.36 -7.12 1211 10912.40 roll -1.18 - - 2227.12 - 2.69 0.023 2149.88 -428.5 -77.86 - - 3196.47 - - - - - - - - - 16.08 -
11218.27 832.09 -5.31 1243 11237.88 roll -1.18 - - 2227.50 - 3.22 0.083 3301.62 357.7 -77.86 - - 3195.31 - - - - - - - - - 16.07 -
11248.50 834.30 -6.09 1246 11266.36 roll -1.18 - - 2226.88 - 2.69 0.023 2148.75 -428.6 -77.86 - - 3196.75 - - - - - - - - - 16.07 -
11572.66 852.51 -5.56 1278 11576.76 no move -1.18 - - 2227.12 - - - 2148.12 - -77.86 - - 3194.75 - - - - - - - - - - -
11882.70 870.96 -6.04 1309 11900.65 roll -1.18 - - 2226.06 - 2.81 0.082 1095.69 -374.5 -77.86 - - 3197.22 - - - - - - - - - 16.06 -
11956.91 876.12 -6.86 1321 11974.85 roll -1.18 - - 2227.19 - 2.74 0.028 2231.94 414.7 -77.86 - - 3195.88 - - - - - - - - - 16.08 -
12280.72 897.22 -6.91 1353 12284.82 no move -1.18 - - 2227.75 - - - 2231.12 - -77.86 - - 3194.38 - - - - - - - - - - -
12590.73 917.96 -6.74 1384 12594.83 no move -1.18 - - 2227.38 - - - 2231.31 - -77.86 - - 3194.22 - - - - - - - - - - -
12900.74 938.69 -6.53 1415 12904.83 no move -1.18 - - 2227.81 - - - 2231.69 - -77.86 - - 3193.62 - - - - - - - - - - -
13210.75 958.60 -6.19 1446 13214.85 no move -1.18 - - 2226.88 - - - 2231.94 - -77.86 - - 3192.59 - - - - - - - - - - -
13520.76 977.83 -6.25 1477 13524.86 no move -1.18 - - 2227.31 - - - 2231.81 - -77.86 - - 3192.31 - - - - - - - - - - -
13720 end dive: TARGET_DEPTH_EXCEEDED
13721 begin apogee
13724.96 990.19 -6.13 1497 13824.28 -0.31 1.54 0.138 2441.19 138.9 0.10 0.216 2192.25 -395.6 - 59.90 2.473 2889.97 -5.0 0.335 - - - - - - 15.96 15.62 11.75
13831 end apogee: CONTROL_FINISHED_OK
13832 begin climb
13834.29 991.99 - 1504 13942.98 1.18 2.51 0.094 2805.19 145.0 - - 2192.75 - 77.86 65.47 2.416 2572.19 -4.9 0.330 - - - - - - 15.73 - 12.52
14249.39 967.93 7.04 1543 14253.49 VBD 1.24 - - 2805.44 - - - 2192.38 - 77.86 - - 2562.41 - - - - - - - - - - -
14559.90 946.02 7.05 1574 14564.92 1.30 0.16 0.092 2845.31 249.2 - - 2192.62 - 77.86 - - 2561.25 - - - - - - - - 15.87 - -
14870.77 920.85 8.31 1605 14874.87 VBD 1.30 - - 2845.38 - - - 2192.62 - 77.86 - - 2560.56 - - - - - - - - - - -
15181.20 897.01 7.21 1636 15185.30 VBD 1.35 - - 2846.00 - - - 2192.12 - 77.86 - - 2559.88 - - - - - - - - - - -
15491.58 874.68 6.88 1667 15512.59 done 1.42 - - 2846.12 - 3.28 0.095 3350.88 353.3 77.86 - - 2558.81 - - - - - - - - - 16.00 -
15553.84 870.00 8.25 1676 15571.78 done 1.42 - - 2845.81 - 2.72 0.024 2202.38 -422.2 77.86 - - 2560.97 - - - - - - - - - 16.02 -
15878.07 849.40 6.81 1708 15897.28 1.50 0.20 0.078 2892.06 231.2 2.88 0.081 1144.88 -367.2 77.86 - - 2559.84 - - - - - - - - 16.00 15.99 -
16033.55 837.35 7.87 1736 16051.10 done 1.50 - - 2893.12 - 2.77 0.034 2274.12 407.7 77.86 - - 2560.50 - - - - - - - - - 16.04 -
16357.50 813.55 7.46 1768 16361.60 VBD 1.53 - - 2893.19 - - - 2274.62 - 77.86 - - 2557.50 - - - - - - - - - - -
16667.48 789.67 7.82 1799 16671.57 VBD 1.53 - - 2892.50 - - - 2274.62 - 77.86 - - 2557.75 - - - - - - - - - - -
16977.52 764.20 8.28 1830 16996.30 done 1.53 - - 2893.69 - 3.09 0.097 3351.44 348.5 77.86 - - 2556.38 - - - - - - - - - 16.05 -
17076.82 754.87 9.22 1847 17095.51 done 1.53 - - 2893.88 - 2.72 0.024 2202.81 -422.3 77.86 - - 2558.06 - - - - - - - - - 16.05 -
17401.40 727.85 7.65 1879 17419.35 done 1.53 - - 2894.19 - 2.88 0.080 1144.00 -367.6 77.86 - - 2558.25 - - - - - - - - - 16.06 -
17605.63 710.59 8.38 1917 17624.00 done 1.53 - - 2893.75 - 2.81 0.033 2274.19 402.2 77.86 - - 2557.22 - - - - - - - - - 16.06 -
17930.26 685.43 7.34 1949 17934.36 VBD 1.58 - - 2894.25 - - - 2273.81 - 77.86 - - 2556.78 - - - - - - - - - - -
18240.64 663.54 6.94 1980 18259.66 done 1.64 - - 2893.06 - 3.08 0.097 3350.19 349.5 77.86 - - 2557.12 - - - - - - - - - 16.05 -
18330.31 656.30 8.06 1995 18348.58 done 1.64 - - 2893.31 - 2.71 0.024 2201.62 -423.8 77.86 - - 2558.41 - - - - - - - - - 16.05 -
18654.88 633.59 6.30 2027 18660.30 1.75 0.29 0.071 2951.69 201.3 - - 2199.62 - 77.86 - - 2556.38 - - - - - - - - 16.02 - -
18966.18 609.30 7.90 2058 18970.28 VBD 1.75 - - 2953.06 - - - 2200.50 - 77.86 - - 2556.25 - - - - - - - - - - -
19276.22 583.76 7.87 2089 19297.23 done 1.75 - - 2951.81 - 3.28 0.092 3351.38 350.9 77.86 - - 2556.00 - - - - - - - - - 16.05 -
19348.49 577.51 9.29 2100 19366.44 done 1.75 - - 2952.44 - 2.71 0.024 2201.12 -424.5 77.86 - - 2556.91 - - - - - - - - - 16.05 -
19672.72 553.86 6.79 2132 19691.11 done 1.82 - - 2952.38 - 2.82 0.080 1145.19 -374.4 77.86 - - 2556.53 - - - - - - - - - 16.07 -
19852.08 540.90 7.20 2165 19870.77 done 1.87 - - 2952.38 - 2.81 0.033 2275.12 402.1 77.86 - - 2556.59 - - - - - - - - - 16.07 -
20177.06 519.83 6.58 2197 20182.48 1.96 0.25 0.081 3002.88 202.0 - - 2275.25 - 77.86 - - 2558.56 - - - - - - - - 16.02 - -
20488.77 498.14 7.14 2228 20492.88 VBD 2.02 - - 3004.50 - - - 2274.44 - 77.86 - - 2555.69 - - - - - - - - - - -
20798.83 473.84 8.06 2259 20817.63 done 2.02 - - 3004.62 - 3.03 0.076 1143.94 -373.1 77.86 - - 2554.88 - - - - - - - - - 16.06 -
20973.93 458.54 8.87 2291 20991.48 done 2.02 - - 3005.38 - 2.80 0.033 2275.25 404.0 77.86 - - 2556.00 - - - - - - - - - 16.04 -
21297.37 432.84 7.85 2323 21301.47 VBD 2.02 - - 3004.75 - - - 2275.56 - 77.86 - - 2555.59 - - - - - - - - - - -
21607.90 409.06 7.36 2354 21626.68 done 2.06 - - 3004.75 - 3.07 0.075 1144.25 -368.5 77.86 - - 2554.88 - - - - - - - - - 16.04 -
21682.94 403.39 7.65 2366 21700.91 done 2.06 - - 3004.69 - 2.82 0.032 2274.94 401.0 77.86 - - 2557.97 - - - - - - - - - 15.99 -
22007.17 382.90 5.80 2398 22011.28 2.19 - - 3005.75 - - - 2275.38 - 77.86 - - 2555.31 - - - - - - - - - - -
22317.57 363.54 6.44 2429 22336.53 2.29 - - 3005.06 - 3.06 0.075 1143.00 -370.1 77.86 - - 2555.69 - - - - - - - - - 16.05 -
22507.47 351.02 6.30 2464 22526.42 2.39 - - 3005.12 - 2.83 0.032 2275.44 400.2 77.86 - - 2556.56 - - - - - - - - - 16.05 -
22832.82 330.45 6.89 2496 22836.94 2.46 - - 3005.50 - - - 2275.50 - 77.86 - - 2555.75 - - - - - - - - - - -
23143.21 309.34 6.91 2527 23162.10 2.53 - - 3004.81 - 3.02 0.074 1142.81 -375.1 77.86 - - 2555.34 - - - - - - - - - 15.92 -
23198.77 305.49 7.06 2535 23217.13 2.59 - - 3004.69 - 2.81 0.031 2276.00 403.3 77.86 - - 2556.97 - - - - - - - - - 16.06 -
23523.43 285.56 5.85 2567 23527.54 2.72 - - 3005.25 - - - 2276.25 - 77.86 - - 2555.97 - - - - - - - - - - -
23833.83 267.13 5.74 2598 23852.61 2.86 - - 3005.62 - 3.04 0.073 1143.88 -372.5 77.86 - - 2554.78 - - - - - - - - - 16.02 -
24083.59 253.24 5.08 2645 24102.30 3.04 - - 3004.06 - 2.82 0.031 2275.81 401.4 77.86 - - 2557.50 - - - - - - - - - 15.97 -
24408.58 240.65 3.76 2677 24526.11 3.22 - - 3005.38 - 3.10 0.076 1144.12 -365.1 166.42 68.39 1.579 2209.62 -5.1 0.128 - - - - - - - 15.72 11.84
24612.48 224.12 10.47 2709 24630.47 3.22 - - 3004.69 - 2.87 0.032 2273.44 393.5 166.42 - - 2203.47 - - - - - - - - - 15.84 -
24936.47 191.16 10.62 2741 24955.68 3.22 - - 3004.62 - 3.13 0.094 3352.06 344.6 166.42 - - 2198.97 - - - - - - - - - 15.87 -
24996.20 183.77 12.61 2750 25014.90 3.22 - - 3004.75 - 2.75 0.023 2202.31 -418.1 166.42 - - 2199.78 - - - - - - - - - 15.90 -
25320.75 149.65 9.24 2782 25338.72 3.22 - - 3005.50 - 2.85 0.077 1145.56 -370.8 166.42 - - 2198.22 - - - - - - - - - 15.85 -
25384.98 143.77 9.27 2792 25402.96 3.22 - - 3005.25 - 2.82 0.031 2275.31 400.6 166.42 - - 2197.72 - - - - - - - - - 15.94 -
25709.22 119.42 7.33 2824 25713.33 3.26 - - 3005.62 - - - 2275.88 - 166.42 - - 2196.34 - - - - - - - - - - -
26019.62 102.53 5.02 2855 26108.79 3.39 - - 3005.19 - 3.10 0.094 3351.56 347.0 229.01 47.61 1.373 1954.81 -5.1 0.063 - - - - - - - 15.76 12.15
26115.14 96.40 8.07 2867 26133.42 roll back 3.39 - - 3004.56 - 2.74 0.022 2198.75 -420.7 229.01 - - 1953.84 - - - - - - - - - 15.85 -
26319.07 81.17 7.96 2905 26337.78 3.39 - - 3005.19 - 2.85 0.077 1144.31 -370.0 229.01 - - 1947.25 - - - - - - - - - 15.82 -
26569.49 63.25 6.29 2952 26588.18 3.49 - - 3005.19 - 2.80 0.030 2277.88 404.8 229.01 - - 1945.38 - - - - - - - - - 15.86 -
26774.48 53.62 4.30 2990 26860.14 3.65 - - 3004.75 - - - 2277.81 - 306.49 58.25 1.295 1641.84 -5.2 0.036 - - - - - - - - 12.26
27046.04 33.39 8.38 3039 27065.99 3.65 - - 3005.25 - 3.11 0.072 1145.25 -364.2 306.49 - - 1630.75 - - - - - - - - - 15.82 -
27132.37 25.57 9.19 3053 27151.31 3.65 - - 3005.50 - 2.84 0.029 2275.81 398.1 306.49 - - 1630.00 - - - - - - - - - 15.87 -
27337.72 15.64 3.33 3091 27464.00 3.84 - - 3005.44 - 3.13 0.072 1145.12 -361.2 404.07 75.22 1.228 1242.28 -5.2 0.011 - - - - - - - 15.62 12.28
27630 end climb: SURFACE_DEPTH_REACHED
27631 begin surface coast
27651 end surface coast: CONTROL_FINISHED_OK
27652 begin surface
SM 1.32 - - - - 183.1 19.83 1.137 1136.9 53.5 18.52 0.055 1136.8 61.4 - 2.66 0.027 1137.0 426.3 -2.130 - - 12.22 15.79 15.85 -