NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 386 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 135.36 of 506.00 AH used of 24V (73.25% remains)
• Surface angle -64.7 deg, depth 1.17 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.16 (SM_CC=430)
• GPS1 time: 18 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 - - 180.94 - - - 2282.69 - -77.86 65.10 0.005 2759.09 - - - - - - - - - - 15.07
113.90 3.57 -4.13 13 215.46 -1.18 17.35 0.223 2228.06 118.0 - - 2282.94 - -77.86 6.53 0.008 3210.12 69.1 -5.247 - - - - - - 15.35 - 15.25
401.17 59.55 -11.20 56 421.11 roll -1.18 - - 2226.88 - 3.16 0.063 1143.56 -360.6 -77.86 - - 3214.59 - - - - - - - - - 15.61 -
472.39 66.76 -10.21 67 490.75 roll -1.18 - - 2228.06 - 2.84 0.024 2276.75 399.0 -77.86 - - 3213.34 - - - - - - - - - 15.75 -
676.57 85.07 -8.56 105 696.49 roll -1.18 - - 2226.81 - 3.19 0.081 3351.62 336.9 -77.86 - - 3213.69 - - - - - - - - - 15.61 -
712.65 87.91 -7.99 109 731.38 roll -1.18 - - 2227.50 - 2.84 0.018 2189.75 -409.1 -77.86 - - 3215.88 - - - - - - - - - 15.79 -
917.16 103.63 -8.32 143 935.17 roll -1.18 - - 2227.69 - 2.95 0.066 1144.44 -354.3 -77.86 - - 3214.38 - - - - - - - - - 15.73 -
1065.63 117.52 -9.33 170 1083.98 roll -1.18 - - 2227.38 - 2.81 0.025 2278.81 403.7 -77.86 - - 3215.97 - - - - - - - - - 15.83 -
1389.79 142.67 -7.08 202 1408.62 roll -1.18 - - 2227.75 - 3.15 0.081 3353.25 341.1 -77.86 - - 3214.38 - - - - - - - - - 15.79 -
1544.81 155.07 -7.76 230 1562.02 roll -1.18 - - 2226.62 - 2.80 0.018 2190.25 -415.4 -77.86 - - 3215.75 - - - - - - - - - 15.76 -
1867.88 178.45 -7.75 262 1885.70 done -1.18 - - 2227.62 - 2.89 0.068 1142.25 -362.6 -77.86 - - 3216.81 - - - - - - - - - 15.80 -
1982.05 187.72 -8.31 282 1999.88 done -1.18 - - 2227.38 - 2.82 0.024 2278.00 402.7 -77.86 - - 3216.25 - - - - - - - - - 15.78 -
2305.72 212.17 -8.07 314 2324.77 roll -1.18 - - 2227.75 - 3.15 0.082 3350.94 340.6 -77.86 - - 3216.78 - - - - - - - - - 15.81 -
2330.97 214.40 -8.59 316 2348.39 roll -1.18 - - 2227.88 - 2.75 0.019 2188.12 -422.8 -77.86 - - 3216.78 - - - - - - - - - 15.89 -
2654.21 239.32 -6.94 348 2672.04 roll -1.18 - - 2227.81 - 2.88 0.068 1143.38 -362.8 -77.86 - - 3214.38 - - - - - - - - - 15.71 -
2742.52 245.71 -7.11 363 2761.48 roll -1.18 - - 2227.75 - 2.81 0.024 2278.06 403.8 -77.86 - - 3216.28 - - - - - - - - - 15.84 -
3067.30 267.62 -6.86 395 3071.36 no move -1.18 - - 2227.62 - - - 2277.31 - -77.86 - - 3214.53 - - - - - - - - - - -
3377.31 290.49 -7.74 426 3396.36 roll -1.18 - - 2227.12 - 3.17 0.064 1145.69 -357.0 -77.86 - - 3214.56 - - - - - - - - - 15.84 -
3406.85 292.80 -7.78 429 3425.25 roll -1.18 - - 2227.69 - 2.80 0.024 2278.62 404.6 -77.86 - - 3214.72 - - - - - - - - - 15.96 -
3731.19 317.21 -7.54 461 3750.24 roll -1.18 - - 2227.69 - 3.15 0.064 1145.06 -359.9 -77.86 - - 3213.06 - - - - - - - - - 15.74 -
3776.45 320.85 -8.01 467 3794.29 roll -1.18 - - 2227.94 - 2.81 0.025 2278.06 403.2 -77.86 - - 3214.78 - - - - - - - - - 15.95 -
4100.13 345.36 -7.58 499 4119.19 roll -1.18 - - 2227.88 - 3.14 0.064 1145.81 -360.6 -77.86 - - 3213.16 - - - - - - - - - 15.85 -
4169.68 351.34 -8.48 510 4188.26 roll -1.18 - - 2227.75 - 2.81 0.025 2278.19 403.0 -77.86 - - 3213.91 - - - - - - - - - 15.98 -
4494.11 376.93 -7.54 542 4498.17 no move -1.18 - - 2227.19 - - - 2278.69 - -77.86 - - 3212.75 - - - - - - - - - - -
4804.15 400.03 -7.36 573 4823.61 roll -1.18 - - 2227.19 - 3.24 0.064 1145.81 -349.7 -77.86 - - 3212.66 - - - - - - - - - 15.84 -
4864.09 404.53 -7.28 582 4882.65 roll -1.18 - - 2227.62 - 2.82 0.025 2277.31 401.2 -77.86 - - 3213.16 - - - - - - - - - 15.85 -
5188.53 427.61 -7.15 614 5192.59 no move -1.18 - - 2227.31 - - - 2277.06 - -77.86 - - 3211.59 - - - - - - - - - - -
5498.80 449.59 -7.04 645 5502.86 no move -1.18 - - 2227.25 - - - 2277.69 - -77.86 - - 3211.62 - - - - - - - - - - -
5808.82 469.82 -6.09 676 5812.88 no move -1.18 - - 2227.75 - - - 2277.56 - -77.86 - - 3210.97 - - - - - - - - - - -
6118.85 490.76 -6.72 707 6138.30 roll -1.18 - - 2227.25 - 3.21 0.065 1144.75 -352.9 -77.86 - - 3210.88 - - - - - - - - - 15.81 -
6278.84 502.37 -6.99 736 6297.81 roll -1.18 - - 2226.25 - 2.83 0.026 2276.31 399.8 -77.86 - - 3212.00 - - - - - - - - - 15.97 -
6603.86 524.57 -6.77 768 6607.92 no move -1.18 - - 2227.31 - - - 2276.50 - -77.86 - - 3209.69 - - - - - - - - - - -
6913.78 545.71 -6.71 799 6917.84 no move -1.18 - - 2227.44 - - - 2276.31 - -77.86 - - 3209.50 - - - - - - - - - - -
7223.82 566.03 -6.68 830 7227.88 no move -1.18 - - 2227.00 - - - 2276.31 - -77.86 - - 3209.09 - - - - - - - - - - -
7533.86 586.13 -6.40 861 7537.92 no move -1.18 - - 2226.88 - - - 2276.00 - -77.86 - - 3208.69 - - - - - - - - - - -
7843.90 607.47 -6.42 892 7847.96 no move -1.18 - - 2227.56 - - - 2276.69 - -77.86 - - 3208.81 - - - - - - - - - - -
8153.95 626.93 -6.05 923 8173.00 roll -1.18 - - 2227.56 - 3.17 0.066 1145.81 -356.7 -77.86 - - 3208.25 - - - - - - - - - 15.80 -
8193.48 629.71 -6.68 928 8212.43 roll -1.18 - - 2227.50 - 2.83 0.026 2276.44 399.5 -77.86 - - 3208.44 - - - - - - - - - 15.97 -
8518.26 648.73 -5.76 960 8522.32 no move -1.18 - - 2227.62 - - - 2276.12 - -77.86 - - 3208.31 - - - - - - - - - - -
8828.27 666.31 -5.82 991 8832.33 no move -1.18 - - 2227.56 - - - 2276.38 - -77.86 - - 3207.44 - - - - - - - - - - -
9138.28 684.94 -6.28 1022 9142.34 no move -1.18 - - 2227.56 - - - 2276.75 - -77.86 - - 3207.31 - - - - - - - - - - -
9448.30 704.31 -6.28 1053 9452.36 no move -1.18 - - 2227.31 - - - 2276.69 - -77.86 - - 3207.12 - - - - - - - - - - -
9758.31 724.98 -6.78 1084 9777.86 roll -1.18 - - 2227.62 - 3.21 0.067 1144.56 -352.7 -77.86 - - 3207.06 - - - - - - - - - 15.77 -
9854.09 731.71 -7.04 1100 9871.94 roll -1.18 - - 2227.12 - 2.85 0.026 2276.38 397.1 -77.86 - - 3206.78 - - - - - - - - - 15.83 -
10177.80 750.68 -5.39 1132 10181.86 no move -1.18 - - 2227.81 - - - 2276.12 - -77.86 - - 3206.09 - - - - - - - - - - -
10487.84 767.62 -5.73 1163 10491.90 no move -1.18 - - 2226.62 - - - 2277.00 - -77.86 - - 3205.66 - - - - - - - - - - -
10797.88 786.46 -6.28 1194 10801.94 no move -1.18 - - 2227.44 - - - 2276.81 - -77.86 - - 3205.44 - - - - - - - - - - -
11107.92 805.21 -5.86 1225 11126.69 roll -1.18 - - 2228.25 - 3.07 0.069 1143.06 -369.3 -77.86 - - 3206.41 - - - - - - - - - 15.77 -
11143.02 807.21 -5.65 1229 11161.10 roll -1.18 - - 2227.38 - 2.87 0.026 2275.38 394.5 -77.86 - - 3205.28 - - - - - - - - - 15.98 -
11467.08 825.22 -5.94 1261 11486.53 roll -1.18 - - 2226.94 - 3.27 0.089 3352.06 329.3 -77.86 - - 3206.78 - - - - - - - - - 15.73 -
11517.01 828.50 -7.21 1268 11535.17 roll -1.18 - - 2227.94 - 2.76 0.021 2191.12 -420.6 -77.86 - - 3205.28 - - - - - - - - - 15.95 -
11841.02 847.25 -5.80 1300 11859.27 roll -1.18 - - 2227.31 - 2.91 0.073 1144.25 -359.7 -77.86 - - 3204.91 - - - - - - - - - 15.77 -
11905.49 851.26 -6.23 1310 11923.33 roll -1.18 - - 2226.50 - 2.83 0.027 2276.69 400.2 -77.86 - - 3206.00 - - - - - - - - - 15.98 -
12229.17 869.35 -5.41 1342 12248.62 roll -1.18 - - 2227.75 - 3.23 0.089 3352.69 333.1 -77.86 - - 3204.12 - - - - - - - - - 15.72 -
12264.83 871.47 -6.10 1346 12282.27 roll -1.18 - - 2227.25 - 2.80 0.020 2192.62 -414.3 -77.86 - - 3204.94 - - - - - - - - - 15.98 -
12588.11 891.63 -6.61 1378 12592.17 no move -1.18 - - 2227.50 - - - 2191.44 - -77.86 - - 3203.16 - - - - - - - - - - -
12898.16 911.08 -6.07 1409 12902.22 no move -1.18 - - 2227.88 - - - 2190.19 - -77.86 - - 3203.06 - - - - - - - - - - -
13208.18 930.23 -6.44 1440 13212.48 no move -1.18 - - 2227.69 - - - 2190.56 - -77.86 - - 3203.41 - - - - - - - - - - -
13518.45 948.46 -5.86 1471 13522.51 no move -1.18 - - 2227.00 - - - 2190.62 - -77.86 - - 3203.41 - - - - - - - - - - -
13828.50 966.21 -5.33 1502 13832.56 no move -1.18 - - 2227.94 - - - 2189.69 - -77.86 - - 3202.94 - - - - - - - - - - -
14138.54 982.64 -5.15 1533 14142.60 no move -1.18 - - 2227.38 - - - 2190.19 - -77.86 - - 3203.41 - - - - - - - - - - -
14288 end dive: TARGET_DEPTH_EXCEEDED
14288 begin apogee
14293.23 990.56 -5.30 1548 14397.39 -0.31 1.62 0.134 2440.12 131.3 0.14 0.162 2183.62 -46.9 - 64.46 2.425 2890.06 -4.9 0.338 - - - - - - 15.50 15.42 10.19
14402 end apogee: CONTROL_FINISHED_OK
14403 begin climb
14405.46 991.97 - 1555 14514.74 1.18 2.59 0.091 2805.44 141.1 - - 2183.25 - 77.86 65.79 2.398 2571.19 -4.8 0.341 - - - - - - 15.56 - 11.81
14821.10 967.06 6.59 1593 14825.17 VBD 1.27 - - 2804.94 - - - 2182.69 - 77.86 - - 2562.91 - - - - - - - - - - -
15131.54 948.06 5.69 1624 15137.39 1.41 0.35 0.070 2866.31 175.3 - - 2183.44 - 77.86 - - 2562.34 - - - - - - - - 15.79 - -
15443.84 927.88 6.36 1655 15447.91 VBD 1.51 - - 2866.44 - - - 2183.44 - 77.86 - - 2561.62 - - - - - - - - - - -
15754.27 907.75 6.64 1686 15759.72 1.60 0.22 0.077 2915.25 221.9 - - 2182.94 - 77.86 - - 2561.75 - - - - - - - - 15.86 - -
16065.57 883.41 8.06 1717 16069.64 VBD 1.60 - - 2915.62 - - - 2183.19 - 77.86 - - 2560.88 - - - - - - - - - - -
16375.60 858.41 8.51 1748 16379.66 VBD 1.60 - - 2915.12 - - - 2183.06 - 77.86 - - 2560.19 - - - - - - - - - - -
16686.05 834.08 7.18 1779 16704.29 done 1.65 - - 2915.06 - 2.97 0.077 1145.81 -349.2 77.86 - - 2559.94 - - - - - - - - - 15.81 -
16790.52 825.62 8.37 1797 16808.37 done 1.65 - - 2915.38 - 2.86 0.030 2272.81 394.1 77.86 - - 2560.06 - - - - - - - - - 15.96 -
17114.60 802.39 7.24 1829 17118.67 VBD 1.70 - - 2916.50 - - - 2272.75 - 77.86 - - 2559.12 - - - - - - - - - - -
17424.92 780.78 7.11 1860 17428.98 VBD 1.75 - - 2915.44 - - - 2272.62 - 77.86 - - 2559.25 - - - - - - - - - - -
17735.25 758.36 6.95 1891 17740.70 1.82 0.27 0.070 2968.81 197.7 - - 2273.06 - 77.86 - - 2561.00 - - - - - - - - 15.90 - -
18046.55 732.68 8.61 1922 18065.61 done 1.82 - - 2969.81 - 3.16 0.073 1145.31 -356.9 77.86 - - 2557.75 - - - - - - - - - 15.80 -
18191.86 719.48 9.24 1948 18210.34 done 1.82 - - 2968.12 - 2.87 0.030 2272.44 392.7 77.86 - - 2559.19 - - - - - - - - - 15.83 -
18516.29 692.67 8.31 1980 18520.35 VBD 1.82 - - 2968.94 - - - 2272.00 - 77.86 - - 2558.72 - - - - - - - - - - -
18826.31 665.72 8.64 2011 18845.76 done 1.82 - - 2969.56 - 3.27 0.091 3350.12 329.7 77.86 - - 2559.66 - - - - - - - - - 15.76 -
18886.25 659.97 9.55 2020 18904.81 done 1.82 - - 2969.19 - 2.76 0.022 2203.56 -415.4 77.86 - - 2559.62 - - - - - - - - - 15.98 -
19210.67 633.61 7.94 2052 19214.73 VBD 1.82 - - 2969.38 - - - 2202.12 - 77.86 - - 2557.97 - - - - - - - - - - -
19521.11 610.05 7.50 2083 19525.17 VBD 1.85 - - 2968.81 - - - 2201.69 - 77.86 - - 2558.28 - - - - - - - - - - -
19831.42 586.04 7.48 2114 19835.47 VBD 1.89 - - 2968.62 - - - 2202.12 - 77.86 - - 2558.00 - - - - - - - - - - -
20141.70 563.16 7.42 2145 20145.76 VBD 1.93 - - 2969.88 - - - 2202.06 - 77.86 - - 2558.06 - - - - - - - - - - -
20452.02 542.59 6.53 2176 20457.07 2.02 0.19 0.080 3014.69 235.8 - - 2202.56 - 77.86 - - 2558.25 - - - - - - - - 15.91 - -
20763.32 521.01 6.46 2207 20781.57 done 2.11 - - 3013.94 - 2.98 0.075 1144.62 -355.0 77.86 - - 2558.03 - - - - - - - - - 15.77 -
20992.52 505.71 6.58 2250 21011.12 2.20 - - 3015.06 - 2.85 0.030 2275.25 396.7 77.86 - - 2559.22 - - - - - - - - - 15.94 -
21317.49 484.76 6.76 2282 21336.98 2.28 - - 3014.94 - 3.25 0.090 3350.88 331.0 77.86 - - 2558.47 - - - - - - - - - 15.72 -
21357.46 481.50 7.95 2287 21375.63 2.28 - - 3015.06 - 2.79 0.021 2201.69 -411.9 77.86 - - 2559.62 - - - - - - - - - 15.94 -
21681.90 457.22 7.20 2319 21685.97 2.33 - - 3014.75 - - - 2200.56 - 77.86 - - 2558.19 - - - - - - - - - - -
21992.33 435.16 6.72 2350 22010.61 2.41 - - 3015.25 - 2.94 0.075 1144.12 -359.3 77.86 - - 2559.34 - - - - - - - - - 15.64 -
22117.26 426.79 7.10 2372 22135.50 2.47 - - 3014.31 - 2.84 0.029 2276.62 398.8 77.86 - - 2560.31 - - - - - - - - - 15.93 -
22441.74 406.47 5.68 2404 22460.81 2.61 - - 3014.94 - 3.18 0.070 1144.25 -356.1 77.86 - - 2559.72 - - - - - - - - - 15.68 -
22637.47 393.82 6.24 2440 22655.59 2.72 - - 3014.50 - 2.86 0.029 2276.31 395.8 77.86 - - 2557.09 - - - - - - - - - 15.92 -
22961.96 376.36 4.86 2472 23059.12 2.85 - - 3014.69 - 3.20 0.073 1144.00 -353.8 143.78 53.01 1.676 2302.44 -4.8 0.184 - - - - - - - 15.57 10.79
23130.35 362.32 11.05 2498 23148.21 roll back 2.85 - - 3015.00 - 2.89 0.029 2272.88 390.6 143.78 - - 2296.62 - - - - - - - - - 15.77 -
23454.17 330.39 9.55 2530 23458.26 2.85 - - 3015.62 - - - 2272.31 - 143.78 - - 2293.88 - - - - - - - - - - -
23764.18 299.05 10.89 2561 23783.25 2.85 - - 3014.69 - 3.17 0.071 1146.25 -355.2 143.78 - - 2295.16 - - - - - - - - - 15.74 -
23863.75 287.79 10.99 2578 23882.33 2.85 - - 3014.81 - 2.87 0.029 2273.62 392.8 143.78 - - 2294.53 - - - - - - - - - 15.85 -
24188.17 256.55 9.36 2610 24207.65 2.85 - - 3015.50 - 3.20 0.070 1146.06 -352.4 143.78 - - 2293.25 - - - - - - - - - 15.76 -
24378.17 238.16 9.85 2645 24396.86 2.85 - - 3015.19 - 2.86 0.029 2273.69 394.3 143.78 - - 2292.78 - - - - - - - - - 15.89 -
24702.83 210.81 8.43 2677 24706.91 2.85 - - 3014.44 - - - 2274.00 - 143.78 - - 2292.69 - - - - - - - - - - -
25012.87 183.35 9.16 2708 25032.33 2.85 - - 3014.94 - 3.22 0.070 1146.44 -350.2 143.78 - - 2294.53 - - - - - - - - - 15.57 -
25108.57 173.78 10.07 2724 25126.82 2.85 - - 3014.12 - 2.87 0.029 2274.12 392.9 143.78 - - 2293.44 - - - - - - - - - 15.83 -
25432.69 144.02 8.28 2756 25453.58 2.85 - - 3015.88 - 3.27 0.090 3349.75 328.9 143.78 - - 2292.47 - - - - - - - - - 15.51 -
25514.80 137.19 8.07 2769 25533.04 2.85 - - 3015.75 - 2.81 0.020 2199.38 -409.4 143.78 - - 2293.19 - - - - - - - - - 15.73 -
25839.29 113.59 7.14 2801 25857.95 2.90 - - 3015.19 - 3.02 0.073 1145.69 -348.9 143.78 - - 2291.34 - - - - - - - - - 15.72 -
26089.18 93.54 8.18 2848 26108.01 2.90 - - 3015.44 - 2.87 0.028 2276.88 394.1 143.78 - - 2293.03 - - - - - - - - - 15.76 -
26294.40 82.39 4.58 2886 26392.80 3.05 - - 3015.88 - 3.23 0.089 3352.00 332.9 215.38 56.28 1.280 2010.22 -5.0 0.055 - - - - - - - 15.55 11.36
26409.41 76.94 5.61 2901 26428.00 roll back 3.19 - - 3014.88 - 2.81 0.020 2196.81 -411.1 215.38 - - 2007.25 - - - - - - - - - 15.72 -
26614.28 64.10 6.85 2939 26633.66 3.26 - - 3015.19 - 3.04 0.072 1145.75 -345.7 215.38 - - 2003.75 - - - - - - - - - 15.61 -
26660.28 60.94 7.17 2945 26679.25 3.32 - - 3015.50 - 2.83 0.027 2276.38 399.5 215.38 - - 2002.72 - - - - - - - - - 15.60 -
26865.51 47.40 6.49 2983 26885.73 3.41 - - 3015.94 - 3.21 0.067 1144.62 -352.6 215.38 - - 2002.25 - - - - - - - - - 15.61 -
27117.40 36.55 3.67 3030 27235.10 3.59 - - 3015.62 - 2.84 0.026 2276.62 398.6 305.99 70.02 1.205 1641.88 -5.1 0.027 - - - - - - - 15.68 11.63
27421.47 21.29 4.58 3082 27524.02 3.74 - - 3015.19 - 3.17 0.071 1144.50 -357.1 377.67 56.88 1.153 1350.09 -5.1 0.016 - - - - - - - 15.47 11.57
27670.78 5.64 6.83 3124 27689.37 3.81 - - 3015.00 - 2.87 0.026 2275.44 394.1 377.67 - - 1342.53 - - - - - - - - - 15.59 -
27699 end climb: SURFACE_DEPTH_REACHED
27700 begin surface coast
27770 end surface coast: CONTROL_FINISHED_OK
27771 begin surface
SM 1.11 - - - - 180.7 40.40 1.117 1136.4 28.1 19.76 0.048 1136.9 57.5 - 0.11 0.088 1135.8 10299.4 -13.278 - - 11.39 15.71 15.78 -