NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 149 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 53.54 of 506.00 AH used of 24V (89.42% remains)
• Surface angle -67.3 deg, depth 1.20 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.15 (SM_CC=430)
• GPS1 time: 43 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
18.75 - - - 90.20 VBD -1.18 - - 180.62 - - - 2284.88 - -77.86 49.78 0.005 2408.56 - - - - - - - - - - 15.52
92.03 3.43 -5.10 10 212.20 -1.18 16.69 0.230 2227.94 122.7 3.16 0.067 1145.00 -360.7 -77.86 13.81 0.006 3209.47 58.0 -5.510 - - - - - - 15.57 15.51 15.56
218.26 28.39 -13.98 18 236.09 roll -1.18 - - 2226.12 - 2.83 0.027 2275.50 399.5 -77.86 - - 3214.41 - - - - - - - - - 15.75 -
421.87 57.20 -14.10 56 428.43 no move -1.18 - - 2227.94 - - - 2275.62 - -77.86 - - 3213.72 - - - - - - - - - - -
614.36 79.85 -11.23 94 620.91 no move -1.18 - - 2227.62 - - - 2275.75 - -77.86 - - 3214.59 - - - - - - - - - - -
806.70 97.86 -7.72 132 826.15 roll -1.18 - - 2228.12 - 3.11 0.064 1144.88 -363.6 -77.86 - - 3214.72 - - - - - - - - - 15.90 -
872.32 102.42 -7.09 142 889.83 roll -1.18 - - 2226.25 - 2.81 0.025 2279.50 403.8 -77.86 - - 3216.12 - - - - - - - - - 15.94 -
1195.64 125.89 -7.91 174 1199.66 no move -1.18 - - 2227.50 - - - 2279.19 - -77.86 - - 3215.12 - - - - - - - - - - -
1505.68 148.72 -6.90 205 1524.00 roll -1.18 - - 2227.69 - 3.10 0.086 3351.81 346.0 -77.86 - - 3215.91 - - - - - - - - - 15.94 -
1534.41 150.91 -7.15 208 1552.26 done -1.18 - - 2227.56 - 2.74 0.021 2185.69 -425.6 -77.86 - - 3217.03 - - - - - - - - - 15.92 -
1858.09 173.09 -7.32 240 1875.62 done -1.18 - - 2228.12 - 2.86 0.069 1144.19 -364.2 -77.86 - - 3218.47 - - - - - - - - - 15.91 -
1991.78 183.74 -7.85 264 2009.68 done -1.18 - - 2228.06 - 2.81 0.026 2278.25 403.6 -77.86 - - 3216.66 - - - - - - - - - 15.99 -
2315.52 207.29 -6.81 296 2334.48 roll -1.18 - - 2227.88 - 3.11 0.086 3353.12 345.6 -77.86 - - 3217.09 - - - - - - - - - 15.99 -
2350.78 209.96 -7.25 300 2368.11 roll -1.18 - - 2227.25 - 2.72 0.021 2188.44 -428.2 -77.86 - - 3217.12 - - - - - - - - - 16.01 -
2673.96 235.92 -7.77 332 2678.03 no move -1.18 - - 2227.56 - - - 2187.12 - -77.86 - - 3214.66 - - - - - - - - - - -
2984.02 259.42 -7.46 363 2988.08 no move -1.18 - - 2228.12 - - - 2187.06 - -77.86 - - 3214.75 - - - - - - - - - - -
3294.07 281.39 -7.06 394 3315.24 roll -1.18 - - 2227.81 - 3.33 0.083 3350.88 349.5 -77.86 - - 3216.28 - - - - - - - - - 16.03 -
3336.43 284.82 -7.68 399 3353.76 roll -1.18 - - 2227.69 - 2.72 0.021 2191.00 -426.4 -77.86 - - 3216.47 - - - - - - - - - 16.03 -
3659.61 308.57 -7.36 431 3677.36 roll -1.18 - - 2228.44 - 2.86 0.071 1144.19 -366.0 -77.86 - - 3214.91 - - - - - - - - - 16.04 -
3693.55 311.17 -7.55 435 3711.28 roll -1.18 - - 2228.06 - 2.77 0.026 2278.19 409.4 -77.86 - - 3215.06 - - - - - - - - - 15.97 -
4017.10 332.07 -6.07 467 4035.64 roll -1.18 - - 2228.00 - 3.09 0.086 3351.56 347.4 -77.86 - - 3213.03 - - - - - - - - - 16.03 -
4066.10 335.74 -7.25 474 4084.53 roll -1.18 - - 2227.25 - 2.73 0.021 2191.50 -424.9 -77.86 - - 3215.50 - - - - - - - - - 16.05 -
4390.49 357.17 -6.63 506 4408.23 roll -1.18 - - 2227.50 - 2.89 0.071 1143.50 -362.6 -77.86 - - 3212.06 - - - - - - - - - 16.00 -
4478.71 363.87 -7.72 521 4497.17 roll -1.18 - - 2227.12 - 2.79 0.027 2277.25 406.4 -77.86 - - 3214.19 - - - - - - - - - 16.04 -
4803.02 387.57 -7.45 553 4821.58 roll -1.18 - - 2227.44 - 3.10 0.087 3352.25 346.8 -77.86 - - 3211.53 - - - - - - - - - 15.97 -
4872.05 393.29 -8.54 564 4890.11 roll -1.18 - - 2226.62 - 2.73 0.021 2191.50 -425.2 -77.86 - - 3212.88 - - - - - - - - - 16.05 -
5195.96 417.97 -7.69 596 5200.03 no move -1.18 - - 2227.12 - - - 2190.06 - -77.86 - - 3210.78 - - - - - - - - - - -
5506.02 440.17 -6.97 627 5510.08 no move -1.18 - - 2227.81 - - - 2190.25 - -77.86 - - 3210.50 - - - - - - - - - - -
5816.06 461.23 -6.59 658 5820.12 no move -1.18 - - 2227.56 - - - 2189.75 - -77.86 - - 3209.31 - - - - - - - - - - -
6126.11 483.41 -7.40 689 6147.27 roll -1.18 - - 2227.06 - 3.35 0.085 3351.81 346.9 -77.86 - - 3209.03 - - - - - - - - - 16.03 -
6188.47 488.78 -8.61 698 6206.48 roll -1.18 - - 2227.12 - 2.72 0.022 2194.12 -425.6 -77.86 - - 3210.25 - - - - - - - - - 16.06 -
6512.43 514.32 -7.67 730 6530.17 roll -1.18 - - 2227.38 - 2.89 0.072 1145.31 -362.9 -77.86 - - 3208.62 - - - - - - - - - 16.01 -
6580.65 519.63 -8.16 741 6599.11 roll -1.18 - - 2228.06 - 2.78 0.027 2278.56 407.6 -77.86 - - 3209.78 - - - - - - - - - 16.04 -
6904.96 543.16 -6.57 773 6909.02 no move -1.18 - - 2227.38 - - - 2277.81 - -77.86 - - 3209.31 - - - - - - - - - - -
7215.02 562.55 -5.94 804 7233.58 roll -1.18 - - 2227.75 - 3.10 0.089 3351.19 346.3 -77.86 - - 3207.50 - - - - - - - - - 16.03 -
7299.78 568.25 -7.10 818 7316.72 roll -1.18 - - 2227.50 - 2.69 0.022 2192.12 -430.9 -77.86 - - 3209.66 - - - - - - - - - 16.05 -
7622.57 586.63 -5.43 850 7626.63 no move -1.18 - - 2227.31 - - - 2190.88 - -77.86 - - 3208.00 - - - - - - - - - - -
7932.82 604.28 -5.80 881 7936.89 no move -1.18 - - 2226.94 - - - 2191.06 - -77.86 - - 3207.72 - - - - - - - - - - -
8242.71 622.09 -5.78 912 8246.77 no move -1.18 - - 2227.50 - - - 2191.00 - -77.86 - - 3206.78 - - - - - - - - - - -
8552.71 639.45 -5.55 943 8573.88 roll -1.18 - - 2227.12 - 3.34 0.086 3352.38 347.7 -77.86 - - 3206.22 - - - - - - - - - 16.01 -
8639.36 645.32 -6.76 957 8657.43 roll -1.18 - - 2227.94 - 2.72 0.022 2192.94 -426.3 -77.86 - - 3208.12 - - - - - - - - - 16.04 -
8963.39 664.85 -6.23 989 8967.54 no move -1.18 - - 2228.00 - - - 2192.25 - -77.86 - - 3206.00 - - - - - - - - - - -
9273.44 687.60 -7.73 1020 9294.61 roll -1.18 - - 2227.06 - 3.35 0.087 3352.12 346.2 -77.86 - - 3206.19 - - - - - - - - - 15.95 -
9345.82 693.74 -8.62 1031 9363.56 roll -1.18 - - 2227.75 - 2.72 0.022 2193.12 -426.1 -77.86 - - 3205.28 - - - - - - - - - 16.05 -
9669.41 717.35 -6.89 1063 9673.46 no move -1.18 - - 2227.50 - - - 2192.94 - -77.86 - - 3204.75 - - - - - - - - - - -
9979.45 737.48 -6.43 1094 9983.51 no move -1.18 - - 2226.75 - - - 2192.75 - -77.86 - - 3204.94 - - - - - - - - - - -
10289.50 758.58 -6.96 1125 10293.96 no move -1.18 - - 2227.25 - - - 2192.44 - -77.86 - - 3204.47 - - - - - - - - - - -
10599.77 780.40 -6.90 1156 10620.93 roll -1.18 - - 2227.69 - 3.35 0.087 3352.12 346.2 -77.86 - - 3207.06 - - - - - - - - - 15.94 -
10682.15 786.76 -7.75 1169 10699.49 roll -1.18 - - 2227.44 - 2.76 0.022 2196.62 -418.7 -77.86 - - 3204.75 - - - - - - - - - 16.05 -
11005.34 805.91 -5.50 1201 11023.33 roll -1.18 - - 2227.25 - 2.88 0.075 1145.50 -365.0 -77.86 - - 3206.06 - - - - - - - - - 16.02 -
11053.91 809.02 -6.14 1208 11071.98 roll -1.18 - - 2227.81 - 2.77 0.028 2278.12 408.9 -77.86 - - 3205.03 - - - - - - - - - 16.04 -
11377.80 826.21 -5.12 1240 11381.86 no move -1.18 - - 2227.25 - - - 2278.38 - -77.86 - - 3203.69 - - - - - - - - - - -
11687.81 841.81 -5.30 1271 11706.78 roll -1.18 - - 2226.94 - 3.13 0.070 1143.75 -362.5 -77.86 - - 3202.97 - - - - - - - - - 16.01 -
11767.26 846.16 -5.50 1284 11785.32 roll -1.18 - - 2227.00 - 2.80 0.028 2278.38 405.2 -77.86 - - 3205.06 - - - - - - - - - 16.05 -
12091.73 863.05 -4.94 1316 12095.79 no move -1.18 - - 2227.25 - - - 2277.75 - -77.86 - - 3203.12 - - - - - - - - - - -
12401.80 878.19 -4.97 1347 12420.76 roll -1.18 - - 2227.62 - 3.14 0.091 3349.75 341.4 -77.86 - - 3202.28 - - - - - - - - - 15.92 -
12491.25 883.37 -5.76 1362 12509.31 roll -1.18 - - 2227.75 - 2.73 0.022 2195.88 -422.7 -77.86 - - 3203.78 - - - - - - - - - 16.04 -
12815.17 899.47 -5.24 1394 12832.92 roll -1.18 - - 2226.88 - 2.89 0.075 1142.44 -364.5 -77.86 - - 3201.91 - - - - - - - - - 16.00 -
12933.41 906.25 -5.61 1415 12951.48 roll -1.18 - - 2227.38 - 2.79 0.029 2277.38 406.8 -77.86 - - 3203.56 - - - - - - - - - 15.93 -
13257.46 923.37 -5.21 1447 13261.52 no move -1.18 - - 2227.75 - - - 2276.81 - -77.86 - - 3201.91 - - - - - - - - - - -
13567.50 939.85 -5.12 1478 13586.05 roll -1.18 - - 2227.38 - 3.10 0.071 1143.88 -365.5 -77.86 - - 3203.06 - - - - - - - - - 16.00 -
13632.26 943.32 -5.10 1488 13649.99 roll -1.18 - - 2227.69 - 2.79 0.029 2277.56 406.3 -77.86 - - 3202.59 - - - - - - - - - 16.05 -
13955.82 959.71 -5.07 1520 13959.88 no move -1.18 - - 2226.88 - - - 2277.38 - -77.86 - - 3201.62 - - - - - - - - - - -
14265.83 976.56 -5.42 1551 14269.89 no move -1.18 - - 2227.56 - - - 2277.19 - -77.86 - - 3200.66 - - - - - - - - - - -
14505 end dive: TARGET_DEPTH_EXCEEDED
14506 begin apogee
14510.47 990.64 -6.14 1575 14610.49 -0.31 1.54 0.138 2437.75 136.5 0.19 0.152 2283.69 34.2 - 61.94 2.493 2890.00 -5.0 0.331 - - - - - - 15.92 15.57 11.36
14624 end apogee: CONTROL_FINISHED_OK
14624 begin climb
14626.67 992.73 - 1582 14734.97 1.18 2.54 0.095 2805.25 144.7 - - 2283.69 - 77.86 65.65 2.432 2571.03 -4.9 0.330 - - - - - - 15.68 - 12.39
15041.33 973.74 5.55 1620 15046.70 1.33 0.20 0.082 2850.94 228.5 - - 2283.38 - 77.86 - - 2561.75 - - - - - - - - 15.76 - -
15353.27 952.24 6.86 1651 15372.23 done 1.40 - - 2851.38 - 3.20 0.075 1145.12 -355.7 77.86 - - 2562.19 - - - - - - - - - 15.80 -
15442.70 944.86 8.14 1666 15461.16 done 1.40 - - 2850.25 - 2.85 0.032 2272.50 395.6 77.86 - - 2562.47 - - - - - - - - - 15.91 -
15767.00 919.72 7.91 1698 15771.08 VBD 1.40 - - 2851.56 - - - 2273.00 - 77.86 - - 2558.75 - - - - - - - - - - -
16077.06 895.40 8.08 1729 16081.12 VBD 1.40 - - 2851.19 - - - 2272.75 - 77.86 - - 2557.66 - - - - - - - - - - -
16387.49 873.79 5.89 1760 16409.48 1.53 0.22 0.079 2901.06 226.7 3.14 0.075 1146.44 -358.7 77.86 - - 2560.78 - - - - - - - - 15.95 15.92 -
16534.96 860.12 8.44 1786 16553.81 done 1.53 - - 2900.75 - 2.84 0.033 2273.50 396.9 77.86 - - 2561.59 - - - - - - - - - 16.00 -
16859.65 834.98 7.65 1818 16863.71 VBD 1.53 - - 2900.50 - - - 2273.69 - 77.86 - - 2557.97 - - - - - - - - - - -
17169.71 810.01 7.74 1849 17188.67 done 1.53 - - 2900.75 - 3.15 0.075 1146.38 -357.9 77.86 - - 2557.00 - - - - - - - - - 16.01 -
17339.29 795.48 8.16 1880 17357.74 done 1.53 - - 2900.81 - 2.86 0.033 2271.75 393.5 77.86 - - 2560.94 - - - - - - - - - 16.02 -
17664.00 771.18 7.15 1912 17682.96 done 1.59 - - 2900.19 - 3.19 0.097 3350.19 338.1 77.86 - - 2557.06 - - - - - - - - - 15.98 -
17709.16 767.35 7.99 1918 17726.51 done 1.59 - - 2900.88 - 2.72 0.024 2200.94 -422.5 77.86 - - 2558.34 - - - - - - - - - 16.03 -
18032.76 743.85 7.29 1950 18036.82 VBD 1.63 - - 2900.56 - - - 2200.25 - 77.86 - - 2556.56 - - - - - - - - - - -
18343.07 721.70 7.48 1981 18347.13 VBD 1.67 - - 2900.12 - - - 2199.69 - 77.86 - - 2557.03 - - - - - - - - - - -
18653.38 700.22 6.82 2012 18658.75 1.74 0.23 0.079 2950.25 218.0 - - 2200.44 - 77.86 - - 2556.50 - - - - - - - - 15.99 - -
18965.00 676.86 7.35 2043 18969.06 VBD 1.78 - - 2950.44 - - - 2199.62 - 77.86 - - 2556.66 - - - - - - - - - - -
19274.91 652.87 7.60 2074 19278.98 VBD 1.78 - - 2950.19 - - - 2199.88 - 77.86 - - 2556.62 - - - - - - - - - - -
19585.61 629.31 6.59 2105 19589.68 VBD 1.87 - - 2949.62 - - - 2200.50 - 77.86 - - 2556.28 - - - - - - - - - - -
19896.04 607.47 7.14 2136 19901.00 1.92 0.19 0.083 2997.12 250.0 - - 2200.62 - 77.86 - - 2556.47 - - - - - - - - 15.99 - -
20207.22 583.99 7.09 2167 20211.29 VBD 1.98 - - 2996.44 - - - 2200.25 - 77.86 - - 2556.47 - - - - - - - - - - -
20517.53 563.50 6.18 2198 20522.09 2.09 0.01 0.292 3004.31 787.0 - - 2200.62 - 77.86 - - 2557.25 - - - - - - - - - - -
20828.35 543.51 6.52 2229 20832.42 2.19 - - 3004.62 - - - 2200.12 - 77.86 - - 2556.47 - - - - - - - - - - -
21138.65 522.69 6.71 2260 21156.81 2.27 - - 3005.38 - 2.97 0.076 1144.94 -355.3 77.86 - - 2559.56 - - - - - - - - - 16.00 -
21297.33 510.25 7.96 2289 21315.81 2.27 - - 3005.06 - 2.84 0.032 2274.06 397.6 77.86 - - 2557.97 - - - - - - - - - 16.02 -
21622.06 485.56 7.50 2321 21626.13 2.30 - - 3005.19 - - - 2274.06 - 77.86 - - 2555.81 - - - - - - - - - - -
21932.49 462.62 7.54 2352 21951.47 2.33 - - 3004.31 - 3.16 0.072 1145.38 -357.2 77.86 - - 2555.59 - - - - - - - - - 15.93 -
22078.08 451.76 7.26 2378 22096.03 2.38 - - 3005.06 - 2.86 0.031 2273.62 394.5 77.86 - - 2557.38 - - - - - - - - - 16.03 -
22402.46 430.18 6.14 2410 22406.53 2.49 - - 3005.62 - - - 2273.81 - 77.86 - - 2556.03 - - - - - - - - - - -
22712.77 411.93 5.68 2441 22731.73 2.63 - - 3004.88 - 3.17 0.072 1146.50 -355.6 77.86 - - 2558.97 - - - - - - - - - 15.92 -
22918.39 399.46 5.97 2479 22936.17 2.76 - - 3005.19 - 2.85 0.031 2275.50 396.1 77.86 - - 2559.53 - - - - - - - - - 16.02 -
23242.42 381.49 5.56 2511 23261.40 2.91 - - 3002.94 - 3.17 0.094 3350.56 339.1 77.86 - - 2556.75 - - - - - - - - - 15.90 -
23287.99 378.65 5.65 2517 23305.35 3.05 - - 3005.25 - 2.75 0.023 2199.88 -418.4 77.86 - - 2556.75 - - - - - - - - - 16.03 -
23611.60 360.39 5.79 2549 23615.67 3.19 - - 3005.25 - - - 2198.62 - 77.86 - - 2555.69 - - - - - - - - - - -
23921.91 344.22 4.51 2580 24023.44 3.33 - - 3004.94 - 3.01 0.078 1143.88 -350.4 150.91 57.35 1.700 2274.22 -4.9 0.165 - - - - - - - 15.74 11.64
24064.02 333.12 9.33 2601 24082.51 roll back 3.33 - - 3005.56 - 2.88 0.031 2274.12 392.4 150.91 - - 2268.19 - - - - - - - - - 15.83 -
24388.47 302.21 9.26 2633 24392.54 3.33 - - 3005.00 - - - 2274.00 - 150.91 - - 2263.62 - - - - - - - - - - -
24698.51 272.76 9.84 2664 24717.57 3.33 - - 3005.44 - 3.18 0.072 1146.62 -354.5 150.91 - - 2264.25 - - - - - - - - - 15.92 -
24778.04 264.47 10.52 2677 24796.52 3.33 - - 3005.31 - 2.86 0.031 2272.62 393.7 150.91 - - 2262.72 - - - - - - - - - 15.94 -
25102.37 232.45 10.08 2709 25106.45 3.33 - - 3004.81 - - - 2273.25 - 150.91 - - 2261.69 - - - - - - - - - - -
25412.42 200.64 9.98 2740 25416.50 3.33 - - 3004.81 - - - 2272.12 - 150.91 - - 2260.97 - - - - - - - - - - -
25722.47 170.32 9.54 2771 25741.43 3.33 - - 3005.75 - 3.17 0.071 1146.00 -355.2 150.91 - - 2260.50 - - - - - - - - - 15.86 -
25827.63 159.97 9.82 2789 25845.40 3.33 - - 3005.25 - 2.86 0.031 2273.38 394.2 150.91 - - 2260.59 - - - - - - - - - 15.98 -
26151.24 129.18 9.76 2821 26170.44 3.33 - - 3005.06 - 3.14 0.070 1145.06 -359.3 150.91 - - 2260.66 - - - - - - - - - 15.95 -
26361.04 108.90 8.27 2860 26379.53 3.33 - - 3005.31 - 2.85 0.030 2272.94 395.7 150.91 - - 2261.34 - - - - - - - - - 15.89 -
26685.81 94.16 3.89 2908 26783.08 3.50 - - 3005.69 - - - 2273.44 - 236.96 65.48 1.351 1924.09 -5.2 0.060 - - - - - - - - 11.88
26968.94 69.74 9.50 2959 26975.55 3.50 - - 3005.44 - - - 2273.69 - 236.96 - - 1914.94 - - - - - - - - - - -
27161.89 53.71 7.47 2997 27181.58 3.54 - - 3005.69 - 3.19 0.070 1145.00 -353.8 236.96 - - 1912.69 - - - - - - - - - 15.79 -
27228.17 49.21 6.75 3007 27246.65 3.62 - - 3005.38 - 2.87 0.029 2275.00 393.7 236.96 - - 1911.75 - - - - - - - - - 15.86 -
27432.91 39.29 4.31 3045 27537.67 3.77 - - 3005.56 - 3.24 0.094 3351.12 332.1 314.14 58.44 1.253 1609.19 -5.2 0.027 - - - - - - - 15.66 12.13
27543.97 32.27 7.90 3059 27562.03 roll back 3.77 - - 3005.38 - 2.80 0.022 2200.38 -411.0 314.14 - - 1604.31 - - - - - - - - - 15.78 -
27747.85 17.17 7.95 3097 27766.74 3.77 - - 3005.25 - 2.97 0.074 1144.81 -355.4 314.14 - - 1600.25 - - - - - - - - - 15.78 -
27993.41 6.76 3.25 3143 28118.23 3.97 - - 3006.00 - 2.84 0.027 2277.50 398.8 413.30 76.67 1.197 1205.31 -5.2 0.005 - - - - - - - 15.88 12.11
28124 end climb: SURFACE_DEPTH_REACHED
28125 begin surface coast
28270 end surface coast: CONTROL_FINISHED_OK
28271 begin surface
SM 0.98 - - - - 181.8 13.07 1.057 1136.4 81.1 18.72 0.054 1137.6 60.8 - 0.12 0.086 1135.2 9436.3 -10.990 - - 12.22 15.77 15.81 -