NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 178 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 62.17 of 506.00 AH used of 24V (87.71% remains)
• Surface angle -66.0 deg, depth 1.12 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.92 (SM_CC=430)
• GPS1 time: 12 s
• GPS2 time: 4 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
18.76 - - - 97.12 VBD -1.18 - - 178.44 - - - 2289.19 - -77.86 54.92 0.005 2501.78 - - - - - - - - - - 15.49
99.34 3.07 -3.99 11 219.50 -1.18 16.84 0.227 2228.50 121.7 3.08 0.086 3354.00 345.7 -77.86 11.47 0.007 3209.09 61.7 -4.504 - - - - - - 15.56 15.45 15.54
230.54 31.63 -13.98 20 249.31 roll -1.18 - - 2228.56 - 2.81 0.020 2197.50 -411.6 -77.86 - - 3213.38 - - - - - - - - - 15.85 -
435.10 56.07 -11.43 58 454.14 roll -1.18 - - 2228.19 - 2.96 0.068 1145.56 -355.4 -77.86 - - 3212.88 - - - - - - - - - 15.81 -
520.42 65.83 -12.02 72 538.27 roll -1.18 - - 2227.56 - 2.78 0.025 2277.62 407.2 -77.86 - - 3214.00 - - - - - - - - - 15.86 -
724.09 83.34 -7.05 110 743.15 roll -1.18 - - 2227.69 - 3.08 0.083 3352.81 349.1 -77.86 - - 3214.53 - - - - - - - - - 15.83 -
774.30 87.96 -9.16 117 792.53 roll -1.18 - - 2227.06 - 2.78 0.019 2192.38 -417.4 -77.86 - - 3216.69 - - - - - - - - - 15.85 -
978.34 104.19 -7.92 150 996.26 roll -1.18 - - 2228.50 - 2.94 0.067 1144.00 -356.6 -77.86 - - 3215.59 - - - - - - - - - 15.81 -
1052.42 110.08 -7.87 162 1069.93 roll -1.18 - - 2228.12 - 2.76 0.025 2279.19 411.3 -77.86 - - 3215.88 - - - - - - - - - 15.94 -
1375.72 130.57 -6.84 194 1394.45 roll -1.18 - - 2227.44 - 3.18 0.063 1144.19 -356.9 -77.86 - - 3214.56 - - - - - - - - - 15.87 -
1440.61 135.44 -7.39 204 1457.73 roll -1.18 - - 2228.00 - 2.78 0.025 2279.19 408.3 -77.86 - - 3217.12 - - - - - - - - - 15.96 -
1763.73 159.71 -7.88 236 1767.79 VBD -1.18 - - 2228.00 - - - 2278.44 - -77.86 - - 3215.44 - - - - - - - - - - -
2073.76 183.61 -7.88 267 2077.82 VBD -1.18 - - 2228.19 - - - 2278.75 - -77.86 - - 3214.84 - - - - - - - - - - -
2383.78 206.81 -7.07 298 2387.84 no move -1.18 - - 2228.06 - - - 2279.38 - -77.86 - - 3215.03 - - - - - - - - - - -
2693.80 227.11 -6.04 329 2712.77 roll -1.18 - - 2228.38 - 3.17 0.065 1145.50 -357.7 -77.86 - - 3215.72 - - - - - - - - - 15.99 -
2743.23 230.38 -6.53 336 2761.30 roll -1.18 - - 2227.81 - 2.79 0.026 2277.94 405.9 -77.86 - - 3216.19 - - - - - - - - - 15.94 -
3067.15 249.35 -6.11 368 3086.10 roll -1.18 - - 2227.75 - 3.18 0.065 1145.88 -356.0 -77.86 - - 3215.06 - - - - - - - - - 15.98 -
3106.57 251.82 -6.33 373 3125.05 roll -1.18 - - 2227.06 - 2.78 0.026 2276.69 406.8 -77.86 - - 3216.31 - - - - - - - - - 16.02 -
3430.89 273.54 -7.09 405 3434.95 no move -1.18 - - 2227.88 - - - 2276.44 - -77.86 - - 3213.72 - - - - - - - - - - -
3741.16 297.57 -8.54 436 3760.11 roll -1.18 - - 2227.94 - 3.17 0.065 1145.62 -356.7 -77.86 - - 3213.03 - - - - - - - - - 15.99 -
3806.32 303.17 -8.54 446 3823.90 roll -1.18 - - 2228.56 - 2.79 0.026 2276.12 405.2 -77.86 - - 3214.66 - - - - - - - - - 16.04 -
4129.86 328.74 -7.62 478 4133.92 no move -1.18 - - 2228.12 - - - 2275.62 - -77.86 - - 3212.56 - - - - - - - - - - -
4439.92 352.14 -7.51 509 4458.88 roll -1.18 - - 2228.25 - 3.17 0.066 1145.00 -356.7 -77.86 - - 3211.75 - - - - - - - - - 15.97 -
4539.37 359.70 -7.53 526 4557.84 roll -1.18 - - 2228.19 - 2.79 0.027 2277.69 406.0 -77.86 - - 3213.09 - - - - - - - - - 15.95 -
4863.68 382.50 -7.03 558 4867.74 no move -1.18 - - 2228.75 - - - 2277.12 - -77.86 - - 3211.00 - - - - - - - - - - -
5173.70 404.54 -7.13 589 5177.77 no move -1.18 - - 2227.69 - - - 2277.31 - -77.86 - - 3210.94 - - - - - - - - - - -
5483.74 428.53 -7.77 620 5502.70 roll -1.18 - - 2226.38 - 3.17 0.067 1144.75 -357.3 -77.86 - - 3213.00 - - - - - - - - - 16.02 -
5533.17 432.56 -7.67 627 5551.62 roll -1.18 - - 2228.06 - 2.80 0.027 2277.44 404.5 -77.86 - - 3211.53 - - - - - - - - - 15.96 -
5857.47 457.80 -7.49 659 5861.53 no move -1.18 - - 2228.06 - - - 2277.38 - -77.86 - - 3209.94 - - - - - - - - - - -
6167.52 478.40 -6.15 690 6171.58 no move -1.18 - - 2227.69 - - - 2277.44 - -77.86 - - 3208.59 - - - - - - - - - - -
6477.58 498.04 -6.09 721 6481.64 no move -1.18 - - 2227.56 - - - 2277.19 - -77.86 - - 3209.16 - - - - - - - - - - -
6787.63 516.55 -5.61 752 6791.69 no move -1.18 - - 2228.00 - - - 2277.00 - -77.86 - - 3208.47 - - - - - - - - - - -
7097.68 533.67 -5.60 783 7101.73 no move -1.18 - - 2228.75 - - - 2277.56 - -77.86 - - 3207.50 - - - - - - - - - - -
7407.70 552.39 -6.21 814 7411.76 no move -1.18 - - 2227.81 - - - 2277.44 - -77.86 - - 3207.72 - - - - - - - - - - -
7717.72 572.94 -6.89 845 7737.09 roll -1.18 - - 2227.25 - 3.21 0.068 1144.38 -353.0 -77.86 - - 3207.94 - - - - - - - - - 15.97 -
7783.30 577.51 -6.75 855 7800.64 roll -1.18 - - 2227.75 - 2.80 0.028 2276.81 404.4 -77.86 - - 3208.62 - - - - - - - - - 16.06 -
8106.49 599.82 -7.17 887 8110.55 no move -1.18 - - 2228.31 - - - 2277.25 - -77.86 - - 3206.53 - - - - - - - - - - -
8416.55 621.93 -7.52 918 8420.61 no move -1.18 - - 2228.31 - - - 2276.50 - -77.86 - - 3206.16 - - - - - - - - - - -
8726.60 645.92 -7.79 949 8730.66 no move -1.18 - - 2227.94 - - - 2276.94 - -77.86 - - 3206.22 - - - - - - - - - - -
9036.65 669.30 -7.37 980 9040.71 no move -1.18 - - 2227.81 - - - 2276.69 - -77.86 - - 3206.12 - - - - - - - - - - -
9346.68 691.72 -6.92 1011 9365.64 roll -1.18 - - 2227.50 - 3.20 0.069 1144.38 -353.8 -77.86 - - 3206.12 - - - - - - - - - 16.01 -
9386.11 694.72 -7.15 1016 9404.98 roll -1.18 - - 2228.00 - 2.81 0.028 2275.44 402.5 -77.86 - - 3205.59 - - - - - - - - - 16.05 -
9710.80 715.74 -6.10 1048 9729.75 roll -1.18 - - 2227.69 - 3.19 0.069 1145.12 -354.3 -77.86 - - 3206.03 - - - - - - - - - 16.00 -
9756.07 718.89 -6.54 1054 9773.90 roll -1.18 - - 2228.25 - 2.82 0.028 2275.81 401.0 -77.86 - - 3205.53 - - - - - - - - - 16.02 -
10079.71 739.34 -6.62 1086 10098.68 roll -1.18 - - 2227.25 - 3.12 0.090 3349.88 344.3 -77.86 - - 3205.34 - - - - - - - - - 15.98 -
10119.14 742.30 -7.55 1091 10137.21 roll -1.18 - - 2228.19 - 2.77 0.021 2193.69 -417.4 -77.86 - - 3205.62 - - - - - - - - - 15.93 -
10443.07 763.37 -6.41 1123 10447.13 no move -1.18 - - 2227.25 - - - 2192.56 - -77.86 - - 3203.56 - - - - - - - - - - -
10753.12 783.04 -5.94 1154 10774.30 roll -1.18 - - 2227.75 - 3.35 0.087 3351.44 345.9 -77.86 - - 3202.78 - - - - - - - - - 15.96 -
10795.50 785.91 -6.50 1159 10813.24 roll -1.18 - - 2227.81 - 2.77 0.021 2195.69 -417.2 -77.86 - - 3204.66 - - - - - - - - - 16.03 -
11119.09 806.45 -6.14 1191 11123.15 no move -1.18 - - 2227.69 - - - 2193.94 - -77.86 - - 3202.91 - - - - - - - - - - -
11429.14 826.90 -6.54 1222 11433.60 no move -1.18 - - 2228.56 - - - 2194.38 - -77.86 - - 3203.38 - - - - - - - - - - -
11739.57 846.82 -6.60 1253 11760.74 roll -1.18 - - 2227.88 - 3.36 0.087 3353.06 344.8 -77.86 - - 3202.41 - - - - - - - - - 15.91 -
11832.06 854.35 -8.13 1268 11849.81 roll -1.18 - - 2228.12 - 2.81 0.021 2198.31 -410.9 -77.86 - - 3202.59 - - - - - - - - - 16.04 -
12155.66 877.38 -6.83 1300 12159.72 no move -1.18 - - 2227.38 - - - 2196.31 - -77.86 - - 3202.09 - - - - - - - - - - -
12465.69 896.71 -5.97 1331 12469.75 no move -1.18 - - 2228.12 - - - 2195.81 - -77.86 - - 3201.84 - - - - - - - - - - -
12776.11 912.58 -4.88 1362 12780.17 no move -1.18 - - 2227.81 - - - 2196.12 - -77.86 - - 3201.50 - - - - - - - - - - -
13086.43 925.96 -3.99 1393 13107.60 roll -1.18 - - 2227.56 - 3.38 0.087 3351.19 341.7 -77.86 - - 3202.16 - - - - - - - - - 15.94 -
13123.47 928.02 -4.67 1397 13141.55 roll -1.18 - - 2228.31 - 2.80 0.022 2199.62 -411.3 -77.86 - - 3202.22 - - - - - - - - - 16.04 -
13447.81 941.43 -4.26 1429 13451.87 no move -1.18 - - 2227.69 - - - 2197.94 - -77.86 - - 3200.78 - - - - - - - - - - -
13758.10 956.14 -4.85 1460 13776.66 roll -1.18 - - 2227.06 - 3.02 0.076 1145.50 -348.5 -77.86 - - 3202.53 - - - - - - - - - 15.94 -
13842.87 960.91 -5.84 1474 13860.46 roll -1.18 - - 2228.00 - 2.78 0.029 2275.88 406.6 -77.86 - - 3201.88 - - - - - - - - - 16.03 -
14166.41 978.12 -5.46 1506 14185.39 roll -1.18 - - 2228.38 - 3.20 0.071 1145.19 -353.3 -77.86 - - 3200.88 - - - - - - - - - 15.96 -
14231.59 982.28 -6.47 1516 14248.94 roll -1.18 - - 2227.62 - 2.80 0.028 2275.50 403.7 -77.86 - - 3201.91 - - - - - - - - - 16.04 -
14374 end dive: TARGET_DEPTH_EXCEEDED
14375 begin apogee
14379.33 990.25 -5.47 1530 14479.77 -0.31 1.56 0.137 2439.62 135.9 0.19 0.147 2282.62 37.5 - 61.92 2.475 2891.06 -5.0 0.334 - - - - - - 15.79 15.56 11.31
14487 end apogee: CONTROL_FINISHED_OK
14487 begin climb
14489.75 992.09 - 1537 14598.06 1.18 2.55 0.095 2805.75 143.6 - - 2283.44 - 77.86 65.75 2.417 2572.22 -4.8 0.331 - - - - - - 15.66 - 12.31
14904.43 970.58 6.05 1575 14926.44 1.30 0.16 0.088 2841.81 225.4 3.29 0.074 1145.88 -345.8 77.86 - - 2566.28 - - - - - - - - 15.75 15.73 -
14972.43 965.64 7.48 1585 14990.92 done 1.34 - - 2843.19 - 2.85 0.032 2272.12 395.2 77.86 - - 2563.56 - - - - - - - - - 15.82 -
15297.14 944.10 6.45 1617 15316.51 done 1.43 - - 2843.12 - 3.21 0.074 1146.62 -350.6 77.86 - - 2561.16 - - - - - - - - - 15.88 -
15403.13 936.39 7.50 1635 15422.12 1.47 0.17 0.081 2885.81 251.1 2.85 0.032 2273.50 395.4 77.86 - - 2559.97 - - - - - - - - 15.80 15.91 -
15727.97 910.93 7.79 1667 15732.04 VBD 1.47 - - 2885.56 - - - 2273.12 - 77.86 - - 2560.66 - - - - - - - - - - -
16038.03 883.65 9.36 1698 16057.41 done 1.47 - - 2884.94 - 3.23 0.074 1146.00 -349.0 77.86 - - 2560.19 - - - - - - - - - 15.94 -
16093.61 878.25 10.24 1706 16111.36 done 1.47 - - 2885.06 - 2.84 0.032 2272.56 396.7 77.86 - - 2560.62 - - - - - - - - - 15.99 -
16417.21 848.21 8.85 1738 16421.27 VBD 1.47 - - 2885.25 - - - 2273.19 - 77.86 - - 2559.41 - - - - - - - - - - -
16727.26 822.94 7.60 1769 16731.33 VBD 1.47 - - 2884.81 - - - 2273.06 - 77.86 - - 2558.81 - - - - - - - - - - -
17037.72 802.28 5.92 1800 17041.79 VBD 1.59 - - 2884.94 - - - 2273.38 - 77.86 - - 2558.78 - - - - - - - - - - -
17348.04 783.84 5.74 1831 17370.88 1.73 0.32 0.063 2947.56 195.7 3.22 0.074 1146.44 -350.0 77.86 - - 2558.69 - - - - - - - - 15.97 15.93 -
17472.63 775.23 7.22 1852 17490.38 done 1.78 - - 2948.69 - 2.84 0.033 2274.06 397.0 77.86 - - 2558.44 - - - - - - - - - 16.02 -
17796.23 751.58 7.95 1884 17800.29 VBD 1.78 - - 2948.06 - - - 2274.06 - 77.86 - - 2557.84 - - - - - - - - - - -
18106.27 726.19 8.27 1915 18110.33 VBD 1.78 - - 2948.44 - - - 2273.25 - 77.86 - - 2557.53 - - - - - - - - - - -
18416.31 696.85 9.59 1946 18435.71 done 1.78 - - 2949.12 - 3.24 0.073 1146.38 -347.8 77.86 - - 2558.31 - - - - - - - - - 15.97 -
18551.94 683.23 10.24 1970 18570.08 done 1.78 - - 2949.00 - 2.83 0.032 2272.81 398.0 77.86 - - 2558.75 - - - - - - - - - 16.03 -
18875.93 652.61 8.96 2002 18879.99 VBD 1.78 - - 2949.12 - - - 2272.69 - 77.86 - - 2557.53 - - - - - - - - - - -
19186.37 627.81 7.51 2033 19190.43 VBD 1.81 - - 2949.38 - - - 2271.50 - 77.86 - - 2557.34 - - - - - - - - - - -
19496.69 607.36 6.42 2064 19501.65 1.91 0.18 0.080 2993.81 246.8 - - 2272.31 - 77.86 - - 2557.44 - - - - - - - - 15.99 - -
19807.90 585.47 7.19 2095 19827.28 done 1.96 - - 2993.00 - 3.24 0.073 1146.31 -347.5 77.86 - - 2560.19 - - - - - - - - - 15.98 -
19993.63 570.22 8.59 2129 20011.39 done 1.96 - - 2993.88 - 2.85 0.032 2273.38 395.5 77.86 - - 2557.19 - - - - - - - - - 16.04 -
20317.65 545.26 7.23 2161 20321.71 VBD 2.01 - - 2995.06 - - - 2273.06 - 77.86 - - 2556.84 - - - - - - - - - - -
20627.96 523.24 6.93 2192 20647.35 done 2.08 - - 2993.19 - 3.22 0.072 1145.69 -350.1 77.86 - - 2559.00 - - - - - - - - - 15.98 -
20707.83 517.17 7.72 2205 20727.53 2.08 0.04 0.242 3011.12 448.2 2.84 0.032 2274.38 397.4 77.86 - - 2559.38 - - - - - - - - 15.86 16.03 -
21033.79 492.93 7.53 2237 21037.85 VBD 2.11 - - 3012.50 - - - 2274.69 - 77.86 - - 2557.06 - - - - - - - - - - -
21344.08 470.62 7.02 2268 21363.46 2.17 - - 3010.88 - 3.22 0.072 1145.81 -350.6 77.86 - - 2557.03 - - - - - - - - - 15.97 -
21499.68 458.93 7.72 2296 21517.92 2.17 - - 3011.25 - 2.85 0.031 2275.69 396.4 77.86 - - 2558.50 - - - - - - - - - 16.02 -
21824.28 436.24 7.29 2328 21828.36 2.22 - - 3011.88 - - - 2275.69 - 77.86 - - 2557.06 - - - - - - - - - - -
22134.74 413.23 7.51 2359 22138.81 2.25 - - 3012.62 - - - 2276.00 - 77.86 - - 2557.12 - - - - - - - - - - -
22445.06 391.94 6.44 2390 22464.45 2.35 - - 3011.62 - 3.23 0.071 1145.06 -350.1 77.86 - - 2557.50 - - - - - - - - - 15.93 -
22531.06 386.52 6.18 2404 22548.84 2.46 - - 3012.50 - 2.84 0.031 2275.00 397.9 77.86 - - 2556.22 - - - - - - - - - 16.02 -
22855.08 368.14 5.36 2436 22874.17 2.62 - - 3011.81 - 3.17 0.093 3351.69 339.6 77.86 - - 2556.72 - - - - - - - - - 15.88 -
23015.08 358.55 5.86 2465 23033.56 2.75 - - 3012.56 - 2.78 0.023 2201.25 -413.8 77.86 - - 2557.38 - - - - - - - - - 16.01 -
23339.82 342.99 4.46 2497 23442.88 2.90 - - 3012.06 - 3.07 0.078 1146.56 -343.5 152.08 58.74 1.695 2269.25 -4.9 0.165 - - - - - - - 15.71 11.51
23519.22 329.16 9.60 2525 23537.00 2.90 - - 3012.56 - 2.87 0.031 2274.31 392.9 152.08 - - 2262.62 - - - - - - - - - 15.74 -
23842.95 297.75 10.29 2557 23862.43 2.90 - - 3011.19 - 3.24 0.072 1146.62 -348.1 152.08 - - 2260.44 - - - - - - - - - 15.85 -
23898.64 291.73 10.94 2565 23916.42 2.90 - - 3011.94 - 2.85 0.031 2274.00 395.6 152.08 - - 2258.88 - - - - - - - - - 15.82 -
24222.27 257.55 10.22 2597 24226.35 2.90 - - 3012.62 - - - 2275.00 - 152.08 - - 2257.09 - - - - - - - - - - -
24532.31 227.18 9.72 2628 24551.70 2.90 - - 3012.19 - 3.23 0.071 1146.19 -349.5 152.08 - - 2258.28 - - - - - - - - - 15.92 -
24582.17 221.89 10.58 2635 24600.67 2.90 - - 3012.50 - 2.83 0.031 2273.44 398.3 152.08 - - 2257.09 - - - - - - - - - 15.94 -
24906.51 192.63 8.54 2667 24910.59 2.90 - - 3012.06 - - - 2273.06 - 152.08 - - 2255.62 - - - - - - - - - - -
25216.54 164.74 8.95 2698 25235.95 2.90 - - 3012.56 - 3.24 0.071 1146.00 -347.9 152.08 - - 2256.03 - - - - - - - - - 15.82 -
25296.43 156.90 9.81 2711 25315.17 2.90 - - 3012.62 - 2.85 0.030 2274.69 396.0 152.08 - - 2256.16 - - - - - - - - - 15.89 -
25621.14 129.56 8.39 2743 25625.21 2.90 - - 3012.56 - - - 2274.19 - 152.08 - - 2255.16 - - - - - - - - - - -
25931.18 101.40 8.42 2774 25950.60 2.90 - - 3013.00 - 3.23 0.070 1145.19 -349.5 152.08 - - 2254.06 - - - - - - - - - 15.87 -
26016.79 94.09 8.03 2788 26035.29 2.90 - - 3012.19 - 2.84 0.029 2275.19 397.9 152.08 - - 2256.28 - - - - - - - - - 15.90 -
26221.56 81.62 5.46 2826 26228.18 3.06 - - 3012.31 - - - 2275.62 - 152.08 - - 2255.56 - - - - - - - - - - -
26414.44 70.91 5.52 2864 26421.06 3.21 - - 3012.69 - - - 2276.06 - 152.08 - - 2255.84 - - - - - - - - - - -
26607.31 62.84 4.27 2902 26711.84 3.36 - - 3012.88 - 3.20 0.093 3351.38 336.0 230.10 59.24 1.305 1951.25 -5.1 0.041 - - - - - - - 15.75 11.95
26718.04 55.88 7.78 2916 26736.54 roll back 3.36 - - 3012.81 - 2.83 0.022 2201.69 -406.3 230.10 - - 1947.78 - - - - - - - - - 15.80 -
26923.18 43.32 5.06 2954 26942.47 3.54 - - 3011.69 - 3.05 0.073 1145.00 -346.5 230.10 - - 1944.94 - - - - - - - - - 15.76 -
27014.09 38.58 5.44 2969 27032.98 3.70 - - 3012.06 - 2.83 0.028 2277.06 400.0 230.10 - - 1941.69 - - - - - - - - - 15.74 -
27219.20 28.84 4.73 3007 27315.47 3.84 - - 3011.94 - 3.18 0.093 3350.00 337.4 298.66 52.85 1.230 1672.72 -5.1 0.020 - - - - - - - 15.68 12.14
27372.19 19.35 6.93 3030 27390.67 roll back 3.90 - - 3011.38 - 2.82 0.021 2199.69 -407.9 298.66 - - 1667.16 - - - - - - - - - 15.78 -
27576.94 14.09 2.08 3068 27732.15 4.15 - - 3012.75 - 3.43 0.087 3351.62 335.8 422.13 95.51 1.194 1168.12 -5.2 0.010 - - - - - - - 15.55 12.13
27768 end climb: SURFACE_DEPTH_REACHED
27769 begin surface coast
27774 end surface coast: CONTROL_FINISHED_OK
27775 begin surface
SM 1.22 - - - - 177.2 6.74 0.848 1137.4 154.6 19.32 0.051 1138.8 58.9 - 2.39 0.021 1136.0 473.9 -2.814 - - 12.21 15.68 15.74 -