NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 354 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 125.73 of 506.00 AH used of 24V (75.15% remains)
• Surface angle -64.4 deg, depth 1.15 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.89 (SM_CC=430)
• GPS1 time: 21 s
• GPS2 time: 1 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
10 end surface: CONTROL_FINISHED_OK
11 begin dive
18.92 - - - 104.70 VBD -1.18 - - 181.94 - - - 2214.25 - -77.86 60.03 0.005 2643.56 - - - - - - - - - - 15.10
106.92 3.03 -3.72 12 227.30 -1.18 17.19 0.217 2227.56 119.0 3.12 0.070 1144.56 -342.8 -77.86 8.91 0.007 3210.25 63.6 -4.677 - - - - - - 15.39 15.17 15.25
353.57 52.03 -11.21 44 372.26 roll -1.18 - - 2227.00 - 2.84 0.024 2278.12 399.1 -77.86 - - 3213.75 - - - - - - - - - 15.67 -
558.09 72.75 -10.31 82 578.00 roll -1.18 - - 2227.31 - 3.26 0.060 1145.19 -347.5 -77.86 - - 3214.59 - - - - - - - - - 15.72 -
704.18 87.52 -9.96 108 722.50 roll -1.18 - - 2228.12 - 2.83 0.024 2278.12 400.3 -77.86 - - 3213.78 - - - - - - - - - 15.68 -
908.31 103.92 -7.51 141 927.08 roll -1.18 - - 2227.56 - 3.18 0.081 3350.56 337.2 -77.86 - - 3213.97 - - - - - - - - - 15.72 -
997.53 111.05 -7.72 156 1016.22 roll -1.18 - - 2227.62 - 2.83 0.018 2189.44 -410.3 -77.86 - - 3214.12 - - - - - - - - - 15.84 -
1322.04 135.09 -7.27 188 1340.03 roll -1.18 - - 2227.38 - 2.99 0.065 1143.56 -349.8 -77.86 - - 3214.81 - - - - - - - - - 15.79 -
1370.47 138.87 -7.89 195 1388.63 roll -1.18 - - 2227.56 - 2.78 0.023 2280.19 408.9 -77.86 - - 3215.72 - - - - - - - - - 15.85 -
1694.60 161.18 -7.12 227 1698.66 no move -1.18 - - 2227.38 - - - 2279.81 - -77.86 - - 3214.06 - - - - - - - - - - -
2004.61 181.83 -6.74 258 2024.03 roll -1.18 - - 2227.56 - 3.23 0.062 1145.06 -351.3 -77.86 - - 3214.16 - - - - - - - - - 15.86 -
2134.53 192.37 -8.25 281 2152.65 roll -1.18 - - 2227.38 - 2.80 0.024 2277.06 404.3 -77.86 - - 3214.94 - - - - - - - - - 15.89 -
2458.50 218.14 -7.85 313 2477.91 roll -1.18 - - 2225.75 - 3.24 0.063 1145.56 -349.2 -77.86 - - 3213.94 - - - - - - - - - 15.80 -
2488.38 220.58 -7.88 316 2506.49 roll -1.18 - - 2227.75 - 2.80 0.024 2278.25 404.5 -77.86 - - 3215.16 - - - - - - - - - 15.83 -
2812.34 246.00 -7.93 348 2816.41 no move -1.18 - - 2227.75 - - - 2279.31 - -77.86 - - 3212.66 - - - - - - - - - - -
3122.39 269.12 -7.42 379 3141.82 roll -1.18 - - 2228.50 - 3.23 0.064 1144.31 -351.4 -77.86 - - 3213.94 - - - - - - - - - 15.87 -
3228.04 277.73 -8.37 397 3245.84 roll -1.18 - - 2227.88 - 2.83 0.025 2276.50 400.1 -77.86 - - 3213.75 - - - - - - - - - 15.91 -
3551.64 301.52 -7.19 429 3570.91 roll -1.18 - - 2227.62 - 3.15 0.084 3352.19 341.5 -77.86 - - 3212.66 - - - - - - - - - 15.86 -
3621.51 307.31 -8.43 440 3640.03 roll -1.18 - - 2227.00 - 2.79 0.019 2193.31 -415.4 -77.86 - - 3212.25 - - - - - - - - - 15.97 -
3945.88 330.39 -6.60 472 3949.94 no move -1.18 - - 2227.50 - - - 2191.88 - -77.86 - - 3210.31 - - - - - - - - - - -
4255.92 352.20 -7.14 503 4274.12 roll -1.18 - - 2225.25 - 3.00 0.069 1145.62 -348.8 -77.86 - - 3211.69 - - - - - - - - - 15.78 -
4344.59 358.99 -7.48 518 4362.73 roll -1.18 - - 2227.75 - 2.78 0.025 2278.19 407.4 -77.86 - - 3209.88 - - - - - - - - - 15.97 -
4668.58 380.05 -6.27 550 4672.64 no move -1.18 - - 2227.31 - - - 2278.31 - -77.86 - - 3208.66 - - - - - - - - - - -
4978.60 401.04 -7.26 581 4998.04 roll -1.18 - - 2228.12 - 3.24 0.066 1145.12 -349.8 -77.86 - - 3208.78 - - - - - - - - - 15.86 -
5054.25 406.84 -7.67 593 5071.64 roll -1.18 - - 2227.69 - 2.80 0.025 2276.38 404.0 -77.86 - - 3208.84 - - - - - - - - - 15.99 -
5377.49 431.66 -8.09 625 5396.91 roll -1.18 - - 2225.88 - 3.24 0.066 1145.88 -348.9 -77.86 - - 3208.78 - - - - - - - - - 15.84 -
5443.12 437.11 -8.32 635 5461.31 roll -1.18 - - 2227.38 - 2.82 0.025 2278.44 401.6 -77.86 - - 3208.25 - - - - - - - - - 15.98 -
5767.27 461.09 -6.98 667 5771.33 no move -1.18 - - 2227.31 - - - 2277.38 - -77.86 - - 3205.78 - - - - - - - - - - -
6077.32 482.48 -6.94 698 6096.76 roll -1.18 - - 2227.75 - 3.27 0.066 1145.94 -346.0 -77.86 - - 3206.06 - - - - - - - - - 15.82 -
6162.98 489.42 -7.98 712 6180.77 roll -1.18 - - 2227.12 - 2.82 0.026 2277.06 401.1 -77.86 - - 3206.69 - - - - - - - - - 15.98 -
6486.60 515.52 -8.22 744 6490.66 no move -1.18 - - 2227.25 - - - 2276.88 - -77.86 - - 3205.28 - - - - - - - - - - -
6796.62 539.23 -7.18 775 6800.68 no move -1.18 - - 2227.19 - - - 2277.75 - -77.86 - - 3203.84 - - - - - - - - - - -
7106.63 559.08 -5.86 806 7110.69 no move -1.18 - - 2227.12 - - - 2277.19 - -77.86 - - 3203.56 - - - - - - - - - - -
7416.64 577.71 -6.26 837 7437.45 roll -1.18 - - 2225.81 - 3.27 0.066 1146.38 -345.8 -77.86 - - 3205.12 - - - - - - - - - 15.83 -
7542.93 586.53 -7.19 859 7561.44 roll -1.18 - - 2227.44 - 2.83 0.026 2276.75 399.4 -77.86 - - 3204.22 - - - - - - - - - 15.98 -
7867.30 605.60 -5.77 891 7871.36 no move -1.18 - - 2226.88 - - - 2276.25 - -77.86 - - 3202.34 - - - - - - - - - - -
8177.34 625.20 -6.91 922 8181.40 no move -1.18 - - 2227.69 - - - 2276.44 - -77.86 - - 3202.59 - - - - - - - - - - -
8487.38 648.02 -7.78 953 8491.44 no move -1.18 - - 2227.12 - - - 2276.00 - -77.86 - - 3201.34 - - - - - - - - - - -
8797.42 672.10 -8.08 984 8801.48 no move -1.18 - - 2227.38 - - - 2276.06 - -77.86 - - 3201.50 - - - - - - - - - - -
9107.46 694.77 -6.92 1015 9111.52 no move -1.18 - - 2227.94 - - - 2276.31 - -77.86 - - 3201.25 - - - - - - - - - - -
9417.50 717.29 -7.04 1046 9421.56 no move -1.18 - - 2227.62 - - - 2276.50 - -77.86 - - 3200.25 - - - - - - - - - - -
9727.54 737.85 -6.52 1077 9731.60 no move -1.18 - - 2227.31 - - - 2275.75 - -77.86 - - 3200.28 - - - - - - - - - - -
10037.59 757.92 -6.33 1108 10058.43 roll -1.18 - - 2226.94 - 3.30 0.068 1146.06 -342.3 -77.86 - - 3200.38 - - - - - - - - - 15.79 -
10173.91 766.82 -6.64 1132 10192.44 roll -1.18 - - 2227.00 - 2.84 0.027 2275.94 397.8 -77.86 - - 3201.50 - - - - - - - - - 15.99 -
10498.29 785.12 -5.52 1164 10502.36 no move -1.18 - - 2227.44 - - - 2275.81 - -77.86 - - 3199.56 - - - - - - - - - - -
10808.46 801.25 -5.30 1195 10829.29 roll -1.18 - - 2227.75 - 3.29 0.068 1146.12 -343.4 -77.86 - - 3200.03 - - - - - - - - - 15.79 -
10860.49 803.89 -5.48 1202 10878.54 roll -1.18 - - 2227.50 - 2.84 0.026 2276.12 397.9 -77.86 - - 3200.09 - - - - - - - - - 15.97 -
11184.51 825.20 -6.87 1234 11203.94 roll -1.18 - - 2227.88 - 3.26 0.089 3350.31 329.5 -77.86 - - 3199.75 - - - - - - - - - 15.76 -
11250.27 830.12 -7.75 1244 11268.08 roll -1.18 - - 2227.00 - 2.83 0.020 2194.06 -408.6 -77.86 - - 3200.53 - - - - - - - - - 15.99 -
11573.94 852.34 -6.63 1276 11592.56 roll -1.18 - - 2227.44 - 3.06 0.072 1146.00 -342.5 -77.86 - - 3198.00 - - - - - - - - - 15.80 -
11653.04 857.93 -6.93 1289 11671.96 roll -1.18 - - 2227.62 - 2.82 0.026 2277.56 401.3 -77.86 - - 3199.28 - - - - - - - - - 15.99 -
11977.82 876.17 -5.13 1321 11997.25 roll -1.18 - - 2227.62 - 3.22 0.088 3351.62 333.6 -77.86 - - 3197.62 - - - - - - - - - 15.73 -
12087.75 882.80 -6.28 1340 12106.29 roll -1.18 - - 2227.75 - 2.81 0.020 2194.62 -411.7 -77.86 - - 3198.81 - - - - - - - - - 15.98 -
12412.13 900.90 -5.88 1372 12416.20 no move -1.18 - - 2226.62 - - - 2192.88 - -77.86 - - 3197.66 - - - - - - - - - - -
12722.18 920.60 -6.41 1403 12726.24 no move -1.18 - - 2227.31 - - - 2193.81 - -77.86 - - 3196.94 - - - - - - - - - - -
13032.22 939.58 -5.93 1434 13051.08 roll -1.18 - - 2227.50 - 3.06 0.073 1145.88 -342.5 -77.86 - - 3198.81 - - - - - - - - - 15.77 -
13117.40 944.82 -6.09 1448 13135.21 roll -1.18 - - 2227.25 - 2.81 0.027 2276.56 402.4 -77.86 - - 3198.34 - - - - - - - - - 15.97 -
13441.06 964.64 -5.94 1480 13445.12 no move -1.18 - - 2228.44 - - - 2276.56 - -77.86 - - 3196.53 - - - - - - - - - - -
13751.51 980.40 -4.58 1511 13772.34 roll -1.18 - - 2225.81 - 3.30 0.069 1144.75 -343.0 -77.86 - - 3197.62 - - - - - - - - - 15.76 -
13903.56 987.65 -5.14 1538 13921.76 roll -1.18 - - 2227.38 - 2.83 0.027 2275.88 399.7 -77.86 - - 3198.47 - - - - - - - - - 15.94 -
13966 end dive: TARGET_DEPTH_EXCEEDED
13967 begin apogee
13972.17 990.37 -4.67 1544 14073.08 -0.31 1.59 0.129 2440.38 134.0 0.19 0.140 2283.00 37.5 - 63.13 2.442 2887.97 -4.9 0.339 - - - - - - 15.68 15.41 10.41
14085 end apogee: CONTROL_FINISHED_OK
14086 begin climb
14089.30 991.69 - 1551 14201.46 1.18 2.59 0.090 2805.69 141.0 - - 2284.56 - 77.86 66.82 2.397 2571.69 -4.7 0.333 - - - - - - 15.58 - 11.84
14507.85 967.69 5.78 1595 14530.58 1.32 0.19 0.080 2846.75 216.1 3.33 0.072 1146.94 -341.6 77.86 - - 2563.94 - - - - - - - - 15.71 15.67 -
14712.41 953.87 7.10 1632 14730.43 done 1.38 - - 2847.06 - 2.88 0.030 2273.12 391.0 77.86 - - 2562.38 - - - - - - - - - 15.84 -
15036.72 931.84 6.48 1664 15057.79 done 1.47 - - 2846.31 - 3.29 0.072 1145.88 -342.6 77.86 - - 2560.97 - - - - - - - - - 15.78 -
15289.50 914.04 6.92 1711 15309.18 1.54 0.26 0.070 2900.75 209.4 2.87 0.031 2274.38 393.2 77.86 - - 2561.91 - - - - - - - - 15.72 15.91 -
15615.06 889.42 7.77 1743 15636.12 done 1.54 - - 2900.88 - 3.28 0.072 1146.06 -344.0 77.86 - - 2561.19 - - - - - - - - - 15.81 -
15867.40 867.02 9.27 1790 15885.42 done 1.54 - - 2901.81 - 2.87 0.031 2273.69 392.9 77.86 - - 2559.81 - - - - - - - - - 15.94 -
16191.43 837.82 9.32 1822 16211.09 done 1.54 - - 2901.56 - 3.28 0.072 1146.12 -343.8 77.86 - - 2560.28 - - - - - - - - - 15.82 -
16441.66 815.08 8.89 1869 16460.41 done 1.54 - - 2901.81 - 2.87 0.031 2272.81 392.6 77.86 - - 2559.28 - - - - - - - - - 15.93 -
16766.30 789.43 8.16 1901 16787.36 done 1.54 - - 2900.62 - 3.29 0.071 1145.94 -342.5 77.86 - - 2559.62 - - - - - - - - - 15.82 -
17018.64 767.86 8.18 1948 17036.65 done 1.54 - - 2901.50 - 2.87 0.031 2272.81 392.6 77.86 - - 2558.22 - - - - - - - - - 15.96 -
17342.94 744.48 7.16 1980 17362.62 done 1.59 - - 2901.44 - 3.27 0.071 1146.38 -344.5 77.86 - - 2559.78 - - - - - - - - - 15.81 -
17593.61 725.81 7.12 2027 17612.60 done 1.65 - - 2901.94 - 2.87 0.030 2271.44 392.0 77.86 - - 2559.03 - - - - - - - - - 15.97 -
17918.99 703.43 6.90 2059 17941.31 1.72 0.19 0.082 2942.88 215.5 3.28 0.070 1144.56 -343.6 77.86 - - 2556.47 - - - - - - - - 15.89 15.81 -
18172.59 684.39 7.70 2106 18190.60 done 1.72 - - 2943.31 - 2.87 0.031 2272.06 392.9 77.86 - - 2557.16 - - - - - - - - - 15.97 -
18496.88 660.96 7.14 2138 18517.96 done 1.77 - - 2943.38 - 3.27 0.071 1147.19 -344.0 77.86 - - 2557.03 - - - - - - - - - 15.79 -
18749.26 641.52 7.90 2185 18767.30 done 1.77 - - 2943.94 - 2.88 0.031 2274.00 391.3 77.86 - - 2556.38 - - - - - - - - - 15.96 -
19073.59 619.21 6.44 2217 19078.66 1.87 0.14 0.095 2979.88 256.7 - - 2275.31 - 77.86 - - 2555.75 - - - - - - - - 15.91 - -
19384.94 597.72 6.70 2248 19406.01 done 1.95 - - 2978.25 - 3.30 0.071 1145.75 -342.3 77.86 - - 2558.41 - - - - - - - - - 15.80 -
19561.57 584.14 8.03 2280 19580.33 done 1.95 - - 2980.62 - 2.88 0.030 2273.00 391.4 77.86 - - 2558.12 - - - - - - - - - 15.95 -
19886.32 558.63 7.62 2312 19907.39 done 1.95 - - 2979.25 - 3.28 0.070 1147.38 -343.2 77.86 - - 2555.41 - - - - - - - - - 15.79 -
20139.18 539.21 7.53 2359 20157.20 done 1.98 - - 2979.94 - 2.88 0.030 2272.44 390.6 77.86 - - 2556.81 - - - - - - - - - 15.95 -
20463.49 516.39 6.69 2391 20486.22 2.06 0.12 0.102 3013.81 282.2 3.31 0.069 1146.00 -340.3 77.86 - - 2557.75 - - - - - - - - 15.89 15.77 -
20601.76 505.86 7.66 2415 20620.51 done 2.06 - - 3013.81 - 2.88 0.030 2271.56 390.8 77.86 - - 2558.38 - - - - - - - - - 15.95 -
20926.39 481.59 7.66 2447 20930.50 VBD 2.06 - - 3013.19 - - - 2271.38 - 77.86 - - 2556.31 - - - - - - - - - - -
21236.84 458.93 7.09 2478 21258.34 done 2.12 - - 3013.75 - 3.32 0.069 1147.12 -338.6 77.86 - - 2558.12 - - - - - - - - - 15.58 -
21364.28 449.52 7.29 2500 21383.05 2.16 - - 3012.88 - 2.87 0.030 2274.88 392.9 77.86 - - 2558.28 - - - - - - - - - 15.95 -
21689.04 425.06 8.12 2532 21710.11 2.16 - - 3013.56 - 3.30 0.069 1146.81 -341.8 77.86 - - 2555.41 - - - - - - - - - 15.78 -
21941.40 403.55 8.51 2579 21959.44 2.16 - - 3014.50 - 2.87 0.030 2273.88 392.7 77.86 - - 2556.94 - - - - - - - - - 15.93 -
22265.73 381.69 5.86 2611 22269.85 2.29 - - 3013.88 - - - 2274.12 - 77.86 - - 2556.56 - - - - - - - - - - -
22576.09 367.37 4.08 2642 22689.23 2.46 - - 3013.75 - 3.34 0.071 1146.00 -337.8 159.92 65.68 1.686 2236.84 -4.9 0.180 - - - - - - - 15.55 10.88
22830.52 345.94 10.50 2684 22848.97 2.46 - - 3014.19 - 2.90 0.030 2272.38 388.4 159.92 - - 2229.47 - - - - - - - - - 15.77 -
23154.96 312.91 10.84 2716 23159.08 2.46 - - 3015.00 - - - 2271.62 - 159.92 - - 2226.59 - - - - - - - - - - -
23465.08 280.55 10.00 2747 23469.20 2.46 - - 3013.88 - - - 2272.38 - 159.92 - - 2225.28 - - - - - - - - - - -
23775.11 247.64 10.81 2778 23796.19 2.46 - - 3012.75 - 3.30 0.070 1147.06 -341.0 159.92 - - 2225.97 - - - - - - - - - 15.65 -
23961.75 226.22 10.85 2812 23980.52 2.46 - - 3013.69 - 2.88 0.030 2272.38 390.7 159.92 - - 2224.28 - - - - - - - - - 15.89 -
24286.40 194.57 9.88 2844 24307.57 2.46 - - 3014.19 - 3.30 0.069 1146.75 -341.1 159.92 - - 2222.34 - - - - - - - - - 15.59 -
24388.84 183.81 10.69 2861 24406.88 2.46 - - 3014.31 - 2.87 0.029 2272.19 392.1 159.92 - - 2222.31 - - - - - - - - - 15.66 -
24712.73 150.45 10.34 2893 24733.81 2.46 - - 3013.94 - 3.30 0.092 3350.25 326.7 159.92 - - 2222.03 - - - - - - - - - 15.68 -
24755.06 145.72 11.27 2898 24773.50 2.46 - - 3014.38 - 2.82 0.021 2201.69 -407.3 159.92 - - 2223.53 - - - - - - - - - 15.89 -
25079.78 117.44 7.49 2930 25098.89 2.49 - - 3014.25 - 3.07 0.072 1146.19 -343.8 159.92 - - 2221.66 - - - - - - - - - 15.75 -
25169.52 110.45 8.04 2945 25188.69 2.49 - - 3014.19 - 2.85 0.028 2275.62 396.3 159.92 - - 2222.78 - - - - - - - - - 15.71 -
25495.01 86.96 6.83 2995 25515.40 2.57 - - 3014.62 - 3.29 0.067 1145.69 -343.4 159.92 - - 2223.25 - - - - - - - - - 15.75 -
25742.06 74.75 3.83 3041 25853.90 2.74 - - 3015.06 - 2.87 0.027 2275.94 393.8 247.19 67.08 1.284 1880.62 -5.1 0.051 - - - - - - - 15.71 11.45
26040.17 53.04 6.32 3092 26060.57 2.84 - - 3015.06 - 3.28 0.090 3350.69 327.7 247.19 - - 1872.84 - - - - - - - - - 15.53 -
26082.33 50.49 6.03 3097 26101.09 2.97 - - 3014.75 - 2.85 0.020 2198.25 -404.4 247.19 - - 1871.78 - - - - - - - - - 15.73 -
26287.37 40.40 4.57 3135 26385.08 3.11 - - 3014.69 - 3.10 0.073 1147.12 -339.1 319.02 55.67 1.211 1589.41 -5.1 0.029 - - - - - - - 15.55 11.64
26616.90 24.47 3.36 3193 26742.01 3.30 - - 3015.12 - 2.84 0.025 2276.75 397.8 415.90 75.88 1.177 1194.09 -5.2 0.018 - - - - - - - 15.69 11.75
26928.31 5.57 5.93 3246 26949.12 3.43 - - 3014.88 - 3.34 0.068 1147.06 -338.2 415.90 - - 1186.34 - - - - - - - - - 15.64 -
26955 end climb: SURFACE_DEPTH_REACHED
26955 begin surface coast
27020 end surface coast: CONTROL_FINISHED_OK
27021 begin surface
SM 1.18 - - - - 181.9 11.15 0.987 1137.5 102.0 19.88 0.053 1155.5 58.1 - 2.78 0.024 1119.5 401.5 -2.018 - - 11.55 15.73 15.79 -