NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 196 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 68.71 of 506.00 AH used of 24V (86.42% remains)
• Surface angle -63.1 deg, depth 1.10 m • Intended pitch -16.4 deg, speed -8.049 cm/s
• No surface pump (final VBD was 892.1, SM_CC=430)
• GPS1 time: 17 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
18.78 - - - 125.31 VBD -1.18 - - 182.06 - - - 2202.75 - -77.86 75.25 0.005 2558.81 - - - - - - - - - - 15.45
127.53 3.79 -3.95 15 242.31 -1.18 16.87 0.224 2228.50 121.3 3.33 0.082 3352.94 345.4 -77.86 8.53 0.007 3210.00 76.3 -6.893 - - - - - - 15.60 15.43 15.52
293.38 45.05 -13.09 31 312.26 roll -1.18 - - 2227.12 - 2.86 0.019 2193.75 -405.3 -77.86 - - 3215.34 - - - - - - - - - 15.76 -
498.20 68.32 -10.69 69 518.46 roll -1.18 - - 2227.62 - 3.33 0.077 3353.12 348.2 -77.86 - - 3215.34 - - - - - - - - - 15.77 -
579.61 77.79 -11.14 82 597.46 roll -1.18 - - 2228.12 - 2.80 0.019 2192.00 -414.7 -77.86 - - 3214.41 - - - - - - - - - 15.83 -
783.28 95.66 -6.93 120 803.92 roll -1.18 - - 2227.94 - 3.31 0.076 3353.06 350.8 -77.86 - - 3216.41 - - - - - - - - - 15.80 -
810.07 97.44 -6.70 122 828.30 roll -1.18 - - 2228.25 - 2.80 0.018 2186.56 -416.6 -77.86 - - 3215.91 - - - - - - - - - 15.93 -
1019.09 109.86 -6.54 145 1036.62 done -1.18 - - 2228.00 - 2.88 0.065 1145.00 -361.7 -77.86 - - 3216.84 - - - - - - - - - 15.87 -
1057.05 112.52 -6.80 150 1075.30 done -1.18 - - 2228.06 - 2.75 0.024 2282.19 413.5 -77.86 - - 3217.03 - - - - - - - - - 15.94 -
1381.11 133.60 -6.11 182 1385.13 VBD -1.18 - - 2227.81 - - - 2282.25 - -77.86 - - 3215.47 - - - - - - - - - - -
1691.17 153.30 -6.52 213 1695.58 VBD -1.18 - - 2228.25 - - - 2282.31 - -77.86 - - 3216.53 - - - - - - - - - - -
2001.62 175.73 -7.26 244 2020.58 done -1.18 - - 2228.00 - 3.15 0.063 1143.69 -361.5 -77.86 - - 3217.56 - - - - - - - - - 15.97 -
2176.95 189.25 -7.59 276 2194.68 done -1.18 - - 2227.81 - 2.79 0.025 2279.25 407.0 -77.86 - - 3216.66 - - - - - - - - - 15.98 -
2500.53 212.47 -7.45 308 2504.59 no move -1.18 - - 2227.88 - - - 2279.94 - -77.86 - - 3214.53 - - - - - - - - - - -
2810.58 235.46 -7.42 339 2814.63 no move -1.18 - - 2228.31 - - - 2280.06 - -77.86 - - 3213.44 - - - - - - - - - - -
3120.63 256.98 -7.03 370 3124.69 no move -1.18 - - 2227.38 - - - 2279.69 - -77.86 - - 3212.25 - - - - - - - - - - -
3430.69 278.96 -6.99 401 3434.76 no move -1.18 - - 2227.88 - - - 2279.62 - -77.86 - - 3211.94 - - - - - - - - - - -
3740.75 301.91 -7.57 432 3759.71 roll -1.18 - - 2227.44 - 3.18 0.065 1143.06 -357.4 -77.86 - - 3212.56 - - - - - - - - - 16.02 -
3775.91 304.82 -8.03 436 3793.87 roll -1.18 - - 2227.69 - 2.81 0.025 2277.88 403.9 -77.86 - - 3212.22 - - - - - - - - - 16.02 -
4099.73 330.84 -8.33 468 4103.79 no move -1.18 - - 2227.69 - - - 2277.88 - -77.86 - - 3209.94 - - - - - - - - - - -
4409.79 356.21 -7.85 499 4428.75 roll -1.18 - - 2226.75 - 3.14 0.065 1144.06 -361.1 -77.86 - - 3210.44 - - - - - - - - - 16.00 -
4455.20 359.79 -7.85 505 4472.94 roll -1.18 - - 2227.75 - 2.79 0.026 2275.62 405.6 -77.86 - - 3210.72 - - - - - - - - - 16.04 -
4778.91 383.72 -7.09 537 4797.86 roll -1.18 - - 2226.75 - 3.12 0.086 3353.44 345.5 -77.86 - - 3210.22 - - - - - - - - - 16.01 -
4838.33 388.50 -7.72 546 4856.39 roll -1.18 - - 2228.50 - 2.80 0.020 2193.19 -414.4 -77.86 - - 3208.59 - - - - - - - - - 15.96 -
5162.25 410.78 -6.82 578 5166.30 no move -1.18 - - 2227.88 - - - 2190.62 - -77.86 - - 3207.47 - - - - - - - - - - -
5472.29 432.33 -7.05 609 5493.44 roll -1.18 - - 2227.56 - 3.36 0.082 3351.75 345.6 -77.86 - - 3206.34 - - - - - - - - - 16.00 -
5508.91 435.35 -7.42 613 5526.97 roll -1.18 - - 2227.88 - 2.78 0.020 2193.75 -416.5 -77.86 - - 3206.84 - - - - - - - - - 16.01 -
5832.82 458.94 -7.65 645 5836.88 no move -1.18 - - 2228.56 - - - 2192.50 - -77.86 - - 3205.56 - - - - - - - - - - -
6142.86 482.91 -7.77 676 6146.93 no move -1.18 - - 2227.88 - - - 2191.88 - -77.86 - - 3204.66 - - - - - - - - - - -
6452.93 507.18 -7.72 707 6456.99 no move -1.18 - - 2228.25 - - - 2192.44 - -77.86 - - 3204.38 - - - - - - - - - - -
6762.95 530.67 -7.59 738 6767.01 no move -1.18 - - 2228.62 - - - 2192.31 - -77.86 - - 3203.03 - - - - - - - - - - -
7073.24 552.45 -6.91 769 7094.41 roll -1.18 - - 2228.00 - 3.38 0.084 3351.69 343.0 -77.86 - - 3202.78 - - - - - - - - - 15.98 -
7150.00 558.09 -7.53 781 7168.45 roll -1.18 - - 2227.88 - 2.76 0.021 2196.38 -418.6 -77.86 - - 3204.31 - - - - - - - - - 16.04 -
7474.30 578.64 -6.33 813 7495.48 roll -1.18 - - 2228.44 - 3.36 0.084 3351.88 343.9 -77.86 - - 3201.97 - - - - - - - - - 15.98 -
7520.95 582.13 -6.97 819 7539.02 roll -1.18 - - 2227.81 - 2.77 0.021 2196.56 -417.1 -77.86 - - 3201.91 - - - - - - - - - 16.04 -
7844.87 602.88 -6.45 851 7848.93 no move -1.18 - - 2227.62 - - - 2195.38 - -77.86 - - 3201.19 - - - - - - - - - - -
8154.93 622.88 -6.06 882 8158.99 no move -1.18 - - 2227.75 - - - 2195.12 - -77.86 - - 3200.81 - - - - - - - - - - -
8465.00 642.42 -6.17 913 8469.06 no move -1.18 - - 2227.50 - - - 2194.69 - -77.86 - - 3199.62 - - - - - - - - - - -
8775.04 660.19 -5.22 944 8796.23 roll -1.18 - - 2228.31 - 3.38 0.085 3352.25 342.5 -77.86 - - 3198.56 - - - - - - - - - 15.97 -
8851.69 665.28 -5.89 956 8870.24 roll -1.18 - - 2228.12 - 2.80 0.021 2198.12 -412.2 -77.86 - - 3199.38 - - - - - - - - - 16.03 -
9176.08 682.04 -5.20 988 9180.38 no move -1.18 - - 2227.06 - - - 2197.06 - -77.86 - - 3198.84 - - - - - - - - - - -
9486.32 700.17 -6.08 1019 9490.38 no move -1.18 - - 2227.81 - - - 2196.50 - -77.86 - - 3198.72 - - - - - - - - - - -
9796.34 720.17 -6.39 1050 9800.41 no move -1.18 - - 2228.00 - - - 2196.69 - -77.86 - - 3197.84 - - - - - - - - - - -
10106.37 740.21 -6.23 1081 10127.95 roll -1.18 - - 2227.75 - 3.41 0.085 3351.75 338.7 -77.86 - - 3197.28 - - - - - - - - - 15.86 -
10169.14 744.89 -7.03 1090 10186.89 roll -1.18 - - 2228.31 - 2.82 0.021 2197.75 -409.2 -77.86 - - 3197.75 - - - - - - - - - 15.91 -
10492.74 764.58 -6.00 1122 10496.80 no move -1.18 - - 2228.44 - - - 2196.19 - -77.86 - - 3196.84 - - - - - - - - - - -
10802.80 781.17 -5.20 1153 10824.38 roll -1.18 - - 2227.69 - 3.40 0.085 3353.69 340.4 -77.86 - - 3195.75 - - - - - - - - - 15.95 -
10859.84 784.76 -5.66 1161 10878.32 roll -1.18 - - 2227.62 - 2.82 0.021 2198.31 -409.7 -77.86 - - 3197.34 - - - - - - - - - 16.03 -
11184.17 801.68 -5.40 1193 11188.23 no move -1.18 - - 2227.75 - - - 2196.94 - -77.86 - - 3195.59 - - - - - - - - - - -
11494.23 818.44 -5.79 1224 11498.29 no move -1.18 - - 2228.12 - - - 2196.38 - -77.86 - - 3195.50 - - - - - - - - - - -
11804.28 837.85 -6.54 1255 11808.34 no move -1.18 - - 2228.00 - - - 2196.38 - -77.86 - - 3195.62 - - - - - - - - - - -
12114.31 858.45 -6.58 1286 12135.90 roll -1.18 - - 2227.56 - 3.42 0.086 3352.69 338.1 -77.86 - - 3195.88 - - - - - - - - - 15.93 -
12177.21 863.39 -7.20 1295 12195.36 roll -1.18 - - 2228.12 - 2.81 0.022 2200.25 -410.1 -77.86 - - 3196.31 - - - - - - - - - 16.03 -
12501.21 884.00 -6.34 1327 12505.27 no move -1.18 - - 2228.38 - - - 2198.38 - -77.86 - - 3194.41 - - - - - - - - - - -
12811.26 901.77 -5.55 1358 12829.82 roll -1.18 - - 2227.75 - 3.02 0.076 1146.25 -348.4 -77.86 - - 3194.00 - - - - - - - - - 15.92 -
12886.03 906.03 -5.60 1370 12903.78 roll -1.18 - - 2228.19 - 2.80 0.028 2275.56 403.3 -77.86 - - 3195.25 - - - - - - - - - 16.03 -
13209.62 923.54 -5.53 1402 13213.68 no move -1.18 - - 2227.06 - - - 2276.19 - -77.86 - - 3193.97 - - - - - - - - - - -
13519.66 939.85 -5.08 1433 13523.72 no move -1.18 - - 2228.06 - - - 2276.31 - -77.86 - - 3193.41 - - - - - - - - - - -
13829.70 955.93 -5.23 1464 13833.77 no move -1.18 - - 2227.25 - - - 2275.88 - -77.86 - - 3193.16 - - - - - - - - - - -
14139.75 973.03 -5.61 1495 14143.81 no move -1.18 - - 2227.44 - - - 2276.00 - -77.86 - - 3193.38 - - - - - - - - - - -
14439 end dive: TARGET_DEPTH_EXCEEDED
14439 begin apogee
14444.39 990.24 -6.14 1525 14544.43 -0.31 1.55 0.135 2440.81 137.7 0.18 0.154 2283.44 41.3 - 60.90 2.483 2890.59 -5.0 0.331 - - - - - - 15.85 15.55 11.16
14557 end apogee: CONTROL_FINISHED_OK
14558 begin climb
14560.72 992.14 - 1532 14669.09 1.18 2.55 0.092 2806.25 143.3 - - 2283.31 - 77.86 65.92 2.432 2570.75 -4.9 0.330 - - - - - - 15.65 - 12.26
14975.45 972.30 5.74 1570 14997.45 1.32 0.19 0.084 2846.88 213.8 3.24 0.076 1144.38 -351.5 77.86 - - 2562.78 - - - - - - - - 15.74 15.72 -
15053.46 966.95 7.24 1582 15072.32 done 1.37 - - 2847.75 - 2.88 0.031 2271.12 391.2 77.86 - - 2562.97 - - - - - - - - - 15.82 -
15378.58 944.46 6.93 1614 15383.03 VBD 1.44 - - 2848.50 - - - 2270.94 - 77.86 - - 2560.06 - - - - - - - - - - -
15689.29 922.51 7.26 1645 15694.26 1.48 0.17 0.086 2889.81 243.0 - - 2271.19 - 77.86 - - 2559.06 - - - - - - - - 15.88 - -
16000.11 895.85 8.70 1676 16019.87 done 1.48 - - 2887.81 - 3.20 0.075 1146.44 -351.5 77.86 - - 2560.53 - - - - - - - - - 15.92 -
16210.49 877.17 8.62 1715 16228.97 done 1.48 - - 2889.62 - 2.85 0.032 2273.69 395.5 77.86 - - 2560.34 - - - - - - - - - 15.96 -
16534.82 849.42 8.29 1747 16538.88 VBD 1.48 - - 2889.62 - - - 2273.38 - 77.86 - - 2558.16 - - - - - - - - - - -
16844.86 823.49 8.50 1778 16863.84 done 1.48 - - 2889.62 - 3.18 0.075 1146.06 -354.5 77.86 - - 2558.22 - - - - - - - - - 15.94 -
16964.33 812.97 8.87 1799 16982.81 done 1.48 - - 2889.12 - 2.85 0.032 2274.94 396.1 77.86 - - 2559.50 - - - - - - - - - 16.00 -
17288.66 786.46 7.87 1831 17308.03 done 1.48 - - 2889.94 - 3.20 0.074 1146.44 -352.7 77.86 - - 2558.00 - - - - - - - - - 15.95 -
17394.25 778.05 7.96 1849 17412.01 done 1.48 - - 2889.69 - 2.85 0.032 2272.38 395.1 77.86 - - 2556.97 - - - - - - - - - 16.00 -
17718.26 755.49 6.22 1881 17722.32 VBD 1.59 - - 2889.31 - - - 2273.19 - 77.86 - - 2557.19 - - - - - - - - - - -
18028.58 736.22 6.22 1912 18051.45 1.70 0.24 0.073 2941.31 216.7 3.20 0.075 1146.50 -352.1 77.86 - - 2557.81 - - - - - - - - 15.96 15.92 -
18092.81 731.39 7.84 1921 18111.18 done 1.70 - - 2941.56 - 2.83 0.032 2271.19 397.4 77.86 - - 2558.88 - - - - - - - - - 16.01 -
18417.47 710.63 6.35 1953 18436.68 done 1.81 - - 2941.81 - 3.17 0.074 1145.12 -355.2 77.86 - - 2557.44 - - - - - - - - - 15.95 -
18507.62 704.26 7.00 1968 18527.58 1.87 0.17 0.088 2984.81 252.9 2.85 0.032 2272.38 395.5 77.86 - - 2557.56 - - - - - - - - 15.84 16.02 -
18833.85 680.29 7.35 2000 18853.05 done 1.91 - - 2984.69 - 3.18 0.074 1146.38 -354.1 77.86 - - 2556.75 - - - - - - - - - 15.94 -
19053.60 663.24 7.88 2041 19072.31 done 1.91 - - 2984.19 - 2.85 0.032 2272.81 395.2 77.86 - - 2557.84 - - - - - - - - - 16.01 -
19378.60 640.22 7.22 2073 19382.71 VBD 1.96 - - 2985.12 - - - 2272.56 - 77.86 - - 2556.41 - - - - - - - - - - -
19688.58 616.53 7.73 2104 19707.97 done 1.96 - - 2984.94 - 3.18 0.073 1144.81 -354.6 77.86 - - 2555.69 - - - - - - - - - 15.94 -
19774.40 609.44 8.51 2118 19792.38 done 1.96 - - 2985.56 - 2.85 0.032 2271.00 395.2 77.86 - - 2557.69 - - - - - - - - - 16.01 -
20098.26 583.37 7.68 2150 20102.36 VBD 1.96 - - 2984.62 - - - 2271.56 - 77.86 - - 2555.75 - - - - - - - - - - -
20408.72 559.63 7.41 2181 20428.35 done 2.00 - - 2985.44 - 3.20 0.095 3351.12 337.4 77.86 - - 2555.12 - - - - - - - - - 15.91 -
20474.60 553.98 8.92 2191 20492.91 done 2.00 - - 2984.69 - 2.78 0.023 2203.88 -412.7 77.86 - - 2557.12 - - - - - - - - - 16.00 -
20799.18 530.89 6.78 2223 20818.45 2.07 0.09 0.125 3016.31 351.3 2.98 0.077 1145.75 -355.1 77.86 - - 2556.22 - - - - - - - - 15.96 15.89 -
20979.01 516.39 8.14 2256 20998.13 done 2.07 - - 3017.81 - 2.83 0.032 2274.25 398.8 77.86 - - 2556.31 - - - - - - - - - 16.02 -
21304.42 493.84 6.66 2288 21308.52 VBD 2.16 - - 3017.44 - - - 2274.69 - 77.86 - - 2555.44 - - - - - - - - - - -
21614.78 473.16 6.96 2319 21633.99 2.22 - - 3017.06 - 3.18 0.073 1146.38 -354.8 77.86 - - 2555.25 - - - - - - - - - 15.93 -
21830.79 458.02 6.87 2359 21849.17 2.29 - - 3017.75 - 2.85 0.031 2273.00 395.3 77.86 - - 2556.34 - - - - - - - - - 15.89 -
22155.57 438.51 6.17 2391 22174.95 2.41 - - 3016.69 - 3.18 0.093 3349.56 338.5 77.86 - - 2556.94 - - - - - - - - - 15.90 -
22201.60 435.19 7.01 2397 22219.17 2.47 - - 3017.31 - 2.78 0.023 2201.12 -413.1 77.86 - - 2556.12 - - - - - - - - - 16.01 -
22525.47 415.24 5.95 2429 22543.86 2.59 - - 3017.06 - 2.99 0.076 1146.19 -352.8 77.86 - - 2556.84 - - - - - - - - - 15.92 -
22670.54 406.05 6.40 2455 22688.52 2.69 - - 3018.25 - 2.83 0.031 2274.06 398.5 77.86 - - 2556.19 - - - - - - - - - 15.87 -
22994.79 387.67 5.77 2487 23014.11 2.83 - - 3017.62 - 3.18 0.072 1145.31 -355.0 77.86 - - 2556.34 - - - - - - - - - 15.92 -
23070.77 383.03 6.02 2499 23089.24 2.95 - - 3017.06 - 2.83 0.030 2274.19 398.9 77.86 - - 2555.84 - - - - - - - - - 15.99 -
23395.54 364.43 5.45 2531 23414.77 3.11 - - 3016.44 - 3.17 0.071 1145.12 -356.2 77.86 - - 2556.44 - - - - - - - - - 15.92 -
23581.57 353.37 5.87 2565 23599.57 3.24 - - 3017.81 - 2.84 0.031 2275.44 398.0 77.86 - - 2556.19 - - - - - - - - - 16.01 -
23905.85 335.50 5.40 2597 23925.06 3.40 - - 3017.19 - 3.15 0.071 1145.81 -358.6 77.86 - - 2555.84 - - - - - - - - - 15.91 -
24021.73 329.05 5.63 2617 24039.95 3.54 - - 3017.25 - 2.83 0.030 2273.31 398.4 77.86 - - 2555.97 - - - - - - - - - 16.00 -
24346.24 313.38 4.30 2649 24435.72 3.70 - - 3017.12 - - - 2273.50 - 155.28 61.01 1.662 2257.34 -4.9 0.154 - - - - - - - - 11.35
24741.60 277.89 10.08 2686 24761.23 3.70 - - 3017.31 - 3.21 0.073 1145.94 -351.3 155.28 - - 2246.75 - - - - - - - - - 15.81 -
24791.86 272.51 10.56 2693 24810.82 3.70 - - 3017.50 - 2.88 0.031 2272.56 391.2 155.28 - - 2245.78 - - - - - - - - - 15.85 -
25117.04 239.38 10.17 2725 25136.25 3.70 - - 3017.94 - 3.20 0.072 1145.06 -352.3 155.28 - - 2245.62 - - - - - - - - - 15.74 -
25176.78 232.71 11.11 2734 25195.50 3.70 - - 3017.75 - 2.86 0.031 2270.62 393.6 155.28 - - 2244.75 - - - - - - - - - 15.83 -
25501.36 198.84 10.93 2766 25520.58 3.70 - - 3017.00 - 3.17 0.071 1146.12 -354.7 155.28 - - 2243.38 - - - - - - - - - 15.82 -
25546.83 193.85 11.07 2772 25564.80 3.70 - - 3017.31 - 2.85 0.030 2271.88 395.0 155.28 - - 2244.12 - - - - - - - - - 15.83 -
25870.69 162.22 8.59 2804 25874.82 3.70 - - 3017.12 - - - 2272.19 - 155.28 - - 2242.41 - - - - - - - - - - -
26181.14 138.26 7.27 2835 26200.36 3.74 - - 3016.81 - 3.16 0.070 1145.31 -356.6 155.28 - - 2242.19 - - - - - - - - - 15.83 -
26256.62 132.51 7.80 2847 26274.60 3.74 - - 3017.44 - 2.85 0.029 2273.81 396.0 155.28 - - 2243.22 - - - - - - - - - 15.88 -
26580.87 111.25 5.06 2879 26600.33 3.74 - - 3016.81 - 3.18 0.091 3350.88 338.7 155.28 - - 2242.44 - - - - - - - - - 15.82 -
26737.13 103.10 5.00 2907 26824.92 3.87 - - 3017.81 - 2.78 0.021 2197.31 -415.0 218.27 48.31 1.357 1999.22 -5.0 0.064 - - - - - - - 15.91 11.88
27131.26 80.95 5.08 2979 27138.33 3.87 - - 3017.62 - - - 2196.38 - 218.27 - - 1991.00 - - - - - - - - - - -
27324.62 73.03 3.70 3017 27441.35 4.05 - - 3017.88 - 2.99 0.076 1145.88 -351.3 308.07 67.59 1.296 1632.25 -5.3 0.050 - - - - - - - 15.62 12.05
27517.61 60.15 8.09 3047 27536.33 4.05 - - 3016.94 - 2.85 0.028 2273.25 395.6 308.07 - - 1626.41 - - - - - - - - - 15.74 -
27722.33 42.81 8.63 3085 27742.53 4.05 - - 3016.94 - 3.16 0.070 1145.94 -356.7 308.07 - - 1622.88 - - - - - - - - - 15.72 -
27838.90 33.09 7.77 3105 27858.00 4.05 - - 3017.69 - 2.85 0.028 2274.62 396.0 308.07 - - 1621.19 - - - - - - - - - 15.83 -
28044.30 21.94 3.89 3143 28156.46 4.22 - - 3017.88 - 3.19 0.071 1146.38 -353.7 394.01 65.88 1.205 1283.31 -5.1 0.016 - - - - - - - 15.64 11.97
28388.17 10.81 3.63 3203 28506.12 4.40 - - 3017.50 - 2.84 0.026 2277.12 398.1 485.32 69.56 1.160 912.00 -5.3 0.008 - - - - - - - 15.81 12.04
28526 end climb: SURFACE_DEPTH_REACHED
28527 begin surface coast
28607 end surface coast: CONTROL_FINISHED_OK
28608 begin surface
SM 1.14 - - - - 182.9 - - 902.3 - 19.44 0.054 912.6 46.9 - 0.12 0.087 892.1 7410.5 -9.925 - - 30.00 15.70 15.78 -