NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 394 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 138.21 of 506.00 AH used of 24V (72.69% remains)
• Surface angle -63.6 deg, depth 1.02 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.87 (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
10 end surface: CONTROL_FINISHED_OK
11 begin dive
18.98 - - - 118.68 VBD -1.18 - - 178.38 - - - 2206.12 - -77.86 70.21 0.005 2872.69 - - - - - - - - - - 15.05
120.90 3.62 -3.80 14 236.53 -1.18 17.38 0.222 2227.19 117.9 3.40 0.081 3352.94 337.3 -77.86 4.65 0.009 3211.59 72.9 -4.994 - - - - - - 15.36 15.11 15.24
313.42 47.00 -10.75 35 331.76 roll -1.18 - - 2227.19 - 2.88 0.018 2193.12 -402.7 -77.86 - - 3214.66 - - - - - - - - - 15.67 -
517.55 67.65 -10.29 73 524.12 no move -1.18 - - 2228.19 - - - 2191.56 - -77.86 - - 3213.66 - - - - - - - - - - -
709.94 85.33 -8.13 111 729.10 roll -1.18 - - 2228.25 - 3.05 0.067 1144.06 -343.4 -77.86 - - 3214.50 - - - - - - - - - 15.73 -
790.27 92.33 -8.88 124 808.63 roll -1.18 - - 2228.06 - 2.81 0.024 2278.31 403.6 -77.86 - - 3214.34 - - - - - - - - - 15.73 -
999.44 109.45 -8.30 152 1018.25 roll -1.18 - - 2227.94 - 3.16 0.081 3351.94 339.8 -77.86 - - 3214.31 - - - - - - - - - 15.65 -
1064.42 115.50 -9.50 162 1082.04 roll -1.18 - - 2227.75 - 2.84 0.018 2192.62 -408.2 -77.86 - - 3215.03 - - - - - - - - - 15.76 -
1387.87 140.57 -7.23 194 1391.89 no move -1.18 - - 2227.94 - - - 2189.56 - -77.86 - - 3215.16 - - - - - - - - - - -
1697.91 161.67 -6.70 225 1716.33 roll -1.18 - - 2227.75 - 3.06 0.067 1145.38 -341.2 -77.86 - - 3216.47 - - - - - - - - - 15.70 -
1762.50 166.05 -6.62 235 1780.02 roll -1.18 - - 2227.62 - 2.80 0.024 2279.38 405.0 -77.86 - - 3216.31 - - - - - - - - - 15.90 -
2086.00 187.81 -7.11 267 2090.05 VBD -1.18 - - 2227.19 - - - 2279.62 - -77.86 - - 3215.16 - - - - - - - - - - -
2396.03 211.67 -8.36 298 2416.91 roll -1.18 - - 2226.69 - 3.27 0.064 1145.44 -346.8 -77.86 - - 3216.25 - - - - - - - - - 15.73 -
2512.41 222.38 -9.38 318 2530.98 roll -1.18 - - 2227.94 - 2.82 0.025 2277.38 401.4 -77.86 - - 3216.53 - - - - - - - - - 15.91 -
2836.83 250.84 -8.71 350 2856.29 roll -1.18 - - 2226.62 - 3.23 0.064 1145.25 -350.5 -77.86 - - 3216.56 - - - - - - - - - 15.72 -
2896.78 256.25 -8.85 359 2915.34 roll -1.18 - - 2226.88 - 2.82 0.025 2277.75 401.6 -77.86 - - 3217.06 - - - - - - - - - 15.88 -
3221.20 282.62 -7.95 391 3225.26 no move -1.18 - - 2227.94 - - - 2278.25 - -77.86 - - 3215.44 - - - - - - - - - - -
3531.24 308.25 -8.36 422 3535.29 no move -1.18 - - 2227.69 - - - 2277.69 - -77.86 - - 3214.22 - - - - - - - - - - -
3841.28 333.27 -7.92 453 3860.74 roll -1.18 - - 2227.69 - 3.24 0.065 1146.44 -349.2 -77.86 - - 3215.19 - - - - - - - - - 15.74 -
3911.23 339.11 -8.45 464 3930.43 roll -1.18 - - 2227.75 - 2.81 0.025 2276.56 402.2 -77.86 - - 3215.25 - - - - - - - - - 15.90 -
4236.40 363.27 -7.33 496 4240.47 no move -1.18 - - 2228.44 - - - 2276.31 - -77.86 - - 3213.72 - - - - - - - - - - -
4546.43 386.31 -7.34 527 4550.49 no move -1.18 - - 2227.75 - - - 2276.62 - -77.86 - - 3212.97 - - - - - - - - - - -
4856.47 410.26 -8.26 558 4875.92 roll -1.18 - - 2227.19 - 3.26 0.065 1146.31 -346.7 -77.86 - - 3213.88 - - - - - - - - - 15.82 -
4952.15 417.96 -8.00 574 4969.99 roll -1.18 - - 2228.12 - 2.83 0.025 2276.50 399.4 -77.86 - - 3213.69 - - - - - - - - - 15.91 -
5275.85 442.68 -7.88 606 5279.91 no move -1.18 - - 2227.75 - - - 2276.62 - -77.86 - - 3212.50 - - - - - - - - - - -
5585.88 465.51 -7.25 637 5605.33 roll -1.18 - - 2227.31 - 3.26 0.065 1146.00 -346.8 -77.86 - - 3212.75 - - - - - - - - - 15.83 -
5675.82 472.27 -7.54 652 5694.79 roll -1.18 - - 2228.06 - 2.84 0.026 2276.62 398.1 -77.86 - - 3212.69 - - - - - - - - - 15.96 -
6000.60 494.21 -6.52 684 6021.47 roll -1.18 - - 2226.69 - 3.29 0.065 1146.00 -343.7 -77.86 - - 3210.97 - - - - - - - - - 15.73 -
6102.69 501.53 -7.15 701 6120.77 roll -1.18 - - 2227.94 - 2.84 0.026 2276.25 398.0 -77.86 - - 3213.06 - - - - - - - - - 15.98 -
6426.72 523.75 -6.82 733 6430.78 no move -1.18 - - 2226.88 - - - 2275.69 - -77.86 - - 3211.09 - - - - - - - - - - -
6736.75 546.57 -7.15 764 6757.61 roll -1.18 - - 2227.94 - 3.30 0.066 1146.19 -342.3 -77.86 - - 3210.19 - - - - - - - - - 15.70 -
6803.11 551.77 -7.45 774 6822.07 roll -1.18 - - 2227.62 - 2.85 0.026 2275.75 396.3 -77.86 - - 3210.72 - - - - - - - - - 15.98 -
7127.93 573.66 -6.50 806 7147.40 roll -1.18 - - 2227.69 - 3.24 0.066 1145.50 -348.8 -77.86 - - 3209.38 - - - - - - - - - 15.82 -
7173.61 577.04 -7.09 812 7191.45 roll -1.18 - - 2227.69 - 2.83 0.026 2276.50 399.6 -77.86 - - 3210.31 - - - - - - - - - 15.98 -
7497.30 598.46 -6.91 844 7501.37 no move -1.18 - - 2227.62 - - - 2276.19 - -77.86 - - 3209.28 - - - - - - - - - - -
7807.34 619.84 -6.59 875 7811.40 no move -1.18 - - 2228.44 - - - 2276.38 - -77.86 - - 3208.62 - - - - - - - - - - -
8117.37 641.73 -7.15 906 8121.43 no move -1.18 - - 2227.12 - - - 2276.44 - -77.86 - - 3208.47 - - - - - - - - - - -
8427.42 664.06 -7.28 937 8446.88 roll -1.18 - - 2227.19 - 3.26 0.066 1144.81 -347.1 -77.86 - - 3209.50 - - - - - - - - - 15.81 -
8493.10 669.29 -7.40 947 8511.35 roll -1.18 - - 2227.94 - 2.85 0.026 2275.06 396.6 -77.86 - - 3209.41 - - - - - - - - - 15.98 -
8817.32 693.63 -7.39 979 8821.38 no move -1.18 - - 2227.44 - - - 2275.06 - -77.86 - - 3207.72 - - - - - - - - - - -
9127.36 715.90 -6.91 1010 9131.42 no move -1.18 - - 2227.69 - - - 2274.44 - -77.86 - - 3207.09 - - - - - - - - - - -
9437.40 734.57 -5.80 1041 9456.87 roll -1.18 - - 2226.94 - 3.26 0.067 1145.50 -346.3 -77.86 - - 3208.25 - - - - - - - - - 15.66 -
9507.36 738.77 -5.94 1052 9526.34 roll -1.18 - - 2227.75 - 2.85 0.026 2274.19 396.0 -77.86 - - 3207.25 - - - - - - - - - 15.99 -
9832.20 756.44 -5.45 1084 9851.76 roll -1.18 - - 2227.56 - 3.23 0.067 1146.00 -349.3 -77.86 - - 3205.78 - - - - - - - - - 15.78 -
9922.25 761.90 -5.95 1099 9940.82 roll -1.18 - - 2227.88 - 2.86 0.026 2274.88 394.7 -77.86 - - 3208.38 - - - - - - - - - 15.89 -
10246.64 781.10 -6.33 1131 10266.23 roll -1.18 - - 2227.50 - 3.26 0.089 3349.00 329.5 -77.86 - - 3206.34 - - - - - - - - - 15.74 -
10302.44 785.04 -7.00 1139 10320.92 roll -1.18 - - 2227.44 - 2.84 0.020 2195.25 -406.2 -77.86 - - 3206.69 - - - - - - - - - 15.98 -
10626.89 807.28 -7.04 1171 10630.95 no move -1.18 - - 2227.81 - - - 2194.50 - -77.86 - - 3205.75 - - - - - - - - - - -
10936.93 829.28 -6.55 1202 10940.99 no move -1.18 - - 2227.56 - - - 2194.00 - -77.86 - - 3205.31 - - - - - - - - - - -
11246.97 848.77 -5.81 1233 11265.63 roll -1.18 - - 2226.69 - 3.09 0.072 1145.25 -339.4 -77.86 - - 3206.41 - - - - - - - - - 15.77 -
11286.23 851.18 -6.35 1238 11304.80 roll -1.18 - - 2226.50 - 2.83 0.026 2276.44 399.7 -77.86 - - 3206.91 - - - - - - - - - 15.97 -
11610.64 869.71 -5.48 1270 11614.70 no move -1.18 - - 2227.12 - - - 2276.50 - -77.86 - - 3204.84 - - - - - - - - - - -
11920.65 885.42 -5.08 1301 11940.11 roll -1.18 - - 2227.00 - 3.26 0.089 3351.12 329.6 -77.86 - - 3205.69 - - - - - - - - - 15.71 -
11990.60 889.26 -5.56 1312 12009.58 roll -1.18 - - 2227.88 - 2.85 0.020 2195.69 -405.4 -77.86 - - 3204.50 - - - - - - - - - 15.97 -
12315.84 904.80 -4.66 1344 12334.90 roll -1.18 - - 2227.25 - 3.11 0.072 1146.75 -337.3 -77.86 - - 3204.78 - - - - - - - - - 15.62 -
12381.12 908.34 -5.39 1354 12399.60 roll -1.18 - - 2227.19 - 2.84 0.026 2276.12 397.7 -77.86 - - 3204.38 - - - - - - - - - 15.85 -
12705.56 926.50 -5.77 1386 12726.85 roll -1.18 - - 2227.50 - 3.31 0.068 1145.94 -341.4 -77.86 - - 3203.84 - - - - - - - - - 15.75 -
12778.08 931.07 -6.12 1397 12795.93 roll -1.18 - - 2228.00 - 2.86 0.027 2275.19 394.8 -77.86 - - 3203.69 - - - - - - - - - 15.94 -
13101.78 949.87 -5.87 1429 13123.05 roll -1.18 - - 2226.62 - 3.33 0.068 1147.00 -338.8 -77.86 - - 3204.22 - - - - - - - - - 15.65 -
13184.28 955.14 -6.10 1442 13202.13 roll -1.18 - - 2227.94 - 2.84 0.027 2275.12 397.2 -77.86 - - 3203.94 - - - - - - - - - 15.96 -
13507.99 974.35 -5.94 1474 13512.05 no move -1.18 - - 2227.81 - - - 2275.75 - -77.86 - - 3203.12 - - - - - - - - - - -
13777 end dive: TARGET_DEPTH_EXCEEDED
13777 begin apogee
13782.70 990.32 -5.94 1501 13886.45 -0.31 1.60 0.131 2440.38 132.9 0.19 0.141 2282.94 37.8 - 64.75 2.415 2888.97 -4.9 0.339 - - - - - - 15.65 15.38 10.24
13899 end apogee: CONTROL_FINISHED_OK
13899 begin climb
13902.71 991.98 - 1508 14031.51 1.18 2.59 0.089 2805.50 141.0 3.47 0.074 1147.06 -327.3 77.86 66.50 2.392 2571.44 -4.8 0.337 - - - - - - 15.57 15.17 11.66
14038.87 987.17 5.33 1522 14058.76 roll back 1.35 0.24 0.076 2850.94 189.3 2.93 0.029 2271.56 383.8 77.86 - - 2567.47 - - - - - - - - 15.40 15.51 -
14365.10 964.55 7.15 1554 14386.36 done 1.40 - - 2853.44 - 3.32 0.094 3349.69 324.7 77.86 - - 2565.06 - - - - - - - - - 15.68 -
14497.58 953.81 8.27 1577 14515.44 done 1.40 - - 2854.12 - 2.88 0.021 2205.38 -397.3 77.86 - - 2561.97 - - - - - - - - - 15.80 -
14821.70 930.13 7.05 1609 14825.76 VBD 1.46 - - 2853.94 - - - 2203.25 - 77.86 - - 2561.19 - - - - - - - - - - -
15131.98 908.17 7.20 1640 15153.67 1.51 0.17 0.084 2893.19 230.9 3.13 0.075 1147.38 -337.3 77.86 - - 2562.34 - - - - - - - - 15.83 15.78 -
15314.93 892.98 8.49 1673 15333.02 done 1.51 - - 2893.06 - 2.86 0.030 2273.75 393.8 77.86 - - 2562.28 - - - - - - - - - 15.91 -
15639.41 868.59 7.04 1705 15658.88 done 1.57 - - 2893.81 - 3.27 0.094 3349.75 329.1 77.86 - - 2561.78 - - - - - - - - - 15.77 -
15739.38 860.56 8.01 1722 15757.95 done 1.57 - - 2893.06 - 2.84 0.021 2204.88 -403.1 77.86 - - 2561.00 - - - - - - - - - 15.91 -
16064.20 837.64 6.84 1754 16068.26 VBD 1.64 - - 2893.62 - - - 2202.31 - 77.86 - - 2559.41 - - - - - - - - - - -
16374.51 816.33 7.36 1785 16396.22 1.68 0.19 0.081 2934.75 216.5 3.12 0.075 1146.50 -338.4 77.86 - - 2559.78 - - - - - - - - 15.86 15.79 -
16461.71 809.17 8.35 1799 16480.29 done 1.68 - - 2935.94 - 2.85 0.030 2274.50 395.8 77.86 - - 2559.41 - - - - - - - - - 15.95 -
16786.14 782.32 8.31 1831 16790.20 VBD 1.68 - - 2935.94 - - - 2273.94 - 77.86 - - 2558.88 - - - - - - - - - - -
17096.40 756.32 8.82 1862 17100.46 VBD 1.68 - - 2935.88 - - - 2274.19 - 77.86 - - 2558.59 - - - - - - - - - - -
17406.31 729.79 8.48 1893 17427.85 done 1.68 - - 2935.62 - 3.32 0.071 1146.38 -339.7 77.86 - - 2559.22 - - - - - - - - - 15.80 -
17583.49 713.99 8.61 1925 17602.07 done 1.68 - - 2935.50 - 2.87 0.031 2272.00 392.2 77.86 - - 2560.84 - - - - - - - - - 15.96 -
17907.91 688.87 7.58 1957 17928.78 done 1.68 - - 2934.69 - 3.30 0.071 1147.12 -340.9 77.86 - - 2559.53 - - - - - - - - - 15.79 -
17980.62 683.45 7.44 1968 17998.50 done 1.72 - - 2936.38 - 2.86 0.030 2272.56 393.5 77.86 - - 2557.81 - - - - - - - - - 15.95 -
18304.75 660.05 7.11 2000 18308.81 VBD 1.78 - - 2935.75 - - - 2273.00 - 77.86 - - 2558.03 - - - - - - - - - - -
18615.03 637.62 6.95 2031 18620.08 1.84 0.17 0.086 2974.12 225.7 - - 2272.69 - 77.86 - - 2557.53 - - - - - - - - 15.89 - -
18925.93 614.19 7.94 2062 18930.00 VBD 1.84 - - 2974.19 - - - 2272.38 - 77.86 - - 2558.00 - - - - - - - - - - -
19236.38 590.79 7.06 2093 19240.45 VBD 1.90 - - 2974.38 - - - 2272.62 - 77.86 - - 2557.66 - - - - - - - - - - -
19546.71 570.39 6.68 2124 19551.16 VBD 1.98 - - 2974.56 - - - 2272.69 - 77.86 - - 2557.53 - - - - - - - - - - -
19857.42 549.89 6.62 2155 19879.94 2.07 0.16 0.090 3013.00 240.3 3.33 0.071 1146.12 -338.3 77.86 - - 2559.16 - - - - - - - - 15.88 15.78 -
20081.62 533.01 7.30 2196 20099.48 done 2.11 - - 3015.69 - 2.88 0.030 2273.44 391.4 77.86 - - 2556.50 - - - - - - - - - 15.95 -
20405.86 511.65 5.96 2228 20409.94 2.24 - - 3014.62 - - - 2274.06 - 77.86 - - 2557.19 - - - - - - - - - - -
20716.20 491.27 7.07 2259 20737.09 2.30 - - 3014.00 - 3.28 0.092 3350.81 328.3 77.86 - - 2557.88 - - - - - - - - - 15.71 -
20778.31 486.55 7.57 2268 20796.16 2.30 - - 3015.00 - 2.87 0.021 2203.44 -399.8 77.86 - - 2559.16 - - - - - - - - - 15.95 -
21102.42 462.98 7.17 2300 21121.52 2.35 - - 3014.06 - 3.13 0.072 1146.94 -337.5 77.86 - - 2558.62 - - - - - - - - - 15.76 -
21292.57 448.89 7.14 2335 21311.16 2.41 - - 3015.25 - 2.88 0.029 2275.12 391.7 77.86 - - 2559.09 - - - - - - - - - 15.67 -
21617.43 427.34 6.56 2367 21636.91 2.50 - - 3014.50 - 3.26 0.091 3350.81 330.0 77.86 - - 2558.66 - - - - - - - - - 15.69 -
21667.79 423.88 6.90 2374 21686.64 2.56 - - 3014.38 - 2.85 0.021 2203.12 -402.7 77.86 - - 2558.41 - - - - - - - - - 15.96 -
21992.98 403.60 5.82 2406 22014.67 2.70 - - 3014.19 - 3.46 0.086 3349.94 331.5 77.86 - - 2558.28 - - - - - - - - - 15.70 -
22146.33 393.65 6.52 2433 22164.20 2.79 - - 3015.19 - 2.86 0.021 2204.62 -400.5 77.86 - - 2559.16 - - - - - - - - - 15.96 -
22470.46 375.16 5.94 2465 22474.53 2.92 - - 3014.50 - - - 2203.31 - 77.86 - - 2557.50 - - - - - - - - - - -
22780.78 356.91 6.01 2496 22784.86 3.04 - - 3015.31 - - - 2202.88 - 77.86 - - 2557.03 - - - - - - - - - - -
23091.09 338.53 6.00 2527 23112.87 3.16 - - 3014.56 - 3.50 0.086 3351.06 328.1 77.86 - - 2559.28 - - - - - - - - - 15.52 -
23208.78 330.34 7.05 2547 23227.38 3.22 - - 3015.06 - 2.87 0.021 2202.31 -400.3 77.86 - - 2557.62 - - - - - - - - - 15.95 -
23533.65 312.44 5.47 2579 23552.72 3.38 - - 3014.81 - 3.12 0.073 1147.75 -338.0 77.86 - - 2556.06 - - - - - - - - - 15.73 -
23783.68 298.12 5.65 2626 23802.28 3.52 - - 3014.81 - 2.85 0.028 2278.12 396.6 77.86 - - 2557.62 - - - - - - - - - 15.93 -
24108.65 282.27 4.66 2658 24207.06 3.66 - - 3015.50 - 3.24 0.092 3351.19 331.2 147.92 55.86 1.541 2285.91 -4.9 0.152 - - - - - - - 15.57 10.74
24222.54 273.80 9.46 2673 24241.14 roll back 3.66 - - 3015.00 - 2.88 0.021 2204.31 -398.2 147.92 - - 2283.44 - - - - - - - - - 15.67 -
24547.10 240.87 10.49 2705 24566.18 3.66 - - 3014.00 - 3.13 0.073 1147.12 -337.8 147.92 - - 2278.09 - - - - - - - - - 15.71 -
24642.41 230.46 11.11 2721 24660.27 3.66 - - 3014.12 - 2.87 0.029 2276.75 393.6 147.92 - - 2277.59 - - - - - - - - - 15.62 -
24966.12 197.28 10.42 2753 24987.42 3.66 - - 3014.12 - 3.34 0.069 1146.94 -338.3 147.92 - - 2276.84 - - - - - - - - - 15.70 -
25022.90 190.98 10.75 2761 25042.14 3.66 - - 3014.62 - 2.87 0.028 2275.19 393.1 147.92 - - 2277.62 - - - - - - - - - 15.62 -
25348.12 160.34 9.01 2793 25367.61 3.66 - - 3014.19 - 3.23 0.089 3350.38 332.9 147.92 - - 2276.03 - - - - - - - - - 15.70 -
25403.83 154.92 9.58 2801 25421.71 3.66 - - 3015.19 - 2.85 0.020 2203.75 -402.3 147.92 - - 2273.75 - - - - - - - - - 15.73 -
25727.56 124.66 9.80 2833 25731.63 3.66 - - 3015.00 - - - 2201.94 - 147.92 - - 2274.50 - - - - - - - - - - -
26037.57 98.51 8.66 2865 26057.37 3.66 - - 3014.56 - 3.13 0.072 1145.75 -337.4 147.92 - - 2276.00 - - - - - - - - - 15.64 -
26148.99 90.67 6.27 2884 26167.58 3.77 - - 3015.12 - 2.82 0.027 2278.94 401.8 147.92 - - 2275.09 - - - - - - - - - 15.74 -
26353.86 80.61 5.12 2922 26373.67 3.77 - - 3015.25 - 3.19 0.086 3351.00 336.1 147.92 - - 2275.66 - - - - - - - - - 15.71 -
26605.34 67.18 4.97 2969 26694.96 3.89 - - 3015.00 - 2.86 0.019 2199.19 -402.7 211.46 50.01 1.244 2027.62 -5.0 0.046 - - - - - - - 15.73 11.40
26881.35 49.91 5.75 3017 26901.15 3.89 - - 3015.44 - 3.15 0.072 1145.69 -334.4 211.46 - - 2020.34 - - - - - - - - - 15.61 -
26927.77 46.65 7.04 3023 26946.75 3.89 - - 3014.75 - 2.86 0.026 2276.94 395.5 211.46 - - 2019.44 - - - - - - - - - 15.60 -
27132.97 37.76 3.13 3061 27246.50 4.10 - - 3015.25 - - - 2276.81 - 313.20 78.76 1.194 1613.16 -5.2 0.028 - - - - - - - - 11.62
27432.75 23.13 4.10 3114 27545.65 4.26 - - 3015.31 - 3.40 0.070 1145.50 -332.7 394.71 64.26 1.144 1279.72 -5.2 0.018 - - - - - - - 15.43 11.61
27706 end climb: SURFACE_DEPTH_REACHED
27707 begin surface coast
27757 end surface coast: CONTROL_FINISHED_OK
27758 begin surface
SM 0.93 - - - - 181.9 27.64 1.085 1137.6 38.8 19.56 0.040 1140.6 58.3 - 2.82 0.024 1134.6 401.1 -1.589 - - 11.41 15.70 15.77 -