NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 401 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 140.65 of 506.00 AH used of 24V (72.20% remains)
• Surface angle -64.4 deg, depth 0.95 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.17 (SM_CC=430)
• GPS1 time: 20 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
11 begin dive
18.98 - - - 118.66 VBD -1.18 - - 176.88 - - - 2284.19 - -77.86 70.19 0.005 2836.44 - - - - - - - - - - 15.03
120.88 3.32 -3.57 14 236.88 -1.18 17.33 0.221 2228.25 118.4 3.18 0.086 3350.88 335.4 -77.86 5.31 0.009 3210.59 70.5 -4.434 - - - - - - 15.35 15.12 15.23
468.16 68.37 -9.62 66 486.51 roll -1.18 - - 2228.44 - 2.85 0.019 2194.44 -405.8 -77.86 - - 3213.69 - - - - - - - - - 15.76 -
672.29 85.28 -7.55 104 693.03 roll -1.18 - - 2228.44 - 3.37 0.079 3351.50 343.3 -77.86 - - 3214.09 - - - - - - - - - 15.62 -
819.20 98.58 -9.30 130 837.54 roll -1.18 - - 2228.19 - 2.85 0.019 2194.94 -405.8 -77.86 - - 3214.12 - - - - - - - - - 15.66 -
1023.34 114.07 -7.04 150 1041.76 roll -1.18 - - 2227.38 - 3.07 0.067 1146.25 -341.6 -77.86 - - 3215.50 - - - - - - - - - 15.70 -
1062.20 117.17 -7.45 155 1080.16 roll -1.18 - - 2228.38 - 2.77 0.024 2279.00 408.9 -77.86 - - 3214.88 - - - - - - - - - 15.76 -
1385.97 143.26 -8.06 187 1405.21 roll -1.18 - - 2228.00 - 3.23 0.062 1144.31 -351.3 -77.86 - - 3213.69 - - - - - - - - - 15.72 -
1511.42 154.16 -9.09 209 1529.02 roll -1.18 - - 2227.69 - 2.79 0.024 2276.81 405.9 -77.86 - - 3215.94 - - - - - - - - - 15.77 -
1836.05 181.69 -8.71 241 1842.87 no move -1.18 - - 2228.38 - - - 2277.31 - -77.86 - - 3215.28 - - - - - - - - - - -
2154.92 206.28 -7.41 273 2174.37 roll -1.18 - - 2228.50 - 3.25 0.063 1146.06 -348.1 -77.86 - - 3214.88 - - - - - - - - - 15.79 -
2240.61 213.14 -7.91 287 2258.05 roll -1.18 - - 2228.44 - 2.77 0.025 2278.12 408.7 -77.86 - - 3215.72 - - - - - - - - - 15.91 -
2563.89 238.53 -8.04 319 2583.35 roll -1.18 - - 2228.62 - 3.26 0.063 1145.56 -347.4 -77.86 - - 3215.59 - - - - - - - - - 15.74 -
2629.57 244.27 -9.03 329 2647.39 roll -1.18 - - 2228.12 - 2.78 0.025 2278.31 407.5 -77.86 - - 3215.50 - - - - - - - - - 15.94 -
2953.22 271.19 -7.82 361 2972.69 roll -1.18 - - 2228.38 - 3.25 0.063 1145.38 -348.6 -77.86 - - 3215.09 - - - - - - - - - 15.83 -
2993.17 274.52 -8.19 366 3011.34 roll -1.18 - - 2228.12 - 2.79 0.025 2278.31 406.1 -77.86 - - 3214.78 - - - - - - - - - 15.95 -
3317.18 298.50 -7.33 398 3336.64 roll -1.18 - - 2227.00 - 3.26 0.063 1146.12 -347.3 -77.86 - - 3215.88 - - - - - - - - - 15.83 -
3367.12 302.52 -8.02 405 3385.54 roll -1.18 - - 2227.06 - 2.78 0.025 2276.69 406.7 -77.86 - - 3215.62 - - - - - - - - - 15.96 -
3691.50 325.11 -7.31 437 3695.56 no move -1.18 - - 2228.69 - - - 2276.31 - -77.86 - - 3213.41 - - - - - - - - - - -
4001.55 346.95 -7.09 468 4021.01 roll -1.18 - - 2228.25 - 3.25 0.065 1145.94 -347.8 -77.86 - - 3214.31 - - - - - - - - - 15.75 -
4051.49 350.77 -7.33 475 4069.65 roll -1.18 - - 2228.06 - 2.78 0.025 2276.44 406.7 -77.86 - - 3214.19 - - - - - - - - - 15.89 -
4375.49 373.73 -6.93 507 4394.97 roll -1.18 - - 2228.31 - 3.25 0.064 1146.69 -347.6 -77.86 - - 3211.97 - - - - - - - - - 15.83 -
4405.45 375.97 -7.24 510 4423.62 roll -1.18 - - 2226.94 - 2.80 0.025 2277.69 403.9 -77.86 - - 3215.12 - - - - - - - - - 15.97 -
4729.46 398.50 -6.66 542 4748.93 roll -1.18 - - 2227.81 - 3.26 0.064 1145.81 -347.2 -77.86 - - 3213.12 - - - - - - - - - 15.84 -
4795.14 403.18 -7.00 552 4812.58 roll -1.18 - - 2228.25 - 2.80 0.025 2276.50 403.8 -77.86 - - 3213.66 - - - - - - - - - 15.96 -
5118.43 425.13 -6.84 584 5138.14 roll -1.18 - - 2227.38 - 3.26 0.065 1146.00 -346.8 -77.86 - - 3213.88 - - - - - - - - - 15.82 -
5178.74 429.72 -7.34 593 5196.91 roll -1.18 - - 2228.38 - 2.79 0.026 2276.69 405.3 -77.86 - - 3212.62 - - - - - - - - - 15.96 -
5502.76 452.06 -7.07 625 5506.82 no move -1.18 - - 2227.94 - - - 2276.44 - -77.86 - - 3211.19 - - - - - - - - - - -
5813.01 474.49 -7.80 656 5833.88 roll -1.18 - - 2228.88 - 3.29 0.065 1146.81 -343.4 -77.86 - - 3210.69 - - - - - - - - - 15.81 -
5865.09 478.59 -7.91 663 5882.92 roll -1.18 - - 2228.44 - 2.79 0.026 2276.56 404.9 -77.86 - - 3212.25 - - - - - - - - - 15.97 -
6188.77 503.65 -7.68 695 6192.83 no move -1.18 - - 2228.12 - - - 2276.12 - -77.86 - - 3210.19 - - - - - - - - - - -
6498.82 528.53 -8.05 726 6519.67 roll -1.18 - - 2228.62 - 3.28 0.065 1146.19 -344.5 -77.86 - - 3210.75 - - - - - - - - - 15.81 -
6580.91 535.56 -8.43 739 6598.36 roll -1.18 - - 2228.25 - 2.80 0.026 2276.94 403.8 -77.86 - - 3211.97 - - - - - - - - - 15.96 -
6904.18 561.57 -7.64 771 6908.24 no move -1.18 - - 2228.06 - - - 2276.88 - -77.86 - - 3209.50 - - - - - - - - - - -
7214.20 584.34 -7.03 802 7235.30 roll -1.18 - - 2227.38 - 3.29 0.066 1145.62 -343.8 -77.86 - - 3210.31 - - - - - - - - - 15.81 -
7250.90 587.03 -7.54 806 7269.47 roll -1.18 - - 2226.69 - 2.82 0.026 2275.62 400.7 -77.86 - - 3211.19 - - - - - - - - - 15.98 -
7575.29 609.61 -6.73 838 7579.35 no move -1.18 - - 2227.75 - - - 2276.00 - -77.86 - - 3208.94 - - - - - - - - - - -
7885.31 630.27 -6.54 869 7889.36 no move -1.18 - - 2228.19 - - - 2276.44 - -77.86 - - 3208.78 - - - - - - - - - - -
8195.32 650.37 -6.58 900 8216.19 roll -1.18 - - 2228.25 - 3.28 0.066 1145.81 -344.7 -77.86 - - 3207.34 - - - - - - - - - 15.80 -
8257.41 654.69 -7.02 909 8275.25 roll -1.18 - - 2227.88 - 2.81 0.026 2276.94 402.5 -77.86 - - 3209.88 - - - - - - - - - 15.97 -
8581.10 675.27 -6.22 941 8601.96 roll -1.18 - - 2228.19 - 3.29 0.066 1145.81 -343.8 -77.86 - - 3207.66 - - - - - - - - - 15.70 -
8617.44 677.93 -6.97 945 8636.02 roll -1.18 - - 2227.00 - 2.82 0.026 2275.69 400.7 -77.86 - - 3209.56 - - - - - - - - - 15.97 -
8941.88 698.31 -6.14 977 8945.93 no move -1.18 - - 2228.00 - - - 2276.44 - -77.86 - - 3207.50 - - - - - - - - - - -
9251.92 717.54 -6.11 1008 9255.98 no move -1.18 - - 2228.38 - - - 2276.56 - -77.86 - - 3207.31 - - - - - - - - - - -
9561.95 737.31 -6.47 1039 9583.12 roll -1.18 - - 2228.25 - 3.30 0.067 1145.88 -342.6 -77.86 - - 3208.03 - - - - - - - - - 15.80 -
9628.72 742.14 -7.42 1049 9647.29 roll -1.18 - - 2227.62 - 2.82 0.026 2275.38 400.5 -77.86 - - 3207.56 - - - - - - - - - 15.98 -
9953.14 764.14 -6.60 1081 9957.20 no move -1.18 - - 2227.69 - - - 2275.25 - -77.86 - - 3206.19 - - - - - - - - - - -
10263.18 784.04 -5.96 1112 10284.47 roll -1.18 - - 2228.06 - 3.31 0.067 1146.75 -340.9 -77.86 - - 3205.56 - - - - - - - - - 15.72 -
10319.96 787.98 -6.86 1120 10338.53 roll -1.18 - - 2228.00 - 2.81 0.027 2275.19 401.6 -77.86 - - 3206.97 - - - - - - - - - 15.96 -
10644.37 807.46 -5.91 1152 10648.43 no move -1.18 - - 2227.81 - - - 2274.81 - -77.86 - - 3205.72 - - - - - - - - - - -
10954.42 824.94 -5.60 1183 10958.48 no move -1.18 - - 2227.75 - - - 2274.81 - -77.86 - - 3205.44 - - - - - - - - - - -
11264.52 841.52 -5.57 1214 11285.40 roll -1.18 - - 2228.12 - 3.30 0.068 1145.38 -342.3 -77.86 - - 3205.06 - - - - - - - - - 15.77 -
11356.74 847.15 -5.99 1229 11374.58 roll -1.18 - - 2228.12 - 2.83 0.027 2275.06 399.2 -77.86 - - 3206.47 - - - - - - - - - 15.95 -
11680.43 866.81 -6.31 1261 11684.49 no move -1.18 - - 2227.69 - - - 2275.50 - -77.86 - - 3204.84 - - - - - - - - - - -
11990.47 887.25 -6.79 1292 12011.35 roll -1.18 - - 2227.75 - 3.29 0.067 1146.38 -343.2 -77.86 - - 3203.88 - - - - - - - - - 15.75 -
12082.69 893.84 -7.46 1307 12100.54 roll -1.18 - - 2226.88 - 2.83 0.027 2274.94 398.8 -77.86 - - 3206.59 - - - - - - - - - 15.96 -
12406.40 914.98 -6.31 1339 12410.46 no move -1.18 - - 2227.56 - - - 2274.94 - -77.86 - - 3203.97 - - - - - - - - - - -
12716.44 934.50 -6.36 1370 12737.72 roll -1.18 - - 2227.88 - 3.32 0.068 1146.00 -340.0 -77.86 - - 3202.66 - - - - - - - - - 15.74 -
12788.94 939.15 -6.23 1381 12806.80 roll -1.18 - - 2228.00 - 2.83 0.027 2274.69 398.8 -77.86 - - 3204.56 - - - - - - - - - 15.96 -
13112.66 957.96 -5.53 1413 13133.93 roll -1.18 - - 2228.31 - 3.33 0.068 1146.81 -338.7 -77.86 - - 3204.44 - - - - - - - - - 15.72 -
13189.42 962.53 -5.90 1425 13207.99 roll -1.18 - - 2225.88 - 2.84 0.027 2274.75 397.2 -77.86 - - 3204.78 - - - - - - - - - 15.95 -
13514.26 978.74 -4.78 1457 13518.32 no move -1.18 - - 2228.00 - - - 2274.00 - -77.86 - - 3203.38 - - - - - - - - - - -
13764 end dive: TARGET_DEPTH_EXCEEDED
13764 begin apogee
13769.15 990.11 -4.65 1482 13872.92 -0.31 1.60 0.131 2439.31 132.1 0.19 0.148 2281.25 38.2 - 64.79 2.416 2890.06 -4.8 0.338 - - - - - - 15.65 15.35 10.18
13886 end apogee: CONTROL_FINISHED_OK
13886 begin climb
13889.16 990.93 - 1489 13999.11 1.18 2.58 0.088 2806.69 142.4 - - 2281.44 - 77.86 66.50 2.387 2571.38 -4.8 0.339 - - - - - - 15.57 - 11.64
14305.48 964.35 7.19 1527 14309.54 VBD 1.23 - - 2806.50 - - - 2281.81 - 77.86 - - 2563.50 - - - - - - - - - - -
14615.91 942.02 6.98 1558 14637.18 done 1.30 - - 2807.25 - 3.37 0.072 1147.12 -336.7 77.86 - - 2561.44 - - - - - - - - - 15.60 -
14698.81 936.05 7.25 1571 14718.29 1.35 0.22 0.075 2853.50 210.2 2.88 0.030 2272.81 390.9 77.86 - - 2561.84 - - - - - - - - 15.66 15.84 -
15024.55 911.11 7.27 1603 15046.07 done 1.39 - - 2856.69 - 3.33 0.070 1146.56 -338.2 77.86 - - 2562.09 - - - - - - - - - 15.79 -
15097.41 905.92 7.60 1614 15115.25 done 1.39 - - 2856.19 - 2.89 0.030 2272.56 389.6 77.86 - - 2560.41 - - - - - - - - - 15.78 -
15421.49 883.85 6.60 1646 15425.55 VBD 1.48 - - 2855.56 - - - 2272.88 - 77.86 - - 2560.09 - - - - - - - - - - -
15731.80 864.74 5.86 1677 15755.13 1.61 0.32 0.061 2920.25 202.2 3.32 0.071 1146.12 -339.4 77.86 - - 2561.72 - - - - - - - - 15.88 15.82 -
15816.37 858.42 7.72 1690 15834.23 done 1.61 - - 2921.00 - 2.88 0.031 2271.31 390.7 77.86 - - 2561.12 - - - - - - - - - 15.75 -
16140.49 835.53 6.85 1722 16144.55 VBD 1.68 - - 2921.75 - - - 2270.62 - 77.86 - - 2559.31 - - - - - - - - - - -
16450.80 813.54 7.17 1753 16471.66 done 1.74 - - 2921.88 - 3.30 0.071 1147.12 -340.5 77.86 - - 2559.03 - - - - - - - - - 15.80 -
16587.17 802.65 8.08 1777 16606.14 done 1.74 - - 2922.69 - 2.87 0.031 2272.56 392.1 77.86 - - 2560.78 - - - - - - - - - 15.95 -
16912.00 778.94 7.71 1809 16916.06 VBD 1.74 - - 2921.19 - - - 2273.00 - 77.86 - - 2558.47 - - - - - - - - - - -
17222.03 755.28 7.69 1840 17242.88 done 1.74 - - 2921.06 - 3.30 0.071 1145.88 -341.6 77.86 - - 2560.41 - - - - - - - - - 15.79 -
17378.50 742.67 8.01 1868 17397.09 done 1.74 - - 2921.31 - 2.90 0.031 2272.50 388.5 77.86 - - 2559.56 - - - - - - - - - 15.80 -
17703.34 719.21 7.43 1900 17707.40 VBD 1.77 - - 2921.94 - - - 2271.94 - 77.86 - - 2557.75 - - - - - - - - - - -
18013.64 697.84 6.90 1931 18036.56 1.84 0.25 0.067 2975.44 214.0 3.32 0.071 1146.81 -338.9 77.86 - - 2559.81 - - - - - - - - 15.91 15.80 -
18097.79 690.76 8.48 1944 18115.63 done 1.84 - - 2975.69 - 2.89 0.030 2271.31 389.1 77.86 - - 2558.78 - - - - - - - - - 15.80 -
18421.48 664.51 8.08 1976 18425.55 VBD 1.84 - - 2976.12 - - - 2270.88 - 77.86 - - 2557.66 - - - - - - - - - - -
18731.53 639.76 7.79 2007 18735.60 VBD 1.84 - - 2976.25 - - - 2271.25 - 77.86 - - 2557.72 - - - - - - - - - - -
19041.57 615.42 7.59 2038 19062.87 done 1.84 - - 2976.56 - 3.32 0.070 1145.31 -339.1 77.86 - - 2558.47 - - - - - - - - - 15.77 -
19158.37 606.04 8.25 2058 19177.59 done 1.84 - - 2976.44 - 2.86 0.030 2271.00 393.6 77.86 - - 2559.41 - - - - - - - - - 15.95 -
19483.96 582.53 7.24 2090 19505.23 done 1.89 - - 2975.94 - 3.31 0.070 1145.81 -339.9 77.86 - - 2556.66 - - - - - - - - - 15.77 -
19570.73 575.65 7.78 2104 19589.31 done 1.89 - - 2976.50 - 2.85 0.030 2275.31 396.3 77.86 - - 2558.19 - - - - - - - - - 15.95 -
19895.58 552.70 6.90 2136 19915.07 done 1.96 - - 2976.94 - 3.27 0.094 3351.62 329.1 77.86 - - 2556.84 - - - - - - - - - 15.51 -
19995.56 544.72 7.65 2153 20014.13 done 1.96 - - 2976.56 - 2.83 0.021 2201.44 -406.4 77.86 - - 2557.81 - - - - - - - - - 15.97 -
20320.38 522.36 6.56 2185 20340.67 2.05 0.14 0.088 3015.12 275.4 3.12 0.073 1146.06 -338.3 77.86 - - 2559.09 - - - - - - - - 15.71 15.73 -
20477.33 511.04 7.26 2213 20495.20 done 2.09 - - 3017.19 - 2.85 0.030 2275.06 396.1 77.86 - - 2557.94 - - - - - - - - - 15.94 -
20801.47 491.09 6.05 2245 20805.54 2.21 - - 3017.56 - - - 2275.12 - 77.86 - - 2557.16 - - - - - - - - - - -
21111.81 473.38 5.63 2276 21115.88 2.36 - - 3017.56 - - - 2275.81 - 77.86 - - 2557.06 - - - - - - - - - - -
21422.26 455.69 5.90 2307 21426.33 2.49 - - 3018.00 - - - 2275.44 - 77.86 - - 2557.28 - - - - - - - - - - -
21732.67 437.33 6.01 2338 21753.98 2.61 - - 3017.12 - 3.32 0.069 1144.31 -340.7 77.86 - - 2557.06 - - - - - - - - - 15.76 -
21925.62 424.76 6.88 2373 21943.48 2.68 - - 3016.19 - 2.86 0.029 2274.62 395.2 77.86 - - 2557.81 - - - - - - - - - 15.87 -
22249.73 403.64 6.80 2405 22270.38 2.76 - - 3016.69 - 3.24 0.091 3352.31 332.6 77.86 - - 2556.56 - - - - - - - - - 15.71 -
22471.66 386.45 7.85 2446 22489.54 2.76 - - 3016.44 - 2.84 0.021 2201.75 -405.1 77.86 - - 2558.62 - - - - - - - - - 15.96 -
22795.79 364.66 6.49 2478 22814.95 2.85 - - 3017.06 - 3.11 0.072 1145.62 -339.6 77.86 - - 2556.78 - - - - - - - - - 15.62 -
23045.88 347.92 6.48 2525 23065.11 2.94 - - 3016.94 - 2.84 0.029 2277.25 398.5 77.86 - - 2558.09 - - - - - - - - - 15.81 -
23371.49 329.05 5.51 2557 23392.79 3.10 - - 3017.12 - 3.32 0.068 1144.44 -341.2 77.86 - - 2557.25 - - - - - - - - - 15.75 -
23524.43 320.49 5.58 2584 23542.30 3.24 - - 3017.69 - 2.85 0.028 2277.94 397.7 77.86 - - 2558.25 - - - - - - - - - 15.93 -
23848.79 303.68 4.89 2616 23927.88 3.37 - - 3017.12 - - - 2277.19 - 143.10 51.81 1.568 2305.81 -4.9 0.161 - - - - - - - - 10.80
24233.74 267.64 10.15 2654 24253.23 3.37 - - 3016.50 - 3.24 0.092 3351.44 331.6 143.10 - - 2297.09 - - - - - - - - - 15.69 -
24279.55 262.58 11.00 2660 24297.42 3.37 - - 3017.12 - 2.87 0.021 2203.38 -400.0 143.10 - - 2297.84 - - - - - - - - - 15.66 -
24603.24 229.86 10.33 2692 24622.33 3.37 - - 3017.19 - 3.13 0.073 1145.62 -337.9 143.10 - - 2295.94 - - - - - - - - - 15.72 -
24658.79 223.98 10.49 2700 24676.67 3.37 - - 3017.56 - 2.86 0.029 2274.88 394.8 143.10 - - 2296.41 - - - - - - - - - 15.64 -
24982.64 191.97 9.86 2732 25002.12 3.37 - - 3017.00 - 3.26 0.069 1145.50 -346.4 143.10 - - 2294.75 - - - - - - - - - 15.72 -
25062.62 183.55 10.64 2745 25081.22 3.37 - - 3016.94 - 2.86 0.029 2275.12 395.0 143.10 - - 2295.12 - - - - - - - - - 15.85 -
25387.08 153.24 9.01 2777 25391.16 3.37 - - 3016.94 - - - 2275.25 - 143.10 - - 2294.00 - - - - - - - - - - -
25697.12 126.58 8.24 2808 25701.20 3.37 - - 3017.19 - - - 2275.38 - 143.10 - - 2294.31 - - - - - - - - - - -
26007.57 101.64 7.48 2839 26011.64 3.41 - - 3016.94 - - - 2274.38 - 143.10 - - 2294.12 - - - - - - - - - - -
26317.93 83.02 3.98 2898 26430.42 3.58 - - 3016.94 - 3.32 0.070 1145.62 -340.0 227.16 65.36 1.264 1962.75 -5.1 0.057 - - - - - - - 15.55 11.41
26606.68 60.69 8.75 2947 26625.28 3.58 - - 3017.38 - 2.89 0.028 2274.25 390.5 227.16 - - 1955.22 - - - - - - - - - 15.64 -
26811.61 45.69 5.94 2985 26831.81 3.70 - - 3016.62 - 3.27 0.089 3350.81 329.2 227.16 - - 1953.81 - - - - - - - - - 15.53 -
26988.46 35.80 4.99 3017 27077.39 3.83 - - 3017.94 - 2.87 0.020 2195.25 -402.6 290.35 48.99 1.175 1705.38 -5.1 0.026 - - - - - - - 15.68 11.62
27263.72 20.58 5.17 3065 27270.34 4.00 - - 3017.38 - - - 2194.62 - 290.35 - - 1697.75 - - - - - - - - - - -
27456.59 10.81 6.10 3103 27476.38 4.00 - - 3017.75 - 3.12 0.071 1145.75 -336.2 290.35 - - 1695.88 - - - - - - - - - 15.58 -
27487.99 9.13 5.51 3106 27506.57 4.00 - - 3017.38 - 2.83 0.026 2276.94 399.7 290.35 - - 1695.41 - - - - - - - - - 15.75 -
27587 end climb: SURFACE_DEPTH_REACHED
27587 begin surface coast
27673 end surface coast: CONTROL_FINISHED_OK
27673 begin surface
SM 0.90 - - - - 178.2 107.13 1.135 1136.3 10.6 19.52 0.049 1116.4 57.2 - 0.12 0.080 1156.3 9612.2 -11.052 - - 11.30 15.77 15.86 -