NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 508 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 175.35 of 506.00 AH used of 24V (65.35% remains)
• Surface angle -61.0 deg, depth 1.07 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.23 (SM_CC=430)
• GPS1 time: 43 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
12 begin dive
19.11 - - - 111.93 VBD -1.18 - - 178.19 - - - 2312.94 - -77.86 65.12 0.005 2690.97 - - - - - - - - - - 14.87
114.15 3.04 -3.54 13 230.49 -1.18 17.43 0.220 2227.88 117.6 3.05 0.084 3352.81 340.9 -77.86 8.26 0.007 3210.19 62.9 -4.693 - - - - - - 15.26 14.95 15.12
242.36 36.89 -18.59 21 260.61 roll -1.18 - - 2227.38 - 2.74 0.019 2193.81 -423.0 -77.86 - - 3213.31 - - - - - - - - - 15.69 -
446.78 65.30 -11.45 59 465.82 roll -1.18 - - 2226.75 - 2.92 0.069 1143.69 -359.6 -77.86 - - 3214.47 - - - - - - - - - 15.56 -
517.00 72.85 -10.07 70 535.41 roll -1.18 - - 2228.12 - 2.75 0.025 2279.38 413.0 -77.86 - - 3212.62 - - - - - - - - - 15.70 -
721.48 91.08 -9.10 108 741.33 roll -1.18 - - 2227.31 - 3.12 0.064 1144.06 -363.9 -77.86 - - 3214.34 - - - - - - - - - 15.58 -
851.79 102.10 -8.16 131 870.04 roll -1.18 - - 2226.81 - 2.76 0.024 2278.38 411.0 -77.86 - - 3214.75 - - - - - - - - - 15.71 -
1176.07 129.32 -8.60 163 1194.57 roll -1.18 - - 2226.25 - 3.10 0.063 1143.81 -366.0 -77.86 - - 3214.78 - - - - - - - - - 15.73 -
1210.73 132.51 -8.98 167 1228.03 roll -1.18 - - 2226.88 - 2.75 0.024 2280.75 413.4 -77.86 - - 3213.66 - - - - - - - - - 15.86 -
1534.06 157.67 -7.69 199 1552.95 roll -1.18 - - 2227.50 - 3.12 0.082 3353.44 343.8 -77.86 - - 3213.12 - - - - - - - - - 15.67 -
1573.90 161.23 -8.41 204 1592.36 roll -1.18 - - 2227.38 - 2.73 0.018 2185.00 -428.0 -77.86 - - 3214.22 - - - - - - - - - 15.77 -
1898.45 187.17 -7.24 236 1902.51 no move -1.18 - - 2227.62 - - - 2183.00 - -77.86 - - 3213.72 - - - - - - - - - - -
2208.61 209.11 -7.15 267 2226.90 roll -1.18 - - 2227.56 - 2.86 0.068 1145.62 -362.7 -77.86 - - 3214.44 - - - - - - - - - 15.78 -
2273.13 214.11 -7.66 277 2290.63 roll -1.18 - - 2227.50 - 2.75 0.024 2280.75 412.8 -77.86 - - 3215.59 - - - - - - - - - 15.84 -
2596.72 239.18 -8.08 309 2615.43 roll -1.18 - - 2227.94 - 3.10 0.064 1144.56 -366.5 -77.86 - - 3215.47 - - - - - - - - - 15.71 -
2631.89 242.16 -8.43 313 2649.40 roll -1.18 - - 2227.19 - 2.73 0.025 2279.31 415.7 -77.86 - - 3214.91 - - - - - - - - - 15.87 -
2955.50 269.10 -8.15 345 2959.56 no move -1.18 - - 2227.38 - - - 2279.31 - -77.86 - - 3214.06 - - - - - - - - - - -
3265.66 294.01 -8.01 376 3269.72 no move -1.18 - - 2227.62 - - - 2279.88 - -77.86 - - 3213.19 - - - - - - - - - - -
3575.78 317.55 -7.41 407 3594.91 roll -1.18 - - 2227.00 - 3.12 0.065 1143.56 -364.2 -77.86 - - 3214.22 - - - - - - - - - 15.82 -
3665.41 324.69 -7.85 422 3684.13 roll -1.18 - - 2227.62 - 2.73 0.025 2279.25 416.0 -77.86 - - 3214.16 - - - - - - - - - 15.95 -
3990.34 348.27 -7.58 454 3994.40 no move -1.18 - - 2227.50 - - - 2280.00 - -77.86 - - 3212.06 - - - - - - - - - - -
4300.50 372.97 -7.94 485 4319.62 roll -1.18 - - 2227.12 - 3.11 0.066 1144.38 -365.2 -77.86 - - 3212.16 - - - - - - - - - 15.82 -
4360.11 378.16 -8.65 494 4378.34 roll -1.18 - - 2227.75 - 2.74 0.025 2280.06 414.5 -77.86 - - 3212.78 - - - - - - - - - 15.90 -
4684.43 404.38 -8.11 526 4703.16 roll -1.18 - - 2226.00 - 3.09 0.066 1145.19 -367.3 -77.86 - - 3214.19 - - - - - - - - - 15.82 -
4739.62 409.15 -8.58 534 4757.51 roll -1.18 - - 2227.44 - 2.75 0.026 2280.06 412.7 -77.86 - - 3213.50 - - - - - - - - - 15.84 -
5063.60 435.25 -8.03 566 5067.66 no move -1.18 - - 2226.75 - - - 2279.56 - -77.86 - - 3212.22 - - - - - - - - - - -
5373.73 459.30 -7.62 597 5392.45 roll -1.18 - - 2227.50 - 3.10 0.066 1143.81 -366.4 -77.86 - - 3211.31 - - - - - - - - - 15.80 -
5432.94 463.86 -7.54 606 5451.41 roll -1.18 - - 2226.25 - 2.77 0.026 2279.25 409.9 -77.86 - - 3213.28 - - - - - - - - - 15.95 -
5757.75 486.30 -6.67 638 5776.48 roll -1.18 - - 2227.06 - 3.10 0.066 1145.19 -365.8 -77.86 - - 3211.16 - - - - - - - - - 15.76 -
5807.08 489.86 -6.98 645 5825.55 roll -1.18 - - 2227.94 - 2.75 0.026 2278.56 412.1 -77.86 - - 3211.50 - - - - - - - - - 15.86 -
6131.64 511.66 -6.66 677 6135.70 no move -1.18 - - 2227.06 - - - 2278.69 - -77.86 - - 3209.88 - - - - - - - - - - -
6441.77 532.49 -6.61 708 6445.83 no move -1.18 - - 2227.19 - - - 2278.12 - -77.86 - - 3210.22 - - - - - - - - - - -
6751.89 552.58 -6.33 739 6755.95 no move -1.18 - - 2227.62 - - - 2278.00 - -77.86 - - 3208.91 - - - - - - - - - - -
7062.02 573.46 -6.84 770 7081.16 roll -1.18 - - 2227.62 - 3.11 0.067 1144.69 -364.4 -77.86 - - 3208.53 - - - - - - - - - 15.81 -
7111.65 577.06 -7.32 777 7130.12 roll -1.18 - - 2227.44 - 2.76 0.026 2279.62 411.2 -77.86 - - 3210.59 - - - - - - - - - 15.95 -
7436.22 598.97 -6.80 809 7440.28 no move -1.18 - - 2227.31 - - - 2279.12 - -77.86 - - 3207.59 - - - - - - - - - - -
7746.38 619.15 -6.29 840 7765.51 roll -1.18 - - 2227.25 - 3.12 0.067 1143.69 -363.9 -77.86 - - 3207.50 - - - - - - - - - 15.79 -
7791.74 622.09 -6.53 846 7809.24 roll -1.18 - - 2227.12 - 2.77 0.026 2278.06 409.5 -77.86 - - 3209.84 - - - - - - - - - 15.96 -
8115.34 642.01 -6.00 878 8119.40 no move -1.18 - - 2227.56 - - - 2278.75 - -77.86 - - 3207.56 - - - - - - - - - - -
8425.61 661.45 -6.34 909 8444.73 roll -1.18 - - 2227.06 - 3.14 0.067 1143.56 -361.5 -77.86 - - 3209.00 - - - - - - - - - 15.80 -
8485.22 665.61 -6.98 918 8503.70 roll -1.18 - - 2227.19 - 2.79 0.026 2278.00 406.6 -77.86 - - 3208.28 - - - - - - - - - 15.81 -
8809.77 687.04 -6.60 950 8828.89 roll -1.18 - - 2227.19 - 3.11 0.067 1144.50 -364.5 -77.86 - - 3206.81 - - - - - - - - - 15.78 -
8865.11 691.11 -7.43 958 8882.61 roll -1.18 - - 2227.25 - 2.76 0.026 2276.75 410.2 -77.86 - - 3208.66 - - - - - - - - - 15.98 -
9188.71 712.85 -6.57 990 9207.83 roll -1.18 - - 2226.25 - 3.11 0.067 1144.69 -364.0 -77.86 - - 3207.97 - - - - - - - - - 15.78 -
9218.31 715.03 -6.86 993 9236.57 roll -1.18 - - 2227.12 - 2.76 0.026 2277.94 410.6 -77.86 - - 3207.53 - - - - - - - - - 15.96 -
9542.67 736.62 -6.57 1025 9546.73 no move -1.18 - - 2227.25 - - - 2278.00 - -77.86 - - 3206.72 - - - - - - - - - - -
9852.57 757.88 -7.00 1056 9871.93 roll -1.18 - - 2226.31 - 3.12 0.067 1145.31 -363.0 -77.86 - - 3207.59 - - - - - - - - - 15.77 -
9962.55 765.79 -7.00 1075 9980.79 roll -1.18 - - 2227.25 - 2.77 0.027 2276.81 408.5 -77.86 - - 3206.78 - - - - - - - - - 15.96 -
10286.86 787.35 -6.66 1107 10307.15 roll -1.18 - - 2227.44 - 3.13 0.067 1143.69 -362.0 -77.86 - - 3205.75 - - - - - - - - - 15.77 -
10352.64 792.08 -7.14 1117 10371.50 roll -1.18 - - 2227.69 - 2.77 0.026 2277.38 409.3 -77.86 - - 3206.06 - - - - - - - - - 15.95 -
10677.60 812.41 -6.39 1149 10696.72 roll -1.18 - - 2227.31 - 3.11 0.067 1145.19 -364.0 -77.86 - - 3205.34 - - - - - - - - - 15.77 -
10753.20 817.34 -6.82 1161 10770.71 roll -1.18 - - 2227.88 - 2.77 0.026 2278.38 409.1 -77.86 - - 3206.31 - - - - - - - - - 15.95 -
11076.78 837.06 -6.15 1193 11095.91 roll -1.18 - - 2227.00 - 3.12 0.067 1144.75 -363.3 -77.86 - - 3204.88 - - - - - - - - - 15.77 -
11122.12 840.27 -6.91 1199 11140.01 roll -1.18 - - 2227.25 - 2.76 0.026 2277.00 410.2 -77.86 - - 3206.53 - - - - - - - - - 15.84 -
11446.09 860.47 -6.14 1231 11450.27 no move -1.18 - - 2227.25 - - - 2276.75 - -77.86 - - 3204.59 - - - - - - - - - - -
11756.49 880.04 -6.25 1262 11760.55 no move -1.18 - - 2227.12 - - - 2276.56 - -77.86 - - 3204.66 - - - - - - - - - - -
12066.74 898.56 -5.93 1293 12085.87 roll -1.18 - - 2227.50 - 3.12 0.068 1144.06 -363.0 -77.86 - - 3204.81 - - - - - - - - - 15.74 -
12152.34 903.70 -6.08 1307 12169.84 roll -1.18 - - 2227.25 - 2.78 0.027 2276.69 407.4 -77.86 - - 3205.56 - - - - - - - - - 15.95 -
12476.33 920.53 -5.01 1339 12495.45 roll -1.18 - - 2227.00 - 3.13 0.068 1145.31 -361.5 -77.86 - - 3202.88 - - - - - - - - - 15.75 -
12551.68 924.60 -5.19 1351 12569.20 roll -1.18 - - 2227.81 - 2.76 0.027 2277.19 410.1 -77.86 - - 3204.78 - - - - - - - - - 15.94 -
12875.70 940.36 -4.77 1383 12894.83 roll -1.18 - - 2227.25 - 3.13 0.068 1143.94 -362.1 -77.86 - - 3203.28 - - - - - - - - - 15.74 -
12931.05 943.47 -5.39 1391 12948.95 roll -1.18 - - 2226.69 - 2.78 0.026 2276.88 407.5 -77.86 - - 3204.69 - - - - - - - - - 15.94 -
13255.03 961.05 -5.88 1423 13259.09 no move -1.18 - - 2227.44 - - - 2277.06 - -77.86 - - 3203.06 - - - - - - - - - - -
13565.18 979.27 -6.19 1454 13569.25 no move -1.18 - - 2227.56 - - - 2276.81 - -77.86 - - 3203.34 - - - - - - - - - - -
13745 end dive: TARGET_DEPTH_EXCEEDED
13746 begin apogee
13750.53 990.44 -6.39 1472 13856.81 -0.31 1.61 0.130 2440.69 132.4 0.20 0.137 2285.00 41.0 - 65.81 2.382 2888.41 -4.8 0.342 - - - - - - 15.64 15.27 10.19
13862 end apogee: CONTROL_FINISHED_OK
13862 begin climb
13864.92 992.78 - 1479 13976.47 1.18 2.61 0.089 2806.12 140.0 - - 2285.06 - 77.86 67.68 2.354 2572.44 -4.7 0.338 - - - - - - 15.54 - 11.57
14283.08 975.73 5.02 1517 14365.33 1.31 0.17 0.085 2845.88 233.9 - - 2284.94 - 140.39 54.98 2.313 2318.06 -4.6 0.336 - - - - - - 15.68 - 11.29
14671.54 946.61 7.59 1554 14675.60 VBD 1.31 - - 2845.31 - - - 2285.12 - 140.39 - - 2307.78 - - - - - - - - - - -
14981.78 922.19 7.96 1585 15000.93 done 1.31 - - 2845.19 - 3.19 0.073 1145.00 -357.4 140.39 - - 2305.81 - - - - - - - - - 15.75 -
15061.43 915.13 9.01 1598 15080.95 done 1.31 - - 2846.12 - 2.81 0.031 2272.50 401.2 140.39 - - 2305.56 - - - - - - - - - 15.83 -
15387.16 885.66 9.35 1630 15391.23 VBD 1.31 - - 2845.19 - - - 2272.31 - 140.39 - - 2303.44 - - - - - - - - - - -
15697.32 856.32 9.32 1661 15716.45 done 1.31 - - 2846.19 - 3.16 0.073 1145.31 -356.6 140.39 - - 2303.19 - - - - - - - - - 15.78 -
15742.67 851.78 9.81 1667 15760.17 done 1.31 - - 2845.81 - 2.80 0.030 2272.50 402.6 140.39 - - 2304.25 - - - - - - - - - 15.88 -
16066.28 821.65 8.85 1699 16085.41 done 1.31 - - 2845.88 - 3.12 0.073 1145.44 -361.2 140.39 - - 2302.06 - - - - - - - - - 15.80 -
16125.91 815.99 9.53 1708 16144.55 done 1.31 - - 2846.81 - 2.79 0.030 2272.12 403.8 140.39 - - 2303.31 - - - - - - - - - 15.92 -
16450.64 788.09 8.16 1740 16469.77 done 1.31 - - 2845.50 - 3.14 0.073 1145.44 -358.8 140.39 - - 2301.44 - - - - - - - - - 15.80 -
16505.99 783.36 8.76 1748 16523.51 done 1.31 - - 2847.19 - 2.80 0.030 2273.06 402.7 140.39 - - 2302.78 - - - - - - - - - 15.94 -
16830.01 758.99 7.38 1780 16834.07 VBD 1.35 - - 2845.88 - - - 2272.31 - 140.39 - - 2301.44 - - - - - - - - - - -
17140.57 735.69 7.35 1811 17159.69 done 1.39 - - 2845.62 - 3.15 0.072 1145.88 -357.6 140.39 - - 2303.31 - - - - - - - - - 15.80 -
17240.32 727.60 8.16 1828 17258.79 done 1.39 - - 2845.50 - 2.80 0.030 2273.88 402.9 140.39 - - 2303.12 - - - - - - - - - 15.93 -
17564.86 703.46 7.60 1860 17568.93 VBD 1.39 - - 2845.94 - - - 2273.38 - 140.39 - - 2300.03 - - - - - - - - - - -
17875.00 678.80 8.16 1891 17894.13 done 1.39 - - 2846.25 - 3.17 0.072 1146.75 -355.4 140.39 - - 2300.91 - - - - - - - - - 15.78 -
17954.64 671.92 8.37 1904 17973.91 done 1.39 - - 2847.00 - 2.82 0.030 2272.50 399.2 140.39 - - 2301.81 - - - - - - - - - 15.80 -
18279.97 646.12 7.68 1936 18284.04 VBD 1.39 - - 2845.81 - - - 2272.75 - 140.39 - - 2300.00 - - - - - - - - - - -
18590.11 622.01 7.60 1967 18594.17 VBD 1.39 - - 2846.81 - - - 2272.75 - 140.39 - - 2299.28 - - - - - - - - - - -
18900.67 599.37 7.22 1998 18904.73 VBD 1.44 - - 2846.62 - - - 2272.94 - 140.39 - - 2299.59 - - - - - - - - - - -
19211.19 577.64 6.88 2029 19233.60 1.51 0.23 0.075 2891.19 193.8 3.18 0.072 1146.06 -354.4 140.39 - - 2301.12 - - - - - - - - 15.90 15.66 -
19285.18 571.31 8.79 2040 19303.08 done 1.51 - - 2892.44 - 2.80 0.030 2271.88 402.1 140.39 - - 2301.06 - - - - - - - - - 15.95 -
19609.18 544.70 8.34 2072 19613.24 VBD 1.51 - - 2891.69 - - - 2271.31 - 140.39 - - 2299.31 - - - - - - - - - - -
19919.34 517.92 8.92 2103 19938.46 done 1.51 - - 2890.56 - 3.15 0.072 1145.06 -357.5 140.39 - - 2300.75 - - - - - - - - - 15.76 -
20038.97 506.43 9.42 2124 20057.20 done 1.51 - - 2892.56 - 2.80 0.030 2274.31 403.3 140.39 - - 2300.34 - - - - - - - - - 15.94 -
20363.29 478.18 8.17 2156 20367.35 VBD 1.51 - - 2892.00 - - - 2274.25 - 140.39 - - 2298.81 - - - - - - - - - - -
20673.85 454.28 7.41 2187 20693.24 done 1.55 - - 2892.12 - 3.19 0.071 1145.44 -353.9 140.39 - - 2298.72 - - - - - - - - - 15.73 -
20739.46 449.24 8.14 2197 20757.37 done 1.55 - - 2892.75 - 2.80 0.030 2273.19 402.8 140.39 - - 2299.88 - - - - - - - - - 15.92 -
21063.47 425.83 7.58 2229 21067.53 VBD 1.55 - - 2891.81 - - - 2272.69 - 140.39 - - 2300.06 - - - - - - - - - - -
21373.63 402.70 7.72 2260 21393.00 done 1.55 - - 2892.25 - 3.20 0.071 1145.19 -352.3 140.39 - - 2298.66 - - - - - - - - - 15.60 -
21423.60 398.73 7.93 2267 21442.24 done 1.55 - - 2892.69 - 2.81 0.030 2275.75 402.3 140.39 - - 2300.72 - - - - - - - - - 15.87 -
21748.34 372.89 8.21 2299 21767.47 done 1.55 - - 2893.00 - 3.19 0.095 3351.25 337.1 140.39 - - 2298.66 - - - - - - - - - 15.70 -
21808.08 367.62 9.33 2308 21826.96 done 1.55 - - 2892.75 - 2.73 0.022 2201.25 -421.2 140.39 - - 2300.12 - - - - - - - - - 15.94 -
22133.54 342.32 7.42 2340 22151.86 done 1.59 - - 2892.38 - 2.94 0.075 1146.38 -358.8 140.39 - - 2300.06 - - - - - - - - - 15.67 -
22208.10 336.40 8.06 2352 22225.62 done 1.59 - - 2893.19 - 2.76 0.029 2275.12 409.0 140.39 - - 2300.00 - - - - - - - - - 15.93 -
22532.12 312.25 7.50 2384 22536.27 VBD 1.62 - - 2892.62 - - - 2275.69 - 140.39 - - 2299.00 - - - - - - - - - - -
22842.77 289.97 6.87 2415 22864.95 1.69 0.20 0.077 2937.94 226.6 3.15 0.071 1145.31 -358.9 140.39 - - 2298.47 - - - - - - - - 15.85 15.65 -
22950.47 281.21 8.08 2433 22969.18 done 1.69 - - 2938.19 - 2.77 0.029 2274.69 407.7 140.39 - - 2301.28 - - - - - - - - - 15.93 -
23275.38 256.96 7.88 2465 23279.46 VBD 1.69 - - 2937.81 - - - 2275.19 - 140.39 - - 2298.84 - - - - - - - - - - -
23585.96 233.87 7.23 2496 23590.02 VBD 1.74 - - 2939.19 - - - 2274.94 - 140.39 - - 2299.31 - - - - - - - - - - -
23896.50 211.89 7.25 2527 23900.56 VBD 1.79 - - 2938.12 - - - 2274.50 - 140.39 - - 2299.28 - - - - - - - - - - -
24206.65 187.57 8.01 2558 24225.78 done 1.79 - - 2938.44 - 3.15 0.070 1145.62 -358.4 140.39 - - 2298.97 - - - - - - - - - 15.66 -
24292.26 180.15 8.79 2572 24309.77 done 1.79 - - 2938.44 - 2.79 0.029 2274.00 404.4 140.39 - - 2299.78 - - - - - - - - - 15.65 -
24616.24 155.92 7.14 2604 24620.30 VBD 1.84 - - 2937.81 - - - 2275.06 - 140.39 - - 2299.09 - - - - - - - - - - -
24926.80 136.31 5.99 2635 24949.38 1.96 0.34 0.061 3007.38 204.6 3.17 0.069 1145.56 -356.3 140.39 - - 2300.41 - - - - - - - - 15.78 15.60 -
25180.65 116.03 7.94 2682 25198.16 done 1.96 - - 3008.06 - 2.80 0.029 2275.12 403.4 140.39 - - 2299.50 - - - - - - - - - 15.72 -
25504.65 95.94 5.40 2721 25525.38 done 2.12 - - 3008.50 - 3.20 0.090 3351.06 336.2 140.39 - - 2300.00 - - - - - - - - - 15.57 -
25687.13 84.00 5.88 2754 25705.38 2.25 - - 3007.62 - 2.73 0.020 2194.94 -423.5 140.39 - - 2300.53 - - - - - - - - - 15.78 -
25891.89 77.12 3.00 2792 26010.94 2.46 - - 3008.25 - - - 2192.75 - 244.83 80.57 1.244 1890.78 -5.1 0.054 - - - - - - - - 10.77
26198.37 57.08 6.79 2846 26205.25 2.54 - - 3008.44 - - - 2193.00 - 244.83 - - 1881.69 - - - - - - - - - - -
26391.88 43.93 7.10 2884 26412.78 2.59 - - 3007.31 - 3.39 0.086 3351.56 341.8 244.83 - - 1880.38 - - - - - - - - - 15.48 -
26644.69 31.39 4.13 2931 26754.47 2.76 - - 3007.69 - 2.78 0.020 2192.25 -417.0 325.74 63.40 1.157 1562.28 -5.0 0.023 - - - - - - - 15.65 11.45
26940.70 12.94 7.62 2982 26947.57 2.76 - - 3008.12 - - - 2191.69 - 325.74 - - 1553.56 - - - - - - - - - - -
27048 end climb: SURFACE_DEPTH_REACHED
27049 begin surface coast
27100 end surface coast: CONTROL_FINISHED_OK
27100 begin surface
SM 1.04 - - - - 180.7 81.51 1.113 1136.1 13.9 19.65 0.046 1122.4 57.1 - 0.18 0.086 1149.9 6388.3 -7.896 - - 11.28 15.73 15.80 -