NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 681 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 231.06 of 506.00 AH used of 24V (54.33% remains)
• Surface angle -63.6 deg, depth 1.26 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.18 (SM_CC=430)
• GPS1 time: 20 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
19.44 - - - 119.56 VBD -1.18 - - 178.31 - - - 2282.44 - -77.86 70.50 0.005 2857.12 - - - - - - - - - - 14.69
121.78 3.06 -2.65 14 219.99 -1.18 17.42 0.204 2227.88 117.7 - - 2282.25 - -77.86 5.45 0.009 3208.72 64.5 -3.781 - - - - - - 15.24 - 15.01
405.95 52.79 -12.54 56 413.34 no move -1.18 - - 2228.06 - - - 2282.88 - -77.86 - - 3212.22 - - - - - - - - - - -
599.54 76.61 -11.35 94 606.37 no move -1.18 - - 2228.50 - - - 2283.50 - -77.86 - - 3212.66 - - - - - - - - - - -
792.47 97.79 -10.29 132 813.78 roll -1.18 - - 2228.31 - 3.13 0.081 3352.06 341.4 -77.86 - - 3212.72 - - - - - - - - - 15.54 -
820.20 100.67 -10.51 134 838.00 roll -1.18 - - 2227.81 - 2.78 0.018 2190.25 -417.9 -77.86 - - 3214.00 - - - - - - - - - 15.61 -
1144.03 127.04 -7.49 166 1148.06 no move -1.18 - - 2227.56 - - - 2188.31 - -77.86 - - 3212.66 - - - - - - - - - - -
1454.10 150.61 -7.77 197 1475.32 roll -1.18 - - 2227.88 - 3.37 0.077 3351.19 345.1 -77.86 - - 3212.81 - - - - - - - - - 15.71 -
1506.74 155.07 -8.56 204 1524.15 roll -1.18 - - 2227.56 - 2.75 0.018 2191.62 -421.7 -77.86 - - 3214.56 - - - - - - - - - 15.87 -
1830.19 179.20 -7.17 236 1834.21 no move -1.18 - - 2227.50 - - - 2189.44 - -77.86 - - 3212.75 - - - - - - - - - - -
2140.24 202.59 -8.10 267 2161.45 roll -1.18 - - 2227.19 - 3.36 0.077 3352.00 346.0 -77.86 - - 3214.00 - - - - - - - - - 15.69 -
2212.88 208.83 -8.80 278 2230.30 roll -1.18 - - 2227.94 - 2.74 0.018 2192.00 -423.4 -77.86 - - 3214.34 - - - - - - - - - 15.89 -
2536.41 232.16 -6.80 310 2554.83 roll -1.18 - - 2226.31 - 2.94 0.069 1143.81 -356.5 -77.86 - - 3215.19 - - - - - - - - - 15.79 -
2561.42 234.04 -7.22 312 2579.43 roll -1.18 - - 2228.00 - 2.73 0.024 2281.38 416.7 -77.86 - - 3215.28 - - - - - - - - - 15.78 -
2885.56 256.57 -7.53 344 2904.80 roll -1.18 - - 2226.62 - 3.16 0.064 1143.94 -359.9 -77.86 - - 3215.25 - - - - - - - - - 15.80 -
2941.28 261.00 -7.72 352 2958.91 roll -1.18 - - 2227.94 - 2.75 0.024 2281.44 413.6 -77.86 - - 3215.31 - - - - - - - - - 15.93 -
3265.01 286.79 -8.22 384 3284.24 roll -1.18 - - 2226.94 - 3.17 0.064 1143.88 -358.9 -77.86 - - 3214.72 - - - - - - - - - 15.81 -
3344.77 293.85 -8.59 397 3363.75 roll -1.18 - - 2228.06 - 2.74 0.024 2281.25 415.1 -77.86 - - 3215.12 - - - - - - - - - 15.95 -
3669.88 319.92 -7.71 429 3689.12 roll -1.18 - - 2227.44 - 3.16 0.064 1143.94 -359.9 -77.86 - - 3214.06 - - - - - - - - - 15.80 -
3749.65 326.34 -7.82 442 3768.62 roll -1.18 - - 2227.88 - 2.76 0.024 2280.44 411.8 -77.86 - - 3213.97 - - - - - - - - - 15.90 -
4074.75 348.49 -6.69 474 4094.00 roll -1.18 - - 2227.38 - 3.15 0.063 1143.94 -360.8 -77.86 - - 3214.53 - - - - - - - - - 15.79 -
4150.60 353.86 -7.14 486 4168.61 roll -1.18 - - 2227.44 - 2.75 0.024 2281.00 413.5 -77.86 - - 3213.94 - - - - - - - - - 15.81 -
4474.74 375.30 -6.62 518 4494.00 roll -1.18 - - 2228.12 - 3.16 0.064 1143.69 -359.9 -77.86 - - 3212.78 - - - - - - - - - 15.79 -
4530.48 379.31 -6.78 526 4548.09 roll -1.18 - - 2227.50 - 2.76 0.024 2281.94 412.4 -77.86 - - 3214.34 - - - - - - - - - 15.81 -
4854.20 400.47 -6.61 558 4858.26 no move -1.18 - - 2227.00 - - - 2281.75 - -77.86 - - 3212.81 - - - - - - - - - - -
5164.37 422.76 -7.33 589 5183.61 roll -1.18 - - 2227.19 - 3.17 0.064 1145.00 -358.6 -77.86 - - 3211.91 - - - - - - - - - 15.81 -
5260.09 430.42 -8.01 605 5277.73 roll -1.18 - - 2227.88 - 2.77 0.024 2280.69 410.0 -77.86 - - 3213.44 - - - - - - - - - 15.85 -
5583.86 455.69 -7.69 637 5603.12 roll -1.18 - - 2227.00 - 3.18 0.064 1143.38 -357.6 -77.86 - - 3213.47 - - - - - - - - - 15.81 -
5619.59 458.64 -8.12 641 5637.46 roll -1.18 - - 2226.94 - 2.76 0.024 2279.06 411.5 -77.86 - - 3214.00 - - - - - - - - - 15.96 -
5943.70 483.87 -8.03 673 5962.94 roll -1.18 - - 2227.94 - 3.15 0.065 1143.81 -360.4 -77.86 - - 3212.66 - - - - - - - - - 15.81 -
6023.48 490.57 -8.44 686 6042.46 roll -1.18 - - 2228.25 - 2.76 0.025 2279.12 411.3 -77.86 - - 3213.03 - - - - - - - - - 15.96 -
6348.59 515.36 -7.37 718 6367.84 roll -1.18 - - 2227.69 - 3.18 0.065 1144.31 -356.9 -77.86 - - 3213.09 - - - - - - - - - 15.66 -
6384.31 518.19 -7.82 722 6402.33 roll -1.18 - - 2227.62 - 2.75 0.024 2280.50 413.2 -77.86 - - 3212.50 - - - - - - - - - 15.96 -
6708.46 542.07 -7.29 754 6712.52 no move -1.18 - - 2227.88 - - - 2280.12 - -77.86 - - 3210.47 - - - - - - - - - - -
7018.65 564.37 -6.82 785 7022.71 no move -1.18 - - 2227.06 - - - 2280.44 - -77.86 - - 3210.25 - - - - - - - - - - -
7328.84 584.37 -6.29 816 7332.90 no move -1.18 - - 2227.00 - - - 2280.38 - -77.86 - - 3209.75 - - - - - - - - - - -
7639.00 603.93 -6.34 847 7658.24 roll -1.18 - - 2227.69 - 3.18 0.066 1145.56 -356.9 -77.86 - - 3210.59 - - - - - - - - - 15.79 -
7704.73 608.58 -7.14 857 7722.59 roll -1.18 - - 2227.50 - 2.76 0.025 2280.25 411.1 -77.86 - - 3210.53 - - - - - - - - - 15.97 -
8028.84 629.33 -6.49 889 8048.53 roll -1.18 - - 2228.06 - 3.20 0.065 1144.81 -354.8 -77.86 - - 3208.72 - - - - - - - - - 15.66 -
8099.03 634.04 -6.70 900 8117.62 roll -1.18 - - 2227.88 - 2.76 0.025 2278.00 410.6 -77.86 - - 3209.34 - - - - - - - - - 15.96 -
8423.75 653.00 -5.45 932 8443.00 roll -1.18 - - 2227.38 - 3.17 0.066 1144.38 -357.6 -77.86 - - 3207.50 - - - - - - - - - 15.78 -
8473.51 655.98 -5.89 939 8492.10 roll -1.18 - - 2227.56 - 2.77 0.025 2278.50 409.4 -77.86 - - 3209.31 - - - - - - - - - 15.94 -
8798.20 674.15 -5.58 971 8817.45 roll -1.18 - - 2227.19 - 3.15 0.066 1144.94 -359.9 -77.86 - - 3209.53 - - - - - - - - - 15.78 -
8857.95 677.81 -5.98 980 8876.54 roll -1.18 - - 2228.00 - 2.77 0.025 2278.50 409.2 -77.86 - - 3209.50 - - - - - - - - - 15.92 -
9182.67 698.24 -6.56 1012 9201.92 roll -1.18 - - 2226.19 - 3.16 0.066 1144.62 -358.8 -77.86 - - 3209.97 - - - - - - - - - 15.78 -
9228.40 701.44 -6.88 1018 9246.38 roll -1.18 - - 2226.56 - 2.78 0.025 2276.81 407.3 -77.86 - - 3209.72 - - - - - - - - - 15.81 -
9552.63 722.48 -6.08 1050 9571.85 roll -1.18 - - 2227.19 - 3.17 0.088 3351.50 339.0 -77.86 - - 3207.94 - - - - - - - - - 15.71 -
9592.35 725.28 -5.69 1055 9611.33 roll -1.18 - - 2227.88 - 2.74 0.020 2190.50 -423.7 -77.86 - - 3209.31 - - - - - - - - - 15.92 -
9917.46 746.21 -6.79 1087 9921.52 no move -1.18 - - 2227.69 - - - 2189.50 - -77.86 - - 3207.09 - - - - - - - - - - -
10227.66 766.06 -6.53 1118 10231.73 no move -1.18 - - 2227.19 - - - 2189.62 - -77.86 - - 3206.34 - - - - - - - - - - -
10537.85 786.09 -6.15 1149 10559.71 roll -1.18 - - 2227.31 - 3.40 0.084 3351.94 341.9 -77.86 - - 3206.38 - - - - - - - - - 15.71 -
10575.22 788.76 -6.17 1153 10593.80 roll -1.18 - - 2227.69 - 2.75 0.020 2190.19 -422.5 -77.86 - - 3206.59 - - - - - - - - - 15.93 -
10899.92 810.15 -6.77 1185 10918.36 roll -1.18 - - 2227.62 - 2.95 0.072 1143.38 -354.9 -77.86 - - 3205.59 - - - - - - - - - 15.76 -
10964.85 814.44 -6.57 1195 10982.47 roll -1.18 - - 2227.75 - 2.76 0.025 2280.12 411.9 -77.86 - - 3206.09 - - - - - - - - - 15.96 -
11288.61 834.99 -6.50 1227 11292.67 no move -1.18 - - 2227.62 - - - 2280.19 - -77.86 - - 3205.22 - - - - - - - - - - -
11599.21 854.24 -6.54 1258 11618.45 roll -1.18 - - 2226.81 - 3.16 0.087 3353.38 339.6 -77.86 - - 3207.03 - - - - - - - - - 15.71 -
11628.96 855.82 -5.88 1261 11647.93 roll -1.18 - - 2227.94 - 2.78 0.019 2189.69 -418.6 -77.86 - - 3206.19 - - - - - - - - - 15.87 -
11863 end dive: TARGET_DEPTH_EXCEEDED
11864 begin apogee
11868.81 871.37 -7.71 1284 11973.83 -0.31 1.62 0.133 2439.75 130.7 0.14 0.145 2175.50 -101.4 - 65.10 2.174 2888.06 -4.9 0.338 - - - - - - 15.51 15.17 10.01
11979 end apogee: CONTROL_FINISHED_OK
11979 begin climb
11982.01 874.98 - 1291 12113.30 1.18 2.61 0.091 2806.06 140.3 3.60 0.088 3351.94 326.8 77.86 66.44 2.154 2572.41 -4.8 0.333 - - - - - - 15.56 15.08 11.44
12120.02 871.86 4.63 1300 12230.16 1.32 0.20 0.077 2849.50 217.2 2.84 0.020 2197.31 -406.6 148.54 62.17 2.109 2283.47 -4.6 0.331 - - - - - - 15.44 15.53 11.37
12536.85 841.64 7.05 1345 12555.92 done 1.38 - - 2849.12 - 3.02 0.075 1146.31 -348.0 148.54 - - 2272.84 - - - - - - - - - 15.67 -
12612.98 836.23 6.97 1357 12631.35 done 1.45 - - 2849.75 - 2.81 0.028 2275.62 401.9 148.54 - - 2272.38 - - - - - - - - - 15.77 -
12937.51 812.55 7.76 1389 12941.61 VBD 1.45 - - 2849.19 - - - 2276.38 - 148.54 - - 2270.03 - - - - - - - - - - -
13248.19 789.08 7.34 1420 13269.57 1.49 0.17 0.084 2889.69 238.2 3.21 0.072 1144.88 -352.5 148.54 - - 2269.00 - - - - - - - - 15.83 15.77 -
13300.11 784.42 8.65 1427 13319.31 done 1.49 - - 2889.88 - 2.80 0.029 2273.75 403.2 148.54 - - 2269.47 - - - - - - - - - 15.88 -
13625.48 758.41 7.93 1459 13629.59 VBD 1.49 - - 2889.44 - - - 2273.06 - 148.54 - - 2268.03 - - - - - - - - - - -
13935.76 735.06 7.96 1490 13955.23 done 1.49 - - 2889.62 - 3.20 0.072 1145.06 -352.5 148.54 - - 2268.88 - - - - - - - - - 15.77 -
14051.79 725.52 8.36 1510 14070.03 done 1.49 - - 2890.75 - 2.81 0.029 2273.25 401.5 148.54 - - 2267.56 - - - - - - - - - 15.93 -
14376.28 700.99 8.07 1542 14395.76 done 1.49 - - 2889.69 - 3.19 0.071 1144.69 -353.8 148.54 - - 2265.78 - - - - - - - - - 15.77 -
14442.29 695.74 7.73 1552 14460.12 done 1.49 - - 2890.00 - 2.80 0.029 2274.50 403.5 148.54 - - 2267.53 - - - - - - - - - 15.94 -
14766.25 669.13 7.96 1584 14785.74 done 1.49 - - 2889.69 - 3.20 0.071 1145.38 -352.8 148.54 - - 2265.22 - - - - - - - - - 15.77 -
14826.29 663.70 9.40 1593 14845.09 done 1.49 - - 2889.25 - 2.80 0.029 2273.75 403.0 148.54 - - 2266.59 - - - - - - - - - 15.94 -
15151.22 638.84 7.64 1625 15171.12 done 1.49 - - 2889.75 - 3.20 0.071 1144.88 -352.8 148.54 - - 2265.47 - - - - - - - - - 15.76 -
15197.64 635.03 8.40 1631 15216.13 done 1.49 - - 2889.88 - 2.81 0.029 2273.44 401.6 148.54 - - 2267.31 - - - - - - - - - 15.92 -
15522.26 609.99 7.67 1663 15542.38 done 1.49 - - 2890.50 - 3.21 0.093 3351.44 335.8 148.54 - - 2266.19 - - - - - - - - - 15.73 -
15569.41 606.25 7.43 1669 15587.25 done 1.53 - - 2890.06 - 2.77 0.021 2200.69 -415.4 148.54 - - 2266.09 - - - - - - - - - 15.95 -
15893.81 584.18 6.27 1701 15912.50 done 1.64 - - 2889.31 - 3.00 0.075 1145.31 -351.8 148.54 - - 2264.06 - - - - - - - - - 15.75 -
15943.46 580.85 6.56 1708 15963.92 1.72 0.28 0.063 2948.25 210.5 2.79 0.029 2276.75 405.5 148.54 - - 2265.50 - - - - - - - - 15.71 15.95 -
16270.46 558.42 6.54 1740 16274.56 VBD 1.81 - - 2948.94 - - - 2276.62 - 148.54 - - 2264.53 - - - - - - - - - - -
16581.12 538.36 6.73 1771 16586.38 1.89 0.17 0.081 2992.75 257.7 - - 2277.12 - 148.54 - - 2263.88 - - - - - - - - 15.89 - -
16892.55 511.49 9.01 1802 16912.07 done 1.89 - - 2993.44 - 3.19 0.071 1144.50 -355.1 148.54 - - 2264.50 - - - - - - - - - 15.75 -
16978.61 503.42 9.48 1816 16996.45 done 1.89 - - 2993.69 - 2.80 0.029 2275.12 403.8 148.54 - - 2264.72 - - - - - - - - - 15.93 -
17302.62 472.66 9.17 1848 17322.52 done 1.89 - - 2993.19 - 3.21 0.070 1144.75 -352.1 148.54 - - 2263.91 - - - - - - - - - 15.75 -
17353.08 467.57 9.93 1855 17372.67 done 1.89 - - 2992.31 - 2.82 0.029 2275.69 401.0 148.54 - - 2266.78 - - - - - - - - - 15.78 -
17678.95 438.11 8.79 1887 17698.86 done 1.89 - - 2992.38 - 3.20 0.070 1145.44 -353.2 148.54 - - 2265.19 - - - - - - - - - 15.75 -
17775.41 428.96 10.13 1903 17793.66 done 1.89 - - 2993.56 - 2.81 0.029 2274.19 401.7 148.54 - - 2265.28 - - - - - - - - - 15.91 -
18099.84 401.97 7.57 1935 18119.74 done 1.89 - - 2993.12 - 3.21 0.091 3353.75 336.3 148.54 - - 2266.53 - - - - - - - - - 15.59 -
18196.26 393.21 9.59 1951 18214.09 done 1.89 - - 2993.50 - 2.78 0.021 2201.56 -414.5 148.54 - - 2265.72 - - - - - - - - - 15.92 -
18520.22 368.12 7.80 1983 18539.29 done 1.89 - - 2993.81 - 3.01 0.073 1144.69 -351.1 148.54 - - 2266.81 - - - - - - - - - 15.62 -
18629.87 358.05 9.24 2002 18649.07 done 1.89 - - 2993.69 - 2.79 0.029 2274.50 404.9 148.54 - - 2264.84 - - - - - - - - - 15.85 -
18955.20 329.05 9.30 2034 18959.31 VBD 1.89 - - 2993.75 - - - 2274.75 - 148.54 - - 2263.88 - - - - - - - - - - -
19265.53 303.42 7.83 2065 19285.03 done 1.89 - - 2993.31 - 3.20 0.069 1143.75 -353.4 148.54 - - 2265.97 - - - - - - - - - 15.73 -
19321.77 298.69 8.33 2073 19340.02 done 1.89 - - 2993.06 - 2.81 0.028 2276.25 403.0 148.54 - - 2265.75 - - - - - - - - - 15.89 -
19646.16 272.69 8.21 2105 19665.64 done 1.89 - - 2993.62 - 3.18 0.090 3352.12 338.3 148.54 - - 2263.84 - - - - - - - - - 15.69 -
19682.15 269.54 8.94 2109 19700.22 done 1.89 - - 2992.19 - 2.77 0.020 2199.50 -416.1 148.54 - - 2266.50 - - - - - - - - - 15.90 -
20006.35 240.37 9.80 2141 20010.47 VBD 1.89 - - 2993.19 - - - 2196.88 - 148.54 - - 2263.91 - - - - - - - - - - -
20316.64 209.79 9.57 2172 20320.74 VBD 1.89 - - 2993.25 - - - 2197.31 - 148.54 - - 2264.47 - - - - - - - - - - -
20626.90 183.38 8.23 2203 20645.98 done 1.89 - - 2993.62 - 3.01 0.072 1144.38 -349.8 148.54 - - 2264.41 - - - - - - - - - 15.68 -
20742.53 173.38 8.47 2223 20760.78 done 1.89 - - 2993.25 - 2.83 0.027 2277.75 400.5 148.54 - - 2265.53 - - - - - - - - - 15.72 -
21067.36 149.58 7.48 2255 21087.68 done 1.93 - - 2993.19 - 3.20 0.068 1145.50 -353.8 148.54 - - 2263.22 - - - - - - - - - 15.69 -
21174.74 141.17 7.45 2273 21192.58 done 1.96 - - 2993.88 - 2.80 0.027 2276.06 403.8 148.54 - - 2264.53 - - - - - - - - - 15.83 -
21499.27 118.91 7.46 2305 21518.75 done 2.00 - - 2992.69 - 3.19 0.067 1144.06 -354.9 148.54 - - 2264.50 - - - - - - - - - 15.56 -
21615.29 109.34 8.59 2325 21633.12 done 2.00 - - 2993.44 - 2.80 0.027 2277.06 404.6 148.54 - - 2265.38 - - - - - - - - - 15.75 -
21939.70 86.94 6.77 2376 21960.14 done 2.08 - - 2993.81 - 3.18 0.087 3352.25 338.1 148.54 - - 2264.88 - - - - - - - - - 15.42 -
22182.14 69.80 5.98 2421 22201.79 2.20 0.04 0.216 3016.12 557.7 2.80 0.019 2195.00 -413.3 148.54 - - 2264.84 - - - - - - - - 15.65 15.71 -
22388.37 60.44 3.04 2459 22521.67 2.41 - - 3016.00 - 3.01 0.072 1144.62 -349.0 252.13 79.73 1.159 1860.56 -5.1 0.046 - - - - - - - 15.30 10.48
22748.74 47.13 5.03 2521 22838.19 2.53 - - 3015.81 - 2.80 0.026 2277.62 404.6 314.44 49.11 1.104 1609.44 -5.1 0.038 - - - - - - - 15.61 11.40
23024.48 27.46 8.25 2569 23045.37 roll back 2.53 - - 3016.44 - 3.23 0.067 1145.31 -350.6 314.44 - - 1600.78 - - - - - - - - - 15.50 -
23076.89 22.84 8.81 2576 23096.10 2.53 - - 3016.12 - 2.82 0.026 2276.94 401.3 314.44 - - 1599.41 - - - - - - - - - 15.67 -
23282.21 6.04 8.31 2614 23289.15 2.53 - - 3016.50 - - - 2277.19 - 314.44 - - 1597.66 - - - - - - - - - - -
23310 end climb: SURFACE_DEPTH_REACHED
23310 begin surface coast
23366 end surface coast: CONTROL_FINISHED_OK
23367 begin surface
SM 1.48 - - - - 178.2 89.74 1.077 1136.3 12.7 19.83 0.044 1134.5 57.2 - 0.12 0.083 1138.1 9484.2 -17.285 - - 11.00 15.77 15.84 -