NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 87 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 30.80 of 506.00 AH used of 24V (93.91% remains)
• Surface angle -63.3 deg, depth 1.06 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.02 (SM_CC=430)
• GPS1 time: 22 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
18.72 - - - 104.42 VBD -1.18 - - 178.44 - - - 2270.44 - -77.86 60.01 0.005 2531.34 - - - - - - - - - - 15.59
106.63 3.16 -3.91 12 224.84 -1.18 16.67 0.231 2228.12 123.0 2.88 0.087 3304.88 359.2 -77.86 10.42 0.007 3209.59 65.1 -4.867 - - - - - - 15.66 15.57 15.65
260.90 39.58 -14.55 26 278.65 roll -1.18 - - 2227.06 - 2.73 0.021 2147.06 -424.1 -77.86 - - 3214.00 - - - - - - - - - 15.88 -
464.59 67.71 -13.39 64 482.44 roll -1.18 - - 2228.19 - 2.80 0.071 1093.00 -376.4 -77.86 - - 3212.88 - - - - - - - - - 15.89 -
518.59 74.56 -12.75 72 536.44 roll -1.18 - - 2227.62 - 2.74 0.025 2233.12 416.1 -77.86 - - 3214.72 - - - - - - - - - 15.89 -
722.26 93.97 -7.96 110 729.20 no move -1.18 - - 2227.88 - - - 2233.00 - -77.86 - - 3214.72 - - - - - - - - - - -
920.00 109.93 -7.67 137 937.92 roll -1.18 - - 2226.88 - 2.92 0.081 3305.69 367.4 -77.86 - - 3214.69 - - - - - - - - - 15.95 -
1044.09 120.40 -8.30 159 1061.20 roll -1.18 - - 2228.12 - 2.69 0.021 2141.25 -432.9 -77.86 - - 3215.31 - - - - - - - - - 15.98 -
1367.01 142.73 -6.63 191 1385.73 roll -1.18 - - 2227.19 - 3.18 0.077 3304.88 365.9 -77.86 - - 3215.53 - - - - - - - - - 16.00 -
1446.16 148.29 -7.00 204 1464.41 roll -1.18 - - 2227.75 - 2.70 0.020 2141.56 -430.9 -77.86 - - 3215.75 - - - - - - - - - 16.01 -
1770.23 169.16 -7.13 236 1788.95 roll -1.18 - - 2228.00 - 3.17 0.077 3304.56 366.9 -77.86 - - 3215.19 - - - - - - - - - 16.02 -
1885.14 178.72 -8.23 256 1902.08 roll -1.18 - - 2227.75 - 2.69 0.020 2145.06 -431.0 -77.86 - - 3215.62 - - - - - - - - - 16.03 -
2208.03 202.43 -7.22 288 2212.09 no move -1.18 - - 2228.06 - - - 2144.31 - -77.86 - - 3213.97 - - - - - - - - - - -
2518.09 223.26 -6.77 319 2537.04 roll -1.18 - - 2228.06 - 3.13 0.078 3305.44 371.0 -77.86 - - 3215.69 - - - - - - - - - 15.96 -
2583.24 228.27 -7.65 329 2600.58 roll -1.18 - - 2228.19 - 2.71 0.021 2145.56 -428.0 -77.86 - - 3215.00 - - - - - - - - - 16.05 -
2906.43 253.08 -7.68 361 2925.38 roll -1.18 - - 2228.38 - 3.11 0.078 3304.38 372.6 -77.86 - - 3214.72 - - - - - - - - - 16.07 -
2981.58 259.55 -8.92 373 2998.52 roll -1.18 - - 2227.50 - 2.69 0.021 2146.06 -430.6 -77.86 - - 3214.75 - - - - - - - - - 16.06 -
3304.37 285.86 -8.13 405 3308.43 no move -1.18 - - 2227.50 - - - 2145.62 - -77.86 - - 3212.72 - - - - - - - - - - -
3614.43 312.28 -8.39 436 3632.97 roll -1.18 - - 2226.69 - 3.09 0.080 3305.50 375.4 -77.86 - - 3213.53 - - - - - - - - - 16.07 -
3653.43 315.81 -8.67 441 3671.69 roll -1.18 - - 2228.19 - 2.69 0.021 2145.75 -431.1 -77.86 - - 3212.91 - - - - - - - - - 16.08 -
3977.69 342.58 -8.19 473 3996.66 roll -1.18 - - 2227.69 - 3.18 0.079 3302.44 363.7 -77.86 - - 3212.62 - - - - - - - - - 16.04 -
4032.98 347.66 -8.94 481 4050.29 roll -1.18 - - 2226.75 - 2.68 0.022 2145.94 -431.5 -77.86 - - 3213.34 - - - - - - - - - 16.09 -
4356.15 373.57 -7.49 513 4360.21 no move -1.18 - - 2228.81 - - - 2146.06 - -77.86 - - 3210.25 - - - - - - - - - - -
4666.20 396.07 -7.03 544 4685.15 roll -1.18 - - 2228.38 - 3.16 0.080 3303.50 366.3 -77.86 - - 3210.56 - - - - - - - - - 16.09 -
4755.64 403.39 -8.08 559 4773.35 roll -1.18 - - 2227.38 - 2.67 0.022 2146.69 -433.3 -77.86 - - 3210.91 - - - - - - - - - 16.09 -
5079.19 426.33 -6.86 591 5083.25 no move -1.18 - - 2227.75 - - - 2145.88 - -77.86 - - 3208.44 - - - - - - - - - - -
5389.24 448.80 -7.62 622 5408.20 roll -1.18 - - 2228.00 - 3.17 0.081 3304.00 365.3 -77.86 - - 3208.69 - - - - - - - - - 16.09 -
5494.41 457.42 -8.10 640 5511.73 roll -1.18 - - 2228.19 - 2.68 0.022 2147.38 -431.6 -77.86 - - 3208.84 - - - - - - - - - 16.10 -
5817.58 480.77 -7.29 672 5836.79 roll -1.18 - - 2227.62 - 3.19 0.081 3303.25 362.3 -77.86 - - 3207.62 - - - - - - - - - 16.00 -
5853.10 483.58 -7.30 676 5870.02 roll -1.18 - - 2227.94 - 2.67 0.022 2147.38 -432.9 -77.86 - - 3208.16 - - - - - - - - - 16.09 -
6175.88 507.37 -7.43 708 6194.83 roll -1.18 - - 2226.94 - 3.18 0.081 3303.50 363.6 -77.86 - - 3208.34 - - - - - - - - - 16.06 -
6235.30 512.10 -7.54 717 6252.95 roll -1.18 - - 2227.56 - 2.66 0.022 2148.56 -434.2 -77.86 - - 3207.25 - - - - - - - - - 16.09 -
6558.77 535.82 -7.43 749 6562.83 no move -1.18 - - 2227.56 - - - 2148.38 - -77.86 - - 3206.62 - - - - - - - - - - -
6868.79 558.21 -6.63 780 6872.85 no move -1.18 - - 2228.06 - - - 2148.06 - -77.86 - - 3205.88 - - - - - - - - - - -
7178.85 578.24 -5.71 811 7197.81 roll -1.18 - - 2227.38 - 3.17 0.082 3302.62 364.2 -77.86 - - 3207.19 - - - - - - - - - 16.08 -
7308.30 588.02 -7.37 834 7325.95 roll -1.18 - - 2228.31 - 2.68 0.022 2148.69 -430.6 -77.86 - - 3205.75 - - - - - - - - - 16.10 -
7631.77 610.08 -7.07 866 7635.83 no move -1.18 - - 2228.00 - - - 2148.31 - -77.86 - - 3204.56 - - - - - - - - - - -
7941.80 631.76 -6.86 897 7945.85 no move -1.18 - - 2227.88 - - - 2148.25 - -77.86 - - 3204.59 - - - - - - - - - - -
8251.83 652.53 -6.27 928 8270.81 roll -1.18 - - 2228.62 - 3.17 0.083 3304.06 364.6 -77.86 - - 3202.97 - - - - - - - - - 16.10 -
8277.11 654.59 -6.33 930 8294.05 roll -1.18 - - 2228.38 - 2.67 0.022 2146.25 -433.6 -77.86 - - 3204.06 - - - - - - - - - 16.10 -
8599.89 674.05 -5.75 962 8618.85 roll -1.18 - - 2228.44 - 3.17 0.083 3303.00 364.9 -77.86 - - 3204.25 - - - - - - - - - 16.09 -
8689.33 680.31 -6.77 977 8706.99 roll -1.18 - - 2227.12 - 2.68 0.022 2147.12 -431.3 -77.86 - - 3205.00 - - - - - - - - - 16.09 -
9012.80 701.52 -7.07 1009 9031.77 roll -1.18 - - 2228.06 - 3.16 0.083 3302.38 365.6 -77.86 - - 3202.78 - - - - - - - - - 16.10 -
9117.99 709.97 -7.97 1027 9135.72 roll -1.18 - - 2228.31 - 2.70 0.022 2148.38 -427.4 -77.86 - - 3203.19 - - - - - - - - - 16.03 -
9441.57 730.95 -6.42 1059 9445.63 no move -1.18 - - 2228.31 - - - 2147.81 - -77.86 - - 3202.34 - - - - - - - - - - -
9751.62 749.50 -5.95 1090 9755.68 no move -1.18 - - 2228.06 - - - 2148.69 - -77.86 - - 3202.06 - - - - - - - - - - -
10061.67 769.61 -6.93 1121 10065.73 no move -1.18 - - 2227.56 - - - 2148.44 - -77.86 - - 3201.28 - - - - - - - - - - -
10371.70 791.65 -7.39 1152 10376.00 no move -1.18 - - 2228.06 - - - 2147.88 - -77.86 - - 3200.59 - - - - - - - - - - -
10681.96 815.36 -8.10 1183 10686.02 no move -1.18 - - 2228.06 - - - 2147.25 - -77.86 - - 3201.03 - - - - - - - - - - -
10992.02 839.38 -8.22 1214 10996.08 no move -1.18 - - 2227.56 - - - 2147.19 - -77.86 - - 3200.53 - - - - - - - - - - -
11302.08 859.12 -5.36 1245 11321.47 roll -1.18 - - 2228.44 - 3.20 0.085 3303.69 361.4 -77.86 - - 3200.12 - - - - - - - - - 16.07 -
11362.05 863.24 -6.54 1254 11380.09 roll -1.18 - - 2227.06 - 2.67 0.023 2148.25 -432.7 -77.86 - - 3201.75 - - - - - - - - - 16.08 -
11685.94 880.92 -5.43 1286 11705.30 roll -1.18 - - 2227.94 - 3.20 0.085 3303.00 360.9 -77.86 - - 3200.88 - - - - - - - - - 16.08 -
11735.76 884.40 -6.14 1293 11753.81 roll -1.18 - - 2228.31 - 2.68 0.023 2148.19 -430.9 -77.86 - - 3200.41 - - - - - - - - - 16.08 -
12060.08 901.14 -4.78 1325 12079.45 roll -1.18 - - 2227.75 - 3.20 0.084 3304.06 361.2 -77.86 - - 3200.31 - - - - - - - - - 16.07 -
12175.66 907.96 -6.15 1345 12192.98 roll -1.18 - - 2228.44 - 2.69 0.023 2149.50 -429.2 -77.86 - - 3200.31 - - - - - - - - - 16.09 -
12499.44 924.42 -4.94 1377 12518.40 roll -1.18 - - 2227.94 - 3.19 0.085 3303.75 361.8 -77.86 - - 3199.34 - - - - - - - - - 16.06 -
12598.98 931.11 -6.76 1394 12616.64 roll -1.18 - - 2227.75 - 2.69 0.023 2148.81 -429.3 -77.86 - - 3199.22 - - - - - - - - - 16.00 -
12922.49 950.42 -6.30 1426 12926.55 no move -1.18 - - 2227.94 - - - 2148.19 - -77.86 - - 3198.78 - - - - - - - - - - -
13232.55 969.87 -5.64 1457 13236.61 no move -1.18 - - 2227.38 - - - 2148.56 - -77.86 - - 3198.47 - - - - - - - - - - -
13542.61 986.98 -5.49 1488 13546.67 no move -1.18 - - 2227.50 - - - 2148.38 - -77.86 - - 3198.44 - - - - - - - - - - -
13602 end dive: TARGET_DEPTH_EXCEEDED
13603 begin apogee
13607.57 990.15 -5.33 1494 13707.21 -0.31 1.54 0.138 2440.38 138.2 0.12 0.199 2189.94 346.3 - 60.69 2.482 2889.09 -5.1 0.337 - - - - - - 15.98 15.60 11.84
13712 end apogee: CONTROL_FINISHED_OK
13713 begin climb
13715.32 991.93 - 1501 13842.18 1.18 2.53 0.097 2805.50 144.3 3.44 0.095 3351.38 337.6 77.86 65.25 2.431 2571.97 -4.9 0.328 - - - - - - 15.72 15.35 12.60
13849.50 984.05 7.36 1515 13866.84 roll 1.22 - - 2805.50 - 2.75 0.024 2204.38 -417.1 77.86 - - 2569.03 - - - - - - - - - 15.64 -
14173.18 961.39 6.63 1547 14192.15 1.31 0.17 0.089 2846.25 239.7 2.86 0.080 1143.88 -370.8 77.86 - - 2564.22 - - - - - - - - 15.82 15.82 -
14398.41 943.40 8.14 1589 14416.54 done 1.31 - - 2846.69 - 2.82 0.033 2274.19 400.8 77.86 - - 2561.75 - - - - - - - - - 15.92 -
14722.80 921.75 6.21 1621 14726.86 VBD 1.42 - - 2846.38 - - - 2274.62 - 77.86 - - 2560.25 - - - - - - - - - - -
15033.09 902.32 6.60 1652 15053.31 1.51 0.21 0.079 2895.06 231.8 3.05 0.097 3352.12 353.3 77.86 - - 2560.78 - - - - - - - - 15.97 15.94 -
15113.78 895.10 8.93 1665 15131.44 done 1.51 - - 2894.31 - 2.69 0.024 2202.38 -427.4 77.86 - - 2560.56 - - - - - - - - - 16.00 -
15437.29 869.77 8.28 1697 15441.35 VBD 1.51 - - 2894.75 - - - 2201.31 - 77.86 - - 2558.72 - - - - - - - - - - -
15747.35 844.04 8.16 1728 15751.41 VBD 1.51 - - 2894.62 - - - 2200.81 - 77.86 - - 2558.47 - - - - - - - - - - -
16057.40 818.52 8.43 1759 16061.46 VBD 1.51 - - 2894.31 - - - 2200.44 - 77.86 - - 2558.38 - - - - - - - - - - -
16367.86 794.50 7.13 1790 16371.93 VBD 1.56 - - 2895.56 - - - 2200.88 - 77.86 - - 2558.47 - - - - - - - - - - -
16678.15 773.71 6.81 1821 16682.21 VBD 1.64 - - 2894.62 - - - 2200.62 - 77.86 - - 2558.22 - - - - - - - - - - -
16988.46 754.69 5.49 1852 17008.27 1.79 0.35 0.065 2959.81 186.3 2.83 0.080 1144.25 -373.3 77.86 - - 2559.56 - - - - - - - - 16.02 16.01 -
17058.75 749.06 7.95 1863 17076.82 done 1.79 - - 2962.19 - 2.80 0.033 2274.56 403.7 77.86 - - 2558.69 - - - - - - - - - 16.07 -
17382.67 720.14 8.97 1895 17386.73 VBD 1.79 - - 2962.12 - - - 2274.31 - 77.86 - - 2557.41 - - - - - - - - - - -
17692.69 691.66 8.70 1926 17711.25 done 1.79 - - 2961.75 - 3.01 0.076 1144.38 -375.4 77.86 - - 2558.22 - - - - - - - - - 16.08 -
17861.75 676.43 8.64 1957 17880.62 done 1.79 - - 2962.19 - 2.82 0.033 2275.25 401.0 77.86 - - 2557.47 - - - - - - - - - 16.05 -
18186.47 650.02 8.17 1989 18205.03 done 1.79 - - 2961.69 - 3.06 0.096 3351.06 351.6 77.86 - - 2556.75 - - - - - - - - - 16.05 -
18221.23 646.89 8.83 1993 18238.42 done 1.79 - - 2961.44 - 2.69 0.024 2200.81 -427.6 77.86 - - 2557.09 - - - - - - - - - 16.07 -
18544.39 618.99 8.26 2025 18548.45 VBD 1.79 - - 2963.00 - - - 2199.25 - 77.86 - - 2556.59 - - - - - - - - - - -
18854.44 594.28 7.85 2056 18858.51 VBD 1.79 - - 2961.62 - - - 2199.38 - 77.86 - - 2556.31 - - - - - - - - - - -
19164.50 569.72 7.91 2087 19168.56 VBD 1.79 - - 2962.69 - - - 2199.69 - 77.86 - - 2556.31 - - - - - - - - - - -
19474.55 545.92 8.27 2118 19478.61 VBD 1.79 - - 2961.94 - - - 2199.56 - 77.86 - - 2556.12 - - - - - - - - - - -
19784.61 520.29 8.73 2149 19788.67 VBD 1.79 - - 2961.81 - - - 2199.88 - 77.86 - - 2556.00 - - - - - - - - - - -
20094.66 495.16 7.83 2180 20098.72 VBD 1.79 - - 2961.81 - - - 2199.75 - 77.86 - - 2556.62 - - - - - - - - - - -
20405.09 470.46 7.54 2211 20409.15 VBD 1.82 - - 2962.19 - - - 2199.75 - 77.86 - - 2556.38 - - - - - - - - - - -
20715.41 448.24 6.86 2242 20733.16 done 1.89 - - 2961.75 - 2.83 0.078 1144.00 -373.1 77.86 - - 2557.91 - - - - - - - - - 16.08 -
20824.06 440.42 7.03 2261 20843.75 1.95 0.16 0.097 3000.81 244.1 2.80 0.032 2275.75 404.2 77.86 - - 2556.88 - - - - - - - - 15.96 15.99 -
21150.00 419.87 6.64 2293 21168.81 done 2.04 - - 3000.38 - 3.06 0.095 3351.38 351.5 77.86 - - 2556.50 - - - - - - - - - 16.04 -
21199.39 416.13 7.65 2300 21217.06 done 2.04 - - 3000.38 - 2.68 0.023 2199.06 -430.0 77.86 - - 2555.72 - - - - - - - - - 16.07 -
21523.43 392.52 7.27 2332 21527.49 VBD 2.08 - - 3000.25 - - - 2197.25 - 77.86 - - 2556.09 - - - - - - - - - - -
21833.75 371.00 6.56 2363 21851.53 2.17 - - 3000.44 - 2.81 0.078 1143.94 -374.8 77.86 - - 2556.69 - - - - - - - - - 16.00 -
21892.40 367.03 6.67 2372 21910.49 2.25 - - 3000.00 - 2.80 0.031 2275.81 404.2 77.86 - - 2558.94 - - - - - - - - - 16.07 -
22216.97 346.44 6.31 2404 22221.04 2.36 - - 3000.62 - - - 2275.94 - 77.86 - - 2556.28 - - - - - - - - - - -
22527.29 324.90 7.38 2435 22545.46 2.40 - - 3001.06 - 2.99 0.073 1142.94 -378.9 77.86 - - 2555.75 - - - - - - - - - 16.05 -
22635.94 315.91 8.38 2454 22654.43 2.40 - - 3000.62 - 2.81 0.031 2276.62 403.4 77.86 - - 2557.41 - - - - - - - - - 16.06 -
22960.68 292.99 6.35 2486 22979.34 2.50 - - 3000.56 - 3.05 0.094 3353.12 353.0 77.86 - - 2556.59 - - - - - - - - - 15.93 -
23000.21 290.31 6.83 2491 23018.12 2.57 - - 3000.12 - 2.68 0.023 2197.31 -431.3 77.86 - - 2557.94 - - - - - - - - - 16.06 -
23324.50 272.21 5.90 2523 23328.57 2.70 - - 3001.31 - - - 2195.50 - 77.86 - - 2556.03 - - - - - - - - - - -
23634.83 253.24 6.33 2554 23638.90 2.81 - - 3000.38 - - - 2195.81 - 77.86 - - 2556.75 - - - - - - - - - - -
23945.13 235.46 5.65 2585 23964.53 2.95 - - 2998.62 - 3.26 0.089 3353.62 355.2 77.86 - - 2557.81 - - - - - - - - - 15.97 -
24061.14 228.89 5.91 2605 24078.08 3.08 - - 3000.69 - 2.69 0.023 2198.06 -429.6 77.86 - - 2558.28 - - - - - - - - - 16.05 -
24384.34 214.33 4.44 2637 24467.83 3.23 - - 3000.88 - - - 2196.56 - 152.44 57.40 1.535 2266.66 -5.1 0.117 - - - - - - - - 11.92
24773.67 179.14 10.31 2674 24777.74 3.23 - - 3000.25 - - - 2196.44 - 152.44 - - 2258.44 - - - - - - - - - - -
25083.70 146.03 9.86 2705 25101.45 3.23 - - 3000.06 - 2.83 0.077 1144.31 -371.8 152.44 - - 2257.28 - - - - - - - - - 15.85 -
25157.66 137.90 11.03 2717 25175.67 3.23 - - 3000.31 - 2.83 0.030 2276.19 400.0 152.44 - - 2257.56 - - - - - - - - - 15.95 -
25481.63 108.75 7.73 2749 25485.70 3.23 - - 3000.56 - - - 2275.81 - 152.44 - - 2255.28 - - - - - - - - - - -
25792.08 89.88 5.50 2797 25811.38 3.38 - - 3001.19 - 3.03 0.072 1144.44 -373.4 152.44 - - 2256.50 - - - - - - - - - 15.93 -
26043.04 76.50 4.75 2844 26136.85 3.52 - - 3000.94 - 2.83 0.029 2277.75 400.5 220.54 51.85 1.342 1990.22 -5.1 0.048 - - - - - - - 15.98 12.34
26323.10 58.14 7.08 2893 26329.72 3.58 - - 3000.88 - - - 2277.06 - 220.54 - - 1982.94 - - - - - - - - - - -
26515.98 48.47 3.62 2931 26634.00 3.76 - - 3000.00 - 3.13 0.092 3351.88 343.4 312.01 68.89 1.277 1618.00 -5.3 0.033 - - - - - - - 15.61 12.28
26645.37 41.13 7.67 2948 26663.46 roll back 3.76 - - 3001.06 - 2.74 0.022 2199.19 -420.7 312.01 - - 1613.59 - - - - - - - - - 15.73 -
26849.43 25.92 7.79 2986 26867.91 3.76 - - 3001.12 - 2.86 0.076 1144.19 -368.9 312.01 - - 1608.53 - - - - - - - - - 15.77 -
26914.11 20.49 8.49 2996 26932.59 3.76 - - 3001.31 - 2.80 0.029 2277.00 404.6 312.01 - - 1607.03 - - - - - - - - - 15.80 -
27118.85 12.16 2.88 3034 27251.92 3.97 - - 3000.50 - 3.11 0.072 1145.12 -363.9 418.87 81.74 1.215 1182.38 -5.2 0.009 - - - - - - - 15.57 12.26
27313 end climb: SURFACE_DEPTH_REACHED
27314 begin surface coast
27394 end surface coast: CONTROL_FINISHED_OK
27395 begin surface
SM 1.37 - - - - 178.3 8.96 0.966 1137.0 117.8 18.42 0.051 1144.4 62.1 - 2.66 0.028 1129.6 423.5 -2.118 - - 12.40 15.80 15.83 -