NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 151 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 54.26 of 506.00 AH used of 24V (89.28% remains)
• Surface angle -65.3 deg, depth 1.11 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.00 (SM_CC=430)
• GPS1 time: 26 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
11 begin dive
18.76 - - - 97.13 VBD -1.18 - - 178.50 - - - 2194.50 - -77.86 54.89 0.005 2470.25 - - - - - - - - - - 15.53
99.34 3.38 -4.48 11 218.34 -1.18 16.75 0.226 2228.31 122.4 2.89 0.070 1143.75 -363.6 -77.86 11.40 0.007 3210.81 65.0 -5.213 - - - - - - 15.61 15.50 15.59
354.44 45.75 -9.68 45 373.07 roll -1.18 - - 2228.31 - 2.82 0.026 2278.00 402.2 -77.86 - - 3213.31 - - - - - - - - - 15.81 -
558.98 64.48 -9.06 83 578.01 roll -1.18 - - 2228.38 - 3.09 0.082 3352.56 347.8 -77.86 - - 3214.72 - - - - - - - - - 15.83 -
604.16 68.74 -9.39 89 622.00 roll -1.18 - - 2226.31 - 2.72 0.020 2189.50 -427.6 -77.86 - - 3215.62 - - - - - - - - - 15.84 -
807.83 87.61 -10.15 127 826.07 roll -1.18 - - 2228.38 - 2.88 0.067 1142.75 -363.5 -77.86 - - 3215.56 - - - - - - - - - 15.83 -
847.23 91.49 -9.79 132 865.07 roll -1.18 - - 2226.94 - 2.79 0.025 2280.06 407.6 -77.86 - - 3216.53 - - - - - - - - - 15.93 -
1055.84 108.70 -7.32 160 1074.16 done -1.18 - - 2228.44 - 3.06 0.083 3354.62 351.2 -77.86 - - 3215.88 - - - - - - - - - 15.91 -
1180.32 117.69 -6.97 182 1197.44 done -1.18 - - 2228.19 - 2.69 0.020 2190.88 -432.6 -77.86 - - 3216.53 - - - - - - - - - 15.96 -
1503.25 137.27 -6.26 214 1520.79 done -1.18 - - 2228.69 - 2.85 0.067 1141.50 -368.2 -77.86 - - 3215.75 - - - - - - - - - 15.87 -
1641.24 147.69 -8.24 239 1659.40 done -1.18 - - 2228.12 - 2.79 0.025 2279.31 407.8 -77.86 - - 3216.94 - - - - - - - - - 15.98 -
1965.34 174.56 -8.26 271 1969.40 VBD -1.18 - - 2227.69 - - - 2279.56 - -77.86 - - 3216.19 - - - - - - - - - - -
2275.37 197.13 -7.26 302 2293.92 done -1.18 - - 2228.12 - 3.07 0.064 1142.75 -370.3 -77.86 - - 3216.47 - - - - - - - - - 15.97 -
2340.13 202.09 -7.91 312 2357.86 roll -1.18 - - 2228.19 - 2.80 0.026 2278.50 405.6 -77.86 - - 3216.06 - - - - - - - - - 16.01 -
2663.67 223.58 -6.96 344 2682.20 roll -1.18 - - 2228.12 - 3.06 0.085 3353.06 351.2 -77.86 - - 3217.84 - - - - - - - - - 15.93 -
2752.68 230.76 -8.20 359 2770.74 roll -1.18 - - 2228.38 - 2.71 0.020 2191.12 -428.8 -77.86 - - 3216.53 - - - - - - - - - 15.95 -
3076.60 254.09 -7.12 391 3080.66 no move -1.18 - - 2227.81 - - - 2189.94 - -77.86 - - 3213.81 - - - - - - - - - - -
3386.65 275.95 -6.86 422 3390.70 no move -1.18 - - 2227.56 - - - 2189.50 - -77.86 - - 3214.41 - - - - - - - - - - -
3696.69 297.79 -7.21 453 3700.75 no move -1.18 - - 2228.31 - - - 2189.12 - -77.86 - - 3212.62 - - - - - - - - - - -
4006.71 319.15 -6.79 484 4027.88 roll -1.18 - - 2228.12 - 3.34 0.083 3352.50 348.3 -77.86 - - 3213.53 - - - - - - - - - 16.01 -
4049.07 322.53 -7.91 489 4066.25 roll -1.18 - - 2227.12 - 2.70 0.021 2191.25 -430.1 -77.86 - - 3213.44 - - - - - - - - - 16.04 -
4372.22 344.62 -6.88 521 4389.95 roll -1.18 - - 2227.62 - 2.85 0.071 1143.25 -367.7 -77.86 - - 3213.81 - - - - - - - - - 16.05 -
4420.41 348.19 -7.44 528 4438.46 roll -1.18 - - 2227.88 - 2.77 0.026 2278.62 409.9 -77.86 - - 3214.34 - - - - - - - - - 16.04 -
4744.30 371.32 -7.08 560 4748.36 no move -1.18 - - 2227.75 - - - 2278.44 - -77.86 - - 3211.06 - - - - - - - - - - -
5054.33 393.92 -7.53 591 5058.39 no move -1.18 - - 2227.50 - - - 2278.19 - -77.86 - - 3210.22 - - - - - - - - - - -
5364.35 417.09 -7.34 622 5368.41 no move -1.18 - - 2227.62 - - - 2278.12 - -77.86 - - 3209.56 - - - - - - - - - - -
5674.37 441.21 -7.94 653 5692.93 roll -1.18 - - 2228.25 - 3.09 0.067 1144.06 -367.0 -77.86 - - 3208.91 - - - - - - - - - 16.05 -
5739.13 446.42 -8.19 663 5756.86 roll -1.18 - - 2227.94 - 2.82 0.027 2277.44 401.9 -77.86 - - 3210.69 - - - - - - - - - 16.04 -
6062.68 470.63 -7.32 695 6081.64 roll -1.18 - - 2228.19 - 3.11 0.087 3351.31 345.3 -77.86 - - 3209.25 - - - - - - - - - 16.02 -
6142.12 477.16 -8.46 708 6160.42 roll -1.18 - - 2228.62 - 2.70 0.021 2193.50 -428.8 -77.86 - - 3210.03 - - - - - - - - - 16.05 -
6466.35 500.32 -6.86 740 6470.41 no move -1.18 - - 2227.88 - - - 2192.44 - -77.86 - - 3207.78 - - - - - - - - - - -
6776.36 521.22 -6.78 771 6797.52 roll -1.18 - - 2227.94 - 3.34 0.084 3350.25 346.6 -77.86 - - 3207.50 - - - - - - - - - 16.02 -
6828.74 525.21 -7.72 778 6846.48 roll -1.18 - - 2227.88 - 2.72 0.021 2193.81 -425.2 -77.86 - - 3208.22 - - - - - - - - - 16.02 -
7152.31 547.23 -6.94 810 7156.37 no move -1.18 - - 2228.50 - - - 2192.25 - -77.86 - - 3206.91 - - - - - - - - - - -
7462.33 569.19 -7.11 841 7466.39 no move -1.18 - - 2227.25 - - - 2192.50 - -77.86 - - 3206.44 - - - - - - - - - - -
7772.35 591.35 -7.37 872 7793.50 roll -1.18 - - 2227.06 - 3.34 0.085 3352.75 347.4 -77.86 - - 3207.41 - - - - - - - - - 16.02 -
7854.71 597.84 -7.95 885 7872.05 roll -1.18 - - 2228.00 - 2.74 0.021 2195.38 -422.4 -77.86 - - 3208.16 - - - - - - - - - 16.06 -
8177.90 621.14 -7.62 917 8181.96 no move -1.18 - - 2227.25 - - - 2194.00 - -77.86 - - 3206.09 - - - - - - - - - - -
8487.94 644.52 -7.72 948 8509.10 roll -1.18 - - 2228.12 - 3.35 0.085 3351.75 345.6 -77.86 - - 3206.03 - - - - - - - - - 16.02 -
8564.81 650.76 -8.21 960 8583.38 roll -1.18 - - 2228.44 - 2.74 0.021 2195.94 -421.8 -77.86 - - 3205.97 - - - - - - - - - 16.04 -
8889.32 673.07 -6.96 992 8893.38 no move -1.18 - - 2227.94 - - - 2194.75 - -77.86 - - 3204.50 - - - - - - - - - - -
9199.32 691.99 -5.81 1023 9220.47 roll -1.18 - - 2227.62 - 3.37 0.085 3351.75 343.3 -77.86 - - 3203.22 - - - - - - - - - 15.95 -
9251.68 695.56 -7.46 1030 9269.41 roll -1.18 - - 2228.38 - 2.75 0.021 2195.75 -420.4 -77.86 - - 3204.31 - - - - - - - - - 16.06 -
9575.28 714.92 -6.50 1062 9579.34 no move -1.18 - - 2228.44 - - - 2193.38 - -77.86 - - 3203.16 - - - - - - - - - - -
9885.31 734.80 -6.03 1093 9889.37 no move -1.18 - - 2228.12 - - - 2193.12 - -77.86 - - 3203.09 - - - - - - - - - - -
10195.33 756.23 -7.08 1124 10199.40 no move -1.18 - - 2227.75 - - - 2192.94 - -77.86 - - 3203.00 - - - - - - - - - - -
10505.36 776.46 -6.23 1155 10523.51 roll -1.18 - - 2227.50 - 2.91 0.075 1142.50 -361.0 -77.86 - - 3204.09 - - - - - - - - - 16.02 -
10553.99 779.82 -6.60 1162 10572.56 roll -1.18 - - 2228.38 - 2.82 0.028 2278.38 402.8 -77.86 - - 3203.78 - - - - - - - - - 16.05 -
10878.37 798.97 -5.61 1194 10897.55 roll -1.18 - - 2227.56 - 3.12 0.090 3353.56 344.6 -77.86 - - 3201.88 - - - - - - - - - 15.99 -
10943.88 803.25 -6.29 1204 10961.22 roll -1.18 - - 2228.06 - 2.72 0.022 2194.62 -426.1 -77.86 - - 3203.00 - - - - - - - - - 15.94 -
11267.07 821.13 -5.84 1236 11284.81 roll -1.18 - - 2227.88 - 2.89 0.074 1143.75 -363.6 -77.86 - - 3202.09 - - - - - - - - - 15.99 -
11335.40 825.40 -6.06 1247 11353.46 roll -1.18 - - 2227.81 - 2.80 0.028 2276.81 404.7 -77.86 - - 3202.94 - - - - - - - - - 16.05 -
11659.31 842.76 -5.16 1279 11663.37 no move -1.18 - - 2228.06 - - - 2277.50 - -77.86 - - 3201.81 - - - - - - - - - - -
11969.33 860.39 -5.60 1310 11973.39 no move -1.18 - - 2228.50 - - - 2276.94 - -77.86 - - 3201.25 - - - - - - - - - - -
12279.35 877.63 -5.48 1341 12298.31 roll -1.18 - - 2228.31 - 3.12 0.070 1143.94 -363.1 -77.86 - - 3201.72 - - - - - - - - - 16.00 -
12354.52 881.94 -5.84 1353 12372.27 roll -1.18 - - 2227.81 - 2.81 0.028 2276.69 403.1 -77.86 - - 3202.00 - - - - - - - - - 16.05 -
12678.11 900.19 -5.56 1385 12682.18 no move -1.18 - - 2227.69 - - - 2277.06 - -77.86 - - 3201.38 - - - - - - - - - - -
12988.17 917.51 -5.53 1416 12992.23 no move -1.18 - - 2227.75 - - - 2276.50 - -77.86 - - 3200.06 - - - - - - - - - - -
13298.87 934.00 -5.02 1447 13302.93 no move -1.18 - - 2227.56 - - - 2276.38 - -77.86 - - 3200.12 - - - - - - - - - - -
13609.29 949.20 -4.70 1478 13628.25 roll -1.18 - - 2225.62 - 3.15 0.092 3349.56 340.7 -77.86 - - 3200.66 - - - - - - - - - 15.97 -
13684.46 953.54 -5.39 1490 13701.80 roll -1.18 - - 2227.75 - 2.74 0.023 2198.00 -420.3 -77.86 - - 3200.31 - - - - - - - - - 16.03 -
14007.65 970.16 -5.29 1522 14011.71 no move -1.18 - - 2227.88 - - - 2197.19 - -77.86 - - 3198.72 - - - - - - - - - - -
14318.11 985.93 -4.93 1553 14322.17 no move -1.18 - - 2227.25 - - - 2197.44 - -77.86 - - 3199.28 - - - - - - - - - - -
14397 end dive: TARGET_DEPTH_EXCEEDED
14398 begin apogee
14402.58 990.25 -5.22 1561 14502.59 -0.31 1.55 0.138 2440.25 137.4 0.12 0.180 2191.50 -49.5 - 61.72 2.485 2888.97 -5.0 0.333 - - - - - - 15.91 15.58 11.40
14509 end apogee: CONTROL_FINISHED_OK
14509 begin climb
14512.57 991.52 - 1568 14621.31 1.18 2.53 0.095 2805.38 144.3 - - 2190.31 - 77.86 65.78 2.421 2571.28 -4.8 0.329 - - - - - - 15.67 - 12.27
14927.68 965.80 7.10 1606 14931.75 VBD 1.24 - - 2805.56 - - - 2190.75 - 77.86 - - 2562.44 - - - - - - - - - - -
15238.11 944.49 6.26 1637 15261.33 1.35 0.23 0.083 2853.81 209.8 3.45 0.093 3349.69 335.9 77.86 - - 2562.91 - - - - - - - - 15.85 15.78 -
15302.52 938.52 9.49 1646 15319.86 done 1.35 - - 2853.94 - 2.77 0.023 2205.50 -413.1 77.86 - - 2564.09 - - - - - - - - - 15.83 -
15626.11 914.49 7.06 1678 15630.17 VBD 1.41 - - 2854.75 - - - 2203.50 - 77.86 - - 2559.78 - - - - - - - - - - -
15936.41 894.01 6.57 1709 15940.48 VBD 1.49 - - 2853.44 - - - 2204.25 - 77.86 - - 2559.22 - - - - - - - - - - -
16246.71 874.06 6.38 1740 16252.48 1.59 0.31 0.070 2913.44 193.5 - - 2203.62 - 77.86 - - 2560.97 - - - - - - - - 15.94 - -
16558.31 849.03 7.88 1771 16562.37 VBD 1.59 - - 2914.12 - - - 2204.12 - 77.86 - - 2558.94 - - - - - - - - - - -
16868.33 825.76 7.74 1802 16872.40 VBD 1.59 - - 2914.38 - - - 2203.56 - 77.86 - - 2558.50 - - - - - - - - - - -
17178.36 802.48 7.69 1833 17182.43 VBD 1.59 - - 2914.19 - - - 2203.31 - 77.86 - - 2558.53 - - - - - - - - - - -
17488.77 779.58 7.18 1864 17506.92 done 1.65 - - 2915.12 - 2.96 0.078 1144.94 -357.6 77.86 - - 2558.12 - - - - - - - - - 16.01 -
17607.40 770.35 7.79 1885 17626.11 done 1.65 - - 2915.50 - 2.85 0.033 2274.44 396.3 77.86 - - 2561.09 - - - - - - - - - 16.02 -
17932.47 746.06 7.26 1917 17936.53 VBD 1.69 - - 2915.50 - - - 2274.69 - 77.86 - - 2557.62 - - - - - - - - - - -
18242.73 722.50 7.52 1948 18261.69 done 1.73 - - 2915.81 - 3.15 0.074 1145.06 -358.6 77.86 - - 2556.88 - - - - - - - - - 15.94 -
18352.17 713.30 8.46 1967 18370.64 done 1.73 - - 2914.38 - 2.86 0.032 2274.06 394.8 77.86 - - 2558.50 - - - - - - - - - 16.04 -
18676.89 689.17 7.13 1999 18698.49 1.78 0.20 0.079 2960.12 228.7 3.16 0.096 3351.12 340.8 77.86 - - 2555.94 - - - - - - - - 15.99 15.94 -
18793.97 678.76 8.80 2019 18812.03 done 1.78 - - 2959.75 - 2.72 0.024 2202.31 -422.4 77.86 - - 2558.22 - - - - - - - - - 16.03 -
19118.28 652.91 7.49 2051 19122.34 VBD 1.81 - - 2960.88 - - - 2201.00 - 77.86 - - 2556.44 - - - - - - - - - - -
19428.57 631.48 6.82 2082 19446.72 done 1.89 - - 2961.06 - 2.91 0.078 1146.19 -362.5 77.86 - - 2555.62 - - - - - - - - - 16.01 -
19482.92 627.28 7.71 2090 19500.90 done 1.89 - - 2961.12 - 2.82 0.032 2274.12 400.0 77.86 - - 2557.34 - - - - - - - - - 16.04 -
19807.26 603.80 7.25 2122 19811.32 VBD 1.94 - - 2960.75 - - - 2274.62 - 77.86 - - 2555.91 - - - - - - - - - - -
20117.57 582.22 6.43 2153 20122.94 2.03 0.24 0.076 3015.38 227.6 - - 2274.38 - 77.86 - - 2556.53 - - - - - - - - 15.99 - -
20429.20 559.01 7.01 2184 20433.26 VBD 2.10 - - 3015.81 - - - 2274.19 - 77.86 - - 2555.88 - - - - - - - - - - -
20739.51 538.47 6.67 2215 20743.59 2.18 - - 3015.31 - - - 2273.62 - 77.86 - - 2556.06 - - - - - - - - - - -
21049.79 516.94 7.21 2246 21068.76 2.23 - - 3016.06 - 3.12 0.073 1146.62 -361.2 77.86 - - 2556.75 - - - - - - - - - 16.00 -
21295.48 497.53 8.08 2292 21313.24 2.23 - - 3015.94 - 2.85 0.032 2275.44 396.1 77.86 - - 2558.22 - - - - - - - - - 16.05 -
21619.59 473.28 7.33 2324 21638.58 2.27 - - 3015.38 - 3.13 0.072 1143.81 -361.5 77.86 - - 2559.03 - - - - - - - - - 15.94 -
21834.83 456.43 7.89 2364 21852.59 2.27 - - 3015.50 - 2.85 0.032 2275.81 397.2 77.86 - - 2555.41 - - - - - - - - - 16.04 -
22158.82 433.18 6.70 2396 22162.90 2.35 - - 3015.88 - - - 2275.50 - 77.86 - - 2555.97 - - - - - - - - - - -
22469.27 413.11 6.29 2427 22488.26 2.46 - - 3015.50 - 3.17 0.094 3350.00 339.0 77.86 - - 2556.31 - - - - - - - - - 15.90 -
22524.86 409.15 6.72 2435 22542.60 2.54 - - 3016.38 - 2.71 0.023 2199.81 -424.4 77.86 - - 2558.94 - - - - - - - - - 16.02 -
22848.80 389.80 6.35 2467 22866.96 2.64 - - 3014.25 - 2.93 0.075 1144.75 -360.1 77.86 - - 2556.47 - - - - - - - - - 15.92 -
23033.58 378.45 6.06 2501 23051.33 2.76 - - 3016.12 - 2.84 0.031 2274.94 398.0 77.86 - - 2556.38 - - - - - - - - - 16.03 -
23357.71 360.76 5.47 2533 23376.68 2.91 - - 3016.00 - 3.16 0.093 3350.56 340.4 77.86 - - 2557.66 - - - - - - - - - 15.91 -
23423.28 356.69 5.94 2543 23440.63 3.04 - - 3016.12 - 2.72 0.022 2198.56 -423.5 77.86 - - 2557.88 - - - - - - - - - 16.01 -
23746.84 337.63 6.53 2575 23765.32 3.13 - - 3015.62 - 2.91 0.075 1144.75 -362.1 77.86 - - 2555.28 - - - - - - - - - 15.98 -
23866.33 329.05 6.85 2596 23884.83 3.20 - - 3016.12 - 2.83 0.030 2274.38 399.2 77.86 - - 2556.69 - - - - - - - - - 16.01 -
24191.08 309.48 5.41 2628 24195.16 3.36 - - 3016.19 - - - 2273.94 - 77.86 - - 2555.47 - - - - - - - - - - -
24501.41 293.62 4.78 2659 24597.13 3.50 - - 3016.06 - 3.16 0.096 3351.44 341.0 145.49 52.77 1.629 2296.34 -4.9 0.147 - - - - - - - 15.76 11.55
24738.33 270.93 11.81 2699 24755.69 roll back 3.50 - - 3016.38 - 2.76 0.023 2203.81 -415.8 145.49 - - 2290.59 - - - - - - - - - 15.86 -
25061.62 238.04 9.87 2731 25079.78 3.50 - - 3015.50 - 2.96 0.076 1146.25 -357.3 145.49 - - 2287.88 - - - - - - - - - 15.79 -
25216.01 222.44 10.42 2759 25233.77 3.50 - - 3016.62 - 2.85 0.031 2275.94 396.4 145.49 - - 2286.44 - - - - - - - - - 15.94 -
25539.62 191.32 9.53 2791 25558.85 3.50 - - 3015.94 - 3.19 0.092 3350.62 336.9 145.49 - - 2285.72 - - - - - - - - - 15.82 -
25609.43 184.31 10.05 2802 25627.51 3.50 - - 3016.44 - 2.74 0.022 2202.56 -419.0 145.49 - - 2286.16 - - - - - - - - - 15.94 -
25933.33 155.52 8.88 2834 25954.51 3.50 - - 3016.62 - 3.37 0.088 3348.50 340.0 145.49 - - 2288.03 - - - - - - - - - 15.87 -
25969.98 151.97 9.52 2838 25988.06 3.50 - - 3016.38 - 2.74 0.022 2201.00 -418.8 145.49 - - 2285.72 - - - - - - - - - 15.95 -
26293.91 121.66 8.65 2870 26297.99 3.50 - - 3015.62 - - - 2200.44 - 145.49 - - 2284.88 - - - - - - - - - - -
26604.33 100.22 5.43 2901 26622.49 3.66 - - 3016.38 - 2.94 0.075 1145.25 -358.9 145.49 - - 2285.12 - - - - - - - - - 15.90 -
26854.16 90.05 4.20 2948 26957.86 3.81 - - 3016.88 - 2.83 0.029 2277.19 400.0 224.98 61.01 1.336 1973.75 -5.1 0.057 - - - - - - - 15.91 11.97
27143.69 67.59 9.11 2998 27163.38 3.81 - - 3015.50 - 3.16 0.070 1145.94 -358.0 224.98 - - 1963.66 - - - - - - - - - 15.75 -
27304.74 54.29 7.67 3027 27323.21 3.81 - - 3016.50 - 2.86 0.029 2274.75 394.7 224.98 - - 1961.88 - - - - - - - - - 15.86 -
27509.47 40.58 6.64 3065 27529.19 3.90 - - 3016.56 - 3.18 0.091 3351.50 338.6 224.98 - - 1960.16 - - - - - - - - - 15.79 -
27535.89 38.87 6.52 3067 27553.96 3.90 - - 3016.12 - 2.74 0.021 2194.81 -422.1 224.98 - - 1960.12 - - - - - - - - - 15.81 -
27740.18 30.29 3.53 3105 27857.99 4.09 - - 3016.38 - 2.97 0.075 1146.44 -353.0 318.33 70.82 1.240 1591.97 -5.2 0.021 - - - - - - - 15.65 12.02
28089.65 13.32 3.73 3166 28206.47 4.26 - - 3016.12 - 2.83 0.027 2277.25 399.6 407.53 68.82 1.190 1227.97 -5.3 0.010 - - - - - - - 15.83 12.20
28301 end climb: SURFACE_DEPTH_REACHED
28302 begin surface coast
28398 end surface coast: CONTROL_FINISHED_OK
28398 begin surface
SM 1.59 - - - - 179.6 17.54 1.101 1137.0 60.9 18.87 0.050 1139.6 60.4 - 0.12 0.090 1134.4 9429.8 -17.027 - - 12.12 15.78 15.83 -