NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 179 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 62.53 of 506.00 AH used of 24V (87.64% remains)
• Surface angle -66.4 deg, depth 1.13 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.19 (SM_CC=430)
• GPS1 time: 21 s
• GPS2 time: 3 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 - - - 104.06 VBD -1.18 - - 176.94 - - - 2293.06 - -77.86 59.99 0.005 2669.44 - - - - - - - - - - 15.46
106.27 3.72 -4.96 12 220.25 -1.18 16.82 0.225 2227.44 121.9 3.08 0.086 3352.81 344.1 -77.86 8.15 0.007 3211.09 66.5 -5.882 - - - - - - 15.55 15.45 15.52
341.32 47.18 -12.18 42 359.65 roll -1.18 - - 2227.12 - 2.83 0.020 2198.81 -407.8 -77.86 - - 3214.09 - - - - - - - - - 15.86 -
545.59 66.47 -9.31 80 564.64 roll -1.18 - - 2227.81 - 3.02 0.069 1143.88 -349.3 -77.86 - - 3214.62 - - - - - - - - - 15.82 -
635.82 74.65 -8.49 95 654.05 roll -1.18 - - 2227.38 - 2.80 0.025 2278.69 405.3 -77.86 - - 3214.91 - - - - - - - - - 15.90 -
839.88 90.72 -8.21 133 859.74 roll -1.18 - - 2227.50 - 3.20 0.064 1145.06 -354.3 -77.86 - - 3215.38 - - - - - - - - - 15.81 -
880.90 94.21 -8.66 138 898.75 roll -1.18 - - 2227.56 - 2.77 0.025 2278.50 409.2 -77.86 - - 3215.97 - - - - - - - - - 15.91 -
1084.54 111.10 -8.33 163 1102.87 roll -1.18 - - 2227.50 - 3.09 0.083 3352.56 347.6 -77.86 - - 3215.09 - - - - - - - - - 15.86 -
1139.02 115.89 -8.75 171 1156.14 done -1.18 - - 2226.88 - 2.77 0.020 2191.75 -419.1 -77.86 - - 3216.94 - - - - - - - - - 15.93 -
1461.96 142.76 -7.97 203 1465.98 VBD -1.18 - - 2227.62 - - - 2189.50 - -77.86 - - 3215.50 - - - - - - - - - - -
1772.01 164.53 -6.79 234 1789.93 done -1.18 - - 2227.94 - 2.98 0.069 1145.38 -350.4 -77.86 - - 3215.66 - - - - - - - - - 15.92 -
1876.13 172.23 -7.63 252 1893.87 done -1.18 - - 2226.50 - 2.78 0.026 2279.00 407.8 -77.86 - - 3217.44 - - - - - - - - - 15.98 -
2199.88 197.52 -8.52 284 2218.44 done -1.18 - - 2227.69 - 3.10 0.084 3352.50 346.3 -77.86 - - 3215.53 - - - - - - - - - 15.88 -
2234.63 200.68 -8.91 288 2251.97 roll -1.18 - - 2226.06 - 2.76 0.020 2192.25 -420.4 -77.86 - - 3218.16 - - - - - - - - - 15.91 -
2557.82 225.16 -7.12 320 2561.88 no move -1.18 - - 2227.12 - - - 2191.06 - -77.86 - - 3216.69 - - - - - - - - - - -
2867.87 247.83 -7.51 351 2889.04 roll -1.18 - - 2227.19 - 3.32 0.081 3352.69 349.9 -77.86 - - 3216.78 - - - - - - - - - 16.00 -
2934.52 253.54 -8.80 361 2952.59 roll -1.18 - - 2226.50 - 2.78 0.020 2193.75 -416.9 -77.86 - - 3217.06 - - - - - - - - - 16.00 -
3258.41 278.81 -8.09 393 3262.46 no move -1.18 - - 2227.88 - - - 2192.50 - -77.86 - - 3214.75 - - - - - - - - - - -
3568.43 303.45 -8.04 424 3572.49 no move -1.18 - - 2227.62 - - - 2192.31 - -77.86 - - 3213.88 - - - - - - - - - - -
3878.48 327.56 -7.96 455 3882.54 no move -1.18 - - 2227.81 - - - 2192.06 - -77.86 - - 3213.88 - - - - - - - - - - -
4188.53 351.55 -7.74 486 4192.60 no move -1.18 - - 2227.12 - - - 2192.62 - -77.86 - - 3213.72 - - - - - - - - - - -
4498.59 374.02 -6.98 517 4502.65 no move -1.18 - - 2227.19 - - - 2192.81 - -77.86 - - 3212.41 - - - - - - - - - - -
4808.64 394.90 -6.98 548 4829.81 roll -1.18 - - 2227.81 - 3.33 0.083 3354.50 348.9 -77.86 - - 3212.34 - - - - - - - - - 16.02 -
4881.01 400.63 -8.23 559 4898.76 roll -1.18 - - 2227.69 - 2.81 0.020 2197.38 -411.8 -77.86 - - 3212.47 - - - - - - - - - 16.03 -
5204.61 424.62 -7.45 591 5208.68 no move -1.18 - - 2227.44 - - - 2196.19 - -77.86 - - 3212.00 - - - - - - - - - - -
5514.65 447.87 -7.48 622 5535.83 roll -1.18 - - 2226.75 - 3.33 0.083 3350.06 346.5 -77.86 - - 3212.38 - - - - - - - - - 16.01 -
5587.03 453.90 -8.39 633 5604.36 roll -1.18 - - 2227.94 - 2.79 0.021 2197.94 -412.9 -77.86 - - 3211.75 - - - - - - - - - 16.05 -
5910.21 479.02 -7.96 665 5914.27 no move -1.18 - - 2227.31 - - - 2195.94 - -77.86 - - 3210.88 - - - - - - - - - - -
6220.26 502.68 -7.39 696 6241.44 roll -1.18 - - 2226.31 - 3.34 0.083 3352.94 346.4 -77.86 - - 3211.75 - - - - - - - - - 16.01 -
6286.92 508.28 -7.62 706 6304.98 roll -1.18 - - 2227.50 - 2.80 0.020 2197.00 -412.8 -77.86 - - 3210.94 - - - - - - - - - 16.05 -
6610.83 531.02 -6.68 738 6614.90 no move -1.18 - - 2227.19 - - - 2197.00 - -77.86 - - 3209.97 - - - - - - - - - - -
6920.89 552.51 -6.88 769 6924.95 no move -1.18 - - 2227.25 - - - 2196.94 - -77.86 - - 3209.25 - - - - - - - - - - -
7230.94 575.42 -7.45 800 7252.12 roll -1.18 - - 2227.50 - 3.34 0.084 3352.81 346.1 -77.86 - - 3207.81 - - - - - - - - - 16.00 -
7273.33 578.97 -8.00 805 7291.45 roll -1.18 - - 2227.25 - 2.82 0.021 2198.25 -409.4 -77.86 - - 3209.97 - - - - - - - - - 15.95 -
7597.30 601.33 -6.20 837 7601.36 no move -1.18 - - 2226.94 - - - 2197.12 - -77.86 - - 3208.62 - - - - - - - - - - -
7907.72 618.69 -4.85 868 7928.89 roll -1.18 - - 2227.81 - 3.33 0.083 3354.00 347.4 -77.86 - - 3207.06 - - - - - - - - - 16.00 -
7944.76 620.84 -4.97 872 7963.23 roll -1.18 - - 2227.81 - 2.79 0.021 2198.62 -414.1 -77.86 - - 3208.75 - - - - - - - - - 16.02 -
8269.09 637.91 -5.33 904 8273.15 no move -1.18 - - 2227.12 - - - 2197.62 - -77.86 - - 3207.72 - - - - - - - - - - -
8579.15 657.83 -6.65 935 8583.20 no move -1.18 - - 2227.31 - - - 2196.81 - -77.86 - - 3207.19 - - - - - - - - - - -
8889.21 679.55 -6.99 966 8910.38 roll -1.18 - - 2227.38 - 3.34 0.084 3350.81 345.5 -77.86 - - 3207.03 - - - - - - - - - 16.00 -
8961.58 685.51 -8.12 977 8979.43 roll -1.18 - - 2227.81 - 2.84 0.021 2202.12 -404.5 -77.86 - - 3208.34 - - - - - - - - - 16.04 -
9285.37 709.51 -7.67 1009 9289.43 no move -1.18 - - 2227.31 - - - 2200.94 - -77.86 - - 3206.50 - - - - - - - - - - -
9595.39 731.61 -6.83 1040 9599.45 no move -1.18 - - 2227.62 - - - 2200.50 - -77.86 - - 3205.97 - - - - - - - - - - -
9905.42 751.80 -6.56 1071 9909.48 no move -1.18 - - 2226.75 - - - 2200.19 - -77.86 - - 3205.69 - - - - - - - - - - -
10215.43 772.90 -6.47 1102 10236.62 roll -1.18 - - 2227.62 - 3.35 0.085 3352.69 344.0 -77.86 - - 3204.75 - - - - - - - - - 15.97 -
10277.82 777.77 -7.27 1111 10295.57 roll -1.18 - - 2227.00 - 2.81 0.021 2198.75 -410.7 -77.86 - - 3206.09 - - - - - - - - - 16.03 -
10601.39 798.45 -6.05 1143 10605.45 no move -1.18 - - 2227.38 - - - 2197.75 - -77.86 - - 3205.09 - - - - - - - - - - -
10911.42 815.46 -5.08 1174 10932.59 roll -1.18 - - 2227.19 - 3.33 0.085 3352.69 346.8 -77.86 - - 3205.22 - - - - - - - - - 15.96 -
10973.79 819.22 -5.56 1183 10991.65 roll -1.18 - - 2226.06 - 2.81 0.021 2199.62 -410.3 -77.86 - - 3206.50 - - - - - - - - - 16.03 -
11297.96 834.53 -4.39 1215 11302.04 no move -1.18 - - 2227.00 - - - 2199.00 - -77.86 - - 3204.53 - - - - - - - - - - -
11608.00 850.84 -5.48 1246 11612.06 no move -1.18 - - 2227.25 - - - 2198.75 - -77.86 - - 3204.22 - - - - - - - - - - -
11918.06 868.77 -5.92 1277 11922.12 no move -1.18 - - 2227.62 - - - 2198.38 - -77.86 - - 3204.09 - - - - - - - - - - -
12228.11 886.42 -5.74 1308 12232.17 no move -1.18 - - 2227.19 - - - 2198.44 - -77.86 - - 3203.56 - - - - - - - - - - -
12538.16 904.14 -5.81 1339 12542.23 no move -1.18 - - 2227.00 - - - 2199.25 - -77.86 - - 3203.56 - - - - - - - - - - -
12848.21 921.21 -5.69 1370 12852.28 no move -1.18 - - 2227.94 - - - 2197.94 - -77.86 - - 3202.75 - - - - - - - - - - -
13158.27 937.94 -5.67 1401 13162.34 no move -1.18 - - 2227.56 - - - 2198.88 - -77.86 - - 3202.28 - - - - - - - - - - -
13468.31 954.77 -5.73 1432 13472.37 no move -1.18 - - 2226.81 - - - 2198.62 - -77.86 - - 3202.59 - - - - - - - - - - -
13778.33 971.88 -5.53 1463 13799.52 roll -1.18 - - 2226.94 - 3.37 0.087 3349.81 341.6 -77.86 - - 3201.53 - - - - - - - - - 15.94 -
13834.99 975.40 -5.96 1471 13853.46 roll -1.18 - - 2226.56 - 2.84 0.022 2203.50 -403.6 -77.86 - - 3203.38 - - - - - - - - - 16.02 -
14118 end dive: TARGET_DEPTH_EXCEEDED
14119 begin apogee
14123.89 990.15 -5.43 1499 14224.58 -0.31 1.57 0.139 2440.00 135.9 0.13 0.178 2192.06 -88.0 - 62.54 2.472 2889.09 -5.0 0.335 - - - - - - 15.80 15.56 11.25
14237 end apogee: CONTROL_FINISHED_OK
14238 begin climb
14240.89 991.55 - 1506 14349.89 1.18 2.55 0.094 2804.75 143.0 - - 2191.25 - 77.86 65.81 2.416 2572.31 -4.8 0.329 - - - - - - 15.65 - 12.32
14656.26 967.04 7.15 1544 14660.33 VBD 1.24 - - 2804.56 - - - 2190.81 - 77.86 - - 2562.94 - - - - - - - - - - -
14966.70 945.81 6.73 1575 14971.66 1.32 0.18 0.081 2848.25 242.7 - - 2190.69 - 77.86 - - 2561.91 - - - - - - - - 15.85 - -
15277.52 921.38 7.65 1606 15296.07 done 1.32 - - 2848.88 - 3.10 0.082 1146.25 -336.9 77.86 - - 2561.34 - - - - - - - - - 15.90 -
15352.28 915.30 8.05 1618 15370.04 done 1.32 - - 2847.88 - 2.84 0.032 2272.81 396.7 77.86 - - 2563.78 - - - - - - - - - 15.93 -
15676.29 891.59 7.25 1650 15680.35 VBD 1.36 - - 2849.69 - - - 2273.12 - 77.86 - - 2559.47 - - - - - - - - - - -
15986.60 870.69 6.22 1681 16007.60 done 1.47 - - 2848.31 - 3.30 0.076 1146.19 -341.5 77.86 - - 2560.00 - - - - - - - - - 15.84 -
16109.34 861.78 7.18 1702 16128.74 1.53 0.22 0.073 2898.62 228.7 2.86 0.032 2272.56 393.8 77.86 - - 2560.78 - - - - - - - - 15.85 15.90 -
16434.99 837.81 7.07 1734 16439.05 VBD 1.58 - - 2900.44 - - - 2272.56 - 77.86 - - 2559.19 - - - - - - - - - - -
16744.91 813.98 8.10 1765 16748.97 VBD 1.58 - - 2901.69 - - - 2271.94 - 77.86 - - 2558.66 - - - - - - - - - - -
17054.96 787.20 9.03 1796 17075.73 done 1.58 - - 2898.94 - 3.28 0.076 1147.00 -343.0 77.86 - - 2560.00 - - - - - - - - - 15.98 -
17121.21 781.04 9.40 1806 17139.69 done 1.58 - - 2900.81 - 2.86 0.032 2273.19 393.8 77.86 - - 2559.25 - - - - - - - - - 16.02 -
17445.53 753.08 8.80 1838 17466.30 done 1.58 - - 2900.31 - 3.28 0.075 1146.19 -343.6 77.86 - - 2559.34 - - - - - - - - - 15.97 -
17561.79 742.42 8.89 1858 17580.28 done 1.58 - - 2900.81 - 2.86 0.032 2273.44 394.1 77.86 - - 2558.72 - - - - - - - - - 16.02 -
17886.54 717.89 7.32 1890 17905.50 done 1.63 - - 2901.19 - 3.19 0.095 3350.50 337.6 77.86 - - 2557.59 - - - - - - - - - 15.95 -
17945.98 713.07 7.83 1899 17964.05 done 1.63 - - 2901.12 - 2.80 0.023 2203.56 -409.6 77.86 - - 2559.00 - - - - - - - - - 16.02 -
18270.41 690.31 6.73 1931 18290.20 1.71 0.18 0.080 2943.94 237.9 3.07 0.078 1147.25 -344.1 77.86 - - 2559.19 - - - - - - - - 15.84 15.84 -
18406.41 678.91 8.54 1955 18424.16 done 1.71 - - 2943.69 - 2.83 0.032 2273.81 398.1 77.86 - - 2560.25 - - - - - - - - - 16.03 -
18730.41 654.44 7.52 1987 18749.79 done 1.74 - - 2945.75 - 3.24 0.074 1146.62 -347.9 77.86 - - 2556.66 - - - - - - - - - 15.97 -
18820.69 647.69 7.46 2002 18839.57 done 1.78 - - 2944.50 - 2.83 0.032 2272.88 398.0 77.86 - - 2557.62 - - - - - - - - - 16.03 -
19145.79 626.63 6.74 2034 19164.76 done 1.85 - - 2943.94 - 3.18 0.095 3350.31 338.8 77.86 - - 2559.47 - - - - - - - - - 15.95 -
19215.24 621.28 7.63 2045 19233.72 done 1.85 - - 2944.62 - 2.80 0.023 2203.31 -409.6 77.86 - - 2558.75 - - - - - - - - - 16.01 -
19539.98 597.62 7.13 2077 19545.58 1.91 0.21 0.074 2994.88 239.3 - - 2202.06 - 77.86 - - 2556.09 - - - - - - - - 15.97 - -
19851.56 573.60 8.44 2108 19855.62 VBD 1.91 - - 2995.25 - - - 2202.62 - 77.86 - - 2556.84 - - - - - - - - - - -
20162.01 549.67 7.53 2139 20166.08 VBD 1.94 - - 2994.12 - - - 2202.81 - 77.86 - - 2556.81 - - - - - - - - - - -
20471.93 526.47 7.61 2170 20475.99 VBD 1.94 - - 2994.69 - - - 2203.00 - 77.86 - - 2557.94 - - - - - - - - - - -
20782.38 502.62 7.40 2201 20800.95 done 1.98 - - 2995.19 - 3.06 0.077 1145.31 -345.7 77.86 - - 2557.88 - - - - - - - - - 15.97 -
21031.87 484.58 7.07 2248 21050.35 done 2.04 - - 2995.69 - 2.83 0.032 2274.50 399.0 77.86 - - 2558.06 - - - - - - - - - 16.01 -
21356.60 461.80 7.00 2280 21378.21 2.10 0.03 0.290 3010.56 495.7 3.26 0.073 1146.25 -346.1 77.86 - - 2555.94 - - - - - - - - 15.95 15.83 -
21509.83 450.09 7.47 2307 21527.58 done 2.14 - - 3011.19 - 2.85 0.031 2275.69 396.3 77.86 - - 2555.66 - - - - - - - - - 15.84 -
21833.95 426.54 6.89 2339 21853.57 2.20 - - 3011.44 - 3.24 0.072 1146.31 -348.6 77.86 - - 2558.00 - - - - - - - - - 15.95 -
22020.35 413.54 6.75 2373 22038.12 2.28 - - 3011.19 - 2.83 0.031 2274.44 398.6 77.86 - - 2557.16 - - - - - - - - - 15.91 -
22344.38 394.58 5.75 2405 22363.36 2.42 - - 3012.19 - 3.17 0.093 3351.81 339.9 77.86 - - 2555.72 - - - - - - - - - 15.93 -
22439.98 387.94 6.90 2421 22457.35 2.49 - - 3011.88 - 2.80 0.022 2202.44 -410.5 77.86 - - 2559.41 - - - - - - - - - 15.91 -
22763.61 367.64 6.80 2453 22767.68 2.56 - - 3011.38 - - - 2201.12 - 77.86 - - 2556.19 - - - - - - - - - - -
23073.93 345.39 7.16 2484 23095.22 2.62 - - 3012.69 - 3.36 0.088 3349.06 341.6 77.86 - - 2556.59 - - - - - - - - - 15.92 -
23326.44 326.01 7.61 2531 23344.60 2.62 - - 3012.19 - 2.81 0.022 2202.38 -408.1 77.86 - - 2556.59 - - - - - - - - - 16.02 -
23650.82 305.90 5.59 2563 23669.64 2.76 - - 3012.81 - 3.03 0.076 1145.25 -348.9 77.86 - - 2555.44 - - - - - - - - - 15.94 -
23730.65 301.28 5.48 2576 23749.14 2.92 - - 3011.69 - 2.82 0.030 2276.50 401.2 77.86 - - 2559.28 - - - - - - - - - 15.89 -
24055.40 287.14 4.45 2608 24158.40 3.07 - - 3012.31 - 3.19 0.094 3351.56 337.0 152.20 58.38 1.620 2268.62 -5.0 0.147 - - - - - - - 15.72 11.52
24204.61 274.37 11.13 2630 24222.38 roll back 3.07 - - 3012.50 - 2.85 0.022 2206.38 -401.8 152.20 - - 2262.09 - - - - - - - - - 15.81 -
24528.32 241.54 10.14 2662 24546.89 3.07 - - 3012.19 - 3.09 0.076 1146.25 -343.1 152.20 - - 2261.38 - - - - - - - - - 15.77 -
24587.37 235.38 10.57 2671 24605.86 3.07 - - 3012.50 - 2.84 0.030 2274.69 397.3 152.20 - - 2259.47 - - - - - - - - - 15.83 -
24911.70 204.22 9.57 2703 24932.49 3.07 - - 3012.44 - 3.27 0.072 1146.56 -345.0 152.20 - - 2256.78 - - - - - - - - - 15.89 -
25027.99 192.58 10.24 2723 25047.13 3.07 - - 3012.31 - 2.86 0.030 2274.00 394.2 152.20 - - 2257.81 - - - - - - - - - 15.87 -
25353.09 159.31 10.63 2755 25357.17 3.07 - - 3012.94 - - - 2274.19 - 152.20 - - 2256.69 - - - - - - - - - - -
25663.53 131.94 7.50 2786 25684.32 3.10 - - 3012.56 - 3.26 0.071 1146.31 -346.0 152.20 - - 2255.66 - - - - - - - - - 15.90 -
25795.55 121.19 8.25 2809 25813.32 3.10 - - 3011.62 - 2.85 0.030 2275.62 396.2 152.20 - - 2254.91 - - - - - - - - - 15.92 -
26119.19 97.05 7.63 2844 26125.81 3.10 - - 3012.38 - - - 2275.50 - 152.20 - - 2257.06 - - - - - - - - - - -
26312.06 83.88 5.99 2882 26331.77 3.22 - - 3012.69 - 3.18 0.090 3352.50 338.7 152.20 - - 2257.59 - - - - - - - - - 15.78 -
26408.38 78.89 5.31 2898 26426.47 3.39 - - 3012.00 - 2.80 0.021 2199.94 -411.6 152.20 - - 2257.41 - - - - - - - - - 15.94 -
26612.71 68.70 4.48 2936 26716.24 3.54 - - 3012.50 - 3.40 0.087 3350.50 338.4 226.01 56.47 1.313 1967.88 -5.1 0.045 - - - - - - - 15.74 11.86
26787.58 58.24 8.26 2963 26806.47 roll back 3.54 - - 3012.62 - 2.87 0.022 2204.25 -399.4 226.01 - - 1961.88 - - - - - - - - - 15.81 -
26992.71 44.19 5.97 3001 27012.39 3.66 - - 3012.62 - 3.11 0.075 1146.62 -340.1 226.01 - - 1959.28 - - - - - - - - - 15.75 -
27079.01 39.36 5.56 3015 27097.52 3.81 - - 3011.88 - 2.84 0.028 2277.62 398.2 226.01 - - 1959.25 - - - - - - - - - 15.85 -
27283.74 29.17 6.29 3053 27290.36 3.92 - - 3012.62 - - - 2277.38 - 226.01 - - 1956.88 - - - - - - - - - - -
27476.62 21.22 2.73 3091 27616.73 4.14 - - 3012.56 - 3.37 0.072 1146.44 -335.6 335.86 84.21 1.228 1518.97 -5.2 0.015 - - - - - - - 15.62 12.05
27848.39 5.63 5.42 3155 27867.28 4.14 - - 3012.31 - 2.87 0.027 2277.38 394.1 335.86 - - 1510.62 - - - - - - - - - 15.81 -
27892 end climb: SURFACE_DEPTH_REACHED
27893 begin surface coast
28008 end surface coast: CONTROL_FINISHED_OK
28009 begin surface
SM 1.44 - - - - 178.1 70.64 1.193 1136.2 16.1 18.77 0.054 1115.1 59.4 - 0.12 0.087 1157.4 9621.1 -16.276 - - 12.05 15.78 15.88 -