NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 200 * Raw log
prev dive * next dive * dive
• Previous call tries 4 • 70.28 of 506.00 AH used of 24V (86.11% remains)
• Surface angle -61.9 deg, depth 1.34 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 586.01 (beyond 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
11 begin dive
18.75 - - - 104.06 VBD -1.18 - - 176.50 - - - 2195.00 - -77.86 59.99 0.005 2659.88 - - - - - - - - - - 15.46
106.28 3.62 -4.52 12 220.88 -1.18 16.75 0.217 2226.56 122.4 3.31 0.078 3353.38 350.0 -77.86 7.79 0.008 3211.25 70.8 -5.344 - - - - - - 15.57 15.44 15.49
452.21 64.10 -11.23 64 470.46 roll -1.18 - - 2228.31 - 2.85 0.018 2191.31 -407.7 -77.86 - - 3213.16 - - - - - - - - - 15.91 -
656.30 83.31 -8.91 102 676.94 roll -1.18 - - 2228.25 - 3.31 0.074 3353.31 351.1 -77.86 - - 3213.81 - - - - - - - - - 15.84 -
793.12 96.53 -8.91 126 811.78 roll -1.18 - - 2228.38 - 2.84 0.018 2189.31 -409.9 -77.86 - - 3213.75 - - - - - - - - - 15.81 -
1002.55 112.45 -7.65 149 1020.48 roll -1.18 - - 2228.06 - 2.96 0.064 1143.88 -353.2 -77.86 - - 3214.97 - - - - - - - - - 15.91 -
1126.65 122.24 -7.59 171 1143.79 roll -1.18 - - 2227.94 - 2.76 0.023 2282.56 412.6 -77.86 - - 3214.91 - - - - - - - - - 15.96 -
1449.60 143.73 -6.53 203 1468.72 roll -1.18 - - 2227.88 - 3.20 0.061 1143.94 -355.8 -77.86 - - 3216.56 - - - - - - - - - 15.90 -
1529.15 149.34 -7.02 216 1547.40 roll -1.18 - - 2227.31 - 2.78 0.023 2281.19 409.1 -77.86 - - 3215.66 - - - - - - - - - 15.98 -
1853.24 170.13 -6.59 248 1857.30 no move -1.18 - - 2227.31 - - - 2280.88 - -77.86 - - 3213.81 - - - - - - - - - - -
2163.29 190.56 -6.69 279 2167.35 no move -1.18 - - 2227.25 - - - 2281.19 - -77.86 - - 3213.44 - - - - - - - - - - -
2473.36 211.31 -6.77 310 2492.73 roll -1.18 - - 2228.06 - 3.22 0.062 1144.75 -352.9 -77.86 - - 3211.72 - - - - - - - - - 15.89 -
2518.93 214.56 -7.11 316 2536.67 roll -1.18 - - 2227.12 - 2.81 0.025 2278.00 403.3 -77.86 - - 3213.91 - - - - - - - - - 16.01 -
2842.51 238.36 -7.61 348 2846.57 no move -1.18 - - 2228.12 - - - 2278.88 - -77.86 - - 3210.62 - - - - - - - - - - -
3152.57 261.23 -7.17 379 3156.63 no move -1.18 - - 2228.19 - - - 2279.44 - -77.86 - - 3209.31 - - - - - - - - - - -
3462.63 284.20 -7.41 410 3466.69 no move -1.18 - - 2227.69 - - - 2277.88 - -77.86 - - 3208.25 - - - - - - - - - - -
3772.69 307.89 -7.86 441 3791.64 roll -1.18 - - 2228.12 - 3.14 0.084 3351.75 342.0 -77.86 - - 3206.69 - - - - - - - - - 16.00 -
3797.82 309.98 -8.42 443 3815.58 roll -1.18 - - 2228.19 - 2.81 0.020 2191.75 -412.8 -77.86 - - 3207.00 - - - - - - - - - 16.03 -
4121.43 335.06 -7.70 475 4125.88 no move -1.18 - - 2227.94 - - - 2189.00 - -77.86 - - 3205.28 - - - - - - - - - - -
4431.73 357.90 -7.23 506 4453.15 roll -1.18 - - 2227.94 - 3.38 0.081 3354.69 344.9 -77.86 - - 3204.44 - - - - - - - - - 15.97 -
4468.72 360.80 -7.57 510 4487.18 roll -1.18 - - 2228.12 - 2.80 0.020 2193.94 -414.6 -77.86 - - 3204.50 - - - - - - - - - 16.05 -
4793.00 384.67 -7.68 542 4797.06 no move -1.18 - - 2227.50 - - - 2192.75 - -77.86 - - 3202.25 - - - - - - - - - - -
5103.03 408.72 -7.68 573 5107.09 no move -1.18 - - 2228.12 - - - 2193.00 - -77.86 - - 3201.59 - - - - - - - - - - -
5413.05 432.67 -7.53 604 5417.11 no move -1.18 - - 2228.12 - - - 2192.62 - -77.86 - - 3200.25 - - - - - - - - - - -
5723.09 455.51 -7.25 635 5727.15 no move -1.18 - - 2227.62 - - - 2193.00 - -77.86 - - 3199.09 - - - - - - - - - - -
6033.16 476.22 -6.39 666 6054.31 roll -1.18 - - 2226.44 - 3.38 0.082 3350.38 342.4 -77.86 - - 3200.50 - - - - - - - - - 15.95 -
6135.52 483.69 -7.34 683 6153.27 roll -1.18 - - 2227.94 - 2.83 0.020 2198.81 -406.9 -77.86 - - 3198.84 - - - - - - - - - 16.04 -
6459.13 504.42 -6.53 715 6463.19 no move -1.18 - - 2228.06 - - - 2197.81 - -77.86 - - 3197.38 - - - - - - - - - - -
6769.18 524.91 -6.50 746 6790.35 roll -1.18 - - 2228.62 - 3.37 0.082 3352.31 342.6 -77.86 - - 3195.12 - - - - - - - - - 16.00 -
6815.82 528.37 -6.90 752 6834.52 roll -1.18 - - 2226.00 - 2.83 0.020 2197.19 -408.2 -77.86 - - 3197.81 - - - - - - - - - 16.03 -
7140.48 549.09 -6.50 784 7144.54 no move -1.18 - - 2228.06 - - - 2196.25 - -77.86 - - 3194.69 - - - - - - - - - - -
7450.53 568.68 -6.54 815 7454.59 no move -1.18 - - 2227.81 - - - 2196.62 - -77.86 - - 3194.59 - - - - - - - - - - -
7760.59 588.40 -6.40 846 7781.76 roll -1.18 - - 2227.19 - 3.38 0.083 3352.44 342.0 -77.86 - - 3193.66 - - - - - - - - - 15.99 -
7807.22 591.72 -6.92 852 7826.08 roll -1.18 - - 2228.19 - 2.82 0.020 2197.12 -409.7 -77.86 - - 3193.91 - - - - - - - - - 16.05 -
8131.92 613.15 -6.50 884 8135.98 no move -1.18 - - 2228.75 - - - 2195.75 - -77.86 - - 3192.34 - - - - - - - - - - -
8441.95 633.21 -6.18 915 8446.01 no move -1.18 - - 2228.44 - - - 2195.88 - -77.86 - - 3191.88 - - - - - - - - - - -
8751.97 654.00 -7.00 946 8756.03 no move -1.18 - - 2228.50 - - - 2196.38 - -77.86 - - 3191.56 - - - - - - - - - - -
9061.99 676.01 -7.49 977 9083.55 roll -1.18 - - 2228.06 - 3.38 0.084 3353.12 342.2 -77.86 - - 3192.09 - - - - - - - - - 15.90 -
9164.97 684.11 -7.81 994 9182.71 roll -1.18 - - 2226.88 - 2.85 0.021 2199.88 -404.6 -77.86 - - 3192.69 - - - - - - - - - 16.04 -
9488.80 707.09 -7.28 1026 9492.87 no move -1.18 - - 2227.31 - - - 2199.38 - -77.86 - - 3190.69 - - - - - - - - - - -
9798.83 728.11 -6.70 1057 9820.41 roll -1.18 - - 2228.19 - 3.40 0.084 3350.31 338.5 -77.86 - - 3189.25 - - - - - - - - - 15.96 -
9845.88 731.59 -7.07 1063 9864.35 roll -1.18 - - 2228.31 - 2.83 0.021 2199.88 -406.5 -77.86 - - 3190.72 - - - - - - - - - 16.04 -
10170.19 751.63 -5.67 1095 10174.25 no move -1.18 - - 2227.75 - - - 2198.88 - -77.86 - - 3189.38 - - - - - - - - - - -
10480.25 768.90 -5.28 1126 10501.85 roll -1.18 - - 2227.44 - 3.41 0.084 3352.25 338.2 -77.86 - - 3187.91 - - - - - - - - - 15.87 -
10577.32 775.03 -6.43 1142 10595.79 roll -1.18 - - 2227.38 - 2.84 0.021 2199.75 -405.8 -77.86 - - 3190.44 - - - - - - - - - 16.02 -
10901.64 792.90 -5.42 1174 10922.81 roll -1.18 - - 2227.31 - 3.40 0.084 3351.31 338.7 -77.86 - - 3188.28 - - - - - - - - - 15.89 -
10954.00 796.58 -6.35 1181 10971.46 roll -1.18 - - 2228.12 - 2.80 0.021 2197.81 -412.0 -77.86 - - 3189.91 - - - - - - - - - 16.03 -
11277.32 815.90 -5.90 1213 11281.38 no move -1.18 - - 2227.25 - - - 2196.81 - -77.86 - - 3187.88 - - - - - - - - - - -
11587.37 834.47 -5.98 1244 11591.43 no move -1.18 - - 2228.06 - - - 2196.94 - -77.86 - - 3187.69 - - - - - - - - - - -
11897.43 853.53 -5.95 1275 11901.49 no move -1.18 - - 2228.56 - - - 2196.44 - -77.86 - - 3187.31 - - - - - - - - - - -
12207.48 871.85 -5.93 1306 12229.05 roll -1.18 - - 2227.81 - 3.41 0.085 3351.31 338.7 -77.86 - - 3187.00 - - - - - - - - - 15.92 -
12270.25 875.83 -6.72 1315 12288.39 roll -1.18 - - 2228.31 - 2.84 0.021 2200.25 -405.3 -77.86 - - 3188.00 - - - - - - - - - 16.03 -
12594.24 893.77 -5.67 1347 12598.30 no move -1.18 - - 2227.50 - - - 2198.56 - -77.86 - - 3186.69 - - - - - - - - - - -
12904.29 911.13 -5.72 1378 12925.87 roll -1.18 - - 2227.94 - 3.40 0.085 3349.06 338.4 -77.86 - - 3185.41 - - - - - - - - - 15.90 -
12991.36 917.03 -6.78 1392 13009.85 roll -1.18 - - 2228.06 - 2.83 0.022 2202.56 -405.1 -77.86 - - 3186.19 - - - - - - - - - 16.02 -
13315.70 936.07 -6.10 1424 13319.76 no move -1.18 - - 2228.31 - - - 2201.81 - -77.86 - - 3185.84 - - - - - - - - - - -
13625.75 954.58 -5.64 1455 13629.81 no move -1.18 - - 2228.31 - - - 2201.44 - -77.86 - - 3185.34 - - - - - - - - - - -
13935.81 971.95 -5.41 1486 13954.60 roll -1.18 - - 2226.06 - 3.06 0.076 1145.19 -345.2 -77.86 - - 3188.19 - - - - - - - - - 15.91 -
13980.92 974.59 -5.81 1492 13998.67 roll -1.18 - - 2226.38 - 2.84 0.028 2275.56 398.0 -77.86 - - 3187.81 - - - - - - - - - 15.97 -
14284 end dive: TARGET_DEPTH_EXCEEDED
14284 begin apogee
14289.06 990.42 -5.24 1522 14388.29 -0.31 1.56 0.135 2441.88 138.1 0.19 0.151 2284.50 47.1 - 59.44 2.498 2889.22 -5.0 0.332 - - - - - - 15.85 15.56 11.07
14401 end apogee: CONTROL_FINISHED_OK
14402 begin climb
14404.47 991.68 - 1529 14514.18 1.18 2.52 0.091 2804.75 144.0 - - 2284.12 - 77.86 66.13 2.441 2571.34 -4.8 0.326 - - - - - - 15.65 - 12.34
14820.55 967.66 6.62 1567 14841.73 done 1.27 - - 2805.38 - 3.33 0.075 1145.69 -341.9 77.86 - - 2561.84 - - - - - - - - - 15.77 -
14903.45 962.01 6.83 1580 14922.85 1.34 0.22 0.076 2853.88 220.5 2.89 0.031 2273.38 390.2 77.86 - - 2560.47 - - - - - - - - 15.69 15.83 -
15229.11 938.64 7.19 1612 15249.89 done 1.39 - - 2855.12 - 3.27 0.075 1147.44 -344.3 77.86 - - 2560.56 - - - - - - - - - 15.86 -
15311.22 931.83 8.19 1625 15328.97 done 1.39 - - 2855.56 - 2.89 0.031 2272.00 389.1 77.86 - - 2559.31 - - - - - - - - - 15.84 -
15635.24 909.73 6.98 1657 15639.30 VBD 1.46 - - 2854.94 - - - 2271.88 - 77.86 - - 2558.88 - - - - - - - - - - -
15945.55 889.41 6.60 1688 15967.97 1.54 0.21 0.074 2903.81 232.7 3.22 0.075 1147.19 -349.3 77.86 - - 2560.28 - - - - - - - - 15.93 15.89 -
16033.45 882.04 8.76 1702 16051.94 done 1.54 - - 2904.50 - 2.89 0.032 2272.19 389.3 77.86 - - 2558.84 - - - - - - - - - 15.81 -
16357.79 857.02 8.16 1734 16361.85 VBD 1.54 - - 2904.38 - - - 2272.62 - 77.86 - - 2557.69 - - - - - - - - - - -
16667.85 832.16 8.74 1765 16687.45 done 1.54 - - 2904.25 - 3.24 0.075 1146.62 -347.5 77.86 - - 2556.91 - - - - - - - - - 15.95 -
16757.93 824.35 8.97 1780 16776.79 done 1.54 - - 2904.69 - 2.89 0.032 2272.12 389.4 77.86 - - 2558.12 - - - - - - - - - 15.99 -
17082.65 796.27 8.47 1812 17102.27 done 1.54 - - 2904.25 - 3.24 0.074 1146.44 -347.4 77.86 - - 2557.41 - - - - - - - - - 15.95 -
17182.87 787.11 8.92 1829 17201.34 done 1.54 - - 2904.62 - 2.87 0.032 2271.44 392.0 77.86 - - 2558.66 - - - - - - - - - 16.01 -
17507.20 760.97 7.64 1861 17511.26 VBD 1.54 - - 2904.50 - - - 2270.69 - 77.86 - - 2557.19 - - - - - - - - - - -
17817.25 736.44 7.74 1892 17821.32 VBD 1.54 - - 2904.38 - - - 2272.06 - 77.86 - - 2556.12 - - - - - - - - - - -
18127.70 714.41 7.02 1923 18147.07 done 1.61 - - 2904.31 - 3.26 0.074 1146.50 -345.3 77.86 - - 2556.91 - - - - - - - - - 15.95 -
18287.98 703.01 7.07 1952 18306.85 done 1.66 - - 2903.88 - 2.87 0.032 2273.12 392.6 77.86 - - 2558.44 - - - - - - - - - 16.02 -
18613.11 682.76 6.21 1984 18618.48 1.77 0.26 0.066 2958.81 211.3 - - 2273.31 - 77.86 - - 2557.47 - - - - - - - - 15.86 - -
18924.72 661.40 6.96 2015 18944.09 done 1.84 - - 2959.94 - 3.23 0.074 1146.25 -348.9 77.86 - - 2557.16 - - - - - - - - - 15.94 -
19034.59 653.08 7.59 2034 19053.72 done 1.84 - - 2960.38 - 2.88 0.032 2271.88 390.8 77.86 - - 2557.47 - - - - - - - - - 15.90 -
19359.67 629.27 7.77 2066 19363.74 VBD 1.84 - - 2960.75 - - - 2271.81 - 77.86 - - 2555.50 - - - - - - - - - - -
19669.71 604.65 8.28 2097 19689.10 done 1.84 - - 2959.69 - 3.24 0.073 1146.69 -347.3 77.86 - - 2557.66 - - - - - - - - - 15.94 -
19765.33 596.28 8.80 2113 19783.08 done 1.84 - - 2960.25 - 2.88 0.031 2271.38 390.5 77.86 - - 2555.66 - - - - - - - - - 16.02 -
20088.92 570.51 7.56 2145 20108.29 done 1.84 - - 2959.69 - 3.23 0.073 1145.81 -348.5 77.86 - - 2558.59 - - - - - - - - - 15.94 -
20244.53 557.75 8.46 2173 20262.31 done 1.84 - - 2960.56 - 2.87 0.031 2273.75 393.0 77.86 - - 2555.19 - - - - - - - - - 16.02 -
20568.56 533.85 7.37 2205 20572.62 VBD 1.88 - - 2960.81 - - - 2273.12 - 77.86 - - 2555.50 - - - - - - - - - - -
20878.87 512.49 6.77 2236 20883.84 1.96 0.18 0.079 3007.31 258.3 - - 2273.31 - 77.86 - - 2555.12 - - - - - - - - 15.95 - -
21190.09 491.03 6.92 2267 21209.47 done 2.02 - - 3007.75 - 3.24 0.073 1146.38 -347.8 77.86 - - 2555.53 - - - - - - - - - 15.82 -
21280.36 484.52 6.98 2282 21299.25 done 2.09 - - 3008.00 - 2.87 0.031 2272.94 392.5 77.86 - - 2556.88 - - - - - - - - - 16.00 -
21605.62 464.16 5.99 2314 21609.69 2.21 - - 3007.69 - - - 2272.75 - 77.86 - - 2555.81 - - - - - - - - - - -
21916.06 444.79 6.22 2345 21920.13 2.32 - - 3007.94 - - - 2273.06 - 77.86 - - 2555.88 - - - - - - - - - - -
22226.35 425.80 6.01 2376 22245.85 2.44 - - 3008.44 - 3.23 0.072 1145.00 -349.2 77.86 - - 2555.44 - - - - - - - - - 15.92 -
22476.79 409.70 6.26 2423 22495.29 2.55 - - 3007.56 - 2.88 0.031 2272.50 391.5 77.86 - - 2555.94 - - - - - - - - - 15.99 -
22801.54 391.88 5.79 2455 22820.93 2.69 - - 3006.81 - 3.23 0.072 1146.31 -348.7 77.86 - - 2554.22 - - - - - - - - - 15.85 -
23051.87 376.09 6.24 2502 23070.77 2.80 - - 3007.44 - 2.89 0.031 2273.12 389.9 77.86 - - 2558.12 - - - - - - - - - 15.87 -
23377.01 356.31 6.40 2534 23396.74 2.90 - - 3008.12 - 3.24 0.071 1146.31 -347.8 77.86 - - 2555.94 - - - - - - - - - 15.90 -
23463.46 351.00 5.85 2548 23481.23 3.03 - - 3007.12 - 2.87 0.030 2273.94 392.9 77.86 - - 2555.56 - - - - - - - - - 15.90 -
23787.45 332.29 5.49 2580 23791.52 3.18 - - 3007.56 - - - 2274.00 - 77.86 - - 2555.09 - - - - - - - - - - -
24097.77 316.48 5.07 2611 24117.55 3.36 - - 3006.88 - 3.26 0.071 1146.31 -345.9 77.86 - - 2556.50 - - - - - - - - - 15.90 -
24338.47 303.70 5.23 2656 24356.96 3.53 - - 3006.50 - 2.89 0.030 2273.00 389.9 77.86 - - 2558.28 - - - - - - - - - 15.99 -
24663.21 289.49 3.98 2688 24758.97 3.70 - - 3007.88 - - - 2273.44 - 161.93 66.10 1.637 2229.03 -5.0 0.147 - - - - - - - - 11.30
25064.81 254.62 9.76 2726 25085.61 3.70 - - 3008.00 - 3.29 0.073 1146.06 -342.7 161.93 - - 2218.72 - - - - - - - - - 15.80 -
25166.94 243.88 10.67 2743 25184.71 3.70 - - 3007.31 - 2.89 0.031 2271.38 389.4 161.93 - - 2220.47 - - - - - - - - - 15.87 -
25490.67 212.49 9.65 2775 25511.46 3.70 - - 3006.94 - 3.29 0.095 3350.94 328.1 161.93 - - 2217.97 - - - - - - - - - 15.70 -
25562.66 204.56 11.36 2786 25580.43 3.70 - - 3007.12 - 2.85 0.022 2204.38 -402.3 161.93 - - 2217.22 - - - - - - - - - 15.89 -
25886.29 173.66 9.54 2818 25890.36 3.70 - - 3007.94 - - - 2204.44 - 161.93 - - 2215.59 - - - - - - - - - - -
26196.34 145.84 8.49 2849 26200.42 3.70 - - 3007.81 - - - 2203.94 - 161.93 - - 2215.16 - - - - - - - - - - -
26506.39 118.93 8.76 2880 26510.46 3.70 - - 3007.62 - - - 2203.25 - 161.93 - - 2215.91 - - - - - - - - - - -
26816.86 102.61 5.10 2911 26835.43 3.70 - - 3006.56 - 3.09 0.074 1146.31 -342.1 161.93 - - 2214.59 - - - - - - - - - 15.83 -
27037.08 91.73 4.97 2952 27126.15 3.82 - - 3007.00 - 2.87 0.028 2276.19 393.7 225.49 48.46 1.342 1971.78 -5.0 0.057 - - - - - - - 15.87 11.78
27312.54 78.03 3.96 3000 27424.50 3.99 - - 3007.12 - 3.29 0.093 3350.25 326.5 310.00 64.63 1.298 1625.78 -5.4 0.054 - - - - - - - 15.59 12.11
27431.31 70.63 8.24 3015 27449.80 roll back 3.99 - - 3007.62 - 2.86 0.021 2204.81 -400.5 310.00 - - 1620.38 - - - - - - - - - 15.71 -
27635.78 53.71 9.03 3053 27655.08 3.99 - - 3007.44 - 3.08 0.075 1146.62 -343.6 310.00 - - 1615.84 - - - - - - - - - 15.69 -
27771.31 42.74 7.86 3077 27789.81 3.99 - - 3007.62 - 2.87 0.028 2273.88 392.8 310.00 - - 1613.72 - - - - - - - - - 15.78 -
27976.07 29.43 5.62 3115 27996.20 4.14 - - 3008.25 - 3.22 0.090 3351.69 334.7 310.00 - - 1612.19 - - - - - - - - - 15.73 -
28002.79 28.03 5.42 3117 28021.29 4.14 - - 3008.00 - 2.82 0.021 2194.38 -410.4 310.00 - - 1611.81 - - - - - - - - - 15.86 -
28208.03 25.93 0.71 3155 28324.02 4.44 - - 3008.25 - - - 2194.00 - 461.77 81.58 1.213 1189.66 -5.2 0.018 - - - - - - - - 11.95
28326 end climb: NO_VERTICAL_VELOCITY
28327 begin surface
SM 1.10 - - - - 183.1 - - 491.3 - 19.32 0.050 461.9 23.9 - 0.17 0.084 520.8 3063.5 -4.100 - - 30.00 15.72 15.78 -