NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 209 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 73.67 of 506.00 AH used of 24V (85.44% remains)
• Surface angle -64.9 deg, depth 1.04 m • Intended pitch -16.4 deg, speed -8.049 cm/s
• No surface pump (final VBD was 907.2, SM_CC=430)
• GPS1 time: 22 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
12 begin dive
18.78 - - - 118.37 VBD -1.18 - - 181.88 - - - 2187.88 - -77.86 70.19 0.005 2685.88 - - - - - - - - - - 15.44
120.58 3.61 -3.88 14 234.61 -1.18 16.74 0.226 2228.06 122.2 3.38 0.080 3353.56 344.9 -77.86 6.91 0.008 3210.91 76.0 -5.757 - - - - - - 15.59 15.40 15.50
440.75 66.71 -11.97 61 458.99 roll -1.18 - - 2228.12 - 2.80 0.019 2191.94 -414.9 -77.86 - - 3214.03 - - - - - - - - - 15.88 -
644.93 85.87 -7.81 99 663.58 roll -1.18 - - 2228.06 - 2.94 0.064 1143.88 -356.5 -77.86 - - 3214.62 - - - - - - - - - 15.79 -
739.73 94.05 -9.37 115 757.99 roll -1.18 - - 2227.81 - 2.78 0.024 2279.94 408.7 -77.86 - - 3214.22 - - - - - - - - - 15.83 -
948.77 110.62 -7.87 141 952.79 no move -1.18 - - 2228.25 - - - 2280.12 - -77.86 - - 3214.28 - - - - - - - - - - -
1258.79 131.86 -7.29 172 1262.81 VBD -1.18 - - 2227.69 - - - 2280.00 - -77.86 - - 3215.41 - - - - - - - - - - -
1568.84 154.62 -7.16 203 1572.86 VBD -1.18 - - 2227.56 - - - 2279.50 - -77.86 - - 3215.78 - - - - - - - - - - -
1878.90 176.46 -6.59 234 1882.92 VBD -1.18 - - 2227.62 - - - 2279.69 - -77.86 - - 3214.94 - - - - - - - - - - -
2188.95 197.67 -7.32 265 2208.08 done -1.18 - - 2225.25 - 3.20 0.063 1143.44 -355.1 -77.86 - - 3216.19 - - - - - - - - - 15.89 -
2264.23 203.59 -7.94 277 2281.36 roll -1.18 - - 2227.69 - 2.79 0.025 2277.56 406.5 -77.86 - - 3216.47 - - - - - - - - - 15.98 -
2587.18 226.68 -7.29 309 2606.26 roll -1.18 - - 2227.75 - 3.11 0.083 3353.50 346.0 -77.86 - - 3214.44 - - - - - - - - - 15.92 -
2656.84 232.57 -8.61 320 2674.90 roll -1.18 - - 2228.38 - 2.80 0.020 2191.12 -415.1 -77.86 - - 3214.78 - - - - - - - - - 16.01 -
2980.72 257.71 -7.30 352 2984.80 no move -1.18 - - 2228.00 - - - 2190.00 - -77.86 - - 3213.47 - - - - - - - - - - -
3290.75 279.13 -6.74 383 3294.81 no move -1.18 - - 2228.00 - - - 2190.06 - -77.86 - - 3212.59 - - - - - - - - - - -
3600.77 298.43 -5.99 414 3621.93 roll -1.18 - - 2228.12 - 3.35 0.080 3353.19 347.2 -77.86 - - 3211.00 - - - - - - - - - 15.92 -
3693.15 304.90 -7.22 429 3710.88 roll -1.18 - - 2228.06 - 2.78 0.020 2195.06 -416.6 -77.86 - - 3213.44 - - - - - - - - - 15.95 -
4016.70 322.84 -5.38 461 4021.16 no move -1.18 - - 2228.12 - - - 2194.00 - -77.86 - - 3210.12 - - - - - - - - - - -
4327.01 342.09 -6.70 492 4331.07 no move -1.18 - - 2228.25 - - - 2194.12 - -77.86 - - 3208.53 - - - - - - - - - - -
4637.06 364.84 -7.43 523 4658.22 roll -1.18 - - 2228.31 - 3.32 0.081 3352.94 349.0 -77.86 - - 3207.62 - - - - - - - - - 15.99 -
4699.41 369.97 -7.99 532 4717.14 roll -1.18 - - 2228.44 - 2.77 0.020 2195.81 -417.7 -77.86 - - 3209.78 - - - - - - - - - 16.04 -
5022.98 393.89 -7.23 564 5041.15 roll -1.18 - - 2227.62 - 2.98 0.071 1143.75 -353.0 -77.86 - - 3207.22 - - - - - - - - - 15.96 -
5057.47 396.46 -7.54 568 5074.81 roll -1.18 - - 2227.88 - 2.78 0.026 2278.69 408.3 -77.86 - - 3207.47 - - - - - - - - - 16.04 -
5380.66 419.64 -6.99 600 5384.72 no move -1.18 - - 2227.62 - - - 2278.38 - -77.86 - - 3205.94 - - - - - - - - - - -
5690.70 440.55 -6.58 631 5694.75 no move -1.18 - - 2227.94 - - - 2278.69 - -77.86 - - 3204.69 - - - - - - - - - - -
6000.72 461.44 -6.81 662 6004.78 no move -1.18 - - 2228.25 - - - 2278.50 - -77.86 - - 3204.34 - - - - - - - - - - -
6310.73 482.45 -6.98 693 6314.79 no move -1.18 - - 2227.69 - - - 2278.69 - -77.86 - - 3202.91 - - - - - - - - - - -
6620.74 503.99 -7.07 724 6624.80 no move -1.18 - - 2227.81 - - - 2279.12 - -77.86 - - 3202.78 - - - - - - - - - - -
6930.75 526.50 -7.41 755 6950.11 roll -1.18 - - 2228.50 - 3.23 0.068 1146.00 -350.8 -77.86 - - 3203.25 - - - - - - - - - 15.90 -
7000.58 531.97 -8.00 766 7019.46 roll -1.18 - - 2228.19 - 2.81 0.027 2276.75 402.4 -77.86 - - 3204.31 - - - - - - - - - 16.04 -
7325.31 554.91 -6.80 798 7344.27 roll -1.18 - - 2228.56 - 3.14 0.088 3352.44 342.6 -77.86 - - 3203.03 - - - - - - - - - 15.95 -
7380.47 559.01 -7.67 806 7398.44 roll -1.18 - - 2227.81 - 2.78 0.021 2194.38 -416.6 -77.86 - - 3200.78 - - - - - - - - - 16.04 -
7704.41 581.04 -6.50 838 7708.47 no move -1.18 - - 2227.38 - - - 2193.56 - -77.86 - - 3200.50 - - - - - - - - - - -
8014.47 601.70 -6.74 869 8035.66 roll -1.18 - - 2227.38 - 3.36 0.085 3350.44 344.3 -77.86 - - 3200.50 - - - - - - - - - 15.95 -
8071.12 606.16 -7.29 877 8089.18 roll -1.18 - - 2228.06 - 2.79 0.021 2198.31 -412.9 -77.86 - - 3200.72 - - - - - - - - - 16.01 -
8395.04 628.86 -7.27 909 8416.20 roll -1.18 - - 2227.25 - 3.38 0.084 3353.25 341.7 -77.86 - - 3198.62 - - - - - - - - - 15.87 -
8431.66 631.90 -7.77 913 8450.11 roll -1.18 - - 2227.94 - 2.80 0.021 2197.56 -412.7 -77.86 - - 3200.12 - - - - - - - - - 16.03 -
8755.96 654.79 -7.00 945 8760.02 no move -1.18 - - 2227.56 - - - 2196.62 - -77.86 - - 3198.06 - - - - - - - - - - -
9066.02 675.21 -6.21 976 9087.28 roll -1.18 - - 2227.75 - 3.38 0.085 3352.88 342.1 -77.86 - - 3198.22 - - - - - - - - - 15.93 -
9118.47 678.85 -6.52 983 9136.22 roll -1.18 - - 2228.25 - 2.81 0.021 2197.44 -411.2 -77.86 - - 3197.81 - - - - - - - - - 15.93 -
9442.07 697.99 -5.79 1015 9463.24 roll -1.18 - - 2225.75 - 3.36 0.085 3352.31 343.7 -77.86 - - 3197.06 - - - - - - - - - 15.92 -
9468.70 699.56 -6.02 1017 9487.15 roll -1.18 - - 2227.50 - 2.79 0.021 2196.19 -414.4 -77.86 - - 3198.19 - - - - - - - - - 16.02 -
9793.00 717.58 -5.46 1049 9797.06 no move -1.18 - - 2227.69 - - - 2194.94 - -77.86 - - 3196.69 - - - - - - - - - - -
10103.06 735.80 -6.28 1080 10107.11 no move -1.18 - - 2227.88 - - - 2195.38 - -77.86 - - 3196.22 - - - - - - - - - - -
10413.10 754.71 -5.93 1111 10417.17 no move -1.18 - - 2228.12 - - - 2194.75 - -77.86 - - 3195.50 - - - - - - - - - - -
10723.16 773.43 -5.70 1142 10744.33 roll -1.18 - - 2228.25 - 3.37 0.086 3351.62 343.3 -77.86 - - 3196.78 - - - - - - - - - 15.91 -
10839.82 781.39 -6.84 1162 10858.69 roll -1.18 - - 2228.38 - 2.81 0.021 2197.44 -410.7 -77.86 - - 3196.78 - - - - - - - - - 16.03 -
11164.54 800.21 -5.77 1194 11168.62 no move -1.18 - - 2228.12 - - - 2195.31 - -77.86 - - 3195.09 - - - - - - - - - - -
11474.60 819.21 -6.39 1225 11478.66 no move -1.18 - - 2227.44 - - - 2195.44 - -77.86 - - 3194.47 - - - - - - - - - - -
11784.65 840.01 -6.97 1256 11788.71 no move -1.18 - - 2227.62 - - - 2195.75 - -77.86 - - 3194.59 - - - - - - - - - - -
12094.69 859.99 -6.09 1287 12098.76 no move -1.18 - - 2228.38 - - - 2196.38 - -77.86 - - 3193.22 - - - - - - - - - - -
12404.72 878.96 -5.67 1318 12425.89 roll -1.18 - - 2228.38 - 3.39 0.087 3352.62 341.1 -77.86 - - 3192.91 - - - - - - - - - 15.89 -
12501.39 885.26 -6.64 1334 12519.86 roll -1.18 - - 2228.31 - 2.82 0.021 2200.44 -408.6 -77.86 - - 3194.16 - - - - - - - - - 16.02 -
12826.10 901.99 -4.79 1366 12847.27 roll -1.18 - - 2227.62 - 3.37 0.086 3349.62 341.0 -77.86 - - 3194.31 - - - - - - - - - 15.88 -
12872.74 904.68 -5.29 1372 12891.21 roll -1.18 - - 2227.69 - 2.81 0.022 2201.19 -408.7 -77.86 - - 3194.25 - - - - - - - - - 15.98 -
13197.45 919.66 -4.55 1404 13201.51 no move -1.18 - - 2227.94 - - - 2200.06 - -77.86 - - 3193.28 - - - - - - - - - - -
13507.77 934.18 -4.94 1435 13511.83 no move -1.18 - - 2227.12 - - - 2199.94 - -77.86 - - 3192.22 - - - - - - - - - - -
13817.67 949.60 -5.15 1466 13821.73 no move -1.18 - - 2227.75 - - - 2199.94 - -77.86 - - 3192.59 - - - - - - - - - - -
14127.69 966.35 -5.78 1497 14131.75 no move -1.18 - - 2227.88 - - - 2199.50 - -77.86 - - 3192.19 - - - - - - - - - - -
14437.71 985.55 -6.69 1528 14441.77 no move -1.18 - - 2228.25 - - - 2200.12 - -77.86 - - 3192.62 - - - - - - - - - - -
14507 end dive: TARGET_DEPTH_EXCEEDED
14508 begin apogee
14512.57 990.16 -6.55 1535 14612.22 -0.31 1.55 0.134 2440.62 137.0 0.14 0.171 2192.81 -52.2 - 60.81 2.504 2891.59 -5.0 0.329 - - - - - - 15.82 15.55 11.04
14618 end apogee: CONTROL_FINISHED_OK
14618 begin climb
14620.74 992.85 - 1542 14748.17 1.18 2.53 0.092 2805.62 144.3 3.19 0.082 1147.00 -327.8 77.86 66.57 2.441 2570.66 -4.8 0.329 - - - - - - 15.63 15.31 12.26
14755.48 989.84 4.04 1556 14876.36 1.35 0.23 0.076 2854.94 214.4 2.91 0.031 2273.12 387.0 160.70 71.64 2.415 2233.28 -4.7 0.324 - - - - - - 15.50 15.57 12.16
15182.32 957.10 8.13 1602 15203.11 done 1.35 - - 2853.50 - 3.27 0.096 3350.19 329.4 160.70 - - 2223.47 - - - - - - - - - 15.75 -
15228.74 953.13 8.17 1608 15247.83 done 1.35 - - 2853.75 - 2.86 0.024 2208.50 -399.2 160.70 - - 2223.31 - - - - - - - - - 15.80 -
15553.70 924.18 8.86 1640 15572.49 done 1.35 - - 2853.94 - 3.08 0.080 1147.56 -344.5 160.70 - - 2219.62 - - - - - - - - - 15.85 -
15623.00 917.00 10.85 1651 15642.10 done 1.35 - - 2854.31 - 2.85 0.032 2272.19 394.6 160.70 - - 2220.12 - - - - - - - - - 15.90 -
15947.98 883.76 10.71 1683 15952.08 VBD 1.35 - - 2854.00 - - - 2272.69 - 160.70 - - 2217.34 - - - - - - - - - - -
16258.02 849.53 11.32 1714 16277.63 done 1.35 - - 2854.62 - 3.23 0.077 1147.56 -348.3 160.70 - - 2216.62 - - - - - - - - - 15.92 -
16313.90 843.04 11.90 1722 16331.87 done 1.35 - - 2854.19 - 2.83 0.033 2271.31 397.1 160.70 - - 2218.25 - - - - - - - - - 15.96 -
16637.72 808.32 10.10 1754 16657.33 done 1.35 - - 2855.50 - 3.21 0.077 1145.94 -350.6 160.70 - - 2216.88 - - - - - - - - - 15.94 -
16683.57 803.56 10.55 1760 16701.93 done 1.35 - - 2853.88 - 2.85 0.033 2271.81 395.0 160.70 - - 2216.41 - - - - - - - - - 15.99 -
17007.78 773.78 8.24 1792 17011.89 VBD 1.35 - - 2854.81 - - - 2272.75 - 160.70 - - 2214.09 - - - - - - - - - - -
17318.25 749.70 7.46 1823 17337.88 done 1.38 - - 2854.94 - 3.21 0.077 1146.31 -350.9 160.70 - - 2215.53 - - - - - - - - - 15.94 -
17374.13 745.31 7.92 1831 17392.10 done 1.38 - - 2854.88 - 2.85 0.032 2272.06 395.0 160.70 - - 2215.69 - - - - - - - - - 15.99 -
17697.98 719.03 8.66 1863 17702.08 VBD 1.38 - - 2854.75 - - - 2272.19 - 160.70 - - 2213.59 - - - - - - - - - - -
18008.02 691.35 9.34 1894 18027.63 done 1.38 - - 2854.31 - 3.20 0.076 1147.62 -351.4 160.70 - - 2213.94 - - - - - - - - - 15.94 -
18083.89 684.06 9.92 1906 18102.27 done 1.38 - - 2854.94 - 2.84 0.032 2272.38 396.0 160.70 - - 2214.84 - - - - - - - - - 16.02 -
18408.15 654.50 8.97 1938 18412.25 VBD 1.38 - - 2854.75 - - - 2272.12 - 160.70 - - 2213.12 - - - - - - - - - - -
18718.19 626.55 9.05 1969 18737.80 done 1.38 - - 2855.00 - 3.21 0.076 1147.06 -350.5 160.70 - - 2212.31 - - - - - - - - - 15.94 -
18794.06 619.49 9.59 1981 18812.44 done 1.38 - - 2855.06 - 2.84 0.032 2272.38 396.2 160.70 - - 2213.75 - - - - - - - - - 16.01 -
19118.32 591.64 8.15 2013 19137.94 done 1.38 - - 2855.25 - 3.21 0.097 3351.00 336.0 160.70 - - 2211.78 - - - - - - - - - 15.92 -
19164.30 587.51 9.29 2019 19181.86 done 1.38 - - 2855.25 - 2.77 0.024 2205.88 -413.4 160.70 - - 2213.56 - - - - - - - - - 16.01 -
19488.14 563.26 6.78 2051 19492.24 VBD 1.46 - - 2855.06 - - - 2203.38 - 160.70 - - 2212.03 - - - - - - - - - - -
19798.53 543.21 6.20 2082 19820.39 1.57 0.26 0.074 2909.25 208.4 3.01 0.079 1147.50 -350.8 160.70 - - 2210.97 - - - - - - - - 15.96 15.90 -
19855.92 538.29 8.32 2090 19875.01 done 1.57 - - 2909.62 - 2.82 0.032 2273.94 399.4 160.70 - - 2213.81 - - - - - - - - - 16.00 -
20180.86 509.22 9.40 2122 20200.48 done 1.57 - - 2907.69 - 3.21 0.075 1146.62 -351.2 160.70 - - 2212.91 - - - - - - - - - 15.93 -
20231.00 504.17 10.03 2129 20249.70 done 1.57 - - 2909.19 - 2.82 0.032 2272.56 399.3 160.70 - - 2213.84 - - - - - - - - - 16.00 -
20555.58 473.12 9.43 2161 20559.68 VBD 1.57 - - 2909.12 - - - 2272.31 - 160.70 - - 2211.84 - - - - - - - - - - -
20865.84 443.97 9.20 2192 20869.94 VBD 1.57 - - 2909.69 - - - 2272.50 - 160.70 - - 2211.19 - - - - - - - - - - -
21175.79 416.04 8.97 2223 21195.42 done 1.57 - - 2908.94 - 3.20 0.075 1146.44 -351.9 160.70 - - 2211.59 - - - - - - - - - 15.92 -
21281.78 406.06 9.38 2241 21299.74 done 1.57 - - 2909.62 - 2.84 0.032 2273.56 396.9 160.70 - - 2214.19 - - - - - - - - - 16.01 -
21605.62 377.95 8.63 2273 21609.73 VBD 1.57 - - 2910.56 - - - 2273.62 - 160.70 - - 2210.72 - - - - - - - - - - -
21915.66 352.67 7.73 2304 21935.29 done 1.57 - - 2909.25 - 3.23 0.075 1146.44 -349.0 160.70 - - 2210.88 - - - - - - - - - 15.91 -
21995.92 346.03 7.96 2317 22014.63 done 1.57 - - 2908.75 - 2.85 0.032 2272.62 395.2 160.70 - - 2213.75 - - - - - - - - - 15.99 -
22320.93 322.70 7.03 2349 22325.03 VBD 1.63 - - 2909.31 - - - 2271.81 - 160.70 - - 2211.00 - - - - - - - - - - -
22631.31 300.87 7.03 2380 22650.51 done 1.69 - - 2907.75 - 3.20 0.074 1146.44 -351.7 160.70 - - 2212.69 - - - - - - - - - 15.90 -
22691.45 296.35 7.41 2389 22711.49 1.73 0.17 0.088 2948.44 239.4 2.85 0.031 2274.12 395.7 160.70 - - 2212.47 - - - - - - - - 15.80 15.99 -
23017.62 270.76 7.88 2421 23021.72 VBD 1.73 - - 2948.44 - - - 2273.56 - 160.70 - - 2211.44 - - - - - - - - - - -
23327.71 245.26 8.35 2452 23347.32 done 1.73 - - 2948.31 - 3.24 0.073 1146.94 -347.7 160.70 - - 2210.78 - - - - - - - - - 15.76 -
23447.86 234.09 9.34 2473 23466.56 done 1.73 - - 2949.00 - 2.87 0.031 2273.69 392.6 160.70 - - 2212.38 - - - - - - - - - 15.86 -
23772.44 207.13 8.04 2505 23792.08 done 1.73 - - 2949.44 - 3.20 0.073 1145.50 -352.6 160.70 - - 2213.66 - - - - - - - - - 15.88 -
23872.61 198.42 8.64 2522 23891.31 done 1.73 - - 2948.94 - 2.85 0.031 2273.25 395.7 160.70 - - 2211.97 - - - - - - - - - 15.92 -
24197.19 171.06 8.53 2554 24201.30 VBD 1.73 - - 2948.75 - - - 2273.25 - 160.70 - - 2210.81 - - - - - - - - - - -
24507.24 146.98 7.63 2585 24526.88 done 1.73 - - 2949.12 - 3.23 0.072 1146.12 -349.0 160.70 - - 2213.50 - - - - - - - - - 15.71 -
24543.12 144.09 8.01 2589 24561.09 done 1.73 - - 2948.06 - 2.83 0.030 2273.69 398.4 160.70 - - 2213.06 - - - - - - - - - 15.94 -
24867.37 119.60 6.92 2621 24887.23 done 1.80 - - 2949.38 - 3.21 0.071 1146.12 -351.3 160.70 - - 2210.66 - - - - - - - - - 15.72 -
24954.01 113.75 6.66 2635 24972.37 done 1.88 - - 2949.62 - 2.84 0.029 2274.44 397.3 160.70 - - 2213.84 - - - - - - - - - 15.95 -
25278.66 99.09 3.26 2669 25407.02 2.08 0.32 0.064 3014.62 203.1 3.24 0.073 1145.00 -348.6 259.70 74.07 1.368 1829.50 -5.2 0.063 - - - - - - 15.89 15.67 11.58
25423.27 87.59 9.87 2688 25442.37 roll 2.08 - - 3014.12 - 2.87 0.029 2273.25 393.1 259.70 - - 1824.66 - - - - - - - - - 15.75 -
25628.36 68.03 9.54 2726 25648.72 done 2.08 - - 3015.62 - 3.23 0.070 1146.62 -348.8 259.70 - - 1820.88 - - - - - - - - - 15.71 -
25750.40 59.29 5.95 2747 25769.11 2.21 - - 3014.94 - 2.86 0.029 2275.56 394.7 259.70 - - 1818.53 - - - - - - - - - 15.72 -
25955.40 49.11 5.35 2785 25962.31 2.37 - - 3015.75 - - - 2276.00 - 259.70 - - 1817.31 - - - - - - - - - - -
26148.73 38.03 5.44 2823 26155.40 2.53 - - 3015.69 - - - 2275.62 - 259.70 - - 1816.62 - - - - - - - - - - -
26341.69 31.80 2.83 2861 26475.89 2.74 - - 3015.69 - 3.24 0.093 3350.12 331.6 367.62 81.92 1.242 1390.94 -5.2 0.022 - - - - - - - 15.60 11.94
26483.13 25.27 5.60 2879 26502.22 roll back 2.89 - - 3015.56 - 2.84 0.021 2198.75 -405.4 367.62 - - 1387.75 - - - - - - - - - 15.71 -
26688.63 19.25 2.62 2917 26830.26 3.11 - - 3016.19 - 3.47 0.087 3351.38 332.2 479.77 85.68 1.186 933.16 -5.3 0.014 - - - - - - - 15.52 12.02
26841.96 11.34 6.54 2937 26861.06 roll back 3.20 - - 3015.94 - 2.85 0.022 2201.62 -403.4 479.77 - - 930.34 - - - - - - - - - 15.67 -
26977 end climb: SURFACE_DEPTH_REACHED
26977 begin surface coast
27058 end surface coast: CONTROL_FINISHED_OK
27058 begin surface
SM 1.10 - - - - 182.0 - - 923.4 - 19.37 0.051 939.6 48.5 - 0.16 0.085 907.2 5652.2 -7.476 - - 30.00 15.76 15.81 -