NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 290 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 102.28 of 506.00 AH used of 24V (79.79% remains)
• Surface angle -66.8 deg, depth 1.21 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.10 (SM_CC=430)
• GPS1 time: 20 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
18.81 - - - 104.14 VBD -1.18 - - 181.94 - - - 2287.25 - -77.86 59.99 0.005 2579.03 - - - - - - - - - - 15.25
106.36 3.21 -3.79 12 226.84 -1.18 17.18 0.223 2227.81 119.1 3.15 0.086 3353.62 338.5 -77.86 9.45 0.007 3211.16 66.9 -5.175 - - - - - - 15.45 15.25 15.34
388.15 49.47 -10.51 51 406.43 roll -1.18 - - 2227.38 - 2.83 0.019 2191.69 -410.6 -77.86 - - 3213.41 - - - - - - - - - 15.73 -
592.24 65.99 -7.80 89 612.91 roll -1.18 - - 2227.44 - 3.37 0.076 3352.88 344.6 -77.86 - - 3215.00 - - - - - - - - - 15.72 -
644.06 70.45 -8.60 96 662.73 roll -1.18 - - 2225.94 - 2.82 0.019 2187.44 -413.3 -77.86 - - 3214.66 - - - - - - - - - 15.69 -
848.54 85.11 -7.68 134 867.22 roll -1.18 - - 2226.50 - 2.92 0.065 1143.56 -357.5 -77.86 - - 3215.00 - - - - - - - - - 15.71 -
948.38 92.72 -7.28 151 966.27 roll -1.18 - - 2227.88 - 2.78 0.023 2281.31 409.3 -77.86 - - 3215.19 - - - - - - - - - 15.71 -
1152.07 107.09 -7.16 179 1170.43 roll -1.18 - - 2227.31 - 3.09 0.080 3352.44 346.6 -77.86 - - 3214.62 - - - - - - - - - 15.80 -
1270.88 116.28 -7.86 200 1289.15 roll -1.18 - - 2228.12 - 2.77 0.019 2189.12 -420.0 -77.86 - - 3215.59 - - - - - - - - - 15.90 -
1594.98 138.51 -6.71 232 1612.74 roll -1.18 - - 2227.69 - 2.88 0.066 1143.69 -363.0 -77.86 - - 3216.12 - - - - - - - - - 15.88 -
1693.25 145.20 -6.61 249 1711.36 roll -1.18 - - 2227.50 - 2.76 0.024 2281.69 412.3 -77.86 - - 3215.66 - - - - - - - - - 15.86 -
2017.20 165.78 -6.80 281 2036.19 roll -1.18 - - 2226.00 - 3.11 0.081 3353.19 344.5 -77.86 - - 3215.19 - - - - - - - - - 15.74 -
2042.37 167.62 -7.32 283 2059.74 roll -1.18 - - 2227.31 - 2.79 0.019 2186.50 -418.2 -77.86 - - 3214.88 - - - - - - - - - 15.94 -
2365.59 192.02 -8.19 315 2383.76 roll -1.18 - - 2227.50 - 2.91 0.067 1144.62 -358.0 -77.86 - - 3214.38 - - - - - - - - - 15.73 -
2394.24 194.71 -8.74 318 2412.35 roll -1.18 - - 2227.44 - 2.75 0.024 2281.06 413.3 -77.86 - - 3214.75 - - - - - - - - - 15.91 -
2718.18 221.08 -7.91 350 2722.25 no move -1.18 - - 2227.31 - - - 2280.94 - -77.86 - - 3213.22 - - - - - - - - - - -
3028.23 246.21 -7.86 381 3047.21 roll -1.18 - - 2224.94 - 3.20 0.064 1143.81 -355.4 -77.86 - - 3212.72 - - - - - - - - - 15.79 -
3087.68 251.13 -8.25 390 3106.51 roll -1.18 - - 2227.69 - 2.79 0.025 2279.94 407.2 -77.86 - - 3214.34 - - - - - - - - - 15.91 -
3412.52 274.26 -6.71 422 3416.62 no move -1.18 - - 2227.25 - - - 2279.88 - -77.86 - - 3211.69 - - - - - - - - - - -
3722.54 296.71 -7.67 453 3726.64 no move -1.18 - - 2227.75 - - - 2280.19 - -77.86 - - 3210.88 - - - - - - - - - - -
4032.59 321.64 -7.83 484 4036.69 no move -1.18 - - 2227.25 - - - 2280.19 - -77.86 - - 3209.97 - - - - - - - - - - -
4342.63 344.05 -6.97 515 4346.73 no move -1.18 - - 2227.38 - - - 2279.81 - -77.86 - - 3208.38 - - - - - - - - - - -
4652.67 364.86 -6.78 546 4656.77 no move -1.18 - - 2227.56 - - - 2280.19 - -77.86 - - 3208.19 - - - - - - - - - - -
4962.72 386.15 -6.90 577 4981.95 roll -1.18 - - 2227.81 - 3.19 0.066 1143.44 -356.3 -77.86 - - 3206.66 - - - - - - - - - 15.90 -
5032.48 391.36 -7.61 588 5050.79 roll -1.18 - - 2227.75 - 2.79 0.026 2277.44 406.5 -77.86 - - 3207.81 - - - - - - - - - 15.99 -
5356.68 415.04 -7.32 620 5360.78 no move -1.18 - - 2227.88 - - - 2277.12 - -77.86 - - 3206.44 - - - - - - - - - - -
5666.72 437.85 -7.35 651 5670.82 no move -1.18 - - 2228.06 - - - 2276.81 - -77.86 - - 3206.59 - - - - - - - - - - -
5976.76 460.25 -7.00 682 5996.11 roll -1.18 - - 2227.50 - 3.19 0.066 1146.06 -354.5 -77.86 - - 3205.91 - - - - - - - - - 15.85 -
6046.64 465.66 -7.88 693 6065.71 roll -1.18 - - 2226.56 - 2.81 0.026 2278.31 402.9 -77.86 - - 3206.88 - - - - - - - - - 15.95 -
6371.70 488.10 -6.82 725 6375.80 no move -1.18 - - 2227.81 - - - 2278.12 - -77.86 - - 3204.19 - - - - - - - - - - -
6681.74 508.36 -6.36 756 6685.84 no move -1.18 - - 2227.56 - - - 2278.88 - -77.86 - - 3204.44 - - - - - - - - - - -
6991.78 527.60 -6.10 787 6995.88 no move -1.18 - - 2227.62 - - - 2278.25 - -77.86 - - 3203.16 - - - - - - - - - - -
7301.82 546.31 -6.19 818 7305.92 no move -1.18 - - 2227.38 - - - 2278.62 - -77.86 - - 3203.66 - - - - - - - - - - -
7611.86 565.62 -6.05 849 7615.96 no move -1.18 - - 2227.00 - - - 2278.81 - -77.86 - - 3202.19 - - - - - - - - - - -
7921.90 583.76 -5.79 880 7926.00 no move -1.18 - - 2227.56 - - - 2278.88 - -77.86 - - 3201.19 - - - - - - - - - - -
8231.95 602.07 -6.11 911 8236.05 no move -1.18 - - 2227.12 - - - 2278.38 - -77.86 - - 3201.25 - - - - - - - - - - -
8541.99 622.12 -6.70 942 8546.09 no move -1.18 - - 2227.56 - - - 2278.25 - -77.86 - - 3200.75 - - - - - - - - - - -
8852.03 643.10 -6.70 973 8856.13 no move -1.18 - - 2227.38 - - - 2278.25 - -77.86 - - 3200.41 - - - - - - - - - - -
9162.07 664.21 -6.84 1004 9166.17 no move -1.18 - - 2226.94 - - - 2278.25 - -77.86 - - 3200.31 - - - - - - - - - - -
9472.11 685.09 -6.82 1035 9476.21 no move -1.18 - - 2227.31 - - - 2278.38 - -77.86 - - 3199.97 - - - - - - - - - - -
9782.16 707.15 -7.01 1066 9786.25 no move -1.18 - - 2227.94 - - - 2278.44 - -77.86 - - 3198.84 - - - - - - - - - - -
10092.18 728.79 -6.77 1097 10112.06 roll -1.18 - - 2227.44 - 3.24 0.069 1145.69 -349.6 -77.86 - - 3198.91 - - - - - - - - - 15.82 -
10192.70 735.91 -6.79 1114 10211.84 roll -1.18 - - 2227.50 - 2.83 0.027 2276.44 399.6 -77.86 - - 3199.19 - - - - - - - - - 15.98 -
10517.73 755.16 -5.74 1146 10521.83 no move -1.18 - - 2228.00 - - - 2276.00 - -77.86 - - 3198.69 - - - - - - - - - - -
10827.77 771.54 -5.21 1177 10831.88 no move -1.18 - - 2227.62 - - - 2276.25 - -77.86 - - 3197.78 - - - - - - - - - - -
11138.22 787.26 -4.97 1208 11142.32 no move -1.18 - - 2227.62 - - - 2276.75 - -77.86 - - 3197.44 - - - - - - - - - - -
11448.20 802.99 -5.41 1239 11452.31 no move -1.18 - - 2227.31 - - - 2276.50 - -77.86 - - 3197.12 - - - - - - - - - - -
11758.29 818.77 -5.21 1270 11762.39 no move -1.18 - - 2227.69 - - - 2277.00 - -77.86 - - 3197.19 - - - - - - - - - - -
12068.31 834.98 -5.34 1301 12087.52 roll -1.18 - - 2227.19 - 3.20 0.089 3350.56 335.5 -77.86 - - 3196.62 - - - - - - - - - 15.76 -
12153.79 840.09 -6.11 1315 12171.36 roll -1.18 - - 2227.62 - 2.79 0.021 2195.19 -414.1 -77.86 - - 3196.88 - - - - - - - - - 15.97 -
12477.25 857.91 -5.70 1347 12481.35 no move -1.18 - - 2227.50 - - - 2193.88 - -77.86 - - 3196.12 - - - - - - - - - - -
12787.29 875.36 -5.72 1378 12791.63 no move -1.18 - - 2227.50 - - - 2193.44 - -77.86 - - 3195.72 - - - - - - - - - - -
13097.64 893.14 -5.82 1409 13101.74 no move -1.18 - - 2227.62 - - - 2193.62 - -77.86 - - 3195.34 - - - - - - - - - - -
13407.67 912.11 -6.01 1440 13429.53 roll -1.18 - - 2226.88 - 3.45 0.085 3349.38 335.0 -77.86 - - 3196.53 - - - - - - - - - 15.67 -
13460.78 915.73 -6.83 1447 13478.77 roll -1.18 - - 2226.25 - 2.82 0.021 2197.62 -408.4 -77.86 - - 3196.31 - - - - - - - - - 15.99 -
13784.65 935.77 -6.03 1479 13803.46 roll -1.18 - - 2227.44 - 3.03 0.074 1145.56 -347.2 -77.86 - - 3197.53 - - - - - - - - - 15.78 -
13874.00 941.10 -5.88 1494 13892.72 roll -1.18 - - 2227.88 - 2.79 0.028 2278.12 405.9 -77.86 - - 3195.94 - - - - - - - - - 15.97 -
14198.61 959.45 -5.64 1526 14218.24 roll -1.18 - - 2227.25 - 3.24 0.070 1144.69 -349.8 -77.86 - - 3195.19 - - - - - - - - - 15.77 -
14274.51 963.99 -6.23 1538 14292.52 roll -1.18 - - 2226.38 - 2.83 0.027 2277.06 400.1 -77.86 - - 3195.97 - - - - - - - - - 15.97 -
14598.79 980.31 -4.88 1570 14602.89 no move -1.18 - - 2227.25 - - - 2277.12 - -77.86 - - 3194.59 - - - - - - - - - - -
14808 end dive: TARGET_DEPTH_EXCEEDED
14809 begin apogee
14813.86 990.44 -4.96 1591 14914.85 -0.31 1.60 0.133 2440.75 133.4 0.19 0.150 2283.12 31.6 - 62.33 2.457 2888.56 -4.9 0.334 - - - - - - 15.67 15.47 10.49
14921 end apogee: CONTROL_FINISHED_OK
14922 begin climb
14924.90 991.34 - 1598 15035.21 1.18 2.59 0.091 2805.25 140.7 - - 2283.25 - 77.86 66.12 2.420 2573.06 -4.8 0.330 - - - - - - 15.59 - 12.01
15341.61 965.21 6.38 1636 15362.66 done 1.28 - - 2804.88 - 3.29 0.074 1145.81 -345.7 77.86 - - 2563.38 - - - - - - - - - 15.70 -
15414.43 959.94 7.07 1647 15434.08 1.34 0.22 0.078 2852.19 215.0 2.88 0.030 2272.38 391.2 77.86 - - 2562.59 - - - - - - - - 15.62 15.61 -
15740.37 936.55 7.27 1679 15744.48 VBD 1.39 - - 2853.50 - - - 2272.75 - 77.86 - - 2561.91 - - - - - - - - - - -
16050.73 914.72 6.55 1710 16070.57 done 1.48 - - 2852.44 - 3.26 0.074 1145.25 -345.9 77.86 - - 2559.97 - - - - - - - - - 15.80 -
16187.42 904.95 7.02 1734 16207.08 1.54 0.22 0.070 2902.12 225.8 2.86 0.031 2273.75 394.6 77.86 - - 2563.00 - - - - - - - - 15.74 15.92 -
16513.38 879.45 7.48 1766 16517.48 VBD 1.57 - - 2900.94 - - - 2274.25 - 77.86 - - 2560.00 - - - - - - - - - - -
16823.33 855.22 7.81 1797 16842.97 done 1.57 - - 2902.00 - 3.25 0.074 1145.94 -347.2 77.86 - - 2562.03 - - - - - - - - - 15.83 -
16913.50 847.74 8.25 1812 16932.23 done 1.57 - - 2901.19 - 2.87 0.031 2272.50 392.5 77.86 - - 2560.28 - - - - - - - - - 15.86 -
17238.11 821.74 8.20 1844 17242.21 VBD 1.57 - - 2901.81 - - - 2272.62 - 77.86 - - 2558.75 - - - - - - - - - - -
17548.38 797.00 7.87 1875 17552.48 VBD 1.57 - - 2902.00 - - - 2272.50 - 77.86 - - 2557.97 - - - - - - - - - - -
17858.33 772.50 7.60 1906 17877.98 done 1.57 - - 2901.25 - 3.22 0.074 1145.06 -350.1 77.86 - - 2559.38 - - - - - - - - - 15.82 -
17894.63 769.95 7.55 1910 17912.63 done 1.60 - - 2902.12 - 2.85 0.031 2273.38 395.9 77.86 - - 2558.12 - - - - - - - - - 15.96 -
18218.92 748.67 5.81 1942 18241.87 1.74 0.22 0.077 2949.56 215.6 3.23 0.094 3350.06 333.3 77.86 - - 2558.19 - - - - - - - - 15.90 15.77 -
18313.24 741.09 7.97 1957 18330.84 done 1.74 - - 2949.88 - 2.80 0.022 2205.50 -408.8 77.86 - - 2558.34 - - - - - - - - - 15.98 -
18636.72 717.99 7.61 1989 18658.18 done 1.74 - - 2950.25 - 3.40 0.090 3350.69 336.8 77.86 - - 2557.22 - - - - - - - - - 15.78 -
18719.85 711.68 7.39 2002 18737.85 done 1.78 - - 2949.19 - 2.82 0.022 2204.00 -406.6 77.86 - - 2558.75 - - - - - - - - - 15.96 -
19044.14 688.99 7.24 2034 19062.97 done 1.83 - - 2948.56 - 3.07 0.077 1146.19 -344.6 77.86 - - 2557.38 - - - - - - - - - 15.82 -
19159.23 680.02 8.51 2054 19177.62 done 1.83 - - 2950.12 - 2.84 0.031 2274.62 397.3 77.86 - - 2557.00 - - - - - - - - - 15.96 -
19483.93 655.87 7.22 2086 19503.38 done 1.88 - - 2948.56 - 3.20 0.092 3350.31 336.2 77.86 - - 2557.31 - - - - - - - - - 15.79 -
19569.64 648.60 8.77 2100 19587.22 done 1.88 - - 2949.31 - 2.79 0.022 2203.81 -410.9 77.86 - - 2558.12 - - - - - - - - - 15.98 -
19893.28 623.05 8.45 2132 19912.11 done 1.88 - - 2949.69 - 3.05 0.077 1145.44 -347.0 77.86 - - 2556.03 - - - - - - - - - 15.80 -
20028.50 612.62 7.81 2156 20046.90 done 1.88 - - 2949.94 - 2.81 0.030 2276.00 402.3 77.86 - - 2558.41 - - - - - - - - - 15.98 -
20353.18 591.69 6.35 2188 20358.64 1.98 0.28 0.069 3007.50 205.6 - - 2275.44 - 77.86 - - 2558.44 - - - - - - - - 15.92 - -
20664.93 571.89 6.16 2219 20669.03 VBD 2.09 - - 3007.44 - - - 2276.00 - 77.86 - - 2556.66 - - - - - - - - - - -
20975.32 552.86 6.32 2250 20994.96 2.20 - - 3008.38 - 3.24 0.072 1146.25 -348.7 77.86 - - 2557.62 - - - - - - - - - 15.79 -
21135.92 541.38 7.18 2279 21154.65 2.25 - - 3008.69 - 2.84 0.030 2274.44 397.3 77.86 - - 2557.41 - - - - - - - - - 15.96 -
21460.95 519.90 6.83 2311 21465.08 2.32 - - 3008.06 - - - 2275.06 - 77.86 - - 2556.53 - - - - - - - - - - -
21771.49 498.98 6.55 2342 21775.61 2.41 - - 3008.31 - - - 2274.88 - 77.86 - - 2556.06 - - - - - - - - - - -
22081.90 477.05 7.05 2373 22101.80 2.47 - - 3008.06 - 3.23 0.071 1145.50 -349.7 77.86 - - 2555.66 - - - - - - - - - 15.69 -
22168.17 470.58 7.74 2387 22186.58 2.47 - - 3008.69 - 2.84 0.030 2275.81 398.0 77.86 - - 2558.19 - - - - - - - - - 15.97 -
22492.87 447.15 7.32 2419 22512.52 2.51 - - 3009.25 - 3.27 0.071 1144.50 -346.0 77.86 - - 2557.59 - - - - - - - - - 15.64 -
22618.80 437.39 7.81 2441 22636.81 2.51 - - 3008.81 - 2.83 0.029 2275.88 399.8 77.86 - - 2557.09 - - - - - - - - - 15.95 -
22943.10 413.54 7.17 2473 22947.21 2.57 - - 3009.00 - - - 2275.56 - 77.86 - - 2556.41 - - - - - - - - - - -
23253.51 392.17 6.97 2504 23273.17 2.63 - - 3009.00 - 3.24 0.071 1143.81 -349.3 77.86 - - 2559.22 - - - - - - - - - 15.76 -
23504.12 375.25 6.42 2551 23522.96 2.73 - - 3009.25 - 2.84 0.029 2276.38 398.8 77.86 - - 2559.25 - - - - - - - - - 15.82 -
23829.25 356.46 5.46 2583 23833.37 2.89 - - 3009.19 - - - 2275.69 - 77.86 - - 2556.38 - - - - - - - - - - -
24139.89 339.01 5.48 2614 24159.16 3.04 - - 3009.12 - 3.20 0.070 1144.75 -353.4 77.86 - - 2556.75 - - - - - - - - - 15.78 -
24185.94 336.41 5.59 2620 24203.96 3.19 - - 3008.75 - 2.82 0.028 2276.88 401.5 77.86 - - 2557.94 - - - - - - - - - 15.96 -
24510.24 318.20 5.73 2652 24529.47 3.33 - - 3008.25 - 3.19 0.070 1144.75 -354.9 77.86 - - 2556.84 - - - - - - - - - 15.78 -
24636.16 310.87 6.19 2674 24654.17 3.44 - - 3009.38 - 2.81 0.029 2277.56 403.1 77.86 - - 2557.28 - - - - - - - - - 15.94 -
24960.46 293.78 5.28 2706 24979.71 3.60 - - 3008.44 - 3.17 0.070 1145.25 -357.2 77.86 - - 2555.41 - - - - - - - - - 15.78 -
25106.41 285.57 5.75 2732 25124.42 3.60 - - 3008.94 - 2.82 0.029 2276.06 401.0 77.86 - - 2557.78 - - - - - - - - - 15.95 -
25430.70 270.06 5.04 2764 25503.70 3.73 - - 3008.81 - - - 2275.62 - 140.14 48.97 1.563 2319.72 -4.9 0.142 - - - - - - - - 11.02
25809.58 236.23 9.79 2804 25829.26 3.73 - - 3008.88 - 3.22 0.071 1145.75 -350.9 140.14 - - 2308.50 - - - - - - - - - 15.74 -
25925.65 224.43 9.80 2824 25943.67 3.73 - - 3008.38 - 2.85 0.029 2274.50 396.1 140.14 - - 2309.03 - - - - - - - - - 15.73 -
26249.56 195.55 8.88 2856 26253.67 3.73 - - 3009.56 - - - 2274.31 - 140.14 - - 2308.06 - - - - - - - - - - -
26559.61 167.32 8.98 2887 26579.25 3.73 - - 3007.38 - 3.22 0.070 1145.62 -350.5 140.14 - - 2308.66 - - - - - - - - - 15.66 -
26615.51 161.97 9.58 2895 26633.93 3.73 - - 3009.00 - 2.82 0.029 2276.50 401.0 140.14 - - 2309.03 - - - - - - - - - 15.88 -
26939.82 132.92 9.64 2927 26943.94 3.73 - - 3009.25 - - - 2276.12 - 140.14 - - 2306.91 - - - - - - - - - - -
27250.26 107.54 7.19 2958 27269.93 3.78 - - 3008.44 - 3.27 0.069 1146.19 -345.5 140.14 - - 2306.34 - - - - - - - - - 15.75 -
27290.86 104.46 7.54 2963 27309.60 3.78 - - 3009.06 - 2.82 0.028 2276.56 400.8 140.14 - - 2307.75 - - - - - - - - - 15.80 -
27615.94 86.40 4.64 3020 27714.03 3.92 - - 3009.44 - 3.22 0.070 1144.62 -351.5 210.68 54.87 1.300 2030.88 -5.0 0.057 - - - - - - - 15.64 11.63
27770.40 74.92 8.77 3043 27789.53 roll back 3.92 - - 3008.50 - 2.85 0.028 2274.88 396.6 210.68 - - 2025.41 - - - - - - - - - 15.66 -
27975.80 61.59 6.12 3081 27995.78 3.92 - - 3008.75 - 3.17 0.089 3351.06 339.5 210.68 - - 2022.47 - - - - - - - - - 15.62 -
28037.44 57.57 6.62 3090 28056.17 3.92 - - 3009.12 - 2.82 0.021 2197.00 -409.2 210.68 - - 2021.53 - - - - - - - - - 15.76 -
28242.47 46.49 4.68 3128 28321.50 4.06 - - 3009.31 - - - 2195.56 - 280.42 53.61 1.224 1746.56 -5.1 0.033 - - - - - - - - 11.85
28507.36 28.60 8.17 3176 28526.95 4.06 - - 3009.19 - 3.04 0.073 1145.94 -345.3 280.42 - - 1737.97 - - - - - - - - - 15.61 -
28598.30 21.55 7.64 3191 28617.02 4.06 - - 3008.62 - 2.82 0.027 2277.50 401.3 280.42 - - 1736.41 - - - - - - - - - 15.76 -
28803.33 12.19 4.06 3229 28915.13 4.22 - - 3008.81 - 3.14 0.089 3351.06 341.9 362.88 64.26 1.162 1410.28 -5.1 0.009 - - - - - - - 15.57 11.73
29091 end climb: SURFACE_DEPTH_REACHED
29091 begin surface coast
29102 end surface coast: CONTROL_FINISHED_OK
29102 begin surface
SM 1.05 - - - - 181.4 51.24 1.142 1136.7 20.9 19.65 0.056 1122.9 57.1 - 2.77 0.021 1150.4 414.2 -2.117 - - 11.73 15.70 15.78 -