NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 316 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 111.92 of 506.00 AH used of 24V (77.88% remains)
• Surface angle -62.8 deg, depth 1.14 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 586.08 (beyond SM_CC=430)
• GPS1 time: 32 s
• GPS2 time: 4 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 - - - 111.46 VBD -1.18 - - 180.69 - - - 2288.38 - -77.86 65.08 0.005 2734.09 - - - - - - - - - - 15.20
113.67 3.30 -3.59 13 228.53 -1.18 17.08 0.222 2228.38 119.9 3.20 0.061 1142.81 -358.0 -77.86 6.66 0.008 3210.25 71.5 -4.989 - - - - - - 15.40 15.23 15.32
309.80 50.40 -13.85 35 328.05 roll -1.18 - - 2227.88 - 2.82 0.024 2277.25 402.3 -77.86 - - 3212.78 - - - - - - - - - 15.71 -
513.83 72.89 -8.83 73 520.37 no move -1.18 - - 2227.94 - - - 2277.12 - -77.86 - - 3213.88 - - - - - - - - - - -
706.16 87.00 -6.19 111 713.08 no move -1.18 - - 2228.00 - - - 2277.56 - -77.86 - - 3214.50 - - - - - - - - - - -
898.88 100.33 -6.84 149 902.29 no move -1.18 - - 2227.56 - - - 2276.94 - -77.86 - - 3214.19 - - - - - - - - - - -
1208.90 122.35 -7.35 180 1229.41 roll -1.18 - - 2224.94 - 3.25 0.060 1145.75 -348.1 -77.86 - - 3214.78 - - - - - - - - - 15.72 -
1270.55 126.95 -7.36 189 1288.05 roll -1.18 - - 2227.19 - 2.79 0.023 2279.69 406.4 -77.86 - - 3216.53 - - - - - - - - - 15.90 -
1593.86 151.03 -7.34 221 1612.98 roll -1.18 - - 2227.50 - 3.23 0.060 1144.06 -351.6 -77.86 - - 3216.88 - - - - - - - - - 15.82 -
1683.41 158.20 -7.88 236 1701.25 roll -1.18 - - 2226.12 - 2.80 0.023 2278.44 405.1 -77.86 - - 3216.72 - - - - - - - - - 15.83 -
2007.00 181.63 -7.30 268 2011.02 no move -1.18 - - 2227.25 - - - 2279.00 - -77.86 - - 3215.12 - - - - - - - - - - -
2317.31 204.21 -7.22 299 2338.07 roll -1.18 - - 2225.12 - 3.27 0.061 1145.50 -346.6 -77.86 - - 3215.50 - - - - - - - - - 15.81 -
2389.37 209.72 -7.61 310 2407.11 roll -1.18 - - 2226.31 - 2.81 0.024 2278.25 403.1 -77.86 - - 3216.81 - - - - - - - - - 15.83 -
2712.93 233.93 -7.86 342 2731.87 roll -1.18 - - 2227.31 - 3.16 0.083 3351.50 339.6 -77.86 - - 3214.62 - - - - - - - - - 15.85 -
2768.05 238.83 -9.04 350 2785.78 roll -1.18 - - 2227.38 - 2.84 0.019 2189.12 -409.3 -77.86 - - 3213.47 - - - - - - - - - 15.86 -
3091.59 265.78 -8.51 382 3095.66 no move -1.18 - - 2227.38 - - - 2187.88 - -77.86 - - 3214.19 - - - - - - - - - - -
3401.64 292.81 -8.30 413 3423.21 roll -1.18 - - 2227.62 - 3.41 0.080 3352.56 341.5 -77.86 - - 3212.38 - - - - - - - - - 15.79 -
3464.40 298.56 -9.12 422 3482.14 roll -1.18 - - 2228.00 - 2.82 0.019 2191.81 -411.6 -77.86 - - 3214.66 - - - - - - - - - 15.95 -
3787.93 324.65 -7.95 454 3806.07 roll -1.18 - - 2227.69 - 2.99 0.068 1144.31 -350.3 -77.86 - - 3211.88 - - - - - - - - - 15.88 -
3832.25 328.40 -8.34 460 3849.83 roll -1.18 - - 2227.50 - 2.79 0.024 2279.19 406.8 -77.86 - - 3213.06 - - - - - - - - - 15.99 -
4155.75 352.69 -7.20 492 4159.82 no move -1.18 - - 2227.69 - - - 2279.31 - -77.86 - - 3212.16 - - - - - - - - - - -
4465.79 374.19 -7.12 523 4469.85 no move -1.18 - - 2227.06 - - - 2279.44 - -77.86 - - 3210.84 - - - - - - - - - - -
4775.83 396.47 -7.14 554 4796.59 roll -1.18 - - 2227.25 - 3.26 0.064 1145.44 -347.9 -77.86 - - 3213.03 - - - - - - - - - 15.89 -
4827.77 400.71 -8.00 561 4845.50 roll -1.18 - - 2228.00 - 2.82 0.025 2278.06 401.6 -77.86 - - 3211.53 - - - - - - - - - 15.94 -
5151.33 424.20 -7.31 593 5155.39 no move -1.18 - - 2227.75 - - - 2277.62 - -77.86 - - 3210.06 - - - - - - - - - - -
5461.37 446.37 -7.37 624 5465.42 no move -1.18 - - 2227.25 - - - 2277.75 - -77.86 - - 3209.44 - - - - - - - - - - -
5771.41 468.04 -6.53 655 5775.47 no move -1.18 - - 2226.94 - - - 2277.38 - -77.86 - - 3208.97 - - - - - - - - - - -
6081.45 487.20 -5.76 686 6102.20 roll -1.18 - - 2227.31 - 3.29 0.065 1145.94 -343.9 -77.86 - - 3209.28 - - - - - - - - - 15.79 -
6127.66 490.17 -5.97 692 6146.52 roll -1.18 - - 2227.44 - 2.82 0.026 2277.19 401.2 -77.86 - - 3209.88 - - - - - - - - - 15.99 -
6452.33 509.36 -5.99 724 6456.40 no move -1.18 - - 2227.25 - - - 2277.19 - -77.86 - - 3207.69 - - - - - - - - - - -
6762.38 528.34 -6.23 755 6766.44 no move -1.18 - - 2227.25 - - - 2277.25 - -77.86 - - 3207.16 - - - - - - - - - - -
7072.42 548.50 -6.79 786 7076.48 no move -1.18 - - 2226.81 - - - 2277.25 - -77.86 - - 3206.50 - - - - - - - - - - -
7382.46 569.16 -6.67 817 7386.52 no move -1.18 - - 2227.06 - - - 2277.69 - -77.86 - - 3205.59 - - - - - - - - - - -
7692.50 589.16 -6.45 848 7696.56 no move -1.18 - - 2227.62 - - - 2277.69 - -77.86 - - 3204.38 - - - - - - - - - - -
8002.55 609.13 -6.52 879 8006.61 no move -1.18 - - 2227.25 - - - 2278.06 - -77.86 - - 3204.53 - - - - - - - - - - -
8312.59 629.69 -6.72 910 8316.66 no move -1.18 - - 2227.31 - - - 2277.88 - -77.86 - - 3204.28 - - - - - - - - - - -
8622.64 650.25 -6.56 941 8626.70 no move -1.18 - - 2227.31 - - - 2277.88 - -77.86 - - 3204.12 - - - - - - - - - - -
8932.69 669.91 -6.20 972 8936.75 no move -1.18 - - 2227.06 - - - 2277.75 - -77.86 - - 3203.41 - - - - - - - - - - -
9242.75 687.92 -5.42 1003 9246.81 no move -1.18 - - 2227.69 - - - 2278.38 - -77.86 - - 3203.00 - - - - - - - - - - -
9552.80 705.57 -5.85 1034 9573.97 roll -1.18 - - 2227.06 - 3.32 0.068 1146.25 -341.0 -77.86 - - 3202.66 - - - - - - - - - 15.82 -
9625.16 710.06 -5.87 1045 9642.89 roll -1.18 - - 2227.38 - 2.85 0.026 2276.25 396.5 -77.86 - - 3203.81 - - - - - - - - - 15.98 -
9948.73 729.22 -6.51 1077 9968.35 roll -1.18 - - 2227.94 - 3.24 0.088 3351.81 332.0 -77.86 - - 3203.31 - - - - - - - - - 15.77 -
9998.92 732.93 -7.53 1084 10017.77 roll -1.18 - - 2227.50 - 2.85 0.020 2194.62 -406.0 -77.86 - - 3202.94 - - - - - - - - - 15.99 -
10323.60 753.21 -6.33 1116 10327.66 no move -1.18 - - 2227.50 - - - 2193.06 - -77.86 - - 3201.62 - - - - - - - - - - -
10633.65 772.53 -6.40 1147 10655.21 roll -1.18 - - 2227.06 - 3.46 0.084 3352.06 335.0 -77.86 - - 3203.19 - - - - - - - - - 15.78 -
10716.40 778.29 -7.06 1160 10734.14 roll -1.18 - - 2227.69 - 2.83 0.020 2195.88 -408.5 -77.86 - - 3200.38 - - - - - - - - - 16.00 -
11039.94 798.32 -6.09 1192 11044.01 no move -1.18 - - 2227.69 - - - 2195.25 - -77.86 - - 3201.00 - - - - - - - - - - -
11349.97 817.30 -6.09 1223 11354.03 no move -1.18 - - 2226.62 - - - 2195.38 - -77.86 - - 3200.28 - - - - - - - - - - -
11660.01 836.35 -5.87 1254 11681.57 roll -1.18 - - 2224.75 - 3.43 0.085 3350.50 336.8 -77.86 - - 3200.75 - - - - - - - - - 15.75 -
11727.03 841.24 -7.58 1264 11745.48 roll -1.18 - - 2227.56 - 2.87 0.020 2198.25 -401.5 -77.86 - - 3201.53 - - - - - - - - - 15.92 -
12051.32 861.36 -6.16 1296 12070.27 roll -1.18 - - 2227.31 - 3.08 0.073 1145.56 -341.8 -77.86 - - 3200.12 - - - - - - - - - 15.78 -
12116.58 865.31 -6.04 1306 12134.31 roll -1.18 - - 2227.75 - 2.81 0.026 2276.75 402.6 -77.86 - - 3201.38 - - - - - - - - - 15.99 -
12440.15 885.60 -6.36 1338 12444.22 no move -1.18 - - 2227.00 - - - 2277.44 - -77.86 - - 3199.53 - - - - - - - - - - -
12750.21 904.56 -5.85 1369 12754.28 no move -1.18 - - 2227.19 - - - 2277.19 - -77.86 - - 3198.91 - - - - - - - - - - -
13060.27 921.60 -5.18 1400 13081.04 roll -1.18 - - 2227.56 - 3.29 0.069 1146.19 -343.8 -77.86 - - 3199.56 - - - - - - - - - 15.76 -
13106.50 924.14 -5.44 1406 13124.95 roll -1.18 - - 2227.56 - 2.83 0.027 2277.00 399.6 -77.86 - - 3200.25 - - - - - - - - - 15.82 -
13431.32 940.48 -4.83 1438 13435.37 no move -1.18 - - 2227.25 - - - 2276.94 - -77.86 - - 3198.41 - - - - - - - - - - -
13741.60 956.28 -4.92 1469 13762.35 roll -1.18 - - 2227.94 - 3.30 0.069 1144.88 -343.0 -77.86 - - 3198.66 - - - - - - - - - 15.67 -
13807.82 960.05 -5.36 1479 13826.66 roll -1.18 - - 2227.56 - 2.84 0.027 2276.69 398.5 -77.86 - - 3199.16 - - - - - - - - - 15.96 -
14132.50 978.35 -5.91 1511 14136.58 no move -1.18 - - 2227.62 - - - 2277.06 - -77.86 - - 3198.03 - - - - - - - - - - -
14342 end dive: TARGET_DEPTH_EXCEEDED
14343 begin apogee
14347.46 990.36 -5.92 1532 14448.30 -0.31 1.58 0.133 2440.56 134.8 0.19 0.148 2273.38 -19.4 - 63.19 2.444 2889.94 -4.9 0.334 - - - - - - 15.65 15.45 10.39
14455 end apogee: CONTROL_FINISHED_OK
14456 begin climb
14458.29 992.13 - 1539 14586.09 1.18 2.56 0.089 2806.62 143.0 3.34 0.096 3350.31 322.4 77.86 66.35 2.406 2570.97 -4.8 0.335 - - - - - - 15.58 15.22 11.87
14593.40 986.91 5.80 1553 14612.76 roll back 1.32 0.18 0.085 2844.81 212.2 2.91 0.021 2205.19 -393.5 77.86 - - 2568.72 - - - - - - - - 15.44 15.53 -
14919.10 965.83 6.55 1585 14938.05 done 1.41 - - 2846.25 - 3.14 0.076 1146.94 -337.0 77.86 - - 2563.00 - - - - - - - - - 15.72 -
15038.94 957.63 7.36 1606 15057.78 done 1.45 - - 2845.75 - 2.86 0.030 2273.44 393.9 77.86 - - 2563.06 - - - - - - - - - 15.82 -
15364.01 935.28 6.91 1638 15386.82 1.52 0.23 0.076 2894.38 211.4 3.32 0.072 1147.88 -339.0 77.86 - - 2559.41 - - - - - - - - 15.83 15.64 -
15412.39 931.53 8.23 1644 15431.23 done 1.52 - - 2895.06 - 2.86 0.030 2273.94 393.7 77.86 - - 2561.50 - - - - - - - - - 15.87 -
15737.01 905.44 8.40 1676 15741.07 VBD 1.52 - - 2894.38 - - - 2273.81 - 77.86 - - 2560.06 - - - - - - - - - - -
16047.03 879.17 9.19 1707 16051.10 VBD 1.52 - - 2893.88 - - - 2273.81 - 77.86 - - 2559.31 - - - - - - - - - - -
16357.07 853.11 8.39 1738 16361.13 VBD 1.52 - - 2894.88 - - - 2273.44 - 77.86 - - 2558.94 - - - - - - - - - - -
16667.52 828.65 7.27 1769 16688.68 done 1.56 - - 2894.62 - 3.31 0.072 1147.38 -340.2 77.86 - - 2561.16 - - - - - - - - - 15.82 -
16760.26 821.64 7.39 1784 16778.00 done 1.60 - - 2894.69 - 2.85 0.031 2273.25 395.0 77.86 - - 2557.22 - - - - - - - - - 15.96 -
17084.22 798.98 6.65 1816 17089.18 1.69 0.19 0.084 2937.12 223.3 - - 2272.19 - 77.86 - - 2557.59 - - - - - - - - 15.91 - -
17395.37 777.31 7.02 1847 17399.44 VBD 1.75 - - 2937.25 - - - 2271.88 - 77.86 - - 2558.12 - - - - - - - - - - -
17705.66 756.41 6.99 1878 17709.72 VBD 1.81 - - 2937.56 - - - 2272.56 - 77.86 - - 2557.19 - - - - - - - - - - -
18016.33 734.76 7.37 1909 18021.30 1.85 0.17 0.085 2978.12 238.6 - - 2272.38 - 77.86 - - 2557.72 - - - - - - - - 15.91 - -
18327.12 708.37 8.60 1940 18347.88 done 1.85 - - 2978.81 - 3.30 0.072 1146.12 -341.3 77.86 - - 2557.78 - - - - - - - - - 15.81 -
18443.37 697.57 9.10 1960 18461.83 done 1.85 - - 2979.00 - 2.87 0.031 2273.56 392.8 77.86 - - 2557.16 - - - - - - - - - 15.97 -
18767.65 669.16 8.70 1992 18771.71 VBD 1.85 - - 2978.88 - - - 2273.69 - 77.86 - - 2556.91 - - - - - - - - - - -
19077.72 641.96 8.82 2023 19097.09 done 1.85 - - 2978.88 - 3.22 0.094 3351.50 334.7 77.86 - - 2556.03 - - - - - - - - - 15.77 -
19177.57 632.51 9.04 2040 19196.02 done 1.85 - - 2978.44 - 2.83 0.022 2204.50 -405.3 77.86 - - 2558.12 - - - - - - - - - 15.98 -
19501.83 605.36 7.93 2072 19520.38 done 1.85 - - 2979.19 - 3.10 0.075 1146.12 -341.4 77.86 - - 2557.34 - - - - - - - - - 15.80 -
19586.58 598.12 8.45 2086 19604.32 done 1.85 - - 2979.06 - 2.84 0.030 2274.62 397.4 77.86 - - 2556.78 - - - - - - - - - 15.96 -
19910.54 572.80 7.37 2118 19914.60 VBD 1.89 - - 2978.75 - - - 2274.94 - 77.86 - - 2555.94 - - - - - - - - - - -
20220.95 550.83 6.34 2149 20240.30 done 2.00 - - 2979.38 - 3.23 0.092 3349.81 332.8 77.86 - - 2558.91 - - - - - - - - - 15.76 -
20286.89 545.97 7.45 2159 20305.88 2.03 0.12 0.104 3013.38 283.3 2.84 0.021 2202.00 -404.2 77.86 - - 2558.56 - - - - - - - - 15.75 15.81 -
20612.11 523.29 7.06 2191 20616.17 VBD 2.09 - - 3013.44 - - - 2200.25 - 77.86 - - 2556.28 - - - - - - - - - - -
20922.36 502.44 6.49 2222 20940.92 2.19 - - 3013.38 - 3.08 0.074 1145.94 -342.3 77.86 - - 2558.81 - - - - - - - - - 15.79 -
21051.81 493.26 7.02 2245 21070.29 2.25 - - 3014.12 - 2.84 0.030 2276.00 397.9 77.86 - - 2556.62 - - - - - - - - - 15.95 -
21376.54 470.28 7.17 2277 21395.93 2.30 - - 3013.19 - 3.22 0.091 3349.88 333.5 77.86 - - 2557.12 - - - - - - - - - 15.70 -
21462.12 463.44 8.15 2291 21479.88 2.30 - - 3013.62 - 2.82 0.021 2201.56 -407.2 77.86 - - 2556.25 - - - - - - - - - 15.97 -
21786.09 440.23 7.09 2323 21804.68 2.36 - - 3014.56 - 3.10 0.074 1145.69 -340.6 77.86 - - 2558.12 - - - - - - - - - 15.60 -
21815.65 437.98 6.96 2326 21834.13 2.42 - - 3013.75 - 2.83 0.029 2276.56 399.6 77.86 - - 2556.94 - - - - - - - - - 15.84 -
22140.34 415.52 6.88 2358 22144.43 2.49 - - 3014.06 - - - 2277.00 - 77.86 - - 2555.62 - - - - - - - - - - -
22450.65 394.86 6.53 2389 22471.42 2.58 - - 3014.06 - 3.29 0.070 1144.50 -344.2 77.86 - - 2556.31 - - - - - - - - - 15.76 -
22657.34 380.74 7.01 2427 22675.81 2.65 - - 3014.31 - 2.86 0.029 2277.38 396.1 77.86 - - 2556.53 - - - - - - - - - 15.88 -
22982.04 361.15 6.08 2459 23002.82 2.77 - - 3013.25 - 3.26 0.069 1146.00 -347.0 77.86 - - 2556.22 - - - - - - - - - 15.77 -
23128.69 352.26 6.04 2485 23147.25 2.89 - - 3014.12 - 2.83 0.029 2276.19 399.4 77.86 - - 2556.53 - - - - - - - - - 15.93 -
23453.50 333.65 5.76 2517 23473.12 3.02 - - 3013.88 - 3.20 0.090 3352.44 336.3 77.86 - - 2556.56 - - - - - - - - - 15.73 -
23569.85 325.80 6.95 2537 23587.58 3.09 - - 3014.12 - 2.80 0.021 2200.25 -411.5 77.86 - - 2557.38 - - - - - - - - - 15.94 -
23893.81 305.82 5.92 2569 23912.38 3.22 - - 3014.50 - 3.03 0.072 1144.31 -348.5 77.86 - - 2555.22 - - - - - - - - - 15.76 -
24023.27 297.45 6.69 2592 24042.14 3.30 - - 3014.62 - 2.81 0.028 2276.75 403.0 77.86 - - 2556.31 - - - - - - - - - 15.95 -
24348.34 278.88 5.70 2624 24367.72 3.44 - - 3014.62 - 3.23 0.068 1142.31 -351.2 77.86 - - 2558.84 - - - - - - - - - 15.76 -
24528.62 268.01 5.88 2657 24547.10 3.57 - - 3014.38 - 2.82 0.028 2276.88 402.3 77.86 - - 2556.81 - - - - - - - - - 15.92 -
24853.32 251.56 4.80 2689 24949.82 3.70 - - 3014.75 - 3.18 0.092 3352.00 338.1 145.11 52.94 1.532 2298.22 -4.9 0.136 - - - - - - - 15.64 10.97
24955.99 244.37 9.20 2700 24974.47 roll back 3.70 - - 3014.44 - 2.83 0.021 2201.50 -406.5 145.11 - - 2295.72 - - - - - - - - - 15.77 -
25280.41 214.17 9.55 2732 25298.98 3.70 - - 3014.75 - 3.03 0.073 1144.81 -348.7 145.11 - - 2288.31 - - - - - - - - - 15.73 -
25455.20 197.60 8.80 2764 25472.96 3.70 - - 3015.19 - 2.82 0.029 2274.38 400.6 145.11 - - 2288.00 - - - - - - - - - 15.69 -
25778.78 171.12 8.67 2796 25782.86 3.70 - - 3013.94 - - - 2274.81 - 145.11 - - 2287.00 - - - - - - - - - - -
26088.83 143.41 8.66 2827 26092.90 3.70 - - 3014.31 - - - 2275.06 - 145.11 - - 2286.59 - - - - - - - - - - -
26398.89 116.35 8.52 2858 26417.86 3.70 - - 3015.50 - 3.16 0.089 3352.19 340.9 145.11 - - 2288.09 - - - - - - - - - 15.72 -
26544.46 105.83 6.99 2884 26562.20 3.77 - - 3015.00 - 2.80 0.020 2199.19 -411.8 145.11 - - 2287.03 - - - - - - - - - 15.85 -
26868.42 87.72 4.32 2938 26972.38 3.92 - - 3015.06 - 3.04 0.074 1144.94 -346.8 222.17 59.69 1.297 1984.16 -5.1 0.058 - - - - - - - 15.63 11.62
27043.69 75.66 7.92 2965 27062.17 3.92 - - 3014.06 - 2.82 0.027 2278.75 402.1 222.17 - - 1976.41 - - - - - - - - - 15.64 -
27248.40 62.71 6.50 3003 27268.09 3.92 - - 3015.00 - 3.18 0.088 3351.75 337.4 222.17 - - 1973.19 - - - - - - - - - 15.64 -
27374.71 54.01 6.99 3025 27393.18 3.92 - - 3015.31 - 2.82 0.020 2198.94 -408.8 222.17 - - 1972.25 - - - - - - - - - 15.75 -
27579.40 43.74 4.35 3063 27682.69 4.07 - - 3015.56 - 3.03 0.074 1146.00 -347.5 298.62 58.17 1.213 1672.81 -5.1 0.031 - - - - - - - 15.58 11.68
27764.29 32.76 6.77 3092 27782.79 roll back 4.07 - - 3015.19 - 2.82 0.026 2278.81 401.7 298.62 - - 1664.09 - - - - - - - - - 15.68 -
27969.16 17.12 7.38 3130 27989.25 4.11 - - 3014.81 - 3.16 0.087 3351.06 339.3 298.62 - - 1661.06 - - - - - - - - - 15.62 -
28220.90 15.49 0.19 3177 28268.75 4.44 - - 3015.31 - 2.82 0.019 2190.44 -411.6 461.00 21.60 1.107 1563.59 -4.5 0.011 - - - - - - - 15.79 11.57
28271 end climb: NO_VERTICAL_VELOCITY
28272 begin surface
SM 1.11 - - - - 181.9 - - 493.8 - 19.86 0.050 469.4 23.6 - 0.18 0.086 518.2 2863.2 -3.777 - - 30.00 15.60 15.64 -