NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 331 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 117.30 of 506.00 AH used of 24V (76.82% remains)
• Surface angle -67.4 deg, depth 1.27 m • Intended pitch -16.4 deg, speed -8.049 cm/s
• No surface pump (final VBD was 1140.8, SM_CC=430)
• GPS1 time: 19 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
10 end surface: CONTROL_FINISHED_OK
11 begin dive
18.89 - - - 97.30 VBD -1.18 - - 179.19 - - - 2291.50 - -77.86 54.87 0.005 2549.50 - - - - - - - - - - 15.15
99.52 3.44 -4.33 11 221.33 -1.18 17.30 0.220 2227.00 118.4 3.27 0.065 1144.94 -350.6 -77.86 10.70 0.007 3210.22 61.7 -5.144 - - - - - - 15.40 15.18 15.30
327.47 41.02 -12.54 39 345.77 roll -1.18 - - 2227.06 - 2.82 0.025 2276.38 401.2 -77.86 - - 3213.53 - - - - - - - - - 15.76 -
531.70 65.99 -12.17 77 551.18 roll -1.18 - - 2227.69 - 3.15 0.083 3351.88 341.4 -77.86 - - 3214.06 - - - - - - - - - 15.63 -
607.34 75.24 -12.15 89 625.64 roll -1.18 - - 2227.56 - 2.83 0.019 2192.00 -409.9 -77.86 - - 3213.50 - - - - - - - - - 15.81 -
811.46 92.33 -7.21 127 830.16 roll -1.18 - - 2226.56 - 2.99 0.066 1145.56 -350.0 -77.86 - - 3214.94 - - - - - - - - - 15.66 -
871.32 96.78 -7.57 136 889.20 roll -1.18 - - 2227.25 - 2.77 0.024 2279.69 409.4 -77.86 - - 3215.00 - - - - - - - - - 15.77 -
1079.96 110.04 -5.40 159 1098.33 roll -1.18 - - 2227.31 - 3.09 0.081 3351.81 347.0 -77.86 - - 3215.94 - - - - - - - - - 15.75 -
1198.76 118.21 -6.80 180 1217.07 roll -1.18 - - 2227.06 - 2.81 0.019 2188.56 -414.0 -77.86 - - 3215.88 - - - - - - - - - 15.69 -
1522.85 140.09 -7.53 212 1544.08 roll -1.18 - - 2227.50 - 3.37 0.077 3352.31 345.3 -77.86 - - 3216.00 - - - - - - - - - 15.79 -
1569.67 143.72 -7.66 218 1587.78 done -1.18 - - 2227.69 - 2.80 0.019 2189.31 -415.4 -77.86 - - 3216.97 - - - - - - - - - 15.79 -
1893.60 165.25 -6.38 250 1911.80 done -1.18 - - 2228.12 - 2.97 0.067 1144.88 -351.7 -77.86 - - 3215.12 - - - - - - - - - 15.81 -
2012.30 174.43 -7.92 271 2030.80 roll -1.18 - - 2227.81 - 2.77 0.024 2281.31 410.3 -77.86 - - 3215.72 - - - - - - - - - 15.91 -
2336.62 200.16 -8.40 303 2340.70 no move -1.18 - - 2226.88 - - - 2280.62 - -77.86 - - 3214.44 - - - - - - - - - - -
2646.67 224.34 -7.08 334 2666.09 roll -1.18 - - 2227.00 - 3.26 0.064 1146.31 -347.9 -77.86 - - 3215.41 - - - - - - - - - 15.75 -
2726.57 230.61 -7.73 347 2745.08 roll -1.18 - - 2227.94 - 2.78 0.025 2278.19 407.2 -77.86 - - 3215.16 - - - - - - - - - 15.90 -
3050.93 253.22 -6.82 379 3054.99 no move -1.18 - - 2227.00 - - - 2277.88 - -77.86 - - 3213.44 - - - - - - - - - - -
3360.98 275.52 -7.77 410 3380.40 roll -1.18 - - 2227.50 - 3.23 0.064 1146.56 -350.3 -77.86 - - 3214.81 - - - - - - - - - 15.76 -
3430.88 281.33 -8.34 421 3449.23 roll -1.18 - - 2228.00 - 2.78 0.025 2278.69 407.2 -77.86 - - 3214.03 - - - - - - - - - 15.91 -
3755.19 306.11 -7.23 453 3774.18 roll -1.18 - - 2228.06 - 3.13 0.085 3352.56 343.1 -77.86 - - 3212.84 - - - - - - - - - 15.83 -
3810.39 310.59 -8.33 461 3827.77 roll -1.18 - - 2227.25 - 2.80 0.019 2191.25 -414.8 -77.86 - - 3214.41 - - - - - - - - - 15.98 -
4133.59 334.85 -7.46 493 4151.79 roll -1.18 - - 2227.25 - 2.99 0.068 1144.69 -350.0 -77.86 - - 3211.97 - - - - - - - - - 15.86 -
4188.00 339.21 -8.01 501 4205.39 roll -1.18 - - 2227.81 - 2.76 0.025 2279.94 411.3 -77.86 - - 3213.53 - - - - - - - - - 15.98 -
4511.24 363.34 -7.39 533 4515.30 no move -1.18 - - 2227.69 - - - 2280.38 - -77.86 - - 3211.62 - - - - - - - - - - -
4821.30 386.42 -7.52 564 4840.71 roll -1.18 - - 2227.81 - 3.25 0.065 1146.12 -349.0 -77.86 - - 3212.66 - - - - - - - - - 15.76 -
4861.18 389.64 -7.77 569 4879.70 roll -1.18 - - 2227.81 - 2.78 0.025 2279.00 407.5 -77.86 - - 3212.12 - - - - - - - - - 15.92 -
5185.51 412.09 -6.51 601 5189.59 no move -1.18 - - 2227.69 - - - 2279.38 - -77.86 - - 3211.09 - - - - - - - - - - -
5495.53 431.52 -6.25 632 5499.59 no move -1.18 - - 2227.25 - - - 2279.12 - -77.86 - - 3209.88 - - - - - - - - - - -
5805.54 449.91 -5.71 663 5824.95 roll -1.18 - - 2227.94 - 3.25 0.065 1145.25 -348.9 -77.86 - - 3209.88 - - - - - - - - - 15.85 -
5861.16 453.36 -6.02 671 5878.94 roll -1.18 - - 2227.88 - 2.79 0.026 2277.88 406.0 -77.86 - - 3210.00 - - - - - - - - - 15.91 -
6184.79 471.17 -5.38 703 6188.86 no move -1.18 - - 2228.00 - - - 2278.50 - -77.86 - - 3209.09 - - - - - - - - - - -
6494.82 487.90 -5.60 734 6498.89 no move -1.18 - - 2227.62 - - - 2278.19 - -77.86 - - 3208.44 - - - - - - - - - - -
6804.87 507.23 -6.42 765 6808.93 no move -1.18 - - 2226.88 - - - 2278.06 - -77.86 - - 3208.31 - - - - - - - - - - -
7114.91 527.92 -6.90 796 7118.97 no move -1.18 - - 2227.62 - - - 2277.94 - -77.86 - - 3207.25 - - - - - - - - - - -
7424.95 549.01 -6.67 827 7429.01 no move -1.18 - - 2228.00 - - - 2278.44 - -77.86 - - 3206.78 - - - - - - - - - - -
7734.99 570.14 -7.05 858 7739.07 no move -1.18 - - 2227.62 - - - 2278.19 - -77.86 - - 3206.84 - - - - - - - - - - -
8045.03 592.78 -7.41 889 8049.09 no move -1.18 - - 2227.62 - - - 2277.62 - -77.86 - - 3206.62 - - - - - - - - - - -
8355.08 616.26 -7.88 920 8375.89 roll -1.18 - - 2226.44 - 3.28 0.067 1146.19 -344.9 -77.86 - - 3206.69 - - - - - - - - - 15.81 -
8431.38 622.60 -8.34 932 8449.48 roll -1.18 - - 2227.56 - 2.80 0.026 2276.50 403.7 -77.86 - - 3207.56 - - - - - - - - - 15.87 -
8755.32 647.76 -8.70 964 8774.34 roll -1.18 - - 2227.75 - 3.17 0.087 3350.50 338.8 -77.86 - - 3205.72 - - - - - - - - - 15.77 -
8854.95 656.27 -8.58 981 8873.46 roll -1.18 - - 2227.50 - 2.83 0.020 2195.62 -408.1 -77.86 - - 3205.84 - - - - - - - - - 15.97 -
9179.30 681.46 -7.79 1013 9183.36 no move -1.18 - - 2227.00 - - - 2194.56 - -77.86 - - 3205.00 - - - - - - - - - - -
9489.35 704.02 -6.98 1044 9508.06 roll -1.18 - - 2227.12 - 3.07 0.071 1146.19 -341.5 -77.86 - - 3207.31 - - - - - - - - - 15.81 -
9544.27 708.07 -7.24 1052 9561.67 roll -1.18 - - 2226.44 - 2.78 0.026 2278.69 407.4 -77.86 - - 3205.69 - - - - - - - - - 15.99 -
9867.48 728.70 -6.03 1084 9871.54 no move -1.18 - - 2227.00 - - - 2278.81 - -77.86 - - 3204.53 - - - - - - - - - - -
10177.49 746.37 -5.77 1115 10181.55 no move -1.18 - - 2227.00 - - - 2278.88 - -77.86 - - 3204.00 - - - - - - - - - - -
10487.50 764.50 -5.95 1146 10491.57 no move -1.18 - - 2227.25 - - - 2279.06 - -77.86 - - 3204.25 - - - - - - - - - - -
10797.52 782.08 -5.28 1177 10801.58 no move -1.18 - - 2227.19 - - - 2278.44 - -77.86 - - 3203.97 - - - - - - - - - - -
11107.55 798.94 -5.34 1208 11129.02 roll -1.18 - - 2226.81 - 3.33 0.068 1147.25 -339.7 -77.86 - - 3204.62 - - - - - - - - - 15.70 -
11230.36 805.71 -5.61 1229 11248.55 roll -1.18 - - 2227.56 - 2.81 0.027 2277.19 402.1 -77.86 - - 3204.72 - - - - - - - - - 15.91 -
11554.89 821.78 -4.90 1261 11574.31 roll -1.18 - - 2227.00 - 3.20 0.089 3351.81 335.8 -77.86 - - 3202.00 - - - - - - - - - 15.72 -
11600.51 824.02 -5.26 1267 11618.31 roll -1.18 - - 2227.88 - 2.84 0.020 2194.56 -407.5 -77.86 - - 3203.41 - - - - - - - - - 15.96 -
11924.16 839.76 -5.16 1299 11942.76 roll -1.18 - - 2226.88 - 3.06 0.072 1147.50 -342.2 -77.86 - - 3204.91 - - - - - - - - - 15.77 -
11998.97 843.86 -5.26 1311 12016.75 roll -1.18 - - 2227.56 - 2.79 0.027 2278.56 405.4 -77.86 - - 3203.88 - - - - - - - - - 15.96 -
12322.57 860.91 -5.45 1343 12326.63 no move -1.18 - - 2227.69 - - - 2278.56 - -77.86 - - 3202.31 - - - - - - - - - - -
12632.59 877.71 -5.36 1374 12651.60 roll -1.18 - - 2227.50 - 3.20 0.089 3351.12 335.2 -77.86 - - 3202.00 - - - - - - - - - 15.67 -
12702.10 882.11 -6.68 1385 12720.61 roll -1.18 - - 2227.81 - 2.83 0.020 2195.56 -408.3 -77.86 - - 3203.22 - - - - - - - - - 15.98 -
13026.45 901.09 -5.63 1417 13030.51 no move -1.18 - - 2227.19 - - - 2193.75 - -77.86 - - 3201.00 - - - - - - - - - - -
13336.49 919.74 -6.15 1448 13358.10 roll -1.18 - - 2227.56 - 3.42 0.085 3350.75 338.3 -77.86 - - 3201.06 - - - - - - - - - 15.71 -
13419.32 924.98 -6.44 1461 13437.12 roll -1.18 - - 2227.50 - 2.82 0.021 2197.62 -408.9 -77.86 - - 3202.97 - - - - - - - - - 15.96 -
13742.97 945.06 -6.28 1493 13747.04 no move -1.18 - - 2227.25 - - - 2196.44 - -77.86 - - 3200.44 - - - - - - - - - - -
14053.42 961.23 -4.98 1524 14057.48 no move -1.18 - - 2226.81 - - - 2196.00 - -77.86 - - 3200.00 - - - - - - - - - - -
14363.72 975.82 -4.48 1555 14367.78 no move -1.18 - - 2227.19 - - - 2195.25 - -77.86 - - 3201.09 - - - - - - - - - - -
14673 end dive: TARGET_DEPTH_EXCEEDED
14673 begin apogee
14678.64 990.39 -4.72 1586 14781.36 -0.31 1.61 0.133 2440.44 132.5 0.14 0.163 2190.38 -34.8 - 63.93 2.437 2888.94 -4.9 0.336 - - - - - - 15.63 15.44 10.35
14786 end apogee: CONTROL_FINISHED_OK
14786 begin climb
14789.42 991.27 - 1593 14917.55 1.18 2.59 0.090 2805.12 140.8 3.59 0.092 3350.62 323.2 77.86 66.34 2.413 2570.22 -4.8 0.335 - - - - - - 15.57 15.21 11.97
14924.15 984.42 6.70 1606 14943.09 roll 1.26 - - 2805.94 - 2.92 0.021 2205.88 -392.0 77.86 - - 2568.06 - - - - - - - - - 15.52 -
15249.44 961.51 7.30 1638 15271.08 1.31 0.17 0.090 2841.56 209.5 3.13 0.077 1148.19 -337.9 77.86 - - 2563.34 - - - - - - - - 15.72 15.67 -
15392.30 949.64 8.12 1663 15410.09 done 1.31 - - 2842.88 - 2.84 0.031 2274.25 396.5 77.86 - - 2562.81 - - - - - - - - - 15.82 -
15715.95 924.55 7.57 1695 15720.01 VBD 1.31 - - 2843.19 - - - 2274.50 - 77.86 - - 2560.16 - - - - - - - - - - -
16026.00 900.02 7.99 1726 16047.20 done 1.31 - - 2842.25 - 3.31 0.073 1146.69 -340.7 77.86 - - 2561.34 - - - - - - - - - 15.80 -
16088.40 894.94 7.83 1735 16106.58 done 1.31 - - 2842.81 - 2.84 0.030 2275.00 397.3 77.86 - - 2561.69 - - - - - - - - - 15.92 -
16412.43 868.99 7.65 1767 16416.49 VBD 1.31 - - 2843.00 - - - 2274.69 - 77.86 - - 2559.41 - - - - - - - - - - -
16722.88 845.57 7.53 1798 16726.94 VBD 1.34 - - 2842.88 - - - 2274.38 - 77.86 - - 2558.62 - - - - - - - - - - -
17033.19 821.82 7.35 1829 17037.25 VBD 1.38 - - 2843.25 - - - 2274.75 - 77.86 - - 2558.41 - - - - - - - - - - -
17343.49 799.37 6.99 1860 17364.30 done 1.44 - - 2843.31 - 3.30 0.073 1148.19 -341.4 77.86 - - 2557.44 - - - - - - - - - 15.79 -
17525.92 787.24 6.41 1893 17545.36 1.54 0.29 0.064 2900.75 198.1 2.84 0.031 2273.69 396.3 77.86 - - 2557.88 - - - - - - - - 15.75 15.95 -
17851.59 766.23 5.78 1925 17872.79 done 1.68 - - 2902.75 - 3.31 0.072 1145.81 -340.7 77.86 - - 2559.38 - - - - - - - - - 15.81 -
17978.70 759.20 5.27 1947 17999.25 1.85 0.40 0.061 2976.38 184.1 2.88 0.030 2273.81 391.7 77.86 - - 2558.47 - - - - - - - - 15.71 15.72 -
18305.50 738.62 6.34 1979 18309.56 VBD 1.95 - - 2976.25 - - - 2274.06 - 77.86 - - 2557.59 - - - - - - - - - - -
18615.82 718.87 6.54 2010 18638.51 2.04 0.14 0.098 3014.75 275.0 3.31 0.071 1145.81 -340.9 77.86 - - 2556.19 - - - - - - - - 15.90 15.81 -
18869.90 697.96 8.26 2057 18887.70 done 2.04 - - 3014.25 - 2.86 0.031 2273.81 394.4 77.86 - - 2556.41 - - - - - - - - - 15.96 -
19193.51 671.93 7.85 2089 19214.33 done 2.04 - - 3013.81 - 3.28 0.070 1146.44 -343.7 77.86 - - 2557.59 - - - - - - - - - 15.81 -
19269.80 665.45 8.62 2101 19288.32 done 2.04 - - 3014.69 - 2.86 0.031 2274.56 394.4 77.86 - - 2558.12 - - - - - - - - - 15.96 -
19594.17 638.89 8.52 2133 19614.99 done 2.04 - - 3014.50 - 3.30 0.070 1145.81 -342.0 77.86 - - 2557.22 - - - - - - - - - 15.80 -
19646.19 634.28 8.93 2140 19663.99 done 2.04 - - 3014.56 - 2.84 0.030 2272.94 396.9 77.86 - - 2558.41 - - - - - - - - - 15.96 -
19969.84 606.36 8.82 2172 19990.65 done 2.04 - - 3014.88 - 3.30 0.070 1145.75 -341.6 77.86 - - 2557.69 - - - - - - - - - 15.79 -
20186.18 585.91 8.82 2212 20204.94 done 2.04 - - 3014.62 - 2.86 0.030 2272.94 394.1 77.86 - - 2557.16 - - - - - - - - - 15.95 -
20510.91 558.07 8.66 2244 20514.99 VBD 2.04 - - 3014.12 - - - 2272.94 - 77.86 - - 2556.25 - - - - - - - - - - -
20820.96 532.61 7.72 2275 20825.02 VBD 2.04 - - 3014.44 - - - 2273.69 - 77.86 - - 2556.59 - - - - - - - - - - -
21131.41 510.28 7.07 2306 21135.47 VBD 2.10 - - 3014.81 - - - 2272.56 - 77.86 - - 2556.53 - - - - - - - - - - -
21441.84 490.41 6.18 2337 21462.65 2.21 - - 3014.94 - 3.30 0.070 1145.62 -341.5 77.86 - - 2556.22 - - - - - - - - - 15.76 -
21608.57 480.30 5.70 2367 21627.12 2.35 - - 3013.69 - 2.87 0.030 2274.50 393.3 77.86 - - 2558.00 - - - - - - - - - 15.88 -
21933.59 464.11 4.70 2399 22032.33 2.49 - - 3014.12 - 3.34 0.073 1147.25 -337.5 147.12 56.19 1.807 2289.75 -4.8 0.208 - - - - - - - 15.60 11.08
22038.43 457.32 8.30 2412 22056.97 roll back 2.49 - - 3014.75 - 2.88 0.030 2272.62 390.8 147.12 - - 2285.19 - - - - - - - - - 15.70 -
22362.92 430.41 7.77 2444 22384.15 2.49 - - 3014.56 - 3.32 0.070 1146.31 -339.2 147.12 - - 2282.19 - - - - - - - - - 15.72 -
22439.74 423.65 8.97 2456 22458.33 2.49 - - 3015.00 - 2.88 0.030 2273.38 391.3 147.12 - - 2281.25 - - - - - - - - - 15.80 -
22764.18 396.93 8.54 2488 22785.42 2.49 - - 3015.00 - 3.31 0.070 1144.56 -341.0 147.12 - - 2279.97 - - - - - - - - - 15.75 -
22806.61 393.05 9.14 2493 22824.41 2.49 - - 3013.56 - 2.86 0.030 2272.81 394.5 147.12 - - 2278.31 - - - - - - - - - 15.79 -
23130.25 363.79 8.98 2525 23134.33 2.49 - - 3014.75 - - - 2273.19 - 147.12 - - 2278.38 - - - - - - - - - - -
23440.30 334.84 8.97 2556 23461.12 2.49 - - 3014.25 - 3.30 0.070 1147.25 -341.2 147.12 - - 2279.59 - - - - - - - - - 15.76 -
23472.31 331.82 9.35 2559 23490.12 2.49 - - 3013.81 - 2.84 0.030 2273.69 396.6 147.12 - - 2279.12 - - - - - - - - - 15.92 -
23795.97 303.09 8.84 2591 23800.05 2.49 - - 3014.69 - - - 2273.12 - 147.12 - - 2278.19 - - - - - - - - - - -
24106.02 275.38 9.00 2622 24127.18 2.49 - - 3015.56 - 3.29 0.069 1145.94 -342.6 147.12 - - 2279.00 - - - - - - - - - 15.68 -
24208.55 266.27 8.83 2639 24226.37 2.49 - - 3014.25 - 2.85 0.029 2272.75 395.4 147.12 - - 2277.03 - - - - - - - - - 15.88 -
24532.21 239.56 8.26 2671 24536.29 2.49 - - 3015.56 - - - 2272.75 - 147.12 - - 2277.72 - - - - - - - - - - -
24842.27 210.63 9.71 2702 24863.51 2.49 - - 3013.31 - 3.31 0.069 1145.69 -340.5 147.12 - - 2278.44 - - - - - - - - - 15.77 -
24884.72 206.42 10.04 2707 24902.52 2.49 - - 3015.44 - 2.85 0.029 2273.50 395.7 147.12 - - 2278.94 - - - - - - - - - 15.93 -
25208.37 174.07 10.58 2739 25212.44 2.49 - - 3015.44 - - - 2273.19 - 147.12 - - 2278.22 - - - - - - - - - - -
25518.39 142.65 10.01 2770 25539.62 2.49 - - 3014.19 - 3.32 0.068 1146.31 -339.4 147.12 - - 2277.34 - - - - - - - - - 15.69 -
25605.11 133.19 10.91 2784 25623.64 2.49 - - 3014.94 - 2.84 0.028 2273.69 397.0 147.12 - - 2278.59 - - - - - - - - - 15.91 -
25929.48 100.56 8.95 2816 25950.31 2.49 - - 3015.06 - 3.30 0.067 1145.94 -341.7 147.12 - - 2278.53 - - - - - - - - - 15.66 -
26182.38 87.25 3.41 2863 26306.02 2.68 - - 3015.12 - 2.86 0.027 2275.19 394.8 242.94 73.90 1.305 1898.91 -5.1 0.058 - - - - - - - 15.73 11.48
26492.00 64.02 9.33 2916 26498.61 2.68 - - 3014.69 - - - 2275.81 - 242.94 - - 1889.00 - - - - - - - - - - -
26684.53 43.53 9.03 2954 26705.47 2.68 - - 3015.44 - 3.33 0.068 1146.19 -339.2 242.94 - - 1886.94 - - - - - - - - - 15.64 -
26847.12 36.66 3.09 2983 26976.91 2.89 - - 3014.81 - 2.87 0.027 2276.81 393.9 345.35 78.33 1.215 1481.38 -5.2 0.026 - - - - - - - 15.71 11.76
27162.74 18.98 7.77 3037 27183.30 2.89 - - 3014.50 - 3.37 0.067 1147.00 -335.3 345.35 - - 1473.41 - - - - - - - - - 15.62 -
27415.08 4.24 3.77 3084 27435.65 3.06 - - 3014.56 - 2.84 0.026 2275.75 397.4 433.79 1.55 0.160 1469.78 -2.3 0.011 - - - - - - - 15.69 15.49
27437 end climb: SURFACE_DEPTH_REACHED
27437 begin surface coast
27557 end surface coast: CONTROL_FINISHED_OK
27558 begin surface
SM 1.14 - - - - 180.4 64.24 1.156 1136.9 17.7 19.80 0.052 1133.0 57.2 - 0.12 0.085 1140.8 9483.0 -12.999 - - 11.49 15.78 15.86 -