NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 510 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 176.04 of 506.00 AH used of 24V (65.21% remains)
• Surface angle -61.8 deg, depth 0.96 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.00 (SM_CC=430)
• GPS1 time: 19 s
• GPS2 time: 1 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
19.13 - - - 126.08 VBD -1.18 - - 178.88 - - - 2278.69 - -77.86 75.56 0.005 2940.75 - - - - - - - - - - 14.86
128.30 3.29 -3.17 15 242.48 -1.18 17.36 0.219 2228.25 118.1 3.20 0.086 3352.06 335.4 -77.86 3.66 0.010 3210.72 73.8 -4.172 - - - - - - 15.29 14.99 15.12
264.67 45.91 -18.71 25 282.93 roll -1.18 - - 2227.62 - 2.77 0.019 2193.81 -418.1 -77.86 - - 3213.41 - - - - - - - - - 15.57 -
469.01 69.05 -10.91 63 488.46 roll -1.18 - - 2227.50 - 2.96 0.067 1144.25 -354.6 -77.86 - - 3213.31 - - - - - - - - - 15.64 -
544.87 76.62 -9.61 75 563.52 roll -1.18 - - 2228.12 - 2.79 0.024 2280.25 407.2 -77.86 - - 3213.81 - - - - - - - - - 15.61 -
749.60 94.10 -8.65 113 769.84 roll -1.18 - - 2227.88 - 3.14 0.083 3352.50 341.5 -77.86 - - 3214.53 - - - - - - - - - 15.62 -
870.29 105.35 -8.92 134 888.93 roll -1.18 - - 2227.44 - 2.75 0.019 2189.06 -423.1 -77.86 - - 3213.84 - - - - - - - - - 15.80 -
1194.99 133.22 -7.80 166 1213.09 roll -1.18 - - 2226.06 - 2.91 0.067 1144.56 -358.9 -77.86 - - 3213.94 - - - - - - - - - 15.64 -
1279.51 139.98 -8.11 180 1296.82 roll -1.18 - - 2226.75 - 2.78 0.024 2278.25 407.8 -77.86 - - 3215.66 - - - - - - - - - 15.76 -
1602.87 162.13 -7.11 212 1622.06 roll -1.18 - - 2227.75 - 3.15 0.083 3352.75 341.1 -77.86 - - 3215.03 - - - - - - - - - 15.61 -
1682.67 168.69 -8.49 225 1701.16 roll -1.18 - - 2227.81 - 2.77 0.019 2188.94 -420.1 -77.86 - - 3214.69 - - - - - - - - - 15.82 -
2007.23 195.46 -8.23 257 2011.29 no move -1.18 - - 2227.94 - - - 2186.94 - -77.86 - - 3214.34 - - - - - - - - - - -
2317.35 222.52 -8.81 288 2321.41 no move -1.18 - - 2227.25 - - - 2186.88 - -77.86 - - 3213.91 - - - - - - - - - - -
2627.50 247.07 -7.33 319 2648.84 roll -1.18 - - 2226.31 - 3.38 0.080 3352.50 344.9 -77.86 - - 3214.84 - - - - - - - - - 15.78 -
2660.28 249.71 -7.82 322 2677.79 roll -1.18 - - 2228.25 - 2.74 0.019 2189.12 -424.6 -77.86 - - 3215.09 - - - - - - - - - 15.93 -
2983.88 273.71 -7.45 354 3005.64 roll -1.18 - - 2227.25 - 3.40 0.079 3353.50 342.5 -77.86 - - 3214.16 - - - - - - - - - 15.70 -
3027.09 277.41 -8.68 359 3044.59 roll -1.18 - - 2227.12 - 2.74 0.019 2191.00 -424.3 -77.86 - - 3215.41 - - - - - - - - - 15.93 -
3350.69 304.39 -8.77 391 3354.75 no move -1.18 - - 2227.56 - - - 2189.44 - -77.86 - - 3213.97 - - - - - - - - - - -
3660.84 331.65 -8.25 422 3679.15 roll -1.18 - - 2227.69 - 2.94 0.070 1145.06 -355.2 -77.86 - - 3214.12 - - - - - - - - - 15.83 -
3699.65 335.26 -8.41 427 3718.13 roll -1.18 - - 2226.38 - 2.76 0.025 2280.44 411.4 -77.86 - - 3216.09 - - - - - - - - - 15.96 -
4024.32 360.59 -7.48 459 4028.38 no move -1.18 - - 2227.38 - - - 2280.88 - -77.86 - - 3214.50 - - - - - - - - - - -
4334.45 383.24 -7.22 490 4353.57 roll -1.18 - - 2228.00 - 3.18 0.066 1146.88 -356.6 -77.86 - - 3213.72 - - - - - - - - - 15.83 -
4404.06 388.61 -7.67 501 4422.54 roll -1.18 - - 2227.56 - 2.79 0.025 2279.88 406.1 -77.86 - - 3215.06 - - - - - - - - - 15.91 -
4728.64 413.36 -7.67 533 4732.70 no move -1.18 - - 2227.31 - - - 2279.25 - -77.86 - - 3213.22 - - - - - - - - - - -
5038.79 438.13 -8.38 564 5042.85 no move -1.18 - - 2227.62 - - - 2278.75 - -77.86 - - 3212.88 - - - - - - - - - - -
5348.94 461.60 -7.26 595 5368.06 roll -1.18 - - 2227.19 - 3.17 0.067 1145.25 -357.6 -77.86 - - 3213.69 - - - - - - - - - 15.79 -
5474.54 471.12 -7.33 617 5492.05 roll -1.18 - - 2227.44 - 2.80 0.026 2277.88 404.5 -77.86 - - 3213.59 - - - - - - - - - 15.84 -
5798.12 492.87 -6.57 649 5817.26 roll -1.18 - - 2227.50 - 3.16 0.066 1145.94 -358.2 -77.86 - - 3211.56 - - - - - - - - - 15.81 -
5887.81 499.46 -7.34 664 5906.70 roll -1.18 - - 2227.88 - 2.81 0.026 2278.00 402.9 -77.86 - - 3213.53 - - - - - - - - - 15.95 -
6212.91 521.50 -6.85 696 6216.97 no move -1.18 - - 2228.12 - - - 2277.94 - -77.86 - - 3212.00 - - - - - - - - - - -
6523.07 543.37 -7.08 727 6527.13 no move -1.18 - - 2227.00 - - - 2278.00 - -77.86 - - 3210.97 - - - - - - - - - - -
6833.19 564.63 -6.77 758 6852.73 roll -1.18 - - 2226.38 - 3.21 0.067 1145.56 -352.8 -77.86 - - 3212.66 - - - - - - - - - 15.81 -
6879.18 567.87 -6.93 764 6896.69 roll -1.18 - - 2227.88 - 2.80 0.026 2277.12 404.1 -77.86 - - 3211.66 - - - - - - - - - 15.98 -
7202.79 589.13 -6.45 796 7206.85 no move -1.18 - - 2227.88 - - - 2277.50 - -77.86 - - 3210.81 - - - - - - - - - - -
7512.95 610.06 -6.68 827 7517.01 no move -1.18 - - 2227.31 - - - 2277.69 - -77.86 - - 3210.22 - - - - - - - - - - -
7823.10 630.99 -6.68 858 7827.16 no move -1.18 - - 2226.62 - - - 2277.38 - -77.86 - - 3210.03 - - - - - - - - - - -
8133.23 651.33 -6.37 889 8152.76 roll -1.18 - - 2227.81 - 3.20 0.067 1145.38 -353.8 -77.86 - - 3208.75 - - - - - - - - - 15.80 -
8179.21 654.37 -6.80 895 8197.11 roll -1.18 - - 2227.88 - 2.81 0.026 2278.31 403.2 -77.86 - - 3210.28 - - - - - - - - - 15.98 -
8503.24 674.88 -6.36 927 8522.78 roll -1.18 - - 2227.44 - 3.22 0.067 1144.75 -352.0 -77.86 - - 3210.22 - - - - - - - - - 15.68 -
8559.36 678.63 -6.71 935 8576.87 roll -1.18 - - 2227.56 - 2.80 0.026 2277.12 404.4 -77.86 - - 3209.12 - - - - - - - - - 15.98 -
8882.97 700.24 -6.71 967 8902.09 roll -1.18 - - 2226.69 - 3.20 0.067 1145.62 -353.6 -77.86 - - 3209.44 - - - - - - - - - 15.78 -
8972.59 706.85 -7.55 982 8991.06 roll -1.18 - - 2227.62 - 2.80 0.026 2276.00 403.7 -77.86 - - 3209.47 - - - - - - - - - 15.96 -
9297.13 729.93 -7.20 1014 9301.19 no move -1.18 - - 2227.50 - - - 2276.12 - -77.86 - - 3207.81 - - - - - - - - - - -
9607.25 751.71 -7.07 1045 9626.80 roll -1.18 - - 2227.06 - 3.21 0.068 1146.69 -351.8 -77.86 - - 3207.75 - - - - - - - - - 15.77 -
9703.25 758.53 -7.28 1061 9721.57 roll -1.18 - - 2227.69 - 2.85 0.026 2276.50 396.4 -77.86 - - 3208.44 - - - - - - - - - 15.82 -
10027.67 778.64 -5.71 1093 10047.32 roll -1.18 - - 2227.06 - 3.22 0.088 3352.75 334.2 -77.86 - - 3206.97 - - - - - - - - - 15.73 -
10063.78 780.72 -5.71 1097 10082.33 roll -1.18 - - 2227.50 - 2.81 0.020 2191.06 -413.4 -77.86 - - 3208.25 - - - - - - - - - 15.92 -
10388.54 798.63 -5.44 1129 10406.88 roll -1.18 - - 2226.88 - 2.98 0.072 1144.75 -351.1 -77.86 - - 3206.56 - - - - - - - - - 15.76 -
10447.36 802.08 -5.56 1138 10466.23 roll -1.18 - - 2227.19 - 2.79 0.026 2279.06 406.6 -77.86 - - 3208.44 - - - - - - - - - 15.95 -
10772.30 820.50 -5.75 1170 10776.36 no move -1.18 - - 2227.31 - - - 2279.44 - -77.86 - - 3207.19 - - - - - - - - - - -
11082.43 839.60 -6.36 1201 11086.49 no move -1.18 - - 2227.50 - - - 2279.62 - -77.86 - - 3206.78 - - - - - - - - - - -
11392.60 859.52 -6.55 1232 11396.66 no move -1.18 - - 2227.56 - - - 2279.50 - -77.86 - - 3206.97 - - - - - - - - - - -
11702.86 880.17 -6.83 1263 11722.40 roll -1.18 - - 2226.94 - 3.20 0.068 1144.06 -354.8 -77.86 - - 3206.00 - - - - - - - - - 15.74 -
11778.86 885.45 -6.84 1275 11796.38 roll -1.18 - - 2227.50 - 2.80 0.026 2277.56 404.8 -77.86 - - 3207.28 - - - - - - - - - 15.97 -
12102.46 907.17 -6.74 1307 12106.52 no move -1.18 - - 2227.38 - - - 2278.19 - -77.86 - - 3205.91 - - - - - - - - - - -
12412.62 927.50 -6.21 1338 12417.07 no move -1.18 - - 2227.50 - - - 2278.38 - -77.86 - - 3204.84 - - - - - - - - - - -
12723.52 946.05 -5.78 1369 12727.58 no move -1.18 - - 2227.31 - - - 2278.06 - -77.86 - - 3205.50 - - - - - - - - - - -
13033.79 963.02 -5.55 1400 13053.32 roll -1.18 - - 2227.06 - 3.23 0.069 1145.38 -350.7 -77.86 - - 3205.09 - - - - - - - - - 15.74 -
13093.81 966.69 -6.28 1409 13112.70 roll -1.18 - - 2227.69 - 2.82 0.027 2276.94 401.3 -77.86 - - 3206.00 - - - - - - - - - 15.91 -
13418.80 983.78 -5.08 1441 13422.86 no move -1.18 - - 2227.69 - - - 2276.56 - -77.86 - - 3205.28 - - - - - - - - - - -
13538 end dive: TARGET_DEPTH_EXCEEDED
13539 begin apogee
13543.62 990.30 -5.33 1453 13649.91 -0.31 1.62 0.131 2440.25 131.2 0.21 0.135 2283.62 33.6 - 65.86 2.381 2887.94 -4.8 0.344 - - - - - - 15.51 15.28 10.14
13657 end apogee: CONTROL_FINISHED_OK
13657 begin climb
13659.98 991.60 - 1460 13789.33 1.18 2.57 0.090 2804.88 141.9 3.37 0.096 3350.25 316.5 77.86 67.74 2.348 2571.69 -4.7 0.339 - - - - - - 15.55 15.09 11.45
13796.00 985.11 6.16 1470 13815.28 roll 1.30 - - 2805.50 - 2.87 0.021 2202.62 -399.9 77.86 - - 2569.19 - - - - - - - - - 15.49 -
14121.87 963.75 6.97 1502 14143.64 1.36 0.26 0.075 2855.44 192.1 3.06 0.076 1146.44 -345.2 77.86 - - 2565.06 - - - - - - - - 15.71 15.66 -
14235.09 954.40 8.62 1521 14253.02 done 1.36 - - 2856.38 - 2.85 0.030 2274.00 395.6 77.86 - - 2562.78 - - - - - - - - - 15.79 -
14559.09 929.01 7.96 1553 14578.66 done 1.36 - - 2856.81 - 3.21 0.071 1145.31 -351.6 77.86 - - 2561.22 - - - - - - - - - 15.76 -
14605.11 925.42 8.32 1559 14623.04 done 1.36 - - 2856.56 - 2.84 0.030 2273.69 397.3 77.86 - - 2562.91 - - - - - - - - - 15.86 -
14929.51 902.45 6.84 1591 14933.57 VBD 1.43 - - 2857.38 - - - 2274.56 - 77.86 - - 2560.59 - - - - - - - - - - -
15240.07 882.68 5.88 1622 15245.59 1.56 0.25 0.068 2908.81 205.7 - - 2273.75 - 77.86 - - 2559.78 - - - - - - - - 15.87 - -
15552.11 861.24 7.05 1653 15571.68 done 1.62 - - 2910.56 - 3.23 0.072 1145.19 -349.4 77.86 - - 2559.22 - - - - - - - - - 15.78 -
15598.52 857.87 7.46 1659 15616.67 done 1.66 - - 2910.25 - 2.84 0.030 2274.38 397.6 77.86 - - 2560.56 - - - - - - - - - 15.93 -
15923.29 835.33 6.85 1691 15927.35 VBD 1.73 - - 2910.38 - - - 2273.69 - 77.86 - - 2559.56 - - - - - - - - - - -
16233.42 812.76 7.55 1722 16252.98 done 1.73 - - 2911.25 - 3.20 0.071 1145.62 -352.5 77.86 - - 2558.31 - - - - - - - - - 15.79 -
16289.43 808.22 8.11 1730 16307.76 done 1.73 - - 2910.31 - 2.84 0.030 2273.69 397.2 77.86 - - 2561.28 - - - - - - - - - 15.94 -
16613.86 782.98 7.84 1762 16617.92 VBD 1.73 - - 2910.62 - - - 2274.00 - 77.86 - - 2558.62 - - - - - - - - - - -
16924.01 757.96 7.91 1793 16943.55 done 1.73 - - 2910.50 - 3.22 0.071 1146.38 -350.2 77.86 - - 2557.84 - - - - - - - - - 15.79 -
17060.02 746.16 8.72 1817 17077.97 done 1.73 - - 2910.38 - 2.83 0.030 2273.69 398.3 77.86 - - 2558.81 - - - - - - - - - 15.95 -
17384.07 721.13 7.60 1849 17403.63 done 1.73 - - 2911.31 - 3.23 0.071 1145.56 -349.3 77.86 - - 2558.78 - - - - - - - - - 15.79 -
17414.10 718.58 7.78 1852 17432.98 done 1.73 - - 2910.62 - 2.83 0.029 2274.06 398.8 77.86 - - 2559.25 - - - - - - - - - 15.94 -
17739.49 695.36 6.89 1884 17762.09 1.80 0.26 0.065 2965.81 212.3 3.22 0.071 1146.44 -350.2 77.86 - - 2557.47 - - - - - - - - 15.90 15.79 -
17833.68 687.60 8.96 1899 17851.99 done 1.80 - - 2966.75 - 2.83 0.030 2274.50 398.6 77.86 - - 2558.84 - - - - - - - - - 15.94 -
18158.09 661.06 8.06 1931 18177.63 done 1.80 - - 2967.81 - 3.24 0.093 3351.06 332.3 77.86 - - 2557.72 - - - - - - - - - 15.73 -
18204.09 656.92 8.96 1937 18221.61 done 1.80 - - 2966.75 - 2.75 0.022 2200.88 -418.2 77.86 - - 2560.72 - - - - - - - - - 15.96 -
18527.72 631.59 7.74 1969 18546.45 done 1.80 - - 2966.31 - 3.04 0.075 1146.56 -346.8 77.86 - - 2558.75 - - - - - - - - - 15.53 -
18622.92 624.05 8.15 1985 18640.87 done 1.80 - - 2966.56 - 2.82 0.030 2277.12 400.9 77.86 - - 2558.50 - - - - - - - - - 15.95 -
18947.37 600.33 7.35 2017 18951.44 VBD 1.84 - - 2966.38 - - - 2277.62 - 77.86 - - 2557.56 - - - - - - - - - - -
19257.94 578.59 7.18 2048 19277.75 done 1.89 - - 2966.44 - 3.23 0.071 1145.38 -350.5 77.86 - - 2557.06 - - - - - - - - - 15.77 -
19398.36 567.89 7.94 2073 19417.58 done 1.89 - - 2966.50 - 2.83 0.030 2276.19 399.6 77.86 - - 2558.75 - - - - - - - - - 15.94 -
19724.08 546.78 6.31 2105 19729.20 2.00 0.20 0.075 3016.94 252.2 - - 2275.62 - 77.86 - - 2558.34 - - - - - - - - 15.91 - -
20035.67 525.99 6.65 2136 20055.23 done 2.08 - - 3017.25 - 3.22 0.092 3350.31 333.8 77.86 - - 2558.50 - - - - - - - - - 15.71 -
20092.11 521.94 7.21 2144 20110.01 done 2.13 - - 3017.75 - 2.76 0.021 2200.50 -416.6 77.86 - - 2558.81 - - - - - - - - - 15.91 -
20416.49 501.16 6.37 2176 20420.57 2.23 - - 3017.38 - - - 2199.81 - 77.86 - - 2557.28 - - - - - - - - - - -
20727.05 481.24 6.46 2207 20748.82 2.33 - - 3015.75 - 3.42 0.087 3349.44 336.1 77.86 - - 2559.47 - - - - - - - - - 15.59 -
20900.29 468.71 7.57 2238 20917.82 2.33 - - 3016.81 - 2.79 0.021 2202.94 -410.9 77.86 - - 2559.22 - - - - - - - - - 15.81 -
21224.31 447.30 6.43 2270 21243.31 2.42 - - 3017.31 - 3.04 0.074 1145.50 -347.8 77.86 - - 2557.62 - - - - - - - - - 15.74 -
21400.33 436.14 6.42 2302 21418.28 2.52 - - 3017.12 - 2.81 0.029 2276.19 402.4 77.86 - - 2558.59 - - - - - - - - - 15.80 -
21724.87 416.96 5.84 2334 21728.94 2.65 - - 3017.50 - - - 2275.81 - 77.86 - - 2557.16 - - - - - - - - - - -
22035.46 399.19 5.52 2365 22055.10 2.81 - - 3017.50 - 3.23 0.070 1145.19 -350.0 77.86 - - 2557.75 - - - - - - - - - 15.74 -
22121.97 394.28 5.75 2379 22140.30 2.94 - - 3018.19 - 2.83 0.029 2277.56 400.1 77.86 - - 2557.75 - - - - - - - - - 15.93 -
22446.78 377.69 4.85 2411 22544.29 3.08 - - 3017.19 - 3.28 0.072 1145.38 -345.2 144.03 53.92 1.639 2303.69 -4.7 0.187 - - - - - - - 15.46 10.50
22550.41 370.23 8.80 2424 22569.31 roll back 3.08 - - 3017.12 - 2.89 0.029 2274.31 390.6 144.03 - - 2298.44 - - - - - - - - - 15.56 -
22875.53 336.95 10.32 2456 22895.34 3.08 - - 3016.94 - 3.24 0.070 1145.19 -348.5 144.03 - - 2293.41 - - - - - - - - - 15.69 -
22901.90 334.21 10.32 2458 22919.84 3.08 - - 3017.19 - 2.87 0.029 2274.81 393.6 144.03 - - 2292.81 - - - - - - - - - 15.82 -
23225.95 300.03 10.60 2490 23245.51 3.08 - - 3016.38 - 3.23 0.070 1146.31 -349.4 144.03 - - 2292.38 - - - - - - - - - 15.72 -
23265.99 295.44 10.98 2495 23284.89 3.08 - - 3017.31 - 2.85 0.029 2275.44 396.2 144.03 - - 2293.00 - - - - - - - - - 15.87 -
23590.99 261.91 10.14 2527 23595.07 3.08 - - 3016.69 - - - 2276.00 - 144.03 - - 2291.31 - - - - - - - - - - -
23901.15 230.46 10.13 2558 23920.72 3.08 - - 3017.38 - 3.22 0.070 1145.38 -351.1 144.03 - - 2290.50 - - - - - - - - - 15.74 -
23987.17 221.35 10.63 2572 24005.12 3.08 - - 3017.44 - 2.83 0.029 2273.44 398.6 144.03 - - 2291.25 - - - - - - - - - 15.70 -
24311.21 189.39 9.56 2604 24315.28 3.08 - - 3017.94 - - - 2273.50 - 144.03 - - 2291.03 - - - - - - - - - - -
24621.36 161.52 9.27 2635 24625.43 3.08 - - 3018.19 - - - 2273.38 - 144.03 - - 2290.84 - - - - - - - - - - -
24931.55 134.76 7.85 2666 24951.36 3.08 - - 3017.00 - 3.22 0.069 1146.94 -349.8 144.03 - - 2290.72 - - - - - - - - - 15.68 -
25001.98 128.64 9.01 2677 25021.29 3.08 - - 3017.94 - 2.84 0.028 2273.00 396.5 144.03 - - 2291.28 - - - - - - - - - 15.85 -
25327.77 103.77 7.55 2709 25331.85 3.11 - - 3017.50 - - - 2273.25 - 144.03 - - 2290.44 - - - - - - - - - - -
25638.40 82.14 5.65 2765 25658.95 3.25 - - 3017.56 - 3.23 0.067 1145.75 -349.1 144.03 - - 2292.78 - - - - - - - - - 15.55 -
25890.83 76.18 1.35 2812 26058.63 3.53 - - 3017.94 - 2.84 0.026 2277.75 398.6 282.55 107.18 1.244 1737.19 -5.2 0.055 - - - - - - - 15.66 11.16
26244.75 48.25 9.67 2871 26265.29 3.53 - - 3017.62 - 3.28 0.068 1145.56 -345.2 282.55 - - 1726.22 - - - - - - - - - 15.59 -
26336.88 40.11 8.15 2886 26355.78 3.53 - - 3017.69 - 2.84 0.027 2275.50 397.9 282.55 - - 1724.59 - - - - - - - - - 15.68 -
26542.27 29.56 4.72 2924 26640.58 3.66 - - 3017.56 - 3.26 0.092 3351.06 329.9 351.42 54.19 1.147 1456.44 -4.9 0.022 - - - - - - - 15.37 11.34
26722.06 12.16 10.42 2952 26740.55 roll back 3.66 - - 3017.31 - 2.80 0.020 2199.94 -411.1 351.42 - - 1452.22 - - - - - - - - - 15.68 -
26836 end climb: SURFACE_DEPTH_REACHED
26836 begin surface coast
26907 end surface coast: CONTROL_FINISHED_OK
26908 begin surface
SM 0.75 - - - - 178.2 61.81 1.110 1137.1 18.4 19.48 0.038 1130.2 58.0 - 0.17 0.096 1143.9 6712.4 -5.360 - - 11.25 15.72 15.77 -