NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 701 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 238.22 of 506.00 AH used of 24V (52.92% remains)
• Surface angle -63.4 deg, depth 1.04 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.97 (SM_CC=430)
• GPS1 time: 15 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
19.34 - - - 126.40 VBD -1.18 - - 180.44 - - - 2278.81 - -77.86 75.61 0.005 2960.69 - - - - - - - - - - 14.66
128.61 3.44 -3.46 15 245.29 -1.18 17.74 0.209 2228.12 115.4 3.20 0.084 3352.38 335.5 -77.86 3.60 0.010 3209.84 69.2 -4.136 - - - - - - 15.20 14.85 15.00
251.82 36.44 -15.20 22 270.20 roll -1.18 - - 2227.75 - 2.77 0.019 2196.25 -417.4 -77.86 - - 3211.56 - - - - - - - - - 15.64 -
456.26 63.47 -13.49 60 475.39 roll -1.18 - - 2227.88 - 2.88 0.069 1143.62 -365.5 -77.86 - - 3212.00 - - - - - - - - - 15.64 -
591.82 79.58 -10.39 84 610.20 roll -1.18 - - 2227.62 - 2.79 0.024 2277.88 406.5 -77.86 - - 3212.91 - - - - - - - - - 15.69 -
796.28 95.58 -8.06 122 816.26 roll -1.18 - - 2227.62 - 3.14 0.083 3352.75 342.3 -77.86 - - 3212.50 - - - - - - - - - 15.66 -
932.69 107.49 -9.05 146 950.10 roll -1.18 - - 2227.19 - 2.76 0.019 2193.19 -420.1 -77.86 - - 3211.78 - - - - - - - - - 15.82 -
1256.17 130.17 -7.68 178 1273.98 roll -1.18 - - 2227.50 - 2.89 0.068 1143.94 -363.1 -77.86 - - 3211.34 - - - - - - - - - 15.74 -
1334.46 136.53 -8.16 191 1353.24 roll -1.18 - - 2227.81 - 2.78 0.024 2280.19 408.7 -77.86 - - 3213.38 - - - - - - - - - 15.86 -
1659.31 161.91 -7.83 223 1678.73 roll -1.18 - - 2228.00 - 3.16 0.063 1144.62 -359.4 -77.86 - - 3211.47 - - - - - - - - - 15.63 -
1699.35 165.20 -7.98 228 1717.94 roll -1.18 - - 2227.75 - 2.80 0.023 2280.19 405.6 -77.86 - - 3214.31 - - - - - - - - - 15.77 -
2024.07 186.95 -6.23 260 2043.32 roll -1.18 - - 2227.69 - 3.13 0.063 1142.56 -363.5 -77.86 - - 3211.75 - - - - - - - - - 15.73 -
2093.82 191.59 -6.54 271 2112.41 roll -1.18 - - 2228.00 - 2.78 0.024 2279.12 408.8 -77.86 - - 3212.91 - - - - - - - - - 15.86 -
2418.54 211.90 -6.55 303 2422.62 no move -1.18 - - 2227.94 - - - 2279.00 - -77.86 - - 3212.16 - - - - - - - - - - -
2728.70 233.69 -7.85 334 2747.95 roll -1.18 - - 2227.31 - 3.15 0.083 3352.06 340.7 -77.86 - - 3215.12 - - - - - - - - - 15.61 -
2884.45 247.85 -9.06 362 2902.47 roll -1.18 - - 2228.06 - 2.73 0.019 2190.75 -425.4 -77.86 - - 3213.69 - - - - - - - - - 15.91 -
3208.57 273.03 -7.59 394 3212.63 no move -1.18 - - 2227.31 - - - 2189.19 - -77.86 - - 3212.22 - - - - - - - - - - -
3518.71 296.43 -7.42 425 3522.79 no move -1.18 - - 2227.19 - - - 2189.25 - -77.86 - - 3212.16 - - - - - - - - - - -
3828.88 318.49 -6.82 456 3850.97 roll -1.18 - - 2227.44 - 3.36 0.079 3351.50 345.9 -77.86 - - 3212.44 - - - - - - - - - 15.75 -
3892.55 323.33 -7.45 465 3910.18 roll -1.18 - - 2227.31 - 2.74 0.019 2189.31 -424.2 -77.86 - - 3214.66 - - - - - - - - - 15.93 -
4216.31 344.39 -6.61 497 4220.36 no move -1.18 - - 2227.44 - - - 2188.44 - -77.86 - - 3212.62 - - - - - - - - - - -
4526.49 364.51 -6.57 528 4530.55 no move -1.18 - - 2227.31 - - - 2188.06 - -77.86 - - 3212.88 - - - - - - - - - - -
4836.65 385.85 -6.75 559 4840.71 no move -1.18 - - 2227.50 - - - 2188.50 - -77.86 - - 3213.09 - - - - - - - - - - -
5146.80 406.66 -6.78 590 5150.87 no move -1.18 - - 2227.56 - - - 2187.94 - -77.86 - - 3212.44 - - - - - - - - - - -
5456.98 428.41 -7.02 621 5461.04 no move -1.18 - - 2227.75 - - - 2188.38 - -77.86 - - 3211.72 - - - - - - - - - - -
5767.17 448.90 -6.50 652 5785.60 roll -1.18 - - 2227.56 - 2.92 0.070 1144.31 -357.6 -77.86 - - 3212.91 - - - - - - - - - 15.78 -
5806.11 451.75 -6.95 657 5824.71 roll -1.18 - - 2227.81 - 2.76 0.025 2280.00 411.5 -77.86 - - 3213.91 - - - - - - - - - 15.92 -
6130.82 472.07 -6.29 689 6134.88 no move -1.18 - - 2227.31 - - - 2280.06 - -77.86 - - 3211.78 - - - - - - - - - - -
6440.98 491.10 -5.91 720 6460.23 roll -1.18 - - 2227.19 - 3.13 0.066 1143.50 -363.1 -77.86 - - 3210.59 - - - - - - - - - 15.76 -
6536.70 496.94 -6.05 736 6554.33 roll -1.18 - - 2227.88 - 2.77 0.025 2279.44 410.1 -77.86 - - 3212.03 - - - - - - - - - 15.93 -
6860.56 513.85 -5.49 768 6864.62 no move -1.18 - - 2227.44 - - - 2280.38 - -77.86 - - 3211.16 - - - - - - - - - - -
7170.71 532.88 -6.43 799 7189.97 roll -1.18 - - 2227.44 - 3.12 0.066 1143.38 -364.4 -77.86 - - 3211.88 - - - - - - - - - 15.76 -
7256.46 538.72 -7.01 813 7274.08 roll -1.18 - - 2227.88 - 2.78 0.025 2277.31 407.9 -77.86 - - 3211.66 - - - - - - - - - 15.94 -
7580.21 561.29 -7.24 845 7584.27 no move -1.18 - - 2228.19 - - - 2277.38 - -77.86 - - 3210.41 - - - - - - - - - - -
7890.38 583.08 -7.21 876 7909.65 roll -1.18 - - 2227.81 - 3.11 0.066 1143.25 -364.7 -77.86 - - 3211.06 - - - - - - - - - 15.77 -
7980.17 589.87 -7.60 891 7999.16 roll -1.18 - - 2228.19 - 2.78 0.025 2278.50 408.4 -77.86 - - 3211.31 - - - - - - - - - 15.93 -
8305.29 611.17 -5.97 923 8309.34 no move -1.18 - - 2227.25 - - - 2278.69 - -77.86 - - 3209.00 - - - - - - - - - - -
8615.47 627.94 -5.42 954 8634.71 roll -1.18 - - 2227.06 - 3.15 0.066 1145.38 -359.8 -77.86 - - 3210.47 - - - - - - - - - 15.74 -
8731.21 634.66 -5.69 974 8748.87 roll -1.18 - - 2227.44 - 2.79 0.025 2277.69 405.8 -77.86 - - 3210.38 - - - - - - - - - 15.96 -
9055.11 652.56 -5.91 1006 9059.17 no move -1.18 - - 2227.88 - - - 2277.38 - -77.86 - - 3208.28 - - - - - - - - - - -
9365.31 671.85 -6.48 1037 9384.55 roll -1.18 - - 2227.56 - 3.17 0.066 1144.75 -357.3 -77.86 - - 3209.44 - - - - - - - - - 15.74 -
9405.06 674.52 -6.45 1042 9423.65 roll -1.18 - - 2227.50 - 2.79 0.025 2277.38 406.0 -77.86 - - 3209.22 - - - - - - - - - 15.95 -
9729.76 694.58 -6.00 1074 9733.82 no move -1.18 - - 2227.19 - - - 2277.44 - -77.86 - - 3208.12 - - - - - - - - - - -
10039.93 713.54 -5.90 1105 10043.99 no move -1.18 - - 2227.81 - - - 2277.19 - -77.86 - - 3206.69 - - - - - - - - - - -
10350.12 731.77 -5.89 1136 10354.18 no move -1.18 - - 2227.75 - - - 2277.38 - -77.86 - - 3207.38 - - - - - - - - - - -
10660.32 750.82 -6.18 1167 10679.97 roll -1.18 - - 2224.56 - 3.21 0.087 3352.12 334.8 -77.86 - - 3207.22 - - - - - - - - - 15.64 -
10706.45 753.81 -6.65 1173 10724.08 roll -1.18 - - 2227.56 - 2.76 0.020 2190.69 -420.8 -77.86 - - 3207.53 - - - - - - - - - 15.96 -
11030.20 771.37 -5.06 1205 11034.26 no move -1.18 - - 2227.31 - - - 2188.88 - -77.86 - - 3206.94 - - - - - - - - - - -
11340.80 786.77 -4.87 1236 11362.67 roll -1.18 - - 2227.75 - 3.42 0.084 3351.88 340.1 -77.86 - - 3205.66 - - - - - - - - - 15.67 -
11428.30 791.55 -5.18 1250 11446.89 roll -1.18 - - 2227.75 - 2.78 0.020 2192.88 -416.9 -77.86 - - 3207.03 - - - - - - - - - 15.95 -
11753.43 808.46 -5.04 1282 11771.87 roll -1.18 - - 2227.50 - 2.96 0.072 1144.88 -354.1 -77.86 - - 3206.34 - - - - - - - - - 15.71 -
11828.36 813.13 -6.32 1294 11846.38 roll -1.18 - - 2227.69 - 2.79 0.026 2279.06 406.5 -77.86 - - 3206.72 - - - - - - - - - 15.94 -
12152.51 831.14 -5.67 1326 12171.76 roll -1.18 - - 2227.06 - 3.14 0.068 1143.94 -361.5 -77.86 - - 3205.69 - - - - - - - - - 15.70 -
12218.24 835.18 -6.22 1336 12236.28 roll -1.18 - - 2227.69 - 2.81 0.026 2278.00 403.6 -77.86 - - 3206.91 - - - - - - - - - 15.76 -
12542.42 855.01 -6.37 1368 12546.49 no move -1.18 - - 2227.62 - - - 2277.00 - -77.86 - - 3204.81 - - - - - - - - - - -
12852.59 874.87 -6.59 1399 12856.65 no move -1.18 - - 2227.12 - - - 2277.62 - -77.86 - - 3204.66 - - - - - - - - - - -
13162.76 895.48 -6.46 1430 13166.82 no move -1.18 - - 2227.25 - - - 2277.19 - -77.86 - - 3204.59 - - - - - - - - - - -
13472.92 914.20 -5.79 1461 13476.97 no move -1.18 - - 2227.38 - - - 2277.56 - -77.86 - - 3204.00 - - - - - - - - - - -
13783.62 930.62 -4.97 1492 13787.68 no move -1.18 - - 2227.69 - - - 2276.94 - -77.86 - - 3203.88 - - - - - - - - - - -
14094.19 944.93 -4.38 1523 14098.27 no move -1.18 - - 2226.88 - - - 2278.06 - -77.86 - - 3204.00 - - - - - - - - - - -
14404.80 958.74 -4.44 1554 14424.06 roll -1.18 - - 2227.62 - 3.19 0.069 1144.88 -355.2 -77.86 - - 3205.25 - - - - - - - - - 15.68 -
14470.94 961.87 -4.74 1564 14488.58 roll -1.18 - - 2227.12 - 2.80 0.026 2275.88 403.9 -77.86 - - 3205.12 - - - - - - - - - 15.92 -
14794.68 978.60 -5.56 1596 14798.75 no move -1.18 - - 2227.25 - - - 2276.12 - -77.86 - - 3203.81 - - - - - - - - - - -
14984 end dive: TARGET_DEPTH_EXCEEDED
14984 begin apogee
14989.63 990.12 -6.02 1615 15097.46 -0.31 1.63 0.130 2439.75 130.4 0.21 0.131 2284.88 41.7 - 66.72 2.320 2888.91 -4.7 0.350 - - - - - - 15.58 15.10 9.93
15102 end apogee: CONTROL_FINISHED_OK
15102 begin climb
15105.65 992.38 - 1622 15218.99 1.18 2.64 0.089 2806.00 138.7 - - 2284.69 - 77.86 68.37 2.299 2571.81 -4.6 0.348 - - - - - - 15.54 - 11.47
15525.63 976.13 4.78 1660 15613.44 1.32 0.19 0.085 2846.38 212.5 - - 2284.62 - 145.49 59.76 2.266 2296.56 -4.6 0.345 - - - - - - 15.69 - 11.22
15919.65 945.46 8.25 1697 15939.32 done 1.32 - - 2846.00 - 3.25 0.073 1146.19 -350.3 145.49 - - 2286.31 - - - - - - - - - 15.65 -
16065.92 932.90 8.28 1723 16083.96 done 1.32 - - 2847.38 - 2.85 0.029 2273.25 395.5 145.49 - - 2285.56 - - - - - - - - - 15.79 -
16390.48 907.08 7.54 1755 16409.75 done 1.35 - - 2847.19 - 3.19 0.072 1145.00 -353.7 145.49 - - 2284.94 - - - - - - - - - 15.72 -
16466.24 900.79 8.18 1767 16484.28 done 1.35 - - 2846.94 - 2.84 0.029 2273.94 397.5 145.49 - - 2284.53 - - - - - - - - - 15.87 -
16790.81 877.89 6.51 1799 16794.87 VBD 1.44 - - 2846.50 - - - 2273.75 - 145.49 - - 2282.72 - - - - - - - - - - -
17101.36 858.22 6.30 1830 17123.67 1.55 0.29 0.071 2900.00 184.5 3.19 0.072 1146.06 -353.5 145.49 - - 2282.94 - - - - - - - - 15.84 15.75 -
17199.30 850.62 8.09 1846 17218.32 done 1.55 - - 2900.44 - 2.84 0.030 2273.50 397.0 145.49 - - 2283.59 - - - - - - - - - 15.89 -
17524.44 824.56 7.74 1878 17543.70 done 1.55 - - 2900.19 - 3.17 0.072 1145.12 -356.0 145.49 - - 2283.75 - - - - - - - - - 15.75 -
17600.19 817.90 8.85 1890 17618.22 done 1.55 - - 2899.94 - 2.83 0.030 2273.06 398.6 145.49 - - 2282.56 - - - - - - - - - 15.91 -
17924.34 790.72 8.52 1922 17943.62 done 1.55 - - 2900.88 - 3.17 0.072 1144.81 -355.9 145.49 - - 2280.38 - - - - - - - - - 15.74 -
18030.12 781.42 9.16 1940 18048.16 done 1.55 - - 2899.94 - 2.83 0.030 2273.69 398.9 145.49 - - 2283.00 - - - - - - - - - 15.92 -
18354.29 751.37 9.34 1972 18358.35 VBD 1.55 - - 2901.00 - - - 2273.94 - 145.49 - - 2280.25 - - - - - - - - - - -
18664.48 722.10 9.90 2003 18683.98 done 1.55 - - 2900.06 - 3.18 0.072 1145.44 -354.9 145.49 - - 2282.88 - - - - - - - - - 15.74 -
18730.56 715.59 10.52 2013 18748.62 done 1.55 - - 2900.12 - 2.82 0.030 2274.50 400.4 145.49 - - 2281.81 - - - - - - - - - 15.92 -
19054.71 686.26 8.85 2045 19058.77 VBD 1.55 - - 2901.38 - - - 2273.81 - 145.49 - - 2279.75 - - - - - - - - - - -
19364.87 658.15 9.29 2076 19368.93 VBD 1.55 - - 2900.88 - - - 2274.56 - 145.49 - - 2279.50 - - - - - - - - - - -
19675.07 631.29 8.28 2107 19694.73 done 1.55 - - 2900.44 - 3.22 0.072 1145.31 -350.7 145.49 - - 2278.84 - - - - - - - - - 15.56 -
19751.21 624.91 8.57 2119 19769.27 done 1.55 - - 2900.00 - 2.84 0.030 2273.38 397.2 145.49 - - 2280.28 - - - - - - - - - 15.92 -
20075.79 600.87 7.12 2151 20079.86 VBD 1.60 - - 2900.00 - - - 2273.31 - 145.49 - - 2278.88 - - - - - - - - - - -
20386.37 579.45 6.94 2182 20405.62 done 1.67 - - 2900.88 - 3.19 0.072 1145.50 -353.5 145.49 - - 2281.69 - - - - - - - - - 15.71 -
20472.51 573.17 7.33 2196 20491.79 1.71 0.19 0.081 2942.06 216.7 2.84 0.029 2273.81 397.3 145.49 - - 2279.03 - - - - - - - - 15.67 15.92 -
20797.90 546.02 9.16 2228 20801.96 VBD 1.71 - - 2942.75 - - - 2273.75 - 145.49 - - 2279.12 - - - - - - - - - - -
21108.08 519.31 8.56 2259 21112.15 VBD 1.71 - - 2942.00 - - - 2273.88 - 145.49 - - 2278.84 - - - - - - - - - - -
21418.38 494.12 8.30 2290 21438.04 done 1.71 - - 2943.19 - 3.21 0.071 1146.69 -351.1 145.49 - - 2278.88 - - - - - - - - - 15.69 -
21558.57 482.19 8.80 2315 21577.58 done 1.71 - - 2942.00 - 2.84 0.029 2273.38 396.7 145.49 - - 2279.94 - - - - - - - - - 15.89 -
21883.81 456.04 8.05 2347 21903.48 done 1.71 - - 2941.88 - 3.22 0.071 1145.19 -350.4 145.49 - - 2278.78 - - - - - - - - - 15.56 -
21984.00 447.65 8.41 2364 22003.00 done 1.71 - - 2941.94 - 2.84 0.029 2274.56 397.7 145.49 - - 2281.38 - - - - - - - - - 15.76 -
22309.15 422.12 7.57 2396 22328.82 done 1.71 - - 2942.00 - 3.21 0.071 1144.88 -351.9 145.49 - - 2279.06 - - - - - - - - - 15.69 -
22385.30 415.91 7.93 2408 22403.36 done 1.71 - - 2942.81 - 2.84 0.029 2274.69 397.8 145.49 - - 2279.47 - - - - - - - - - 15.85 -
22709.49 390.54 8.49 2440 22728.99 done 1.71 - - 2941.94 - 3.20 0.070 1146.31 -352.6 145.49 - - 2278.81 - - - - - - - - - 15.69 -
22759.60 386.11 8.95 2447 22778.74 done 1.71 - - 2942.25 - 2.81 0.029 2274.81 401.6 145.49 - - 2279.22 - - - - - - - - - 15.88 -
23084.83 358.16 8.39 2479 23104.48 done 1.71 - - 2941.81 - 3.22 0.092 3350.50 334.1 145.49 - - 2281.22 - - - - - - - - - 15.55 -
23140.97 353.08 9.01 2487 23159.01 done 1.71 - - 2943.38 - 2.76 0.021 2201.88 -416.2 145.49 - - 2279.56 - - - - - - - - - 15.90 -
23465.53 328.69 7.06 2519 23483.99 done 1.77 - - 2942.62 - 3.00 0.074 1144.19 -352.6 145.49 - - 2278.88 - - - - - - - - - 15.67 -
23554.92 321.99 7.45 2534 23574.41 done 1.81 - - 2943.00 - 2.81 0.028 2274.81 402.4 145.49 - - 2279.59 - - - - - - - - - 15.80 -
23880.53 298.88 7.77 2566 23899.81 done 1.81 - - 2942.94 - 3.17 0.070 1144.81 -356.5 145.49 - - 2279.47 - - - - - - - - - 15.67 -
24010.35 287.77 8.64 2589 24029.35 done 1.81 - - 2943.31 - 2.81 0.028 2275.31 402.3 145.49 - - 2279.28 - - - - - - - - - 15.90 -
24335.89 262.27 7.43 2621 24340.19 VBD 1.84 - - 2942.62 - - - 2275.44 - 145.49 - - 2278.66 - - - - - - - - - - -
24646.83 241.52 6.23 2652 24669.12 1.95 0.30 0.064 3001.69 196.9 3.19 0.069 1144.62 -354.5 145.49 - - 2280.56 - - - - - - - - 15.56 15.53 -
24890.63 221.33 8.53 2697 24908.68 done 1.95 - - 3002.25 - 2.82 0.028 2274.00 400.5 145.49 - - 2278.75 - - - - - - - - - 15.89 -
25214.78 196.16 7.75 2729 25234.44 done 1.95 - - 3002.06 - 3.22 0.068 1144.19 -350.9 145.49 - - 2280.66 - - - - - - - - - 15.46 -
25404.97 180.51 8.37 2764 25423.99 done 1.95 - - 3002.56 - 2.86 0.027 2273.62 394.9 145.49 - - 2279.62 - - - - - - - - - 15.63 -
25730.14 155.52 7.75 2796 25749.82 done 1.95 - - 3003.44 - 3.23 0.089 3352.62 334.1 145.49 - - 2278.28 - - - - - - - - - 15.53 -
25810.34 148.21 9.15 2809 25829.34 done 1.95 - - 3003.25 - 2.79 0.020 2199.94 -413.1 145.49 - - 2279.69 - - - - - - - - - 15.84 -
26135.87 124.15 6.34 2841 26139.94 VBD 2.05 - - 3003.06 - - - 2198.38 - 145.49 - - 2278.12 - - - - - - - - - - -
26446.44 104.33 5.66 2872 26468.33 2.20 - - 3003.06 - 3.44 0.084 3349.12 334.5 145.49 - - 2278.19 - - - - - - - - - 15.55 -
26700.33 92.18 4.07 2919 26810.77 2.36 - - 3003.06 - 2.82 0.020 2197.06 -408.5 227.71 64.19 1.203 1960.62 -4.9 0.066 - - - - - - - 15.70 10.53
26997.26 72.93 5.69 2970 27004.15 2.50 - - 3003.56 - - - 2196.12 - 227.71 - - 1953.22 - - - - - - - - - - -
27190.78 66.10 3.02 3008 27325.15 2.71 - - 3003.25 - 3.49 0.085 3351.62 331.1 331.57 80.83 1.154 1538.72 -5.1 0.051 - - - - - - - 15.26 11.34
27406.63 51.94 8.32 3041 27425.88 roll back 2.71 - - 3003.19 - 2.86 0.020 2202.50 -401.8 331.57 - - 1532.12 - - - - - - - - - 15.49 -
27612.13 37.57 7.75 3079 27631.97 2.71 - - 3002.69 - 3.04 0.073 1144.62 -348.0 331.57 - - 1528.88 - - - - - - - - - 15.53 -
27693.56 30.34 8.98 3092 27712.58 2.71 - - 3002.94 - 2.84 0.026 2275.62 398.2 331.57 - - 1526.78 - - - - - - - - - 15.62 -
27898.67 14.31 7.95 3130 27905.55 2.71 - - 3003.19 - - - 2276.19 - 331.57 - - 1525.81 - - - - - - - - - - -
28035 end climb: SURFACE_DEPTH_REACHED
28036 begin surface coast
28102 end surface coast: CONTROL_FINISHED_OK
28102 begin surface
SM 0.83 - - - - 181.0 76.79 1.080 1137.2 14.8 20.08 0.050 1139.1 56.7 - 0.11 0.084 1135.2 10320.0 -10.422 - - 10.96 15.77 15.85 -