NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 89 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 31.52 of 506.00 AH used of 24V (93.77% remains)
• Surface angle -66.4 deg, depth 1.14 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.87 (SM_CC=430)
• GPS1 time: 21 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
18.72 - - - 104.03 VBD -1.18 - - 178.56 - - - 2151.12 - -77.86 59.97 0.005 2454.72 - - - - - - - - - - 15.59
106.25 3.13 -3.81 12 225.25 -1.18 16.52 0.225 2228.38 124.1 3.18 0.082 3304.44 362.7 -77.86 11.93 0.007 3210.28 63.3 -4.690 - - - - - - 15.66 15.58 15.63
346.34 49.97 -14.33 43 363.81 roll -1.18 - - 2228.25 - 2.70 0.021 2147.38 -428.5 -77.86 - - 3213.72 - - - - - - - - - 15.90 -
549.72 73.36 -11.14 81 567.57 roll -1.18 - - 2227.69 - 2.80 0.072 1094.06 -376.2 -77.86 - - 3215.25 - - - - - - - - - 15.90 -
668.74 86.81 -10.18 102 686.60 roll -1.18 - - 2228.50 - 2.76 0.025 2232.81 412.6 -77.86 - - 3214.59 - - - - - - - - - 15.91 -
877.41 101.03 -7.01 140 895.33 roll -1.18 - - 2227.69 - 2.93 0.080 3302.56 365.1 -77.86 - - 3214.41 - - - - - - - - - 15.91 -
1071.51 117.47 -7.62 176 1088.24 done -1.18 - - 2228.19 - 2.67 0.021 2142.81 -434.4 -77.86 - - 3215.62 - - - - - - - - - 15.98 -
1394.05 139.42 -6.84 208 1398.07 VBD -1.18 - - 2228.00 - - - 2142.25 - -77.86 - - 3215.56 - - - - - - - - - - -
1704.11 162.10 -7.78 239 1721.23 done -1.18 - - 2226.75 - 2.76 0.072 1093.38 -380.0 -77.86 - - 3218.28 - - - - - - - - - 16.02 -
1751.65 166.01 -8.20 246 1769.52 done -1.18 - - 2228.31 - 2.74 0.025 2233.00 415.9 -77.86 - - 3216.31 - - - - - - - - - 16.02 -
2075.33 189.58 -7.26 278 2079.35 VBD -1.18 - - 2228.00 - - - 2233.25 - -77.86 - - 3216.00 - - - - - - - - - - -
2385.42 214.36 -8.28 309 2403.56 roll -1.18 - - 2228.44 - 2.94 0.083 3303.62 364.1 -77.86 - - 3215.41 - - - - - - - - - 16.04 -
2494.16 224.22 -8.99 328 2512.41 roll -1.18 - - 2228.12 - 2.67 0.021 2145.12 -433.9 -77.86 - - 3216.22 - - - - - - - - - 16.04 -
2818.26 249.32 -7.68 360 2822.32 no move -1.18 - - 2228.19 - - - 2144.69 - -77.86 - - 3214.72 - - - - - - - - - - -
3128.32 272.03 -7.22 391 3147.27 roll -1.18 - - 2227.81 - 3.17 0.080 3303.94 365.7 -77.86 - - 3214.56 - - - - - - - - - 16.02 -
3253.48 282.44 -8.43 413 3270.41 roll -1.18 - - 2228.19 - 2.67 0.022 2145.44 -433.9 -77.86 - - 3215.38 - - - - - - - - - 16.05 -
3576.26 306.97 -7.72 445 3580.32 no move -1.18 - - 2227.56 - - - 2144.19 - -77.86 - - 3212.94 - - - - - - - - - - -
3886.32 332.88 -8.35 476 3890.38 no move -1.18 - - 2227.75 - - - 2143.88 - -77.86 - - 3212.97 - - - - - - - - - - -
4196.37 357.56 -7.47 507 4215.32 roll -1.18 - - 2227.19 - 3.17 0.080 3303.50 365.8 -77.86 - - 3213.69 - - - - - - - - - 16.08 -
4331.53 368.96 -8.47 531 4348.46 roll -1.18 - - 2228.25 - 2.67 0.022 2147.00 -433.1 -77.86 - - 3212.50 - - - - - - - - - 16.09 -
4654.31 393.38 -7.20 563 4673.27 roll -1.18 - - 2227.94 - 3.16 0.080 3304.31 366.2 -77.86 - - 3211.16 - - - - - - - - - 16.08 -
4689.46 396.15 -7.46 567 4706.78 roll -1.18 - - 2227.69 - 2.66 0.022 2146.00 -435.5 -77.86 - - 3211.75 - - - - - - - - - 16.07 -
5012.64 420.16 -7.77 599 5016.70 no move -1.18 - - 2227.25 - - - 2146.00 - -77.86 - - 3210.28 - - - - - - - - - - -
5322.69 444.81 -7.85 630 5326.75 no move -1.18 - - 2227.56 - - - 2145.62 - -77.86 - - 3209.72 - - - - - - - - - - -
5632.70 469.56 -7.82 661 5651.67 roll -1.18 - - 2228.31 - 3.15 0.082 3303.00 367.4 -77.86 - - 3210.12 - - - - - - - - - 16.03 -
5668.07 472.63 -8.10 665 5684.99 roll -1.18 - - 2226.56 - 2.66 0.022 2146.88 -434.6 -77.86 - - 3211.59 - - - - - - - - - 16.10 -
5990.80 497.18 -7.53 697 5994.86 no move -1.18 - - 2228.06 - - - 2147.12 - -77.86 - - 3208.81 - - - - - - - - - - -
6300.84 519.10 -7.04 728 6319.80 roll -1.18 - - 2227.94 - 3.16 0.082 3302.94 365.8 -77.86 - - 3207.69 - - - - - - - - - 16.09 -
6370.29 524.25 -7.74 739 6387.94 roll -1.18 - - 2228.00 - 2.65 0.022 2146.00 -436.6 -77.86 - - 3209.03 - - - - - - - - - 16.10 -
6693.76 546.56 -7.40 771 6697.82 no move -1.18 - - 2228.00 - - - 2146.06 - -77.86 - - 3207.91 - - - - - - - - - - -
7004.14 568.80 -7.35 802 7023.09 roll -1.18 - - 2227.75 - 3.17 0.082 3303.50 365.1 -77.86 - - 3206.50 - - - - - - - - - 16.11 -
7149.32 580.62 -8.57 828 7166.25 roll -1.18 - - 2228.38 - 2.66 0.022 2149.00 -434.0 -77.86 - - 3206.84 - - - - - - - - - 16.04 -
7472.10 603.12 -7.24 860 7476.15 no move -1.18 - - 2227.81 - - - 2148.31 - -77.86 - - 3206.38 - - - - - - - - - - -
7782.15 624.59 -7.23 891 7786.22 no move -1.18 - - 2227.69 - - - 2147.88 - -77.86 - - 3205.75 - - - - - - - - - - -
8092.21 645.15 -7.22 922 8111.16 roll -1.18 - - 2227.75 - 3.18 0.083 3302.56 363.1 -77.86 - - 3204.28 - - - - - - - - - 16.09 -
8151.63 649.87 -7.47 931 8169.29 roll -1.18 - - 2228.19 - 2.66 0.022 2147.25 -434.3 -77.86 - - 3205.53 - - - - - - - - - 16.09 -
8475.14 670.98 -6.35 963 8494.08 roll -1.18 - - 2226.88 - 3.19 0.083 3303.56 362.5 -77.86 - - 3205.56 - - - - - - - - - 16.09 -
8544.57 676.44 -6.86 974 8562.61 roll -1.18 - - 2227.62 - 2.66 0.023 2147.25 -434.7 -77.86 - - 3204.59 - - - - - - - - - 16.10 -
8868.46 697.83 -6.41 1006 8872.61 no move -1.18 - - 2227.19 - - - 2147.12 - -77.86 - - 3203.66 - - - - - - - - - - -
9178.51 718.04 -6.28 1037 9182.57 no move -1.18 - - 2227.88 - - - 2147.06 - -77.86 - - 3203.44 - - - - - - - - - - -
9488.57 737.05 -6.39 1068 9492.63 no move -1.18 - - 2228.25 - - - 2146.12 - -77.86 - - 3203.16 - - - - - - - - - - -
9798.62 757.82 -6.94 1099 9802.68 no move -1.18 - - 2228.12 - - - 2146.44 - -77.86 - - 3202.59 - - - - - - - - - - -
10108.68 778.30 -6.92 1130 10127.64 roll -1.18 - - 2228.00 - 3.19 0.085 3301.25 362.0 -77.86 - - 3204.16 - - - - - - - - - 16.09 -
10223.85 786.49 -6.78 1150 10240.78 roll -1.18 - - 2228.06 - 2.65 0.023 2148.94 -434.8 -77.86 - - 3203.16 - - - - - - - - - 16.09 -
10546.63 805.61 -5.84 1182 10565.60 roll -1.18 - - 2228.00 - 3.16 0.084 3301.25 364.7 -77.86 - - 3201.06 - - - - - - - - - 16.09 -
10626.07 811.52 -6.95 1195 10643.73 roll -1.18 - - 2227.94 - 2.67 0.023 2148.50 -431.7 -77.86 - - 3203.12 - - - - - - - - - 16.09 -
10949.58 829.29 -5.46 1227 10953.65 no move -1.18 - - 2228.50 - - - 2146.25 - -77.86 - - 3201.94 - - - - - - - - - - -
11259.64 847.96 -5.88 1258 11263.70 no move -1.18 - - 2227.88 - - - 2147.06 - -77.86 - - 3202.03 - - - - - - - - - - -
11569.70 867.20 -6.63 1289 11589.30 roll -1.18 - - 2227.50 - 3.20 0.085 3302.25 361.0 -77.86 - - 3201.38 - - - - - - - - - 16.08 -
11645.62 872.68 -7.09 1301 11662.55 roll -1.18 - - 2228.12 - 2.68 0.023 2148.12 -430.6 -77.86 - - 3202.09 - - - - - - - - - 16.08 -
11968.40 893.31 -6.37 1333 11986.14 roll -1.18 - - 2228.12 - 2.81 0.080 1092.81 -375.6 -77.86 - - 3202.19 - - - - - - - - - 16.08 -
12032.35 898.12 -7.58 1343 12050.08 roll -1.18 - - 2228.31 - 2.77 0.028 2231.75 411.2 -77.86 - - 3202.53 - - - - - - - - - 16.05 -
12355.93 919.11 -6.36 1375 12360.01 no move -1.18 - - 2228.25 - - - 2230.88 - -77.86 - - 3200.78 - - - - - - - - - - -
12666.00 939.45 -6.47 1406 12670.06 no move -1.18 - - 2228.00 - - - 2231.44 - -77.86 - - 3199.81 - - - - - - - - - - -
12976.05 958.46 -5.66 1437 12994.20 roll -1.18 - - 2227.81 - 2.99 0.090 3302.50 358.2 -77.86 - - 3200.03 - - - - - - - - - 16.05 -
13030.41 961.88 -6.54 1445 13047.33 roll -1.18 - - 2227.75 - 2.66 0.023 2148.50 -433.8 -77.86 - - 3200.50 - - - - - - - - - 16.08 -
13353.60 978.56 -4.96 1477 13371.36 roll -1.18 - - 2228.00 - 2.81 0.080 1094.69 -375.0 -77.86 - - 3200.16 - - - - - - - - - 16.04 -
13491.84 986.43 -5.77 1502 13510.55 roll -1.18 - - 2227.50 - 2.75 0.028 2229.56 412.7 -77.86 - - 3200.72 - - - - - - - - - 16.08 -
13566 end dive: TARGET_DEPTH_EXCEEDED
13567 begin apogee
13571.05 990.41 -5.39 1509 13670.68 -0.31 1.54 0.138 2440.06 138.0 0.10 0.218 2190.44 -391.2 - 60.99 2.493 2889.84 -5.1 0.335 - - - - - - 15.99 15.60 11.84
13684 end apogee: CONTROL_FINISHED_OK
13684 begin climb
13686.85 992.18 - 1516 13793.78 1.18 2.51 0.093 2805.38 145.5 - - 2190.50 - 77.86 64.96 2.431 2570.41 -4.9 0.332 - - - - - - 15.72 - 12.54
14100.12 969.20 6.64 1554 14117.86 done 1.27 - - 2805.12 - 2.84 0.080 1144.69 -368.2 77.86 - - 2565.12 - - - - - - - - - 15.83 -
14238.88 959.41 7.39 1579 14258.98 1.31 0.16 0.089 2844.50 246.1 2.83 0.033 2274.19 399.1 77.86 - - 2563.34 - - - - - - - - 15.80 15.88 -
14565.21 936.09 6.98 1611 14584.00 done 1.37 - - 2843.81 - 3.05 0.098 3351.44 353.2 77.86 - - 2563.66 - - - - - - - - - 15.93 -
14634.60 930.68 7.58 1622 14652.27 done 1.37 - - 2844.56 - 2.67 0.024 2200.75 -431.0 77.86 - - 2562.44 - - - - - - - - - 15.95 -
14958.53 908.13 7.24 1654 14962.59 VBD 1.42 - - 2843.88 - - - 2200.06 - 77.86 - - 2560.97 - - - - - - - - - - -
15268.85 886.54 6.99 1685 15273.80 1.48 0.19 0.085 2887.19 227.9 - - 2199.75 - 77.86 - - 2559.75 - - - - - - - - 15.99 - -
15579.65 859.91 9.06 1716 15597.79 done 1.48 - - 2886.69 - 2.81 0.080 1144.62 -375.5 77.86 - - 2560.53 - - - - - - - - - 16.02 -
15698.29 848.49 9.43 1737 15716.37 done 1.48 - - 2887.19 - 2.78 0.033 2274.25 406.3 77.86 - - 2561.09 - - - - - - - - - 16.03 -
16022.44 821.93 8.14 1769 16026.50 VBD 1.48 - - 2887.31 - - - 2274.75 - 77.86 - - 2558.47 - - - - - - - - - - -
16332.76 796.95 7.40 1800 16336.82 VBD 1.52 - - 2887.00 - - - 2274.44 - 77.86 - - 2558.84 - - - - - - - - - - -
16643.08 774.14 7.04 1831 16647.14 VBD 1.58 - - 2887.94 - - - 2274.38 - 77.86 - - 2558.22 - - - - - - - - - - -
16953.39 752.51 6.81 1862 16973.19 1.66 0.19 0.084 2931.12 227.3 3.01 0.076 1142.81 -375.9 77.86 - - 2558.47 - - - - - - - - 16.03 16.03 -
17039.63 745.79 7.77 1876 17057.60 done 1.66 - - 2930.12 - 2.78 0.033 2275.69 407.5 77.86 - - 2560.38 - - - - - - - - - 16.06 -
17363.56 721.10 7.66 1908 17367.63 VBD 1.66 - - 2930.50 - - - 2275.38 - 77.86 - - 2558.19 - - - - - - - - - - -
17673.62 696.47 8.21 1939 17691.79 done 1.66 - - 2931.19 - 2.98 0.076 1145.00 -379.3 77.86 - - 2558.06 - - - - - - - - - 16.07 -
17768.01 688.27 8.65 1955 17785.74 done 1.66 - - 2930.56 - 2.78 0.033 2273.19 405.8 77.86 - - 2558.97 - - - - - - - - - 16.08 -
18091.58 662.27 7.78 1987 18095.65 VBD 1.66 - - 2931.19 - - - 2273.12 - 77.86 - - 2557.78 - - - - - - - - - - -
18402.04 638.14 7.25 2018 18420.19 done 1.70 - - 2929.88 - 2.97 0.075 1142.75 -380.6 77.86 - - 2559.59 - - - - - - - - - 16.07 -
18460.67 633.45 8.10 2027 18478.75 done 1.70 - - 2931.25 - 2.80 0.033 2275.12 404.4 77.86 - - 2558.16 - - - - - - - - - 16.06 -
18785.01 610.72 6.83 2059 18789.07 VBD 1.78 - - 2931.12 - - - 2275.25 - 77.86 - - 2557.25 - - - - - - - - - - -
19095.33 588.96 7.15 2090 19115.35 1.83 0.17 0.087 2971.62 238.2 3.01 0.075 1144.44 -375.7 77.86 - - 2557.22 - - - - - - - - 15.93 15.93 -
19251.58 576.73 7.90 2118 19269.34 done 1.83 - - 2971.56 - 2.80 0.033 2274.38 403.6 77.86 - - 2557.88 - - - - - - - - - 16.08 -
19575.29 551.06 8.16 2150 19579.36 VBD 1.83 - - 2970.94 - - - 2274.06 - 77.86 - - 2556.28 - - - - - - - - - - -
19885.34 526.45 7.86 2181 19903.51 done 1.83 - - 2971.25 - 2.99 0.075 1144.50 -377.8 77.86 - - 2556.75 - - - - - - - - - 16.08 -
20134.01 505.84 7.91 2228 20152.90 done 1.83 - - 2971.75 - 2.81 0.033 2273.31 401.7 77.86 - - 2557.75 - - - - - - - - - 16.08 -
20459.11 483.17 6.99 2260 20463.17 VBD 1.89 - - 2972.00 - - - 2273.19 - 77.86 - - 2556.41 - - - - - - - - - - -
20769.42 462.44 6.73 2291 20773.48 VBD 1.97 - - 2971.56 - - - 2273.12 - 77.86 - - 2557.03 - - - - - - - - - - -
21079.73 441.34 6.84 2322 21099.12 2.05 0.17 0.090 3013.44 246.4 3.00 0.074 1144.31 -376.3 77.86 - - 2557.41 - - - - - - - - 16.02 16.01 -
21189.73 432.61 7.85 2341 21208.60 done 2.05 - - 3014.12 - 2.81 0.032 2275.88 402.7 77.86 - - 2557.47 - - - - - - - - - 16.08 -
21514.85 410.52 6.17 2373 21533.44 2.16 - - 3013.25 - 3.01 0.073 1143.88 -376.1 77.86 - - 2558.62 - - - - - - - - - 16.03 -
21700.17 397.67 6.93 2407 21717.94 2.23 - - 3013.56 - 2.81 0.032 2275.25 402.6 77.86 - - 2558.03 - - - - - - - - - 16.06 -
22024.16 378.85 6.05 2439 22042.74 2.35 - - 3013.44 - 3.01 0.072 1143.81 -375.9 77.86 - - 2555.75 - - - - - - - - - 16.05 -
22089.36 374.54 6.70 2449 22107.12 2.43 - - 3013.31 - 2.81 0.031 2276.06 402.9 77.86 - - 2557.22 - - - - - - - - - 16.07 -
22413.37 353.88 6.19 2481 22431.96 2.54 - - 3014.06 - 3.02 0.072 1142.94 -375.2 77.86 - - 2556.56 - - - - - - - - - 16.02 -
22662.90 337.17 6.66 2528 22681.50 2.62 - - 3013.94 - 2.83 0.032 2277.50 400.9 77.86 - - 2557.94 - - - - - - - - - 16.05 -
22987.75 317.84 5.87 2560 22991.83 2.75 - - 3013.31 - - - 2278.62 - 77.86 - - 2556.41 - - - - - - - - - - -
23298.08 299.90 5.84 2591 23302.15 2.89 - - 3013.88 - - - 2277.81 - 77.86 - - 2556.25 - - - - - - - - - - -
23608.43 282.65 5.70 2622 23626.83 3.03 - - 3012.75 - 2.98 0.072 1142.88 -380.8 77.86 - - 2557.81 - - - - - - - - - 16.05 -
23653.60 279.92 5.88 2628 23671.58 3.16 - - 3013.56 - 2.82 0.030 2277.56 402.4 77.86 - - 2558.59 - - - - - - - - - 16.04 -
23977.89 263.30 4.88 2660 24067.74 3.29 - - 3013.69 - 3.04 0.074 1144.12 -372.8 143.33 50.67 1.598 2303.12 -5.0 0.138 - - - - - - - 15.83 11.86
24104.00 252.48 10.07 2678 24122.00 roll back 3.29 - - 3013.94 - 2.84 0.031 2274.56 398.0 143.33 - - 2300.00 - - - - - - - - - 15.90 -
24428.00 218.33 10.41 2710 24446.81 3.29 - - 3014.19 - 3.02 0.072 1144.25 -374.3 143.33 - - 2296.41 - - - - - - - - - 15.93 -
24547.69 205.33 10.36 2731 24566.40 3.29 - - 3013.88 - 2.83 0.031 2275.25 399.6 143.33 - - 2296.06 - - - - - - - - - 15.95 -
24872.30 174.37 9.45 2763 24891.35 3.29 - - 3013.31 - 3.03 0.072 1142.38 -373.9 143.33 - - 2295.84 - - - - - - - - - 15.92 -
24947.71 167.07 9.72 2775 24965.69 3.29 - - 3014.56 - 2.83 0.031 2276.19 400.6 143.33 - - 2296.84 - - - - - - - - - 15.98 -
25271.56 140.54 7.84 2807 25290.36 3.29 - - 3014.38 - 3.03 0.093 3352.62 355.3 143.33 - - 2294.03 - - - - - - - - - 15.97 -
25490.92 121.23 8.69 2848 25508.80 3.29 - - 3014.56 - 2.68 0.023 2198.06 -430.8 143.33 - - 2295.44 - - - - - - - - - 15.93 -
25815.09 101.41 4.72 2880 25911.09 3.42 - - 3014.81 - 2.85 0.077 1144.25 -369.8 212.08 53.02 1.369 2024.03 -5.1 0.063 - - - - - - - 15.76 12.17
25927.75 94.84 7.19 2895 25946.87 roll back 3.48 - - 3014.44 - 2.81 0.029 2278.69 403.7 212.08 - - 2020.03 - - - - - - - - - 15.83 -
26133.13 79.29 6.81 2933 26139.80 3.55 - - 3014.12 - - - 2278.44 - 212.08 - - 2016.62 - - - - - - - - - - -
26326.09 67.06 5.45 2971 26345.63 3.71 - - 3014.75 - 3.02 0.070 1144.00 -375.6 212.08 - - 2014.56 - - - - - - - - - 15.86 -
26452.42 60.83 4.66 2993 26548.00 3.85 - - 3014.06 - 2.79 0.029 2276.62 406.0 282.09 53.08 1.294 1738.69 -5.2 0.040 - - - - - - - 15.90 12.38
26734.29 41.35 6.76 3042 26753.82 3.92 - - 3014.00 - 3.05 0.092 3352.62 352.8 282.09 - - 1731.56 - - - - - - - - - 15.81 -
26780.18 37.86 7.62 3048 26798.47 3.92 - - 3014.75 - 2.70 0.022 2198.38 -427.5 282.09 - - 1729.47 - - - - - - - - - 15.80 -
26984.75 25.99 5.53 3086 26991.42 4.08 - - 3014.88 - - - 2196.38 - 282.09 - - 1727.84 - - - - - - - - - - -
27177.72 19.80 2.33 3124 27324.60 4.31 - - 3014.31 - 2.88 0.076 1144.38 -365.3 400.35 90.12 1.227 1257.72 -5.2 0.014 - - - - - - - 15.58 12.20
27396.38 10.35 5.20 3157 27414.67 roll back 4.31 - - 3014.88 - 2.78 0.027 2280.69 408.7 400.35 - - 1249.62 - - - - - - - - - 15.76 -
27540 end climb: SURFACE_DEPTH_REACHED
27541 begin surface coast
27631 end surface coast: CONTROL_FINISHED_OK
27632 begin surface
SM 1.02 - - - - 179.5 22.15 1.133 1137.6 51.4 18.37 0.047 1137.4 61.9 - 0.24 0.061 1137.8 4729.2 -8.082 - - 12.41 15.85 15.88 -