NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 324 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 114.81 of 506.00 AH used of 24V (77.31% remains)
• Surface angle -66.0 deg, depth 1.10 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.86 (SM_CC=430)
• GPS1 time: 12 s
• GPS2 time: 3 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
18.88 - - - 104.24 VBD -1.18 - - 180.69 - - - 2285.31 - -77.86 59.99 0.005 2559.97 - - - - - - - - - - 15.19
106.47 3.04 -3.63 12 226.67 -1.18 17.06 0.221 2227.62 120.0 3.14 0.087 3353.25 340.1 -77.86 9.93 0.007 3209.72 65.4 -4.811 - - - - - - 15.42 15.19 15.30
272.79 39.98 -12.75 28 291.09 roll -1.18 - - 2227.81 - 2.81 0.019 2193.75 -412.6 -77.86 - - 3212.66 - - - - - - - - - 15.77 -
477.03 61.20 -10.01 66 495.73 roll -1.18 - - 2227.44 - 2.95 0.066 1143.94 -355.9 -77.86 - - 3214.31 - - - - - - - - - 15.67 -
581.90 71.26 -9.14 84 599.79 roll -1.18 - - 2227.75 - 2.78 0.023 2279.88 408.6 -77.86 - - 3213.78 - - - - - - - - - 15.77 -
785.58 89.10 -8.26 122 792.13 no move -1.18 - - 2227.81 - - - 2280.31 - -77.86 - - 3214.19 - - - - - - - - - - -
977.96 103.28 -7.78 156 981.98 no move -1.18 - - 2226.94 - - - 2280.31 - -77.86 - - 3214.25 - - - - - - - - - - -
1288.01 125.88 -7.82 187 1306.78 roll -1.18 - - 2228.19 - 3.20 0.062 1146.00 -354.5 -77.86 - - 3213.81 - - - - - - - - - 15.76 -
1322.94 128.70 -8.14 191 1340.49 roll -1.18 - - 2227.50 - 2.77 0.023 2280.75 409.7 -77.86 - - 3215.44 - - - - - - - - - 15.90 -
1646.32 154.53 -8.11 223 1665.10 roll -1.18 - - 2226.94 - 3.12 0.083 3351.44 343.2 -77.86 - - 3215.78 - - - - - - - - - 15.66 -
1685.52 157.90 -8.20 228 1703.42 roll -1.18 - - 2227.25 - 2.76 0.019 2188.06 -421.5 -77.86 - - 3215.59 - - - - - - - - - 15.90 -
2009.25 181.31 -7.13 260 2013.31 no move -1.18 - - 2227.44 - - - 2186.56 - -77.86 - - 3214.31 - - - - - - - - - - -
2319.29 204.09 -7.90 291 2323.35 no move -1.18 - - 2226.75 - - - 2186.88 - -77.86 - - 3214.12 - - - - - - - - - - -
2629.34 229.28 -8.37 322 2647.54 roll -1.18 - - 2227.44 - 2.95 0.067 1144.81 -353.2 -77.86 - - 3215.59 - - - - - - - - - 15.79 -
2693.75 234.71 -8.54 332 2711.53 roll -1.18 - - 2227.56 - 2.75 0.025 2279.00 412.4 -77.86 - - 3214.62 - - - - - - - - - 15.94 -
3017.37 258.41 -6.97 364 3021.43 no move -1.18 - - 2227.62 - - - 2278.94 - -77.86 - - 3213.75 - - - - - - - - - - -
3327.41 280.84 -7.72 395 3346.42 roll -1.18 - - 2227.75 - 3.19 0.064 1146.19 -355.1 -77.86 - - 3213.97 - - - - - - - - - 15.84 -
3372.62 284.41 -7.99 401 3390.01 roll -1.18 - - 2227.88 - 2.77 0.025 2278.38 408.7 -77.86 - - 3214.72 - - - - - - - - - 15.95 -
3695.86 309.19 -7.75 433 3715.26 roll -1.18 - - 2227.38 - 3.12 0.085 3351.81 344.0 -77.86 - - 3211.44 - - - - - - - - - 15.75 -
3745.73 313.42 -8.36 440 3764.24 roll -1.18 - - 2227.25 - 2.74 0.020 2190.38 -423.9 -77.86 - - 3213.12 - - - - - - - - - 15.97 -
4070.07 337.13 -7.08 472 4074.38 no move -1.18 - - 2226.88 - - - 2189.38 - -77.86 - - 3211.59 - - - - - - - - - - -
4380.34 359.40 -7.26 503 4384.40 no move -1.18 - - 2227.62 - - - 2188.69 - -77.86 - - 3211.34 - - - - - - - - - - -
4690.38 383.61 -7.85 534 4694.44 no move -1.18 - - 2227.12 - - - 2189.44 - -77.86 - - 3210.31 - - - - - - - - - - -
5000.42 409.89 -8.55 565 5021.63 roll -1.18 - - 2225.81 - 3.34 0.081 3352.38 348.2 -77.86 - - 3210.09 - - - - - - - - - 15.84 -
5057.11 415.12 -9.07 573 5075.22 roll -1.18 - - 2227.38 - 2.79 0.019 2191.62 -416.0 -77.86 - - 3211.16 - - - - - - - - - 15.90 -
5381.06 438.65 -6.47 605 5402.27 roll -1.18 - - 2227.44 - 3.33 0.081 3353.94 349.0 -77.86 - - 3210.66 - - - - - - - - - 15.84 -
5423.47 441.74 -7.07 610 5441.25 roll -1.18 - - 2227.12 - 2.76 0.019 2191.56 -421.2 -77.86 - - 3210.38 - - - - - - - - - 15.99 -
5747.10 461.60 -5.96 642 5765.29 roll -1.18 - - 2226.44 - 2.94 0.070 1145.44 -355.8 -77.86 - - 3209.88 - - - - - - - - - 15.78 -
5821.49 466.66 -6.73 654 5839.09 roll -1.18 - - 2227.88 - 2.74 0.026 2279.81 414.0 -77.86 - - 3210.53 - - - - - - - - - 15.98 -
6144.94 488.66 -7.00 686 6149.00 no move -1.18 - - 2227.31 - - - 2279.94 - -77.86 - - 3208.44 - - - - - - - - - - -
6454.98 509.86 -6.76 717 6459.04 no move -1.18 - - 2227.25 - - - 2280.88 - -77.86 - - 3207.81 - - - - - - - - - - -
6765.02 528.08 -5.28 748 6769.08 no move -1.18 - - 2227.38 - - - 2280.19 - -77.86 - - 3206.94 - - - - - - - - - - -
7075.06 545.28 -5.77 779 7079.12 no move -1.18 - - 2227.69 - - - 2279.81 - -77.86 - - 3207.00 - - - - - - - - - - -
7385.11 562.33 -5.45 810 7404.12 roll -1.18 - - 2227.81 - 3.17 0.067 1146.06 -357.6 -77.86 - - 3207.78 - - - - - - - - - 15.83 -
7454.59 566.57 -6.11 821 7472.70 roll -1.18 - - 2227.38 - 2.76 0.026 2279.12 410.5 -77.86 - - 3206.97 - - - - - - - - - 15.97 -
7778.52 585.65 -6.17 853 7797.52 roll -1.18 - - 2227.88 - 3.11 0.087 3350.62 344.5 -77.86 - - 3205.31 - - - - - - - - - 15.81 -
7858.01 591.40 -7.08 866 7876.13 roll -1.18 - - 2227.38 - 2.76 0.020 2192.94 -419.4 -77.86 - - 3206.50 - - - - - - - - - 15.98 -
8181.98 612.95 -6.97 898 8200.18 roll -1.18 - - 2227.12 - 2.95 0.072 1144.81 -355.3 -77.86 - - 3205.25 - - - - - - - - - 15.83 -
8230.65 616.62 -6.91 905 8248.76 roll -1.18 - - 2227.56 - 2.74 0.026 2279.56 414.1 -77.86 - - 3206.09 - - - - - - - - - 15.97 -
8554.58 641.40 -8.25 937 8573.85 roll -1.18 - - 2227.38 - 3.19 0.067 1146.00 -355.3 -77.86 - - 3205.03 - - - - - - - - - 15.82 -
8620.17 646.89 -8.42 947 8637.56 roll -1.18 - - 2227.44 - 2.77 0.026 2279.31 409.1 -77.86 - - 3205.97 - - - - - - - - - 15.99 -
8943.40 672.39 -7.86 979 8962.41 roll -1.18 - - 2227.31 - 3.13 0.087 3353.25 343.1 -77.86 - - 3203.38 - - - - - - - - - 15.79 -
9018.61 678.46 -8.00 991 9036.01 roll -1.18 - - 2227.75 - 2.79 0.020 2192.62 -416.0 -77.86 - - 3204.94 - - - - - - - - - 15.73 -
9341.86 699.63 -6.38 1023 9345.92 no move -1.18 - - 2227.19 - - - 2191.19 - -77.86 - - 3203.22 - - - - - - - - - - -
9651.90 718.72 -6.02 1054 9673.12 roll -1.18 - - 2227.12 - 3.36 0.084 3352.25 345.6 -77.86 - - 3203.06 - - - - - - - - - 15.77 -
9734.33 724.38 -6.63 1067 9752.11 roll -1.18 - - 2227.00 - 2.79 0.020 2194.38 -415.0 -77.86 - - 3204.03 - - - - - - - - - 15.97 -
10057.97 742.74 -5.39 1099 10062.03 no move -1.18 - - 2226.62 - - - 2193.94 - -77.86 - - 3203.03 - - - - - - - - - - -
10368.00 759.18 -5.25 1130 10389.42 roll -1.18 - - 2227.62 - 3.37 0.084 3351.56 343.5 -77.86 - - 3201.94 - - - - - - - - - 15.76 -
10435.07 763.16 -6.09 1140 10453.58 roll -1.18 - - 2227.56 - 2.78 0.020 2193.88 -416.4 -77.86 - - 3202.81 - - - - - - - - - 15.96 -
10759.42 779.84 -5.14 1172 10777.38 roll -1.18 - - 2227.62 - 2.98 0.072 1145.69 -351.7 -77.86 - - 3203.25 - - - - - - - - - 15.78 -
10823.58 783.38 -5.41 1182 10840.99 roll -1.18 - - 2228.00 - 2.74 0.026 2279.88 413.9 -77.86 - - 3202.19 - - - - - - - - - 15.98 -
11146.84 800.98 -5.64 1214 11150.90 no move -1.18 - - 2227.38 - - - 2279.81 - -77.86 - - 3202.03 - - - - - - - - - - -
11456.88 819.63 -6.08 1245 11460.94 no move -1.18 - - 2227.19 - - - 2279.69 - -77.86 - - 3201.50 - - - - - - - - - - -
11766.92 839.15 -6.33 1276 11785.93 roll -1.18 - - 2227.44 - 3.20 0.068 1145.81 -354.3 -77.86 - - 3201.69 - - - - - - - - - 15.77 -
11816.41 842.36 -6.44 1283 11834.54 roll -1.18 - - 2227.62 - 2.77 0.026 2277.44 408.5 -77.86 - - 3202.09 - - - - - - - - - 15.94 -
12140.40 863.30 -6.52 1315 12159.41 roll -1.18 - - 2227.56 - 3.19 0.068 1145.38 -354.9 -77.86 - - 3201.41 - - - - - - - - - 15.77 -
12205.62 867.74 -6.98 1325 12223.24 roll -1.18 - - 2227.75 - 2.78 0.026 2276.25 406.8 -77.86 - - 3202.62 - - - - - - - - - 15.97 -
12529.20 888.28 -6.21 1357 12533.27 no move -1.18 - - 2227.38 - - - 2276.38 - -77.86 - - 3200.28 - - - - - - - - - - -
12839.25 907.29 -6.12 1388 12843.32 no move -1.18 - - 2227.00 - - - 2277.56 - -77.86 - - 3200.56 - - - - - - - - - - -
13149.30 925.97 -5.71 1419 13153.37 no move -1.18 - - 2226.69 - - - 2277.62 - -77.86 - - 3199.81 - - - - - - - - - - -
13459.74 942.15 -4.90 1450 13463.81 no move -1.18 - - 2227.12 - - - 2276.81 - -77.86 - - 3199.78 - - - - - - - - - - -
13770.03 956.76 -4.67 1481 13789.45 roll -1.18 - - 2227.50 - 3.20 0.069 1146.12 -353.3 -77.86 - - 3199.12 - - - - - - - - - 15.74 -
13875.67 962.07 -5.14 1499 13893.07 roll -1.18 - - 2227.19 - 2.79 0.027 2276.06 405.0 -77.86 - - 3200.66 - - - - - - - - - 15.78 -
14199.32 977.71 -4.89 1531 14203.39 no move -1.18 - - 2227.19 - - - 2275.94 - -77.86 - - 3199.59 - - - - - - - - - - -
14488 end dive: TARGET_DEPTH_EXCEEDED
14489 begin apogee
14493.83 990.19 -4.04 1560 14596.13 -0.31 1.59 0.133 2440.50 134.2 0.20 0.140 2285.44 47.5 - 63.56 2.441 2890.06 -4.9 0.334 - - - - - - 15.64 15.44 10.35
14600 end apogee: CONTROL_FINISHED_OK
14601 begin climb
14604.18 990.63 - 1567 14732.40 1.18 2.57 0.090 2806.00 142.2 3.31 0.097 3349.44 321.5 77.86 66.27 2.413 2572.19 -4.8 0.333 - - - - - - 15.58 15.20 11.93
14739.73 982.63 6.95 1581 14757.52 roll 1.25 - - 2804.75 - 2.85 0.021 2202.75 -402.3 77.86 - - 2568.62 - - - - - - - - - 15.52 -
15063.89 958.43 6.93 1613 15083.72 1.32 0.18 0.084 2847.12 235.4 3.04 0.076 1145.88 -347.7 77.86 - - 2562.03 - - - - - - - - 15.72 15.67 -
15119.92 953.85 8.15 1621 15138.11 done 1.32 - - 2847.19 - 2.82 0.030 2274.75 400.3 77.86 - - 2564.00 - - - - - - - - - 15.78 -
15443.97 928.20 7.61 1653 15463.39 done 1.32 - - 2846.31 - 3.21 0.072 1146.31 -351.5 77.86 - - 2561.66 - - - - - - - - - 15.78 -
15509.58 923.29 7.97 1663 15527.36 done 1.32 - - 2847.50 - 2.82 0.030 2272.44 399.3 77.86 - - 2563.34 - - - - - - - - - 15.87 -
15833.62 900.17 6.84 1695 15852.87 done 1.39 - - 2847.50 - 3.19 0.095 3350.06 337.8 77.86 - - 2559.41 - - - - - - - - - 15.77 -
15893.86 895.93 6.84 1704 15911.98 done 1.46 - - 2848.00 - 2.76 0.022 2201.56 -416.1 77.86 - - 2560.94 - - - - - - - - - 15.89 -
16218.25 874.89 6.26 1736 16224.06 1.57 0.31 0.065 2907.06 190.5 - - 2199.62 - 77.86 - - 2559.28 - - - - - - - - 15.86 - -
16530.31 852.85 7.04 1767 16534.37 VBD 1.63 - - 2909.25 - - - 2200.44 - 77.86 - - 2559.06 - - - - - - - - - - -
16840.62 831.40 6.66 1798 16844.68 VBD 1.71 - - 2908.44 - - - 2200.50 - 77.86 - - 2558.69 - - - - - - - - - - -
17150.91 811.31 5.81 1829 17156.72 1.85 0.35 0.063 2975.94 192.9 - - 2200.50 - 77.86 - - 2557.75 - - - - - - - - 15.91 - -
17462.56 785.77 8.65 1860 17482.60 done 1.85 - - 2976.88 - 3.38 0.090 3350.75 340.3 77.86 - - 2557.84 - - - - - - - - - 15.78 -
17493.47 783.27 7.52 1863 17511.58 done 1.88 - - 2976.62 - 2.79 0.022 2204.31 -410.9 77.86 - - 2559.00 - - - - - - - - - 15.72 -
17817.43 755.66 8.59 1895 17821.49 VBD 1.88 - - 2976.69 - - - 2202.94 - 77.86 - - 2557.88 - - - - - - - - - - -
18127.49 728.35 8.42 1926 18131.94 VBD 1.88 - - 2976.62 - - - 2202.88 - 77.86 - - 2557.31 - - - - - - - - - - -
18437.79 701.48 8.95 1957 18442.10 VBD 1.88 - - 2976.31 - - - 2202.31 - 77.86 - - 2557.25 - - - - - - - - - - -
18748.07 676.38 8.43 1988 18769.29 done 1.88 - - 2975.38 - 3.36 0.089 3352.69 342.4 77.86 - - 2559.56 - - - - - - - - - 15.77 -
18804.76 671.55 8.61 1996 18822.87 done 1.88 - - 2976.06 - 2.78 0.022 2203.00 -413.6 77.86 - - 2558.38 - - - - - - - - - 15.98 -
19128.72 645.04 8.30 2028 19132.77 VBD 1.88 - - 2977.00 - - - 2201.75 - 77.86 - - 2557.16 - - - - - - - - - - -
19439.19 621.47 7.24 2059 19443.26 VBD 1.93 - - 2976.50 - - - 2201.44 - 77.86 - - 2556.91 - - - - - - - - - - -
19749.51 601.81 5.94 2090 19754.52 2.05 0.14 0.096 3013.62 265.1 - - 2201.50 - 77.86 - - 2556.28 - - - - - - - - 15.91 - -
20060.78 580.78 7.10 2121 20064.85 VBD 2.11 - - 3014.12 - - - 2201.44 - 77.86 - - 2557.12 - - - - - - - - - - -
20371.10 559.97 6.49 2152 20392.33 2.20 - - 3014.00 - 3.39 0.088 3349.62 338.7 77.86 - - 2556.66 - - - - - - - - - 15.53 -
20457.80 553.04 8.20 2166 20475.95 2.20 - - 3013.56 - 2.79 0.022 2204.31 -410.5 77.86 - - 2556.91 - - - - - - - - - 15.95 -
20782.20 530.33 6.81 2198 20786.29 2.28 - - 3013.25 - - - 2203.44 - 77.86 - - 2556.25 - - - - - - - - - - -
21092.54 509.86 6.50 2229 21096.86 2.37 - - 3014.06 - - - 2202.88 - 77.86 - - 2556.44 - - - - - - - - - - -
21403.22 490.19 6.41 2260 21407.29 2.47 - - 3014.50 - - - 2202.88 - 77.86 - - 2556.69 - - - - - - - - - - -
21713.54 467.73 7.02 2291 21717.62 2.53 - - 3014.00 - - - 2202.69 - 77.86 - - 2556.22 - - - - - - - - - - -
22023.96 447.88 6.01 2322 22042.57 2.65 - - 3011.06 - 3.05 0.075 1145.88 -346.5 77.86 - - 2556.44 - - - - - - - - - 15.77 -
22089.18 443.91 5.99 2332 22106.98 2.78 - - 3015.12 - 2.79 0.029 2277.25 405.5 77.86 - - 2557.66 - - - - - - - - - 15.95 -
22413.23 425.90 5.85 2364 22417.30 2.91 - - 3014.62 - - - 2277.19 - 77.86 - - 2556.03 - - - - - - - - - - -
22723.55 410.06 4.85 2395 22804.06 3.04 - - 3014.50 - - - 2277.06 - 144.06 53.26 1.741 2301.53 -4.8 0.191 - - - - - - - - 10.98
23109.91 375.15 10.28 2432 23130.75 3.04 - - 3014.56 - 3.26 0.072 1145.69 -347.0 144.06 - - 2293.50 - - - - - - - - - 15.68 -
23232.08 361.77 10.88 2453 23249.89 3.04 - - 3013.94 - 2.84 0.030 2274.38 397.4 144.06 - - 2294.75 - - - - - - - - - 15.80 -
23555.73 328.26 10.34 2485 23575.18 3.04 - - 3014.88 - 3.24 0.071 1145.94 -348.3 144.06 - - 2290.66 - - - - - - - - - 15.74 -
23645.78 318.57 10.80 2500 23664.70 3.04 - - 3014.38 - 2.83 0.029 2274.94 398.9 144.06 - - 2294.12 - - - - - - - - - 15.88 -
23970.51 285.00 9.87 2532 23974.68 3.04 - - 3014.38 - - - 2274.94 - 144.06 - - 2290.56 - - - - - - - - - - -
24280.52 254.44 9.98 2563 24299.94 3.04 - - 3015.38 - 3.24 0.070 1146.25 -348.4 144.06 - - 2290.25 - - - - - - - - - 15.68 -
24350.42 247.26 10.21 2574 24369.35 3.04 - - 3014.25 - 2.81 0.029 2275.31 401.8 144.06 - - 2292.31 - - - - - - - - - 15.81 -
24675.20 217.15 8.95 2606 24679.28 3.04 - - 3014.75 - - - 2275.12 - 144.06 - - 2290.50 - - - - - - - - - - -
24985.25 189.91 8.61 2637 24989.33 3.04 - - 3014.69 - - - 2274.88 - 144.06 - - 2289.84 - - - - - - - - - - -
25295.31 162.80 8.12 2668 25314.74 3.04 - - 3015.00 - 3.24 0.069 1146.12 -348.4 144.06 - - 2289.47 - - - - - - - - - 15.68 -
25350.94 158.38 7.97 2676 25368.75 3.04 - - 3014.69 - 2.82 0.028 2275.06 400.3 144.06 - - 2290.59 - - - - - - - - - 15.70 -
25675.02 133.27 8.20 2708 25679.09 3.04 - - 3014.19 - - - 2274.75 - 144.06 - - 2289.59 - - - - - - - - - - -
25985.06 107.13 7.90 2739 26004.51 3.04 - - 3014.19 - 3.22 0.069 1145.12 -350.8 144.06 - - 2288.44 - - - - - - - - - 15.72 -
26101.13 99.47 6.65 2759 26120.07 3.13 - - 3014.88 - 2.82 0.028 2276.00 401.0 144.06 - - 2289.84 - - - - - - - - - 15.70 -
26306.31 88.08 4.81 2797 26403.97 3.26 - - 3014.88 - 3.26 0.070 1144.94 -347.0 210.97 52.49 1.303 2029.75 -5.0 0.057 - - - - - - - 15.66 11.59
26410.56 82.86 6.12 2810 26429.11 roll back 3.38 - - 3015.00 - 2.83 0.027 2275.06 399.3 210.97 - - 2024.59 - - - - - - - - - 15.75 -
26614.96 67.08 8.64 2848 26635.11 3.38 - - 3014.75 - 3.26 0.068 1145.62 -346.5 210.97 - - 2020.91 - - - - - - - - - 15.63 -
26681.31 61.26 8.69 2858 26700.08 3.38 - - 3014.88 - 2.84 0.026 2277.44 398.5 210.97 - - 2021.00 - - - - - - - - - 15.69 -
26886.46 46.28 6.59 2896 26907.03 3.46 - - 3014.94 - 3.21 0.088 3350.50 334.3 210.97 - - 2019.44 - - - - - - - - - 15.57 -
27033.88 40.34 3.70 2922 27150.46 3.64 - - 3014.38 - 2.80 0.020 2195.94 -412.3 300.92 69.18 1.221 1663.41 -5.1 0.029 - - - - - - - 15.63 11.78
27336.32 22.10 7.87 2974 27357.70 3.64 - - 3015.25 - 3.43 0.085 3350.44 336.6 300.92 - - 1653.38 - - - - - - - - - 15.56 -
27469.43 15.35 4.48 2997 27571.97 3.79 - - 3015.62 - 2.81 0.020 2194.19 -411.5 374.75 58.24 1.162 1361.38 -5.0 0.011 - - - - - - - 15.66 11.72
27747 end climb: SURFACE_DEPTH_REACHED
27747 begin surface coast
27848 end surface coast: CONTROL_FINISHED_OK
27848 begin surface
SM 0.85 - - - - 179.4 42.52 1.126 1137.6 25.4 19.69 0.052 1135.6 57.7 - 0.17 0.090 1139.7 6687.6 -6.455 - - 11.56 15.73 15.79 -