NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 351 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 124.62 of 506.00 AH used of 24V (75.37% remains)
• Surface angle -59.4 deg, depth 1.05 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.82 (SM_CC=430)
• GPS1 time: 31 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
18.90 - - - 111.62 VBD -1.18 - - 179.69 - - - 2289.25 - -77.86 65.11 0.005 2650.50 - - - - - - - - - - 15.09
113.83 3.32 -3.79 13 229.84 -1.18 17.25 0.221 2227.69 118.7 3.24 0.063 1143.88 -353.5 -77.86 8.19 0.007 3211.09 68.4 -5.511 - - - - - - 15.39 15.16 15.28
316.45 47.16 -11.83 36 334.78 roll -1.18 - - 2227.88 - 2.81 0.025 2276.00 402.9 -77.86 - - 3213.69 - - - - - - - - - 15.73 -
520.68 67.66 -8.32 74 540.58 roll -1.18 - - 2227.81 - 3.21 0.060 1144.25 -352.6 -77.86 - - 3214.16 - - - - - - - - - 15.65 -
691.77 84.43 -9.96 105 710.08 roll -1.18 - - 2227.00 - 2.81 0.024 2277.94 403.4 -77.86 - - 3215.41 - - - - - - - - - 15.76 -
895.88 102.84 -9.03 140 899.90 no move -1.18 - - 2227.62 - - - 2278.56 - -77.86 - - 3214.09 - - - - - - - - - - -
1205.92 125.01 -6.36 171 1225.11 done -1.18 - - 2226.62 - 3.22 0.060 1145.94 -351.7 -77.86 - - 3216.41 - - - - - - - - - 15.76 -
1231.26 126.65 -6.41 173 1248.44 done -1.18 - - 2226.50 - 2.79 0.023 2277.88 405.7 -77.86 - - 3217.03 - - - - - - - - - 15.81 -
1554.25 149.03 -7.19 205 1573.46 done -1.18 - - 2227.56 - 3.22 0.061 1145.06 -351.8 -77.86 - - 3215.88 - - - - - - - - - 15.72 -
1673.88 158.50 -8.01 226 1692.21 done -1.18 - - 2227.62 - 2.81 0.024 2278.94 403.5 -77.86 - - 3216.31 - - - - - - - - - 15.73 -
1998.05 180.82 -6.58 258 2002.11 VBD -1.18 - - 2227.31 - - - 2278.81 - -77.86 - - 3215.50 - - - - - - - - - - -
2308.09 203.89 -8.07 289 2312.15 no move -1.18 - - 2228.00 - - - 2278.69 - -77.86 - - 3215.34 - - - - - - - - - - -
2618.13 228.72 -7.81 320 2622.19 no move -1.18 - - 2227.19 - - - 2279.00 - -77.86 - - 3215.28 - - - - - - - - - - -
2928.17 252.83 -7.85 351 2947.60 roll -1.18 - - 2227.94 - 3.26 0.063 1144.62 -348.0 -77.86 - - 3215.94 - - - - - - - - - 15.86 -
3033.82 261.38 -8.13 369 3051.60 roll -1.18 - - 2227.75 - 2.80 0.025 2277.50 404.6 -77.86 - - 3215.44 - - - - - - - - - 15.95 -
3357.44 285.10 -7.05 401 3361.50 no move -1.18 - - 2228.19 - - - 2278.19 - -77.86 - - 3213.69 - - - - - - - - - - -
3667.49 306.35 -6.81 432 3686.92 roll -1.18 - - 2227.69 - 3.23 0.063 1145.88 -350.6 -77.86 - - 3214.59 - - - - - - - - - 15.86 -
3783.14 314.89 -7.55 452 3801.33 roll -1.18 - - 2227.81 - 2.81 0.025 2276.50 402.4 -77.86 - - 3213.44 - - - - - - - - - 15.98 -
4107.18 339.53 -7.49 484 4111.24 no move -1.18 - - 2227.75 - - - 2277.88 - -77.86 - - 3212.16 - - - - - - - - - - -
4417.22 362.63 -7.54 515 4436.88 roll -1.18 - - 2226.06 - 3.25 0.064 1145.88 -348.3 -77.86 - - 3212.84 - - - - - - - - - 15.84 -
4467.48 366.73 -8.11 522 4486.01 roll -1.18 - - 2226.88 - 2.82 0.025 2277.75 401.4 -77.86 - - 3212.88 - - - - - - - - - 15.98 -
4791.85 390.95 -7.63 554 4795.91 no move -1.18 - - 2228.06 - - - 2277.69 - -77.86 - - 3210.91 - - - - - - - - - - -
5101.89 414.05 -7.11 585 5120.91 roll -1.18 - - 2225.94 - 3.18 0.086 3352.38 338.0 -77.86 - - 3211.75 - - - - - - - - - 15.84 -
5161.38 418.98 -7.81 594 5179.92 roll -1.18 - - 2228.00 - 2.83 0.019 2194.00 -409.3 -77.86 - - 3210.41 - - - - - - - - - 15.99 -
5485.75 440.76 -6.61 626 5504.36 roll -1.18 - - 2227.38 - 3.04 0.069 1144.94 -345.1 -77.86 - - 3209.94 - - - - - - - - - 15.76 -
5550.56 445.22 -6.78 636 5568.34 roll -1.18 - - 2227.62 - 2.79 0.025 2278.31 406.2 -77.86 - - 3210.53 - - - - - - - - - 15.97 -
5874.19 466.67 -6.86 668 5878.25 no move -1.18 - - 2227.44 - - - 2277.62 - -77.86 - - 3208.44 - - - - - - - - - - -
6184.24 488.45 -6.90 699 6188.31 no move -1.18 - - 2227.62 - - - 2278.25 - -77.86 - - 3208.41 - - - - - - - - - - -
6494.27 509.80 -7.05 730 6515.09 roll -1.18 - - 2227.50 - 3.27 0.066 1144.75 -346.6 -77.86 - - 3208.03 - - - - - - - - - 15.85 -
6570.81 515.47 -7.22 742 6589.73 roll -1.18 - - 2228.12 - 2.81 0.026 2277.44 403.1 -77.86 - - 3208.50 - - - - - - - - - 15.98 -
6895.68 537.91 -6.90 774 6899.74 no move -1.18 - - 2227.44 - - - 2277.25 - -77.86 - - 3207.38 - - - - - - - - - - -
7205.70 557.91 -6.20 805 7209.76 no move -1.18 - - 2227.31 - - - 2277.75 - -77.86 - - 3207.19 - - - - - - - - - - -
7515.70 577.95 -6.21 836 7535.52 roll -1.18 - - 2227.50 - 3.27 0.066 1145.94 -346.1 -77.86 - - 3207.75 - - - - - - - - - 15.84 -
7581.72 582.39 -6.65 846 7599.52 roll -1.18 - - 2227.75 - 2.81 0.026 2277.88 402.8 -77.86 - - 3206.81 - - - - - - - - - 15.89 -
7905.36 601.42 -5.58 878 7909.42 no move -1.18 - - 2226.88 - - - 2277.44 - -77.86 - - 3205.56 - - - - - - - - - - -
8215.42 620.31 -6.36 909 8236.24 roll -1.18 - - 2227.75 - 3.28 0.067 1146.50 -344.8 -77.86 - - 3205.75 - - - - - - - - - 15.74 -
8307.44 626.72 -6.98 924 8325.24 roll -1.18 - - 2228.00 - 2.82 0.026 2276.12 400.6 -77.86 - - 3206.62 - - - - - - - - - 16.00 -
8631.09 647.86 -6.80 956 8635.15 no move -1.18 - - 2227.56 - - - 2276.56 - -77.86 - - 3204.16 - - - - - - - - - - -
8941.14 668.14 -6.42 987 8962.32 roll -1.18 - - 2227.62 - 3.29 0.067 1144.25 -344.2 -77.86 - - 3204.03 - - - - - - - - - 15.83 -
9073.64 677.20 -6.89 1010 9091.43 roll -1.18 - - 2226.44 - 2.82 0.027 2276.25 401.4 -77.86 - - 3206.12 - - - - - - - - - 15.98 -
9397.28 698.00 -6.32 1042 9401.34 no move -1.18 - - 2227.38 - - - 2276.75 - -77.86 - - 3202.88 - - - - - - - - - - -
9707.33 718.43 -6.49 1073 9726.74 roll -1.18 - - 2227.44 - 3.21 0.089 3350.56 334.5 -77.86 - - 3204.16 - - - - - - - - - 15.76 -
9807.24 725.62 -7.19 1090 9826.18 roll -1.18 - - 2227.62 - 2.83 0.020 2193.94 -408.7 -77.86 - - 3203.75 - - - - - - - - - 15.99 -
10132.03 746.58 -6.58 1122 10150.65 roll -1.18 - - 2227.81 - 3.06 0.071 1145.56 -342.6 -77.86 - - 3203.62 - - - - - - - - - 15.79 -
10211.13 752.23 -6.99 1135 10229.25 roll -1.18 - - 2227.88 - 2.80 0.026 2278.81 404.7 -77.86 - - 3203.75 - - - - - - - - - 15.97 -
10535.10 772.94 -6.19 1167 10554.24 roll -1.18 - - 2227.50 - 3.13 0.089 3352.00 342.9 -77.86 - - 3202.03 - - - - - - - - - 15.77 -
10610.46 777.88 -6.41 1179 10628.51 roll -1.18 - - 2227.56 - 2.81 0.020 2192.88 -412.5 -77.86 - - 3203.34 - - - - - - - - - 15.97 -
10935.15 797.74 -6.25 1211 10953.37 roll -1.18 - - 2227.19 - 2.92 0.072 1144.38 -359.1 -77.86 - - 3200.84 - - - - - - - - - 15.80 -
10989.68 801.12 -6.59 1219 11007.47 roll -1.18 - - 2227.38 - 2.78 0.026 2276.88 407.4 -77.86 - - 3202.81 - - - - - - - - - 15.97 -
11313.33 820.17 -5.88 1251 11317.39 no move -1.18 - - 2227.12 - - - 2277.06 - -77.86 - - 3201.69 - - - - - - - - - - -
11623.37 837.36 -5.52 1282 11627.43 no move -1.18 - - 2227.25 - - - 2277.62 - -77.86 - - 3201.06 - - - - - - - - - - -
11933.41 854.55 -5.51 1313 11952.43 roll -1.18 - - 2227.06 - 3.16 0.068 1144.50 -358.6 -77.86 - - 3199.91 - - - - - - - - - 15.76 -
12048.62 861.68 -6.34 1333 12066.44 roll -1.18 - - 2225.94 - 2.81 0.027 2276.75 402.9 -77.86 - - 3202.84 - - - - - - - - - 15.96 -
12372.29 880.65 -5.84 1365 12391.33 roll -1.18 - - 2227.50 - 3.19 0.068 1144.56 -354.9 -77.86 - - 3199.50 - - - - - - - - - 15.75 -
12457.53 885.69 -5.91 1379 12475.33 roll -1.18 - - 2226.62 - 2.81 0.027 2275.56 402.5 -77.86 - - 3201.69 - - - - - - - - - 15.98 -
12781.18 904.20 -5.81 1411 12800.22 roll -1.18 - - 2225.62 - 3.19 0.068 1145.88 -354.1 -77.86 - - 3201.25 - - - - - - - - - 15.76 -
12866.54 909.46 -6.48 1425 12883.94 roll -1.18 - - 2227.50 - 2.80 0.027 2275.81 403.5 -77.86 - - 3200.66 - - - - - - - - - 15.96 -
13189.76 928.04 -5.76 1457 13193.83 no move -1.18 - - 2227.00 - - - 2275.50 - -77.86 - - 3199.47 - - - - - - - - - - -
13499.80 944.61 -5.21 1488 13503.86 no move -1.18 - - 2227.25 - - - 2275.81 - -77.86 - - 3199.53 - - - - - - - - - - -
13810.24 959.69 -4.76 1519 13829.27 roll -1.18 - - 2227.19 - 3.18 0.068 1144.25 -355.8 -77.86 - - 3198.66 - - - - - - - - - 15.75 -
13889.75 963.95 -5.23 1532 13908.28 roll -1.18 - - 2227.94 - 2.83 0.027 2277.06 400.3 -77.86 - - 3200.25 - - - - - - - - - 15.95 -
14214.12 980.89 -5.32 1564 14218.18 no move -1.18 - - 2227.38 - - - 2276.94 - -77.86 - - 3198.78 - - - - - - - - - - -
14393 end dive: TARGET_DEPTH_EXCEEDED
14393 begin apogee
14398.80 990.62 -5.41 1582 14501.35 -0.31 1.59 0.128 2438.88 133.0 0.19 0.145 2283.25 33.2 - 63.47 2.437 2889.44 -4.9 0.336 - - - - - - 15.57 15.42 10.29
14514 end apogee: CONTROL_FINISHED_OK
14514 begin climb
14517.68 991.89 - 1589 14627.63 1.18 2.59 0.090 2805.81 141.7 - - 2283.81 - 77.86 66.46 2.397 2570.88 -4.8 0.337 - - - - - - 15.58 - 11.75
14933.99 970.53 6.09 1627 14953.42 roll 1.30 - - 2805.62 - 3.25 0.072 1147.44 -349.7 77.86 - - 2565.12 - - - - - - - - - 15.69 -
15024.41 964.84 6.17 1642 15044.98 1.41 0.34 0.066 2870.69 191.4 2.85 0.030 2271.94 394.6 77.86 - - 2563.62 - - - - - - - - 15.62 15.79 -
15350.83 940.49 7.67 1674 15354.90 VBD 1.41 - - 2870.25 - - - 2272.50 - 77.86 - - 2560.94 - - - - - - - - - - -
15660.89 916.63 7.81 1705 15680.33 done 1.41 - - 2870.56 - 3.22 0.072 1145.19 -350.1 77.86 - - 2560.78 - - - - - - - - - 15.80 -
15791.21 906.76 7.53 1728 15810.14 done 1.44 - - 2870.56 - 2.85 0.031 2273.44 395.9 77.86 - - 2562.03 - - - - - - - - - 15.89 -
16116.39 883.40 7.20 1760 16137.45 done 1.49 - - 2870.50 - 3.27 0.072 1145.56 -344.9 77.86 - - 2560.03 - - - - - - - - - 15.81 -
16249.18 873.47 7.46 1783 16267.00 done 1.53 - - 2870.75 - 2.84 0.031 2273.00 397.0 77.86 - - 2560.38 - - - - - - - - - 15.92 -
16573.26 850.62 7.21 1815 16595.32 1.58 0.17 0.086 2910.62 234.5 3.27 0.072 1146.69 -344.4 77.86 - - 2561.22 - - - - - - - - 15.87 15.80 -
16740.82 836.29 8.89 1845 16759.35 done 1.58 - - 2911.94 - 2.84 0.031 2272.75 396.5 77.86 - - 2560.56 - - - - - - - - - 15.95 -
17065.19 809.77 8.15 1877 17086.01 done 1.58 - - 2912.12 - 3.26 0.072 1146.75 -345.4 77.86 - - 2559.78 - - - - - - - - - 15.81 -
17181.51 799.32 8.60 1897 17200.43 done 1.58 - - 2912.12 - 2.85 0.031 2272.62 395.0 77.86 - - 2560.28 - - - - - - - - - 15.96 -
17506.28 771.75 8.19 1929 17526.09 done 1.58 - - 2911.94 - 3.26 0.072 1146.44 -345.5 77.86 - - 2559.53 - - - - - - - - - 15.81 -
17637.32 759.05 9.31 1952 17655.36 done 1.58 - - 2912.00 - 2.84 0.031 2273.62 396.9 77.86 - - 2559.31 - - - - - - - - - 15.97 -
17961.33 732.20 7.94 1984 17965.39 VBD 1.58 - - 2911.50 - - - 2272.81 - 77.86 - - 2558.94 - - - - - - - - - - -
18271.79 708.75 7.04 2015 18292.60 done 1.64 - - 2911.12 - 3.28 0.072 1145.75 -343.6 77.86 - - 2557.72 - - - - - - - - - 15.78 -
18358.50 702.21 7.42 2029 18377.04 done 1.68 - - 2910.75 - 2.85 0.030 2273.62 395.7 77.86 - - 2559.53 - - - - - - - - - 15.97 -
18683.30 680.57 6.37 2061 18705.75 1.78 0.22 0.075 2958.75 218.2 3.27 0.071 1145.62 -345.0 77.86 - - 2558.34 - - - - - - - - 15.91 15.80 -
18766.98 674.53 7.70 2074 18785.17 done 1.78 - - 2958.38 - 2.85 0.030 2274.56 396.1 77.86 - - 2558.91 - - - - - - - - - 15.95 -
19091.42 651.47 7.10 2106 19112.26 done 1.84 - - 2957.31 - 3.27 0.070 1145.69 -345.2 77.86 - - 2558.97 - - - - - - - - - 15.78 -
19283.48 635.91 8.57 2141 19301.28 done 1.84 - - 2959.19 - 2.85 0.031 2273.00 395.5 77.86 - - 2558.94 - - - - - - - - - 15.96 -
19607.12 609.59 7.64 2173 19611.19 VBD 1.84 - - 2959.06 - - - 2273.75 - 77.86 - - 2557.38 - - - - - - - - - - -
19917.16 586.15 7.74 2204 19938.00 done 1.84 - - 2958.75 - 3.29 0.071 1144.69 -343.2 77.86 - - 2557.25 - - - - - - - - - 15.79 -
20059.22 574.68 8.42 2229 20077.03 done 1.84 - - 2958.50 - 2.85 0.030 2273.81 396.2 77.86 - - 2558.09 - - - - - - - - - 15.96 -
20383.28 552.09 7.00 2261 20387.34 VBD 1.90 - - 2959.12 - - - 2273.81 - 77.86 - - 2557.19 - - - - - - - - - - -
20693.58 531.26 6.55 2292 20699.01 1.99 0.23 0.076 3011.12 226.1 - - 2275.06 - 77.86 - - 2557.53 - - - - - - - - 15.89 - -
21005.26 509.42 6.82 2323 21009.32 VBD 2.06 - - 3011.31 - - - 2274.56 - 77.86 - - 2555.75 - - - - - - - - - - -
21315.69 488.70 6.61 2354 21336.50 done 2.15 - - 3011.00 - 3.28 0.070 1145.56 -344.2 77.86 - - 2557.47 - - - - - - - - - 15.74 -
21528.12 473.28 7.16 2393 21545.94 2.20 - - 3011.56 - 2.86 0.030 2274.56 394.8 77.86 - - 2555.66 - - - - - - - - - 15.93 -
21852.19 452.79 6.10 2425 21873.26 2.32 - - 3011.12 - 3.27 0.069 1145.50 -345.3 77.86 - - 2557.53 - - - - - - - - - 15.77 -
21949.25 446.78 6.27 2441 21967.79 2.43 - - 3011.94 - 2.85 0.029 2275.06 396.3 77.86 - - 2558.53 - - - - - - - - - 15.93 -
22274.02 426.69 6.41 2473 22278.10 2.52 - - 3011.81 - - - 2274.81 - 77.86 - - 2557.03 - - - - - - - - - - -
22584.33 407.66 6.02 2504 22605.30 2.65 - - 3011.44 - 3.28 0.069 1145.94 -344.2 77.86 - - 2556.91 - - - - - - - - - 15.63 -
22836.95 392.30 5.71 2551 22854.77 2.79 - - 3011.06 - 2.86 0.029 2274.44 394.6 77.86 - - 2556.09 - - - - - - - - - 15.86 -
23161.01 376.40 4.71 2583 23259.37 2.92 - - 3011.31 - 3.23 0.095 3350.12 333.0 146.79 55.13 1.697 2291.69 -4.8 0.181 - - - - - - - 15.58 10.89
23265.46 368.93 8.99 2595 23284.00 roll back 2.92 - - 3012.00 - 2.85 0.021 2203.00 -402.5 146.79 - - 2288.66 - - - - - - - - - 15.75 -
23589.97 337.09 9.63 2627 23608.60 2.92 - - 3012.56 - 3.08 0.074 1146.12 -343.1 146.79 - - 2281.06 - - - - - - - - - 15.72 -
23654.92 330.45 10.57 2637 23672.74 2.92 - - 3011.88 - 2.86 0.029 2273.81 394.3 146.79 - - 2281.38 - - - - - - - - - 15.76 -
23978.59 298.72 9.43 2669 23999.53 2.92 - - 3011.00 - 3.27 0.070 1146.06 -344.9 146.79 - - 2280.34 - - - - - - - - - 15.75 -
24045.00 291.97 10.15 2679 24063.54 2.92 - - 3012.12 - 2.84 0.029 2273.50 397.0 146.79 - - 2280.78 - - - - - - - - - 15.78 -
24369.40 260.26 9.83 2711 24373.47 2.92 - - 3011.75 - - - 2273.62 - 146.79 - - 2278.75 - - - - - - - - - - -
24679.44 229.20 9.92 2742 24683.52 2.92 - - 3012.12 - - - 2273.88 - 146.79 - - 2277.81 - - - - - - - - - - -
24989.48 198.62 9.35 2773 25010.34 2.92 - - 3010.00 - 3.28 0.069 1146.50 -343.7 146.79 - - 2279.19 - - - - - - - - - 15.66 -
25065.81 190.68 10.60 2785 25084.75 2.92 - - 3010.81 - 2.86 0.029 2273.25 394.0 146.79 - - 2279.53 - - - - - - - - - 15.75 -
25390.59 159.35 9.30 2817 25394.67 2.92 - - 3011.88 - - - 2273.31 - 146.79 - - 2278.00 - - - - - - - - - - -
25700.61 131.78 8.36 2848 25704.68 2.92 - - 3012.38 - - - 2273.50 - 146.79 - - 2277.91 - - - - - - - - - - -
26011.04 109.62 6.99 2879 26015.11 2.99 - - 3011.56 - - - 2273.31 - 146.79 - - 2277.62 - - - - - - - - - - -
26321.39 94.19 4.30 2923 26426.35 3.14 - - 3012.12 - 3.30 0.070 1145.62 -341.7 224.28 60.22 1.309 1974.28 -5.0 0.062 - - - - - - - 15.61 11.47
26432.55 86.63 8.70 2937 26451.11 roll back 3.14 - - 3012.25 - 2.85 0.027 2275.06 396.3 224.28 - - 1970.09 - - - - - - - - - 15.60 -
26637.36 68.94 7.50 2975 26657.53 3.18 - - 3012.19 - 3.28 0.067 1146.06 -344.2 224.28 - - 1966.53 - - - - - - - - - 15.60 -
26834.14 56.25 5.89 3011 26853.08 3.31 - - 3012.31 - 2.84 0.027 2277.06 398.2 224.28 - - 1963.88 - - - - - - - - - 15.74 -
27039.33 44.80 4.99 3049 27130.26 3.43 - - 3012.31 - 3.21 0.091 3351.06 334.6 287.46 49.10 1.218 1717.84 -5.0 0.031 - - - - - - - 15.54 11.65
27242.01 30.80 6.86 3082 27260.55 roll back 3.50 - - 3012.56 - 2.86 0.020 2199.69 -402.6 287.46 - - 1710.69 - - - - - - - - - 15.59 -
27446.81 24.06 2.32 3120 27595.63 3.74 - - 3012.81 - 3.46 0.086 3350.19 332.5 405.83 92.04 1.181 1234.34 -5.2 0.018 - - - - - - - 15.42 11.61
27602.84 16.50 7.53 3140 27621.38 roll back 3.77 - - 3012.69 - 2.87 0.020 2200.50 -400.6 405.83 - - 1230.94 - - - - - - - - - 15.52 -
27807.74 4.55 5.42 3178 27827.49 3.93 - - 3012.88 - 3.11 0.075 1146.75 -338.8 405.83 - - 1226.59 - - - - - - - - - 15.57 -
27833 end climb: SURFACE_DEPTH_REACHED
27833 begin surface coast
27919 end surface coast: CONTROL_FINISHED_OK
27919 begin surface
SM 1.03 - - - - 181.8 18.61 1.065 1137.8 61.1 19.73 0.047 1151.1 58.3 - 2.78 0.028 1124.4 403.3 -1.516 - - 11.47 15.75 15.80 -