NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 507 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 174.99 of 506.00 AH used of 24V (65.42% remains)
• Surface angle -58.6 deg, depth 0.92 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.97 (SM_CC=430)
• GPS1 time: 32 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
19.11 - - - 119.11 VBD -1.18 - - 180.69 - - - 2302.00 - -77.86 70.49 0.005 2825.69 - - - - - - - - - - 14.87
121.33 3.01 -3.36 14 219.43 -1.18 17.45 0.223 2227.94 117.3 - - 2301.75 - -77.86 5.78 0.008 3207.97 66.1 -4.281 - - - - - - 15.28 - 15.12
405.46 59.67 -10.52 56 424.92 roll -1.18 - - 2228.06 - 3.04 0.082 3353.88 346.1 -77.86 - - 3212.16 - - - - - - - - - 15.65 -
451.46 65.10 -11.80 62 469.71 roll -1.18 - - 2227.31 - 2.73 0.019 2193.44 -425.1 -77.86 - - 3213.72 - - - - - - - - - 15.78 -
655.77 83.30 -7.65 100 674.83 roll -1.18 - - 2227.44 - 2.91 0.069 1143.94 -360.7 -77.86 - - 3213.94 - - - - - - - - - 15.69 -
701.24 87.37 -8.88 106 719.72 roll -1.18 - - 2227.44 - 2.76 0.024 2279.69 411.5 -77.86 - - 3213.56 - - - - - - - - - 15.78 -
905.78 105.22 -8.57 138 909.80 no move -1.18 - - 2228.25 - - - 2280.00 - -77.86 - - 3212.91 - - - - - - - - - - -
1215.85 131.31 -8.27 169 1219.87 no move -1.18 - - 2228.25 - - - 2279.50 - -77.86 - - 3212.75 - - - - - - - - - - -
1525.94 156.20 -8.11 200 1544.82 roll -1.18 - - 2228.12 - 3.13 0.064 1145.38 -362.3 -77.86 - - 3213.69 - - - - - - - - - 15.74 -
1625.27 165.10 -9.12 217 1643.74 roll -1.18 - - 2228.25 - 2.77 0.025 2279.56 409.5 -77.86 - - 3214.81 - - - - - - - - - 15.74 -
1949.81 193.86 -9.01 249 1953.83 no move -1.18 - - 2228.25 - - - 2279.50 - -77.86 - - 3213.62 - - - - - - - - - - -
2259.90 219.50 -7.95 280 2263.92 no move -1.18 - - 2227.69 - - - 2279.69 - -77.86 - - 3213.59 - - - - - - - - - - -
2570.40 244.19 -7.84 311 2589.53 roll -1.18 - - 2228.25 - 3.15 0.065 1145.25 -360.1 -77.86 - - 3213.78 - - - - - - - - - 15.81 -
2635.99 249.75 -8.48 321 2653.48 roll -1.18 - - 2228.31 - 2.76 0.025 2278.94 410.8 -77.86 - - 3214.09 - - - - - - - - - 15.81 -
2959.58 275.95 -8.22 353 2963.64 no move -1.18 - - 2228.25 - - - 2279.62 - -77.86 - - 3213.91 - - - - - - - - - - -
3269.74 299.28 -7.15 384 3273.80 no move -1.18 - - 2228.31 - - - 2279.38 - -77.86 - - 3213.75 - - - - - - - - - - -
3579.89 321.94 -7.43 415 3599.00 roll -1.18 - - 2228.44 - 3.14 0.066 1145.31 -361.2 -77.86 - - 3212.59 - - - - - - - - - 15.82 -
3615.45 324.77 -7.60 419 3632.96 roll -1.18 - - 2228.19 - 2.74 0.025 2279.56 414.0 -77.86 - - 3214.66 - - - - - - - - - 15.94 -
3939.05 349.58 -7.72 451 3943.11 no move -1.18 - - 2227.81 - - - 2279.69 - -77.86 - - 3213.12 - - - - - - - - - - -
4249.18 374.66 -8.00 482 4253.24 no move -1.18 - - 2228.00 - - - 2280.62 - -77.86 - - 3212.66 - - - - - - - - - - -
4559.30 399.11 -7.62 513 4578.43 roll -1.18 - - 2227.12 - 3.15 0.066 1145.31 -360.4 -77.86 - - 3212.59 - - - - - - - - - 15.83 -
4618.92 403.99 -8.23 522 4637.63 roll -1.18 - - 2228.62 - 2.76 0.025 2279.50 410.9 -77.86 - - 3212.50 - - - - - - - - - 15.93 -
4943.85 426.58 -7.06 554 4947.91 no move -1.18 - - 2227.94 - - - 2279.44 - -77.86 - - 3211.28 - - - - - - - - - - -
5254.01 448.26 -6.85 585 5273.14 roll -1.18 - - 2227.69 - 3.13 0.066 1145.19 -362.4 -77.86 - - 3211.38 - - - - - - - - - 15.79 -
5309.60 452.48 -7.85 593 5327.50 roll -1.18 - - 2228.94 - 2.76 0.026 2278.06 410.5 -77.86 - - 3211.75 - - - - - - - - - 15.82 -
5633.60 475.48 -7.31 625 5637.66 no move -1.18 - - 2227.81 - - - 2278.50 - -77.86 - - 3209.88 - - - - - - - - - - -
5943.74 497.32 -6.98 656 5962.86 roll -1.18 - - 2228.12 - 3.13 0.067 1144.94 -362.2 -77.86 - - 3209.94 - - - - - - - - - 15.81 -
5989.52 500.64 -7.25 662 6007.04 roll -1.18 - - 2228.12 - 2.76 0.026 2278.19 410.6 -77.86 - - 3210.84 - - - - - - - - - 15.83 -
6313.10 522.40 -6.52 694 6332.24 roll -1.18 - - 2228.31 - 3.12 0.067 1144.19 -363.5 -77.86 - - 3210.25 - - - - - - - - - 15.80 -
6362.73 525.94 -6.86 701 6381.59 roll -1.18 - - 2228.56 - 2.76 0.026 2278.31 410.9 -77.86 - - 3210.19 - - - - - - - - - 15.97 -
6687.69 547.86 -6.84 733 6707.07 roll -1.18 - - 2228.12 - 3.11 0.067 1143.94 -364.7 -77.86 - - 3208.78 - - - - - - - - - 15.80 -
6727.73 550.92 -7.56 738 6746.20 roll -1.18 - - 2228.56 - 2.76 0.026 2279.69 411.5 -77.86 - - 3210.88 - - - - - - - - - 15.97 -
7052.28 574.25 -7.54 770 7071.41 roll -1.18 - - 2227.69 - 3.11 0.066 1144.44 -365.0 -77.86 - - 3208.81 - - - - - - - - - 15.80 -
7081.89 576.70 -7.66 773 7100.36 roll -1.18 - - 2228.25 - 2.76 0.026 2279.12 411.1 -77.86 - - 3209.91 - - - - - - - - - 15.97 -
7406.43 599.33 -6.57 805 7410.49 no move -1.18 - - 2228.12 - - - 2278.94 - -77.86 - - 3208.34 - - - - - - - - - - -
7716.59 618.44 -5.99 836 7735.71 roll -1.18 - - 2226.56 - 3.12 0.067 1144.00 -363.8 -77.86 - - 3209.38 - - - - - - - - - 15.80 -
7792.17 623.20 -6.63 848 7809.70 roll -1.18 - - 2227.69 - 2.77 0.026 2278.81 409.7 -77.86 - - 3208.69 - - - - - - - - - 15.96 -
8115.80 641.66 -5.71 880 8119.86 no move -1.18 - - 2228.19 - - - 2278.19 - -77.86 - - 3207.16 - - - - - - - - - - -
8425.95 659.57 -5.83 911 8445.10 roll -1.18 - - 2228.12 - 3.12 0.067 1143.81 -363.6 -77.86 - - 3208.34 - - - - - - - - - 15.78 -
8525.60 666.14 -6.69 928 8544.32 roll -1.18 - - 2228.12 - 2.77 0.026 2278.44 409.6 -77.86 - - 3207.66 - - - - - - - - - 15.97 -
8850.54 687.85 -6.75 960 8869.67 roll -1.18 - - 2226.94 - 3.12 0.067 1143.75 -363.7 -77.86 - - 3207.97 - - - - - - - - - 15.78 -
8906.11 691.97 -7.33 968 8923.62 roll -1.18 - - 2227.69 - 2.77 0.026 2277.50 409.3 -77.86 - - 3207.06 - - - - - - - - - 15.91 -
9229.72 714.23 -6.78 1000 9233.78 no move -1.18 - - 2228.31 - - - 2276.81 - -77.86 - - 3205.44 - - - - - - - - - - -
9539.88 734.15 -6.36 1031 9558.61 roll -1.18 - - 2227.56 - 3.10 0.067 1144.12 -365.4 -77.86 - - 3205.66 - - - - - - - - - 15.79 -
9615.08 738.88 -6.62 1043 9632.59 roll -1.18 - - 2227.62 - 2.76 0.026 2277.44 410.6 -77.86 - - 3206.88 - - - - - - - - - 15.95 -
9938.70 757.67 -5.76 1075 9943.15 no move -1.18 - - 2227.69 - - - 2278.44 - -77.86 - - 3205.53 - - - - - - - - - - -
10249.22 775.30 -5.64 1106 10253.28 no move -1.18 - - 2227.75 - - - 2277.88 - -77.86 - - 3205.12 - - - - - - - - - - -
10559.35 793.65 -6.16 1137 10578.48 roll -1.18 - - 2227.31 - 3.11 0.068 1144.44 -364.5 -77.86 - - 3204.50 - - - - - - - - - 15.78 -
10614.94 797.14 -6.24 1145 10632.47 roll -1.18 - - 2228.19 - 2.78 0.026 2276.69 407.3 -77.86 - - 3206.28 - - - - - - - - - 15.95 -
10938.67 816.83 -5.92 1177 10942.74 no move -1.18 - - 2228.00 - - - 2276.38 - -77.86 - - 3204.34 - - - - - - - - - - -
11248.84 836.34 -6.37 1208 11267.97 roll -1.18 - - 2226.88 - 3.12 0.067 1144.94 -362.6 -77.86 - - 3204.97 - - - - - - - - - 15.76 -
11278.46 838.35 -6.42 1211 11296.93 roll -1.18 - - 2227.38 - 2.77 0.026 2277.31 408.8 -77.86 - - 3205.84 - - - - - - - - - 15.96 -
11603.03 857.92 -5.89 1243 11607.09 no move -1.18 - - 2227.94 - - - 2277.50 - -77.86 - - 3203.97 - - - - - - - - - - -
11913.28 876.80 -6.23 1274 11932.52 roll -1.18 - - 2228.12 - 3.11 0.068 1143.81 -364.5 -77.86 - - 3204.91 - - - - - - - - - 15.75 -
12013.03 883.43 -6.68 1291 12031.90 roll -1.18 - - 2228.31 - 2.78 0.027 2276.75 407.5 -77.86 - - 3205.12 - - - - - - - - - 15.94 -
12338.01 903.73 -6.66 1323 12357.13 roll -1.18 - - 2226.75 - 3.12 0.068 1144.94 -362.8 -77.86 - - 3205.97 - - - - - - - - - 15.75 -
12393.60 907.23 -6.51 1331 12411.51 roll -1.18 - - 2228.06 - 2.76 0.027 2276.94 410.1 -77.86 - - 3204.81 - - - - - - - - - 15.94 -
12717.62 927.17 -6.11 1363 12736.74 roll -1.18 - - 2227.06 - 3.12 0.068 1144.94 -362.8 -77.86 - - 3206.03 - - - - - - - - - 15.75 -
12753.31 929.46 -6.43 1367 12770.82 roll -1.18 - - 2227.75 - 2.77 0.027 2276.88 408.6 -77.86 - - 3204.50 - - - - - - - - - 15.94 -
13076.92 949.40 -6.21 1399 13080.98 no move -1.18 - - 2228.19 - - - 2277.94 - -77.86 - - 3203.41 - - - - - - - - - - -
13387.08 968.46 -6.30 1430 13406.24 roll -1.18 - - 2227.19 - 3.12 0.069 1145.19 -363.1 -77.86 - - 3202.25 - - - - - - - - - 15.73 -
13482.71 974.75 -6.58 1446 13500.23 roll -1.18 - - 2228.44 - 2.77 0.027 2276.81 408.5 -77.86 - - 3203.19 - - - - - - - - - 15.95 -
13746 end dive: TARGET_DEPTH_EXCEEDED
13746 begin apogee
13750.99 990.38 -5.70 1472 13857.27 -0.31 1.61 0.132 2440.00 131.4 0.21 0.136 2284.00 34.2 - 65.89 2.387 2888.22 -4.8 0.341 - - - - - - 15.63 15.26 10.18
13862 end apogee: CONTROL_FINISHED_OK
13863 begin climb
13865.40 992.38 - 1479 13995.73 1.18 2.62 0.091 2806.06 139.7 3.31 0.097 3351.44 322.5 77.86 67.14 2.372 2571.19 -4.7 0.340 - - - - - - 15.54 15.09 11.57
14002.38 986.45 5.87 1490 14022.50 roll back 1.31 0.19 0.080 2845.81 209.2 2.81 0.021 2197.75 -410.6 77.86 - - 2570.12 - - - - - - - - 15.40 15.50 -
14329.11 963.90 6.94 1522 14347.43 done 1.38 - - 2845.69 - 2.96 0.076 1144.94 -355.7 77.86 - - 2565.84 - - - - - - - - - 15.69 -
14458.17 954.22 7.67 1545 14476.64 done 1.38 - - 2846.00 - 2.79 0.030 2274.19 404.7 77.86 - - 2564.84 - - - - - - - - - 15.78 -
14783.15 931.03 6.88 1577 14802.28 done 1.45 - - 2846.56 - 3.15 0.095 3349.88 341.5 77.86 - - 2561.09 - - - - - - - - - 15.73 -
14828.74 927.58 8.04 1583 14846.26 done 1.45 - - 2847.19 - 2.74 0.022 2198.88 -420.1 77.86 - - 2562.72 - - - - - - - - - 15.86 -
15152.74 905.91 6.27 1615 15158.25 1.56 0.29 0.066 2905.00 199.3 - - 2197.12 - 77.86 - - 2561.62 - - - - - - - - 15.86 - -
15464.73 883.36 6.51 1646 15468.79 VBD 1.65 - - 2905.75 - - - 2197.12 - 77.86 - - 2560.31 - - - - - - - - - - -
15775.29 863.78 5.32 1677 15781.21 1.81 0.32 0.064 2968.44 195.9 - - 2196.38 - 77.86 - - 2561.72 - - - - - - - - 15.86 - -
16087.80 841.12 7.46 1708 16091.86 VBD 1.85 - - 2969.44 - - - 2197.31 - 77.86 - - 2559.97 - - - - - - - - - - -
16397.95 815.83 8.50 1739 16419.31 done 1.85 - - 2969.31 - 3.36 0.090 3351.00 343.4 77.86 - - 2560.12 - - - - - - - - - 15.74 -
16490.78 806.77 10.33 1754 16508.29 done 1.85 - - 2969.38 - 2.73 0.022 2202.56 -420.7 77.86 - - 2561.03 - - - - - - - - - 15.95 -
16814.35 778.23 9.35 1786 16818.42 VBD 1.85 - - 2969.00 - - - 2201.12 - 77.86 - - 2559.19 - - - - - - - - - - -
17124.48 752.61 8.50 1817 17128.54 VBD 1.85 - - 2968.69 - - - 2200.44 - 77.86 - - 2558.84 - - - - - - - - - - -
17435.04 730.05 7.17 1848 17439.10 VBD 1.90 - - 2969.81 - - - 2201.00 - 77.86 - - 2558.72 - - - - - - - - - - -
17745.57 709.08 7.13 1879 17766.91 done 1.96 - - 2968.75 - 3.34 0.089 3351.38 344.4 77.86 - - 2557.81 - - - - - - - - - 15.74 -
17858.37 700.47 7.69 1898 17875.88 done 1.96 - - 2968.75 - 2.74 0.022 2201.81 -419.6 77.86 - - 2558.62 - - - - - - - - - 15.94 -
18182.63 677.67 7.51 1930 18187.74 1.99 0.17 0.085 3011.50 251.5 - - 2200.31 - 77.86 - - 2560.16 - - - - - - - - 15.88 - -
18493.95 652.13 8.80 1961 18498.01 VBD 1.99 - - 3012.31 - - - 2201.00 - 77.86 - - 2557.88 - - - - - - - - - - -
18804.10 625.14 8.63 1992 18822.42 done 1.99 - - 3012.81 - 2.94 0.076 1145.12 -359.1 77.86 - - 2558.44 - - - - - - - - - 15.77 -
18898.90 616.47 9.28 2008 18916.42 done 1.99 - - 3012.50 - 2.76 0.030 2277.31 410.2 77.86 - - 2560.34 - - - - - - - - - 15.93 -
19222.89 590.40 7.50 2040 19242.03 done 2.02 - - 3012.56 - 3.13 0.072 1145.00 -361.8 77.86 - - 2557.75 - - - - - - - - - 15.77 -
19328.50 581.68 8.45 2058 19346.02 done 2.02 - - 3011.62 - 2.78 0.030 2276.50 407.0 77.86 - - 2560.09 - - - - - - - - - 15.94 -
19652.50 557.95 7.39 2090 19656.56 VBD 2.06 - - 3012.81 - - - 2276.62 - 77.86 - - 2557.47 - - - - - - - - - - -
19963.06 534.83 7.22 2121 19982.20 done 2.11 - - 3012.38 - 3.14 0.092 3350.69 342.1 77.86 - - 2558.88 - - - - - - - - - 15.72 -
20048.67 527.78 8.45 2135 20066.19 done 2.11 - - 3012.75 - 2.73 0.022 2200.19 -421.4 77.86 - - 2557.69 - - - - - - - - - 15.96 -
20372.66 504.17 6.67 2167 20376.73 2.19 - - 3012.81 - - - 2197.81 - 77.86 - - 2557.31 - - - - - - - - - - -
20683.42 483.65 6.54 2198 20701.76 2.28 - - 3012.69 - 2.96 0.075 1145.25 -355.6 77.86 - - 2557.84 - - - - - - - - - 15.65 -
20788.62 476.61 6.61 2216 20806.14 2.37 - - 3011.94 - 2.78 0.030 2277.06 407.1 77.86 - - 2558.75 - - - - - - - - - 15.94 -
21112.62 457.07 5.86 2248 21116.69 2.50 - - 3012.19 - - - 2277.31 - 77.86 - - 2557.12 - - - - - - - - - - -
21422.96 440.21 5.45 2279 21427.05 2.66 - - 3012.56 - - - 2277.31 - 77.86 - - 2557.38 - - - - - - - - - - -
21733.53 422.98 5.44 2310 21752.69 2.82 - - 3011.19 - 3.18 0.070 1145.12 -356.0 77.86 - - 2558.94 - - - - - - - - - 15.53 -
21813.71 418.05 6.09 2323 21832.59 2.93 - - 3012.31 - 2.78 0.029 2277.81 407.4 77.86 - - 2559.44 - - - - - - - - - 15.80 -
22139.10 399.59 5.62 2355 22143.17 3.08 - - 3012.56 - - - 2278.19 - 77.86 - - 2557.25 - - - - - - - - - - -
22449.65 382.03 5.45 2386 22468.99 3.23 - - 3012.94 - 3.15 0.070 1143.94 -360.1 77.86 - - 2556.53 - - - - - - - - - 15.73 -
22526.05 377.63 5.84 2398 22543.57 3.37 - - 3011.75 - 2.78 0.029 2278.50 408.1 77.86 - - 2559.09 - - - - - - - - - 15.77 -
22850.08 358.77 6.27 2430 22854.24 3.47 - - 3012.94 - - - 2278.75 - 77.86 - - 2557.44 - - - - - - - - - - -
23160.72 340.20 5.99 2461 23164.80 3.60 - - 3013.12 - - - 2278.38 - 77.86 - - 2557.16 - - - - - - - - - - -
23471.30 321.71 5.92 2492 23475.38 3.60 - - 3012.81 - - - 2278.25 - 77.86 - - 2557.91 - - - - - - - - - - -
23781.85 306.59 4.27 2523 23893.03 3.75 - - 3012.81 - 3.20 0.073 1145.00 -354.1 155.89 63.06 1.562 2254.25 -4.8 0.163 - - - - - - - 15.43 10.45
23899.17 298.96 8.51 2534 23918.46 roll back 3.75 - - 3012.62 - 2.82 0.029 2276.44 401.2 155.89 - - 2249.41 - - - - - - - - - 15.70 -
24224.68 269.13 9.24 2566 24243.83 3.75 - - 3011.56 - 3.17 0.071 1146.06 -356.6 155.89 - - 2245.38 - - - - - - - - - 15.68 -
24274.33 264.19 9.86 2573 24293.08 3.75 - - 3012.81 - 2.79 0.029 2275.94 405.0 155.89 - - 2244.03 - - - - - - - - - 15.79 -
24599.26 231.80 10.72 2605 24603.34 3.75 - - 3013.06 - - - 2275.44 - 155.89 - - 2242.72 - - - - - - - - - - -
24909.41 200.34 9.67 2636 24928.56 3.75 - - 3012.12 - 3.14 0.071 1145.69 -359.8 155.89 - - 2242.16 - - - - - - - - - 15.72 -
24975.03 193.60 10.46 2646 24992.96 3.75 - - 3012.50 - 2.80 0.029 2275.62 403.5 155.89 - - 2243.09 - - - - - - - - - 15.72 -
25299.05 163.96 8.57 2678 25318.21 3.75 - - 3012.81 - 3.17 0.070 1144.19 -356.9 155.89 - - 2240.50 - - - - - - - - - 15.68 -
25378.72 156.38 9.58 2691 25397.62 3.75 - - 3012.38 - 2.81 0.029 2274.31 402.2 155.89 - - 2242.50 - - - - - - - - - 15.78 -
25703.74 127.06 9.09 2723 25722.88 3.75 - - 3012.44 - 3.19 0.091 3352.31 337.9 155.89 - - 2241.06 - - - - - - - - - 15.49 -
25889.35 109.66 9.26 2757 25906.89 3.75 - - 3013.06 - 2.75 0.021 2199.50 -419.2 155.89 - - 2241.56 - - - - - - - - - 15.86 -
26213.41 87.38 5.97 2808 26232.96 3.75 - - 3012.50 - 2.96 0.073 1145.12 -356.2 155.89 - - 2241.34 - - - - - - - - - 15.52 -
26309.96 81.84 5.21 2824 26328.46 3.75 - - 3012.56 - 2.78 0.027 2280.00 408.2 155.89 - - 2240.66 - - - - - - - - - 15.76 -
26514.96 76.02 2.67 2862 26655.47 3.98 - - 3012.56 - 3.20 0.070 1145.12 -354.7 267.14 86.07 1.251 1799.59 -5.1 0.054 - - - - - - - 15.40 11.14
26886.99 47.38 9.49 2926 26905.88 3.98 - - 3013.38 - 2.80 0.028 2276.12 403.9 267.14 - - 1790.25 - - - - - - - - - 15.62 -
27092.49 35.03 4.21 2964 27202.90 4.13 - - 3012.44 - 3.18 0.071 1145.06 -355.7 346.53 62.16 1.167 1475.06 -5.1 0.026 - - - - - - - 15.40 11.37
27249.46 24.60 7.55 2987 27268.73 roll back 4.13 - - 3011.75 - 2.81 0.027 2276.06 402.5 346.53 - - 1471.62 - - - - - - - - - 15.64 -
27454.84 9.14 9.34 3025 27461.71 4.13 - - 3013.19 - - - 2275.25 - 346.53 - - 1467.06 - - - - - - - - - - -
27522 end climb: SURFACE_DEPTH_REACHED
27523 begin surface coast
27579 end surface coast: CONTROL_FINISHED_OK
27579 begin surface
SM 1.16 - - - - 179.7 65.64 1.117 1137.2 17.3 19.68 0.048 1125.0 57.2 - 0.12 0.094 1149.3 9577.5 -12.080 - - 11.24 15.74 15.80 -