NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 580 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 197.99 of 506.00 AH used of 24V (60.87% remains)
• Surface angle -57.9 deg, depth 0.55 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.06 (SM_CC=430)
• GPS1 time: 19 s
• GPS2 time: 4 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
19.21 - - - 126.20 VBD -1.18 - - 173.44 - - - 2296.56 - -77.86 75.59 0.005 2893.81 - - - - - - - - - - 14.79
128.42 3.30 -4.12 15 245.70 -1.18 17.50 0.211 2228.25 117.4 3.34 0.065 1145.75 -344.6 -77.86 4.56 0.009 3210.97 69.6 -4.393 - - - - - - 15.25 14.97 15.07
252.23 36.20 -14.51 22 270.54 roll -1.18 - - 2228.12 - 2.80 0.024 2277.12 404.1 -77.86 - - 3212.69 - - - - - - - - - 15.66 -
456.58 59.23 -11.08 60 476.48 roll -1.18 - - 2228.12 - 3.15 0.081 3353.19 341.6 -77.86 - - 3213.59 - - - - - - - - - 15.54 -
567.91 71.27 -11.08 79 586.61 roll -1.18 - - 2228.12 - 2.85 0.018 2196.25 -405.9 -77.86 - - 3212.75 - - - - - - - - - 15.75 -
772.64 95.84 -10.03 117 779.46 no move -1.18 - - 2227.75 - - - 2194.12 - -77.86 - - 3213.28 - - - - - - - - - - -
965.49 114.35 -9.22 140 984.02 roll -1.18 - - 2228.00 - 3.05 0.067 1145.94 -343.7 -77.86 - - 3212.41 - - - - - - - - - 15.70 -
1044.47 122.34 -9.54 153 1062.78 roll -1.18 - - 2228.44 - 2.79 0.024 2279.56 406.3 -77.86 - - 3213.09 - - - - - - - - - 15.70 -
1368.85 148.14 -6.12 185 1387.81 roll -1.18 - - 2227.94 - 3.13 0.081 3351.69 342.5 -77.86 - - 3213.00 - - - - - - - - - 15.73 -
1404.22 150.55 -6.35 189 1422.34 roll -1.18 - - 2227.62 - 2.84 0.018 2192.00 -408.3 -77.86 - - 3213.19 - - - - - - - - - 15.78 -
1728.41 176.14 -8.42 221 1747.18 roll -1.18 - - 2226.38 - 3.03 0.067 1145.31 -345.4 -77.86 - - 3214.03 - - - - - - - - - 15.75 -
1803.64 182.84 -9.04 233 1821.20 roll -1.18 - - 2228.00 - 2.79 0.024 2279.00 406.3 -77.86 - - 3213.06 - - - - - - - - - 15.81 -
2127.30 209.25 -7.68 265 2146.89 roll -1.18 - - 2227.81 - 3.24 0.063 1144.44 -350.2 -77.86 - - 3212.44 - - - - - - - - - 15.80 -
2197.39 214.82 -7.89 276 2216.31 roll -1.18 - - 2227.69 - 2.77 0.024 2280.06 410.0 -77.86 - - 3214.09 - - - - - - - - - 15.92 -
2522.39 238.39 -7.71 308 2526.45 no move -1.18 - - 2227.62 - - - 2279.75 - -77.86 - - 3213.00 - - - - - - - - - - -
2832.53 262.27 -7.45 339 2852.12 roll -1.18 - - 2226.31 - 3.27 0.063 1145.06 -347.0 -77.86 - - 3213.84 - - - - - - - - - 15.75 -
2902.61 268.27 -8.55 350 2921.15 roll -1.18 - - 2227.94 - 2.79 0.024 2279.00 406.4 -77.86 - - 3214.47 - - - - - - - - - 15.87 -
3227.24 294.62 -8.22 382 3231.30 no move -1.18 - - 2227.69 - - - 2278.56 - -77.86 - - 3212.59 - - - - - - - - - - -
3537.39 320.36 -8.27 413 3541.45 no move -1.18 - - 2227.50 - - - 2279.06 - -77.86 - - 3212.56 - - - - - - - - - - -
3847.53 343.40 -6.98 444 3867.12 roll -1.18 - - 2227.94 - 3.28 0.063 1145.81 -345.5 -77.86 - - 3214.94 - - - - - - - - - 15.83 -
3913.70 348.38 -7.43 454 3931.65 roll -1.18 - - 2226.94 - 2.79 0.024 2278.12 405.8 -77.86 - - 3214.53 - - - - - - - - - 15.96 -
4237.73 372.17 -7.79 486 4257.32 roll -1.18 - - 2227.94 - 3.26 0.064 1144.62 -347.7 -77.86 - - 3212.38 - - - - - - - - - 15.84 -
4287.81 376.25 -7.80 493 4306.72 roll -1.18 - - 2228.06 - 2.79 0.024 2277.56 406.1 -77.86 - - 3215.28 - - - - - - - - - 15.95 -
4612.79 400.67 -7.27 525 4632.36 roll -1.18 - - 2228.19 - 3.25 0.063 1146.00 -348.2 -77.86 - - 3212.22 - - - - - - - - - 15.77 -
4738.84 410.34 -7.40 547 4756.41 roll -1.18 - - 2226.94 - 2.80 0.025 2277.12 404.0 -77.86 - - 3214.22 - - - - - - - - - 15.98 -
5062.48 432.03 -6.61 579 5082.06 roll -1.18 - - 2227.88 - 3.26 0.064 1144.38 -347.5 -77.86 - - 3212.75 - - - - - - - - - 15.74 -
5112.54 435.92 -7.52 586 5131.08 roll -1.18 - - 2228.12 - 2.80 0.025 2277.38 404.6 -77.86 - - 3213.81 - - - - - - - - - 15.89 -
5437.19 458.74 -7.02 618 5456.38 roll -1.18 - - 2227.75 - 3.18 0.085 3352.00 337.9 -77.86 - - 3211.91 - - - - - - - - - 15.80 -
5512.96 464.94 -8.37 630 5530.92 roll -1.18 - - 2226.81 - 2.83 0.019 2194.19 -409.1 -77.86 - - 3212.66 - - - - - - - - - 15.97 -
5837.02 489.52 -7.69 662 5855.80 roll -1.18 - - 2228.12 - 3.03 0.069 1145.81 -346.0 -77.86 - - 3212.41 - - - - - - - - - 15.83 -
5902.27 495.16 -8.68 672 5919.83 roll -1.18 - - 2227.88 - 2.78 0.025 2276.88 406.9 -77.86 - - 3212.09 - - - - - - - - - 15.88 -
6225.93 520.17 -7.84 704 6245.12 roll -1.18 - - 2227.81 - 3.17 0.085 3353.56 339.6 -77.86 - - 3211.03 - - - - - - - - - 15.78 -
6275.61 524.45 -8.06 711 6294.53 roll -1.18 - - 2228.00 - 2.81 0.019 2193.50 -412.8 -77.86 - - 3211.78 - - - - - - - - - 15.98 -
6600.60 549.57 -7.73 743 6619.37 roll -1.18 - - 2227.69 - 3.03 0.070 1145.25 -346.0 -77.86 - - 3210.81 - - - - - - - - - 15.82 -
6715.85 558.64 -7.73 763 6733.40 roll -1.18 - - 2228.50 - 2.77 0.025 2278.31 409.0 -77.86 - - 3210.72 - - - - - - - - - 15.98 -
7039.66 580.24 -5.89 795 7043.72 no move -1.18 - - 2228.12 - - - 2277.75 - -77.86 - - 3209.84 - - - - - - - - - - -
7349.93 599.42 -6.00 826 7369.52 roll -1.18 - - 2227.62 - 3.27 0.066 1145.38 -346.3 -77.86 - - 3208.91 - - - - - - - - - 15.81 -
7430.03 604.86 -6.68 839 7448.56 roll -1.18 - - 2228.12 - 2.80 0.026 2278.38 404.6 -77.86 - - 3209.97 - - - - - - - - - 15.96 -
7754.84 623.83 -5.67 871 7774.41 roll -1.18 - - 2226.12 - 3.25 0.065 1146.62 -348.2 -77.86 - - 3209.16 - - - - - - - - - 15.81 -
7880.90 631.95 -6.45 893 7898.88 roll -1.18 - - 2227.31 - 2.79 0.026 2277.06 405.2 -77.86 - - 3208.97 - - - - - - - - - 15.98 -
8204.99 652.48 -6.44 925 8224.57 roll -1.18 - - 2227.50 - 3.27 0.065 1145.75 -346.0 -77.86 - - 3207.34 - - - - - - - - - 15.79 -
8271.03 657.00 -6.94 935 8288.59 roll -1.18 - - 2228.38 - 2.80 0.026 2276.19 403.7 -77.86 - - 3208.09 - - - - - - - - - 15.96 -
8594.67 678.82 -7.16 967 8613.99 roll -1.18 - - 2227.75 - 3.19 0.087 3352.00 337.2 -77.86 - - 3207.41 - - - - - - - - - 15.77 -
8640.92 682.26 -7.10 973 8659.27 roll -1.18 - - 2228.38 - 2.82 0.020 2192.38 -411.2 -77.86 - - 3207.84 - - - - - - - - - 15.98 -
8965.38 706.38 -7.44 1005 8969.83 no move -1.18 - - 2227.81 - - - 2191.25 - -77.86 - - 3207.56 - - - - - - - - - - -
9275.93 727.31 -6.58 1036 9279.99 no move -1.18 - - 2228.00 - - - 2191.06 - -77.86 - - 3205.81 - - - - - - - - - - -
9586.11 746.50 -6.05 1067 9590.17 no move -1.18 - - 2228.12 - - - 2191.56 - -77.86 - - 3205.41 - - - - - - - - - - -
9896.28 764.52 -5.51 1098 9900.34 no move -1.18 - - 2228.25 - - - 2191.00 - -77.86 - - 3205.16 - - - - - - - - - - -
10206.43 782.17 -5.99 1129 10225.21 roll -1.18 - - 2227.62 - 3.06 0.071 1145.50 -341.7 -77.86 - - 3204.62 - - - - - - - - - 15.78 -
10271.67 786.21 -5.99 1139 10289.23 roll -1.18 - - 2227.94 - 2.80 0.026 2278.19 404.5 -77.86 - - 3206.09 - - - - - - - - - 15.96 -
10595.34 803.60 -5.68 1171 10599.40 no move -1.18 - - 2227.62 - - - 2277.88 - -77.86 - - 3205.19 - - - - - - - - - - -
10905.66 820.49 -5.64 1202 10909.72 no move -1.18 - - 2228.00 - - - 2278.19 - -77.86 - - 3204.84 - - - - - - - - - - -
11215.95 839.50 -6.13 1233 11235.53 roll -1.18 - - 2228.00 - 3.27 0.067 1146.12 -346.2 -77.86 - - 3205.56 - - - - - - - - - 15.77 -
11292.00 844.59 -6.71 1245 11310.31 roll -1.18 - - 2227.75 - 2.79 0.026 2276.12 405.0 -77.86 - - 3205.53 - - - - - - - - - 15.95 -
11616.51 864.36 -5.86 1277 11620.57 no move -1.18 - - 2227.75 - - - 2276.00 - -77.86 - - 3203.84 - - - - - - - - - - -
11926.64 885.95 -6.94 1308 11946.25 roll -1.18 - - 2226.31 - 3.28 0.067 1145.69 -344.6 -77.86 - - 3204.31 - - - - - - - - - 15.75 -
11956.75 888.20 -7.20 1311 11975.28 roll -1.18 - - 2228.19 - 2.79 0.026 2275.56 405.0 -77.86 - - 3204.62 - - - - - - - - - 15.96 -
12281.39 906.36 -6.14 1343 12300.98 roll -1.18 - - 2227.50 - 3.22 0.089 3350.69 333.9 -77.86 - - 3203.09 - - - - - - - - - 15.59 -
12307.43 908.15 -7.09 1345 12325.39 roll -1.18 - - 2228.19 - 2.82 0.020 2193.06 -410.5 -77.86 - - 3204.06 - - - - - - - - - 15.95 -
12631.48 936.23 -10.84 1377 12653.30 roll -1.18 - - 2227.31 - 3.43 0.084 3351.19 337.6 -77.86 - - 3203.47 - - - - - - - - - 15.72 -
12808.80 953.13 -10.38 1409 12827.72 roll -1.18 - - 2227.69 - 2.84 0.020 2195.44 -407.0 -77.86 - - 3204.53 - - - - - - - - - 15.94 -
13133.80 985.02 -8.22 1441 13152.83 roll -1.18 - - 2227.75 - 3.06 0.072 1145.38 -343.2 -77.86 - - 3204.16 - - - - - - - - - 15.76 -
13309 end dive: TARGET_DEPTH_EXCEEDED
13309 begin apogee
13327.12 990.02 -2.05 1473 13432.60 -0.31 1.50 0.086 2443.88 144.1 0.12 0.176 2183.31 8649.4 - 66.07 2.329 2889.25 -4.8 0.349 - - - - - - 15.81 15.22 10.15
13437 end apogee: CONTROL_FINISHED_OK
13438 begin climb
13440.75 991.02 - 1480 13571.23 1.18 2.56 0.084 2806.75 141.7 3.64 0.092 3350.69 320.7 77.86 67.75 2.306 2572.28 -4.7 0.346 - - - - - - 15.55 15.07 11.50
13802.31 974.99 3.90 1539 13927.84 1.35 0.24 0.070 2856.50 207.3 2.86 0.021 2202.94 -401.3 163.63 75.10 2.285 2222.56 -4.7 0.342 - - - - - - 15.59 15.72 11.31
14234.44 940.53 6.56 1586 14256.23 done 1.44 - - 2856.88 - 3.45 0.089 3351.31 332.9 163.63 - - 2210.53 - - - - - - - - - 15.67 -
14371.87 926.85 11.92 1610 14390.81 done 1.44 - - 2856.69 - 2.86 0.021 2206.88 -400.2 163.63 - - 2210.72 - - - - - - - - - 15.79 -
14696.92 898.43 9.92 1642 14718.73 done 1.44 - - 2856.38 - 3.42 0.091 3353.38 335.2 163.63 - - 2207.78 - - - - - - - - - 15.74 -
14770.20 889.26 11.54 1653 14788.17 done 1.44 - - 2855.25 - 2.88 0.021 2207.25 -398.0 163.63 - - 2209.31 - - - - - - - - - 15.81 -
15094.27 851.68 10.03 1685 15113.45 done 1.44 - - 2855.00 - 3.11 0.075 1146.88 -341.0 163.63 - - 2207.69 - - - - - - - - - 15.78 -
15203.97 839.87 10.33 1704 15222.91 done 1.44 - - 2856.62 - 2.81 0.030 2274.12 401.2 163.63 - - 2206.94 - - - - - - - - - 15.91 -
15529.20 805.81 10.39 1736 15548.81 done 1.44 - - 2856.56 - 3.28 0.071 1146.31 -343.8 163.63 - - 2205.41 - - - - - - - - - 15.80 -
15639.42 794.33 10.38 1755 15658.35 done 1.44 - - 2857.31 - 2.82 0.030 2273.69 399.8 163.63 - - 2206.28 - - - - - - - - - 15.93 -
15964.83 767.45 6.97 1787 15984.42 done 1.51 - - 2855.12 - 3.28 0.070 1146.25 -343.7 163.63 - - 2205.38 - - - - - - - - - 15.81 -
16205.38 751.19 6.77 1832 16226.37 1.58 0.28 0.070 2914.69 212.8 2.83 0.031 2272.50 398.0 163.63 - - 2204.56 - - - - - - - - 15.73 15.94 -
16532.44 723.76 9.00 1864 16552.02 done 1.58 - - 2915.06 - 3.26 0.072 1146.81 -345.3 163.63 - - 2204.72 - - - - - - - - - 15.79 -
16658.49 710.98 10.37 1886 16676.47 done 1.58 - - 2915.19 - 2.83 0.031 2273.06 398.0 163.63 - - 2204.28 - - - - - - - - - 15.94 -
16982.54 680.07 8.90 1918 17002.38 done 1.58 - - 2914.88 - 3.21 0.094 3350.94 335.8 163.63 - - 2204.62 - - - - - - - - - 15.76 -
17073.00 670.81 9.99 1933 17091.94 done 1.58 - - 2915.00 - 2.83 0.022 2206.25 -404.5 163.63 - - 2204.53 - - - - - - - - - 15.94 -
17398.05 641.69 9.10 1965 17419.86 done 1.58 - - 2915.62 - 3.41 0.089 3351.56 335.9 163.63 - - 2202.22 - - - - - - - - - 15.76 -
17485.36 632.97 10.24 1979 17504.30 done 1.58 - - 2916.06 - 2.83 0.022 2206.81 -404.5 163.63 - - 2204.28 - - - - - - - - - 15.96 -
17810.41 604.16 8.80 2011 17829.19 done 1.58 - - 2914.12 - 3.09 0.075 1147.06 -343.0 163.63 - - 2204.09 - - - - - - - - - 15.78 -
17915.67 593.43 10.56 2029 17934.02 done 1.58 - - 2916.62 - 2.81 0.030 2272.88 400.6 163.63 - - 2204.31 - - - - - - - - - 15.95 -
18240.13 562.28 9.65 2061 18259.72 done 1.58 - - 2914.88 - 3.21 0.093 3351.88 336.1 163.63 - - 2202.12 - - - - - - - - - 15.75 -
18290.22 557.14 10.28 2068 18309.54 done 1.58 - - 2915.00 - 2.83 0.021 2206.00 -404.9 163.63 - - 2204.06 - - - - - - - - - 15.96 -
18615.62 525.56 9.91 2100 18634.40 done 1.58 - - 2915.88 - 3.08 0.075 1145.56 -344.3 163.63 - - 2202.19 - - - - - - - - - 15.76 -
18715.03 514.89 10.47 2117 18733.96 done 1.58 - - 2915.69 - 2.81 0.029 2275.81 402.2 163.63 - - 2203.16 - - - - - - - - - 15.94 -
19040.07 483.52 9.26 2149 19044.13 VBD 1.58 - - 2915.62 - - - 2275.38 - 163.63 - - 2201.25 - - - - - - - - - - -
19350.23 454.64 8.87 2180 19369.84 done 1.58 - - 2916.50 - 3.27 0.071 1145.50 -345.5 163.63 - - 2203.06 - - - - - - - - - 15.75 -
19440.35 446.00 9.57 2195 19459.29 done 1.58 - - 2915.25 - 2.82 0.029 2274.25 400.3 163.63 - - 2202.56 - - - - - - - - - 15.93 -
19765.40 418.20 8.51 2227 19769.46 VBD 1.58 - - 2915.75 - - - 2275.00 - 163.63 - - 2201.53 - - - - - - - - - - -
20075.52 391.83 8.62 2258 20095.11 done 1.58 - - 2915.56 - 3.21 0.093 3351.88 335.5 163.63 - - 2202.16 - - - - - - - - - 15.70 -
20171.69 382.12 10.34 2274 20190.07 done 1.58 - - 2915.12 - 2.83 0.021 2204.44 -405.5 163.63 - - 2203.62 - - - - - - - - - 15.65 -
20496.17 351.15 9.61 2306 20500.24 VBD 1.58 - - 2915.56 - - - 2202.25 - 163.63 - - 2201.47 - - - - - - - - - - -
20806.34 323.84 8.17 2337 20827.76 done 1.58 - - 2916.12 - 3.39 0.088 3348.62 338.2 163.63 - - 2202.19 - - - - - - - - - 15.72 -
20843.37 320.70 8.67 2341 20862.71 done 1.58 - - 2915.81 - 2.81 0.021 2203.94 -407.4 163.63 - - 2202.81 - - - - - - - - - 15.94 -
21168.78 296.01 7.92 2373 21187.58 done 1.58 - - 2915.00 - 3.08 0.074 1145.88 -343.5 163.63 - - 2201.81 - - - - - - - - - 15.61 -
21218.08 291.77 8.63 2380 21237.01 done 1.58 - - 2915.50 - 2.79 0.028 2275.38 404.8 163.63 - - 2202.41 - - - - - - - - - 15.90 -
21543.12 266.66 7.87 2412 21547.17 VBD 1.58 - - 2915.12 - - - 2275.75 - 163.63 - - 2201.09 - - - - - - - - - - -
21853.69 243.56 7.27 2443 21858.24 VBD 1.63 - - 2915.62 - - - 2276.19 - 163.63 - - 2201.28 - - - - - - - - - - -
22164.34 219.90 8.06 2474 22168.41 VBD 1.63 - - 2915.75 - - - 2275.56 - 163.63 - - 2201.00 - - - - - - - - - - -
22474.49 195.83 7.91 2505 22494.08 done 1.63 - - 2915.88 - 3.28 0.070 1147.12 -344.0 163.63 - - 2200.72 - - - - - - - - - 15.66 -
22534.58 190.60 8.64 2514 22553.91 done 1.63 - - 2915.44 - 2.82 0.028 2274.88 399.9 163.63 - - 2202.75 - - - - - - - - - 15.82 -
22860.03 165.52 7.58 2546 22879.63 done 1.63 - - 2917.00 - 3.29 0.068 1143.62 -343.8 163.63 - - 2202.19 - - - - - - - - - 15.58 -
22910.24 161.34 8.34 2553 22929.19 done 1.63 - - 2916.19 - 2.84 0.027 2275.31 398.5 163.63 - - 2201.78 - - - - - - - - - 15.75 -
23235.71 137.45 7.48 2585 23255.30 done 1.67 - - 2916.00 - 3.27 0.067 1145.25 -345.6 163.63 - - 2202.44 - - - - - - - - - 15.71 -
23281.77 133.71 8.24 2591 23299.75 done 1.67 - - 2915.50 - 2.82 0.027 2275.62 400.8 163.63 - - 2202.81 - - - - - - - - - 15.61 -
23606.26 109.03 7.28 2623 23625.85 done 1.71 - - 2915.75 - 3.26 0.067 1145.62 -346.6 163.63 - - 2200.28 - - - - - - - - - 15.72 -
23686.76 103.89 6.09 2636 23707.36 1.83 0.28 0.064 2973.94 207.8 2.81 0.027 2277.06 402.6 163.63 - - 2202.31 - - - - - - - - 15.66 15.73 -
24013.86 84.24 7.10 2693 24034.45 done 1.89 - - 2973.44 - 3.22 0.088 3351.12 333.6 163.63 - - 2202.97 - - - - - - - - - 15.44 -
24266.37 65.51 6.12 2740 24286.95 2.00 0.15 0.085 3016.31 285.8 2.83 0.020 2198.38 -407.3 163.63 - - 2202.62 - - - - - - - - 15.68 15.62 -
24473.59 55.74 4.76 2778 24551.91 VBD 2.14 - - 3017.19 - - - 2196.62 - 231.60 52.04 1.172 1946.12 -4.9 0.040 - - - - - - - - 10.66
24738.42 40.69 3.52 2826 24864.10 2.33 - - 3016.75 - 3.11 0.071 1145.06 -338.1 325.31 73.46 1.138 1563.25 -5.2 0.032 - - - - - - - 15.34 11.51
24871.08 33.48 7.30 2843 24890.43 roll back 2.37 - - 3017.88 - 2.84 0.025 2276.00 398.2 325.31 - - 1558.09 - - - - - - - - - 15.47 -
25076.52 14.42 9.58 2881 25083.40 2.37 - - 3018.00 - - - 2276.44 - 325.31 - - 1553.97 - - - - - - - - - - -
25193 end climb: SURFACE_DEPTH_REACHED
25194 begin surface coast
25245 end surface coast: CONTROL_FINISHED_OK
25245 begin surface
SM 0.52 - - - - 179.4 81.00 1.091 1136.8 14.0 19.69 0.038 1123.2 57.0 - 0.12 0.081 1150.4 9586.7 -6.290 - - 11.21 15.75 15.82 -