NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 61 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 22.97 of 506.00 AH used of 24V (95.46% remains)
• Surface angle -64.6 deg, depth 1.13 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 586.14 (beyond SM_CC=430)
• GPS1 time: 16 s
• GPS2 time: 3 s • Transponder ping count: 10
• 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
18.68 - - - 97.00 VBD -1.18 - - 180.62 - - - 2241.56 - -77.86 54.88 0.005 2478.41 - - - - - - - - - - 15.18
99.21 3.42 -4.66 11 217.69 -1.18 16.57 0.235 2227.12 123.5 3.09 0.068 1094.12 -371.3 -77.86 11.27 0.007 3211.31 65.0 -5.266 - - - - - - 15.68 15.63 15.68
349.04 51.17 -13.23 44 366.81 roll -1.18 - - 2228.06 - 2.79 0.025 2230.00 407.1 -77.86 - - 3213.56 - - - - - - - - - 15.88 -
552.73 77.90 -11.91 82 559.66 no move -1.18 - - 2227.88 - - - 2230.56 - -77.86 - - 3214.53 - - - - - - - - - - -
745.46 99.63 -10.00 120 752.00 no move -1.18 - - 2227.94 - - - 2230.38 - -77.86 - - 3215.62 - - - - - - - - - - -
942.77 116.79 -7.10 140 946.79 VBD -1.18 - - 2228.25 - - - 2231.12 - -77.86 - - 3214.50 - - - - - - - - - - -
1252.83 139.88 -7.26 171 1271.13 done -1.18 - - 2227.88 - 3.03 0.066 1091.62 -376.1 -77.86 - - 3215.75 - - - - - - - - - 15.95 -
1501.57 160.54 -8.70 218 1519.39 done -1.18 - - 2228.06 - 2.79 0.025 2231.88 408.7 -77.86 - - 3216.56 - - - - - - - - - 16.03 -
1825.20 186.88 -7.93 250 1843.49 done -1.18 - - 2228.00 - 3.02 0.067 1093.00 -377.1 -77.86 - - 3216.34 - - - - - - - - - 16.04 -
1933.92 196.44 -8.99 269 1951.73 done -1.18 - - 2228.00 - 2.77 0.025 2231.62 411.1 -77.86 - - 3218.34 - - - - - - - - - 16.00 -
2257.51 222.48 -8.34 301 2275.38 roll -1.18 - - 2225.81 - 2.95 0.086 3303.75 363.4 -77.86 - - 3216.84 - - - - - - - - - 16.00 -
2365.82 232.47 -9.11 320 2384.04 roll -1.18 - - 2228.06 - 2.73 0.022 2147.12 -423.7 -77.86 - - 3216.34 - - - - - - - - - 16.06 -
2689.98 258.63 -7.89 352 2708.89 roll -1.18 - - 2227.88 - 3.15 0.081 3303.12 367.0 -77.86 - - 3215.78 - - - - - - - - - 16.07 -
2759.35 264.53 -8.58 363 2777.38 roll -1.18 - - 2227.44 - 2.72 0.022 2147.06 -425.0 -77.86 - - 3215.75 - - - - - - - - - 16.07 -
3083.20 287.85 -6.65 395 3102.11 roll -1.18 - - 2228.25 - 3.14 0.081 3304.00 368.5 -77.86 - - 3214.97 - - - - - - - - - 16.10 -
3218.31 298.92 -8.57 419 3235.61 roll -1.18 - - 2227.38 - 2.71 0.022 2148.50 -426.4 -77.86 - - 3214.59 - - - - - - - - - 16.07 -
3541.43 322.99 -7.25 451 3545.48 no move -1.18 - - 2227.69 - - - 2148.50 - -77.86 - - 3212.59 - - - - - - - - - - -
3851.48 345.51 -7.10 482 3855.54 no move -1.18 - - 2228.06 - - - 2147.06 - -77.86 - - 3212.06 - - - - - - - - - - -
4161.51 369.00 -8.18 513 4180.43 roll -1.18 - - 2228.06 - 3.12 0.082 3303.19 370.6 -77.86 - - 3212.53 - - - - - - - - - 16.10 -
4210.89 373.49 -9.01 520 4228.92 roll -1.18 - - 2227.50 - 2.72 0.022 2148.62 -424.5 -77.86 - - 3211.59 - - - - - - - - - 16.10 -
4535.06 400.41 -8.09 552 4553.98 roll -1.18 - - 2226.62 - 3.15 0.081 3302.88 366.4 -77.86 - - 3211.91 - - - - - - - - - 16.09 -
4630.18 409.33 -9.34 568 4647.49 roll -1.18 - - 2227.88 - 2.72 0.022 2148.12 -424.5 -77.86 - - 3211.84 - - - - - - - - - 16.10 -
4953.29 433.87 -7.26 600 4972.20 roll -1.18 - - 2226.00 - 3.14 0.081 3302.12 367.5 -77.86 - - 3211.41 - - - - - - - - - 16.09 -
5022.66 439.44 -8.11 611 5040.70 roll -1.18 - - 2228.38 - 2.71 0.022 2148.00 -425.9 -77.86 - - 3210.50 - - - - - - - - - 16.11 -
5346.54 462.95 -8.11 643 5363.84 roll -1.18 - - 2226.19 - 2.80 0.076 1094.00 -376.4 -77.86 - - 3210.91 - - - - - - - - - 16.09 -
5404.30 467.93 -8.80 652 5422.33 roll -1.18 - - 2228.12 - 2.75 0.026 2233.19 414.3 -77.86 - - 3210.34 - - - - - - - - - 16.09 -
5728.14 492.88 -7.79 684 5746.24 roll -1.18 - - 2228.50 - 2.92 0.086 3304.00 366.7 -77.86 - - 3207.56 - - - - - - - - - 16.04 -
5872.46 504.98 -8.49 710 5889.76 roll -1.18 - - 2226.50 - 2.71 0.022 2148.25 -426.5 -77.86 - - 3208.62 - - - - - - - - - 16.10 -
6195.60 528.89 -7.40 742 6213.30 roll -1.18 - - 2228.25 - 2.81 0.076 1093.06 -375.5 -77.86 - - 3207.34 - - - - - - - - - 16.08 -
6259.62 533.66 -7.33 752 6277.32 roll -1.18 - - 2228.00 - 2.74 0.027 2231.38 415.4 -77.86 - - 3208.06 - - - - - - - - - 16.11 -
6583.14 557.67 -8.30 784 6601.25 roll -1.18 - - 2227.44 - 2.93 0.087 3302.94 365.7 -77.86 - - 3205.59 - - - - - - - - - 16.10 -
6667.43 565.09 -9.15 798 6685.13 roll -1.18 - - 2228.19 - 2.71 0.022 2149.25 -425.7 -77.86 - - 3207.28 - - - - - - - - - 16.06 -
6990.97 591.54 -8.02 830 6995.02 no move -1.18 - - 2227.75 - - - 2148.12 - -77.86 - - 3205.59 - - - - - - - - - - -
7301.03 614.28 -7.27 861 7305.08 no move -1.18 - - 2227.81 - - - 2147.19 - -77.86 - - 3204.91 - - - - - - - - - - -
7611.05 634.60 -7.11 892 7615.11 no move -1.18 - - 2227.69 - - - 2146.69 - -77.86 - - 3204.69 - - - - - - - - - - -
7921.11 656.34 -6.61 923 7925.16 no move -1.18 - - 2228.06 - - - 2146.62 - -77.86 - - 3203.78 - - - - - - - - - - -
8231.16 678.80 -7.21 954 8235.21 no move -1.18 - - 2227.44 - - - 2146.75 - -77.86 - - 3204.12 - - - - - - - - - - -
8541.18 700.24 -7.15 985 8545.33 no move -1.18 - - 2228.06 - - - 2146.81 - -77.86 - - 3202.88 - - - - - - - - - - -
8851.24 721.52 -6.69 1016 8870.42 roll -1.18 - - 2228.50 - 3.18 0.085 3302.31 363.4 -77.86 - - 3203.12 - - - - - - - - - 16.10 -
8956.75 729.34 -7.29 1034 8974.06 roll -1.18 - - 2228.00 - 2.72 0.023 2149.44 -423.8 -77.86 - - 3204.56 - - - - - - - - - 16.11 -
9279.90 748.16 -5.37 1066 9283.95 no move -1.18 - - 2228.19 - - - 2149.12 - -77.86 - - 3201.34 - - - - - - - - - - -
9589.96 764.23 -5.35 1097 9594.01 no move -1.18 - - 2227.62 - - - 2150.06 - -77.86 - - 3202.28 - - - - - - - - - - -
9900.02 781.23 -5.63 1128 9917.75 roll -1.18 - - 2228.00 - 2.84 0.078 1094.00 -371.9 -77.86 - - 3203.25 - - - - - - - - - 16.08 -
9933.94 783.51 -5.73 1132 9951.24 roll -1.18 - - 2228.00 - 2.75 0.027 2231.12 413.5 -77.86 - - 3202.31 - - - - - - - - - 16.10 -
10257.08 804.88 -6.89 1164 10261.13 no move -1.18 - - 2228.50 - - - 2231.38 - -77.86 - - 3201.22 - - - - - - - - - - -
10567.14 823.92 -6.01 1195 10571.19 no move -1.18 - - 2227.94 - - - 2231.31 - -77.86 - - 3200.91 - - - - - - - - - - -
10877.17 841.71 -5.76 1226 10895.40 roll -1.18 - - 2227.44 - 2.96 0.089 3303.50 362.2 -77.86 - - 3201.62 - - - - - - - - - 16.09 -
10951.72 846.86 -6.99 1238 10969.04 roll -1.18 - - 2228.06 - 2.73 0.023 2149.75 -422.6 -77.86 - - 3200.69 - - - - - - - - - 16.09 -
11274.88 864.38 -5.51 1270 11278.94 no move -1.18 - - 2227.75 - - - 2149.69 - -77.86 - - 3199.91 - - - - - - - - - - -
11584.95 882.22 -5.85 1301 11603.05 roll -1.18 - - 2227.94 - 2.82 0.079 1093.19 -374.6 -77.86 - - 3200.72 - - - - - - - - - 16.06 -
11689.25 888.95 -6.58 1319 11706.57 roll -1.18 - - 2227.25 - 2.78 0.028 2230.31 409.0 -77.86 - - 3201.16 - - - - - - - - - 16.09 -
12012.36 907.75 -6.03 1351 12016.42 no move -1.18 - - 2227.56 - - - 2230.12 - -77.86 - - 3198.91 - - - - - - - - - - -
12322.40 925.07 -5.40 1382 12326.46 no move -1.18 - - 2227.81 - - - 2230.12 - -77.86 - - 3198.78 - - - - - - - - - - -
12632.43 941.51 -5.19 1413 12650.95 roll -1.18 - - 2225.81 - 3.05 0.075 1093.56 -372.6 -77.86 - - 3200.62 - - - - - - - - - 16.09 -
12717.14 946.44 -6.02 1427 12734.46 roll -1.18 - - 2227.81 - 2.79 0.028 2230.31 407.4 -77.86 - - 3199.62 - - - - - - - - - 16.10 -
13040.69 961.33 -4.48 1459 13058.80 roll -1.18 - - 2226.38 - 2.98 0.091 3301.06 359.3 -77.86 - - 3199.69 - - - - - - - - - 16.07 -
13119.28 966.04 -5.84 1472 13137.33 roll -1.18 - - 2227.75 - 2.72 0.024 2149.50 -423.4 -77.86 - - 3199.50 - - - - - - - - - 16.09 -
13443.15 983.21 -6.06 1504 13462.08 roll -1.18 - - 2228.69 - 3.19 0.087 3302.06 361.3 -77.86 - - 3199.59 - - - - - - - - - 16.02 -
13528.39 989.45 -7.29 1518 13545.70 roll -1.18 - - 2227.94 - 2.72 0.024 2152.88 -422.5 -77.86 - - 3198.72 - - - - - - - - - 16.08 -
13550 end dive: TARGET_DEPTH_EXCEEDED
13551 begin apogee
13556.49 990.67 -6.65 1520 13656.06 -0.31 1.54 0.142 2440.88 138.3 0.12 0.186 2191.25 319.7 - 60.90 2.507 2889.66 -5.1 0.332 - - - - - - 16.00 15.60 11.99
13660 end apogee: CONTROL_FINISHED_OK
13661 begin climb
13664.05 992.92 - 1527 13772.50 1.18 2.52 0.097 2805.75 144.8 - - 2189.75 - 77.86 65.43 2.451 2573.50 -4.8 0.324 - - - - - - 15.72 - 12.66
14078.85 971.56 6.36 1565 14099.58 done 1.28 - - 2806.44 - 3.30 0.093 3350.38 351.7 77.86 - - 2565.06 - - - - - - - - - 15.82 -
14145.56 967.06 6.24 1575 14165.64 1.39 0.31 0.069 2864.50 187.3 2.76 0.024 2204.62 -415.1 77.86 - - 2563.56 - - - - - - - - 15.81 15.87 -
14471.93 940.67 8.44 1607 14476.03 VBD 1.39 - - 2864.50 - - - 2202.00 - 77.86 - - 2560.03 - - - - - - - - - - -
14782.00 915.08 8.06 1638 14801.56 done 1.39 - - 2864.69 - 3.23 0.094 3353.62 356.5 77.86 - - 2560.28 - - - - - - - - - 15.98 -
14822.06 911.72 8.37 1643 14840.71 done 1.39 - - 2865.69 - 2.74 0.024 2202.50 -420.1 77.86 - - 2562.22 - - - - - - - - - 15.99 -
15146.99 887.67 6.97 1675 15151.08 VBD 1.46 - - 2865.94 - - - 2200.94 - 77.86 - - 2559.44 - - - - - - - - - - -
15457.37 866.17 6.70 1706 15461.46 VBD 1.54 - - 2865.50 - - - 2200.62 - 77.86 - - 2558.75 - - - - - - - - - - -
15767.72 843.98 7.31 1737 15787.31 1.58 0.21 0.081 2911.62 219.6 2.86 0.080 1143.69 -369.6 77.86 - - 2559.56 - - - - - - - - 16.02 16.01 -
15833.55 838.69 8.74 1747 15851.49 done 1.58 - - 2912.94 - 2.81 0.033 2274.31 402.4 77.86 - - 2560.12 - - - - - - - - - 15.99 -
16157.34 812.25 8.50 1779 16161.43 VBD 1.58 - - 2912.38 - - - 2274.56 - 77.86 - - 2557.78 - - - - - - - - - - -
16467.37 786.14 8.58 1810 16486.12 done 1.58 - - 2912.38 - 3.02 0.097 3351.25 356.5 77.86 - - 2557.25 - - - - - - - - - 16.05 -
16556.87 777.79 9.22 1825 16575.12 done 1.58 - - 2912.31 - 2.72 0.024 2202.06 -422.5 77.86 - - 2559.00 - - - - - - - - - 16.06 -
16881.08 749.68 8.23 1857 16885.17 VBD 1.58 - - 2912.81 - - - 2201.50 - 77.86 - - 2556.91 - - - - - - - - - - -
17191.15 724.27 7.86 1888 17195.24 VBD 1.58 - - 2912.88 - - - 2201.56 - 77.86 - - 2556.81 - - - - - - - - - - -
17501.58 700.87 6.42 1919 17519.51 done 1.68 - - 2912.88 - 2.85 0.080 1145.06 -370.7 77.86 - - 2558.19 - - - - - - - - - 16.08 -
17575.76 694.19 7.94 1931 17593.68 done 1.68 - - 2913.62 - 2.80 0.033 2274.88 403.5 77.86 - - 2558.19 - - - - - - - - - 16.08 -
17899.97 670.45 7.40 1963 17904.06 VBD 1.72 - - 2913.25 - - - 2275.00 - 77.86 - - 2556.59 - - - - - - - - - - -
18210.35 648.45 6.53 1994 18215.76 1.81 0.26 0.072 2968.75 213.5 - - 2275.38 - 77.86 - - 2557.91 - - - - - - - - 16.06 - -
18521.63 624.69 7.92 2025 18540.38 done 1.81 - - 2968.31 - 3.03 0.075 1144.56 -373.2 77.86 - - 2555.84 - - - - - - - - - 16.10 -
18660.91 612.90 8.23 2050 18679.57 done 1.81 - - 2968.12 - 2.81 0.033 2276.69 402.9 77.86 - - 2557.91 - - - - - - - - - 16.08 -
18985.42 585.38 8.76 2082 18989.77 VBD 1.81 - - 2967.81 - - - 2276.56 - 77.86 - - 2556.06 - - - - - - - - - - -
19295.76 557.77 8.43 2113 19299.87 VBD 1.81 - - 2967.69 - - - 2275.94 - 77.86 - - 2556.41 - - - - - - - - - - -
19605.81 532.44 8.17 2144 19624.55 done 1.81 - - 2968.06 - 3.03 0.075 1143.88 -373.6 77.86 - - 2557.66 - - - - - - - - - 16.09 -
19840.85 512.44 8.76 2188 19859.11 done 1.81 - - 2965.44 - 2.82 0.033 2275.00 401.1 77.86 - - 2557.41 - - - - - - - - - 16.09 -
20165.40 487.90 7.30 2220 20184.17 done 1.86 - - 2967.06 - 3.01 0.095 3351.00 357.5 77.86 - - 2557.38 - - - - - - - - - 16.06 -
20225.08 483.50 6.91 2229 20243.33 done 1.92 - - 2968.06 - 2.72 0.023 2199.81 -423.2 77.86 - - 2556.81 - - - - - - - - - 16.08 -
20549.60 463.42 6.17 2261 20568.79 2.04 0.19 0.082 3015.62 250.3 2.84 0.078 1143.75 -371.9 77.86 - - 2556.62 - - - - - - - - 16.04 16.03 -
20685.05 453.18 7.69 2285 20703.38 done 2.04 - - 3016.19 - 2.81 0.032 2276.69 403.2 77.86 - - 2556.28 - - - - - - - - - 16.08 -
21009.24 428.99 7.96 2317 21028.01 done 2.04 - - 3016.56 - 3.03 0.074 1142.94 -374.2 77.86 - - 2557.38 - - - - - - - - - 16.06 -
21068.63 424.14 8.04 2326 21087.69 done 2.04 - - 3016.50 - 2.81 0.032 2276.31 403.3 77.86 - - 2557.66 - - - - - - - - - 16.07 -
21393.97 400.28 6.96 2358 21398.07 VBD 2.10 - - 3016.44 - - - 2275.88 - 77.86 - - 2555.53 - - - - - - - - - - -
21704.35 379.03 6.36 2389 21723.12 2.20 - - 3015.94 - 3.03 0.073 1144.06 -373.5 77.86 - - 2555.59 - - - - - - - - - 16.08 -
21804.05 371.96 6.89 2406 21823.12 2.27 - - 3016.25 - 2.81 0.032 2275.62 402.7 77.86 - - 2556.19 - - - - - - - - - 16.08 -
22129.38 351.14 6.17 2438 22148.14 2.39 - - 3015.88 - 3.03 0.072 1144.12 -373.4 77.86 - - 2558.28 - - - - - - - - - 15.98 -
22174.78 347.82 6.75 2444 22192.95 2.46 - - 3016.31 - 2.80 0.031 2276.38 404.4 77.86 - - 2557.50 - - - - - - - - - 16.07 -
22499.23 326.59 6.85 2476 22518.39 2.54 - - 3015.62 - 3.02 0.072 1142.88 -375.3 77.86 - - 2557.12 - - - - - - - - - 16.06 -
22635.06 316.94 6.92 2500 22653.24 2.60 - - 3015.88 - 2.79 0.031 2275.62 406.0 77.86 - - 2556.25 - - - - - - - - - 16.07 -
22959.63 297.39 6.19 2532 22978.40 2.72 - - 3016.06 - 3.01 0.072 1143.12 -376.2 77.86 - - 2555.00 - - - - - - - - - 16.04 -
23149.36 284.53 6.64 2567 23167.61 2.80 - - 3016.56 - 2.80 0.031 2275.56 404.4 77.86 - - 2557.59 - - - - - - - - - 16.06 -
23473.87 265.16 5.90 2599 23492.79 2.93 - - 3016.38 - 3.01 0.093 3352.69 357.9 77.86 - - 2555.25 - - - - - - - - - 16.04 -
23723.76 249.23 6.48 2646 23742.42 3.02 - - 3016.50 - 2.72 0.022 2198.69 -424.3 77.86 - - 2556.72 - - - - - - - - - 16.06 -
24048.69 232.39 4.99 2678 24136.99 3.15 - - 3015.75 - 2.85 0.078 1143.12 -370.4 141.11 48.78 1.578 2313.62 -5.0 0.122 - - - - - - - 15.80 12.04
24187.51 221.12 10.26 2699 24206.20 roll back 3.15 - - 3015.62 - 2.84 0.031 2276.19 399.0 141.11 - - 2309.38 - - - - - - - - - 15.92 -
24512.18 188.64 9.97 2731 24530.94 3.15 - - 3014.19 - 3.05 0.072 1143.56 -371.4 141.11 - - 2305.28 - - - - - - - - - 15.88 -
24701.48 167.41 11.62 2766 24720.14 3.15 - - 3016.06 - 2.83 0.032 2275.25 399.9 141.11 - - 2304.38 - - - - - - - - - 15.95 -
25026.01 133.60 9.93 2798 25044.77 3.15 - - 3015.62 - 3.04 0.071 1143.75 -372.2 141.11 - - 2303.06 - - - - - - - - - 15.98 -
25231.06 110.99 12.16 2836 25249.00 3.15 - - 3016.81 - 2.83 0.031 2274.94 399.7 141.11 - - 2303.03 - - - - - - - - - 15.99 -
25555.31 88.20 4.08 2888 25665.99 3.31 - - 3016.06 - 3.10 0.072 1143.69 -364.9 223.10 62.81 1.383 1978.47 -5.2 0.055 - - - - - - - 15.70 12.32
25817.76 71.16 6.12 2932 25836.42 3.43 - - 3016.81 - 2.85 0.029 2275.81 397.2 223.10 - - 1970.88 - - - - - - - - - 15.81 -
26022.72 58.08 5.87 2970 26042.20 3.56 - - 3016.06 - 3.06 0.093 3351.75 351.6 223.10 - - 1969.47 - - - - - - - - - 15.81 -
26058.91 56.10 5.54 2974 26077.57 3.71 - - 3016.25 - 2.74 0.022 2196.19 -421.7 223.10 - - 1969.88 - - - - - - - - - 15.85 -
26263.95 47.60 4.25 3012 26366.91 3.87 - - 3016.62 - 2.88 0.077 1144.25 -365.3 301.52 58.98 1.300 1658.59 -5.3 0.032 - - - - - - - 15.66 12.36
26523.19 28.51 9.09 3056 26541.87 3.87 - - 3015.06 - 2.83 0.030 2275.75 399.8 301.52 - - 1651.66 - - - - - - - - - 15.80 -
26728.15 15.42 5.36 3094 26747.87 4.03 - - 3016.25 - 3.06 0.069 1143.38 -370.1 301.52 - - 1647.81 - - - - - - - - - 15.84 -
26979.70 14.97 -0.46 3141 27020.81 4.38 - - 3016.62 - 2.81 0.027 2278.81 404.1 477.46 16.54 1.147 1576.47 -4.3 0.009 - - - - - - - 15.93 12.29
27023 end climb: NO_VERTICAL_VELOCITY
27023 begin surface
SM 1.03 - - - - 180.6 - - 494.2 - 18.69 0.051 458.3 24.5 - 0.25 0.063 530.2 2109.6 -3.525 - - 30.00 15.70 15.72 -