NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 905 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 307.66 of 506.00 AH used of 24V (39.20% remains)
• Surface angle -61.0 deg, depth 0.96 m • Intended pitch -17.5 deg, speed -8.462 cm/s
VBD pumped to 400.02 (SM_CC=400)
• GPS1 time: 17 s
• GPS2 time: 2 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
19.78 - - - 129.12 VBD -1.33 - - 179.62 - - - 2205.31 - -116.79 77.01 0.005 3085.31 - - - - - - - - - - 14.61
131.34 3.37 -3.23 15 247.07 -1.33 17.57 0.200 2192.75 114.6 2.95 0.066 1152.62 -356.8 -116.79 4.15 0.010 3368.91 68.3 -4.032 - - - - - - 15.09 14.83 14.98
253.62 34.50 -13.87 22 272.54 roll -1.33 - - 2193.00 - 2.85 0.026 2284.06 397.0 -116.79 - - 3369.66 - - - - - - - - - 15.51 -
458.67 61.39 -12.57 60 479.17 roll -1.33 - - 2193.12 - 3.22 0.086 3361.25 334.5 -116.79 - - 3370.59 - - - - - - - - - 15.33 -
520.63 69.27 -12.37 69 539.54 roll -1.33 - - 2193.62 - 2.82 0.019 2200.69 -411.5 -116.79 - - 3370.81 - - - - - - - - - 15.61 -
725.65 88.44 -8.55 107 745.17 roll -1.33 - - 2193.25 - 2.95 0.066 1155.00 -354.5 -116.79 - - 3371.69 - - - - - - - - - 15.50 -
791.63 94.21 -8.75 117 810.56 roll -1.33 - - 2194.00 - 2.82 0.025 2288.38 401.9 -116.79 - - 3371.03 - - - - - - - - - 15.48 -
996.65 111.68 -8.72 142 1000.67 no move -1.33 - - 2193.12 - - - 2288.56 - -116.79 - - 3369.62 - - - - - - - - - - -
1306.78 138.74 -8.65 173 1326.15 roll -1.33 - - 2193.25 - 3.16 0.060 1155.25 -358.6 -116.79 - - 3371.22 - - - - - - - - - 15.58 -
1372.62 144.92 -9.32 183 1390.80 roll -1.33 - - 2193.50 - 2.79 0.025 2286.88 405.6 -116.79 - - 3372.22 - - - - - - - - - 15.82 -
1696.91 174.24 -9.00 215 1701.19 no move -1.33 - - 2194.06 - - - 2287.31 - -116.79 - - 3370.69 - - - - - - - - - - -
2007.42 200.37 -8.15 246 2027.04 roll -1.33 - - 2193.25 - 3.14 0.061 1154.00 -360.9 -116.79 - - 3371.31 - - - - - - - - - 15.67 -
2067.82 205.58 -8.71 255 2086.97 roll -1.33 - - 2193.31 - 2.81 0.025 2287.94 403.5 -116.79 - - 3372.31 - - - - - - - - - 15.79 -
2393.07 233.61 -8.82 287 2397.13 no move -1.33 - - 2192.69 - - - 2287.25 - -116.79 - - 3371.19 - - - - - - - - - - -
2703.23 259.64 -7.97 318 2722.86 roll -1.33 - - 2193.94 - 3.14 0.061 1153.00 -361.2 -116.79 - - 3370.53 - - - - - - - - - 15.54 -
2733.61 262.32 -8.50 321 2752.34 roll -1.33 - - 2193.50 - 2.80 0.025 2286.12 404.7 -116.79 - - 3371.50 - - - - - - - - - 15.73 -
3058.48 288.82 -8.43 353 3062.54 no move -1.33 - - 2193.25 - - - 2285.62 - -116.79 - - 3371.53 - - - - - - - - - - -
3368.68 313.77 -7.87 384 3372.73 no move -1.33 - - 2193.31 - - - 2285.50 - -116.79 - - 3370.50 - - - - - - - - - - -
3678.87 336.31 -6.99 415 3698.49 roll -1.33 - - 2192.62 - 3.15 0.061 1154.25 -359.1 -116.79 - - 3371.50 - - - - - - - - - 15.69 -
3724.99 339.69 -7.11 421 3743.39 roll -1.33 - - 2193.44 - 2.82 0.025 2285.56 401.2 -116.79 - - 3371.44 - - - - - - - - - 15.83 -
4049.53 362.73 -7.28 453 4053.59 no move -1.33 - - 2192.75 - - - 2285.62 - -116.79 - - 3371.16 - - - - - - - - - - -
4359.84 386.71 -8.20 484 4379.46 roll -1.33 - - 2193.38 - 3.16 0.062 1153.56 -358.2 -116.79 - - 3371.19 - - - - - - - - - 15.69 -
4420.24 391.80 -8.49 493 4439.77 roll -1.33 - - 2193.81 - 2.81 0.026 2287.06 403.4 -116.79 - - 3372.00 - - - - - - - - - 15.89 -
4745.91 417.06 -7.60 525 4765.53 roll -1.33 - - 2191.06 - 3.16 0.062 1155.62 -358.1 -116.79 - - 3372.00 - - - - - - - - - 15.67 -
4792.02 420.91 -8.24 531 4810.84 roll -1.33 - - 2192.69 - 2.81 0.026 2285.69 402.2 -116.79 - - 3373.06 - - - - - - - - - 15.88 -
5116.97 445.99 -7.61 563 5121.03 no move -1.33 - - 2193.19 - - - 2286.25 - -116.79 - - 3370.69 - - - - - - - - - - -
5427.13 470.14 -7.59 594 5446.76 roll -1.33 - - 2192.81 - 3.16 0.062 1155.94 -357.7 -116.79 - - 3371.22 - - - - - - - - - 15.66 -
5463.25 473.03 -7.72 598 5481.66 roll -1.33 - - 2193.31 - 2.81 0.026 2284.38 401.6 -116.79 - - 3372.34 - - - - - - - - - 15.73 -
5787.80 497.48 -7.34 630 5791.86 no move -1.33 - - 2193.44 - - - 2284.81 - -116.79 - - 3370.12 - - - - - - - - - - -
6097.98 519.73 -7.38 661 6117.84 roll -1.33 - - 2192.81 - 3.16 0.063 1155.12 -357.5 -116.79 - - 3371.47 - - - - - - - - - 15.66 -
6144.47 523.38 -7.71 667 6162.88 roll -1.33 - - 2193.56 - 2.82 0.026 2284.69 400.6 -116.79 - - 3372.56 - - - - - - - - - 15.86 -
6468.98 547.50 -7.26 699 6473.04 no move -1.33 - - 2193.94 - - - 2284.75 - -116.79 - - 3369.97 - - - - - - - - - - -
6779.15 569.41 -6.87 730 6798.77 roll -1.33 - - 2193.31 - 3.16 0.063 1155.19 -357.5 -116.79 - - 3369.09 - - - - - - - - - 15.66 -
6819.53 572.36 -6.92 735 6839.06 roll -1.33 - - 2193.69 - 2.83 0.026 2285.38 399.4 -116.79 - - 3370.31 - - - - - - - - - 15.87 -
7145.16 593.70 -6.30 767 7149.22 no move -1.33 - - 2193.31 - - - 2285.25 - -116.79 - - 3368.91 - - - - - - - - - - -
7455.73 611.67 -5.44 798 7459.79 no move -1.33 - - 2193.00 - - - 2285.00 - -116.79 - - 3368.56 - - - - - - - - - - -
7765.92 628.94 -5.90 829 7785.54 roll -1.33 - - 2193.69 - 3.17 0.064 1155.25 -356.4 -116.79 - - 3366.94 - - - - - - - - - 15.63 -
7806.29 631.62 -6.17 834 7825.44 roll -1.33 - - 2193.12 - 2.83 0.027 2284.38 399.0 -116.79 - - 3368.72 - - - - - - - - - 15.71 -
8131.58 652.55 -7.41 866 8151.45 roll -1.33 - - 2193.00 - 3.17 0.063 1155.88 -356.0 -116.79 - - 3366.69 - - - - - - - - - 15.64 -
8178.06 656.47 -8.09 872 8196.49 roll -1.33 - - 2193.38 - 2.82 0.027 2284.56 400.2 -116.79 - - 3367.81 - - - - - - - - - 15.85 -
8502.62 683.43 -8.65 904 8506.69 no move -1.33 - - 2193.94 - - - 2284.31 - -116.79 - - 3366.84 - - - - - - - - - - -
8812.83 710.89 -8.88 935 8832.45 roll -1.33 - - 2193.31 - 3.17 0.064 1154.62 -356.4 -116.79 - - 3366.34 - - - - - - - - - 15.64 -
8858.94 715.07 -8.88 941 8877.37 roll -1.33 - - 2193.50 - 2.83 0.027 2284.81 399.4 -116.79 - - 3368.41 - - - - - - - - - 15.85 -
9183.50 741.25 -7.86 973 9187.58 no move -1.33 - - 2192.62 - - - 2284.56 - -116.79 - - 3366.38 - - - - - - - - - - -
9493.72 762.48 -6.44 1004 9497.78 no move -1.33 - - 2192.94 - - - 2284.50 - -116.79 - - 3366.69 - - - - - - - - - - -
9803.91 780.49 -5.62 1035 9807.97 no move -1.33 - - 2193.31 - - - 2284.88 - -116.79 - - 3366.00 - - - - - - - - - - -
10114.47 797.09 -5.42 1066 10134.10 roll -1.33 - - 2193.38 - 3.18 0.064 1154.69 -355.4 -116.79 - - 3365.16 - - - - - - - - - 15.62 -
10171.00 800.31 -5.34 1074 10189.56 roll -1.33 - - 2193.50 - 2.84 0.027 2283.06 397.3 -116.79 - - 3366.81 - - - - - - - - - 15.80 -
10496.34 817.79 -5.39 1106 10500.40 no move -1.33 - - 2193.31 - - - 2283.12 - -116.79 - - 3365.34 - - - - - - - - - - -
10806.65 835.70 -6.07 1137 10826.28 roll -1.33 - - 2193.50 - 3.19 0.064 1155.81 -353.4 -116.79 - - 3365.81 - - - - - - - - - 15.59 -
10847.04 838.45 -6.49 1142 10866.17 roll -1.33 - - 2193.88 - 2.83 0.027 2285.06 399.0 -116.79 - - 3366.59 - - - - - - - - - 15.81 -
11172.28 858.61 -6.38 1174 11176.36 no move -1.33 - - 2193.19 - - - 2284.62 - -116.79 - - 3365.47 - - - - - - - - - - -
11482.51 879.64 -7.10 1205 11502.13 roll -1.33 - - 2193.00 - 3.18 0.064 1155.88 -354.9 -116.79 - - 3363.88 - - - - - - - - - 15.59 -
11542.91 884.30 -7.43 1214 11562.05 roll -1.33 - - 2193.38 - 2.83 0.027 2284.19 398.7 -116.79 - - 3365.03 - - - - - - - - - 15.81 -
11868.27 907.52 -7.44 1246 11872.33 no move -1.33 - - 2192.81 - - - 2284.31 - -116.79 - - 3364.22 - - - - - - - - - - -
12178.48 930.11 -7.55 1277 12182.54 no move -1.33 - - 2193.62 - - - 2284.62 - -116.79 - - 3364.03 - - - - - - - - - - -
12488.69 953.38 -7.90 1308 12508.32 roll -1.33 - - 2192.69 - 3.19 0.065 1153.56 -354.6 -116.79 - - 3363.75 - - - - - - - - - 15.57 -
12549.09 957.98 -7.69 1317 12568.47 roll -1.33 - - 2193.56 - 2.84 0.028 2284.62 398.3 -116.79 - - 3364.12 - - - - - - - - - 15.79 -
12874.73 981.42 -7.07 1349 12878.79 no move -1.33 - - 2192.75 - - - 2284.75 - -116.79 - - 3362.75 - - - - - - - - - - -
13004 end dive: TARGET_DEPTH_EXCEEDED
13005 begin apogee
13011.85 990.62 -7.08 1362 13164.61 -0.31 1.92 0.124 2440.06 128.8 0.14 0.162 2074.56 -1501.4 - 98.17 2.328 2890.09 -4.8 0.359 - - - - - - 15.41 14.96 9.76
13178 end apogee: CONTROL_FINISHED_OK
13178 begin climb
13181.42 994.19 - 1372 13364.16 1.33 2.91 0.086 2841.81 138.1 3.51 0.086 923.06 -328.1 116.79 102.88 2.276 2413.88 -4.6 0.354 - - - - - - 15.49 14.89 11.46
13371.16 986.05 6.60 1393 13390.29 roll 1.44 - - 2841.81 - 2.84 0.022 2058.06 399.6 116.79 - - 2407.16 - - - - - - - - - 15.46 -
13696.94 966.74 6.14 1425 13718.61 1.58 0.39 0.061 2911.06 177.6 3.16 0.082 3126.06 338.0 116.79 - - 2402.31 - - - - - - - - 15.68 15.58 -
13819.89 957.47 7.47 1446 13839.03 done 1.64 - - 2911.50 - 2.84 0.025 1993.19 -398.9 116.79 - - 2402.22 - - - - - - - - - 15.76 -
14145.55 933.94 7.15 1478 14165.57 done 1.72 - - 2911.75 - 3.13 0.087 923.38 -341.8 116.79 - - 2399.47 - - - - - - - - - 15.60 -
14216.33 928.32 8.13 1489 14235.45 done 1.72 - - 2911.69 - 2.75 0.023 2060.69 413.6 116.79 - - 2399.00 - - - - - - - - - 15.81 -
14541.99 905.60 6.87 1521 14547.73 1.81 0.29 0.065 2967.94 194.0 - - 2061.69 - 116.79 - - 2399.69 - - - - - - - - 15.81 - -
14854.27 880.90 7.76 1552 14874.71 done 1.86 - - 2966.25 - 3.33 0.083 923.25 -341.9 116.79 - - 2397.41 - - - - - - - - - 15.59 -
14981.22 869.44 8.56 1574 14999.22 done 1.86 - - 2967.50 - 2.77 0.024 2057.25 409.4 116.79 - - 2397.78 - - - - - - - - - 15.84 -
15305.73 843.14 7.90 1606 15326.42 done 1.89 - - 2967.38 - 3.32 0.082 922.12 -341.9 116.79 - - 2397.31 - - - - - - - - - 15.59 -
15353.02 838.99 8.13 1612 15371.05 done 1.89 - - 2967.94 - 2.80 0.024 2059.25 406.1 116.79 - - 2397.19 - - - - - - - - - 15.67 -
15677.57 813.40 7.72 1644 15682.03 VBD 1.93 - - 2968.38 - - - 2058.44 - 116.79 - - 2396.09 - - - - - - - - - - -
15988.54 791.39 7.09 1675 16010.22 2.02 0.20 0.075 3015.50 235.6 3.30 0.082 923.31 -344.0 116.79 - - 2396.25 - - - - - - - - 15.84 15.57 -
16070.99 784.23 8.69 1688 16089.73 done 2.02 - - 3015.75 - 2.80 0.024 2055.75 404.4 116.79 - - 2396.91 - - - - - - - - - 15.59 -
16395.88 757.83 8.10 1720 16416.32 done 2.02 - - 3015.94 - 3.33 0.082 922.06 -340.4 116.79 - - 2397.97 - - - - - - - - - 15.55 -
16427.08 755.19 8.15 1723 16445.82 done 2.02 - - 3016.00 - 2.78 0.024 2058.88 408.9 116.79 - - 2397.12 - - - - - - - - - 15.90 -
16751.95 726.68 8.78 1755 16772.39 done 2.02 - - 3015.81 - 3.32 0.081 921.94 -342.5 116.79 - - 2395.47 - - - - - - - - - 15.55 -
16799.12 722.22 9.61 1761 16817.38 done 2.02 - - 3016.06 - 2.80 0.024 2059.94 406.4 116.79 - - 2395.84 - - - - - - - - - 15.87 -
17123.65 693.95 8.50 1793 17144.11 done 2.02 - - 3016.19 - 3.31 0.081 922.69 -343.6 116.79 - - 2393.56 - - - - - - - - - 15.55 -
17260.64 681.56 9.32 1817 17278.65 done 2.02 - - 3016.56 - 2.79 0.024 2058.69 407.2 116.79 - - 2395.62 - - - - - - - - - 15.88 -
17584.79 655.85 8.13 1849 17588.86 VBD 2.02 - - 3015.50 - - - 2058.56 - 116.79 - - 2394.44 - - - - - - - - - - -
17895.38 632.15 7.48 1880 17915.83 done 2.08 - - 3014.62 - 3.34 0.082 922.00 -340.3 116.79 - - 2395.00 - - - - - - - - - 15.52 -
18077.01 617.28 7.70 1913 18095.75 done 2.12 - - 3016.19 - 2.79 0.024 2057.62 407.0 116.79 - - 2394.59 - - - - - - - - - 15.87 -
18402.29 592.73 7.59 1945 18422.76 2.17 - - 3015.81 - 3.32 0.081 922.44 -341.9 116.79 - - 2395.06 - - - - - - - - - 15.53 -
18479.26 586.27 8.71 1957 18497.28 2.17 - - 3016.06 - 2.77 0.024 2058.81 410.2 116.79 - - 2396.72 - - - - - - - - - 15.86 -
18803.80 560.55 7.81 1989 18807.87 2.21 - - 3016.44 - - - 2058.94 - 116.79 - - 2394.09 - - - - - - - - - - -
19114.50 536.16 7.83 2020 19134.95 2.25 - - 3015.75 - 3.31 0.081 923.25 -343.1 116.79 - - 2393.12 - - - - - - - - - 15.50 -
19251.50 524.55 8.13 2044 19269.92 2.25 - - 3015.81 - 2.79 0.023 2058.88 407.0 116.79 - - 2394.09 - - - - - - - - - 15.55 -
19576.44 502.01 6.57 2076 19580.51 2.36 - - 3016.06 - - - 2059.38 - 116.79 - - 2393.56 - - - - - - - - - - -
19887.07 481.54 6.49 2107 19907.53 2.48 - - 3016.06 - 3.31 0.081 923.19 -343.3 116.79 - - 2393.38 - - - - - - - - - 15.50 -
20138.83 462.95 7.18 2154 20157.98 2.56 - - 3016.69 - 2.79 0.024 2058.56 406.9 116.79 - - 2394.62 - - - - - - - - - 15.85 -
20464.49 440.15 7.21 2186 20484.95 2.63 - - 3016.50 - 3.31 0.081 922.25 -343.3 116.79 - - 2394.72 - - - - - - - - - 15.49 -
20501.84 437.21 7.65 2190 20520.28 2.68 - - 3015.81 - 2.79 0.023 2060.12 407.8 116.79 - - 2396.12 - - - - - - - - - 15.77 -
20827.24 413.46 7.03 2222 20846.89 2.77 - - 3016.69 - 3.11 0.080 3125.50 342.6 116.79 - - 2394.88 - - - - - - - - - 15.53 -
20858.04 411.05 7.13 2225 20876.79 2.85 - - 3016.25 - 2.80 0.025 1990.81 -405.2 116.79 - - 2395.03 - - - - - - - - - 15.84 -
21183.34 391.19 5.42 2257 21257.39 2.97 - - 3016.56 - - - 1990.31 - 178.26 50.24 1.581 2161.44 -4.6 0.201 - - - - - - - - 10.46
21563.92 364.59 7.13 2293 21568.00 3.05 - - 3016.38 - - - 1990.44 - 178.26 - - 2153.97 - - - - - - - - - - -
21874.23 340.71 8.49 2324 21894.34 3.05 - - 3016.56 - 3.11 0.086 923.50 -343.1 178.26 - - 2154.09 - - - - - - - - - 15.53 -
21925.10 336.00 8.76 2331 21944.25 3.05 - - 3016.62 - 2.77 0.023 2060.69 410.5 178.26 - - 2154.88 - - - - - - - - - 15.82 -
22250.36 307.10 9.21 2363 22270.89 3.05 - - 3016.31 - 3.34 0.081 923.31 -340.5 178.26 - - 2151.00 - - - - - - - - - 15.29 -
22327.39 299.39 9.87 2375 22346.04 3.05 - - 3015.44 - 2.77 0.023 2060.44 410.5 178.26 - - 2152.62 - - - - - - - - - 15.85 -
22652.27 268.17 10.01 2407 22672.73 3.05 - - 3016.38 - 3.31 0.081 923.62 -343.5 178.26 - - 2150.78 - - - - - - - - - 15.52 -
22733.49 259.63 10.63 2420 22752.64 3.05 - - 3015.50 - 2.79 0.023 2059.69 407.2 178.26 - - 2152.97 - - - - - - - - - 15.53 -
23058.79 228.76 9.26 2452 23079.24 3.05 - - 3016.19 - 3.31 0.080 923.12 -343.4 178.26 - - 2152.09 - - - - - - - - - 15.54 -
23175.76 217.63 9.46 2472 23194.17 3.05 - - 3015.50 - 2.77 0.023 2059.44 410.2 178.26 - - 2152.03 - - - - - - - - - 15.82 -
23500.68 191.89 7.59 2504 23504.76 3.10 - - 3017.00 - - - 2059.12 - 178.26 - - 2150.62 - - - - - - - - - - -
23810.89 167.21 8.20 2535 23831.36 3.10 - - 3015.81 - 3.33 0.080 923.81 -340.9 178.26 - - 2151.88 - - - - - - - - - 15.28 -
23987.89 150.99 9.38 2567 24006.30 3.10 - - 3016.50 - 2.78 0.023 2061.62 409.3 178.26 - - 2152.09 - - - - - - - - - 15.76 -
24312.83 125.56 7.14 2599 24316.91 3.18 - - 3016.19 - - - 2061.25 - 178.26 - - 2150.81 - - - - - - - - - - -
24623.55 102.94 7.10 2630 24644.00 3.27 - - 3016.56 - 3.34 0.079 922.12 -341.1 178.26 - - 2151.53 - - - - - - - - - 15.50 -
24675.91 98.80 7.89 2637 24694.67 3.30 - - 3016.75 - 2.77 0.022 2060.38 410.9 178.26 - - 2151.53 - - - - - - - - - 15.55 -
24881.22 85.22 6.49 2675 24901.58 3.42 - - 3016.44 - 3.10 0.079 3126.38 343.9 178.26 - - 2150.97 - - - - - - - - - 15.30 -
25053.48 74.40 5.42 2706 25142.99 3.54 - - 3016.38 - 2.83 0.023 1986.19 -402.9 239.73 49.33 1.145 1913.81 -4.8 0.055 - - - - - - - 15.50 11.44
25329.51 57.60 6.23 2754 25350.28 roll back 3.68 - - 3016.44 - 3.28 0.073 3126.69 347.7 239.73 - - 1904.94 - - - - - - - - - 15.58 -
25457.20 51.06 5.17 2776 25553.43 3.81 - - 3016.38 - 2.85 0.023 1990.06 -398.8 306.08 53.13 1.099 1640.91 -5.0 0.040 - - - - - - - 15.62 11.48
25740.08 32.75 6.69 2825 25760.46 3.92 - - 3016.00 - 3.12 0.085 922.38 -342.2 306.08 - - 1634.03 - - - - - - - - - 15.36 -
25802.47 28.33 7.13 2834 25821.22 3.99 - - 3016.50 - 2.78 0.021 2065.56 411.2 306.08 - - 1632.97 - - - - - - - - - 15.61 -
26007.73 14.53 7.34 2872 26028.08 4.06 - - 3016.75 - 3.08 0.077 3126.38 344.4 306.08 - - 1632.06 - - - - - - - - - 15.46 -
26110.00 6.82 7.78 2889 26129.16 4.10 - - 3016.75 - 2.81 0.023 1987.44 -405.3 306.08 - - 1630.59 - - - - - - - - - 15.66 -
26165 end climb: SURFACE_DEPTH_REACHED
26165 begin surface coast
26246 end surface coast: CONTROL_FINISHED_OK
26247 begin surface
SM 0.99 - - - - 180.7 75.24 1.053 1259.3 16.7 20.62 0.054 1266.1 61.4 - 0.71 0.047 1252.5 1760.1 -3.789 - - 11.00 15.67 15.82 -