NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 352 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 124.98 of 506.00 AH used of 24V (75.30% remains)
• Surface angle -63.2 deg, depth 1.12 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.83 (SM_CC=430)
• GPS1 time: 42 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
10 end surface: CONTROL_FINISHED_OK
11 begin dive
18.91 - - - 111.63 VBD -1.18 - - 181.69 - - - 2197.44 - -77.86 65.12 0.005 2840.50 - - - - - - - - - - 15.11
113.85 3.72 -4.57 13 228.98 -1.18 17.32 0.223 2227.88 118.1 2.96 0.063 1143.69 -356.0 -77.86 5.08 0.009 3211.06 72.9 -5.122 - - - - - - 15.39 15.19 15.28
460.31 63.74 -9.40 65 478.23 roll -1.18 - - 2226.88 - 2.79 0.024 2279.94 407.3 -77.86 - - 3215.09 - - - - - - - - - 15.72 -
664.05 80.88 -8.50 103 684.36 roll -1.18 - - 2227.75 - 3.22 0.059 1145.38 -352.3 -77.86 - - 3215.66 - - - - - - - - - 15.67 -
840.54 96.40 -8.13 135 858.46 roll -1.18 - - 2227.50 - 2.78 0.024 2278.12 407.5 -77.86 - - 3214.72 - - - - - - - - - 15.83 -
1044.25 110.84 -6.75 157 1063.03 roll -1.18 - - 2227.56 - 3.13 0.082 3352.81 343.4 -77.86 - - 3215.75 - - - - - - - - - 15.68 -
1113.47 115.89 -7.32 168 1131.78 roll -1.18 - - 2227.88 - 2.82 0.019 2185.19 -414.0 -77.86 - - 3215.06 - - - - - - - - - 15.76 -
1437.58 138.88 -7.37 200 1455.58 done -1.18 - - 2227.50 - 2.96 0.064 1143.56 -351.9 -77.86 - - 3216.56 - - - - - - - - - 15.81 -
1491.74 143.36 -8.37 208 1508.92 roll -1.18 - - 2226.94 - 2.78 0.024 2279.25 408.5 -77.86 - - 3216.19 - - - - - - - - - 15.79 -
1814.74 167.77 -7.03 240 1834.17 roll -1.18 - - 2227.25 - 3.21 0.061 1145.25 -353.3 -77.86 - - 3214.75 - - - - - - - - - 15.81 -
1860.48 171.30 -7.72 246 1877.88 roll -1.18 - - 2227.69 - 2.77 0.024 2280.31 409.8 -77.86 - - 3215.88 - - - - - - - - - 15.92 -
2183.70 195.11 -7.01 278 2187.76 VBD -1.18 - - 2227.31 - - - 2280.12 - -77.86 - - 3214.53 - - - - - - - - - - -
2493.71 217.96 -7.46 309 2513.14 roll -1.18 - - 2227.56 - 3.24 0.062 1144.56 -350.5 -77.86 - - 3214.66 - - - - - - - - - 15.75 -
2609.56 227.33 -8.28 329 2627.34 roll -1.18 - - 2227.25 - 2.79 0.025 2278.31 406.4 -77.86 - - 3216.09 - - - - - - - - - 15.96 -
2933.18 251.84 -7.68 361 2937.24 no move -1.18 - - 2227.44 - - - 2277.62 - -77.86 - - 3213.50 - - - - - - - - - - -
3243.22 274.98 -7.30 392 3247.28 no move -1.18 - - 2227.00 - - - 2278.75 - -77.86 - - 3213.38 - - - - - - - - - - -
3553.26 297.85 -7.53 423 3572.69 roll -1.18 - - 2227.56 - 3.24 0.063 1144.94 -349.9 -77.86 - - 3211.25 - - - - - - - - - 15.86 -
3668.91 307.40 -8.48 443 3686.30 roll -1.18 - - 2227.75 - 2.79 0.025 2277.56 406.0 -77.86 - - 3212.81 - - - - - - - - - 15.98 -
3992.15 333.17 -8.46 475 3996.21 no move -1.18 - - 2227.38 - - - 2277.56 - -77.86 - - 3212.31 - - - - - - - - - - -
4302.19 357.97 -7.95 506 4321.62 roll -1.18 - - 2227.94 - 3.23 0.064 1146.25 -350.3 -77.86 - - 3210.28 - - - - - - - - - 15.84 -
4352.08 362.19 -8.18 513 4371.00 roll -1.18 - - 2226.12 - 2.81 0.025 2276.00 402.0 -77.86 - - 3212.97 - - - - - - - - - 15.84 -
4676.85 386.57 -7.56 545 4696.27 roll -1.18 - - 2227.25 - 3.24 0.065 1144.56 -349.2 -77.86 - - 3211.62 - - - - - - - - - 15.86 -
4736.76 391.14 -7.66 554 4754.89 roll -1.18 - - 2227.38 - 2.80 0.025 2277.44 404.6 -77.86 - - 3212.16 - - - - - - - - - 15.97 -
5060.69 412.56 -6.23 586 5079.72 roll -1.18 - - 2225.12 - 3.14 0.086 3352.25 342.3 -77.86 - - 3210.88 - - - - - - - - - 15.74 -
5130.21 417.63 -6.80 597 5148.33 roll -1.18 - - 2226.00 - 2.80 0.019 2192.06 -414.4 -77.86 - - 3210.81 - - - - - - - - - 15.98 -
5454.17 437.14 -5.76 629 5472.39 roll -1.18 - - 2227.81 - 2.99 0.069 1145.00 -350.2 -77.86 - - 3208.66 - - - - - - - - - 15.83 -
5522.86 441.63 -6.50 640 5541.61 roll -1.18 - - 2227.56 - 2.80 0.025 2278.94 405.0 -77.86 - - 3210.25 - - - - - - - - - 15.98 -
5847.57 461.70 -6.57 672 5851.63 no move -1.18 - - 2227.38 - - - 2278.81 - -77.86 - - 3207.47 - - - - - - - - - - -
6157.60 482.94 -7.09 703 6161.66 no move -1.18 - - 2227.69 - - - 2279.00 - -77.86 - - 3207.00 - - - - - - - - - - -
6467.61 504.55 -7.05 734 6487.05 roll -1.18 - - 2224.56 - 3.24 0.066 1145.81 -349.8 -77.86 - - 3208.16 - - - - - - - - - 15.85 -
6527.54 509.18 -7.37 743 6545.66 roll -1.18 - - 2227.75 - 2.79 0.026 2279.06 406.2 -77.86 - - 3207.75 - - - - - - - - - 15.99 -
6851.50 531.82 -6.92 775 6870.94 roll -1.18 - - 2227.69 - 3.23 0.065 1144.88 -351.1 -77.86 - - 3205.62 - - - - - - - - - 15.83 -
6937.15 537.97 -7.13 789 6954.96 roll -1.18 - - 2228.12 - 2.81 0.026 2277.25 403.0 -77.86 - - 3207.69 - - - - - - - - - 15.98 -
7260.81 560.29 -6.92 821 7279.83 roll -1.18 - - 2227.88 - 3.18 0.087 3353.31 338.4 -77.86 - - 3204.25 - - - - - - - - - 15.81 -
7346.05 566.86 -7.80 835 7363.84 roll -1.18 - - 2227.50 - 2.81 0.020 2193.25 -412.8 -77.86 - - 3206.69 - - - - - - - - - 15.99 -
7669.66 589.50 -7.44 867 7673.96 no move -1.18 - - 2226.94 - - - 2192.00 - -77.86 - - 3204.50 - - - - - - - - - - -
7979.92 611.63 -7.11 898 8001.57 roll -1.18 - - 2227.06 - 3.41 0.083 3352.62 340.4 -77.86 - - 3204.12 - - - - - - - - - 15.80 -
8047.05 616.71 -7.15 908 8065.58 roll -1.18 - - 2226.75 - 2.81 0.020 2193.25 -412.6 -77.86 - - 3205.00 - - - - - - - - - 15.99 -
8371.43 637.03 -6.12 940 8375.49 no move -1.18 - - 2227.38 - - - 2191.69 - -77.86 - - 3203.81 - - - - - - - - - - -
8681.46 656.84 -6.76 971 8685.60 no move -1.18 - - 2227.00 - - - 2191.69 - -77.86 - - 3203.19 - - - - - - - - - - -
8991.50 676.52 -6.07 1002 8995.58 no move -1.18 - - 2227.88 - - - 2191.62 - -77.86 - - 3202.72 - - - - - - - - - - -
9301.55 694.55 -5.90 1033 9305.61 no move -1.18 - - 2227.38 - - - 2191.12 - -77.86 - - 3202.28 - - - - - - - - - - -
9611.58 713.06 -6.44 1064 9615.65 no move -1.18 - - 2227.50 - - - 2191.81 - -77.86 - - 3201.88 - - - - - - - - - - -
9921.61 733.21 -6.76 1095 9925.67 no move -1.18 - - 2227.50 - - - 2191.12 - -77.86 - - 3201.06 - - - - - - - - - - -
10231.62 754.72 -6.90 1126 10235.68 no move -1.18 - - 2227.44 - - - 2191.75 - -77.86 - - 3200.94 - - - - - - - - - - -
10541.64 775.15 -6.43 1157 10545.83 no move -1.18 - - 2227.38 - - - 2191.44 - -77.86 - - 3201.00 - - - - - - - - - - -
10851.66 795.54 -6.34 1188 10855.72 no move -1.18 - - 2227.50 - - - 2191.12 - -77.86 - - 3200.88 - - - - - - - - - - -
11162.35 815.57 -6.67 1219 11166.42 no move -1.18 - - 2227.12 - - - 2191.56 - -77.86 - - 3200.84 - - - - - - - - - - -
11472.39 835.29 -6.34 1250 11476.45 no move -1.18 - - 2227.88 - - - 2191.06 - -77.86 - - 3200.12 - - - - - - - - - - -
11782.42 852.67 -5.33 1281 11804.06 roll -1.18 - - 2227.69 - 3.43 0.085 3349.12 337.6 -77.86 - - 3199.00 - - - - - - - - - 15.75 -
11889.56 859.16 -6.32 1299 11908.49 roll -1.18 - - 2227.69 - 2.83 0.020 2197.12 -407.1 -77.86 - - 3200.88 - - - - - - - - - 15.98 -
12214.56 876.97 -5.60 1331 12218.62 no move -1.18 - - 2227.12 - - - 2196.12 - -77.86 - - 3199.56 - - - - - - - - - - -
12524.47 893.77 -5.30 1362 12546.10 roll -1.18 - - 2226.88 - 3.42 0.085 3350.69 337.6 -77.86 - - 3198.69 - - - - - - - - - 15.74 -
12591.58 897.75 -5.90 1372 12610.12 roll -1.18 - - 2227.56 - 2.84 0.021 2197.75 -406.0 -77.86 - - 3200.47 - - - - - - - - - 15.98 -
12916.38 914.86 -4.99 1404 12920.44 no move -1.18 - - 2227.50 - - - 2195.62 - -77.86 - - 3198.66 - - - - - - - - - - -
13226.28 932.10 -5.36 1435 13247.92 roll -1.18 - - 2226.88 - 3.42 0.085 3350.19 337.6 -77.86 - - 3199.66 - - - - - - - - - 15.73 -
13313.41 937.83 -6.51 1449 13332.58 roll -1.18 - - 2227.00 - 2.85 0.020 2198.94 -403.9 -77.86 - - 3198.88 - - - - - - - - - 15.96 -
13638.55 957.21 -5.79 1481 13642.61 no move -1.18 - - 2227.75 - - - 2197.62 - -77.86 - - 3198.31 - - - - - - - - - - -
13948.65 974.70 -5.78 1512 13952.71 no move -1.18 - - 2227.25 - - - 2197.75 - -77.86 - - 3198.00 - - - - - - - - - - -
14247 end dive: TARGET_DEPTH_EXCEEDED
14248 begin apogee
14253.25 990.53 -4.90 1542 14355.96 -0.31 1.63 0.131 2440.19 130.6 0.14 0.160 2186.44 -80.8 - 63.80 2.429 2889.00 -4.8 0.336 - - - - - - 15.52 15.42 10.31
14360 end apogee: CONTROL_FINISHED_OK
14361 begin climb
14364.01 991.74 - 1549 14474.70 1.18 2.59 0.088 2806.06 141.3 - - 2185.62 - 77.86 67.18 2.390 2571.84 -4.7 0.333 - - - - - - 15.57 - 11.78
14781.04 968.37 5.92 1588 14800.89 1.31 0.17 0.090 2844.50 226.1 3.07 0.078 1147.19 -338.3 77.86 - - 2563.19 - - - - - - - - 15.67 15.65 -
14847.62 963.57 6.75 1598 14865.65 done 1.39 - - 2843.62 - 2.86 0.030 2273.31 393.7 77.86 - - 2563.53 - - - - - - - - - 15.79 -
15172.01 941.61 6.92 1630 15193.24 done 1.46 - - 2845.00 - 3.31 0.072 1145.69 -340.7 77.86 - - 2561.56 - - - - - - - - - 15.76 -
15224.84 938.04 7.17 1637 15244.29 1.51 0.23 0.074 2891.69 203.0 2.86 0.030 2273.19 394.2 77.86 - - 2562.47 - - - - - - - - 15.69 15.87 -
15550.14 911.98 8.21 1669 15554.20 VBD 1.51 - - 2893.94 - - - 2273.88 - 77.86 - - 2560.03 - - - - - - - - - - -
15860.19 887.88 7.90 1700 15881.42 done 1.51 - - 2895.19 - 3.31 0.072 1146.56 -340.6 77.86 - - 2559.94 - - - - - - - - - 15.81 -
15926.89 882.32 8.15 1710 15945.43 done 1.51 - - 2893.88 - 2.85 0.030 2274.88 395.9 77.86 - - 2561.66 - - - - - - - - - 15.93 -
16251.69 858.73 7.11 1742 16255.75 VBD 1.57 - - 2894.25 - - - 2274.88 - 77.86 - - 2558.91 - - - - - - - - - - -
16562.00 837.88 6.63 1773 16582.82 done 1.65 - - 2894.81 - 3.30 0.072 1146.62 -341.9 77.86 - - 2560.06 - - - - - - - - - 15.82 -
16668.30 830.06 7.62 1791 16686.82 done 1.65 - - 2894.50 - 2.85 0.031 2274.94 395.9 77.86 - - 2558.75 - - - - - - - - - 15.96 -
16993.04 808.64 6.13 1823 17015.93 1.77 0.32 0.067 2954.69 188.1 3.30 0.072 1145.88 -342.1 77.86 - - 2559.28 - - - - - - - - 15.88 15.81 -
17121.54 797.85 8.10 1845 17140.07 done 1.77 - - 2955.44 - 2.86 0.031 2273.06 394.1 77.86 - - 2559.19 - - - - - - - - - 15.94 -
17445.90 771.08 8.41 1877 17466.72 done 1.77 - - 2955.38 - 3.29 0.071 1146.69 -342.4 77.86 - - 2558.31 - - - - - - - - - 15.82 -
17517.92 764.93 8.92 1888 17535.74 done 1.77 - - 2955.75 - 2.85 0.030 2272.81 395.1 77.86 - - 2558.47 - - - - - - - - - 15.95 -
17841.58 737.76 8.74 1920 17862.40 done 1.77 - - 2954.00 - 3.28 0.071 1145.81 -343.6 77.86 - - 2558.53 - - - - - - - - - 15.81 -
17947.88 728.24 9.28 1938 17966.41 done 1.77 - - 2954.81 - 2.85 0.031 2273.69 395.7 77.86 - - 2559.25 - - - - - - - - - 15.97 -
18272.26 700.52 8.79 1970 18276.33 VBD 1.77 - - 2955.69 - - - 2273.38 - 77.86 - - 2557.16 - - - - - - - - - - -
18582.29 674.71 8.09 2001 18586.35 VBD 1.77 - - 2956.06 - - - 2274.00 - 77.86 - - 2556.56 - - - - - - - - - - -
18892.34 649.06 8.47 2032 18896.40 VBD 1.77 - - 2955.88 - - - 2273.62 - 77.86 - - 2557.22 - - - - - - - - - - -
19202.37 623.67 7.75 2063 19223.21 done 1.77 - - 2955.88 - 3.27 0.071 1147.00 -344.5 77.86 - - 2557.50 - - - - - - - - - 15.80 -
19418.71 605.83 8.34 2103 19437.64 done 1.77 - - 2955.81 - 2.84 0.031 2272.31 396.2 77.86 - - 2557.75 - - - - - - - - - 15.93 -
19743.89 582.64 6.88 2135 19747.97 VBD 1.84 - - 2955.69 - - - 2272.19 - 77.86 - - 2556.34 - - - - - - - - - - -
20054.21 561.87 6.47 2166 20076.26 1.93 0.17 0.084 2996.06 237.5 3.25 0.071 1145.69 -346.6 77.86 - - 2557.78 - - - - - - - - 15.89 15.79 -
20187.88 552.21 7.39 2189 20205.70 done 1.97 - - 2997.62 - 2.85 0.030 2273.50 395.7 77.86 - - 2557.22 - - - - - - - - - 15.96 -
20511.95 528.48 7.24 2221 20516.01 VBD 2.02 - - 2996.88 - - - 2274.12 - 77.86 - - 2556.56 - - - - - - - - - - -
20822.26 506.32 6.83 2252 20843.09 done 2.09 - - 2996.44 - 3.27 0.070 1146.44 -344.9 77.86 - - 2557.62 - - - - - - - - - 15.78 -
21074.75 488.15 7.04 2299 21093.40 2.15 - 0.044 2998.94 - 2.85 0.030 2273.94 395.6 77.86 - - 2555.62 - - - - - - - - - 15.94 -
21399.76 465.53 6.87 2331 21404.37 2.22 - 0.028 2999.25 - - - 2274.00 - 77.86 - - 2556.88 - - - - - - - - - - -
21710.74 443.55 7.13 2362 21715.33 2.28 - 0.028 3000.81 - - - 2274.00 - 77.86 - - 2556.59 - - - - - - - - - - -
22021.58 424.32 5.56 2393 22042.84 2.43 - - 3000.94 - 3.31 0.070 1145.94 -340.8 77.86 - - 2557.38 - - - - - - - - - 15.70 -
22118.73 418.75 5.64 2409 22137.27 2.57 - - 3000.75 - 2.86 0.029 2276.12 395.2 77.86 - - 2556.69 - - - - - - - - - 15.92 -
22443.52 401.45 5.04 2441 22516.81 2.70 - - 3001.12 - - - 2276.12 - 139.95 49.94 1.719 2319.03 -4.8 0.189 - - - - - - - - 10.87
22822.63 366.93 10.39 2477 22843.88 2.70 - - 3000.12 - 3.31 0.070 1146.19 -341.4 139.95 - - 2311.59 - - - - - - - - - 15.72 -
22925.21 355.99 10.58 2494 22943.25 2.70 - - 3000.62 - 2.88 0.030 2272.06 390.9 139.95 - - 2311.16 - - - - - - - - - 15.85 -
23249.20 323.84 9.98 2526 23270.03 2.70 - - 3000.69 - 3.30 0.070 1145.38 -341.4 139.95 - - 2310.16 - - - - - - - - - 15.76 -
23381.26 310.14 10.09 2549 23399.19 2.70 - - 3001.44 - 2.88 0.030 2272.62 391.4 139.95 - - 2307.91 - - - - - - - - - 15.79 -
23705.03 278.48 9.58 2581 23709.11 2.70 - - 3000.88 - - - 2272.56 - 139.95 - - 2308.09 - - - - - - - - - - -
24015.08 250.48 8.63 2612 24035.91 2.70 - - 3001.00 - 3.27 0.070 1145.62 -344.6 139.95 - - 2309.03 - - - - - - - - - 15.76 -
24107.12 241.77 9.49 2627 24124.94 2.70 - - 3001.81 - 2.86 0.029 2275.12 394.9 139.95 - - 2308.75 - - - - - - - - - 15.93 -
24430.79 212.20 9.19 2659 24450.24 2.70 - - 3001.50 - 3.25 0.092 3351.38 331.2 139.95 - - 2309.44 - - - - - - - - - 15.54 -
24466.44 208.80 9.53 2663 24484.26 2.70 - - 3001.00 - 2.82 0.021 2201.75 -407.7 139.95 - - 2309.09 - - - - - - - - - 15.93 -
24790.10 180.47 8.15 2695 24808.99 2.70 - - 3001.75 - 3.08 0.073 1145.50 -342.9 139.95 - - 2307.12 - - - - - - - - - 15.57 -
24859.59 174.47 8.62 2706 24878.13 2.70 - - 3000.25 - 2.82 0.029 2275.44 400.7 139.95 - - 2308.75 - - - - - - - - - 15.90 -
25183.98 147.04 8.39 2738 25188.06 2.70 - - 3001.50 - - - 2275.62 - 139.95 - - 2307.12 - - - - - - - - - - -
25494.43 124.11 6.71 2769 25513.87 2.78 - - 3000.94 - 3.22 0.090 3350.88 333.9 139.95 - - 2308.88 - - - - - - - - - 15.72 -
25544.75 120.85 6.51 2776 25563.31 2.87 - - 3001.31 - 2.82 0.020 2199.50 -408.3 139.95 - - 2309.03 - - - - - - - - - 15.75 -
25869.55 101.51 5.82 2808 25888.17 3.00 - - 3001.19 - 3.04 0.072 1145.50 -346.7 139.95 - - 2308.38 - - - - - - - - - 15.76 -
26039.82 92.37 5.00 2839 26129.11 3.13 - - 3000.94 - 2.82 0.027 2277.00 401.2 203.07 49.81 1.301 2062.66 -4.9 0.059 - - - - - - - 15.75 11.41
26315.38 74.88 6.09 2887 26335.96 3.25 - - 3000.81 - 3.33 0.067 1145.88 -339.7 203.07 - - 2054.59 - - - - - - - - - 15.58 -
26342.67 73.38 5.73 2889 26361.62 3.39 - - 3001.44 - 2.85 0.026 2277.69 397.1 203.07 - - 2053.88 - - - - - - - - - 15.74 -
26547.88 63.14 4.54 2927 26646.46 3.53 - - 3000.50 - 3.22 0.091 3350.56 333.2 275.65 56.58 1.243 1765.78 -5.1 0.044 - - - - - - - 15.50 11.70
26747.66 48.18 8.72 2959 26766.22 roll back 3.53 - - 3001.75 - 2.88 0.020 2202.00 -398.8 275.65 - - 1758.91 - - - - - - - - - 15.70 -
26952.60 35.74 5.62 2997 26972.35 3.68 - - 3001.44 - 3.11 0.072 1145.62 -339.7 275.65 - - 1755.88 - - - - - - - - - 15.63 -
26993.95 32.88 6.79 3002 27012.49 3.75 - - 3000.62 - 2.82 0.026 2277.25 401.3 275.65 - - 1755.78 - - - - - - - - - 15.61 -
27198.76 23.51 3.21 3040 27330.24 3.95 - - 3001.94 - 3.31 0.069 1146.44 -341.6 375.72 77.85 1.184 1357.03 -5.1 0.017 - - - - - - - 15.48 11.51
27366.97 16.84 5.40 3064 27385.51 roll back 4.11 - - 3001.12 - 2.86 0.026 2276.62 395.2 375.72 - - 1351.91 - - - - - - - - - 15.65 -
27571.78 5.70 6.78 3102 27592.36 4.19 - - 3000.38 - 3.34 0.069 1146.56 -338.3 375.72 - - 1349.09 - - - - - - - - - 15.61 -
27598 end climb: SURFACE_DEPTH_REACHED
27599 begin surface coast
27664 end surface coast: CONTROL_FINISHED_OK
27665 begin surface
SM 1.26 - - - - 180.9 41.42 1.126 1137.7 27.5 19.89 0.052 1136.6 57.1 - 2.75 0.022 1138.8 412.9 -2.417 - - 11.55 15.76 15.81 -