NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 540 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 186.73 of 506.00 AH used of 24V (63.10% remains)
• Surface angle -63.7 deg, depth 1.06 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.88 (SM_CC=430)
• GPS1 time: 18 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
11 end surface: CONTROL_FINISHED_OK
12 begin dive
19.15 - - - 119.17 VBD -1.18 - - 181.81 - - - 2298.94 - -77.86 70.47 0.005 2824.78 - - - - - - - - - - 14.81
121.38 3.01 -2.95 14 238.13 -1.18 17.57 0.218 2227.81 116.4 3.18 0.064 1142.62 -363.6 -77.86 5.66 0.008 3210.78 68.2 -4.420 - - - - - - 15.28 14.93 15.07
405.33 60.21 -12.31 53 423.58 roll -1.18 - - 2226.56 - 2.77 0.025 2279.06 410.3 -77.86 - - 3214.78 - - - - - - - - - 15.65 -
609.68 82.92 -10.29 91 629.15 roll -1.18 - - 2227.62 - 3.10 0.082 3352.62 346.3 -77.86 - - 3213.19 - - - - - - - - - 15.61 -
859.65 107.63 -9.20 138 877.91 roll -1.18 - - 2227.88 - 2.77 0.018 2188.38 -420.3 -77.86 - - 3215.41 - - - - - - - - - 15.64 -
1183.97 131.54 -6.84 170 1201.68 roll -1.18 - - 2227.25 - 2.88 0.067 1142.94 -363.0 -77.86 - - 3213.97 - - - - - - - - - 15.77 -
1368.09 145.12 -7.55 204 1385.78 roll -1.18 - - 2227.69 - 2.76 0.024 2280.31 412.1 -77.86 - - 3214.53 - - - - - - - - - 15.77 -
1691.83 169.46 -7.57 236 1710.33 roll -1.18 - - 2227.69 - 3.07 0.080 3353.50 349.6 -77.86 - - 3214.47 - - - - - - - - - 15.69 -
1806.75 179.20 -8.47 256 1824.06 roll -1.18 - - 2227.75 - 2.73 0.017 2190.25 -426.1 -77.86 - - 3215.59 - - - - - - - - - 15.82 -
2130.10 202.69 -6.61 288 2134.16 no move -1.18 - - 2227.19 - - - 2188.88 - -77.86 - - 3214.09 - - - - - - - - - - -
2440.35 224.39 -7.12 319 2458.68 roll -1.18 - - 2227.81 - 2.90 0.068 1144.62 -360.1 -77.86 - - 3213.12 - - - - - - - - - 15.76 -
2495.12 228.66 -7.62 327 2512.63 roll -1.18 - - 2226.44 - 2.73 0.024 2281.94 416.6 -77.86 - - 3216.12 - - - - - - - - - 15.92 -
2818.73 252.74 -7.13 359 2837.86 roll -1.18 - - 2227.69 - 3.14 0.064 1143.88 -362.4 -77.86 - - 3215.56 - - - - - - - - - 15.80 -
2898.34 258.97 -7.88 372 2916.81 roll -1.18 - - 2227.38 - 2.75 0.024 2280.31 413.2 -77.86 - - 3215.88 - - - - - - - - - 15.93 -
3222.90 284.05 -7.87 404 3241.63 roll -1.18 - - 2226.50 - 3.07 0.082 3351.94 349.1 -77.86 - - 3215.09 - - - - - - - - - 15.80 -
3288.08 289.83 -8.84 414 3305.99 roll -1.18 - - 2228.00 - 2.73 0.018 2187.25 -426.6 -77.86 - - 3214.72 - - - - - - - - - 15.95 -
3612.07 314.44 -7.95 446 3629.99 roll -1.18 - - 2228.12 - 2.88 0.069 1143.19 -362.5 -77.86 - - 3214.09 - - - - - - - - - 15.84 -
3660.47 318.58 -8.34 453 3679.18 roll -1.18 - - 2227.94 - 2.73 0.025 2280.94 416.8 -77.86 - - 3215.81 - - - - - - - - - 15.92 -
3985.37 343.26 -7.49 485 4004.50 roll -1.18 - - 2227.62 - 3.15 0.065 1143.31 -361.2 -77.86 - - 3215.66 - - - - - - - - - 15.83 -
4044.99 348.16 -8.06 494 4063.84 roll -1.18 - - 2226.88 - 2.73 0.025 2281.69 417.0 -77.86 - - 3215.50 - - - - - - - - - 15.94 -
4369.93 373.67 -7.98 526 4389.07 roll -1.18 - - 2227.06 - 3.15 0.065 1145.31 -360.8 -77.86 - - 3212.66 - - - - - - - - - 15.82 -
4419.55 378.05 -8.71 533 4438.02 roll -1.18 - - 2227.75 - 2.75 0.025 2280.62 412.8 -77.86 - - 3214.66 - - - - - - - - - 15.82 -
4744.11 403.92 -7.82 565 4763.24 roll -1.18 - - 2226.62 - 3.13 0.065 1145.25 -362.7 -77.86 - - 3213.31 - - - - - - - - - 15.80 -
4849.70 412.57 -8.03 583 4867.21 roll -1.18 - - 2227.19 - 2.75 0.025 2279.12 412.3 -77.86 - - 3215.59 - - - - - - - - - 15.84 -
5173.27 435.19 -6.75 615 5192.01 roll -1.18 - - 2227.38 - 3.10 0.085 3353.50 346.6 -77.86 - - 3212.56 - - - - - - - - - 15.80 -
5212.49 438.26 -7.78 620 5231.21 roll -1.18 - - 2227.88 - 2.73 0.019 2191.12 -425.8 -77.86 - - 3212.88 - - - - - - - - - 15.96 -
5537.38 459.27 -6.40 652 5541.44 no move -1.18 - - 2227.44 - - - 2189.44 - -77.86 - - 3211.84 - - - - - - - - - - -
5847.54 479.39 -6.51 683 5865.86 roll -1.18 - - 2226.19 - 2.94 0.071 1143.69 -355.7 -77.86 - - 3213.06 - - - - - - - - - 15.61 -
5902.31 483.22 -6.94 691 5919.83 roll -1.18 - - 2226.56 - 2.72 0.025 2279.00 417.4 -77.86 - - 3213.28 - - - - - - - - - 15.94 -
6225.92 503.54 -6.32 723 6244.65 roll -1.18 - - 2227.38 - 3.09 0.086 3352.94 347.6 -77.86 - - 3210.16 - - - - - - - - - 15.79 -
6291.09 508.19 -7.36 733 6308.99 roll -1.18 - - 2228.00 - 2.72 0.019 2190.69 -427.3 -77.86 - - 3211.19 - - - - - - - - - 15.97 -
6615.28 529.03 -6.61 765 6619.34 no move -1.18 - - 2227.38 - - - 2188.69 - -77.86 - - 3209.97 - - - - - - - - - - -
6925.40 550.81 -7.24 796 6929.47 no move -1.18 - - 2227.25 - - - 2188.19 - -77.86 - - 3210.47 - - - - - - - - - - -
7235.55 572.75 -6.91 827 7239.61 no move -1.18 - - 2227.31 - - - 2187.62 - -77.86 - - 3209.44 - - - - - - - - - - -
7545.71 594.97 -7.31 858 7549.77 no move -1.18 - - 2227.38 - - - 2187.81 - -77.86 - - 3209.53 - - - - - - - - - - -
7855.87 618.09 -7.62 889 7859.93 no move -1.18 - - 2228.25 - - - 2187.88 - -77.86 - - 3208.28 - - - - - - - - - - -
8166.02 641.40 -7.60 920 8170.08 no move -1.18 - - 2228.44 - - - 2189.31 - -77.86 - - 3208.59 - - - - - - - - - - -
8476.25 664.89 -7.58 951 8480.32 no move -1.18 - - 2227.25 - - - 2188.81 - -77.86 - - 3208.09 - - - - - - - - - - -
8786.38 686.49 -6.54 982 8807.73 roll -1.18 - - 2227.12 - 3.39 0.084 3353.75 343.6 -77.86 - - 3209.34 - - - - - - - - - 15.65 -
8909.19 695.39 -7.33 1003 8926.71 roll -1.18 - - 2227.81 - 2.77 0.020 2194.19 -418.6 -77.86 - - 3208.88 - - - - - - - - - 15.85 -
9232.80 714.59 -5.37 1035 9254.15 roll -1.18 - - 2226.31 - 3.36 0.083 3352.69 344.8 -77.86 - - 3209.38 - - - - - - - - - 15.75 -
9285.60 717.83 -5.63 1042 9303.12 roll -1.18 - - 2227.31 - 2.77 0.020 2193.06 -418.6 -77.86 - - 3208.44 - - - - - - - - - 15.96 -
9609.19 735.65 -5.65 1074 9627.51 roll -1.18 - - 2226.69 - 2.96 0.073 1143.31 -354.6 -77.86 - - 3206.97 - - - - - - - - - 15.78 -
9673.97 739.58 -5.97 1084 9691.87 roll -1.18 - - 2227.00 - 2.74 0.026 2279.38 414.6 -77.86 - - 3208.59 - - - - - - - - - 15.97 -
9997.96 757.46 -5.39 1116 10002.02 no move -1.18 - - 2227.06 - - - 2279.31 - -77.86 - - 3206.31 - - - - - - - - - - -
10308.33 776.44 -6.64 1147 10327.48 roll -1.18 - - 2227.62 - 3.17 0.068 1145.00 -357.8 -77.86 - - 3205.59 - - - - - - - - - 15.78 -
10424.06 784.46 -6.80 1167 10441.97 roll -1.18 - - 2228.12 - 2.77 0.026 2279.62 409.6 -77.86 - - 3207.12 - - - - - - - - - 15.95 -
10748.06 806.00 -6.54 1199 10767.20 roll -1.18 - - 2227.44 - 3.14 0.088 3352.12 341.6 -77.86 - - 3205.66 - - - - - - - - - 15.73 -
10827.70 811.91 -7.53 1212 10846.18 roll -1.18 - - 2227.94 - 2.79 0.020 2193.25 -415.4 -77.86 - - 3206.22 - - - - - - - - - 15.91 -
11152.38 832.75 -6.50 1244 11156.44 no move -1.18 - - 2226.88 - - - 2191.50 - -77.86 - - 3205.62 - - - - - - - - - - -
11462.54 853.41 -7.03 1275 11480.86 roll -1.18 - - 2226.44 - 2.99 0.072 1145.25 -349.9 -77.86 - - 3206.44 - - - - - - - - - 15.75 -
11551.34 859.76 -7.16 1290 11569.81 roll -1.18 - - 2227.62 - 2.76 0.026 2279.62 411.0 -77.86 - - 3205.88 - - - - - - - - - 15.92 -
11875.92 883.01 -7.26 1322 11895.06 roll -1.18 - - 2226.81 - 3.18 0.068 1144.19 -357.1 -77.86 - - 3206.69 - - - - - - - - - 15.70 -
11981.53 890.93 -7.27 1340 11999.29 roll -1.18 - - 2227.62 - 2.77 0.026 2277.50 409.1 -77.86 - - 3205.44 - - - - - - - - - 15.94 -
12305.50 912.26 -6.25 1372 12309.56 no move -1.18 - - 2226.69 - - - 2277.62 - -77.86 - - 3204.50 - - - - - - - - - - -
12615.66 930.81 -5.51 1403 12634.80 roll -1.18 - - 2227.56 - 3.19 0.068 1144.25 -355.3 -77.86 - - 3205.47 - - - - - - - - - 15.75 -
12665.28 933.82 -6.08 1410 12684.14 roll -1.18 - - 2226.62 - 2.78 0.026 2279.19 408.3 -77.86 - - 3206.78 - - - - - - - - - 15.94 -
12990.21 950.34 -5.12 1442 13009.34 roll -1.18 - - 2227.69 - 3.20 0.067 1145.38 -354.3 -77.86 - - 3206.56 - - - - - - - - - 15.75 -
13049.84 953.66 -5.16 1451 13068.70 roll -1.18 - - 2228.00 - 2.78 0.026 2277.38 407.2 -77.86 - - 3204.41 - - - - - - - - - 15.80 -
13374.81 969.58 -5.14 1483 13378.87 no move -1.18 - - 2226.88 - - - 2278.62 - -77.86 - - 3204.09 - - - - - - - - - - -
13685.38 984.26 -4.44 1514 13704.53 roll -1.18 - - 2226.62 - 3.18 0.068 1142.94 -357.1 -77.86 - - 3204.66 - - - - - - - - - 15.74 -
13795 end dive: TARGET_DEPTH_EXCEEDED
13795 begin apogee
13812.71 990.05 -5.45 1533 13919.23 -0.31 1.62 0.133 2440.69 132.1 0.12 0.178 2183.38 8670.3 - 66.08 2.370 2889.12 -4.8 0.344 - - - - - - 15.64 15.25 10.18
13932 end apogee: CONTROL_FINISHED_OK
13933 begin climb
13935.64 991.62 - 1540 14047.29 1.18 2.63 0.093 2805.75 138.8 - - 2183.06 - 77.86 67.61 2.343 2572.56 -4.7 0.341 - - - - - - 15.54 - 11.44
14354.89 969.10 5.96 1578 14360.40 1.31 0.18 0.092 2841.69 199.7 - - 2183.19 - 77.86 - - 2562.41 - - - - - - - - 15.70 - -
14667.00 948.43 6.70 1609 14671.06 VBD 1.39 - - 2842.38 - - - 2183.12 - 77.86 - - 2562.22 - - - - - - - - - - -
14977.54 928.39 6.46 1640 14983.07 1.48 0.22 0.082 2884.81 192.9 - - 2183.56 - 77.86 - - 2561.94 - - - - - - - - 15.81 - -
15289.53 906.90 6.91 1671 15307.87 done 1.55 - - 2885.00 - 2.94 0.075 1144.12 -353.6 77.86 - - 2560.75 - - - - - - - - - 15.77 -
15348.75 902.85 6.61 1680 15368.70 1.64 0.17 0.085 2924.75 233.8 2.80 0.029 2274.75 403.8 77.86 - - 2561.34 - - - - - - - - 15.69 15.89 -
15674.92 877.91 8.03 1712 15678.98 VBD 1.64 - - 2923.81 - - - 2275.19 - 77.86 - - 2561.09 - - - - - - - - - - -
15985.47 854.59 7.49 1743 16004.60 done 1.67 - - 2924.12 - 3.19 0.071 1145.00 -354.3 77.86 - - 2561.53 - - - - - - - - - 15.72 -
16091.05 846.02 8.39 1761 16108.99 done 1.67 - - 2925.50 - 2.80 0.030 2275.56 403.8 77.86 - - 2561.34 - - - - - - - - - 15.92 -
16415.48 821.28 7.44 1793 16434.62 done 1.71 - - 2925.00 - 3.18 0.093 3350.56 338.1 77.86 - - 2560.06 - - - - - - - - - 15.75 -
16475.10 816.45 7.96 1802 16493.58 done 1.71 - - 2924.81 - 2.77 0.021 2202.38 -414.5 77.86 - - 2560.72 - - - - - - - - - 15.94 -
16800.05 792.72 6.77 1834 16818.38 done 1.79 - - 2924.75 - 2.97 0.075 1145.25 -355.9 77.86 - - 2558.47 - - - - - - - - - 15.79 -
16859.28 788.56 6.80 1843 16879.79 1.86 0.27 0.071 2978.56 199.3 2.78 0.029 2276.62 407.0 77.86 - - 2560.66 - - - - - - - - 15.72 15.95 -
17185.87 761.13 8.85 1875 17205.66 done 1.86 - - 2978.75 - 3.20 0.071 1145.88 -353.4 77.86 - - 2559.22 - - - - - - - - - 15.71 -
17232.23 757.03 9.03 1881 17249.75 done 1.86 - - 2980.12 - 2.78 0.030 2273.31 405.6 77.86 - - 2560.50 - - - - - - - - - 15.93 -
17555.84 729.70 8.22 1913 17574.99 done 1.86 - - 2979.94 - 3.16 0.071 1143.62 -357.5 77.86 - - 2560.75 - - - - - - - - - 15.78 -
17601.44 725.95 8.61 1919 17618.96 done 1.86 - - 2980.19 - 2.79 0.030 2275.94 405.8 77.86 - - 2560.41 - - - - - - - - - 15.96 -
17925.04 697.57 8.43 1951 17929.11 VBD 1.86 - - 2980.06 - - - 2276.44 - 77.86 - - 2558.03 - - - - - - - - - - -
18235.18 672.58 7.95 1982 18239.24 VBD 1.86 - - 2979.44 - - - 2276.50 - 77.86 - - 2558.66 - - - - - - - - - - -
18545.69 649.49 7.41 2013 18549.76 VBD 1.90 - - 2980.38 - - - 2276.25 - 77.86 - - 2559.19 - - - - - - - - - - -
18856.26 628.94 6.56 2044 18875.40 done 1.99 - - 2979.69 - 3.17 0.092 3352.38 339.5 77.86 - - 2559.16 - - - - - - - - - 15.73 -
18935.89 622.68 8.23 2057 18954.76 done 1.99 - - 2979.81 - 2.76 0.022 2202.25 -416.7 77.86 - - 2558.66 - - - - - - - - - 15.96 -
19261.25 601.88 6.03 2089 19281.07 2.11 0.12 0.100 3013.69 282.3 2.95 0.075 1145.06 -358.4 77.86 - - 2558.91 - - - - - - - - 15.90 15.77 -
19382.10 593.39 7.09 2110 19401.01 2.17 - - 3013.81 - 2.77 0.030 2275.31 408.0 77.86 - - 2559.72 - - - - - - - - - 15.95 -
19707.48 570.80 6.90 2142 19711.55 2.24 - - 3013.38 - - - 2274.56 - 77.86 - - 2557.66 - - - - - - - - - - -
20018.06 548.52 7.07 2173 20037.21 2.29 - - 3013.19 - 3.17 0.091 3354.19 340.6 77.86 - - 2557.84 - - - - - - - - - 15.72 -
20177.73 534.97 8.32 2202 20196.23 2.29 - - 3014.12 - 2.75 0.021 2201.62 -419.1 77.86 - - 2558.69 - - - - - - - - - 15.96 -
20502.70 512.71 6.92 2234 20506.79 2.36 - - 3013.88 - - - 2199.94 - 77.86 - - 2557.94 - - - - - - - - - - -
20813.29 493.94 5.65 2265 20831.62 2.51 - - 3013.00 - 2.95 0.075 1145.25 -357.5 77.86 - - 2559.25 - - - - - - - - - 15.64 -
21062.53 480.14 5.72 2312 21081.02 2.65 - - 3013.56 - 2.77 0.030 2276.69 408.5 77.86 - - 2559.16 - - - - - - - - - 15.94 -
21387.60 464.37 4.90 2344 21484.71 2.78 - - 3013.12 - 3.19 0.094 3354.00 337.7 142.98 53.97 1.737 2306.19 -4.7 0.216 - - - - - - - 15.40 10.49
21526.38 453.13 10.75 2364 21543.92 roll back 2.78 - - 3013.88 - 2.79 0.021 2203.44 -412.4 142.98 - - 2302.19 - - - - - - - - - 15.62 -
21850.09 421.06 10.35 2396 21868.43 2.78 - - 3013.31 - 2.93 0.076 1144.62 -361.4 142.98 - - 2297.81 - - - - - - - - - 15.69 -
21898.93 415.62 11.03 2403 21917.43 2.78 - - 3013.75 - 2.78 0.030 2276.50 407.2 142.98 - - 2297.22 - - - - - - - - - 15.82 -
22223.53 380.90 10.51 2435 22242.69 2.78 - - 3012.44 - 3.14 0.092 3351.00 342.2 142.98 - - 2296.41 - - - - - - - - - 15.49 -
22329.14 368.16 12.10 2453 22346.67 2.78 - - 3013.50 - 2.76 0.022 2204.00 -415.6 142.98 - - 2296.28 - - - - - - - - - 15.85 -
22652.76 332.70 10.95 2485 22656.83 2.78 - - 3013.56 - - - 2202.50 - 142.98 - - 2295.03 - - - - - - - - - - -
22962.93 300.35 10.17 2516 22967.11 2.78 - - 3014.38 - - - 2201.81 - 142.98 - - 2294.41 - - - - - - - - - - -
23273.17 267.88 10.27 2547 23291.53 2.78 - - 3013.56 - 2.96 0.075 1145.19 -357.0 142.98 - - 2293.12 - - - - - - - - - 15.64 -
23348.10 259.94 10.67 2559 23365.63 2.78 - - 3012.62 - 2.78 0.029 2276.75 407.0 142.98 - - 2296.59 - - - - - - - - - 15.90 -
23671.73 228.70 9.90 2591 23675.81 2.78 - - 3013.81 - - - 2276.81 - 142.98 - - 2294.06 - - - - - - - - - - -
23981.91 199.44 8.99 2622 24001.07 2.78 - - 3013.62 - 3.14 0.090 3351.06 342.1 142.98 - - 2294.56 - - - - - - - - - 15.71 -
24047.54 193.12 9.76 2632 24065.06 2.78 - - 3013.62 - 2.77 0.021 2199.12 -415.9 142.98 - - 2294.38 - - - - - - - - - 15.82 -
24372.06 164.77 8.71 2664 24390.40 2.78 - - 3013.94 - 2.94 0.075 1145.19 -358.5 142.98 - - 2293.66 - - - - - - - - - 15.73 -
24577.32 148.16 7.46 2702 24595.25 2.81 - - 3013.44 - 2.77 0.029 2278.94 409.3 142.98 - - 2294.59 - - - - - - - - - 15.73 -
24901.72 126.48 6.56 2734 24921.12 2.90 - - 3013.50 - 3.13 0.089 3352.44 343.0 142.98 - - 2293.12 - - - - - - - - - 15.69 -
25028.11 117.45 7.21 2756 25045.64 2.95 - - 3014.38 - 2.75 0.021 2198.75 -419.5 142.98 - - 2293.62 - - - - - - - - - 15.84 -
25352.12 99.37 4.82 2789 25431.19 3.08 - - 3013.06 - - - 2196.75 - 209.66 53.11 1.257 2035.66 -4.9 0.066 - - - - - - - - 11.09
25617.28 79.52 7.78 2837 25636.60 3.08 - - 3013.75 - 2.94 0.073 1143.75 -358.2 209.66 - - 2027.84 - - - - - - - - - 15.65 -
25868.48 61.62 5.30 2884 25886.97 3.25 - - 3013.75 - 2.78 0.027 2279.19 408.4 209.66 - - 2024.44 - - - - - - - - - 15.65 -
26073.69 53.87 3.66 2922 26192.92 3.43 - - 3013.75 - 3.18 0.070 1145.25 -356.6 300.36 70.43 1.183 1664.06 -5.1 0.040 - - - - - - - 15.42 11.36
26200.14 46.15 7.82 2938 26219.04 roll back 3.43 - - 3014.25 - 2.83 0.026 2278.19 400.3 300.36 - - 1658.97 - - - - - - - - - 15.64 -
26405.61 31.76 7.25 2976 26412.85 3.48 - - 3014.50 - - - 2278.56 - 300.36 - - 1655.22 - - - - - - - - - - -
26599.34 17.56 6.79 3014 26619.45 3.55 - - 3014.00 - 3.19 0.068 1145.31 -355.3 300.36 - - 1653.28 - - - - - - - - - 15.57 -
26760.93 4.11 8.31 3043 26779.81 3.55 - - 3013.94 - 2.80 0.027 2276.88 404.1 300.36 - - 1652.31 - - - - - - - - - 15.59 -
26785 end climb: SURFACE_DEPTH_REACHED
26786 begin surface coast
26841 end surface coast: CONTROL_FINISHED_OK
26842 begin surface
SM 1.18 - - - - 182.0 100.50 1.112 1137.5 11.3 20.03 0.052 1119.1 55.9 - 0.12 0.089 1156.0 9610.0 -13.023 - - 11.14 15.76 15.84 -