NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 406 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 142.39 of 506.00 AH used of 24V (71.86% remains)
• Surface angle -63.6 deg, depth 1.11 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.03 (SM_CC=430)
• GPS1 time: 29 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
11 begin dive
18.99 - - - 111.74 VBD -1.18 - - 178.62 - - - 2199.44 - -77.86 65.12 0.005 2752.50 - - - - - - - - - - 15.02
113.96 3.07 -3.48 13 230.42 -1.18 17.19 0.215 2227.88 119.2 3.46 0.081 3352.88 333.4 -77.86 6.92 0.008 3210.75 66.2 -4.338 - - - - - - 15.34 15.08 15.22
361.72 56.01 -12.12 45 380.07 roll -1.18 - - 2228.50 - 2.88 0.018 2197.06 -401.3 -77.86 - - 3213.09 - - - - - - - - - 15.75 -
565.89 76.28 -9.07 83 585.05 roll -1.18 - - 2227.62 - 3.06 0.067 1146.00 -343.5 -77.86 - - 3213.31 - - - - - - - - - 15.62 -
591.21 78.60 -9.27 85 609.16 roll -1.18 - - 2227.62 - 2.80 0.024 2277.75 404.2 -77.86 - - 3214.12 - - - - - - - - - 15.73 -
794.98 97.04 -8.35 123 801.93 no move -1.18 - - 2228.00 - - - 2277.69 - -77.86 - - 3214.31 - - - - - - - - - - -
992.73 112.83 -7.93 146 1011.96 roll -1.18 - - 2227.62 - 3.25 0.062 1145.56 -348.3 -77.86 - - 3213.50 - - - - - - - - - 15.78 -
1128.16 124.93 -8.84 170 1145.79 roll -1.18 - - 2227.19 - 2.83 0.024 2278.94 400.5 -77.86 - - 3214.94 - - - - - - - - - 15.82 -
1451.60 150.20 -6.99 202 1470.83 roll -1.18 - - 2227.56 - 3.24 0.063 1145.88 -349.7 -77.86 - - 3215.44 - - - - - - - - - 15.72 -
1511.27 154.67 -7.59 211 1529.90 roll -1.18 - - 2227.12 - 2.81 0.024 2278.31 403.0 -77.86 - - 3214.44 - - - - - - - - - 15.86 -
1835.87 179.26 -8.22 243 1855.36 roll -1.18 - - 2227.25 - 3.24 0.062 1145.44 -349.7 -77.86 - - 3213.28 - - - - - - - - - 15.64 -
1981.61 191.47 -8.26 269 1999.46 roll -1.18 - - 2227.81 - 2.82 0.024 2277.38 401.4 -77.86 - - 3215.09 - - - - - - - - - 15.87 -
2305.28 215.11 -7.24 301 2309.34 no move -1.18 - - 2227.69 - - - 2276.25 - -77.86 - - 3214.19 - - - - - - - - - - -
2615.29 239.12 -8.03 332 2634.75 roll -1.18 - - 2227.69 - 3.24 0.063 1146.06 -348.8 -77.86 - - 3213.41 - - - - - - - - - 15.77 -
2655.24 242.63 -8.35 337 2673.83 roll -1.18 - - 2227.75 - 2.81 0.025 2278.12 402.9 -77.86 - - 3214.47 - - - - - - - - - 15.94 -
2979.68 269.18 -8.36 369 2983.74 no move -1.18 - - 2228.12 - - - 2277.62 - -77.86 - - 3212.88 - - - - - - - - - - -
3289.71 293.01 -7.46 400 3309.17 roll -1.18 - - 2225.69 - 3.26 0.064 1145.69 -347.2 -77.86 - - 3214.97 - - - - - - - - - 15.83 -
3349.66 297.57 -7.35 409 3368.62 roll -1.18 - - 2227.50 - 2.84 0.025 2277.81 398.6 -77.86 - - 3214.47 - - - - - - - - - 15.82 -
3674.68 320.80 -7.38 441 3694.41 roll -1.18 - - 2227.44 - 3.26 0.064 1145.81 -347.2 -77.86 - - 3212.69 - - - - - - - - - 15.85 -
3710.73 323.71 -7.96 445 3728.58 roll -1.18 - - 2227.69 - 2.81 0.025 2276.19 402.3 -77.86 - - 3213.03 - - - - - - - - - 15.93 -
4034.43 347.64 -7.31 477 4053.90 roll -1.18 - - 2227.50 - 3.25 0.064 1144.62 -348.2 -77.86 - - 3212.31 - - - - - - - - - 15.85 -
4124.39 354.84 -7.97 492 4143.36 roll -1.18 - - 2227.44 - 2.82 0.025 2276.25 401.3 -77.86 - - 3213.22 - - - - - - - - - 15.84 -
4449.19 378.54 -7.30 524 4468.66 roll -1.18 - - 2227.81 - 3.26 0.064 1145.94 -346.7 -77.86 - - 3211.53 - - - - - - - - - 15.85 -
4544.89 386.07 -7.92 540 4562.74 roll -1.18 - - 2227.38 - 2.82 0.025 2276.44 400.9 -77.86 - - 3213.03 - - - - - - - - - 15.95 -
4868.60 409.60 -7.24 572 4872.66 no move -1.18 - - 2227.88 - - - 2276.12 - -77.86 - - 3210.69 - - - - - - - - - - -
5178.64 430.52 -6.56 603 5198.50 roll -1.18 - - 2227.06 - 3.27 0.065 1144.81 -346.0 -77.86 - - 3210.50 - - - - - - - - - 15.84 -
5223.99 433.73 -6.72 609 5242.81 roll -1.18 - - 2227.56 - 2.84 0.025 2276.44 398.5 -77.86 - - 3211.66 - - - - - - - - - 15.85 -
5548.78 455.39 -6.76 641 5568.25 roll -1.18 - - 2225.19 - 3.26 0.065 1144.69 -347.2 -77.86 - - 3211.03 - - - - - - - - - 15.82 -
5624.47 461.18 -7.56 653 5642.31 roll -1.18 - - 2227.38 - 2.84 0.025 2276.38 398.5 -77.86 - - 3209.84 - - - - - - - - - 15.83 -
5948.17 484.12 -7.00 685 5952.23 no move -1.18 - - 2226.50 - - - 2276.62 - -77.86 - - 3209.28 - - - - - - - - - - -
6258.18 505.97 -7.19 716 6278.03 roll -1.18 - - 2227.06 - 3.28 0.065 1146.12 -344.7 -77.86 - - 3207.66 - - - - - - - - - 15.83 -
6303.52 509.52 -7.79 722 6322.09 roll -1.18 - - 2227.69 - 2.85 0.025 2276.38 396.6 -77.86 - - 3209.53 - - - - - - - - - 15.93 -
6627.94 533.04 -7.32 754 6647.42 roll -1.18 - - 2226.94 - 3.23 0.065 1145.19 -350.2 -77.86 - - 3209.38 - - - - - - - - - 15.82 -
6667.91 536.33 -7.68 759 6686.88 roll -1.18 - - 2227.75 - 2.83 0.025 2276.19 399.6 -77.86 - - 3208.38 - - - - - - - - - 15.97 -
6992.73 560.48 -7.14 791 7012.03 roll -1.18 - - 2227.31 - 3.18 0.066 1144.25 -356.0 -77.86 - - 3206.66 - - - - - - - - - 15.83 -
7058.37 565.55 -7.81 801 7076.61 roll -1.18 - - 2227.44 - 2.84 0.026 2277.25 398.9 -77.86 - - 3209.38 - - - - - - - - - 15.99 -
7382.46 588.46 -6.89 833 7386.52 no move -1.18 - - 2227.88 - - - 2277.25 - -77.86 - - 3207.16 - - - - - - - - - - -
7692.51 609.19 -6.50 864 7711.99 roll -1.18 - - 2227.62 - 3.24 0.066 1144.38 -349.7 -77.86 - - 3207.00 - - - - - - - - - 15.82 -
7728.21 611.62 -6.89 868 7746.05 roll -1.18 - - 2224.69 - 2.86 0.025 2276.31 395.8 -77.86 - - 3208.34 - - - - - - - - - 15.89 -
8051.90 632.48 -6.59 900 8055.96 no move -1.18 - - 2227.44 - - - 2276.31 - -77.86 - - 3206.41 - - - - - - - - - - -
8361.94 653.72 -6.91 931 8366.00 no move -1.18 - - 2227.00 - - - 2276.75 - -77.86 - - 3206.38 - - - - - - - - - - -
8671.99 674.86 -6.61 962 8692.86 roll -1.18 - - 2227.06 - 3.27 0.067 1145.44 -346.0 -77.86 - - 3205.53 - - - - - - - - - 15.81 -
8738.34 679.59 -7.12 972 8757.33 roll -1.18 - - 2227.94 - 2.84 0.026 2275.06 397.8 -77.86 - - 3206.84 - - - - - - - - - 15.99 -
9063.17 701.26 -6.61 1004 9067.24 no move -1.18 - - 2227.25 - - - 2275.06 - -77.86 - - 3205.34 - - - - - - - - - - -
9373.19 721.07 -6.07 1035 9377.25 no move -1.18 - - 2228.00 - - - 2274.94 - -77.86 - - 3205.50 - - - - - - - - - - -
9683.20 739.57 -5.98 1066 9704.49 roll -1.18 - - 2227.38 - 3.31 0.067 1145.62 -341.2 -77.86 - - 3204.56 - - - - - - - - - 15.79 -
9780.11 745.93 -6.49 1082 9798.70 roll -1.18 - - 2227.44 - 2.85 0.026 2275.31 396.4 -77.86 - - 3206.09 - - - - - - - - - 15.98 -
10104.55 765.95 -6.22 1114 10108.61 no move -1.18 - - 2227.50 - - - 2274.75 - -77.86 - - 3204.38 - - - - - - - - - - -
10414.59 785.53 -6.19 1145 10418.65 no move -1.18 - - 2227.38 - - - 2275.56 - -77.86 - - 3204.00 - - - - - - - - - - -
10724.63 805.27 -6.27 1176 10745.90 roll -1.18 - - 2227.12 - 3.31 0.067 1145.94 -341.3 -77.86 - - 3203.41 - - - - - - - - - 15.76 -
10827.12 812.39 -6.93 1193 10844.99 roll -1.18 - - 2227.31 - 2.86 0.027 2273.88 394.4 -77.86 - - 3203.38 - - - - - - - - - 15.97 -
11150.85 832.35 -6.24 1225 11154.91 no move -1.18 - - 2227.25 - - - 2274.12 - -77.86 - - 3202.69 - - - - - - - - - - -
11460.89 851.16 -6.02 1256 11482.17 roll -1.18 - - 2227.44 - 3.31 0.068 1145.56 -341.0 -77.86 - - 3201.72 - - - - - - - - - 15.65 -
11557.68 857.69 -6.51 1272 11576.50 roll -1.18 - - 2227.44 - 2.87 0.027 2273.81 393.1 -77.86 - - 3203.47 - - - - - - - - - 15.97 -
11882.46 878.43 -6.44 1304 11903.77 roll -1.18 - - 2225.31 - 3.31 0.068 1145.69 -340.8 -77.86 - - 3203.94 - - - - - - - - - 15.72 -
11924.99 881.42 -6.62 1309 11942.83 roll -1.18 - - 2227.06 - 2.87 0.026 2274.25 393.2 -77.86 - - 3202.00 - - - - - - - - - 15.95 -
12248.68 902.30 -6.57 1341 12252.74 no move -1.18 - - 2227.12 - - - 2274.50 - -77.86 - - 3202.50 - - - - - - - - - - -
12558.73 920.87 -5.92 1372 12579.60 roll -1.18 - - 2227.44 - 3.29 0.068 1145.88 -343.0 -77.86 - - 3201.25 - - - - - - - - - 15.75 -
12605.08 923.70 -6.01 1378 12624.06 roll -1.18 - - 2227.56 - 2.88 0.027 2273.62 391.6 -77.86 - - 3203.53 - - - - - - - - - 15.94 -
12929.93 942.01 -5.84 1410 12950.81 roll -1.18 - - 2227.75 - 3.30 0.068 1145.44 -341.9 -77.86 - - 3202.12 - - - - - - - - - 15.75 -
12986.30 945.44 -5.80 1418 13004.89 roll -1.18 - - 2227.25 - 2.87 0.027 2274.50 393.4 -77.86 - - 3203.44 - - - - - - - - - 15.94 -
13310.75 963.11 -5.38 1450 13314.81 no move -1.18 - - 2227.69 - - - 2274.19 - -77.86 - - 3201.69 - - - - - - - - - - -
13621.19 978.65 -4.91 1481 13642.50 roll -1.18 - - 2227.25 - 3.31 0.068 1146.75 -340.6 -77.86 - - 3200.66 - - - - - - - - - 15.60 -
13703.84 982.98 -5.18 1494 13721.69 roll -1.18 - - 2226.50 - 2.86 0.027 2274.12 394.2 -77.86 - - 3202.03 - - - - - - - - - 15.94 -
13847 end dive: TARGET_DEPTH_EXCEEDED
13847 begin apogee
13852.16 990.53 -5.31 1508 13955.94 -0.31 1.60 0.131 2438.62 132.6 0.19 0.147 2280.50 33.6 - 64.43 2.417 2890.09 -4.8 0.339 - - - - - - 15.65 15.36 10.11
13969 end apogee: CONTROL_FINISHED_OK
13969 begin climb
13972.17 991.99 - 1515 14101.36 1.18 2.59 0.091 2805.56 141.7 3.43 0.073 1145.88 -330.8 77.86 66.53 2.393 2572.53 -4.8 0.338 - - - - - - 15.56 15.16 11.58
14108.73 986.08 5.77 1529 14128.22 roll back 1.32 0.19 0.085 2844.94 207.3 2.97 0.029 2273.69 379.7 77.86 - - 2567.97 - - - - - - - - 15.40 15.51 -
14434.58 964.00 7.15 1561 14455.87 done 1.37 - - 2848.00 - 3.35 0.095 3349.62 321.2 77.86 - - 2564.47 - - - - - - - - - 15.68 -
14531.47 956.88 7.65 1577 14550.04 done 1.37 - - 2848.00 - 2.88 0.022 2204.12 -397.7 77.86 - - 2564.09 - - - - - - - - - 15.80 -
14856.30 936.02 6.35 1609 14860.36 VBD 1.47 - - 2848.19 - - - 2202.88 - 77.86 - - 2561.00 - - - - - - - - - - -
15166.58 916.61 6.40 1640 15172.44 1.57 0.32 0.064 2908.00 186.9 - - 2203.00 - 77.86 - - 2562.16 - - - - - - - - 15.83 - -
15478.26 892.75 7.66 1671 15500.35 done 1.57 - - 2912.12 - 3.51 0.091 3350.31 326.9 77.86 - - 2559.72 - - - - - - - - - 15.63 -
15531.57 888.50 9.05 1678 15549.42 done 1.57 - - 2911.38 - 2.86 0.022 2204.94 -400.5 77.86 - - 2560.31 - - - - - - - - - 15.93 -
15855.23 862.72 8.05 1710 15859.29 VBD 1.57 - - 2911.19 - - - 2204.75 - 77.86 - - 2559.97 - - - - - - - - - - -
16165.25 837.72 7.94 1741 16169.30 VBD 1.57 - - 2911.88 - - - 2204.12 - 77.86 - - 2559.22 - - - - - - - - - - -
16475.25 813.41 7.92 1772 16494.33 done 1.57 - - 2912.06 - 3.12 0.076 1146.88 -338.9 77.86 - - 2560.72 - - - - - - - - - 15.80 -
16594.84 803.89 7.76 1793 16613.42 done 1.57 - - 2911.62 - 2.86 0.031 2273.25 393.8 77.86 - - 2560.56 - - - - - - - - - 15.95 -
16919.38 779.47 7.85 1825 16923.45 VBD 1.57 - - 2911.56 - - - 2273.19 - 77.86 - - 2558.91 - - - - - - - - - - -
17229.83 757.94 6.69 1856 17234.29 VBD 1.66 - - 2912.00 - - - 2273.25 - 77.86 - - 2557.97 - - - - - - - - - - -
17540.54 737.25 6.62 1887 17563.07 1.74 0.16 0.085 2950.38 239.9 3.31 0.072 1146.44 -340.4 77.86 - - 2558.44 - - - - - - - - 15.90 15.79 -
17594.28 733.14 8.01 1894 17612.14 done 1.74 - - 2950.19 - 2.88 0.030 2274.50 391.7 77.86 - - 2559.06 - - - - - - - - - 15.96 -
17918.00 708.33 7.63 1926 17922.06 VBD 1.74 - - 2950.38 - - - 2274.62 - 77.86 - - 2558.94 - - - - - - - - - - -
18228.45 684.70 7.51 1957 18232.51 VBD 1.77 - - 2949.75 - - - 2273.94 - 77.86 - - 2557.81 - - - - - - - - - - -
18538.73 661.97 7.33 1988 18559.59 done 1.82 - - 2949.62 - 3.30 0.071 1148.00 -341.2 77.86 - - 2559.66 - - - - - - - - - 15.58 -
18675.11 651.17 7.91 2012 18694.10 done 1.82 - - 2950.12 - 2.88 0.030 2272.56 390.5 77.86 - - 2559.19 - - - - - - - - - 15.96 -
18999.96 627.28 7.85 2044 19021.24 done 1.82 - - 2950.31 - 3.31 0.070 1145.56 -340.5 77.86 - - 2557.81 - - - - - - - - - 15.77 -
19102.59 618.85 8.40 2061 19120.45 done 1.82 - - 2949.50 - 2.89 0.030 2272.62 390.0 77.86 - - 2556.47 - - - - - - - - - 15.94 -
19426.27 593.24 8.14 2093 19430.35 VBD 1.82 - - 2950.31 - - - 2272.06 - 77.86 - - 2557.44 - - - - - - - - - - -
19736.70 569.35 7.43 2124 19757.98 done 1.85 - - 2950.06 - 3.31 0.070 1145.75 -340.3 77.86 - - 2556.19 - - - - - - - - - 15.78 -
19819.20 563.07 7.70 2137 19837.06 done 1.85 - - 2950.25 - 2.88 0.029 2272.06 391.1 77.86 - - 2557.25 - - - - - - - - - 15.94 -
20143.32 539.28 7.30 2169 20148.38 1.90 0.16 0.086 2990.06 248.8 - - 2272.69 - 77.86 - - 2558.00 - - - - - - - - 15.90 - -
20454.61 517.15 6.72 2200 20458.69 VBD 1.98 - - 2988.44 - - - 2272.81 - 77.86 - - 2557.34 - - - - - - - - - - -
20764.96 496.56 6.52 2231 20769.61 2.07 0.06 0.159 3013.25 413.5 - - 2272.44 - 77.86 - - 2557.94 - - - - - - - - 15.89 - -
21075.87 475.22 7.01 2262 21079.93 VBD 2.13 - - 3015.75 - - - 2272.81 - 77.86 - - 2557.09 - - - - - - - - - - -
21386.43 453.49 7.09 2293 21407.74 2.19 - - 3014.50 - 3.32 0.069 1145.75 -339.5 77.86 - - 2556.47 - - - - - - - - - 15.74 -
21519.09 443.63 7.65 2316 21536.98 2.19 - - 3015.88 - 2.89 0.029 2273.81 390.3 77.86 - - 2557.84 - - - - - - - - - 15.81 -
21843.35 420.38 7.22 2348 21864.64 2.24 - - 3015.12 - 3.32 0.068 1145.19 -339.9 77.86 - - 2558.25 - - - - - - - - - 15.74 -
22096.33 402.18 6.61 2395 22114.20 2.33 - - 3013.31 - 2.88 0.029 2273.38 391.7 77.86 - - 2558.62 - - - - - - - - - 15.93 -
22420.46 383.15 5.37 2427 22441.77 2.49 - - 3015.62 - 3.32 0.091 3350.81 324.5 77.86 - - 2557.22 - - - - - - - - - 15.62 -
22567.68 375.08 5.38 2453 22586.28 2.65 - - 3016.12 - 2.86 0.020 2201.75 -401.8 77.86 - - 2558.34 - - - - - - - - - 15.94 -
22892.52 360.32 4.18 2485 23004.04 2.81 - - 3015.81 - 3.14 0.075 1147.06 -335.9 157.77 64.28 1.646 2245.53 -4.9 0.182 - - - - - - - 15.51 10.68
23099.67 341.02 12.62 2518 23118.68 roll back 2.81 - - 3015.69 - 2.91 0.030 2273.06 386.9 157.77 - - 2239.03 - - - - - - - - - 15.61 -
23424.65 304.04 11.17 2550 23445.55 2.81 - - 3015.00 - 3.29 0.092 3348.94 327.0 157.77 - - 2234.69 - - - - - - - - - 15.67 -
23476.76 297.61 11.95 2557 23494.72 2.81 - - 3015.44 - 2.86 0.021 2204.25 -400.2 157.77 - - 2236.88 - - - - - - - - - 15.84 -
23800.57 261.31 10.84 2589 23819.67 2.81 - - 3013.75 - 3.13 0.073 1146.31 -338.0 157.77 - - 2234.88 - - - - - - - - - 15.70 -
23955.93 243.35 11.97 2617 23973.79 2.81 - - 3015.12 - 2.87 0.030 2273.69 392.8 157.77 - - 2234.31 - - - - - - - - - 15.89 -
24279.65 207.29 10.46 2649 24283.73 2.81 - - 3016.06 - - - 2273.75 - 157.77 - - 2232.94 - - - - - - - - - - -
24589.70 176.16 9.72 2680 24593.77 2.81 - - 3016.31 - - - 2273.81 - 157.77 - - 2232.62 - - - - - - - - - - -
24899.75 144.24 10.43 2711 24903.82 2.81 - - 3015.62 - - - 2273.50 - 157.77 - - 2232.09 - - - - - - - - - - -
25209.79 114.80 8.04 2742 25230.68 2.81 - - 3015.00 - 3.28 0.089 3349.62 328.1 157.77 - - 2233.19 - - - - - - - - - 15.52 -
25291.91 107.67 8.96 2755 25309.78 2.81 - - 3015.81 - 2.87 0.020 2202.19 -399.8 157.77 - - 2233.34 - - - - - - - - - 15.64 -
25616.07 79.07 7.21 2810 25637.10 2.86 - - 3016.31 - 3.48 0.084 3351.19 330.2 157.77 - - 2232.56 - - - - - - - - - 15.60 -
25753.95 72.20 4.65 2834 25849.92 3.00 - - 3016.19 - 2.86 0.020 2198.06 -403.2 228.04 54.29 1.246 1959.66 -5.0 0.050 - - - - - - - 15.78 11.35
26036.18 53.98 5.99 2883 26042.82 3.12 - - 3015.69 - - - 2197.94 - 228.04 - - 1952.06 - - - - - - - - - - -
26229.07 42.66 6.10 2921 26250.35 3.24 - - 3015.94 - 3.49 0.083 3352.31 330.8 228.04 - - 1950.12 - - - - - - - - - 15.53 -
26367.10 34.02 6.21 2945 26385.69 3.35 - - 3015.50 - 2.89 0.020 2200.81 -398.4 228.04 - - 1950.19 - - - - - - - - - 15.62 -
26571.96 27.55 2.52 2983 26718.22 3.58 - - 3016.12 - 3.17 0.074 1146.88 -332.5 342.25 88.33 1.173 1492.72 -5.2 0.021 - - - - - - - 15.45 11.54
26819.85 14.47 7.15 3022 26838.44 3.63 - - 3016.50 - 2.88 0.027 2274.88 391.7 342.25 - - 1485.56 - - - - - - - - - 15.62 -
26964 end climb: SURFACE_DEPTH_REACHED
26964 begin surface coast
27025 end surface coast: CONTROL_FINISHED_OK
27025 begin surface
SM 1.11 - - - - 180.5 67.42 1.117 1136.9 16.9 19.79 0.048 1125.2 56.9 - 0.12 0.083 1148.6 9547.7 -13.050 - - 11.35 15.73 15.80 -