NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 434 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 152.18 of 506.00 AH used of 24V (69.92% remains)
• Surface angle -64.1 deg, depth 1.14 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.87 (SM_CC=430)
• GPS1 time: 20 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
19.04 - - - 118.75 VBD -1.18 - - 180.62 - - - 2289.31 - -77.86 70.18 0.005 2893.28 - - - - - - - - - - 14.98
120.97 3.68 -4.07 14 234.59 -1.18 17.30 0.216 2228.19 118.4 3.17 0.084 3351.38 335.0 -77.86 4.36 0.010 3211.25 72.9 -4.588 - - - - - - 15.34 15.06 15.18
241.47 43.94 -20.95 21 260.22 roll -1.18 - - 2227.69 - 2.83 0.019 2199.75 -406.9 -77.86 - - 3213.78 - - - - - - - - - 15.74 -
446.03 71.67 -11.33 59 452.57 no move -1.18 - - 2227.69 - - - 2198.25 - -77.86 - - 3213.09 - - - - - - - - - - -
638.39 90.44 -8.62 97 657.94 roll -1.18 - - 2227.81 - 3.08 0.069 1144.31 -342.2 -77.86 - - 3214.12 - - - - - - - - - 15.68 -
719.11 97.58 -8.76 110 737.49 roll -1.18 - - 2227.19 - 2.83 0.025 2278.62 400.8 -77.86 - - 3215.16 - - - - - - - - - 15.65 -
928.28 114.20 -7.99 131 932.30 no move -1.18 - - 2227.50 - - - 2278.12 - -77.86 - - 3213.91 - - - - - - - - - - -
1238.32 138.48 -8.53 162 1242.34 no move -1.18 - - 2227.69 - - - 2278.81 - -77.86 - - 3214.44 - - - - - - - - - - -
1548.37 165.01 -8.59 193 1552.39 no move -1.18 - - 2227.06 - - - 2279.00 - -77.86 - - 3214.62 - - - - - - - - - - -
1858.40 191.30 -8.29 224 1879.03 roll -1.18 - - 2226.19 - 3.27 0.064 1145.38 -346.7 -77.86 - - 3216.56 - - - - - - - - - 15.73 -
1970.20 201.25 -9.22 243 1987.85 roll -1.18 - - 2227.88 - 2.82 0.025 2277.12 401.3 -77.86 - - 3215.59 - - - - - - - - - 15.80 -
2293.66 228.83 -8.47 275 2313.27 roll -1.18 - - 2227.69 - 3.22 0.064 1146.19 -351.2 -77.86 - - 3215.88 - - - - - - - - - 15.84 -
2333.86 232.32 -8.62 280 2352.42 roll -1.18 - - 2227.81 - 2.80 0.024 2277.88 404.2 -77.86 - - 3217.28 - - - - - - - - - 15.94 -
2658.28 257.57 -7.46 312 2677.78 roll -1.18 - - 2227.31 - 3.22 0.064 1145.38 -351.7 -77.86 - - 3214.09 - - - - - - - - - 15.83 -
2728.27 263.40 -8.35 323 2746.85 roll -1.18 - - 2227.69 - 2.81 0.024 2279.00 403.4 -77.86 - - 3215.31 - - - - - - - - - 15.96 -
3052.70 288.87 -7.80 355 3071.77 roll -1.18 - - 2227.50 - 3.17 0.082 3353.00 338.8 -77.86 - - 3215.94 - - - - - - - - - 15.83 -
3192.28 301.40 -9.15 380 3210.85 roll -1.18 - - 2227.94 - 2.78 0.019 2192.25 -417.5 -77.86 - - 3215.22 - - - - - - - - - 15.96 -
3516.71 329.40 -8.90 412 3535.40 roll -1.18 - - 2226.88 - 3.01 0.069 1146.94 -347.3 -77.86 - - 3214.66 - - - - - - - - - 15.65 -
3571.60 334.37 -9.10 420 3589.44 roll -1.18 - - 2227.56 - 2.78 0.024 2279.31 407.3 -77.86 - - 3215.47 - - - - - - - - - 15.97 -
3895.29 360.20 -7.72 452 3899.35 no move -1.18 - - 2227.50 - - - 2279.56 - -77.86 - - 3214.28 - - - - - - - - - - -
4205.36 382.86 -6.92 483 4224.85 roll -1.18 - - 2227.62 - 3.22 0.065 1145.69 -352.1 -77.86 - - 3214.44 - - - - - - - - - 15.85 -
4311.18 390.66 -7.40 501 4329.44 roll -1.18 - - 2227.44 - 2.81 0.025 2277.62 402.8 -77.86 - - 3215.28 - - - - - - - - - 15.98 -
4635.30 413.51 -7.04 533 4654.78 roll -1.18 - - 2228.44 - 3.22 0.065 1145.50 -351.6 -77.86 - - 3214.19 - - - - - - - - - 15.85 -
4720.99 420.34 -7.86 547 4738.86 roll -1.18 - - 2227.69 - 2.82 0.025 2277.69 401.5 -77.86 - - 3215.31 - - - - - - - - - 15.95 -
5044.71 446.51 -8.33 579 5048.77 no move -1.18 - - 2228.06 - - - 2277.62 - -77.86 - - 3213.22 - - - - - - - - - - -
5354.77 472.02 -8.15 610 5374.23 roll -1.18 - - 2228.00 - 3.20 0.085 3351.88 335.7 -77.86 - - 3213.69 - - - - - - - - - 15.83 -
5420.43 478.05 -9.24 620 5437.88 roll -1.18 - - 2227.62 - 2.79 0.019 2194.00 -415.0 -77.86 - - 3214.81 - - - - - - - - - 15.96 -
5743.72 503.75 -7.89 652 5747.78 no move -1.18 - - 2227.19 - - - 2192.62 - -77.86 - - 3212.28 - - - - - - - - - - -
6053.79 527.42 -7.21 683 6058.24 no move -1.18 - - 2227.06 - - - 2193.00 - -77.86 - - 3212.53 - - - - - - - - - - -
6364.08 547.66 -6.28 714 6385.78 roll -1.18 - - 2227.19 - 3.44 0.081 3351.44 336.8 -77.86 - - 3212.50 - - - - - - - - - 15.80 -
6441.38 553.34 -7.14 726 6459.56 roll -1.18 - - 2227.81 - 2.79 0.019 2195.00 -414.5 -77.86 - - 3212.22 - - - - - - - - - 15.98 -
6765.39 573.51 -6.10 758 6784.06 roll -1.18 - - 2227.25 - 3.03 0.071 1146.50 -346.0 -77.86 - - 3213.22 - - - - - - - - - 15.84 -
6824.55 577.64 -6.70 767 6842.94 roll -1.18 - - 2227.44 - 2.80 0.026 2278.50 404.3 -77.86 - - 3211.72 - - - - - - - - - 15.97 -
7148.78 599.80 -7.16 799 7152.84 no move -1.18 - - 2227.19 - - - 2278.19 - -77.86 - - 3210.41 - - - - - - - - - - -
7458.85 621.98 -6.97 830 7478.35 roll -1.18 - - 2227.06 - 3.24 0.067 1146.44 -349.3 -77.86 - - 3210.69 - - - - - - - - - 15.82 -
7554.56 629.51 -8.01 846 7572.41 roll -1.18 - - 2227.62 - 2.82 0.026 2278.19 401.3 -77.86 - - 3211.56 - - - - - - - - - 15.99 -
7878.48 652.90 -7.37 878 7897.97 roll -1.18 - - 2228.12 - 3.24 0.067 1145.44 -349.6 -77.86 - - 3210.06 - - - - - - - - - 15.81 -
7978.52 660.81 -7.61 895 7997.12 roll -1.18 - - 2227.56 - 2.82 0.026 2276.69 401.2 -77.86 - - 3209.53 - - - - - - - - - 15.97 -
8303.09 683.71 -7.16 927 8307.15 no move -1.18 - - 2226.88 - - - 2277.62 - -77.86 - - 3208.94 - - - - - - - - - - -
8613.14 703.90 -6.27 958 8617.20 no move -1.18 - - 2227.44 - - - 2277.62 - -77.86 - - 3208.09 - - - - - - - - - - -
8923.20 723.76 -6.24 989 8942.70 roll -1.18 - - 2227.00 - 3.24 0.068 1145.56 -349.4 -77.86 - - 3209.16 - - - - - - - - - 15.79 -
8998.91 729.06 -6.86 1001 9016.79 roll -1.18 - - 2226.38 - 2.83 0.026 2275.94 399.4 -77.86 - - 3210.22 - - - - - - - - - 15.97 -
9322.65 748.71 -5.87 1033 9326.71 no move -1.18 - - 2227.44 - - - 2276.69 - -77.86 - - 3207.75 - - - - - - - - - - -
9632.71 766.76 -5.64 1064 9652.19 roll -1.18 - - 2227.38 - 3.24 0.068 1145.94 -349.0 -77.86 - - 3207.84 - - - - - - - - - 15.80 -
9708.39 771.30 -5.95 1076 9726.25 roll -1.18 - - 2227.25 - 2.82 0.026 2276.06 400.8 -77.86 - - 3207.44 - - - - - - - - - 15.99 -
10032.11 790.01 -5.76 1108 10051.58 roll -1.18 - - 2227.62 - 3.23 0.087 3352.25 333.2 -77.86 - - 3207.53 - - - - - - - - - 15.76 -
10152.08 798.44 -6.88 1129 10170.26 roll -1.18 - - 2227.88 - 2.79 0.020 2193.44 -415.3 -77.86 - - 3208.38 - - - - - - - - - 15.99 -
10476.23 818.98 -6.35 1161 10480.29 no move -1.18 - - 2227.62 - - - 2192.00 - -77.86 - - 3206.25 - - - - - - - - - - -
10786.29 836.95 -5.58 1192 10804.99 roll -1.18 - - 2227.62 - 3.03 0.072 1145.75 -345.3 -77.86 - - 3205.34 - - - - - - - - - 15.79 -
10886.21 843.06 -6.19 1209 10904.40 roll -1.18 - - 2227.69 - 2.80 0.026 2278.50 404.6 -77.86 - - 3206.09 - - - - - - - - - 15.96 -
11210.37 863.16 -6.34 1241 11229.85 roll -1.18 - - 2227.62 - 3.23 0.068 1146.00 -350.6 -77.86 - - 3208.16 - - - - - - - - - 15.78 -
11286.07 868.18 -6.60 1253 11303.93 roll -1.18 - - 2227.00 - 2.82 0.026 2276.75 401.0 -77.86 - - 3206.44 - - - - - - - - - 15.94 -
11609.78 889.58 -6.45 1285 11629.29 roll -1.18 - - 2227.06 - 3.26 0.068 1145.25 -347.1 -77.86 - - 3204.53 - - - - - - - - - 15.78 -
11725.50 897.43 -6.77 1305 11743.76 roll -1.18 - - 2227.69 - 2.83 0.027 2276.44 399.7 -77.86 - - 3206.47 - - - - - - - - - 15.96 -
12049.61 916.91 -5.61 1337 12053.67 no move -1.18 - - 2227.31 - - - 2277.25 - -77.86 - - 3204.56 - - - - - - - - - - -
12359.68 934.25 -5.31 1368 12379.17 roll -1.18 - - 2227.00 - 3.27 0.068 1144.56 -346.4 -77.86 - - 3206.84 - - - - - - - - - 15.76 -
12409.64 937.08 -5.55 1375 12428.24 roll -1.18 - - 2226.94 - 2.82 0.026 2276.56 401.4 -77.86 - - 3205.81 - - - - - - - - - 15.97 -
12734.10 953.76 -5.29 1407 12738.17 no move -1.18 - - 2227.12 - - - 2276.00 - -77.86 - - 3203.91 - - - - - - - - - - -
13044.16 970.70 -5.62 1438 13063.66 roll -1.18 - - 2227.38 - 3.27 0.068 1144.38 -346.1 -77.86 - - 3203.41 - - - - - - - - - 15.76 -
13169.89 977.84 -5.89 1460 13187.75 roll -1.18 - - 2227.62 - 2.83 0.027 2275.81 399.8 -77.86 - - 3205.00 - - - - - - - - - 15.97 -
13403 end dive: TARGET_DEPTH_EXCEEDED
13403 begin apogee
13408.47 990.25 -5.26 1483 13513.65 -0.31 1.59 0.130 2440.88 134.1 0.19 0.140 2282.75 36.5 - 65.31 2.396 2890.12 -4.8 0.341 - - - - - - 15.67 15.34 10.25
13526 end apogee: CONTROL_FINISHED_OK
13527 begin climb
13529.91 991.56 - 1490 13641.17 1.18 2.60 0.091 2805.94 140.4 - - 2282.81 - 77.86 67.08 2.372 2570.53 -4.8 0.340 - - - - - - 15.57 - 11.56
13947.58 968.36 6.43 1528 13951.68 VBD 1.28 - - 2805.50 - - - 2282.31 - 77.86 - - 2563.06 - - - - - - - - - - -
14258.08 948.88 6.13 1559 14264.03 1.39 0.31 0.071 2866.12 195.5 - - 2282.69 - 77.86 - - 2563.12 - - - - - - - - 15.78 - -
14570.32 925.88 7.05 1590 14574.42 VBD 1.45 - - 2865.62 - - - 2282.62 - 77.86 - - 2561.25 - - - - - - - - - - -
14880.71 905.42 6.59 1621 14900.45 done 1.54 - - 2865.75 - 3.27 0.094 3350.81 326.7 77.86 - - 2560.53 - - - - - - - - - 15.76 -
14937.12 901.33 7.03 1629 14956.86 1.60 0.25 0.072 2916.94 204.8 2.81 0.022 2203.06 -408.5 77.86 - - 2561.69 - - - - - - - - 15.74 15.93 -
15263.15 878.62 6.79 1661 15282.04 done 1.68 - - 2916.94 - 3.08 0.076 1145.50 -343.4 77.86 - - 2560.28 - - - - - - - - - 15.80 -
15368.71 870.87 7.43 1679 15386.80 done 1.72 - - 2917.00 - 2.84 0.030 2274.25 397.4 77.86 - - 2561.28 - - - - - - - - - 15.94 -
15692.68 847.06 7.75 1711 15712.42 done 1.72 - - 2916.88 - 3.28 0.071 1147.31 -343.6 77.86 - - 2558.72 - - - - - - - - - 15.81 -
15868.82 832.77 8.65 1743 15886.90 done 1.72 - - 2916.44 - 2.86 0.031 2273.31 393.7 77.86 - - 2559.44 - - - - - - - - - 15.95 -
16192.77 807.44 7.85 1775 16196.88 VBD 1.72 - - 2916.69 - - - 2273.88 - 77.86 - - 2559.03 - - - - - - - - - - -
16502.83 783.22 7.77 1806 16522.55 done 1.72 - - 2916.38 - 3.28 0.093 3351.00 328.4 77.86 - - 2561.72 - - - - - - - - - 15.76 -
16643.10 771.24 9.14 1831 16661.90 done 1.72 - - 2916.88 - 2.81 0.022 2204.25 -408.1 77.86 - - 2559.62 - - - - - - - - - 15.94 -
16968.19 748.28 6.21 1863 16990.17 1.83 0.28 0.070 2972.25 197.7 3.09 0.076 1145.25 -342.7 77.86 - - 2557.25 - - - - - - - - 15.90 15.80 -
17081.42 739.58 7.87 1882 17099.51 done 1.83 - - 2971.44 - 2.85 0.031 2274.12 396.1 77.86 - - 2559.78 - - - - - - - - - 15.90 -
17405.80 715.75 7.01 1914 17425.80 done 1.89 - - 2972.31 - 3.26 0.092 3350.12 330.1 77.86 - - 2557.72 - - - - - - - - - 15.76 -
17456.83 711.86 7.12 1921 17475.62 done 1.94 - - 2971.94 - 2.79 0.022 2201.75 -411.6 77.86 - - 2559.19 - - - - - - - - - 15.97 -
17781.90 689.96 6.39 1953 17805.12 2.04 0.17 0.084 3015.31 255.1 3.46 0.087 3351.44 332.3 77.86 - - 2559.00 - - - - - - - - 15.89 15.75 -
17826.37 686.33 8.21 1958 17844.85 done 2.04 - - 3015.56 - 2.81 0.022 2204.44 -408.2 77.86 - - 2560.66 - - - - - - - - - 15.95 -
18151.15 661.72 7.50 1990 18173.10 done 2.08 - - 3014.62 - 3.43 0.087 3349.31 333.8 77.86 - - 2559.22 - - - - - - - - - 15.76 -
18238.63 653.42 9.54 2004 18257.83 done 2.08 - - 3014.88 - 2.81 0.022 2204.31 -407.5 77.86 - - 2559.81 - - - - - - - - - 15.96 -
18563.71 624.52 8.85 2036 18582.62 done 2.08 - - 3015.38 - 3.09 0.075 1145.88 -342.5 77.86 - - 2558.41 - - - - - - - - - 15.77 -
18688.90 613.36 8.71 2058 18707.24 done 2.08 - - 3015.31 - 2.82 0.030 2274.81 400.3 77.86 - - 2560.47 - - - - - - - - - 15.96 -
19013.65 587.71 7.39 2090 19033.39 done 2.12 - - 3015.38 - 3.23 0.090 3353.06 333.8 77.86 - - 2558.03 - - - - - - - - - 15.75 -
19129.66 577.96 8.69 2110 19147.33 done 2.12 - - 3015.50 - 2.79 0.021 2203.31 -412.1 77.86 - - 2560.16 - - - - - - - - - 15.97 -
19453.63 555.84 6.44 2142 19472.54 2.21 - - 3015.19 - 3.06 0.075 1145.50 -345.7 77.86 - - 2560.19 - - - - - - - - - 15.78 -
19579.24 547.96 6.33 2164 19597.75 2.32 - - 3015.44 - 2.82 0.030 2276.62 401.1 77.86 - - 2558.62 - - - - - - - - - 15.95 -
19904.04 528.92 5.37 2196 19923.78 2.48 - - 3015.50 - 3.22 0.070 1146.56 -351.0 77.86 - - 2556.41 - - - - - - - - - 15.76 -
20034.74 521.22 5.97 2219 20053.96 2.60 - - 3015.94 - 2.83 0.029 2275.81 399.0 77.86 - - 2559.50 - - - - - - - - - 15.96 -
20360.26 501.71 6.65 2251 20380.26 2.69 - - 3014.94 - 3.24 0.090 3352.50 332.3 77.86 - - 2556.31 - - - - - - - - - 15.72 -
20506.64 490.52 8.11 2277 20524.32 2.69 - - 3015.31 - 2.78 0.021 2200.19 -414.5 77.86 - - 2558.31 - - - - - - - - - 15.95 -
20830.61 468.01 6.64 2309 20834.73 2.77 - - 3015.56 - - - 2198.12 - 77.86 - - 2557.47 - - - - - - - - - - -
21141.15 447.42 6.65 2340 21163.13 2.86 - - 3015.44 - 3.45 0.086 3351.88 334.4 77.86 - - 2557.94 - - - - - - - - - 15.71 -
21394.83 430.90 6.54 2387 21412.64 2.95 - - 3015.56 - 2.78 0.021 2201.06 -414.0 77.86 - - 2559.34 - - - - - - - - - 15.96 -
21718.92 412.49 5.85 2419 21740.89 3.08 - - 3015.12 - 3.46 0.084 3351.06 332.4 77.86 - - 2557.31 - - - - - - - - - 15.70 -
21972.58 395.74 6.67 2466 21990.38 3.16 - - 3015.88 - 2.79 0.021 2200.69 -412.3 77.86 - - 2558.41 - - - - - - - - - 15.95 -
22296.67 378.18 5.16 2498 22318.99 3.33 - - 3016.50 - 3.46 0.084 3351.69 332.7 77.86 - - 2558.25 - - - - - - - - - 15.48 -
22490.79 366.02 6.03 2533 22508.47 3.46 - - 3015.62 - 2.79 0.021 2202.19 -412.0 77.86 - - 2558.25 - - - - - - - - - 15.94 -
22814.76 350.95 4.36 2565 22920.39 3.61 - - 3016.25 - 3.10 0.078 1147.19 -340.3 154.15 61.65 1.614 2259.91 -4.8 0.180 - - - - - - - 15.49 10.73
22935.91 341.68 9.22 2578 22954.73 roll back 3.61 - - 3015.94 - 2.86 0.029 2274.62 394.2 154.15 - - 2255.91 - - - - - - - - - 15.72 -
23260.71 305.83 11.39 2610 23264.83 3.61 - - 3015.75 - - - 2274.25 - 154.15 - - 2251.47 - - - - - - - - - - -
23570.76 273.52 10.20 2641 23590.51 3.61 - - 3015.56 - 3.27 0.071 1146.06 -345.0 154.15 - - 2249.47 - - - - - - - - - 15.73 -
23656.78 263.62 11.40 2655 23674.88 3.61 - - 3015.69 - 2.85 0.029 2274.44 395.9 154.15 - - 2249.97 - - - - - - - - - 15.80 -
23980.76 232.11 9.15 2687 23984.88 3.61 - - 3016.38 - - - 2273.88 - 154.15 - - 2248.81 - - - - - - - - - - -
24290.95 201.43 10.81 2718 24310.69 3.61 - - 3016.00 - 3.25 0.070 1145.44 -347.2 154.15 - - 2247.44 - - - - - - - - - 15.76 -
24367.07 192.60 11.64 2730 24385.18 3.61 - - 3015.56 - 2.85 0.028 2273.81 395.9 154.15 - - 2248.69 - - - - - - - - - 15.70 -
24691.07 158.27 9.72 2762 24710.81 3.61 - - 3016.19 - 3.23 0.069 1144.50 -349.6 154.15 - - 2250.56 - - - - - - - - - 15.69 -
24817.08 144.99 10.70 2784 24835.19 3.61 - - 3015.56 - 2.84 0.028 2273.62 397.6 154.15 - - 2249.28 - - - - - - - - - 15.70 -
25141.30 113.88 9.48 2816 25145.41 3.61 - - 3016.00 - - - 2274.25 - 154.15 - - 2247.94 - - - - - - - - - - -
25451.73 87.28 6.88 2863 25472.61 3.68 - - 3016.06 - 3.22 0.088 3351.31 334.5 154.15 - - 2250.41 - - - - - - - - - 15.53 -
25558.88 78.61 8.08 2881 25577.28 3.68 - - 3016.44 - 2.79 0.020 2197.19 -413.7 154.15 - - 2248.03 - - - - - - - - - 15.77 -
25763.58 66.82 4.96 2919 25839.80 3.81 - - 3015.44 - - - 2194.94 - 217.99 49.74 1.211 2002.56 -4.9 0.047 - - - - - - - - 11.26
26026.22 54.59 6.18 2967 26045.87 3.92 - - 3015.75 - 3.01 0.072 1146.50 -348.3 217.99 - - 1993.91 - - - - - - - - - 15.67 -
26277.58 41.31 3.98 3014 26388.22 4.09 - - 3015.75 - 2.83 0.026 2277.75 399.7 302.17 64.91 1.158 1657.75 -5.2 0.032 - - - - - - - 15.67 11.51
26574.54 25.23 6.58 3065 26595.01 4.09 - - 3015.94 - 3.24 0.068 1144.00 -349.9 302.17 - - 1649.91 - - - - - - - - - 15.58 -
26826.40 4.95 8.04 3112 26845.61 4.09 - - 3016.00 - 2.83 0.027 2277.50 400.5 302.17 - - 1646.91 - - - - - - - - - 15.74 -
26850 end climb: SURFACE_DEPTH_REACHED
26851 begin surface coast
26911 end surface coast: CONTROL_FINISHED_OK
26912 begin surface
SM 1.14 - - - - 180.6 97.33 1.104 1137.6 11.7 20.10 0.059 1121.8 55.8 - 0.12 0.080 1153.4 9588.1 -13.965 - - 11.31 15.75 15.85 -