NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 444 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 155.66 of 506.00 AH used of 24V (69.24% remains)
• Surface angle -62.4 deg, depth 1.02 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.08 (SM_CC=430)
• GPS1 time: 19 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
19.03 - - - 119.15 VBD -1.18 - - 178.44 - - - 2197.06 - -77.86 70.17 0.005 2849.59 - - - - - - - - - - 14.95
121.36 3.56 -4.02 14 238.40 -1.18 17.38 0.224 2227.69 117.9 3.47 0.082 3353.06 333.1 -77.86 5.11 0.009 3210.81 70.7 -4.786 - - - - - - 15.32 15.05 15.18
244.68 41.18 -18.87 21 263.44 roll -1.18 - - 2228.00 - 2.85 0.019 2194.69 -406.4 -77.86 - - 3212.53 - - - - - - - - - 15.58 -
449.23 65.05 -11.46 59 470.39 roll -1.18 - - 2227.25 - 3.44 0.079 3350.94 336.1 -77.86 - - 3214.03 - - - - - - - - - 15.62 -
701.60 94.85 -10.37 106 720.56 roll -1.18 - - 2227.81 - 2.84 0.018 2195.56 -406.8 -77.86 - - 3214.56 - - - - - - - - - 15.78 -
911.37 112.82 -8.17 130 915.38 no move -1.18 - - 2227.50 - - - 2193.50 - -77.86 - - 3213.50 - - - - - - - - - - -
1221.41 135.47 -7.49 161 1239.86 roll -1.18 - - 2227.50 - 3.01 0.067 1145.31 -348.2 -77.86 - - 3214.44 - - - - - - - - - 15.72 -
1286.03 140.61 -8.05 171 1303.28 roll -1.18 - - 2225.75 - 2.79 0.024 2278.69 406.2 -77.86 - - 3215.25 - - - - - - - - - 15.83 -
1609.09 166.98 -8.89 203 1613.11 no move -1.18 - - 2227.25 - - - 2279.44 - -77.86 - - 3214.19 - - - - - - - - - - -
1919.13 193.36 -7.82 234 1923.15 no move -1.18 - - 2227.56 - - - 2279.12 - -77.86 - - 3214.66 - - - - - - - - - - -
2229.14 216.29 -7.52 265 2248.70 roll -1.18 - - 2227.88 - 3.23 0.063 1145.62 -350.9 -77.86 - - 3214.19 - - - - - - - - - 15.73 -
2309.30 222.95 -8.32 278 2327.89 roll -1.18 - - 2227.62 - 2.82 0.025 2277.75 401.5 -77.86 - - 3214.38 - - - - - - - - - 15.72 -
2633.75 249.75 -7.85 310 2653.24 roll -1.18 - - 2227.50 - 3.21 0.064 1145.00 -352.9 -77.86 - - 3215.31 - - - - - - - - - 15.84 -
2713.74 256.47 -8.28 323 2732.72 roll -1.18 - - 2226.75 - 2.82 0.025 2277.88 401.7 -77.86 - - 3215.19 - - - - - - - - - 15.95 -
3038.59 280.94 -7.84 355 3058.08 roll -1.18 - - 2228.31 - 3.23 0.063 1144.81 -350.8 -77.86 - - 3215.00 - - - - - - - - - 15.83 -
3104.29 286.42 -8.20 365 3122.55 roll -1.18 - - 2227.69 - 2.82 0.025 2277.19 401.6 -77.86 - - 3216.12 - - - - - - - - - 15.94 -
3428.41 309.96 -7.25 397 3447.90 roll -1.18 - - 2227.75 - 3.23 0.064 1145.06 -350.5 -77.86 - - 3215.00 - - - - - - - - - 15.85 -
3494.13 314.93 -7.44 407 3512.39 roll -1.18 - - 2227.62 - 2.82 0.025 2277.81 401.7 -77.86 - - 3214.41 - - - - - - - - - 15.97 -
3818.22 339.22 -7.49 439 3837.95 roll -1.18 - - 2227.75 - 3.23 0.064 1146.50 -350.3 -77.86 - - 3215.34 - - - - - - - - - 15.83 -
3888.55 344.93 -7.87 450 3907.13 roll -1.18 - - 2227.62 - 2.82 0.025 2276.69 400.8 -77.86 - - 3215.88 - - - - - - - - - 15.93 -
4212.98 369.97 -7.82 482 4217.04 no move -1.18 - - 2227.50 - - - 2276.69 - -77.86 - - 3213.50 - - - - - - - - - - -
4523.03 393.43 -7.33 513 4527.09 no move -1.18 - - 2227.38 - - - 2276.44 - -77.86 - - 3212.66 - - - - - - - - - - -
4833.06 416.96 -8.08 544 4837.12 no move -1.18 - - 2227.00 - - - 2277.19 - -77.86 - - 3212.31 - - - - - - - - - - -
5143.10 440.71 -7.63 575 5147.16 no move -1.18 - - 2227.25 - - - 2276.88 - -77.86 - - 3212.88 - - - - - - - - - - -
5453.14 464.51 -7.80 606 5472.63 roll -1.18 - - 2227.81 - 3.24 0.066 1145.25 -349.3 -77.86 - - 3214.47 - - - - - - - - - 15.83 -
5518.85 470.13 -8.62 616 5536.73 roll -1.18 - - 2227.31 - 2.83 0.025 2276.50 399.7 -77.86 - - 3213.06 - - - - - - - - - 15.90 -
5842.59 497.46 -8.46 648 5846.65 no move -1.18 - - 2226.69 - - - 2276.94 - -77.86 - - 3211.12 - - - - - - - - - - -
6152.62 524.31 -8.61 679 6172.12 roll -1.18 - - 2226.50 - 3.22 0.066 1145.94 -351.2 -77.86 - - 3211.25 - - - - - - - - - 15.83 -
6248.34 533.14 -9.23 695 6266.45 roll -1.18 - - 2227.25 - 2.84 0.025 2276.81 398.2 -77.86 - - 3212.06 - - - - - - - - - 15.99 -
6572.41 559.49 -7.61 727 6591.90 roll -1.18 - - 2227.62 - 3.22 0.087 3350.69 333.5 -77.86 - - 3210.78 - - - - - - - - - 15.79 -
6658.13 566.69 -8.32 741 6675.61 roll -1.18 - - 2227.81 - 2.79 0.020 2192.69 -415.1 -77.86 - - 3211.44 - - - - - - - - - 15.98 -
6981.47 588.48 -6.39 773 7000.14 roll -1.18 - - 2227.56 - 3.01 0.070 1143.94 -348.4 -77.86 - - 3211.16 - - - - - - - - - 15.81 -
7046.36 592.97 -6.83 783 7064.62 roll -1.18 - - 2227.50 - 2.82 0.025 2276.06 401.5 -77.86 - - 3210.41 - - - - - - - - - 15.97 -
7370.47 613.59 -6.46 815 7374.53 no move -1.18 - - 2226.94 - - - 2276.94 - -77.86 - - 3209.62 - - - - - - - - - - -
7680.53 632.37 -5.89 846 7684.59 no move -1.18 - - 2227.38 - - - 2277.00 - -77.86 - - 3208.75 - - - - - - - - - - -
7990.56 652.31 -6.91 877 8010.06 roll -1.18 - - 2227.50 - 3.23 0.066 1145.75 -350.2 -77.86 - - 3211.41 - - - - - - - - - 15.82 -
8110.55 660.96 -7.22 898 8129.14 roll -1.18 - - 2227.38 - 2.83 0.026 2275.69 399.3 -77.86 - - 3211.19 - - - - - - - - - 15.99 -
8435.05 681.67 -6.04 930 8439.11 no move -1.18 - - 2227.12 - - - 2275.12 - -77.86 - - 3208.69 - - - - - - - - - - -
8745.09 701.00 -6.47 961 8764.58 roll -1.18 - - 2227.62 - 3.23 0.067 1145.94 -349.6 -77.86 - - 3208.81 - - - - - - - - - 15.81 -
8815.07 705.92 -7.18 972 8833.66 roll -1.18 - - 2227.75 - 2.83 0.026 2276.88 399.6 -77.86 - - 3210.41 - - - - - - - - - 15.98 -
9139.52 725.66 -6.08 1004 9143.58 no move -1.18 - - 2227.75 - - - 2276.19 - -77.86 - - 3207.25 - - - - - - - - - - -
9449.56 743.95 -5.80 1035 9469.08 roll -1.18 - - 2228.00 - 3.24 0.088 3351.19 331.8 -77.86 - - 3207.66 - - - - - - - - - 15.76 -
9525.29 748.94 -7.01 1047 9542.75 roll -1.18 - - 2227.44 - 2.80 0.020 2193.50 -413.5 -77.86 - - 3207.78 - - - - - - - - - 15.96 -
9848.62 768.77 -6.85 1079 9866.89 roll -1.18 - - 2227.19 - 2.98 0.072 1145.38 -351.7 -77.86 - - 3208.16 - - - - - - - - - 15.80 -
9893.10 771.92 -7.09 1085 9910.97 roll -1.18 - - 2227.56 - 2.81 0.026 2277.12 402.8 -77.86 - - 3209.38 - - - - - - - - - 15.98 -
10216.82 794.01 -6.95 1117 10220.88 no move -1.18 - - 2227.56 - - - 2277.88 - -77.86 - - 3206.59 - - - - - - - - - - -
10526.86 813.64 -6.05 1148 10530.92 no move -1.18 - - 2227.19 - - - 2278.12 - -77.86 - - 3206.06 - - - - - - - - - - -
10837.16 833.01 -6.12 1179 10856.67 roll -1.18 - - 2227.44 - 3.22 0.067 1145.62 -351.7 -77.86 - - 3206.53 - - - - - - - - - 15.77 -
10932.89 839.17 -6.58 1195 10950.76 roll -1.18 - - 2226.50 - 2.82 0.026 2276.56 401.0 -77.86 - - 3207.06 - - - - - - - - - 15.98 -
11256.62 859.29 -6.42 1227 11276.12 roll -1.18 - - 2227.44 - 3.22 0.068 1145.44 -351.3 -77.86 - - 3205.75 - - - - - - - - - 15.76 -
11346.73 865.48 -7.18 1242 11365.33 roll -1.18 - - 2227.44 - 2.83 0.027 2276.56 399.7 -77.86 - - 3206.56 - - - - - - - - - 15.94 -
11671.16 886.44 -6.06 1274 11675.23 no move -1.18 - - 2227.19 - - - 2277.75 - -77.86 - - 3205.16 - - - - - - - - - - -
11981.18 904.76 -5.90 1305 12000.67 roll -1.18 - - 2227.19 - 3.21 0.068 1144.75 -353.0 -77.86 - - 3206.50 - - - - - - - - - 15.76 -
12056.88 909.47 -5.80 1317 12075.17 roll -1.18 - - 2227.81 - 2.83 0.026 2276.12 399.8 -77.86 - - 3205.97 - - - - - - - - - 15.96 -
12381.03 927.78 -5.46 1349 12400.77 roll -1.18 - - 2226.19 - 3.21 0.068 1144.62 -352.5 -77.86 - - 3205.62 - - - - - - - - - 15.75 -
12457.10 932.31 -5.86 1361 12474.97 roll -1.18 - - 2227.81 - 2.84 0.026 2276.19 398.4 -77.86 - - 3206.00 - - - - - - - - - 15.95 -
12780.83 950.04 -5.54 1393 12784.90 no move -1.18 - - 2227.19 - - - 2276.75 - -77.86 - - 3204.22 - - - - - - - - - - -
13091.29 966.03 -4.72 1424 13095.35 no move -1.18 - - 2226.81 - - - 2276.25 - -77.86 - - 3203.69 - - - - - - - - - - -
13401.18 981.76 -5.26 1455 13420.67 roll -1.18 - - 2227.88 - 3.23 0.069 1145.50 -350.1 -77.86 - - 3204.38 - - - - - - - - - 15.73 -
13491.17 986.89 -5.42 1470 13509.77 roll -1.18 - - 2227.62 - 2.84 0.027 2275.44 397.9 -77.86 - - 3204.84 - - - - - - - - - 15.96 -
13555 end dive: TARGET_DEPTH_EXCEEDED
13555 begin apogee
13560.25 990.06 -5.12 1476 13665.86 -0.31 1.60 0.131 2441.19 133.5 0.20 0.138 2283.94 42.5 - 65.48 2.408 2888.25 -4.8 0.340 - - - - - - 15.65 15.32 10.19
13670 end apogee: CONTROL_FINISHED_OK
13671 begin climb
13673.95 991.25 - 1483 13784.84 1.18 2.58 0.091 2805.81 141.3 - - 2283.69 - 77.86 67.15 2.376 2571.06 -4.7 0.337 - - - - - - 15.55 - 11.54
14091.20 968.20 5.89 1521 14096.28 1.31 0.19 0.089 2846.50 214.2 - - 2283.44 - 77.86 - - 2563.06 - - - - - - - - 15.68 - -
14402.62 946.86 6.98 1552 14406.68 VBD 1.38 - - 2846.69 - - - 2283.69 - 77.86 - - 2561.84 - - - - - - - - - - -
14712.92 926.19 6.37 1583 14718.00 1.48 0.17 0.087 2885.94 230.9 - - 2282.94 - 77.86 - - 2560.38 - - - - - - - - 15.83 - -
15024.25 904.49 6.92 1614 15028.31 VBD 1.54 - - 2885.12 - - - 2283.88 - 77.86 - - 2560.44 - - - - - - - - - - -
15334.56 882.39 7.32 1645 15354.28 done 1.59 - - 2885.50 - 3.27 0.072 1145.62 -348.1 77.86 - - 2559.44 - - - - - - - - - 15.80 -
15420.91 876.01 6.97 1659 15440.02 1.65 0.19 0.078 2929.12 229.6 2.87 0.030 2271.31 392.2 77.86 - - 2559.34 - - - - - - - - 15.55 15.76 -
15745.87 850.50 8.03 1691 15749.93 VBD 1.65 - - 2929.31 - - - 2271.31 - 77.86 - - 2559.94 - - - - - - - - - - -
16055.91 827.12 7.81 1722 16060.36 VBD 1.65 - - 2930.06 - - - 2271.19 - 77.86 - - 2558.88 - - - - - - - - - - -
16366.17 803.20 7.62 1753 16386.06 done 1.65 - - 2929.81 - 3.26 0.071 1145.44 -345.3 77.86 - - 2560.62 - - - - - - - - - 15.80 -
16546.56 788.56 7.92 1786 16565.56 done 1.65 - - 2929.44 - 2.88 0.030 2273.94 391.8 77.86 - - 2560.19 - - - - - - - - - 15.94 -
16871.51 763.57 7.79 1818 16891.01 done 1.65 - - 2929.31 - 3.26 0.071 1145.56 -346.1 77.86 - - 2558.94 - - - - - - - - - 15.80 -
16937.22 758.41 7.56 1828 16955.09 done 1.65 - - 2929.12 - 2.87 0.030 2272.94 392.8 77.86 - - 2559.62 - - - - - - - - - 15.96 -
17261.56 735.63 6.44 1860 17265.62 VBD 1.75 - - 2929.56 - - - 2272.50 - 77.86 - - 2558.38 - - - - - - - - - - -
17571.87 714.48 6.75 1891 17594.01 1.83 0.19 0.082 2972.12 224.0 3.29 0.094 3347.81 326.8 77.86 - - 2559.06 - - - - - - - - 15.88 15.75 -
17655.22 707.79 8.40 1904 17672.71 done 1.83 - - 2972.19 - 2.80 0.022 2203.19 -408.8 77.86 - - 2557.91 - - - - - - - - - 15.96 -
17978.96 683.64 7.14 1936 17983.02 VBD 1.88 - - 2972.38 - - - 2201.50 - 77.86 - - 2558.28 - - - - - - - - - - -
18289.08 660.11 8.08 1967 18307.78 done 1.88 - - 2972.06 - 3.06 0.074 1147.06 -344.6 77.86 - - 2561.00 - - - - - - - - - 15.79 -
18364.25 654.13 8.28 1979 18382.12 done 1.88 - - 2971.75 - 2.86 0.030 2273.94 394.0 77.86 - - 2560.28 - - - - - - - - - 15.68 -
18688.49 629.53 7.42 2011 18692.55 VBD 1.92 - - 2972.12 - - - 2273.94 - 77.86 - - 2557.59 - - - - - - - - - - -
18998.80 607.21 6.96 2042 19018.29 done 1.99 - - 2972.12 - 3.26 0.071 1145.44 -346.2 77.86 - - 2559.09 - - - - - - - - - 15.79 -
19164.94 595.60 6.87 2072 19184.04 2.06 0.17 0.077 3014.31 248.2 2.86 0.030 2274.00 394.6 77.86 - - 2557.06 - - - - - - - - 15.71 15.95 -
19489.92 572.77 7.59 2104 19493.99 VBD 2.06 - - 3013.50 - - - 2274.88 - 77.86 - - 2557.53 - - - - - - - - - - -
19799.96 550.49 7.59 2135 19819.85 done 2.06 - - 3015.38 - 3.27 0.092 3350.12 328.8 77.86 - - 2559.00 - - - - - - - - - 15.73 -
19870.34 544.70 8.65 2146 19888.53 done 2.06 - - 3014.56 - 2.80 0.021 2202.62 -409.8 77.86 - - 2559.00 - - - - - - - - - 15.94 -
20194.79 521.50 6.94 2178 20216.52 done 2.12 - - 3015.31 - 3.46 0.087 3352.56 332.4 77.86 - - 2556.72 - - - - - - - - - 15.73 -
20272.01 515.14 8.52 2190 20291.25 done 2.12 - - 3014.50 - 2.81 0.021 2201.81 -409.5 77.86 - - 2558.62 - - - - - - - - - 15.96 -
20597.58 492.01 6.33 2222 20619.30 2.23 - - 3014.75 - 3.46 0.087 3351.31 332.2 77.86 - - 2557.69 - - - - - - - - - 15.73 -
20734.81 481.98 7.62 2246 20753.82 2.23 - - 3015.25 - 2.82 0.021 2202.00 -407.6 77.86 - - 2558.56 - - - - - - - - - 15.94 -
21060.07 458.85 6.59 2278 21078.77 2.31 - - 3015.38 - 3.06 0.074 1144.88 -345.5 77.86 - - 2558.47 - - - - - - - - - 15.76 -
21149.67 452.78 6.88 2293 21168.28 2.38 - - 3015.06 - 2.83 0.029 2276.56 399.9 77.86 - - 2558.59 - - - - - - - - - 15.94 -
21474.61 432.89 5.68 2325 21494.24 2.53 - - 3015.12 - 3.24 0.069 1145.81 -349.0 77.86 - - 2556.25 - - - - - - - - - 15.76 -
21725.19 416.49 6.62 2372 21743.79 2.61 - - 3015.00 - 2.86 0.029 2275.31 394.9 77.86 - - 2557.94 - - - - - - - - - 15.76 -
22050.04 398.05 5.42 2404 22069.54 2.77 - - 3015.19 - 3.24 0.068 1145.75 -348.6 77.86 - - 2557.53 - - - - - - - - - 15.76 -
22300.59 383.96 5.68 2451 22319.20 2.91 - - 3015.44 - 2.86 0.029 2276.38 395.3 77.86 - - 2558.16 - - - - - - - - - 15.89 -
22625.47 366.78 5.30 2483 22645.07 3.08 - - 3014.88 - 3.26 0.068 1145.31 -347.0 77.86 - - 2556.75 - - - - - - - - - 15.74 -
22701.69 362.50 5.66 2495 22719.58 3.22 - - 3014.75 - 2.86 0.028 2276.81 395.6 77.86 - - 2556.41 - - - - - - - - - 15.79 -
23025.84 347.82 4.21 2527 23137.54 3.38 - - 3014.88 - 3.28 0.071 1145.38 -344.9 157.25 64.35 1.617 2248.91 -4.8 0.176 - - - - - - - 15.48 10.69
23153.02 337.84 10.12 2544 23172.04 roll back 3.38 - - 3014.88 - 2.90 0.029 2273.12 388.9 157.25 - - 2243.53 - - - - - - - - - 15.72 -
23478.01 303.53 10.94 2576 23497.53 3.38 - - 3015.25 - 3.24 0.069 1145.94 -347.9 157.25 - - 2237.25 - - - - - - - - - 15.70 -
23533.90 297.24 11.47 2584 23551.79 3.38 - - 3015.25 - 2.88 0.029 2273.88 391.6 157.25 - - 2238.97 - - - - - - - - - 15.71 -
23857.63 262.38 10.55 2616 23877.15 3.38 - - 3015.12 - 3.23 0.069 1146.06 -349.2 157.25 - - 2236.25 - - - - - - - - - 15.74 -
23913.37 256.21 10.93 2624 23931.26 3.38 - - 3015.56 - 2.87 0.029 2274.94 393.3 157.25 - - 2237.94 - - - - - - - - - 15.83 -
24237.11 223.24 9.74 2656 24241.19 3.38 - - 3014.44 - - - 2275.56 - 157.25 - - 2235.44 - - - - - - - - - - -
24547.14 192.25 9.77 2687 24551.22 3.38 - - 3014.19 - - - 2274.94 - 157.25 - - 2234.97 - - - - - - - - - - -
24857.15 161.56 9.95 2718 24876.68 3.38 - - 3015.12 - 3.27 0.090 3351.38 329.2 157.25 - - 2235.47 - - - - - - - - - 15.63 -
25002.92 145.11 11.45 2744 25020.80 3.38 - - 3015.19 - 2.81 0.021 2201.94 -409.1 157.25 - - 2236.19 - - - - - - - - - 15.78 -
25326.64 115.78 9.27 2776 25345.57 3.38 - - 3015.75 - 3.02 0.072 1145.81 -349.7 157.25 - - 2234.81 - - - - - - - - - 15.65 -
25521.95 99.03 7.66 2812 25540.58 3.38 - - 3014.94 - 2.82 0.027 2276.75 401.0 157.25 - - 2235.53 - - - - - - - - - 15.70 -
25726.85 85.63 6.49 2850 25747.10 3.47 - - 3015.62 - 3.24 0.088 3351.00 331.6 157.25 - - 2235.31 - - - - - - - - - 15.52 -
25978.77 70.33 5.38 2897 25996.99 3.63 - - 3014.56 - 2.80 0.020 2200.25 -411.0 157.25 - - 2237.03 - - - - - - - - - 15.63 -
26183.27 63.56 2.64 2935 26323.08 3.86 - - 3015.50 - 3.07 0.073 1145.62 -343.5 269.02 85.82 1.235 1792.31 -5.2 0.046 - - - - - - - 15.45 11.36
26459.28 44.08 9.25 2980 26477.90 3.86 - - 3015.62 - 2.85 0.027 2276.25 396.7 269.02 - - 1784.47 - - - - - - - - - 15.54 -
26664.27 27.93 6.34 3018 26684.51 3.96 - - 3015.50 - 3.24 0.067 1146.69 -348.6 269.02 - - 1780.94 - - - - - - - - - 15.58 -
26851.16 17.49 5.22 3052 26869.78 3.96 - - 3015.88 - 2.84 0.026 2275.50 397.5 269.02 - - 1779.12 - - - - - - - - - 15.67 -
27056.03 9.57 3.47 3090 27181.78 4.15 - - 3015.44 - 3.26 0.066 1144.62 -346.9 363.69 74.00 1.132 1406.53 -5.0 0.007 - - - - - - - 15.44 11.40
27188 end climb: SURFACE_DEPTH_REACHED
27188 begin surface coast
27248 end surface coast: CONTROL_FINISHED_OK
27249 begin surface
SM 0.95 - - - - 182.2 51.72 1.104 1136.7 20.5 20.21 0.052 1130.6 55.9 - 2.42 0.027 1142.9 470.9 -1.694 - - 11.49 15.67 15.72 -