NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 623 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 213.44 of 506.00 AH used of 24V (57.82% remains)
• Surface angle -60.7 deg, depth 0.80 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.03 (SM_CC=430)
• GPS1 time: 25 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
19.26 - - - 133.23 VBD -1.18 - - 178.44 - - - 2295.25 - -77.86 80.68 0.005 3018.81 - - - - - - - - - - 14.73
135.45 3.44 -3.68 16 247.20 -1.18 17.57 0.211 2227.69 116.6 3.22 0.062 1143.75 -357.6 -77.86 2.60 0.013 3210.50 73.7 -3.377 - - - - - - 15.23 14.92 15.03
383.74 56.19 -13.38 48 402.48 roll -1.18 - - 2227.75 - 2.85 0.025 2275.94 397.3 -77.86 - - 3212.41 - - - - - - - - - 15.68 -
588.56 76.38 -9.67 86 608.88 roll -1.18 - - 2227.75 - 3.23 0.083 3351.81 333.1 -77.86 - - 3213.25 - - - - - - - - - 15.53 -
675.31 84.93 -9.50 100 694.06 roll -1.18 - - 2228.12 - 2.81 0.019 2193.25 -412.3 -77.86 - - 3213.97 - - - - - - - - - 15.60 -
885.14 101.83 -7.17 137 889.16 no move -1.18 - - 2227.25 - - - 2191.25 - -77.86 - - 3211.75 - - - - - - - - - - -
1195.21 124.88 -7.54 168 1199.23 no move -1.18 - - 2227.31 - - - 2190.31 - -77.86 - - 3212.44 - - - - - - - - - - -
1505.29 148.58 -7.74 199 1523.47 roll -1.18 - - 2227.00 - 2.99 0.068 1145.12 -349.6 -77.86 - - 3214.34 - - - - - - - - - 15.65 -
1549.89 152.28 -8.39 205 1567.65 roll -1.18 - - 2227.75 - 2.79 0.024 2279.00 406.4 -77.86 - - 3213.28 - - - - - - - - - 15.75 -
1873.69 179.17 -8.06 237 1892.65 roll -1.18 - - 2228.19 - 3.19 0.064 1145.19 -355.4 -77.86 - - 3212.84 - - - - - - - - - 15.64 -
1969.10 187.45 -8.90 253 1987.32 roll -1.18 - - 2227.69 - 2.81 0.025 2278.94 403.5 -77.86 - - 3213.41 - - - - - - - - - 15.86 -
2293.55 214.47 -8.41 285 2297.61 no move -1.18 - - 2227.31 - - - 2278.56 - -77.86 - - 3213.47 - - - - - - - - - - -
2603.69 238.32 -7.40 316 2622.91 roll -1.18 - - 2225.25 - 3.19 0.064 1143.94 -355.7 -77.86 - - 3214.53 - - - - - - - - - 15.68 -
2643.41 241.57 -8.00 321 2662.37 roll -1.18 - - 2228.00 - 2.81 0.024 2277.38 403.4 -77.86 - - 3214.12 - - - - - - - - - 15.82 -
2968.47 265.55 -7.10 353 2987.67 roll -1.18 - - 2226.25 - 3.18 0.064 1145.56 -355.9 -77.86 - - 3214.00 - - - - - - - - - 15.76 -
3024.14 269.79 -7.48 361 3042.53 roll -1.18 - - 2227.81 - 2.81 0.025 2278.44 403.2 -77.86 - - 3213.66 - - - - - - - - - 15.92 -
3348.61 293.62 -7.77 393 3367.84 roll -1.18 - - 2225.88 - 3.18 0.064 1144.62 -356.5 -77.86 - - 3214.19 - - - - - - - - - 15.78 -
3414.31 298.91 -7.95 403 3432.30 roll -1.18 - - 2226.69 - 2.82 0.025 2276.44 401.4 -77.86 - - 3214.66 - - - - - - - - - 15.88 -
3738.62 322.60 -7.19 435 3758.06 roll -1.18 - - 2227.38 - 3.20 0.085 3352.19 336.2 -77.86 - - 3214.03 - - - - - - - - - 15.70 -
3774.64 325.54 -7.49 439 3792.23 roll -1.18 - - 2227.75 - 2.77 0.019 2190.25 -419.5 -77.86 - - 3214.78 - - - - - - - - - 15.81 -
4098.35 349.21 -7.30 471 4120.17 roll -1.18 - - 2227.44 - 3.44 0.081 3350.88 337.4 -77.86 - - 3213.09 - - - - - - - - - 15.70 -
4141.63 352.72 -7.73 476 4159.21 roll -1.18 - - 2228.00 - 2.76 0.019 2190.75 -420.3 -77.86 - - 3214.41 - - - - - - - - - 15.93 -
4465.32 374.74 -6.85 508 4483.71 roll -1.18 - - 2227.31 - 2.94 0.069 1144.12 -356.0 -77.86 - - 3214.59 - - - - - - - - - 15.80 -
4540.19 380.02 -7.09 520 4557.78 roll -1.18 - - 2227.44 - 2.79 0.025 2278.31 406.5 -77.86 - - 3213.47 - - - - - - - - - 15.80 -
4863.86 402.35 -7.17 552 4883.07 roll -1.18 - - 2227.56 - 3.15 0.065 1143.88 -360.1 -77.86 - - 3213.59 - - - - - - - - - 15.78 -
4939.55 408.01 -7.62 564 4957.53 roll -1.18 - - 2227.31 - 2.80 0.025 2277.50 404.9 -77.86 - - 3213.91 - - - - - - - - - 15.90 -
5263.61 430.03 -6.91 596 5267.67 no move -1.18 - - 2227.50 - - - 2277.56 - -77.86 - - 3212.47 - - - - - - - - - - -
5573.75 451.69 -6.98 627 5577.81 no move -1.18 - - 2227.56 - - - 2277.69 - -77.86 - - 3211.94 - - - - - - - - - - -
5884.00 473.61 -7.01 658 5903.21 roll -1.18 - - 2227.31 - 3.17 0.066 1145.75 -357.1 -77.86 - - 3211.06 - - - - - - - - - 15.77 -
5989.69 481.42 -7.38 676 6007.27 roll -1.18 - - 2227.00 - 2.80 0.026 2277.00 404.0 -77.86 - - 3212.34 - - - - - - - - - 15.86 -
6313.39 503.12 -6.43 708 6317.44 no move -1.18 - - 2227.69 - - - 2277.19 - -77.86 - - 3211.50 - - - - - - - - - - -
6623.55 523.97 -6.65 739 6627.61 no move -1.18 - - 2227.62 - - - 2276.88 - -77.86 - - 3210.75 - - - - - - - - - - -
6933.69 544.99 -6.86 770 6952.91 roll -1.18 - - 2225.38 - 3.14 0.066 1144.75 -360.6 -77.86 - - 3212.25 - - - - - - - - - 15.78 -
7009.39 550.28 -7.04 782 7026.97 roll -1.18 - - 2228.00 - 2.80 0.026 2278.06 404.8 -77.86 - - 3211.88 - - - - - - - - - 15.97 -
7333.08 571.75 -6.70 814 7337.14 no move -1.18 - - 2227.44 - - - 2278.38 - -77.86 - - 3210.56 - - - - - - - - - - -
7643.26 593.05 -7.04 845 7662.47 roll -1.18 - - 2228.12 - 3.17 0.066 1145.12 -357.5 -77.86 - - 3210.09 - - - - - - - - - 15.77 -
7678.93 595.64 -7.44 849 7697.18 roll -1.18 - - 2227.44 - 2.81 0.025 2277.94 403.1 -77.86 - - 3211.62 - - - - - - - - - 15.96 -
8003.42 617.49 -6.44 881 8022.64 roll -1.18 - - 2226.00 - 3.16 0.066 1144.44 -358.7 -77.86 - - 3211.06 - - - - - - - - - 15.77 -
8049.11 620.63 -6.80 887 8067.49 roll -1.18 - - 2227.00 - 2.81 0.025 2277.44 403.2 -77.86 - - 3210.38 - - - - - - - - - 15.97 -
8373.61 641.45 -6.36 919 8392.80 roll -1.18 - - 2225.94 - 3.16 0.066 1145.06 -358.3 -77.86 - - 3210.12 - - - - - - - - - 15.77 -
8423.32 644.66 -6.42 926 8442.28 roll -1.18 - - 2228.12 - 2.81 0.026 2277.56 403.0 -77.86 - - 3209.94 - - - - - - - - - 15.95 -
8748.41 664.44 -6.28 958 8767.61 roll -1.18 - - 2227.25 - 3.16 0.066 1145.69 -358.2 -77.86 - - 3208.53 - - - - - - - - - 15.77 -
8794.09 667.54 -6.78 964 8811.67 roll -1.18 - - 2227.31 - 2.79 0.026 2275.56 405.0 -77.86 - - 3210.41 - - - - - - - - - 15.96 -
9117.76 686.99 -5.85 996 9121.83 no move -1.18 - - 2226.69 - - - 2275.94 - -77.86 - - 3208.91 - - - - - - - - - - -
9427.92 706.35 -6.24 1027 9431.98 no move -1.18 - - 2227.44 - - - 2275.94 - -77.86 - - 3208.62 - - - - - - - - - - -
9738.10 726.66 -6.49 1058 9757.55 roll -1.18 - - 2225.38 - 3.17 0.067 1145.12 -356.7 -77.86 - - 3209.41 - - - - - - - - - 15.75 -
9804.14 731.26 -7.06 1068 9822.14 roll -1.18 - - 2228.75 - 2.80 0.026 2277.12 404.3 -77.86 - - 3209.25 - - - - - - - - - 15.94 -
10128.25 752.16 -6.53 1100 10147.87 roll -1.18 - - 2227.75 - 3.23 0.089 3351.50 332.6 -77.86 - - 3208.06 - - - - - - - - - 15.70 -
10188.40 756.34 -6.53 1109 10206.95 roll -1.18 - - 2226.50 - 2.76 0.020 2191.56 -420.3 -77.86 - - 3209.34 - - - - - - - - - 15.94 -
10513.08 776.44 -6.08 1141 10517.14 no move -1.18 - - 2227.00 - - - 2191.44 - -77.86 - - 3207.44 - - - - - - - - - - -
10823.26 794.91 -5.95 1172 10827.33 no move -1.18 - - 2226.81 - - - 2191.31 - -77.86 - - 3206.84 - - - - - - - - - - -
11133.45 814.76 -6.52 1203 11137.51 no move -1.18 - - 2227.25 - - - 2190.88 - -77.86 - - 3207.44 - - - - - - - - - - -
11443.61 834.18 -6.06 1234 11447.67 no move -1.18 - - 2227.38 - - - 2190.06 - -77.86 - - 3206.69 - - - - - - - - - - -
11753.86 852.84 -6.02 1265 11757.92 no move -1.18 - - 2227.12 - - - 2190.56 - -77.86 - - 3206.31 - - - - - - - - - - -
12064.01 871.55 -5.85 1296 12085.82 roll -1.18 - - 2227.06 - 3.49 0.086 3351.69 332.7 -77.86 - - 3206.66 - - - - - - - - - 15.67 -
12121.33 875.31 -5.94 1304 12140.11 roll -1.18 - - 2227.75 - 2.80 0.020 2192.69 -413.9 -77.86 - - 3207.25 - - - - - - - - - 15.92 -
12446.34 893.37 -5.72 1336 12450.39 no move -1.18 - - 2227.50 - - - 2191.94 - -77.86 - - 3206.03 - - - - - - - - - - -
12756.50 909.96 -5.46 1367 12760.58 no move -1.18 - - 2227.56 - - - 2190.88 - -77.86 - - 3206.06 - - - - - - - - - - -
13066.67 926.97 -5.43 1398 13071.12 no move -1.18 - - 2227.38 - - - 2190.94 - -77.86 - - 3205.72 - - - - - - - - - - -
13377.24 944.25 -5.72 1429 13381.30 no move -1.18 - - 2227.31 - - - 2191.12 - -77.86 - - 3205.50 - - - - - - - - - - -
13687.42 961.50 -5.52 1460 13691.48 no move -1.18 - - 2226.94 - - - 2190.94 - -77.86 - - 3205.31 - - - - - - - - - - -
13997.59 978.41 -5.41 1491 14001.65 no move -1.18 - - 2227.19 - - - 2190.44 - -77.86 - - 3205.00 - - - - - - - - - - -
14226 end dive: TARGET_DEPTH_EXCEEDED
14227 begin apogee
14232.50 990.28 -4.83 1514 14339.88 -0.31 1.63 0.135 2439.31 130.1 0.14 0.162 2185.56 -34.9 - 66.73 2.348 2888.62 -4.7 0.346 - - - - - - 15.60 15.17 10.02
14352 end apogee: CONTROL_FINISHED_OK
14353 begin climb
14356.22 991.67 - 1521 14485.61 1.18 2.62 0.092 2805.25 139.7 3.14 0.079 1147.00 -330.8 77.86 68.35 2.324 2572.66 -4.6 0.341 - - - - - - 15.54 15.03 11.41
14493.26 985.72 5.45 1535 14512.90 roll back 1.34 0.23 0.079 2851.50 201.1 2.90 0.028 2274.00 388.6 77.86 - - 2567.19 - - - - - - - - 15.38 15.50 -
14819.51 963.75 6.70 1567 14840.93 done 1.42 - - 2851.50 - 3.31 0.094 3352.69 325.9 77.86 - - 2562.88 - - - - - - - - - 15.64 -
14862.79 960.69 6.89 1572 14881.16 done 1.49 - - 2850.25 - 2.82 0.021 2201.69 -408.2 77.86 - - 2565.12 - - - - - - - - - 15.77 -
15187.69 939.12 6.13 1604 15209.95 1.60 0.35 0.065 2917.94 193.4 3.05 0.076 1145.38 -346.3 77.86 - - 2561.22 - - - - - - - - 15.77 15.71 -
15265.46 933.02 8.29 1616 15284.81 done 1.60 - - 2918.44 - 2.86 0.030 2274.56 394.8 77.86 - - 2563.00 - - - - - - - - - 15.72 -
15591.30 908.75 7.12 1648 15595.36 VBD 1.66 - - 2918.00 - - - 2274.62 - 77.86 - - 2561.75 - - - - - - - - - - -
15901.86 886.77 6.83 1679 15905.92 VBD 1.73 - - 2918.31 - - - 2275.12 - 77.86 - - 2560.69 - - - - - - - - - - -
16212.40 866.11 6.59 1710 16235.08 1.82 0.25 0.071 2969.88 206.3 3.24 0.072 1145.88 -348.5 77.86 - - 2560.44 - - - - - - - - 15.85 15.77 -
16276.66 861.23 8.18 1719 16294.66 done 1.82 - - 2969.50 - 2.85 0.030 2273.31 395.6 77.86 - - 2561.88 - - - - - - - - - 15.92 -
16600.73 836.82 7.72 1751 16620.35 done 1.82 - - 2969.88 - 3.22 0.072 1145.44 -350.3 77.86 - - 2560.84 - - - - - - - - - 15.77 -
16670.86 831.43 8.08 1762 16689.84 done 1.82 - - 2970.56 - 2.85 0.030 2273.56 395.8 77.86 - - 2561.91 - - - - - - - - - 15.92 -
16995.93 806.64 7.69 1794 16999.99 VBD 1.82 - - 2969.88 - - - 2272.62 - 77.86 - - 2559.28 - - - - - - - - - - -
17306.11 780.98 8.62 1825 17310.17 VBD 1.82 - - 2970.25 - - - 2273.81 - 77.86 - - 2559.12 - - - - - - - - - - -
17616.29 754.50 8.86 1856 17620.35 VBD 1.82 - - 2969.88 - - - 2273.31 - 77.86 - - 2559.72 - - - - - - - - - - -
17926.46 728.16 8.44 1887 17930.53 VBD 1.82 - - 2970.94 - - - 2273.31 - 77.86 - - 2558.78 - - - - - - - - - - -
18236.61 701.79 8.46 1918 18256.25 done 1.82 - - 2970.50 - 3.22 0.071 1145.62 -350.2 77.86 - - 2559.00 - - - - - - - - - 15.76 -
18322.72 694.29 8.76 1932 18341.36 done 1.82 - - 2970.06 - 2.86 0.030 2274.56 394.7 77.86 - - 2560.25 - - - - - - - - - 15.93 -
18647.98 669.07 7.33 1964 18667.60 done 1.86 - - 2970.12 - 3.23 0.071 1145.00 -349.7 77.86 - - 2559.22 - - - - - - - - - 15.73 -
18724.08 662.93 8.09 1976 18742.08 done 1.86 - - 2970.19 - 2.83 0.030 2273.00 398.6 77.86 - - 2561.31 - - - - - - - - - 15.92 -
19048.61 640.71 6.80 2008 19052.67 VBD 1.94 - - 2970.19 - - - 2273.62 - 77.86 - - 2558.53 - - - - - - - - - - -
19359.16 620.99 6.29 2039 19364.73 2.04 0.19 0.080 3014.25 231.9 - - 2273.50 - 77.86 - - 2559.72 - - - - - - - - 15.90 - -
19671.22 598.60 7.27 2070 19675.28 VBD 2.09 - - 3014.88 - - - 2273.38 - 77.86 - - 2558.72 - - - - - - - - - - -
19981.82 575.59 7.49 2101 19985.88 VBD 2.12 - - 3014.94 - - - 2273.62 - 77.86 - - 2558.25 - - - - - - - - - - -
20291.98 551.77 7.71 2132 20311.60 done 2.12 - - 3015.38 - 3.23 0.070 1146.50 -349.0 77.86 - - 2557.75 - - - - - - - - - 15.73 -
20378.08 544.87 7.99 2146 20396.08 done 2.12 - - 3015.69 - 2.85 0.030 2274.12 395.7 77.86 - - 2559.38 - - - - - - - - - 15.92 -
20702.85 520.29 7.51 2178 20722.55 done 2.16 - - 3015.75 - 3.28 0.092 3350.19 328.1 77.86 - - 2557.31 - - - - - - - - - 15.68 -
20759.14 515.48 8.14 2186 20776.95 done 2.16 - - 3015.69 - 2.79 0.021 2200.00 -412.3 77.86 - - 2559.41 - - - - - - - - - 15.95 -
21083.46 493.22 6.53 2218 21102.29 2.25 - - 3015.69 - 3.04 0.074 1146.81 -346.4 77.86 - - 2557.34 - - - - - - - - - 15.59 -
21143.20 489.32 6.82 2227 21162.17 2.32 - - 3015.12 - 2.84 0.029 2277.00 398.0 77.86 - - 2559.22 - - - - - - - - - 15.92 -
21468.69 468.90 6.26 2259 21488.32 2.43 - - 3015.19 - 3.25 0.069 1145.56 -348.1 77.86 - - 2560.16 - - - - - - - - - 15.71 -
21595.20 460.58 6.47 2281 21613.21 2.52 - - 3015.00 - 2.86 0.029 2275.88 395.2 77.86 - - 2559.31 - - - - - - - - - 15.82 -
21919.74 440.70 5.89 2313 21939.37 2.65 - - 3015.75 - 3.27 0.091 3349.75 328.4 77.86 - - 2559.59 - - - - - - - - - 15.66 -
22026.37 434.09 6.26 2331 22044.28 2.76 - - 3015.94 - 2.80 0.021 2200.12 -410.6 77.86 - - 2559.56 - - - - - - - - - 15.88 -
22350.91 416.42 5.35 2363 22354.99 2.92 - - 3016.19 - - - 2197.88 - 77.86 - - 2558.06 - - - - - - - - - - -
22661.49 400.34 5.01 2394 22757.72 3.05 - - 3015.81 - 3.07 0.076 1146.25 -342.6 140.73 52.12 1.641 2315.16 -4.7 0.197 - - - - - - - 15.33 10.42
22789.20 390.50 9.05 2412 22807.22 roll back 3.05 - - 3015.62 - 2.87 0.029 2274.75 393.2 140.73 - - 2310.34 - - - - - - - - - 15.73 -
23113.46 357.31 10.70 2444 23117.53 3.05 - - 3016.12 - - - 2274.62 - 140.73 - - 2306.41 - - - - - - - - - - -
23423.61 324.55 10.17 2475 23443.35 3.05 - - 3014.25 - 3.28 0.092 3350.19 327.9 140.73 - - 2306.25 - - - - - - - - - 15.46 -
23499.81 315.88 11.53 2487 23517.93 3.05 - - 3015.81 - 2.79 0.021 2202.50 -411.4 140.73 - - 2307.12 - - - - - - - - - 15.86 -
23824.00 284.06 9.13 2519 23842.82 3.05 - - 3014.25 - 3.04 0.074 1146.75 -347.3 140.73 - - 2306.22 - - - - - - - - - 15.60 -
23939.34 273.36 9.17 2539 23957.58 3.05 - - 3015.62 - 2.82 0.029 2275.50 400.3 140.73 - - 2305.62 - - - - - - - - - 15.89 -
24263.82 245.61 8.44 2571 24267.96 3.05 - - 3016.12 - - - 2275.56 - 140.73 - - 2304.38 - - - - - - - - - - -
24574.12 219.01 8.81 2602 24578.24 3.05 - - 3015.44 - - - 2275.50 - 140.73 - - 2304.62 - - - - - - - - - - -
24884.40 193.15 8.23 2633 24888.52 3.05 - - 3016.56 - - - 2275.50 - 140.73 - - 2304.00 - - - - - - - - - - -
25194.65 168.24 7.75 2664 25214.52 3.05 - - 3015.56 - 3.27 0.070 1146.38 -345.3 140.73 - - 2305.19 - - - - - - - - - 15.50 -
25281.05 161.19 8.36 2678 25299.28 3.05 - - 3016.00 - 2.86 0.028 2275.19 394.7 140.73 - - 2304.78 - - - - - - - - - 15.86 -
25605.45 135.44 7.73 2710 25625.30 3.05 - - 3015.50 - 3.28 0.090 3351.00 328.0 140.73 - - 2304.22 - - - - - - - - - 15.47 -
25715.86 125.71 8.79 2729 25735.05 3.05 - - 3016.19 - 2.82 0.020 2201.44 -407.6 140.73 - - 2305.62 - - - - - - - - - 15.74 -
26041.61 100.80 6.93 2761 26045.72 3.11 - - 3015.81 - - - 2198.81 - 140.73 - - 2303.88 - - - - - - - - - - -
26352.28 83.25 5.28 2821 26359.61 3.28 - - 3015.81 - - - 2198.75 - 140.73 - - 2304.88 - - - - - - - - - - -
26546.26 74.28 4.35 2859 26651.44 3.43 - - 3015.88 - 3.05 0.074 1144.06 -345.8 217.24 60.83 1.216 2003.97 -4.9 0.052 - - - - - - - 15.39 11.06
26727.96 61.08 8.88 2887 26747.16 roll back 3.43 - - 3016.25 - 2.86 0.027 2275.19 395.5 217.24 - - 1996.47 - - - - - - - - - 15.60 -
26933.74 52.12 2.73 2925 27075.86 3.65 - - 3015.50 - 3.32 0.069 1145.31 -340.3 327.15 85.50 1.171 1555.62 -5.2 0.040 - - - - - - - 15.25 11.38
27227.53 32.34 8.59 2973 27247.15 3.65 - - 3016.06 - 2.88 0.027 2274.62 392.1 327.15 - - 1545.91 - - - - - - - - - 15.55 -
27433.41 14.43 9.03 3011 27440.35 3.65 - - 3016.25 - - - 2274.31 - 327.15 - - 1544.03 - - - - - - - - - - -
27555 end climb: SURFACE_DEPTH_REACHED
27556 begin surface coast
27617 end surface coast: CONTROL_FINISHED_OK
27617 begin surface
SM 1.10 - - - - 180.6 80.93 1.109 1136.9 14.0 19.89 0.049 1140.3 57.3 - 0.12 0.085 1133.5 9445.8 -12.494 - - 11.01 15.74 15.82 -