NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 680 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 230.73 of 506.00 AH used of 24V (54.40% remains)
• Surface angle -62.7 deg, depth 1.23 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.80 (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
12 begin dive
19.33 - - - 126.40 VBD -1.18 - - 178.31 - - - 2184.50 - -77.86 75.58 0.005 2993.38 - - - - - - - - - - 14.68
128.61 3.67 -3.44 15 240.46 -1.18 17.54 0.205 2228.00 116.9 3.44 0.077 3352.88 339.6 -77.86 3.05 0.011 3210.62 71.2 -4.088 - - - - - - 15.23 14.91 15.03
247.50 37.02 -15.44 21 266.68 roll -1.18 - - 2228.50 - 2.82 0.018 2200.19 -408.8 -77.86 - - 3211.75 - - - - - - - - - 15.69 -
452.88 61.43 -10.91 59 472.85 roll -1.18 - - 2228.56 - 3.04 0.068 1144.38 -347.3 -77.86 - - 3212.28 - - - - - - - - - 15.52 -
484.28 64.91 -11.24 62 503.05 roll -1.18 - - 2228.44 - 2.81 0.023 2278.50 403.6 -77.86 - - 3212.62 - - - - - - - - - 15.73 -
689.13 81.49 -8.77 100 709.90 roll -1.18 - - 2228.56 - 3.24 0.063 1143.69 -350.2 -77.86 - - 3212.91 - - - - - - - - - 15.62 -
751.33 87.56 -9.66 109 769.71 roll -1.18 - - 2227.38 - 2.80 0.023 2280.12 405.9 -77.86 - - 3212.97 - - - - - - - - - 15.70 -
955.78 105.16 -8.25 141 974.78 roll -1.18 - - 2227.06 - 3.16 0.080 3353.00 339.5 -77.86 - - 3214.03 - - - - - - - - - 15.63 -
1035.25 112.59 -9.39 154 1053.64 roll -1.18 - - 2228.12 - 2.80 0.018 2192.75 -414.4 -77.86 - - 3212.72 - - - - - - - - - 15.64 -
1359.68 136.17 -6.72 186 1377.91 roll -1.18 - - 2227.38 - 2.97 0.067 1143.88 -353.2 -77.86 - - 3212.91 - - - - - - - - - 15.76 -
1438.40 141.79 -7.04 199 1457.00 roll -1.18 - - 2228.00 - 2.78 0.023 2281.06 409.1 -77.86 - - 3212.56 - - - - - - - - - 15.84 -
1763.24 161.64 -5.82 231 1782.89 roll -1.18 - - 2226.88 - 3.23 0.063 1143.38 -352.2 -77.86 - - 3213.25 - - - - - - - - - 15.60 -
1873.40 168.66 -6.51 250 1892.38 roll -1.18 - - 2227.94 - 2.78 0.023 2279.94 408.8 -77.86 - - 3213.16 - - - - - - - - - 15.74 -
2198.48 191.35 -7.74 282 2218.13 roll -1.18 - - 2226.88 - 3.21 0.063 1144.12 -353.8 -77.86 - - 3214.22 - - - - - - - - - 15.72 -
2244.60 195.18 -8.20 288 2262.22 roll -1.18 - - 2228.06 - 2.80 0.023 2280.50 405.9 -77.86 - - 3212.66 - - - - - - - - - 15.77 -
2568.32 221.66 -8.25 320 2587.58 roll -1.18 - - 2228.06 - 3.19 0.063 1143.69 -356.4 -77.86 - - 3212.66 - - - - - - - - - 15.78 -
2634.06 226.96 -7.93 330 2651.68 roll -1.18 - - 2226.75 - 2.80 0.023 2279.38 405.6 -77.86 - - 3214.41 - - - - - - - - - 15.82 -
2957.81 248.28 -6.39 362 2962.26 no move -1.18 - - 2227.88 - - - 2280.06 - -77.86 - - 3212.47 - - - - - - - - - - -
3268.36 268.51 -6.68 393 3287.84 roll -1.18 - - 2227.44 - 3.14 0.083 3351.75 341.3 -77.86 - - 3215.09 - - - - - - - - - 15.77 -
3294.42 270.44 -7.23 395 3312.06 roll -1.18 - - 2228.31 - 2.78 0.018 2191.19 -417.5 -77.86 - - 3213.06 - - - - - - - - - 15.94 -
3618.18 291.69 -6.43 427 3639.65 roll -1.18 - - 2228.25 - 3.38 0.078 3352.62 343.6 -77.86 - - 3212.66 - - - - - - - - - 15.79 -
3691.13 297.38 -7.68 438 3708.75 roll -1.18 - - 2228.62 - 2.78 0.018 2191.19 -417.8 -77.86 - - 3213.62 - - - - - - - - - 15.94 -
4014.88 320.26 -7.07 470 4018.95 no move -1.18 - - 2228.12 - - - 2189.50 - -77.86 - - 3212.84 - - - - - - - - - - -
4325.07 344.23 -8.56 501 4329.13 no move -1.18 - - 2227.88 - - - 2189.25 - -77.86 - - 3212.12 - - - - - - - - - - -
4635.26 369.26 -8.10 532 4639.32 no move -1.18 - - 2228.00 - - - 2189.62 - -77.86 - - 3212.31 - - - - - - - - - - -
4945.41 393.36 -7.37 563 4967.28 roll -1.18 - - 2228.69 - 3.40 0.079 3353.88 342.4 -77.86 - - 3212.25 - - - - - - - - - 15.77 -
4992.79 397.47 -8.52 569 5011.76 roll -1.18 - - 2228.19 - 2.78 0.019 2192.12 -417.9 -77.86 - - 3213.59 - - - - - - - - - 15.93 -
5317.90 420.70 -7.01 601 5321.96 no move -1.18 - - 2228.06 - - - 2190.88 - -77.86 - - 3211.50 - - - - - - - - - - -
5628.08 440.77 -6.44 632 5632.14 no move -1.18 - - 2228.19 - - - 2191.06 - -77.86 - - 3212.41 - - - - - - - - - - -
5938.35 461.96 -6.89 663 5959.83 roll -1.18 - - 2227.94 - 3.39 0.080 3353.50 342.9 -77.86 - - 3213.12 - - - - - - - - - 15.77 -
5975.33 464.83 -7.38 667 5993.92 roll -1.18 - - 2227.69 - 2.78 0.019 2193.56 -417.2 -77.86 - - 3213.53 - - - - - - - - - 15.83 -
6300.05 488.02 -7.35 699 6318.48 roll -1.18 - - 2228.88 - 2.98 0.070 1144.44 -352.1 -77.86 - - 3211.62 - - - - - - - - - 15.80 -
6338.99 491.05 -7.49 704 6357.58 roll -1.18 - - 2227.69 - 2.75 0.025 2279.25 412.7 -77.86 - - 3213.38 - - - - - - - - - 15.97 -
6663.68 515.17 -7.70 736 6683.35 roll -1.18 - - 2227.94 - 3.21 0.065 1143.75 -353.7 -77.86 - - 3211.28 - - - - - - - - - 15.78 -
6699.83 518.00 -7.53 740 6717.97 roll -1.18 - - 2228.31 - 2.77 0.024 2280.06 410.2 -77.86 - - 3211.84 - - - - - - - - - 15.97 -
7024.10 540.62 -6.62 772 7043.34 roll -1.18 - - 2227.56 - 3.19 0.065 1144.62 -355.9 -77.86 - - 3211.53 - - - - - - - - - 15.79 -
7103.87 545.93 -6.70 785 7122.70 roll -1.18 - - 2227.88 - 2.78 0.025 2278.25 407.8 -77.86 - - 3213.28 - - - - - - - - - 15.97 -
7428.94 564.08 -5.08 817 7448.62 roll -1.18 - - 2228.00 - 3.20 0.065 1144.50 -354.3 -77.86 - - 3210.12 - - - - - - - - - 15.79 -
7475.10 566.44 -5.10 823 7492.73 roll -1.18 - - 2227.56 - 2.76 0.024 2278.31 410.8 -77.86 - - 3212.72 - - - - - - - - - 15.97 -
7798.85 583.22 -5.77 855 7818.10 roll -1.18 - - 2228.06 - 3.20 0.065 1145.06 -354.1 -77.86 - - 3209.50 - - - - - - - - - 15.79 -
7908.61 590.62 -6.74 874 7927.83 roll -1.18 - - 2228.62 - 2.80 0.025 2277.25 404.4 -77.86 - - 3210.59 - - - - - - - - - 15.94 -
8233.96 610.43 -6.15 906 8253.61 roll -1.18 - - 2228.12 - 3.20 0.065 1145.25 -353.8 -77.86 - - 3211.06 - - - - - - - - - 15.79 -
8290.09 614.33 -6.82 914 8307.71 roll -1.18 - - 2227.38 - 2.80 0.025 2279.00 404.9 -77.86 - - 3211.31 - - - - - - - - - 15.95 -
8613.85 634.84 -5.91 946 8617.91 no move -1.18 - - 2227.81 - - - 2279.00 - -77.86 - - 3209.12 - - - - - - - - - - -
8924.04 652.72 -5.50 977 8944.06 roll -1.18 - - 2227.75 - 3.24 0.065 1145.38 -349.9 -77.86 - - 3208.22 - - - - - - - - - 15.64 -
9000.66 657.27 -5.78 989 9018.28 roll -1.18 - - 2227.38 - 2.78 0.025 2278.06 407.4 -77.86 - - 3210.62 - - - - - - - - - 15.97 -
9324.39 674.58 -5.57 1021 9343.64 roll -1.18 - - 2227.75 - 3.19 0.065 1145.19 -355.1 -77.86 - - 3208.75 - - - - - - - - - 15.77 -
9360.12 676.78 -5.83 1025 9377.75 roll -1.18 - - 2228.19 - 2.77 0.025 2278.31 409.1 -77.86 - - 3209.28 - - - - - - - - - 15.97 -
9683.88 695.21 -5.96 1057 9703.14 roll -1.18 - - 2228.06 - 3.17 0.087 3351.12 338.4 -77.86 - - 3206.72 - - - - - - - - - 15.72 -
9723.64 697.60 -6.20 1062 9742.23 roll -1.18 - - 2227.88 - 2.77 0.019 2190.88 -418.9 -77.86 - - 3208.56 - - - - - - - - - 15.96 -
10048.54 715.62 -5.65 1094 10066.98 roll -1.18 - - 2228.19 - 2.95 0.070 1145.94 -354.2 -77.86 - - 3207.06 - - - - - - - - - 15.76 -
10097.49 718.80 -6.12 1101 10116.10 roll -1.18 - - 2228.44 - 2.77 0.025 2278.56 408.9 -77.86 - - 3207.66 - - - - - - - - - 15.96 -
10422.23 738.17 -6.04 1133 10426.29 no move -1.18 - - 2228.62 - - - 2279.00 - -77.86 - - 3206.94 - - - - - - - - - - -
10732.39 754.95 -5.56 1164 10736.70 no move -1.18 - - 2228.56 - - - 2278.88 - -77.86 - - 3207.50 - - - - - - - - - - -
11043.35 771.92 -4.72 1195 11047.41 no move -1.18 - - 2228.50 - - - 2279.31 - -77.86 - - 3205.75 - - - - - - - - - - -
11353.92 784.19 -3.93 1226 11373.59 roll -1.18 - - 2228.19 - 3.22 0.067 1144.88 -352.3 -77.86 - - 3205.28 - - - - - - - - - 15.75 -
11440.60 788.02 -4.26 1240 11458.65 roll -1.18 - - 2228.38 - 2.78 0.026 2278.38 407.7 -77.86 - - 3207.38 - - - - - - - - - 15.96 -
11765.18 803.29 -4.37 1272 11784.84 roll -1.18 - - 2228.31 - 3.20 0.067 1144.75 -354.3 -77.86 - - 3204.75 - - - - - - - - - 15.74 -
11851.73 807.63 -4.98 1286 11869.36 roll -1.18 - - 2228.00 - 2.79 0.026 2278.38 406.3 -77.86 - - 3206.06 - - - - - - - - - 15.94 -
12134 end dive: TARGET_DEPTH_EXCEEDED
12135 begin apogee
12140.66 819.19 -3.75 1314 12245.65 -0.31 1.62 0.132 2439.19 130.4 0.22 0.123 2284.00 25.5 - 64.90 2.113 2890.38 -4.9 0.324 - - - - - - 15.65 15.17 10.10
12250 end apogee: CONTROL_FINISHED_OK
12251 begin climb
12253.85 820.51 - 1321 12383.44 1.18 2.59 0.091 2806.19 141.7 3.31 0.094 3351.19 322.4 77.86 66.00 2.096 2571.50 -4.8 0.325 - - - - - - 15.57 15.06 11.36
12390.14 814.54 5.99 1330 12410.39 roll back 1.31 0.17 0.086 2844.62 226.1 2.84 0.020 2197.06 -406.4 77.86 - - 2567.53 - - - - - - - - 15.44 15.54 -
12716.99 795.08 6.30 1362 12735.42 done 1.41 - - 2844.25 - 3.00 0.073 1145.19 -350.6 77.86 - - 2565.56 - - - - - - - - - 15.69 -
12826.36 787.58 6.76 1381 12847.00 1.49 0.21 0.075 2890.44 220.0 2.82 0.028 2276.06 401.0 77.86 - - 2564.16 - - - - - - - - 15.62 15.79 -
13153.51 765.03 7.02 1413 13173.40 done 1.55 - - 2891.94 - 3.20 0.069 1145.19 -353.4 77.86 - - 2562.78 - - - - - - - - - 15.74 -
13274.34 756.48 7.02 1434 13293.33 done 1.61 - - 2891.31 - 2.82 0.029 2276.06 401.0 77.86 - - 2562.28 - - - - - - - - - 15.88 -
13600.06 735.49 6.16 1466 13622.35 1.72 0.27 0.067 2947.06 206.5 3.20 0.090 3352.06 336.2 77.86 - - 2559.75 - - - - - - - - 15.85 15.73 -
13673.93 729.86 7.89 1477 13691.57 done 1.72 - - 2946.62 - 2.77 0.021 2199.50 -416.1 77.86 - - 2561.72 - - - - - - - - - 15.91 -
13998.05 707.29 6.74 1509 14002.11 VBD 1.80 - - 2947.06 - - - 2198.69 - 77.86 - - 2559.66 - - - - - - - - - - -
14308.64 685.16 6.58 1540 14331.75 1.89 0.17 0.084 2988.75 245.2 3.40 0.086 3350.31 338.7 77.86 - - 2558.81 - - - - - - - - 15.85 15.73 -
14427.27 674.66 8.93 1560 14445.88 done 1.89 - - 2989.12 - 2.80 0.021 2202.12 -410.1 77.86 - - 2560.47 - - - - - - - - - 15.90 -
14752.00 650.43 7.69 1592 14773.88 done 1.89 - - 2989.62 - 3.40 0.085 3352.19 338.3 77.86 - - 2558.16 - - - - - - - - - 15.75 -
14859.39 641.07 8.47 1610 14877.99 done 1.89 - - 2988.88 - 2.78 0.021 2201.38 -414.0 77.86 - - 2560.47 - - - - - - - - - 15.94 -
15184.51 617.78 6.75 1642 15206.22 done 1.97 - - 2989.75 - 3.38 0.085 3352.88 340.7 77.86 - - 2558.47 - - - - - - - - - 15.73 -
15308.24 608.82 7.41 1663 15325.87 done 2.01 - - 2989.31 - 2.78 0.021 2202.69 -413.7 77.86 - - 2560.38 - - - - - - - - - 15.93 -
15632.37 587.65 6.11 1695 15637.17 2.12 0.06 0.154 3015.44 435.5 - - 2201.06 - 77.86 - - 2561.34 - - - - - - - - 15.85 - -
15943.69 567.71 6.44 1726 15962.55 2.22 - - 3016.00 - 3.02 0.074 1145.50 -349.5 77.86 - - 2558.09 - - - - - - - - - 15.75 -
16129.49 555.35 6.82 1760 16147.53 2.29 - - 3016.25 - 2.81 0.029 2277.25 402.8 77.86 - - 2560.53 - - - - - - - - - 15.92 -
16454.04 536.28 5.63 1792 16473.32 2.44 - - 3015.19 - 3.16 0.089 3350.25 339.6 77.86 - - 2561.31 - - - - - - - - - 15.73 -
16624.29 525.68 6.34 1823 16643.30 2.54 - - 3016.31 - 2.76 0.020 2199.94 -416.8 77.86 - - 2559.22 - - - - - - - - - 15.93 -
16949.80 507.69 5.33 1855 16968.24 2.71 - - 3016.69 - 2.97 0.073 1143.44 -355.7 77.86 - - 2557.38 - - - - - - - - - 15.75 -
17199.22 491.64 6.67 1902 17218.24 2.79 - - 3016.19 - 2.80 0.029 2279.12 405.6 77.86 - - 2559.03 - - - - - - - - - 15.94 -
17524.86 472.49 5.77 1934 17528.93 2.92 - - 3016.00 - - - 2278.56 - 77.86 - - 2557.00 - - - - - - - - - - -
17835.47 454.95 5.76 1965 17839.54 3.06 - - 3015.81 - - - 2278.38 - 77.86 - - 2557.75 - - - - - - - - - - -
18146.04 438.78 4.76 1996 18227.60 3.20 - - 3016.50 - - - 2279.00 - 145.74 55.75 1.669 2295.19 -4.7 0.213 - - - - - - - - 10.42
18533.71 406.74 8.64 2036 18537.78 3.20 - - 3016.12 - - - 2278.88 - 145.74 - - 2286.91 - - - - - - - - - - -
18844.03 377.57 9.35 2067 18863.70 3.20 - - 3016.06 - 3.24 0.070 1145.00 -350.0 145.74 - - 2286.28 - - - - - - - - - 15.70 -
18934.22 368.49 9.97 2082 18953.25 3.20 - - 3016.25 - 2.83 0.029 2274.69 399.2 145.74 - - 2284.69 - - - - - - - - - 15.82 -
19259.35 336.95 9.83 2114 19279.35 3.20 - - 3015.56 - 3.20 0.070 1145.06 -353.0 145.74 - - 2284.72 - - - - - - - - - 15.73 -
19320.03 330.74 10.21 2123 19339.26 3.20 - - 3016.19 - 2.81 0.028 2274.19 401.8 145.74 - - 2284.88 - - - - - - - - - 15.89 -
19645.40 301.83 8.38 2155 19664.91 3.20 - - 3016.19 - 3.20 0.069 1145.75 -352.6 145.74 - - 2282.50 - - - - - - - - - 15.72 -
19705.47 296.27 8.91 2164 19724.70 3.20 - - 3016.50 - 2.82 0.028 2275.44 400.6 145.74 - - 2283.50 - - - - - - - - - 15.72 -
20030.87 269.04 8.18 2196 20050.38 3.20 - - 3016.06 - 3.19 0.069 1145.62 -354.2 145.74 - - 2282.16 - - - - - - - - - 15.70 -
20100.94 262.54 9.11 2207 20120.17 3.20 - - 3016.62 - 2.79 0.028 2276.44 405.3 145.74 - - 2282.94 - - - - - - - - - 15.92 -
20426.34 236.87 8.01 2239 20445.83 3.20 - - 3016.38 - 3.20 0.068 1145.25 -353.5 145.74 - - 2284.62 - - - - - - - - - 15.73 -
20472.36 233.00 8.45 2245 20491.03 3.20 - - 3015.75 - 2.81 0.027 2274.81 402.0 145.74 - - 2283.81 - - - - - - - - - 15.68 -
20797.20 207.03 8.10 2277 20816.71 3.20 - - 3016.12 - 3.17 0.088 3352.12 339.8 145.74 - - 2281.56 - - - - - - - - - 15.70 -
20853.33 201.89 9.36 2285 20871.28 3.20 - - 3017.50 - 2.78 0.020 2200.50 -414.3 145.74 - - 2283.00 - - - - - - - - - 15.79 -
21177.42 176.07 7.79 2317 21199.14 3.20 - - 3016.69 - 3.38 0.084 3353.31 341.1 145.74 - - 2282.62 - - - - - - - - - 15.58 -
21250.66 169.69 8.83 2328 21268.54 3.20 - - 3016.31 - 2.77 0.020 2199.38 -416.6 145.74 - - 2282.81 - - - - - - - - - 15.88 -
21575.09 145.45 6.93 2360 21593.76 3.27 - - 3016.44 - 2.98 0.071 1144.88 -353.9 145.74 - - 2281.84 - - - - - - - - - 15.61 -
21710.31 135.24 7.80 2384 21728.57 3.27 - - 3016.69 - 2.78 0.027 2277.50 407.4 145.74 - - 2282.69 - - - - - - - - - 15.81 -
22035.13 114.86 5.88 2416 22054.66 3.40 - - 3016.00 - 3.16 0.086 3351.94 340.0 145.74 - - 2284.28 - - - - - - - - - 15.58 -
22175.66 105.06 6.79 2441 22194.87 3.47 - - 3017.00 - 2.76 0.020 2197.62 -418.2 145.74 - - 2282.81 - - - - - - - - - 15.72 -
22501.49 86.72 4.39 2497 22605.92 3.62 - - 3015.31 - 2.98 0.072 1146.31 -352.8 221.38 59.94 1.190 1988.28 -4.9 0.062 - - - - - - - 15.34 10.90
22682.97 76.19 5.47 2525 22701.78 roll back 3.78 - - 3016.81 - 2.80 0.025 2278.69 404.4 221.38 - - 1980.47 - - - - - - - - - 15.64 -
22888.38 68.89 3.39 2563 23015.62 3.97 - - 3016.56 - 3.21 0.087 3350.81 334.0 317.70 75.19 1.153 1593.38 -5.1 0.053 - - - - - - - 15.28 11.32
23092.27 54.36 9.39 2594 23111.90 roll back 3.97 - - 3016.94 - 2.81 0.019 2202.50 -408.7 317.70 - - 1587.16 - - - - - - - - - 15.62 -
23298.08 36.91 8.47 2632 23318.76 3.97 - - 3016.25 - 3.02 0.071 1145.19 -350.1 317.70 - - 1585.41 - - - - - - - - - 15.52 -
23425.40 25.23 9.12 2654 23444.21 3.97 - - 3016.31 - 2.80 0.026 2280.50 405.5 317.70 - - 1582.69 - - - - - - - - - 15.63 -
23630.35 7.96 8.82 2692 23637.28 3.97 - - 3016.44 - - - 2280.94 - 317.70 - - 1581.66 - - - - - - - - - - -
23677 end climb: SURFACE_DEPTH_REACHED
23678 begin surface coast
23734 end surface coast: CONTROL_FINISHED_OK
23734 begin surface
SM 1.21 - - - - 179.4 86.71 1.076 1137.8 13.1 19.85 0.046 1138.4 57.4 - 0.12 0.083 1137.2 9476.7 -14.120 - - 11.00 15.78 15.85 -