NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 610 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 208.79 of 506.00 AH used of 24V (58.74% remains)
• Surface angle -58.3 deg, depth 0.85 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.78 (SM_CC=430)
• GPS1 time: 34 s
• GPS2 time: 1 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
19.24 - - - 133.20 VBD -1.18 - - 178.12 - - - 2296.50 - -77.86 80.69 0.005 3041.88 - - - - - - - - - - 14.73
135.42 3.63 -3.76 16 231.85 -1.18 17.47 0.215 2227.06 117.3 - - 2296.56 - -77.86 2.21 0.014 3208.62 75.4 -3.387 - - - - - - 15.24 - 15.02
417.91 60.81 -10.40 58 438.22 roll -1.18 - - 2227.88 - 3.26 0.065 1146.31 -352.8 -77.86 - - 3212.16 - - - - - - - - - 15.55 -
504.77 70.71 -11.88 72 523.50 roll -1.18 - - 2228.00 - 2.83 0.024 2277.94 399.9 -77.86 - - 3211.97 - - - - - - - - - 15.59 -
709.54 91.11 -9.26 110 729.46 roll -1.18 - - 2227.50 - 3.19 0.082 3351.88 336.7 -77.86 - - 3212.84 - - - - - - - - - 15.62 -
800.89 100.18 -10.20 125 820.01 roll -1.18 - - 2228.75 - 2.80 0.018 2193.31 -413.8 -77.86 - - 3212.28 - - - - - - - - - 15.69 -
1126.07 127.41 -7.30 157 1144.24 roll -1.18 - - 2227.62 - 2.96 0.069 1145.19 -354.1 -77.86 - - 3211.12 - - - - - - - - - 15.75 -
1194.70 133.02 -7.95 168 1213.02 roll -1.18 - - 2227.69 - 2.80 0.024 2278.62 404.8 -77.86 - - 3213.56 - - - - - - - - - 15.75 -
1519.09 158.32 -8.26 200 1523.11 no move -1.18 - - 2228.56 - - - 2278.75 - -77.86 - - 3211.22 - - - - - - - - - - -
1829.16 183.44 -7.70 231 1848.51 roll -1.18 - - 2228.06 - 3.22 0.064 1145.00 -352.1 -77.86 - - 3212.19 - - - - - - - - - 15.68 -
1914.93 190.40 -8.24 245 1933.56 roll -1.18 - - 2227.62 - 2.81 0.024 2278.50 403.4 -77.86 - - 3212.81 - - - - - - - - - 15.77 -
2239.78 214.78 -7.31 277 2243.84 no move -1.18 - - 2227.62 - - - 2278.06 - -77.86 - - 3212.72 - - - - - - - - - - -
2549.92 236.43 -6.53 308 2569.52 roll -1.18 - - 2227.75 - 3.22 0.064 1145.88 -351.6 -77.86 - - 3212.34 - - - - - - - - - 15.70 -
2646.00 243.36 -7.22 324 2663.97 roll -1.18 - - 2227.50 - 2.81 0.024 2279.06 403.3 -77.86 - - 3213.78 - - - - - - - - - 15.93 -
2970.07 266.17 -7.28 356 2974.13 no move -1.18 - - 2228.56 - - - 2279.19 - -77.86 - - 3213.31 - - - - - - - - - - -
3280.22 289.92 -7.81 387 3299.81 roll -1.18 - - 2228.56 - 3.21 0.064 1145.19 -353.3 -77.86 - - 3212.72 - - - - - - - - - 15.80 -
3376.27 297.92 -8.41 403 3394.26 roll -1.18 - - 2228.44 - 2.82 0.025 2279.19 402.1 -77.86 - - 3213.75 - - - - - - - - - 15.93 -
3700.33 323.43 -8.00 435 3704.39 no move -1.18 - - 2228.06 - - - 2278.56 - -77.86 - - 3212.94 - - - - - - - - - - -
4010.46 347.76 -7.69 466 4030.07 roll -1.18 - - 2228.19 - 3.23 0.065 1145.38 -350.8 -77.86 - - 3212.47 - - - - - - - - - 15.73 -
4076.53 353.33 -8.24 476 4094.75 roll -1.18 - - 2227.12 - 2.81 0.025 2276.75 402.6 -77.86 - - 3214.53 - - - - - - - - - 15.92 -
4400.96 379.84 -8.04 508 4420.55 roll -1.18 - - 2228.44 - 3.22 0.065 1144.75 -351.6 -77.86 - - 3212.25 - - - - - - - - - 15.81 -
4457.01 384.56 -8.50 516 4474.99 roll -1.18 - - 2228.06 - 2.81 0.025 2275.56 402.4 -77.86 - - 3213.94 - - - - - - - - - 15.89 -
4781.30 409.75 -7.42 548 4785.38 no move -1.18 - - 2228.38 - - - 2276.19 - -77.86 - - 3212.25 - - - - - - - - - - -
5091.44 433.29 -7.47 579 5111.05 roll -1.18 - - 2228.31 - 3.22 0.065 1146.56 -350.8 -77.86 - - 3211.53 - - - - - - - - - 15.79 -
5131.54 436.62 -7.68 584 5150.08 roll -1.18 - - 2228.38 - 2.80 0.025 2276.50 403.6 -77.86 - - 3212.97 - - - - - - - - - 15.94 -
5456.19 461.04 -7.36 616 5460.25 no move -1.18 - - 2227.69 - - - 2277.31 - -77.86 - - 3212.00 - - - - - - - - - - -
5766.31 484.72 -7.84 647 5785.91 roll -1.18 - - 2228.69 - 3.21 0.066 1145.69 -352.5 -77.86 - - 3212.44 - - - - - - - - - 15.74 -
5812.36 488.45 -7.90 653 5830.74 roll -1.18 - - 2228.38 - 2.81 0.025 2277.31 402.7 -77.86 - - 3212.09 - - - - - - - - - 15.93 -
6136.84 512.44 -7.72 685 6140.90 no move -1.18 - - 2228.00 - - - 2277.19 - -77.86 - - 3210.41 - - - - - - - - - - -
6447.11 534.06 -6.73 716 6466.70 roll -1.18 - - 2228.62 - 3.22 0.066 1145.56 -351.4 -77.86 - - 3211.38 - - - - - - - - - 15.78 -
6513.17 538.95 -7.31 726 6531.15 roll -1.18 - - 2227.44 - 2.82 0.025 2276.69 401.1 -77.86 - - 3212.16 - - - - - - - - - 15.95 -
6837.24 560.82 -6.64 758 6841.31 no move -1.18 - - 2228.06 - - - 2276.94 - -77.86 - - 3209.91 - - - - - - - - - - -
7147.38 580.67 -6.32 789 7151.44 no move -1.18 - - 2228.25 - - - 2276.69 - -77.86 - - 3210.09 - - - - - - - - - - -
7457.49 600.98 -6.57 820 7477.08 roll -1.18 - - 2227.56 - 3.23 0.066 1145.38 -350.3 -77.86 - - 3210.75 - - - - - - - - - 15.79 -
7553.54 607.88 -7.19 836 7571.52 roll -1.18 - - 2228.44 - 2.83 0.026 2275.81 399.4 -77.86 - - 3210.38 - - - - - - - - - 15.95 -
7877.60 628.86 -6.45 868 7881.66 no move -1.18 - - 2228.50 - - - 2275.62 - -77.86 - - 3208.88 - - - - - - - - - - -
8187.75 649.21 -6.73 899 8207.34 roll -1.18 - - 2227.81 - 3.23 0.067 1145.38 -349.9 -77.86 - - 3208.84 - - - - - - - - - 15.76 -
8303.83 657.20 -7.10 919 8322.04 roll -1.18 - - 2227.69 - 2.83 0.026 2275.25 399.2 -77.86 - - 3209.59 - - - - - - - - - 15.97 -
8628.25 678.81 -6.81 951 8632.32 no move -1.18 - - 2227.31 - - - 2276.75 - -77.86 - - 3207.88 - - - - - - - - - - -
8938.42 698.31 -5.86 982 8942.48 no move -1.18 - - 2227.88 - - - 2276.94 - -77.86 - - 3207.38 - - - - - - - - - - -
9248.57 716.71 -5.89 1013 9252.63 no move -1.18 - - 2227.94 - - - 2276.69 - -77.86 - - 3206.97 - - - - - - - - - - -
9558.73 735.00 -6.12 1044 9578.33 roll -1.18 - - 2227.31 - 3.23 0.068 1145.31 -350.3 -77.86 - - 3209.59 - - - - - - - - - 15.76 -
9624.79 739.26 -6.49 1054 9642.79 roll -1.18 - - 2228.12 - 2.82 0.026 2275.12 400.6 -77.86 - - 3208.91 - - - - - - - - - 15.97 -
9948.92 758.11 -5.64 1086 9952.98 no move -1.18 - - 2228.56 - - - 2274.62 - -77.86 - - 3207.16 - - - - - - - - - - -
10259.06 775.55 -5.67 1117 10278.65 roll -1.18 - - 2228.19 - 3.22 0.067 1146.69 -350.3 -77.86 - - 3208.78 - - - - - - - - - 15.76 -
10355.12 781.37 -6.26 1133 10373.10 roll -1.18 - - 2227.56 - 2.84 0.026 2276.06 397.7 -77.86 - - 3208.16 - - - - - - - - - 15.94 -
10679.22 799.92 -5.79 1165 10699.06 roll -1.18 - - 2228.62 - 3.23 0.089 3350.62 332.7 -77.86 - - 3206.44 - - - - - - - - - 15.70 -
10735.66 803.35 -5.97 1173 10753.23 roll -1.18 - - 2228.19 - 2.78 0.020 2193.75 -416.1 -77.86 - - 3207.78 - - - - - - - - - 15.94 -
11059.31 822.34 -5.90 1205 11063.37 no move -1.18 - - 2228.12 - - - 2191.62 - -77.86 - - 3205.44 - - - - - - - - - - -
11369.45 840.55 -5.79 1236 11391.28 roll -1.18 - - 2228.12 - 3.45 0.085 3349.81 335.7 -77.86 - - 3207.31 - - - - - - - - - 15.69 -
11422.86 844.04 -5.81 1243 11440.44 roll -1.18 - - 2228.31 - 2.78 0.020 2193.81 -415.8 -77.86 - - 3206.47 - - - - - - - - - 15.96 -
11746.51 862.61 -5.51 1275 11765.30 roll -1.18 - - 2227.38 - 3.01 0.073 1146.44 -348.0 -77.86 - - 3204.34 - - - - - - - - - 15.64 -
11801.76 865.97 -6.30 1283 11820.14 roll -1.18 - - 2228.88 - 2.82 0.026 2277.31 401.0 -77.86 - - 3206.56 - - - - - - - - - 15.95 -
12126.24 883.92 -5.41 1315 12130.31 no move -1.18 - - 2228.06 - - - 2277.44 - -77.86 - - 3204.31 - - - - - - - - - - -
12436.39 900.20 -5.10 1346 12455.99 roll -1.18 - - 2228.12 - 3.23 0.068 1145.31 -350.5 -77.86 - - 3204.91 - - - - - - - - - 15.73 -
12492.46 903.37 -5.39 1354 12510.69 roll -1.18 - - 2228.25 - 2.81 0.026 2277.00 402.7 -77.86 - - 3205.03 - - - - - - - - - 15.94 -
12816.92 920.54 -5.72 1386 12820.98 no move -1.18 - - 2227.88 - - - 2277.25 - -77.86 - - 3204.16 - - - - - - - - - - -
13127.08 937.74 -5.68 1417 13146.70 roll -1.18 - - 2228.12 - 3.22 0.068 1145.19 -351.6 -77.86 - - 3203.81 - - - - - - - - - 15.59 -
13197.20 942.35 -6.29 1428 13216.15 roll -1.18 - - 2228.12 - 2.82 0.027 2277.12 401.4 -77.86 - - 3204.34 - - - - - - - - - 15.93 -
13522.25 961.59 -5.91 1460 13526.31 no move -1.18 - - 2227.81 - - - 2277.06 - -77.86 - - 3203.16 - - - - - - - - - - -
13832.39 979.13 -5.68 1491 13836.45 no move -1.18 - - 2227.88 - - - 2277.06 - -77.86 - - 3203.44 - - - - - - - - - - -
14042 end dive: TARGET_DEPTH_EXCEEDED
14042 begin apogee
14047.29 990.21 -5.33 1512 14154.02 -0.31 1.61 0.134 2440.19 131.9 0.20 0.135 2284.19 35.7 - 66.22 2.354 2888.41 -4.8 0.346 - - - - - - 15.62 15.16 10.07
14159 end apogee: CONTROL_FINISHED_OK
14159 begin climb
14162.17 991.69 - 1519 14291.96 1.18 2.60 0.091 2805.06 140.3 3.37 0.095 3351.62 316.7 77.86 68.14 2.326 2573.97 -4.6 0.341 - - - - - - 15.53 15.02 11.45
14299.60 985.61 6.11 1533 14317.59 roll 1.30 - - 2806.12 - 2.88 0.021 2204.25 -398.4 77.86 - - 2569.31 - - - - - - - - - 15.49 -
14624.22 964.87 6.91 1565 14646.06 1.37 0.28 0.076 2856.94 181.5 3.08 0.076 1145.88 -343.6 77.86 - - 2565.94 - - - - - - - - 15.70 15.64 -
14687.52 959.64 8.32 1574 14705.50 done 1.37 - - 2856.88 - 2.85 0.029 2274.69 396.1 77.86 - - 2564.44 - - - - - - - - - 15.78 -
15011.58 934.96 7.95 1606 15015.66 VBD 1.37 - - 2858.12 - - - 2274.38 - 77.86 - - 2561.28 - - - - - - - - - - -
15322.16 911.41 7.16 1637 15326.22 VBD 1.42 - - 2857.62 - - - 2275.25 - 77.86 - - 2560.78 - - - - - - - - - - -
15632.70 889.25 7.09 1668 15636.76 VBD 1.48 - - 2858.12 - - - 2273.94 - 77.86 - - 2560.28 - - - - - - - - - - -
15943.27 867.88 6.76 1699 15948.84 1.56 0.22 0.077 2905.88 217.1 - - 2274.56 - 77.86 - - 2561.16 - - - - - - - - 15.87 - -
16255.35 845.04 7.33 1730 16275.20 done 1.60 - - 2905.31 - 3.26 0.073 1145.94 -346.2 77.86 - - 2560.00 - - - - - - - - - 15.75 -
16362.20 836.89 7.54 1748 16380.58 done 1.63 - - 2904.44 - 2.84 0.030 2274.62 397.4 77.86 - - 2561.28 - - - - - - - - - 15.93 -
16687.04 814.83 6.28 1780 16692.21 1.74 0.19 0.080 2949.81 238.8 - - 2274.50 - 77.86 - - 2559.09 - - - - - - - - 15.88 - -
16998.70 793.90 6.72 1811 17002.76 VBD 1.81 - - 2950.31 - - - 2273.69 - 77.86 - - 2559.53 - - - - - - - - - - -
17309.28 773.04 6.72 1842 17313.34 VBD 1.89 - - 2950.06 - - - 2274.75 - 77.86 - - 2559.03 - - - - - - - - - - -
17620.05 751.87 7.03 1873 17642.71 1.96 0.25 0.073 3005.25 220.8 3.25 0.072 1145.00 -347.6 77.86 - - 2558.56 - - - - - - - - 15.86 15.77 -
17668.22 748.10 7.63 1879 17687.17 done 1.96 - - 3004.81 - 2.83 0.030 2274.81 399.2 77.86 - - 2561.28 - - - - - - - - - 15.93 -
17993.26 721.95 8.22 1911 18012.87 done 1.96 - - 3004.81 - 3.24 0.071 1146.75 -348.2 77.86 - - 2561.44 - - - - - - - - - 15.75 -
18059.33 716.25 8.65 1921 18077.72 done 1.96 - - 3005.06 - 2.86 0.030 2273.94 394.1 77.86 - - 2559.09 - - - - - - - - - 15.93 -
18383.81 689.33 8.81 1953 18403.64 done 1.96 - - 3004.44 - 3.24 0.092 3350.06 332.1 77.86 - - 2559.50 - - - - - - - - - 15.71 -
18520.24 676.88 9.22 1977 18537.84 done 1.96 - - 3005.31 - 2.79 0.022 2204.06 -410.8 77.86 - - 2558.56 - - - - - - - - - 15.92 -
18843.96 649.91 8.05 2009 18862.77 done 1.96 - - 3005.88 - 3.04 0.075 1145.75 -348.1 77.86 - - 2557.50 - - - - - - - - - 15.75 -
18939.24 641.63 8.49 2025 18957.22 done 1.96 - - 3005.56 - 2.83 0.030 2276.00 399.4 77.86 - - 2559.22 - - - - - - - - - 15.93 -
19263.71 616.54 7.32 2057 19267.77 VBD 2.00 - - 3005.50 - - - 2275.88 - 77.86 - - 2557.72 - - - - - - - - - - -
19574.31 594.62 7.05 2088 19578.38 VBD 2.06 - - 3005.06 - - - 2275.94 - 77.86 - - 2557.47 - - - - - - - - - - -
19884.87 573.20 6.63 2119 19904.49 2.14 - - 3004.62 - 3.25 0.071 1146.31 -347.6 77.86 - - 2558.31 - - - - - - - - - 15.74 -
19995.41 565.22 7.43 2138 20014.38 2.18 - - 3005.75 - 2.84 0.030 2275.88 397.7 77.86 - - 2558.34 - - - - - - - - - 15.91 -
20320.85 544.22 6.66 2170 20340.69 2.27 - - 3005.69 - 3.23 0.091 3350.38 332.7 77.86 - - 2559.12 - - - - - - - - - 15.69 -
20437.69 536.15 7.03 2190 20455.28 2.33 - - 3006.12 - 2.79 0.021 2201.75 -411.7 77.86 - - 2560.44 - - - - - - - - - 15.93 -
20761.76 515.54 6.78 2222 20765.83 2.40 - - 3006.31 - - - 2201.06 - 77.86 - - 2557.34 - - - - - - - - - - -
21072.35 496.28 5.99 2253 21076.42 2.53 - - 3006.31 - - - 2201.38 - 77.86 - - 2557.25 - - - - - - - - - - -
21382.90 477.36 6.38 2284 21401.72 2.63 - - 3005.81 - 3.04 0.075 1144.75 -347.6 77.86 - - 2560.25 - - - - - - - - - 15.73 -
21478.63 471.58 6.11 2300 21497.16 2.74 - - 3006.06 - 2.83 0.029 2276.94 400.1 77.86 - - 2558.38 - - - - - - - - - 15.92 -
21803.76 453.76 5.36 2332 21807.83 2.90 - - 3006.44 - - - 2276.81 - 77.86 - - 2557.38 - - - - - - - - - - -
22114.36 437.79 5.35 2363 22118.44 3.06 - - 3006.56 - - - 2276.94 - 77.86 - - 2558.12 - - - - - - - - - - -
22424.94 420.62 5.50 2394 22444.67 3.22 - - 3005.25 - 3.25 0.070 1144.62 -348.4 77.86 - - 2560.03 - - - - - - - - - 15.72 -
22491.55 416.65 6.01 2404 22510.20 3.34 - - 3005.31 - 2.86 0.029 2277.38 396.1 77.86 - - 2558.53 - - - - - - - - - 15.85 -
22816.81 398.95 5.29 2436 22820.88 3.51 - - 3006.56 - - - 2276.69 - 77.86 - - 2557.34 - - - - - - - - - - -
23127.40 383.09 5.02 2467 23202.68 3.63 - - 3006.38 - - - 2276.62 - 140.49 51.71 1.613 2316.19 -4.7 0.192 - - - - - - - - 10.40
23508.80 349.09 9.43 2503 23512.97 3.63 - - 3006.19 - - - 2276.62 - 140.49 - - 2308.97 - - - - - - - - - - -
23819.21 319.77 9.10 2534 23823.28 3.63 - - 3005.88 - - - 2277.06 - 140.49 - - 2306.81 - - - - - - - - - - -
24129.37 291.18 9.30 2565 24133.45 3.63 - - 3006.62 - - - 2276.81 - 140.49 - - 2306.00 - - - - - - - - - - -
24439.53 263.32 8.81 2596 24459.15 3.63 - - 3006.62 - 3.28 0.071 1146.50 -344.6 140.49 - - 2307.12 - - - - - - - - - 15.62 -
24569.67 250.51 9.81 2619 24588.63 3.63 - - 3006.06 - 2.85 0.029 2273.50 395.4 140.49 - - 2306.16 - - - - - - - - - 15.84 -
24894.76 222.17 8.83 2651 24914.38 3.63 - - 3006.19 - 3.23 0.070 1146.69 -348.9 140.49 - - 2306.50 - - - - - - - - - 15.71 -
24960.85 216.02 9.39 2661 24978.86 3.63 - - 3006.50 - 2.88 0.028 2273.88 391.4 140.49 - - 2306.44 - - - - - - - - - 15.67 -
25285.10 188.56 8.14 2693 25304.72 3.63 - - 3005.81 - 3.26 0.090 3351.00 330.4 140.49 - - 2304.75 - - - - - - - - - 15.55 -
25375.23 179.99 9.74 2708 25393.82 3.63 - - 3006.38 - 2.79 0.021 2202.75 -411.6 140.49 - - 2305.53 - - - - - - - - - 15.83 -
25699.94 152.52 8.22 2740 25718.75 3.63 - - 3006.25 - 3.06 0.073 1145.06 -345.7 140.49 - - 2303.56 - - - - - - - - - 15.49 -
25759.25 147.28 8.89 2749 25778.62 3.63 - - 3006.38 - 2.83 0.028 2275.75 399.5 140.49 - - 2306.62 - - - - - - - - - 15.87 -
26084.75 121.96 7.67 2781 26088.83 3.63 - - 3006.44 - - - 2275.50 - 140.49 - - 2304.44 - - - - - - - - - - -
26395.35 100.35 5.45 2812 26415.00 3.79 - - 3006.19 - 3.26 0.069 1147.00 -346.2 140.49 - - 2303.50 - - - - - - - - - 15.58 -
26646.91 86.22 4.98 2859 26738.10 3.91 - - 3006.44 - 2.85 0.027 2277.44 396.6 204.00 51.03 1.229 2058.56 -4.8 0.058 - - - - - - - 15.72 11.04
26924.74 68.70 5.72 2907 26945.95 3.91 - - 3006.38 - 3.26 0.089 3351.00 329.3 204.00 - - 2050.34 - - - - - - - - - 15.47 -
27177.87 56.37 3.58 2954 27301.92 4.10 - - 3006.81 - 2.84 0.019 2192.50 -407.9 296.46 72.67 1.179 1680.09 -5.1 0.042 - - - - - - - 15.58 11.37
27489.00 34.97 8.94 3007 27511.03 4.10 - - 3006.75 - 3.49 0.084 3350.88 331.9 296.46 - - 1670.94 - - - - - - - - - 15.51 -
27637.66 21.09 9.64 3033 27657.23 4.10 - - 3006.81 - 2.88 0.020 2206.50 -397.4 296.46 - - 1669.72 - - - - - - - - - 15.54 -
27843.76 5.45 5.28 3071 27864.18 4.10 - - 3005.94 - 3.11 0.075 1145.44 -341.2 296.46 - - 1667.41 - - - - - - - - - 15.65 -
27870 end climb: SURFACE_DEPTH_REACHED
27871 begin surface coast
27916 end surface coast: CONTROL_FINISHED_OK
27917 begin surface
SM 0.98 - - - - 179.2 103.83 1.115 1137.9 11.0 19.73 0.049 1129.4 57.2 - 2.39 0.031 1146.5 478.4 -1.546 - - 11.09 15.76 15.83 -