NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 407 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 142.74 of 506.00 AH used of 24V (71.79% remains)
• Surface angle -64.8 deg, depth 1.17 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.87 (SM_CC=430)
• GPS1 time: 15 s
• GPS2 time: 3 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
18.99 - - - 118.66 VBD -1.18 - - 179.44 - - - 2313.75 - -77.86 70.15 0.005 2885.47 - - - - - - - - - - 15.01
120.87 3.64 -3.89 14 236.90 -1.18 17.30 0.224 2227.44 118.4 3.38 0.062 1145.38 -345.7 -77.86 4.40 0.009 3210.34 73.8 -5.097 - - - - - - 15.34 15.13 15.23
328.19 51.91 -14.48 38 346.55 roll -1.18 - - 2227.44 - 2.89 0.025 2276.81 391.5 -77.86 - - 3213.31 - - - - - - - - - 15.76 -
532.38 76.12 -10.59 76 538.95 no move -1.18 - - 2228.00 - - - 2276.88 - -77.86 - - 3214.41 - - - - - - - - - - -
724.77 94.47 -8.64 114 744.71 roll -1.18 - - 2226.44 - 3.28 0.063 1145.94 -344.8 -77.86 - - 3215.41 - - - - - - - - - 15.71 -
780.89 99.33 -8.89 122 799.25 roll -1.18 - - 2228.00 - 2.84 0.024 2277.12 398.3 -77.86 - - 3214.12 - - - - - - - - - 15.81 -
985.05 113.78 -7.42 142 1004.27 roll -1.18 - - 2227.06 - 3.21 0.082 3351.62 334.7 -77.86 - - 3214.62 - - - - - - - - - 15.74 -
1110.46 125.01 -9.00 164 1128.09 roll -1.18 - - 2227.31 - 2.83 0.018 2192.00 -409.8 -77.86 - - 3215.47 - - - - - - - - - 15.87 -
1433.90 149.45 -7.71 196 1437.93 no move -1.18 - - 2227.75 - - - 2190.44 - -77.86 - - 3213.75 - - - - - - - - - - -
1743.95 173.96 -7.71 227 1747.97 no move -1.18 - - 2227.81 - - - 2189.88 - -77.86 - - 3214.06 - - - - - - - - - - -
2053.99 198.41 -7.74 258 2058.01 no move -1.18 - - 2227.88 - - - 2190.12 - -77.86 - - 3214.41 - - - - - - - - - - -
2364.06 221.92 -7.38 289 2382.72 roll -1.18 - - 2226.50 - 3.06 0.068 1144.06 -341.8 -77.86 - - 3214.97 - - - - - - - - - 15.73 -
2433.32 227.59 -8.38 300 2451.90 roll -1.18 - - 2227.88 - 2.85 0.025 2278.56 398.1 -77.86 - - 3215.31 - - - - - - - - - 15.86 -
2757.96 251.95 -7.46 332 2762.03 no move -1.18 - - 2227.69 - - - 2278.38 - -77.86 - - 3214.19 - - - - - - - - - - -
3067.87 274.97 -7.73 363 3088.79 roll -1.18 - - 2228.12 - 3.28 0.064 1145.44 -345.4 -77.86 - - 3214.38 - - - - - - - - - 15.83 -
3184.29 284.68 -8.32 383 3202.86 roll -1.18 - - 2228.00 - 2.83 0.025 2277.75 400.1 -77.86 - - 3214.88 - - - - - - - - - 15.82 -
3508.73 310.13 -7.85 415 3529.59 roll -1.18 - - 2227.88 - 3.27 0.064 1144.75 -346.5 -77.86 - - 3213.59 - - - - - - - - - 15.82 -
3620.83 319.02 -7.97 434 3638.68 roll -1.18 - - 2227.56 - 2.84 0.025 2277.75 398.9 -77.86 - - 3215.97 - - - - - - - - - 15.97 -
3944.53 342.65 -7.28 466 3963.99 roll -1.18 - - 2227.94 - 3.21 0.084 3352.38 334.8 -77.86 - - 3213.31 - - - - - - - - - 15.81 -
3994.72 346.68 -7.86 473 4013.70 roll -1.18 - - 2226.19 - 2.85 0.019 2192.88 -406.8 -77.86 - - 3215.12 - - - - - - - - - 15.80 -
4319.67 369.35 -7.19 505 4338.31 roll -1.18 - - 2226.31 - 3.04 0.069 1145.50 -344.5 -77.86 - - 3214.72 - - - - - - - - - 15.84 -
4418.82 377.07 -7.81 522 4437.41 roll -1.18 - - 2227.69 - 2.81 0.025 2277.62 402.9 -77.86 - - 3213.81 - - - - - - - - - 15.98 -
4743.24 401.05 -7.14 554 4747.30 no move -1.18 - - 2227.69 - - - 2277.50 - -77.86 - - 3213.03 - - - - - - - - - - -
5053.25 423.70 -7.41 585 5057.31 no move -1.18 - - 2228.12 - - - 2278.19 - -77.86 - - 3212.69 - - - - - - - - - - -
5363.27 446.02 -7.16 616 5367.33 no move -1.18 - - 2227.62 - - - 2277.75 - -77.86 - - 3212.31 - - - - - - - - - - -
5673.28 468.53 -7.20 647 5694.55 roll -1.18 - - 2227.56 - 3.32 0.066 1145.25 -341.1 -77.86 - - 3211.84 - - - - - - - - - 15.74 -
5785.79 477.18 -7.58 666 5803.64 roll -1.18 - - 2228.19 - 2.84 0.026 2275.31 397.9 -77.86 - - 3213.06 - - - - - - - - - 15.97 -
6109.49 500.06 -7.07 698 6129.14 roll -1.18 - - 2227.62 - 3.26 0.066 1145.94 -346.4 -77.86 - - 3211.16 - - - - - - - - - 15.83 -
6179.81 505.33 -7.38 709 6198.78 roll -1.18 - - 2226.44 - 2.83 0.026 2277.62 399.9 -77.86 - - 3212.66 - - - - - - - - - 15.98 -
6504.63 528.22 -7.17 741 6508.69 no move -1.18 - - 2227.38 - - - 2277.81 - -77.86 - - 3210.81 - - - - - - - - - - -
6814.67 550.09 -6.87 772 6818.73 no move -1.18 - - 2226.94 - - - 2277.69 - -77.86 - - 3210.78 - - - - - - - - - - -
7124.95 572.01 -7.10 803 7145.81 roll -1.18 - - 2227.44 - 3.30 0.066 1145.50 -343.1 -77.86 - - 3211.56 - - - - - - - - - 15.80 -
7191.30 577.00 -7.46 813 7210.27 roll -1.18 - - 2226.88 - 2.85 0.026 2276.06 396.7 -77.86 - - 3211.47 - - - - - - - - - 15.90 -
7516.11 598.28 -6.39 845 7536.97 roll -1.18 - - 2227.62 - 3.29 0.066 1146.88 -343.2 -77.86 - - 3209.22 - - - - - - - - - 15.82 -
7622.46 605.84 -6.90 863 7641.03 roll -1.18 - - 2227.56 - 2.83 0.026 2275.88 398.9 -77.86 - - 3210.78 - - - - - - - - - 15.99 -
7946.89 626.42 -6.37 895 7967.76 roll -1.18 - - 2227.75 - 3.27 0.066 1144.62 -346.0 -77.86 - - 3208.47 - - - - - - - - - 15.80 -
8003.24 630.37 -7.01 903 8022.06 roll -1.18 - - 2227.50 - 2.85 0.026 2276.56 397.2 -77.86 - - 3210.25 - - - - - - - - - 15.99 -
8328.05 651.74 -6.63 935 8332.11 no move -1.18 - - 2227.56 - - - 2276.25 - -77.86 - - 3208.59 - - - - - - - - - - -
8638.07 670.95 -6.36 966 8659.34 roll -1.18 - - 2227.31 - 3.31 0.067 1145.44 -341.6 -77.86 - - 3208.06 - - - - - - - - - 15.81 -
8754.85 679.14 -7.03 986 8773.42 roll -1.18 - - 2227.44 - 2.84 0.026 2276.19 398.2 -77.86 - - 3209.09 - - - - - - - - - 15.95 -
9079.25 699.42 -6.20 1018 9100.14 roll -1.18 - - 2225.62 - 3.28 0.067 1145.50 -344.7 -77.86 - - 3208.34 - - - - - - - - - 15.80 -
9115.62 701.88 -6.37 1022 9134.21 roll -1.18 - - 2227.50 - 2.83 0.026 2275.19 399.2 -77.86 - - 3207.50 - - - - - - - - - 15.98 -
9440.07 721.46 -6.05 1054 9460.94 roll -1.18 - - 2226.19 - 3.29 0.066 1146.94 -342.9 -77.86 - - 3207.75 - - - - - - - - - 15.79 -
9502.16 725.48 -6.84 1063 9520.40 roll -1.18 - - 2226.81 - 2.85 0.026 2275.75 396.1 -77.86 - - 3208.59 - - - - - - - - - 15.98 -
9826.22 745.68 -6.13 1095 9830.28 no move -1.18 - - 2227.19 - - - 2275.69 - -77.86 - - 3206.81 - - - - - - - - - - -
10136.24 766.18 -6.80 1126 10157.12 roll -1.18 - - 2227.50 - 3.30 0.067 1145.31 -342.5 -77.86 - - 3206.62 - - - - - - - - - 15.78 -
10202.73 771.05 -7.44 1136 10221.31 roll -1.18 - - 2228.00 - 2.86 0.026 2275.94 395.3 -77.86 - - 3206.81 - - - - - - - - - 15.97 -
10527.17 793.56 -6.92 1168 10531.23 no move -1.18 - - 2227.56 - - - 2275.88 - -77.86 - - 3206.00 - - - - - - - - - - -
10837.18 813.71 -6.38 1199 10858.46 roll -1.18 - - 2227.31 - 3.31 0.067 1145.88 -341.4 -77.86 - - 3206.75 - - - - - - - - - 15.78 -
10953.97 821.81 -7.03 1219 10972.57 roll -1.18 - - 2227.88 - 2.88 0.026 2274.31 391.8 -77.86 - - 3206.56 - - - - - - - - - 15.83 -
11278.43 841.71 -6.23 1251 11282.49 no move -1.18 - - 2227.81 - - - 2275.06 - -77.86 - - 3205.56 - - - - - - - - - - -
11588.47 860.82 -6.10 1282 11609.76 roll -1.18 - - 2227.31 - 3.32 0.068 1146.06 -340.1 -77.86 - - 3203.94 - - - - - - - - - 15.74 -
11710.98 868.86 -6.70 1303 11728.83 roll -1.18 - - 2227.00 - 2.86 0.027 2274.56 394.6 -77.86 - - 3205.72 - - - - - - - - - 15.96 -
12034.93 889.09 -6.26 1335 12038.99 no move -1.18 - - 2227.31 - - - 2275.25 - -77.86 - - 3204.19 - - - - - - - - - - -
12344.96 908.14 -6.27 1366 12366.25 roll -1.18 - - 2227.56 - 3.32 0.068 1146.75 -339.9 -77.86 - - 3205.28 - - - - - - - - - 15.74 -
12417.47 912.86 -6.09 1377 12435.33 roll -1.18 - - 2227.31 - 2.87 0.027 2273.81 392.7 -77.86 - - 3205.00 - - - - - - - - - 15.96 -
12741.17 931.99 -5.77 1409 12762.05 roll -1.18 - - 2227.44 - 3.30 0.068 1146.69 -341.6 -77.86 - - 3203.34 - - - - - - - - - 15.74 -
12867.55 940.11 -6.57 1431 12886.53 roll -1.18 - - 2227.56 - 2.87 0.027 2275.06 393.2 -77.86 - - 3204.84 - - - - - - - - - 15.94 -
13192.38 958.54 -5.45 1463 13213.66 roll -1.18 - - 2228.25 - 3.33 0.067 1147.00 -338.8 -77.86 - - 3204.31 - - - - - - - - - 15.71 -
13244.88 961.61 -5.51 1470 13262.73 roll -1.18 - - 2227.62 - 2.87 0.027 2275.38 393.2 -77.86 - - 3204.72 - - - - - - - - - 15.94 -
13568.59 978.82 -5.09 1502 13589.88 roll -1.18 - - 2227.62 - 3.33 0.067 1145.56 -339.3 -77.86 - - 3204.59 - - - - - - - - - 15.72 -
13641.17 982.94 -5.70 1513 13659.43 roll -1.18 - - 2227.56 - 2.86 0.027 2273.31 394.3 -77.86 - - 3203.78 - - - - - - - - - 15.94 -
13785 end dive: TARGET_DEPTH_EXCEEDED
13785 begin apogee
13790.00 990.06 -4.78 1527 13894.16 -0.31 1.61 0.130 2441.00 132.6 0.20 0.141 2282.69 46.9 - 64.81 2.416 2889.62 -4.8 0.339 - - - - - - 15.63 15.37 10.22
13907 end apogee: CONTROL_FINISHED_OK
13907 begin climb
13910.41 991.02 - 1534 14020.35 1.18 2.59 0.089 2805.69 140.8 - - 2282.25 - 77.86 66.37 2.388 2571.91 -4.8 0.339 - - - - - - 15.56 - 11.66
14326.69 966.76 6.11 1572 14347.97 done 1.30 - - 2805.44 - 3.37 0.072 1145.56 -337.3 77.86 - - 2562.09 - - - - - - - - - 15.70 -
14373.97 963.61 6.97 1578 14394.60 1.36 0.26 0.074 2858.88 205.5 2.91 0.030 2272.00 387.1 77.86 - - 2563.31 - - - - - - - - 15.60 15.78 -
14700.86 940.85 7.03 1610 14704.92 VBD 1.42 - - 2858.56 - - - 2271.88 - 77.86 - - 2561.81 - - - - - - - - - - -
15011.17 920.32 6.44 1641 15033.70 1.52 0.16 0.087 2896.88 239.5 3.34 0.071 1146.69 -336.9 77.86 - - 2561.66 - - - - - - - - 15.82 15.79 -
15125.26 911.41 8.04 1660 15143.10 done 1.52 - - 2898.44 - 2.89 0.030 2272.56 389.6 77.86 - - 2560.81 - - - - - - - - - 15.89 -
15448.96 886.61 7.55 1692 15453.03 VBD 1.52 - - 2898.31 - - - 2272.62 - 77.86 - - 2559.81 - - - - - - - - - - -
15759.40 863.43 7.46 1723 15763.46 VBD 1.56 - - 2897.69 - - - 2272.31 - 77.86 - - 2559.88 - - - - - - - - - - -
16069.27 839.70 7.62 1754 16073.34 VBD 1.56 - - 2898.50 - - - 2272.56 - 77.86 - - 2559.72 - - - - - - - - - - -
16379.69 816.55 7.37 1785 16383.75 VBD 1.60 - - 2898.12 - - - 2272.81 - 77.86 - - 2559.31 - - - - - - - - - - -
16690.00 794.20 7.07 1816 16711.28 done 1.66 - - 2896.38 - 3.33 0.071 1146.38 -338.3 77.86 - - 2559.88 - - - - - - - - - 15.81 -
16792.51 786.47 7.77 1833 16810.38 done 1.66 - - 2897.88 - 2.87 0.031 2273.31 392.7 77.86 - - 2559.62 - - - - - - - - - 15.96 -
17116.60 763.70 7.16 1865 17122.05 1.71 0.20 0.079 2941.12 216.2 - - 2273.31 - 77.86 - - 2558.72 - - - - - - - - 15.91 - -
17427.91 739.99 7.74 1896 17431.98 VBD 1.71 - - 2941.94 - - - 2272.69 - 77.86 - - 2558.38 - - - - - - - - - - -
17738.36 717.56 7.05 1927 17759.23 done 1.77 - - 2942.56 - 3.28 0.094 3350.62 328.6 77.86 - - 2559.75 - - - - - - - - - 15.74 -
17810.44 711.68 8.35 1938 17828.32 done 1.77 - - 2942.50 - 2.85 0.022 2204.81 -402.0 77.86 - - 2558.12 - - - - - - - - - 15.97 -
18134.57 688.74 6.97 1970 18138.63 VBD 1.83 - - 2942.50 - - - 2202.56 - 77.86 - - 2557.59 - - - - - - - - - - -
18444.48 666.36 7.69 2001 18463.13 done 1.83 - - 2941.69 - 3.01 0.075 1143.88 -351.7 77.86 - - 2558.69 - - - - - - - - - 15.77 -
18509.36 661.62 8.24 2011 18527.21 done 1.83 - - 2941.88 - 2.85 0.030 2273.75 396.4 77.86 - - 2559.47 - - - - - - - - - 15.96 -
18833.08 637.34 7.58 2043 18837.55 VBD 1.83 - - 2943.19 - - - 2273.94 - 77.86 - - 2557.47 - - - - - - - - - - -
19143.81 614.26 7.09 2074 19148.86 1.89 0.19 0.080 2986.44 227.6 - - 2274.00 - 77.86 - - 2557.16 - - - - - - - - 15.89 - -
19454.71 590.14 8.20 2105 19458.78 VBD 1.89 - - 2987.50 - - - 2274.12 - 77.86 - - 2557.91 - - - - - - - - - - -
19765.16 566.76 7.31 2136 19784.46 done 1.94 - - 2987.56 - 3.20 0.071 1144.75 -352.9 77.86 - - 2556.84 - - - - - - - - - 15.76 -
19891.22 557.52 7.28 2158 19909.09 done 1.98 - - 2988.62 - 2.87 0.030 2273.69 393.4 77.86 - - 2558.25 - - - - - - - - - 15.96 -
20215.36 533.49 7.17 2190 20219.42 VBD 2.04 - - 2988.31 - - - 2273.88 - 77.86 - - 2557.19 - - - - - - - - - - -
20525.65 512.00 6.73 2221 20530.29 2.11 0.07 0.148 3014.25 370.6 - - 2273.38 - 77.86 - - 2559.28 - - - - - - - - 15.89 - -
20836.55 491.66 6.17 2252 20857.85 2.23 - - 3015.44 - 3.31 0.069 1145.56 -340.7 77.86 - - 2559.12 - - - - - - - - - 15.71 -
20933.75 485.56 6.30 2268 20952.35 2.33 - - 3016.62 - 2.88 0.029 2274.50 392.0 77.86 - - 2558.62 - - - - - - - - - 15.95 -
21258.58 465.40 6.32 2300 21262.66 2.44 - - 3016.12 - - - 2274.62 - 77.86 - - 2557.50 - - - - - - - - - - -
21568.93 446.35 5.94 2331 21573.00 2.56 - - 3016.00 - - - 2274.62 - 77.86 - - 2557.47 - - - - - - - - - - -
21879.38 428.07 5.97 2362 21883.45 2.69 - - 3016.69 - - - 2274.50 - 77.86 - - 2557.03 - - - - - - - - - - -
22189.68 410.71 5.41 2393 22193.76 2.85 - - 3016.31 - - - 2274.44 - 77.86 - - 2557.50 - - - - - - - - - - -
22500.02 393.66 5.89 2424 22519.76 2.98 - - 3016.19 - 3.30 0.068 1144.69 -342.3 77.86 - - 2558.56 - - - - - - - - - 15.67 -
22750.80 377.87 6.38 2471 22769.40 3.08 - - 3016.25 - 2.88 0.029 2275.19 392.5 77.86 - - 2558.41 - - - - - - - - - 15.87 -
23075.63 357.08 6.05 2503 23079.71 3.20 - - 3016.25 - - - 2275.19 - 77.86 - - 2557.38 - - - - - - - - - - -
23385.95 339.65 5.75 2534 23407.34 3.33 - - 3015.75 - 3.31 0.068 1145.38 -341.3 77.86 - - 2557.00 - - - - - - - - - 15.75 -
23528.99 331.52 5.90 2559 23547.25 3.46 - - 3015.69 - 2.88 0.028 2272.75 391.4 77.86 - - 2558.56 - - - - - - - - - 15.89 -
23853.50 315.31 4.78 2591 23951.10 3.60 - - 3016.44 - 3.32 0.070 1145.69 -339.5 145.41 53.94 1.580 2295.97 -4.9 0.166 - - - - - - - 15.56 10.65
23957.21 307.85 9.07 2604 23976.27 roll back 3.60 - - 3016.50 - 2.90 0.028 2272.31 388.5 145.41 - - 2291.84 - - - - - - - - - 15.74 -
24282.22 273.05 10.78 2636 24303.51 3.60 - - 3016.38 - 3.31 0.069 1145.88 -340.3 145.41 - - 2288.69 - - - - - - - - - 15.71 -
24379.02 261.98 11.19 2652 24398.41 3.60 - - 3016.00 - 2.90 0.029 2271.44 388.1 145.41 - - 2287.31 - - - - - - - - - 15.83 -
24704.25 229.19 9.82 2684 24725.14 3.60 - - 3016.25 - 3.30 0.091 3350.00 326.8 145.41 - - 2284.88 - - - - - - - - - 15.69 -
24770.63 221.79 11.28 2694 24789.22 3.60 - - 3015.69 - 2.86 0.021 2204.38 -400.6 145.41 - - 2287.62 - - - - - - - - - 15.62 -
25095.07 190.74 9.29 2726 25113.74 3.60 - - 3016.44 - 3.10 0.072 1145.25 -341.7 145.41 - - 2283.56 - - - - - - - - - 15.74 -
25149.96 185.39 9.78 2734 25167.84 3.60 - - 3014.62 - 2.88 0.028 2273.81 391.9 145.41 - - 2285.28 - - - - - - - - - 15.65 -
25473.70 156.46 8.18 2766 25493.21 3.60 - - 3016.81 - 3.27 0.090 3351.12 329.5 145.41 - - 2286.16 - - - - - - - - - 15.64 -
25533.69 151.01 8.92 2775 25552.70 3.60 - - 3016.25 - 2.86 0.020 2203.19 -401.4 145.41 - - 2286.03 - - - - - - - - - 15.88 -
25858.71 124.29 8.41 2807 25878.03 3.60 - - 3016.31 - 3.11 0.071 1145.56 -340.1 145.41 - - 2285.06 - - - - - - - - - 15.60 -
26024.31 108.45 9.95 2837 26042.64 3.60 - - 3016.62 - 2.85 0.028 2275.31 396.4 145.41 - - 2284.72 - - - - - - - - - 15.88 -
26348.98 85.71 4.73 2892 26428.09 3.74 - - 3016.56 - - - 2275.62 - 214.07 53.68 1.265 2017.53 -5.0 0.058 - - - - - - - - 11.42
26614.41 68.48 6.27 2940 26634.86 3.84 - - 3016.38 - 3.27 0.088 3352.00 329.2 214.07 - - 2008.56 - - - - - - - - - 15.59 -
26666.11 64.41 7.84 2947 26684.93 3.84 - - 3016.06 - 2.86 0.020 2202.12 -402.1 214.07 - - 2008.41 - - - - - - - - - 15.66 -
26871.23 51.82 4.99 2985 26962.34 3.97 - - 3016.69 - 3.13 0.073 1145.50 -337.6 277.33 49.20 1.196 1758.50 -5.1 0.038 - - - - - - - 15.52 11.51
26984.12 44.44 7.37 3000 27003.34 roll back 4.01 - - 3016.88 - 2.88 0.026 2275.19 392.3 277.33 - - 1753.94 - - - - - - - - - 15.69 -
27189.72 30.44 5.15 3038 27210.19 4.01 - - 3016.44 - 3.28 0.086 3351.19 328.0 277.33 - - 1750.97 - - - - - - - - - 15.61 -
27401.90 21.92 3.91 3077 27513.35 4.18 - - 3015.00 - 2.86 0.019 2196.31 -403.8 362.93 66.97 1.146 1410.91 -5.1 0.017 - - - - - - - 15.78 11.50
27668 end climb: SURFACE_DEPTH_REACHED
27669 begin surface coast
27730 end surface coast: CONTROL_FINISHED_OK
27730 begin surface
SM 1.24 - - - - 182.1 51.82 1.109 1137.6 20.7 19.84 0.046 1132.4 57.1 - 0.17 0.085 1142.8 6705.5 -9.998 - - 11.46 15.71 15.77 -