NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 409 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 143.46 of 506.00 AH used of 24V (71.65% remains)
• Surface angle -62.0 deg, depth 1.10 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.87 (SM_CC=430)
• GPS1 time: 24 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
19.00 - - - 119.07 VBD -1.18 - - 181.75 - - - 2192.19 - -77.86 70.20 0.005 2890.94 - - - - - - - - - - 14.97
121.29 3.63 -3.71 14 217.97 -1.18 17.20 0.220 2227.25 118.9 - - 2192.12 - -77.86 4.39 0.010 3209.41 72.5 -4.498 - - - - - - 15.35 - 15.18
403.97 59.46 -12.41 56 410.54 no move -1.18 - - 2228.06 - - - 2191.94 - -77.86 - - 3213.06 - - - - - - - - - - -
596.36 79.53 -9.75 94 615.50 roll -1.18 - - 2227.06 - 3.04 0.066 1144.62 -344.5 -77.86 - - 3213.88 - - - - - - - - - 15.63 -
696.68 88.85 -9.26 111 715.42 roll -1.18 - - 2228.00 - 2.85 0.024 2278.00 397.7 -77.86 - - 3214.25 - - - - - - - - - 15.74 -
901.20 105.94 -7.76 142 920.03 roll -1.18 - - 2226.94 - 3.17 0.083 3351.19 338.5 -77.86 - - 3213.72 - - - - - - - - - 15.69 -
990.46 113.32 -8.21 157 1008.80 roll -1.18 - - 2227.12 - 2.84 0.019 2190.44 -408.7 -77.86 - - 3214.59 - - - - - - - - - 15.76 -
1314.62 136.91 -7.20 189 1333.04 roll -1.18 - - 2227.44 - 3.01 0.067 1144.06 -347.6 -77.86 - - 3215.62 - - - - - - - - - 15.78 -
1369.21 141.23 -7.82 197 1387.22 roll -1.18 - - 2227.88 - 2.82 0.024 2279.44 402.6 -77.86 - - 3214.78 - - - - - - - - - 15.70 -
1693.03 167.31 -8.28 229 1697.05 no move -1.18 - - 2227.94 - - - 2279.12 - -77.86 - - 3213.69 - - - - - - - - - - -
2003.07 192.10 -7.71 260 2007.08 no move -1.18 - - 2227.88 - - - 2278.81 - -77.86 - - 3214.28 - - - - - - - - - - -
2313.41 216.32 -7.93 291 2332.86 roll -1.18 - - 2228.31 - 3.27 0.064 1145.06 -346.7 -77.86 - - 3214.38 - - - - - - - - - 15.83 -
2429.09 225.92 -8.22 311 2446.94 roll -1.18 - - 2227.94 - 2.83 0.025 2277.69 400.2 -77.86 - - 3215.25 - - - - - - - - - 15.84 -
2752.78 250.99 -7.56 343 2772.24 roll -1.18 - - 2227.69 - 3.26 0.064 1145.00 -347.5 -77.86 - - 3215.69 - - - - - - - - - 15.82 -
2962.78 268.45 -8.17 382 2981.35 roll -1.18 - - 2227.56 - 2.82 0.025 2277.06 401.4 -77.86 - - 3214.78 - - - - - - - - - 15.96 -
3287.18 294.35 -8.10 414 3291.24 no move -1.18 - - 2227.38 - - - 2276.75 - -77.86 - - 3214.22 - - - - - - - - - - -
3597.19 318.73 -7.77 445 3616.67 roll -1.18 - - 2227.12 - 3.26 0.064 1145.12 -347.1 -77.86 - - 3214.97 - - - - - - - - - 15.84 -
3667.16 324.69 -8.44 456 3686.13 roll -1.18 - - 2227.69 - 2.82 0.025 2277.94 401.7 -77.86 - - 3214.44 - - - - - - - - - 15.97 -
3991.98 350.01 -7.99 488 4011.69 roll -1.18 - - 2227.50 - 3.23 0.064 1145.44 -350.6 -77.86 - - 3213.81 - - - - - - - - - 15.78 -
4102.30 359.59 -8.43 507 4121.27 roll -1.18 - - 2228.00 - 2.83 0.025 2276.38 399.6 -77.86 - - 3214.31 - - - - - - - - - 15.93 -
4427.12 384.28 -7.52 539 4431.18 no move -1.18 - - 2227.31 - - - 2276.62 - -77.86 - - 3212.66 - - - - - - - - - - -
4737.16 407.67 -7.42 570 4756.63 roll -1.18 - - 2227.88 - 3.25 0.065 1145.12 -348.2 -77.86 - - 3213.16 - - - - - - - - - 15.84 -
4882.88 418.65 -7.27 596 4901.11 roll -1.18 - - 2227.31 - 2.83 0.026 2276.44 399.8 -77.86 - - 3213.84 - - - - - - - - - 15.98 -
5206.97 439.79 -6.49 628 5226.45 roll -1.18 - - 2225.75 - 3.24 0.065 1144.81 -349.3 -77.86 - - 3213.09 - - - - - - - - - 15.84 -
5292.68 445.85 -6.94 642 5310.92 roll -1.18 - - 2226.12 - 2.83 0.026 2276.12 399.8 -77.86 - - 3212.94 - - - - - - - - - 15.95 -
5616.76 466.22 -6.31 674 5620.82 no move -1.18 - - 2227.56 - - - 2276.31 - -77.86 - - 3211.16 - - - - - - - - - - -
5926.80 486.80 -6.93 705 5946.51 roll -1.18 - - 2226.56 - 3.24 0.065 1145.12 -349.1 -77.86 - - 3211.91 - - - - - - - - - 15.83 -
6007.12 492.66 -7.46 718 6026.11 roll -1.18 - - 2227.62 - 2.83 0.026 2277.44 400.1 -77.86 - - 3212.19 - - - - - - - - - 15.98 -
6331.95 514.30 -6.84 750 6336.01 no move -1.18 - - 2227.38 - - - 2277.69 - -77.86 - - 3210.06 - - - - - - - - - - -
6641.99 535.47 -6.81 781 6661.46 roll -1.18 - - 2227.69 - 3.24 0.065 1145.50 -349.4 -77.86 - - 3209.09 - - - - - - - - - 15.83 -
6727.69 541.84 -7.43 795 6745.54 roll -1.18 - - 2227.94 - 2.82 0.026 2277.12 401.3 -77.86 - - 3210.34 - - - - - - - - - 15.99 -
7051.38 563.74 -6.57 827 7070.86 roll -1.18 - - 2227.81 - 3.24 0.066 1145.06 -349.4 -77.86 - - 3209.03 - - - - - - - - - 15.82 -
7107.08 567.60 -6.89 835 7124.92 roll -1.18 - - 2227.25 - 2.83 0.026 2275.31 399.4 -77.86 - - 3209.97 - - - - - - - - - 15.99 -
7430.77 588.59 -6.31 867 7450.23 roll -1.18 - - 2225.69 - 3.23 0.065 1145.56 -349.8 -77.86 - - 3209.62 - - - - - - - - - 15.82 -
7476.44 591.85 -6.89 873 7494.30 roll -1.18 - - 2227.81 - 2.83 0.026 2276.62 399.7 -77.86 - - 3209.50 - - - - - - - - - 15.88 -
7800.15 612.87 -6.52 905 7804.21 no move -1.18 - - 2227.19 - - - 2276.44 - -77.86 - - 3207.50 - - - - - - - - - - -
8110.18 632.78 -6.59 936 8129.64 roll -1.18 - - 2226.62 - 3.24 0.066 1145.06 -349.2 -77.86 - - 3208.16 - - - - - - - - - 15.82 -
8225.88 640.86 -7.19 956 8243.72 roll -1.18 - - 2227.81 - 2.85 0.026 2275.62 396.7 -77.86 - - 3209.22 - - - - - - - - - 15.99 -
8549.58 660.95 -6.18 988 8553.64 no move -1.18 - - 2227.31 - - - 2275.31 - -77.86 - - 3207.09 - - - - - - - - - - -
8859.62 680.63 -6.37 1019 8880.51 roll -1.18 - - 2227.94 - 3.28 0.066 1145.19 -344.5 -77.86 - - 3206.38 - - - - - - - - - 15.81 -
8951.74 686.76 -6.58 1034 8969.98 roll -1.18 - - 2227.19 - 2.85 0.026 2276.62 397.0 -77.86 - - 3207.75 - - - - - - - - - 15.98 -
9275.83 707.47 -6.23 1066 9279.90 no move -1.18 - - 2227.62 - - - 2277.12 - -77.86 - - 3206.66 - - - - - - - - - - -
9585.88 727.18 -6.38 1097 9605.34 roll -1.18 - - 2227.62 - 3.26 0.067 1146.88 -346.7 -77.86 - - 3207.03 - - - - - - - - - 15.80 -
9655.83 731.93 -7.34 1108 9674.40 roll -1.18 - - 2227.56 - 2.85 0.027 2275.31 395.9 -77.86 - - 3207.41 - - - - - - - - - 15.96 -
9980.27 752.04 -6.21 1140 9999.98 roll -1.18 - - 2227.06 - 3.27 0.067 1144.44 -345.8 -77.86 - - 3206.59 - - - - - - - - - 15.79 -
10096.36 759.66 -6.53 1160 10114.42 roll -1.18 - - 2227.62 - 2.86 0.027 2274.94 395.3 -77.86 - - 3206.72 - - - - - - - - - 15.97 -
10420.29 779.47 -5.99 1192 10440.01 roll -1.18 - - 2227.44 - 3.28 0.067 1145.06 -344.5 -77.86 - - 3205.94 - - - - - - - - - 15.78 -
10480.54 783.46 -6.55 1201 10499.33 roll -1.18 - - 2227.75 - 2.86 0.026 2275.25 395.2 -77.86 - - 3206.31 - - - - - - - - - 15.81 -
10805.20 802.50 -5.64 1233 10824.92 roll -1.18 - - 2224.88 - 3.27 0.067 1145.81 -345.4 -77.86 - - 3205.81 - - - - - - - - - 15.78 -
10875.56 806.97 -6.36 1244 10894.75 roll -1.18 - - 2227.50 - 2.87 0.027 2275.19 393.5 -77.86 - - 3205.44 - - - - - - - - - 15.96 -
11200.64 825.69 -5.77 1276 11220.36 roll -1.18 - - 2227.38 - 3.28 0.067 1146.19 -344.2 -77.86 - - 3203.25 - - - - - - - - - 15.78 -
11266.63 829.88 -6.26 1286 11285.17 roll -1.18 - - 2227.25 - 2.85 0.026 2273.88 395.7 -77.86 - - 3205.88 - - - - - - - - - 15.97 -
11591.19 849.44 -6.29 1318 11610.89 roll -1.18 - - 2227.50 - 3.27 0.067 1145.31 -345.1 -77.86 - - 3203.81 - - - - - - - - - 15.76 -
11627.14 851.79 -6.66 1322 11645.62 roll -1.18 - - 2227.62 - 2.84 0.027 2274.81 397.7 -77.86 - - 3203.66 - - - - - - - - - 15.97 -
11951.52 872.01 -6.24 1354 11971.22 roll -1.18 - - 2228.19 - 3.25 0.067 1145.69 -347.4 -77.86 - - 3203.25 - - - - - - - - - 15.76 -
12047.50 878.48 -7.01 1370 12065.57 roll -1.18 - - 2226.44 - 2.86 0.027 2274.62 394.7 -77.86 - - 3204.72 - - - - - - - - - 15.97 -
12371.47 899.03 -6.21 1402 12391.16 roll -1.18 - - 2227.06 - 3.27 0.092 3350.94 329.1 -77.86 - - 3203.34 - - - - - - - - - 15.70 -
12407.42 901.33 -6.94 1406 12425.49 roll -1.18 - - 2227.56 - 2.82 0.021 2193.75 -410.4 -77.86 - - 3203.38 - - - - - - - - - 15.97 -
12731.36 920.67 -5.67 1438 12735.46 no move -1.18 - - 2227.62 - - - 2192.06 - -77.86 - - 3202.34 - - - - - - - - - - -
13041.41 938.18 -5.38 1469 13060.53 roll -1.18 - - 2227.31 - 3.04 0.072 1146.75 -343.9 -77.86 - - 3203.06 - - - - - - - - - 15.76 -
13121.18 943.16 -6.06 1482 13139.99 roll -1.18 - - 2227.50 - 2.83 0.027 2275.62 398.9 -77.86 - - 3202.97 - - - - - - - - - 15.93 -
13445.90 961.24 -5.67 1514 13465.62 roll -1.18 - - 2227.12 - 3.27 0.068 1146.31 -345.4 -77.86 - - 3203.66 - - - - - - - - - 15.75 -
13536.16 966.58 -6.23 1529 13554.96 roll -1.18 - - 2227.88 - 2.85 0.027 2275.44 396.2 -77.86 - - 3203.47 - - - - - - - - - 15.81 -
13860.85 985.43 -6.10 1561 13880.58 roll -1.18 - - 2227.75 - 3.28 0.068 1144.38 -344.8 -77.86 - - 3202.75 - - - - - - - - - 15.63 -
13936 end dive: TARGET_DEPTH_EXCEEDED
13937 begin apogee
13955.08 990.12 -6.16 1573 14059.38 -0.31 1.57 0.132 2440.19 135.3 0.11 0.189 2188.69 9493.7 - 64.59 2.421 2888.16 -4.9 0.340 - - - - - - 15.64 15.35 10.23
14064 end apogee: CONTROL_FINISHED_OK
14065 begin climb
14067.50 992.87 - 1580 14178.08 1.18 2.56 0.092 2805.38 142.7 - - 2188.81 - 77.86 66.63 2.392 2570.69 -4.8 0.338 - - - - - - 15.55 - 11.68
14484.50 973.87 5.24 1618 14490.02 1.35 0.24 0.081 2851.75 193.2 - - 2188.75 - 77.86 - - 2562.56 - - - - - - - - 15.68 - -
14796.45 953.84 6.67 1649 14800.55 VBD 1.43 - - 2853.38 - - - 2188.62 - 77.86 - - 2561.62 - - - - - - - - - - -
15106.85 933.86 6.55 1680 15112.36 1.52 0.21 0.082 2896.81 206.8 - - 2188.06 - 77.86 - - 2561.16 - - - - - - - - 15.82 - -
15418.23 909.94 7.84 1711 15440.58 done 1.52 - - 2894.94 - 3.54 0.093 3349.56 328.1 77.86 - - 2562.88 - - - - - - - - - 15.75 -
15481.85 904.24 9.71 1720 15500.31 done 1.52 - - 2897.81 - 2.84 0.022 2202.88 -403.8 77.86 - - 2561.25 - - - - - - - - - 15.90 -
15806.19 877.17 9.02 1752 15810.30 VBD 1.52 - - 2896.75 - - - 2202.12 - 77.86 - - 2560.19 - - - - - - - - - - -
16116.21 850.46 9.02 1783 16120.31 VBD 1.52 - - 2897.19 - - - 2202.00 - 77.86 - - 2559.25 - - - - - - - - - - -
16426.23 825.17 8.38 1814 16430.33 VBD 1.52 - - 2896.69 - - - 2201.88 - 77.86 - - 2558.88 - - - - - - - - - - -
16736.66 801.66 7.37 1845 16740.76 VBD 1.56 - - 2897.44 - - - 2202.06 - 77.86 - - 2558.59 - - - - - - - - - - -
17047.06 778.69 7.33 1876 17051.16 VBD 1.61 - - 2897.44 - - - 2201.94 - 77.86 - - 2558.56 - - - - - - - - - - -
17357.57 755.90 7.08 1907 17361.67 VBD 1.67 - - 2897.94 - - - 2201.69 - 77.86 - - 2558.59 - - - - - - - - - - -
17667.56 733.27 7.79 1938 17671.66 VBD 1.67 - - 2897.19 - - - 2201.94 - 77.86 - - 2558.44 - - - - - - - - - - -
17978.01 712.11 6.23 1969 17983.93 1.77 0.31 0.070 2955.06 186.7 - - 2202.31 - 77.86 - - 2558.53 - - - - - - - - 15.70 - -
18290.23 688.48 7.51 2000 18309.13 done 1.81 - - 2956.38 - 3.10 0.075 1146.00 -340.7 77.86 - - 2557.66 - - - - - - - - - 15.79 -
18369.67 682.18 7.92 2013 18388.88 done 1.81 - - 2956.12 - 2.87 0.030 2273.19 392.7 77.86 - - 2559.03 - - - - - - - - - 15.96 -
18695.19 658.52 7.30 2045 18699.29 VBD 1.85 - - 2955.56 - - - 2273.44 - 77.86 - - 2557.47 - - - - - - - - - - -
19005.60 636.15 7.48 2076 19025.33 done 1.89 - - 2956.31 - 3.27 0.071 1146.31 -344.7 77.86 - - 2559.34 - - - - - - - - - 15.78 -
19176.31 623.61 7.24 2107 19196.77 1.94 0.17 0.085 2997.88 244.5 2.91 0.030 2273.38 387.3 77.86 - - 2558.41 - - - - - - - - 15.68 15.79 -
19503.09 599.09 7.47 2139 19507.19 VBD 1.97 - - 2998.50 - - - 2273.50 - 77.86 - - 2557.28 - - - - - - - - - - -
19813.21 574.93 7.80 2170 19817.31 VBD 1.97 - - 2998.25 - - - 2272.81 - 77.86 - - 2557.56 - - - - - - - - - - -
20123.63 551.48 7.35 2201 20127.74 VBD 2.01 - - 2997.81 - - - 2273.50 - 77.86 - - 2557.56 - - - - - - - - - - -
20434.29 529.97 6.67 2232 20455.83 done 2.09 - - 2998.19 - 3.31 0.070 1147.25 -340.3 77.86 - - 2557.53 - - - - - - - - - 15.54 -
20631.79 515.82 7.02 2268 20651.85 2.16 - 0.047 2998.25 - 2.86 0.031 2272.88 393.6 77.86 - - 2558.00 - - - - - - - - - 15.95 -
20958.19 493.54 6.79 2300 20962.88 2.23 - 0.035 2999.56 - - - 2272.56 - 77.86 - - 2558.09 - - - - - - - - - - -
21269.20 471.51 7.45 2331 21289.77 2.27 - 0.022 3000.75 - 3.29 0.070 1145.88 -342.5 77.86 - - 2558.91 - - - - - - - - - 15.76 -
21380.42 462.96 7.64 2350 21399.24 2.27 - - 3000.81 - 2.88 0.030 2274.06 391.7 77.86 - - 2558.25 - - - - - - - - - 15.93 -
21705.57 440.51 6.72 2382 21726.96 2.35 - - 3000.56 - 3.29 0.093 3350.75 327.3 77.86 - - 2556.59 - - - - - - - - - 15.62 -
21813.01 432.87 6.87 2400 21831.82 2.42 - - 3001.50 - 2.83 0.021 2200.75 -406.4 77.86 - - 2558.03 - - - - - - - - - 15.96 -
22138.12 414.35 5.21 2432 22157.03 2.59 - - 3001.06 - 3.08 0.073 1145.56 -342.6 77.86 - - 2557.22 - - - - - - - - - 15.74 -
22343.73 403.04 5.54 2470 22361.82 2.74 - - 3001.06 - 2.86 0.030 2276.50 395.4 77.86 - - 2558.28 - - - - - - - - - 15.94 -
22668.14 386.84 4.89 2502 22764.92 2.87 - - 3001.44 - 3.25 0.095 3349.88 330.3 143.17 52.68 1.676 2305.38 -4.8 0.189 - - - - - - - 15.53 10.70
22796.17 376.68 9.62 2520 22814.25 roll back 2.87 - - 3001.69 - 2.87 0.021 2204.50 -399.1 143.17 - - 2301.81 - - - - - - - - - 15.76 -
23120.23 342.28 11.01 2552 23124.35 2.87 - - 3001.56 - - - 2201.88 - 143.17 - - 2296.88 - - - - - - - - - - -
23430.25 308.81 10.20 2583 23452.43 2.87 - - 3001.44 - 3.47 0.089 3351.62 331.3 143.17 - - 2295.12 - - - - - - - - - 15.70 -
23458.07 305.58 10.97 2585 23477.28 2.87 - - 3002.06 - 2.86 0.021 2204.50 -401.1 143.17 - - 2297.06 - - - - - - - - - 15.83 -
23783.18 275.01 8.68 2617 23787.29 2.87 - - 3001.88 - - - 2202.19 - 143.17 - - 2294.88 - - - - - - - - - - -
24093.19 246.48 9.79 2648 24112.19 2.87 - - 3001.81 - 3.10 0.074 1146.00 -340.7 143.17 - - 2293.69 - - - - - - - - - 15.76 -
24262.76 228.96 10.66 2679 24281.57 2.87 - - 3001.88 - 2.86 0.029 2275.38 394.9 143.17 - - 2294.62 - - - - - - - - - 15.90 -
24587.49 196.70 9.87 2711 24607.22 2.87 - - 3000.62 - 3.28 0.091 3351.06 328.0 143.17 - - 2294.16 - - - - - - - - - 15.64 -
24613.48 193.86 10.51 2713 24631.57 2.87 - - 3001.50 - 2.84 0.021 2202.31 -404.5 143.17 - - 2294.56 - - - - - - - - - 15.90 -
24937.47 161.63 10.07 2745 24941.58 2.87 - - 3002.38 - - - 2200.69 - 143.17 - - 2293.62 - - - - - - - - - - -
25247.51 134.75 8.88 2776 25266.72 2.87 - - 3001.81 - 3.09 0.072 1146.25 -341.2 143.17 - - 2293.41 - - - - - - - - - 15.66 -
25493.15 111.54 8.31 2822 25511.23 2.87 - - 3000.56 - 2.84 0.028 2275.31 397.6 143.17 - - 2294.25 - - - - - - - - - 15.87 -
25817.57 89.71 5.40 2870 25838.44 3.03 - - 3001.75 - 3.31 0.066 1145.88 -341.2 143.17 - - 2294.84 - - - - - - - - - 15.65 -
25860.10 87.63 4.96 2875 25949.95 3.16 - - 3001.62 - 2.86 0.026 2278.50 396.0 206.92 50.08 1.264 2046.66 -5.0 0.059 - - - - - - - 15.68 11.28
26136.26 70.76 6.11 2923 26156.72 roll back 3.27 - - 3002.06 - 3.27 0.088 3350.62 327.9 206.92 - - 2038.84 - - - - - - - - - 15.59 -
26207.99 65.26 8.03 2934 26227.20 3.27 - - 3001.88 - 2.84 0.020 2201.00 -404.8 206.92 - - 2038.22 - - - - - - - - - 15.65 -
26413.50 55.29 3.63 2972 26533.08 3.46 - - 3002.06 - 3.11 0.073 1146.56 -339.0 298.31 70.32 1.209 1672.09 -5.2 0.041 - - - - - - - 15.45 11.47
26549.87 48.98 5.63 2990 26568.68 roll back 3.60 - - 3001.69 - 2.87 0.026 2276.94 393.9 298.31 - - 1668.03 - - - - - - - - - 15.61 -
26755.13 35.99 5.71 3028 26775.56 3.74 - - 3001.50 - 3.25 0.088 3351.31 330.6 298.31 - - 1663.78 - - - - - - - - - 15.53 -
27007.26 23.87 4.57 3075 27105.00 3.89 - - 3001.25 - 2.85 0.020 2196.25 -405.3 370.28 56.44 1.144 1380.91 -5.0 0.018 - - - - - - - 15.61 11.55
27285 end climb: SURFACE_DEPTH_REACHED
27286 begin surface coast
27331 end surface coast: CONTROL_FINISHED_OK
27332 begin surface
SM 1.03 - - - - 181.9 46.63 1.109 1137.6 23.2 19.84 0.059 1139.6 57.4 - 0.17 0.087 1135.5 6662.6 -8.062 - - 11.45 15.71 15.78 -