NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 430 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 150.82 of 506.00 AH used of 24V (70.19% remains)
• Surface angle -58.1 deg, depth 1.03 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.23 (SM_CC=430)
• GPS1 time: 19 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
11 begin dive
19.01 - - - 146.48 VBD -1.18 - - 179.38 - - - 2180.69 - -77.86 90.56 0.005 2797.31 - - - - - - - - - - 14.97
148.71 3.03 -2.26 18 265.56 -1.18 17.38 0.220 2227.50 117.8 3.46 0.080 3351.38 338.3 -77.86 5.58 0.008 3210.19 74.0 -4.791 - - - - - - 15.35 15.07 15.18
331.83 53.32 -13.67 37 350.19 roll -1.18 - - 2227.69 - 2.86 0.019 2198.25 -403.2 -77.86 - - 3212.66 - - - - - - - - - 15.75 -
536.01 73.66 -9.02 75 556.76 roll -1.18 - - 2226.69 - 3.41 0.078 3351.38 338.2 -77.86 - - 3214.41 - - - - - - - - - 15.61 -
562.90 76.26 -9.69 77 581.25 roll -1.18 - - 2227.44 - 2.85 0.018 2194.81 -405.8 -77.86 - - 3213.53 - - - - - - - - - 15.79 -
767.06 93.58 -8.01 115 773.60 no move -1.18 - - 2227.69 - - - 2192.50 - -77.86 - - 3213.47 - - - - - - - - - - -
959.41 108.69 -7.69 142 977.85 roll -1.18 - - 2228.25 - 3.02 0.068 1144.75 -346.9 -77.86 - - 3212.44 - - - - - - - - - 15.68 -
1074.01 118.31 -8.42 162 1091.65 roll -1.18 - - 2227.56 - 2.81 0.024 2279.94 404.0 -77.86 - - 3213.84 - - - - - - - - - 15.77 -
1397.46 145.53 -8.21 194 1401.49 no move -1.18 - - 2227.44 - - - 2279.19 - -77.86 - - 3213.28 - - - - - - - - - - -
1707.54 169.41 -7.55 225 1728.18 roll -1.18 - - 2227.81 - 3.27 0.064 1144.81 -346.9 -77.86 - - 3213.81 - - - - - - - - - 15.70 -
1853.67 181.18 -8.21 251 1872.25 roll -1.18 - - 2227.75 - 2.83 0.024 2278.12 400.5 -77.86 - - 3214.41 - - - - - - - - - 15.86 -
2178.18 207.10 -8.07 283 2182.24 no move -1.18 - - 2227.56 - - - 2278.00 - -77.86 - - 3213.25 - - - - - - - - - - -
2488.20 233.58 -8.60 314 2507.27 roll -1.18 - - 2227.75 - 3.20 0.083 3352.56 335.8 -77.86 - - 3213.66 - - - - - - - - - 15.71 -
2533.47 237.85 -9.57 320 2551.33 roll -1.18 - - 2227.12 - 2.81 0.019 2191.81 -413.1 -77.86 - - 3215.34 - - - - - - - - - 15.94 -
2857.17 265.71 -8.84 352 2878.85 roll -1.18 - - 2227.94 - 3.43 0.079 3351.44 338.1 -77.86 - - 3212.69 - - - - - - - - - 15.67 -
2920.04 271.71 -9.58 361 2937.90 roll -1.18 - - 2227.38 - 2.83 0.019 2191.62 -409.8 -77.86 - - 3214.50 - - - - - - - - - 15.81 -
3243.75 297.10 -7.40 393 3247.81 no move -1.18 - - 2227.62 - - - 2190.25 - -77.86 - - 3212.91 - - - - - - - - - - -
3553.81 318.49 -6.71 424 3557.87 no move -1.18 - - 2227.69 - - - 2191.19 - -77.86 - - 3213.06 - - - - - - - - - - -
3863.86 338.66 -6.60 455 3867.92 no move -1.18 - - 2227.69 - - - 2191.00 - -77.86 - - 3212.38 - - - - - - - - - - -
4173.92 360.41 -7.79 486 4177.98 no move -1.18 - - 2227.50 - - - 2190.75 - -77.86 - - 3212.28 - - - - - - - - - - -
4483.98 385.01 -8.33 517 4488.05 no move -1.18 - - 2227.50 - - - 2189.81 - -77.86 - - 3211.16 - - - - - - - - - - -
4794.03 408.98 -7.64 548 4798.09 no move -1.18 - - 2227.25 - - - 2190.62 - -77.86 - - 3211.62 - - - - - - - - - - -
5104.09 433.07 -7.81 579 5108.15 no move -1.18 - - 2228.19 - - - 2190.44 - -77.86 - - 3210.81 - - - - - - - - - - -
5414.15 458.33 -8.20 610 5435.84 roll -1.18 - - 2227.50 - 3.44 0.081 3352.19 337.7 -77.86 - - 3213.41 - - - - - - - - - 15.82 -
5491.32 465.05 -8.51 622 5510.29 roll -1.18 - - 2227.75 - 2.82 0.019 2195.81 -410.1 -77.86 - - 3210.91 - - - - - - - - - 15.98 -
5816.14 490.06 -7.74 654 5820.20 no move -1.18 - - 2228.00 - - - 2194.38 - -77.86 - - 3209.59 - - - - - - - - - - -
6126.17 514.58 -8.09 685 6130.23 no move -1.18 - - 2227.50 - - - 2194.38 - -77.86 - - 3209.78 - - - - - - - - - - -
6436.21 539.53 -8.01 716 6457.91 roll -1.18 - - 2226.75 - 3.43 0.082 3349.19 336.7 -77.86 - - 3209.50 - - - - - - - - - 15.81 -
6533.39 548.19 -8.95 732 6551.97 roll -1.18 - - 2227.81 - 2.82 0.019 2197.19 -408.5 -77.86 - - 3209.59 - - - - - - - - - 15.99 -
6857.82 573.86 -7.55 764 6879.74 roll -1.18 - - 2227.62 - 3.43 0.082 3352.19 336.7 -77.86 - - 3208.75 - - - - - - - - - 15.81 -
6945.34 581.12 -8.02 778 6963.92 roll -1.18 - - 2227.62 - 2.84 0.020 2196.62 -406.9 -77.86 - - 3208.28 - - - - - - - - - 15.97 -
7269.78 603.45 -6.53 810 7273.84 no move -1.18 - - 2227.62 - - - 2195.31 - -77.86 - - 3207.28 - - - - - - - - - - -
7579.85 623.55 -6.74 841 7598.53 roll -1.18 - - 2227.12 - 3.08 0.072 1146.06 -340.7 -77.86 - - 3206.78 - - - - - - - - - 15.81 -
7709.03 632.82 -7.37 864 7727.60 roll -1.18 - - 2227.12 - 2.81 0.027 2278.25 402.9 -77.86 - - 3208.19 - - - - - - - - - 15.98 -
8033.45 653.95 -6.50 896 8037.52 no move -1.18 - - 2227.69 - - - 2278.31 - -77.86 - - 3206.12 - - - - - - - - - - -
8343.50 674.78 -6.71 927 8364.39 roll -1.18 - - 2227.62 - 3.27 0.068 1145.44 -346.4 -77.86 - - 3206.25 - - - - - - - - - 15.79 -
8405.60 679.31 -6.98 936 8423.84 roll -1.18 - - 2227.75 - 2.82 0.026 2278.00 401.6 -77.86 - - 3206.94 - - - - - - - - - 15.97 -
8729.69 700.56 -6.28 968 8733.75 no move -1.18 - - 2227.38 - - - 2278.19 - -77.86 - - 3205.56 - - - - - - - - - - -
9039.74 718.45 -5.64 999 9060.88 roll -1.18 - - 2226.44 - 3.30 0.068 1144.38 -343.6 -77.86 - - 3206.75 - - - - - - - - - 15.80 -
9146.47 724.87 -5.88 1017 9165.05 roll -1.18 - - 2227.12 - 2.84 0.026 2276.31 398.6 -77.86 - - 3206.88 - - - - - - - - - 15.97 -
9470.90 742.49 -5.40 1049 9474.96 no move -1.18 - - 2227.88 - - - 2276.00 - -77.86 - - 3204.78 - - - - - - - - - - -
9780.96 759.79 -5.76 1080 9785.02 no move -1.18 - - 2227.25 - - - 2276.50 - -77.86 - - 3204.78 - - - - - - - - - - -
10091.00 777.74 -5.70 1111 10095.07 no move -1.18 - - 2226.88 - - - 2276.25 - -77.86 - - 3203.59 - - - - - - - - - - -
10401.07 795.52 -5.56 1142 10421.96 roll -1.18 - - 2226.75 - 3.28 0.068 1143.75 -345.3 -77.86 - - 3204.78 - - - - - - - - - 15.78 -
10457.42 798.93 -5.29 1150 10476.00 roll -1.18 - - 2227.81 - 2.83 0.026 2276.38 400.2 -77.86 - - 3204.03 - - - - - - - - - 15.98 -
10781.85 817.00 -5.74 1182 10785.91 no move -1.18 - - 2227.62 - - - 2276.50 - -77.86 - - 3203.59 - - - - - - - - - - -
11091.92 834.46 -5.74 1213 11112.92 roll -1.18 - - 2226.62 - 3.28 0.068 1145.75 -344.7 -77.86 - - 3203.59 - - - - - - - - - 15.79 -
11198.41 840.85 -6.18 1231 11217.00 roll -1.18 - - 2227.62 - 2.87 0.026 2276.06 393.8 -77.86 - - 3204.22 - - - - - - - - - 15.88 -
11522.97 858.85 -5.37 1263 11527.03 no move -1.18 - - 2227.75 - - - 2277.00 - -77.86 - - 3203.00 - - - - - - - - - - -
11833.03 875.31 -5.20 1294 11837.09 no move -1.18 - - 2227.19 - - - 2276.25 - -77.86 - - 3202.19 - - - - - - - - - - -
12143.08 891.09 -5.09 1325 12147.15 no move -1.18 - - 2226.88 - - - 2276.62 - -77.86 - - 3202.28 - - - - - - - - - - -
12453.14 907.29 -5.53 1356 12474.45 roll -1.18 - - 2226.38 - 3.31 0.069 1146.50 -341.4 -77.86 - - 3203.06 - - - - - - - - - 15.77 -
12579.95 914.70 -5.69 1378 12598.52 roll -1.18 - - 2226.75 - 2.87 0.027 2275.19 393.3 -77.86 - - 3203.03 - - - - - - - - - 15.79 -
12904.38 932.72 -5.82 1410 12908.44 no move -1.18 - - 2228.00 - - - 2274.31 - -77.86 - - 3201.66 - - - - - - - - - - -
13214.44 950.55 -6.09 1441 13235.75 roll -1.18 - - 2227.50 - 3.32 0.069 1146.62 -339.7 -77.86 - - 3200.72 - - - - - - - - - 15.75 -
13326.97 958.26 -6.76 1460 13344.84 roll -1.18 - - 2227.00 - 2.86 0.027 2274.69 394.4 -77.86 - - 3202.06 - - - - - - - - - 15.83 -
13650.71 978.88 -6.37 1492 13671.59 roll -1.18 - - 2227.81 - 3.29 0.069 1145.75 -343.1 -77.86 - - 3201.19 - - - - - - - - - 15.75 -
13772.81 987.08 -6.54 1513 13790.68 roll -1.18 - - 2227.38 - 2.86 0.027 2274.75 394.8 -77.86 - - 3201.22 - - - - - - - - - 15.96 -
13826 end dive: TARGET_DEPTH_EXCEEDED
13826 begin apogee
13831.25 990.34 -6.15 1518 13935.00 -0.31 1.60 0.132 2439.25 132.4 0.20 0.137 2282.31 37.8 - 64.81 2.406 2891.34 -4.8 0.336 - - - - - - 15.66 15.35 10.26
13948 end apogee: CONTROL_FINISHED_OK
13948 begin climb
13951.25 992.55 - 1525 14061.73 1.18 2.60 0.091 2805.88 141.0 - - 2282.88 - 77.86 67.14 2.379 2570.47 -4.8 0.341 - - - - - - 15.57 - 11.65
14368.08 973.17 5.73 1563 14390.62 1.32 0.19 0.084 2846.69 214.8 3.36 0.073 1146.56 -338.2 77.86 - - 2562.28 - - - - - - - - 15.69 15.66 -
14456.62 966.98 7.07 1577 14475.61 done 1.38 - - 2848.06 - 2.90 0.030 2272.62 388.3 77.86 - - 2563.97 - - - - - - - - - 15.79 -
14781.85 945.54 6.03 1609 14787.32 1.50 0.20 0.077 2890.88 214.1 - - 2272.19 - 77.86 - - 2564.34 - - - - - - - - 15.80 - -
15093.56 922.93 7.54 1640 15097.62 VBD 1.53 - - 2892.50 - - - 2272.69 - 77.86 - - 2560.81 - - - - - - - - - - -
15403.98 900.82 7.14 1671 15408.04 VBD 1.59 - - 2893.06 - - - 2272.56 - 77.86 - - 2560.09 - - - - - - - - - - -
15713.89 877.86 7.92 1702 15734.76 done 1.59 - - 2892.44 - 3.29 0.093 3348.19 326.9 77.86 - - 2559.44 - - - - - - - - - 15.78 -
15775.97 872.65 8.88 1711 15793.82 done 1.59 - - 2892.38 - 2.85 0.022 2204.56 -401.3 77.86 - - 2560.84 - - - - - - - - - 15.93 -
16100.06 847.53 7.39 1743 16121.73 done 1.63 - - 2892.38 - 3.48 0.089 3352.81 330.0 77.86 - - 2558.78 - - - - - - - - - 15.78 -
16152.93 842.94 8.84 1750 16170.80 done 1.63 - - 2891.94 - 2.84 0.022 2204.38 -404.4 77.86 - - 2559.88 - - - - - - - - - 15.96 -
16476.64 816.68 8.33 1782 16480.71 VBD 1.63 - - 2892.12 - - - 2202.69 - 77.86 - - 2558.72 - - - - - - - - - - -
16786.70 792.78 7.76 1813 16790.76 VBD 1.63 - - 2892.06 - - - 2203.31 - 77.86 - - 2558.38 - - - - - - - - - - -
17097.17 770.09 6.99 1844 17120.51 1.69 0.20 0.078 2938.50 232.2 3.47 0.089 3350.38 330.6 77.86 - - 2558.56 - - - - - - - - 15.91 15.77 -
17175.99 763.27 8.87 1856 17194.57 done 1.69 - - 2937.38 - 2.85 0.022 2205.69 -401.6 77.86 - - 2560.06 - - - - - - - - - 15.97 -
17500.94 738.57 7.53 1888 17522.63 done 1.72 - - 2937.75 - 3.49 0.088 3349.94 327.9 77.86 - - 2558.47 - - - - - - - - - 15.71 -
17638.14 727.49 8.10 1912 17656.72 done 1.72 - - 2938.12 - 2.84 0.022 2205.44 -403.0 77.86 - - 2558.94 - - - - - - - - - 15.97 -
17962.96 705.13 6.09 1944 17967.02 VBD 1.84 - - 2938.38 - - - 2205.12 - 77.86 - - 2557.62 - - - - - - - - - - -
18273.27 683.83 7.55 1975 18278.33 1.87 0.19 0.082 2980.81 223.3 - - 2204.69 - 77.86 - - 2557.47 - - - - - - - - 15.91 - -
18584.58 660.57 7.31 2006 18606.26 done 1.91 - - 2981.56 - 3.46 0.087 3349.69 330.9 77.86 - - 2556.84 - - - - - - - - - 15.75 -
18717.48 649.31 8.49 2029 18735.34 done 1.91 - - 2981.12 - 2.83 0.022 2205.75 -404.2 77.86 - - 2558.78 - - - - - - - - - 15.98 -
19041.17 624.98 7.92 2061 19060.25 done 1.91 - - 2980.38 - 3.13 0.077 1146.62 -338.4 77.86 - - 2558.34 - - - - - - - - - 15.77 -
19101.21 620.14 7.86 2070 19120.19 done 1.91 - - 2981.75 - 2.84 0.030 2275.62 397.5 77.86 - - 2557.56 - - - - - - - - - 15.95 -
19426.44 595.24 7.39 2102 19447.32 done 1.95 - - 2981.31 - 3.30 0.072 1147.25 -341.9 77.86 - - 2557.31 - - - - - - - - - 15.78 -
19528.54 587.34 8.02 2119 19546.40 done 1.95 - - 2981.06 - 2.86 0.030 2275.50 394.5 77.86 - - 2559.41 - - - - - - - - - 15.94 -
19852.63 563.09 7.30 2151 19872.14 done 2.00 - - 2982.00 - 3.24 0.091 3351.50 332.1 77.86 - - 2556.78 - - - - - - - - - 15.74 -
19948.35 555.56 7.57 2167 19966.21 done 2.00 - - 2981.12 - 2.82 0.021 2204.00 -406.9 77.86 - - 2559.56 - - - - - - - - - 15.95 -
20272.05 532.68 7.65 2199 20291.13 done 2.00 - - 2980.94 - 3.11 0.075 1146.94 -339.9 77.86 - - 2557.75 - - - - - - - - - 15.77 -
20437.77 520.29 7.29 2229 20456.86 2.04 0.12 0.092 3015.69 289.6 2.84 0.029 2276.38 397.7 77.86 - - 2555.69 - - - - - - - - 15.60 15.80 -
20763.12 497.14 6.94 2261 20784.01 done 2.11 - - 3015.44 - 3.26 0.071 1144.38 -347.2 77.86 - - 2555.59 - - - - - - - - - 15.75 -
20895.76 487.70 7.18 2284 20914.02 done 2.16 - - 3015.19 - 2.84 0.029 2277.12 398.9 77.86 - - 2556.78 - - - - - - - - - 15.95 -
21220.27 466.76 6.17 2316 21224.35 2.27 - - 3014.69 - - - 2276.50 - 77.86 - - 2556.88 - - - - - - - - - - -
21530.69 448.59 5.68 2347 21550.21 2.42 - - 3014.31 - 3.23 0.089 3350.12 332.4 77.86 - - 2556.59 - - - - - - - - - 15.73 -
21676.83 439.32 6.64 2373 21694.29 2.50 - - 3014.25 - 2.80 0.021 2201.88 -410.1 77.86 - - 2559.16 - - - - - - - - - 15.96 -
22000.77 420.94 5.61 2405 22022.48 2.65 - - 3014.62 - 3.47 0.085 3350.44 331.0 77.86 - - 2557.34 - - - - - - - - - 15.64 -
22108.38 414.28 6.60 2423 22126.57 2.73 - - 3014.69 - 2.80 0.021 2202.75 -409.9 77.86 - - 2557.66 - - - - - - - - - 15.90 -
22432.84 395.84 5.35 2455 22454.89 2.90 - - 3013.94 - 3.43 0.085 3350.50 334.6 77.86 - - 2557.69 - - - - - - - - - 15.72 -
22526.61 390.14 6.45 2470 22544.49 2.99 - - 3015.25 - 2.81 0.021 2202.19 -408.7 77.86 - - 2557.50 - - - - - - - - - 15.94 -
22850.74 370.10 6.41 2502 22854.82 3.09 - - 3014.56 - - - 2200.69 - 77.86 - - 2556.28 - - - - - - - - - - -
23161.06 351.31 5.79 2533 23165.14 3.23 - - 3015.44 - - - 2200.75 - 77.86 - - 2556.34 - - - - - - - - - - -
23471.39 334.92 5.22 2564 23475.46 3.40 - - 3015.19 - - - 2200.94 - 77.86 - - 2556.41 - - - - - - - - - - -
23781.68 320.66 4.23 2595 23892.54 3.55 - - 3014.88 - 3.12 0.078 1145.56 -338.3 156.89 63.55 1.584 2250.78 -4.8 0.166 - - - - - - - 15.50 10.57
23898.66 312.44 8.97 2606 23917.27 roll back 3.55 - - 3014.88 - 2.87 0.029 2274.94 393.5 156.89 - - 2247.03 - - - - - - - - - 15.70 -
24223.19 278.01 10.70 2638 24227.27 3.55 - - 3015.44 - - - 2275.00 - 156.89 - - 2239.97 - - - - - - - - - - -
24533.22 246.04 10.54 2669 24552.96 3.55 - - 3014.25 - 3.24 0.072 1145.44 -348.6 156.89 - - 2240.88 - - - - - - - - - 15.72 -
24573.55 241.46 11.08 2674 24592.14 3.55 - - 3014.56 - 2.86 0.029 2275.62 395.2 156.89 - - 2241.00 - - - - - - - - - 15.85 -
24897.99 207.71 10.55 2706 24919.31 3.55 - - 3014.94 - 3.31 0.071 1146.00 -341.3 156.89 - - 2236.12 - - - - - - - - - 15.56 -
24940.51 203.19 10.52 2711 24958.39 3.55 - - 3015.44 - 2.88 0.028 2274.00 391.7 156.89 - - 2237.41 - - - - - - - - - 15.75 -
25264.21 172.09 9.39 2743 25285.11 3.55 - - 3015.00 - 3.30 0.070 1145.56 -342.0 156.89 - - 2236.72 - - - - - - - - - 15.68 -
25350.60 163.40 9.76 2757 25369.19 3.55 - - 3015.81 - 2.88 0.028 2273.56 391.7 156.89 - - 2237.75 - - - - - - - - - 15.74 -
25675.26 132.44 9.35 2789 25694.77 3.55 - - 3015.44 - 3.26 0.089 3351.81 330.8 156.89 - - 2238.81 - - - - - - - - - 15.68 -
25760.97 123.13 11.30 2803 25779.24 3.55 - - 3014.12 - 2.83 0.021 2201.50 -406.5 156.89 - - 2239.88 - - - - - - - - - 15.64 -
26085.10 94.32 8.04 2841 26105.55 3.55 - - 3014.88 - 3.11 0.072 1145.12 -339.7 156.89 - - 2237.72 - - - - - - - - - 15.62 -
26151.87 89.32 7.65 2851 26170.46 3.55 - - 3014.88 - 2.83 0.027 2277.88 400.3 156.89 - - 2238.22 - - - - - - - - - 15.72 -
26356.71 77.07 5.61 2889 26376.95 3.70 - - 3015.31 - 3.20 0.086 3351.12 335.4 156.89 - - 2236.56 - - - - - - - - - 15.65 -
26608.57 63.07 5.44 2936 26626.77 3.70 - - 3013.81 - 2.79 0.019 2197.81 -413.4 156.89 - - 2237.97 - - - - - - - - - 15.76 -
26813.04 54.12 4.06 2974 26925.16 3.86 - - 3015.00 - 3.45 0.083 3352.06 334.6 239.26 63.25 1.200 1913.72 -5.1 0.040 - - - - - - - 15.53 11.30
27081.39 39.50 7.64 3019 27099.97 3.86 - - 3015.19 - 2.83 0.020 2200.31 -407.0 239.26 - - 1906.03 - - - - - - - - - 15.58 -
27286.25 28.15 3.57 3057 27404.98 4.05 - - 3014.44 - 3.10 0.074 1147.19 -339.7 331.81 71.46 1.141 1537.22 -5.2 0.022 - - - - - - - 15.42 11.51
27531.29 13.98 9.00 3097 27549.89 4.05 - - 3015.19 - 2.84 0.026 2276.69 397.7 331.81 - - 1529.03 - - - - - - - - - 15.55 -
27640 end climb: SURFACE_DEPTH_REACHED
27641 begin surface coast
27691 end surface coast: CONTROL_FINISHED_OK
27692 begin surface
SM 1.23 - - - - 180.7 75.11 1.102 1136.1 15.1 19.57 0.056 1134.9 58.0 - 0.12 0.083 1137.3 9453.8 -14.319 - - 11.37 15.72 15.80 -