NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 438 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 153.58 of 506.00 AH used of 24V (69.65% remains)
• Surface angle -62.1 deg, depth 1.10 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.73 (SM_CC=430)
• GPS1 time: 22 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
19.04 - - - 118.76 VBD -1.18 - - 179.94 - - - 2171.25 - -77.86 70.24 0.005 2867.75 - - - - - - - - - - 14.96
120.98 3.44 -3.64 14 237.49 -1.18 17.32 0.219 2227.88 118.2 3.48 0.079 3351.62 339.2 -77.86 4.85 0.009 3210.66 70.7 -4.620 - - - - - - 15.34 15.07 15.18
408.86 64.71 -11.82 54 427.22 roll -1.18 - - 2228.31 - 2.79 0.018 2192.62 -415.4 -77.86 - - 3213.50 - - - - - - - - - 15.66 -
613.25 84.01 -8.99 92 619.81 no move -1.18 - - 2228.12 - - - 2190.88 - -77.86 - - 3213.09 - - - - - - - - - - -
805.63 99.56 -7.86 130 812.56 no move -1.18 - - 2227.88 - - - 2190.75 - -77.86 - - 3213.84 - - - - - - - - - - -
1002.94 116.01 -8.60 150 1006.96 no move -1.18 - - 2227.62 - - - 2190.75 - -77.86 - - 3213.03 - - - - - - - - - - -
1313.01 141.42 -8.35 181 1331.06 roll -1.18 - - 2227.12 - 2.99 0.069 1145.38 -349.6 -77.86 - - 3214.06 - - - - - - - - - 15.69 -
1371.49 146.57 -8.65 190 1389.45 roll -1.18 - - 2228.25 - 2.79 0.024 2278.25 406.0 -77.86 - - 3214.88 - - - - - - - - - 15.77 -
1695.23 174.58 -8.44 222 1714.07 roll -1.18 - - 2227.88 - 3.15 0.081 3352.25 341.0 -77.86 - - 3216.34 - - - - - - - - - 15.76 -
1844.51 188.43 -9.25 249 1862.47 roll -1.18 - - 2228.31 - 2.77 0.019 2190.81 -419.3 -77.86 - - 3214.97 - - - - - - - - - 15.69 -
2168.25 213.07 -7.08 281 2186.60 roll -1.18 - - 2228.50 - 2.96 0.068 1145.38 -353.2 -77.86 - - 3216.66 - - - - - - - - - 15.80 -
2292.93 224.71 -9.84 303 2310.39 roll -1.18 - - 2227.44 - 2.80 0.025 2278.12 404.5 -77.86 - - 3215.19 - - - - - - - - - 15.87 -
2616.21 251.36 -7.71 335 2635.28 roll -1.18 - - 2227.81 - 3.15 0.082 3354.12 341.6 -77.86 - - 3213.84 - - - - - - - - - 15.73 -
2665.76 255.53 -8.48 342 2683.93 roll -1.18 - - 2227.38 - 2.73 0.018 2189.19 -426.7 -77.86 - - 3216.00 - - - - - - - - - 15.89 -
2989.76 280.42 -8.33 374 2993.82 no move -1.18 - - 2227.69 - - - 2187.94 - -77.86 - - 3213.66 - - - - - - - - - - -
3299.81 305.30 -7.96 405 3321.10 roll -1.18 - - 2228.00 - 3.38 0.078 3352.81 344.6 -77.86 - - 3214.12 - - - - - - - - - 15.84 -
3356.60 310.54 -9.06 413 3375.16 roll -1.18 - - 2227.38 - 2.75 0.019 2192.50 -421.9 -77.86 - - 3215.19 - - - - - - - - - 15.94 -
3681.01 336.94 -8.67 445 3699.28 roll -1.18 - - 2227.12 - 2.95 0.069 1145.94 -354.8 -77.86 - - 3215.03 - - - - - - - - - 15.76 -
3789.77 346.59 -8.65 464 3808.33 roll -1.18 - - 2227.69 - 2.77 0.025 2279.69 409.3 -77.86 - - 3216.19 - - - - - - - - - 15.89 -
4114.16 373.04 -7.92 496 4118.23 no move -1.18 - - 2228.19 - - - 2279.62 - -77.86 - - 3214.12 - - - - - - - - - - -
4424.20 397.58 -7.70 527 4443.27 roll -1.18 - - 2226.56 - 3.18 0.065 1144.75 -356.9 -77.86 - - 3213.31 - - - - - - - - - 15.85 -
4549.50 407.44 -7.79 549 4566.71 roll -1.18 - - 2227.69 - 2.79 0.025 2279.62 406.8 -77.86 - - 3213.59 - - - - - - - - - 15.84 -
4872.58 430.85 -6.93 581 4891.68 roll -1.18 - - 2227.94 - 3.16 0.066 1144.69 -359.2 -77.86 - - 3212.28 - - - - - - - - - 15.83 -
4947.88 436.30 -7.23 593 4965.33 roll -1.18 - - 2227.75 - 2.80 0.025 2279.69 405.4 -77.86 - - 3213.22 - - - - - - - - - 15.96 -
5271.15 456.95 -6.23 625 5275.21 no move -1.18 - - 2226.88 - - - 2279.44 - -77.86 - - 3212.28 - - - - - - - - - - -
5581.20 476.58 -6.61 656 5600.27 roll -1.18 - - 2227.00 - 3.18 0.066 1145.50 -356.6 -77.86 - - 3214.19 - - - - - - - - - 15.83 -
5666.48 482.87 -7.36 670 5684.36 roll -1.18 - - 2227.44 - 2.81 0.026 2276.69 402.6 -77.86 - - 3212.38 - - - - - - - - - 15.90 -
5990.18 505.12 -6.95 702 5994.24 no move -1.18 - - 2227.62 - - - 2277.94 - -77.86 - - 3211.72 - - - - - - - - - - -
6300.21 527.29 -7.69 733 6304.27 no move -1.18 - - 2227.12 - - - 2277.50 - -77.86 - - 3211.03 - - - - - - - - - - -
6610.24 549.95 -7.48 764 6614.29 no move -1.18 - - 2227.00 - - - 2277.12 - -77.86 - - 3210.41 - - - - - - - - - - -
6920.27 573.20 -7.71 795 6939.77 roll -1.18 - - 2227.69 - 3.21 0.067 1145.94 -352.4 -77.86 - - 3210.22 - - - - - - - - - 15.82 -
6970.24 577.36 -8.01 802 6989.23 roll -1.18 - - 2227.62 - 2.81 0.025 2278.12 402.9 -77.86 - - 3210.88 - - - - - - - - - 15.97 -
7295.08 601.57 -7.01 834 7299.14 no move -1.18 - - 2227.75 - - - 2278.94 - -77.86 - - 3209.44 - - - - - - - - - - -
7605.14 623.88 -6.56 865 7609.20 no move -1.18 - - 2228.50 - - - 2278.44 - -77.86 - - 3209.16 - - - - - - - - - - -
7915.16 644.08 -6.94 896 7919.22 no move -1.18 - - 2228.25 - - - 2278.31 - -77.86 - - 3209.09 - - - - - - - - - - -
8225.18 665.69 -7.19 927 8229.25 no move -1.18 - - 2227.69 - - - 2278.56 - -77.86 - - 3208.78 - - - - - - - - - - -
8535.22 684.78 -5.40 958 8539.28 no move -1.18 - - 2227.56 - - - 2278.00 - -77.86 - - 3208.41 - - - - - - - - - - -
8845.22 703.24 -6.07 989 8864.70 roll -1.18 - - 2227.81 - 3.21 0.086 3350.94 334.2 -77.86 - - 3210.00 - - - - - - - - - 15.78 -
8900.90 706.86 -6.80 997 8918.35 roll -1.18 - - 2227.81 - 2.77 0.020 2193.94 -417.7 -77.86 - - 3209.66 - - - - - - - - - 15.99 -
9224.18 725.19 -5.31 1029 9228.25 no move -1.18 - - 2227.06 - - - 2193.12 - -77.86 - - 3207.50 - - - - - - - - - - -
9534.20 742.28 -5.65 1060 9538.65 no move -1.18 - - 2227.88 - - - 2192.56 - -77.86 - - 3207.19 - - - - - - - - - - -
9844.50 761.95 -6.36 1091 9848.57 no move -1.18 - - 2227.25 - - - 2193.62 - -77.86 - - 3207.16 - - - - - - - - - - -
10154.56 784.11 -7.17 1122 10173.25 roll -1.18 - - 2227.75 - 3.01 0.073 1145.62 -348.2 -77.86 - - 3207.09 - - - - - - - - - 15.79 -
10233.74 790.27 -7.76 1135 10251.93 roll -1.18 - - 2227.38 - 2.80 0.026 2276.81 404.0 -77.86 - - 3207.69 - - - - - - - - - 15.96 -
10557.78 812.20 -6.58 1167 10561.84 no move -1.18 - - 2227.31 - - - 2276.88 - -77.86 - - 3206.53 - - - - - - - - - - -
10867.84 834.29 -7.49 1198 10887.32 roll -1.18 - - 2227.38 - 3.22 0.068 1145.94 -351.2 -77.86 - - 3208.72 - - - - - - - - - 15.77 -
11003.56 844.60 -7.26 1222 11021.42 roll -1.18 - - 2227.81 - 2.84 0.026 2278.44 398.8 -77.86 - - 3208.19 - - - - - - - - - 15.90 -
11327.38 865.94 -6.66 1254 11331.44 no move -1.18 - - 2227.94 - - - 2278.88 - -77.86 - - 3205.41 - - - - - - - - - - -
11637.43 885.11 -5.77 1285 11641.49 no move -1.18 - - 2227.81 - - - 2278.62 - -77.86 - - 3205.47 - - - - - - - - - - -
11947.51 902.94 -5.79 1316 11967.00 roll -1.18 - - 2228.00 - 3.23 0.069 1145.62 -350.8 -77.86 - - 3204.50 - - - - - - - - - 15.75 -
11997.60 905.96 -6.41 1323 12016.19 roll -1.18 - - 2227.38 - 2.81 0.027 2276.56 402.5 -77.86 - - 3207.19 - - - - - - - - - 15.97 -
12322.04 923.03 -5.33 1355 12341.53 roll -1.18 - - 2227.44 - 3.22 0.088 3350.69 333.6 -77.86 - - 3203.72 - - - - - - - - - 15.60 -
12427.75 929.25 -6.13 1373 12445.21 roll -1.18 - - 2227.94 - 2.77 0.020 2193.94 -417.6 -77.86 - - 3206.62 - - - - - - - - - 15.98 -
12751.46 946.58 -5.03 1405 12755.52 no move -1.18 - - 2227.75 - - - 2191.62 - -77.86 - - 3204.03 - - - - - - - - - - -
13061.37 963.01 -5.32 1436 13083.07 roll -1.18 - - 2227.88 - 3.46 0.085 3351.19 335.1 -77.86 - - 3203.34 - - - - - - - - - 15.72 -
13188.56 970.99 -6.40 1458 13207.12 roll -1.18 - - 2227.06 - 2.78 0.020 2197.12 -415.1 -77.86 - - 3206.56 - - - - - - - - - 15.95 -
13512.98 988.54 -5.31 1490 13517.04 no move -1.18 - - 2226.81 - - - 2195.44 - -77.86 - - 3204.06 - - - - - - - - - - -
13552 end dive: TARGET_DEPTH_EXCEEDED
13553 begin apogee
13558.04 990.37 -4.91 1494 13663.85 -0.31 1.61 0.133 2440.38 132.7 0.14 0.160 2185.88 -68.3 - 65.38 2.397 2889.72 -4.8 0.340 - - - - - - 15.66 15.35 10.27
13677 end apogee: CONTROL_FINISHED_OK
13677 begin climb
13680.24 991.61 - 1501 13790.45 1.18 2.60 0.091 2805.06 140.3 - - 2185.88 - 77.86 66.86 2.374 2571.19 -4.8 0.340 - - - - - - 15.56 - 11.54
14096.82 966.99 6.22 1539 14118.93 done 1.29 - - 2805.44 - 3.51 0.088 3349.94 331.6 77.86 - - 2562.91 - - - - - - - - - 15.68 -
14184.51 960.36 7.67 1553 14203.49 done 1.29 - - 2805.94 - 2.82 0.022 2203.25 -406.6 77.86 - - 2563.66 - - - - - - - - - 15.78 -
14509.75 941.73 5.41 1585 14533.91 1.45 0.41 0.068 2878.94 178.0 3.44 0.088 3350.88 333.6 77.86 - - 2561.56 - - - - - - - - 15.78 15.73 -
14575.51 936.95 6.97 1594 14593.77 done 1.52 - - 2879.12 - 2.82 0.022 2204.25 -406.6 77.86 - - 2561.88 - - - - - - - - - 15.85 -
14900.19 916.33 5.78 1626 14905.67 1.65 0.23 0.077 2927.81 211.7 - - 2203.19 - 77.86 - - 2561.12 - - - - - - - - 15.84 - -
15212.04 892.30 7.23 1657 15233.74 done 1.70 - - 2927.44 - 3.42 0.087 3350.88 335.6 77.86 - - 2560.72 - - - - - - - - - 15.77 -
15329.25 882.15 8.55 1677 15347.83 done 1.70 - - 2928.06 - 2.80 0.022 2204.25 -409.5 77.86 - - 2563.12 - - - - - - - - - 15.93 -
15653.68 855.60 8.04 1709 15675.38 done 1.70 - - 2928.25 - 3.42 0.087 3351.94 335.6 77.86 - - 2561.12 - - - - - - - - - 15.77 -
15706.58 851.38 8.07 1716 15724.44 done 1.70 - - 2928.25 - 2.81 0.022 2204.94 -408.2 77.86 - - 2561.25 - - - - - - - - - 15.95 -
16030.25 826.39 7.56 1748 16034.31 VBD 1.70 - - 2927.88 - - - 2202.81 - 77.86 - - 2559.09 - - - - - - - - - - -
16340.71 803.06 7.51 1779 16362.42 done 1.73 - - 2928.31 - 3.43 0.088 3350.50 334.6 77.86 - - 2560.81 - - - - - - - - - 15.78 -
16433.63 795.12 8.78 1794 16451.90 done 1.73 - - 2928.25 - 2.81 0.022 2205.81 -407.4 77.86 - - 2559.81 - - - - - - - - - 15.95 -
16757.74 768.55 8.44 1826 16761.80 VBD 1.73 - - 2927.81 - - - 2203.94 - 77.86 - - 2558.84 - - - - - - - - - - -
17068.03 743.11 8.18 1857 17072.09 VBD 1.73 - - 2928.56 - - - 2203.69 - 77.86 - - 2558.41 - - - - - - - - - - -
17377.93 718.83 8.65 1888 17396.61 done 1.73 - - 2928.56 - 3.08 0.077 1146.50 -343.2 77.86 - - 2558.47 - - - - - - - - - 15.79 -
17567.14 703.62 8.05 1923 17585.72 done 1.73 - - 2927.56 - 2.82 0.030 2274.94 400.2 77.86 - - 2560.12 - - - - - - - - - 15.96 -
17891.98 678.82 7.30 1955 17911.48 done 1.78 - - 2927.75 - 3.23 0.091 3352.50 333.6 77.86 - - 2560.84 - - - - - - - - - 15.75 -
18031.99 667.51 8.25 1980 18050.17 done 1.78 - - 2928.38 - 2.79 0.021 2202.62 -412.1 77.86 - - 2560.84 - - - - - - - - - 15.95 -
18356.03 641.79 7.72 2012 18377.73 done 1.78 - - 2927.88 - 3.42 0.087 3351.62 336.0 77.86 - - 2561.03 - - - - - - - - - 15.76 -
18493.22 630.65 8.16 2036 18511.81 done 1.78 - - 2928.25 - 2.81 0.021 2204.12 -408.4 77.86 - - 2559.06 - - - - - - - - - 15.95 -
18818.25 606.53 7.41 2068 18844.17 1.82 0.17 0.087 2968.19 234.9 3.41 0.087 3352.38 336.7 77.86 - - 2559.00 - - - - - - - - 15.90 15.75 -
18975.51 594.00 8.31 2096 18993.37 done 1.82 - - 2968.50 - 2.80 0.022 2203.06 -410.5 77.86 - - 2560.56 - - - - - - - - - 15.95 -
19299.59 572.78 5.73 2128 19303.65 VBD 1.96 - - 2968.00 - - - 2202.12 - 77.86 - - 2558.06 - - - - - - - - - - -
19609.90 553.82 6.30 2159 19614.97 2.06 0.19 0.081 3014.31 243.7 - - 2201.88 - 77.86 - - 2557.59 - - - - - - - - 15.89 - -
19921.24 532.43 7.00 2190 19942.94 done 2.12 - - 3014.44 - 3.40 0.085 3350.38 337.8 77.86 - - 2557.78 - - - - - - - - - 15.74 -
19988.42 527.07 7.76 2200 20007.39 done 2.12 - - 3015.25 - 2.83 0.021 2205.00 -404.7 77.86 - - 2557.84 - - - - - - - - - 15.79 -
20313.21 502.16 7.88 2232 20331.89 done 2.12 - - 3014.94 - 3.07 0.076 1145.81 -345.0 77.86 - - 2556.97 - - - - - - - - - 15.75 -
20492.39 487.24 8.26 2265 20511.62 done 2.12 - - 3015.44 - 2.82 0.029 2276.00 400.8 77.86 - - 2558.09 - - - - - - - - - 15.94 -
20818.00 462.96 7.31 2297 20837.64 2.17 - - 3013.94 - 3.21 0.089 3351.94 335.2 77.86 - - 2556.34 - - - - - - - - - 15.63 -
20868.23 459.07 7.56 2304 20886.43 2.17 - - 3015.25 - 2.79 0.021 2200.75 -412.6 77.86 - - 2557.97 - - - - - - - - - 15.90 -
21192.65 438.65 5.63 2336 21196.72 2.31 - - 3014.38 - - - 2199.12 - 77.86 - - 2558.12 - - - - - - - - - - -
21502.98 421.92 5.50 2367 21507.05 2.47 - - 3014.06 - - - 2199.19 - 77.86 - - 2557.16 - - - - - - - - - - -
21813.30 405.31 5.29 2398 21832.01 2.63 - - 3014.94 - 3.05 0.075 1145.44 -345.5 77.86 - - 2556.12 - - - - - - - - - 15.74 -
21952.90 397.20 6.05 2423 21971.90 2.75 - - 3015.00 - 2.83 0.029 2276.56 399.7 77.86 - - 2558.00 - - - - - - - - - 15.93 -
22278.15 378.18 5.99 2455 22299.14 2.87 - - 3014.88 - 3.26 0.070 1145.69 -346.9 77.86 - - 2556.84 - - - - - - - - - 15.68 -
22355.03 373.15 6.92 2467 22373.63 2.94 - - 3014.56 - 2.84 0.029 2275.25 397.7 77.86 - - 2558.69 - - - - - - - - - 15.92 -
22679.88 352.22 6.79 2499 22699.39 3.02 - - 3014.62 - 3.25 0.069 1146.25 -347.4 77.86 - - 2556.50 - - - - - - - - - 15.76 -
22766.12 346.16 6.96 2513 22784.00 3.08 - - 3015.06 - 2.83 0.028 2276.81 399.5 77.86 - - 2559.19 - - - - - - - - - 15.94 -
23090.26 325.04 6.35 2545 23111.16 3.19 - - 3014.81 - 3.26 0.069 1146.31 -346.8 77.86 - - 2557.62 - - - - - - - - - 15.74 -
23152.78 320.88 6.70 2554 23170.67 3.27 - - 3015.19 - 2.84 0.028 2276.62 398.0 77.86 - - 2558.38 - - - - - - - - - 15.93 -
23476.92 303.80 4.72 2586 23574.52 3.40 - - 3014.62 - 3.29 0.072 1145.69 -343.7 146.56 54.90 1.563 2292.72 -4.8 0.161 - - - - - - - 15.50 10.66
23650.01 289.46 9.57 2613 23668.62 roll back 3.40 - - 3015.00 - 2.88 0.029 2275.19 392.2 146.56 - - 2287.78 - - - - - - - - - 15.58 -
23974.77 259.67 9.34 2645 23994.33 3.40 - - 3014.94 - 3.24 0.089 3352.25 332.4 146.56 - - 2281.28 - - - - - - - - - 15.68 -
24010.64 255.93 10.21 2649 24028.91 3.40 - - 3014.56 - 2.81 0.021 2202.75 -409.1 146.56 - - 2284.38 - - - - - - - - - 15.61 -
24334.78 223.18 10.52 2681 24353.46 3.40 - - 3014.88 - 3.06 0.074 1145.56 -345.5 146.56 - - 2280.00 - - - - - - - - - 15.72 -
24449.69 210.51 11.21 2701 24467.58 3.40 - - 3014.38 - 2.86 0.029 2276.62 395.5 146.56 - - 2281.19 - - - - - - - - - 15.73 -
24773.41 178.60 9.28 2733 24777.49 3.40 - - 3014.62 - - - 2276.69 - 146.56 - - 2280.34 - - - - - - - - - - -
25083.47 150.33 8.52 2764 25102.99 3.40 - - 3014.94 - 3.24 0.069 1144.12 -349.6 146.56 - - 2281.19 - - - - - - - - - 15.69 -
25169.19 142.52 9.12 2778 25187.08 3.40 - - 3013.62 - 2.86 0.028 2276.75 396.0 146.56 - - 2281.41 - - - - - - - - - 15.76 -
25492.94 114.70 8.75 2810 25512.46 3.40 - - 3014.75 - 3.20 0.087 3351.12 335.7 146.56 - - 2282.62 - - - - - - - - - 15.62 -
25532.93 110.65 10.07 2815 25551.76 3.40 - - 3014.94 - 2.78 0.021 2201.88 -413.4 146.56 - - 2282.69 - - - - - - - - - 15.85 -
25857.76 84.56 7.78 2866 25877.17 3.40 - - 3015.25 - 3.05 0.072 1145.56 -346.3 146.56 - - 2279.94 - - - - - - - - - 15.53 -
26108.83 68.26 5.24 2913 26127.84 3.57 - - 3015.50 - 2.82 0.027 2278.44 401.7 146.56 - - 2279.69 - - - - - - - - - 15.74 -
26314.12 59.11 5.28 2951 26334.36 3.74 - - 3014.69 - 3.25 0.066 1144.94 -348.8 146.56 - - 2281.75 - - - - - - - - - 15.62 -
26566.06 57.57 -0.98 2998 26782.67 4.11 - - 3015.56 - 2.82 0.026 2279.75 402.4 333.21 140.26 1.215 1532.62 -5.3 0.043 - - - - - - - 15.72 11.42
26969.06 28.49 7.50 3064 26989.72 4.15 - - 3014.50 - 3.32 0.068 1145.12 -341.8 333.21 - - 1520.81 - - - - - - - - - 15.58 -
27221.08 9.20 7.86 3111 27239.68 4.15 - - 3014.62 - 2.85 0.027 2275.44 396.6 333.21 - - 1518.22 - - - - - - - - - 15.67 -
27290 end climb: SURFACE_DEPTH_REACHED
27290 begin surface coast
27351 end surface coast: CONTROL_FINISHED_OK
27351 begin surface
SM 1.20 - - - - 180.7 73.81 1.120 1138.2 15.4 19.73 0.043 1137.2 57.6 - 0.12 0.085 1139.1 9468.8 -13.663 - - 11.32 15.77 15.84 -