NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 439 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 153.92 of 506.00 AH used of 24V (69.58% remains)
• Surface angle -63.0 deg, depth 1.12 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.10 (SM_CC=430)
• GPS1 time: 30 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
19.02 - - - 118.75 VBD -1.18 - - 180.62 - - - 2296.56 - -77.86 70.24 0.005 2882.69 - - - - - - - - - - 14.96
120.97 3.65 -4.05 14 235.85 -1.18 17.36 0.219 2227.25 117.9 3.15 0.084 3352.56 335.2 -77.86 4.51 0.009 3211.22 72.8 -5.057 - - - - - - 15.32 15.07 15.19
262.51 45.90 -19.24 25 282.43 roll -1.18 - - 2227.75 - 2.83 0.020 2196.69 -408.4 -77.86 - - 3213.31 - - - - - - - - - 15.75 -
468.35 69.33 -9.36 63 475.28 no move -1.18 - - 2227.75 - - - 2194.50 - -77.86 - - 3213.72 - - - - - - - - - - -
661.12 86.05 -8.24 101 680.28 roll -1.18 - - 2227.44 - 3.02 0.068 1144.94 -347.5 -77.86 - - 3214.28 - - - - - - - - - 15.61 -
821.47 100.05 -8.48 130 840.24 roll -1.18 - - 2227.94 - 2.81 0.024 2277.94 403.2 -77.86 - - 3214.59 - - - - - - - - - 15.81 -
1146.06 124.90 -7.34 162 1164.90 roll -1.18 - - 2227.56 - 3.16 0.082 3352.50 340.1 -77.86 - - 3216.31 - - - - - - - - - 15.61 -
1245.34 133.20 -8.44 179 1263.53 roll -1.18 - - 2228.00 - 2.79 0.019 2191.94 -416.0 -77.86 - - 3215.34 - - - - - - - - - 15.88 -
1569.34 159.09 -8.63 211 1590.79 roll -1.18 - - 2227.75 - 3.41 0.077 3352.88 340.5 -77.86 - - 3214.94 - - - - - - - - - 15.69 -
1641.95 165.67 -9.03 222 1659.57 roll -1.18 - - 2227.00 - 2.79 0.018 2192.19 -416.0 -77.86 - - 3217.00 - - - - - - - - - 15.89 -
1965.42 190.84 -8.00 254 1983.70 roll -1.18 - - 2227.56 - 2.98 0.068 1145.50 -351.2 -77.86 - - 3216.97 - - - - - - - - - 15.81 -
2210.06 211.02 -7.93 300 2227.53 roll -1.18 - - 2227.81 - 2.79 0.025 2279.62 406.5 -77.86 - - 3216.94 - - - - - - - - - 15.79 -
2533.38 234.31 -6.96 332 2537.44 no move -1.18 - - 2227.69 - - - 2279.69 - -77.86 - - 3214.16 - - - - - - - - - - -
2843.44 257.49 -7.78 363 2862.51 roll -1.18 - - 2227.50 - 3.19 0.064 1144.44 -355.9 -77.86 - - 3213.84 - - - - - - - - - 15.82 -
2908.72 262.82 -8.27 373 2926.17 roll -1.18 - - 2227.94 - 2.79 0.025 2279.19 406.7 -77.86 - - 3215.38 - - - - - - - - - 15.90 -
3232.02 288.60 -7.86 405 3251.08 roll -1.18 - - 2227.56 - 3.14 0.082 3352.56 341.8 -77.86 - - 3217.28 - - - - - - - - - 15.82 -
3321.56 296.49 -8.73 420 3340.12 roll -1.18 - - 2227.94 - 2.77 0.019 2192.00 -419.0 -77.86 - - 3216.12 - - - - - - - - - 15.94 -
3645.96 321.31 -7.47 452 3650.01 no move -1.18 - - 2227.75 - - - 2190.00 - -77.86 - - 3214.47 - - - - - - - - - - -
3956.01 345.64 -7.70 483 3960.70 no move -1.18 - - 2227.25 - - - 2189.81 - -77.86 - - 3214.88 - - - - - - - - - - -
4266.66 369.23 -7.47 514 4288.35 roll -1.18 - - 2228.06 - 3.40 0.079 3352.50 342.0 -77.86 - - 3213.44 - - - - - - - - - 15.73 -
4309.55 372.89 -8.46 519 4327.00 roll -1.18 - - 2228.00 - 2.77 0.019 2193.50 -418.4 -77.86 - - 3214.59 - - - - - - - - - 15.84 -
4632.84 396.25 -7.22 551 4654.12 roll -1.18 - - 2227.50 - 3.37 0.079 3350.88 343.4 -77.86 - - 3215.00 - - - - - - - - - 15.83 -
4689.61 400.96 -8.21 559 4708.18 roll -1.18 - - 2227.69 - 2.77 0.019 2194.31 -417.5 -77.86 - - 3215.66 - - - - - - - - - 15.83 -
5014.03 424.92 -7.29 591 5018.09 no move -1.18 - - 2228.06 - - - 2193.12 - -77.86 - - 3213.38 - - - - - - - - - - -
5324.08 447.57 -7.01 622 5328.14 no move -1.18 - - 2227.75 - - - 2193.38 - -77.86 - - 3212.53 - - - - - - - - - - -
5634.14 468.70 -6.86 653 5655.43 roll -1.18 - - 2227.31 - 3.39 0.081 3353.06 342.1 -77.86 - - 3211.22 - - - - - - - - - 15.81 -
5710.92 474.53 -7.39 665 5729.10 roll -1.18 - - 2227.75 - 2.77 0.019 2196.25 -417.6 -77.86 - - 3212.81 - - - - - - - - - 15.98 -
6034.95 497.07 -7.28 697 6039.01 no move -1.18 - - 2228.06 - - - 2193.69 - -77.86 - - 3211.97 - - - - - - - - - - -
6345.00 519.79 -7.62 728 6366.28 roll -1.18 - - 2226.38 - 3.39 0.081 3352.56 341.8 -77.86 - - 3213.75 - - - - - - - - - 15.80 -
6421.88 526.34 -8.49 740 6440.06 roll -1.18 - - 2227.81 - 2.79 0.019 2195.75 -414.6 -77.86 - - 3211.72 - - - - - - - - - 15.96 -
6745.91 550.48 -7.57 772 6767.20 roll -1.18 - - 2226.31 - 3.40 0.080 3351.75 340.0 -77.86 - - 3213.38 - - - - - - - - - 15.71 -
6802.68 555.29 -8.54 780 6820.84 roll -1.18 - - 2226.62 - 2.79 0.019 2195.25 -414.5 -77.86 - - 3212.62 - - - - - - - - - 15.97 -
7126.69 577.86 -6.87 812 7130.75 no move -1.18 - - 2226.88 - - - 2194.56 - -77.86 - - 3210.59 - - - - - - - - - - -
7436.75 598.43 -6.64 843 7458.46 roll -1.18 - - 2227.25 - 3.43 0.081 3352.69 337.6 -77.86 - - 3212.97 - - - - - - - - - 15.67 -
7503.94 603.53 -7.81 853 7522.12 roll -1.18 - - 2227.38 - 2.80 0.019 2196.00 -413.1 -77.86 - - 3210.47 - - - - - - - - - 15.97 -
7827.98 626.53 -7.02 885 7832.04 no move -1.18 - - 2227.38 - - - 2194.75 - -77.86 - - 3208.81 - - - - - - - - - - -
8138.03 648.80 -6.83 916 8142.09 no move -1.18 - - 2227.12 - - - 2194.81 - -77.86 - - 3209.28 - - - - - - - - - - -
8448.08 669.35 -6.56 947 8469.81 roll -1.18 - - 2227.62 - 3.40 0.081 3352.25 340.4 -77.86 - - 3209.59 - - - - - - - - - 15.79 -
8611.14 681.14 -7.51 976 8628.60 roll -1.18 - - 2226.94 - 2.78 0.020 2198.00 -415.2 -77.86 - - 3210.88 - - - - - - - - - 15.98 -
8934.45 703.05 -6.64 1008 8953.13 roll -1.18 - - 2227.31 - 3.02 0.074 1145.81 -348.4 -77.86 - - 3209.09 - - - - - - - - - 15.80 -
9073.64 712.98 -7.24 1033 9092.23 roll -1.18 - - 2227.50 - 2.80 0.026 2278.25 404.4 -77.86 - - 3208.38 - - - - - - - - - 15.98 -
9398.08 735.13 -6.80 1065 9402.14 no move -1.18 - - 2227.25 - - - 2277.75 - -77.86 - - 3207.38 - - - - - - - - - - -
9708.14 755.37 -6.56 1096 9727.62 roll -1.18 - - 2226.62 - 3.23 0.068 1146.06 -350.4 -77.86 - - 3209.88 - - - - - - - - - 15.79 -
9793.84 760.96 -6.72 1110 9811.70 roll -1.18 - - 2227.38 - 2.81 0.026 2277.31 402.6 -77.86 - - 3209.22 - - - - - - - - - 15.99 -
10117.55 782.39 -6.70 1142 10136.88 roll -1.18 - - 2227.31 - 3.19 0.085 3352.88 337.2 -77.86 - - 3207.62 - - - - - - - - - 15.75 -
10177.47 786.58 -7.08 1151 10195.65 roll -1.18 - - 2227.56 - 2.77 0.019 2193.69 -418.5 -77.86 - - 3209.06 - - - - - - - - - 15.98 -
10501.50 806.16 -5.75 1183 10520.18 roll -1.18 - - 2227.25 - 3.02 0.073 1144.69 -347.4 -77.86 - - 3206.50 - - - - - - - - - 15.77 -
10550.66 809.13 -5.94 1190 10568.84 roll -1.18 - - 2227.44 - 2.79 0.026 2277.62 406.1 -77.86 - - 3207.50 - - - - - - - - - 15.98 -
10874.69 829.62 -6.91 1222 10893.78 roll -1.18 - - 2225.56 - 3.17 0.086 3352.56 339.1 -77.86 - - 3208.88 - - - - - - - - - 15.76 -
10960.09 835.95 -7.53 1236 10977.55 roll -1.18 - - 2227.25 - 2.75 0.020 2193.69 -421.4 -77.86 - - 3207.09 - - - - - - - - - 15.96 -
11283.40 859.15 -7.28 1268 11287.46 no move -1.18 - - 2227.06 - - - 2191.94 - -77.86 - - 3206.38 - - - - - - - - - - -
11593.45 881.02 -6.96 1299 11597.51 no move -1.18 - - 2227.62 - - - 2191.88 - -77.86 - - 3205.97 - - - - - - - - - - -
11903.50 900.08 -5.90 1330 11907.56 no move -1.18 - - 2227.62 - - - 2191.62 - -77.86 - - 3205.25 - - - - - - - - - - -
12213.56 917.56 -5.35 1361 12217.62 no move -1.18 - - 2227.00 - - - 2191.94 - -77.86 - - 3204.59 - - - - - - - - - - -
12523.61 933.68 -5.42 1392 12527.67 no move -1.18 - - 2227.38 - - - 2191.56 - -77.86 - - 3204.75 - - - - - - - - - - -
12833.70 950.24 -5.20 1423 12852.39 roll -1.18 - - 2227.25 - 3.01 0.074 1146.06 -347.3 -77.86 - - 3204.19 - - - - - - - - - 15.76 -
12888.71 953.51 -6.08 1431 12906.16 roll -1.18 - - 2228.00 - 2.80 0.027 2279.50 404.8 -77.86 - - 3207.25 - - - - - - - - - 15.97 -
13212.01 972.63 -6.18 1463 13231.10 roll -1.18 - - 2226.94 - 3.18 0.087 3350.50 336.8 -77.86 - - 3205.97 - - - - - - - - - 15.73 -
13297.32 978.30 -6.68 1477 13314.78 roll -1.18 - - 2227.12 - 2.77 0.020 2196.31 -416.7 -77.86 - - 3204.78 - - - - - - - - - 15.97 -
13490 end dive: TARGET_DEPTH_EXCEEDED
13490 begin apogee
13495.66 990.28 -6.54 1496 13601.24 -0.31 1.61 0.134 2440.75 132.7 0.14 0.162 2181.25 -107.6 - 65.36 2.415 2888.44 -4.8 0.340 - - - - - - 15.65 15.34 10.19
13606 end apogee: CONTROL_FINISHED_OK
13606 begin climb
13609.33 992.37 - 1503 13739.31 1.18 2.61 0.092 2805.56 139.8 3.62 0.089 3350.69 323.0 77.86 66.46 2.389 2572.31 -4.8 0.338 - - - - - - 15.55 15.14 11.66
13746.67 987.68 5.45 1517 13766.17 roll back 1.34 0.22 0.078 2850.62 204.8 2.86 0.021 2203.56 -401.1 77.86 - - 2568.78 - - - - - - - - 15.42 15.49 -
14072.54 966.94 6.79 1549 14091.20 done 1.41 - - 2850.94 - 3.09 0.077 1145.88 -342.3 77.86 - - 2562.53 - - - - - - - - - 15.71 -
14142.09 962.30 6.51 1560 14161.91 1.51 0.19 0.082 2893.62 224.6 2.84 0.029 2275.25 397.7 77.86 - - 2562.62 - - - - - - - - 15.62 15.78 -
14468.16 937.67 7.38 1592 14472.23 VBD 1.55 - - 2893.56 - - - 2274.94 - 77.86 - - 2560.81 - - - - - - - - - - -
14778.47 914.87 7.22 1623 14782.53 VBD 1.60 - - 2893.25 - - - 2274.75 - 77.86 - - 2560.72 - - - - - - - - - - -
15088.79 892.23 6.97 1654 15108.29 done 1.66 - - 2893.31 - 3.22 0.091 3351.06 334.3 77.86 - - 2560.16 - - - - - - - - - 15.78 -
15128.76 888.92 7.68 1659 15146.93 done 1.66 - - 2893.88 - 2.78 0.022 2202.88 -413.0 77.86 - - 2561.31 - - - - - - - - - 15.92 -
15453.18 866.15 6.83 1691 15475.12 1.73 0.27 0.070 2948.00 200.4 3.05 0.077 1145.12 -346.8 77.86 - - 2558.91 - - - - - - - - 15.87 15.81 -
15526.44 860.39 8.43 1702 15544.31 done 1.73 - - 2948.38 - 2.82 0.030 2274.69 400.6 77.86 - - 2560.16 - - - - - - - - - 15.93 -
15850.15 832.91 8.73 1734 15854.21 VBD 1.73 - - 2948.81 - - - 2275.00 - 77.86 - - 2558.81 - - - - - - - - - - -
16160.17 806.86 8.09 1765 16179.67 done 1.73 - - 2948.25 - 3.23 0.073 1146.81 -349.3 77.86 - - 2558.78 - - - - - - - - - 15.80 -
16235.87 800.39 8.67 1777 16254.13 done 1.73 - - 2948.62 - 2.83 0.030 2275.12 398.7 77.86 - - 2559.41 - - - - - - - - - 15.96 -
16560.37 775.02 7.14 1809 16564.43 VBD 1.79 - - 2948.69 - - - 2275.00 - 77.86 - - 2557.97 - - - - - - - - - - -
16870.64 753.24 7.28 1840 16874.70 VBD 1.83 - - 2947.19 - - - 2274.94 - 77.86 - - 2558.03 - - - - - - - - - - -
17180.95 729.00 7.15 1871 17203.08 1.89 0.16 0.088 2987.12 249.6 3.25 0.073 1145.94 -347.4 77.86 - - 2559.16 - - - - - - - - 15.89 15.79 -
17248.56 723.48 8.13 1881 17267.14 done 1.89 - - 2987.31 - 2.84 0.030 2274.44 397.4 77.86 - - 2558.19 - - - - - - - - - 15.96 -
17572.98 696.86 8.54 1913 17592.46 done 1.89 - - 2987.06 - 3.24 0.072 1146.44 -348.1 77.86 - - 2558.75 - - - - - - - - - 15.80 -
17698.81 686.21 8.20 1935 17716.69 done 1.89 - - 2987.06 - 2.87 0.030 2275.12 393.3 77.86 - - 2556.59 - - - - - - - - - 15.80 -
18022.94 661.62 6.95 1967 18027.00 VBD 1.95 - - 2987.94 - - - 2275.75 - 77.86 - - 2558.00 - - - - - - - - - - -
18333.25 640.89 7.18 1998 18337.31 VBD 2.01 - - 2987.31 - - - 2275.38 - 77.86 - - 2557.81 - - - - - - - - - - -
18643.56 619.40 6.68 2029 18648.22 2.09 0.07 0.144 3015.00 395.6 - - 2275.44 - 77.86 - - 2556.66 - - - - - - - - 15.89 - -
18954.07 595.28 7.56 2060 18973.57 done 2.09 - - 3015.19 - 3.25 0.071 1146.19 -347.5 77.86 - - 2560.22 - - - - - - - - - 15.78 -
19054.08 586.92 8.18 2077 19072.66 done 2.09 - - 3014.88 - 2.83 0.030 2275.25 399.0 77.86 - - 2559.66 - - - - - - - - - 15.97 -
19378.51 561.12 8.25 2109 19399.39 done 2.09 - - 3015.62 - 3.29 0.071 1145.69 -343.3 77.86 - - 2558.72 - - - - - - - - - 15.67 -
19464.88 553.47 8.88 2123 19483.71 done 2.09 - - 3015.94 - 2.85 0.029 2275.50 396.4 77.86 - - 2557.66 - - - - - - - - - 15.95 -
19789.69 525.70 8.28 2155 19809.18 done 2.09 - - 3015.25 - 3.23 0.090 3352.06 333.3 77.86 - - 2558.19 - - - - - - - - - 15.74 -
19905.41 515.50 8.84 2175 19922.87 done 2.09 - - 3015.69 - 2.78 0.021 2202.12 -413.6 77.86 - - 2557.62 - - - - - - - - - 15.95 -
20229.12 492.36 6.88 2207 20233.18 VBD 2.16 - - 3015.88 - - - 2200.50 - 77.86 - - 2556.75 - - - - - - - - - - -
20539.43 471.52 5.91 2238 20543.52 2.29 - - 3015.50 - - - 2200.75 - 77.86 - - 2556.56 - - - - - - - - - - -
20849.77 451.26 6.43 2269 20871.49 2.38 - - 3015.69 - 3.41 0.085 3350.50 337.2 77.86 - - 2555.78 - - - - - - - - - 15.73 -
20923.10 446.27 6.94 2280 20940.96 2.45 - - 3015.56 - 2.79 0.021 2200.69 -412.1 77.86 - - 2557.84 - - - - - - - - - 15.94 -
21247.33 425.94 6.36 2312 21269.16 2.55 - - 3016.12 - 3.42 0.085 3350.44 336.2 77.86 - - 2556.47 - - - - - - - - - 15.65 -
21305.04 422.04 6.80 2320 21323.82 2.63 - - 3015.75 - 2.80 0.021 2201.75 -410.2 77.86 - - 2557.12 - - - - - - - - - 15.93 -
21630.24 401.51 6.11 2352 21634.31 2.74 - - 3015.94 - - - 2200.56 - 77.86 - - 2556.59 - - - - - - - - - - -
21940.80 383.26 6.08 2383 21962.52 2.86 - - 3015.56 - 3.42 0.084 3350.75 336.3 77.86 - - 2556.19 - - - - - - - - - 15.71 -
22074.15 374.02 7.04 2406 22091.71 2.92 - - 3015.31 - 2.79 0.021 2201.94 -411.8 77.86 - - 2558.41 - - - - - - - - - 15.96 -
22397.98 354.56 6.09 2438 22416.67 3.04 - - 3014.44 - 3.07 0.075 1146.06 -343.9 77.86 - - 2559.44 - - - - - - - - - 15.70 -
22493.28 348.53 6.61 2454 22511.16 3.13 - - 3015.50 - 2.81 0.028 2277.62 402.7 77.86 - - 2558.44 - - - - - - - - - 15.95 -
22817.42 331.11 5.10 2486 22836.93 3.30 - - 3016.12 - 3.20 0.088 3350.56 335.3 77.86 - - 2558.22 - - - - - - - - - 15.62 -
22933.54 324.88 5.45 2506 22951.42 3.46 - - 3016.06 - 2.77 0.021 2197.38 -416.3 77.86 - - 2557.12 - - - - - - - - - 15.96 -
23257.64 312.27 3.42 2538 23383.83 3.65 - - 3016.00 - 3.08 0.078 1145.56 -341.5 173.51 76.40 1.589 2182.09 -4.9 0.165 - - - - - - - 15.44 10.70
23390.06 303.74 9.21 2555 23408.66 roll back 3.65 - - 3016.06 - 2.85 0.029 2275.31 396.4 173.51 - - 2176.53 - - - - - - - - - 15.66 -
23714.63 267.17 12.32 2587 23718.71 3.65 - - 3015.75 - - - 2275.31 - 173.51 - - 2170.56 - - - - - - - - - - -
24024.68 229.95 12.49 2618 24028.75 3.65 - - 3016.81 - - - 2274.88 - 173.51 - - 2169.12 - - - - - - - - - - -
24334.74 193.23 11.68 2649 24338.81 3.65 - - 3016.69 - - - 2274.88 - 173.51 - - 2167.97 - - - - - - - - - - -
24644.79 157.78 10.99 2680 24648.87 3.65 - - 3015.44 - - - 2275.25 - 173.51 - - 2167.28 - - - - - - - - - - -
24954.85 128.66 8.97 2711 24974.35 3.65 - - 3015.75 - 3.26 0.071 1146.25 -346.3 173.51 - - 2168.00 - - - - - - - - - 15.74 -
25044.90 119.78 10.10 2726 25063.50 3.65 - - 3016.00 - 2.82 0.028 2276.12 400.7 173.51 - - 2167.53 - - - - - - - - - 15.81 -
25369.61 89.72 9.01 2769 25389.85 3.65 - - 3015.94 - 3.26 0.069 1145.88 -346.7 173.51 - - 2168.00 - - - - - - - - - 15.64 -
25611.17 67.32 7.59 2814 25629.77 3.65 - - 3016.56 - 2.83 0.027 2275.88 399.3 173.51 - - 2167.34 - - - - - - - - - 15.75 -
25816.04 58.94 3.23 2852 25942.20 3.85 - - 3016.44 - 3.22 0.089 3351.69 334.1 273.06 75.53 1.226 1776.00 -5.2 0.043 - - - - - - - 15.45 11.35
25953.45 50.33 9.09 2870 25972.05 roll back 3.85 - - 3016.56 - 2.84 0.020 2202.31 -404.7 273.06 - - 1771.88 - - - - - - - - - 15.67 -
26158.40 33.87 7.12 2908 26178.04 3.91 - - 3016.31 - 3.09 0.073 1145.69 -341.9 273.06 - - 1766.72 - - - - - - - - - 15.60 -
26409.65 19.87 5.06 2955 26428.62 3.91 - - 3016.00 - 2.83 0.026 2279.19 400.5 273.06 - - 1763.25 - - - - - - - - - 15.60 -
26614.98 9.46 4.77 2993 26693.76 4.04 - - 3016.56 - - - 2278.19 - 340.87 53.21 1.127 1500.88 -4.9 0.007 - - - - - - - - 11.46
26699 end climb: SURFACE_DEPTH_REACHED
26699 begin surface coast
26760 end surface coast: CONTROL_FINISHED_OK
26760 begin surface
SM 1.16 - - - - 181.1 69.24 1.113 1136.6 15.6 20.04 0.049 1125.2 56.1 - 0.12 0.084 1148.0 9566.7 -13.503 - - 11.50 15.68 15.75 -