NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 488 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 168.33 of 506.00 AH used of 24V (66.73% remains)
• Surface angle -63.6 deg, depth 1.00 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.64 (SM_CC=430)
• GPS1 time: 20 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
19.10 - - - 119.24 VBD -1.18 - - 178.31 - - - 2207.56 - -77.86 70.19 0.005 2829.91 - - - - - - - - - - 14.91
121.45 3.28 -3.63 14 237.88 -1.18 17.23 0.213 2227.56 118.9 3.37 0.081 3351.50 339.4 -77.86 5.53 0.009 3210.50 68.8 -4.300 - - - - - - 15.31 14.99 15.15
244.44 40.58 -19.40 21 263.47 roll -1.18 - - 2227.56 - 2.84 0.019 2197.12 -406.5 -77.86 - - 3212.44 - - - - - - - - - 15.58 -
449.52 66.79 -11.42 59 468.95 roll -1.18 - - 2228.06 - 3.01 0.068 1143.75 -350.0 -77.86 - - 3214.34 - - - - - - - - - 15.62 -
645.40 89.66 -11.13 95 663.81 roll -1.18 - - 2226.50 - 2.81 0.025 2278.75 403.9 -77.86 - - 3214.06 - - - - - - - - - 15.71 -
854.87 107.34 -7.92 125 873.76 roll -1.18 - - 2226.94 - 3.16 0.081 3352.75 339.9 -77.86 - - 3213.47 - - - - - - - - - 15.62 -
899.94 110.87 -7.89 131 917.22 roll -1.18 - - 2227.38 - 2.78 0.018 2189.69 -418.4 -77.86 - - 3215.78 - - - - - - - - - 15.73 -
1223.25 135.98 -8.10 163 1227.27 no move -1.18 - - 2227.75 - - - 2187.75 - -77.86 - - 3212.75 - - - - - - - - - - -
1533.30 162.16 -8.25 194 1554.79 roll -1.18 - - 2227.38 - 3.42 0.077 3352.62 340.6 -77.86 - - 3213.12 - - - - - - - - - 15.66 -
1650.23 173.07 -9.13 214 1668.87 roll -1.18 - - 2227.94 - 2.77 0.018 2189.88 -419.8 -77.86 - - 3214.22 - - - - - - - - - 15.86 -
1974.97 198.50 -7.52 246 1993.27 roll -1.18 - - 2227.88 - 2.94 0.068 1145.12 -355.4 -77.86 - - 3213.12 - - - - - - - - - 15.69 -
2069.86 206.29 -8.37 262 2087.35 roll -1.18 - - 2227.62 - 2.77 0.024 2280.75 410.0 -77.86 - - 3215.09 - - - - - - - - - 15.79 -
2393.44 232.38 -8.56 294 2397.50 no move -1.18 - - 2227.38 - - - 2280.25 - -77.86 - - 3213.47 - - - - - - - - - - -
2703.60 259.77 -8.97 325 2723.12 roll -1.18 - - 2227.94 - 3.20 0.064 1143.69 -355.2 -77.86 - - 3214.22 - - - - - - - - - 15.81 -
2769.59 266.04 -9.67 335 2787.48 roll -1.18 - - 2227.56 - 2.80 0.024 2279.06 405.5 -77.86 - - 3214.31 - - - - - - - - - 15.83 -
3093.57 293.12 -7.91 367 3112.70 roll -1.18 - - 2227.44 - 3.20 0.064 1144.31 -354.6 -77.86 - - 3212.91 - - - - - - - - - 15.83 -
3173.19 299.75 -7.97 380 3191.81 roll -1.18 - - 2227.94 - 2.79 0.024 2279.56 406.9 -77.86 - - 3214.53 - - - - - - - - - 15.96 -
3497.92 323.13 -6.89 412 3501.98 no move -1.18 - - 2227.31 - - - 2279.12 - -77.86 - - 3213.06 - - - - - - - - - - -
3808.04 344.16 -6.94 443 3827.80 roll -1.18 - - 2228.00 - 3.22 0.064 1143.94 -352.5 -77.86 - - 3213.81 - - - - - - - - - 15.83 -
3878.40 349.62 -7.74 454 3897.44 roll -1.18 - - 2227.62 - 2.81 0.024 2279.44 404.1 -77.86 - - 3213.94 - - - - - - - - - 15.97 -
4203.53 373.47 -7.54 486 4207.59 no move -1.18 - - 2227.88 - - - 2279.50 - -77.86 - - 3213.53 - - - - - - - - - - -
4513.68 396.92 -7.44 517 4533.21 roll -1.18 - - 2227.25 - 3.23 0.064 1145.25 -351.2 -77.86 - - 3214.34 - - - - - - - - - 15.79 -
4579.67 401.92 -7.57 527 4597.16 roll -1.18 - - 2227.12 - 2.80 0.025 2278.19 404.6 -77.86 - - 3214.25 - - - - - - - - - 15.82 -
4903.23 425.75 -7.43 559 4907.29 no move -1.18 - - 2227.81 - - - 2277.94 - -77.86 - - 3213.03 - - - - - - - - - - -
5213.35 448.22 -6.93 590 5232.87 roll -1.18 - - 2227.31 - 3.21 0.065 1143.69 -353.3 -77.86 - - 3212.88 - - - - - - - - - 15.83 -
5269.32 452.37 -7.32 598 5287.62 roll -1.18 - - 2227.06 - 2.81 0.025 2278.06 403.7 -77.86 - - 3214.19 - - - - - - - - - 15.85 -
5593.72 474.46 -6.52 630 5597.78 no move -1.18 - - 2227.31 - - - 2277.50 - -77.86 - - 3211.25 - - - - - - - - - - -
5903.88 493.55 -6.00 661 5907.94 no move -1.18 - - 2227.25 - - - 2278.50 - -77.86 - - 3211.16 - - - - - - - - - - -
6214.24 512.90 -6.59 692 6233.77 roll -1.18 - - 2227.88 - 3.20 0.066 1143.94 -354.5 -77.86 - - 3211.19 - - - - - - - - - 15.82 -
6320.33 520.68 -7.35 710 6338.25 roll -1.18 - - 2227.69 - 2.82 0.025 2278.31 402.3 -77.86 - - 3213.41 - - - - - - - - - 15.95 -
6644.31 544.62 -7.64 742 6663.85 roll -1.18 - - 2227.88 - 3.21 0.066 1144.50 -353.2 -77.86 - - 3210.41 - - - - - - - - - 15.81 -
6714.33 550.38 -8.21 753 6733.35 roll -1.18 - - 2227.75 - 2.81 0.025 2276.69 402.9 -77.86 - - 3211.25 - - - - - - - - - 15.98 -
7039.45 575.24 -7.64 785 7043.51 no move -1.18 - - 2227.56 - - - 2276.31 - -77.86 - - 3210.00 - - - - - - - - - - -
7349.61 597.46 -7.38 816 7369.14 roll -1.18 - - 2227.19 - 3.24 0.066 1144.19 -349.4 -77.86 - - 3210.16 - - - - - - - - - 15.81 -
7469.65 605.90 -7.07 837 7488.28 roll -1.18 - - 2228.06 - 2.82 0.026 2275.12 401.0 -77.86 - - 3211.50 - - - - - - - - - 15.98 -
7794.36 625.36 -5.88 869 7798.42 no move -1.18 - - 2227.25 - - - 2275.56 - -77.86 - - 3209.25 - - - - - - - - - - -
8104.50 642.56 -5.49 900 8124.26 roll -1.18 - - 2227.06 - 3.23 0.066 1146.06 -349.7 -77.86 - - 3209.28 - - - - - - - - - 15.81 -
8280.89 654.59 -6.92 932 8298.80 roll -1.18 - - 2227.62 - 2.82 0.026 2276.00 400.7 -77.86 - - 3210.31 - - - - - - - - - 15.97 -
8604.92 677.81 -7.87 964 8608.98 no move -1.18 - - 2226.81 - - - 2275.88 - -77.86 - - 3208.38 - - - - - - - - - - -
8914.84 702.09 -7.84 995 8918.90 no move -1.18 - - 2227.06 - - - 2276.56 - -77.86 - - 3208.75 - - - - - - - - - - -
9224.90 726.04 -7.78 1026 9228.96 no move -1.18 - - 2227.38 - - - 2276.38 - -77.86 - - 3207.03 - - - - - - - - - - -
9535.19 747.87 -6.92 1057 9539.25 no move -1.18 - - 2227.12 - - - 2276.50 - -77.86 - - 3207.44 - - - - - - - - - - -
9845.09 768.16 -6.23 1088 9849.16 no move -1.18 - - 2227.81 - - - 2276.88 - -77.86 - - 3207.16 - - - - - - - - - - -
10155.35 786.28 -5.56 1119 10174.87 roll -1.18 - - 2227.44 - 3.26 0.067 1146.06 -346.9 -77.86 - - 3207.50 - - - - - - - - - 15.79 -
10261.32 792.62 -5.84 1137 10279.23 roll -1.18 - - 2227.38 - 2.83 0.026 2276.44 399.4 -77.86 - - 3208.47 - - - - - - - - - 15.96 -
10585.82 809.10 -4.72 1169 10589.88 no move -1.18 - - 2227.56 - - - 2276.62 - -77.86 - - 3207.06 - - - - - - - - - - -
10896.17 823.88 -5.00 1200 10915.94 roll -1.18 - - 2227.44 - 3.26 0.067 1146.00 -346.8 -77.86 - - 3205.69 - - - - - - - - - 15.77 -
10942.51 826.35 -5.54 1206 10960.42 roll -1.18 - - 2227.38 - 2.83 0.026 2276.50 399.5 -77.86 - - 3208.75 - - - - - - - - - 15.96 -
11266.29 843.87 -5.51 1238 11270.36 no move -1.18 - - 2227.44 - - - 2277.12 - -77.86 - - 3206.00 - - - - - - - - - - -
11576.58 862.86 -6.30 1269 11596.11 roll -1.18 - - 2226.50 - 3.26 0.068 1146.44 -346.8 -77.86 - - 3206.25 - - - - - - - - - 15.76 -
11646.61 867.84 -6.43 1280 11665.25 roll -1.18 - - 2227.88 - 2.84 0.026 2275.75 397.6 -77.86 - - 3206.84 - - - - - - - - - 15.95 -
11971.10 890.21 -6.95 1312 11975.17 no move -1.18 - - 2227.19 - - - 2275.56 - -77.86 - - 3205.56 - - - - - - - - - - -
12281.35 912.12 -7.02 1343 12300.86 roll -1.18 - - 2227.06 - 3.27 0.068 1146.06 -345.4 -77.86 - - 3204.75 - - - - - - - - - 15.75 -
12437.34 923.65 -7.41 1371 12455.24 roll -1.18 - - 2227.06 - 2.85 0.026 2275.19 396.2 -77.86 - - 3206.34 - - - - - - - - - 15.83 -
12761.09 946.88 -7.17 1403 12765.15 no move -1.18 - - 2227.62 - - - 2275.69 - -77.86 - - 3204.50 - - - - - - - - - - -
13071.36 968.76 -6.96 1434 13075.71 no move -1.18 - - 2226.81 - - - 2275.44 - -77.86 - - 3204.16 - - - - - - - - - - -
13381.71 988.19 -6.18 1465 13385.77 no move -1.18 - - 2227.44 - - - 2275.62 - -77.86 - - 3203.53 - - - - - - - - - - -
13411 end dive: TARGET_DEPTH_EXCEEDED
13412 begin apogee
13416.64 990.15 -6.17 1468 13522.92 -0.31 1.61 0.130 2440.75 132.5 0.19 0.143 2283.69 42.5 - 66.02 2.382 2888.12 -4.8 0.340 - - - - - - 15.66 15.29 10.21
13530 end apogee: CONTROL_FINISHED_OK
13530 begin climb
13533.00 992.05 - 1475 13644.55 1.18 2.62 0.091 2805.81 139.3 - - 2283.38 - 77.86 67.50 2.346 2571.12 -4.7 0.340 - - - - - - 15.55 - 11.58
13951.16 969.91 6.12 1513 13955.22 VBD 1.30 - - 2806.19 - - - 2283.81 - 77.86 - - 2563.41 - - - - - - - - - - -
14261.84 950.79 5.99 1544 14267.75 1.42 0.36 0.063 2872.81 185.1 - - 2283.94 - 77.86 - - 2561.34 - - - - - - - - 15.79 - -
14574.02 928.98 7.09 1575 14578.08 VBD 1.48 - - 2873.00 - - - 2283.31 - 77.86 - - 2561.47 - - - - - - - - - - -
14884.55 908.34 6.46 1606 14905.72 done 1.58 - - 2872.50 - 3.29 0.072 1145.56 -345.8 77.86 - - 2561.00 - - - - - - - - - 15.78 -
15057.70 896.56 6.66 1637 15077.24 1.66 0.28 0.067 2929.06 202.0 2.86 0.031 2272.81 394.1 77.86 - - 2560.28 - - - - - - - - 15.71 15.92 -
15383.73 873.53 7.04 1669 15387.79 VBD 1.72 - - 2931.50 - - - 2272.44 - 77.86 - - 2560.44 - - - - - - - - - - -
15694.31 852.12 7.00 1700 15715.24 done 1.78 - - 2930.94 - 3.29 0.071 1145.62 -342.5 77.86 - - 2558.94 - - - - - - - - - 15.81 -
15731.13 849.53 7.21 1704 15751.02 1.83 0.17 0.083 2973.69 251.5 2.87 0.030 2272.94 392.8 77.86 - - 2561.44 - - - - - - - - 15.73 15.93 -
16056.90 824.65 7.99 1736 16060.96 VBD 1.83 - - 2973.94 - - - 2273.00 - 77.86 - - 2559.84 - - - - - - - - - - -
16366.95 800.16 8.02 1767 16371.01 VBD 1.83 - - 2973.31 - - - 2272.44 - 77.86 - - 2558.84 - - - - - - - - - - -
16677.22 776.01 8.11 1798 16696.77 done 1.83 - - 2974.50 - 3.28 0.071 1146.62 -343.2 77.86 - - 2560.41 - - - - - - - - - 15.80 -
16777.26 767.44 8.68 1815 16796.14 done 1.83 - - 2973.62 - 2.86 0.031 2272.56 393.7 77.86 - - 2561.25 - - - - - - - - - 15.96 -
17102.47 741.40 8.17 1847 17122.01 done 1.83 - - 2974.62 - 3.27 0.094 3352.31 330.2 77.86 - - 2560.09 - - - - - - - - - 15.74 -
17222.64 730.75 8.69 1868 17241.29 done 1.83 - - 2974.25 - 2.81 0.022 2204.31 -408.5 77.86 - - 2559.47 - - - - - - - - - 15.95 -
17547.36 704.38 7.82 1900 17566.08 done 1.83 - - 2975.12 - 3.05 0.075 1145.00 -347.3 77.86 - - 2561.34 - - - - - - - - - 15.78 -
17696.62 691.46 8.61 1927 17715.49 done 1.83 - - 2972.62 - 2.84 0.030 2275.12 397.9 77.86 - - 2559.97 - - - - - - - - - 15.96 -
18021.60 665.57 7.84 1959 18025.66 VBD 1.83 - - 2974.19 - - - 2275.38 - 77.86 - - 2558.19 - - - - - - - - - - -
18331.54 639.93 8.62 1990 18335.60 VBD 1.83 - - 2974.00 - - - 2275.38 - 77.86 - - 2557.69 - - - - - - - - - - -
18641.83 614.17 8.05 2021 18663.16 done 1.83 - - 2974.06 - 3.31 0.071 1146.81 -341.0 77.86 - - 2557.28 - - - - - - - - - 15.64 -
18724.39 607.54 8.08 2034 18742.31 done 1.83 - - 2974.06 - 2.85 0.030 2275.38 396.0 77.86 - - 2558.28 - - - - - - - - - 15.94 -
19048.82 583.11 7.44 2066 19069.99 done 1.87 - - 2973.88 - 3.29 0.070 1145.56 -343.4 77.86 - - 2558.47 - - - - - - - - - 15.77 -
19201.36 571.41 7.91 2093 19219.27 done 1.87 - - 2973.12 - 2.85 0.030 2275.69 396.5 77.86 - - 2559.81 - - - - - - - - - 15.93 -
19525.53 548.46 6.76 2125 19529.59 VBD 1.95 - - 2973.50 - - - 2275.00 - 77.86 - - 2557.94 - - - - - - - - - - -
19836.10 527.01 6.97 2156 19841.20 2.01 0.16 0.090 3014.81 258.2 - - 2275.19 - 77.86 - - 2557.28 - - - - - - - - 15.90 - -
20147.46 503.54 7.20 2187 20168.40 done 2.06 - - 3012.75 - 3.27 0.070 1146.31 -345.2 77.86 - - 2558.34 - - - - - - - - - 15.74 -
20244.33 496.54 7.42 2203 20262.96 done 2.10 - - 3014.06 - 2.85 0.029 2274.19 395.7 77.86 - - 2559.12 - - - - - - - - - 15.93 -
20569.24 474.16 6.42 2235 20588.79 2.20 - - 3014.94 - 3.27 0.069 1145.81 -345.1 77.86 - - 2558.44 - - - - - - - - - 15.72 -
20675.65 467.45 6.29 2253 20693.59 2.30 - - 3015.75 - 2.84 0.029 2275.12 397.6 77.86 - - 2559.50 - - - - - - - - - 15.94 -
21000.35 449.14 5.51 2285 21019.91 2.46 - - 3015.56 - 3.24 0.091 3350.50 331.9 77.86 - - 2558.91 - - - - - - - - - 15.57 -
21066.65 444.93 6.29 2295 21084.17 2.56 - - 3014.69 - 2.79 0.021 2200.00 -412.4 77.86 - - 2560.28 - - - - - - - - - 15.94 -
21390.76 427.46 5.32 2327 21409.60 2.72 - - 3015.12 - 3.06 0.073 1145.06 -344.8 77.86 - - 2557.75 - - - - - - - - - 15.64 -
21616.27 414.47 6.02 2369 21634.60 2.85 - - 3015.06 - 2.82 0.029 2277.19 401.5 77.86 - - 2558.06 - - - - - - - - - 15.93 -
21940.88 395.89 5.86 2401 21944.96 2.98 - - 3014.94 - - - 2276.62 - 77.86 - - 2557.56 - - - - - - - - - - -
22251.23 378.11 5.77 2432 22270.79 3.11 - - 3015.00 - 3.27 0.069 1146.69 -345.5 77.86 - - 2559.12 - - - - - - - - - 15.68 -
22461.71 365.41 6.04 2471 22480.46 3.23 - - 3015.31 - 2.85 0.029 2276.81 396.5 77.86 - - 2559.22 - - - - - - - - - 15.87 -
22786.96 348.96 5.02 2503 22878.43 3.36 - - 3015.69 - 3.22 0.093 3350.31 333.4 140.53 50.54 1.600 2316.44 -4.8 0.180 - - - - - - - 15.48 10.51
22884.68 341.54 9.24 2512 22903.58 roll back 3.36 - - 3014.75 - 2.82 0.021 2204.56 -406.3 140.53 - - 2315.38 - - - - - - - - - 15.74 -
23209.79 308.00 9.98 2544 23228.53 roll back 3.36 - - 3012.81 - 3.08 0.073 1145.25 -343.9 140.53 - - 2309.06 - - - - - - - - - 15.64 -
23319.03 296.21 10.84 2563 23337.69 3.36 - - 3016.00 - 2.83 0.029 2274.50 399.0 140.53 - - 2308.09 - - - - - - - - - 15.84 -
23643.57 263.98 10.23 2595 23662.72 3.36 - - 3014.81 - 3.16 0.070 1145.19 -357.4 140.53 - - 2306.91 - - - - - - - - - 15.72 -
23668.94 261.34 10.52 2597 23686.86 3.36 - - 3015.12 - 2.83 0.029 2275.44 399.4 140.53 - - 2307.88 - - - - - - - - - 15.86 -
23992.73 230.19 9.30 2629 23996.81 3.36 - - 3014.81 - - - 2275.81 - 140.53 - - 2305.62 - - - - - - - - - - -
24303.01 202.61 8.22 2660 24322.81 3.36 - - 3014.25 - 3.21 0.069 1144.38 -352.5 140.53 - - 2307.25 - - - - - - - - - 15.66 -
24439.40 190.14 9.42 2684 24457.33 3.36 - - 3015.44 - 2.82 0.028 2275.19 401.0 140.53 - - 2306.22 - - - - - - - - - 15.88 -
24763.45 164.90 8.20 2716 24767.52 3.36 - - 3015.44 - - - 2275.06 - 140.53 - - 2304.66 - - - - - - - - - - -
25073.63 141.53 7.70 2747 25092.79 3.36 - - 3016.00 - 3.14 0.068 1146.12 -359.5 140.53 - - 2307.81 - - - - - - - - - 15.62 -
25153.28 135.02 8.26 2760 25171.95 3.36 - - 3014.44 - 2.83 0.028 2276.06 399.3 140.53 - - 2306.59 - - - - - - - - - 15.64 -
25478.23 112.93 6.04 2792 25497.78 3.48 - - 3014.50 - 3.23 0.067 1143.56 -350.6 140.53 - - 2306.38 - - - - - - - - - 15.74 -
25578.68 107.34 5.37 2809 25597.34 3.64 - - 3014.75 - 2.81 0.027 2277.44 403.5 140.53 - - 2306.88 - - - - - - - - - 15.77 -
25903.89 88.41 4.48 2861 26008.02 3.79 - - 3015.50 - 3.20 0.090 3352.38 335.9 214.31 58.06 1.246 2015.22 -5.0 0.061 - - - - - - - 15.50 11.16
26014.59 80.90 8.75 2875 26033.87 roll back 3.79 - - 3015.44 - 2.82 0.020 2200.44 -408.5 214.31 - - 2012.50 - - - - - - - - - 15.63 -
26220.39 66.40 5.65 2913 26242.12 3.93 - - 3015.50 - 3.45 0.084 3350.62 333.4 214.31 - - 2007.50 - - - - - - - - - 15.51 -
26313.76 61.49 5.07 2928 26332.39 3.93 - - 3015.94 - 2.80 0.020 2197.56 -411.8 214.31 - - 2007.81 - - - - - - - - - 15.63 -
26518.90 54.57 3.12 2966 26650.52 4.14 - - 3015.31 - 3.07 0.074 1143.94 -343.2 316.19 78.25 1.184 1599.19 -5.2 0.041 - - - - - - - 15.41 11.43
26842.04 32.02 7.71 3021 26860.71 4.14 - - 3015.19 - 2.85 0.026 2277.56 397.8 316.19 - - 1591.09 - - - - - - - - - 15.69 -
27046.93 16.07 8.06 3059 27054.19 4.14 - - 3015.12 - - - 2276.94 - 316.19 - - 1588.28 - - - - - - - - - - -
27190 end climb: SURFACE_DEPTH_REACHED
27190 begin surface coast
27246 end surface coast: CONTROL_FINISHED_OK
27247 begin surface
SM 1.13 - - - - 180.7 87.64 1.111 1138.5 13.0 20.04 0.047 1123.1 56.0 - 0.12 0.083 1153.9 9615.8 -13.380 - - 11.26 15.77 15.84 -