NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 474 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 163.51 of 506.00 AH used of 24V (67.69% remains)
• Surface angle -63.8 deg, depth 1.08 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.91 (SM_CC=430)
• GPS1 time: 26 s
• GPS2 time: 3 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
19.07 - - - 119.23 VBD -1.18 - - 179.50 - - - 2207.75 - -77.86 70.22 0.005 2860.84 - - - - - - - - - - 14.89
121.44 3.52 -4.05 14 238.91 -1.18 17.25 0.218 2227.06 118.7 3.41 0.081 3351.94 335.5 -77.86 4.95 0.009 3212.31 71.0 -4.757 - - - - - - 15.29 15.03 15.13
270.19 46.12 -19.36 26 288.58 roll -1.18 - - 2227.81 - 2.87 0.019 2200.31 -401.3 -77.86 - - 3215.06 - - - - - - - - - 15.65 -
474.40 72.55 -11.60 64 480.96 no move -1.18 - - 2228.12 - - - 2198.56 - -77.86 - - 3213.84 - - - - - - - - - - -
666.79 91.01 -8.24 102 674.54 no move -1.18 - - 2228.00 - - - 2198.88 - -77.86 - - 3214.19 - - - - - - - - - - -
865.35 105.76 -6.81 133 886.41 roll -1.18 - - 2227.56 - 3.39 0.077 3351.25 339.9 -77.86 - - 3213.94 - - - - - - - - - 15.73 -
901.85 108.61 -7.42 137 920.24 roll -1.18 - - 2227.69 - 2.84 0.018 2194.06 -407.5 -77.86 - - 3215.25 - - - - - - - - - 15.80 -
1226.04 131.31 -7.07 169 1244.53 roll -1.18 - - 2227.56 - 3.02 0.069 1146.94 -346.7 -77.86 - - 3216.09 - - - - - - - - - 15.76 -
1250.70 133.14 -7.44 171 1268.37 roll -1.18 - - 2227.31 - 2.78 0.024 2278.94 407.2 -77.86 - - 3214.69 - - - - - - - - - 15.87 -
1574.16 159.23 -8.61 203 1578.18 no move -1.18 - - 2228.00 - - - 2279.19 - -77.86 - - 3213.94 - - - - - - - - - - -
1884.20 185.66 -7.96 234 1888.26 no move -1.18 - - 2227.69 - - - 2279.62 - -77.86 - - 3214.34 - - - - - - - - - - -
2194.21 208.94 -7.69 265 2215.13 roll -1.18 - - 2227.31 - 3.29 0.064 1145.38 -344.8 -77.86 - - 3213.44 - - - - - - - - - 15.73 -
2236.35 212.45 -8.29 270 2253.83 roll -1.18 - - 2227.25 - 2.80 0.024 2278.69 404.8 -77.86 - - 3215.19 - - - - - - - - - 15.93 -
2559.70 238.49 -8.40 302 2563.76 no move -1.18 - - 2227.94 - - - 2277.75 - -77.86 - - 3215.19 - - - - - - - - - - -
2869.74 264.52 -8.02 333 2873.80 no move -1.18 - - 2227.69 - - - 2277.88 - -77.86 - - 3213.50 - - - - - - - - - - -
3179.78 289.33 -8.01 364 3183.83 no move -1.18 - - 2227.44 - - - 2277.25 - -77.86 - - 3213.75 - - - - - - - - - - -
3489.82 314.17 -7.64 395 3493.88 no move -1.18 - - 2227.38 - - - 2278.06 - -77.86 - - 3213.75 - - - - - - - - - - -
3799.87 337.41 -7.87 426 3819.38 roll -1.18 - - 2227.00 - 3.27 0.066 1147.31 -345.8 -77.86 - - 3213.03 - - - - - - - - - 15.84 -
3875.60 343.64 -8.52 438 3893.30 roll -1.18 - - 2227.25 - 2.80 0.025 2277.12 403.5 -77.86 - - 3213.69 - - - - - - - - - 15.97 -
4199.13 367.60 -7.29 470 4218.64 roll -1.18 - - 2228.25 - 3.23 0.066 1143.69 -350.9 -77.86 - - 3212.44 - - - - - - - - - 15.84 -
4264.86 372.57 -7.75 480 4283.15 roll -1.18 - - 2226.25 - 2.81 0.025 2277.81 403.6 -77.86 - - 3215.09 - - - - - - - - - 15.73 -
4589.11 397.33 -7.76 512 4608.63 roll -1.18 - - 2227.31 - 3.23 0.065 1145.88 -350.4 -77.86 - - 3213.72 - - - - - - - - - 15.83 -
4619.12 399.71 -7.70 515 4637.72 roll -1.18 - - 2227.94 - 2.79 0.025 2278.06 405.8 -77.86 - - 3213.06 - - - - - - - - - 15.98 -
4943.57 424.82 -8.23 547 4947.63 no move -1.18 - - 2228.19 - - - 2278.12 - -77.86 - - 3211.28 - - - - - - - - - - -
5253.62 450.54 -8.47 578 5273.14 roll -1.18 - - 2227.19 - 3.27 0.066 1146.44 -346.1 -77.86 - - 3212.47 - - - - - - - - - 15.84 -
5369.38 460.57 -8.63 598 5387.27 roll -1.18 - - 2226.12 - 2.81 0.025 2276.12 402.0 -77.86 - - 3213.25 - - - - - - - - - 15.96 -
5693.11 486.23 -7.77 630 5697.17 no move -1.18 - - 2227.81 - - - 2276.88 - -77.86 - - 3210.84 - - - - - - - - - - -
6003.12 510.89 -8.28 661 6024.03 roll -1.18 - - 2227.56 - 3.26 0.066 1146.81 -346.6 -77.86 - - 3211.56 - - - - - - - - - 15.74 -
6049.51 514.72 -8.14 667 6068.38 roll -1.18 - - 2227.81 - 2.81 0.025 2277.25 402.3 -77.86 - - 3212.06 - - - - - - - - - 15.96 -
6374.35 539.04 -7.45 699 6393.44 roll -1.18 - - 2227.75 - 3.20 0.086 3352.06 335.9 -77.86 - - 3211.34 - - - - - - - - - 15.81 -
6489.69 548.09 -7.81 719 6507.17 roll -1.18 - - 2227.81 - 2.80 0.019 2195.69 -413.0 -77.86 - - 3209.34 - - - - - - - - - 15.96 -
6813.02 569.13 -6.05 751 6834.75 roll -1.18 - - 2227.12 - 3.41 0.082 3352.44 339.2 -77.86 - - 3208.41 - - - - - - - - - 15.80 -
6850.23 571.85 -7.22 755 6868.86 roll -1.18 - - 2227.75 - 2.81 0.019 2193.31 -412.5 -77.86 - - 3209.38 - - - - - - - - - 15.97 -
7174.72 590.71 -5.69 787 7178.78 no move -1.18 - - 2227.25 - - - 2192.12 - -77.86 - - 3208.72 - - - - - - - - - - -
7484.77 609.06 -6.05 818 7506.48 roll -1.18 - - 2227.50 - 3.43 0.082 3352.25 338.2 -77.86 - - 3208.47 - - - - - - - - - 15.79 -
7521.97 611.51 -6.85 822 7540.59 roll -1.18 - - 2226.88 - 2.82 0.019 2195.12 -410.3 -77.86 - - 3210.22 - - - - - - - - - 15.98 -
7846.45 632.71 -6.71 854 7865.15 roll -1.18 - - 2226.81 - 3.04 0.071 1146.44 -345.0 -77.86 - - 3206.84 - - - - - - - - - 15.81 -
7901.62 636.76 -7.28 862 7919.51 roll -1.18 - - 2227.56 - 2.78 0.026 2278.69 407.3 -77.86 - - 3208.88 - - - - - - - - - 15.99 -
8225.48 659.68 -7.02 894 8229.54 no move -1.18 - - 2227.38 - - - 2278.75 - -77.86 - - 3206.97 - - - - - - - - - - -
8535.52 680.35 -6.40 925 8555.04 roll -1.18 - - 2227.62 - 3.22 0.067 1145.38 -352.0 -77.86 - - 3208.47 - - - - - - - - - 15.81 -
8621.29 685.90 -6.26 939 8638.77 roll -1.18 - - 2226.19 - 2.80 0.026 2277.75 404.4 -77.86 - - 3209.34 - - - - - - - - - 15.99 -
8944.64 705.35 -6.06 971 8964.15 roll -1.18 - - 2227.31 - 3.26 0.067 1146.12 -347.1 -77.86 - - 3205.75 - - - - - - - - - 15.79 -
9030.38 710.95 -6.48 985 9048.27 roll -1.18 - - 2227.50 - 2.81 0.026 2278.31 402.9 -77.86 - - 3206.88 - - - - - - - - - 15.96 -
9354.12 729.73 -5.33 1017 9373.65 roll -1.18 - - 2227.81 - 3.26 0.067 1144.19 -347.9 -77.86 - - 3208.12 - - - - - - - - - 15.80 -
9479.89 737.08 -5.97 1039 9497.78 roll -1.18 - - 2228.12 - 2.81 0.026 2277.62 403.4 -77.86 - - 3207.12 - - - - - - - - - 15.99 -
9803.65 755.04 -5.65 1071 9822.76 roll -1.18 - - 2226.62 - 3.19 0.087 3352.62 337.0 -77.86 - - 3207.91 - - - - - - - - - 15.76 -
9973.59 766.27 -6.81 1102 9991.81 roll -1.18 - - 2227.50 - 2.78 0.020 2194.75 -416.5 -77.86 - - 3206.88 - - - - - - - - - 15.98 -
10297.68 787.75 -6.41 1134 10319.40 roll -1.18 - - 2227.62 - 3.41 0.083 3350.50 338.9 -77.86 - - 3207.78 - - - - - - - - - 15.76 -
10330.61 789.94 -6.34 1137 10348.10 roll -1.18 - - 2227.06 - 2.79 0.020 2195.25 -414.1 -77.86 - - 3205.62 - - - - - - - - - 15.96 -
10653.97 811.75 -6.57 1169 10672.66 roll -1.18 - - 2228.06 - 3.01 0.073 1146.19 -348.5 -77.86 - - 3204.50 - - - - - - - - - 15.79 -
10728.88 817.13 -7.29 1181 10746.78 roll -1.18 - - 2227.56 - 2.78 0.026 2277.12 406.8 -77.86 - - 3205.88 - - - - - - - - - 15.96 -
11052.64 840.59 -7.47 1213 11072.16 roll -1.18 - - 2227.69 - 3.23 0.068 1146.25 -350.1 -77.86 - - 3204.47 - - - - - - - - - 15.78 -
11148.51 848.28 -7.94 1229 11166.36 roll -1.18 - - 2227.44 - 2.79 0.027 2276.81 405.2 -77.86 - - 3205.50 - - - - - - - - - 15.96 -
11472.33 872.95 -7.39 1261 11491.85 roll -1.18 - - 2226.50 - 3.24 0.068 1145.06 -349.3 -77.86 - - 3204.66 - - - - - - - - - 15.77 -
11528.08 877.27 -7.89 1269 11546.38 roll -1.18 - - 2227.62 - 2.81 0.026 2276.94 402.8 -77.86 - - 3204.94 - - - - - - - - - 15.95 -
11852.22 899.70 -6.59 1301 11871.74 roll -1.18 - - 2227.38 - 3.20 0.088 3351.31 335.7 -77.86 - - 3204.28 - - - - - - - - - 15.74 -
11982.25 908.92 -7.01 1324 12000.46 roll -1.18 - - 2227.25 - 2.78 0.020 2194.81 -416.0 -77.86 - - 3203.78 - - - - - - - - - 15.97 -
12306.32 927.04 -5.38 1356 12325.04 roll -1.18 - - 2226.44 - 3.03 0.072 1143.81 -346.9 -77.86 - - 3205.91 - - - - - - - - - 15.76 -
12445.54 935.50 -5.80 1381 12463.76 roll -1.18 - - 2226.81 - 2.80 0.027 2278.50 405.2 -77.86 - - 3204.75 - - - - - - - - - 15.95 -
12769.62 953.48 -5.86 1413 12773.69 no move -1.18 - - 2227.12 - - - 2278.06 - -77.86 - - 3203.41 - - - - - - - - - - -
13079.67 971.83 -5.65 1444 13099.44 roll -1.18 - - 2227.00 - 3.26 0.069 1144.56 -347.7 -77.86 - - 3204.62 - - - - - - - - - 15.76 -
13150.05 975.84 -5.81 1455 13168.70 roll -1.18 - - 2226.81 - 2.81 0.026 2277.56 403.2 -77.86 - - 3203.19 - - - - - - - - - 15.94 -
13444 end dive: TARGET_DEPTH_EXCEEDED
13444 begin apogee
13449.62 990.32 -4.61 1484 13555.23 -0.31 1.57 0.129 2440.38 136.0 0.22 0.132 2285.50 36.1 - 65.43 2.374 2888.03 -4.8 0.344 - - - - - - 15.67 15.31 10.22
13568 end apogee: CONTROL_FINISHED_OK
13569 begin climb
13571.50 991.50 - 1491 13682.86 1.18 2.57 0.092 2804.75 141.8 - - 2285.00 - 77.86 66.27 2.358 2571.81 -4.8 0.344 - - - - - - 15.56 - 11.63
13989.24 965.82 6.10 1532 13994.32 1.30 0.17 0.086 2843.56 228.3 - - 2285.94 - 77.86 - - 2562.62 - - - - - - - - 15.68 - -
14300.67 943.51 7.32 1563 14304.74 VBD 1.34 - - 2843.19 - - - 2285.62 - 77.86 - - 2562.03 - - - - - - - - - - -
14610.99 922.23 6.14 1594 14633.80 1.46 0.16 0.088 2882.56 246.1 3.31 0.072 1145.81 -344.4 77.86 - - 2561.03 - - - - - - - - 15.83 15.78 -
14745.14 912.54 7.93 1617 14763.06 done 1.46 - - 2883.06 - 2.86 0.030 2272.81 394.1 77.86 - - 2561.47 - - - - - - - - - 15.89 -
15069.32 890.54 6.84 1649 15073.38 VBD 1.53 - - 2883.19 - - - 2273.06 - 77.86 - - 2560.59 - - - - - - - - - - -
15379.60 869.27 6.62 1680 15399.12 done 1.62 - - 2882.25 - 3.27 0.093 3350.88 329.6 77.86 - - 2561.88 - - - - - - - - - 15.60 -
15445.58 864.57 7.61 1690 15463.88 done 1.62 - - 2883.44 - 2.81 0.021 2200.44 -409.4 77.86 - - 2560.66 - - - - - - - - - 15.92 -
15770.14 841.07 7.49 1722 15775.64 1.65 0.20 0.077 2927.69 221.2 - - 2200.25 - 77.86 - - 2559.78 - - - - - - - - 15.90 - -
16081.49 814.71 8.15 1753 16100.20 done 1.65 - - 2927.50 - 3.06 0.075 1146.94 -344.2 77.86 - - 2559.16 - - - - - - - - - 15.80 -
16190.72 804.30 9.54 1772 16209.74 done 1.65 - - 2928.69 - 2.82 0.030 2274.31 399.8 77.86 - - 2560.31 - - - - - - - - - 15.95 -
16515.60 776.22 7.82 1804 16519.66 VBD 1.65 - - 2927.88 - - - 2273.88 - 77.86 - - 2558.44 - - - - - - - - - - -
16825.64 752.52 7.58 1835 16846.55 done 1.65 - - 2927.81 - 3.28 0.071 1145.88 -343.9 77.86 - - 2560.25 - - - - - - - - - 15.80 -
16927.90 744.20 8.34 1852 16945.80 done 1.65 - - 2927.06 - 2.85 0.030 2272.88 395.4 77.86 - - 2559.81 - - - - - - - - - 15.95 -
17252.07 720.00 7.33 1884 17256.13 VBD 1.69 - - 2927.75 - - - 2273.88 - 77.86 - - 2558.47 - - - - - - - - - - -
17561.99 696.26 8.31 1915 17581.53 done 1.69 - - 2928.50 - 3.27 0.071 1146.12 -344.9 77.86 - - 2559.75 - - - - - - - - - 15.79 -
17757.81 681.15 8.07 1951 17775.71 done 1.69 - - 2927.31 - 2.83 0.030 2273.00 398.2 77.86 - - 2560.97 - - - - - - - - - 15.97 -
18081.98 657.67 7.26 1983 18101.50 done 1.74 - - 2929.00 - 3.26 0.092 3349.25 330.1 77.86 - - 2558.53 - - - - - - - - - 15.65 -
18297.78 640.53 8.36 2023 18315.28 done 1.74 - - 2928.19 - 2.80 0.021 2203.88 -409.1 77.86 - - 2559.00 - - - - - - - - - 15.97 -
18621.53 618.90 6.16 2055 18644.90 1.85 0.24 0.072 2978.56 209.9 3.46 0.087 3352.75 332.0 77.86 - - 2557.31 - - - - - - - - 15.64 15.57 -
18800.51 604.34 8.08 2087 18819.16 done 1.85 - - 2979.19 - 2.85 0.021 2203.69 -403.2 77.86 - - 2558.56 - - - - - - - - - 15.82 -
19125.43 582.84 6.05 2119 19129.51 VBD 1.97 - - 2979.25 - - - 2201.81 - 77.86 - - 2558.12 - - - - - - - - - - -
19435.77 568.29 4.22 2150 19549.92 2.13 0.13 0.096 3016.50 286.5 3.48 0.090 3351.75 330.4 157.01 65.63 1.884 2248.59 -4.7 0.244 - - - - - - 15.91 15.44 10.63
19651.15 547.24 12.56 2184 19669.05 roll 2.13 - - 3016.69 - 2.86 0.022 2207.75 -400.0 157.01 - - 2242.97 - - - - - - - - - 15.73 -
19975.03 510.43 11.02 2216 19994.14 done 2.13 - - 3016.69 - 3.12 0.076 1147.06 -340.0 157.01 - - 2237.53 - - - - - - - - - 15.72 -
20034.64 502.75 13.21 2225 20053.51 done 2.13 - - 3015.69 - 2.84 0.030 2274.25 396.9 157.01 - - 2238.53 - - - - - - - - - 15.83 -
20359.51 462.98 12.22 2257 20379.03 done 2.13 - - 3016.31 - 3.26 0.091 3350.69 330.2 157.01 - - 2237.00 - - - - - - - - - 15.55 -
20469.53 446.84 14.78 2276 20488.40 done 2.13 - - 3015.75 - 2.81 0.022 2205.75 -407.5 157.01 - - 2238.62 - - - - - - - - - 15.85 -
20794.22 406.04 12.16 2308 20812.94 done 2.13 - - 3015.81 - 3.07 0.075 1147.06 -344.9 157.01 - - 2235.72 - - - - - - - - - 15.76 -
20899.29 391.89 14.32 2326 20917.60 done 2.13 - - 3015.25 - 2.83 0.030 2273.69 398.1 157.01 - - 2236.09 - - - - - - - - - 15.69 -
21223.48 350.98 12.35 2358 21243.00 done 2.13 - - 3015.69 - 3.22 0.091 3349.38 334.1 157.01 - - 2237.91 - - - - - - - - - 15.73 -
21269.22 344.79 13.37 2364 21287.11 done 2.13 - - 3014.06 - 2.81 0.021 2204.75 -407.3 157.01 - - 2237.84 - - - - - - - - - 15.88 -
21592.97 306.40 11.68 2396 21597.04 VBD 2.13 - - 3015.75 - - - 2203.94 - 157.01 - - 2234.66 - - - - - - - - - - -
21903.02 270.44 11.89 2427 21907.32 VBD 2.13 - - 3016.06 - - - 2203.12 - 157.01 - - 2234.44 - - - - - - - - - - -
22213.27 233.63 12.31 2458 22217.34 VBD 2.13 - - 3016.31 - - - 2203.38 - 157.01 - - 2234.25 - - - - - - - - - - -
22523.31 197.01 11.36 2489 22542.05 done 2.13 - - 3016.19 - 3.07 0.075 1146.00 -344.4 157.01 - - 2236.59 - - - - - - - - - 15.69 -
22592.54 188.24 12.61 2500 22611.56 done 2.13 - - 3016.31 - 2.83 0.029 2275.75 399.2 157.01 - - 2234.97 - - - - - - - - - 15.76 -
22917.44 151.42 11.45 2532 22921.60 VBD 2.13 - - 3016.31 - - - 2275.88 - 157.01 - - 2234.34 - - - - - - - - - - -
23227.50 121.11 7.98 2563 23247.02 done 2.13 - - 3015.50 - 3.27 0.069 1146.62 -345.3 157.01 - - 2234.50 - - - - - - - - - 15.75 -
23297.91 116.05 7.36 2574 23316.57 2.17 - - 3015.44 - 2.81 0.028 2275.00 401.6 157.01 - - 2234.53 - - - - - - - - - 15.90 -
23622.88 96.42 5.51 2612 23629.52 2.33 - - 3015.94 - - - 2275.56 - 157.01 - - 2234.97 - - - - - - - - - - -
23815.79 85.61 4.92 2650 23907.06 2.45 - - 3016.50 - 3.29 0.070 1146.06 -343.3 221.64 50.06 1.230 1986.16 -5.0 0.059 - - - - - - - 15.56 11.13
23988.42 72.92 8.77 2677 24007.09 roll back 2.45 - - 3016.31 - 2.84 0.027 2274.38 397.3 221.64 - - 1980.12 - - - - - - - - - 15.73 -
24192.96 56.75 8.77 2715 24213.23 2.45 - - 3016.00 - 3.23 0.088 3350.56 333.2 221.64 - - 1977.72 - - - - - - - - - 15.59 -
24289.47 47.81 9.42 2731 24308.51 2.45 - - 3015.81 - 2.83 0.020 2201.19 -406.1 221.64 - - 1978.59 - - - - - - - - - 15.72 -
24494.77 33.87 5.28 2769 24501.41 2.62 - - 3016.12 - - - 2198.56 - 221.64 - - 1976.69 - - - - - - - - - - -
24687.84 30.09 1.08 2807 24864.28 2.91 - - 3016.06 - 3.49 0.083 3350.81 330.2 365.62 110.54 1.149 1398.34 -5.2 0.023 - - - - - - - 15.36 11.38
25010.65 8.14 11.46 2859 25029.69 roll back 2.91 - - 3016.12 - 2.87 0.020 2203.56 -399.7 365.62 - - 1391.66 - - - - - - - - - 15.68 -
25055 end climb: SURFACE_DEPTH_REACHED
25055 begin surface coast
25106 end surface coast: CONTROL_FINISHED_OK
25107 begin surface
SM 0.99 - - - - 179.6 49.59 1.087 1137.4 22.9 19.89 0.048 1130.2 56.8 - 0.15 0.080 1144.6 7611.5 -9.627 - - 11.30 15.72 15.78 -