NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 476 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 164.20 of 506.00 AH used of 24V (67.55% remains)
• Surface angle -62.7 deg, depth 1.02 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.05 (SM_CC=430)
• GPS1 time: 32 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
19.06 - - - 111.85 VBD -1.18 - - 178.38 - - - 2298.31 - -77.86 65.07 0.005 2706.41 - - - - - - - - - - 14.91
114.07 3.04 -3.21 13 230.55 -1.18 17.57 0.223 2227.81 116.6 3.18 0.085 3352.56 331.5 -77.86 7.75 0.007 3211.72 65.2 -4.850 - - - - - - 15.30 15.01 15.18
292.16 47.15 -16.01 31 310.57 roll -1.18 - - 2228.00 - 2.85 0.019 2196.38 -405.7 -77.86 - - 3213.50 - - - - - - - - - 15.72 -
496.51 70.80 -9.45 69 517.70 roll -1.18 - - 2227.94 - 3.43 0.078 3352.31 337.0 -77.86 - - 3213.53 - - - - - - - - - 15.56 -
558.87 76.21 -8.80 78 577.27 roll -1.18 - - 2227.69 - 2.86 0.018 2192.38 -405.6 -77.86 - - 3214.12 - - - - - - - - - 15.71 -
763.08 90.78 -7.59 116 782.26 roll -1.18 - - 2227.62 - 3.04 0.065 1144.25 -344.8 -77.86 - - 3215.12 - - - - - - - - - 15.66 -
888.47 100.24 -7.97 138 906.56 roll -1.18 - - 2228.19 - 2.81 0.023 2279.12 403.9 -77.86 - - 3215.38 - - - - - - - - - 15.80 -
1212.37 129.42 -9.34 170 1231.65 roll -1.18 - - 2227.75 - 3.24 0.061 1145.19 -350.0 -77.86 - - 3215.34 - - - - - - - - - 15.74 -
1252.09 133.09 -9.27 175 1270.51 roll -1.18 - - 2227.62 - 2.81 0.023 2278.25 403.2 -77.86 - - 3215.50 - - - - - - - - - 15.84 -
1576.32 159.26 -8.57 207 1595.93 roll -1.18 - - 2227.88 - 3.24 0.061 1145.69 -349.6 -77.86 - - 3214.38 - - - - - - - - - 15.65 -
1672.29 168.31 -9.43 223 1690.19 roll -1.18 - - 2227.56 - 2.81 0.024 2278.31 403.1 -77.86 - - 3215.47 - - - - - - - - - 15.86 -
1996.05 198.68 -8.96 255 2015.16 roll -1.18 - - 2226.94 - 3.18 0.082 3351.62 337.5 -77.86 - - 3214.09 - - - - - - - - - 15.62 -
2045.65 203.36 -9.26 262 2063.86 roll -1.18 - - 2228.31 - 2.80 0.019 2190.69 -414.6 -77.86 - - 3214.84 - - - - - - - - - 15.92 -
2369.71 232.30 -9.02 294 2388.00 roll -1.18 - - 2226.38 - 3.00 0.066 1144.00 -348.9 -77.86 - - 3215.31 - - - - - - - - - 15.71 -
2418.50 237.04 -9.64 301 2436.72 roll -1.18 - - 2227.75 - 2.80 0.024 2279.75 405.6 -77.86 - - 3214.81 - - - - - - - - - 15.85 -
2742.59 265.47 -8.40 333 2761.68 roll -1.18 - - 2227.75 - 3.16 0.082 3351.75 339.2 -77.86 - - 3214.50 - - - - - - - - - 15.81 -
2807.90 271.62 -9.67 343 2825.39 roll -1.18 - - 2227.69 - 2.80 0.019 2190.56 -414.7 -77.86 - - 3215.47 - - - - - - - - - 15.95 -
3131.45 301.32 -9.66 375 3135.51 no move -1.18 - - 2227.75 - - - 2188.81 - -77.86 - - 3214.03 - - - - - - - - - - -
3441.37 329.89 -8.90 406 3463.11 roll -1.18 - - 2227.44 - 3.41 0.079 3352.94 341.4 -77.86 - - 3214.09 - - - - - - - - - 15.82 -
3528.73 338.41 -9.48 420 3546.93 roll -1.18 - - 2227.38 - 2.80 0.019 2192.12 -414.6 -77.86 - - 3214.34 - - - - - - - - - 15.94 -
3852.79 364.37 -7.57 452 3874.10 roll -1.18 - - 2227.31 - 3.38 0.079 3350.56 342.7 -77.86 - - 3213.06 - - - - - - - - - 15.83 -
3935.33 371.20 -8.42 465 3952.83 roll -1.18 - - 2227.62 - 2.79 0.019 2192.25 -415.2 -77.86 - - 3214.22 - - - - - - - - - 15.98 -
4258.69 392.06 -5.96 497 4276.97 roll -1.18 - - 2227.31 - 2.97 0.067 1145.31 -352.5 -77.86 - - 3214.78 - - - - - - - - - 15.85 -
4353.20 397.83 -5.87 513 4370.67 roll -1.18 - - 2226.94 - 2.76 0.024 2279.44 410.9 -77.86 - - 3215.09 - - - - - - - - - 15.98 -
4676.54 416.78 -6.34 545 4680.60 no move -1.18 - - 2227.38 - - - 2279.62 - -77.86 - - 3212.91 - - - - - - - - - - -
4986.58 440.60 -8.15 576 4990.64 no move -1.18 - - 2227.75 - - - 2280.19 - -77.86 - - 3212.00 - - - - - - - - - - -
5296.62 467.77 -8.98 607 5316.38 roll -1.18 - - 2227.12 - 3.26 0.064 1145.75 -348.0 -77.86 - - 3213.03 - - - - - - - - - 15.73 -
5382.73 475.75 -9.45 621 5400.62 roll -1.18 - - 2228.00 - 2.81 0.025 2279.06 403.3 -77.86 - - 3213.28 - - - - - - - - - 15.96 -
5706.48 502.57 -7.61 653 5710.54 no move -1.18 - - 2227.56 - - - 2279.25 - -77.86 - - 3211.88 - - - - - - - - - - -
6016.52 525.87 -7.15 684 6036.07 roll -1.18 - - 2228.19 - 3.24 0.065 1144.12 -350.3 -77.86 - - 3211.00 - - - - - - - - - 15.83 -
6086.58 531.22 -7.45 695 6105.20 roll -1.18 - - 2227.62 - 2.82 0.025 2276.75 401.6 -77.86 - - 3212.44 - - - - - - - - - 15.97 -
6411.06 551.80 -5.96 727 6430.57 roll -1.18 - - 2227.56 - 3.24 0.064 1144.06 -349.6 -77.86 - - 3210.50 - - - - - - - - - 15.85 -
6496.81 557.38 -6.47 741 6515.10 roll -1.18 - - 2227.25 - 2.82 0.025 2276.69 401.6 -77.86 - - 3211.44 - - - - - - - - - 15.99 -
6820.96 576.79 -6.15 773 6825.02 no move -1.18 - - 2227.44 - - - 2276.50 - -77.86 - - 3210.38 - - - - - - - - - - -
7131.00 596.02 -6.37 804 7135.06 no move -1.18 - - 2227.56 - - - 2276.94 - -77.86 - - 3209.56 - - - - - - - - - - -
7441.05 617.37 -7.29 835 7445.11 no move -1.18 - - 2227.44 - - - 2277.25 - -77.86 - - 3209.44 - - - - - - - - - - -
7751.09 640.53 -7.35 866 7770.61 roll -1.18 - - 2227.88 - 3.26 0.066 1144.44 -347.5 -77.86 - - 3208.75 - - - - - - - - - 15.83 -
7841.43 647.55 -7.75 881 7860.06 roll -1.18 - - 2227.50 - 2.82 0.025 2275.62 401.1 -77.86 - - 3209.44 - - - - - - - - - 15.95 -
8165.94 670.67 -7.49 913 8170.00 no move -1.18 - - 2227.31 - - - 2275.75 - -77.86 - - 3207.78 - - - - - - - - - - -
8475.99 692.82 -7.41 944 8480.05 no move -1.18 - - 2227.25 - - - 2275.31 - -77.86 - - 3207.47 - - - - - - - - - - -
8786.04 714.48 -7.37 975 8805.55 roll -1.18 - - 2227.81 - 3.26 0.066 1145.94 -346.4 -77.86 - - 3207.16 - - - - - - - - - 15.82 -
8941.81 725.94 -7.54 1003 8959.71 roll -1.18 - - 2227.38 - 2.84 0.026 2276.50 398.1 -77.86 - - 3208.03 - - - - - - - - - 15.97 -
9265.58 748.18 -6.67 1035 9285.09 roll -1.18 - - 2227.56 - 3.26 0.088 3353.44 330.3 -77.86 - - 3206.97 - - - - - - - - - 15.78 -
9321.31 752.13 -6.43 1043 9339.60 roll -1.18 - - 2227.56 - 2.82 0.020 2192.75 -411.6 -77.86 - - 3207.69 - - - - - - - - - 15.97 -
9645.47 771.37 -5.21 1075 9667.43 roll -1.18 - - 2227.62 - 3.45 0.084 3350.50 335.6 -77.86 - - 3206.41 - - - - - - - - - 15.77 -
9703.04 774.59 -5.09 1083 9721.67 roll -1.18 - - 2227.38 - 2.82 0.020 2193.75 -410.2 -77.86 - - 3207.06 - - - - - - - - - 15.96 -
10027.96 789.89 -4.70 1115 10046.66 roll -1.18 - - 2226.38 - 3.04 0.071 1145.44 -344.8 -77.86 - - 3207.84 - - - - - - - - - 15.81 -
10063.28 791.57 -4.81 1119 10080.78 roll -1.18 - - 2227.31 - 2.78 0.026 2278.75 407.7 -77.86 - - 3208.47 - - - - - - - - - 15.96 -
10386.66 808.46 -5.25 1151 10390.72 no move -1.18 - - 2227.75 - - - 2280.00 - -77.86 - - 3205.66 - - - - - - - - - - -
10697.12 823.49 -4.39 1182 10701.18 no move -1.18 - - 2227.06 - - - 2280.19 - -77.86 - - 3205.06 - - - - - - - - - - -
11007.46 837.69 -4.38 1213 11011.52 no move -1.18 - - 2227.62 - - - 2280.06 - -77.86 - - 3205.25 - - - - - - - - - - -
11317.91 851.80 -4.75 1244 11321.97 no move -1.18 - - 2227.19 - - - 2279.50 - -77.86 - - 3205.28 - - - - - - - - - - -
11628.25 866.62 -4.58 1275 11649.16 roll -1.18 - - 2227.56 - 3.29 0.067 1145.00 -344.8 -77.86 - - 3204.16 - - - - - - - - - 15.78 -
11700.39 870.25 -5.13 1286 11718.29 roll -1.18 - - 2227.75 - 2.82 0.026 2276.38 401.2 -77.86 - - 3206.00 - - - - - - - - - 15.96 -
12024.34 887.12 -5.41 1318 12043.86 roll -1.18 - - 2227.56 - 3.24 0.088 3351.62 331.9 -77.86 - - 3204.62 - - - - - - - - - 15.73 -
12094.46 891.38 -6.59 1329 12113.10 roll -1.18 - - 2227.38 - 2.82 0.020 2192.94 -410.9 -77.86 - - 3204.81 - - - - - - - - - 15.97 -
12418.97 909.84 -5.91 1361 12437.68 roll -1.18 - - 2227.81 - 3.05 0.072 1145.25 -343.5 -77.86 - - 3203.38 - - - - - - - - - 15.76 -
12488.18 914.50 -6.58 1372 12506.40 roll -1.18 - - 2227.25 - 2.79 0.026 2277.50 405.8 -77.86 - - 3205.69 - - - - - - - - - 15.97 -
12812.25 935.33 -6.53 1404 12816.31 no move -1.18 - - 2227.62 - - - 2278.12 - -77.86 - - 3203.09 - - - - - - - - - - -
13122.28 954.37 -5.94 1435 13141.80 roll -1.18 - - 2227.25 - 3.27 0.068 1144.62 -346.6 -77.86 - - 3203.34 - - - - - - - - - 15.75 -
13182.29 958.36 -6.47 1444 13200.92 roll -1.18 - - 2227.00 - 2.82 0.026 2275.69 401.1 -77.86 - - 3204.50 - - - - - - - - - 15.94 -
13506.79 980.10 -6.89 1476 13510.85 no move -1.18 - - 2227.25 - - - 2276.44 - -77.86 - - 3202.75 - - - - - - - - - - -
13656 end dive: TARGET_DEPTH_EXCEEDED
13657 begin apogee
13661.50 990.21 -6.77 1491 13766.79 -0.31 1.58 0.130 2439.12 134.1 0.19 0.139 2283.94 39.5 - 65.45 2.382 2890.44 -4.8 0.340 - - - - - - 15.65 15.32 10.21
13772 end apogee: CONTROL_FINISHED_OK
13772 begin climb
13775.01 992.66 - 1498 13904.24 1.18 2.57 0.089 2806.00 142.8 3.38 0.095 3350.06 315.4 77.86 66.42 2.364 2574.22 -4.8 0.342 - - - - - - 15.56 15.13 11.64
13910.89 988.19 5.21 1507 13931.56 roll back 1.35 0.25 0.075 2853.06 188.2 2.91 0.021 2201.88 -394.6 77.86 - - 2570.50 - - - - - - - - 15.43 15.51 -
14237.93 966.36 7.36 1539 14257.05 done 1.39 - - 2853.44 - 3.13 0.075 1144.94 -337.7 77.86 - - 2564.16 - - - - - - - - - 15.71 -
14383.30 955.16 7.77 1565 14401.21 done 1.39 - - 2854.38 - 2.88 0.030 2275.38 392.5 77.86 - - 2561.59 - - - - - - - - - 15.71 -
14707.47 929.51 7.42 1597 14711.77 VBD 1.43 - - 2853.62 - - - 2275.19 - 77.86 - - 2561.22 - - - - - - - - - - -
15017.74 905.30 7.80 1628 15038.66 done 1.43 - - 2855.06 - 3.28 0.071 1145.00 -344.6 77.86 - - 2559.97 - - - - - - - - - 15.80 -
15099.89 898.84 8.10 1641 15117.78 done 1.43 - - 2852.81 - 2.85 0.030 2274.88 396.4 77.86 - - 2562.38 - - - - - - - - - 15.91 -
15424.03 875.44 6.89 1673 15446.20 1.50 0.16 0.090 2893.94 257.1 3.25 0.093 3350.69 331.0 77.86 - - 2559.03 - - - - - - - - 15.87 15.77 -
15501.70 869.03 8.79 1685 15520.32 done 1.50 - - 2893.50 - 2.82 0.021 2203.12 -406.9 77.86 - - 2560.41 - - - - - - - - - 15.93 -
15826.54 846.08 7.16 1717 15830.61 VBD 1.56 - - 2893.50 - - - 2201.88 - 77.86 - - 2559.16 - - - - - - - - - - -
16136.86 825.34 7.29 1748 16158.58 done 1.60 - - 2892.44 - 3.44 0.089 3349.94 333.7 77.86 - - 2561.91 - - - - - - - - - 15.77 -
16194.08 820.73 7.66 1756 16212.72 done 1.60 - - 2893.62 - 2.83 0.022 2204.38 -404.8 77.86 - - 2559.66 - - - - - - - - - 15.94 -
16519.20 799.36 6.92 1788 16524.29 1.67 0.17 0.086 2931.56 223.2 - - 2203.56 - 77.86 - - 2557.75 - - - - - - - - 15.90 - -
16830.51 776.99 7.05 1819 16834.58 VBD 1.73 - - 2931.75 - - - 2204.25 - 77.86 - - 2558.41 - - - - - - - - - - -
17140.95 754.72 7.05 1850 17160.06 done 1.79 - - 2931.06 - 3.11 0.075 1145.88 -340.3 77.86 - - 2561.28 - - - - - - - - - 15.81 -
17176.69 752.56 6.60 1854 17196.24 1.88 0.24 0.072 2983.25 217.5 2.82 0.030 2274.75 400.3 77.86 - - 2558.78 - - - - - - - - 15.74 15.97 -
17502.50 731.55 6.25 1886 17506.57 VBD 1.98 - - 2986.50 - - - 2275.25 - 77.86 - - 2558.03 - - - - - - - - - - -
17812.83 710.44 7.11 1917 17832.35 done 2.04 - - 2986.12 - 3.23 0.092 3352.00 333.4 77.86 - - 2558.59 - - - - - - - - - 15.76 -
17868.57 705.96 8.33 1925 17886.47 done 2.04 - - 2985.69 - 2.83 0.021 2204.12 -405.6 77.86 - - 2558.91 - - - - - - - - - 15.94 -
18192.33 680.37 8.02 1957 18211.05 done 2.04 - - 2985.88 - 3.08 0.074 1145.19 -343.8 77.86 - - 2557.78 - - - - - - - - - 15.80 -
18392.00 664.31 7.44 1994 18411.46 2.08 0.09 0.127 3015.75 331.9 2.83 0.030 2275.56 399.4 77.86 - - 2559.03 - - - - - - - - 15.73 15.95 -
18717.34 635.96 9.49 2026 18736.88 done 2.08 - - 3015.12 - 3.24 0.091 3351.56 332.1 77.86 - - 2559.66 - - - - - - - - - 15.75 -
18823.22 625.17 10.17 2044 18841.11 done 2.08 - - 3015.62 - 2.84 0.021 2204.00 -404.1 77.86 - - 2559.12 - - - - - - - - - 15.79 -
19146.97 594.78 9.49 2076 19165.68 done 2.08 - - 3014.81 - 3.07 0.074 1145.50 -344.8 77.86 - - 2557.91 - - - - - - - - - 15.78 -
19281.92 582.81 9.41 2100 19299.83 done 2.08 - - 3015.62 - 2.82 0.030 2273.88 400.1 77.86 - - 2558.28 - - - - - - - - - 15.95 -
19605.71 558.27 7.69 2132 19625.23 done 2.08 - - 3015.81 - 3.24 0.090 3350.38 332.3 77.86 - - 2558.62 - - - - - - - - - 15.71 -
19855.79 538.10 8.14 2179 19875.04 done 2.08 - - 3015.25 - 2.82 0.021 2203.12 -406.8 77.86 - - 2559.78 - - - - - - - - - 15.97 -
20181.30 516.07 6.23 2211 20203.29 2.18 - - 3015.12 - 3.43 0.086 3351.06 334.7 77.86 - - 2556.56 - - - - - - - - - 15.73 -
20434.69 497.73 7.57 2258 20452.62 2.18 - - 3016.06 - 2.83 0.021 2204.75 -405.1 77.86 - - 2557.72 - - - - - - - - - 15.97 -
20758.88 478.02 6.36 2290 20762.96 2.29 - - 3015.38 - - - 2203.62 - 77.86 - - 2557.62 - - - - - - - - - - -
21069.34 459.33 6.12 2321 21091.08 2.40 - - 3015.69 - 3.43 0.085 3351.38 334.6 77.86 - - 2556.69 - - - - - - - - - 15.71 -
21257.02 445.53 7.40 2355 21275.66 2.44 - - 3016.12 - 2.84 0.021 2202.69 -404.5 77.86 - - 2557.69 - - - - - - - - - 15.95 -
21581.93 424.03 6.23 2387 21603.67 2.55 - - 3015.56 - 3.44 0.084 3350.00 333.5 77.86 - - 2556.66 - - - - - - - - - 15.50 -
21639.56 420.32 6.88 2395 21658.59 2.62 - - 3015.31 - 2.84 0.020 2200.69 -404.7 77.86 - - 2559.19 - - - - - - - - - 15.96 -
21964.85 402.66 5.05 2427 21968.93 2.80 - - 3015.50 - - - 2200.38 - 77.86 - - 2557.16 - - - - - - - - - - -
22275.18 385.44 5.45 2458 22294.55 2.96 - - 3014.31 - 3.11 0.074 1145.12 -339.3 77.86 - - 2559.25 - - - - - - - - - 15.75 -
22525.60 373.19 4.64 2505 22623.10 3.10 - - 3016.44 - 2.82 0.028 2277.00 401.4 148.23 56.96 1.624 2283.88 -4.8 0.190 - - - - - - - 15.81 10.55
22928.97 337.17 10.38 2548 22950.41 3.10 - - 3015.81 - 3.33 0.070 1147.94 -339.1 148.23 - - 2276.16 - - - - - - - - - 15.70 -
23181.80 308.21 11.59 2595 23199.71 3.10 - - 3016.38 - 2.86 0.029 2275.19 394.1 148.23 - - 2274.72 - - - - - - - - - 15.83 -
23505.58 272.73 11.60 2627 23525.13 3.10 - - 3015.75 - 3.27 0.089 3350.69 328.9 148.23 - - 2276.12 - - - - - - - - - 15.61 -
23571.36 263.93 13.01 2637 23589.26 3.10 - - 3015.75 - 2.85 0.021 2204.81 -402.1 148.23 - - 2274.69 - - - - - - - - - 15.88 -
23895.10 228.79 10.58 2669 23916.86 3.10 - - 3015.62 - 3.46 0.085 3350.81 331.2 148.23 - - 2272.84 - - - - - - - - - 15.66 -
23932.44 224.63 11.26 2673 23951.07 3.10 - - 3015.62 - 2.86 0.020 2205.75 -400.4 148.23 - - 2276.31 - - - - - - - - - 15.77 -
24256.93 191.34 9.88 2705 24261.00 3.10 - - 3016.06 - - - 2203.06 - 148.23 - - 2273.25 - - - - - - - - - - -
24566.97 164.14 8.42 2736 24586.11 3.10 - - 3016.19 - 3.11 0.072 1147.88 -339.3 148.23 - - 2275.28 - - - - - - - - - 15.64 -
24706.63 151.82 8.75 2761 24725.25 3.10 - - 3015.44 - 2.82 0.028 2275.00 399.7 148.23 - - 2274.41 - - - - - - - - - 15.77 -
25031.10 123.73 8.80 2793 25035.18 3.10 - - 3015.50 - - - 2275.38 - 148.23 - - 2272.84 - - - - - - - - - - -
25341.11 99.91 7.76 2824 25361.78 3.10 - - 3015.75 - 3.22 0.087 3351.31 334.1 148.23 - - 2274.91 - - - - - - - - - 15.72 -
25448.01 90.87 8.40 2842 25466.64 3.10 - - 3016.06 - 2.83 0.020 2200.75 -406.6 148.23 - - 2274.69 - - - - - - - - - 15.75 -
25652.53 75.90 7.93 2880 25672.00 3.10 - - 3015.88 - 3.10 0.070 1145.50 -340.4 148.23 - - 2273.16 - - - - - - - - - 15.54 -
25904.04 60.17 3.66 2927 26021.16 3.28 - - 3015.38 - 2.84 0.025 2278.50 398.9 238.85 69.96 1.196 1916.72 -5.1 0.044 - - - - - - - 15.76 11.24
26207.44 45.95 6.53 2979 26227.70 3.37 - - 3015.31 - 3.24 0.086 3349.81 330.7 238.85 - - 1906.66 - - - - - - - - - 15.52 -
26384.47 32.15 6.59 3011 26403.11 3.46 - - 3015.38 - 2.87 0.019 2198.56 -401.1 238.85 - - 1906.19 - - - - - - - - - 15.68 -
26589.37 27.78 1.69 3049 26751.74 3.72 - - 3016.44 - 3.15 0.073 1147.50 -333.7 370.23 100.71 1.127 1379.75 -5.2 0.022 - - - - - - - 15.39 11.47
26758.71 19.32 8.12 3071 26777.73 roll back 3.72 - - 3016.31 - 2.86 0.026 2276.06 394.6 370.23 - - 1375.38 - - - - - - - - - 15.61 -
26918 end climb: SURFACE_DEPTH_REACHED
26918 begin surface coast
26964 end surface coast: CONTROL_FINISHED_OK
26965 begin surface
SM 0.87 - - - - 180.6 46.21 1.072 1136.8 24.6 19.35 0.040 1137.0 58.8 - 0.12 0.083 1136.7 9448.7 -10.123 - - 11.36 15.69 15.77 -