NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 479 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 165.22 of 506.00 AH used of 24V (67.35% remains)
• Surface angle -60.0 deg, depth 0.99 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.03 (SM_CC=430)
• GPS1 time: 29 s
• GPS2 time: 1 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 - - - 118.85 VBD -1.18 - - 178.19 - - - 2194.62 - -77.86 70.23 0.005 2847.12 - - - - - - - - - - 14.94
121.06 3.17 -3.22 14 237.92 -1.18 17.34 0.220 2227.81 118.2 3.48 0.081 3351.81 332.5 -77.86 5.36 0.009 3210.28 67.8 -4.088 - - - - - - 15.31 15.04 15.15
339.87 54.73 -13.23 40 358.51 roll -1.18 - - 2227.56 - 2.83 0.018 2193.56 -409.3 -77.86 - - 3213.38 - - - - - - - - - 15.59 -
544.34 75.92 -9.50 78 551.29 no move -1.18 - - 2228.06 - - - 2191.44 - -77.86 - - 3212.81 - - - - - - - - - - -
737.09 93.58 -8.73 116 756.31 roll -1.18 - - 2227.38 - 3.04 0.067 1144.88 -344.3 -77.86 - - 3214.72 - - - - - - - - - 15.60 -
767.48 96.13 -8.13 119 785.90 roll -1.18 - - 2226.94 - 2.81 0.023 2278.75 403.5 -77.86 - - 3213.84 - - - - - - - - - 15.74 -
971.70 110.82 -6.95 142 990.57 roll -1.18 - - 2227.12 - 3.16 0.081 3350.75 339.2 -77.86 - - 3215.03 - - - - - - - - - 15.68 -
1021.02 114.86 -8.01 149 1039.41 roll -1.18 - - 2227.00 - 2.83 0.018 2190.56 -410.0 -77.86 - - 3214.53 - - - - - - - - - 15.81 -
1345.43 140.85 -8.25 181 1363.93 roll -1.18 - - 2227.62 - 3.01 0.066 1143.62 -347.8 -77.86 - - 3215.19 - - - - - - - - - 15.80 -
1474.38 152.61 -8.95 204 1492.39 roll -1.18 - - 2227.44 - 2.80 0.024 2279.44 405.7 -77.86 - - 3213.97 - - - - - - - - - 15.78 -
1798.45 181.01 -8.98 236 1802.51 no move -1.18 - - 2227.88 - - - 2278.81 - -77.86 - - 3213.31 - - - - - - - - - - -
2108.48 208.64 -8.79 267 2128.00 roll -1.18 - - 2227.56 - 3.25 0.062 1145.75 -348.6 -77.86 - - 3213.09 - - - - - - - - - 15.74 -
2168.49 214.18 -9.14 276 2187.14 roll -1.18 - - 2227.44 - 2.83 0.024 2279.06 400.5 -77.86 - - 3214.81 - - - - - - - - - 15.85 -
2492.99 242.46 -8.71 308 2497.05 no move -1.18 - - 2227.12 - - - 2278.31 - -77.86 - - 3213.44 - - - - - - - - - - -
2803.03 270.12 -8.83 339 2807.09 no move -1.18 - - 2227.81 - - - 2278.38 - -77.86 - - 3213.09 - - - - - - - - - - -
3113.07 297.12 -8.65 370 3117.14 no move -1.18 - - 2227.44 - - - 2278.75 - -77.86 - - 3213.38 - - - - - - - - - - -
3423.11 323.54 -9.18 401 3442.23 roll -1.18 - - 2227.25 - 3.18 0.083 3351.12 337.2 -77.86 - - 3214.12 - - - - - - - - - 15.82 -
3552.76 336.70 -10.19 424 3571.38 roll -1.18 - - 2227.81 - 2.81 0.019 2193.75 -411.9 -77.86 - - 3213.62 - - - - - - - - - 15.97 -
3877.20 364.98 -8.13 456 3895.91 roll -1.18 - - 2227.62 - 3.01 0.067 1145.31 -348.3 -77.86 - - 3215.53 - - - - - - - - - 15.76 -
3976.41 373.34 -8.56 473 3994.95 roll -1.18 - - 2227.88 - 2.77 0.025 2277.62 408.8 -77.86 - - 3213.91 - - - - - - - - - 15.93 -
4300.91 397.19 -7.59 505 4320.43 roll -1.18 - - 2227.75 - 3.23 0.063 1144.56 -350.8 -77.86 - - 3212.72 - - - - - - - - - 15.85 -
4420.94 407.62 -9.00 526 4439.17 roll -1.18 - - 2227.38 - 2.80 0.025 2277.44 404.6 -77.86 - - 3213.56 - - - - - - - - - 15.96 -
4745.03 432.52 -7.60 558 4749.09 no move -1.18 - - 2227.94 - - - 2277.12 - -77.86 - - 3213.06 - - - - - - - - - - -
5055.08 453.52 -6.29 589 5074.20 roll -1.18 - - 2226.75 - 3.18 0.084 3350.88 337.7 -77.86 - - 3212.56 - - - - - - - - - 15.83 -
5190.45 463.30 -7.27 613 5208.33 roll -1.18 - - 2227.69 - 2.79 0.019 2193.44 -414.9 -77.86 - - 3213.81 - - - - - - - - - 15.98 -
5514.16 487.01 -7.50 645 5535.89 roll -1.18 - - 2227.00 - 3.41 0.080 3350.19 339.2 -77.86 - - 3212.03 - - - - - - - - - 15.82 -
5561.38 491.46 -9.53 651 5579.60 roll -1.18 - - 2227.81 - 2.80 0.019 2193.75 -413.0 -77.86 - - 3212.56 - - - - - - - - - 15.96 -
5885.46 515.55 -6.90 683 5889.52 no move -1.18 - - 2227.12 - - - 2192.25 - -77.86 - - 3211.06 - - - - - - - - - - -
6195.54 537.65 -6.73 714 6199.64 no move -1.18 - - 2227.81 - - - 2192.00 - -77.86 - - 3211.12 - - - - - - - - - - -
6505.67 558.48 -6.20 745 6524.60 roll -1.18 - - 2226.81 - 3.03 0.070 1144.31 -345.8 -77.86 - - 3212.41 - - - - - - - - - 15.84 -
6570.87 562.83 -6.78 755 6588.57 roll -1.18 - - 2227.50 - 2.79 0.025 2278.12 406.4 -77.86 - - 3210.84 - - - - - - - - - 15.99 -
6894.48 583.39 -6.63 787 6898.58 no move -1.18 - - 2227.00 - - - 2278.69 - -77.86 - - 3210.75 - - - - - - - - - - -
7204.54 603.43 -6.24 818 7223.88 roll -1.18 - - 2227.00 - 3.20 0.085 3352.62 335.6 -77.86 - - 3210.47 - - - - - - - - - 15.80 -
7320.15 611.45 -7.17 838 7338.26 roll -1.18 - - 2227.50 - 2.81 0.019 2196.56 -411.4 -77.86 - - 3211.12 - - - - - - - - - 15.82 -
7644.15 629.62 -5.93 870 7663.09 roll -1.18 - - 2227.00 - 3.02 0.070 1145.44 -348.1 -77.86 - - 3210.38 - - - - - - - - - 15.81 -
7713.64 634.00 -6.59 881 7732.49 roll -1.18 - - 2227.56 - 2.80 0.025 2279.00 404.8 -77.86 - - 3210.06 - - - - - - - - - 15.99 -
8038.40 653.51 -5.93 913 8042.50 no move -1.18 - - 2227.44 - - - 2279.19 - -77.86 - - 3209.00 - - - - - - - - - - -
8348.70 672.89 -6.25 944 8368.46 roll -1.18 - - 2226.56 - 3.26 0.066 1143.75 -348.3 -77.86 - - 3211.16 - - - - - - - - - 15.82 -
8379.10 674.81 -6.36 947 8397.94 roll -1.18 - - 2227.38 - 2.82 0.025 2277.62 402.1 -77.86 - - 3209.91 - - - - - - - - - 15.87 -
8703.87 695.76 -6.52 979 8707.97 no move -1.18 - - 2227.69 - - - 2278.50 - -77.86 - - 3208.59 - - - - - - - - - - -
9013.92 714.58 -5.40 1010 9033.69 roll -1.18 - - 2228.06 - 3.26 0.066 1145.44 -347.6 -77.86 - - 3207.12 - - - - - - - - - 15.81 -
9084.23 718.81 -5.92 1021 9103.06 roll -1.18 - - 2227.56 - 2.82 0.026 2275.94 400.9 -77.86 - - 3208.38 - - - - - - - - - 15.97 -
9408.98 737.79 -6.12 1053 9413.08 no move -1.18 - - 2227.56 - - - 2276.62 - -77.86 - - 3207.56 - - - - - - - - - - -
9719.05 758.33 -6.48 1084 9723.15 no move -1.18 - - 2227.44 - - - 2276.00 - -77.86 - - 3207.72 - - - - - - - - - - -
10029.09 776.77 -5.96 1115 10048.87 roll -1.18 - - 2227.56 - 3.23 0.067 1146.00 -349.8 -77.86 - - 3205.53 - - - - - - - - - 15.80 -
10135.15 783.38 -6.34 1133 10153.27 roll -1.18 - - 2226.88 - 2.83 0.026 2276.88 399.6 -77.86 - - 3207.81 - - - - - - - - - 15.99 -
10459.22 803.06 -6.43 1165 10479.00 roll -1.18 - - 2226.00 - 3.26 0.067 1145.19 -347.1 -77.86 - - 3208.03 - - - - - - - - - 15.78 -
10535.39 808.41 -7.03 1177 10553.50 roll -1.18 - - 2227.62 - 2.82 0.026 2275.81 400.9 -77.86 - - 3207.47 - - - - - - - - - 15.99 -
10859.42 829.17 -6.52 1209 10879.18 roll -1.18 - - 2227.88 - 3.26 0.087 3350.94 329.8 -77.86 - - 3204.44 - - - - - - - - - 15.71 -
10929.72 834.28 -7.25 1220 10948.15 roll -1.18 - - 2227.31 - 2.80 0.020 2194.75 -412.9 -77.86 - - 3206.56 - - - - - - - - - 15.98 -
11254.15 855.87 -6.39 1252 11258.25 no move -1.18 - - 2227.25 - - - 2192.81 - -77.86 - - 3204.47 - - - - - - - - - - -
11564.59 872.08 -4.65 1283 11583.53 roll -1.18 - - 2226.44 - 3.05 0.072 1145.31 -343.4 -77.86 - - 3205.94 - - - - - - - - - 15.78 -
11649.81 876.44 -5.41 1297 11667.93 roll -1.18 - - 2227.44 - 2.81 0.027 2276.94 402.7 -77.86 - - 3205.03 - - - - - - - - - 15.98 -
11974.25 889.47 -3.71 1329 11978.35 no move -1.18 - - 2227.00 - - - 2277.38 - -77.86 - - 3204.88 - - - - - - - - - - -
12284.89 901.95 -4.52 1360 12304.89 roll -1.18 - - 2227.19 - 3.26 0.068 1146.12 -347.0 -77.86 - - 3204.91 - - - - - - - - - 15.77 -
12345.95 904.92 -4.80 1369 12364.81 roll -1.18 - - 2227.62 - 2.82 0.026 2276.06 400.7 -77.86 - - 3205.12 - - - - - - - - - 15.95 -
12670.73 920.82 -5.33 1401 12690.49 roll -1.18 - - 2226.44 - 3.26 0.068 1145.62 -346.8 -77.86 - - 3206.38 - - - - - - - - - 15.77 -
12736.79 924.82 -6.04 1411 12754.91 roll -1.18 - - 2227.12 - 2.83 0.026 2276.88 399.7 -77.86 - - 3205.66 - - - - - - - - - 15.96 -
13060.82 943.84 -5.96 1443 13064.92 no move -1.18 - - 2227.44 - - - 2276.94 - -77.86 - - 3203.47 - - - - - - - - - - -
13370.88 961.94 -5.83 1474 13390.65 roll -1.18 - - 2226.69 - 3.24 0.068 1146.00 -349.1 -77.86 - - 3205.22 - - - - - - - - - 15.76 -
13481.20 968.42 -5.78 1493 13500.07 roll -1.18 - - 2227.56 - 2.83 0.027 2275.75 399.2 -77.86 - - 3203.72 - - - - - - - - - 15.95 -
13806.40 984.96 -4.94 1525 13810.90 no move -1.18 - - 2227.25 - - - 2276.31 - -77.86 - - 3202.75 - - - - - - - - - - -
13916 end dive: TARGET_DEPTH_EXCEEDED
13917 begin apogee
13921.90 990.37 -4.90 1536 14028.74 -0.31 1.61 0.131 2439.25 131.7 0.20 0.136 2283.81 37.5 - 65.57 2.386 2890.00 -4.8 0.339 - - - - - - 15.65 15.31 10.17
14042 end apogee: CONTROL_FINISHED_OK
14042 begin climb
14045.17 991.28 - 1543 14174.90 1.18 2.62 0.091 2806.06 140.0 3.39 0.095 3349.75 314.4 77.86 66.71 2.363 2571.25 -4.8 0.343 - - - - - - 15.57 15.13 11.58
14182.32 983.25 7.26 1557 14200.44 roll 1.23 - - 2805.06 - 2.89 0.021 2202.81 -396.9 77.86 - - 2569.28 - - - - - - - - - 15.51 -
14506.89 960.74 6.68 1589 14527.08 1.31 0.17 0.093 2842.94 222.8 3.10 0.075 1146.69 -340.7 77.86 - - 2565.53 - - - - - - - - 15.72 15.66 -
14733.81 943.53 7.22 1631 14752.33 done 1.36 - - 2844.56 - 2.87 0.030 2273.12 392.5 77.86 - - 2563.25 - - - - - - - - - 15.84 -
15058.61 921.66 6.56 1663 15062.71 VBD 1.45 - - 2844.12 - - - 2272.81 - 77.86 - - 2561.09 - - - - - - - - - - -
15369.02 900.99 6.60 1694 15374.59 1.54 0.28 0.070 2901.00 203.1 - - 2272.00 - 77.86 - - 2561.12 - - - - - - - - 15.85 - -
15680.61 874.73 9.16 1725 15684.71 VBD 1.54 - - 2900.81 - - - 2272.81 - 77.86 - - 2559.62 - - - - - - - - - - -
15990.67 846.87 9.62 1756 16010.42 done 1.54 - - 2899.19 - 3.27 0.093 3352.19 330.1 77.86 - - 2561.41 - - - - - - - - - 15.77 -
16080.97 837.90 10.09 1771 16099.82 done 1.54 - - 2901.62 - 2.82 0.022 2204.06 -407.1 77.86 - - 2561.09 - - - - - - - - - 15.93 -
16406.13 813.63 6.74 1803 16410.24 VBD 1.62 - - 2899.62 - - - 2202.88 - 77.86 - - 2559.06 - - - - - - - - - - -
16716.53 793.63 6.76 1834 16735.47 done 1.69 - - 2900.38 - 3.08 0.075 1146.62 -342.9 77.86 - - 2560.47 - - - - - - - - - 15.80 -
16892.19 780.35 7.52 1866 16911.56 1.73 0.20 0.080 2946.38 230.0 2.85 0.030 2275.38 396.1 77.86 - - 2558.25 - - - - - - - - 15.72 15.96 -
17217.47 752.63 8.81 1898 17237.24 done 1.73 - - 2947.31 - 3.28 0.071 1145.25 -344.6 77.86 - - 2558.44 - - - - - - - - - 15.80 -
17343.54 740.74 9.75 1920 17362.30 done 1.73 - - 2946.69 - 2.85 0.030 2273.88 396.0 77.86 - - 2559.31 - - - - - - - - - 15.96 -
17668.31 713.59 7.58 1952 17688.10 done 1.73 - - 2946.69 - 3.26 0.092 3351.88 330.7 77.86 - - 2559.41 - - - - - - - - - 15.76 -
17718.63 709.49 8.08 1959 17737.49 done 1.73 - - 2947.00 - 2.81 0.021 2203.88 -408.5 77.86 - - 2559.44 - - - - - - - - - 15.94 -
18043.80 688.94 6.45 1991 18047.92 VBD 1.82 - - 2947.50 - - - 2201.25 - 77.86 - - 2557.81 - - - - - - - - - - -
18353.81 668.00 7.58 2022 18372.75 done 1.82 - - 2946.31 - 3.08 0.075 1146.00 -342.6 77.86 - - 2560.88 - - - - - - - - - 15.78 -
18603.74 649.25 7.36 2069 18622.59 done 1.86 - - 2947.06 - 2.84 0.030 2274.00 397.2 77.86 - - 2558.44 - - - - - - - - - 15.96 -
18928.91 628.37 5.90 2101 18934.89 1.99 0.31 0.066 3011.38 207.5 - - 2273.50 - 77.86 - - 2557.41 - - - - - - - - 15.92 - -
19241.21 606.73 7.25 2132 19260.99 done 2.04 - - 3010.12 - 3.27 0.070 1145.62 -344.9 77.86 - - 2560.41 - - - - - - - - - 15.79 -
19491.96 588.25 7.12 2179 19510.81 done 2.10 - - 3010.56 - 2.85 0.030 2273.62 395.8 77.86 - - 2558.81 - - - - - - - - - 15.95 -
19817.24 567.72 6.38 2211 19837.02 2.20 - - 3011.12 - 3.26 0.069 1146.19 -345.8 77.86 - - 2556.62 - - - - - - - - - 15.77 -
19933.70 559.92 6.63 2231 19951.85 2.28 - - 3010.50 - 2.86 0.029 2274.06 394.4 77.86 - - 2559.62 - - - - - - - - - 15.75 -
20258.18 538.24 6.95 2263 20277.96 2.35 - - 3011.12 - 3.27 0.091 3351.50 329.5 77.86 - - 2556.47 - - - - - - - - - 15.72 -
20498.51 518.72 8.49 2308 20517.78 2.35 - - 3011.69 - 2.82 0.021 2202.69 -407.4 77.86 - - 2557.78 - - - - - - - - - 15.95 -
20824.20 495.73 6.45 2340 20843.14 2.44 - - 3009.62 - 3.09 0.073 1144.56 -342.4 77.86 - - 2558.97 - - - - - - - - - 15.75 -
20954.11 485.89 7.09 2363 20973.22 2.50 - - 3011.44 - 2.87 0.028 2275.19 393.9 77.86 - - 2558.19 - - - - - - - - - 15.77 -
21279.63 464.61 5.99 2395 21299.41 2.62 - - 3011.31 - 3.25 0.069 1145.75 -347.5 77.86 - - 2557.06 - - - - - - - - - 15.74 -
21530.42 449.95 5.61 2442 21549.68 2.77 - - 3011.56 - 2.86 0.029 2275.75 395.1 77.86 - - 2558.94 - - - - - - - - - 15.95 -
21856.01 436.65 3.87 2474 21958.30 2.94 - - 3010.62 - - - 2275.69 - 164.18 70.62 1.722 2218.91 -4.8 0.209 - - - - - - - - 10.67
22264.19 399.29 10.95 2512 22283.99 2.94 - - 3011.69 - 3.29 0.091 3350.81 326.8 164.18 - - 2212.47 - - - - - - - - - 15.64 -
22514.70 366.21 12.64 2559 22533.57 2.94 - - 3010.69 - 2.85 0.021 2205.75 -401.8 164.18 - - 2210.59 - - - - - - - - - 15.70 -
22839.48 328.06 12.32 2591 22860.33 2.94 - - 3011.56 - 3.45 0.087 3349.69 331.6 164.18 - - 2207.12 - - - - - - - - - 15.68 -
22890.99 320.83 14.24 2598 22909.86 2.94 - - 3011.06 - 2.83 0.021 2206.50 -404.0 164.18 - - 2208.75 - - - - - - - - - 15.88 -
23215.76 282.97 10.70 2630 23234.72 2.94 - - 3011.81 - 3.07 0.073 1146.62 -345.2 164.18 - - 2205.25 - - - - - - - - - 15.75 -
23255.25 278.48 11.31 2635 23274.51 2.94 - - 3011.38 - 2.84 0.028 2275.31 397.4 164.18 - - 2207.31 - - - - - - - - - 15.77 -
23580.44 243.79 10.41 2667 23584.64 2.94 - - 3011.62 - - - 2275.75 - 164.18 - - 2205.50 - - - - - - - - - - -
23890.56 213.02 8.54 2698 23894.68 2.94 - - 3012.12 - - - 2275.56 - 164.18 - - 2205.38 - - - - - - - - - - -
24200.62 184.08 10.00 2729 24220.40 2.94 - - 3012.00 - 3.25 0.068 1145.56 -347.7 164.18 - - 2205.03 - - - - - - - - - 15.76 -
24320.97 171.37 10.43 2750 24339.83 2.94 - - 3012.19 - 2.84 0.028 2275.38 397.8 164.18 - - 2205.66 - - - - - - - - - 15.85 -
24645.75 140.59 9.03 2782 24665.77 2.94 - - 3011.88 - 3.27 0.067 1145.50 -345.5 164.18 - - 2205.00 - - - - - - - - - 15.64 -
24702.16 135.19 9.53 2790 24720.31 2.94 - - 3011.50 - 2.83 0.027 2275.38 399.3 164.18 - - 2206.81 - - - - - - - - - 15.78 -
25026.43 107.65 8.85 2822 25046.21 2.94 - - 3010.62 - 3.26 0.066 1145.81 -346.5 164.18 - - 2207.31 - - - - - - - - - 15.75 -
25277.55 86.67 8.15 2869 25296.41 2.94 - - 3012.06 - 2.85 0.027 2275.88 396.5 164.18 - - 2205.69 - - - - - - - - - 15.69 -
25482.72 73.35 4.80 2907 25578.88 3.08 - - 3012.81 - 3.24 0.089 3353.19 332.5 231.24 51.81 1.203 1946.28 -5.0 0.052 - - - - - - - 15.53 11.15
25585.35 65.96 9.03 2920 25604.60 roll back 3.08 - - 3012.12 - 2.84 0.020 2200.31 -405.9 231.24 - - 1942.91 - - - - - - - - - 15.61 -
25790.51 50.00 7.64 2958 25811.83 3.08 - - 3012.69 - 3.46 0.083 3350.94 332.6 231.24 - - 1938.56 - - - - - - - - - 15.59 -
25978.54 40.04 3.72 2992 26096.29 3.26 - - 3013.06 - 2.84 0.019 2193.00 -407.7 320.81 69.07 1.149 1581.38 -5.2 0.031 - - - - - - - 15.75 11.44
26282.51 20.61 8.41 3044 26302.60 3.26 - - 3012.94 - 3.08 0.073 1145.62 -340.1 320.81 - - 1572.78 - - - - - - - - - 15.55 -
26359.00 13.86 8.87 3056 26377.87 3.26 - - 3012.44 - 2.86 0.026 2275.44 395.0 320.81 - - 1572.03 - - - - - - - - - 15.70 -
26478 end climb: SURFACE_DEPTH_REACHED
26479 begin surface coast
26534 end surface coast: CONTROL_FINISHED_OK
26535 begin surface
SM 1.06 - - - - 179.6 83.33 1.095 1136.9 13.6 19.80 0.051 1130.0 57.1 - 0.12 0.084 1143.9 9508.7 -12.264 - - 11.27 15.75 15.83 -