NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 485 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 167.28 of 506.00 AH used of 24V (66.94% remains)
• Surface angle -63.7 deg, depth 0.89 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.87 (SM_CC=430)
• GPS1 time: 19 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 - - - 118.86 VBD -1.18 - - 182.12 - - - 2201.50 - -77.86 70.24 0.005 2832.78 - - - - - - - - - - 14.91
121.07 3.55 -4.39 14 237.01 -1.18 17.15 0.217 2228.50 119.3 3.46 0.082 3352.44 332.6 -77.86 5.45 0.009 3210.47 69.3 -4.683 - - - - - - 15.31 15.02 15.15
303.72 51.04 -15.40 33 322.52 roll -1.18 - - 2228.12 - 2.87 0.019 2197.06 -402.6 -77.86 - - 3212.97 - - - - - - - - - 15.73 -
508.47 74.84 -9.76 71 527.91 roll -1.18 - - 2227.75 - 3.09 0.066 1144.38 -340.7 -77.86 - - 3212.91 - - - - - - - - - 15.65 -
584.08 82.55 -10.20 83 602.88 roll -1.18 - - 2228.31 - 2.84 0.024 2278.06 399.2 -77.86 - - 3213.75 - - - - - - - - - 15.68 -
793.93 103.20 -9.55 119 798.34 no move -1.18 - - 2227.75 - - - 2278.19 - -77.86 - - 3213.06 - - - - - - - - - - -
1104.12 130.59 -8.32 150 1123.40 roll -1.18 - - 2227.81 - 3.21 0.083 3353.12 334.9 -77.86 - - 3213.41 - - - - - - - - - 15.68 -
1159.58 135.75 -9.24 158 1177.27 roll -1.18 - - 2228.25 - 2.84 0.019 2191.00 -409.2 -77.86 - - 3214.19 - - - - - - - - - 15.76 -
1483.07 159.83 -7.00 190 1487.09 no move -1.18 - - 2227.44 - - - 2188.69 - -77.86 - - 3213.97 - - - - - - - - - - -
1793.31 182.59 -7.53 221 1811.78 roll -1.18 - - 2227.12 - 3.06 0.067 1145.12 -341.0 -77.86 - - 3215.38 - - - - - - - - - 15.70 -
1957.96 196.37 -8.75 251 1976.03 roll -1.18 - - 2227.50 - 2.81 0.024 2277.88 403.1 -77.86 - - 3214.72 - - - - - - - - - 15.90 -
2282.00 222.44 -8.14 283 2286.06 no move -1.18 - - 2227.56 - - - 2277.88 - -77.86 - - 3214.00 - - - - - - - - - - -
2592.04 245.88 -7.89 314 2596.10 no move -1.18 - - 2227.62 - - - 2277.94 - -77.86 - - 3214.16 - - - - - - - - - - -
2902.08 271.04 -8.23 345 2921.60 roll -1.18 - - 2226.69 - 3.27 0.063 1146.12 -346.1 -77.86 - - 3215.28 - - - - - - - - - 15.83 -
2978.05 277.76 -8.95 357 2995.94 roll -1.18 - - 2227.56 - 2.82 0.024 2278.25 401.5 -77.86 - - 3214.72 - - - - - - - - - 15.95 -
3302.04 302.99 -7.78 389 3321.58 roll -1.18 - - 2227.56 - 3.26 0.063 1145.81 -347.4 -77.86 - - 3213.16 - - - - - - - - - 15.84 -
3347.80 306.87 -8.17 395 3366.10 roll -1.18 - - 2227.38 - 2.82 0.024 2277.12 401.2 -77.86 - - 3215.78 - - - - - - - - - 15.95 -
3671.96 331.19 -7.68 427 3676.02 no move -1.18 - - 2227.25 - - - 2277.25 - -77.86 - - 3213.62 - - - - - - - - - - -
3982.23 355.07 -7.60 458 4001.76 roll -1.18 - - 2226.94 - 3.25 0.064 1144.56 -348.5 -77.86 - - 3215.00 - - - - - - - - - 15.84 -
4082.24 363.18 -8.16 475 4101.12 roll -1.18 - - 2227.75 - 2.83 0.025 2278.06 400.5 -77.86 - - 3215.47 - - - - - - - - - 15.96 -
4407.10 387.45 -7.86 507 4426.62 roll -1.18 - - 2227.69 - 3.27 0.064 1146.69 -346.0 -77.86 - - 3213.44 - - - - - - - - - 15.76 -
4442.82 390.37 -8.00 511 4460.73 roll -1.18 - - 2227.19 - 2.83 0.024 2277.19 399.5 -77.86 - - 3214.72 - - - - - - - - - 15.96 -
4766.59 413.28 -6.79 543 4770.65 no move -1.18 - - 2228.00 - - - 2276.88 - -77.86 - - 3212.62 - - - - - - - - - - -
5076.63 435.55 -7.33 574 5096.18 roll -1.18 - - 2226.19 - 3.22 0.085 3351.94 333.9 -77.86 - - 3214.19 - - - - - - - - - 15.70 -
5116.66 439.02 -8.11 579 5135.28 roll -1.18 - - 2227.69 - 2.84 0.019 2194.88 -407.4 -77.86 - - 3213.00 - - - - - - - - - 15.97 -
5441.11 463.60 -7.70 611 5445.17 no move -1.18 - - 2227.06 - - - 2193.38 - -77.86 - - 3211.91 - - - - - - - - - - -
5751.13 486.44 -7.24 642 5755.19 no move -1.18 - - 2227.19 - - - 2192.94 - -77.86 - - 3211.56 - - - - - - - - - - -
6061.14 508.13 -6.91 673 6082.89 roll -1.18 - - 2227.44 - 3.45 0.082 3350.31 335.5 -77.86 - - 3211.59 - - - - - - - - - 15.80 -
6088.38 510.34 -7.24 675 6107.30 roll -1.18 - - 2227.94 - 2.85 0.019 2194.31 -405.6 -77.86 - - 3211.88 - - - - - - - - - 15.98 -
6413.34 531.28 -6.40 707 6417.40 no move -1.18 - - 2227.06 - - - 2192.38 - -77.86 - - 3211.12 - - - - - - - - - - -
6723.39 552.15 -6.79 738 6727.45 no move -1.18 - - 2227.19 - - - 2192.31 - -77.86 - - 3210.41 - - - - - - - - - - -
7033.65 574.07 -7.30 769 7055.38 roll -1.18 - - 2227.00 - 3.47 0.082 3350.94 333.9 -77.86 - - 3211.25 - - - - - - - - - 15.74 -
7120.89 581.45 -8.51 783 7139.53 roll -1.18 - - 2228.25 - 2.85 0.019 2196.81 -405.0 -77.86 - - 3210.78 - - - - - - - - - 15.96 -
7445.41 605.92 -7.78 815 7464.13 roll -1.18 - - 2227.50 - 3.08 0.071 1145.88 -341.2 -77.86 - - 3208.81 - - - - - - - - - 15.83 -
7524.62 612.12 -7.86 828 7543.26 roll -1.18 - - 2227.94 - 2.82 0.026 2277.62 401.3 -77.86 - - 3211.91 - - - - - - - - - 15.96 -
7849.10 636.80 -7.67 860 7853.16 no move -1.18 - - 2228.12 - - - 2278.75 - -77.86 - - 3209.09 - - - - - - - - - - -
8159.14 659.88 -7.34 891 8178.66 roll -1.18 - - 2228.00 - 3.22 0.086 3351.38 333.1 -77.86 - - 3209.44 - - - - - - - - - 15.77 -
8204.88 663.43 -7.71 897 8222.77 roll -1.18 - - 2227.12 - 2.85 0.019 2195.75 -405.5 -77.86 - - 3210.06 - - - - - - - - - 15.97 -
8528.66 684.56 -6.32 929 8532.72 no move -1.18 - - 2227.19 - - - 2194.06 - -77.86 - - 3207.97 - - - - - - - - - - -
8838.71 702.16 -5.45 960 8860.44 roll -1.18 - - 2227.81 - 3.46 0.083 3351.81 334.6 -77.86 - - 3208.81 - - - - - - - - - 15.77 -
8891.67 705.19 -5.85 967 8909.58 roll -1.18 - - 2227.00 - 2.85 0.019 2196.12 -405.5 -77.86 - - 3209.62 - - - - - - - - - 15.96 -
9215.46 722.59 -5.13 999 9219.52 no move -1.18 - - 2228.06 - - - 2195.69 - -77.86 - - 3207.88 - - - - - - - - - - -
9525.51 739.60 -5.48 1030 9544.21 roll -1.18 - - 2227.12 - 3.09 0.072 1145.38 -339.9 -77.86 - - 3208.84 - - - - - - - - - 15.80 -
9650.69 747.27 -6.34 1052 9668.60 roll -1.18 - - 2227.50 - 2.82 0.026 2277.88 401.6 -77.86 - - 3208.00 - - - - - - - - - 15.98 -
9974.70 766.59 -6.05 1084 9996.03 roll -1.18 - - 2227.56 - 3.31 0.067 1145.00 -342.3 -77.86 - - 3206.38 - - - - - - - - - 15.79 -
10077.24 773.28 -6.41 1101 10095.76 roll -1.18 - - 2227.25 - 2.84 0.026 2275.19 398.0 -77.86 - - 3209.06 - - - - - - - - - 15.98 -
10401.88 793.24 -5.95 1133 10405.94 no move -1.18 - - 2227.12 - - - 2275.56 - -77.86 - - 3206.28 - - - - - - - - - - -
10712.14 812.49 -6.03 1164 10733.05 roll -1.18 - - 2225.62 - 3.30 0.067 1146.94 -342.0 -77.86 - - 3207.47 - - - - - - - - - 15.78 -
10834.31 820.31 -6.33 1185 10852.23 roll -1.18 - - 2227.25 - 2.83 0.026 2274.31 398.4 -77.86 - - 3208.12 - - - - - - - - - 15.98 -
11158.10 838.26 -5.64 1217 11162.16 no move -1.18 - - 2228.06 - - - 2275.44 - -77.86 - - 3204.84 - - - - - - - - - - -
11468.12 857.59 -6.58 1248 11472.18 no move -1.18 - - 2227.12 - - - 2275.12 - -77.86 - - 3205.38 - - - - - - - - - - -
11778.14 878.33 -6.76 1279 11782.20 no move -1.18 - - 2227.31 - - - 2275.06 - -77.86 - - 3205.25 - - - - - - - - - - -
12088.16 899.43 -6.76 1310 12109.09 roll -1.18 - - 2227.75 - 3.30 0.068 1145.19 -342.4 -77.86 - - 3204.94 - - - - - - - - - 15.77 -
12170.32 905.07 -6.83 1323 12188.86 roll -1.18 - - 2227.06 - 2.84 0.027 2275.19 397.9 -77.86 - - 3206.75 - - - - - - - - - 15.98 -
12494.73 925.41 -6.00 1355 12516.06 roll -1.18 - - 2227.12 - 3.31 0.067 1147.12 -340.8 -77.86 - - 3204.78 - - - - - - - - - 15.76 -
12591.56 931.65 -6.46 1371 12610.44 roll -1.18 - - 2227.12 - 2.84 0.027 2274.81 397.1 -77.86 - - 3206.00 - - - - - - - - - 15.97 -
12916.43 950.47 -5.85 1403 12920.50 no move -1.18 - - 2228.06 - - - 2274.94 - -77.86 - - 3203.72 - - - - - - - - - - -
13226.71 968.76 -5.64 1434 13248.05 roll -1.18 - - 2226.81 - 3.31 0.068 1146.44 -340.9 -77.86 - - 3203.81 - - - - - - - - - 15.76 -
13283.53 972.37 -6.08 1442 13302.17 roll -1.18 - - 2227.50 - 2.85 0.026 2273.81 395.6 -77.86 - - 3204.91 - - - - - - - - - 15.95 -
13608 end dive: TARGET_DEPTH_EXCEEDED
13608 begin apogee
13613.13 990.43 -5.74 1474 13718.61 -0.31 1.59 0.131 2439.75 133.5 0.19 0.142 2283.56 51.3 - 65.57 2.383 2889.84 -4.8 0.342 - - - - - - 15.67 15.30 10.19
13731 end apogee: CONTROL_FINISHED_OK
13732 begin climb
13734.90 991.83 - 1481 13864.28 1.18 2.55 0.091 2806.06 143.7 3.41 0.096 3349.44 312.6 77.86 67.10 2.352 2572.56 -4.7 0.342 - - - - - - 15.57 15.12 11.57
13871.67 986.39 5.87 1495 13891.61 roll back 1.31 0.18 0.087 2846.00 221.9 2.92 0.021 2202.50 -392.8 77.86 - - 2568.28 - - - - - - - - 15.42 15.50 -
14198.23 964.40 7.19 1527 14217.35 done 1.37 - - 2845.12 - 3.15 0.075 1144.56 -335.9 77.86 - - 2563.12 - - - - - - - - - 15.71 -
14317.87 955.55 7.65 1548 14336.51 done 1.37 - - 2845.56 - 2.89 0.030 2272.44 390.3 77.86 - - 2563.88 - - - - - - - - - 15.81 -
14642.78 934.71 6.17 1580 14647.88 1.48 0.18 0.082 2886.12 225.3 - - 2272.94 - 77.86 - - 2561.41 - - - - - - - - 15.82 - -
14954.38 913.43 6.49 1611 14975.72 done 1.57 - - 2885.75 - 3.32 0.071 1145.31 -339.6 77.86 - - 2560.44 - - - - - - - - - 15.79 -
15076.95 904.11 7.59 1632 15094.86 done 1.57 - - 2885.31 - 2.88 0.030 2273.19 391.6 77.86 - - 2563.47 - - - - - - - - - 15.92 -
15401.12 882.29 6.56 1664 15423.30 1.66 0.20 0.081 2930.88 227.9 3.30 0.071 1147.25 -341.2 77.86 - - 2559.06 - - - - - - - - 15.87 15.80 -
15474.54 876.37 7.84 1675 15492.45 done 1.66 - - 2931.31 - 2.87 0.030 2273.38 392.4 77.86 - - 2561.19 - - - - - - - - - 15.94 -
15799.06 852.31 7.40 1707 15803.52 VBD 1.70 - - 2931.56 - - - 2273.88 - 77.86 - - 2559.62 - - - - - - - - - - -
16109.78 831.27 6.86 1738 16130.71 done 1.77 - - 2931.44 - 3.30 0.070 1146.88 -341.5 77.86 - - 2558.25 - - - - - - - - - 15.79 -
16182.33 826.51 6.93 1749 16201.50 1.84 0.19 0.074 2974.69 227.6 2.87 0.030 2271.50 391.9 77.86 - - 2558.28 - - - - - - - - 15.73 15.95 -
16507.38 802.33 7.73 1781 16528.71 done 1.84 - - 2975.38 - 3.31 0.070 1145.25 -340.3 77.86 - - 2558.72 - - - - - - - - - 15.80 -
16564.20 797.40 8.58 1789 16583.24 done 1.84 - - 2974.62 - 2.91 0.030 2272.31 387.3 77.86 - - 2559.78 - - - - - - - - - 15.83 -
16889.12 769.39 8.76 1821 16893.57 VBD 1.84 - - 2975.62 - - - 2272.38 - 77.86 - - 2558.41 - - - - - - - - - - -
17199.45 740.97 9.28 1852 17220.38 done 1.84 - - 2973.56 - 3.30 0.071 1146.88 -341.1 77.86 - - 2559.03 - - - - - - - - - 15.80 -
17425.92 718.54 9.81 1894 17444.57 done 1.84 - - 2974.88 - 2.88 0.030 2273.94 391.3 77.86 - - 2559.22 - - - - - - - - - 15.95 -
17750.80 688.33 9.10 1926 17754.88 VBD 1.84 - - 2975.44 - - - 2273.38 - 77.86 - - 2557.72 - - - - - - - - - - -
18060.75 661.75 8.11 1957 18082.09 done 1.84 - - 2974.56 - 3.31 0.070 1145.50 -340.7 77.86 - - 2557.28 - - - - - - - - - 15.79 -
18227.62 647.46 8.67 1987 18246.27 done 1.84 - - 2974.81 - 2.88 0.030 2272.62 391.4 77.86 - - 2558.34 - - - - - - - - - 15.95 -
18552.53 623.09 7.26 2019 18556.59 VBD 1.89 - - 2975.50 - - - 2272.38 - 77.86 - - 2557.72 - - - - - - - - - - -
18862.87 601.93 7.00 2050 18884.21 done 1.95 - - 2974.62 - 3.31 0.070 1146.75 -340.1 77.86 - - 2557.00 - - - - - - - - - 15.77 -
19115.90 584.11 6.75 2097 19135.05 2.03 0.16 0.090 3015.81 257.4 2.88 0.030 2273.69 391.3 77.86 - - 2558.56 - - - - - - - - 15.71 15.96 -
19441.33 561.62 6.90 2129 19445.39 VBD 2.10 - - 3015.62 - - - 2274.06 - 77.86 - - 2557.25 - - - - - - - - - - -
19751.65 539.38 6.98 2160 19755.72 VBD 2.16 - - 3016.00 - - - 2274.06 - 77.86 - - 2557.38 - - - - - - - - - - -
20062.35 517.59 7.05 2191 20066.43 2.22 - - 3016.25 - - - 2273.44 - 77.86 - - 2557.75 - - - - - - - - - - -
20372.69 496.07 6.84 2222 20393.65 2.29 - - 3015.38 - 3.29 0.092 3351.56 327.7 77.86 - - 2560.09 - - - - - - - - - 15.62 -
20445.28 490.70 7.54 2233 20463.22 2.32 - - 3016.06 - 2.86 0.021 2201.88 -402.0 77.86 - - 2558.34 - - - - - - - - - 15.80 -
20769.48 469.00 6.92 2265 20773.56 2.39 - - 3016.38 - - - 2201.00 - 77.86 - - 2556.91 - - - - - - - - - - -
21079.83 450.20 5.88 2296 21098.97 2.52 - - 3016.25 - 3.11 0.072 1146.56 -339.0 77.86 - - 2556.50 - - - - - - - - - 15.77 -
21330.05 434.40 6.40 2343 21348.82 2.62 - - 3016.06 - 2.87 0.029 2276.31 393.6 77.86 - - 2558.50 - - - - - - - - - 15.91 -
21655.09 415.38 5.66 2375 21676.44 2.76 - - 3016.44 - 3.33 0.068 1146.00 -339.4 77.86 - - 2560.03 - - - - - - - - - 15.76 -
21842.38 404.89 5.20 2409 21861.44 2.93 - - 3016.56 - 2.87 0.029 2274.69 393.3 77.86 - - 2557.69 - - - - - - - - - 15.68 -
22167.83 389.30 5.02 2441 22241.62 3.06 - - 3015.69 - - - 2274.44 - 140.44 50.74 1.648 2318.91 -4.7 0.190 - - - - - - - - 10.53
22547.50 353.36 10.55 2477 22551.58 pitch 3.06 - - 3015.75 - - - 2274.50 - 140.44 - - 2309.25 - - - - - - - - - - -
22857.57 321.76 9.97 2508 22878.92 3.06 - - 3016.00 - 3.32 0.069 1146.88 -339.6 140.44 - - 2310.91 - - - - - - - - - 15.74 -
22940.14 313.10 10.42 2521 22958.08 3.06 - - 3016.00 - 2.88 0.029 2274.00 391.4 140.44 - - 2307.12 - - - - - - - - - 15.88 -
23263.96 283.39 8.50 2553 23283.51 3.06 - - 3016.62 - 3.28 0.091 3352.00 328.7 140.44 - - 2307.91 - - - - - - - - - 15.68 -
23324.01 277.21 10.36 2562 23342.75 3.06 - - 3016.44 - 2.83 0.021 2203.56 -405.8 140.44 - - 2308.28 - - - - - - - - - 15.89 -
23648.62 248.03 9.59 2594 23667.66 3.06 - - 3016.38 - 3.07 0.073 1143.25 -345.4 140.44 - - 2305.78 - - - - - - - - - 15.75 -
23748.28 237.95 10.03 2611 23767.33 3.06 - - 3016.44 - 2.84 0.029 2275.75 398.8 140.44 - - 2307.19 - - - - - - - - - 15.89 -
24073.18 207.33 9.29 2643 24094.13 3.06 - - 3016.44 - 3.30 0.068 1145.25 -342.6 140.44 - - 2305.25 - - - - - - - - - 15.60 -
24189.65 196.26 9.25 2663 24208.68 3.06 - - 3016.88 - 2.86 0.028 2275.06 395.0 140.44 - - 2306.66 - - - - - - - - - 15.84 -
24514.79 168.88 8.48 2695 24534.36 3.06 - - 3016.81 - 3.27 0.089 3350.25 328.8 140.44 - - 2307.03 - - - - - - - - - 15.63 -
24624.88 158.70 9.16 2714 24643.92 3.06 - - 3015.50 - 2.82 0.021 2202.19 -407.1 140.44 - - 2307.88 - - - - - - - - - 15.64 -
24949.79 133.52 7.57 2746 24971.55 3.06 - - 3016.31 - 3.44 0.085 3353.00 334.5 140.44 - - 2305.16 - - - - - - - - - 15.71 -
24987.04 130.14 8.69 2750 25006.33 3.06 - - 3016.81 - 2.83 0.021 2202.31 -406.6 140.44 - - 2307.16 - - - - - - - - - 15.87 -
25312.33 102.78 7.93 2782 25334.08 3.06 - - 3015.06 - 3.44 0.084 3352.19 334.3 140.44 - - 2307.44 - - - - - - - - - 15.49 -
25420.32 94.00 8.07 2800 25438.97 3.06 - - 3016.88 - 2.83 0.020 2200.38 -407.0 140.44 - - 2306.62 - - - - - - - - - 15.64 -
25625.26 82.71 5.23 2838 25644.74 3.23 - - 3016.00 - 3.05 0.071 1145.25 -345.9 140.44 - - 2308.19 - - - - - - - - - 15.64 -
25656.36 80.60 6.57 2841 25675.43 3.32 - - 3017.06 - 2.81 0.026 2278.38 403.2 140.44 - - 2306.97 - - - - - - - - - 15.73 -
25861.71 71.07 4.07 2879 25973.84 3.48 - - 3016.12 - 3.27 0.069 1145.31 -346.5 222.77 64.49 1.211 1981.34 -5.0 0.051 - - - - - - - 15.46 11.13
26130.10 51.98 8.60 2924 26148.77 3.48 - - 3015.69 - 2.87 0.026 2276.19 394.0 222.77 - - 1973.44 - - - - - - - - - 15.58 -
26335.16 39.26 5.09 2962 26355.44 3.66 - - 3016.06 - 3.28 0.065 1144.12 -345.1 222.77 - - 1970.94 - - - - - - - - - 15.60 -
26372.06 38.10 3.68 2966 26489.41 3.84 - - 3016.62 - 2.84 0.025 2278.81 399.5 312.98 69.76 1.148 1613.84 -5.1 0.029 - - - - - - - 15.67 11.44
26675.46 18.93 8.09 3018 26695.93 3.84 - - 3016.62 - 3.25 0.087 3350.69 329.8 312.98 - - 1605.44 - - - - - - - - - 15.54 -
26777.15 8.70 10.91 3035 26796.20 3.84 - - 3016.81 - 2.85 0.020 2203.69 -402.5 312.98 - - 1603.34 - - - - - - - - - 15.69 -
26831 end climb: SURFACE_DEPTH_REACHED
26832 begin surface coast
26877 end surface coast: CONTROL_FINISHED_OK
26878 begin surface
SM 0.83 - - - - 186.7 89.99 1.099 1137.6 12.6 20.19 0.060 1124.2 55.7 - 0.16 0.093 1150.9 7175.3 -6.545 - - 11.25 15.66 15.80 -