NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 495 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 170.78 of 506.00 AH used of 24V (66.25% remains)
• Surface angle -60.2 deg, depth 0.98 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.06 (SM_CC=430)
• GPS1 time: 16 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
19.09 - - - 119.25 VBD -1.18 - - 186.75 - - - 2201.25 - -77.86 70.21 0.005 2816.78 - - - - - - - - - - 14.87
121.47 3.14 -3.42 14 237.77 -1.18 17.21 0.214 2228.44 118.6 3.42 0.083 3351.19 336.2 -77.86 5.91 0.008 3210.59 66.6 -4.486 - - - - - - 15.30 14.99 15.13
450.00 67.87 -12.12 62 469.03 roll -1.18 - - 2228.25 - 2.83 0.019 2197.75 -407.6 -77.86 - - 3213.72 - - - - - - - - - 15.59 -
655.08 89.67 -9.66 100 661.89 no move -1.18 - - 2228.38 - - - 2195.19 - -77.86 - - 3213.72 - - - - - - - - - - -
847.95 107.19 -8.38 130 851.96 no move -1.18 - - 2227.62 - - - 2195.50 - -77.86 - - 3212.59 - - - - - - - - - - -
1158.03 129.89 -6.80 161 1179.51 roll -1.18 - - 2227.56 - 3.40 0.079 3350.62 339.7 -77.86 - - 3213.47 - - - - - - - - - 15.71 -
1220.69 135.10 -8.17 170 1238.75 roll -1.18 - - 2228.94 - 2.81 0.019 2193.50 -411.8 -77.86 - - 3213.94 - - - - - - - - - 15.86 -
1544.82 161.32 -7.52 202 1548.84 no move -1.18 - - 2227.81 - - - 2191.88 - -77.86 - - 3213.69 - - - - - - - - - - -
1854.90 185.75 -8.53 233 1872.99 roll -1.18 - - 2228.00 - 2.98 0.069 1145.25 -351.2 -77.86 - - 3213.53 - - - - - - - - - 15.68 -
1949.17 193.91 -8.77 249 1966.46 roll -1.18 - - 2227.25 - 2.78 0.024 2279.12 407.9 -77.86 - - 3215.47 - - - - - - - - - 15.83 -
2272.52 219.45 -7.65 281 2291.75 roll -1.18 - - 2228.12 - 3.18 0.064 1145.44 -356.5 -77.86 - - 3215.19 - - - - - - - - - 15.70 -
2332.36 224.21 -7.70 290 2351.21 roll -1.18 - - 2227.00 - 2.80 0.024 2277.88 404.4 -77.86 - - 3215.84 - - - - - - - - - 15.85 -
2657.27 247.14 -7.08 322 2661.33 no move -1.18 - - 2228.62 - - - 2278.00 - -77.86 - - 3213.75 - - - - - - - - - - -
2967.40 269.90 -7.37 353 2971.46 no move -1.18 - - 2228.19 - - - 2278.19 - -77.86 - - 3213.53 - - - - - - - - - - -
3277.55 292.66 -7.49 384 3296.67 roll -1.18 - - 2227.88 - 3.20 0.065 1144.12 -354.4 -77.86 - - 3213.56 - - - - - - - - - 15.77 -
3312.88 295.42 -7.66 388 3330.38 roll -1.18 - - 2226.81 - 2.79 0.024 2277.88 406.4 -77.86 - - 3215.00 - - - - - - - - - 15.94 -
3636.45 319.72 -7.37 420 3640.51 no move -1.18 - - 2228.06 - - - 2278.00 - -77.86 - - 3214.09 - - - - - - - - - - -
3946.62 341.87 -7.11 451 3965.74 roll -1.18 - - 2228.44 - 3.18 0.065 1144.12 -356.6 -77.86 - - 3212.84 - - - - - - - - - 15.72 -
4016.23 347.25 -7.62 462 4034.45 roll -1.18 - - 2227.94 - 2.79 0.025 2278.25 406.5 -77.86 - - 3214.06 - - - - - - - - - 15.93 -
4340.54 369.65 -6.96 494 4344.60 no move -1.18 - - 2228.12 - - - 2278.69 - -77.86 - - 3212.94 - - - - - - - - - - -
4650.69 392.40 -7.83 525 4654.75 no move -1.18 - - 2227.94 - - - 2277.94 - -77.86 - - 3212.41 - - - - - - - - - - -
4961.23 417.00 -7.98 556 4980.36 roll -1.18 - - 2226.94 - 3.19 0.066 1143.81 -355.5 -77.86 - - 3213.41 - - - - - - - - - 15.83 -
5016.58 421.77 -8.66 564 5034.87 roll -1.18 - - 2228.06 - 2.81 0.025 2278.38 403.8 -77.86 - - 3213.97 - - - - - - - - - 15.90 -
5340.97 446.90 -7.18 596 5345.03 no move -1.18 - - 2228.12 - - - 2278.00 - -77.86 - - 3211.88 - - - - - - - - - - -
5651.10 468.94 -6.89 627 5670.23 roll -1.18 - - 2228.12 - 3.17 0.065 1145.06 -357.4 -77.86 - - 3212.19 - - - - - - - - - 15.81 -
5690.72 471.88 -6.82 632 5709.36 roll -1.18 - - 2228.12 - 2.81 0.025 2277.88 403.1 -77.86 - - 3213.22 - - - - - - - - - 15.95 -
6015.43 494.57 -7.07 664 6034.54 roll -1.18 - - 2227.75 - 3.20 0.065 1145.88 -353.8 -77.86 - - 3211.53 - - - - - - - - - 15.82 -
6080.77 499.36 -7.35 674 6098.27 roll -1.18 - - 2228.25 - 2.80 0.025 2276.50 403.8 -77.86 - - 3211.94 - - - - - - - - - 15.97 -
6404.34 521.68 -6.98 706 6408.40 no move -1.18 - - 2228.75 - - - 2277.00 - -77.86 - - 3210.38 - - - - - - - - - - -
6714.46 542.35 -6.43 737 6734.24 roll -1.18 - - 2228.25 - 3.23 0.066 1143.81 -350.8 -77.86 - - 3212.38 - - - - - - - - - 15.80 -
6784.86 547.44 -7.03 748 6804.12 roll -1.18 - - 2227.62 - 2.82 0.025 2276.12 401.5 -77.86 - - 3210.91 - - - - - - - - - 15.98 -
7110.19 568.23 -6.17 780 7114.25 no move -1.18 - - 2228.56 - - - 2276.19 - -77.86 - - 3208.69 - - - - - - - - - - -
7420.32 586.72 -5.97 811 7424.38 no move -1.18 - - 2227.88 - - - 2277.06 - -77.86 - - 3209.81 - - - - - - - - - - -
7730.44 606.23 -6.59 842 7734.89 no move -1.18 - - 2228.12 - - - 2277.12 - -77.86 - - 3209.06 - - - - - - - - - - -
8041.00 628.44 -7.29 873 8045.06 no move -1.18 - - 2228.12 - - - 2276.56 - -77.86 - - 3208.62 - - - - - - - - - - -
8351.14 651.57 -7.70 904 8355.20 no move -1.18 - - 2228.25 - - - 2278.50 - -77.86 - - 3208.22 - - - - - - - - - - -
8661.04 674.33 -6.97 935 8680.58 roll -1.18 - - 2225.62 - 3.21 0.067 1145.50 -353.0 -77.86 - - 3208.88 - - - - - - - - - 15.80 -
8741.08 680.17 -7.22 948 8759.71 roll -1.18 - - 2227.62 - 2.82 0.026 2275.38 400.7 -77.86 - - 3209.16 - - - - - - - - - 15.98 -
9065.58 700.88 -6.32 980 9084.71 roll -1.18 - - 2227.31 - 3.19 0.067 1144.25 -354.6 -77.86 - - 3209.25 - - - - - - - - - 15.79 -
9160.93 707.02 -6.55 996 9179.08 roll -1.18 - - 2228.00 - 2.83 0.026 2276.56 400.1 -77.86 - - 3209.72 - - - - - - - - - 15.98 -
9485.27 727.12 -6.30 1028 9489.33 no move -1.18 - - 2228.31 - - - 2276.25 - -77.86 - - 3207.69 - - - - - - - - - - -
9795.16 746.30 -6.00 1059 9799.22 no move -1.18 - - 2227.81 - - - 2276.06 - -77.86 - - 3207.34 - - - - - - - - - - -
10105.41 765.41 -6.22 1090 10109.47 no move -1.18 - - 2228.06 - - - 2276.50 - -77.86 - - 3206.69 - - - - - - - - - - -
10415.58 784.71 -6.34 1121 10419.63 no move -1.18 - - 2228.44 - - - 2276.38 - -77.86 - - 3206.44 - - - - - - - - - - -
10725.73 804.18 -6.00 1152 10744.86 roll -1.18 - - 2226.31 - 3.20 0.067 1144.75 -353.6 -77.86 - - 3207.22 - - - - - - - - - 15.73 -
10811.09 809.81 -6.47 1166 10829.00 roll -1.18 - - 2228.44 - 2.84 0.026 2276.06 398.3 -77.86 - - 3207.69 - - - - - - - - - 15.96 -
11135.09 829.04 -5.94 1198 11154.22 roll -1.18 - - 2227.44 - 3.20 0.067 1143.81 -353.8 -77.86 - - 3206.94 - - - - - - - - - 15.77 -
11200.46 832.94 -5.74 1208 11218.76 roll -1.18 - - 2227.88 - 2.83 0.026 2275.38 399.8 -77.86 - - 3207.28 - - - - - - - - - 15.98 -
11524.86 851.45 -5.74 1240 11544.40 roll -1.18 - - 2227.75 - 3.20 0.067 1143.81 -353.6 -77.86 - - 3206.50 - - - - - - - - - 15.77 -
11600.75 856.18 -6.19 1252 11618.66 roll -1.18 - - 2228.31 - 2.83 0.026 2276.38 400.2 -77.86 - - 3206.72 - - - - - - - - - 15.97 -
11924.76 874.69 -5.88 1284 11944.30 roll -1.18 - - 2228.25 - 3.24 0.089 3351.06 331.7 -77.86 - - 3205.88 - - - - - - - - - 15.71 -
11964.79 877.31 -6.44 1289 11983.28 roll -1.18 - - 2228.00 - 2.80 0.020 2191.94 -414.0 -77.86 - - 3205.50 - - - - - - - - - 15.97 -
12289.35 896.25 -5.82 1321 12293.41 no move -1.18 - - 2227.88 - - - 2189.94 - -77.86 - - 3204.97 - - - - - - - - - - -
12599.48 915.37 -6.38 1352 12603.54 no move -1.18 - - 2228.31 - - - 2190.62 - -77.86 - - 3204.81 - - - - - - - - - - -
12909.65 934.14 -5.94 1383 12913.71 no move -1.18 - - 2227.75 - - - 2190.69 - -77.86 - - 3204.34 - - - - - - - - - - -
13219.82 952.95 -5.91 1414 13241.57 roll -1.18 - - 2227.94 - 3.48 0.086 3353.56 334.2 -77.86 - - 3203.44 - - - - - - - - - 15.71 -
13263.03 955.85 -6.31 1419 13280.94 roll -1.18 - - 2227.88 - 2.82 0.021 2196.75 -410.2 -77.86 - - 3205.25 - - - - - - - - - 15.97 -
13587.03 974.29 -5.51 1451 13591.09 no move -1.18 - - 2228.00 - - - 2195.69 - -77.86 - - 3204.22 - - - - - - - - - - -
13897 end dive: TARGET_DEPTH_EXCEEDED
13898 begin apogee
13902.72 990.71 -5.36 1482 14008.18 -0.31 1.59 0.133 2439.06 132.7 0.14 0.164 2183.75 -85.3 - 65.99 2.375 2889.12 -4.8 0.342 - - - - - - 15.65 15.30 10.25
14021 end apogee: CONTROL_FINISHED_OK
14022 begin climb
14024.45 992.00 - 1489 14135.58 1.18 2.57 0.090 2806.38 142.9 - - 2183.81 - 77.86 67.71 2.341 2570.62 -4.7 0.342 - - - - - - 15.55 - 11.56
14442.20 968.25 6.39 1527 14464.36 roll 1.28 - - 2806.06 - 3.57 0.089 3348.38 326.2 77.86 - - 2563.38 - - - - - - - - - 15.66 -
14490.37 964.90 7.45 1533 14510.88 1.32 0.19 0.086 2847.00 215.5 2.86 0.021 2203.12 -400.4 77.86 - - 2564.94 - - - - - - - - 15.62 15.77 -
14817.38 944.30 5.57 1565 14821.44 VBD 1.47 - - 2846.38 - - - 2202.12 - 77.86 - - 2561.97 - - - - - - - - - - -
15127.94 925.95 5.90 1596 15133.87 1.60 0.35 0.068 2911.19 185.2 - - 2201.75 - 77.86 - - 2563.19 - - - - - - - - 15.81 - -
15439.96 902.70 8.03 1627 15444.03 VBD 1.60 - - 2913.19 - - - 2201.94 - 77.86 - - 2560.53 - - - - - - - - - - -
15750.61 879.23 7.38 1658 15772.35 done 1.64 - - 2914.19 - 3.47 0.089 3350.12 330.9 77.86 - - 2560.88 - - - - - - - - - 15.76 -
15797.84 875.06 9.23 1664 15817.11 done 1.64 - - 2914.25 - 2.85 0.022 2205.31 -401.7 77.86 - - 2561.81 - - - - - - - - - 15.91 -
16123.17 850.37 7.91 1696 16127.23 VBD 1.64 - - 2914.56 - - - 2204.31 - 77.86 - - 2560.41 - - - - - - - - - - -
16433.71 826.99 6.94 1727 16452.42 done 1.70 - - 2912.75 - 3.08 0.076 1145.06 -343.9 77.86 - - 2561.06 - - - - - - - - - 15.68 -
16488.64 822.54 8.08 1735 16506.56 done 1.70 - - 2914.00 - 2.84 0.030 2273.81 397.4 77.86 - - 2560.06 - - - - - - - - - 15.95 -
16813.06 797.95 7.46 1767 16832.60 done 1.74 - - 2913.75 - 3.27 0.072 1146.50 -344.7 77.86 - - 2558.56 - - - - - - - - - 15.79 -
16873.10 792.91 8.54 1776 16891.97 done 1.74 - - 2914.50 - 2.85 0.030 2274.00 395.6 77.86 - - 2561.03 - - - - - - - - - 15.95 -
17198.47 769.98 7.26 1808 17221.30 1.78 0.22 0.078 2960.19 207.7 3.28 0.071 1146.56 -343.7 77.86 - - 2558.66 - - - - - - - - 15.87 15.79 -
17262.65 764.49 8.77 1817 17280.56 done 1.78 - - 2960.50 - 2.85 0.030 2272.62 395.1 77.86 - - 2560.19 - - - - - - - - - 15.95 -
17586.67 738.48 8.06 1849 17590.73 VBD 1.78 - - 2961.25 - - - 2273.50 - 77.86 - - 2558.16 - - - - - - - - - - -
17897.00 714.46 7.42 1880 17916.53 done 1.82 - - 2960.44 - 3.27 0.093 3350.31 329.3 77.86 - - 2560.78 - - - - - - - - - 15.73 -
17937.01 711.06 8.14 1885 17955.90 done 1.82 - - 2960.50 - 2.81 0.021 2203.19 -408.2 77.86 - - 2560.50 - - - - - - - - - 15.93 -
18262.00 687.04 7.61 1917 18283.75 done 1.82 - - 2961.19 - 3.45 0.088 3350.44 332.5 77.86 - - 2558.59 - - - - - - - - - 15.74 -
18334.97 681.08 8.13 1928 18352.88 done 1.82 - - 2961.94 - 2.82 0.021 2204.31 -406.4 77.86 - - 2558.78 - - - - - - - - - 15.95 -
18659.39 657.99 6.97 1960 18678.11 done 1.89 - - 2961.19 - 3.07 0.075 1146.06 -344.7 77.86 - - 2558.19 - - - - - - - - - 15.75 -
18909.31 640.04 7.15 2007 18929.20 1.94 0.14 0.094 3000.56 281.2 2.84 0.030 2275.06 397.5 77.86 - - 2559.53 - - - - - - - - 15.70 15.96 -
19235.57 616.51 7.24 2039 19255.10 done 1.99 - - 2999.38 - 3.23 0.092 3351.19 333.2 77.86 - - 2558.09 - - - - - - - - - 15.72 -
19295.60 611.63 8.34 2048 19314.24 done 1.99 - - 3000.75 - 2.81 0.021 2203.62 -408.4 77.86 - - 2559.75 - - - - - - - - - 15.94 -
19620.72 589.06 6.62 2080 19624.78 VBD 2.08 - - 3000.88 - - - 2201.81 - 77.86 - - 2558.50 - - - - - - - - - - -
19931.28 569.95 6.44 2111 19950.01 2.17 - - 2999.56 - 3.09 0.075 1145.75 -341.8 77.86 - - 2559.47 - - - - - - - - - 15.75 -
19990.91 566.05 6.72 2120 20009.57 2.25 - - 2999.94 - 2.83 0.029 2275.62 399.2 77.86 - - 2558.97 - - - - - - - - - 15.95 -
20316.08 545.67 6.72 2152 20320.15 2.33 - - 2999.69 - - - 2274.69 - 77.86 - - 2557.41 - - - - - - - - - - -
20626.42 523.82 7.25 2183 20648.22 2.38 0.06 0.258 2995.06 -77.2 3.23 0.091 3349.81 332.9 77.86 - - 2560.16 - - - - - - - - 15.74 15.61 -
20683.71 519.21 8.07 2191 20703.42 2.38 0.05 0.181 3014.12 381.2 2.81 0.021 2202.44 -408.3 77.86 - - 2558.69 - - - - - - - - 15.74 15.96 -
21010.03 494.37 7.35 2223 21014.10 2.42 - - 3013.75 - - - 2201.19 - 77.86 - - 2558.22 - - - - - - - - - - -
21320.57 472.97 6.45 2254 21324.65 2.52 - - 3013.44 - - - 2201.06 - 77.86 - - 2557.75 - - - - - - - - - - -
21631.17 452.91 6.55 2285 21635.24 2.61 - - 3013.19 - - - 2201.44 - 77.86 - - 2558.44 - - - - - - - - - - -
21941.72 434.00 5.80 2316 21960.46 2.74 - - 3014.00 - 3.09 0.074 1144.81 -342.0 77.86 - - 2558.91 - - - - - - - - - 15.62 -
21991.46 430.78 6.43 2323 22010.52 2.84 - - 3014.38 - 2.83 0.029 2276.00 399.7 77.86 - - 2559.09 - - - - - - - - - 15.88 -
22316.80 411.32 5.93 2355 22337.87 2.97 - - 3013.19 - 3.28 0.070 1144.12 -345.1 77.86 - - 2558.03 - - - - - - - - - 15.72 -
22479.51 400.46 6.95 2384 22497.93 3.03 - - 3014.50 - 2.84 0.029 2273.94 397.8 77.86 - - 2558.41 - - - - - - - - - 15.90 -
22804.44 381.16 5.63 2416 22808.51 3.18 - - 3013.38 - - - 2274.12 - 77.86 - - 2557.84 - - - - - - - - - - -
23115.02 363.25 5.52 2447 23119.33 3.33 - - 3013.75 - - - 2274.25 - 77.86 - - 2558.16 - - - - - - - - - - -
23425.72 346.59 5.30 2478 23429.80 3.49 - - 3013.50 - - - 2274.25 - 77.86 - - 2557.81 - - - - - - - - - - -
23736.31 331.15 4.61 2509 23839.06 3.64 - - 3014.12 - 3.31 0.072 1145.94 -340.9 148.98 57.41 1.582 2282.44 -4.8 0.172 - - - - - - - 15.46 10.52
23899.57 317.13 10.79 2534 23918.62 roll back 3.64 - - 3013.62 - 2.88 0.029 2274.44 391.8 148.98 - - 2276.41 - - - - - - - - - 15.74 -
24224.61 284.37 9.93 2566 24228.69 3.64 - - 3013.94 - - - 2274.12 - 148.98 - - 2272.09 - - - - - - - - - - -
24534.67 253.51 9.91 2597 24538.74 3.64 - - 3013.75 - - - 2274.38 - 148.98 - - 2271.12 - - - - - - - - - - -
24844.72 222.38 10.07 2628 24866.08 3.64 - - 3013.06 - 3.31 0.069 1147.06 -340.6 148.98 - - 2270.56 - - - - - - - - - 15.65 -
24907.31 215.65 10.74 2637 24925.24 3.64 - - 3013.44 - 2.83 0.029 2275.56 398.8 148.98 - - 2270.91 - - - - - - - - - 15.88 -
25231.10 183.31 9.99 2669 25250.90 3.64 - - 3014.00 - 3.23 0.091 3350.69 332.9 148.98 - - 2269.81 - - - - - - - - - 15.55 -
25291.51 176.66 11.02 2678 25310.41 3.64 - - 3013.69 - 2.83 0.021 2203.81 -405.3 148.98 - - 2271.34 - - - - - - - - - 15.81 -
25616.49 145.59 9.38 2710 25635.23 3.64 - - 3014.25 - 3.05 0.073 1147.25 -346.4 148.98 - - 2268.50 - - - - - - - - - 15.62 -
25691.47 138.28 9.63 2722 25709.40 3.64 - - 3013.94 - 2.83 0.028 2276.50 399.0 148.98 - - 2269.53 - - - - - - - - - 15.76 -
26015.49 111.45 8.30 2754 26035.03 3.64 - - 3013.50 - 3.27 0.068 1145.88 -345.8 148.98 - - 2269.78 - - - - - - - - - 15.73 -
26095.53 105.09 7.84 2767 26114.45 3.64 - - 3014.19 - 2.84 0.028 2275.88 397.9 148.98 - - 2270.50 - - - - - - - - - 15.72 -
26421.00 85.28 5.09 2824 26441.51 3.81 - - 3013.62 - 3.22 0.088 3351.31 334.0 148.98 - - 2269.97 - - - - - - - - - 15.56 -
26473.37 82.50 5.21 2831 26492.26 3.81 - - 3013.12 - 2.85 0.020 2197.12 -405.0 148.98 - - 2269.94 - - - - - - - - - 15.76 -
26678.86 74.17 3.88 2869 26795.41 3.99 - - 3014.06 - 3.03 0.074 1145.06 -347.2 235.20 67.49 1.227 1929.78 -5.0 0.052 - - - - - - - 15.43 11.16
26821.64 65.39 7.97 2889 26840.93 roll back 3.99 - - 3013.38 - 2.84 0.027 2276.69 398.5 235.20 - - 1925.16 - - - - - - - - - 15.62 -
27027.52 51.10 6.97 2927 27048.04 3.99 - - 3014.19 - 3.24 0.088 3350.81 331.5 235.20 - - 1921.94 - - - - - - - - - 15.50 -
27094.67 46.55 7.30 2937 27113.56 3.99 - - 3013.75 - 2.82 0.020 2198.31 -408.7 235.20 - - 1921.06 - - - - - - - - - 15.58 -
27300.06 37.48 3.55 2975 27419.69 4.17 - - 3012.75 - 3.07 0.073 1145.56 -342.9 328.14 72.20 1.160 1551.50 -5.1 0.028 - - - - - - - 15.39 11.37
27641.70 13.81 6.67 3034 27660.60 4.17 - - 3012.56 - 2.84 0.027 2274.38 397.5 328.14 - - 1542.94 - - - - - - - - - 15.63 -
27776 end climb: SURFACE_DEPTH_REACHED
27776 begin surface coast
27832 end surface coast: CONTROL_FINISHED_OK
27833 begin surface
SM 1.13 - - - - 181.8 79.11 1.109 1136.8 14.4 19.49 0.050 1124.6 57.7 - 0.11 0.086 1149.1 10420.5 -13.994 - - 11.33 15.73 15.81 -