NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 477 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 164.54 of 506.00 AH used of 24V (67.48% remains)
• Surface angle -60.1 deg, depth 1.01 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.83 (SM_CC=430)
• GPS1 time: 33 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
11 begin dive
19.07 - - - 118.81 VBD -1.18 - - 178.12 - - - 2296.44 - -77.86 70.21 0.005 2877.94 - - - - - - - - - - 14.89
121.05 3.66 -3.81 14 236.72 -1.18 17.50 0.219 2227.75 117.1 3.14 0.083 3351.12 335.9 -77.86 4.72 0.009 3210.09 70.4 -4.902 - - - - - - 15.33 15.04 15.13
258.66 42.23 -17.65 24 277.05 roll -1.18 - - 2228.31 - 2.85 0.018 2196.69 -405.1 -77.86 - - 3214.12 - - - - - - - - - 15.73 -
462.89 68.03 -10.17 62 483.68 roll -1.18 - - 2228.19 - 3.43 0.077 3351.94 336.8 -77.86 - - 3213.88 - - - - - - - - - 15.61 -
499.85 72.47 -12.06 66 518.24 roll -1.18 - - 2227.75 - 2.85 0.018 2195.56 -405.7 -77.86 - - 3214.59 - - - - - - - - - 15.61 -
704.06 89.61 -7.47 104 723.87 roll -1.18 - - 2228.12 - 3.07 0.067 1144.19 -342.5 -77.86 - - 3215.28 - - - - - - - - - 15.68 -
825.07 99.59 -8.39 125 843.07 roll -1.18 - - 2227.88 - 2.80 0.024 2280.25 405.7 -77.86 - - 3213.75 - - - - - - - - - 15.71 -
1029.27 116.27 -7.96 145 1033.29 no move -1.18 - - 2227.69 - - - 2280.69 - -77.86 - - 3213.34 - - - - - - - - - - -
1339.31 139.25 -7.13 176 1343.33 no move -1.18 - - 2228.06 - - - 2280.50 - -77.86 - - 3213.28 - - - - - - - - - - -
1649.35 163.63 -8.16 207 1653.38 no move -1.18 - - 2227.88 - - - 2280.88 - -77.86 - - 3214.06 - - - - - - - - - - -
1959.40 188.15 -7.56 238 1980.07 roll -1.18 - - 2228.38 - 3.26 0.063 1142.81 -349.1 -77.86 - - 3214.81 - - - - - - - - - 15.71 -
2061.35 196.29 -8.08 255 2078.83 roll -1.18 - - 2228.62 - 2.79 0.024 2278.31 407.0 -77.86 - - 3214.12 - - - - - - - - - 15.90 -
2384.80 221.35 -7.92 287 2388.86 no move -1.18 - - 2228.75 - - - 2278.81 - -77.86 - - 3213.25 - - - - - - - - - - -
2694.84 245.18 -7.53 318 2714.36 roll -1.18 - - 2227.94 - 3.23 0.063 1145.81 -350.8 -77.86 - - 3213.62 - - - - - - - - - 15.83 -
2740.79 248.80 -7.88 324 2758.68 roll -1.18 - - 2228.31 - 2.79 0.024 2279.25 406.3 -77.86 - - 3214.69 - - - - - - - - - 15.80 -
3064.51 273.44 -7.59 356 3083.61 roll -1.18 - - 2228.19 - 3.17 0.082 3353.38 338.8 -77.86 - - 3213.16 - - - - - - - - - 15.82 -
3149.84 281.16 -9.37 370 3168.12 roll -1.18 - - 2228.25 - 2.81 0.018 2193.00 -412.9 -77.86 - - 3215.62 - - - - - - - - - 15.96 -
3473.98 308.20 -8.44 402 3492.69 roll -1.18 - - 2228.38 - 3.02 0.068 1145.88 -346.7 -77.86 - - 3213.50 - - - - - - - - - 15.84 -
3553.19 315.70 -9.34 415 3571.40 roll -1.18 - - 2228.00 - 2.78 0.024 2277.25 407.0 -77.86 - - 3214.69 - - - - - - - - - 15.97 -
3877.26 344.91 -9.29 447 3881.32 no move -1.18 - - 2228.44 - - - 2278.44 - -77.86 - - 3213.06 - - - - - - - - - - -
4187.31 373.71 -9.29 478 4191.38 no move -1.18 - - 2227.69 - - - 2277.75 - -77.86 - - 3212.62 - - - - - - - - - - -
4497.35 400.71 -8.44 509 4516.44 roll -1.18 - - 2227.38 - 3.16 0.083 3353.06 340.3 -77.86 - - 3212.66 - - - - - - - - - 15.82 -
4592.68 409.71 -9.33 525 4610.57 roll -1.18 - - 2228.06 - 2.81 0.018 2193.12 -412.8 -77.86 - - 3212.97 - - - - - - - - - 15.98 -
4916.42 435.43 -7.35 557 4935.12 roll -1.18 - - 2228.19 - 3.02 0.069 1145.31 -347.0 -77.86 - - 3214.66 - - - - - - - - - 15.84 -
4991.35 441.11 -7.76 569 5008.83 roll -1.18 - - 2228.31 - 2.78 0.025 2277.94 407.4 -77.86 - - 3212.91 - - - - - - - - - 15.93 -
5314.69 463.38 -6.64 601 5333.80 roll -1.18 - - 2228.56 - 3.16 0.083 3351.38 339.7 -77.86 - - 3211.62 - - - - - - - - - 15.81 -
5420.04 471.46 -7.64 619 5437.92 roll -1.18 - - 2228.50 - 2.81 0.019 2192.88 -412.3 -77.86 - - 3213.75 - - - - - - - - - 15.97 -
5743.78 492.60 -6.49 651 5747.84 no move -1.18 - - 2228.00 - - - 2192.06 - -77.86 - - 3211.69 - - - - - - - - - - -
6053.82 513.03 -6.99 682 6057.88 no move -1.18 - - 2227.81 - - - 2192.50 - -77.86 - - 3211.31 - - - - - - - - - - -
6363.87 534.82 -7.52 713 6367.93 no move -1.18 - - 2227.44 - - - 2191.19 - -77.86 - - 3210.56 - - - - - - - - - - -
6673.91 557.99 -7.32 744 6695.63 roll -1.18 - - 2227.00 - 3.42 0.082 3350.69 339.0 -77.86 - - 3212.44 - - - - - - - - - 15.80 -
6801.14 568.22 -8.48 766 6819.77 roll -1.18 - - 2228.25 - 2.81 0.019 2196.06 -410.9 -77.86 - - 3210.31 - - - - - - - - - 15.97 -
7125.61 589.51 -6.78 798 7144.31 roll -1.18 - - 2228.25 - 3.04 0.070 1145.00 -345.7 -77.86 - - 3210.03 - - - - - - - - - 15.83 -
7154.80 591.84 -7.42 801 7173.41 roll -1.18 - - 2228.31 - 2.78 0.025 2277.81 407.5 -77.86 - - 3210.00 - - - - - - - - - 15.97 -
7479.29 613.11 -6.39 833 7483.35 no move -1.18 - - 2227.62 - - - 2277.75 - -77.86 - - 3208.78 - - - - - - - - - - -
7789.32 633.10 -6.22 864 7808.83 roll -1.18 - - 2228.31 - 3.22 0.066 1144.44 -352.0 -77.86 - - 3208.38 - - - - - - - - - 15.83 -
7869.33 638.67 -7.09 877 7887.95 roll -1.18 - - 2226.88 - 2.81 0.025 2277.94 403.4 -77.86 - - 3210.75 - - - - - - - - - 15.85 -
8193.82 658.97 -5.99 909 8213.57 roll -1.18 - - 2228.31 - 3.25 0.066 1146.00 -348.3 -77.86 - - 3207.56 - - - - - - - - - 15.81 -
8269.98 663.60 -6.19 921 8287.48 roll -1.18 - - 2228.44 - 2.80 0.026 2277.25 404.0 -77.86 - - 3208.53 - - - - - - - - - 15.99 -
8593.35 681.60 -5.45 953 8612.46 roll -1.18 - - 2227.69 - 3.19 0.086 3350.94 336.6 -77.86 - - 3210.06 - - - - - - - - - 15.78 -
8672.97 687.19 -6.98 966 8691.58 roll -1.18 - - 2228.19 - 2.81 0.019 2193.19 -412.0 -77.86 - - 3208.41 - - - - - - - - - 15.98 -
8997.47 707.59 -6.46 998 9016.19 roll -1.18 - - 2227.38 - 3.03 0.071 1145.69 -345.7 -77.86 - - 3209.56 - - - - - - - - - 15.80 -
9056.68 711.81 -6.98 1007 9074.90 roll -1.18 - - 2227.50 - 2.79 0.026 2277.38 405.6 -77.86 - - 3209.44 - - - - - - - - - 15.96 -
9380.78 732.36 -5.91 1039 9399.88 roll -1.18 - - 2227.44 - 3.19 0.086 3352.31 337.0 -77.86 - - 3207.53 - - - - - - - - - 15.78 -
9430.36 735.43 -6.12 1046 9448.98 roll -1.18 - - 2228.69 - 2.83 0.019 2194.38 -409.2 -77.86 - - 3206.97 - - - - - - - - - 15.82 -
9754.85 754.85 -6.33 1078 9758.91 no move -1.18 - - 2228.38 - - - 2193.25 - -77.86 - - 3205.72 - - - - - - - - - - -
10065.25 775.38 -7.12 1109 10069.31 no move -1.18 - - 2227.81 - - - 2193.38 - -77.86 - - 3205.62 - - - - - - - - - - -
10375.30 797.82 -6.87 1140 10379.36 no move -1.18 - - 2228.25 - - - 2193.00 - -77.86 - - 3205.72 - - - - - - - - - - -
10685.34 817.67 -6.09 1171 10689.40 no move -1.18 - - 2227.88 - - - 2192.81 - -77.86 - - 3206.06 - - - - - - - - - - -
10995.38 835.59 -5.88 1202 10999.44 no move -1.18 - - 2227.75 - - - 2193.50 - -77.86 - - 3205.00 - - - - - - - - - - -
11305.44 853.97 -5.84 1233 11324.16 roll -1.18 - - 2227.50 - 3.03 0.072 1145.44 -345.9 -77.86 - - 3206.88 - - - - - - - - - 15.79 -
11344.77 856.51 -6.41 1238 11363.38 roll -1.18 - - 2228.31 - 2.79 0.026 2277.56 405.8 -77.86 - - 3205.47 - - - - - - - - - 15.98 -
11669.24 876.03 -5.92 1270 11673.30 no move -1.18 - - 2227.75 - - - 2277.88 - -77.86 - - 3204.62 - - - - - - - - - - -
11979.29 894.42 -5.87 1301 11999.20 roll -1.18 - - 2227.50 - 3.28 0.068 1145.31 -345.3 -77.86 - - 3207.00 - - - - - - - - - 15.77 -
12085.44 900.49 -5.61 1319 12103.35 roll -1.18 - - 2228.88 - 2.82 0.026 2277.44 401.5 -77.86 - - 3205.62 - - - - - - - - - 15.98 -
12409.21 917.41 -5.09 1351 12430.37 roll -1.18 - - 2228.19 - 3.28 0.067 1145.12 -345.2 -77.86 - - 3203.38 - - - - - - - - - 15.77 -
12471.72 921.18 -5.74 1360 12489.61 roll -1.18 - - 2228.12 - 2.82 0.026 2276.50 401.2 -77.86 - - 3204.84 - - - - - - - - - 15.97 -
12795.49 938.59 -5.72 1392 12799.54 no move -1.18 - - 2228.31 - - - 2276.19 - -77.86 - - 3203.84 - - - - - - - - - - -
13105.50 954.75 -5.10 1423 13125.02 roll -1.18 - - 2227.88 - 3.23 0.088 3352.06 333.1 -77.86 - - 3203.72 - - - - - - - - - 15.73 -
13165.52 958.46 -6.48 1432 13184.53 roll -1.18 - - 2227.38 - 2.83 0.020 2195.62 -408.6 -77.86 - - 3205.25 - - - - - - - - - 15.98 -
13490.39 976.48 -5.56 1464 13494.84 no move -1.18 - - 2227.69 - - - 2193.81 - -77.86 - - 3202.47 - - - - - - - - - - -
13750 end dive: TARGET_DEPTH_EXCEEDED
13750 begin apogee
13755.38 990.21 -5.13 1490 13861.02 -0.31 1.61 0.132 2440.31 132.1 0.14 0.164 2184.62 -65.6 - 65.56 2.379 2888.34 -4.8 0.342 - - - - - - 15.65 15.32 10.22
13865 end apogee: CONTROL_FINISHED_OK
13866 begin climb
13869.13 991.80 - 1497 13979.99 1.18 2.56 0.088 2805.00 142.5 - - 2184.56 - 77.86 67.03 2.353 2570.69 -4.7 0.342 - - - - - - 15.56 - 11.66
14286.58 969.20 5.84 1535 14309.96 1.32 0.18 0.085 2846.75 231.9 3.56 0.088 3351.12 327.7 77.86 - - 2563.38 - - - - - - - - 15.68 15.64 -
14345.56 964.76 8.03 1543 14364.58 done 1.32 - - 2846.50 - 2.89 0.021 2204.19 -396.9 77.86 - - 2565.28 - - - - - - - - - 15.76 -
14670.84 942.89 6.40 1575 14674.90 VBD 1.41 - - 2846.12 - - - 2203.44 - 77.86 - - 2561.41 - - - - - - - - - - -
14981.17 924.08 5.98 1606 15004.54 1.54 0.27 0.069 2901.50 205.1 3.45 0.089 3350.62 332.5 77.86 - - 2560.84 - - - - - - - - 15.82 15.76 -
15045.76 918.98 8.27 1615 15063.67 done 1.54 - - 2901.38 - 2.88 0.021 2204.44 -398.0 77.86 - - 2560.06 - - - - - - - - - 15.88 -
15369.49 893.78 8.55 1647 15391.21 done 1.54 - - 2899.88 - 3.45 0.088 3349.25 331.8 77.86 - - 2562.31 - - - - - - - - - 15.77 -
15412.43 890.25 9.41 1652 15430.62 done 1.54 - - 2900.19 - 2.87 0.021 2205.69 -398.5 77.86 - - 2560.69 - - - - - - - - - 15.93 -
15736.55 865.68 8.06 1684 15740.62 VBD 1.54 - - 2901.38 - - - 2204.25 - 77.86 - - 2560.50 - - - - - - - - - - -
16046.57 842.87 7.68 1715 16050.64 VBD 1.54 - - 2900.69 - - - 2204.94 - 77.86 - - 2559.88 - - - - - - - - - - -
16357.21 823.42 5.86 1746 16378.93 done 1.67 - - 2900.62 - 3.44 0.088 3350.88 333.1 77.86 - - 2558.84 - - - - - - - - - 15.77 -
16420.56 819.60 5.91 1755 16440.51 1.80 0.32 0.059 2961.62 190.6 2.86 0.021 2205.00 -400.7 77.86 - - 2558.34 - - - - - - - - 15.77 15.94 -
16746.77 797.95 7.37 1787 16750.84 VBD 1.84 - - 2963.69 - - - 2203.25 - 77.86 - - 2559.09 - - - - - - - - - - -
17056.68 773.89 8.28 1818 17075.81 done 1.84 - - 2964.31 - 3.13 0.076 1146.81 -337.5 77.86 - - 2558.66 - - - - - - - - - 15.58 -
17196.33 762.13 8.17 1843 17214.97 done 1.84 - - 2964.56 - 2.84 0.030 2274.12 396.9 77.86 - - 2558.84 - - - - - - - - - 15.96 -
17520.85 734.63 8.09 1875 17541.76 done 1.84 - - 2964.00 - 3.30 0.071 1144.69 -342.3 77.86 - - 2557.28 - - - - - - - - - 15.79 -
17583.23 729.29 9.25 1884 17601.13 done 1.84 - - 2964.75 - 2.85 0.030 2274.94 396.6 77.86 - - 2558.50 - - - - - - - - - 15.95 -
17907.12 702.03 9.08 1916 17911.18 VBD 1.84 - - 2964.38 - - - 2275.06 - 77.86 - - 2557.72 - - - - - - - - - - -
18217.17 675.23 8.31 1947 18236.70 done 1.84 - - 2964.19 - 3.24 0.091 3351.69 332.3 77.86 - - 2557.59 - - - - - - - - - 15.75 -
18307.21 667.34 8.96 1962 18326.23 done 1.84 - - 2964.62 - 2.84 0.021 2204.69 -403.9 77.86 - - 2558.66 - - - - - - - - - 15.95 -
18632.33 641.24 7.82 1994 18636.39 VBD 1.84 - - 2964.25 - - - 2203.00 - 77.86 - - 2557.62 - - - - - - - - - - -
18942.65 616.93 7.42 2025 18964.39 done 1.88 - - 2963.62 - 3.44 0.087 3350.00 333.4 77.86 - - 2559.12 - - - - - - - - - 15.74 -
19135.63 601.14 8.72 2060 19153.54 done 1.88 - - 2964.44 - 2.83 0.021 2204.94 -404.6 77.86 - - 2558.25 - - - - - - - - - 15.97 -
19459.80 577.45 6.75 2092 19478.92 done 1.95 - - 2963.75 - 3.13 0.074 1146.75 -338.1 77.86 - - 2559.50 - - - - - - - - - 15.74 -
19709.88 561.01 6.55 2139 19730.15 2.04 0.22 0.074 3015.75 236.4 2.84 0.029 2277.38 398.1 77.86 - - 2559.28 - - - - - - - - 15.71 15.96 -
20036.55 538.15 7.03 2171 20057.47 done 2.11 - - 3016.62 - 3.30 0.070 1146.56 -342.7 77.86 - - 2557.44 - - - - - - - - - 15.77 -
20203.40 526.28 7.01 2201 20222.43 done 2.17 - - 3016.00 - 2.84 0.029 2276.88 398.0 77.86 - - 2558.62 - - - - - - - - - 15.94 -
20528.72 503.34 6.94 2233 20548.25 2.23 - - 3016.19 - 3.23 0.089 3350.69 332.4 77.86 - - 2558.59 - - - - - - - - - 15.74 -
20719.17 489.38 6.67 2268 20737.80 2.32 - - 3015.12 - 2.83 0.020 2203.44 -405.4 77.86 - - 2559.53 - - - - - - - - - 15.68 -
21044.03 472.32 4.89 2300 21141.25 2.45 - - 3015.94 - 3.11 0.076 1145.12 -340.3 143.21 53.37 1.758 2307.28 -4.7 0.218 - - - - - - - 15.48 10.56
21153.84 463.82 9.99 2312 21171.76 roll back 2.45 - - 3016.00 - 2.87 0.029 2274.19 393.4 143.21 - - 2302.66 - - - - - - - - - 15.74 -
21477.75 429.91 10.45 2344 21481.83 2.45 - - 3015.94 - - - 2273.75 - 143.21 - - 2296.72 - - - - - - - - - - -
21787.82 397.45 10.37 2375 21807.35 2.45 - - 3016.81 - 3.26 0.089 3351.25 330.5 143.21 - - 2294.81 - - - - - - - - - 15.67 -
21913.58 382.40 12.57 2397 21931.90 2.45 - - 3017.00 - 2.84 0.021 2205.44 -403.5 143.21 - - 2295.94 - - - - - - - - - 15.88 -
22237.75 349.48 10.32 2429 22256.88 2.45 - - 3015.62 - 3.11 0.074 1145.50 -340.8 143.21 - - 2296.06 - - - - - - - - - 15.71 -
22337.39 339.19 9.97 2446 22356.03 2.45 - - 3016.06 - 2.85 0.028 2275.06 396.3 143.21 - - 2295.22 - - - - - - - - - 15.72 -
22661.91 309.28 9.38 2478 22681.47 2.45 - - 3016.88 - 3.22 0.088 3351.19 334.2 143.21 - - 2293.47 - - - - - - - - - 15.73 -
22817.72 292.58 10.72 2506 22836.12 2.45 - - 3016.25 - 2.84 0.020 2204.88 -403.6 143.21 - - 2295.78 - - - - - - - - - 15.82 -
23142.15 260.97 9.90 2538 23146.26 2.45 - - 3016.31 - - - 2202.94 - 143.21 - - 2293.34 - - - - - - - - - - -
23452.21 229.01 9.90 2569 23456.33 2.45 - - 3016.19 - - - 2202.62 - 143.21 - - 2293.62 - - - - - - - - - - -
23762.25 200.28 8.85 2600 23781.22 2.45 - - 3015.81 - 3.04 0.072 1146.00 -347.6 143.21 - - 2293.34 - - - - - - - - - 15.77 -
23877.51 189.45 9.17 2620 23895.63 2.45 - - 3017.06 - 2.83 0.028 2275.88 399.3 143.21 - - 2294.34 - - - - - - - - - 15.73 -
24201.52 160.00 9.60 2652 24205.64 2.45 - - 3016.69 - - - 2276.00 - 143.21 - - 2293.09 - - - - - - - - - - -
24511.54 130.11 9.17 2683 24531.32 2.45 - - 3016.56 - 3.26 0.068 1145.81 -346.7 143.21 - - 2291.72 - - - - - - - - - 15.64 -
24621.87 119.66 9.22 2702 24640.75 2.45 - - 3016.38 - 2.83 0.027 2275.06 399.0 143.21 - - 2294.72 - - - - - - - - - 15.80 -
24946.63 94.29 8.58 2740 24953.33 2.45 - - 3016.88 - - - 2275.88 - 143.21 - - 2294.16 - - - - - - - - - - -
25139.24 77.71 8.15 2778 25159.99 2.45 - - 3016.81 - 3.28 0.065 1145.44 -344.6 143.21 - - 2293.72 - - - - - - - - - 15.65 -
25306.82 72.50 2.49 2808 25451.98 2.68 - - 3016.62 - 2.83 0.025 2277.12 399.9 258.16 88.07 1.210 1836.03 -5.2 0.053 - - - - - - - 15.69 11.13
25638.31 52.34 7.44 2864 25659.62 2.71 - - 3016.88 - 3.33 0.067 1145.44 -339.8 258.16 - - 1826.53 - - - - - - - - - 15.60 -
25731.02 44.95 8.02 2879 25749.89 2.71 - - 3016.19 - 2.86 0.026 2276.62 395.5 258.16 - - 1824.69 - - - - - - - - - 15.71 -
25936.20 34.33 4.47 2917 26039.64 2.86 - - 3016.50 - 3.24 0.087 3350.62 331.5 332.16 56.82 1.131 1536.91 -5.1 0.026 - - - - - - - 15.45 11.39
26141.04 20.40 7.90 2950 26159.88 roll back 2.86 - - 3016.06 - 2.85 0.019 2202.62 -402.8 332.16 - - 1530.59 - - - - - - - - - 15.72 -
26345 end climb: SURFACE_DEPTH_REACHED
26346 begin surface coast
26391 end surface coast: CONTROL_FINISHED_OK
26392 begin surface
SM 1.22 - - - - 178.1 75.29 1.092 1137.7 15.1 19.43 0.051 1137.4 58.5 - 0.16 0.096 1138.1 7095.3 -9.216 - - 11.28 15.75 15.80 -