NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 480 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 165.56 of 506.00 AH used of 24V (67.28% remains)
• Surface angle -64.3 deg, depth 1.02 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.88 (SM_CC=430)
• GPS1 time: 17 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 - - - 111.89 VBD -1.18 - - 178.25 - - - 2291.50 - -77.86 65.11 0.005 2720.38 - - - - - - - - - - 14.89
114.12 3.01 -3.29 13 217.36 -1.18 17.47 0.216 2227.81 117.3 - - 2291.19 - -77.86 7.62 0.008 3209.62 64.2 -4.135 - - - - - - 15.31 - 15.15
403.07 57.25 -9.51 56 409.54 no move -1.18 - - 2228.00 - - - 2291.31 - -77.86 - - 3213.03 - - - - - - - - - - -
595.83 76.87 -10.20 94 602.79 no move -1.18 - - 2227.88 - - - 2291.38 - -77.86 - - 3213.75 - - - - - - - - - - -
788.73 91.09 -7.19 132 808.75 roll -1.18 - - 2227.81 - 3.29 0.063 1144.31 -348.7 -77.86 - - 3213.97 - - - - - - - - - 15.70 -
859.93 96.79 -8.34 143 878.34 roll -1.18 - - 2227.19 - 2.81 0.024 2278.12 403.5 -77.86 - - 3213.62 - - - - - - - - - 15.64 -
1069.13 111.87 -6.46 165 1088.41 roll -1.18 - - 2227.62 - 3.25 0.062 1144.56 -348.8 -77.86 - - 3213.78 - - - - - - - - - 15.69 -
1104.58 114.35 -6.80 169 1122.25 roll -1.18 - - 2227.94 - 2.80 0.024 2278.38 404.9 -77.86 - - 3214.16 - - - - - - - - - 15.76 -
1428.07 137.89 -7.79 201 1432.09 no move -1.18 - - 2228.12 - - - 2278.50 - -77.86 - - 3214.03 - - - - - - - - - - -
1738.08 163.25 -8.21 232 1757.35 roll -1.18 - - 2227.31 - 3.26 0.063 1145.88 -347.4 -77.86 - - 3214.25 - - - - - - - - - 15.70 -
1837.81 171.93 -8.81 249 1856.22 roll -1.18 - - 2227.38 - 2.83 0.024 2277.56 399.9 -77.86 - - 3215.41 - - - - - - - - - 15.80 -
2162.04 198.27 -7.97 281 2166.06 no move -1.18 - - 2227.44 - - - 2277.50 - -77.86 - - 3213.72 - - - - - - - - - - -
2472.09 223.27 -7.71 312 2476.15 no move -1.18 - - 2228.06 - - - 2277.88 - -77.86 - - 3213.69 - - - - - - - - - - -
2782.11 245.52 -6.95 343 2786.17 no move -1.18 - - 2227.62 - - - 2278.00 - -77.86 - - 3213.91 - - - - - - - - - - -
3092.11 268.36 -7.82 374 3096.17 no move -1.18 - - 2228.19 - - - 2278.50 - -77.86 - - 3213.12 - - - - - - - - - - -
3402.12 293.46 -7.63 405 3421.64 roll -1.18 - - 2226.31 - 3.23 0.064 1145.69 -350.7 -77.86 - - 3214.53 - - - - - - - - - 15.84 -
3447.86 297.28 -8.09 411 3466.14 roll -1.18 - - 2227.38 - 2.84 0.024 2278.19 398.8 -77.86 - - 3214.94 - - - - - - - - - 15.84 -
3771.99 320.25 -7.01 443 3791.12 roll -1.18 - - 2226.25 - 3.19 0.084 3352.81 336.9 -77.86 - - 3215.50 - - - - - - - - - 15.82 -
3857.59 327.50 -8.79 457 3875.49 roll -1.18 - - 2227.81 - 2.81 0.019 2192.94 -412.8 -77.86 - - 3212.94 - - - - - - - - - 15.98 -
4181.35 350.37 -6.87 489 4200.05 roll -1.18 - - 2227.50 - 3.02 0.068 1144.25 -347.2 -77.86 - - 3211.59 - - - - - - - - - 15.85 -
4220.53 353.78 -7.52 494 4238.76 roll -1.18 - - 2226.50 - 2.78 0.024 2279.25 408.3 -77.86 - - 3214.81 - - - - - - - - - 15.97 -
4544.68 377.37 -7.64 526 4563.80 roll -1.18 - - 2228.00 - 3.16 0.082 3352.38 339.6 -77.86 - - 3212.94 - - - - - - - - - 15.82 -
4794.43 399.51 -8.91 573 4812.64 roll -1.18 - - 2227.25 - 2.79 0.019 2193.56 -415.3 -77.86 - - 3213.19 - - - - - - - - - 15.98 -
5118.50 425.46 -8.23 605 5139.82 roll -1.18 - - 2227.56 - 3.39 0.079 3350.69 341.3 -77.86 - - 3213.03 - - - - - - - - - 15.82 -
5175.32 430.94 -9.22 613 5193.55 roll -1.18 - - 2228.00 - 2.79 0.019 2194.31 -414.5 -77.86 - - 3213.03 - - - - - - - - - 15.98 -
5499.41 457.26 -7.48 645 5518.11 roll -1.18 - - 2227.38 - 3.03 0.069 1145.81 -346.0 -77.86 - - 3211.38 - - - - - - - - - 15.85 -
5574.34 463.06 -7.66 657 5591.82 roll -1.18 - - 2227.50 - 2.77 0.025 2279.50 409.3 -77.86 - - 3212.09 - - - - - - - - - 15.98 -
5897.69 486.06 -6.76 689 5917.24 roll -1.18 - - 2227.88 - 3.24 0.065 1145.69 -349.9 -77.86 - - 3210.97 - - - - - - - - - 15.80 -
5977.74 491.65 -7.03 702 5996.20 roll -1.18 - - 2227.75 - 2.80 0.025 2278.81 404.7 -77.86 - - 3212.56 - - - - - - - - - 15.94 -
6302.13 511.43 -5.96 734 6306.19 no move -1.18 - - 2227.31 - - - 2279.06 - -77.86 - - 3210.88 - - - - - - - - - - -
6612.15 533.10 -7.61 765 6616.21 no move -1.18 - - 2227.94 - - - 2278.75 - -77.86 - - 3210.81 - - - - - - - - - - -
6922.16 554.87 -6.38 796 6926.22 no move -1.18 - - 2227.38 - - - 2278.38 - -77.86 - - 3210.34 - - - - - - - - - - -
7232.18 573.68 -5.68 827 7236.25 no move -1.18 - - 2228.06 - - - 2278.75 - -77.86 - - 3209.84 - - - - - - - - - - -
7542.19 594.07 -6.98 858 7561.31 roll -1.18 - - 2227.31 - 3.19 0.085 3351.94 336.4 -77.86 - - 3209.06 - - - - - - - - - 15.80 -
7577.52 596.93 -8.03 862 7595.41 roll -1.18 - - 2226.25 - 2.81 0.019 2191.44 -413.0 -77.86 - - 3211.25 - - - - - - - - - 15.99 -
7901.25 623.09 -8.37 894 7919.97 roll -1.18 - - 2226.50 - 3.03 0.071 1146.25 -344.9 -77.86 - - 3209.75 - - - - - - - - - 15.82 -
7976.19 629.34 -8.40 906 7994.09 roll -1.18 - - 2227.19 - 2.79 0.026 2278.50 405.8 -77.86 - - 3209.03 - - - - - - - - - 15.99 -
8299.96 652.54 -6.43 938 8304.01 no move -1.18 - - 2227.00 - - - 2278.38 - -77.86 - - 3208.28 - - - - - - - - - - -
8610.01 671.98 -6.09 969 8629.77 roll -1.18 - - 2227.56 - 3.21 0.085 3352.12 334.5 -77.86 - - 3208.19 - - - - - - - - - 15.79 -
8706.11 678.36 -6.75 985 8724.02 roll -1.18 - - 2226.50 - 2.82 0.019 2193.44 -410.9 -77.86 - - 3209.44 - - - - - - - - - 15.97 -
9029.89 697.54 -6.14 1017 9051.63 roll -1.18 - - 2227.75 - 3.44 0.081 3351.38 336.6 -77.86 - - 3206.91 - - - - - - - - - 15.79 -
9112.85 703.34 -7.11 1030 9130.74 roll -1.18 - - 2227.00 - 2.83 0.019 2195.62 -408.4 -77.86 - - 3209.06 - - - - - - - - - 15.99 -
9436.62 723.69 -6.06 1062 9458.35 roll -1.18 - - 2227.56 - 3.43 0.082 3351.31 336.9 -77.86 - - 3207.53 - - - - - - - - - 15.78 -
9573.87 733.18 -6.62 1086 9592.50 roll -1.18 - - 2227.25 - 2.82 0.019 2197.12 -409.3 -77.86 - - 3208.31 - - - - - - - - - 15.99 -
9898.37 753.03 -6.25 1118 9902.43 no move -1.18 - - 2227.62 - - - 2196.12 - -77.86 - - 3206.84 - - - - - - - - - - -
10208.42 772.82 -6.51 1149 10212.48 no move -1.18 - - 2227.19 - - - 2195.94 - -77.86 - - 3206.25 - - - - - - - - - - -
10518.47 792.36 -5.81 1180 10522.52 no move -1.18 - - 2227.62 - - - 2196.50 - -77.86 - - 3206.19 - - - - - - - - - - -
10828.51 811.33 -6.36 1211 10832.57 no move -1.18 - - 2227.25 - - - 2195.50 - -77.86 - - 3205.31 - - - - - - - - - - -
11139.14 830.98 -6.38 1242 11143.20 no move -1.18 - - 2227.56 - - - 2195.75 - -77.86 - - 3205.22 - - - - - - - - - - -
11449.15 851.49 -6.74 1273 11470.88 roll -1.18 - - 2227.38 - 3.46 0.082 3351.81 334.1 -77.86 - - 3205.16 - - - - - - - - - 15.74 -
11652.11 866.40 -7.08 1310 11670.00 roll -1.18 - - 2227.06 - 2.84 0.019 2196.94 -406.6 -77.86 - - 3206.25 - - - - - - - - - 15.94 -
11976.10 886.73 -5.92 1342 11980.16 no move -1.18 - - 2227.62 - - - 2195.50 - -77.86 - - 3204.12 - - - - - - - - - - -
12286.02 905.89 -6.35 1373 12290.08 no move -1.18 - - 2227.44 - - - 2195.50 - -77.86 - - 3203.91 - - - - - - - - - - -
12596.06 925.33 -6.85 1404 12615.17 roll -1.18 - - 2226.81 - 3.11 0.074 1146.50 -337.3 -77.86 - - 3205.97 - - - - - - - - - 15.76 -
12665.67 930.23 -7.16 1415 12684.30 roll -1.18 - - 2226.94 - 2.81 0.026 2276.94 402.3 -77.86 - - 3205.66 - - - - - - - - - 15.96 -
12990.13 951.95 -6.74 1447 12994.19 no move -1.18 - - 2227.06 - - - 2277.25 - -77.86 - - 3203.06 - - - - - - - - - - -
13300.15 971.88 -5.86 1478 13321.32 roll -1.18 - - 2227.12 - 3.30 0.069 1146.56 -342.6 -77.86 - - 3205.19 - - - - - - - - - 15.76 -
13332.65 973.60 -5.70 1481 13350.95 roll -1.18 - - 2227.31 - 2.83 0.026 2277.81 399.7 -77.86 - - 3204.47 - - - - - - - - - 15.98 -
13657.23 989.83 -4.47 1513 13661.28 no move -1.18 - - 2228.00 - - - 2278.00 - -77.86 - - 3203.16 - - - - - - - - - - -
13666 end dive: TARGET_DEPTH_EXCEEDED
13667 begin apogee
13672.17 990.42 -4.58 1514 13778.22 -0.31 1.61 0.129 2440.25 131.8 0.20 0.133 2285.12 35.6 - 65.46 2.381 2888.75 -4.8 0.342 - - - - - - 15.68 15.32 10.22
13791 end apogee: CONTROL_FINISHED_OK
13792 begin climb
13794.49 991.56 - 1521 13907.54 1.18 2.62 0.089 2805.94 139.6 - - 2284.81 - 77.86 66.60 2.359 2572.06 -4.8 0.342 - - - - - - 15.57 - 11.56
14213.92 968.10 6.32 1565 14235.24 done 1.29 - - 2804.06 - 3.37 0.072 1147.62 -337.4 77.86 - - 2565.00 - - - - - - - - - 15.70 -
14291.26 962.99 6.52 1577 14311.78 1.38 0.29 0.068 2862.19 200.4 2.88 0.029 2274.62 391.3 77.86 - - 2564.19 - - - - - - - - 15.63 15.78 -
14618.16 940.71 6.50 1609 14637.69 done 1.47 - - 2861.75 - 3.27 0.090 3349.75 328.8 77.86 - - 2564.06 - - - - - - - - - 15.75 -
14674.31 936.92 7.08 1617 14692.22 done 1.53 - - 2862.38 - 2.85 0.021 2204.75 -401.8 77.86 - - 2562.09 - - - - - - - - - 15.87 -
14998.48 918.99 5.35 1649 15021.46 1.69 0.41 0.059 2937.50 183.2 3.12 0.075 1146.75 -339.1 77.86 - - 2560.56 - - - - - - - - 15.85 15.79 -
15146.98 907.55 7.80 1675 15166.01 done 1.69 - - 2938.62 - 2.85 0.029 2273.81 395.5 77.86 - - 2561.12 - - - - - - - - - 15.90 -
15472.28 883.10 7.07 1707 15493.21 done 1.75 - - 2938.31 - 3.30 0.071 1146.69 -341.6 77.86 - - 2560.16 - - - - - - - - - 15.81 -
15574.45 873.79 9.25 1724 15592.75 done 1.75 - - 2939.00 - 2.86 0.029 2272.56 393.7 77.86 - - 2560.72 - - - - - - - - - 15.94 -
15898.63 846.59 8.46 1756 15918.39 done 1.75 - - 2938.00 - 3.26 0.090 3351.75 331.0 77.86 - - 2560.47 - - - - - - - - - 15.79 -
15954.94 841.13 10.21 1764 15972.85 done 1.75 - - 2938.19 - 2.83 0.021 2204.19 -405.5 77.86 - - 2561.00 - - - - - - - - - 15.95 -
16278.71 812.27 8.00 1796 16282.78 VBD 1.75 - - 2938.62 - - - 2202.12 - 77.86 - - 2559.44 - - - - - - - - - - -
16588.76 785.87 7.56 1827 16592.82 VBD 1.75 - - 2938.25 - - - 2202.62 - 77.86 - - 2559.44 - - - - - - - - - - -
16899.44 761.74 7.10 1858 16918.56 done 1.81 - - 2938.44 - 3.11 0.075 1145.75 -339.8 77.86 - - 2558.41 - - - - - - - - - 15.81 -
17039.08 750.89 8.14 1883 17057.72 done 1.81 - - 2937.69 - 2.85 0.030 2274.94 396.2 77.86 - - 2561.53 - - - - - - - - - 15.97 -
17363.60 726.02 7.59 1915 17383.12 done 1.81 - - 2938.50 - 3.25 0.090 3351.12 331.1 77.86 - - 2558.91 - - - - - - - - - 15.77 -
17409.34 722.29 8.76 1921 17427.64 done 1.81 - - 2938.69 - 2.82 0.021 2202.44 -407.3 77.86 - - 2558.88 - - - - - - - - - 15.95 -
17734.14 699.65 6.73 1953 17755.89 1.89 0.22 0.075 2985.75 213.9 3.09 0.075 1146.75 -341.6 77.86 - - 2560.78 - - - - - - - - 15.90 15.80 -
17817.35 693.41 7.96 1966 17835.66 done 1.89 - - 2986.00 - 2.83 0.029 2274.06 398.3 77.86 - - 2558.97 - - - - - - - - - 15.97 -
18142.05 670.41 7.02 1998 18161.58 done 1.95 - - 2985.81 - 3.24 0.089 3351.81 332.6 77.86 - - 2559.88 - - - - - - - - - 15.75 -
18257.81 661.24 8.02 2018 18276.12 done 1.95 - - 2985.81 - 2.83 0.021 2202.81 -406.0 77.86 - - 2561.28 - - - - - - - - - 15.97 -
18582.39 637.95 6.98 2050 18586.45 VBD 2.01 - - 2986.69 - - - 2202.25 - 77.86 - - 2558.12 - - - - - - - - - - -
18892.71 615.88 6.98 2081 18915.28 2.08 0.08 0.134 3013.94 340.6 3.44 0.085 3350.44 333.8 77.86 - - 2559.06 - - - - - - - - 15.90 15.76 -
19020.79 605.77 7.94 2103 19039.44 done 2.08 - - 3014.81 - 2.82 0.021 2204.44 -406.4 77.86 - - 2559.25 - - - - - - - - - 15.97 -
19345.31 582.10 8.14 2135 19364.01 done 2.08 - - 3014.81 - 3.10 0.075 1145.00 -341.8 77.86 - - 2557.59 - - - - - - - - - 15.76 -
19564.52 564.50 8.08 2176 19583.79 done 2.08 - - 3014.50 - 2.87 0.029 2274.75 393.6 77.86 - - 2559.47 - - - - - - - - - 15.70 -
19890.19 541.52 6.89 2208 19911.11 done 2.14 - - 3015.19 - 3.30 0.070 1146.69 -341.8 77.86 - - 2557.50 - - - - - - - - - 15.77 -
19997.03 533.45 7.34 2226 20015.68 2.19 - - 3015.00 - 2.85 0.029 2276.12 396.3 77.86 - - 2558.97 - - - - - - - - - 15.96 -
20321.97 510.72 6.48 2258 20342.90 2.28 - - 3014.44 - 3.29 0.070 1145.38 -343.7 77.86 - - 2559.91 - - - - - - - - - 15.77 -
20374.65 507.07 7.19 2265 20392.97 2.33 - - 3014.12 - 2.85 0.028 2276.00 396.7 77.86 - - 2560.66 - - - - - - - - - 15.96 -
20699.25 483.51 7.47 2297 20718.81 2.37 - - 3015.00 - 3.23 0.089 3350.12 332.5 77.86 - - 2556.78 - - - - - - - - - 15.74 -
20949.43 462.74 7.81 2344 20968.06 2.37 - - 3014.69 - 2.83 0.020 2202.06 -405.7 77.86 - - 2559.69 - - - - - - - - - 15.95 -
21274.33 442.77 5.78 2376 21296.33 2.50 - - 3015.69 - 3.43 0.083 3351.62 335.1 77.86 - - 2557.12 - - - - - - - - - 15.74 -
21438.10 432.01 6.67 2405 21456.03 2.59 - - 3015.44 - 2.84 0.021 2201.94 -404.8 77.86 - - 2558.22 - - - - - - - - - 15.96 -
21762.28 414.59 4.82 2437 21859.54 2.72 - - 3014.56 - 3.12 0.076 1144.88 -338.8 144.66 54.30 1.684 2299.16 -4.8 0.201 - - - - - - - 15.49 10.56
22010.81 394.59 9.30 2479 22028.75 2.72 - - 3014.88 - 2.87 0.029 2275.06 393.8 144.66 - - 2290.34 - - - - - - - - - 15.77 -
22334.75 362.05 10.20 2511 22354.38 2.72 - - 3014.44 - 3.24 0.088 3350.62 332.0 144.66 - - 2289.25 - - - - - - - - - 15.70 -
22370.60 358.11 10.70 2515 22388.53 2.72 - - 3014.88 - 2.84 0.020 2205.38 -403.3 144.66 - - 2290.81 - - - - - - - - - 15.84 -
22694.39 324.42 10.90 2547 22713.77 2.72 - - 3014.25 - 3.11 0.074 1145.62 -340.8 144.66 - - 2287.91 - - - - - - - - - 15.74 -
22790.13 313.60 10.98 2563 22808.05 2.72 - - 3014.94 - 2.83 0.028 2274.69 399.0 144.66 - - 2288.09 - - - - - - - - - 15.88 -
23113.93 281.15 10.03 2595 23118.00 2.72 - - 3015.62 - - - 2275.31 - 144.66 - - 2287.28 - - - - - - - - - - -
23423.99 251.18 8.95 2626 23444.94 2.72 - - 3015.19 - 3.29 0.069 1144.94 -343.6 144.66 - - 2286.75 - - - - - - - - - 15.76 -
23480.42 245.78 9.58 2634 23499.08 2.72 - - 3014.88 - 2.83 0.028 2275.94 399.6 144.66 - - 2287.31 - - - - - - - - - 15.93 -
23804.96 216.47 9.22 2666 23809.04 2.72 - - 3014.62 - - - 2275.69 - 144.66 - - 2286.41 - - - - - - - - - - -
24115.01 187.62 9.51 2697 24135.96 2.72 - - 3014.56 - 3.30 0.068 1144.94 -342.7 144.66 - - 2288.28 - - - - - - - - - 15.66 -
24221.46 176.53 10.55 2715 24240.74 2.72 - - 3015.69 - 2.84 0.028 2274.94 397.9 144.66 - - 2288.06 - - - - - - - - - 15.79 -
24546.63 144.94 9.20 2747 24550.70 2.72 - - 3015.50 - - - 2275.50 - 144.66 - - 2286.41 - - - - - - - - - - -
24856.94 117.26 8.44 2778 24861.02 2.72 - - 3014.81 - - - 2275.62 - 144.66 - - 2286.81 - - - - - - - - - - -
25167.03 89.71 8.12 2821 25174.07 2.72 - - 3015.44 - - - 2275.56 - 144.66 - - 2287.69 - - - - - - - - - - -
25359.96 75.22 8.79 2859 25380.62 2.72 - - 3015.06 - 3.25 0.086 3351.44 331.0 144.66 - - 2289.38 - - - - - - - - - 15.62 -
25612.31 59.81 3.29 2906 25737.13 2.92 - - 3014.62 - 2.82 0.019 2191.94 -411.2 242.93 75.58 1.192 1900.97 -5.1 0.044 - - - - - - - 15.75 11.17
25923.39 43.22 3.64 2959 26042.99 3.10 - - 3015.25 - 3.50 0.083 3352.62 331.6 334.02 69.86 1.141 1527.75 -5.3 0.035 - - - - - - - 15.39 11.50
26084.38 33.25 8.21 2982 26103.43 roll back 3.10 - - 3014.56 - 2.89 0.019 2201.56 -398.3 334.02 - - 1523.69 - - - - - - - - - 15.50 -
26289.42 13.63 10.66 3020 26309.90 3.10 - - 3014.69 - 3.14 0.073 1146.50 -336.0 334.02 - - 1518.31 - - - - - - - - - 15.57 -
26386 end climb: SURFACE_DEPTH_REACHED
26386 begin surface coast
26421 end surface coast: CONTROL_FINISHED_OK
26422 begin surface
SM 0.81 - - - - 179.4 73.49 1.093 1137.5 15.5 19.69 0.046 1132.9 57.5 - 2.84 0.031 1142.2 401.1 -1.071 - - 11.27 15.75 15.81 -