NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 497 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 171.47 of 506.00 AH used of 24V (66.11% remains)
• Surface angle -64.0 deg, depth 1.03 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.72 (SM_CC=430)
• GPS1 time: 29 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
19.11 - - - 126.04 VBD -1.18 - - 182.00 - - - 2187.62 - -77.86 75.56 0.005 2982.94 - - - - - - - - - - 14.88
128.27 3.77 -3.91 15 237.25 -1.18 17.40 0.217 2228.25 117.6 3.02 0.067 1144.50 -345.4 -77.86 2.98 0.012 3210.53 76.4 -4.119 - - - - - - 15.29 15.04 15.13
469.25 74.80 -12.13 66 487.92 roll -1.18 - - 2227.81 - 2.85 0.025 2278.44 397.9 -77.86 - - 3213.62 - - - - - - - - - 15.61 -
674.06 94.77 -8.90 104 680.87 no move -1.18 - - 2228.06 - - - 2279.12 - -77.86 - - 3213.81 - - - - - - - - - - -
866.90 110.60 -7.62 129 887.58 roll -1.18 - - 2227.62 - 3.28 0.063 1143.69 -346.2 -77.86 - - 3214.53 - - - - - - - - - 15.66 -
913.03 114.46 -8.15 135 932.09 roll -1.18 - - 2227.62 - 2.82 0.024 2278.62 402.5 -77.86 - - 3215.09 - - - - - - - - - 15.76 -
1238.15 138.65 -7.62 167 1257.03 roll -1.18 - - 2228.25 - 3.19 0.082 3351.81 336.4 -77.86 - - 3213.88 - - - - - - - - - 15.71 -
1303.45 143.87 -7.84 177 1321.53 roll -1.18 - - 2228.31 - 2.84 0.018 2190.81 -408.8 -77.86 - - 3214.28 - - - - - - - - - 15.80 -
1627.60 168.08 -7.92 209 1646.10 roll -1.18 - - 2227.50 - 3.02 0.067 1143.94 -346.6 -77.86 - - 3214.75 - - - - - - - - - 15.72 -
1712.52 175.22 -8.63 223 1729.83 roll -1.18 - - 2227.94 - 2.80 0.024 2278.56 405.2 -77.86 - - 3214.81 - - - - - - - - - 15.76 -
2035.88 200.25 -7.93 255 2055.01 roll -1.18 - - 2226.38 - 3.16 0.082 3352.81 340.0 -77.86 - - 3215.12 - - - - - - - - - 15.76 -
2091.58 205.09 -8.51 263 2109.47 roll -1.18 - - 2227.75 - 2.81 0.018 2193.62 -412.5 -77.86 - - 3215.97 - - - - - - - - - 15.83 -
2415.56 229.74 -7.30 295 2419.62 no move -1.18 - - 2227.50 - - - 2192.00 - -77.86 - - 3214.09 - - - - - - - - - - -
2725.73 252.18 -7.30 326 2729.79 no move -1.18 - - 2227.50 - - - 2192.38 - -77.86 - - 3214.47 - - - - - - - - - - -
3035.85 274.42 -7.19 357 3039.91 no move -1.18 - - 2227.88 - - - 2191.69 - -77.86 - - 3213.91 - - - - - - - - - - -
3345.98 298.03 -7.55 388 3350.04 no move -1.18 - - 2227.25 - - - 2191.25 - -77.86 - - 3213.97 - - - - - - - - - - -
3656.11 322.56 -8.32 419 3660.17 no move -1.18 - - 2227.75 - - - 2192.69 - -77.86 - - 3213.88 - - - - - - - - - - -
3966.26 347.73 -8.17 450 3970.32 no move -1.18 - - 2227.88 - - - 2191.75 - -77.86 - - 3214.25 - - - - - - - - - - -
4276.41 372.90 -8.35 481 4280.47 no move -1.18 - - 2227.81 - - - 2192.19 - -77.86 - - 3213.25 - - - - - - - - - - -
4586.57 396.23 -7.25 512 4590.63 no move -1.18 - - 2227.62 - - - 2192.44 - -77.86 - - 3213.41 - - - - - - - - - - -
4896.72 417.09 -6.43 543 4901.17 no move -1.18 - - 2227.88 - - - 2191.81 - -77.86 - - 3214.09 - - - - - - - - - - -
5207.26 437.32 -6.58 574 5229.25 roll -1.18 - - 2228.19 - 3.42 0.082 3349.38 338.5 -77.86 - - 3214.34 - - - - - - - - - 15.79 -
5254.85 441.01 -7.53 580 5273.71 roll -1.18 - - 2227.81 - 2.82 0.019 2195.31 -409.2 -77.86 - - 3213.22 - - - - - - - - - 15.82 -
5579.78 463.66 -7.04 612 5583.84 no move -1.18 - - 2227.75 - - - 2193.94 - -77.86 - - 3212.94 - - - - - - - - - - -
5889.90 485.84 -7.14 643 5893.96 no move -1.18 - - 2227.62 - - - 2193.94 - -77.86 - - 3212.12 - - - - - - - - - - -
6200.02 508.62 -7.41 674 6204.08 no move -1.18 - - 2227.56 - - - 2194.25 - -77.86 - - 3211.94 - - - - - - - - - - -
6510.18 529.45 -6.51 705 6514.24 no move -1.18 - - 2228.12 - - - 2193.62 - -77.86 - - 3210.97 - - - - - - - - - - -
6820.34 549.33 -6.27 736 6824.40 no move -1.18 - - 2228.25 - - - 2193.94 - -77.86 - - 3211.34 - - - - - - - - - - -
7130.49 567.99 -5.82 767 7134.55 no move -1.18 - - 2227.69 - - - 2193.69 - -77.86 - - 3210.91 - - - - - - - - - - -
7440.65 586.87 -5.99 798 7462.39 roll -1.18 - - 2228.25 - 3.45 0.083 3352.38 335.9 -77.86 - - 3209.41 - - - - - - - - - 15.69 -
7477.87 589.64 -7.03 802 7496.75 roll -1.18 - - 2227.88 - 2.83 0.020 2196.00 -408.6 -77.86 - - 3211.09 - - - - - - - - - 15.97 -
7802.82 610.92 -6.93 834 7824.55 roll -1.18 - - 2226.50 - 3.46 0.083 3351.56 334.0 -77.86 - - 3211.03 - - - - - - - - - 15.66 -
7896.00 617.72 -7.48 849 7913.93 roll -1.18 - - 2227.88 - 2.83 0.020 2195.69 -408.4 -77.86 - - 3209.78 - - - - - - - - - 15.96 -
8220.14 638.02 -6.22 881 8238.87 roll -1.18 - - 2227.50 - 3.06 0.073 1147.00 -342.7 -77.86 - - 3209.97 - - - - - - - - - 15.79 -
8265.33 641.08 -6.62 887 8283.24 roll -1.18 - - 2227.75 - 2.81 0.026 2277.81 402.4 -77.86 - - 3210.25 - - - - - - - - - 15.98 -
8589.34 660.57 -6.14 919 8593.40 no move -1.18 - - 2228.31 - - - 2278.00 - -77.86 - - 3209.25 - - - - - - - - - - -
8899.50 679.30 -5.85 950 8920.45 roll -1.18 - - 2225.75 - 3.30 0.068 1145.69 -343.1 -77.86 - - 3208.75 - - - - - - - - - 15.78 -
8995.94 685.68 -6.55 966 9014.83 roll -1.18 - - 2228.19 - 2.82 0.026 2276.81 401.1 -77.86 - - 3209.34 - - - - - - - - - 15.96 -
9320.90 706.24 -6.83 998 9324.96 no move -1.18 - - 2227.56 - - - 2276.88 - -77.86 - - 3208.97 - - - - - - - - - - -
9631.03 726.52 -6.74 1029 9650.57 roll -1.18 - - 2227.75 - 3.29 0.068 1146.62 -343.5 -77.86 - - 3210.41 - - - - - - - - - 15.68 -
9687.01 730.57 -7.45 1037 9705.18 roll -1.18 - - 2228.00 - 2.84 0.026 2275.94 397.6 -77.86 - - 3209.34 - - - - - - - - - 15.98 -
10011.39 751.78 -6.49 1069 10015.46 no move -1.18 - - 2227.06 - - - 2276.94 - -77.86 - - 3207.75 - - - - - - - - - - -
10321.55 771.48 -6.06 1100 10342.48 roll -1.18 - - 2225.69 - 3.29 0.068 1144.88 -344.1 -77.86 - - 3208.06 - - - - - - - - - 15.66 -
10433.94 779.07 -6.67 1119 10452.25 roll -1.18 - - 2227.94 - 2.83 0.026 2276.44 399.8 -77.86 - - 3208.75 - - - - - - - - - 15.96 -
10758.34 798.63 -5.86 1151 10777.89 roll -1.18 - - 2227.25 - 3.28 0.068 1147.06 -344.3 -77.86 - - 3208.94 - - - - - - - - - 15.76 -
10848.39 804.35 -6.24 1166 10867.27 roll -1.18 - - 2227.25 - 2.83 0.027 2276.62 399.1 -77.86 - - 3207.84 - - - - - - - - - 15.97 -
11173.37 823.17 -5.73 1198 11192.90 roll -1.18 - - 2227.81 - 3.24 0.088 3350.19 331.3 -77.86 - - 3207.12 - - - - - - - - - 15.71 -
11213.38 825.78 -6.37 1203 11232.77 roll -1.18 - - 2227.50 - 2.83 0.020 2192.94 -408.9 -77.86 - - 3207.97 - - - - - - - - - 15.97 -
11538.85 845.21 -5.98 1235 11542.91 no move -1.18 - - 2227.81 - - - 2191.94 - -77.86 - - 3206.25 - - - - - - - - - - -
11849.10 863.98 -6.25 1266 11853.16 no move -1.18 - - 2227.12 - - - 2191.81 - -77.86 - - 3206.03 - - - - - - - - - - -
12159.37 882.96 -5.94 1297 12163.43 no move -1.18 - - 2227.50 - - - 2191.75 - -77.86 - - 3205.34 - - - - - - - - - - -
12469.53 901.93 -6.06 1328 12491.27 roll -1.18 - - 2227.00 - 3.47 0.085 3352.25 334.4 -77.86 - - 3206.09 - - - - - - - - - 15.71 -
12502.72 904.21 -6.15 1331 12520.86 roll -1.18 - - 2228.00 - 2.85 0.020 2195.06 -406.0 -77.86 - - 3205.72 - - - - - - - - - 15.97 -
12826.92 924.16 -5.75 1363 12830.99 no move -1.18 - - 2227.00 - - - 2193.12 - -77.86 - - 3204.56 - - - - - - - - - - -
13137.06 941.99 -5.51 1394 13141.12 no move -1.18 - - 2227.69 - - - 2192.75 - -77.86 - - 3204.66 - - - - - - - - - - -
13447.22 960.74 -5.98 1425 13451.28 no move -1.18 - - 2227.06 - - - 2194.06 - -77.86 - - 3205.06 - - - - - - - - - - -
13757.37 978.85 -5.58 1456 13761.44 no move -1.18 - - 2227.31 - - - 2193.00 - -77.86 - - 3204.38 - - - - - - - - - - -
13957 end dive: TARGET_DEPTH_EXCEEDED
13958 begin apogee
13962.21 990.43 -5.74 1476 14068.25 -0.31 1.62 0.135 2440.38 131.5 0.14 0.164 2187.69 -37.9 - 66.19 2.380 2890.16 -4.7 0.339 - - - - - - 15.64 15.28 10.14
14081 end apogee: CONTROL_FINISHED_OK
14082 begin climb
14084.53 992.13 - 1483 14198.44 1.18 2.59 0.092 2805.25 140.9 - - 2188.38 - 77.86 67.59 2.352 2573.38 -4.7 0.339 - - - - - - 15.55 - 11.54
14505.06 970.34 5.99 1527 14510.17 pitch 1.31 0.17 0.093 2842.50 219.1 - - 2188.25 - 77.86 - - 2563.59 - - - - - - - - 15.70 - -
14816.78 949.81 6.86 1558 14820.85 VBD 1.38 - - 2842.75 - - - 2188.50 - 77.86 - - 2562.88 - - - - - - - - - - -
15127.32 929.17 6.87 1589 15149.46 done 1.45 - - 2843.38 - 3.52 0.090 3349.69 329.9 77.86 - - 2563.22 - - - - - - - - - 15.74 -
15175.35 925.74 7.43 1595 15196.27 1.49 0.21 0.080 2887.44 209.8 2.88 0.022 2204.88 -397.5 77.86 - - 2563.09 - - - - - - - - 15.71 15.66 -
15502.36 901.13 7.86 1627 15506.43 VBD 1.49 - - 2887.31 - - - 2202.62 - 77.86 - - 2561.97 - - - - - - - - - - -
15812.93 878.80 6.71 1658 15834.68 done 1.57 - - 2887.00 - 3.45 0.089 3350.69 332.8 77.86 - - 2560.97 - - - - - - - - - 15.75 -
15856.14 875.44 7.60 1663 15874.30 done 1.57 - - 2887.62 - 2.87 0.022 2205.81 -398.9 77.86 - - 2561.12 - - - - - - - - - 15.92 -
16180.92 853.63 6.77 1695 16202.69 1.64 0.17 0.088 2925.44 222.5 3.13 0.077 1147.38 -338.2 77.86 - - 2560.25 - - - - - - - - 15.86 15.78 -
16253.93 847.48 8.65 1706 16271.85 done 1.64 - - 2925.69 - 2.86 0.030 2275.50 394.4 77.86 - - 2561.34 - - - - - - - - - 15.81 -
16578.32 823.83 6.82 1738 16597.87 done 1.72 - - 2926.31 - 3.24 0.092 3350.94 331.9 77.86 - - 2560.50 - - - - - - - - - 15.75 -
16664.34 817.25 8.13 1752 16682.26 done 1.72 - - 2925.19 - 2.85 0.022 2204.19 -402.4 77.86 - - 2561.88 - - - - - - - - - 15.95 -
16988.76 795.54 6.13 1784 17010.94 1.83 0.22 0.077 2972.25 213.9 3.12 0.077 1146.81 -338.9 77.86 - - 2558.50 - - - - - - - - 15.89 15.79 -
17122.43 785.39 7.63 1807 17140.74 done 1.83 - - 2972.44 - 2.85 0.030 2274.25 395.6 77.86 - - 2561.41 - - - - - - - - - 15.92 -
17447.22 761.51 6.88 1839 17468.82 done 1.90 - - 2972.19 - 3.31 0.072 1146.38 -340.7 77.86 - - 2560.78 - - - - - - - - - 15.78 -
17550.41 753.70 7.64 1856 17568.33 done 1.90 - - 2973.00 - 2.87 0.030 2273.75 392.8 77.86 - - 2558.56 - - - - - - - - - 15.96 -
17874.85 730.30 7.20 1888 17895.79 done 1.95 - - 2972.81 - 3.30 0.092 3351.31 326.5 77.86 - - 2561.31 - - - - - - - - - 15.68 -
18001.31 719.18 8.72 1910 18020.20 done 1.95 - - 2973.12 - 2.84 0.021 2206.31 -403.2 77.86 - - 2559.97 - - - - - - - - - 15.94 -
18326.29 693.82 7.75 1942 18345.43 done 1.95 - - 2973.06 - 3.12 0.076 1145.19 -340.1 77.86 - - 2560.41 - - - - - - - - - 15.77 -
18545.94 675.30 8.93 1983 18564.83 done 1.95 - - 2973.00 - 2.85 0.030 2276.19 396.8 77.86 - - 2559.16 - - - - - - - - - 15.95 -
18870.90 648.95 8.00 2015 18890.45 done 1.95 - - 2973.44 - 3.24 0.092 3350.56 331.6 77.86 - - 2558.88 - - - - - - - - - 15.73 -
18920.95 644.15 9.51 2022 18939.84 done 1.95 - - 2973.44 - 2.84 0.021 2202.94 -404.1 77.86 - - 2559.44 - - - - - - - - - 15.94 -
19245.90 616.47 8.65 2054 19264.64 done 1.95 - - 2973.62 - 3.10 0.076 1146.69 -340.7 77.86 - - 2559.69 - - - - - - - - - 15.77 -
19495.71 597.25 7.26 2101 19515.84 2.00 0.16 0.092 3012.62 243.8 2.84 0.030 2275.19 397.4 77.86 - - 2559.47 - - - - - - - - 15.68 15.75 -
19822.32 572.65 7.37 2133 19841.88 done 2.04 - - 3012.62 - 3.24 0.091 3351.19 332.1 77.86 - - 2557.38 - - - - - - - - - 15.72 -
19922.39 564.20 8.35 2150 19941.27 done 2.04 - - 3012.31 - 2.84 0.021 2203.19 -404.2 77.86 - - 2559.28 - - - - - - - - - 15.93 -
20247.77 540.63 7.06 2182 20251.83 VBD 2.10 - - 3012.62 - - - 2201.25 - 77.86 - - 2558.34 - - - - - - - - - - -
20558.30 519.50 6.36 2213 20580.07 2.20 - - 3012.25 - 3.44 0.087 3351.44 334.4 77.86 - - 2558.75 - - - - - - - - - 15.71 -
20611.94 515.80 6.64 2220 20629.87 2.29 - - 3012.94 - 2.84 0.021 2203.06 -404.4 77.86 - - 2560.41 - - - - - - - - - 15.96 -
20936.58 494.82 6.70 2252 20955.74 2.37 - - 3012.06 - 3.11 0.075 1146.75 -339.6 77.86 - - 2558.22 - - - - - - - - - 15.73 -
21186.87 477.43 6.93 2299 21205.76 2.43 - - 3012.69 - 2.83 0.029 2275.25 398.8 77.86 - - 2560.31 - - - - - - - - - 15.94 -
21512.35 455.46 6.94 2331 21531.91 2.50 - - 3013.12 - 3.25 0.090 3351.62 331.2 77.86 - - 2557.75 - - - - - - - - - 15.57 -
21642.43 445.38 7.85 2354 21661.72 2.50 - - 3013.00 - 2.82 0.021 2203.56 -407.1 77.86 - - 2559.81 - - - - - - - - - 15.88 -
21968.19 422.68 6.69 2386 21972.26 2.58 - - 3013.25 - - - 2202.12 - 77.86 - - 2558.44 - - - - - - - - - - -
22278.77 403.29 6.15 2417 22297.52 2.70 - - 3013.00 - 3.10 0.074 1145.56 -340.8 77.86 - - 2557.75 - - - - - - - - - 15.73 -
22528.43 387.65 6.09 2464 22547.33 2.81 - - 3012.88 - 2.83 0.029 2277.94 400.1 77.86 - - 2559.22 - - - - - - - - - 15.93 -
22853.83 370.14 5.03 2496 22946.51 2.94 - - 3012.56 - 3.32 0.072 1144.94 -341.3 140.20 51.07 1.620 2315.50 -4.8 0.187 - - - - - - - 15.48 10.57
22978.09 360.94 8.72 2513 22996.04 roll back 2.94 - - 3013.19 - 2.87 0.029 2273.50 393.2 140.20 - - 2312.28 - - - - - - - - - 15.74 -
23302.25 329.73 9.66 2545 23323.30 2.94 - - 3013.00 - 3.29 0.070 1144.81 -343.1 140.20 - - 2308.16 - - - - - - - - - 15.61 -
23364.53 323.43 10.19 2554 23382.46 2.94 - - 3012.50 - 2.86 0.029 2272.31 394.2 140.20 - - 2310.38 - - - - - - - - - 15.80 -
23688.57 291.72 10.04 2586 23692.65 2.94 - - 3012.44 - - - 2273.00 - 140.20 - - 2308.00 - - - - - - - - - - -
23998.96 261.25 9.43 2617 24003.03 2.94 - - 3013.88 - - - 2272.31 - 140.20 - - 2307.34 - - - - - - - - - - -
24309.09 230.77 9.74 2648 24330.04 2.94 - - 3012.50 - 3.29 0.070 1146.69 -342.1 140.20 - - 2306.62 - - - - - - - - - 15.74 -
24401.28 221.93 9.19 2663 24419.46 2.94 - - 3013.06 - 2.85 0.029 2274.19 395.6 140.20 - - 2306.53 - - - - - - - - - 15.89 -
24725.68 193.44 8.64 2695 24745.24 2.94 - - 3012.62 - 3.26 0.090 3351.50 330.5 140.20 - - 2306.59 - - - - - - - - - 15.68 -
24765.73 189.67 9.52 2700 24784.63 2.94 - - 3013.19 - 2.84 0.021 2202.38 -404.6 140.20 - - 2307.50 - - - - - - - - - 15.71 -
25090.72 163.21 7.88 2732 25094.79 2.94 - - 3012.75 - - - 2200.94 - 140.20 - - 2306.06 - - - - - - - - - - -
25401.27 141.07 6.48 2763 25423.05 3.03 - - 3012.69 - 3.43 0.085 3351.62 335.5 140.20 - - 2306.09 - - - - - - - - - 15.57 -
25484.93 135.00 7.21 2776 25502.86 3.08 - - 3013.38 - 2.88 0.020 2200.62 -399.7 140.20 - - 2305.88 - - - - - - - - - 15.63 -
25809.33 112.49 6.84 2808 25828.47 3.15 - - 3012.69 - 3.11 0.073 1145.62 -339.2 140.20 - - 2307.59 - - - - - - - - - 15.72 -
26059.37 101.84 3.15 2855 26191.05 3.36 - - 3013.62 - 2.82 0.027 2279.19 402.0 241.47 79.51 1.270 1905.22 -5.1 0.070 - - - - - - - 15.83 11.13
26377.27 78.33 8.80 2909 26398.19 3.36 - - 3011.56 - 3.36 0.069 1147.19 -336.9 241.47 - - 1895.59 - - - - - - - - - 15.51 -
26630.19 59.61 6.59 2956 26649.09 3.44 - - 3012.12 - 2.86 0.027 2275.88 394.6 241.47 - - 1892.53 - - - - - - - - - 15.58 -
26835.60 47.16 5.08 2994 26856.53 3.62 - - 3012.75 - 3.32 0.066 1145.88 -340.4 241.47 - - 1891.09 - - - - - - - - - 15.64 -
27088.40 41.32 2.11 3041 27240.20 3.87 - - 3012.62 - 2.84 0.025 2278.44 398.8 364.19 93.75 1.166 1404.53 -5.2 0.032 - - - - - - - 15.71 11.35
27426.41 18.75 8.17 3098 27447.34 3.87 - - 3013.38 - 3.34 0.068 1145.75 -339.1 364.19 - - 1396.06 - - - - - - - - - 15.56 -
27558.92 5.62 10.11 3121 27578.20 3.87 - - 3011.62 - 2.86 0.026 2274.06 394.5 364.19 - - 1394.78 - - - - - - - - - 15.71 -
27584 end climb: SURFACE_DEPTH_REACHED
27584 begin surface coast
27630 end surface coast: CONTROL_FINISHED_OK
27631 begin surface
SM 0.87 - - - - 180.8 51.24 1.095 1138.2 22.2 19.97 0.053 1135.4 56.9 - 0.12 0.084 1140.9 9483.7 -10.039 - - 11.29 15.73 15.81 -