NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 156 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 56.00 of 506.00 AH used of 24V (88.93% remains)
• Surface angle -66.3 deg, depth 1.17 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.98 (SM_CC=430)
• GPS1 time: 45 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
11 begin dive
18.76 - - - 97.50 VBD -1.18 - - 180.75 - - - 2282.88 - -77.86 54.90 0.005 2547.00 - - - - - - - - - - 15.50
99.33 3.74 -5.52 11 219.10 -1.18 16.83 0.231 2227.62 121.6 3.07 0.068 1143.50 -371.1 -77.86 10.58 0.007 3210.12 62.7 -5.535 - - - - - - 15.61 15.49 15.56
325.18 41.92 -12.73 39 342.99 roll -1.18 - - 2228.25 - 2.80 0.026 2274.69 404.0 -77.86 - - 3214.25 - - - - - - - - - 15.87 -
528.92 61.36 -9.05 77 547.97 roll -1.18 - - 2228.19 - 3.02 0.062 1142.62 -374.9 -77.86 - - 3214.62 - - - - - - - - - 15.84 -
584.11 67.17 -10.51 85 601.95 roll -1.18 - - 2228.31 - 2.78 0.026 2275.94 407.7 -77.86 - - 3215.69 - - - - - - - - - 15.85 -
787.73 86.78 -8.53 123 807.14 roll -1.18 - - 2226.75 - 3.08 0.086 3353.75 349.9 -77.86 - - 3215.62 - - - - - - - - - 15.85 -
848.30 92.37 -9.13 132 866.53 roll -1.18 - - 2227.94 - 2.71 0.021 2187.75 -430.3 -77.86 - - 3214.66 - - - - - - - - - 15.83 -
1052.30 109.02 -8.16 159 1069.42 roll -1.18 - - 2226.38 - 2.79 0.067 1142.38 -374.7 -77.86 - - 3216.84 - - - - - - - - - 15.92 -
1115.57 114.19 -8.40 169 1133.07 roll -1.18 - - 2228.00 - 2.74 0.026 2279.44 415.0 -77.86 - - 3215.50 - - - - - - - - - 15.95 -
1438.85 134.85 -6.41 201 1442.87 VBD -1.18 - - 2227.81 - - - 2279.44 - -77.86 - - 3215.34 - - - - - - - - - - -
1748.89 154.01 -6.35 232 1752.90 VBD -1.18 - - 2228.19 - - - 2280.00 - -77.86 - - 3214.59 - - - - - - - - - - -
2058.93 173.52 -6.47 263 2062.96 VBD -1.18 - - 2227.31 - - - 2279.25 - -77.86 - - 3215.53 - - - - - - - - - - -
2369.00 195.07 -7.68 294 2373.06 VBD -1.18 - - 2227.94 - - - 2279.00 - -77.86 - - 3215.62 - - - - - - - - - - -
2679.07 221.40 -8.18 325 2697.22 roll -1.18 - - 2228.25 - 3.00 0.065 1142.81 -378.7 -77.86 - - 3214.34 - - - - - - - - - 16.02 -
2753.41 227.62 -8.32 337 2770.75 roll -1.18 - - 2227.94 - 2.77 0.027 2278.06 409.8 -77.86 - - 3216.22 - - - - - - - - - 15.95 -
3076.57 252.23 -7.51 369 3094.72 roll -1.18 - - 2228.56 - 2.99 0.089 3353.62 359.7 -77.86 - - 3214.16 - - - - - - - - - 15.98 -
3125.18 256.31 -8.62 376 3142.84 roll -1.18 - - 2228.44 - 2.69 0.022 2189.00 -432.9 -77.86 - - 3215.12 - - - - - - - - - 16.02 -
3448.68 280.17 -7.51 408 3466.02 roll -1.18 - - 2228.19 - 2.78 0.070 1142.44 -376.5 -77.86 - - 3216.47 - - - - - - - - - 16.00 -
3492.20 283.59 -7.83 414 3509.53 roll -1.18 - - 2228.06 - 2.72 0.027 2279.38 418.0 -77.86 - - 3214.38 - - - - - - - - - 16.03 -
3815.32 309.20 -8.10 446 3833.46 roll -1.18 - - 2227.62 - 2.99 0.088 3353.69 359.3 -77.86 - - 3213.69 - - - - - - - - - 15.98 -
3873.93 314.35 -8.85 455 3891.59 roll -1.18 - - 2228.25 - 2.69 0.021 2190.12 -432.6 -77.86 - - 3214.06 - - - - - - - - - 16.03 -
4197.84 339.54 -7.67 487 4201.90 no move -1.18 - - 2227.75 - - - 2189.25 - -77.86 - - 3213.16 - - - - - - - - - - -
4507.88 363.75 -7.65 518 4529.02 roll -1.18 - - 2227.75 - 3.28 0.084 3353.88 355.1 -77.86 - - 3211.16 - - - - - - - - - 15.97 -
4554.48 368.11 -9.22 524 4572.55 roll -1.18 - - 2228.56 - 2.70 0.021 2190.62 -430.8 -77.86 - - 3213.97 - - - - - - - - - 16.04 -
4878.38 394.72 -7.85 556 4895.72 roll -1.18 - - 2228.19 - 2.79 0.071 1141.25 -376.1 -77.86 - - 3214.69 - - - - - - - - - 15.97 -
4916.17 397.92 -8.01 561 4934.61 roll -1.18 - - 2228.19 - 2.76 0.027 2278.62 412.1 -77.86 - - 3213.19 - - - - - - - - - 16.05 -
5240.40 423.51 -7.67 593 5258.95 roll -1.18 - - 2227.88 - 3.02 0.089 3353.94 356.1 -77.86 - - 3211.28 - - - - - - - - - 16.03 -
5315.15 429.75 -8.36 605 5332.09 roll -1.18 - - 2227.75 - 2.69 0.021 2191.06 -432.3 -77.86 - - 3212.44 - - - - - - - - - 16.04 -
5637.93 453.62 -7.36 637 5655.26 roll -1.18 - - 2228.25 - 2.80 0.072 1143.38 -374.2 -77.86 - - 3212.12 - - - - - - - - - 15.98 -
5675.72 456.44 -7.22 642 5694.40 roll -1.18 - - 2227.31 - 2.74 0.027 2279.69 414.7 -77.86 - - 3212.22 - - - - - - - - - 16.03 -
6000.31 478.25 -6.87 674 6018.86 roll -1.18 - - 2228.38 - 3.04 0.089 3354.31 353.5 -77.86 - - 3212.84 - - - - - - - - - 16.03 -
6095.05 484.67 -6.94 690 6112.80 roll -1.18 - - 2228.06 - 2.70 0.021 2191.56 -430.6 -77.86 - - 3211.75 - - - - - - - - - 16.04 -
6418.63 505.87 -6.71 722 6422.69 no move -1.18 - - 2228.25 - - - 2190.31 - -77.86 - - 3208.88 - - - - - - - - - - -
6728.68 526.54 -6.83 753 6732.74 no move -1.18 - - 2227.50 - - - 2190.56 - -77.86 - - 3209.69 - - - - - - - - - - -
7038.73 547.38 -6.73 784 7042.79 no move -1.18 - - 2227.81 - - - 2191.25 - -77.86 - - 3208.88 - - - - - - - - - - -
7348.78 567.50 -6.57 815 7369.54 roll -1.18 - - 2228.19 - 3.29 0.086 3351.00 352.5 -77.86 - - 3207.97 - - - - - - - - - 16.02 -
7415.01 572.13 -7.03 825 7433.07 roll -1.18 - - 2226.56 - 2.71 0.022 2192.19 -427.6 -77.86 - - 3209.72 - - - - - - - - - 16.04 -
7738.91 591.06 -5.99 857 7756.65 roll -1.18 - - 2226.88 - 2.83 0.073 1143.06 -370.7 -77.86 - - 3209.69 - - - - - - - - - 16.05 -
7772.83 593.16 -6.10 861 7790.16 roll -1.18 - - 2227.75 - 2.74 0.028 2279.00 414.6 -77.86 - - 3208.31 - - - - - - - - - 16.05 -
8096.38 613.18 -6.20 893 8100.44 no move -1.18 - - 2228.19 - - - 2279.00 - -77.86 - - 3206.97 - - - - - - - - - - -
8406.42 632.72 -6.24 924 8410.48 no move -1.18 - - 2227.56 - - - 2279.88 - -77.86 - - 3207.12 - - - - - - - - - - -
8716.48 651.48 -5.79 955 8720.63 no move -1.18 - - 2228.38 - - - 2279.31 - -77.86 - - 3206.25 - - - - - - - - - - -
9026.54 670.41 -6.47 986 9030.60 no move -1.18 - - 2227.31 - - - 2280.00 - -77.86 - - 3206.25 - - - - - - - - - - -
9336.60 689.13 -5.97 1017 9340.65 no move -1.18 - - 2227.75 - - - 2279.44 - -77.86 - - 3206.09 - - - - - - - - - - -
9646.65 707.94 -6.13 1048 9650.71 no move -1.18 - - 2227.81 - - - 2279.06 - -77.86 - - 3205.34 - - - - - - - - - - -
9956.71 728.11 -6.50 1079 9975.27 roll -1.18 - - 2228.38 - 3.07 0.070 1144.00 -369.7 -77.86 - - 3204.94 - - - - - - - - - 16.03 -
10015.74 732.31 -6.73 1088 10034.18 roll -1.18 - - 2228.06 - 2.76 0.028 2276.50 410.3 -77.86 - - 3205.88 - - - - - - - - - 16.03 -
10340.03 753.44 -6.74 1120 10344.09 no move -1.18 - - 2228.00 - - - 2276.50 - -77.86 - - 3204.84 - - - - - - - - - - -
10650.10 772.47 -6.06 1151 10668.65 roll -1.18 - - 2225.75 - 3.05 0.069 1144.06 -371.3 -77.86 - - 3205.38 - - - - - - - - - 16.02 -
10714.84 776.43 -5.77 1161 10732.42 roll -1.18 - - 2227.94 - 2.78 0.028 2276.50 407.4 -77.86 - - 3206.41 - - - - - - - - - 16.05 -
11038.35 794.13 -5.33 1193 11042.42 no move -1.18 - - 2228.50 - - - 2276.56 - -77.86 - - 3204.88 - - - - - - - - - - -
11348.38 811.28 -5.82 1224 11352.44 no move -1.18 - - 2228.62 - - - 2276.38 - -77.86 - - 3204.31 - - - - - - - - - - -
11658.41 828.36 -5.60 1255 11676.96 roll -1.18 - - 2226.56 - 3.07 0.070 1144.38 -368.7 -77.86 - - 3205.31 - - - - - - - - - 16.01 -
11737.42 832.76 -5.49 1268 11755.47 roll -1.18 - - 2228.19 - 2.79 0.028 2276.94 405.9 -77.86 - - 3204.81 - - - - - - - - - 16.05 -
12061.29 849.46 -5.17 1300 12079.84 roll -1.18 - - 2227.38 - 3.09 0.092 3354.06 348.6 -77.86 - - 3202.84 - - - - - - - - - 15.98 -
12125 end dive: TARGET_DEPTH_EXCEEDED
12126 begin apogee
12143.17 853.26 -5.88 1310 12243.17 -0.31 1.54 0.136 2440.38 138.3 0.17 0.152 2290.00 -6259.2 - 61.67 2.310 2889.00 -5.1 0.311 - - - - - - 15.93 15.61 11.44
12256 end apogee: CONTROL_FINISHED_OK
12256 begin climb
12259.35 855.54 - 1317 12368.02 1.18 2.55 0.095 2805.88 143.3 - - 2289.62 - 77.86 64.81 2.252 2572.19 -4.9 0.307 - - - - - - 15.70 - 12.40
12674.38 832.49 6.45 1361 12678.44 VBD 1.28 - - 2804.69 - - - 2289.25 - 77.86 - - 2562.44 - - - - - - - - - - -
12984.76 812.07 6.60 1392 12990.13 1.37 0.26 0.076 2857.88 204.6 - - 2289.25 - 77.86 - - 2562.28 - - - - - - - - 15.86 - -
13296.37 789.38 7.17 1423 13300.43 VBD 1.42 - - 2858.88 - - - 2289.56 - 77.86 - - 2560.56 - - - - - - - - - - -
13606.66 767.49 6.95 1454 13625.61 done 1.48 - - 2858.75 - 3.12 0.075 1145.69 -366.6 77.86 - - 2559.88 - - - - - - - - - 15.97 -
13676.49 762.36 7.46 1465 13694.55 done 1.52 - - 2859.00 - 2.80 0.032 2275.69 403.6 77.86 - - 2560.94 - - - - - - - - - 15.99 -
14000.76 740.37 6.37 1497 14006.54 1.62 0.31 0.068 2921.44 201.4 - - 2275.06 - 77.86 - - 2561.16 - - - - - - - - 15.98 - -
14312.34 716.45 7.87 1528 14316.40 VBD 1.62 - - 2921.19 - - - 2275.62 - 77.86 - - 2559.56 - - - - - - - - - - -
14622.75 693.42 7.30 1559 14641.30 done 1.67 - - 2921.81 - 3.07 0.074 1144.00 -368.6 77.86 - - 2557.91 - - - - - - - - - 16.01 -
14777.54 681.37 7.58 1587 14794.87 done 1.67 - - 2920.94 - 2.80 0.032 2274.06 403.6 77.86 - - 2559.88 - - - - - - - - - 16.03 -
15101.20 658.97 6.93 1619 15105.26 VBD 1.73 - - 2922.00 - - - 2274.38 - 77.86 - - 2558.53 - - - - - - - - - - -
15411.48 639.02 6.19 1650 15433.08 1.84 0.25 0.075 2976.12 216.5 3.04 0.074 1143.69 -371.9 77.86 - - 2557.50 - - - - - - - - 15.98 15.95 -
15468.95 634.85 7.22 1658 15487.03 done 1.89 - - 2976.62 - 2.78 0.032 2275.62 407.2 77.86 - - 2558.84 - - - - - - - - - 16.02 -
15793.26 611.70 7.27 1690 15811.81 done 1.94 - - 2976.00 - 3.03 0.073 1143.81 -373.5 77.86 - - 2558.19 - - - - - - - - - 16.01 -
15868.42 606.12 7.44 1702 15885.75 done 1.98 - - 2976.25 - 2.80 0.032 2275.19 404.1 77.86 - - 2559.56 - - - - - - - - - 15.89 -
16191.58 582.04 7.73 1734 16210.15 done 1.98 - - 2976.56 - 3.06 0.073 1142.69 -370.1 77.86 - - 2557.66 - - - - - - - - - 16.02 -
16266.34 575.87 8.43 1746 16283.68 done 1.98 - - 2976.06 - 2.79 0.032 2274.69 405.7 77.86 - - 2558.69 - - - - - - - - - 16.04 -
16589.53 550.71 7.64 1778 16593.59 VBD 1.98 - - 2976.56 - - - 2273.94 - 77.86 - - 2557.38 - - - - - - - - - - -
16899.58 526.67 8.06 1809 16918.14 done 1.98 - - 2976.62 - 3.10 0.095 3352.25 347.8 77.86 - - 2559.88 - - - - - - - - - 15.99 -
16954.32 521.72 8.73 1817 16971.28 done 1.98 - - 2975.62 - 2.70 0.023 2199.56 -426.9 77.86 - - 2558.66 - - - - - - - - - 16.03 -
17277.52 495.81 7.16 1849 17299.51 2.03 0.14 0.097 3014.81 279.9 3.30 0.090 3351.38 349.0 77.86 - - 2557.69 - - - - - - - - 15.99 15.93 -
17390.73 486.64 8.40 1868 17408.07 done 2.03 - - 3014.88 - 2.71 0.023 2199.69 -425.0 77.86 - - 2558.25 - - - - - - - - - 16.03 -
17713.92 462.45 7.82 1900 17717.98 VBD 2.03 - - 3014.19 - - - 2198.94 - 77.86 - - 2556.25 - - - - - - - - - - -
18023.95 438.47 7.64 1931 18028.02 VBD 2.03 - - 3014.19 - - - 2198.56 - 77.86 - - 2556.62 - - - - - - - - - - -
18334.38 417.09 5.99 1962 18338.45 VBD 2.15 - - 3014.31 - - - 2198.12 - 77.86 - - 2556.75 - - - - - - - - - - -
18644.69 401.63 4.75 1993 18742.43 2.29 - - 3015.06 - 3.38 0.093 3351.00 341.1 146.08 53.99 1.775 2293.53 -4.9 0.182 - - - - - - - 15.75 11.70
18758.01 393.33 9.24 2008 18776.08 roll back 2.29 - - 3014.88 - 2.77 0.023 2204.06 -414.1 146.08 - - 2289.94 - - - - - - - - - 15.79 -
19082.02 362.58 9.25 2040 19099.77 2.29 - - 3014.38 - 2.89 0.077 1143.94 -366.8 146.08 - - 2286.56 - - - - - - - - - 15.90 -
19155.98 355.29 9.91 2052 19173.72 2.29 - - 3015.06 - 2.80 0.031 2274.25 403.7 146.08 - - 2286.25 - - - - - - - - - 15.89 -
19479.55 324.59 9.37 2084 19498.13 2.29 - - 3014.62 - 3.07 0.072 1142.88 -368.5 146.08 - - 2282.06 - - - - - - - - - 15.94 -
19548.60 317.44 10.26 2095 19567.08 2.29 - - 3015.81 - 2.80 0.031 2275.88 404.6 146.08 - - 2282.81 - - - - - - - - - 15.87 -
19872.93 284.63 10.16 2127 19877.00 2.29 - - 3015.69 - - - 2275.44 - 146.08 - - 2281.97 - - - - - - - - - - -
20182.97 253.64 10.18 2158 20201.53 2.29 - - 3015.19 - 3.05 0.072 1144.06 -370.9 146.08 - - 2282.62 - - - - - - - - - 15.98 -
20242.01 247.39 10.59 2167 20260.33 2.29 - - 3015.12 - 2.80 0.031 2275.56 404.1 146.08 - - 2283.34 - - - - - - - - - 16.00 -
20566.28 214.76 10.03 2199 20584.85 2.29 - - 3015.06 - 3.06 0.071 1144.31 -369.7 146.08 - - 2280.97 - - - - - - - - - 15.89 -
20611.04 210.01 10.69 2205 20628.38 2.29 - - 3014.44 - 2.79 0.030 2275.12 405.3 146.08 - - 2280.78 - - - - - - - - - 15.99 -
20934.21 179.19 9.09 2237 20952.79 2.29 - - 3015.69 - 3.03 0.071 1143.94 -373.3 146.08 - - 2279.81 - - - - - - - - - 15.98 -
20973.25 175.58 9.18 2242 20991.42 2.29 - - 3014.94 - 2.79 0.030 2275.69 405.6 146.08 - - 2281.09 - - - - - - - - - 15.91 -
21297.72 146.85 9.55 2274 21301.79 2.29 - - 3015.56 - - - 2275.94 - 146.08 - - 2280.38 - - - - - - - - - - -
21607.74 119.10 8.05 2305 21626.30 2.29 - - 3015.31 - 3.05 0.070 1144.25 -371.0 146.08 - - 2282.75 - - - - - - - - - 15.89 -
21682.50 113.15 8.02 2317 21700.26 2.29 - - 3014.56 - 2.79 0.029 2275.62 405.5 146.08 - - 2281.28 - - - - - - - - - 15.98 -
22006.52 91.54 6.11 2362 22026.05 2.41 - - 3014.56 - 3.07 0.069 1144.19 -368.5 146.08 - - 2280.81 - - - - - - - - - 15.88 -
22137.77 84.23 5.46 2385 22156.24 2.56 - - 3015.31 - 2.78 0.028 2279.62 408.4 146.08 - - 2282.69 - - - - - - - - - 15.88 -
22342.50 75.80 3.97 2423 22453.23 2.73 - - 3014.62 - 3.09 0.093 3351.19 346.8 230.39 64.14 1.325 1950.41 -5.2 0.049 - - - - - - - 15.72 11.80
22460.03 68.11 8.66 2438 22478.15 roll back 2.73 - - 3015.38 - 2.74 0.022 2200.12 -420.1 230.39 - - 1945.81 - - - - - - - - - 15.80 -
22664.11 50.22 9.46 2476 22682.57 2.73 - - 3014.44 - 2.88 0.073 1145.06 -366.3 230.39 - - 1942.12 - - - - - - - - - 15.78 -
22734.00 44.60 7.73 2487 22752.46 2.73 - - 3016.06 - 2.78 0.028 2276.81 407.1 230.39 - - 1940.12 - - - - - - - - - 15.79 -
22938.70 31.60 6.77 2525 22958.37 2.81 - - 3014.75 - 3.10 0.069 1144.75 -365.2 230.39 - - 1939.00 - - - - - - - - - 15.77 -
23190.04 18.03 4.86 2572 23278.88 2.94 - - 3015.50 - 2.78 0.029 2275.75 406.8 296.41 50.85 1.217 1681.62 -5.1 0.012 - - - - - - - 15.91 12.09
23465.25 6.54 2.17 2620 23618.58 3.18 - - 3015.38 - 3.16 0.092 3352.44 340.7 417.93 93.61 1.182 1185.62 -5.3 0.005 - - - - - - - 15.55 12.24
23625 end climb: SURFACE_DEPTH_REACHED
23625 begin surface coast
23631 end surface coast: CONTROL_FINISHED_OK
23631 begin surface
SM 1.37 - - - - 182.1 9.88 0.984 1137.1 105.6 18.81 0.055 1134.7 60.3 - 2.77 0.026 1139.6 410.3 -2.209 - - 12.23 15.71 15.73 -