NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 887 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 301.09 of 506.00 AH used of 24V (40.50% remains)
• Surface angle -60.5 deg, depth 1.16 m • Intended pitch -17.5 deg, speed -8.462 cm/s
VBD pumped to 400.17 (SM_CC=400)
• GPS1 time: 18 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
12 begin dive
19.71 - - - 114.51 VBD -1.33 - - 180.25 - - - 2188.38 - -116.79 66.50 0.005 2867.97 - - - - - - - - - - 14.59
116.73 3.32 -3.51 13 235.29 -1.33 17.41 0.205 2192.62 115.6 3.49 0.083 3362.69 336.5 -116.79 8.26 0.007 3368.72 60.6 -4.967 - - - - - - 15.16 14.81 14.98
241.63 30.76 -14.28 20 261.19 roll -1.33 - - 2192.75 - 2.79 0.018 2203.56 -415.5 -116.79 - - 3371.53 - - - - - - - - - 15.51 -
447.39 56.10 -11.35 58 466.69 roll -1.33 - - 2192.38 - 2.95 0.064 1153.75 -355.9 -116.79 - - 3371.59 - - - - - - - - - 15.64 -
568.16 70.07 -11.18 79 586.67 roll -1.33 - - 2192.56 - 2.79 0.025 2286.19 405.9 -116.79 - - 3370.88 - - - - - - - - - 15.61 -
772.76 89.58 -9.46 117 779.61 no move -1.33 - - 2192.62 - - - 2286.38 - -116.79 - - 3370.84 - - - - - - - - - - -
970.68 106.45 -7.51 148 990.05 roll -1.33 - - 2192.56 - 3.17 0.082 3362.38 339.4 -116.79 - - 3372.34 - - - - - - - - - 15.54 -
1016.49 110.04 -7.77 154 1034.26 roll -1.33 - - 2191.12 - 2.75 0.018 2195.31 -424.4 -116.79 - - 3371.94 - - - - - - - - - 15.68 -
1340.33 138.72 -9.45 186 1344.35 no move -1.33 - - 2191.88 - - - 2194.12 - -116.79 - - 3370.50 - - - - - - - - - - -
1650.63 165.42 -8.82 217 1669.22 roll -1.33 - - 2190.56 - 2.92 0.064 1154.31 -356.1 -116.79 - - 3371.94 - - - - - - - - - 15.60 -
1689.93 169.00 -9.02 222 1708.44 roll -1.33 - - 2192.25 - 2.79 0.024 2291.19 407.5 -116.79 - - 3372.00 - - - - - - - - - 15.70 -
2014.55 193.24 -7.38 254 2034.16 roll -1.33 - - 2192.38 - 3.16 0.060 1154.62 -359.7 -116.79 - - 3371.94 - - - - - - - - - 15.66 -
2075.04 198.05 -7.91 263 2093.76 roll -1.33 - - 2192.44 - 2.78 0.024 2287.06 407.4 -116.79 - - 3371.56 - - - - - - - - - 15.85 -
2399.90 223.51 -8.02 295 2403.97 no move -1.33 - - 2192.19 - - - 2287.06 - -116.79 - - 3371.25 - - - - - - - - - - -
2710.10 248.20 -8.17 326 2729.92 roll -1.33 - - 2191.88 - 3.16 0.060 1155.25 -358.2 -116.79 - - 3371.50 - - - - - - - - - 15.63 -
2766.41 253.30 -9.32 334 2784.80 roll -1.33 - - 2192.31 - 2.78 0.024 2286.69 407.0 -116.79 - - 3372.16 - - - - - - - - - 15.73 -
3090.94 278.90 -7.40 366 3094.99 no move -1.33 - - 2192.19 - - - 2287.19 - -116.79 - - 3371.50 - - - - - - - - - - -
3401.12 301.13 -7.48 397 3405.18 no move -1.33 - - 2191.94 - - - 2287.31 - -116.79 - - 3370.81 - - - - - - - - - - -
3711.33 326.18 -8.53 428 3730.94 roll -1.33 - - 2191.69 - 3.14 0.060 1153.69 -361.0 -116.79 - - 3371.69 - - - - - - - - - 15.74 -
3767.43 331.18 -8.84 436 3785.64 roll -1.33 - - 2192.62 - 2.78 0.025 2286.94 407.6 -116.79 - - 3372.25 - - - - - - - - - 15.90 -
4091.75 357.43 -7.50 468 4112.01 roll -1.33 - - 2192.31 - 3.14 0.061 1152.88 -361.2 -116.79 - - 3372.28 - - - - - - - - - 15.74 -
4128.62 360.50 -8.09 472 4147.00 roll -1.33 - - 2192.50 - 2.78 0.024 2287.19 408.0 -116.79 - - 3372.22 - - - - - - - - - 15.90 -
4453.15 384.42 -6.69 504 4457.21 no move -1.33 - - 2191.88 - - - 2287.12 - -116.79 - - 3371.25 - - - - - - - - - - -
4763.35 404.26 -6.22 535 4782.95 roll -1.33 - - 2192.31 - 3.16 0.061 1153.88 -358.6 -116.79 - - 3372.03 - - - - - - - - - 15.59 -
4819.44 407.81 -6.41 543 4838.24 roll -1.33 - - 2192.31 - 2.81 0.025 2285.50 402.7 -116.79 - - 3371.56 - - - - - - - - - 15.92 -
5144.37 426.88 -6.09 575 5163.99 roll -1.33 - - 2192.88 - 3.17 0.086 3361.69 339.5 -116.79 - - 3370.09 - - - - - - - - - 15.56 -
5174.74 429.01 -6.29 578 5193.85 roll -1.33 - - 2192.69 - 2.77 0.019 2195.56 -421.0 -116.79 - - 3371.78 - - - - - - - - - 15.90 -
5499.99 451.24 -6.64 610 5504.05 no move -1.33 - - 2192.50 - - - 2195.25 - -116.79 - - 3370.34 - - - - - - - - - - -
5810.18 471.39 -7.10 641 5814.24 no move -1.33 - - 2192.12 - - - 2195.12 - -116.79 - - 3370.41 - - - - - - - - - - -
6120.38 494.04 -7.72 672 6141.84 roll -1.33 - - 2192.69 - 3.45 0.082 3362.00 338.2 -116.79 - - 3368.75 - - - - - - - - - 15.66 -
6158.44 497.10 -8.40 676 6176.44 roll -1.33 - - 2192.38 - 2.77 0.019 2197.50 -420.4 -116.79 - - 3370.47 - - - - - - - - - 15.87 -
6482.55 523.58 -8.83 708 6486.61 no move -1.33 - - 2191.94 - - - 2195.69 - -116.79 - - 3369.00 - - - - - - - - - - -
6792.73 546.99 -6.90 739 6813.57 roll -1.33 - - 2192.44 - 3.44 0.082 3361.19 338.8 -116.79 - - 3368.25 - - - - - - - - - 15.66 -
6844.34 551.09 -8.19 746 6863.05 roll -1.33 - - 2192.19 - 2.78 0.019 2198.44 -418.3 -116.79 - - 3369.19 - - - - - - - - - 15.93 -
7169.19 574.67 -7.02 778 7187.99 roll -1.33 - - 2191.56 - 2.96 0.067 1155.75 -352.3 -116.79 - - 3368.91 - - - - - - - - - 15.70 -
7214.48 578.42 -8.24 784 7232.87 roll -1.33 - - 2190.94 - 2.79 0.026 2286.56 405.3 -116.79 - - 3369.84 - - - - - - - - - 15.92 -
7539.01 604.37 -7.68 816 7558.62 roll -1.33 - - 2192.19 - 3.16 0.063 1155.75 -357.9 -116.79 - - 3369.00 - - - - - - - - - 15.56 -
7579.38 607.59 -7.55 821 7598.48 roll -1.33 - - 2192.56 - 2.80 0.026 2286.56 403.9 -116.79 - - 3370.22 - - - - - - - - - 15.91 -
7904.84 632.94 -7.85 853 7908.90 no move -1.33 - - 2192.44 - - - 2286.88 - -116.79 - - 3367.53 - - - - - - - - - - -
8215.16 657.98 -8.11 884 8234.79 roll -1.33 - - 2190.44 - 3.19 0.062 1154.88 -354.9 -116.79 - - 3367.72 - - - - - - - - - 15.71 -
8251.27 660.85 -7.92 888 8269.28 roll -1.33 - - 2192.44 - 2.79 0.026 2287.69 406.0 -116.79 - - 3367.47 - - - - - - - - - 15.88 -
8575.39 684.36 -7.15 920 8595.00 roll -1.33 - - 2192.12 - 3.20 0.087 3361.19 335.5 -116.79 - - 3366.00 - - - - - - - - - 15.64 -
8635.75 688.63 -7.13 929 8654.48 roll -1.33 - - 2191.25 - 2.76 0.019 2189.75 -424.4 -116.79 - - 3368.03 - - - - - - - - - 15.92 -
8960.58 709.33 -6.10 961 8964.64 no move -1.33 - - 2191.94 - - - 2189.38 - -116.79 - - 3366.50 - - - - - - - - - - -
9270.75 727.91 -5.52 992 9291.57 roll -1.33 - - 2190.94 - 3.46 0.083 3360.62 338.5 -116.79 - - 3366.09 - - - - - - - - - 15.60 -
9452.37 739.07 -6.57 1025 9471.09 roll -1.33 - - 2191.94 - 2.77 0.019 2194.50 -421.0 -116.79 - - 3366.06 - - - - - - - - - 15.89 -
9756 end dive: TARGET_DEPTH_EXCEEDED
9757 begin apogee
9763.46 757.33 -6.59 1055 9911.81 -0.31 1.88 0.122 2440.50 132.2 0.14 0.153 2082.88 -797.3 - 95.65 1.991 2889.00 -5.0 0.328 - - - - - - 15.56 15.04 10.03
9919 end apogee: CONTROL_FINISHED_OK
9919 begin climb
9922.42 759.75 - 1065 10096.29 1.33 2.84 0.087 2841.06 141.0 3.14 0.077 3127.19 332.6 116.79 99.28 1.950 2412.06 -4.8 0.323 - - - - - - 15.52 14.98 11.39
10213.32 744.09 6.66 1107 10231.71 done 1.44 - - 2842.19 - 2.88 0.024 1992.94 -393.8 116.79 - - 2406.09 - - - - - - - - - 15.67 -
10538.26 724.55 6.16 1139 10564.78 1.57 0.37 0.062 2911.19 186.5 3.30 0.073 3128.50 344.1 116.79 - - 2402.38 - - - - - - - - 15.72 15.64 -
10626.67 717.71 7.79 1153 10645.45 done 1.61 - - 2911.50 - 2.84 0.024 1990.88 -400.6 116.79 - - 2400.94 - - - - - - - - - 15.82 -
10952.08 696.02 6.50 1185 10956.14 VBD 1.73 - - 2910.62 - - - 1990.12 - 116.79 - - 2399.03 - - - - - - - - - - -
11262.68 678.00 5.69 1216 11289.63 1.90 0.42 0.060 2990.06 189.1 3.30 0.073 3129.50 345.3 116.79 - - 2399.16 - - - - - - - - 15.82 15.70 -
11325.91 673.29 7.49 1225 11345.44 done 1.96 - - 2990.00 - 2.86 0.025 1991.62 -397.9 116.79 - - 2399.38 - - - - - - - - - 15.89 -
11651.95 651.10 7.10 1257 11671.60 done 2.04 - - 2989.81 - 3.14 0.085 923.38 -340.2 116.79 - - 2113.81 - - - - - - - - - 15.65 -
11808.12 638.12 8.97 1285 11826.50 done 2.04 - - 2989.44 - 2.75 0.022 2060.75 413.6 116.79 - - 2397.91 - - - - - - - - - 15.91 -
12133.01 612.68 7.94 1317 12137.93 2.07 0.06 0.164 3013.56 402.0 - - 2060.81 - 116.79 - - 2396.53 - - - - - - - - 15.85 - -
12444.47 588.76 7.40 1348 12464.91 done 2.13 - - 3014.75 - 3.35 0.080 923.81 -339.4 116.79 - - 2395.41 - - - - - - - - - 15.65 -
12596.09 577.75 7.07 1375 12615.23 2.22 - - 3015.31 - 2.78 0.022 2059.31 408.5 116.79 - - 2396.81 - - - - - - - - - 15.90 -
12921.86 559.32 5.70 1407 12942.32 2.38 - - 3014.25 - 3.35 0.080 922.62 -339.3 116.79 - - 2396.62 - - - - - - - - - 15.64 -
13039.24 551.59 6.66 1427 13057.65 2.49 - - 3015.69 - 2.77 0.022 2060.12 410.6 116.79 - - 2398.06 - - - - - - - - - 15.90 -
13364.17 530.72 6.78 1459 13384.61 2.59 - - 3014.38 - 3.34 0.079 923.75 -340.2 116.79 - - 2394.94 - - - - - - - - - 15.63 -
13445.79 524.46 7.83 1472 13464.53 2.63 - - 3015.06 - 2.77 0.022 2060.06 410.2 116.79 - - 2395.75 - - - - - - - - - 15.92 -
13771.05 501.06 7.74 1504 13790.50 2.67 - - 3015.62 - 3.10 0.077 3126.94 344.2 116.79 - - 2396.56 - - - - - - - - - 15.45 -
13821.26 496.72 8.59 1511 13840.80 2.67 - - 3014.62 - 2.81 0.024 1990.69 -404.4 116.79 - - 2396.56 - - - - - - - - - 15.89 -
14147.18 469.22 8.52 1543 14167.06 2.67 - - 3015.56 - 3.13 0.083 922.12 -341.4 116.79 - - 2395.84 - - - - - - - - - 15.62 -
14347.96 451.03 8.97 1580 14366.71 2.67 - - 3014.56 - 2.76 0.022 2062.12 413.0 116.79 - - 2394.97 - - - - - - - - - 15.92 -
14673.25 425.27 7.51 1612 14677.33 2.73 - - 3015.06 - - - 2062.25 - 116.79 - - 2394.59 - - - - - - - - - - -
14983.84 401.55 7.30 1643 15004.28 2.80 - - 3015.00 - 3.34 0.079 920.62 -341.8 116.79 - - 2394.09 - - - - - - - - - 15.60 -
15191.20 387.26 6.43 1681 15209.60 2.92 - - 3015.50 - 2.78 0.022 2060.12 409.9 116.79 - - 2395.62 - - - - - - - - - 15.87 -
15516.11 370.85 4.56 1713 15628.33 3.08 - - 3015.44 - 3.38 0.082 923.31 -336.3 195.57 63.99 1.534 2090.88 -4.8 0.199 - - - - - - - 15.23 10.48
15684.11 358.22 9.34 1738 15703.27 roll back 3.08 - - 3015.19 - 2.82 0.022 2059.19 402.8 195.57 - - 2085.59 - - - - - - - - - 15.62 -
16009.51 330.14 8.47 1770 16013.59 3.08 - - 3015.12 - - - 2059.06 - 195.57 - - 2082.12 - - - - - - - - - - -
16320.09 302.49 7.80 1801 16340.54 3.12 - - 3014.88 - 3.36 0.079 921.12 -338.7 195.57 - - 2079.47 - - - - - - - - - 15.60 -
16447.07 291.48 8.92 1823 16465.48 3.12 - - 3014.25 - 2.79 0.022 2059.94 408.2 195.57 - - 2080.78 - - - - - - - - - 15.87 -
16771.58 264.02 8.66 1855 16792.02 3.12 - - 3015.00 - 3.36 0.079 923.75 -338.2 195.57 - - 2078.09 - - - - - - - - - 15.36 -
16818.51 259.45 9.60 1861 16836.53 3.12 - - 3015.25 - 2.76 0.022 2060.75 412.0 195.57 - - 2079.09 - - - - - - - - - 15.87 -
17142.63 230.04 8.85 1893 17146.71 3.12 - - 3015.19 - - - 2060.94 - 195.57 - - 2078.03 - - - - - - - - - - -
17453.06 202.58 9.10 1924 17473.50 3.12 - - 3015.62 - 3.37 0.079 923.75 -337.4 195.57 - - 2077.75 - - - - - - - - - 15.48 -
17490.00 198.94 9.73 1928 17508.01 3.12 - - 3015.44 - 2.75 0.021 2059.38 413.0 195.57 - - 2079.44 - - - - - - - - - 15.83 -
17814.33 169.43 8.69 1960 17834.36 3.12 - - 3015.75 - 3.13 0.076 3126.56 341.0 195.57 - - 2079.56 - - - - - - - - - 15.56 -
17920.98 159.80 8.90 1978 17939.40 3.12 - - 3015.31 - 2.82 0.023 1991.62 -402.5 195.57 - - 2079.47 - - - - - - - - - 15.76 -
18245.52 132.43 8.29 2010 18265.55 3.12 - - 3016.25 - 3.12 0.083 923.62 -342.3 195.57 - - 2077.97 - - - - - - - - - 15.58 -
18316.32 126.23 8.83 2021 18335.08 3.12 - - 3015.81 - 2.74 0.021 2062.81 415.8 195.57 - - 2078.38 - - - - - - - - - 15.83 -
18641.62 102.90 5.10 2053 18739.78 3.25 - - 3015.75 - 3.36 0.080 921.12 -339.8 263.49 53.80 1.170 1814.62 -4.9 0.074 - - - - - - - 15.25 11.12
18956.32 76.76 8.46 2108 18975.06 roll back 3.25 - - 3015.62 - 2.76 0.021 2063.00 413.7 263.49 - - 1807.72 - - - - - - - - - 15.67 -
19161.62 64.19 5.49 2146 19182.06 3.43 - - 3015.25 - 3.08 0.074 3127.88 345.7 263.49 - - 1805.38 - - - - - - - - - 15.42 -
19274.07 57.83 5.93 2165 19293.20 3.58 - - 3016.00 - 2.84 0.022 1987.75 -401.5 263.49 - - 1805.12 - - - - - - - - - 15.56 -
19479.75 47.44 4.68 2203 19585.36 3.74 - - 3016.12 - 3.13 0.084 924.00 -339.9 339.81 60.46 1.085 1503.81 -5.0 0.038 - - - - - - - 15.24 11.39
19652.27 35.56 7.93 2229 19671.01 roll back 3.77 - - 3015.12 - 2.77 0.021 2062.81 411.1 339.81 - - 1499.25 - - - - - - - - - 15.59 -
19857.67 19.77 7.28 2267 19879.24 3.84 - - 3015.88 - 3.38 0.079 922.56 -337.4 339.81 - - 1496.50 - - - - - - - - - 15.44 -
19951.25 12.24 7.85 2282 19970.00 3.88 - - 3015.50 - 2.76 0.020 2062.44 413.0 339.81 - - 1495.81 - - - - - - - - - 15.70 -
20080 end climb: SURFACE_DEPTH_REACHED
20081 begin surface coast
20142 end surface coast: CONTROL_FINISHED_OK
20142 begin surface
SM 1.15 - - - - 179.2 48.49 1.032 1258.7 26.0 20.07 0.050 1271.5 63.4 - 0.52 0.058 1245.8 2390.5 -4.844 - - 11.03 15.70 15.83 -