NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 893 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 303.23 of 506.00 AH used of 24V (40.07% remains)
• Surface angle -61.6 deg, depth 1.08 m • Intended pitch -17.5 deg, speed -8.462 cm/s
VBD pumped to 399.94 (SM_CC=400)
• GPS1 time: 19 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
19.74 - - - 121.52 VBD -1.33 - - 179.50 - - - 2190.94 - -116.79 71.68 0.005 2981.75 - - - - - - - - - - 14.58
123.74 3.41 -3.43 14 238.77 -1.33 17.29 0.195 2192.19 116.4 2.95 0.067 1153.88 -351.5 -116.79 6.03 0.008 3368.19 64.1 -4.779 - - - - - - 15.11 14.82 14.96
250.24 31.76 -12.78 22 269.52 roll -1.33 - - 2193.25 - 2.81 0.026 2286.06 402.9 -116.79 - - 3370.69 - - - - - - - - - 15.62 -
455.72 55.48 -12.39 60 476.21 roll -1.33 - - 2193.50 - 3.16 0.083 3362.12 340.5 -116.79 - - 3370.69 - - - - - - - - - 15.47 -
572.65 70.50 -13.03 80 591.15 roll -1.33 - - 2192.00 - 2.78 0.018 2199.06 -418.4 -116.79 - - 3372.22 - - - - - - - - - 15.65 -
777.25 90.27 -9.10 118 796.53 roll -1.33 - - 2192.88 - 2.96 0.066 1153.50 -353.2 -116.79 - - 3371.75 - - - - - - - - - 15.63 -
913.01 101.96 -8.55 142 930.80 roll -1.33 - - 2193.12 - 2.76 0.025 2289.38 411.6 -116.79 - - 3370.78 - - - - - - - - - 15.77 -
1236.91 127.52 -7.17 174 1240.93 no move -1.33 - - 2193.56 - - - 2290.00 - -116.79 - - 3370.88 - - - - - - - - - - -
1547.03 149.59 -7.61 205 1566.42 roll -1.33 - - 2193.44 - 3.16 0.060 1154.31 -359.4 -116.79 - - 3372.47 - - - - - - - - - 15.68 -
1602.87 154.38 -8.53 213 1620.64 roll -1.33 - - 2193.12 - 2.76 0.024 2288.94 411.1 -116.79 - - 3371.06 - - - - - - - - - 15.79 -
1926.75 183.74 -9.05 245 1930.82 no move -1.33 - - 2192.81 - - - 2288.50 - -116.79 - - 3371.25 - - - - - - - - - - -
2237.08 208.29 -6.89 276 2256.67 roll -1.33 - - 2191.88 - 3.18 0.060 1153.62 -356.9 -116.79 - - 3372.41 - - - - - - - - - 15.70 -
2303.17 213.14 -7.41 286 2321.16 roll -1.33 - - 2192.50 - 2.77 0.024 2288.00 409.5 -116.79 - - 3372.59 - - - - - - - - - 15.76 -
2627.30 237.22 -8.11 318 2631.36 no move -1.33 - - 2193.62 - - - 2287.94 - -116.79 - - 3371.69 - - - - - - - - - - -
2937.48 263.91 -8.61 349 2957.10 roll -1.33 - - 2191.88 - 3.16 0.061 1153.94 -358.9 -116.79 - - 3371.53 - - - - - - - - - 15.70 -
2963.58 266.35 -9.02 351 2981.57 roll -1.33 - - 2191.56 - 2.77 0.025 2285.69 408.6 -116.79 - - 3372.78 - - - - - - - - - 15.74 -
3287.67 293.51 -7.98 383 3291.74 no move -1.33 - - 2193.25 - - - 2286.00 - -116.79 - - 3371.34 - - - - - - - - - - -
3597.88 317.81 -7.70 414 3617.49 roll -1.33 - - 2193.31 - 3.16 0.061 1154.38 -358.1 -116.79 - - 3372.91 - - - - - - - - - 15.71 -
3643.99 321.55 -7.94 420 3662.37 roll -1.33 - - 2193.56 - 2.79 0.025 2286.75 405.9 -116.79 - - 3372.16 - - - - - - - - - 15.74 -
3968.48 349.27 -8.70 452 3972.54 no move -1.33 - - 2193.56 - - - 2287.12 - -116.79 - - 3371.62 - - - - - - - - - - -
4278.66 374.14 -7.37 483 4298.28 roll -1.33 - - 2191.31 - 3.17 0.061 1153.94 -357.5 -116.79 - - 3372.53 - - - - - - - - - 15.71 -
4334.88 378.39 -7.46 491 4352.86 roll -1.33 - - 2193.56 - 2.80 0.025 2285.62 404.2 -116.79 - - 3373.56 - - - - - - - - - 15.85 -
4659.00 401.29 -6.69 523 4663.06 no move -1.33 - - 2193.50 - - - 2285.25 - -116.79 - - 3372.03 - - - - - - - - - - -
4969.20 421.68 -7.12 554 4973.25 no move -1.33 - - 2193.62 - - - 2285.88 - -116.79 - - 3371.41 - - - - - - - - - - -
5279.38 444.38 -7.54 585 5299.01 roll -1.33 - - 2193.19 - 3.19 0.062 1152.19 -355.4 -116.79 - - 3372.06 - - - - - - - - - 15.69 -
5315.49 447.32 -7.90 589 5333.90 roll -1.33 - - 2193.44 - 2.81 0.026 2287.06 403.9 -116.79 - - 3371.47 - - - - - - - - - 15.86 -
5640.03 474.09 -8.65 621 5644.10 no move -1.33 - - 2193.31 - - - 2287.12 - -116.79 - - 3370.62 - - - - - - - - - - -
5950.23 499.50 -8.18 652 5954.30 no move -1.33 - - 2193.62 - - - 2286.50 - -116.79 - - 3369.91 - - - - - - - - - - -
6260.41 523.40 -7.20 683 6280.03 roll -1.33 - - 2192.88 - 3.19 0.062 1154.19 -355.0 -116.79 - - 3371.06 - - - - - - - - - 15.69 -
6296.52 526.20 -7.32 687 6315.14 roll -1.33 - - 2193.25 - 2.80 0.026 2287.06 404.6 -116.79 - - 3370.88 - - - - - - - - - 15.89 -
6621.38 549.34 -6.90 719 6625.44 no move -1.33 - - 2192.88 - - - 2286.75 - -116.79 - - 3369.62 - - - - - - - - - - -
6931.55 571.93 -7.52 750 6951.56 roll -1.33 - - 2193.50 - 3.22 0.063 1155.12 -351.4 -116.79 - - 3370.88 - - - - - - - - - 15.66 -
6962.33 574.29 -7.63 753 6981.06 roll -1.33 - - 2193.75 - 2.79 0.026 2284.81 404.9 -116.79 - - 3369.66 - - - - - - - - - 15.88 -
7287.21 598.45 -7.31 785 7291.27 no move -1.33 - - 2193.12 - - - 2284.88 - -116.79 - - 3369.19 - - - - - - - - - - -
7597.38 619.85 -6.56 816 7601.44 no move -1.33 - - 2193.31 - - - 2285.81 - -116.79 - - 3369.16 - - - - - - - - - - -
7907.56 640.75 -6.94 847 7911.62 no move -1.33 - - 2192.50 - - - 2284.88 - -116.79 - - 3368.28 - - - - - - - - - - -
8217.73 662.99 -7.00 878 8237.78 roll -1.33 - - 2193.50 - 3.20 0.063 1155.12 -353.1 -116.79 - - 3367.97 - - - - - - - - - 15.67 -
8258.53 666.24 -7.36 883 8277.25 roll -1.33 - - 2193.12 - 2.79 0.026 2284.56 404.8 -116.79 - - 3369.00 - - - - - - - - - 15.87 -
8583.38 690.44 -8.01 915 8603.40 roll -1.33 - - 2193.19 - 3.21 0.063 1154.19 -352.1 -116.79 - - 3367.47 - - - - - - - - - 15.64 -
8639.90 695.41 -9.02 923 8658.93 roll -1.33 - - 2192.94 - 2.81 0.026 2284.38 402.2 -116.79 - - 3368.72 - - - - - - - - - 15.87 -
8965.19 721.68 -7.95 955 8969.25 no move -1.33 - - 2193.75 - - - 2283.69 - -116.79 - - 3367.28 - - - - - - - - - - -
9275.37 743.45 -6.35 986 9279.43 no move -1.33 - - 2193.62 - - - 2284.06 - -116.79 - - 3366.94 - - - - - - - - - - -
9585.94 760.07 -5.10 1017 9590.00 no move -1.33 - - 2193.69 - - - 2284.19 - -116.79 - - 3366.25 - - - - - - - - - - -
9896.15 777.27 -5.73 1048 9916.22 roll -1.33 - - 2193.44 - 3.21 0.063 1154.88 -351.8 -116.79 - - 3367.75 - - - - - - - - - 15.65 -
9952.71 780.92 -6.75 1056 9971.12 roll -1.33 - - 2193.25 - 2.81 0.027 2284.88 402.1 -116.79 - - 3366.94 - - - - - - - - - 15.86 -
10277.27 804.68 -7.72 1088 10281.33 no move -1.33 - - 2192.88 - - - 2284.94 - -116.79 - - 3365.84 - - - - - - - - - - -
10587.44 827.54 -6.96 1119 10607.46 roll -1.33 - - 2193.19 - 3.24 0.063 1153.81 -349.1 -116.79 - - 3366.12 - - - - - - - - - 15.50 -
10623.95 830.26 -7.13 1123 10642.34 roll -1.33 - - 2192.94 - 2.81 0.026 2284.94 402.5 -116.79 - - 3367.62 - - - - - - - - - 15.84 -
10948.46 852.36 -6.82 1155 10952.52 no move -1.33 - - 2193.94 - - - 2284.62 - -116.79 - - 3365.00 - - - - - - - - - - -
11258.63 873.97 -7.40 1186 11278.90 roll -1.33 - - 2192.44 - 3.21 0.064 1154.06 -352.2 -116.79 - - 3365.53 - - - - - - - - - 15.62 -
11299.77 877.27 -7.73 1191 11318.90 roll -1.33 - - 2193.19 - 2.83 0.027 2285.62 399.8 -116.79 - - 3365.59 - - - - - - - - - 15.85 -
11625.04 901.13 -7.04 1223 11645.08 roll -1.33 - - 2193.38 - 3.23 0.064 1154.38 -350.2 -116.79 - - 3365.00 - - - - - - - - - 15.61 -
11661.68 903.96 -7.33 1227 11680.47 roll -1.33 - - 2193.31 - 2.82 0.026 2284.50 400.8 -116.79 - - 3366.22 - - - - - - - - - 15.85 -
11986.58 924.95 -5.90 1259 11990.65 no move -1.33 - - 2193.50 - - - 2284.38 - -116.79 - - 3364.78 - - - - - - - - - - -
12297.17 941.15 -4.87 1290 12317.18 roll -1.33 - - 2193.25 - 3.24 0.064 1156.62 -348.1 -116.79 - - 3364.88 - - - - - - - - - 15.62 -
12367.95 945.17 -5.66 1301 12387.47 roll -1.33 - - 2192.44 - 2.83 0.027 2284.12 398.4 -116.79 - - 3365.19 - - - - - - - - - 15.82 -
12693.59 962.38 -5.64 1333 12697.65 no move -1.33 - - 2193.50 - - - 2284.69 - -116.79 - - 3363.78 - - - - - - - - - - -
13003.76 982.12 -6.81 1364 13023.79 roll -1.33 - - 2193.00 - 3.24 0.092 3359.88 331.8 -116.79 - - 3362.50 - - - - - - - - - 15.49 -
13040.27 984.75 -6.67 1368 13058.67 roll -1.33 - - 2193.75 - 2.81 0.020 2201.06 -412.4 -116.79 - - 3363.16 - - - - - - - - - 15.91 -
13124 end dive: TARGET_DEPTH_EXCEEDED
13124 begin apogee
13131.01 990.52 -6.73 1376 13282.35 -0.31 1.90 0.121 2440.31 129.8 0.14 0.163 2080.00 -864.7 - 97.43 2.317 2889.22 -4.9 0.364 - - - - - - 15.47 14.97 9.94
13295 end apogee: CONTROL_FINISHED_OK
13296 begin climb
13299.10 994.09 - 1386 13481.42 1.33 2.88 0.087 2840.94 139.1 3.58 0.086 924.75 -322.7 116.79 102.18 2.268 2412.94 -4.7 0.357 - - - - - - 15.49 14.91 11.39
13488.42 987.43 5.51 1407 13509.58 roll back 1.51 0.26 0.069 2891.19 193.3 2.82 0.022 2061.50 403.1 116.79 - - 2408.28 - - - - - - - - 15.28 15.48 -
13816.42 969.21 5.27 1439 13915.34 done 1.63 - - 2890.94 - 3.19 0.084 3125.50 333.5 181.12 56.19 2.203 2151.88 -4.6 0.351 - - - - - - - 15.10 11.05
13951.62 960.10 7.66 1458 13972.39 roll back 1.68 0.20 0.079 2935.75 224.0 2.90 0.025 1996.88 -389.2 181.12 - - 2147.66 - - - - - - - - 15.45 15.57 -
14278.61 932.14 9.02 1490 14282.67 VBD 1.68 - - 2936.06 - - - 1996.31 - 181.12 - - 2140.53 - - - - - - - - - - -
14589.19 907.13 7.32 1521 14593.25 VBD 1.75 - - 2936.06 - - - 1996.50 - 181.12 - - 2139.47 - - - - - - - - - - -
14899.78 885.85 6.81 1552 14920.63 1.85 0.18 0.083 2977.81 231.9 3.20 0.086 923.62 -335.3 181.12 - - 2137.66 - - - - - - - - 15.80 15.63 -
14957.14 880.74 8.21 1560 14975.13 done 1.85 - - 2978.50 - 2.76 0.023 2058.56 411.2 181.12 - - 2138.75 - - - - - - - - - 15.84 -
15281.27 852.87 9.23 1592 15301.69 done 1.85 - - 2978.06 - 3.34 0.082 923.50 -339.8 181.12 - - 2138.03 - - - - - - - - - 15.64 -
15362.45 844.43 10.40 1605 15381.57 done 1.85 - - 2978.00 - 2.75 0.024 2058.12 412.6 181.12 - - 2138.34 - - - - - - - - - 15.88 -
15687.79 810.09 10.68 1637 15707.40 done 1.85 - - 2976.94 - 3.11 0.082 3126.94 343.7 181.12 - - 2137.88 - - - - - - - - - 15.66 -
15718.16 806.72 11.18 1640 15737.68 done 1.85 - - 2977.88 - 2.84 0.025 1991.94 -399.6 181.12 - - 2136.88 - - - - - - - - - 15.87 -
16043.82 773.61 9.85 1672 16063.44 done 1.85 - - 2977.62 - 3.14 0.086 923.75 -340.2 181.12 - - 2135.78 - - - - - - - - - 15.62 -
16129.94 764.56 10.84 1686 16147.96 done 1.85 - - 2977.56 - 2.77 0.024 2058.69 409.7 181.12 - - 2136.47 - - - - - - - - - 15.73 -
16454.09 732.10 10.12 1718 16474.53 done 1.85 - - 2978.19 - 3.33 0.082 924.62 -340.6 181.12 - - 2134.94 - - - - - - - - - 15.59 -
16531.03 723.59 11.06 1730 16549.44 done 1.85 - - 2977.81 - 2.74 0.024 2059.62 414.2 181.12 - - 2136.69 - - - - - - - - - 15.88 -
16855.54 687.79 10.90 1762 16876.23 done 1.85 - - 2977.50 - 3.35 0.082 924.75 -338.8 181.12 - - 2134.12 - - - - - - - - - 15.57 -
16927.12 679.39 11.67 1773 16945.84 done 1.85 - - 2977.00 - 2.75 0.024 2059.06 412.5 181.12 - - 2136.84 - - - - - - - - - 15.90 -
17251.98 646.68 9.42 1805 17256.04 VBD 1.85 - - 2977.75 - - - 2059.12 - 181.12 - - 2134.66 - - - - - - - - - - -
17562.42 616.56 9.90 1836 17582.83 done 1.85 - - 2978.00 - 3.34 0.082 923.62 -340.0 181.12 - - 2134.59 - - - - - - - - - 15.59 -
17643.61 607.64 10.98 1849 17662.73 done 1.85 - - 2977.00 - 2.74 0.023 2059.31 414.5 181.12 - - 2135.75 - - - - - - - - - 15.90 -
17968.87 572.41 10.89 1881 17989.29 done 1.85 - - 2977.94 - 3.34 0.081 922.25 -340.4 181.12 - - 2133.03 - - - - - - - - - 15.56 -
18025.79 565.54 11.92 1889 18043.79 done 1.85 - - 2977.44 - 2.77 0.023 2058.50 410.2 181.12 - - 2134.59 - - - - - - - - - 15.91 -
18349.94 529.80 10.47 1921 18354.00 VBD 1.85 - - 2978.19 - - - 2058.81 - 181.12 - - 2134.16 - - - - - - - - - - -
18660.13 499.97 8.62 1952 18680.56 done 1.85 - - 2977.19 - 3.33 0.081 923.50 -340.9 181.12 - - 2134.47 - - - - - - - - - 15.56 -
18727.06 493.42 9.79 1962 18745.30 done 1.85 - - 2978.50 - 2.76 0.023 2060.25 411.9 181.12 - - 2135.09 - - - - - - - - - 15.90 -
19051.93 466.38 7.87 1994 19071.55 done 1.89 - - 2977.75 - 3.12 0.081 3127.12 341.9 181.12 - - 2134.72 - - - - - - - - - 15.58 -
19118.06 460.95 8.08 2004 19136.46 done 1.89 - - 2977.75 - 2.83 0.025 1990.94 -401.5 181.12 - - 2134.78 - - - - - - - - - 15.76 -
19442.98 435.54 7.90 2036 19462.59 done 1.92 - - 2977.69 - 3.12 0.085 923.56 -342.1 181.12 - - 2134.91 - - - - - - - - - 15.55 -
19529.10 428.06 8.92 2050 19547.49 done 1.92 - - 2978.06 - 2.77 0.023 2060.00 410.3 181.12 - - 2133.97 - - - - - - - - - 15.74 -
19853.60 402.36 8.00 2082 19857.67 VBD 1.92 - - 2977.69 - - - 2059.88 - 181.12 - - 2133.09 - - - - - - - - - - -
20164.19 378.57 7.54 2113 20184.63 done 1.97 - - 2977.62 - 3.34 0.081 922.44 -340.6 181.12 - - 2132.25 - - - - - - - - - 15.54 -
20285.42 368.15 8.61 2134 20304.14 done 1.97 - - 2978.00 - 2.76 0.023 2061.31 412.6 181.12 - - 2134.50 - - - - - - - - - 15.89 -
20610.74 342.80 7.62 2166 20616.06 2.02 0.14 0.094 3013.88 256.3 - - 2061.62 - 181.12 - - 2132.25 - - - - - - - - 15.72 - -
20922.32 314.91 9.30 2197 20942.76 done 2.02 - - 3013.25 - 3.36 0.080 922.19 -339.1 181.12 - - 2134.75 - - - - - - - - - 15.53 -
21013.54 305.13 10.64 2212 21032.26 done 2.02 - - 3014.50 - 2.77 0.023 2060.69 411.0 181.12 - - 2134.34 - - - - - - - - - 15.86 -
21338.37 273.79 9.51 2244 21342.43 VBD 2.02 - - 3013.19 - - - 2060.00 - 181.12 - - 2132.91 - - - - - - - - - - -
21648.54 246.79 8.41 2275 21669.10 done 2.02 - - 3013.94 - 3.37 0.080 922.44 -337.6 181.12 - - 2131.91 - - - - - - - - - 15.26 -
21739.98 237.97 9.64 2290 21758.81 done 2.02 - - 3014.00 - 2.80 0.022 2060.31 406.4 181.12 - - 2135.41 - - - - - - - - - 15.66 -
22064.95 209.32 8.66 2322 22085.38 done 2.02 - - 3014.00 - 3.33 0.079 922.44 -341.7 181.12 - - 2131.81 - - - - - - - - - 15.52 -
22146.16 201.58 9.58 2335 22165.30 done 2.02 - - 3014.56 - 2.77 0.022 2060.25 410.8 181.12 - - 2133.72 - - - - - - - - - 15.88 -
22471.81 176.86 7.83 2367 22475.88 VBD 2.06 - - 3014.44 - - - 2060.25 - 181.12 - - 2133.06 - - - - - - - - - - -
22782.02 149.78 8.38 2398 22802.45 done 2.06 - - 3014.69 - 3.37 0.079 923.56 -337.3 181.12 - - 2134.19 - - - - - - - - - 15.49 -
22953.37 134.80 8.47 2429 22972.10 done 2.06 - - 3014.25 - 2.77 0.022 2058.88 409.9 181.12 - - 2133.66 - - - - - - - - - 15.68 -
23278.46 107.86 8.87 2461 23282.53 VBD 2.06 - - 3014.12 - - - 2058.69 - 181.12 - - 2132.91 - - - - - - - - - - -
23589.05 85.57 6.63 2513 23609.81 2.17 - - 3014.12 - 3.15 0.077 3125.31 338.6 181.12 - - 2134.72 - - - - - - - - - 15.27 -
23646.71 81.69 6.80 2521 23665.86 2.27 - - 3014.56 - 2.84 0.023 1989.75 -399.8 181.12 - - 2133.50 - - - - - - - - - 15.53 -
23852.39 67.18 7.29 2559 23873.14 2.34 - - 3014.00 - 3.15 0.082 923.50 -338.5 181.12 - - 2134.72 - - - - - - - - - 15.36 -
24045.04 56.65 4.47 2594 24154.12 2.50 - - 3014.00 - 2.80 0.021 2063.88 407.3 261.61 62.99 1.128 1823.53 -4.9 0.043 - - - - - - - 15.60 10.80
24340.76 39.61 5.32 2645 24432.24 2.63 - - 3014.56 - 3.11 0.078 3125.81 341.5 325.11 51.13 1.079 1563.97 -5.1 0.033 - - - - - - - 15.18 11.55
24539.28 25.93 7.59 2677 24558.40 roll back 2.68 - - 3014.00 - 2.85 0.023 1991.44 -398.0 325.11 - - 1558.94 - - - - - - - - - 15.56 -
24744.52 10.19 8.37 2715 24764.88 2.68 - - 3014.69 - 3.17 0.083 923.88 -336.8 325.11 - - 1555.59 - - - - - - - - - 15.39 -
24821 end climb: SURFACE_DEPTH_REACHED
24821 begin surface coast
24847 end surface coast: CONTROL_FINISHED_OK
24847 begin surface
SM 1.15 - - - - 179.6 60.63 1.045 1259.6 20.8 20.44 0.056 1275.9 62.4 - 3.37 0.026 1243.2 368.0 -1.663 - - 11.09 15.61 15.79 -