NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 841 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 287.26 of 506.00 AH used of 24V (43.23% remains)
• Surface angle -62.0 deg, depth 1.06 m • Intended pitch -16.4 deg, speed -9.167 cm/s
VBD pumped to 399.95 (SM_CC=400)
• GPS1 time: 27 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
19.56 - - - 121.04 VBD -1.31 - - 178.19 - - - 2196.31 - -145.99 71.40 0.005 2950.53 - - - - - - - - - - 14.59
123.25 3.47 -3.69 14 241.69 -1.31 17.25 0.199 2195.81 117.0 3.43 0.084 3352.44 337.1 -145.99 8.28 0.007 3487.00 64.8 -5.611 - - - - - - 15.12 14.79 14.98
423.32 56.43 -13.86 56 442.16 roll -1.31 - - 2196.06 - 2.77 0.019 2199.12 -416.4 -145.99 - - 3490.12 - - - - - - - - - 15.64 -
628.23 79.74 -9.72 94 647.51 roll -1.31 - - 2196.44 - 2.96 0.068 1144.69 -356.2 -145.99 - - 3490.69 - - - - - - - - - 15.43 -
708.96 87.58 -9.54 107 727.43 roll -1.31 - - 2195.06 - 2.78 0.025 2279.56 408.2 -145.99 - - 3491.59 - - - - - - - - - 15.59 -
913.52 105.31 -8.54 139 932.85 roll -1.31 - - 2195.69 - 3.14 0.084 3353.19 341.9 -145.99 - - 3491.06 - - - - - - - - - 15.49 -
963.56 109.99 -9.16 146 982.03 roll -1.31 - - 2194.88 - 2.75 0.019 2191.06 -422.6 -145.99 - - 3491.69 - - - - - - - - - 15.79 -
1288.07 138.11 -8.74 178 1308.21 roll -1.31 - - 2195.38 - 3.35 0.079 3354.38 347.3 -145.99 - - 3491.34 - - - - - - - - - 15.39 -
1354.66 144.49 -9.91 188 1372.80 roll -1.31 - - 2194.75 - 2.76 0.018 2191.44 -421.4 -145.99 - - 3491.69 - - - - - - - - - 15.83 -
1678.87 173.67 -8.94 220 1699.36 roll -1.31 - - 2195.69 - 3.39 0.079 3353.00 342.6 -145.99 - - 3489.91 - - - - - - - - - 15.43 -
1730.23 178.97 -10.16 227 1748.91 roll -1.31 - - 2195.69 - 2.78 0.018 2192.19 -417.6 -145.99 - - 3491.75 - - - - - - - - - 15.69 -
2055.01 208.15 -9.09 259 2075.40 roll -1.31 - - 2195.56 - 3.36 0.079 3353.56 345.6 -145.99 - - 3491.06 - - - - - - - - - 15.65 -
2096.15 212.24 -9.75 264 2114.83 roll -1.31 - - 2195.50 - 2.74 0.019 2190.75 -424.4 -145.99 - - 3491.84 - - - - - - - - - 15.72 -
2420.97 240.90 -8.72 296 2441.34 roll -1.31 - - 2196.12 - 3.36 0.079 3353.25 346.0 -145.99 - - 3490.81 - - - - - - - - - 15.65 -
2447.83 243.36 -8.96 298 2465.78 roll -1.31 - - 2195.31 - 2.73 0.018 2191.56 -425.5 -145.99 - - 3491.75 - - - - - - - - - 15.85 -
2771.91 271.68 -8.70 330 2775.97 no move -1.31 - - 2195.62 - - - 2189.62 - -145.99 - - 3490.66 - - - - - - - - - - -
3082.05 297.62 -8.25 361 3102.44 roll -1.31 - - 2195.88 - 3.35 0.079 3354.31 347.7 -145.99 - - 3491.22 - - - - - - - - - 15.61 -
3128.92 302.03 -9.54 367 3146.88 roll -1.31 - - 2196.38 - 2.77 0.019 2192.38 -419.5 -145.99 - - 3491.28 - - - - - - - - - 15.83 -
3453.25 329.73 -8.95 399 3457.31 no move -1.31 - - 2195.31 - - - 2191.25 - -145.99 - - 3491.25 - - - - - - - - - - -
3763.57 357.47 -8.45 430 3767.63 no move -1.31 - - 2195.62 - - - 2191.50 - -145.99 - - 3490.50 - - - - - - - - - - -
4073.73 383.92 -8.53 461 4094.11 roll -1.31 - - 2195.88 - 3.37 0.081 3354.69 345.2 -145.99 - - 3490.88 - - - - - - - - - 15.56 -
4140.60 389.97 -9.13 471 4158.56 roll -1.31 - - 2196.12 - 2.75 0.019 2193.00 -422.4 -145.99 - - 3491.78 - - - - - - - - - 15.91 -
4464.69 417.41 -8.85 503 4468.75 no move -1.31 - - 2196.25 - - - 2192.56 - -145.99 - - 3490.59 - - - - - - - - - - -
4774.86 442.36 -7.84 534 4795.25 roll -1.31 - - 2195.75 - 3.34 0.081 3353.69 347.6 -145.99 - - 3490.47 - - - - - - - - - 15.65 -
4821.74 446.34 -8.34 540 4839.69 roll -1.31 - - 2196.31 - 2.74 0.019 2194.56 -423.0 -145.99 - - 3490.69 - - - - - - - - - 15.92 -
5145.81 470.41 -7.77 572 5166.19 roll -1.31 - - 2196.00 - 3.34 0.081 3353.62 347.0 -145.99 - - 3491.41 - - - - - - - - - 15.63 -
5186.95 474.05 -8.57 577 5206.03 roll -1.31 - - 2194.38 - 2.75 0.019 2193.56 -421.8 -145.99 - - 3491.62 - - - - - - - - - 15.88 -
5512.13 501.44 -8.95 609 5532.76 roll -1.31 - - 2194.19 - 3.34 0.081 3353.50 347.3 -145.99 - - 3491.25 - - - - - - - - - 15.65 -
5549.36 504.71 -9.03 613 5567.32 roll -1.31 - - 2195.62 - 2.75 0.019 2195.56 -421.1 -145.99 - - 3490.88 - - - - - - - - - 15.90 -
5873.42 531.22 -8.23 645 5877.48 no move -1.31 - - 2195.62 - - - 2194.06 - -145.99 - - 3489.44 - - - - - - - - - - -
6183.59 556.14 -7.93 676 6203.98 roll -1.31 - - 2196.00 - 3.33 0.082 3353.38 348.1 -145.99 - - 3489.31 - - - - - - - - - 15.63 -
6250.46 561.90 -8.89 686 6268.42 roll -1.31 - - 2195.88 - 2.78 0.019 2193.81 -417.1 -145.99 - - 3490.22 - - - - - - - - - 15.76 -
6574.55 586.54 -7.79 718 6578.61 no move -1.31 - - 2195.88 - - - 2192.75 - -145.99 - - 3488.59 - - - - - - - - - - -
6884.73 610.63 -7.59 749 6905.15 roll -1.31 - - 2195.75 - 3.35 0.082 3354.12 346.7 -145.99 - - 3488.78 - - - - - - - - - 15.61 -
6951.64 616.20 -8.71 759 6969.81 roll -1.31 - - 2195.81 - 2.75 0.020 2195.56 -421.3 -145.99 - - 3489.16 - - - - - - - - - 15.90 -
7275.94 639.48 -7.54 791 7296.33 roll -1.31 - - 2196.06 - 3.34 0.082 3353.94 346.8 -145.99 - - 3487.91 - - - - - - - - - 15.63 -
7317.08 642.61 -7.87 796 7336.01 roll -1.31 - - 2196.00 - 2.75 0.020 2195.38 -421.3 -145.99 - - 3488.56 - - - - - - - - - 15.91 -
7642.23 666.85 -7.54 828 7661.01 roll -1.31 - - 2193.75 - 2.91 0.072 1145.88 -360.7 -145.99 - - 3489.44 - - - - - - - - - 15.67 -
7677.49 669.81 -8.09 832 7695.45 roll -1.31 - - 2195.50 - 2.73 0.026 2279.94 415.4 -145.99 - - 3488.78 - - - - - - - - - 15.90 -
8001.58 697.32 -9.07 864 8021.15 roll -1.31 - - 2195.44 - 3.12 0.086 3352.69 343.8 -145.99 - - 3487.09 - - - - - - - - - 15.62 -
8051.91 702.28 -9.60 871 8070.59 roll -1.31 - - 2195.19 - 2.73 0.019 2192.00 -425.2 -145.99 - - 3488.25 - - - - - - - - - 15.70 -
8376.73 729.99 -7.91 903 8380.79 no move -1.31 - - 2195.25 - - - 2191.44 - -145.99 - - 3486.03 - - - - - - - - - - -
8686.92 753.82 -7.51 934 8690.98 no move -1.31 - - 2195.50 - - - 2191.75 - -145.99 - - 3486.34 - - - - - - - - - - -
8997.08 775.25 -6.73 965 9001.14 no move -1.31 - - 2195.31 - - - 2191.19 - -145.99 - - 3485.81 - - - - - - - - - - -
9307.22 795.95 -6.74 996 9327.60 roll -1.31 - - 2195.88 - 3.35 0.083 3353.31 346.9 -145.99 - - 3486.22 - - - - - - - - - 15.48 -
9368.35 800.39 -7.04 1005 9387.41 roll -1.31 - - 2195.88 - 2.76 0.019 2194.94 -419.7 -145.99 - - 3486.72 - - - - - - - - - 15.82 -
9694.07 820.24 -5.79 1037 9714.45 roll -1.31 - - 2193.94 - 3.35 0.083 3352.44 345.5 -145.99 - - 3486.06 - - - - - - - - - 15.60 -
9735.20 823.32 -6.64 1042 9753.89 roll -1.31 - - 2195.00 - 2.73 0.019 2192.12 -425.0 -145.99 - - 3486.31 - - - - - - - - - 15.91 -
10060.04 845.98 -7.64 1074 10064.10 no move -1.31 - - 2195.38 - - - 2190.94 - -145.99 - - 3484.94 - - - - - - - - - - -
10370.18 869.29 -6.51 1105 10390.57 roll -1.31 - - 2195.69 - 3.35 0.083 3354.12 347.2 -145.99 - - 3484.34 - - - - - - - - - 15.56 -
10421.32 873.49 -8.11 1112 10440.00 roll -1.31 - - 2195.69 - 2.74 0.020 2194.00 -423.4 -145.99 - - 3484.94 - - - - - - - - - 15.91 -
10746.12 897.60 -7.33 1144 10766.50 roll -1.31 - - 2193.69 - 3.32 0.083 3353.31 349.2 -145.99 - - 3485.41 - - - - - - - - - 15.57 -
10777.25 899.97 -7.68 1147 10795.95 roll -1.31 - - 2195.94 - 2.74 0.020 2195.12 -422.7 -145.99 - - 3484.78 - - - - - - - - - 15.90 -
11102.06 922.81 -6.94 1179 11106.11 no move -1.31 - - 2195.88 - - - 2192.94 - -145.99 - - 3483.88 - - - - - - - - - - -
11412.19 943.58 -6.97 1210 11432.59 roll -1.31 - - 2195.19 - 3.34 0.084 3353.06 347.3 -145.99 - - 3484.53 - - - - - - - - - 15.57 -
11469.19 947.85 -7.13 1218 11487.16 roll -1.31 - - 2195.88 - 2.77 0.020 2196.31 -417.6 -145.99 - - 3484.69 - - - - - - - - - 15.76 -
11793.27 968.37 -6.29 1250 11812.05 roll -1.31 - - 2195.25 - 2.96 0.073 1144.88 -355.2 -145.99 - - 3484.19 - - - - - - - - - 15.62 -
11828.53 970.84 -7.00 1254 11846.89 roll -1.31 - - 2195.88 - 2.76 0.027 2278.75 410.8 -145.99 - - 3484.53 - - - - - - - - - 15.69 -
12112 end dive: TARGET_DEPTH_EXCEEDED
12113 begin apogee
12120.33 990.16 -6.69 1282 12306.56 -0.31 1.88 0.123 2440.88 130.3 0.14 0.160 2060.56 -1558.5 - 121.32 2.329 2889.88 -4.9 0.364 - - - - - - 15.52 14.93 9.80
12311 end apogee: CONTROL_FINISHED_OK
12312 begin climb
12314.87 993.81 - 1295 12531.00 1.31 2.88 0.087 2836.69 137.4 3.53 0.090 899.50 -328.9 145.99 126.26 2.276 2293.50 -4.7 0.360 - - - - - - 15.47 14.92 11.33
12538.70 980.80 7.88 1321 12556.68 done 1.39 - - 2837.25 - 2.77 0.022 2038.56 411.2 145.99 - - 2287.50 - - - - - - - - - 15.54 -
12863.34 957.63 7.29 1353 12884.17 1.50 0.29 0.071 2891.75 187.9 3.03 0.078 3103.06 351.3 145.99 - - 2282.53 - - - - - - - - 15.71 15.49 -
12965.33 948.63 8.61 1370 12984.81 done 1.54 - - 2892.25 - 2.81 0.027 1967.06 -404.3 145.99 - - 2282.47 - - - - - - - - - 15.79 -
13291.35 922.30 7.96 1402 13311.34 done 1.61 - - 2891.44 - 3.20 0.075 3101.69 354.6 145.99 - - 2280.16 - - - - - - - - - 15.67 -
13382.10 914.36 8.83 1417 13400.78 done 1.61 - - 2892.12 - 2.80 0.027 1968.56 -404.7 145.99 - - 2279.69 - - - - - - - - - 15.85 -
13707.30 887.76 7.98 1449 13728.51 1.68 0.20 0.078 2931.81 198.5 3.13 0.091 899.31 -341.6 145.99 - - 2279.03 - - - - - - - - 15.62 15.57 -
13735.56 885.12 8.31 1451 13753.53 done 1.73 - - 2934.56 - 2.71 0.023 2039.44 420.7 145.99 - - 2277.97 - - - - - - - - - 15.87 -
14059.67 853.03 9.85 1483 14078.84 done 1.73 - - 2935.88 - 2.99 0.078 3102.38 355.5 145.99 - - 2278.12 - - - - - - - - - 15.70 -
14095.32 848.71 11.66 1487 14113.27 done 1.73 - - 2934.88 - 2.78 0.027 1969.12 -407.6 145.99 - - 2278.38 - - - - - - - - - 15.89 -
14419.38 816.38 9.82 1519 14438.96 done 1.73 - - 2933.50 - 3.17 0.075 3102.50 357.5 145.99 - - 2277.41 - - - - - - - - - 15.70 -
14499.72 807.90 10.36 1532 14518.41 done 1.73 - - 2935.31 - 2.79 0.027 1969.12 -406.2 145.99 - - 2277.47 - - - - - - - - - 15.90 -
14824.94 778.59 8.31 1564 14829.00 VBD 1.78 - - 2934.06 - - - 1968.88 - 145.99 - - 2275.56 - - - - - - - - - - -
15135.50 753.42 7.72 1595 15141.20 1.87 0.22 0.076 2980.62 211.6 - - 1969.38 - 145.99 - - 2275.09 - - - - - - - - 15.85 - -
15447.31 725.63 9.50 1626 15451.37 VBD 1.87 - - 2981.12 - - - 1969.50 - 145.99 - - 2275.12 - - - - - - - - - - -
15757.51 697.79 9.23 1657 15761.57 VBD 1.87 - - 2981.56 - - - 1969.38 - 145.99 - - 2274.50 - - - - - - - - - - -
16068.22 670.92 8.55 1688 16072.28 VBD 1.91 - - 2981.75 - - - 1969.00 - 145.99 - - 2274.47 - - - - - - - - - - -
16378.36 644.93 8.67 1719 16397.94 done 1.91 - - 2982.00 - 3.13 0.091 899.56 -341.7 145.99 - - 2273.28 - - - - - - - - - 15.60 -
16424.42 640.69 8.98 1725 16442.38 done 1.91 - - 2981.00 - 2.70 0.023 2039.56 422.2 145.99 - - 2275.84 - - - - - - - - - 15.91 -
16748.52 610.64 9.42 1757 16752.58 VBD 1.91 - - 2982.81 - - - 2039.56 - 145.99 - - 2274.38 - - - - - - - - - - -
17058.69 580.61 10.04 1788 17078.66 done 1.91 - - 2982.50 - 3.28 0.086 896.88 -348.4 145.99 - - 2275.16 - - - - - - - - - 15.58 -
17139.42 571.66 11.19 1801 17158.11 done 1.91 - - 2982.44 - 2.72 0.023 2037.44 419.3 145.99 - - 2275.38 - - - - - - - - - 15.90 -
17464.21 540.10 9.25 1833 17468.27 VBD 1.91 - - 2982.81 - - - 2037.88 - 145.99 - - 2273.88 - - - - - - - - - - -
17774.38 512.23 9.02 1864 17778.44 VBD 1.91 - - 2981.94 - - - 2037.50 - 145.99 - - 2273.72 - - - - - - - - - - -
18084.56 484.03 8.91 1895 18088.62 VBD 1.91 - - 2982.81 - - - 2037.75 - 145.99 - - 2272.12 - - - - - - - - - - -
18395.15 457.79 7.83 1926 18415.54 done 1.99 - - 2980.69 - 3.35 0.085 898.00 -340.2 145.99 - - 2274.75 - - - - - - - - - 15.55 -
18432.53 454.76 8.05 1930 18451.74 2.06 0.12 0.102 3015.06 286.4 2.72 0.023 2039.88 419.8 145.99 - - 2274.34 - - - - - - - - 15.65 15.88 -
18758.28 428.09 8.09 1962 18777.46 done 2.12 - - 3014.19 - 3.01 0.077 3101.00 352.5 145.99 - - 2275.16 - - - - - - - - - 15.63 -
18813.94 422.97 9.25 1970 18832.30 done 2.12 - - 3015.25 - 2.77 0.026 1969.19 -408.6 145.99 - - 2274.47 - - - - - - - - - 15.73 -
19138.39 395.42 8.86 2002 19142.45 VBD 2.12 - - 3014.69 - - - 1969.25 - 145.99 - - 2273.19 - - - - - - - - - - -
19449.00 370.16 8.21 2033 19468.62 2.18 - - 3014.25 - 3.20 0.074 3102.81 354.2 145.99 - - 2272.41 - - - - - - - - - 15.61 -
19545.10 361.80 8.80 2049 19563.07 2.18 - - 3014.44 - 2.79 0.026 1968.44 -406.6 145.99 - - 2274.31 - - - - - - - - - 15.78 -
19869.58 334.72 8.54 2081 19873.65 2.21 - - 3014.88 - - - 1968.75 - 145.99 - - 2272.97 - - - - - - - - - - -
20179.79 307.08 8.87 2112 20200.04 2.21 - - 3014.94 - 3.23 0.073 3102.62 351.0 145.99 - - 2273.03 - - - - - - - - - 15.62 -
20236.63 301.72 9.40 2120 20255.00 2.21 - - 3014.00 - 2.79 0.026 1967.56 -406.8 145.99 - - 2274.72 - - - - - - - - - 15.73 -
20561.51 275.94 7.26 2152 20581.61 2.33 - - 3015.19 - 3.23 0.072 3104.94 352.1 145.99 - - 2272.84 - - - - - - - - - 15.61 -
20588.48 273.79 7.74 2154 20606.85 2.41 - - 3016.00 - 2.79 0.026 1967.56 -407.7 145.99 - - 2273.88 - - - - - - - - - 15.85 -
20913.36 250.15 7.17 2186 20932.96 2.53 - - 3015.38 - 3.11 0.088 899.62 -343.4 145.99 - - 2274.06 - - - - - - - - - 15.42 -
20949.83 247.26 7.50 2190 20967.82 2.63 - - 3014.75 - 2.71 0.022 2040.88 421.1 145.99 - - 2274.59 - - - - - - - - - 15.87 -
21274.33 222.75 7.65 2222 21294.73 2.73 - - 3014.88 - 3.34 0.083 899.56 -341.7 145.99 - - 2272.38 - - - - - - - - - 15.31 -
21301.62 220.56 7.82 2224 21319.59 2.81 - - 3014.44 - 2.70 0.022 2039.88 422.3 145.99 - - 2274.12 - - - - - - - - - 15.87 -
21626.15 198.31 7.11 2256 21645.35 2.93 - - 3014.75 - 3.07 0.075 3102.06 346.0 145.99 - - 2273.69 - - - - - - - - - 15.47 -
21672.36 194.77 7.58 2262 21690.33 3.03 - - 3014.88 - 2.76 0.025 1966.75 -411.3 145.99 - - 2274.84 - - - - - - - - - 15.79 -
21996.81 171.17 7.30 2294 22016.40 3.14 - - 3013.06 - 3.13 0.086 896.94 -341.8 145.99 - - 2274.44 - - - - - - - - - 15.48 -
22057.57 166.06 8.32 2303 22076.27 3.19 - - 3014.56 - 2.73 0.022 2042.25 419.5 145.99 - - 2274.16 - - - - - - - - - 15.62 -
22382.77 142.08 6.80 2335 22401.56 3.33 - - 3013.81 - 2.99 0.075 3102.94 354.7 145.99 - - 2274.97 - - - - - - - - - 15.57 -
22408.44 140.09 7.46 2337 22426.41 3.43 - - 3015.38 - 2.76 0.024 1965.25 -412.2 145.99 - - 2273.69 - - - - - - - - - 15.76 -
22732.94 118.94 6.06 2369 22814.97 3.58 - - 3015.19 - - - 1965.56 - 218.14 56.24 1.227 2001.06 -4.8 0.082 - - - - - - - - 10.41
23121.49 89.53 6.83 2420 23142.24 3.72 - - 3014.81 - 3.24 0.071 3102.88 351.0 218.14 - - 1991.41 - - - - - - - - - 15.50 -
23179.24 85.32 7.42 2428 23197.94 3.82 - - 3015.38 - 2.80 0.025 1968.31 -405.2 218.14 - - 1990.97 - - - - - - - - - 15.54 -
23384.42 72.70 5.54 2466 23496.60 3.99 - - 3014.69 - 3.15 0.090 898.44 -339.6 302.38 65.94 1.148 1656.88 -5.1 0.056 - - - - - - - 15.24 11.39
23503.48 64.29 8.32 2481 23522.18 roll back 4.04 - - 3015.56 - 2.74 0.021 2043.75 418.0 302.38 - - 1651.75 - - - - - - - - - 15.63 -
23708.71 50.07 6.38 2519 23729.01 4.04 - - 3015.00 - 3.01 0.074 3102.19 351.6 302.38 - - 1647.59 - - - - - - - - - 15.40 -
23775.90 45.06 7.53 2529 23795.00 4.04 - - 3015.44 - 2.81 0.024 1967.31 -403.9 302.38 - - 1646.88 - - - - - - - - - 15.63 -
23982.25 30.39 7.22 2567 24002.41 4.04 - - 3015.31 - 3.10 0.086 899.38 -344.5 302.38 - - 1644.91 - - - - - - - - - 15.55 -
24024.40 27.13 7.56 2572 24043.10 4.04 - - 3015.06 - 2.72 0.021 2042.94 420.4 302.38 - - 1645.47 - - - - - - - - - 15.59 -
24229.59 12.62 7.13 2610 24236.49 4.04 - - 3014.62 - - - 2042.69 - 302.38 - - 1644.69 - - - - - - - - - - -
24342 end climb: SURFACE_DEPTH_REACHED
24342 begin surface coast
24403 end surface coast: CONTROL_FINISHED_OK
24404 begin surface
SM 1.20 - - - - 180.4 77.46 1.068 1259.5 16.3 20.41 0.050 1274.6 62.4 - 0.51 0.049 1244.5 2440.2 -6.108 - - 10.87 15.75 15.84 -