NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 41 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 15.69 of 506.00 AH used of 24V (96.90% remains)
• Surface angle -65.2 deg, depth 1.19 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.87 (SM_CC=430)
• GPS1 time: 22 s
• GPS2 time: 2 s • Transponder ping count: 13
• 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
10 end surface: CONTROL_FINISHED_OK
11 begin dive
18.65 - - - 96.91 VBD -1.18 - - 181.00 - - - 2248.75 - -77.86 54.90 0.005 2529.53 - - - - - - - - - - 15.15
99.11 3.10 -3.66 11 217.37 -1.18 16.45 0.232 2227.12 124.4 3.06 0.071 1091.56 -378.2 -77.86 11.06 0.007 3211.69 61.7 -4.536 - - - - - - 15.68 15.66 15.70
298.42 48.17 -15.76 34 316.34 roll -1.18 - - 2227.75 - 2.77 0.027 2230.50 411.2 -77.86 - - 3213.31 - - - - - - - - - 15.87 -
502.22 75.38 -13.29 72 508.74 no move -1.18 - - 2227.94 - - - 2230.12 - -77.86 - - 3213.84 - - - - - - - - - - -
694.56 98.21 -10.66 110 713.52 roll -1.18 - - 2227.81 - 2.98 0.068 1093.12 -381.5 -77.86 - - 3214.19 - - - - - - - - - 15.92 -
819.67 112.32 -11.28 132 836.72 roll -1.18 - - 2226.50 - 2.73 0.027 2231.56 417.0 -77.86 - - 3215.72 - - - - - - - - - 15.98 -
1142.49 138.82 -7.55 164 1146.50 no move -1.18 - - 2227.38 - - - 2231.75 - -77.86 - - 3214.56 - - - - - - - - - - -
1452.54 165.29 -8.26 195 1469.98 done -1.18 - - 2228.19 - 2.90 0.087 3304.56 369.9 -77.86 - - 3215.25 - - - - - - - - - 15.98 -
1566.12 175.49 -8.68 215 1583.57 done -1.18 - - 2228.69 - 2.74 0.023 2147.12 -422.4 -77.86 - - 3216.41 - - - - - - - - - 16.03 -
1889.32 201.57 -8.56 247 1893.34 no move -1.18 - - 2227.62 - - - 2146.06 - -77.86 - - 3215.09 - - - - - - - - - - -
2199.34 227.44 -7.92 278 2203.35 no move -1.18 - - 2227.50 - - - 2144.38 - -77.86 - - 3215.31 - - - - - - - - - - -
2509.35 251.83 -7.66 309 2528.29 roll -1.18 - - 2225.69 - 3.13 0.084 3304.50 370.6 -77.86 - - 3218.00 - - - - - - - - - 16.07 -
2629.07 262.35 -9.01 330 2647.07 roll -1.18 - - 2227.81 - 2.72 0.024 2148.12 -425.1 -77.86 - - 3215.22 - - - - - - - - - 16.07 -
2952.87 289.37 -8.76 362 2971.35 roll -1.18 - - 2227.44 - 3.07 0.084 3304.06 376.5 -77.86 - - 3217.31 - - - - - - - - - 16.08 -
3017.53 295.77 -9.98 372 3034.39 roll -1.18 - - 2228.00 - 2.70 0.024 2149.56 -427.6 -77.86 - - 3215.00 - - - - - - - - - 16.04 -
3340.23 323.50 -8.65 404 3357.90 roll -1.18 - - 2227.31 - 2.78 0.078 1094.38 -379.6 -77.86 - - 3215.03 - - - - - - - - - 16.09 -
3504.09 339.09 -9.29 434 3521.37 roll -1.18 - - 2228.31 - 2.73 0.028 2231.19 416.4 -77.86 - - 3214.88 - - - - - - - - - 16.10 -
3827.17 365.73 -7.67 466 3831.22 no move -1.18 - - 2227.81 - - - 2232.19 - -77.86 - - 3212.03 - - - - - - - - - - -
4137.24 390.88 -8.23 497 4155.32 roll -1.18 - - 2227.88 - 2.99 0.074 1094.44 -380.5 -77.86 - - 3214.44 - - - - - - - - - 16.09 -
4221.51 398.23 -8.79 511 4239.17 roll -1.18 - - 2228.31 - 2.74 0.028 2229.38 414.2 -77.86 - - 3212.88 - - - - - - - - - 16.11 -
4544.97 424.89 -8.15 543 4562.64 roll -1.18 - - 2227.50 - 2.88 0.089 3306.06 373.8 -77.86 - - 3210.75 - - - - - - - - - 16.09 -
4648.94 434.23 -9.26 561 4666.21 roll -1.18 - - 2228.19 - 2.72 0.024 2152.38 -424.1 -77.86 - - 3211.47 - - - - - - - - - 16.06 -
4972.01 459.61 -7.34 593 4990.49 roll -1.18 - - 2228.12 - 3.10 0.085 3304.00 371.5 -77.86 - - 3212.62 - - - - - - - - - 16.11 -
5040.94 465.31 -8.62 604 5058.54 roll -1.18 - - 2228.19 - 2.70 0.024 2150.44 -427.2 -77.86 - - 3209.72 - - - - - - - - - 16.10 -
5364.31 489.83 -7.68 636 5368.36 no move -1.18 - - 2228.38 - - - 2150.62 - -77.86 - - 3207.75 - - - - - - - - - - -
5674.37 512.80 -7.59 667 5691.64 roll -1.18 - - 2227.94 - 2.78 0.079 1093.12 -380.4 -77.86 - - 3209.50 - - - - - - - - - 16.10 -
5752.10 519.45 -8.28 680 5770.10 roll -1.18 - - 2228.56 - 2.72 0.029 2231.69 418.6 -77.86 - - 3208.41 - - - - - - - - - 16.11 -
6075.90 545.35 -7.96 712 6079.95 no move -1.18 - - 2227.88 - - - 2231.75 - -77.86 - - 3207.25 - - - - - - - - - - -
6385.93 569.29 -7.25 743 6389.98 no move -1.18 - - 2227.44 - - - 2231.56 - -77.86 - - 3206.94 - - - - - - - - - - -
6696.24 591.56 -6.85 774 6700.29 no move -1.18 - - 2227.25 - - - 2231.56 - -77.86 - - 3206.53 - - - - - - - - - - -
7006.23 611.56 -6.14 805 7010.28 no move -1.18 - - 2227.19 - - - 2230.69 - -77.86 - - 3205.94 - - - - - - - - - - -
7316.29 631.78 -7.12 836 7334.39 roll -1.18 - - 2228.25 - 2.99 0.076 1092.62 -380.6 -77.86 - - 3204.44 - - - - - - - - - 16.12 -
7414.86 639.69 -8.31 853 7433.24 roll -1.18 - - 2227.81 - 2.74 0.029 2229.06 414.8 -77.86 - - 3205.62 - - - - - - - - - 16.12 -
7739.05 665.09 -7.96 885 7756.71 roll -1.18 - - 2228.31 - 2.87 0.092 3303.75 374.5 -77.86 - - 3204.19 - - - - - - - - - 16.10 -
7797.16 670.30 -8.33 894 7815.15 roll -1.18 - - 2227.94 - 2.72 0.025 2150.62 -423.9 -77.86 - - 3205.53 - - - - - - - - - 16.09 -
8120.96 692.32 -6.61 926 8125.02 no move -1.18 - - 2227.38 - - - 2150.50 - -77.86 - - 3204.12 - - - - - - - - - - -
8431.01 711.19 -5.98 957 8435.06 no move -1.18 - - 2227.75 - - - 2150.56 - -77.86 - - 3203.34 - - - - - - - - - - -
8741.05 730.65 -6.33 988 8759.53 roll -1.18 - - 2227.31 - 3.05 0.088 3303.25 377.9 -77.86 - - 3205.97 - - - - - - - - - 16.10 -
8860.00 740.33 -8.01 1009 8878.00 roll -1.18 - - 2227.75 - 2.72 0.024 2152.06 -423.2 -77.86 - - 3205.44 - - - - - - - - - 16.10 -
9184.25 763.50 -7.48 1041 9202.03 roll -1.18 - - 2228.25 - 2.82 0.080 1093.81 -375.3 -77.86 - - 3203.75 - - - - - - - - - 16.09 -
9282.49 771.05 -7.52 1058 9300.48 roll -1.18 - - 2228.81 - 2.74 0.029 2230.00 414.7 -77.86 - - 3203.47 - - - - - - - - - 16.11 -
9606.28 793.90 -7.08 1090 9623.93 roll -1.18 - - 2227.75 - 2.89 0.092 3303.06 371.3 -77.86 - - 3204.34 - - - - - - - - - 16.08 -
9690.12 800.22 -7.36 1104 9707.39 roll -1.18 - - 2228.06 - 2.72 0.025 2151.69 -423.3 -77.86 - - 3202.88 - - - - - - - - - 16.11 -
10013.21 820.51 -6.03 1136 10017.25 no move -1.18 - - 2228.38 - - - 2151.00 - -77.86 - - 3201.34 - - - - - - - - - - -
10323.24 838.23 -5.31 1167 10327.29 no move -1.18 - - 2227.69 - - - 2150.69 - -77.86 - - 3201.81 - - - - - - - - - - -
10633.68 854.29 -4.80 1198 10652.56 roll -1.18 - - 2228.00 - 3.13 0.089 3303.38 368.3 -77.86 - - 3200.22 - - - - - - - - - 16.10 -
10748.75 861.04 -5.74 1218 10766.03 roll -1.18 - - 2226.31 - 2.72 0.025 2152.38 -423.2 -77.86 - - 3201.75 - - - - - - - - - 16.10 -
11072.38 875.71 -4.44 1250 11090.31 roll -1.18 - - 2227.75 - 2.82 0.082 1093.88 -375.4 -77.86 - - 3203.16 - - - - - - - - - 16.10 -
11151.28 879.70 -4.79 1263 11169.66 roll -1.18 - - 2228.38 - 2.74 0.030 2229.62 414.5 -77.86 - - 3201.25 - - - - - - - - - 16.11 -
11475.44 895.85 -5.55 1295 11479.89 no move -1.18 - - 2227.81 - - - 2229.94 - -77.86 - - 3200.31 - - - - - - - - - - -
11785.72 915.05 -6.65 1326 11789.77 no move -1.18 - - 2227.44 - - - 2230.19 - -77.86 - - 3198.97 - - - - - - - - - - -
12095.78 936.19 -6.77 1357 12114.27 roll -1.18 - - 2228.00 - 3.02 0.077 1094.06 -376.2 -77.86 - - 3200.22 - - - - - - - - - 16.10 -
12150.43 940.39 -7.17 1365 12167.70 roll -1.18 - - 2228.00 - 2.76 0.029 2229.88 411.5 -77.86 - - 3200.81 - - - - - - - - - 16.11 -
12473.51 964.55 -7.47 1397 12491.19 roll -1.18 - - 2227.81 - 2.90 0.094 3303.31 370.1 -77.86 - - 3199.19 - - - - - - - - - 16.08 -
12531.64 969.31 -8.18 1406 12549.63 roll -1.18 - - 2227.81 - 2.72 0.026 2152.75 -423.0 -77.86 - - 3199.84 - - - - - - - - - 16.09 -
12825 end dive: TARGET_DEPTH_EXCEEDED
12825 begin apogee
12830.61 990.34 -6.78 1435 12930.76 -0.31 1.53 0.144 2440.00 138.7 0.12 0.205 2198.81 383.8 - 61.06 2.564 2891.62 -5.0 0.324 - - - - - - 16.02 15.58 12.02
12943 end apogee: CONTROL_FINISHED_OK
12944 begin climb
12947.03 993.30 - 1442 13072.66 1.18 2.51 0.099 2803.62 144.9 3.35 0.098 3351.38 344.1 77.86 65.52 2.522 2572.03 -4.9 0.319 - - - - - - 15.72 15.31 12.68
13079.95 989.24 5.34 1456 13098.85 roll back 1.34 0.23 0.079 2852.88 214.2 2.80 0.025 2208.31 -408.2 77.86 - - 2568.81 - - - - - - - - 15.60 15.62 -
13404.77 966.56 7.62 1488 13422.44 done 1.34 - - 2852.50 - 2.88 0.082 1145.50 -369.0 77.86 - - 2562.31 - - - - - - - - - 15.85 -
13518.63 957.30 8.34 1508 13536.31 done 1.34 - - 2852.31 - 2.82 0.035 2274.88 400.5 77.86 - - 2563.56 - - - - - - - - - 15.90 -
13842.14 932.21 7.79 1540 13846.20 VBD 1.34 - - 2852.31 - - - 2274.00 - 77.86 - - 2560.22 - - - - - - - - - - -
14152.16 907.23 8.14 1571 14156.21 VBD 1.34 - - 2853.25 - - - 2274.69 - 77.86 - - 2559.22 - - - - - - - - - - -
14462.21 881.18 8.37 1602 14480.70 done 1.34 - - 2852.56 - 3.03 0.078 1144.62 -373.0 77.86 - - 2559.44 - - - - - - - - - 16.01 -
14567.00 871.68 9.36 1620 14584.67 done 1.34 - - 2852.56 - 2.80 0.035 2273.75 403.3 77.86 - - 2560.41 - - - - - - - - - 16.04 -
14890.44 844.46 7.81 1652 14908.93 done 1.34 - - 2852.44 - 3.02 0.077 1144.06 -374.1 77.86 - - 2558.38 - - - - - - - - - 16.04 -
14985.10 836.53 8.46 1668 15002.77 done 1.34 - - 2852.81 - 2.82 0.035 2273.38 400.5 77.86 - - 2560.00 - - - - - - - - - 16.05 -
15308.59 810.73 7.72 1700 15312.64 VBD 1.34 - - 2852.75 - - - 2273.12 - 77.86 - - 2557.84 - - - - - - - - - - -
15619.03 789.84 5.92 1731 15637.11 done 1.47 - - 2852.88 - 3.00 0.077 1143.19 -376.6 77.86 - - 2559.28 - - - - - - - - - 16.06 -
15687.97 785.43 6.23 1742 15708.38 1.58 0.28 0.074 2911.44 209.1 2.81 0.035 2273.81 402.4 77.86 - - 2559.75 - - - - - - - - 15.99 16.08 -
16014.22 761.11 7.62 1774 16018.27 VBD 1.58 - - 2910.62 - - - 2274.31 - 77.86 - - 2557.66 - - - - - - - - - - -
16324.89 738.85 6.72 1805 16328.94 VBD 1.66 - - 2911.56 - - - 2274.06 - 77.86 - - 2557.53 - - - - - - - - - - -
16635.26 717.47 7.31 1836 16639.31 VBD 1.71 - - 2911.00 - - - 2273.75 - 77.86 - - 2557.25 - - - - - - - - - - -
16945.52 694.85 7.32 1867 16964.83 1.75 0.17 0.091 2951.25 236.8 2.99 0.077 1144.25 -377.8 77.86 - - 2558.38 - - - - - - - - 16.05 16.04 -
17015.29 688.99 8.81 1878 17033.68 done 1.75 - - 2951.81 - 2.81 0.035 2274.25 402.1 77.86 - - 2557.88 - - - - - - - - - 16.09 -
17339.49 662.13 7.97 1910 17357.56 done 1.75 - - 2951.69 - 2.99 0.077 1141.62 -378.8 77.86 - - 2559.50 - - - - - - - - - 16.08 -
17418.02 655.71 8.21 1923 17436.83 done 1.75 - - 2952.06 - 2.81 0.035 2274.44 403.1 77.86 - - 2557.66 - - - - - - - - - 16.08 -
17742.64 629.20 8.57 1955 17746.69 VBD 1.75 - - 2951.00 - - - 2274.81 - 77.86 - - 2556.09 - - - - - - - - - - -
18052.71 604.78 7.69 1986 18070.79 done 1.75 - - 2951.50 - 2.96 0.100 3352.38 364.0 77.86 - - 2556.38 - - - - - - - - - 16.00 -
18111.24 599.81 8.05 1995 18129.23 done 1.75 - - 2952.25 - 2.70 0.025 2202.19 -426.0 77.86 - - 2556.91 - - - - - - - - - 16.09 -
18435.06 574.19 8.53 2027 18453.96 done 1.75 - - 2951.94 - 3.14 0.096 3352.62 366.4 77.86 - - 2556.06 - - - - - - - - - 16.07 -
18530.25 565.45 9.24 2043 18547.52 done 1.75 - - 2951.12 - 2.70 0.025 2201.25 -426.4 77.86 - - 2557.56 - - - - - - - - - 16.09 -
18853.33 538.55 7.71 2075 18872.44 done 1.75 - - 2951.44 - 3.15 0.095 3353.44 365.8 77.86 - - 2555.41 - - - - - - - - - 16.09 -
18932.90 531.31 9.47 2088 18951.29 done 1.75 - - 2952.19 - 2.70 0.025 2201.88 -426.5 77.86 - - 2556.84 - - - - - - - - - 16.09 -
19257.49 507.26 6.92 2120 19275.17 done 1.82 - - 2952.38 - 2.81 0.080 1142.75 -376.9 77.86 - - 2557.06 - - - - - - - - - 16.08 -
19416.03 495.88 7.19 2149 19434.03 done 1.87 - - 2952.31 - 2.79 0.035 2278.25 407.0 77.86 - - 2556.69 - - - - - - - - - 16.06 -
19740.26 474.54 7.00 2181 19759.58 1.93 0.19 0.084 2996.44 232.3 2.94 0.098 3353.56 365.8 77.86 - - 2559.31 - - - - - - - - 16.05 16.02 -
19795.75 470.21 7.56 2189 19813.36 done 1.93 - - 2996.31 - 2.70 0.025 2202.50 -426.3 77.86 - - 2557.06 - - - - - - - - - 15.98 -
20119.68 446.71 7.19 2221 20137.37 done 1.98 - - 2996.00 - 2.81 0.080 1141.75 -377.5 77.86 - - 2557.03 - - - - - - - - - 16.07 -
20233.56 438.26 7.70 2241 20250.85 done 1.98 - - 2997.44 - 2.80 0.034 2276.50 405.3 77.86 - - 2557.44 - - - - - - - - - 16.08 -
20557.06 415.25 6.94 2273 20561.11 VBD 2.05 - - 2996.50 - - - 2277.38 - 77.86 - - 2556.06 - - - - - - - - - - -
20867.32 393.09 7.19 2304 20886.23 2.10 - 0.034 2998.19 - 2.98 0.076 1143.75 -380.4 77.86 - - 2558.91 - - - - - - - - - 16.05 -
20962.93 386.19 7.44 2320 20981.03 2.14 - 0.040 2998.38 - 2.78 0.034 2275.56 407.1 77.86 - - 2559.03 - - - - - - - - - 16.07 -
21287.26 364.20 6.63 2352 21306.27 2.22 - 0.028 2998.81 - 2.93 0.097 3353.88 368.0 77.86 - - 2558.94 - - - - - - - - - 16.03 -
21442.85 353.67 6.86 2380 21460.93 2.29 0.05 0.283 2995.50 -66.2 2.69 0.025 2200.38 -428.8 77.86 - - 2556.47 - - - - - - - - 15.89 16.07 -
21767.38 334.85 6.08 2412 21771.92 2.41 0.05 0.208 3009.50 280.0 - - 2199.44 - 77.86 - - 2557.38 - - - - - - - - 16.04 - -
22078.25 314.49 6.89 2443 22082.31 2.48 - - 3010.88 - - - 2199.31 - 77.86 - - 2556.31 - - - - - - - - - - -
22388.52 292.91 6.78 2474 22406.21 2.56 - - 3011.19 - 2.78 0.079 1142.81 -380.0 77.86 - - 2557.91 - - - - - - - - - 16.07 -
22617.07 276.50 6.75 2517 22635.46 2.63 - - 3011.44 - 2.78 0.033 2277.31 408.1 77.86 - - 2556.66 - - - - - - - - - 16.05 -
22941.67 259.95 4.36 2549 23044.52 2.79 - - 3010.69 - 3.04 0.077 1142.94 -373.1 154.05 59.24 1.667 2260.25 -5.0 0.130 - - - - - - - 15.74 12.03
23055.02 251.79 9.32 2564 23073.44 roll back 2.79 - - 3011.44 - 2.84 0.033 2275.44 398.8 154.05 - - 2256.00 - - - - - - - - - 15.85 -
23379.34 215.49 11.14 2596 23383.41 2.79 - - 3011.62 - - - 2275.38 - 154.05 - - 2250.75 - - - - - - - - - - -
23689.36 178.95 11.79 2627 23707.70 2.79 - - 3011.50 - 3.00 0.076 1143.00 -377.5 154.05 - - 2248.53 - - - - - - - - - 15.96 -
23753.99 170.92 12.39 2637 23771.69 2.79 - - 3011.00 - 2.82 0.033 2274.81 401.4 154.05 - - 2249.44 - - - - - - - - - 15.96 -
24077.50 134.90 10.07 2669 24095.59 2.79 - - 3010.81 - 2.97 0.074 1143.38 -381.0 154.05 - - 2247.00 - - - - - - - - - 15.98 -
24206.07 121.79 10.35 2692 24224.08 2.79 - - 3011.00 - 2.80 0.032 2276.88 404.8 154.05 - - 2249.50 - - - - - - - - - 15.94 -
24530.31 101.51 3.75 2724 24647.51 2.96 - - 3011.31 - 3.03 0.097 3352.50 355.0 242.89 68.06 1.449 1898.25 -5.2 0.060 - - - - - - - 15.64 12.28
24654.28 93.25 9.21 2740 24672.28 roll back 2.96 - - 3011.06 - 2.78 0.024 2203.62 -413.3 242.89 - - 1895.72 - - - - - - - - - 15.78 -
24858.60 76.91 7.51 2778 24865.57 3.00 - - 3011.06 - - - 2202.31 - 242.89 - - 1889.22 - - - - - - - - - - -
25051.78 62.63 6.93 2816 25072.05 3.06 - - 3011.94 - 3.17 0.091 3353.38 363.1 242.89 - - 1887.59 - - - - - - - - - 15.83 -
25093.33 59.43 7.64 2821 25111.74 3.06 - - 3011.75 - 2.73 0.023 2202.81 -421.5 242.89 - - 1888.91 - - - - - - - - - 15.90 -
25297.57 44.10 7.58 2859 25317.20 3.06 - - 3011.75 - 3.16 0.090 3353.44 364.1 242.89 - - 1885.59 - - - - - - - - - 15.85 -
25443.78 33.70 7.16 2885 25462.17 3.12 - - 3011.56 - 2.72 0.023 2199.50 -424.2 242.89 - - 1884.72 - - - - - - - - - 15.94 -
25648.38 26.40 2.61 2923 25786.62 3.34 - - 3011.94 - 2.87 0.078 1144.44 -367.6 355.31 85.67 1.311 1441.53 -5.2 0.017 - - - - - - - 15.57 12.39
25923.23 10.85 5.09 2968 25941.24 3.52 - - 3010.94 - 2.79 0.030 2278.38 406.4 355.31 - - 1433.91 - - - - - - - - - 15.82 -
26051 end climb: SURFACE_DEPTH_REACHED
26052 begin surface coast
26137 end surface coast: CONTROL_FINISHED_OK
26138 begin surface
SM 1.21 - - - - 181.9 55.62 1.252 1137.6 20.5 18.26 0.054 1125.2 61.6 - 0.24 0.067 1149.9 4779.6 -8.822 - - 12.43 15.85 15.89 -