NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 7 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 3.43 of 506.00 AH used of 24V (99.32% remains)
• Surface angle -67.4 deg, depth 1.32 m • Intended pitch -20.9 deg, speed -9.167 cm/s
VBD pumped to 449.87 (SM_CC=450)
• GPS1 time: 23 s
• GPS2 time: 5 s • Transponder ping count: 20
• 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
18.57 - - - 89.83 VBD -1.62 - - 172.31 - - - 2160.62 - -97.32 49.78 0.005 2343.47 - - - - - - - - - - 15.08
92.03 3.30 -4.50 10 213.31 -1.62 15.86 0.232 2207.81 128.3 3.05 0.100 3303.19 374.6 -97.32 15.48 0.006 3367.03 66.1 -6.106 - - - - - - 15.69 15.59 14.89
444.40 78.90 -14.72 64 462.45 roll -1.62 - - 2207.81 - 2.73 0.038 2161.19 -418.3 -97.32 - - 3370.91 - - - - - - - - - 15.93 -
648.37 105.39 -12.24 98 666.56 roll -1.62 - - 2207.50 - 3.01 0.093 3303.19 379.4 -97.32 - - 3369.78 - - - - - - - - - 15.91 -
752.69 117.77 -11.43 116 769.31 roll -1.62 - - 2207.88 - 2.70 0.035 2159.75 -423.5 -97.32 - - 3370.66 - - - - - - - - - 15.93 -
1075.10 151.23 -9.52 148 1092.10 roll -1.62 - - 2207.62 - 2.77 0.095 1094.38 -384.6 -97.32 - - 3372.75 - - - - - - - - - 15.96 -
1132.52 157.60 -11.49 157 1150.25 roll -1.62 - - 2208.69 - 2.75 0.043 2228.31 412.3 -97.32 - - 3371.22 - - - - - - - - - 15.96 -
1456.01 192.14 -10.04 189 1460.01 no move -1.62 - - 2207.81 - - - 2228.50 - -97.32 - - 3370.91 - - - - - - - - - - -
1766.04 224.68 -10.88 220 1783.46 roll -1.62 - - 2207.25 - 2.83 0.101 3303.19 379.7 -97.32 - - 3371.16 - - - - - - - - - 16.02 -
1879.61 238.34 -11.95 240 1897.00 roll -1.62 - - 2208.00 - 2.71 0.039 2160.50 -421.7 -97.32 - - 3372.28 - - - - - - - - - 16.04 -
2202.80 273.49 -10.93 272 2221.00 roll -1.62 - - 2205.94 - 3.02 0.098 3303.81 378.6 -97.32 - - 3374.19 - - - - - - - - - 16.00 -
2321.42 288.10 -12.37 293 2338.77 roll -1.62 - - 2208.25 - 2.68 0.040 2157.94 -427.6 -97.32 - - 3371.72 - - - - - - - - - 16.06 -
2644.68 322.19 -10.26 325 2648.68 no move -1.62 - - 2207.50 - - - 2156.88 - -97.32 - - 3370.97 - - - - - - - - - - -
2954.73 353.96 -10.38 356 2958.73 no move -1.62 - - 2207.31 - - - 2157.00 - -97.32 - - 3369.88 - - - - - - - - - - -
3264.78 385.81 -10.33 387 3281.80 roll -1.62 - - 2207.62 - 2.75 0.101 1095.19 -386.1 -97.32 - - 3370.84 - - - - - - - - - 16.08 -
3312.19 390.97 -10.73 394 3329.95 roll -1.62 - - 2208.38 - 2.78 0.045 2226.62 407.0 -97.32 - - 3370.62 - - - - - - - - - 16.05 -
3635.74 423.26 -9.93 426 3653.15 roll -1.62 - - 2207.38 - 2.85 0.104 3302.00 377.3 -97.32 - - 3371.00 - - - - - - - - - 16.07 -
3659.27 426.03 -10.82 428 3675.88 roll -1.62 - - 2207.25 - 2.68 0.043 2160.62 -425.9 -97.32 - - 3371.28 - - - - - - - - - 16.08 -
3981.67 457.23 -9.46 460 3985.67 no move -1.62 - - 2207.94 - - - 2159.31 - -97.32 - - 3368.56 - - - - - - - - - - -
4291.73 486.39 -9.34 491 4309.93 roll -1.62 - - 2208.31 - 3.04 0.103 3302.44 376.0 -97.32 - - 3367.16 - - - - - - - - - 16.09 -
4350.45 492.75 -10.55 500 4368.51 roll -1.62 - - 2207.94 - 2.68 0.044 2162.31 -425.4 -97.32 - - 3367.94 - - - - - - - - - 16.09 -
4674.44 524.51 -10.59 532 4678.48 no move -1.62 - - 2208.06 - - - 2161.50 - -97.32 - - 3367.50 - - - - - - - - - - -
4984.50 555.52 -9.62 563 5002.94 roll -1.62 - - 2207.69 - 3.03 0.104 3304.31 377.2 -97.32 - - 3366.34 - - - - - - - - - 16.09 -
5043.38 562.28 -11.16 572 5060.92 roll -1.62 - - 2206.44 - 2.68 0.043 2162.94 -425.9 -97.32 - - 3369.19 - - - - - - - - - 16.10 -
5366.75 594.28 -10.16 604 5370.79 no move -1.62 - - 2207.94 - - - 2161.94 - -97.32 - - 3366.16 - - - - - - - - - - -
5676.81 623.63 -9.41 635 5695.24 roll -1.62 - - 2207.69 - 3.04 0.105 3302.00 375.0 -97.32 - - 3366.31 - - - - - - - - - 16.09 -
5721.41 628.14 -10.17 641 5738.62 roll -1.62 - - 2208.00 - 2.69 0.044 2161.56 -424.0 -97.32 - - 3367.78 - - - - - - - - - 16.10 -
6044.44 656.82 -9.37 673 6048.48 no move -1.62 - - 2208.44 - - - 2161.12 - -97.32 - - 3365.03 - - - - - - - - - - -
6354.51 684.54 -9.38 704 6372.93 roll -1.62 - - 2206.38 - 3.03 0.106 3301.88 376.5 -97.32 - - 3365.94 - - - - - - - - - 16.08 -
6399.10 689.09 -9.92 710 6416.32 roll -1.62 - - 2207.81 - 2.68 0.044 2163.75 -424.7 -97.32 - - 3364.53 - - - - - - - - - 16.09 -
6722.55 719.40 -8.94 742 6726.59 no move -1.62 - - 2207.50 - - - 2162.38 - -97.32 - - 3363.72 - - - - - - - - - - -
7032.53 748.13 -9.71 773 7036.57 no move -1.62 - - 2207.62 - - - 2162.88 - -97.32 - - 3362.91 - - - - - - - - - - -
7342.99 774.84 -8.60 804 7361.41 roll -1.62 - - 2207.38 - 3.04 0.106 3304.06 375.4 -97.32 - - 3362.53 - - - - - - - - - 16.08 -
7407.59 781.12 -10.08 814 7424.81 roll -1.62 - - 2208.19 - 2.71 0.044 2162.94 -421.1 -97.32 - - 3362.84 - - - - - - - - - 16.10 -
7731.04 809.81 -8.82 846 7735.08 no move -1.62 - - 2207.69 - - - 2163.12 - -97.32 - - 3362.09 - - - - - - - - - - -
8040.92 838.43 -9.56 877 8059.35 roll -1.62 - - 2207.94 - 3.04 0.106 3303.06 375.0 -97.32 - - 3361.91 - - - - - - - - - 16.09 -
8095.53 843.89 -10.21 885 8112.34 roll -1.62 - - 2207.62 - 2.69 0.045 2164.75 -423.2 -97.32 - - 3361.94 - - - - - - - - - 16.08 -
8418.57 873.65 -8.47 917 8422.60 no move -1.62 - - 2207.06 - - - 2165.19 - -97.32 - - 3361.38 - - - - - - - - - - -
8728.83 901.78 -8.75 948 8747.29 roll -1.62 - - 2207.56 - 3.03 0.108 3302.81 375.5 -97.32 - - 3361.25 - - - - - - - - - 16.08 -
8853.48 914.27 -9.94 970 8870.54 roll -1.62 - - 2207.62 - 2.69 0.047 2163.75 -423.4 -97.32 - - 3361.66 - - - - - - - - - 16.07 -
9176.89 942.71 -8.50 1002 9180.92 no move -1.62 - - 2207.56 - - - 2164.50 - -97.32 - - 3360.56 - - - - - - - - - - -
9487.16 969.33 -8.41 1033 9505.59 roll -1.62 - - 2206.50 - 3.04 0.108 3302.00 374.2 -97.32 - - 3361.84 - - - - - - - - - 16.08 -
9541.76 974.31 -9.36 1041 9558.59 roll -1.62 - - 2207.31 - 2.69 0.047 2163.38 -423.3 -97.32 - - 3361.06 - - - - - - - - - 16.08 -
9724 end dive: TARGET_DEPTH_EXCEEDED
9724 begin apogee
9730.53 990.04 -8.89 1059 9852.40 -0.34 2.19 0.143 2518.75 142.2 0.08 0.283 2365.56 2527.2 - 76.69 2.572 2967.50 -5.1 0.332 - - - - - - 16.00 15.43 11.92
9865 end apogee: CONTROL_FINISHED_OK
9866 begin climb
9868.53 991.65 - 1067 10021.45 1.62 3.15 0.077 2999.88 152.7 3.24 0.121 3500.69 350.3 97.32 82.00 2.517 2569.75 -4.9 0.321 - - - - - - 15.68 15.18 12.53
10028.34 982.77 9.31 1085 10045.56 roll 1.62 - - 2998.88 - 2.76 0.044 2358.44 -413.9 97.32 - - 2568.66 - - - - - - - - - 15.60 -
10351.51 948.82 10.03 1117 10368.74 done 1.62 - - 2999.50 - 2.76 0.097 1294.75 -385.4 97.32 - - 2562.22 - - - - - - - - - 15.84 -
10569.22 925.41 10.77 1158 10587.96 done 1.62 - - 2999.62 - 2.88 0.059 2418.88 390.3 97.32 - - 2559.12 - - - - - - - - - 15.91 -
10893.79 893.69 9.51 1190 10911.84 done 1.62 - - 2999.81 - 2.93 0.091 1294.00 -383.9 97.32 - - 2555.22 - - - - - - - - - 15.90 -
10988.01 884.63 9.43 1206 11005.65 done 1.62 - - 2999.50 - 2.86 0.059 2418.38 393.1 97.32 - - 2556.50 - - - - - - - - - 15.99 -
11311.60 854.58 9.35 1238 11329.63 done 1.62 - - 2999.44 - 2.91 0.090 1294.31 -386.3 97.32 - - 2555.97 - - - - - - - - - 16.00 -
11350.07 850.83 9.90 1243 11368.45 done 1.62 - - 3000.25 - 2.85 0.057 2419.44 394.8 97.32 - - 2555.91 - - - - - - - - - 16.00 -
11674.67 821.22 9.11 1275 11692.71 done 1.62 - - 3000.00 - 2.91 0.091 1293.06 -387.1 98.28 - - 2557.75 - - - - - - - - - 15.96 -
11819.22 807.16 9.89 1301 11836.86 done 1.62 - - 2999.44 - 2.85 0.059 2418.31 394.8 98.28 - - 2556.78 - - - - - - - - - 16.03 -
12142.69 774.91 10.67 1333 12160.73 done 1.62 - - 3000.00 - 2.90 0.091 1293.81 -387.8 98.28 - - 2555.34 - - - - - - - - - 16.04 -
12216.92 767.16 10.59 1345 12234.54 done 1.62 - - 3000.75 - 2.85 0.059 2417.62 394.3 98.28 - - 2553.38 - - - - - - - - - 15.95 -
12540.37 735.79 9.51 1377 12558.41 done 1.62 - - 3000.12 - 2.91 0.092 1293.50 -386.3 98.28 - - 2555.34 - - - - - - - - - 16.05 -
12598.86 730.08 9.27 1386 12617.22 done 1.62 - - 2999.94 - 2.85 0.058 2419.69 395.2 98.28 - - 2554.94 - - - - - - - - - 16.05 -
12923.41 701.94 8.06 1418 12963.25 done 1.65 - - 2999.44 - 2.90 0.094 1294.75 -387.9 115.87 14.73 1.997 2497.22 -3.9 0.231 - - - - - - - 15.87 12.13
13194.49 676.41 9.74 1468 13212.12 roll 1.65 - - 3000.00 - 2.86 0.059 2416.81 392.3 115.87 - - 2492.97 - - - - - - - - - 16.03 -
13518.44 647.28 8.89 1500 13548.09 done 1.66 - - 3000.06 - 2.88 0.095 1294.69 -389.6 120.33 6.05 1.347 2478.12 -2.5 0.198 - - - - - - - 15.91 12.27
13778.60 622.58 10.14 1549 13796.96 roll 1.66 - - 2999.69 - 2.84 0.059 2418.56 395.7 120.33 - - 2478.34 - - - - - - - - - 16.03 -
14102.79 591.53 9.90 1581 14120.82 roll 1.66 - - 2998.75 - 2.90 0.090 1293.31 -388.0 120.33 - - 2478.00 - - - - - - - - - 16.04 -
14351.28 566.11 10.06 1628 14369.64 roll 1.66 - - 2999.38 - 2.85 0.059 2418.25 394.7 120.33 - - 2477.91 - - - - - - - - - 16.05 -
14675.87 535.74 8.96 1660 14702.08 done 1.67 - - 2999.44 - 2.90 0.094 1293.69 -387.8 123.58 5.31 1.143 2465.19 -2.4 0.189 - - - - - - - 15.95 12.19
14777.94 526.52 8.78 1677 14810.23 done 1.68 - - 2999.69 - 2.84 0.058 2418.69 396.1 129.75 7.85 1.504 2440.53 -3.1 0.185 - - - - - - - 16.05 12.45
15116.57 497.64 8.22 1711 15156.82 done 1.71 - - 3000.38 - 2.94 0.094 1293.62 -382.7 144.80 15.10 1.808 2376.81 -4.2 0.195 - - - - - - - 15.86 12.24
15217.99 487.76 10.35 1727 15235.85 roll 1.71 - - 3000.50 - 2.85 0.058 2417.19 394.2 144.80 - - 2373.06 - - - - - - - - - 15.95 -
15541.80 455.71 10.23 1759 15559.84 roll 1.71 - - 2999.25 - 2.92 0.092 1294.44 -384.5 144.80 - - 2375.72 - - - - - - - - - 16.00 -
15766.03 431.45 10.75 1801 15783.67 roll 1.71 - - 3000.25 - 2.87 0.060 2418.38 391.6 144.80 - - 2373.84 - - - - - - - - - 16.02 -
16089.50 399.74 9.66 1833 16093.54 no move 1.71 - - 2999.94 - - - 2419.25 - 144.80 - - 2372.03 - - - - - - - - - - -
16399.54 368.17 10.27 1864 16417.58 roll 1.71 - - 3000.25 - 2.93 0.093 1294.44 -383.9 144.80 - - 2371.12 - - - - - - - - - 16.03 -
16648.07 343.21 9.86 1911 16666.45 roll 1.71 - - 3000.19 - 2.86 0.059 2418.31 393.0 144.80 - - 2372.78 - - - - - - - - - 16.05 -
16972.79 314.11 8.83 1943 17002.84 done 1.72 - - 3001.12 - 2.90 0.123 3501.62 373.6 150.20 6.36 1.178 2355.03 -2.8 0.125 - - - - - - - 15.94 12.15
17069.02 304.73 10.31 1959 17085.85 roll 1.72 - - 3000.25 - 2.68 0.042 2353.88 -428.3 150.20 - - 2354.53 - - - - - - - - - 16.05 -
17392.07 278.31 8.07 1991 17418.87 1.76 - - 3000.88 - - - 2355.06 - 167.66 16.81 1.574 2282.34 -4.3 0.127 - - - - - - - - 12.21
17724.70 246.82 10.57 2024 17741.93 roll back 1.76 - - 3001.00 - 2.75 0.094 1293.00 -386.2 167.66 - - 2280.31 - - - - - - - - - 15.99 -
17872.41 230.92 10.32 2051 17890.78 roll back 1.76 - - 3001.00 - 2.84 0.057 2419.81 396.8 167.66 - - 2279.16 - - - - - - - - - 16.02 -
18196.61 200.33 9.19 2083 18200.66 pitch 1.76 - - 3000.69 - - - 2419.50 - 167.66 - - 2278.34 - - - - - - - - - - -
18507.05 173.56 9.17 2114 18525.35 roll back 1.76 - - 2999.81 - 2.93 0.089 1292.50 -384.6 167.67 - - 2277.16 - - - - - - - - - 15.94 -
18755.97 150.19 9.53 2161 18774.33 roll back 1.76 - - 3000.75 - 2.84 0.056 2419.31 396.8 167.67 - - 2278.91 - - - - - - - - - 16.03 -
19080.56 122.39 7.29 2193 19134.46 1.82 - - 3001.06 - 2.93 0.088 1293.81 -384.1 197.47 25.00 1.449 2161.94 -4.7 0.066 - - - - - - - 15.83 12.21
19166.04 116.60 7.03 2205 19225.43 1.88 - - 3001.00 - 2.87 0.053 2419.75 392.3 231.43 28.41 1.411 2023.75 -4.9 0.067 - - - - - - - 15.95 12.48
19531.69 85.61 6.69 2262 19597.55 1.96 - - 3000.06 - 2.98 0.087 1293.12 -378.1 270.80 31.28 1.368 1864.09 -5.1 0.054 - - - - - - - 15.67 12.28
19829.31 61.20 7.69 2316 19876.43 2.01 - - 3000.69 - 2.88 0.053 2418.31 390.7 294.32 19.29 1.272 1767.69 -5.0 0.040 - - - - - - - 15.83 12.28
20062.78 45.03 6.11 2358 20137.72 2.11 - - 3000.81 - 3.01 0.087 1294.81 -373.3 342.91 38.43 1.312 1569.91 -5.1 0.030 - - - - - - - 15.63 12.31
20169.28 36.60 8.21 2373 20208.33 2.14 - - 3000.25 - 2.89 0.053 2417.94 388.6 358.08 13.71 1.156 1507.94 -4.5 0.024 - - - - - - - 15.77 12.35
20394.69 20.38 4.43 2414 20498.49 2.29 - - 3000.31 - 3.01 0.087 1294.62 -373.2 433.37 59.36 1.280 1201.31 -5.2 0.014 - - - - - - - 15.53 12.28
20709 end climb: SURFACE_DEPTH_REACHED
20710 begin surface coast
20790 end surface coast: CONTROL_FINISHED_OK
20791 begin surface
SM 1.88 - - - - 178.3 13.48 1.126 1134.0 79.7 17.23 0.053 1150.6 66.8 - 2.31 0.046 1117.4 482.4 -2.015 - - 12.23 15.83 15.86 -