NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 818 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 278.51 of 506.00 AH used of 24V (44.96% remains)
• Surface angle -61.8 deg, depth 0.93 m • Intended pitch -18.3 deg, speed -8.684 cm/s
VBD pumped to 429.88 (SM_CC=430)
• GPS1 time: 15 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
19.48 - - - 134.60 VBD -1.38 - - 178.25 - - - 2287.81 - -116.79 81.41 0.005 3039.25 - - - - - - - - - - 14.59
136.82 3.30 -3.17 16 253.80 -1.38 17.41 0.199 2181.62 115.1 3.20 0.088 3351.44 332.4 -116.79 4.89 0.009 3369.00 67.4 -4.320 - - - - - - 15.14 14.78 14.98
260.33 35.65 -14.99 23 279.16 roll -1.38 - - 2181.19 - 2.79 0.020 2196.38 -414.0 -116.79 - - 3370.59 - - - - - - - - - 15.59 -
465.22 62.00 -12.83 61 484.46 roll -1.38 - - 2180.94 - 2.97 0.069 1144.19 -354.3 -116.79 - - 3371.28 - - - - - - - - - 15.52 -
505.89 67.37 -13.24 66 524.73 roll -1.38 - - 2180.38 - 2.82 0.025 2277.12 401.7 -116.79 - - 3372.62 - - - - - - - - - 15.54 -
710.79 92.81 -11.15 104 730.86 roll -1.38 - - 2181.00 - 3.19 0.085 3351.38 336.8 -116.79 - - 3371.19 - - - - - - - - - 15.53 -
777.29 100.07 -11.09 114 795.41 roll -1.38 - - 2180.81 - 2.74 0.019 2191.69 -423.2 -116.79 - - 3372.06 - - - - - - - - - 15.65 -
1101.46 130.09 -8.33 146 1119.99 roll -1.38 - - 2181.38 - 2.91 0.069 1143.56 -360.2 -116.79 - - 3371.59 - - - - - - - - - 15.67 -
1156.42 135.08 -9.06 154 1174.53 roll -1.38 - - 2179.56 - 2.80 0.025 2278.75 405.4 -116.79 - - 3372.22 - - - - - - - - - 15.62 -
1480.61 163.34 -8.81 186 1500.19 roll -1.38 - - 2179.50 - 3.14 0.084 3352.44 341.9 -116.79 - - 3372.06 - - - - - - - - - 15.64 -
1526.77 167.81 -9.33 192 1544.70 roll -1.38 - - 2181.06 - 2.74 0.019 2188.12 -424.9 -116.79 - - 3371.88 - - - - - - - - - 15.68 -
1850.80 196.80 -8.87 224 1871.17 roll -1.38 - - 2180.25 - 3.39 0.080 3352.06 343.3 -116.79 - - 3372.62 - - - - - - - - - 15.64 -
1941.93 205.67 -9.75 239 1960.58 roll -1.38 - - 2180.69 - 2.72 0.019 2191.94 -426.5 -116.79 - - 3372.50 - - - - - - - - - 15.88 -
2266.66 235.00 -9.55 271 2270.72 no move -1.38 - - 2180.69 - - - 2189.94 - -116.79 - - 3371.00 - - - - - - - - - - -
2576.78 263.28 -9.01 302 2580.84 no move -1.38 - - 2181.19 - - - 2189.88 - -116.79 - - 3371.31 - - - - - - - - - - -
2886.95 289.90 -8.47 333 2907.32 roll -1.38 - - 2180.94 - 3.38 0.079 3353.94 344.4 -116.79 - - 3372.28 - - - - - - - - - 15.66 -
3008.07 300.85 -8.77 354 3026.72 roll -1.38 - - 2181.38 - 2.75 0.019 2192.75 -422.3 -116.79 - - 3372.16 - - - - - - - - - 15.89 -
3332.79 326.58 -7.88 386 3336.85 no move -1.38 - - 2180.88 - - - 2191.12 - -116.79 - - 3371.66 - - - - - - - - - - -
3642.91 351.81 -8.59 417 3646.97 no move -1.38 - - 2181.44 - - - 2191.62 - -116.79 - - 3371.47 - - - - - - - - - - -
3953.04 377.40 -8.49 448 3973.67 roll -1.38 - - 2181.38 - 3.39 0.080 3352.81 342.5 -116.79 - - 3371.62 - - - - - - - - - 15.56 -
3994.53 381.21 -8.73 453 4013.18 roll -1.38 - - 2181.44 - 2.78 0.019 2192.50 -417.4 -116.79 - - 3371.91 - - - - - - - - - 15.75 -
4319.28 407.90 -8.21 485 4339.66 roll -1.38 - - 2181.50 - 3.37 0.080 3352.12 344.1 -116.79 - - 3372.69 - - - - - - - - - 15.68 -
4350.40 410.69 -8.71 488 4369.05 roll -1.38 - - 2180.44 - 2.74 0.019 2192.38 -423.3 -116.79 - - 3372.66 - - - - - - - - - 15.90 -
4675.14 435.34 -7.40 520 4679.21 no move -1.38 - - 2180.94 - - - 2191.06 - -116.79 - - 3371.25 - - - - - - - - - - -
4985.34 458.37 -7.68 551 5005.72 roll -1.38 - - 2181.38 - 3.38 0.080 3353.12 343.8 -116.79 - - 3371.91 - - - - - - - - - 15.66 -
5056.47 464.16 -8.23 562 5075.53 roll -1.38 - - 2180.94 - 2.76 0.019 2193.25 -420.2 -116.79 - - 3371.66 - - - - - - - - - 15.87 -
5381.65 488.99 -7.91 594 5402.02 roll -1.38 - - 2181.19 - 3.39 0.081 3352.94 342.1 -116.79 - - 3369.66 - - - - - - - - - 15.66 -
5448.51 494.83 -8.77 604 5466.68 roll -1.38 - - 2180.31 - 2.76 0.019 2192.94 -420.3 -116.79 - - 3372.34 - - - - - - - - - 15.90 -
5772.86 520.60 -8.00 636 5776.93 no move -1.38 - - 2180.00 - - - 2191.88 - -116.79 - - 3370.91 - - - - - - - - - - -
6082.99 544.60 -7.73 667 6087.05 no move -1.38 - - 2180.56 - - - 2191.88 - -116.79 - - 3370.34 - - - - - - - - - - -
6393.14 568.78 -7.87 698 6397.20 no move -1.38 - - 2181.00 - - - 2192.00 - -116.79 - - 3370.75 - - - - - - - - - - -
6703.36 590.27 -6.58 729 6723.73 roll -1.38 - - 2179.94 - 3.40 0.082 3350.94 340.9 -116.79 - - 3371.28 - - - - - - - - - 15.64 -
6794.48 597.00 -7.49 744 6813.13 roll -1.38 - - 2180.88 - 2.76 0.019 2194.50 -419.0 -116.79 - - 3370.50 - - - - - - - - - 15.93 -
7119.26 618.06 -6.80 776 7139.65 roll -1.38 - - 2180.94 - 3.39 0.082 3351.19 341.2 -116.79 - - 3368.72 - - - - - - - - - 15.64 -
7200.40 624.07 -7.37 789 7219.07 roll -1.38 - - 2180.81 - 2.76 0.020 2195.19 -418.8 -116.79 - - 3370.22 - - - - - - - - - 15.93 -
7525.20 647.96 -8.00 821 7545.58 roll -1.38 - - 2179.12 - 3.39 0.082 3351.81 341.2 -116.79 - - 3369.56 - - - - - - - - - 15.63 -
7622.05 657.14 -9.56 837 7640.23 roll -1.38 - - 2181.12 - 2.76 0.020 2196.00 -418.8 -116.79 - - 3370.28 - - - - - - - - - 15.93 -
7946.46 683.90 -8.02 869 7966.86 roll -1.38 - - 2178.50 - 3.38 0.082 3352.00 342.0 -116.79 - - 3370.12 - - - - - - - - - 15.62 -
7993.33 687.68 -7.86 875 8011.27 roll -1.38 - - 2181.19 - 2.76 0.020 2196.25 -418.8 -116.79 - - 3369.06 - - - - - - - - - 15.88 -
8317.37 711.50 -7.03 907 8336.11 roll -1.38 - - 2180.81 - 2.97 0.074 1146.44 -353.5 -116.79 - - 3369.78 - - - - - - - - - 15.66 -
8392.59 717.21 -7.72 919 8410.52 roll -1.38 - - 2181.31 - 2.78 0.027 2278.44 407.2 -116.79 - - 3369.34 - - - - - - - - - 15.86 -
8716.62 738.06 -5.88 951 8736.17 roll -1.38 - - 2181.06 - 3.16 0.068 1143.69 -359.1 -116.79 - - 3367.91 - - - - - - - - - 15.67 -
8792.64 742.95 -6.33 963 8810.57 roll -1.38 - - 2180.25 - 2.80 0.026 2276.88 404.7 -116.79 - - 3368.31 - - - - - - - - - 15.76 -
9116.66 762.79 -5.94 995 9136.22 roll -1.38 - - 2180.88 - 3.16 0.067 1143.75 -358.6 -116.79 - - 3368.50 - - - - - - - - - 15.67 -
9156.96 765.38 -5.86 1000 9176.38 roll -1.38 - - 2181.06 - 2.81 0.026 2276.81 403.2 -116.79 - - 3367.53 - - - - - - - - - 15.71 -
9482.60 785.19 -6.46 1032 9502.16 roll -1.38 - - 2179.19 - 3.16 0.067 1143.56 -358.6 -116.79 - - 3368.50 - - - - - - - - - 15.65 -
9528.62 788.17 -6.26 1038 9546.56 roll -1.38 - - 2180.75 - 2.80 0.026 2276.94 404.8 -116.79 - - 3367.47 - - - - - - - - - 15.88 -
9852.66 808.66 -6.53 1070 9856.72 no move -1.38 - - 2180.62 - - - 2276.56 - -116.79 - - 3366.28 - - - - - - - - - - -
10162.79 828.75 -6.28 1101 10166.85 no move -1.38 - - 2180.56 - - - 2277.31 - -116.79 - - 3366.50 - - - - - - - - - - -
10472.92 848.64 -6.60 1132 10476.99 no move -1.38 - - 2181.06 - - - 2276.81 - -116.79 - - 3366.28 - - - - - - - - - - -
10783.08 867.91 -5.92 1163 10787.14 no move -1.38 - - 2180.62 - - - 2276.44 - -116.79 - - 3365.12 - - - - - - - - - - -
11093.24 887.08 -6.46 1194 11097.30 no move -1.38 - - 2180.38 - - - 2276.38 - -116.79 - - 3365.16 - - - - - - - - - - -
11403.40 907.34 -6.88 1225 11407.46 no move -1.38 - - 2181.31 - - - 2277.00 - -116.79 - - 3364.09 - - - - - - - - - - -
11713.66 928.15 -6.71 1256 11717.73 no move -1.38 - - 2181.19 - - - 2276.94 - -116.79 - - 3364.53 - - - - - - - - - - -
12023.80 948.99 -6.53 1287 12043.37 roll -1.38 - - 2180.88 - 3.20 0.069 1144.50 -353.9 -116.79 - - 3363.88 - - - - - - - - - 15.61 -
12064.11 952.07 -6.84 1292 12083.41 roll -1.38 - - 2180.31 - 2.81 0.027 2276.75 402.9 -116.79 - - 3365.47 - - - - - - - - - 15.85 -
12389.64 973.37 -6.58 1324 12393.70 no move -1.38 - - 2180.75 - - - 2276.75 - -116.79 - - 3363.62 - - - - - - - - - - -
12659 end dive: TARGET_DEPTH_EXCEEDED
12660 begin apogee
12665.06 990.61 -6.37 1351 12818.60 -0.31 2.04 0.133 2439.06 126.6 0.20 0.135 2283.06 31.5 - 98.48 2.320 2889.19 -4.8 0.359 - - - - - - 15.47 14.98 9.87
12832 end apogee: CONTROL_FINISHED_OK
12833 begin climb
12835.00 993.05 - 1361 13017.13 1.38 3.06 0.084 2853.25 135.4 3.36 0.074 1144.94 -338.7 116.79 102.92 2.273 2413.03 -4.6 0.353 - - - - - - 15.49 14.92 11.32
13024.09 982.91 7.23 1382 13043.17 done 1.46 - - 2852.75 - 2.90 0.029 2272.94 389.0 116.79 - - 2405.88 - - - - - - - - - 15.45 -
13349.79 960.05 6.76 1414 13376.21 1.58 0.29 0.058 2914.81 214.0 3.26 0.094 3350.19 330.4 116.79 - - 2401.53 - - - - - - - - 15.69 15.60 -
13387.67 956.65 9.68 1418 13405.61 done 1.58 - - 2914.00 - 2.80 0.021 2202.94 -409.7 116.79 - - 2402.16 - - - - - - - - - 15.62 -
13711.71 929.91 8.23 1450 13730.48 done 1.58 - - 2914.81 - 2.99 0.076 1142.00 -354.8 116.79 - - 2399.12 - - - - - - - - - 15.67 -
13867.37 917.63 7.87 1478 13886.10 done 1.63 - - 2913.81 - 2.85 0.030 2273.75 397.1 116.79 - - 2400.09 - - - - - - - - - 15.67 -
14192.63 893.04 7.51 1510 14212.20 done 1.70 - - 2914.31 - 3.17 0.072 1144.31 -356.3 116.79 - - 2396.19 - - - - - - - - - 15.70 -
14289.07 885.43 8.11 1526 14307.82 done 1.73 - - 2914.69 - 2.84 0.030 2275.00 398.1 116.79 - - 2397.16 - - - - - - - - - 15.85 -
14614.33 860.67 7.60 1558 14635.79 1.80 0.25 0.063 2966.69 208.0 3.18 0.072 1143.69 -355.8 116.79 - - 2396.31 - - - - - - - - 15.81 15.70 -
14692.37 853.01 10.03 1570 14711.09 done 1.80 - - 2966.69 - 2.84 0.031 2272.19 397.4 116.79 - - 2397.09 - - - - - - - - - 15.87 -
15017.19 824.16 8.52 1602 15021.25 VBD 1.80 - - 2967.38 - - - 2272.31 - 116.79 - - 2395.66 - - - - - - - - - - -
15327.39 795.74 9.13 1633 15346.98 done 1.80 - - 2966.69 - 3.16 0.071 1144.06 -357.0 116.79 - - 2393.88 - - - - - - - - - 15.69 -
15507.74 778.18 10.09 1666 15526.81 done 1.80 - - 2966.62 - 2.84 0.031 2274.38 398.0 116.79 - - 2395.31 - - - - - - - - - 15.86 -
15832.92 750.69 8.24 1698 15852.50 done 1.80 - - 2967.00 - 3.18 0.071 1144.12 -355.4 116.79 - - 2393.78 - - - - - - - - - 15.69 -
16038.97 733.00 8.83 1736 16057.33 done 1.80 - - 2966.94 - 2.85 0.030 2272.94 396.1 116.79 - - 2395.34 - - - - - - - - - 15.87 -
16363.87 709.48 7.12 1768 16383.44 done 1.89 - - 2965.75 - 3.16 0.070 1145.12 -356.9 116.79 - - 2395.38 - - - - - - - - - 15.67 -
16614.62 691.46 7.61 1815 16633.68 done 1.96 - - 2967.50 - 2.84 0.031 2274.06 397.5 116.79 - - 2395.16 - - - - - - - - - 15.87 -
16939.91 666.08 8.20 1847 16959.49 done 1.96 - - 2967.19 - 3.18 0.070 1145.12 -355.0 116.79 - - 2393.38 - - - - - - - - - 15.68 -
17140.24 648.12 8.72 1884 17159.30 done 1.96 - - 2967.69 - 2.83 0.030 2274.38 399.0 116.79 - - 2394.72 - - - - - - - - - 15.87 -
17465.40 621.36 8.26 1916 17469.47 VBD 1.96 - - 2967.19 - - - 2273.88 - 116.79 - - 2393.88 - - - - - - - - - - -
17776.00 596.46 8.04 1947 17781.28 2.00 0.19 0.071 3014.19 247.4 - - 2274.06 - 116.79 - - 2393.44 - - - - - - - - 15.87 - -
18087.83 569.93 8.15 1978 18107.42 done 2.03 - - 3014.69 - 3.18 0.070 1144.12 -355.3 116.79 - - 2392.56 - - - - - - - - - 15.65 -
18198.17 559.89 8.68 1997 18217.25 done 2.03 - - 3014.50 - 2.84 0.030 2272.81 397.4 116.79 - - 2395.41 - - - - - - - - - 15.86 -
18523.75 533.66 7.86 2029 18543.96 done 2.08 - - 3015.62 - 3.23 0.092 3349.62 333.4 116.79 - - 2393.41 - - - - - - - - - 15.58 -
18620.55 525.43 8.57 2045 18638.50 done 2.08 - - 3015.38 - 2.76 0.022 2201.19 -416.1 116.79 - - 2394.41 - - - - - - - - - 15.92 -
18945.04 501.28 7.18 2077 18963.84 2.17 - - 3015.12 - 2.98 0.074 1144.94 -354.4 116.79 - - 2393.75 - - - - - - - - - 15.63 -
19134.63 485.77 8.62 2112 19153.71 2.17 - - 3014.75 - 2.82 0.030 2275.38 400.9 116.79 - - 2394.28 - - - - - - - - - 15.72 -
19459.82 458.69 8.35 2144 19479.40 2.17 - - 3015.25 - 3.18 0.069 1143.62 -355.9 116.79 - - 2393.25 - - - - - - - - - 15.64 -
19575.87 447.83 9.72 2164 19594.35 2.17 - - 3015.19 - 2.85 0.030 2275.44 397.1 116.79 - - 2393.47 - - - - - - - - - 15.84 -
19900.90 421.48 8.01 2196 19920.48 2.21 - - 3014.75 - 3.16 0.069 1145.00 -357.7 116.79 - - 2391.91 - - - - - - - - - 15.64 -
20067.37 408.88 7.35 2226 20085.97 2.29 - - 3015.06 - 2.84 0.030 2275.25 398.0 116.79 - - 2393.97 - - - - - - - - - 15.82 -
20392.63 386.66 6.42 2258 20412.24 2.42 - - 3015.62 - 3.18 0.069 1145.12 -355.4 116.79 - - 2393.47 - - - - - - - - - 15.64 -
20529.12 376.57 7.58 2282 20547.49 2.49 - - 3014.31 - 2.83 0.029 2275.62 399.5 116.79 - - 2393.66 - - - - - - - - - 15.81 -
20854.11 352.68 7.67 2314 20873.71 2.55 - - 3014.81 - 3.19 0.068 1145.50 -354.3 116.79 - - 2392.72 - - - - - - - - - 15.49 -
20924.86 346.93 8.07 2325 20943.95 2.59 - - 3014.88 - 2.84 0.029 2277.31 398.5 116.79 - - 2394.06 - - - - - - - - - 15.71 -
21250.42 320.92 7.93 2357 21254.58 2.63 - - 3015.31 - - - 2276.25 - 116.79 - - 2392.53 - - - - - - - - - - -
21561.07 296.75 7.54 2388 21565.15 2.70 - - 3015.19 - - - 2276.75 - 116.79 - - 2392.88 - - - - - - - - - - -
21871.70 276.10 6.23 2419 21891.29 2.85 - - 3015.19 - 3.19 0.068 1143.81 -355.2 116.79 - - 2392.25 - - - - - - - - - 15.63 -
22072.45 264.10 5.88 2456 22092.27 3.02 - - 3014.50 - 2.83 0.029 2276.56 400.3 116.79 - - 2395.09 - - - - - - - - - 15.83 -
22398.94 246.49 5.53 2488 22489.68 3.14 - - 3015.31 - 3.20 0.070 1144.75 -353.7 178.85 49.56 1.390 2160.94 -4.7 0.146 - - - - - - - 15.25 10.27
22570.44 231.94 9.61 2515 22589.52 roll back 3.14 - - 3015.62 - 2.84 0.029 2275.06 398.0 178.85 - - 2154.94 - - - - - - - - - 15.74 -
22895.75 201.34 9.30 2547 22915.35 3.14 - - 3014.31 - 3.19 0.067 1144.19 -354.5 178.85 - - 2151.47 - - - - - - - - - 15.51 -
22981.81 192.97 9.69 2561 23000.57 3.14 - - 3015.06 - 2.85 0.028 2274.31 396.5 178.85 - - 2150.94 - - - - - - - - - 15.66 -
23307.08 165.89 7.76 2593 23326.68 3.20 - - 3014.44 - 3.18 0.067 1144.56 -355.3 178.85 - - 2150.00 - - - - - - - - - 15.51 -
23477.87 152.01 7.78 2624 23497.19 3.25 - - 3015.25 - 2.84 0.028 2275.56 398.2 178.85 - - 2150.59 - - - - - - - - - 15.64 -
23803.85 126.72 7.93 2656 23823.44 3.30 - - 3013.25 - 3.16 0.066 1143.75 -358.2 178.85 - - 2150.59 - - - - - - - - - 15.40 -
24034.62 108.00 6.88 2699 24053.70 3.40 - - 3014.94 - 2.85 0.027 2274.06 396.6 178.85 - - 2149.94 - - - - - - - - - 15.56 -
24360.22 88.44 5.62 2750 24450.50 3.52 - - 3014.38 - 3.18 0.068 1144.19 -355.3 239.11 48.52 1.169 1915.34 -4.8 0.064 - - - - - - - 15.29 11.29
24682.39 67.85 5.03 2807 24780.10 3.67 - - 3015.31 - 2.85 0.027 2277.44 397.6 311.01 57.15 1.130 1621.62 -5.1 0.054 - - - - - - - 15.59 11.45
24966.66 49.96 7.35 2856 24987.38 3.75 - - 3015.31 - 3.22 0.066 1144.06 -352.0 311.01 - - 1613.50 - - - - - - - - - 15.49 -
25109.38 39.07 7.37 2881 25128.46 3.83 - - 3015.31 - 2.86 0.027 2273.62 395.0 311.01 - - 1612.19 - - - - - - - - - 15.53 -
25314.97 24.50 7.72 2919 25335.68 3.88 - - 3015.88 - 3.27 0.090 3351.69 329.7 311.01 - - 1610.31 - - - - - - - - - 15.39 -
25372.14 18.97 9.43 2927 25390.82 3.88 - - 3015.94 - 2.79 0.020 2198.44 -413.4 311.01 - - 1610.34 - - - - - - - - - 15.50 -
25552 end climb: SURFACE_DEPTH_REACHED
25552 begin surface coast
25603 end surface coast: CONTROL_FINISHED_OK
25604 begin surface
SM 0.98 - - - - 176.9 94.21 1.067 1137.5 12.1 20.05 0.049 1135.8 56.6 - 0.17 0.090 1139.2 6684.8 -7.440 - - 10.87 15.74 15.82 -