NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 823 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 280.46 of 506.00 AH used of 24V (44.57% remains)
• Surface angle -56.6 deg, depth 0.64 m • Intended pitch -16.4 deg, speed -9.167 cm/s
VBD pumped to 429.87 (SM_CC=430)
• GPS1 time: 28 s
• GPS2 time: 1 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
19.48 - - - 155.77 VBD -1.31 - - 181.81 - - - 2181.44 - -145.99 96.61 0.005 2920.66 - - - - - - - - - - 14.59
157.99 3.12 -2.91 19 276.49 -1.31 17.50 0.200 2195.00 115.0 2.93 0.069 1144.12 -354.0 -145.99 8.30 0.007 3489.38 68.5 -5.336 - - - - - - 15.13 14.75 14.93
283.03 33.53 -12.40 26 301.87 roll -1.31 - - 2195.50 - 2.81 0.026 2274.44 402.2 -145.99 - - 3491.09 - - - - - - - - - 15.56 -
487.98 58.13 -11.32 64 508.03 roll -1.31 - - 2196.00 - 3.19 0.085 3351.88 337.8 -145.99 - - 3492.16 - - - - - - - - - 15.41 -
639.46 76.57 -11.90 91 658.29 roll -1.31 - - 2196.19 - 2.79 0.019 2198.06 -413.6 -145.99 - - 3491.59 - - - - - - - - - 15.68 -
844.33 95.86 -7.94 129 851.14 no move -1.31 - - 2196.00 - - - 2195.56 - -145.99 - - 3491.09 - - - - - - - - - - -
1037.19 111.84 -9.03 153 1055.71 roll -1.31 - - 2195.94 - 2.96 0.069 1144.25 -355.2 -145.99 - - 3491.34 - - - - - - - - - 15.67 -
1066.40 114.80 -9.74 156 1084.84 roll -1.31 - - 2195.69 - 2.78 0.025 2279.81 408.5 -145.99 - - 3491.12 - - - - - - - - - 15.60 -
1390.91 144.73 -9.42 188 1410.23 roll -1.31 - - 2196.38 - 3.15 0.084 3352.06 340.4 -145.99 - - 3491.22 - - - - - - - - - 15.65 -
1460.92 152.21 -10.69 199 1479.63 roll -1.31 - - 2196.06 - 2.74 0.019 2192.94 -423.0 -145.99 - - 3492.50 - - - - - - - - - 15.71 -
1785.82 182.78 -8.62 231 1804.96 roll -1.31 - - 2195.56 - 2.95 0.068 1142.56 -356.1 -145.99 - - 3492.16 - - - - - - - - - 15.60 -
1821.42 185.96 -8.90 235 1839.74 roll -1.31 - - 2195.75 - 2.78 0.025 2280.12 409.2 -145.99 - - 3492.47 - - - - - - - - - 15.79 -
2145.84 212.49 -8.17 267 2149.90 no move -1.31 - - 2196.38 - - - 2279.50 - -145.99 - - 3490.81 - - - - - - - - - - -
2456.00 238.10 -8.55 298 2460.06 no move -1.31 - - 2195.06 - - - 2280.25 - -145.99 - - 3490.75 - - - - - - - - - - -
2766.16 264.53 -8.40 329 2770.22 no move -1.31 - - 2195.62 - - - 2280.12 - -145.99 - - 3491.41 - - - - - - - - - - -
3076.31 290.34 -8.22 360 3080.38 no move -1.31 - - 2196.19 - - - 2280.44 - -145.99 - - 3491.69 - - - - - - - - - - -
3386.47 317.81 -8.92 391 3406.03 roll -1.31 - - 2196.38 - 3.17 0.065 1142.31 -359.0 -145.99 - - 3491.78 - - - - - - - - - 15.72 -
3422.49 321.28 -9.50 395 3440.41 roll -1.31 - - 2196.31 - 2.79 0.026 2277.38 406.8 -145.99 - - 3491.97 - - - - - - - - - 15.89 -
3746.48 350.65 -8.85 427 3750.54 no move -1.31 - - 2195.38 - - - 2277.44 - -145.99 - - 3490.91 - - - - - - - - - - -
4056.62 378.12 -8.63 458 4060.68 no move -1.31 - - 2195.44 - - - 2277.12 - -145.99 - - 3491.25 - - - - - - - - - - -
4366.78 404.11 -8.28 489 4386.58 roll -1.31 - - 2196.00 - 3.15 0.066 1144.25 -359.6 -145.99 - - 3490.62 - - - - - - - - - 15.72 -
4393.15 406.51 -8.46 491 4411.48 roll -1.31 - - 2195.50 - 2.81 0.026 2276.38 402.9 -145.99 - - 3491.94 - - - - - - - - - 15.65 -
4717.55 432.61 -7.81 523 4737.09 roll -1.31 - - 2195.62 - 3.19 0.087 3352.88 337.5 -145.99 - - 3489.72 - - - - - - - - - 15.65 -
4767.83 436.85 -8.35 530 4786.87 roll -1.31 - - 2196.19 - 2.73 0.020 2194.06 -424.5 -145.99 - - 3490.94 - - - - - - - - - 15.91 -
5092.97 461.94 -8.17 562 5113.73 roll -1.31 - - 2195.69 - 3.41 0.083 3353.12 339.9 -145.99 - - 3489.91 - - - - - - - - - 15.51 -
5140.19 466.03 -8.69 568 5158.11 roll -1.31 - - 2195.25 - 2.73 0.020 2192.75 -425.0 -145.99 - - 3491.03 - - - - - - - - - 15.90 -
5464.21 493.19 -8.60 600 5468.27 no move -1.31 - - 2196.50 - - - 2191.25 - -145.99 - - 3489.47 - - - - - - - - - - -
5774.34 519.59 -8.66 631 5795.12 roll -1.31 - - 2195.62 - 3.42 0.082 3351.44 339.2 -145.99 - - 3490.16 - - - - - - - - - 15.52 -
5831.58 524.93 -9.11 639 5849.51 roll -1.31 - - 2195.25 - 2.73 0.020 2193.44 -424.2 -145.99 - - 3490.25 - - - - - - - - - 15.93 -
6155.58 550.80 -7.41 671 6159.64 no move -1.31 - - 2195.88 - - - 2193.12 - -145.99 - - 3489.00 - - - - - - - - - - -
6465.73 574.06 -7.53 702 6469.79 no move -1.31 - - 2195.81 - - - 2193.00 - -145.99 - - 3488.72 - - - - - - - - - - -
6775.88 597.71 -7.95 733 6779.94 no move -1.31 - - 2195.81 - - - 2192.69 - -145.99 - - 3487.91 - - - - - - - - - - -
7086.05 621.91 -8.11 764 7106.42 roll -1.31 - - 2195.62 - 3.39 0.084 3351.62 341.9 -145.99 - - 3487.53 - - - - - - - - - 15.64 -
7127.37 625.45 -8.31 769 7146.41 roll -1.31 - - 2196.00 - 2.73 0.020 2193.88 -424.1 -145.99 - - 3488.28 - - - - - - - - - 15.93 -
7452.48 649.93 -7.52 801 7473.22 roll -1.31 - - 2194.69 - 3.40 0.084 3351.38 340.4 -145.99 - - 3489.50 - - - - - - - - - 15.50 -
7483.96 652.37 -7.46 804 7503.02 roll -1.31 - - 2196.12 - 2.72 0.020 2194.31 -425.4 -145.99 - - 3487.88 - - - - - - - - - 15.91 -
7809.12 675.74 -6.60 836 7813.18 no move -1.31 - - 2195.62 - - - 2192.81 - -145.99 - - 3487.12 - - - - - - - - - - -
8119.68 695.28 -6.14 867 8140.02 roll -1.31 - - 2195.19 - 3.38 0.084 3353.00 343.3 -145.99 - - 3486.22 - - - - - - - - - 15.61 -
8176.49 698.99 -6.43 875 8194.65 roll -1.31 - - 2196.25 - 2.76 0.020 2195.94 -419.2 -145.99 - - 3487.06 - - - - - - - - - 15.71 -
8501.27 716.29 -5.28 907 8505.35 no move -1.31 - - 2195.81 - - - 2193.50 - -145.99 - - 3486.34 - - - - - - - - - - -
8811.43 734.98 -6.47 938 8831.79 roll -1.31 - - 2194.88 - 3.39 0.084 3352.31 341.8 -145.99 - - 3487.50 - - - - - - - - - 15.62 -
8842.52 737.20 -6.84 941 8861.56 roll -1.31 - - 2195.19 - 2.73 0.020 2195.38 -423.8 -145.99 - - 3486.56 - - - - - - - - - 15.89 -
9167.63 759.47 -6.98 973 9187.99 roll -1.31 - - 2196.00 - 3.39 0.084 3352.44 341.3 -145.99 - - 3485.06 - - - - - - - - - 15.61 -
9234.48 764.28 -7.28 983 9252.40 roll -1.31 - - 2195.75 - 2.73 0.020 2195.81 -423.7 -145.99 - - 3485.47 - - - - - - - - - 15.92 -
9558.47 788.22 -7.95 1015 9578.83 roll -1.31 - - 2195.94 - 3.39 0.084 3351.25 340.8 -145.99 - - 3485.81 - - - - - - - - - 15.59 -
9645.31 795.25 -8.20 1029 9663.24 roll -1.31 - - 2196.06 - 2.73 0.020 2196.50 -423.0 -145.99 - - 3484.94 - - - - - - - - - 15.92 -
9969.32 820.01 -7.86 1061 9973.38 no move -1.31 - - 2195.44 - - - 2194.69 - -145.99 - - 3484.69 - - - - - - - - - - -
10279.45 843.58 -7.39 1092 10300.05 roll -1.31 - - 2195.94 - 3.39 0.084 3351.38 341.2 -145.99 - - 3484.12 - - - - - - - - - 15.58 -
10360.91 850.39 -8.49 1105 10379.57 roll -1.31 - - 2195.88 - 2.73 0.020 2196.75 -422.9 -145.99 - - 3485.22 - - - - - - - - - 15.89 -
10685.68 873.52 -6.88 1137 10704.43 roll -1.31 - - 2195.62 - 2.94 0.075 1144.38 -357.9 -145.99 - - 3484.72 - - - - - - - - - 15.63 -
10710.89 875.27 -7.08 1139 10728.82 roll -1.31 - - 2195.44 - 2.78 0.027 2278.62 408.0 -145.99 - - 3485.09 - - - - - - - - - 15.88 -
11034.93 897.25 -7.03 1171 11038.99 no move -1.31 - - 2194.69 - - - 2277.56 - -145.99 - - 3484.16 - - - - - - - - - - -
11345.09 920.44 -7.44 1202 11349.15 no move -1.31 - - 2195.50 - - - 2277.94 - -145.99 - - 3483.44 - - - - - - - - - - -
11655.29 943.35 -6.80 1233 11674.86 roll -1.31 - - 2195.81 - 3.18 0.069 1143.12 -356.9 -145.99 - - 3484.16 - - - - - - - - - 15.56 -
11711.44 947.45 -7.52 1241 11729.76 roll -1.31 - - 2195.62 - 2.78 0.027 2276.44 407.7 -145.99 - - 3483.66 - - - - - - - - - 15.88 -
12035.88 968.68 -6.30 1273 12055.84 roll -1.31 - - 2195.81 - 3.12 0.069 1144.06 -362.9 -145.99 - - 3482.84 - - - - - - - - - 15.61 -
12092.30 972.54 -7.47 1281 12110.23 roll -1.31 - - 2196.00 - 2.79 0.027 2276.75 406.0 -145.99 - - 3483.22 - - - - - - - - - 15.87 -
12375 end dive: TARGET_DEPTH_EXCEEDED
12376 begin apogee
12381.68 990.57 -5.28 1309 12569.08 -0.31 1.92 0.129 2440.50 127.3 0.22 0.130 2283.31 29.8 - 122.62 2.329 2890.81 -4.8 0.359 - - - - - - 15.48 14.92 9.79
12582 end apogee: CONTROL_FINISHED_OK
12582 begin climb
12585.49 993.43 - 1322 12783.96 1.31 2.92 0.089 2838.31 136.2 - - 2283.00 - 145.99 127.33 2.280 2294.00 -4.7 0.357 - - - - - - 15.48 - 11.34
13090.61 959.06 7.42 1367 13110.18 done 1.42 - - 2837.25 - 3.18 0.073 1145.62 -357.7 145.99 - - 2283.62 - - - - - - - - - 15.65 -
13287.22 943.58 8.00 1403 13307.20 1.49 0.25 0.071 2887.88 202.5 2.83 0.030 2274.44 398.9 145.99 - - 2281.06 - - - - - - - - 15.60 15.80 -
13613.71 916.91 7.54 1435 13633.27 done 1.59 - - 2889.00 - 3.15 0.072 1144.31 -358.8 145.99 - - 2279.12 - - - - - - - - - 15.54 -
13720.15 908.26 7.95 1453 13740.11 1.66 0.18 0.082 2929.44 224.7 2.82 0.030 2274.12 400.6 145.99 - - 2278.59 - - - - - - - - 15.63 15.84 -
14046.62 880.96 8.61 1485 14066.16 done 1.69 - - 2929.06 - 3.13 0.072 1144.50 -360.9 145.99 - - 2278.28 - - - - - - - - - 15.72 -
14106.90 875.33 9.62 1494 14125.96 done 1.69 - - 2929.00 - 2.81 0.030 2274.56 402.2 145.99 - - 2279.09 - - - - - - - - - 15.87 -
14432.50 848.45 7.68 1526 14452.46 done 1.78 - - 2930.25 - 3.12 0.072 1143.88 -362.4 145.99 - - 2277.31 - - - - - - - - - 15.72 -
14553.63 838.19 7.81 1547 14574.97 1.86 0.25 0.070 2981.62 205.5 2.82 0.031 2273.06 400.4 145.99 - - 2276.56 - - - - - - - - 15.64 15.87 -
14881.18 809.53 9.15 1579 14900.74 done 1.86 - - 2982.75 - 3.12 0.071 1144.50 -361.7 145.99 - - 2275.44 - - - - - - - - - 15.71 -
14947.21 803.54 9.72 1589 14965.55 done 1.86 - - 2982.00 - 2.82 0.031 2274.19 400.6 145.99 - - 2277.44 - - - - - - - - - 15.88 -
15271.63 774.22 9.91 1621 15291.18 done 1.86 - - 2981.44 - 3.19 0.094 3352.44 338.0 145.99 - - 2276.62 - - - - - - - - - 15.66 -
15307.86 770.46 10.46 1625 15325.80 done 1.86 - - 2981.62 - 2.72 0.022 2204.56 -422.0 145.99 - - 2276.53 - - - - - - - - - 15.91 -
15631.89 738.94 8.99 1657 15650.62 done 1.86 - - 2981.88 - 2.95 0.076 1144.19 -359.4 145.99 - - 2275.94 - - - - - - - - - 15.70 -
15717.10 730.99 9.73 1671 15735.45 done 1.86 - - 2981.75 - 2.83 0.031 2275.44 399.7 145.99 - - 2275.84 - - - - - - - - - 15.63 -
16041.55 702.25 8.97 1703 16061.13 done 1.86 - - 2982.06 - 3.12 0.071 1144.44 -362.5 145.99 - - 2275.47 - - - - - - - - - 15.67 -
16208.09 686.66 9.30 1733 16226.43 done 1.86 - - 2982.69 - 2.82 0.031 2274.44 400.7 145.99 - - 2275.91 - - - - - - - - - 15.88 -
16532.54 658.83 8.68 1765 16552.11 done 1.86 - - 2981.38 - 3.12 0.071 1143.19 -362.6 145.99 - - 2275.38 - - - - - - - - - 15.68 -
16768.60 635.89 10.00 1809 16786.94 done 1.86 - - 2982.44 - 2.81 0.032 2275.38 402.9 145.99 - - 2276.00 - - - - - - - - - 15.87 -
17093.44 607.67 8.61 1841 17113.00 done 1.90 - - 2982.81 - 3.13 0.071 1142.12 -362.1 145.99 - - 2273.69 - - - - - - - - - 15.51 -
17169.46 600.54 9.62 1853 17187.39 done 1.90 - - 2982.44 - 2.79 0.031 2273.88 405.6 145.99 - - 2274.44 - - - - - - - - - 15.87 -
17493.91 574.00 8.44 1885 17513.49 done 1.94 - - 2982.06 - 3.13 0.071 1144.75 -360.7 145.99 - - 2274.91 - - - - - - - - - 15.66 -
17680.40 558.55 8.44 1919 17698.98 done 1.98 - - 2980.75 - 2.81 0.031 2274.25 402.0 145.99 - - 2275.31 - - - - - - - - - 15.85 -
18005.64 532.25 8.35 1951 18026.44 2.03 0.11 0.104 3013.88 301.2 3.13 0.070 1142.88 -361.5 145.99 - - 2273.09 - - - - - - - - 15.86 15.66 -
18197.23 514.01 9.78 1986 18216.29 done 2.03 - - 3014.38 - 2.80 0.031 2274.56 404.2 145.99 - - 2274.62 - - - - - - - - - 15.85 -
18522.40 484.39 8.88 2018 18541.97 done 2.03 - - 3012.81 - 3.13 0.070 1144.12 -361.2 145.99 - - 2275.69 - - - - - - - - - 15.66 -
18738.46 463.80 9.32 2058 18756.79 done 2.03 - - 3014.38 - 2.81 0.031 2275.50 402.6 145.99 - - 2274.34 - - - - - - - - - 15.83 -
19062.92 435.37 9.11 2090 19082.88 done 2.03 - - 3013.75 - 3.13 0.069 1143.12 -361.8 145.99 - - 2275.25 - - - - - - - - - 15.65 -
19249.36 417.75 9.38 2124 19268.10 done 2.03 - - 3014.06 - 2.82 0.030 2275.00 401.4 145.99 - - 2274.94 - - - - - - - - - 15.85 -
19574.64 389.97 8.34 2156 19594.45 done 2.08 - - 3014.69 - 3.15 0.069 1145.62 -358.5 145.99 - - 2273.34 - - - - - - - - - 15.52 -
19725.34 376.17 8.97 2183 19744.40 done 2.08 - - 3014.12 - 2.83 0.030 2274.12 398.8 145.99 - - 2274.53 - - - - - - - - - 15.73 -
20050.92 348.90 8.31 2215 20070.48 done 2.13 - - 3014.94 - 3.13 0.069 1143.75 -361.1 145.99 - - 2274.78 - - - - - - - - - 15.65 -
20216.99 334.16 8.90 2245 20235.34 done 2.13 - - 3014.69 - 2.84 0.030 2274.38 398.1 145.99 - - 2274.31 - - - - - - - - - 15.58 -
20541.83 308.35 7.63 2277 20561.41 2.23 - - 3013.94 - 3.15 0.068 1144.62 -358.7 145.99 - - 2272.47 - - - - - - - - - 15.62 -
20648.41 299.60 8.29 2295 20666.92 2.28 - - 3014.12 - 2.82 0.029 2274.19 400.6 145.99 - - 2274.34 - - - - - - - - - 15.84 -
20973.44 274.91 7.79 2327 20993.13 2.36 - - 3013.81 - 3.15 0.068 1144.25 -358.7 145.99 - - 2272.75 - - - - - - - - - 15.59 -
21079.99 266.27 8.15 2345 21098.59 2.42 - - 3015.44 - 2.82 0.029 2274.38 400.8 145.99 - - 2273.84 - - - - - - - - - 15.83 -
21405.25 240.93 7.77 2377 21424.83 2.51 - - 3013.75 - 3.19 0.068 1142.50 -354.8 145.99 - - 2274.44 - - - - - - - - - 15.41 -
21601.71 225.21 7.85 2413 21620.08 2.59 - - 3014.69 - 2.82 0.029 2275.56 401.8 145.99 - - 2273.91 - - - - - - - - - 15.81 -
21926.58 202.23 6.71 2445 21946.54 2.73 - - 3013.31 - 3.18 0.067 1144.12 -355.8 145.99 - - 2274.66 - - - - - - - - - 15.53 -
22013.64 196.05 7.11 2459 22031.99 2.86 - - 3014.19 - 2.82 0.029 2275.50 401.2 145.99 - - 2275.03 - - - - - - - - - 15.81 -
22338.54 173.79 6.79 2491 22358.14 3.00 - - 3013.69 - 3.14 0.067 1143.81 -360.4 145.99 - - 2274.75 - - - - - - - - - 15.55 -
22495.03 162.03 7.66 2519 22513.38 3.09 - - 3014.19 - 2.85 0.028 2274.56 396.8 145.99 - - 2274.03 - - - - - - - - - 15.50 -
22819.85 139.13 7.20 2551 22839.67 3.21 - - 3014.12 - 3.15 0.067 1144.88 -358.6 145.99 - - 2272.78 - - - - - - - - - 15.49 -
22906.66 132.26 7.98 2565 22925.13 3.28 - - 3014.06 - 2.84 0.028 2276.50 398.5 145.99 - - 2274.66 - - - - - - - - - 15.63 -
23231.64 110.82 5.63 2597 23327.28 3.44 - - 3014.19 - - - 2276.31 - 228.22 64.14 1.221 1959.53 -4.9 0.078 - - - - - - - - 10.40
23633.81 79.34 8.29 2663 23654.52 3.50 - - 3015.31 - 3.16 0.067 1145.38 -357.9 228.22 - - 1949.72 - - - - - - - - - 15.41 -
23886.58 61.14 5.92 2710 23990.08 3.65 - - 3014.88 - 2.84 0.027 2276.12 398.1 303.64 59.34 1.140 1652.88 -5.0 0.047 - - - - - - - 15.62 11.46
24176.64 41.85 7.29 2760 24196.96 roll back 3.76 - - 3013.88 - 3.19 0.067 1144.19 -354.8 303.64 - - 1644.16 - - - - - - - - - 15.52 -
24338.95 28.99 7.83 2789 24358.01 3.84 - - 3014.94 - 2.84 0.027 2275.69 398.4 303.64 - - 1642.03 - - - - - - - - - 15.62 -
24544.54 13.23 7.88 2827 24565.64 3.92 - - 3014.75 - 3.22 0.090 3351.12 334.0 303.64 - - 1640.97 - - - - - - - - - 15.36 -
24607.10 7.62 9.30 2836 24625.76 3.92 - - 3014.88 - 2.77 0.020 2196.31 -416.9 303.64 - - 1640.94 - - - - - - - - - 15.52 -
24661 end climb: SURFACE_DEPTH_REACHED
24661 begin surface coast
24727 end surface coast: CONTROL_FINISHED_OK
24728 begin surface
SM 0.76 - - - - 181.0 100.58 1.082 1137.6 11.3 20.01 0.043 1138.1 56.9 - 0.17 0.092 1137.1 6672.5 -5.634 - - 10.91 15.75 15.81 -