NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 897 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 304.71 of 506.00 AH used of 24V (39.78% remains)
• Surface angle -58.6 deg, depth 0.93 m • Intended pitch -17.5 deg, speed -8.462 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 30 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
19.75 - - - 121.73 VBD -1.33 - - 186.75 - - - 2198.56 - -116.79 71.88 0.005 2975.25 - - - - - - - - - - 14.59
123.95 3.66 -3.95 14 238.57 -1.33 17.27 0.197 2193.62 116.2 2.99 0.069 1154.94 -349.0 -116.79 6.00 0.008 3371.00 66.0 -5.280 - - - - - - 15.11 14.82 14.95
255.75 33.36 -12.97 23 274.67 roll -1.33 - - 2193.50 - 2.85 0.025 2284.75 396.4 -116.79 - - 3372.28 - - - - - - - - - 15.57 -
460.90 55.78 -9.88 61 481.39 roll -1.33 - - 2194.00 - 3.21 0.081 3361.94 335.6 -116.79 - - 3372.91 - - - - - - - - - 15.49 -
512.83 61.86 -11.56 68 531.33 roll -1.33 - - 2193.94 - 2.77 0.017 2198.50 -420.0 -116.79 - - 3372.72 - - - - - - - - - 15.73 -
717.41 83.83 -9.52 106 739.11 roll -1.33 - - 2193.62 - 3.43 0.077 3361.94 339.2 -116.79 - - 3374.66 - - - - - - - - - 15.45 -
780.55 90.05 -10.32 115 799.44 roll -1.33 - - 2193.94 - 2.82 0.017 2199.12 -412.3 -116.79 - - 3372.84 - - - - - - - - - 15.63 -
990.52 107.50 -8.33 145 1009.48 roll -1.33 - - 2193.56 - 2.99 0.065 1154.81 -349.3 -116.79 - - 3374.59 - - - - - - - - - 15.51 -
1045.93 112.38 -8.85 153 1063.74 roll -1.33 - - 2193.25 - 2.79 0.024 2288.06 406.2 -116.79 - - 3374.47 - - - - - - - - - 15.67 -
1369.84 136.67 -7.64 185 1373.86 no move -1.33 - - 2194.00 - - - 2288.44 - -116.79 - - 3372.28 - - - - - - - - - - -
1679.96 162.64 -8.06 216 1700.38 roll -1.33 - - 2193.31 - 3.23 0.060 1155.38 -350.8 -116.79 - - 3375.19 - - - - - - - - - 15.51 -
1736.99 167.21 -8.10 224 1754.98 roll -1.33 - - 2193.75 - 2.78 0.024 2289.00 407.8 -116.79 - - 3373.38 - - - - - - - - - 15.82 -
2061.12 190.79 -7.44 256 2080.75 roll -1.33 - - 2192.88 - 3.15 0.060 1153.88 -360.4 -116.79 - - 3373.09 - - - - - - - - - 15.57 -
2097.23 193.73 -8.10 260 2115.22 roll -1.33 - - 2193.38 - 2.77 0.024 2288.62 409.7 -116.79 - - 3373.59 - - - - - - - - - 15.83 -
2421.36 218.56 -8.25 292 2425.42 no move -1.33 - - 2194.00 - - - 2289.19 - -116.79 - - 3373.22 - - - - - - - - - - -
2731.52 247.98 -10.08 323 2735.59 no move -1.33 - - 2193.25 - - - 2288.62 - -116.79 - - 3372.78 - - - - - - - - - - -
3041.70 277.88 -9.03 354 3061.33 roll -1.33 - - 2193.25 - 3.15 0.061 1154.19 -360.1 -116.79 - - 3374.28 - - - - - - - - - 15.68 -
3087.83 282.12 -9.23 360 3105.81 roll -1.33 - - 2193.19 - 2.78 0.025 2288.69 408.1 -116.79 - - 3374.78 - - - - - - - - - 15.86 -
3411.95 309.91 -8.14 392 3416.01 no move -1.33 - - 2192.38 - - - 2288.25 - -116.79 - - 3372.66 - - - - - - - - - - -
3722.15 333.52 -7.46 423 3726.21 no move -1.33 - - 2193.62 - - - 2288.12 - -116.79 - - 3373.56 - - - - - - - - - - -
4032.35 355.42 -6.61 454 4051.98 roll -1.33 - - 2193.50 - 3.15 0.062 1153.50 -360.2 -116.79 - - 3373.56 - - - - - - - - - 15.70 -
4088.59 359.26 -6.96 462 4106.58 roll -1.33 - - 2193.56 - 2.79 0.025 2287.62 406.5 -116.79 - - 3374.72 - - - - - - - - - 15.75 -
4412.69 382.02 -6.76 494 4416.75 no move -1.33 - - 2193.44 - - - 2287.12 - -116.79 - - 3372.91 - - - - - - - - - - -
4722.89 403.10 -6.91 525 4726.95 no move -1.33 - - 2193.25 - - - 2287.44 - -116.79 - - 3372.88 - - - - - - - - - - -
5033.10 425.17 -7.32 556 5052.72 roll -1.33 - - 2193.38 - 3.15 0.062 1154.06 -359.8 -116.79 - - 3374.84 - - - - - - - - - 15.69 -
5089.21 429.43 -7.61 564 5107.21 roll -1.33 - - 2193.25 - 2.80 0.025 2285.81 404.2 -116.79 - - 3373.38 - - - - - - - - - 15.76 -
5413.35 451.91 -6.60 596 5417.41 no move -1.33 - - 2193.06 - - - 2285.00 - -116.79 - - 3371.97 - - - - - - - - - - -
5723.53 471.55 -6.38 627 5743.14 roll -1.33 - - 2192.81 - 3.15 0.063 1155.50 -358.6 -116.79 - - 3372.44 - - - - - - - - - 15.67 -
5769.63 474.78 -6.89 633 5788.04 roll -1.33 - - 2194.25 - 2.81 0.025 2285.25 402.0 -116.79 - - 3371.97 - - - - - - - - - 15.81 -
6094.18 496.17 -6.44 665 6098.24 no move -1.33 - - 2192.94 - - - 2286.00 - -116.79 - - 3371.69 - - - - - - - - - - -
6404.37 515.28 -6.00 696 6423.98 roll -1.33 - - 2193.12 - 3.15 0.063 1154.06 -359.3 -116.79 - - 3372.75 - - - - - - - - - 15.66 -
6474.85 519.83 -6.46 707 6493.97 roll -1.33 - - 2193.19 - 2.81 0.026 2285.75 402.7 -116.79 - - 3372.06 - - - - - - - - - 15.88 -
6800.12 541.01 -6.66 739 6820.13 roll -1.33 - - 2192.75 - 3.21 0.087 3361.50 335.1 -116.79 - - 3369.56 - - - - - - - - - 15.60 -
6830.88 543.38 -7.17 742 6849.60 roll -1.33 - - 2193.19 - 2.74 0.019 2196.62 -425.1 -116.79 - - 3371.06 - - - - - - - - - 15.91 -
7155.71 565.49 -7.07 774 7159.77 no move -1.33 - - 2194.00 - - - 2195.50 - -116.79 - - 3370.00 - - - - - - - - - - -
7465.91 588.52 -7.90 805 7486.75 roll -1.33 - - 2193.50 - 3.44 0.082 3361.31 338.9 -116.79 - - 3370.09 - - - - - - - - - 15.58 -
7507.50 592.07 -8.48 810 7526.60 roll -1.33 - - 2193.25 - 2.75 0.019 2196.31 -423.6 -116.79 - - 3370.16 - - - - - - - - - 15.88 -
7832.70 618.12 -8.74 842 7836.76 no move -1.33 - - 2193.06 - - - 2196.56 - -116.79 - - 3369.28 - - - - - - - - - - -
8142.90 644.23 -8.27 873 8146.96 no move -1.33 - - 2193.50 - - - 2196.62 - -116.79 - - 3368.62 - - - - - - - - - - -
8453.33 668.81 -7.48 904 8474.16 roll -1.33 - - 2193.25 - 3.45 0.083 3362.06 337.8 -116.79 - - 3368.69 - - - - - - - - - 15.59 -
8485.05 671.84 -8.44 907 8503.99 roll -1.33 - - 2193.19 - 2.77 0.019 2197.62 -420.4 -116.79 - - 3369.34 - - - - - - - - - 15.88 -
8810.14 695.71 -7.66 939 8814.20 no move -1.33 - - 2192.81 - - - 2197.69 - -116.79 - - 3368.56 - - - - - - - - - - -
9120.33 718.13 -6.55 970 9141.18 roll -1.33 - - 2193.81 - 3.48 0.082 3361.06 334.3 -116.79 - - 3367.38 - - - - - - - - - 15.47 -
9167.67 722.38 -8.83 976 9185.67 roll -1.33 - - 2193.31 - 2.78 0.019 2201.81 -417.0 -116.79 - - 3368.22 - - - - - - - - - 15.89 -
9491.77 745.82 -7.56 1008 9495.83 no move -1.33 - - 2193.62 - - - 2199.38 - -116.79 - - 3367.88 - - - - - - - - - - -
9801.97 768.54 -7.39 1039 9806.03 no move -1.33 - - 2193.25 - - - 2199.19 - -116.79 - - 3366.72 - - - - - - - - - - -
10112.17 792.44 -8.50 1070 10116.24 no move -1.33 - - 2193.12 - - - 2199.44 - -116.79 - - 3366.69 - - - - - - - - - - -
10422.58 815.85 -7.05 1101 10426.64 no move -1.33 - - 2193.25 - - - 2199.25 - -116.79 - - 3366.41 - - - - - - - - - - -
10732.75 837.23 -6.53 1132 10736.93 no move -1.33 - - 2193.38 - - - 2199.50 - -116.79 - - 3366.28 - - - - - - - - - - -
11043.07 856.21 -5.71 1163 11064.14 roll -1.33 - - 2192.94 - 3.44 0.082 3360.38 337.5 -116.79 - - 3368.16 - - - - - - - - - 15.53 -
11080.74 858.69 -6.16 1167 11098.72 roll -1.33 - - 2193.19 - 2.79 0.019 2202.00 -415.2 -116.79 - - 3366.66 - - - - - - - - - 15.79 -
11405.27 876.28 -5.22 1199 11409.33 no move -1.33 - - 2193.44 - - - 2200.81 - -116.79 - - 3365.62 - - - - - - - - - - -
11715.45 893.07 -5.48 1230 11736.29 roll -1.33 - - 2192.81 - 3.43 0.083 3360.44 338.1 -116.79 - - 3366.34 - - - - - - - - - 15.55 -
11762.90 896.27 -6.69 1236 11780.89 roll -1.33 - - 2192.75 - 2.77 0.019 2202.50 -418.0 -116.79 - - 3367.19 - - - - - - - - - 15.83 -
12087.03 914.82 -5.82 1268 12091.48 no move -1.33 - - 2192.81 - - - 2200.81 - -116.79 - - 3364.78 - - - - - - - - - - -
12397.60 935.02 -6.35 1299 12401.66 no move -1.33 - - 2193.19 - - - 2200.81 - -116.79 - - 3365.00 - - - - - - - - - - -
12707.77 955.79 -6.84 1330 12711.83 no move -1.33 - - 2193.12 - - - 2200.50 - -116.79 - - 3364.81 - - - - - - - - - - -
13017.98 975.64 -6.12 1361 13038.81 roll -1.33 - - 2193.38 - 3.46 0.082 3361.06 335.4 -116.79 - - 3364.38 - - - - - - - - - 15.37 -
13069.57 979.27 -6.76 1368 13088.28 roll -1.33 - - 2193.75 - 2.77 0.019 2203.19 -418.0 -116.79 - - 3365.16 - - - - - - - - - 15.88 -
13253 end dive: TARGET_DEPTH_EXCEEDED
13254 begin apogee
13260.61 990.33 -6.10 1386 13413.38 -0.31 1.92 0.123 2440.44 128.5 0.13 0.168 2077.81 -964.5 - 98.63 2.309 2889.03 -4.8 0.362 - - - - - - 15.27 14.96 9.88
13426 end apogee: CONTROL_FINISHED_OK
13427 begin climb
13430.13 992.80 - 1396 13612.84 1.33 2.93 0.088 2840.88 136.7 3.51 0.088 923.56 -328.8 116.79 102.55 2.267 2412.53 -4.6 0.356 - - - - - - 15.49 14.91 11.39
13619.83 983.36 6.98 1417 13638.95 roll 1.42 - - 2841.12 - 2.81 0.022 2061.31 404.9 116.79 - - 2406.59 - - - - - - - - - 15.46 -
13945.59 963.48 5.79 1449 13967.06 1.58 0.38 0.064 2911.00 183.9 3.10 0.077 3126.38 343.6 116.79 - - 2402.03 - - - - - - - - 15.68 15.59 -
14058.35 954.96 7.74 1468 14077.08 done 1.62 - - 2910.75 - 2.80 0.025 1993.31 -404.7 116.79 - - 2403.16 - - - - - - - - - 15.78 -
14383.62 930.26 7.51 1500 14403.24 done 1.68 - - 2908.06 - 3.14 0.088 922.19 -341.1 116.79 - - 2399.19 - - - - - - - - - 15.59 -
14499.74 920.30 8.70 1520 14517.74 done 1.68 - - 2910.69 - 2.76 0.023 2061.25 412.7 116.79 - - 2398.00 - - - - - - - - - 15.85 -
14824.28 895.91 7.76 1552 14843.50 done 1.72 - - 2910.56 - 3.10 0.078 3125.88 343.4 116.79 - - 2398.50 - - - - - - - - - 15.65 -
14869.99 892.47 8.03 1558 14887.99 done 1.72 - - 2910.19 - 2.80 0.025 1991.88 -405.0 116.79 - - 2397.69 - - - - - - - - - 15.84 -
15194.54 869.48 6.96 1590 15220.66 1.81 0.29 0.066 2967.88 198.9 3.27 0.074 3127.19 347.2 116.79 - - 2397.16 - - - - - - - - 15.83 15.65 -
15252.14 864.38 9.16 1598 15270.14 done 1.81 - - 2967.50 - 2.79 0.026 1991.88 -406.9 116.79 - - 2397.53 - - - - - - - - - 15.89 -
15576.28 836.94 8.38 1630 15595.91 done 1.81 - - 2967.75 - 3.10 0.088 923.31 -344.7 116.79 - - 2396.50 - - - - - - - - - 15.59 -
15712.53 824.19 8.76 1654 15730.52 done 1.81 - - 2968.00 - 2.71 0.024 2061.38 420.0 116.79 - - 2396.34 - - - - - - - - - 15.89 -
16037.03 797.63 7.88 1686 16041.10 VBD 1.84 - - 2967.75 - - - 2061.12 - 116.79 - - 2395.38 - - - - - - - - - - -
16347.64 772.97 7.85 1717 16367.66 done 1.88 - - 2967.62 - 3.30 0.084 922.31 -345.1 116.79 - - 2394.44 - - - - - - - - - 15.57 -
16518.46 759.03 8.45 1748 16537.56 done 1.88 - - 2967.56 - 2.71 0.023 2060.94 420.2 116.79 - - 2397.06 - - - - - - - - - 15.89 -
16844.07 735.56 7.33 1780 16864.09 done 1.95 - - 2968.00 - 3.26 0.083 922.25 -349.3 116.79 - - 2395.50 - - - - - - - - - 15.55 -
16934.85 728.11 8.42 1795 16953.98 done 1.95 - - 2968.50 - 2.72 0.023 2062.19 419.1 116.79 - - 2394.50 - - - - - - - - - 15.89 -
17260.52 702.64 7.84 1827 17265.84 1.99 0.18 0.081 3010.31 232.3 - - 2063.00 - 116.79 - - 2393.47 - - - - - - - - 15.85 - -
17571.98 674.48 9.06 1858 17592.01 done 1.99 - - 3011.50 - 3.25 0.083 923.25 -350.7 116.79 - - 2396.75 - - - - - - - - - 15.56 -
17642.90 667.22 9.74 1869 17662.02 done 1.99 - - 3011.19 - 2.73 0.023 2062.31 417.2 116.79 - - 2395.44 - - - - - - - - - 15.65 -
17968.16 638.68 8.53 1901 17972.22 VBD 1.99 - - 3011.62 - - - 2062.25 - 116.79 - - 2393.84 - - - - - - - - - - -
18278.35 612.19 8.54 1932 18298.39 done 1.99 - - 3011.06 - 3.24 0.082 922.19 -351.9 116.79 - - 2392.94 - - - - - - - - - 15.54 -
18414.92 599.86 8.90 1956 18433.32 done 1.99 - - 3011.44 - 2.71 0.024 2062.69 420.8 116.79 - - 2395.22 - - - - - - - - - 15.89 -
18739.83 574.04 7.82 1988 18743.89 VBD 2.03 - - 3011.75 - - - 2062.56 - 116.79 - - 2393.72 - - - - - - - - - - -
19050.44 550.51 7.50 2019 19070.46 done 2.08 - - 3011.06 - 3.24 0.082 922.19 -352.0 116.79 - - 2393.47 - - - - - - - - - 15.53 -
19131.24 543.83 8.26 2032 19149.98 done 2.08 - - 3011.56 - 2.70 0.023 2062.31 422.3 116.79 - - 2395.22 - - - - - - - - - 15.89 -
19456.76 519.95 6.95 2064 19476.80 2.17 - - 3010.00 - 3.26 0.082 922.62 -349.6 116.79 - - 2393.53 - - - - - - - - - 15.53 -
19548.08 513.03 7.50 2079 19566.85 2.23 - - 3011.44 - 2.70 0.023 2062.75 422.3 116.79 - - 2393.69 - - - - - - - - - 15.87 -
19873.38 491.28 6.71 2111 19893.42 2.34 - - 3011.44 - 3.26 0.081 922.50 -349.8 116.79 - - 2394.22 - - - - - - - - - 15.52 -
19920.33 487.87 7.65 2117 19938.35 2.38 - - 3010.75 - 2.74 0.022 2061.81 415.8 116.79 - - 2394.56 - - - - - - - - - 15.58 -
20244.86 465.86 6.95 2149 20265.02 2.48 - - 3012.06 - 3.25 0.081 923.25 -350.3 116.79 - - 2395.81 - - - - - - - - - 15.50 -
20296.19 461.84 7.93 2156 20314.93 2.51 - - 3011.25 - 2.70 0.022 2061.62 421.6 116.79 - - 2394.16 - - - - - - - - - 15.87 -
20621.47 439.47 6.95 2188 20640.71 2.60 - - 3011.50 - 3.05 0.077 3127.31 349.4 116.79 - - 2393.88 - - - - - - - - - 15.55 -
20707.61 433.38 7.04 2202 20725.62 2.68 - - 3012.19 - 2.76 0.025 1989.69 -412.2 116.79 - - 2394.44 - - - - - - - - - 15.85 -
21032.34 412.75 6.34 2234 21051.57 2.81 - - 3011.31 - 3.04 0.085 921.12 -351.5 116.79 - - 2394.56 - - - - - - - - - 15.51 -
21132.86 405.81 7.14 2251 21151.60 2.89 - - 3011.06 - 2.71 0.023 2065.06 422.1 116.79 - - 2394.16 - - - - - - - - - 15.82 -
21458.13 386.72 5.78 2283 21478.27 3.05 - - 3009.31 - 3.22 0.081 922.31 -354.9 116.79 - - 2393.59 - - - - - - - - - 15.51 -
21559.57 380.16 6.58 2300 21578.31 3.16 - - 3011.75 - 2.71 0.022 2063.94 421.3 116.79 - - 2394.50 - - - - - - - - - 15.69 -
21884.81 362.44 5.33 2332 21975.19 3.29 - - 3011.56 - 3.03 0.080 3126.69 350.7 180.04 51.19 1.543 2156.00 -4.7 0.191 - - - - - - - 15.23 10.32
22041.69 351.03 8.59 2356 22059.69 roll back 3.29 - - 3011.19 - 2.78 0.025 1988.38 -409.5 180.04 - - 2150.53 - - - - - - - - - 15.66 -
22365.95 325.29 8.00 2388 22386.23 3.29 - - 3012.06 - 3.24 0.074 3128.31 351.8 180.04 - - 2145.84 - - - - - - - - - 15.59 -
22402.83 322.27 8.23 2392 22420.84 3.29 - - 3011.75 - 2.78 0.025 1990.00 -409.5 180.04 - - 2146.84 - - - - - - - - - 15.75 -
22726.97 296.71 8.51 2424 22746.21 3.29 - - 3011.25 - 3.03 0.086 923.62 -351.9 180.04 - - 2147.25 - - - - - - - - - 15.53 -
22786.98 291.11 9.55 2433 22805.31 3.29 - - 3011.56 - 2.69 0.022 2064.38 424.1 180.04 - - 2146.69 - - - - - - - - - 15.81 -
23111.43 262.44 8.90 2465 23115.50 3.29 - - 3012.00 - - - 2064.75 - 180.04 - - 2143.34 - - - - - - - - - - -
23421.61 236.67 8.07 2496 23441.64 3.29 - - 3010.75 - 3.27 0.081 921.88 -349.5 180.04 - - 2144.19 - - - - - - - - - 15.48 -
23518.15 228.07 9.08 2512 23536.17 3.29 - - 3011.88 - 2.70 0.022 2063.88 423.0 180.04 - - 2144.50 - - - - - - - - - 15.86 -
23842.31 200.95 7.97 2544 23861.54 3.29 - - 3011.38 - 3.03 0.077 3127.25 350.9 180.04 - - 2144.31 - - - - - - - - - 15.50 -
23892.29 196.58 8.68 2551 23911.28 3.29 - - 3011.62 - 2.77 0.024 1987.00 -411.6 180.04 - - 2143.94 - - - - - - - - - 15.52 -
24217.50 171.53 8.02 2583 24221.59 3.29 - - 3011.81 - - - 1987.00 - 180.04 - - 2142.59 - - - - - - - - - - -
24527.70 145.91 8.54 2614 24531.77 3.29 - - 3012.12 - - - 1987.50 - 180.04 - - 2142.62 - - - - - - - - - - -
24837.92 119.38 8.64 2645 24857.14 3.29 - - 3012.06 - 3.02 0.085 923.50 -352.3 180.04 - - 2143.22 - - - - - - - - - 15.52 -
24883.64 115.60 8.44 2651 24901.63 3.29 - - 3010.44 - 2.69 0.021 2066.94 425.1 180.04 - - 2143.62 - - - - - - - - - 15.69 -
25208.16 94.81 5.61 2692 25227.70 3.46 - - 3011.75 - 2.99 0.075 3126.50 354.4 180.04 - - 2143.97 - - - - - - - - - 15.58 -
25459.66 78.15 6.88 2739 25478.41 3.56 - - 3012.00 - 2.77 0.023 1987.25 -411.3 180.04 - - 2143.25 - - - - - - - - - 15.55 -
25664.91 67.15 4.89 2777 25750.45 3.70 - - 3011.88 - - - 1987.06 - 252.12 57.10 1.131 1861.00 -4.9 0.051 - - - - - - - - 11.40
25936.98 52.80 5.38 2826 26027.32 3.82 - - 3011.69 - 3.06 0.087 921.38 -348.3 314.24 49.58 1.091 1608.44 -5.1 0.043 - - - - - - - 15.21 11.53
26093.95 41.18 8.00 2850 26112.69 roll back 3.82 - - 3011.62 - 2.71 0.021 2066.25 422.5 314.24 - - 1602.28 - - - - - - - - - 15.61 -
26299.36 27.11 6.54 2888 26306.67 3.94 - - 3011.81 - - - 2066.31 - 314.24 - - 1599.31 - - - - - - - - - - -
26493.18 14.41 6.74 2926 26500.50 4.04 - - 3012.25 - - - 2066.38 - 314.24 - - 1598.16 - - - - - - - - - - -
26651 end climb: SURFACE_DEPTH_REACHED
26651 begin surface coast
26722 end surface coast: CONTROL_FINISHED_OK
26723 begin surface
SM 1.03 - - - - 179.6 68.62 1.047 1259.0 18.3 20.31 0.047 1267.8 62.4 - 0.50 0.053 1250.2 2500.4 -4.967 - - 10.94 15.71 15.81 -