NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 32 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 12.48 of 506.00 AH used of 24V (97.53% remains)
• Surface angle -63.8 deg, depth 1.15 m • Intended pitch -16.9 deg, speed -8.462 cm/s
VBD pumped to 430.00 (SM_CC=430)
• GPS1 time: 30 s
• GPS2 time: 4 s • Transponder ping count: 24
• 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
18.64 - - - 104.18 VBD -1.23 - - 178.25 - - - 2265.19 - -87.59 60.00 0.005 2660.97 - - - - - - - - - - 15.06
106.39 3.69 -4.65 12 217.24 -1.23 16.50 0.243 2217.38 123.6 2.82 0.088 3305.25 368.8 -87.59 8.39 0.008 3251.41 70.4 -5.409 - - - - - - 15.67 15.64 15.15
403.32 71.54 -13.77 55 421.10 roll -1.23 - - 2217.25 - 2.75 0.022 2147.88 -420.9 -87.59 - - 3254.06 - - - - - - - - - 15.87 -
607.00 95.55 -11.24 93 625.97 roll -1.23 - - 2217.12 - 3.09 0.079 3305.69 374.7 -87.59 - - 3254.56 - - - - - - - - - 15.94 -
656.37 101.73 -12.61 100 674.14 roll -1.23 - - 2216.50 - 2.76 0.022 2147.31 -419.7 -87.59 - - 3255.22 - - - - - - - - - 15.95 -
979.94 129.41 -8.47 132 998.17 done -1.23 - - 2216.69 - 3.09 0.079 3305.50 374.8 -87.59 - - 3254.44 - - - - - - - - - 15.98 -
1078.61 139.77 -10.34 149 1096.39 done -1.23 - - 2217.00 - 2.73 0.022 2146.56 -424.5 -87.59 - - 3256.12 - - - - - - - - - 15.97 -
1402.19 167.83 -8.49 181 1406.19 VBD -1.23 - - 2216.31 - - - 2147.00 - -87.59 - - 3255.31 - - - - - - - - - - -
1712.24 194.81 -8.96 212 1716.25 VBD -1.23 - - 2217.25 - - - 2145.12 - -87.59 - - 3255.62 - - - - - - - - - - -
2022.30 222.26 -8.89 243 2039.36 roll -1.23 - - 2216.75 - 2.79 0.076 1092.75 -377.2 -87.59 - - 3257.38 - - - - - - - - - 16.04 -
2069.76 227.08 -9.87 250 2087.54 roll -1.23 - - 2217.50 - 2.73 0.027 2231.56 417.1 -87.59 - - 3256.22 - - - - - - - - - 16.05 -
2393.34 255.11 -8.33 282 2411.19 roll -1.23 - - 2217.00 - 2.85 0.086 3306.56 377.2 -87.59 - - 3257.53 - - - - - - - - - 16.04 -
2461.76 261.57 -9.45 293 2479.75 roll -1.23 - - 2217.56 - 2.71 0.023 2149.56 -426.9 -87.59 - - 3257.56 - - - - - - - - - 16.07 -
2785.59 289.01 -8.84 325 2804.07 roll -1.23 - - 2216.31 - 3.06 0.083 3305.50 377.8 -87.59 - - 3254.34 - - - - - - - - - 16.08 -
2850.26 295.08 -9.50 335 2867.11 roll -1.23 - - 2216.44 - 2.70 0.023 2149.62 -428.1 -87.59 - - 3255.59 - - - - - - - - - 16.09 -
3172.93 323.63 -9.05 367 3176.98 no move -1.23 - - 2217.00 - - - 2149.38 - -87.59 - - 3254.19 - - - - - - - - - - -
3482.97 350.80 -8.95 398 3501.84 roll -1.23 - - 2217.25 - 3.05 0.084 3304.19 378.6 -87.59 - - 3252.78 - - - - - - - - - 16.05 -
3522.28 354.80 -9.60 403 3540.27 roll -1.23 - - 2216.94 - 2.72 0.024 2150.25 -424.2 -87.59 - - 3253.94 - - - - - - - - - 16.08 -
3846.07 384.40 -9.17 435 3850.11 no move -1.23 - - 2216.56 - - - 2150.00 - -87.59 - - 3252.22 - - - - - - - - - - -
4156.11 411.25 -8.34 466 4160.15 no move -1.23 - - 2216.75 - - - 2149.12 - -87.59 - - 3251.50 - - - - - - - - - - -
4466.16 435.78 -7.73 497 4484.88 roll -1.23 - - 2216.88 - 3.07 0.085 3302.00 375.5 -87.59 - - 3252.16 - - - - - - - - - 16.10 -
4565.47 444.59 -8.96 514 4583.06 roll -1.23 - - 2217.31 - 2.69 0.024 2153.50 -427.0 -87.59 - - 3251.69 - - - - - - - - - 16.11 -
4888.89 469.23 -7.15 546 4907.36 roll -1.23 - - 2217.44 - 3.07 0.085 3304.56 374.9 -87.59 - - 3250.00 - - - - - - - - - 16.12 -
4923.74 471.98 -7.67 550 4940.99 roll -1.23 - - 2216.94 - 2.70 0.024 2151.69 -427.0 -87.59 - - 3251.78 - - - - - - - - - 16.11 -
5246.82 496.71 -8.07 582 5250.87 no move -1.23 - - 2216.69 - - - 2151.75 - -87.59 - - 3249.03 - - - - - - - - - - -
5556.88 520.35 -7.57 613 5575.35 roll -1.23 - - 2216.81 - 3.07 0.086 3305.06 375.7 -87.59 - - 3249.00 - - - - - - - - - 16.11 -
5631.53 526.70 -8.72 625 5648.38 roll -1.23 - - 2215.44 - 2.69 0.025 2153.44 -428.1 -87.59 - - 3249.38 - - - - - - - - - 16.12 -
5954.22 552.81 -8.65 657 5958.26 no move -1.23 - - 2216.69 - - - 2153.62 - -87.59 - - 3247.69 - - - - - - - - - - -
6264.27 579.12 -8.54 688 6268.32 no move -1.23 - - 2216.75 - - - 2152.19 - -87.59 - - 3246.81 - - - - - - - - - - -
6574.33 605.35 -8.70 719 6578.38 no move -1.23 - - 2216.94 - - - 2151.81 - -87.59 - - 3246.41 - - - - - - - - - - -
6884.39 629.77 -7.31 750 6888.44 no move -1.23 - - 2217.25 - - - 2151.88 - -87.59 - - 3245.38 - - - - - - - - - - -
7194.44 653.06 -7.13 781 7198.48 no move -1.23 - - 2217.50 - - - 2151.00 - -87.59 - - 3244.84 - - - - - - - - - - -
7504.49 675.40 -7.04 812 7522.96 roll -1.23 - - 2216.62 - 3.08 0.088 3305.00 374.7 -87.59 - - 3244.91 - - - - - - - - - 16.12 -
7539.14 678.14 -7.71 816 7556.42 roll -1.23 - - 2217.06 - 2.71 0.025 2154.56 -424.5 -87.59 - - 3245.59 - - - - - - - - - 16.12 -
7862.26 701.54 -6.90 848 7880.73 roll -1.23 - - 2216.69 - 3.06 0.088 3302.56 375.2 -87.59 - - 3246.44 - - - - - - - - - 16.11 -
7911.17 705.59 -7.83 855 7929.16 roll -1.23 - - 2217.19 - 2.70 0.025 2153.00 -425.8 -87.59 - - 3246.31 - - - - - - - - - 16.12 -
8234.98 728.35 -6.85 887 8239.02 no move -1.23 - - 2217.12 - - - 2153.12 - -87.59 - - 3243.19 - - - - - - - - - - -
8545.02 749.93 -6.95 918 8549.15 no move -1.23 - - 2216.88 - - - 2152.69 - -87.59 - - 3243.34 - - - - - - - - - - -
8855.03 771.34 -6.91 949 8873.51 roll -1.23 - - 2216.25 - 3.08 0.088 3303.81 373.7 -87.59 - - 3243.72 - - - - - - - - - 16.11 -
8909.68 775.35 -7.28 957 8926.94 roll -1.23 - - 2217.06 - 2.71 0.026 2153.12 -424.6 -87.59 - - 3242.78 - - - - - - - - - 16.12 -
9232.78 797.87 -6.78 989 9237.07 no move -1.23 - - 2216.75 - - - 2152.94 - -87.59 - - 3242.34 - - - - - - - - - - -
9542.99 819.04 -6.64 1020 9561.47 roll -1.23 - - 2217.00 - 3.09 0.088 3303.69 372.4 -87.59 - - 3242.97 - - - - - - - - - 16.12 -
9597.66 823.29 -7.87 1028 9614.92 roll -1.23 - - 2217.44 - 2.72 0.025 2153.94 -422.7 -87.59 - - 3241.88 - - - - - - - - - 16.06 -
9920.76 845.61 -6.75 1060 9939.23 roll -1.23 - - 2216.81 - 3.07 0.088 3303.06 374.3 -87.59 - - 3240.25 - - - - - - - - - 16.09 -
10019.69 853.57 -8.04 1077 10037.30 roll -1.23 - - 2216.88 - 2.70 0.025 2152.69 -426.1 -87.59 - - 3241.59 - - - - - - - - - 16.10 -
10343.11 876.55 -6.90 1109 10361.58 roll -1.23 - - 2216.62 - 3.07 0.089 3303.75 374.9 -87.59 - - 3243.06 - - - - - - - - - 16.04 -
10387.76 880.46 -8.90 1115 10405.02 roll -1.23 - - 2215.62 - 2.71 0.026 2154.31 -424.1 -87.59 - - 3242.31 - - - - - - - - - 16.11 -
10710.86 903.60 -7.40 1147 10714.90 no move -1.23 - - 2216.88 - - - 2154.12 - -87.59 - - 3241.00 - - - - - - - - - - -
11020.92 923.86 -6.57 1178 11025.08 no move -1.23 - - 2216.94 - - - 2153.44 - -87.59 - - 3240.78 - - - - - - - - - - -
11331.36 942.61 -6.19 1209 11335.41 no move -1.23 - - 2217.00 - - - 2153.31 - -87.59 - - 3240.41 - - - - - - - - - - -
11641.25 961.16 -6.57 1240 11645.30 no move -1.23 - - 2216.69 - - - 2153.62 - -87.59 - - 3240.00 - - - - - - - - - - -
11951.71 979.04 -6.10 1271 11970.18 roll -1.23 - - 2216.12 - 3.08 0.090 3303.62 373.4 -87.59 - - 3240.25 - - - - - - - - - 16.10 -
11986.36 981.72 -6.94 1275 12004.02 roll -1.23 - - 2216.69 - 2.71 0.026 2154.94 -423.9 -87.59 - - 3240.16 - - - - - - - - - 16.10 -
12119 end dive: TARGET_DEPTH_EXCEEDED
12120 begin apogee
12124.80 990.16 -6.51 1288 12237.59 -0.31 1.60 0.148 2440.31 139.8 0.12 0.203 2191.56 305.2 - 69.21 2.559 2889.72 -5.1 0.326 - - - - - - 16.01 15.54 12.13
12244 end apogee: CONTROL_FINISHED_OK
12245 begin climb
12247.53 992.54 - 1296 12368.41 1.23 2.57 0.101 2815.75 146.1 - - 2190.69 - 87.59 74.29 2.504 2533.22 -4.8 0.317 - - - - - - 15.69 - 12.72
12674.76 965.46 7.55 1335 12678.81 VBD 1.28 - - 2814.88 - - - 2190.62 - 87.59 - - 2521.47 - - - - - - - - - - -
12985.17 943.62 6.91 1366 12990.52 1.38 0.20 0.083 2860.81 229.6 - - 2190.50 - 87.59 - - 2520.03 - - - - - - - - 15.90 - -
13296.47 918.07 8.28 1397 13315.36 done 1.38 - - 2862.38 - 3.17 0.097 3351.88 366.4 87.59 - - 2520.12 - - - - - - - - - 15.96 -
13351.54 913.19 9.25 1405 13369.22 done 1.38 - - 2862.06 - 2.72 0.026 2206.19 -421.2 87.59 - - 2519.56 - - - - - - - - - 15.98 -
13675.02 886.94 7.98 1437 13692.69 done 1.38 - - 2862.06 - 2.84 0.084 1144.19 -373.9 87.59 - - 2517.66 - - - - - - - - - 16.02 -
13768.88 879.02 8.58 1453 13786.54 done 1.38 - - 2861.81 - 2.80 0.036 2274.88 403.8 87.59 - - 2520.75 - - - - - - - - - 16.03 -
14092.79 852.53 7.89 1485 14110.86 done 1.41 - - 2862.00 - 2.93 0.101 3354.38 368.4 87.59 - - 2518.72 - - - - - - - - - 16.02 -
14171.31 845.62 8.94 1498 14189.30 done 1.41 - - 2862.00 - 2.72 0.026 2204.62 -422.7 87.59 - - 2517.56 - - - - - - - - - 16.04 -
14495.54 819.90 7.78 1530 14499.58 VBD 1.45 - - 2862.25 - - - 2203.19 - 87.59 - - 2516.69 - - - - - - - - - - -
14805.43 795.74 7.97 1561 14824.54 done 1.45 - - 2861.88 - 3.12 0.098 3351.69 368.1 87.59 - - 2516.47 - - - - - - - - - 16.06 -
14850.83 791.83 8.85 1567 14868.51 done 1.45 - - 2862.62 - 2.70 0.026 2204.12 -425.0 87.59 - - 2517.19 - - - - - - - - - 16.08 -
15174.76 765.72 7.81 1599 15178.81 VBD 1.49 - - 2861.25 - - - 2204.00 - 87.59 - - 2516.03 - - - - - - - - - - -
15485.04 741.61 7.42 1630 15506.55 1.55 0.19 0.086 2905.88 234.9 3.11 0.098 3352.88 369.4 87.59 - - 2515.84 - - - - - - - - 16.05 16.03 -
15542.00 736.48 9.36 1638 15560.00 done 1.55 - - 2905.56 - 2.71 0.026 2206.19 -423.1 87.59 - - 2516.66 - - - - - - - - - 16.07 -
15866.25 710.95 7.56 1670 15870.30 VBD 1.61 - - 2905.25 - - - 2205.00 - 87.59 - - 2515.44 - - - - - - - - - - -
16176.53 688.61 6.78 1701 16193.79 done 1.71 - - 2906.25 - 2.80 0.084 1143.94 -378.9 87.59 - - 2517.12 - - - - - - - - - 16.07 -
16274.66 681.45 7.34 1718 16294.30 1.78 0.26 0.077 2959.25 203.8 2.78 0.036 2275.00 406.9 87.59 - - 2517.09 - - - - - - - - 15.98 16.09 -
16600.10 654.42 8.78 1750 16604.14 VBD 1.78 - - 2959.06 - - - 2275.19 - 87.59 - - 2515.47 - - - - - - - - - - -
16910.55 628.91 7.61 1781 16914.84 VBD 1.83 - - 2959.06 - - - 2275.44 - 87.59 - - 2514.69 - - - - - - - - - - -
17220.79 603.75 8.22 1812 17224.84 VBD 1.83 - - 2959.00 - - - 2275.19 - 87.59 - - 2514.97 - - - - - - - - - - -
17530.84 577.77 8.30 1843 17548.92 done 1.83 - - 2959.19 - 2.99 0.079 1144.31 -378.2 87.59 - - 2515.25 - - - - - - - - - 16.10 -
17655.13 566.88 8.92 1865 17672.40 done 1.83 - - 2959.06 - 2.78 0.036 2275.25 406.8 87.59 - - 2515.25 - - - - - - - - - 16.10 -
17978.24 539.28 8.57 1897 17982.29 VBD 1.83 - - 2959.62 - - - 2275.75 - 87.59 - - 2515.06 - - - - - - - - - - -
18288.29 512.16 8.73 1928 18292.34 VBD 1.83 - - 2959.12 - - - 2274.62 - 87.59 - - 2514.88 - - - - - - - - - - -
18598.35 486.05 8.22 1959 18602.40 VBD 1.83 - - 2959.94 - - - 2275.56 - 87.59 - - 2515.06 - - - - - - - - - - -
18908.80 462.14 7.21 1990 18926.47 done 1.90 - - 2959.31 - 2.90 0.100 3352.94 371.5 87.59 - - 2513.84 - - - - - - - - - 16.08 -
19026.95 452.55 8.06 2011 19044.94 done 1.90 - - 2958.00 - 2.72 0.025 2203.25 -422.7 87.59 - - 2515.69 - - - - - - - - - 16.09 -
19351.17 429.95 7.00 2043 19356.53 1.99 0.23 0.081 3012.38 236.4 - - 2202.06 - 87.59 - - 2514.62 - - - - - - - - 16.06 - -
19663.00 406.68 7.57 2074 19680.69 done 2.04 - - 3011.94 - 2.84 0.082 1143.00 -372.9 87.59 - - 2515.19 - - - - - - - - - 16.07 -
19837.00 392.44 8.31 2106 19854.29 done 2.04 - - 3011.81 - 2.78 0.035 2275.88 407.5 87.59 - - 2515.62 - - - - - - - - - 16.09 -
20160.51 368.10 7.50 2138 20178.99 done 2.10 - - 3012.06 - 3.01 0.077 1144.38 -375.9 87.59 - - 2515.00 - - - - - - - - - 16.07 -
20265.60 360.03 7.66 2156 20282.88 done 2.15 - - 3012.62 - 2.79 0.035 2276.25 405.7 87.59 - - 2515.00 - - - - - - - - - 16.06 -
20589.23 337.22 7.10 2188 20607.72 2.23 - - 3012.44 - 3.02 0.077 1141.88 -375.6 87.59 - - 2513.25 - - - - - - - - - 16.07 -
20638.58 333.50 7.43 2195 20656.98 2.29 - - 3012.38 - 2.79 0.034 2276.38 406.6 87.59 - - 2516.31 - - - - - - - - - 16.07 -
20963.21 309.48 7.65 2227 20967.37 2.34 - - 3013.12 - - - 2276.25 - 87.59 - - 2514.53 - - - - - - - - - - -
21273.60 286.35 7.40 2258 21291.28 2.41 - - 3012.69 - 2.90 0.097 3352.81 371.2 87.59 - - 2513.91 - - - - - - - - - 16.04 -
21407.50 275.58 8.06 2282 21424.78 2.41 - - 3012.50 - 2.72 0.024 2199.44 -424.0 87.59 - - 2516.47 - - - - - - - - - 16.09 -
21731.13 251.95 7.12 2314 21735.19 2.49 - - 3012.88 - - - 2198.25 - 87.59 - - 2514.09 - - - - - - - - - - -
22041.55 230.46 6.10 2345 22113.19 2.59 - - 3012.81 - 2.84 0.083 1144.19 -371.1 137.17 38.22 1.615 2328.09 -4.9 0.116 - - - - - - - 15.85 12.16
22168.65 219.28 10.24 2364 22186.67 roll back 2.59 - - 3012.44 - 2.78 0.034 2276.06 407.1 137.17 - - 2325.38 - - - - - - - - - 15.95 -
22492.62 183.64 11.36 2396 22496.68 2.59 - - 3013.56 - - - 2276.12 - 137.17 - - 2322.03 - - - - - - - - - - -
22802.67 150.60 10.42 2427 22806.73 2.59 - - 3012.75 - - - 2276.38 - 137.17 - - 2321.09 - - - - - - - - - - -
23113.10 123.49 6.40 2458 23166.20 2.67 - - 3013.12 - - - 2276.50 - 180.52 34.90 1.460 2154.41 -4.8 0.067 - - - - - - - - 12.43
23472.41 94.08 7.00 2504 23492.08 2.76 - - 3012.19 - 2.93 0.096 3352.50 367.2 180.52 - - 2147.47 - - - - - - - - - 15.88 -
23663.82 83.26 4.24 2539 23779.43 2.94 - - 3012.56 - 2.73 0.023 2196.94 -423.3 269.30 68.12 1.409 1793.22 -5.2 0.051 - - - - - - - 15.94 12.36
23965.27 61.06 9.55 2591 23972.26 2.94 - - 3012.31 - - - 2197.19 - 269.30 - - 1781.25 - - - - - - - - - - -
24158.63 46.24 6.68 2629 24177.03 3.04 - - 3012.12 - 2.85 0.079 1144.12 -369.5 269.30 - - 1780.00 - - - - - - - - - 15.82 -
24318.66 36.60 5.71 2658 24399.96 3.16 - - 3011.75 - 2.80 0.031 2276.25 404.3 327.18 44.35 1.320 1557.41 -5.0 0.023 - - - - - - - 15.91 12.46
24586.22 18.76 6.02 2705 24662.29 3.26 - - 3012.50 - 3.00 0.096 3352.62 358.8 378.51 41.10 1.274 1345.88 -5.1 0.013 - - - - - - - 15.60 12.42
24669.58 13.84 6.67 2715 24687.97 roll back 3.37 - - 3012.88 - 2.80 0.023 2200.00 -411.6 378.51 - - 1343.72 - - - - - - - - - 15.75 -
24848 end climb: SURFACE_DEPTH_REACHED
24849 begin surface coast
24934 end surface coast: CONTROL_FINISHED_OK
24935 begin surface
SM 1.44 - - - - 178.2 39.25 1.254 1137.1 29.0 18.07 0.046 1132.7 62.7 - - 0.020 1141.4 - - - - 12.45 15.84 30.36 -