NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 40 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 15.35 of 506.00 AH used of 24V (96.97% remains)
• Surface angle -63.6 deg, depth 1.25 m • Intended pitch -16.9 deg, speed -8.462 cm/s
• VBD pumped to 430.14 (SM_CC=430)
• GPS1 time: 33 s
• GPS2 time: 3 s • Transponder ping count: 12
• 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
10 end surface: CONTROL_FINISHED_OK
11 begin dive
18.64 - - - 104.21 VBD -1.23 - - 180.69 - - - 2246.75 - -87.59 59.99 0.005 2645.75 - - - - - - - - - - 15.14
106.42 3.05 -3.52 12 218.13 -1.23 16.45 0.234 2216.81 123.8 3.07 0.070 1091.94 -376.2 -87.59 8.98 0.007 3251.16 67.4 -4.892 - - - - - - 15.66 15.65 15.66
334.20 53.20 -15.64 41 351.93 roll -1.23 - - 2216.50 - 2.79 0.028 2229.31 407.7 -87.59 - - 3253.84 - - - - - - - - - 15.86 -
537.84 83.34 -12.56 79 544.37 no move -1.23 - - 2216.81 - - - 2228.94 - -87.59 - - 3254.25 - - - - - - - - - - -
735.14 107.39 -11.82 112 752.58 roll -1.23 - - 2215.38 - 2.89 0.083 3304.12 372.0 -87.59 - - 3256.66 - - - - - - - - - 15.95 -
803.00 115.39 -11.57 123 820.78 roll -1.23 - - 2216.06 - 2.72 0.022 2145.31 -426.0 -87.59 - - 3256.56 - - - - - - - - - 15.91 -
1126.55 146.50 -9.12 155 1145.19 done -1.23 - - 2215.75 - 3.11 0.079 3305.44 373.0 -87.59 - - 3256.22 - - - - - - - - - 15.99 -
1241.33 157.27 -9.52 175 1258.40 done -1.23 - - 2216.50 - 2.72 0.022 2147.56 -425.7 -87.59 - - 3256.22 - - - - - - - - - 16.01 -
1564.19 183.68 -8.50 207 1568.20 VBD -1.23 - - 2217.19 - - - 2146.94 - -87.59 - - 3255.50 - - - - - - - - - - -
1874.24 210.82 -9.13 238 1892.49 roll -1.23 - - 2215.88 - 3.10 0.081 3303.69 373.1 -87.59 - - 3258.25 - - - - - - - - - 16.03 -
1972.90 221.16 -10.78 255 1990.69 roll -1.23 - - 2216.19 - 2.71 0.023 2151.31 -425.2 -87.59 - - 3256.41 - - - - - - - - - 15.98 -
2296.49 250.58 -8.25 287 2300.76 no move -1.23 - - 2216.19 - - - 2150.81 - -87.59 - - 3255.81 - - - - - - - - - - -
2606.67 275.44 -8.02 318 2610.72 no move -1.23 - - 2216.44 - - - 2149.25 - -87.59 - - 3254.81 - - - - - - - - - - -
2916.68 300.40 -7.81 349 2935.16 roll -1.23 - - 2216.75 - 3.09 0.083 3305.19 374.1 -87.59 - - 3254.50 - - - - - - - - - 16.08 -
2995.62 308.15 -10.07 362 3013.62 roll -1.23 - - 2216.69 - 2.71 0.024 2150.88 -425.9 -87.59 - - 3255.66 - - - - - - - - - 16.09 -
3319.42 336.81 -8.95 394 3337.89 roll -1.23 - - 2215.88 - 3.09 0.083 3304.00 373.2 -87.59 - - 3254.00 - - - - - - - - - 16.09 -
3424.09 347.37 -9.92 412 3440.97 roll -1.23 - - 2216.38 - 2.70 0.024 2152.00 -426.7 -87.59 - - 3255.03 - - - - - - - - - 16.10 -
3746.80 376.77 -8.76 444 3764.05 roll -1.23 - - 2216.19 - 2.80 0.078 1093.75 -377.9 -87.59 - - 3255.44 - - - - - - - - - 16.09 -
3800.23 381.95 -9.75 452 3817.50 roll -1.23 - - 2216.62 - 2.74 0.028 2230.81 415.0 -87.59 - - 3254.59 - - - - - - - - - 16.11 -
4123.31 409.94 -8.47 484 4140.98 roll -1.23 - - 2216.00 - 2.88 0.087 3305.62 373.2 -87.59 - - 3252.31 - - - - - - - - - 16.07 -
4207.17 417.86 -9.67 498 4224.69 roll -1.23 - - 2216.25 - 2.71 0.023 2151.31 -425.9 -87.59 - - 3253.19 - - - - - - - - - 16.10 -
4530.61 445.07 -8.84 530 4534.66 no move -1.23 - - 2216.75 - - - 2150.94 - -87.59 - - 3250.81 - - - - - - - - - - -
4840.63 472.20 -8.49 561 4844.67 no move -1.23 - - 2216.75 - - - 2149.88 - -87.59 - - 3250.75 - - - - - - - - - - -
5150.66 498.72 -8.49 592 5154.71 no move -1.23 - - 2216.31 - - - 2149.19 - -87.59 - - 3249.69 - - - - - - - - - - -
5460.66 524.03 -7.69 623 5479.14 roll -1.23 - - 2216.19 - 3.07 0.085 3303.75 376.1 -87.59 - - 3251.53 - - - - - - - - - 16.11 -
5555.34 532.29 -8.77 639 5572.61 roll -1.23 - - 2216.12 - 2.70 0.024 2152.94 -426.2 -87.59 - - 3250.25 - - - - - - - - - 16.11 -
5878.44 555.14 -6.36 671 5882.49 no move -1.23 - - 2216.50 - - - 2152.50 - -87.59 - - 3247.84 - - - - - - - - - - -
6188.50 577.03 -7.25 702 6192.54 no move -1.23 - - 2216.50 - - - 2151.50 - -87.59 - - 3247.16 - - - - - - - - - - -
6498.52 601.33 -7.06 733 6517.00 roll -1.23 - - 2215.69 - 3.07 0.086 3302.75 375.0 -87.59 - - 3249.25 - - - - - - - - - 16.11 -
6603.20 611.09 -9.26 751 6620.48 roll -1.23 - - 2216.62 - 2.72 0.025 2154.19 -422.3 -87.59 - - 3246.75 - - - - - - - - - 16.11 -
6926.32 637.73 -8.63 783 6943.99 roll -1.23 - - 2215.88 - 2.81 0.082 1093.88 -377.3 -87.59 - - 3247.97 - - - - - - - - - 16.10 -
6984.56 643.08 -9.47 792 7002.94 roll -1.23 - - 2216.56 - 2.72 0.030 2230.00 417.7 -87.59 - - 3246.84 - - - - - - - - - 16.11 -
7308.79 670.25 -8.86 824 7312.84 no move -1.23 - - 2216.88 - - - 2230.00 - -87.59 - - 3245.25 - - - - - - - - - - -
7618.84 694.55 -7.59 855 7622.89 no move -1.23 - - 2215.88 - - - 2230.06 - -87.59 - - 3244.84 - - - - - - - - - - -
7928.90 716.30 -7.09 886 7932.95 no move -1.23 - - 2216.19 - - - 2230.19 - -87.59 - - 3244.09 - - - - - - - - - - -
8238.95 737.83 -6.69 917 8243.00 no move -1.23 - - 2216.38 - - - 2230.06 - -87.59 - - 3243.81 - - - - - - - - - - -
8549.01 759.79 -7.13 948 8567.50 roll -1.23 - - 2215.75 - 3.01 0.077 1094.19 -377.4 -87.59 - - 3242.69 - - - - - - - - - 16.11 -
8603.69 764.05 -7.64 956 8620.97 roll -1.23 - - 2216.50 - 2.76 0.029 2230.19 411.6 -87.59 - - 3244.06 - - - - - - - - - 16.11 -
8926.80 786.35 -6.65 988 8931.33 no move -1.23 - - 2216.31 - - - 2229.19 - -87.59 - - 3242.34 - - - - - - - - - - -
9237.17 806.94 -7.19 1019 9241.22 no move -1.23 - - 2215.94 - - - 2229.50 - -87.59 - - 3242.25 - - - - - - - - - - -
9547.22 828.42 -6.75 1050 9565.95 roll -1.23 - - 2216.62 - 3.01 0.077 1093.75 -377.3 -87.59 - - 3241.38 - - - - - - - - - 16.11 -
9612.25 833.16 -7.31 1060 9629.54 roll -1.23 - - 2216.69 - 2.77 0.030 2229.69 410.1 -87.59 - - 3242.81 - - - - - - - - - 16.06 -
9935.38 854.54 -6.20 1092 9953.46 roll -1.23 - - 2216.38 - 3.00 0.077 1092.94 -378.9 -87.59 - - 3240.78 - - - - - - - - - 16.11 -
9999.64 859.09 -7.08 1102 10017.12 roll -1.23 - - 2216.62 - 2.73 0.030 2230.06 416.5 -87.59 - - 3242.81 - - - - - - - - - 16.12 -
10322.95 879.83 -6.31 1134 10327.01 no move -1.23 - - 2215.44 - - - 2229.69 - -87.59 - - 3241.34 - - - - - - - - - - -
10633.01 899.01 -6.11 1165 10637.06 no move -1.23 - - 2216.25 - - - 2230.12 - -87.59 - - 3240.75 - - - - - - - - - - -
10943.07 920.27 -7.16 1196 10961.16 roll -1.23 - - 2216.44 - 3.00 0.078 1094.31 -378.6 -87.59 - - 3243.59 - - - - - - - - - 16.10 -
10987.34 923.74 -7.25 1202 11004.61 roll -1.23 - - 2216.31 - 2.73 0.030 2228.19 415.3 -87.59 - - 3241.47 - - - - - - - - - 16.10 -
11310.42 946.35 -6.79 1234 11328.62 roll -1.23 - - 2216.19 - 2.90 0.094 3302.75 370.5 -87.59 - - 3241.97 - - - - - - - - - 16.07 -
11404.94 953.40 -7.32 1250 11422.84 roll -1.23 - - 2216.69 - 2.70 0.026 2153.00 -425.8 -87.59 - - 3241.53 - - - - - - - - - 16.09 -
11728.79 974.24 -6.06 1282 11746.48 roll -1.23 - - 2217.06 - 2.82 0.083 1094.25 -375.4 -87.59 - - 3242.03 - - - - - - - - - 16.08 -
11852.67 982.81 -6.84 1304 11870.34 roll -1.23 - - 2216.12 - 2.74 0.031 2227.75 413.7 -87.59 - - 3241.22 - - - - - - - - - 16.10 -
11965 end dive: TARGET_DEPTH_EXCEEDED
11965 begin apogee
11970.27 990.14 -6.57 1315 12079.59 -0.31 1.61 0.143 2439.81 138.9 0.10 0.221 2201.69 -260.6 - 69.25 2.564 2889.84 -5.1 0.326 - - - - - - 16.00 15.53 12.07
12092 end apogee: CONTROL_FINISHED_OK
12092 begin climb
12095.76 992.50 - 1322 12216.48 1.23 2.59 0.097 2816.00 145.2 - - 2201.75 - 87.59 74.44 2.515 2533.72 -4.8 0.314 - - - - - - 15.69 - 12.69
12522.80 966.80 7.53 1368 12526.85 VBD 1.28 - - 2815.56 - - - 2201.31 - 87.59 - - 2521.12 - - - - - - - - - - -
12833.17 945.80 6.90 1399 12852.73 1.38 0.20 0.078 2863.38 239.1 2.84 0.083 1143.81 -372.4 87.59 - - 2518.47 - - - - - - - - 15.90 15.88 -
12889.02 941.23 8.19 1407 12906.70 done 1.38 - - 2863.06 - 2.82 0.035 2273.38 400.6 87.59 - - 2520.44 - - - - - - - - - 15.93 -
13212.93 914.20 7.96 1439 13216.99 VBD 1.41 - - 2863.44 - - - 2273.31 - 87.59 - - 2518.00 - - - - - - - - - - -
13522.82 887.00 8.75 1470 13541.29 done 1.41 - - 2863.88 - 3.03 0.078 1144.12 -372.7 87.59 - - 2517.09 - - - - - - - - - 16.02 -
13581.75 881.65 9.12 1479 13600.14 done 1.41 - - 2863.31 - 2.79 0.035 2274.12 405.0 87.59 - - 2518.44 - - - - - - - - - 16.02 -
13905.97 852.91 9.06 1511 13910.02 VBD 1.41 - - 2863.75 - - - 2274.19 - 87.59 - - 2516.94 - - - - - - - - - - -
14216.41 826.36 7.95 1542 14234.90 done 1.44 - - 2863.12 - 3.02 0.079 1144.62 -374.0 87.59 - - 2515.06 - - - - - - - - - 16.05 -
14311.09 818.09 8.99 1558 14329.15 done 1.44 - - 2863.56 - 2.81 0.036 2273.56 401.8 87.59 - - 2517.97 - - - - - - - - - 16.05 -
14634.99 791.01 8.30 1590 14639.04 VBD 1.44 - - 2862.69 - - - 2273.69 - 87.59 - - 2515.78 - - - - - - - - - - -
14945.28 763.98 8.67 1621 14949.34 VBD 1.44 - - 2863.50 - - - 2273.50 - 87.59 - - 2515.47 - - - - - - - - - - -
15255.66 739.14 7.31 1652 15273.74 done 1.51 - - 2863.69 - 2.99 0.079 1143.88 -377.8 87.59 - - 2516.94 - - - - - - - - - 16.08 -
15324.20 731.97 9.34 1663 15342.99 done 1.51 - - 2864.00 - 2.81 0.036 2273.50 402.0 87.59 - - 2516.66 - - - - - - - - - 16.07 -
15648.82 704.77 7.99 1695 15652.88 VBD 1.51 - - 2863.38 - - - 2274.31 - 87.59 - - 2514.56 - - - - - - - - - - -
15958.86 680.30 7.97 1726 15976.93 done 1.51 - - 2862.62 - 3.00 0.079 1143.88 -376.8 87.59 - - 2516.66 - - - - - - - - - 16.08 -
16013.12 675.93 8.01 1734 16030.39 done 1.51 - - 2864.00 - 2.79 0.036 2273.50 404.9 87.59 - - 2515.31 - - - - - - - - - 16.09 -
16336.62 652.98 6.93 1766 16341.97 1.60 0.25 0.077 2915.00 204.0 - - 2273.88 - 87.59 - - 2515.50 - - - - - - - - 16.07 - -
16647.79 628.92 8.19 1797 16665.86 done 1.60 - - 2916.19 - 2.99 0.079 1144.44 -377.7 87.59 - - 2517.06 - - - - - - - - - 16.09 -
16732.05 622.06 8.26 1811 16749.75 done 1.60 - - 2915.38 - 2.82 0.036 2273.62 400.4 87.59 - - 2516.19 - - - - - - - - - 16.09 -
17055.79 595.98 8.14 1843 17073.87 done 1.60 - - 2916.50 - 2.99 0.079 1142.81 -378.2 87.59 - - 2513.28 - - - - - - - - - 16.09 -
17210.21 582.61 9.06 1871 17227.89 done 1.60 - - 2915.56 - 2.81 0.036 2273.31 402.3 87.59 - - 2515.16 - - - - - - - - - 16.09 -
17533.69 555.51 8.26 1903 17537.74 VBD 1.60 - - 2916.06 - - - 2274.06 - 87.59 - - 2514.31 - - - - - - - - - - -
17843.72 527.32 10.13 1934 17861.79 done 1.60 - - 2916.12 - 2.98 0.078 1144.06 -379.2 87.59 - - 2514.72 - - - - - - - - - 16.09 -
17912.26 520.86 9.72 1945 17930.25 done 1.60 - - 2915.44 - 2.77 0.036 2274.94 408.3 87.59 - - 2517.06 - - - - - - - - - 16.09 -
18236.07 492.29 8.29 1977 18254.14 done 1.60 - - 2915.75 - 2.98 0.078 1142.88 -379.9 87.59 - - 2514.53 - - - - - - - - - 16.10 -
18284.59 488.22 8.12 1984 18302.61 done 1.60 - - 2915.62 - 2.79 0.035 2275.06 405.8 87.59 - - 2515.66 - - - - - - - - - 15.98 -
18608.84 462.84 7.44 2016 18612.89 VBD 1.66 - - 2915.62 - - - 2275.06 - 87.59 - - 2514.06 - - - - - - - - - - -
18919.11 442.61 6.10 2047 18939.07 1.80 0.23 0.079 2964.75 213.6 2.92 0.100 3353.38 369.3 87.59 - - 2513.16 - - - - - - - - 16.05 16.02 -
18995.77 436.83 7.91 2059 19012.63 done 1.84 - - 2963.75 - 2.69 0.026 2203.25 -427.6 87.59 - - 2515.16 - - - - - - - - - 16.08 -
19318.87 414.56 7.03 2091 19337.77 done 1.92 - - 2965.25 - 3.12 0.095 3352.62 368.4 87.59 - - 2513.19 - - - - - - - - - 16.07 -
19483.99 400.98 8.19 2121 19500.86 done 1.92 - - 2965.25 - 2.68 0.026 2202.19 -429.3 87.59 - - 2515.59 - - - - - - - - - 15.97 -
19807.04 377.73 6.80 2153 19826.06 2.02 0.21 0.084 3013.75 231.0 2.80 0.081 1144.00 -377.9 87.59 - - 2514.41 - - - - - - - - 16.03 16.02 -
19886.52 371.09 8.74 2166 19904.52 done 2.02 - - 3014.06 - 2.78 0.035 2275.69 407.1 87.59 - - 2516.75 - - - - - - - - - 16.07 -
20210.75 345.90 7.19 2198 20228.83 done 2.10 - - 3013.31 - 2.98 0.077 1143.75 -379.8 87.59 - - 2514.12 - - - - - - - - - 16.06 -
20459.75 327.40 6.87 2245 20478.10 2.19 - - 3013.50 - 2.77 0.035 2275.50 408.6 87.59 - - 2516.72 - - - - - - - - - 16.08 -
20784.44 306.44 6.38 2277 20802.53 2.32 - - 3013.44 - 3.00 0.076 1144.00 -377.2 87.59 - - 2515.16 - - - - - - - - - 16.01 -
20949.16 295.74 6.47 2307 20966.84 2.44 - - 3013.75 - 2.79 0.034 2277.00 406.1 87.59 - - 2514.88 - - - - - - - - - 16.07 -
21273.19 273.28 7.56 2339 21277.26 2.49 - - 3014.06 - - - 2275.75 - 87.59 - - 2513.84 - - - - - - - - - - -
21583.49 251.48 6.27 2370 21587.56 2.62 - - 3013.81 - - - 2276.62 - 87.59 - - 2513.53 - - - - - - - - - - -
21893.80 233.91 5.35 2401 21982.59 2.75 - - 3013.38 - 2.99 0.100 3351.94 359.6 153.04 50.56 1.630 2263.47 -4.9 0.118 - - - - - - - 15.78 12.10
22113.07 211.86 12.31 2438 22131.09 roll back 2.75 - - 3013.69 - 2.73 0.025 2204.94 -420.1 153.04 - - 2261.19 - - - - - - - - - 15.92 -
22437.01 177.81 11.28 2470 22454.94 2.75 - - 3013.50 - 2.84 0.080 1143.06 -373.9 153.04 - - 2258.03 - - - - - - - - - 15.95 -
22521.25 167.85 11.71 2484 22538.94 2.75 - - 3014.25 - 2.81 0.034 2274.38 402.6 153.04 - - 2255.94 - - - - - - - - - 15.96 -
22844.78 135.56 8.09 2516 22862.88 2.75 - - 3013.56 - 2.96 0.096 3353.31 364.5 153.04 - - 2253.41 - - - - - - - - - 15.91 -
22939.08 125.71 11.56 2532 22956.37 2.75 - - 3014.44 - 2.73 0.025 2203.31 -421.2 153.04 - - 2254.88 - - - - - - - - - 15.94 -
23262.60 104.85 4.79 2564 23365.83 2.91 - - 3013.38 - 3.19 0.093 3352.56 360.3 230.17 59.92 1.452 1951.28 -5.1 0.061 - - - - - - - 15.68 12.33
23452.04 89.56 11.38 2594 23470.06 roll back 2.91 - - 3014.00 - 2.75 0.024 2203.38 -417.9 230.17 - - 1944.44 - - - - - - - - - 15.84 -
23656.27 72.64 7.29 2632 23674.67 2.98 - - 3013.38 - 2.82 0.079 1143.44 -375.9 230.17 - - 1942.59 - - - - - - - - - 15.82 -
23756.57 65.23 7.73 2649 23774.59 3.02 - - 3014.00 - 2.79 0.032 2276.44 406.1 230.17 - - 1940.84 - - - - - - - - - 15.90 -
23960.93 50.31 6.82 2687 23980.54 3.12 - - 3013.81 - 3.01 0.074 1143.81 -376.3 230.17 - - 1938.50 - - - - - - - - - 15.89 -
24097.25 42.57 5.43 2711 24185.13 3.25 - - 3013.75 - 2.79 0.031 2276.62 406.0 293.84 48.69 1.337 1692.84 -5.0 0.027 - - - - - - - 15.95 12.40
24371.38 23.16 6.45 2759 24377.98 3.37 - - 3013.94 - - - 2276.69 - 293.84 - - 1683.12 - - - - - - - - - - -
24564.23 16.28 3.07 2797 24709.04 3.60 - - 3013.50 - 3.03 0.096 3353.25 355.3 407.23 88.13 1.288 1230.22 -5.1 0.011 - - - - - - - 15.52 12.32
24774 end climb: SURFACE_DEPTH_REACHED
24775 begin surface coast
24831 end surface coast: CONTROL_FINISHED_OK
24831 begin surface
SM 1.18 - - - - 181.6 17.89 1.186 1136.5 58.6 18.33 0.050 1143.6 62.4 - 2.86 0.025 1129.3 393.8 -1.900 - - 12.44 15.79 15.80 -