NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 860 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 294.21 of 506.00 AH used of 24V (41.86% remains)
• Surface angle -63.3 deg, depth 0.98 m • Intended pitch -17.5 deg, speed -8.462 cm/s
VBD pumped to 400.11 (SM_CC=400)
• GPS1 time: 15 s
• GPS2 time: 3 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
19.62 - - - 121.12 VBD -1.33 - - 178.44 - - - 2160.56 - -116.79 71.36 0.005 2969.84 - - - - - - - - - - 14.56
123.34 3.63 -4.11 14 238.75 -1.33 17.23 0.199 2192.19 116.9 2.80 0.068 1142.62 -363.6 -116.79 6.03 0.008 3369.94 66.4 -5.216 - - - - - - 15.12 14.79 14.97
245.28 32.92 -13.52 21 264.53 roll -1.33 - - 2192.25 - 2.86 0.025 2276.00 396.3 -116.79 - - 3371.16 - - - - - - - - - 15.63 -
450.58 60.17 -12.75 59 471.42 roll -1.33 - - 2192.25 - 3.23 0.084 3352.19 333.2 -116.79 - - 3371.53 - - - - - - - - - 15.49 -
572.88 74.84 -10.77 80 591.76 roll -1.33 - - 2192.62 - 2.75 0.019 2192.81 -421.6 -116.79 - - 3372.66 - - - - - - - - - 15.75 -
777.87 95.64 -10.43 118 796.76 roll -1.33 - - 2192.50 - 2.88 0.067 1144.94 -363.8 -116.79 - - 3372.00 - - - - - - - - - 15.47 -
863.20 104.14 -9.64 132 880.95 roll -1.33 - - 2192.25 - 2.79 0.024 2277.75 406.0 -116.79 - - 3373.00 - - - - - - - - - 15.70 -
1187.01 131.64 -8.73 164 1206.34 roll -1.33 - - 2190.50 - 3.17 0.084 3352.06 338.9 -116.79 - - 3373.16 - - - - - - - - - 15.62 -
1297.08 141.79 -8.94 183 1315.57 roll -1.33 - - 2190.88 - 2.74 0.019 2188.88 -424.5 -116.79 - - 3373.62 - - - - - - - - - 15.83 -
1621.65 168.79 -8.26 215 1642.56 roll -1.33 - - 2192.06 - 3.42 0.079 3354.38 340.8 -116.79 - - 3372.72 - - - - - - - - - 15.62 -
1649.37 171.18 -8.45 217 1667.71 roll -1.33 - - 2192.56 - 2.79 0.019 2186.19 -418.7 -116.79 - - 3373.75 - - - - - - - - - 15.70 -
1973.85 195.18 -7.21 249 1977.91 no move -1.33 - - 2191.62 - - - 2185.06 - -116.79 - - 3371.97 - - - - - - - - - - -
2284.03 217.13 -6.98 280 2304.82 roll -1.33 - - 2192.12 - 3.41 0.079 3353.31 342.6 -116.79 - - 3374.56 - - - - - - - - - 15.63 -
2341.30 221.77 -7.82 288 2359.66 roll -1.33 - - 2192.06 - 2.74 0.019 2187.62 -425.4 -116.79 - - 3372.47 - - - - - - - - - 15.56 -
2665.80 246.91 -8.03 320 2684.16 roll -1.33 - - 2192.50 - 2.88 0.067 1143.81 -362.4 -116.79 - - 3373.53 - - - - - - - - - 15.67 -
2694.92 249.53 -8.77 323 2713.62 roll -1.33 - - 2190.81 - 2.76 0.024 2279.44 411.5 -116.79 - - 3373.88 - - - - - - - - - 15.89 -
3019.73 276.82 -8.12 355 3039.31 roll -1.33 - - 2191.38 - 3.13 0.082 3351.88 342.6 -116.79 - - 3372.97 - - - - - - - - - 15.60 -
3050.06 279.44 -8.60 358 3069.14 roll -1.33 - - 2192.56 - 2.74 0.019 2187.25 -425.0 -116.79 - - 3373.66 - - - - - - - - - 15.86 -
3375.26 306.50 -8.64 390 3393.87 roll -1.33 - - 2192.00 - 2.81 0.068 1141.38 -372.2 -116.79 - - 3374.53 - - - - - - - - - 15.71 -
3400.47 308.70 -8.74 392 3418.83 roll -1.33 - - 2192.44 - 2.77 0.024 2280.69 411.3 -116.79 - - 3374.78 - - - - - - - - - 15.84 -
3724.97 336.16 -9.08 424 3729.03 no move -1.33 - - 2192.00 - - - 2281.25 - -116.79 - - 3372.25 - - - - - - - - - - -
4035.16 362.79 -8.53 455 4039.22 no move -1.33 - - 2192.00 - - - 2280.19 - -116.79 - - 3371.97 - - - - - - - - - - -
4345.33 390.48 -9.18 486 4364.91 roll -1.33 - - 2192.50 - 3.14 0.083 3353.06 341.7 -116.79 - - 3374.00 - - - - - - - - - 15.64 -
4375.66 393.53 -9.49 489 4394.35 roll -1.33 - - 2191.00 - 2.69 0.019 2187.19 -433.4 -116.79 - - 3373.25 - - - - - - - - - 15.91 -
4700.46 422.62 -9.21 521 4718.84 roll -1.33 - - 2192.25 - 2.87 0.069 1143.75 -363.6 -116.79 - - 3373.41 - - - - - - - - - 15.69 -
4739.59 426.32 -9.40 526 4758.67 roll -1.33 - - 2192.12 - 2.79 0.024 2279.94 407.2 -116.79 - - 3373.91 - - - - - - - - - 15.68 -
5064.78 453.79 -7.80 558 5084.34 roll -1.33 - - 2192.12 - 3.12 0.083 3354.25 344.3 -116.79 - - 3374.19 - - - - - - - - - 15.64 -
5105.10 457.23 -8.52 563 5124.03 roll -1.33 - - 2192.12 - 2.72 0.019 2187.38 -429.0 -116.79 - - 3373.34 - - - - - - - - - 15.88 -
5430.25 481.37 -7.02 595 5449.02 roll -1.33 - - 2192.19 - 2.83 0.069 1143.12 -369.0 -116.79 - - 3371.72 - - - - - - - - - 15.69 -
5469.78 484.30 -7.54 600 5488.47 roll -1.33 - - 2192.44 - 2.77 0.025 2279.69 410.3 -116.79 - - 3372.16 - - - - - - - - - 15.85 -
5794.57 509.13 -7.86 632 5798.65 no move -1.33 - - 2191.75 - - - 2279.56 - -116.79 - - 3371.56 - - - - - - - - - - -
6104.79 532.51 -7.45 663 6108.85 no move -1.33 - - 2191.88 - - - 2278.69 - -116.79 - - 3371.06 - - - - - - - - - - -
6414.99 555.43 -7.41 694 6434.59 roll -1.33 - - 2191.56 - 3.11 0.065 1142.62 -365.3 -116.79 - - 3371.56 - - - - - - - - - 15.69 -
6451.07 558.30 -7.84 698 6469.03 roll -1.33 - - 2191.94 - 2.78 0.025 2278.44 408.6 -116.79 - - 3371.00 - - - - - - - - - 15.92 -
6775.17 582.64 -7.28 730 6779.23 no move -1.33 - - 2192.12 - - - 2278.25 - -116.79 - - 3370.81 - - - - - - - - - - -
7085.35 603.86 -6.48 761 7104.93 roll -1.33 - - 2191.75 - 3.11 0.065 1142.69 -365.1 -116.79 - - 3371.25 - - - - - - - - - 15.66 -
7155.69 608.62 -6.82 772 7174.39 roll -1.33 - - 2191.38 - 2.78 0.025 2278.38 408.5 -116.79 - - 3371.22 - - - - - - - - - 15.91 -
7480.49 628.68 -6.07 804 7500.07 roll -1.33 - - 2192.12 - 3.18 0.085 3352.38 337.7 -116.79 - - 3369.66 - - - - - - - - - 15.62 -
7526.68 632.02 -7.50 810 7544.25 roll -1.33 - - 2191.88 - 2.70 0.019 2188.88 -430.9 -116.79 - - 3369.75 - - - - - - - - - 15.90 -
7850.34 654.09 -7.48 842 7871.13 roll -1.33 - - 2191.62 - 3.40 0.081 3352.44 342.2 -116.79 - - 3368.47 - - - - - - - - - 15.62 -
7907.62 659.29 -9.09 850 7925.19 roll -1.33 - - 2192.12 - 2.69 0.019 2188.81 -432.6 -116.79 - - 3369.56 - - - - - - - - - 15.90 -
8231.28 687.20 -8.92 882 8235.34 no move -1.33 - - 2192.38 - - - 2187.62 - -116.79 - - 3367.25 - - - - - - - - - - -
8541.40 711.09 -7.62 913 8562.19 roll -1.33 - - 2192.19 - 3.40 0.081 3350.62 342.1 -116.79 - - 3368.50 - - - - - - - - - 15.60 -
8588.68 714.85 -8.10 919 8606.65 roll -1.33 - - 2192.00 - 2.72 0.019 2188.88 -427.1 -116.79 - - 3368.97 - - - - - - - - - 15.87 -
8912.79 737.06 -7.01 951 8931.56 roll -1.33 - - 2192.75 - 2.83 0.071 1143.00 -369.6 -116.79 - - 3369.72 - - - - - - - - - 15.66 -
8938.04 739.27 -7.94 953 8956.36 roll -1.33 - - 2192.38 - 2.78 0.025 2277.75 408.2 -116.79 - - 3368.66 - - - - - - - - - 15.73 -
9262.59 761.68 -7.91 985 9266.64 no move -1.33 - - 2192.38 - - - 2277.62 - -116.79 - - 3367.84 - - - - - - - - - - -
9572.79 784.19 -7.13 1016 9592.37 roll -1.33 - - 2192.19 - 3.12 0.066 1143.19 -363.6 -116.79 - - 3368.09 - - - - - - - - - 15.66 -
9608.86 786.94 -7.32 1020 9626.82 roll -1.33 - - 2192.69 - 2.79 0.026 2276.81 406.3 -116.79 - - 3369.47 - - - - - - - - - 15.88 -
9933.17 807.86 -5.99 1052 9952.75 roll -1.33 - - 2191.69 - 3.19 0.086 3351.94 337.0 -116.79 - - 3366.03 - - - - - - - - - 15.60 -
9983 end dive: TARGET_DEPTH_EXCEEDED
9984 begin apogee
10004.29 811.27 -6.52 1059 10153.77 -0.31 1.88 0.124 2440.44 132.3 0.13 0.157 2060.38 -9935.1 - 96.46 2.069 2889.72 -4.9 0.335 - - - - - - 15.50 15.04 9.93
10167 end apogee: CONTROL_FINISHED_OK
10167 begin climb
10170.35 814.36 - 1069 10345.34 1.33 2.89 0.087 2839.38 138.0 3.45 0.087 899.44 -336.5 116.79 99.41 2.031 2412.91 -4.8 0.333 - - - - - - 15.52 14.97 11.39
10353.36 806.08 6.27 1089 10372.57 roll back 1.46 0.19 0.078 2880.94 218.7 2.79 0.021 2042.00 409.5 116.79 - - 2407.62 - - - - - - - - 15.43 15.55 -
10679.11 785.83 6.12 1121 10698.30 done 1.60 - - 2882.00 - 3.07 0.076 3102.31 345.4 116.79 - - 2402.41 - - - - - - - - - 15.64 -
10809.47 776.24 7.14 1144 10829.80 1.68 0.27 0.068 2936.38 201.4 2.79 0.026 1968.19 -406.5 116.79 - - 2401.53 - - - - - - - - 15.59 15.78 -
11135.91 750.79 8.35 1176 11155.10 done 1.68 - - 2936.31 - 3.09 0.088 898.50 -346.2 116.79 - - 2401.44 - - - - - - - - - 15.63 -
11165.85 748.34 8.33 1179 11184.54 done 1.68 - - 2935.75 - 2.74 0.022 2040.56 416.8 116.79 - - 2399.84 - - - - - - - - - 15.83 -
11490.65 721.95 8.34 1211 11509.83 done 1.68 - - 2936.50 - 3.05 0.076 3101.81 348.0 116.79 - - 2399.75 - - - - - - - - - 15.70 -
11546.42 716.84 9.61 1219 11564.39 done 1.68 - - 2936.31 - 2.78 0.026 1965.88 -408.6 116.79 - - 2398.66 - - - - - - - - - 15.87 -
11870.47 690.41 8.57 1251 11889.66 done 1.68 - - 2935.94 - 3.01 0.088 896.81 -355.2 116.79 - - 2399.00 - - - - - - - - - 15.63 -
11986.16 680.23 8.74 1271 12004.13 done 1.68 - - 2935.12 - 2.73 0.022 2039.94 418.7 116.79 - - 2398.47 - - - - - - - - - 15.88 -
12310.63 654.76 7.64 1303 12330.62 done 1.73 - - 2936.00 - 3.24 0.084 898.50 -352.3 116.79 - - 2395.22 - - - - - - - - - 15.63 -
12347.50 651.63 7.89 1307 12365.47 done 1.76 - - 2935.81 - 2.74 0.022 2040.62 416.8 116.79 - - 2397.44 - - - - - - - - - 15.88 -
12672.00 625.77 7.36 1339 12676.06 VBD 1.83 - - 2935.12 - - - 2040.75 - 116.79 - - 2396.41 - - - - - - - - - - -
12982.59 603.11 7.44 1370 13003.42 1.89 0.25 0.068 2988.69 214.3 3.07 0.076 3102.62 345.9 116.79 - - 2395.38 - - - - - - - - 15.84 15.66 -
13029.90 598.96 8.85 1376 13048.11 done 1.89 - - 2988.19 - 2.77 0.026 1965.94 -410.4 116.79 - - 2396.31 - - - - - - - - - 15.87 -
13354.35 572.19 8.36 1408 13374.35 done 1.89 - - 2987.62 - 3.27 0.073 3102.19 347.5 116.79 - - 2396.75 - - - - - - - - - 15.68 -
13430.84 565.20 8.99 1420 13448.81 done 1.89 - - 2988.44 - 2.78 0.026 1966.19 -408.6 116.79 - - 2396.09 - - - - - - - - - 15.90 -
13754.92 537.66 8.56 1452 13774.51 done 1.89 - - 2987.12 - 3.01 0.089 898.44 -354.7 116.79 - - 2396.38 - - - - - - - - - 15.60 -
13815.25 532.15 8.74 1461 13833.95 done 1.89 - - 2988.62 - 2.73 0.022 2040.31 418.3 116.79 - - 2397.97 - - - - - - - - - 15.91 -
14140.07 504.65 8.24 1493 14160.08 done 1.89 - - 2988.31 - 3.29 0.084 899.56 -346.7 116.79 - - 2394.31 - - - - - - - - - 15.38 -
14230.83 496.74 8.68 1508 14249.52 done 1.89 - - 2988.50 - 2.74 0.022 2039.00 415.9 116.79 - - 2397.19 - - - - - - - - - 15.86 -
14556.03 475.45 5.75 1540 14575.22 done 2.05 - - 2988.19 - 3.06 0.077 3102.88 347.7 116.79 - - 2395.69 - - - - - - - - - 15.65 -
14606.36 472.35 6.26 1547 14625.88 2.19 0.07 0.141 3016.06 398.1 2.75 0.026 1967.19 -413.0 116.79 - - 2395.31 - - - - - - - - 15.62 15.87 -
14932.53 455.09 4.66 1579 15043.61 2.34 - - 3015.94 - 3.29 0.075 3102.38 345.0 193.61 62.88 1.655 2100.12 -4.7 0.224 - - - - - - - 15.24 10.50
15050.06 447.01 8.51 1594 15069.15 roll back 2.34 - - 3016.12 - 2.83 0.026 1967.12 -401.2 193.61 - - 2097.28 - - - - - - - - - 15.67 -
15375.34 418.33 9.66 1626 15394.53 2.34 - - 3015.94 - 3.09 0.089 898.50 -345.8 193.61 - - 2091.53 - - - - - - - - - 15.57 -
15481.03 406.05 11.86 1644 15499.01 2.34 - - 3015.94 - 2.76 0.022 2038.50 413.0 193.61 - - 2091.12 - - - - - - - - - 15.80 -
15805.14 371.52 10.50 1676 15809.22 2.34 - - 3016.06 - - - 2038.75 - 193.61 - - 2087.88 - - - - - - - - - - -
16115.32 338.20 11.17 1707 16119.39 2.34 - - 3016.12 - - - 2038.00 - 193.61 - - 2087.53 - - - - - - - - - - -
16425.49 305.84 9.90 1738 16429.56 2.34 - - 3015.94 - - - 2038.62 - 193.61 - - 2086.66 - - - - - - - - - - -
16736.11 275.77 9.23 1769 16755.32 2.34 - - 3015.56 - 3.06 0.076 3101.94 347.5 193.61 - - 2086.78 - - - - - - - - - 15.66 -
16781.79 271.28 9.97 1775 16799.76 2.34 - - 3015.94 - 2.79 0.025 1965.25 -407.4 193.61 - - 2087.47 - - - - - - - - - 15.64 -
17105.87 242.42 8.97 1807 17125.06 2.34 - - 3015.75 - 3.07 0.088 898.69 -347.4 193.61 - - 2086.88 - - - - - - - - - 15.57 -
17141.53 239.05 9.46 1811 17159.52 2.34 - - 3016.25 - 2.77 0.021 2041.56 412.6 193.61 - - 2087.47 - - - - - - - - - 15.69 -
17465.61 209.77 9.38 1843 17485.60 2.34 - - 3014.38 - 3.27 0.083 898.50 -349.6 193.61 - - 2085.84 - - - - - - - - - 15.57 -
17502.07 206.07 9.93 1847 17520.05 2.34 - - 3016.19 - 2.77 0.021 2039.81 412.0 193.61 - - 2087.69 - - - - - - - - - 15.59 -
17826.18 176.34 9.02 1879 17846.20 2.34 - - 3015.50 - 3.30 0.082 899.44 -345.6 193.61 - - 2084.06 - - - - - - - - - 15.56 -
17872.67 172.12 9.17 1885 17890.66 2.34 - - 3016.00 - 2.76 0.021 2040.31 413.4 193.61 - - 2086.03 - - - - - - - - - 15.53 -
18197.19 147.03 7.70 1917 18217.29 2.38 - - 3016.25 - 3.30 0.081 898.25 -346.1 193.61 - - 2084.28 - - - - - - - - - 15.56 -
18258.16 141.66 8.74 1926 18277.27 2.38 - - 3015.88 - 2.75 0.021 2040.38 415.3 193.61 - - 2086.25 - - - - - - - - - 15.83 -
18583.77 116.20 7.45 1958 18587.84 2.45 - - 3016.25 - - - 2040.00 - 193.61 - - 2084.69 - - - - - - - - - - -
18894.37 92.82 7.51 1998 18915.51 2.50 - - 3016.50 - 3.32 0.081 899.69 -343.5 193.61 - - 2085.81 - - - - - - - - - 15.30 -
18962.39 87.52 7.89 2008 18981.10 2.54 - - 3016.31 - 2.77 0.020 2043.69 413.0 193.61 - - 2085.44 - - - - - - - - - 15.54 -
19167.64 75.02 5.04 2046 19264.54 2.68 - - 3015.75 - 3.05 0.075 3102.62 347.2 262.65 53.99 1.135 1818.97 -4.9 0.057 - - - - - - - 15.28 11.17
19496.09 53.36 8.39 2104 19515.45 roll back 2.68 - - 3016.00 - 2.82 0.024 1967.19 -402.6 262.65 - - 1812.38 - - - - - - - - - 15.65 -
19702.11 41.01 5.23 2142 19798.87 2.81 - - 3016.19 - 3.26 0.070 3102.56 348.3 327.86 52.13 1.072 1552.41 -5.0 0.033 - - - - - - - 15.26 11.43
19835.76 31.80 7.77 2161 19855.26 roll back 2.85 - - 3016.31 - 2.83 0.024 1967.19 -401.2 327.86 - - 1548.66 - - - - - - - - - 15.62 -
20041.86 15.56 7.96 2199 20061.77 roll back 2.88 - - 3016.50 - 3.08 0.085 898.69 -346.9 327.86 - - 1545.56 - - - - - - - - - 15.50 -
20083.24 12.03 8.36 2204 20101.94 2.88 - - 3016.38 - 2.75 0.020 2044.94 416.8 327.86 - - 1545.22 - - - - - - - - - 15.60 -
20187 end climb: SURFACE_DEPTH_REACHED
20188 begin surface coast
20248 end surface coast: CONTROL_FINISHED_OK
20249 begin surface
SM 0.95 - - - - 181.8 57.76 1.038 1258.9 21.8 20.25 0.045 1276.6 63.0 - 0.52 0.047 1241.1 2381.4 -4.920 - - 10.98 15.73 15.82 -