NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 861 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 294.52 of 506.00 AH used of 24V (41.79% remains)
• Surface angle -64.4 deg, depth 0.95 m • Intended pitch -17.5 deg, speed -8.462 cm/s
VBD pumped to 400.02 (SM_CC=400)
• GPS1 time: 32 s
• GPS2 time: 2 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
19.63 - - - 121.12 VBD -1.33 - - 181.81 - - - 2194.88 - -116.79 71.34 0.005 2951.84 - - - - - - - - - - 14.58
123.34 3.28 -3.52 14 239.93 -1.33 17.15 0.197 2193.25 117.3 3.43 0.083 3352.88 337.6 -116.79 6.50 0.008 3368.78 64.1 -4.546 - - - - - - 15.13 14.81 14.98
461.36 61.35 -13.35 64 479.83 roll -1.33 - - 2193.44 - 2.79 0.019 2193.00 -415.7 -116.79 - - 3371.88 - - - - - - - - - 15.51 -
666.04 84.59 -10.94 102 687.68 roll -1.33 - - 2193.56 - 3.42 0.079 3353.69 339.4 -116.79 - - 3372.31 - - - - - - - - - 15.54 -
724.12 91.54 -11.84 110 742.59 roll -1.33 - - 2193.31 - 2.74 0.019 2191.81 -424.0 -116.79 - - 3372.69 - - - - - - - - - 15.67 -
933.62 112.68 -9.14 136 937.64 no move -1.33 - - 2192.94 - - - 2189.81 - -116.79 - - 3370.72 - - - - - - - - - - -
1243.68 140.87 -8.63 167 1247.70 no move -1.33 - - 2192.81 - - - 2189.44 - -116.79 - - 3370.22 - - - - - - - - - - -
1553.73 167.17 -8.18 198 1574.28 roll -1.33 - - 2193.56 - 3.41 0.078 3354.12 341.5 -116.79 - - 3370.59 - - - - - - - - - 15.54 -
1600.71 171.23 -8.83 204 1618.46 roll -1.33 - - 2193.50 - 2.78 0.018 2189.12 -419.1 -116.79 - - 3371.56 - - - - - - - - - 15.61 -
1924.49 195.76 -7.34 236 1928.51 no move -1.33 - - 2193.31 - - - 2186.50 - -116.79 - - 3371.09 - - - - - - - - - - -
2234.55 219.62 -8.37 267 2255.36 roll -1.33 - - 2193.75 - 3.40 0.078 3352.62 343.0 -116.79 - - 3370.44 - - - - - - - - - 15.67 -
2276.23 223.34 -8.85 272 2294.91 roll -1.33 - - 2192.25 - 2.75 0.018 2188.94 -423.2 -116.79 - - 3372.97 - - - - - - - - - 15.90 -
2601.03 250.26 -8.02 304 2605.09 no move -1.33 - - 2194.06 - - - 2187.94 - -116.79 - - 3371.47 - - - - - - - - - - -
2911.23 274.94 -8.24 335 2915.29 no move -1.33 - - 2194.38 - - - 2187.38 - -116.79 - - 3370.94 - - - - - - - - - - -
3221.39 299.79 -7.73 366 3242.18 roll -1.33 - - 2193.56 - 3.41 0.079 3352.62 341.7 -116.79 - - 3373.47 - - - - - - - - - 15.66 -
3258.64 302.99 -8.40 370 3276.60 roll -1.33 - - 2193.88 - 2.77 0.018 2190.75 -419.4 -116.79 - - 3372.94 - - - - - - - - - 15.70 -
3582.69 328.03 -7.60 402 3603.89 roll -1.33 - - 2193.00 - 3.40 0.078 3355.62 342.6 -116.79 - - 3372.09 - - - - - - - - - 15.66 -
3634.64 332.44 -8.33 409 3653.73 roll -1.33 - - 2193.12 - 2.74 0.018 2191.44 -424.9 -116.79 - - 3372.38 - - - - - - - - - 15.93 -
3959.83 357.90 -8.14 441 3963.89 no move -1.33 - - 2192.88 - - - 2190.00 - -116.79 - - 3371.31 - - - - - - - - - - -
4269.99 383.42 -8.60 472 4290.79 roll -1.33 - - 2193.38 - 3.42 0.078 3352.75 340.0 -116.79 - - 3373.09 - - - - - - - - - 15.66 -
4311.53 387.38 -9.25 477 4330.47 roll -1.33 - - 2193.44 - 2.75 0.018 2191.88 -422.1 -116.79 - - 3371.62 - - - - - - - - - 15.89 -
4636.68 414.28 -7.90 509 4655.47 roll -1.33 - - 2193.88 - 2.91 0.070 1143.56 -360.2 -116.79 - - 3372.41 - - - - - - - - - 15.71 -
4671.94 417.25 -8.22 513 4689.90 roll -1.33 - - 2193.12 - 2.79 0.025 2280.81 407.6 -116.79 - - 3372.62 - - - - - - - - - 15.90 -
4996.03 443.27 -8.40 545 5015.83 roll -1.33 - - 2193.25 - 3.15 0.064 1143.75 -361.0 -116.79 - - 3370.53 - - - - - - - - - 15.71 -
5042.32 447.21 -8.32 551 5060.28 roll -1.33 - - 2193.06 - 2.80 0.025 2277.62 405.0 -116.79 - - 3371.69 - - - - - - - - - 15.89 -
5366.38 473.81 -8.08 583 5370.44 no move -1.33 - - 2192.81 - - - 2277.56 - -116.79 - - 3370.72 - - - - - - - - - - -
5676.51 501.04 -8.90 614 5680.57 no move -1.33 - - 2193.75 - - - 2278.31 - -116.79 - - 3370.22 - - - - - - - - - - -
5986.65 527.19 -7.79 645 6006.23 roll -1.33 - - 2193.88 - 3.18 0.084 3352.56 337.8 -116.79 - - 3369.38 - - - - - - - - - 15.66 -
6036.98 531.81 -8.88 652 6055.67 roll -1.33 - - 2193.38 - 2.74 0.019 2189.94 -424.3 -116.79 - - 3370.31 - - - - - - - - - 15.92 -
6361.92 556.14 -7.17 684 6382.78 roll -1.33 - - 2193.06 - 3.42 0.080 3351.31 339.6 -116.79 - - 3369.00 - - - - - - - - - 15.64 -
6419.38 560.74 -7.77 692 6437.34 roll -1.33 - - 2192.44 - 2.75 0.019 2189.75 -422.4 -116.79 - - 3370.41 - - - - - - - - - 15.93 -
6743.41 580.91 -5.86 724 6747.46 no move -1.33 - - 2193.38 - - - 2188.00 - -116.79 - - 3369.31 - - - - - - - - - - -
7053.77 598.83 -5.95 755 7057.83 no move -1.33 - - 2193.44 - - - 2188.56 - -116.79 - - 3368.69 - - - - - - - - - - -
7363.94 618.48 -6.65 786 7384.75 roll -1.33 - - 2193.12 - 3.44 0.081 3353.12 338.5 -116.79 - - 3368.28 - - - - - - - - - 15.62 -
7431.23 623.81 -7.49 796 7449.19 roll -1.33 - - 2193.38 - 2.77 0.019 2191.06 -419.5 -116.79 - - 3368.47 - - - - - - - - - 15.93 -
7755.28 645.62 -7.24 828 7759.34 no move -1.33 - - 2193.31 - - - 2189.50 - -116.79 - - 3367.66 - - - - - - - - - - -
8065.41 668.34 -7.77 859 8069.47 no move -1.33 - - 2193.25 - - - 2190.19 - -116.79 - - 3367.16 - - - - - - - - - - -
8375.54 690.41 -6.36 890 8379.60 no move -1.33 - - 2193.38 - - - 2189.88 - -116.79 - - 3367.41 - - - - - - - - - - -
8685.67 711.91 -8.27 921 8689.73 no move -1.33 - - 2193.44 - - - 2190.50 - -116.79 - - 3366.25 - - - - - - - - - - -
8995.83 733.26 -7.10 952 8999.89 no move -1.33 - - 2193.12 - - - 2190.50 - -116.79 - - 3366.84 - - - - - - - - - - -
9305.99 754.32 -6.90 983 9310.05 no move -1.33 - - 2193.06 - - - 2190.31 - -116.79 - - 3366.31 - - - - - - - - - - -
9616.26 775.69 -7.05 1014 9637.06 roll -1.33 - - 2193.31 - 3.45 0.082 3351.88 336.7 -116.79 - - 3365.44 - - - - - - - - - 15.60 -
9643 end dive: TARGET_DEPTH_EXCEEDED
9643 begin apogee
9664.31 778.14 -7.89 1016 9812.40 -0.31 1.86 0.123 2439.94 132.6 0.12 0.161 2057.38 -10787.5 - 95.80 2.030 2889.47 -5.0 0.329 - - - - - - 15.53 15.05 10.04
9825 end apogee: CONTROL_FINISHED_OK
9826 begin climb
9828.99 783.00 - 1026 10003.20 1.33 2.79 0.087 2841.00 143.7 3.50 0.089 899.75 -330.8 116.79 98.69 1.994 2412.03 -4.8 0.328 - - - - - - 15.52 14.98 11.37
10010.92 777.16 5.69 1046 10031.33 roll back 1.50 0.24 0.069 2892.00 212.5 2.81 0.021 2041.38 406.3 116.79 - - 2406.47 - - - - - - - - 15.44 15.55 -
10337.96 757.21 6.36 1078 10357.15 done 1.62 - - 2891.56 - 3.08 0.076 3101.31 344.1 116.79 - - 2402.19 - - - - - - - - - 15.64 -
10414.01 751.79 7.04 1090 10434.03 1.71 0.24 0.070 2944.69 221.4 2.83 0.025 1966.38 -401.0 116.79 - - 2401.75 - - - - - - - - 15.59 15.79 -
10740.55 726.46 7.87 1122 10760.13 done 1.74 - - 2944.06 - 3.13 0.089 898.44 -341.2 116.79 - - 2398.56 - - - - - - - - - 15.57 -
10806.61 720.37 9.43 1132 10824.96 done 1.74 - - 2945.38 - 2.75 0.022 2038.94 414.7 116.79 - - 2400.31 - - - - - - - - - 15.84 -
11131.08 693.34 7.99 1164 11150.28 done 1.74 - - 2944.38 - 3.08 0.076 3102.94 345.5 116.79 - - 2398.59 - - - - - - - - - 15.70 -
11171.02 689.74 8.67 1169 11190.51 done 1.74 - - 2944.19 - 2.82 0.025 1966.50 -403.0 116.79 - - 2399.00 - - - - - - - - - 15.88 -
11496.60 661.82 8.43 1201 11515.80 done 1.74 - - 2944.31 - 3.10 0.089 898.62 -344.5 116.79 - - 2399.31 - - - - - - - - - 15.64 -
11626.67 650.43 8.79 1224 11645.75 done 1.74 - - 2944.56 - 2.74 0.022 2039.31 416.3 116.79 - - 2398.22 - - - - - - - - - 15.88 -
11952.27 627.53 6.74 1256 11971.87 done 1.84 - - 2944.75 - 3.07 0.076 3100.56 345.7 116.79 - - 2397.69 - - - - - - - - - 15.70 -
11998.74 624.08 7.32 1262 12018.34 1.91 0.22 0.071 2994.56 226.4 2.80 0.025 1969.25 -404.0 116.79 - - 2397.25 - - - - - - - - 15.47 15.64 -
12324.83 602.07 6.69 1294 12344.01 done 2.02 - - 2994.56 - 3.10 0.088 899.81 -345.0 116.79 - - 2397.41 - - - - - - - - - 15.61 -
12375.16 598.39 7.18 1301 12394.91 2.10 0.03 0.262 3011.56 566.7 2.75 0.022 2039.62 414.5 116.79 - - 2396.88 - - - - - - - - 15.68 15.91 -
12701.43 576.61 7.06 1333 12705.50 2.18 - - 3011.25 - - - 2039.62 - 116.79 - - 2395.84 - - - - - - - - - - -
13012.00 555.73 6.79 1364 13032.01 2.28 - - 3011.88 - 3.29 0.084 898.38 -346.9 116.79 - - 2397.69 - - - - - - - - - 15.61 -
13103.17 548.51 7.89 1379 13122.50 2.31 - - 3012.50 - 2.76 0.022 2038.50 413.1 116.79 - - 2395.91 - - - - - - - - - 15.89 -
13429.13 526.75 7.15 1411 13448.76 2.39 - - 3012.19 - 3.09 0.076 3100.50 343.7 116.79 - - 2395.44 - - - - - - - - - 15.68 -
13585.65 514.54 7.74 1439 13604.03 2.44 - - 3012.62 - 2.81 0.026 1969.00 -402.7 116.79 - - 2395.91 - - - - - - - - - 15.87 -
13910.56 491.90 6.70 1471 13930.57 2.54 - - 3012.00 - 3.28 0.072 3104.25 346.1 116.79 - - 2395.91 - - - - - - - - - 15.66 -
13977.45 486.95 7.62 1481 13995.84 2.59 - - 3012.88 - 2.82 0.026 1969.88 -402.3 116.79 - - 2395.06 - - - - - - - - - 15.76 -
14302.38 464.21 7.04 1513 14322.38 2.68 - - 3011.62 - 3.28 0.072 3102.56 345.3 116.79 - - 2397.19 - - - - - - - - - 15.64 -
14363.53 459.57 7.58 1522 14382.64 2.73 - - 3013.12 - 2.84 0.026 1969.88 -398.8 116.79 - - 2395.47 - - - - - - - - - 15.87 -
14689.13 437.70 6.79 1554 14693.20 2.83 - - 3012.69 - - - 1969.81 - 116.79 - - 2394.44 - - - - - - - - - - -
14999.71 415.63 6.86 1585 15019.32 2.93 - - 3012.50 - 3.19 0.088 898.25 -335.9 116.79 - - 2393.97 - - - - - - - - - 15.42 -
15110.61 407.11 7.62 1604 15129.30 2.98 - - 3012.62 - 2.77 0.022 2040.50 412.4 116.79 - - 2396.62 - - - - - - - - - 15.75 -
15435.80 384.98 6.74 1636 15456.21 3.08 - - 3012.50 - 3.32 0.083 899.06 -343.8 116.79 - - 2394.59 - - - - - - - - - 15.56 -
15463.08 383.13 6.82 1638 15481.08 3.18 - - 3012.81 - 2.72 0.021 2041.94 420.2 116.79 - - 2395.84 - - - - - - - - - 15.88 -
15787.64 361.95 6.74 1670 15807.24 3.28 - - 3013.50 - 3.05 0.075 3102.81 347.8 116.79 - - 2395.41 - - - - - - - - - 15.52 -
15854.11 357.07 7.37 1680 15872.08 3.35 - - 3012.62 - 2.80 0.025 1967.94 -405.3 116.79 - - 2395.22 - - - - - - - - - 15.89 -
16178.58 333.85 7.18 1712 16198.20 3.42 - - 3013.12 - 3.13 0.087 899.38 -341.4 116.79 - - 2394.91 - - - - - - - - - 15.44 -
16265.09 327.28 7.61 1726 16283.31 3.48 - - 3012.12 - 2.74 0.021 2041.06 416.7 116.79 - - 2394.88 - - - - - - - - - 15.87 -
16589.91 305.54 6.26 1758 16610.34 3.61 - - 3012.88 - 3.35 0.082 898.25 -341.1 116.79 - - 2393.84 - - - - - - - - - 15.55 -
16641.50 302.16 6.39 1765 16660.37 3.73 - - 3012.62 - 2.74 0.021 2041.25 417.2 116.79 - - 2394.28 - - - - - - - - - 15.81 -
16966.87 283.76 5.74 1797 16970.95 3.73 - - 3012.00 - - - 2041.44 - 116.79 - - 2393.66 - - - - - - - - - - -
17277.48 266.28 5.38 1828 17350.07 3.86 - - 3013.00 - - - 2041.62 - 178.94 49.47 1.396 2159.19 -4.7 0.156 - - - - - - - - 10.19
17656.61 240.07 6.93 1864 17660.68 3.95 - - 3012.50 - - - 2041.88 - 178.94 - - 2151.47 - - - - - - - - - - -
17966.94 217.00 8.22 1895 17987.46 3.95 - - 3012.00 - 3.35 0.082 898.25 -341.4 178.94 - - 2149.88 - - - - - - - - - 15.45 -
18068.24 207.86 9.19 1912 18086.94 3.95 - - 3012.56 - 2.76 0.021 2036.38 412.4 178.94 - - 2150.59 - - - - - - - - - 15.64 -
18393.49 181.99 7.72 1944 18412.95 3.95 - - 3013.38 - 3.08 0.076 3100.94 345.6 178.94 - - 2149.62 - - - - - - - - - 15.49 -
18474.22 175.46 7.88 1957 18493.32 3.95 - - 3012.75 - 2.82 0.024 1968.88 -401.4 178.94 - - 2150.59 - - - - - - - - - 15.76 -
18799.81 151.86 7.51 1989 18819.80 3.95 - - 3012.38 - 3.11 0.086 898.44 -344.2 178.94 - - 2150.16 - - - - - - - - - 15.44 -
18856.28 147.08 8.30 1997 18874.27 3.95 - - 3012.25 - 2.73 0.021 2040.69 418.4 178.94 - - 2148.88 - - - - - - - - - 15.67 -
19180.81 122.66 6.83 2029 19200.02 3.95 - - 3012.56 - 3.08 0.074 3101.44 344.4 178.94 - - 2148.69 - - - - - - - - - 15.55 -
19261.17 116.71 7.14 2042 19280.67 3.95 - - 3012.12 - 2.81 0.024 1967.50 -403.5 178.94 - - 2148.97 - - - - - - - - - 15.54 -
19587.18 96.67 5.40 2080 19678.29 4.07 - - 3013.19 - 3.14 0.087 898.38 -340.5 240.73 49.33 1.159 1907.47 -4.9 0.071 - - - - - - - 15.25 11.24
19750.16 87.53 5.95 2105 19768.87 roll back 4.07 - - 3013.06 - 2.77 0.020 2041.75 412.8 240.73 - - 1902.59 - - - - - - - - - 15.63 -
19955.76 75.97 5.58 2143 19975.70 4.07 - - 3012.25 - 3.08 0.072 3102.25 344.3 240.73 - - 1899.59 - - - - - - - - - 15.51 -
20197.63 62.58 5.09 2188 20293.32 4.21 - - 3011.75 - 2.80 0.024 1966.94 -405.5 308.73 53.77 1.098 1631.19 -5.0 0.049 - - - - - - - 15.69 11.40
20479.81 44.08 6.76 2237 20500.14 4.21 - - 3012.00 - 3.16 0.085 898.56 -338.1 308.73 - - 1623.34 - - - - - - - - - 15.46 -
20547.13 39.00 7.62 2247 20565.87 4.21 - - 3012.56 - 2.74 0.020 2042.88 417.6 308.73 - - 1622.47 - - - - - - - - - 15.59 -
20752.41 25.07 6.47 2285 20772.33 4.21 - - 3012.56 - 3.05 0.073 3101.00 346.9 308.73 - - 1621.84 - - - - - - - - - 15.50 -
20919.36 12.73 7.34 2315 20938.85 4.21 - - 3013.44 - 2.84 0.024 1966.19 -399.6 308.73 - - 1621.66 - - - - - - - - - 15.63 -
21059 end climb: SURFACE_DEPTH_REACHED
21060 begin surface coast
21125 end surface coast: CONTROL_FINISHED_OK
21126 begin surface
SM 0.81 - - - - 179.2 71.89 1.029 1259.3 17.5 20.15 0.045 1274.5 63.3 - 0.75 0.044 1244.1 1655.0 -3.114 - - 10.87 15.76 15.86 -