NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 862 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 294.83 of 506.00 AH used of 24V (41.73% remains)
• Surface angle -62.9 deg, depth 0.94 m • Intended pitch -17.5 deg, speed -8.462 cm/s
• VBD pumped to 399.81 (SM_CC=400)
• GPS1 time: 12 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
19.63 - - - 121.13 VBD -1.33 - - 179.56 - - - 2178.25 - -116.79 71.36 0.005 2948.50 - - - - - - - - - - 14.56
123.35 3.09 -3.20 14 238.74 -1.33 17.26 0.201 2192.44 116.6 2.93 0.068 1143.50 -353.2 -116.79 6.59 0.008 3369.16 63.8 -4.250 - - - - - - 15.13 14.82 14.99
245.77 31.02 -12.99 21 264.70 roll -1.33 - - 2192.38 - 2.83 0.025 2277.19 400.6 -116.79 - - 3370.84 - - - - - - - - - 15.50 -
450.89 56.36 -12.01 59 471.74 roll -1.33 - - 2192.19 - 3.20 0.080 3353.50 336.3 -116.79 - - 3372.25 - - - - - - - - - 15.51 -
573.18 71.79 -12.78 80 591.67 roll -1.33 - - 2192.12 - 2.76 0.018 2194.38 -420.0 -116.79 - - 3371.94 - - - - - - - - - 15.66 -
777.78 92.37 -8.44 118 796.66 roll -1.33 - - 2192.25 - 2.88 0.067 1145.38 -364.2 -116.79 - - 3371.44 - - - - - - - - - 15.51 -
853.11 98.80 -8.41 130 871.59 roll -1.33 - - 2191.69 - 2.77 0.024 2278.81 409.2 -116.79 - - 3372.41 - - - - - - - - - 15.61 -
1057.67 115.66 -8.51 150 1061.69 no move -1.33 - - 2191.56 - - - 2278.81 - -116.79 - - 3370.41 - - - - - - - - - - -
1367.79 142.24 -8.83 181 1387.15 roll -1.33 - - 2192.38 - 3.14 0.080 3353.25 342.2 -116.79 - - 3370.75 - - - - - - - - - 15.55 -
1413.59 146.70 -9.78 187 1431.36 roll -1.33 - - 2191.38 - 2.74 0.017 2189.12 -424.9 -116.79 - - 3372.50 - - - - - - - - - 15.70 -
1737.47 172.95 -7.94 219 1755.98 roll -1.33 - - 2192.12 - 2.89 0.066 1143.56 -361.8 -116.79 - - 3372.38 - - - - - - - - - 15.69 -
1772.58 175.76 -8.09 223 1790.94 roll -1.33 - - 2192.19 - 2.77 0.024 2281.38 410.8 -116.79 - - 3371.62 - - - - - - - - - 15.85 -
2097.06 201.02 -8.39 255 2101.12 no move -1.33 - - 2191.88 - - - 2280.56 - -116.79 - - 3371.41 - - - - - - - - - - -
2407.22 225.61 -7.75 286 2426.82 roll -1.33 - - 2190.00 - 3.14 0.079 3353.88 341.8 -116.79 - - 3372.28 - - - - - - - - - 15.67 -
2457.58 229.85 -8.34 293 2476.27 roll -1.33 - - 2192.62 - 2.74 0.017 2187.56 -425.7 -116.79 - - 3371.84 - - - - - - - - - 15.84 -
2782.38 254.38 -8.05 325 2800.75 roll -1.33 - - 2192.50 - 2.88 0.067 1143.00 -362.7 -116.79 - - 3373.47 - - - - - - - - - 15.72 -
2807.23 256.37 -8.11 327 2825.21 roll -1.33 - - 2190.81 - 2.76 0.024 2279.31 411.7 -116.79 - - 3372.97 - - - - - - - - - 15.87 -
3131.32 284.12 -8.50 359 3150.92 roll -1.33 - - 2192.12 - 3.13 0.080 3354.06 343.4 -116.79 - - 3371.78 - - - - - - - - - 15.68 -
3167.41 287.43 -9.06 363 3185.38 roll -1.33 - - 2192.62 - 2.76 0.018 2189.06 -422.1 -116.79 - - 3373.97 - - - - - - - - - 15.88 -
3491.51 315.89 -8.84 395 3512.16 roll -1.33 - - 2191.75 - 3.39 0.077 3352.94 343.3 -116.79 - - 3372.59 - - - - - - - - - 15.69 -
3518.76 318.24 -8.95 397 3536.74 roll -1.33 - - 2191.75 - 2.73 0.018 2187.88 -426.8 -116.79 - - 3372.31 - - - - - - - - - 15.90 -
3842.89 344.21 -7.69 429 3846.96 no move -1.33 - - 2192.25 - - - 2186.56 - -116.79 - - 3371.81 - - - - - - - - - - -
4153.07 366.49 -7.04 460 4173.87 roll -1.33 - - 2192.44 - 3.42 0.077 3352.44 340.9 -116.79 - - 3373.44 - - - - - - - - - 15.55 -
4194.63 369.81 -7.86 465 4213.33 roll -1.33 - - 2192.06 - 2.77 0.018 2191.38 -419.2 -116.79 - - 3371.72 - - - - - - - - - 15.90 -
4519.43 391.61 -6.58 497 4523.49 no move -1.33 - - 2192.44 - - - 2188.56 - -116.79 - - 3371.47 - - - - - - - - - - -
4829.61 413.63 -6.68 528 4850.43 roll -1.33 - - 2192.81 - 3.40 0.077 3354.00 342.8 -116.79 - - 3372.34 - - - - - - - - - 15.67 -
4881.18 418.06 -8.32 535 4899.87 roll -1.33 - - 2191.81 - 2.77 0.018 2190.50 -420.0 -116.79 - - 3372.66 - - - - - - - - - 15.93 -
5206.01 440.95 -7.22 567 5210.07 no move -1.33 - - 2192.62 - - - 2188.00 - -116.79 - - 3370.91 - - - - - - - - - - -
5516.15 463.64 -7.36 598 5537.18 roll -1.33 - - 2192.25 - 3.41 0.077 3352.88 341.6 -116.79 - - 3371.66 - - - - - - - - - 15.67 -
5578.05 468.84 -8.35 607 5596.77 roll -1.33 - - 2191.94 - 2.77 0.018 2192.19 -419.0 -116.79 - - 3371.59 - - - - - - - - - 15.91 -
5902.91 493.42 -7.57 639 5921.69 roll -1.33 - - 2191.88 - 2.93 0.069 1144.06 -357.7 -116.79 - - 3370.62 - - - - - - - - - 15.57 -
5952.45 497.84 -8.83 646 5971.16 roll -1.33 - - 2192.25 - 2.77 0.025 2280.88 410.4 -116.79 - - 3372.06 - - - - - - - - - 15.90 -
6277.27 524.96 -8.81 678 6296.87 roll -1.33 - - 2191.88 - 3.19 0.064 1144.00 -356.4 -116.79 - - 3370.78 - - - - - - - - - 15.71 -
6317.62 528.67 -9.15 683 6336.32 roll -1.33 - - 2191.31 - 2.78 0.025 2278.44 408.1 -116.79 - - 3370.56 - - - - - - - - - 15.93 -
6642.44 555.40 -7.99 715 6646.50 no move -1.33 - - 2191.88 - - - 2278.38 - -116.79 - - 3369.88 - - - - - - - - - - -
6952.64 578.12 -6.94 746 6972.22 roll -1.33 - - 2192.44 - 3.19 0.064 1143.19 -355.9 -116.79 - - 3370.31 - - - - - - - - - 15.69 -
7008.71 582.14 -7.06 754 7026.68 roll -1.33 - - 2192.06 - 2.80 0.025 2278.38 405.4 -116.79 - - 3369.28 - - - - - - - - - 15.90 -
7332.81 605.14 -6.92 786 7352.66 roll -1.33 - - 2192.75 - 3.18 0.083 3353.38 338.1 -116.79 - - 3368.88 - - - - - - - - - 15.65 -
7359.26 607.45 -7.78 788 7377.25 roll -1.33 - - 2192.12 - 2.74 0.018 2189.25 -424.9 -116.79 - - 3369.53 - - - - - - - - - 15.91 -
7683.34 632.78 -7.77 820 7704.15 roll -1.33 - - 2192.31 - 3.43 0.079 3351.44 338.8 -116.79 - - 3367.47 - - - - - - - - - 15.63 -
7724.91 636.54 -8.53 825 7744.00 roll -1.33 - - 2192.69 - 2.79 0.018 2191.88 -415.6 -116.79 - - 3368.28 - - - - - - - - - 15.85 -
8050.10 662.41 -8.35 857 8070.93 roll -1.33 - - 2191.69 - 3.43 0.080 3353.50 338.7 -116.79 - - 3366.97 - - - - - - - - - 15.61 -
8087.42 665.78 -8.30 861 8105.39 roll -1.33 - - 2192.12 - 2.78 0.018 2192.12 -417.8 -116.79 - - 3368.44 - - - - - - - - - 15.90 -
8411.52 688.75 -6.28 893 8432.33 roll -1.33 - - 2191.88 - 3.42 0.080 3352.19 339.2 -116.79 - - 3367.62 - - - - - - - - - 15.63 -
8458.82 692.52 -7.55 899 8476.78 roll -1.33 - - 2191.88 - 2.79 0.018 2191.62 -416.0 -116.79 - - 3368.03 - - - - - - - - - 15.93 -
8783.04 714.74 -7.76 931 8804.08 roll -1.33 - - 2192.38 - 3.42 0.080 3352.50 339.4 -116.79 - - 3368.34 - - - - - - - - - 15.61 -
8844.96 719.69 -7.89 940 8863.66 roll -1.33 - - 2192.25 - 2.78 0.019 2192.38 -417.3 -116.79 - - 3367.38 - - - - - - - - - 15.92 -
8869 end dive: TARGET_DEPTH_EXCEEDED
8870 begin apogee
8876.27 721.38 -7.27 942 9024.37 -0.31 1.89 0.123 2440.69 131.4 0.14 0.144 2063.00 -924.1 - 95.54 1.947 2889.00 -5.0 0.320 - - - - - - 15.54 15.07 10.04
9037 end apogee: CONTROL_FINISHED_OK
9038 begin climb
9040.96 724.62 - 952 9215.94 1.33 2.83 0.084 2841.56 141.7 3.57 0.087 899.62 -325.9 116.79 98.01 1.911 2414.09 -4.8 0.317 - - - - - - 15.54 14.99 11.33
9223.67 717.86 6.17 972 9242.89 roll back 1.47 0.19 0.074 2884.50 226.0 2.79 0.020 2042.06 409.5 116.79 - - 2407.38 - - - - - - - - 15.46 15.57 -
9549.52 698.27 5.79 1004 9568.71 done 1.63 - - 2885.31 - 3.08 0.074 3101.31 343.9 116.79 - - 2402.06 - - - - - - - - - 15.66 -
9635.59 692.14 7.14 1018 9655.61 1.71 0.28 0.063 2944.44 211.2 2.86 0.025 1967.06 -396.6 116.79 - - 2400.84 - - - - - - - - 15.59 15.78 -
9961.75 666.31 8.53 1050 9981.76 done 1.71 - - 2944.06 - 3.27 0.070 3101.31 346.9 116.79 - - 2400.53 - - - - - - - - - 15.70 -
10032.51 659.53 9.14 1061 10052.01 done 1.71 - - 2944.12 - 2.83 0.025 1970.88 -399.4 116.79 - - 2399.41 - - - - - - - - - 15.85 -
10358.11 631.91 8.77 1093 10362.18 VBD 1.71 - - 2944.94 - - - 1971.50 - 116.79 - - 2398.00 - - - - - - - - - - -
10668.29 606.06 8.50 1124 10688.29 done 1.71 - - 2944.75 - 3.25 0.071 3102.69 348.1 116.79 - - 2399.09 - - - - - - - - - 15.72 -
10704.77 603.04 8.54 1128 10723.56 done 1.71 - - 2944.88 - 2.83 0.025 1969.31 -400.5 116.79 - - 2398.78 - - - - - - - - - 15.90 -
11030.11 579.66 7.12 1160 11050.35 done 1.79 - - 2944.12 - 3.28 0.071 3101.75 345.3 116.79 - - 2398.16 - - - - - - - - - 15.46 -
11057.34 577.47 7.78 1162 11076.11 done 1.83 - - 2945.00 - 2.81 0.025 1966.88 -403.9 116.79 - - 2399.25 - - - - - - - - - 15.89 -
11382.60 555.82 6.52 1194 11403.44 1.94 0.26 0.065 3001.38 216.8 3.05 0.089 898.25 -350.4 116.79 - - 2395.22 - - - - - - - - 15.86 15.63 -
11554.73 542.55 7.57 1225 11573.43 done 2.00 - - 3001.62 - 2.74 0.022 2039.88 416.7 116.79 - - 2396.75 - - - - - - - - - 15.90 -
11879.96 520.23 6.62 1257 11900.36 done 2.11 - - 3000.38 - 3.33 0.083 898.38 -342.8 116.79 - - 2395.06 - - - - - - - - - 15.62 -
11997.27 511.91 6.98 1277 12015.25 2.20 - - 3002.38 - 2.75 0.022 2038.00 414.4 116.79 - - 2395.88 - - - - - - - - - 15.89 -
12321.78 490.02 6.67 1309 12340.98 2.30 - - 3002.06 - 3.08 0.074 3102.38 345.6 116.79 - - 2397.00 - - - - - - - - - 15.68 -
12357.86 487.21 7.53 1313 12376.23 2.36 - - 3001.94 - 2.80 0.025 1969.31 -404.7 116.79 - - 2396.00 - - - - - - - - - 15.89 -
12682.71 463.66 7.86 1345 12702.33 2.40 - - 3002.31 - 3.15 0.087 899.25 -339.7 116.79 - - 2395.94 - - - - - - - - - 15.61 -
12798.94 454.19 8.11 1365 12816.92 2.40 - - 3002.19 - 2.73 0.022 2040.62 418.1 116.79 - - 2395.94 - - - - - - - - - 15.89 -
13123.42 429.20 7.59 1397 13143.83 2.45 - - 3001.44 - 3.35 0.082 898.44 -340.9 116.79 - - 2397.09 - - - - - - - - - 15.60 -
13220.33 421.32 8.22 1413 13238.72 2.45 - - 3002.12 - 2.74 0.021 2039.06 416.3 116.79 - - 2396.28 - - - - - - - - - 15.79 -
13545.26 397.90 7.19 1445 13564.86 2.53 - - 3002.00 - 3.07 0.075 3102.88 346.5 116.79 - - 2395.94 - - - - - - - - - 15.67 -
13621.74 391.84 7.76 1457 13640.13 2.57 - - 3000.00 - 2.80 0.025 1967.50 -405.5 116.79 - - 2396.19 - - - - - - - - - 15.86 -
13946.66 369.43 6.92 1489 13966.69 2.66 - - 3002.00 - 3.27 0.070 3100.38 346.4 116.79 - - 2395.62 - - - - - - - - - 15.66 -
14053.57 361.65 7.25 1507 14072.60 2.73 - - 3002.50 - 2.82 0.025 1967.81 -401.6 116.79 - - 2396.38 - - - - - - - - - 15.87 -
14379.23 337.91 7.91 1539 14398.85 2.77 - - 3001.88 - 3.13 0.087 898.19 -341.7 116.79 - - 2394.38 - - - - - - - - - 15.54 -
14475.75 330.20 7.88 1555 14493.75 2.80 - - 3001.81 - 2.74 0.021 2042.06 417.5 116.79 - - 2396.75 - - - - - - - - - 15.88 -
14800.29 306.17 7.12 1587 14820.70 2.88 - - 3001.81 - 3.38 0.082 898.25 -338.4 116.79 - - 2393.47 - - - - - - - - - 15.48 -
14847.58 302.47 7.54 1593 14865.57 2.94 - - 3001.56 - 2.73 0.021 2042.00 419.0 116.79 - - 2396.03 - - - - - - - - - 15.91 -
15172.09 284.04 5.37 1625 15262.88 3.06 - - 3001.75 - 3.38 0.084 898.50 -338.3 179.19 49.58 1.416 2158.22 -4.8 0.166 - - - - - - - 15.29 10.36
15283.63 276.13 8.28 1640 15302.34 roll back 3.06 - - 3002.12 - 2.78 0.021 2039.56 410.5 179.19 - - 2154.47 - - - - - - - - - 15.75 -
15609.01 252.97 7.21 1672 15613.08 3.14 - - 3001.62 - - - 2039.31 - 179.19 - - 2149.09 - - - - - - - - - - -
15919.28 229.78 8.09 1703 15939.71 3.14 - - 3001.00 - 3.33 0.082 898.44 -342.6 179.19 - - 2147.44 - - - - - - - - - 15.38 -
15980.47 224.33 8.63 1712 15999.58 3.14 - - 3002.19 - 2.77 0.021 2040.25 412.2 179.19 - - 2148.25 - - - - - - - - - 15.63 -
16305.73 197.74 8.47 1744 16325.32 3.14 - - 3001.19 - 3.08 0.074 3101.38 344.5 179.19 - - 2148.44 - - - - - - - - - 15.54 -
16391.81 189.97 9.32 1758 16410.20 3.14 - - 3002.19 - 2.84 0.024 1966.56 -399.6 179.19 - - 2148.81 - - - - - - - - - 15.69 -
16716.31 162.23 8.23 1790 16720.38 3.14 - - 3001.62 - - - 1966.31 - 179.19 - - 2146.56 - - - - - - - - - - -
17026.92 138.99 6.93 1821 17046.12 3.23 - - 3001.50 - 3.10 0.085 897.62 -344.7 179.19 - - 2146.81 - - - - - - - - - 15.58 -
17087.29 134.34 7.68 1830 17106.10 3.28 - - 3002.12 - 2.75 0.021 2042.38 416.3 179.19 - - 2146.59 - - - - - - - - - 15.77 -
17412.62 112.38 6.57 1862 17432.06 3.39 - - 3001.50 - 3.07 0.072 3103.69 345.7 179.19 - - 2147.53 - - - - - - - - - 15.54 -
17449.06 110.17 6.26 1866 17467.47 3.52 - - 3003.06 - 2.82 0.023 1967.00 -403.1 179.19 - - 2146.62 - - - - - - - - - 15.84 -
17774.02 94.48 5.25 1909 17865.93 3.65 - - 3002.69 - 3.26 0.071 3102.06 348.2 244.03 51.63 1.154 1895.28 -4.9 0.069 - - - - - - - 15.31 11.25
17922.81 83.92 7.65 1931 17941.93 roll back 3.70 - - 3002.25 - 2.84 0.024 1965.31 -400.3 244.03 - - 1890.28 - - - - - - - - - 15.53 -
18128.45 71.26 5.82 1969 18149.19 3.86 - - 3002.69 - 3.27 0.067 3103.12 348.0 244.03 - - 1886.72 - - - - - - - - - 15.60 -
18246.10 62.88 7.06 1989 18265.21 3.94 - - 3002.69 - 2.86 0.023 1967.38 -397.1 244.03 - - 1886.31 - - - - - - - - - 15.63 -
18451.73 53.15 4.54 2027 18562.82 4.10 - - 3002.69 - 3.29 0.068 3104.44 345.6 323.12 62.27 1.094 1571.44 -5.1 0.042 - - - - - - - 15.24 11.37
18579.81 45.31 7.19 2044 18599.32 roll back 4.18 - - 3002.81 - 2.85 0.024 1968.94 -398.4 323.12 - - 1568.00 - - - - - - - - - 15.57 -
18785.99 29.93 7.87 2082 18806.73 4.21 - - 3002.94 - 3.30 0.067 3101.81 343.3 323.12 - - 1564.69 - - - - - - - - - 15.47 -
18833.20 25.99 8.20 2088 18852.72 4.21 - - 3003.00 - 2.87 0.023 1966.19 -395.7 323.12 - - 1564.12 - - - - - - - - - 15.50 -
19039.26 10.08 7.69 2126 19060.38 4.21 - - 3002.75 - 3.28 0.067 3101.81 346.2 323.12 - - 1563.25 - - - - - - - - - 15.45 -
19096.86 5.32 8.36 2134 19115.97 4.21 - - 3002.25 - 2.87 0.023 1966.62 -395.5 323.12 - - 1562.59 - - - - - - - - - 15.67 -
19121 end climb: SURFACE_DEPTH_REACHED
19122 begin surface coast
19188 end surface coast: CONTROL_FINISHED_OK
19188 begin surface
SM 0.90 - - - - 179.4 61.17 1.038 1260.1 20.6 20.07 0.044 1275.5 63.6 - 0.73 0.038 1244.8 1701.3 -4.118 - - 10.93 15.75 15.84 -