NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 940 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 320.87 of 506.00 AH used of 24V (36.59% remains)
• Surface angle -59.3 deg, depth 0.93 m • Intended pitch -18.6 deg, speed -9.167 cm/s
VBD pumped to 399.97 (SM_CC=400)
• GPS1 time: 49 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
19.90 - - - 122.58 VBD -1.42 - - 178.19 - - - 2141.00 - -126.52 72.14 0.005 2885.59 - - - - - - - - - - 14.61
124.79 3.05 -2.95 14 243.08 -1.42 17.22 0.198 2172.00 115.8 3.39 0.082 3302.75 342.7 -126.52 8.51 0.007 3407.41 61.3 -4.678 - - - - - - 15.05 14.79 14.94
324.65 40.10 -13.34 36 343.39 roll -1.42 - - 2172.19 - 2.78 0.019 2147.69 -415.5 -126.52 - - 3410.53 - - - - - - - - - 15.60 -
529.50 61.43 -9.32 74 536.33 no move -1.42 - - 2172.06 - - - 2145.38 - -126.52 - - 3411.00 - - - - - - - - - - -
722.43 79.93 -9.45 112 729.65 no move -1.42 - - 2172.00 - - - 2144.81 - -126.52 - - 3410.66 - - - - - - - - - - -
915.75 98.03 -8.90 150 937.08 roll -1.42 - - 2172.06 - 3.36 0.076 3302.50 344.6 -126.52 - - 3410.72 - - - - - - - - - 15.45 -
957.79 102.33 -9.98 155 976.54 roll -1.42 - - 2172.56 - 2.73 0.018 2143.56 -424.5 -126.52 - - 3411.22 - - - - - - - - - 15.78 -
1282.63 131.58 -8.96 187 1302.83 roll -1.42 - - 2172.38 - 3.31 0.076 3301.88 349.9 -126.52 - - 3410.22 - - - - - - - - - 15.52 -
1319.33 134.93 -9.00 191 1337.12 roll -1.42 - - 2171.31 - 2.75 0.018 2143.94 -421.1 -126.52 - - 3412.31 - - - - - - - - - 15.61 -
1643.19 163.27 -8.60 223 1647.21 no move -1.42 - - 2171.81 - - - 2142.12 - -126.52 - - 3410.56 - - - - - - - - - - -
1953.29 189.81 -8.38 254 1973.79 roll -1.42 - - 2171.81 - 3.33 0.075 3300.50 347.9 -126.52 - - 3411.97 - - - - - - - - - 15.45 -
2020.39 195.83 -9.13 264 2038.39 roll -1.42 - - 2172.62 - 2.76 0.018 2143.06 -419.4 -126.52 - - 3412.31 - - - - - - - - - 15.63 -
2344.53 222.51 -7.91 296 2362.94 roll -1.42 - - 2171.50 - 2.88 0.071 1093.69 -364.4 -126.52 - - 3413.06 - - - - - - - - - 15.62 -
2369.42 224.61 -8.24 298 2387.82 roll -1.42 - - 2171.56 - 2.73 0.023 2232.44 417.1 -126.52 - - 3411.66 - - - - - - - - - 15.58 -
2694.15 250.91 -8.15 330 2698.21 no move -1.42 - - 2171.06 - - - 2232.69 - -126.52 - - 3410.78 - - - - - - - - - - -
3004.29 276.10 -8.09 361 3023.92 roll -1.42 - - 2171.94 - 3.11 0.066 1095.06 -365.8 -126.52 - - 3411.81 - - - - - - - - - 15.63 -
3054.68 280.62 -8.95 368 3073.83 roll -1.42 - - 2171.88 - 2.72 0.023 2232.44 418.2 -126.52 - - 3412.94 - - - - - - - - - 15.85 -
3380.16 307.86 -8.93 400 3399.79 roll -1.42 - - 2171.44 - 3.11 0.066 1095.12 -365.7 -126.52 - - 3412.03 - - - - - - - - - 15.62 -
3406.27 310.26 -9.18 402 3424.67 roll -1.42 - - 2172.19 - 2.72 0.023 2233.75 418.6 -126.52 - - 3412.12 - - - - - - - - - 15.88 -
3731.00 339.36 -8.81 434 3735.05 no move -1.42 - - 2172.25 - - - 2233.50 - -126.52 - - 3411.44 - - - - - - - - - - -
4041.37 366.27 -8.34 465 4045.44 no move -1.42 - - 2171.94 - - - 2234.44 - -126.52 - - 3410.88 - - - - - - - - - - -
4351.80 391.69 -7.93 496 4371.44 roll -1.42 - - 2171.31 - 3.13 0.066 1093.81 -364.4 -126.52 - - 3410.84 - - - - - - - - - 15.62 -
4392.19 395.17 -8.67 501 4411.32 roll -1.42 - - 2171.00 - 2.74 0.024 2231.94 415.4 -126.52 - - 3412.19 - - - - - - - - - 15.84 -
4717.66 420.06 -7.70 533 4721.72 no move -1.42 - - 2171.56 - - - 2232.44 - -126.52 - - 3410.81 - - - - - - - - - - -
5028.04 444.24 -7.95 564 5047.70 roll -1.42 - - 2172.38 - 3.13 0.067 1095.69 -363.2 -126.52 - - 3410.88 - - - - - - - - - 15.48 -
5074.17 448.16 -8.55 570 5092.19 roll -1.42 - - 2172.06 - 2.73 0.024 2230.69 415.8 -126.52 - - 3410.75 - - - - - - - - - 15.86 -
5398.50 474.81 -8.47 602 5402.56 no move -1.42 - - 2172.38 - - - 2231.19 - -126.52 - - 3410.25 - - - - - - - - - - -
5708.91 501.13 -8.39 633 5712.97 no move -1.42 - - 2171.56 - - - 2231.31 - -126.52 - - 3410.06 - - - - - - - - - - -
6019.28 527.06 -8.14 664 6023.34 no move -1.42 - - 2171.81 - - - 2231.69 - -126.52 - - 3409.47 - - - - - - - - - - -
6329.69 552.05 -8.08 695 6349.42 roll -1.42 - - 2172.19 - 3.13 0.067 1095.12 -363.1 -126.52 - - 3409.66 - - - - - - - - - 15.59 -
6370.17 555.48 -8.35 700 6388.91 roll -1.42 - - 2171.38 - 2.73 0.024 2229.81 415.6 -126.52 - - 3411.00 - - - - - - - - - 15.86 -
6695.35 580.30 -7.47 732 6699.41 no move -1.42 - - 2171.75 - - - 2230.12 - -126.52 - - 3408.22 - - - - - - - - - - -
7005.76 604.09 -7.78 763 7025.80 roll -1.42 - - 2171.75 - 3.11 0.067 1095.31 -364.9 -126.52 - - 3410.09 - - - - - - - - - 15.60 -
7066.56 609.38 -8.70 772 7085.30 roll -1.42 - - 2171.56 - 2.73 0.024 2229.81 415.6 -126.52 - - 3408.44 - - - - - - - - - 15.87 -
7391.65 635.55 -8.32 804 7395.71 no move -1.42 - - 2171.50 - - - 2230.19 - -126.52 - - 3407.41 - - - - - - - - - - -
7701.80 661.67 -8.39 835 7705.86 no move -1.42 - - 2172.00 - - - 2229.62 - -126.52 - - 3406.66 - - - - - - - - - - -
8011.95 687.55 -8.25 866 8031.60 roll -1.42 - - 2170.62 - 3.12 0.068 1096.38 -363.2 -126.52 - - 3408.75 - - - - - - - - - 15.57 -
8048.07 690.79 -8.55 870 8066.48 roll -1.42 - - 2172.19 - 2.74 0.025 2230.38 413.9 -126.52 - - 3407.41 - - - - - - - - - 15.84 -
8372.83 716.28 -7.61 902 8376.89 no move -1.42 - - 2171.75 - - - 2230.88 - -126.52 - - 3405.94 - - - - - - - - - - -
8683.22 739.22 -6.99 933 8687.28 no move -1.42 - - 2171.94 - - - 2230.75 - -126.52 - - 3406.25 - - - - - - - - - - -
8993.85 760.36 -6.77 964 8997.92 no move -1.42 - - 2171.50 - - - 2230.75 - -126.52 - - 3405.62 - - - - - - - - - - -
9304.36 780.77 -6.55 995 9324.00 roll -1.42 - - 2171.62 - 3.13 0.068 1095.81 -362.6 -126.52 - - 3405.50 - - - - - - - - - 15.57 -
9334.75 782.86 -6.53 998 9353.48 roll -1.42 - - 2172.31 - 2.76 0.025 2231.12 411.3 -126.52 - - 3406.00 - - - - - - - - - 15.82 -
9659.84 804.86 -6.80 1030 9663.90 no move -1.42 - - 2171.94 - - - 2231.38 - -126.52 - - 3404.94 - - - - - - - - - - -
9970.22 826.35 -6.95 1061 9974.28 no move -1.42 - - 2171.38 - - - 2231.12 - -126.52 - - 3405.12 - - - - - - - - - - -
10280.61 847.96 -6.89 1092 10284.67 no move -1.42 - - 2171.44 - - - 2231.06 - -126.52 - - 3404.59 - - - - - - - - - - -
10591.00 869.31 -6.88 1123 10610.63 roll -1.42 - - 2171.12 - 3.14 0.069 1094.00 -362.1 -126.52 - - 3404.44 - - - - - - - - - 15.53 -
10631.38 872.34 -7.17 1128 10650.14 roll -1.42 - - 2172.06 - 2.75 0.025 2229.88 413.0 -126.52 - - 3404.34 - - - - - - - - - 15.81 -
10956.46 895.88 -7.51 1160 10960.52 no move -1.42 - - 2171.31 - - - 2230.12 - -126.52 - - 3403.19 - - - - - - - - - - -
11266.87 918.70 -7.21 1191 11270.93 no move -1.42 - - 2171.81 - - - 2229.81 - -126.52 - - 3402.97 - - - - - - - - - - -
11577.25 941.66 -7.49 1222 11581.32 no move -1.42 - - 2171.38 - - - 2230.38 - -126.52 - - 3403.22 - - - - - - - - - - -
11887.77 963.33 -6.93 1253 11907.42 roll -1.42 - - 2171.69 - 3.16 0.070 1094.94 -359.3 -126.52 - - 3402.38 - - - - - - - - - 15.51 -
11938.28 967.23 -7.55 1260 11957.03 roll -1.42 - - 2172.25 - 2.77 0.025 2228.44 409.2 -126.52 - - 3403.50 - - - - - - - - - 15.71 -
12263.36 989.21 -6.99 1292 12267.42 no move -1.42 - - 2171.62 - - - 2228.56 - -126.52 - - 3402.34 - - - - - - - - - - -
12283 end dive: TARGET_DEPTH_EXCEEDED
12284 begin apogee
12290.70 990.60 -6.63 1294 12455.12 -0.31 2.08 0.124 2439.81 128.9 0.13 0.167 2033.12 -1503.4 - 106.15 2.304 2888.22 -4.8 0.365 - - - - - - 15.38 14.96 9.94
12462 end apogee: CONTROL_FINISHED_OK
12463 begin climb
12465.89 994.10 - 1305 12662.33 1.42 3.05 0.083 2863.00 138.8 3.46 0.090 873.69 -335.1 126.52 111.39 2.259 2375.03 -4.6 0.355 - - - - - - 15.48 14.89 11.43
12669.33 983.34 7.72 1328 12688.07 roll 1.50 - - 2863.50 - 2.79 0.021 2014.31 408.8 126.52 - - 2366.38 - - - - - - - - - 15.53 -
12994.94 960.98 6.69 1360 13016.23 1.65 0.34 0.061 2929.31 193.6 3.05 0.078 3075.56 348.0 126.52 - - 2360.44 - - - - - - - - 15.69 15.59 -
13093.11 952.70 8.63 1376 13111.13 done 1.68 - - 2928.81 - 2.78 0.027 1941.75 -407.8 126.52 - - 2360.31 - - - - - - - - - 15.77 -
13417.86 926.79 8.37 1408 13421.93 VBD 1.73 - - 2929.75 - - - 1942.25 - 126.52 - - 2357.91 - - - - - - - - - - -
13728.42 902.60 7.68 1439 13750.10 1.82 0.17 0.079 2970.19 237.9 3.24 0.074 3076.56 350.1 126.52 - - 2357.03 - - - - - - - - 15.80 15.62 -
13806.58 895.36 9.23 1451 13824.98 done 1.82 - - 2971.06 - 2.78 0.028 1941.69 -408.2 126.52 - - 2360.19 - - - - - - - - - 15.83 -
14131.49 867.65 8.29 1483 14151.46 done 1.87 - - 2970.31 - 3.05 0.091 873.38 -350.3 126.52 - - 2357.78 - - - - - - - - - 15.56 -
14172.32 863.85 9.30 1488 14190.90 done 1.87 - - 2969.75 - 2.70 0.023 2016.56 423.4 126.52 - - 2357.09 - - - - - - - - - 15.86 -
14497.40 837.98 7.90 1520 14516.22 done 1.95 - - 2970.06 - 3.00 0.078 3076.12 353.2 126.52 - - 2357.34 - - - - - - - - - 15.61 -
14522.68 835.61 9.09 1522 14540.70 done 1.95 - - 2969.69 - 2.77 0.027 1942.50 -409.2 126.52 - - 2358.41 - - - - - - - - - 15.82 -
14847.24 811.69 7.36 1554 14867.73 2.06 0.19 0.079 3016.06 244.1 3.04 0.091 872.44 -352.0 126.52 - - 2355.12 - - - - - - - - 15.82 15.55 -
14898.47 806.79 8.90 1561 14916.81 done 2.06 - - 3015.38 - 2.70 0.023 2015.06 423.2 126.52 - - 2356.44 - - - - - - - - - 15.85 -
15223.35 781.31 7.35 1593 15243.40 done 2.17 - - 3015.62 - 3.23 0.086 872.06 -353.9 126.52 - - 2354.06 - - - - - - - - - 15.54 -
15284.56 775.78 8.33 1602 15303.71 2.22 - - 3015.69 - 2.72 0.022 2013.88 419.8 126.52 - - 2355.72 - - - - - - - - - 15.86 -
15610.45 750.04 7.94 1634 15614.52 2.29 - - 3015.62 - - - 2014.19 - 126.52 - - 2354.47 - - - - - - - - - - -
15921.34 726.15 8.06 1665 15925.41 2.36 - - 3016.06 - - - 2014.06 - 126.52 - - 2354.31 - - - - - - - - - - -
16232.07 702.27 7.96 1696 16252.15 2.43 - - 3015.75 - 3.23 0.086 872.50 -353.4 126.52 - - 2353.28 - - - - - - - - - 15.51 -
16309.03 695.88 8.64 1708 16327.06 2.46 - - 3015.62 - 2.72 0.022 2014.00 419.7 126.52 - - 2355.59 - - - - - - - - - 15.88 -
16633.79 670.08 8.01 1740 16637.86 2.53 - - 3015.81 - - - 2014.56 - 126.52 - - 2353.25 - - - - - - - - - - -
16944.38 645.17 8.28 1771 16964.46 2.58 - - 3015.62 - 3.20 0.086 872.75 -356.8 126.52 - - 2353.53 - - - - - - - - - 15.49 -
17055.21 635.10 9.38 1790 17074.19 2.58 - - 3015.25 - 2.71 0.023 2014.44 421.3 126.52 - - 2354.12 - - - - - - - - - 15.87 -
17380.71 609.08 7.76 1822 17400.79 2.67 - - 3015.31 - 3.22 0.086 871.12 -355.1 126.52 - - 2352.66 - - - - - - - - - 15.47 -
17451.54 602.90 8.90 1833 17470.52 2.67 - - 3015.31 - 2.71 0.022 2014.38 421.9 126.52 - - 2354.31 - - - - - - - - - 15.87 -
17777.07 576.58 8.30 1865 17797.39 2.72 - - 3015.50 - 3.24 0.086 873.38 -352.2 126.52 - - 2353.34 - - - - - - - - - 15.46 -
17858.26 569.32 9.12 1878 17877.25 2.72 - - 3014.75 - 2.73 0.022 2017.62 419.1 126.52 - - 2354.91 - - - - - - - - - 15.85 -
18183.77 543.90 7.74 1910 18203.83 2.80 - - 3015.19 - 3.24 0.085 873.69 -353.1 126.52 - - 2354.62 - - - - - - - - - 15.47 -
18260.31 537.37 8.78 1922 18278.34 2.80 - - 3015.19 - 2.72 0.022 2015.88 419.9 126.52 - - 2354.22 - - - - - - - - - 15.85 -
18584.86 513.17 7.41 1954 18588.94 2.91 - - 3015.69 - - - 2016.06 - 126.52 - - 2353.09 - - - - - - - - - - -
18895.48 490.65 7.11 1985 18915.55 3.03 - - 3015.38 - 3.29 0.085 872.62 -347.6 126.52 - - 2352.81 - - - - - - - - - 15.16 -
19086.72 475.28 8.21 2020 19105.71 3.09 - - 3015.12 - 2.74 0.022 2014.06 416.6 126.52 - - 2353.88 - - - - - - - - - 15.79 -
19412.25 452.58 7.07 2052 19432.33 3.22 - - 3015.25 - 3.26 0.084 873.44 -349.9 126.52 - - 2351.84 - - - - - - - - - 15.46 -
19663.53 433.64 7.33 2099 19682.29 3.33 - - 3015.12 - 2.74 0.022 2015.00 416.6 126.52 - - 2353.88 - - - - - - - - - 15.83 -
19988.96 413.23 6.12 2131 20079.82 3.45 - - 3015.88 - 3.30 0.089 872.25 -346.3 188.17 50.23 1.607 2121.66 -4.6 0.208 - - - - - - - 15.19 10.49
20311.01 386.64 8.19 2188 20329.76 3.51 - - 3015.25 - 2.74 0.022 2014.62 416.9 188.17 - - 2114.06 - - - - - - - - - 15.75 -
20636.38 361.73 7.64 2220 20655.63 3.60 - - 3015.69 - 3.04 0.077 3077.38 349.6 188.17 - - 2112.25 - - - - - - - - - 15.37 -
20716.78 355.21 7.91 2233 20735.93 3.68 - - 3016.00 - 2.80 0.028 1943.56 -404.9 188.17 - - 2112.22 - - - - - - - - - 15.74 -
21042.47 329.80 7.55 2265 21061.84 3.77 - - 3015.00 - 3.04 0.087 872.31 -352.4 188.17 - - 2110.84 - - - - - - - - - 15.50 -
21138.85 321.77 8.47 2281 21156.88 3.81 - - 3014.62 - 2.71 0.022 2017.12 422.4 188.17 - - 2111.72 - - - - - - - - - 15.79 -
21463.40 297.71 7.84 2313 21483.49 3.89 - - 3015.69 - 3.26 0.084 872.06 -351.2 188.17 - - 2108.59 - - - - - - - - - 15.51 -
21664.28 278.90 9.23 2350 21683.03 3.89 - - 3015.44 - 2.71 0.022 2015.19 421.8 188.17 - - 2109.72 - - - - - - - - - 15.83 -
21989.56 250.66 8.61 2382 22009.63 3.93 - - 3015.75 - 3.22 0.083 872.38 -354.9 188.17 - - 2109.56 - - - - - - - - - 15.51 -
22206.53 230.70 7.84 2422 22224.58 4.01 - - 3015.38 - 2.75 0.021 2016.62 416.1 188.17 - - 2110.03 - - - - - - - - - 15.62 -
22531.11 203.71 8.41 2454 22551.17 4.01 - - 3015.56 - 3.22 0.083 872.75 -355.2 188.17 - - 2107.66 - - - - - - - - - 15.51 -
22621.94 195.19 9.27 2469 22641.16 4.01 - - 3015.94 - 2.76 0.021 2016.75 414.5 188.17 - - 2109.12 - - - - - - - - - 15.78 -
22947.80 168.47 8.20 2501 22967.88 4.01 - - 3015.25 - 3.29 0.081 872.69 -347.7 188.17 - - 2109.31 - - - - - - - - - 15.44 -
23064.36 157.83 9.29 2521 23082.39 4.01 - - 3015.56 - 2.72 0.021 2015.88 420.3 188.17 - - 2109.38 - - - - - - - - - 15.81 -
23388.94 131.11 7.84 2553 23409.01 4.01 - - 3015.94 - 3.26 0.081 872.69 -350.7 188.17 - - 2107.50 - - - - - - - - - 15.48 -
23445.91 126.24 8.57 2561 23463.95 4.01 - - 3015.88 - 2.74 0.020 2015.81 417.2 188.17 - - 2108.91 - - - - - - - - - 15.52 -
23770.46 102.37 7.45 2593 23790.53 4.01 - - 3016.31 - 3.25 0.081 872.44 -351.8 188.17 - - 2108.31 - - - - - - - - - 15.34 -
23812.64 99.13 7.78 2598 23831.79 4.01 - - 3016.06 - 2.76 0.020 2018.19 415.1 188.17 - - 2110.41 - - - - - - - - - 15.58 -
24018.32 86.23 5.38 2636 24123.78 4.16 - - 3015.88 - 3.02 0.076 3075.81 350.2 264.75 61.03 1.171 1810.91 -4.9 0.063 - - - - - - - 15.20 11.51
24136.00 77.57 8.61 2651 24154.97 roll back 4.16 - - 3015.75 - 2.79 0.024 1939.19 -407.4 264.75 - - 1807.84 - - - - - - - - - 15.59 -
24341.49 63.06 6.33 2689 24362.28 4.16 - - 3015.88 - 3.24 0.067 3077.25 351.3 264.75 - - 1801.75 - - - - - - - - - 15.43 -
24539.42 53.00 4.65 2725 24658.27 4.34 - - 3015.62 - 2.78 0.024 1936.94 -410.2 356.09 72.17 1.114 1439.06 -5.0 0.042 - - - - - - - 15.58 11.50
24844.95 32.02 7.72 2777 24865.75 4.34 - - 3016.38 - 3.23 0.068 3076.88 352.9 356.09 - - 1429.88 - - - - - - - - - 15.37 -
24997.46 18.61 9.05 2804 25017.08 4.34 - - 3015.94 - 2.82 0.024 1941.94 -402.5 356.09 - - 1428.47 - - - - - - - - - 15.56 -
25168 end climb: SURFACE_DEPTH_REACHED
25168 begin surface coast
25224 end surface coast: CONTROL_FINISHED_OK
25225 begin surface
SM 1.09 - - - - 178.5 35.65 1.040 1259.5 35.3 20.25 0.045 1285.2 63.5 - 0.69 0.051 1233.8 1784.0 -3.897 - - 11.10 15.71 15.80 -