NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 833 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 284.26 of 506.00 AH used of 24V (43.82% remains)
• Surface angle -63.6 deg, depth 0.88 m • Intended pitch -16.4 deg, speed -9.167 cm/s
VBD pumped to 399.92 (SM_CC=400)
• GPS1 time: 31 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
19.53 - - - 127.95 VBD -1.31 - - 178.12 - - - 2187.69 - -145.99 76.48 0.005 3045.38 - - - - - - - - - - 14.58
130.17 3.39 -3.58 15 247.66 -1.31 17.77 0.205 2196.31 113.6 2.81 0.071 1142.56 -371.9 -145.99 6.53 0.008 3488.06 67.8 -5.019 - - - - - - 15.11 14.80 14.99
304.21 42.21 -14.47 32 322.66 roll -1.31 - - 2195.94 - 2.76 0.026 2276.44 410.8 -145.99 - - 3491.41 - - - - - - - - - 15.59 -
508.77 69.10 -12.82 70 528.47 roll -1.31 - - 2195.50 - 3.08 0.083 3352.88 349.5 -145.99 - - 3491.12 - - - - - - - - - 15.40 -
544.91 74.30 -14.40 74 563.38 roll -1.31 - - 2196.12 - 2.73 0.019 2192.62 -425.0 -145.99 - - 3491.41 - - - - - - - - - 15.66 -
749.46 97.21 -10.84 112 756.68 no move -1.31 - - 2195.38 - - - 2190.38 - -145.99 - - 3491.03 - - - - - - - - - - -
942.75 115.41 -9.49 134 946.77 no move -1.31 - - 2195.50 - - - 2190.19 - -145.99 - - 3490.88 - - - - - - - - - - -
1252.85 143.93 -8.89 165 1272.98 roll -1.31 - - 2196.19 - 3.32 0.079 3354.00 350.5 -145.99 - - 3492.56 - - - - - - - - - 15.52 -
1299.42 148.51 -9.76 171 1317.55 roll -1.31 - - 2195.88 - 2.74 0.018 2192.62 -423.9 -145.99 - - 3491.62 - - - - - - - - - 15.72 -
1623.65 177.67 -8.54 203 1627.67 no move -1.31 - - 2196.06 - - - 2190.12 - -145.99 - - 3490.34 - - - - - - - - - - -
1933.74 202.27 -7.95 234 1953.88 roll -1.31 - - 2195.56 - 3.31 0.078 3354.31 351.7 -145.99 - - 3490.44 - - - - - - - - - 15.65 -
1974.85 205.97 -8.88 239 1993.12 roll -1.31 - - 2195.56 - 2.70 0.019 2189.56 -431.4 -145.99 - - 3492.38 - - - - - - - - - 15.85 -
2299.33 232.45 -8.60 271 2319.70 roll -1.31 - - 2195.88 - 3.35 0.078 3354.50 347.7 -145.99 - - 3491.09 - - - - - - - - - 15.50 -
2336.18 235.96 -9.29 275 2354.12 roll -1.31 - - 2196.00 - 2.70 0.018 2190.50 -431.1 -145.99 - - 3492.62 - - - - - - - - - 15.87 -
2660.21 264.98 -8.98 307 2680.59 roll -1.31 - - 2196.00 - 3.32 0.078 3355.06 350.8 -145.99 - - 3491.19 - - - - - - - - - 15.67 -
2711.34 270.15 -9.99 314 2729.61 roll -1.31 - - 2196.00 - 2.67 0.019 2189.19 -436.7 -145.99 - - 3492.38 - - - - - - - - - 15.76 -
3035.73 297.03 -8.03 346 3056.09 roll -1.31 - - 2196.00 - 3.33 0.078 3352.62 349.4 -145.99 - - 3491.75 - - - - - - - - - 15.68 -
3076.85 300.83 -9.17 351 3095.11 roll -1.31 - - 2195.94 - 2.68 0.019 2188.94 -434.2 -145.99 - - 3492.69 - - - - - - - - - 15.88 -
3401.22 328.10 -8.87 383 3419.56 roll -1.31 - - 2195.69 - 2.80 0.069 1141.38 -374.1 -145.99 - - 3492.56 - - - - - - - - - 15.60 -
3430.31 330.79 -9.14 386 3449.21 roll -1.31 - - 2195.88 - 2.74 0.025 2282.19 416.4 -145.99 - - 3491.97 - - - - - - - - - 15.85 -
3755.43 359.96 -8.93 418 3759.49 no move -1.31 - - 2195.56 - - - 2282.00 - -145.99 - - 3490.75 - - - - - - - - - - -
4065.62 386.55 -8.25 449 4085.18 roll -1.31 - - 2196.00 - 3.05 0.065 1141.94 -373.8 -145.99 - - 3491.94 - - - - - - - - - 15.72 -
4121.67 391.32 -8.40 457 4139.63 roll -1.31 - - 2195.88 - 2.75 0.025 2280.00 413.8 -145.99 - - 3491.62 - - - - - - - - - 15.72 -
4445.77 416.21 -7.63 489 4449.83 no move -1.31 - - 2195.81 - - - 2280.31 - -145.99 - - 3491.25 - - - - - - - - - - -
4755.96 441.13 -8.36 520 4760.02 no move -1.31 - - 2195.44 - - - 2280.00 - -145.99 - - 3491.25 - - - - - - - - - - -
5066.14 466.77 -8.15 551 5070.20 no move -1.31 - - 2195.94 - - - 2280.12 - -145.99 - - 3491.56 - - - - - - - - - - -
5376.31 491.65 -8.22 582 5395.47 roll -1.31 - - 2194.88 - 3.07 0.066 1142.62 -370.5 -145.99 - - 3491.69 - - - - - - - - - 15.71 -
5431.96 496.57 -8.56 590 5449.90 roll -1.31 - - 2196.44 - 2.76 0.026 2280.19 412.2 -145.99 - - 3492.47 - - - - - - - - - 15.89 -
5756.05 521.47 -7.24 622 5760.11 no move -1.31 - - 2196.00 - - - 2280.69 - -145.99 - - 3490.56 - - - - - - - - - - -
6066.42 545.77 -7.84 653 6070.48 no move -1.31 - - 2194.94 - - - 2280.00 - -145.99 - - 3489.88 - - - - - - - - - - -
6376.62 570.32 -7.92 684 6380.68 no move -1.31 - - 2195.50 - - - 2280.62 - -145.99 - - 3489.31 - - - - - - - - - - -
6686.94 594.50 -7.76 715 6691.00 no move -1.31 - - 2196.00 - - - 2280.88 - -145.99 - - 3488.88 - - - - - - - - - - -
6997.11 619.98 -8.05 746 7016.27 roll -1.31 - - 2196.00 - 3.06 0.066 1142.75 -371.9 -145.99 - - 3490.59 - - - - - - - - - 15.70 -
7032.75 623.22 -8.55 750 7050.70 roll -1.31 - - 2195.88 - 2.77 0.026 2278.56 410.0 -145.99 - - 3489.09 - - - - - - - - - 15.90 -
7356.80 649.14 -8.47 782 7376.36 roll -1.31 - - 2196.06 - 3.11 0.086 3352.75 345.4 -145.99 - - 3489.59 - - - - - - - - - 15.65 -
7407.12 653.68 -9.25 789 7425.39 roll -1.31 - - 2196.25 - 2.67 0.020 2191.06 -435.1 -145.99 - - 3488.16 - - - - - - - - - 15.91 -
7731.52 679.60 -7.66 821 7735.58 no move -1.31 - - 2195.94 - - - 2189.50 - -145.99 - - 3487.66 - - - - - - - - - - -
8041.68 702.36 -7.21 852 8062.05 roll -1.31 - - 2196.19 - 3.36 0.082 3351.69 345.9 -145.99 - - 3487.00 - - - - - - - - - 15.65 -
8098.54 707.14 -8.11 860 8116.08 roll -1.31 - - 2195.31 - 2.68 0.019 2193.00 -432.3 -145.99 - - 3488.19 - - - - - - - - - 15.88 -
8422.16 731.03 -7.41 892 8442.76 roll -1.31 - - 2195.62 - 3.34 0.082 3353.38 347.4 -145.99 - - 3486.53 - - - - - - - - - 15.63 -
8489.37 736.89 -8.84 902 8506.91 roll -1.31 - - 2195.94 - 2.69 0.019 2192.50 -431.6 -145.99 - - 3487.62 - - - - - - - - - 15.92 -
8813.04 761.12 -7.39 934 8817.10 no move -1.31 - - 2195.44 - - - 2191.38 - -145.99 - - 3486.03 - - - - - - - - - - -
9123.21 784.88 -7.70 965 9143.58 roll -1.31 - - 2196.25 - 3.34 0.082 3352.00 347.5 -145.99 - - 3486.69 - - - - - - - - - 15.63 -
9154.33 787.65 -8.37 968 9173.00 roll -1.31 - - 2196.25 - 2.70 0.020 2192.69 -429.4 -145.99 - - 3486.56 - - - - - - - - - 15.90 -
9479.11 813.27 -8.22 1000 9483.17 no move -1.31 - - 2195.75 - - - 2192.00 - -145.99 - - 3485.38 - - - - - - - - - - -
9789.26 837.23 -7.52 1031 9809.64 roll -1.31 - - 2196.06 - 3.34 0.083 3352.31 347.4 -145.99 - - 3486.97 - - - - - - - - - 15.60 -
9840.39 841.52 -7.97 1038 9858.67 roll -1.31 - - 2196.12 - 2.70 0.020 2192.62 -429.5 -145.99 - - 3486.06 - - - - - - - - - 15.91 -
10164.80 864.63 -7.09 1070 10168.86 no move -1.31 - - 2195.81 - - - 2190.62 - -145.99 - - 3484.78 - - - - - - - - - - -
10474.98 886.29 -7.18 1101 10495.24 roll -1.31 - - 2194.88 - 3.30 0.082 3350.50 351.5 -145.99 - - 3484.97 - - - - - - - - - 15.59 -
10526.12 890.08 -7.36 1108 10544.40 roll -1.31 - - 2194.62 - 2.69 0.020 2192.44 -430.5 -145.99 - - 3485.50 - - - - - - - - - 15.91 -
10850.54 912.08 -6.53 1140 10854.60 no move -1.31 - - 2195.88 - - - 2190.75 - -145.99 - - 3484.47 - - - - - - - - - - -
11160.72 932.89 -6.74 1171 11181.09 roll -1.31 - - 2195.62 - 3.33 0.083 3352.94 349.0 -145.99 - - 3484.09 - - - - - - - - - 15.59 -
11217.58 937.58 -8.14 1179 11235.93 roll -1.31 - - 2196.06 - 2.70 0.020 2192.38 -429.8 -145.99 - - 3484.72 - - - - - - - - - 15.89 -
11542.06 959.84 -6.87 1211 11562.43 roll -1.31 - - 2195.19 - 3.33 0.082 3352.69 348.4 -145.99 - - 3485.91 - - - - - - - - - 15.59 -
11579.02 962.64 -7.42 1215 11597.37 roll -1.31 - - 2194.06 - 2.71 0.020 2192.81 -428.0 -145.99 - - 3484.66 - - - - - - - - - 15.91 -
11903.48 984.81 -6.69 1247 11907.55 no move -1.31 - - 2195.19 - - - 2191.12 - -145.99 - - 3482.91 - - - - - - - - - - -
11983 end dive: TARGET_DEPTH_EXCEEDED
11983 begin apogee
11990.14 990.84 -7.22 1255 12177.82 -0.31 1.90 0.123 2440.75 129.2 0.14 0.162 2057.94 -951.3 - 122.74 2.315 2888.94 -4.8 0.362 - - - - - - 15.52 14.94 9.84
12183 end apogee: CONTROL_FINISHED_OK
12183 begin climb
12186.22 994.79 - 1268 12402.91 1.31 2.90 0.086 2837.81 136.9 3.42 0.092 899.50 -338.7 145.99 127.59 2.272 2292.94 -4.7 0.357 - - - - - - 15.47 14.91 11.33
12410.62 982.93 7.38 1294 12428.97 roll 1.42 - - 2837.06 - 2.78 0.022 2039.25 410.0 145.99 - - 2286.66 - - - - - - - - - 15.54 -
12735.60 960.25 7.11 1326 12756.83 1.54 0.35 0.063 2901.31 183.6 3.01 0.077 3101.69 353.0 145.99 - - 2281.31 - - - - - - - - 15.72 15.50 -
12883.30 946.78 9.00 1352 12901.25 done 1.54 - - 2903.31 - 2.79 0.027 1967.44 -406.5 145.99 - - 2282.97 - - - - - - - - - 15.79 -
13207.89 918.76 8.50 1384 13227.86 done 1.59 - - 2903.00 - 3.21 0.074 3103.31 353.9 145.99 - - 2279.03 - - - - - - - - - 15.71 -
13268.61 912.92 9.69 1393 13287.28 done 1.59 - - 2903.31 - 2.76 0.027 1967.06 -411.7 145.99 - - 2281.38 - - - - - - - - - 15.85 -
13593.78 885.20 8.43 1425 13613.35 done 1.63 - - 2902.88 - 3.20 0.074 3103.12 355.0 145.99 - - 2277.84 - - - - - - - - - 15.72 -
13624.10 882.22 9.29 1428 13643.17 done 1.63 - - 2902.50 - 2.76 0.027 1966.88 -411.7 145.99 - - 2278.94 - - - - - - - - - 15.86 -
13949.68 855.33 7.69 1460 13970.90 1.72 0.19 0.080 2943.56 216.1 3.21 0.074 3101.50 353.5 145.99 - - 2277.00 - - - - - - - - 15.84 15.71 -
13997.37 850.50 10.05 1466 14015.72 done 1.72 - - 2944.38 - 2.79 0.027 1967.94 -406.3 145.99 - - 2277.28 - - - - - - - - - 15.74 -
14321.83 821.31 9.04 1498 14340.78 done 1.72 - - 2944.25 - 2.96 0.092 898.88 -361.2 145.99 - - 2276.56 - - - - - - - - - 15.63 -
14371.70 816.63 9.03 1505 14390.77 done 1.72 - - 2944.50 - 2.72 0.023 2040.00 419.5 145.99 - - 2276.75 - - - - - - - - - 15.90 -
14696.89 786.98 9.41 1537 14700.96 VBD 1.72 - - 2945.00 - - - 2040.88 - 145.99 - - 2275.66 - - - - - - - - - - -
15007.07 758.16 9.21 1568 15011.13 VBD 1.72 - - 2944.62 - - - 2039.81 - 145.99 - - 2275.16 - - - - - - - - - - -
15317.22 730.36 8.94 1599 15337.21 done 1.72 - - 2944.75 - 3.25 0.087 898.38 -351.2 145.99 - - 2274.91 - - - - - - - - - 15.54 -
15367.97 725.65 8.98 1606 15387.03 done 1.72 - - 2945.19 - 2.72 0.023 2039.62 419.6 145.99 - - 2275.66 - - - - - - - - - 15.91 -
15693.55 697.90 8.30 1638 15712.31 done 1.77 - - 2944.12 - 2.99 0.078 3101.25 355.1 145.99 - - 2275.47 - - - - - - - - - 15.69 -
15743.06 693.24 9.51 1645 15761.73 done 1.77 - - 2944.94 - 2.74 0.027 1967.25 -413.9 145.99 - - 2277.00 - - - - - - - - - 15.88 -
16068.26 667.89 7.51 1677 16072.33 VBD 1.87 - - 2944.12 - - - 1967.25 - 145.99 - - 2273.78 - - - - - - - - - - -
16378.83 643.65 7.71 1708 16400.45 1.96 0.29 0.064 3005.25 210.8 3.22 0.074 3102.38 352.5 145.99 - - 2273.19 - - - - - - - - 15.84 15.66 -
16407.39 640.79 9.32 1710 16425.34 done 1.96 - - 3006.69 - 2.76 0.027 1968.31 -410.9 145.99 - - 2274.69 - - - - - - - - - 15.89 -
16731.45 612.17 9.02 1742 16751.02 done 1.96 - - 3005.88 - 3.18 0.074 3101.44 356.3 145.99 - - 2274.00 - - - - - - - - - 15.67 -
16771.77 607.90 11.08 1747 16790.46 done 1.96 - - 3005.69 - 2.75 0.027 1968.00 -412.2 145.99 - - 2275.34 - - - - - - - - - 15.89 -
17096.58 577.72 9.28 1779 17116.58 done 1.96 - - 3005.31 - 3.20 0.074 3103.44 354.8 145.99 - - 2273.47 - - - - - - - - - 15.65 -
17123.04 574.88 10.10 1781 17141.40 done 1.96 - - 3005.25 - 2.77 0.027 1967.00 -410.3 145.99 - - 2274.06 - - - - - - - - - 15.85 -
17447.91 545.60 8.26 1813 17467.06 done 2.01 - - 3005.12 - 3.01 0.091 896.81 -355.5 145.99 - - 2275.00 - - - - - - - - - 15.58 -
17483.94 542.54 8.36 1817 17501.91 done 2.06 - - 3005.25 - 2.72 0.023 2040.06 420.3 145.99 - - 2274.28 - - - - - - - - - 15.88 -
17808.45 517.28 7.39 1849 17827.22 2.17 - - 3006.25 - 2.98 0.077 3102.00 356.4 145.99 - - 2273.97 - - - - - - - - - 15.66 -
17864.34 512.64 8.54 1857 17882.31 2.20 - - 3005.38 - 2.74 0.027 1967.12 -414.2 145.99 - - 2274.09 - - - - - - - - - 15.88 -
18188.97 488.12 7.64 1889 18208.56 2.30 - - 3006.75 - 3.19 0.073 3103.12 356.1 145.99 - - 2272.69 - - - - - - - - - 15.64 -
18249.31 482.94 8.97 1898 18268.00 2.30 - - 3006.00 - 2.76 0.027 1965.62 -412.1 145.99 - - 2273.75 - - - - - - - - - 15.87 -
18574.10 455.17 8.73 1930 18578.17 2.30 - - 3006.75 - - - 1965.44 - 145.99 - - 2273.25 - - - - - - - - - - -
18884.28 426.77 9.36 1961 18904.28 2.30 - - 3006.19 - 3.20 0.073 3102.56 355.3 145.99 - - 2272.50 - - - - - - - - - 15.60 -
18960.77 419.11 9.95 1973 18978.73 2.30 - - 3006.19 - 2.76 0.027 1966.62 -411.6 145.99 - - 2273.69 - - - - - - - - - 15.85 -
19284.84 389.00 8.84 2005 19304.00 2.30 - - 3005.56 - 2.99 0.091 897.88 -357.4 145.99 - - 2273.72 - - - - - - - - - 15.43 -
19430.52 374.89 9.30 2031 19448.88 2.30 - - 3005.69 - 2.71 0.023 2040.00 421.4 145.99 - - 2274.25 - - - - - - - - - 15.89 -
19755.40 349.04 7.72 2063 19759.57 2.38 - - 3006.50 - - - 2046.81 - 145.99 - - 2272.81 - - - - - - - - - - -
20066.22 324.90 7.34 2094 20085.03 2.49 - - 3006.62 - 2.96 0.077 3102.94 356.8 145.99 - - 2274.09 - - - - - - - - - 15.54 -
20116.19 320.91 8.07 2101 20134.88 2.56 - - 3005.81 - 2.80 0.026 1967.06 -405.7 145.99 - - 2273.66 - - - - - - - - - 15.60 -
20441.39 298.46 6.84 2133 20445.47 2.70 - - 3006.44 - - - 1966.81 - 145.99 - - 2272.53 - - - - - - - - - - -
20751.98 278.89 6.21 2164 20771.54 2.87 - - 3005.81 - 3.06 0.097 898.38 -349.2 145.99 - - 2274.88 - - - - - - - - - 15.50 -
20882.72 270.73 6.69 2187 20901.41 3.02 - - 3005.81 - 2.71 0.022 2040.25 421.4 145.99 - - 2274.16 - - - - - - - - - 15.87 -
21207.92 248.95 7.10 2219 21227.90 3.15 - - 3006.19 - 3.24 0.083 896.75 -352.9 145.99 - - 2273.12 - - - - - - - - - 15.54 -
21338.67 237.99 8.70 2242 21357.75 3.15 - - 3005.81 - 2.74 0.022 2041.62 417.8 145.99 - - 2274.12 - - - - - - - - - 15.64 -
21664.28 213.93 7.60 2274 21684.29 3.24 - - 3005.94 - 3.22 0.084 898.69 -354.9 145.99 - - 2274.16 - - - - - - - - - 15.38 -
21915.60 194.26 7.87 2321 21934.67 3.32 - - 3005.94 - 2.76 0.022 2038.94 413.1 145.99 - - 2274.75 - - - - - - - - - 15.57 -
22241.21 171.65 6.99 2353 22261.22 3.45 - - 3005.31 - 3.22 0.083 898.19 -354.3 145.99 - - 2273.00 - - - - - - - - - 15.47 -
22438.14 157.37 6.79 2389 22456.12 3.59 - - 3005.50 - 2.74 0.022 2040.00 416.7 145.99 - - 2273.38 - - - - - - - - - 15.51 -
22762.63 140.12 5.47 2421 22875.31 3.76 - - 3006.12 - 3.05 0.077 3102.56 348.4 231.97 67.18 1.247 1942.34 -4.9 0.097 - - - - - - - 15.19 10.38
22906.79 129.39 8.69 2441 22925.17 roll back 3.76 - - 3006.69 - 2.82 0.024 1966.50 -402.9 231.97 - - 1938.78 - - - - - - - - - 15.63 -
23231.37 99.36 9.73 2473 23238.66 3.76 - - 3006.38 - - - 1965.94 - 231.97 - - 1933.72 - - - - - - - - - - -
23425.31 82.33 8.55 2511 23432.60 3.80 - - 3006.62 - - - 1966.25 - 231.97 - - 1932.75 - - - - - - - - - - -
23619.15 67.08 7.13 2549 23639.88 3.92 - - 3005.94 - 3.24 0.070 3104.06 351.2 231.97 - - 1932.19 - - - - - - - - - 15.49 -
23746.76 59.14 6.23 2571 23766.47 3.92 - - 3006.94 - 2.81 0.023 1965.25 -405.3 231.97 - - 1931.31 - - - - - - - - - 15.66 -
23952.99 48.80 5.08 2609 24060.38 4.11 - - 3006.12 - - - 1964.81 - 326.89 74.25 1.108 1557.72 -5.0 0.039 - - - - - - - - 11.29
24246.92 27.27 7.12 2661 24253.82 4.11 - - 3007.12 - - - 1965.06 - 326.89 - - 1549.00 - - - - - - - - - - -
24440.36 11.94 8.65 2699 24461.08 4.14 - - 3006.44 - 3.26 0.070 3102.56 348.9 326.89 - - 1547.31 - - - - - - - - - 15.40 -
24482.96 8.44 8.63 2704 24501.87 4.18 - - 3006.38 - 2.79 0.025 1964.62 -407.9 326.89 - - 1546.84 - - - - - - - - - 15.50 -
24547 end climb: SURFACE_DEPTH_REACHED
24548 begin surface coast
24619 end surface coast: CONTROL_FINISHED_OK
24619 begin surface
SM 0.80 - - - - 180.6 57.51 1.052 1259.7 21.9 20.15 0.052 1277.1 63.4 - 0.75 0.044 1242.2 1652.5 -3.071 - - 10.93 15.69 15.82 -