NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 851 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 290.95 of 506.00 AH used of 24V (42.50% remains)
• Surface angle -64.3 deg, depth 1.01 m • Intended pitch -17.5 deg, speed -8.462 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 28 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
19.61 - - - 121.05 VBD -1.33 - - 179.56 - - - 2197.69 - -116.79 71.29 0.005 2964.56 - - - - - - - - - - 14.58
123.27 3.36 -3.28 14 240.97 -1.33 17.16 0.199 2192.44 117.3 3.44 0.082 3352.25 335.6 -116.79 6.20 0.008 3369.31 65.3 -4.790 - - - - - - 15.12 14.79 14.97
247.51 34.11 -14.86 21 265.99 roll -1.33 - - 2191.56 - 2.78 0.019 2195.38 -416.1 -116.79 - - 3371.19 - - - - - - - - - 15.63 -
452.07 62.17 -13.45 59 471.34 roll -1.33 - - 2192.06 - 2.97 0.067 1145.19 -353.6 -116.79 - - 3370.72 - - - - - - - - - 15.61 -
502.77 68.71 -12.99 66 521.23 roll -1.33 - - 2192.50 - 2.80 0.024 2277.88 404.5 -116.79 - - 3371.38 - - - - - - - - - 15.67 -
707.30 91.10 -9.87 104 727.38 roll -1.33 - - 2192.38 - 3.15 0.061 1144.06 -359.9 -116.79 - - 3370.66 - - - - - - - - - 15.52 -
743.81 94.85 -10.16 108 762.69 roll -1.33 - - 2192.06 - 2.82 0.024 2276.75 401.7 -116.79 - - 3371.81 - - - - - - - - - 15.57 -
953.74 115.15 -9.16 131 973.07 roll -1.33 - - 2192.31 - 3.19 0.082 3352.06 337.1 -116.79 - - 3370.25 - - - - - - - - - 15.50 -
999.50 119.62 -9.70 137 1017.24 roll -1.33 - - 2192.38 - 2.78 0.018 2190.00 -418.0 -116.79 - - 3372.50 - - - - - - - - - 15.69 -
1323.28 147.87 -8.44 169 1327.30 no move -1.33 - - 2191.81 - - - 2187.75 - -116.79 - - 3370.78 - - - - - - - - - - -
1633.34 171.63 -7.53 200 1654.23 roll -1.33 - - 2192.88 - 3.44 0.078 3353.12 338.8 -116.79 - - 3370.62 - - - - - - - - - 15.51 -
1685.10 176.15 -8.64 207 1703.78 roll -1.33 - - 2191.69 - 2.77 0.018 2189.19 -420.2 -116.79 - - 3372.78 - - - - - - - - - 15.82 -
2009.88 203.21 -8.09 239 2013.94 no move -1.33 - - 2192.44 - - - 2188.38 - -116.79 - - 3371.59 - - - - - - - - - - -
2320.03 230.35 -8.90 270 2324.08 no move -1.33 - - 2191.81 - - - 2188.81 - -116.79 - - 3371.47 - - - - - - - - - - -
2630.16 255.36 -7.74 301 2650.95 roll -1.33 - - 2191.88 - 3.45 0.078 3352.81 337.4 -116.79 - - 3373.38 - - - - - - - - - 15.59 -
2717.42 262.79 -8.49 315 2735.39 roll -1.33 - - 2192.12 - 2.77 0.019 2192.94 -418.7 -116.79 - - 3373.00 - - - - - - - - - 15.87 -
3041.49 287.56 -7.80 347 3045.55 no move -1.33 - - 2192.25 - - - 2190.25 - -116.79 - - 3371.81 - - - - - - - - - - -
3351.65 311.82 -8.00 378 3372.44 roll -1.33 - - 2192.50 - 3.43 0.078 3352.56 338.9 -116.79 - - 3373.06 - - - - - - - - - 15.67 -
3388.91 315.04 -8.65 382 3406.87 roll -1.33 - - 2192.19 - 2.76 0.019 2191.19 -420.8 -116.79 - - 3372.38 - - - - - - - - - 15.91 -
3712.99 342.11 -8.40 414 3717.05 no move -1.33 - - 2192.38 - - - 2189.62 - -116.79 - - 3372.06 - - - - - - - - - - -
4023.15 367.12 -7.74 445 4042.18 roll -1.33 - - 2192.00 - 2.95 0.068 1145.06 -354.1 -116.79 - - 3372.56 - - - - - - - - - 15.57 -
4073.09 371.26 -8.14 452 4091.78 roll -1.33 - - 2192.06 - 2.79 0.025 2278.50 406.3 -116.79 - - 3372.62 - - - - - - - - - 15.78 -
4397.88 398.00 -8.47 484 4401.94 no move -1.33 - - 2192.25 - - - 2278.31 - -116.79 - - 3371.44 - - - - - - - - - - -
4708.03 424.51 -8.54 515 4712.11 no move -1.33 - - 2191.81 - - - 2277.88 - -116.79 - - 3371.78 - - - - - - - - - - -
5018.22 448.52 -7.23 546 5038.03 roll -1.33 - - 2192.25 - 3.18 0.064 1145.25 -356.2 -116.79 - - 3371.84 - - - - - - - - - 15.69 -
5064.51 452.19 -7.62 552 5082.87 roll -1.33 - - 2192.00 - 2.81 0.025 2277.94 403.1 -116.79 - - 3372.69 - - - - - - - - - 15.84 -
5389.00 475.73 -7.44 584 5393.05 no move -1.33 - - 2191.56 - - - 2277.94 - -116.79 - - 3370.56 - - - - - - - - - - -
5699.17 498.44 -7.45 615 5718.77 roll -1.33 - - 2192.19 - 3.19 0.064 1143.62 -355.6 -116.79 - - 3371.28 - - - - - - - - - 15.68 -
5759.52 503.40 -8.17 624 5778.62 roll -1.33 - - 2191.75 - 2.82 0.025 2278.06 402.3 -116.79 - - 3371.72 - - - - - - - - - 15.90 -
6084.95 528.69 -8.25 656 6104.78 roll -1.33 - - 2191.31 - 3.19 0.063 1145.31 -355.1 -116.79 - - 3371.72 - - - - - - - - - 15.69 -
6131.36 532.55 -8.18 662 6149.31 roll -1.33 - - 2191.94 - 2.80 0.025 2276.19 403.9 -116.79 - - 3371.47 - - - - - - - - - 15.92 -
6455.38 559.40 -8.10 694 6459.44 no move -1.33 - - 2192.00 - - - 2277.00 - -116.79 - - 3369.84 - - - - - - - - - - -
6765.55 584.03 -7.63 725 6769.63 no move -1.33 - - 2191.88 - - - 2277.06 - -116.79 - - 3369.38 - - - - - - - - - - -
7075.78 608.16 -7.56 756 7095.36 roll -1.33 - - 2191.56 - 3.19 0.064 1145.38 -354.8 -116.79 - - 3369.44 - - - - - - - - - 15.67 -
7136.32 613.19 -8.04 765 7155.39 roll -1.33 - - 2192.50 - 2.82 0.025 2275.12 400.6 -116.79 - - 3370.12 - - - - - - - - - 15.89 -
7461.50 637.93 -7.55 797 7465.56 no move -1.33 - - 2192.00 - - - 2275.62 - -116.79 - - 3368.12 - - - - - - - - - - -
7771.70 660.50 -6.88 828 7791.31 roll -1.33 - - 2192.50 - 3.19 0.064 1145.00 -354.4 -116.79 - - 3368.47 - - - - - - - - - 15.69 -
7957.81 673.20 -6.77 862 7976.18 roll -1.33 - - 2192.12 - 2.83 0.026 2276.75 399.9 -116.79 - - 3368.97 - - - - - - - - - 15.88 -
8282.29 694.83 -6.69 894 8302.52 roll -1.33 - - 2191.00 - 3.24 0.087 3351.81 331.8 -116.79 - - 3368.97 - - - - - - - - - 15.61 -
8449.17 706.88 -7.31 924 8467.53 roll -1.33 - - 2191.69 - 2.79 0.019 2186.69 -417.6 -116.79 - - 3368.19 - - - - - - - - - 15.82 -
8773.67 728.74 -6.34 956 8794.47 roll -1.33 - - 2192.06 - 3.48 0.082 3352.56 335.0 -116.79 - - 3367.25 - - - - - - - - - 15.59 -
8950.97 741.01 -6.80 988 8968.93 roll -1.33 - - 2192.00 - 2.77 0.019 2188.56 -420.2 -116.79 - - 3367.56 - - - - - - - - - 15.92 -
9275.04 762.77 -6.67 1020 9295.86 roll -1.33 - - 2191.75 - 3.47 0.082 3351.62 335.2 -116.79 - - 3366.12 - - - - - - - - - 15.59 -
9466.62 775.55 -6.72 1055 9485.70 roll -1.33 - - 2192.38 - 2.78 0.019 2187.62 -418.7 -116.79 - - 3366.69 - - - - - - - - - 15.91 -
9792.24 794.45 -5.30 1087 9811.14 roll -1.33 - - 2192.12 - 2.98 0.070 1143.75 -350.3 -116.79 - - 3367.00 - - - - - - - - - 15.66 -
9977.66 805.74 -5.95 1121 9996.28 roll -1.33 - - 2191.62 - 2.83 0.026 2278.00 400.8 -116.79 - - 3367.28 - - - - - - - - - 15.87 -
10302.54 825.54 -6.30 1153 10322.13 roll -1.33 - - 2192.44 - 3.19 0.064 1145.06 -355.2 -116.79 - - 3365.12 - - - - - - - - - 15.66 -
10452.92 835.48 -6.58 1180 10472.40 roll -1.33 - - 2191.75 - 2.82 0.026 2276.50 401.2 -116.79 - - 3366.56 - - - - - - - - - 15.87 -
10778.55 857.06 -6.97 1212 10798.16 roll -1.33 - - 2192.12 - 3.20 0.064 1143.81 -354.0 -116.79 - - 3365.06 - - - - - - - - - 15.64 -
10989.06 872.23 -7.21 1251 11008.54 roll -1.33 - - 2192.19 - 2.82 0.026 2276.62 401.7 -116.79 - - 3365.78 - - - - - - - - - 15.88 -
11314.68 895.50 -7.40 1283 11334.69 roll -1.33 - - 2192.19 - 3.20 0.064 1144.12 -353.9 -116.79 - - 3365.00 - - - - - - - - - 15.63 -
11531.18 911.50 -7.57 1323 11549.56 roll -1.33 - - 2192.31 - 2.82 0.026 2277.06 401.8 -116.79 - - 3365.16 - - - - - - - - - 15.87 -
11855.94 933.46 -6.60 1355 11875.53 roll -1.33 - - 2191.44 - 3.20 0.064 1143.75 -354.2 -116.79 - - 3364.16 - - - - - - - - - 15.63 -
12082.15 949.00 -6.60 1397 12100.51 roll -1.33 - - 2192.69 - 2.83 0.027 2277.06 400.5 -116.79 - - 3365.56 - - - - - - - - - 15.86 -
12406.64 969.62 -6.24 1429 12426.24 roll -1.33 - - 2192.19 - 3.18 0.065 1142.94 -356.6 -116.79 - - 3363.72 - - - - - - - - - 15.64 -
12612.75 981.59 -5.50 1467 12631.14 roll -1.33 - - 2192.50 - 2.84 0.026 2275.75 398.9 -116.79 - - 3364.88 - - - - - - - - - 15.84 -
12777 end dive: TARGET_DEPTH_EXCEEDED
12777 begin apogee
12784.56 990.31 -5.23 1483 12936.53 -0.31 1.90 0.127 2439.75 130.1 0.14 0.156 2055.81 -1571.0 - 98.06 2.305 2889.09 -4.9 0.364 - - - - - - 15.49 14.98 9.76
12941 end apogee: CONTROL_FINISHED_OK
12942 begin climb
12944.90 992.67 - 1493 13108.71 1.33 2.87 0.089 2841.06 139.8 - - 2056.62 - 116.79 102.62 2.250 2413.66 -4.6 0.357 - - - - - - 15.48 - 11.36
13415.38 957.85 7.59 1535 13436.20 done 1.38 - - 2838.50 - 3.44 0.086 899.56 -336.4 116.79 - - 2402.81 - - - - - - - - - 15.57 -
13567.48 945.93 7.70 1562 13586.16 done 1.43 - - 2840.94 - 2.78 0.021 2038.94 409.8 116.79 - - 2401.62 - - - - - - - - - 15.78 -
13892.67 923.33 6.81 1594 13913.92 1.53 0.29 0.068 2896.31 190.9 3.12 0.077 3101.31 340.5 116.79 - - 2399.41 - - - - - - - - 15.79 15.66 -
14145.09 902.37 7.81 1641 14164.19 done 1.57 - - 2897.94 - 2.82 0.027 1966.88 -402.3 116.79 - - 2399.25 - - - - - - - - - 15.86 -
14470.30 876.98 8.11 1673 14490.28 done 1.57 - - 2897.69 - 3.14 0.090 899.62 -339.9 116.79 - - 2397.53 - - - - - - - - - 15.63 -
14656.89 860.68 8.67 1707 14675.24 done 1.57 - - 2898.69 - 2.76 0.022 2037.75 412.4 116.79 - - 2399.00 - - - - - - - - - 15.88 -
14981.77 837.37 6.61 1739 15002.17 done 1.68 - - 2898.56 - 3.37 0.085 898.69 -338.0 116.79 - - 2397.94 - - - - - - - - - 15.62 -
15233.39 818.30 7.70 1786 15253.72 1.72 0.22 0.073 2944.75 210.0 2.74 0.022 2037.25 415.5 116.79 - - 2396.97 - - - - - - - - 15.53 15.79 -
15560.26 793.96 7.71 1818 15579.44 done 1.77 - - 2944.44 - 3.10 0.077 3102.25 343.5 116.79 - - 2397.50 - - - - - - - - - 15.66 -
15810.24 772.66 8.77 1865 15829.33 done 1.77 - - 2944.44 - 2.81 0.027 1968.81 -403.4 116.79 - - 2396.59 - - - - - - - - - 15.90 -
16135.85 746.23 7.41 1897 16155.45 done 1.83 - - 2945.44 - 3.18 0.089 898.56 -336.6 116.79 - - 2397.09 - - - - - - - - - 15.48 -
16342.39 729.13 7.92 1935 16360.56 done 1.86 - - 2945.56 - 2.76 0.022 2038.38 413.0 116.79 - - 2395.28 - - - - - - - - - 15.89 -
16667.26 705.01 7.02 1967 16688.35 1.95 0.27 0.067 3003.00 212.7 3.09 0.077 3102.81 344.5 116.79 - - 2394.09 - - - - - - - - 15.86 15.65 -
16694.88 702.49 8.29 1969 16713.48 done 1.95 - - 3003.31 - 2.81 0.027 1968.19 -403.8 116.79 - - 2395.41 - - - - - - - - - 15.87 -
17019.66 676.27 8.10 2001 17039.49 done 1.95 - - 3003.62 - 3.13 0.088 899.38 -341.5 116.79 - - 2395.62 - - - - - - - - - 15.58 -
17156.02 664.85 8.12 2025 17174.61 done 1.95 - - 3002.81 - 2.80 0.022 2037.00 406.3 116.79 - - 2396.75 - - - - - - - - - 15.69 -
17480.78 638.89 8.42 2057 17500.62 done 1.95 - - 3002.38 - 3.11 0.078 3103.00 342.8 116.79 - - 2394.81 - - - - - - - - - 15.62 -
17617.14 626.47 9.13 2081 17635.31 done 1.95 - - 3003.00 - 2.79 0.026 1969.81 -406.2 116.79 - - 2395.19 - - - - - - - - - 15.87 -
17941.43 598.97 8.58 2113 17961.24 done 1.95 - - 3002.25 - 3.15 0.087 898.44 -340.1 116.79 - - 2393.88 - - - - - - - - - 15.54 -
17998.21 593.56 9.69 2121 18016.40 done 1.95 - - 3003.50 - 2.76 0.022 2037.00 412.5 116.79 - - 2396.16 - - - - - - - - - 15.80 -
18322.56 564.55 8.95 2153 18326.66 VBD 1.95 - - 3003.19 - - - 2037.06 - 116.79 - - 2394.09 - - - - - - - - - - -
18632.82 537.70 8.74 2184 18653.46 done 1.95 - - 3002.88 - 3.33 0.083 899.19 -341.7 116.79 - - 2394.62 - - - - - - - - - 15.55 -
18684.26 532.78 9.60 2191 18703.15 done 1.95 - - 3002.44 - 2.76 0.023 2036.44 412.0 116.79 - - 2394.62 - - - - - - - - - 15.86 -
19009.31 505.90 8.04 2223 19029.96 done 1.95 - - 3001.75 - 3.33 0.082 899.56 -341.4 116.79 - - 2394.91 - - - - - - - - - 15.56 -
19156.50 491.59 9.41 2249 19174.68 done 1.95 - - 3002.81 - 2.79 0.022 2036.19 407.4 116.79 - - 2394.91 - - - - - - - - - 15.73 -
19481.36 466.00 7.25 2281 19502.01 done 2.02 - - 3003.56 - 3.34 0.081 899.62 -340.3 116.79 - - 2393.12 - - - - - - - - - 15.53 -
19543.06 461.12 8.05 2290 19561.97 done 2.02 - - 3003.25 - 2.76 0.022 2036.31 411.8 116.79 - - 2395.12 - - - - - - - - - 15.88 -
19868.64 439.14 6.56 2322 19888.47 2.14 - - 3002.62 - 3.12 0.077 3101.44 341.4 116.79 - - 2395.31 - - - - - - - - - 15.61 -
19945.40 433.94 6.59 2334 19963.58 2.25 - - 3002.19 - 2.79 0.025 1967.50 -406.4 116.79 - - 2395.47 - - - - - - - - - 15.81 -
20270.14 411.68 7.10 2366 20289.96 2.33 - - 3003.38 - 3.12 0.086 899.56 -342.3 116.79 - - 2394.84 - - - - - - - - - 15.54 -
20371.20 403.63 7.91 2383 20390.52 2.36 - - 3003.12 - 2.75 0.022 2036.81 413.5 116.79 - - 2394.53 - - - - - - - - - 15.90 -
20697.09 381.08 7.23 2415 20701.21 2.44 - - 3003.88 - - - 2036.44 - 116.79 - - 2393.41 - - - - - - - - - - -
21007.75 359.09 6.58 2446 21028.42 2.55 - - 3001.62 - 3.33 0.082 898.56 -341.7 116.79 - - 2393.25 - - - - - - - - - 15.53 -
21109.64 351.57 7.34 2463 21128.56 2.62 - - 3003.62 - 2.77 0.022 2037.62 411.2 116.79 - - 2394.66 - - - - - - - - - 15.89 -
21435.13 329.16 6.99 2495 21439.34 2.71 - - 3003.75 - - - 2037.44 - 116.79 - - 2393.97 - - - - - - - - - - -
21746.02 307.09 6.79 2526 21766.69 2.81 - - 3002.94 - 3.35 0.081 899.44 -339.7 116.79 - - 2393.19 - - - - - - - - - 15.53 -
21787.89 303.88 7.53 2531 21807.20 2.86 - - 3002.56 - 2.76 0.021 2038.38 412.7 116.79 - - 2395.06 - - - - - - - - - 15.87 -
22113.76 282.07 6.40 2563 22133.61 2.99 - - 3003.12 - 3.11 0.076 3100.81 341.6 116.79 - - 2394.56 - - - - - - - - - 15.43 -
22250.54 272.86 6.70 2587 22268.72 3.09 - - 3002.12 - 2.80 0.025 1966.62 -405.1 116.79 - - 2395.16 - - - - - - - - - 15.86 -
22575.30 254.04 5.87 2619 22579.41 3.25 - - 3002.75 - - - 1967.00 - 116.79 - - 2393.81 - - - - - - - - - - -
22885.98 235.52 5.88 2650 22890.09 3.40 - - 3003.38 - - - 1967.56 - 116.79 - - 2393.75 - - - - - - - - - - -
23196.63 216.21 6.37 2681 23216.48 3.53 - - 3003.00 - 3.16 0.084 897.12 -338.7 116.79 - - 2393.06 - - - - - - - - - 15.47 -
23253.41 212.37 6.68 2689 23272.24 3.63 - - 3003.62 - 2.76 0.021 2037.94 413.3 116.79 - - 2394.03 - - - - - - - - - 15.73 -
23578.93 191.89 5.98 2721 23599.58 3.78 - - 3003.25 - 3.36 0.080 899.56 -338.8 116.79 - - 2394.19 - - - - - - - - - 15.33 -
23680.78 185.47 6.26 2738 23700.08 3.78 - - 3003.00 - 2.76 0.021 2039.69 413.1 116.79 - - 2395.34 - - - - - - - - - 15.78 -
24006.63 168.84 5.07 2770 24087.74 3.92 - - 3003.81 - - - 2040.12 - 185.27 53.99 1.286 2135.53 -4.8 0.110 - - - - - - - - 10.46
24393.92 136.02 9.09 2811 24413.76 3.92 - - 3002.94 - 3.12 0.076 3100.62 339.9 185.27 - - 2126.59 - - - - - - - - - 15.38 -
24440.39 131.48 9.70 2817 24459.38 3.92 - - 3002.94 - 2.81 0.024 1967.06 -403.4 185.27 - - 2126.06 - - - - - - - - - 15.75 -
24765.55 103.59 8.33 2849 24769.67 3.92 - - 3003.38 - - - 1967.00 - 185.27 - - 2123.94 - - - - - - - - - - -
25075.88 78.87 8.18 2906 25096.68 3.92 - - 3003.00 - 3.13 0.084 899.38 -341.1 185.27 - - 2123.59 - - - - - - - - - 15.44 -
25148.73 72.99 7.96 2917 25167.64 3.95 - - 3003.44 - 2.75 0.021 2040.88 415.1 185.27 - - 2123.62 - - - - - - - - - 15.61 -
25354.22 61.32 4.88 2955 25440.12 4.09 - - 3003.69 - - - 2041.25 - 257.65 57.62 1.130 1838.47 -4.9 0.047 - - - - - - - - 11.34
25626.68 43.58 6.62 3004 25646.83 4.09 - - 3003.06 - 3.10 0.075 3101.25 341.9 257.65 - - 1830.97 - - - - - - - - - 15.49 -
25673.74 40.62 6.25 3010 25693.05 4.09 - - 3003.25 - 2.81 0.024 1966.06 -404.0 257.65 - - 1830.97 - - - - - - - - - 15.56 -
25879.60 29.35 5.79 3048 25901.01 4.09 - - 3003.88 - 3.31 0.070 3101.38 343.0 257.65 - - 1828.22 - - - - - - - - - 15.41 -
26007.96 21.93 5.61 3070 26027.50 4.09 - - 3003.38 - 2.81 0.024 1967.44 -403.5 257.65 - - 1827.69 - - - - - - - - - 15.62 -
26214.05 11.26 5.28 3108 26293.10 4.22 - - 3003.00 - - - 1967.44 - 321.95 52.17 1.048 1577.16 -4.8 0.009 - - - - - - - - 11.30
26324 end climb: SURFACE_DEPTH_REACHED
26324 begin surface coast
26390 end surface coast: CONTROL_FINISHED_OK
26391 begin surface
SM 1.01 - - - - 179.5 62.83 1.045 1259.0 19.2 19.71 0.045 1271.6 64.5 - 0.75 0.046 1246.5 1662.0 -3.730 - - 11.13 15.68 15.75 -