NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 832 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 283.88 of 506.00 AH used of 24V (43.90% remains)
• Surface angle -64.3 deg, depth 0.85 m • Intended pitch -16.4 deg, speed -9.167 cm/s
VBD pumped to 399.98 (SM_CC=400)
• GPS1 time: 25 s
• GPS2 time: 3 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
19.54 - - - 127.92 VBD -1.31 - - 180.88 - - - 2189.56 - -145.99 76.42 0.005 3055.56 - - - - - - - - - - 14.58
130.14 3.36 -3.56 15 247.56 -1.31 17.79 0.201 2196.31 113.3 2.87 0.069 1143.31 -364.5 -145.99 6.30 0.008 3488.50 68.7 -5.043 - - - - - - 15.12 14.80 14.99
254.09 35.25 -14.17 22 272.56 roll -1.31 - - 2195.12 - 2.78 0.025 2278.00 408.2 -145.99 - - 3491.69 - - - - - - - - - 15.58 -
458.63 62.95 -19.34 60 465.45 no move -1.31 - - 2196.06 - - - 2278.12 - -145.99 - - 3491.91 - - - - - - - - - - -
651.52 84.97 -10.48 98 671.57 roll -1.31 - - 2195.88 - 3.11 0.084 3352.31 345.4 -145.99 - - 3492.28 - - - - - - - - - 15.58 -
743.01 94.56 -10.23 113 761.50 roll -1.31 - - 2195.75 - 2.72 0.019 2192.75 -426.3 -145.99 - - 3491.72 - - - - - - - - - 15.67 -
947.58 113.71 -10.30 137 951.60 no move -1.31 - - 2195.94 - - - 2190.56 - -145.99 - - 3490.59 - - - - - - - - - - -
1257.66 142.79 -9.48 168 1277.79 roll -1.31 - - 2195.38 - 3.34 0.080 3354.62 348.5 -145.99 - - 3492.03 - - - - - - - - - 15.53 -
1304.21 147.50 -10.21 174 1322.34 roll -1.31 - - 2195.94 - 2.74 0.019 2191.56 -424.5 -145.99 - - 3492.41 - - - - - - - - - 15.72 -
1628.40 176.49 -8.54 206 1648.54 roll -1.31 - - 2195.94 - 3.35 0.079 3354.31 347.1 -145.99 - - 3492.44 - - - - - - - - - 15.53 -
1689.23 182.31 -9.37 215 1708.37 roll -1.31 - - 2195.94 - 2.71 0.019 2189.81 -429.7 -145.99 - - 3492.25 - - - - - - - - - 15.85 -
2014.60 210.11 -8.23 247 2018.66 no move -1.31 - - 2196.31 - - - 2187.56 - -145.99 - - 3491.66 - - - - - - - - - - -
2324.76 235.05 -7.91 278 2345.14 roll -1.31 - - 2193.88 - 3.35 0.079 3352.44 347.7 -145.99 - - 3492.72 - - - - - - - - - 15.56 -
2391.62 240.78 -8.61 288 2409.17 roll -1.31 - - 2196.19 - 2.69 0.019 2188.94 -432.5 -145.99 - - 3492.25 - - - - - - - - - 15.86 -
2715.28 268.98 -9.21 320 2733.23 roll -1.31 - - 2195.94 - 2.80 0.068 1142.19 -373.8 -145.99 - - 3492.12 - - - - - - - - - 15.73 -
2749.70 272.22 -9.99 324 2767.65 roll -1.31 - - 2196.56 - 2.71 0.025 2281.00 420.2 -145.99 - - 3491.94 - - - - - - - - - 15.87 -
3073.76 301.93 -8.41 356 3077.82 no move -1.31 - - 2195.56 - - - 2280.81 - -145.99 - - 3491.84 - - - - - - - - - - -
3383.91 327.23 -8.05 387 3403.07 roll -1.31 - - 2195.94 - 3.06 0.084 3353.75 350.6 -145.99 - - 3492.56 - - - - - - - - - 15.68 -
3453.82 333.82 -9.39 398 3472.49 roll -1.31 - - 2195.94 - 2.69 0.019 2187.88 -433.4 -145.99 - - 3492.66 - - - - - - - - - 15.91 -
3778.60 361.34 -8.26 430 3799.42 roll -1.31 - - 2195.31 - 3.35 0.080 3353.12 347.8 -145.99 - - 3492.34 - - - - - - - - - 15.57 -
3856.04 368.35 -9.03 442 3873.98 roll -1.31 - - 2195.69 - 2.68 0.019 2189.94 -434.0 -145.99 - - 3492.97 - - - - - - - - - 15.92 -
4180.07 394.86 -7.99 474 4198.84 roll -1.31 - - 2195.75 - 2.81 0.069 1142.25 -372.8 -145.99 - - 3492.91 - - - - - - - - - 15.70 -
4205.31 397.06 -8.41 476 4223.25 roll -1.31 - - 2196.12 - 2.71 0.025 2282.25 420.7 -145.99 - - 3492.88 - - - - - - - - - 15.90 -
4529.34 423.21 -7.74 508 4533.40 no move -1.31 - - 2195.50 - - - 2281.44 - -145.99 - - 3492.31 - - - - - - - - - - -
4839.54 448.05 -8.03 539 4843.60 no move -1.31 - - 2196.19 - - - 2281.56 - -145.99 - - 3491.97 - - - - - - - - - - -
5149.72 472.47 -7.97 570 5153.78 no move -1.31 - - 2195.81 - - - 2282.06 - -145.99 - - 3490.91 - - - - - - - - - - -
5459.91 498.37 -8.52 601 5479.09 roll -1.31 - - 2195.44 - 3.08 0.066 1141.75 -370.2 -145.99 - - 3492.56 - - - - - - - - - 15.69 -
5495.56 501.51 -8.94 605 5513.50 roll -1.31 - - 2194.50 - 2.72 0.026 2279.00 418.1 -145.99 - - 3492.81 - - - - - - - - - 15.92 -
5819.64 528.87 -7.94 637 5839.20 roll -1.31 - - 2196.00 - 3.05 0.066 1143.44 -372.3 -145.99 - - 3491.75 - - - - - - - - - 15.70 -
5859.95 532.68 -8.93 642 5878.91 roll -1.31 - - 2196.06 - 2.74 0.026 2279.19 414.5 -145.99 - - 3492.12 - - - - - - - - - 15.91 -
6185.13 558.79 -7.52 674 6189.19 no move -1.31 - - 2195.88 - - - 2278.81 - -145.99 - - 3490.66 - - - - - - - - - - -
6495.30 581.59 -7.18 705 6514.47 roll -1.31 - - 2196.00 - 3.06 0.065 1143.75 -370.9 -145.99 - - 3490.75 - - - - - - - - - 15.71 -
6520.96 583.71 -7.76 707 6538.90 roll -1.31 - - 2196.38 - 2.73 0.026 2277.94 415.5 -145.99 - - 3490.19 - - - - - - - - - 15.91 -
6845.03 607.18 -7.41 739 6849.09 no move -1.31 - - 2195.69 - - - 2278.81 - -145.99 - - 3489.72 - - - - - - - - - - -
7155.19 631.21 -8.52 770 7174.36 roll -1.31 - - 2196.00 - 3.03 0.066 1143.81 -374.6 -145.99 - - 3490.66 - - - - - - - - - 15.70 -
7190.85 634.27 -8.60 774 7208.79 roll -1.31 - - 2195.88 - 2.72 0.026 2277.94 417.0 -145.99 - - 3490.09 - - - - - - - - - 15.92 -
7514.90 662.61 -8.81 806 7534.04 roll -1.31 - - 2195.88 - 3.10 0.087 3352.62 346.7 -145.99 - - 3489.09 - - - - - - - - - 15.65 -
7550.52 665.98 -9.25 810 7568.47 roll -1.31 - - 2195.81 - 2.69 0.020 2188.12 -432.9 -145.99 - - 3488.44 - - - - - - - - - 15.92 -
7874.60 693.16 -8.58 842 7878.90 no move -1.31 - - 2195.69 - - - 2187.94 - -145.99 - - 3487.78 - - - - - - - - - - -
8185.09 717.14 -8.04 873 8205.49 roll -1.31 - - 2195.75 - 3.34 0.083 3353.00 348.8 -145.99 - - 3488.09 - - - - - - - - - 15.60 -
8226.24 720.60 -8.09 878 8244.91 roll -1.31 - - 2195.81 - 2.70 0.020 2191.31 -430.3 -145.99 - - 3488.50 - - - - - - - - - 15.90 -
8551.02 743.86 -6.98 910 8555.08 no move -1.31 - - 2195.88 - - - 2189.69 - -145.99 - - 3487.09 - - - - - - - - - - -
8861.15 764.22 -6.39 941 8881.53 roll -1.31 - - 2195.62 - 3.36 0.083 3352.44 346.1 -145.99 - - 3488.25 - - - - - - - - - 15.61 -
8898.00 766.77 -6.80 945 8915.58 roll -1.31 - - 2195.62 - 2.69 0.020 2192.00 -431.4 -145.99 - - 3487.78 - - - - - - - - - 15.92 -
9221.68 787.33 -6.41 977 9225.74 no move -1.31 - - 2195.56 - - - 2190.75 - -145.99 - - 3487.34 - - - - - - - - - - -
9531.85 808.73 -6.90 1008 9552.22 roll -1.31 - - 2195.62 - 3.34 0.084 3353.31 348.1 -145.99 - - 3486.53 - - - - - - - - - 15.61 -
9582.97 812.45 -6.94 1015 9601.24 roll -1.31 - - 2195.38 - 2.68 0.020 2191.94 -433.3 -145.99 - - 3486.69 - - - - - - - - - 15.82 -
9907.32 834.06 -7.00 1047 9927.54 roll -1.31 - - 2195.69 - 3.30 0.084 3354.00 352.1 -145.99 - - 3486.06 - - - - - - - - - 15.61 -
9944.13 836.81 -6.83 1051 9962.09 roll -1.31 - - 2195.75 - 2.71 0.020 2192.50 -428.6 -145.99 - - 3486.94 - - - - - - - - - 15.79 -
10268.19 859.83 -6.95 1083 10272.25 no move -1.31 - - 2195.75 - - - 2190.12 - -145.99 - - 3484.91 - - - - - - - - - - -
10578.33 882.42 -7.31 1114 10598.72 roll -1.31 - - 2195.31 - 3.33 0.084 3352.62 349.1 -145.99 - - 3486.31 - - - - - - - - - 15.59 -
10635.21 886.85 -7.70 1122 10652.76 roll -1.31 - - 2195.44 - 2.68 0.020 2191.81 -433.1 -145.99 - - 3485.50 - - - - - - - - - 15.91 -
10958.87 910.37 -7.78 1154 10979.25 roll -1.31 - - 2196.12 - 3.34 0.084 3350.69 347.0 -145.99 - - 3484.94 - - - - - - - - - 15.58 -
11005.74 914.04 -7.60 1160 11023.28 roll -1.31 - - 2196.00 - 2.70 0.020 2194.00 -428.4 -145.99 - - 3485.97 - - - - - - - - - 15.90 -
11329.39 937.20 -6.54 1192 11347.77 roll -1.31 - - 2196.31 - 2.84 0.073 1143.12 -370.0 -145.99 - - 3484.41 - - - - - - - - - 15.63 -
11358.52 939.60 -7.81 1195 11377.59 roll -1.31 - - 2195.81 - 2.74 0.027 2279.38 414.7 -145.99 - - 3485.19 - - - - - - - - - 15.87 -
11683.74 962.30 -6.80 1227 11687.80 no move -1.31 - - 2195.56 - - - 2280.06 - -145.99 - - 3484.00 - - - - - - - - - - -
11994.04 984.43 -6.96 1258 11998.10 no move -1.31 - - 2195.56 - - - 2279.81 - -145.99 - - 3484.09 - - - - - - - - - - -
12073 end dive: TARGET_DEPTH_EXCEEDED
12074 begin apogee
12081.51 990.46 -7.71 1266 12268.94 -0.31 1.90 0.124 2440.88 129.1 0.14 0.162 2058.06 -1583.9 - 122.57 2.311 2890.12 -4.8 0.363 - - - - - - 15.52 14.94 9.87
12274 end apogee: CONTROL_FINISHED_OK
12274 begin climb
12277.21 994.92 - 1279 12491.99 1.31 2.92 0.089 2837.31 135.8 3.39 0.090 898.50 -342.1 145.99 127.68 2.269 2291.81 -4.7 0.359 - - - - - - 15.48 14.93 11.39
12498.97 984.19 7.01 1303 12518.91 roll back 1.44 0.19 0.081 2874.56 196.1 2.76 0.022 2039.69 413.5 145.99 - - 2287.03 - - - - - - - - 15.43 15.54 -
12825.54 960.00 7.89 1335 12844.73 done 1.52 - - 2874.31 - 3.02 0.078 3101.75 351.7 145.99 - - 2281.78 - - - - - - - - - 15.50 -
12985.89 946.07 8.57 1364 13004.56 done 1.56 - - 2874.50 - 2.74 0.027 1966.44 -414.3 145.99 - - 2280.59 - - - - - - - - - 15.79 -
13311.07 920.26 7.72 1396 13316.77 1.64 0.26 0.072 2926.50 200.0 - - 1965.69 - 145.99 - - 2279.88 - - - - - - - - 15.78 - -
13622.91 891.26 9.21 1427 13642.50 done 1.64 - - 2925.31 - 3.18 0.075 3103.25 357.7 145.99 - - 2277.47 - - - - - - - - - 15.71 -
13703.25 882.97 9.50 1440 13721.91 done 1.64 - - 2925.94 - 2.76 0.027 1966.38 -411.9 145.99 - - 2278.97 - - - - - - - - - 15.88 -
14028.03 853.50 9.28 1472 14048.04 done 1.64 - - 2925.38 - 3.22 0.074 3102.81 352.9 145.99 - - 2277.12 - - - - - - - - - 15.60 -
14068.77 849.46 9.62 1477 14087.43 done 1.64 - - 2925.81 - 2.74 0.027 1966.56 -414.7 145.99 - - 2277.34 - - - - - - - - - 15.87 -
14393.74 820.18 8.98 1509 14413.32 done 1.64 - - 2925.69 - 3.19 0.075 3101.88 355.9 145.99 - - 2278.12 - - - - - - - - - 15.69 -
14439.90 815.49 10.47 1515 14457.84 done 1.64 - - 2926.50 - 2.73 0.027 1965.00 -416.4 145.99 - - 2278.78 - - - - - - - - - 15.90 -
14763.98 787.07 8.91 1547 14783.57 done 1.64 - - 2925.75 - 3.19 0.075 3103.12 356.8 145.99 - - 2275.44 - - - - - - - - - 15.70 -
14844.32 779.15 9.23 1560 14863.37 done 1.64 - - 2924.69 - 2.73 0.027 1965.81 -416.6 145.99 - - 2277.22 - - - - - - - - - 15.90 -
15169.86 752.06 7.71 1592 15189.44 done 1.73 - - 2925.44 - 3.20 0.075 3102.19 355.1 145.99 - - 2276.34 - - - - - - - - - 15.68 -
15215.91 748.04 9.46 1598 15233.87 done 1.73 - - 2926.19 - 2.74 0.027 1967.31 -414.2 145.99 - - 2275.50 - - - - - - - - - 15.90 -
15540.38 721.85 8.16 1630 15544.44 VBD 1.79 - - 2926.12 - - - 1967.19 - 145.99 - - 2274.25 - - - - - - - - - - -
15850.98 696.75 8.29 1661 15872.20 1.84 0.25 0.072 2975.19 196.3 3.19 0.075 3102.19 355.8 145.99 - - 2274.44 - - - - - - - - 15.84 15.66 -
15973.20 684.50 10.09 1682 15991.90 done 1.84 - - 2974.69 - 2.73 0.028 1969.25 -415.0 145.99 - - 2274.91 - - - - - - - - - 15.88 -
16298.08 654.37 9.28 1714 16302.15 VBD 1.84 - - 2975.00 - - - 1969.38 - 145.99 - - 2274.06 - - - - - - - - - - -
16608.66 627.09 8.39 1745 16628.25 done 1.89 - - 2975.00 - 3.19 0.074 3101.25 354.8 145.99 - - 2274.06 - - - - - - - - - 15.60 -
16675.12 621.19 8.38 1755 16693.46 done 1.94 - - 2974.06 - 2.71 0.028 1966.88 -418.6 145.99 - - 2276.00 - - - - - - - - - 15.89 -
17000.00 595.50 7.76 1787 17020.83 2.02 0.16 0.087 3014.50 252.8 3.15 0.074 3102.75 360.6 145.99 - - 2274.91 - - - - - - - - 15.87 15.66 -
17097.29 586.75 8.88 1803 17115.25 done 2.02 - - 3015.00 - 2.75 0.027 1968.38 -412.5 145.99 - - 2276.03 - - - - - - - - - 15.88 -
17421.96 558.88 8.65 1835 17426.01 VBD 2.05 - - 3014.81 - - - 1968.44 - 145.99 - - 2273.62 - - - - - - - - - - -
17732.12 532.55 8.77 1866 17751.70 done 2.05 - - 3014.06 - 3.16 0.074 3103.44 359.2 145.99 - - 2273.38 - - - - - - - - - 15.64 -
17792.45 526.70 9.94 1875 17811.37 done 2.05 - - 3015.25 - 2.73 0.027 1968.44 -415.8 145.99 - - 2275.84 - - - - - - - - - 15.86 -
18117.99 499.85 8.05 1907 18122.06 VBD 2.12 - - 3014.81 - - - 1968.25 - 145.99 - - 2273.88 - - - - - - - - - - -
18428.54 473.46 8.42 1938 18432.61 2.16 - - 3014.38 - - - 1968.50 - 145.99 - - 2273.47 - - - - - - - - - - -
18739.13 447.73 8.39 1969 18757.91 2.21 - - 3014.94 - 2.99 0.091 897.38 -358.2 145.99 - - 2274.25 - - - - - - - - - 15.56 -
18774.37 444.45 9.12 1973 18791.95 2.21 - - 3014.56 - 2.69 0.023 2039.94 424.7 145.99 - - 2275.94 - - - - - - - - - 15.87 -
19098.45 417.91 7.86 2005 19102.52 2.29 - - 3014.56 - - - 2040.12 - 145.99 - - 2273.31 - - - - - - - - - - -
19409.04 394.20 7.51 2036 19428.63 2.39 - - 3015.56 - 3.16 0.086 898.44 -361.3 145.99 - - 2272.03 - - - - - - - - - 15.54 -
19519.40 384.87 8.67 2055 19538.08 2.39 - - 3015.00 - 2.71 0.023 2039.44 421.0 145.99 - - 2274.16 - - - - - - - - - 15.75 -
19844.58 360.01 7.68 2087 19864.16 2.48 - - 3014.81 - 3.14 0.085 898.50 -363.4 145.99 - - 2272.41 - - - - - - - - - 15.56 -
19910.64 354.25 8.85 2097 19928.86 2.48 - - 3015.88 - 2.71 0.023 2040.00 421.2 145.99 - - 2273.56 - - - - - - - - - 15.84 -
20235.49 328.38 8.54 2129 20254.27 2.52 - - 3015.69 - 2.95 0.077 3101.81 359.9 145.99 - - 2273.66 - - - - - - - - - 15.56 -
20300.74 322.11 9.37 2139 20319.20 2.52 - - 3015.31 - 2.72 0.026 1966.44 -417.4 145.99 - - 2273.28 - - - - - - - - - 15.87 -
20625.71 294.57 8.15 2171 20645.31 2.58 - - 3015.56 - 3.16 0.072 3102.19 359.4 145.99 - - 2274.22 - - - - - - - - - 15.37 -
20746.47 285.19 7.48 2192 20765.17 2.68 - - 3015.81 - 2.75 0.026 1966.62 -412.9 145.99 - - 2274.31 - - - - - - - - - 15.56 -
21071.67 259.73 7.81 2224 21090.44 2.76 - - 3015.12 - 2.97 0.089 898.62 -359.6 145.99 - - 2273.97 - - - - - - - - - 15.53 -
21176.92 250.76 8.94 2242 21194.88 2.76 - - 3015.44 - 2.69 0.022 2041.44 424.8 145.99 - - 2274.16 - - - - - - - - - 15.77 -
21501.42 225.76 7.24 2274 21520.22 2.88 - - 3015.19 - 2.94 0.076 3102.25 360.8 145.99 - - 2274.00 - - - - - - - - - 15.62 -
21597.21 217.69 8.55 2290 21615.69 2.91 - - 3015.69 - 2.75 0.025 1966.25 -413.1 145.99 - - 2273.78 - - - - - - - - - 15.60 -
21922.21 192.68 7.79 2322 21940.99 3.00 - - 3013.94 - 2.97 0.088 897.12 -360.0 145.99 - - 2274.31 - - - - - - - - - 15.45 -
22017.88 184.62 8.26 2338 22035.85 3.05 - - 3015.12 - 2.72 0.022 2043.31 421.4 145.99 - - 2273.44 - - - - - - - - - 15.65 -
22342.37 162.89 6.71 2370 22361.98 3.20 - - 3015.31 - 3.19 0.083 897.12 -359.3 145.99 - - 2274.22 - - - - - - - - - 15.49 -
22373.13 160.68 6.87 2373 22391.81 3.34 - - 3015.38 - 2.71 0.021 2044.19 423.3 145.99 - - 2274.59 - - - - - - - - - 15.79 -
22698.34 138.80 7.14 2405 22702.41 3.46 - - 3015.62 - - - 2043.88 - 145.99 - - 2273.03 - - - - - - - - - - -
23008.93 115.41 7.10 2436 23013.01 3.58 - - 3015.38 - - - 2043.88 - 145.99 - - 2273.12 - - - - - - - - - - -
23319.51 98.71 4.37 2470 23460.04 3.80 - - 3016.00 - 2.96 0.077 3104.06 358.2 257.41 86.39 1.188 1841.44 -5.0 0.073 - - - - - - - 15.17 10.47
23467.72 90.15 7.58 2489 23486.41 roll back 3.90 - - 3016.00 - 2.78 0.025 1965.00 -409.7 257.41 - - 1834.16 - - - - - - - - - 15.60 -
23673.05 74.09 7.92 2527 23692.56 3.97 - - 3015.56 - 2.99 0.087 897.50 -357.0 257.41 - - 1830.59 - - - - - - - - - 15.43 -
23769.45 66.23 7.35 2543 23788.54 3.97 - - 3015.75 - 2.73 0.021 2047.31 421.2 257.41 - - 1828.78 - - - - - - - - - 15.51 -
23975.09 52.62 6.90 2581 23994.59 3.97 - - 3015.56 - 2.95 0.074 3103.25 357.9 257.41 - - 1828.91 - - - - - - - - - 15.59 -
24046.46 47.85 6.74 2592 24065.15 3.97 - - 3015.75 - 2.74 0.024 1964.44 -415.6 257.41 - - 1827.62 - - - - - - - - - 15.57 -
24251.63 35.16 5.77 2630 24361.46 4.13 - - 3015.62 - 2.95 0.089 898.25 -361.4 336.31 62.31 1.079 1517.12 -5.0 0.028 - - - - - - - 15.25 11.38
24368.46 27.28 8.25 2645 24387.54 roll back 4.19 - - 3015.94 - 2.72 0.021 2046.19 422.0 336.31 - - 1515.06 - - - - - - - - - 15.54 -
24574.06 11.17 8.46 2683 24580.94 4.19 - - 3015.56 - - - 2046.38 - 336.31 - - 1510.31 - - - - - - - - - - -
24671 end climb: SURFACE_DEPTH_REACHED
24672 begin surface coast
24738 end surface coast: CONTROL_FINISHED_OK
24738 begin surface
SM 0.79 - - - - 180.6 51.19 1.047 1259.4 24.6 20.15 0.047 1278.6 63.5 - 0.51 0.054 1240.2 2431.8 -3.636 - - 11.03 15.72 15.80 -