NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 834 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 284.63 of 506.00 AH used of 24V (43.75% remains)
• Surface angle -63.2 deg, depth 0.89 m • Intended pitch -16.4 deg, speed -9.167 cm/s
VBD pumped to 400.10 (SM_CC=400)
• GPS1 time: 15 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
19.55 - - - 127.72 VBD -1.31 - - 181.06 - - - 2189.94 - -145.99 76.22 0.005 3059.59 - - - - - - - - - - 14.57
129.94 3.57 -3.73 15 249.29 -1.31 17.67 0.203 2197.50 114.1 3.41 0.083 3352.94 341.1 -145.99 6.20 0.008 3488.94 69.2 -5.399 - - - - - - 15.12 14.80 14.96
395.89 56.33 -13.46 50 414.35 roll -1.31 - - 2197.12 - 2.79 0.019 2195.00 -415.0 -145.99 - - 3491.88 - - - - - - - - - 15.53 -
600.39 79.76 -10.17 88 621.63 roll -1.31 - - 2196.25 - 3.38 0.080 3353.19 342.7 -145.99 - - 3492.31 - - - - - - - - - 15.53 -
673.06 87.87 -11.29 99 691.53 roll -1.31 - - 2197.19 - 2.77 0.019 2194.62 -418.3 -145.99 - - 3491.22 - - - - - - - - - 15.66 -
877.63 107.88 -9.82 129 881.64 no move -1.31 - - 2197.31 - - - 2193.12 - -145.99 - - 3490.53 - - - - - - - - - - -
1187.74 138.81 -9.78 160 1191.76 no move -1.31 - - 2196.62 - - - 2192.88 - -145.99 - - 3490.41 - - - - - - - - - - -
1497.81 168.07 -9.18 191 1517.93 roll -1.31 - - 2196.50 - 3.35 0.080 3352.62 346.2 -145.99 - - 3491.00 - - - - - - - - - 15.53 -
1564.37 174.87 -10.24 201 1582.50 roll -1.31 - - 2197.31 - 2.75 0.019 2192.00 -422.0 -145.99 - - 3492.03 - - - - - - - - - 15.72 -
1888.58 203.09 -8.77 233 1908.71 roll -1.31 - - 2196.12 - 3.34 0.080 3352.75 347.5 -145.99 - - 3491.75 - - - - - - - - - 15.67 -
1925.14 206.58 -9.43 237 1943.66 roll -1.31 - - 2196.75 - 2.76 0.019 2189.62 -421.4 -145.99 - - 3492.41 - - - - - - - - - 15.72 -
2249.89 234.14 -8.07 269 2253.95 no move -1.31 - - 2197.12 - - - 2188.31 - -145.99 - - 3490.59 - - - - - - - - - - -
2560.03 259.65 -8.40 300 2580.41 roll -1.31 - - 2196.62 - 3.34 0.079 3352.75 348.6 -145.99 - - 3493.00 - - - - - - - - - 15.65 -
2631.17 266.32 -9.17 311 2649.85 roll -1.31 - - 2197.50 - 2.72 0.019 2190.19 -427.4 -145.99 - - 3492.44 - - - - - - - - - 15.90 -
2955.98 293.38 -7.91 343 2960.04 no move -1.31 - - 2197.00 - - - 2187.69 - -145.99 - - 3491.34 - - - - - - - - - - -
3266.10 318.29 -8.09 374 3286.47 roll -1.31 - - 2197.44 - 3.34 0.079 3353.38 349.0 -145.99 - - 3493.25 - - - - - - - - - 15.69 -
3302.96 321.66 -9.13 378 3321.32 roll -1.31 - - 2196.94 - 2.74 0.019 2192.56 -423.7 -145.99 - - 3492.50 - - - - - - - - - 15.89 -
3627.40 350.02 -8.79 410 3647.77 roll -1.31 - - 2197.56 - 3.35 0.079 3353.75 346.6 -145.99 - - 3492.41 - - - - - - - - - 15.69 -
3668.51 354.03 -9.86 415 3687.19 roll -1.31 - - 2195.88 - 2.72 0.019 2191.19 -427.4 -145.99 - - 3492.66 - - - - - - - - - 15.91 -
3993.51 381.31 -7.86 447 4013.90 roll -1.31 - - 2197.19 - 3.34 0.079 3352.69 347.8 -145.99 - - 3491.94 - - - - - - - - - 15.55 -
4034.78 385.09 -8.97 452 4053.46 roll -1.31 - - 2197.12 - 2.74 0.019 2192.25 -423.5 -145.99 - - 3492.44 - - - - - - - - - 15.88 -
4359.59 411.73 -8.34 484 4363.65 no move -1.31 - - 2197.19 - - - 2190.00 - -145.99 - - 3490.81 - - - - - - - - - - -
4669.75 437.64 -8.26 515 4690.12 roll -1.31 - - 2197.50 - 3.35 0.080 3353.06 347.2 -145.99 - - 3491.50 - - - - - - - - - 15.68 -
4756.61 445.39 -9.05 529 4774.96 roll -1.31 - - 2197.44 - 2.73 0.019 2193.94 -424.6 -145.99 - - 3492.25 - - - - - - - - - 15.87 -
5081.06 471.07 -7.66 561 5085.50 no move -1.31 - - 2197.38 - - - 2192.19 - -145.99 - - 3491.56 - - - - - - - - - - -
5391.60 495.81 -8.07 592 5411.97 roll -1.31 - - 2194.62 - 3.34 0.081 3352.56 347.4 -145.99 - - 3491.50 - - - - - - - - - 15.67 -
5468.45 502.60 -9.16 604 5486.40 roll -1.31 - - 2195.62 - 2.74 0.019 2191.94 -423.6 -145.99 - - 3491.41 - - - - - - - - - 15.92 -
5792.51 528.75 -8.67 636 5813.13 roll -1.31 - - 2194.69 - 3.31 0.081 3352.50 350.6 -145.99 - - 3490.09 - - - - - - - - - 15.66 -
5824.00 531.46 -7.16 639 5842.68 roll -1.31 - - 2196.06 - 2.73 0.019 2192.75 -424.8 -145.99 - - 3490.47 - - - - - - - - - 15.91 -
6148.82 559.34 -8.45 671 6167.16 roll -1.31 - - 2197.38 - 2.87 0.072 1142.62 -365.9 -145.99 - - 3491.12 - - - - - - - - - 15.70 -
6177.92 562.38 -9.54 674 6196.61 roll -1.31 - - 2197.38 - 2.76 0.026 2280.69 412.3 -145.99 - - 3490.41 - - - - - - - - - 15.87 -
6502.74 591.67 -9.32 706 6506.80 no move -1.31 - - 2197.06 - - - 2281.25 - -145.99 - - 3489.28 - - - - - - - - - - -
6812.95 619.57 -8.81 737 6832.11 roll -1.31 - - 2197.12 - 3.07 0.067 1142.25 -371.0 -145.99 - - 3489.66 - - - - - - - - - 15.68 -
6862.87 624.16 -8.97 744 6881.53 roll -1.31 - - 2197.12 - 2.76 0.026 2280.44 412.4 -145.99 - - 3489.78 - - - - - - - - - 15.90 -
7187.65 651.00 -8.08 776 7191.73 no move -1.31 - - 2196.94 - - - 2280.25 - -145.99 - - 3488.09 - - - - - - - - - - -
7497.87 674.08 -6.96 807 7517.04 roll -1.31 - - 2197.00 - 3.09 0.067 1143.50 -367.9 -145.99 - - 3489.59 - - - - - - - - - 15.67 -
7553.52 678.20 -7.52 815 7571.87 roll -1.31 - - 2197.44 - 2.75 0.027 2278.38 412.7 -145.99 - - 3488.47 - - - - - - - - - 15.74 -
7878.00 700.32 -6.98 847 7882.06 no move -1.31 - - 2197.38 - - - 2277.94 - -145.99 - - 3487.56 - - - - - - - - - - -
8188.30 722.15 -6.83 878 8207.48 roll -1.31 - - 2197.06 - 3.08 0.067 1142.62 -368.6 -145.99 - - 3488.94 - - - - - - - - - 15.68 -
8223.96 724.86 -7.29 882 8241.90 roll -1.31 - - 2196.94 - 2.76 0.026 2278.50 411.6 -145.99 - - 3488.00 - - - - - - - - - 15.91 -
8548.03 748.15 -7.45 914 8552.09 no move -1.31 - - 2197.81 - - - 2279.25 - -145.99 - - 3487.19 - - - - - - - - - - -
8858.19 772.75 -8.13 945 8862.25 no move -1.31 - - 2196.81 - - - 2279.06 - -145.99 - - 3486.06 - - - - - - - - - - -
9168.36 798.05 -8.10 976 9172.42 no move -1.31 - - 2196.81 - - - 2278.81 - -145.99 - - 3485.97 - - - - - - - - - - -
9478.56 821.92 -7.67 1007 9482.62 no move -1.31 - - 2196.94 - - - 2278.25 - -145.99 - - 3485.09 - - - - - - - - - - -
9788.75 845.80 -7.59 1038 9807.93 roll -1.31 - - 2197.00 - 3.10 0.068 1144.75 -365.6 -145.99 - - 3486.91 - - - - - - - - - 15.66 -
9838.67 849.99 -8.52 1045 9857.35 roll -1.31 - - 2197.12 - 2.78 0.027 2278.31 407.8 -145.99 - - 3485.47 - - - - - - - - - 15.86 -
10163.47 875.00 -7.99 1077 10167.53 no move -1.31 - - 2196.69 - - - 2278.12 - -145.99 - - 3485.25 - - - - - - - - - - -
10473.67 898.06 -7.35 1108 10493.50 roll -1.31 - - 2197.62 - 3.11 0.068 1144.88 -364.4 -145.99 - - 3484.84 - - - - - - - - - 15.64 -
10500.09 900.04 -7.32 1110 10518.05 roll -1.31 - - 2197.00 - 2.78 0.027 2277.06 407.3 -145.99 - - 3485.88 - - - - - - - - - 15.86 -
10824.15 923.42 -7.27 1142 10843.73 roll -1.31 - - 2197.38 - 3.13 0.089 3353.00 343.8 -145.99 - - 3484.50 - - - - - - - - - 15.59 -
10854.47 925.85 -7.96 1145 10873.17 roll -1.31 - - 2196.81 - 2.73 0.020 2191.31 -425.5 -145.99 - - 3484.66 - - - - - - - - - 15.78 -
11179.25 948.42 -6.92 1177 11199.63 roll -1.31 - - 2196.94 - 3.39 0.085 3352.44 342.5 -145.99 - - 3485.84 - - - - - - - - - 15.56 -
11216.11 951.49 -7.37 1181 11234.47 roll -1.31 - - 2197.12 - 2.77 0.020 2193.00 -418.6 -145.99 - - 3484.06 - - - - - - - - - 15.72 -
11540.60 973.57 -6.63 1213 11544.67 no move -1.31 - - 2196.88 - - - 2191.50 - -145.99 - - 3482.72 - - - - - - - - - - -
11790 end dive: TARGET_DEPTH_EXCEEDED
11791 begin apogee
11797.40 990.49 -6.89 1238 11984.25 -0.31 1.89 0.122 2441.00 129.2 0.14 0.159 2060.56 -935.3 - 122.48 2.320 2890.44 -4.8 0.361 - - - - - - 15.52 14.94 9.85
11990 end apogee: CONTROL_FINISHED_OK
11991 begin climb
11993.91 994.57 - 1251 12210.27 1.31 2.90 0.088 2835.69 136.1 3.46 0.090 899.44 -335.6 145.99 127.38 2.270 2292.50 -4.7 0.359 - - - - - - 15.47 14.93 11.43
12217.97 981.84 7.97 1277 12235.95 done 1.39 - - 2836.31 - 2.78 0.022 2037.00 409.2 145.99 - - 2287.22 - - - - - - - - - 15.54 -
12542.80 957.77 7.53 1309 12563.61 1.48 0.26 0.071 2887.31 196.2 3.04 0.078 3101.50 350.2 145.99 - - 2281.31 - - - - - - - - 15.71 15.48 -
12694.37 943.45 9.21 1336 12713.28 done 1.48 - - 2887.69 - 2.78 0.027 1967.50 -407.9 145.99 - - 2280.94 - - - - - - - - - 15.79 -
13019.92 916.49 7.91 1368 13039.49 done 1.56 - - 2887.50 - 3.19 0.075 3102.50 355.8 145.99 - - 2279.97 - - - - - - - - - 15.70 -
13055.95 913.19 9.33 1372 13074.29 done 1.56 - - 2888.06 - 2.76 0.027 1967.50 -411.2 145.99 - - 2279.59 - - - - - - - - - 15.85 -
13380.80 887.87 7.45 1404 13401.61 1.66 0.20 0.080 2931.69 218.2 3.19 0.075 3102.38 355.8 145.99 - - 2275.91 - - - - - - - - 15.83 15.71 -
13438.07 882.38 9.94 1412 13456.03 done 1.66 - - 2930.44 - 2.78 0.027 1968.38 -407.9 145.99 - - 2278.72 - - - - - - - - - 15.88 -
13762.52 853.70 8.59 1444 13766.58 VBD 1.70 - - 2931.94 - - - 1968.12 - 145.99 - - 2276.50 - - - - - - - - - - -
14072.71 826.39 8.92 1475 14076.77 VBD 1.70 - - 2931.75 - - - 1968.56 - 145.99 - - 2275.84 - - - - - - - - - - -
14382.91 798.27 9.00 1506 14402.90 done 1.70 - - 2932.00 - 3.22 0.075 3101.50 351.8 145.99 - - 2276.41 - - - - - - - - - 15.69 -
14449.36 791.56 9.80 1516 14467.33 done 1.70 - - 2932.56 - 2.79 0.027 1967.94 -406.3 145.99 - - 2275.81 - - - - - - - - - 15.89 -
14773.42 761.40 9.63 1548 14793.64 done 1.70 - - 2931.81 - 3.21 0.075 3103.12 353.6 145.99 - - 2277.19 - - - - - - - - - 15.69 -
14820.22 756.29 11.45 1554 14838.58 done 1.70 - - 2931.69 - 2.78 0.027 1968.00 -408.3 145.99 - - 2276.81 - - - - - - - - - 15.91 -
15144.72 726.07 9.37 1586 15164.31 done 1.70 - - 2931.38 - 3.20 0.075 3101.56 354.2 145.99 - - 2274.84 - - - - - - - - - 15.67 -
15235.06 716.94 9.06 1601 15253.72 done 1.70 - - 2931.31 - 2.76 0.028 1969.38 -410.2 145.99 - - 2275.97 - - - - - - - - - 15.90 -
15560.23 687.88 8.31 1633 15579.39 done 1.75 - - 2931.88 - 3.04 0.093 897.25 -352.7 145.99 - - 2274.41 - - - - - - - - - 15.61 -
15630.16 681.18 9.29 1644 15648.83 done 1.75 - - 2932.00 - 2.71 0.023 2039.06 421.3 145.99 - - 2274.62 - - - - - - - - - 15.88 -
15955.37 656.42 7.72 1676 15960.66 1.84 0.19 0.080 2971.75 209.2 - - 2038.69 - 145.99 - - 2273.91 - - - - - - - - 15.87 - -
16267.18 629.33 8.58 1707 16271.24 VBD 1.87 - - 2971.88 - - - 2039.06 - 145.99 - - 2273.66 - - - - - - - - - - -
16577.33 602.99 8.77 1738 16597.54 done 1.87 - - 2970.69 - 3.27 0.087 899.38 -348.5 145.99 - - 2274.00 - - - - - - - - - 15.59 -
16678.43 593.22 9.60 1755 16697.51 done 1.87 - - 2972.50 - 2.72 0.023 2037.62 418.5 145.99 - - 2274.28 - - - - - - - - - 15.91 -
17004.03 565.37 8.37 1787 17024.01 done 1.92 - - 2972.31 - 3.23 0.086 898.69 -352.6 145.99 - - 2274.50 - - - - - - - - - 15.57 -
17044.76 561.63 8.81 1792 17063.45 done 1.92 - - 2972.19 - 2.75 0.023 2037.50 414.1 145.99 - - 2273.94 - - - - - - - - - 15.70 -
17370.00 534.74 8.15 1824 17389.17 done 1.98 - - 2970.94 - 2.98 0.078 3101.81 357.2 145.99 - - 2274.03 - - - - - - - - - 15.64 -
17440.34 528.43 8.51 1835 17460.48 2.02 0.17 0.083 3015.19 260.3 2.73 0.027 1966.62 -415.8 145.99 - - 2273.62 - - - - - - - - 15.64 15.89 -
17766.59 498.65 9.61 1867 17785.75 done 2.02 - - 3015.12 - 3.05 0.089 898.38 -350.2 145.99 - - 2273.75 - - - - - - - - - 15.56 -
17802.22 495.08 9.77 1871 17820.18 done 2.02 - - 3014.94 - 2.70 0.023 2039.88 422.8 145.99 - - 2273.97 - - - - - - - - - 15.91 -
18126.28 464.32 9.36 1903 18130.34 VBD 2.02 - - 3016.12 - - - 2040.44 - 145.99 - - 2272.75 - - - - - - - - - - -
18436.42 436.92 8.77 1934 18456.40 done 2.02 - - 3015.81 - 3.21 0.085 898.69 -355.7 145.99 - - 2273.03 - - - - - - - - - 15.56 -
18533.00 427.73 9.56 1950 18550.96 done 2.02 - - 3014.94 - 2.71 0.023 2040.12 421.2 145.99 - - 2274.06 - - - - - - - - - 15.78 -
18857.44 400.56 8.37 1982 18877.54 done 2.07 - - 3015.62 - 3.21 0.084 898.38 -355.7 145.99 - - 2274.19 - - - - - - - - - 15.56 -
18894.01 397.28 8.81 1986 18911.98 done 2.07 - - 3015.81 - 2.73 0.022 2039.88 418.1 145.99 - - 2273.44 - - - - - - - - - 15.82 -
19218.09 369.83 8.77 2018 19237.26 done 2.07 - - 3015.56 - 3.01 0.077 3102.06 352.9 145.99 - - 2273.72 - - - - - - - - - 15.63 -
19288.01 363.15 9.11 2029 19306.69 done 2.07 - - 3015.69 - 2.75 0.026 1966.69 -412.9 145.99 - - 2273.31 - - - - - - - - - 15.85 -
19613.23 336.51 7.65 2061 19633.31 done 2.16 - - 3015.56 - 3.23 0.072 3102.69 351.7 145.99 - - 2274.06 - - - - - - - - - 15.51 -
19704.47 328.83 8.21 2076 19723.40 2.21 - - 3015.00 - 2.78 0.026 1967.81 -408.2 145.99 - - 2274.66 - - - - - - - - - 15.82 -
20030.03 303.24 8.13 2108 20049.21 2.28 - - 3016.38 - 3.02 0.088 898.31 -354.1 145.99 - - 2273.81 - - - - - - - - - 15.54 -
20069.96 299.51 9.02 2113 20089.04 2.28 - - 3015.31 - 2.72 0.022 2040.56 419.9 145.99 - - 2273.25 - - - - - - - - - 15.88 -
20395.56 275.23 7.40 2145 20414.74 2.38 - - 3015.81 - 3.03 0.076 3102.81 350.6 145.99 - - 2273.94 - - - - - - - - - 15.63 -
20455.49 269.82 8.89 2154 20474.17 2.38 - - 3015.94 - 2.79 0.025 1964.69 -407.9 145.99 - - 2273.94 - - - - - - - - - 15.73 -
20780.27 241.75 9.13 2186 20800.27 2.38 - - 3015.81 - 3.22 0.072 3103.00 353.5 145.99 - - 2272.69 - - - - - - - - - 15.63 -
20816.74 238.46 9.14 2190 20834.70 2.38 - - 3015.25 - 2.77 0.025 1965.19 -410.8 145.99 - - 2273.28 - - - - - - - - - 15.67 -
21141.22 212.01 7.40 2222 21160.81 2.49 - - 3015.38 - 3.05 0.088 898.81 -349.6 145.99 - - 2274.28 - - - - - - - - - 15.54 -
21227.69 205.71 7.31 2236 21246.29 2.60 - - 3016.12 - 2.72 0.022 2041.19 420.0 145.99 - - 2274.03 - - - - - - - - - 15.83 -
21552.94 186.84 5.62 2268 21665.52 2.77 - - 3016.00 - 3.27 0.085 899.44 -349.2 228.53 65.08 1.308 1957.06 -4.9 0.122 - - - - - - - 15.25 10.31
21681.37 175.89 10.21 2285 21700.07 roll back 2.77 - - 3016.00 - 2.76 0.022 2039.12 412.9 228.53 - - 1953.53 - - - - - - - - - 15.66 -
22006.26 141.45 10.60 2317 22010.33 2.77 - - 3015.31 - - - 2039.31 - 228.53 - - 1947.41 - - - - - - - - - - -
22316.42 110.46 9.44 2348 22336.41 2.77 - - 3015.81 - 3.26 0.082 898.19 -350.0 228.53 - - 1944.91 - - - - - - - - - 15.55 -
22362.88 105.94 9.61 2354 22380.85 2.77 - - 3016.25 - 2.74 0.021 2038.94 416.3 228.53 - - 1946.81 - - - - - - - - - 15.61 -
22687.40 79.48 6.74 2412 22708.12 2.91 - - 3015.44 - 3.24 0.082 898.44 -352.0 228.53 - - 1945.44 - - - - - - - - - 15.34 -
22790.00 73.38 5.63 2429 22900.16 3.08 - - 3016.56 - 2.76 0.020 2046.56 416.0 310.67 64.50 1.144 1622.69 -5.0 0.056 - - - - - - - 15.66 11.32
23086.79 53.80 7.41 2480 23106.71 3.18 - - 3016.38 - 3.01 0.075 3102.56 350.8 310.67 - - 1615.81 - - - - - - - - - 15.57 -
23148.57 48.78 8.25 2489 23167.66 3.24 - - 3016.50 - 2.81 0.024 1966.75 -404.2 310.67 - - 1614.53 - - - - - - - - - 15.57 -
23354.17 33.16 7.66 2527 23374.08 3.33 - - 3016.19 - 3.10 0.085 899.75 -344.2 310.67 - - 1613.62 - - - - - - - - - 15.43 -
23400.96 29.37 8.19 2533 23419.65 3.39 - - 3015.81 - 2.74 0.021 2043.88 417.6 310.67 - - 1613.44 - - - - - - - - - 15.52 -
23606.16 13.57 6.40 2571 23627.10 3.55 - - 3015.12 - 3.28 0.081 898.38 -349.2 310.67 - - 1612.16 - - - - - - - - - 15.55 -
23633.97 11.73 6.64 2573 23652.90 3.70 - - 3016.00 - 2.74 0.020 2043.44 417.9 310.67 - - 1611.41 - - - - - - - - - 15.65 -
23738 end climb: SURFACE_DEPTH_REACHED
23739 begin surface coast
23800 end surface coast: CONTROL_FINISHED_OK
23800 begin surface
SM 0.87 - - - - 178.8 70.65 1.060 1258.9 17.8 19.67 0.052 1268.6 64.5 - 0.51 0.047 1249.3 2444.2 -4.624 - - 10.95 15.74 15.85 -