NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 857 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 293.12 of 506.00 AH used of 24V (42.07% remains)
• Surface angle -64.6 deg, depth 0.93 m • Intended pitch -17.5 deg, speed -8.462 cm/s
VBD pumped to 400.13 (SM_CC=400)
• GPS1 time: 17 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
11 end surface: CONTROL_FINISHED_OK
12 begin dive
19.62 - - - 114.16 VBD -1.33 - - 179.50 - - - 2192.06 - -116.79 66.31 0.005 2814.88 - - - - - - - - - - 14.57
116.38 3.05 -3.47 13 240.10 -1.33 17.35 0.199 2193.88 116.1 3.42 0.082 3351.62 339.1 -116.79 9.38 0.007 3368.84 59.1 -4.499 - - - - - - 15.13 14.79 14.96
371.66 47.28 -12.99 46 390.15 roll -1.33 - - 2193.50 - 2.79 0.018 2195.44 -414.4 -116.79 - - 3370.84 - - - - - - - - - 15.58 -
576.24 70.01 -9.70 84 583.07 no move -1.33 - - 2193.81 - - - 2192.88 - -116.79 - - 3371.62 - - - - - - - - - - -
769.15 90.21 -10.08 122 788.44 roll -1.33 - - 2193.44 - 2.98 0.068 1144.88 -351.7 -116.79 - - 3371.50 - - - - - - - - - 15.43 -
814.86 94.70 -9.92 128 833.73 roll -1.33 - - 2193.38 - 2.81 0.024 2279.69 403.8 -116.79 - - 3371.53 - - - - - - - - - 15.66 -
1024.81 113.19 -8.31 152 1028.83 no move -1.33 - - 2193.31 - - - 2280.00 - -116.79 - - 3371.31 - - - - - - - - - - -
1334.90 141.77 -9.52 183 1354.24 roll -1.33 - - 2193.44 - 3.16 0.081 3351.50 339.1 -116.79 - - 3372.09 - - - - - - - - - 15.58 -
1380.67 146.34 -10.09 189 1398.41 roll -1.33 - - 2193.44 - 2.79 0.018 2190.44 -416.2 -116.79 - - 3372.53 - - - - - - - - - 15.61 -
1704.45 174.79 -8.14 221 1708.47 no move -1.33 - - 2192.88 - - - 2187.19 - -116.79 - - 3370.53 - - - - - - - - - - -
2014.50 197.50 -7.00 252 2034.64 roll -1.33 - - 2193.12 - 3.40 0.077 3353.50 343.0 -116.79 - - 3370.91 - - - - - - - - - 15.58 -
2085.38 203.15 -8.03 263 2104.48 roll -1.33 - - 2193.44 - 2.76 0.018 2190.38 -421.4 -116.79 - - 3371.69 - - - - - - - - - 15.89 -
2410.67 226.91 -7.79 295 2431.47 roll -1.33 - - 2193.56 - 3.42 0.077 3354.94 340.5 -116.79 - - 3371.56 - - - - - - - - - 15.59 -
2462.22 231.33 -8.42 302 2480.91 roll -1.33 - - 2193.25 - 2.77 0.018 2190.69 -420.3 -116.79 - - 3372.09 - - - - - - - - - 15.71 -
2787.05 257.26 -8.35 334 2805.83 roll -1.33 - - 2193.50 - 2.91 0.068 1143.81 -359.8 -116.79 - - 3371.12 - - - - - - - - - 15.70 -
2816.58 259.81 -8.46 337 2835.26 roll -1.33 - - 2193.62 - 2.75 0.024 2280.56 413.4 -116.79 - - 3371.53 - - - - - - - - - 15.87 -
3141.38 286.47 -7.93 369 3145.45 no move -1.33 - - 2193.62 - - - 2280.50 - -116.79 - - 3371.22 - - - - - - - - - - -
3451.55 310.61 -7.49 400 3455.62 no move -1.33 - - 2193.06 - - - 2281.31 - -116.79 - - 3371.00 - - - - - - - - - - -
3761.73 333.17 -7.02 431 3781.31 roll -1.33 - - 2193.88 - 3.15 0.064 1144.19 -361.0 -116.79 - - 3370.69 - - - - - - - - - 15.71 -
3807.80 336.51 -7.22 437 3825.76 roll -1.33 - - 2193.81 - 2.78 0.024 2279.06 408.2 -116.79 - - 3371.88 - - - - - - - - - 15.86 -
4131.86 360.36 -7.45 469 4135.92 no move -1.33 - - 2193.38 - - - 2278.88 - -116.79 - - 3371.09 - - - - - - - - - - -
4442.16 381.14 -6.62 500 4446.22 no move -1.33 - - 2193.50 - - - 2279.31 - -116.79 - - 3371.31 - - - - - - - - - - -
4752.36 402.93 -7.36 531 4771.94 roll -1.33 - - 2192.81 - 3.15 0.064 1144.31 -360.3 -116.79 - - 3371.75 - - - - - - - - - 15.69 -
4808.41 407.30 -7.67 539 4826.39 roll -1.33 - - 2192.94 - 2.79 0.025 2278.19 406.4 -116.79 - - 3371.34 - - - - - - - - - 15.62 -
5132.48 433.39 -8.25 571 5136.54 no move -1.33 - - 2194.12 - - - 2277.94 - -116.79 - - 3370.59 - - - - - - - - - - -
5442.66 459.88 -8.71 602 5462.24 roll -1.33 - - 2191.31 - 3.15 0.064 1142.06 -360.6 -116.79 - - 3371.59 - - - - - - - - - 15.70 -
5508.71 465.89 -9.10 612 5527.06 roll -1.33 - - 2193.00 - 2.80 0.025 2278.25 405.8 -116.79 - - 3371.12 - - - - - - - - - 15.74 -
5833.17 493.67 -8.22 644 5852.75 roll -1.33 - - 2192.06 - 3.18 0.084 3353.19 338.0 -116.79 - - 3371.03 - - - - - - - - - 15.63 -
5883.50 498.51 -9.54 651 5902.20 roll -1.33 - - 2192.44 - 2.75 0.019 2187.38 -423.9 -116.79 - - 3371.12 - - - - - - - - - 15.91 -
6208.29 525.58 -8.46 683 6229.32 roll -1.33 - - 2192.25 - 3.43 0.080 3352.56 339.7 -116.79 - - 3370.06 - - - - - - - - - 15.50 -
6255.91 530.01 -9.41 689 6274.28 roll -1.33 - - 2192.19 - 2.75 0.019 2190.06 -422.7 -116.79 - - 3370.66 - - - - - - - - - 15.90 -
6580.39 557.82 -8.75 721 6584.45 no move -1.33 - - 2193.88 - - - 2188.25 - -116.79 - - 3369.09 - - - - - - - - - - -
6890.52 585.49 -8.70 752 6911.31 roll -1.33 - - 2192.00 - 3.41 0.081 3352.62 341.5 -116.79 - - 3370.28 - - - - - - - - - 15.62 -
6958.00 591.98 -9.72 762 6975.95 roll -1.33 - - 2193.25 - 2.75 0.019 2190.56 -422.6 -116.79 - - 3369.59 - - - - - - - - - 15.90 -
7282.05 619.44 -6.52 794 7302.85 roll -1.33 - - 2193.38 - 3.40 0.080 3352.44 341.7 -116.79 - - 3369.56 - - - - - - - - - 15.63 -
7363.62 626.94 -9.42 807 7382.32 roll -1.33 - - 2193.44 - 2.74 0.019 2190.25 -424.2 -116.79 - - 3369.41 - - - - - - - - - 15.92 -
7688.41 651.15 -7.34 839 7692.47 no move -1.33 - - 2193.31 - - - 2189.38 - -116.79 - - 3368.16 - - - - - - - - - - -
7998.53 671.65 -6.08 870 8002.59 no move -1.33 - - 2193.19 - - - 2189.50 - -116.79 - - 3367.97 - - - - - - - - - - -
8308.66 690.84 -6.38 901 8329.69 roll -1.33 - - 2191.50 - 3.43 0.082 3351.31 338.7 -116.79 - - 3368.22 - - - - - - - - - 15.49 -
8356.27 694.28 -7.38 907 8374.27 roll -1.33 - - 2193.81 - 2.78 0.019 2192.88 -416.7 -116.79 - - 3367.62 - - - - - - - - - 15.90 -
8680.37 715.49 -6.54 939 8701.16 roll -1.33 - - 2194.56 - 3.40 0.081 3352.75 341.1 -116.79 - - 3366.69 - - - - - - - - - 15.61 -
8717.62 718.41 -7.35 943 8735.60 roll -1.33 - - 2193.38 - 2.74 0.019 2191.31 -423.9 -116.79 - - 3367.94 - - - - - - - - - 15.90 -
9041.71 740.27 -7.13 975 9060.50 roll -1.33 - - 2193.00 - 2.90 0.071 1145.00 -360.8 -116.79 - - 3366.69 - - - - - - - - - 15.65 -
9091.47 744.04 -7.65 982 9110.54 roll -1.33 - - 2194.19 - 2.76 0.026 2279.06 410.9 -116.79 - - 3366.88 - - - - - - - - - 15.77 -
9416.64 768.89 -8.08 1014 9420.70 no move -1.33 - - 2193.81 - - - 2279.12 - -116.79 - - 3365.12 - - - - - - - - - - -
9726.80 793.72 -8.07 1045 9730.85 no move -1.33 - - 2193.50 - - - 2279.81 - -116.79 - - 3365.50 - - - - - - - - - - -
10036.96 816.34 -6.98 1076 10056.65 roll -1.33 - - 2193.81 - 3.18 0.085 3352.94 337.5 -116.79 - - 3364.31 - - - - - - - - - 15.59 -
10073.12 818.93 -7.18 1080 10091.34 roll -1.33 - - 2193.38 - 2.72 0.019 2191.50 -427.0 -116.79 - - 3365.56 - - - - - - - - - 15.89 -
10397.54 841.10 -6.86 1112 10401.60 no move -1.33 - - 2193.25 - - - 2188.88 - -116.79 - - 3364.62 - - - - - - - - - - -
10707.67 862.18 -6.31 1143 10728.47 roll -1.33 - - 2193.19 - 3.43 0.082 3352.69 339.3 -116.79 - - 3364.34 - - - - - - - - - 15.44 -
10794.96 869.16 -7.49 1157 10812.93 roll -1.33 - - 2193.31 - 2.74 0.019 2192.00 -423.6 -116.79 - - 3364.78 - - - - - - - - - 15.89 -
11119.08 892.21 -7.06 1189 11137.87 roll -1.33 - - 2193.25 - 2.92 0.072 1144.38 -358.8 -116.79 - - 3364.53 - - - - - - - - - 15.62 -
11164.35 895.65 -7.14 1195 11182.70 roll -1.33 - - 2192.88 - 2.78 0.026 2278.69 408.0 -116.79 - - 3364.91 - - - - - - - - - 15.88 -
11488.81 917.79 -6.70 1227 11492.87 no move -1.33 - - 2193.94 - - - 2277.75 - -116.79 - - 3363.62 - - - - - - - - - - -
11799.13 938.33 -6.80 1258 11818.72 roll -1.33 - - 2192.44 - 3.13 0.067 1142.62 -362.7 -116.79 - - 3364.91 - - - - - - - - - 15.62 -
11845.19 941.94 -7.69 1264 11863.56 roll -1.33 - - 2193.31 - 2.79 0.026 2277.62 406.8 -116.79 - - 3364.41 - - - - - - - - - 15.87 -
12169.66 964.22 -6.59 1296 12173.73 no move -1.33 - - 2193.19 - - - 2278.12 - -116.79 - - 3362.56 - - - - - - - - - - -
12479.98 985.39 -6.84 1327 12499.98 roll -1.33 - - 2193.12 - 3.14 0.067 1143.56 -361.3 -116.79 - - 3363.97 - - - - - - - - - 15.62 -
12546 end dive: TARGET_DEPTH_EXCEEDED
12546 begin apogee
12560.98 990.25 -7.34 1337 12712.27 -0.31 1.88 0.122 2440.50 131.6 0.17 0.143 1955.75 4777.6 - 98.04 2.307 2889.78 -4.8 0.363 - - - - - - 15.51 14.96 9.92
12717 end apogee: CONTROL_FINISHED_OK
12717 begin climb
12720.67 993.75 - 1347 12901.78 1.33 2.88 0.085 2840.75 139.0 3.15 0.093 899.50 -335.3 116.79 103.06 2.255 2413.62 -4.6 0.356 - - - - - - 15.49 14.91 11.37
12908.89 984.91 6.94 1368 12927.58 roll 1.42 - - 2841.50 - 2.79 0.021 2037.25 407.8 116.79 - - 2406.34 - - - - - - - - - 15.53 -
13234.21 964.61 6.54 1400 13255.85 1.53 0.31 0.064 2900.06 188.9 3.11 0.078 3102.38 342.5 116.79 - - 2399.00 - - - - - - - - 15.69 15.62 -
13336.60 955.61 8.29 1417 13356.10 done 1.53 - - 2900.69 - 2.81 0.026 1967.62 -403.8 116.79 - - 2401.03 - - - - - - - - - 15.77 -
13662.21 927.79 8.01 1449 13681.38 done 1.53 - - 2900.44 - 3.04 0.089 898.56 -351.7 116.79 - - 2399.84 - - - - - - - - - 15.62 -
13697.85 924.68 8.16 1453 13715.81 done 1.53 - - 2900.38 - 2.72 0.023 2039.19 419.3 116.79 - - 2398.31 - - - - - - - - - 15.83 -
14021.93 896.69 8.60 1485 14025.99 VBD 1.53 - - 2900.81 - - - 2038.94 - 116.79 - - 2396.62 - - - - - - - - - - -
14332.13 871.39 8.10 1516 14352.14 done 1.53 - - 2899.06 - 3.27 0.085 898.25 -348.8 116.79 - - 2397.22 - - - - - - - - - 15.61 -
14478.62 859.29 8.07 1542 14496.59 done 1.53 - - 2900.81 - 2.74 0.023 2036.06 415.3 116.79 - - 2396.53 - - - - - - - - - 15.87 -
14803.09 834.27 7.78 1574 14807.15 VBD 1.58 - - 2901.00 - - - 2036.19 - 116.79 - - 2395.38 - - - - - - - - - - -
15113.37 809.17 8.35 1605 15117.44 VBD 1.58 - - 2900.12 - - - 2036.56 - 116.79 - - 2395.19 - - - - - - - - - - -
15423.94 786.38 7.20 1636 15443.54 done 1.65 - - 2900.88 - 3.09 0.078 3102.31 344.9 116.79 - - 2396.53 - - - - - - - - - 15.67 -
15474.69 782.74 7.85 1643 15493.37 done 1.69 - - 2900.88 - 2.80 0.026 1966.69 -405.6 116.79 - - 2396.59 - - - - - - - - - 15.88 -
15799.88 758.18 7.90 1675 15821.51 1.72 0.21 0.075 2946.12 215.4 3.28 0.074 3101.50 346.0 116.79 - - 2395.91 - - - - - - - - 15.81 15.65 -
15958.02 744.39 8.34 1703 15976.39 done 1.72 - - 2947.38 - 2.81 0.027 1967.00 -403.7 116.79 - - 2395.56 - - - - - - - - - 15.89 -
16282.87 720.95 7.51 1735 16302.05 done 1.78 - - 2947.56 - 3.08 0.089 898.25 -347.0 116.79 - - 2394.47 - - - - - - - - - 15.59 -
16403.21 711.77 6.94 1756 16421.90 done 1.87 - - 2947.19 - 2.72 0.023 2039.00 419.4 116.79 - - 2394.38 - - - - - - - - - 15.90 -
16728.42 688.11 7.76 1788 16734.13 1.91 0.21 0.076 2994.25 224.1 - - 2039.12 - 116.79 - - 2393.66 - - - - - - - - 15.85 - -
17040.37 662.46 8.33 1819 17044.43 VBD 1.91 - - 2994.25 - - - 2038.88 - 116.79 - - 2393.41 - - - - - - - - - - -
17350.92 636.25 7.93 1850 17371.32 done 1.94 - - 2995.19 - 3.32 0.085 897.94 -343.7 116.79 - - 2393.47 - - - - - - - - - 15.40 -
17412.07 630.56 9.18 1859 17431.15 done 1.94 - - 2994.88 - 2.77 0.022 2040.62 412.5 116.79 - - 2394.44 - - - - - - - - - 15.67 -
17737.29 604.27 8.21 1891 17757.29 done 1.94 - - 2994.25 - 3.27 0.084 899.31 -349.0 116.79 - - 2394.16 - - - - - - - - - 15.55 -
17853.76 593.58 9.32 1911 17871.76 done 1.94 - - 2994.94 - 2.72 0.022 2036.94 418.2 116.79 - - 2394.44 - - - - - - - - - 15.88 -
18178.30 567.98 7.71 1943 18197.50 done 1.99 - - 2994.81 - 3.08 0.077 3101.50 345.6 116.79 - - 2393.41 - - - - - - - - - 15.62 -
18248.25 562.17 8.11 1954 18267.33 done 1.99 - - 2994.25 - 2.78 0.026 1967.00 -408.1 116.79 - - 2393.84 - - - - - - - - - 15.88 -
18573.41 537.52 7.96 1986 18593.23 done 1.99 - - 2994.94 - 3.07 0.088 898.38 -348.1 116.79 - - 2393.31 - - - - - - - - - 15.54 -
18624.10 532.91 8.97 1993 18642.81 done 1.99 - - 2994.62 - 2.72 0.022 2039.12 419.4 116.79 - - 2393.31 - - - - - - - - - 15.90 -
18949.34 507.31 7.71 2025 18953.41 VBD 2.03 - - 2995.31 - - - 2038.81 - 116.79 - - 2392.59 - - - - - - - - - - -
19259.90 483.10 7.76 2056 19279.10 done 2.08 - - 2994.81 - 3.06 0.077 3101.00 347.1 116.79 - - 2392.69 - - - - - - - - - 15.46 -
19299.84 479.82 8.14 2061 19318.53 done 2.08 - - 2994.19 - 2.77 0.026 1967.31 -409.3 116.79 - - 2393.34 - - - - - - - - - 15.72 -
19625.04 456.78 6.75 2093 19645.88 2.18 0.03 0.254 3012.00 593.7 3.25 0.073 3102.31 349.2 116.79 - - 2392.66 - - - - - - - - 15.84 15.60 -
19686.63 451.93 8.13 2102 19705.73 2.18 - - 3011.44 - 2.78 0.026 1970.62 -407.1 116.79 - - 2393.06 - - - - - - - - - 15.88 -
20012.27 429.02 6.93 2134 20031.49 2.27 - - 3011.19 - 3.07 0.087 898.62 -349.2 116.79 - - 2394.28 - - - - - - - - - 15.51 -
20168.40 416.95 7.74 2162 20186.63 2.31 - - 3011.44 - 2.73 0.022 2040.75 418.4 116.79 - - 2392.88 - - - - - - - - - 15.90 -
20493.26 393.01 7.74 2194 20513.26 2.36 - - 3011.44 - 3.27 0.083 898.44 -349.3 116.79 - - 2391.62 - - - - - - - - - 15.50 -
20594.02 384.17 9.05 2211 20612.72 2.36 - - 3011.19 - 2.73 0.022 2039.12 417.8 116.79 - - 2392.97 - - - - - - - - - 15.75 -
20918.86 357.92 8.17 2243 20938.97 2.36 - - 3010.38 - 3.25 0.082 898.12 -351.1 116.79 - - 2393.75 - - - - - - - - - 15.44 -
21169.74 334.65 9.22 2290 21188.45 2.36 - - 3011.50 - 2.73 0.022 2038.81 417.8 116.79 - - 2393.00 - - - - - - - - - 15.74 -
21494.66 307.33 8.08 2322 21498.73 2.36 - - 3011.88 - - - 2038.88 - 116.79 - - 2392.47 - - - - - - - - - - -
21805.26 284.92 6.72 2353 21825.26 2.46 - - 3011.06 - 3.24 0.082 898.62 -351.9 116.79 - - 2393.38 - - - - - - - - - 15.52 -
21866.42 280.89 6.64 2362 21885.11 2.57 - - 3011.12 - 2.71 0.022 2040.31 421.3 116.79 - - 2393.50 - - - - - - - - - 15.89 -
22191.66 263.40 5.22 2394 22287.90 2.70 - - 3010.94 - 3.07 0.078 3102.50 346.0 182.29 52.34 1.410 2146.50 -4.7 0.154 - - - - - - - 15.23 10.33
22379.48 247.21 10.21 2424 22397.48 roll back 2.70 - - 3011.75 - 2.78 0.025 1967.94 -408.1 182.29 - - 2141.69 - - - - - - - - - 15.69 -
22703.67 216.32 9.35 2456 22723.26 2.70 - - 3010.81 - 3.04 0.087 899.12 -351.6 182.29 - - 2137.50 - - - - - - - - - 15.56 -
22764.02 210.23 10.16 2465 22782.72 2.70 - - 3011.31 - 2.72 0.022 2038.50 418.9 182.29 - - 2137.09 - - - - - - - - - 15.72 -
23088.81 182.34 8.36 2497 23108.81 2.70 - - 3011.31 - 3.23 0.082 898.44 -353.0 182.29 - - 2135.47 - - - - - - - - - 15.42 -
23125.28 179.05 8.94 2501 23143.26 2.70 - - 3012.06 - 2.74 0.021 2038.62 416.1 182.29 - - 2136.38 - - - - - - - - - 15.71 -
23449.40 148.49 10.18 2533 23468.84 2.70 - - 3011.25 - 3.05 0.075 3100.00 348.0 182.29 - - 2137.38 - - - - - - - - - 15.37 -
23515.42 141.61 10.58 2543 23533.79 2.70 - - 3010.12 - 2.76 0.025 1966.94 -410.5 182.29 - - 2137.53 - - - - - - - - - 15.70 -
23840.32 112.92 7.55 2575 23844.39 2.76 - - 3011.00 - - - 1966.75 - 182.29 - - 2135.16 - - - - - - - - - - -
24150.92 94.02 5.61 2616 24171.67 2.93 - - 3011.38 - 3.26 0.070 3102.25 348.3 182.29 - - 2135.38 - - - - - - - - - 15.43 -
24403.64 77.15 6.86 2663 24422.77 3.02 - - 3011.38 - 2.78 0.024 1967.12 -408.3 182.29 - - 2135.44 - - - - - - - - - 15.64 -
24609.30 67.33 4.18 2701 24710.41 3.20 - - 3011.81 - - - 1967.00 - 268.74 67.97 1.139 1794.09 -5.0 0.052 - - - - - - - - 11.33
24896.92 49.05 7.18 2752 24916.85 3.27 - - 3011.38 - 3.05 0.086 898.69 -350.3 268.74 - - 1785.03 - - - - - - - - - 15.46 -
25033.76 38.59 7.55 2776 25052.68 3.33 - - 3011.31 - 2.71 0.021 2043.56 422.5 268.74 - - 1783.66 - - - - - - - - - 15.58 -
25239.33 25.51 6.06 2814 25259.26 3.47 - - 3011.50 - 3.01 0.073 3102.19 351.7 268.74 - - 1782.03 - - - - - - - - - 15.40 -
25291.11 22.04 6.72 2821 25310.21 3.58 - - 3011.44 - 2.77 0.023 1965.88 -410.2 268.74 - - 1781.88 - - - - - - - - - 15.62 -
25496.76 9.91 5.56 2859 25517.88 3.75 - - 3011.06 - 3.25 0.068 3102.62 349.8 268.74 - - 1781.09 - - - - - - - - - 15.50 -
25589 end climb: SURFACE_DEPTH_REACHED
25589 begin surface coast
25630 end surface coast: CONTROL_FINISHED_OK
25631 begin surface
SM 0.88 - - - - 179.2 103.35 1.061 1258.8 12.2 20.39 0.058 1269.3 62.3 - 2.07 0.019 1248.3 601.5 -2.847 - - 10.96 15.55 15.85 -