NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 816 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 277.77 of 506.00 AH used of 24V (45.10% remains)
• Surface angle -62.0 deg, depth 0.97 m • Intended pitch -18.3 deg, speed -8.684 cm/s
VBD pumped to 430.05 (SM_CC=430)
• GPS1 time: 22 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
19.49 - - - 127.65 VBD -1.38 - - 178.31 - - - 2192.12 - -116.79 76.24 0.005 2920.75 - - - - - - - - - - 14.61
129.86 3.11 -3.15 15 246.46 -1.38 17.36 0.198 2180.56 115.3 2.97 0.069 1144.19 -352.8 -116.79 7.11 0.008 3369.66 63.1 -4.285 - - - - - - 15.14 14.79 14.97
253.00 32.04 -14.08 22 272.23 roll -1.38 - - 2180.94 - 2.85 0.025 2275.19 396.8 -116.79 - - 3370.72 - - - - - - - - - 15.55 -
458.34 59.60 -13.12 60 478.38 roll -1.38 - - 2180.88 - 3.17 0.063 1144.38 -356.7 -116.79 - - 3371.38 - - - - - - - - - 15.42 -
544.81 70.99 -13.02 74 564.03 roll -1.38 - - 2180.06 - 2.85 0.025 2275.38 396.8 -116.79 - - 3372.03 - - - - - - - - - 15.67 -
750.10 96.40 -10.96 112 756.91 no move -1.38 - - 2180.81 - - - 2275.62 - -116.79 - - 3371.72 - - - - - - - - - - -
942.96 115.84 -9.40 134 962.67 roll -1.38 - - 2180.62 - 3.21 0.085 3351.19 335.1 -116.79 - - 3372.25 - - - - - - - - - 15.51 -
989.10 120.46 -9.99 140 1006.82 roll -1.38 - - 2180.50 - 2.77 0.019 2191.25 -418.8 -116.79 - - 3371.69 - - - - - - - - - 15.71 -
1312.85 148.37 -7.77 172 1333.37 roll -1.38 - - 2180.06 - 3.44 0.080 3351.75 337.4 -116.79 - - 3372.69 - - - - - - - - - 15.51 -
1379.79 153.92 -8.55 182 1397.51 roll -1.38 - - 2180.69 - 2.79 0.019 2191.56 -415.8 -116.79 - - 3372.38 - - - - - - - - - 15.70 -
1703.58 178.82 -8.44 214 1724.57 roll -1.38 - - 2179.38 - 3.43 0.080 3353.00 338.6 -116.79 - - 3372.78 - - - - - - - - - 15.54 -
1765.43 184.54 -9.14 223 1784.08 roll -1.38 - - 2180.69 - 2.75 0.019 2192.00 -422.2 -116.79 - - 3373.16 - - - - - - - - - 15.78 -
2090.17 213.84 -9.47 255 2094.24 no move -1.38 - - 2180.50 - - - 2190.44 - -116.79 - - 3371.03 - - - - - - - - - - -
2400.33 243.34 -9.68 286 2404.39 no move -1.38 - - 2180.44 - - - 2190.62 - -116.79 - - 3372.16 - - - - - - - - - - -
2710.50 274.15 -10.09 317 2731.27 roll -1.38 - - 2180.00 - 3.41 0.079 3351.12 340.3 -116.79 - - 3372.88 - - - - - - - - - 15.67 -
2762.02 279.58 -10.37 324 2780.66 roll -1.38 - - 2179.94 - 2.73 0.019 2191.19 -424.9 -116.79 - - 3373.56 - - - - - - - - - 15.90 -
3086.75 308.53 -8.50 356 3107.13 roll -1.38 - - 2179.31 - 3.39 0.079 3352.94 342.7 -116.79 - - 3373.31 - - - - - - - - - 15.68 -
3133.60 312.67 -8.85 362 3151.53 roll -1.38 - - 2180.31 - 2.73 0.019 2191.06 -425.6 -116.79 - - 3373.41 - - - - - - - - - 15.89 -
3457.62 337.92 -7.66 394 3461.68 no move -1.38 - - 2181.00 - - - 2188.50 - -116.79 - - 3372.06 - - - - - - - - - - -
3767.78 360.68 -7.36 425 3788.80 roll -1.38 - - 2180.62 - 3.42 0.079 3353.50 340.6 -116.79 - - 3373.31 - - - - - - - - - 15.54 -
3849.66 367.83 -8.64 438 3868.92 roll -1.38 - - 2180.50 - 2.74 0.019 2191.75 -424.0 -116.79 - - 3372.91 - - - - - - - - - 15.88 -
4174.98 394.94 -8.77 470 4179.05 no move -1.38 - - 2180.00 - - - 2189.81 - -116.79 - - 3371.94 - - - - - - - - - - -
4485.18 422.51 -9.16 501 4505.95 roll -1.38 - - 2179.69 - 3.41 0.079 3351.88 340.8 -116.79 - - 3373.84 - - - - - - - - - 15.68 -
4556.69 429.42 -9.55 512 4575.35 roll -1.38 - - 2180.94 - 2.71 0.019 2191.75 -428.1 -116.79 - - 3373.12 - - - - - - - - - 15.91 -
4881.45 457.39 -8.45 544 4885.51 no move -1.38 - - 2180.19 - - - 2189.81 - -116.79 - - 3371.94 - - - - - - - - - - -
5191.61 483.54 -9.03 575 5210.74 roll -1.38 - - 2180.56 - 2.91 0.072 1144.06 -359.4 -116.79 - - 3372.56 - - - - - - - - - 15.69 -
5241.49 487.98 -9.04 582 5260.52 roll -1.38 - - 2180.00 - 2.80 0.025 2279.62 405.6 -116.79 - - 3373.19 - - - - - - - - - 15.70 -
5566.63 516.07 -8.73 614 5570.69 no move -1.38 - - 2180.56 - - - 2279.81 - -116.79 - - 3372.12 - - - - - - - - - - -
5876.76 542.50 -8.45 645 5880.82 no move -1.38 - - 2179.62 - - - 2278.94 - -116.79 - - 3370.94 - - - - - - - - - - -
6186.89 567.22 -7.59 676 6190.95 no move -1.38 - - 2180.00 - - - 2278.94 - -116.79 - - 3370.47 - - - - - - - - - - -
6497.19 591.24 -8.06 707 6516.74 roll -1.38 - - 2180.69 - 3.18 0.085 3352.00 337.4 -116.79 - - 3371.19 - - - - - - - - - 15.56 -
6537.49 594.69 -8.86 712 6556.13 roll -1.38 - - 2180.44 - 2.77 0.019 2191.00 -419.1 -116.79 - - 3371.66 - - - - - - - - - 15.91 -
6862.26 618.60 -7.09 744 6883.03 roll -1.38 - - 2179.69 - 3.42 0.081 3351.69 339.4 -116.79 - - 3370.31 - - - - - - - - - 15.65 -
6953.79 625.84 -7.69 759 6972.82 roll -1.38 - - 2180.81 - 2.77 0.019 2193.12 -418.3 -116.79 - - 3370.88 - - - - - - - - - 15.90 -
7278.93 649.64 -7.93 791 7299.70 roll -1.38 - - 2180.38 - 3.45 0.081 3352.44 336.0 -116.79 - - 3370.06 - - - - - - - - - 15.49 -
7356.18 657.04 -9.60 803 7374.11 roll -1.38 - - 2180.44 - 2.77 0.019 2193.94 -418.2 -116.79 - - 3369.56 - - - - - - - - - 15.91 -
7680.21 685.96 -9.39 835 7684.27 no move -1.38 - - 2180.44 - - - 2192.12 - -116.79 - - 3368.12 - - - - - - - - - - -
7990.36 712.74 -8.10 866 8009.74 roll -1.38 - - 2180.38 - 2.97 0.072 1145.38 -352.4 -116.79 - - 3368.53 - - - - - - - - - 15.66 -
8040.60 716.85 -7.91 873 8059.26 roll -1.38 - - 2179.25 - 2.78 0.026 2277.94 407.4 -116.79 - - 3369.91 - - - - - - - - - 15.91 -
8365.36 740.54 -6.70 905 8384.90 roll -1.38 - - 2180.44 - 3.16 0.067 1143.75 -358.9 -116.79 - - 3369.22 - - - - - - - - - 15.68 -
8431.37 745.04 -6.63 915 8449.72 roll -1.38 - - 2180.00 - 2.81 0.026 2276.88 403.2 -116.79 - - 3369.16 - - - - - - - - - 15.89 -
8755.79 764.68 -5.87 947 8775.34 roll -1.38 - - 2179.94 - 3.16 0.066 1143.62 -358.6 -116.79 - - 3368.00 - - - - - - - - - 15.66 -
8791.83 766.82 -5.72 951 8810.16 roll -1.38 - - 2179.00 - 2.81 0.026 2277.56 403.5 -116.79 - - 3369.34 - - - - - - - - - 15.89 -
9116.27 787.16 -6.58 983 9135.82 roll -1.38 - - 2178.94 - 3.16 0.066 1145.19 -358.3 -116.79 - - 3368.41 - - - - - - - - - 15.67 -
9162.29 790.58 -7.16 989 9180.62 roll -1.38 - - 2180.75 - 2.80 0.026 2277.31 404.3 -116.79 - - 3367.56 - - - - - - - - - 15.90 -
9486.69 812.76 -6.90 1021 9490.75 no move -1.38 - - 2180.12 - - - 2277.31 - -116.79 - - 3366.47 - - - - - - - - - - -
9796.96 834.39 -7.13 1052 9817.17 roll -1.38 - - 2180.38 - 3.22 0.088 3351.00 333.4 -116.79 - - 3367.50 - - - - - - - - - 15.49 -
9833.74 837.14 -7.53 1056 9851.67 roll -1.38 - - 2180.19 - 2.75 0.020 2192.56 -421.3 -116.79 - - 3366.88 - - - - - - - - - 15.90 -
10157.77 859.08 -6.78 1088 10178.56 roll -1.38 - - 2180.81 - 3.45 0.084 3350.94 335.8 -116.79 - - 3366.38 - - - - - - - - - 15.45 -
10229.30 864.52 -6.95 1099 10247.96 roll -1.38 - - 2180.50 - 2.76 0.020 2192.44 -419.7 -116.79 - - 3366.25 - - - - - - - - - 15.92 -
10554.03 886.47 -6.75 1131 10558.09 no move -1.38 - - 2180.00 - - - 2190.88 - -116.79 - - 3365.22 - - - - - - - - - - -
10864.20 907.05 -6.85 1162 10868.26 no move -1.38 - - 2180.19 - - - 2191.62 - -116.79 - - 3365.16 - - - - - - - - - - -
11174.40 927.03 -6.41 1193 11195.18 roll -1.38 - - 2180.62 - 3.45 0.084 3352.31 336.4 -116.79 - - 3364.44 - - - - - - - - - 15.56 -
11291.67 935.53 -6.91 1213 11309.60 roll -1.38 - - 2180.44 - 2.77 0.020 2197.38 -416.9 -116.79 - - 3365.34 - - - - - - - - - 15.90 -
11615.78 956.68 -6.38 1245 11619.84 no move -1.38 - - 2180.56 - - - 2195.19 - -116.79 - - 3364.41 - - - - - - - - - - -
11925.94 977.93 -7.02 1276 11946.73 roll -1.38 - - 2179.06 - 3.44 0.085 3351.44 336.1 -116.79 - - 3365.44 - - - - - - - - - 15.57 -
11983.32 982.40 -7.56 1284 12001.26 roll -1.38 - - 2180.19 - 2.76 0.020 2197.75 -418.0 -116.79 - - 3364.16 - - - - - - - - - 15.92 -
12097 end dive: TARGET_DEPTH_EXCEEDED
12098 begin apogee
12102.59 990.16 -7.03 1295 12254.53 -0.31 2.04 0.136 2440.06 127.4 0.14 0.154 2184.06 -97.8 - 97.29 2.335 2889.94 -4.9 0.361 - - - - - - 15.49 14.99 9.88
12260 end apogee: CONTROL_FINISHED_OK
12260 begin climb
12262.76 993.48 - 1305 12446.17 1.38 3.04 0.085 2853.00 135.8 3.61 0.089 3350.75 323.2 116.79 102.75 2.269 2412.00 -4.7 0.356 - - - - - - 15.48 14.92 11.39
12453.14 984.16 7.06 1326 12472.21 roll 1.47 - - 2852.38 - 2.86 0.021 2204.88 -400.7 116.79 - - 2408.19 - - - - - - - - - 15.52 -
12778.86 961.02 7.37 1358 12799.26 1.55 0.26 0.070 2903.12 195.2 3.00 0.076 1145.62 -353.1 116.79 - - 2400.22 - - - - - - - - 15.69 15.63 -
12975.74 943.49 9.26 1394 12994.08 done 1.55 - - 2903.00 - 2.85 0.030 2275.12 396.3 116.79 - - 2399.56 - - - - - - - - - 15.79 -
13300.59 916.32 8.09 1426 13320.16 done 1.59 - - 2902.50 - 3.18 0.071 1146.38 -354.9 116.79 - - 2400.56 - - - - - - - - - 15.70 -
13347.02 912.48 8.06 1432 13365.74 done 1.63 - - 2903.12 - 2.82 0.029 2276.69 400.8 116.79 - - 2398.34 - - - - - - - - - 15.86 -
13671.84 887.33 8.27 1464 13691.41 done 1.63 - - 2903.31 - 3.19 0.071 1146.19 -354.4 116.79 - - 2396.62 - - - - - - - - - 15.70 -
13807.89 875.70 8.90 1488 13826.22 done 1.63 - - 2903.62 - 2.84 0.030 2274.44 397.3 116.79 - - 2397.91 - - - - - - - - - 15.88 -
14132.75 851.19 7.28 1520 14153.95 1.71 0.17 0.082 2943.00 231.6 3.22 0.071 1145.06 -350.7 116.79 - - 2396.03 - - - - - - - - 15.85 15.55 -
14170.52 848.10 8.49 1524 14188.87 done 1.71 - - 2942.81 - 2.83 0.030 2273.31 398.7 116.79 - - 2397.59 - - - - - - - - - 15.89 -
14494.97 820.81 8.62 1556 14514.53 done 1.71 - - 2942.31 - 3.20 0.071 1145.12 -352.6 116.79 - - 2395.78 - - - - - - - - - 15.67 -
14540.99 816.47 9.62 1562 14559.33 done 1.71 - - 2942.62 - 2.83 0.030 2274.62 399.1 116.79 - - 2397.06 - - - - - - - - - 15.88 -
14865.85 789.73 8.06 1594 14869.92 VBD 1.75 - - 2943.38 - - - 2274.69 - 116.79 - - 2395.56 - - - - - - - - - - -
15176.43 765.46 8.10 1625 15196.00 done 1.78 - - 2943.06 - 3.19 0.071 1145.69 -353.9 116.79 - - 2396.44 - - - - - - - - - 15.67 -
15406.77 745.41 8.67 1668 15425.83 done 1.78 - - 2942.88 - 2.84 0.031 2274.19 397.4 116.79 - - 2395.53 - - - - - - - - - 15.87 -
15732.34 719.25 8.00 1700 15752.15 done 1.82 - - 2941.62 - 3.17 0.071 1144.94 -356.2 116.79 - - 2396.94 - - - - - - - - - 15.67 -
15983.02 698.21 8.53 1747 16002.09 done 1.82 - - 2942.88 - 2.84 0.031 2274.50 397.7 116.79 - - 2396.41 - - - - - - - - - 15.87 -
16308.63 672.64 7.55 1779 16329.43 1.89 0.19 0.078 2987.75 236.2 3.18 0.070 1145.12 -355.2 116.79 - - 2394.56 - - - - - - - - 15.87 15.67 -
16525.91 653.41 9.51 1819 16544.64 done 1.89 - - 2987.81 - 2.84 0.030 2272.50 397.0 116.79 - - 2396.56 - - - - - - - - - 15.87 -
16851.16 627.34 7.60 1851 16870.72 done 1.96 - - 2988.12 - 3.16 0.070 1145.00 -356.8 116.79 - - 2392.94 - - - - - - - - - 15.66 -
17031.92 613.03 7.71 1884 17051.36 done 2.02 - - 2988.12 - 2.86 0.030 2273.25 394.5 116.79 - - 2396.59 - - - - - - - - - 15.85 -
17357.90 589.12 7.59 1916 17362.77 2.08 0.07 0.142 3015.75 394.7 - - 2273.38 - 116.79 - - 2395.59 - - - - - - - - 15.85 - -
17668.87 563.68 8.34 1947 17672.93 VBD 2.08 - - 3015.25 - - - 2272.62 - 116.79 - - 2394.00 - - - - - - - - - - -
17979.44 538.95 7.62 1978 17999.01 done 2.15 - - 3015.62 - 3.18 0.070 1143.88 -354.9 116.79 - - 2393.28 - - - - - - - - - 15.65 -
18055.60 532.73 8.30 1990 18073.93 done 2.15 - - 3014.88 - 2.84 0.030 2274.31 398.0 116.79 - - 2396.16 - - - - - - - - - 15.84 -
18380.40 508.02 7.39 2022 18400.40 2.22 - - 3015.44 - 3.24 0.092 3351.94 332.6 116.79 - - 2392.66 - - - - - - - - - 15.59 -
18446.87 502.11 8.80 2032 18464.82 2.22 - - 3015.81 - 2.76 0.021 2202.50 -416.5 116.79 - - 2395.12 - - - - - - - - - 15.92 -
18771.33 477.53 7.44 2064 18790.11 2.30 - - 3015.44 - 3.00 0.074 1144.12 -352.8 116.79 - - 2395.09 - - - - - - - - - 15.50 -
19016.63 457.30 8.68 2110 19035.10 2.30 - - 3015.62 - 2.85 0.030 2275.44 397.0 116.79 - - 2395.00 - - - - - - - - - 15.83 -
19341.60 430.96 7.77 2142 19345.68 2.35 - - 3015.62 - - - 2275.75 - 116.79 - - 2393.41 - - - - - - - - - - -
19652.19 407.26 7.10 2173 19672.43 2.45 - - 3016.38 - 3.24 0.069 1146.56 -348.5 116.79 - - 2392.53 - - - - - - - - - 15.37 -
19793.71 396.68 7.46 2198 19812.78 2.52 - - 3015.44 - 2.88 0.029 2275.00 391.8 116.79 - - 2394.88 - - - - - - - - - 15.82 -
20119.27 374.75 6.91 2230 20123.35 2.63 - - 3016.56 - - - 2274.69 - 116.79 - - 2393.50 - - - - - - - - - - -
20429.89 352.19 7.12 2261 20449.89 2.72 - - 3016.75 - 3.21 0.068 1145.44 -351.8 116.79 - - 2392.19 - - - - - - - - - 15.63 -
20581.17 340.76 7.55 2288 20600.63 2.79 - - 3016.50 - 2.86 0.029 2274.69 394.8 116.79 - - 2394.12 - - - - - - - - - 15.79 -
20907.12 318.09 6.90 2320 20911.19 2.90 - - 3015.62 - - - 2275.12 - 116.79 - - 2393.12 - - - - - - - - - - -
21217.74 299.43 5.81 2351 21237.82 3.07 - - 3015.31 - 3.21 0.068 1145.25 -352.0 116.79 - - 2392.31 - - - - - - - - - 15.61 -
21374.73 289.34 6.53 2379 21393.08 3.20 - - 3016.56 - 2.85 0.028 2275.56 396.6 116.79 - - 2394.47 - - - - - - - - - 15.69 -
21699.62 271.32 5.48 2411 21790.62 3.32 - - 3015.88 - 3.22 0.070 1145.62 -350.9 179.81 50.76 1.421 2154.59 -4.7 0.158 - - - - - - - 15.29 10.20
21847.22 259.92 8.87 2433 21865.97 roll back 3.32 - - 3015.56 - 2.86 0.029 2273.81 394.5 179.81 - - 2150.41 - - - - - - - - - 15.76 -
22172.20 231.86 8.88 2465 22192.19 3.32 - - 3016.19 - 3.22 0.068 1144.75 -350.6 179.81 - - 2146.56 - - - - - - - - - 15.44 -
22252.94 224.02 9.77 2478 22272.00 3.32 - - 3016.00 - 2.87 0.028 2274.62 393.7 179.81 - - 2147.56 - - - - - - - - - 15.61 -
22578.13 193.93 9.34 2510 22598.12 3.32 - - 3016.00 - 3.21 0.067 1145.69 -351.7 179.81 - - 2145.78 - - - - - - - - - 15.60 -
22708.89 180.70 10.13 2533 22727.97 3.32 - - 3016.31 - 2.85 0.028 2273.06 395.6 179.81 - - 2146.12 - - - - - - - - - 15.76 -
23034.08 151.58 8.80 2565 23054.32 3.32 - - 3015.69 - 3.21 0.067 1144.62 -351.5 179.81 - - 2145.84 - - - - - - - - - 15.57 -
23215.19 135.37 8.69 2598 23234.26 3.32 - - 3015.88 - 2.85 0.028 2275.19 396.7 179.81 - - 2145.28 - - - - - - - - - 15.64 -
23540.81 113.68 5.90 2630 23560.40 3.49 - - 3014.75 - 3.16 0.066 1142.56 -358.4 179.81 - - 2145.12 - - - - - - - - - 15.50 -
23651.56 106.12 7.22 2649 23670.63 3.58 - - 3016.06 - 2.85 0.027 2273.19 396.7 179.81 - - 2145.22 - - - - - - - - - 15.56 -
23977.15 86.97 4.76 2704 24082.68 3.73 - - 3015.88 - 3.19 0.068 1145.19 -353.6 257.00 61.39 1.176 1842.16 -4.9 0.064 - - - - - - - 15.30 11.27
24294.62 65.24 6.37 2759 24313.69 3.87 - - 3016.50 - 2.87 0.027 2276.38 394.1 257.00 - - 1833.88 - - - - - - - - - 15.50 -
24500.21 53.08 5.68 2797 24589.50 3.99 - - 3015.94 - 3.19 0.068 1145.31 -354.6 316.24 47.44 1.108 1600.28 -4.9 0.041 - - - - - - - 15.29 11.34
24616.47 44.87 7.92 2813 24635.94 roll back 4.04 - - 3015.94 - 2.87 0.027 2274.50 393.4 316.24 - - 1596.38 - - - - - - - - - 15.56 -
24822.21 27.95 8.57 2851 24843.31 roll back 4.04 - - 3016.06 - 3.22 0.066 1145.62 -350.6 316.24 - - 1592.72 - - - - - - - - - 15.44 -
24889.77 21.92 9.00 2861 24909.24 4.04 - - 3016.44 - 2.86 0.026 2275.56 395.1 316.24 - - 1591.97 - - - - - - - - - 15.49 -
25095.37 4.34 8.61 2899 25115.69 4.04 - - 3016.31 - 3.18 0.064 1143.69 -355.9 316.24 - - 1590.25 - - - - - - - - - 15.62 -
25122 end climb: SURFACE_DEPTH_REACHED
25123 begin surface coast
25178 end surface coast: CONTROL_FINISHED_OK
25179 begin surface
SM 0.93 - - - - 176.9 90.47 1.070 1136.8 12.6 20.06 0.048 1135.9 56.6 - 2.78 0.025 1137.8 408.1 -1.552 - - 10.94 15.72 15.83 -