NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 935 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 318.95 of 506.00 AH used of 24V (36.97% remains)
• Surface angle -63.1 deg, depth 1.02 m • Intended pitch -18.6 deg, speed -9.167 cm/s
VBD pumped to 400.09 (SM_CC=400)
• GPS1 time: 19 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
11 end surface: CONTROL_FINISHED_OK
12 begin dive
19.88 - - - 121.92 VBD -1.42 - - 178.12 - - - 2142.31 - -126.52 71.91 0.005 2975.09 - - - - - - - - - - 14.65
124.14 3.35 -3.68 14 241.52 -1.42 17.08 0.199 2172.62 116.8 3.37 0.080 3301.31 343.9 -126.52 7.11 0.008 3409.34 61.1 -4.478 - - - - - - 15.06 14.85 14.97
248.06 30.23 -13.57 21 266.59 roll -1.42 - - 2172.12 - 2.77 0.019 2148.75 -416.1 -126.52 - - 3412.06 - - - - - - - - - 15.69 -
452.72 55.20 -11.33 59 472.06 roll -1.42 - - 2172.12 - 2.94 0.069 1094.75 -358.5 -126.52 - - 3412.34 - - - - - - - - - 15.58 -
548.50 65.84 -10.79 75 567.02 roll -1.42 - - 2172.19 - 2.74 0.023 2230.25 414.4 -126.52 - - 3412.94 - - - - - - - - - 15.54 -
753.13 85.75 -9.26 113 773.27 roll -1.42 - - 2171.88 - 3.16 0.065 1094.81 -359.3 -126.52 - - 3412.34 - - - - - - - - - 15.35 -
839.72 93.98 -9.51 127 858.24 roll -1.42 - - 2171.94 - 2.78 0.023 2230.44 408.5 -126.52 - - 3411.97 - - - - - - - - - 15.59 -
1044.27 112.12 -8.31 151 1048.29 no move -1.42 - - 2171.69 - - - 2229.62 - -126.52 - - 3412.06 - - - - - - - - - - -
1354.34 133.66 -7.07 182 1373.74 roll -1.42 - - 2172.12 - 3.11 0.080 3303.00 345.1 -126.52 - - 3412.25 - - - - - - - - - 15.47 -
1384.45 136.04 -7.50 185 1402.97 roll -1.42 - - 2171.81 - 2.76 0.018 2142.81 -420.4 -126.52 - - 3413.19 - - - - - - - - - 15.79 -
1709.11 161.58 -8.15 217 1713.17 no move -1.42 - - 2172.00 - - - 2141.06 - -126.52 - - 3412.44 - - - - - - - - - - -
2019.28 188.13 -8.97 248 2038.11 roll -1.42 - - 2172.56 - 2.97 0.069 1093.50 -352.7 -126.52 - - 3412.88 - - - - - - - - - 15.37 -
2054.59 191.44 -9.18 252 2072.59 roll -1.42 - - 2172.56 - 2.75 0.023 2232.38 414.1 -126.52 - - 3414.44 - - - - - - - - - 15.74 -
2378.95 220.43 -9.21 284 2398.58 roll -1.42 - - 2171.88 - 3.11 0.080 3301.56 343.8 -126.52 - - 3413.00 - - - - - - - - - 15.44 -
2419.33 224.44 -9.88 289 2438.47 roll -1.42 - - 2171.50 - 2.75 0.018 2143.44 -421.1 -126.52 - - 3414.59 - - - - - - - - - 15.76 -
2744.56 253.25 -8.58 321 2748.62 no move -1.42 - - 2171.56 - - - 2141.94 - -126.52 - - 3412.78 - - - - - - - - - - -
3054.99 279.37 -8.33 352 3075.43 roll -1.42 - - 2171.88 - 3.34 0.077 3302.75 347.5 -126.52 - - 3412.34 - - - - - - - - - 15.57 -
3091.92 282.59 -8.88 356 3110.32 roll -1.42 - - 2172.44 - 2.76 0.019 2144.50 -419.7 -126.52 - - 3413.97 - - - - - - - - - 15.89 -
3416.41 308.61 -7.81 388 3436.86 roll -1.42 - - 2172.50 - 3.31 0.076 3300.62 349.3 -126.52 - - 3412.22 - - - - - - - - - 15.60 -
3453.57 311.69 -8.41 392 3471.58 roll -1.42 - - 2172.19 - 2.76 0.018 2145.56 -418.5 -126.52 - - 3413.66 - - - - - - - - - 15.81 -
3777.83 335.68 -7.12 424 3781.89 no move -1.42 - - 2172.31 - - - 2145.31 - -126.52 - - 3412.78 - - - - - - - - - - -
4088.01 357.86 -7.35 455 4108.45 roll -1.42 - - 2172.19 - 3.33 0.076 3301.19 347.1 -126.52 - - 3414.59 - - - - - - - - - 15.48 -
4154.94 363.20 -8.13 465 4172.96 roll -1.42 - - 2172.31 - 2.77 0.018 2145.50 -417.2 -126.52 - - 3413.22 - - - - - - - - - 15.83 -
4479.08 387.86 -7.70 497 4483.14 no move -1.42 - - 2171.62 - - - 2144.81 - -126.52 - - 3412.53 - - - - - - - - - - -
4789.24 413.66 -8.83 528 4809.68 roll -1.42 - - 2172.12 - 3.31 0.077 3302.19 349.7 -126.52 - - 3413.59 - - - - - - - - - 15.61 -
4836.17 418.08 -9.56 534 4854.58 roll -1.42 - - 2171.81 - 2.78 0.019 2145.31 -416.1 -126.52 - - 3414.03 - - - - - - - - - 15.73 -
5160.70 446.92 -8.59 566 5164.76 no move -1.42 - - 2171.69 - - - 2144.81 - -126.52 - - 3412.34 - - - - - - - - - - -
5470.90 472.22 -8.13 597 5491.33 roll -1.42 - - 2172.25 - 3.37 0.077 3301.00 343.1 -126.52 - - 3412.47 - - - - - - - - - 15.55 -
5517.81 476.21 -8.47 603 5536.07 roll -1.42 - - 2171.88 - 2.78 0.019 2146.31 -415.4 -126.52 - - 3411.94 - - - - - - - - - 15.86 -
5842.29 501.72 -7.92 635 5846.34 no move -1.42 - - 2171.50 - - - 2145.56 - -126.52 - - 3410.50 - - - - - - - - - - -
6152.44 525.75 -7.94 666 6156.50 no move -1.42 - - 2172.00 - - - 2145.50 - -126.52 - - 3410.16 - - - - - - - - - - -
6462.60 550.78 -8.30 697 6483.05 roll -1.42 - - 2172.25 - 3.37 0.078 3301.12 342.9 -126.52 - - 3410.91 - - - - - - - - - 15.58 -
6489.53 553.15 -8.81 699 6507.94 roll -1.42 - - 2172.06 - 2.80 0.019 2147.88 -411.9 -126.52 - - 3411.94 - - - - - - - - - 15.76 -
6814.06 580.38 -8.19 731 6818.12 no move -1.42 - - 2171.44 - - - 2146.56 - -126.52 - - 3409.38 - - - - - - - - - - -
7124.43 606.13 -8.18 762 7144.87 roll -1.42 - - 2171.94 - 3.34 0.077 3302.88 346.2 -126.52 - - 3410.69 - - - - - - - - - 15.58 -
7175.62 610.65 -8.44 769 7194.75 roll -1.42 - - 2171.56 - 2.79 0.018 2148.50 -413.8 -126.52 - - 3410.41 - - - - - - - - - 15.88 -
7500.89 636.89 -8.09 801 7504.95 no move -1.42 - - 2171.88 - - - 2146.94 - -126.52 - - 3409.50 - - - - - - - - - - -
7811.08 661.04 -7.60 832 7831.53 roll -1.42 - - 2172.06 - 3.38 0.078 3300.81 341.4 -126.52 - - 3409.19 - - - - - - - - - 15.53 -
7858.25 664.86 -8.21 838 7876.27 roll -1.42 - - 2171.69 - 2.77 0.019 2148.19 -416.1 -126.52 - - 3410.94 - - - - - - - - - 15.88 -
8182.49 688.52 -7.07 870 8186.55 no move -1.42 - - 2171.94 - - - 2147.12 - -126.52 - - 3408.28 - - - - - - - - - - -
8492.68 710.37 -7.11 901 8513.13 roll -1.42 - - 2172.62 - 3.34 0.078 3301.19 345.5 -126.52 - - 3410.22 - - - - - - - - - 15.54 -
8529.60 713.16 -7.58 905 8548.01 roll -1.42 - - 2171.19 - 2.80 0.019 2149.50 -411.3 -126.52 - - 3409.72 - - - - - - - - - 15.74 -
8854.14 737.78 -7.70 937 8858.20 no move -1.42 - - 2171.69 - - - 2147.94 - -126.52 - - 3407.09 - - - - - - - - - - -
9164.30 761.83 -7.95 968 9168.35 no move -1.42 - - 2171.19 - - - 2147.31 - -126.52 - - 3407.00 - - - - - - - - - - -
9474.46 785.27 -7.55 999 9494.90 roll -1.42 - - 2172.31 - 3.34 0.079 3300.12 345.2 -126.52 - - 3407.28 - - - - - - - - - 15.52 -
9505.64 787.76 -7.54 1002 9524.39 roll -1.42 - - 2172.31 - 2.79 0.019 2149.12 -412.5 -126.52 - - 3408.31 - - - - - - - - - 15.88 -
9830.49 812.12 -7.51 1034 9850.95 roll -1.42 - - 2172.19 - 3.35 0.079 3301.12 343.9 -126.52 - - 3407.62 - - - - - - - - - 15.53 -
9871.70 815.49 -7.85 1039 9890.71 roll -1.42 - - 2171.38 - 2.80 0.019 2148.56 -411.6 -126.52 - - 3406.91 - - - - - - - - - 15.89 -
10196.95 839.17 -7.13 1071 10201.01 no move -1.42 - - 2171.69 - - - 2147.25 - -126.52 - - 3406.44 - - - - - - - - - - -
10507.14 861.54 -7.23 1102 10527.58 roll -1.42 - - 2171.38 - 3.35 0.080 3300.62 344.3 -126.52 - - 3406.25 - - - - - - - - - 15.51 -
10544.06 864.26 -7.11 1106 10562.48 roll -1.42 - - 2171.94 - 2.78 0.019 2148.62 -414.4 -126.52 - - 3407.50 - - - - - - - - - 15.83 -
10868.59 887.75 -7.15 1138 10872.65 no move -1.42 - - 2171.88 - - - 2148.06 - -126.52 - - 3405.53 - - - - - - - - - - -
11178.78 909.48 -6.97 1169 11199.22 roll -1.42 - - 2171.88 - 3.38 0.080 3300.06 340.8 -126.52 - - 3405.53 - - - - - - - - - 15.48 -
11235.71 913.55 -7.50 1177 11253.73 roll -1.42 - - 2171.81 - 2.80 0.019 2149.75 -410.8 -126.52 - - 3405.56 - - - - - - - - - 15.87 -
11559.86 935.20 -6.61 1209 11563.93 no move -1.42 - - 2171.56 - - - 2149.00 - -126.52 - - 3404.00 - - - - - - - - - - -
11870.17 955.12 -6.38 1240 11890.61 roll -1.42 - - 2169.50 - 3.34 0.080 3299.94 344.6 -126.52 - - 3405.03 - - - - - - - - - 15.49 -
11931.36 959.42 -6.93 1249 11950.76 roll -1.42 - - 2171.62 - 2.81 0.020 2151.75 -408.6 -126.52 - - 3404.97 - - - - - - - - - 15.88 -
12257.23 980.64 -6.82 1281 12261.29 no move -1.42 - - 2171.25 - - - 2151.69 - -126.52 - - 3404.19 - - - - - - - - - - -
12406 end dive: TARGET_DEPTH_EXCEEDED
12407 begin apogee
12413.55 990.56 -6.72 1296 12577.96 -0.31 2.08 0.123 2440.75 129.6 0.14 0.159 2037.75 -813.9 - 106.67 2.312 2888.06 -4.8 0.363 - - - - - - 15.39 14.95 9.90
12585 end apogee: CONTROL_FINISHED_OK
12585 begin climb
12588.70 993.29 - 1307 12785.47 1.42 3.06 0.085 2861.88 137.6 3.59 0.093 874.88 -323.9 126.52 111.47 2.264 2373.19 -4.6 0.355 - - - - - - 15.48 14.88 11.34
12792.47 982.99 7.06 1330 12812.47 roll back 1.54 0.17 0.082 2900.94 229.8 2.79 0.021 2016.75 409.3 126.52 - - 2366.47 - - - - - - - - 15.42 15.54 -
13119.14 959.24 7.52 1362 13138.76 done 1.64 - - 2900.38 - 3.04 0.075 3076.38 348.6 126.52 - - 2362.50 - - - - - - - - - 15.61 -
13165.63 955.67 7.92 1368 13185.28 1.72 0.19 0.077 2945.06 235.2 2.86 0.026 1945.50 -395.4 126.52 - - 2362.44 - - - - - - - - 15.52 15.74 -
13491.80 929.55 7.86 1400 13511.87 done 1.79 - - 2945.12 - 3.23 0.072 3076.00 350.0 126.52 - - 2358.88 - - - - - - - - - 15.64 -
13542.61 925.39 8.69 1407 13561.74 done 1.79 - - 2945.12 - 2.85 0.027 1946.06 -396.5 126.52 - - 2359.88 - - - - - - - - - 15.81 -
13868.26 899.48 8.02 1439 13887.90 done 1.86 - - 2944.25 - 3.16 0.092 873.94 -339.3 126.52 - - 2358.25 - - - - - - - - - 15.57 -
13928.66 894.14 8.83 1448 13947.40 done 1.86 - - 2945.06 - 2.73 0.022 2014.88 417.9 126.52 - - 2358.34 - - - - - - - - - 15.81 -
14253.50 867.22 8.86 1480 14257.56 VBD 1.86 - - 2944.88 - - - 2014.69 - 126.52 - - 2356.75 - - - - - - - - - - -
14564.09 840.22 8.57 1511 14590.84 1.90 0.19 0.076 2991.19 243.7 3.37 0.088 873.69 -338.6 126.52 - - 2357.34 - - - - - - - - 15.81 15.54 -
14632.43 833.10 10.65 1521 14650.85 done 1.90 - - 2990.44 - 2.74 0.022 2013.75 416.1 126.52 - - 2356.97 - - - - - - - - - 15.88 -
14957.00 803.17 9.13 1553 14976.24 done 1.90 - - 2991.19 - 3.03 0.076 3077.75 351.2 126.52 - - 2357.12 - - - - - - - - - 15.63 -
14996.99 799.21 9.96 1558 15015.72 done 1.90 - - 2991.00 - 2.79 0.027 1943.44 -406.6 126.52 - - 2356.28 - - - - - - - - - 15.85 -
15321.84 770.25 8.82 1590 15325.91 VBD 1.90 - - 2991.06 - - - 1942.75 - 126.52 - - 2355.03 - - - - - - - - - - -
15632.43 743.51 8.46 1621 15652.08 done 1.94 - - 2991.25 - 3.14 0.091 872.31 -340.9 126.52 - - 2357.25 - - - - - - - - - 15.53 -
15688.56 738.07 9.73 1629 15706.97 done 1.94 - - 2991.56 - 2.72 0.023 2015.62 420.3 126.52 - - 2357.62 - - - - - - - - - 15.84 -
16013.50 711.63 7.66 1661 16033.95 done 2.03 - - 2990.69 - 3.34 0.087 872.44 -342.3 126.52 - - 2357.12 - - - - - - - - - 15.52 -
16065.11 707.06 8.49 1668 16084.92 2.07 0.05 0.171 3016.25 511.2 2.74 0.022 2015.81 417.3 126.52 - - 2354.91 - - - - - - - - 15.61 15.86 -
16391.60 680.30 8.25 1700 16412.06 done 2.13 - - 3015.88 - 3.33 0.086 872.38 -343.4 126.52 - - 2352.75 - - - - - - - - - 15.51 -
16488.55 671.66 9.10 1716 16506.95 done 2.13 - - 3016.19 - 2.73 0.023 2014.38 418.3 126.52 - - 2355.50 - - - - - - - - - 15.83 -
16813.71 644.08 8.54 1748 16834.15 done 2.16 - - 3016.00 - 3.34 0.085 873.75 -341.5 126.52 - - 2353.09 - - - - - - - - - 15.50 -
16890.64 636.96 9.36 1760 16908.68 done 2.16 - - 3016.50 - 2.74 0.022 2016.62 417.1 126.52 - - 2354.91 - - - - - - - - - 15.88 -
17214.82 608.96 8.75 1792 17234.04 done 2.16 - - 3016.25 - 3.04 0.076 3078.06 349.2 126.52 - - 2356.25 - - - - - - - - - 15.58 -
17240.91 606.82 8.65 1794 17258.94 2.19 - - 3016.44 - 2.79 0.026 1942.12 -407.1 126.52 - - 2355.94 - - - - - - - - - 15.81 -
17565.45 578.85 8.32 1826 17585.11 2.25 - - 3015.50 - 3.11 0.090 873.44 -343.6 126.52 - - 2354.19 - - - - - - - - - 15.46 -
17625.87 573.38 8.74 1835 17644.88 2.25 - - 3015.56 - 2.74 0.022 2015.38 416.8 126.52 - - 2354.25 - - - - - - - - - 15.85 -
17951.53 547.28 7.63 1867 17972.00 2.34 - - 3016.25 - 3.33 0.085 873.56 -342.9 126.52 - - 2356.25 - - - - - - - - - 15.48 -
18068.89 537.38 8.39 1887 18087.30 2.38 - - 3015.94 - 2.74 0.022 2015.06 416.6 126.52 - - 2353.97 - - - - - - - - - 15.86 -
18394.07 512.79 7.37 1919 18414.54 2.49 - - 3016.19 - 3.33 0.085 873.69 -342.8 126.52 - - 2352.41 - - - - - - - - - 15.48 -
18521.43 502.52 8.11 1941 18539.47 2.56 - - 3015.88 - 2.74 0.022 2014.31 416.3 126.52 - - 2353.72 - - - - - - - - - 15.86 -
18845.97 478.52 7.37 1973 18866.60 2.66 - - 3014.69 - 3.34 0.085 873.50 -341.6 126.52 - - 2353.78 - - - - - - - - - 15.46 -
18903.49 473.82 8.43 1981 18921.90 2.71 - - 3016.75 - 2.76 0.022 2016.00 413.9 126.52 - - 2355.88 - - - - - - - - - 15.83 -
19228.43 449.36 7.47 2013 19232.51 2.81 - - 3015.81 - - - 2015.94 - 126.52 - - 2353.16 - - - - - - - - - - -
19539.06 426.08 7.23 2044 19559.54 2.93 - - 3016.94 - 3.37 0.084 873.88 -338.9 126.52 - - 2351.94 - - - - - - - - - 15.40 -
19670.83 415.34 8.09 2067 19689.58 2.99 - - 3016.38 - 2.75 0.022 2014.94 414.9 126.52 - - 2355.69 - - - - - - - - - 15.68 -
19996.12 392.05 7.09 2099 20000.19 3.11 - - 3016.75 - - - 2014.75 - 126.52 - - 2353.41 - - - - - - - - - - -
20306.71 371.01 6.80 2130 20327.27 3.26 - - 3015.94 - 3.33 0.084 874.06 -342.5 126.52 - - 2352.28 - - - - - - - - - 15.44 -
20364.15 366.80 7.16 2138 20382.19 3.38 - - 3016.81 - 2.75 0.021 2016.69 415.5 126.52 - - 2353.56 - - - - - - - - - 15.84 -
20688.69 344.65 7.27 2170 20708.74 3.49 - - 3015.81 - 3.30 0.084 872.44 -346.7 126.52 - - 2355.31 - - - - - - - - - 15.35 -
20759.90 338.92 8.08 2181 20778.65 3.56 - - 3016.19 - 2.78 0.021 2016.56 411.6 126.52 - - 2353.62 - - - - - - - - - 15.57 -
21085.18 314.90 7.47 2213 21105.48 3.66 - - 3016.00 - 3.26 0.084 873.50 -350.6 126.52 - - 2352.56 - - - - - - - - - 15.41 -
21216.78 304.35 7.90 2236 21235.53 3.73 - - 3015.94 - 2.74 0.022 2016.88 417.3 126.52 - - 2354.44 - - - - - - - - - 15.86 -
21542.06 282.75 6.32 2268 21546.13 3.90 - - 3016.75 - - - 2016.62 - 126.52 - - 2352.97 - - - - - - - - - - -
21852.75 264.11 5.71 2299 21951.33 4.04 - - 3015.25 - 3.28 0.086 872.00 -349.0 196.44 55.95 1.423 2088.31 -4.7 0.154 - - - - - - - 15.23 10.43
21972.81 254.73 9.20 2315 21990.85 roll back 4.04 - - 3016.38 - 2.76 0.021 2014.88 414.1 196.44 - - 2084.00 - - - - - - - - - 15.71 -
22297.10 226.64 8.91 2347 22317.15 4.04 - - 3016.06 - 3.30 0.084 872.56 -346.2 196.44 - - 2078.22 - - - - - - - - - 15.40 -
22343.64 222.05 10.12 2353 22361.68 4.04 - - 3016.31 - 2.76 0.021 2016.56 414.5 196.44 - - 2079.19 - - - - - - - - - 15.76 -
22667.82 193.08 8.86 2385 22688.12 4.04 - - 3016.88 - 3.28 0.083 874.00 -348.3 196.44 - - 2077.28 - - - - - - - - - 15.30 -
22754.74 184.83 9.45 2399 22772.77 4.04 - - 3015.88 - 2.76 0.021 2014.88 413.4 196.44 - - 2077.31 - - - - - - - - - 15.77 -
23079.33 157.45 7.98 2431 23098.58 4.04 - - 3016.75 - 3.08 0.074 3076.25 344.6 196.44 - - 2078.91 - - - - - - - - - 15.37 -
23119.72 154.01 8.31 2436 23138.89 4.04 - - 3016.69 - 2.83 0.025 1940.06 -401.5 196.44 - - 2077.84 - - - - - - - - - 15.61 -
23445.42 128.51 7.87 2468 23449.49 4.04 - - 3016.38 - - - 1939.44 - 196.44 - - 2075.31 - - - - - - - - - - -
23756.00 103.55 7.91 2499 23760.08 4.04 - - 3016.44 - - - 1939.81 - 196.44 - - 2075.28 - - - - - - - - - - -
24066.62 82.76 5.58 2556 24169.87 4.19 - - 3017.25 - 3.05 0.089 873.69 -349.5 268.95 57.61 1.168 1791.94 -4.9 0.061 - - - - - - - 15.24 11.48
24201.35 72.11 9.27 2575 24220.10 roll back 4.19 - - 3016.62 - 2.74 0.020 2018.62 417.9 268.95 - - 1787.69 - - - - - - - - - 15.46 -
24406.62 56.81 6.22 2613 24426.60 4.19 - - 3016.50 - 2.99 0.072 3078.62 354.5 268.95 - - 1784.16 - - - - - - - - - 15.53 -
24658.63 44.03 5.12 2660 24770.27 4.35 - - 3016.94 - 2.81 0.024 1940.56 -405.0 350.82 65.43 1.098 1460.69 -4.9 0.035 - - - - - - - 15.50 11.61
24956.79 26.06 6.50 2711 24976.79 4.35 - - 3017.12 - 3.08 0.088 872.62 -346.7 350.82 - - 1451.16 - - - - - - - - - 15.50 -
25208.80 9.55 6.55 2758 25227.95 4.35 - - 3016.56 - 2.74 0.020 2023.56 420.1 350.82 - - 1448.53 - - - - - - - - - 15.56 -
25298 end climb: SURFACE_DEPTH_REACHED
25299 begin surface coast
25375 end surface coast: CONTROL_FINISHED_OK
25375 begin surface
SM 0.99 - - - - 178.2 39.78 1.047 1259.0 31.6 20.49 0.048 1280.9 62.5 - 0.47 0.049 1237.1 2626.3 -5.423 - - 11.04 15.70 15.80 -