NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 652 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 223.72 of 506.00 AH used of 24V (55.79% remains)
• Surface angle -60.6 deg, depth 1.10 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.84 (SM_CC=430)
• GPS1 time: 24 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
19.29 - - - 126.33 VBD -1.18 - - 178.38 - - - 2281.25 - -77.86 75.51 0.005 2977.59 - - - - - - - - - - 14.71
128.54 3.30 -3.45 15 244.25 -1.18 17.63 0.210 2228.12 116.3 3.14 0.081 3353.50 341.5 -77.86 3.36 0.011 3210.78 69.4 -3.569 - - - - - - 15.22 14.90 15.03
305.81 43.35 -13.37 33 324.54 roll -1.18 - - 2229.12 - 2.77 0.018 2195.69 -418.0 -77.86 - - 3211.72 - - - - - - - - - 15.62 -
510.62 69.30 -11.69 71 529.78 roll -1.18 - - 2228.75 - 2.92 0.069 1143.69 -360.3 -77.86 - - 3212.50 - - - - - - - - - 15.58 -
551.20 73.57 -10.62 76 569.55 roll -1.18 - - 2228.62 - 2.77 0.024 2280.19 410.3 -77.86 - - 3212.94 - - - - - - - - - 15.68 -
755.62 90.61 -7.91 114 775.56 roll -1.18 - - 2229.12 - 3.12 0.080 3353.62 344.0 -77.86 - - 3212.34 - - - - - - - - - 15.58 -
826.98 97.05 -9.23 125 845.33 roll -1.18 - - 2228.25 - 2.73 0.018 2190.00 -426.2 -77.86 - - 3213.41 - - - - - - - - - 15.81 -
1036.38 113.69 -7.45 147 1057.56 roll -1.18 - - 2228.81 - 3.35 0.076 3353.25 347.2 -77.86 - - 3210.81 - - - - - - - - - 15.66 -
1068.98 116.15 -7.57 150 1086.75 roll -1.18 - - 2227.62 - 2.75 0.018 2188.81 -423.4 -77.86 - - 3213.47 - - - - - - - - - 15.85 -
1392.83 141.67 -8.10 182 1396.85 no move -1.18 - - 2228.50 - - - 2187.12 - -77.86 - - 3211.88 - - - - - - - - - - -
1702.91 166.20 -7.49 213 1723.31 roll -1.18 - - 2228.62 - 3.38 0.076 3353.44 345.1 -77.86 - - 3211.75 - - - - - - - - - 15.56 -
1729.89 168.44 -7.88 215 1747.88 roll -1.18 - - 2227.19 - 2.77 0.018 2189.00 -420.4 -77.86 - - 3213.09 - - - - - - - - - 15.77 -
2053.95 192.48 -6.98 247 2075.39 roll -1.18 - - 2228.62 - 3.37 0.076 3352.19 345.2 -77.86 - - 3212.16 - - - - - - - - - 15.63 -
2106.86 196.82 -8.17 254 2124.45 roll -1.18 - - 2229.00 - 2.73 0.018 2191.75 -425.1 -77.86 - - 3213.91 - - - - - - - - - 15.86 -
2430.56 217.97 -6.17 286 2448.57 roll -1.18 - - 2228.75 - 2.89 0.069 1143.56 -362.7 -77.86 - - 3212.44 - - - - - - - - - 15.77 -
2495.03 222.42 -6.85 296 2513.03 roll -1.18 - - 2227.88 - 2.74 0.024 2281.44 415.3 -77.86 - - 3214.09 - - - - - - - - - 15.79 -
2819.12 246.25 -7.99 328 2838.34 roll -1.18 - - 2228.69 - 3.12 0.064 1142.38 -365.1 -77.86 - - 3212.62 - - - - - - - - - 15.79 -
2918.86 254.82 -8.25 345 2937.42 roll -1.18 - - 2228.94 - 2.74 0.024 2279.94 415.2 -77.86 - - 3212.94 - - - - - - - - - 15.93 -
3243.52 280.41 -7.85 377 3262.57 roll -1.18 - - 2228.44 - 3.07 0.081 3354.00 349.9 -77.86 - - 3213.84 - - - - - - - - - 15.79 -
3283.18 283.92 -8.46 382 3301.77 roll -1.18 - - 2227.44 - 2.71 0.018 2188.19 -430.2 -77.86 - - 3213.53 - - - - - - - - - 15.93 -
3607.87 308.06 -7.45 414 3629.29 roll -1.18 - - 2229.12 - 3.32 0.077 3352.50 350.7 -77.86 - - 3212.22 - - - - - - - - - 15.69 -
3674.80 313.64 -7.93 424 3692.96 roll -1.18 - - 2229.12 - 2.70 0.018 2189.50 -430.7 -77.86 - - 3212.56 - - - - - - - - - 15.93 -
3999.05 337.82 -8.20 456 4017.46 roll -1.18 - - 2228.88 - 2.85 0.069 1143.38 -367.1 -77.86 - - 3212.66 - - - - - - - - - 15.79 -
4053.95 342.71 -8.89 464 4071.54 roll -1.18 - - 2229.25 - 2.72 0.024 2282.56 418.8 -77.86 - - 3213.22 - - - - - - - - - 15.94 -
4377.66 368.53 -7.54 496 4396.88 roll -1.18 - - 2228.75 - 3.11 0.064 1144.19 -366.0 -77.86 - - 3212.16 - - - - - - - - - 15.70 -
4463.35 375.23 -7.79 510 4481.34 roll -1.18 - - 2228.06 - 2.74 0.024 2280.94 414.9 -77.86 - - 3213.62 - - - - - - - - - 15.96 -
4787.46 395.73 -6.00 542 4791.52 no move -1.18 - - 2228.88 - - - 2280.62 - -77.86 - - 3212.62 - - - - - - - - - - -
5097.64 414.09 -6.30 573 5101.70 no move -1.18 - - 2228.69 - - - 2281.00 - -77.86 - - 3212.06 - - - - - - - - - - -
5407.94 434.46 -6.82 604 5427.16 roll -1.18 - - 2228.31 - 3.12 0.065 1143.56 -364.6 -77.86 - - 3211.12 - - - - - - - - - 15.71 -
5473.63 439.23 -7.40 614 5491.23 roll -1.18 - - 2228.44 - 2.75 0.024 2280.69 413.5 -77.86 - - 3212.44 - - - - - - - - - 15.95 -
5797.32 459.19 -5.79 646 5816.15 roll -1.18 - - 2229.12 - 3.09 0.065 1143.69 -368.0 -77.86 - - 3211.66 - - - - - - - - - 15.69 -
5836.65 461.73 -6.23 651 5855.21 roll -1.18 - - 2228.81 - 2.74 0.024 2279.62 414.6 -77.86 - - 3211.81 - - - - - - - - - 15.94 -
6161.31 480.51 -5.96 683 6180.13 roll -1.18 - - 2228.94 - 3.08 0.065 1142.38 -369.2 -77.86 - - 3211.41 - - - - - - - - - 15.80 -
6270.65 488.09 -6.92 702 6289.61 roll -1.18 - - 2227.81 - 2.76 0.025 2279.62 412.0 -77.86 - - 3212.50 - - - - - - - - - 15.85 -
6595.73 510.02 -7.01 734 6599.79 no move -1.18 - - 2228.62 - - - 2279.88 - -77.86 - - 3209.91 - - - - - - - - - - -
6905.94 531.99 -6.77 765 6925.00 roll -1.18 - - 2228.25 - 3.08 0.065 1140.88 -369.8 -77.86 - - 3209.81 - - - - - - - - - 15.80 -
6985.62 537.84 -7.38 778 7004.18 roll -1.18 - - 2228.25 - 2.74 0.025 2279.62 415.6 -77.86 - - 3210.66 - - - - - - - - - 15.97 -
7310.28 556.95 -5.52 810 7329.10 roll -1.18 - - 2226.94 - 3.05 0.065 1143.38 -372.5 -77.86 - - 3210.47 - - - - - - - - - 15.78 -
7395.58 561.96 -5.91 824 7413.19 roll -1.18 - - 2229.00 - 2.73 0.025 2279.00 416.0 -77.86 - - 3211.28 - - - - - - - - - 15.95 -
7719.29 578.15 -5.27 856 7738.12 roll -1.18 - - 2226.19 - 3.07 0.066 1143.75 -369.8 -77.86 - - 3210.44 - - - - - - - - - 15.79 -
7798.63 583.15 -6.40 869 7817.21 roll -1.18 - - 2228.62 - 2.74 0.025 2277.62 413.8 -77.86 - - 3210.50 - - - - - - - - - 15.96 -
8123.29 604.47 -6.63 901 8142.52 roll -1.18 - - 2228.00 - 3.12 0.085 3353.75 344.9 -77.86 - - 3208.03 - - - - - - - - - 15.76 -
8189.00 609.32 -7.41 911 8206.60 roll -1.18 - - 2227.38 - 2.70 0.019 2190.12 -431.0 -77.86 - - 3209.88 - - - - - - - - - 15.97 -
8512.73 630.35 -6.12 943 8516.79 no move -1.18 - - 2228.69 - - - 2188.00 - -77.86 - - 3208.38 - - - - - - - - - - -
8823.16 649.73 -6.47 974 8827.22 no move -1.18 - - 2228.38 - - - 2188.00 - -77.86 - - 3206.97 - - - - - - - - - - -
9133.42 669.01 -6.12 1005 9154.85 roll -1.18 - - 2228.19 - 3.33 0.082 3354.50 350.3 -77.86 - - 3207.06 - - - - - - - - - 15.73 -
9220.37 674.78 -6.96 1019 9238.93 roll -1.18 - - 2228.44 - 2.72 0.019 2189.88 -428.2 -77.86 - - 3208.47 - - - - - - - - - 15.81 -
9545.44 691.97 -4.71 1051 9549.50 no move -1.18 - - 2228.50 - - - 2188.19 - -77.86 - - 3206.09 - - - - - - - - - - -
9855.63 710.07 -6.38 1082 9873.63 roll -1.18 - - 2228.56 - 2.87 0.072 1143.81 -363.9 -77.86 - - 3207.41 - - - - - - - - - 15.77 -
9904.13 713.27 -6.53 1089 9923.08 roll -1.18 - - 2228.94 - 2.73 0.025 2280.00 416.2 -77.86 - - 3208.25 - - - - - - - - - 15.96 -
10229.57 731.39 -4.12 1121 10233.63 no move -1.18 - - 2228.69 - - - 2279.94 - -77.86 - - 3206.09 - - - - - - - - - - -
10539.77 753.20 -7.02 1152 10558.60 roll -1.18 - - 2228.31 - 3.10 0.067 1142.75 -366.8 -77.86 - - 3205.09 - - - - - - - - - 15.76 -
10689.11 762.16 -5.67 1179 10707.68 roll -1.18 - - 2228.56 - 2.76 0.026 2279.69 411.9 -77.86 - - 3206.34 - - - - - - - - - 15.95 -
11014.18 771.08 -1.64 1211 11033.41 roll -1.18 - - 2228.62 - 3.12 0.089 3352.44 343.8 -77.86 - - 3206.00 - - - - - - - - - 15.69 -
11190 end dive: NO_VERTICAL_VELOCITY
11191 begin apogee
11207.72 771.05 - 1243 11311.23 -0.31 1.52 0.092 2443.62 141.4 0.19 0.131 2291.00 -5586.5 - 64.62 2.055 2890.31 -4.9 0.314 - - - - - - 15.79 15.19 10.10
11318 end apogee: CONTROL_FINISHED_OK
11319 begin climb
11321.37 771.06 - 1250 11449.82 1.18 2.58 0.086 2806.81 140.8 3.27 0.073 1145.19 -350.4 77.86 66.15 2.022 2571.31 -4.8 0.315 - - - - - - 15.59 15.10 11.39
11476.81 764.68 5.27 1268 11496.45 roll back 1.35 0.25 0.079 2854.62 191.2 2.82 0.027 2277.44 401.5 77.86 - - 2566.47 - - - - - - - - 15.44 15.57 -
11803.07 747.23 5.92 1300 11807.38 VBD 1.48 - - 2854.75 - - - 2278.06 - 77.86 - - 2562.69 - - - - - - - - - - -
12113.99 728.50 6.48 1331 12136.24 1.57 0.26 0.069 2907.94 204.6 3.13 0.070 1144.19 -362.3 77.86 - - 2561.81 - - - - - - - - 15.76 15.71 -
12262.16 717.84 6.58 1357 12280.73 done 1.66 - - 2907.31 - 2.78 0.028 2275.88 407.1 77.86 - - 2563.88 - - - - - - - - - 15.87 -
12587.23 696.19 6.42 1389 12592.83 1.76 0.22 0.072 2954.69 215.4 - - 2276.06 - 77.86 - - 2561.94 - - - - - - - - 15.87 - -
12899.33 675.14 6.21 1420 12918.16 done 1.87 - - 2954.31 - 3.09 0.070 1144.44 -366.2 77.86 - - 2562.09 - - - - - - - - - 15.78 -
12995.04 668.04 7.54 1436 13012.64 done 1.90 - - 2955.06 - 2.78 0.029 2275.69 406.9 77.86 - - 2561.31 - - - - - - - - - 15.90 -
13318.75 645.14 7.56 1468 13337.97 done 1.90 - - 2953.25 - 3.14 0.090 3353.75 343.3 77.86 - - 2560.50 - - - - - - - - - 15.75 -
13344.43 643.09 7.68 1470 13361.62 done 1.90 - - 2955.25 - 2.70 0.021 2196.12 -428.8 77.86 - - 2561.00 - - - - - - - - - 15.93 -
13668.12 619.21 7.49 1502 13691.05 1.93 0.17 0.082 2998.75 255.9 3.37 0.086 3352.94 343.3 77.86 - - 2558.94 - - - - - - - - 15.89 15.64 -
13702.63 616.33 8.49 1505 13720.24 done 1.93 - - 2999.19 - 2.72 0.021 2199.06 -424.2 77.86 - - 2560.12 - - - - - - - - - 15.94 -
14026.31 589.57 7.69 1537 14044.31 done 1.93 - - 2999.19 - 2.89 0.074 1143.62 -365.2 77.86 - - 2558.19 - - - - - - - - - 15.79 -
14111.19 583.50 7.19 1551 14128.78 done 1.98 - - 2999.81 - 2.78 0.028 2278.81 408.3 77.86 - - 2560.09 - - - - - - - - - 15.94 -
14435.30 562.31 6.01 1583 14455.36 2.11 - 0.030 3001.38 - 3.13 0.089 3352.94 343.2 77.86 - - 2560.00 - - - - - - - - - 15.73 -
14466.26 560.24 6.20 1586 14484.83 2.22 - - 3000.62 - 2.72 0.021 2196.38 -425.2 77.86 - - 2560.91 - - - - - - - - - 15.94 -
14791.35 541.95 5.11 1618 14809.37 2.39 - - 3001.50 - 2.89 0.074 1143.75 -364.2 77.86 - - 2558.03 - - - - - - - - - 15.77 -
14896.26 535.96 5.81 1636 14914.27 2.53 - - 3000.50 - 2.78 0.028 2276.94 407.6 77.86 - - 2560.19 - - - - - - - - - 15.93 -
15220.83 517.14 5.92 1668 15240.06 2.65 - - 3000.62 - 3.14 0.089 3351.94 342.4 77.86 - - 2558.41 - - - - - - - - - 15.73 -
15247.04 515.63 5.76 1670 15265.04 2.79 - - 3000.56 - 2.70 0.020 2196.00 -428.1 77.86 - - 2560.12 - - - - - - - - - 15.95 -
15571.53 497.80 5.33 1702 15589.96 2.95 - - 3000.31 - 2.90 0.074 1143.38 -363.0 77.86 - - 2558.00 - - - - - - - - - 15.76 -
15600.86 496.06 5.41 1705 15619.45 3.11 - - 3000.31 - 2.78 0.028 2278.38 408.3 77.86 - - 2560.25 - - - - - - - - - 15.90 -
15925.97 479.77 5.08 1737 15930.04 3.29 - - 3001.06 - - - 2278.38 - 77.86 - - 2558.19 - - - - - - - - - - -
16236.51 464.33 5.03 1768 16328.29 3.42 - - 3000.25 - 3.16 0.073 1144.81 -358.7 140.26 51.65 1.690 2316.34 -4.7 0.221 - - - - - - - 15.35 10.48
16459.79 444.90 10.56 1805 16477.83 roll back 3.42 - - 3000.88 - 2.82 0.029 2274.81 400.7 140.26 - - 2311.28 - - - - - - - - - 15.72 -
16784.26 414.50 9.45 1837 16803.09 3.42 - - 3000.69 - 3.08 0.070 1145.25 -366.7 140.26 - - 2309.12 - - - - - - - - - 15.71 -
16833.71 409.62 9.81 1844 16852.68 3.42 - - 3000.50 - 2.80 0.029 2276.69 404.1 140.26 - - 2308.50 - - - - - - - - - 15.83 -
17158.80 380.68 8.61 1876 17178.05 3.42 - - 2998.81 - 3.15 0.090 3350.19 340.8 140.26 - - 2307.56 - - - - - - - - - 15.62 -
17208.56 375.73 9.44 1883 17227.13 3.42 - - 3000.75 - 2.73 0.021 2198.81 -421.8 140.26 - - 2307.50 - - - - - - - - - 15.88 -
17533.20 347.71 8.78 1915 17537.28 3.42 - - 2999.94 - - - 2196.88 - 140.26 - - 2306.34 - - - - - - - - - - -
17843.36 317.83 9.46 1946 17861.79 3.42 - - 3000.19 - 2.90 0.074 1143.44 -363.3 140.26 - - 2305.41 - - - - - - - - - 15.76 -
17902.28 312.05 10.06 1955 17920.86 3.42 - - 3000.69 - 2.79 0.028 2277.88 406.6 140.26 - - 2306.38 - - - - - - - - - 15.77 -
18226.94 282.27 8.97 1987 18245.77 3.42 - - 3000.69 - 3.10 0.069 1145.00 -365.4 140.26 - - 2305.03 - - - - - - - - - 15.76 -
18272.23 277.97 9.62 1993 18289.85 3.42 - - 3000.12 - 2.77 0.028 2275.75 408.2 140.26 - - 2305.00 - - - - - - - - - 15.78 -
18596.03 251.12 8.14 2025 18614.87 3.42 - - 3000.50 - 3.07 0.069 1143.81 -368.7 140.26 - - 2306.50 - - - - - - - - - 15.74 -
18691.35 242.99 8.51 2041 18709.39 3.42 - - 3000.94 - 2.81 0.027 2277.25 403.4 140.26 - - 2305.19 - - - - - - - - - 15.79 -
19015.91 219.81 6.44 2073 19035.16 3.51 - - 3000.88 - 3.16 0.088 3352.81 340.4 140.26 - - 2304.47 - - - - - - - - - 15.70 -
19206.12 206.04 7.27 2108 19224.69 3.56 - - 3001.00 - 2.71 0.020 2198.75 -425.9 140.26 - - 2306.59 - - - - - - - - - 15.93 -
19531.18 183.78 7.37 2140 19549.72 3.60 - - 2999.81 - 2.91 0.072 1142.50 -363.0 140.26 - - 2305.41 - - - - - - - - - 15.59 -
19576.18 180.29 7.60 2146 19594.19 3.60 - - 2999.56 - 2.78 0.027 2278.75 408.7 140.26 - - 2306.44 - - - - - - - - - 15.88 -
19900.67 156.70 6.98 2178 19919.91 3.66 - - 2999.62 - 3.16 0.087 3351.81 339.6 140.26 - - 2305.50 - - - - - - - - - 15.50 -
19966.38 151.59 7.83 2188 19984.23 3.66 - - 3001.81 - 2.72 0.020 2197.06 -424.5 140.26 - - 2306.41 - - - - - - - - - 15.83 -
20290.86 129.85 6.66 2220 20309.29 3.75 - - 2999.62 - 2.90 0.071 1143.19 -363.4 140.26 - - 2305.75 - - - - - - - - - 15.56 -
20360.21 125.19 6.74 2231 20378.78 3.75 - - 3000.12 - 2.77 0.026 2278.25 409.8 140.26 - - 2305.91 - - - - - - - - - 15.67 -
20685.30 105.20 5.78 2263 20704.53 3.75 - - 3000.75 - 3.12 0.086 3352.25 344.2 140.26 - - 2303.94 - - - - - - - - - 15.59 -
20731.50 102.47 5.85 2269 20749.12 3.75 - - 3000.94 - 2.75 0.019 2192.06 -421.9 140.26 - - 2306.38 - - - - - - - - - 15.74 -
21055.62 87.59 4.30 2328 21147.62 3.90 - - 3001.00 - - - 2190.25 - 217.84 61.56 1.190 2000.75 -5.0 0.063 - - - - - - - - 10.91
21334.13 69.21 7.12 2378 21353.52 3.96 - - 3001.50 - 2.88 0.072 1144.19 -363.2 217.84 - - 1993.12 - - - - - - - - - 15.50 -
21395.10 64.55 7.79 2387 21413.67 3.96 - - 3001.88 - 2.78 0.026 2278.19 407.9 217.84 - - 1993.12 - - - - - - - - - 15.63 -
21600.18 57.15 3.45 2425 21725.49 4.15 - - 3001.31 - 3.13 0.069 1144.69 -362.1 312.82 73.65 1.139 1614.03 -5.1 0.044 - - - - - - - 15.28 11.36
21732.34 49.31 7.48 2442 21751.32 roll back 4.15 - - 3001.69 - 2.81 0.025 2277.31 403.1 312.82 - - 1608.47 - - - - - - - - - 15.49 -
21937.43 33.01 8.77 2480 21958.02 4.15 - - 3001.69 - 3.14 0.067 1143.50 -361.1 312.82 - - 1604.41 - - - - - - - - - 15.54 -
21984.49 28.83 8.91 2486 22003.47 4.15 - - 3000.62 - 2.81 0.026 2276.81 403.3 312.82 - - 1603.72 - - - - - - - - - 15.63 -
22189.58 9.96 9.70 2524 22196.46 4.15 - - 3001.62 - - - 2276.25 - 312.82 - - 1602.28 - - - - - - - - - - -
22262 end climb: SURFACE_DEPTH_REACHED
22262 begin surface coast
22318 end surface coast: CONTROL_FINISHED_OK
22319 begin surface
SM 1.16 - - - - 180.6 90.32 1.074 1137.7 12.6 19.95 0.050 1129.6 56.6 - 0.12 0.083 1145.8 9548.3 -13.639 - - 11.03 15.78 15.84 -