NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 51 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 19.37 of 506.00 AH used of 24V (96.17% remains)
• Surface angle -60.5 deg, depth 1.01 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.82 (SM_CC=430)
• GPS1 time: 24 s
• GPS2 time: 2 s • Transponder ping count: 14
• 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
18.67 - - - 132.03 VBD -1.18 - - 180.81 - - - 2151.06 - -77.86 80.40 0.005 2625.44 - - - - - - - - - - 14.60
134.25 3.14 -2.94 16 245.28 -1.18 16.49 0.234 2228.06 124.2 2.83 0.073 1092.94 -373.9 -77.86 8.12 0.007 3209.78 72.0 -5.350 - - - - - - 15.72 15.65 15.71
476.44 70.79 -13.61 68 494.25 roll -1.18 - - 2227.44 - 2.76 0.025 2232.94 413.0 -77.86 - - 3213.19 - - - - - - - - - 15.94 -
680.18 92.31 -8.49 106 699.37 roll -1.18 - - 2227.50 - 3.04 0.064 1093.00 -375.0 -77.86 - - 3215.34 - - - - - - - - - 15.95 -
925.54 112.47 -8.06 152 942.63 roll -1.18 - - 2228.00 - 2.75 0.025 2234.50 415.1 -77.86 - - 3214.72 - - - - - - - - - 15.99 -
1248.39 135.64 -7.87 184 1265.85 roll -1.18 - - 2227.75 - 2.88 0.081 3305.31 371.8 -77.86 - - 3214.94 - - - - - - - - - 15.96 -
1432.03 152.56 -9.97 218 1449.31 roll -1.18 - - 2228.00 - 2.75 0.021 2145.06 -421.9 -77.86 - - 3215.72 - - - - - - - - - 16.03 -
1755.09 179.62 -7.29 250 1759.11 no move -1.18 - - 2227.19 - - - 2144.38 - -77.86 - - 3214.28 - - - - - - - - - - -
2065.14 202.65 -7.92 281 2069.16 no move -1.18 - - 2226.75 - - - 2143.62 - -77.86 - - 3214.34 - - - - - - - - - - -
2375.18 228.22 -8.18 312 2379.19 no move -1.18 - - 2227.06 - - - 2143.12 - -77.86 - - 3213.69 - - - - - - - - - - -
2685.22 254.15 -8.39 343 2704.33 roll -1.18 - - 2226.81 - 3.12 0.080 3306.38 372.8 -77.86 - - 3212.72 - - - - - - - - - 16.08 -
2764.91 261.28 -9.08 356 2782.91 roll -1.18 - - 2227.25 - 2.73 0.021 2147.44 -424.5 -77.86 - - 3214.72 - - - - - - - - - 16.09 -
3088.73 286.63 -7.92 388 3106.40 roll -1.18 - - 2227.06 - 2.80 0.074 1092.94 -376.6 -77.86 - - 3212.56 - - - - - - - - - 16.09 -
3176.86 294.30 -8.74 403 3194.86 roll -1.18 - - 2227.62 - 2.73 0.026 2232.94 417.6 -77.86 - - 3213.47 - - - - - - - - - 16.10 -
3500.68 319.36 -7.58 435 3518.36 roll -1.18 - - 2227.00 - 2.88 0.084 3305.25 372.3 -77.86 - - 3210.28 - - - - - - - - - 16.08 -
3644.55 331.22 -8.46 461 3661.43 roll -1.18 - - 2227.19 - 2.70 0.022 2146.69 -429.1 -77.86 - - 3211.31 - - - - - - - - - 16.11 -
3967.24 354.60 -7.30 493 3971.30 no move -1.18 - - 2228.06 - - - 2146.81 - -77.86 - - 3209.91 - - - - - - - - - - -
4277.28 378.85 -8.34 524 4295.77 roll -1.18 - - 2227.69 - 3.10 0.081 3304.19 373.3 -77.86 - - 3207.59 - - - - - - - - - 16.11 -
4486.26 398.82 -9.71 563 4504.11 roll -1.18 - - 2227.69 - 2.70 0.022 2152.38 -426.6 -77.86 - - 3208.94 - - - - - - - - - 16.12 -
4810.07 425.56 -7.89 595 4827.76 roll -1.18 - - 2227.69 - 2.81 0.076 1094.25 -376.6 -77.86 - - 3208.00 - - - - - - - - - 16.10 -
4923.97 434.74 -7.92 615 4941.63 roll -1.18 - - 2227.25 - 2.72 0.027 2232.75 418.6 -77.86 - - 3208.16 - - - - - - - - - 16.12 -
5247.44 459.57 -7.45 647 5251.49 no move -1.18 - - 2227.31 - - - 2232.81 - -77.86 - - 3206.03 - - - - - - - - - - -
5557.50 483.68 -7.71 678 5576.00 roll -1.18 - - 2227.00 - 3.02 0.071 1093.88 -377.1 -77.86 - - 3204.44 - - - - - - - - - 16.12 -
5636.46 490.10 -8.03 691 5654.47 roll -1.18 - - 2227.62 - 2.73 0.027 2232.38 417.0 -77.86 - - 3205.88 - - - - - - - - - 16.12 -
5960.27 513.57 -7.37 723 5964.33 no move -1.18 - - 2227.44 - - - 2233.50 - -77.86 - - 3204.16 - - - - - - - - - - -
6270.32 536.73 -7.41 754 6274.37 no move -1.18 - - 2227.19 - - - 2232.50 - -77.86 - - 3203.38 - - - - - - - - - - -
6580.36 558.87 -6.90 785 6584.41 no move -1.18 - - 2226.88 - - - 2232.69 - -77.86 - - 3202.50 - - - - - - - - - - -
6890.42 581.32 -7.23 816 6909.16 roll -1.18 - - 2227.75 - 3.03 0.073 1094.12 -375.8 -77.86 - - 3201.16 - - - - - - - - - 16.13 -
6965.45 586.79 -7.55 828 6982.75 roll -1.18 - - 2227.38 - 2.75 0.027 2231.44 413.6 -77.86 - - 3202.69 - - - - - - - - - 16.13 -
7288.55 609.89 -7.30 860 7292.60 no move -1.18 - - 2227.00 - - - 2231.44 - -77.86 - - 3201.31 - - - - - - - - - - -
7598.62 632.06 -6.93 891 7617.10 roll -1.18 - - 2227.31 - 3.02 0.073 1092.50 -377.1 -77.86 - - 3201.91 - - - - - - - - - 16.12 -
7653.28 636.09 -7.15 899 7670.96 roll -1.18 - - 2227.44 - 2.76 0.027 2229.69 412.0 -77.86 - - 3200.94 - - - - - - - - - 16.12 -
7976.74 657.28 -6.49 931 7980.80 no move -1.18 - - 2226.75 - - - 2230.06 - -77.86 - - 3200.31 - - - - - - - - - - -
8286.75 677.73 -6.72 962 8290.81 no move -1.18 - - 2226.75 - - - 2230.19 - -77.86 - - 3199.38 - - - - - - - - - - -
8596.77 697.10 -6.07 993 8614.85 roll -1.18 - - 2227.38 - 2.91 0.089 3303.94 369.0 -77.86 - - 3201.53 - - - - - - - - - 16.09 -
8715.32 705.35 -6.92 1014 8732.91 roll -1.18 - - 2227.75 - 2.70 0.023 2150.81 -427.1 -77.86 - - 3200.28 - - - - - - - - - 16.11 -
9039.13 722.96 -5.04 1046 9056.81 roll -1.18 - - 2227.56 - 2.81 0.078 1094.00 -376.1 -77.86 - - 3199.78 - - - - - - - - - 16.10 -
9197.30 732.14 -5.64 1075 9215.31 roll -1.18 - - 2227.69 - 2.77 0.028 2229.94 410.1 -77.86 - - 3198.59 - - - - - - - - - 16.11 -
9521.23 749.79 -5.54 1107 9539.32 roll -1.18 - - 2227.00 - 2.91 0.089 3304.44 369.2 -77.86 - - 3197.94 - - - - - - - - - 16.10 -
9599.77 754.93 -6.42 1120 9617.78 roll -1.18 - - 2227.69 - 2.72 0.023 2149.75 -424.5 -77.86 - - 3199.38 - - - - - - - - - 16.10 -
9923.60 773.29 -6.15 1152 9927.67 no move -1.18 - - 2227.56 - - - 2149.06 - -77.86 - - 3197.00 - - - - - - - - - - -
10233.63 792.66 -6.32 1183 10237.69 no move -1.18 - - 2227.25 - - - 2149.19 - -77.86 - - 3196.16 - - - - - - - - - - -
10543.74 813.74 -6.62 1214 10547.80 no move -1.18 - - 2227.00 - - - 2149.56 - -77.86 - - 3196.31 - - - - - - - - - - -
10853.73 833.09 -5.83 1245 10871.42 roll -1.18 - - 2225.75 - 2.81 0.079 1093.12 -376.0 -77.86 - - 3197.47 - - - - - - - - - 16.09 -
10937.59 838.95 -6.94 1259 10954.99 roll -1.18 - - 2227.38 - 2.76 0.028 2231.69 412.5 -77.86 - - 3197.06 - - - - - - - - - 16.11 -
11260.78 859.10 -5.99 1291 11278.87 roll -1.18 - - 2224.31 - 2.92 0.090 3303.25 367.0 -77.86 - - 3196.97 - - - - - - - - - 16.09 -
11415.08 869.90 -6.77 1319 11432.37 roll -1.18 - - 2227.56 - 2.72 0.023 2150.25 -423.9 -77.86 - - 3196.47 - - - - - - - - - 16.10 -
11738.32 888.13 -5.40 1351 11756.02 roll -1.18 - - 2226.69 - 2.83 0.079 1093.94 -373.3 -77.86 - - 3195.53 - - - - - - - - - 16.08 -
11802.20 892.02 -5.97 1361 11819.89 roll -1.18 - - 2227.38 - 2.75 0.028 2230.19 413.2 -77.86 - - 3195.69 - - - - - - - - - 16.11 -
12125.70 910.23 -5.62 1393 12143.78 roll -1.18 - - 2227.38 - 2.90 0.090 3302.31 369.7 -77.86 - - 3194.66 - - - - - - - - - 16.06 -
12214.25 916.41 -7.21 1408 12232.27 roll -1.18 - - 2227.44 - 2.72 0.024 2151.50 -423.1 -77.86 - - 3196.38 - - - - - - - - - 16.09 -
12538.08 935.87 -5.82 1440 12542.13 no move -1.18 - - 2226.69 - - - 2150.62 - -77.86 - - 3194.16 - - - - - - - - - - -
12848.12 955.12 -6.56 1471 12852.17 no move -1.18 - - 2226.62 - - - 2151.06 - -77.86 - - 3193.94 - - - - - - - - - - -
13158.18 975.29 -6.66 1502 13175.88 roll -1.18 - - 2226.69 - 2.85 0.080 1093.31 -371.1 -77.86 - - 3193.88 - - - - - - - - - 16.08 -
13266.35 982.53 -6.73 1521 13284.99 roll -1.18 - - 2227.94 - 2.78 0.029 2230.19 408.9 -77.86 - - 3194.09 - - - - - - - - - 16.10 -
13400 end dive: TARGET_DEPTH_EXCEEDED
13401 begin apogee
13405.02 990.33 -5.81 1534 13504.11 -0.31 1.54 0.141 2439.69 137.5 0.10 0.218 2192.38 -378.1 - 60.02 2.518 2889.50 -5.1 0.331 - - - - - - 16.01 15.60 12.00
13517 end apogee: CONTROL_FINISHED_OK
13518 begin climb
13520.27 991.95 - 1541 13644.93 1.18 2.52 0.098 2804.31 144.7 2.96 0.081 1145.50 -353.7 77.86 65.65 2.474 2572.34 -4.8 0.321 - - - - - - 15.74 15.35 12.59
13652.23 986.08 6.11 1555 13671.15 roll back 1.30 0.16 0.095 2841.38 231.7 2.89 0.032 2275.00 390.8 77.86 - - 2567.53 - - - - - - - - 15.61 15.63 -
13977.09 960.39 8.53 1587 13981.15 VBD 1.30 - - 2841.62 - - - 2274.38 - 77.86 - - 2561.84 - - - - - - - - - - -
14287.13 934.76 8.15 1618 14291.18 VBD 1.30 - - 2841.31 - - - 2274.06 - 77.86 - - 2560.38 - - - - - - - - - - -
14597.17 908.63 8.38 1649 14615.90 done 1.30 - - 2839.69 - 3.07 0.076 1144.44 -368.0 77.86 - - 2561.34 - - - - - - - - - 15.99 -
14656.47 903.51 8.95 1658 14674.88 done 1.30 - - 2842.94 - 2.83 0.033 2274.00 399.1 77.86 - - 2560.06 - - - - - - - - - 15.98 -
14980.69 876.97 7.97 1690 14999.19 done 1.30 - - 2841.81 - 3.06 0.076 1144.06 -369.3 77.86 - - 2560.81 - - - - - - - - - 16.02 -
15019.64 873.91 7.93 1695 15038.45 done 1.30 - - 2842.69 - 2.83 0.033 2275.88 399.9 77.86 - - 2560.00 - - - - - - - - - 16.02 -
15344.66 850.00 7.05 1727 15348.71 VBD 1.36 - - 2842.50 - - - 2275.62 - 77.86 - - 2557.81 - - - - - - - - - - -
15654.92 828.57 6.76 1758 15658.97 VBD 1.44 - - 2842.56 - - - 2275.25 - 77.86 - - 2557.84 - - - - - - - - - - -
15965.15 807.85 6.54 1789 15986.69 1.53 0.27 0.073 2897.62 203.9 3.06 0.076 1144.19 -369.6 77.86 - - 2559.56 - - - - - - - - 16.04 16.02 -
16127.90 794.28 8.92 1818 16145.59 done 1.53 - - 2897.69 - 2.81 0.034 2273.00 401.7 77.86 - - 2559.09 - - - - - - - - - 16.08 -
16451.41 768.19 8.46 1850 16455.47 VBD 1.53 - - 2897.81 - - - 2274.00 - 77.86 - - 2557.88 - - - - - - - - - - -
16761.87 743.47 7.47 1881 16780.20 done 1.56 - - 2897.00 - 2.99 0.099 3351.75 360.5 77.86 - - 2557.78 - - - - - - - - - 16.06 -
16806.48 739.44 8.85 1887 16823.78 done 1.56 - - 2898.12 - 2.72 0.024 2203.06 -422.3 77.86 - - 2558.22 - - - - - - - - - 16.08 -
17129.98 714.09 7.42 1919 17147.68 done 1.60 - - 2898.44 - 2.84 0.079 1143.75 -373.0 77.86 - - 2557.00 - - - - - - - - - 16.03 -
17258.16 702.98 8.71 1942 17276.96 done 1.60 - - 2898.12 - 2.81 0.034 2275.50 402.8 77.86 - - 2557.78 - - - - - - - - - 16.07 -
17582.97 677.44 8.02 1974 17601.06 done 1.60 - - 2898.00 - 2.96 0.098 3353.31 364.1 77.86 - - 2556.41 - - - - - - - - - 16.07 -
17687.27 668.42 9.24 1992 17704.55 done 1.60 - - 2898.88 - 2.70 0.024 2200.62 -426.9 77.86 - - 2559.00 - - - - - - - - - 16.08 -
18010.35 643.67 7.99 2024 18028.03 done 1.60 - - 2898.06 - 2.83 0.078 1143.25 -373.6 77.86 - - 2557.50 - - - - - - - - - 16.08 -
18098.49 637.00 7.70 2039 18116.50 done 1.60 - - 2898.12 - 2.79 0.034 2276.50 406.2 77.86 - - 2557.25 - - - - - - - - - 16.09 -
18422.70 612.62 7.53 2071 18441.21 done 1.63 - - 2898.69 - 3.03 0.075 1144.12 -373.7 77.86 - - 2555.16 - - - - - - - - - 16.08 -
18497.50 606.69 8.05 2083 18514.80 done 1.63 - - 2898.50 - 2.79 0.034 2274.81 405.3 77.86 - - 2558.12 - - - - - - - - - 16.08 -
18821.01 583.53 7.06 2115 18825.96 1.69 0.17 0.090 2938.31 234.2 - - 2274.94 - 77.86 - - 2555.34 - - - - - - - - 16.07 - -
19131.74 560.01 7.62 2146 19135.79 VBD 1.69 - - 2938.38 - - - 2275.25 - 77.86 - - 2555.50 - - - - - - - - - - -
19442.15 536.64 7.22 2177 19446.21 VBD 1.74 - - 2938.19 - - - 2275.31 - 77.86 - - 2555.69 - - - - - - - - - - -
19752.44 514.79 7.26 2208 19770.95 done 1.79 - - 2937.94 - 3.03 0.075 1144.25 -373.3 77.86 - - 2557.91 - - - - - - - - - 16.09 -
19801.40 510.97 7.74 2215 19819.41 done 1.79 - - 2937.75 - 2.78 0.033 2275.00 406.7 77.86 - - 2557.72 - - - - - - - - - 16.08 -
20125.65 488.06 6.99 2247 20130.60 1.85 0.17 0.089 2978.25 238.2 - - 2275.38 - 77.86 - - 2556.47 - - - - - - - - 16.07 - -
20436.44 463.95 7.78 2278 20454.56 done 1.85 - - 2978.69 - 2.97 0.097 3352.75 362.8 77.86 - - 2555.03 - - - - - - - - - 16.04 -
20535.02 455.30 8.71 2295 20553.05 done 1.85 - - 2978.44 - 2.71 0.024 2200.94 -425.0 77.86 - - 2556.12 - - - - - - - - - 16.07 -
20859.37 430.85 7.34 2327 20863.42 VBD 1.89 - - 2978.75 - - - 2199.12 - 77.86 - - 2555.88 - - - - - - - - - - -
21169.63 409.32 6.52 2358 21173.69 VBD 1.99 - - 2978.19 - - - 2199.94 - 77.86 - - 2555.69 - - - - - - - - - - -
21479.90 390.67 6.12 2389 21498.94 2.10 0.13 0.099 3015.06 283.6 2.82 0.077 1143.31 -374.7 77.86 - - 2556.56 - - - - - - - - 16.05 16.03 -
21729.85 374.27 6.39 2436 21748.28 2.20 - - 3014.31 - 2.80 0.032 2277.25 405.0 77.86 - - 2558.09 - - - - - - - - - 16.07 -
22054.50 352.69 6.57 2468 22073.01 2.29 - - 3014.81 - 3.02 0.072 1142.94 -375.6 77.86 - - 2557.19 - - - - - - - - - 16.07 -
22203.92 341.97 7.00 2495 22222.03 2.35 - - 3015.38 - 2.80 0.032 2276.25 404.8 77.86 - - 2557.38 - - - - - - - - - 16.08 -
22528.22 321.70 5.76 2527 22532.67 2.49 - - 3014.62 - - - 2276.31 - 77.86 - - 2555.56 - - - - - - - - - - -
22838.89 304.91 5.33 2558 22857.64 2.65 - - 3013.88 - 3.02 0.072 1141.69 -375.7 77.86 - - 2556.28 - - - - - - - - - 16.01 -
22888.62 302.16 5.52 2565 22907.04 2.80 - - 3014.75 - 2.81 0.032 2276.81 404.0 77.86 - - 2556.69 - - - - - - - - - 15.96 -
23213.25 284.94 6.23 2597 23217.31 2.91 - - 3015.44 - - - 2276.62 - 77.86 - - 2555.28 - - - - - - - - - - -
23523.56 264.48 6.31 2628 23541.67 3.02 - - 3014.06 - 2.94 0.094 3354.12 366.5 77.86 - - 2557.00 - - - - - - - - - 16.05 -
23578.26 260.76 6.84 2636 23595.57 3.09 - - 3015.31 - 2.70 0.023 2196.38 -428.8 77.86 - - 2556.12 - - - - - - - - - 16.05 -
23901.81 241.67 6.19 2668 23920.75 3.20 - - 3014.94 - 3.17 0.090 3353.25 364.9 77.86 - - 2555.03 - - - - - - - - - 16.06 -
24051.65 232.16 5.76 2695 24069.65 3.34 - - 3014.38 - 2.69 0.023 2198.62 -429.2 77.86 - - 2557.47 - - - - - - - - - 16.05 -
24375.87 217.14 4.79 2727 24466.34 3.47 - - 3014.25 - 2.85 0.078 1144.44 -369.9 145.16 51.67 1.576 2296.88 -5.0 0.115 - - - - - - - 15.80 12.01
24537.63 202.36 11.98 2752 24555.34 roll back 3.47 - - 3014.56 - 2.81 0.032 2275.25 402.4 145.16 - - 2291.22 - - - - - - - - - 15.90 -
24861.30 165.12 10.95 2784 24879.41 3.47 - - 3014.94 - 2.96 0.094 3353.94 364.4 145.16 - - 2290.31 - - - - - - - - - 15.92 -
24885.58 162.20 11.46 2786 24902.89 3.47 - - 3013.94 - 2.72 0.023 2201.06 -423.9 145.16 - - 2289.31 - - - - - - - - - 15.93 -
25208.70 131.74 7.97 2818 25226.41 3.47 - - 3015.62 - 2.84 0.075 1142.75 -372.6 145.16 - - 2287.12 - - - - - - - - - 15.89 -
25332.60 121.34 8.39 2840 25350.29 3.47 - - 3014.56 - 2.80 0.031 2278.00 405.4 145.16 - - 2287.22 - - - - - - - - - 15.97 -
25656.52 99.80 5.56 2872 25676.16 3.62 - - 3014.75 - 3.02 0.070 1142.88 -375.9 145.16 - - 2285.97 - - - - - - - - - 15.96 -
25782.76 93.32 4.68 2894 25877.96 3.76 - - 3014.88 - 2.80 0.029 2279.94 406.1 214.84 53.62 1.389 2014.22 -5.1 0.056 - - - - - - - 16.00 12.35
26064.32 73.36 6.43 2943 26083.54 3.86 - - 3015.00 - 2.97 0.092 3353.44 361.4 214.84 - - 2005.34 - - - - - - - - - 15.80 -
26215.13 65.05 4.64 2970 26310.47 4.00 - - 3015.31 - 2.71 0.022 2194.25 -427.7 285.22 53.13 1.325 1726.84 -5.2 0.043 - - - - - - - 15.86 12.43
26496.28 45.02 7.73 3019 26514.71 4.00 - - 3014.00 - 2.83 0.075 1142.88 -371.5 285.22 - - 1717.34 - - - - - - - - - 15.82 -
26540.99 41.15 8.77 3025 26559.42 4.00 - - 3015.06 - 2.81 0.029 2276.62 403.5 285.22 - - 1715.75 - - - - - - - - - 15.86 -
26745.64 27.82 4.84 3063 26836.62 4.13 - - 3014.31 - 3.10 0.072 1144.19 -365.3 351.62 51.04 1.256 1456.06 -5.1 0.019 - - - - - - - 15.67 12.42
26853.30 21.79 6.40 3077 26871.72 roll back 4.13 - - 3015.00 - 2.82 0.028 2277.06 401.7 351.62 - - 1450.62 - - - - - - - - - 15.75 -
27057.96 11.19 5.57 3115 27076.81 4.13 - - 3015.06 - 2.97 0.090 3352.12 362.0 351.62 - - 1446.94 - - - - - - - - - 15.85 -
27118.38 7.75 5.45 3124 27136.78 4.13 - - 3015.19 - 2.75 0.021 2194.50 -421.0 351.62 - - 1447.12 - - - - - - - - - 15.84 -
27177 end climb: SURFACE_DEPTH_REACHED
27178 begin surface coast
27248 end surface coast: CONTROL_FINISHED_OK
27249 begin surface
SM 1.01 - - - - 178.5 58.17 1.212 1137.8 19.6 18.30 0.051 1133.9 62.0 - 0.04 0.224 1141.7 28473.8 -13.122 - - 12.38 15.88 15.90 -