NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 52 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 19.71 of 506.00 AH used of 24V (96.10% remains)
• Surface angle -65.6 deg, depth 1.10 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.96 (SM_CC=430)
• GPS1 time: 30 s
• GPS2 time: 2 s • Transponder ping count: 12
• 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
11 begin dive
18.67 - - - 103.91 VBD -1.18 - - 178.38 - - - 2145.19 - -77.86 60.00 0.005 2673.38 - - - - - - - - - - 15.04
106.12 3.66 -4.52 12 217.16 -1.18 16.57 0.232 2228.19 123.7 2.84 0.072 1092.00 -370.8 -77.86 7.71 0.008 3210.78 69.7 -5.285 - - - - - - 15.68 15.64 15.67
448.27 72.56 -15.57 64 466.54 roll -1.18 - - 2228.44 - 2.77 0.026 2231.56 411.4 -77.86 - - 3213.91 - - - - - - - - - 15.86 -
652.43 98.91 -11.24 102 658.95 no move -1.18 - - 2228.31 - - - 2231.62 - -77.86 - - 3215.06 - - - - - - - - - - -
844.72 117.52 -9.12 122 848.73 VBD -1.18 - - 2228.25 - - - 2231.88 - -77.86 - - 3215.53 - - - - - - - - - - -
1154.76 140.94 -8.14 153 1158.77 VBD -1.18 - - 2228.25 - - - 2231.00 - -77.86 - - 3216.06 - - - - - - - - - - -
1464.83 165.99 -8.24 184 1483.11 done -1.18 - - 2228.06 - 3.03 0.066 1093.31 -375.5 -77.86 - - 3218.72 - - - - - - - - - 16.03 -
1563.53 175.01 -9.29 201 1581.71 done -1.18 - - 2227.50 - 2.73 0.025 2233.12 417.5 -77.86 - - 3217.41 - - - - - - - - - 15.99 -
1887.49 204.06 -8.97 233 1904.96 roll -1.18 - - 2227.44 - 2.88 0.085 3303.44 371.6 -77.86 - - 3218.88 - - - - - - - - - 16.00 -
2051.12 219.70 -9.38 263 2068.59 roll -1.18 - - 2228.38 - 2.72 0.022 2147.12 -425.1 -77.86 - - 3217.56 - - - - - - - - - 16.05 -
2374.37 244.08 -6.98 295 2391.45 roll -1.18 - - 2228.31 - 2.79 0.072 1093.12 -377.8 -77.86 - - 3217.53 - - - - - - - - - 16.06 -
2437.59 248.72 -7.22 305 2454.97 roll -1.18 - - 2228.12 - 2.73 0.026 2232.81 417.5 -77.86 - - 3217.53 - - - - - - - - - 16.03 -
2760.90 272.37 -7.63 337 2778.57 roll -1.18 - - 2228.25 - 2.88 0.085 3304.50 372.1 -77.86 - - 3217.03 - - - - - - - - - 16.06 -
2879.03 282.74 -9.03 358 2897.05 roll -1.18 - - 2227.88 - 2.70 0.022 2148.44 -428.2 -77.86 - - 3215.81 - - - - - - - - - 16.09 -
3202.87 308.51 -7.74 390 3206.92 no move -1.18 - - 2227.50 - - - 2146.94 - -77.86 - - 3214.09 - - - - - - - - - - -
3512.91 333.84 -8.32 421 3531.81 roll -1.18 - - 2228.50 - 3.11 0.082 3304.31 372.1 -77.86 - - 3215.78 - - - - - - - - - 16.05 -
3582.25 340.30 -9.41 432 3600.26 roll -1.18 - - 2228.31 - 2.72 0.022 2148.06 -425.1 -77.86 - - 3214.56 - - - - - - - - - 16.08 -
3906.04 368.20 -9.17 464 3923.71 roll -1.18 - - 2228.25 - 2.78 0.075 1092.81 -379.6 -77.86 - - 3214.94 - - - - - - - - - 16.09 -
3984.16 375.32 -8.92 477 4002.16 roll -1.18 - - 2228.19 - 2.72 0.027 2233.94 419.5 -77.86 - - 3214.84 - - - - - - - - - 16.11 -
4307.96 402.36 -7.90 509 4312.01 no move -1.18 - - 2227.25 - - - 2234.00 - -77.86 - - 3213.00 - - - - - - - - - - -
4617.98 427.12 -8.20 540 4622.03 no move -1.18 - - 2228.00 - - - 2233.88 - -77.86 - - 3212.00 - - - - - - - - - - -
4928.25 449.93 -7.12 571 4932.31 no move -1.18 - - 2227.38 - - - 2233.50 - -77.86 - - 3211.16 - - - - - - - - - - -
5238.30 471.14 -6.86 602 5255.98 roll -1.18 - - 2227.81 - 2.89 0.087 3303.25 370.2 -77.86 - - 3212.72 - - - - - - - - - 16.10 -
5286.42 474.77 -7.67 609 5304.43 roll -1.18 - - 2228.25 - 2.72 0.023 2150.94 -423.6 -77.86 - - 3211.44 - - - - - - - - - 16.12 -
5610.24 496.27 -7.01 641 5614.29 no move -1.18 - - 2228.06 - - - 2151.19 - -77.86 - - 3209.41 - - - - - - - - - - -
5920.28 517.89 -7.41 672 5939.17 roll -1.18 - - 2227.50 - 3.11 0.084 3304.75 370.9 -77.86 - - 3211.97 - - - - - - - - - 16.09 -
5999.64 524.41 -8.35 685 6018.02 roll -1.18 - - 2226.75 - 2.71 0.023 2152.12 -425.3 -77.86 - - 3210.09 - - - - - - - - - 16.10 -
6323.86 549.43 -8.00 717 6341.55 roll -1.18 - - 2228.12 - 2.82 0.077 1093.19 -375.5 -77.86 - - 3210.00 - - - - - - - - - 16.11 -
6387.73 554.43 -8.36 727 6405.02 roll -1.18 - - 2227.44 - 2.73 0.027 2231.19 416.8 -77.86 - - 3208.66 - - - - - - - - - 16.12 -
6710.83 578.85 -7.80 759 6714.88 no move -1.18 - - 2227.12 - - - 2231.38 - -77.86 - - 3207.72 - - - - - - - - - - -
7020.87 600.98 -6.97 790 7024.92 no move -1.18 - - 2227.38 - - - 2231.44 - -77.86 - - 3206.69 - - - - - - - - - - -
7330.94 621.51 -6.65 821 7349.44 roll -1.18 - - 2227.75 - 3.03 0.073 1093.69 -375.5 -77.86 - - 3209.03 - - - - - - - - - 16.12 -
7385.62 625.29 -6.93 829 7403.31 roll -1.18 - - 2227.50 - 2.74 0.028 2231.81 415.4 -77.86 - - 3206.44 - - - - - - - - - 16.12 -
7709.12 646.14 -6.49 861 7713.17 no move -1.18 - - 2227.81 - - - 2231.25 - -77.86 - - 3205.47 - - - - - - - - - - -
8019.16 665.09 -5.95 892 8037.66 roll -1.18 - - 2227.94 - 3.04 0.074 1094.12 -374.1 -77.86 - - 3203.81 - - - - - - - - - 16.11 -
8088.12 669.71 -6.62 903 8106.52 roll -1.18 - - 2227.94 - 2.76 0.028 2231.00 411.9 -77.86 - - 3205.56 - - - - - - - - - 16.11 -
8412.33 690.15 -6.32 935 8416.48 no move -1.18 - - 2228.00 - - - 2230.75 - -77.86 - - 3204.75 - - - - - - - - - - -
8722.38 710.08 -6.48 966 8740.46 roll -1.18 - - 2227.38 - 2.91 0.090 3303.06 368.5 -77.86 - - 3204.31 - - - - - - - - - 16.09 -
8810.92 716.77 -7.69 981 8828.93 roll -1.18 - - 2228.25 - 2.73 0.023 2151.69 -421.7 -77.86 - - 3205.06 - - - - - - - - - 16.11 -
9134.74 737.23 -6.41 1013 9138.80 no move -1.18 - - 2227.94 - - - 2152.44 - -77.86 - - 3203.47 - - - - - - - - - - -
9444.78 756.86 -5.91 1044 9448.83 no move -1.18 - - 2228.38 - - - 2150.75 - -77.86 - - 3202.38 - - - - - - - - - - -
9754.83 776.47 -6.16 1075 9758.88 no move -1.18 - - 2227.38 - - - 2150.81 - -77.86 - - 3202.19 - - - - - - - - - - -
10064.88 795.11 -6.00 1106 10082.57 roll -1.18 - - 2227.88 - 2.85 0.078 1093.06 -371.1 -77.86 - - 3202.66 - - - - - - - - - 16.10 -
10143.02 800.29 -6.66 1119 10161.04 roll -1.18 - - 2227.81 - 2.75 0.028 2231.50 414.0 -77.86 - - 3204.22 - - - - - - - - - 16.06 -
10466.85 819.07 -5.45 1151 10484.54 roll -1.18 - - 2227.69 - 2.89 0.091 3303.06 370.8 -77.86 - - 3202.59 - - - - - - - - - 16.08 -
10605.01 827.96 -6.29 1176 10623.02 roll -1.18 - - 2228.25 - 2.73 0.024 2151.06 -422.0 -77.86 - - 3202.88 - - - - - - - - - 16.10 -
10928.86 844.82 -5.06 1208 10946.56 roll -1.18 - - 2227.81 - 2.85 0.079 1093.06 -371.2 -77.86 - - 3202.94 - - - - - - - - - 16.10 -
11042.75 851.36 -5.95 1228 11060.45 roll -1.18 - - 2227.56 - 2.76 0.029 2231.56 412.5 -77.86 - - 3202.12 - - - - - - - - - 16.05 -
11366.39 870.77 -5.89 1260 11370.44 no move -1.18 - - 2227.38 - - - 2232.06 - -77.86 - - 3201.38 - - - - - - - - - - -
11676.67 888.85 -5.63 1291 11694.35 roll -1.18 - - 2227.44 - 2.89 0.092 3303.94 370.9 -77.86 - - 3202.41 - - - - - - - - - 16.07 -
11740.53 893.10 -6.68 1301 11757.82 roll -1.18 - - 2228.00 - 2.74 0.024 2149.38 -421.4 -77.86 - - 3200.78 - - - - - - - - - 16.08 -
12063.66 912.65 -6.26 1333 12081.36 roll -1.18 - - 2227.25 - 2.83 0.079 1093.81 -373.0 -77.86 - - 3202.44 - - - - - - - - - 16.02 -
12137.54 917.94 -7.04 1345 12154.84 roll -1.18 - - 2226.94 - 2.72 0.028 2229.38 417.5 -77.86 - - 3201.47 - - - - - - - - - 16.10 -
12460.65 937.78 -6.14 1377 12464.70 no move -1.18 - - 2228.50 - - - 2230.12 - -77.86 - - 3199.66 - - - - - - - - - - -
12770.69 956.26 -5.93 1408 12774.75 no move -1.18 - - 2227.44 - - - 2229.94 - -77.86 - - 3199.84 - - - - - - - - - - -
13080.76 975.04 -5.68 1439 13099.27 roll -1.18 - - 2227.38 - 3.05 0.076 1094.25 -372.4 -77.86 - - 3199.16 - - - - - - - - - 16.06 -
13155.46 979.90 -5.80 1451 13172.75 roll -1.18 - - 2227.88 - 2.77 0.029 2230.25 410.1 -77.86 - - 3200.66 - - - - - - - - - 16.09 -
13338 end dive: TARGET_DEPTH_EXCEEDED
13338 begin apogee
13342.72 990.32 -5.46 1469 13442.87 -0.31 1.54 0.142 2440.25 137.9 0.10 0.217 2192.81 -374.4 - 61.31 2.511 2889.53 -5.1 0.332 - - - - - - 16.01 15.60 12.06
13456 end apogee: CONTROL_FINISHED_OK
13456 begin climb
13459.15 992.00 - 1476 13567.46 1.18 2.54 0.097 2804.62 143.5 - - 2192.88 - 77.86 65.57 2.464 2571.09 -4.9 0.324 - - - - - - 15.73 - 12.64
13873.78 966.28 6.89 1514 13877.84 VBD 1.25 - - 2804.88 - - - 2192.12 - 77.86 - - 2561.72 - - - - - - - - - - -
14184.21 946.00 6.64 1545 14189.56 1.34 0.22 0.079 2852.44 216.2 - - 2192.69 - 77.86 - - 2561.94 - - - - - - - - 15.90 - -
14495.37 922.84 7.76 1576 14499.43 VBD 1.34 - - 2851.88 - - - 2192.81 - 77.86 - - 2559.78 - - - - - - - - - - -
14805.83 899.59 7.18 1607 14825.13 done 1.39 - - 2851.12 - 3.21 0.097 3351.06 360.8 77.86 - - 2560.50 - - - - - - - - - 15.99 -
14841.31 896.39 8.50 1611 14858.58 done 1.39 - - 2852.94 - 2.73 0.025 2204.44 -420.0 77.86 - - 2561.28 - - - - - - - - - 16.01 -
15164.81 871.44 7.51 1643 15183.96 done 1.42 - - 2852.81 - 3.16 0.096 3352.94 363.4 77.86 - - 2558.81 - - - - - - - - - 16.02 -
15214.74 866.79 9.01 1650 15232.75 done 1.42 - - 2853.00 - 2.74 0.025 2204.75 -419.0 77.86 - - 2559.84 - - - - - - - - - 16.03 -
15538.57 841.48 7.72 1682 15556.26 done 1.42 - - 2852.69 - 2.86 0.080 1143.38 -371.1 77.86 - - 2561.53 - - - - - - - - - 16.05 -
15632.45 833.66 8.51 1698 15650.14 done 1.42 - - 2852.50 - 2.81 0.034 2276.62 403.3 77.86 - - 2561.31 - - - - - - - - - 16.05 -
15956.34 809.38 7.12 1730 15974.84 done 1.48 - - 2852.81 - 3.05 0.076 1145.50 -370.9 77.86 - - 2558.25 - - - - - - - - - 16.06 -
16011.41 805.32 7.54 1738 16030.33 1.51 0.17 0.086 2893.69 240.5 2.81 0.033 2275.56 402.2 77.86 - - 2558.16 - - - - - - - - 15.98 16.06 -
16336.55 781.25 7.43 1770 16355.05 done 1.54 - - 2893.88 - 3.05 0.076 1144.62 -370.8 77.86 - - 2560.69 - - - - - - - - - 16.07 -
16551.27 764.60 7.67 1810 16568.56 done 1.54 - - 2895.00 - 2.79 0.034 2273.44 404.6 77.86 - - 2558.53 - - - - - - - - - 16.07 -
16874.80 740.41 7.66 1842 16892.91 done 1.54 - - 2894.94 - 2.96 0.099 3352.00 364.4 77.86 - - 2557.41 - - - - - - - - - 16.04 -
16923.36 736.31 8.89 1849 16941.37 done 1.54 - - 2895.00 - 2.71 0.024 2202.19 -424.3 77.86 - - 2559.22 - - - - - - - - - 16.08 -
17247.17 711.56 7.81 1881 17264.86 done 1.54 - - 2895.56 - 2.84 0.079 1143.94 -372.6 77.86 - - 2558.78 - - - - - - - - - 16.02 -
17281.02 709.29 8.22 1885 17298.71 done 1.54 - - 2894.88 - 2.79 0.033 2276.50 405.9 77.86 - - 2558.97 - - - - - - - - - 16.08 -
17604.94 685.36 7.35 1917 17623.05 done 1.59 - - 2895.44 - 2.94 0.099 3350.81 365.4 77.86 - - 2556.81 - - - - - - - - - 15.98 -
17693.52 677.81 8.69 1932 17711.52 done 1.59 - - 2896.06 - 2.71 0.024 2203.50 -423.4 77.86 - - 2557.91 - - - - - - - - - 16.07 -
18017.31 651.96 7.94 1964 18035.01 done 1.59 - - 2895.94 - 2.83 0.079 1144.12 -374.3 77.86 - - 2557.19 - - - - - - - - - 16.09 -
18181.22 638.03 8.73 1994 18199.14 done 1.59 - - 2896.00 - 2.78 0.034 2274.62 406.7 77.86 - - 2557.44 - - - - - - - - - 16.08 -
18505.45 613.24 6.95 2026 18509.50 VBD 1.65 - - 2895.50 - - - 2274.75 - 77.86 - - 2556.47 - - - - - - - - - - -
18815.72 591.53 6.76 2057 18821.07 1.73 0.25 0.075 2945.94 201.8 - - 2275.25 - 77.86 - - 2558.06 - - - - - - - - 16.06 - -
19127.30 568.75 7.26 2088 19145.80 done 1.78 - - 2946.00 - 3.01 0.075 1143.00 -376.2 77.86 - - 2557.50 - - - - - - - - - 16.09 -
19242.38 560.39 7.14 2108 19259.67 done 1.83 - - 2946.69 - 2.79 0.033 2276.44 406.3 77.86 - - 2557.38 - - - - - - - - - 16.09 -
19565.90 538.94 6.71 2140 19571.26 1.91 0.20 0.083 2989.12 212.1 - - 2276.31 - 77.86 - - 2556.91 - - - - - - - - 16.06 - -
19877.05 514.46 8.38 2171 19881.10 VBD 1.91 - - 2989.25 - - - 2275.94 - 77.86 - - 2556.38 - - - - - - - - - - -
20187.10 488.58 8.20 2202 20191.15 VBD 1.91 - - 2988.69 - - - 2276.81 - 77.86 - - 2556.34 - - - - - - - - - - -
20497.14 462.77 8.27 2233 20515.63 done 1.91 - - 2988.62 - 3.04 0.075 1143.81 -372.7 77.86 - - 2558.19 - - - - - - - - - 16.06 -
20606.10 453.65 8.31 2252 20624.52 done 1.91 - - 2989.81 - 2.81 0.033 2275.94 402.9 77.86 - - 2556.41 - - - - - - - - - 16.08 -
20930.75 429.53 7.18 2284 20949.26 done 1.96 - - 2989.31 - 3.04 0.074 1143.00 -372.7 77.86 - - 2557.56 - - - - - - - - - 16.08 -
21010.24 423.97 7.00 2297 21028.66 done 2.03 - - 2989.94 - 2.81 0.033 2276.06 403.2 77.86 - - 2557.25 - - - - - - - - - 16.07 -
21334.99 404.38 6.06 2329 21339.53 2.15 0.06 0.167 3009.44 325.0 - - 2276.06 - 77.86 - - 2556.78 - - - - - - - - 16.04 - -
21645.77 383.11 7.00 2360 21649.83 2.21 - - 3011.25 - - - 2275.81 - 77.86 - - 2556.28 - - - - - - - - - - -
21956.08 362.36 6.37 2391 21974.29 2.31 - - 3011.31 - 2.95 0.096 3354.38 365.6 77.86 - - 2557.25 - - - - - - - - - 16.04 -
22205.21 343.78 7.29 2438 22223.63 2.36 - - 3011.12 - 2.72 0.024 2201.06 -424.0 77.86 - - 2556.81 - - - - - - - - - 16.07 -
22529.88 323.43 5.97 2470 22548.80 2.48 - - 3011.94 - 3.15 0.091 3353.25 365.8 77.86 - - 2555.28 - - - - - - - - - 16.06 -
22609.67 318.28 6.21 2483 22628.08 2.59 - - 3012.31 - 2.73 0.023 2200.75 -422.2 77.86 - - 2556.16 - - - - - - - - - 16.07 -
22934.29 301.24 5.17 2515 22952.00 2.76 - - 3012.50 - 2.81 0.077 1144.31 -376.0 77.86 - - 2557.59 - - - - - - - - - 16.05 -
23183.03 286.89 5.73 2562 23201.08 2.90 - - 3011.94 - 2.78 0.032 2276.69 407.3 77.86 - - 2557.28 - - - - - - - - - 16.07 -
23507.30 269.98 5.23 2594 23525.81 3.07 - - 3012.56 - 3.03 0.072 1144.25 -373.7 77.86 - - 2556.19 - - - - - - - - - 16.04 -
23686.68 260.23 5.18 2627 23705.10 3.24 - - 3012.19 - 2.79 0.032 2277.62 406.2 77.86 - - 2557.91 - - - - - - - - - 16.07 -
24011.31 244.80 5.11 2659 24015.38 3.42 - - 3012.44 - - - 2278.06 - 77.86 - - 2556.25 - - - - - - - - - - -
24321.60 228.99 4.81 2690 24396.61 3.55 - - 3011.56 - - - 2277.56 - 144.84 51.72 1.583 2299.84 -5.0 0.119 - - - - - - - - 12.10
24702.43 192.20 10.38 2726 24720.96 3.55 - - 3010.19 - 3.07 0.073 1144.25 -369.2 144.84 - - 2290.09 - - - - - - - - - 15.89 -
24807.28 180.76 10.95 2744 24824.99 3.55 - - 3012.25 - 2.82 0.032 2273.81 400.6 144.84 - - 2289.31 - - - - - - - - - 15.88 -
25130.81 145.29 10.74 2776 25149.33 3.55 - - 3012.88 - 3.03 0.072 1144.06 -372.9 144.84 - - 2287.06 - - - - - - - - - 15.96 -
25199.79 137.45 11.47 2787 25218.21 3.55 - - 3012.12 - 2.80 0.031 2276.44 404.4 144.84 - - 2288.53 - - - - - - - - - 15.97 -
25524.00 110.24 7.83 2819 25542.52 3.55 - - 3012.38 - 3.02 0.071 1142.88 -375.4 144.84 - - 2287.25 - - - - - - - - - 15.99 -
25642.99 100.65 7.77 2840 25661.40 3.55 - - 3012.69 - 2.80 0.031 2275.88 404.6 144.84 - - 2287.94 - - - - - - - - - 15.94 -
25967.68 86.52 3.66 2902 26085.54 3.73 - - 3012.50 - 3.02 0.096 3353.19 356.7 235.48 69.18 1.375 1931.09 -5.2 0.054 - - - - - - - 15.66 12.29
26092.83 79.78 7.49 2918 26110.85 roll back 3.77 - - 3011.75 - 2.77 0.022 2199.19 -416.6 235.48 - - 1924.53 - - - - - - - - - 15.76 -
26296.79 63.36 7.98 2956 26315.60 3.77 - - 3012.56 - 2.84 0.074 1143.00 -371.9 235.48 - - 1920.78 - - - - - - - - - 15.86 -
26522.24 48.08 6.42 2998 26540.67 3.87 - - 3012.69 - 2.82 0.029 2278.44 402.6 235.48 - - 1916.75 - - - - - - - - - 15.86 -
26726.90 36.75 5.01 3036 26814.78 3.99 - - 3012.69 - 3.09 0.071 1143.94 -367.2 298.31 47.26 1.269 1672.62 -5.2 0.025 - - - - - - - 15.68 12.36
26916.36 24.09 7.28 3067 26934.79 roll back 4.04 - - 3012.69 - 2.83 0.029 2278.44 400.9 298.31 - - 1666.44 - - - - - - - - - 15.85 -
27121.03 17.16 2.22 3105 27267.86 4.28 - - 3012.81 - 3.04 0.092 3353.00 353.5 418.69 91.87 1.226 1183.22 -5.3 0.012 - - - - - - - 15.54 12.42
27309.56 8.61 6.28 3132 27327.97 roll back 4.28 - - 3012.38 - 2.77 0.022 2201.31 -415.8 418.69 - - 1177.91 - - - - - - - - - 15.74 -
27378 end climb: SURFACE_DEPTH_REACHED
27379 begin surface coast
27449 end surface coast: CONTROL_FINISHED_OK
27450 begin surface
SM 1.21 - - - - 180.6 9.09 0.972 1137.2 125.1 18.38 0.048 1153.3 62.7 - - 0.030 1121.1 - - - - 12.43 15.79 30.36 -