NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 53 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 20.08 of 506.00 AH used of 24V (96.03% remains)
• Surface angle -64.4 deg, depth 1.13 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.83 (SM_CC=430)
• GPS1 time: 36 s
• GPS2 time: 2 s • Transponder ping count: 13
• 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 - - - 104.31 VBD -1.18 - - 178.25 - - - 2151.44 - -77.86 60.01 0.005 2726.00 - - - - - - - - - - 15.13
106.52 3.07 -3.46 12 217.58 -1.18 16.58 0.232 2227.75 123.6 2.83 0.068 1091.50 -374.5 -77.86 6.88 0.008 3210.44 70.4 -4.479 - - - - - - 15.69 15.63 15.65
318.64 50.79 -12.17 38 336.70 roll -1.18 - - 2227.44 - 2.77 0.026 2231.38 411.5 -77.86 - - 3214.22 - - - - - - - - - 15.86 -
522.59 75.35 -12.47 76 540.78 roll -1.18 - - 2226.25 - 2.88 0.081 3304.94 372.8 -77.86 - - 3214.66 - - - - - - - - - 15.87 -
611.93 87.00 -12.15 91 630.12 roll -1.18 - - 2226.81 - 2.74 0.020 2145.88 -423.0 -77.86 - - 3214.91 - - - - - - - - - 15.97 -
820.93 109.25 -9.50 121 838.02 roll -1.18 - - 2225.94 - 2.79 0.069 1091.81 -377.8 -77.86 - - 3216.00 - - - - - - - - - 15.98 -
868.42 114.11 -10.11 128 886.22 roll -1.18 - - 2227.19 - 2.71 0.024 2234.25 421.6 -77.86 - - 3215.81 - - - - - - - - - 15.94 -
1192.02 143.27 -9.02 160 1210.30 roll -1.18 - - 2228.00 - 3.02 0.065 1093.19 -377.8 -77.86 - - 3215.94 - - - - - - - - - 16.01 -
1266.45 150.26 -9.43 172 1283.53 roll -1.18 - - 2227.50 - 2.72 0.024 2235.12 419.8 -77.86 - - 3215.81 - - - - - - - - - 16.02 -
1589.31 174.95 -7.46 204 1606.79 roll -1.18 - - 2227.12 - 2.87 0.082 3305.88 373.1 -77.86 - - 3216.59 - - - - - - - - - 16.01 -
1712.96 185.59 -9.13 226 1730.87 roll -1.18 - - 2227.00 - 2.71 0.021 2145.31 -428.3 -77.86 - - 3216.09 - - - - - - - - - 15.99 -
2036.79 210.70 -7.93 258 2054.08 roll -1.18 - - 2226.62 - 2.80 0.071 1093.12 -375.8 -77.86 - - 3216.25 - - - - - - - - - 16.05 -
2190.30 224.42 -9.17 286 2207.59 roll -1.18 - - 2226.62 - 2.73 0.026 2233.00 417.5 -77.86 - - 3216.50 - - - - - - - - - 16.06 -
2513.43 252.75 -8.58 318 2517.48 no move -1.18 - - 2227.19 - - - 2234.38 - -77.86 - - 3213.81 - - - - - - - - - - -
2823.49 277.36 -7.37 349 2827.54 no move -1.18 - - 2227.62 - - - 2233.44 - -77.86 - - 3213.31 - - - - - - - - - - -
3133.55 299.77 -7.39 380 3137.60 no move -1.18 - - 2227.44 - - - 2233.62 - -77.86 - - 3212.25 - - - - - - - - - - -
3443.61 324.34 -8.06 411 3462.12 roll -1.18 - - 2227.88 - 3.03 0.069 1094.00 -376.1 -77.86 - - 3213.81 - - - - - - - - - 16.11 -
3518.31 330.89 -8.89 423 3535.61 roll -1.18 - - 2227.88 - 2.72 0.026 2231.19 418.1 -77.86 - - 3212.31 - - - - - - - - - 16.09 -
3841.45 357.02 -7.74 455 3845.50 no move -1.18 - - 2227.00 - - - 2231.88 - -77.86 - - 3210.53 - - - - - - - - - - -
4151.48 381.11 -7.48 486 4169.41 roll -1.18 - - 2227.44 - 2.89 0.086 3304.19 371.0 -77.86 - - 3209.69 - - - - - - - - - 16.09 -
4215.71 386.43 -8.53 496 4233.01 roll -1.18 - - 2227.44 - 2.73 0.022 2150.25 -422.7 -77.86 - - 3210.72 - - - - - - - - - 16.11 -
4538.80 410.31 -7.35 528 4557.30 roll -1.18 - - 2225.44 - 3.10 0.082 3303.25 371.9 -77.86 - - 3210.41 - - - - - - - - - 16.12 -
4597.76 415.28 -8.34 537 4616.18 roll -1.18 - - 2227.88 - 2.72 0.022 2149.75 -424.1 -77.86 - - 3208.72 - - - - - - - - - 16.06 -
4922.01 441.22 -7.77 569 4939.72 roll -1.18 - - 2227.81 - 2.81 0.075 1093.94 -375.7 -77.86 - - 3208.03 - - - - - - - - - 16.11 -
5015.92 449.43 -9.03 585 5033.60 roll -1.18 - - 2227.19 - 2.74 0.027 2232.06 415.4 -77.86 - - 3208.62 - - - - - - - - - 16.12 -
5339.45 476.93 -8.45 617 5357.95 roll -1.18 - - 2224.94 - 3.03 0.071 1094.31 -375.5 -77.86 - - 3207.53 - - - - - - - - - 16.12 -
5418.42 483.71 -8.54 630 5436.44 roll -1.18 - - 2227.62 - 2.73 0.027 2232.88 417.1 -77.86 - - 3206.81 - - - - - - - - - 16.11 -
5742.26 508.78 -7.50 662 5760.18 roll -1.18 - - 2227.75 - 2.89 0.087 3304.25 370.7 -77.86 - - 3207.88 - - - - - - - - - 16.10 -
5890.78 521.77 -8.84 689 5908.81 roll -1.18 - - 2227.81 - 2.71 0.022 2149.56 -426.1 -77.86 - - 3205.16 - - - - - - - - - 16.10 -
6214.65 546.97 -7.62 721 6231.94 roll -1.18 - - 2227.50 - 2.79 0.076 1093.06 -378.7 -77.86 - - 3204.97 - - - - - - - - - 16.10 -
6298.15 553.94 -8.33 735 6315.44 roll -1.18 - - 2227.56 - 2.71 0.027 2232.50 420.5 -77.86 - - 3205.00 - - - - - - - - - 16.06 -
6621.26 576.77 -7.05 767 6639.16 roll -1.18 - - 2226.75 - 2.88 0.088 3305.06 372.4 -77.86 - - 3203.19 - - - - - - - - - 16.10 -
6675.36 580.95 -8.12 775 6692.25 roll -1.18 - - 2227.00 - 2.70 0.023 2148.31 -428.4 -77.86 - - 3203.84 - - - - - - - - - 16.10 -
6998.08 604.49 -7.04 807 7002.14 no move -1.18 - - 2227.88 - - - 2147.62 - -77.86 - - 3202.28 - - - - - - - - - - -
7308.15 625.46 -7.51 838 7312.20 no move -1.18 - - 2227.50 - - - 2148.25 - -77.86 - - 3201.16 - - - - - - - - - - -
7618.18 646.84 -7.09 869 7622.23 no move -1.18 - - 2227.38 - - - 2147.00 - -77.86 - - 3201.00 - - - - - - - - - - -
7928.24 669.39 -6.70 900 7932.29 no move -1.18 - - 2227.31 - - - 2146.25 - -77.86 - - 3199.53 - - - - - - - - - - -
8238.28 689.49 -6.13 931 8257.44 roll -1.18 - - 2227.00 - 3.11 0.086 3304.75 372.5 -77.86 - - 3198.94 - - - - - - - - - 16.11 -
8363.75 697.66 -6.23 953 8381.04 roll -1.18 - - 2227.56 - 2.71 0.023 2151.00 -425.7 -77.86 - - 3199.69 - - - - - - - - - 16.11 -
8686.88 716.60 -5.90 985 8704.97 roll -1.18 - - 2227.62 - 2.81 0.078 1092.62 -376.6 -77.86 - - 3199.53 - - - - - - - - - 16.10 -
8811.20 724.61 -6.38 1007 8828.48 roll -1.18 - - 2227.75 - 2.73 0.028 2231.94 417.3 -77.86 - - 3200.31 - - - - - - - - - 16.11 -
9134.32 744.66 -6.77 1039 9138.37 no move -1.18 - - 2227.06 - - - 2232.75 - -77.86 - - 3197.97 - - - - - - - - - - -
9444.35 765.94 -7.06 1070 9462.04 roll -1.18 - - 2227.81 - 2.89 0.090 3303.00 370.3 -77.86 - - 3199.34 - - - - - - - - - 16.05 -
9602.54 778.27 -7.66 1099 9621.16 roll -1.18 - - 2227.69 - 2.71 0.023 2149.44 -425.7 -77.86 - - 3198.66 - - - - - - - - - 16.11 -
9927.00 801.91 -7.47 1131 9931.05 no move -1.18 - - 2227.44 - - - 2148.38 - -77.86 - - 3196.72 - - - - - - - - - - -
10237.04 823.39 -6.79 1162 10255.77 roll -1.18 - - 2227.56 - 3.10 0.086 3302.88 372.4 -77.86 - - 3197.59 - - - - - - - - - 16.11 -
10312.09 829.43 -8.23 1174 10329.78 roll -1.18 - - 2227.62 - 2.70 0.023 2148.38 -427.6 -77.86 - - 3197.31 - - - - - - - - - 16.09 -
10635.61 851.24 -6.91 1206 10639.67 no move -1.18 - - 2227.38 - - - 2148.56 - -77.86 - - 3195.97 - - - - - - - - - - -
10945.67 871.51 -6.03 1237 10949.72 no move -1.18 - - 2227.50 - - - 2148.50 - -77.86 - - 3196.22 - - - - - - - - - - -
11255.72 889.12 -5.31 1268 11273.41 roll -1.18 - - 2227.69 - 2.80 0.079 1093.38 -376.8 -77.86 - - 3197.09 - - - - - - - - - 16.09 -
11323.88 893.54 -5.73 1279 11342.29 roll -1.18 - - 2227.69 - 2.73 0.028 2232.69 417.3 -77.86 - - 3196.84 - - - - - - - - - 16.10 -
11648.13 910.12 -5.34 1311 11652.19 no move -1.18 - - 2227.19 - - - 2232.25 - -77.86 - - 3195.31 - - - - - - - - - - -
11958.18 926.09 -5.13 1342 11975.87 roll -1.18 - - 2227.25 - 2.89 0.091 3302.81 370.4 -77.86 - - 3196.72 - - - - - - - - - 16.08 -
12032.07 930.69 -6.27 1354 12049.77 roll -1.18 - - 2227.50 - 2.71 0.024 2151.75 -424.7 -77.86 - - 3196.19 - - - - - - - - - 16.08 -
12355.58 947.35 -5.29 1386 12374.48 roll -1.18 - - 2227.88 - 3.11 0.087 3302.94 370.2 -77.86 - - 3196.44 - - - - - - - - - 16.06 -
12535.46 958.39 -5.94 1419 12553.48 roll -1.18 - - 2227.50 - 2.72 0.024 2152.44 -423.0 -77.86 - - 3195.41 - - - - - - - - - 16.07 -
12859.73 974.12 -4.62 1451 12863.78 no move -1.18 - - 2227.56 - - - 2152.19 - -77.86 - - 3193.91 - - - - - - - - - - -
13170 end dive: TARGET_DEPTH_EXCEEDED
13170 begin apogee
13175.36 990.59 -5.25 1482 13274.88 -0.31 1.54 0.141 2440.38 138.2 0.12 0.199 2190.94 322.9 - 60.43 2.511 2889.56 -5.0 0.329 - - - - - - 15.99 15.61 12.03
13280 end apogee: CONTROL_FINISHED_OK
13280 begin climb
13282.87 992.45 - 1489 13391.53 1.18 2.52 0.096 2805.38 144.8 - - 2190.50 - 77.86 66.00 2.459 2572.56 -4.8 0.321 - - - - - - 15.73 - 12.65
13697.89 966.31 6.83 1527 13701.94 VBD 1.26 - - 2804.94 - - - 2191.00 - 77.86 - - 2561.31 - - - - - - - - - - -
14008.29 944.39 6.80 1558 14013.24 1.33 0.19 0.083 2849.25 233.2 - - 2189.94 - 77.86 - - 2561.47 - - - - - - - - 15.91 - -
14319.49 921.44 7.52 1589 14339.05 done 1.36 - - 2849.25 - 3.20 0.095 3352.12 363.2 77.86 - - 2559.31 - - - - - - - - - 15.96 -
14385.35 915.65 8.60 1599 14402.66 done 1.36 - - 2848.38 - 2.74 0.024 2205.31 -418.5 77.86 - - 2561.16 - - - - - - - - - 15.99 -
14708.89 891.21 7.44 1631 14712.95 VBD 1.40 - - 2849.25 - - - 2203.81 - 77.86 - - 2557.94 - - - - - - - - - - -
15018.73 866.91 7.62 1662 15036.42 done 1.40 - - 2849.31 - 2.86 0.080 1143.69 -370.7 77.86 - - 2558.78 - - - - - - - - - 16.02 -
15082.61 861.73 7.81 1672 15099.90 done 1.40 - - 2849.06 - 2.78 0.033 2276.06 407.3 77.86 - - 2560.16 - - - - - - - - - 16.04 -
15406.11 838.09 7.05 1704 15424.62 done 1.46 - - 2849.69 - 3.03 0.075 1143.81 -373.7 77.86 - - 2557.09 - - - - - - - - - 16.05 -
15510.82 830.14 7.59 1722 15528.12 done 1.46 - - 2849.81 - 2.80 0.034 2274.12 403.7 77.86 - - 2559.12 - - - - - - - - - 16.00 -
15834.58 808.81 6.35 1754 15839.94 1.56 0.28 0.072 2906.50 202.5 - - 2274.31 - 77.86 - - 2558.75 - - - - - - - - 16.03 - -
16145.75 784.87 7.72 1785 16164.10 done 1.56 - - 2906.75 - 2.94 0.099 3352.19 366.6 77.86 - - 2557.12 - - - - - - - - - 16.05 -
16190.40 781.00 8.73 1791 16207.70 done 1.56 - - 2906.62 - 2.72 0.024 2202.31 -422.8 77.86 - - 2557.78 - - - - - - - - - 16.08 -
16513.53 754.39 8.12 1823 16517.59 VBD 1.56 - - 2906.06 - - - 2201.19 - 77.86 - - 2556.75 - - - - - - - - - - -
16823.57 727.25 9.20 1854 16842.49 done 1.56 - - 2906.88 - 3.14 0.094 3353.50 367.0 77.86 - - 2558.28 - - - - - - - - - 16.06 -
16882.94 721.49 9.97 1863 16900.98 done 1.56 - - 2906.50 - 2.71 0.024 2203.19 -424.5 77.86 - - 2557.03 - - - - - - - - - 16.08 -
17206.78 694.19 8.02 1895 17210.84 VBD 1.56 - - 2906.31 - - - 2202.06 - 77.86 - - 2555.94 - - - - - - - - - - -
17517.19 670.68 7.45 1926 17534.89 done 1.60 - - 2906.69 - 2.84 0.079 1143.06 -372.9 77.86 - - 2557.59 - - - - - - - - - 16.08 -
17591.09 665.04 8.08 1938 17608.38 done 1.60 - - 2906.94 - 2.76 0.033 2276.25 410.6 77.86 - - 2556.19 - - - - - - - - - 16.08 -
17914.21 640.07 7.84 1970 17932.30 done 1.60 - - 2907.44 - 2.99 0.075 1144.06 -378.7 77.86 - - 2555.22 - - - - - - - - - 16.07 -
18088.51 626.08 7.80 2002 18106.05 done 1.60 - - 2906.25 - 2.77 0.034 2274.94 408.3 77.86 - - 2557.88 - - - - - - - - - 16.03 -
18412.00 600.92 8.00 2034 18416.05 VBD 1.60 - - 2906.50 - - - 2274.62 - 77.86 - - 2555.50 - - - - - - - - - - -
18722.45 578.30 7.49 2065 18726.51 VBD 1.63 - - 2906.69 - - - 2275.50 - 77.86 - - 2555.56 - - - - - - - - - - -
19032.75 556.54 6.63 2096 19050.85 done 1.72 - - 2907.19 - 2.94 0.097 3351.62 366.0 77.86 - - 2555.78 - - - - - - - - - 16.06 -
19097.45 551.98 7.10 2106 19115.98 1.77 0.25 0.081 2952.31 180.5 2.70 0.024 2200.44 -426.4 77.86 - - 2555.75 - - - - - - - - 16.01 16.08 -
19422.16 527.13 7.50 2138 19439.87 done 1.81 - - 2953.25 - 2.81 0.078 1143.94 -376.0 77.86 - - 2556.91 - - - - - - - - - 16.08 -
19626.10 510.79 8.05 2176 19643.79 done 1.81 - - 2952.56 - 2.75 0.033 2275.75 411.6 77.86 - - 2557.19 - - - - - - - - - 16.09 -
19950.03 487.66 6.89 2208 19968.13 done 1.88 - - 2952.38 - 2.93 0.096 3353.25 367.7 77.86 - - 2555.50 - - - - - - - - - 16.01 -
20198.65 468.39 7.87 2255 20216.30 done 1.88 - - 2953.44 - 2.70 0.024 2200.81 -426.8 77.86 - - 2556.31 - - - - - - - - - 16.07 -
20522.66 446.50 6.36 2287 20544.60 1.98 0.25 0.083 3008.12 218.7 3.12 0.092 3353.88 369.6 77.86 - - 2554.91 - - - - - - - - 16.04 16.01 -
20610.06 439.59 8.50 2301 20628.09 done 1.98 - - 3007.56 - 2.71 0.024 2200.00 -425.8 77.86 - - 2556.28 - - - - - - - - - 16.07 -
20934.41 416.97 7.00 2333 20952.12 done 2.04 - - 3007.62 - 2.79 0.077 1144.19 -378.4 77.86 - - 2556.38 - - - - - - - - - 16.05 -
21183.04 398.27 7.42 2380 21201.06 done 2.08 - - 3007.25 - 2.74 0.033 2277.75 413.7 77.86 - - 2557.06 - - - - - - - - - 16.07 -
21507.27 376.27 6.93 2412 21525.39 2.14 - - 3007.38 - 2.98 0.072 1144.06 -380.4 77.86 - - 2555.50 - - - - - - - - - 16.07 -
21756.30 358.18 7.17 2459 21774.34 2.20 - - 3007.62 - 2.74 0.033 2277.38 413.6 77.86 - - 2555.97 - - - - - - - - - 16.06 -
22080.59 335.18 6.99 2491 22084.75 2.26 - - 3007.50 - - - 2277.25 - 77.86 - - 2555.03 - - - - - - - - - - -
22391.10 313.50 7.16 2522 22395.16 2.31 - - 3007.69 - - - 2276.81 - 77.86 - - 2555.09 - - - - - - - - - - -
22701.42 294.63 6.10 2553 22719.54 2.43 - - 3007.50 - 2.93 0.095 3354.56 367.8 77.86 - - 2556.66 - - - - - - - - - 15.99 -
22890.42 281.68 6.91 2588 22908.46 2.50 - - 3008.06 - 2.71 0.023 2198.62 -426.5 77.86 - - 2556.00 - - - - - - - - - 16.07 -
23214.70 262.54 5.29 2620 23233.62 2.66 - - 3008.00 - 3.13 0.090 3355.12 369.5 77.86 - - 2554.16 - - - - - - - - - 16.05 -
23280.22 258.91 5.43 2630 23297.55 2.82 - - 3007.50 - 2.71 0.023 2198.12 -426.9 77.86 - - 2557.47 - - - - - - - - - 16.06 -
23603.76 242.89 4.74 2662 23698.53 2.96 - - 3008.31 - 2.84 0.078 1144.25 -371.1 146.24 52.98 1.604 2292.28 -5.0 0.126 - - - - - - - 15.79 11.99
23759.72 229.67 11.36 2686 23777.02 roll back 2.96 - - 3005.81 - 2.79 0.032 2275.62 405.5 146.24 - - 2287.12 - - - - - - - - - 15.90 -
24082.95 193.72 10.70 2718 24101.47 2.96 - - 3007.69 - 3.05 0.072 1143.06 -371.3 146.24 - - 2284.19 - - - - - - - - - 15.92 -
24167.66 183.48 12.42 2732 24184.97 2.96 - - 3007.25 - 2.77 0.032 2276.69 409.3 146.24 - - 2284.28 - - - - - - - - - 15.95 -
24490.77 150.88 9.59 2764 24509.29 2.96 - - 3007.62 - 3.03 0.071 1142.69 -374.3 146.24 - - 2280.62 - - - - - - - - - 15.91 -
24545.48 145.52 9.77 2772 24563.18 2.96 - - 3008.56 - 2.77 0.031 2277.12 409.5 146.24 - - 2281.44 - - - - - - - - - 15.98 -
24869.43 117.72 6.92 2804 24873.49 3.03 - - 3008.56 - - - 2277.12 - 146.24 - - 2280.44 - - - - - - - - - - -
25179.71 101.02 3.78 2835 25295.96 3.20 - - 3007.94 - 3.05 0.071 1143.81 -371.6 234.48 67.28 1.400 1932.00 -5.2 0.062 - - - - - - - 15.68 12.23
25527.33 72.03 8.43 2896 25545.35 3.20 - - 3008.06 - 2.79 0.030 2278.06 406.5 234.48 - - 1923.75 - - - - - - - - - 15.83 -
25731.68 59.19 5.86 2934 25751.33 3.33 - - 3008.00 - 3.04 0.069 1143.88 -373.1 234.48 - - 1920.72 - - - - - - - - - 15.85 -
25982.99 43.95 5.75 2981 26001.01 3.47 - - 3007.06 - 2.77 0.030 2278.12 409.5 234.48 - - 1920.22 - - - - - - - - - 15.93 -
26187.22 34.66 4.15 3019 26277.35 3.63 - - 3008.25 - - - 2278.56 - 314.97 60.36 1.278 1605.28 -5.2 0.023 - - - - - - - - 12.30
26463.57 21.43 4.47 3069 26566.11 3.78 - - 3008.19 - 3.09 0.070 1144.00 -367.2 388.95 57.35 1.229 1302.75 -5.3 0.015 - - - - - - - 15.61 12.46
26612.81 14.61 5.29 3091 26630.85 roll back 3.95 - - 3008.06 - 2.80 0.028 2276.44 404.4 388.95 - - 1298.69 - - - - - - - - - 15.75 -
26791 end climb: SURFACE_DEPTH_REACHED
26792 begin surface coast
26867 end surface coast: CONTROL_FINISHED_OK
26868 begin surface
SM 1.10 - - - - 178.2 30.75 1.175 1137.8 37.0 18.34 0.052 1135.0 61.9 - 0.22 0.059 1140.5 5171.4 -9.854 - - 12.40 15.84 15.88 -