NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 522 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 180.32 of 506.00 AH used of 24V (64.36% remains)
• Surface angle -63.5 deg, depth 1.09 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.95 (SM_CC=430)
• GPS1 time: 29 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
19.12 - - - 119.51 VBD -1.18 - - 180.75 - - - 2288.50 - -77.86 70.43 0.005 2852.88 - - - - - - - - - - 14.85
121.72 3.43 -3.71 14 237.64 -1.18 17.17 0.217 2228.06 119.2 3.28 0.065 1144.31 -348.8 -77.86 5.18 0.009 3210.62 69.1 -4.534 - - - - - - 15.27 14.99 15.11
254.15 41.06 -17.90 23 272.82 roll -1.18 - - 2227.06 - 2.86 0.025 2277.62 396.3 -77.86 - - 3213.44 - - - - - - - - - 15.63 -
458.86 68.34 -11.74 61 479.12 roll -1.18 - - 2227.75 - 3.28 0.064 1144.31 -345.5 -77.86 - - 3214.22 - - - - - - - - - 15.64 -
510.52 74.55 -11.99 68 529.17 roll -1.18 - - 2228.06 - 2.83 0.024 2279.94 401.3 -77.86 - - 3213.09 - - - - - - - - - 15.68 -
715.23 95.73 -9.86 106 735.28 roll -1.18 - - 2227.75 - 3.18 0.082 3351.62 337.0 -77.86 - - 3213.19 - - - - - - - - - 15.67 -
865.74 111.86 -10.31 133 884.40 roll -1.18 - - 2227.00 - 2.81 0.018 2193.62 -412.1 -77.86 - - 3215.44 - - - - - - - - - 15.72 -
1190.43 137.54 -7.35 165 1211.89 roll -1.18 - - 2228.44 - 3.41 0.078 3352.62 339.9 -77.86 - - 3213.94 - - - - - - - - - 15.76 -
1257.36 143.27 -8.43 175 1276.02 roll -1.18 - - 2227.81 - 2.82 0.018 2194.00 -410.9 -77.86 - - 3214.25 - - - - - - - - - 15.87 -
1582.05 168.63 -7.92 207 1586.07 no move -1.18 - - 2227.38 - - - 2191.88 - -77.86 - - 3213.84 - - - - - - - - - - -
1892.16 194.63 -8.55 238 1910.87 roll -1.18 - - 2227.00 - 3.04 0.068 1145.31 -344.3 -77.86 - - 3215.91 - - - - - - - - - 15.60 -
1967.33 201.34 -9.12 250 1984.83 roll -1.18 - - 2228.00 - 2.80 0.024 2279.81 405.2 -77.86 - - 3214.84 - - - - - - - - - 15.91 -
2290.90 227.18 -8.09 282 2294.96 no move -1.18 - - 2226.94 - - - 2279.75 - -77.86 - - 3214.34 - - - - - - - - - - -
2601.02 251.77 -8.29 313 2620.58 roll -1.18 - - 2227.62 - 3.22 0.065 1144.81 -352.5 -77.86 - - 3214.16 - - - - - - - - - 15.75 -
2681.07 258.94 -9.09 326 2700.53 roll -1.18 - - 2227.81 - 2.82 0.025 2278.69 402.1 -77.86 - - 3215.03 - - - - - - - - - 15.92 -
3006.63 285.77 -7.87 358 3026.17 roll -1.18 - - 2227.81 - 3.22 0.065 1143.75 -352.5 -77.86 - - 3215.03 - - - - - - - - - 15.82 -
3076.67 291.60 -8.12 369 3095.54 roll -1.18 - - 2227.56 - 2.82 0.024 2278.25 402.3 -77.86 - - 3215.84 - - - - - - - - - 15.93 -
3401.62 314.25 -6.75 401 3420.73 roll -1.18 - - 2228.69 - 3.17 0.084 3351.62 338.6 -77.86 - - 3214.84 - - - - - - - - - 15.70 -
3487.44 320.65 -7.48 415 3504.95 roll -1.18 - - 2227.88 - 2.79 0.019 2193.56 -415.1 -77.86 - - 3214.59 - - - - - - - - - 15.95 -
3811.15 342.19 -6.83 447 3829.47 roll -1.18 - - 2227.50 - 3.00 0.069 1145.00 -349.5 -77.86 - - 3214.25 - - - - - - - - - 15.78 -
3869.95 346.53 -7.17 456 3888.43 roll -1.18 - - 2228.00 - 2.78 0.025 2278.69 407.8 -77.86 - - 3214.31 - - - - - - - - - 15.97 -
4194.54 368.54 -6.66 488 4198.60 no move -1.18 - - 2227.31 - - - 2278.31 - -77.86 - - 3213.28 - - - - - - - - - - -
4504.69 388.72 -6.41 519 4508.75 no move -1.18 - - 2227.69 - - - 2278.94 - -77.86 - - 3212.72 - - - - - - - - - - -
4814.81 409.23 -6.39 550 4818.87 no move -1.18 - - 2227.06 - - - 2279.38 - -77.86 - - 3212.12 - - - - - - - - - - -
5124.94 430.69 -7.27 581 5144.47 roll -1.18 - - 2227.75 - 3.24 0.067 1146.31 -349.7 -77.86 - - 3213.97 - - - - - - - - - 15.81 -
5180.91 435.15 -7.91 589 5198.43 roll -1.18 - - 2228.00 - 2.80 0.025 2276.75 403.7 -77.86 - - 3212.56 - - - - - - - - - 15.95 -
5504.52 459.56 -7.77 621 5523.64 roll -1.18 - - 2226.62 - 3.19 0.085 3353.62 337.6 -77.86 - - 3214.19 - - - - - - - - - 15.78 -
5564.14 464.76 -9.22 630 5583.26 roll -1.18 - - 2227.69 - 2.81 0.019 2193.06 -413.0 -77.86 - - 3211.88 - - - - - - - - - 15.91 -
5889.48 489.28 -7.63 662 5908.22 roll -1.18 - - 2226.88 - 3.02 0.071 1144.38 -347.2 -77.86 - - 3212.25 - - - - - - - - - 15.81 -
5968.71 495.79 -8.16 675 5987.97 roll -1.18 - - 2227.88 - 2.81 0.025 2278.69 403.7 -77.86 - - 3211.88 - - - - - - - - - 15.97 -
6294.03 519.54 -6.83 707 6298.09 no move -1.18 - - 2228.06 - - - 2278.56 - -77.86 - - 3210.84 - - - - - - - - - - -
6604.19 540.52 -6.78 738 6623.73 roll -1.18 - - 2227.31 - 3.26 0.067 1145.81 -347.5 -77.86 - - 3211.50 - - - - - - - - - 15.79 -
6674.23 545.61 -7.28 749 6693.09 roll -1.18 - - 2226.56 - 2.82 0.026 2276.81 401.1 -77.86 - - 3212.44 - - - - - - - - - 15.96 -
6999.20 566.89 -6.47 781 7018.76 roll -1.18 - - 2227.75 - 3.25 0.067 1144.56 -348.4 -77.86 - - 3209.03 - - - - - - - - - 15.77 -
7095.22 573.73 -7.38 797 7113.18 roll -1.18 - - 2227.31 - 2.83 0.026 2277.25 400.2 -77.86 - - 3210.03 - - - - - - - - - 15.95 -
7419.29 595.86 -7.29 829 7423.34 no move -1.18 - - 2227.50 - - - 2276.75 - -77.86 - - 3208.62 - - - - - - - - - - -
7729.44 618.93 -7.77 860 7749.00 roll -1.18 - - 2227.31 - 3.24 0.067 1145.88 -349.0 -77.86 - - 3208.81 - - - - - - - - - 15.80 -
7849.62 628.79 -8.08 881 7868.88 roll -1.18 - - 2227.44 - 2.83 0.026 2276.62 399.6 -77.86 - - 3209.03 - - - - - - - - - 15.98 -
8174.95 653.29 -7.75 913 8179.01 no move -1.18 - - 2227.50 - - - 2276.62 - -77.86 - - 3207.97 - - - - - - - - - - -
8485.06 676.37 -7.63 944 8504.58 roll -1.18 - - 2227.12 - 3.22 0.088 3352.62 334.2 -77.86 - - 3206.69 - - - - - - - - - 15.75 -
8545.08 681.36 -8.18 953 8563.99 roll -1.18 - - 2227.88 - 2.81 0.020 2195.31 -411.9 -77.86 - - 3209.09 - - - - - - - - - 15.98 -
8870.06 705.06 -7.11 985 8888.78 roll -1.18 - - 2227.75 - 3.04 0.072 1146.12 -345.1 -77.86 - - 3207.06 - - - - - - - - - 15.79 -
8945.24 710.92 -7.76 997 8963.55 roll -1.18 - - 2227.56 - 2.83 0.026 2277.69 399.8 -77.86 - - 3207.78 - - - - - - - - - 15.81 -
9269.64 733.43 -6.73 1029 9289.28 roll -1.18 - - 2227.88 - 3.21 0.087 3351.44 334.5 -77.86 - - 3207.25 - - - - - - - - - 15.75 -
9399.77 743.03 -7.41 1052 9418.90 roll -1.18 - - 2228.06 - 2.81 0.020 2195.12 -411.5 -77.86 - - 3207.22 - - - - - - - - - 15.95 -
9725.08 763.69 -6.31 1084 9743.86 roll -1.18 - - 2226.69 - 3.04 0.072 1146.81 -344.8 -77.86 - - 3208.16 - - - - - - - - - 15.78 -
9800.32 768.78 -6.99 1096 9818.24 roll -1.18 - - 2227.94 - 2.81 0.026 2277.50 402.4 -77.86 - - 3207.22 - - - - - - - - - 15.95 -
10124.33 788.62 -6.07 1128 10128.39 no move -1.18 - - 2227.75 - - - 2277.62 - -77.86 - - 3206.75 - - - - - - - - - - -
10434.50 807.77 -6.22 1159 10438.56 no move -1.18 - - 2227.50 - - - 2277.12 - -77.86 - - 3205.78 - - - - - - - - - - -
10744.66 826.90 -5.99 1190 10764.21 roll -1.18 - - 2226.88 - 3.29 0.068 1145.44 -344.0 -77.86 - - 3207.66 - - - - - - - - - 15.76 -
10820.67 831.80 -6.49 1202 10838.58 roll -1.18 - - 2227.50 - 2.82 0.026 2276.88 401.2 -77.86 - - 3206.72 - - - - - - - - - 15.95 -
11144.67 851.58 -6.06 1234 11164.21 roll -1.18 - - 2226.56 - 3.22 0.089 3350.88 333.5 -77.86 - - 3207.66 - - - - - - - - - 15.72 -
11224.82 857.35 -7.38 1247 11243.94 roll -1.18 - - 2227.75 - 2.82 0.020 2196.12 -409.5 -77.86 - - 3205.75 - - - - - - - - - 15.81 -
11550.16 877.31 -6.46 1279 11568.89 roll -1.18 - - 2227.75 - 3.03 0.072 1145.88 -346.6 -77.86 - - 3204.44 - - - - - - - - - 15.76 -
11605.36 881.13 -7.05 1287 11623.28 roll -1.18 - - 2227.62 - 2.81 0.026 2277.62 402.8 -77.86 - - 3206.75 - - - - - - - - - 15.97 -
11929.39 900.61 -5.98 1319 11933.46 no move -1.18 - - 2227.06 - - - 2277.88 - -77.86 - - 3205.19 - - - - - - - - - - -
12239.56 918.31 -5.55 1350 12243.62 no move -1.18 - - 2227.12 - - - 2277.19 - -77.86 - - 3204.59 - - - - - - - - - - -
12549.70 935.25 -5.41 1381 12553.77 no move -1.18 - - 2227.88 - - - 2278.31 - -77.86 - - 3204.69 - - - - - - - - - - -
12859.84 951.86 -5.59 1412 12879.39 roll -1.18 - - 2227.44 - 3.28 0.069 1146.44 -345.1 -77.86 - - 3206.09 - - - - - - - - - 15.74 -
12935.85 956.21 -5.80 1424 12953.76 roll -1.18 - - 2226.94 - 2.83 0.027 2276.62 399.4 -77.86 - - 3206.09 - - - - - - - - - 15.94 -
13259.82 972.80 -5.11 1456 13263.88 no move -1.18 - - 2227.38 - - - 2276.81 - -77.86 - - 3203.12 - - - - - - - - - - -
13570.36 988.65 -5.03 1487 13589.90 roll -1.18 - - 2226.88 - 3.26 0.068 1145.94 -346.9 -77.86 - - 3203.97 - - - - - - - - - 15.74 -
13600 end dive: TARGET_DEPTH_EXCEEDED
13601 begin apogee
13618.29 990.20 -4.95 1490 13722.79 -0.31 1.60 0.133 2440.38 133.4 0.12 0.179 2185.88 8666.2 - 65.47 2.385 2888.38 -4.8 0.345 - - - - - - 15.63 15.26 10.16
13728 end apogee: CONTROL_FINISHED_OK
13729 begin climb
13731.02 991.81 - 1497 13842.12 1.18 2.59 0.091 2806.50 141.4 - - 2185.69 - 77.86 67.51 2.359 2570.06 -4.7 0.341 - - - - - - 15.53 - 11.43
14148.74 965.27 7.15 1535 14170.90 done 1.24 - - 2805.88 - 3.57 0.091 3350.31 326.2 77.86 - - 2563.59 - - - - - - - - - 15.65 -
14176.91 963.34 6.47 1537 14197.43 1.33 0.21 0.078 2849.69 208.6 2.85 0.021 2202.69 -402.7 77.86 - - 2564.19 - - - - - - - - 15.61 15.76 -
14503.92 938.76 7.06 1569 14522.64 done 1.39 - - 2849.19 - 3.09 0.076 1145.25 -342.2 77.86 - - 2562.78 - - - - - - - - - 15.73 -
14559.50 934.86 7.40 1577 14578.05 done 1.43 - - 2850.56 - 2.85 0.030 2275.44 396.6 77.86 - - 2562.47 - - - - - - - - - 15.85 -
14884.67 912.25 6.57 1609 14890.19 1.52 0.22 0.074 2897.38 212.8 - - 2274.25 - 77.86 - - 2560.06 - - - - - - - - 15.82 - -
15196.70 889.76 7.21 1640 15200.76 VBD 1.57 - - 2897.62 - - - 2275.44 - 77.86 - - 2559.97 - - - - - - - - - - -
15507.23 868.50 6.73 1671 15511.29 VBD 1.65 - - 2896.94 - - - 2275.50 - 77.86 - - 2559.81 - - - - - - - - - - -
15817.79 847.76 6.42 1702 15823.33 1.75 0.27 0.071 2950.88 199.8 - - 2274.75 - 77.86 - - 2560.69 - - - - - - - - 15.88 - -
16129.43 822.67 8.14 1733 16133.49 VBD 1.75 - - 2951.81 - - - 2275.25 - 77.86 - - 2559.62 - - - - - - - - - - -
16439.59 797.21 8.26 1764 16443.65 VBD 1.75 - - 2951.50 - - - 2275.75 - 77.86 - - 2559.38 - - - - - - - - - - -
16749.73 770.65 8.47 1795 16753.79 VBD 1.75 - - 2952.31 - - - 2275.31 - 77.86 - - 2559.09 - - - - - - - - - - -
17059.84 744.65 8.57 1826 17079.40 done 1.75 - - 2952.62 - 3.26 0.072 1146.00 -346.4 77.86 - - 2561.03 - - - - - - - - - 15.77 -
17145.85 736.89 9.04 1840 17163.78 done 1.75 - - 2952.19 - 2.85 0.030 2272.75 395.4 77.86 - - 2559.38 - - - - - - - - - 15.94 -
17470.24 710.64 7.23 1872 17490.00 done 1.80 - - 2952.44 - 3.27 0.071 1146.44 -344.4 77.86 - - 2560.00 - - - - - - - - - 15.78 -
17550.62 704.40 7.73 1885 17569.49 done 1.80 - - 2952.00 - 2.84 0.030 2274.25 397.1 77.86 - - 2559.69 - - - - - - - - - 15.95 -
17876.00 680.82 7.18 1917 17880.06 VBD 1.85 - - 2951.56 - - - 2273.69 - 77.86 - - 2558.53 - - - - - - - - - - -
18186.56 659.95 6.29 1948 18209.15 1.95 0.23 0.073 3002.62 222.0 3.26 0.093 3351.94 330.8 77.86 - - 2558.84 - - - - - - - - 15.88 15.73 -
18225.04 657.07 7.28 1952 18243.92 done 2.00 - - 3002.81 - 2.82 0.022 2202.81 -407.5 77.86 - - 2560.06 - - - - - - - - - 15.94 -
18550.38 632.66 7.20 1984 18569.11 done 2.05 - - 3003.94 - 3.07 0.074 1145.75 -344.3 77.86 - - 2558.97 - - - - - - - - - 15.77 -
18696.00 621.87 7.39 2010 18713.92 done 2.09 - - 3003.88 - 2.84 0.030 2275.06 397.6 77.86 - - 2559.09 - - - - - - - - - 15.95 -
19020.38 599.25 7.03 2042 19041.33 2.15 - - 3003.88 - 3.28 0.092 3350.75 328.0 77.86 - - 2558.06 - - - - - - - - - 15.57 -
19083.19 594.49 7.31 2051 19101.40 2.20 - - 3003.75 - 2.83 0.021 2202.88 -405.6 77.86 - - 2558.72 - - - - - - - - - 15.92 -
19408.00 571.67 6.86 2083 19426.72 2.27 - - 3003.75 - 3.08 0.074 1144.62 -343.6 77.86 - - 2560.81 - - - - - - - - - 15.76 -
19503.20 564.60 7.69 2099 19521.53 2.27 - - 3004.31 - 2.85 0.030 2275.25 396.7 77.86 - - 2557.94 - - - - - - - - - 15.92 -
19828.01 542.51 6.45 2131 19847.59 2.36 - - 3004.12 - 3.27 0.070 1145.75 -345.4 77.86 - - 2557.38 - - - - - - - - - 15.76 -
20004.46 530.15 7.17 2163 20022.38 2.42 - - 3003.56 - 2.86 0.030 2275.44 395.0 77.86 - - 2558.25 - - - - - - - - - 15.93 -
20328.88 507.14 7.06 2195 20348.45 2.48 - - 3002.69 - 3.23 0.091 3354.06 333.9 77.86 - - 2559.00 - - - - - - - - - 15.72 -
20389.34 502.31 7.51 2204 20408.35 2.51 - - 3003.62 - 2.81 0.021 2201.25 -410.3 77.86 - - 2559.34 - - - - - - - - - 15.94 -
20714.85 479.22 6.89 2236 20718.92 2.58 - - 3003.75 - - - 2199.50 - 77.86 - - 2557.41 - - - - - - - - - - -
21025.40 457.03 7.14 2267 21029.87 2.63 - - 3004.06 - - - 2199.81 - 77.86 - - 2557.81 - - - - - - - - - - -
21336.43 438.32 5.17 2298 21355.17 2.81 - - 3004.06 - 3.06 0.074 1143.25 -345.3 77.86 - - 2557.41 - - - - - - - - - 15.74 -
21456.18 430.21 6.24 2319 21475.08 2.91 - - 3003.69 - 2.84 0.029 2276.56 399.1 77.86 - - 2558.28 - - - - - - - - - 15.93 -
21781.58 411.66 5.44 2351 21801.14 3.07 - - 3003.81 - 3.24 0.091 3350.62 331.5 77.86 - - 2557.09 - - - - - - - - - 15.62 -
21988.04 399.31 6.18 2389 22005.98 3.18 - - 3004.50 - 2.82 0.021 2201.56 -407.5 77.86 - - 2560.06 - - - - - - - - - 15.93 -
22312.46 382.69 5.13 2421 22316.63 3.36 - - 3004.19 - - - 2201.50 - 77.86 - - 2557.56 - - - - - - - - - - -
22623.11 367.28 4.96 2452 22720.71 3.49 - - 3004.25 - 3.46 0.089 3353.00 332.8 141.71 52.11 1.621 2312.16 -4.7 0.184 - - - - - - - 15.44 10.38
22726.96 359.61 9.61 2465 22745.85 roll back 3.49 - - 3003.06 - 2.86 0.021 2206.19 -401.0 141.71 - - 2308.91 - - - - - - - - - 15.73 -
23052.03 328.32 9.20 2497 23056.11 3.49 - - 3004.19 - - - 2203.56 - 141.71 - - 2302.69 - - - - - - - - - - -
23362.21 299.20 9.60 2528 23383.99 3.49 - - 3003.62 - 3.44 0.088 3350.31 333.4 141.71 - - 2301.34 - - - - - - - - - 15.67 -
23449.49 290.11 10.87 2542 23468.78 3.49 - - 3004.19 - 2.86 0.021 2205.94 -400.1 141.71 - - 2302.34 - - - - - - - - - 15.85 -
23774.85 258.87 9.97 2574 23778.92 3.49 - - 3004.12 - - - 2204.75 - 141.71 - - 2300.78 - - - - - - - - - - -
24084.99 228.55 9.27 2605 24106.76 3.49 - - 3005.00 - 3.43 0.087 3350.12 333.9 141.71 - - 2300.12 - - - - - - - - - 15.69 -
24128.21 224.23 10.13 2610 24146.16 3.49 - - 3003.75 - 2.86 0.021 2206.88 -399.7 141.71 - - 2301.06 - - - - - - - - - 15.80 -
24452.26 195.08 8.64 2642 24456.34 3.49 - - 3004.00 - - - 2205.81 - 141.71 - - 2299.25 - - - - - - - - - - -
24762.43 169.01 8.41 2673 24781.81 3.49 - - 3002.88 - 3.12 0.075 1147.12 -339.3 141.71 - - 2301.06 - - - - - - - - - 15.71 -
24892.45 157.68 8.50 2696 24911.74 3.49 - - 3003.88 - 2.85 0.029 2276.12 396.1 141.71 - - 2299.81 - - - - - - - - - 15.73 -
25217.78 132.01 7.55 2728 25238.74 3.49 - - 3003.75 - 3.30 0.070 1145.31 -342.7 141.71 - - 2298.47 - - - - - - - - - 15.56 -
25380.24 118.60 8.49 2757 25398.17 3.49 - - 3003.00 - 2.88 0.028 2274.88 392.2 141.71 - - 2301.16 - - - - - - - - - 15.74 -
25704.66 98.18 4.86 2793 25801.15 3.62 - - 3003.94 - 3.30 0.071 1146.56 -341.9 207.66 52.53 1.265 2042.00 -4.9 0.066 - - - - - - - 15.45 11.13
26013.07 75.11 7.30 2847 26031.95 3.66 - - 3003.94 - 2.86 0.027 2276.75 395.2 207.66 - - 2035.09 - - - - - - - - - 15.70 -
26218.43 63.50 5.82 2885 26239.18 3.80 - - 3003.50 - 3.26 0.089 3349.88 329.2 207.66 - - 2035.03 - - - - - - - - - 15.50 -
26376.16 54.23 5.74 2913 26395.08 3.94 - - 3003.56 - 2.86 0.020 2200.19 -402.0 207.66 - - 2032.28 - - - - - - - - - 15.59 -
26581.59 44.22 5.01 2951 26653.62 4.06 - - 3004.06 - - - 2197.88 - 270.48 49.72 1.175 1786.50 -4.9 0.032 - - - - - - - - 11.28
26840.11 29.19 4.87 2998 26938.45 4.19 - - 3003.31 - 3.49 0.087 3350.12 330.2 336.24 53.04 1.135 1519.88 -5.0 0.022 - - - - - - - 15.35 11.45
27115.01 8.42 8.31 3045 27134.31 roll back 4.19 - - 3004.19 - 2.88 0.021 2207.19 -396.9 336.24 - - 1512.06 - - - - - - - - - 15.68 -
27175 end climb: SURFACE_DEPTH_REACHED
27176 begin surface coast
27236 end surface coast: CONTROL_FINISHED_OK
27237 begin surface
SM 1.12 - - - - 180.8 73.94 1.113 1137.2 15.4 19.90 0.052 1135.0 57.0 - 0.14 0.094 1139.5 8118.7 -9.887 - - 11.27 15.70 15.77 -