NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 54 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 20.42 of 506.00 AH used of 24V (95.96% remains)
• Surface angle -66.3 deg, depth 1.15 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.85 (SM_CC=430)
• GPS1 time: 14 s
• GPS2 time: 3 s • Transponder ping count: 15
• 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
10 end surface: CONTROL_FINISHED_OK
11 begin dive
18.67 - - - 103.92 VBD -1.18 - - 178.12 - - - 2235.69 - -77.86 60.00 0.005 2702.00 - - - - - - - - - - 15.13
106.12 3.73 -4.67 12 218.72 -1.18 16.67 0.235 2228.31 123.0 3.03 0.065 1091.88 -377.5 -77.86 7.20 0.008 3210.81 70.7 -5.461 - - - - - - 15.68 15.64 15.64
449.86 70.68 -12.35 64 467.83 roll -1.18 - - 2227.44 - 2.76 0.025 2229.88 412.3 -77.86 - - 3215.38 - - - - - - - - - 15.93 -
653.76 93.13 -11.10 102 672.79 done -1.18 - - 2226.94 - 3.02 0.064 1091.56 -376.9 -77.86 - - 3216.09 - - - - - - - - - 15.91 -
903.26 117.95 -9.79 149 921.07 done -1.18 - - 2228.38 - 2.72 0.025 2231.69 419.2 -77.86 - - 3216.81 - - - - - - - - - 15.94 -
1226.85 144.95 -7.66 181 1230.87 VBD -1.18 - - 2228.12 - - - 2231.38 - -77.86 - - 3216.25 - - - - - - - - - - -
1536.93 169.14 -7.60 212 1555.21 done -1.18 - - 2227.69 - 3.01 0.066 1093.38 -378.1 -77.86 - - 3216.22 - - - - - - - - - 16.03 -
1671.37 180.99 -9.02 236 1688.44 done -1.18 - - 2228.06 - 2.71 0.026 2231.44 419.9 -77.86 - - 3217.44 - - - - - - - - - 16.03 -
1994.21 207.89 -8.47 268 1998.22 no move -1.18 - - 2227.75 - - - 2231.38 - -77.86 - - 3216.66 - - - - - - - - - - -
2304.26 233.53 -7.90 299 2308.27 no move -1.18 - - 2226.94 - - - 2231.56 - -77.86 - - 3216.88 - - - - - - - - - - -
2614.34 257.65 -8.15 330 2632.61 roll -1.18 - - 2228.00 - 3.01 0.067 1094.06 -377.9 -77.86 - - 3216.62 - - - - - - - - - 16.08 -
2738.80 268.65 -9.09 352 2756.49 roll -1.18 - - 2228.12 - 2.72 0.026 2231.56 418.2 -77.86 - - 3216.97 - - - - - - - - - 16.09 -
3062.41 296.87 -8.65 384 3080.10 roll -1.18 - - 2225.81 - 2.88 0.088 3303.25 372.1 -77.86 - - 3216.59 - - - - - - - - - 16.03 -
3166.29 307.16 -10.22 402 3183.57 roll -1.18 - - 2227.88 - 2.73 0.023 2147.38 -423.4 -77.86 - - 3216.34 - - - - - - - - - 16.08 -
3489.38 333.72 -8.19 434 3493.43 no move -1.18 - - 2227.88 - - - 2145.81 - -77.86 - - 3214.56 - - - - - - - - - - -
3799.41 357.33 -7.70 465 3803.46 no move -1.18 - - 2227.69 - - - 2145.44 - -77.86 - - 3213.50 - - - - - - - - - - -
4109.46 380.34 -7.75 496 4113.51 no move -1.18 - - 2227.62 - - - 2146.06 - -77.86 - - 3213.22 - - - - - - - - - - -
4419.50 403.81 -7.72 527 4423.55 no move -1.18 - - 2228.06 - - - 2146.00 - -77.86 - - 3211.94 - - - - - - - - - - -
4729.54 428.41 -8.17 558 4748.44 roll -1.18 - - 2227.75 - 3.13 0.086 3304.88 370.2 -77.86 - - 3212.88 - - - - - - - - - 16.10 -
4938.91 447.27 -9.10 597 4956.92 roll -1.18 - - 2228.38 - 2.72 0.023 2150.75 -424.3 -77.86 - - 3211.81 - - - - - - - - - 16.11 -
5262.98 471.93 -7.45 629 5281.88 roll -1.18 - - 2225.50 - 3.11 0.085 3304.81 371.1 -77.86 - - 3211.50 - - - - - - - - - 16.05 -
5378.19 480.82 -8.02 649 5395.48 roll -1.18 - - 2228.06 - 2.72 0.023 2150.25 -424.5 -77.86 - - 3210.50 - - - - - - - - - 16.10 -
5701.29 503.79 -7.24 681 5705.34 no move -1.18 - - 2227.75 - - - 2150.44 - -77.86 - - 3208.62 - - - - - - - - - - -
6011.32 524.43 -6.55 712 6015.37 no move -1.18 - - 2227.75 - - - 2149.62 - -77.86 - - 3208.38 - - - - - - - - - - -
6321.36 544.34 -6.18 743 6325.42 no move -1.18 - - 2228.00 - - - 2149.75 - -77.86 - - 3207.72 - - - - - - - - - - -
6631.64 562.88 -5.62 774 6649.33 roll -1.18 - - 2227.75 - 2.82 0.077 1094.25 -374.3 -77.86 - - 3208.31 - - - - - - - - - 16.11 -
6709.79 567.93 -6.48 787 6727.79 roll -1.18 - - 2228.19 - 2.73 0.028 2230.50 416.2 -77.86 - - 3208.25 - - - - - - - - - 16.11 -
7033.57 586.96 -6.26 819 7051.28 roll -1.18 - - 2228.00 - 2.88 0.091 3303.88 372.7 -77.86 - - 3206.56 - - - - - - - - - 16.09 -
7141.73 594.41 -6.79 838 7159.75 roll -1.18 - - 2227.94 - 2.72 0.023 2149.00 -424.6 -77.86 - - 3206.69 - - - - - - - - - 16.11 -
7465.56 614.84 -6.29 870 7469.85 no move -1.18 - - 2227.69 - - - 2148.12 - -77.86 - - 3205.53 - - - - - - - - - - -
7775.77 636.14 -7.22 901 7794.67 roll -1.18 - - 2226.75 - 3.11 0.087 3304.94 372.0 -77.86 - - 3206.56 - - - - - - - - - 16.11 -
7885.14 644.83 -7.81 920 7903.57 roll -1.18 - - 2227.75 - 2.72 0.023 2151.44 -424.1 -77.86 - - 3205.97 - - - - - - - - - 16.10 -
8209.41 666.85 -6.75 952 8227.10 roll -1.18 - - 2227.81 - 2.81 0.077 1092.81 -376.7 -77.86 - - 3206.31 - - - - - - - - - 16.10 -
8297.56 673.17 -6.91 967 8315.57 roll -1.18 - - 2226.69 - 2.72 0.028 2231.31 418.6 -77.86 - - 3206.12 - - - - - - - - - 16.10 -
8621.38 694.45 -6.40 999 8639.08 roll -1.18 - - 2227.75 - 2.88 0.091 3304.31 372.6 -77.86 - - 3204.12 - - - - - - - - - 16.09 -
8725.27 702.38 -7.60 1017 8742.66 roll -1.18 - - 2227.75 - 2.71 0.023 2151.19 -425.5 -77.86 - - 3205.62 - - - - - - - - - 16.10 -
9048.50 723.82 -6.79 1049 9066.59 roll -1.18 - - 2228.19 - 2.82 0.077 1093.88 -374.9 -77.86 - - 3204.78 - - - - - - - - - 16.09 -
9202.80 733.95 -6.52 1077 9220.75 roll -1.18 - - 2228.44 - 2.72 0.028 2229.88 417.6 -77.86 - - 3204.25 - - - - - - - - - 16.10 -
9526.64 754.75 -6.14 1109 9544.34 roll -1.18 - - 2228.06 - 2.88 0.091 3302.38 372.4 -77.86 - - 3202.62 - - - - - - - - - 16.08 -
9630.52 762.23 -6.96 1127 9648.20 roll -1.18 - - 2228.25 - 2.70 0.023 2149.38 -427.0 -77.86 - - 3203.28 - - - - - - - - - 16.09 -
9954.04 783.41 -6.91 1159 9971.75 roll -1.18 - - 2227.69 - 2.81 0.077 1093.12 -375.9 -77.86 - - 3203.50 - - - - - - - - - 16.10 -
10127.97 796.58 -7.59 1191 10145.27 roll -1.18 - - 2226.94 - 2.72 0.028 2231.19 418.4 -77.86 - - 3203.78 - - - - - - - - - 16.10 -
10451.08 819.99 -7.48 1223 10455.14 no move -1.18 - - 2227.31 - - - 2231.00 - -77.86 - - 3201.81 - - - - - - - - - - -
10761.13 842.99 -7.04 1254 10765.18 no move -1.18 - - 2227.44 - - - 2231.00 - -77.86 - - 3201.28 - - - - - - - - - - -
11071.17 864.04 -6.50 1285 11088.97 roll -1.18 - - 2228.12 - 2.89 0.092 3303.56 371.1 -77.86 - - 3201.41 - - - - - - - - - 16.08 -
11275.20 878.39 -6.88 1323 11292.73 roll -1.18 - - 2227.81 - 2.72 0.024 2150.31 -424.0 -77.86 - - 3200.97 - - - - - - - - - 16.10 -
11598.63 896.15 -5.77 1355 11602.68 no move -1.18 - - 2227.81 - - - 2150.06 - -77.86 - - 3200.12 - - - - - - - - - - -
11908.67 912.72 -5.39 1386 11926.37 roll -1.18 - - 2227.50 - 2.84 0.078 1093.19 -372.1 -77.86 - - 3201.31 - - - - - - - - - 16.08 -
11992.56 917.86 -6.12 1400 12010.26 roll -1.18 - - 2227.88 - 2.72 0.029 2230.50 418.1 -77.86 - - 3200.19 - - - - - - - - - 16.10 -
12316.07 936.90 -5.84 1432 12333.77 roll -1.18 - - 2227.56 - 2.89 0.092 3302.25 370.8 -77.86 - - 3200.50 - - - - - - - - - 16.08 -
12389.95 941.76 -6.83 1444 12407.64 roll -1.18 - - 2228.00 - 2.72 0.024 2150.56 -423.4 -77.86 - - 3201.25 - - - - - - - - - 16.09 -
12713.46 959.51 -6.15 1476 12717.51 no move -1.18 - - 2227.31 - - - 2150.56 - -77.86 - - 3199.44 - - - - - - - - - - -
13023.50 976.13 -5.41 1507 13042.40 roll -1.18 - - 2228.06 - 3.12 0.089 3303.69 369.6 -77.86 - - 3198.56 - - - - - - - - - 16.08 -
13102.85 981.30 -6.29 1520 13120.88 roll -1.18 - - 2228.19 - 2.74 0.024 2153.94 -419.6 -77.86 - - 3200.12 - - - - - - - - - 16.08 -
13265 end dive: TARGET_DEPTH_EXCEEDED
13266 begin apogee
13271.88 990.19 -5.24 1536 13372.23 -0.31 1.54 0.143 2440.31 137.7 0.12 0.194 2189.50 296.3 - 61.22 2.501 2889.31 -5.1 0.333 - - - - - - 16.00 15.59 11.92
13385 end apogee: CONTROL_FINISHED_OK
13385 begin climb
13388.54 992.08 - 1543 13496.54 1.18 2.52 0.097 2805.25 144.8 - - 2188.38 - 77.86 65.53 2.456 2569.84 -4.9 0.326 - - - - - - 15.73 - 12.59
13802.88 968.81 5.85 1581 13807.83 1.31 0.19 0.089 2844.88 208.6 - - 2188.25 - 77.86 - - 2562.59 - - - - - - - - 15.80 - -
14114.17 947.22 6.67 1612 14133.49 done 1.40 - - 2845.81 - 3.22 0.096 3351.44 361.2 77.86 - - 2561.53 - - - - - - - - - 15.86 -
14223.94 937.59 8.91 1631 14241.96 done 1.40 - - 2846.56 - 2.77 0.024 2205.81 -413.6 77.86 - - 2561.91 - - - - - - - - - 15.94 -
14547.77 913.93 7.57 1663 14551.83 VBD 1.40 - - 2846.06 - - - 2204.25 - 77.86 - - 2559.31 - - - - - - - - - - -
14857.82 890.64 7.93 1694 14875.75 done 1.40 - - 2845.94 - 2.87 0.078 1144.25 -369.3 77.86 - - 2560.84 - - - - - - - - - 16.00 -
14952.05 882.33 8.66 1710 14969.34 done 1.40 - - 2846.62 - 2.78 0.034 2275.00 406.7 77.86 - - 2560.66 - - - - - - - - - 16.03 -
15275.17 856.81 7.63 1742 15293.27 done 1.40 - - 2846.50 - 2.95 0.099 3351.62 365.0 77.86 - - 2559.69 - - - - - - - - - 16.02 -
15359.47 848.94 8.85 1756 15376.77 done 1.40 - - 2846.06 - 2.73 0.024 2203.25 -420.6 77.86 - - 2559.41 - - - - - - - - - 16.04 -
15682.98 824.18 7.45 1788 15701.89 done 1.43 - - 2846.62 - 3.14 0.096 3351.81 365.8 77.86 - - 2557.72 - - - - - - - - - 16.03 -
15738.07 819.43 8.97 1796 15755.36 done 1.43 - - 2845.62 - 2.73 0.024 2203.31 -420.7 77.86 - - 2558.50 - - - - - - - - - 15.99 -
16061.59 794.85 7.34 1828 16066.54 1.48 0.17 0.092 2884.19 226.9 - - 2202.19 - 77.86 - - 2557.16 - - - - - - - - 16.03 - -
16372.34 770.29 8.20 1859 16390.04 done 1.48 - - 2883.88 - 2.82 0.079 1141.75 -376.0 77.86 - - 2559.41 - - - - - - - - - 16.08 -
16620.56 749.66 7.96 1906 16638.81 done 1.48 - - 2885.44 - 2.78 0.034 2275.31 407.8 77.86 - - 2558.16 - - - - - - - - - 16.07 -
16945.14 726.74 6.95 1938 16949.21 VBD 1.54 - - 2884.38 - - - 2275.38 - 77.86 - - 2556.78 - - - - - - - - - - -
17255.41 705.17 6.69 1969 17273.92 done 1.62 - - 2885.00 - 3.04 0.074 1143.00 -372.5 77.86 - - 2558.44 - - - - - - - - - 16.08 -
17480.55 689.53 6.90 2011 17499.48 1.69 0.25 0.074 2937.12 208.5 2.77 0.034 2276.94 409.4 77.86 - - 2556.75 - - - - - - - - 16.00 16.08 -
17805.32 663.33 8.17 2043 17823.44 done 1.69 - - 2939.00 - 2.92 0.099 3351.75 368.1 77.86 - - 2556.88 - - - - - - - - - 16.07 -
17899.61 654.31 9.53 2059 17916.90 done 1.69 - - 2938.25 - 2.72 0.024 2203.25 -422.2 77.86 - - 2558.47 - - - - - - - - - 16.08 -
18222.70 625.64 8.58 2091 18226.76 VBD 1.69 - - 2938.50 - - - 2202.31 - 77.86 - - 2555.97 - - - - - - - - - - -
18532.76 599.18 8.69 2122 18536.81 VBD 1.69 - - 2939.38 - - - 2201.69 - 77.86 - - 2556.19 - - - - - - - - - - -
18843.24 575.17 7.41 2153 18862.39 done 1.73 - - 2939.31 - 3.13 0.095 3353.12 367.9 77.86 - - 2555.31 - - - - - - - - - 16.06 -
19018.71 561.20 8.72 2185 19036.00 done 1.73 - - 2939.94 - 2.74 0.024 2205.25 -418.9 77.86 - - 2557.31 - - - - - - - - - 16.08 -
19342.25 537.63 6.85 2217 19361.16 done 1.80 - - 2939.25 - 3.13 0.094 3353.88 367.0 77.86 - - 2555.53 - - - - - - - - - 16.07 -
19481.63 526.85 7.65 2242 19500.04 done 1.80 - - 2939.62 - 2.72 0.024 2202.19 -423.4 77.86 - - 2557.00 - - - - - - - - - 16.07 -
19806.25 506.49 5.60 2274 19825.99 1.95 0.31 0.069 3002.06 201.4 2.82 0.077 1143.12 -375.6 77.86 - - 2555.03 - - - - - - - - 16.05 16.04 -
19966.48 494.25 7.82 2303 19984.51 done 1.95 - - 3002.75 - 2.76 0.034 2276.75 410.7 77.86 - - 2556.59 - - - - - - - - - 16.06 -
20290.85 472.04 6.45 2335 20309.35 done 2.04 - - 3001.81 - 3.03 0.072 1144.06 -373.8 77.86 - - 2555.16 - - - - - - - - - 16.08 -
20455.96 460.37 7.13 2365 20474.00 done 2.10 - - 3002.75 - 2.76 0.033 2276.44 410.3 77.86 - - 2556.81 - - - - - - - - - 16.08 -
20779.93 436.42 7.84 2397 20783.99 VBD 2.10 - - 3003.00 - - - 2276.31 - 77.86 - - 2555.53 - - - - - - - - - - -
21090.40 413.44 7.13 2428 21108.51 2.15 - - 3002.56 - 2.92 0.097 3351.31 368.2 77.86 - - 2556.44 - - - - - - - - - 16.06 -
21184.71 406.33 7.80 2444 21202.02 2.15 - - 3002.19 - 2.72 0.023 2202.62 -422.3 77.86 - - 2556.41 - - - - - - - - - 16.06 -
21508.26 385.94 5.90 2476 21527.19 2.28 - - 3002.38 - 3.12 0.092 3352.50 368.6 77.86 - - 2556.00 - - - - - - - - - 16.06 -
21743.81 369.80 7.46 2520 21761.13 2.32 - - 3002.88 - 2.72 0.023 2200.94 -423.4 77.86 - - 2556.66 - - - - - - - - - 16.07 -
22067.37 348.90 6.40 2552 22086.29 2.42 - - 3002.38 - 3.11 0.091 3351.62 370.0 77.86 - - 2555.22 - - - - - - - - - 15.99 -
22147.16 343.22 7.42 2565 22165.27 2.45 - - 3002.38 - 2.72 0.023 2199.38 -423.6 77.86 - - 2558.12 - - - - - - - - - 16.00 -
22471.51 323.27 5.80 2597 22475.57 2.59 - - 3003.56 - - - 2198.06 - 77.86 - - 2556.59 - - - - - - - - - - -
22781.91 305.28 5.81 2628 22799.62 2.72 - - 3003.31 - 2.84 0.076 1144.25 -371.1 77.86 - - 2556.81 - - - - - - - - - 16.06 -
23030.55 289.37 6.59 2675 23048.97 2.81 - - 3003.31 - 2.76 0.032 2277.94 410.8 77.86 - - 2557.72 - - - - - - - - - 16.06 -
23355.18 269.46 6.13 2707 23359.24 2.93 - - 3003.19 - - - 2277.75 - 77.86 - - 2555.94 - - - - - - - - - - -
23665.47 253.12 4.94 2738 23737.67 3.06 - - 3002.25 - - - 2278.31 - 142.14 49.76 1.609 2310.84 -4.9 0.128 - - - - - - - - 11.98
24043.50 217.33 11.24 2774 24047.57 3.06 - - 3003.50 - - - 2277.88 - 142.14 - - 2301.22 - - - - - - - - - - -
24353.53 183.26 10.77 2805 24357.60 3.06 - - 3003.00 - - - 2278.25 - 142.14 - - 2299.22 - - - - - - - - - - -
24663.57 150.48 10.43 2836 24682.09 3.06 - - 3002.19 - 3.05 0.072 1143.62 -372.0 142.14 - - 2300.16 - - - - - - - - - 15.94 -
24812.57 134.01 11.56 2863 24830.87 3.06 - - 3002.81 - 2.77 0.032 2276.12 408.8 142.14 - - 2299.12 - - - - - - - - - 15.94 -
25137.20 110.76 6.03 2895 25141.27 3.18 - - 3003.31 - - - 2275.94 - 142.14 - - 2298.19 - - - - - - - - - - -
25447.54 95.68 3.31 2938 25571.84 3.37 - - 3003.50 - 2.98 0.094 3353.62 361.6 240.00 74.74 1.391 1909.81 -5.2 0.059 - - - - - - - 15.65 12.25
25578.61 87.45 9.17 2955 25597.02 roll back 3.37 - - 3002.12 - 2.79 0.022 2200.69 -413.2 240.00 - - 1907.25 - - - - - - - - - 15.76 -
25782.98 70.27 7.91 2993 25801.43 3.37 - - 3002.31 - 2.88 0.074 1143.94 -366.9 240.00 - - 1901.28 - - - - - - - - - 15.83 -
26033.03 51.65 7.51 3040 26051.06 3.40 - - 3003.25 - 2.79 0.030 2278.06 406.5 240.00 - - 1897.66 - - - - - - - - - 15.87 -
26237.29 39.84 4.99 3078 26325.56 3.53 - - 3003.25 - 3.11 0.071 1144.31 -364.5 303.22 47.49 1.279 1652.31 -5.2 0.027 - - - - - - - 15.69 12.37
26367.26 31.82 6.79 3097 26385.68 roll back 3.61 - - 3002.88 - 2.80 0.029 2276.75 404.4 303.22 - - 1646.69 - - - - - - - - - 15.77 -
26571.92 21.15 3.70 3135 26689.58 3.79 - - 3003.19 - 2.98 0.092 3353.50 361.3 393.10 69.29 1.241 1287.25 -5.2 0.015 - - - - - - - 15.58 12.44
26791.19 11.85 6.02 3170 26809.21 roll back 3.91 - - 3003.44 - 2.79 0.022 2199.81 -413.5 393.10 - - 1280.72 - - - - - - - - - 15.79 -
26934 end climb: SURFACE_DEPTH_REACHED
26934 begin surface coast
27015 end surface coast: CONTROL_FINISHED_OK
27016 begin surface
SM 1.34 - - - - 178.4 27.59 1.164 1137.7 41.2 18.31 0.052 1137.3 62.1 - - 0.026 1138.0 - - - - 12.44 15.84 30.36 -