NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 334 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 118.36 of 506.00 AH used of 24V (76.61% remains)
• Surface angle -65.5 deg, depth 1.22 m • Intended pitch -17.5 deg, speed -9.167 cm/s
VBD pumped to 430.06 (SM_CC=430)
• GPS1 time: 62 s
• GPS2 time: 3 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
10 end surface: CONTROL_FINISHED_OK
11 begin dive
18.88 - - - 97.30 VBD -1.33 - - 181.88 - - - 2196.44 - -116.79 54.93 0.005 2556.72 - - - - - - - - - - 15.14
99.52 3.20 -4.16 11 220.51 -1.33 17.00 0.225 2192.12 118.2 3.02 0.067 1144.88 -348.2 -116.79 13.36 0.006 3369.34 60.8 -5.526 - - - - - - 15.41 15.18 15.30
291.64 38.53 -13.96 32 309.93 roll -1.33 - - 2192.75 - 2.84 0.025 2277.06 398.7 -116.79 - - 3372.66 - - - - - - - - - 15.71 -
495.88 65.66 -12.32 70 515.78 roll -1.33 - - 2192.19 - 3.23 0.061 1144.56 -350.6 -116.79 - - 3373.56 - - - - - - - - - 15.65 -
526.93 69.32 -11.77 73 545.21 roll -1.33 - - 2192.06 - 2.81 0.024 2276.56 402.8 -116.79 - - 3373.47 - - - - - - - - - 15.76 -
731.04 91.68 -11.83 111 738.93 no move -1.33 - - 2192.56 - - - 2276.56 - -116.79 - - 3373.94 - - - - - - - - - - -
929.69 114.52 -10.43 137 948.45 roll -1.33 - - 2192.25 - 3.15 0.083 3351.00 341.1 -116.79 - - 3374.34 - - - - - - - - - 15.74 -
1024.62 124.14 -9.71 153 1042.23 done -1.33 - - 2191.75 - 2.81 0.019 2189.50 -413.3 -116.79 - - 3375.81 - - - - - - - - - 15.86 -
1348.05 152.17 -9.97 185 1366.42 done -1.33 - - 2191.56 - 3.01 0.066 1145.94 -346.7 -116.79 - - 3374.66 - - - - - - - - - 15.75 -
1396.86 157.61 -10.95 192 1415.14 done -1.33 - - 2192.00 - 2.81 0.024 2279.25 403.3 -116.79 - - 3375.47 - - - - - - - - - 15.80 -
1720.96 192.09 -10.10 224 1740.55 done -1.33 - - 2191.69 - 3.22 0.062 1145.75 -352.0 -116.79 - - 3375.38 - - - - - - - - - 15.75 -
1756.87 195.80 -10.42 228 1775.04 done -1.33 - - 2192.56 - 2.81 0.025 2277.50 402.8 -116.79 - - 3374.41 - - - - - - - - - 15.81 -
2080.89 227.31 -10.02 260 2100.31 roll -1.33 - - 2191.69 - 3.21 0.063 1145.56 -352.6 -116.79 - - 3374.53 - - - - - - - - - 15.85 -
2116.51 231.00 -10.32 264 2134.27 roll -1.33 - - 2192.00 - 2.81 0.025 2277.88 403.0 -116.79 - - 3375.22 - - - - - - - - - 15.79 -
2440.13 263.81 -10.16 296 2444.18 no move -1.33 - - 2192.06 - - - 2278.12 - -116.79 - - 3374.28 - - - - - - - - - - -
2750.18 295.88 -9.83 327 2769.18 roll -1.33 - - 2192.50 - 3.20 0.064 1144.38 -354.3 -116.79 - - 3373.34 - - - - - - - - - 15.87 -
2785.38 299.53 -10.47 331 2802.77 roll -1.33 - - 2190.62 - 2.79 0.025 2276.06 405.6 -116.79 - - 3374.41 - - - - - - - - - 15.89 -
3108.62 330.66 -9.45 363 3112.68 no move -1.33 - - 2191.44 - - - 2276.12 - -116.79 - - 3372.78 - - - - - - - - - - -
3418.65 358.37 -8.75 394 3438.07 roll -1.33 - - 2192.25 - 3.21 0.065 1144.81 -352.4 -116.79 - - 3372.94 - - - - - - - - - 15.86 -
3458.55 362.10 -9.20 399 3477.34 roll -1.33 - - 2192.19 - 2.81 0.025 2277.25 403.0 -116.79 - - 3372.53 - - - - - - - - - 15.86 -
3783.31 390.17 -8.78 431 3787.37 no move -1.33 - - 2191.62 - - - 2277.62 - -116.79 - - 3371.03 - - - - - - - - - - -
4093.36 417.66 -8.85 462 4097.42 no move -1.33 - - 2192.12 - - - 2277.62 - -116.79 - - 3369.44 - - - - - - - - - - -
4403.41 445.43 -8.98 493 4422.82 roll -1.33 - - 2192.12 - 3.22 0.065 1145.75 -351.5 -116.79 - - 3370.53 - - - - - - - - - 15.84 -
4483.30 453.13 -9.31 506 4501.40 roll -1.33 - - 2191.00 - 2.80 0.026 2276.00 403.7 -116.79 - - 3370.84 - - - - - - - - - 15.97 -
4807.25 482.38 -8.90 538 4811.31 no move -1.33 - - 2192.62 - - - 2276.25 - -116.79 - - 3368.81 - - - - - - - - - - -
5117.30 508.73 -8.30 569 5121.35 no move -1.33 - - 2192.06 - - - 2275.94 - -116.79 - - 3367.69 - - - - - - - - - - -
5427.35 533.27 -7.18 600 5431.41 no move -1.33 - - 2191.75 - - - 2276.31 - -116.79 - - 3366.84 - - - - - - - - - - -
5737.41 555.74 -7.47 631 5741.47 no move -1.33 - - 2192.00 - - - 2276.50 - -116.79 - - 3367.53 - - - - - - - - - - -
6047.47 577.83 -7.15 662 6051.52 no move -1.33 - - 2191.62 - - - 2276.50 - -116.79 - - 3366.19 - - - - - - - - - - -
6357.53 600.22 -7.22 693 6376.94 roll -1.33 - - 2192.31 - 3.25 0.067 1146.00 -347.8 -116.79 - - 3366.03 - - - - - - - - - 15.83 -
6433.16 606.07 -8.04 705 6451.57 roll -1.33 - - 2192.12 - 2.82 0.027 2274.12 400.0 -116.79 - - 3366.94 - - - - - - - - - 16.00 -
6757.54 630.57 -7.71 737 6761.59 no move -1.33 - - 2192.06 - - - 2275.44 - -116.79 - - 3364.78 - - - - - - - - - - -
7067.60 656.22 -9.10 768 7087.02 roll -1.33 - - 2192.75 - 3.24 0.068 1146.06 -348.6 -116.79 - - 3364.31 - - - - - - - - - 15.83 -
7123.23 661.61 -9.25 776 7141.01 roll -1.33 - - 2191.88 - 2.82 0.027 2274.75 400.2 -116.79 - - 3365.31 - - - - - - - - - 15.98 -
7446.87 692.58 -9.81 808 7450.93 no move -1.33 - - 2192.19 - - - 2275.50 - -116.79 - - 3364.12 - - - - - - - - - - -
7756.92 723.47 -9.62 839 7776.33 roll -1.33 - - 2191.88 - 3.26 0.068 1145.06 -346.8 -116.79 - - 3364.81 - - - - - - - - - 15.81 -
7846.81 733.05 -10.69 854 7865.34 roll -1.33 - - 2192.12 - 2.83 0.028 2276.19 399.7 -116.79 - - 3363.94 - - - - - - - - - 15.98 -
8171.20 765.88 -9.69 886 8190.61 roll -1.33 - - 2192.56 - 3.25 0.068 1145.50 -347.9 -116.79 - - 3362.50 - - - - - - - - - 15.81 -
8226.82 771.42 -9.91 894 8245.00 roll -1.33 - - 2192.06 - 2.83 0.027 2274.38 398.9 -116.79 - - 3363.34 - - - - - - - - - 15.98 -
8550.83 803.08 -9.76 926 8570.35 roll -1.33 - - 2192.00 - 3.22 0.091 3350.56 334.2 -116.79 - - 3363.69 - - - - - - - - - 15.76 -
8616.67 810.21 -11.43 936 8634.05 roll -1.33 - - 2191.50 - 2.80 0.021 2195.38 -412.6 -116.79 - - 3363.00 - - - - - - - - - 15.94 -
8939.90 841.76 -9.37 968 8958.50 roll -1.33 - - 2192.00 - 3.03 0.073 1146.25 -346.2 -116.79 - - 3362.81 - - - - - - - - - 15.79 -
8994.70 847.37 -10.04 976 9012.48 roll -1.33 - - 2191.50 - 2.81 0.027 2276.44 402.2 -116.79 - - 3363.31 - - - - - - - - - 15.99 -
9318.32 876.19 -8.52 1008 9337.33 roll -1.33 - - 2192.06 - 3.20 0.090 3350.75 335.7 -116.79 - - 3362.16 - - - - - - - - - 15.74 -
9397.81 883.64 -9.38 1021 9416.33 roll -1.33 - - 2191.88 - 2.81 0.021 2195.38 -411.2 -116.79 - - 3361.28 - - - - - - - - - 15.94 -
9722.19 908.19 -7.65 1053 9726.25 no move -1.33 - - 2192.38 - - - 2193.25 - -116.79 - - 3360.03 - - - - - - - - - - -
10032.23 930.62 -7.14 1084 10036.29 no move -1.33 - - 2191.31 - - - 2193.44 - -116.79 - - 3359.44 - - - - - - - - - - -
10342.27 954.08 -7.99 1115 10364.13 roll -1.33 - - 2191.62 - 3.45 0.087 3349.69 335.1 -116.79 - - 3359.38 - - - - - - - - - 15.73 -
10499.74 967.85 -9.00 1143 10518.26 roll -1.33 - - 2192.00 - 2.81 0.021 2200.06 -409.1 -116.79 - - 3360.88 - - - - - - - - - 15.96 -
10823 end dive: TARGET_DEPTH_EXCEEDED
10824 begin apogee
10829.11 990.31 -6.98 1175 10975.21 -0.31 1.88 0.133 2440.19 132.0 0.14 0.163 2186.00 -100.4 - 94.14 2.446 2888.44 -5.0 0.346 - - - - - - 15.57 15.30 10.48
10987 end apogee: CONTROL_FINISHED_OK
10988 begin climb
10991.42 992.27 - 1185 11166.43 1.33 2.85 0.088 2840.94 140.6 3.66 0.093 3349.88 318.0 116.79 98.61 2.408 2412.78 -4.8 0.339 - - - - - - 15.51 15.13 11.72
11172.64 980.43 9.15 1205 11191.90 roll 1.33 - - 2840.75 - 2.91 0.022 2209.31 -391.9 116.79 - - 2407.53 - - - - - - - - - 15.51 -
11498.27 951.96 8.56 1237 11517.27 done 1.36 - - 2840.56 - 3.12 0.077 1147.88 -340.2 116.79 - - 2399.19 - - - - - - - - - 15.72 -
11568.14 946.05 8.51 1248 11586.65 done 1.40 - - 2841.25 - 2.87 0.031 2274.00 392.4 116.79 - - 2399.62 - - - - - - - - - 15.79 -
11892.50 918.65 8.95 1280 11911.93 done 1.40 - - 2839.06 - 3.25 0.095 3348.94 330.8 116.79 - - 2398.56 - - - - - - - - - 15.77 -
11942.82 914.36 8.46 1287 11961.33 done 1.45 - - 2841.44 - 2.81 0.022 2204.88 -407.1 116.79 - - 2397.84 - - - - - - - - - 15.86 -
12267.57 888.32 7.75 1319 12289.20 1.53 0.29 0.069 2898.69 197.4 3.07 0.077 1146.94 -344.6 116.79 - - 2395.25 - - - - - - - - 15.83 15.79 -
12314.67 883.91 9.14 1325 12333.17 done 1.53 - - 2897.88 - 2.83 0.031 2273.25 398.0 116.79 - - 2396.38 - - - - - - - - - 15.92 -
12639.03 855.28 8.73 1357 12643.10 VBD 1.53 - - 2897.94 - - - 2272.38 - 116.79 - - 2394.69 - - - - - - - - - - -
12949.46 829.33 6.67 1388 12969.13 done 1.68 - - 2896.88 - 3.25 0.073 1145.62 -346.7 116.79 - - 2394.25 - - - - - - - - - 15.84 -
13005.45 823.89 9.52 1396 13023.23 done 1.68 - - 2898.12 - 2.85 0.031 2273.44 395.7 116.79 - - 2393.16 - - - - - - - - - 15.94 -
13329.08 795.76 8.83 1428 13333.14 VBD 1.68 - - 2898.75 - - - 2272.75 - 116.79 - - 2393.88 - - - - - - - - - - -
13639.14 766.77 9.58 1459 13659.96 done 1.68 - - 2896.19 - 3.29 0.073 1146.00 -342.5 116.79 - - 2394.16 - - - - - - - - - 15.69 -
13681.16 762.52 10.40 1464 13698.95 done 1.68 - - 2897.94 - 2.84 0.031 2273.69 397.1 116.79 - - 2394.00 - - - - - - - - - 15.95 -
14004.77 730.47 10.51 1496 14009.23 VBD 1.68 - - 2898.06 - - - 2273.25 - 116.79 - - 2392.94 - - - - - - - - - - -
14315.05 697.83 10.88 1527 14335.85 done 1.68 - - 2898.56 - 3.27 0.073 1145.81 -344.8 116.79 - - 2391.62 - - - - - - - - - 15.84 -
14417.07 686.19 11.73 1544 14434.88 done 1.68 - - 2898.19 - 2.85 0.031 2273.19 395.6 116.79 - - 2393.62 - - - - - - - - - 15.98 -
14740.70 651.76 10.27 1576 14744.76 VBD 1.68 - - 2898.75 - - - 2272.94 - 116.79 - - 2392.56 - - - - - - - - - - -
15051.10 625.43 7.55 1607 15074.19 1.78 0.31 0.069 2959.75 196.8 3.27 0.072 1145.38 -344.8 116.79 - - 2392.66 - - - - - - - - 15.91 15.83 -
15130.00 618.52 8.78 1619 15148.52 done 1.78 - - 2959.62 - 2.85 0.031 2272.56 395.5 116.79 - - 2393.38 - - - - - - - - - 15.97 -
15454.76 595.46 7.34 1651 15475.58 done 1.89 - - 2959.88 - 3.26 0.071 1145.94 -345.6 116.79 - - 2390.94 - - - - - - - - - 15.82 -
15527.18 590.66 6.78 1662 15546.62 2.03 0.25 0.074 3013.62 215.0 2.86 0.031 2274.88 394.7 116.79 - - 2393.19 - - - - - - - - 15.73 15.96 -
15852.87 566.17 7.62 1694 15856.93 VBD 2.12 - - 3014.94 - - - 2275.44 - 116.79 - - 2392.34 - - - - - - - - - - -
16163.39 540.68 8.58 1725 16182.81 done 2.16 - - 3014.69 - 3.23 0.094 3349.94 332.7 116.79 - - 2392.06 - - - - - - - - - 15.76 -
16209.01 536.18 9.78 1731 16226.41 done 2.16 - - 3015.25 - 2.79 0.022 2204.31 -410.6 116.79 - - 2393.22 - - - - - - - - - 15.97 -
16532.25 505.53 9.80 1763 16536.32 VBD 2.16 - - 3015.00 - - - 2202.88 - 116.79 - - 2391.41 - - - - - - - - - - -
16842.31 474.96 10.09 1794 16846.37 VBD 2.16 - - 3015.38 - - - 2202.88 - 116.79 - - 2392.12 - - - - - - - - - - -
17152.37 444.25 9.75 1825 17156.43 VBD 2.16 - - 3015.50 - - - 2203.06 - 116.79 - - 2391.66 - - - - - - - - - - -
17462.42 413.92 10.09 1856 17466.49 VBD 2.16 - - 3015.12 - - - 2202.69 - 116.79 - - 2391.62 - - - - - - - - - - -
17772.48 384.31 9.29 1887 17794.12 done 2.16 - - 3014.75 - 3.43 0.089 3350.50 334.6 116.79 - - 2391.25 - - - - - - - - - 15.75 -
17819.59 379.54 9.96 1893 17838.11 done 2.16 - - 3014.75 - 2.82 0.021 2204.06 -406.5 116.79 - - 2394.19 - - - - - - - - - 15.96 -
18143.96 349.36 9.12 1925 18162.58 done 2.16 - - 3014.62 - 3.08 0.075 1145.88 -343.6 116.79 - - 2392.84 - - - - - - - - - 15.77 -
18219.00 342.63 8.91 1937 18236.78 done 2.16 - - 3014.19 - 2.82 0.030 2274.94 400.4 116.79 - - 2393.06 - - - - - - - - - 15.85 -
18543.02 317.35 7.06 1969 18562.45 2.28 - - 3015.00 - 3.25 0.069 1145.81 -347.4 116.79 - - 2393.78 - - - - - - - - - 15.78 -
18693.33 305.87 7.73 1996 18712.01 2.37 - - 3013.12 - 2.83 0.030 2275.50 399.2 116.79 - - 2392.97 - - - - - - - - - 15.96 -
19018.51 283.15 6.70 2028 19039.35 2.52 - - 3014.81 - 3.28 0.069 1146.06 -344.3 116.79 - - 2390.75 - - - - - - - - - 15.68 -
19055.34 280.43 7.24 2032 19073.97 2.63 - - 3015.19 - 2.82 0.029 2275.88 400.6 116.79 - - 2393.19 - - - - - - - - - 15.96 -
19380.19 259.63 6.14 2064 19453.75 2.77 - - 3015.12 - - - 2276.31 - 182.32 50.92 1.525 2146.28 -4.8 0.141 - - - - - - - - 10.93
19759.59 225.20 9.46 2103 19780.41 2.77 - - 3014.75 - 3.29 0.070 1146.00 -343.6 182.32 - - 2136.62 - - - - - - - - - 15.64 -
19851.73 215.66 10.55 2118 19869.54 2.77 - - 3015.06 - 2.86 0.029 2272.62 393.9 182.32 - - 2136.84 - - - - - - - - - 15.72 -
20175.61 182.75 10.52 2150 20179.69 2.77 - - 3014.81 - - - 2273.25 - 182.32 - - 2135.88 - - - - - - - - - - -
20485.53 150.98 9.99 2181 20506.36 2.77 - - 3016.38 - 3.25 0.069 1146.12 -346.8 182.32 - - 2135.31 - - - - - - - - - 15.77 -
20657.59 132.99 10.82 2212 20675.64 2.77 - - 3014.44 - 2.85 0.029 2273.44 395.6 182.32 - - 2133.84 - - - - - - - - - 15.79 -
20981.59 98.97 9.80 2245 21001.74 2.77 - - 3014.00 - 3.27 0.068 1146.00 -344.8 182.32 - - 2135.50 - - - - - - - - - 15.72 -
21027.94 94.78 9.25 2251 21046.48 2.77 - - 3014.81 - 2.84 0.028 2274.31 397.3 182.32 - - 2134.88 - - - - - - - - - 15.73 -
21232.73 80.40 6.94 2289 21252.87 2.90 - - 3015.12 - 3.26 0.067 1144.81 -346.5 182.32 - - 2134.81 - - - - - - - - - 15.60 -
21484.66 65.81 4.78 2336 21607.04 3.09 - - 3015.12 - 2.86 0.027 2276.12 395.6 277.20 72.93 1.256 1758.97 -5.2 0.046 - - - - - - - 15.77 11.42
21792.88 36.40 10.94 2389 21813.04 3.09 - - 3014.88 - 3.29 0.068 1145.94 -343.5 277.20 - - 1751.09 - - - - - - - - - 15.58 -
21819.34 33.84 9.90 2391 21838.12 3.09 - - 3015.12 - 2.87 0.027 2274.88 393.4 277.20 - - 1749.66 - - - - - - - - - 15.70 -
22024.50 24.44 3.12 2429 22186.12 3.35 - - 3015.88 - 3.27 0.090 3350.88 329.1 407.95 100.64 1.177 1226.50 -5.2 0.018 - - - - - - - 15.44 11.64
22262.97 15.34 7.01 2465 22281.50 roll back 3.48 - - 3015.38 - 2.84 0.021 2203.38 -404.0 407.95 - - 1219.94 - - - - - - - - - 15.66 -
22416 end climb: SURFACE_DEPTH_REACHED
22417 begin surface coast
22477 end surface coast: CONTROL_FINISHED_OK
22478 begin surface
SM 1.24 - - - - 181.8 17.31 1.049 1136.8 65.7 19.70 0.052 1154.4 58.6 - 0.16 0.091 1119.2 6977.3 -9.717 - - 11.51 15.70 15.78 -