NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 346 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 122.77 of 506.00 AH used of 24V (75.74% remains)
• Surface angle -62.4 deg, depth 1.11 m • Intended pitch -17.5 deg, speed -9.167 cm/s
• No surface pump (final VBD was 924.5, SM_CC=430)
• GPS1 time: 19 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
18.89 - - - 104.27 VBD -1.33 - - 178.31 - - - 2207.00 - -116.79 59.97 0.005 2619.59 - - - - - - - - - - 15.15
106.49 3.65 -4.72 12 208.84 -1.33 16.86 0.215 2193.88 119.5 - - 2205.69 - -116.79 11.09 0.007 3367.94 67.5 -5.998 - - - - - - 15.41 - 15.31
394.56 57.91 -12.84 55 415.08 roll -1.33 - - 2193.44 - 3.35 0.077 3353.62 342.7 -116.79 - - 3373.44 - - - - - - - - - 15.69 -
441.34 64.11 -13.33 61 459.64 roll -1.33 - - 2193.50 - 2.81 0.018 2193.38 -412.9 -116.79 - - 3373.66 - - - - - - - - - 15.80 -
645.46 87.47 -10.10 99 652.00 no move -1.33 - - 2193.38 - - - 2189.94 - -116.79 - - 3374.34 - - - - - - - - - - -
837.81 104.85 -8.86 132 858.79 done -1.33 - - 2193.62 - 3.38 0.076 3354.25 344.5 -116.79 - - 3373.84 - - - - - - - - - 15.71 -
889.93 110.22 -10.17 139 907.51 roll -1.33 - - 2193.19 - 2.81 0.018 2191.12 -413.9 -116.79 - - 3375.03 - - - - - - - - - 15.76 -
1213.30 141.22 -9.82 171 1231.68 done -1.33 - - 2193.00 - 3.01 0.067 1144.81 -347.6 -116.79 - - 3373.84 - - - - - - - - - 15.83 -
1282.11 148.28 -10.06 182 1300.02 done -1.33 - - 2193.31 - 2.79 0.024 2281.25 407.3 -116.79 - - 3375.91 - - - - - - - - - 15.90 -
1605.82 177.47 -9.54 214 1625.00 done -1.33 - - 2194.19 - 3.23 0.063 1146.56 -351.3 -116.79 - - 3375.72 - - - - - - - - - 15.69 -
1635.42 180.53 -9.77 217 1653.52 done -1.33 - - 2193.00 - 2.79 0.024 2280.06 406.3 -116.79 - - 3375.88 - - - - - - - - - 15.91 -
1959.35 212.32 -10.01 249 1978.77 roll -1.33 - - 2191.94 - 3.22 0.063 1144.94 -352.5 -116.79 - - 3375.53 - - - - - - - - - 15.77 -
2045.08 221.09 -10.16 263 2062.89 roll -1.33 - - 2193.50 - 2.81 0.024 2278.12 403.3 -116.79 - - 3375.28 - - - - - - - - - 15.93 -
2368.71 251.45 -9.97 295 2388.12 roll -1.33 - - 2193.19 - 3.22 0.063 1144.00 -352.2 -116.79 - - 3375.31 - - - - - - - - - 15.85 -
2408.59 255.48 -10.15 300 2427.49 roll -1.33 - - 2193.94 - 2.81 0.024 2278.31 403.7 -116.79 - - 3375.03 - - - - - - - - - 15.85 -
2733.35 286.84 -9.67 332 2737.41 no move -1.33 - - 2193.38 - - - 2277.56 - -116.79 - - 3373.47 - - - - - - - - - - -
3043.39 317.08 -9.34 363 3047.45 no move -1.33 - - 2193.38 - - - 2278.06 - -116.79 - - 3373.41 - - - - - - - - - - -
3353.44 346.25 -9.41 394 3372.86 roll -1.33 - - 2193.19 - 3.20 0.064 1146.12 -353.7 -116.79 - - 3372.22 - - - - - - - - - 15.88 -
3429.07 353.51 -9.62 406 3446.86 roll -1.33 - - 2192.00 - 2.81 0.025 2277.38 402.6 -116.79 - - 3374.25 - - - - - - - - - 15.86 -
3752.67 381.17 -8.65 438 3772.32 roll -1.33 - - 2193.38 - 3.20 0.065 1146.31 -353.5 -116.79 - - 3373.22 - - - - - - - - - 15.88 -
3782.90 384.04 -9.02 441 3801.03 roll -1.33 - - 2193.88 - 2.80 0.025 2276.38 403.6 -116.79 - - 3373.03 - - - - - - - - - 15.97 -
4106.89 410.61 -8.03 473 4110.95 no move -1.33 - - 2192.62 - - - 2276.25 - -116.79 - - 3371.19 - - - - - - - - - - -
4416.94 436.76 -7.78 504 4436.36 roll -1.33 - - 2193.25 - 3.23 0.065 1145.56 -350.1 -116.79 - - 3371.09 - - - - - - - - - 15.81 -
4482.56 442.88 -9.32 514 4500.36 roll -1.33 - - 2193.31 - 2.82 0.025 2275.94 400.8 -116.79 - - 3371.62 - - - - - - - - - 15.98 -
4806.20 471.26 -8.98 546 4810.27 no move -1.33 - - 2193.25 - - - 2276.56 - -116.79 - - 3370.66 - - - - - - - - - - -
5116.25 500.25 -8.87 577 5120.31 no move -1.33 - - 2193.69 - - - 2276.50 - -116.79 - - 3369.62 - - - - - - - - - - -
5426.31 528.66 -8.63 608 5445.71 roll -1.33 - - 2191.94 - 3.23 0.066 1145.06 -350.3 -116.79 - - 3369.34 - - - - - - - - - 15.87 -
5481.93 533.82 -9.16 616 5499.73 roll -1.33 - - 2193.69 - 2.82 0.026 2276.62 401.3 -116.79 - - 3370.19 - - - - - - - - - 15.98 -
5805.59 562.19 -8.70 648 5809.65 no move -1.33 - - 2193.00 - - - 2276.38 - -116.79 - - 3367.84 - - - - - - - - - - -
6115.61 588.06 -8.39 679 6135.27 roll -1.33 - - 2192.88 - 3.23 0.066 1146.06 -349.9 -116.79 - - 3368.25 - - - - - - - - - 15.84 -
6155.85 591.49 -8.44 684 6174.76 roll -1.33 - - 2193.56 - 2.82 0.026 2276.06 400.7 -116.79 - - 3369.00 - - - - - - - - - 16.00 -
6480.61 617.00 -7.41 716 6499.63 roll -1.33 - - 2192.94 - 3.20 0.086 3350.00 335.6 -116.79 - - 3367.19 - - - - - - - - - 15.82 -
6520.10 620.41 -8.18 721 6538.60 roll -1.33 - - 2193.25 - 2.78 0.020 2193.50 -416.0 -116.79 - - 3367.88 - - - - - - - - - 15.97 -
6844.44 644.42 -7.27 753 6848.49 no move -1.33 - - 2193.62 - - - 2191.19 - -116.79 - - 3366.53 - - - - - - - - - - -
7154.51 668.71 -7.89 784 7176.14 roll -1.33 - - 2191.81 - 3.42 0.083 3352.00 339.4 -116.79 - - 3366.38 - - - - - - - - - 15.82 -
7191.61 672.12 -8.55 788 7209.74 roll -1.33 - - 2193.19 - 2.80 0.019 2194.19 -413.5 -116.79 - - 3366.25 - - - - - - - - - 15.99 -
7515.58 699.61 -8.62 820 7519.64 no move -1.33 - - 2193.69 - - - 2192.69 - -116.79 - - 3365.28 - - - - - - - - - - -
7825.64 726.75 -9.11 851 7829.79 no move -1.33 - - 2192.88 - - - 2193.75 - -116.79 - - 3365.03 - - - - - - - - - - -
8135.65 753.94 -8.82 882 8157.52 roll -1.33 - - 2193.19 - 3.42 0.083 3350.88 338.3 -116.79 - - 3364.06 - - - - - - - - - 15.80 -
8173.10 757.49 -9.07 886 8191.20 roll -1.33 - - 2193.62 - 2.80 0.020 2193.94 -413.2 -116.79 - - 3365.19 - - - - - - - - - 16.00 -
8497.07 784.86 -8.40 918 8518.70 roll -1.33 - - 2192.88 - 3.42 0.083 3351.19 338.4 -116.79 - - 3363.09 - - - - - - - - - 15.79 -
8549.89 789.81 -9.12 925 8567.70 roll -1.33 - - 2192.88 - 2.81 0.020 2196.19 -411.0 -116.79 - - 3364.16 - - - - - - - - - 15.99 -
8873.55 815.74 -7.91 957 8877.61 no move -1.33 - - 2192.88 - - - 2194.94 - -116.79 - - 3362.47 - - - - - - - - - - -
9183.60 838.76 -7.04 988 9205.25 roll -1.33 - - 2192.88 - 3.42 0.083 3350.62 337.9 -116.79 - - 3361.94 - - - - - - - - - 15.77 -
9226.44 842.14 -7.55 993 9244.23 roll -1.33 - - 2192.88 - 2.81 0.020 2195.81 -411.0 -116.79 - - 3362.91 - - - - - - - - - 15.96 -
9550.08 865.25 -7.55 1025 9554.16 no move -1.33 - - 2193.44 - - - 2194.00 - -116.79 - - 3361.91 - - - - - - - - - - -
9860.14 888.98 -8.26 1056 9881.89 roll -1.33 - - 2193.19 - 3.44 0.083 3350.75 336.3 -116.79 - - 3361.81 - - - - - - - - - 15.77 -
9913.08 893.78 -9.16 1063 9931.11 roll -1.33 - - 2193.00 - 2.82 0.020 2198.00 -408.8 -116.79 - - 3361.66 - - - - - - - - - 16.00 -
10237.07 920.83 -8.32 1095 10255.93 roll -1.33 - - 2193.31 - 3.07 0.074 1145.81 -342.7 -116.79 - - 3360.69 - - - - - - - - - 15.78 -
10282.12 924.99 -8.28 1101 10299.93 roll -1.33 - - 2193.00 - 2.82 0.026 2276.56 401.0 -116.79 - - 3362.94 - - - - - - - - - 15.96 -
10605.74 948.85 -7.42 1133 10625.17 roll -1.33 - - 2193.25 - 3.21 0.087 3351.00 334.7 -116.79 - - 3360.97 - - - - - - - - - 15.76 -
10655.65 953.31 -8.66 1140 10674.15 roll -1.33 - - 2191.50 - 2.79 0.020 2196.50 -413.8 -116.79 - - 3361.94 - - - - - - - - - 15.98 -
10979.97 977.90 -7.99 1172 10984.04 no move -1.33 - - 2192.69 - - - 2195.31 - -116.79 - - 3360.62 - - - - - - - - - - -
11149 end dive: TARGET_DEPTH_EXCEEDED
11149 begin apogee
11155.04 990.07 -7.32 1189 11300.74 -0.31 1.88 0.134 2439.31 131.2 0.14 0.156 2181.62 -97.8 - 93.85 2.455 2889.06 -5.0 0.345 - - - - - - 15.69 15.29 10.40
11305 end apogee: CONTROL_FINISHED_OK
11305 begin climb
11308.79 992.54 - 1199 11468.15 1.33 2.84 0.087 2840.75 141.4 - - 2181.06 - 116.79 98.88 2.408 2412.41 -4.8 0.339 - - - - - - 15.49 - 11.81
11774.52 957.23 8.57 1241 11778.58 VBD 1.36 - - 2839.88 - - - 2180.94 - 116.79 - - 2400.47 - - - - - - - - - - -
12084.92 932.86 6.65 1272 12108.59 1.51 0.28 0.072 2894.50 195.1 3.52 0.088 3352.19 332.7 116.79 - - 2399.19 - - - - - - - - 15.78 15.75 -
12119.78 928.63 9.27 1275 12137.57 done 1.51 - - 2896.19 - 2.83 0.022 2207.62 -404.4 116.79 - - 2397.72 - - - - - - - - - 15.85 -
12443.42 898.05 8.86 1307 12462.05 done 1.51 - - 2895.38 - 3.10 0.077 1147.06 -342.1 116.79 - - 2398.03 - - - - - - - - - 15.81 -
12508.25 891.83 9.46 1317 12526.05 done 1.51 - - 2895.56 - 2.84 0.030 2274.56 397.0 116.79 - - 2396.47 - - - - - - - - - 15.91 -
12831.91 862.43 8.80 1349 12852.98 done 1.51 - - 2895.81 - 3.27 0.073 1146.44 -345.0 116.79 - - 2394.44 - - - - - - - - - 15.84 -
12884.29 857.27 9.99 1356 12902.09 done 1.51 - - 2895.56 - 2.86 0.030 2275.00 394.6 116.79 - - 2395.00 - - - - - - - - - 15.93 -
13207.91 826.66 9.25 1388 13227.32 done 1.51 - - 2895.94 - 3.21 0.092 3351.06 335.2 116.79 - - 2396.28 - - - - - - - - - 15.83 -
13267.80 820.89 9.69 1397 13285.92 done 1.51 - - 2896.06 - 2.79 0.022 2203.81 -411.2 116.79 - - 2396.84 - - - - - - - - - 15.95 -
13591.75 791.91 8.73 1429 13610.36 done 1.51 - - 2893.94 - 3.05 0.077 1147.38 -346.4 116.79 - - 2395.25 - - - - - - - - - 15.84 -
13676.57 784.69 8.88 1443 13694.78 done 1.51 - - 2895.56 - 2.83 0.030 2274.38 398.2 116.79 - - 2395.91 - - - - - - - - - 15.97 -
14000.62 757.11 8.72 1475 14004.68 VBD 1.51 - - 2896.50 - - - 2274.00 - 116.79 - - 2393.59 - - - - - - - - - - -
14310.65 729.58 8.77 1506 14330.07 done 1.51 - - 2896.00 - 3.23 0.073 1146.00 -349.2 116.79 - - 2393.06 - - - - - - - - - 15.84 -
14370.55 723.87 9.13 1515 14389.32 done 1.51 - - 2896.44 - 2.84 0.030 2274.69 397.4 116.79 - - 2395.44 - - - - - - - - - 15.97 -
14695.70 695.52 8.34 1547 14715.13 done 1.56 - - 2895.38 - 3.24 0.072 1147.06 -348.0 116.79 - - 2393.25 - - - - - - - - - 15.83 -
14761.33 689.60 8.94 1557 14779.13 done 1.56 - - 2895.88 - 2.84 0.030 2272.69 396.3 116.79 - - 2393.03 - - - - - - - - - 15.96 -
15085.39 663.28 7.80 1589 15104.82 done 1.65 - - 2895.75 - 3.24 0.072 1145.88 -347.8 116.79 - - 2392.34 - - - - - - - - - 15.83 -
15171.44 656.56 7.50 1603 15190.88 1.75 0.28 0.070 2947.62 185.2 2.85 0.030 2273.12 395.5 116.79 - - 2393.38 - - - - - - - - 15.76 15.98 -
15496.70 627.39 9.35 1635 15500.76 VBD 1.75 - - 2950.94 - - - 2273.38 - 116.79 - - 2392.09 - - - - - - - - - - -
15806.73 598.94 9.39 1666 15810.79 VBD 1.75 - - 2950.56 - - - 2274.38 - 116.79 - - 2392.34 - - - - - - - - - - -
16116.75 569.76 9.41 1697 16137.60 done 1.75 - - 2951.19 - 3.27 0.072 1147.25 -344.7 116.79 - - 2391.47 - - - - - - - - - 15.66 -
16218.83 559.98 9.46 1714 16236.62 done 1.75 - - 2949.25 - 2.85 0.030 2273.56 395.2 116.79 - - 2392.72 - - - - - - - - - 15.97 -
16543.03 530.90 8.62 1746 16547.09 VBD 1.78 - - 2951.88 - - - 2273.19 - 116.79 - - 2391.94 - - - - - - - - - - -
16853.46 503.91 8.41 1777 16857.52 VBD 1.82 - - 2951.25 - - - 2273.31 - 116.79 - - 2392.09 - - - - - - - - - - -
17163.78 479.19 7.90 1808 17183.22 done 1.90 - - 2950.75 - 3.25 0.071 1146.38 -346.7 116.79 - - 2393.44 - - - - - - - - - 15.81 -
17284.12 469.03 8.40 1829 17304.29 1.95 0.22 0.075 3001.75 231.8 2.85 0.030 2274.06 395.7 116.79 - - 2392.75 - - - - - - - - 15.74 15.96 -
17610.53 441.70 8.06 1861 17614.60 VBD 2.01 - - 3001.56 - - - 2273.81 - 116.79 - - 2391.91 - - - - - - - - - - -
17920.85 415.67 8.44 1892 17940.30 done 2.06 - - 3001.75 - 3.25 0.070 1147.00 -346.7 116.79 - - 2393.12 - - - - - - - - - 15.79 -
17996.51 408.99 8.96 1904 18014.31 done 2.06 - - 3001.06 - 2.85 0.029 2273.44 395.2 116.79 - - 2390.81 - - - - - - - - - 15.84 -
18320.55 380.56 8.64 1936 18339.97 done 2.09 - - 3001.62 - 3.23 0.091 3350.38 333.4 116.79 - - 2392.41 - - - - - - - - - 15.75 -
18350.44 377.61 9.15 1939 18368.81 done 2.09 - - 3002.12 - 2.79 0.021 2203.88 -410.9 116.79 - - 2392.69 - - - - - - - - - 15.97 -
18675.15 350.50 8.19 1971 18693.78 2.15 - - 3001.75 - 3.03 0.074 1145.88 -349.2 116.79 - - 2393.75 - - - - - - - - - 15.75 -
18730.40 345.72 8.64 1979 18748.20 2.18 - - 3001.25 - 2.83 0.029 2276.44 399.5 116.79 - - 2392.50 - - - - - - - - - 15.97 -
19054.46 317.74 7.81 2011 19075.32 2.26 - - 3001.81 - 3.26 0.069 1145.69 -346.9 116.79 - - 2391.06 - - - - - - - - - 15.79 -
19146.54 309.78 8.71 2026 19164.45 2.26 - - 3002.75 - 2.85 0.029 2275.19 396.3 116.79 - - 2391.78 - - - - - - - - - 15.86 -
19470.71 284.62 7.83 2058 19490.16 2.34 - - 3001.75 - 3.24 0.069 1146.25 -348.4 116.79 - - 2392.78 - - - - - - - - - 15.79 -
19570.65 276.25 8.71 2075 19589.17 2.34 - - 3001.88 - 2.82 0.029 2274.56 400.1 116.79 - - 2392.22 - - - - - - - - - 15.96 -
19895.42 251.66 7.60 2107 19915.10 2.43 - - 3001.50 - 3.22 0.090 3351.06 334.3 116.79 - - 2392.09 - - - - - - - - - 15.54 -
19991.83 243.48 8.34 2123 20009.24 2.48 - - 3002.25 - 2.79 0.021 2201.06 -412.2 116.79 - - 2392.75 - - - - - - - - - 15.96 -
20315.49 219.63 7.61 2155 20334.13 2.58 - - 3000.56 - 3.04 0.073 1146.00 -347.1 116.79 - - 2392.62 - - - - - - - - - 15.57 -
20470.76 207.50 7.79 2183 20488.99 2.66 - - 3002.56 - 2.83 0.028 2276.12 399.3 116.79 - - 2392.62 - - - - - - - - - 15.95 -
20795.25 184.63 6.36 2215 20814.69 2.83 - - 3001.31 - 3.24 0.068 1146.00 -348.8 116.79 - - 2391.72 - - - - - - - - - 15.55 -
20851.31 181.20 6.19 2223 20869.12 3.01 - - 3001.50 - 2.83 0.027 2275.25 399.0 116.79 - - 2392.50 - - - - - - - - - 15.81 -
21175.38 159.80 6.95 2255 21179.45 3.14 - - 3001.81 - - - 2275.31 - 116.79 - - 2391.75 - - - - - - - - - - -
21485.71 137.07 6.62 2286 21505.18 3.29 - - 3001.81 - 3.25 0.067 1146.19 -347.4 116.79 - - 2392.81 - - - - - - - - - 15.55 -
21586.19 130.16 7.25 2303 21605.47 3.41 - - 3001.75 - 2.85 0.027 2276.56 396.6 116.79 - - 2392.38 - - - - - - - - - 15.69 -
21911.83 113.56 4.41 2335 22043.82 3.61 - - 3001.81 - 3.22 0.090 3351.69 333.9 219.76 78.11 1.351 1993.25 -5.1 0.073 - - - - - - - 15.51 11.09
22084.30 99.46 11.30 2360 22102.84 roll back 3.61 - - 3001.69 - 2.83 0.020 2202.88 -405.9 219.76 - - 1987.41 - - - - - - - - - 15.68 -
22409.64 72.16 7.91 2422 22416.24 3.69 - - 3002.25 - - - 2201.81 - 219.76 - - 1981.44 - - - - - - - - - - -
22602.48 58.10 6.69 2460 22623.45 3.84 - - 3002.38 - 3.42 0.084 3350.44 335.9 219.76 - - 1981.62 - - - - - - - - - 15.62 -
22710.05 52.15 5.20 2478 22820.28 4.01 - - 3002.50 - 2.80 0.019 2196.25 -412.2 305.53 65.18 1.242 1644.22 -5.2 0.037 - - - - - - - 15.71 11.75
23006.65 32.60 6.45 2529 23026.00 4.17 - - 3002.88 - 3.09 0.073 1146.12 -339.8 305.53 - - 1634.53 - - - - - - - - - 15.59 -
23037.60 30.50 6.75 2532 23056.13 4.17 - - 3002.69 - 2.83 0.025 2278.94 400.3 305.53 - - 1634.00 - - - - - - - - - 15.73 -
23242.38 26.17 1.41 2570 23440.01 4.51 - - 3001.88 - 3.35 0.070 1146.06 -338.2 473.45 127.86 1.186 959.88 -5.3 0.020 - - - - - - - 15.40 11.59
23466.59 14.75 6.95 2601 23485.51 roll back 4.51 - - 3002.38 - 2.87 0.025 2277.00 394.1 473.45 - - 953.94 - - - - - - - - - 15.60 -
23615 end climb: SURFACE_DEPTH_REACHED
23616 begin surface coast
23676 end surface coast: CONTROL_FINISHED_OK
23677 begin surface
SM 1.12 - - - - 181.8 - - 948.5 - 19.00 0.046 972.4 51.2 - 0.12 0.082 924.5 7680.2 -10.722 - - 30.00 15.72 15.78 -