NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 676 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 229.45 of 506.00 AH used of 24V (54.65% remains)
• Surface angle -62.1 deg, depth 1.17 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.96 (SM_CC=430)
• GPS1 time: 17 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
19.32 - - - 126.39 VBD -1.18 - - 178.06 - - - 2294.94 - -77.86 75.53 0.005 2979.62 - - - - - - - - - - 14.72
128.60 3.29 -2.99 15 238.53 -1.18 17.49 0.205 2227.31 117.2 3.12 0.081 3353.62 339.3 -77.86 3.36 0.011 3210.28 68.6 -3.505 - - - - - - 15.25 14.90 15.03
244.86 35.21 -15.73 21 263.83 roll -1.18 - - 2227.94 - 2.80 0.018 2200.62 -411.8 -77.86 - - 3211.69 - - - - - - - - - 15.57 -
450.03 61.55 -12.31 59 469.59 roll -1.18 - - 2227.69 - 3.02 0.069 1144.62 -349.7 -77.86 - - 3212.44 - - - - - - - - - 15.59 -
541.04 70.18 -8.12 74 559.42 roll -1.18 - - 2226.81 - 2.76 0.023 2280.88 411.7 -77.86 - - 3213.91 - - - - - - - - - 15.67 -
745.47 86.08 -8.12 112 765.44 roll -1.18 - - 2227.81 - 3.13 0.081 3353.69 342.8 -77.86 - - 3212.44 - - - - - - - - - 15.61 -
816.88 92.50 -8.92 123 835.24 roll -1.18 - - 2226.44 - 2.76 0.018 2191.38 -421.1 -77.86 - - 3214.22 - - - - - - - - - 15.80 -
1021.30 108.59 -7.74 150 1039.50 roll -1.18 - - 2227.19 - 2.96 0.068 1143.62 -354.0 -77.86 - - 3213.12 - - - - - - - - - 15.73 -
1160.00 120.30 -8.49 175 1178.37 roll -1.18 - - 2228.06 - 2.79 0.024 2281.12 407.7 -77.86 - - 3213.75 - - - - - - - - - 15.65 -
1484.41 142.84 -6.79 207 1503.43 roll -1.18 - - 2227.81 - 3.19 0.063 1144.62 -356.3 -77.86 - - 3212.59 - - - - - - - - - 15.77 -
1550.22 147.37 -6.96 217 1568.23 roll -1.18 - - 2228.06 - 2.78 0.023 2280.81 408.7 -77.86 - - 3213.09 - - - - - - - - - 15.67 -
1874.32 168.70 -6.88 249 1893.58 roll -1.18 - - 2227.00 - 3.20 0.063 1144.94 -355.0 -77.86 - - 3212.47 - - - - - - - - - 15.78 -
1910.05 171.34 -7.18 253 1927.67 roll -1.18 - - 2226.75 - 2.78 0.023 2281.50 408.8 -77.86 - - 3213.56 - - - - - - - - - 15.67 -
2233.80 191.75 -6.19 285 2237.86 no move -1.18 - - 2227.75 - - - 2281.44 - -77.86 - - 3212.72 - - - - - - - - - - -
2543.98 212.17 -6.35 316 2563.22 roll -1.18 - - 2227.25 - 3.19 0.063 1145.06 -356.2 -77.86 - - 3212.81 - - - - - - - - - 15.79 -
2619.70 217.53 -7.13 328 2637.72 roll -1.18 - - 2228.00 - 2.80 0.023 2279.81 405.3 -77.86 - - 3213.84 - - - - - - - - - 15.78 -
2943.86 239.79 -7.32 360 2963.10 roll -1.18 - - 2226.44 - 3.19 0.063 1143.62 -356.2 -77.86 - - 3214.72 - - - - - - - - - 15.80 -
2989.57 243.42 -7.79 366 3007.19 roll -1.18 - - 2226.69 - 2.78 0.023 2279.38 408.5 -77.86 - - 3215.19 - - - - - - - - - 15.81 -
3313.31 267.06 -7.33 398 3332.80 roll -1.18 - - 2227.31 - 3.19 0.063 1145.25 -355.5 -77.86 - - 3212.28 - - - - - - - - - 15.81 -
3353.41 270.10 -7.41 403 3372.42 roll -1.18 - - 2227.69 - 2.77 0.024 2281.44 410.2 -77.86 - - 3214.09 - - - - - - - - - 15.95 -
3678.51 292.65 -7.14 435 3698.37 roll -1.18 - - 2227.06 - 3.21 0.063 1145.38 -353.9 -77.86 - - 3213.34 - - - - - - - - - 15.66 -
3738.88 297.39 -7.68 444 3757.48 roll -1.18 - - 2227.62 - 2.79 0.024 2280.31 406.8 -77.86 - - 3213.16 - - - - - - - - - 15.82 -
4063.58 321.90 -7.48 476 4082.83 roll -1.18 - - 2227.50 - 3.15 0.063 1143.62 -360.9 -77.86 - - 3212.41 - - - - - - - - - 15.81 -
4119.32 326.57 -8.32 484 4136.94 roll -1.18 - - 2227.75 - 2.77 0.024 2279.50 410.1 -77.86 - - 3213.78 - - - - - - - - - 15.96 -
4443.07 351.47 -7.97 516 4462.31 roll -1.18 - - 2227.88 - 3.14 0.063 1145.19 -361.2 -77.86 - - 3212.84 - - - - - - - - - 15.81 -
4478.78 354.50 -8.38 520 4496.79 roll -1.18 - - 2228.12 - 2.76 0.024 2279.56 411.0 -77.86 - - 3212.75 - - - - - - - - - 15.93 -
4802.92 379.37 -7.45 552 4806.97 no move -1.18 - - 2227.88 - - - 2278.69 - -77.86 - - 3212.62 - - - - - - - - - - -
5113.10 401.05 -6.78 583 5132.35 roll -1.18 - - 2226.75 - 3.17 0.064 1142.12 -358.5 -77.86 - - 3214.38 - - - - - - - - - 15.83 -
5208.95 407.64 -6.71 599 5226.57 roll -1.18 - - 2227.50 - 2.78 0.024 2278.38 408.7 -77.86 - - 3213.38 - - - - - - - - - 15.96 -
5532.66 426.46 -5.59 631 5551.92 roll -1.18 - - 2226.50 - 3.17 0.064 1145.38 -357.4 -77.86 - - 3212.50 - - - - - - - - - 15.82 -
5592.43 430.23 -6.24 640 5611.01 roll -1.18 - - 2227.25 - 2.78 0.024 2277.88 407.4 -77.86 - - 3213.59 - - - - - - - - - 15.96 -
5917.15 447.86 -6.00 672 5936.39 roll -1.18 - - 2227.19 - 3.19 0.064 1143.94 -355.5 -77.86 - - 3212.44 - - - - - - - - - 15.70 -
6006.92 453.90 -6.85 687 6025.50 roll -1.18 - - 2227.62 - 2.79 0.024 2278.81 406.8 -77.86 - - 3212.47 - - - - - - - - - 15.95 -
6331.60 475.45 -6.74 719 6350.83 roll -1.18 - - 2227.81 - 3.18 0.064 1144.69 -356.6 -77.86 - - 3210.56 - - - - - - - - - 15.81 -
6367.31 477.94 -7.00 723 6385.34 roll -1.18 - - 2227.19 - 2.78 0.024 2277.12 407.3 -77.86 - - 3212.34 - - - - - - - - - 15.89 -
6691.44 500.19 -6.77 755 6710.68 roll -1.18 - - 2227.88 - 3.17 0.064 1145.44 -357.0 -77.86 - - 3210.62 - - - - - - - - - 15.81 -
6757.28 504.74 -6.76 765 6774.91 roll -1.18 - - 2227.25 - 2.78 0.024 2278.69 407.6 -77.86 - - 3211.38 - - - - - - - - - 15.96 -
7081.04 526.92 -6.93 797 7100.28 roll -1.18 - - 2228.06 - 3.17 0.085 3352.50 338.7 -77.86 - - 3211.72 - - - - - - - - - 15.76 -
7126.77 530.47 -7.46 803 7144.39 roll -1.18 - - 2227.75 - 2.73 0.019 2190.38 -425.7 -77.86 - - 3211.22 - - - - - - - - - 15.95 -
7450.48 554.36 -7.22 835 7454.55 no move -1.18 - - 2227.44 - - - 2188.12 - -77.86 - - 3209.75 - - - - - - - - - - -
7760.65 574.66 -6.21 866 7764.71 no move -1.18 - - 2227.12 - - - 2187.56 - -77.86 - - 3209.66 - - - - - - - - - - -
8070.84 591.67 -5.13 897 8092.71 roll -1.18 - - 2226.38 - 3.40 0.081 3352.88 342.7 -77.86 - - 3209.78 - - - - - - - - - 15.77 -
8144.19 595.93 -5.99 908 8162.21 roll -1.18 - - 2227.75 - 2.76 0.019 2191.06 -420.9 -77.86 - - 3209.88 - - - - - - - - - 15.95 -
8468.32 613.54 -5.35 940 8487.12 roll -1.18 - - 2228.00 - 2.95 0.071 1144.56 -354.7 -77.86 - - 3210.09 - - - - - - - - - 15.80 -
8537.74 617.56 -5.67 951 8556.72 roll -1.18 - - 2227.44 - 2.77 0.025 2279.38 409.7 -77.86 - - 3209.97 - - - - - - - - - 15.86 -
8862.85 636.91 -6.22 983 8866.91 no move -1.18 - - 2227.75 - - - 2279.44 - -77.86 - - 3208.31 - - - - - - - - - - -
9173.06 655.29 -6.19 1014 9192.30 roll -1.18 - - 2227.81 - 3.19 0.066 1144.88 -355.7 -77.86 - - 3209.34 - - - - - - - - - 15.80 -
9258.79 660.88 -6.76 1028 9276.41 roll -1.18 - - 2227.75 - 2.80 0.025 2277.75 404.6 -77.86 - - 3209.28 - - - - - - - - - 15.83 -
9582.52 679.38 -5.59 1060 9586.58 no move -1.18 - - 2227.88 - - - 2277.75 - -77.86 - - 3207.88 - - - - - - - - - - -
9892.69 695.54 -5.37 1091 9912.14 roll -1.18 - - 2227.00 - 3.20 0.066 1144.75 -354.1 -77.86 - - 3207.06 - - - - - - - - - 15.78 -
9998.62 702.06 -6.32 1109 10016.24 roll -1.18 - - 2227.75 - 2.78 0.026 2277.00 407.3 -77.86 - - 3208.94 - - - - - - - - - 15.97 -
10051 end dive: TARGET_DEPTH_EXCEEDED
10052 begin apogee
10057.52 705.11 -5.77 1114 10161.75 -0.31 1.62 0.129 2440.81 131.5 0.22 0.117 2284.94 36.1 - 64.15 1.962 2887.94 -5.0 0.307 - - - - - - 15.69 15.23 10.21
10168 end apogee: CONTROL_FINISHED_OK
10169 begin climb
10172.00 706.73 - 1121 10281.10 1.18 2.63 0.089 2806.19 138.9 - - 2284.56 - 77.86 65.14 1.932 2571.09 -4.9 0.304 - - - - - - 15.60 - 11.45
10587.72 690.57 4.03 1159 10707.89 1.35 0.23 0.070 2854.75 211.1 3.34 0.072 1146.19 -340.8 160.89 69.96 1.912 2232.66 -4.8 0.298 - - - - - - 15.71 15.19 11.15
10715.57 683.04 6.92 1175 10733.60 roll 1.42 - - 2855.50 - 2.88 0.028 2274.62 391.8 160.89 - - 2227.91 - - - - - - - - - 15.58 -
11040.24 659.81 7.41 1207 11059.90 done 1.45 - - 2853.94 - 3.26 0.069 1145.38 -346.4 160.89 - - 2222.06 - - - - - - - - - 15.71 -
11116.49 653.72 7.92 1219 11134.75 done 1.45 - - 2854.81 - 2.84 0.028 2274.25 397.5 160.89 - - 2221.53 - - - - - - - - - 15.82 -
11440.97 630.28 7.77 1251 11445.04 VBD 1.45 - - 2854.56 - - - 2275.12 - 160.89 - - 2219.94 - - - - - - - - - - -
11751.16 606.90 7.73 1282 11770.81 done 1.45 - - 2854.81 - 3.23 0.070 1145.25 -349.8 160.89 - - 2219.84 - - - - - - - - - 15.79 -
11847.29 598.80 8.66 1298 11865.72 done 1.45 - - 2855.38 - 2.82 0.028 2274.69 400.5 160.89 - - 2218.34 - - - - - - - - - 15.91 -
12172.23 573.79 7.36 1330 12191.90 done 1.50 - - 2854.44 - 3.20 0.091 3350.69 336.2 160.89 - - 2218.66 - - - - - - - - - 15.77 -
12258.36 566.51 8.53 1344 12276.39 done 1.50 - - 2855.56 - 2.78 0.021 2200.81 -413.6 160.89 - - 2218.41 - - - - - - - - - 15.94 -
12582.88 543.57 6.97 1376 12603.36 1.56 0.25 0.071 2905.12 198.2 3.03 0.074 1144.88 -348.5 160.89 - - 2218.12 - - - - - - - - 15.66 15.60 -
12629.83 539.80 8.04 1382 12647.45 done 1.56 - - 2905.38 - 2.79 0.028 2276.50 405.6 160.89 - - 2217.03 - - - - - - - - - 15.93 -
12953.94 516.37 6.69 1414 12958.00 VBD 1.64 - - 2905.62 - - - 2276.94 - 160.89 - - 2215.94 - - - - - - - - - - -
13264.51 495.87 6.72 1445 13269.74 1.72 0.18 0.077 2949.00 241.0 - - 2277.12 - 160.89 - - 2215.00 - - - - - - - - 15.89 - -
13575.97 472.01 7.77 1476 13595.61 done 1.72 - - 2950.06 - 3.23 0.070 1144.69 -350.6 160.89 - - 2215.47 - - - - - - - - - 15.80 -
13666.13 464.48 8.24 1491 13685.13 done 1.72 - - 2949.94 - 2.81 0.029 2275.50 402.4 160.89 - - 2215.69 - - - - - - - - - 15.94 -
13991.24 437.91 8.20 1523 13995.30 VBD 1.72 - - 2949.81 - - - 2275.25 - 160.89 - - 2215.56 - - - - - - - - - - -
14301.38 413.16 8.14 1554 14321.05 done 1.72 - - 2950.19 - 3.20 0.090 3351.56 336.3 160.89 - - 2215.53 - - - - - - - - - 15.68 -
14351.55 408.79 8.98 1561 14370.14 done 1.72 - - 2949.69 - 2.77 0.021 2200.25 -415.6 160.89 - - 2216.00 - - - - - - - - - 15.95 -
14676.23 382.63 8.65 1593 14695.08 done 1.72 - - 2950.06 - 3.02 0.073 1145.00 -349.4 160.89 - - 2214.41 - - - - - - - - - 15.78 -
14765.59 374.47 9.19 1608 14784.18 done 1.72 - - 2949.94 - 2.79 0.028 2275.81 405.3 160.89 - - 2216.19 - - - - - - - - - 15.93 -
15090.29 346.43 8.83 1640 15094.59 VBD 1.72 - - 2950.62 - - - 2276.00 - 160.89 - - 2214.50 - - - - - - - - - - -
15400.82 320.20 8.95 1671 15420.47 done 1.72 - - 2950.00 - 3.24 0.070 1145.12 -349.0 160.89 - - 2214.19 - - - - - - - - - 15.59 -
15481.00 312.66 9.38 1684 15500.39 done 1.72 - - 2949.56 - 2.81 0.028 2274.56 401.9 160.89 - - 2215.47 - - - - - - - - - 15.85 -
15806.47 286.50 7.72 1716 15826.10 done 1.72 - - 2949.44 - 3.22 0.068 1145.31 -350.7 160.89 - - 2213.84 - - - - - - - - - 15.77 -
15892.60 279.75 8.21 1730 15910.63 done 1.72 - - 2949.38 - 2.82 0.027 2275.69 400.8 160.89 - - 2216.19 - - - - - - - - - 15.83 -
16217.12 257.02 6.51 1762 16236.79 done 1.81 - - 2950.56 - 3.21 0.068 1145.19 -352.2 160.89 - - 2215.28 - - - - - - - - - 15.78 -
16347.72 247.63 7.24 1785 16366.30 done 1.86 - - 2950.38 - 2.80 0.028 2274.69 403.4 160.89 - - 2215.28 - - - - - - - - - 15.93 -
16672.80 226.21 6.81 1817 16678.42 1.94 0.22 0.068 3000.44 227.5 - - 2274.94 - 160.89 - - 2215.62 - - - - - - - - 15.66 - -
16984.92 201.96 7.40 1848 16988.98 VBD 1.98 - - 3000.44 - - - 2274.81 - 160.89 - - 2214.97 - - - - - - - - - - -
17295.52 180.09 7.38 1879 17315.18 done 2.02 - - 3000.06 - 3.23 0.068 1144.75 -349.9 160.89 - - 2213.72 - - - - - - - - - 15.64 -
17435.83 167.99 8.94 1904 17455.22 done 2.02 - - 3000.12 - 2.82 0.027 2276.25 401.2 160.89 - - 2214.75 - - - - - - - - - 15.79 -
17761.74 143.05 7.31 1936 17781.73 done 2.06 - - 2999.75 - 3.21 0.088 3351.75 335.0 160.89 - - 2215.03 - - - - - - - - - 15.54 -
17862.25 134.45 8.78 1953 17880.83 done 2.06 - - 3000.62 - 2.79 0.020 2198.56 -413.3 160.89 - - 2215.56 - - - - - - - - - 15.76 -
18186.94 110.62 8.21 1985 18205.78 done 2.06 - - 2999.50 - 3.01 0.070 1143.12 -350.6 160.89 - - 2216.62 - - - - - - - - - 15.71 -
18372.31 95.17 8.39 2019 18391.33 done 2.06 - - 3000.56 - 2.82 0.026 2277.62 402.3 160.89 - - 2215.00 - - - - - - - - - 15.74 -
18577.83 82.42 5.12 2057 18585.11 2.24 - - 3000.38 - - - 2277.88 - 160.89 - - 2214.84 - - - - - - - - - - -
18771.66 73.01 5.20 2095 18791.97 2.41 - - 3000.81 - 3.20 0.085 3353.25 336.1 160.89 - - 2214.69 - - - - - - - - - 15.53 -
18978.99 60.72 5.10 2133 18998.00 2.59 - - 2999.88 - 2.77 0.018 2187.06 -421.0 160.89 - - 2216.41 - - - - - - - - - 15.72 -
19184.55 57.19 1.28 2171 19353.67 2.87 - - 3001.06 - 3.05 0.073 1144.88 -341.7 300.87 107.01 1.142 1661.84 -5.2 0.044 - - - - - - - 15.29 10.47
19545.22 34.77 8.22 2231 19564.24 2.87 - - 3001.19 - 2.82 0.026 2276.62 401.3 300.87 - - 1653.16 - - - - - - - - - 15.61 -
19750.43 17.81 8.39 2269 19771.06 2.87 - - 3000.62 - 3.27 0.066 1143.81 -346.4 300.87 - - 1650.84 - - - - - - - - - 15.52 -
19792.88 14.04 9.04 2274 19812.28 2.87 - - 2999.56 - 2.82 0.026 2275.19 401.2 300.87 - - 1652.16 - - - - - - - - - 15.59 -
19912 end climb: SURFACE_DEPTH_REACHED
19913 begin surface coast
19969 end surface coast: CONTROL_FINISHED_OK
19969 begin surface
SM 1.16 - - - - 179.4 99.28 1.068 1137.2 11.5 19.31 0.048 1133.6 58.7 - 0.12 0.084 1140.8 9483.2 -13.385 - - 11.11 15.79 15.85 -