NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 769 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 260.74 of 506.00 AH used of 24V (48.47% remains)
• Surface angle -65.8 deg, depth 1.17 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 430.05 (SM_CC=430)
• GPS1 time: 28 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
19.42 - - - 106.09 VBD -1.18 - - 180.56 - - - 2184.38 - -77.86 60.28 0.005 2619.09 - - - - - - - - - - 14.63
108.31 3.53 -4.35 12 231.76 -1.18 17.30 0.200 2226.88 118.3 3.47 0.079 3352.38 336.6 -77.86 9.52 0.007 3211.25 62.2 -5.347 - - - - - - 15.23 14.84 14.99
238.09 31.96 -13.97 20 257.37 roll -1.18 - - 2227.62 - 2.80 0.018 2198.12 -412.2 -77.86 - - 3211.28 - - - - - - - - - 15.70 -
443.56 57.48 -11.73 58 462.80 roll -1.18 - - 2227.62 - 2.98 0.068 1144.25 -353.6 -77.86 - - 3212.12 - - - - - - - - - 15.53 -
479.23 61.86 -12.16 62 498.07 roll -1.18 - - 2227.31 - 2.82 0.024 2279.44 402.5 -77.86 - - 3212.97 - - - - - - - - - 15.72 -
684.17 85.64 -11.33 100 691.01 no move -1.18 - - 2227.94 - - - 2279.06 - -77.86 - - 3212.19 - - - - - - - - - - -
877.10 103.50 -8.59 134 896.42 roll -1.18 - - 2228.12 - 3.17 0.063 1143.25 -358.3 -77.86 - - 3210.88 - - - - - - - - - 15.71 -
927.12 107.92 -8.85 141 945.57 roll -1.18 - - 2228.06 - 2.80 0.023 2279.38 405.8 -77.86 - - 3212.12 - - - - - - - - - 15.77 -
1251.64 130.88 -7.28 173 1270.94 roll -1.18 - - 2227.31 - 3.14 0.079 3352.81 341.9 -77.86 - - 3213.28 - - - - - - - - - 15.75 -
1351.65 138.97 -8.33 190 1370.49 roll -1.18 - - 2227.88 - 2.77 0.018 2190.81 -419.5 -77.86 - - 3213.22 - - - - - - - - - 15.88 -
1676.69 162.20 -7.12 222 1697.08 roll -1.18 - - 2227.12 - 3.40 0.075 3353.44 342.0 -77.86 - - 3212.72 - - - - - - - - - 15.70 -
1783.70 170.60 -7.90 240 1802.00 roll -1.18 - - 2227.50 - 2.77 0.017 2191.50 -419.5 -77.86 - - 3212.44 - - - - - - - - - 15.80 -
2108.13 192.97 -6.46 272 2126.86 roll -1.18 - - 2227.44 - 2.94 0.067 1145.50 -355.8 -77.86 - - 3213.16 - - - - - - - - - 15.67 -
2157.61 196.21 -6.41 279 2176.26 roll -1.18 - - 2228.44 - 2.78 0.023 2282.12 408.9 -77.86 - - 3213.88 - - - - - - - - - 15.86 -
2482.36 215.84 -6.37 311 2501.90 roll -1.18 - - 2226.00 - 3.18 0.062 1144.88 -357.6 -77.86 - - 3213.88 - - - - - - - - - 15.68 -
2568.38 221.40 -6.61 325 2586.30 roll -1.18 - - 2227.38 - 2.80 0.023 2280.19 405.5 -77.86 - - 3212.88 - - - - - - - - - 15.86 -
2892.41 242.03 -6.63 357 2911.96 roll -1.18 - - 2224.88 - 3.15 0.063 1144.31 -360.6 -77.86 - - 3213.53 - - - - - - - - - 15.70 -
2928.20 244.61 -6.92 361 2946.51 roll -1.18 - - 2227.69 - 2.77 0.023 2279.25 409.7 -77.86 - - 3214.12 - - - - - - - - - 15.85 -
3252.61 266.54 -7.08 393 3272.39 roll -1.18 - - 2227.81 - 3.14 0.063 1145.94 -360.9 -77.86 - - 3212.38 - - - - - - - - - 15.71 -
3319.00 271.48 -7.39 403 3337.32 roll -1.18 - - 2227.88 - 2.77 0.024 2279.19 409.1 -77.86 - - 3213.34 - - - - - - - - - 15.90 -
3643.42 296.60 -8.06 435 3663.18 roll -1.18 - - 2227.81 - 3.13 0.081 3354.06 343.4 -77.86 - - 3211.72 - - - - - - - - - 15.77 -
3709.65 302.39 -8.86 445 3727.57 roll -1.18 - - 2227.50 - 2.76 0.018 2188.50 -422.3 -77.86 - - 3213.09 - - - - - - - - - 15.95 -
4033.70 328.13 -7.52 477 4037.77 no move -1.18 - - 2228.00 - - - 2186.25 - -77.86 - - 3212.69 - - - - - - - - - - -
4343.90 350.64 -6.94 508 4364.26 roll -1.18 - - 2227.62 - 3.39 0.078 3351.44 343.7 -77.86 - - 3210.78 - - - - - - - - - 15.76 -
4390.74 354.45 -7.99 514 4408.66 roll -1.18 - - 2227.81 - 2.76 0.018 2191.25 -420.4 -77.86 - - 3212.34 - - - - - - - - - 15.82 -
4714.79 377.41 -6.75 546 4718.85 no move -1.18 - - 2228.12 - - - 2189.75 - -77.86 - - 3211.22 - - - - - - - - - - -
5024.99 396.77 -6.29 577 5029.05 no move -1.18 - - 2227.94 - - - 2189.44 - -77.86 - - 3211.62 - - - - - - - - - - -
5335.20 415.93 -5.75 608 5355.96 roll -1.18 - - 2228.12 - 3.40 0.078 3352.19 342.0 -77.86 - - 3211.28 - - - - - - - - - 15.77 -
5377.18 419.02 -6.60 613 5395.83 roll -1.18 - - 2227.31 - 2.77 0.018 2193.50 -418.3 -77.86 - - 3211.44 - - - - - - - - - 15.96 -
5701.96 439.81 -6.55 645 5721.07 roll -1.18 - - 2227.31 - 2.96 0.069 1144.06 -354.5 -77.86 - - 3213.06 - - - - - - - - - 15.78 -
5757.55 443.37 -6.60 653 5775.87 roll -1.18 - - 2228.06 - 2.76 0.024 2279.75 411.5 -77.86 - - 3211.88 - - - - - - - - - 15.90 -
6082.00 461.68 -5.66 685 6101.56 roll -1.18 - - 2227.56 - 3.18 0.064 1143.19 -357.4 -77.86 - - 3211.91 - - - - - - - - - 15.78 -
6122.31 464.24 -6.21 690 6140.96 roll -1.18 - - 2227.62 - 2.77 0.024 2280.44 410.6 -77.86 - - 3212.25 - - - - - - - - - 15.93 -
6447.10 483.50 -5.93 722 6451.15 no move -1.18 - - 2227.12 - - - 2280.38 - -77.86 - - 3210.19 - - - - - - - - - - -
6757.25 502.41 -6.20 753 6776.80 roll -1.18 - - 2227.81 - 3.19 0.064 1144.81 -356.0 -77.86 - - 3211.25 - - - - - - - - - 15.78 -
6857.56 508.52 -5.98 770 6876.21 roll -1.18 - - 2227.19 - 2.80 0.025 2279.12 405.1 -77.86 - - 3211.06 - - - - - - - - - 15.93 -
7182.32 525.19 -5.18 802 7186.38 no move -1.18 - - 2227.31 - - - 2279.25 - -77.86 - - 3209.12 - - - - - - - - - - -
7492.49 541.84 -5.20 833 7512.03 roll -1.18 - - 2227.69 - 3.17 0.084 3352.06 338.4 -77.86 - - 3211.94 - - - - - - - - - 15.75 -
7548.62 545.38 -5.82 841 7566.54 roll -1.18 - - 2225.50 - 2.76 0.019 2191.62 -420.4 -77.86 - - 3210.56 - - - - - - - - - 15.95 -
7873.06 564.59 -4.49 873 7893.82 roll -1.18 - - 2225.50 - 3.43 0.080 3350.88 338.0 -77.86 - - 3209.50 - - - - - - - - - 15.60 -
7950.30 569.29 -5.07 885 7968.22 roll -1.18 - - 2227.62 - 2.77 0.019 2192.00 -418.4 -77.86 - - 3209.12 - - - - - - - - - 15.96 -
8274.74 589.08 -4.97 917 8278.80 no move -1.18 - - 2226.88 - - - 2190.69 - -77.86 - - 3208.31 - - - - - - - - - - -
8554 end dive: TARGET_DEPTH_EXCEEDED
8555 begin apogee
8559.77 604.32 -6.08 945 8663.01 -0.31 1.62 0.133 2440.62 131.9 0.14 0.133 2177.50 -94.2 - 63.91 1.792 2889.16 -5.0 0.287 - - - - - - 15.65 15.21 10.24
8670 end apogee: CONTROL_FINISHED_OK
8670 begin climb
8673.19 606.63 - 952 8796.61 1.18 2.58 0.090 2807.06 142.0 3.03 0.075 1142.88 -341.5 77.86 64.90 1.760 2571.69 -4.9 0.287 - - - - - - 15.63 15.13 11.43
8812.88 603.74 3.95 967 8933.64 1.35 0.23 0.072 2856.75 216.0 2.86 0.026 2279.06 397.3 162.68 72.16 1.741 2226.44 -4.8 0.283 - - - - - - 15.47 15.60 11.35
9240.19 576.31 6.80 1013 9260.15 done 1.43 - - 2857.44 - 3.22 0.069 1145.81 -351.9 162.68 - - 2215.91 - - - - - - - - - 15.70 -
9307.15 571.53 7.26 1023 9325.48 done 1.47 - - 2857.50 - 2.82 0.027 2276.06 400.8 162.68 - - 2214.31 - - - - - - - - - 15.78 -
9631.97 548.68 7.18 1055 9637.23 1.53 0.17 0.081 2897.19 233.5 - - 2276.62 - 162.68 - - 2213.69 - - - - - - - - 15.80 - -
9943.35 525.12 7.83 1086 9963.32 done 1.53 - - 2897.94 - 3.24 0.089 3351.19 331.7 162.68 - - 2210.53 - - - - - - - - - 15.58 -
10024.07 518.18 8.93 1099 10043.10 done 1.53 - - 2898.56 - 2.79 0.021 2201.06 -412.2 162.68 - - 2211.97 - - - - - - - - - 15.91 -
10349.72 492.64 7.46 1131 10368.86 done 1.56 - - 2898.12 - 3.01 0.073 1144.88 -350.9 162.68 - - 2210.00 - - - - - - - - - 15.76 -
10495.75 481.48 7.44 1157 10514.07 done 1.60 - - 2898.19 - 2.80 0.028 2276.06 404.0 162.68 - - 2209.22 - - - - - - - - - 15.92 -
10820.60 457.26 7.27 1189 10840.56 done 1.64 - - 2897.94 - 3.20 0.070 1144.81 -353.5 162.68 - - 2207.97 - - - - - - - - - 15.78 -
10971.85 445.90 7.32 1216 10992.14 1.69 0.17 0.080 2939.69 245.6 2.83 0.028 2274.19 399.1 162.68 - - 2208.59 - - - - - - - - 15.62 15.85 -
11298.66 421.23 7.45 1248 11318.22 done 1.72 - - 2939.25 - 3.18 0.070 1144.88 -355.1 162.68 - - 2206.88 - - - - - - - - - 15.78 -
11474.74 407.09 8.29 1280 11493.07 done 1.72 - - 2938.94 - 2.84 0.029 2275.44 398.1 162.68 - - 2207.88 - - - - - - - - - 15.82 -
11799.20 382.18 7.86 1312 11818.74 done 1.72 - - 2939.00 - 3.19 0.069 1144.50 -354.5 162.68 - - 2207.16 - - - - - - - - - 15.78 -
11865.33 376.59 8.93 1322 11883.68 done 1.72 - - 2939.44 - 2.82 0.028 2276.81 401.5 162.68 - - 2206.72 - - - - - - - - - 15.70 -
12189.80 349.81 8.65 1354 12193.87 VBD 1.72 - - 2938.88 - - - 2276.50 - 162.68 - - 2206.66 - - - - - - - - - - -
12500.00 323.71 8.17 1385 12519.54 done 1.72 - - 2940.12 - 3.19 0.069 1144.62 -354.8 162.68 - - 2206.06 - - - - - - - - - 15.77 -
12650.31 310.75 8.39 1412 12669.42 done 1.72 - - 2939.50 - 2.81 0.028 2275.19 402.3 162.68 - - 2207.25 - - - - - - - - - 15.93 -
12975.95 286.27 7.22 1444 12995.90 done 1.77 - - 2939.69 - 3.21 0.068 1143.44 -352.6 162.68 - - 2206.94 - - - - - - - - - 15.76 -
13096.66 276.75 7.67 1465 13115.72 done 1.77 - - 2940.25 - 2.82 0.028 2277.19 402.0 162.68 - - 2206.78 - - - - - - - - - 15.94 -
13422.27 252.49 7.42 1497 13442.71 done 1.81 - - 2939.75 - 3.21 0.068 1145.38 -352.6 162.68 - - 2205.09 - - - - - - - - - 15.51 -
13493.58 246.68 8.02 1508 13512.63 done 1.81 - - 2940.00 - 2.83 0.027 2275.94 399.5 162.68 - - 2207.22 - - - - - - - - - 15.76 -
13819.17 221.72 7.48 1540 13838.73 done 1.85 - - 2940.06 - 3.19 0.068 1145.00 -354.5 162.68 - - 2205.62 - - - - - - - - - 15.75 -
13959.50 210.35 8.08 1565 13978.96 done 1.85 - - 2939.81 - 2.81 0.027 2275.81 402.4 162.68 - - 2207.16 - - - - - - - - - 15.93 -
14285.49 187.05 7.07 1597 14307.08 1.90 0.25 0.067 2993.56 215.0 3.21 0.067 1146.00 -352.0 162.68 - - 2204.97 - - - - - - - - 15.65 15.62 -
14407.84 176.75 8.71 1618 14426.91 done 1.90 - - 2993.06 - 2.84 0.027 2275.62 397.8 162.68 - - 2206.41 - - - - - - - - - 15.78 -
14733.45 153.05 6.56 1650 14753.41 done 1.99 - - 2993.62 - 3.25 0.066 1145.81 -347.6 162.68 - - 2206.75 - - - - - - - - - 15.57 -
14910.34 140.93 7.02 1682 14928.94 done 2.06 - - 2993.00 - 2.84 0.027 2276.06 398.0 162.68 - - 2206.81 - - - - - - - - - 15.74 -
15235.59 119.85 5.71 1714 15256.38 2.20 0.04 0.210 3016.31 582.7 3.23 0.065 1145.06 -350.2 162.68 - - 2205.28 - - - - - - - - 15.64 15.53 -
15323.28 114.07 6.78 1728 15342.04 2.27 - - 3016.19 - 2.85 0.026 2275.81 396.8 162.68 - - 2206.44 - - - - - - - - - 15.69 -
15648.58 96.81 5.00 1766 15720.80 2.40 - - 3016.12 - - - 2276.38 - 225.71 49.29 1.162 1969.78 -4.8 0.068 - - - - - - - - 10.50
15907.34 80.02 5.70 1813 15928.04 roll back 2.54 - - 3015.94 - 3.25 0.065 1144.38 -348.3 225.71 - - 1963.47 - - - - - - - - - 15.51 -
16160.07 68.00 4.13 1860 16270.83 2.70 - - 3014.94 - 2.84 0.025 2277.81 399.1 306.63 64.39 1.118 1640.47 -5.0 0.052 - - - - - - - 15.58 11.39
16457.49 50.10 6.64 1911 16478.58 roll back 2.79 - - 3016.19 - 3.27 0.065 1144.69 -346.5 306.63 - - 1632.31 - - - - - - - - - 15.49 -
16515.47 46.02 7.08 1919 16534.54 2.84 - - 3015.19 - 2.83 0.025 2276.56 400.0 306.63 - - 1631.69 - - - - - - - - - 15.60 -
16721.05 31.64 6.54 1957 16741.75 2.93 - - 3016.06 - 3.24 0.065 1145.00 -349.2 306.63 - - 1630.91 - - - - - - - - - 15.57 -
16778.64 27.86 6.48 1965 16797.72 3.03 - - 3016.06 - 2.83 0.025 2276.62 399.9 306.63 - - 1629.84 - - - - - - - - - 15.70 -
16984.26 14.36 6.98 2003 16991.55 3.09 - - 3016.50 - - - 2276.56 - 306.63 - - 1628.81 - - - - - - - - - - -
17178.04 5.50 3.76 2041 17229.56 3.27 - - 3016.06 - - - 2277.25 - 395.23 34.95 1.013 1467.59 -4.6 0.004 - - - - - - - - 11.12
17231 end climb: SURFACE_DEPTH_REACHED
17231 begin surface coast
17347 end surface coast: CONTROL_FINISHED_OK
17348 begin surface
SM 1.12 - - - - 178.1 64.35 1.034 1136.8 17.1 19.78 0.044 1136.1 57.4 - 0.12 0.078 1137.6 9480.0 -13.913 - - 11.14 15.76 15.83 -