NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 344 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 122.04 of 506.00 AH used of 24V (75.88% remains)
• Surface angle -64.0 deg, depth 1.15 m • Intended pitch -17.5 deg, speed -9.167 cm/s
• VBD pumped to 429.99 (SM_CC=430)
• GPS1 time: 31 s
• GPS2 time: 1 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
18.91 - - - 111.61 VBD -1.33 - - 181.88 - - - 2194.94 - -116.79 65.12 0.005 2731.75 - - - - - - - - - - 15.16
113.83 3.49 -4.08 13 227.51 -1.33 16.90 0.219 2192.00 118.9 3.04 0.067 1144.38 -345.6 -116.79 8.98 0.007 3370.69 71.2 -6.047 - - - - - - 15.41 15.18 15.30
243.58 41.89 -19.08 22 262.64 roll -1.33 - - 2193.06 - 2.82 0.025 2278.19 402.1 -116.79 - - 3373.25 - - - - - - - - - 15.65 -
448.58 69.78 -12.03 60 468.08 roll -1.33 - - 2192.62 - 3.15 0.079 3352.25 341.0 -116.79 - - 3373.56 - - - - - - - - - 15.65 -
699.28 99.31 -11.30 107 717.96 done -1.33 - - 2192.75 - 2.82 0.018 2192.31 -411.3 -116.79 - - 3374.84 - - - - - - - - - 15.67 -
904.12 120.56 -9.91 127 908.14 VBD -1.33 - - 2192.75 - - - 2190.38 - -116.79 - - 3374.88 - - - - - - - - - - -
1214.19 149.49 -8.99 158 1218.22 VBD -1.33 - - 2192.31 - - - 2190.12 - -116.79 - - 3375.12 - - - - - - - - - - -
1524.22 177.21 -8.50 189 1528.25 VBD -1.33 - - 2192.06 - - - 2190.38 - -116.79 - - 3375.78 - - - - - - - - - - -
1834.27 205.09 -9.27 220 1852.66 roll -1.33 - - 2192.56 - 3.02 0.068 1146.12 -345.8 -116.79 - - 3376.12 - - - - - - - - - 15.73 -
1898.81 211.43 -9.89 230 1916.00 roll -1.33 - - 2192.44 - 2.78 0.024 2278.81 407.4 -116.79 - - 3377.25 - - - - - - - - - 15.94 -
2221.80 242.13 -9.83 262 2242.37 roll -1.33 - - 2192.69 - 3.27 0.064 1145.75 -346.5 -116.79 - - 3375.56 - - - - - - - - - 15.73 -
2277.79 248.18 -10.55 270 2296.14 roll -1.33 - - 2192.12 - 2.79 0.025 2277.81 405.8 -116.79 - - 3376.59 - - - - - - - - - 15.96 -
2602.09 281.17 -10.57 302 2606.15 no move -1.33 - - 2191.62 - - - 2277.69 - -116.79 - - 3375.06 - - - - - - - - - - -
2912.15 313.07 -10.18 333 2931.57 roll -1.33 - - 2193.00 - 3.23 0.064 1146.12 -350.3 -116.79 - - 3375.94 - - - - - - - - - 15.85 -
2967.78 318.91 -10.76 341 2985.17 roll -1.33 - - 2191.94 - 2.80 0.025 2277.75 404.2 -116.79 - - 3376.00 - - - - - - - - - 15.96 -
3291.01 350.98 -9.68 373 3310.42 roll -1.33 - - 2191.06 - 3.24 0.065 1145.69 -349.4 -116.79 - - 3374.75 - - - - - - - - - 15.78 -
3330.89 355.14 -10.25 378 3349.42 roll -1.33 - - 2191.19 - 2.81 0.025 2277.25 402.7 -116.79 - - 3375.44 - - - - - - - - - 15.94 -
3655.26 384.44 -8.50 410 3659.32 no move -1.33 - - 2192.75 - - - 2276.88 - -116.79 - - 3373.44 - - - - - - - - - - -
3965.31 411.25 -8.67 441 3986.12 roll -1.33 - - 2190.38 - 3.26 0.065 1146.06 -346.9 -116.79 - - 3373.91 - - - - - - - - - 15.87 -
4011.59 415.61 -9.44 447 4030.11 roll -1.33 - - 2193.00 - 2.82 0.025 2276.00 400.7 -116.79 - - 3373.16 - - - - - - - - - 15.92 -
4335.94 443.99 -8.72 479 4355.38 roll -1.33 - - 2190.25 - 3.24 0.065 1144.69 -349.2 -116.79 - - 3373.34 - - - - - - - - - 15.88 -
4365.96 446.80 -9.21 482 4384.47 roll -1.33 - - 2192.81 - 2.82 0.025 2276.50 401.4 -116.79 - - 3372.88 - - - - - - - - - 15.97 -
4690.31 474.27 -8.37 514 4709.73 roll -1.33 - - 2192.06 - 3.24 0.065 1145.75 -349.0 -116.79 - - 3372.47 - - - - - - - - - 15.81 -
4740.19 478.91 -9.35 521 4758.71 roll -1.33 - - 2191.31 - 2.81 0.026 2276.06 402.2 -116.79 - - 3372.41 - - - - - - - - - 15.99 -
5064.56 506.54 -8.79 553 5068.62 no move -1.33 - - 2193.12 - - - 2277.00 - -116.79 - - 3369.91 - - - - - - - - - - -
5374.61 534.88 -9.17 584 5394.02 roll -1.33 - - 2190.62 - 3.24 0.066 1146.06 -349.1 -116.79 - - 3370.81 - - - - - - - - - 15.87 -
5414.49 538.82 -9.84 589 5433.01 roll -1.33 - - 2193.12 - 2.81 0.026 2276.75 402.4 -116.79 - - 3371.25 - - - - - - - - - 15.95 -
5738.86 569.53 -9.01 621 5757.89 roll -1.33 - - 2192.62 - 3.19 0.087 3351.50 336.9 -116.79 - - 3368.41 - - - - - - - - - 15.84 -
5804.09 576.05 -10.11 631 5821.73 roll -1.33 - - 2192.12 - 2.79 0.019 2194.12 -414.8 -116.79 - - 3370.25 - - - - - - - - - 15.98 -
6127.67 605.11 -8.76 663 6131.73 no move -1.33 - - 2193.25 - - - 2191.81 - -116.79 - - 3368.69 - - - - - - - - - - -
6437.69 631.71 -8.54 694 6441.75 no move -1.33 - - 2192.69 - - - 2191.88 - -116.79 - - 3367.47 - - - - - - - - - - -
6747.72 656.51 -7.76 725 6769.37 roll -1.33 - - 2192.69 - 3.42 0.084 3352.06 339.2 -116.79 - - 3365.97 - - - - - - - - - 15.81 -
6780.56 659.25 -7.71 728 6797.96 roll -1.33 - - 2192.81 - 2.79 0.020 2195.00 -414.7 -116.79 - - 3367.53 - - - - - - - - - 16.00 -
7103.79 685.00 -8.01 760 7107.85 no move -1.33 - - 2192.31 - - - 2194.31 - -116.79 - - 3366.28 - - - - - - - - - - -
7413.86 711.36 -8.79 791 7435.48 roll -1.33 - - 2192.00 - 3.40 0.084 3351.06 340.2 -116.79 - - 3365.22 - - - - - - - - - 15.82 -
7486.67 718.22 -9.60 802 7504.49 roll -1.33 - - 2192.31 - 2.81 0.020 2195.25 -411.3 -116.79 - - 3366.16 - - - - - - - - - 15.99 -
7810.33 746.61 -9.09 834 7814.48 no move -1.33 - - 2192.44 - - - 2194.69 - -116.79 - - 3365.88 - - - - - - - - - - -
8120.39 772.27 -8.11 865 8142.02 roll -1.33 - - 2191.00 - 3.42 0.084 3351.38 338.2 -116.79 - - 3364.59 - - - - - - - - - 15.69 -
8157.54 775.31 -8.51 869 8176.38 roll -1.33 - - 2192.38 - 2.81 0.020 2197.88 -410.5 -116.79 - - 3365.78 - - - - - - - - - 15.99 -
8482.23 800.60 -8.16 901 8486.29 no move -1.33 - - 2192.19 - - - 2195.56 - -116.79 - - 3364.47 - - - - - - - - - - -
8792.28 825.56 -7.89 932 8813.93 roll -1.33 - - 2192.38 - 3.43 0.084 3350.81 336.8 -116.79 - - 3363.03 - - - - - - - - - 15.79 -
8865.13 832.27 -9.33 943 8882.92 roll -1.33 - - 2192.31 - 2.81 0.020 2197.75 -410.3 -116.79 - - 3364.28 - - - - - - - - - 15.98 -
9188.74 856.94 -7.51 975 9193.19 no move -1.33 - - 2192.44 - - - 2196.75 - -116.79 - - 3362.47 - - - - - - - - - - -
9499.04 879.66 -7.38 1006 9520.68 roll -1.33 - - 2193.00 - 3.43 0.084 3350.06 336.2 -116.79 - - 3362.47 - - - - - - - - - 15.78 -
9541.87 883.34 -8.00 1011 9559.67 roll -1.33 - - 2193.00 - 2.82 0.020 2196.38 -409.1 -116.79 - - 3363.16 - - - - - - - - - 15.99 -
9865.51 908.24 -8.13 1043 9869.57 no move -1.33 - - 2193.12 - - - 2195.62 - -116.79 - - 3362.75 - - - - - - - - - - -
10175.57 933.29 -8.44 1074 10179.63 no move -1.33 - - 2191.69 - - - 2195.62 - -116.79 - - 3361.81 - - - - - - - - - - -
10485.62 957.22 -7.19 1105 10507.54 roll -1.33 - - 2192.69 - 3.42 0.084 3350.31 337.6 -116.79 - - 3361.62 - - - - - - - - - 15.76 -
10538.86 961.67 -7.82 1112 10557.05 roll -1.33 - - 2192.62 - 2.82 0.020 2199.75 -408.0 -116.79 - - 3362.16 - - - - - - - - - 15.99 -
10863.28 983.86 -5.71 1144 10867.34 no move -1.33 - - 2192.44 - - - 2198.94 - -116.79 - - 3361.12 - - - - - - - - - - -
10962 end dive: TARGET_DEPTH_EXCEEDED
10962 begin apogee
10967.78 990.24 -6.15 1154 11113.88 -0.31 1.85 0.134 2441.06 134.4 0.14 0.158 2186.50 -88.9 - 94.07 2.468 2889.66 -5.0 0.343 - - - - - - 15.68 15.30 10.48
11126 end apogee: CONTROL_FINISHED_OK
11127 begin climb
11130.09 992.18 - 1164 11285.32 1.33 2.80 0.086 2840.69 142.7 - - 2186.25 - 116.79 98.90 2.417 2411.53 -4.8 0.338 - - - - - - 15.51 - 11.71
11591.69 956.24 8.35 1206 11595.75 VBD 1.38 - - 2840.38 - - - 2185.94 - 116.79 - - 2400.06 - - - - - - - - - - -
11902.24 931.41 7.53 1237 11907.25 1.47 0.19 0.081 2886.38 242.1 - - 2185.88 - 116.79 - - 2399.19 - - - - - - - - 15.80 - -
12213.48 904.70 8.08 1268 12235.11 done 1.54 - - 2885.56 - 3.49 0.088 3351.38 334.0 116.79 - - 2398.19 - - - - - - - - - 15.81 -
12250.59 900.08 11.16 1272 12269.11 done 1.54 - - 2886.25 - 2.85 0.022 2207.88 -401.2 116.79 - - 2397.28 - - - - - - - - - 15.90 -
12574.97 870.32 9.10 1304 12594.23 done 1.54 - - 2886.12 - 3.12 0.078 1147.06 -340.0 116.79 - - 2395.12 - - - - - - - - - 15.83 -
12644.70 863.37 10.03 1315 12663.61 done 1.54 - - 2886.31 - 2.85 0.030 2275.00 395.8 116.79 - - 2395.97 - - - - - - - - - 15.92 -
12969.85 833.84 8.48 1347 12973.92 VBD 1.58 - - 2886.12 - - - 2274.06 - 116.79 - - 2394.72 - - - - - - - - - - -
13279.73 806.30 9.58 1378 13300.55 done 1.58 - - 2886.56 - 3.30 0.074 1146.00 -341.8 116.79 - - 2393.06 - - - - - - - - - 15.84 -
13326.03 801.96 9.23 1384 13344.94 done 1.58 - - 2886.25 - 2.85 0.030 2273.00 395.4 116.79 - - 2395.44 - - - - - - - - - 15.95 -
13650.99 773.25 8.69 1416 13655.05 VBD 1.58 - - 2886.06 - - - 2272.75 - 116.79 - - 2393.81 - - - - - - - - - - -
13961.01 746.15 8.88 1447 13981.84 done 1.58 - - 2884.38 - 3.30 0.073 1147.12 -341.1 116.79 - - 2394.56 - - - - - - - - - 15.83 -
13993.44 743.54 8.25 1450 14012.48 1.64 0.17 0.089 2925.94 244.5 2.85 0.030 2273.44 395.2 116.79 - - 2394.00 - - - - - - - - 15.76 15.98 -
14318.74 714.18 8.67 1482 14339.98 done 1.67 - - 2927.25 - 3.31 0.073 1146.56 -340.4 116.79 - - 2392.62 - - - - - - - - - 15.74 -
14401.19 705.97 9.43 1495 14418.98 done 1.67 - - 2926.38 - 2.86 0.030 2271.81 393.4 116.79 - - 2393.84 - - - - - - - - - 15.96 -
14724.83 676.29 9.20 1527 14728.89 VBD 1.67 - - 2927.12 - - - 2271.94 - 116.79 - - 2392.72 - - - - - - - - - - -
15034.91 647.08 9.36 1558 15055.73 done 1.67 - - 2926.88 - 3.27 0.073 1146.88 -344.1 116.79 - - 2392.62 - - - - - - - - - 15.83 -
15096.94 640.83 10.43 1567 15114.74 done 1.67 - - 2927.00 - 2.86 0.030 2272.31 393.5 116.79 - - 2393.97 - - - - - - - - - 15.78 -
15420.58 611.20 8.85 1599 15424.64 VBD 1.67 - - 2927.06 - - - 2272.62 - 116.79 - - 2392.75 - - - - - - - - - - -
15731.03 585.59 7.82 1630 15750.48 done 1.75 - - 2926.56 - 3.26 0.073 1146.25 -345.5 116.79 - - 2393.16 - - - - - - - - - 15.83 -
15807.21 579.13 8.55 1642 15825.01 done 1.78 - - 2927.19 - 2.86 0.030 2273.38 394.1 116.79 - - 2392.62 - - - - - - - - - 15.95 -
16131.25 552.58 8.38 1674 16136.67 1.83 0.21 0.077 2973.81 222.0 - - 2273.94 - 116.79 - - 2392.12 - - - - - - - - 15.93 - -
16442.53 523.65 9.30 1705 16446.58 VBD 1.83 - - 2974.50 - - - 2274.50 - 116.79 - - 2391.84 - - - - - - - - - - -
16752.56 495.19 9.12 1736 16772.03 done 1.83 - - 2974.38 - 3.27 0.072 1146.44 -345.0 116.79 - - 2392.28 - - - - - - - - - 15.82 -
16782.50 492.35 9.11 1739 16801.01 done 1.83 - - 2973.62 - 2.85 0.029 2275.06 396.0 116.79 - - 2393.72 - - - - - - - - - 15.96 -
17106.87 462.55 9.71 1771 17127.69 done 1.83 - - 2973.38 - 3.27 0.071 1146.06 -345.3 116.79 - - 2393.53 - - - - - - - - - 15.69 -
17188.90 454.67 9.90 1784 17206.70 done 1.83 - - 2974.88 - 2.86 0.029 2273.00 394.0 116.79 - - 2390.88 - - - - - - - - - 15.98 -
17512.56 426.29 8.72 1816 17532.24 done 1.83 - - 2974.69 - 3.26 0.071 1145.12 -346.0 116.79 - - 2392.09 - - - - - - - - - 15.80 -
17552.83 422.51 9.53 1821 17571.74 done 1.83 - - 2973.75 - 2.86 0.029 2274.25 394.8 116.79 - - 2393.59 - - - - - - - - - 15.98 -
17877.59 394.71 8.87 1853 17898.42 done 1.83 - - 2974.69 - 3.27 0.070 1145.69 -345.1 116.79 - - 2393.09 - - - - - - - - - 15.73 -
17939.62 389.16 9.18 1862 17957.43 done 1.83 - - 2972.94 - 2.87 0.029 2273.19 392.9 116.79 - - 2392.97 - - - - - - - - - 15.83 -
18263.68 360.86 8.50 1894 18283.12 done 1.87 - - 2973.81 - 3.25 0.070 1145.56 -347.0 116.79 - - 2391.97 - - - - - - - - - 15.79 -
18349.33 353.05 9.04 1908 18367.14 done 1.87 - - 2974.88 - 2.87 0.029 2275.19 393.6 116.79 - - 2391.19 - - - - - - - - - 15.88 -
18673.40 326.39 7.63 1940 18693.07 done 1.96 - - 2974.62 - 3.24 0.070 1144.50 -349.0 116.79 - - 2391.50 - - - - - - - - - 15.79 -
18783.97 317.20 8.10 1959 18804.12 2.03 0.16 0.090 3014.81 251.2 2.85 0.029 2273.56 396.2 116.79 - - 2393.41 - - - - - - - - 15.70 15.94 -
19110.37 291.29 7.57 1991 19129.90 done 2.12 - - 3014.69 - 3.24 0.069 1145.69 -348.1 116.79 - - 2393.03 - - - - - - - - - 15.79 -
19196.63 284.49 7.94 2005 19214.57 2.20 - - 3015.25 - 2.86 0.029 2275.00 394.9 116.79 - - 2391.66 - - - - - - - - - 15.85 -
19520.83 258.33 8.20 2037 19540.28 2.26 - - 3014.38 - 3.25 0.069 1145.06 -347.7 116.79 - - 2393.38 - - - - - - - - - 15.78 -
19566.88 254.46 8.21 2043 19584.69 2.31 - - 3015.56 - 2.85 0.028 2274.06 396.1 116.79 - - 2391.09 - - - - - - - - - 15.85 -
19890.95 229.29 7.75 2075 19910.40 2.40 - - 3015.50 - 3.24 0.068 1145.75 -348.2 116.79 - - 2392.97 - - - - - - - - - 15.79 -
19981.29 221.85 8.25 2090 20000.22 2.45 - - 3016.06 - 2.85 0.028 2274.31 396.0 116.79 - - 2393.44 - - - - - - - - - 15.90 -
20306.49 196.22 7.78 2122 20310.56 2.54 - - 3015.69 - - - 2274.19 - 116.79 - - 2392.25 - - - - - - - - - - -
20616.81 172.60 6.90 2153 20636.51 2.67 - - 3016.69 - 3.26 0.068 1145.00 -346.4 116.79 - - 2392.34 - - - - - - - - - 15.55 -
20737.53 163.93 6.98 2174 20756.06 2.80 - - 3015.69 - 2.88 0.028 2273.62 391.9 116.79 - - 2393.72 - - - - - - - - - 15.69 -
21062.30 142.65 6.96 2206 21083.13 2.94 - - 3016.19 - 3.25 0.089 3350.19 331.3 116.79 - - 2391.56 - - - - - - - - - 15.61 -
21184.75 134.24 6.70 2227 21202.17 3.08 - - 3014.94 - 2.79 0.020 2198.69 -412.7 116.79 - - 2393.84 - - - - - - - - - 15.78 -
21508.42 119.02 4.38 2259 21639.20 3.29 - - 3015.94 - 3.07 0.074 1146.81 -342.6 220.26 78.69 1.357 1991.88 -5.1 0.076 - - - - - - - 15.56 11.05
21665.52 106.54 10.39 2281 21683.33 roll back 3.29 - - 3015.75 - 2.86 0.028 2274.25 394.2 220.26 - - 1984.78 - - - - - - - - - 15.69 -
21989.97 74.03 7.98 2339 22010.15 3.36 - - 3015.88 - 3.29 0.068 1145.75 -343.0 220.26 - - 1979.94 - - - - - - - - - 15.60 -
22156.89 60.49 7.60 2369 22175.82 3.46 - - 3015.75 - 2.87 0.027 2274.06 393.1 220.26 - - 1977.81 - - - - - - - - - 15.69 -
22362.04 50.03 5.23 2407 22474.06 3.63 - - 3014.81 - 3.31 0.069 1146.00 -340.8 305.40 64.67 1.241 1644.81 -5.1 0.035 - - - - - - - 15.54 11.63
22480.66 41.14 8.62 2422 22499.18 roll back 3.66 - - 3015.75 - 2.89 0.027 2275.50 390.8 305.40 - - 1639.56 - - - - - - - - - 15.61 -
22685.46 27.09 4.77 2460 22811.79 3.85 - - 3016.31 - 3.33 0.069 1145.94 -339.2 400.51 74.06 1.190 1255.62 -5.2 0.020 - - - - - - - 15.46 11.65
22858.49 17.90 6.36 2485 22877.02 roll back 4.02 - - 3016.44 - 2.88 0.025 2275.38 392.2 400.51 - - 1250.75 - - - - - - - - - 15.66 -
23063.38 4.46 6.22 2523 23083.54 4.19 - - 3015.38 - 3.27 0.089 3351.31 329.0 400.51 - - 1247.97 - - - - - - - - - 15.61 -
23089 end climb: SURFACE_DEPTH_REACHED
23089 begin surface coast
23109 end surface coast: CONTROL_FINISHED_OK
23110 begin surface
SM 1.41 - - - - 179.2 23.18 1.101 1137.1 49.1 19.49 0.048 1153.9 59.2 - 2.81 0.021 1120.3 397.5 -2.728 - - 11.49 15.72 15.80 -