NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 678 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 230.09 of 506.00 AH used of 24V (54.53% remains)
• Surface angle -61.0 deg, depth 1.17 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 429.80 (SM_CC=430)
• GPS1 time: 22 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
19.33 - - - 126.39 VBD -1.18 - - 178.44 - - - 2200.25 - -77.86 75.59 0.005 2974.16 - - - - - - - - - - 14.71
128.60 3.40 -3.20 15 238.12 -1.18 17.38 0.201 2227.75 117.9 3.06 0.068 1143.31 -345.4 -77.86 3.36 0.011 3208.16 69.6 -3.687 - - - - - - 15.25 14.91 15.01
244.46 35.95 -15.49 21 263.46 roll -1.18 - - 2227.62 - 2.80 0.024 2276.00 404.5 -77.86 - - 3212.19 - - - - - - - - - 15.56 -
449.62 62.05 -12.18 59 469.61 roll -1.18 - - 2227.75 - 3.17 0.083 3352.12 339.5 -77.86 - - 3212.38 - - - - - - - - - 15.59 -
586.06 77.36 -10.02 83 604.83 roll -1.18 - - 2227.88 - 2.81 0.019 2193.56 -412.3 -77.86 - - 3212.22 - - - - - - - - - 15.68 -
790.91 93.07 -6.64 121 810.47 roll -1.18 - - 2227.12 - 3.01 0.067 1144.62 -348.5 -77.86 - - 3212.50 - - - - - - - - - 15.68 -
916.94 102.94 -8.08 143 934.34 roll -1.18 - - 2227.75 - 2.77 0.024 2278.81 409.5 -77.86 - - 3212.75 - - - - - - - - - 15.79 -
1240.38 127.37 -7.31 175 1244.40 no move -1.18 - - 2227.94 - - - 2279.19 - -77.86 - - 3211.66 - - - - - - - - - - -
1550.45 149.42 -6.87 206 1569.87 roll -1.18 - - 2227.50 - 3.23 0.063 1144.88 -351.2 -77.86 - - 3211.81 - - - - - - - - - 15.67 -
1616.29 154.38 -7.67 216 1634.09 roll -1.18 - - 2226.62 - 2.75 0.024 2278.19 412.1 -77.86 - - 3212.59 - - - - - - - - - 15.88 -
1940.43 178.68 -7.79 248 1959.66 roll -1.18 - - 2227.75 - 3.16 0.083 3352.06 339.8 -77.86 - - 3211.41 - - - - - - - - - 15.65 -
1996.28 183.37 -8.35 256 2014.28 roll -1.18 - - 2228.44 - 2.77 0.018 2189.56 -419.7 -77.86 - - 3212.78 - - - - - - - - - 15.89 -
2320.37 208.84 -7.16 288 2324.43 no move -1.18 - - 2227.88 - - - 2187.94 - -77.86 - - 3212.28 - - - - - - - - - - -
2630.51 232.44 -7.54 319 2652.36 roll -1.18 - - 2226.56 - 3.42 0.079 3351.62 340.3 -77.86 - - 3212.84 - - - - - - - - - 15.68 -
2703.84 238.71 -8.66 330 2721.45 roll -1.18 - - 2227.38 - 2.80 0.019 2192.69 -413.9 -77.86 - - 3213.22 - - - - - - - - - 15.93 -
3027.54 263.25 -7.20 362 3031.60 no move -1.18 - - 2227.75 - - - 2189.62 - -77.86 - - 3212.72 - - - - - - - - - - -
3337.68 285.92 -7.23 393 3356.52 roll -1.18 - - 2227.44 - 3.02 0.068 1145.81 -345.6 -77.86 - - 3212.59 - - - - - - - - - 15.60 -
3377.02 288.98 -7.21 398 3395.61 roll -1.18 - - 2228.00 - 2.75 0.024 2280.06 412.5 -77.86 - - 3213.72 - - - - - - - - - 15.93 -
3701.70 312.55 -7.93 430 3721.36 roll -1.18 - - 2226.38 - 3.23 0.063 1144.56 -351.5 -77.86 - - 3213.84 - - - - - - - - - 15.82 -
3737.90 315.69 -8.86 434 3755.53 roll -1.18 - - 2227.69 - 2.78 0.024 2278.75 408.0 -77.86 - - 3213.69 - - - - - - - - - 15.87 -
4061.75 340.94 -7.64 466 4081.39 roll -1.18 - - 2227.25 - 3.22 0.063 1144.81 -352.2 -77.86 - - 3212.78 - - - - - - - - - 15.82 -
4117.88 345.54 -8.08 474 4135.89 roll -1.18 - - 2227.81 - 2.79 0.024 2277.56 406.0 -77.86 - - 3212.50 - - - - - - - - - 15.76 -
4442.02 369.00 -7.17 506 4461.78 roll -1.18 - - 2227.75 - 3.22 0.063 1145.06 -351.7 -77.86 - - 3212.03 - - - - - - - - - 15.82 -
4488.28 372.53 -7.42 512 4505.90 roll -1.18 - - 2228.25 - 2.79 0.024 2277.44 405.9 -77.86 - - 3214.03 - - - - - - - - - 15.88 -
4812.02 396.07 -7.18 544 4831.87 roll -1.18 - - 2227.25 - 3.22 0.063 1145.06 -351.7 -77.86 - - 3212.28 - - - - - - - - - 15.81 -
4872.38 400.81 -7.72 553 4890.98 roll -1.18 - - 2228.06 - 2.79 0.024 2277.75 406.0 -77.86 - - 3212.50 - - - - - - - - - 15.94 -
5197.09 423.97 -7.11 585 5216.76 roll -1.18 - - 2227.50 - 3.23 0.064 1144.88 -350.7 -77.86 - - 3213.44 - - - - - - - - - 15.61 -
5247.52 427.87 -7.58 592 5266.50 roll -1.18 - - 2227.56 - 2.79 0.024 2277.81 406.1 -77.86 - - 3213.09 - - - - - - - - - 15.88 -
5572.71 450.47 -6.95 624 5576.77 no move -1.18 - - 2227.69 - - - 2277.56 - -77.86 - - 3212.00 - - - - - - - - - - -
5883.10 471.36 -6.53 655 5902.75 roll -1.18 - - 2227.69 - 3.24 0.064 1143.38 -350.1 -77.86 - - 3212.00 - - - - - - - - - 15.81 -
5969.24 477.44 -7.13 669 5986.88 roll -1.18 - - 2227.06 - 2.79 0.025 2276.56 406.2 -77.86 - - 3212.19 - - - - - - - - - 15.96 -
6293.01 497.64 -5.98 701 6312.65 roll -1.18 - - 2227.31 - 3.20 0.064 1144.69 -353.7 -77.86 - - 3211.56 - - - - - - - - - 15.79 -
6339.14 500.68 -6.41 707 6357.16 roll -1.18 - - 2227.75 - 2.81 0.024 2277.75 403.2 -77.86 - - 3212.06 - - - - - - - - - 15.84 -
6663.29 520.54 -6.66 739 6667.35 no move -1.18 - - 2227.62 - - - 2277.69 - -77.86 - - 3210.88 - - - - - - - - - - -
6973.44 540.28 -6.45 770 6993.10 roll -1.18 - - 2226.94 - 3.23 0.065 1143.38 -351.2 -77.86 - - 3210.00 - - - - - - - - - 15.79 -
7019.58 543.72 -7.38 776 7037.59 roll -1.18 - - 2228.44 - 2.79 0.025 2278.62 406.9 -77.86 - - 3211.34 - - - - - - - - - 15.97 -
7343.69 566.29 -7.07 808 7347.76 no move -1.18 - - 2227.44 - - - 2278.88 - -77.86 - - 3209.84 - - - - - - - - - - -
7653.99 586.92 -6.44 839 7658.06 no move -1.18 - - 2227.31 - - - 2278.62 - -77.86 - - 3209.56 - - - - - - - - - - -
7964.19 606.13 -5.74 870 7983.86 roll -1.18 - - 2227.44 - 3.23 0.066 1144.88 -351.0 -77.86 - - 3209.69 - - - - - - - - - 15.79 -
7990.33 607.75 -5.89 872 8008.34 roll -1.18 - - 2226.94 - 2.78 0.025 2277.94 407.6 -77.86 - - 3210.19 - - - - - - - - - 15.96 -
8314.44 624.69 -5.05 904 8318.50 no move -1.18 - - 2227.56 - - - 2278.62 - -77.86 - - 3209.16 - - - - - - - - - - -
8625.01 638.31 -4.55 935 8644.66 roll -1.18 - - 2226.88 - 3.24 0.066 1143.81 -350.2 -77.86 - - 3210.16 - - - - - - - - - 15.79 -
8675.57 640.81 -4.96 942 8694.57 roll -1.18 - - 2227.81 - 2.79 0.025 2276.12 405.8 -77.86 - - 3209.59 - - - - - - - - - 15.95 -
9001.07 655.90 -4.65 974 9020.72 roll -1.18 - - 2227.38 - 3.22 0.065 1144.50 -351.4 -77.86 - - 3208.03 - - - - - - - - - 15.79 -
9061.23 659.04 -5.05 983 9079.82 roll -1.18 - - 2227.81 - 2.78 0.025 2277.62 407.6 -77.86 - - 3209.09 - - - - - - - - - 15.97 -
9386.35 673.62 -4.70 1015 9406.00 roll -1.18 - - 2227.38 - 3.23 0.065 1143.75 -351.0 -77.86 - - 3208.38 - - - - - - - - - 15.78 -
9442.60 676.51 -5.10 1023 9460.24 roll -1.18 - - 2226.62 - 2.80 0.025 2275.75 404.3 -77.86 - - 3209.50 - - - - - - - - - 15.97 -
9766.33 693.48 -5.70 1055 9785.98 roll -1.18 - - 2227.94 - 3.23 0.065 1144.75 -350.2 -77.86 - - 3206.66 - - - - - - - - - 15.78 -
9856.51 699.29 -6.53 1070 9875.09 roll -1.18 - - 2227.50 - 2.79 0.025 2276.31 405.6 -77.86 - - 3207.50 - - - - - - - - - 15.94 -
10181.22 720.91 -5.96 1102 10200.89 roll -1.18 - - 2227.44 - 3.23 0.065 1144.38 -350.4 -77.86 - - 3206.69 - - - - - - - - - 15.77 -
10207.36 722.71 -6.59 1104 10224.99 roll -1.18 - - 2227.00 - 2.80 0.025 2276.06 404.2 -77.86 - - 3207.66 - - - - - - - - - 15.95 -
10531.12 744.70 -6.53 1136 10550.78 roll -1.18 - - 2227.38 - 3.23 0.089 3351.19 332.9 -77.86 - - 3206.06 - - - - - - - - - 15.70 -
10581 end dive: TARGET_DEPTH_EXCEEDED
10581 begin apogee
10599.03 748.20 -6.69 1143 10702.87 -0.31 1.64 0.131 2440.25 129.8 0.19 0.134 2288.38 -5593.7 - 64.27 2.022 2887.78 -5.0 0.314 - - - - - - 15.43 15.21 10.17
10716 end apogee: CONTROL_FINISHED_OK
10716 begin climb
10719.34 751.65 - 1150 10847.79 1.18 2.63 0.091 2805.75 139.0 3.39 0.070 1144.50 -337.4 77.86 65.56 1.994 2570.31 -4.8 0.313 - - - - - - 15.59 15.11 11.39
10864.78 748.78 4.06 1166 10984.13 1.35 0.23 0.066 2855.25 215.2 2.88 0.027 2276.62 393.1 160.37 70.77 1.971 2236.12 -4.7 0.307 - - - - - - 15.47 15.58 11.40
11290.34 717.64 8.12 1212 11309.99 done 1.35 - - 2854.25 - 3.26 0.092 3350.50 329.4 160.37 - - 2223.78 - - - - - - - - - 15.65 -
11330.60 714.08 8.42 1217 11349.85 done 1.35 - - 2855.25 - 2.83 0.020 2201.88 -405.9 160.37 - - 2224.59 - - - - - - - - - 15.64 -
11656.49 687.92 6.97 1249 11675.32 done 1.41 - - 2855.44 - 3.07 0.074 1146.00 -343.9 160.37 - - 2221.41 - - - - - - - - - 15.75 -
11825.88 674.81 7.74 1280 11844.46 done 1.41 - - 2855.19 - 2.80 0.028 2274.50 403.0 160.37 - - 2222.97 - - - - - - - - - 15.88 -
12150.94 648.45 7.52 1312 12155.00 VBD 1.44 - - 2855.00 - - - 2274.69 - 160.37 - - 2219.50 - - - - - - - - - - -
12461.51 626.95 7.16 1343 12481.16 done 1.50 - - 2855.31 - 3.24 0.070 1145.75 -348.4 160.37 - - 2218.00 - - - - - - - - - 15.79 -
12521.67 622.25 7.60 1352 12540.66 done 1.50 - - 2856.00 - 2.82 0.028 2274.06 400.1 160.37 - - 2219.38 - - - - - - - - - 15.93 -
12846.76 598.32 7.84 1384 12866.41 done 1.50 - - 2855.69 - 3.25 0.070 1144.75 -347.5 160.37 - - 2218.09 - - - - - - - - - 15.79 -
12912.90 592.54 8.84 1394 12930.94 done 1.50 - - 2856.38 - 2.81 0.028 2274.88 402.2 160.37 - - 2218.12 - - - - - - - - - 15.93 -
13237.06 567.52 7.91 1426 13256.73 done 1.50 - - 2855.00 - 3.22 0.093 3350.56 334.1 160.37 - - 2218.00 - - - - - - - - - 15.75 -
13343.31 558.36 8.36 1444 13360.93 done 1.50 - - 2856.00 - 2.80 0.021 2201.19 -410.5 160.37 - - 2218.47 - - - - - - - - - 15.95 -
13667.45 534.37 7.20 1476 13673.06 1.55 0.22 0.074 2903.31 215.0 - - 2199.38 - 160.37 - - 2216.72 - - - - - - - - 15.89 - -
13979.19 508.94 7.74 1507 14001.07 done 1.55 - - 2903.19 - 3.43 0.089 3350.00 335.5 160.37 - - 2216.53 - - - - - - - - - 15.74 -
14066.59 500.99 9.17 1521 14085.97 done 1.55 - - 2903.50 - 2.81 0.021 2203.38 -408.0 160.37 - - 2218.28 - - - - - - - - - 15.95 -
14392.09 473.56 8.50 1553 14410.93 done 1.55 - - 2902.75 - 3.06 0.074 1146.56 -345.4 160.37 - - 2217.25 - - - - - - - - - 15.77 -
14517.41 462.27 8.90 1575 14535.43 done 1.55 - - 2903.44 - 2.81 0.028 2274.75 401.5 160.37 - - 2217.72 - - - - - - - - - 15.85 -
14841.95 437.49 7.25 1607 14861.83 done 1.60 - - 2904.12 - 3.25 0.070 1145.62 -347.4 160.37 - - 2215.25 - - - - - - - - - 15.78 -
14908.41 432.35 7.83 1617 14926.65 done 1.60 - - 2902.56 - 2.83 0.028 2275.94 399.4 160.37 - - 2216.94 - - - - - - - - - 15.85 -
15233.18 409.26 6.95 1649 15252.83 done 1.66 - - 2904.44 - 3.22 0.092 3350.19 333.6 160.37 - - 2216.06 - - - - - - - - - 15.71 -
15279.71 405.67 7.44 1655 15297.76 done 1.70 - - 2903.56 - 2.81 0.021 2201.38 -408.8 160.37 - - 2216.72 - - - - - - - - - 15.90 -
15603.87 381.29 7.67 1687 15607.93 VBD 1.70 - - 2903.81 - - - 2199.19 - 160.37 - - 2215.31 - - - - - - - - - - -
15914.04 356.20 8.06 1718 15932.88 done 1.70 - - 2903.75 - 3.05 0.074 1145.00 -345.6 160.37 - - 2215.81 - - - - - - - - - 15.75 -
15983.38 350.17 8.85 1729 16001.97 done 1.70 - - 2902.88 - 2.80 0.028 2275.31 403.7 160.37 - - 2216.19 - - - - - - - - - 15.95 -
16308.07 324.00 8.11 1761 16312.15 VBD 1.70 - - 2903.69 - - - 2276.12 - 160.37 - - 2215.31 - - - - - - - - - - -
16618.67 300.69 7.23 1792 16641.36 1.75 0.22 0.072 2952.06 219.9 3.27 0.069 1146.00 -345.6 160.37 - - 2214.44 - - - - - - - - 15.88 15.74 -
16786.91 286.64 8.22 1822 16805.91 done 1.75 - - 2952.56 - 2.81 0.028 2273.62 401.3 160.37 - - 2216.00 - - - - - - - - - 15.81 -
17112.55 263.68 6.17 1854 17132.22 done 1.86 - - 2952.75 - 3.24 0.068 1144.94 -348.4 160.37 - - 2216.47 - - - - - - - - - 15.75 -
17239.10 255.25 6.84 1876 17258.37 1.93 0.19 0.076 2998.94 243.1 2.81 0.028 2275.50 402.3 160.37 - - 2214.66 - - - - - - - - 15.70 15.92 -
17564.46 230.86 7.70 1908 17584.12 done 1.93 - - 3000.00 - 3.24 0.068 1144.88 -349.0 160.37 - - 2214.50 - - - - - - - - - 15.75 -
17664.65 222.52 8.40 1925 17683.66 done 1.93 - - 2998.69 - 2.82 0.028 2274.81 400.7 160.37 - - 2215.81 - - - - - - - - - 15.93 -
17989.78 196.41 8.18 1957 17993.84 VBD 1.93 - - 2998.75 - - - 2274.62 - 160.37 - - 2215.03 - - - - - - - - - - -
18299.97 171.09 8.12 1988 18304.03 VBD 1.93 - - 2998.88 - - - 2275.12 - 160.37 - - 2214.75 - - - - - - - - - - -
18610.17 144.17 8.64 2019 18629.83 done 1.93 - - 3000.31 - 3.27 0.067 1143.62 -346.0 160.37 - - 2214.47 - - - - - - - - - 15.65 -
18756.33 130.84 8.59 2045 18774.37 done 1.93 - - 2999.12 - 2.82 0.027 2276.25 401.6 160.37 - - 2217.28 - - - - - - - - - 15.89 -
19080.99 104.94 6.89 2077 19100.74 done 2.00 - - 2999.19 - 3.21 0.088 3351.69 335.0 160.37 - - 2214.41 - - - - - - - - - 15.67 -
19217.64 95.42 6.67 2101 19236.63 done 2.09 - - 2999.62 - 2.79 0.019 2198.44 -413.4 160.37 - - 2216.09 - - - - - - - - - 15.73 -
19423.12 81.05 6.99 2139 19445.78 2.15 - 0.025 3001.19 - 3.45 0.083 3350.62 334.0 160.37 - - 2215.81 - - - - - - - - - 15.46 -
19677.72 61.95 6.89 2186 19696.74 2.22 - - 3000.56 - 2.81 0.019 2196.12 -410.9 160.37 - - 2215.59 - - - - - - - - - 15.72 -
19883.27 59.75 0.38 2224 20072.95 2.54 - - 3000.06 - 3.10 0.072 1146.19 -338.7 318.97 120.93 1.148 1589.00 -5.2 0.046 - - - - - - - 15.23 10.53
20144.94 46.56 6.88 2263 20164.35 2.61 - - 3000.94 - 2.85 0.026 2276.31 396.5 318.97 - - 1581.44 - - - - - - - - - 15.49 -
20350.55 31.62 7.93 2301 20371.18 2.61 - - 3000.94 - 3.22 0.087 3351.06 333.8 318.97 - - 1579.19 - - - - - - - - - 15.52 -
20402.64 26.91 9.22 2308 20421.65 2.61 - - 3001.12 - 2.83 0.019 2201.38 -406.2 318.97 - - 1577.94 - - - - - - - - - 15.67 -
20607.76 9.76 8.74 2346 20627.95 2.61 - - 3000.56 - 3.08 0.071 1146.88 -342.4 318.97 - - 1576.75 - - - - - - - - - 15.50 -
20664.41 4.74 8.79 2354 20683.42 2.61 - - 3000.62 - 2.82 0.026 2276.44 400.6 318.97 - - 1576.06 - - - - - - - - - 15.72 -
20688 end climb: SURFACE_DEPTH_REACHED
20689 begin surface coast
20740 end surface coast: CONTROL_FINISHED_OK
20740 begin surface
SM 1.19 - - - - 179.4 85.89 1.070 1137.8 13.2 19.74 0.047 1135.1 57.5 - 0.12 0.088 1140.6 9481.5 -13.105 - - 10.92 15.79 15.85 -