NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 113 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 40.20 of 506.00 AH used of 24V (92.06% remains)
• Surface angle -66.3 deg, depth 1.12 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 586.22 (beyond SM_CC=430)
• GPS1 time: 23 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
11 begin dive
18.73 - - - 111.37 VBD -1.18 - - 180.69 - - - 2287.69 - -77.86 65.10 0.005 2519.44 - - - - - - - - - - 15.57
113.58 3.60 -4.26 13 231.28 -1.18 16.69 0.228 2227.94 122.7 3.09 0.066 1144.19 -370.1 -77.86 9.69 0.007 3211.72 71.4 -6.094 - - - - - - 15.66 15.57 15.63
392.40 58.71 -12.87 52 410.83 roll -1.18 - - 2227.25 - 2.85 0.026 2275.94 397.1 -77.86 - - 3214.91 - - - - - - - - - 15.85 -
596.77 82.15 -11.22 90 603.32 no move -1.18 - - 2227.69 - - - 2275.50 - -77.86 - - 3215.09 - - - - - - - - - - -
794.13 101.80 -8.69 127 812.46 done -1.18 - - 2226.25 - 3.03 0.062 1144.06 -373.4 -77.86 - - 3217.59 - - - - - - - - - 15.91 -
848.61 106.78 -9.22 135 866.53 done -1.18 - - 2228.00 - 2.82 0.025 2278.12 402.1 -77.86 - - 3215.94 - - - - - - - - - 15.95 -
1172.36 130.73 -8.85 167 1190.68 done -1.18 - - 2227.56 - 3.09 0.084 3353.00 347.9 -77.86 - - 3216.84 - - - - - - - - - 15.90 -
1306.85 144.29 -10.21 191 1323.97 done -1.18 - - 2227.19 - 2.72 0.020 2186.62 -428.8 -77.86 - - 3215.81 - - - - - - - - - 15.99 -
1629.78 171.90 -7.67 223 1633.80 VBD -1.18 - - 2227.44 - - - 2185.06 - -77.86 - - 3215.56 - - - - - - - - - - -
1939.84 196.42 -7.38 254 1943.86 VBD -1.18 - - 2227.19 - - - 2185.12 - -77.86 - - 3215.50 - - - - - - - - - - -
2249.89 219.60 -7.52 285 2270.81 roll -1.18 - - 2226.81 - 3.34 0.081 3351.62 349.3 -77.86 - - 3214.78 - - - - - - - - - 16.02 -
2321.96 225.93 -8.82 296 2339.50 roll -1.18 - - 2227.81 - 2.72 0.021 2189.69 -427.2 -77.86 - - 3216.03 - - - - - - - - - 16.04 -
2645.45 251.49 -7.83 328 2666.62 roll -1.18 - - 2227.19 - 3.34 0.081 3351.31 347.8 -77.86 - - 3216.03 - - - - - - - - - 16.03 -
2692.09 255.53 -8.76 334 2710.56 roll -1.18 - - 2227.56 - 2.71 0.020 2189.50 -428.7 -77.86 - - 3215.78 - - - - - - - - - 16.04 -
3016.41 278.85 -6.79 366 3037.17 roll -1.18 - - 2227.88 - 3.30 0.081 3353.31 352.7 -77.86 - - 3213.75 - - - - - - - - - 16.06 -
3078.38 283.56 -7.58 375 3095.70 roll -1.18 - - 2227.81 - 2.69 0.021 2191.25 -432.0 -77.86 - - 3214.88 - - - - - - - - - 16.01 -
3401.55 306.76 -7.62 407 3422.31 roll -1.18 - - 2227.56 - 3.27 0.081 3351.75 354.9 -77.86 - - 3214.31 - - - - - - - - - 16.06 -
3453.51 311.15 -8.23 414 3470.45 roll -1.18 - - 2227.94 - 2.68 0.021 2190.50 -433.3 -77.86 - - 3213.84 - - - - - - - - - 16.06 -
3776.30 335.60 -7.19 446 3780.36 no move -1.18 - - 2227.00 - - - 2189.00 - -77.86 - - 3212.16 - - - - - - - - - - -
4086.34 357.12 -6.84 477 4107.34 roll -1.18 - - 2227.75 - 3.30 0.082 3353.19 352.8 -77.86 - - 3210.62 - - - - - - - - - 16.07 -
4198.68 365.59 -7.91 496 4216.00 roll -1.18 - - 2227.56 - 2.69 0.021 2194.06 -430.9 -77.86 - - 3211.53 - - - - - - - - - 16.07 -
4521.86 388.84 -7.69 528 4525.92 no move -1.18 - - 2227.56 - - - 2192.06 - -77.86 - - 3210.19 - - - - - - - - - - -
4831.90 414.30 -8.49 559 4835.96 no move -1.18 - - 2227.12 - - - 2192.06 - -77.86 - - 3210.38 - - - - - - - - - - -
5141.94 438.65 -7.25 590 5163.10 roll -1.18 - - 2226.12 - 3.32 0.083 3353.81 349.9 -77.86 - - 3210.91 - - - - - - - - - 16.08 -
5268.60 448.40 -7.69 612 5286.66 roll -1.18 - - 2227.56 - 2.71 0.021 2193.50 -428.2 -77.86 - - 3209.31 - - - - - - - - - 16.06 -
5592.51 470.19 -6.90 644 5596.57 no move -1.18 - - 2227.44 - - - 2192.12 - -77.86 - - 3207.62 - - - - - - - - - - -
5902.56 491.72 -7.05 675 5906.62 no move -1.18 - - 2227.94 - - - 2192.44 - -77.86 - - 3206.94 - - - - - - - - - - -
6212.62 512.14 -6.57 706 6233.40 roll -1.18 - - 2227.56 - 3.30 0.084 3353.69 351.9 -77.86 - - 3205.53 - - - - - - - - - 16.06 -
6274.60 516.65 -7.27 715 6291.93 roll -1.18 - - 2227.81 - 2.70 0.022 2193.44 -429.7 -77.86 - - 3206.34 - - - - - - - - - 16.07 -
6597.78 538.81 -6.94 747 6618.55 roll -1.18 - - 2226.94 - 3.30 0.084 3352.81 351.3 -77.86 - - 3205.81 - - - - - - - - - 16.08 -
6644.13 542.40 -7.54 753 6662.19 roll -1.18 - - 2228.12 - 2.71 0.022 2195.00 -427.2 -77.86 - - 3206.22 - - - - - - - - - 16.09 -
6968.02 563.78 -6.34 785 6988.79 roll -1.18 - - 2227.19 - 3.30 0.084 3353.88 351.2 -77.86 - - 3205.97 - - - - - - - - - 16.07 -
6999.98 566.02 -7.06 788 7016.90 roll -1.18 - - 2227.38 - 2.69 0.022 2191.56 -432.1 -77.86 - - 3206.38 - - - - - - - - - 16.09 -
7322.75 587.88 -7.05 820 7343.52 roll -1.18 - - 2226.69 - 3.29 0.085 3351.31 352.5 -77.86 - - 3204.25 - - - - - - - - - 16.08 -
7384.72 592.70 -7.91 829 7402.05 roll -1.18 - - 2226.88 - 2.67 0.022 2193.31 -433.7 -77.86 - - 3205.50 - - - - - - - - - 16.08 -
7707.89 615.44 -7.01 861 7711.95 no move -1.18 - - 2226.81 - - - 2192.62 - -77.86 - - 3203.91 - - - - - - - - - - -
8017.92 636.44 -6.48 892 8022.07 no move -1.18 - - 2227.12 - - - 2192.06 - -77.86 - - 3203.12 - - - - - - - - - - -
8327.95 655.48 -6.00 923 8348.95 roll -1.18 - - 2227.38 - 3.29 0.085 3353.06 352.9 -77.86 - - 3202.66 - - - - - - - - - 16.07 -
8374.54 658.57 -6.63 929 8392.62 roll -1.18 - - 2226.31 - 2.71 0.022 2193.81 -427.8 -77.86 - - 3204.66 - - - - - - - - - 16.07 -
8698.47 677.91 -6.06 961 8702.53 no move -1.18 - - 2226.94 - - - 2192.56 - -77.86 - - 3201.78 - - - - - - - - - - -
9008.53 697.87 -6.75 992 9012.59 no move -1.18 - - 2226.75 - - - 2192.56 - -77.86 - - 3201.97 - - - - - - - - - - -
9318.58 717.86 -6.65 1023 9339.34 roll -1.18 - - 2227.19 - 3.27 0.086 3352.38 354.7 -77.86 - - 3200.97 - - - - - - - - - 16.07 -
9374.81 722.07 -7.53 1031 9392.49 roll -1.18 - - 2226.06 - 2.69 0.022 2195.94 -429.9 -77.86 - - 3203.12 - - - - - - - - - 16.07 -
9698.34 743.71 -6.62 1063 9702.40 no move -1.18 - - 2227.69 - - - 2194.62 - -77.86 - - 3200.53 - - - - - - - - - - -
10008.40 764.21 -6.38 1094 10029.15 roll -1.18 - - 2227.38 - 3.27 0.086 3351.88 353.9 -77.86 - - 3199.44 - - - - - - - - - 16.06 -
10080.35 769.28 -8.02 1105 10097.69 roll -1.18 - - 2227.25 - 2.70 0.022 2195.75 -428.2 -77.86 - - 3201.16 - - - - - - - - - 16.08 -
10403.67 789.59 -6.26 1137 10407.73 no move -1.18 - - 2227.31 - - - 2194.75 - -77.86 - - 3199.56 - - - - - - - - - - -
10713.60 808.14 -5.63 1168 10717.66 no move -1.18 - - 2226.75 - - - 2194.75 - -77.86 - - 3199.72 - - - - - - - - - - -
11024.36 824.56 -4.94 1199 11045.12 roll -1.18 - - 2227.06 - 3.28 0.087 3352.25 352.9 -77.86 - - 3198.62 - - - - - - - - - 16.05 -
11056.32 826.33 -5.73 1202 11073.65 roll -1.18 - - 2225.62 - 2.72 0.022 2193.88 -425.9 -77.86 - - 3200.78 - - - - - - - - - 16.07 -
11379.90 842.39 -5.03 1234 11400.67 roll -1.18 - - 2226.94 - 3.29 0.087 3352.44 352.1 -77.86 - - 3199.12 - - - - - - - - - 16.05 -
11421.99 844.74 -5.58 1239 11439.34 roll -1.18 - - 2227.50 - 2.72 0.022 2195.44 -425.4 -77.86 - - 3199.12 - - - - - - - - - 16.07 -
11745.19 861.06 -5.14 1271 11749.25 no move -1.18 - - 2227.25 - - - 2193.00 - -77.86 - - 3198.81 - - - - - - - - - - -
12055.25 878.74 -5.97 1302 12059.31 no move -1.18 - - 2226.88 - - - 2193.44 - -77.86 - - 3198.12 - - - - - - - - - - -
12365.53 898.12 -6.63 1333 12383.27 roll -1.18 - - 2226.81 - 2.86 0.078 1144.19 -366.9 -77.86 - - 3198.62 - - - - - - - - - 16.05 -
12423.75 902.04 -6.78 1342 12442.23 roll -1.18 - - 2227.50 - 2.80 0.029 2278.56 405.1 -77.86 - - 3199.56 - - - - - - - - - 16.08 -
12748.04 922.33 -6.13 1374 12766.84 roll -1.18 - - 2227.00 - 3.05 0.073 1144.19 -371.9 -77.86 - - 3197.34 - - - - - - - - - 16.05 -
12807.42 926.19 -6.20 1383 12825.89 roll -1.18 - - 2227.25 - 2.82 0.029 2276.50 401.5 -77.86 - - 3199.75 - - - - - - - - - 16.06 -
13131.74 945.20 -5.68 1415 13150.31 roll -1.18 - - 2226.94 - 3.06 0.073 1143.75 -370.2 -77.86 - - 3197.75 - - - - - - - - - 16.00 -
13196.52 949.15 -5.89 1425 13214.27 roll -1.18 - - 2226.50 - 2.82 0.029 2276.56 401.7 -77.86 - - 3198.47 - - - - - - - - - 16.07 -
13520.11 966.88 -5.29 1457 13538.67 roll -1.18 - - 2226.06 - 3.05 0.073 1143.00 -371.7 -77.86 - - 3199.69 - - - - - - - - - 16.05 -
13559.14 969.15 -5.44 1462 13577.61 roll -1.18 - - 2226.94 - 2.81 0.029 2276.88 403.5 -77.86 - - 3198.78 - - - - - - - - - 16.06 -
13883.86 985.25 -4.80 1494 13887.92 no move -1.18 - - 2227.19 - - - 2276.25 - -77.86 - - 3197.03 - - - - - - - - - - -
13983 end dive: TARGET_DEPTH_EXCEEDED
13984 begin apogee
13988.34 990.31 -5.00 1504 14087.97 -0.31 1.55 0.138 2440.31 137.5 0.19 0.153 2282.44 32.6 - 60.74 2.509 2889.50 -5.1 0.331 - - - - - - 15.95 15.59 11.70
14101 end apogee: CONTROL_FINISHED_OK
14102 begin climb
14104.62 991.47 - 1511 14212.84 1.18 2.55 0.099 2805.75 143.3 - - 2282.50 - 77.86 65.46 2.442 2569.53 -4.9 0.329 - - - - - - 15.71 - 12.51
14519.21 965.80 6.61 1550 14523.28 VBD 1.27 - - 2805.12 - - - 2282.25 - 77.86 - - 2561.78 - - - - - - - - - - -
14829.65 945.48 6.69 1581 14851.24 1.35 0.24 0.076 2854.94 207.6 3.10 0.077 1144.25 -367.1 77.86 - - 2560.78 - - - - - - - - 15.88 15.83 -
14892.85 940.60 7.48 1590 14910.59 done 1.38 - - 2854.06 - 2.88 0.032 2272.38 391.7 77.86 - - 2560.38 - - - - - - - - - 15.86 -
15216.85 917.34 7.29 1622 15220.92 VBD 1.43 - - 2855.31 - - - 2273.06 - 77.86 - - 2559.06 - - - - - - - - - - -
15527.18 895.19 7.24 1653 15545.74 done 1.48 - - 2855.06 - 3.08 0.076 1145.19 -366.2 77.86 - - 2557.97 - - - - - - - - - 15.99 -
15681.95 883.29 8.02 1681 15699.69 done 1.48 - - 2854.12 - 2.86 0.033 2271.69 393.9 77.86 - - 2559.22 - - - - - - - - - 16.01 -
16005.55 857.87 8.29 1713 16009.61 VBD 1.48 - - 2855.38 - - - 2272.00 - 77.86 - - 2557.94 - - - - - - - - - - -
16315.61 831.98 8.27 1744 16319.67 VBD 1.48 - - 2855.50 - - - 2272.31 - 77.86 - - 2557.72 - - - - - - - - - - -
16625.66 806.94 8.03 1775 16644.22 done 1.48 - - 2855.25 - 3.06 0.076 1145.69 -368.2 77.86 - - 2556.16 - - - - - - - - - 16.04 -
16714.71 799.39 8.54 1790 16733.19 done 1.48 - - 2855.50 - 2.84 0.033 2270.94 396.2 77.86 - - 2558.34 - - - - - - - - - 16.04 -
17039.41 775.66 7.30 1822 17061.02 1.52 0.18 0.085 2897.88 235.4 3.14 0.098 3351.06 344.0 77.86 - - 2556.03 - - - - - - - - 16.00 15.97 -
17126.51 767.79 9.01 1836 17144.96 done 1.52 - - 2899.06 - 2.72 0.024 2202.06 -422.4 77.86 - - 2557.94 - - - - - - - - - 16.05 -
17451.21 743.65 6.96 1868 17455.27 VBD 1.59 - - 2897.94 - - - 2201.00 - 77.86 - - 2556.28 - - - - - - - - - - -
17761.51 721.79 7.52 1899 17781.27 done 1.62 - - 2898.38 - 3.26 0.095 3353.88 353.6 77.86 - - 2558.44 - - - - - - - - - 16.04 -
17852.16 715.38 7.41 1914 17870.87 done 1.66 - - 2899.19 - 2.74 0.024 2202.12 -420.4 77.86 - - 2557.50 - - - - - - - - - 16.05 -
18177.22 694.88 5.63 1946 18197.02 1.80 0.35 0.065 2965.19 188.6 2.87 0.080 1145.25 -368.2 77.86 - - 2556.03 - - - - - - - - 16.01 15.99 -
18377.76 678.65 8.51 1983 18396.63 done 1.80 - - 2965.56 - 2.82 0.033 2274.00 400.3 77.86 - - 2558.22 - - - - - - - - - 16.06 -
18702.48 652.92 7.84 2015 18706.54 VBD 1.80 - - 2965.69 - - - 2273.69 - 77.86 - - 2555.62 - - - - - - - - - - -
19012.51 627.86 8.20 2046 19016.58 VBD 1.80 - - 2965.69 - - - 2274.12 - 77.86 - - 2555.97 - - - - - - - - - - -
19322.96 604.61 7.22 2077 19327.02 VBD 1.85 - - 2965.12 - - - 2274.38 - 77.86 - - 2555.84 - - - - - - - - - - -
19632.88 580.68 7.91 2108 19636.94 VBD 1.85 - - 2966.06 - - - 2273.88 - 77.86 - - 2555.94 - - - - - - - - - - -
19943.31 556.92 7.41 2139 19962.29 done 1.89 - - 2966.25 - 3.12 0.097 3352.81 345.8 77.86 - - 2555.75 - - - - - - - - - 16.04 -
20028.50 549.96 8.46 2153 20045.83 done 1.89 - - 2965.12 - 2.72 0.024 2201.81 -423.2 77.86 - - 2557.31 - - - - - - - - - 16.06 -
20351.68 526.29 7.70 2185 20369.67 done 1.89 - - 2965.25 - 2.88 0.079 1144.94 -367.0 77.86 - - 2555.25 - - - - - - - - - 15.96 -
20425.99 520.67 7.71 2197 20443.58 done 1.89 - - 2965.88 - 2.80 0.032 2275.44 403.8 77.86 - - 2556.28 - - - - - - - - - 16.07 -
20749.82 496.53 7.45 2229 20753.88 VBD 1.93 - - 2965.38 - - - 2275.19 - 77.86 - - 2555.53 - - - - - - - - - - -
21060.13 473.46 7.46 2260 21079.93 1.96 0.16 0.091 3005.88 253.1 3.06 0.075 1145.19 -369.3 77.86 - - 2554.53 - - - - - - - - 16.01 15.98 -
21310.53 453.13 8.25 2307 21329.04 done 1.96 - - 3006.50 - 2.83 0.032 2273.81 398.8 77.86 - - 2556.22 - - - - - - - - - 16.01 -
21635.37 431.81 6.15 2339 21639.43 VBD 2.08 - - 3006.25 - - - 2273.75 - 77.86 - - 2555.06 - - - - - - - - - - -
21945.68 412.06 6.65 2370 21964.30 2.16 - - 3005.31 - 3.07 0.074 1144.06 -368.0 77.86 - - 2555.38 - - - - - - - - - 16.04 -
22000.92 408.20 7.08 2378 22018.68 2.22 - - 3006.44 - 2.84 0.032 2275.44 398.4 77.86 - - 2556.44 - - - - - - - - - 16.04 -
22324.92 387.77 6.18 2410 22329.00 2.33 - - 3006.38 - - - 2275.31 - 77.86 - - 2555.25 - - - - - - - - - - -
22635.24 367.72 6.74 2441 22639.32 2.41 - - 3006.19 - - - 2275.00 - 77.86 - - 2555.50 - - - - - - - - - - -
22945.69 347.40 6.29 2472 22949.76 2.51 - - 3006.44 - - - 2275.19 - 77.86 - - 2555.50 - - - - - - - - - - -
23256.01 327.89 6.00 2503 23274.68 2.64 - - 3007.00 - 3.07 0.073 1144.19 -368.4 77.86 - - 2554.25 - - - - - - - - - 16.03 -
23351.30 322.18 5.85 2519 23369.40 2.77 - - 3006.00 - 2.84 0.032 2274.88 398.1 77.86 - - 2555.88 - - - - - - - - - 16.00 -
23675.66 306.05 4.67 2551 23756.92 2.91 - - 3006.50 - - - 2275.38 - 147.68 54.41 1.663 2287.19 -4.9 0.151 - - - - - - - - 11.84
24062.76 270.30 10.39 2588 24081.34 2.91 - - 3006.06 - 3.10 0.074 1144.31 -364.9 147.68 - - 2278.03 - - - - - - - - - 15.89 -
24167.68 258.43 11.54 2606 24185.44 2.91 - - 3005.69 - 2.86 0.032 2271.56 394.1 147.68 - - 2280.25 - - - - - - - - - 15.93 -
24491.29 223.43 10.50 2638 24510.11 2.91 - - 3006.12 - 3.07 0.074 1145.56 -366.8 147.68 - - 2276.47 - - - - - - - - - 15.89 -
24556.43 216.22 11.05 2648 24574.20 2.91 - - 3005.81 - 2.85 0.032 2272.06 395.3 147.68 - - 2275.16 - - - - - - - - - 15.96 -
24880.02 184.03 9.42 2680 24884.10 2.91 - - 3006.62 - - - 2271.81 - 147.68 - - 2275.34 - - - - - - - - - - -
25190.03 156.51 8.54 2711 25208.61 2.91 - - 3006.25 - 3.08 0.073 1145.50 -365.7 147.68 - - 2275.41 - - - - - - - - - 15.91 -
25314.84 145.15 8.45 2733 25332.61 2.91 - - 3006.25 - 2.85 0.031 2274.44 396.1 147.68 - - 2275.09 - - - - - - - - - 15.93 -
25638.86 123.43 5.96 2765 25657.85 3.03 - - 3006.38 - 3.11 0.094 3351.44 346.3 147.68 - - 2275.41 - - - - - - - - - 15.90 -
25748.73 116.41 6.47 2784 25767.21 3.13 - - 3005.69 - 2.73 0.023 2198.75 -422.2 147.68 - - 2275.88 - - - - - - - - - 15.92 -
26073.43 99.65 4.59 2816 26169.97 3.27 - - 3006.19 - 2.89 0.078 1145.19 -364.6 219.11 54.97 1.383 1995.56 -5.1 0.061 - - - - - - - 15.75 12.06
26266.71 87.64 7.10 2847 26285.21 3.33 - - 3006.56 - 2.84 0.030 2276.75 398.4 219.11 - - 1989.94 - - - - - - - - - 15.86 -
26471.44 77.23 4.55 2885 26554.27 3.47 - - 3006.06 - - - 2276.75 - 291.48 54.92 1.320 1702.41 -5.2 0.051 - - - - - - - - 12.25
26740.14 58.42 8.27 2934 26746.76 3.47 - - 3006.94 - - - 2276.88 - 291.48 - - 1691.94 - - - - - - - - - - -
26933.13 44.17 7.28 2972 26952.49 3.52 - - 3006.00 - 3.10 0.072 1143.88 -365.5 291.48 - - 1689.88 - - - - - - - - - 15.79 -
27013.70 37.74 8.33 2985 27032.19 3.52 - - 3006.25 - 2.85 0.030 2274.75 396.8 291.48 - - 1688.66 - - - - - - - - - 15.80 -
27218.41 22.47 7.28 3023 27237.71 3.57 - - 3006.75 - 3.08 0.071 1145.31 -366.7 291.48 - - 1687.31 - - - - - - - - - 15.83 -
27394.33 11.02 6.11 3055 27413.22 3.68 - - 3006.19 - 2.82 0.028 2277.31 401.4 291.48 - - 1686.06 - - - - - - - - - 15.88 -
27599.59 11.52 -0.28 3093 27664.62 4.03 - - 3007.25 - - - 2277.44 - 463.71 44.87 1.208 1465.50 -4.9 0.008 - - - - - - - - 12.26
27667 end climb: NO_VERTICAL_VELOCITY
27667 begin surface
SM 1.22 - - - - 181.9 - - 493.0 - 18.61 0.051 460.3 24.7 - 0.12 0.092 525.8 4381.7 -5.939 - - 30.00 15.68 15.71 -