NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 108 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 38.37 of 506.00 AH used of 24V (92.42% remains)
• Surface angle -66.3 deg, depth 1.14 m • Intended pitch -16.4 deg, speed -8.049 cm/s
VBD pumped to 586.06 (beyond SM_CC=430)
• GPS1 time: 20 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
10 end surface: CONTROL_FINISHED_OK
11 begin dive
18.73 - - - 104.03 VBD -1.18 - - 178.38 - - - 2280.44 - -77.86 59.97 0.005 2474.19 - - - - - - - - - - 15.56
106.24 3.30 -3.95 12 225.22 -1.18 16.69 0.228 2227.88 122.8 3.00 0.082 3354.88 358.1 -77.86 11.29 0.007 3211.47 65.3 -5.103 - - - - - - 15.67 15.57 15.62
231.55 35.81 -17.60 20 249.71 roll -1.18 - - 2228.31 - 2.74 0.020 2191.56 -424.6 -77.86 - - 3212.66 - - - - - - - - - 15.87 -
435.57 61.98 -12.59 58 453.80 roll -1.18 - - 2228.12 - 2.77 0.068 1141.31 -379.2 -77.86 - - 3214.50 - - - - - - - - - 15.89 -
595.00 81.38 -11.44 87 613.24 roll -1.18 - - 2228.00 - 2.77 0.026 2278.44 410.5 -77.86 - - 3214.78 - - - - - - - - - 15.93 -
804.06 100.88 -9.04 125 821.98 roll -1.18 - - 2228.44 - 2.95 0.063 1142.88 -384.9 -77.86 - - 3214.97 - - - - - - - - - 15.91 -
922.43 113.36 -10.61 146 940.67 roll -1.18 - - 2228.31 - 2.79 0.026 2279.00 407.2 -77.86 - - 3215.94 - - - - - - - - - 15.92 -
1246.47 139.42 -7.07 178 1264.39 done -1.18 - - 2228.25 - 2.99 0.083 3352.56 359.1 -77.86 - - 3216.44 - - - - - - - - - 15.99 -
1324.82 146.07 -8.85 191 1342.27 done -1.18 - - 2226.38 - 2.69 0.020 2186.81 -433.4 -77.86 - - 3217.91 - - - - - - - - - 16.00 -
1647.84 171.66 -7.54 223 1668.35 done -1.18 - - 2228.12 - 3.26 0.079 3353.75 358.0 -77.86 - - 3214.81 - - - - - - - - - 15.96 -
1759.50 180.47 -7.90 242 1777.07 done -1.18 - - 2227.88 - 2.70 0.020 2187.25 -432.0 -77.86 - - 3217.38 - - - - - - - - - 16.02 -
2083.04 203.73 -7.59 274 2087.10 no move -1.18 - - 2228.00 - - - 2186.44 - -77.86 - - 3215.97 - - - - - - - - - - -
2393.09 225.82 -6.95 305 2397.15 no move -1.18 - - 2228.00 - - - 2186.38 - -77.86 - - 3215.50 - - - - - - - - - - -
2703.14 247.69 -7.58 336 2707.21 no move -1.18 - - 2228.50 - - - 2186.06 - -77.86 - - 3214.25 - - - - - - - - - - -
3013.20 270.57 -7.44 367 3017.26 no move -1.18 - - 2227.88 - - - 2185.88 - -77.86 - - 3214.34 - - - - - - - - - - -
3323.26 294.64 -7.89 398 3327.32 no move -1.18 - - 2227.62 - - - 2186.25 - -77.86 - - 3213.69 - - - - - - - - - - -
3633.31 319.74 -8.46 429 3637.37 no move -1.18 - - 2228.12 - - - 2185.25 - -77.86 - - 3213.50 - - - - - - - - - - -
3943.37 345.63 -8.22 460 3964.13 roll -1.18 - - 2227.56 - 3.29 0.082 3352.75 354.9 -77.86 - - 3213.19 - - - - - - - - - 16.02 -
4009.60 351.76 -9.43 470 4027.25 roll -1.18 - - 2228.25 - 2.70 0.021 2191.00 -430.3 -77.86 - - 3212.28 - - - - - - - - - 16.08 -
4333.11 377.70 -7.68 502 4337.17 no move -1.18 - - 2228.38 - - - 2189.31 - -77.86 - - 3211.06 - - - - - - - - - - -
4643.17 400.55 -7.29 533 4647.23 no move -1.18 - - 2227.50 - - - 2189.19 - -77.86 - - 3211.66 - - - - - - - - - - -
4953.22 423.83 -7.41 564 4974.22 roll -1.18 - - 2226.81 - 3.28 0.084 3354.31 355.2 -77.86 - - 3211.94 - - - - - - - - - 15.99 -
5005.53 428.05 -7.94 571 5022.45 roll -1.18 - - 2228.56 - 2.70 0.021 2190.94 -430.9 -77.86 - - 3210.25 - - - - - - - - - 16.08 -
5328.30 451.12 -7.28 603 5332.36 no move -1.18 - - 2227.75 - - - 2189.88 - -77.86 - - 3209.19 - - - - - - - - - - -
5638.36 473.63 -7.21 634 5659.12 roll -1.18 - - 2227.38 - 3.25 0.084 3352.38 357.7 -77.86 - - 3210.12 - - - - - - - - - 16.07 -
5694.59 478.02 -7.49 642 5712.26 roll -1.18 - - 2227.94 - 2.69 0.021 2192.44 -431.2 -77.86 - - 3208.28 - - - - - - - - - 16.09 -
6018.11 499.89 -6.81 674 6037.47 roll -1.18 - - 2227.81 - 3.25 0.084 3352.50 356.9 -77.86 - - 3208.88 - - - - - - - - - 16.08 -
6047.93 502.10 -7.32 677 6065.58 roll -1.18 - - 2227.12 - 2.68 0.022 2191.38 -433.3 -77.86 - - 3209.06 - - - - - - - - - 16.08 -
6371.42 526.64 -7.73 709 6390.80 roll -1.18 - - 2227.06 - 3.23 0.085 3354.31 360.0 -77.86 - - 3208.72 - - - - - - - - - 16.08 -
6427.00 531.34 -8.42 717 6443.94 roll -1.18 - - 2226.81 - 2.70 0.022 2193.19 -430.0 -77.86 - - 3208.19 - - - - - - - - - 16.08 -
6749.78 558.70 -8.45 749 6769.14 roll -1.18 - - 2228.00 - 3.24 0.085 3353.56 358.1 -77.86 - - 3205.00 - - - - - - - - - 16.05 -
6785.44 561.89 -8.74 753 6802.37 roll -1.18 - - 2228.06 - 2.68 0.022 2192.38 -433.3 -77.86 - - 3205.34 - - - - - - - - - 16.08 -
7108.24 587.94 -7.58 785 7127.60 roll -1.18 - - 2228.19 - 3.24 0.085 3352.06 357.9 -77.86 - - 3204.50 - - - - - - - - - 16.07 -
7148.07 591.07 -7.92 790 7166.12 roll -1.18 - - 2227.38 - 2.68 0.022 2192.81 -432.6 -77.86 - - 3206.56 - - - - - - - - - 16.07 -
7471.97 612.65 -6.12 822 7491.33 roll -1.18 - - 2228.25 - 3.24 0.085 3352.62 358.0 -77.86 - - 3204.53 - - - - - - - - - 16.06 -
7531.80 616.62 -6.74 831 7549.46 roll -1.18 - - 2227.62 - 2.68 0.022 2194.12 -432.3 -77.86 - - 3205.22 - - - - - - - - - 16.09 -
7855.31 635.34 -5.26 863 7859.38 no move -1.18 - - 2227.69 - - - 2193.06 - -77.86 - - 3203.03 - - - - - - - - - - -
8165.36 653.78 -6.04 894 8169.42 no move -1.18 - - 2228.06 - - - 2193.75 - -77.86 - - 3202.16 - - - - - - - - - - -
8475.42 672.72 -6.29 925 8494.78 roll -1.18 - - 2227.69 - 3.24 0.086 3352.38 357.6 -77.86 - - 3203.53 - - - - - - - - - 16.08 -
8561.46 679.06 -7.57 939 8578.47 roll -1.18 - - 2227.31 - 2.69 0.022 2194.25 -430.5 -77.86 - - 3204.53 - - - - - - - - - 16.09 -
8884.33 699.89 -6.51 971 8905.09 roll -1.18 - - 2228.25 - 3.26 0.086 3354.00 355.8 -77.86 - - 3200.50 - - - - - - - - - 16.07 -
8926.28 702.98 -7.29 976 8943.21 roll -1.18 - - 2228.00 - 2.69 0.022 2194.81 -430.9 -77.86 - - 3201.50 - - - - - - - - - 16.08 -
9249.06 723.48 -6.17 1008 9253.13 no move -1.18 - - 2227.62 - - - 2193.44 - -77.86 - - 3200.88 - - - - - - - - - - -
9559.11 742.67 -6.01 1039 9563.17 no move -1.18 - - 2228.00 - - - 2193.50 - -77.86 - - 3200.38 - - - - - - - - - - -
9869.16 761.19 -6.14 1070 9873.22 no move -1.18 - - 2227.69 - - - 2193.00 - -77.86 - - 3199.56 - - - - - - - - - - -
10179.22 780.48 -6.57 1101 10183.28 no move -1.18 - - 2228.06 - - - 2193.25 - -77.86 - - 3199.94 - - - - - - - - - - -
10489.27 799.47 -5.97 1132 10493.34 no move -1.18 - - 2227.69 - - - 2192.56 - -77.86 - - 3199.28 - - - - - - - - - - -
10799.33 817.85 -5.84 1163 10820.10 roll -1.18 - - 2228.12 - 3.27 0.087 3351.81 354.5 -77.86 - - 3199.38 - - - - - - - - - 16.06 -
10835.56 820.21 -6.70 1167 10853.22 roll -1.18 - - 2228.12 - 2.67 0.023 2194.69 -433.4 -77.86 - - 3199.97 - - - - - - - - - 16.08 -
11159.07 839.20 -5.89 1199 11178.45 roll -1.18 - - 2227.19 - 3.26 0.087 3352.00 355.0 -77.86 - - 3201.09 - - - - - - - - - 16.06 -
11214.76 842.70 -6.66 1207 11231.70 roll -1.18 - - 2227.38 - 2.69 0.022 2195.00 -430.1 -77.86 - - 3199.97 - - - - - - - - - 16.07 -
11537.53 862.46 -6.44 1239 11558.29 roll -1.18 - - 2227.88 - 3.26 0.087 3352.88 355.2 -77.86 - - 3199.53 - - - - - - - - - 16.06 -
11589.59 865.92 -7.27 1246 11606.52 roll -1.18 - - 2228.06 - 2.69 0.022 2192.19 -431.5 -77.86 - - 3198.59 - - - - - - - - - 16.07 -
11912.38 885.56 -5.94 1278 11916.44 no move -1.18 - - 2228.12 - - - 2190.62 - -77.86 - - 3198.50 - - - - - - - - - - -
12222.42 904.12 -5.89 1309 12226.48 no move -1.18 - - 2227.62 - - - 2190.75 - -77.86 - - 3197.78 - - - - - - - - - - -
12532.47 921.20 -5.29 1340 12536.54 no move -1.18 - - 2227.88 - - - 2190.81 - -77.86 - - 3197.50 - - - - - - - - - - -
12842.52 937.24 -5.30 1371 12846.58 no move -1.18 - - 2228.06 - - - 2191.38 - -77.86 - - 3197.81 - - - - - - - - - - -
13152.55 954.02 -5.69 1402 13156.62 no move -1.18 - - 2228.31 - - - 2190.19 - -77.86 - - 3197.06 - - - - - - - - - - -
13462.57 971.78 -5.94 1433 13480.96 roll -1.18 - - 2227.25 - 2.81 0.080 1142.81 -372.7 -77.86 - - 3196.84 - - - - - - - - - 16.05 -
13497.27 973.88 -6.43 1437 13514.63 roll -1.18 - - 2227.81 - 2.76 0.030 2276.81 410.9 -77.86 - - 3197.62 - - - - - - - - - 16.07 -
13759 end dive: TARGET_DEPTH_EXCEEDED
13760 begin apogee
13765.45 990.11 -6.09 1463 13865.08 -0.31 1.54 0.136 2442.19 139.2 0.19 0.154 2285.50 45.7 - 60.51 2.494 2889.41 -5.1 0.335 - - - - - - 15.96 15.60 11.79
13871 end apogee: CONTROL_FINISHED_OK
13872 begin climb
13875.05 992.16 - 1470 13984.22 1.18 2.53 0.096 2804.75 143.3 - - 2285.25 - 77.86 65.42 2.437 2572.94 -4.8 0.326 - - - - - - 15.71 - 12.46
14290.59 968.78 6.82 1511 14309.56 done 1.26 - - 2805.75 - 3.11 0.078 1144.25 -366.9 77.86 - - 2561.88 - - - - - - - - - 15.81 -
14356.28 963.87 7.20 1521 14375.26 1.31 0.17 0.089 2844.50 227.9 2.85 0.033 2273.88 396.4 77.86 - - 2562.78 - - - - - - - - 15.77 15.86 -
14681.12 936.79 8.45 1553 14685.18 VBD 1.31 - - 2845.44 - - - 2273.19 - 77.86 - - 2559.94 - - - - - - - - - - -
14991.17 909.48 8.50 1584 15009.74 done 1.31 - - 2845.12 - 3.05 0.077 1144.38 -370.1 77.86 - - 2559.38 - - - - - - - - - 15.96 -
15096.08 899.67 9.36 1602 15113.83 done 1.31 - - 2843.88 - 2.82 0.033 2273.44 400.4 77.86 - - 2561.81 - - - - - - - - - 15.99 -
15419.65 873.68 8.44 1634 15423.71 VBD 1.31 - - 2844.38 - - - 2273.94 - 77.86 - - 2558.12 - - - - - - - - - - -
15730.10 850.66 6.82 1665 15734.16 VBD 1.38 - - 2844.81 - - - 2273.94 - 77.86 - - 2557.88 - - - - - - - - - - -
16040.42 829.86 7.00 1696 16044.48 VBD 1.44 - - 2845.38 - - - 2273.44 - 77.86 - - 2557.56 - - - - - - - - - - -
16350.74 810.27 6.79 1727 16356.11 1.52 0.24 0.076 2897.56 217.4 - - 2273.12 - 77.86 - - 2560.50 - - - - - - - - 16.00 - -
16661.96 786.42 8.00 1758 16666.02 VBD 1.52 - - 2897.94 - - - 2273.31 - 77.86 - - 2557.50 - - - - - - - - - - -
16972.01 760.73 8.24 1789 16976.08 VBD 1.52 - - 2898.12 - - - 2274.19 - 77.86 - - 2556.66 - - - - - - - - - - -
17282.07 736.04 7.68 1820 17286.13 VBD 1.52 - - 2898.50 - - - 2272.94 - 77.86 - - 2556.97 - - - - - - - - - - -
17592.12 712.20 7.72 1851 17610.69 done 1.52 - - 2896.69 - 3.02 0.077 1145.38 -373.4 77.86 - - 2558.03 - - - - - - - - - 16.06 -
17716.91 701.86 8.40 1873 17734.67 done 1.52 - - 2898.62 - 2.83 0.034 2272.81 398.4 77.86 - - 2556.97 - - - - - - - - - 16.06 -
18041.01 677.31 7.41 1905 18045.07 VBD 1.56 - - 2897.44 - - - 2272.12 - 77.86 - - 2555.88 - - - - - - - - - - -
18351.34 654.10 7.40 1936 18355.40 VBD 1.60 - - 2898.25 - - - 2272.75 - 77.86 - - 2556.12 - - - - - - - - - - -
18661.65 632.45 6.60 1967 18680.22 done 1.68 - - 2897.94 - 3.02 0.077 1144.62 -373.6 77.86 - - 2555.00 - - - - - - - - - 16.06 -
18766.83 624.39 7.54 1985 18786.23 1.72 0.20 0.078 2945.12 235.9 2.83 0.033 2273.69 399.0 77.86 - - 2555.25 - - - - - - - - 15.97 16.06 -
19092.08 599.22 7.58 2017 19096.14 VBD 1.72 - - 2944.69 - - - 2274.19 - 77.86 - - 2555.97 - - - - - - - - - - -
19402.52 576.06 7.27 2048 19406.60 VBD 1.76 - - 2945.00 - - - 2273.56 - 77.86 - - 2555.88 - - - - - - - - - - -
19712.84 553.39 7.37 2079 19731.41 done 1.80 - - 2943.31 - 3.03 0.076 1144.19 -372.7 77.86 - - 2557.56 - - - - - - - - - 16.06 -
19837.62 543.43 7.75 2101 19855.38 done 1.80 - - 2945.00 - 2.82 0.033 2274.69 400.9 77.86 - - 2556.09 - - - - - - - - - 16.07 -
20161.62 520.33 7.09 2133 20165.68 VBD 1.86 - - 2944.12 - - - 2274.88 - 77.86 - - 2555.47 - - - - - - - - - - -
20472.01 498.54 6.99 2164 20493.62 1.92 0.23 0.079 2993.44 214.4 3.07 0.097 3352.62 351.1 77.86 - - 2558.28 - - - - - - - - 16.03 15.98 -
20544.83 492.22 9.00 2175 20562.57 done 1.92 - - 2993.88 - 2.71 0.024 2201.94 -424.6 77.86 - - 2556.62 - - - - - - - - - 15.98 -
20868.43 465.90 7.63 2207 20872.49 VBD 1.92 - - 2994.25 - - - 2201.12 - 77.86 - - 2555.22 - - - - - - - - - - -
21178.88 442.31 7.35 2238 21182.95 VBD 1.97 - - 2993.94 - - - 2200.88 - 77.86 - - 2555.47 - - - - - - - - - - -
21489.21 420.65 6.71 2269 21493.27 VBD 2.05 - - 2995.44 - - - 2201.12 - 77.86 - - 2555.41 - - - - - - - - - - -
21799.52 401.38 6.30 2300 21818.49 2.15 0.04 0.242 3012.81 434.2 2.85 0.079 1144.12 -370.9 77.86 - - 2555.91 - - - - - - - - 16.01 15.94 -
22049.44 383.75 6.81 2347 22067.93 2.22 - - 3012.38 - 2.82 0.032 2275.00 401.0 77.86 - - 2558.19 - - - - - - - - - 16.04 -
22374.29 363.72 5.99 2379 22378.37 2.35 - - 3012.31 - - - 2274.00 - 77.86 - - 2555.03 - - - - - - - - - - -
22684.62 344.86 6.16 2410 22688.69 2.46 - - 3012.06 - - - 2275.25 - 77.86 - - 2555.12 - - - - - - - - - - -
22995.03 327.65 5.17 2441 22999.10 2.63 - - 3012.69 - - - 2274.69 - 77.86 - - 2555.28 - - - - - - - - - - -
23305.35 310.65 6.05 2472 23309.42 2.75 - - 3013.00 - - - 2274.50 - 77.86 - - 2555.34 - - - - - - - - - - -
23615.67 291.70 6.11 2503 23634.33 2.87 - - 3012.00 - 3.10 0.094 3352.00 347.6 77.86 - - 2556.69 - - - - - - - - - 16.03 -
23675.20 287.61 6.60 2512 23693.29 2.96 - - 3013.06 - 2.70 0.023 2198.06 -427.4 77.86 - - 2556.00 - - - - - - - - - 16.05 -
23999.54 270.48 4.73 2544 24095.01 3.09 - - 3013.00 - 2.90 0.081 1144.06 -363.4 146.46 53.29 1.623 2290.34 -5.0 0.138 - - - - - - - 15.78 11.90
24166.23 255.47 11.09 2570 24184.00 3.09 - - 3011.88 - 2.85 0.032 2274.38 396.6 146.46 - - 2285.28 - - - - - - - - - 15.89 -
24489.97 223.07 9.87 2602 24509.18 3.09 - - 3012.56 - 3.11 0.095 3350.75 346.1 146.46 - - 2282.97 - - - - - - - - - 15.90 -
24559.78 215.36 10.91 2613 24577.86 3.09 - - 3012.94 - 2.74 0.024 2202.50 -419.1 146.46 - - 2281.88 - - - - - - - - - 15.93 -
24883.72 185.09 9.19 2645 24901.48 3.09 - - 3011.50 - 2.87 0.078 1144.06 -368.8 146.46 - - 2282.84 - - - - - - - - - 15.85 -
24957.69 178.08 9.54 2657 24975.46 3.09 - - 3012.62 - 2.84 0.032 2274.00 397.9 146.46 - - 2280.41 - - - - - - - - - 15.96 -
25281.31 148.91 9.04 2689 25285.38 3.09 - - 3012.31 - - - 2273.25 - 146.46 - - 2279.00 - - - - - - - - - - -
25591.76 125.10 6.77 2720 25610.33 3.17 - - 3012.62 - 3.06 0.073 1144.25 -369.0 146.46 - - 2278.44 - - - - - - - - - 15.91 -
25841.24 109.44 6.27 2767 25860.13 3.28 - - 3012.38 - 2.83 0.030 2275.44 399.7 146.46 - - 2280.06 - - - - - - - - - 15.98 -
26166.39 96.60 2.90 2810 26299.30 3.49 - - 3012.38 - 3.11 0.074 1143.94 -363.8 252.82 80.39 1.373 1858.78 -5.2 0.061 - - - - - - - 15.65 12.14
26531.03 72.72 6.85 2873 26549.53 3.56 - - 3013.06 - 2.85 0.030 2274.69 396.8 252.82 - - 1847.72 - - - - - - - - - 15.84 -
26735.91 58.91 6.27 2911 26755.21 3.67 - - 3012.06 - 3.07 0.071 1143.81 -368.4 252.82 - - 1846.84 - - - - - - - - - 15.84 -
26971.87 44.81 5.63 2955 26990.76 3.81 - - 3012.19 - 2.83 0.030 2275.38 399.8 252.82 - - 1845.91 - - - - - - - - - 15.92 -
27176.99 31.84 7.18 2993 27183.60 3.87 - - 3012.88 - - - 2275.25 - 252.82 - - 1843.59 - - - - - - - - - - -
27369.85 21.43 4.31 3031 27473.42 4.02 - - 3011.69 - 3.09 0.073 1143.88 -366.1 330.08 58.46 1.227 1543.50 -5.1 0.015 - - - - - - - 15.70 12.20
27705.21 13.74 -0.28 3090 27802.70 4.37 - - 3013.44 - 2.82 0.027 2279.06 402.5 502.15 57.40 1.199 1241.84 -5.3 0.010 - - - - - - - 15.82 12.34
27804 end climb: NO_VERTICAL_VELOCITY
27805 begin surface
SM 1.12 - - - - 179.6 - - 493.0 - 18.73 0.047 458.8 24.5 - 0.12 0.089 527.2 4369.8 -5.620 - - 30.00 15.68 15.71 -