NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1087 * Raw log
prev dive * next dive * dive
• Previous call tries 5 • 383.79 of 550.00 AH used of 24V (30.22% remains)
• Surface angle -62.4 deg, depth 0.54 m • Intended pitch -25.2 deg, speed -8.462 cm/s
VBD pumped to 424.87 (SM_CC=425)
• GPS1 time: 26 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
2 end surface: CONTROL_FINISHED_OK
3 begin dive
5.85 - - - 87.68 VBD -1.56 - - 175.69 - - - 2229.31 - -82.73 80.30 0.005 2954.41 - - - - - - - - - - 14.79
88.40 3.96 -8.11 15 115.58 -1.56 14.56 0.248 1941.19 121.3 2.54 0.064 1209.38 -401.5 -82.73 3.42 0.011 3112.06 46.1 -2.916 - - - - - - 15.32 14.86 15.00
117.64 12.14 -24.99 21 123.40 roll -1.56 - - 1941.31 - 2.68 0.025 2351.38 426.1 -82.73 - - 3113.31 - - - - - - - - - 15.77 -
308.25 40.15 -14.56 59 309.58 no move -1.56 - - 1940.56 - - - 2351.81 - -82.73 - - 3112.47 - - - - - - - - - - -
492.72 66.14 -13.97 96 498.30 roll -1.56 - - 1940.56 - 2.84 0.059 1209.31 -402.3 -82.73 - - 3112.84 - - - - - - - - - 15.81 -
617.76 81.47 -11.17 121 623.32 roll -1.56 - - 1941.50 - 2.67 0.026 2347.56 426.3 -82.73 - - 3112.78 - - - - - - - - - 15.87 -
807.81 100.64 -10.06 159 809.14 no move -1.56 - - 1941.25 - - - 2347.50 - -82.73 - - 3112.19 - - - - - - - - - - -
1113.16 129.67 -8.55 220 1114.49 no move -1.56 - - 1940.94 - - - 2347.31 - -82.73 - - 3112.31 - - - - - - - - - - -
1418.04 154.45 -8.49 281 1419.37 no move -1.56 - - 1941.31 - - - 2347.81 - -82.73 - - 3111.94 - - - - - - - - - - -
1723.13 180.99 -9.26 342 1728.69 roll -1.56 - - 1940.75 - 2.80 0.058 1209.25 -406.6 -82.73 - - 3113.47 - - - - - - - - - 15.89 -
1773.13 185.87 -9.85 352 1778.69 roll -1.56 - - 1941.00 - 2.63 0.026 2341.94 430.7 -82.73 - - 3113.72 - - - - - - - - - 15.95 -
2083.43 213.60 -8.14 414 2088.87 roll -1.56 - - 1940.88 - 2.78 0.058 1209.31 -407.4 -82.73 - - 3114.19 - - - - - - - - - 15.89 -
2148.25 218.94 -8.19 427 2153.81 roll -1.56 - - 1940.94 - 2.63 0.025 2340.62 430.2 -82.73 - - 3113.31 - - - - - - - - - 15.95 -
2458.36 241.58 -7.45 489 2463.92 roll -1.56 - - 1940.00 - 2.80 0.058 1208.19 -404.4 -82.73 - - 3114.19 - - - - - - - - - 15.90 -
2478.35 243.23 -7.85 493 2483.91 roll -1.56 - - 1940.75 - 2.63 0.025 2342.56 431.3 -82.73 - - 3113.28 - - - - - - - - - 15.96 -
2788.41 271.84 -9.67 555 2789.74 no move -1.56 - - 1940.44 - - - 2343.25 - -82.73 - - 3112.88 - - - - - - - - - - -
3093.45 300.16 -8.75 616 3099.00 roll -1.56 - - 1939.94 - 2.78 0.059 1209.06 -408.0 -82.73 - - 3114.38 - - - - - - - - - 15.90 -
3155.64 305.67 -9.06 625 3170.57 roll -1.56 - - 1940.50 - 2.62 0.026 2340.38 431.8 -82.73 - - 3113.75 - - - - - - - - - 15.99 -
3471.82 332.21 -8.17 654 3476.46 roll -1.56 - - 1939.75 - 2.79 0.060 1207.88 -405.9 -82.73 - - 3113.88 - - - - - - - - - 15.92 -
3574.23 340.63 -8.36 668 3589.24 roll -1.56 - - 1940.88 - 2.62 0.026 2331.88 429.0 -82.73 - - 3114.56 - - - - - - - - - 16.00 -
3890.78 364.80 -7.90 697 3901.85 no move -1.56 - - 1940.75 - - - 2332.19 - -82.73 - - 3113.62 - - - - - - - - - - -
4203.47 390.29 -8.31 726 4208.12 roll -1.56 - - 1940.75 - 2.77 0.060 1207.94 -405.9 -82.73 - - 3111.09 - - - - - - - - - 15.91 -
4242.02 393.63 -8.67 732 4257.28 roll -1.56 - - 1940.75 - 2.61 0.026 2329.81 429.8 -82.73 - - 3112.41 - - - - - - - - - 16.00 -
4558.52 419.08 -7.44 761 4569.60 no move -1.56 - - 1940.75 - - - 2329.56 - -82.73 - - 3112.75 - - - - - - - - - - -
4871.23 442.04 -7.34 790 4875.87 roll -1.56 - - 1939.50 - 2.75 0.060 1208.94 -407.5 -82.73 - - 3112.16 - - - - - - - - - 15.91 -
4925.50 446.20 -7.70 798 4940.42 roll -1.56 - - 1941.25 - 2.60 0.026 2328.75 430.7 -82.73 - - 3111.97 - - - - - - - - - 15.98 -
5242.54 471.76 -8.42 827 5253.61 no move -1.56 - - 1940.75 - - - 2328.62 - -82.73 - - 3112.19 - - - - - - - - - - -
5555.35 498.62 -8.39 856 5560.00 roll -1.56 - - 1940.50 - 2.77 0.061 1209.12 -404.2 -82.73 - - 3110.16 - - - - - - - - - 15.91 -
5613.29 503.68 -8.62 864 5617.90 roll -1.56 - - 1940.56 - 2.60 0.026 2325.19 429.3 -82.73 - - 3110.19 - - - - - - - - - 15.98 -
5929.77 529.49 -7.92 886 5931.10 no move -1.56 - - 1940.69 - - - 2325.81 - -82.73 - - 3109.91 - - - - - - - - - - -
6244.96 554.43 -8.14 907 6249.66 roll -1.56 - - 1941.38 - 2.77 0.062 1209.06 -403.2 -82.73 - - 3111.94 - - - - - - - - - 15.90 -
6366.47 564.83 -8.66 925 6372.00 roll -1.56 - - 1941.00 - 2.58 0.027 2321.38 431.1 -82.73 - - 3111.47 - - - - - - - - - 16.00 -
6685.88 588.39 -6.96 947 6690.52 roll -1.56 - - 1941.56 - 2.76 0.062 1209.38 -402.9 -82.73 - - 3110.50 - - - - - - - - - 15.90 -
6765.90 594.04 -7.15 959 6771.44 roll -1.56 - - 1940.62 - 2.58 0.026 2316.31 429.0 -82.73 - - 3110.00 - - - - - - - - - 15.99 -
7085.33 614.96 -6.60 981 7089.99 roll -1.56 - - 1940.94 - 2.87 0.086 3428.00 387.3 -82.73 - - 3109.56 - - - - - - - - - 15.85 -
7144.62 619.28 -7.24 990 7150.18 roll -1.56 - - 1941.12 - 2.68 0.019 2216.12 -452.2 -82.73 - - 3109.81 - - - - - - - - - 15.99 -
7464.20 641.58 -7.03 1012 7468.79 roll -1.56 - - 1941.25 - 2.50 0.068 1207.88 -403.3 -82.73 - - 3108.75 - - - - - - - - - 15.89 -
7503.07 644.42 -7.35 1018 7508.62 roll -1.56 - - 1941.81 - 2.56 0.026 2317.62 433.5 -82.73 - - 3109.78 - - - - - - - - - 15.99 -
7822.49 667.18 -7.00 1040 7823.82 no move -1.56 - - 1941.38 - - - 2317.19 - -82.73 - - 3108.06 - - - - - - - - - - -
8137.51 690.20 -7.17 1061 8142.15 roll -1.56 - - 1940.06 - 2.76 0.063 1207.88 -401.9 -82.73 - - 3108.22 - - - - - - - - - 15.89 -
8196.99 694.60 -7.46 1070 8202.39 roll -1.56 - - 1940.81 - 2.57 0.026 2316.56 431.4 -82.73 - - 3109.12 - - - - - - - - - 15.99 -
8516.22 718.33 -7.44 1092 8520.86 roll -1.56 - - 1941.06 - 2.74 0.063 1209.31 -404.1 -82.73 - - 3108.19 - - - - - - - - - 15.88 -
8574.15 722.78 -7.59 1100 8578.76 roll -1.56 - - 1941.75 - 2.56 0.026 2312.62 431.0 -82.73 - - 3107.34 - - - - - - - - - 15.98 -
8890.62 745.40 -7.31 1122 8891.95 no move -1.56 - - 1941.44 - - - 2312.44 - -82.73 - - 3107.66 - - - - - - - - - - -
9205.64 768.62 -7.68 1143 9206.97 no move -1.56 - - 1940.81 - - - 2312.00 - -82.73 - - 3107.62 - - - - - - - - - - -
9520.65 793.05 -7.90 1164 9525.30 roll -1.56 - - 1941.44 - 2.75 0.064 1210.75 -400.5 -82.73 - - 3106.78 - - - - - - - - - 15.87 -
9579.94 797.88 -8.20 1173 9585.47 roll -1.56 - - 1941.31 - 2.56 0.027 2313.94 430.9 -82.73 - - 3108.59 - - - - - - - - - 15.98 -
9899.34 821.09 -6.56 1195 9904.02 roll -1.56 - - 1940.94 - 2.90 0.088 3425.38 383.3 -82.73 - - 3107.19 - - - - - - - - - 15.82 -
9958.63 825.11 -6.82 1204 9964.19 roll -1.56 - - 1941.19 - 2.69 0.019 2212.69 -450.8 -82.73 - - 3108.06 - - - - - - - - - 15.98 -
10278.06 843.79 -5.44 1226 10282.99 roll -1.56 - - 1941.38 - 3.16 0.083 3426.50 384.1 -82.73 - - 3105.69 - - - - - - - - - 15.81 -
10316.61 846.06 -5.75 1232 10322.34 roll -1.56 - - 1941.00 - 2.67 0.020 2213.75 -454.2 -82.73 - - 3107.50 - - - - - - - - - 15.97 -
10636.20 863.40 -5.76 1254 10640.80 roll -1.56 - - 1941.44 - 2.48 0.069 1210.25 -404.6 -82.73 - - 3106.66 - - - - - - - - - 15.86 -
10700.49 867.15 -6.29 1264 10715.39 roll -1.56 - - 1941.50 - 2.59 0.026 2313.75 426.1 -82.73 - - 3106.56 - - - - - - - - - 15.99 -
11029.88 888.45 -6.26 1286 11031.21 no move -1.56 - - 1941.56 - - - 2313.50 - -82.73 - - 3105.41 - - - - - - - - - - -
11344.90 908.95 -6.76 1307 11349.55 roll -1.56 - - 1941.94 - 2.75 0.064 1208.94 -401.7 -82.73 - - 3105.44 - - - - - - - - - 15.86 -
11383.44 911.61 -6.96 1313 11388.98 roll -1.56 - - 1940.88 - 2.58 0.026 2308.44 426.2 -82.73 - - 3105.91 - - - - - - - - - 15.98 -
11703.02 933.72 -6.63 1335 11707.68 roll -1.56 - - 1941.38 - 2.74 0.064 1208.94 -401.3 -82.73 - - 3104.59 - - - - - - - - - 15.85 -
11767.31 937.67 -6.74 1345 11782.23 roll -1.56 - - 1941.38 - 2.57 0.027 2306.31 427.0 -82.73 - - 3105.88 - - - - - - - - - 15.98 -
12096.74 957.60 -5.46 1367 12098.07 no move -1.56 - - 1941.19 - - - 2306.12 - -82.73 - - 3104.53 - - - - - - - - - - -
12411.74 975.09 -5.76 1388 12413.07 no move -1.56 - - 1940.94 - - - 2306.00 - -82.73 - - 3105.25 - - - - - - - - - - -
12681 end dive: TARGET_DEPTH_EXCEEDED
12681 begin apogee
12683.62 990.42 -5.59 1406 12759.63 -0.28 2.26 0.144 2254.38 138.7 0.17 0.150 2155.06 -887.9 - 67.82 2.409 2774.62 -4.9 0.352 - - - - - - 15.68 15.10 10.03
12761 end apogee: CONTROL_FINISHED_OK
12761 begin climb
12762.37 991.46 - 1411 12850.35 1.56 3.17 0.126 2702.25 141.3 2.81 0.082 3203.44 373.1 82.73 72.04 2.386 2436.59 -4.7 0.343 - - - - - - 15.39 15.53 11.52
12853.15 988.16 4.83 1424 12937.25 1.72 0.23 0.072 2751.00 212.0 2.73 0.023 2060.94 -418.5 160.48 69.94 2.363 2120.59 -4.5 0.332 - - - - - - 15.25 15.34 11.59
13249.32 950.28 9.86 1456 13250.65 VBD 1.72 - - 2750.75 - - - 2060.56 - 160.48 - - 2110.38 - - - - - - - - - - -
13564.23 920.33 9.32 1477 13568.92 done 1.72 - - 2751.00 - 2.99 0.079 3204.75 382.7 160.48 - - 2106.94 - - - - - - - - - 15.75 -
13628.53 914.64 9.67 1487 13643.65 done 1.72 - - 2751.50 - 2.62 0.025 2065.31 -434.9 160.48 - - 2108.38 - - - - - - - - - 15.83 -
13959.10 886.65 7.72 1509 13963.75 done 1.73 - - 2750.69 - 2.76 0.086 993.38 -388.4 160.48 - - 2105.88 - - - - - - - - - 15.78 -
14039.13 880.01 8.22 1521 14044.68 done 1.73 - - 2749.88 - 2.68 0.025 2137.00 426.7 160.48 - - 2106.56 - - - - - - - - - 15.90 -
14358.55 855.77 7.78 1543 14359.89 VBD 1.75 - - 2750.75 - - - 2137.38 - 160.48 - - 2105.94 - - - - - - - - - - -
14673.54 828.47 9.20 1564 14678.20 done 1.75 - - 2750.38 - 2.78 0.083 3203.69 383.6 160.48 - - 2105.97 - - - - - - - - - 15.83 -
14731.48 822.70 9.76 1572 14736.12 done 1.75 - - 2749.25 - 2.64 0.025 2054.81 -435.2 160.48 - - 2105.66 - - - - - - - - - 15.92 -
15047.97 792.79 9.44 1594 15049.30 VBD 1.75 - - 2751.00 - - - 2055.44 - 160.48 - - 2105.00 - - - - - - - - - - -
15362.97 763.09 9.52 1615 15367.65 done 1.75 - - 2748.69 - 2.97 0.079 3201.81 386.0 160.48 - - 2105.28 - - - - - - - - - 15.83 -
15401.53 759.37 9.77 1621 15407.08 done 1.75 - - 2750.31 - 2.61 0.026 2061.62 -436.9 160.48 - - 2105.12 - - - - - - - - - 15.95 -
15720.93 730.77 8.56 1643 15725.62 done 1.75 - - 2751.31 - 2.96 0.079 3206.62 386.8 160.48 - - 2103.84 - - - - - - - - - 15.83 -
15759.71 727.42 8.76 1649 15765.28 done 1.75 - - 2750.62 - 2.63 0.025 2061.94 -435.2 160.48 - - 2105.16 - - - - - - - - - 15.96 -
16079.33 701.74 7.89 1671 16080.67 VBD 1.76 - - 2750.69 - - - 2063.12 - 160.48 - - 2103.44 - - - - - - - - - - -
16394.29 675.50 8.53 1692 16398.99 done 1.76 - - 2751.00 - 2.96 0.080 3203.88 385.4 160.48 - - 2103.00 - - - - - - - - - 15.83 -
16453.58 670.26 8.88 1701 16459.13 done 1.76 - - 2750.69 - 2.61 0.026 2067.31 -435.5 160.48 - - 2104.31 - - - - - - - - - 15.97 -
16772.99 641.44 9.20 1723 16777.64 done 1.76 - - 2750.31 - 2.77 0.086 994.56 -387.3 160.48 - - 2104.62 - - - - - - - - - 15.81 -
16795.79 639.87 9.29 1727 16810.74 done 1.76 - - 2751.00 - 2.68 0.025 2146.06 429.7 160.48 - - 2103.38 - - - - - - - - - 15.97 -
17125.23 608.37 9.29 1749 17129.93 done 1.76 - - 2751.62 - 2.97 0.081 993.69 -388.0 160.48 - - 2101.69 - - - - - - - - - 15.81 -
17163.79 604.81 9.41 1755 17169.34 done 1.76 - - 2750.81 - 2.68 0.025 2143.00 428.8 160.48 - - 2103.25 - - - - - - - - - 15.98 -
17483.40 579.43 7.18 1777 17484.74 VBD 1.78 - - 2751.19 - - - 2142.75 - 160.48 - - 2102.22 - - - - - - - - - - -
17798.27 559.68 5.69 1798 17859.38 1.90 0.18 0.087 2794.12 238.5 - - 2143.38 - 219.74 48.85 1.918 1878.97 -4.6 0.234 - - - - - - 15.93 - 10.52
18173.44 527.73 9.20 1823 18174.77 no move 1.90 - - 2793.88 - - - 2142.88 - 219.74 - - 1872.25 - - - - - - - - - - -
18479.97 496.52 10.21 1844 18491.04 no move 1.90 - - 2794.44 - - - 2142.88 - 219.74 - - 1871.25 - - - - - - - - - - -
18793.32 464.45 10.07 1873 18798.00 done 1.90 - - 2794.12 - 2.96 0.081 994.56 -387.9 219.74 - - 1869.16 - - - - - - - - - 15.78 -
18831.87 460.38 10.52 1879 18846.80 done 1.90 - - 2794.50 - 2.67 0.025 2139.62 428.9 219.74 - - 1870.25 - - - - - - - - - 15.92 -
19148.06 427.39 10.64 1908 19152.71 done 1.90 - - 2793.88 - 2.78 0.083 3206.12 383.6 219.74 - - 1869.62 - - - - - - - - - 15.80 -
19216.72 419.46 11.48 1917 19221.36 done 1.90 - - 2794.31 - 2.62 0.025 2067.88 -434.4 219.74 - - 1870.91 - - - - - - - - - 15.93 -
19528.62 384.63 11.33 1946 19533.27 done 1.90 - - 2792.88 - 2.78 0.085 993.56 -386.4 219.74 - - 1869.09 - - - - - - - - - 15.80 -
19567.17 380.24 11.53 1952 19582.10 done 1.90 - - 2794.81 - 2.68 0.024 2144.94 429.6 219.74 - - 1869.28 - - - - - - - - - 15.95 -
19883.36 346.81 10.09 1981 19888.02 done 1.90 - - 2794.88 - 2.75 0.082 3205.06 385.5 219.74 - - 1868.03 - - - - - - - - - 15.82 -
19922.14 342.88 10.39 1987 19937.08 done 1.90 - - 2794.69 - 2.62 0.025 2067.31 -434.3 219.74 - - 1868.47 - - - - - - - - - 15.94 -
20238.34 311.58 9.87 2016 20249.41 VBD 1.90 - - 2795.06 - - - 2067.56 - 219.74 - - 1868.56 - - - - - - - - - - -
20554.71 281.22 9.49 2066 20560.19 done 1.90 - - 2795.19 - 2.96 0.078 3205.31 384.4 219.74 - - 1868.25 - - - - - - - - - 15.79 -
20589.59 277.71 10.02 2073 20595.14 done 1.90 - - 2794.88 - 2.62 0.025 2065.75 -434.9 219.74 - - 1869.06 - - - - - - - - - 15.93 -
20899.64 251.39 7.92 2135 20905.19 done 1.91 - - 2795.56 - 2.74 0.084 993.62 -391.3 219.74 - - 1868.06 - - - - - - - - - 15.79 -
20949.63 246.97 9.02 2145 20955.17 done 1.91 - - 2794.75 - 2.67 0.024 2143.19 430.6 219.74 - - 1868.03 - - - - - - - - - 15.95 -
21259.83 220.94 8.62 2207 21261.17 VBD 1.91 - - 2794.75 - - - 2143.06 - 219.74 - - 1867.34 - - - - - - - - - - -
21564.71 192.67 9.28 2268 21570.26 done 1.91 - - 2795.50 - 2.75 0.082 3205.12 386.2 219.74 - - 1868.66 - - - - - - - - - 15.81 -
21624.71 186.79 9.89 2280 21630.23 done 1.91 - - 2795.62 - 2.60 0.024 2069.25 -436.9 219.74 - - 1868.00 - - - - - - - - - 15.94 -
21934.99 157.67 8.88 2342 21940.42 done 1.91 - - 2795.50 - 2.76 0.083 994.00 -389.6 219.74 - - 1868.09 - - - - - - - - - 15.79 -
21979.80 153.44 9.53 2351 21985.36 done 1.91 - - 2795.94 - 2.67 0.024 2146.25 431.6 219.74 - - 1867.84 - - - - - - - - - 15.95 -
22289.92 129.08 7.57 2413 22295.47 done 1.93 - - 2795.50 - 2.74 0.081 3205.12 386.4 219.74 - - 1867.78 - - - - - - - - - 15.81 -
22344.92 124.71 8.05 2424 22350.46 done 1.93 - - 2795.06 - 2.62 0.024 2066.12 -434.7 219.74 - - 1868.56 - - - - - - - - - 15.95 -
22655.03 103.54 6.87 2486 22660.57 done 1.96 - - 2795.38 - 2.74 0.082 992.62 -391.8 219.74 - - 1868.09 - - - - - - - - - 15.79 -
22795.46 92.40 7.95 2514 22800.60 done 1.97 - - 2796.00 - 2.67 0.024 2143.38 431.0 219.74 - - 1868.09 - - - - - - - - - 15.95 -
22985.13 80.40 5.81 2552 23036.91 2.09 0.19 0.085 2838.06 221.4 2.78 0.083 3205.75 382.1 276.53 45.10 1.282 1647.34 -4.9 0.054 - - - - - - 15.91 15.35 10.54
23045.24 76.63 6.38 2564 23086.74 done 2.18 - - 2837.88 - 2.61 0.023 2071.94 -434.4 321.07 36.99 1.233 1466.41 -4.9 0.053 - - - - - - - 15.80 11.65
23270.19 59.22 6.80 2609 23275.73 roll 2.21 - - 2837.50 - 2.78 0.082 994.62 -387.5 321.07 - - 1459.12 - - - - - - - - - 15.68 -
23405.23 49.65 6.85 2636 23410.82 2.24 0.16 0.091 2877.81 251.9 2.71 0.023 2151.44 426.9 321.07 - - 1457.62 - - - - - - - - 15.65 15.80 -
23595.28 38.12 5.32 2674 23651.04 VBD 2.38 - - 2877.88 - - - 2151.94 - 388.32 52.99 1.194 1192.41 -5.0 0.028 - - - - - - - - 11.11
23835.32 14.94 10.57 2722 23836.65 no move 2.38 - - 2877.56 - - - 2151.31 - 388.32 - - 1186.22 - - - - - - - - - - -
23960 end climb: SURFACE_DEPTH_REACHED
23960 begin surface coast
24030 end surface coast: CONTROL_FINISHED_OK
24030 begin surface
SM 0.61 - - - - 181.9 29.43 1.137 1043.0 35.4 16.86 0.055 1011.8 60.0 - 0.44 0.070 1074.1 2441.1 -2.174 - - 11.11 15.75 15.79 -