NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1116 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 396.06 of 550.00 AH used of 24V (27.99% remains)
• Surface angle -60.1 deg, depth 0.76 m • Intended pitch -24.0 deg, speed -8.462 cm/s
VBD pumped to 399.81 (SM_CC=400)
• GPS1 time: 28 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.91 - - - 72.04 VBD -1.50 - - 177.00 - - - 2243.56 - -82.73 64.96 0.005 2721.84 - - - - - - - - - - 14.85
72.79 3.18 -4.74 12 101.74 -1.50 14.52 0.236 1957.31 122.6 - - 2243.88 - -82.73 9.62 0.007 3110.03 40.4 -3.207 - - - - - - 15.31 - 15.03
283.87 33.83 -13.78 54 289.48 roll -1.50 - - 1957.38 - 3.09 0.084 3425.50 382.4 -82.73 - - 3112.81 - - - - - - - - - 15.69 -
348.88 43.70 -15.36 67 354.45 roll -1.50 - - 1958.12 - 2.62 0.019 2254.25 -447.0 -82.73 - - 3112.41 - - - - - - - - - 15.82 -
539.59 68.06 -10.77 105 544.49 roll -1.50 - - 1958.31 - 2.58 0.064 1209.06 -405.1 -82.73 - - 3111.56 - - - - - - - - - 15.78 -
684.01 78.96 -7.22 134 689.56 roll -1.50 - - 1957.81 - 2.61 0.025 2328.88 429.0 -82.73 - - 3111.72 - - - - - - - - - 15.87 -
874.42 94.35 -9.15 172 875.75 no move -1.50 - - 1958.00 - - - 2329.44 - -82.73 - - 3110.47 - - - - - - - - - - -
1059.06 111.37 -9.16 209 1064.63 roll -1.50 - - 1958.50 - 2.76 0.059 1207.75 -406.4 -82.73 - - 3111.75 - - - - - - - - - 15.85 -
1124.07 117.61 -9.64 222 1129.60 roll -1.50 - - 1957.94 - 2.59 0.026 2319.94 429.4 -82.73 - - 3112.09 - - - - - - - - - 15.91 -
1434.12 143.31 -7.98 284 1439.69 roll -1.50 - - 1958.00 - 2.84 0.085 3425.81 389.4 -82.73 - - 3112.28 - - - - - - - - - 15.81 -
1464.11 146.11 -9.06 290 1469.66 roll -1.50 - - 1957.62 - 2.66 0.019 2218.56 -453.9 -82.73 - - 3112.94 - - - - - - - - - 15.92 -
1774.16 173.88 -9.26 352 1775.49 no move -1.50 - - 1958.25 - - - 2215.75 - -82.73 - - 3110.94 - - - - - - - - - - -
2079.20 201.81 -9.03 413 2080.53 no move -1.50 - - 1958.88 - - - 2215.81 - -82.73 - - 3112.16 - - - - - - - - - - -
2384.43 228.17 -8.24 474 2385.76 no move -1.50 - - 1958.25 - - - 2216.25 - -82.73 - - 3110.72 - - - - - - - - - - -
2689.30 252.29 -8.00 535 2694.94 roll -1.50 - - 1958.19 - 3.11 0.080 3425.31 388.8 -82.73 - - 3112.16 - - - - - - - - - 15.82 -
2714.30 254.48 -8.47 540 2719.85 roll -1.50 - - 1958.00 - 2.64 0.019 2220.88 -456.2 -82.73 - - 3112.19 - - - - - - - - - 15.94 -
3024.37 278.86 -7.89 602 3025.70 no move -1.50 - - 1958.19 - - - 2218.44 - -82.73 - - 3110.56 - - - - - - - - - - -
3334.54 303.34 -8.09 659 3339.23 roll -1.50 - - 1958.00 - 3.09 0.080 3424.56 390.3 -82.73 - - 3110.84 - - - - - - - - - 15.85 -
3387.47 308.13 -8.72 666 3392.10 roll -1.50 - - 1958.88 - 2.63 0.019 2224.56 -456.3 -82.73 - - 3113.19 - - - - - - - - - 15.96 -
3699.32 334.29 -8.27 695 3703.92 roll -1.50 - - 1957.94 - 2.47 0.065 1209.50 -411.0 -82.73 - - 3111.09 - - - - - - - - - 15.90 -
3722.12 336.18 -8.45 699 3737.04 roll -1.50 - - 1958.12 - 2.59 0.025 2331.75 433.3 -82.73 - - 3112.53 - - - - - - - - - 15.98 -
4038.49 363.26 -8.37 728 4049.56 no move -1.50 - - 1958.50 - - - 2332.19 - -82.73 - - 3112.34 - - - - - - - - - - -
4351.88 388.53 -8.00 757 4362.95 no move -1.50 - - 1958.56 - - - 2332.94 - -82.73 - - 3112.84 - - - - - - - - - - -
4664.69 411.50 -7.16 786 4669.34 roll -1.50 - - 1958.94 - 2.75 0.060 1207.94 -409.1 -82.73 - - 3111.03 - - - - - - - - - 15.90 -
4703.23 414.32 -7.38 792 4718.16 roll -1.50 - - 1958.38 - 2.60 0.025 2332.25 432.4 -82.73 - - 3113.34 - - - - - - - - - 15.99 -
5020.29 436.97 -7.25 821 5031.37 no move -1.50 - - 1958.69 - - - 2332.06 - -82.73 - - 3112.47 - - - - - - - - - - -
5333.11 458.80 -6.84 850 5337.75 roll -1.50 - - 1957.19 - 2.74 0.061 1207.50 -410.4 -82.73 - - 3113.38 - - - - - - - - - 15.89 -
5403.11 463.95 -7.40 860 5418.06 roll -1.50 - - 1957.69 - 2.61 0.026 2332.19 430.9 -82.73 - - 3112.78 - - - - - - - - - 15.99 -
5719.65 485.61 -6.61 889 5730.72 no move -1.50 - - 1957.81 - - - 2333.12 - -82.73 - - 3112.19 - - - - - - - - - - -
6036.52 506.36 -6.64 916 6037.85 no move -1.50 - - 1958.25 - - - 2333.12 - -82.73 - - 3112.09 - - - - - - - - - - -
6351.14 527.63 -6.91 937 6355.79 roll -1.50 - - 1957.50 - 2.76 0.061 1209.06 -407.3 -82.73 - - 3112.34 - - - - - - - - - 15.89 -
6410.42 532.10 -7.58 946 6415.98 roll -1.50 - - 1956.69 - 2.61 0.026 2334.12 431.1 -82.73 - - 3112.47 - - - - - - - - - 15.98 -
6729.85 555.59 -7.56 968 6731.17 no move -1.50 - - 1957.88 - - - 2334.62 - -82.73 - - 3110.06 - - - - - - - - - - -
7045.07 580.11 -7.75 989 7046.40 no move -1.50 - - 1958.00 - - - 2334.44 - -82.73 - - 3111.38 - - - - - - - - - - -
7360.10 603.27 -7.18 1010 7364.75 roll -1.50 - - 1958.25 - 2.78 0.062 1209.12 -404.8 -82.73 - - 3109.12 - - - - - - - - - 15.88 -
7398.64 606.07 -7.35 1016 7404.18 roll -1.50 - - 1957.44 - 2.59 0.026 2330.56 433.0 -82.73 - - 3112.28 - - - - - - - - - 15.99 -
7718.07 628.82 -7.14 1038 7719.40 no move -1.50 - - 1958.56 - - - 2330.50 - -82.73 - - 3110.34 - - - - - - - - - - -
8033.06 651.51 -7.26 1059 8037.71 roll -1.50 - - 1958.06 - 2.78 0.062 1209.12 -403.4 -82.73 - - 3108.91 - - - - - - - - - 15.88 -
8134.43 659.19 -7.69 1074 8139.79 roll -1.50 - - 1957.94 - 2.60 0.026 2329.50 430.9 -82.73 - - 3111.69 - - - - - - - - - 15.99 -
8453.66 682.91 -7.74 1096 8458.30 roll -1.50 - - 1958.44 - 2.77 0.062 1208.75 -404.6 -82.73 - - 3108.66 - - - - - - - - - 15.88 -
8512.93 687.57 -7.97 1105 8518.48 roll -1.50 - - 1957.81 - 2.59 0.026 2323.94 430.6 -82.73 - - 3109.44 - - - - - - - - - 15.99 -
8832.34 712.69 -7.83 1127 8833.67 no move -1.50 - - 1958.00 - - - 2324.12 - -82.73 - - 3108.59 - - - - - - - - - - -
9147.34 736.30 -7.32 1148 9152.01 roll -1.50 - - 1958.06 - 2.84 0.087 3424.31 387.4 -82.73 - - 3108.16 - - - - - - - - - 15.82 -
9206.62 740.94 -7.83 1157 9212.17 roll -1.50 - - 1958.62 - 2.66 0.019 2222.94 -451.6 -82.73 - - 3108.44 - - - - - - - - - 15.97 -
9526.21 764.26 -7.20 1179 9530.97 roll -1.50 - - 1958.25 - 3.09 0.083 3424.94 389.0 -82.73 - - 3107.12 - - - - - - - - - 15.81 -
9585.50 768.95 -7.84 1188 9591.05 roll -1.50 - - 1959.00 - 2.65 0.019 2225.06 -452.8 -82.73 - - 3109.53 - - - - - - - - - 15.97 -
9904.92 792.45 -7.14 1210 9906.25 no move -1.50 - - 1958.38 - - - 2224.19 - -82.73 - - 3107.59 - - - - - - - - - - -
10219.96 814.46 -6.78 1231 10224.67 roll -1.50 - - 1958.31 - 3.11 0.083 3428.75 387.3 -82.73 - - 3106.97 - - - - - - - - - 15.80 -
10257.16 817.18 -6.99 1236 10261.80 roll -1.50 - - 1958.50 - 2.64 0.019 2226.75 -455.3 -82.73 - - 3106.09 - - - - - - - - - 15.95 -
10573.66 836.33 -5.76 1258 10578.25 roll -1.50 - - 1958.00 - 2.49 0.069 1209.31 -408.6 -82.73 - - 3106.25 - - - - - - - - - 15.85 -
10612.22 838.60 -5.90 1264 10617.74 roll -1.50 - - 1958.31 - 2.60 0.027 2329.62 430.9 -82.73 - - 3107.81 - - - - - - - - - 15.98 -
10931.63 856.65 -5.67 1286 10936.28 roll -1.50 - - 1957.56 - 2.76 0.064 1209.31 -405.9 -82.73 - - 3107.88 - - - - - - - - - 15.85 -
10990.93 860.09 -5.85 1295 10996.45 roll -1.50 - - 1957.75 - 2.60 0.027 2326.56 429.7 -82.73 - - 3107.50 - - - - - - - - - 15.98 -
11310.34 878.41 -5.94 1317 11311.67 no move -1.50 - - 1957.44 - - - 2327.56 - -82.73 - - 3105.50 - - - - - - - - - - -
11625.53 897.73 -6.26 1338 11630.24 roll -1.50 - - 1957.69 - 2.76 0.064 1209.06 -405.3 -82.73 - - 3107.81 - - - - - - - - - 15.84 -
11664.08 900.17 -6.38 1344 11669.60 roll -1.50 - - 1958.19 - 2.59 0.027 2323.50 430.3 -82.73 - - 3107.62 - - - - - - - - - 15.98 -
11983.48 920.21 -6.32 1366 11984.81 no move -1.50 - - 1957.50 - - - 2324.38 - -82.73 - - 3105.38 - - - - - - - - - - -
12298.48 941.16 -6.76 1387 12299.81 no move -1.50 - - 1958.88 - - - 2323.94 - -82.73 - - 3104.94 - - - - - - - - - - -
12613.69 961.65 -6.21 1408 12615.01 no move -1.50 - - 1957.81 - - - 2324.06 - -82.73 - - 3104.97 - - - - - - - - - - -
12928.54 981.44 -6.34 1429 12929.87 no move -1.50 - - 1957.31 - - - 2323.50 - -82.73 - - 3104.97 - - - - - - - - - - -
13063 end dive: TARGET_DEPTH_EXCEEDED
13063 begin apogee
13065.39 990.14 -6.46 1438 13141.02 -0.28 2.14 0.142 2254.00 138.6 0.16 0.161 2156.50 -1043.8 - 67.83 2.386 2774.25 -4.9 0.354 - - - - - - 15.66 15.09 10.01
13143 end apogee: CONTROL_FINISHED_OK
13143 begin climb
13143.68 992.00 - 1443 13230.65 1.50 2.95 0.090 2689.19 147.5 0.17 0.081 2038.75 -692.6 82.73 71.85 2.367 2435.88 -4.7 0.345 - - - - - - 15.42 15.54 11.54
13543.02 973.59 5.15 1476 13628.98 1.69 0.25 0.075 2741.50 209.2 - - 2038.12 - 179.14 84.05 2.369 2046.09 -4.6 0.333 - - - - - - 15.69 - 11.10
13940.55 940.69 8.65 1505 13945.25 done 1.69 - - 2741.19 - 3.05 0.079 3204.69 382.5 179.14 - - 2036.00 - - - - - - - - - 15.68 -
14026.67 933.29 9.22 1518 14041.43 done 1.69 - - 2741.00 - 2.63 0.025 2062.62 -434.2 179.14 - - 2035.94 - - - - - - - - - 15.77 -
14355.93 903.16 9.23 1540 14360.61 done 1.69 - - 2740.94 - 2.94 0.079 3204.62 388.4 179.14 - - 2035.31 - - - - - - - - - 15.77 -
14399.47 899.52 9.52 1547 14414.39 done 1.69 - - 2741.50 - 2.60 0.025 2069.75 -436.5 179.14 - - 2033.69 - - - - - - - - - 15.84 -
14728.90 867.77 9.46 1569 14733.56 done 1.69 - - 2741.12 - 2.73 0.087 994.56 -393.8 179.14 - - 2032.50 - - - - - - - - - 15.78 -
14767.45 864.04 9.77 1575 14773.01 done 1.69 - - 2740.88 - 2.67 0.024 2144.31 430.6 179.14 - - 2032.81 - - - - - - - - - 15.90 -
15086.87 834.84 8.98 1597 15088.20 VBD 1.69 - - 2740.69 - - - 2144.44 - 179.14 - - 2030.50 - - - - - - - - - - -
15401.91 807.12 8.65 1618 15406.77 done 1.69 - - 2740.44 - 2.94 0.081 994.06 -391.3 179.14 - - 2031.44 - - - - - - - - - 15.80 -
15482.11 799.84 9.20 1630 15487.49 done 1.69 - - 2740.56 - 2.66 0.025 2139.69 430.7 179.14 - - 2030.16 - - - - - - - - - 15.94 -
15801.35 773.22 8.14 1652 15802.69 VBD 1.69 - - 2740.25 - - - 2140.50 - 179.14 - - 2029.38 - - - - - - - - - - -
16116.38 748.64 7.84 1673 16121.07 done 1.70 - - 2740.12 - 2.94 0.081 994.62 -389.8 179.14 - - 2032.00 - - - - - - - - - 15.81 -
16159.92 745.47 8.21 1680 16174.87 done 1.70 - - 2740.81 - 2.64 0.024 2136.44 432.5 179.14 - - 2030.03 - - - - - - - - - 15.95 -
16489.35 720.42 7.26 1702 16494.00 done 1.73 - - 2740.75 - 2.73 0.084 3205.12 391.5 179.14 - - 2029.22 - - - - - - - - - 15.82 -
16532.90 717.50 7.58 1709 16547.83 done 1.75 - - 2741.69 - 2.61 0.025 2061.44 -438.2 179.14 - - 2031.28 - - - - - - - - - 15.95 -
16862.31 692.52 7.37 1731 16867.00 done 1.77 - - 2741.25 - 2.93 0.080 3204.88 390.3 179.14 - - 2028.78 - - - - - - - - - 15.82 -
16921.62 687.89 7.86 1740 16927.15 done 1.78 - - 2741.19 - 2.60 0.025 2066.06 -438.0 179.14 - - 2029.62 - - - - - - - - - 15.95 -
17241.04 663.25 7.95 1762 17245.69 done 1.79 - - 2741.56 - 2.72 0.086 993.44 -394.3 179.14 - - 2028.22 - - - - - - - - - 15.81 -
17319.91 656.20 8.86 1773 17324.61 done 1.79 - - 2741.62 - 2.65 0.025 2140.19 432.7 179.14 - - 2028.53 - - - - - - - - - 15.95 -
17636.39 627.89 9.12 1795 17641.07 done 1.79 - - 2741.06 - 2.91 0.081 994.81 -393.6 179.14 - - 2028.00 - - - - - - - - - 15.80 -
17674.94 624.31 9.39 1801 17680.50 done 1.79 - - 2741.06 - 2.64 0.024 2135.19 432.0 179.14 - - 2028.50 - - - - - - - - - 15.97 -
17994.52 594.59 9.12 1823 17999.21 done 1.79 - - 2741.94 - 2.92 0.080 994.94 -390.5 179.14 - - 2026.84 - - - - - - - - - 15.80 -
18052.46 589.05 9.41 1831 18057.10 done 1.79 - - 2741.38 - 2.63 0.024 2132.25 432.4 179.14 - - 2028.59 - - - - - - - - - 15.96 -
18368.97 563.37 7.64 1853 18370.30 VBD 1.81 - - 2741.88 - - - 2132.75 - 179.14 - - 2027.19 - - - - - - - - - - -
18684.00 540.32 7.01 1874 18688.65 done 1.84 - - 2740.88 - 2.76 0.083 3204.12 388.2 179.14 - - 2026.84 - - - - - - - - - 15.81 -
18741.96 535.91 7.45 1882 18746.67 1.86 0.17 0.089 2783.50 250.7 2.61 0.025 2054.06 -440.6 179.14 - - 2027.16 - - - - - - - - 15.76 15.95 -
19058.84 510.51 8.15 1904 19063.49 done 1.86 - - 2783.38 - 2.70 0.085 995.12 -392.2 179.14 - - 2027.28 - - - - - - - - - 15.79 -
19097.39 507.16 8.55 1910 19103.13 done 1.86 - - 2783.25 - 2.62 0.024 2131.38 433.7 179.14 - - 2027.72 - - - - - - - - - 15.97 -
19406.98 480.40 8.98 1937 19411.64 done 1.86 - - 2784.12 - 2.75 0.083 3205.12 390.5 179.14 - - 2026.69 - - - - - - - - - 15.80 -
19492.74 472.26 9.61 1949 19507.69 done 1.86 - - 2784.06 - 2.63 0.025 2054.19 -437.6 179.14 - - 2029.88 - - - - - - - - - 15.95 -
19809.37 443.91 8.74 1978 19814.05 done 1.86 - - 2784.12 - 2.96 0.079 3204.38 388.6 179.14 - - 2026.59 - - - - - - - - - 15.79 -
19862.29 439.07 8.98 1985 19866.93 done 1.86 - - 2784.19 - 2.61 0.025 2056.50 -439.8 179.14 - - 2026.88 - - - - - - - - - 15.95 -
20174.18 412.70 8.31 2014 20185.26 VBD 1.86 - - 2784.44 - - - 2056.62 - 179.14 - - 2026.59 - - - - - - - - - - -
20486.92 386.76 8.73 2043 20491.60 done 1.86 - - 2784.19 - 2.95 0.078 3204.94 389.3 179.14 - - 2027.81 - - - - - - - - - 15.79 -
20539.85 381.79 9.20 2050 20544.48 done 1.86 - - 2784.25 - 2.61 0.025 2058.12 -439.4 179.14 - - 2026.69 - - - - - - - - - 15.95 -
20851.75 354.88 8.65 2079 20862.82 VBD 1.86 - - 2784.62 - - - 2057.88 - 179.14 - - 2026.81 - - - - - - - - - - -
21164.48 329.07 7.84 2108 21169.12 done 1.87 - - 2784.06 - 2.68 0.084 993.50 -397.2 179.14 - - 2026.28 - - - - - - - - - 15.78 -
21218.77 324.72 8.05 2116 21233.90 done 1.87 - - 2784.50 - 2.63 0.024 2137.50 435.0 179.14 - - 2025.91 - - - - - - - - - 15.97 -
21536.19 303.01 6.30 2145 21597.17 done 1.99 - - 2784.00 - 2.77 0.084 3204.31 385.1 241.94 50.31 1.573 1788.59 -4.7 0.159 - - - - - - - 15.28 10.32
21654.45 293.98 8.24 2164 21659.82 roll 1.99 - - 2784.56 - 2.63 0.025 2056.94 -436.3 241.94 - - 1785.47 - - - - - - - - - 15.74 -
21964.52 270.57 7.68 2226 21969.88 done 2.01 - - 2784.56 - 2.71 0.084 993.25 -392.5 241.94 - - 1781.78 - - - - - - - - - 15.72 -
22004.32 267.17 8.50 2234 22009.88 roll 2.01 - - 2784.69 - 2.65 0.023 2137.06 431.6 241.94 - - 1780.91 - - - - - - - - - 15.83 -
22314.38 241.57 8.52 2296 22319.93 done 2.01 - - 2784.25 - 2.74 0.081 3205.31 389.9 241.94 - - 1779.62 - - - - - - - - - 15.76 -
22349.37 238.41 8.98 2303 22354.94 done 2.01 - - 2784.62 - 2.62 0.024 2059.50 -437.3 241.94 - - 1779.84 - - - - - - - - - 15.87 -
22659.59 211.95 8.40 2365 22660.93 VBD 2.01 - - 2784.38 - - - 2059.31 - 241.94 - - 1778.34 - - - - - - - - - - -
22964.58 186.12 8.52 2426 22965.91 VBD 2.01 - - 2784.44 - - - 2059.62 - 241.94 - - 1778.50 - - - - - - - - - - -
23269.68 160.63 7.97 2487 23275.28 done 2.01 - - 2783.94 - 2.93 0.077 3204.81 390.8 241.94 - - 1779.75 - - - - - - - - - 15.79 -
23299.68 158.10 8.27 2493 23305.23 done 2.01 - - 2784.44 - 2.61 0.024 2060.50 -438.4 241.94 - - 1778.88 - - - - - - - - - 15.92 -
23609.80 133.40 8.12 2555 23611.13 VBD 2.01 - - 2783.94 - - - 2061.06 - 241.94 - - 1777.66 - - - - - - - - - - -
23914.91 109.19 7.78 2616 23916.35 2.02 0.16 0.087 2822.06 238.2 - - 2060.62 - 241.94 - - 1779.16 - - - - - - - - 15.89 - -
24220.38 84.43 7.35 2677 24221.72 VBD 2.04 - - 2822.25 - - - 2060.81 - 241.94 - - 1777.47 - - - - - - - - - - -
24405.04 69.82 6.89 2714 24410.58 done 2.08 - - 2822.88 - 2.68 0.082 993.56 -398.2 241.94 - - 1778.03 - - - - - - - - - 15.79 -
24510.24 62.94 6.31 2735 24564.43 2.20 0.19 0.080 2868.94 242.4 2.66 0.023 2151.88 435.5 304.44 48.88 1.233 1533.50 -5.0 0.045 - - - - - - 15.77 15.94 10.79
24746.70 44.46 6.97 2782 24752.28 roll 2.23 - - 2869.25 - 2.95 0.076 993.69 -392.6 304.44 - - 1528.50 - - - - - - - - - 15.74 -
24981.76 28.43 7.18 2829 24987.32 done 2.26 - - 2868.62 - 2.77 0.024 2179.06 427.9 304.44 - - 1525.62 - - - - - - - - - 15.86 -
25171.82 15.63 6.84 2867 25177.43 done 2.29 - - 2868.50 - 3.02 0.075 993.44 -392.6 304.44 - - 1524.38 - - - - - - - - - 15.76 -
25331 end climb: SURFACE_DEPTH_REACHED
25332 begin surface coast
25387 end surface coast: CONTROL_FINISHED_OK
25387 begin surface
SM 0.70 - - - - 192.5 73.02 1.168 1145.1 15.7 16.65 0.051 1101.7 66.2 - 3.16 0.027 1188.6 375.2 -0.994 - - 11.12 15.83 15.89 -