NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 360 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 114.61 of 550.00 AH used of 24V (79.16% remains)
• Surface angle -64.6 deg, depth 1.59 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.87 (SM_CC=425)
• GPS1 time: 118 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
4 end surface: CONTROL_FINISHED_OK
5 begin dive
6.98 - - - 52.01 VBD -1.37 - - 181.88 - - - 2266.44 - -82.73 44.22 0.005 2191.31 - - - - - - - - - - 15.57
53.12 3.22 -3.74 8 100.66 -1.37 13.85 0.246 1988.62 130.5 2.55 0.067 1206.12 -415.8 -82.73 22.92 0.006 3112.03 40.2 -3.588 - - - - - - 15.64 15.56 15.60
149.01 21.25 -23.87 27 154.18 roll -1.37 - - 1988.44 - 2.65 0.029 2352.00 432.4 -82.73 - - 3113.28 - - - - - - - - - 15.83 -
339.09 54.48 -16.02 65 344.28 roll -1.37 - - 1988.56 - 2.76 0.059 1207.25 -414.8 -82.73 - - 3113.88 - - - - - - - - - 15.88 -
408.94 65.28 -15.47 79 414.35 roll -1.37 - - 1988.56 - 2.63 0.028 2353.81 436.0 -82.73 - - 3113.22 - - - - - - - - - 15.89 -
599.22 90.82 -11.57 117 604.38 roll -1.37 - - 1988.62 - 2.66 0.083 3428.62 404.1 -82.73 - - 3113.31 - - - - - - - - - 15.91 -
643.86 96.47 -12.76 126 649.37 roll -1.37 - - 1988.69 - 2.58 0.020 2244.44 -459.0 -82.73 - - 3114.56 - - - - - - - - - 15.94 -
838.90 115.72 -8.51 149 844.03 roll -1.37 - - 1988.69 - 2.93 0.078 3426.19 403.3 -82.73 - - 3115.16 - - - - - - - - - 15.95 -
948.93 126.39 -9.71 171 954.00 roll -1.37 - - 1987.69 - 2.57 0.020 2240.19 -461.5 -82.73 - - 3114.34 - - - - - - - - - 15.97 -
1259.18 150.19 -7.50 203 1260.51 no move -1.37 - - 1988.31 - - - 2239.69 - -82.73 - - 3113.41 - - - - - - - - - - -
1569.45 174.08 -8.11 234 1574.20 roll -1.37 - - 1988.69 - 2.94 0.079 3426.94 403.8 -82.73 - - 3114.97 - - - - - - - - - 16.01 -
1649.09 181.78 -10.03 250 1654.15 roll -1.37 - - 1987.94 - 2.56 0.020 2245.31 -461.6 -82.73 - - 3114.97 - - - - - - - - - 16.02 -
1959.16 208.66 -8.60 282 1960.48 no move -1.37 - - 1988.62 - - - 2244.44 - -82.73 - - 3112.81 - - - - - - - - - - -
2269.60 236.28 -9.16 313 2274.54 roll -1.37 - - 1988.44 - 2.92 0.080 3427.88 405.3 -82.73 - - 3114.34 - - - - - - - - - 16.04 -
2373.91 247.14 -10.44 334 2379.78 roll -1.37 - - 1988.50 - 2.56 0.021 2245.81 -461.7 -82.73 - - 3115.38 - - - - - - - - - 16.04 -
2689.33 276.02 -8.87 366 2694.44 roll -1.37 - - 1988.44 - 2.89 0.081 3427.00 408.7 -82.73 - - 3114.62 - - - - - - - - - 16.04 -
2793.89 286.73 -10.08 387 2799.88 roll -1.37 - - 1988.81 - 2.55 0.021 2243.75 -464.0 -82.73 - - 3114.66 - - - - - - - - - 16.05 -
3109.38 314.98 -9.07 419 3114.49 roll -1.37 - - 1988.69 - 2.89 0.081 3426.75 409.3 -82.73 - - 3112.69 - - - - - - - - - 16.06 -
3183.94 322.53 -10.37 434 3189.92 roll -1.37 - - 1988.69 - 2.55 0.021 2244.56 -463.6 -82.73 - - 3113.19 - - - - - - - - - 16.07 -
3499.44 350.51 -8.63 466 3500.77 no move -1.37 - - 1988.62 - - - 2244.19 - -82.73 - - 3111.28 - - - - - - - - - - -
3809.86 377.24 -8.68 497 3811.19 no move -1.37 - - 1988.50 - - - 2244.00 - -82.73 - - 3110.31 - - - - - - - - - - -
4119.90 404.12 -8.58 528 4121.22 no move -1.37 - - 1988.31 - - - 2244.31 - -82.73 - - 3110.09 - - - - - - - - - - -
4429.94 430.41 -8.49 559 4434.68 roll -1.37 - - 1988.69 - 2.93 0.083 3425.31 403.1 -82.73 - - 3111.56 - - - - - - - - - 16.07 -
4499.56 437.07 -9.66 573 4504.81 roll -1.37 - - 1988.69 - 2.55 0.021 2247.94 -461.7 -82.73 - - 3110.19 - - - - - - - - - 16.08 -
4809.79 463.32 -8.56 605 4814.74 roll -1.37 - - 1988.56 - 2.93 0.083 3425.44 401.9 -82.73 - - 3111.47 - - - - - - - - - 16.07 -
4919.66 473.91 -9.59 627 4924.72 roll -1.37 - - 1988.31 - 2.55 0.022 2249.19 -461.3 -82.73 - - 3111.34 - - - - - - - - - 16.08 -
5229.73 499.12 -8.19 659 5234.85 roll -1.37 - - 1988.62 - 2.92 0.084 3425.25 402.8 -82.73 - - 3108.84 - - - - - - - - - 16.08 -
5314.30 506.70 -9.04 676 5320.28 roll -1.37 - - 1988.44 - 2.54 0.022 2247.06 -463.9 -82.73 - - 3109.72 - - - - - - - - - 16.08 -
5629.82 529.76 -6.99 708 5634.95 roll -1.37 - - 1988.94 - 2.93 0.084 3425.56 402.2 -82.73 - - 3108.38 - - - - - - - - - 16.09 -
5674.37 533.60 -8.28 717 5680.35 roll -1.37 - - 1988.94 - 2.53 0.022 2247.06 -465.8 -82.73 - - 3108.53 - - - - - - - - - 16.10 -
5989.90 556.27 -7.34 749 5991.23 no move -1.37 - - 1988.69 - - - 2246.62 - -82.73 - - 3106.94 - - - - - - - - - - -
6300.34 578.79 -7.02 780 6305.09 roll -1.37 - - 1988.62 - 2.92 0.085 3427.19 404.3 -82.73 - - 3108.25 - - - - - - - - - 16.08 -
6389.99 586.33 -8.38 798 6395.05 roll -1.37 - - 1989.00 - 2.53 0.022 2249.75 -465.4 -82.73 - - 3107.97 - - - - - - - - - 16.10 -
6700.23 607.77 -6.62 830 6705.24 roll -1.37 - - 1988.38 - 2.92 0.085 3427.75 403.4 -82.73 - - 3107.66 - - - - - - - - - 16.08 -
6820.09 617.80 -8.47 854 6825.15 roll -1.37 - - 1987.94 - 2.54 0.022 2248.62 -464.2 -82.73 - - 3106.44 - - - - - - - - - 16.08 -
7130.16 641.50 -8.32 886 7131.48 no move -1.37 - - 1988.94 - - - 2248.94 - -82.73 - - 3104.62 - - - - - - - - - - -
7440.60 666.75 -8.11 917 7441.93 no move -1.37 - - 1989.00 - - - 2248.62 - -82.73 - - 3104.75 - - - - - - - - - - -
7750.66 692.28 -8.13 948 7755.41 roll -1.37 - - 1988.62 - 2.92 0.086 3426.94 403.5 -82.73 - - 3106.56 - - - - - - - - - 16.08 -
7910.71 706.99 -9.37 980 7915.39 roll -1.37 - - 1989.19 - 2.54 0.022 2248.62 -463.9 -82.73 - - 3105.88 - - - - - - - - - 16.08 -
8220.36 730.79 -7.56 1012 8221.69 no move -1.37 - - 1989.25 - - - 2247.75 - -82.73 - - 3102.97 - - - - - - - - - - -
8530.78 753.50 -7.61 1043 8535.53 roll -1.37 - - 1988.12 - 2.93 0.087 3425.69 402.0 -82.73 - - 3103.59 - - - - - - - - - 16.07 -
8594.95 758.93 -8.39 1056 8600.93 roll -1.37 - - 1989.19 - 2.53 0.022 2248.75 -465.2 -82.73 - - 3103.50 - - - - - - - - - 16.10 -
8910.44 781.85 -7.13 1088 8915.11 roll -1.37 - - 1989.12 - 2.45 0.071 1207.25 -425.1 -82.73 - - 3103.50 - - - - - - - - - 16.09 -
8965.09 785.98 -7.86 1099 8971.00 roll -1.37 - - 1989.38 - 2.61 0.030 2353.00 439.0 -82.73 - - 3103.38 - - - - - - - - - 16.09 -
9280.48 808.50 -6.72 1131 9281.81 no move -1.37 - - 1988.88 - - - 2352.62 - -82.73 - - 3101.62 - - - - - - - - - - -
9590.91 830.46 -7.14 1162 9592.24 no move -1.37 - - 1989.19 - - - 2353.00 - -82.73 - - 3101.53 - - - - - - - - - - -
9900.95 851.59 -6.32 1193 9905.64 roll -1.37 - - 1988.94 - 2.70 0.065 1207.25 -424.4 -82.73 - - 3102.19 - - - - - - - - - 16.09 -
9990.74 857.76 -7.12 1211 9995.66 roll -1.37 - - 1988.94 - 2.61 0.031 2351.81 438.5 -82.73 - - 3103.06 - - - - - - - - - 16.08 -
10301.02 877.72 -6.16 1243 10302.35 no move -1.37 - - 1988.88 - - - 2351.69 - -82.73 - - 3101.38 - - - - - - - - - - -
10611.10 897.58 -6.33 1274 10612.43 no move -1.37 - - 1988.81 - - - 2351.50 - -82.73 - - 3100.41 - - - - - - - - - - -
10921.14 917.85 -6.53 1305 10925.86 roll -1.37 - - 1989.44 - 2.71 0.065 1207.44 -422.2 -82.73 - - 3101.75 - - - - - - - - - 16.09 -
10980.77 921.97 -7.23 1317 10985.85 roll -1.37 - - 1989.06 - 2.60 0.031 2353.06 440.6 -82.73 - - 3103.00 - - - - - - - - - 16.10 -
11291.24 943.80 -6.94 1349 11295.93 roll -1.37 - - 1988.88 - 2.67 0.094 3425.88 401.8 -82.73 - - 3101.50 - - - - - - - - - 16.06 -
11375.60 950.50 -7.74 1366 11381.46 roll -1.37 - - 1989.75 - 2.54 0.023 2245.88 -464.6 -82.73 - - 3101.09 - - - - - - - - - 16.08 -
11690.96 971.53 -6.78 1398 11695.60 roll -1.37 - - 1989.12 - 2.45 0.071 1208.75 -423.3 -82.73 - - 3100.88 - - - - - - - - - 16.07 -
11725.49 973.81 -6.99 1405 11731.52 roll -1.37 - - 1989.00 - 2.61 0.031 2352.94 438.4 -82.73 - - 3102.06 - - - - - - - - - 16.07 -
11960 end dive: TARGET_DEPTH_EXCEEDED
11960 begin apogee
11962.83 990.58 -7.03 1429 12028.37 -0.28 1.80 0.148 2254.25 147.4 0.22 0.136 2282.56 -319.9 - 60.87 2.426 2772.62 -5.4 0.368 - - - - - - 15.99 15.65 12.05
12038 end apogee: CONTROL_FINISHED_OK
12038 begin climb
12038.87 991.69 - 1435 12114.51 1.37 2.63 0.096 2656.19 152.8 2.80 0.095 3344.50 379.3 82.73 66.36 2.408 2437.19 -5.1 0.346 - - - - - - 15.69 15.33 12.70
12127.33 987.43 6.07 1451 12164.13 done 1.44 - - 2656.50 - 2.64 0.023 2186.75 -438.5 117.72 30.40 2.286 2294.34 -4.7 0.338 - - - - - - - 15.46 12.62
12472.67 956.06 10.09 1489 12477.73 roll 1.44 - - 2656.38 - 2.58 0.079 1131.38 -409.1 117.72 - - 2287.66 - - - - - - - - - 15.73 -
12602.73 941.94 10.83 1515 12607.81 done 1.44 - - 2656.62 - 2.66 0.031 2271.88 428.8 117.72 - - 2286.59 - - - - - - - - - 15.79 -
12913.17 911.70 9.84 1547 12914.50 VBD 1.44 - - 2656.75 - - - 2272.56 - 117.72 - - 2283.94 - - - - - - - - - - -
13223.25 880.92 10.02 1578 13227.95 done 1.44 - - 2656.88 - 2.75 0.076 1132.62 -414.5 117.72 - - 2285.62 - - - - - - - - - 15.93 -
13322.89 871.63 9.10 1598 13327.96 done 1.44 - - 2656.25 - 2.62 0.030 2271.94 434.9 117.72 - - 2286.41 - - - - - - - - - 15.95 -
13633.35 848.27 7.28 1630 13638.05 done 1.46 - - 2656.56 - 2.75 0.075 1131.12 -414.8 117.72 - - 2284.22 - - - - - - - - - 15.97 -
13743.00 839.88 7.15 1652 13748.07 done 1.49 - - 2654.75 - 2.62 0.031 2273.56 436.0 117.72 - - 2284.69 - - - - - - - - - 15.98 -
14053.45 818.78 6.98 1684 14058.38 1.52 0.18 0.084 2704.50 276.4 2.74 0.075 1131.38 -416.9 117.72 - - 2283.47 - - - - - - - - 15.98 15.97 -
14217.64 805.15 8.01 1717 14223.65 done 1.52 - - 2704.44 - 2.62 0.032 2271.75 435.3 117.72 - - 2284.62 - - - - - - - - - 16.02 -
14533.55 780.56 8.10 1749 14538.26 done 1.52 - - 2704.50 - 2.73 0.075 1130.25 -418.1 117.72 - - 2284.28 - - - - - - - - - 16.02 -
14723.23 763.46 8.86 1787 14728.32 done 1.52 - - 2704.31 - 2.62 0.032 2271.81 435.7 117.72 - - 2284.66 - - - - - - - - - 16.03 -
15033.68 736.28 8.92 1819 15038.40 done 1.52 - - 2704.25 - 2.74 0.075 1130.06 -416.7 117.72 - - 2283.91 - - - - - - - - - 16.02 -
15243.35 715.50 10.23 1861 15248.44 done 1.52 - - 2704.69 - 2.62 0.032 2272.38 436.0 117.72 - - 2283.81 - - - - - - - - - 16.04 -
15553.77 686.22 9.84 1893 15558.49 done 1.52 - - 2704.94 - 2.75 0.075 1130.00 -415.4 117.72 - - 2282.59 - - - - - - - - - 16.04 -
15713.81 669.97 10.19 1925 15718.50 done 1.52 - - 2703.12 - 2.62 0.032 2272.12 435.9 117.72 - - 2283.31 - - - - - - - - - 16.04 -
16024.20 641.81 8.51 1957 16028.56 done 1.52 - - 2704.25 - 2.73 0.075 1128.56 -418.9 117.72 - - 2282.44 - - - - - - - - - 16.04 -
16258.05 620.29 8.93 2004 16264.03 done 1.52 - - 2704.75 - 2.60 0.032 2272.00 439.8 117.72 - - 2283.00 - - - - - - - - - 16.06 -
16574.12 594.48 7.79 2036 16578.65 done 1.53 - - 2704.62 - 2.73 0.075 1131.44 -417.8 117.72 - - 2282.09 - - - - - - - - - 16.07 -
16708.12 582.69 8.99 2063 16714.12 done 1.53 - - 2704.56 - 2.61 0.031 2271.50 436.8 117.72 - - 2282.62 - - - - - - - - - 16.05 -
17024.04 556.87 8.22 2095 17028.75 done 1.53 - - 2704.75 - 2.74 0.074 1130.12 -416.6 117.72 - - 2282.41 - - - - - - - - - 16.04 -
17258.29 537.54 8.37 2142 17264.29 done 1.53 - - 2704.50 - 2.61 0.031 2270.19 436.8 117.72 - - 2282.06 - - - - - - - - - 16.07 -
17574.44 514.55 7.07 2174 17578.92 done 1.56 - - 2704.38 - 2.73 0.074 1130.19 -417.6 117.72 - - 2282.09 - - - - - - - - - 16.05 -
17803.89 496.65 8.03 2220 17809.15 done 1.56 - - 2704.94 - 2.62 0.031 2272.69 436.1 117.72 - - 2283.91 - - - - - - - - - 16.07 -
18114.58 472.79 7.92 2252 18119.06 done 1.57 - - 2704.62 - 2.73 0.074 1130.00 -418.6 117.72 - - 2281.91 - - - - - - - - - 16.07 -
18264.01 460.35 8.48 2282 18269.93 done 1.57 - - 2703.94 - 2.61 0.031 2272.56 437.8 117.72 - - 2283.12 - - - - - - - - - 16.05 -
18574.47 437.03 7.33 2314 18579.17 done 1.59 - - 2704.44 - 2.74 0.074 1129.62 -417.1 117.72 - - 2283.53 - - - - - - - - - 16.07 -
18698.67 427.28 7.64 2339 18704.62 done 1.61 - - 2704.44 - 2.60 0.031 2274.75 440.4 117.72 - - 2282.72 - - - - - - - - - 16.05 -
19014.58 405.47 6.58 2371 19015.91 VBD 1.65 - - 2704.19 - - - 2275.12 - 117.72 - - 2280.66 - - - - - - - - - - -
19324.64 384.32 6.76 2402 19329.33 done 1.68 - - 2704.19 - 2.73 0.074 1129.88 -419.5 117.72 - - 2281.88 - - - - - - - - - 16.06 -
19438.83 376.25 7.12 2425 19444.85 1.71 0.17 0.086 2750.62 273.1 2.59 0.031 2272.12 441.0 117.72 - - 2283.78 - - - - - - - - 15.97 16.06 -
19754.73 353.54 6.82 2457 19759.61 done 1.74 - - 2749.81 - 2.72 0.074 1131.06 -419.5 117.72 - - 2282.47 - - - - - - - - - 16.06 -
19814.48 349.05 7.65 2469 19819.42 done 1.76 - - 2750.06 - 2.59 0.031 2271.62 440.4 117.72 - - 2282.28 - - - - - - - - - 16.05 -
20124.81 327.60 6.76 2501 20129.48 done 1.79 - - 2750.94 - 2.74 0.073 1128.69 -417.1 117.72 - - 2283.22 - - - - - - - - - 16.06 -
20198.95 321.84 7.92 2516 20204.94 done 1.80 - - 2749.75 - 2.60 0.030 2273.38 440.3 117.72 - - 2282.84 - - - - - - - - - 16.04 -
20514.83 298.34 7.64 2548 20516.17 VBD 1.82 - - 2750.69 - - - 2273.25 - 117.72 - - 2281.28 - - - - - - - - - - -
20824.87 276.90 6.77 2579 20826.20 VBD 1.85 - - 2750.88 - - - 2273.38 - 117.72 - - 2281.31 - - - - - - - - - - -
21134.90 254.55 7.41 2610 21136.24 VBD 1.87 - - 2751.06 - - - 2273.62 - 117.72 - - 2281.44 - - - - - - - - - - -
21444.94 232.89 6.70 2641 21449.68 1.91 0.17 0.081 2798.50 279.1 2.74 0.072 1129.06 -417.7 117.72 - - 2283.75 - - - - - - - - 16.02 16.00 -
21679.13 213.02 8.37 2688 21685.12 done 1.91 - - 2798.06 - 2.60 0.030 2273.38 440.1 117.72 - - 2282.91 - - - - - - - - - 16.03 -
21995.06 189.86 7.49 2720 21999.75 done 1.93 - - 2799.19 - 2.65 0.089 3347.25 405.2 117.72 - - 2283.38 - - - - - - - - - 15.95 -
22089.43 181.68 8.68 2739 22095.29 done 1.93 - - 2798.88 - 2.54 0.023 2183.94 -458.0 117.72 - - 2282.88 - - - - - - - - - 16.05 -
22405.17 159.42 6.99 2771 22409.84 done 1.96 - - 2798.88 - 2.51 0.077 1128.75 -420.4 117.72 - - 2282.75 - - - - - - - - - 16.03 -
22604.85 144.63 6.77 2811 22609.90 done 1.99 - - 2799.12 - 2.60 0.029 2276.12 441.3 117.72 - - 2283.88 - - - - - - - - - 16.04 -
22915.30 128.16 4.96 2843 22957.60 2.09 0.17 0.086 2844.62 267.6 2.75 0.073 1129.88 -416.8 168.98 37.03 1.327 2086.88 -5.3 0.086 - - - - - - 16.00 15.91 12.06
23045.14 117.76 8.52 2869 23051.14 roll 2.09 - - 2845.06 - 2.61 0.029 2274.50 438.6 168.98 - - 2082.47 - - - - - - - - - 15.93 -
23355.70 96.47 5.81 2906 23392.19 done 2.17 - - 2845.56 - 2.75 0.073 1130.00 -416.2 207.90 29.77 1.263 1927.00 -5.2 0.066 - - - - - - - 15.83 12.41
23465.85 89.04 7.30 2928 23471.45 roll 2.19 - - 2845.38 - 2.61 0.028 2274.75 438.6 207.90 - - 1922.78 - - - - - - - - - 15.89 -
23655.81 73.93 7.28 2966 23657.13 no move 2.22 - - 2844.88 - - - 2274.88 - 207.90 - - 1920.28 - - - - - - - - - - -
23840.88 62.20 6.01 3003 23871.51 2.29 0.17 0.081 2891.38 273.5 - - 2274.81 - 243.89 27.72 1.211 1780.78 -5.0 0.043 - - - - - - 15.91 - 12.43
24055.96 47.09 6.89 3046 24061.50 roll 2.32 - - 2892.50 - 2.76 0.071 1130.00 -414.8 243.89 - - 1775.50 - - - - - - - - - 15.84 -
24100.97 43.88 7.12 3055 24106.51 roll 2.35 - - 2891.81 - 2.61 0.028 2276.00 439.1 243.89 - - 1774.59 - - - - - - - - - 15.84 -
24291.06 31.96 5.43 3093 24331.87 done 2.44 - - 2893.19 - 2.66 0.089 3348.06 403.0 288.35 33.71 1.181 1599.16 -5.2 0.023 - - - - - - - 15.76 12.45
24561.15 17.95 3.07 3147 24628.05 2.59 0.35 0.063 2962.44 197.9 2.57 0.022 2175.50 -456.2 367.40 59.06 1.168 1277.28 -5.5 0.014 - - - - - - 15.80 15.87 12.50
24811.23 3.10 7.41 3197 24816.80 roll 2.61 - - 2962.38 - 2.93 0.081 3347.94 400.2 367.40 - - 1269.88 - - - - - - - - - 15.80 -
24825 end climb: SURFACE_DEPTH_REACHED
24826 begin surface coast
24861 end surface coast: CONTROL_FINISHED_OK
24861 begin surface
SM 3.60 - - - - 183.1 42.52 1.143 1043.0 24.5 17.07 0.044 999.2 58.5 - 2.37 0.020 1086.8 457.3 -8.414 - - 12.48 15.80 15.82 -