NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 456 * Raw log
prev dive * next dive * dive
• Previous call tries 5 • 147.26 of 550.00 AH used of 24V (73.23% remains)
• Surface angle -64.7 deg, depth 0.63 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 424.86 (SM_CC=425)
• GPS1 time: 38 s
• GPS2 time: 3 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
5.13 - - - 56.77 VBD -1.37 - - 178.56 - - - 2239.62 - -82.73 50.42 0.005 2421.00 - - - - - - - - - - 15.48
57.49 3.49 -8.03 9 94.87 -1.37 13.98 0.247 1989.00 129.5 2.46 0.066 1207.62 -419.5 -82.73 14.01 0.006 3112.28 49.3 -4.770 - - - - - - 15.66 15.42 15.53
166.96 29.94 -24.44 31 172.51 roll -1.37 - - 1988.38 - 2.62 0.029 2351.75 436.7 -82.73 - - 3112.84 - - - - - - - - - 15.83 -
357.40 57.52 -13.53 69 362.79 roll -1.37 - - 1988.56 - 2.72 0.058 1207.25 -420.8 -82.73 - - 3113.25 - - - - - - - - - 15.88 -
487.19 75.04 -14.08 95 492.62 roll -1.37 - - 1987.44 - 2.61 0.028 2353.81 439.3 -82.73 - - 3114.44 - - - - - - - - - 15.90 -
677.53 95.94 -10.04 133 678.86 no move -1.37 - - 1988.88 - - - 2353.88 - -82.73 - - 3111.38 - - - - - - - - - - -
862.19 112.86 -8.46 170 867.76 roll -1.37 - - 1988.88 - 2.72 0.057 1205.81 -422.1 -82.73 - - 3113.06 - - - - - - - - - 15.94 -
912.20 117.34 -9.19 180 917.74 roll -1.37 - - 1988.31 - 2.59 0.027 2355.38 443.8 -82.73 - - 3113.22 - - - - - - - - - 15.96 -
1222.32 142.78 -8.39 242 1227.87 roll -1.37 - - 1987.50 - 2.70 0.058 1208.12 -424.9 -82.73 - - 3114.72 - - - - - - - - - 15.98 -
1262.32 146.42 -9.10 250 1267.85 roll -1.37 - - 1989.00 - 2.58 0.028 2356.44 445.1 -82.73 - - 3112.69 - - - - - - - - - 15.98 -
1572.42 173.37 -8.56 312 1573.75 no move -1.37 - - 1988.62 - - - 2356.38 - -82.73 - - 3111.56 - - - - - - - - - - -
1877.52 200.32 -9.39 373 1883.08 roll -1.37 - - 1988.31 - 2.71 0.059 1206.81 -424.2 -82.73 - - 3112.84 - - - - - - - - - 16.02 -
1972.70 209.20 -9.41 392 1978.12 roll -1.37 - - 1988.19 - 2.59 0.029 2354.88 443.3 -82.73 - - 3112.72 - - - - - - - - - 16.02 -
2282.58 237.28 -8.74 454 2288.13 roll -1.37 - - 1988.25 - 2.70 0.060 1205.81 -425.6 -82.73 - - 3111.69 - - - - - - - - - 16.02 -
2367.58 245.43 -9.74 471 2373.11 roll -1.37 - - 1988.88 - 2.59 0.029 2355.50 443.9 -82.73 - - 3110.94 - - - - - - - - - 16.02 -
2677.63 274.65 -9.07 533 2678.96 no move -1.37 - - 1988.62 - - - 2355.62 - -82.73 - - 3108.91 - - - - - - - - - - -
2987.69 301.34 -8.91 594 2989.02 no move -1.37 - - 1988.25 - - - 2355.62 - -82.73 - - 3108.41 - - - - - - - - - - -
3296.80 330.38 -9.29 622 3301.45 roll -1.37 - - 1987.81 - 2.70 0.061 1207.12 -425.4 -82.73 - - 3108.50 - - - - - - - - - 16.05 -
3445.49 344.62 -9.66 642 3460.41 roll -1.37 - - 1988.06 - 2.58 0.029 2352.44 443.9 -82.73 - - 3108.81 - - - - - - - - - 16.06 -
3762.42 375.07 -9.34 671 3767.04 roll -1.37 - - 1988.81 - 2.62 0.088 3428.69 410.8 -82.73 - - 3105.41 - - - - - - - - - 16.03 -
3832.43 382.02 -10.00 681 3847.53 roll -1.37 - - 1988.75 - 2.55 0.021 2241.88 -465.4 -82.73 - - 3105.97 - - - - - - - - - 16.06 -
4149.00 409.29 -8.27 710 4153.59 roll -1.37 - - 1988.56 - 2.44 0.068 1208.69 -423.4 -82.73 - - 3105.03 - - - - - - - - - 16.05 -
4203.59 414.01 -8.78 718 4218.51 roll -1.37 - - 1988.62 - 2.58 0.030 2353.62 443.8 -82.73 - - 3104.75 - - - - - - - - - 16.06 -
4519.70 443.16 -9.68 747 4530.77 no move -1.37 - - 1989.00 - - - 2352.50 - -82.73 - - 3104.41 - - - - - - - - - - -
4832.34 471.63 -8.70 776 4836.98 roll -1.37 - - 1988.56 - 2.71 0.063 1208.25 -422.2 -82.73 - - 3103.47 - - - - - - - - - 16.05 -
4886.60 476.43 -8.90 784 4901.52 roll -1.37 - - 1988.50 - 2.57 0.030 2353.00 445.4 -82.73 - - 3102.56 - - - - - - - - - 16.06 -
5212.12 502.45 -7.40 813 5216.76 roll -1.37 - - 1988.75 - 2.71 0.063 1207.69 -422.6 -82.73 - - 3100.59 - - - - - - - - - 16.06 -
5250.65 505.44 -7.76 819 5256.18 roll -1.37 - - 1987.94 - 2.58 0.030 2352.81 443.8 -82.73 - - 3103.00 - - - - - - - - - 16.06 -
5570.05 531.33 -8.60 841 5571.38 no move -1.37 - - 1988.69 - - - 2353.50 - -82.73 - - 3100.03 - - - - - - - - - - -
5885.06 558.00 -8.45 862 5889.71 roll -1.37 - - 1988.06 - 2.71 0.064 1208.81 -422.4 -82.73 - - 3100.00 - - - - - - - - - 16.06 -
5949.34 563.04 -8.63 872 5964.45 roll -1.37 - - 1988.50 - 2.58 0.031 2351.25 442.8 -82.73 - - 3100.56 - - - - - - - - - 16.06 -
6278.87 590.17 -7.87 894 6283.51 roll -1.37 - - 1988.69 - 2.72 0.064 1208.38 -420.2 -82.73 - - 3098.84 - - - - - - - - - 16.06 -
6336.80 595.03 -8.23 902 6341.41 roll -1.37 - - 1988.62 - 2.57 0.030 2351.44 444.8 -82.73 - - 3098.72 - - - - - - - - - 16.06 -
6653.30 620.83 -8.18 924 6654.62 no move -1.37 - - 1988.31 - - - 2351.19 - -82.73 - - 3098.25 - - - - - - - - - - -
6968.34 647.09 -8.46 945 6972.98 roll -1.37 - - 1988.62 - 2.71 0.064 1209.00 -421.5 -82.73 - - 3098.44 - - - - - - - - - 16.05 -
7027.61 652.28 -8.82 954 7033.15 roll -1.37 - - 1987.50 - 2.58 0.031 2350.69 442.5 -82.73 - - 3099.28 - - - - - - - - - 16.06 -
7347.02 678.98 -8.27 976 7351.66 roll -1.37 - - 1987.81 - 2.71 0.064 1207.19 -422.0 -82.73 - - 3097.56 - - - - - - - - - 16.06 -
7405.54 683.92 -8.47 984 7410.15 roll -1.37 - - 1988.25 - 2.58 0.031 2352.81 444.0 -82.73 - - 3098.53 - - - - - - - - - 16.05 -
7722.01 709.55 -8.36 1006 7726.64 roll -1.37 - - 1988.50 - 2.62 0.092 3424.75 409.1 -82.73 - - 3096.19 - - - - - - - - - 16.02 -
7864.25 723.28 -9.87 1027 7869.78 roll -1.37 - - 1988.88 - 2.54 0.022 2247.81 -463.4 -82.73 - - 3096.81 - - - - - - - - - 16.06 -
8183.65 751.40 -8.73 1049 8188.42 roll -1.37 - - 1988.44 - 2.46 0.069 1209.88 -421.9 -82.73 - - 3096.38 - - - - - - - - - 16.05 -
8222.30 754.81 -8.94 1055 8227.73 roll -1.37 - - 1987.50 - 2.57 0.031 2351.19 444.1 -82.73 - - 3097.16 - - - - - - - - - 16.06 -
8541.59 782.65 -8.81 1077 8542.92 no move -1.37 - - 1988.44 - - - 2352.38 - -82.73 - - 3094.66 - - - - - - - - - - -
8856.62 808.69 -7.92 1098 8857.95 no move -1.37 - - 1988.81 - - - 2351.12 - -82.73 - - 3094.09 - - - - - - - - - - -
9171.63 831.88 -7.29 1119 9172.96 no move -1.37 - - 1988.25 - - - 2351.81 - -82.73 - - 3093.44 - - - - - - - - - - -
9486.66 852.89 -6.51 1140 9491.31 roll -1.37 - - 1988.88 - 2.72 0.065 1208.31 -420.4 -82.73 - - 3093.34 - - - - - - - - - 16.04 -
9550.93 856.90 -6.81 1150 9565.85 roll -1.37 - - 1988.38 - 2.58 0.031 2352.56 443.5 -82.73 - - 3094.28 - - - - - - - - - 16.06 -
9880.35 879.83 -6.98 1172 9881.68 no move -1.37 - - 1988.94 - - - 2352.25 - -82.73 - - 3092.94 - - - - - - - - - - -
10195.40 901.59 -7.07 1193 10200.05 roll -1.37 - - 1988.25 - 2.72 0.065 1207.19 -421.0 -82.73 - - 3092.97 - - - - - - - - - 16.04 -
10296.13 908.72 -7.17 1208 10301.67 roll -1.37 - - 1988.56 - 2.58 0.031 2351.88 443.7 -82.73 - - 3093.84 - - - - - - - - - 16.05 -
10615.56 929.30 -6.22 1230 10616.89 no move -1.37 - - 1988.56 - - - 2351.50 - -82.73 - - 3091.72 - - - - - - - - - - -
10930.57 947.02 -5.49 1251 10935.21 roll -1.37 - - 1988.44 - 2.72 0.065 1208.38 -420.3 -82.73 - - 3093.41 - - - - - - - - - 16.03 -
11031.32 953.37 -6.41 1266 11036.83 roll -1.37 - - 1988.12 - 2.58 0.032 2349.88 442.4 -82.73 - - 3093.25 - - - - - - - - - 16.05 -
11350.90 973.15 -6.22 1288 11352.23 no move -1.37 - - 1988.31 - - - 2350.56 - -82.73 - - 3091.34 - - - - - - - - - - -
11621 end dive: TARGET_DEPTH_EXCEEDED
11621 begin apogee
11622.73 990.44 -6.51 1306 11686.06 -0.28 1.82 0.146 2254.38 146.2 0.22 0.135 2282.94 -307.4 - 59.28 2.426 2773.28 -5.4 0.364 - - - - - - 15.92 15.64 11.41
11688 end apogee: CONTROL_FINISHED_OK
11688 begin climb
11687.96 991.73 - 1310 11762.13 1.37 2.62 0.090 2657.00 153.7 - - 2282.44 - 82.73 66.76 2.391 2437.66 -5.0 0.347 - - - - - - 15.67 - 12.61
12074.49 964.90 7.73 1336 12075.82 no move 1.38 - - 2655.94 - - - 2282.25 - 82.73 - - 2430.16 - - - - - - - - - - -
12389.54 940.87 7.62 1357 12390.87 no move 1.40 - - 2655.94 - - - 2283.06 - 82.73 - - 2429.03 - - - - - - - - - - -
12704.54 915.15 8.03 1378 12705.87 VBD 1.40 - - 2656.88 - - - 2283.00 - 82.73 - - 2428.41 - - - - - - - - - - -
13019.57 891.77 7.15 1399 13020.91 VBD 1.42 - - 2656.62 - - - 2283.06 - 82.73 - - 2428.12 - - - - - - - - - - -
13334.59 869.78 7.03 1420 13339.22 done 1.45 - - 2656.31 - 2.65 0.095 3345.56 400.9 82.73 - - 2427.47 - - - - - - - - - 15.91 -
13371.79 866.89 7.42 1425 13376.40 done 1.47 - - 2657.00 - 2.57 0.025 2187.75 -450.5 82.73 - - 2428.09 - - - - - - - - - 15.93 -
13688.48 843.80 7.30 1447 13689.92 1.50 0.14 0.096 2696.25 280.4 - - 2187.00 - 82.73 - - 2428.25 - - - - - - - - 15.93 - -
14003.50 818.76 8.07 1468 14004.83 VBD 1.50 - - 2696.31 - - - 2187.25 - 82.73 - - 2427.50 - - - - - - - - - - -
14318.56 794.10 7.68 1489 14323.22 done 1.51 - - 2696.62 - 2.88 0.090 3345.81 402.3 82.73 - - 2428.59 - - - - - - - - - 15.95 -
14419.30 785.42 8.74 1504 14424.83 done 1.51 - - 2696.62 - 2.56 0.025 2188.44 -452.1 82.73 - - 2428.69 - - - - - - - - - 15.98 -
14738.72 760.67 7.48 1526 14740.05 VBD 1.53 - - 2697.12 - - - 2188.81 - 82.73 - - 2427.28 - - - - - - - - - - -
15053.72 738.47 6.81 1547 15055.06 VBD 1.57 - - 2696.19 - - - 2188.31 - 82.73 - - 2427.03 - - - - - - - - - - -
15368.75 716.72 7.12 1568 15370.08 VBD 1.59 - - 2696.44 - - - 2188.44 - 82.73 - - 2426.38 - - - - - - - - - - -
15683.76 695.22 6.78 1589 15688.37 done 1.63 - - 2696.19 - 2.57 0.080 1130.00 -411.8 82.73 - - 2425.75 - - - - - - - - - 15.98 -
15763.79 689.43 7.30 1601 15769.31 done 1.65 - - 2696.88 - 2.59 0.031 2273.00 441.3 82.73 - - 2427.25 - - - - - - - - - 16.01 -
16083.19 667.63 6.83 1623 16087.89 1.68 0.19 0.079 2742.94 242.4 2.64 0.094 3343.44 405.5 82.73 - - 2427.84 - - - - - - - - 15.97 15.89 -
16120.42 664.62 7.49 1628 16125.03 done 1.70 - - 2744.62 - 2.55 0.025 2188.50 -452.9 82.73 - - 2425.66 - - - - - - - - - 16.00 -
16437.08 640.75 7.47 1650 16438.41 VBD 1.72 - - 2744.06 - - - 2188.31 - 82.73 - - 2425.72 - - - - - - - - - - -
16752.11 618.60 6.98 1671 16756.83 done 1.75 - - 2743.50 - 2.87 0.089 3347.69 404.0 82.73 - - 2426.91 - - - - - - - - - 15.97 -
16810.04 613.91 7.79 1679 16814.65 done 1.76 - - 2744.56 - 2.56 0.025 2185.38 -454.0 82.73 - - 2427.34 - - - - - - - - - 16.01 -
17126.54 590.02 7.61 1701 17127.87 VBD 1.78 - - 2744.12 - - - 2186.06 - 82.73 - - 2425.94 - - - - - - - - - - -
17441.56 566.43 7.70 1722 17446.17 done 1.80 - - 2744.12 - 2.53 0.079 1129.06 -417.8 82.73 - - 2426.41 - - - - - - - - - 15.98 -
17500.84 561.47 8.35 1731 17506.38 done 1.80 - - 2745.06 - 2.59 0.031 2274.88 442.4 82.73 - - 2427.03 - - - - - - - - - 16.02 -
17820.26 536.72 7.25 1753 17821.59 VBD 1.82 - - 2744.19 - - - 2274.62 - 82.73 - - 2425.84 - - - - - - - - - - -
18135.30 514.70 6.70 1774 18140.00 1.86 0.14 0.091 2785.62 295.9 2.64 0.092 3346.75 406.1 82.73 - - 2427.53 - - - - - - - - 15.99 15.89 -
18255.43 505.05 8.13 1791 18260.04 done 1.86 - - 2787.44 - 2.55 0.025 2186.38 -455.0 82.73 - - 2426.78 - - - - - - - - - 16.01 -
18568.36 483.50 6.76 1819 18579.43 VBD 1.89 - - 2787.38 - - - 2186.88 - 82.73 - - 2427.16 - - - - - - - - - - -
18881.18 461.33 7.27 1848 18892.25 VBD 1.91 - - 2787.62 - - - 2186.44 - 82.73 - - 2426.97 - - - - - - - - - - -
19193.78 439.09 7.20 1877 19198.57 done 1.94 - - 2786.38 - 2.53 0.078 1130.06 -417.5 82.73 - - 2427.28 - - - - - - - - - 15.98 -
19263.96 434.07 7.23 1887 19278.70 done 1.96 - - 2787.06 - 2.58 0.030 2272.25 442.7 82.73 - - 2426.97 - - - - - - - - - 16.03 -
19580.18 412.04 7.04 1916 19591.25 VBD 1.99 - - 2787.38 - - - 2272.31 - 82.73 - - 2427.47 - - - - - - - - - - -
19892.77 390.14 7.00 1945 19903.85 VBD 2.02 - - 2787.06 - - - 2272.19 - 82.73 - - 2427.34 - - - - - - - - - - -
20206.33 369.05 6.68 1974 20217.50 2.06 0.19 0.077 2835.19 253.3 - - 2272.06 - 82.73 - - 2427.94 - - - - - - - - 15.98 - -
20519.16 346.90 6.65 2003 20523.80 done 2.09 - - 2836.25 - 2.74 0.073 1129.88 -416.9 82.73 - - 2426.47 - - - - - - - - - 15.98 -
20666.50 336.67 6.89 2022 20671.12 done 2.12 - - 2836.06 - 2.58 0.030 2272.19 442.8 82.73 - - 2425.38 - - - - - - - - - 16.01 -
20978.27 316.43 6.37 2051 21011.72 VBD 2.19 - - 2836.62 - - - 2272.19 - 113.40 23.13 1.521 2312.50 -4.9 0.169 - - - - - - - - 11.46
21315.52 286.26 9.80 2097 21321.09 roll 2.19 - - 2837.06 - 2.76 0.073 1130.00 -413.8 113.40 - - 2308.84 - - - - - - - - - 15.94 -
21530.55 264.18 9.84 2140 21536.27 roll 2.19 - - 2836.62 - 2.59 0.031 2273.69 441.6 113.40 - - 2308.25 - - - - - - - - - 15.95 -
21840.78 237.32 8.29 2202 21842.10 no move 2.19 - - 2836.62 - - - 2273.19 - 113.40 - - 2307.22 - - - - - - - - - - -
22145.65 212.39 8.38 2263 22151.20 roll 2.19 - - 2836.56 - 2.73 0.072 1129.81 -418.8 113.40 - - 2308.31 - - - - - - - - - 15.96 -
22265.66 201.71 8.71 2287 22271.20 roll 2.19 - - 2836.12 - 2.59 0.030 2273.50 441.6 113.40 - - 2309.78 - - - - - - - - - 15.97 -
22575.71 178.38 8.13 2349 22581.26 roll 2.19 - - 2835.50 - 2.73 0.072 1130.00 -418.9 113.40 - - 2308.59 - - - - - - - - - 15.96 -
22720.73 165.65 8.60 2378 22726.26 roll 2.19 - - 2836.44 - 2.59 0.030 2273.56 441.5 113.40 - - 2309.06 - - - - - - - - - 15.98 -
23030.79 145.16 6.28 2440 23062.23 2.25 0.17 0.078 2884.44 282.4 2.60 0.092 3348.25 413.3 145.36 25.03 1.321 2181.19 -5.1 0.093 - - - - - - 15.96 15.93 11.89
23150.98 133.94 10.63 2464 23156.31 roll 2.25 - - 2883.81 - 2.56 0.024 2185.25 -454.3 145.36 - - 2180.09 - - - - - - - - - 15.93 -
23460.84 106.14 8.31 2526 23462.17 no move 2.25 - - 2884.56 - - - 2185.12 - 145.36 - - 2177.75 - - - - - - - - - - -
23765.91 95.66 2.65 2587 23834.40 done 2.42 - - 2883.75 - 2.86 0.086 3347.00 406.3 230.57 63.15 1.296 1834.28 -5.4 0.067 - - - - - - - 15.76 12.15
23981.51 77.59 9.57 2630 23987.05 roll 2.42 - - 2884.00 - 2.57 0.024 2186.94 -451.4 230.57 - - 1827.69 - - - - - - - - - 15.80 -
24171.94 62.97 7.36 2668 24177.12 2.44 0.17 0.083 2926.56 250.4 2.53 0.077 1131.19 -417.3 230.57 - - 1824.41 - - - - - - - - 15.80 15.77 -
24406.59 44.04 6.59 2715 24412.11 done 2.48 - - 2927.50 - 2.59 0.029 2275.56 441.8 230.57 - - 1822.72 - - - - - - - - - 15.87 -
24596.67 36.94 3.07 2753 24660.05 2.64 0.19 0.080 2972.56 237.2 2.77 0.073 1130.00 -413.6 309.63 57.47 1.193 1511.72 -5.4 0.028 - - - - - - 15.87 15.73 12.07
24887.34 22.53 2.48 2811 24959.22 2.81 0.16 0.092 3015.19 266.4 2.59 0.028 2279.69 443.9 397.21 64.99 1.158 1155.31 -5.5 0.018 - - - - - - 15.73 15.81 12.22
25142.39 6.98 8.53 2862 25147.95 roll 2.81 - - 3015.31 - 2.77 0.068 1130.25 -415.0 397.21 - - 1148.31 - - - - - - - - - 15.74 -
25192 end climb: SURFACE_DEPTH_REACHED
25193 begin surface coast
25263 end surface coast: CONTROL_FINISHED_OK
25264 begin surface
SM 3.39 - - - - 181.8 20.92 1.081 1043.0 49.9 17.56 0.051 1011.9 57.6 - 2.77 0.030 1074.1 386.8 -4.467 - - 12.19 15.74 15.78 -