NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 671 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 226.71 of 550.00 AH used of 24V (58.78% remains)
• Surface angle -57.6 deg, depth 0.60 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 425.07 (SM_CC=425)
• GPS1 time: 75 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
5.36 - - - 77.12 VBD -1.35 - - 181.81 - - - 2246.25 - -82.73 70.61 0.005 2815.47 - - - - - - - - - - 15.19
77.85 4.10 -8.67 13 104.72 -1.35 14.91 0.252 2003.38 122.2 - - 2246.12 - -82.73 5.99 0.008 3112.28 49.6 -4.344 - - - - - - 15.40 - 15.31
286.84 44.95 -12.49 55 292.42 roll -1.35 - - 2001.56 - 2.89 0.084 3428.69 409.2 -82.73 - - 3113.66 - - - - - - - - - 15.75 -
486.90 72.26 -13.25 95 492.44 roll -1.35 - - 2003.12 - 2.58 0.021 2248.19 -457.6 -82.73 - - 3115.16 - - - - - - - - - 15.81 -
677.61 89.96 -8.42 133 682.11 roll -1.35 - - 2003.19 - 2.47 0.065 1206.88 -421.6 -82.73 - - 3115.66 - - - - - - - - - 15.83 -
827.02 102.97 -8.94 163 832.56 roll -1.35 - - 2003.62 - 2.59 0.028 2355.00 443.3 -82.73 - - 3114.09 - - - - - - - - - 15.86 -
1137.07 131.54 -9.36 225 1142.62 roll -1.35 - - 2003.19 - 2.61 0.087 3429.50 411.7 -82.73 - - 3113.88 - - - - - - - - - 15.85 -
1262.09 144.15 -9.92 250 1267.61 roll -1.35 - - 2003.38 - 2.55 0.021 2241.50 -465.9 -82.73 - - 3114.06 - - - - - - - - - 15.91 -
1572.12 171.14 -8.49 312 1573.45 no move -1.35 - - 2003.12 - - - 2239.06 - -82.73 - - 3112.94 - - - - - - - - - - -
1877.15 195.09 -7.57 373 1882.73 roll -1.35 - - 2003.31 - 2.88 0.082 3428.50 413.0 -82.73 - - 3114.28 - - - - - - - - - 15.88 -
1917.15 198.51 -8.53 381 1922.70 roll -1.35 - - 2003.19 - 2.54 0.021 2243.00 -466.7 -82.73 - - 3114.25 - - - - - - - - - 15.93 -
2227.19 223.78 -8.19 443 2228.52 no move -1.35 - - 2003.38 - - - 2241.56 - -82.73 - - 3113.66 - - - - - - - - - - -
2532.29 250.29 -8.79 504 2537.81 roll -1.35 - - 2003.25 - 2.88 0.083 3429.06 412.3 -82.73 - - 3114.34 - - - - - - - - - 15.89 -
2592.23 256.28 -10.20 516 2597.76 roll -1.35 - - 2002.38 - 2.54 0.021 2247.19 -465.3 -82.73 - - 3115.56 - - - - - - - - - 15.96 -
2902.28 284.39 -9.06 578 2907.40 roll -1.35 - - 2003.50 - 2.46 0.067 1207.25 -422.7 -82.73 - - 3113.72 - - - - - - - - - 15.93 -
3052.30 298.22 -8.85 608 3057.82 roll -1.35 - - 2002.19 - 2.58 0.029 2354.75 444.8 -82.73 - - 3114.34 - - - - - - - - - 15.96 -
3364.26 325.29 -8.33 639 3375.33 no move -1.35 - - 2003.50 - - - 2354.69 - -82.73 - - 3113.38 - - - - - - - - - - -
3677.16 351.29 -8.40 668 3681.81 roll -1.35 - - 2003.19 - 2.72 0.062 1207.69 -421.7 -82.73 - - 3111.75 - - - - - - - - - 15.94 -
3825.86 364.42 -8.86 688 3840.78 roll -1.35 - - 2003.19 - 2.57 0.030 2352.50 445.5 -82.73 - - 3114.44 - - - - - - - - - 15.99 -
4152.19 390.53 -8.22 718 4163.25 no move -1.35 - - 2003.12 - - - 2353.00 - -82.73 - - 3112.72 - - - - - - - - - - -
4465.68 415.21 -7.93 747 4470.34 roll -1.35 - - 2002.88 - 2.74 0.062 1208.12 -417.8 -82.73 - - 3112.22 - - - - - - - - - 15.94 -
4567.28 423.51 -8.25 761 4582.07 roll -1.35 - - 2003.31 - 2.57 0.030 2351.50 444.9 -82.73 - - 3111.91 - - - - - - - - - 15.99 -
4883.30 448.58 -7.81 790 4894.36 no move -1.35 - - 2003.44 - - - 2351.69 - -82.73 - - 3111.19 - - - - - - - - - - -
5196.83 473.45 -8.03 819 5201.46 roll -1.35 - - 2003.00 - 2.62 0.091 3430.50 411.8 -82.73 - - 3109.41 - - - - - - - - - 15.89 -
5235.37 476.69 -8.40 825 5250.28 roll -1.35 - - 2001.75 - 2.54 0.022 2243.81 -467.2 -82.73 - - 3111.62 - - - - - - - - - 16.00 -
5551.53 500.67 -7.65 854 5556.13 roll -1.35 - - 2003.06 - 2.44 0.069 1207.25 -424.8 -82.73 - - 3110.22 - - - - - - - - - 15.93 -
5630.53 507.17 -8.23 865 5635.14 roll -1.35 - - 2001.81 - 2.57 0.030 2352.62 445.7 -82.73 - - 3111.44 - - - - - - - - - 15.99 -
5947.01 532.02 -7.79 887 5951.64 roll -1.35 - - 2002.88 - 2.62 0.092 3428.56 410.7 -82.73 - - 3108.69 - - - - - - - - - 15.88 -
6046.42 540.64 -8.69 901 6051.03 roll -1.35 - - 2003.38 - 2.54 0.022 2248.69 -464.5 -82.73 - - 3108.31 - - - - - - - - - 15.99 -
6362.91 565.08 -7.58 923 6367.51 roll -1.35 - - 2002.94 - 2.46 0.069 1208.31 -422.9 -82.73 - - 3112.00 - - - - - - - - - 15.92 -
6441.59 571.38 -7.96 934 6445.60 roll -1.35 - - 2003.00 - 2.57 0.030 2351.81 444.9 -82.73 - - 3108.66 - - - - - - - - - 16.00 -
6758.18 595.04 -7.44 956 6762.83 roll -1.35 - - 2003.44 - 2.70 0.063 1209.50 -423.1 -82.73 - - 3108.06 - - - - - - - - - 15.92 -
6843.20 601.24 -7.81 969 6858.12 roll -1.35 - - 2003.50 - 2.57 0.030 2353.62 445.2 -82.73 - - 3109.62 - - - - - - - - - 16.00 -
7172.60 626.20 -7.38 991 7173.93 no move -1.35 - - 2003.25 - - - 2353.94 - -82.73 - - 3107.12 - - - - - - - - - - -
7487.62 648.93 -7.12 1012 7492.27 roll -1.35 - - 2003.56 - 2.73 0.063 1208.56 -419.6 -82.73 - - 3107.47 - - - - - - - - - 15.91 -
7546.90 653.32 -7.48 1021 7552.44 roll -1.35 - - 2003.12 - 2.56 0.030 2352.19 446.7 -82.73 - - 3108.16 - - - - - - - - - 16.00 -
7866.31 676.71 -7.42 1043 7870.95 roll -1.35 - - 2003.50 - 2.71 0.064 1208.50 -422.0 -82.73 - - 3106.53 - - - - - - - - - 15.91 -
7986.45 686.22 -7.94 1060 7991.06 roll -1.35 - - 2000.94 - 2.56 0.031 2352.25 446.8 -82.73 - - 3108.44 - - - - - - - - - 15.99 -
8302.94 709.73 -7.37 1082 8307.57 roll -1.35 - - 2003.62 - 2.62 0.094 3427.25 410.3 -82.73 - - 3105.69 - - - - - - - - - 15.86 -
8383.57 716.19 -8.06 1094 8388.93 roll -1.35 - - 2001.94 - 2.54 0.022 2247.19 -464.6 -82.73 - - 3108.16 - - - - - - - - - 16.00 -
8703.01 740.89 -8.01 1116 8707.66 roll -1.35 - - 2003.44 - 2.47 0.069 1208.31 -420.6 -82.73 - - 3105.91 - - - - - - - - - 15.90 -
8788.03 747.39 -8.22 1129 8802.96 roll -1.35 - - 2002.62 - 2.58 0.031 2353.44 443.8 -82.73 - - 3108.66 - - - - - - - - - 16.00 -
9117.43 772.08 -7.28 1151 9118.76 no move -1.35 - - 2003.25 - - - 2353.50 - -82.73 - - 3104.84 - - - - - - - - - - -
9432.44 793.70 -6.99 1172 9437.08 roll -1.35 - - 2003.19 - 2.73 0.064 1208.38 -419.5 -82.73 - - 3105.81 - - - - - - - - - 15.90 -
9511.11 799.46 -7.28 1183 9515.72 roll -1.35 - - 2002.94 - 2.59 0.031 2353.19 442.0 -82.73 - - 3106.69 - - - - - - - - - 15.99 -
9827.58 820.43 -6.55 1205 9832.20 roll -1.35 - - 2001.12 - 2.65 0.094 3427.44 405.4 -82.73 - - 3106.00 - - - - - - - - - 15.84 -
9887.06 824.67 -7.08 1214 9892.38 roll -1.35 - - 2003.06 - 2.55 0.023 2246.12 -463.3 -82.73 - - 3106.62 - - - - - - - - - 16.00 -
10206.27 844.55 -6.01 1236 10210.86 roll -1.35 - - 2002.75 - 2.47 0.070 1209.50 -419.7 -82.73 - - 3106.50 - - - - - - - - - 15.89 -
10249.82 846.84 -6.06 1243 10264.72 roll -1.35 - - 2003.62 - 2.58 0.030 2352.00 442.8 -82.73 - - 3104.78 - - - - - - - - - 15.99 -
10579.21 867.67 -6.48 1265 10580.55 no move -1.35 - - 2003.25 - - - 2351.69 - -82.73 - - 3103.28 - - - - - - - - - - -
10894.23 889.97 -7.07 1286 10898.88 roll -1.35 - - 2002.81 - 2.74 0.065 1209.94 -416.7 -82.73 - - 3104.88 - - - - - - - - - 15.88 -
10958.68 894.27 -7.33 1296 10973.47 roll -1.35 - - 2003.00 - 2.58 0.031 2351.81 442.6 -82.73 - - 3104.34 - - - - - - - - - 15.99 -
11287.92 918.73 -7.39 1318 11292.56 roll -1.35 - - 2003.38 - 2.73 0.065 1209.88 -418.3 -82.73 - - 3102.69 - - - - - - - - - 15.87 -
11352.19 923.09 -7.48 1328 11367.11 roll -1.35 - - 2003.12 - 2.58 0.031 2351.12 442.3 -82.73 - - 3103.97 - - - - - - - - - 15.99 -
11681.60 946.64 -6.75 1350 11686.25 roll -1.35 - - 2003.06 - 2.73 0.065 1208.31 -418.6 -82.73 - - 3104.88 - - - - - - - - - 15.87 -
11741.21 950.80 -7.04 1359 11746.75 roll -1.35 - - 2003.25 - 2.58 0.031 2351.50 443.1 -82.73 - - 3103.19 - - - - - - - - - 15.99 -
12060.61 973.22 -7.16 1381 12061.94 no move -1.35 - - 2002.94 - - - 2350.94 - -82.73 - - 3102.06 - - - - - - - - - - -
12300 end dive: TARGET_DEPTH_EXCEEDED
12300 begin apogee
12302.46 990.55 -7.46 1397 12378.03 -0.28 1.86 0.139 2263.50 140.1 0.22 0.136 2284.12 -303.7 - 63.99 2.441 2774.91 -5.1 0.355 - - - - - - 15.74 15.44 10.28
12379 end apogee: CONTROL_FINISHED_OK
12379 begin climb
12380.17 992.81 - 1402 12467.56 1.35 2.67 0.091 2661.88 149.2 2.75 0.098 3345.12 385.8 82.73 68.62 2.376 2436.66 -4.9 0.352 - - - - - - 15.57 15.16 12.17
12510.43 987.51 4.82 1420 12576.19 1.48 0.17 0.088 2703.25 243.4 2.64 0.024 2185.62 -439.2 150.68 59.01 2.369 2160.81 -4.7 0.333 - - - - - - 15.37 15.43 11.71
12888.75 953.11 9.83 1450 12890.08 VBD 1.48 - - 2702.94 - - - 2184.88 - 150.68 - - 2150.69 - - - - - - - - - - -
13203.79 923.72 9.12 1471 13205.12 VBD 1.48 - - 2702.50 - - - 2184.88 - 150.68 - - 2148.66 - - - - - - - - - - -
13518.82 893.63 9.55 1492 13523.49 done 1.48 - - 2703.00 - 2.90 0.092 3345.81 400.3 150.68 - - 2149.59 - - - - - - - - - 15.79 -
13541.81 892.00 9.62 1496 13556.55 done 1.48 - - 2703.38 - 2.57 0.025 2190.81 -449.4 150.68 - - 2149.84 - - - - - - - - - 15.85 -
13871.04 859.67 9.76 1518 13875.70 done 1.48 - - 2703.81 - 2.88 0.091 3344.88 400.7 150.68 - - 2148.72 - - - - - - - - - 15.82 -
13935.31 853.45 10.48 1528 13950.23 done 1.48 - - 2703.12 - 2.56 0.025 2189.38 -451.4 150.68 - - 2147.41 - - - - - - - - - 15.88 -
14264.72 818.68 10.79 1550 14269.52 done 1.48 - - 2702.75 - 2.58 0.079 1131.06 -410.2 150.68 - - 2147.66 - - - - - - - - - 15.86 -
14282.64 816.86 10.85 1553 14288.08 done 1.48 - - 2703.31 - 2.61 0.032 2272.62 437.4 150.68 - - 2146.91 - - - - - - - - - 15.91 -
14601.95 786.87 9.26 1575 14603.28 VBD 1.48 - - 2703.06 - - - 2273.12 - 150.68 - - 2145.44 - - - - - - - - - - -
14916.99 755.63 9.96 1596 14921.64 done 1.48 - - 2703.44 - 2.77 0.075 1131.31 -412.2 150.68 - - 2145.06 - - - - - - - - - 15.88 -
14997.00 747.28 10.53 1608 15002.54 done 1.48 - - 2703.56 - 2.60 0.032 2271.94 438.7 150.68 - - 2145.94 - - - - - - - - - 15.94 -
15316.40 714.77 9.82 1630 15321.27 done 1.48 - - 2703.12 - 2.77 0.074 1131.12 -411.8 150.68 - - 2144.69 - - - - - - - - - 15.88 -
15380.68 708.77 10.18 1640 15395.61 done 1.48 - - 2703.50 - 2.60 0.032 2273.69 439.5 150.68 - - 2145.88 - - - - - - - - - 15.96 -
15710.08 677.21 9.11 1662 15714.73 done 1.48 - - 2702.62 - 2.76 0.074 1130.38 -414.2 150.68 - - 2144.47 - - - - - - - - - 15.89 -
15790.09 669.64 9.58 1674 15795.62 done 1.48 - - 2702.88 - 2.59 0.032 2273.69 441.4 150.68 - - 2145.72 - - - - - - - - - 15.95 -
16109.50 641.64 8.37 1696 16114.12 done 1.48 - - 2703.81 - 2.64 0.095 3346.19 406.2 150.68 - - 2147.41 - - - - - - - - - 15.86 -
16146.91 638.25 8.75 1701 16151.71 done 1.48 - - 2702.62 - 2.54 0.025 2188.31 -455.9 150.68 - - 2144.91 - - - - - - - - - 15.96 -
16463.49 610.74 8.52 1723 16468.10 done 1.48 - - 2702.00 - 2.54 0.079 1129.81 -416.7 150.68 - - 2144.03 - - - - - - - - - 15.88 -
16542.18 603.54 9.07 1734 16546.79 done 1.48 - - 2703.25 - 2.59 0.031 2274.31 441.9 150.68 - - 2143.34 - - - - - - - - - 15.96 -
16858.64 577.01 8.60 1756 16859.97 VBD 1.48 - - 2703.12 - - - 2274.25 - 150.68 - - 2143.25 - - - - - - - - - - -
17173.77 551.08 8.04 1777 17178.42 done 1.48 - - 2703.44 - 2.77 0.075 1129.69 -413.2 150.68 - - 2146.28 - - - - - - - - - 15.88 -
17274.53 541.94 9.20 1792 17280.06 done 1.48 - - 2703.25 - 2.59 0.032 2273.25 441.5 150.68 - - 2144.50 - - - - - - - - - 15.97 -
17593.96 515.62 7.73 1814 17595.29 VBD 1.50 - - 2702.94 - - - 2272.88 - 150.68 - - 2143.28 - - - - - - - - - - -
17900.58 491.35 8.05 1837 17905.46 done 1.50 - - 2703.56 - 2.76 0.074 1130.88 -413.8 150.68 - - 2145.44 - - - - - - - - - 15.88 -
17970.60 485.42 8.58 1847 17985.52 done 1.50 - - 2703.81 - 2.59 0.031 2274.81 441.7 150.68 - - 2144.56 - - - - - - - - - 15.97 -
18286.76 461.73 7.15 1876 18291.41 done 1.52 - - 2703.19 - 2.77 0.074 1129.50 -413.5 150.68 - - 2145.03 - - - - - - - - - 15.87 -
18325.31 458.83 7.56 1882 18340.23 done 1.54 - - 2702.88 - 2.59 0.031 2274.81 442.2 150.68 - - 2144.84 - - - - - - - - - 15.98 -
18641.87 434.39 7.79 1911 18646.56 done 1.55 - - 2703.00 - 2.64 0.094 3345.06 405.4 150.68 - - 2142.78 - - - - - - - - - 15.84 -
18679.05 431.21 8.24 1916 18683.67 done 1.55 - - 2703.38 - 2.54 0.024 2185.75 -456.4 150.68 - - 2142.97 - - - - - - - - - 15.97 -
18990.71 407.22 7.42 1945 19001.79 VBD 1.58 - - 2703.62 - - - 2184.25 - 150.68 - - 2144.53 - - - - - - - - - - -
19303.42 385.01 6.87 1974 19314.49 VBD 1.61 - - 2703.69 - - - 2184.62 - 150.68 - - 2144.56 - - - - - - - - - - -
19616.52 362.39 7.12 2003 19621.14 done 1.63 - - 2703.06 - 2.55 0.078 1131.00 -413.2 150.68 - - 2143.22 - - - - - - - - - 15.86 -
19653.72 359.51 7.47 2008 19658.41 1.65 0.18 0.089 2744.69 231.3 2.59 0.031 2274.88 441.7 150.68 - - 2143.22 - - - - - - - - 15.77 15.97 -
19965.37 333.47 8.57 2037 19970.01 done 1.65 - - 2745.12 - 2.77 0.073 1129.62 -413.5 150.68 - - 2142.84 - - - - - - - - - 15.86 -
20051.35 325.68 9.19 2049 20066.27 done 1.65 - - 2745.06 - 2.59 0.031 2273.75 441.7 150.68 - - 2144.41 - - - - - - - - - 15.97 -
20367.50 298.19 9.13 2078 20369.21 VBD 1.65 - - 2745.06 - - - 2273.75 - 150.68 - - 2144.34 - - - - - - - - - - -
20674.68 270.37 8.71 2140 20680.42 done 1.65 - - 2743.62 - 2.76 0.073 1129.69 -414.5 150.68 - - 2146.59 - - - - - - - - - 15.85 -
20719.86 266.15 9.44 2149 20725.23 done 1.65 - - 2744.12 - 2.59 0.030 2276.12 442.6 150.68 - - 2145.19 - - - - - - - - - 15.95 -
21029.96 239.78 8.10 2211 21035.35 done 1.65 - - 2744.12 - 2.77 0.072 1129.94 -413.8 150.68 - - 2144.34 - - - - - - - - - 15.84 -
21144.83 229.70 8.90 2234 21150.36 done 1.65 - - 2745.00 - 2.59 0.030 2273.44 441.5 150.68 - - 2144.59 - - - - - - - - - 15.96 -
21454.92 203.81 8.23 2296 21456.25 VBD 1.65 - - 2744.38 - - - 2273.62 - 150.68 - - 2143.47 - - - - - - - - - - -
21760.01 179.15 8.01 2357 21765.56 done 1.65 - - 2744.75 - 2.64 0.092 3346.69 406.5 150.68 - - 2145.28 - - - - - - - - - 15.82 -
21860.02 170.77 8.48 2377 21865.56 done 1.65 - - 2744.88 - 2.56 0.024 2186.50 -453.2 150.68 - - 2145.44 - - - - - - - - - 15.96 -
22170.07 150.36 5.78 2439 22210.36 VBD 1.75 - - 2744.12 - - - 2185.25 - 200.68 37.40 1.363 1958.69 -5.0 0.094 - - - - - - - - 10.69
22515.12 125.61 7.71 2508 22520.63 roll 1.77 - - 2744.94 - 2.55 0.077 1130.12 -413.8 200.68 - - 1951.47 - - - - - - - - - 15.82 -
22680.53 111.90 7.88 2541 22685.67 roll 1.78 - - 2745.12 - 2.60 0.030 2276.56 440.9 200.68 - - 1950.69 - - - - - - - - - 15.87 -
22990.17 93.51 4.77 2603 23048.56 1.92 0.32 0.068 2811.00 205.9 2.65 0.092 3346.50 403.8 269.51 53.06 1.290 1675.19 -5.2 0.064 - - - - - - 15.86 15.62 11.43
23275.71 70.99 9.52 2660 23281.25 roll 1.92 - - 2810.88 - 2.58 0.023 2187.50 -449.2 269.51 - - 1667.69 - - - - - - - - - 15.79 -
23466.17 55.50 7.64 2698 23471.35 done 1.94 - - 2809.88 - 2.88 0.085 3347.25 402.7 269.51 - - 1665.97 - - - - - - - - - 15.76 -
23495.96 52.87 8.47 2704 23501.36 done 1.94 - - 2809.50 - 2.57 0.023 2184.19 -452.6 269.51 - - 1666.03 - - - - - - - - - 15.82 -
23686.25 38.82 6.87 2742 23691.36 done 1.97 - - 2811.06 - 2.55 0.076 1129.94 -413.4 269.51 - - 1664.75 - - - - - - - - - 15.80 -
23920.92 34.58 0.68 2789 24035.01 2.26 0.42 0.061 2891.25 190.9 2.59 0.027 2278.44 443.4 414.78 107.53 1.197 1084.41 -5.4 0.027 - - - - - - 15.73 15.87 11.43
24217.13 15.93 8.42 2848 24222.70 roll 2.26 - - 2891.50 - 2.80 0.071 1131.50 -409.6 414.78 - - 1076.91 - - - - - - - - - 15.68 -
24357 end climb: SURFACE_DEPTH_REACHED
24357 begin surface coast
24407 end surface coast: CONTROL_FINISHED_OK
24407 begin surface
SM 1.23 - - - - 182.9 8.56 0.917 1042.2 121.8 16.94 0.053 1025.2 60.5 - 2.77 0.033 1059.1 381.3 -1.453 - - 11.55 15.70 15.74 -