NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 942 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 329.02 of 550.00 AH used of 24V (40.18% remains)
• Surface angle -56.6 deg, depth 0.43 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 425.00 (SM_CC=425)
• GPS1 time: 25 s
• GPS2 time: 5 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
5.69 - - - 77.14 VBD -1.35 - - 179.19 - - - 2379.25 - -82.73 70.25 0.005 2701.78 - - - - - - - - - - 14.95
78.26 3.23 -4.91 13 110.64 -1.35 14.77 0.235 1994.00 122.9 2.72 0.086 3426.12 384.9 -82.73 9.19 0.007 3111.84 44.6 -3.527 - - - - - - 15.46 14.95 15.10
312.76 45.99 -18.78 60 318.31 roll -1.35 - - 1993.62 - 2.61 0.018 2256.31 -448.2 -82.73 - - 3112.03 - - - - - - - - - 15.84 -
503.21 72.07 -11.81 98 508.56 roll -1.35 - - 1993.31 - 2.55 0.062 1207.94 -411.1 -82.73 - - 3113.12 - - - - - - - - - 15.87 -
562.97 78.58 -11.09 110 568.42 roll -1.35 - - 1994.00 - 2.68 0.026 2356.00 428.4 -82.73 - - 3112.00 - - - - - - - - - 15.89 -
753.31 97.26 -9.23 148 758.50 roll -1.35 - - 1993.62 - 2.73 0.083 3425.50 391.8 -82.73 - - 3113.09 - - - - - - - - - 15.87 -
872.97 108.72 -9.47 172 878.50 roll -1.35 - - 1993.81 - 2.53 0.018 2256.75 -462.0 -82.73 - - 3113.47 - - - - - - - - - 15.92 -
1183.08 132.96 -8.16 234 1184.41 no move -1.35 - - 1993.44 - - - 2255.06 - -82.73 - - 3112.31 - - - - - - - - - - -
1488.20 156.35 -7.44 295 1493.72 roll -1.35 - - 1993.88 - 2.54 0.062 1208.38 -412.1 -82.73 - - 3113.53 - - - - - - - - - 15.95 -
1693.26 173.63 -8.58 336 1698.83 roll -1.35 - - 1993.50 - 2.69 0.026 2367.94 431.1 -82.73 - - 3112.88 - - - - - - - - - 15.97 -
2003.39 197.53 -7.56 398 2008.97 roll -1.35 - - 1993.88 - 2.82 0.057 1209.31 -410.9 -82.73 - - 3113.69 - - - - - - - - - 15.97 -
2073.57 203.12 -8.07 412 2079.00 roll -1.35 - - 1994.12 - 2.67 0.026 2362.94 432.1 -82.73 - - 3114.44 - - - - - - - - - 15.99 -
2383.46 226.13 -7.43 474 2384.79 no move -1.35 - - 1993.38 - - - 2363.25 - -82.73 - - 3112.78 - - - - - - - - - - -
2688.51 249.30 -7.57 535 2694.09 roll -1.35 - - 1991.94 - 2.81 0.058 1209.25 -410.7 -82.73 - - 3113.56 - - - - - - - - - 15.98 -
2743.51 253.72 -8.11 546 2749.07 roll -1.35 - - 1993.62 - 2.66 0.026 2357.94 431.8 -82.73 - - 3113.84 - - - - - - - - - 16.00 -
3053.58 277.30 -7.57 608 3059.16 roll -1.35 - - 1993.25 - 2.81 0.058 1208.00 -409.2 -82.73 - - 3114.78 - - - - - - - - - 15.97 -
3103.58 281.33 -8.10 618 3109.14 roll -1.35 - - 1992.19 - 2.67 0.026 2359.75 431.4 -82.73 - - 3114.06 - - - - - - - - - 16.00 -
3416.12 305.72 -8.01 672 3420.76 roll -1.35 - - 1993.19 - 2.79 0.058 1208.50 -412.6 -82.73 - - 3115.56 - - - - - - - - - 15.99 -
3500.64 312.44 -7.93 683 3505.46 roll -1.35 - - 1993.62 - 2.65 0.026 2353.56 432.1 -82.73 - - 3112.81 - - - - - - - - - 16.01 -
3812.51 336.28 -7.85 712 3817.16 roll -1.35 - - 1993.50 - 2.78 0.059 1209.44 -411.6 -82.73 - - 3111.38 - - - - - - - - - 15.99 -
3945.80 346.65 -7.74 730 3960.74 roll -1.35 - - 1993.44 - 2.62 0.027 2343.44 432.8 -82.73 - - 3113.38 - - - - - - - - - 16.02 -
4262.05 370.08 -7.06 759 4266.70 roll -1.35 - - 1993.62 - 2.76 0.059 1208.19 -411.3 -82.73 - - 3111.75 - - - - - - - - - 15.99 -
4332.07 375.23 -7.44 769 4347.01 roll -1.35 - - 1993.50 - 2.62 0.027 2339.62 431.8 -82.73 - - 3112.56 - - - - - - - - - 16.02 -
4649.08 396.99 -6.87 798 4653.74 roll -1.35 - - 1993.56 - 2.76 0.060 1208.19 -409.9 -82.73 - - 3111.41 - - - - - - - - - 15.98 -
4719.10 401.93 -7.14 808 4734.04 roll -1.35 - - 1994.12 - 2.62 0.027 2337.31 431.0 -82.73 - - 3112.84 - - - - - - - - - 16.02 -
5035.34 423.04 -6.67 837 5046.41 no move -1.35 - - 1993.69 - - - 2337.75 - -82.73 - - 3111.38 - - - - - - - - - - -
5348.09 444.51 -6.90 866 5352.74 roll -1.35 - - 1993.69 - 2.73 0.060 1209.44 -413.3 -82.73 - - 3110.09 - - - - - - - - - 15.98 -
5386.63 447.29 -7.23 872 5401.58 roll -1.35 - - 1993.81 - 2.62 0.027 2336.06 430.0 -82.73 - - 3111.19 - - - - - - - - - 16.02 -
5703.07 469.66 -7.21 901 5714.14 no move -1.35 - - 1993.62 - - - 2336.25 - -82.73 - - 3111.12 - - - - - - - - - - -
6016.12 492.27 -7.17 930 6020.77 roll -1.35 - - 1993.56 - 2.75 0.060 1208.12 -410.2 -82.73 - - 3110.06 - - - - - - - - - 15.97 -
6085.13 497.35 -7.32 939 6089.76 roll -1.35 - - 1992.56 - 2.61 0.027 2331.56 430.4 -82.73 - - 3109.72 - - - - - - - - - 16.01 -
6398.07 520.29 -7.66 961 6402.72 roll -1.35 - - 1993.25 - 2.72 0.061 1209.25 -412.6 -82.73 - - 3109.56 - - - - - - - - - 15.97 -
6441.62 523.24 -7.80 968 6456.55 roll -1.35 - - 1993.31 - 2.58 0.027 2322.00 431.3 -82.73 - - 3110.88 - - - - - - - - - 16.02 -
6771.02 548.68 -7.47 990 6775.66 roll -1.35 - - 1992.88 - 2.70 0.062 1209.38 -412.1 -82.73 - - 3109.97 - - - - - - - - - 15.97 -
6871.47 556.30 -7.70 1005 6877.02 roll -1.35 - - 1993.38 - 2.57 0.027 2317.62 431.2 -82.73 - - 3109.28 - - - - - - - - - 16.02 -
7191.05 578.84 -6.89 1027 7192.38 no move -1.35 - - 1993.94 - - - 2317.06 - -82.73 - - 3108.12 - - - - - - - - - - -
7505.90 598.40 -5.90 1048 7510.52 roll -1.35 - - 1993.06 - 2.70 0.062 1208.12 -410.7 -82.73 - - 3110.88 - - - - - - - - - 15.96 -
7590.93 603.25 -6.11 1061 7605.84 roll -1.35 - - 1993.88 - 2.56 0.027 2313.44 431.8 -82.73 - - 3110.47 - - - - - - - - - 16.01 -
7920.37 622.95 -5.83 1083 7921.70 no move -1.35 - - 1993.06 - - - 2314.19 - -82.73 - - 3107.53 - - - - - - - - - - -
8235.57 641.36 -5.98 1104 8240.28 roll -1.35 - - 1992.12 - 2.70 0.062 1209.00 -409.3 -82.73 - - 3107.59 - - - - - - - - - 15.96 -
8315.61 646.52 -6.48 1116 8321.15 roll -1.35 - - 1993.31 - 2.55 0.027 2312.50 432.7 -82.73 - - 3108.81 - - - - - - - - - 16.01 -
8635.01 666.37 -6.55 1138 8639.66 roll -1.35 - - 1992.81 - 2.70 0.063 1209.25 -408.6 -82.73 - - 3106.81 - - - - - - - - - 15.95 -
8673.57 669.02 -6.91 1144 8679.11 roll -1.35 - - 1993.19 - 2.56 0.027 2312.00 430.8 -82.73 - - 3108.06 - - - - - - - - - 16.02 -
8992.99 688.37 -5.89 1166 8994.32 no move -1.35 - - 1993.50 - - - 2312.06 - -82.73 - - 3106.56 - - - - - - - - - - -
9308.00 707.40 -6.10 1187 9312.64 roll -1.35 - - 1993.19 - 2.70 0.063 1209.06 -408.5 -82.73 - - 3108.34 - - - - - - - - - 15.95 -
9351.56 709.78 -6.27 1194 9366.46 roll -1.35 - - 1993.00 - 2.56 0.027 2308.25 429.4 -82.73 - - 3106.84 - - - - - - - - - 16.02 -
9680.96 729.94 -6.03 1216 9682.29 no move -1.35 - - 1993.62 - - - 2308.19 - -82.73 - - 3104.94 - - - - - - - - - - -
9995.96 751.99 -7.02 1237 10000.62 roll -1.35 - - 1993.00 - 2.70 0.063 1209.00 -407.1 -82.73 - - 3104.62 - - - - - - - - - 15.94 -
10096.74 758.38 -6.42 1252 10102.26 roll -1.35 - - 1992.44 - 2.54 0.028 2301.00 429.9 -82.73 - - 3107.75 - - - - - - - - - 16.01 -
10416.34 778.88 -6.46 1274 10421.07 roll -1.35 - - 1993.25 - 2.90 0.091 3425.00 387.6 -82.73 - - 3105.34 - - - - - - - - - 15.88 -
10454.89 781.10 -6.05 1280 10460.46 roll -1.35 - - 1993.25 - 2.71 0.020 2201.75 -451.4 -82.73 - - 3106.28 - - - - - - - - - 16.01 -
10774.34 801.16 -4.90 1302 10775.67 no move -1.35 - - 1992.94 - - - 2200.56 - -82.73 - - 3105.00 - - - - - - - - - - -
11028 end dive: TARGET_DEPTH_EXCEEDED
11029 begin apogee
11031.17 815.73 -5.72 1319 11106.75 -0.28 1.85 0.131 2254.25 141.2 0.17 0.142 2161.62 -229.1 - 65.62 2.179 2775.28 -5.0 0.322 - - - - - - 15.84 15.27 10.38
11108 end apogee: CONTROL_FINISHED_OK
11108 begin climb
11109.20 816.88 - 1324 11183.99 1.35 2.69 0.091 2650.25 147.2 0.17 0.079 2038.56 -723.9 82.73 68.50 2.115 2437.88 -4.9 0.326 - - - - - - 15.52 15.63 11.77
11489.40 798.48 5.13 1355 11555.32 1.47 0.17 0.096 2688.38 224.3 3.10 0.082 3204.50 376.1 144.88 52.35 2.068 2183.84 -4.9 0.321 - - - - - - 15.69 15.25 11.37
11583.37 791.81 7.41 1369 11598.17 roll 1.49 - - 2688.44 - 2.68 0.024 2059.06 -427.4 144.88 - - 2181.12 - - - - - - - - - 15.55 -
11912.67 764.87 7.86 1391 11917.35 roll 1.50 - - 2687.62 - 2.97 0.079 3205.50 386.0 144.88 - - 2176.97 - - - - - - - - - 15.75 -
11971.96 760.21 8.00 1400 11977.50 roll 1.50 - - 2687.88 - 2.60 0.024 2065.50 -438.5 144.88 - - 2177.38 - - - - - - - - - 15.80 -
12291.40 738.59 6.62 1422 12296.04 done 1.54 - - 2688.81 - 2.69 0.085 994.75 -398.0 144.88 - - 2174.50 - - - - - - - - - 15.82 -
12334.97 735.92 6.93 1429 12350.23 done 1.57 - - 2688.75 - 2.67 0.024 2145.31 430.9 144.88 - - 2175.09 - - - - - - - - - 15.87 -
12664.40 713.57 6.84 1451 12669.05 done 1.60 - - 2687.88 - 2.72 0.084 3205.62 389.8 144.88 - - 2175.12 - - - - - - - - - 15.86 -
12770.19 705.92 7.71 1467 12785.10 done 1.62 - - 2689.12 - 2.58 0.025 2069.62 -440.3 144.88 - - 2174.03 - - - - - - - - - 15.92 -
13099.59 682.43 6.79 1489 13104.32 1.65 0.20 0.086 2731.00 209.4 2.70 0.084 992.31 -399.0 144.88 - - 2171.97 - - - - - - - - 15.90 15.81 -
13179.17 676.14 7.87 1500 13183.83 done 1.66 - - 2730.81 - 2.68 0.025 2150.31 432.1 144.88 - - 2172.53 - - - - - - - - - 15.94 -
13495.77 651.92 7.72 1522 13500.42 done 1.68 - - 2731.75 - 2.70 0.084 3205.56 390.8 144.88 - - 2173.66 - - - - - - - - - 15.89 -
13575.81 645.21 8.43 1534 13581.35 done 1.68 - - 2731.50 - 2.57 0.024 2073.94 -440.3 144.88 - - 2173.75 - - - - - - - - - 15.96 -
13895.25 621.90 7.11 1556 13899.88 done 1.71 - - 2731.25 - 2.70 0.084 993.50 -400.2 144.88 - - 2171.78 - - - - - - - - - 15.89 -
13954.56 617.16 7.94 1565 13960.11 done 1.72 - - 2731.75 - 2.68 0.025 2154.00 433.0 144.88 - - 2172.72 - - - - - - - - - 15.98 -
14273.97 593.43 7.18 1587 14278.66 done 1.74 - - 2731.12 - 2.92 0.079 992.44 -397.8 144.88 - - 2171.84 - - - - - - - - - 15.89 -
14317.54 590.59 7.42 1594 14332.47 done 1.76 - - 2731.19 - 2.68 0.025 2149.12 431.6 144.88 - - 2172.50 - - - - - - - - - 15.99 -
14646.95 565.94 7.56 1616 14648.29 VBD 1.78 - - 2730.50 - - - 2148.94 - 144.88 - - 2171.53 - - - - - - - - - - -
14962.18 541.89 7.65 1637 14966.87 done 1.80 - - 2731.69 - 2.90 0.079 993.50 -398.4 144.88 - - 2171.69 - - - - - - - - - 15.89 -
15061.59 533.28 8.66 1651 15066.23 done 1.80 - - 2731.31 - 2.65 0.025 2143.19 433.8 144.88 - - 2173.41 - - - - - - - - - 15.98 -
15378.27 508.96 7.67 1673 15383.06 1.81 0.17 0.092 2774.38 253.4 2.71 0.083 3206.44 392.3 144.88 - - 2170.66 - - - - - - - - 15.95 15.83 -
15504.22 497.40 9.32 1690 15508.83 done 1.81 - - 2774.81 - 2.56 0.024 2072.12 -443.1 144.88 - - 2172.75 - - - - - - - - - 15.98 -
15816.27 471.78 7.83 1719 15820.91 done 1.83 - - 2774.19 - 2.69 0.083 992.38 -401.4 144.88 - - 2170.41 - - - - - - - - - 15.89 -
15870.73 467.37 8.16 1727 15885.49 done 1.83 - - 2774.62 - 2.67 0.025 2151.81 434.2 144.88 - - 2172.28 - - - - - - - - - 15.99 -
16187.32 442.97 7.66 1756 16198.39 VBD 1.84 - - 2774.38 - - - 2151.56 - 144.88 - - 2171.62 - - - - - - - - - - -
16500.42 418.55 7.69 1785 16505.09 done 1.86 - - 2774.19 - 2.89 0.078 993.50 -400.7 144.88 - - 2171.00 - - - - - - - - - 15.88 -
16570.45 412.95 8.06 1795 16585.40 done 1.86 - - 2774.94 - 2.67 0.025 2157.69 436.0 144.88 - - 2171.56 - - - - - - - - - 15.99 -
16887.11 390.23 7.41 1824 16891.80 done 1.88 - - 2774.75 - 2.90 0.077 992.31 -401.9 144.88 - - 2169.69 - - - - - - - - - 15.88 -
16955.78 384.53 8.13 1833 16960.42 done 1.88 - - 2774.25 - 2.67 0.025 2149.75 433.5 144.88 - - 2169.78 - - - - - - - - - 15.99 -
17267.97 361.73 7.17 1862 17272.64 done 1.90 - - 2774.69 - 2.89 0.077 992.44 -400.5 144.88 - - 2170.38 - - - - - - - - - 15.88 -
17306.53 358.89 7.40 1868 17321.45 done 1.93 - - 2774.00 - 2.66 0.024 2150.06 435.2 144.88 - - 2171.44 - - - - - - - - - 16.00 -
17623.07 337.26 6.58 1897 17627.74 done 1.96 - - 2772.94 - 2.90 0.077 992.69 -399.1 144.88 - - 2172.06 - - - - - - - - - 15.88 -
17724.57 329.83 7.47 1911 17739.54 1.98 0.17 0.087 2814.62 245.2 2.65 0.024 2139.81 432.9 144.88 - - 2171.41 - - - - - - - - 15.82 16.00 -
18041.51 307.92 7.17 1940 18046.17 done 2.01 - - 2815.44 - 2.71 0.081 3204.50 392.9 144.88 - - 2169.84 - - - - - - - - - 15.89 -
18174.52 297.86 7.43 1958 18180.04 done 2.03 - - 2816.19 - 2.57 0.024 2065.56 -443.2 144.88 - - 2171.31 - - - - - - - - - 15.96 -
18484.56 275.66 7.32 2020 18490.14 done 2.05 - - 2814.69 - 2.92 0.077 3207.00 390.9 144.88 - - 2171.16 - - - - - - - - - 15.87 -
18514.56 273.36 7.55 2026 18520.08 done 2.07 - - 2814.81 - 2.56 0.024 2069.62 -444.3 144.88 - - 2171.59 - - - - - - - - - 15.98 -
18824.65 251.58 7.33 2088 18830.12 done 2.09 - - 2814.75 - 2.69 0.082 993.50 -400.0 144.88 - - 2171.59 - - - - - - - - - 15.86 -
18924.59 243.98 7.68 2108 18930.14 done 2.11 - - 2816.12 - 2.67 0.024 2146.75 431.9 144.88 - - 2171.66 - - - - - - - - - 15.97 -
19234.66 222.88 7.08 2170 19240.18 done 2.14 - - 2816.12 - 2.70 0.080 3205.81 392.2 144.88 - - 2171.25 - - - - - - - - - 15.87 -
19269.65 220.17 7.64 2177 19275.24 2.15 0.16 0.089 2855.12 243.8 2.57 0.023 2067.88 -442.8 144.88 - - 2172.28 - - - - - - - - 15.82 15.97 -
19579.70 197.41 7.09 2239 19581.03 VBD 2.18 - - 2854.56 - - - 2068.12 - 144.88 - - 2170.62 - - - - - - - - - - -
19884.72 175.09 6.89 2300 19890.26 done 2.21 - - 2855.06 - 2.69 0.080 993.69 -399.4 144.88 - - 2171.78 - - - - - - - - - 15.86 -
20094.75 159.35 7.84 2342 20100.47 done 2.22 - - 2855.19 - 2.66 0.024 2150.25 434.8 144.88 - - 2171.28 - - - - - - - - - 15.97 -
20404.86 138.82 6.53 2404 20410.39 done 2.26 - - 2855.56 - 2.69 0.078 3207.50 393.0 144.88 - - 2171.81 - - - - - - - - - 15.88 -
20639.92 122.98 6.72 2451 20645.44 done 2.30 - - 2854.75 - 2.54 0.022 2079.75 -444.0 144.88 - - 2172.50 - - - - - - - - - 15.96 -
20950.02 108.07 3.59 2513 21027.52 2.48 0.41 0.060 2934.62 194.8 2.93 0.077 3207.00 384.7 235.86 70.20 1.295 1812.62 -5.1 0.073 - - - - - - 15.94 15.41 10.58
21105.21 96.13 9.72 2544 21110.57 roll 2.48 - - 2934.81 - 2.57 0.023 2083.94 -437.0 235.86 - - 1807.53 - - - - - - - - - 15.76 -
21295.12 82.66 7.13 2582 21300.67 done 2.51 - - 2934.38 - 2.74 0.079 993.88 -397.8 235.86 - - 1803.22 - - - - - - - - - 15.76 -
21530.24 69.95 4.34 2629 21594.65 2.66 0.19 0.085 2974.75 212.5 2.66 0.022 2151.06 435.0 312.77 59.08 1.215 1499.62 -5.1 0.051 - - - - - - 15.72 15.85 11.24
21776.92 49.24 8.88 2678 21782.50 roll 2.66 - - 2974.44 - 2.92 0.075 993.56 -396.4 312.77 - - 1492.56 - - - - - - - - - 15.72 -
22011.98 26.09 9.28 2725 22017.53 done 2.66 - - 2974.75 - 2.65 0.022 2136.75 431.4 312.77 - - 1490.38 - - - - - - - - - 15.83 -
22202.05 12.65 7.49 2763 22207.62 done 2.68 - - 2975.06 - 2.88 0.075 994.00 -396.8 312.77 - - 1489.03 - - - - - - - - - 15.80 -
22291 end climb: SURFACE_DEPTH_REACHED
22291 begin surface coast
22317 end surface coast: CONTROL_FINISHED_OK
22317 begin surface
SM 0.45 - - - - 182.0 83.21 1.152 1042.4 12.5 17.23 0.045 992.5 57.6 - 3.14 0.021 1092.4 347.0 -0.760 - - 11.19 15.81 15.87 -