NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1077 * Raw log
prev dive * next dive * dive
• Previous call tries 4 • 379.63 of 550.00 AH used of 24V (30.98% remains)
• Surface angle -60.7 deg, depth 0.64 m • Intended pitch -25.2 deg, speed -8.462 cm/s
VBD pumped to 424.92 (SM_CC=425)
• GPS1 time: 23 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
5.86 - - - 77.12 VBD -1.56 - - 177.00 - - - 2256.06 - -82.73 70.10 0.005 2740.22 - - - - - - - - - - 14.81
78.23 3.18 -4.33 13 110.49 -1.56 14.24 0.244 1941.69 123.9 2.64 0.066 1209.06 -396.6 -82.73 8.99 0.007 3111.53 41.3 -3.244 - - - - - - 15.36 14.86 15.00
167.56 18.15 -15.07 31 173.12 roll -1.56 - - 1941.75 - 2.70 0.026 2349.94 422.5 -82.73 - - 3111.84 - - - - - - - - - 15.80 -
358.24 45.84 -14.90 69 359.57 no move -1.56 - - 1941.44 - - - 2349.75 - -82.73 - - 3110.09 - - - - - - - - - - -
542.63 72.25 -11.70 106 548.21 roll -1.56 - - 1941.00 - 2.84 0.058 1209.00 -401.7 -82.73 - - 3111.88 - - - - - - - - - 15.85 -
577.63 76.09 -10.96 113 583.18 roll -1.56 - - 1941.12 - 2.66 0.026 2351.25 429.4 -82.73 - - 3111.94 - - - - - - - - - 15.89 -
768.07 95.91 -10.22 151 773.24 roll -1.56 - - 1941.50 - 2.77 0.083 3427.00 388.4 -82.73 - - 3111.03 - - - - - - - - - 15.82 -
842.70 103.91 -10.47 166 848.25 roll -1.56 - - 1941.44 - 2.63 0.019 2238.62 -451.9 -82.73 - - 3112.78 - - - - - - - - - 15.90 -
1152.81 126.74 -7.56 228 1158.33 roll -1.56 - - 1941.44 - 2.54 0.063 1209.00 -405.4 -82.73 - - 3112.56 - - - - - - - - - 15.90 -
1202.82 130.89 -8.39 238 1208.36 roll -1.56 - - 1941.75 - 2.62 0.025 2340.06 431.7 -82.73 - - 3112.00 - - - - - - - - - 15.94 -
1512.91 160.33 -10.33 300 1514.24 no move -1.56 - - 1941.44 - - - 2340.19 - -82.73 - - 3110.47 - - - - - - - - - - -
1818.00 189.87 -9.19 361 1823.76 roll -1.56 - - 1941.56 - 2.79 0.058 1209.12 -405.4 -82.73 - - 3112.81 - - - - - - - - - 15.92 -
1863.13 194.14 -9.52 370 1868.56 roll -1.56 - - 1940.69 - 2.63 0.025 2340.00 430.0 -82.73 - - 3112.78 - - - - - - - - - 15.97 -
2173.12 218.93 -7.67 432 2174.45 no move -1.56 - - 1941.38 - - - 2339.50 - -82.73 - - 3111.78 - - - - - - - - - - -
2478.20 243.47 -7.88 493 2483.76 roll -1.56 - - 1942.06 - 2.80 0.058 1209.50 -403.6 -82.73 - - 3112.06 - - - - - - - - - 15.93 -
2558.22 250.26 -8.61 509 2563.77 roll -1.56 - - 1941.88 - 2.62 0.025 2338.00 430.7 -82.73 - - 3112.28 - - - - - - - - - 15.98 -
2868.30 276.11 -8.82 571 2873.86 roll -1.56 - - 1941.50 - 2.77 0.058 1209.25 -407.5 -82.73 - - 3113.00 - - - - - - - - - 15.94 -
2913.30 280.33 -9.44 580 2918.85 roll -1.56 - - 1941.75 - 2.62 0.025 2337.38 430.6 -82.73 - - 3112.47 - - - - - - - - - 15.99 -
3220.63 306.36 -8.23 633 3231.70 no move -1.56 - - 1941.94 - - - 2337.50 - -82.73 - - 3112.59 - - - - - - - - - - -
3534.23 333.02 -9.32 662 3539.05 roll -1.56 - - 1941.25 - 2.77 0.059 1209.50 -407.2 -82.73 - - 3111.72 - - - - - - - - - 15.95 -
3572.88 336.73 -9.70 668 3587.69 roll -1.56 - - 1941.69 - 2.60 0.025 2332.56 431.9 -82.73 - - 3112.50 - - - - - - - - - 16.00 -
3888.92 363.84 -8.13 697 3899.99 no move -1.56 - - 1941.75 - - - 2332.81 - -82.73 - - 3112.75 - - - - - - - - - - -
4201.59 386.55 -6.60 726 4206.23 roll -1.56 - - 1941.69 - 2.75 0.059 1209.06 -408.6 -82.73 - - 3110.59 - - - - - - - - - 15.95 -
4256.19 390.03 -6.50 734 4271.11 roll -1.56 - - 1941.62 - 2.59 0.026 2330.44 433.0 -82.73 - - 3112.78 - - - - - - - - - 16.00 -
4572.34 410.23 -7.47 763 4577.00 roll -1.56 - - 1940.56 - 2.81 0.086 3426.25 390.0 -82.73 - - 3111.75 - - - - - - - - - 15.90 -
4609.52 413.39 -8.25 768 4614.15 roll -1.56 - - 1940.56 - 2.64 0.019 2224.12 -455.4 -82.73 - - 3111.03 - - - - - - - - - 16.00 -
4921.14 440.50 -9.08 797 4932.22 no move -1.56 - - 1941.44 - - - 2223.06 - -82.73 - - 3111.06 - - - - - - - - - - -
5234.74 470.30 -9.67 826 5239.33 roll -1.56 - - 1941.38 - 2.49 0.065 1208.25 -407.6 -82.73 - - 3111.16 - - - - - - - - - 15.94 -
5273.28 474.01 -9.77 832 5288.20 roll -1.56 - - 1941.50 - 2.59 0.026 2330.31 433.2 -82.73 - - 3110.88 - - - - - - - - - 16.00 -
5597.96 502.45 -7.90 861 5602.78 roll -1.56 - - 1941.38 - 2.76 0.060 1208.62 -406.4 -82.73 - - 3110.84 - - - - - - - - - 15.94 -
5683.10 508.63 -7.84 874 5697.90 roll -1.56 - - 1941.75 - 2.58 0.026 2322.62 431.8 -82.73 - - 3110.72 - - - - - - - - - 16.00 -
6012.41 529.53 -5.45 896 6013.74 no move -1.56 - - 1942.25 - - - 2322.62 - -82.73 - - 3109.94 - - - - - - - - - - -
6327.42 546.40 -5.56 917 6332.06 roll -1.56 - - 1940.94 - 2.76 0.061 1207.75 -403.9 -82.73 - - 3110.09 - - - - - - - - - 15.93 -
6365.97 548.79 -6.02 923 6371.49 roll -1.56 - - 1941.69 - 2.58 0.026 2321.75 431.8 -82.73 - - 3110.72 - - - - - - - - - 16.01 -
6685.37 573.98 -9.27 945 6686.70 no move -1.56 - - 1941.81 - - - 2321.31 - -82.73 - - 3108.38 - - - - - - - - - - -
7000.38 606.74 -10.09 966 7001.71 no move -1.56 - - 1941.88 - - - 2321.44 - -82.73 - - 3108.00 - - - - - - - - - - -
7315.56 635.11 -8.67 987 7320.20 roll -1.56 - - 1941.88 - 2.77 0.062 1208.81 -401.7 -82.73 - - 3108.75 - - - - - - - - - 15.93 -
7478.53 648.99 -8.53 1011 7484.40 roll -1.56 - - 1941.62 - 2.59 0.027 2320.50 429.2 -82.73 - - 3108.88 - - - - - - - - - 16.00 -
7797.93 673.45 -7.61 1033 7802.59 roll -1.56 - - 1941.00 - 2.85 0.089 3424.81 387.5 -82.73 - - 3108.62 - - - - - - - - - 15.87 -
7836.47 676.54 -7.96 1039 7842.02 roll -1.56 - - 1942.00 - 2.67 0.020 2218.44 -451.8 -82.73 - - 3109.72 - - - - - - - - - 16.00 -
8155.87 700.86 -7.83 1061 8160.66 roll -1.56 - - 1940.56 - 2.51 0.068 1208.12 -402.5 -82.73 - - 3108.28 - - - - - - - - - 15.92 -
8213.91 705.72 -8.22 1069 8218.52 roll -1.56 - - 1940.38 - 2.59 0.027 2323.44 430.6 -82.73 - - 3108.66 - - - - - - - - - 15.99 -
8530.40 727.33 -6.08 1091 8535.04 roll -1.56 - - 1940.94 - 2.76 0.062 1209.06 -403.8 -82.73 - - 3108.06 - - - - - - - - - 15.91 -
8567.61 729.69 -6.19 1096 8572.22 roll -1.56 - - 1941.38 - 2.57 0.027 2320.31 432.4 -82.73 - - 3106.78 - - - - - - - - - 15.99 -
8884.12 746.37 -4.69 1118 8885.45 no move -1.56 - - 1941.88 - - - 2319.56 - -82.73 - - 3106.25 - - - - - - - - - - -
9199.15 763.43 -6.13 1139 9203.82 roll -1.56 - - 1941.75 - 2.86 0.089 3423.88 386.1 -82.73 - - 3106.09 - - - - - - - - - 15.85 -
9237.70 765.99 -6.59 1145 9243.26 roll -1.56 - - 1942.00 - 2.69 0.020 2213.19 -450.1 -82.73 - - 3106.25 - - - - - - - - - 15.98 -
9557.14 785.28 -5.84 1167 9561.73 roll -1.56 - - 1941.88 - 2.48 0.068 1209.25 -404.8 -82.73 - - 3105.19 - - - - - - - - - 15.91 -
9595.69 787.64 -6.14 1173 9601.21 roll -1.56 - - 1941.94 - 2.57 0.027 2314.62 430.1 -82.73 - - 3106.03 - - - - - - - - - 16.00 -
9915.11 808.33 -6.85 1195 9919.75 roll -1.56 - - 1941.38 - 2.74 0.063 1209.12 -403.5 -82.73 - - 3104.94 - - - - - - - - - 15.91 -
9995.12 814.25 -7.48 1207 10000.84 roll -1.56 - - 1941.62 - 2.56 0.027 2309.31 429.8 -82.73 - - 3106.47 - - - - - - - - - 16.00 -
10314 end dive: TARGET_DEPTH_EXCEEDED
10314 begin apogee
10316.54 838.13 -7.81 1229 10392.02 -0.28 2.22 0.144 2254.75 141.0 0.18 0.137 2156.75 -847.6 - 66.15 2.202 2773.94 -5.0 0.331 - - - - - - 15.75 15.17 10.23
10393 end apogee: CONTROL_FINISHED_OK
10394 begin climb
10394.62 840.68 - 1234 10484.13 1.56 3.05 0.107 2701.94 146.6 3.03 0.078 996.12 -383.0 82.73 68.87 2.135 2438.22 -4.9 0.332 - - - - - - 15.45 15.60 11.59
10526.63 836.86 3.74 1252 10620.06 1.77 0.29 0.061 2762.94 210.3 2.73 0.023 2137.88 418.2 183.85 86.55 2.120 2025.31 -4.8 0.326 - - - - - - 15.42 15.50 11.36
10931.65 802.29 9.48 1287 10936.30 done 1.77 - - 2763.31 - 2.76 0.083 3204.44 386.4 183.85 - - 2014.31 - - - - - - - - - 15.70 -
10975.52 798.48 9.86 1294 10990.46 done 1.77 - - 2763.19 - 2.64 0.024 2060.12 -433.5 183.85 - - 2014.69 - - - - - - - - - 15.75 -
11304.93 765.60 9.79 1316 11309.58 done 1.77 - - 2763.69 - 2.74 0.083 993.69 -389.2 183.85 - - 2012.09 - - - - - - - - - 15.79 -
11364.21 759.45 10.40 1325 11369.77 done 1.77 - - 2762.75 - 2.66 0.024 2136.25 429.5 183.85 - - 2012.59 - - - - - - - - - 15.86 -
11683.62 727.80 9.78 1347 11688.26 done 1.77 - - 2762.56 - 2.74 0.084 3206.94 390.8 183.85 - - 2012.34 - - - - - - - - - 15.83 -
11747.91 721.83 10.15 1357 11762.84 done 1.77 - - 2764.06 - 2.62 0.025 2063.00 -436.6 183.85 - - 2011.22 - - - - - - - - - 15.91 -
12077.32 691.19 8.86 1379 12081.99 done 1.77 - - 2763.44 - 2.94 0.080 3206.31 388.9 183.85 - - 2010.78 - - - - - - - - - 15.85 -
12136.59 685.82 9.15 1388 12142.14 done 1.77 - - 2763.88 - 2.61 0.025 2068.69 -435.9 183.85 - - 2011.03 - - - - - - - - - 15.94 -
12456.02 659.43 7.60 1410 12460.67 done 1.78 - - 2764.19 - 2.74 0.084 993.31 -392.5 183.85 - - 2010.41 - - - - - - - - - 15.85 -
12499.60 656.55 7.64 1417 12514.68 done 1.80 - - 2763.31 - 2.67 0.025 2141.50 430.0 183.85 - - 2011.28 - - - - - - - - - 15.95 -
12829.10 631.63 7.07 1439 12830.44 VBD 1.83 - - 2763.19 - - - 2141.75 - 183.85 - - 2009.12 - - - - - - - - - - -
13143.99 604.23 9.17 1460 13148.67 done 1.83 - - 2762.44 - 2.93 0.080 994.62 -391.5 183.85 - - 2010.34 - - - - - - - - - 15.86 -
13203.27 598.33 9.98 1469 13208.82 done 1.83 - - 2764.00 - 2.64 0.024 2139.19 433.5 183.85 - - 2009.84 - - - - - - - - - 15.98 -
13522.67 569.85 8.39 1491 13524.01 VBD 1.83 - - 2763.94 - - - 2139.31 - 183.85 - - 2007.97 - - - - - - - - - - -
13837.87 543.23 8.59 1512 13842.51 done 1.83 - - 2764.44 - 2.72 0.084 3205.38 391.9 183.85 - - 2007.44 - - - - - - - - - 15.87 -
13937.27 534.16 9.12 1526 13941.91 done 1.83 - - 2762.88 - 2.62 0.025 2059.00 -437.5 183.85 - - 2008.84 - - - - - - - - - 15.97 -
14253.76 510.28 7.18 1548 14255.09 VBD 1.85 - - 2763.56 - - - 2059.38 - 183.85 - - 2007.31 - - - - - - - - - - -
14565.51 487.31 7.61 1573 14570.16 done 1.87 - - 2764.12 - 2.72 0.084 993.25 -392.0 183.85 - - 2007.66 - - - - - - - - - 15.85 -
14651.26 479.92 8.67 1585 14666.20 done 1.87 - - 2763.00 - 2.64 0.024 2128.81 430.1 183.85 - - 2009.69 - - - - - - - - - 15.98 -
14968.42 454.48 8.01 1614 14973.08 done 1.87 - - 2762.69 - 2.76 0.083 3205.44 390.1 183.85 - - 2007.97 - - - - - - - - - 15.86 -
15007.08 451.24 8.36 1620 15021.91 done 1.87 - - 2764.19 - 2.63 0.025 2053.50 -438.0 183.85 - - 2009.28 - - - - - - - - - 15.99 -
15323.48 423.94 9.06 1649 15328.13 done 1.87 - - 2763.38 - 2.72 0.083 993.38 -389.7 183.85 - - 2008.25 - - - - - - - - - 15.85 -
15377.76 418.70 9.72 1657 15392.70 done 1.87 - - 2763.56 - 2.62 0.024 2130.19 433.9 183.85 - - 2009.09 - - - - - - - - - 15.99 -
15693.93 389.47 8.54 1686 15698.58 done 1.87 - - 2763.94 - 2.74 0.083 3202.38 391.3 183.85 - - 2007.09 - - - - - - - - - 15.85 -
15795.41 380.77 8.67 1700 15810.34 done 1.87 - - 2763.88 - 2.61 0.025 2060.62 -437.5 183.85 - - 2008.56 - - - - - - - - - 15.99 -
16112.21 359.02 6.55 1729 16123.28 VBD 1.91 - - 2763.88 - - - 2060.81 - 183.85 - - 2008.38 - - - - - - - - - - -
16424.89 334.23 9.08 1758 16429.57 done 1.91 - - 2763.94 - 2.94 0.079 3205.00 389.2 183.85 - - 2007.41 - - - - - - - - - 15.85 -
16510.65 325.90 9.80 1770 16525.56 done 1.91 - - 2763.62 - 2.60 0.024 2062.38 -439.5 183.85 - - 2009.72 - - - - - - - - - 15.98 -
16827.04 298.58 8.10 1799 16831.70 done 1.91 - - 2764.38 - 2.71 0.083 993.75 -394.3 183.85 - - 2008.41 - - - - - - - - - 15.82 -
16899.33 292.46 8.45 1814 16904.76 done 1.91 - - 2763.94 - 2.66 0.024 2142.38 431.8 183.85 - - 2007.59 - - - - - - - - - 15.96 -
17209.26 271.77 6.44 1876 17245.01 1.99 0.23 0.073 2817.19 231.5 - - 2143.31 - 227.19 34.40 1.499 1848.53 -4.6 0.145 - - - - - - 15.92 - 10.46
17549.30 242.70 8.55 1944 17554.90 roll 1.99 - - 2817.00 - 2.96 0.078 993.69 -388.4 227.19 - - 1842.81 - - - - - - - - - 15.78 -
17604.31 237.45 9.80 1955 17609.86 roll 1.99 - - 2817.12 - 2.65 0.024 2138.31 431.9 227.19 - - 1842.38 - - - - - - - - - 15.88 -
17914.35 209.12 9.20 2017 17915.69 no move 1.99 - - 2817.12 - - - 2137.75 - 227.19 - - 1840.69 - - - - - - - - - - -
18219.38 182.16 8.37 2078 18220.71 no move 1.99 - - 2817.06 - - - 2137.88 - 227.19 - - 1840.53 - - - - - - - - - - -
18524.43 161.23 5.96 2139 18573.43 done 2.10 - - 2816.56 - 2.95 0.080 993.25 -388.0 280.84 43.49 1.365 1630.31 -4.8 0.099 - - - - - - - 15.39 10.87
18606.04 155.39 7.84 2155 18611.58 roll 2.11 - - 2817.56 - 2.66 0.023 2136.00 429.6 280.84 - - 1627.34 - - - - - - - - - 15.78 -
18916.19 128.98 8.96 2217 18921.68 roll 2.11 - - 2817.62 - 2.72 0.080 3203.50 392.5 280.84 - - 1623.41 - - - - - - - - - 15.78 -
18961.13 124.38 10.45 2226 18966.68 roll 2.11 - - 2818.44 - 2.62 0.024 2059.19 -436.8 280.84 - - 1623.00 - - - - - - - - - 15.85 -
19271.24 91.32 10.28 2288 19276.83 done 2.11 - - 2817.00 - 2.94 0.076 3203.81 389.3 280.84 - - 1622.47 - - - - - - - - - 15.81 -
19316.25 86.76 10.30 2297 19321.78 done 2.11 - - 2818.06 - 2.60 0.024 2066.88 -437.3 280.84 - - 1622.44 - - - - - - - - - 15.89 -
19506.31 72.27 7.40 2335 19511.85 done 2.14 - - 2817.94 - 2.73 0.081 994.00 -393.0 280.84 - - 1621.00 - - - - - - - - - 15.81 -
19586.31 66.20 7.23 2351 19592.08 2.16 0.16 0.086 2860.88 268.4 2.63 0.022 2135.81 434.1 280.84 - - 1620.75 - - - - - - - - 15.77 15.92 -
19776.35 56.81 4.78 2389 19843.78 done 2.32 - - 2861.44 - 2.76 0.080 3204.94 387.4 359.79 61.96 1.221 1308.72 -5.0 0.041 - - - - - - - 15.37 10.91
19846.95 51.83 7.94 2403 19851.89 roll 2.33 - - 2861.75 - 2.70 0.023 2032.75 -434.1 359.79 - - 1308.62 - - - - - - - - - 15.73 -
20036.38 34.73 7.74 2441 20037.81 pitch 2.34 0.16 0.084 2901.00 245.3 - - 2032.31 - 359.79 - - 1303.22 - - - - - - - - 15.75 - -
20221.38 18.99 8.73 2478 20227.00 roll 2.34 - - 2901.12 - 3.01 0.073 3206.75 390.2 359.79 - - 1301.91 - - - - - - - - - 15.77 -
20281.62 12.92 10.77 2490 20286.94 roll 2.34 - - 2900.62 - 2.66 0.024 2042.12 -437.8 359.79 - - 1301.72 - - - - - - - - - 15.85 -
20371 end climb: SURFACE_DEPTH_REACHED
20371 begin surface coast
20416 end surface coast: CONTROL_FINISHED_OK
20416 begin surface
SM 0.59 - - - - 174.7 50.38 1.149 1042.8 20.7 16.67 0.044 997.4 59.8 - 0.68 0.041 1088.1 1596.2 -2.348 - - 11.10 15.81 15.87 -