NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1131 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 402.35 of 550.00 AH used of 24V (26.85% remains)
• Surface angle -59.9 deg, depth 0.63 m • Intended pitch -21.9 deg, speed -9.429 cm/s
VBD pumped to 399.98 (SM_CC=400)
• GPS1 time: 44 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
5.90 - - - 77.13 VBD -1.45 - - 177.06 - - - 2249.88 - -116.79 70.06 0.005 2796.34 - - - - - - - - - - 14.86
78.24 3.14 -4.32 13 112.72 -1.45 14.67 0.238 1968.44 122.1 3.08 0.085 3425.88 381.8 -116.79 11.03 0.007 3250.97 41.2 -3.263 - - - - - - 15.32 14.86 15.08
294.83 36.53 -14.68 56 300.39 roll -1.45 - - 1968.62 - 2.63 0.019 2256.50 -444.6 -116.79 - - 3251.38 - - - - - - - - - 15.82 -
485.55 61.59 -12.57 94 486.88 no move -1.45 - - 1968.75 - - - 2254.00 - -116.79 - - 3250.19 - - - - - - - - - - -
669.97 81.70 -10.02 131 675.51 roll -1.45 - - 1969.00 - 2.62 0.065 1209.38 -398.7 -116.79 - - 3253.19 - - - - - - - - - 15.81 -
689.97 83.80 -10.27 135 695.52 roll -1.45 - - 1968.88 - 2.69 0.026 2355.06 425.9 -116.79 - - 3253.44 - - - - - - - - - 15.89 -
880.03 102.98 -10.02 173 881.36 no move -1.45 - - 1968.38 - - - 2355.38 - -116.79 - - 3250.88 - - - - - - - - - - -
1185.09 133.16 -10.09 234 1190.64 roll -1.45 - - 1967.31 - 2.78 0.083 3425.69 385.0 -116.79 - - 3253.28 - - - - - - - - - 15.81 -
1210.08 135.85 -10.58 239 1215.64 roll -1.45 - - 1969.06 - 2.64 0.018 2237.19 -450.2 -116.79 - - 3252.62 - - - - - - - - - 15.92 -
1520.14 163.34 -7.92 301 1525.67 roll -1.45 - - 1968.56 - 2.55 0.065 1209.94 -402.8 -116.79 - - 3251.91 - - - - - - - - - 15.86 -
1550.14 165.78 -8.04 307 1555.70 roll -1.45 - - 1968.75 - 2.64 0.026 2342.75 429.1 -116.79 - - 3252.94 - - - - - - - - - 15.94 -
1860.20 190.56 -8.21 369 1865.77 roll -1.45 - - 1967.62 - 2.84 0.061 1209.12 -399.2 -116.79 - - 3252.75 - - - - - - - - - 15.86 -
1940.38 197.40 -8.50 385 1945.82 roll -1.45 - - 1968.69 - 2.63 0.026 2334.50 427.9 -116.79 - - 3253.16 - - - - - - - - - 15.95 -
2250.25 224.02 -8.99 447 2251.58 no move -1.45 - - 1968.38 - - - 2334.62 - -116.79 - - 3252.09 - - - - - - - - - - -
2555.29 251.13 -8.70 508 2560.86 roll -1.45 - - 1968.56 - 2.82 0.061 1209.25 -399.1 -116.79 - - 3252.78 - - - - - - - - - 15.87 -
2590.28 254.30 -9.00 515 2595.84 roll -1.45 - - 1969.12 - 2.62 0.026 2331.88 428.5 -116.79 - - 3253.12 - - - - - - - - - 15.95 -
2900.33 280.04 -8.13 577 2901.66 no move -1.45 - - 1968.62 - - - 2331.81 - -116.79 - - 3251.41 - - - - - - - - - - -
3212.84 306.78 -9.04 631 3217.51 roll -1.45 - - 1968.62 - 2.82 0.061 1209.56 -398.0 -116.79 - - 3251.75 - - - - - - - - - 15.89 -
3265.77 311.80 -9.36 638 3270.40 roll -1.45 - - 1968.31 - 2.61 0.026 2328.12 428.6 -116.79 - - 3252.53 - - - - - - - - - 15.97 -
3577.75 340.82 -9.33 667 3588.82 no move -1.45 - - 1968.62 - - - 2327.94 - -116.79 - - 3253.03 - - - - - - - - - - -
3890.44 368.86 -8.61 696 3895.27 roll -1.45 - - 1966.81 - 2.80 0.062 1209.44 -399.5 -116.79 - - 3253.00 - - - - - - - - - 15.89 -
3944.89 373.59 -8.83 704 3959.65 roll -1.45 - - 1968.56 - 2.61 0.026 2326.31 427.9 -116.79 - - 3253.25 - - - - - - - - - 15.98 -
4260.67 399.92 -8.04 733 4265.34 roll -1.45 - - 1968.75 - 2.82 0.062 1209.25 -396.1 -116.79 - - 3254.22 - - - - - - - - - 15.88 -
4299.21 402.99 -8.18 739 4314.14 roll -1.45 - - 1968.38 - 2.60 0.026 2321.19 427.7 -116.79 - - 3254.12 - - - - - - - - - 15.98 -
4615.42 426.83 -7.22 768 4620.06 roll -1.45 - - 1967.25 - 2.78 0.062 1210.81 -399.4 -116.79 - - 3252.66 - - - - - - - - - 15.88 -
4638.23 428.48 -7.43 772 4653.13 roll -1.45 - - 1968.69 - 2.58 0.026 2317.31 428.9 -116.79 - - 3253.50 - - - - - - - - - 15.99 -
4955.15 451.99 -7.25 801 4966.22 no move -1.45 - - 1968.81 - - - 2317.38 - -116.79 - - 3252.59 - - - - - - - - - - -
5267.99 474.56 -7.27 830 5272.64 roll -1.45 - - 1968.62 - 2.79 0.062 1210.38 -396.8 -116.79 - - 3251.94 - - - - - - - - - 15.88 -
5338.00 479.82 -7.56 840 5352.92 roll -1.45 - - 1968.50 - 2.58 0.027 2314.88 428.1 -116.79 - - 3251.72 - - - - - - - - - 15.98 -
5656.24 503.60 -7.55 868 5657.57 no move -1.45 - - 1968.62 - - - 2314.75 - -116.79 - - 3251.16 - - - - - - - - - - -
5971.25 527.15 -7.73 889 5976.09 roll -1.45 - - 1968.81 - 2.78 0.063 1210.44 -397.2 -116.79 - - 3251.06 - - - - - - - - - 15.87 -
6014.96 530.26 -8.08 896 6029.71 roll -1.45 - - 1968.25 - 2.57 0.027 2311.50 428.4 -116.79 - - 3251.88 - - - - - - - - - 15.98 -
6344.20 557.65 -8.39 918 6345.53 no move -1.45 - - 1968.38 - - - 2311.25 - -116.79 - - 3250.03 - - - - - - - - - - -
6659.20 584.42 -8.58 939 6663.84 roll -1.45 - - 1968.25 - 2.78 0.064 1210.12 -396.1 -116.79 - - 3251.66 - - - - - - - - - 15.87 -
6697.75 587.76 -8.80 945 6703.28 roll -1.45 - - 1968.25 - 2.57 0.027 2311.50 428.6 -116.79 - - 3250.94 - - - - - - - - - 15.98 -
7017.33 614.68 -8.23 967 7021.98 roll -1.45 - - 1968.06 - 2.78 0.064 1210.50 -396.0 -116.79 - - 3249.84 - - - - - - - - - 15.87 -
7054.53 617.85 -8.36 972 7059.14 roll -1.45 - - 1968.56 - 2.57 0.027 2308.25 427.1 -116.79 - - 3251.44 - - - - - - - - - 15.98 -
7371.03 642.92 -7.80 994 7372.36 no move -1.45 - - 1968.25 - - - 2309.06 - -116.79 - - 3250.25 - - - - - - - - - - -
7686.04 666.65 -7.55 1015 7687.37 no move -1.45 - - 1968.31 - - - 2308.75 - -116.79 - - 3250.25 - - - - - - - - - - -
8001.06 690.91 -7.88 1036 8002.39 no move -1.45 - - 1968.25 - - - 2308.69 - -116.79 - - 3248.50 - - - - - - - - - - -
8316.08 715.51 -7.68 1057 8320.73 roll -1.45 - - 1968.44 - 2.78 0.064 1211.69 -394.6 -116.79 - - 3249.19 - - - - - - - - - 15.85 -
8338.88 716.80 -7.70 1061 8353.80 roll -1.45 - - 1968.81 - 2.57 0.027 2307.25 426.3 -116.79 - - 3249.62 - - - - - - - - - 15.98 -
8668.31 741.80 -7.33 1083 8669.64 no move -1.45 - - 1968.88 - - - 2307.38 - -116.79 - - 3247.62 - - - - - - - - - - -
8983.61 764.85 -7.18 1104 8988.32 roll -1.45 - - 1967.00 - 2.79 0.065 1211.94 -392.6 -116.79 - - 3248.38 - - - - - - - - - 15.85 -
9041.57 769.20 -7.38 1112 9046.18 roll -1.45 - - 1968.31 - 2.57 0.027 2304.38 425.1 -116.79 - - 3247.28 - - - - - - - - - 15.97 -
9358.06 791.32 -6.85 1134 9359.39 no move -1.45 - - 1968.62 - - - 2304.31 - -116.79 - - 3246.69 - - - - - - - - - - -
9673.08 812.37 -6.63 1155 9674.41 no move -1.45 - - 1968.50 - - - 2304.75 - -116.79 - - 3246.38 - - - - - - - - - - -
9988.09 833.52 -6.84 1176 9992.74 roll -1.45 - - 1968.62 - 2.79 0.065 1211.56 -391.8 -116.79 - - 3246.41 - - - - - - - - - 15.84 -
10047.39 837.76 -7.19 1185 10052.91 roll -1.45 - - 1968.50 - 2.56 0.027 2302.56 426.2 -116.79 - - 3246.91 - - - - - - - - - 15.99 -
10366.82 859.91 -6.94 1207 10368.15 no move -1.45 - - 1968.62 - - - 2302.44 - -116.79 - - 3245.88 - - - - - - - - - - -
10681.91 882.03 -7.01 1228 10686.62 roll -1.45 - - 1968.62 - 2.79 0.065 1211.62 -391.0 -116.79 - - 3247.62 - - - - - - - - - 15.83 -
10720.47 884.78 -7.20 1234 10725.99 roll -1.45 - - 1968.38 - 2.56 0.027 2299.56 425.0 -116.79 - - 3247.12 - - - - - - - - - 15.97 -
11039.90 906.69 -6.84 1256 11041.23 no move -1.45 - - 1968.62 - - - 2299.62 - -116.79 - - 3246.22 - - - - - - - - - - -
11355.10 928.87 -7.01 1277 11356.43 no move -1.45 - - 1968.19 - - - 2300.00 - -116.79 - - 3247.25 - - - - - - - - - - -
11669.97 951.73 -7.21 1298 11671.30 no move -1.45 - - 1967.94 - - - 2300.06 - -116.79 - - 3245.06 - - - - - - - - - - -
11985.18 973.74 -6.87 1319 11986.51 no move -1.45 - - 1968.38 - - - 2300.06 - -116.79 - - 3245.91 - - - - - - - - - - -
12240 end dive: TARGET_DEPTH_EXCEEDED
12240 begin apogee
12242.06 990.60 -6.36 1336 12348.36 -0.28 2.08 0.141 2252.88 136.8 0.17 0.153 2153.62 -861.4 - 95.60 2.450 2774.59 -4.9 0.352 - - - - - - 15.66 14.98 10.11
12350 end apogee: CONTROL_FINISHED_OK
12350 begin climb
12351.03 992.31 - 1343 12462.32 1.45 3.04 0.125 2672.50 138.0 2.82 0.082 3204.75 372.7 116.79 101.40 2.405 2297.81 -4.7 0.342 - - - - - - 15.29 15.40 11.50
12465.11 987.80 5.11 1360 12588.70 1.71 0.41 0.060 2745.56 178.2 2.79 0.024 2061.88 -409.6 248.72 115.98 2.379 1760.72 -4.6 0.339 - - - - - - 15.16 15.22 11.61
12890.46 941.64 11.32 1398 12895.12 done 1.71 - - 2745.69 - 2.85 0.087 993.75 -374.8 248.72 - - 1748.47 - - - - - - - - - 15.65 -
12934.00 937.18 11.62 1405 12948.95 done 1.71 - - 2744.56 - 2.71 0.024 2136.69 421.7 248.72 - - 1747.97 - - - - - - - - - 15.72 -
13263.41 900.29 10.65 1427 13268.06 done 1.71 - - 2745.50 - 2.80 0.084 3206.12 381.9 248.72 - - 1747.25 - - - - - - - - - 15.75 -
13300.61 896.20 10.84 1432 13305.25 done 1.71 - - 2746.06 - 2.67 0.025 2065.50 -427.2 248.72 - - 1746.19 - - - - - - - - - 15.83 -
13617.10 863.70 10.07 1454 13621.76 done 1.71 - - 2745.50 - 2.81 0.087 994.81 -381.0 248.72 - - 1744.41 - - - - - - - - - 15.77 -
13676.39 857.39 10.67 1463 13681.95 done 1.71 - - 2745.25 - 2.67 0.025 2135.31 427.2 248.72 - - 1745.31 - - - - - - - - - 15.89 -
13995.81 826.11 9.57 1485 14000.46 done 1.71 - - 2745.81 - 2.77 0.084 3205.75 386.4 248.72 - - 1743.47 - - - - - - - - - 15.81 -
14033.00 822.27 9.97 1490 14037.62 done 1.71 - - 2745.56 - 2.65 0.026 2062.88 -431.3 248.72 - - 1746.97 - - - - - - - - - 15.90 -
14349.60 791.19 9.93 1512 14354.25 done 1.71 - - 2745.38 - 2.79 0.087 994.62 -382.9 248.72 - - 1744.19 - - - - - - - - - 15.80 -
14407.53 785.09 10.36 1520 14412.17 done 1.71 - - 2745.25 - 2.68 0.025 2136.06 425.9 248.72 - - 1742.84 - - - - - - - - - 15.92 -
14724.03 753.77 10.01 1542 14728.68 done 1.71 - - 2746.06 - 2.77 0.084 3205.38 386.0 248.72 - - 1743.66 - - - - - - - - - 15.82 -
14761.23 749.85 10.29 1547 14765.87 done 1.71 - - 2746.31 - 2.65 0.026 2060.25 -432.1 248.72 - - 1742.91 - - - - - - - - - 15.92 -
15077.71 718.30 10.04 1569 15082.36 done 1.71 - - 2745.12 - 2.78 0.087 994.81 -383.3 248.72 - - 1743.94 - - - - - - - - - 15.80 -
15116.26 714.27 10.48 1575 15121.83 done 1.71 - - 2745.62 - 2.66 0.025 2134.19 428.3 248.72 - - 1743.09 - - - - - - - - - 15.95 -
15435.67 681.61 10.06 1597 15440.31 done 1.71 - - 2745.81 - 2.77 0.084 3206.31 387.0 248.72 - - 1744.44 - - - - - - - - - 15.82 -
15474.21 677.69 10.30 1603 15479.77 done 1.71 - - 2746.06 - 2.66 0.026 2060.38 -430.8 248.72 - - 1744.03 - - - - - - - - - 15.95 -
15793.85 645.75 9.91 1625 15795.18 VBD 1.71 - - 2746.25 - - - 2060.38 - 248.72 - - 1742.12 - - - - - - - - - - -
16108.63 615.17 9.58 1646 16113.49 done 1.71 - - 2746.00 - 2.98 0.080 3206.12 384.5 248.72 - - 1743.91 - - - - - - - - - 15.81 -
16152.37 611.38 9.89 1653 16167.14 done 1.71 - - 2745.75 - 2.65 0.026 2064.12 -430.9 248.72 - - 1742.75 - - - - - - - - - 15.96 -
16481.61 579.13 9.40 1675 16482.95 VBD 1.71 - - 2745.62 - - - 2064.31 - 248.72 - - 1741.81 - - - - - - - - - - -
16796.63 550.20 8.93 1696 16797.96 VBD 1.71 - - 2746.06 - - - 2064.38 - 248.72 - - 1741.62 - - - - - - - - - - -
17111.83 522.50 8.67 1717 17116.51 done 1.73 - - 2743.75 - 2.98 0.080 3208.44 383.9 248.72 - - 1742.44 - - - - - - - - - 15.80 -
17149.04 519.08 8.92 1722 17153.68 done 1.74 - - 2746.31 - 2.64 0.026 2066.12 -432.7 248.72 - - 1742.41 - - - - - - - - - 15.95 -
17455.33 493.28 8.51 1745 17459.99 done 1.76 - - 2745.94 - 2.80 0.088 994.56 -382.7 248.72 - - 1742.25 - - - - - - - - - 15.78 -
17508.26 488.30 9.16 1752 17512.90 done 1.76 - - 2746.06 - 2.69 0.025 2141.81 426.5 248.72 - - 1741.38 - - - - - - - - - 15.96 -
17820.27 461.44 8.64 1781 17824.92 done 1.77 - - 2746.06 - 2.77 0.083 3205.75 384.1 248.72 - - 1742.25 - - - - - - - - - 15.80 -
17858.82 457.96 9.04 1787 17873.76 done 1.77 - - 2746.06 - 2.64 0.025 2065.88 -431.8 248.72 - - 1742.03 - - - - - - - - - 15.96 -
18175.01 429.89 8.94 1816 18179.84 done 1.77 - - 2746.00 - 2.79 0.087 996.00 -383.5 248.72 - - 1740.16 - - - - - - - - - 15.77 -
18229.40 424.80 9.49 1824 18244.22 done 1.77 - - 2746.19 - 2.69 0.024 2141.19 425.7 248.72 - - 1741.84 - - - - - - - - - 15.97 -
18545.82 396.02 8.96 1853 18556.89 VBD 1.77 - - 2746.06 - - - 2141.50 - 248.72 - - 1741.41 - - - - - - - - - - -
18858.54 368.27 8.62 1882 18869.62 VBD 1.79 - - 2746.62 - - - 2141.25 - 248.72 - - 1741.66 - - - - - - - - - - -
19171.49 342.34 8.06 1911 19182.58 VBD 1.82 - - 2745.75 - - - 2141.62 - 248.72 - - 1741.41 - - - - - - - - - - -
19484.22 316.48 8.26 1940 19495.29 VBD 1.84 - - 2745.94 - - - 2141.31 - 248.72 - - 1741.53 - - - - - - - - - - -
19796.35 291.58 7.89 1980 19802.00 1.87 0.17 0.091 2783.50 220.9 3.01 0.082 994.75 -380.9 248.72 - - 1741.62 - - - - - - - - 15.89 15.73 -
19846.34 286.99 9.42 1990 19851.89 done 1.87 - - 2784.88 - 2.66 0.024 2139.38 430.3 248.72 - - 1741.28 - - - - - - - - - 15.94 -
20156.43 260.53 8.52 2052 20157.76 VBD 1.89 - - 2784.69 - - - 2139.12 - 248.72 - - 1740.56 - - - - - - - - - - -
20461.51 232.25 9.97 2113 20462.85 VBD 1.89 - - 2785.00 - - - 2139.44 - 248.72 - - 1740.50 - - - - - - - - - - -
20766.68 202.05 9.37 2174 20772.22 done 1.89 - - 2785.31 - 3.01 0.081 994.75 -380.3 248.72 - - 1742.78 - - - - - - - - - 15.74 -
20841.82 194.80 9.74 2189 20847.18 done 1.89 - - 2785.81 - 2.67 0.024 2137.00 427.8 248.72 - - 1741.91 - - - - - - - - - 15.94 -
21151.76 168.55 7.95 2251 21153.10 VBD 1.92 - - 2784.94 - - - 2137.31 - 248.72 - - 1741.22 - - - - - - - - - - -
21456.87 143.07 8.24 2312 21458.21 VBD 1.94 - - 2784.81 - - - 2137.00 - 248.72 - - 1741.06 - - - - - - - - - - -
21761.97 118.57 7.54 2373 21767.55 done 1.98 - - 2785.62 - 2.99 0.079 994.69 -382.0 248.72 - - 1741.72 - - - - - - - - - 15.75 -
21791.98 116.19 7.73 2379 21797.52 done 2.01 - - 2785.44 - 2.64 0.024 2135.31 432.1 248.72 - - 1742.03 - - - - - - - - - 15.94 -
22102.07 94.64 6.65 2441 22175.37 2.18 0.43 0.066 2864.50 183.9 3.03 0.080 993.38 -376.9 333.51 66.39 1.318 1415.69 -4.9 0.062 - - - - - - 15.90 15.26 10.33
22242.71 81.77 9.81 2469 22248.15 roll 2.18 - - 2864.12 - 2.68 0.023 2132.50 425.0 333.51 - - 1411.34 - - - - - - - - - 15.74 -
22432.67 67.26 7.48 2507 22438.22 roll 2.22 - - 2864.25 - 2.79 0.080 3206.12 384.8 333.51 - - 1408.69 - - - - - - - - - 15.70 -
22487.68 62.69 8.44 2518 22493.22 roll 2.24 - - 2862.88 - 2.66 0.024 2056.12 -432.3 333.51 - - 1408.00 - - - - - - - - - 15.79 -
22677.76 47.95 7.56 2556 22683.33 done 2.28 - - 2864.12 - 3.00 0.075 3204.44 382.8 333.51 - - 1406.84 - - - - - - - - - 15.72 -
22717.77 44.69 8.08 2564 22723.30 done 2.31 - - 2863.56 - 2.66 0.023 2060.00 -430.2 333.51 - - 1406.31 - - - - - - - - - 15.84 -
22907.83 30.28 7.68 2602 22913.38 done 2.34 - - 2863.69 - 2.77 0.082 994.94 -384.5 333.51 - - 1405.81 - - - - - - - - - 15.74 -
22937.84 27.83 8.00 2608 22943.43 2.37 0.19 0.081 2908.88 237.8 2.68 0.023 2146.69 429.8 333.51 - - 1405.94 - - - - - - - - 15.70 15.87 -
23128.01 11.44 8.58 2646 23129.35 VBD 2.39 - - 2907.69 - - - 2146.69 - 333.51 - - 1404.75 - - - - - - - - - - -
23207 end climb: SURFACE_DEPTH_REACHED
23208 begin surface coast
23258 end surface coast: CONTROL_FINISHED_OK
23258 begin surface
SM 0.90 - - - - 180.6 51.97 1.196 1144.4 22.0 16.98 0.056 1111.0 65.4 - 0.44 0.062 1177.8 2676.8 -3.971 - - 11.03 15.82 15.88 -