NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 453 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 146.10 of 550.00 AH used of 24V (73.44% remains)
• Surface angle -66.4 deg, depth 0.76 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• No surface pump (final VBD was 1022.8, SM_CC=425)
• GPS1 time: 29 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
5.12 - - - 56.77 VBD -1.37 - - 180.94 - - - 2266.69 - -82.73 50.46 0.005 2378.22 - - - - - - - - - - 15.47
57.49 3.85 -8.28 9 95.58 -1.37 14.32 0.252 1988.44 126.2 2.55 0.066 1208.38 -415.0 -82.73 14.95 0.006 3112.00 49.1 -5.259 - - - - - - 15.62 15.42 15.53
202.67 40.50 -21.13 38 208.22 roll -1.37 - - 1988.44 - 2.65 0.029 2350.88 431.1 -82.73 - - 3112.03 - - - - - - - - - 15.82 -
393.11 67.57 -13.54 76 394.44 no move -1.37 - - 1988.62 - - - 2350.69 - -82.73 - - 3111.06 - - - - - - - - - - -
578.17 90.18 -10.68 113 583.55 roll -1.37 - - 1988.38 - 2.74 0.059 1208.50 -416.9 -82.73 - - 3113.22 - - - - - - - - - 15.89 -
637.99 97.42 -12.01 125 643.38 roll -1.37 - - 1988.94 - 2.62 0.028 2353.56 437.0 -82.73 - - 3113.44 - - - - - - - - - 15.91 -
827.88 117.56 -9.75 163 833.43 roll -1.37 - - 1990.00 - 2.65 0.084 3426.31 404.8 -82.73 - - 3113.88 - - - - - - - - - 15.90 -
857.89 120.51 -9.71 169 863.42 roll -1.37 - - 1988.56 - 2.56 0.020 2236.62 -464.7 -82.73 - - 3113.69 - - - - - - - - - 15.93 -
1167.99 150.43 -9.24 231 1173.59 roll -1.37 - - 1989.62 - 2.94 0.079 3428.88 405.5 -82.73 - - 3114.09 - - - - - - - - - 15.94 -
1348.04 169.54 -9.93 267 1353.58 roll -1.37 - - 1989.69 - 2.56 0.020 2244.75 -462.6 -82.73 - - 3114.03 - - - - - - - - - 15.98 -
1658.14 196.76 -9.10 329 1663.26 roll -1.37 - - 1989.94 - 2.46 0.065 1208.31 -421.3 -82.73 - - 3113.94 - - - - - - - - - 15.99 -
1763.18 206.52 -9.45 350 1768.93 roll -1.37 - - 1989.69 - 2.61 0.029 2354.56 439.2 -82.73 - - 3114.78 - - - - - - - - - 16.00 -
2073.32 236.61 -10.30 412 2078.81 roll -1.37 - - 1989.75 - 2.65 0.086 3427.19 404.8 -82.73 - - 3114.09 - - - - - - - - - 15.98 -
2223.29 254.32 -11.86 442 2228.81 roll -1.37 - - 1989.50 - 2.56 0.021 2246.44 -461.2 -82.73 - - 3114.00 - - - - - - - - - 16.01 -
2533.32 286.62 -10.00 504 2538.92 roll -1.37 - - 1990.50 - 2.92 0.083 3425.38 403.7 -82.73 - - 3113.88 - - - - - - - - - 16.01 -
2583.33 292.31 -11.70 514 2588.85 roll -1.37 - - 1989.50 - 2.55 0.022 2248.00 -461.7 -82.73 - - 3114.00 - - - - - - - - - 16.01 -
2897.15 323.44 -9.94 551 2908.22 no move -1.37 - - 1989.62 - - - 2247.06 - -82.73 - - 3113.06 - - - - - - - - - - -
3210.20 352.45 -9.32 580 3221.27 no move -1.37 - - 1989.94 - - - 2246.50 - -82.73 - - 3112.25 - - - - - - - - - - -
3522.82 382.94 -9.81 609 3527.41 roll -1.37 - - 1989.25 - 2.47 0.068 1208.56 -420.2 -82.73 - - 3111.84 - - - - - - - - - 16.04 -
3577.09 388.40 -10.15 617 3592.02 roll -1.37 - - 1989.62 - 2.61 0.030 2353.19 438.6 -82.73 - - 3112.59 - - - - - - - - - 16.06 -
3893.41 419.91 -10.02 646 3898.05 roll -1.37 - - 1988.69 - 2.73 0.063 1207.31 -419.7 -82.73 - - 3110.69 - - - - - - - - - 16.05 -
3947.85 425.35 -10.20 654 3962.66 roll -1.37 - - 1989.50 - 2.61 0.030 2353.44 439.1 -82.73 - - 3110.50 - - - - - - - - - 16.05 -
4263.95 454.75 -9.22 683 4268.57 roll -1.37 - - 1989.88 - 2.66 0.090 3429.00 404.3 -82.73 - - 3109.22 - - - - - - - - - 16.02 -
4333.95 461.98 -10.38 693 4348.87 roll -1.37 - - 1989.44 - 2.56 0.022 2248.06 -461.3 -82.73 - - 3110.00 - - - - - - - - - 16.06 -
4650.36 490.98 -8.98 722 4655.04 roll -1.37 - - 1989.94 - 2.93 0.086 3425.88 402.0 -82.73 - - 3108.41 - - - - - - - - - 16.04 -
4750.49 501.09 -10.18 735 4762.49 roll -1.37 - - 1989.75 - 2.55 0.022 2249.00 -461.5 -82.73 - - 3109.75 - - - - - - - - - 16.05 -
5076.98 528.67 -8.22 757 5078.31 no move -1.37 - - 1989.62 - - - 2249.88 - -82.73 - - 3107.50 - - - - - - - - - - -
5392.15 554.85 -8.39 778 5393.48 no move -1.37 - - 1989.88 - - - 2249.56 - -82.73 - - 3106.34 - - - - - - - - - - -
5707.02 580.33 -8.23 799 5711.71 roll -1.37 - - 1989.44 - 2.94 0.086 3427.12 400.5 -82.73 - - 3107.56 - - - - - - - - - 16.04 -
5766.30 585.67 -8.95 808 5771.83 roll -1.37 - - 1988.94 - 2.56 0.023 2248.69 -460.3 -82.73 - - 3108.66 - - - - - - - - - 16.06 -
6085.70 610.75 -7.55 830 6090.37 roll -1.37 - - 1989.62 - 2.92 0.087 3427.12 403.6 -82.73 - - 3105.41 - - - - - - - - - 16.04 -
6212.18 621.11 -8.70 849 6227.27 roll -1.37 - - 1989.25 - 2.55 0.023 2249.38 -461.9 -82.73 - - 3106.06 - - - - - - - - - 16.06 -
6541.69 648.58 -8.12 871 6546.37 roll -1.37 - - 1988.44 - 2.93 0.087 3428.25 402.3 -82.73 - - 3107.34 - - - - - - - - - 16.04 -
6620.36 655.72 -8.97 882 6624.97 roll -1.37 - - 1989.88 - 2.55 0.023 2251.00 -461.7 -82.73 - - 3104.19 - - - - - - - - - 16.05 -
6936.83 682.36 -8.57 904 6938.16 no move -1.37 - - 1989.38 - - - 2249.81 - -82.73 - - 3103.91 - - - - - - - - - - -
7251.85 709.12 -8.28 925 7253.18 no move -1.37 - - 1989.62 - - - 2250.19 - -82.73 - - 3103.31 - - - - - - - - - - -
7566.85 733.38 -7.60 946 7568.18 no move -1.37 - - 1989.56 - - - 2250.12 - -82.73 - - 3102.50 - - - - - - - - - - -
7881.87 758.63 -8.48 967 7886.46 roll -1.37 - - 1990.00 - 2.49 0.072 1208.62 -418.3 -82.73 - - 3103.50 - - - - - - - - - 16.04 -
7966.89 765.27 -8.44 980 7981.81 roll -1.37 - - 1988.69 - 2.60 0.031 2350.75 439.3 -82.73 - - 3104.06 - - - - - - - - - 16.06 -
8296.29 790.91 -7.66 1002 8297.62 no move -1.37 - - 1989.81 - - - 2351.00 - -82.73 - - 3101.78 - - - - - - - - - - -
8611.32 814.92 -7.65 1023 8615.96 roll -1.37 - - 1989.12 - 2.74 0.066 1208.25 -417.1 -82.73 - - 3101.88 - - - - - - - - - 16.05 -
8752.16 826.07 -7.96 1043 8756.78 roll -1.37 - - 1989.88 - 2.61 0.031 2351.25 437.9 -82.73 - - 3100.81 - - - - - - - - - 16.05 -
9068.63 849.63 -7.46 1065 9073.44 roll -1.37 - - 1990.00 - 2.69 0.094 3427.00 399.9 -82.73 - - 3102.22 - - - - - - - - - 16.01 -
9148.80 856.08 -8.10 1077 9154.15 roll -1.37 - - 1989.38 - 2.56 0.023 2249.44 -460.0 -82.73 - - 3102.62 - - - - - - - - - 16.05 -
9468.05 879.48 -7.27 1099 9472.64 roll -1.37 - - 1988.88 - 2.49 0.071 1208.31 -418.1 -82.73 - - 3102.50 - - - - - - - - - 16.04 -
9527.30 883.81 -7.40 1108 9532.86 roll -1.37 - - 1989.25 - 2.61 0.031 2352.75 438.5 -82.73 - - 3102.38 - - - - - - - - - 16.06 -
9846.72 906.63 -7.23 1130 9848.04 no move -1.37 - - 1989.44 - - - 2352.81 - -82.73 - - 3100.16 - - - - - - - - - - -
10161.74 928.21 -6.78 1151 10163.07 no move -1.37 - - 1989.38 - - - 2353.25 - -82.73 - - 3099.94 - - - - - - - - - - -
10476.79 949.25 -6.43 1172 10481.43 roll -1.37 - - 1989.62 - 2.73 0.066 1208.75 -419.2 -82.73 - - 3099.38 - - - - - - - - - 16.03 -
10534.70 953.09 -6.57 1180 10539.33 roll -1.37 - - 1989.00 - 2.61 0.031 2350.62 437.5 -82.73 - - 3100.66 - - - - - - - - - 16.04 -
10851.37 973.21 -6.63 1202 10852.70 no move -1.37 - - 1989.81 - - - 2352.00 - -82.73 - - 3099.06 - - - - - - - - - - -
11105 end dive: TARGET_DEPTH_EXCEEDED
11106 begin apogee
11108.05 990.43 -6.82 1219 11183.31 -0.28 1.84 0.148 2254.50 143.9 0.22 0.136 2281.88 -318.7 - 60.64 2.434 2774.97 -5.3 0.363 - - - - - - 15.93 15.64 11.50
11184 end apogee: CONTROL_FINISHED_OK
11184 begin climb
11185.21 992.01 - 1224 11260.17 1.37 2.64 0.093 2655.94 152.1 2.80 0.097 3342.88 378.9 82.73 66.61 2.395 2437.22 -5.1 0.351 - - - - - - 15.67 15.30 12.69
11288.65 987.43 5.73 1240 11327.56 done 1.45 - - 2655.94 - 2.65 0.024 2187.44 -436.0 122.79 34.49 2.308 2273.56 -4.7 0.339 - - - - - - - 15.49 12.48
11639.37 956.42 9.24 1266 11643.32 roll 1.45 - - 2655.00 - 2.61 0.080 1131.38 -404.6 122.79 - - 2268.91 - - - - - - - - - 15.69 -
11697.30 950.66 9.76 1274 11701.93 roll 1.45 - - 2654.62 - 2.66 0.031 2271.12 428.5 122.79 - - 2267.97 - - - - - - - - - 15.71 -
12013.77 921.98 8.56 1296 12018.41 done 1.45 - - 2654.25 - 2.73 0.095 3344.50 393.2 122.79 - - 2266.75 - - - - - - - - - 15.79 -
12057.30 918.49 8.96 1303 12072.22 done 1.45 - - 2655.69 - 2.60 0.025 2189.94 -444.1 122.79 - - 2265.28 - - - - - - - - - 15.85 -
12386.88 888.95 8.82 1325 12388.21 VBD 1.45 - - 2655.75 - - - 2190.19 - 122.79 - - 2263.47 - - - - - - - - - - -
12701.72 861.01 8.74 1346 12703.06 VBD 1.45 - - 2655.06 - - - 2189.69 - 122.79 - - 2263.34 - - - - - - - - - - -
13016.93 833.64 8.48 1367 13021.66 done 1.45 - - 2655.62 - 2.92 0.091 3344.50 395.5 122.79 - - 2262.47 - - - - - - - - - 15.92 -
13074.86 828.26 9.03 1375 13079.48 done 1.45 - - 2655.31 - 2.58 0.025 2189.25 -447.8 122.79 - - 2263.94 - - - - - - - - - 15.95 -
13391.33 800.79 8.83 1397 13395.94 done 1.45 - - 2654.88 - 2.58 0.081 1130.00 -410.6 122.79 - - 2262.12 - - - - - - - - - 15.95 -
13471.67 793.11 9.63 1409 13477.22 done 1.45 - - 2655.88 - 2.62 0.031 2271.25 435.6 122.79 - - 2262.97 - - - - - - - - - 15.97 -
13791.10 764.69 8.79 1431 13792.43 VBD 1.45 - - 2655.06 - - - 2271.31 - 122.79 - - 2261.50 - - - - - - - - - - -
14106.14 738.62 8.06 1452 14107.48 VBD 1.45 - - 2655.81 - - - 2271.75 - 122.79 - - 2261.59 - - - - - - - - - - -
14421.19 714.99 7.14 1473 14425.55 done 1.47 - - 2656.50 - 2.78 0.076 1132.62 -409.8 122.79 - - 2261.16 - - - - - - - - - 15.98 -
14464.75 712.18 7.33 1480 14479.73 1.50 0.16 0.097 2694.88 239.9 2.61 0.032 2272.00 436.5 122.79 - - 2264.78 - - - - - - - - 15.87 16.00 -
14794.17 683.93 8.26 1502 14795.50 VBD 1.50 - - 2697.31 - - - 2272.12 - 122.79 - - 2260.56 - - - - - - - - - - -
15109.22 659.73 7.46 1523 15110.55 VBD 1.52 - - 2696.75 - - - 2272.81 - 122.79 - - 2260.69 - - - - - - - - - - -
15424.24 635.05 8.13 1544 15425.57 VBD 1.52 - - 2696.38 - - - 2272.31 - 122.79 - - 2260.22 - - - - - - - - - - -
15739.26 609.56 8.37 1565 15740.59 VBD 1.52 - - 2696.12 - - - 2272.69 - 122.79 - - 2260.66 - - - - - - - - - - -
16054.29 583.53 8.30 1586 16059.11 done 1.52 - - 2696.50 - 2.79 0.076 1131.44 -409.1 122.79 - - 2260.81 - - - - - - - - - 15.99 -
16133.11 576.50 8.88 1597 16137.74 done 1.52 - - 2696.69 - 2.61 0.031 2271.69 436.9 122.79 - - 2261.50 - - - - - - - - - 16.01 -
16449.58 550.37 8.04 1619 16450.92 VBD 1.52 - - 2697.19 - - - 2272.06 - 122.79 - - 2260.25 - - - - - - - - - - -
16764.80 525.65 7.38 1640 16769.44 done 1.54 - - 2696.75 - 2.79 0.075 1131.75 -408.7 122.79 - - 2260.62 - - - - - - - - - 16.00 -
16844.82 519.35 7.91 1652 16850.35 done 1.55 - - 2696.50 - 2.61 0.031 2272.81 437.2 122.79 - - 2261.78 - - - - - - - - - 16.03 -
17157.89 495.97 7.40 1675 17168.96 VBD 1.57 - - 2697.38 - - - 2272.75 - 122.79 - - 2261.31 - - - - - - - - - - -
17470.82 473.18 7.03 1704 17481.89 VBD 1.60 - - 2697.19 - - - 2272.81 - 122.79 - - 2261.78 - - - - - - - - - - -
17783.39 449.85 7.30 1733 17788.03 done 1.62 - - 2697.06 - 2.79 0.075 1131.19 -409.2 122.79 - - 2260.03 - - - - - - - - - 15.99 -
17853.41 444.39 7.81 1743 17868.31 done 1.64 - - 2696.69 - 2.60 0.031 2273.50 439.3 122.79 - - 2261.34 - - - - - - - - - 16.03 -
18169.66 421.28 7.21 1772 18174.37 1.66 0.16 0.093 2735.06 239.8 2.79 0.075 1130.50 -409.7 122.79 - - 2260.12 - - - - - - - - 15.99 15.90 -
18238.32 415.54 8.22 1781 18243.14 done 1.66 - - 2734.00 - 2.61 0.031 2273.88 438.1 122.79 - - 2262.69 - - - - - - - - - 16.02 -
18549.93 390.54 8.25 1810 18554.56 done 1.66 - - 2734.19 - 2.68 0.092 3346.31 400.2 122.79 - - 2261.53 - - - - - - - - - 15.97 -
18587.11 387.01 9.02 1815 18591.71 done 1.66 - - 2734.00 - 2.57 0.024 2185.06 -451.8 122.79 - - 2261.00 - - - - - - - - - 16.01 -
18898.96 360.39 8.38 1844 18910.03 VBD 1.66 - - 2735.56 - - - 2185.06 - 122.79 - - 2261.78 - - - - - - - - - - -
19211.52 334.85 8.22 1873 19216.18 done 1.66 - - 2735.19 - 2.90 0.087 3347.19 400.7 122.79 - - 2260.56 - - - - - - - - - 15.97 -
19344.67 322.75 9.35 1891 19359.36 done 1.66 - - 2734.62 - 2.57 0.024 2186.88 -451.5 122.79 - - 2262.44 - - - - - - - - - 16.02 -
19660.80 297.01 8.13 1923 19665.93 done 1.66 - - 2735.25 - 2.56 0.079 1131.62 -412.2 122.79 - - 2261.78 - - - - - - - - - 15.97 -
19835.82 282.25 8.42 1958 19840.98 done 1.66 - - 2735.31 - 2.61 0.031 2273.19 437.4 122.79 - - 2261.94 - - - - - - - - - 16.02 -
20145.49 257.37 7.98 2020 20151.03 done 1.66 - - 2735.31 - 2.66 0.092 3346.75 403.6 122.79 - - 2262.12 - - - - - - - - - 15.95 -
20165.67 255.65 8.33 2024 20171.08 done 1.66 - - 2735.62 - 2.56 0.024 2183.69 -454.3 122.79 - - 2262.88 - - - - - - - - - 16.02 -
20475.56 232.18 6.69 2086 20476.89 VBD 1.70 - - 2735.00 - - - 2184.38 - 122.79 - - 2260.75 - - - - - - - - - - -
20780.61 210.42 6.89 2147 20786.12 done 1.73 - - 2735.25 - 2.55 0.078 1130.19 -413.4 122.79 - - 2262.28 - - - - - - - - - 15.97 -
20870.61 203.80 7.38 2165 20876.12 done 1.75 - - 2735.06 - 2.60 0.030 2274.44 440.1 122.79 - - 2262.50 - - - - - - - - - 16.01 -
21180.71 183.00 7.04 2227 21186.26 done 1.78 - - 2735.25 - 2.76 0.073 1131.44 -414.1 122.79 - - 2262.31 - - - - - - - - - 15.97 -
21325.74 171.47 8.01 2256 21331.27 done 1.78 - - 2735.12 - 2.58 0.030 2274.25 442.9 122.79 - - 2262.34 - - - - - - - - - 16.00 -
21635.86 151.50 5.93 2318 21668.38 1.85 0.20 0.080 2784.06 244.7 2.64 0.093 3346.88 406.3 159.84 27.18 1.337 2124.88 -5.1 0.096 - - - - - - 15.97 15.92 11.41
21700.99 146.72 7.87 2331 21706.39 roll 1.86 - - 2784.94 - 2.57 0.024 2182.62 -453.0 159.84 - - 2123.38 - - - - - - - - - 15.98 -
22010.97 121.16 8.16 2393 22016.50 roll 1.86 - - 2784.69 - 2.54 0.077 1130.38 -414.3 159.84 - - 2120.81 - - - - - - - - - 15.93 -
22156.03 109.79 7.24 2422 22161.57 roll 1.89 - - 2785.69 - 2.61 0.029 2274.44 438.3 159.84 - - 2119.62 - - - - - - - - - 15.95 -
22466.13 94.54 4.21 2484 22514.03 VBD 2.01 - - 2784.94 - - - 2274.75 - 222.11 46.68 1.286 1870.03 -5.3 0.066 - - - - - - - - 12.15
22697.10 80.68 6.73 2530 22702.13 roll back 2.05 0.17 0.083 2829.81 263.9 2.67 0.089 3345.56 401.1 222.11 - - 1862.88 - - - - - - - - 15.82 15.79 -
22761.55 75.60 7.83 2543 22767.06 roll 2.06 - - 2829.88 - 2.57 0.023 2182.06 -452.7 222.11 - - 1863.62 - - - - - - - - - 15.86 -
22951.96 65.53 4.78 2581 22993.54 VBD 2.17 - - 2829.25 - - - 2182.50 - 276.01 40.27 1.217 1649.72 -5.3 0.048 - - - - - - - - 12.14
23176.60 49.62 7.82 2626 23177.93 no move 2.18 - - 2829.00 - - - 2182.81 - 276.01 - - 1642.44 - - - - - - - - - - -
23361.62 36.62 6.22 2663 23388.22 2.25 0.21 0.072 2877.94 233.0 - - 2182.12 - 308.92 25.55 1.143 1515.69 -5.0 0.027 - - - - - - 15.84 - 12.18
23571.67 29.49 2.51 2705 23643.57 2.42 0.17 0.086 2920.44 250.0 2.58 0.078 1130.31 -407.7 396.17 65.49 1.166 1159.62 -5.4 0.023 - - - - - - 15.81 15.63 12.25
23872.12 12.73 6.34 2765 23902.49 done 2.48 - - 2920.81 - 2.63 0.028 2274.38 435.0 427.20 23.94 1.078 1033.66 -5.3 0.010 - - - - - - - 15.78 12.37
24001 end climb: SURFACE_DEPTH_REACHED
24001 begin surface coast
24066 end surface coast: CONTROL_FINISHED_OK
24066 begin surface
SM 0.81 - - - - 177.6 - - 1028.0 - 16.86 0.044 1033.1 61.3 - 0.12 0.120 1022.8 8501.4 -5.865 - - 30.00 15.75 15.77 -