NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 953 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 333.47 of 550.00 AH used of 24V (39.37% remains)
• Surface angle -58.1 deg, depth 0.37 m • Intended pitch -24.7 deg, speed -8.462 cm/s
• VBD pumped to 424.76 (SM_CC=425)
• GPS1 time: 40 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.70 - - - 82.62 VBD -1.54 - - 177.25 - - - 2244.25 - -82.73 75.44 0.005 2794.28 - - - - - - - - - - 14.88
83.35 3.10 -4.35 14 115.66 -1.54 14.34 0.236 1947.12 123.4 3.09 0.085 3424.00 381.8 -82.73 7.33 0.008 3113.62 43.6 -2.933 - - - - - - 15.37 14.91 15.06
312.79 50.70 -16.93 60 318.34 roll -1.54 - - 1947.56 - 2.62 0.019 2256.94 -445.4 -82.73 - - 3112.97 - - - - - - - - - 15.79 -
503.50 72.33 -10.93 98 508.41 roll -1.54 - - 1947.56 - 2.61 0.063 1210.62 -400.9 -82.73 - - 3114.78 - - - - - - - - - 15.81 -
582.89 81.83 -11.70 114 588.43 roll -1.54 - - 1947.25 - 2.67 0.026 2346.25 425.3 -82.73 - - 3113.97 - - - - - - - - - 15.86 -
772.94 101.72 -9.83 152 774.27 no move -1.54 - - 1947.81 - - - 2346.25 - -82.73 - - 3111.78 - - - - - - - - - - -
1078.04 132.69 -9.02 213 1083.63 roll -1.54 - - 1947.31 - 2.84 0.058 1209.25 -400.4 -82.73 - - 3113.84 - - - - - - - - - 15.88 -
1183.07 142.56 -9.38 234 1188.62 roll -1.54 - - 1947.94 - 2.64 0.026 2337.50 427.4 -82.73 - - 3114.50 - - - - - - - - - 15.92 -
1493.12 169.46 -8.53 296 1498.68 roll -1.54 - - 1947.94 - 2.80 0.058 1208.81 -403.1 -82.73 - - 3113.66 - - - - - - - - - 15.90 -
1538.11 173.46 -8.96 305 1543.68 roll -1.54 - - 1947.81 - 2.63 0.025 2330.19 426.4 -82.73 - - 3113.44 - - - - - - - - - 15.94 -
1848.29 199.83 -8.87 367 1849.62 no move -1.54 - - 1947.56 - - - 2330.12 - -82.73 - - 3112.94 - - - - - - - - - - -
2153.40 227.28 -9.21 428 2158.84 roll -1.54 - - 1948.06 - 2.78 0.058 1208.00 -403.6 -82.73 - - 3113.81 - - - - - - - - - 15.92 -
2253.33 236.91 -9.53 448 2258.78 roll -1.54 - - 1947.56 - 2.62 0.025 2329.38 428.0 -82.73 - - 3115.53 - - - - - - - - - 15.96 -
2563.29 265.27 -9.05 510 2569.05 roll -1.54 - - 1948.06 - 2.77 0.059 1208.69 -404.6 -82.73 - - 3113.66 - - - - - - - - - 15.93 -
2653.29 273.70 -9.23 528 2658.83 roll -1.54 - - 1947.31 - 2.60 0.025 2322.88 428.5 -82.73 - - 3113.88 - - - - - - - - - 15.97 -
2977.71 302.80 -8.81 589 2982.36 roll -1.54 - - 1947.50 - 2.74 0.059 1209.44 -406.4 -82.73 - - 3113.00 - - - - - - - - - 15.94 -
3030.64 307.64 -9.02 596 3035.26 roll -1.54 - - 1948.00 - 2.58 0.025 2319.25 430.2 -82.73 - - 3112.38 - - - - - - - - - 15.99 -
3341.93 332.42 -7.76 625 3346.58 roll -1.54 - - 1947.38 - 2.74 0.060 1208.12 -405.5 -82.73 - - 3112.66 - - - - - - - - - 15.95 -
3396.22 336.76 -8.11 633 3411.13 roll -1.54 - - 1947.38 - 2.58 0.026 2319.00 430.6 -82.73 - - 3114.09 - - - - - - - - - 16.00 -
3712.79 361.77 -8.05 662 3723.86 no move -1.54 - - 1947.75 - - - 2318.69 - -82.73 - - 3114.12 - - - - - - - - - - -
4025.81 387.85 -8.48 691 4030.45 roll -1.54 - - 1947.69 - 2.73 0.060 1209.25 -406.4 -82.73 - - 3114.38 - - - - - - - - - 15.94 -
4064.34 391.18 -8.72 697 4079.26 roll -1.54 - - 1946.44 - 2.57 0.026 2317.12 431.1 -82.73 - - 3114.78 - - - - - - - - - 16.00 -
4381.46 417.91 -8.55 726 4386.11 roll -1.54 - - 1947.06 - 2.73 0.060 1207.88 -406.3 -82.73 - - 3113.22 - - - - - - - - - 15.95 -
4434.39 422.68 -8.89 733 4439.00 roll -1.54 - - 1947.56 - 2.56 0.025 2312.19 431.4 -82.73 - - 3116.31 - - - - - - - - - 16.00 -
4745.67 448.71 -8.30 762 4750.31 roll -1.54 - - 1947.00 - 2.73 0.061 1208.75 -404.2 -82.73 - - 3111.97 - - - - - - - - - 15.94 -
4799.95 453.36 -8.70 770 4814.87 roll -1.54 - - 1947.06 - 2.55 0.025 2307.06 430.7 -82.73 - - 3115.25 - - - - - - - - - 16.00 -
5116.99 480.11 -8.37 799 5128.06 no move -1.54 - - 1947.25 - - - 2307.50 - -82.73 - - 3112.69 - - - - - - - - - - -
5436.17 505.14 -8.15 827 5440.81 roll -1.54 - - 1947.56 - 2.72 0.061 1209.38 -403.7 -82.73 - - 3110.91 - - - - - - - - - 15.94 -
5516.20 512.13 -8.78 839 5521.74 roll -1.54 - - 1947.38 - 2.53 0.026 2305.38 433.2 -82.73 - - 3112.53 - - - - - - - - - 16.00 -
5835.78 538.91 -8.17 861 5840.48 roll -1.54 - - 1947.00 - 2.73 0.062 1209.00 -401.6 -82.73 - - 3112.06 - - - - - - - - - 15.93 -
5879.66 542.06 -8.28 868 5894.58 roll -1.54 - - 1947.69 - 2.54 0.026 2305.12 431.5 -82.73 - - 3112.41 - - - - - - - - - 16.01 -
6209.07 567.21 -7.24 890 6213.73 roll -1.54 - - 1947.50 - 2.72 0.062 1209.31 -402.9 -82.73 - - 3110.03 - - - - - - - - - 15.93 -
6268.35 571.66 -7.55 899 6273.89 roll -1.54 - - 1947.81 - 2.53 0.026 2300.19 431.2 -82.73 - - 3111.59 - - - - - - - - - 16.01 -
6587.75 594.13 -7.28 921 6589.08 no move -1.54 - - 1947.62 - - - 2299.94 - -82.73 - - 3110.22 - - - - - - - - - - -
6902.77 618.10 -7.68 942 6907.44 roll -1.54 - - 1947.69 - 2.89 0.087 3425.88 389.6 -82.73 - - 3109.78 - - - - - - - - - 15.88 -
6925.58 619.43 -7.73 946 6940.54 roll -1.54 - - 1947.44 - 2.71 0.019 2200.31 -452.2 -82.73 - - 3111.97 - - - - - - - - - 16.00 -
7255.01 645.71 -7.83 968 7256.33 no move -1.54 - - 1947.44 - - - 2200.88 - -82.73 - - 3108.75 - - - - - - - - - - -
7570.03 669.81 -7.52 989 7571.36 no move -1.54 - - 1947.00 - - - 2200.38 - -82.73 - - 3110.31 - - - - - - - - - - -
7885.07 693.06 -7.06 1010 7886.40 no move -1.54 - - 1947.31 - - - 2200.56 - -82.73 - - 3108.94 - - - - - - - - - - -
8200.25 715.59 -7.14 1031 8201.58 no move -1.54 - - 1947.50 - - - 2200.56 - -82.73 - - 3108.84 - - - - - - - - - - -
8515.09 737.97 -7.16 1052 8516.42 no move -1.54 - - 1947.31 - - - 2200.25 - -82.73 - - 3108.75 - - - - - - - - - - -
8830.43 760.76 -7.45 1073 8835.34 roll -1.54 - - 1947.38 - 3.17 0.083 3424.50 386.2 -82.73 - - 3108.66 - - - - - - - - - 15.87 -
8889.89 765.56 -8.03 1082 8895.28 roll -1.54 - - 1946.81 - 2.71 0.019 2204.44 -450.2 -82.73 - - 3109.28 - - - - - - - - - 15.99 -
9209.12 789.68 -7.67 1104 9210.45 no move -1.54 - - 1947.44 - - - 2203.50 - -82.73 - - 3107.34 - - - - - - - - - - -
9524.13 814.18 -7.76 1125 9525.46 no move -1.54 - - 1947.81 - - - 2203.56 - -82.73 - - 3106.91 - - - - - - - - - - -
9839.14 837.50 -7.00 1146 9840.47 no move -1.54 - - 1947.69 - - - 2202.94 - -82.73 - - 3107.78 - - - - - - - - - - -
10154.15 859.33 -6.80 1167 10155.48 no move -1.54 - - 1947.56 - - - 2203.25 - -82.73 - - 3106.28 - - - - - - - - - - -
10469.18 879.94 -6.32 1188 10470.51 no move -1.54 - - 1947.44 - - - 2203.06 - -82.73 - - 3107.06 - - - - - - - - - - -
10784.18 900.53 -6.53 1209 10785.51 no move -1.54 - - 1947.44 - - - 2203.06 - -82.73 - - 3106.59 - - - - - - - - - - -
11099.21 920.56 -6.16 1230 11103.93 roll -1.54 - - 1947.56 - 3.17 0.084 3426.44 385.9 -82.73 - - 3106.88 - - - - - - - - - 15.84 -
11157.15 924.58 -6.71 1238 11161.80 roll -1.54 - - 1947.25 - 2.71 0.020 2206.62 -450.1 -82.73 - - 3106.16 - - - - - - - - - 15.98 -
11473.63 943.61 -5.87 1260 11478.34 roll -1.54 - - 1947.38 - 3.17 0.084 3424.25 384.1 -82.73 - - 3104.88 - - - - - - - - - 15.84 -
11512.18 946.09 -6.32 1266 11517.71 roll -1.54 - - 1947.00 - 2.70 0.020 2207.75 -450.6 -82.73 - - 3107.84 - - - - - - - - - 15.98 -
11831.59 965.26 -5.90 1288 11832.92 no move -1.54 - - 1947.31 - - - 2206.94 - -82.73 - - 3105.50 - - - - - - - - - - -
12146.59 985.28 -6.19 1309 12151.61 roll -1.54 - - 1947.69 - 3.16 0.085 3425.06 385.5 -82.73 - - 3107.84 - - - - - - - - - 15.83 -
12225 end dive: TARGET_DEPTH_EXCEEDED
12225 begin apogee
12230.77 990.78 -6.82 1320 12304.74 -0.28 2.18 0.141 2254.19 140.6 0.14 0.174 2156.88 -9058.4 - 67.76 2.407 2776.00 -4.9 0.350 - - - - - - 15.72 15.18 10.28
12306 end apogee: CONTROL_FINISHED_OK
12306 begin climb
12307.21 992.65 - 1325 12394.24 1.54 2.97 0.089 2697.75 149.3 0.16 0.082 2039.88 -731.2 82.73 71.22 2.355 2439.16 -4.7 0.346 - - - - - - 15.45 15.55 11.71
12706.50 968.97 5.99 1358 12771.83 done 1.66 - - 2697.81 - 3.12 0.082 3204.94 373.4 143.36 52.85 2.339 2190.56 -4.7 0.339 - - - - - - - 15.16 11.29
12820.69 960.50 7.85 1375 12835.51 roll back 1.67 0.17 0.083 2738.56 239.7 2.66 0.024 2067.12 -427.8 143.36 - - 2186.72 - - - - - - - - 15.43 15.53 -
13150.05 928.75 9.47 1397 13151.38 no move 1.67 - - 2738.56 - - - 2067.44 - 143.36 - - 2182.59 - - - - - - - - - - -
13464.97 899.13 9.43 1418 13469.65 roll 1.67 - - 2738.19 - 2.94 0.080 3204.12 386.6 143.36 - - 2181.34 - - - - - - - - - 15.79 -
13529.58 893.24 9.99 1428 13544.52 done 1.67 - - 2738.38 - 2.61 0.025 2069.75 -434.6 143.36 - - 2182.59 - - - - - - - - - 15.85 -
13859.02 860.99 9.25 1450 13863.68 done 1.67 - - 2738.75 - 2.76 0.086 994.94 -389.4 143.36 - - 2183.12 - - - - - - - - - 15.81 -
13897.57 857.40 9.43 1456 13903.13 done 1.67 - - 2738.31 - 2.68 0.025 2144.50 428.9 143.36 - - 2180.75 - - - - - - - - - 15.90 -
14217.00 828.74 8.83 1478 14218.33 VBD 1.67 - - 2738.94 - - - 2144.25 - 143.36 - - 2180.03 - - - - - - - - - - -
14532.21 800.85 8.77 1499 14536.90 done 1.67 - - 2738.69 - 2.95 0.081 993.69 -390.0 143.36 - - 2181.84 - - - - - - - - - 15.84 -
14652.36 789.76 9.24 1516 14657.00 done 1.67 - - 2737.31 - 2.69 0.025 2143.06 427.3 143.36 - - 2179.59 - - - - - - - - - 15.94 -
14968.87 763.97 8.09 1538 14970.20 VBD 1.67 - - 2738.69 - - - 2143.50 - 143.36 - - 2178.59 - - - - - - - - - - -
15283.91 739.53 7.82 1559 15285.24 VBD 1.68 - - 2739.62 - - - 2143.38 - 143.36 - - 2178.66 - - - - - - - - - - -
15598.95 714.66 7.80 1580 15603.78 done 1.70 - - 2738.94 - 2.74 0.084 3205.38 387.6 143.36 - - 2177.75 - - - - - - - - - 15.86 -
15663.42 709.91 8.05 1590 15678.18 done 1.70 - - 2738.50 - 2.62 0.025 2060.31 -437.0 143.36 - - 2181.12 - - - - - - - - - 15.97 -
15992.68 685.37 7.24 1612 15994.01 VBD 1.72 - - 2738.75 - - - 2060.50 - 143.36 - - 2178.34 - - - - - - - - - - -
16307.68 662.33 7.29 1633 16309.02 VBD 1.74 - - 2738.50 - - - 2059.81 - 143.36 - - 2177.69 - - - - - - - - - - -
16622.70 640.77 6.74 1654 16627.35 done 1.78 - - 2738.94 - 2.74 0.085 994.81 -388.7 143.36 - - 2176.50 - - - - - - - - - 15.85 -
16661.26 638.04 7.07 1660 16666.81 done 1.81 - - 2739.00 - 2.65 0.025 2135.19 430.3 143.36 - - 2178.03 - - - - - - - - - 15.98 -
16980.67 615.91 7.15 1682 16985.39 1.83 0.15 0.091 2780.50 276.7 2.74 0.083 3204.25 390.2 143.36 - - 2177.94 - - - - - - - - 15.93 15.82 -
16998.51 614.60 7.35 1685 17004.06 done 1.86 - - 2780.19 - 2.62 0.025 2057.69 -437.6 143.36 - - 2178.53 - - - - - - - - - 15.97 -
17318.04 588.81 8.11 1707 17322.73 done 1.86 - - 2780.44 - 2.95 0.079 3204.88 388.9 143.36 - - 2177.06 - - - - - - - - - 15.86 -
17377.34 583.42 9.01 1716 17382.89 done 1.86 - - 2781.12 - 2.60 0.025 2063.31 -439.1 143.36 - - 2180.22 - - - - - - - - - 15.97 -
17696.75 555.80 8.69 1738 17701.63 done 1.86 - - 2781.12 - 2.93 0.079 3204.81 389.6 143.36 - - 2176.41 - - - - - - - - - 15.86 -
17756.21 550.30 9.27 1747 17761.63 done 1.86 - - 2780.88 - 2.59 0.025 2065.81 -439.8 143.36 - - 2178.81 - - - - - - - - - 15.98 -
18075.50 522.95 8.36 1769 18076.84 VBD 1.86 - - 2779.88 - - - 2066.31 - 143.36 - - 2177.44 - - - - - - - - - - -
18386.28 498.25 7.64 1790 18397.35 VBD 1.87 - - 2780.44 - - - 2066.06 - 143.36 - - 2178.12 - - - - - - - - - - -
18699.03 475.72 7.42 1819 18703.69 done 1.89 - - 2780.62 - 2.73 0.085 993.56 -392.9 143.36 - - 2176.38 - - - - - - - - - 15.83 -
18753.32 471.22 8.23 1827 18768.26 done 1.89 - - 2780.25 - 2.68 0.025 2145.38 429.8 143.36 - - 2178.41 - - - - - - - - - 15.99 -
19070.17 446.73 7.85 1856 19074.82 done 1.90 - - 2779.81 - 2.73 0.083 3203.94 387.8 143.36 - - 2179.06 - - - - - - - - - 15.85 -
19140.19 441.11 8.05 1866 19155.11 done 1.90 - - 2778.81 - 2.59 0.024 2066.19 -439.3 143.36 - - 2177.72 - - - - - - - - - 15.97 -
19456.41 416.20 7.82 1895 19467.48 VBD 1.92 - - 2780.62 - - - 2066.62 - 143.36 - - 2177.84 - - - - - - - - - - -
19769.37 391.82 7.65 1924 19774.06 done 1.93 - - 2779.88 - 2.93 0.079 3204.62 388.4 143.36 - - 2176.75 - - - - - - - - - 15.84 -
19855.12 384.71 8.36 1936 19870.22 done 1.93 - - 2781.00 - 2.58 0.024 2067.69 -440.7 143.36 - - 2181.12 - - - - - - - - - 15.98 -
20171.81 361.18 7.20 1965 20182.89 VBD 1.96 - - 2780.38 - - - 2067.81 - 143.36 - - 2178.00 - - - - - - - - - - -
20484.91 338.49 7.17 1994 20489.56 done 1.99 - - 2779.38 - 2.72 0.084 993.38 -395.0 143.36 - - 2177.81 - - - - - - - - - 15.82 -
20537.85 334.32 7.66 2001 20542.49 done 2.00 - - 2780.75 - 2.66 0.025 2142.62 432.0 143.36 - - 2177.06 - - - - - - - - - 15.97 -
20850.12 312.59 6.78 2030 20854.84 2.03 0.20 0.079 2828.75 240.0 2.71 0.082 3204.62 391.9 143.36 - - 2177.47 - - - - - - - - 15.93 15.82 -
20904.42 308.38 7.58 2038 20919.33 done 2.05 - - 2829.44 - 2.59 0.024 2065.00 -440.0 143.36 - - 2179.41 - - - - - - - - - 15.97 -
21224.12 284.18 7.63 2089 21229.67 done 2.07 - - 2828.94 - 2.72 0.083 993.44 -394.0 143.36 - - 2180.28 - - - - - - - - - 15.81 -
21289.10 278.73 8.53 2102 21294.66 done 2.07 - - 2828.69 - 2.68 0.025 2147.06 430.5 143.36 - - 2178.31 - - - - - - - - - 15.95 -
21599.17 254.70 7.35 2164 21600.50 VBD 2.09 - - 2828.94 - - - 2147.50 - 143.36 - - 2177.38 - - - - - - - - - - -
21904.24 232.34 7.27 2225 21909.81 done 2.12 - - 2829.12 - 2.94 0.078 992.38 -392.9 143.36 - - 2177.53 - - - - - - - - - 15.81 -
22039.63 221.76 7.73 2252 22044.78 done 2.13 - - 2829.19 - 2.66 0.024 2139.12 431.1 143.36 - - 2177.69 - - - - - - - - - 15.97 -
22349.30 200.64 6.68 2314 22354.85 done 2.17 - - 2828.38 - 2.73 0.081 3206.19 390.9 143.36 - - 2178.47 - - - - - - - - - 15.83 -
22399.30 196.90 7.59 2324 22404.84 done 2.18 - - 2828.50 - 2.62 0.024 2058.94 -437.9 143.36 - - 2178.06 - - - - - - - - - 15.95 -
22709.34 173.88 7.04 2386 22714.97 2.21 0.18 0.082 2872.81 246.2 2.94 0.076 3206.75 390.4 143.36 - - 2178.69 - - - - - - - - 15.92 15.82 -
22799.33 166.64 8.14 2404 22804.87 done 2.21 - - 2872.12 - 2.59 0.024 2066.75 -440.2 143.36 - - 2177.91 - - - - - - - - - 15.95 -
23109.38 145.45 6.35 2466 23151.35 VBD 2.31 - - 2872.19 - - - 2067.00 - 194.97 40.40 1.345 1979.47 -4.9 0.092 - - - - - - - - 10.46
23454.41 116.14 8.83 2535 23459.98 roll 2.31 - - 2872.38 - 2.75 0.082 993.69 -390.3 194.97 - - 1975.06 - - - - - - - - - 15.77 -
23499.42 111.70 10.08 2544 23504.98 roll 2.31 - - 2872.56 - 2.72 0.024 2154.25 426.7 194.97 - - 1973.75 - - - - - - - - - 15.86 -
23809.50 85.62 8.28 2606 23815.09 roll 2.31 - - 2872.50 - 2.98 0.076 993.75 -389.4 194.97 - - 1972.69 - - - - - - - - - 15.79 -
23869.53 80.87 7.91 2618 23875.07 roll 2.33 - - 2872.19 - 2.69 0.023 2153.81 431.2 194.97 - - 1972.34 - - - - - - - - - 15.90 -
24059.60 67.88 6.23 2656 24105.90 2.44 0.23 0.070 2925.38 231.3 - - 2153.38 - 249.63 43.31 1.243 1758.66 -4.9 0.047 - - - - - - 15.88 - 11.03
24289.65 49.03 7.20 2702 24295.24 roll 2.46 - - 2924.88 - 2.98 0.074 993.62 -389.2 249.63 - - 1751.59 - - - - - - - - - 15.76 -
24314.66 47.30 6.81 2707 24320.41 roll 2.49 - - 2924.31 - 2.71 0.023 2152.62 427.7 249.63 - - 1750.34 - - - - - - - - - 15.81 -
24504.73 35.14 6.73 2745 24510.32 done 2.53 - - 2924.50 - 2.98 0.075 992.56 -389.3 249.63 - - 1748.66 - - - - - - - - - 15.77 -
24739.80 28.95 2.56 2792 24855.96 2.82 0.48 0.065 3011.50 181.2 2.66 0.022 2141.25 431.8 394.29 109.82 1.182 1168.12 -5.3 0.022 - - - - - - 15.73 15.88 11.14
24998 end climb: SURFACE_DEPTH_REACHED
24998 begin surface coast
25033 end surface coast: CONTROL_FINISHED_OK
25033 begin surface
SM 0.38 - - - - 184.1 24.07 1.098 1043.4 38.8 17.75 0.048 1019.8 57.4 - 0.46 0.059 1067.0 2313.8 -1.523 - - 11.29 15.64 15.67 -