NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 987 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 347.30 of 550.00 AH used of 24V (36.85% remains)
• Surface angle -60.5 deg, depth 0.53 m • Intended pitch -24.7 deg, speed -8.462 cm/s
• VBD pumped to 425.04 (SM_CC=425)
• GPS1 time: 32 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
2 end surface: CONTROL_FINISHED_OK
3 begin dive
5.74 - - - 77.13 VBD -1.54 - - 176.31 - - - 2248.12 - -82.73 70.27 0.005 2716.41 - - - - - - - - - - 14.86
78.24 3.14 -4.65 13 110.58 -1.54 14.51 0.237 1945.62 121.9 2.62 0.067 1211.69 -395.6 -82.73 9.34 0.007 3112.53 42.4 -3.314 - - - - - - 15.35 14.87 15.01
307.67 36.75 -14.77 59 313.23 roll -1.54 - - 1946.50 - 2.69 0.028 2348.44 422.6 -82.73 - - 3113.22 - - - - - - - - - 15.81 -
498.37 60.52 -11.09 97 503.32 roll -1.54 - - 1945.56 - 2.86 0.059 1210.38 -397.9 -82.73 - - 3113.38 - - - - - - - - - 15.80 -
522.74 63.32 -11.07 102 528.31 roll -1.54 - - 1946.81 - 2.70 0.027 2355.12 424.0 -82.73 - - 3113.66 - - - - - - - - - 15.85 -
713.19 83.03 -9.09 140 714.52 no move -1.54 - - 1947.25 - - - 2354.62 - -82.73 - - 3112.03 - - - - - - - - - - -
897.86 98.65 -8.31 177 903.45 roll -1.54 - - 1947.06 - 2.87 0.058 1208.69 -399.3 -82.73 - - 3113.72 - - - - - - - - - 15.85 -
987.89 107.05 -9.41 195 993.44 roll -1.54 - - 1946.06 - 2.69 0.026 2349.56 424.1 -82.73 - - 3113.16 - - - - - - - - - 15.92 -
1298.01 134.57 -9.04 257 1303.58 roll -1.54 - - 1947.69 - 2.85 0.058 1208.25 -400.5 -82.73 - - 3112.84 - - - - - - - - - 15.89 -
1323.01 136.91 -9.20 262 1328.55 roll -1.54 - - 1947.31 - 2.67 0.026 2349.31 427.4 -82.73 - - 3113.22 - - - - - - - - - 15.93 -
1633.12 166.05 -9.48 324 1638.70 roll -1.54 - - 1946.56 - 2.83 0.059 1209.12 -402.9 -82.73 - - 3113.44 - - - - - - - - - 15.90 -
1713.14 173.97 -9.89 340 1718.88 roll -1.54 - - 1947.62 - 2.65 0.026 2344.69 428.5 -82.73 - - 3113.09 - - - - - - - - - 15.96 -
2023.26 201.67 -8.49 402 2028.82 roll -1.54 - - 1947.44 - 2.80 0.058 1209.38 -405.5 -82.73 - - 3113.78 - - - - - - - - - 15.91 -
2083.27 206.88 -8.74 414 2088.83 roll -1.54 - - 1947.75 - 2.64 0.026 2340.88 428.6 -82.73 - - 3113.25 - - - - - - - - - 15.96 -
2393.36 232.27 -8.29 476 2398.91 roll -1.54 - - 1947.81 - 2.79 0.059 1209.06 -405.7 -82.73 - - 3113.16 - - - - - - - - - 15.92 -
2433.35 235.76 -8.73 484 2438.90 roll -1.54 - - 1947.88 - 2.63 0.026 2338.19 429.3 -82.73 - - 3115.25 - - - - - - - - - 15.97 -
2743.41 257.99 -8.02 546 2748.96 roll -1.54 - - 1946.31 - 2.80 0.086 3425.44 388.3 -82.73 - - 3113.03 - - - - - - - - - 15.88 -
2823.42 265.64 -9.80 562 2828.97 roll -1.54 - - 1947.69 - 2.62 0.019 2238.38 -453.1 -82.73 - - 3113.09 - - - - - - - - - 15.97 -
3133.47 293.43 -9.19 624 3139.17 roll -1.54 - - 1947.88 - 2.54 0.064 1209.31 -405.1 -82.73 - - 3112.97 - - - - - - - - - 15.92 -
3168.63 296.82 -9.65 631 3174.02 roll -1.54 - - 1947.75 - 2.63 0.026 2339.56 429.8 -82.73 - - 3113.41 - - - - - - - - - 15.98 -
3480.44 325.91 -9.44 663 3485.09 roll -1.54 - - 1947.88 - 2.80 0.060 1208.62 -403.9 -82.73 - - 3112.12 - - - - - - - - - 15.94 -
3534.90 331.30 -9.95 671 3549.66 roll -1.54 - - 1946.31 - 2.63 0.026 2334.81 428.2 -82.73 - - 3113.97 - - - - - - - - - 15.99 -
3851.05 362.20 -9.39 700 3855.71 roll -1.54 - - 1945.75 - 2.79 0.060 1210.56 -403.0 -82.73 - - 3113.53 - - - - - - - - - 15.94 -
3921.07 368.79 -9.58 710 3936.01 roll -1.54 - - 1947.50 - 2.61 0.026 2333.00 430.1 -82.73 - - 3113.38 - - - - - - - - - 16.00 -
4237.60 396.87 -8.67 739 4248.67 no move -1.54 - - 1947.81 - - - 2333.00 - -82.73 - - 3113.50 - - - - - - - - - - -
4550.31 423.29 -8.25 768 4554.96 roll -1.54 - - 1947.56 - 2.78 0.060 1207.94 -404.7 -82.73 - - 3111.81 - - - - - - - - - 15.94 -
4636.07 430.47 -8.47 780 4651.00 roll -1.54 - - 1946.69 - 2.61 0.026 2329.94 429.9 -82.73 - - 3113.06 - - - - - - - - - 16.01 -
4953.03 456.17 -7.60 809 4957.68 roll -1.54 - - 1947.44 - 2.77 0.061 1208.00 -405.0 -82.73 - - 3111.97 - - - - - - - - - 15.94 -
4991.75 459.09 -7.72 815 5006.55 roll -1.54 - - 1946.12 - 2.59 0.026 2323.69 430.8 -82.73 - - 3112.75 - - - - - - - - - 16.01 -
5307.93 483.01 -7.49 844 5312.58 roll -1.54 - - 1947.44 - 2.76 0.061 1208.25 -404.1 -82.73 - - 3113.19 - - - - - - - - - 15.93 -
5362.21 487.24 -7.88 852 5377.15 roll -1.54 - - 1947.69 - 2.58 0.026 2317.56 430.0 -82.73 - - 3112.78 - - - - - - - - - 15.99 -
5678.18 511.92 -8.05 877 5679.51 no move -1.54 - - 1947.56 - - - 2317.38 - -82.73 - - 3111.47 - - - - - - - - - - -
5993.19 537.89 -8.31 898 5994.52 no move -1.54 - - 1947.88 - - - 2317.31 - -82.73 - - 3111.19 - - - - - - - - - - -
6308.22 563.97 -8.31 919 6312.89 roll -1.54 - - 1947.75 - 2.84 0.087 3426.62 390.6 -82.73 - - 3113.16 - - - - - - - - - 15.88 -
6428.38 575.19 -9.48 936 6433.02 roll -1.54 - - 1947.75 - 2.68 0.019 2220.94 -449.9 -82.73 - - 3110.25 - - - - - - - - - 16.00 -
6744.86 602.79 -8.84 958 6749.57 roll -1.54 - - 1947.56 - 3.11 0.083 3426.19 387.5 -82.73 - - 3111.38 - - - - - - - - - 15.88 -
6823.54 610.52 -9.69 969 6828.18 roll -1.54 - - 1947.38 - 2.67 0.020 2224.25 -450.2 -82.73 - - 3111.84 - - - - - - - - - 15.99 -
7140.02 636.76 -7.76 991 7144.63 roll -1.54 - - 1946.06 - 2.51 0.068 1210.62 -403.8 -82.73 - - 3110.88 - - - - - - - - - 15.92 -
7261.76 646.31 -7.96 1009 7267.26 roll -1.54 - - 1947.44 - 2.59 0.027 2320.12 428.4 -82.73 - - 3111.94 - - - - - - - - - 16.00 -
7581.06 668.95 -6.52 1031 7585.71 roll -1.54 - - 1947.12 - 2.75 0.063 1210.88 -403.4 -82.73 - - 3111.12 - - - - - - - - - 15.92 -
7681.84 675.99 -7.08 1046 7687.38 roll -1.54 - - 1947.94 - 2.57 0.027 2316.38 430.2 -82.73 - - 3110.16 - - - - - - - - - 16.00 -
8001.28 696.90 -6.42 1068 8005.93 roll -1.54 - - 1947.62 - 2.74 0.063 1210.12 -403.7 -82.73 - - 3108.62 - - - - - - - - - 15.92 -
8044.83 699.44 -6.62 1075 8059.75 roll -1.54 - - 1947.69 - 2.56 0.027 2313.88 431.2 -82.73 - - 3111.94 - - - - - - - - - 16.00 -
8374.26 721.09 -6.62 1097 8378.91 roll -1.54 - - 1946.81 - 2.73 0.063 1209.56 -404.5 -82.73 - - 3108.34 - - - - - - - - - 15.92 -
8417.81 723.72 -6.87 1104 8432.73 roll -1.54 - - 1947.62 - 2.56 0.027 2311.88 430.6 -82.73 - - 3110.50 - - - - - - - - - 16.00 -
8747.23 747.00 -6.99 1126 8748.56 no move -1.54 - - 1947.31 - - - 2312.12 - -82.73 - - 3108.00 - - - - - - - - - - -
9062.28 769.86 -7.44 1147 9063.61 no move -1.54 - - 1947.38 - - - 2311.50 - -82.73 - - 3107.31 - - - - - - - - - - -
9377.29 793.86 -7.65 1168 9381.94 roll -1.54 - - 1945.62 - 2.74 0.064 1209.31 -402.3 -82.73 - - 3109.44 - - - - - - - - - 15.90 -
9420.84 796.88 -7.92 1175 9435.95 roll -1.54 - - 1947.94 - 2.57 0.027 2309.94 428.3 -82.73 - - 3108.47 - - - - - - - - - 16.00 -
9750.38 822.40 -7.50 1197 9755.02 roll -1.54 - - 1947.69 - 2.75 0.064 1210.75 -399.7 -82.73 - - 3107.44 - - - - - - - - - 15.90 -
9830.38 828.60 -7.82 1209 9835.92 roll -1.54 - - 1947.81 - 2.56 0.027 2307.25 428.3 -82.73 - - 3107.62 - - - - - - - - - 16.00 -
10149.79 851.81 -7.32 1231 10151.12 no move -1.54 - - 1947.12 - - - 2307.38 - -82.73 - - 3106.66 - - - - - - - - - - -
10464.81 874.59 -7.12 1252 10466.14 no move -1.54 - - 1947.75 - - - 2307.50 - -82.73 - - 3106.06 - - - - - - - - - - -
10779.84 895.98 -6.73 1273 10784.49 roll -1.54 - - 1948.00 - 2.74 0.064 1209.00 -400.9 -82.73 - - 3106.47 - - - - - - - - - 15.90 -
10817.02 898.69 -7.04 1278 10821.65 roll -1.54 - - 1947.56 - 2.56 0.027 2308.38 429.4 -82.73 - - 3105.66 - - - - - - - - - 15.99 -
11133.51 921.06 -6.86 1300 11138.17 roll -1.54 - - 1946.38 - 2.88 0.091 3426.12 388.1 -82.73 - - 3106.66 - - - - - - - - - 15.82 -
11191.44 925.31 -7.19 1308 11196.09 roll -1.54 - - 1947.25 - 2.71 0.020 2210.88 -448.4 -82.73 - - 3106.94 - - - - - - - - - 15.98 -
11507.91 946.56 -6.72 1330 11512.63 roll -1.54 - - 1947.19 - 3.13 0.086 3426.62 388.4 -82.73 - - 3105.12 - - - - - - - - - 15.83 -
11587.93 952.62 -7.61 1342 11593.50 roll -1.54 - - 1947.38 - 2.70 0.020 2216.19 -448.3 -82.73 - - 3105.84 - - - - - - - - - 15.99 -
11907.65 975.45 -7.12 1364 11908.98 no move -1.54 - - 1947.44 - - - 2215.19 - -82.73 - - 3105.25 - - - - - - - - - - -
12117 end dive: TARGET_DEPTH_EXCEEDED
12117 begin apogee
12119.30 990.38 -6.95 1378 12194.88 -0.28 2.22 0.143 2255.12 138.6 0.15 0.164 2158.50 -377.9 - 67.82 2.390 2774.38 -4.9 0.352 - - - - - - 15.72 15.15 10.00
12196 end apogee: CONTROL_FINISHED_OK
12196 begin climb
12197.39 992.19 - 1383 12286.96 1.54 3.07 0.114 2695.25 143.4 3.04 0.080 994.88 -382.8 82.73 70.04 2.386 2436.25 -4.8 0.350 - - - - - - 15.41 15.56 11.57
12335.81 986.38 5.25 1403 12415.32 1.69 0.23 0.077 2742.56 205.7 2.74 0.024 2140.19 418.0 161.29 69.47 2.358 2116.50 -4.6 0.335 - - - - - - 15.37 15.46 11.43
12727.40 950.54 9.50 1434 12728.73 VBD 1.69 - - 2742.12 - - - 2139.88 - 161.29 - - 2107.16 - - - - - - - - - - -
13042.51 919.88 9.94 1455 13047.22 done 1.69 - - 2743.00 - 2.75 0.084 3205.75 387.6 161.29 - - 2107.91 - - - - - - - - - 15.77 -
13122.55 911.47 10.56 1467 13128.11 done 1.69 - - 2742.75 - 2.64 0.025 2063.94 -432.5 161.29 - - 2105.91 - - - - - - - - - 15.83 -
13441.96 878.95 10.06 1489 13446.65 done 1.69 - - 2741.75 - 2.93 0.081 3205.31 389.5 161.29 - - 2103.81 - - - - - - - - - 15.82 -
13480.51 874.95 10.43 1495 13486.07 done 1.69 - - 2742.50 - 2.62 0.025 2066.81 -434.5 161.29 - - 2106.41 - - - - - - - - - 15.88 -
13800.09 844.77 9.19 1517 13801.42 VBD 1.69 - - 2741.88 - - - 2066.19 - 161.29 - - 2102.66 - - - - - - - - - - -
14114.94 816.46 8.76 1538 14116.27 VBD 1.69 - - 2742.62 - - - 2066.69 - 161.29 - - 2103.03 - - - - - - - - - - -
14429.96 790.18 8.02 1559 14431.29 VBD 1.69 - - 2742.56 - - - 2066.69 - 161.29 - - 2102.09 - - - - - - - - - - -
14745.00 765.87 7.82 1580 14749.69 done 1.71 - - 2742.25 - 2.90 0.081 3202.19 391.6 161.29 - - 2101.19 - - - - - - - - - 15.86 -
14783.53 762.69 8.21 1586 14789.08 done 1.71 - - 2742.25 - 2.58 0.025 2069.50 -439.0 161.29 - - 2103.12 - - - - - - - - - 15.96 -
15102.95 736.46 8.23 1608 15107.62 done 1.71 - - 2742.31 - 2.90 0.081 3204.50 391.4 161.29 - - 2100.66 - - - - - - - - - 15.86 -
15125.76 735.07 8.28 1612 15140.68 done 1.71 - - 2742.25 - 2.59 0.025 2072.62 -437.0 161.29 - - 2102.66 - - - - - - - - - 15.97 -
15455.37 705.93 8.92 1634 15460.09 done 1.71 - - 2742.19 - 2.90 0.081 3205.06 390.5 161.29 - - 2102.66 - - - - - - - - - 15.86 -
15540.39 698.36 9.53 1647 15555.32 done 1.71 - - 2742.94 - 2.58 0.025 2080.00 -436.1 161.29 - - 2102.38 - - - - - - - - - 15.96 -
15869.80 668.27 8.77 1669 15874.45 done 1.71 - - 2741.00 - 2.79 0.086 993.88 -389.3 161.29 - - 2101.38 - - - - - - - - - 15.84 -
16012.05 654.94 9.50 1690 16017.61 done 1.71 - - 2742.75 - 2.69 0.026 2152.31 430.6 161.29 - - 2101.31 - - - - - - - - - 15.98 -
16331.46 627.30 8.11 1712 16336.15 done 1.71 - - 2742.88 - 2.96 0.080 993.62 -391.4 161.29 - - 2100.22 - - - - - - - - - 15.84 -
16437.23 618.34 9.03 1728 16452.16 done 1.71 - - 2742.69 - 2.66 0.026 2147.50 433.8 161.29 - - 2101.00 - - - - - - - - - 15.98 -
16766.64 590.95 7.96 1750 16771.33 done 1.71 - - 2742.38 - 2.96 0.080 993.19 -390.0 161.29 - - 2100.91 - - - - - - - - - 15.85 -
16852.28 584.16 8.52 1763 16867.04 done 1.71 - - 2740.81 - 2.65 0.025 2138.81 432.3 161.29 - - 2101.91 - - - - - - - - - 15.98 -
17181.53 557.74 7.73 1785 17182.86 VBD 1.72 - - 2742.44 - - - 2138.94 - 161.29 - - 2099.22 - - - - - - - - - - -
17496.74 533.58 7.52 1806 17498.07 VBD 1.74 - - 2742.62 - - - 2138.88 - 161.29 - - 2100.47 - - - - - - - - - - -
17811.68 510.48 7.24 1827 17813.01 VBD 1.77 - - 2742.94 - - - 2139.31 - 161.29 - - 2100.44 - - - - - - - - - - -
18123.31 488.55 6.90 1852 18127.97 done 1.80 - - 2743.19 - 2.71 0.084 3205.25 393.3 161.29 - - 2099.81 - - - - - - - - - 15.84 -
18239.22 479.63 7.77 1867 18243.85 done 1.81 - - 2742.81 - 2.62 0.025 2061.75 -436.5 161.29 - - 2099.44 - - - - - - - - - 15.98 -
18550.93 457.38 7.23 1896 18555.61 done 1.83 - - 2741.25 - 2.92 0.079 3204.88 391.5 161.29 - - 2099.72 - - - - - - - - - 15.85 -
18605.21 453.16 7.76 1904 18620.42 1.85 0.17 0.093 2779.69 226.1 2.59 0.025 2070.44 -438.0 161.29 - - 2100.91 - - - - - - - - 15.80 15.97 -
18922.09 428.85 7.77 1933 18926.75 done 1.86 - - 2780.25 - 2.75 0.084 993.25 -391.7 161.29 - - 2098.56 - - - - - - - - - 15.82 -
19037.97 419.25 8.31 1948 19042.61 done 1.86 - - 2778.19 - 2.67 0.025 2150.69 433.5 161.29 - - 2100.47 - - - - - - - - - 15.97 -
19349.90 396.01 7.41 1977 19360.98 VBD 1.88 - - 2780.75 - - - 2151.94 - 161.29 - - 2099.91 - - - - - - - - - - -
19662.67 372.78 7.63 2006 19667.31 done 1.90 - - 2780.62 - 2.68 0.083 3205.06 393.0 161.29 - - 2098.31 - - - - - - - - - 15.84 -
19731.64 367.02 8.25 2015 19736.33 done 1.90 - - 2780.88 - 2.58 0.024 2078.00 -436.8 161.29 - - 2098.75 - - - - - - - - - 15.97 -
20043.33 343.17 7.85 2044 20048.32 done 1.91 - - 2780.88 - 2.78 0.083 993.81 -390.0 161.29 - - 2100.62 - - - - - - - - - 15.82 -
20129.10 336.10 8.32 2056 20144.03 done 1.91 - - 2781.25 - 2.69 0.024 2155.56 431.9 161.29 - - 2098.84 - - - - - - - - - 15.99 -
20445.71 311.55 7.55 2085 20456.79 VBD 1.93 - - 2780.56 - - - 2155.50 - 161.29 - - 2099.75 - - - - - - - - - - -
20759.63 287.16 7.76 2131 20765.16 done 1.94 - - 2780.81 - 2.68 0.082 3206.19 392.0 161.29 - - 2099.75 - - - - - - - - - 15.83 -
20809.62 283.17 8.04 2141 20815.16 done 1.94 - - 2780.62 - 2.60 0.024 2072.00 -436.2 161.29 - - 2099.41 - - - - - - - - - 15.95 -
21119.87 260.18 7.49 2203 21125.25 done 1.96 - - 2781.44 - 2.89 0.078 3206.06 392.4 161.29 - - 2099.78 - - - - - - - - - 15.81 -
21169.67 256.19 8.05 2213 21175.22 done 1.96 - - 2780.62 - 2.57 0.024 2076.25 -439.6 161.29 - - 2099.50 - - - - - - - - - 15.95 -
21479.97 233.15 7.39 2275 21485.38 done 1.99 - - 2781.19 - 2.76 0.082 993.06 -392.5 161.29 - - 2099.38 - - - - - - - - - 15.80 -
21519.78 229.98 7.84 2283 21525.35 done 2.00 - - 2780.94 - 2.71 0.024 2162.19 431.4 161.29 - - 2099.72 - - - - - - - - - 15.95 -
21829.90 208.98 6.66 2345 21831.33 2.03 0.20 0.082 2824.25 216.5 - - 2161.94 - 161.29 - - 2098.59 - - - - - - - - 15.92 - -
22135.37 187.43 7.01 2406 22136.71 VBD 2.06 - - 2824.25 - - - 2162.06 - 161.29 - - 2098.84 - - - - - - - - - - -
22440.10 166.30 6.76 2467 22441.44 VBD 2.10 - - 2824.12 - - - 2162.00 - 161.29 - - 2099.25 - - - - - - - - - - -
22745.21 144.70 7.33 2528 22750.80 done 2.12 - - 2825.31 - 3.00 0.076 994.19 -389.3 161.29 - - 2101.06 - - - - - - - - - 15.81 -
22830.22 137.86 8.28 2545 22835.78 done 2.12 - - 2824.69 - 2.70 0.024 2160.06 431.8 161.29 - - 2100.56 - - - - - - - - - 15.95 -
23140.35 113.92 7.69 2607 23141.69 VBD 2.13 - - 2824.62 - - - 2159.44 - 161.29 - - 2100.00 - - - - - - - - - - -
23445.45 91.88 6.46 2668 23450.98 done 2.17 - - 2824.69 - 3.00 0.075 993.88 -388.5 161.29 - - 2101.25 - - - - - - - - - 15.82 -
23475.39 89.82 6.64 2674 23481.00 2.21 0.19 0.081 2870.19 239.5 2.69 0.023 2160.94 433.9 161.29 - - 2100.88 - - - - - - - - 15.78 15.95 -
23665.42 76.30 6.37 2712 23706.18 VBD 2.31 - - 2868.62 - - - 2161.00 - 212.56 39.49 1.228 1908.38 -4.9 0.053 - - - - - - - - 10.42
23890.46 59.48 7.57 2757 23896.06 roll 2.33 - - 2869.94 - 3.02 0.075 992.88 -386.8 212.56 - - 1903.94 - - - - - - - - - 15.78 -
24125.48 43.51 5.24 2804 24193.00 2.49 0.34 0.063 2938.12 200.5 2.68 0.023 2149.88 431.7 291.48 61.17 1.197 1587.28 -5.2 0.033 - - - - - - 15.74 15.89 11.16
24375.69 25.43 9.54 2854 24381.16 done 2.49 - - 2938.44 - 2.99 0.074 995.00 -386.2 291.48 - - 1579.47 - - - - - - - - - 15.70 -
24610 end climb: SURFACE_DEPTH_REACHED
24610 begin surface coast
24660 end surface coast: CONTROL_FINISHED_OK
24660 begin surface
SM 0.50 - - - - 179.6 99.96 1.154 1042.3 10.4 17.31 0.054 984.2 56.9 - 3.18 0.029 1100.3 345.1 -0.608 - - 11.16 15.75 15.82 -