NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1109 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 393.18 of 550.00 AH used of 24V (28.51% remains)
• Surface angle -61.5 deg, depth 0.69 m • Intended pitch -25.2 deg, speed -8.462 cm/s
VBD pumped to 424.88 (SM_CC=425)
• GPS1 time: 23 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
2 end surface: CONTROL_FINISHED_OK
3 begin dive
5.87 - - - 77.14 VBD -1.56 - - 178.19 - - - 2364.69 - -82.73 70.07 0.005 2713.16 - - - - - - - - - - 14.76
78.26 3.19 -4.46 13 111.62 -1.56 14.69 0.247 1941.88 120.1 2.80 0.090 3424.00 378.3 -82.73 9.80 0.007 3110.44 40.5 -3.256 - - - - - - 15.28 14.79 14.99
258.70 31.71 -14.93 49 264.26 roll -1.56 - - 1940.81 - 2.63 0.019 2258.50 -443.2 -82.73 - - 3112.97 - - - - - - - - - 15.78 -
449.39 56.63 -12.96 87 454.30 roll -1.56 - - 1941.62 - 2.62 0.064 1209.25 -400.5 -82.73 - - 3112.75 - - - - - - - - - 15.77 -
478.75 60.52 -12.96 93 484.31 roll -1.56 - - 1941.69 - 2.66 0.027 2347.44 427.9 -82.73 - - 3112.25 - - - - - - - - - 15.83 -
669.17 83.86 -12.17 131 670.50 no move -1.56 - - 1941.50 - - - 2347.88 - -82.73 - - 3111.09 - - - - - - - - - - -
853.80 106.32 -12.30 168 855.12 no move -1.56 - - 1941.75 - - - 2347.44 - -82.73 - - 3111.81 - - - - - - - - - - -
1158.90 139.69 -9.03 229 1164.49 roll -1.56 - - 1941.81 - 2.84 0.059 1207.94 -401.2 -82.73 - - 3112.25 - - - - - - - - - 15.85 -
1223.92 145.60 -8.97 242 1229.47 roll -1.56 - - 1941.62 - 2.65 0.026 2340.75 427.5 -82.73 - - 3113.12 - - - - - - - - - 15.91 -
1534.02 167.66 -6.49 304 1539.60 roll -1.56 - - 1940.56 - 2.82 0.086 3424.75 384.4 -82.73 - - 3113.31 - - - - - - - - - 15.82 -
1559.02 169.43 -6.78 309 1564.59 roll -1.56 - - 1942.06 - 2.64 0.019 2236.38 -450.1 -82.73 - - 3112.84 - - - - - - - - - 15.92 -
1869.14 189.97 -6.81 371 1870.47 no move -1.56 - - 1941.62 - - - 2234.75 - -82.73 - - 3111.78 - - - - - - - - - - -
2174.25 212.14 -7.28 432 2175.58 no move -1.56 - - 1941.94 - - - 2234.44 - -82.73 - - 3111.94 - - - - - - - - - - -
2479.35 235.73 -7.81 493 2484.98 roll -1.56 - - 1941.44 - 3.08 0.081 3425.94 386.9 -82.73 - - 3113.53 - - - - - - - - - 15.81 -
2529.36 240.15 -9.08 503 2534.92 roll -1.56 - - 1942.06 - 2.63 0.019 2240.75 -450.6 -82.73 - - 3113.38 - - - - - - - - - 15.94 -
2839.46 265.21 -8.00 565 2840.79 no move -1.56 - - 1942.44 - - - 2239.31 - -82.73 - - 3112.59 - - - - - - - - - - -
3144.51 289.28 -7.68 626 3150.12 roll -1.56 - - 1941.62 - 3.06 0.080 3424.81 387.4 -82.73 - - 3113.72 - - - - - - - - - 15.82 -
3174.51 291.84 -8.24 632 3180.06 roll -1.56 - - 1941.81 - 2.62 0.019 2240.69 -452.0 -82.73 - - 3113.41 - - - - - - - - - 15.95 -
3486.23 315.77 -7.80 672 3497.30 no move -1.56 - - 1941.75 - - - 2239.69 - -82.73 - - 3113.66 - - - - - - - - - - -
3798.93 340.02 -7.71 701 3803.63 roll -1.56 - - 1940.38 - 3.07 0.080 3425.31 386.2 -82.73 - - 3114.12 - - - - - - - - - 15.85 -
3821.74 341.85 -8.03 705 3836.87 roll -1.56 - - 1941.75 - 2.62 0.019 2240.38 -452.3 -82.73 - - 3112.56 - - - - - - - - - 15.97 -
4138.73 364.87 -7.22 734 4143.42 roll -1.56 - - 1940.56 - 3.07 0.081 3425.75 386.1 -82.73 - - 3113.06 - - - - - - - - - 15.85 -
4177.44 367.88 -7.78 740 4192.22 roll -1.56 - - 1941.31 - 2.61 0.019 2243.31 -453.0 -82.73 - - 3112.97 - - - - - - - - - 15.98 -
4493.59 391.06 -7.37 769 4504.66 no move -1.56 - - 1942.06 - - - 2243.50 - -82.73 - - 3113.31 - - - - - - - - - - -
4806.29 415.56 -7.98 798 4817.36 no move -1.56 - - 1941.88 - - - 2243.50 - -82.73 - - 3113.16 - - - - - - - - - - -
5119.85 440.10 -7.61 827 5130.92 no move -1.56 - - 1941.69 - - - 2243.25 - -82.73 - - 3113.03 - - - - - - - - - - -
5432.66 464.13 -7.94 856 5437.36 roll -1.56 - - 1941.38 - 3.07 0.082 3425.50 385.1 -82.73 - - 3111.75 - - - - - - - - - 15.84 -
5471.20 467.41 -8.47 862 5486.14 roll -1.56 - - 1941.38 - 2.61 0.019 2244.44 -452.5 -82.73 - - 3113.25 - - - - - - - - - 15.98 -
5787.73 491.68 -7.45 891 5798.80 no move -1.56 - - 1941.69 - - - 2245.06 - -82.73 - - 3112.44 - - - - - - - - - - -
6101.86 514.26 -7.17 915 6103.19 no move -1.56 - - 1941.56 - - - 2244.44 - -82.73 - - 3110.94 - - - - - - - - - - -
6416.87 537.79 -7.42 936 6421.57 roll -1.56 - - 1941.75 - 3.06 0.083 3424.38 385.6 -82.73 - - 3111.34 - - - - - - - - - 15.83 -
6460.41 540.92 -7.94 943 6475.51 roll -1.56 - - 1941.75 - 2.60 0.019 2247.12 -452.8 -82.73 - - 3112.09 - - - - - - - - - 15.98 -
6789.93 565.68 -7.27 965 6791.26 no move -1.56 - - 1941.75 - - - 2247.00 - -82.73 - - 3111.00 - - - - - - - - - - -
7104.84 588.92 -7.28 986 7106.16 no move -1.56 - - 1941.81 - - - 2247.06 - -82.73 - - 3110.47 - - - - - - - - - - -
7419.86 611.74 -7.30 1007 7424.56 roll -1.56 - - 1941.38 - 3.06 0.084 3425.94 385.3 -82.73 - - 3110.12 - - - - - - - - - 15.82 -
7477.80 616.60 -8.12 1015 7481.64 roll -1.56 - - 1941.94 - 2.59 0.020 2283.56 -441.1 -82.73 - - 3110.94 - - - - - - - - - 15.97 -
7794.29 639.18 -6.65 1037 7795.62 no move -1.56 - - 1941.31 - - - 2249.56 - -82.73 - - 3109.91 - - - - - - - - - - -
8109.51 659.22 -6.15 1058 8114.20 roll -1.56 - - 1941.25 - 3.05 0.085 3425.00 385.4 -82.73 - - 3110.16 - - - - - - - - - 15.81 -
8132.32 660.30 -6.22 1062 8147.24 roll -1.56 - - 1941.69 - 2.59 0.020 2249.69 -453.8 -82.73 - - 3110.34 - - - - - - - - - 15.98 -
8461.73 681.13 -6.24 1084 8463.06 no move -1.56 - - 1941.56 - - - 2249.81 - -82.73 - - 3109.66 - - - - - - - - - - -
8776.72 701.56 -6.73 1105 8781.42 roll -1.56 - - 1941.50 - 3.05 0.085 3427.12 386.0 -82.73 - - 3110.62 - - - - - - - - - 15.81 -
8815.26 704.43 -7.28 1111 8820.80 roll -1.56 - - 1942.00 - 2.59 0.020 2253.56 -453.1 -82.73 - - 3110.00 - - - - - - - - - 15.97 -
9134.66 727.66 -7.23 1133 9139.36 roll -1.56 - - 1941.12 - 3.02 0.085 3426.25 388.3 -82.73 - - 3109.72 - - - - - - - - - 15.80 -
9173.38 730.65 -7.65 1139 9178.79 roll -1.56 - - 1941.75 - 2.58 0.020 2251.81 -455.2 -82.73 - - 3109.84 - - - - - - - - - 15.97 -
9492.60 754.34 -7.26 1161 9493.93 no move -1.56 - - 1941.75 - - - 2251.94 - -82.73 - - 3108.34 - - - - - - - - - - -
9807.62 775.82 -6.67 1182 9812.23 roll -1.56 - - 1940.75 - 2.57 0.066 1209.06 -405.8 -82.73 - - 3109.16 - - - - - - - - - 15.86 -
9865.55 779.88 -6.90 1190 9870.19 roll -1.56 - - 1941.38 - 2.66 0.028 2353.50 430.2 -82.73 - - 3108.69 - - - - - - - - - 15.97 -
10182.03 799.61 -5.98 1212 10183.36 no move -1.56 - - 1941.75 - - - 2353.94 - -82.73 - - 3107.44 - - - - - - - - - - -
10497.05 818.11 -6.05 1233 10501.71 roll -1.56 - - 1941.56 - 2.82 0.061 1210.38 -405.5 -82.73 - - 3107.62 - - - - - - - - - 15.86 -
10535.60 820.53 -6.29 1239 10541.14 roll -1.56 - - 1941.31 - 2.65 0.028 2348.75 429.6 -82.73 - - 3108.66 - - - - - - - - - 15.98 -
10855.00 841.59 -6.89 1261 10856.33 no move -1.56 - - 1941.62 - - - 2348.81 - -82.73 - - 3107.28 - - - - - - - - - - -
11170.00 864.10 -7.17 1282 11174.66 roll -1.56 - - 1941.31 - 2.83 0.061 1210.44 -402.3 -82.73 - - 3106.81 - - - - - - - - - 15.85 -
11207.19 866.89 -7.35 1287 11211.82 roll -1.56 - - 1941.56 - 2.65 0.028 2349.50 429.8 -82.73 - - 3108.12 - - - - - - - - - 15.97 -
11523.66 890.52 -7.47 1309 11528.33 roll -1.56 - - 1941.19 - 2.83 0.061 1208.44 -403.2 -82.73 - - 3108.28 - - - - - - - - - 15.85 -
11602.51 896.70 -7.82 1320 11607.20 roll -1.56 - - 1940.06 - 2.65 0.028 2345.44 429.1 -82.73 - - 3108.62 - - - - - - - - - 15.97 -
11918.99 920.21 -7.61 1342 11920.32 no move -1.56 - - 1941.56 - - - 2345.94 - -82.73 - - 3107.03 - - - - - - - - - - -
12233.99 944.17 -7.48 1363 12238.66 roll -1.56 - - 1941.81 - 2.82 0.061 1210.31 -402.7 -82.73 - - 3106.19 - - - - - - - - - 15.84 -
12292.85 948.73 -7.67 1371 12297.49 roll -1.56 - - 1941.31 - 2.64 0.028 2342.88 429.0 -82.73 - - 3106.00 - - - - - - - - - 15.97 -
12609.35 971.67 -7.04 1393 12610.68 no move -1.56 - - 1941.69 - - - 2342.69 - -82.73 - - 3105.56 - - - - - - - - - - -
12878 end dive: TARGET_DEPTH_EXCEEDED
12879 begin apogee
12881.27 990.97 -7.16 1411 12956.92 -0.28 2.28 0.144 2255.12 137.5 0.16 0.158 2157.62 -1156.7 - 68.09 2.392 2775.31 -4.9 0.354 - - - - - - 15.66 15.09 9.85
12958 end apogee: CONTROL_FINISHED_OK
12958 begin climb
12959.56 993.10 - 1416 13047.50 1.56 3.19 0.123 2701.75 140.0 2.78 0.082 3203.50 376.2 82.73 72.12 2.379 2436.78 -4.7 0.345 - - - - - - 15.39 15.52 11.51
13050.06 991.02 3.49 1429 13156.32 1.78 0.32 0.064 2763.88 194.2 2.73 0.024 2058.12 -419.6 189.14 95.24 2.380 2003.44 -4.5 0.334 - - - - - - 15.25 15.32 11.53
13468.08 954.77 8.90 1464 13469.41 VBD 1.78 - - 2763.75 - - - 2058.00 - 189.14 - - 1991.41 - - - - - - - - - - -
13782.91 926.47 9.04 1485 13784.24 VBD 1.78 - - 2764.25 - - - 2058.06 - 189.14 - - 1989.94 - - - - - - - - - - -
14097.92 897.06 9.46 1506 14099.25 VBD 1.78 - - 2764.69 - - - 2058.12 - 189.14 - - 1988.78 - - - - - - - - - - -
14413.12 867.58 9.40 1527 14417.81 done 1.78 - - 2764.31 - 2.97 0.080 3204.62 386.0 189.14 - - 1988.91 - - - - - - - - - 15.80 -
14456.67 863.83 9.76 1534 14471.61 done 1.78 - - 2764.50 - 2.63 0.026 2063.31 -434.0 189.14 - - 1989.41 - - - - - - - - - 15.90 -
14786.07 831.83 9.75 1556 14787.41 VBD 1.78 - - 2765.00 - - - 2064.12 - 189.14 - - 1986.84 - - - - - - - - - - -
15101.09 800.94 9.75 1577 15105.77 done 1.78 - - 2765.12 - 2.95 0.080 3201.94 385.7 189.14 - - 1986.78 - - - - - - - - - 15.82 -
15139.63 797.11 10.01 1583 15145.37 done 1.78 - - 2764.75 - 2.61 0.025 2066.44 -435.1 189.14 - - 1989.06 - - - - - - - - - 15.94 -
15459.16 766.56 9.37 1605 15463.81 done 1.78 - - 2765.06 - 2.75 0.084 993.81 -390.0 189.14 - - 1986.31 - - - - - - - - - 15.81 -
15518.45 760.77 9.81 1614 15524.01 done 1.78 - - 2764.94 - 2.66 0.025 2143.06 432.0 189.14 - - 1986.16 - - - - - - - - - 15.95 -
15837.85 732.44 8.32 1636 15842.50 done 1.78 - - 2765.06 - 2.74 0.084 3205.25 387.7 189.14 - - 1984.81 - - - - - - - - - 15.82 -
15917.87 725.49 8.78 1648 15923.42 done 1.78 - - 2764.50 - 2.62 0.026 2065.44 -435.0 189.14 - - 1986.12 - - - - - - - - - 15.94 -
16237.33 699.69 7.96 1670 16238.66 VBD 1.79 - - 2764.75 - - - 2065.31 - 189.14 - - 1984.59 - - - - - - - - - - -
16552.33 674.15 8.10 1691 16553.66 VBD 1.79 - - 2765.38 - - - 2065.38 - 189.14 - - 1984.34 - - - - - - - - - - -
16867.36 648.02 8.44 1712 16868.69 VBD 1.79 - - 2765.38 - - - 2064.81 - 189.14 - - 1984.16 - - - - - - - - - - -
17182.39 620.03 9.06 1733 17187.08 done 1.79 - - 2765.12 - 2.95 0.080 3205.44 386.7 189.14 - - 1984.12 - - - - - - - - - 15.81 -
17219.60 616.43 9.40 1738 17224.23 done 1.79 - - 2765.19 - 2.62 0.025 2067.44 -434.4 189.14 - - 1984.84 - - - - - - - - - 15.95 -
17536.24 585.87 10.01 1760 17540.90 done 1.79 - - 2765.19 - 2.77 0.085 994.12 -387.5 189.14 - - 1983.56 - - - - - - - - - 15.80 -
17574.79 581.86 10.40 1766 17580.52 done 1.79 - - 2764.75 - 2.66 0.025 2144.94 432.6 189.14 - - 1985.25 - - - - - - - - - 15.97 -
17894.33 549.66 9.98 1788 17898.98 done 1.79 - - 2765.25 - 2.74 0.083 3207.12 387.7 189.14 - - 1983.47 - - - - - - - - - 15.81 -
17953.61 543.64 10.23 1797 17959.18 done 1.79 - - 2765.44 - 2.61 0.025 2071.94 -434.9 189.14 - - 1984.38 - - - - - - - - - 15.97 -
18273.02 514.04 8.96 1819 18274.36 VBD 1.79 - - 2764.75 - - - 2071.69 - 189.14 - - 1983.47 - - - - - - - - - - -
18577.58 488.60 8.01 1843 18582.26 done 1.79 - - 2765.00 - 2.93 0.080 3205.69 387.0 189.14 - - 1982.84 - - - - - - - - - 15.80 -
18631.86 484.07 8.45 1851 18646.78 done 1.79 - - 2764.81 - 2.60 0.025 2073.38 -435.5 189.14 - - 1985.34 - - - - - - - - - 15.97 -
18948.05 459.18 7.56 1880 18952.71 done 1.80 - - 2764.88 - 2.77 0.084 995.94 -389.0 189.14 - - 1983.00 - - - - - - - - - 15.78 -
18986.60 456.19 7.85 1886 19001.55 done 1.82 - - 2765.12 - 2.69 0.024 2155.56 431.1 189.14 - - 1984.56 - - - - - - - - - 15.98 -
19303.43 433.44 6.99 1915 19314.51 VBD 1.85 - - 2765.06 - - - 2155.38 - 189.14 - - 1984.50 - - - - - - - - - - -
19616.15 411.47 7.10 1944 19620.85 done 1.87 - - 2764.94 - 3.01 0.079 994.62 -385.6 189.14 - - 1984.19 - - - - - - - - - 15.78 -
19670.63 407.31 7.66 1952 19685.43 done 1.89 - - 2765.31 - 2.68 0.025 2150.50 431.3 189.14 - - 1984.06 - - - - - - - - - 15.97 -
19987.20 384.78 6.91 1981 19998.28 VBD 1.92 - - 2764.81 - - - 2150.62 - 189.14 - - 1984.31 - - - - - - - - - - -
20300.26 362.95 6.64 2010 20304.98 1.96 0.17 0.090 2808.50 257.0 2.71 0.083 3204.50 388.9 189.14 - - 1983.75 - - - - - - - - 15.91 15.76 -
20338.84 360.05 7.29 2016 20353.74 done 1.98 - - 2808.25 - 2.59 0.025 2069.75 -438.1 189.14 - - 1984.53 - - - - - - - - - 15.96 -
20655.01 335.74 8.08 2045 20666.08 VBD 1.98 - - 2807.75 - - - 2069.94 - 189.14 - - 1984.50 - - - - - - - - - - -
20967.94 309.06 8.65 2074 20972.62 done 1.98 - - 2808.25 - 2.93 0.078 3205.00 387.4 189.14 - - 1984.38 - - - - - - - - - 15.79 -
21036.62 302.59 9.29 2083 21041.24 done 1.98 - - 2807.88 - 2.60 0.024 2072.62 -435.5 189.14 - - 1983.44 - - - - - - - - - 15.95 -
21346.45 275.68 8.62 2141 21347.78 VBD 1.98 - - 2808.31 - - - 2073.19 - 189.14 - - 1983.44 - - - - - - - - - - -
21651.66 250.42 8.05 2202 21657.08 done 1.98 - - 2809.19 - 2.93 0.077 3205.88 386.6 189.14 - - 1984.72 - - - - - - - - - 15.76 -
21731.67 243.54 8.58 2218 21737.09 done 1.98 - - 2808.06 - 2.60 0.024 2072.56 -435.9 189.14 - - 1984.78 - - - - - - - - - 15.93 -
22041.54 218.96 8.32 2280 22042.87 VBD 1.98 - - 2808.31 - - - 2072.50 - 189.14 - - 1984.31 - - - - - - - - - - -
22346.60 194.59 7.72 2341 22347.93 VBD 1.99 - - 2808.19 - - - 2072.69 - 189.14 - - 1983.34 - - - - - - - - - - -
22651.65 172.73 6.98 2402 22657.23 done 2.02 - - 2807.75 - 2.93 0.077 3204.44 386.3 189.14 - - 1984.75 - - - - - - - - - 15.78 -
22691.64 169.48 8.01 2410 22697.18 done 2.02 - - 2808.75 - 2.60 0.024 2072.94 -435.2 189.14 - - 1984.69 - - - - - - - - - 15.93 -
23001.71 145.77 7.85 2472 23007.26 done 2.04 - - 2808.88 - 2.78 0.082 993.44 -388.3 189.14 - - 1984.97 - - - - - - - - - 15.76 -
23101.70 137.00 8.64 2492 23107.25 done 2.04 - - 2808.19 - 2.68 0.023 2152.00 432.3 189.14 - - 1984.91 - - - - - - - - - 15.94 -
23411.94 113.19 7.80 2554 23417.35 done 2.05 - - 2807.38 - 2.73 0.080 3206.31 386.2 189.14 - - 1985.34 - - - - - - - - - 15.78 -
23476.74 107.52 8.98 2567 23482.29 done 2.05 - - 2808.94 - 2.61 0.024 2069.31 -435.6 189.14 - - 1984.69 - - - - - - - - - 15.93 -
23786.80 93.64 2.72 2629 23887.74 2.30 0.44 0.062 2891.00 186.5 3.00 0.077 3202.81 377.8 312.18 94.47 1.300 1502.44 -5.1 0.065 - - - - - - 15.89 15.21 10.38
23935.02 83.31 9.58 2658 23940.39 roll 2.30 - - 2890.44 - 2.61 0.024 2081.94 -429.5 312.18 - - 1498.56 - - - - - - - - - 15.66 -
24124.91 66.53 8.58 2696 24130.84 done 2.30 - - 2890.44 - 2.82 0.080 994.50 -385.6 312.18 - - 1493.03 - - - - - - - - - 15.66 -
24204.93 59.39 8.77 2712 24210.49 done 2.30 - - 2890.38 - 2.70 0.023 2150.62 428.2 312.18 - - 1491.22 - - - - - - - - - 15.77 -
24395.06 44.95 7.34 2750 24400.56 done 2.32 - - 2890.44 - 2.73 0.079 3206.69 386.8 312.18 - - 1490.59 - - - - - - - - - 15.72 -
24435.00 41.72 7.99 2758 24440.55 done 2.32 - - 2890.62 - 2.62 0.023 2068.44 -434.4 312.18 - - 1489.94 - - - - - - - - - 15.82 -
24625.06 27.37 7.82 2796 24630.63 done 2.33 - - 2891.38 - 2.73 0.081 993.56 -393.7 312.18 - - 1489.44 - - - - - - - - - 15.73 -
24670.06 23.35 9.07 2805 24675.63 done 2.33 - - 2890.75 - 2.68 0.023 2151.94 432.2 312.18 - - 1488.94 - - - - - - - - - 15.85 -
24860.12 7.48 8.45 2843 24861.45 VBD 2.33 - - 2891.00 - - - 2151.69 - 312.18 - - 1488.22 - - - - - - - - - - -
24904 end climb: SURFACE_DEPTH_REACHED
24904 begin surface coast
24959 end surface coast: CONTROL_FINISHED_OK
24960 begin surface
SM 0.75 - - - - 178.3 85.60 1.182 1042.9 12.2 16.90 0.055 987.1 58.4 - 0.43 0.060 1098.7 2555.1 -3.264 - - 11.00 15.80 15.87 -