NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1136 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 404.58 of 550.00 AH used of 24V (26.44% remains)
• Surface angle -60.6 deg, depth 0.50 m • Intended pitch -21.9 deg, speed -9.429 cm/s
• No surface pump (final VBD was 800.8, SM_CC=400)
• GPS1 time: 18 s
• GPS2 time: 4 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
5.91 - - - 92.77 VBD -1.45 - - 178.31 - - - 2361.25 - -116.79 85.32 0.005 2900.97 - - - - - - - - - - 14.81
93.51 3.70 -5.13 16 125.84 -1.45 14.53 0.237 1968.00 123.2 2.83 0.085 3425.38 376.0 -116.79 8.10 0.007 3250.41 43.1 -4.024 - - - - - - 15.30 14.82 15.03
182.94 19.04 -15.05 34 188.49 roll -1.45 - - 1966.75 - 2.62 0.018 2256.31 -446.2 -116.79 - - 3251.81 - - - - - - - - - 15.79 -
373.37 44.46 -13.10 72 374.70 no move -1.45 - - 1966.56 - - - 2254.75 - -116.79 - - 3249.62 - - - - - - - - - - -
558.09 68.00 -12.42 109 559.42 no move -1.45 - - 1967.31 - - - 2254.56 - -116.79 - - 3249.72 - - - - - - - - - - -
743.08 87.20 -9.60 146 744.40 no move -1.45 - - 1966.94 - - - 2254.31 - -116.79 - - 3249.62 - - - - - - - - - - -
928.10 105.27 -9.19 183 933.72 roll -1.45 - - 1967.12 - 3.07 0.078 3425.88 381.6 -116.79 - - 3249.66 - - - - - - - - - 15.78 -
948.11 107.28 -9.63 187 953.66 roll -1.45 - - 1967.06 - 2.61 0.018 2249.94 -450.6 -116.79 - - 3250.38 - - - - - - - - - 15.90 -
1258.17 136.14 -9.84 249 1263.70 roll -1.45 - - 1967.88 - 2.58 0.066 1209.19 -403.4 -116.79 - - 3250.00 - - - - - - - - - 15.84 -
1288.16 139.06 -9.76 255 1293.71 roll -1.45 - - 1967.25 - 2.69 0.026 2352.94 425.2 -116.79 - - 3251.94 - - - - - - - - - 15.93 -
1598.23 164.19 -7.36 317 1599.56 no move -1.45 - - 1967.12 - - - 2352.69 - -116.79 - - 3249.28 - - - - - - - - - - -
1903.24 188.04 -8.04 378 1908.82 roll -1.45 - - 1966.19 - 2.85 0.060 1208.94 -401.3 -116.79 - - 3251.34 - - - - - - - - - 15.86 -
1958.24 192.72 -8.60 389 1963.99 roll -1.45 - - 1967.31 - 2.68 0.026 2349.44 425.6 -116.79 - - 3250.91 - - - - - - - - - 15.94 -
2268.28 219.06 -8.54 451 2269.61 no move -1.45 - - 1966.56 - - - 2350.38 - -116.79 - - 3250.78 - - - - - - - - - - -
2573.32 244.91 -8.18 512 2578.89 roll -1.45 - - 1967.38 - 2.83 0.060 1210.12 -402.9 -116.79 - - 3250.72 - - - - - - - - - 15.87 -
2603.31 247.45 -8.33 518 2608.86 roll -1.45 - - 1967.56 - 2.66 0.026 2348.62 428.0 -116.79 - - 3252.12 - - - - - - - - - 15.96 -
2913.34 272.39 -7.96 580 2914.67 no move -1.45 - - 1967.56 - - - 2348.62 - -116.79 - - 3250.09 - - - - - - - - - - -
3218.39 297.18 -8.35 641 3223.96 roll -1.45 - - 1967.19 - 2.83 0.060 1210.19 -402.3 -116.79 - - 3252.12 - - - - - - - - - 15.87 -
3277.93 302.38 -8.94 651 3282.57 roll -1.45 - - 1965.44 - 2.64 0.027 2343.56 429.3 -116.79 - - 3251.50 - - - - - - - - - 15.97 -
3589.90 329.61 -8.95 680 3600.97 no move -1.45 - - 1967.62 - - - 2343.94 - -116.79 - - 3251.66 - - - - - - - - - - -
3902.60 357.73 -9.00 709 3907.27 roll -1.45 - - 1967.38 - 2.83 0.061 1209.00 -401.0 -116.79 - - 3250.72 - - - - - - - - - 15.88 -
3957.07 362.60 -9.07 717 3971.88 roll -1.45 - - 1967.38 - 2.67 0.026 2341.31 424.1 -116.79 - - 3251.41 - - - - - - - - - 15.98 -
4273.57 390.38 -8.54 746 4278.23 roll -1.45 - - 1967.38 - 2.85 0.061 1209.06 -397.3 -116.79 - - 3251.56 - - - - - - - - - 15.88 -
4312.11 393.59 -8.56 752 4327.06 roll -1.45 - - 1966.81 - 2.65 0.026 2337.56 425.8 -116.79 - - 3253.38 - - - - - - - - - 15.99 -
4628.31 419.69 -8.42 781 4632.98 roll -1.45 - - 1967.25 - 2.82 0.061 1210.25 -399.8 -116.79 - - 3249.56 - - - - - - - - - 15.88 -
4666.85 422.96 -8.66 787 4681.79 roll -1.45 - - 1967.38 - 2.65 0.027 2334.62 424.3 -116.79 - - 3250.84 - - - - - - - - - 15.99 -
4983.80 450.46 -8.62 816 4988.47 roll -1.45 - - 1967.31 - 2.82 0.061 1211.44 -398.3 -116.79 - - 3249.19 - - - - - - - - - 15.88 -
5020.99 453.77 -8.78 821 5025.62 roll -1.45 - - 1967.06 - 2.63 0.026 2330.69 425.6 -116.79 - - 3249.25 - - - - - - - - - 15.98 -
5332.66 479.02 -7.76 850 5337.32 roll -1.45 - - 1967.44 - 2.82 0.062 1210.81 -397.1 -116.79 - - 3251.47 - - - - - - - - - 15.88 -
5369.85 482.01 -7.86 855 5374.49 roll -1.45 - - 1967.38 - 2.63 0.027 2326.62 424.3 -116.79 - - 3252.00 - - - - - - - - - 15.97 -
5677.70 505.25 -7.85 882 5679.03 no move -1.45 - - 1967.06 - - - 2326.69 - -116.79 - - 3250.03 - - - - - - - - - - -
5992.09 529.09 -7.37 903 5996.75 roll -1.45 - - 1967.56 - 2.81 0.063 1211.88 -396.7 -116.79 - - 3248.41 - - - - - - - - - 15.87 -
6056.38 533.58 -7.65 913 6071.31 roll -1.45 - - 1967.12 - 2.63 0.027 2326.06 423.6 -116.79 - - 3250.09 - - - - - - - - - 15.98 -
6385.80 558.82 -7.50 935 6390.47 roll -1.45 - - 1967.44 - 2.81 0.063 1210.44 -397.0 -116.79 - - 3251.59 - - - - - - - - - 15.87 -
6424.34 561.72 -7.66 941 6429.90 roll -1.45 - - 1967.12 - 2.62 0.027 2323.62 424.9 -116.79 - - 3249.41 - - - - - - - - - 15.98 -
6743.75 585.53 -7.48 963 6745.07 no move -1.45 - - 1966.88 - - - 2323.69 - -116.79 - - 3248.44 - - - - - - - - - - -
7058.96 609.07 -7.35 984 7063.62 roll -1.45 - - 1967.31 - 2.82 0.063 1211.06 -394.5 -116.79 - - 3249.09 - - - - - - - - - 15.86 -
7097.51 611.92 -7.47 990 7103.06 roll -1.45 - - 1967.31 - 2.63 0.027 2320.25 421.7 -116.79 - - 3249.62 - - - - - - - - - 15.98 -
7416.96 635.18 -7.27 1012 7421.61 roll -1.45 - - 1967.31 - 2.80 0.063 1210.25 -396.4 -116.79 - - 3247.81 - - - - - - - - - 15.86 -
7474.90 639.67 -7.64 1020 7479.53 roll -1.45 - - 1967.50 - 2.62 0.027 2317.75 422.7 -116.79 - - 3246.69 - - - - - - - - - 15.97 -
7791.39 663.23 -7.42 1042 7792.72 no move -1.45 - - 1967.31 - - - 2317.56 - -116.79 - - 3245.78 - - - - - - - - - - -
8106.57 687.16 -7.68 1063 8107.90 no move -1.45 - - 1967.25 - - - 2317.62 - -116.79 - - 3245.56 - - - - - - - - - - -
8421.60 710.33 -7.18 1084 8426.58 roll -1.45 - - 1967.31 - 2.79 0.064 1211.50 -396.5 -116.79 - - 3247.38 - - - - - - - - - 15.85 -
8480.89 714.73 -7.47 1093 8486.44 roll -1.45 - - 1966.75 - 2.61 0.027 2314.88 422.8 -116.79 - - 3246.75 - - - - - - - - - 15.97 -
8800.30 738.26 -7.49 1115 8801.63 no move -1.45 - - 1967.19 - - - 2315.38 - -116.79 - - 3246.06 - - - - - - - - - - -
9115.31 761.79 -7.53 1136 9119.95 roll -1.45 - - 1967.00 - 2.80 0.064 1208.88 -395.2 -116.79 - - 3248.06 - - - - - - - - - 15.84 -
9153.84 764.71 -7.72 1142 9159.38 roll -1.45 - - 1967.94 - 2.60 0.027 2311.56 424.1 -116.79 - - 3246.47 - - - - - - - - - 15.98 -
9473.27 787.85 -7.01 1164 9477.92 roll -1.45 - - 1967.38 - 2.77 0.064 1210.19 -397.6 -116.79 - - 3244.97 - - - - - - - - - 15.84 -
9511.83 790.60 -7.23 1170 9517.35 roll -1.45 - - 1967.31 - 2.58 0.027 2309.25 426.0 -116.79 - - 3246.94 - - - - - - - - - 15.98 -
9831.29 812.72 -6.72 1192 9832.62 no move -1.45 - - 1967.12 - - - 2309.38 - -116.79 - - 3244.94 - - - - - - - - - - -
10146.25 833.77 -6.56 1213 10150.90 roll -1.45 - - 1967.25 - 2.78 0.065 1209.12 -395.8 -116.79 - - 3244.97 - - - - - - - - - 15.84 -
10184.80 836.35 -6.75 1219 10190.32 roll -1.45 - - 1968.00 - 2.58 0.028 2307.12 425.6 -116.79 - - 3245.56 - - - - - - - - - 15.97 -
10504.40 857.65 -6.85 1241 10505.73 no move -1.45 - - 1967.06 - - - 2307.00 - -116.79 - - 3244.88 - - - - - - - - - - -
10819.40 879.38 -6.99 1262 10820.73 no move -1.45 - - 1967.31 - - - 2306.94 - -116.79 - - 3244.28 - - - - - - - - - - -
11134.25 900.91 -6.66 1283 11138.90 roll -1.45 - - 1967.31 - 2.78 0.065 1211.88 -393.9 -116.79 - - 3245.38 - - - - - - - - - 15.83 -
11172.80 903.50 -6.81 1289 11178.33 roll -1.45 - - 1967.31 - 2.57 0.027 2303.81 424.9 -116.79 - - 3244.84 - - - - - - - - - 15.97 -
11492.39 924.89 -6.55 1311 11497.03 roll -1.45 - - 1967.00 - 2.74 0.065 1210.25 -399.1 -116.79 - - 3244.31 - - - - - - - - - 15.82 -
11530.94 927.46 -6.71 1317 11536.46 roll -1.45 - - 1967.56 - 2.58 0.027 2302.56 423.4 -116.79 - - 3245.53 - - - - - - - - - 15.97 -
11850.34 948.63 -6.57 1339 11855.02 roll -1.45 - - 1966.88 - 2.97 0.090 3424.25 377.7 -116.79 - - 3243.12 - - - - - - - - - 15.76 -
11888.90 951.33 -6.92 1345 11894.46 roll -1.45 - - 1967.38 - 2.73 0.020 2205.31 -446.5 -116.79 - - 3243.97 - - - - - - - - - 15.96 -
12208.64 972.36 -6.45 1367 12209.97 no move -1.45 - - 1967.19 - - - 2204.69 - -116.79 - - 3243.25 - - - - - - - - - - -
12493 end dive: TARGET_DEPTH_EXCEEDED
12493 begin apogee
12495.13 990.50 -6.38 1386 12601.90 -0.28 2.04 0.134 2254.12 140.7 0.17 0.148 2153.81 -299.3 - 95.46 2.422 2775.03 -4.9 0.354 - - - - - - 15.69 14.97 10.03
12604 end apogee: CONTROL_FINISHED_OK
12604 begin climb
12604.69 992.43 - 1393 12716.65 1.45 2.91 0.109 2673.81 144.2 3.11 0.080 996.00 -372.3 116.79 101.46 2.390 2297.66 -4.7 0.345 - - - - - - 15.27 15.42 11.48
12729.75 987.20 4.97 1411 12857.43 1.72 0.41 0.061 2751.12 188.6 2.80 0.023 2135.06 406.8 252.86 119.86 2.363 1743.97 -4.6 0.341 - - - - - - 15.20 15.28 11.48
13169.31 942.88 10.32 1449 13170.64 VBD 1.72 - - 2750.50 - - - 2135.50 - 252.86 - - 1731.12 - - - - - - - - - - -
13484.22 910.99 10.13 1470 13488.91 done 1.72 - - 2751.00 - 3.00 0.082 995.81 -379.9 252.86 - - 1728.69 - - - - - - - - - 15.73 -
13522.77 906.94 10.52 1476 13528.34 done 1.72 - - 2750.62 - 2.71 0.024 2133.69 419.9 252.86 - - 1729.09 - - - - - - - - - 15.83 -
13842.18 873.97 10.24 1498 13843.51 VBD 1.72 - - 2751.19 - - - 2133.50 - 252.86 - - 1727.94 - - - - - - - - - - -
14157.36 842.99 9.55 1519 14158.70 VBD 1.72 - - 2750.50 - - - 2134.06 - 252.86 - - 1727.53 - - - - - - - - - - -
14472.21 812.12 10.02 1540 14473.54 VBD 1.72 - - 2751.12 - - - 2133.88 - 252.86 - - 1727.06 - - - - - - - - - - -
14787.23 780.27 10.28 1561 14791.91 done 1.72 - - 2750.88 - 2.99 0.082 994.75 -381.0 252.86 - - 1726.53 - - - - - - - - - 15.80 -
14830.77 776.23 10.59 1568 14845.72 done 1.72 - - 2749.69 - 2.68 0.024 2129.69 423.5 252.86 - - 1727.53 - - - - - - - - - 15.94 -
15160.19 741.99 10.03 1590 15161.53 VBD 1.72 - - 2750.50 - - - 2130.19 - 252.86 - - 1725.59 - - - - - - - - - - -
15475.20 710.35 10.08 1611 15479.88 done 1.72 - - 2751.25 - 2.97 0.083 996.12 -381.8 252.86 - - 1725.19 - - - - - - - - - 15.81 -
15513.74 706.33 10.48 1617 15519.29 done 1.72 - - 2751.31 - 2.66 0.024 2128.62 425.8 252.86 - - 1727.00 - - - - - - - - - 15.96 -
15833.16 673.80 10.16 1639 15837.82 done 1.72 - - 2751.31 - 2.83 0.084 3206.12 380.7 252.86 - - 1727.12 - - - - - - - - - 15.81 -
15871.88 669.80 10.47 1645 15877.32 done 1.72 - - 2751.00 - 2.67 0.025 2056.69 -430.5 252.86 - - 1726.03 - - - - - - - - - 15.95 -
16191.11 637.13 10.02 1667 16192.44 VBD 1.72 - - 2751.50 - - - 2056.69 - 252.86 - - 1725.09 - - - - - - - - - - -
16506.13 606.31 9.57 1688 16507.46 VBD 1.72 - - 2751.31 - - - 2056.81 - 252.86 - - 1725.22 - - - - - - - - - - -
16821.14 576.29 9.41 1709 16826.18 done 1.72 - - 2750.88 - 3.03 0.079 3203.00 378.3 252.86 - - 1725.88 - - - - - - - - - 15.81 -
16859.73 572.59 9.67 1715 16865.28 done 1.72 - - 2750.00 - 2.64 0.025 2063.62 -431.6 252.86 - - 1726.34 - - - - - - - - - 15.95 -
17179.15 542.93 9.17 1737 17183.80 done 1.72 - - 2751.44 - 2.79 0.086 995.19 -382.9 252.86 - - 1723.94 - - - - - - - - - 15.79 -
17218.30 539.16 9.67 1743 17223.70 done 1.72 - - 2751.75 - 2.70 0.024 2137.62 423.1 252.86 - - 1724.81 - - - - - - - - - 15.96 -
17537.54 510.03 8.96 1765 17542.21 done 1.72 - - 2751.12 - 2.81 0.084 3204.75 379.8 252.86 - - 1726.09 - - - - - - - - - 15.80 -
17595.48 504.57 9.33 1773 17600.12 done 1.72 - - 2752.25 - 2.64 0.025 2065.38 -431.6 252.86 - - 1725.59 - - - - - - - - - 15.95 -
17904.24 477.61 8.72 1801 17908.89 done 1.74 - - 2751.75 - 2.79 0.086 994.06 -384.0 252.86 - - 1724.06 - - - - - - - - - 15.78 -
17974.26 471.06 9.39 1811 17989.39 done 1.74 - - 2751.62 - 2.68 0.025 2134.62 425.6 252.86 - - 1724.94 - - - - - - - - - 15.96 -
18290.96 441.39 9.67 1840 18302.04 VBD 1.74 - - 2752.06 - - - 2134.62 - 252.86 - - 1725.12 - - - - - - - - - - -
18604.03 410.28 10.30 1869 18615.12 VBD 1.74 - - 2751.81 - - - 2134.69 - 252.86 - - 1724.72 - - - - - - - - - - -
18916.76 377.82 10.30 1898 18927.84 VBD 1.74 - - 2751.19 - - - 2134.25 - 252.86 - - 1724.19 - - - - - - - - - - -
19229.73 346.84 9.78 1927 19240.80 VBD 1.74 - - 2751.81 - - - 2134.56 - 252.86 - - 1723.88 - - - - - - - - - - -
19542.46 317.75 9.04 1956 19553.53 VBD 1.74 - - 2751.62 - - - 2134.94 - 252.86 - - 1723.69 - - - - - - - - - - -
19855.33 291.61 8.08 1995 19860.91 done 1.76 - - 2751.06 - 3.00 0.081 994.75 -380.1 252.86 - - 1724.06 - - - - - - - - - 15.75 -
19910.34 286.79 8.91 2006 19915.87 done 1.77 - - 2751.69 - 2.68 0.024 2132.19 424.4 252.86 - - 1724.44 - - - - - - - - - 15.94 -
20220.39 262.82 7.63 2068 20225.96 done 1.81 - - 2752.06 - 2.98 0.081 993.50 -382.1 252.86 - - 1723.38 - - - - - - - - - 15.75 -
20255.38 259.85 8.35 2075 20260.92 done 1.83 - - 2751.12 - 2.65 0.024 2127.19 427.8 252.86 - - 1723.91 - - - - - - - - - 15.94 -
20565.67 235.24 7.92 2137 20571.11 done 1.86 - - 2750.75 - 2.84 0.082 3205.94 379.8 252.86 - - 1724.12 - - - - - - - - - 15.76 -
20600.49 232.21 8.56 2144 20606.03 done 1.88 - - 2752.06 - 2.67 0.024 2053.06 -431.8 252.86 - - 1724.06 - - - - - - - - - 15.93 -
20910.79 207.34 8.23 2206 20916.20 1.90 0.17 0.088 2793.06 241.2 2.74 0.085 994.69 -386.3 252.86 - - 1724.56 - - - - - - - - 15.89 15.74 -
20950.60 203.36 10.19 2214 20956.14 done 1.90 - - 2793.25 - 2.67 0.024 2131.31 425.7 252.86 - - 1723.75 - - - - - - - - - 15.94 -
21260.70 171.98 10.14 2276 21262.03 VBD 1.90 - - 2793.31 - - - 2131.00 - 252.86 - - 1723.72 - - - - - - - - - - -
21565.81 142.21 9.28 2337 21567.14 VBD 1.90 - - 2793.56 - - - 2131.06 - 252.86 - - 1723.69 - - - - - - - - - - -
21870.92 117.49 7.04 2398 21933.49 done 2.05 - - 2793.69 - 2.86 0.083 3205.62 375.7 325.77 57.56 1.345 1448.38 -4.8 0.074 - - - - - - - 15.26 10.26
21936.35 112.80 7.36 2411 21994.30 2.18 0.35 0.067 2859.69 188.6 2.70 0.024 2050.44 -427.8 389.01 52.47 1.290 1190.69 -4.9 0.076 - - - - - - 15.61 15.73 11.63
22296.60 76.25 10.09 2483 22297.94 no move 2.18 - - 2860.44 - - - 2050.81 - 389.01 - - 1181.25 - - - - - - - - - - -
22481.67 59.10 9.04 2520 22487.28 done 2.18 - - 2860.75 - 3.06 0.076 3205.06 377.2 389.01 - - 1180.41 - - - - - - - - - 15.69 -
22506.67 56.75 9.09 2525 22512.23 done 2.18 - - 2860.62 - 2.66 0.023 2064.50 -428.8 389.01 - - 1179.78 - - - - - - - - - 15.80 -
22696.75 40.04 8.54 2563 22702.31 done 2.19 - - 2861.56 - 2.79 0.084 996.00 -383.0 389.01 - - 1179.47 - - - - - - - - - 15.71 -
22751.76 35.01 9.43 2574 22757.31 done 2.19 - - 2861.44 - 2.70 0.022 2142.94 424.8 389.01 - - 1178.66 - - - - - - - - - 15.85 -
22941.82 17.58 9.15 2612 22947.57 done 2.19 - - 2860.88 - 2.78 0.079 3205.38 382.2 389.01 - - 1178.88 - - - - - - - - - 15.75 -
23007.02 13.47 6.19 2625 23089.99 2.39 0.25 0.075 2913.19 209.2 2.65 0.023 2064.12 -430.7 487.77 76.29 1.169 787.72 -5.1 0.010 - - - - - - 15.71 15.88 10.92
23102 end climb: SURFACE_DEPTH_REACHED
23102 begin surface coast
23142 end surface coast: CONTROL_FINISHED_OK
23142 begin surface
SM 0.39 - - - - 186.8 - - 783.3 - 17.09 0.050 765.9 44.8 - 0.65 0.049 800.8 1227.9 -0.999 - - 30.00 15.62 15.69 -