NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1251 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 447.89 of 550.00 AH used of 24V (18.56% remains)
• Surface angle -58.0 deg, depth 0.44 m • Intended pitch -23.5 deg, speed -9.167 cm/s
VBD pumped to 399.89 (SM_CC=400)
• GPS1 time: 66 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
6.15 - - - 77.22 VBD -1.54 - - 184.12 - - - 2243.50 - -116.79 69.93 0.005 2754.78 - - - - - - - - - - 14.80
77.97 3.06 -4.79 13 115.19 -1.54 14.42 0.235 1946.69 122.2 3.12 0.081 3425.69 378.9 -116.79 12.31 0.006 3250.94 40.3 -3.620 - - - - - - 15.28 14.81 15.04
157.63 16.94 -16.55 29 162.82 roll -1.54 - - 1946.31 - 2.64 0.017 2252.25 -444.5 -116.79 - - 3252.06 - - - - - - - - - 15.78 -
347.86 44.09 -14.49 67 352.97 roll -1.54 - - 1946.75 - 3.06 0.077 3426.62 383.8 -116.79 - - 3251.12 - - - - - - - - - 15.69 -
382.30 49.41 -15.48 74 387.86 roll -1.54 - - 1946.44 - 2.62 0.018 2259.12 -445.6 -116.79 - - 3251.09 - - - - - - - - - 15.82 -
572.72 72.37 -11.23 112 577.88 roll -1.54 - - 1946.44 - 2.62 0.063 1209.00 -400.8 -116.79 - - 3252.12 - - - - - - - - - 15.76 -
617.34 76.87 -9.99 121 622.91 roll -1.54 - - 1946.69 - 2.71 0.025 2362.06 425.5 -116.79 - - 3251.59 - - - - - - - - - 15.87 -
807.79 95.19 -9.82 159 812.99 roll -1.54 - - 1946.62 - 2.88 0.058 1208.69 -400.5 -116.79 - - 3251.28 - - - - - - - - - 15.78 -
842.42 98.57 -9.63 166 847.96 roll -1.54 - - 1945.69 - 2.70 0.025 2361.69 427.0 -116.79 - - 3251.66 - - - - - - - - - 15.89 -
1032.48 114.93 -8.64 204 1033.81 no move -1.54 - - 1946.56 - - - 2361.69 - -116.79 - - 3251.00 - - - - - - - - - - -
1337.59 142.58 -9.09 265 1338.92 no move -1.54 - - 1946.25 - - - 2361.81 - -116.79 - - 3250.69 - - - - - - - - - - -
1642.70 170.43 -9.61 326 1648.27 roll -1.54 - - 1945.38 - 2.87 0.058 1208.94 -401.7 -116.79 - - 3252.09 - - - - - - - - - 15.83 -
1687.70 174.89 -9.91 335 1693.43 roll -1.54 - - 1946.44 - 2.68 0.025 2363.00 430.6 -116.79 - - 3252.69 - - - - - - - - - 15.92 -
1997.82 204.23 -8.85 397 2003.40 roll -1.54 - - 1946.44 - 2.88 0.057 1207.50 -401.2 -116.79 - - 3251.91 - - - - - - - - - 15.83 -
2032.82 207.40 -9.02 404 2038.37 roll -1.54 - - 1946.81 - 2.68 0.025 2355.38 428.3 -116.79 - - 3251.75 - - - - - - - - - 15.93 -
2342.93 234.20 -8.53 466 2348.49 roll -1.54 - - 1946.88 - 2.78 0.084 3425.94 385.1 -116.79 - - 3252.16 - - - - - - - - - 15.78 -
2382.93 237.92 -9.30 474 2388.47 roll -1.54 - - 1946.50 - 2.61 0.018 2247.19 -451.6 -116.79 - - 3252.72 - - - - - - - - - 15.92 -
2692.99 264.13 -8.32 536 2694.32 no move -1.54 - - 1946.12 - - - 2246.44 - -116.79 - - 3251.16 - - - - - - - - - - -
2998.04 289.08 -7.92 597 3003.66 roll -1.54 - - 1946.56 - 3.07 0.079 3428.56 385.1 -116.79 - - 3252.75 - - - - - - - - - 15.77 -
3043.04 293.22 -9.36 606 3048.57 roll -1.54 - - 1947.00 - 2.60 0.018 2251.44 -452.7 -116.79 - - 3253.72 - - - - - - - - - 15.93 -
3351.26 319.34 -8.50 643 3355.96 roll -1.54 - - 1946.12 - 3.05 0.079 3427.19 385.5 -116.79 - - 3252.03 - - - - - - - - - 15.79 -
3374.06 321.31 -8.81 647 3388.98 roll -1.54 - - 1945.69 - 2.59 0.018 2252.00 -453.7 -116.79 - - 3252.91 - - - - - - - - - 15.95 -
3690.55 349.71 -9.28 676 3695.25 roll -1.54 - - 1945.62 - 3.06 0.080 3426.12 383.7 -116.79 - - 3251.41 - - - - - - - - - 15.79 -
3729.09 353.48 -9.84 682 3744.02 roll -1.54 - - 1945.94 - 2.58 0.018 2258.62 -452.5 -116.79 - - 3251.81 - - - - - - - - - 15.95 -
4045.27 382.62 -8.83 711 4049.97 roll -1.54 - - 1946.31 - 3.04 0.080 3426.62 384.2 -116.79 - - 3252.38 - - - - - - - - - 15.79 -
4083.81 386.17 -9.27 717 4098.73 roll -1.54 - - 1946.69 - 2.57 0.018 2263.69 -452.5 -116.79 - - 3251.91 - - - - - - - - - 15.95 -
4400.37 413.52 -8.65 746 4411.44 no move -1.54 - - 1946.56 - - - 2263.69 - -116.79 - - 3251.91 - - - - - - - - - - -
4713.19 439.13 -7.67 775 4724.26 no move -1.54 - - 1946.75 - - - 2263.75 - -116.79 - - 3251.56 - - - - - - - - - - -
5026.75 462.08 -7.43 804 5031.45 roll -1.54 - - 1945.50 - 3.02 0.081 3425.06 384.5 -116.79 - - 3251.00 - - - - - - - - - 15.78 -
5079.68 466.65 -8.32 811 5084.29 roll -1.54 - - 1945.94 - 2.56 0.018 2268.00 -452.0 -116.79 - - 3250.41 - - - - - - - - - 15.95 -
5390.38 489.35 -7.43 840 5401.45 no move -1.54 - - 1946.62 - - - 2266.25 - -116.79 - - 3251.50 - - - - - - - - - - -
5707.00 513.17 -7.89 865 5708.33 no move -1.54 - - 1946.38 - - - 2266.19 - -116.79 - - 3250.09 - - - - - - - - - - -
6021.87 538.04 -8.07 886 6026.57 roll -1.54 - - 1945.88 - 3.02 0.082 3424.50 383.5 -116.79 - - 3251.56 - - - - - - - - - 15.78 -
6044.68 539.50 -8.29 890 6059.60 roll -1.54 - - 1946.50 - 2.55 0.018 2267.69 -453.7 -116.79 - - 3250.94 - - - - - - - - - 15.96 -
6374.08 569.27 -8.82 912 6378.71 roll -1.54 - - 1946.62 - 2.62 0.066 1210.12 -403.7 -116.79 - - 3249.78 - - - - - - - - - 15.83 -
6396.89 570.70 -8.76 916 6411.84 roll -1.54 - - 1947.06 - 2.74 0.027 2378.62 426.5 -116.79 - - 3251.19 - - - - - - - - - 15.97 -
6726.29 599.44 -8.47 938 6727.62 no move -1.54 - - 1946.12 - - - 2378.44 - -116.79 - - 3249.41 - - - - - - - - - - -
7041.31 624.25 -7.60 959 7045.99 roll -1.54 - - 1946.50 - 2.91 0.060 1209.88 -401.6 -116.79 - - 3248.75 - - - - - - - - - 15.82 -
7084.86 627.24 -7.82 966 7099.81 roll -1.54 - - 1946.06 - 2.72 0.027 2371.62 427.1 -116.79 - - 3251.19 - - - - - - - - - 15.96 -
7414.27 653.74 -8.24 988 7418.94 roll -1.54 - - 1946.00 - 2.89 0.060 1210.00 -401.9 -116.79 - - 3248.44 - - - - - - - - - 15.82 -
7437.08 655.12 -8.33 992 7452.01 roll -1.54 - - 1946.69 - 2.70 0.026 2367.00 428.5 -116.79 - - 3250.03 - - - - - - - - - 15.97 -
7766.67 682.63 -8.45 1014 7771.39 roll -1.54 - - 1945.50 - 2.88 0.061 1209.50 -401.9 -116.79 - - 3249.31 - - - - - - - - - 15.82 -
7803.86 685.87 -8.57 1019 7808.50 roll -1.54 - - 1946.38 - 2.70 0.027 2363.19 427.3 -116.79 - - 3248.19 - - - - - - - - - 15.95 -
8120.52 710.10 -7.60 1041 8125.16 roll -1.54 - - 1946.38 - 2.78 0.088 3424.25 381.7 -116.79 - - 3247.34 - - - - - - - - - 15.75 -
8164.06 713.32 -8.14 1048 8178.98 roll -1.54 - - 1946.06 - 2.58 0.019 2255.75 -452.9 -116.79 - - 3250.62 - - - - - - - - - 15.95 -
8493.48 740.59 -8.16 1070 8494.81 no move -1.54 - - 1946.25 - - - 2255.81 - -116.79 - - 3246.94 - - - - - - - - - - -
8808.48 765.14 -7.32 1091 8813.18 roll -1.54 - - 1946.19 - 3.07 0.082 3427.75 381.7 -116.79 - - 3247.28 - - - - - - - - - 15.75 -
8866.41 769.82 -7.85 1099 8871.02 roll -1.54 - - 1946.62 - 2.59 0.018 2261.94 -450.1 -116.79 - - 3248.06 - - - - - - - - - 15.94 -
9182.92 792.60 -6.86 1121 9184.25 no move -1.54 - - 1946.19 - - - 2260.81 - -116.79 - - 3246.53 - - - - - - - - - - -
9497.93 814.74 -7.33 1142 9502.62 roll -1.54 - - 1946.31 - 3.05 0.083 3426.25 382.1 -116.79 - - 3247.47 - - - - - - - - - 15.74 -
9555.87 819.51 -8.02 1150 9560.49 roll -1.54 - - 1945.00 - 2.56 0.018 2265.38 -453.5 -116.79 - - 3247.94 - - - - - - - - - 15.95 -
9872.34 842.82 -7.53 1172 9877.16 roll -1.54 - - 1946.19 - 2.62 0.067 1210.12 -402.8 -116.79 - - 3246.38 - - - - - - - - - 15.79 -
9909.65 845.94 -8.01 1177 9914.30 roll -1.54 - - 1944.75 - 2.73 0.027 2373.06 426.0 -116.79 - - 3246.53 - - - - - - - - - 15.95 -
10226.13 872.58 -8.35 1199 10230.78 roll -1.54 - - 1946.69 - 2.74 0.088 3425.69 384.2 -116.79 - - 3245.81 - - - - - - - - - 15.73 -
10269.67 875.93 -8.64 1206 10284.60 roll -1.54 - - 1946.19 - 2.56 0.018 2261.69 -454.7 -116.79 - - 3247.50 - - - - - - - - - 15.95 -
10599.09 904.26 -8.26 1228 10600.42 no move -1.54 - - 1946.12 - - - 2261.62 - -116.79 - - 3245.31 - - - - - - - - - - -
10914.10 929.64 -8.23 1249 10918.80 roll -1.54 - - 1945.75 - 3.06 0.084 3425.81 380.5 -116.79 - - 3245.16 - - - - - - - - - 15.72 -
10973.38 934.94 -8.90 1258 10978.92 roll -1.54 - - 1946.25 - 2.56 0.018 2266.38 -452.9 -116.79 - - 3245.72 - - - - - - - - - 15.95 -
11292.81 961.24 -8.25 1280 11294.14 no move -1.54 - - 1946.44 - - - 2266.12 - -116.79 - - 3244.97 - - - - - - - - - - -
11607.86 984.89 -6.84 1301 11609.19 no move -1.54 - - 1945.94 - - - 2266.06 - -116.79 - - 3244.44 - - - - - - - - - - -
11697 end dive: TARGET_DEPTH_EXCEEDED
11698 begin apogee
11699.71 990.67 -6.40 1307 11806.41 -0.28 2.20 0.135 2254.44 140.2 0.16 0.153 2159.75 -664.4 - 95.15 2.422 2774.41 -4.9 0.356 - - - - - - 15.62 14.99 9.93
11808 end apogee: CONTROL_FINISHED_OK
11809 begin climb
11809.50 992.47 - 1314 11920.45 1.54 3.05 0.108 2695.44 144.6 3.08 0.079 993.31 -378.7 116.79 100.54 2.377 2298.81 -4.7 0.348 - - - - - - 15.29 15.43 11.55
11923.23 988.06 5.10 1331 12026.31 1.76 0.34 0.065 2760.56 191.5 2.77 0.022 2137.12 412.9 226.09 96.85 2.358 1851.97 -4.6 0.340 - - - - - - 15.20 15.27 11.58
12338.03 948.88 8.80 1366 12339.36 VBD 1.76 - - 2759.81 - - - 2137.12 - 226.09 - - 1840.75 - - - - - - - - - - -
12652.95 921.20 8.78 1387 12657.81 done 1.76 - - 2759.25 - 2.97 0.081 994.25 -384.8 226.09 - - 1839.81 - - - - - - - - - 15.72 -
12675.93 919.69 8.87 1391 12690.69 done 1.76 - - 2760.12 - 2.66 0.023 2135.25 428.9 226.09 - - 1838.78 - - - - - - - - - 15.83 -
13005.17 889.43 9.29 1413 13009.82 done 1.76 - - 2759.75 - 2.79 0.082 3204.12 383.1 226.09 - - 1838.09 - - - - - - - - - 15.76 -
13027.97 887.81 9.44 1417 13043.24 done 1.76 - - 2760.62 - 2.65 0.025 2055.25 -433.5 226.09 - - 1838.09 - - - - - - - - - 15.87 -
13357.39 856.92 8.88 1439 13358.73 VBD 1.76 - - 2760.19 - - - 2055.94 - 226.09 - - 1836.59 - - - - - - - - - - -
13672.40 828.44 8.94 1460 13677.08 done 1.76 - - 2760.06 - 2.98 0.078 3202.62 384.8 226.09 - - 1835.59 - - - - - - - - - 15.78 -
13710.94 824.82 9.42 1466 13716.50 done 1.76 - - 2760.25 - 2.62 0.025 2062.62 -435.1 226.09 - - 1838.31 - - - - - - - - - 15.92 -
14030.53 795.80 9.15 1488 14031.86 VBD 1.76 - - 2760.50 - - - 2062.62 - 226.09 - - 1835.81 - - - - - - - - - - -
14345.36 767.98 8.88 1509 14350.05 done 1.76 - - 2760.50 - 2.97 0.078 3202.50 383.8 226.09 - - 1835.34 - - - - - - - - - 15.78 -
14388.92 764.39 9.32 1516 14403.85 done 1.76 - - 2760.69 - 2.61 0.025 2066.56 -435.2 226.09 - - 1837.19 - - - - - - - - - 15.94 -
14718.33 732.08 9.71 1538 14722.98 done 1.76 - - 2760.25 - 2.76 0.086 994.62 -388.4 226.09 - - 1836.09 - - - - - - - - - 15.76 -
14756.88 728.31 9.93 1544 14762.62 done 1.76 - - 2760.12 - 2.68 0.024 2145.06 429.3 226.09 - - 1836.06 - - - - - - - - - 15.94 -
15076.41 697.96 9.57 1566 15081.06 done 1.76 - - 2761.00 - 2.76 0.082 3204.38 383.8 226.09 - - 1835.91 - - - - - - - - - 15.77 -
15114.96 694.08 10.05 1572 15120.52 done 1.76 - - 2760.69 - 2.62 0.025 2064.19 -435.2 226.09 - - 1835.88 - - - - - - - - - 15.95 -
15434.38 664.04 9.22 1594 15439.03 done 1.76 - - 2760.50 - 2.75 0.086 995.69 -388.5 226.09 - - 1835.22 - - - - - - - - - 15.75 -
15493.67 658.44 9.55 1603 15499.21 done 1.76 - - 2759.75 - 2.66 0.024 2140.00 430.2 226.09 - - 1836.09 - - - - - - - - - 15.95 -
15813.10 631.84 7.86 1625 15814.43 VBD 1.79 - - 2760.38 - - - 2139.94 - 226.09 - - 1835.16 - - - - - - - - - - -
16128.10 607.82 7.64 1646 16129.43 VBD 1.82 - - 2760.50 - - - 2139.94 - 226.09 - - 1834.62 - - - - - - - - - - -
16443.29 581.16 8.48 1667 16444.62 VBD 1.83 - - 2760.12 - - - 2139.88 - 226.09 - - 1834.44 - - - - - - - - - - -
16758.13 554.32 8.64 1688 16763.15 done 1.84 - - 2761.50 - 2.96 0.081 994.62 -386.9 226.09 - - 1833.78 - - - - - - - - - 15.73 -
16817.44 548.89 9.17 1697 16822.99 done 1.84 - - 2760.69 - 2.64 0.024 2134.62 431.8 226.09 - - 1834.62 - - - - - - - - - 15.95 -
17136.89 521.94 7.84 1719 17141.53 done 1.87 - - 2760.62 - 2.78 0.082 3206.19 385.5 226.09 - - 1834.69 - - - - - - - - - 15.75 -
17175.62 518.90 8.01 1725 17181.04 done 1.89 - - 2760.75 - 2.66 0.025 2050.31 -434.5 226.09 - - 1835.56 - - - - - - - - - 15.94 -
17488.56 495.44 7.48 1748 17499.74 1.92 0.16 0.094 2798.94 238.7 - - 2049.50 - 226.09 - - 1835.84 - - - - - - - - 15.89 - -
17801.74 470.22 7.92 1777 17812.82 VBD 1.95 - - 2799.25 - - - 2050.31 - 226.09 - - 1834.53 - - - - - - - - - - -
18114.47 446.11 7.52 1806 18119.17 done 1.98 - - 2799.69 - 3.01 0.077 3205.12 383.7 226.09 - - 1833.66 - - - - - - - - - 15.74 -
18153.03 443.02 8.01 1812 18167.95 done 2.00 - - 2798.38 - 2.66 0.024 2051.69 -433.6 226.09 - - 1835.50 - - - - - - - - - 15.94 -
18469.84 417.10 8.41 1841 18474.49 done 2.02 - - 2799.50 - 2.71 0.085 994.88 -390.0 226.09 - - 1833.94 - - - - - - - - - 15.71 -
18524.12 412.31 8.80 1849 18539.06 done 2.02 - - 2799.81 - 2.62 0.023 2128.12 432.5 226.09 - - 1834.03 - - - - - - - - - 15.95 -
18840.32 385.25 8.92 1878 18851.39 VBD 2.02 - - 2800.19 - - - 2128.31 - 226.09 - - 1833.94 - - - - - - - - - - -
19153.25 357.00 9.15 1907 19157.93 done 2.02 - - 2799.06 - 2.92 0.080 994.88 -388.2 226.09 - - 1833.34 - - - - - - - - - 15.71 -
19207.54 351.78 9.63 1915 19222.46 done 2.02 - - 2799.69 - 2.60 0.023 2126.62 435.3 226.09 - - 1833.50 - - - - - - - - - 15.95 -
19523.92 323.60 8.66 1944 19528.62 done 2.03 - - 2799.94 - 2.79 0.080 3205.50 386.7 226.09 - - 1833.19 - - - - - - - - - 15.73 -
19562.47 320.24 8.85 1950 19577.41 done 2.03 - - 2799.62 - 2.67 0.024 2045.00 -434.6 226.09 - - 1833.72 - - - - - - - - - 15.94 -
19881.01 293.37 8.30 1987 19886.55 done 2.05 - - 2799.75 - 2.69 0.084 994.44 -390.5 226.09 - - 1833.50 - - - - - - - - - 15.70 -
19926.01 289.32 9.11 1996 19931.57 done 2.05 - - 2800.12 - 2.62 0.023 2125.38 431.7 226.09 - - 1833.31 - - - - - - - - - 15.92 -
20236.06 263.51 8.67 2058 20237.39 VBD 2.05 - - 2800.00 - - - 2125.75 - 226.09 - - 1833.06 - - - - - - - - - - -
20541.12 237.63 8.24 2119 20546.67 done 2.07 - - 2799.88 - 2.80 0.079 3205.56 385.6 226.09 - - 1833.53 - - - - - - - - - 15.71 -
20561.11 235.90 8.45 2123 20566.65 done 2.08 - - 2799.94 - 2.68 0.024 2040.50 -434.7 226.09 - - 1834.03 - - - - - - - - - 15.91 -
20871.16 208.97 8.90 2185 20877.43 done 2.08 - - 2800.44 - 2.70 0.084 994.44 -387.4 226.09 - - 1833.88 - - - - - - - - - 15.69 -
20891.33 207.10 9.14 2189 20896.75 done 2.08 - - 2799.69 - 2.60 0.022 2122.19 433.8 226.09 - - 1833.59 - - - - - - - - - 15.92 -
21201.21 180.81 8.11 2251 21206.83 2.10 0.17 0.088 2842.06 249.2 2.81 0.079 3204.81 385.3 226.09 - - 1834.97 - - - - - - - - 15.86 15.71 -
21231.21 178.09 8.87 2257 21237.10 done 2.10 - - 2841.38 - 2.72 0.024 2033.81 -430.5 226.09 - - 1834.84 - - - - - - - - - 15.91 -
21541.25 150.08 9.16 2319 21542.59 VBD 2.10 - - 2841.50 - - - 2034.19 - 226.09 - - 1833.41 - - - - - - - - - - -
21846.30 122.50 8.93 2380 21851.85 done 2.10 - - 2841.56 - 2.68 0.083 994.50 -387.9 226.09 - - 1833.62 - - - - - - - - - 15.70 -
21861.29 121.11 9.03 2383 21866.83 done 2.10 - - 2841.44 - 2.59 0.022 2120.62 434.8 226.09 - - 1833.91 - - - - - - - - - 15.91 -
22171.39 94.84 8.14 2445 22176.96 done 2.12 - - 2841.50 - 2.91 0.077 994.38 -387.0 226.09 - - 1834.31 - - - - - - - - - 15.70 -
22221.39 90.72 8.33 2455 22227.09 done 2.14 - - 2842.44 - 2.60 0.022 2118.06 432.2 226.09 - - 1833.88 - - - - - - - - - 15.92 -
22411.97 77.94 5.93 2493 22482.54 2.31 0.23 0.074 2896.31 234.2 - - 2119.12 - 313.04 67.01 1.279 1499.22 -5.0 0.054 - - - - - - 15.87 - 10.18
22667.03 60.40 7.54 2544 22668.36 no move 2.34 - - 2896.06 - - - 2118.44 - 313.04 - - 1490.84 - - - - - - - - - - -
22851.59 45.57 8.18 2581 22857.15 done 2.36 - - 2896.12 - 2.81 0.077 3205.75 386.9 313.04 - - 1490.41 - - - - - - - - - 15.69 -
22881.59 43.04 8.32 2587 22887.16 done 2.38 - - 2896.19 - 2.81 0.024 1997.56 -430.0 313.04 - - 1490.38 - - - - - - - - - 15.81 -
23071.65 27.69 7.66 2625 23072.99 VBD 2.41 - - 2896.12 - - - 1997.50 - 313.04 - - 1489.16 - - - - - - - - - - -
23256.69 13.96 7.42 2662 23258.03 VBD 2.45 - - 2896.25 - - - 1997.25 - 313.04 - - 1488.94 - - - - - - - - - - -
23386 end climb: SURFACE_DEPTH_REACHED
23386 begin surface coast
23432 end surface coast: CONTROL_FINISHED_OK
23432 begin surface
SM 0.55 - - - - 181.6 67.08 1.182 1144.8 17.1 17.02 0.057 1112.5 65.4 - 0.80 0.048 1177.1 1471.4 -1.723 - - 11.11 15.76 15.87 -