NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 407 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 128.48 of 550.00 AH used of 24V (76.64% remains)
• Surface angle -64.1 deg, depth 0.65 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.74 (SM_CC=425)
• GPS1 time: 48 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
5.06 - - - 61.87 VBD -1.37 - - 181.94 - - - 2259.56 - -82.73 55.67 0.005 2497.41 - - - - - - - - - - 15.55
62.61 3.45 -6.29 10 99.99 -1.37 14.35 0.253 1988.31 125.9 2.84 0.085 3429.00 411.8 -82.73 12.95 0.006 3112.22 47.5 -4.518 - - - - - - 15.69 15.50 15.59
287.12 51.14 -15.00 55 292.65 roll -1.37 - - 1987.19 - 2.57 0.021 2248.06 -459.5 -82.73 - - 3113.09 - - - - - - - - - 15.87 -
477.55 76.74 -14.54 93 482.31 roll -1.37 - - 1988.69 - 2.45 0.064 1207.19 -424.8 -82.73 - - 3113.34 - - - - - - - - - 15.91 -
502.30 80.39 -14.59 98 507.72 roll -1.37 - - 1988.31 - 2.58 0.029 2354.69 444.8 -82.73 - - 3114.47 - - - - - - - - - 15.91 -
692.63 102.20 -10.19 136 697.78 roll -1.37 - - 1988.38 - 2.59 0.086 3430.00 415.2 -82.73 - - 3114.53 - - - - - - - - - 15.92 -
722.25 105.56 -11.03 142 727.78 roll -1.37 - - 1988.69 - 2.55 0.021 2242.31 -465.8 -82.73 - - 3113.94 - - - - - - - - - 15.95 -
1032.30 132.94 -8.50 204 1037.41 roll -1.37 - - 1988.94 - 2.41 0.064 1206.56 -429.8 -82.73 - - 3115.00 - - - - - - - - - 15.98 -
1082.30 137.44 -9.07 214 1087.84 roll -1.37 - - 1989.00 - 2.57 0.028 2356.44 447.4 -82.73 - - 3114.53 - - - - - - - - - 15.99 -
1392.35 165.36 -9.37 276 1397.90 roll -1.37 - - 1988.31 - 2.69 0.059 1206.12 -427.6 -82.73 - - 3116.19 - - - - - - - - - 16.01 -
1427.35 168.90 -10.11 283 1432.89 roll -1.37 - - 1988.81 - 2.57 0.029 2356.06 447.4 -82.73 - - 3114.62 - - - - - - - - - 16.01 -
1737.40 199.78 -9.80 345 1743.13 roll -1.37 - - 1988.44 - 2.69 0.059 1206.12 -427.5 -82.73 - - 3114.97 - - - - - - - - - 16.04 -
1812.52 207.30 -9.87 360 1817.94 roll -1.37 - - 1988.56 - 2.57 0.029 2355.81 447.4 -82.73 - - 3115.06 - - - - - - - - - 16.04 -
2122.46 237.22 -9.76 422 2128.00 roll -1.37 - - 1988.56 - 2.68 0.060 1206.56 -428.8 -82.73 - - 3114.53 - - - - - - - - - 16.05 -
2182.47 243.33 -10.19 434 2188.00 roll -1.37 - - 1988.88 - 2.56 0.029 2354.94 448.6 -82.73 - - 3114.25 - - - - - - - - - 16.05 -
2492.51 273.26 -9.69 496 2498.06 roll -1.37 - - 1988.75 - 2.69 0.060 1207.38 -426.6 -82.73 - - 3114.34 - - - - - - - - - 16.06 -
2567.52 280.78 -10.01 511 2573.05 roll -1.37 - - 1988.12 - 2.56 0.030 2353.31 447.6 -82.73 - - 3115.19 - - - - - - - - - 16.06 -
2877.04 310.51 -9.75 561 2881.67 roll -1.37 - - 1988.06 - 2.68 0.061 1208.62 -427.1 -82.73 - - 3113.91 - - - - - - - - - 16.06 -
2947.05 317.60 -10.26 571 2961.98 roll -1.37 - - 1988.75 - 2.55 0.030 2353.12 448.8 -82.73 - - 3113.44 - - - - - - - - - 16.08 -
3263.53 348.24 -9.61 600 3274.60 no move -1.37 - - 1988.62 - - - 2353.56 - -82.73 - - 3113.31 - - - - - - - - - - -
3576.44 378.68 -10.06 629 3581.06 roll -1.37 - - 1986.75 - 2.69 0.061 1208.38 -425.7 -82.73 - - 3113.12 - - - - - - - - - 16.08 -
3676.56 388.88 -10.13 642 3680.49 roll -1.37 - - 1988.25 - 2.56 0.030 2353.00 447.1 -82.73 - - 3112.31 - - - - - - - - - 16.09 -
3987.80 419.21 -9.89 671 3992.41 roll -1.37 - - 1988.69 - 2.59 0.092 3425.44 414.1 -82.73 - - 3110.22 - - - - - - - - - 16.05 -
4057.82 426.59 -10.62 681 4072.74 roll -1.37 - - 1988.19 - 2.53 0.022 2246.44 -466.0 -82.73 - - 3112.53 - - - - - - - - - 16.08 -
4374.57 456.86 -9.04 710 4379.16 roll -1.37 - - 1988.31 - 2.43 0.068 1207.31 -427.6 -82.73 - - 3110.09 - - - - - - - - - 16.08 -
4476.06 466.42 -9.58 724 4490.97 roll -1.37 - - 1987.75 - 2.57 0.031 2353.50 446.0 -82.73 - - 3111.09 - - - - - - - - - 16.09 -
4792.17 494.10 -8.29 753 4803.24 no move -1.37 - - 1989.00 - - - 2353.25 - -82.73 - - 3110.41 - - - - - - - - - - -
5108.35 520.59 -8.27 776 5112.98 roll -1.37 - - 1986.81 - 2.68 0.062 1208.44 -427.2 -82.73 - - 3109.28 - - - - - - - - - 16.09 -
5207.92 529.30 -8.77 790 5212.53 roll -1.37 - - 1988.38 - 2.56 0.031 2352.88 447.0 -82.73 - - 3108.50 - - - - - - - - - 16.09 -
5524.39 555.79 -8.30 812 5529.01 roll -1.37 - - 1986.88 - 2.68 0.063 1207.12 -427.5 -82.73 - - 3109.03 - - - - - - - - - 16.10 -
5625.28 564.37 -8.65 827 5630.69 roll -1.37 - - 1988.56 - 2.56 0.031 2352.06 447.2 -82.73 - - 3109.81 - - - - - - - - - 16.08 -
5944.49 591.17 -8.34 849 5949.11 roll -1.37 - - 1988.44 - 2.70 0.063 1208.50 -423.5 -82.73 - - 3106.78 - - - - - - - - - 16.08 -
6003.77 596.27 -8.69 858 6009.30 roll -1.37 - - 1987.62 - 2.56 0.031 2351.94 446.7 -82.73 - - 3108.47 - - - - - - - - - 16.09 -
6323.19 623.66 -8.62 880 6327.84 roll -1.37 - - 1988.69 - 2.70 0.063 1207.50 -423.9 -82.73 - - 3107.38 - - - - - - - - - 16.09 -
6401.86 630.57 -8.74 891 6406.47 roll -1.37 - - 1987.12 - 2.57 0.031 2353.19 445.8 -82.73 - - 3107.69 - - - - - - - - - 16.09 -
6718.33 657.84 -8.44 913 6719.66 no move -1.37 - - 1988.06 - - - 2353.00 - -82.73 - - 3106.34 - - - - - - - - - - -
7033.35 683.94 -8.10 934 7037.99 roll -1.37 - - 1988.50 - 2.70 0.063 1207.06 -424.4 -82.73 - - 3105.28 - - - - - - - - - 16.08 -
7139.11 692.54 -8.67 950 7154.02 roll -1.37 - - 1988.19 - 2.57 0.031 2353.75 446.2 -82.73 - - 3106.66 - - - - - - - - - 16.10 -
7468.50 720.60 -8.30 972 7473.12 roll -1.37 - - 1987.81 - 2.60 0.095 3428.25 413.3 -82.73 - - 3105.56 - - - - - - - - - 16.06 -
7507.04 723.97 -8.70 978 7512.59 roll -1.37 - - 1988.62 - 2.54 0.023 2246.12 -465.4 -82.73 - - 3105.19 - - - - - - - - - 16.09 -
7826.62 750.32 -8.05 1000 7827.95 no move -1.37 - - 1988.88 - - - 2245.06 - -82.73 - - 3103.66 - - - - - - - - - - -
8141.57 775.73 -7.92 1021 8142.90 no move -1.37 - - 1988.62 - - - 2245.12 - -82.73 - - 3103.66 - - - - - - - - - - -
8456.48 800.27 -7.93 1042 8461.07 roll -1.37 - - 1988.88 - 2.44 0.070 1208.38 -424.9 -82.73 - - 3104.22 - - - - - - - - - 16.08 -
8521.35 805.04 -8.09 1052 8536.10 roll -1.37 - - 1989.00 - 2.57 0.032 2352.81 445.3 -82.73 - - 3104.12 - - - - - - - - - 16.09 -
8850.58 831.61 -8.01 1074 8855.20 roll -1.37 - - 1988.81 - 2.70 0.064 1208.56 -423.8 -82.73 - - 3103.56 - - - - - - - - - 16.08 -
8914.85 836.49 -8.32 1084 8929.77 roll -1.37 - - 1988.38 - 2.56 0.031 2353.19 447.1 -82.73 - - 3103.34 - - - - - - - - - 16.10 -
9244.26 863.69 -7.90 1106 9248.91 roll -1.37 - - 1988.38 - 2.70 0.064 1208.62 -423.9 -82.73 - - 3105.44 - - - - - - - - - 16.07 -
9324.27 870.22 -8.27 1118 9329.80 roll -1.37 - - 1988.81 - 2.56 0.031 2353.38 447.2 -82.73 - - 3103.78 - - - - - - - - - 16.08 -
9643.68 894.53 -7.28 1140 9645.01 no move -1.37 - - 1988.50 - - - 2353.56 - -82.73 - - 3102.41 - - - - - - - - - - -
9958.71 915.76 -6.42 1161 9963.35 roll -1.37 - - 1988.00 - 2.71 0.065 1207.25 -423.0 -82.73 - - 3101.44 - - - - - - - - - 16.08 -
10120.33 927.02 -7.05 1184 10124.94 roll -1.37 - - 1986.31 - 2.57 0.032 2352.56 445.6 -82.73 - - 3102.28 - - - - - - - - - 16.07 -
10437.00 946.42 -5.72 1206 10438.33 no move -1.37 - - 1988.12 - - - 2353.12 - -82.73 - - 3100.62 - - - - - - - - - - -
10751.94 965.74 -6.51 1227 10756.58 roll -1.37 - - 1988.25 - 2.69 0.065 1208.44 -425.5 -82.73 - - 3101.53 - - - - - - - - - 16.07 -
10851.33 972.96 -7.27 1241 10855.94 roll -1.37 - - 1988.56 - 2.57 0.032 2352.00 445.0 -82.73 - - 3100.31 - - - - - - - - - 16.08 -
11107 end dive: TARGET_DEPTH_EXCEEDED
11107 begin apogee
11109.63 990.72 -7.07 1259 11185.14 -0.28 1.85 0.149 2251.94 142.4 0.22 0.133 2282.81 -314.5 - 60.91 2.416 2776.72 -5.3 0.361 - - - - - - 15.98 15.66 11.81
11186 end apogee: CONTROL_FINISHED_OK
11186 begin climb
11186.99 992.30 - 1264 11261.15 1.37 2.68 0.098 2656.25 150.9 - - 2282.94 - 82.73 66.18 2.389 2438.00 -5.1 0.352 - - - - - - 15.69 - 12.75
11573.47 964.21 8.18 1290 11574.80 no move 1.37 - - 2656.25 - - - 2283.00 - 82.73 - - 2430.31 - - - - - - - - - - -
11888.52 939.00 7.91 1311 11893.16 roll 1.38 - - 2656.62 - 2.80 0.075 1130.12 -411.7 82.73 - - 2430.72 - - - - - - - - - 15.84 -
11947.78 934.07 8.35 1320 11953.50 roll 1.38 - - 2656.81 - 2.60 0.031 2272.81 439.5 82.73 - - 2431.66 - - - - - - - - - 15.88 -
12267.34 911.01 7.16 1342 12268.67 VBD 1.40 - - 2656.38 - - - 2272.25 - 82.73 - - 2428.84 - - - - - - - - - - -
12582.26 889.15 6.78 1363 12586.91 done 1.44 - - 2656.12 - 2.74 0.074 1131.31 -416.4 82.73 - - 2430.03 - - - - - - - - - 15.94 -
12688.02 881.53 7.68 1379 12702.93 done 1.45 - - 2656.69 - 2.58 0.031 2272.88 442.5 82.73 - - 2430.50 - - - - - - - - - 15.97 -
13017.42 856.89 7.25 1401 13022.06 done 1.48 - - 2656.56 - 2.73 0.074 1129.88 -418.7 82.73 - - 2429.09 - - - - - - - - - 15.98 -
13096.10 850.91 7.55 1412 13100.79 1.50 0.15 0.104 2695.94 262.5 2.57 0.032 2274.44 445.4 82.73 - - 2427.84 - - - - - - - - 15.90 15.98 -
13412.59 825.61 8.09 1434 13417.22 done 1.50 - - 2695.06 - 2.61 0.095 3346.94 410.9 82.73 - - 2429.03 - - - - - - - - - 15.97 -
13476.86 820.40 8.75 1444 13491.78 done 1.50 - - 2696.75 - 2.55 0.025 2185.44 -455.5 82.73 - - 2429.41 - - - - - - - - - 16.02 -
13806.26 792.19 8.21 1466 13810.88 done 1.50 - - 2696.75 - 2.52 0.078 1130.19 -418.8 82.73 - - 2427.28 - - - - - - - - - 16.00 -
13886.27 785.28 8.72 1478 13891.80 done 1.50 - - 2696.88 - 2.57 0.031 2274.12 445.1 82.73 - - 2430.34 - - - - - - - - - 16.02 -
14205.86 758.65 8.33 1500 14207.19 VBD 1.50 - - 2696.81 - - - 2273.81 - 82.73 - - 2428.09 - - - - - - - - - - -
14520.82 731.77 8.64 1521 14525.46 done 1.50 - - 2696.75 - 2.72 0.074 1131.25 -420.1 82.73 - - 2426.44 - - - - - - - - - 16.03 -
14599.48 724.58 9.07 1532 14604.10 done 1.50 - - 2697.25 - 2.56 0.031 2274.31 446.5 82.73 - - 2427.94 - - - - - - - - - 16.04 -
14915.98 698.69 7.69 1554 14919.95 done 1.51 - - 2696.75 - 2.61 0.095 3346.81 410.9 82.73 - - 2426.53 - - - - - - - - - 16.02 -
14995.99 692.26 8.10 1566 15001.52 done 1.51 - - 2696.88 - 2.55 0.025 2183.75 -456.1 82.73 - - 2427.50 - - - - - - - - - 16.04 -
15315.40 669.66 6.96 1588 15320.01 done 1.54 - - 2697.12 - 2.51 0.079 1130.31 -419.7 82.73 - - 2427.81 - - - - - - - - - 16.04 -
15353.96 666.87 7.26 1594 15359.48 done 1.56 - - 2696.81 - 2.55 0.031 2274.31 448.6 82.73 - - 2429.97 - - - - - - - - - 16.05 -
15673.54 645.97 6.25 1616 15703.89 VBD 1.63 - - 2696.19 - - - 2274.06 - 115.05 25.32 1.916 2305.81 -4.9 0.274 - - - - - - - - 12.02
16018.39 620.41 7.87 1639 16019.72 no move 1.64 - - 2697.12 - - - 2274.88 - 115.05 - - 2300.81 - - - - - - - - - - -
16333.39 596.02 7.73 1660 16334.83 pitch 1.66 0.16 0.093 2734.38 232.9 - - 2274.94 - 115.05 - - 2299.66 - - - - - - - - 15.97 - -
16648.40 570.19 8.17 1681 16653.23 roll 1.66 - - 2735.25 - 2.74 0.075 1129.94 -417.9 115.05 - - 2301.72 - - - - - - - - - 16.00 -
16775.38 559.41 9.00 1700 16790.18 roll 1.66 - - 2734.31 - 2.58 0.031 2273.31 443.2 115.05 - - 2301.31 - - - - - - - - - 16.02 -
17104.67 531.63 8.20 1722 17109.31 roll 1.66 - - 2735.25 - 2.73 0.074 1131.38 -418.3 115.05 - - 2302.41 - - - - - - - - - 16.01 -
17231.15 521.05 8.88 1741 17246.07 roll 1.66 - - 2735.56 - 2.56 0.031 2271.62 445.4 115.05 - - 2300.81 - - - - - - - - - 16.03 -
17550.16 493.96 8.29 1764 17561.24 no move 1.66 - - 2734.94 - - - 2272.38 - 115.05 - - 2301.25 - - - - - - - - - - -
17863.39 468.75 8.12 1793 17874.46 no move 1.66 - - 2735.25 - - - 2271.94 - 115.05 - - 2301.06 - - - - - - - - - - -
18176.12 443.81 7.69 1822 18187.19 no move 1.67 - - 2735.62 - - - 2272.12 - 115.05 - - 2301.12 - - - - - - - - - - -
18489.09 420.60 7.30 1851 18500.16 no move 1.69 - - 2735.25 - - - 2272.25 - 115.05 - - 2301.19 - - - - - - - - - - -
18801.70 396.13 8.15 1880 18806.34 roll 1.69 - - 2735.06 - 2.72 0.074 1130.06 -419.9 115.05 - - 2298.81 - - - - - - - - - 16.05 -
19029.66 376.53 8.37 1910 19044.19 roll 1.69 - - 2735.50 - 2.56 0.031 2273.88 446.8 115.05 - - 2300.47 - - - - - - - - - 16.05 -
19345.36 353.40 7.19 1939 19356.43 no move 1.72 - - 2735.31 - - - 2273.94 - 115.05 - - 2301.12 - - - - - - - - - - -
19658.21 331.75 7.04 1968 19669.28 no move 1.75 - - 2734.81 - - - 2274.25 - 115.05 - - 2300.97 - - - - - - - - - - -
19971.28 311.18 6.57 1997 19975.92 roll 1.79 - - 2734.38 - 2.72 0.073 1131.12 -420.3 115.05 - - 2302.25 - - - - - - - - - 16.05 -
20057.02 305.07 7.18 2009 20071.92 roll 1.81 - - 2735.75 - 2.57 0.031 2276.50 445.7 115.05 - - 2301.19 - - - - - - - - - 16.06 -
20374.21 282.76 7.25 2063 20379.82 roll back 1.84 0.19 0.086 2779.62 230.9 2.73 0.073 1130.00 -420.0 115.05 - - 2300.47 - - - - - - - - 16.02 15.97 -
20449.21 276.37 8.66 2078 20454.75 roll 1.84 - - 2779.56 - 2.57 0.030 2276.00 445.9 115.05 - - 2300.91 - - - - - - - - - 16.05 -
20759.28 251.83 7.62 2140 20764.80 roll 1.85 - - 2779.56 - 2.59 0.092 3347.38 413.7 115.05 - - 2302.66 - - - - - - - - - 16.02 -
20834.27 245.32 8.87 2155 20839.81 roll 1.85 - - 2779.88 - 2.54 0.024 2182.56 -458.6 115.05 - - 2301.12 - - - - - - - - - 16.04 -
21144.32 222.43 7.56 2217 21149.89 roll 1.87 - - 2779.75 - 2.82 0.086 3348.00 413.3 115.05 - - 2301.44 - - - - - - - - - 16.03 -
21189.49 218.77 8.12 2226 21194.90 roll 1.87 - - 2779.31 - 2.54 0.024 2183.00 -458.7 115.05 - - 2301.31 - - - - - - - - - 16.04 -
21499.35 194.27 8.16 2288 21504.93 roll 1.87 - - 2779.94 - 2.82 0.086 3348.44 413.3 115.05 - - 2303.00 - - - - - - - - - 16.04 -
21544.35 190.52 8.32 2297 21549.89 roll 1.87 - - 2779.31 - 2.53 0.024 2182.56 -460.8 115.05 - - 2300.97 - - - - - - - - - 16.04 -
21854.41 169.78 6.59 2359 21859.52 roll 1.91 - - 2779.38 - 2.49 0.077 1128.56 -423.3 115.05 - - 2301.53 - - - - - - - - - 16.03 -
21974.41 160.37 8.15 2383 21979.95 roll 1.91 - - 2779.69 - 2.56 0.030 2276.19 448.3 115.05 - - 2302.09 - - - - - - - - - 16.04 -
22284.46 139.30 6.36 2445 22309.95 VBD 1.97 - - 2779.94 - - - 2276.00 - 145.80 23.85 1.307 2181.03 -5.1 0.090 - - - - - - - - 11.84
22614.50 116.13 6.70 2511 22620.27 roll back 2.01 0.16 0.090 2819.62 248.0 2.59 0.090 3348.69 414.2 145.80 - - 2177.00 - - - - - - - - 15.97 15.93 -
22674.60 111.14 8.76 2523 22680.03 roll 2.01 - - 2819.69 - 2.55 0.023 2185.00 -456.3 145.80 - - 2177.00 - - - - - - - - - 16.00 -
22984.55 92.85 4.70 2585 23031.21 done 2.12 - - 2819.62 - 2.51 0.078 1130.00 -420.3 200.95 41.38 1.281 1957.31 -5.3 0.064 - - - - - - - 15.87 12.23
23064.94 88.53 6.14 2601 23097.03 2.18 0.19 0.080 2865.06 239.2 2.58 0.029 2275.69 444.1 234.94 26.81 1.217 1816.31 -5.3 0.063 - - - - - - 15.89 15.92 12.69
23279.58 69.92 7.93 2644 23285.13 roll 2.19 - - 2865.31 - 2.74 0.071 1130.19 -418.1 234.94 - - 1809.03 - - - - - - - - - 15.86 -
23514.61 53.10 7.30 2691 23520.13 done 2.22 - - 2865.12 - 2.58 0.029 2274.94 443.7 234.94 - - 1808.44 - - - - - - - - - 15.89 -
23704.67 41.44 6.50 2729 23710.40 done 2.26 - - 2864.88 - 2.73 0.070 1129.06 -419.7 234.94 - - 1806.19 - - - - - - - - - 15.93 -
23774.87 36.45 7.17 2743 23780.22 done 2.28 - - 2864.88 - 2.58 0.029 2276.19 444.6 234.94 - - 1805.88 - - - - - - - - - 15.93 -
23964.75 29.92 2.49 2781 24031.42 2.46 0.31 0.065 2929.38 208.1 - - 2276.69 - 322.48 63.35 1.187 1461.34 -5.4 0.023 - - - - - - 15.93 - 12.28
24214.83 22.89 2.48 2831 24284.38 2.63 0.17 0.085 2971.88 250.0 2.79 0.073 1130.12 -411.0 410.13 64.28 1.148 1103.75 -5.6 0.018 - - - - - - 15.82 15.62 12.46
24451 end climb: SURFACE_DEPTH_REACHED
24451 begin surface coast
24471 end surface coast: CONTROL_FINISHED_OK
24472 begin surface
SM 2.35 - - - - 185.5 12.14 0.989 1043.5 80.7 17.33 0.053 1019.6 58.8 - 2.76 0.030 1067.3 385.7 -3.088 - - 12.41 15.75 15.78 -