NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 509 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 165.00 of 550.00 AH used of 24V (70.00% remains)
• Surface angle -65.2 deg, depth 0.64 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• No surface pump (final VBD was 977.1, SM_CC=425)
• GPS1 time: 13 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.18 - - - 61.87 VBD -1.37 - - 177.25 - - - 2243.00 - -82.73 55.52 0.005 2461.56 - - - - - - - - - - 15.44
62.59 3.43 -6.56 10 100.66 -1.37 14.33 0.256 1997.69 127.0 2.92 0.084 3427.44 405.6 -82.73 13.80 0.006 3113.03 47.2 -4.503 - - - - - - 15.56 15.34 15.46
192.74 38.02 -24.85 36 198.28 roll -1.37 - - 1997.19 - 2.56 0.020 2254.38 -458.2 -82.73 - - 3113.25 - - - - - - - - - 15.79 -
383.20 63.54 -12.73 74 387.94 roll -1.37 - - 1998.25 - 2.47 0.063 1206.31 -424.3 -82.73 - - 3114.84 - - - - - - - - - 15.83 -
432.95 70.32 -13.69 84 438.39 roll -1.37 - - 1998.19 - 2.61 0.028 2353.88 439.7 -82.73 - - 3112.91 - - - - - - - - - 15.85 -
623.30 94.96 -12.26 122 624.63 no move -1.37 - - 1998.56 - - - 2354.12 - -82.73 - - 3112.12 - - - - - - - - - - -
807.97 116.99 -11.07 159 809.29 no move -1.37 - - 1998.44 - - - 2353.69 - -82.73 - - 3112.44 - - - - - - - - - - -
1113.07 147.25 -8.79 220 1114.40 no move -1.37 - - 1998.25 - - - 2353.75 - -82.73 - - 3113.88 - - - - - - - - - - -
1418.17 173.38 -8.80 281 1423.73 roll -1.37 - - 1998.38 - 2.62 0.086 3428.62 410.3 -82.73 - - 3114.91 - - - - - - - - - 15.93 -
1508.19 182.16 -9.92 299 1513.73 roll -1.37 - - 1998.38 - 2.56 0.020 2242.62 -463.3 -82.73 - - 3114.50 - - - - - - - - - 15.95 -
1818.26 208.66 -8.77 361 1823.84 roll -1.37 - - 1998.00 - 2.90 0.081 3428.25 408.8 -82.73 - - 3114.56 - - - - - - - - - 15.96 -
1878.26 214.55 -10.05 373 1883.80 roll -1.37 - - 1998.38 - 2.54 0.021 2245.50 -465.6 -82.73 - - 3114.47 - - - - - - - - - 15.97 -
2188.32 243.49 -9.50 435 2189.64 no move -1.37 - - 1998.06 - - - 2244.44 - -82.73 - - 3114.09 - - - - - - - - - - -
2493.43 271.63 -9.21 496 2498.96 roll -1.37 - - 1997.19 - 2.91 0.082 3426.75 406.3 -82.73 - - 3114.91 - - - - - - - - - 15.97 -
2638.77 286.74 -10.52 525 2643.91 roll -1.37 - - 1997.56 - 2.53 0.021 2246.94 -466.3 -82.73 - - 3115.47 - - - - - - - - - 15.99 -
2952.84 316.64 -9.61 569 2963.92 no move -1.37 - - 1998.69 - - - 2245.56 - -82.73 - - 3113.12 - - - - - - - - - - -
3265.95 345.46 -9.40 598 3270.53 roll -1.37 - - 1997.31 - 2.44 0.068 1208.62 -425.0 -82.73 - - 3112.84 - - - - - - - - - 16.01 -
3318.86 350.59 -9.59 605 3323.47 roll -1.37 - - 1998.94 - 2.58 0.029 2354.38 444.1 -82.73 - - 3111.16 - - - - - - - - - 16.01 -
3630.08 379.05 -9.12 634 3641.16 no move -1.37 - - 1998.50 - - - 2354.31 - -82.73 - - 3112.22 - - - - - - - - - - -
3942.95 407.09 -8.39 663 3954.02 no move -1.37 - - 1998.44 - - - 2355.06 - -82.73 - - 3110.81 - - - - - - - - - - -
4255.60 433.44 -8.24 692 4266.67 no move -1.37 - - 1998.31 - - - 2354.44 - -82.73 - - 3110.41 - - - - - - - - - - -
4568.46 458.24 -8.08 721 4579.53 no move -1.37 - - 1998.25 - - - 2354.25 - -82.73 - - 3110.19 - - - - - - - - - - -
4881.12 482.81 -7.63 750 4885.76 roll -1.37 - - 1998.44 - 2.73 0.064 1208.56 -419.7 -82.73 - - 3109.16 - - - - - - - - - 16.02 -
4965.71 489.81 -8.23 761 4970.38 roll -1.37 - - 1998.19 - 2.58 0.030 2352.25 443.3 -82.73 - - 3109.59 - - - - - - - - - 16.02 -
5274.49 515.41 -8.49 785 5279.12 roll -1.37 - - 1997.75 - 2.64 0.091 3425.94 406.7 -82.73 - - 3108.47 - - - - - - - - - 15.98 -
5313.89 519.08 -9.18 791 5319.25 roll -1.37 - - 1998.56 - 2.55 0.021 2245.81 -462.8 -82.73 - - 3107.94 - - - - - - - - - 16.03 -
5633.13 546.97 -8.77 813 5634.46 no move -1.37 - - 1998.06 - - - 2244.94 - -82.73 - - 3107.09 - - - - - - - - - - -
5948.17 573.59 -8.58 834 5949.50 no move -1.37 - - 1998.44 - - - 2245.00 - -82.73 - - 3106.56 - - - - - - - - - - -
6263.20 599.39 -8.39 855 6264.53 no move -1.37 - - 1998.38 - - - 2244.56 - -82.73 - - 3105.22 - - - - - - - - - - -
6578.42 625.75 -8.14 876 6583.10 roll -1.37 - - 1998.25 - 2.91 0.087 3425.31 405.8 -82.73 - - 3104.84 - - - - - - - - - 15.96 -
6637.70 630.99 -8.80 885 6643.24 roll -1.37 - - 1997.88 - 2.54 0.022 2247.94 -463.5 -82.73 - - 3105.56 - - - - - - - - - 16.03 -
6957.12 656.58 -7.70 907 6961.80 roll -1.37 - - 1997.88 - 2.91 0.087 3424.56 404.3 -82.73 - - 3104.56 - - - - - - - - - 15.96 -
7057.88 665.33 -8.82 922 7063.42 roll -1.37 - - 1997.94 - 2.55 0.022 2249.31 -460.9 -82.73 - - 3104.75 - - - - - - - - - 16.03 -
7377.28 688.72 -7.02 944 7378.61 no move -1.37 - - 1997.75 - - - 2248.81 - -82.73 - - 3103.41 - - - - - - - - - - -
7692.30 711.06 -7.05 965 7693.62 no move -1.37 - - 1998.44 - - - 2248.38 - -82.73 - - 3102.81 - - - - - - - - - - -
8007.49 734.08 -7.51 986 8008.82 no move -1.37 - - 1998.19 - - - 2248.81 - -82.73 - - 3102.41 - - - - - - - - - - -
8322.43 757.91 -7.52 1007 8323.76 no move -1.37 - - 1998.00 - - - 2248.06 - -82.73 - - 3102.41 - - - - - - - - - - -
8637.33 780.51 -7.14 1028 8638.66 no move -1.37 - - 1998.19 - - - 2248.12 - -82.73 - - 3102.19 - - - - - - - - - - -
8952.35 802.28 -6.69 1049 8953.68 no move -1.37 - - 1998.06 - - - 2248.25 - -82.73 - - 3101.25 - - - - - - - - - - -
9267.36 823.09 -6.65 1070 9268.69 no move -1.37 - - 1997.81 - - - 2248.19 - -82.73 - - 3100.72 - - - - - - - - - - -
9582.39 843.73 -6.58 1091 9587.07 roll -1.37 - - 1997.88 - 2.92 0.089 3425.75 403.3 -82.73 - - 3100.28 - - - - - - - - - 15.93 -
9662.41 849.73 -7.52 1103 9667.94 roll -1.37 - - 1998.12 - 2.54 0.022 2250.31 -462.8 -82.73 - - 3101.25 - - - - - - - - - 16.01 -
9981.81 871.65 -6.84 1125 9983.14 no move -1.37 - - 1997.75 - - - 2249.44 - -82.73 - - 3100.81 - - - - - - - - - - -
10296.84 892.87 -6.66 1146 10298.17 no move -1.37 - - 1997.88 - - - 2249.62 - -82.73 - - 3099.81 - - - - - - - - - - -
10611.87 913.23 -6.38 1167 10616.55 roll -1.37 - - 1997.69 - 2.91 0.089 3421.38 402.7 -82.73 - - 3099.50 - - - - - - - - - 15.91 -
10655.40 915.85 -6.70 1174 10670.32 roll -1.37 - - 1997.19 - 2.55 0.022 2250.00 -459.4 -82.73 - - 3102.94 - - - - - - - - - 16.01 -
10985.00 936.56 -5.88 1196 10989.68 roll -1.37 - - 1998.25 - 2.91 0.089 3425.94 404.1 -82.73 - - 3099.34 - - - - - - - - - 15.91 -
11063.99 941.88 -6.64 1207 11068.60 roll -1.37 - - 1997.06 - 2.54 0.022 2249.31 -463.2 -82.73 - - 3101.91 - - - - - - - - - 16.00 -
11380.66 960.19 -5.69 1229 11381.99 no move -1.37 - - 1998.25 - - - 2249.06 - -82.73 - - 3099.03 - - - - - - - - - - -
11695.61 978.91 -6.12 1250 11696.94 no move -1.37 - - 1998.06 - - - 2249.44 - -82.73 - - 3099.62 - - - - - - - - - - -
11875 end dive: TARGET_DEPTH_EXCEEDED
11875 begin apogee
11877.29 990.22 -6.36 1262 11952.85 -0.28 1.85 0.147 2264.44 144.0 0.14 0.185 2287.81 274.1 - 61.31 2.450 2773.75 -5.3 0.358 - - - - - - 15.82 15.59 10.94
11954 end apogee: CONTROL_FINISHED_OK
11954 begin climb
11954.82 991.66 - 1267 12042.70 1.37 2.62 0.092 2664.56 152.7 2.91 0.080 1131.75 -397.3 82.73 67.17 2.417 2436.25 -5.0 0.344 - - - - - - 15.63 15.27 12.43
12107.26 983.20 6.67 1289 12112.62 roll 1.40 - - 2663.81 - 2.68 0.030 2272.75 425.7 82.73 - - 2433.72 - - - - - - - - - 15.50 -
12426.49 959.20 7.65 1311 12427.82 no move 1.42 - - 2664.44 - - - 2272.50 - 82.73 - - 2430.06 - - - - - - - - - - -
12741.50 935.19 7.74 1332 12746.15 roll 1.43 - - 2664.31 - 2.80 0.077 1130.88 -407.7 82.73 - - 2429.81 - - - - - - - - - 15.79 -
12847.44 926.84 8.41 1348 12862.69 done 1.43 - - 2663.44 - 2.62 0.032 2271.75 435.4 82.73 - - 2431.47 - - - - - - - - - 15.82 -
13176.68 900.55 7.75 1370 13178.01 VBD 1.45 - - 2664.31 - - - 2272.62 - 82.73 - - 2428.41 - - - - - - - - - - -
13491.68 876.16 7.69 1391 13493.02 VBD 1.46 - - 2664.25 - - - 2272.19 - 82.73 - - 2428.22 - - - - - - - - - - -
13806.69 852.29 7.46 1412 13811.41 1.48 0.14 0.097 2701.12 263.4 2.78 0.077 1131.12 -410.5 82.73 - - 2429.28 - - - - - - - - 15.88 15.80 -
13968.92 838.24 8.77 1435 13973.55 done 1.48 - - 2702.38 - 2.61 0.032 2273.25 437.6 82.73 - - 2429.44 - - - - - - - - - 15.93 -
14285.40 813.72 7.72 1457 14290.05 done 1.50 - - 2702.69 - 2.79 0.076 1132.50 -408.9 82.73 - - 2427.62 - - - - - - - - - 15.90 -
14344.69 809.10 7.88 1466 14350.21 done 1.51 - - 2702.50 - 2.59 0.031 2271.62 439.8 82.73 - - 2429.28 - - - - - - - - - 15.95 -
14664.30 786.00 6.98 1488 14665.63 VBD 1.54 - - 2702.94 - - - 2271.31 - 82.73 - - 2428.28 - - - - - - - - - - -
14979.18 764.47 7.01 1509 14983.83 done 1.57 - - 2702.25 - 2.77 0.076 1130.25 -411.9 82.73 - - 2428.31 - - - - - - - - - 15.90 -
15121.42 754.04 7.44 1530 15126.94 done 1.59 - - 2702.69 - 2.60 0.032 2272.19 439.2 82.73 - - 2428.28 - - - - - - - - - 15.97 -
15440.83 731.50 7.08 1552 15442.16 VBD 1.62 - - 2703.25 - - - 2271.75 - 82.73 - - 2427.09 - - - - - - - - - - -
15756.03 708.57 7.48 1573 15760.74 done 1.64 - - 2703.25 - 2.76 0.076 1131.31 -413.2 82.73 - - 2425.56 - - - - - - - - - 15.91 -
15876.18 699.17 7.88 1590 15880.87 1.65 0.16 0.094 2741.12 236.7 2.59 0.032 2271.81 440.3 82.73 - - 2426.59 - - - - - - - - 15.81 15.98 -
16192.67 671.69 8.68 1612 16197.32 done 1.65 - - 2741.44 - 2.74 0.076 1129.75 -416.8 82.73 - - 2425.44 - - - - - - - - - 15.90 -
16355.97 657.29 8.95 1636 16361.50 done 1.65 - - 2741.75 - 2.58 0.032 2273.06 443.1 82.73 - - 2427.84 - - - - - - - - - 15.98 -
16675.55 631.91 7.76 1658 16676.89 VBD 1.66 - - 2741.06 - - - 2273.12 - 82.73 - - 2425.91 - - - - - - - - - - -
16990.40 609.68 6.65 1679 16995.03 done 1.70 - - 2741.44 - 2.66 0.093 3346.56 403.5 82.73 - - 2425.75 - - - - - - - - - 15.89 -
17049.68 605.35 7.25 1688 17055.21 done 1.72 - - 2741.69 - 2.56 0.024 2186.25 -453.2 82.73 - - 2426.91 - - - - - - - - - 15.99 -
17369.11 585.67 5.81 1710 17400.73 VBD 1.80 - - 2740.94 - - - 2186.12 - 121.60 30.24 1.893 2279.81 -4.9 0.251 - - - - - - - - 11.39
17714.14 558.08 8.42 1733 17718.75 roll 1.80 - - 2740.81 - 2.56 0.081 1132.56 -411.5 121.60 - - 2278.09 - - - - - - - - - 15.86 -
17855.22 544.83 9.50 1753 17859.91 roll 1.80 - - 2741.25 - 2.61 0.032 2272.81 436.9 121.60 - - 2275.44 - - - - - - - - - 15.89 -
18171.68 517.91 8.54 1775 18176.32 roll 1.80 - - 2742.25 - 2.77 0.076 1131.38 -412.1 121.60 - - 2273.25 - - - - - - - - - 15.87 -
18271.07 508.85 9.12 1789 18275.68 roll 1.80 - - 2742.50 - 2.60 0.031 2273.88 439.4 121.60 - - 2273.25 - - - - - - - - - 15.92 -
18581.97 481.79 9.29 1816 18593.04 no move 1.80 - - 2742.44 - - - 2274.31 - 121.60 - - 2274.97 - - - - - - - - - - -
18895.03 453.55 9.30 1845 18906.10 no move 1.80 - - 2742.25 - - - 2274.38 - 121.60 - - 2274.34 - - - - - - - - - - -
19207.65 424.53 9.45 1874 19218.72 no move 1.80 - - 2742.06 - - - 2274.06 - 121.60 - - 2274.41 - - - - - - - - - - -
19520.48 395.62 9.03 1903 19525.12 roll 1.80 - - 2741.44 - 2.77 0.076 1131.12 -412.6 121.60 - - 2273.28 - - - - - - - - - 15.89 -
19604.88 387.54 9.51 1914 19609.49 roll 1.80 - - 2741.19 - 2.60 0.031 2272.12 438.8 121.60 - - 2273.84 - - - - - - - - - 15.96 -
19916.43 360.90 8.27 1943 19921.15 roll back 1.80 0.14 0.095 2780.81 283.0 2.76 0.076 1131.38 -413.3 121.60 - - 2272.88 - - - - - - - - 15.93 15.83 -
20095.62 343.41 9.87 1966 20100.42 roll 1.80 - - 2780.88 - 2.60 0.031 2273.25 439.2 121.60 - - 2272.91 - - - - - - - - - 15.97 -
20407.70 314.89 8.71 1995 20412.35 roll 1.80 - - 2779.88 - 2.77 0.075 1130.31 -412.6 121.60 - - 2274.06 - - - - - - - - - 15.90 -
20540.63 302.92 9.16 2013 20555.58 roll 1.80 - - 2781.50 - 2.61 0.031 2272.94 437.8 121.60 - - 2273.97 - - - - - - - - - 15.98 -
20859.95 276.96 8.05 2072 20861.28 no move 1.80 - - 2781.25 - - - 2273.00 - 121.60 - - 2272.28 - - - - - - - - - - -
21165.04 252.61 8.02 2133 21170.61 roll 1.80 - - 2780.69 - 2.77 0.074 1130.88 -412.3 121.60 - - 2274.19 - - - - - - - - - 15.89 -
21320.48 239.56 8.40 2164 21325.64 roll 1.80 - - 2781.50 - 2.61 0.031 2274.25 438.1 121.60 - - 2273.94 - - - - - - - - - 15.97 -
21630.21 216.66 7.21 2226 21631.53 no move 1.82 - - 2781.12 - - - 2273.94 - 121.60 - - 2272.84 - - - - - - - - - - -
21935.27 194.67 7.06 2287 21936.60 no move 1.85 - - 2780.62 - - - 2273.62 - 121.60 - - 2272.75 - - - - - - - - - - -
22240.60 174.90 6.16 2348 22271.81 done 1.92 - - 2781.75 - 2.77 0.076 1130.00 -412.9 155.29 26.28 1.375 2142.25 -5.0 0.105 - - - - - - - 15.91 11.40
22405.87 161.20 8.86 2381 22410.86 roll 1.92 - - 2781.38 - 2.62 0.030 2274.19 436.7 155.29 - - 2138.28 - - - - - - - - - 15.90 -
22715.36 138.96 6.31 2443 22746.85 1.98 0.17 0.084 2824.25 252.2 2.78 0.076 1131.12 -411.2 186.85 25.18 1.314 2012.88 -5.0 0.088 - - - - - - 15.88 15.85 12.06
22910.37 122.60 8.61 2482 22915.91 roll 1.98 - - 2824.12 - 2.62 0.030 2272.81 435.8 186.85 - - 2010.12 - - - - - - - - - 15.86 -
23220.42 103.76 4.35 2544 23267.30 VBD 2.10 - - 2824.94 - - - 2272.75 - 247.05 45.99 1.293 1766.59 -5.3 0.071 - - - - - - - - 12.03
23570.65 79.64 7.10 2614 23571.98 VBD 2.13 - - 2824.88 - - - 2272.44 - 247.05 - - 1758.09 - - - - - - - - - - -
23755.48 66.77 7.15 2651 23756.92 2.16 0.17 0.087 2867.19 248.9 - - 2271.94 - 247.05 - - 1757.91 - - - - - - - - 15.82 - -
23940.49 51.67 8.90 2688 23946.06 done 2.16 - - 2866.81 - 2.77 0.073 1130.56 -412.1 247.05 - - 1757.00 - - - - - - - - - 15.86 -
24175.53 35.98 3.92 2735 24229.76 done 2.29 - - 2866.25 - 2.61 0.028 2273.69 438.0 313.64 49.01 1.195 1495.75 -5.3 0.027 - - - - - - - 15.89 11.86
24411.92 30.77 -0.01 2782 24510.41 2.54 0.49 0.057 2960.25 191.8 2.85 0.073 1130.19 -401.2 437.83 91.18 1.174 990.00 -5.5 0.024 - - - - - - 15.78 15.54 12.21
24578.10 18.91 8.99 2815 24583.49 roll 2.54 - - 2960.31 - 2.65 0.028 2276.00 432.4 437.83 - - 985.28 - - - - - - - - - 15.65 -
24722 end climb: SURFACE_DEPTH_REACHED
24722 begin surface coast
24767 end surface coast: CONTROL_FINISHED_OK
24768 begin surface
SM 0.81 - - - - 177.0 - - 980.0 - 17.27 0.051 983.0 56.9 - 0.12 0.125 977.1 8120.4 -5.378 - - 30.00 15.68 15.70 -