NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 69 * Raw log
prev dive * next dive * dive
• Previous call tries 5 • 30.39 of 550.00 AH used of 24V (94.47% remains)
• Surface angle -61.7 deg, depth 1.61 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 557.81 (SM_CC=558.0575)
• GPS1 time: 40 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
4 end surface: CONTROL_FINISHED_OK
5 begin dive
6.14 - - - 59.10 VBD -1.37 - - 186.75 - - - 2252.44 - -82.73 51.78 0.005 2486.38 - - - - - - - - - - 15.94
59.83 3.16 -3.26 10 97.95 -1.37 13.69 0.256 1987.94 131.6 2.49 0.074 1208.69 -419.2 -82.73 16.33 0.006 3111.09 38.3 -3.369 - - - - - - 15.85 15.89 15.93
300.97 47.57 -16.54 58 306.51 roll -1.37 - - 1987.69 - 2.61 0.034 2349.44 437.1 -82.73 - - 3114.22 - - - - - - - - - 16.00 -
491.65 76.24 -12.68 96 495.26 no move -1.37 - - 1987.75 - - - 2349.88 - -82.73 - - 3112.12 - - - - - - - - - - -
681.45 99.34 -12.11 134 686.61 roll -1.37 - - 1988.25 - 2.71 0.064 1209.38 -420.8 -82.73 - - 3114.44 - - - - - - - - - 16.04 -
745.61 107.40 -12.09 147 751.61 roll -1.37 - - 1987.50 - 2.59 0.033 2350.69 440.7 -82.73 - - 3113.88 - - - - - - - - - 16.05 -
1061.11 142.35 -10.33 179 1066.17 roll -1.37 - - 1987.31 - 2.60 0.090 3425.31 413.3 -82.73 - - 3113.81 - - - - - - - - - 16.07 -
1121.12 149.17 -11.40 191 1126.19 roll -1.37 - - 1987.94 - 2.56 0.024 2249.50 -459.3 -82.73 - - 3113.66 - - - - - - - - - 16.08 -
1431.17 181.34 -9.87 223 1432.49 no move -1.37 - - 1988.75 - - - 2247.88 - -82.73 - - 3111.69 - - - - - - - - - - -
1741.58 209.93 -9.25 254 1742.90 no move -1.37 - - 1988.94 - - - 2247.94 - -82.73 - - 3112.47 - - - - - - - - - - -
2051.62 238.81 -9.51 285 2056.34 roll -1.37 - - 1987.81 - 2.86 0.087 3426.75 412.2 -82.73 - - 3114.69 - - - - - - - - - 16.12 -
2185.82 253.86 -11.12 312 2191.81 roll -1.37 - - 1986.75 - 2.57 0.025 2250.44 -457.7 -82.73 - - 3115.25 - - - - - - - - - 16.14 -
2501.36 284.51 -10.28 344 2506.00 roll -1.37 - - 1987.88 - 2.48 0.072 1208.25 -420.2 -82.73 - - 3114.47 - - - - - - - - - 16.15 -
2581.37 292.99 -10.75 360 2586.62 roll -1.37 - - 1988.19 - 2.58 0.033 2350.75 442.8 -82.73 - - 3114.50 - - - - - - - - - 16.15 -
2891.55 323.93 -9.62 392 2892.88 no move -1.37 - - 1988.06 - - - 2350.81 - -82.73 - - 3112.66 - - - - - - - - - - -
3201.88 354.76 -9.65 423 3206.59 roll -1.37 - - 1988.31 - 2.71 0.067 1208.31 -421.6 -82.73 - - 3112.88 - - - - - - - - - 16.18 -
3241.51 358.47 -9.29 431 3246.58 roll -1.37 - - 1987.44 - 2.59 0.034 2353.38 442.1 -82.73 - - 3114.97 - - - - - - - - - 16.17 -
3551.58 388.71 -9.98 463 3556.67 roll -1.37 - - 1987.31 - 2.73 0.067 1209.31 -419.1 -82.73 - - 3115.38 - - - - - - - - - 16.18 -
3616.13 395.27 -10.26 476 3622.12 roll -1.37 - - 1988.19 - 2.58 0.034 2351.50 442.7 -82.73 - - 3112.97 - - - - - - - - - 16.17 -
3931.66 425.85 -9.35 508 3936.76 roll -1.37 - - 1987.50 - 2.71 0.068 1209.12 -421.5 -82.73 - - 3114.72 - - - - - - - - - 16.18 -
4006.21 432.63 -9.23 523 4012.21 roll -1.37 - - 1988.50 - 2.58 0.034 2352.06 443.0 -82.73 - - 3113.72 - - - - - - - - - 16.19 -
4321.74 460.35 -8.60 555 4323.07 no move -1.37 - - 1988.06 - - - 2352.38 - -82.73 - - 3112.28 - - - - - - - - - - -
4632.20 488.03 -8.80 586 4633.53 no move -1.37 - - 1988.56 - - - 2352.69 - -82.73 - - 3111.94 - - - - - - - - - - -
4942.25 513.79 -7.78 617 4947.15 roll -1.37 - - 1988.12 - 2.72 0.069 1209.38 -420.3 -82.73 - - 3112.44 - - - - - - - - - 16.21 -
5026.60 520.83 -8.81 634 5032.42 roll -1.37 - - 1988.38 - 2.58 0.035 2352.88 443.2 -82.73 - - 3113.94 - - - - - - - - - 16.22 -
5341.95 545.59 -7.79 666 5347.02 roll -1.37 - - 1987.94 - 2.60 0.096 3429.19 414.0 -82.73 - - 3111.72 - - - - - - - - - 16.20 -
5421.97 552.78 -9.01 682 5427.04 roll -1.37 - - 1988.12 - 2.56 0.026 2253.50 -459.3 -82.73 - - 3112.41 - - - - - - - - - 16.21 -
5732.01 577.78 -8.48 714 5736.66 roll -1.37 - - 1988.56 - 2.47 0.074 1208.44 -423.1 -82.73 - - 3111.62 - - - - - - - - - 16.22 -
5802.01 583.77 -8.58 728 5807.08 roll -1.37 - - 1988.94 - 2.58 0.035 2352.44 443.4 -82.73 - - 3110.84 - - - - - - - - - 16.23 -
6112.06 610.46 -8.69 760 6113.39 no move -1.37 - - 1987.81 - - - 2352.19 - -82.73 - - 3109.38 - - - - - - - - - - -
6422.48 638.24 -9.62 791 6427.18 roll -1.37 - - 1988.31 - 2.72 0.070 1209.62 -420.1 -82.73 - - 3110.56 - - - - - - - - - 16.23 -
6486.64 644.56 -9.82 804 6492.62 roll -1.37 - - 1988.62 - 2.58 0.035 2351.44 442.6 -82.73 - - 3109.88 - - - - - - - - - 16.24 -
6802.14 672.88 -8.81 836 6807.24 roll -1.37 - - 1988.50 - 2.71 0.070 1208.12 -421.9 -82.73 - - 3109.84 - - - - - - - - - 16.23 -
6922.34 683.63 -9.42 860 6927.28 roll -1.37 - - 1987.31 - 2.58 0.035 2351.81 443.3 -82.73 - - 3111.47 - - - - - - - - - 16.23 -
7232.20 708.29 -7.66 892 7237.29 roll -1.37 - - 1988.31 - 2.71 0.069 1209.38 -421.6 -82.73 - - 3109.12 - - - - - - - - - 16.24 -
7286.74 712.64 -8.23 903 7292.73 roll -1.37 - - 1988.00 - 2.58 0.035 2351.38 442.6 -82.73 - - 3108.75 - - - - - - - - - 16.24 -
7602.26 735.07 -7.04 935 7603.59 no move -1.37 - - 1988.19 - - - 2352.19 - -82.73 - - 3107.94 - - - - - - - - - - -
7912.71 757.81 -6.99 966 7914.04 no move -1.37 - - 1988.44 - - - 2350.94 - -82.73 - - 3107.66 - - - - - - - - - - -
8222.76 780.33 -7.06 997 8227.48 roll -1.37 - - 1987.94 - 2.72 0.070 1209.12 -419.8 -82.73 - - 3110.00 - - - - - - - - - 16.24 -
8282.40 785.05 -7.87 1009 8287.47 roll -1.37 - - 1987.62 - 2.58 0.035 2350.56 442.4 -82.73 - - 3109.91 - - - - - - - - - 16.23 -
8592.48 808.17 -7.32 1041 8597.57 roll -1.37 - - 1988.44 - 2.70 0.071 1209.88 -422.5 -82.73 - - 3107.75 - - - - - - - - - 16.24 -
8727.05 818.44 -8.11 1068 8733.04 roll -1.37 - - 1988.31 - 2.58 0.036 2350.19 442.0 -82.73 - - 3108.62 - - - - - - - - - 16.23 -
9042.79 841.11 -6.95 1100 9044.11 no move -1.37 - - 1989.00 - - - 2350.38 - -82.73 - - 3106.12 - - - - - - - - - - -
9353.27 862.42 -6.93 1131 9357.73 roll -1.37 - - 1987.31 - 2.71 0.070 1208.38 -421.4 -82.73 - - 3108.75 - - - - - - - - - 16.25 -
9402.65 866.08 -6.90 1141 9407.72 roll -1.37 - - 1988.25 - 2.58 0.036 2351.75 443.2 -82.73 - - 3106.78 - - - - - - - - - 16.25 -
9712.72 887.18 -6.68 1173 9717.81 roll -1.37 - - 1988.62 - 2.62 0.098 3426.81 410.3 -82.73 - - 3107.53 - - - - - - - - - 16.23 -
9777.28 892.36 -7.77 1186 9783.27 roll -1.37 - - 1988.19 - 2.56 0.027 2251.38 -459.2 -82.73 - - 3107.00 - - - - - - - - - 16.23 -
10092.98 914.30 -7.01 1218 10094.31 no move -1.37 - - 1988.56 - - - 2251.25 - -82.73 - - 3104.97 - - - - - - - - - - -
10403.25 935.32 -6.95 1249 10407.98 roll -1.37 - - 1988.44 - 2.86 0.093 3425.31 410.5 -82.73 - - 3105.88 - - - - - - - - - 16.23 -
10482.89 941.82 -8.07 1265 10487.96 roll -1.37 - - 1988.31 - 2.55 0.027 2254.31 -459.2 -82.73 - - 3106.56 - - - - - - - - - 16.25 -
10793.34 964.39 -7.64 1297 10794.67 no move -1.37 - - 1988.06 - - - 2252.38 - -82.73 - - 3104.56 - - - - - - - - - - -
11103.38 986.43 -6.53 1328 11104.71 no move -1.37 - - 1988.00 - - - 2252.69 - -82.73 - - 3104.69 - - - - - - - - - - -
11163 end dive: TARGET_DEPTH_EXCEEDED
11163 begin apogee
11164.79 990.13 -6.16 1334 11230.57 -0.28 1.80 0.158 2254.38 148.0 0.13 0.201 2284.31 243.2 - 61.17 2.405 2772.66 -5.4 0.374 - - - - - - 16.19 15.69 13.05
11240 end apogee: CONTROL_FINISHED_OK
11240 begin climb
11240.67 991.16 - 1340 11310.35 1.37 2.64 0.103 2655.75 152.0 - - 2284.44 - 82.73 64.51 2.351 2436.34 -5.2 0.368 - - - - - - 15.74 - 12.90
11613.74 960.91 8.94 1378 11615.07 no move 1.37 - - 2656.62 - - - 2284.38 - 82.73 - - 2429.91 - - - - - - - - - - -
11924.19 932.99 9.22 1409 11928.92 roll 1.37 - - 2654.81 - 2.86 0.082 1131.12 -403.2 82.73 - - 2429.94 - - - - - - - - - 15.92 -
11968.35 928.62 10.18 1418 11974.36 done 1.37 - - 2655.19 - 2.63 0.035 2269.88 433.0 82.73 - - 2431.91 - - - - - - - - - 15.92 -
12284.27 900.82 8.49 1450 12285.60 no move 1.37 - - 2655.88 - - - 2269.88 - 82.73 - - 2428.50 - - - - - - - - - - -
12594.34 874.16 8.52 1481 12599.03 done 1.37 - - 2655.62 - 2.66 0.097 3346.50 404.7 82.73 - - 2430.84 - - - - - - - - - 16.02 -
12648.50 868.99 9.49 1492 12654.49 done 1.37 - - 2653.88 - 2.60 0.029 2191.62 -444.2 82.73 - - 2431.41 - - - - - - - - - 16.05 -
12964.40 843.64 7.80 1524 12969.24 done 1.38 - - 2655.38 - 2.59 0.085 1129.44 -410.1 82.73 - - 2429.31 - - - - - - - - - 16.07 -
13034.12 837.95 8.12 1538 13039.10 done 1.38 - - 2655.25 - 2.62 0.036 2272.38 436.2 82.73 - - 2431.22 - - - - - - - - - 16.09 -
13344.46 814.32 7.53 1570 13345.79 VBD 1.40 - - 2655.94 - - - 2272.31 - 82.73 - - 2427.09 - - - - - - - - - - -
13654.48 789.42 8.12 1601 13659.18 done 1.40 - - 2655.56 - 2.78 0.079 1130.25 -410.8 82.73 - - 2428.94 - - - - - - - - - 16.13 -
13738.65 782.20 8.63 1618 13744.65 done 1.40 - - 2655.69 - 2.61 0.036 2271.00 437.1 82.73 - - 2429.81 - - - - - - - - - 16.13 -
14054.53 756.32 8.28 1650 14055.86 VBD 1.40 - - 2655.81 - - - 2271.19 - 82.73 - - 2426.97 - - - - - - - - - - -
14364.58 732.19 7.26 1681 14365.92 VBD 1.42 - - 2656.06 - - - 2271.06 - 82.73 - - 2427.06 - - - - - - - - - - -
14674.62 709.20 7.52 1712 14675.95 VBD 1.44 - - 2655.19 - - - 2271.44 - 82.73 - - 2427.25 - - - - - - - - - - -
14984.69 685.14 7.94 1743 14986.02 VBD 1.45 - - 2655.88 - - - 2271.44 - 82.73 - - 2426.34 - - - - - - - - - - -
15294.75 661.24 7.86 1774 15299.45 done 1.46 - - 2655.69 - 2.77 0.080 1129.75 -412.2 82.73 - - 2428.41 - - - - - - - - - 16.18 -
15368.93 655.15 7.91 1789 15374.92 done 1.48 - - 2655.75 - 2.60 0.036 2270.88 438.9 82.73 - - 2428.31 - - - - - - - - - 16.19 -
15685.09 631.68 7.75 1821 15686.53 1.49 0.15 0.099 2696.75 273.3 - - 2270.94 - 82.73 - - 2426.56 - - - - - - - - 16.17 - -
15994.51 606.10 8.18 1852 15999.59 done 1.49 - - 2696.19 - 2.64 0.097 3346.75 407.5 82.73 - - 2428.06 - - - - - - - - - 16.18 -
16089.08 597.66 9.21 1871 16095.08 done 1.49 - - 2696.50 - 2.58 0.029 2190.06 -448.3 82.73 - - 2428.25 - - - - - - - - - 16.20 -
16405.01 574.14 6.92 1903 16409.73 done 1.52 - - 2696.69 - 2.86 0.093 3344.88 403.8 82.73 - - 2427.94 - - - - - - - - - 16.19 -
16474.64 569.16 7.49 1917 16479.70 done 1.54 - - 2696.75 - 2.57 0.029 2189.62 -449.5 82.73 - - 2427.53 - - - - - - - - - 16.19 -
16785.09 548.20 6.87 1949 16786.43 VBD 1.57 - - 2696.69 - - - 2189.00 - 82.73 - - 2425.81 - - - - - - - - - - -
17095.16 527.21 6.53 1980 17096.49 VBD 1.61 - - 2696.81 - - - 2188.81 - 82.73 - - 2425.72 - - - - - - - - - - -
17405.22 507.85 6.02 2011 17435.45 1.68 0.19 0.081 2741.50 235.2 - - 2188.56 - 118.50 27.20 1.782 2291.50 -4.9 0.235 - - - - - - 16.20 - 13.14
17744.88 478.21 9.50 2045 17746.21 no move 1.68 - - 2741.88 - - - 2187.62 - 118.50 - - 2287.31 - - - - - - - - - - -
18055.33 448.94 9.44 2076 18056.66 no move 1.68 - - 2741.44 - - - 2187.56 - 118.50 - - 2286.66 - - - - - - - - - - -
18365.61 418.67 9.66 2107 18370.10 roll 1.68 - - 2741.25 - 2.87 0.093 3347.69 404.2 118.50 - - 2288.03 - - - - - - - - - 16.13 -
18389.53 416.22 9.24 2112 18395.52 roll 1.68 - - 2741.62 - 2.59 0.028 2190.00 -447.0 118.50 - - 2288.53 - - - - - - - - - 16.14 -
18705.03 386.54 9.37 2144 18706.35 no move 1.68 - - 2741.94 - - - 2190.12 - 118.50 - - 2286.31 - - - - - - - - - - -
19015.44 359.09 8.37 2175 19020.17 roll 1.68 - - 2742.25 - 2.85 0.092 3345.12 405.3 118.50 - - 2287.41 - - - - - - - - - 16.16 -
19075.07 353.55 9.66 2187 19080.14 roll 1.68 - - 2741.62 - 2.57 0.028 2191.12 -449.0 118.50 - - 2287.00 - - - - - - - - - 16.15 -
19385.51 329.42 7.13 2219 19390.22 roll 1.71 - - 2741.31 - 2.84 0.091 3345.25 406.4 118.50 - - 2287.91 - - - - - - - - - 16.15 -
19605.15 311.26 8.48 2263 19610.23 roll 1.71 - - 2742.38 - 2.57 0.028 2190.44 -449.3 118.50 - - 2286.91 - - - - - - - - - 16.17 -
19915.39 286.22 8.01 2295 19920.25 roll 1.71 - - 2742.31 - 2.55 0.083 1130.00 -415.9 118.50 - - 2286.94 - - - - - - - - - 16.17 -
20090.15 271.17 8.67 2330 20095.75 roll 1.71 - - 2741.31 - 2.59 0.035 2273.88 441.7 118.50 - - 2287.69 - - - - - - - - - 16.17 -
20405.49 247.28 8.03 2362 20410.44 roll 1.71 - - 2742.00 - 2.62 0.095 3345.56 409.0 118.50 - - 2287.38 - - - - - - - - - 16.15 -
20445.31 243.90 8.40 2370 20450.39 roll 1.71 - - 2742.44 - 2.57 0.028 2187.81 -450.5 118.50 - - 2286.78 - - - - - - - - - 16.18 -
20755.78 218.51 7.95 2402 20760.49 roll 1.72 - - 2741.75 - 2.84 0.090 3346.31 407.9 118.50 - - 2286.66 - - - - - - - - - 16.17 -
20845.41 210.87 8.62 2420 20850.48 roll 1.72 - - 2742.88 - 2.57 0.028 2187.75 -450.8 118.50 - - 2288.22 - - - - - - - - - 16.18 -
21155.87 188.01 6.78 2452 21160.54 roll 1.75 - - 2741.69 - 2.53 0.081 1128.88 -418.5 118.50 - - 2287.06 - - - - - - - - - 16.16 -
21295.53 177.72 7.58 2480 21300.58 roll 1.77 - - 2742.12 - 2.59 0.034 2273.88 442.1 118.50 - - 2287.66 - - - - - - - - - 16.19 -
21605.98 157.24 5.91 2512 21639.11 1.84 0.15 0.094 2782.62 270.0 2.64 0.096 3345.25 405.8 155.94 28.52 1.379 2137.69 -5.3 0.100 - - - - - - 16.14 15.98 13.13
21651.64 154.27 6.05 2519 21684.26 done 1.92 - - 2783.06 - 2.59 0.027 2186.12 -447.5 191.31 27.93 1.346 1993.00 -5.2 0.099 - - - - - - - 16.05 13.00
21992.12 119.30 10.66 2556 21997.19 done 1.92 - - 2783.00 - 2.55 0.080 1131.50 -413.6 191.31 - - 1986.19 - - - - - - - - - 15.97 -
22022.12 115.88 11.05 2562 22027.21 done 1.92 - - 2783.62 - 2.61 0.034 2273.75 437.6 191.31 - - 1986.12 - - - - - - - - - 16.00 -
22332.19 88.71 7.57 2607 22337.73 done 1.93 - - 2782.75 - 2.63 0.093 3346.62 407.9 191.31 - - 1985.31 - - - - - - - - - 16.01 -
22367.20 86.31 6.93 2614 22372.72 done 1.96 - - 2783.62 - 2.58 0.026 2183.75 -450.7 191.31 - - 1984.66 - - - - - - - - - 16.04 -
22558.25 76.37 4.47 2652 22603.14 2.08 0.25 0.071 2840.50 227.5 - - 2184.00 - 249.73 42.97 1.282 1755.84 -5.3 0.053 - - - - - - 16.05 - 13.10
22787.72 60.98 7.51 2698 22791.31 VBD 2.10 - - 2840.94 - - - 2183.50 - 249.73 - - 1748.41 - - - - - - - - - - -
22972.40 45.68 7.75 2735 22977.92 done 2.11 - - 2841.00 - 2.56 0.079 1131.38 -411.0 249.73 - - 1746.25 - - - - - - - - - 15.95 -
23022.40 41.63 8.17 2745 23028.14 done 2.11 - - 2840.12 - 2.62 0.033 2275.44 436.7 249.73 - - 1745.78 - - - - - - - - - 15.98 -
23212.49 29.15 5.47 2783 23250.03 done 2.20 - - 2840.56 - 2.64 0.092 3347.00 405.9 293.63 32.69 1.195 1578.03 -5.1 0.021 - - - - - - - 15.81 13.01
23478.06 12.00 8.71 2836 23483.59 roll 2.20 - - 2839.88 - 2.59 0.026 2187.50 -447.7 293.63 - - 1573.00 - - - - - - - - - 15.94 -
23603 end climb: SURFACE_DEPTH_REACHED
23603 begin surface coast
23628 end surface coast: CONTROL_FINISHED_OK
23628 begin surface
SM 1.36 - - - - 185.5 186.77 1.164 501.0 2.7 16.17 0.043 417.1 25.8 - 0.34 0.081 584.9 1712.7 -2.939 - - 12.99 15.97 15.96 -