NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 751 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 255.94 of 550.00 AH used of 24V (53.46% remains)
• Surface angle -63.0 deg, depth 0.60 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 425.01 (SM_CC=425)
• GPS1 time: 27 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
2 end surface: CONTROL_FINISHED_OK
3 begin dive
5.46 - - - 77.12 VBD -1.35 - - 178.25 - - - 2236.19 - -82.73 70.51 0.005 2802.50 - - - - - - - - - - 15.05
78.24 3.62 -5.19 13 109.93 -1.35 14.86 0.242 2004.44 122.9 2.53 0.064 1208.38 -406.2 -82.73 6.57 0.008 3111.97 47.1 -3.656 - - - - - - 15.41 15.08 15.18
182.03 23.91 -16.35 34 187.57 roll -1.35 - - 2003.81 - 2.67 0.028 2349.88 427.5 -82.73 - - 3112.78 - - - - - - - - - 15.75 -
372.74 53.20 -15.45 72 377.68 roll -1.35 - - 2003.75 - 2.81 0.057 1209.81 -405.7 -82.73 - - 3113.03 - - - - - - - - - 15.79 -
497.14 68.24 -11.26 97 502.69 roll -1.35 - - 2003.00 - 2.64 0.027 2351.75 432.6 -82.73 - - 3114.03 - - - - - - - - - 15.83 -
687.60 87.45 -9.57 135 692.78 roll -1.35 - - 2004.31 - 2.72 0.084 3426.44 395.1 -82.73 - - 3112.84 - - - - - - - - - 15.81 -
752.22 94.00 -10.44 148 757.75 roll -1.35 - - 2004.00 - 2.59 0.019 2242.75 -457.0 -82.73 - - 3113.12 - - - - - - - - - 15.86 -
942.68 110.90 -9.08 186 947.89 roll -1.35 - - 2004.56 - 2.99 0.079 3425.94 395.7 -82.73 - - 3114.03 - - - - - - - - - 15.83 -
1017.31 118.28 -9.87 201 1022.85 roll -1.35 - - 2003.69 - 2.59 0.019 2241.56 -457.3 -82.73 - - 3114.84 - - - - - - - - - 15.89 -
1327.41 143.58 -7.63 263 1333.01 roll -1.35 - - 2004.12 - 2.96 0.079 3429.00 401.2 -82.73 - - 3114.41 - - - - - - - - - 15.88 -
1352.41 145.55 -7.62 268 1357.94 roll -1.35 - - 2004.44 - 2.55 0.019 2238.94 -466.7 -82.73 - - 3113.69 - - - - - - - - - 15.91 -
1662.54 168.46 -7.72 330 1668.07 roll -1.35 - - 2004.69 - 2.96 0.078 3427.25 401.5 -82.73 - - 3114.19 - - - - - - - - - 15.88 -
1772.49 178.62 -9.71 352 1778.03 roll -1.35 - - 2004.44 - 2.57 0.019 2242.81 -460.9 -82.73 - - 3113.88 - - - - - - - - - 15.94 -
2082.55 203.66 -8.06 414 2087.66 roll -1.35 - - 2004.56 - 2.49 0.063 1208.25 -415.5 -82.73 - - 3115.00 - - - - - - - - - 15.94 -
2137.54 208.36 -8.62 425 2143.10 roll -1.35 - - 2003.69 - 2.61 0.027 2353.31 438.7 -82.73 - - 3114.66 - - - - - - - - - 15.96 -
2447.61 232.51 -7.82 487 2448.94 no move -1.35 - - 2004.50 - - - 2354.00 - -82.73 - - 3112.97 - - - - - - - - - - -
2752.66 256.64 -8.11 548 2758.22 roll -1.35 - - 2004.88 - 2.79 0.059 1207.62 -410.9 -82.73 - - 3114.16 - - - - - - - - - 15.94 -
2802.67 260.84 -8.44 558 2808.20 roll -1.35 - - 2004.06 - 2.62 0.027 2353.44 437.3 -82.73 - - 3114.03 - - - - - - - - - 15.97 -
3112.72 285.24 -7.81 620 3114.05 no move -1.35 - - 2004.81 - - - 2353.81 - -82.73 - - 3112.72 - - - - - - - - - - -
3418.50 309.93 -8.47 668 3429.57 no move -1.35 - - 2004.44 - - - 2353.56 - -82.73 - - 3113.81 - - - - - - - - - - -
3731.53 335.86 -8.41 697 3742.61 no move -1.35 - - 2004.75 - - - 2353.56 - -82.73 - - 3113.16 - - - - - - - - - - -
4044.39 361.52 -7.98 726 4049.04 roll -1.35 - - 2004.44 - 2.79 0.060 1209.50 -410.1 -82.73 - - 3111.16 - - - - - - - - - 15.96 -
4129.11 368.49 -8.18 737 4133.74 roll -1.35 - - 2003.62 - 2.63 0.028 2354.25 435.3 -82.73 - - 3113.34 - - - - - - - - - 16.00 -
4440.80 391.70 -7.38 766 4451.87 no move -1.35 - - 2004.50 - - - 2354.50 - -82.73 - - 3112.75 - - - - - - - - - - -
4753.54 415.25 -7.61 795 4764.61 no move -1.35 - - 2004.44 - - - 2354.69 - -82.73 - - 3112.19 - - - - - - - - - - -
5067.02 439.46 -7.72 824 5078.10 no move -1.35 - - 2004.38 - - - 2354.12 - -82.73 - - 3111.62 - - - - - - - - - - -
5379.87 465.12 -8.34 853 5390.94 no move -1.35 - - 2004.56 - - - 2354.62 - -82.73 - - 3111.00 - - - - - - - - - - -
5692.94 492.10 -8.66 882 5704.01 no move -1.35 - - 2004.69 - - - 2354.81 - -82.73 - - 3111.31 - - - - - - - - - - -
6015.62 517.80 -7.85 906 6016.95 no move -1.35 - - 2004.75 - - - 2354.38 - -82.73 - - 3109.41 - - - - - - - - - - -
6330.64 541.69 -7.43 927 6331.97 no move -1.35 - - 2004.38 - - - 2354.88 - -82.73 - - 3109.56 - - - - - - - - - - -
6645.65 564.66 -7.20 948 6646.98 no move -1.35 - - 2004.12 - - - 2354.69 - -82.73 - - 3108.72 - - - - - - - - - - -
6960.67 586.67 -7.07 969 6965.33 roll -1.35 - - 2003.81 - 2.80 0.062 1208.00 -409.5 -82.73 - - 3107.69 - - - - - - - - - 15.94 -
7018.61 591.11 -7.56 977 7023.43 roll -1.35 - - 2004.50 - 2.63 0.029 2350.19 434.3 -82.73 - - 3108.19 - - - - - - - - - 16.01 -
7335.21 614.86 -7.44 999 7336.54 no move -1.35 - - 2004.62 - - - 2350.69 - -82.73 - - 3108.41 - - - - - - - - - - -
7650.10 638.58 -7.51 1020 7654.75 roll -1.35 - - 2004.12 - 2.73 0.090 3427.38 394.4 -82.73 - - 3108.31 - - - - - - - - - 15.90 -
7688.64 641.61 -7.83 1026 7694.18 roll -1.35 - - 2004.19 - 2.59 0.020 2245.50 -456.3 -82.73 - - 3107.69 - - - - - - - - - 16.01 -
8008.06 664.15 -6.87 1048 8009.39 no move -1.35 - - 2004.00 - - - 2245.12 - -82.73 - - 3107.94 - - - - - - - - - - -
8323.08 685.22 -6.36 1069 8327.76 roll -1.35 - - 2004.56 - 3.00 0.085 3427.81 394.2 -82.73 - - 3107.91 - - - - - - - - - 15.89 -
8361.62 687.76 -6.57 1075 8367.16 roll -1.35 - - 2004.31 - 2.58 0.021 2245.19 -458.4 -82.73 - - 3107.28 - - - - - - - - - 16.01 -
8681.04 707.11 -5.94 1097 8682.37 no move -1.35 - - 2004.38 - - - 2245.44 - -82.73 - - 3106.19 - - - - - - - - - - -
8996.05 725.55 -5.93 1118 9000.76 roll -1.35 - - 2004.44 - 3.02 0.086 3428.62 391.8 -82.73 - - 3105.78 - - - - - - - - - 15.88 -
9055.34 729.47 -6.56 1127 9060.87 roll -1.35 - - 2004.31 - 2.59 0.021 2247.06 -456.2 -82.73 - - 3106.47 - - - - - - - - - 16.01 -
9374.75 748.55 -5.99 1149 9376.08 no move -1.35 - - 2004.44 - - - 2248.06 - -82.73 - - 3105.38 - - - - - - - - - - -
9689.77 767.70 -6.08 1170 9694.66 roll -1.35 - - 2004.44 - 3.03 0.086 3428.38 389.5 -82.73 - - 3104.69 - - - - - - - - - 15.87 -
9832.18 777.70 -7.19 1191 9837.60 roll -1.35 - - 2004.50 - 2.59 0.021 2250.12 -454.9 -82.73 - - 3104.72 - - - - - - - - - 16.00 -
10151.48 797.58 -6.08 1213 10152.81 no move -1.35 - - 2004.94 - - - 2249.62 - -82.73 - - 3104.69 - - - - - - - - - - -
10466.49 817.45 -6.36 1234 10471.17 roll -1.35 - - 2004.00 - 3.00 0.087 3426.00 392.1 -82.73 - - 3107.12 - - - - - - - - - 15.86 -
10572.24 824.64 -7.24 1250 10587.16 roll -1.35 - - 2004.06 - 2.57 0.021 2251.44 -457.0 -82.73 - - 3104.75 - - - - - - - - - 16.00 -
10901.64 846.58 -6.52 1272 10906.25 roll -1.35 - - 2004.75 - 2.55 0.069 1209.38 -408.7 -82.73 - - 3104.47 - - - - - - - - - 15.91 -
10945.18 849.12 -6.65 1279 10960.12 roll -1.35 - - 2003.19 - 2.63 0.029 2351.56 434.3 -82.73 - - 3106.03 - - - - - - - - - 16.01 -
11274.58 871.80 -6.74 1301 11275.91 no move -1.35 - - 2004.75 - - - 2352.06 - -82.73 - - 3103.34 - - - - - - - - - - -
11589.77 892.87 -6.59 1322 11594.43 roll -1.35 - - 2004.12 - 2.81 0.064 1209.25 -406.7 -82.73 - - 3103.66 - - - - - - - - - 15.90 -
11711.25 901.18 -6.93 1340 11716.81 roll -1.35 - - 2004.06 - 2.62 0.030 2350.81 435.7 -82.73 - - 3104.56 - - - - - - - - - 16.00 -
12030.65 922.54 -6.86 1362 12035.49 roll -1.35 - - 2004.12 - 2.81 0.063 1209.12 -406.3 -82.73 - - 3102.69 - - - - - - - - - 15.89 -
12111.17 928.18 -7.12 1374 12116.61 roll -1.35 - - 2003.44 - 2.63 0.030 2351.81 434.5 -82.73 - - 3105.38 - - - - - - - - - 16.00 -
12430.45 949.45 -6.67 1396 12435.12 roll -1.35 - - 2004.00 - 2.81 0.063 1211.00 -406.0 -82.73 - - 3102.38 - - - - - - - - - 15.90 -
12488.38 953.44 -6.83 1404 12493.01 roll -1.35 - - 2003.75 - 2.62 0.030 2350.19 434.8 -82.73 - - 3103.22 - - - - - - - - - 15.99 -
12804.86 973.69 -6.41 1426 12806.19 no move -1.35 - - 2004.06 - - - 2351.00 - -82.73 - - 3102.25 - - - - - - - - - - -
13089 end dive: TARGET_DEPTH_EXCEEDED
13089 begin apogee
13091.75 990.67 -5.77 1445 13167.26 -0.28 1.84 0.135 2262.94 140.7 0.16 0.164 2159.81 -1194.9 - 64.88 2.423 2775.69 -5.0 0.353 - - - - - - 15.76 15.39 10.27
13168 end apogee: CONTROL_FINISHED_OK
13168 begin climb
13169.51 991.93 - 1450 13257.32 1.35 2.66 0.089 2659.56 149.1 2.77 0.087 3203.31 376.7 82.73 69.14 2.348 2436.50 -4.9 0.356 - - - - - - 15.55 15.13 12.12
13299.76 985.28 5.80 1468 13349.45 done 1.45 - - 2659.75 - 2.67 0.025 2060.00 -428.2 132.43 43.74 2.313 2235.00 -4.6 0.337 - - - - - - - 15.44 11.69
13662.92 954.45 8.78 1497 13667.58 roll 1.45 - - 2660.19 - 2.75 0.085 993.69 -387.7 132.43 - - 2226.75 - - - - - - - - - 15.66 -
13700.12 950.85 9.25 1502 13704.76 roll 1.45 - - 2659.12 - 2.68 0.026 2136.50 426.4 132.43 - - 2226.62 - - - - - - - - - 15.69 -
14016.78 923.54 8.21 1524 14021.43 done 1.45 - - 2660.25 - 2.74 0.085 3206.12 390.4 132.43 - - 2224.97 - - - - - - - - - 15.77 -
14076.07 918.30 8.79 1533 14081.62 done 1.45 - - 2659.38 - 2.64 0.025 2059.25 -434.4 132.43 - - 2226.56 - - - - - - - - - 15.82 -
14395.49 893.58 7.46 1555 14400.15 done 1.47 - - 2660.50 - 2.72 0.085 994.00 -391.6 132.43 - - 2223.38 - - - - - - - - - 15.81 -
14459.78 888.64 8.26 1565 14474.72 done 1.47 - - 2660.06 - 2.66 0.026 2137.31 429.8 132.43 - - 2225.06 - - - - - - - - - 15.87 -
14789.22 863.69 7.30 1587 14790.67 1.49 0.19 0.092 2701.94 220.4 - - 2137.44 - 132.43 - - 2223.53 - - - - - - - - 15.87 - -
15104.25 838.09 8.00 1608 15109.13 done 1.49 - - 2700.31 - 2.92 0.081 993.81 -391.7 132.43 - - 2224.09 - - - - - - - - - 15.85 -
15205.20 829.35 8.81 1623 15210.58 done 1.49 - - 2701.88 - 2.63 0.026 2135.44 434.1 132.43 - - 2223.84 - - - - - - - - - 15.93 -
15524.43 803.21 8.26 1645 15529.09 done 1.49 - - 2701.50 - 2.72 0.085 3204.12 392.9 132.43 - - 2222.91 - - - - - - - - - 15.87 -
15583.73 797.87 9.00 1654 15589.29 done 1.49 - - 2701.31 - 2.62 0.026 2059.75 -436.8 132.43 - - 2224.06 - - - - - - - - - 15.94 -
15903.15 771.31 8.13 1676 15904.48 VBD 1.49 - - 2701.50 - - - 2059.94 - 132.43 - - 2222.88 - - - - - - - - - - -
16218.19 746.32 7.82 1697 16222.89 done 1.50 - - 2701.25 - 2.93 0.081 3204.25 390.5 132.43 - - 2222.69 - - - - - - - - - 15.87 -
16282.50 741.25 8.52 1707 16297.44 done 1.50 - - 2700.12 - 2.61 0.026 2059.75 -438.5 132.43 - - 2223.97 - - - - - - - - - 15.97 -
16611.92 715.70 7.36 1729 16613.26 VBD 1.52 - - 2701.94 - - - 2059.88 - 132.43 - - 2222.84 - - - - - - - - - - -
16926.93 691.91 7.58 1750 16931.62 done 1.54 - - 2700.88 - 2.91 0.081 3205.38 393.6 132.43 - - 2222.34 - - - - - - - - - 15.88 -
17006.97 685.39 8.22 1762 17012.52 done 1.54 - - 2701.38 - 2.62 0.026 2059.75 -437.3 132.43 - - 2223.56 - - - - - - - - - 15.98 -
17326.41 660.42 7.89 1784 17331.25 done 1.55 - - 2701.06 - 2.70 0.086 993.75 -394.8 132.43 - - 2221.91 - - - - - - - - - 15.85 -
17386.21 655.38 8.44 1793 17391.66 done 1.55 - - 2700.81 - 2.63 0.026 2136.88 434.7 132.43 - - 2224.34 - - - - - - - - - 15.98 -
17706.11 630.10 8.04 1815 17707.44 VBD 1.55 - - 2701.06 - - - 2137.25 - 132.43 - - 2221.44 - - - - - - - - - - -
18020.58 604.20 8.41 1836 18025.27 done 1.55 - - 2701.00 - 2.91 0.081 993.94 -392.9 132.43 - - 2223.47 - - - - - - - - - 15.86 -
18079.88 598.99 8.85 1845 18085.43 done 1.55 - - 2701.81 - 2.63 0.026 2138.12 435.0 132.43 - - 2222.88 - - - - - - - - - 15.98 -
18399.31 574.49 7.66 1867 18404.01 done 1.57 - - 2701.69 - 2.92 0.080 995.12 -391.4 132.43 - - 2220.91 - - - - - - - - - 15.85 -
18623.19 555.41 8.57 1899 18627.83 done 1.57 - - 2700.88 - 2.62 0.026 2134.38 434.8 132.43 - - 2222.91 - - - - - - - - - 15.98 -
18939.69 531.31 7.63 1921 18944.34 done 1.59 - - 2701.06 - 2.74 0.084 3203.44 390.2 132.43 - - 2221.94 - - - - - - - - - 15.86 -
19004.00 526.65 7.92 1931 19018.92 done 1.60 - - 2700.88 - 2.62 0.026 2057.88 -437.2 132.43 - - 2221.38 - - - - - - - - - 15.99 -
19333.43 501.89 6.93 1953 19338.12 done 1.63 - - 2701.56 - 2.93 0.080 3205.94 391.8 132.43 - - 2221.41 - - - - - - - - - 15.86 -
19402.32 496.73 7.41 1962 19407.07 1.65 0.17 0.095 2736.50 205.5 2.60 0.026 2061.38 -440.2 132.43 - - 2220.34 - - - - - - - - 15.81 15.98 -
19713.99 474.28 7.36 1991 19718.63 done 1.67 - - 2736.25 - 2.70 0.085 994.00 -395.3 132.43 - - 2220.78 - - - - - - - - - 15.84 -
19784.35 468.89 7.76 2001 19799.28 done 1.68 - - 2736.31 - 2.62 0.026 2138.69 436.9 132.43 - - 2221.25 - - - - - - - - - 15.99 -
20100.87 447.39 6.65 2030 20111.94 VBD 1.72 - - 2736.50 - - - 2138.88 - 132.43 - - 2222.38 - - - - - - - - - - -
20413.53 426.30 6.59 2059 20418.22 done 1.76 - - 2736.94 - 2.90 0.080 995.00 -394.4 132.43 - - 2221.00 - - - - - - - - - 15.83 -
20467.83 422.36 7.25 2067 20482.81 1.78 0.15 0.099 2775.06 254.1 2.64 0.026 2137.94 432.9 132.43 - - 2221.75 - - - - - - - - 15.79 15.99 -
20784.40 397.83 7.69 2096 20795.47 VBD 1.80 - - 2775.12 - - - 2138.12 - 132.43 - - 2222.22 - - - - - - - - - - -
21097.06 374.68 7.36 2125 21101.76 done 1.82 - - 2774.62 - 2.92 0.079 994.19 -391.8 132.43 - - 2222.12 - - - - - - - - - 15.83 -
21181.69 367.73 8.16 2136 21186.33 done 1.82 - - 2774.25 - 2.63 0.026 2137.06 434.6 132.43 - - 2222.12 - - - - - - - - - 15.98 -
21493.47 344.34 7.56 2165 21504.54 VBD 1.84 - - 2774.94 - - - 2137.00 - 132.43 - - 2222.47 - - - - - - - - - - -
21806.25 320.70 7.33 2194 21810.92 done 1.86 - - 2775.19 - 2.90 0.079 995.12 -393.8 132.43 - - 2221.91 - - - - - - - - - 15.83 -
21860.54 316.49 7.74 2202 21875.47 done 1.88 - - 2774.81 - 2.64 0.026 2138.69 433.2 132.43 - - 2223.06 - - - - - - - - - 15.98 -
22178.46 293.44 7.45 2240 22179.79 VBD 1.90 - - 2776.19 - - - 2138.69 - 132.43 - - 2220.88 - - - - - - - - - - -
22483.51 270.44 7.57 2301 22489.10 done 1.91 - - 2775.88 - 2.92 0.078 993.50 -392.2 132.43 - - 2222.81 - - - - - - - - - 15.82 -
22543.50 265.40 8.55 2313 22549.06 done 1.91 - - 2776.06 - 2.64 0.025 2137.38 433.3 132.43 - - 2223.16 - - - - - - - - - 15.96 -
22853.58 241.93 7.50 2375 22854.91 VBD 1.93 - - 2775.12 - - - 2137.50 - 132.43 - - 2222.44 - - - - - - - - - - -
23158.62 218.97 7.52 2436 23164.27 1.95 0.17 0.086 2816.62 244.1 2.93 0.077 993.56 -390.4 132.43 - - 2223.16 - - - - - - - - 15.93 15.80 -
23218.62 213.59 9.19 2448 23224.35 done 1.95 - - 2817.31 - 2.62 0.025 2139.75 437.5 132.43 - - 2222.91 - - - - - - - - - 15.97 -
23528.68 188.82 7.40 2510 23534.27 done 1.97 - - 2817.12 - 2.91 0.077 993.94 -393.7 132.43 - - 2222.97 - - - - - - - - - 15.82 -
23593.67 183.70 7.97 2523 23599.23 done 1.97 - - 2816.81 - 2.62 0.025 2141.12 437.9 132.43 - - 2222.91 - - - - - - - - - 15.96 -
23903.74 161.15 7.65 2585 23905.07 VBD 1.99 - - 2816.50 - - - 2140.56 - 132.43 - - 2222.22 - - - - - - - - - - -
24208.81 139.46 7.04 2646 24210.14 VBD 2.02 - - 2816.94 - - - 2140.56 - 132.43 - - 2222.56 - - - - - - - - - - -
24513.91 121.76 5.63 2707 24555.76 2.12 0.16 0.089 2856.56 247.6 - - 2141.12 - 185.31 40.03 1.322 2017.81 -5.1 0.081 - - - - - - 15.92 - 10.53
24859.02 93.28 7.07 2776 24864.60 roll 2.15 - - 2856.69 - 2.91 0.076 994.75 -393.9 185.31 - - 2015.31 - - - - - - - - - 15.79 -
25064.14 81.25 4.97 2817 25120.76 2.28 0.16 0.090 2897.62 255.8 2.62 0.024 2146.06 439.4 250.42 50.12 1.260 1755.41 -5.2 0.057 - - - - - - 15.74 15.89 11.37
25304.13 63.04 8.22 2865 25305.46 no move 2.28 - - 2898.50 - - - 2145.56 - 250.42 - - 1745.81 - - - - - - - - - - -
25489.21 51.88 4.42 2902 25551.58 done 2.43 - - 2898.25 - 2.70 0.081 3206.62 393.0 325.90 57.28 1.207 1446.31 -5.2 0.039 - - - - - - - 15.50 11.44
25779.28 32.63 7.33 2960 25784.88 roll back 2.45 0.17 0.091 2935.06 216.5 2.65 0.024 2057.38 -433.7 325.90 - - 1438.81 - - - - - - - - 15.62 15.74 -
25969.32 14.04 11.55 2998 25974.93 done 2.45 - - 2934.31 - 2.91 0.075 3204.44 394.2 325.90 - - 1437.34 - - - - - - - - - 15.76 -
26039.34 6.16 10.70 3012 26045.07 done 2.45 - - 2934.12 - 2.62 0.024 2058.38 -437.4 325.90 - - 1437.03 - - - - - - - - - 15.80 -
26063 end climb: SURFACE_DEPTH_REACHED
26064 begin surface coast
26109 end surface coast: CONTROL_FINISHED_OK
26109 begin surface
SM 0.56 - - - - 179.4 73.23 1.161 1042.4 14.2 17.27 0.055 999.5 57.9 - 0.63 0.050 1085.3 1718.5 -1.967 - - 11.44 15.76 15.81 -