NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 754 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 257.17 of 550.00 AH used of 24V (53.24% remains)
• Surface angle -57.9 deg, depth 0.49 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.75 (SM_CC=425)
• GPS1 time: 66 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
2 end surface: CONTROL_FINISHED_OK
3 begin dive
5.46 - - - 77.13 VBD -1.35 - - 178.19 - - - 2255.00 - -82.73 70.49 0.005 2762.78 - - - - - - - - - - 15.09
78.24 3.10 -4.50 13 106.73 -1.35 14.80 0.243 2002.19 123.2 - - 2254.50 - -82.73 8.05 0.007 3109.72 43.1 -3.263 - - - - - - 15.43 - 15.21
288.86 38.26 -11.99 55 290.19 no move -1.35 - - 2002.81 - - - 2254.69 - -82.73 - - 3111.16 - - - - - - - - - - -
473.92 61.64 -10.08 92 479.54 roll -1.35 - - 2003.75 - 3.02 0.081 3427.25 388.3 -82.73 - - 3112.00 - - - - - - - - - 15.78 -
654.04 82.34 -10.97 128 659.53 roll -1.35 - - 2003.50 - 2.60 0.019 2247.62 -453.7 -82.73 - - 3112.09 - - - - - - - - - 15.85 -
844.45 101.50 -10.05 166 849.66 roll -1.35 - - 2004.19 - 2.97 0.080 3428.44 397.6 -82.73 - - 3112.50 - - - - - - - - - 15.82 -
919.08 109.34 -10.25 181 924.61 roll -1.35 - - 2002.94 - 2.59 0.019 2243.00 -457.7 -82.73 - - 3113.97 - - - - - - - - - 15.88 -
1229.20 136.58 -8.25 243 1234.80 roll -1.35 - - 2003.56 - 2.98 0.079 3426.12 397.0 -82.73 - - 3113.66 - - - - - - - - - 15.86 -
1359.24 147.21 -7.87 269 1364.78 roll -1.35 - - 2004.44 - 2.59 0.019 2241.75 -457.3 -82.73 - - 3113.34 - - - - - - - - - 15.92 -
1669.36 171.12 -8.04 331 1674.96 roll -1.35 - - 2003.56 - 2.99 0.079 3428.94 397.1 -82.73 - - 3114.22 - - - - - - - - - 15.88 -
1849.40 188.05 -9.77 367 1854.95 roll -1.35 - - 2003.62 - 2.58 0.019 2249.00 -457.3 -82.73 - - 3113.16 - - - - - - - - - 15.94 -
2159.65 213.57 -7.72 429 2160.98 no move -1.35 - - 2004.19 - - - 2247.25 - -82.73 - - 3112.12 - - - - - - - - - - -
2464.53 238.84 -8.39 490 2470.13 roll -1.35 - - 2004.06 - 3.01 0.080 3428.25 392.4 -82.73 - - 3113.72 - - - - - - - - - 15.90 -
2499.52 241.99 -8.92 497 2505.06 roll -1.35 - - 2004.31 - 2.60 0.020 2244.88 -455.1 -82.73 - - 3113.34 - - - - - - - - - 15.96 -
2809.58 267.64 -8.16 559 2810.91 no move -1.35 - - 2004.00 - - - 2243.94 - -82.73 - - 3112.72 - - - - - - - - - - -
3114.64 291.52 -7.85 620 3120.26 roll -1.35 - - 2003.12 - 3.02 0.081 3425.12 391.1 -82.73 - - 3114.88 - - - - - - - - - 15.90 -
3204.65 299.22 -8.62 638 3210.18 roll -1.35 - - 2004.19 - 2.58 0.020 2248.94 -455.9 -82.73 - - 3112.34 - - - - - - - - - 15.98 -
3512.59 323.23 -7.89 667 3523.67 no move -1.35 - - 2003.88 - - - 2247.50 - -82.73 - - 3112.34 - - - - - - - - - - -
3825.93 347.14 -7.63 696 3830.62 roll -1.35 - - 2004.12 - 3.01 0.082 3426.19 391.6 -82.73 - - 3112.91 - - - - - - - - - 15.92 -
3878.86 351.72 -8.35 703 3883.47 roll -1.35 - - 2004.25 - 2.57 0.020 2249.19 -458.0 -82.73 - - 3110.22 - - - - - - - - - 15.99 -
4190.64 375.84 -7.81 732 4201.71 no move -1.35 - - 2004.06 - - - 2247.94 - -82.73 - - 3111.09 - - - - - - - - - - -
4503.66 400.90 -7.90 761 4508.35 roll -1.35 - - 2003.88 - 3.04 0.083 3427.88 388.1 -82.73 - - 3111.06 - - - - - - - - - 15.92 -
4589.41 408.56 -8.97 773 4604.33 roll -1.35 - - 2004.25 - 2.58 0.020 2249.12 -456.9 -82.73 - - 3110.56 - - - - - - - - - 16.01 -
4906.48 434.58 -8.21 802 4917.55 no move -1.35 - - 2004.38 - - - 2249.06 - -82.73 - - 3110.91 - - - - - - - - - - -
5219.33 458.80 -7.69 831 5224.02 roll -1.35 - - 2004.19 - 3.02 0.084 3424.06 389.1 -82.73 - - 3108.91 - - - - - - - - - 15.91 -
5319.48 467.36 -8.59 844 5324.09 roll -1.35 - - 2002.75 - 2.58 0.020 2251.69 -454.4 -82.73 - - 3111.88 - - - - - - - - - 15.99 -
5631.11 489.53 -7.02 873 5642.18 no move -1.35 - - 2004.12 - - - 2250.88 - -82.73 - - 3109.69 - - - - - - - - - - -
5947.84 511.77 -7.06 898 5949.17 no move -1.35 - - 2004.25 - - - 2250.44 - -82.73 - - 3107.84 - - - - - - - - - - -
6262.46 534.00 -7.23 919 6263.79 no move -1.35 - - 2004.12 - - - 2250.94 - -82.73 - - 3107.59 - - - - - - - - - - -
6577.49 557.83 -7.63 940 6578.82 no move -1.35 - - 2003.81 - - - 2250.25 - -82.73 - - 3108.31 - - - - - - - - - - -
6892.49 581.85 -7.43 961 6897.19 roll -1.35 - - 2002.69 - 3.03 0.085 3425.75 388.0 -82.73 - - 3111.81 - - - - - - - - - 15.90 -
6972.52 588.31 -8.13 973 6978.24 roll -1.35 - - 2003.81 - 2.57 0.021 2249.88 -457.5 -82.73 - - 3109.56 - - - - - - - - - 16.00 -
7292.10 611.43 -7.16 995 7296.80 roll -1.35 - - 2003.62 - 3.04 0.085 3425.06 386.6 -82.73 - - 3106.50 - - - - - - - - - 15.89 -
7351.37 616.11 -7.79 1004 7356.91 roll -1.35 - - 2003.94 - 2.59 0.021 2250.56 -453.5 -82.73 - - 3107.00 - - - - - - - - - 16.00 -
7670.96 639.20 -7.05 1026 7672.28 no move -1.35 - - 2004.00 - - - 2248.75 - -82.73 - - 3105.34 - - - - - - - - - - -
7985.79 660.38 -6.61 1047 7987.12 no move -1.35 - - 2004.00 - - - 2249.12 - -82.73 - - 3105.34 - - - - - - - - - - -
8300.81 682.15 -6.92 1068 8305.50 roll -1.35 - - 2002.56 - 3.04 0.086 3427.19 387.5 -82.73 - - 3107.97 - - - - - - - - - 15.88 -
8365.10 686.54 -7.41 1078 8380.36 roll -1.35 - - 2003.69 - 2.59 0.021 2250.38 -454.4 -82.73 - - 3105.62 - - - - - - - - - 16.00 -
8694.50 709.34 -6.64 1100 8695.83 no move -1.35 - - 2003.81 - - - 2250.00 - -82.73 - - 3104.66 - - - - - - - - - - -
9009.52 730.70 -6.89 1121 9014.23 roll -1.35 - - 2003.44 - 3.03 0.086 3424.38 387.6 -82.73 - - 3105.88 - - - - - - - - - 15.88 -
9088.20 736.67 -7.51 1132 9092.81 roll -1.35 - - 2004.00 - 2.59 0.021 2252.69 -452.4 -82.73 - - 3104.19 - - - - - - - - - 16.00 -
9404.67 758.19 -6.77 1154 9409.28 roll -1.35 - - 2003.62 - 2.58 0.070 1209.44 -404.4 -82.73 - - 3104.16 - - - - - - - - - 15.91 -
9443.20 760.84 -6.93 1160 9448.94 roll -1.35 - - 2003.94 - 2.67 0.029 2352.06 427.9 -82.73 - - 3104.88 - - - - - - - - - 16.01 -
9762.78 782.53 -6.99 1182 9764.11 no move -1.35 - - 2003.81 - - - 2352.44 - -82.73 - - 3103.66 - - - - - - - - - - -
10077.61 804.07 -6.62 1203 10082.27 roll -1.35 - - 2003.62 - 2.83 0.065 1210.56 -403.5 -82.73 - - 3103.31 - - - - - - - - - 15.91 -
10178.37 810.88 -6.85 1218 10183.92 roll -1.35 - - 2003.69 - 2.65 0.030 2349.69 429.9 -82.73 - - 3104.00 - - - - - - - - - 16.02 -
10497.76 831.86 -6.62 1240 10502.43 roll -1.35 - - 2003.75 - 2.81 0.065 1210.38 -405.4 -82.73 - - 3102.94 - - - - - - - - - 15.90 -
10557.04 835.89 -6.88 1249 10562.60 roll -1.35 - - 2003.75 - 2.66 0.030 2349.12 428.1 -82.73 - - 3103.97 - - - - - - - - - 16.01 -
10876.45 856.25 -6.20 1271 10881.12 roll -1.35 - - 2003.88 - 2.83 0.064 1210.38 -402.4 -82.73 - - 3102.28 - - - - - - - - - 15.90 -
10915.02 858.68 -6.39 1277 10920.56 roll -1.35 - - 2003.81 - 2.66 0.030 2350.06 428.5 -82.73 - - 3103.41 - - - - - - - - - 16.00 -
11234.42 878.85 -6.25 1299 11239.09 roll -1.35 - - 2003.56 - 2.84 0.064 1209.56 -401.6 -82.73 - - 3101.88 - - - - - - - - - 15.90 -
11292.35 882.69 -6.52 1307 11296.98 roll -1.35 - - 2003.00 - 2.67 0.030 2351.19 427.6 -82.73 - - 3102.88 - - - - - - - - - 16.00 -
11609.01 902.70 -6.38 1329 11613.72 roll -1.35 - - 2003.94 - 2.79 0.092 3425.31 385.0 -82.73 - - 3101.56 - - - - - - - - - 15.84 -
11666.93 906.82 -6.90 1337 11671.54 roll -1.35 - - 2002.81 - 2.60 0.021 2249.31 -452.3 -82.73 - - 3104.84 - - - - - - - - - 15.99 -
11983.59 925.93 -5.80 1359 11984.92 no move -1.35 - - 2004.00 - - - 2249.56 - -82.73 - - 3101.28 - - - - - - - - - - -
12298.43 943.09 -5.31 1380 12299.76 no move -1.35 - - 2003.69 - - - 2248.88 - -82.73 - - 3101.16 - - - - - - - - - - -
12613.45 959.59 -5.27 1401 12618.15 roll -1.35 - - 2004.25 - 3.06 0.088 3424.81 384.3 -82.73 - - 3101.94 - - - - - - - - - 15.83 -
12671.38 963.02 -5.76 1409 12676.00 roll -1.35 - - 2003.06 - 2.59 0.021 2249.06 -454.0 -82.73 - - 3101.88 - - - - - - - - - 15.99 -
12987.87 979.46 -5.23 1431 12989.19 no move -1.35 - - 2003.38 - - - 2249.06 - -82.73 - - 3100.50 - - - - - - - - - - -
13197 end dive: TARGET_DEPTH_EXCEEDED
13197 begin apogee
13199.71 990.52 -5.33 1445 13275.26 -0.28 1.85 0.136 2264.12 140.9 0.14 0.171 2158.00 -650.4 - 64.61 2.421 2774.41 -5.0 0.353 - - - - - - 15.76 15.40 10.22
13276 end apogee: CONTROL_FINISHED_OK
13276 begin climb
13277.50 991.50 - 1450 13365.36 1.35 2.65 0.088 2660.19 149.5 3.10 0.085 995.38 -375.0 82.73 69.24 2.361 2435.34 -4.9 0.352 - - - - - - 15.56 15.14 11.99
13428.58 983.33 6.36 1471 13472.40 done 1.42 - - 2659.88 - 2.73 0.025 2136.00 417.8 121.91 34.88 2.289 2277.19 -4.5 0.333 - - - - - - - 15.48 11.67
13785.81 955.37 8.06 1498 13790.45 roll 1.42 - - 2660.25 - 2.79 0.085 3203.25 382.5 121.91 - - 2272.91 - - - - - - - - - 15.67 -
13846.01 950.25 8.63 1507 13851.39 roll 1.42 - - 2660.44 - 2.65 0.026 2060.00 -431.4 121.91 - - 2271.78 - - - - - - - - - 15.72 -
14165.28 925.39 7.72 1529 14169.97 roll 1.44 - - 2660.31 - 2.95 0.081 3203.88 387.8 121.91 - - 2268.47 - - - - - - - - - 15.78 -
14223.22 920.53 8.20 1537 14227.86 roll 1.44 - - 2659.94 - 2.63 0.026 2059.94 -435.0 121.91 - - 2268.94 - - - - - - - - - 15.81 -
14539.88 896.67 7.44 1559 14541.21 VBD 1.46 - - 2660.06 - - - 2059.81 - 121.91 - - 2268.56 - - - - - - - - - - -
14854.73 873.27 7.35 1580 14859.48 1.48 0.18 0.088 2702.69 236.8 2.95 0.081 3203.75 387.8 121.91 - - 2271.03 - - - - - - - - 15.85 15.78 -
14997.64 861.08 8.73 1601 15002.56 done 1.48 - - 2702.44 - 2.62 0.027 2059.81 -436.6 121.91 - - 2268.88 - - - - - - - - - 15.91 -
15316.43 835.28 7.85 1623 15321.08 done 1.49 - - 2703.12 - 2.73 0.087 994.75 -390.1 121.91 - - 2266.97 - - - - - - - - - 15.84 -
15395.12 828.60 8.43 1634 15399.76 done 1.49 - - 2703.19 - 2.67 0.027 2135.75 427.3 121.91 - - 2266.97 - - - - - - - - - 15.93 -
15711.60 803.48 8.07 1656 15716.28 done 1.49 - - 2702.81 - 2.91 0.082 995.12 -392.0 121.91 - - 2265.81 - - - - - - - - - 15.85 -
15770.88 798.33 8.67 1665 15776.43 done 1.49 - - 2702.88 - 2.66 0.027 2134.44 428.3 121.91 - - 2267.62 - - - - - - - - - 15.96 -
16090.32 773.21 7.48 1687 16094.98 done 1.51 - - 2702.75 - 2.74 0.084 3202.44 389.8 121.91 - - 2265.56 - - - - - - - - - 15.87 -
16148.26 768.36 8.14 1695 16152.89 done 1.51 - - 2703.06 - 2.61 0.026 2058.50 -438.3 121.91 - - 2265.72 - - - - - - - - - 15.95 -
16464.75 744.24 7.65 1717 16469.40 done 1.53 - - 2703.00 - 2.70 0.086 996.12 -393.5 121.91 - - 2267.38 - - - - - - - - - 15.85 -
16565.51 735.74 8.57 1732 16571.06 done 1.53 - - 2702.81 - 2.64 0.026 2134.75 431.3 121.91 - - 2266.78 - - - - - - - - - 15.97 -
16885.12 711.01 7.50 1754 16886.45 VBD 1.55 - - 2703.06 - - - 2135.06 - 121.91 - - 2265.72 - - - - - - - - - - -
17200.06 687.01 7.68 1775 17204.74 done 1.57 - - 2702.81 - 2.91 0.082 993.38 -392.3 121.91 - - 2264.75 - - - - - - - - - 15.85 -
17299.81 678.56 8.47 1789 17304.44 done 1.57 - - 2703.06 - 2.65 0.027 2134.81 430.7 121.91 - - 2265.47 - - - - - - - - - 15.97 -
17616.33 654.83 7.35 1811 17617.66 VBD 1.59 - - 2702.81 - - - 2134.62 - 121.91 - - 2266.31 - - - - - - - - - - -
17931.36 632.24 7.03 1832 17932.69 VBD 1.62 - - 2702.81 - - - 2135.19 - 121.91 - - 2266.12 - - - - - - - - - - -
18246.39 610.83 6.74 1853 18251.11 1.65 0.17 0.090 2742.31 232.4 2.76 0.084 3205.31 387.7 121.91 - - 2264.97 - - - - - - - - 15.94 15.80 -
18331.42 604.44 7.98 1866 18346.35 done 1.65 - - 2743.31 - 2.62 0.026 2060.25 -437.0 121.91 - - 2266.69 - - - - - - - - - 15.99 -
18661.01 577.99 7.87 1888 18662.34 VBD 1.66 - - 2743.12 - - - 2060.06 - 121.91 - - 2265.47 - - - - - - - - - - -
18975.84 552.12 8.22 1909 18980.52 done 1.66 - - 2743.50 - 2.94 0.079 3205.50 389.6 121.91 - - 2265.53 - - - - - - - - - 15.87 -
19076.94 543.42 8.73 1924 19082.49 done 1.66 - - 2743.25 - 2.62 0.026 2060.31 -437.1 121.91 - - 2266.06 - - - - - - - - - 15.98 -
19396.38 518.05 7.80 1946 19397.71 VBD 1.68 - - 2743.44 - - - 2060.69 - 121.91 - - 2264.81 - - - - - - - - - - -
19700.79 494.39 7.98 1968 19711.87 VBD 1.68 - - 2742.62 - - - 2060.25 - 121.91 - - 2266.62 - - - - - - - - - - -
20013.93 471.33 7.05 1997 20025.01 VBD 1.70 - - 2743.12 - - - 2060.50 - 121.91 - - 2266.34 - - - - - - - - - - -
20326.70 450.45 6.50 2026 20337.78 VBD 1.74 - - 2743.62 - - - 2060.50 - 121.91 - - 2266.56 - - - - - - - - - - -
20639.37 429.37 7.04 2055 20644.02 done 1.77 - - 2742.75 - 2.74 0.086 994.81 -388.9 121.91 - - 2266.22 - - - - - - - - - 15.83 -
20692.31 425.21 7.64 2062 20696.95 done 1.79 - - 2742.56 - 2.65 0.026 2138.56 431.6 121.91 - - 2268.06 - - - - - - - - - 15.98 -
21003.92 403.40 7.02 2091 21008.64 1.82 0.17 0.088 2785.12 250.4 2.72 0.082 3205.38 392.2 121.91 - - 2265.28 - - - - - - - - 15.94 15.79 -
21072.59 397.65 8.18 2100 21077.22 done 1.82 - - 2785.44 - 2.62 0.025 2059.38 -437.4 121.91 - - 2267.12 - - - - - - - - - 15.98 -
21384.42 372.97 7.82 2129 21389.07 done 1.83 - - 2784.31 - 2.71 0.084 994.06 -393.1 121.91 - - 2266.34 - - - - - - - - - 15.83 -
21470.13 365.75 8.42 2141 21485.08 done 1.83 - - 2785.06 - 2.64 0.026 2138.25 433.4 121.91 - - 2266.06 - - - - - - - - - 15.98 -
21786.66 341.49 7.83 2170 21797.73 VBD 1.84 - - 2785.25 - - - 2138.50 - 121.91 - - 2266.41 - - - - - - - - - - -
22099.30 318.15 7.23 2199 22110.79 VBD 1.87 - - 2785.31 - - - 2138.25 - 121.91 - - 2266.38 - - - - - - - - - - -
22415.62 295.53 7.20 2234 22421.21 done 1.89 - - 2785.38 - 2.92 0.080 993.56 -392.0 121.91 - - 2266.75 - - - - - - - - - 15.81 -
22470.63 291.21 7.94 2245 22476.18 done 1.90 - - 2785.31 - 2.63 0.026 2137.94 435.1 121.91 - - 2267.06 - - - - - - - - - 15.96 -
22780.68 269.64 6.55 2307 22786.26 done 1.94 - - 2785.69 - 2.91 0.079 993.81 -393.2 121.91 - - 2266.12 - - - - - - - - - 15.81 -
22845.69 264.85 7.49 2320 22851.23 done 1.96 - - 2785.81 - 2.63 0.026 2138.25 435.1 121.91 - - 2266.53 - - - - - - - - - 15.96 -
23155.74 244.09 6.70 2382 23161.35 2.00 0.17 0.089 2827.56 245.6 2.70 0.081 3206.25 395.6 121.91 - - 2266.22 - - - - - - - - 15.93 15.79 -
23291.13 233.41 8.03 2409 23296.28 done 2.00 - - 2827.38 - 2.60 0.025 2057.50 -441.8 121.91 - - 2267.25 - - - - - - - - - 15.96 -
23600.82 211.31 6.65 2471 23606.55 done 2.03 - - 2827.19 - 2.70 0.082 993.62 -394.0 121.91 - - 2268.12 - - - - - - - - - 15.81 -
23746.36 200.67 7.30 2500 23751.40 done 2.06 - - 2827.81 - 2.66 0.025 2140.25 431.1 121.91 - - 2266.75 - - - - - - - - - 15.97 -
24055.97 181.10 6.04 2562 24091.64 VBD 2.15 - - 2828.31 - - - 2141.31 - 167.12 34.87 1.402 2093.47 -5.0 0.110 - - - - - - - - 10.50
24396.05 152.41 8.72 2630 24401.65 roll 2.15 - - 2828.56 - 2.92 0.078 992.56 -393.4 167.12 - - 2088.25 - - - - - - - - - 15.79 -
24476.08 144.45 10.06 2646 24481.63 roll 2.15 - - 2827.31 - 2.66 0.025 2138.19 430.7 167.12 - - 2088.38 - - - - - - - - - 15.87 -
24786.20 118.05 7.82 2708 24787.64 pitch 2.16 0.16 0.090 2867.44 250.8 - - 2137.81 - 167.12 - - 2085.44 - - - - - - - - 15.87 - -
25091.92 93.38 7.09 2769 25096.85 roll 2.19 - - 2867.81 - 2.73 0.079 3207.81 391.9 167.12 - - 2086.94 - - - - - - - - - 15.82 -
25176.50 87.45 6.97 2786 25181.92 roll 2.22 - - 2867.06 - 2.62 0.024 2054.69 -440.1 167.12 - - 2086.91 - - - - - - - - - 15.92 -
25366.37 78.30 3.86 2824 25438.68 2.39 0.26 0.072 2921.69 210.1 2.71 0.083 992.25 -392.0 252.91 65.42 1.272 1743.09 -5.3 0.055 - - - - - - 15.89 15.56 11.29
25666.40 53.55 8.55 2884 25671.96 done 2.39 - - 2922.88 - 2.65 0.025 2139.75 433.0 252.91 - - 1734.91 - - - - - - - - - 15.77 -
25856.45 46.41 2.51 2922 25943.20 2.61 0.25 0.072 2975.06 208.7 - - 2140.25 - 363.94 82.86 1.204 1291.25 -5.4 0.035 - - - - - - 15.77 - 11.45
26126.46 27.47 9.39 2976 26132.02 roll 2.61 - - 2974.75 - 2.74 0.077 3204.19 388.3 363.94 - - 1283.72 - - - - - - - - - 15.68 -
26171.64 22.67 11.09 2985 26177.08 done 2.61 - - 2975.62 - 2.65 0.024 2058.00 -432.5 363.94 - - 1282.88 - - - - - - - - - 15.71 -
26336 end climb: SURFACE_DEPTH_REACHED
26336 begin surface coast
26376 end surface coast: CONTROL_FINISHED_OK
26376 begin surface
SM 0.67 - - - - 179.9 45.71 1.147 1043.4 22.8 17.43 0.051 1007.9 57.8 - 0.65 0.054 1079.0 1655.9 -2.100 - - 11.39 15.71 15.77 -