NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 989 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 348.12 of 550.00 AH used of 24V (36.71% remains)
• Surface angle -58.0 deg, depth 0.41 m • Intended pitch -24.7 deg, speed -8.462 cm/s
VBD pumped to 424.70 (SM_CC=425)
• GPS1 time: 31 s
• GPS2 time: 2 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
5.75 - - - 87.69 VBD -1.54 - - 178.31 - - - 2390.88 - -82.73 80.44 0.005 2939.16 - - - - - - - - - - 14.84
88.42 3.81 -6.27 15 111.74 -1.54 14.46 0.239 1945.38 122.2 - - 2390.69 - -82.73 3.87 0.010 3110.53 44.3 -2.950 - - - - - - 15.36 - 15.02
293.85 37.98 -15.00 56 299.42 roll -1.54 - - 1945.44 - 2.71 0.084 3427.00 382.4 -82.73 - - 3112.88 - - - - - - - - - 15.74 -
528.93 68.07 -10.77 103 534.68 roll -1.54 - - 1946.56 - 2.62 0.017 2250.88 -448.9 -82.73 - - 3113.78 - - - - - - - - - 15.84 -
719.52 86.65 -10.41 141 720.85 no move -1.54 - - 1946.62 - - - 2249.94 - -82.73 - - 3111.16 - - - - - - - - - - -
904.07 104.01 -9.01 178 905.39 no move -1.54 - - 1946.38 - - - 2249.50 - -82.73 - - 3112.50 - - - - - - - - - - -
1209.12 132.63 -9.09 239 1214.65 roll -1.54 - - 1946.75 - 2.60 0.065 1208.19 -400.5 -82.73 - - 3112.34 - - - - - - - - - 15.88 -
1264.12 137.84 -9.58 250 1269.68 roll -1.54 - - 1946.12 - 2.67 0.026 2348.62 427.1 -82.73 - - 3112.94 - - - - - - - - - 15.92 -
1574.18 165.58 -9.29 312 1575.51 no move -1.54 - - 1946.56 - - - 2348.69 - -82.73 - - 3112.31 - - - - - - - - - - -
1879.23 193.81 -9.53 373 1884.81 roll -1.54 - - 1946.31 - 2.83 0.059 1208.06 -403.0 -82.73 - - 3112.69 - - - - - - - - - 15.90 -
1964.24 202.50 -10.39 390 1969.79 roll -1.54 - - 1946.56 - 2.65 0.026 2347.06 429.8 -82.73 - - 3112.50 - - - - - - - - - 15.96 -
2274.28 232.95 -9.64 452 2280.06 roll -1.54 - - 1946.19 - 2.81 0.059 1209.25 -404.9 -82.73 - - 3112.94 - - - - - - - - - 15.91 -
2314.40 236.98 -10.15 460 2319.84 roll -1.54 - - 1945.44 - 2.65 0.025 2345.81 428.9 -82.73 - - 3113.62 - - - - - - - - - 15.97 -
2624.47 266.76 -9.41 522 2629.93 roll -1.54 - - 1946.44 - 2.83 0.059 1207.88 -402.1 -82.73 - - 3113.38 - - - - - - - - - 15.92 -
2669.35 271.11 -9.71 531 2674.90 roll -1.54 - - 1946.88 - 2.64 0.026 2344.75 430.6 -82.73 - - 3113.06 - - - - - - - - - 15.97 -
2979.41 299.82 -9.32 593 2984.99 roll -1.54 - - 1946.62 - 2.82 0.059 1209.12 -402.7 -82.73 - - 3113.47 - - - - - - - - - 15.92 -
3055.99 307.32 -9.82 603 3060.62 roll -1.54 - - 1946.06 - 2.63 0.026 2343.38 431.3 -82.73 - - 3112.53 - - - - - - - - - 15.98 -
3367.65 335.47 -8.76 632 3378.72 no move -1.54 - - 1947.00 - - - 2343.62 - -82.73 - - 3113.00 - - - - - - - - - - -
3680.59 361.86 -8.37 661 3685.25 roll -1.54 - - 1946.38 - 2.81 0.060 1208.25 -404.0 -82.73 - - 3113.84 - - - - - - - - - 15.93 -
3780.74 370.81 -8.95 674 3785.37 roll -1.54 - - 1946.50 - 2.62 0.026 2342.56 432.9 -82.73 - - 3112.69 - - - - - - - - - 15.99 -
4092.40 396.25 -8.18 703 4103.47 no move -1.54 - - 1946.19 - - - 2342.44 - -82.73 - - 3113.19 - - - - - - - - - - -
4405.86 422.29 -8.41 732 4410.53 roll -1.54 - - 1946.19 - 2.81 0.060 1210.31 -402.9 -82.73 - - 3114.25 - - - - - - - - - 15.93 -
4507.36 431.11 -8.79 746 4522.30 roll -1.54 - - 1946.75 - 2.62 0.026 2338.81 430.7 -82.73 - - 3113.25 - - - - - - - - - 16.00 -
4823.56 458.08 -8.82 775 4834.64 no move -1.54 - - 1946.81 - - - 2338.38 - -82.73 - - 3113.00 - - - - - - - - - - -
5137.15 485.42 -8.65 804 5141.82 roll -1.54 - - 1946.06 - 2.82 0.061 1208.19 -400.8 -82.73 - - 3114.53 - - - - - - - - - 15.93 -
5285.85 499.05 -9.13 824 5300.79 roll -1.54 - - 1946.62 - 2.62 0.027 2340.62 432.2 -82.73 - - 3113.03 - - - - - - - - - 16.00 -
5615.26 527.67 -8.46 846 5619.92 roll -1.54 - - 1946.62 - 2.82 0.061 1209.00 -401.3 -82.73 - - 3111.34 - - - - - - - - - 15.93 -
5714.66 536.35 -8.74 860 5719.29 roll -1.54 - - 1946.56 - 2.61 0.026 2336.25 431.9 -82.73 - - 3112.94 - - - - - - - - - 16.00 -
6031.13 560.89 -7.47 882 6032.46 no move -1.54 - - 1946.25 - - - 2335.62 - -82.73 - - 3111.12 - - - - - - - - - - -
6346.14 585.19 -7.53 903 6347.47 no move -1.54 - - 1946.31 - - - 2335.69 - -82.73 - - 3110.53 - - - - - - - - - - -
6661.16 608.94 -7.46 924 6665.80 roll -1.54 - - 1946.44 - 2.80 0.085 3426.38 389.5 -82.73 - - 3110.38 - - - - - - - - - 15.89 -
6740.02 615.24 -7.93 935 6744.71 roll -1.54 - - 1945.06 - 2.64 0.018 2235.06 -451.3 -82.73 - - 3110.88 - - - - - - - - - 16.00 -
7056.50 637.69 -7.19 957 7057.83 no move -1.54 - - 1946.25 - - - 2233.81 - -82.73 - - 3109.97 - - - - - - - - - - -
7371.50 661.04 -7.68 978 7376.19 roll -1.54 - - 1945.00 - 3.07 0.081 3425.25 388.1 -82.73 - - 3109.97 - - - - - - - - - 15.87 -
7493.00 671.82 -9.09 996 7498.55 roll -1.54 - - 1946.50 - 2.63 0.019 2240.00 -450.7 -82.73 - - 3110.44 - - - - - - - - - 16.00 -
7812.41 696.39 -7.22 1018 7817.02 roll -1.54 - - 1946.69 - 2.56 0.067 1209.56 -402.5 -82.73 - - 3109.34 - - - - - - - - - 15.91 -
7933.90 705.57 -7.66 1036 7939.46 roll -1.54 - - 1946.62 - 2.61 0.027 2334.56 431.0 -82.73 - - 3110.06 - - - - - - - - - 16.00 -
8253.31 728.67 -7.01 1058 8257.96 roll -1.54 - - 1946.31 - 2.78 0.063 1209.19 -404.8 -82.73 - - 3109.78 - - - - - - - - - 15.91 -
8331.98 734.62 -7.50 1069 8336.60 roll -1.54 - - 1946.25 - 2.60 0.027 2330.50 431.3 -82.73 - - 3108.56 - - - - - - - - - 15.99 -
8648.57 757.22 -7.02 1091 8653.21 roll -1.54 - - 1946.56 - 2.78 0.062 1210.44 -402.9 -82.73 - - 3108.50 - - - - - - - - - 15.91 -
8707.85 761.53 -7.32 1100 8713.58 roll -1.54 - - 1946.44 - 2.59 0.027 2327.50 431.3 -82.73 - - 3109.25 - - - - - - - - - 16.00 -
9027.37 784.27 -7.35 1122 9032.02 roll -1.54 - - 1946.88 - 2.78 0.063 1209.19 -402.3 -82.73 - - 3110.91 - - - - - - - - - 15.90 -
9070.91 787.10 -7.46 1129 9085.85 roll -1.54 - - 1946.19 - 2.59 0.027 2324.69 430.7 -82.73 - - 3109.12 - - - - - - - - - 16.01 -
9400.31 811.21 -7.09 1151 9401.64 no move -1.54 - - 1946.50 - - - 2325.25 - -82.73 - - 3108.03 - - - - - - - - - - -
9715.32 832.64 -6.69 1172 9716.65 no move -1.54 - - 1946.19 - - - 2325.19 - -82.73 - - 3108.72 - - - - - - - - - - -
10030.34 853.18 -6.47 1193 10035.00 roll -1.54 - - 1946.12 - 2.79 0.064 1209.25 -400.0 -82.73 - - 3107.31 - - - - - - - - - 15.90 -
10094.62 857.08 -6.62 1203 10109.55 roll -1.54 - - 1946.31 - 2.59 0.027 2317.56 427.9 -82.73 - - 3107.78 - - - - - - - - - 16.00 -
10424.06 878.37 -6.31 1225 10425.39 no move -1.54 - - 1946.44 - - - 2317.75 - -82.73 - - 3107.09 - - - - - - - - - - -
10739.07 898.70 -6.66 1246 10740.40 no move -1.54 - - 1946.69 - - - 2317.44 - -82.73 - - 3106.84 - - - - - - - - - - -
11054.08 919.12 -6.47 1267 11055.41 no move -1.54 - - 1946.06 - - - 2317.31 - -82.73 - - 3106.84 - - - - - - - - - - -
11369.33 939.44 -6.46 1288 11373.99 roll -1.54 - - 1945.69 - 2.79 0.064 1209.81 -397.0 -82.73 - - 3108.69 - - - - - - - - - 15.88 -
11407.87 941.99 -6.67 1294 11413.42 roll -1.54 - - 1946.25 - 2.58 0.027 2316.94 429.1 -82.73 - - 3108.03 - - - - - - - - - 16.00 -
11727.69 963.11 -6.73 1316 11729.02 no move -1.54 - - 1946.12 - - - 2317.44 - -82.73 - - 3105.56 - - - - - - - - - - -
12042.47 984.65 -6.71 1337 12043.80 no move -1.54 - - 1946.31 - - - 2317.56 - -82.73 - - 3105.97 - - - - - - - - - - -
12132 end dive: TARGET_DEPTH_EXCEEDED
12132 begin apogee
12134.29 990.46 -6.42 1343 12209.85 -0.28 2.24 0.144 2254.88 137.8 0.16 0.155 2157.19 -1002.3 - 68.09 2.396 2774.12 -4.9 0.352 - - - - - - 15.72 15.14 10.07
12211 end apogee: CONTROL_FINISHED_OK
12212 begin climb
12212.35 991.90 - 1348 12300.24 1.54 3.08 0.114 2695.56 143.1 3.07 0.079 995.06 -378.5 82.73 71.33 2.386 2436.09 -4.7 0.344 - - - - - - 15.42 15.55 11.61
12323.34 987.03 5.37 1364 12407.18 1.69 0.22 0.077 2741.38 208.3 2.75 0.023 2136.38 415.0 158.52 67.50 2.363 2126.88 -4.6 0.335 - - - - - - 15.32 15.40 11.52
12720.02 949.98 10.01 1396 12724.68 done 1.69 - - 2740.62 - 2.79 0.082 3205.62 383.2 158.52 - - 2118.25 - - - - - - - - - 15.68 -
12784.42 943.64 10.68 1406 12799.25 done 1.69 - - 2741.00 - 2.66 0.024 2063.12 -429.5 158.52 - - 2118.59 - - - - - - - - - 15.74 -
13114.05 908.95 10.33 1428 13115.38 VBD 1.69 - - 2740.69 - - - 2063.19 - 158.52 - - 2115.69 - - - - - - - - - - -
13428.74 878.60 9.29 1449 13433.43 done 1.69 - - 2740.75 - 2.92 0.079 3203.62 390.6 158.52 - - 2114.88 - - - - - - - - - 15.81 -
13472.29 874.88 9.65 1456 13487.23 done 1.69 - - 2741.12 - 2.62 0.025 2064.31 -434.9 158.52 - - 2115.25 - - - - - - - - - 15.89 -
13801.70 843.62 9.35 1478 13806.39 done 1.69 - - 2740.75 - 2.94 0.079 3208.06 389.0 158.52 - - 2116.16 - - - - - - - - - 15.84 -
13840.26 839.89 9.74 1484 13845.81 done 1.69 - - 2741.06 - 2.62 0.025 2066.56 -435.7 158.52 - - 2114.81 - - - - - - - - - 15.91 -
14159.84 811.17 8.83 1506 14161.18 VBD 1.69 - - 2741.25 - - - 2066.88 - 158.52 - - 2113.34 - - - - - - - - - - -
14474.68 782.99 8.79 1527 14479.37 done 1.69 - - 2740.31 - 2.92 0.079 3204.44 389.6 158.52 - - 2114.56 - - - - - - - - - 15.85 -
14538.97 777.44 9.36 1537 14553.91 done 1.69 - - 2739.75 - 2.61 0.025 2069.31 -434.9 158.52 - - 2113.66 - - - - - - - - - 15.95 -
14868.38 749.26 8.28 1559 14869.72 VBD 1.69 - - 2741.50 - - - 2069.06 - 158.52 - - 2112.34 - - - - - - - - - - -
15183.40 723.90 7.98 1580 15188.27 done 1.69 - - 2741.12 - 2.92 0.080 3205.38 389.2 158.52 - - 2112.94 - - - - - - - - - 15.86 -
15227.10 720.69 8.30 1587 15241.91 done 1.69 - - 2741.06 - 2.60 0.025 2070.25 -436.6 158.52 - - 2114.38 - - - - - - - - - 15.96 -
15556.41 694.15 7.87 1609 15557.74 VBD 1.70 - - 2741.38 - - - 2070.38 - 158.52 - - 2112.66 - - - - - - - - - - -
15871.43 670.21 7.62 1630 15876.08 done 1.72 - - 2741.19 - 2.76 0.086 993.44 -390.2 158.52 - - 2113.44 - - - - - - - - - 15.83 -
15972.54 661.74 8.50 1645 15978.09 done 1.72 - - 2741.25 - 2.66 0.025 2143.81 432.5 158.52 - - 2112.50 - - - - - - - - - 15.97 -
16291.97 637.44 7.58 1667 16296.66 done 1.74 - - 2741.44 - 2.95 0.080 994.94 -389.4 158.52 - - 2112.81 - - - - - - - - - 15.84 -
16335.54 634.39 7.90 1674 16350.46 done 1.75 - - 2740.81 - 2.66 0.025 2142.06 431.2 158.52 - - 2112.56 - - - - - - - - - 15.98 -
16664.97 608.10 7.81 1696 16669.62 done 1.76 - - 2740.81 - 2.74 0.083 3205.44 388.1 158.52 - - 2111.53 - - - - - - - - - 15.86 -
16703.74 604.97 8.11 1702 16709.30 done 1.76 - - 2741.25 - 2.62 0.024 2064.69 -435.4 158.52 - - 2112.44 - - - - - - - - - 15.98 -
17023.33 579.10 8.00 1724 17024.66 VBD 1.76 - - 2741.38 - - - 2064.62 - 158.52 - - 2111.62 - - - - - - - - - - -
17338.25 554.94 7.48 1745 17343.13 done 1.78 - - 2741.06 - 2.94 0.079 3205.12 387.9 158.52 - - 2110.66 - - - - - - - - - 15.85 -
17381.98 551.79 8.11 1752 17396.75 done 1.78 - - 2740.75 - 2.62 0.025 2067.81 -434.1 158.52 - - 2112.09 - - - - - - - - - 15.98 -
17711.24 526.40 7.35 1774 17715.92 done 1.80 - - 2741.62 - 2.93 0.079 3204.56 388.0 158.52 - - 2110.91 - - - - - - - - - 15.85 -
17789.92 520.20 7.83 1785 17794.55 done 1.81 - - 2741.62 - 2.60 0.024 2071.06 -436.0 158.52 - - 2110.97 - - - - - - - - - 15.97 -
18097.91 497.55 7.45 1807 18102.59 done 1.83 - - 2741.25 - 2.92 0.079 3204.69 388.2 158.52 - - 2110.81 - - - - - - - - - 15.85 -
18199.41 489.85 7.67 1821 18214.38 1.85 0.17 0.093 2779.38 224.3 2.60 0.025 2071.00 -436.0 158.52 - - 2112.72 - - - - - - - - 15.80 15.98 -
18516.28 465.79 7.50 1850 18520.97 done 1.87 - - 2780.19 - 2.91 0.078 3204.94 389.7 158.52 - - 2112.19 - - - - - - - - - 15.85 -
18664.99 453.12 8.73 1870 18679.90 done 1.87 - - 2779.19 - 2.56 0.024 2085.44 -437.3 158.52 - - 2113.00 - - - - - - - - - 15.98 -
18981.17 427.76 8.18 1899 18985.84 done 1.87 - - 2779.69 - 2.79 0.085 993.81 -391.3 158.52 - - 2110.56 - - - - - - - - - 15.82 -
19066.94 420.14 8.99 1911 19082.07 done 1.87 - - 2779.88 - 2.72 0.025 2164.44 430.4 158.52 - - 2111.88 - - - - - - - - - 15.98 -
19384.04 394.75 7.68 1940 19388.73 done 1.89 - - 2779.62 - 3.00 0.079 993.56 -390.3 158.52 - - 2110.53 - - - - - - - - - 15.82 -
19452.71 388.91 8.35 1949 19457.37 done 1.89 - - 2779.50 - 2.71 0.025 2161.19 430.9 158.52 - - 2110.69 - - - - - - - - - 15.97 -
19764.74 365.26 7.48 1978 19769.39 done 1.90 - - 2779.69 - 2.70 0.082 3205.75 386.9 158.52 - - 2112.16 - - - - - - - - - 15.84 -
19803.30 362.30 7.73 1984 19818.22 done 1.92 - - 2779.38 - 2.58 0.024 2078.50 -436.9 158.52 - - 2111.09 - - - - - - - - - 15.98 -
20119.53 340.07 6.79 2013 20130.60 VBD 1.95 - - 2779.75 - - - 2078.81 - 158.52 - - 2111.47 - - - - - - - - - - -
20432.50 319.51 6.43 2042 20482.87 2.05 0.23 0.078 2827.75 208.7 2.81 0.086 995.00 -385.7 208.25 39.86 1.594 1925.44 -4.7 0.164 - - - - - - 15.93 15.32 10.43
20500.79 314.06 7.99 2051 20515.76 roll 2.05 - - 2828.75 - 2.73 0.024 2155.44 425.1 208.25 - - 1922.94 - - - - - - - - - 15.82 -
20819.10 285.99 8.91 2096 20824.53 roll 2.05 - - 2829.12 - 2.72 0.081 3204.69 385.8 208.25 - - 1921.78 - - - - - - - - - 15.77 -
20913.94 276.66 9.83 2115 20919.49 roll 2.05 - - 2829.19 - 2.60 0.024 2082.50 -431.6 208.25 - - 1918.84 - - - - - - - - - 15.85 -
21224.06 248.93 9.18 2177 21229.62 done 2.05 - - 2829.06 - 2.80 0.082 993.69 -388.9 208.25 - - 1918.00 - - - - - - - - - 15.77 -
21299.24 241.27 10.30 2192 21304.64 done 2.05 - - 2829.69 - 2.73 0.025 2159.88 427.2 208.25 - - 1917.47 - - - - - - - - - 15.90 -
21609.12 212.47 9.36 2254 21615.01 done 2.05 - - 2829.06 - 2.69 0.081 3206.38 389.0 208.25 - - 1917.38 - - - - - - - - - 15.81 -
21664.12 206.84 10.36 2265 21669.66 done 2.05 - - 2829.12 - 2.58 0.023 2081.19 -436.1 208.25 - - 1917.31 - - - - - - - - - 15.91 -
21974.17 176.37 9.78 2327 21979.99 done 2.05 - - 2827.94 - 2.90 0.077 3204.94 387.5 208.25 - - 1917.66 - - - - - - - - - 15.82 -
22004.17 173.32 10.08 2333 22009.90 done 2.05 - - 2829.44 - 2.57 0.023 2083.56 -436.3 208.25 - - 1916.69 - - - - - - - - - 15.93 -
22314.23 145.65 8.39 2395 22315.56 VBD 2.05 - - 2828.69 - - - 2083.31 - 208.25 - - 1916.09 - - - - - - - - - - -
22619.28 119.70 8.67 2456 22620.61 VBD 2.05 - - 2829.00 - - - 2083.69 - 208.25 - - 1916.22 - - - - - - - - - - -
22924.33 92.91 9.19 2517 22925.66 VBD 2.05 - - 2829.44 - - - 2083.25 - 208.25 - - 1916.50 - - - - - - - - - - -
23109.35 76.01 8.75 2554 23114.93 done 2.05 - - 2828.38 - 2.88 0.076 3205.31 389.6 208.25 - - 1917.66 - - - - - - - - - 15.84 -
23144.35 72.47 10.13 2561 23149.89 done 2.05 - - 2830.19 - 2.55 0.023 2085.62 -439.1 208.25 - - 1918.06 - - - - - - - - - 15.95 -
23334.40 56.86 6.73 2599 23339.95 done 2.09 - - 2829.94 - 2.78 0.081 993.81 -392.7 208.25 - - 1916.94 - - - - - - - - - 15.83 -
23479.80 48.59 5.42 2628 23543.05 2.24 0.21 0.077 2876.69 222.6 2.72 0.023 2167.56 431.5 282.72 57.85 1.222 1621.69 -5.1 0.035 - - - - - - 15.78 15.96 10.66
23725.28 35.83 5.57 2677 23787.39 done 2.38 - - 2876.94 - 3.08 0.078 994.88 -380.7 353.51 55.60 1.175 1334.41 -5.2 0.028 - - - - - - - 15.34 11.31
23945.28 15.55 11.00 2721 23950.85 roll 2.38 - - 2877.31 - 2.73 0.023 2153.50 424.4 353.51 - - 1327.22 - - - - - - - - - 15.73 -
24075 end climb: SURFACE_DEPTH_REACHED
24075 begin surface coast
24120 end surface coast: CONTROL_FINISHED_OK
24120 begin surface
SM 0.26 - - - - 179.4 54.69 1.145 1043.7 19.1 16.80 0.044 996.9 59.3 - 0.43 0.067 1090.4 2529.5 -1.003 - - 11.23 15.73 15.77 -