NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 617 * Raw log
prev dive * next dive * dive
• Previous call tries 5 • 204.74 of 550.00 AH used of 24V (62.77% remains)
• Surface angle -61.1 deg, depth 0.57 m • Intended pitch -20.3 deg, speed -8.462 cm/s
• No surface pump (final VBD was 974.8, SM_CC=425)
• GPS1 time: 29 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
5.33 - - - 72.05 VBD -1.29 - - 178.00 - - - 2395.12 - -82.73 65.56 0.005 2698.66 - - - - - - - - - - 15.28
72.79 3.18 -5.02 12 105.57 -1.29 14.62 0.251 2015.00 125.6 2.60 0.083 3429.88 398.0 -82.73 8.43 0.007 3112.22 49.1 -3.757 - - - - - - 15.46 15.22 15.37
122.65 16.19 -21.58 22 128.17 roll -1.29 - - 2015.12 - 2.59 0.019 2250.25 -455.5 -82.73 - - 3113.00 - - - - - - - - - 15.77 -
313.35 43.28 -11.50 60 314.68 no move -1.29 - - 2014.75 - - - 2248.12 - -82.73 - - 3111.44 - - - - - - - - - - -
497.78 64.88 -12.07 97 502.90 roll -1.29 - - 2014.81 - 2.48 0.063 1207.75 -419.5 -82.73 - - 3114.94 - - - - - - - - - 15.85 -
562.80 72.76 -11.87 110 568.35 roll -1.29 - - 2013.56 - 2.61 0.027 2355.94 439.9 -82.73 - - 3114.97 - - - - - - - - - 15.85 -
753.26 93.16 -9.68 148 754.59 no move -1.29 - - 2015.00 - - - 2355.69 - -82.73 - - 3112.72 - - - - - - - - - - -
937.92 110.89 -9.68 185 943.48 roll -1.29 - - 2015.00 - 2.63 0.081 3427.44 407.5 -82.73 - - 3113.72 - - - - - - - - - 15.87 -
1173.00 137.84 -11.20 232 1178.54 roll -1.29 - - 2014.88 - 2.56 0.019 2240.81 -463.5 -82.73 - - 3113.06 - - - - - - - - - 15.91 -
1483.11 163.67 -7.91 294 1488.69 roll -1.29 - - 2014.94 - 2.93 0.077 3427.44 405.0 -82.73 - - 3115.06 - - - - - - - - - 15.90 -
1663.16 180.06 -9.09 330 1668.69 roll -1.29 - - 2014.25 - 2.56 0.020 2243.56 -462.5 -82.73 - - 3115.34 - - - - - - - - - 15.94 -
1973.43 204.42 -7.56 392 1974.76 no move -1.29 - - 2014.94 - - - 2242.88 - -82.73 - - 3112.53 - - - - - - - - - - -
2278.32 226.33 -7.16 453 2283.91 roll -1.29 - - 2015.44 - 2.92 0.079 3427.44 405.7 -82.73 - - 3112.16 - - - - - - - - - 15.91 -
2383.34 235.11 -8.54 474 2388.87 roll -1.29 - - 2015.38 - 2.54 0.020 2247.62 -464.5 -82.73 - - 3112.41 - - - - - - - - - 15.97 -
2693.38 257.74 -7.14 536 2698.97 roll -1.29 - - 2015.00 - 2.92 0.080 3428.00 404.2 -82.73 - - 3111.66 - - - - - - - - - 15.92 -
2793.39 265.83 -8.06 556 2798.93 roll -1.29 - - 2015.12 - 2.55 0.020 2246.19 -463.5 -82.73 - - 3112.56 - - - - - - - - - 15.97 -
3103.44 288.96 -7.76 618 3109.03 roll -1.29 - - 2014.44 - 2.92 0.081 3426.19 404.1 -82.73 - - 3112.31 - - - - - - - - - 15.91 -
3178.44 295.72 -9.27 633 3183.98 roll -1.29 - - 2015.31 - 2.55 0.021 2248.31 -461.9 -82.73 - - 3111.97 - - - - - - - - - 15.97 -
3488.81 321.53 -8.68 667 3499.88 no move -1.29 - - 2014.88 - - - 2246.62 - -82.73 - - 3109.78 - - - - - - - - - - -
3802.10 349.23 -8.76 696 3806.79 roll -1.29 - - 2014.62 - 2.91 0.082 3425.31 405.0 -82.73 - - 3107.28 - - - - - - - - - 15.92 -
3870.89 355.99 -9.66 705 3875.50 roll -1.29 - - 2014.88 - 2.55 0.021 2248.19 -461.6 -82.73 - - 3108.38 - - - - - - - - - 16.00 -
4182.46 383.59 -9.03 734 4187.14 roll -1.29 - - 2015.12 - 2.91 0.083 3424.62 404.3 -82.73 - - 3107.50 - - - - - - - - - 15.91 -
4266.86 392.02 -9.96 745 4271.48 roll -1.29 - - 2014.50 - 2.54 0.021 2248.25 -463.1 -82.73 - - 3106.81 - - - - - - - - - 15.99 -
4578.12 420.25 -9.14 774 4589.19 no move -1.29 - - 2015.06 - - - 2247.12 - -82.73 - - 3106.56 - - - - - - - - - - -
4891.56 447.96 -8.66 803 4902.63 no move -1.29 - - 2014.94 - - - 2246.81 - -82.73 - - 3106.28 - - - - - - - - - - -
5204.37 474.32 -8.28 832 5209.05 roll -1.29 - - 2015.62 - 2.92 0.084 3426.62 404.0 -82.73 - - 3104.56 - - - - - - - - - 15.91 -
5320.26 484.80 -8.97 847 5324.87 roll -1.29 - - 2014.94 - 2.55 0.021 2248.25 -462.1 -82.73 - - 3106.53 - - - - - - - - - 15.99 -
5629.20 508.16 -7.47 873 5633.88 roll -1.29 - - 2015.00 - 2.92 0.084 3427.00 403.7 -82.73 - - 3104.47 - - - - - - - - - 15.90 -
5687.13 512.94 -8.03 881 5691.74 roll -1.29 - - 2015.19 - 2.55 0.022 2248.06 -462.3 -82.73 - - 3104.03 - - - - - - - - - 15.99 -
6003.78 537.35 -7.88 903 6005.11 no move -1.29 - - 2014.94 - - - 2246.19 - -82.73 - - 3102.62 - - - - - - - - - - -
6318.78 560.38 -7.10 924 6323.47 roll -1.29 - - 2015.38 - 2.92 0.085 3428.06 404.8 -82.73 - - 3101.91 - - - - - - - - - 15.90 -
6440.29 570.35 -8.39 942 6445.82 roll -1.29 - - 2015.12 - 2.55 0.022 2250.12 -461.9 -82.73 - - 3102.38 - - - - - - - - - 16.01 -
6759.70 593.12 -6.97 964 6761.03 no move -1.29 - - 2015.44 - - - 2250.31 - -82.73 - - 3101.00 - - - - - - - - - - -
7074.71 615.30 -7.13 985 7076.04 no move -1.29 - - 2015.19 - - - 2249.69 - -82.73 - - 3100.81 - - - - - - - - - - -
7390.23 638.35 -7.19 1006 7394.91 roll -1.29 - - 2015.12 - 2.91 0.086 3426.00 404.2 -82.73 - - 3099.78 - - - - - - - - - 15.88 -
7470.25 644.86 -8.10 1018 7475.78 roll -1.29 - - 2015.12 - 2.54 0.022 2251.56 -462.4 -82.73 - - 3102.34 - - - - - - - - - 16.00 -
7789.65 668.68 -7.44 1040 7790.98 no move -1.29 - - 2014.56 - - - 2251.38 - -82.73 - - 3099.09 - - - - - - - - - - -
8104.67 691.51 -7.20 1061 8106.00 no move -1.29 - - 2015.00 - - - 2251.19 - -82.73 - - 3098.94 - - - - - - - - - - -
8419.68 714.47 -7.40 1082 8424.36 roll -1.29 - - 2014.38 - 2.91 0.087 3426.06 403.7 -82.73 - - 3098.62 - - - - - - - - - 15.87 -
8499.72 720.93 -8.13 1094 8505.25 roll -1.29 - - 2014.94 - 2.54 0.022 2250.38 -462.9 -82.73 - - 3099.56 - - - - - - - - - 16.00 -
8819.14 744.02 -7.09 1116 8824.00 roll -1.29 - - 2014.81 - 2.93 0.087 3425.88 401.2 -82.73 - - 3102.25 - - - - - - - - - 15.86 -
8877.23 748.58 -7.64 1124 8881.84 roll -1.29 - - 2014.38 - 2.53 0.022 2250.62 -464.5 -82.73 - - 3098.19 - - - - - - - - - 15.99 -
9194.03 770.33 -6.75 1146 9198.71 roll -1.29 - - 2015.00 - 2.94 0.087 3427.00 400.1 -82.73 - - 3100.78 - - - - - - - - - 15.86 -
9253.31 774.79 -7.43 1155 9258.85 roll -1.29 - - 2015.25 - 2.55 0.022 2251.38 -461.0 -82.73 - - 3098.41 - - - - - - - - - 15.99 -
9572.71 797.14 -7.00 1177 9574.04 no move -1.29 - - 2015.06 - - - 2251.06 - -82.73 - - 3097.53 - - - - - - - - - - -
9887.74 819.26 -7.03 1198 9889.07 no move -1.29 - - 2014.94 - - - 2251.31 - -82.73 - - 3096.66 - - - - - - - - - - -
10202.75 841.86 -7.39 1219 10204.08 no move -1.29 - - 2014.50 - - - 2251.12 - -82.73 - - 3096.41 - - - - - - - - - - -
10517.78 864.59 -7.17 1240 10519.11 no move -1.29 - - 2014.75 - - - 2251.31 - -82.73 - - 3097.56 - - - - - - - - - - -
10832.80 886.95 -6.79 1261 10837.47 roll -1.29 - - 2014.75 - 2.94 0.088 3424.38 399.0 -82.73 - - 3097.22 - - - - - - - - - 15.83 -
10954.27 896.02 -7.60 1279 10959.81 roll -1.29 - - 2014.81 - 2.55 0.022 2250.94 -460.2 -82.73 - - 3096.94 - - - - - - - - - 15.99 -
11273.68 917.02 -6.41 1301 11278.36 roll -1.29 - - 2014.94 - 2.95 0.088 3426.06 398.3 -82.73 - - 3095.03 - - - - - - - - - 15.83 -
11395.16 925.83 -7.42 1319 11400.69 roll -1.29 - - 2015.06 - 2.55 0.022 2251.62 -460.6 -82.73 - - 3096.38 - - - - - - - - - 16.00 -
11714.76 946.07 -6.33 1341 11716.09 no move -1.29 - - 2014.75 - - - 2251.31 - -82.73 - - 3095.00 - - - - - - - - - - -
12029.71 965.45 -6.11 1362 12034.39 roll -1.29 - - 2014.75 - 2.97 0.088 3425.38 395.3 -82.73 - - 3094.72 - - - - - - - - - 15.82 -
12108.37 970.79 -6.71 1373 12112.98 roll -1.29 - - 2014.62 - 2.55 0.023 2249.88 -461.0 -82.73 - - 3097.34 - - - - - - - - - 15.98 -
12424.85 989.37 -5.81 1395 12426.18 no move -1.29 - - 2015.00 - - - 2248.94 - -82.73 - - 3094.25 - - - - - - - - - - -
12439 end dive: TARGET_DEPTH_EXCEEDED
12439 begin apogee
12441.63 990.25 -5.80 1396 12517.18 -0.28 1.74 0.140 2263.88 143.0 0.14 0.184 2289.25 287.9 - 62.45 2.437 2776.00 -5.1 0.349 - - - - - - 15.74 15.50 10.39
12518 end apogee: CONTROL_FINISHED_OK
12518 begin climb
12519.28 991.61 - 1401 12593.45 1.29 2.52 0.090 2649.81 153.1 - - 2289.44 - 82.73 68.46 2.353 2437.84 -4.9 0.351 - - - - - - 15.58 - 12.14
12905.78 967.30 7.14 1427 12910.45 roll 1.32 - - 2649.38 - 2.88 0.078 1133.75 -401.3 82.73 - - 2430.47 - - - - - - - - - 15.66 -
13027.29 958.38 7.48 1445 13033.02 roll 1.34 - - 2649.94 - 2.65 0.031 2272.12 429.6 82.73 - - 2430.25 - - - - - - - - - 15.73 -
13346.86 936.78 6.83 1467 13351.52 roll 1.37 - - 2649.81 - 2.82 0.076 1131.25 -404.6 82.73 - - 2429.38 - - - - - - - - - 15.77 -
13411.14 932.56 7.16 1477 13426.06 roll 1.40 - - 2649.56 - 2.63 0.031 2271.50 433.6 82.73 - - 2430.66 - - - - - - - - - 15.82 -
13740.55 910.95 6.15 1499 13786.49 1.49 0.22 0.076 2703.81 246.6 - - 2271.62 - 126.13 35.94 2.262 2260.78 -4.7 0.321 - - - - - - 15.83 - 11.44
14100.55 879.86 8.79 1523 14105.21 roll 1.49 - - 2704.88 - 2.82 0.077 1132.69 -403.9 126.13 - - 2257.81 - - - - - - - - - 15.76 -
14144.10 876.33 9.16 1530 14159.03 roll 1.49 - - 2705.12 - 2.63 0.031 2270.62 432.7 126.13 - - 2256.03 - - - - - - - - - 15.79 -
14473.50 846.37 9.10 1552 14478.14 roll 1.49 - - 2704.75 - 2.80 0.076 1132.44 -406.5 126.13 - - 2254.03 - - - - - - - - - 15.81 -
14553.51 838.77 9.60 1564 14559.06 roll 1.49 - - 2704.62 - 2.62 0.031 2271.69 434.8 126.13 - - 2255.06 - - - - - - - - - 15.86 -
14872.92 809.51 9.30 1586 14877.56 roll 1.49 - - 2703.69 - 2.80 0.076 1130.81 -407.5 126.13 - - 2254.34 - - - - - - - - - 15.83 -
14993.06 797.57 10.00 1603 14997.88 roll 1.49 - - 2704.12 - 2.61 0.032 2269.50 436.3 126.13 - - 2252.75 - - - - - - - - - 15.89 -
15309.70 768.49 9.10 1625 15314.34 roll 1.49 - - 2702.88 - 2.80 0.076 1131.25 -406.5 126.13 - - 2254.41 - - - - - - - - - 15.85 -
15389.71 760.65 9.86 1637 15395.60 roll 1.49 - - 2704.56 - 2.62 0.032 2271.19 435.1 126.13 - - 2253.88 - - - - - - - - - 15.93 -
15709.14 731.41 8.99 1659 15710.47 no move 1.49 - - 2704.69 - - - 2271.00 - 126.13 - - 2252.12 - - - - - - - - - - -
16024.16 704.52 8.43 1680 16028.81 roll 1.49 - - 2704.62 - 2.80 0.076 1131.25 -407.1 126.13 - - 2252.28 - - - - - - - - - 15.86 -
16088.45 699.35 8.77 1690 16103.39 roll 1.49 - - 2704.56 - 2.62 0.032 2273.94 436.1 126.13 - - 2253.34 - - - - - - - - - 15.95 -
16417.87 671.84 8.04 1712 16422.51 done 1.49 - - 2705.00 - 2.79 0.076 1132.19 -409.2 126.13 - - 2251.06 - - - - - - - - - 15.86 -
16579.50 658.36 8.37 1735 16584.12 done 1.49 - - 2704.81 - 2.60 0.032 2272.06 438.4 126.13 - - 2252.25 - - - - - - - - - 15.94 -
16895.99 634.18 7.75 1757 16900.64 done 1.50 - - 2704.94 - 2.77 0.076 1131.19 -411.9 126.13 - - 2250.81 - - - - - - - - - 15.86 -
16955.27 629.46 8.02 1766 16960.80 done 1.50 - - 2702.88 - 2.60 0.032 2272.12 438.8 126.13 - - 2253.31 - - - - - - - - - 15.96 -
17274.88 604.22 7.77 1788 17279.58 done 1.51 - - 2705.00 - 2.78 0.076 1130.00 -410.8 126.13 - - 2251.91 - - - - - - - - - 15.86 -
17395.00 594.11 8.41 1805 17399.63 done 1.51 - - 2704.56 - 2.62 0.031 2271.81 435.8 126.13 - - 2250.88 - - - - - - - - - 15.96 -
17711.49 569.61 7.67 1827 17712.82 VBD 1.53 - - 2704.69 - - - 2272.06 - 126.13 - - 2250.91 - - - - - - - - - - -
18026.51 544.99 7.75 1848 18031.16 done 1.54 - - 2704.88 - 2.77 0.076 1130.25 -412.2 126.13 - - 2250.75 - - - - - - - - - 15.86 -
18127.26 536.74 8.32 1863 18132.81 done 1.54 - - 2704.56 - 2.61 0.031 2272.81 437.8 126.13 - - 2254.25 - - - - - - - - - 15.98 -
18446.85 512.55 7.45 1885 18451.50 done 1.56 - - 2704.19 - 2.78 0.075 1132.31 -410.3 126.13 - - 2250.28 - - - - - - - - - 15.86 -
18531.88 506.36 7.80 1898 18546.78 done 1.58 - - 2704.69 - 2.60 0.031 2273.38 438.9 126.13 - - 2251.75 - - - - - - - - - 15.98 -
18858.08 483.37 6.75 1926 18862.72 done 1.61 - - 2703.06 - 2.78 0.075 1131.19 -410.9 126.13 - - 2253.62 - - - - - - - - - 15.85 -
18912.37 479.49 7.15 1934 18927.28 done 1.64 - - 2704.00 - 2.60 0.031 2272.44 438.9 126.13 - - 2253.56 - - - - - - - - - 15.98 -
19239.05 457.54 6.77 1964 19250.23 1.67 0.19 0.078 2751.25 248.7 - - 2272.31 - 126.13 - - 2252.47 - - - - - - - - 15.94 - -
19552.21 432.11 8.64 1993 19556.86 done 1.67 - - 2750.44 - 2.78 0.075 1131.38 -410.4 126.13 - - 2251.66 - - - - - - - - - 15.84 -
19762.46 412.17 9.64 2020 19767.08 done 1.67 - - 2751.00 - 2.60 0.031 2272.25 438.8 126.13 - - 2250.88 - - - - - - - - - 15.97 -
20074.01 384.81 9.04 2049 20078.66 done 1.67 - - 2750.75 - 2.77 0.075 1131.12 -412.0 126.13 - - 2251.91 - - - - - - - - - 15.84 -
20191.42 373.66 9.53 2065 20206.34 done 1.67 - - 2751.38 - 2.60 0.031 2273.31 439.3 126.13 - - 2252.47 - - - - - - - - - 15.98 -
20507.32 347.31 8.66 2094 20518.81 VBD 1.67 - - 2751.75 - - - 2273.62 - 126.13 - - 2252.16 - - - - - - - - - - -
20820.35 320.39 8.01 2123 20825.22 done 1.67 - - 2751.50 - 2.77 0.074 1131.00 -412.5 126.13 - - 2255.09 - - - - - - - - - 15.84 -
20951.94 309.07 8.65 2140 20956.56 done 1.67 - - 2751.25 - 2.60 0.031 2271.62 438.7 126.13 - - 2255.00 - - - - - - - - - 15.97 -
21262.14 285.33 7.47 2189 21267.70 done 1.69 - - 2751.94 - 2.76 0.074 1132.56 -412.7 126.13 - - 2252.00 - - - - - - - - - 15.83 -
21317.34 281.01 7.95 2200 21322.68 done 1.70 - - 2751.56 - 2.59 0.030 2273.56 440.5 126.13 - - 2252.34 - - - - - - - - - 15.95 -
21627.25 260.27 6.36 2262 21664.10 done 1.78 - - 2751.62 - 2.76 0.077 1129.75 -414.4 165.51 30.64 1.502 2100.34 -5.0 0.145 - - - - - - - 15.78 10.91
21727.44 252.44 8.57 2282 21732.82 roll 1.78 - - 2752.06 - 2.62 0.030 2273.38 436.5 165.51 - - 2096.91 - - - - - - - - - 15.87 -
22037.33 227.10 8.03 2344 22042.88 roll 1.78 - - 2752.00 - 2.79 0.074 1130.06 -409.8 165.51 - - 2095.62 - - - - - - - - - 15.82 -
22162.34 216.22 8.70 2369 22167.88 roll 1.78 - - 2752.25 - 2.62 0.030 2272.50 436.0 165.51 - - 2095.91 - - - - - - - - - 15.88 -
22472.38 191.48 8.16 2431 22477.95 roll 1.78 - - 2752.62 - 2.77 0.073 1131.12 -412.1 165.51 - - 2094.62 - - - - - - - - - 15.82 -
22567.40 183.20 8.74 2450 22573.10 roll 1.78 - - 2752.06 - 2.60 0.030 2272.62 439.0 165.51 - - 2095.44 - - - - - - - - - 15.90 -
22877.45 159.91 7.45 2512 22883.00 roll 1.80 - - 2752.44 - 2.77 0.073 1130.12 -412.5 165.51 - - 2095.09 - - - - - - - - - 15.83 -
22997.45 149.70 9.01 2536 23003.01 roll 1.80 - - 2752.12 - 2.61 0.030 2273.69 438.1 165.51 - - 2095.88 - - - - - - - - - 15.92 -
23307.50 125.74 7.16 2598 23313.06 roll 1.83 - - 2751.94 - 2.77 0.072 1129.31 -413.1 165.51 - - 2094.31 - - - - - - - - - 15.84 -
23347.51 122.76 7.37 2606 23353.08 roll back 1.85 0.16 0.088 2795.25 270.7 2.59 0.029 2274.62 442.2 165.51 - - 2095.81 - - - - - - - - 15.74 15.93 -
23657.54 96.37 8.49 2668 23663.08 roll 1.85 - - 2796.69 - 2.66 0.090 3349.25 404.0 165.51 - - 2095.97 - - - - - - - - - 15.83 -
23822.96 85.89 5.12 2701 23875.34 done 1.97 - - 2796.44 - 2.56 0.023 2180.25 -456.6 228.10 47.69 1.278 1844.03 -5.3 0.060 - - - - - - - 15.94 11.36
24058.76 70.93 6.82 2748 24063.76 roll 2.01 - - 2796.88 - 2.54 0.076 1128.50 -414.1 228.10 - - 1839.38 - - - - - - - - - 15.79 -
24223.69 62.00 4.72 2781 24282.69 2.15 0.34 0.058 2869.00 212.1 2.62 0.028 2276.00 438.0 298.21 53.13 1.224 1558.59 -5.3 0.045 - - - - - - 15.68 15.83 11.70
24464.83 39.56 11.79 2829 24470.39 done 2.15 - - 2869.94 - 2.80 0.070 1130.00 -409.3 298.21 - - 1552.03 - - - - - - - - - 15.74 -
24509.83 34.44 11.23 2838 24515.73 done 2.15 - - 2869.88 - 2.63 0.028 2273.69 434.9 298.21 - - 1549.16 - - - - - - - - - 15.75 -
24699.92 30.31 0.79 2876 24813.67 2.43 0.31 0.061 2937.88 219.4 2.83 0.071 1130.44 -404.0 442.01 105.90 1.171 972.56 -5.4 0.024 - - - - - - 15.76 15.46 11.63
24995.92 7.37 11.98 2935 25001.48 roll 2.43 - - 2938.12 - 2.63 0.027 2272.94 434.4 442.01 - - 966.22 - - - - - - - - - 15.67 -
25025 end climb: SURFACE_DEPTH_REACHED
25025 begin surface coast
25060 end surface coast: CONTROL_FINISHED_OK
25061 begin surface
SM 0.38 - - - - 185.9 - - 963.8 - 17.09 0.044 952.9 55.8 - 0.13 0.131 974.8 7478.2 -2.217 - - 30.00 15.64 15.66 -