NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1105 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 391.47 of 550.00 AH used of 24V (28.82% remains)
• Surface angle -62.9 deg, depth 0.75 m • Intended pitch -25.2 deg, speed -8.462 cm/s
VBD pumped to 424.75 (SM_CC=425)
• GPS1 time: 20 s
• GPS2 time: 9 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
5.88 - - - 82.62 VBD -1.56 - - 178.38 - - - 2234.94 - -82.73 75.19 0.005 2875.31 - - - - - - - - - - 14.71
83.35 3.69 -4.84 14 111.56 -1.56 14.56 0.243 1941.56 121.1 2.53 0.068 1209.19 -405.4 -82.73 5.32 0.009 3111.25 44.3 -3.191 - - - - - - 15.29 14.78 14.98
143.64 16.26 -17.13 26 149.38 roll -1.56 - - 1941.19 - 2.68 0.027 2350.19 425.7 -82.73 - - 3113.53 - - - - - - - - - 15.73 -
334.23 42.75 -13.30 64 335.56 no move -1.56 - - 1941.62 - - - 2349.94 - -82.73 - - 3112.31 - - - - - - - - - - -
518.69 67.75 -13.10 101 524.28 roll -1.56 - - 1941.94 - 2.81 0.060 1208.94 -406.0 -82.73 - - 3113.53 - - - - - - - - - 15.79 -
568.69 73.97 -12.12 111 574.25 roll -1.56 - - 1941.31 - 2.63 0.026 2337.62 429.2 -82.73 - - 3113.69 - - - - - - - - - 15.84 -
759.15 92.62 -9.10 149 760.48 no move -1.56 - - 1941.38 - - - 2338.25 - -82.73 - - 3112.06 - - - - - - - - - - -
943.82 109.48 -9.68 186 949.38 roll -1.56 - - 1941.94 - 2.79 0.085 3426.50 390.1 -82.73 - - 3113.19 - - - - - - - - - 15.80 -
1038.85 119.32 -10.60 205 1044.41 roll -1.56 - - 1941.81 - 2.62 0.018 2236.38 -454.2 -82.73 - - 3113.16 - - - - - - - - - 15.88 -
1348.95 147.33 -8.96 267 1354.06 roll -1.56 - - 1941.56 - 2.50 0.064 1208.75 -411.1 -82.73 - - 3113.56 - - - - - - - - - 15.86 -
1398.95 151.96 -9.31 277 1404.51 roll -1.56 - - 1941.44 - 2.61 0.025 2340.69 433.7 -82.73 - - 3112.88 - - - - - - - - - 15.92 -
1709.24 178.04 -7.92 339 1714.67 roll -1.56 - - 1942.00 - 2.77 0.059 1209.25 -408.5 -82.73 - - 3113.12 - - - - - - - - - 15.88 -
1754.06 181.84 -8.45 348 1759.62 roll -1.56 - - 1941.81 - 2.62 0.025 2339.38 431.3 -82.73 - - 3113.06 - - - - - - - - - 15.94 -
2064.17 207.02 -8.56 410 2065.50 no move -1.56 - - 1941.62 - - - 2339.19 - -82.73 - - 3112.69 - - - - - - - - - - -
2369.25 233.28 -8.52 471 2374.81 roll -1.56 - - 1941.38 - 2.76 0.059 1208.12 -409.8 -82.73 - - 3113.91 - - - - - - - - - 15.89 -
2434.27 238.90 -8.68 484 2439.80 roll -1.56 - - 1941.31 - 2.59 0.025 2335.62 435.3 -82.73 - - 3113.41 - - - - - - - - - 15.96 -
2744.35 263.20 -7.79 546 2745.68 no move -1.56 - - 1941.75 - - - 2335.19 - -82.73 - - 3112.69 - - - - - - - - - - -
3049.38 288.01 -8.34 607 3050.71 no move -1.56 - - 1941.75 - - - 2336.31 - -82.73 - - 3113.66 - - - - - - - - - - -
3352.95 314.20 -8.75 650 3357.59 roll -1.56 - - 1940.88 - 2.74 0.060 1209.06 -411.4 -82.73 - - 3113.19 - - - - - - - - - 15.91 -
3469.03 324.90 -9.22 665 3473.83 roll -1.56 - - 1941.31 - 2.59 0.026 2329.62 432.6 -82.73 - - 3111.91 - - - - - - - - - 15.98 -
3780.36 351.74 -8.35 694 3791.43 no move -1.56 - - 1941.25 - - - 2329.56 - -82.73 - - 3113.28 - - - - - - - - - - -
4093.28 376.42 -7.68 723 4097.93 roll -1.56 - - 1941.81 - 2.74 0.061 1207.69 -409.4 -82.73 - - 3112.12 - - - - - - - - - 15.90 -
4161.95 382.00 -8.03 732 4166.56 roll -1.56 - - 1941.62 - 2.57 0.026 2324.06 434.4 -82.73 - - 3112.53 - - - - - - - - - 15.98 -
4473.17 405.68 -7.66 761 4477.84 roll -1.56 - - 1941.62 - 2.83 0.087 3426.12 389.4 -82.73 - - 3111.50 - - - - - - - - - 15.85 -
4511.71 408.80 -8.11 767 4526.64 roll -1.56 - - 1940.94 - 2.64 0.019 2217.38 -457.9 -82.73 - - 3113.03 - - - - - - - - - 15.98 -
4827.85 432.27 -7.44 796 4838.93 no move -1.56 - - 1942.00 - - - 2217.00 - -82.73 - - 3112.47 - - - - - - - - - - -
5141.27 456.43 -8.24 825 5145.96 roll -1.56 - - 1941.25 - 3.09 0.082 3427.19 391.6 -82.73 - - 3110.72 - - - - - - - - - 15.84 -
5179.80 459.94 -8.97 831 5194.74 roll -1.56 - - 1941.50 - 2.63 0.020 2220.69 -458.7 -82.73 - - 3112.03 - - - - - - - - - 15.97 -
5495.94 487.79 -8.94 860 5507.02 no move -1.56 - - 1941.56 - - - 2221.25 - -82.73 - - 3111.47 - - - - - - - - - - -
5816.91 515.86 -8.50 885 5818.24 no move -1.56 - - 1941.50 - - - 2220.25 - -82.73 - - 3110.94 - - - - - - - - - - -
6131.72 541.54 -7.85 906 6136.47 roll -1.56 - - 1941.62 - 3.09 0.083 3425.94 390.2 -82.73 - - 3110.94 - - - - - - - - - 15.84 -
6170.25 544.71 -8.16 912 6175.80 roll -1.56 - - 1941.75 - 2.63 0.019 2225.00 -456.6 -82.73 - - 3110.62 - - - - - - - - - 15.98 -
6489.66 567.81 -6.95 934 6490.99 no move -1.56 - - 1941.50 - - - 2223.69 - -82.73 - - 3110.03 - - - - - - - - - - -
6804.67 589.26 -6.82 955 6809.36 roll -1.56 - - 1940.94 - 3.09 0.084 3426.88 389.4 -82.73 - - 3111.94 - - - - - - - - - 15.83 -
6883.33 595.43 -7.74 966 6887.96 roll -1.56 - - 1940.94 - 2.62 0.020 2227.38 -457.8 -82.73 - - 3111.34 - - - - - - - - - 15.97 -
7199.81 617.18 -6.78 988 7201.14 no move -1.56 - - 1941.44 - - - 2226.81 - -82.73 - - 3109.94 - - - - - - - - - - -
7515.01 637.81 -6.28 1009 7516.34 no move -1.56 - - 1941.81 - - - 2226.88 - -82.73 - - 3108.72 - - - - - - - - - - -
7829.87 657.85 -6.35 1030 7831.20 no move -1.56 - - 1941.00 - - - 2226.69 - -82.73 - - 3108.31 - - - - - - - - - - -
8144.87 677.71 -6.21 1051 8146.20 no move -1.56 - - 1941.81 - - - 2226.50 - -82.73 - - 3107.84 - - - - - - - - - - -
8459.89 697.36 -6.26 1072 8464.59 roll -1.56 - - 1940.88 - 3.09 0.082 3424.88 387.8 -82.73 - - 3109.53 - - - - - - - - - 15.83 -
8503.44 699.99 -6.70 1079 8518.38 roll -1.56 - - 1941.19 - 2.62 0.019 2227.62 -457.0 -82.73 - - 3110.03 - - - - - - - - - 15.98 -
8832.85 722.35 -6.86 1101 8837.54 roll -1.56 - - 1940.19 - 3.08 0.083 3426.00 389.1 -82.73 - - 3110.50 - - - - - - - - - 15.82 -
8892.32 726.87 -7.57 1110 8897.74 roll -1.56 - - 1941.00 - 2.63 0.019 2231.94 -454.0 -82.73 - - 3110.09 - - - - - - - - - 15.96 -
9211.55 750.06 -7.24 1132 9212.88 no move -1.56 - - 1941.12 - - - 2230.88 - -82.73 - - 3107.81 - - - - - - - - - - -
9526.55 773.41 -7.27 1153 9527.88 no move -1.56 - - 1941.31 - - - 2230.81 - -82.73 - - 3106.69 - - - - - - - - - - -
9841.57 796.53 -7.22 1174 9846.19 roll -1.56 - - 1941.75 - 2.51 0.069 1209.12 -407.0 -82.73 - - 3106.78 - - - - - - - - - 15.86 -
9864.37 797.75 -7.24 1178 9879.30 roll -1.56 - - 1941.31 - 2.60 0.027 2333.38 432.4 -82.73 - - 3106.72 - - - - - - - - - 15.98 -
10193.78 821.42 -6.94 1200 10195.11 no move -1.56 - - 1942.00 - - - 2333.88 - -82.73 - - 3106.97 - - - - - - - - - - -
10508.80 842.25 -6.51 1221 10513.45 roll -1.56 - - 1941.31 - 2.76 0.064 1209.06 -407.5 -82.73 - - 3105.69 - - - - - - - - - 15.85 -
10589.03 847.77 -6.95 1233 10594.57 roll -1.56 - - 1941.31 - 2.60 0.028 2330.31 431.2 -82.73 - - 3107.47 - - - - - - - - - 15.98 -
10908.45 868.17 -6.27 1255 10913.11 roll -1.56 - - 1941.06 - 2.82 0.089 3423.62 387.7 -82.73 - - 3107.81 - - - - - - - - - 15.79 -
10946.98 870.77 -6.65 1261 10952.53 roll -1.56 - - 1940.75 - 2.63 0.020 2226.00 -455.4 -82.73 - - 3107.75 - - - - - - - - - 15.97 -
11266.39 891.57 -6.59 1283 11267.72 no move -1.56 - - 1941.56 - - - 2225.19 - -82.73 - - 3106.44 - - - - - - - - - - -
11581.41 913.15 -7.01 1304 11582.74 no move -1.56 - - 1941.50 - - - 2225.75 - -82.73 - - 3105.44 - - - - - - - - - - -
11896.61 935.98 -7.27 1325 11897.94 no move -1.56 - - 1941.56 - - - 2226.00 - -82.73 - - 3105.16 - - - - - - - - - - -
12211.56 958.82 -7.20 1346 12212.89 no move -1.56 - - 1941.06 - - - 2225.81 - -82.73 - - 3105.09 - - - - - - - - - - -
12526.47 980.69 -6.75 1367 12531.17 roll -1.56 - - 1941.31 - 3.09 0.085 3425.38 388.2 -82.73 - - 3104.56 - - - - - - - - - 15.77 -
12585.73 984.95 -7.19 1376 12591.28 roll -1.56 - - 1940.94 - 2.63 0.020 2228.38 -455.1 -82.73 - - 3106.28 - - - - - - - - - 15.96 -
12664 end dive: TARGET_DEPTH_EXCEEDED
12665 begin apogee
12666.97 990.36 -6.73 1382 12742.65 -0.28 2.26 0.141 2253.25 138.2 0.15 0.164 2160.25 -454.2 - 67.46 2.408 2774.06 -4.9 0.355 - - - - - - 15.67 15.10 10.05
12744 end apogee: CONTROL_FINISHED_OK
12744 begin climb
12745.29 992.16 - 1387 12833.25 1.56 3.14 0.115 2701.44 142.7 3.01 0.080 992.69 -387.9 82.73 72.08 2.391 2436.81 -4.7 0.341 - - - - - - 15.38 15.53 11.52
12854.99 988.19 4.57 1402 12941.91 1.73 0.24 0.072 2751.25 207.5 2.72 0.024 2137.56 420.9 166.14 75.15 2.375 2097.47 -4.5 0.330 - - - - - - 15.33 15.39 11.47
13254.29 953.25 9.22 1435 13259.27 done 1.73 - - 2751.00 - 2.76 0.083 3207.31 387.6 166.14 - - 2086.56 - - - - - - - - - 15.67 -
13313.66 947.45 9.72 1444 13319.22 done 1.73 - - 2752.25 - 2.64 0.025 2061.06 -434.2 166.14 - - 2086.66 - - - - - - - - - 15.74 -
13633.07 918.00 9.08 1466 13637.71 done 1.73 - - 2751.81 - 2.70 0.085 993.06 -395.6 166.14 - - 2086.56 - - - - - - - - - 15.74 -
13671.62 914.44 9.32 1472 13677.18 done 1.73 - - 2751.81 - 2.65 0.025 2137.06 431.7 166.14 - - 2085.12 - - - - - - - - - 15.84 -
13991.03 886.98 8.30 1494 13992.36 VBD 1.73 - - 2751.62 - - - 2136.50 - 166.14 - - 2082.81 - - - - - - - - - - -
14306.22 860.52 8.49 1515 14307.56 VBD 1.73 - - 2752.38 - - - 2137.50 - 166.14 - - 2082.59 - - - - - - - - - - -
14621.08 832.31 9.31 1536 14622.41 VBD 1.73 - - 2752.19 - - - 2137.62 - 166.14 - - 2082.28 - - - - - - - - - - -
14936.09 803.25 9.26 1557 14937.42 VBD 1.73 - - 2752.12 - - - 2137.06 - 166.14 - - 2081.56 - - - - - - - - - - -
15251.13 773.47 9.44 1578 15252.46 VBD 1.73 - - 2751.88 - - - 2137.25 - 166.14 - - 2080.66 - - - - - - - - - - -
15566.16 744.03 9.22 1599 15567.50 VBD 1.73 - - 2751.81 - - - 2137.19 - 166.14 - - 2080.94 - - - - - - - - - - -
15881.38 716.10 8.71 1620 15886.10 done 1.73 - - 2751.50 - 2.88 0.082 992.31 -397.5 166.14 - - 2081.91 - - - - - - - - - 15.81 -
15919.92 712.67 8.96 1626 15925.48 done 1.73 - - 2751.94 - 2.63 0.025 2134.50 434.3 166.14 - - 2081.19 - - - - - - - - - 15.96 -
16239.35 686.23 7.95 1648 16240.69 VBD 1.74 - - 2751.44 - - - 2134.69 - 166.14 - - 2080.12 - - - - - - - - - - -
16554.37 662.00 7.72 1669 16559.02 done 1.76 - - 2752.12 - 2.73 0.084 3205.12 392.1 166.14 - - 2080.28 - - - - - - - - - 15.81 -
16592.92 658.90 8.06 1675 16598.45 done 1.76 - - 2752.19 - 2.60 0.026 2056.62 -441.7 166.14 - - 2081.22 - - - - - - - - - 15.96 -
16912.36 633.86 7.81 1697 16913.69 VBD 1.77 - - 2751.69 - - - 2056.56 - 166.14 - - 2080.81 - - - - - - - - - - -
17227.38 608.90 7.90 1718 17232.06 done 1.78 - - 2752.50 - 2.94 0.080 3203.94 390.3 166.14 - - 2079.28 - - - - - - - - - 15.81 -
17308.00 602.31 8.27 1730 17313.35 done 1.78 - - 2751.75 - 2.60 0.026 2060.44 -439.8 166.14 - - 2080.44 - - - - - - - - - 15.96 -
17627.24 576.20 8.23 1752 17628.58 VBD 1.78 - - 2752.19 - - - 2060.19 - 166.14 - - 2079.47 - - - - - - - - - - -
17942.27 550.05 8.20 1773 17946.95 done 1.78 - - 2750.75 - 2.92 0.080 3204.88 392.0 166.14 - - 2079.75 - - - - - - - - - 15.80 -
18022.28 543.13 8.74 1785 18027.81 done 1.78 - - 2751.00 - 2.60 0.026 2061.56 -439.7 166.14 - - 2080.69 - - - - - - - - - 15.96 -
18341.88 517.79 7.70 1807 18346.58 done 1.79 - - 2752.25 - 2.69 0.086 993.44 -397.1 166.14 - - 2079.09 - - - - - - - - - 15.78 -
18399.81 512.97 8.15 1815 18404.45 done 1.79 - - 2751.12 - 2.62 0.025 2136.19 436.2 166.14 - - 2078.75 - - - - - - - - - 15.96 -
18710.50 490.10 7.42 1840 18715.15 done 1.82 - - 2751.44 - 2.72 0.083 3203.25 392.3 166.14 - - 2078.88 - - - - - - - - - 15.80 -
18765.13 485.81 7.90 1848 18780.05 done 1.83 - - 2751.38 - 2.61 0.026 2053.31 -440.6 166.14 - - 2080.28 - - - - - - - - - 15.96 -
19081.68 461.27 7.69 1877 19092.75 VBD 1.84 - - 2752.25 - - - 2054.12 - 166.14 - - 2079.72 - - - - - - - - - - -
19394.37 436.92 7.84 1906 19399.05 done 1.85 - - 2750.94 - 2.93 0.079 3204.31 392.6 166.14 - - 2079.47 - - - - - - - - - 15.79 -
19432.92 433.78 8.16 1912 19447.84 done 1.85 - - 2751.38 - 2.60 0.026 2058.50 -440.7 166.14 - - 2079.94 - - - - - - - - - 15.96 -
19749.69 408.75 7.76 1941 19760.76 VBD 1.87 - - 2752.69 - - - 2059.56 - 166.14 - - 2079.56 - - - - - - - - - - -
20062.38 384.29 7.92 1970 20073.46 VBD 1.88 - - 2751.94 - - - 2059.06 - 166.14 - - 2079.50 - - - - - - - - - - -
20375.28 359.33 8.10 1999 20380.14 done 1.88 - - 2750.81 - 2.91 0.079 3205.12 393.8 166.14 - - 2080.03 - - - - - - - - - 15.79 -
20461.20 352.12 8.50 2011 20475.95 done 1.88 - - 2751.94 - 2.59 0.025 2062.19 -441.3 166.14 - - 2079.31 - - - - - - - - - 15.96 -
20777.19 329.00 6.94 2040 20788.38 1.91 0.19 0.087 2795.50 229.3 - - 2061.81 - 166.14 - - 2079.56 - - - - - - - - 15.91 - -
21090.94 305.26 7.68 2069 21095.62 done 1.93 - - 2794.56 - 2.91 0.078 3205.94 393.2 166.14 - - 2080.81 - - - - - - - - - 15.79 -
21171.72 298.35 8.70 2080 21177.25 done 1.93 - - 2795.56 - 2.58 0.025 2065.31 -442.1 166.14 - - 2080.03 - - - - - - - - - 15.93 -
21481.82 273.81 8.06 2142 21487.36 done 1.93 - - 2795.88 - 2.70 0.085 993.38 -397.0 166.14 - - 2079.91 - - - - - - - - - 15.76 -
21566.85 266.44 8.65 2159 21572.38 done 1.93 - - 2796.12 - 2.63 0.024 2144.50 437.7 166.14 - - 2079.69 - - - - - - - - - 15.94 -
21877.14 241.45 7.89 2221 21878.47 VBD 1.94 - - 2796.25 - - - 2144.50 - 166.14 - - 2078.25 - - - - - - - - - - -
22182.08 219.26 6.79 2282 22187.79 done 1.97 - - 2795.25 - 2.70 0.082 3207.31 393.6 166.14 - - 2080.25 - - - - - - - - - 15.77 -
22227.25 216.08 7.00 2291 22232.59 done 2.00 - - 2795.19 - 2.58 0.024 2065.62 -442.5 166.14 - - 2080.00 - - - - - - - - - 15.94 -
22537.18 194.56 7.26 2353 22542.76 done 2.02 - - 2795.12 - 2.90 0.078 3204.62 392.8 166.14 - - 2080.06 - - - - - - - - - 15.77 -
22577.18 191.43 7.80 2361 22582.71 done 2.04 - - 2795.75 - 2.57 0.025 2066.38 -442.9 166.14 - - 2080.91 - - - - - - - - - 15.93 -
22887.28 167.79 7.71 2423 22892.81 done 2.05 - - 2795.75 - 2.69 0.083 993.56 -398.8 166.14 - - 2079.97 - - - - - - - - - 15.76 -
22962.28 161.78 8.01 2438 22967.84 done 2.05 - - 2795.88 - 2.64 0.024 2149.56 437.9 166.14 - - 2079.81 - - - - - - - - - 15.94 -
23272.38 140.06 6.87 2500 23278.00 2.08 0.17 0.089 2834.50 227.2 2.93 0.078 993.56 -394.5 166.14 - - 2079.84 - - - - - - - - 15.90 15.75 -
23332.36 135.40 7.96 2512 23337.92 done 2.08 - - 2835.50 - 2.63 0.024 2144.69 437.7 166.14 - - 2079.56 - - - - - - - - - 15.94 -
23642.54 114.08 6.41 2574 23681.00 done 2.17 - - 2834.75 - 2.71 0.083 3204.81 391.2 210.12 34.02 1.312 1917.97 -4.7 0.072 - - - - - - - 15.29 10.25
23773.23 104.73 7.51 2600 23778.76 roll 2.19 - - 2835.38 - 2.59 0.024 2066.38 -439.5 210.12 - - 1914.97 - - - - - - - - - 15.84 -
24083.34 85.63 5.57 2662 24134.74 2.31 0.28 0.074 2891.25 199.5 - - 2066.38 - 272.05 49.94 1.268 1667.19 -5.0 0.059 - - - - - - 15.84 - 11.19
24318.36 65.24 10.03 2709 24323.92 done 2.31 - - 2891.06 - 2.73 0.082 993.56 -393.0 272.05 - - 1657.44 - - - - - - - - - 15.69 -
24553.40 47.28 6.26 2756 24596.02 done 2.41 - - 2891.25 - 2.69 0.023 2165.44 435.6 319.13 37.62 1.196 1475.31 -4.8 0.034 - - - - - - - 15.82 11.10
24778.50 33.39 6.51 2801 24779.83 no move 2.45 - - 2892.12 - - - 2165.75 - 319.13 - - 1467.66 - - - - - - - - - - -
24963.45 20.11 8.47 2838 24969.05 roll 2.45 - - 2890.69 - 2.96 0.078 994.12 -395.8 319.13 - - 1466.91 - - - - - - - - - 15.71 -
25008.46 15.81 9.62 2847 25014.01 done 2.45 - - 2891.56 - 2.69 0.024 2162.50 434.3 319.13 - - 1465.91 - - - - - - - - - 15.82 -
25143 end climb: SURFACE_DEPTH_REACHED
25143 begin surface coast
25198 end surface coast: CONTROL_FINISHED_OK
25198 begin surface
SM 0.66 - - - - 179.6 81.32 1.178 1043.4 12.8 16.98 0.056 992.1 58.4 - 0.41 0.065 1094.8 2663.7 -2.764 - - 11.00 15.77 15.83 -