NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 177 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 60.47 of 550.00 AH used of 24V (89.01% remains)
• Surface angle -63.9 deg, depth 1.43 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 375.01 (SM_CC=375)
• GPS1 time: 59 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
4 end surface: CONTROL_FINISHED_OK
5 begin dive
6.31 - - - 60.21 VBD -1.37 - - 181.81 - - - 2359.50 - -82.73 52.74 0.005 2521.16 - - - - - - - - - - 15.75
60.95 3.58 -4.48 10 99.09 -1.37 13.89 0.267 1990.50 130.2 2.67 0.089 3427.94 400.2 -82.73 14.58 0.006 3111.41 40.5 -3.985 - - - - - - 15.70 15.72 15.76
327.10 56.65 -17.38 63 332.63 roll -1.37 - - 1990.00 - 2.59 0.022 2255.69 -452.6 -82.73 - - 3112.53 - - - - - - - - - 15.90 -
517.78 83.32 -12.79 101 522.75 roll -1.37 - - 1990.12 - 2.93 0.083 3427.00 399.8 -82.73 - - 3113.03 - - - - - - - - - 15.95 -
662.29 102.08 -13.33 130 667.71 roll -1.37 - - 1990.38 - 2.57 0.022 2249.25 -458.3 -82.73 - - 3113.22 - - - - - - - - - 15.97 -
977.22 132.20 -8.98 162 981.87 roll -1.37 - - 1989.81 - 2.46 0.066 1207.25 -423.6 -82.73 - - 3113.09 - - - - - - - - - 16.02 -
1187.29 151.07 -8.41 204 1192.38 roll -1.37 - - 1990.19 - 2.62 0.029 2352.69 437.2 -82.73 - - 3112.94 - - - - - - - - - 16.05 -
1497.37 176.98 -8.63 236 1502.47 roll -1.37 - - 1990.00 - 2.70 0.060 1207.44 -424.2 -82.73 - - 3113.75 - - - - - - - - - 16.06 -
1571.93 183.40 -8.70 251 1577.94 roll -1.37 - - 1990.50 - 2.61 0.029 2354.31 439.4 -82.73 - - 3113.59 - - - - - - - - - 16.09 -
1887.46 211.22 -9.21 283 1892.54 roll -1.37 - - 1990.19 - 2.69 0.060 1208.38 -426.0 -82.73 - - 3113.31 - - - - - - - - - 16.09 -
1987.49 220.82 -9.82 303 1992.57 roll -1.37 - - 1989.38 - 2.61 0.030 2353.12 438.6 -82.73 - - 3114.34 - - - - - - - - - 16.10 -
2297.56 249.75 -9.23 335 2302.82 roll -1.37 - - 1990.12 - 2.69 0.060 1207.06 -426.0 -82.73 - - 3114.22 - - - - - - - - - 16.12 -
2347.68 254.38 -9.66 345 2352.64 roll -1.37 - - 1990.06 - 2.60 0.030 2353.75 441.0 -82.73 - - 3114.50 - - - - - - - - - 16.11 -
2657.64 284.40 -9.52 377 2662.72 roll -1.37 - - 1990.38 - 2.68 0.061 1208.00 -427.5 -82.73 - - 3113.62 - - - - - - - - - 16.12 -
2737.65 292.37 -10.02 393 2742.74 roll -1.37 - - 1989.94 - 2.61 0.030 2354.56 439.3 -82.73 - - 3113.03 - - - - - - - - - 16.14 -
3047.73 321.43 -9.58 425 3049.05 no move -1.37 - - 1990.44 - - - 2354.50 - -82.73 - - 3112.34 - - - - - - - - - - -
3359.20 351.20 -9.62 456 3363.88 roll -1.37 - - 1990.31 - 2.69 0.062 1208.31 -426.1 -82.73 - - 3112.47 - - - - - - - - - 16.14 -
3437.34 359.10 -11.20 472 3443.34 roll -1.37 - - 1990.88 - 2.60 0.031 2352.81 440.2 -82.73 - - 3113.31 - - - - - - - - - 16.16 -
3752.88 389.25 -9.52 504 3754.20 no move -1.37 - - 1990.12 - - - 2353.19 - -82.73 - - 3112.09 - - - - - - - - - - -
4063.32 417.03 -8.92 535 4068.01 roll -1.37 - - 1990.62 - 2.69 0.063 1207.56 -425.9 -82.73 - - 3113.31 - - - - - - - - - 16.17 -
4103.15 420.44 -8.53 543 4108.02 roll -1.37 - - 1989.94 - 2.60 0.031 2351.81 440.1 -82.73 - - 3113.59 - - - - - - - - - 16.18 -
4412.98 449.58 -9.52 575 4418.26 roll -1.37 - - 1990.25 - 2.70 0.062 1208.50 -423.4 -82.73 - - 3112.16 - - - - - - - - - 16.16 -
4537.65 461.82 -9.89 600 4543.53 roll -1.37 - - 1990.31 - 2.60 0.031 2352.81 440.1 -82.73 - - 3113.81 - - - - - - - - - 16.19 -
4853.03 490.27 -8.51 632 4858.11 roll -1.37 - - 1990.88 - 2.63 0.093 3425.81 408.0 -82.73 - - 3112.06 - - - - - - - - - 16.17 -
4893.03 494.15 -9.71 640 4898.10 roll -1.37 - - 1991.25 - 2.54 0.023 2246.62 -464.2 -82.73 - - 3111.78 - - - - - - - - - 16.18 -
5203.08 521.27 -8.72 672 5207.73 roll -1.37 - - 1991.00 - 2.44 0.068 1207.31 -425.9 -82.73 - - 3112.00 - - - - - - - - - 16.18 -
5313.09 530.80 -9.71 694 5318.16 roll -1.37 - - 1991.25 - 2.60 0.031 2351.69 440.1 -82.73 - - 3111.34 - - - - - - - - - 16.18 -
5623.13 557.61 -8.59 726 5628.23 roll -1.37 - - 1991.38 - 2.70 0.063 1208.75 -423.3 -82.73 - - 3111.31 - - - - - - - - - 16.20 -
5723.15 566.16 -8.82 746 5728.21 roll -1.37 - - 1990.19 - 2.59 0.031 2353.00 441.8 -82.73 - - 3110.09 - - - - - - - - - 16.19 -
6033.18 589.90 -8.09 778 6038.26 roll -1.37 - - 1990.88 - 2.63 0.094 3427.69 408.6 -82.73 - - 3112.12 - - - - - - - - - 16.17 -
6133.38 598.84 -9.16 798 6138.32 roll -1.37 - - 1989.69 - 2.56 0.023 2247.69 -460.9 -82.73 - - 3110.66 - - - - - - - - - 16.19 -
6443.26 621.90 -7.51 830 6447.90 roll -1.37 - - 1991.25 - 2.46 0.069 1207.75 -422.7 -82.73 - - 3110.47 - - - - - - - - - 16.19 -
6513.27 627.25 -7.47 844 6518.34 roll -1.37 - - 1990.25 - 2.60 0.031 2353.44 440.7 -82.73 - - 3110.22 - - - - - - - - - 16.19 -
6823.34 651.34 -7.94 876 6828.44 roll -1.37 - - 1990.94 - 2.71 0.064 1208.38 -422.5 -82.73 - - 3109.28 - - - - - - - - - 16.19 -
6877.89 655.93 -8.70 887 6883.89 roll -1.37 - - 1990.62 - 2.60 0.031 2352.62 440.1 -82.73 - - 3108.78 - - - - - - - - - 16.20 -
7193.42 683.57 -8.75 919 7198.51 roll -1.37 - - 1991.00 - 2.63 0.095 3424.38 407.5 -82.73 - - 3108.25 - - - - - - - - - 16.19 -
7227.96 687.05 -9.62 926 7233.96 roll -1.37 - - 1990.94 - 2.55 0.023 2245.44 -462.3 -82.73 - - 3108.47 - - - - - - - - - 16.20 -
7543.50 713.75 -8.15 958 7548.14 roll -1.37 - - 1990.81 - 2.45 0.069 1207.25 -423.8 -82.73 - - 3109.50 - - - - - - - - - 16.19 -
7633.51 721.43 -8.84 976 7638.59 roll -1.37 - - 1990.56 - 2.60 0.032 2350.44 439.7 -82.73 - - 3108.03 - - - - - - - - - 16.19 -
7943.59 746.97 -8.28 1008 7948.84 roll -1.37 - - 1990.50 - 2.65 0.094 3427.44 406.4 -82.73 - - 3109.75 - - - - - - - - - 16.18 -
8003.78 752.62 -9.43 1020 8008.67 roll -1.37 - - 1990.94 - 2.55 0.023 2247.75 -462.6 -82.73 - - 3107.41 - - - - - - - - - 16.20 -
8313.66 778.13 -7.64 1052 8314.99 no move -1.37 - - 1990.88 - - - 2246.56 - -82.73 - - 3106.22 - - - - - - - - - - -
8624.10 801.80 -7.29 1083 8625.43 no move -1.37 - - 1990.75 - - - 2246.62 - -82.73 - - 3106.25 - - - - - - - - - - -
8934.17 823.20 -6.91 1114 8938.92 roll -1.37 - - 1990.50 - 2.91 0.090 3426.75 405.5 -82.73 - - 3106.69 - - - - - - - - - 16.19 -
8988.34 827.48 -7.89 1125 8994.34 roll -1.37 - - 1991.19 - 2.55 0.023 2248.44 -462.1 -82.73 - - 3109.06 - - - - - - - - - 16.21 -
9303.86 848.22 -6.50 1157 9305.20 no move -1.37 - - 1990.81 - - - 2247.88 - -82.73 - - 3105.56 - - - - - - - - - - -
9614.31 869.34 -6.66 1188 9615.64 no move -1.37 - - 1991.12 - - - 2247.62 - -82.73 - - 3105.59 - - - - - - - - - - -
9924.55 889.13 -6.36 1219 9928.62 roll -1.37 - - 1991.44 - 2.46 0.071 1208.31 -422.5 -82.73 - - 3106.50 - - - - - - - - - 16.20 -
9978.51 892.77 -6.71 1230 9984.52 roll -1.37 - - 1990.38 - 2.61 0.032 2353.12 438.6 -82.73 - - 3106.75 - - - - - - - - - 16.22 -
10294.42 912.37 -6.08 1262 10299.10 roll -1.37 - - 1990.75 - 2.65 0.095 3424.12 404.2 -82.73 - - 3105.34 - - - - - - - - - 16.18 -
10374.22 918.49 -7.42 1278 10379.17 roll -1.37 - - 1990.81 - 2.55 0.023 2248.94 -460.9 -82.73 - - 3105.22 - - - - - - - - - 16.19 -
10684.48 937.77 -6.00 1310 10685.81 no move -1.37 - - 1990.94 - - - 2247.88 - -82.73 - - 3104.09 - - - - - - - - - - -
10994.50 956.05 -6.13 1341 10999.24 roll -1.37 - - 1991.00 - 2.92 0.091 3427.00 403.8 -82.73 - - 3104.72 - - - - - - - - - 16.20 -
11118.67 965.15 -6.86 1366 11124.67 roll -1.37 - - 1990.75 - 2.55 0.024 2248.56 -462.1 -82.73 - - 3104.53 - - - - - - - - - 16.19 -
11434.57 984.96 -6.30 1398 11435.90 no move -1.37 - - 1990.88 - - - 2249.44 - -82.73 - - 3103.78 - - - - - - - - - - -
11514 end dive: TARGET_DEPTH_EXCEEDED
11514 begin apogee
11515.97 990.01 -6.42 1406 11581.52 -0.28 1.76 0.158 2253.62 149.3 0.15 0.176 2287.25 252.1 - 61.22 2.398 2772.44 -5.4 0.369 - - - - - - 16.13 15.68 12.82
11583 end apogee: CONTROL_FINISHED_OK
11583 begin climb
11583.63 991.30 - 1412 11654.33 1.37 2.63 0.107 2654.50 152.4 - - 2286.62 - 82.73 65.24 2.328 2437.22 -5.1 0.361 - - - - - - 15.71 - 12.86
11957.55 965.69 7.35 1450 11958.88 no move 1.39 - - 2655.50 - - - 2286.62 - 82.73 - - 2430.56 - - - - - - - - - - -
12267.94 942.95 7.71 1481 12272.63 roll 1.40 - - 2655.50 - 2.67 0.094 3344.19 396.1 82.73 - - 2430.62 - - - - - - - - - 15.91 -
12382.12 932.94 8.92 1504 12388.12 roll 1.40 - - 2655.81 - 2.61 0.025 2189.50 -442.4 82.73 - - 2432.75 - - - - - - - - - 15.94 -
12698.05 908.36 7.89 1536 12702.76 done 1.42 - - 2655.12 - 2.89 0.090 3345.88 400.1 82.73 - - 2431.50 - - - - - - - - - 16.01 -
12757.66 902.70 9.00 1548 12762.75 done 1.42 - - 2655.69 - 2.61 0.025 2188.88 -443.3 82.73 - - 2430.88 - - - - - - - - - 16.02 -
13068.14 878.36 7.58 1580 13072.85 done 1.43 - - 2655.50 - 2.89 0.090 3345.88 400.3 82.73 - - 2430.50 - - - - - - - - - 16.05 -
13132.29 872.44 8.99 1593 13138.28 done 1.43 - - 2656.00 - 2.60 0.025 2189.00 -445.0 82.73 - - 2429.22 - - - - - - - - - 16.07 -
13448.22 848.64 7.56 1625 13452.93 done 1.45 - - 2656.12 - 2.88 0.090 3346.50 401.9 82.73 - - 2429.50 - - - - - - - - - 16.08 -
13477.83 845.86 8.20 1631 13482.90 done 1.45 - - 2654.69 - 2.59 0.025 2188.00 -447.3 82.73 - - 2429.56 - - - - - - - - - 16.09 -
13788.07 821.84 7.97 1663 13793.02 done 1.45 - - 2655.75 - 2.55 0.079 1129.94 -414.9 82.73 - - 2429.00 - - - - - - - - - 16.09 -
13832.44 818.16 8.16 1672 13838.43 done 1.45 - - 2656.06 - 2.60 0.031 2274.38 440.2 82.73 - - 2429.91 - - - - - - - - - 16.10 -
14148.36 793.06 7.85 1704 14153.04 done 1.46 - - 2655.50 - 2.67 0.094 3346.50 401.5 82.73 - - 2428.28 - - - - - - - - - 16.10 -
14227.98 786.11 9.09 1720 14233.04 done 1.46 - - 2656.12 - 2.59 0.025 2187.75 -447.4 82.73 - - 2429.72 - - - - - - - - - 16.12 -
14538.40 760.89 8.54 1752 14543.12 done 1.46 - - 2655.81 - 2.88 0.090 3345.94 402.1 82.73 - - 2428.41 - - - - - - - - - 16.13 -
14612.57 754.12 9.30 1767 14618.55 done 1.46 - - 2655.81 - 2.58 0.025 2186.12 -449.5 82.73 - - 2428.62 - - - - - - - - - 16.14 -
14928.47 730.49 7.20 1799 14933.23 1.49 0.15 0.104 2695.25 262.9 2.88 0.090 3346.62 403.0 82.73 - - 2429.03 - - - - - - - - 16.12 16.12 -
14972.61 726.38 8.67 1808 14978.60 done 1.49 - - 2695.19 - 2.58 0.025 2187.19 -449.4 82.73 - - 2429.09 - - - - - - - - - 16.15 -
15288.51 699.48 7.92 1840 15293.35 done 1.50 - - 2695.06 - 2.54 0.078 1130.19 -416.1 82.73 - - 2427.88 - - - - - - - - - 16.15 -
15422.79 687.80 8.58 1867 15428.67 done 1.50 - - 2695.69 - 2.60 0.032 2274.12 440.0 82.73 - - 2427.50 - - - - - - - - - 16.17 -
15738.57 663.61 7.64 1899 15743.27 done 1.52 - - 2695.50 - 2.74 0.074 1130.12 -417.5 82.73 - - 2427.16 - - - - - - - - - 16.16 -
15878.21 652.12 7.51 1927 15883.27 done 1.54 - - 2695.56 - 2.60 0.032 2273.75 439.9 82.73 - - 2428.41 - - - - - - - - - 16.16 -
16188.26 628.05 8.24 1959 16193.36 done 1.54 - - 2695.44 - 2.74 0.073 1129.44 -417.6 82.73 - - 2427.62 - - - - - - - - - 16.15 -
16318.31 617.39 8.06 1985 16323.40 done 1.54 - - 2695.44 - 2.61 0.032 2272.62 438.0 82.73 - - 2428.59 - - - - - - - - - 16.17 -
16628.78 595.25 7.00 2017 16633.47 done 1.56 - - 2695.25 - 2.74 0.073 1130.00 -417.0 82.73 - - 2428.53 - - - - - - - - - 16.18 -
16712.97 588.64 7.50 2034 16718.94 done 1.58 - - 2695.31 - 2.60 0.032 2274.38 440.1 82.73 - - 2427.50 - - - - - - - - - 16.17 -
17028.88 567.06 6.43 2066 17053.18 VBD 1.64 - - 2693.94 - - - 2274.88 - 112.48 23.08 1.796 2315.25 -4.9 0.253 - - - - - - - - 12.88
17359.04 541.85 8.17 2099 17363.64 roll 1.64 - - 2695.56 - 2.77 0.073 1128.88 -413.7 112.48 - - 2312.25 - - - - - - - - - 16.08 -
17478.58 531.13 8.89 2123 17483.66 roll 1.64 - - 2695.62 - 2.62 0.032 2272.50 436.5 112.48 - - 2313.47 - - - - - - - - - 16.10 -
17789.02 504.17 8.82 2155 17793.74 roll 1.64 - - 2693.94 - 2.75 0.072 1129.75 -415.5 112.48 - - 2312.94 - - - - - - - - - 16.11 -
17963.22 487.93 9.02 2190 17969.24 roll 1.64 - - 2695.44 - 2.61 0.032 2272.50 437.8 112.48 - - 2311.97 - - - - - - - - - 16.10 -
18279.16 462.92 7.59 2222 18280.59 pitch 1.66 0.17 0.097 2735.38 234.9 - - 2273.00 - 112.48 - - 2310.84 - - - - - - - - 16.12 - -
18588.81 434.98 9.02 2253 18593.92 roll 1.66 - - 2735.00 - 2.75 0.072 1130.12 -415.6 112.48 - - 2313.94 - - - - - - - - - 16.15 -
18773.41 416.72 9.69 2290 18779.41 roll 1.66 - - 2735.00 - 2.60 0.032 2273.31 439.7 112.48 - - 2312.88 - - - - - - - - - 16.13 -
19088.95 388.40 9.15 2322 19090.28 no move 1.66 - - 2735.88 - - - 2273.06 - 112.48 - - 2311.44 - - - - - - - - - - -
19399.36 360.09 8.87 2353 19404.24 roll 1.66 - - 2735.38 - 2.75 0.072 1128.94 -416.0 112.48 - - 2314.25 - - - - - - - - - 16.15 -
19579.01 343.45 9.20 2389 19584.08 roll 1.66 - - 2734.75 - 2.60 0.031 2273.50 440.2 112.48 - - 2314.28 - - - - - - - - - 16.16 -
19889.06 317.27 8.21 2421 19890.39 no move 1.66 - - 2735.31 - - - 2273.25 - 112.48 - - 2312.12 - - - - - - - - - - -
20199.49 294.26 7.15 2452 20200.82 no move 1.69 - - 2735.00 - - - 2273.06 - 112.48 - - 2311.62 - - - - - - - - - - -
20509.69 272.46 6.90 2483 20514.21 roll 1.72 - - 2735.38 - 2.76 0.071 1130.00 -414.2 112.48 - - 2312.88 - - - - - - - - - 16.13 -
20743.72 254.35 7.56 2530 20749.70 roll 1.74 - - 2735.69 - 2.60 0.031 2274.50 440.2 112.48 - - 2312.19 - - - - - - - - - 16.16 -
21059.61 231.00 7.42 2562 21064.31 roll 1.76 - - 2735.50 - 2.74 0.070 1129.44 -417.9 112.48 - - 2313.41 - - - - - - - - - 16.16 -
21219.65 218.11 8.30 2594 21224.32 roll 1.76 - - 2734.88 - 2.60 0.030 2275.38 440.7 112.48 - - 2314.06 - - - - - - - - - 16.16 -
21529.73 195.31 6.95 2626 21534.61 roll 1.79 - - 2734.69 - 2.74 0.069 1128.88 -418.4 112.48 - - 2313.69 - - - - - - - - - 16.13 -
21723.96 181.52 6.60 2665 21730.00 roll back 1.82 0.16 0.097 2777.50 267.6 2.60 0.030 2275.62 441.1 112.48 - - 2312.91 - - - - - - - - 16.13 16.15 -
22039.87 159.95 7.48 2697 22044.56 roll 1.84 - - 2778.31 - 2.64 0.091 3347.38 406.0 112.48 - - 2313.62 - - - - - - - - - 16.12 -
22069.49 157.55 7.36 2703 22074.55 roll 1.87 - - 2778.25 - 2.57 0.023 2179.19 -454.5 112.48 - - 2315.41 - - - - - - - - - 16.13 -
22379.94 139.38 5.20 2735 22421.17 done 1.96 - - 2778.19 - 2.92 0.088 3345.62 399.5 160.25 35.94 1.342 2120.91 -5.4 0.093 - - - - - - - 15.94 12.73
22509.56 128.14 11.18 2761 22514.64 roll 1.96 - - 2778.00 - 2.59 0.024 2187.00 -447.3 160.25 - - 2117.81 - - - - - - - - - 16.02 -
22819.64 100.80 8.19 2793 22824.69 roll 1.96 - - 2777.75 - 2.54 0.074 1128.81 -416.6 160.25 - - 2117.28 - - - - - - - - - 16.03 -
23004.71 90.11 4.36 2830 23057.16 2.08 0.29 0.072 2836.88 203.9 2.60 0.028 2275.50 441.0 220.37 45.12 1.277 1876.31 -5.3 0.062 - - - - - - 16.03 16.06 12.77
23240.91 76.84 7.28 2877 23244.50 no move 2.11 - - 2837.31 - - - 2276.06 - 220.37 - - 1869.25 - - - - - - - - - - -
23425.41 64.96 5.98 2914 23457.88 done 2.18 - - 2837.38 - 2.78 0.070 1130.00 -412.3 256.69 27.63 1.206 1727.19 -5.1 0.046 - - - - - - - 15.81 12.78
23610.91 49.13 9.77 2951 23616.46 roll 2.18 - - 2838.25 - 2.62 0.029 2274.19 436.7 256.69 - - 1722.72 - - - - - - - - - 15.92 -
23800.99 32.66 7.43 2989 23806.53 done 2.20 - - 2837.81 - 2.76 0.067 1128.38 -415.1 256.69 - - 1719.44 - - - - - - - - - 15.97 -
23850.98 28.43 8.60 2999 23856.53 done 2.20 - - 2837.88 - 2.62 0.029 2274.31 437.4 256.69 - - 1719.16 - - - - - - - - - 15.97 -
24041.03 19.32 3.53 3037 24102.88 2.34 0.31 0.066 2901.06 203.8 2.79 0.070 1130.06 -410.1 328.99 54.11 1.178 1432.88 -5.3 0.014 - - - - - - 15.99 15.75 12.76
24261 end climb: SURFACE_DEPTH_REACHED
24261 begin surface coast
24286 end surface coast: CONTROL_FINISHED_OK
24286 begin surface
SM 2.55 - - - - 182.9 34.63 1.145 1246.2 34.4 16.68 0.050 1219.3 73.1 - 2.80 0.031 1273.1 453.7 -3.814 - - 12.76 15.86 15.89 -