NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 246 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 80.39 of 550.00 AH used of 24V (85.38% remains)
• Surface angle -62.5 deg, depth 1.51 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 425.01 (SM_CC=425)
• GPS1 time: 56 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
4 end surface: CONTROL_FINISHED_OK
5 begin dive
6.75 - - - 66.37 VBD -1.37 - - 178.38 - - - 2239.69 - -82.73 58.44 0.005 2483.00 - - - - - - - - - - 15.69
67.11 3.11 -3.36 11 105.25 -1.37 13.78 0.253 1987.19 131.3 2.54 0.069 1210.12 -405.3 -82.73 15.91 0.006 3113.66 39.6 -3.387 - - - - - - 15.70 15.65 15.73
238.25 35.62 -17.29 45 243.81 roll -1.37 - - 1988.38 - 2.61 0.029 2354.25 438.4 -82.73 - - 3113.22 - - - - - - - - - 15.88 -
429.08 61.90 -13.98 83 432.67 no move -1.37 - - 1988.50 - - - 2353.94 - -82.73 - - 3113.72 - - - - - - - - - - -
618.76 88.93 -14.15 121 623.94 roll -1.37 - - 1987.62 - 2.80 0.059 1208.50 -409.1 -82.73 - - 3115.69 - - - - - - - - - 15.96 -
668.38 96.28 -14.66 131 673.91 roll -1.37 - - 1988.38 - 2.59 0.028 2354.75 442.6 -82.73 - - 3114.12 - - - - - - - - - 15.97 -
858.41 119.44 -10.63 153 863.48 roll -1.37 - - 1988.44 - 2.60 0.084 3428.31 412.9 -82.73 - - 3114.16 - - - - - - - - - 15.98 -
1093.00 144.29 -9.21 200 1099.01 roll -1.37 - - 1988.88 - 2.60 0.020 2241.81 -456.3 -82.73 - - 3115.91 - - - - - - - - - 16.03 -
1408.50 169.35 -8.38 232 1413.61 roll -1.37 - - 1988.50 - 2.87 0.080 3427.44 413.1 -82.73 - - 3115.38 - - - - - - - - - 16.05 -
1643.08 192.58 -9.96 279 1649.07 roll -1.37 - - 1988.94 - 2.58 0.020 2246.25 -457.8 -82.73 - - 3115.97 - - - - - - - - - 16.06 -
1958.58 219.36 -8.63 311 1963.71 roll -1.37 - - 1988.00 - 2.85 0.081 3428.12 414.7 -82.73 - - 3115.38 - - - - - - - - - 16.07 -
2193.21 243.36 -10.18 358 2199.37 roll -1.37 - - 1987.69 - 2.59 0.021 2246.69 -456.2 -82.73 - - 3116.03 - - - - - - - - - 16.10 -
2508.86 272.70 -8.97 390 2513.85 roll -1.37 - - 1988.31 - 2.86 0.082 3428.25 413.1 -82.73 - - 3114.22 - - - - - - - - - 16.09 -
2743.36 296.37 -9.78 437 2749.36 roll -1.37 - - 1988.19 - 2.59 0.021 2250.81 -454.6 -82.73 - - 3114.12 - - - - - - - - - 16.10 -
3058.89 323.31 -8.25 469 3063.99 roll -1.37 - - 1988.75 - 2.84 0.083 3428.44 414.7 -82.73 - - 3114.34 - - - - - - - - - 16.11 -
3278.95 344.08 -9.53 513 3284.02 roll -1.37 - - 1988.25 - 2.59 0.021 2250.44 -454.8 -82.73 - - 3113.84 - - - - - - - - - 16.13 -
3589.03 369.50 -7.96 545 3594.13 roll -1.37 - - 1988.12 - 2.85 0.084 3426.69 412.7 -82.73 - - 3113.88 - - - - - - - - - 16.12 -
3733.61 383.74 -10.24 574 3739.59 roll -1.37 - - 1988.56 - 2.59 0.021 2249.81 -454.4 -82.73 - - 3112.88 - - - - - - - - - 16.12 -
4049.13 409.87 -8.27 606 4054.25 roll -1.37 - - 1988.31 - 2.83 0.084 3427.00 416.0 -82.73 - - 3112.47 - - - - - - - - - 16.13 -
4263.79 430.17 -9.28 649 4269.73 roll -1.37 - - 1988.44 - 2.59 0.021 2250.38 -454.3 -82.73 - - 3111.62 - - - - - - - - - 16.13 -
4579.26 456.72 -8.78 681 4584.37 roll -1.37 - - 1987.25 - 2.84 0.085 3428.88 415.0 -82.73 - - 3112.72 - - - - - - - - - 16.13 -
4789.32 477.93 -10.24 723 4794.39 roll -1.37 - - 1989.00 - 2.60 0.022 2252.56 -452.4 -82.73 - - 3111.06 - - - - - - - - - 16.14 -
5099.36 504.61 -8.37 755 5104.48 roll -1.37 - - 1988.75 - 2.82 0.085 3428.19 416.9 -82.73 - - 3111.88 - - - - - - - - - 16.13 -
5209.38 515.26 -9.99 777 5214.65 roll -1.37 - - 1987.31 - 2.59 0.022 2251.81 -454.2 -82.73 - - 3111.88 - - - - - - - - - 16.14 -
5519.41 541.43 -8.34 809 5524.53 roll -1.37 - - 1988.56 - 2.84 0.086 3426.94 413.8 -82.73 - - 3110.78 - - - - - - - - - 16.13 -
5653.98 554.88 -9.88 836 5659.97 roll -1.37 - - 1987.81 - 2.59 0.022 2252.81 -453.3 -82.73 - - 3108.88 - - - - - - - - - 16.15 -
5969.48 581.40 -8.60 868 5974.60 roll -1.37 - - 1988.06 - 2.84 0.086 3428.31 413.9 -82.73 - - 3110.28 - - - - - - - - - 16.15 -
6069.69 591.06 -9.53 888 6075.06 roll -1.37 - - 1988.38 - 2.58 0.022 2252.69 -455.7 -82.73 - - 3109.31 - - - - - - - - - 16.16 -
6379.54 615.78 -7.80 920 6384.65 roll -1.37 - - 1988.25 - 2.85 0.086 3427.88 412.3 -82.73 - - 3108.94 - - - - - - - - - 16.14 -
6454.09 622.43 -8.81 935 6460.08 roll -1.37 - - 1988.38 - 2.57 0.022 2248.69 -458.8 -82.73 - - 3108.19 - - - - - - - - - 16.15 -
6769.59 647.49 -7.81 967 6774.70 roll -1.37 - - 1988.19 - 2.85 0.087 3427.19 413.5 -82.73 - - 3108.28 - - - - - - - - - 16.15 -
6889.64 658.56 -8.94 991 6894.70 roll -1.37 - - 1988.56 - 2.58 0.022 2251.75 -455.6 -82.73 - - 3108.44 - - - - - - - - - 16.16 -
7199.70 683.19 -8.24 1023 7204.82 roll -1.37 - - 1988.62 - 2.84 0.087 3427.88 414.1 -82.73 - - 3107.03 - - - - - - - - - 16.15 -
7289.73 691.48 -9.41 1041 7294.80 roll -1.37 - - 1988.81 - 2.58 0.022 2252.62 -455.5 -82.73 - - 3107.28 - - - - - - - - - 16.17 -
7599.79 716.56 -8.18 1073 7604.91 roll -1.37 - - 1988.94 - 2.85 0.087 3428.19 412.5 -82.73 - - 3107.09 - - - - - - - - - 16.16 -
7749.85 730.31 -8.79 1103 7755.09 roll -1.37 - - 1988.25 - 2.58 0.022 2251.56 -456.1 -82.73 - - 3106.94 - - - - - - - - - 16.16 -
8060.02 753.84 -7.28 1135 8061.35 no move -1.37 - - 1988.44 - - - 2250.44 - -82.73 - - 3104.78 - - - - - - - - - - -
8370.36 776.46 -7.55 1166 8375.09 roll -1.37 - - 1987.50 - 2.85 0.087 3427.19 412.9 -82.73 - - 3106.84 - - - - - - - - - 16.15 -
8470.01 784.72 -8.26 1186 8475.07 roll -1.37 - - 1988.06 - 2.59 0.022 2251.50 -453.9 -82.73 - - 3105.84 - - - - - - - - - 16.15 -
8780.07 807.45 -7.63 1218 8781.40 no move -1.37 - - 1988.88 - - - 2251.12 - -82.73 - - 3104.19 - - - - - - - - - - -
9090.69 829.49 -7.02 1249 9095.25 roll -1.37 - - 1988.81 - 2.86 0.088 3427.88 411.5 -82.73 - - 3104.44 - - - - - - - - - 16.14 -
9214.71 839.59 -7.97 1274 9220.70 roll -1.37 - - 1988.50 - 2.59 0.022 2251.75 -454.1 -82.73 - - 3104.56 - - - - - - - - - 16.16 -
9530.24 861.44 -6.85 1306 9531.57 no move -1.37 - - 1988.88 - - - 2251.69 - -82.73 - - 3102.81 - - - - - - - - - - -
9840.71 882.61 -6.40 1337 9845.43 roll -1.37 - - 1988.62 - 2.85 0.089 3427.19 412.5 -82.73 - - 3103.91 - - - - - - - - - 16.15 -
9960.34 891.99 -7.93 1361 9965.41 roll -1.37 - - 1988.50 - 2.58 0.022 2252.81 -455.2 -82.73 - - 3103.88 - - - - - - - - - 16.16 -
10271.02 912.46 -6.38 1393 10275.49 roll -1.37 - - 1988.06 - 2.86 0.088 3427.94 410.9 -82.73 - - 3104.69 - - - - - - - - - 16.14 -
10394.95 922.22 -7.72 1418 10400.93 roll -1.37 - - 1987.56 - 2.60 0.023 2249.88 -453.1 -82.73 - - 3104.22 - - - - - - - - - 16.15 -
10710.44 944.18 -6.87 1450 10715.56 roll -1.37 - - 1988.62 - 2.86 0.088 3425.56 411.1 -82.73 - - 3104.31 - - - - - - - - - 16.13 -
10835.01 954.43 -8.21 1475 10841.00 roll -1.37 - - 1988.62 - 2.59 0.023 2252.00 -453.1 -82.73 - - 3103.28 - - - - - - - - - 16.15 -
11150.51 976.42 -6.95 1507 11155.62 roll -1.37 - - 1988.44 - 2.85 0.088 3426.88 412.2 -82.73 - - 3102.78 - - - - - - - - - 16.14 -
11215.06 981.43 -7.48 1520 11221.04 roll -1.37 - - 1988.12 - 2.58 0.023 2250.12 -456.1 -82.73 - - 3103.56 - - - - - - - - - 16.15 -
11350 end dive: TARGET_DEPTH_EXCEEDED
11350 begin apogee
11352.33 990.41 -6.70 1534 11416.85 -0.28 1.77 0.144 2254.31 150.4 0.14 0.183 2291.12 292.9 - 60.78 2.414 2774.16 -5.4 0.367 - - - - - - 16.07 15.67 12.54
11418 end apogee: CONTROL_FINISHED_OK
11418 begin climb
11418.98 991.74 - 1540 11488.67 1.37 2.60 0.093 2655.38 154.3 - - 2291.81 - 82.73 65.10 2.342 2436.91 -5.2 0.362 - - - - - - 15.71 - 12.87
11792.05 966.48 7.72 1578 11797.17 roll 1.38 - - 2655.31 - 2.93 0.077 1132.44 -395.7 82.73 - - 2431.72 - - - - - - - - - 15.79 -
11906.63 956.92 7.80 1601 11912.62 roll 1.40 - - 2656.25 - 2.62 0.030 2272.12 435.0 82.73 - - 2430.62 - - - - - - - - - 15.83 -
12222.54 932.05 8.03 1633 12227.26 roll 1.40 - - 2656.19 - 2.88 0.075 1131.00 -396.2 82.73 - - 2430.06 - - - - - - - - - 15.92 -
12272.16 927.77 8.61 1643 12277.25 done 1.40 - - 2655.75 - 2.61 0.030 2273.44 437.7 82.73 - - 2430.66 - - - - - - - - - 15.93 -
12582.64 903.73 7.67 1675 12583.97 VBD 1.41 - - 2655.19 - - - 2273.06 - 82.73 - - 2428.12 - - - - - - - - - - -
12892.70 882.83 6.29 1706 12923.76 done 1.47 - - 2655.88 - 2.89 0.078 1133.19 -394.4 114.48 25.56 2.168 2307.44 -4.7 0.317 - - - - - - - 15.81 12.71
13022.34 872.39 7.87 1732 13027.60 roll 1.49 - - 2655.31 - 2.62 0.031 2273.00 435.0 114.48 - - 2305.84 - - - - - - - - - 15.90 -
13332.87 847.71 8.58 1764 13337.55 roll back 1.49 0.14 0.096 2697.19 299.1 2.88 0.074 1132.75 -395.9 114.48 - - 2303.53 - - - - - - - - 15.96 15.96 -
13426.93 838.00 10.18 1783 13432.93 roll 1.49 - - 2696.62 - 2.61 0.032 2274.12 437.3 114.48 - - 2304.34 - - - - - - - - - 15.98 -
13742.82 807.71 9.36 1815 13744.15 no move 1.49 - - 2697.50 - - - 2273.75 - 114.48 - - 2302.59 - - - - - - - - - - -
14052.85 778.98 8.97 1846 14057.58 roll 1.49 - - 2697.62 - 2.87 0.074 1132.62 -397.6 114.48 - - 2303.09 - - - - - - - - - 16.05 -
14107.01 773.93 9.22 1857 14113.00 roll 1.49 - - 2697.50 - 2.59 0.031 2273.81 440.6 114.48 - - 2303.25 - - - - - - - - - 16.06 -
14422.51 747.72 8.35 1889 14427.62 roll 1.49 - - 2698.94 - 2.85 0.075 1132.50 -400.5 114.48 - - 2302.72 - - - - - - - - - 16.09 -
14512.51 739.44 9.25 1907 14517.59 roll 1.49 - - 2697.69 - 2.59 0.032 2274.12 440.8 114.48 - - 2303.06 - - - - - - - - - 16.08 -
14822.56 713.07 8.31 1939 14823.89 no move 1.49 - - 2697.88 - - - 2273.69 - 114.48 - - 2300.53 - - - - - - - - - - -
15132.99 686.45 9.17 1970 15137.87 roll 1.49 - - 2697.81 - 2.62 0.094 3346.06 409.3 114.48 - - 2301.78 - - - - - - - - - 16.09 -
15182.79 681.52 10.99 1980 15188.03 roll 1.49 - - 2697.44 - 2.61 0.024 2189.88 -443.0 114.48 - - 2303.09 - - - - - - - - - 16.11 -
15493.07 652.32 9.35 2012 15494.40 no move 1.49 - - 2698.06 - - - 2189.44 - 114.48 - - 2300.00 - - - - - - - - - - -
15803.14 622.41 9.30 2043 15807.83 roll 1.49 - - 2697.88 - 2.64 0.079 1131.56 -400.7 114.48 - - 2302.75 - - - - - - - - - 16.11 -
15867.32 616.16 9.40 2056 15873.31 roll 1.49 - - 2697.56 - 2.58 0.031 2274.00 442.8 114.48 - - 2302.09 - - - - - - - - - 16.12 -
16183.24 587.79 8.97 2088 16184.57 no move 1.49 - - 2697.81 - - - 2273.62 - 114.48 - - 2300.56 - - - - - - - - - - -
16493.30 561.37 8.49 2119 16498.02 roll 1.49 - - 2697.31 - 2.85 0.075 1130.44 -401.1 114.48 - - 2302.50 - - - - - - - - - 16.12 -
16567.47 554.46 9.72 2134 16573.46 roll 1.49 - - 2698.06 - 2.58 0.031 2273.56 443.1 114.48 - - 2302.34 - - - - - - - - - 16.13 -
16883.39 526.62 8.54 2166 16888.11 roll 1.49 - - 2697.81 - 2.85 0.074 1131.44 -400.7 114.48 - - 2302.56 - - - - - - - - - 16.13 -
16953.02 520.35 9.11 2180 16958.08 roll 1.49 - - 2696.88 - 2.58 0.031 2276.00 443.6 114.48 - - 2302.50 - - - - - - - - - 16.12 -
17263.27 495.18 8.13 2212 17268.25 roll 1.49 - - 2698.12 - 2.85 0.074 1131.56 -401.6 114.48 - - 2302.41 - - - - - - - - - 16.13 -
17307.63 491.28 8.52 2221 17313.63 roll 1.49 - - 2698.00 - 2.57 0.031 2274.56 444.7 114.48 - - 2302.69 - - - - - - - - - 16.12 -
17623.56 466.73 7.37 2253 17624.89 no move 1.51 - - 2698.44 - - - 2274.62 - 114.48 - - 2299.91 - - - - - - - - - - -
17933.63 443.44 7.55 2284 17934.96 no move 1.53 - - 2698.06 - - - 2274.50 - 114.48 - - 2300.03 - - - - - - - - - - -
18243.87 419.41 7.71 2315 18248.37 roll 1.54 - - 2697.75 - 2.61 0.093 3348.19 411.4 114.48 - - 2302.78 - - - - - - - - - 16.11 -
18298.02 415.09 8.03 2326 18303.83 roll 1.54 - - 2697.81 - 2.60 0.024 2187.44 -446.4 114.48 - - 2301.81 - - - - - - - - - 16.14 -
18613.75 392.85 6.95 2358 18618.42 roll 1.57 - - 2697.50 - 2.60 0.078 1130.56 -406.5 114.48 - - 2302.06 - - - - - - - - - 16.11 -
18747.93 382.11 8.04 2385 18753.92 roll 1.57 - - 2698.31 - 2.57 0.031 2275.12 445.4 114.48 - - 2301.59 - - - - - - - - - 16.14 -
19063.82 359.80 7.38 2417 19065.15 no move 1.59 - - 2698.31 - - - 2275.00 - 114.48 - - 2300.81 - - - - - - - - - - -
19373.86 337.42 7.18 2448 19375.18 no move 1.62 - - 2697.56 - - - 2274.56 - 114.48 - - 2300.94 - - - - - - - - - - -
19683.90 316.26 6.68 2479 19688.79 roll 1.65 - - 2697.81 - 2.84 0.073 1131.31 -402.6 114.48 - - 2301.78 - - - - - - - - - 16.12 -
19818.63 306.68 6.95 2506 19824.10 roll back 1.68 0.19 0.079 2744.88 247.7 2.57 0.030 2274.81 444.9 114.48 - - 2302.94 - - - - - - - - 16.08 16.13 -
20133.57 284.54 6.95 2538 20138.68 roll 1.71 - - 2745.94 - 2.84 0.072 1130.06 -403.1 114.48 - - 2302.28 - - - - - - - - - 16.12 -
20238.14 276.56 7.49 2559 20244.12 roll 1.73 - - 2745.81 - 2.56 0.030 2274.81 447.2 114.48 - - 2302.56 - - - - - - - - - 16.13 -
20554.05 254.19 7.34 2591 20555.38 no move 1.76 - - 2745.44 - - - 2274.38 - 114.48 - - 2301.22 - - - - - - - - - - -
20864.34 233.13 6.95 2622 20868.78 roll 1.79 - - 2745.88 - 2.59 0.090 3348.00 414.5 114.48 - - 2302.16 - - - - - - - - - 16.11 -
20953.76 226.09 7.86 2640 20958.84 roll 1.80 - - 2745.19 - 2.61 0.023 2185.44 -445.4 114.48 - - 2302.66 - - - - - - - - - 16.13 -
21264.22 206.40 6.08 2672 21296.35 1.87 0.16 0.086 2790.25 281.6 2.82 0.087 3347.94 412.2 149.40 26.81 1.419 2163.66 -5.2 0.124 - - - - - - 16.05 15.96 12.54
21339.33 200.25 9.37 2687 21344.60 roll 1.87 - - 2788.81 - 2.62 0.023 2186.88 -443.2 149.40 - - 2164.06 - - - - - - - - - 16.04 -
21649.93 171.71 9.59 2719 21654.49 roll 1.87 - - 2789.94 - 2.81 0.084 3348.25 413.3 149.40 - - 2161.34 - - - - - - - - - 16.05 -
21753.94 159.93 11.04 2740 21759.94 roll 1.87 - - 2790.44 - 2.61 0.023 2186.44 -445.1 149.40 - - 2161.56 - - - - - - - - - 16.04 -
22069.82 134.20 6.92 2772 22074.49 roll 1.90 - - 2790.75 - 2.58 0.076 1129.75 -409.6 149.40 - - 2161.06 - - - - - - - - - 16.04 -
22109.44 131.09 7.65 2780 22114.49 roll 1.92 - - 2789.75 - 2.56 0.029 2277.00 448.1 149.40 - - 2162.28 - - - - - - - - - 16.05 -
22419.87 112.98 5.72 2812 22455.53 done 2.00 - - 2790.56 - 2.82 0.072 1131.44 -406.2 189.51 30.68 1.296 2002.50 -5.2 0.075 - - - - - - - 15.92 12.67
22550.05 105.61 5.70 2838 22586.60 2.08 0.20 0.077 2840.19 248.2 2.58 0.028 2278.94 444.8 229.97 31.64 1.267 1835.66 -5.3 0.072 - - - - - - 15.95 15.98 12.75
22889.61 83.57 6.81 2900 22895.12 done 2.11 - - 2840.44 - 2.83 0.070 1131.56 -405.4 229.97 - - 1828.84 - - - - - - - - - 15.94 -
23124.62 67.90 6.41 2947 23151.95 done 2.17 - - 2841.00 - 2.58 0.029 2276.50 443.8 260.08 22.99 1.187 1714.12 -5.0 0.047 - - - - - - - 15.94 12.70
23335.40 52.53 7.68 2989 23340.52 roll 2.19 - - 2840.62 - 2.60 0.087 3346.81 411.7 260.08 - - 1708.59 - - - - - - - - - 15.91 -
23380.02 48.68 8.61 2998 23385.57 roll 2.19 - - 2840.75 - 2.62 0.022 2186.56 -442.8 260.08 - - 1708.44 - - - - - - - - - 15.94 -
23570.10 36.81 5.43 3036 23611.75 2.28 0.19 0.077 2888.50 251.3 2.85 0.083 3346.75 407.1 304.56 34.25 1.177 1533.00 -5.1 0.026 - - - - - - 15.94 15.78 12.61
23835.58 16.76 6.16 3089 23866.79 done 2.34 - - 2888.56 - 2.61 0.022 2182.94 -445.9 338.32 26.60 1.123 1396.00 -5.2 0.013 - - - - - - - 15.91 12.60
24049 end climb: SURFACE_DEPTH_REACHED
24050 begin surface coast
24075 end surface coast: CONTROL_FINISHED_OK
24075 begin surface
SM 1.28 - - - - 181.8 64.22 1.147 1042.4 15.8 16.40 0.036 998.4 60.9 - 0.34 0.067 1086.4 3187.6 -6.224 - - 12.56 15.89 15.90 -