NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 299 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 95.05 of 550.00 AH used of 24V (82.72% remains)
• Surface angle -65.5 deg, depth 1.54 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 424.94 (SM_CC=425)
• GPS1 time: 38 s
• GPS2 time: 5 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
6.86 - - - 61.88 VBD -1.37 - - 179.38 - - - 2259.38 - -82.73 53.83 0.005 2402.94 - - - - - - - - - - 15.67
62.62 3.23 -3.48 10 101.83 -1.37 13.88 0.254 1988.50 130.3 2.84 0.084 3428.12 411.5 -82.73 16.81 0.006 3112.06 42.2 -3.746 - - - - - - 15.64 15.64 15.68
279.87 46.00 -15.85 53 285.40 roll -1.37 - - 1988.88 - 2.58 0.021 2252.62 -455.6 -82.73 - - 3113.44 - - - - - - - - - 15.88 -
470.58 72.82 -13.32 91 475.07 roll -1.37 - - 1988.38 - 2.47 0.066 1207.62 -423.1 -82.73 - - 3113.41 - - - - - - - - - 15.92 -
504.97 77.19 -12.36 98 510.49 roll -1.37 - - 1988.69 - 2.59 0.029 2354.75 442.9 -82.73 - - 3114.88 - - - - - - - - - 15.92 -
695.43 97.98 -10.18 136 699.02 no move -1.37 - - 1988.56 - - - 2354.88 - -82.73 - - 3113.75 - - - - - - - - - - -
885.08 119.03 -10.92 157 890.18 roll -1.37 - - 1988.19 - 2.72 0.060 1207.25 -421.9 -82.73 - - 3114.16 - - - - - - - - - 15.99 -
1009.66 131.77 -9.96 182 1015.65 roll -1.37 - - 1988.50 - 2.58 0.029 2355.50 445.1 -82.73 - - 3113.69 - - - - - - - - - 16.00 -
1325.19 160.62 -8.28 214 1326.52 no move -1.37 - - 1988.56 - - - 2355.62 - -82.73 - - 3113.56 - - - - - - - - - - -
1635.63 187.72 -8.91 245 1640.34 roll -1.37 - - 1988.50 - 2.72 0.061 1207.25 -422.2 -82.73 - - 3114.81 - - - - - - - - - 16.04 -
1699.80 193.70 -9.29 258 1705.79 roll -1.37 - - 1989.06 - 2.57 0.029 2356.44 447.2 -82.73 - - 3114.97 - - - - - - - - - 16.05 -
2015.34 223.40 -9.54 290 2016.66 no move -1.37 - - 1988.69 - - - 2357.19 - -82.73 - - 3113.09 - - - - - - - - - - -
2325.75 251.92 -8.96 321 2327.08 no move -1.37 - - 1988.94 - - - 2357.00 - -82.73 - - 3113.44 - - - - - - - - - - -
2635.78 280.96 -9.24 352 2640.68 roll -1.37 - - 1988.38 - 2.73 0.062 1209.06 -420.5 -82.73 - - 3114.78 - - - - - - - - - 16.05 -
2680.12 285.28 -9.78 361 2685.93 roll -1.37 - - 1988.88 - 2.56 0.030 2354.56 447.5 -82.73 - - 3113.53 - - - - - - - - - 16.07 -
2995.44 315.30 -9.57 393 2996.77 no move -1.37 - - 1988.56 - - - 2354.44 - -82.73 - - 3112.88 - - - - - - - - - - -
3305.85 345.18 -9.82 424 3310.56 roll -1.37 - - 1988.81 - 2.71 0.063 1207.00 -423.4 -82.73 - - 3112.72 - - - - - - - - - 16.09 -
3395.49 354.34 -10.23 442 3400.55 roll -1.37 - - 1988.50 - 2.57 0.030 2352.94 445.9 -82.73 - - 3112.75 - - - - - - - - - 16.11 -
3705.52 384.10 -9.51 474 3706.85 no move -1.37 - - 1988.69 - - - 2352.88 - -82.73 - - 3111.44 - - - - - - - - - - -
4015.95 413.66 -9.74 505 4017.28 no move -1.37 - - 1988.44 - - - 2353.06 - -82.73 - - 3110.59 - - - - - - - - - - -
4325.98 442.57 -9.00 536 4330.69 roll -1.37 - - 1989.06 - 2.71 0.064 1208.25 -422.4 -82.73 - - 3111.91 - - - - - - - - - 16.12 -
4475.65 456.01 -8.69 566 4480.71 roll -1.37 - - 1988.31 - 2.57 0.030 2353.38 445.6 -82.73 - - 3111.28 - - - - - - - - - 16.12 -
4785.72 483.30 -9.24 598 4790.79 roll -1.37 - - 1988.31 - 2.70 0.063 1208.31 -424.1 -82.73 - - 3110.94 - - - - - - - - - 16.13 -
4875.75 491.90 -9.77 616 4881.01 roll -1.37 - - 1988.75 - 2.56 0.030 2354.75 447.8 -82.73 - - 3111.00 - - - - - - - - - 16.12 -
5185.99 520.88 -9.50 648 5190.92 roll -1.37 - - 1988.62 - 2.72 0.064 1208.19 -421.5 -82.73 - - 3110.19 - - - - - - - - - 16.12 -
5230.37 525.29 -9.84 657 5236.36 roll -1.37 - - 1988.50 - 2.56 0.031 2354.44 447.8 -82.73 - - 3109.62 - - - - - - - - - 16.13 -
5545.90 553.48 -8.59 689 5551.00 roll -1.37 - - 1988.50 - 2.70 0.064 1207.81 -424.7 -82.73 - - 3108.81 - - - - - - - - - 16.13 -
5585.90 556.97 -8.74 697 5590.98 roll -1.37 - - 1988.31 - 2.57 0.031 2354.44 446.2 -82.73 - - 3108.38 - - - - - - - - - 16.13 -
5895.99 582.71 -7.88 729 5901.07 roll -1.37 - - 1987.06 - 2.70 0.064 1207.31 -424.9 -82.73 - - 3109.41 - - - - - - - - - 16.14 -
5960.53 588.29 -8.48 742 5966.52 roll -1.37 - - 1988.56 - 2.57 0.031 2354.38 446.3 -82.73 - - 3108.97 - - - - - - - - - 16.15 -
6276.07 612.81 -7.22 774 6281.16 roll -1.37 - - 1987.62 - 2.71 0.064 1207.50 -423.2 -82.73 - - 3108.19 - - - - - - - - - 16.12 -
6360.63 619.99 -8.17 791 6366.61 roll -1.37 - - 1988.31 - 2.57 0.031 2354.50 446.3 -82.73 - - 3108.38 - - - - - - - - - 16.14 -
6676.16 645.21 -8.11 823 6681.43 roll -1.37 - - 1988.75 - 2.70 0.065 1207.56 -424.8 -82.73 - - 3107.81 - - - - - - - - - 16.14 -
6720.82 649.13 -9.36 832 6726.70 roll -1.37 - - 1988.81 - 2.55 0.031 2354.50 449.8 -82.73 - - 3107.16 - - - - - - - - - 16.14 -
7036.24 675.24 -8.19 864 7041.34 roll -1.37 - - 1988.38 - 2.70 0.065 1207.50 -424.8 -82.73 - - 3107.81 - - - - - - - - - 16.14 -
7086.25 679.85 -8.70 874 7091.31 roll -1.37 - - 1988.56 - 2.57 0.031 2354.50 446.3 -82.73 - - 3108.19 - - - - - - - - - 16.14 -
7396.32 704.25 -7.68 906 7397.65 no move -1.37 - - 1988.31 - - - 2353.88 - -82.73 - - 3104.84 - - - - - - - - - - -
7706.74 727.06 -7.17 937 7711.45 roll -1.37 - - 1988.75 - 2.70 0.065 1208.56 -424.2 -82.73 - - 3105.62 - - - - - - - - - 16.12 -
7760.90 731.75 -8.37 948 7766.88 roll -1.37 - - 1988.94 - 2.57 0.032 2351.88 444.9 -82.73 - - 3105.25 - - - - - - - - - 16.12 -
8076.40 753.83 -6.68 980 8077.72 no move -1.37 - - 1988.62 - - - 2351.25 - -82.73 - - 3104.22 - - - - - - - - - - -
8386.83 774.20 -6.35 1011 8391.53 roll -1.37 - - 1988.56 - 2.70 0.065 1207.25 -423.7 -82.73 - - 3104.59 - - - - - - - - - 16.14 -
8521.00 783.84 -7.15 1038 8526.99 roll -1.37 - - 1988.19 - 2.57 0.032 2353.12 445.9 -82.73 - - 3105.06 - - - - - - - - - 16.13 -
8836.67 807.11 -7.51 1070 8841.63 roll -1.37 - - 1988.31 - 2.70 0.065 1207.56 -424.3 -82.73 - - 3105.28 - - - - - - - - - 16.13 -
8876.50 810.48 -8.45 1078 8881.57 roll -1.37 - - 1988.31 - 2.57 0.032 2353.06 445.7 -82.73 - - 3104.88 - - - - - - - - - 16.13 -
9186.54 835.09 -8.38 1110 9187.87 no move -1.37 - - 1988.62 - - - 2353.06 - -82.73 - - 3102.59 - - - - - - - - - - -
9496.96 860.48 -8.07 1141 9498.29 no move -1.37 - - 1988.56 - - - 2352.88 - -82.73 - - 3102.69 - - - - - - - - - - -
9807.00 884.55 -7.90 1172 9811.72 roll -1.37 - - 1988.25 - 2.71 0.066 1208.50 -422.3 -82.73 - - 3104.09 - - - - - - - - - 16.13 -
9901.20 892.16 -7.75 1191 9907.18 roll -1.37 - - 1988.12 - 2.57 0.032 2354.56 445.9 -82.73 - - 3103.03 - - - - - - - - - 16.13 -
10216.91 915.46 -7.01 1223 10221.83 roll -1.37 - - 1988.56 - 2.72 0.066 1208.38 -421.4 -82.73 - - 3102.72 - - - - - - - - - 16.12 -
10281.29 920.25 -7.20 1236 10287.28 roll -1.37 - - 1988.31 - 2.57 0.032 2351.12 444.6 -82.73 - - 3102.28 - - - - - - - - - 16.11 -
10596.82 942.14 -7.02 1268 10601.92 roll -1.37 - - 1988.50 - 2.72 0.066 1208.19 -420.2 -82.73 - - 3102.19 - - - - - - - - - 16.07 -
10691.39 949.47 -7.73 1287 10697.38 roll -1.37 - - 1988.31 - 2.57 0.032 2351.75 445.0 -82.73 - - 3101.62 - - - - - - - - - 16.12 -
11007.55 973.42 -7.60 1319 11008.88 no move -1.37 - - 1988.56 - - - 2351.69 - -82.73 - - 3101.59 - - - - - - - - - - -
11226 end dive: TARGET_DEPTH_EXCEEDED
11226 begin apogee
11228.79 990.41 -8.00 1341 11293.29 -0.28 1.78 0.150 2252.69 148.4 0.21 0.138 2282.62 -328.9 - 60.67 2.423 2774.69 -5.4 0.363 - - - - - - 16.03 15.67 12.45
11294 end apogee: CONTROL_FINISHED_OK
11295 begin climb
11295.53 992.08 - 1347 11366.23 1.37 2.63 0.098 2656.00 153.3 - - 2282.50 - 82.73 65.22 2.350 2437.19 -5.2 0.360 - - - - - - 15.71 - 12.99
11669.36 967.07 7.35 1385 11674.47 roll 1.39 - - 2654.50 - 2.83 0.076 1130.19 -407.2 82.73 - - 2432.31 - - - - - - - - - 15.79 -
11723.90 962.60 8.78 1396 11729.90 roll 1.39 - - 2656.00 - 2.62 0.032 2272.38 436.0 82.73 - - 2432.22 - - - - - - - - - 15.80 -
12039.79 937.13 7.99 1428 12044.49 roll 1.39 - - 2656.19 - 2.78 0.075 1129.94 -410.9 82.73 - - 2431.38 - - - - - - - - - 15.90 -
12113.96 930.71 9.29 1443 12120.14 done 1.39 - - 2655.50 - 2.60 0.032 2272.25 439.3 82.73 - - 2430.94 - - - - - - - - - 15.91 -
12429.57 904.51 7.97 1475 12434.56 done 1.39 - - 2655.94 - 2.77 0.075 1129.88 -412.4 82.73 - - 2430.94 - - - - - - - - - 15.96 -
12494.01 899.08 8.96 1488 12500.00 done 1.39 - - 2656.12 - 2.58 0.032 2273.62 443.3 82.73 - - 2429.03 - - - - - - - - - 15.98 -
12809.91 874.60 7.13 1520 12811.24 VBD 1.42 - - 2655.81 - - - 2273.25 - 82.73 - - 2428.00 - - - - - - - - - - -
13119.95 852.01 7.05 1551 13121.28 VBD 1.44 - - 2655.44 - - - 2273.44 - 82.73 - - 2427.47 - - - - - - - - - - -
13429.98 831.99 6.40 1582 13460.87 1.50 0.17 0.098 2697.50 247.4 2.79 0.079 1130.19 -409.8 112.90 24.01 2.110 2314.88 -4.7 0.305 - - - - - - 16.04 15.88 12.52
13549.60 821.67 9.49 1606 13554.67 roll 1.50 - - 2697.69 - 2.60 0.032 2272.25 439.3 112.90 - - 2311.88 - - - - - - - - - 15.95 -
13859.68 793.49 9.17 1638 13861.01 no move 1.50 - - 2697.88 - - - 2271.44 - 112.90 - - 2310.00 - - - - - - - - - - -
14170.12 765.22 9.15 1669 14174.83 roll 1.50 - - 2698.12 - 2.76 0.076 1131.38 -413.1 112.90 - - 2311.16 - - - - - - - - - 16.02 -
14314.34 750.43 10.43 1698 14320.50 roll 1.50 - - 2698.00 - 2.59 0.033 2274.94 441.5 112.90 - - 2310.47 - - - - - - - - - 16.03 -
14630.04 720.81 9.16 1730 14631.37 no move 1.50 - - 2697.38 - - - 2275.06 - 112.90 - - 2308.78 - - - - - - - - - - -
14940.32 693.40 8.74 1761 14941.64 no move 1.50 - - 2698.25 - - - 2274.88 - 112.90 - - 2308.09 - - - - - - - - - - -
15250.38 666.10 9.15 1792 15255.09 roll 1.50 - - 2698.00 - 2.77 0.076 1130.38 -413.2 112.90 - - 2311.19 - - - - - - - - - 16.08 -
15360.03 656.14 9.01 1814 15365.10 roll 1.50 - - 2698.06 - 2.57 0.032 2274.56 445.2 112.90 - - 2308.91 - - - - - - - - - 16.08 -
15670.48 629.68 8.99 1846 15671.80 no move 1.50 - - 2697.94 - - - 2274.06 - 112.90 - - 2307.69 - - - - - - - - - - -
15980.56 602.56 8.94 1877 15985.26 roll 1.50 - - 2697.94 - 2.77 0.076 1130.00 -413.0 112.90 - - 2308.28 - - - - - - - - - 16.09 -
16040.18 597.07 9.27 1889 16045.25 roll 1.50 - - 2697.88 - 2.58 0.032 2275.06 443.8 112.90 - - 2309.62 - - - - - - - - - 16.09 -
16350.63 569.83 8.28 1921 16351.96 no move 1.50 - - 2697.56 - - - 2275.56 - 112.90 - - 2307.56 - - - - - - - - - - -
16660.71 544.86 8.04 1952 16665.41 roll 1.50 - - 2697.94 - 2.76 0.076 1130.00 -415.1 112.90 - - 2309.72 - - - - - - - - - 16.10 -
16774.88 535.45 8.32 1975 16781.05 roll 1.50 - - 2698.31 - 2.57 0.032 2274.88 445.5 112.90 - - 2308.53 - - - - - - - - - 16.10 -
17090.94 512.27 7.06 2007 17092.27 no move 1.53 - - 2697.56 - - - 2274.88 - 112.90 - - 2307.28 - - - - - - - - - - -
17400.81 489.63 7.37 2038 17405.51 roll 1.55 - - 2697.75 - 2.76 0.075 1130.25 -414.7 112.90 - - 2308.34 - - - - - - - - - 16.11 -
17480.44 483.45 7.89 2054 17485.49 roll 1.57 - - 2698.06 - 2.57 0.032 2273.25 444.7 112.90 - - 2308.66 - - - - - - - - - 16.09 -
17790.86 460.99 7.11 2086 17795.53 roll 1.59 - - 2698.19 - 2.59 0.093 3347.62 414.8 112.90 - - 2308.53 - - - - - - - - - 16.09 -
17835.02 457.48 7.80 2095 17841.01 roll 1.61 - - 2698.19 - 2.56 0.025 2186.50 -453.6 112.90 - - 2309.69 - - - - - - - - - 16.10 -
18150.90 433.84 7.70 2127 18152.24 no move 1.62 - - 2698.25 - - - 2186.81 - 112.90 - - 2307.78 - - - - - - - - - - -
18460.93 408.57 8.46 2158 18465.60 roll 1.62 - - 2698.12 - 2.53 0.080 1131.25 -417.2 112.90 - - 2310.50 - - - - - - - - - 16.09 -
18535.10 402.05 8.84 2173 18541.08 roll 1.62 - - 2696.88 - 2.57 0.031 2275.81 445.4 112.90 - - 2309.62 - - - - - - - - - 16.10 -
18851.00 377.59 7.60 2205 18852.33 no move 1.64 - - 2697.56 - - - 2275.81 - 112.90 - - 2307.66 - - - - - - - - - - -
19161.24 353.84 7.56 2236 19165.76 roll 1.66 - - 2697.81 - 2.76 0.075 1131.12 -414.7 112.90 - - 2308.81 - - - - - - - - - 16.11 -
19210.69 349.87 7.96 2246 19215.79 roll back 1.67 0.17 0.096 2736.94 230.2 2.57 0.031 2274.88 445.0 112.90 - - 2308.97 - - - - - - - - 16.04 16.10 -
19520.73 324.25 8.30 2278 19522.06 no move 1.67 - - 2737.44 - - - 2275.38 - 112.90 - - 2308.75 - - - - - - - - - - -
19831.38 300.56 7.42 2309 19835.91 roll 1.69 - - 2737.31 - 2.75 0.075 1129.94 -416.5 112.90 - - 2310.00 - - - - - - - - - 16.10 -
20065.44 283.09 7.51 2356 20071.41 roll 1.71 - - 2736.00 - 2.57 0.031 2275.56 445.8 112.90 - - 2309.72 - - - - - - - - - 16.09 -
20381.34 261.65 6.43 2388 20406.46 VBD 1.77 - - 2736.19 - - - 2275.88 - 142.66 23.42 1.448 2192.00 -5.0 0.150 - - - - - - - - 12.50
20711.41 237.20 7.50 2421 20716.12 roll 1.79 - - 2737.50 - 2.76 0.074 1130.44 -415.0 142.66 - - 2189.88 - - - - - - - - - 15.99 -
20801.05 229.86 8.26 2439 20806.12 roll 1.79 - - 2737.69 - 2.59 0.031 2275.50 442.1 142.66 - - 2189.62 - - - - - - - - - 16.00 -
21111.51 205.52 7.78 2471 21112.84 no move 1.80 - - 2737.12 - - - 2274.88 - 142.66 - - 2188.12 - - - - - - - - - - -
21421.81 180.75 8.25 2502 21423.13 no move 1.80 - - 2737.69 - - - 2274.94 - 142.66 - - 2187.53 - - - - - - - - - - -
21731.64 156.77 7.28 2533 21736.35 roll 1.82 - - 2736.94 - 2.76 0.073 1130.31 -414.7 142.66 - - 2188.66 - - - - - - - - - 16.02 -
21871.69 145.95 7.80 2561 21876.41 roll back 1.84 0.16 0.092 2779.12 263.6 2.57 0.030 2276.06 445.8 142.66 - - 2189.53 - - - - - - - - 16.01 16.06 -
22181.35 122.00 6.62 2593 22186.41 roll 1.87 - - 2779.81 - 2.59 0.089 3348.75 414.2 142.66 - - 2188.53 - - - - - - - - - 16.01 -
22321.39 111.84 7.23 2621 22326.44 roll 1.90 - - 2780.94 - 2.57 0.024 2183.94 -453.2 142.66 - - 2189.66 - - - - - - - - - 16.07 -
22631.43 93.93 4.75 2665 22678.19 2.01 0.16 0.091 2818.56 235.1 2.84 0.085 3347.25 409.6 197.09 40.62 1.279 1972.00 -5.4 0.065 - - - - - - 16.01 15.89 12.52
22816.77 79.67 8.01 2702 22822.12 roll 2.01 - - 2819.31 - 2.58 0.023 2184.75 -450.6 197.09 - - 1967.75 - - - - - - - - - 15.96 -
23006.73 69.61 4.31 2740 23058.42 done 2.13 - - 2819.00 - 2.58 0.079 1130.19 -408.7 257.89 45.12 1.230 1723.25 -5.4 0.051 - - - - - - - 15.76 12.59
23176.72 58.68 8.15 2774 23182.27 roll 2.13 - - 2819.81 - 2.61 0.029 2276.88 439.3 257.89 - - 1716.78 - - - - - - - - - 15.86 -
23366.80 45.44 6.41 2812 23397.51 2.19 0.19 0.080 2862.56 225.0 2.62 0.089 3347.88 408.8 287.97 23.10 1.145 1601.16 -5.0 0.033 - - - - - - 15.90 15.78 12.55
23491.84 32.80 11.36 2837 23497.37 roll 2.19 - - 2863.00 - 2.60 0.023 2186.50 -446.7 287.97 - - 1597.97 - - - - - - - - - 15.84 -
23681.93 17.66 6.58 2875 23687.45 roll 2.23 - - 2864.12 - 2.55 0.076 1130.00 -414.3 287.97 - - 1594.09 - - - - - - - - - 15.88 -
23711.93 16.47 5.15 2881 23753.52 done 2.32 - - 2863.50 - 2.59 0.027 2280.50 444.2 336.53 36.99 1.138 1403.00 -5.2 0.012 - - - - - - - 15.89 12.62
23937.01 9.90 3.88 2926 23994.33 2.46 0.32 0.067 2929.75 207.0 2.62 0.088 3346.88 407.0 403.60 50.22 1.125 1129.84 -5.4 0.008 - - - - - - 15.85 15.65 12.58
24047 end climb: SURFACE_DEPTH_REACHED
24047 begin surface coast
24072 end surface coast: CONTROL_FINISHED_OK
24072 begin surface
SM 2.58 - - - - 179.4 17.40 1.048 1042.7 57.0 17.00 0.051 1009.9 59.4 - 2.39 0.023 1075.4 448.9 -5.146 - - 12.67 15.76 15.79 -