NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 302 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 96.06 of 550.00 AH used of 24V (82.54% remains)
• Surface angle -64.4 deg, depth 1.59 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 424.86 (SM_CC=425)
• GPS1 time: 28 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
6.85 - - - 62.00 VBD -1.37 - - 177.00 - - - 2256.00 - -82.73 53.97 0.005 2400.59 - - - - - - - - - - 15.64
62.73 3.43 -3.95 10 101.96 -1.37 13.83 0.254 1988.69 131.0 2.85 0.084 3427.50 411.1 -82.73 16.93 0.006 3112.22 42.0 -3.964 - - - - - - 15.68 15.61 15.66
155.11 24.80 -26.71 28 160.47 roll -1.37 - - 1988.56 - 2.59 0.021 2255.31 -452.6 -82.73 - - 3112.62 - - - - - - - - - 15.84 -
345.40 54.79 -14.56 66 348.99 no move -1.37 - - 1988.88 - - - 2252.88 - -82.73 - - 3113.12 - - - - - - - - - - -
530.73 81.08 -13.39 103 534.32 no move -1.37 - - 1988.75 - - - 2253.75 - -82.73 - - 3112.91 - - - - - - - - - - -
715.56 103.77 -11.54 137 720.29 roll -1.37 - - 1988.69 - 2.83 0.080 3427.94 414.9 -82.73 - - 3113.31 - - - - - - - - - 15.95 -
765.19 109.46 -11.63 147 770.25 roll -1.37 - - 1988.75 - 2.56 0.021 2246.94 -461.3 -82.73 - - 3114.41 - - - - - - - - - 15.96 -
1075.25 135.62 -8.25 179 1076.58 no move -1.37 - - 1989.06 - - - 2245.69 - -82.73 - - 3113.94 - - - - - - - - - - -
1385.69 166.17 -9.75 210 1387.02 no move -1.37 - - 1988.12 - - - 2245.88 - -82.73 - - 3114.47 - - - - - - - - - - -
1695.73 195.42 -9.75 241 1697.06 no move -1.37 - - 1988.44 - - - 2245.38 - -82.73 - - 3114.59 - - - - - - - - - - -
2005.76 226.20 -10.31 272 2010.48 roll -1.37 - - 1988.62 - 2.84 0.082 3426.62 415.9 -82.73 - - 3115.53 - - - - - - - - - 15.99 -
2039.92 230.34 -11.81 279 2045.91 roll -1.37 - - 1988.12 - 2.55 0.021 2247.75 -462.3 -82.73 - - 3115.16 - - - - - - - - - 16.06 -
2355.42 261.11 -9.61 311 2360.52 roll -1.37 - - 1988.12 - 2.83 0.082 3428.44 417.2 -82.73 - - 3115.88 - - - - - - - - - 16.05 -
2385.42 264.20 -9.95 317 2390.49 roll -1.37 - - 1988.94 - 2.55 0.022 2249.25 -462.4 -82.73 - - 3114.41 - - - - - - - - - 16.07 -
2695.46 292.12 -8.74 349 2700.11 roll -1.37 - - 1988.75 - 2.47 0.069 1207.38 -421.8 -82.73 - - 3115.88 - - - - - - - - - 16.07 -
2775.58 299.58 -9.66 365 2780.54 roll -1.37 - - 1987.25 - 2.57 0.030 2354.62 446.4 -82.73 - - 3115.75 - - - - - - - - - 16.07 -
3085.51 327.84 -9.33 397 3086.84 no move -1.37 - - 1988.62 - - - 2354.38 - -82.73 - - 3113.19 - - - - - - - - - - -
3395.92 358.06 -9.88 428 3400.63 roll -1.37 - - 1988.06 - 2.72 0.063 1208.38 -421.3 -82.73 - - 3113.88 - - - - - - - - - 16.11 -
3490.09 367.82 -10.24 447 3496.08 roll -1.37 - - 1988.69 - 2.56 0.030 2354.88 447.9 -82.73 - - 3113.22 - - - - - - - - - 16.11 -
3805.59 397.74 -9.22 479 3810.68 roll -1.37 - - 1988.62 - 2.72 0.063 1208.44 -421.5 -82.73 - - 3113.91 - - - - - - - - - 16.12 -
3900.16 406.86 -9.77 498 3906.14 roll -1.37 - - 1987.62 - 2.57 0.031 2354.56 446.0 -82.73 - - 3112.88 - - - - - - - - - 16.11 -
4215.68 436.74 -9.08 530 4217.01 no move -1.37 - - 1988.88 - - - 2354.50 - -82.73 - - 3111.94 - - - - - - - - - - -
4526.14 464.10 -8.50 561 4527.46 no move -1.37 - - 1989.31 - - - 2354.19 - -82.73 - - 3111.44 - - - - - - - - - - -
4836.19 489.99 -8.35 592 4837.52 no move -1.37 - - 1988.50 - - - 2353.81 - -82.73 - - 3111.22 - - - - - - - - - - -
5146.25 515.90 -8.69 623 5150.97 roll -1.37 - - 1988.62 - 2.73 0.064 1208.88 -419.4 -82.73 - - 3110.84 - - - - - - - - - 16.12 -
5286.10 528.81 -9.25 651 5291.04 roll -1.37 - - 1988.25 - 2.57 0.031 2353.81 445.5 -82.73 - - 3109.94 - - - - - - - - - 16.11 -
5595.98 555.62 -8.61 683 5597.30 no move -1.37 - - 1989.75 - - - 2354.31 - -82.73 - - 3109.16 - - - - - - - - - - -
5906.42 582.73 -8.33 714 5911.14 roll -1.37 - - 1988.19 - 2.73 0.064 1208.81 -419.6 -82.73 - - 3111.25 - - - - - - - - - 16.12 -
5956.05 587.25 -9.25 724 5961.12 roll -1.37 - - 1987.81 - 2.57 0.031 2354.31 445.7 -82.73 - - 3110.03 - - - - - - - - - 16.14 -
6266.11 612.99 -8.01 756 6271.21 roll -1.37 - - 1988.38 - 2.73 0.064 1207.44 -420.1 -82.73 - - 3109.72 - - - - - - - - - 16.13 -
6316.12 617.22 -9.20 766 6321.20 roll -1.37 - - 1988.94 - 2.58 0.031 2354.06 444.4 -82.73 - - 3108.19 - - - - - - - - - 16.12 -
6626.19 643.49 -8.57 798 6631.28 roll -1.37 - - 1988.75 - 2.73 0.065 1208.56 -419.6 -82.73 - - 3108.97 - - - - - - - - - 16.13 -
6730.75 653.48 -9.50 819 6736.74 roll -1.37 - - 1988.50 - 2.57 0.032 2351.88 444.9 -82.73 - - 3108.44 - - - - - - - - - 16.12 -
7046.28 680.22 -8.54 851 7047.61 no move -1.37 - - 1989.12 - - - 2352.06 - -82.73 - - 3106.88 - - - - - - - - - - -
7356.71 705.58 -7.76 882 7361.61 roll -1.37 - - 1988.94 - 2.73 0.065 1208.56 -418.9 -82.73 - - 3106.94 - - - - - - - - - 16.13 -
7406.52 709.90 -8.43 892 7411.46 roll -1.37 - - 1989.06 - 2.57 0.031 2351.81 444.8 -82.73 - - 3106.56 - - - - - - - - - 16.13 -
7716.37 734.29 -7.86 924 7717.70 no move -1.37 - - 1988.69 - - - 2351.75 - -82.73 - - 3105.41 - - - - - - - - - - -
8026.79 757.58 -7.59 955 8031.50 roll -1.37 - - 1988.38 - 2.73 0.066 1207.44 -419.2 -82.73 - - 3107.06 - - - - - - - - - 16.13 -
8116.42 765.06 -8.09 973 8121.49 roll -1.37 - - 1988.50 - 2.57 0.032 2351.38 445.1 -82.73 - - 3106.12 - - - - - - - - - 16.12 -
8426.45 789.44 -7.70 1005 8431.55 roll -1.37 - - 1988.94 - 2.71 0.065 1208.50 -421.7 -82.73 - - 3105.59 - - - - - - - - - 16.12 -
8546.48 799.19 -7.92 1029 8551.56 roll -1.37 - - 1988.56 - 2.57 0.032 2351.19 444.6 -82.73 - - 3106.53 - - - - - - - - - 16.12 -
8856.51 822.24 -7.39 1061 8857.84 no move -1.37 - - 1988.62 - - - 2350.81 - -82.73 - - 3104.47 - - - - - - - - - - -
9166.96 843.22 -6.43 1092 9171.66 roll -1.37 - - 1987.75 - 2.74 0.066 1208.56 -416.9 -82.73 - - 3105.34 - - - - - - - - - 16.12 -
9261.11 850.21 -6.81 1111 9267.10 roll -1.37 - - 1988.38 - 2.57 0.032 2352.75 445.2 -82.73 - - 3105.53 - - - - - - - - - 16.13 -
9576.82 871.94 -7.01 1143 9581.80 roll -1.37 - - 1988.81 - 2.72 0.066 1209.75 -420.2 -82.73 - - 3103.66 - - - - - - - - - 16.13 -
9631.20 876.38 -7.76 1154 9637.18 roll -1.37 - - 1988.38 - 2.56 0.032 2354.12 447.0 -82.73 - - 3104.12 - - - - - - - - - 16.12 -
9946.72 898.58 -7.07 1186 9951.83 roll -1.37 - - 1988.44 - 2.73 0.066 1208.44 -419.7 -82.73 - - 3103.88 - - - - - - - - - 16.12 -
10011.29 903.74 -7.54 1199 10017.28 roll -1.37 - - 1988.88 - 2.57 0.032 2352.75 445.3 -82.73 - - 3103.25 - - - - - - - - - 16.14 -
10327.38 927.02 -7.92 1231 10331.92 roll -1.37 - - 1988.88 - 2.74 0.066 1208.38 -417.7 -82.73 - - 3103.75 - - - - - - - - - 16.13 -
10396.84 932.96 -8.26 1245 10401.91 roll -1.37 - - 1988.81 - 2.57 0.032 2352.88 445.3 -82.73 - - 3104.25 - - - - - - - - - 16.12 -
10707.28 957.98 -8.71 1277 10711.96 roll -1.37 - - 1989.38 - 2.59 0.095 3427.44 414.9 -82.73 - - 3103.31 - - - - - - - - - 16.09 -
10766.92 963.69 -9.75 1289 10771.98 roll -1.37 - - 1989.00 - 2.57 0.023 2251.50 -457.6 -82.73 - - 3104.03 - - - - - - - - - 16.12 -
11076.98 989.38 -8.17 1321 11078.31 no move -1.37 - - 1989.38 - - - 2249.88 - -82.73 - - 3102.62 - - - - - - - - - - -
11086 end dive: TARGET_DEPTH_EXCEEDED
11086 begin apogee
11088.77 990.19 -8.17 1322 11153.60 -0.28 1.78 0.154 2254.06 148.7 0.15 0.179 2275.38 170.0 - 60.90 2.427 2774.50 -5.4 0.363 - - - - - - 16.04 15.67 12.38
11163 end apogee: CONTROL_FINISHED_OK
11163 begin climb
11164.11 992.13 - 1328 11234.80 1.37 2.62 0.099 2654.69 152.9 - - 2288.25 - 82.73 65.29 2.357 2436.19 -5.2 0.360 - - - - - - 15.71 - 12.87
11537.97 968.12 7.57 1366 11543.08 roll 1.38 - - 2655.50 - 2.86 0.076 1130.38 -404.8 82.73 - - 2431.69 - - - - - - - - - 15.78 -
11607.98 962.78 7.96 1380 11613.06 roll 1.38 - - 2654.94 - 2.61 0.031 2272.44 437.6 82.73 - - 2431.19 - - - - - - - - - 15.80 -
11918.44 939.19 7.27 1412 11923.13 roll 1.41 - - 2654.50 - 2.63 0.095 3346.62 408.4 82.73 - - 2431.28 - - - - - - - - - 15.89 -
11982.60 933.64 8.70 1425 11988.62 roll 1.41 - - 2654.56 - 2.62 0.025 2188.25 -442.1 82.73 - - 2429.88 - - - - - - - - - 15.90 -
12298.53 910.56 7.88 1457 12299.86 VBD 1.42 - - 2655.88 - - - 2187.69 - 82.73 - - 2429.09 - - - - - - - - - - -
12608.76 886.03 8.00 1488 12613.31 done 1.42 - - 2655.94 - 2.60 0.080 1130.00 -406.8 82.73 - - 2430.25 - - - - - - - - - 15.99 -
12718.23 876.81 8.68 1510 12723.31 done 1.42 - - 2655.69 - 2.59 0.032 2272.56 441.1 82.73 - - 2428.56 - - - - - - - - - 16.02 -
13028.69 851.70 8.11 1542 13030.02 VBD 1.42 - - 2656.00 - - - 2272.56 - 82.73 - - 2428.38 - - - - - - - - - - -
13338.73 825.76 8.39 1573 13340.06 VBD 1.42 - - 2655.25 - - - 2272.75 - 82.73 - - 2428.47 - - - - - - - - - - -
13648.78 801.51 7.68 1604 13653.48 done 1.44 - - 2655.25 - 2.78 0.076 1130.38 -410.9 82.73 - - 2428.75 - - - - - - - - - 16.06 -
13742.95 794.23 7.87 1623 13748.93 done 1.45 - - 2654.12 - 2.59 0.032 2275.62 442.2 82.73 - - 2429.44 - - - - - - - - - 16.06 -
14058.84 772.48 6.73 1655 14063.54 done 1.48 - - 2655.38 - 2.78 0.076 1131.06 -411.7 82.73 - - 2429.44 - - - - - - - - - 16.06 -
14143.01 766.42 7.15 1672 14149.04 1.51 0.18 0.093 2701.38 255.6 2.58 0.032 2274.25 443.1 82.73 - - 2429.12 - - - - - - - - 16.01 16.08 -
14458.48 741.13 8.09 1704 14463.59 done 1.51 - - 2701.75 - 2.77 0.075 1130.31 -413.0 82.73 - - 2429.19 - - - - - - - - - 16.08 -
14518.50 735.90 9.07 1716 14523.75 done 1.51 - - 2702.50 - 2.57 0.032 2274.56 445.2 82.73 - - 2428.78 - - - - - - - - - 16.08 -
14828.77 711.64 8.19 1748 14830.11 VBD 1.51 - - 2701.88 - - - 2274.81 - 82.73 - - 2428.00 - - - - - - - - - - -
15138.98 686.66 8.25 1779 15143.68 done 1.51 - - 2701.94 - 2.78 0.076 1129.88 -411.8 82.73 - - 2428.56 - - - - - - - - - 16.09 -
15223.16 679.08 9.30 1796 15229.15 done 1.51 - - 2701.62 - 2.58 0.032 2273.50 443.3 82.73 - - 2429.28 - - - - - - - - - 16.10 -
15538.68 653.87 7.98 1828 15543.76 done 1.51 - - 2701.69 - 2.61 0.095 3348.06 411.7 82.73 - - 2429.06 - - - - - - - - - 16.08 -
15623.26 646.38 9.55 1845 15629.25 done 1.51 - - 2702.62 - 2.58 0.025 2186.75 -450.1 82.73 - - 2428.41 - - - - - - - - - 16.09 -
15939.18 622.60 7.61 1877 15940.51 VBD 1.53 - - 2701.88 - - - 2186.25 - 82.73 - - 2426.97 - - - - - - - - - - -
16249.25 599.62 7.03 1908 16253.97 done 1.55 - - 2702.50 - 2.83 0.090 3346.50 410.0 82.73 - - 2428.22 - - - - - - - - - 16.09 -
16378.91 589.41 7.93 1934 16383.96 done 1.56 - - 2702.12 - 2.58 0.025 2187.62 -449.2 82.73 - - 2428.50 - - - - - - - - - 16.10 -
16689.35 567.56 6.91 1966 16694.21 done 1.60 - - 2702.00 - 2.57 0.080 1130.00 -411.5 82.73 - - 2427.31 - - - - - - - - - 16.10 -
16799.18 559.32 7.53 1988 16804.06 done 1.61 - - 2701.94 - 2.57 0.032 2273.88 445.1 82.73 - - 2428.47 - - - - - - - - - 16.09 -
17109.47 538.01 6.93 2020 17110.80 VBD 1.64 - - 2702.25 - - - 2274.06 - 82.73 - - 2426.75 - - - - - - - - - - -
17419.52 516.85 6.86 2051 17420.85 VBD 1.68 - - 2701.81 - - - 2273.44 - 82.73 - - 2426.53 - - - - - - - - - - -
17729.58 495.08 6.88 2082 17734.34 1.71 0.19 0.081 2746.50 235.2 2.78 0.076 1130.50 -411.1 82.73 - - 2428.31 - - - - - - - - 16.08 16.08 -
17864.17 484.58 7.62 2109 17869.77 done 1.73 - - 2747.62 - 2.56 0.032 2276.38 447.6 82.73 - - 2427.19 - - - - - - - - - 16.08 -
18179.70 464.10 6.53 2141 18181.03 VBD 1.76 - - 2747.06 - - - 2276.19 - 82.73 - - 2426.56 - - - - - - - - - - -
18489.74 444.94 5.66 2172 18521.96 VBD 1.85 - - 2747.62 - - - 2276.06 - 123.71 30.95 1.707 2268.44 -5.1 0.220 - - - - - - - - 12.38
18829.38 418.32 7.87 2206 18830.71 no move 1.86 - - 2747.00 - - - 2275.88 - 123.71 - - 2265.25 - - - - - - - - - - -
19139.80 391.36 9.17 2237 19141.13 no move 1.86 - - 2746.69 - - - 2275.81 - 123.71 - - 2264.53 - - - - - - - - - - -
19449.45 362.55 9.01 2268 19454.73 roll 1.86 - - 2747.12 - 2.79 0.075 1130.12 -410.6 123.71 - - 2266.22 - - - - - - - - - 16.05 -
19524.18 355.18 10.18 2283 19529.99 roll 1.86 - - 2747.00 - 2.58 0.031 2274.94 443.7 123.71 - - 2266.03 - - - - - - - - - 16.03 -
19839.68 326.57 8.91 2315 19844.60 roll 1.86 - - 2746.44 - 2.77 0.074 1130.19 -413.3 123.71 - - 2265.66 - - - - - - - - - 16.05 -
19934.06 317.66 9.49 2334 19940.04 roll 1.86 - - 2746.88 - 2.58 0.031 2274.06 443.4 123.71 - - 2265.97 - - - - - - - - - 16.05 -
20249.56 293.12 8.07 2366 20250.89 no move 1.86 - - 2746.88 - - - 2274.62 - 123.71 - - 2263.94 - - - - - - - - - - -
20560.01 268.18 7.69 2397 20564.77 roll back 1.87 0.15 0.092 2787.94 273.7 2.77 0.074 1130.25 -413.1 123.71 - - 2266.09 - - - - - - - - 16.00 16.01 -
20619.63 262.82 8.93 2409 20624.71 roll 1.87 - - 2789.06 - 2.58 0.031 2274.25 443.4 123.71 - - 2264.91 - - - - - - - - - 16.03 -
20930.09 234.99 9.21 2441 20934.81 roll 1.87 - - 2789.38 - 2.76 0.073 1131.44 -414.1 123.71 - - 2265.88 - - - - - - - - - 16.08 -
21069.76 221.25 9.94 2469 21074.82 roll 1.87 - - 2788.75 - 2.58 0.031 2274.25 442.9 123.71 - - 2264.84 - - - - - - - - - 16.02 -
21380.01 192.66 9.33 2501 21384.98 roll 1.87 - - 2788.69 - 2.78 0.073 1129.00 -412.0 123.71 - - 2264.78 - - - - - - - - - 16.07 -
21444.38 186.63 9.14 2514 21450.37 roll 1.87 - - 2789.12 - 2.58 0.030 2275.00 444.2 123.71 - - 2264.75 - - - - - - - - - 16.06 -
21760.30 159.95 7.88 2546 21761.63 no move 1.89 - - 2788.94 - - - 2275.69 - 123.71 - - 2264.28 - - - - - - - - - - -
22070.37 138.51 6.19 2577 22099.78 VBD 1.95 - - 2789.38 - - - 2275.44 - 156.95 25.52 1.313 2134.19 -5.1 0.089 - - - - - - - - 12.30
22410.43 111.95 7.81 2611 22411.76 no move 1.96 - - 2789.12 - - - 2275.94 - 156.95 - - 2130.28 - - - - - - - - - - -
22715.13 92.59 5.06 2655 22757.83 2.06 0.19 0.080 2835.62 244.7 2.80 0.074 1131.38 -408.8 206.78 37.90 1.277 1929.91 -5.3 0.063 - - - - - - 16.01 15.86 12.52
22966.29 72.19 8.92 2705 22971.42 roll 2.06 - - 2835.38 - 2.59 0.030 2275.88 441.9 206.78 - - 1925.06 - - - - - - - - - 15.94 -
23155.98 61.55 4.25 2743 23207.92 done 2.19 - - 2835.06 - 2.64 0.090 3348.19 406.2 268.51 45.92 1.231 1680.03 -5.3 0.044 - - - - - - - 15.73 12.55
23271.61 53.07 9.34 2766 23277.15 roll 2.19 - - 2836.00 - 2.62 0.023 2186.94 -443.2 268.51 - - 1675.25 - - - - - - - - - 15.84 -
23461.69 37.76 7.65 2804 23467.22 done 2.20 - - 2835.44 - 2.59 0.076 1131.25 -407.6 268.51 - - 1671.03 - - - - - - - - - 15.88 -
23551.73 30.92 7.52 2822 23557.24 done 2.22 - - 2835.06 - 2.60 0.029 2275.38 440.1 268.51 - - 1670.22 - - - - - - - - - 15.90 -
23741.80 21.52 3.54 2860 23803.49 2.37 0.35 0.060 2910.38 215.2 2.84 0.072 1131.31 -402.8 340.67 53.53 1.176 1385.56 -5.3 0.016 - - - - - - 15.88 15.72 12.55
23867.40 17.55 3.63 2885 23925.10 done 2.51 - - 2910.69 - 2.60 0.028 2277.50 440.8 411.53 53.19 1.144 1097.41 -5.4 0.014 - - - - - - - 15.79 12.63
24073 end climb: SURFACE_DEPTH_REACHED
24073 begin surface coast
24098 end surface coast: CONTROL_FINISHED_OK
24098 begin surface
SM 2.31 - - - - 180.6 11.24 0.984 1043.0 88.1 16.80 0.048 1017.3 60.6 - 0.12 0.125 1068.7 8884.2 -16.780 - - 12.60 15.76 15.78 -