NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 354 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 112.69 of 550.00 AH used of 24V (79.51% remains)
• Surface angle -63.3 deg, depth 1.55 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 425.05 (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
6.97 - - - 57.40 VBD -1.37 - - 181.12 - - - 2265.94 - -82.73 49.22 0.005 2306.09 - - - - - - - - - - 15.59
58.13 3.29 -3.99 9 101.39 -1.37 14.05 0.252 1988.31 128.6 2.52 0.066 1206.94 -420.2 -82.73 19.03 0.006 3113.00 42.4 -3.843 - - - - - - 15.64 15.59 15.65
269.38 43.83 -16.15 51 274.92 roll -1.37 - - 1986.50 - 2.63 0.029 2352.88 435.7 -82.73 - - 3113.75 - - - - - - - - - 15.87 -
459.80 69.44 -13.21 89 465.18 roll -1.37 - - 1989.19 - 2.71 0.059 1208.38 -422.3 -82.73 - - 3113.25 - - - - - - - - - 15.91 -
504.56 75.76 -13.97 98 509.98 roll -1.37 - - 1988.31 - 2.62 0.028 2354.88 437.6 -82.73 - - 3113.22 - - - - - - - - - 15.92 -
694.87 98.81 -11.59 136 700.02 roll -1.37 - - 1986.44 - 2.70 0.059 1207.12 -425.1 -82.73 - - 3114.56 - - - - - - - - - 15.93 -
789.04 110.51 -11.91 155 795.04 roll -1.37 - - 1988.94 - 2.61 0.028 2356.25 440.3 -82.73 - - 3113.84 - - - - - - - - - 15.95 -
1104.54 142.47 -8.82 187 1105.87 no move -1.37 - - 1988.44 - - - 2356.06 - -82.73 - - 3113.50 - - - - - - - - - - -
1415.17 168.90 -8.58 218 1419.66 roll -1.37 - - 1988.25 - 2.69 0.059 1206.38 -427.4 -82.73 - - 3113.91 - - - - - - - - - 16.00 -
1524.60 179.32 -9.89 240 1529.69 roll -1.37 - - 1988.56 - 2.61 0.028 2356.25 440.6 -82.73 - - 3115.69 - - - - - - - - - 16.02 -
1834.68 211.22 -10.59 272 1839.75 roll -1.37 - - 1987.88 - 2.70 0.060 1207.31 -425.5 -82.73 - - 3113.88 - - - - - - - - - 16.04 -
1894.70 217.66 -11.05 284 1899.76 roll -1.37 - - 1988.12 - 2.60 0.028 2356.06 441.8 -82.73 - - 3114.75 - - - - - - - - - 16.05 -
2204.77 252.45 -11.16 316 2206.10 no move -1.37 - - 1988.75 - - - 2355.94 - -82.73 - - 3113.38 - - - - - - - - - - -
2515.22 285.09 -10.21 347 2516.55 no move -1.37 - - 1988.50 - - - 2356.25 - -82.73 - - 3112.25 - - - - - - - - - - -
2825.53 314.29 -8.93 378 2829.97 roll -1.37 - - 1988.50 - 2.69 0.061 1208.81 -426.6 -82.73 - - 3114.03 - - - - - - - - - 16.06 -
2894.92 320.59 -9.29 392 2899.99 roll -1.37 - - 1988.38 - 2.59 0.029 2353.50 442.0 -82.73 - - 3112.69 - - - - - - - - - 16.06 -
3204.99 348.32 -8.58 424 3210.07 roll -1.37 - - 1988.69 - 2.70 0.062 1206.69 -424.7 -82.73 - - 3112.28 - - - - - - - - - 16.08 -
3285.00 355.36 -9.16 440 3290.08 roll -1.37 - - 1988.25 - 2.59 0.029 2353.00 442.6 -82.73 - - 3112.28 - - - - - - - - - 16.09 -
3595.08 382.76 -8.79 472 3600.16 roll -1.37 - - 1988.38 - 2.69 0.062 1206.75 -426.1 -82.73 - - 3111.88 - - - - - - - - - 16.08 -
3685.04 390.68 -8.78 490 3690.17 roll -1.37 - - 1988.38 - 2.59 0.029 2354.56 443.2 -82.73 - - 3111.84 - - - - - - - - - 16.09 -
3995.17 418.51 -9.06 522 4000.25 roll -1.37 - - 1989.00 - 2.69 0.062 1207.44 -426.4 -82.73 - - 3111.25 - - - - - - - - - 16.09 -
4085.19 426.93 -9.47 540 4090.26 roll -1.37 - - 1987.56 - 2.58 0.029 2353.62 444.3 -82.73 - - 3112.19 - - - - - - - - - 16.09 -
4395.28 455.65 -9.07 572 4400.53 roll -1.37 - - 1988.12 - 2.67 0.062 1208.38 -428.9 -82.73 - - 3110.72 - - - - - - - - - 16.10 -
4505.41 465.95 -9.50 594 4510.37 roll -1.37 - - 1988.38 - 2.58 0.030 2354.06 444.1 -82.73 - - 3110.06 - - - - - - - - - 16.09 -
4815.35 494.23 -8.81 626 4820.42 roll -1.37 - - 1988.25 - 2.66 0.063 1208.56 -430.6 -82.73 - - 3110.19 - - - - - - - - - 16.10 -
4925.36 504.24 -9.26 648 4930.44 roll -1.37 - - 1987.94 - 2.58 0.030 2353.94 443.9 -82.73 - - 3109.50 - - - - - - - - - 16.09 -
5235.41 532.08 -8.84 680 5240.48 roll -1.37 - - 1988.69 - 2.67 0.063 1208.62 -429.0 -82.73 - - 3109.28 - - - - - - - - - 16.09 -
5309.96 538.90 -9.65 695 5315.95 roll -1.37 - - 1988.81 - 2.58 0.030 2353.44 443.7 -82.73 - - 3108.41 - - - - - - - - - 16.09 -
5625.47 568.09 -8.78 727 5630.53 roll -1.37 - - 1987.56 - 2.67 0.063 1207.00 -429.4 -82.73 - - 3109.22 - - - - - - - - - 16.09 -
5685.52 573.31 -9.21 739 5690.54 roll -1.37 - - 1987.81 - 2.58 0.030 2353.12 444.2 -82.73 - - 3109.19 - - - - - - - - - 16.10 -
5995.51 599.22 -8.45 771 6000.59 roll -1.37 - - 1988.62 - 2.67 0.064 1208.44 -428.7 -82.73 - - 3107.59 - - - - - - - - - 16.10 -
6045.51 603.30 -9.02 781 6050.77 roll -1.37 - - 1987.25 - 2.59 0.030 2352.94 441.9 -82.73 - - 3108.56 - - - - - - - - - 16.10 -
6355.74 626.78 -7.36 813 6360.63 roll -1.37 - - 1988.81 - 2.68 0.063 1207.62 -427.4 -82.73 - - 3106.84 - - - - - - - - - 16.11 -
6430.11 632.64 -8.31 828 6436.10 roll -1.37 - - 1987.06 - 2.58 0.030 2353.12 444.0 -82.73 - - 3107.84 - - - - - - - - - 16.12 -
6745.63 657.07 -7.90 860 6746.96 no move -1.37 - - 1989.25 - - - 2352.75 - -82.73 - - 3105.62 - - - - - - - - - - -
7056.09 682.27 -8.63 891 7060.78 roll -1.37 - - 1987.94 - 2.63 0.092 3425.75 408.0 -82.73 - - 3106.62 - - - - - - - - - 16.07 -
7220.31 698.63 -9.69 924 7226.29 roll -1.37 - - 1988.62 - 2.52 0.023 2248.06 -467.3 -82.73 - - 3105.19 - - - - - - - - - 16.10 -
7535.83 726.24 -8.68 956 7540.95 roll -1.37 - - 1989.12 - 2.88 0.087 3428.25 409.8 -82.73 - - 3105.31 - - - - - - - - - 16.09 -
7670.41 739.80 -10.71 983 7676.39 roll -1.37 - - 1987.62 - 2.53 0.023 2248.19 -466.4 -82.73 - - 3106.28 - - - - - - - - - 16.09 -
7985.93 768.16 -8.98 1015 7987.26 no move -1.37 - - 1988.75 - - - 2248.31 - -82.73 - - 3103.62 - - - - - - - - - - -
8296.39 794.70 -8.37 1046 8301.12 roll -1.37 - - 1988.31 - 2.89 0.087 3425.75 407.4 -82.73 - - 3103.91 - - - - - - - - - 16.09 -
8516.13 813.80 -8.26 1090 8521.14 roll -1.37 - - 1988.56 - 2.53 0.023 2246.88 -466.0 -82.73 - - 3104.50 - - - - - - - - - 16.10 -
8826.14 836.01 -7.13 1122 8831.27 roll -1.37 - - 1988.38 - 2.90 0.088 3425.94 406.6 -82.73 - - 3103.38 - - - - - - - - - 16.08 -
8916.17 843.41 -8.16 1140 8921.23 roll -1.37 - - 1988.56 - 2.53 0.023 2249.81 -464.9 -82.73 - - 3104.03 - - - - - - - - - 16.09 -
9226.25 863.74 -6.27 1172 9231.35 roll -1.37 - - 1987.31 - 2.90 0.088 3427.50 406.1 -82.73 - - 3103.94 - - - - - - - - - 16.08 -
9310.80 870.37 -8.01 1189 9316.78 roll -1.37 - - 1988.00 - 2.53 0.023 2248.69 -465.9 -82.73 - - 3103.19 - - - - - - - - - 16.10 -
9626.50 890.85 -6.70 1221 9631.44 roll -1.37 - - 1988.44 - 2.89 0.088 3426.00 407.4 -82.73 - - 3103.44 - - - - - - - - - 16.03 -
9740.90 899.96 -7.88 1244 9746.88 roll -1.37 - - 1988.62 - 2.54 0.023 2248.94 -463.4 -82.73 - - 3102.22 - - - - - - - - - 16.09 -
10056.41 921.98 -7.59 1276 10061.53 roll -1.37 - - 1988.62 - 2.91 0.088 3425.88 404.4 -82.73 - - 3102.00 - - - - - - - - - 16.07 -
10171.15 931.80 -8.28 1299 10177.01 roll -1.37 - - 1987.56 - 2.54 0.023 2247.88 -463.8 -82.73 - - 3101.94 - - - - - - - - - 16.08 -
10486.46 956.24 -7.61 1331 10491.59 roll -1.37 - - 1988.38 - 2.92 0.089 3427.12 403.8 -82.73 - - 3102.31 - - - - - - - - - 16.07 -
10711.05 976.20 -8.71 1376 10717.03 roll -1.37 - - 1988.50 - 2.54 0.023 2249.12 -463.8 -82.73 - - 3101.81 - - - - - - - - - 16.08 -
10916 end dive: TARGET_DEPTH_EXCEEDED
10916 begin apogee
10918.32 990.39 -6.95 1397 10982.87 -0.28 1.81 0.147 2253.12 146.2 0.15 0.179 2289.38 268.4 - 60.63 2.447 2774.88 -5.4 0.361 - - - - - - 16.00 15.66 12.21
10984 end apogee: CONTROL_FINISHED_OK
10984 begin climb
10985.20 991.82 - 1403 11060.89 1.37 2.64 0.097 2656.56 152.8 2.91 0.078 1131.19 -398.0 82.73 65.74 2.358 2436.81 -5.1 0.358 - - - - - - 15.69 15.34 12.72
11163.85 980.18 8.80 1438 11169.61 roll 1.37 - - 2655.56 - 2.68 0.030 2270.44 425.1 82.73 - - 2433.81 - - - - - - - - - 15.63 -
11479.48 955.74 7.96 1470 11484.17 roll 1.38 - - 2655.81 - 2.79 0.074 1130.12 -408.7 82.73 - - 2432.03 - - - - - - - - - 15.79 -
11593.66 945.68 8.90 1493 11599.66 roll 1.38 - - 2654.81 - 2.64 0.031 2271.06 432.2 82.73 - - 2430.97 - - - - - - - - - 15.84 -
11909.58 921.01 7.77 1525 11914.28 done 1.39 - - 2654.44 - 2.77 0.074 1129.81 -412.0 82.73 - - 2430.78 - - - - - - - - - 15.91 -
12003.75 912.96 8.77 1544 12009.76 roll 1.39 - - 2655.94 - 2.62 0.031 2271.06 435.6 82.73 - - 2429.75 - - - - - - - - - 15.94 -
12319.67 889.55 7.76 1576 12324.38 done 1.41 - - 2655.94 - 2.75 0.074 1130.25 -414.8 82.73 - - 2429.25 - - - - - - - - - 15.97 -
12389.29 883.92 8.20 1590 12394.39 done 1.41 - - 2655.94 - 2.62 0.031 2271.31 435.5 82.73 - - 2430.62 - - - - - - - - - 15.98 -
12699.74 860.97 7.37 1622 12704.44 done 1.43 - - 2656.00 - 2.74 0.074 1130.06 -416.5 82.73 - - 2430.31 - - - - - - - - - 16.00 -
12753.90 856.26 8.50 1633 12760.08 done 1.43 - - 2655.88 - 2.61 0.031 2272.19 437.6 82.73 - - 2430.25 - - - - - - - - - 16.01 -
13069.90 832.81 7.11 1665 13074.49 done 1.45 - - 2655.94 - 2.74 0.074 1129.88 -416.9 82.73 - - 2429.47 - - - - - - - - - 16.01 -
13189.43 823.26 7.87 1689 13194.50 done 1.47 - - 2654.62 - 2.61 0.031 2273.19 438.0 82.73 - - 2430.00 - - - - - - - - - 16.02 -
13499.86 801.22 7.52 1721 13504.55 done 1.48 - - 2655.62 - 2.73 0.075 1129.75 -418.8 82.73 - - 2428.91 - - - - - - - - - 16.02 -
13674.05 787.51 7.75 1756 13680.10 1.50 0.16 0.095 2699.75 275.8 2.61 0.031 2273.56 438.2 82.73 - - 2430.03 - - - - - - - - 15.97 16.04 -
13989.54 764.25 7.23 1788 13994.63 done 1.52 - - 2699.75 - 2.73 0.074 1129.88 -418.9 82.73 - - 2429.84 - - - - - - - - - 16.04 -
14064.09 758.07 8.17 1803 14070.08 done 1.52 - - 2699.56 - 2.60 0.031 2272.25 439.4 82.73 - - 2428.41 - - - - - - - - - 16.06 -
14379.99 735.28 7.36 1835 14384.68 done 1.55 - - 2699.94 - 2.73 0.074 1128.69 -418.9 82.73 - - 2428.00 - - - - - - - - - 16.06 -
14509.66 725.13 7.80 1861 14514.89 done 1.56 - - 2699.88 - 2.60 0.031 2274.12 440.5 82.73 - - 2428.06 - - - - - - - - - 16.06 -
14820.28 703.47 7.42 1893 14824.79 done 1.58 - - 2698.75 - 2.65 0.094 3345.44 404.3 82.73 - - 2428.94 - - - - - - - - - 16.03 -
14944.30 693.08 8.20 1918 14950.29 done 1.58 - - 2700.31 - 2.55 0.025 2186.06 -454.7 82.73 - - 2427.28 - - - - - - - - - 16.05 -
15259.83 668.81 8.01 1950 15264.89 done 1.58 - - 2700.38 - 2.51 0.079 1129.88 -420.8 82.73 - - 2427.78 - - - - - - - - - 16.05 -
15454.42 652.80 8.15 1989 15460.41 done 1.58 - - 2699.88 - 2.60 0.031 2273.12 439.7 82.73 - - 2428.47 - - - - - - - - - 16.07 -
15770.35 630.33 7.14 2021 15771.68 VBD 1.61 - - 2700.31 - - - 2273.31 - 82.73 - - 2426.31 - - - - - - - - - - -
16080.42 608.78 6.92 2052 16085.12 done 1.64 - - 2699.50 - 2.73 0.074 1130.00 -418.8 82.73 - - 2428.03 - - - - - - - - - 16.07 -
16264.61 594.23 7.98 2089 16270.61 done 1.64 - - 2700.25 - 2.60 0.031 2274.31 440.1 82.73 - - 2428.38 - - - - - - - - - 16.07 -
16580.54 571.64 6.66 2121 16585.48 1.67 0.16 0.090 2741.12 255.4 2.73 0.074 1130.12 -419.1 82.73 - - 2427.34 - - - - - - - - 16.04 16.03 -
16705.29 562.08 7.52 2146 16710.71 done 1.69 - - 2739.12 - 2.60 0.031 2274.81 440.3 82.73 - - 2428.25 - - - - - - - - - 16.07 -
17020.64 540.96 6.44 2178 17048.17 done 1.75 - - 2739.62 - 2.75 0.077 1130.25 -416.2 112.39 22.96 1.803 2315.25 -4.9 0.244 - - - - - - - 15.96 12.20
17186.19 527.45 8.65 2211 17191.27 roll 1.75 - - 2741.25 - 2.61 0.031 2273.38 438.0 112.39 - - 2314.56 - - - - - - - - - 16.00 -
17496.63 500.50 8.93 2243 17501.34 roll 1.75 - - 2741.00 - 2.73 0.074 1130.06 -418.8 112.39 - - 2313.28 - - - - - - - - - 16.01 -
17580.82 492.37 9.47 2260 17586.86 roll 1.75 - - 2740.69 - 2.60 0.031 2273.62 439.8 112.39 - - 2312.91 - - - - - - - - - 16.00 -
17896.88 465.07 8.72 2292 17901.40 roll 1.75 - - 2740.31 - 2.74 0.074 1131.62 -416.8 112.39 - - 2313.53 - - - - - - - - - 16.02 -
18051.26 450.79 8.94 2323 18056.87 roll 1.75 - - 2741.06 - 2.59 0.031 2273.44 440.9 112.39 - - 2313.31 - - - - - - - - - 16.03 -
18367.00 424.43 8.25 2355 18368.33 no move 1.75 - - 2740.88 - - - 2273.69 - 112.39 - - 2312.28 - - - - - - - - - - -
18676.79 399.30 8.07 2386 18681.50 roll 1.75 - - 2741.19 - 2.73 0.074 1130.12 -418.9 112.39 - - 2313.25 - - - - - - - - - 16.05 -
18856.45 384.42 8.23 2422 18861.52 roll 1.75 - - 2740.56 - 2.60 0.031 2274.69 440.2 112.39 - - 2313.78 - - - - - - - - - 16.06 -
19166.49 359.97 8.00 2454 19171.58 roll 1.75 - - 2741.38 - 2.73 0.073 1129.06 -419.6 112.39 - - 2312.62 - - - - - - - - - 16.06 -
19401.07 340.84 8.10 2501 19407.09 roll 1.75 - - 2740.94 - 2.61 0.031 2273.56 438.5 112.39 - - 2312.38 - - - - - - - - - 16.06 -
19717.15 317.01 7.56 2533 19721.67 roll 1.77 - - 2740.31 - 2.72 0.073 1129.88 -420.5 112.39 - - 2313.78 - - - - - - - - - 16.05 -
19951.21 298.38 7.89 2580 19957.20 roll 1.78 - - 2741.69 - 2.61 0.031 2273.69 438.2 112.39 - - 2312.94 - - - - - - - - - 16.05 -
20267.13 275.28 7.43 2612 20272.00 roll 1.80 - - 2741.50 - 2.74 0.072 1128.75 -417.9 112.39 - - 2312.78 - - - - - - - - - 16.00 -
20456.81 260.60 7.49 2650 20461.87 roll 1.82 - - 2741.25 - 2.60 0.031 2273.81 440.4 112.39 - - 2312.34 - - - - - - - - - 16.05 -
20767.27 239.01 6.33 2682 20798.35 1.88 0.20 0.077 2793.69 262.2 2.74 0.075 1130.12 -417.4 143.55 24.63 1.451 2188.44 -5.0 0.137 - - - - - - 16.02 15.96 12.28
20916.90 225.46 9.77 2712 20921.99 roll 1.88 - - 2793.94 - 2.62 0.031 2273.56 436.4 143.55 - - 2185.88 - - - - - - - - - 15.98 -
21227.36 198.33 8.31 2744 21232.06 roll 1.88 - - 2792.75 - 2.74 0.072 1129.81 -417.4 143.55 - - 2186.38 - - - - - - - - - 15.91 -
21437.03 179.68 9.06 2786 21442.12 roll 1.88 - - 2793.69 - 2.62 0.030 2272.12 436.0 143.55 - - 2185.34 - - - - - - - - - 15.94 -
21747.49 153.46 8.43 2818 21752.19 roll 1.88 - - 2793.31 - 2.73 0.071 1130.00 -418.4 143.55 - - 2185.56 - - - - - - - - - 16.01 -
21981.72 133.69 8.52 2865 21987.91 roll 1.88 - - 2793.06 - 2.61 0.030 2272.31 437.7 143.55 - - 2185.62 - - - - - - - - - 16.02 -
22297.76 111.83 6.22 2897 22328.68 done 1.95 - - 2794.06 - 2.74 0.073 1128.62 -417.4 176.46 25.76 1.288 2055.22 -5.1 0.073 - - - - - - - 15.92 12.28
22557.33 94.01 6.65 2949 22562.86 roll 1.98 - - 2794.31 - 2.62 0.030 2271.50 436.2 176.46 - - 2049.94 - - - - - - - - - 15.93 -
22747.37 83.19 4.59 2987 22795.57 2.10 0.20 0.076 2844.62 251.5 2.77 0.072 1130.31 -412.0 233.17 42.73 1.278 1822.34 -5.3 0.057 - - - - - - 15.91 15.80 12.51
23023.62 63.07 6.88 3042 23029.16 done 2.13 - - 2844.75 - 2.63 0.029 2274.81 435.2 233.17 - - 1816.31 - - - - - - - - - 15.90 -
23213.73 51.02 6.25 3080 23245.29 done 2.19 - - 2845.19 - 2.78 0.071 1128.75 -412.3 265.50 24.67 1.184 1691.47 -5.1 0.036 - - - - - - - 15.79 12.44
23474.81 30.90 7.36 3132 23479.66 roll 2.22 - - 2844.81 - 2.63 0.029 2272.44 434.9 265.50 - - 1685.72 - - - - - - - - - 15.90 -
23663.86 22.85 3.09 3170 23730.61 2.37 0.31 0.062 2910.62 212.3 2.79 0.071 1129.31 -409.7 344.26 58.83 1.190 1370.94 -5.4 0.017 - - - - - - 15.91 15.70 12.46
23959.36 8.13 5.51 3229 23999.77 done 2.46 - - 2910.62 - 2.63 0.028 2274.38 435.4 387.51 33.01 1.125 1194.88 -5.3 0.006 - - - - - - - 15.84 12.52
24068 end climb: SURFACE_DEPTH_REACHED
24069 begin surface coast
24103 end surface coast: CONTROL_FINISHED_OK
24104 begin surface
SM 3.32 - - - - 182.8 29.00 1.125 1042.2 34.8 16.75 0.044 1003.6 59.9 - 0.12 0.126 1080.9 8985.6 -24.199 - - 12.48 15.77 15.79 -