NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 355 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 113.00 of 550.00 AH used of 24V (79.45% remains)
• Surface angle -63.5 deg, depth 1.50 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.80 (SM_CC=425)
• GPS1 time: 98 s
• GPS2 time: 3 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.78 - - - 57.20 VBD -1.37 - - 181.94 - - - 2239.75 - -82.73 49.24 0.005 2306.41 - - - - - - - - - - 15.59
57.94 3.56 -4.14 9 101.13 -1.37 13.98 0.252 1988.38 129.2 2.45 0.066 1207.00 -421.5 -82.73 18.51 0.006 3112.22 43.5 -4.272 - - - - - - 15.67 15.57 15.63
329.23 52.71 -15.25 63 334.73 roll -1.37 - - 1987.81 - 2.64 0.029 2352.69 434.0 -82.73 - - 3114.09 - - - - - - - - - 15.88 -
519.64 79.62 -12.72 101 525.02 roll -1.37 - - 1987.25 - 2.71 0.058 1207.25 -422.7 -82.73 - - 3114.94 - - - - - - - - - 15.92 -
569.40 86.47 -13.91 111 574.83 roll -1.37 - - 1988.56 - 2.62 0.028 2352.06 437.0 -82.73 - - 3114.56 - - - - - - - - - 15.92 -
759.36 109.95 -11.61 141 764.44 roll -1.37 - - 1986.94 - 2.71 0.058 1207.12 -422.5 -82.73 - - 3114.66 - - - - - - - - - 15.95 -
789.36 113.23 -10.95 147 794.44 roll -1.37 - - 1988.50 - 2.61 0.027 2353.12 439.1 -82.73 - - 3114.56 - - - - - - - - - 15.95 -
1099.43 140.86 -8.50 179 1104.52 roll -1.37 - - 1987.44 - 2.70 0.059 1207.12 -424.4 -82.73 - - 3115.22 - - - - - - - - - 15.99 -
1189.63 149.25 -9.36 197 1194.53 roll -1.37 - - 1989.25 - 2.61 0.028 2352.25 438.7 -82.73 - - 3115.81 - - - - - - - - - 16.00 -
1499.53 177.34 -9.54 229 1504.60 roll -1.37 - - 1988.06 - 2.69 0.059 1206.25 -426.0 -82.73 - - 3114.16 - - - - - - - - - 16.00 -
1549.53 182.50 -10.33 239 1554.62 roll -1.37 - - 1988.75 - 2.61 0.028 2353.75 439.7 -82.73 - - 3115.25 - - - - - - - - - 16.01 -
1859.60 215.38 -11.02 271 1864.68 roll -1.37 - - 1988.75 - 2.69 0.060 1208.69 -425.7 -82.73 - - 3115.72 - - - - - - - - - 16.02 -
1939.62 224.64 -12.19 287 1944.69 roll -1.37 - - 1989.19 - 2.60 0.028 2351.81 439.7 -82.73 - - 3115.84 - - - - - - - - - 16.05 -
2249.89 258.25 -10.01 319 2251.21 no move -1.37 - - 1988.25 - - - 2351.94 - -82.73 - - 3113.50 - - - - - - - - - - -
2560.26 286.40 -8.60 350 2564.84 roll -1.37 - - 1988.25 - 2.70 0.060 1206.25 -424.3 -82.73 - - 3113.78 - - - - - - - - - 16.06 -
2629.78 292.70 -9.30 364 2634.84 roll -1.37 - - 1988.25 - 2.60 0.029 2351.69 440.6 -82.73 - - 3114.09 - - - - - - - - - 16.05 -
2939.84 318.40 -8.60 396 2941.17 no move -1.37 - - 1988.44 - - - 2352.38 - -82.73 - - 3113.16 - - - - - - - - - - -
3250.26 343.04 -7.76 427 3251.59 no move -1.37 - - 1988.69 - - - 2352.12 - -82.73 - - 3112.62 - - - - - - - - - - -
3560.29 367.55 -8.15 458 3561.62 no move -1.37 - - 1988.56 - - - 2351.81 - -82.73 - - 3111.62 - - - - - - - - - - -
3870.33 393.78 -8.91 489 3875.04 roll -1.37 - - 1988.25 - 2.70 0.062 1207.38 -423.9 -82.73 - - 3112.00 - - - - - - - - - 16.08 -
3924.49 398.59 -9.32 500 3930.48 roll -1.37 - - 1988.81 - 2.60 0.029 2351.38 440.0 -82.73 - - 3111.88 - - - - - - - - - 16.08 -
4239.99 428.19 -9.89 532 4245.06 roll -1.37 - - 1988.50 - 2.70 0.062 1207.44 -423.7 -82.73 - - 3112.28 - - - - - - - - - 16.08 -
4279.99 432.03 -10.37 540 4285.06 roll -1.37 - - 1988.69 - 2.60 0.030 2352.56 440.4 -82.73 - - 3111.47 - - - - - - - - - 16.09 -
4590.04 461.78 -9.34 572 4595.32 roll -1.37 - - 1988.94 - 2.70 0.062 1206.00 -424.7 -82.73 - - 3111.25 - - - - - - - - - 16.08 -
4644.75 466.84 -9.83 583 4650.57 roll -1.37 - - 1989.19 - 2.59 0.030 2353.12 442.9 -82.73 - - 3110.69 - - - - - - - - - 16.09 -
4960.08 495.41 -8.78 615 4965.16 roll -1.37 - - 1988.44 - 2.69 0.063 1207.38 -425.9 -82.73 - - 3110.75 - - - - - - - - - 16.08 -
5024.64 501.30 -9.37 628 5030.62 roll -1.37 - - 1988.44 - 2.59 0.030 2352.44 442.1 -82.73 - - 3109.66 - - - - - - - - - 16.09 -
5340.17 530.30 -8.98 660 5345.24 roll -1.37 - - 1988.81 - 2.69 0.063 1208.44 -425.3 -82.73 - - 3109.28 - - - - - - - - - 16.10 -
5394.72 535.23 -9.34 671 5400.72 roll -1.37 - - 1988.38 - 2.59 0.030 2353.12 442.0 -82.73 - - 3109.00 - - - - - - - - - 16.10 -
5710.25 563.96 -8.96 703 5715.32 roll -1.37 - - 1988.81 - 2.69 0.063 1208.56 -425.5 -82.73 - - 3108.59 - - - - - - - - - 16.10 -
5774.81 569.88 -9.18 716 5780.80 roll -1.37 - - 1987.38 - 2.59 0.030 2351.56 441.3 -82.73 - - 3108.59 - - - - - - - - - 16.11 -
6090.35 598.30 -8.69 748 6091.68 no move -1.37 - - 1988.81 - - - 2352.19 - -82.73 - - 3107.25 - - - - - - - - - - -
6400.80 624.06 -7.73 779 6402.13 no move -1.37 - - 1988.50 - - - 2351.81 - -82.73 - - 3106.56 - - - - - - - - - - -
6710.86 649.75 -8.55 810 6715.74 roll -1.37 - - 1988.75 - 2.70 0.064 1207.31 -423.9 -82.73 - - 3106.97 - - - - - - - - - 16.08 -
6785.21 656.04 -8.63 825 6791.02 roll -1.37 - - 1988.75 - 2.59 0.031 2352.25 442.1 -82.73 - - 3107.16 - - - - - - - - - 16.09 -
7100.57 682.01 -8.49 857 7105.65 roll -1.37 - - 1988.62 - 2.69 0.064 1207.44 -425.6 -82.73 - - 3106.50 - - - - - - - - - 16.10 -
7150.57 686.17 -8.50 867 7155.64 roll -1.37 - - 1989.00 - 2.59 0.030 2351.81 441.8 -82.73 - - 3105.91 - - - - - - - - - 16.11 -
7460.65 711.76 -7.96 899 7461.98 no move -1.37 - - 1988.94 - - - 2351.88 - -82.73 - - 3105.53 - - - - - - - - - - -
7771.09 735.95 -7.83 930 7775.78 roll -1.37 - - 1989.00 - 2.69 0.064 1208.44 -425.1 -82.73 - - 3105.31 - - - - - - - - - 16.09 -
7955.69 750.93 -8.18 967 7961.28 roll -1.37 - - 1989.06 - 2.59 0.031 2352.00 441.5 -82.73 - - 3105.91 - - - - - - - - - 16.10 -
8270.83 775.76 -7.93 999 8275.90 roll -1.37 - - 1989.19 - 2.70 0.064 1208.19 -423.6 -82.73 - - 3104.69 - - - - - - - - - 16.09 -
8340.84 781.22 -7.66 1013 8345.91 roll -1.37 - - 1988.81 - 2.59 0.031 2350.25 440.9 -82.73 - - 3105.59 - - - - - - - - - 16.09 -
8650.89 804.73 -7.79 1045 8652.22 no move -1.37 - - 1989.00 - - - 2350.50 - -82.73 - - 3103.50 - - - - - - - - - - -
8961.55 829.66 -8.36 1076 8966.00 roll -1.37 - - 1989.12 - 2.69 0.064 1208.19 -424.7 -82.73 - - 3103.88 - - - - - - - - - 16.11 -
9040.92 836.58 -8.67 1092 9046.00 roll -1.37 - - 1989.69 - 2.59 0.031 2352.56 441.8 -82.73 - - 3104.34 - - - - - - - - - 16.11 -
9350.97 863.42 -8.60 1124 9356.05 roll -1.37 - - 1989.56 - 2.65 0.093 3427.88 405.8 -82.73 - - 3103.44 - - - - - - - - - 16.05 -
9410.98 869.07 -9.56 1136 9416.04 roll -1.37 - - 1989.12 - 2.53 0.023 2246.25 -467.0 -82.73 - - 3104.22 - - - - - - - - - 16.10 -
9721.01 895.86 -8.34 1168 9725.66 roll -1.37 - - 1989.75 - 2.44 0.070 1208.81 -425.2 -82.73 - - 3102.91 - - - - - - - - - 16.08 -
9791.02 901.40 -8.21 1182 9796.10 roll -1.37 - - 1989.44 - 2.59 0.031 2353.44 441.9 -82.73 - - 3104.41 - - - - - - - - - 16.09 -
10101.24 925.27 -7.28 1214 10106.15 roll -1.37 - - 1989.75 - 2.70 0.065 1207.31 -424.5 -82.73 - - 3103.25 - - - - - - - - - 16.10 -
10195.62 932.00 -6.84 1233 10201.62 roll -1.37 - - 1989.50 - 2.60 0.031 2352.56 440.5 -82.73 - - 3103.41 - - - - - - - - - 16.10 -
10511.55 952.53 -6.23 1265 10516.25 roll -1.37 - - 1989.81 - 2.70 0.065 1208.75 -423.6 -82.73 - - 3102.56 - - - - - - - - - 16.09 -
10595.90 958.29 -6.73 1282 10601.77 roll -1.37 - - 1989.69 - 2.60 0.031 2353.31 440.2 -82.73 - - 3103.47 - - - - - - - - - 16.10 -
10911.64 979.38 -6.85 1314 10916.34 roll -1.37 - - 1989.88 - 2.71 0.065 1208.50 -422.4 -82.73 - - 3102.62 - - - - - - - - - 16.04 -
10945.79 981.78 -6.90 1321 10951.78 roll -1.37 - - 1989.75 - 2.59 0.031 2350.94 441.1 -82.73 - - 3103.69 - - - - - - - - - 16.09 -
11061 end dive: TARGET_DEPTH_EXCEEDED
11061 begin apogee
11063.09 990.47 -7.25 1333 11128.63 -0.28 1.79 0.149 2253.19 147.2 0.22 0.135 2282.19 -312.5 - 61.19 2.440 2774.50 -5.4 0.361 - - - - - - 16.01 15.65 12.13
11130 end apogee: CONTROL_FINISHED_OK
11130 begin climb
11130.96 991.76 - 1339 11201.67 1.37 2.64 0.098 2656.50 152.8 - - 2281.81 - 82.73 66.17 2.373 2435.84 -5.1 0.354 - - - - - - 15.68 - 12.85
11504.83 965.81 7.81 1377 11506.16 no move 1.38 - - 2655.75 - - - 2281.81 - 82.73 - - 2430.16 - - - - - - - - - - -
11815.26 941.45 7.67 1408 11819.96 roll 1.40 - - 2656.25 - 2.79 0.075 1128.81 -413.3 82.73 - - 2430.47 - - - - - - - - - 15.86 -
11915.07 933.15 8.35 1428 11920.02 roll 1.40 - - 2655.00 - 2.63 0.031 2272.38 434.8 82.73 - - 2431.38 - - - - - - - - - 15.89 -
12225.32 909.22 7.60 1460 12226.65 VBD 1.41 - - 2656.31 - - - 2272.69 - 82.73 - - 2428.28 - - - - - - - - - - -
12535.34 884.77 8.18 1491 12540.05 done 1.41 - - 2656.06 - 2.75 0.074 1130.25 -415.4 82.73 - - 2429.25 - - - - - - - - - 15.97 -
12629.52 876.70 8.51 1510 12635.52 done 1.41 - - 2656.25 - 2.61 0.031 2273.25 437.9 82.73 - - 2429.06 - - - - - - - - - 15.98 -
12945.40 850.19 8.36 1542 12946.73 VBD 1.41 - - 2656.56 - - - 2273.31 - 82.73 - - 2427.28 - - - - - - - - - - -
13255.44 825.53 7.54 1573 13260.13 done 1.43 - - 2656.62 - 2.66 0.092 3345.88 403.2 82.73 - - 2428.72 - - - - - - - - - 16.00 -
13329.60 819.10 8.63 1588 13335.58 done 1.43 - - 2656.75 - 2.56 0.024 2184.12 -453.8 82.73 - - 2428.53 - - - - - - - - - 16.02 -
13645.50 795.12 7.50 1620 13646.84 VBD 1.45 - - 2656.31 - - - 2183.81 - 82.73 - - 2427.06 - - - - - - - - - - -
13955.58 771.77 7.32 1651 13956.91 VBD 1.47 - - 2656.38 - - - 2184.06 - 82.73 - - 2427.50 - - - - - - - - - - -
14265.63 749.80 7.00 1682 14270.41 1.50 0.16 0.097 2698.62 264.0 2.89 0.088 3345.44 401.9 82.73 - - 2428.34 - - - - - - - - 16.02 16.00 -
14295.44 747.50 7.17 1688 14300.38 done 1.53 - - 2699.44 - 2.56 0.024 2184.50 -453.5 82.73 - - 2429.72 - - - - - - - - - 16.04 -
14605.71 723.65 7.49 1720 14607.04 VBD 1.55 - - 2699.31 - - - 2184.38 - 82.73 - - 2427.28 - - - - - - - - - - -
14915.78 702.20 6.62 1751 14917.12 VBD 1.59 - - 2698.88 - - - 2184.50 - 82.73 - - 2427.38 - - - - - - - - - - -
15225.84 682.03 6.23 1782 15255.24 VBD 1.65 - - 2698.94 - - - 2184.62 - 115.45 25.68 1.987 2304.28 -4.8 0.272 - - - - - - - - 12.19
15565.90 654.68 8.06 1816 15567.23 no move 1.65 - - 2699.44 - - - 2183.94 - 115.45 - - 2299.03 - - - - - - - - - - -
15875.97 629.63 8.02 1847 15877.29 no move 1.65 - - 2699.06 - - - 2183.75 - 115.45 - - 2298.72 - - - - - - - - - - -
16186.04 604.72 7.84 1878 16190.76 roll 1.66 - - 2699.00 - 2.89 0.087 3346.00 402.2 115.45 - - 2299.38 - - - - - - - - - 16.00 -
16270.22 597.24 9.11 1895 16276.20 roll 1.66 - - 2699.31 - 2.57 0.024 2187.75 -450.7 115.45 - - 2299.94 - - - - - - - - - 16.02 -
16586.14 572.75 7.77 1927 16587.57 pitch 1.68 0.17 0.092 2738.19 228.7 - - 2187.19 - 115.45 - - 2297.75 - - - - - - - - 16.00 - -
16895.80 544.47 9.62 1958 16900.87 roll 1.68 - - 2737.81 - 2.55 0.079 1130.06 -414.6 115.45 - - 2299.97 - - - - - - - - - 16.04 -
16970.37 537.01 10.04 1973 16976.54 roll 1.68 - - 2738.69 - 2.61 0.031 2273.06 437.9 115.45 - - 2299.50 - - - - - - - - - 16.05 -
17286.36 506.52 9.88 2005 17290.95 roll 1.68 - - 2737.50 - 2.73 0.074 1129.12 -419.0 115.45 - - 2299.81 - - - - - - - - - 16.06 -
17360.42 498.67 10.48 2020 17366.40 roll 1.68 - - 2738.75 - 2.60 0.031 2275.56 440.9 115.45 - - 2299.91 - - - - - - - - - 16.07 -
17676.30 469.27 9.37 2052 17677.63 no move 1.68 - - 2738.81 - - - 2276.12 - 115.45 - - 2298.03 - - - - - - - - - - -
17986.33 440.96 9.13 2083 17991.03 roll 1.68 - - 2738.38 - 2.62 0.091 3347.44 408.9 115.45 - - 2299.31 - - - - - - - - - 16.03 -
18065.97 432.83 10.38 2099 18071.03 roll 1.68 - - 2737.62 - 2.56 0.024 2185.31 -454.0 115.45 - - 2299.84 - - - - - - - - - 16.06 -
18376.01 404.30 8.86 2131 18377.33 no move 1.68 - - 2739.62 - - - 2186.62 - 115.45 - - 2297.94 - - - - - - - - - - -
18686.42 377.57 8.26 2162 18691.15 roll 1.68 - - 2739.06 - 2.88 0.086 3347.94 403.2 115.45 - - 2299.03 - - - - - - - - - 16.06 -
18720.59 374.56 8.40 2169 18726.57 roll 1.68 - - 2738.94 - 2.56 0.024 2184.81 -454.3 115.45 - - 2299.50 - - - - - - - - - 16.05 -
19036.66 349.87 7.19 2201 19037.99 no move 1.70 - - 2739.19 - - - 2184.44 - 115.45 - - 2297.84 - - - - - - - - - - -
19346.77 328.83 6.52 2232 19351.25 roll 1.74 - - 2739.56 - 2.90 0.086 3347.44 401.0 115.45 - - 2299.28 - - - - - - - - - 16.06 -
19426.18 323.00 7.56 2248 19431.24 roll 1.76 - - 2738.69 - 2.57 0.024 2186.19 -451.8 115.45 - - 2299.62 - - - - - - - - - 16.06 -
19736.63 302.16 6.65 2280 19741.29 roll 1.80 - - 2738.69 - 2.54 0.078 1130.50 -415.6 115.45 - - 2299.22 - - - - - - - - - 16.06 -
19806.44 297.17 7.16 2294 19811.39 roll 1.82 - - 2738.94 - 2.62 0.029 2273.94 436.4 115.45 - - 2300.38 - - - - - - - - - 16.00 -
20116.73 274.81 7.18 2326 20118.16 pitch 1.85 0.17 0.086 2783.50 262.1 - - 2273.62 - 115.45 - - 2298.12 - - - - - - - - 16.03 - -
20426.40 250.62 7.49 2357 20427.72 no move 1.87 - - 2783.06 - - - 2274.50 - 115.45 - - 2298.69 - - - - - - - - - - -
20736.85 227.69 6.94 2388 20741.88 roll 1.90 - - 2782.12 - 2.76 0.073 1131.00 -414.3 115.45 - - 2300.47 - - - - - - - - - 16.00 -
20921.05 213.65 7.69 2425 20927.05 roll 1.91 - - 2783.62 - 2.62 0.030 2275.81 437.0 115.45 - - 2301.09 - - - - - - - - - 16.06 -
21236.99 192.01 7.09 2457 21241.66 roll 1.94 - - 2783.06 - 2.65 0.089 3347.00 404.2 115.45 - - 2300.00 - - - - - - - - - 16.03 -
21331.33 183.98 8.59 2476 21337.19 roll 1.94 - - 2783.25 - 2.58 0.023 2184.31 -450.7 115.45 - - 2299.59 - - - - - - - - - 16.04 -
21647.08 158.88 7.87 2508 21648.41 no move 1.95 - - 2782.62 - - - 2183.81 - 115.45 - - 2298.84 - - - - - - - - - - -
21957.14 137.04 6.56 2539 21958.47 no move 1.99 - - 2783.06 - - - 2184.56 - 115.45 - - 2298.88 - - - - - - - - - - -
22267.21 124.57 3.83 2570 22323.67 2.13 0.31 0.072 2847.75 208.7 2.55 0.078 1130.88 -413.2 183.33 50.06 1.353 2027.78 -5.4 0.082 - - - - - - 15.96 15.86 12.20
22551.85 96.07 9.65 2627 22557.40 roll 2.13 - - 2849.25 - 2.63 0.029 2274.62 434.9 183.33 - - 2020.31 - - - - - - - - - 15.92 -
22741.91 82.87 5.90 2665 22777.66 done 2.20 - - 2849.38 - 2.77 0.072 1129.75 -413.3 220.84 28.67 1.241 1873.34 -5.1 0.057 - - - - - - - 15.82 12.40
23006.98 63.14 6.65 2718 23012.69 roll 2.24 - - 2849.31 - 2.62 0.028 2274.81 437.0 220.84 - - 1867.28 - - - - - - - - - 15.85 -
23197.02 52.48 5.76 2756 23228.69 2.32 0.19 0.081 2894.56 238.2 - - 2274.56 - 260.47 30.13 1.202 1711.62 -5.2 0.037 - - - - - - 15.85 - 12.43
23412.05 35.30 8.66 2799 23417.66 roll 2.32 - - 2895.06 - 2.77 0.070 1131.25 -412.7 260.47 - - 1705.81 - - - - - - - - - 15.87 -
23647.12 21.97 2.77 2846 23714.60 2.48 0.17 0.091 2936.50 243.8 2.62 0.027 2278.38 437.8 343.91 61.89 1.185 1373.16 -5.4 0.016 - - - - - - 15.86 15.87 12.38
23897.66 12.73 5.81 2896 23934.14 done 2.56 - - 2935.94 - 2.71 0.088 3346.88 394.3 382.71 29.73 1.118 1214.81 -5.3 0.010 - - - - - - - 15.67 12.46
23937.66 10.15 6.45 2904 23968.46 done 2.62 - - 2936.94 - 2.61 0.022 2180.81 -446.8 412.19 23.93 1.077 1095.22 -5.0 0.008 - - - - - - - 15.74 12.56
24037 end climb: SURFACE_DEPTH_REACHED
24038 begin surface coast
24063 end surface coast: CONTROL_FINISHED_OK
24063 begin surface
SM 4.42 - - - - 184.4 11.15 0.981 1043.2 91.4 17.06 0.050 1016.5 59.6 - 0.37 0.066 1070.0 2884.8 -19.746 - - 12.58 15.72 15.75 -