NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 462 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 149.50 of 550.00 AH used of 24V (72.82% remains)
• Surface angle -59.9 deg, depth 0.60 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 424.86 (SM_CC=425)
• GPS1 time: 48 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.13 - - - 66.94 VBD -1.37 - - 178.25 - - - 2249.56 - -82.73 60.66 0.005 2581.59 - - - - - - - - - - 15.45
67.68 3.60 -6.29 11 102.53 -1.37 14.23 0.252 1988.12 127.2 2.51 0.066 1207.56 -415.1 -82.73 11.69 0.007 3111.88 45.4 -3.880 - - - - - - 15.60 15.40 15.48
294.65 43.59 -15.53 56 300.21 roll -1.37 - - 1988.38 - 2.63 0.029 2351.06 434.8 -82.73 - - 3112.44 - - - - - - - - - 15.82 -
485.10 69.45 -12.16 94 490.48 roll -1.37 - - 1988.19 - 2.74 0.060 1207.50 -417.4 -82.73 - - 3112.38 - - - - - - - - - 15.86 -
694.79 93.67 -11.83 136 700.66 roll -1.37 - - 1987.75 - 2.61 0.028 2353.50 439.1 -82.73 - - 3112.56 - - - - - - - - - 15.89 -
884.85 111.56 -9.01 174 886.18 no move -1.37 - - 1987.88 - - - 2353.25 - -82.73 - - 3111.34 - - - - - - - - - - -
1189.96 140.28 -9.60 235 1195.53 roll -1.37 - - 1988.25 - 2.73 0.060 1207.56 -419.7 -82.73 - - 3113.34 - - - - - - - - - 15.95 -
1375.01 158.18 -9.61 272 1380.55 roll -1.37 - - 1987.88 - 2.60 0.029 2352.44 440.3 -82.73 - - 3113.41 - - - - - - - - - 15.96 -
1685.12 186.85 -9.19 334 1690.68 roll -1.37 - - 1987.81 - 2.73 0.060 1207.25 -419.5 -82.73 - - 3113.78 - - - - - - - - - 15.98 -
1790.15 196.65 -9.48 355 1795.69 roll -1.37 - - 1988.19 - 2.60 0.029 2352.06 440.3 -82.73 - - 3113.97 - - - - - - - - - 15.99 -
2100.25 225.41 -9.34 417 2105.79 roll -1.37 - - 1988.25 - 2.62 0.088 3426.50 410.1 -82.73 - - 3113.50 - - - - - - - - - 15.98 -
2130.42 228.55 -10.30 423 2135.83 roll -1.37 - - 1988.44 - 2.55 0.021 2242.00 -464.5 -82.73 - - 3113.69 - - - - - - - - - 15.99 -
2440.29 257.08 -9.23 485 2441.62 no move -1.37 - - 1988.31 - - - 2240.62 - -82.73 - - 3112.97 - - - - - - - - - - -
2745.35 284.79 -8.48 546 2746.68 no move -1.37 - - 1988.69 - - - 2241.12 - -82.73 - - 3112.09 - - - - - - - - - - -
3050.76 309.23 -7.65 594 3055.42 roll -1.37 - - 1988.75 - 2.89 0.083 3427.56 410.5 -82.73 - - 3111.56 - - - - - - - - - 16.02 -
3136.49 316.65 -8.73 606 3151.40 roll -1.37 - - 1988.38 - 2.54 0.021 2243.06 -466.3 -82.73 - - 3113.00 - - - - - - - - - 16.02 -
3452.57 343.29 -8.74 635 3463.63 no move -1.37 - - 1988.62 - - - 2243.62 - -82.73 - - 3112.22 - - - - - - - - - - -
3765.51 371.36 -8.80 664 3770.16 roll -1.37 - - 1987.88 - 2.88 0.084 3429.94 411.9 -82.73 - - 3112.31 - - - - - - - - - 16.02 -
3804.04 375.16 -9.68 670 3818.97 roll -1.37 - - 1987.50 - 2.55 0.022 2244.69 -464.8 -82.73 - - 3113.16 - - - - - - - - - 16.03 -
4120.12 404.35 -9.09 699 4124.71 roll -1.37 - - 1988.44 - 2.44 0.068 1208.31 -424.7 -82.73 - - 3111.03 - - - - - - - - - 16.03 -
4205.85 412.33 -9.45 711 4220.96 roll -1.37 - - 1988.81 - 2.58 0.030 2353.69 443.9 -82.73 - - 3111.81 - - - - - - - - - 16.05 -
4522.73 440.54 -8.94 740 4533.81 no move -1.37 - - 1988.75 - - - 2352.81 - -82.73 - - 3110.22 - - - - - - - - - - -
4835.35 467.60 -8.77 769 4846.42 no move -1.37 - - 1988.44 - - - 2353.50 - -82.73 - - 3110.19 - - - - - - - - - - -
5148.71 495.73 -8.89 798 5153.35 roll -1.37 - - 1988.44 - 2.71 0.064 1208.38 -422.6 -82.73 - - 3110.41 - - - - - - - - - 16.03 -
5187.24 499.27 -9.19 804 5202.15 roll -1.37 - - 1987.94 - 2.58 0.030 2353.12 443.7 -82.73 - - 3109.84 - - - - - - - - - 16.05 -
5516.65 527.53 -8.55 826 5517.98 no move -1.37 - - 1988.75 - - - 2353.69 - -82.73 - - 3108.56 - - - - - - - - - - -
5831.66 554.25 -8.25 847 5832.99 no move -1.37 - - 1987.81 - - - 2352.75 - -82.73 - - 3107.84 - - - - - - - - - - -
6146.68 580.16 -8.30 868 6151.32 roll -1.37 - - 1988.88 - 2.72 0.064 1208.75 -420.6 -82.73 - - 3108.06 - - - - - - - - - 16.04 -
6185.21 583.42 -8.56 874 6190.76 roll -1.37 - - 1988.38 - 2.58 0.030 2352.44 443.3 -82.73 - - 3108.06 - - - - - - - - - 16.05 -
6504.61 609.07 -7.60 896 6505.94 no move -1.37 - - 1989.06 - - - 2352.69 - -82.73 - - 3106.69 - - - - - - - - - - -
6819.81 633.12 -7.81 917 6821.14 no move -1.37 - - 1988.69 - - - 2352.88 - -82.73 - - 3107.06 - - - - - - - - - - -
7134.64 657.89 -7.89 938 7139.28 roll -1.37 - - 1988.25 - 2.72 0.064 1208.81 -420.6 -82.73 - - 3105.84 - - - - - - - - - 16.05 -
7192.56 662.63 -8.11 946 7197.17 roll -1.37 - - 1988.50 - 2.59 0.030 2351.56 441.2 -82.73 - - 3107.88 - - - - - - - - - 16.05 -
7509.23 688.41 -8.32 968 7513.92 roll -1.37 - - 1988.44 - 2.63 0.093 3424.69 408.0 -82.73 - - 3106.50 - - - - - - - - - 16.01 -
7608.62 697.34 -8.98 982 7613.23 roll -1.37 - - 1988.19 - 2.55 0.022 2244.38 -462.9 -82.73 - - 3105.84 - - - - - - - - - 16.04 -
7925.11 722.30 -7.92 1004 7926.43 no move -1.37 - - 1988.62 - - - 2243.19 - -82.73 - - 3104.72 - - - - - - - - - - -
8240.15 746.98 -7.83 1025 8244.81 roll -1.37 - - 1988.25 - 2.89 0.088 3427.12 409.7 -82.73 - - 3104.19 - - - - - - - - - 16.01 -
8320.17 753.95 -8.77 1037 8325.71 roll -1.37 - - 1988.62 - 2.54 0.022 2248.00 -464.2 -82.73 - - 3106.06 - - - - - - - - - 16.04 -
8639.58 779.99 -8.02 1059 8644.24 roll -1.37 - - 1988.38 - 2.88 0.088 3428.50 409.9 -82.73 - - 3103.91 - - - - - - - - - 16.01 -
8699.07 785.32 -8.91 1068 8704.60 roll -1.37 - - 1987.94 - 2.55 0.023 2248.38 -462.8 -82.73 - - 3106.38 - - - - - - - - - 16.04 -
9018.48 811.86 -8.53 1090 9023.07 roll -1.37 - - 1988.31 - 2.48 0.071 1208.50 -419.3 -82.73 - - 3104.59 - - - - - - - - - 16.03 -
9119.22 820.71 -8.91 1105 9124.76 roll -1.37 - - 1988.06 - 2.59 0.031 2351.38 441.3 -82.73 - - 3104.50 - - - - - - - - - 16.05 -
9438.62 846.07 -7.56 1127 9443.25 roll -1.37 - - 1988.50 - 2.64 0.093 3425.50 406.9 -82.73 - - 3102.88 - - - - - - - - - 15.99 -
9477.34 849.25 -8.08 1133 9482.75 roll -1.37 - - 1988.50 - 2.55 0.023 2245.31 -462.8 -82.73 - - 3104.31 - - - - - - - - - 16.03 -
9796.57 874.38 -7.74 1155 9801.25 roll -1.37 - - 1988.25 - 2.90 0.089 3426.00 407.1 -82.73 - - 3102.62 - - - - - - - - - 15.99 -
9897.30 882.98 -8.67 1170 9902.83 roll -1.37 - - 1987.44 - 2.55 0.022 2246.50 -462.5 -82.73 - - 3105.19 - - - - - - - - - 16.03 -
10216.71 907.00 -7.15 1192 10221.38 roll -1.37 - - 1987.94 - 2.89 0.089 3425.44 407.9 -82.73 - - 3102.59 - - - - - - - - - 15.98 -
10296.72 913.34 -7.94 1204 10302.25 roll -1.37 - - 1988.00 - 2.54 0.023 2246.62 -464.1 -82.73 - - 3105.19 - - - - - - - - - 16.03 -
10616.14 936.67 -7.15 1226 10620.80 roll -1.37 - - 1988.19 - 2.89 0.089 3427.38 408.6 -82.73 - - 3102.22 - - - - - - - - - 15.98 -
10680.40 941.33 -7.82 1236 10695.31 roll -1.37 - - 1988.25 - 2.55 0.023 2245.75 -463.4 -82.73 - - 3103.03 - - - - - - - - - 16.04 -
11010.43 964.14 -6.40 1258 11011.76 no move -1.37 - - 1988.44 - - - 2245.94 - -82.73 - - 3102.28 - - - - - - - - - - -
11324.83 984.88 -6.81 1279 11329.43 roll -1.37 - - 1988.31 - 2.46 0.072 1210.31 -421.0 -82.73 - - 3101.84 - - - - - - - - - 16.00 -
11384.11 988.82 -6.79 1288 11389.65 roll -1.37 - - 1988.75 - 2.59 0.031 2352.31 440.9 -82.73 - - 3102.41 - - - - - - - - - 16.04 -
11403 end dive: TARGET_DEPTH_EXCEEDED
11403 begin apogee
11405.56 990.17 -6.72 1290 11480.86 -0.28 1.83 0.146 2254.06 145.0 0.23 0.129 2284.50 -294.8 - 61.30 2.435 2774.59 -5.3 0.362 - - - - - - 15.90 15.61 11.40
11482 end apogee: CONTROL_FINISHED_OK
11482 begin climb
11482.89 991.41 - 1295 11557.86 1.37 2.64 0.093 2655.69 152.1 2.89 0.077 1131.25 -399.0 82.73 66.44 2.404 2437.81 -5.1 0.348 - - - - - - 15.66 15.30 12.55
11643.56 981.80 6.94 1319 11648.92 roll 1.40 - - 2657.44 - 2.67 0.031 2272.25 427.3 82.73 - - 2433.12 - - - - - - - - - 15.54 -
11962.78 956.47 8.05 1341 11967.42 roll 1.40 - - 2657.19 - 2.80 0.074 1131.12 -407.5 82.73 - - 2430.16 - - - - - - - - - 15.73 -
12084.25 946.35 8.44 1359 12089.81 roll 1.40 - - 2657.25 - 2.62 0.031 2272.75 435.7 82.73 - - 2430.44 - - - - - - - - - 15.78 -
12403.67 921.30 7.62 1381 12408.31 roll 1.41 - - 2657.31 - 2.79 0.075 1130.00 -409.6 82.73 - - 2429.12 - - - - - - - - - 15.84 -
12482.51 914.93 8.04 1392 12487.20 roll 1.41 - - 2655.75 - 2.61 0.031 2273.25 438.0 82.73 - - 2431.44 - - - - - - - - - 15.86 -
12799.01 891.30 7.23 1414 12800.34 no move 1.44 - - 2657.06 - - - 2273.19 - 82.73 - - 2428.47 - - - - - - - - - - -
13114.06 868.64 7.19 1435 13115.39 VBD 1.46 - - 2657.38 - - - 2273.19 - 82.73 - - 2428.47 - - - - - - - - - - -
13429.08 846.71 6.77 1456 13433.80 1.50 0.15 0.096 2695.44 253.7 2.77 0.075 1130.25 -412.6 82.73 - - 2429.06 - - - - - - - - 15.91 15.85 -
13467.65 843.85 7.24 1462 13473.17 done 1.52 - - 2696.94 - 2.58 0.032 2273.38 443.1 82.73 - - 2429.16 - - - - - - - - - 15.95 -
13787.07 820.27 7.47 1484 13788.41 VBD 1.54 - - 2697.12 - - - 2273.25 - 82.73 - - 2428.16 - - - - - - - - - - -
14102.29 796.98 7.30 1505 14106.94 done 1.57 - - 2696.38 - 2.77 0.075 1130.00 -412.7 82.73 - - 2428.38 - - - - - - - - - 15.96 -
14203.05 789.21 7.81 1520 14208.57 done 1.58 - - 2697.00 - 2.59 0.032 2272.62 441.2 82.73 - - 2429.28 - - - - - - - - - 15.98 -
14522.46 766.21 7.13 1542 14527.09 done 1.61 - - 2695.50 - 2.77 0.075 1130.19 -412.4 82.73 - - 2429.00 - - - - - - - - - 15.97 -
14586.74 762.03 7.16 1552 14601.65 done 1.63 - - 2697.62 - 2.59 0.031 2274.12 441.7 82.73 - - 2429.03 - - - - - - - - - 15.99 -
14916.17 740.32 6.16 1574 14946.96 1.70 0.22 0.081 2744.50 213.1 - - 2274.00 - 116.47 26.62 2.060 2299.44 -4.9 0.291 - - - - - - 15.97 - 11.69
15261.31 709.71 9.42 1597 15265.95 roll 1.70 - - 2744.38 - 2.80 0.075 1131.12 -408.2 116.47 - - 2295.41 - - - - - - - - - 15.90 -
15381.44 697.59 10.13 1614 15386.06 roll 1.70 - - 2744.69 - 2.61 0.032 2273.00 437.5 116.47 - - 2296.00 - - - - - - - - - 15.91 -
15697.91 667.24 9.91 1636 15702.55 roll 1.70 - - 2744.50 - 2.79 0.075 1131.44 -409.2 116.47 - - 2295.00 - - - - - - - - - 15.93 -
15818.05 654.69 10.47 1653 15822.66 roll 1.70 - - 2743.94 - 2.60 0.033 2273.56 439.3 116.47 - - 2295.81 - - - - - - - - - 15.94 -
16134.51 625.17 9.25 1675 16135.84 no move 1.70 - - 2744.31 - - - 2273.00 - 116.47 - - 2294.62 - - - - - - - - - - -
16449.53 596.61 9.15 1696 16454.18 roll 1.70 - - 2744.69 - 2.78 0.075 1130.06 -411.1 116.47 - - 2293.97 - - - - - - - - - 15.96 -
16534.53 588.98 9.65 1709 16549.45 roll 1.70 - - 2743.75 - 2.59 0.032 2273.31 441.4 116.47 - - 2295.00 - - - - - - - - - 15.98 -
16863.94 558.16 9.08 1731 16868.58 roll 1.70 - - 2744.50 - 2.77 0.075 1132.31 -411.9 116.47 - - 2294.91 - - - - - - - - - 15.97 -
16963.33 548.96 9.26 1745 16967.95 roll 1.70 - - 2743.81 - 2.59 0.032 2271.81 440.0 116.47 - - 2295.59 - - - - - - - - - 15.98 -
17279.99 521.80 8.66 1767 17281.31 no move 1.70 - - 2744.00 - - - 2272.12 - 116.47 - - 2293.47 - - - - - - - - - - -
17592.86 496.16 8.12 1789 17597.50 roll 1.70 - - 2744.44 - 2.75 0.075 1131.75 -414.7 116.47 - - 2294.25 - - - - - - - - - 15.98 -
17647.13 491.66 8.39 1797 17662.05 roll 1.70 - - 2744.31 - 2.58 0.032 2273.88 442.7 116.47 - - 2295.19 - - - - - - - - - 16.01 -
17963.17 467.02 7.65 1826 17967.79 roll 1.71 - - 2744.25 - 2.62 0.094 3349.50 410.5 116.47 - - 2294.03 - - - - - - - - - 15.96 -
18000.35 463.87 8.19 1831 18004.96 roll 1.71 - - 2745.00 - 2.56 0.024 2184.75 -455.0 116.47 - - 2294.16 - - - - - - - - - 16.00 -
18311.48 439.67 8.07 1860 18316.09 roll 1.71 - - 2744.75 - 2.53 0.079 1130.50 -416.7 116.47 - - 2293.44 - - - - - - - - - 15.98 -
18491.60 424.10 8.94 1884 18506.51 roll 1.71 - - 2744.44 - 2.59 0.031 2275.00 441.9 116.47 - - 2295.81 - - - - - - - - - 16.00 -
18807.88 398.25 7.83 1913 18812.52 roll 1.73 - - 2744.56 - 2.76 0.074 1130.00 -414.9 116.47 - - 2293.72 - - - - - - - - - 15.98 -
18940.80 387.08 8.61 1931 18955.72 roll 1.73 - - 2744.81 - 2.58 0.031 2272.69 442.9 116.47 - - 2295.09 - - - - - - - - - 16.01 -
19257.03 363.31 7.66 1960 19268.10 no move 1.74 - - 2744.56 - - - 2272.62 - 116.47 - - 2294.94 - - - - - - - - - - -
19570.18 341.25 7.28 1989 19574.82 roll 1.77 - - 2743.50 - 2.76 0.074 1130.19 -413.9 116.47 - - 2295.41 - - - - - - - - - 15.98 -
19701.76 330.76 8.10 2006 19706.37 roll 1.77 - - 2744.81 - 2.58 0.031 2276.06 444.1 116.47 - - 2293.75 - - - - - - - - - 16.01 -
20013.28 308.68 6.87 2035 20017.92 roll 1.80 - - 2743.75 - 2.76 0.073 1131.38 -414.7 116.47 - - 2294.59 - - - - - - - - - 15.98 -
20129.36 299.98 7.60 2050 20141.36 roll 1.82 - - 2744.38 - 2.57 0.031 2273.31 444.3 116.47 - - 2294.69 - - - - - - - - - 16.01 -
20443.50 279.66 6.65 2112 20449.04 roll 1.85 - - 2744.69 - 2.74 0.073 1130.06 -417.2 116.47 - - 2296.31 - - - - - - - - - 15.96 -
20573.52 270.47 6.89 2138 20579.08 roll back 1.88 0.19 0.084 2790.56 241.4 2.58 0.031 2275.25 443.9 116.47 - - 2296.75 - - - - - - - - 15.85 16.00 -
20883.74 251.72 5.58 2200 20921.12 done 1.97 - - 2791.69 - 2.75 0.075 1131.31 -416.0 158.75 32.55 1.489 2127.44 -5.2 0.146 - - - - - - - 15.91 11.63
21033.56 239.15 9.54 2230 21039.09 roll 1.97 - - 2792.19 - 2.60 0.031 2273.38 439.3 158.75 - - 2123.81 - - - - - - - - - 15.91 -
21343.62 209.12 9.73 2292 21349.19 roll 1.97 - - 2792.62 - 2.76 0.072 1130.88 -413.9 158.75 - - 2122.72 - - - - - - - - - 15.92 -
21463.66 196.77 10.24 2316 21469.20 roll 1.97 - - 2792.50 - 2.59 0.031 2272.62 440.8 158.75 - - 2121.97 - - - - - - - - - 15.93 -
21773.77 168.11 8.65 2378 21779.33 roll 1.97 - - 2792.38 - 2.76 0.073 1130.25 -413.9 158.75 - - 2122.62 - - - - - - - - - 15.94 -
21903.81 155.49 9.70 2404 21909.34 roll 1.97 - - 2792.12 - 2.59 0.031 2273.69 441.5 158.75 - - 2121.88 - - - - - - - - - 15.95 -
22213.92 124.72 9.22 2466 22219.48 roll 1.97 - - 2792.12 - 2.74 0.072 1130.12 -417.4 158.75 - - 2121.88 - - - - - - - - - 15.95 -
22359.15 111.78 8.58 2495 22364.55 roll 1.97 - - 2790.88 - 2.59 0.030 2274.38 441.8 158.75 - - 2122.81 - - - - - - - - - 15.96 -
22669.08 93.85 6.24 2557 22699.85 done 2.03 - - 2791.12 - 2.61 0.093 3346.88 410.9 191.28 25.18 1.245 1996.31 -5.0 0.063 - - - - - - - 15.90 11.90
22799.27 82.01 10.19 2583 22804.62 roll 2.03 - - 2791.88 - 2.56 0.023 2183.38 -454.5 191.28 - - 1993.81 - - - - - - - - - 15.93 -
22989.17 68.08 5.68 2621 23025.78 2.11 0.25 0.077 2845.88 216.0 2.86 0.086 3347.38 407.0 232.00 31.57 1.220 1830.09 -5.2 0.048 - - - - - - 15.90 15.83 12.22
23084.56 60.63 8.82 2640 23089.71 roll 2.11 - - 2847.12 - 2.57 0.023 2182.94 -453.1 232.00 - - 1826.56 - - - - - - - - - 15.88 -
23274.65 45.63 7.71 2678 23279.77 roll 2.13 - - 2846.81 - 2.53 0.077 1131.62 -415.5 232.00 - - 1823.53 - - - - - - - - - 15.86 -
23509.28 29.60 7.76 2725 23514.99 done 2.14 - - 2846.31 - 2.59 0.029 2273.31 440.8 232.00 - - 1821.72 - - - - - - - - - 15.90 -
23699.29 17.86 5.99 2763 23731.76 done 2.22 - - 2846.94 - 2.77 0.072 1130.38 -412.6 268.23 27.83 1.141 1680.59 -5.1 0.013 - - - - - - - 15.84 12.07
23959.33 7.74 1.78 2815 24038.44 2.41 0.36 0.063 2917.81 196.9 2.60 0.029 2278.56 441.6 366.15 73.19 1.150 1281.72 -5.4 0.006 - - - - - - 15.81 15.89 12.23
24090 end climb: SURFACE_DEPTH_REACHED
24090 begin surface coast
24180 end surface coast: CONTROL_FINISHED_OK
24180 begin surface
SM 0.90 - - - - 179.6 43.65 1.132 1043.0 22.2 17.00 0.053 1003.1 59.0 - 0.11 0.129 1082.9 9820.9 -7.003 - - 12.38 15.71 15.74 -