NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1106 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 391.89 of 550.00 AH used of 24V (28.75% remains)
• Surface angle -58.5 deg, depth 0.70 m • Intended pitch -25.2 deg, speed -8.462 cm/s
VBD pumped to 424.78 (SM_CC=425)
• GPS1 time: 20 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
2 end surface: CONTROL_FINISHED_OK
3 begin dive
5.88 - - - 82.62 VBD -1.56 - - 178.25 - - - 2236.06 - -82.73 75.18 0.005 2854.62 - - - - - - - - - - 14.78
83.35 3.39 -4.42 14 112.66 -1.56 14.50 0.241 1940.19 121.5 3.10 0.082 3427.00 384.2 -82.73 6.11 0.008 3112.47 42.2 -3.145 - - - - - - 15.30 14.82 15.00
129.72 12.46 -15.56 23 135.28 roll -1.56 - - 1941.50 - 2.62 0.018 2253.44 -447.9 -82.73 - - 3112.72 - - - - - - - - - 15.75 -
320.39 39.58 -14.65 61 321.72 no move -1.56 - - 1941.81 - - - 2251.12 - -82.73 - - 3112.09 - - - - - - - - - - -
504.79 64.85 -12.57 98 510.40 roll -1.56 - - 1941.44 - 3.03 0.079 3425.81 387.7 -82.73 - - 3113.56 - - - - - - - - - 15.74 -
524.79 67.37 -12.30 102 530.32 roll -1.56 - - 1941.75 - 2.57 0.019 2258.94 -454.0 -82.73 - - 3113.38 - - - - - - - - - 15.84 -
715.20 88.74 -10.71 140 716.53 no move -1.56 - - 1941.75 - - - 2256.31 - -82.73 - - 3112.41 - - - - - - - - - - -
899.86 106.44 -9.01 177 905.40 roll -1.56 - - 1941.44 - 2.55 0.064 1208.19 -411.0 -82.73 - - 3112.91 - - - - - - - - - 15.83 -
959.88 111.57 -8.60 189 965.45 roll -1.56 - - 1941.44 - 2.65 0.026 2347.81 430.0 -82.73 - - 3113.44 - - - - - - - - - 15.90 -
1269.98 138.04 -8.66 251 1275.54 roll -1.56 - - 1941.62 - 2.77 0.084 3426.81 389.5 -82.73 - - 3113.72 - - - - - - - - - 15.82 -
1360.00 146.87 -10.01 269 1365.54 roll -1.56 - - 1940.62 - 2.59 0.018 2244.62 -456.4 -82.73 - - 3115.53 - - - - - - - - - 15.91 -
1670.27 173.77 -8.19 331 1675.63 roll -1.56 - - 1941.81 - 2.53 0.064 1207.56 -409.9 -82.73 - - 3114.62 - - - - - - - - - 15.87 -
1695.10 175.91 -8.40 336 1700.83 roll -1.56 - - 1941.75 - 2.64 0.026 2355.06 434.7 -82.73 - - 3113.81 - - - - - - - - - 15.94 -
2005.22 201.65 -8.55 398 2010.77 roll -1.56 - - 1941.38 - 2.80 0.059 1209.06 -409.3 -82.73 - - 3113.38 - - - - - - - - - 15.88 -
2055.22 206.21 -9.20 408 2060.77 roll -1.56 - - 1941.75 - 2.63 0.026 2351.75 434.5 -82.73 - - 3113.72 - - - - - - - - - 15.94 -
2365.32 233.18 -8.67 470 2366.65 no move -1.56 - - 1941.50 - - - 2351.12 - -82.73 - - 3112.91 - - - - - - - - - - -
2670.42 258.27 -7.85 531 2675.99 roll -1.56 - - 1941.56 - 2.81 0.059 1208.06 -406.8 -82.73 - - 3113.91 - - - - - - - - - 15.88 -
2725.43 262.76 -8.27 542 2730.97 roll -1.56 - - 1941.00 - 2.63 0.026 2345.38 432.4 -82.73 - - 3115.06 - - - - - - - - - 15.96 -
3035.49 285.99 -7.62 604 3036.82 no move -1.56 - - 1941.69 - - - 2345.81 - -82.73 - - 3113.56 - - - - - - - - - - -
3346.48 310.35 -8.15 652 3351.12 roll -1.56 - - 1940.81 - 2.79 0.060 1209.44 -407.3 -82.73 - - 3115.59 - - - - - - - - - 15.90 -
3400.94 314.92 -8.55 660 3415.76 roll -1.56 - - 1941.38 - 2.62 0.026 2345.31 433.5 -82.73 - - 3115.44 - - - - - - - - - 15.99 -
3717.43 341.56 -8.18 689 3728.50 no move -1.56 - - 1941.50 - - - 2344.94 - -82.73 - - 3113.91 - - - - - - - - - - -
4030.11 366.36 -7.89 718 4034.75 roll -1.56 - - 1940.31 - 2.79 0.060 1210.56 -406.6 -82.73 - - 3117.47 - - - - - - - - - 15.90 -
4084.55 370.76 -8.18 726 4099.31 roll -1.56 - - 1941.50 - 2.62 0.027 2340.50 431.3 -82.73 - - 3115.44 - - - - - - - - - 15.98 -
4400.98 396.08 -7.98 755 4405.63 roll -1.56 - - 1941.62 - 2.78 0.060 1209.00 -407.0 -82.73 - - 3112.50 - - - - - - - - - 15.89 -
4455.26 400.56 -8.36 763 4470.20 roll -1.56 - - 1941.75 - 2.63 0.027 2340.81 430.3 -82.73 - - 3114.34 - - - - - - - - - 15.99 -
4771.44 426.98 -8.35 792 4782.51 no move -1.56 - - 1941.88 - - - 2340.94 - -82.73 - - 3113.69 - - - - - - - - - - -
5084.99 453.28 -8.41 821 5089.64 roll -1.56 - - 1941.19 - 2.79 0.061 1209.19 -405.6 -82.73 - - 3113.03 - - - - - - - - - 15.90 -
5122.18 456.63 -8.72 826 5126.79 roll -1.56 - - 1940.38 - 2.60 0.026 2336.69 433.7 -82.73 - - 3114.53 - - - - - - - - - 15.98 -
5433.43 482.41 -7.85 855 5438.07 roll -1.56 - - 1941.50 - 2.80 0.087 3424.25 388.4 -82.73 - - 3113.94 - - - - - - - - - 15.83 -
5472.15 485.56 -8.26 861 5486.96 roll -1.56 - - 1941.75 - 2.62 0.019 2232.12 -455.0 -82.73 - - 3111.75 - - - - - - - - - 15.98 -
5790.58 508.66 -7.03 887 5791.91 no move -1.56 - - 1941.44 - - - 2232.44 - -82.73 - - 3110.97 - - - - - - - - - - -
6105.60 530.83 -6.90 908 6110.30 roll -1.56 - - 1941.94 - 3.08 0.083 3425.38 387.3 -82.73 - - 3110.53 - - - - - - - - - 15.84 -
6144.14 533.65 -7.25 914 6149.70 roll -1.56 - - 1941.31 - 2.62 0.019 2234.44 -454.6 -82.73 - - 3111.94 - - - - - - - - - 15.97 -
6463.54 555.65 -7.05 936 6468.15 roll -1.56 - - 1941.56 - 2.53 0.067 1209.44 -405.1 -82.73 - - 3112.88 - - - - - - - - - 15.88 -
6502.08 558.49 -7.39 942 6507.64 roll -1.56 - - 1941.81 - 2.62 0.026 2336.81 430.3 -82.73 - - 3112.69 - - - - - - - - - 15.99 -
6821.49 583.30 -7.71 964 6822.82 no move -1.56 - - 1941.56 - - - 2338.12 - -82.73 - - 3109.88 - - - - - - - - - - -
7136.50 607.59 -7.66 985 7137.83 no move -1.56 - - 1941.31 - - - 2338.00 - -82.73 - - 3110.41 - - - - - - - - - - -
7451.52 629.96 -6.81 1006 7452.85 no move -1.56 - - 1941.56 - - - 2337.94 - -82.73 - - 3110.62 - - - - - - - - - - -
7766.56 650.21 -6.25 1027 7767.89 no move -1.56 - - 1941.44 - - - 2337.94 - -82.73 - - 3109.75 - - - - - - - - - - -
8081.75 669.31 -6.06 1048 8086.40 roll -1.56 - - 1940.31 - 2.80 0.062 1209.00 -403.2 -82.73 - - 3111.47 - - - - - - - - - 15.87 -
8120.30 671.69 -6.26 1054 8125.84 roll -1.56 - - 1941.56 - 2.61 0.027 2334.62 431.3 -82.73 - - 3110.50 - - - - - - - - - 15.99 -
8439.90 690.98 -6.05 1076 8444.60 roll -1.56 - - 1941.25 - 2.79 0.062 1210.25 -403.0 -82.73 - - 3110.75 - - - - - - - - - 15.87 -
8499.19 694.79 -6.43 1085 8504.71 roll -1.56 - - 1941.31 - 2.60 0.027 2333.06 431.8 -82.73 - - 3110.16 - - - - - - - - - 15.99 -
8818.60 715.50 -6.57 1107 8823.24 roll -1.56 - - 1941.62 - 2.77 0.062 1209.06 -405.8 -82.73 - - 3111.06 - - - - - - - - - 15.87 -
8857.14 718.10 -6.79 1113 8862.68 roll -1.56 - - 1941.12 - 2.59 0.027 2326.94 431.6 -82.73 - - 3109.22 - - - - - - - - - 15.98 -
9176.56 739.55 -6.60 1135 9177.89 no move -1.56 - - 1941.50 - - - 2327.06 - -82.73 - - 3108.09 - - - - - - - - - - -
9491.57 761.42 -7.13 1156 9496.43 roll -1.56 - - 1941.38 - 2.78 0.063 1210.56 -401.6 -82.73 - - 3108.31 - - - - - - - - - 15.87 -
9555.84 765.79 -7.44 1166 9570.76 roll -1.56 - - 1940.38 - 2.59 0.027 2323.25 429.6 -82.73 - - 3109.47 - - - - - - - - - 15.99 -
9885.26 790.65 -7.67 1188 9886.59 no move -1.56 - - 1941.62 - - - 2323.81 - -82.73 - - 3108.97 - - - - - - - - - - -
10200.30 815.12 -7.75 1209 10201.62 no move -1.56 - - 1941.62 - - - 2324.12 - -82.73 - - 3106.97 - - - - - - - - - - -
10515.33 838.83 -7.35 1230 10516.66 no move -1.56 - - 1941.81 - - - 2323.62 - -82.73 - - 3107.53 - - - - - - - - - - -
10830.38 861.29 -7.03 1251 10835.03 roll -1.56 - - 1941.06 - 2.79 0.064 1209.06 -399.5 -82.73 - - 3107.06 - - - - - - - - - 15.85 -
10868.91 864.03 -7.21 1257 10874.63 roll -1.56 - - 1941.12 - 2.59 0.028 2320.12 429.0 -82.73 - - 3108.59 - - - - - - - - - 15.98 -
11188.45 885.82 -6.74 1279 11193.12 roll -1.56 - - 1941.06 - 2.87 0.091 3424.69 384.9 -82.73 - - 3105.88 - - - - - - - - - 15.78 -
11206.26 887.00 -6.81 1282 11211.81 roll -1.56 - - 1942.00 - 2.67 0.020 2216.31 -452.6 -82.73 - - 3107.12 - - - - - - - - - 15.97 -
11525.67 907.52 -6.07 1304 11530.39 roll -1.56 - - 1941.19 - 3.13 0.086 3423.62 385.7 -82.73 - - 3109.19 - - - - - - - - - 15.78 -
11564.23 910.05 -6.46 1310 11569.76 roll -1.56 - - 1941.00 - 2.67 0.020 2220.38 -450.7 -82.73 - - 3107.34 - - - - - - - - - 15.96 -
11883.62 930.43 -6.51 1332 11884.95 no move -1.56 - - 1941.81 - - - 2220.75 - -82.73 - - 3106.69 - - - - - - - - - - -
12198.62 951.17 -6.61 1353 12203.34 roll -1.56 - - 1941.38 - 3.13 0.086 3424.75 384.7 -82.73 - - 3105.69 - - - - - - - - - 15.77 -
12257.89 955.48 -7.22 1362 12263.44 roll -1.56 - - 1941.00 - 2.65 0.020 2225.50 -452.5 -82.73 - - 3106.22 - - - - - - - - - 15.95 -
12577.45 977.20 -6.94 1384 12578.78 no move -1.56 - - 1941.50 - - - 2224.50 - -82.73 - - 3105.34 - - - - - - - - - - -
12771 end dive: TARGET_DEPTH_EXCEEDED
12772 begin apogee
12774.19 990.75 -6.95 1397 12850.07 -0.28 2.27 0.141 2253.88 137.6 0.16 0.160 2158.62 -411.8 - 68.08 2.405 2775.62 -4.8 0.351 - - - - - - 15.66 15.09 10.00
12851 end apogee: CONTROL_FINISHED_OK
12852 begin climb
12853.01 992.80 - 1402 12940.98 1.56 3.12 0.113 2701.94 143.6 3.06 0.080 996.06 -379.9 82.73 72.25 2.391 2436.88 -4.7 0.342 - - - - - - 15.37 15.53 11.50
12962.73 989.33 4.12 1417 13052.14 1.75 0.28 0.072 2756.50 194.9 2.74 0.024 2136.81 416.3 175.64 83.60 2.380 2058.69 -4.5 0.331 - - - - - - 15.30 15.39 11.45
13363.72 955.31 9.08 1451 13365.05 VBD 1.75 - - 2757.62 - - - 2137.00 - 175.64 - - 2048.56 - - - - - - - - - - -
13678.72 926.59 9.20 1472 13680.05 VBD 1.75 - - 2757.31 - - - 2136.69 - 175.64 - - 2046.78 - - - - - - - - - - -
13993.73 896.96 9.31 1493 13995.06 VBD 1.75 - - 2757.00 - - - 2137.12 - 175.64 - - 2045.81 - - - - - - - - - - -
14308.92 867.55 9.36 1514 14313.60 done 1.75 - - 2757.06 - 2.94 0.081 993.50 -389.0 175.64 - - 2044.03 - - - - - - - - - 15.79 -
14331.91 865.95 9.43 1518 14346.72 done 1.75 - - 2757.75 - 2.65 0.024 2136.56 431.3 175.64 - - 2044.84 - - - - - - - - - 15.91 -
14661.13 834.68 9.36 1540 14662.46 VBD 1.75 - - 2757.25 - - - 2136.94 - 175.64 - - 2043.84 - - - - - - - - - - -
14976.15 805.64 9.23 1561 14977.48 VBD 1.75 - - 2757.62 - - - 2136.19 - 175.64 - - 2043.25 - - - - - - - - - - -
15291.16 777.07 8.92 1582 15292.49 VBD 1.75 - - 2757.31 - - - 2136.56 - 175.64 - - 2042.38 - - - - - - - - - - -
15606.17 749.56 8.50 1603 15610.85 done 1.75 - - 2757.44 - 2.94 0.081 994.62 -388.4 175.64 - - 2042.12 - - - - - - - - - 15.81 -
15649.72 746.11 8.88 1610 15664.66 done 1.75 - - 2757.31 - 2.63 0.025 2132.94 432.8 175.64 - - 2044.25 - - - - - - - - - 15.96 -
15979.12 717.66 8.51 1632 15980.45 VBD 1.75 - - 2757.56 - - - 2133.06 - 175.64 - - 2042.12 - - - - - - - - - - -
16294.12 691.27 8.36 1653 16295.45 VBD 1.75 - - 2757.62 - - - 2133.19 - 175.64 - - 2041.69 - - - - - - - - - - -
16609.13 664.92 8.46 1674 16613.82 done 1.75 - - 2758.00 - 2.94 0.081 995.94 -386.8 175.64 - - 2042.41 - - - - - - - - - 15.80 -
16647.68 661.49 8.86 1680 16653.23 done 1.75 - - 2757.81 - 2.63 0.025 2130.88 431.5 175.64 - - 2042.09 - - - - - - - - - 15.97 -
16967.08 634.15 8.45 1702 16968.41 VBD 1.75 - - 2757.50 - - - 2130.81 - 175.64 - - 2040.91 - - - - - - - - - - -
17282.10 607.34 8.50 1723 17286.75 done 1.75 - - 2757.69 - 2.77 0.084 3205.38 387.9 175.64 - - 2041.31 - - - - - - - - - 15.81 -
17319.30 603.92 8.87 1728 17324.12 done 1.75 - - 2757.75 - 2.65 0.025 2055.56 -433.9 175.64 - - 2040.81 - - - - - - - - - 15.95 -
17635.89 576.20 8.77 1750 17637.22 VBD 1.75 - - 2757.69 - - - 2055.31 - 175.64 - - 2040.53 - - - - - - - - - - -
17950.79 550.18 7.98 1771 17955.47 done 1.75 - - 2757.75 - 2.97 0.080 3203.56 386.6 175.64 - - 2043.47 - - - - - - - - - 15.80 -
18015.07 545.16 8.49 1781 18030.01 done 1.75 - - 2758.12 - 2.62 0.025 2062.12 -435.7 175.64 - - 2041.66 - - - - - - - - - 15.96 -
18344.49 519.26 7.44 1803 18345.82 VBD 1.77 - - 2758.25 - - - 2062.19 - 175.64 - - 2041.44 - - - - - - - - - - -
18646.72 497.49 6.85 1824 18651.41 done 1.80 - - 2757.19 - 2.96 0.080 3204.44 385.9 175.64 - - 2040.44 - - - - - - - - - 15.80 -
18699.68 493.58 7.27 1831 18704.32 done 1.83 - - 2757.44 - 2.62 0.025 2063.50 -435.5 175.64 - - 2043.78 - - - - - - - - - 15.95 -
19011.57 472.78 6.63 1860 19016.22 done 1.86 - - 2757.88 - 2.77 0.086 994.50 -385.9 175.64 - - 2039.94 - - - - - - - - - 15.78 -
19050.12 470.03 7.06 1866 19065.05 done 1.89 - - 2757.62 - 2.65 0.024 2139.25 432.0 175.64 - - 2041.19 - - - - - - - - - 15.97 -
19366.69 448.26 7.13 1895 19377.87 1.92 0.16 0.094 2796.50 243.0 - - 2139.06 - 175.64 - - 2041.50 - - - - - - - - 15.91 - -
19679.72 423.44 8.18 1924 19690.79 VBD 1.92 - - 2796.50 - - - 2139.50 - 175.64 - - 2040.44 - - - - - - - - - - -
19992.66 397.77 8.29 1953 19997.34 done 1.92 - - 2797.06 - 2.98 0.080 993.19 -384.7 175.64 - - 2038.47 - - - - - - - - - 15.77 -
20092.80 388.69 9.08 1966 20097.44 done 1.92 - - 2796.81 - 2.65 0.025 2136.75 431.5 175.64 - - 2038.72 - - - - - - - - - 15.96 -
20404.78 363.20 8.06 1995 20415.86 VBD 1.92 - - 2797.44 - - - 2136.88 - 175.64 - - 2040.31 - - - - - - - - - - -
20717.50 337.96 7.89 2024 20728.58 VBD 1.93 - - 2796.69 - - - 2136.62 - 175.64 - - 2040.41 - - - - - - - - - - -
21030.82 313.10 7.96 2053 21035.46 done 1.94 - - 2795.50 - 2.76 0.082 3203.75 386.6 175.64 - - 2041.22 - - - - - - - - - 15.79 -
21099.83 307.19 8.43 2062 21104.46 done 1.94 - - 2797.06 - 2.64 0.025 2056.25 -434.7 175.64 - - 2040.19 - - - - - - - - - 15.96 -
21408.58 282.91 7.55 2113 21409.91 VBD 1.96 - - 2797.19 - - - 2056.94 - 175.64 - - 2039.91 - - - - - - - - - - -
21713.62 261.68 6.69 2174 21714.96 VBD 1.99 - - 2797.19 - - - 2057.12 - 175.64 - - 2039.44 - - - - - - - - - - -
22018.66 240.84 7.08 2235 22019.99 VBD 2.02 - - 2796.94 - - - 2056.19 - 175.64 - - 2039.59 - - - - - - - - - - -
22323.88 217.44 7.74 2296 22329.34 done 2.03 - - 2797.25 - 2.97 0.078 3204.56 386.7 175.64 - - 2040.91 - - - - - - - - - 15.76 -
22358.68 214.55 8.15 2303 22364.23 done 2.03 - - 2797.69 - 2.63 0.024 2060.44 -435.0 175.64 - - 2039.88 - - - - - - - - - 15.93 -
22668.75 190.40 7.86 2365 22674.32 done 2.05 - - 2797.12 - 2.97 0.077 3205.50 385.5 175.64 - - 2040.88 - - - - - - - - - 15.77 -
22708.73 187.04 8.35 2373 22714.29 done 2.05 - - 2797.44 - 2.62 0.024 2064.56 -435.5 175.64 - - 2040.34 - - - - - - - - - 15.94 -
23018.80 162.17 7.89 2435 23020.13 VBD 2.06 - - 2797.44 - - - 2065.12 - 175.64 - - 2039.53 - - - - - - - - - - -
23324.07 139.89 6.74 2496 23329.48 2.09 0.19 0.090 2839.25 220.1 2.94 0.077 3206.31 388.2 175.64 - - 2041.16 - - - - - - - - 15.89 15.75 -
23368.85 136.36 7.84 2505 23374.40 done 2.10 - - 2840.00 - 2.61 0.024 2069.25 -435.7 175.64 - - 2040.50 - - - - - - - - - 15.94 -
23679.15 114.80 6.79 2567 23684.57 done 2.14 - - 2839.88 - 2.76 0.082 994.88 -389.3 175.64 - - 2041.16 - - - - - - - - - 15.76 -
23718.97 111.99 7.02 2575 23724.54 done 2.17 - - 2839.69 - 2.71 0.024 2164.88 431.7 175.64 - - 2041.16 - - - - - - - - - 15.94 -
24029.08 94.44 4.64 2637 24097.63 2.33 0.29 0.075 2896.56 196.1 2.72 0.082 3205.12 382.4 257.57 63.49 1.294 1725.00 -5.0 0.064 - - - - - - 15.90 15.24 10.39
24184.72 81.44 9.96 2668 24190.25 roll 2.33 - - 2895.12 - 2.57 0.024 2095.69 -431.7 257.57 - - 1721.66 - - - - - - - - - 15.75 -
24374.77 67.41 5.31 2706 24434.10 done 2.47 - - 2896.38 - 2.91 0.078 3205.38 381.3 325.13 53.94 1.232 1450.16 -5.0 0.048 - - - - - - - 15.26 11.17
24496.22 60.20 7.61 2730 24501.98 roll back 2.48 0.16 0.097 2930.75 214.8 2.55 0.023 2103.62 -432.1 325.13 - - 1446.19 - - - - - - - - 15.56 15.68 -
24686.25 44.14 8.94 2768 24687.58 no move 2.48 - - 2931.00 - - - 2104.12 - 325.13 - - 1442.41 - - - - - - - - - - -
24871.31 28.12 9.08 2805 24872.64 VBD 2.48 - - 2931.19 - - - 2104.44 - 325.13 - - 1440.72 - - - - - - - - - - -
25056.38 11.43 8.95 2842 25057.71 VBD 2.48 - - 2930.88 - - - 2103.69 - 325.13 - - 1439.34 - - - - - - - - - - -
25140 end climb: SURFACE_DEPTH_REACHED
25141 begin surface coast
25191 end surface coast: CONTROL_FINISHED_OK
25191 begin surface
SM 0.92 - - - - 178.2 76.88 1.175 1043.3 13.6 17.17 0.055 991.6 57.8 - 0.53 0.056 1095.1 2066.2 -3.469 - - 10.98 15.78 15.84 -