NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1007 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 355.46 of 550.00 AH used of 24V (35.37% remains)
• Surface angle -55.8 deg, depth 0.61 m • Intended pitch -26.5 deg, speed -8.462 cm/s
VBD pumped to 424.78 (SM_CC=425)
• GPS1 time: 35 s
• GPS2 time: 5 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
5.78 - - - 82.63 VBD -1.64 - - 178.38 - - - 2252.69 - -82.73 75.31 0.005 2807.19 - - - - - - - - - - 14.79
83.37 3.07 -4.12 14 114.96 -1.64 14.20 0.235 1923.00 122.9 2.65 0.067 1209.62 -393.6 -82.73 7.55 0.008 3111.94 40.4 -2.697 - - - - - - 15.35 14.85 15.01
197.04 22.08 -15.38 37 202.62 roll -1.64 - - 1923.19 - 2.70 0.027 2351.12 422.8 -82.73 - - 3113.88 - - - - - - - - - 15.77 -
387.44 50.08 -14.59 75 392.84 roll -1.64 - - 1922.31 - 2.86 0.059 1210.62 -398.8 -82.73 - - 3113.00 - - - - - - - - - 15.77 -
507.21 66.43 -12.35 99 512.64 roll -1.64 - - 1923.44 - 2.67 0.027 2348.69 426.2 -82.73 - - 3113.38 - - - - - - - - - 15.83 -
697.51 87.63 -10.19 137 702.70 roll -1.64 - - 1923.81 - 2.77 0.083 3427.12 389.3 -82.73 - - 3112.84 - - - - - - - - - 15.78 -
797.14 99.12 -11.67 157 802.70 roll -1.64 - - 1923.69 - 2.62 0.018 2246.31 -450.7 -82.73 - - 3113.56 - - - - - - - - - 15.88 -
987.17 116.91 -9.06 195 992.71 roll -1.64 - - 1923.62 - 2.57 0.064 1209.38 -403.5 -82.73 - - 3113.53 - - - - - - - - - 15.85 -
1042.18 122.28 -9.83 206 1047.73 roll -1.64 - - 1923.44 - 2.66 0.026 2348.31 428.2 -82.73 - - 3115.38 - - - - - - - - - 15.91 -
1352.24 149.91 -8.86 268 1353.57 no move -1.64 - - 1922.88 - - - 2349.12 - -82.73 - - 3111.88 - - - - - - - - - - -
1657.29 177.35 -8.90 329 1662.88 roll -1.64 - - 1923.81 - 2.83 0.059 1209.12 -402.8 -82.73 - - 3113.88 - - - - - - - - - 15.89 -
1752.30 186.29 -9.49 348 1758.03 roll -1.64 - - 1923.38 - 2.63 0.026 2347.19 432.7 -82.73 - - 3114.84 - - - - - - - - - 15.94 -
2062.52 213.97 -8.77 410 2067.92 roll -1.64 - - 1923.56 - 2.82 0.059 1209.19 -403.5 -82.73 - - 3113.81 - - - - - - - - - 15.89 -
2142.36 221.41 -9.40 426 2147.90 roll -1.64 - - 1923.75 - 2.63 0.026 2344.94 431.8 -82.73 - - 3113.31 - - - - - - - - - 15.96 -
2452.41 249.35 -9.25 488 2457.98 roll -1.64 - - 1923.25 - 2.82 0.059 1209.12 -402.8 -82.73 - - 3113.25 - - - - - - - - - 15.91 -
2537.41 257.71 -9.88 505 2542.98 roll -1.64 - - 1923.38 - 2.62 0.026 2341.44 432.2 -82.73 - - 3113.53 - - - - - - - - - 15.97 -
2847.53 286.22 -9.25 567 2853.11 roll -1.64 - - 1923.19 - 2.81 0.059 1209.38 -402.9 -82.73 - - 3115.28 - - - - - - - - - 15.91 -
2937.55 295.08 -9.91 585 2943.10 roll -1.64 - - 1923.25 - 2.62 0.026 2331.81 428.4 -82.73 - - 3114.59 - - - - - - - - - 15.97 -
3247.75 324.63 -9.41 619 3252.40 roll -1.64 - - 1923.12 - 2.80 0.060 1208.50 -401.2 -82.73 - - 3112.62 - - - - - - - - - 15.92 -
3302.22 329.99 -9.91 627 3317.01 roll -1.64 - - 1923.31 - 2.59 0.026 2328.81 432.6 -82.73 - - 3114.47 - - - - - - - - - 15.99 -
3618.72 359.78 -9.17 656 3629.80 no move -1.64 - - 1923.56 - - - 2328.88 - -82.73 - - 3114.06 - - - - - - - - - - -
3931.45 387.37 -8.82 685 3936.09 roll -1.64 - - 1923.19 - 2.79 0.060 1208.00 -401.7 -82.73 - - 3113.72 - - - - - - - - - 15.92 -
3985.73 392.31 -9.15 693 4000.65 roll -1.64 - - 1923.19 - 2.58 0.026 2324.25 432.7 -82.73 - - 3114.00 - - - - - - - - - 15.99 -
4302.85 420.41 -8.79 722 4307.49 roll -1.64 - - 1921.44 - 2.77 0.061 1209.19 -402.5 -82.73 - - 3114.53 - - - - - - - - - 15.92 -
4341.39 423.86 -9.01 728 4356.31 roll -1.64 - - 1923.38 - 2.58 0.026 2321.19 431.0 -82.73 - - 3112.88 - - - - - - - - - 16.00 -
4657.58 451.62 -8.58 757 4662.23 roll -1.64 - - 1923.44 - 2.78 0.061 1209.31 -400.0 -82.73 - - 3113.34 - - - - - - - - - 15.92 -
4696.11 454.99 -8.89 763 4711.06 roll -1.64 - - 1923.25 - 2.56 0.026 2320.56 434.1 -82.73 - - 3112.97 - - - - - - - - - 16.00 -
5012.32 482.40 -8.41 792 5016.84 roll -1.64 - - 1923.75 - 2.77 0.061 1209.25 -401.2 -82.73 - - 3111.56 - - - - - - - - - 15.91 -
5096.73 489.90 -8.87 803 5101.52 roll -1.64 - - 1923.25 - 2.56 0.026 2315.06 432.0 -82.73 - - 3112.56 - - - - - - - - - 15.99 -
5405.72 516.40 -8.75 827 5410.38 roll -1.64 - - 1923.19 - 2.86 0.086 3429.19 389.6 -82.73 - - 3111.25 - - - - - - - - - 15.87 -
5442.90 520.07 -9.32 832 5447.54 roll -1.64 - - 1923.19 - 2.69 0.019 2212.81 -452.2 -82.73 - - 3111.31 - - - - - - - - - 15.99 -
5759.38 547.52 -8.46 854 5760.70 no move -1.64 - - 1923.44 - - - 2211.94 - -82.73 - - 3111.75 - - - - - - - - - - -
6074.39 573.89 -8.27 875 6079.10 roll -1.64 - - 1923.06 - 3.12 0.082 3424.19 388.5 -82.73 - - 3110.03 - - - - - - - - - 15.87 -
6111.58 577.22 -8.60 880 6116.22 roll -1.64 - - 1923.44 - 2.67 0.019 2216.50 -452.3 -82.73 - - 3111.38 - - - - - - - - - 15.98 -
6428.06 603.68 -8.57 902 6432.68 roll -1.64 - - 1923.56 - 2.51 0.068 1207.94 -401.8 -82.73 - - 3109.91 - - - - - - - - - 15.91 -
6506.73 610.83 -9.03 913 6511.34 roll -1.64 - - 1923.19 - 2.57 0.026 2314.69 430.6 -82.73 - - 3110.34 - - - - - - - - - 15.99 -
6823.21 637.77 -8.58 935 6824.54 no move -1.64 - - 1923.50 - - - 2315.06 - -82.73 - - 3109.62 - - - - - - - - - - -
7138.21 664.07 -8.12 956 7142.86 roll -1.64 - - 1923.44 - 2.78 0.063 1210.25 -397.4 -82.73 - - 3110.66 - - - - - - - - - 15.90 -
7197.50 669.02 -8.41 965 7203.03 roll -1.64 - - 1923.56 - 2.55 0.026 2311.06 431.7 -82.73 - - 3111.22 - - - - - - - - - 16.00 -
7517.11 695.15 -7.91 987 7521.81 roll -1.64 - - 1921.88 - 2.77 0.063 1209.25 -397.8 -82.73 - - 3110.00 - - - - - - - - - 15.90 -
7595.80 701.69 -8.24 998 7600.41 roll -1.64 - - 1921.19 - 2.54 0.026 2304.31 431.1 -82.73 - - 3110.72 - - - - - - - - - 15.98 -
7912.27 725.54 -7.37 1020 7913.60 no move -1.64 - - 1923.12 - - - 2304.69 - -82.73 - - 3109.69 - - - - - - - - - - -
8227.45 748.56 -7.42 1041 8228.78 no move -1.64 - - 1922.44 - - - 2304.81 - -82.73 - - 3108.47 - - - - - - - - - - -
8542.30 772.95 -7.87 1062 8546.94 roll -1.64 - - 1923.25 - 2.75 0.064 1209.31 -398.4 -82.73 - - 3108.38 - - - - - - - - - 15.89 -
8579.48 776.05 -8.12 1067 8584.09 roll -1.64 - - 1923.56 - 2.55 0.026 2302.06 428.5 -82.73 - - 3110.12 - - - - - - - - - 15.99 -
8895.97 800.82 -7.83 1089 8897.30 no move -1.64 - - 1923.62 - - - 2302.38 - -82.73 - - 3108.66 - - - - - - - - - - -
9211.01 824.98 -7.58 1110 9215.67 roll -1.64 - - 1923.38 - 2.75 0.064 1209.25 -397.5 -82.73 - - 3107.62 - - - - - - - - - 15.89 -
9296.03 831.29 -7.97 1123 9310.96 roll -1.64 - - 1922.88 - 2.53 0.027 2298.81 430.7 -82.73 - - 3109.31 - - - - - - - - - 16.00 -
9625.43 857.65 -7.90 1145 9630.08 roll -1.64 - - 1922.00 - 2.73 0.064 1210.19 -398.8 -82.73 - - 3108.41 - - - - - - - - - 15.89 -
9683.36 862.42 -8.15 1153 9687.97 roll -1.64 - - 1923.00 - 2.52 0.026 2295.19 430.6 -82.73 - - 3107.97 - - - - - - - - - 15.99 -
10000.03 887.03 -7.82 1175 10001.36 no move -1.64 - - 1923.12 - - - 2295.56 - -82.73 - - 3106.91 - - - - - - - - - - -
10315.06 912.58 -8.33 1196 10316.39 no move -1.64 - - 1923.25 - - - 2295.62 - -82.73 - - 3107.34 - - - - - - - - - - -
10629.93 938.37 -7.97 1217 10634.58 roll -1.64 - - 1923.38 - 2.73 0.065 1210.44 -397.5 -82.73 - - 3105.91 - - - - - - - - - 15.88 -
10668.46 941.45 -8.12 1223 10674.00 roll -1.64 - - 1923.44 - 2.51 0.026 2292.19 431.0 -82.73 - - 3106.72 - - - - - - - - - 16.00 -
10987.89 966.44 -7.67 1245 10992.54 roll -1.64 - - 1923.12 - 2.71 0.065 1209.19 -399.6 -82.73 - - 3108.25 - - - - - - - - - 15.87 -
11066.55 972.57 -7.78 1256 11071.17 roll -1.64 - - 1922.94 - 2.51 0.027 2289.25 430.3 -82.73 - - 3106.03 - - - - - - - - - 15.98 -
11323 end dive: TARGET_DEPTH_EXCEEDED
11323 begin apogee
11324.91 990.86 -7.03 1274 11400.58 -0.28 2.39 0.147 2254.25 138.6 0.17 0.153 2156.06 -783.5 - 67.75 2.400 2774.47 -4.9 0.352 - - - - - - 15.70 15.15 10.16
11402 end apogee: CONTROL_FINISHED_OK
11402 begin climb
11403.11 992.52 - 1279 11490.16 1.64 3.14 0.090 2719.19 148.1 0.17 0.080 2037.38 -698.1 82.73 70.66 2.366 2436.03 -4.8 0.350 - - - - - - 15.45 15.56 11.70
11802.46 968.81 6.74 1312 11803.79 no move 1.67 - - 2719.06 - - - 2036.75 - 82.73 - - 2431.75 - - - - - - - - - - -
12116.93 948.16 6.45 1333 12160.87 1.76 0.17 0.087 2762.44 255.2 2.76 0.089 995.12 -377.4 126.14 37.76 2.293 2260.31 -4.5 0.327 - - - - - - 15.77 15.29 11.07
12189.25 942.82 7.79 1344 12203.62 roll 1.77 - - 2762.31 - 2.71 0.024 2134.38 420.4 126.14 - - 2258.75 - - - - - - - - - 15.63 -
12518.08 913.14 8.72 1366 12519.41 no move 1.77 - - 2762.12 - - - 2134.44 - 126.14 - - 2254.47 - - - - - - - - - - -
12833.09 885.86 8.63 1387 12834.42 no move 1.77 - - 2762.62 - - - 2134.50 - 126.14 - - 2253.38 - - - - - - - - - - -
13148.11 858.94 8.47 1408 13152.80 roll 1.77 - - 2763.12 - 2.95 0.080 994.69 -386.4 126.14 - - 2254.06 - - - - - - - - - 15.80 -
13186.66 855.55 8.81 1414 13192.43 roll 1.77 - - 2762.19 - 2.66 0.025 2133.69 428.2 126.14 - - 2253.97 - - - - - - - - - 15.90 -
13506.06 828.20 8.46 1436 13507.39 no move 1.77 - - 2762.56 - - - 2133.88 - 126.14 - - 2252.59 - - - - - - - - - - -
13821.08 801.47 8.32 1457 13825.77 roll 1.77 - - 2763.25 - 2.97 0.080 993.19 -384.1 126.14 - - 2251.91 - - - - - - - - - 15.83 -
13901.10 794.31 9.03 1469 13906.84 done 1.77 - - 2762.19 - 2.64 0.025 2130.25 430.7 126.14 - - 2253.88 - - - - - - - - - 15.94 -
14220.68 766.73 8.50 1491 14225.33 done 1.77 - - 2762.62 - 2.76 0.084 3204.12 389.1 126.14 - - 2253.44 - - - - - - - - - 15.85 -
14264.24 763.38 8.71 1498 14279.18 done 1.77 - - 2762.50 - 2.65 0.025 2052.62 -434.5 126.14 - - 2252.12 - - - - - - - - - 15.95 -
14593.65 735.66 7.99 1520 14598.33 done 1.77 - - 2761.81 - 2.96 0.080 3204.56 389.2 126.14 - - 2250.75 - - - - - - - - - 15.85 -
14630.86 732.46 8.28 1525 14635.50 done 1.77 - - 2762.12 - 2.62 0.025 2057.94 -437.6 126.14 - - 2250.69 - - - - - - - - - 15.95 -
14947.34 706.91 8.05 1547 14952.02 done 1.77 - - 2762.38 - 2.94 0.080 3205.75 390.4 126.14 - - 2250.31 - - - - - - - - - 15.85 -
14991.23 703.77 8.17 1554 15006.16 done 1.77 - - 2763.31 - 2.63 0.025 2060.50 -435.5 126.14 - - 2252.50 - - - - - - - - - 15.97 -
15320.66 678.44 7.22 1576 15325.35 done 1.79 - - 2761.81 - 2.92 0.080 3203.31 391.4 126.14 - - 2252.94 - - - - - - - - - 15.85 -
15399.35 672.45 7.55 1587 15403.97 done 1.81 - - 2762.12 - 2.58 0.025 2068.75 -439.8 126.14 - - 2250.25 - - - - - - - - - 15.96 -
15715.87 650.82 6.76 1609 15720.70 done 1.85 - - 2760.88 - 2.77 0.086 993.69 -388.1 126.14 - - 2251.53 - - - - - - - - - 15.83 -
15796.37 644.93 7.40 1621 15801.79 done 1.87 - - 2762.62 - 2.66 0.025 2144.50 432.6 126.14 - - 2251.38 - - - - - - - - - 15.97 -
16115.67 622.19 7.17 1643 16120.32 done 1.89 - - 2761.81 - 2.72 0.084 3203.00 389.2 126.14 - - 2251.12 - - - - - - - - - 15.84 -
16173.62 617.59 7.71 1651 16178.27 done 1.91 - - 2762.75 - 2.61 0.025 2067.62 -435.0 126.14 - - 2253.34 - - - - - - - - - 15.97 -
16490.13 593.73 7.69 1673 16494.81 done 1.92 - - 2762.94 - 2.93 0.079 3204.75 388.1 126.14 - - 2249.88 - - - - - - - - - 15.84 -
16550.01 589.00 8.00 1682 16555.38 done 1.92 - - 2762.31 - 2.60 0.025 2070.56 -436.2 126.14 - - 2252.06 - - - - - - - - - 15.98 -
16869.26 564.75 7.56 1704 16873.99 1.94 0.17 0.091 2802.06 233.8 2.78 0.086 993.75 -387.3 126.14 - - 2250.50 - - - - - - - - 15.93 15.79 -
16989.40 553.93 9.12 1721 16994.04 done 1.94 - - 2802.06 - 2.67 0.025 2145.75 431.5 126.14 - - 2249.78 - - - - - - - - - 15.97 -
17305.91 528.27 7.76 1743 17307.25 VBD 1.96 - - 2802.50 - - - 2145.31 - 126.14 - - 2249.97 - - - - - - - - - - -
17620.95 505.34 6.93 1764 17622.28 VBD 1.99 - - 2802.50 - - - 2145.69 - 126.14 - - 2250.88 - - - - - - - - - - -
17926.23 484.53 6.70 1790 17937.31 VBD 2.02 - - 2802.75 - - - 2145.44 - 126.14 - - 2251.25 - - - - - - - - - - -
18239.00 463.89 6.59 1819 18243.68 done 2.06 - - 2802.31 - 2.98 0.081 993.75 -386.5 126.14 - - 2252.75 - - - - - - - - - 15.82 -
18308.01 458.73 7.34 1828 18312.65 done 2.08 - - 2802.69 - 2.67 0.025 2144.19 430.9 126.14 - - 2252.94 - - - - - - - - - 15.98 -
18619.64 436.59 7.11 1857 18624.39 2.11 0.17 0.089 2844.94 248.5 2.98 0.080 993.75 -386.1 126.14 - - 2249.19 - - - - - - - - 15.92 15.81 -
18768.73 423.97 8.70 1877 18783.28 done 2.11 - - 2844.81 - 2.66 0.025 2137.75 430.1 126.14 - - 2251.16 - - - - - - - - - 15.98 -
19085.09 399.53 7.42 1906 19096.17 VBD 2.13 - - 2845.38 - - - 2138.12 - 126.14 - - 2250.59 - - - - - - - - - - -
19397.75 376.94 7.10 1935 19408.83 VBD 2.16 - - 2844.88 - - - 2138.12 - 126.14 - - 2251.34 - - - - - - - - - - -
19710.65 355.33 6.85 1964 19715.33 done 2.19 - - 2845.25 - 2.95 0.079 993.62 -388.0 126.14 - - 2253.50 - - - - - - - - - 15.81 -
19891.20 341.76 7.71 1988 19905.73 done 2.20 - - 2845.44 - 2.64 0.025 2133.50 431.8 126.14 - - 2251.22 - - - - - - - - - 15.98 -
20207.94 318.40 7.63 2017 20219.02 VBD 2.22 - - 2845.00 - - - 2133.25 - 126.14 - - 2250.94 - - - - - - - - - - -
20523.45 293.84 7.88 2053 20528.95 done 2.23 - - 2845.62 - 2.76 0.081 3205.62 388.5 126.14 - - 2251.28 - - - - - - - - - 15.82 -
20618.39 285.79 8.45 2072 20623.94 done 2.23 - - 2845.75 - 2.65 0.024 2051.56 -435.5 126.14 - - 2251.53 - - - - - - - - - 15.96 -
20928.46 262.05 7.70 2134 20929.80 VBD 2.25 - - 2845.69 - - - 2051.56 - 126.14 - - 2250.28 - - - - - - - - - - -
21233.73 240.62 6.56 2195 21235.17 2.29 0.17 0.087 2887.12 243.7 - - 2051.75 - 126.14 - - 2250.25 - - - - - - - - 15.92 - -
21539.04 219.49 6.74 2256 21544.24 done 2.32 - - 2887.31 - 2.99 0.076 3204.44 385.5 126.14 - - 2251.47 - - - - - - - - - 15.80 -
21633.69 212.70 7.13 2275 21639.22 done 2.35 - - 2887.62 - 2.62 0.024 2059.44 -437.0 126.14 - - 2251.00 - - - - - - - - - 15.95 -
21943.79 192.80 6.26 2337 21983.89 VBD 2.44 - - 2887.94 - - - 2059.12 - 173.70 37.77 1.419 2068.62 -4.8 0.114 - - - - - - - - 10.38
22288.89 163.03 9.14 2406 22290.22 no move 2.44 - - 2887.44 - - - 2059.12 - 173.70 - - 2061.62 - - - - - - - - - - -
22593.97 135.23 8.78 2467 22599.54 roll 2.44 - - 2887.00 - 2.74 0.083 993.38 -389.0 173.70 - - 2061.34 - - - - - - - - - 15.77 -
22623.98 132.34 9.41 2473 22629.54 roll 2.44 - - 2888.38 - 2.67 0.024 2144.19 431.0 173.70 - - 2061.22 - - - - - - - - - 15.89 -
22934.07 107.56 7.11 2535 22939.68 roll back 2.47 0.19 0.081 2932.38 231.6 2.73 0.079 3204.88 388.5 173.70 - - 2061.03 - - - - - - - - 15.87 15.77 -
23034.07 99.37 8.04 2555 23039.62 roll 2.47 - - 2932.06 - 2.63 0.023 2061.00 -434.9 173.70 - - 2061.06 - - - - - - - - - 15.92 -
23224.10 87.70 6.17 2593 23270.18 done 2.57 - - 2931.94 - 2.97 0.076 3204.06 384.9 223.21 39.74 1.276 1864.22 -5.0 0.059 - - - - - - - 15.43 10.91
23299.67 82.28 7.79 2608 23304.67 roll 2.58 - - 2931.88 - 2.62 0.023 2067.81 -433.7 223.21 - - 1863.28 - - - - - - - - - 15.81 -
23489.15 68.28 7.08 2646 23494.73 roll 2.61 - - 2932.00 - 2.93 0.074 3205.62 388.3 223.21 - - 1858.81 - - - - - - - - - 15.78 -
23724.16 62.36 1.54 2693 23844.38 2.91 0.44 0.068 3010.25 177.8 2.58 0.022 2072.75 -439.1 372.70 114.02 1.239 1256.72 -5.3 0.046 - - - - - - 15.72 15.86 11.19
24026.53 34.29 13.26 2753 24032.13 roll 2.91 - - 3010.75 - 2.95 0.074 3204.69 383.7 372.70 - - 1247.75 - - - - - - - - - 15.66 -
24221.58 5.24 17.26 2792 24227.13 done 2.91 - - 3010.56 - 2.60 0.023 2081.31 -432.1 372.70 - - 1245.12 - - - - - - - - - 15.77 -
24231 end climb: SURFACE_DEPTH_REACHED
24231 begin surface coast
24256 end surface coast: CONTROL_FINISHED_OK
24256 begin surface
SM 0.83 - - - - 185.0 40.24 1.145 1043.3 25.9 17.79 0.052 1005.4 56.5 - 0.59 0.051 1081.2 1828.1 -3.041 - - 11.11 15.70 15.77 -