NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1107 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 392.33 of 550.00 AH used of 24V (28.67% remains)
• Surface angle -62.1 deg, depth 0.76 m • Intended pitch -25.2 deg, speed -8.462 cm/s
VBD pumped to 424.94 (SM_CC=425)
• GPS1 time: 17 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
5.92 - - - 77.12 VBD -1.56 - - 178.44 - - - 2282.06 - -82.73 70.06 0.005 2732.09 - - - - - - - - - - 14.73
78.23 3.23 -4.08 13 110.58 -1.56 14.55 0.243 1941.25 121.2 2.72 0.069 1209.06 -394.5 -82.73 9.26 0.007 3111.50 41.0 -3.315 - - - - - - 15.27 14.79 14.98
162.66 16.90 -14.57 30 168.23 roll -1.56 - - 1941.25 - 2.70 0.027 2352.69 423.6 -82.73 - - 3112.03 - - - - - - - - - 15.74 -
353.33 43.02 -13.48 68 354.66 no move -1.56 - - 1940.88 - - - 2352.12 - -82.73 - - 3110.72 - - - - - - - - - - -
537.74 69.37 -14.60 105 539.06 no move -1.56 - - 1940.75 - - - 2352.19 - -82.73 - - 3111.38 - - - - - - - - - - -
722.81 90.48 -10.89 142 728.39 roll -1.56 - - 1941.00 - 2.87 0.060 1210.38 -397.8 -82.73 - - 3111.53 - - - - - - - - - 15.81 -
747.81 93.17 -10.77 147 753.36 roll -1.56 - - 1939.88 - 2.66 0.025 2352.38 429.3 -82.73 - - 3113.25 - - - - - - - - - 15.87 -
937.89 112.90 -10.74 185 939.22 no move -1.56 - - 1941.25 - - - 2352.69 - -82.73 - - 3110.91 - - - - - - - - - - -
1242.99 141.29 -8.43 246 1248.56 roll -1.56 - - 1940.25 - 2.87 0.059 1208.62 -398.6 -82.73 - - 3113.50 - - - - - - - - - 15.85 -
1282.99 144.78 -8.72 254 1288.54 roll -1.56 - - 1941.44 - 2.64 0.025 2343.12 429.7 -82.73 - - 3111.88 - - - - - - - - - 15.92 -
1593.09 171.95 -9.10 316 1594.42 no move -1.56 - - 1941.25 - - - 2342.75 - -82.73 - - 3111.50 - - - - - - - - - - -
1898.17 200.49 -9.38 377 1903.75 roll -1.56 - - 1940.75 - 2.85 0.059 1209.25 -397.7 -82.73 - - 3112.88 - - - - - - - - - 15.88 -
1928.36 203.43 -9.75 383 1933.79 roll -1.56 - - 1941.31 - 2.62 0.025 2339.56 431.4 -82.73 - - 3112.22 - - - - - - - - - 15.95 -
2238.28 231.77 -8.75 445 2239.61 no move -1.56 - - 1941.38 - - - 2339.25 - -82.73 - - 3111.22 - - - - - - - - - - -
2543.35 257.69 -8.17 506 2548.92 roll -1.56 - - 1941.88 - 2.83 0.059 1208.88 -399.4 -82.73 - - 3112.62 - - - - - - - - - 15.88 -
2588.35 261.53 -8.58 515 2594.11 roll -1.56 - - 1940.38 - 2.62 0.025 2336.25 430.3 -82.73 - - 3114.31 - - - - - - - - - 15.96 -
2898.39 286.27 -7.73 577 2903.97 roll -1.56 - - 1942.00 - 2.83 0.060 1210.38 -397.8 -82.73 - - 3112.31 - - - - - - - - - 15.89 -
2968.39 291.91 -8.13 591 2974.14 roll -1.56 - - 1940.88 - 2.61 0.025 2332.44 429.9 -82.73 - - 3113.06 - - - - - - - - - 15.96 -
3274.89 317.26 -8.53 630 3285.96 no move -1.56 - - 1941.62 - - - 2333.00 - -82.73 - - 3112.84 - - - - - - - - - - -
3588.17 344.63 -8.63 659 3599.24 no move -1.56 - - 1941.06 - - - 2332.94 - -82.73 - - 3112.50 - - - - - - - - - - -
3901.28 370.61 -8.05 688 3912.35 no move -1.56 - - 1941.62 - - - 2333.19 - -82.73 - - 3112.38 - - - - - - - - - - -
4213.94 394.31 -7.17 717 4218.79 roll -1.56 - - 1940.62 - 2.82 0.061 1208.81 -398.7 -82.73 - - 3112.00 - - - - - - - - - 15.90 -
4298.53 400.47 -7.26 728 4303.16 roll -1.56 - - 1942.00 - 2.61 0.026 2331.06 430.0 -82.73 - - 3110.50 - - - - - - - - - 15.98 -
4610.47 422.55 -7.23 757 4621.54 no move -1.56 - - 1941.50 - - - 2330.81 - -82.73 - - 3111.59 - - - - - - - - - - -
4923.13 445.57 -7.50 786 4927.78 roll -1.56 - - 1941.25 - 2.80 0.061 1208.94 -400.7 -82.73 - - 3111.50 - - - - - - - - - 15.89 -
4961.68 448.52 -7.72 792 4976.60 roll -1.56 - - 1941.19 - 2.59 0.026 2329.19 432.5 -82.73 - - 3111.12 - - - - - - - - - 15.98 -
5278.57 471.82 -7.05 821 5289.64 no move -1.56 - - 1941.56 - - - 2328.94 - -82.73 - - 3110.94 - - - - - - - - - - -
5591.35 493.56 -6.87 850 5595.99 roll -1.56 - - 1940.75 - 2.78 0.062 1210.50 -402.3 -82.73 - - 3109.50 - - - - - - - - - 15.89 -
5644.27 497.39 -7.14 857 5648.88 roll -1.56 - - 1941.88 - 2.59 0.026 2327.62 431.3 -82.73 - - 3109.91 - - - - - - - - - 15.98 -
5957.22 519.91 -7.51 879 5958.55 no move -1.56 - - 1941.19 - - - 2328.00 - -82.73 - - 3109.53 - - - - - - - - - - -
6272.26 544.71 -8.10 900 6276.90 roll -1.56 - - 1940.81 - 2.80 0.062 1208.94 -399.7 -82.73 - - 3109.53 - - - - - - - - - 15.89 -
6309.45 547.83 -8.30 905 6314.06 roll -1.56 - - 1941.81 - 2.60 0.026 2325.94 429.6 -82.73 - - 3111.84 - - - - - - - - - 15.98 -
6626.12 572.91 -7.72 927 6627.45 no move -1.56 - - 1941.12 - - - 2327.12 - -82.73 - - 3110.38 - - - - - - - - - - -
6941.05 596.32 -7.29 948 6945.71 roll -1.56 - - 1940.81 - 2.81 0.062 1210.12 -397.5 -82.73 - - 3109.06 - - - - - - - - - 15.88 -
6978.24 599.19 -7.46 953 6982.85 roll -1.56 - - 1941.62 - 2.60 0.026 2322.88 428.0 -82.73 - - 3108.94 - - - - - - - - - 15.98 -
7294.89 621.93 -7.08 975 7296.22 no move -1.56 - - 1942.00 - - - 2322.69 - -82.73 - - 3109.12 - - - - - - - - - - -
7609.72 644.29 -7.29 996 7614.37 roll -1.56 - - 1941.06 - 2.79 0.063 1208.81 -399.2 -82.73 - - 3109.16 - - - - - - - - - 15.88 -
7653.26 647.11 -7.44 1003 7668.18 roll -1.56 - - 1941.12 - 2.58 0.026 2319.06 430.3 -82.73 - - 3108.50 - - - - - - - - - 15.99 -
7982.68 671.88 -7.52 1025 7987.32 roll -1.56 - - 1940.75 - 2.79 0.063 1208.75 -398.0 -82.73 - - 3108.34 - - - - - - - - - 15.88 -
8021.22 674.75 -7.60 1031 8026.76 roll -1.56 - - 1941.19 - 2.59 0.026 2318.81 428.6 -82.73 - - 3108.25 - - - - - - - - - 15.99 -
8340.62 697.53 -6.79 1053 8341.96 no move -1.56 - - 1941.25 - - - 2319.00 - -82.73 - - 3107.03 - - - - - - - - - - -
8655.64 718.14 -6.53 1074 8656.97 no move -1.56 - - 1941.62 - - - 2319.50 - -82.73 - - 3106.19 - - - - - - - - - - -
8970.66 738.84 -6.67 1095 8971.99 no move -1.56 - - 1941.50 - - - 2318.81 - -82.73 - - 3106.59 - - - - - - - - - - -
9285.68 760.49 -7.13 1116 9287.01 no move -1.56 - - 1941.62 - - - 2319.06 - -82.73 - - 3107.12 - - - - - - - - - - -
9600.70 784.17 -7.57 1137 9602.03 no move -1.56 - - 1940.62 - - - 2318.88 - -82.73 - - 3106.03 - - - - - - - - - - -
9915.90 806.92 -6.93 1158 9917.23 no move -1.56 - - 1941.25 - - - 2319.19 - -82.73 - - 3106.91 - - - - - - - - - - -
10230.93 827.48 -6.32 1179 10235.58 roll -1.56 - - 1940.44 - 2.80 0.064 1211.44 -395.6 -82.73 - - 3105.97 - - - - - - - - - 15.86 -
10310.94 832.67 -6.55 1191 10316.48 roll -1.56 - - 1941.12 - 2.59 0.027 2316.94 426.8 -82.73 - - 3106.84 - - - - - - - - - 15.98 -
10630.37 851.31 -5.44 1213 10631.70 no move -1.56 - - 1941.31 - - - 2317.50 - -82.73 - - 3105.66 - - - - - - - - - - -
10945.39 868.28 -5.29 1234 10946.72 no move -1.56 - - 1941.44 - - - 2317.44 - -82.73 - - 3106.19 - - - - - - - - - - -
11260.41 885.59 -5.59 1255 11265.05 roll -1.56 - - 1942.06 - 2.80 0.064 1210.44 -395.4 -82.73 - - 3106.12 - - - - - - - - - 15.84 -
11298.96 887.83 -5.82 1261 11304.47 roll -1.56 - - 1940.69 - 2.58 0.027 2317.12 428.9 -82.73 - - 3106.41 - - - - - - - - - 15.98 -
11618.56 906.83 -6.14 1283 11623.20 roll -1.56 - - 1940.50 - 2.80 0.064 1210.06 -395.4 -82.73 - - 3106.44 - - - - - - - - - 15.84 -
11657.10 909.30 -6.42 1289 11662.62 roll -1.56 - - 1941.44 - 2.58 0.027 2312.88 427.4 -82.73 - - 3106.62 - - - - - - - - - 15.99 -
11976.51 931.34 -7.05 1311 11981.17 roll -1.56 - - 1941.00 - 2.89 0.088 3426.94 385.5 -82.73 - - 3103.78 - - - - - - - - - 15.78 -
12034.43 935.89 -7.65 1319 12039.07 roll -1.56 - - 1941.31 - 2.71 0.019 2214.06 -447.6 -82.73 - - 3105.09 - - - - - - - - - 15.96 -
12351.09 958.54 -7.15 1341 12355.75 roll -1.56 - - 1940.94 - 2.55 0.069 1210.12 -393.7 -82.73 - - 3104.78 - - - - - - - - - 15.83 -
12389.61 961.40 -7.41 1347 12395.15 roll -1.56 - - 1941.19 - 2.59 0.027 2313.38 426.0 -82.73 - - 3104.88 - - - - - - - - - 15.98 -
12709.03 984.70 -7.04 1369 12710.36 no move -1.56 - - 1941.38 - - - 2313.12 - -82.73 - - 3103.19 - - - - - - - - - - -
12798 end dive: TARGET_DEPTH_EXCEEDED
12798 begin apogee
12800.92 990.86 -6.86 1375 12876.54 -0.28 2.29 0.144 2253.94 136.5 0.16 0.160 2156.19 -980.8 - 67.98 2.404 2775.25 -4.8 0.349 - - - - - - 15.66 15.09 10.04
12878 end apogee: CONTROL_FINISHED_OK
12878 begin climb
12879.18 992.74 - 1380 12966.23 1.56 3.09 0.094 2704.56 145.8 0.17 0.081 2038.44 -692.6 82.73 72.22 2.388 2436.88 -4.7 0.342 - - - - - - 15.41 15.53 11.54
13277.96 970.99 6.30 1413 13324.72 done 1.66 - - 2704.81 - 3.11 0.082 3206.31 375.5 128.94 40.97 2.318 2248.28 -4.6 0.338 - - - - - - - 15.15 11.14
13363.50 965.42 6.90 1426 13378.33 roll 1.69 - - 2704.50 - 2.70 0.024 2066.31 -422.2 128.94 - - 2246.50 - - - - - - - - - 15.56 -
13692.79 939.80 7.66 1448 13697.51 roll back 1.70 0.19 0.087 2743.12 203.3 2.82 0.085 994.88 -379.9 128.94 - - 2242.44 - - - - - - - - 15.73 15.65 -
13772.81 932.62 8.97 1460 13778.36 roll 1.70 - - 2742.88 - 2.70 0.024 2143.25 425.3 128.94 - - 2242.75 - - - - - - - - - 15.80 -
14092.23 906.39 8.02 1482 14096.88 roll 1.70 - - 2743.69 - 2.74 0.082 3203.50 387.0 128.94 - - 2241.19 - - - - - - - - - 15.78 -
14129.42 903.12 8.44 1487 14134.05 roll 1.70 - - 2744.12 - 2.63 0.025 2063.88 -433.3 128.94 - - 2240.00 - - - - - - - - - 15.85 -
14446.07 877.41 8.13 1509 14447.40 VBD 1.70 - - 2743.50 - - - 2064.06 - 128.94 - - 2240.34 - - - - - - - - - - -
14760.91 851.91 8.11 1530 14762.24 VBD 1.70 - - 2744.25 - - - 2064.12 - 128.94 - - 2239.25 - - - - - - - - - - -
15075.94 826.69 7.95 1551 15080.62 done 1.71 - - 2743.06 - 2.95 0.079 3203.38 386.2 128.94 - - 2239.75 - - - - - - - - - 15.82 -
15135.22 821.84 8.26 1560 15140.77 done 1.71 - - 2743.94 - 2.62 0.025 2066.81 -433.8 128.94 - - 2241.22 - - - - - - - - - 15.94 -
15454.64 796.45 7.94 1582 15459.47 done 1.72 - - 2743.56 - 2.79 0.086 994.19 -384.5 128.94 - - 2240.75 - - - - - - - - - 15.81 -
15533.42 789.69 8.51 1593 15538.05 done 1.72 - - 2744.25 - 2.67 0.025 2143.75 430.5 128.94 - - 2237.69 - - - - - - - - - 15.94 -
15849.92 765.87 7.39 1615 15851.25 VBD 1.74 - - 2743.56 - - - 2143.62 - 128.94 - - 2237.88 - - - - - - - - - - -
16164.92 743.05 7.13 1636 16166.25 VBD 1.77 - - 2744.12 - - - 2143.62 - 128.94 - - 2239.03 - - - - - - - - - - -
16479.93 722.42 6.26 1657 16525.27 1.87 0.18 0.089 2785.44 229.6 2.79 0.086 3204.12 380.1 176.15 40.66 2.094 2057.97 -4.5 0.269 - - - - - - 15.91 15.33 10.60
16585.90 713.99 8.06 1673 16591.29 roll 1.87 - - 2785.31 - 2.66 0.025 2067.62 -427.3 176.15 - - 2053.28 - - - - - - - - - 15.77 -
16905.17 688.48 7.79 1695 16906.50 no move 1.88 - - 2786.00 - - - 2067.56 - 176.15 - - 2049.53 - - - - - - - - - - -
17220.19 663.64 8.07 1716 17221.52 no move 1.88 - - 2786.25 - - - 2068.00 - 176.15 - - 2048.56 - - - - - - - - - - -
17535.22 636.64 8.97 1737 17539.90 done 1.88 - - 2785.00 - 2.95 0.079 3204.00 385.1 176.15 - - 2050.16 - - - - - - - - - 15.80 -
17594.50 630.81 9.80 1746 17600.05 done 1.88 - - 2786.44 - 2.63 0.026 2066.69 -432.4 176.15 - - 2048.53 - - - - - - - - - 15.91 -
17913.90 598.38 10.20 1768 17915.24 VBD 1.88 - - 2785.88 - - - 2066.94 - 176.15 - - 2047.25 - - - - - - - - - - -
18229.09 568.06 9.30 1789 18230.42 VBD 1.88 - - 2786.38 - - - 2066.88 - 176.15 - - 2046.72 - - - - - - - - - - -
18544.05 540.57 8.28 1810 18548.73 done 1.88 - - 2785.12 - 2.95 0.079 3204.50 385.6 176.15 - - 2049.66 - - - - - - - - - 15.82 -
18624.07 533.59 8.80 1822 18629.62 done 1.88 - - 2785.81 - 2.61 0.026 2068.12 -435.4 176.15 - - 2049.31 - - - - - - - - - 15.95 -
18943.89 508.07 8.00 1844 18945.22 VBD 1.88 - - 2786.50 - - - 2068.81 - 176.15 - - 2046.50 - - - - - - - - - - -
19252.90 482.55 8.75 1870 19257.58 done 1.88 - - 2785.69 - 2.94 0.079 3204.25 386.2 176.15 - - 2046.56 - - - - - - - - - 15.82 -
19291.44 479.04 9.15 1876 19306.37 done 1.88 - - 2786.25 - 2.62 0.025 2070.31 -432.8 176.15 - - 2046.97 - - - - - - - - - 15.95 -
19607.60 450.50 9.10 1905 19612.27 done 1.88 - - 2785.50 - 2.93 0.078 3203.75 386.8 176.15 - - 2046.22 - - - - - - - - - 15.81 -
19676.26 443.84 9.63 1914 19680.87 done 1.88 - - 2786.62 - 2.59 0.025 2077.44 -434.9 176.15 - - 2045.50 - - - - - - - - - 15.95 -
19988.10 417.01 8.23 1943 19999.18 VBD 1.88 - - 2785.81 - - - 2077.69 - 176.15 - - 2046.59 - - - - - - - - - - -
20300.81 392.29 7.73 1972 20305.48 done 1.89 - - 2785.31 - 2.91 0.078 3206.94 388.1 176.15 - - 2048.47 - - - - - - - - - 15.81 -
20339.36 389.17 8.10 1978 20354.46 done 1.89 - - 2785.44 - 2.58 0.025 2080.06 -436.8 176.15 - - 2047.47 - - - - - - - - - 15.95 -
20657.08 365.58 7.35 2007 20668.16 VBD 1.92 - - 2786.12 - - - 2080.38 - 176.15 - - 2046.56 - - - - - - - - - - -
20979.90 341.67 7.45 2037 20984.56 done 1.94 - - 2786.25 - 2.90 0.078 3202.56 387.0 176.15 - - 2045.75 - - - - - - - - - 15.81 -
21018.45 338.70 7.75 2043 21033.36 done 1.95 - - 2786.44 - 2.56 0.025 2084.06 -436.9 176.15 - - 2047.22 - - - - - - - - - 15.97 -
21334.83 315.94 6.94 2072 21345.92 VBD 1.98 - - 2787.25 - - - 2084.44 - 176.15 - - 2046.62 - - - - - - - - - - -
21648.40 293.61 7.24 2110 21653.97 done 2.01 - - 2786.62 - 2.82 0.085 993.44 -386.9 176.15 - - 2046.31 - - - - - - - - - 15.77 -
21683.41 290.88 7.68 2117 21688.96 done 2.02 - - 2786.50 - 2.72 0.024 2160.62 429.1 176.15 - - 2046.16 - - - - - - - - - 15.95 -
21993.46 268.56 7.36 2179 21994.90 2.04 0.17 0.087 2825.62 230.1 - - 2160.81 - 176.15 - - 2045.50 - - - - - - - - 15.91 - -
22298.87 244.78 7.81 2240 22300.20 VBD 2.06 - - 2825.88 - - - 2160.81 - 176.15 - - 2045.56 - - - - - - - - - - -
22603.71 220.84 7.87 2301 22609.12 done 2.07 - - 2827.06 - 2.70 0.081 3204.88 386.7 176.15 - - 2046.53 - - - - - - - - - 15.79 -
22673.53 215.01 8.45 2315 22679.05 done 2.07 - - 2826.88 - 2.59 0.024 2077.44 -435.3 176.15 - - 2046.75 - - - - - - - - - 15.94 -
22983.59 191.03 7.50 2377 22989.15 done 2.09 - - 2826.88 - 2.90 0.077 3204.12 388.5 176.15 - - 2046.94 - - - - - - - - - 15.79 -
23023.57 187.71 8.19 2385 23029.10 done 2.09 - - 2827.38 - 2.58 0.024 2079.31 -436.0 176.15 - - 2046.12 - - - - - - - - - 15.94 -
23333.61 164.89 7.13 2447 23339.15 done 2.11 - - 2826.94 - 2.80 0.083 993.56 -387.8 176.15 - - 2046.81 - - - - - - - - - 15.77 -
23388.60 160.44 8.25 2458 23394.17 done 2.11 - - 2827.31 - 2.71 0.024 2161.94 431.1 176.15 - - 2046.75 - - - - - - - - - 15.94 -
23698.66 137.27 7.48 2520 23704.20 done 2.13 - - 2826.44 - 2.67 0.081 3204.94 390.6 176.15 - - 2047.56 - - - - - - - - - 15.79 -
23738.66 134.19 7.66 2528 23744.37 done 2.15 - - 2827.12 - 2.58 0.023 2079.62 -436.2 176.15 - - 2046.41 - - - - - - - - - 15.94 -
24048.71 112.96 6.40 2590 24085.48 2.24 0.23 0.075 2876.94 216.6 - - 2079.12 - 220.29 35.56 1.317 1876.66 -4.8 0.072 - - - - - - 15.90 - 10.40
24388.78 87.04 7.31 2658 24394.36 roll 2.26 - - 2878.12 - 2.91 0.076 3204.81 386.8 220.29 - - 1872.12 - - - - - - - - - 15.77 -
24458.79 81.11 8.74 2672 24464.33 roll 2.26 - - 2878.19 - 2.57 0.024 2082.50 -436.7 220.29 - - 1870.94 - - - - - - - - - 15.87 -
24648.87 66.65 7.17 2710 24654.41 roll 2.29 - - 2878.12 - 2.80 0.081 995.00 -388.4 220.29 - - 1871.59 - - - - - - - - - 15.77 -
24718.88 61.91 6.75 2724 24724.44 roll 2.32 - - 2878.62 - 2.73 0.023 2173.38 431.6 220.29 - - 1870.41 - - - - - - - - - 15.90 -
24908.94 58.83 0.70 2762 25044.13 2.65 0.55 0.056 2979.31 183.1 3.12 0.079 994.62 -377.8 386.58 127.87 1.245 1199.09 -5.3 0.043 - - - - - - 15.87 15.21 11.07
25106.52 47.48 11.17 2801 25111.91 roll 2.65 - - 2979.56 - 2.74 0.023 2154.81 423.4 386.58 - - 1193.84 - - - - - - - - - 15.61 -
25296.36 26.50 11.58 2839 25297.69 VBD 2.65 - - 2979.12 - - - 2154.38 - 386.58 - - 1191.19 - - - - - - - - - - -
25481.38 4.46 12.27 2876 25482.71 VBD 2.65 - - 2978.94 - - - 2154.94 - 386.58 - - 1189.38 - - - - - - - - - - -
25486 end climb: SURFACE_DEPTH_REACHED
25486 begin surface coast
25526 end surface coast: CONTROL_FINISHED_OK
25526 begin surface
SM 0.62 - - - - 184.4 30.08 1.133 1042.7 34.7 17.58 0.055 1016.4 57.8 - 0.42 0.062 1068.9 2545.0 -2.601 - - 11.10 15.72 15.79 -