NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1108 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 392.76 of 550.00 AH used of 24V (28.59% remains)
• Surface angle -61.5 deg, depth 0.74 m • Intended pitch -25.2 deg, speed -8.462 cm/s
VBD pumped to 424.78 (SM_CC=425)
• GPS1 time: 19 s
• GPS2 time: 4 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
5.86 - - - 77.11 VBD -1.56 - - 177.06 - - - 2260.69 - -82.73 70.07 0.005 2729.12 - - - - - - - - - - 14.76
78.22 3.02 -3.85 13 110.58 -1.56 14.61 0.244 1940.69 120.7 2.68 0.067 1210.56 -391.8 -82.73 9.47 0.007 3111.84 40.4 -3.055 - - - - - - 15.28 14.77 14.99
287.69 35.01 -14.50 55 293.26 roll -1.56 - - 1940.38 - 2.71 0.027 2350.00 420.5 -82.73 - - 3111.97 - - - - - - - - - 15.79 -
478.41 61.65 -13.65 93 483.37 roll -1.56 - - 1940.19 - 2.88 0.060 1210.31 -395.7 -82.73 - - 3112.34 - - - - - - - - - 15.76 -
512.78 66.21 -12.99 100 518.34 roll -1.56 - - 1939.88 - 2.66 0.026 2342.62 425.7 -82.73 - - 3111.78 - - - - - - - - - 15.84 -
703.24 87.61 -10.97 138 708.42 roll -1.56 - - 1940.06 - 2.86 0.058 1210.25 -395.9 -82.73 - - 3112.44 - - - - - - - - - 15.80 -
737.85 91.48 -11.04 145 743.41 roll -1.56 - - 1940.88 - 2.65 0.026 2340.44 426.5 -82.73 - - 3111.25 - - - - - - - - - 15.87 -
927.92 109.74 -8.88 183 929.25 no move -1.56 - - 1940.19 - - - 2340.81 - -82.73 - - 3111.59 - - - - - - - - - - -
1232.98 133.91 -7.26 244 1234.31 no move -1.56 - - 1940.38 - - - 2339.94 - -82.73 - - 3111.47 - - - - - - - - - - -
1538.02 157.66 -8.23 305 1543.59 roll -1.56 - - 1940.31 - 2.85 0.059 1209.00 -396.8 -82.73 - - 3112.50 - - - - - - - - - 15.87 -
1583.01 161.67 -8.98 314 1588.56 roll -1.56 - - 1940.69 - 2.66 0.026 2342.56 426.2 -82.73 - - 3112.44 - - - - - - - - - 15.93 -
1893.05 189.89 -9.62 376 1898.81 roll -1.56 - - 1940.38 - 2.85 0.059 1210.12 -397.3 -82.73 - - 3112.19 - - - - - - - - - 15.87 -
1923.17 192.94 -10.08 382 1928.60 roll -1.56 - - 1940.44 - 2.65 0.026 2345.25 428.4 -82.73 - - 3113.50 - - - - - - - - - 15.94 -
2233.09 221.98 -9.10 444 2238.67 roll -1.56 - - 1940.69 - 2.86 0.059 1209.44 -397.1 -82.73 - - 3112.28 - - - - - - - - - 15.88 -
2298.09 228.16 -9.57 457 2303.65 roll -1.56 - - 1940.25 - 2.65 0.026 2337.62 425.7 -82.73 - - 3112.12 - - - - - - - - - 15.96 -
2608.21 254.01 -7.63 519 2609.54 no move -1.56 - - 1940.44 - - - 2337.69 - -82.73 - - 3111.19 - - - - - - - - - - -
2913.16 277.68 -7.83 580 2914.49 no move -1.56 - - 1940.44 - - - 2337.56 - -82.73 - - 3111.25 - - - - - - - - - - -
3217.57 302.89 -8.49 637 3222.24 roll -1.56 - - 1940.06 - 2.83 0.059 1210.56 -398.2 -82.73 - - 3111.78 - - - - - - - - - 15.90 -
3286.23 309.07 -8.87 646 3290.86 roll -1.56 - - 1939.50 - 2.62 0.027 2336.62 429.8 -82.73 - - 3112.94 - - - - - - - - - 15.98 -
3598.23 336.34 -9.07 675 3609.31 no move -1.56 - - 1940.62 - - - 2336.75 - -82.73 - - 3112.50 - - - - - - - - - - -
3911.27 365.04 -8.81 704 3915.93 roll -1.56 - - 1940.44 - 2.83 0.060 1208.88 -398.5 -82.73 - - 3112.28 - - - - - - - - - 15.90 -
3981.27 371.27 -8.96 714 3996.22 roll -1.56 - - 1939.69 - 2.62 0.027 2332.38 428.8 -82.73 - - 3113.12 - - - - - - - - - 15.98 -
4297.75 397.63 -8.13 743 4308.82 no move -1.56 - - 1940.19 - - - 2332.19 - -82.73 - - 3112.28 - - - - - - - - - - -
4610.40 422.97 -8.12 772 4615.06 roll -1.56 - - 1939.94 - 2.82 0.061 1209.19 -398.2 -82.73 - - 3110.38 - - - - - - - - - 15.90 -
4664.67 427.59 -8.54 780 4679.60 roll -1.56 - - 1940.12 - 2.62 0.027 2330.44 428.0 -82.73 - - 3113.12 - - - - - - - - - 15.98 -
4981.57 455.40 -8.99 809 4992.64 no move -1.56 - - 1940.06 - - - 2330.94 - -82.73 - - 3112.19 - - - - - - - - - - -
5294.33 483.24 -8.58 838 5305.40 no move -1.56 - - 1940.38 - - - 2331.19 - -82.73 - - 3111.12 - - - - - - - - - - -
5615.41 508.65 -7.48 865 5620.07 roll -1.56 - - 1939.44 - 2.81 0.061 1210.56 -398.8 -82.73 - - 3110.88 - - - - - - - - - 15.90 -
5638.20 509.91 -7.45 869 5653.14 roll -1.56 - - 1940.25 - 2.62 0.026 2330.38 427.4 -82.73 - - 3110.78 - - - - - - - - - 15.99 -
5967.62 534.20 -7.38 891 5972.27 roll -1.56 - - 1940.00 - 2.81 0.061 1210.44 -398.6 -82.73 - - 3109.75 - - - - - - - - - 15.89 -
6026.90 538.74 -7.73 900 6032.63 roll -1.56 - - 1939.38 - 2.61 0.027 2327.50 428.0 -82.73 - - 3110.59 - - - - - - - - - 15.99 -
6346.47 561.94 -7.14 922 6347.80 no move -1.56 - - 1940.19 - - - 2327.81 - -82.73 - - 3110.41 - - - - - - - - - - -
6661.32 583.26 -6.78 943 6665.98 roll -1.56 - - 1940.12 - 2.81 0.062 1208.69 -398.3 -82.73 - - 3109.59 - - - - - - - - - 15.88 -
6720.60 587.42 -7.06 952 6726.15 roll -1.56 - - 1940.25 - 2.61 0.027 2324.75 427.6 -82.73 - - 3111.22 - - - - - - - - - 15.99 -
7040.01 610.15 -7.36 974 7041.34 no move -1.56 - - 1940.44 - - - 2325.38 - -82.73 - - 3108.31 - - - - - - - - - - -
7355.20 635.37 -8.24 995 7356.53 no move -1.56 - - 1940.38 - - - 2325.62 - -82.73 - - 3108.62 - - - - - - - - - - -
7670.04 661.04 -8.19 1016 7674.68 roll -1.56 - - 1940.50 - 2.79 0.063 1209.19 -400.2 -82.73 - - 3107.88 - - - - - - - - - 15.88 -
7734.31 666.00 -8.44 1026 7749.23 roll -1.56 - - 1940.38 - 2.60 0.027 2323.81 428.7 -82.73 - - 3108.81 - - - - - - - - - 15.99 -
8063.73 692.29 -7.44 1048 8068.40 roll -1.56 - - 1940.56 - 2.88 0.091 3423.12 381.7 -82.73 - - 3107.25 - - - - - - - - - 15.81 -
8102.27 695.29 -7.78 1054 8107.82 roll -1.56 - - 1940.50 - 2.68 0.020 2221.69 -448.3 -82.73 - - 3108.25 - - - - - - - - - 15.98 -
8421.69 717.13 -6.45 1076 8423.02 no move -1.56 - - 1940.44 - - - 2220.56 - -82.73 - - 3107.66 - - - - - - - - - - -
8736.72 736.63 -6.26 1097 8738.05 no move -1.56 - - 1940.12 - - - 2221.19 - -82.73 - - 3107.75 - - - - - - - - - - -
9051.72 757.49 -6.90 1118 9056.62 roll -1.56 - - 1940.25 - 3.15 0.086 3423.69 381.7 -82.73 - - 3106.47 - - - - - - - - - 15.80 -
9090.44 760.36 -7.34 1124 9095.81 roll -1.56 - - 1940.50 - 2.67 0.020 2225.38 -448.8 -82.73 - - 3107.59 - - - - - - - - - 15.98 -
9409.67 784.09 -7.62 1146 9411.00 no move -1.56 - - 1940.19 - - - 2224.75 - -82.73 - - 3106.97 - - - - - - - - - - -
9724.69 808.29 -7.70 1167 9726.01 no move -1.56 - - 1940.44 - - - 2224.75 - -82.73 - - 3106.38 - - - - - - - - - - -
10039.73 832.05 -7.44 1188 10044.44 roll -1.56 - - 1940.12 - 3.15 0.085 3425.44 381.2 -82.73 - - 3105.69 - - - - - - - - - 15.79 -
10083.28 835.05 -7.76 1195 10098.21 roll -1.56 - - 1941.00 - 2.67 0.020 2228.12 -448.4 -82.73 - - 3106.59 - - - - - - - - - 15.98 -
10412.69 859.57 -7.15 1217 10417.40 roll -1.56 - - 1939.75 - 3.13 0.085 3425.69 382.6 -82.73 - - 3106.62 - - - - - - - - - 15.79 -
10451.45 862.45 -7.49 1223 10457.00 roll -1.56 - - 1940.38 - 2.66 0.020 2228.94 -449.9 -82.73 - - 3105.66 - - - - - - - - - 15.98 -
10770.90 883.59 -6.25 1245 10775.61 roll -1.56 - - 1939.88 - 3.12 0.085 3423.38 382.8 -82.73 - - 3107.16 - - - - - - - - - 15.79 -
10814.43 886.16 -6.60 1252 10829.37 roll -1.56 - - 1940.19 - 2.66 0.020 2229.88 -448.7 -82.73 - - 3105.94 - - - - - - - - - 15.97 -
11143.88 907.01 -6.28 1274 11145.21 no move -1.56 - - 1940.62 - - - 2229.94 - -82.73 - - 3104.91 - - - - - - - - - - -
11459.11 926.91 -6.28 1295 11463.88 roll -1.56 - - 1939.94 - 3.12 0.086 3424.81 383.0 -82.73 - - 3106.47 - - - - - - - - - 15.78 -
11502.66 929.54 -6.69 1302 11517.59 roll -1.56 - - 1940.44 - 2.65 0.020 2232.81 -449.8 -82.73 - - 3107.56 - - - - - - - - - 15.98 -
11832.25 950.47 -6.18 1324 11833.58 no move -1.56 - - 1940.38 - - - 2232.94 - -82.73 - - 3104.59 - - - - - - - - - - -
12147.12 968.91 -5.78 1345 12151.81 roll -1.56 - - 1939.12 - 3.10 0.087 3423.62 384.1 -82.73 - - 3105.56 - - - - - - - - - 15.77 -
12227.12 974.13 -6.55 1357 12232.67 roll -1.56 - - 1940.38 - 2.64 0.020 2235.81 -449.9 -82.73 - - 3105.91 - - - - - - - - - 15.96 -
12501 end dive: TARGET_DEPTH_EXCEEDED
12501 begin apogee
12503.36 990.75 -6.23 1376 12579.05 -0.28 2.28 0.143 2254.44 137.7 0.15 0.163 2158.50 -515.4 - 67.54 2.402 2774.53 -4.9 0.355 - - - - - - 15.67 15.10 10.08
12581 end apogee: CONTROL_FINISHED_OK
12581 begin climb
12581.69 992.29 - 1381 12669.65 1.56 3.15 0.114 2701.44 141.9 3.05 0.080 993.31 -382.0 82.73 71.81 2.383 2436.69 -4.7 0.343 - - - - - - 15.39 15.54 11.52
12692.75 988.00 4.83 1397 12777.24 1.72 0.22 0.076 2748.38 213.4 2.75 0.024 2136.69 415.8 160.46 69.92 2.362 2119.03 -4.5 0.333 - - - - - - 15.32 15.41 11.43
13089.38 954.13 8.58 1429 13094.02 done 1.72 - - 2747.50 - 2.78 0.084 3203.25 383.7 160.46 - - 2110.34 - - - - - - - - - 15.67 -
13148.98 948.79 9.02 1438 13154.53 done 1.72 - - 2748.38 - 2.64 0.025 2066.06 -430.8 160.46 - - 2110.81 - - - - - - - - - 15.75 -
13468.41 922.94 7.95 1460 13469.74 VBD 1.73 - - 2748.31 - - - 2065.50 - 160.46 - - 2108.50 - - - - - - - - - - -
13783.42 898.06 7.88 1481 13788.11 done 1.74 - - 2748.38 - 2.93 0.081 3206.25 389.3 160.46 - - 2107.41 - - - - - - - - - 15.79 -
13820.60 894.84 8.31 1486 13825.24 done 1.74 - - 2747.88 - 2.62 0.026 2069.19 -434.0 160.46 - - 2107.66 - - - - - - - - - 15.88 -
14137.27 868.83 8.37 1508 14138.61 VBD 1.74 - - 2748.56 - - - 2069.31 - 160.46 - - 2105.44 - - - - - - - - - - -
14452.10 841.70 8.69 1529 14456.96 done 1.74 - - 2747.31 - 2.92 0.080 3203.88 388.6 160.46 - - 2108.56 - - - - - - - - - 15.81 -
14511.55 836.24 9.23 1538 14516.91 done 1.74 - - 2747.81 - 2.60 0.026 2069.94 -436.1 160.46 - - 2107.78 - - - - - - - - - 15.93 -
14830.80 807.88 8.84 1560 14832.13 VBD 1.74 - - 2748.69 - - - 2070.06 - 160.46 - - 2104.94 - - - - - - - - - - -
15145.84 780.21 8.72 1581 15147.17 VBD 1.74 - - 2748.56 - - - 2069.75 - 160.46 - - 2104.66 - - - - - - - - - - -
15460.87 752.58 8.69 1602 15462.20 VBD 1.74 - - 2748.50 - - - 2069.94 - 160.46 - - 2103.97 - - - - - - - - - - -
15775.92 727.15 7.76 1623 15777.25 VBD 1.75 - - 2748.12 - - - 2070.00 - 160.46 - - 2104.78 - - - - - - - - - - -
16090.95 702.70 7.78 1644 16092.28 VBD 1.77 - - 2748.12 - - - 2069.44 - 160.46 - - 2104.00 - - - - - - - - - - -
16405.98 677.96 7.86 1665 16410.65 done 1.78 - - 2746.88 - 2.92 0.080 3203.56 388.4 160.46 - - 2106.09 - - - - - - - - - 15.82 -
16470.25 673.04 8.32 1675 16485.17 done 1.78 - - 2748.94 - 2.60 0.026 2069.88 -436.0 160.46 - - 2104.81 - - - - - - - - - 15.96 -
16799.66 644.84 8.45 1697 16800.99 VBD 1.78 - - 2748.69 - - - 2069.94 - 160.46 - - 2102.91 - - - - - - - - - - -
17114.70 618.88 7.88 1718 17119.37 done 1.79 - - 2747.38 - 2.92 0.080 3204.69 388.6 160.46 - - 2104.34 - - - - - - - - - 15.81 -
17216.06 610.59 8.31 1733 17221.42 done 1.79 - - 2748.19 - 2.60 0.026 2074.31 -434.8 160.46 - - 2103.66 - - - - - - - - - 15.96 -
17535.31 587.52 7.04 1755 17536.64 VBD 1.82 - - 2749.00 - - - 2074.75 - 160.46 - - 2102.44 - - - - - - - - - - -
17850.19 565.37 7.56 1776 17851.52 VBD 1.84 - - 2748.12 - - - 2075.00 - 160.46 - - 2102.06 - - - - - - - - - - -
18165.51 539.61 7.95 1797 18166.84 VBD 1.85 - - 2748.50 - - - 2075.12 - 160.46 - - 2103.09 - - - - - - - - - - -
18480.34 515.15 7.66 1818 18485.03 done 1.86 - - 2746.75 - 2.92 0.080 3204.56 386.8 160.46 - - 2105.72 - - - - - - - - - 15.80 -
18560.37 508.61 8.23 1830 18565.90 done 1.86 - - 2748.75 - 2.58 0.025 2077.44 -436.9 160.46 - - 2103.28 - - - - - - - - - 15.96 -
18874.45 483.80 7.88 1857 18879.16 1.88 0.16 0.095 2785.69 230.9 2.78 0.086 994.75 -389.5 160.46 - - 2103.41 - - - - - - - - 15.91 15.77 -
18911.65 480.46 8.52 1862 18916.28 done 1.88 - - 2785.44 - 2.69 0.025 2156.50 431.9 160.46 - - 2101.97 - - - - - - - - - 15.96 -
19223.26 454.13 8.38 1891 19234.34 VBD 1.88 - - 2786.69 - - - 2157.12 - 160.46 - - 2103.47 - - - - - - - - - - -
19536.18 429.53 7.72 1920 19540.86 done 1.89 - - 2785.69 - 2.98 0.080 994.31 -390.2 160.46 - - 2102.47 - - - - - - - - - 15.78 -
19574.72 426.47 7.97 1926 19589.66 done 1.89 - - 2786.25 - 2.68 0.025 2158.62 434.4 160.46 - - 2102.72 - - - - - - - - - 15.96 -
19891.27 401.64 7.88 1955 19895.90 done 1.90 - - 2786.62 - 2.70 0.083 3205.75 387.8 160.46 - - 2101.56 - - - - - - - - - 15.79 -
19929.99 398.44 8.30 1961 19944.79 done 1.90 - - 2786.31 - 2.58 0.025 2080.12 -436.3 160.46 - - 2102.69 - - - - - - - - - 15.97 -
20246.49 373.50 7.49 1990 20257.56 VBD 1.92 - - 2786.81 - - - 2080.50 - 160.46 - - 2103.34 - - - - - - - - - - -
20559.17 350.79 7.23 2019 20570.25 VBD 1.95 - - 2786.56 - - - 2080.12 - 160.46 - - 2103.09 - - - - - - - - - - -
20872.48 327.87 7.34 2048 20877.15 done 1.97 - - 2785.88 - 2.92 0.079 3205.25 385.3 160.46 - - 2103.44 - - - - - - - - - 15.79 -
20972.95 319.79 8.10 2061 20977.57 done 1.97 - - 2786.25 - 2.57 0.025 2078.56 -438.4 160.46 - - 2103.75 - - - - - - - - - 15.95 -
21279.11 298.04 6.79 2092 21284.66 done 2.00 - - 2786.88 - 2.77 0.084 996.06 -390.8 160.46 - - 2102.91 - - - - - - - - - 15.75 -
21339.11 293.48 7.73 2104 21344.67 done 2.02 - - 2786.69 - 2.71 0.024 2159.62 429.4 160.46 - - 2102.56 - - - - - - - - - 15.95 -
21649.16 273.48 5.99 2166 21695.93 2.12 0.30 0.071 2848.25 205.2 2.72 0.084 3204.44 384.1 213.47 42.06 1.542 1903.84 -4.7 0.147 - - - - - - 15.89 15.28 10.27
21749.33 264.86 9.93 2186 21754.76 roll 2.12 - - 2847.56 - 2.61 0.025 2079.88 -430.9 213.47 - - 1903.19 - - - - - - - - - 15.78 -
22059.19 234.91 10.23 2248 22064.78 roll 2.12 - - 2847.50 - 2.93 0.078 3205.44 384.2 213.47 - - 1898.91 - - - - - - - - - 15.74 -
22099.19 230.52 11.07 2256 22104.72 roll 2.12 - - 2848.31 - 2.59 0.025 2080.81 -434.2 213.47 - - 1899.91 - - - - - - - - - 15.84 -
22409.24 197.12 11.18 2318 22410.57 no move 2.12 - - 2848.44 - - - 2080.62 - 213.47 - - 1896.91 - - - - - - - - - - -
22714.28 164.55 9.92 2379 22719.87 roll 2.12 - - 2847.81 - 2.91 0.077 3204.88 386.3 213.47 - - 1897.28 - - - - - - - - - 15.76 -
22769.28 159.00 10.12 2390 22774.81 roll 2.12 - - 2848.69 - 2.57 0.024 2085.06 -435.7 213.47 - - 1897.34 - - - - - - - - - 15.90 -
23079.33 131.64 8.71 2452 23084.91 roll 2.12 - - 2848.94 - 2.89 0.077 3204.56 387.4 213.47 - - 1897.06 - - - - - - - - - 15.78 -
23144.34 125.43 9.72 2465 23150.07 roll 2.12 - - 2848.69 - 2.56 0.024 2089.12 -435.7 213.47 - - 1896.78 - - - - - - - - - 15.92 -
23454.46 101.49 6.82 2527 23460.00 roll 2.16 - - 2847.12 - 2.79 0.083 994.81 -392.2 213.47 - - 1897.00 - - - - - - - - - 15.77 -
23529.48 96.03 7.29 2542 23535.03 done 2.18 - - 2847.88 - 2.72 0.024 2170.12 432.1 213.47 - - 1896.78 - - - - - - - - - 15.93 -
23719.54 84.10 6.09 2580 23766.22 done 2.28 - - 2848.25 - 2.69 0.083 3206.06 385.1 264.24 41.15 1.290 1697.34 -4.8 0.055 - - - - - - - 15.35 10.84
23995.00 65.93 6.04 2635 24042.40 2.38 0.31 0.068 2910.69 201.4 2.56 0.023 2089.81 -436.0 316.18 42.28 1.242 1485.09 -5.0 0.047 - - - - - - 15.68 15.83 11.17
24225.41 47.58 7.91 2681 24230.60 roll 2.40 - - 2911.81 - 2.84 0.082 993.44 -386.0 316.18 - - 1479.03 - - - - - - - - - 15.68 -
24280.19 42.63 9.26 2692 24285.64 roll 2.40 - - 2911.62 - 2.78 0.023 2173.56 424.5 316.18 - - 1478.09 - - - - - - - - - 15.78 -
24470.05 27.40 8.31 2730 24475.66 done 2.40 - - 2910.44 - 3.05 0.076 993.44 -386.9 316.18 - - 1477.19 - - - - - - - - - 15.72 -
24515.04 23.29 9.29 2739 24520.61 done 2.40 - - 2910.75 - 2.73 0.023 2167.19 429.9 316.18 - - 1476.69 - - - - - - - - - 15.83 -
24705.06 6.56 9.21 2777 24710.62 done 2.40 - - 2910.94 - 2.68 0.082 3204.69 387.1 316.18 - - 1475.38 - - - - - - - - - 15.74 -
24735 end climb: SURFACE_DEPTH_REACHED
24735 begin surface coast
24745 end surface coast: CONTROL_FINISHED_OK
24745 begin surface
SM 0.58 - - - - 178.3 83.71 1.193 1043.3 12.5 17.43 0.077 989.4 56.8 - 2.08 0.021 1097.2 526.2 -1.485 - - 11.03 15.59 15.85 -