NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1110 * Raw log
prev dive * next dive * dive
• Previous call tries 4 • 393.59 of 550.00 AH used of 24V (28.44% remains)
• Surface angle -62.7 deg, depth 0.70 m • Intended pitch -24.0 deg, speed -8.462 cm/s
VBD pumped to 400.06 (SM_CC=400)
• GPS1 time: 23 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
5.64 - - - 82.49 VBD -1.50 - - 178.25 - - - 2243.75 - -82.73 75.28 0.005 2866.53 - - - - - - - - - - 14.82
83.22 3.79 -4.92 14 112.55 -1.50 14.68 0.242 1956.25 121.1 3.10 0.082 3425.00 381.0 -82.73 5.54 0.008 3111.41 44.2 -3.669 - - - - - - 15.29 14.86 15.04
154.63 17.69 -15.97 28 160.18 roll -1.50 - - 1955.94 - 2.64 0.018 2257.31 -442.3 -82.73 - - 3112.88 - - - - - - - - - 15.76 -
345.11 43.64 -12.96 66 350.26 roll -1.50 - - 1956.56 - 2.62 0.064 1210.31 -399.6 -82.73 - - 3112.28 - - - - - - - - - 15.76 -
365.04 46.27 -13.05 70 370.26 roll -1.50 - - 1955.12 - 2.69 0.026 2352.31 424.5 -82.73 - - 3112.91 - - - - - - - - - 15.83 -
555.17 72.55 -13.70 108 560.36 roll -1.50 - - 1956.31 - 2.87 0.060 1209.19 -398.3 -82.73 - - 3111.78 - - - - - - - - - 15.78 -
654.81 84.89 -11.36 128 660.36 roll -1.50 - - 1956.38 - 2.65 0.025 2337.88 425.9 -82.73 - - 3112.41 - - - - - - - - - 15.88 -
844.88 103.16 -9.32 166 850.57 roll -1.50 - - 1956.31 - 2.82 0.082 3426.88 386.2 -82.73 - - 3112.56 - - - - - - - - - 15.79 -
879.88 106.58 -9.68 173 885.44 roll -1.50 - - 1955.75 - 2.64 0.018 2236.19 -451.0 -82.73 - - 3113.88 - - - - - - - - - 15.88 -
1189.98 135.36 -9.70 235 1191.31 no move -1.50 - - 1956.44 - - - 2234.75 - -82.73 - - 3111.19 - - - - - - - - - - -
1495.04 164.36 -9.15 296 1500.64 roll -1.50 - - 1955.88 - 3.07 0.079 3423.31 387.2 -82.73 - - 3113.38 - - - - - - - - - 15.81 -
1575.04 172.39 -10.10 312 1580.77 roll -1.50 - - 1956.88 - 2.63 0.018 2241.06 -449.5 -82.73 - - 3112.56 - - - - - - - - - 15.93 -
1885.09 199.63 -8.09 374 1886.42 no move -1.50 - - 1955.88 - - - 2239.38 - -82.73 - - 3111.06 - - - - - - - - - - -
2190.13 222.42 -6.73 435 2191.46 no move -1.50 - - 1956.62 - - - 2239.62 - -82.73 - - 3111.66 - - - - - - - - - - -
2495.17 243.98 -7.53 496 2496.50 no move -1.50 - - 1956.38 - - - 2239.56 - -82.73 - - 3112.09 - - - - - - - - - - -
2800.22 266.70 -7.43 557 2805.84 roll -1.50 - - 1955.94 - 3.06 0.078 3427.12 388.1 -82.73 - - 3113.12 - - - - - - - - - 15.83 -
2835.22 269.61 -8.11 564 2840.77 roll -1.50 - - 1956.38 - 2.62 0.018 2241.12 -452.7 -82.73 - - 3112.75 - - - - - - - - - 15.95 -
3145.28 291.95 -7.07 626 3146.61 no move -1.50 - - 1956.50 - - - 2239.50 - -82.73 - - 3112.56 - - - - - - - - - - -
3451.26 315.15 -7.84 666 3455.88 roll -1.50 - - 1955.44 - 2.56 0.065 1210.44 -402.0 -82.73 - - 3113.09 - - - - - - - - - 15.89 -
3474.06 316.95 -8.11 670 3489.00 roll -1.50 - - 1956.31 - 2.62 0.026 2345.88 433.4 -82.73 - - 3114.31 - - - - - - - - - 15.98 -
3790.42 342.12 -8.01 699 3801.49 no move -1.50 - - 1956.19 - - - 2346.00 - -82.73 - - 3112.72 - - - - - - - - - - -
4103.17 366.93 -7.86 728 4107.83 roll -1.50 - - 1956.62 - 2.84 0.060 1210.12 -400.0 -82.73 - - 3111.06 - - - - - - - - - 15.90 -
4157.77 371.26 -8.07 736 4172.39 roll -1.50 - - 1956.69 - 2.62 0.026 2343.31 432.5 -82.73 - - 3112.34 - - - - - - - - - 15.99 -
4473.63 395.34 -7.65 765 4484.71 no move -1.50 - - 1956.06 - - - 2343.94 - -82.73 - - 3112.53 - - - - - - - - - - -
4786.32 418.63 -7.37 794 4790.98 roll -1.50 - - 1956.00 - 2.83 0.060 1210.44 -400.5 -82.73 - - 3112.19 - - - - - - - - - 15.90 -
4854.99 424.15 -7.92 803 4859.62 roll -1.50 - - 1955.88 - 2.62 0.026 2341.69 431.8 -82.73 - - 3111.56 - - - - - - - - - 15.98 -
5167.25 447.83 -7.63 832 5178.32 no move -1.50 - - 1956.25 - - - 2341.69 - -82.73 - - 3112.53 - - - - - - - - - - -
5480.04 472.39 -7.72 861 5484.70 roll -1.50 - - 1956.25 - 2.82 0.060 1208.94 -401.7 -82.73 - - 3110.59 - - - - - - - - - 15.89 -
5534.32 476.65 -7.92 869 5549.25 roll -1.50 - - 1955.56 - 2.62 0.026 2338.75 431.2 -82.73 - - 3112.56 - - - - - - - - - 15.99 -
5855.10 501.17 -7.45 898 5856.43 no move -1.50 - - 1955.81 - - - 2338.88 - -82.73 - - 3110.41 - - - - - - - - - - -
6170.12 523.21 -6.73 919 6174.97 roll -1.50 - - 1956.06 - 2.82 0.061 1210.38 -400.2 -82.73 - - 3111.19 - - - - - - - - - 15.89 -
6229.39 527.29 -6.95 928 6234.95 roll -1.50 - - 1956.38 - 2.61 0.026 2333.06 430.1 -82.73 - - 3111.19 - - - - - - - - - 15.99 -
6548.82 546.61 -5.89 950 6553.47 roll -1.50 - - 1955.88 - 2.80 0.086 3424.75 389.9 -82.73 - - 3110.47 - - - - - - - - - 15.84 -
6587.39 549.11 -6.35 956 6592.93 roll -1.50 - - 1955.69 - 2.64 0.019 2230.38 -452.4 -82.73 - - 3111.91 - - - - - - - - - 15.98 -
6906.81 568.56 -6.27 978 6908.14 no move -1.50 - - 1956.44 - - - 2230.00 - -82.73 - - 3109.38 - - - - - - - - - - -
7221.83 589.93 -7.03 999 7223.16 no move -1.50 - - 1956.62 - - - 2229.62 - -82.73 - - 3109.94 - - - - - - - - - - -
7536.87 613.31 -7.60 1020 7538.19 no move -1.50 - - 1956.62 - - - 2230.25 - -82.73 - - 3109.03 - - - - - - - - - - -
7852.39 637.34 -7.66 1041 7857.00 roll -1.50 - - 1956.75 - 2.54 0.067 1210.06 -401.6 -82.73 - - 3108.81 - - - - - - - - - 15.88 -
7889.57 640.41 -7.94 1046 7894.21 roll -1.50 - - 1956.31 - 2.61 0.027 2335.94 431.4 -82.73 - - 3109.69 - - - - - - - - - 15.99 -
8206.05 664.63 -7.18 1068 8210.71 roll -1.50 - - 1956.81 - 2.81 0.062 1210.38 -400.6 -82.73 - - 3108.22 - - - - - - - - - 15.87 -
8249.59 667.33 -7.17 1075 8264.54 roll -1.50 - - 1956.69 - 2.61 0.027 2332.69 430.0 -82.73 - - 3109.31 - - - - - - - - - 15.99 -
8579.01 690.30 -6.70 1097 8580.34 no move -1.50 - - 1956.56 - - - 2333.19 - -82.73 - - 3108.09 - - - - - - - - - - -
8894.22 711.82 -7.04 1118 8898.93 roll -1.50 - - 1957.00 - 2.80 0.062 1210.50 -401.0 -82.73 - - 3107.41 - - - - - - - - - 15.87 -
8937.76 714.66 -7.35 1125 8952.68 roll -1.50 - - 1956.75 - 2.58 0.027 2326.44 432.5 -82.73 - - 3109.12 - - - - - - - - - 15.98 -
9267.17 740.29 -8.00 1147 9268.50 no move -1.50 - - 1956.88 - - - 2326.69 - -82.73 - - 3107.97 - - - - - - - - - - -
9582.18 766.18 -8.28 1168 9583.51 no move -1.50 - - 1956.62 - - - 2326.19 - -82.73 - - 3107.47 - - - - - - - - - - -
9897.19 791.81 -7.89 1189 9901.83 roll -1.50 - - 1955.94 - 2.79 0.063 1210.25 -400.0 -82.73 - - 3108.25 - - - - - - - - - 15.86 -
9982.21 798.06 -7.93 1202 9997.13 roll -1.50 - - 1956.69 - 2.60 0.027 2327.31 429.6 -82.73 - - 3107.50 - - - - - - - - - 15.98 -
10311.62 822.07 -6.89 1224 10312.95 no move -1.50 - - 1956.44 - - - 2327.69 - -82.73 - - 3106.47 - - - - - - - - - - -
10626.64 842.51 -6.33 1245 10631.29 roll -1.50 - - 1956.75 - 2.80 0.063 1210.56 -399.0 -82.73 - - 3106.09 - - - - - - - - - 15.85 -
10665.20 844.92 -6.40 1251 10670.73 roll -1.50 - - 1956.25 - 2.60 0.027 2325.25 428.7 -82.73 - - 3108.53 - - - - - - - - - 15.99 -
10984.61 864.16 -5.91 1273 10985.94 no move -1.50 - - 1956.62 - - - 2325.19 - -82.73 - - 3106.69 - - - - - - - - - - -
11299.62 882.98 -5.89 1294 11300.95 no move -1.50 - - 1956.44 - - - 2325.81 - -82.73 - - 3105.81 - - - - - - - - - - -
11614.64 901.78 -6.02 1315 11615.97 no move -1.50 - - 1956.06 - - - 2325.31 - -82.73 - - 3105.81 - - - - - - - - - - -
11929.66 921.17 -6.27 1336 11930.99 no move -1.50 - - 1956.75 - - - 2325.25 - -82.73 - - 3105.22 - - - - - - - - - - -
12244.74 941.72 -6.62 1357 12249.40 roll -1.50 - - 1956.94 - 2.81 0.064 1209.94 -396.9 -82.73 - - 3106.22 - - - - - - - - - 15.84 -
12281.93 944.32 -6.80 1362 12286.55 roll -1.50 - - 1956.50 - 2.60 0.027 2326.25 429.3 -82.73 - - 3106.31 - - - - - - - - - 15.98 -
12598.40 965.17 -6.56 1384 12599.73 no move -1.50 - - 1956.69 - - - 2325.25 - -82.73 - - 3104.28 - - - - - - - - - - -
12913.43 985.32 -6.35 1405 12914.76 no move -1.50 - - 1956.50 - - - 2325.44 - -82.73 - - 3104.47 - - - - - - - - - - -
12988 end dive: TARGET_DEPTH_EXCEEDED
12988 begin apogee
12990.36 990.09 -6.35 1410 13065.93 -0.28 2.16 0.144 2254.88 138.1 0.16 0.159 2156.12 -1058.3 - 68.04 2.388 2774.09 -4.9 0.353 - - - - - - 15.66 15.10 10.04
13068 end apogee: CONTROL_FINISHED_OK
13068 begin climb
13068.58 991.78 - 1415 13155.50 1.50 2.95 0.092 2687.75 146.7 0.17 0.082 2039.19 -687.8 82.73 72.02 2.373 2437.69 -4.7 0.342 - - - - - - 15.41 15.54 11.48
13467.74 970.31 6.24 1448 13533.22 1.63 0.17 0.087 2726.44 227.6 3.12 0.083 3203.50 373.2 147.45 57.22 2.342 2175.00 -4.6 0.333 - - - - - - 15.68 15.09 11.14
13577.27 961.41 8.25 1464 13582.44 roll 1.63 - - 2726.75 - 2.69 0.025 2063.25 -423.9 147.45 - - 2170.66 - - - - - - - - - 15.54 -
13896.29 932.15 9.23 1486 13897.62 no move 1.63 - - 2726.75 - - - 2063.12 - 147.45 - - 2165.69 - - - - - - - - - - -
14211.30 903.25 9.09 1507 14215.98 done 1.63 - - 2726.19 - 2.95 0.080 3203.94 386.7 147.45 - - 2165.78 - - - - - - - - - 15.76 -
14275.64 897.70 9.45 1517 14290.51 done 1.63 - - 2726.06 - 2.64 0.025 2065.50 -431.2 147.45 - - 2164.19 - - - - - - - - - 15.85 -
14605.00 867.88 8.89 1539 14609.69 done 1.63 - - 2726.31 - 2.94 0.080 3205.69 387.8 147.45 - - 2164.69 - - - - - - - - - 15.79 -
14664.29 862.48 9.19 1548 14669.85 done 1.63 - - 2726.88 - 2.62 0.026 2070.75 -433.2 147.45 - - 2163.97 - - - - - - - - - 15.89 -
14983.70 835.13 8.32 1570 14988.38 done 1.63 - - 2726.69 - 2.92 0.080 3205.44 388.6 147.45 - - 2161.66 - - - - - - - - - 15.81 -
15041.64 830.08 8.57 1578 15046.26 done 1.63 - - 2726.50 - 2.60 0.025 2074.00 -435.2 147.45 - - 2163.72 - - - - - - - - - 15.91 -
15358.12 803.91 8.28 1600 15359.45 VBD 1.63 - - 2727.00 - - - 2074.81 - 147.45 - - 2161.53 - - - - - - - - - - -
15673.32 778.43 7.87 1621 15678.03 done 1.64 - - 2726.38 - 2.80 0.086 993.25 -386.3 147.45 - - 2160.91 - - - - - - - - - 15.81 -
15732.60 773.46 8.35 1630 15738.17 done 1.64 - - 2726.62 - 2.71 0.025 2155.94 429.0 147.45 - - 2161.66 - - - - - - - - - 15.94 -
16052.04 748.07 7.95 1652 16056.68 done 1.65 - - 2725.88 - 2.71 0.084 3205.50 387.3 147.45 - - 2162.72 - - - - - - - - - 15.82 -
16090.58 744.89 8.29 1658 16096.12 done 1.65 - - 2726.81 - 2.58 0.025 2077.38 -437.3 147.45 - - 2162.47 - - - - - - - - - 15.95 -
16410.02 719.70 7.66 1680 16411.35 VBD 1.67 - - 2726.81 - - - 2077.62 - 147.45 - - 2159.97 - - - - - - - - - - -
16725.05 697.65 6.68 1701 16729.70 done 1.70 - - 2726.38 - 2.80 0.084 995.94 -386.3 147.45 - - 2161.19 - - - - - - - - - 15.81 -
16888.28 686.56 6.83 1725 16893.84 done 1.73 - - 2726.81 - 2.79 0.026 2189.31 427.7 147.45 - - 2161.16 - - - - - - - - - 15.96 -
17207.69 666.75 6.05 1747 17273.13 1.87 0.30 0.075 2787.56 202.5 2.69 0.088 3203.00 376.8 217.65 59.76 2.048 1887.31 -4.6 0.261 - - - - - - 15.91 15.25 10.58
17296.03 660.07 7.54 1760 17301.07 roll 1.89 - - 2787.56 - 2.49 0.022 2123.69 -433.5 217.65 - - 1885.53 - - - - - - - - - 15.67 -
17615.35 632.27 8.94 1782 17620.37 done 1.89 - - 2786.50 - 2.92 0.082 994.50 -386.7 217.65 - - 1880.03 - - - - - - - - - 15.71 -
17679.64 626.77 9.37 1792 17694.63 done 1.89 - - 2786.81 - 2.92 0.027 2227.69 422.3 217.65 - - 1879.09 - - - - - - - - - 15.82 -
18009.06 594.91 9.73 1814 18013.67 done 1.89 - - 2786.31 - 2.54 0.087 3205.38 384.9 217.65 - - 1879.78 - - - - - - - - - 15.77 -
18172.04 578.05 10.47 1838 18177.14 done 1.89 - - 2787.50 - 2.36 0.022 2160.81 -442.6 217.65 - - 1876.81 - - - - - - - - - 15.89 -
18491.45 548.35 9.08 1860 18496.10 done 1.89 - - 2786.44 - 2.72 0.083 3204.06 383.5 217.65 - - 1876.25 - - - - - - - - - 15.79 -
18592.21 538.58 9.85 1875 18597.31 done 1.89 - - 2787.62 - 2.32 0.022 2174.00 -444.0 217.65 - - 1875.94 - - - - - - - - - 15.92 -
18911.62 508.11 9.58 1897 18916.25 done 1.89 - - 2786.62 - 2.68 0.083 3202.81 383.9 217.65 - - 1876.72 - - - - - - - - - 15.81 -
19021.78 497.15 10.03 1912 19025.34 done 1.89 - - 2786.94 - 2.28 0.022 2193.00 -442.9 217.65 - - 1875.00 - - - - - - - - - 15.93 -
19333.46 467.36 9.44 1941 19338.15 done 1.89 - - 2787.50 - 2.65 0.084 3206.44 382.4 217.65 - - 1874.88 - - - - - - - - - 15.81 -
19449.33 455.87 9.96 1956 19452.90 done 1.89 - - 2788.62 - 2.24 0.022 2204.44 -447.3 217.65 - - 1875.12 - - - - - - - - - 15.94 -
19760.95 428.76 8.22 1985 19765.58 done 1.89 - - 2787.88 - 2.61 0.084 3204.25 383.1 217.65 - - 1873.47 - - - - - - - - - 15.81 -
19830.97 422.88 8.52 1995 19845.43 done 1.89 - - 2787.81 - 2.20 0.022 2214.12 -450.1 217.65 - - 1874.38 - - - - - - - - - 15.95 -
20147.09 398.78 7.26 2024 20151.71 done 1.92 - - 2787.00 - 2.57 0.084 3203.50 385.0 217.65 - - 1875.19 - - - - - - - - - 15.81 -
20248.60 390.88 7.96 2038 20263.05 done 1.93 - - 2787.19 - 2.19 0.022 2221.62 -448.3 217.65 - - 1874.03 - - - - - - - - - 15.96 -
20564.94 367.11 7.71 2067 20569.66 done 1.94 - - 2786.94 - 3.13 0.078 993.19 -392.5 217.65 - - 1874.59 - - - - - - - - - 15.80 -
20666.44 358.80 8.36 2081 20681.44 done 1.94 - - 2786.69 - 3.09 0.028 2305.62 424.7 217.65 - - 1874.78 - - - - - - - - - 15.96 -
20983.08 333.75 8.05 2110 20986.84 done 1.94 - - 2787.19 - 2.34 0.089 3207.19 385.3 217.65 - - 1873.88 - - - - - - - - - 15.81 -
21052.08 327.81 8.54 2119 21055.65 done 1.94 - - 2786.56 - 2.22 0.021 2211.06 -448.7 217.65 - - 1875.38 - - - - - - - - - 15.95 -
21363.42 302.56 8.19 2148 21368.12 done 1.94 - - 2787.75 - 3.10 0.077 996.00 -392.0 217.65 - - 1872.31 - - - - - - - - - 15.80 -
21457.76 294.23 8.81 2164 21463.38 done 1.94 - - 2788.06 - 3.08 0.028 2298.31 422.8 217.65 - - 1874.72 - - - - - - - - - 15.95 -
21767.85 267.81 8.59 2226 21772.94 done 1.94 - - 2788.62 - 2.37 0.087 3204.06 382.2 217.65 - - 1873.56 - - - - - - - - - 15.80 -
21827.91 262.43 9.04 2238 21832.94 done 1.94 - - 2786.62 - 2.24 0.021 2202.75 -447.0 217.65 - - 1873.41 - - - - - - - - - 15.94 -
22137.97 236.69 7.92 2300 22143.51 done 1.95 - - 2787.19 - 2.61 0.082 3204.75 383.9 217.65 - - 1874.78 - - - - - - - - - 15.79 -
22172.96 233.84 8.08 2307 22178.05 done 1.95 - - 2788.00 - 2.23 0.021 2206.81 -447.5 217.65 - - 1874.44 - - - - - - - - - 15.94 -
22483.05 209.75 7.89 2369 22488.82 done 1.96 - - 2788.00 - 3.10 0.077 994.69 -391.0 217.65 - - 1874.53 - - - - - - - - - 15.77 -
22613.49 198.54 8.62 2395 22618.66 done 1.96 - - 2788.50 - 3.05 0.027 2294.56 426.2 217.65 - - 1873.25 - - - - - - - - - 15.95 -
22923.10 172.91 8.42 2457 22928.75 done 1.96 - - 2788.12 - 3.33 0.073 993.69 -390.7 217.65 - - 1873.09 - - - - - - - - - 15.77 -
23118.10 155.43 9.17 2496 23123.71 done 1.96 - - 2787.31 - 3.00 0.027 2271.44 425.9 217.65 - - 1874.06 - - - - - - - - - 15.94 -
23428.17 131.13 7.09 2558 23429.51 VBD 1.99 - - 2787.94 - - - 2271.69 - 217.65 - - 1871.91 - - - - - - - - - - -
23733.22 111.32 6.57 2619 23738.85 done 2.03 - - 2787.94 - 3.26 0.072 993.38 -392.1 217.65 - - 1873.44 - - - - - - - - - 15.77 -
23828.22 104.69 6.79 2638 23833.86 2.06 0.19 0.081 2832.44 234.2 2.99 0.026 2266.31 425.7 217.65 - - 1873.41 - - - - - - - - 15.72 15.94 -
24138.66 82.91 7.13 2700 24143.90 done 2.09 - - 2832.62 - 3.25 0.073 995.00 -391.2 217.65 - - 1874.56 - - - - - - - - - 15.77 -
24268.66 75.03 5.73 2726 24336.83 2.25 0.20 0.081 2879.56 234.7 2.94 0.026 2255.25 428.7 297.25 62.36 1.275 1563.81 -5.0 0.051 - - - - - - 15.72 15.95 10.51
24518.99 56.41 7.67 2776 24524.09 roll 2.26 - - 2880.12 - 2.48 0.082 3202.88 382.1 297.25 - - 1555.38 - - - - - - - - - 15.72 -
24754.03 37.58 7.42 2823 24759.13 done 2.29 - - 2880.38 - 2.34 0.021 2173.31 -440.0 297.25 - - 1553.66 - - - - - - - - - 15.83 -
24944.46 24.77 6.77 2861 24945.79 VBD 2.32 - - 2880.25 - - - 2173.50 - 297.25 - - 1551.66 - - - - - - - - - - -
25129.08 11.78 7.20 2898 25130.42 VBD 2.34 - - 2880.94 - - - 2173.06 - 297.25 - - 1551.19 - - - - - - - - - - -
25239 end climb: SURFACE_DEPTH_REACHED
25239 begin surface coast
25299 end surface coast: CONTROL_FINISHED_OK
25299 begin surface
SM 0.77 - - - - 178.2 78.41 1.185 1144.1 14.6 16.74 0.052 1096.8 65.5 - 0.38 0.059 1191.4 3135.3 -4.182 - - 11.02 15.81 15.88 -