NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1112 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 394.42 of 550.00 AH used of 24V (28.29% remains)
• Surface angle -60.2 deg, depth 0.62 m • Intended pitch -24.0 deg, speed -8.462 cm/s
VBD pumped to 400.03 (SM_CC=400)
• GPS1 time: 25 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 - - - 77.13 VBD -1.50 - - 177.19 - - - 2360.94 - -82.73 70.11 0.005 2829.56 - - - - - - - - - - 14.82
78.25 3.63 -5.32 13 109.98 -1.50 14.65 0.242 1956.00 121.4 2.92 0.064 1208.00 -394.8 -82.73 6.53 0.008 3112.75 43.4 -3.440 - - - - - - 15.31 14.86 15.05
202.45 23.01 -12.71 38 207.65 roll -1.50 - - 1956.44 - 2.70 0.026 2351.06 423.4 -82.73 - - 3113.88 - - - - - - - - - 15.80 -
392.78 46.91 -12.45 76 397.72 roll -1.50 - - 1956.56 - 2.81 0.084 3425.75 382.5 -82.73 - - 3114.41 - - - - - - - - - 15.73 -
407.14 48.85 -12.76 79 412.70 roll -1.50 - - 1956.00 - 2.63 0.019 2251.25 -446.6 -82.73 - - 3112.69 - - - - - - - - - 15.83 -
597.60 72.84 -11.27 117 602.83 roll -1.50 - - 1956.44 - 3.07 0.080 3425.50 382.5 -82.73 - - 3114.81 - - - - - - - - - 15.75 -
772.25 91.03 -9.79 152 777.79 roll -1.50 - - 1956.44 - 2.58 0.018 2262.31 -450.8 -82.73 - - 3114.28 - - - - - - - - - 15.88 -
962.72 106.44 -8.21 190 964.05 no move -1.50 - - 1956.31 - - - 2262.00 - -82.73 - - 3111.75 - - - - - - - - - - -
1267.41 131.48 -8.47 251 1272.96 roll -1.50 - - 1956.69 - 2.62 0.065 1210.50 -401.3 -82.73 - - 3113.66 - - - - - - - - - 15.86 -
1307.41 135.12 -9.09 259 1312.98 roll -1.50 - - 1956.69 - 2.73 0.026 2371.94 425.4 -82.73 - - 3113.44 - - - - - - - - - 15.93 -
1617.46 162.55 -8.41 321 1618.79 no move -1.50 - - 1956.75 - - - 2372.19 - -82.73 - - 3112.59 - - - - - - - - - - -
1922.50 187.43 -7.50 382 1928.26 roll -1.50 - - 1956.31 - 2.89 0.059 1209.50 -402.3 -82.73 - - 3115.78 - - - - - - - - - 15.88 -
2002.62 193.91 -8.16 398 2008.07 roll -1.50 - - 1956.06 - 2.72 0.026 2371.31 427.1 -82.73 - - 3114.25 - - - - - - - - - 15.95 -
2312.56 219.20 -8.21 460 2313.89 no move -1.50 - - 1956.25 - - - 2370.19 - -82.73 - - 3113.81 - - - - - - - - - - -
2617.60 244.80 -8.38 521 2623.18 roll -1.50 - - 1955.06 - 2.88 0.059 1209.19 -403.1 -82.73 - - 3115.97 - - - - - - - - - 15.88 -
2682.60 250.52 -8.83 534 2688.17 roll -1.50 - - 1956.12 - 2.71 0.026 2370.25 428.4 -82.73 - - 3114.34 - - - - - - - - - 15.95 -
2992.65 275.75 -7.89 596 2998.24 roll -1.50 - - 1956.50 - 2.89 0.059 1209.06 -401.8 -82.73 - - 3114.00 - - - - - - - - - 15.88 -
3022.65 278.17 -7.97 602 3028.22 roll -1.50 - - 1956.31 - 2.71 0.026 2370.69 428.6 -82.73 - - 3114.09 - - - - - - - - - 15.96 -
3342.09 302.58 -7.60 662 3346.96 roll -1.50 - - 1955.50 - 2.88 0.059 1208.06 -403.7 -82.73 - - 3114.31 - - - - - - - - - 15.90 -
3412.28 308.09 -7.91 672 3427.09 roll -1.50 - - 1956.56 - 2.69 0.026 2364.69 430.0 -82.73 - - 3115.66 - - - - - - - - - 15.98 -
3728.45 333.28 -7.82 701 3739.52 no move -1.50 - - 1956.56 - - - 2365.06 - -82.73 - - 3113.84 - - - - - - - - - - -
4041.32 359.16 -8.80 730 4045.99 roll -1.50 - - 1956.25 - 2.88 0.059 1206.94 -402.1 -82.73 - - 3114.03 - - - - - - - - - 15.91 -
4111.66 365.74 -9.37 740 4126.60 roll -1.50 - - 1956.31 - 2.69 0.026 2358.81 428.2 -82.73 - - 3114.59 - - - - - - - - - 15.98 -
4427.83 396.26 -9.62 769 4438.90 no move -1.50 - - 1956.56 - - - 2359.44 - -82.73 - - 3114.19 - - - - - - - - - - -
4740.52 425.57 -9.38 798 4745.19 roll -1.50 - - 1956.38 - 2.87 0.059 1210.38 -400.4 -82.73 - - 3113.41 - - - - - - - - - 15.90 -
4795.61 430.64 -9.40 806 4810.37 roll -1.50 - - 1956.31 - 2.69 0.027 2360.56 427.6 -82.73 - - 3114.03 - - - - - - - - - 15.99 -
5111.71 457.23 -8.23 835 5122.78 no move -1.50 - - 1956.44 - - - 2360.38 - -82.73 - - 3114.12 - - - - - - - - - - -
5424.39 480.93 -7.13 864 5429.05 roll -1.50 - - 1955.56 - 2.88 0.060 1209.12 -399.7 -82.73 - - 3115.31 - - - - - - - - - 15.90 -
5478.68 484.61 -6.94 872 5493.94 roll -1.50 - - 1956.44 - 2.68 0.026 2358.44 428.9 -82.73 - - 3114.38 - - - - - - - - - 15.99 -
5802.16 503.48 -5.38 900 5803.49 no move -1.50 - - 1956.38 - - - 2357.56 - -82.73 - - 3112.03 - - - - - - - - - - -
6116.54 520.98 -5.85 921 6121.20 roll -1.50 - - 1956.19 - 2.87 0.060 1209.12 -400.2 -82.73 - - 3113.12 - - - - - - - - - 15.89 -
6196.55 526.16 -6.53 933 6202.11 roll -1.50 - - 1956.50 - 2.67 0.027 2354.06 428.8 -82.73 - - 3112.50 - - - - - - - - - 15.99 -
6515.97 547.71 -6.91 955 6520.62 roll -1.50 - - 1954.75 - 2.77 0.086 3426.31 387.1 -82.73 - - 3116.19 - - - - - - - - - 15.84 -
6553.16 550.68 -7.49 960 6557.78 roll -1.50 - - 1956.44 - 2.60 0.019 2247.19 -453.5 -82.73 - - 3111.44 - - - - - - - - - 15.97 -
6869.64 573.47 -7.14 982 6874.25 roll -1.50 - - 1956.62 - 2.58 0.066 1209.31 -402.3 -82.73 - - 3112.94 - - - - - - - - - 15.89 -
6928.91 577.91 -7.50 991 6934.46 roll -1.50 - - 1956.31 - 2.66 0.027 2352.50 429.8 -82.73 - - 3113.91 - - - - - - - - - 16.00 -
7248.34 601.30 -7.25 1013 7249.67 no move -1.50 - - 1956.88 - - - 2352.31 - -82.73 - - 3110.59 - - - - - - - - - - -
7563.36 623.94 -7.13 1034 7568.02 roll -1.50 - - 1956.75 - 2.85 0.062 1208.94 -401.2 -82.73 - - 3112.28 - - - - - - - - - 15.88 -
7648.39 629.92 -7.54 1047 7663.34 roll -1.50 - - 1956.94 - 2.65 0.027 2345.38 428.8 -82.73 - - 3111.94 - - - - - - - - - 15.99 -
7977.97 654.16 -7.07 1069 7982.65 roll -1.50 - - 1956.38 - 2.82 0.062 1210.50 -402.4 -82.73 - - 3111.97 - - - - - - - - - 15.88 -
8042.36 658.42 -7.23 1079 8057.19 roll -1.50 - - 1956.44 - 2.63 0.027 2341.12 429.9 -82.73 - - 3111.62 - - - - - - - - - 15.98 -
8371.66 680.95 -6.49 1101 8376.32 roll -1.50 - - 1957.38 - 2.81 0.062 1208.94 -402.9 -82.73 - - 3109.78 - - - - - - - - - 15.88 -
8410.19 683.40 -6.51 1107 8415.75 roll -1.50 - - 1956.06 - 2.63 0.027 2337.06 428.9 -82.73 - - 3112.22 - - - - - - - - - 15.98 -
8729.60 704.55 -6.73 1129 8730.93 no move -1.50 - - 1956.94 - - - 2337.12 - -82.73 - - 3110.00 - - - - - - - - - - -
9044.61 725.25 -6.53 1150 9045.94 no move -1.50 - - 1956.75 - - - 2337.69 - -82.73 - - 3109.91 - - - - - - - - - - -
9359.64 746.21 -6.69 1171 9364.31 roll -1.50 - - 1956.31 - 2.81 0.063 1209.19 -401.6 -82.73 - - 3109.09 - - - - - - - - - 15.86 -
9403.19 748.80 -6.82 1178 9418.13 roll -1.50 - - 1957.00 - 2.63 0.027 2333.50 427.5 -82.73 - - 3111.78 - - - - - - - - - 15.98 -
9732.61 769.92 -5.93 1200 9733.94 no move -1.50 - - 1956.19 - - - 2333.50 - -82.73 - - 3108.69 - - - - - - - - - - -
10047.63 787.64 -5.44 1221 10052.30 roll -1.50 - - 1956.19 - 2.85 0.089 3423.69 382.5 -82.73 - - 3108.22 - - - - - - - - - 15.80 -
10105.79 791.16 -5.88 1229 10110.44 roll -1.50 - - 1956.62 - 2.63 0.019 2231.88 -453.2 -82.73 - - 3108.53 - - - - - - - - - 15.96 -
10422.31 807.98 -5.33 1251 10423.64 no move -1.50 - - 1956.81 - - - 2230.88 - -82.73 - - 3107.31 - - - - - - - - - - -
10737.53 824.66 -5.33 1272 10742.30 roll -1.50 - - 1955.94 - 3.11 0.084 3423.75 383.6 -82.73 - - 3110.41 - - - - - - - - - 15.80 -
10776.09 826.95 -5.78 1278 10781.63 roll -1.50 - - 1956.69 - 2.62 0.019 2232.88 -454.5 -82.73 - - 3107.84 - - - - - - - - - 15.98 -
11095.50 844.33 -5.41 1300 11096.83 no move -1.50 - - 1956.19 - - - 2233.62 - -82.73 - - 3108.00 - - - - - - - - - - -
11410.51 862.67 -6.11 1321 11411.84 no move -1.50 - - 1956.81 - - - 2233.00 - -82.73 - - 3106.72 - - - - - - - - - - -
11725.50 882.87 -6.63 1342 11726.83 no move -1.50 - - 1956.50 - - - 2233.31 - -82.73 - - 3106.56 - - - - - - - - - - -
12040.53 904.29 -7.17 1363 12041.86 no move -1.50 - - 1956.69 - - - 2233.38 - -82.73 - - 3106.66 - - - - - - - - - - -
12355.71 926.07 -6.72 1384 12360.42 roll -1.50 - - 1956.25 - 3.11 0.085 3426.50 383.6 -82.73 - - 3105.81 - - - - - - - - - 15.78 -
12419.98 930.42 -7.29 1394 12434.92 roll -1.50 - - 1956.25 - 2.63 0.019 2234.44 -453.3 -82.73 - - 3107.78 - - - - - - - - - 15.97 -
12749.43 953.02 -6.42 1416 12750.76 no move -1.50 - - 1956.94 - - - 2234.06 - -82.73 - - 3105.97 - - - - - - - - - - -
13064.43 972.83 -6.20 1437 13069.13 roll -1.50 - - 1956.44 - 3.10 0.085 3425.25 384.3 -82.73 - - 3105.56 - - - - - - - - - 15.77 -
13122.37 976.84 -6.72 1445 13127.00 roll -1.50 - - 1956.81 - 2.62 0.020 2238.06 -453.1 -82.73 - - 3106.28 - - - - - - - - - 15.96 -
13363 end dive: TARGET_DEPTH_EXCEEDED
13363 begin apogee
13365.67 990.82 -5.63 1462 13441.57 -0.28 2.15 0.137 2253.12 137.8 0.14 0.165 2157.56 -575.0 - 67.73 2.403 2775.25 -4.9 0.352 - - - - - - 15.68 15.11 10.00
13443 end apogee: CONTROL_FINISHED_OK
13443 begin climb
13444.33 992.07 - 1467 13531.35 1.50 2.95 0.087 2689.00 147.8 0.17 0.082 2041.06 -685.3 82.73 71.93 2.381 2436.97 -4.7 0.343 - - - - - - 15.42 15.54 11.58
13843.67 968.65 6.52 1500 13845.00 no move 1.54 - - 2688.94 - - - 2040.94 - 82.73 - - 2429.28 - - - - - - - - - - -
14158.30 949.23 5.78 1521 14234.84 1.69 0.26 0.071 2741.31 201.4 - - 2040.19 - 160.72 67.56 2.344 2119.56 -4.6 0.325 - - - - - - 15.79 - 10.93
14548.13 914.48 9.29 1547 14552.83 done 1.69 - - 2742.75 - 3.04 0.079 3204.44 383.0 160.72 - - 2110.69 - - - - - - - - - 15.69 -
14628.14 906.80 9.73 1559 14633.69 done 1.69 - - 2742.12 - 2.64 0.026 2063.25 -432.3 160.72 - - 2111.78 - - - - - - - - - 15.77 -
14948.07 877.20 9.27 1581 14952.81 done 1.69 - - 2741.81 - 2.94 0.079 3203.75 387.9 160.72 - - 2110.84 - - - - - - - - - 15.77 -
14986.62 873.48 9.60 1587 14992.18 done 1.69 - - 2742.25 - 2.62 0.026 2065.94 -434.3 160.72 - - 2109.94 - - - - - - - - - 15.85 -
15306.02 844.24 8.67 1609 15307.36 VBD 1.69 - - 2742.69 - - - 2065.81 - 160.72 - - 2108.25 - - - - - - - - - - -
15621.04 816.80 8.57 1630 15625.73 done 1.69 - - 2742.31 - 2.94 0.080 3205.25 387.6 160.72 - - 2108.62 - - - - - - - - - 15.81 -
15678.99 811.55 8.94 1638 15683.60 done 1.69 - - 2742.12 - 2.59 0.026 2069.81 -438.4 160.72 - - 2107.56 - - - - - - - - - 15.91 -
15995.46 785.31 8.10 1660 15996.79 VBD 1.69 - - 2742.06 - - - 2070.06 - 160.72 - - 2107.81 - - - - - - - - - - -
16310.47 760.00 8.05 1681 16315.15 done 1.69 - - 2742.25 - 2.92 0.080 3203.81 388.3 160.72 - - 2106.06 - - - - - - - - - 15.82 -
16354.02 756.77 8.41 1688 16368.94 done 1.69 - - 2742.19 - 2.58 0.026 2072.44 -438.5 160.72 - - 2107.44 - - - - - - - - - 15.94 -
16683.43 729.57 7.96 1710 16684.76 VBD 1.70 - - 2742.50 - - - 2072.19 - 160.72 - - 2106.53 - - - - - - - - - - -
16998.46 705.19 7.56 1731 17003.14 done 1.72 - - 2742.38 - 2.91 0.080 3204.38 389.1 160.72 - - 2105.69 - - - - - - - - - 15.82 -
17078.49 698.76 8.10 1743 17084.21 done 1.72 - - 2742.06 - 2.57 0.026 2077.31 -438.5 160.72 - - 2106.78 - - - - - - - - - 15.96 -
17398.07 675.10 7.24 1765 17399.41 VBD 1.75 - - 2741.81 - - - 2077.44 - 160.72 - - 2105.81 - - - - - - - - - - -
17712.90 650.86 8.08 1786 17714.24 VBD 1.75 - - 2742.19 - - - 2077.69 - 160.72 - - 2105.84 - - - - - - - - - - -
18027.93 625.62 7.96 1807 18032.58 done 1.76 - - 2741.81 - 2.77 0.087 993.81 -391.3 160.72 - - 2104.38 - - - - - - - - - 15.80 -
18066.47 622.52 8.13 1813 18072.03 done 1.76 - - 2741.94 - 2.69 0.025 2156.94 432.4 160.72 - - 2106.38 - - - - - - - - - 15.96 -
18385.90 598.13 7.42 1835 18390.58 done 1.78 - - 2742.44 - 2.96 0.081 994.75 -392.6 160.72 - - 2107.12 - - - - - - - - - 15.80 -
18445.20 593.56 7.72 1844 18450.74 done 1.79 - - 2742.00 - 2.68 0.025 2151.56 431.6 160.72 - - 2105.59 - - - - - - - - - 15.97 -
18764.78 570.40 7.00 1866 18769.49 done 1.82 - - 2742.50 - 2.70 0.083 3206.56 390.7 160.72 - - 2104.38 - - - - - - - - - 15.81 -
18824.09 566.04 7.37 1875 18829.62 done 1.84 - - 2742.00 - 2.57 0.025 2078.19 -439.1 160.72 - - 2105.41 - - - - - - - - - 15.96 -
19143.50 544.26 6.64 1897 19148.23 1.88 0.21 0.082 2788.19 220.0 2.76 0.085 994.88 -392.5 160.72 - - 2104.19 - - - - - - - - 15.91 15.77 -
19187.09 541.41 7.16 1904 19202.19 done 1.91 - - 2787.62 - 2.69 0.025 2154.50 431.1 160.72 - - 2105.84 - - - - - - - - - 15.97 -
19516.61 517.96 6.81 1926 19521.27 done 1.94 - - 2787.62 - 2.71 0.083 3203.94 387.2 160.72 - - 2106.25 - - - - - - - - - 15.81 -
19575.91 513.60 7.35 1935 19581.44 done 1.96 - - 2788.81 - 2.56 0.025 2079.75 -439.1 160.72 - - 2104.84 - - - - - - - - - 15.96 -
19886.94 493.07 6.30 1959 19953.04 2.09 0.23 0.078 2839.50 220.4 2.95 0.082 3203.75 381.0 223.69 51.85 1.827 1863.28 -4.7 0.220 - - - - - - 15.92 15.30 10.44
19986.75 484.81 8.79 1972 20001.48 roll 2.09 - - 2839.62 - 2.59 0.025 2087.62 -430.9 223.69 - - 1860.44 - - - - - - - - - 15.73 -
20303.20 456.34 8.71 2001 20314.27 no move 2.09 - - 2839.94 - - - 2088.25 - 223.69 - - 1855.66 - - - - - - - - - - -
20615.90 428.43 8.96 2030 20620.56 done 2.09 - - 2839.44 - 2.90 0.079 3202.44 384.2 223.69 - - 1855.28 - - - - - - - - - 15.76 -
20701.65 419.76 10.18 2042 20716.57 done 2.09 - - 2839.81 - 2.54 0.025 2093.25 -436.7 223.69 - - 1852.38 - - - - - - - - - 15.88 -
21018.04 389.09 9.99 2071 21022.88 done 2.09 - - 2839.31 - 2.80 0.086 994.69 -392.3 223.69 - - 1850.56 - - - - - - - - - 15.76 -
21071.16 383.28 10.79 2078 21075.82 done 2.09 - - 2839.38 - 2.74 0.025 2169.69 428.8 223.69 - - 1850.72 - - - - - - - - - 15.91 -
21382.81 351.54 10.09 2107 21387.44 done 2.09 - - 2839.06 - 2.67 0.082 3202.56 386.8 223.69 - - 1852.53 - - - - - - - - - 15.80 -
21435.75 345.66 10.85 2114 21440.37 done 2.09 - - 2839.81 - 2.52 0.025 2093.06 -440.3 223.69 - - 1850.12 - - - - - - - - - 15.92 -
21747.75 313.79 10.21 2143 21758.82 VBD 2.09 - - 2839.56 - - - 2092.56 - 223.69 - - 1850.97 - - - - - - - - - - -
22060.65 282.96 9.45 2190 22066.05 done 2.09 - - 2839.69 - 2.87 0.078 3205.12 387.7 223.69 - - 1850.78 - - - - - - - - - 15.79 -
22125.48 276.38 10.24 2203 22131.01 done 2.09 - - 2840.31 - 2.51 0.024 2098.88 -440.7 223.69 - - 1850.62 - - - - - - - - - 15.93 -
22435.53 246.50 9.51 2265 22436.86 VBD 2.09 - - 2840.12 - - - 2098.75 - 223.69 - - 1848.84 - - - - - - - - - - -
22740.55 217.46 9.43 2326 22746.13 done 2.09 - - 2840.06 - 2.86 0.077 3205.44 387.0 223.69 - - 1850.06 - - - - - - - - - 15.80 -
22780.78 213.49 10.05 2334 22785.69 done 2.09 - - 2839.81 - 2.50 0.024 2100.06 -442.2 223.69 - - 1850.38 - - - - - - - - - 15.93 -
23090.60 184.44 9.37 2396 23091.93 VBD 2.09 - - 2839.31 - - - 2100.81 - 223.69 - - 1849.19 - - - - - - - - - - -
23395.63 155.86 9.47 2457 23396.96 VBD 2.09 - - 2839.62 - - - 2100.50 - 223.69 - - 1849.03 - - - - - - - - - - -
23700.67 128.13 9.44 2518 23702.00 VBD 2.09 - - 2840.00 - - - 2100.56 - 223.69 - - 1849.38 - - - - - - - - - - -
24005.71 99.21 9.53 2579 24011.27 done 2.09 - - 2839.81 - 2.81 0.082 993.56 -394.0 223.69 - - 1851.06 - - - - - - - - - 15.79 -
24080.71 91.59 10.17 2594 24086.28 done 2.09 - - 2839.94 - 2.76 0.024 2184.62 431.5 223.69 - - 1849.81 - - - - - - - - - 15.95 -
24270.75 77.03 6.52 2632 24276.35 done 2.13 - - 2839.62 - 3.01 0.077 993.38 -395.8 223.69 - - 1850.28 - - - - - - - - - 15.79 -
24495.78 65.53 4.41 2677 24594.17 2.36 0.34 0.064 2907.25 198.9 2.68 0.023 2167.25 438.0 341.64 91.10 1.257 1383.31 -5.1 0.047 - - - - - - 15.77 15.95 10.59
24776.41 44.94 8.90 2733 24777.74 no move 2.36 - - 2906.56 - - - 2167.12 - 341.64 - - 1374.75 - - - - - - - - - - -
24961.45 27.79 9.25 2770 24966.99 done 2.36 - - 2907.25 - 2.66 0.080 3206.44 390.7 341.64 - - 1373.72 - - - - - - - - - 15.72 -
25021.44 21.99 9.89 2782 25026.98 done 2.36 - - 2907.06 - 2.56 0.023 2082.44 -439.1 341.64 - - 1373.38 - - - - - - - - - 15.80 -
25211.47 4.56 8.98 2820 25217.05 done 2.36 - - 2907.81 - 2.88 0.074 3204.88 389.7 341.64 - - 1373.38 - - - - - - - - - 15.75 -
25221 end climb: SURFACE_DEPTH_REACHED
25221 begin surface coast
25231 end surface coast: CONTROL_FINISHED_OK
25231 begin surface
SM 0.92 - - - - 179.5 45.46 1.158 1144.2 25.2 17.44 0.081 1108.8 63.6 - 2.05 0.020 1179.6 574.0 -2.699 - - 11.13 15.60 15.83 -