NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1129 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 401.49 of 550.00 AH used of 24V (27.00% remains)
• Surface angle -58.1 deg, depth 0.66 m • Intended pitch -24.4 deg, speed -9.429 cm/s
VBD pumped to 400.13 (SM_CC=400)
• GPS1 time: 40 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
2 end surface: CONTROL_FINISHED_OK
3 begin dive
5.96 - - - 72.08 VBD -1.59 - - 177.44 - - - 2248.50 - -116.79 64.94 0.005 2695.25 - - - - - - - - - - 14.87
72.82 3.07 -4.75 12 110.73 -1.59 14.35 0.239 1935.50 122.5 3.09 0.082 3425.62 380.9 -116.79 13.56 0.006 3250.25 40.9 -3.685 - - - - - - 15.30 14.84 15.04
257.84 33.26 -15.01 49 263.40 roll -1.59 - - 1935.94 - 2.65 0.018 2256.06 -441.3 -116.79 - - 3250.62 - - - - - - - - - 15.80 -
448.55 59.96 -14.06 87 453.46 roll -1.59 - - 1935.62 - 2.64 0.063 1209.44 -396.4 -116.79 - - 3250.91 - - - - - - - - - 15.78 -
467.92 62.83 -14.29 91 473.48 roll -1.59 - - 1935.56 - 2.69 0.025 2350.62 424.2 -116.79 - - 3250.66 - - - - - - - - - 15.86 -
658.37 86.07 -10.65 129 659.70 no move -1.59 - - 1935.94 - - - 2350.38 - -116.79 - - 3249.56 - - - - - - - - - - -
843.04 105.04 -9.83 166 848.62 roll -1.59 - - 1936.38 - 2.81 0.082 3427.00 383.1 -116.79 - - 3251.03 - - - - - - - - - 15.80 -
908.06 111.97 -10.96 179 913.61 roll -1.59 - - 1935.88 - 2.64 0.018 2246.06 -447.3 -116.79 - - 3251.59 - - - - - - - - - 15.90 -
1218.16 141.93 -9.31 241 1219.49 no move -1.59 - - 1935.50 - - - 2244.81 - -116.79 - - 3249.22 - - - - - - - - - - -
1523.25 168.96 -8.71 302 1524.58 no move -1.59 - - 1936.06 - - - 2245.06 - -116.79 - - 3251.19 - - - - - - - - - - -
1828.33 196.81 -9.61 363 1829.66 no move -1.59 - - 1935.81 - - - 2244.44 - -116.79 - - 3250.00 - - - - - - - - - - -
2133.41 227.60 -10.35 424 2138.93 roll -1.59 - - 1935.81 - 2.60 0.063 1210.31 -397.7 -116.79 - - 3251.91 - - - - - - - - - 15.88 -
2178.59 232.53 -11.03 433 2184.03 roll -1.59 - - 1935.62 - 2.67 0.025 2353.25 428.1 -116.79 - - 3251.09 - - - - - - - - - 15.96 -
2488.45 264.66 -10.26 495 2489.78 no move -1.59 - - 1935.56 - - - 2352.94 - -116.79 - - 3250.28 - - - - - - - - - - -
2793.48 295.96 -10.16 556 2799.06 roll -1.59 - - 1936.00 - 2.88 0.058 1209.75 -396.9 -116.79 - - 3251.25 - - - - - - - - - 15.89 -
2838.46 300.17 -10.55 565 2844.53 roll -1.59 - - 1935.50 - 2.68 0.025 2352.62 426.4 -116.79 - - 3251.94 - - - - - - - - - 15.97 -
3152.97 331.83 -9.67 594 3157.63 roll -1.59 - - 1935.38 - 2.87 0.058 1209.19 -398.4 -116.79 - - 3251.62 - - - - - - - - - 15.90 -
3191.50 335.47 -9.73 600 3206.44 roll -1.59 - - 1935.62 - 2.67 0.025 2351.19 427.7 -116.79 - - 3251.50 - - - - - - - - - 15.99 -
3507.66 365.20 -9.33 629 3512.32 roll -1.59 - - 1935.62 - 2.85 0.059 1208.56 -400.9 -116.79 - - 3251.22 - - - - - - - - - 15.90 -
3546.19 368.76 -9.48 635 3561.12 roll -1.59 - - 1936.00 - 2.65 0.026 2351.31 431.2 -116.79 - - 3253.31 - - - - - - - - - 15.98 -
3862.56 396.92 -8.84 664 3867.40 roll -1.59 - - 1934.62 - 2.84 0.059 1210.25 -401.8 -116.79 - - 3253.22 - - - - - - - - - 15.90 -
3917.02 401.78 -9.09 672 3931.77 roll -1.59 - - 1934.69 - 2.65 0.026 2349.44 429.9 -116.79 - - 3250.72 - - - - - - - - - 15.98 -
4232.99 429.04 -8.24 701 4237.65 roll -1.59 - - 1935.62 - 2.85 0.059 1210.81 -399.5 -116.79 - - 3250.09 - - - - - - - - - 15.90 -
4271.53 432.28 -8.55 707 4286.46 roll -1.59 - - 1934.44 - 2.64 0.026 2346.12 430.0 -116.79 - - 3250.69 - - - - - - - - - 15.98 -
4588.01 459.16 -8.57 736 4599.08 no move -1.59 - - 1935.81 - - - 2346.56 - -116.79 - - 3250.72 - - - - - - - - - - -
4900.68 484.65 -8.08 765 4905.34 roll -1.59 - - 1935.88 - 2.84 0.060 1209.12 -400.5 -116.79 - - 3250.22 - - - - - - - - - 15.88 -
4939.21 487.79 -8.26 771 4954.16 roll -1.59 - - 1935.50 - 2.64 0.026 2342.75 429.4 -116.79 - - 3250.12 - - - - - - - - - 15.98 -
5259.58 513.73 -7.93 796 5260.91 no move -1.59 - - 1936.06 - - - 2342.62 - -116.79 - - 3249.38 - - - - - - - - - - -
5574.43 539.68 -8.43 817 5579.09 roll -1.59 - - 1935.56 - 2.83 0.061 1209.12 -400.5 -116.79 - - 3252.53 - - - - - - - - - 15.88 -
5633.70 544.88 -8.85 826 5639.25 roll -1.59 - - 1935.62 - 2.64 0.027 2342.62 429.4 -116.79 - - 3251.28 - - - - - - - - - 15.98 -
5953.12 572.96 -8.90 848 5957.77 roll -1.59 - - 1934.81 - 2.83 0.061 1209.12 -400.5 -116.79 - - 3250.59 - - - - - - - - - 15.88 -
5991.83 576.42 -9.13 854 5997.26 roll -1.59 - - 1935.44 - 2.63 0.026 2338.50 429.4 -116.79 - - 3250.03 - - - - - - - - - 15.99 -
6311.07 605.27 -9.13 876 6312.40 no move -1.59 - - 1935.56 - - - 2338.88 - -116.79 - - 3248.75 - - - - - - - - - - -
6626.25 633.60 -8.88 897 6630.91 roll -1.59 - - 1935.81 - 2.82 0.061 1208.94 -400.7 -116.79 - - 3247.91 - - - - - - - - - 15.87 -
6685.52 638.82 -8.93 906 6691.07 roll -1.59 - - 1935.56 - 2.63 0.027 2336.88 428.9 -116.79 - - 3249.81 - - - - - - - - - 15.99 -
7004.93 665.19 -7.87 928 7006.26 no move -1.59 - - 1935.62 - - - 2337.38 - -116.79 - - 3247.84 - - - - - - - - - - -
7319.96 688.73 -7.24 949 7324.60 roll -1.59 - - 1935.62 - 2.80 0.062 1211.44 -402.1 -116.79 - - 3248.41 - - - - - - - - - 15.87 -
7358.51 691.58 -7.49 955 7364.07 roll -1.59 - - 1935.19 - 2.61 0.027 2335.12 430.5 -116.79 - - 3247.56 - - - - - - - - - 15.98 -
7677.93 714.02 -6.99 977 7679.26 no move -1.59 - - 1935.94 - - - 2334.50 - -116.79 - - 3246.66 - - - - - - - - - - -
7992.95 737.06 -7.35 998 7997.59 roll -1.59 - - 1935.31 - 2.78 0.063 1210.50 -404.3 -116.79 - - 3248.16 - - - - - - - - - 15.86 -
8031.71 739.97 -7.59 1004 8037.25 roll -1.59 - - 1936.38 - 2.60 0.027 2330.88 430.9 -116.79 - - 3250.41 - - - - - - - - - 15.99 -
8351.12 764.43 -7.76 1026 8352.45 no move -1.59 - - 1935.50 - - - 2331.12 - -116.79 - - 3246.34 - - - - - - - - - - -
8666.16 788.07 -7.40 1047 8670.99 roll -1.59 - - 1935.44 - 2.78 0.063 1209.25 -403.6 -116.79 - - 3245.59 - - - - - - - - - 15.86 -
8725.60 792.62 -7.73 1056 8730.98 roll -1.59 - - 1934.88 - 2.61 0.027 2329.50 429.2 -116.79 - - 3246.38 - - - - - - - - - 15.98 -
9044.85 815.96 -7.22 1078 9049.50 roll -1.59 - - 1936.19 - 2.77 0.063 1210.19 -404.1 -116.79 - - 3245.72 - - - - - - - - - 15.85 -
9067.66 817.17 -7.24 1082 9082.58 roll -1.59 - - 1935.50 - 2.60 0.027 2330.44 430.9 -116.79 - - 3246.28 - - - - - - - - - 15.98 -
9397.08 840.50 -6.83 1104 9401.73 roll -1.59 - - 1935.44 - 2.79 0.063 1210.81 -401.3 -116.79 - - 3244.69 - - - - - - - - - 15.85 -
9435.63 843.22 -7.09 1110 9441.17 roll -1.59 - - 1935.56 - 2.61 0.027 2327.69 427.9 -116.79 - - 3246.16 - - - - - - - - - 15.98 -
9755.05 864.89 -6.56 1132 9756.38 no move -1.59 - - 1935.62 - - - 2327.94 - -116.79 - - 3245.09 - - - - - - - - - - -
10070.04 885.76 -6.93 1153 10071.37 no move -1.59 - - 1935.81 - - - 2327.38 - -116.79 - - 3244.31 - - - - - - - - - - -
10385.07 907.78 -7.22 1174 10389.71 roll -1.59 - - 1935.75 - 2.79 0.064 1209.06 -400.8 -116.79 - - 3244.16 - - - - - - - - - 15.84 -
10444.43 912.14 -7.42 1183 10449.88 roll -1.59 - - 1935.31 - 2.60 0.027 2323.94 428.8 -116.79 - - 3244.81 - - - - - - - - - 15.98 -
10763.77 934.96 -7.03 1205 10768.41 roll -1.59 - - 1935.69 - 2.79 0.064 1209.31 -399.5 -116.79 - - 3244.06 - - - - - - - - - 15.83 -
10828.26 939.23 -7.27 1215 10843.04 roll -1.59 - - 1934.50 - 2.59 0.028 2321.06 429.2 -116.79 - - 3245.78 - - - - - - - - - 15.97 -
11157.66 962.75 -7.11 1237 11162.30 roll -1.59 - - 1936.00 - 2.78 0.064 1210.31 -399.6 -116.79 - - 3246.25 - - - - - - - - - 15.83 -
11201.22 965.57 -7.35 1244 11216.12 roll -1.59 - - 1936.00 - 2.58 0.027 2317.31 429.1 -116.79 - - 3244.50 - - - - - - - - - 15.98 -
11530.63 989.90 -7.30 1266 11535.28 roll -1.59 - - 1934.94 - 2.78 0.064 1211.06 -397.9 -116.79 - - 3243.34 - - - - - - - - - 15.83 -
11546 end dive: TARGET_DEPTH_EXCEEDED
11546 begin apogee
11550.75 991.18 -7.42 1268 11655.60 -0.28 2.35 0.147 2253.69 135.6 0.16 0.154 2040.88 5186.4 - 94.94 2.425 2774.19 -4.9 0.355 - - - - - - 15.63 14.99 10.08
11657 end apogee: CONTROL_FINISHED_OK
11657 begin climb
11658.27 994.00 - 1275 11767.57 1.59 3.15 0.089 2710.25 144.9 0.17 0.083 2159.81 699.6 116.79 101.15 2.392 2299.69 -4.7 0.343 - - - - - - 15.31 15.42 11.57
12079.18 967.44 7.29 1311 12144.64 1.72 0.17 0.088 2746.94 215.8 3.11 0.083 995.50 -374.4 181.51 56.88 2.321 2033.66 -4.7 0.343 - - - - - - 15.66 15.11 11.15
12209.60 955.61 9.54 1330 12215.16 roll 1.72 - - 2746.25 - 2.68 0.023 2132.62 424.3 181.51 - - 2030.12 - - - - - - - - - 15.56 -
12529.02 924.36 9.79 1352 12530.35 VBD 1.72 - - 2748.00 - - - 2132.88 - 181.51 - - 2025.62 - - - - - - - - - - -
12844.03 893.57 9.74 1373 12848.71 done 1.72 - - 2747.00 - 2.94 0.080 994.50 -387.2 181.51 - - 2023.00 - - - - - - - - - 15.76 -
12903.31 887.60 10.19 1382 12908.86 done 1.72 - - 2747.62 - 2.63 0.024 2131.19 432.2 181.51 - - 2024.38 - - - - - - - - - 15.86 -
13222.72 856.97 9.44 1404 13227.37 done 1.72 - - 2746.44 - 2.76 0.083 3206.94 389.8 181.51 - - 2024.44 - - - - - - - - - 15.80 -
13302.76 849.01 10.03 1416 13308.49 done 1.72 - - 2747.25 - 2.65 0.025 2058.12 -433.5 181.51 - - 2026.09 - - - - - - - - - 15.89 -
13622.30 819.66 8.93 1438 13623.63 VBD 1.72 - - 2747.69 - - - 2058.00 - 181.51 - - 2022.22 - - - - - - - - - - -
13937.24 792.13 8.73 1459 13938.57 VBD 1.73 - - 2747.00 - - - 2058.12 - 181.51 - - 2021.47 - - - - - - - - - - -
14252.25 764.34 8.98 1480 14253.58 VBD 1.73 - - 2747.50 - - - 2058.00 - 181.51 - - 2020.69 - - - - - - - - - - -
14567.48 736.84 8.76 1501 14572.16 done 1.75 - - 2747.25 - 2.95 0.079 3208.69 390.1 181.51 - - 2020.28 - - - - - - - - - 15.82 -
14604.67 733.35 9.08 1506 14609.30 done 1.75 - - 2748.00 - 2.63 0.025 2059.25 -437.0 181.51 - - 2021.25 - - - - - - - - - 15.94 -
14921.16 705.77 8.73 1528 14922.49 VBD 1.76 - - 2748.00 - - - 2059.00 - 181.51 - - 2020.69 - - - - - - - - - - -
15236.20 678.63 8.49 1549 15237.53 VBD 1.78 - - 2748.06 - - - 2058.94 - 181.51 - - 2019.75 - - - - - - - - - - -
15551.22 652.53 8.26 1570 15555.91 done 1.80 - - 2748.19 - 2.95 0.079 3205.38 388.6 181.51 - - 2020.75 - - - - - - - - - 15.81 -
15594.78 649.27 8.49 1577 15609.70 done 1.82 - - 2747.81 - 2.63 0.025 2063.06 -434.3 181.51 - - 2021.09 - - - - - - - - - 15.95 -
15924.20 621.17 8.40 1599 15925.54 VBD 1.84 - - 2747.44 - - - 2062.75 - 181.51 - - 2019.12 - - - - - - - - - - -
16239.23 595.04 8.19 1620 16243.98 1.87 0.16 0.095 2783.75 226.9 2.96 0.078 3206.81 386.5 181.51 - - 2019.00 - - - - - - - - 15.91 15.78 -
16282.81 591.69 8.61 1627 16297.92 done 1.88 - - 2783.19 - 2.62 0.025 2063.81 -436.3 181.51 - - 2020.16 - - - - - - - - - 15.97 -
16612.35 562.48 8.53 1649 16617.03 done 1.90 - - 2782.44 - 2.94 0.078 3204.50 388.0 181.51 - - 2019.94 - - - - - - - - - 15.81 -
16670.28 557.15 9.02 1657 16674.90 done 1.90 - - 2784.31 - 2.59 0.025 2067.88 -438.8 181.51 - - 2018.81 - - - - - - - - - 15.95 -
16986.76 529.94 8.53 1679 16988.09 VBD 1.92 - - 2783.44 - - - 2068.31 - 181.51 - - 2018.84 - - - - - - - - - - -
17301.77 503.15 8.47 1700 17306.45 done 1.94 - - 2783.75 - 2.92 0.079 3208.06 390.3 181.51 - - 2020.25 - - - - - - - - - 15.80 -
17354.72 498.27 8.99 1707 17359.35 done 1.94 - - 2783.44 - 2.60 0.025 2071.12 -437.3 181.51 - - 2018.22 - - - - - - - - - 15.95 -
17666.39 472.42 8.30 1736 17671.04 done 1.96 - - 2783.88 - 2.76 0.085 993.44 -390.5 181.51 - - 2018.78 - - - - - - - - - 15.78 -
17736.42 466.31 8.77 1746 17751.34 done 1.97 - - 2783.19 - 2.67 0.024 2144.50 431.1 181.51 - - 2019.94 - - - - - - - - - 15.96 -
18053.20 440.97 7.84 1775 18064.28 VBD 2.01 - - 2783.94 - - - 2144.50 - 181.51 - - 2018.84 - - - - - - - - - - -
18365.91 415.44 8.35 1804 18370.66 2.03 0.17 0.089 2823.62 233.4 2.97 0.080 994.62 -387.2 181.51 - - 2017.09 - - - - - - - - 15.92 15.78 -
18436.12 408.62 9.70 1814 18450.93 done 2.03 - - 2823.94 - 2.65 0.024 2141.56 432.8 181.51 - - 2017.97 - - - - - - - - - 15.97 -
18753.02 380.01 8.78 1843 18757.67 done 2.04 - - 2824.25 - 2.72 0.082 3207.06 391.7 181.51 - - 2017.94 - - - - - - - - - 15.79 -
18868.90 368.52 9.97 1858 18873.53 done 2.04 - - 2824.38 - 2.62 0.024 2066.00 -435.5 181.51 - - 2018.94 - - - - - - - - - 15.95 -
19180.54 339.48 9.26 1887 19191.61 VBD 2.04 - - 2824.25 - - - 2066.38 - 181.51 - - 2018.28 - - - - - - - - - - -
19493.46 312.21 8.31 1916 19498.14 done 2.06 - - 2824.31 - 2.93 0.078 3206.50 389.1 181.51 - - 2018.41 - - - - - - - - - 15.79 -
19532.01 308.90 8.63 1922 19546.92 done 2.08 - - 2824.38 - 2.58 0.024 2074.12 -438.9 181.51 - - 2018.72 - - - - - - - - - 15.96 -
19851.42 283.31 7.80 1973 19856.98 done 2.11 - - 2824.50 - 2.89 0.078 3206.06 391.7 181.51 - - 2018.41 - - - - - - - - - 15.77 -
19906.42 278.78 8.38 1984 19911.94 done 2.13 - - 2823.44 - 2.57 0.024 2079.00 -438.5 181.51 - - 2018.38 - - - - - - - - - 15.93 -
20216.47 254.93 7.51 2046 20222.20 done 2.17 - - 2824.25 - 2.78 0.083 993.38 -390.5 181.51 - - 2019.47 - - - - - - - - - 15.76 -
20301.65 247.99 8.16 2063 20307.08 2.20 0.18 0.085 2865.62 229.8 2.71 0.024 2162.19 431.3 181.51 - - 2019.47 - - - - - - - - 15.74 15.93 -
20611.90 222.95 8.14 2125 20613.23 VBD 2.22 - - 2865.88 - - - 2162.38 - 181.51 - - 2017.28 - - - - - - - - - - -
20916.73 198.30 7.95 2186 20922.13 done 2.25 - - 2866.31 - 3.00 0.077 993.62 -389.6 181.51 - - 2018.94 - - - - - - - - - 15.75 -
20966.56 193.95 8.85 2196 20972.09 done 2.26 - - 2866.12 - 2.69 0.024 2154.88 431.7 181.51 - - 2018.53 - - - - - - - - - 15.93 -
21276.61 169.40 8.02 2258 21282.14 done 2.29 - - 2866.69 - 2.69 0.080 3206.56 391.0 181.51 - - 2019.34 - - - - - - - - - 15.77 -
21341.60 163.55 9.25 2271 21347.13 done 2.29 - - 2866.75 - 2.57 0.024 2081.12 -437.9 181.51 - - 2018.47 - - - - - - - - - 15.94 -
21651.65 137.51 7.57 2333 21652.98 VBD 2.33 - - 2866.50 - - - 2081.88 - 181.51 - - 2017.53 - - - - - - - - - - -
21956.74 115.34 7.66 2394 21962.31 2.36 0.16 0.089 2906.06 247.2 2.88 0.076 3206.25 390.4 181.51 - - 2020.41 - - - - - - - - 15.90 15.76 -
22031.69 109.05 8.25 2409 22037.21 done 2.39 - - 2905.62 - 2.57 0.023 2077.88 -439.1 181.51 - - 2018.47 - - - - - - - - - 15.93 -
22341.74 88.48 5.97 2471 22429.99 2.60 0.28 0.073 2958.44 188.6 2.94 0.076 3205.00 383.4 286.39 80.72 1.291 1607.22 -5.1 0.061 - - - - - - 15.90 15.27 10.34
22462.27 79.04 9.65 2495 22467.64 roll 2.60 - - 2959.00 - 2.61 0.023 2079.94 -431.1 286.39 - - 1604.84 - - - - - - - - - 15.70 -
22652.16 64.87 6.70 2533 22718.82 2.76 0.18 0.088 2999.06 222.6 - - 2080.50 - 369.26 65.36 1.220 1269.84 -5.1 0.048 - - - - - - 15.71 - 11.14
22902.26 38.86 11.34 2583 22907.79 roll 2.76 - - 2999.81 - 2.91 0.074 3203.94 386.1 369.26 - - 1262.50 - - - - - - - - - 15.65 -
22987.22 27.87 13.16 2600 22992.75 roll 2.76 - - 2999.75 - 2.58 0.023 2084.94 -433.7 369.26 - - 1262.44 - - - - - - - - - 15.73 -
23177.28 8.66 9.87 2638 23182.85 done 2.76 - - 3000.12 - 2.80 0.081 994.88 -389.3 369.26 - - 1260.31 - - - - - - - - - 15.70 -
23207.28 5.29 11.12 2644 23212.86 done 2.76 - - 2999.38 - 2.73 0.024 2166.12 429.0 369.26 - - 1259.59 - - - - - - - - - 15.80 -
23221 end climb: SURFACE_DEPTH_REACHED
23222 begin surface coast
23262 end surface coast: CONTROL_FINISHED_OK
23262 begin surface
SM 0.49 - - - - 192.4 24.27 1.116 1143.8 47.1 17.65 0.054 1120.4 63.5 - 0.40 0.063 1167.2 2911.2 -2.314 - - 11.10 15.75 15.79 -