NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 256 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 83.49 of 550.00 AH used of 24V (84.82% remains)
• Surface angle -64.0 deg, depth 1.50 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 425.04 (SM_CC=425)
• GPS1 time: 87 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
4 end surface: CONTROL_FINISHED_OK
5 begin dive
6.76 - - - 56.29 VBD -1.37 - - 177.06 - - - 2252.19 - -82.73 48.34 0.005 2277.97 - - - - - - - - - - 15.68
57.02 3.27 -3.86 9 100.24 -1.37 13.74 0.251 1988.94 131.9 2.60 0.067 1208.56 -401.4 -82.73 20.84 0.006 3112.47 40.0 -3.595 - - - - - - 15.69 15.67 15.70
218.25 36.85 -21.47 41 223.82 roll -1.37 - - 1988.62 - 2.70 0.029 2351.94 423.5 -82.73 - - 3112.31 - - - - - - - - - 15.86 -
408.96 65.35 -13.73 79 413.89 roll -1.37 - - 1988.56 - 2.74 0.082 3427.25 392.4 -82.73 - - 3112.78 - - - - - - - - - 15.90 -
463.35 74.12 -16.34 90 468.89 roll -1.37 - - 1987.88 - 2.64 0.020 2248.44 -446.5 -82.73 - - 3114.28 - - - - - - - - - 15.93 -
653.76 98.37 -10.93 128 657.35 no move -1.37 - - 1988.56 - - - 2248.50 - -82.73 - - 3113.25 - - - - - - - - - - -
843.40 118.42 -10.88 149 848.47 roll -1.37 - - 1988.31 - 2.57 0.064 1209.81 -404.2 -82.73 - - 3113.94 - - - - - - - - - 15.99 -
947.96 129.08 -10.56 170 953.97 roll -1.37 - - 1988.06 - 2.67 0.027 2352.00 427.8 -82.73 - - 3114.12 - - - - - - - - - 16.02 -
1263.46 160.50 -9.55 202 1268.57 roll -1.37 - - 1988.44 - 2.70 0.083 3427.31 398.3 -82.73 - - 3114.41 - - - - - - - - - 16.02 -
1358.02 170.59 -10.69 221 1364.01 roll -1.37 - - 1988.38 - 2.60 0.020 2240.19 -456.6 -82.73 - - 3114.91 - - - - - - - - - 16.06 -
1673.52 197.98 -9.15 253 1678.59 roll -1.37 - - 1988.81 - 2.53 0.065 1208.75 -407.7 -82.73 - - 3114.22 - - - - - - - - - 16.07 -
1763.53 206.56 -9.70 271 1768.61 roll -1.37 - - 1988.50 - 2.66 0.028 2352.88 430.1 -82.73 - - 3114.97 - - - - - - - - - 16.07 -
2073.57 234.94 -9.49 303 2078.85 roll -1.37 - - 1988.38 - 2.78 0.060 1208.25 -411.7 -82.73 - - 3114.94 - - - - - - - - - 16.08 -
2153.75 242.62 -9.41 319 2158.66 roll -1.37 - - 1988.56 - 2.66 0.028 2353.62 430.6 -82.73 - - 3114.41 - - - - - - - - - 16.09 -
2463.64 270.60 -9.10 351 2468.73 roll -1.37 - - 1988.62 - 2.80 0.061 1208.75 -408.9 -82.73 - - 3114.16 - - - - - - - - - 16.10 -
2523.65 275.99 -9.08 363 2528.75 roll -1.37 - - 1988.62 - 2.66 0.028 2352.62 430.0 -82.73 - - 3113.38 - - - - - - - - - 16.10 -
2833.72 303.84 -9.45 395 2838.82 roll -1.37 - - 1988.75 - 2.79 0.061 1210.19 -409.5 -82.73 - - 3113.25 - - - - - - - - - 16.12 -
2948.30 315.76 -10.79 418 2954.30 roll -1.37 - - 1988.94 - 2.65 0.029 2351.69 430.8 -82.73 - - 3113.94 - - - - - - - - - 16.12 -
3263.83 347.50 -9.45 450 3268.92 roll -1.37 - - 1987.31 - 2.80 0.062 1208.44 -408.3 -82.73 - - 3113.59 - - - - - - - - - 16.14 -
3318.38 352.89 -10.13 461 3324.38 roll -1.37 - - 1987.62 - 2.64 0.029 2352.75 433.5 -82.73 - - 3115.22 - - - - - - - - - 16.14 -
3633.91 382.34 -9.29 493 3635.24 no move -1.37 - - 1988.50 - - - 2352.69 - -82.73 - - 3111.31 - - - - - - - - - - -
3944.36 410.14 -8.78 524 3949.25 roll -1.37 - - 1988.12 - 2.78 0.062 1208.81 -411.5 -82.73 - - 3113.03 - - - - - - - - - 16.14 -
4008.70 415.75 -9.11 537 4014.54 roll -1.37 - - 1988.88 - 2.63 0.029 2353.12 435.1 -82.73 - - 3111.38 - - - - - - - - - 16.15 -
4324.07 443.49 -8.76 569 4325.40 no move -1.37 - - 1988.25 - - - 2353.44 - -82.73 - - 3110.12 - - - - - - - - - - -
4634.52 470.22 -8.30 600 4639.23 roll -1.37 - - 1989.12 - 2.78 0.063 1209.69 -411.4 -82.73 - - 3110.31 - - - - - - - - - 16.14 -
4708.69 476.40 -8.37 615 4714.69 roll -1.37 - - 1988.25 - 2.64 0.030 2353.50 433.3 -82.73 - - 3110.56 - - - - - - - - - 16.14 -
5024.22 502.95 -8.55 647 5029.32 roll -1.37 - - 1988.50 - 2.74 0.063 1209.50 -417.5 -82.73 - - 3109.22 - - - - - - - - - 16.16 -
5158.80 514.65 -9.16 674 5164.80 roll -1.37 - - 1988.38 - 2.64 0.030 2349.06 431.7 -82.73 - - 3109.31 - - - - - - - - - 16.15 -
5474.33 540.76 -8.06 706 5479.42 roll -1.37 - - 1987.44 - 2.77 0.063 1208.50 -411.8 -82.73 - - 3110.25 - - - - - - - - - 16.15 -
5514.33 543.75 -7.74 714 5519.41 roll -1.37 - - 1988.81 - 2.65 0.030 2351.56 431.3 -82.73 - - 3108.69 - - - - - - - - - 16.16 -
5824.37 568.03 -7.68 746 5829.46 roll -1.37 - - 1988.62 - 2.78 0.063 1210.19 -410.6 -82.73 - - 3107.53 - - - - - - - - - 16.16 -
5884.55 572.62 -7.83 758 5889.52 roll -1.37 - - 1988.62 - 2.66 0.030 2350.06 428.5 -82.73 - - 3107.75 - - - - - - - - - 16.16 -
6194.42 597.40 -8.19 790 6199.50 roll -1.37 - - 1987.62 - 2.80 0.063 1208.38 -407.7 -82.73 - - 3108.72 - - - - - - - - - 16.15 -
6294.44 605.93 -8.82 810 6299.51 roll -1.37 - - 1988.62 - 2.64 0.030 2350.62 432.7 -82.73 - - 3107.12 - - - - - - - - - 16.16 -
6604.47 631.65 -8.10 842 6605.80 no move -1.37 - - 1988.31 - - - 2350.31 - -82.73 - - 3106.06 - - - - - - - - - - -
6914.89 658.81 -8.67 873 6916.22 no move -1.37 - - 1987.62 - - - 2350.88 - -82.73 - - 3105.31 - - - - - - - - - - -
7224.92 683.73 -7.98 904 7229.66 roll -1.37 - - 1988.38 - 2.81 0.064 1208.38 -406.6 -82.73 - - 3105.16 - - - - - - - - - 16.16 -
7324.55 691.74 -8.18 924 7329.65 roll -1.37 - - 1988.56 - 2.64 0.030 2349.94 432.4 -82.73 - - 3105.12 - - - - - - - - - 16.16 -
7634.60 715.79 -7.15 956 7639.71 roll -1.37 - - 1988.44 - 2.81 0.064 1209.94 -405.7 -82.73 - - 3105.69 - - - - - - - - - 16.16 -
7689.16 719.94 -7.84 967 7695.17 roll -1.37 - - 1988.12 - 2.65 0.031 2349.94 430.2 -82.73 - - 3104.47 - - - - - - - - - 16.16 -
8004.69 742.69 -7.01 999 8009.96 roll -1.37 - - 1988.25 - 2.80 0.064 1209.81 -407.2 -82.73 - - 3104.44 - - - - - - - - - 16.16 -
8064.82 746.94 -7.16 1011 8069.79 roll -1.37 - - 1988.69 - 2.65 0.030 2350.31 430.4 -82.73 - - 3105.12 - - - - - - - - - 16.16 -
8374.78 768.06 -6.98 1043 8379.88 roll -1.37 - - 1988.06 - 2.78 0.064 1209.88 -410.2 -82.73 - - 3103.41 - - - - - - - - - 16.15 -
8535.21 779.68 -7.17 1075 8539.91 roll -1.37 - - 1988.25 - 2.65 0.031 2350.69 430.5 -82.73 - - 3103.88 - - - - - - - - - 16.16 -
8844.89 801.53 -7.16 1107 8846.22 no move -1.37 - - 1988.00 - - - 2350.62 - -82.73 - - 3102.62 - - - - - - - - - - -
9155.34 823.89 -7.51 1138 9156.67 no move -1.37 - - 1988.25 - - - 2350.50 - -82.73 - - 3102.38 - - - - - - - - - - -
9465.40 848.88 -8.21 1169 9470.11 roll -1.37 - - 1987.88 - 2.77 0.065 1208.50 -412.3 -82.73 - - 3104.06 - - - - - - - - - 16.17 -
9555.04 856.87 -8.87 1187 9560.13 roll -1.37 - - 1988.12 - 2.64 0.031 2351.56 433.0 -82.73 - - 3104.28 - - - - - - - - - 16.16 -
9865.29 882.22 -8.34 1219 9870.22 roll -1.37 - - 1987.44 - 2.80 0.065 1209.94 -407.7 -82.73 - - 3103.88 - - - - - - - - - 16.15 -
9939.68 888.35 -8.21 1234 9945.68 roll -1.37 - - 1988.81 - 2.65 0.031 2350.75 430.5 -82.73 - - 3102.31 - - - - - - - - - 16.15 -
10255.83 912.89 -7.76 1266 10260.32 roll -1.37 - - 1988.12 - 2.81 0.065 1209.88 -406.0 -82.73 - - 3101.72 - - - - - - - - - 16.17 -
10345.23 919.91 -9.17 1284 10350.31 roll -1.37 - - 1988.31 - 2.65 0.031 2350.69 430.5 -82.73 - - 3101.44 - - - - - - - - - 16.16 -
10655.69 942.45 -6.97 1316 10660.74 roll -1.37 - - 1988.81 - 2.81 0.065 1209.44 -406.1 -82.73 - - 3102.66 - - - - - - - - - 16.15 -
10735.32 947.77 -6.53 1332 10740.41 roll -1.37 - - 1988.62 - 2.66 0.031 2351.31 429.3 -82.73 - - 3101.88 - - - - - - - - - 16.16 -
11045.74 968.18 -6.63 1364 11047.07 no move -1.37 - - 1988.38 - - - 2351.44 - -82.73 - - 3100.22 - - - - - - - - - - -
11355.78 988.79 -6.98 1395 11360.50 roll -1.37 - - 1988.12 - 2.82 0.065 1209.94 -404.8 -82.73 - - 3102.12 - - - - - - - - - 16.15 -
11375 end dive: TARGET_DEPTH_EXCEEDED
11375 begin apogee
11379.12 990.24 -6.97 1399 11443.71 -0.28 1.78 0.156 2253.50 149.1 0.12 0.197 2167.38 7978.7 - 60.66 2.415 2775.09 -5.4 0.364 - - - - - - 16.06 15.68 12.54
11453 end apogee: CONTROL_FINISHED_OK
11453 begin climb
11454.03 991.71 - 1405 11523.72 1.37 2.60 0.094 2656.69 155.1 - - 2167.94 - 82.73 65.04 2.343 2435.75 -5.2 0.364 - - - - - - 15.72 - 12.87
11827.11 965.36 7.87 1443 11832.25 roll 1.38 - - 2656.69 - 3.07 0.090 3342.81 382.7 82.73 - - 2431.16 - - - - - - - - - 15.78 -
11927.13 956.54 8.98 1463 11932.22 roll 1.38 - - 2656.31 - 2.62 0.025 2189.44 -440.2 82.73 - - 2431.22 - - - - - - - - - 15.85 -
12237.59 931.91 8.66 1495 12238.92 no move 1.38 - - 2656.06 - - - 2188.81 - 82.73 - - 2429.50 - - - - - - - - - - -
12547.67 908.61 6.96 1526 12552.40 roll 1.41 - - 2657.06 - 2.99 0.089 3344.69 386.6 82.73 - - 2430.78 - - - - - - - - - 15.97 -
12587.28 905.28 7.63 1534 12592.36 roll 1.43 - - 2656.88 - 2.61 0.025 2188.75 -442.9 82.73 - - 2429.88 - - - - - - - - - 15.98 -
12897.74 881.81 7.61 1566 12899.07 VBD 1.44 - - 2656.81 - - - 2187.75 - 82.73 - - 2428.72 - - - - - - - - - - -
13207.77 860.03 6.77 1597 13209.10 VBD 1.48 - - 2656.94 - - - 2187.62 - 82.73 - - 2427.53 - - - - - - - - - - -
13517.81 837.99 7.06 1628 13522.79 1.50 0.16 0.094 2699.56 266.4 2.98 0.089 3344.94 388.4 82.73 - - 2429.31 - - - - - - - - 16.04 16.03 -
13592.08 831.74 8.90 1643 13597.97 done 1.50 - - 2700.25 - 2.62 0.025 2188.50 -441.4 82.73 - - 2428.44 - - - - - - - - - 16.06 -
13907.86 807.18 7.63 1675 13912.58 done 1.52 - - 2700.56 - 2.96 0.089 3343.44 390.2 82.73 - - 2428.19 - - - - - - - - - 16.07 -
13997.48 799.34 9.32 1693 14002.57 done 1.52 - - 2701.31 - 2.62 0.025 2189.06 -440.6 82.73 - - 2428.50 - - - - - - - - - 16.07 -
14307.91 775.44 7.34 1725 14312.64 done 1.54 - - 2700.50 - 2.97 0.089 3344.44 389.0 82.73 - - 2429.47 - - - - - - - - - 16.09 -
14422.31 766.09 8.61 1748 14428.08 done 1.54 - - 2701.38 - 2.61 0.025 2187.44 -443.3 82.73 - - 2428.38 - - - - - - - - - 16.11 -
14737.98 742.47 7.78 1780 14739.31 VBD 1.56 - - 2701.25 - - - 2187.81 - 82.73 - - 2427.84 - - - - - - - - - - -
15048.03 718.46 8.11 1811 15049.36 VBD 1.56 - - 2701.12 - - - 2187.69 - 82.73 - - 2427.66 - - - - - - - - - - -
15358.10 692.72 8.03 1842 15362.79 done 1.56 - - 2701.12 - 2.63 0.079 1132.38 -401.3 82.73 - - 2428.72 - - - - - - - - - 16.13 -
15442.28 685.47 8.53 1859 15448.29 done 1.56 - - 2701.69 - 2.68 0.031 2272.12 425.3 82.73 - - 2428.53 - - - - - - - - - 16.12 -
15758.45 660.93 7.49 1891 15759.78 VBD 1.58 - - 2701.50 - - - 2271.69 - 82.73 - - 2427.66 - - - - - - - - - - -
16068.28 639.79 6.83 1922 16069.61 VBD 1.61 - - 2701.56 - - - 2272.50 - 82.73 - - 2427.81 - - - - - - - - - - -
16378.34 620.73 5.80 1953 16414.08 1.69 0.17 0.086 2743.44 246.4 2.88 0.076 1132.62 -395.8 121.69 30.11 1.934 2278.12 -5.0 0.263 - - - - - - 16.10 15.93 12.62
16512.51 608.70 8.89 1980 16518.53 roll 1.69 - - 2743.19 - 2.69 0.031 2271.50 423.4 121.69 - - 2275.31 - - - - - - - - - 15.99 -
16828.43 579.91 9.25 2012 16829.76 no move 1.69 - - 2743.00 - - - 2271.12 - 121.69 - - 2273.22 - - - - - - - - - - -
17138.49 548.86 10.13 2043 17139.82 no move 1.69 - - 2743.81 - - - 2271.12 - 121.69 - - 2272.94 - - - - - - - - - - -
17448.55 518.77 9.12 2074 17453.27 roll 1.69 - - 2742.31 - 2.77 0.093 3346.06 388.1 121.69 - - 2273.44 - - - - - - - - - 16.06 -
17618.61 501.12 10.11 2108 17623.31 roll 1.69 - - 2743.12 - 2.62 0.024 2191.00 -440.9 121.69 - - 2273.19 - - - - - - - - - 16.07 -
17928.68 472.02 9.86 2140 17930.01 no move 1.69 - - 2742.69 - - - 2191.81 - 121.69 - - 2272.16 - - - - - - - - - - -
18238.92 443.05 9.17 2171 18240.25 no move 1.69 - - 2743.56 - - - 2191.31 - 121.69 - - 2271.91 - - - - - - - - - - -
18548.87 413.62 9.67 2202 18553.51 roll 1.69 - - 2743.88 - 2.97 0.088 3344.81 388.4 121.69 - - 2273.22 - - - - - - - - - 16.09 -
18618.39 406.35 10.35 2216 18623.48 roll 1.69 - - 2743.56 - 2.62 0.024 2189.62 -440.9 121.69 - - 2273.16 - - - - - - - - - 16.10 -
18928.81 379.66 8.23 2248 18933.56 roll 1.69 - - 2743.69 - 2.96 0.087 3345.62 390.5 121.69 - - 2273.69 - - - - - - - - - 16.10 -
18972.98 375.72 8.66 2257 18978.99 roll 1.69 - - 2743.25 - 2.61 0.024 2187.38 -443.8 121.69 - - 2273.75 - - - - - - - - - 16.11 -
19289.03 350.82 8.09 2289 19293.60 roll 1.69 - - 2742.81 - 2.97 0.087 3345.56 390.0 121.69 - - 2272.94 - - - - - - - - - 16.11 -
19328.48 347.44 8.35 2297 19333.57 roll 1.69 - - 2743.81 - 2.62 0.024 2187.88 -441.9 121.69 - - 2273.88 - - - - - - - - - 16.11 -
19638.92 323.24 7.64 2329 19643.60 roll 1.70 - - 2743.06 - 2.63 0.078 1131.06 -401.8 121.69 - - 2272.84 - - - - - - - - - 16.11 -
19678.53 319.83 8.11 2337 19683.61 roll 1.70 - - 2743.25 - 2.66 0.030 2272.19 429.0 121.69 - - 2275.06 - - - - - - - - - 16.11 -
19988.97 297.11 7.00 2369 19993.85 roll 1.73 - - 2743.12 - 2.73 0.091 3346.69 393.6 121.69 - - 2272.78 - - - - - - - - - 16.09 -
20058.77 291.83 7.78 2383 20063.67 roll 1.75 - - 2742.81 - 2.63 0.024 2187.19 -440.9 121.69 - - 2273.84 - - - - - - - - - 16.12 -
20369.04 270.36 6.85 2415 20373.73 roll 1.78 - - 2743.44 - 2.65 0.077 1129.88 -399.0 121.69 - - 2273.22 - - - - - - - - - 16.07 -
20448.69 264.66 7.38 2431 20453.76 roll 1.80 - - 2743.25 - 2.67 0.029 2271.06 427.4 121.69 - - 2273.81 - - - - - - - - - 16.11 -
20759.15 242.92 7.14 2463 20763.87 roll 1.83 - - 2743.31 - 2.86 0.072 1130.25 -398.9 121.69 - - 2272.94 - - - - - - - - - 16.08 -
20853.34 235.96 7.31 2482 20859.38 roll back 1.85 0.14 0.097 2785.25 299.6 2.66 0.030 2271.94 429.2 121.69 - - 2273.53 - - - - - - - - 16.06 16.12 -
21168.86 214.32 6.99 2514 21173.96 roll 1.88 - - 2785.38 - 2.74 0.089 3346.81 392.3 121.69 - - 2272.25 - - - - - - - - - 16.09 -
21368.91 196.87 8.72 2554 21374.00 roll 1.88 - - 2786.12 - 2.62 0.023 2186.38 -442.9 121.69 - - 2273.50 - - - - - - - - - 16.12 -
21679.38 173.78 7.10 2586 21684.25 roll 1.91 - - 2785.44 - 2.64 0.076 1131.56 -399.6 121.69 - - 2275.16 - - - - - - - - - 16.10 -
21769.13 166.92 7.66 2604 21774.09 roll 1.92 - - 2784.56 - 2.65 0.029 2272.69 430.6 121.69 - - 2275.38 - - - - - - - - - 16.10 -
22079.49 144.51 7.56 2636 22080.82 no move 1.94 - - 2785.44 - - - 2273.56 - 121.69 - - 2272.31 - - - - - - - - - - -
22389.54 122.80 6.65 2667 22394.26 roll 1.98 - - 2785.69 - 2.86 0.070 1131.56 -399.3 121.69 - - 2273.72 - - - - - - - - - 16.11 -
22583.98 110.96 4.99 2706 22626.45 2.08 0.23 0.073 2840.75 239.4 2.65 0.028 2275.94 431.8 172.50 37.54 1.313 2070.22 -5.4 0.075 - - - - - - 16.02 16.11 12.58
22929.31 87.85 6.30 2762 22954.82 VBD 2.14 - - 2841.50 - - - 2276.00 - 204.15 24.47 1.227 1942.12 -5.2 0.062 - - - - - - - - 12.71
23139.37 76.33 5.44 2804 23180.23 done 2.23 - - 2841.06 - 2.92 0.071 1131.00 -392.1 248.45 33.85 1.228 1761.66 -5.3 0.055 - - - - - - - 15.79 12.67
23409.47 55.37 8.44 2858 23414.97 done 2.23 - - 2841.69 - 2.70 0.028 2273.19 423.0 248.45 - - 1754.31 - - - - - - - - - 15.88 -
23599.46 42.29 5.99 2896 23632.03 2.30 0.22 0.072 2894.06 238.0 2.91 0.070 1131.44 -392.4 284.71 27.32 1.163 1613.22 -5.2 0.031 - - - - - - 15.90 15.80 12.52
23800.08 28.75 6.15 2936 23831.50 done 2.37 - - 2894.94 - 2.69 0.028 2273.75 424.7 318.58 26.47 1.140 1476.78 -5.2 0.021 - - - - - - - 15.89 12.58
24015.16 14.98 6.62 2979 24020.73 roll 2.41 - - 2895.25 - 2.88 0.068 1131.25 -396.7 318.58 - - 1471.06 - - - - - - - - - 15.86 -
24120.20 9.88 4.62 3000 24167.98 2.52 0.22 0.073 2947.44 237.2 2.68 0.027 2275.62 427.0 374.90 42.81 1.136 1246.38 -5.2 0.008 - - - - - - 15.87 15.91 12.58
24236 end climb: SURFACE_DEPTH_REACHED
24236 begin surface coast
24261 end surface coast: CONTROL_FINISHED_OK
24261 begin surface
SM 3.14 - - - - 177.2 38.03 1.124 1042.3 26.3 16.97 0.044 997.1 58.7 - 0.12 0.126 1087.5 9040.2 -23.026 - - 12.59 15.80 15.82 -