NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 262 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 85.36 of 550.00 AH used of 24V (84.48% remains)
• Surface angle -65.4 deg, depth 1.44 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 424.95 (SM_CC=425)
• GPS1 time: 81 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
6.50 - - - 56.05 VBD -1.37 - - 176.81 - - - 2245.88 - -82.73 48.36 0.005 2255.53 - - - - - - - - - - 15.69
56.79 3.12 -3.96 9 99.12 -1.37 13.63 0.245 1989.62 133.0 - - 2244.81 - -82.73 21.36 0.006 3111.75 40.1 -3.434 - - - - - - 15.70 - 15.70
282.13 42.33 -12.82 54 287.66 roll -1.37 - - 1989.25 - 2.57 0.062 1208.81 -403.1 -82.73 - - 3112.75 - - - - - - - - - 15.90 -
337.13 49.07 -12.09 65 342.68 roll -1.37 - - 1990.31 - 2.66 0.028 2352.12 429.8 -82.73 - - 3113.16 - - - - - - - - - 15.88 -
527.82 76.05 -16.16 103 532.76 roll -1.37 - - 1989.12 - 2.83 0.059 1209.69 -403.7 -82.73 - - 3115.03 - - - - - - - - - 15.95 -
577.19 83.32 -14.32 113 582.74 roll -1.37 - - 1989.69 - 2.65 0.028 2354.06 431.8 -82.73 - - 3113.31 - - - - - - - - - 15.92 -
767.25 105.70 -11.34 146 772.33 roll -1.37 - - 1990.12 - 2.68 0.084 3426.06 400.0 -82.73 - - 3113.28 - - - - - - - - - 15.97 -
811.80 110.68 -11.17 155 817.81 roll -1.37 - - 1989.88 - 2.62 0.020 2241.75 -452.0 -82.73 - - 3113.62 - - - - - - - - - 15.98 -
1127.50 136.07 -7.33 187 1132.39 roll -1.37 - - 1988.75 - 2.53 0.064 1208.62 -408.4 -82.73 - - 3115.34 - - - - - - - - - 16.03 -
1261.91 147.49 -8.72 214 1267.92 roll -1.37 - - 1989.81 - 2.64 0.028 2354.62 434.1 -82.73 - - 3114.75 - - - - - - - - - 16.03 -
1577.44 174.29 -8.70 246 1582.52 roll -1.37 - - 1989.88 - 2.67 0.084 3427.00 401.6 -82.73 - - 3114.31 - - - - - - - - - 16.05 -
1667.47 183.15 -10.11 264 1672.55 roll -1.37 - - 1989.81 - 2.62 0.021 2244.25 -451.4 -82.73 - - 3114.38 - - - - - - - - - 16.07 -
1977.53 209.46 -8.32 296 1982.60 roll -1.37 - - 1988.88 - 2.53 0.065 1208.62 -409.3 -82.73 - - 3116.22 - - - - - - - - - 16.09 -
2092.28 219.87 -8.81 319 2098.16 roll -1.37 - - 1989.62 - 2.64 0.028 2354.75 434.1 -82.73 - - 3114.00 - - - - - - - - - 16.09 -
2407.63 247.66 -8.67 351 2408.96 no move -1.37 - - 1989.69 - - - 2354.81 - -82.73 - - 3113.22 - - - - - - - - - - -
2718.07 274.20 -8.41 382 2722.80 roll -1.37 - - 1989.75 - 2.81 0.061 1208.69 -407.9 -82.73 - - 3113.81 - - - - - - - - - 16.11 -
2852.26 285.79 -8.60 409 2858.28 roll -1.37 - - 1989.69 - 2.64 0.029 2352.94 433.4 -82.73 - - 3113.47 - - - - - - - - - 16.10 -
3167.80 312.25 -8.48 441 3169.13 no move -1.37 - - 1989.75 - - - 2352.81 - -82.73 - - 3112.75 - - - - - - - - - - -
3478.24 338.45 -8.32 472 3482.97 roll -1.37 - - 1989.81 - 2.82 0.062 1209.50 -405.4 -82.73 - - 3112.75 - - - - - - - - - 16.14 -
3527.87 342.70 -8.82 482 3532.95 roll -1.37 - - 1989.19 - 2.63 0.029 2352.00 434.4 -82.73 - - 3112.38 - - - - - - - - - 16.12 -
3837.93 367.64 -7.71 514 3839.26 no move -1.37 - - 1989.88 - - - 2352.12 - -82.73 - - 3111.34 - - - - - - - - - - -
4148.36 391.70 -8.06 545 4149.69 no move -1.37 - - 1989.94 - - - 2352.12 - -82.73 - - 3110.91 - - - - - - - - - - -
4458.39 417.70 -8.30 576 4463.12 roll -1.37 - - 1989.38 - 2.82 0.063 1210.00 -405.0 -82.73 - - 3113.00 - - - - - - - - - 16.15 -
4508.01 421.80 -8.26 586 4513.29 roll -1.37 - - 1989.06 - 2.64 0.029 2352.75 432.9 -82.73 - - 3111.78 - - - - - - - - - 16.14 -
4818.23 448.68 -8.41 618 4823.16 roll -1.37 - - 1990.06 - 2.82 0.062 1208.75 -405.7 -82.73 - - 3110.91 - - - - - - - - - 16.14 -
4908.07 456.50 -8.79 636 4913.15 roll -1.37 - - 1989.69 - 2.63 0.029 2352.88 435.0 -82.73 - - 3111.38 - - - - - - - - - 16.15 -
5218.10 482.40 -8.57 668 5223.20 roll -1.37 - - 1989.88 - 2.80 0.063 1209.56 -408.3 -82.73 - - 3110.66 - - - - - - - - - 16.14 -
5302.66 489.81 -9.08 685 5308.67 roll -1.37 - - 1989.38 - 2.64 0.030 2352.62 433.0 -82.73 - - 3109.84 - - - - - - - - - 16.16 -
5618.16 516.46 -8.46 717 5623.24 roll -1.37 - - 1989.12 - 2.69 0.090 3425.88 399.0 -82.73 - - 3110.50 - - - - - - - - - 16.13 -
5708.17 524.84 -9.28 735 5713.26 roll -1.37 - - 1989.75 - 2.61 0.022 2249.62 -450.7 -82.73 - - 3109.00 - - - - - - - - - 16.16 -
6017.97 549.07 -7.17 767 6023.26 roll -1.37 - - 1988.75 - 2.55 0.068 1209.75 -407.8 -82.73 - - 3109.94 - - - - - - - - - 16.16 -
6068.24 553.24 -7.66 777 6073.30 roll -1.37 - - 1989.44 - 2.64 0.030 2354.81 433.7 -82.73 - - 3108.81 - - - - - - - - - 16.15 -
6378.46 576.98 -7.39 809 6379.79 no move -1.37 - - 1989.75 - - - 2354.75 - -82.73 - - 3106.81 - - - - - - - - - - -
6688.84 598.93 -7.12 840 6690.17 no move -1.37 - - 1989.56 - - - 2354.56 - -82.73 - - 3106.19 - - - - - - - - - - -
6998.79 621.15 -7.10 871 7003.52 roll -1.37 - - 1990.12 - 2.81 0.064 1210.00 -407.3 -82.73 - - 3106.78 - - - - - - - - - 16.15 -
7102.97 628.85 -7.26 892 7108.98 roll -1.37 - - 1989.25 - 2.63 0.030 2351.50 434.0 -82.73 - - 3106.88 - - - - - - - - - 16.16 -
7418.50 651.86 -7.29 924 7423.62 roll -1.37 - - 1989.25 - 2.81 0.064 1208.69 -406.7 -82.73 - - 3108.22 - - - - - - - - - 16.16 -
7533.07 660.69 -7.54 947 7539.08 roll -1.37 - - 1989.62 - 2.63 0.030 2351.75 434.6 -82.73 - - 3106.53 - - - - - - - - - 16.16 -
7848.60 684.62 -7.76 979 7853.68 roll -1.37 - - 1989.75 - 2.68 0.092 3427.19 401.3 -82.73 - - 3105.88 - - - - - - - - - 16.14 -
7963.18 694.99 -9.13 1002 7969.18 roll -1.37 - - 1990.25 - 2.61 0.022 2247.88 -451.8 -82.73 - - 3105.25 - - - - - - - - - 16.16 -
8278.71 719.28 -7.68 1034 8283.77 roll -1.37 - - 1990.31 - 2.54 0.069 1209.81 -408.7 -82.73 - - 3104.91 - - - - - - - - - 16.15 -
8488.95 735.08 -6.81 1076 8493.92 roll -1.37 - - 1990.38 - 2.64 0.031 2351.81 432.6 -82.73 - - 3104.97 - - - - - - - - - 16.15 -
8798.86 756.65 -6.78 1108 8803.92 roll -1.37 - - 1990.00 - 2.70 0.092 3427.00 398.2 -82.73 - - 3105.03 - - - - - - - - - 16.14 -
8983.42 771.25 -7.88 1145 8989.42 roll -1.37 - - 1990.38 - 2.60 0.022 2248.50 -453.3 -82.73 - - 3104.75 - - - - - - - - - 16.16 -
9298.95 792.79 -6.69 1177 9304.02 roll -1.37 - - 1990.31 - 2.55 0.070 1208.62 -407.8 -82.73 - - 3103.84 - - - - - - - - - 16.16 -
9493.54 806.19 -6.39 1216 9499.54 roll -1.37 - - 1989.94 - 2.65 0.031 2351.44 431.3 -82.73 - - 3105.31 - - - - - - - - - 16.16 -
9809.03 826.34 -6.56 1248 9814.12 roll -1.37 - - 1989.56 - 2.71 0.093 3425.00 396.1 -82.73 - - 3104.38 - - - - - - - - - 16.14 -
10043.61 843.78 -7.80 1295 10049.61 roll -1.37 - - 1990.19 - 2.58 0.023 2249.56 -455.6 -82.73 - - 3103.47 - - - - - - - - - 16.17 -
10359.12 864.27 -6.72 1327 10364.25 roll -1.37 - - 1989.62 - 2.97 0.088 3425.69 396.0 -82.73 - - 3104.66 - - - - - - - - - 16.15 -
10449.32 871.26 -7.53 1345 10454.26 roll -1.37 - - 1990.38 - 2.57 0.023 2249.69 -457.6 -82.73 - - 3102.81 - - - - - - - - - 16.15 -
10759.17 892.75 -7.14 1377 10764.24 roll -1.37 - - 1990.50 - 2.51 0.071 1209.50 -414.4 -82.73 - - 3102.84 - - - - - - - - - 16.13 -
10863.73 900.11 -6.64 1398 10869.74 roll -1.37 - - 1990.19 - 2.65 0.031 2352.12 431.2 -82.73 - - 3102.66 - - - - - - - - - 16.15 -
11179.63 922.51 -7.18 1430 11184.35 roll -1.37 - - 1990.50 - 2.77 0.065 1208.88 -412.7 -82.73 - - 3102.12 - - - - - - - - - 16.14 -
11319.30 932.73 -7.13 1458 11324.38 roll -1.37 - - 1990.50 - 2.65 0.031 2350.25 430.7 -82.73 - - 3102.16 - - - - - - - - - 16.16 -
11629.75 955.48 -7.52 1490 11634.47 roll -1.37 - - 1990.38 - 2.72 0.094 3425.56 395.3 -82.73 - - 3101.50 - - - - - - - - - 16.13 -
11759.42 966.50 -8.27 1516 11764.49 roll -1.37 - - 1990.31 - 2.60 0.023 2248.88 -452.6 -82.73 - - 3102.72 - - - - - - - - - 16.14 -
12069.86 988.40 -7.05 1548 12074.62 roll -1.37 - - 1990.50 - 2.97 0.089 3424.31 395.8 -82.73 - - 3101.94 - - - - - - - - - 16.13 -
12089 end dive: TARGET_DEPTH_EXCEEDED
12089 begin apogee
12094.39 990.01 -7.36 1552 12161.07 -0.28 1.77 0.154 2254.19 149.0 0.16 0.167 2285.31 -7118.8 - 60.70 2.414 2774.19 -5.4 0.365 - - - - - - 16.05 15.69 12.41
12171 end apogee: CONTROL_FINISHED_OK
12171 begin climb
12171.50 991.55 - 1559 12241.17 1.37 2.60 0.093 2656.00 154.5 - - 2285.69 - 82.73 65.11 2.345 2436.06 -5.2 0.362 - - - - - - 15.72 - 12.81
12544.58 965.98 7.65 1597 12549.68 roll 1.38 - - 2655.12 - 2.77 0.093 3343.75 382.0 82.73 - - 2432.31 - - - - - - - - - 15.79 -
12719.50 950.88 8.66 1632 12725.17 roll 1.38 - - 2655.06 - 2.65 0.025 2191.62 -434.8 82.73 - - 2431.56 - - - - - - - - - 15.87 -
13035.09 928.10 7.54 1664 13039.83 roll 1.40 - - 2656.31 - 2.96 0.090 3343.81 389.3 82.73 - - 2430.00 - - - - - - - - - 15.93 -
13259.48 908.39 8.98 1709 13265.36 done 1.40 - - 2656.19 - 2.64 0.025 2190.75 -436.8 82.73 - - 2429.50 - - - - - - - - - 15.98 -
13575.22 884.52 8.10 1741 13579.96 done 1.40 - - 2655.38 - 2.95 0.090 3343.75 390.8 82.73 - - 2431.00 - - - - - - - - - 16.00 -
13739.41 870.58 8.76 1774 13745.42 done 1.40 - - 2655.38 - 2.63 0.025 2191.06 -438.3 82.73 - - 2429.91 - - - - - - - - - 16.02 -
14055.35 848.21 7.15 1806 14060.09 done 1.43 - - 2655.94 - 2.94 0.090 3344.31 392.3 82.73 - - 2428.59 - - - - - - - - - 16.04 -
14205.36 836.11 8.22 1836 14210.06 done 1.43 - - 2656.38 - 2.62 0.025 2189.31 -440.8 82.73 - - 2428.56 - - - - - - - - - 16.05 -
14515.41 815.64 6.08 1868 14550.39 1.50 0.16 0.095 2699.12 267.1 2.98 0.093 3345.94 388.1 117.60 27.49 2.118 2294.22 -4.9 0.310 - - - - - - 16.05 15.86 12.57
14615.03 807.22 9.19 1888 14620.11 roll 1.50 - - 2698.62 - 2.64 0.025 2191.69 -437.2 117.60 - - 2294.47 - - - - - - - - - 15.95 -
14925.45 779.36 9.08 1920 14930.38 roll 1.50 - - 2698.69 - 2.96 0.090 3344.12 389.3 117.60 - - 2292.47 - - - - - - - - - 15.97 -
15009.80 770.61 10.53 1937 15015.62 roll 1.50 - - 2698.06 - 2.62 0.026 2192.31 -439.6 117.60 - - 2293.09 - - - - - - - - - 16.01 -
15325.50 741.50 9.06 1969 15330.25 roll 1.50 - - 2699.62 - 2.95 0.090 3345.62 391.0 117.60 - - 2292.09 - - - - - - - - - 16.02 -
15375.12 736.40 11.27 1979 15380.21 roll 1.50 - - 2698.81 - 2.63 0.026 2191.62 -438.8 117.60 - - 2292.41 - - - - - - - - - 16.04 -
15685.55 707.35 9.04 2011 15690.30 roll 1.50 - - 2699.75 - 2.95 0.090 3345.62 391.2 117.60 - - 2291.22 - - - - - - - - - 16.05 -
15775.18 698.39 10.19 2029 15780.27 roll 1.50 - - 2699.56 - 2.61 0.026 2191.25 -442.3 117.60 - - 2291.00 - - - - - - - - - 16.07 -
16085.61 669.68 9.33 2061 16090.36 roll 1.50 - - 2698.81 - 2.96 0.090 3345.00 389.8 117.60 - - 2290.22 - - - - - - - - - 16.06 -
16129.78 665.16 10.36 2070 16135.78 roll 1.50 - - 2699.56 - 2.62 0.026 2192.19 -440.0 117.60 - - 2290.75 - - - - - - - - - 16.08 -
16445.69 637.85 7.97 2102 16450.44 roll 1.50 - - 2698.06 - 2.94 0.090 3345.50 392.3 117.60 - - 2291.44 - - - - - - - - - 16.09 -
16629.98 620.21 9.55 2139 16635.91 roll 1.50 - - 2698.75 - 2.60 0.026 2191.38 -443.9 117.60 - - 2291.47 - - - - - - - - - 16.11 -
16945.85 594.03 7.94 2171 16950.58 roll 1.51 - - 2699.25 - 2.94 0.089 3345.75 392.6 117.60 - - 2289.81 - - - - - - - - - 16.11 -
17100.42 580.09 8.76 2202 17106.02 roll 1.51 - - 2699.25 - 2.58 0.026 2190.62 -447.7 117.60 - - 2289.94 - - - - - - - - - 16.11 -
17415.56 553.42 8.95 2234 17420.70 roll 1.51 - - 2699.69 - 2.94 0.090 3345.50 392.8 117.60 - - 2290.22 - - - - - - - - - 16.11 -
17530.14 541.88 9.88 2257 17536.12 roll 1.51 - - 2699.50 - 2.60 0.025 2189.69 -444.5 117.60 - - 2289.41 - - - - - - - - - 16.11 -
17845.83 515.10 8.43 2289 17850.79 roll 1.51 - - 2699.44 - 2.93 0.089 3344.50 394.1 117.60 - - 2289.66 - - - - - - - - - 16.12 -
17890.21 511.09 9.29 2298 17896.19 roll 1.51 - - 2699.31 - 2.60 0.025 2191.50 -443.5 117.60 - - 2290.62 - - - - - - - - - 16.12 -
18205.91 485.59 8.07 2330 18210.87 roll 1.51 - - 2698.94 - 2.91 0.089 3345.50 396.6 117.60 - - 2290.78 - - - - - - - - - 16.11 -
18330.50 474.17 9.08 2355 18336.36 roll 1.51 - - 2699.81 - 2.59 0.025 2190.38 -446.0 117.60 - - 2289.56 - - - - - - - - - 16.13 -
18645.84 448.92 8.09 2387 18650.97 roll 1.51 - - 2699.81 - 2.91 0.088 3346.81 397.4 117.60 - - 2289.59 - - - - - - - - - 16.11 -
18800.81 434.90 9.09 2418 18806.40 roll 1.51 - - 2699.00 - 2.60 0.025 2189.38 -445.2 117.60 - - 2290.53 - - - - - - - - - 16.12 -
19116.35 410.56 7.68 2450 19121.08 roll 1.52 - - 2699.50 - 2.93 0.088 3345.62 394.6 117.60 - - 2289.94 - - - - - - - - - 16.11 -
19200.51 403.38 8.61 2467 19206.49 roll 1.52 - - 2699.38 - 2.60 0.025 2188.56 -445.0 117.60 - - 2289.47 - - - - - - - - - 16.13 -
19516.40 379.72 7.17 2499 19517.73 no move 1.55 - - 2699.81 - - - 2188.69 - 117.60 - - 2288.56 - - - - - - - - - - -
19826.44 359.16 6.58 2530 19831.17 roll 1.59 - - 2699.56 - 2.93 0.088 3345.69 394.9 117.60 - - 2289.84 - - - - - - - - - 16.11 -
19936.07 350.52 7.96 2552 19941.12 roll 1.60 - - 2699.75 - 2.60 0.025 2189.19 -444.8 117.60 - - 2289.31 - - - - - - - - - 16.11 -
20246.50 328.73 7.15 2584 20251.41 roll 1.62 - - 2699.50 - 2.93 0.087 3345.75 394.7 117.60 - - 2289.50 - - - - - - - - - 16.13 -
20430.67 313.38 8.22 2621 20436.67 roll 1.62 - - 2699.56 - 2.59 0.025 2189.06 -446.6 117.60 - - 2289.41 - - - - - - - - - 16.12 -
20746.57 290.81 6.89 2653 20747.90 no move 1.65 - - 2699.50 - - - 2189.19 - 117.60 - - 2288.72 - - - - - - - - - - -
21056.61 269.76 6.64 2684 21058.04 pitch 1.69 0.19 0.085 2744.62 237.5 - - 2189.25 - 117.60 - - 2288.62 - - - - - - - - 16.09 - -
21366.27 248.73 6.54 2715 21371.40 roll 1.73 - - 2744.25 - 2.91 0.087 3346.44 397.7 117.60 - - 2292.16 - - - - - - - - - 16.11 -
21460.86 241.90 7.23 2734 21466.83 roll 1.75 - - 2744.19 - 2.59 0.025 2189.25 -446.8 117.60 - - 2292.03 - - - - - - - - - 16.12 -
21776.77 222.76 5.81 2766 21807.98 VBD 1.83 - - 2743.38 - - - 2188.19 - 156.45 29.75 1.431 2136.00 -5.2 0.134 - - - - - - - - 12.56
22116.44 193.43 9.99 2800 22121.57 roll 1.83 - - 2744.56 - 2.95 0.086 3346.38 392.6 156.45 - - 2132.62 - - - - - - - - - 16.02 -
22316.50 172.16 10.80 2840 22321.77 roll 1.83 - - 2744.44 - 2.61 0.025 2189.38 -443.3 156.45 - - 2132.47 - - - - - - - - - 16.04 -
22627.12 144.75 7.97 2872 22628.45 no move 1.83 - - 2744.44 - - - 2189.00 - 156.45 - - 2130.69 - - - - - - - - - - -
22937.03 120.90 7.13 2903 22941.81 roll back 1.86 0.15 0.086 2786.38 279.6 2.93 0.085 3346.88 395.2 156.45 - - 2132.75 - - - - - - - - 16.02 16.02 -
23171.25 102.99 7.17 2950 23177.24 roll 1.88 - - 2787.88 - 2.62 0.024 2186.88 -442.7 156.45 - - 2131.31 - - - - - - - - - 16.06 -
23481.82 89.89 3.54 3007 23538.21 VBD 2.03 - - 2787.12 - - - 2186.50 - 228.55 53.58 1.286 1843.47 -5.4 0.062 - - - - - - - - 12.63
23721.89 75.97 6.01 3055 23754.47 2.10 0.25 0.071 2845.06 231.8 2.98 0.085 3346.75 389.3 264.53 27.39 1.211 1696.22 -5.4 0.056 - - - - - - 15.91 15.80 12.67
23887.62 60.32 10.72 3088 23893.17 roll 2.10 - - 2844.94 - 2.64 0.024 2189.94 -438.2 264.53 - - 1692.50 - - - - - - - - - 15.88 -
24077.75 44.25 8.23 3126 24083.23 roll 2.10 - - 2845.69 - 2.62 0.077 1131.44 -404.0 264.53 - - 1688.59 - - - - - - - - - 15.92 -
24117.69 40.85 8.50 3134 24123.25 done 2.10 - - 2844.56 - 2.66 0.028 2274.12 429.6 264.53 - - 1688.44 - - - - - - - - - 15.94 -
24307.79 31.72 3.45 3172 24370.10 done 2.25 - - 2844.94 - 2.75 0.089 3346.50 390.0 337.90 54.83 1.187 1397.78 -5.3 0.023 - - - - - - - 15.72 12.61
24473.68 22.03 6.96 3205 24478.71 roll back 2.28 0.16 0.085 2887.44 265.6 2.66 0.023 2187.75 -435.6 337.90 - - 1392.78 - - - - - - - - 15.79 15.81 -
24663.16 9.19 6.04 3243 24695.61 done 2.35 - - 2887.69 - 2.64 0.077 1131.62 -400.0 373.34 27.33 1.110 1252.34 -5.1 0.007 - - - - - - - 15.75 12.69
24788 end climb: SURFACE_DEPTH_REACHED
24788 begin surface coast
24828 end surface coast: CONTROL_FINISHED_OK
24829 begin surface
SM 3.56 - - - - 180.9 39.22 1.136 1042.6 25.9 16.51 0.044 997.9 60.4 - 2.84 0.027 1087.4 382.0 -5.147 - - 12.63 15.83 15.86 -