NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 300 * Raw log
prev dive * next dive * dive
• Previous call tries 4 • 95.42 of 550.00 AH used of 24V (82.65% remains)
• Surface angle -65.9 deg, depth 1.61 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 424.93 (SM_CC=425)
• GPS1 time: 49 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.57 - - - 61.59 VBD -1.37 - - 178.25 - - - 2364.31 - -82.73 53.85 0.005 2476.81 - - - - - - - - - - 15.64
62.32 3.27 -3.65 10 100.65 -1.37 13.85 0.250 1988.00 130.7 2.59 0.088 3426.69 410.2 -82.73 14.83 0.006 3113.53 42.9 -3.857 - - - - - - 15.67 15.61 15.66
123.93 15.38 -21.45 22 129.29 roll -1.37 - - 1987.88 - 2.59 0.022 2253.00 -453.2 -82.73 - - 3113.12 - - - - - - - - - 15.81 -
314.21 45.17 -13.42 60 319.40 roll -1.37 - - 1988.00 - 2.84 0.078 3429.94 414.4 -82.73 - - 3114.22 - - - - - - - - - 15.88 -
418.85 61.40 -15.97 81 424.38 roll -1.37 - - 1986.75 - 2.57 0.020 2249.31 -459.4 -82.73 - - 3113.50 - - - - - - - - - 15.91 -
609.28 86.53 -11.65 119 614.00 roll -1.37 - - 1987.81 - 2.46 0.064 1207.62 -423.5 -82.73 - - 3114.41 - - - - - - - - - 15.95 -
698.90 96.06 -10.63 137 704.43 roll -1.37 - - 1988.25 - 2.58 0.028 2355.56 444.9 -82.73 - - 3113.22 - - - - - - - - - 15.96 -
888.96 114.42 -9.96 160 894.00 roll -1.37 - - 1988.50 - 2.57 0.083 3429.50 417.9 -82.73 - - 3113.34 - - - - - - - - - 15.98 -
1103.51 137.86 -9.50 203 1109.50 roll -1.37 - - 1988.19 - 2.55 0.021 2242.81 -465.4 -82.73 - - 3113.56 - - - - - - - - - 16.03 -
1419.01 166.19 -8.64 235 1423.66 roll -1.37 - - 1988.50 - 2.44 0.065 1206.12 -424.9 -82.73 - - 3114.44 - - - - - - - - - 16.04 -
1503.74 173.54 -8.78 252 1509.61 roll -1.37 - - 1988.81 - 2.57 0.028 2357.31 447.9 -82.73 - - 3113.12 - - - - - - - - - 16.04 -
1819.06 201.82 -9.94 284 1824.13 roll -1.37 - - 1988.69 - 2.57 0.084 3429.38 417.1 -82.73 - - 3113.66 - - - - - - - - - 16.04 -
1873.61 207.95 -11.20 295 1879.59 roll -1.37 - - 1988.75 - 2.54 0.021 2243.56 -466.9 -82.73 - - 3112.97 - - - - - - - - - 16.08 -
2189.11 238.17 -8.84 327 2190.44 no move -1.37 - - 1988.19 - - - 2243.75 - -82.73 - - 3110.72 - - - - - - - - - - -
2499.55 266.69 -9.43 358 2503.82 roll -1.37 - - 1988.88 - 2.45 0.067 1207.50 -423.0 -82.73 - - 3111.19 - - - - - - - - - 16.09 -
2603.75 276.91 -9.95 379 2609.74 roll -1.37 - - 1988.88 - 2.55 0.029 2354.69 449.9 -82.73 - - 3111.84 - - - - - - - - - 16.08 -
2919.28 307.50 -10.03 411 2924.37 roll -1.37 - - 1988.50 - 2.72 0.062 1207.38 -421.8 -82.73 - - 3110.09 - - - - - - - - - 16.10 -
2983.84 314.23 -10.68 424 2989.83 roll -1.37 - - 1988.88 - 2.56 0.029 2354.50 448.1 -82.73 - - 3110.34 - - - - - - - - - 16.10 -
3299.37 344.18 -9.22 456 3304.46 roll -1.37 - - 1988.62 - 2.72 0.062 1208.69 -421.3 -82.73 - - 3109.53 - - - - - - - - - 16.11 -
3369.38 351.00 -9.95 470 3374.63 roll -1.37 - - 1988.44 - 2.55 0.030 2356.12 450.0 -82.73 - - 3109.16 - - - - - - - - - 16.11 -
3679.56 381.37 -9.67 502 3680.89 no move -1.37 - - 1988.62 - - - 2356.00 - -82.73 - - 3107.44 - - - - - - - - - - -
3989.91 410.18 -8.80 533 3994.61 roll -1.37 - - 1988.56 - 2.73 0.062 1208.62 -420.3 -82.73 - - 3108.22 - - - - - - - - - 16.13 -
4064.08 417.04 -9.26 548 4070.08 roll -1.37 - - 1988.44 - 2.55 0.030 2354.19 449.2 -82.73 - - 3107.38 - - - - - - - - - 16.12 -
4379.61 445.53 -9.39 580 4380.94 no move -1.37 - - 1988.88 - - - 2354.19 - -82.73 - - 3106.22 - - - - - - - - - - -
4690.06 474.16 -9.08 611 4694.77 roll -1.37 - - 1988.88 - 2.71 0.064 1207.56 -423.1 -82.73 - - 3106.66 - - - - - - - - - 16.13 -
4789.70 483.69 -9.48 631 4794.77 roll -1.37 - - 1987.25 - 2.56 0.031 2353.94 447.8 -82.73 - - 3106.41 - - - - - - - - - 16.13 -
5099.77 509.73 -8.33 663 5104.87 roll -1.37 - - 1988.31 - 2.71 0.064 1207.88 -422.9 -82.73 - - 3105.97 - - - - - - - - - 16.14 -
5169.78 515.86 -8.73 677 5174.85 roll -1.37 - - 1988.75 - 2.56 0.031 2354.81 448.0 -82.73 - - 3104.44 - - - - - - - - - 16.15 -
5479.85 542.63 -8.88 709 5484.94 roll -1.37 - - 1988.50 - 2.72 0.064 1208.44 -421.5 -82.73 - - 3104.38 - - - - - - - - - 16.14 -
5554.58 549.55 -9.56 724 5560.44 roll -1.37 - - 1988.44 - 2.57 0.031 2354.75 446.0 -82.73 - - 3103.75 - - - - - - - - - 16.14 -
5869.90 577.61 -8.81 756 5874.99 roll -1.37 - - 1988.56 - 2.72 0.064 1208.56 -421.4 -82.73 - - 3103.06 - - - - - - - - - 16.14 -
5969.92 586.94 -9.44 776 5974.99 roll -1.37 - - 1987.94 - 2.56 0.031 2354.31 447.6 -82.73 - - 3102.81 - - - - - - - - - 16.14 -
6279.96 614.29 -8.83 808 6285.05 roll -1.37 - - 1988.19 - 2.71 0.065 1208.69 -422.7 -82.73 - - 3103.00 - - - - - - - - - 16.14 -
6339.97 619.91 -9.53 820 6345.04 roll -1.37 - - 1988.12 - 2.55 0.031 2354.44 449.3 -82.73 - - 3102.75 - - - - - - - - - 16.15 -
6650.00 646.00 -8.22 852 6655.07 roll -1.37 - - 1988.38 - 2.57 0.093 3427.88 417.7 -82.73 - - 3102.78 - - - - - - - - - 16.11 -
6690.01 649.47 -8.66 860 6695.08 roll -1.37 - - 1988.19 - 2.54 0.023 2248.38 -464.4 -82.73 - - 3101.06 - - - - - - - - - 16.15 -
7000.05 674.74 -8.09 892 7001.38 no move -1.37 - - 1988.56 - - - 2247.88 - -82.73 - - 3099.66 - - - - - - - - - - -
7310.47 699.18 -7.67 923 7315.20 roll -1.37 - - 1988.69 - 2.83 0.088 3428.25 417.1 -82.73 - - 3099.41 - - - - - - - - - 16.12 -
7350.09 702.84 -9.15 931 7355.34 roll -1.37 - - 1988.50 - 2.54 0.023 2249.25 -464.2 -82.73 - - 3101.06 - - - - - - - - - 16.14 -
7660.26 727.68 -7.92 963 7661.59 no move -1.37 - - 1988.81 - - - 2248.69 - -82.73 - - 3098.19 - - - - - - - - - - -
7970.60 752.12 -7.76 994 7971.93 no move -1.37 - - 1988.38 - - - 2248.88 - -82.73 - - 3098.28 - - - - - - - - - - -
8280.67 774.58 -7.01 1025 8282.00 no move -1.37 - - 1988.62 - - - 2248.44 - -82.73 - - 3097.81 - - - - - - - - - - -
8590.74 796.87 -7.31 1056 8595.00 roll -1.37 - - 1987.50 - 2.46 0.072 1208.44 -422.8 -82.73 - - 3098.75 - - - - - - - - - 16.14 -
8664.91 802.80 -7.74 1071 8670.90 roll -1.37 - - 1988.94 - 2.57 0.032 2353.12 445.4 -82.73 - - 3097.28 - - - - - - - - - 16.14 -
8980.43 825.16 -7.26 1103 8985.53 roll -1.37 - - 1987.25 - 2.70 0.066 1208.75 -423.8 -82.73 - - 3097.50 - - - - - - - - - 16.14 -
9100.47 834.33 -7.57 1127 9105.54 roll -1.37 - - 1988.50 - 2.57 0.032 2353.56 445.5 -82.73 - - 3099.31 - - - - - - - - - 16.13 -
9410.54 857.08 -7.66 1159 9415.64 roll -1.37 - - 1988.44 - 2.72 0.066 1208.69 -420.9 -82.73 - - 3097.81 - - - - - - - - - 16.14 -
9495.11 863.57 -7.33 1176 9501.09 roll -1.37 - - 1988.19 - 2.56 0.032 2353.00 447.0 -82.73 - - 3096.75 - - - - - - - - - 16.13 -
9810.63 885.28 -6.70 1208 9815.88 roll -1.37 - - 1988.50 - 2.58 0.095 3428.69 416.9 -82.73 - - 3097.19 - - - - - - - - - 16.10 -
9890.83 891.35 -7.79 1224 9895.72 roll -1.37 - - 1988.62 - 2.56 0.023 2250.31 -460.3 -82.73 - - 3096.50 - - - - - - - - - 16.13 -
10201.12 911.33 -6.42 1256 10205.84 roll -1.37 - - 1988.06 - 2.84 0.090 3426.94 414.3 -82.73 - - 3096.38 - - - - - - - - - 16.10 -
10265.28 916.38 -7.59 1269 10271.27 roll -1.37 - - 1988.88 - 2.54 0.024 2249.88 -463.4 -82.73 - - 3098.09 - - - - - - - - - 16.12 -
10580.81 938.36 -7.17 1301 10582.14 no move -1.37 - - 1988.38 - - - 2249.69 - -82.73 - - 3094.38 - - - - - - - - - - -
10891.24 961.11 -7.44 1332 10895.91 roll -1.37 - - 1988.69 - 2.48 0.072 1208.94 -419.7 -82.73 - - 3095.41 - - - - - - - - - 16.13 -
10975.41 968.01 -7.92 1349 10981.40 roll -1.37 - - 1988.25 - 2.56 0.032 2352.38 446.7 -82.73 - - 3095.12 - - - - - - - - - 16.13 -
11281 end dive: TARGET_DEPTH_EXCEEDED
11281 begin apogee
11283.12 990.30 -7.00 1380 11347.22 -0.28 1.80 0.153 2252.44 146.8 0.20 0.142 2283.19 -346.0 - 59.70 2.426 2774.09 -5.4 0.362 - - - - - - 16.04 15.69 12.36
11349 end apogee: CONTROL_FINISHED_OK
11349 begin climb
11349.46 991.85 - 1386 11422.14 1.37 2.63 0.097 2656.06 153.5 - - 2283.75 - 82.73 65.33 2.353 2437.50 -5.2 0.358 - - - - - - 15.71 - 12.91
11725.89 965.43 7.81 1430 11730.82 roll 1.38 - - 2656.06 - 2.85 0.076 1131.56 -404.3 82.73 - - 2432.22 - - - - - - - - - 15.79 -
11795.72 960.01 8.35 1444 11800.81 roll 1.38 - - 2655.88 - 2.61 0.032 2272.94 437.3 82.73 - - 2430.94 - - - - - - - - - 15.82 -
12106.19 937.03 7.61 1476 12110.90 roll 1.40 - - 2656.19 - 2.80 0.075 1131.38 -407.7 82.73 - - 2430.03 - - - - - - - - - 15.91 -
12175.81 931.58 8.72 1490 12180.88 done 1.40 - - 2655.81 - 2.59 0.032 2273.88 441.1 82.73 - - 2430.59 - - - - - - - - - 15.93 -
12486.25 907.02 7.80 1522 12490.94 done 1.41 - - 2655.75 - 2.62 0.096 3345.38 409.0 82.73 - - 2430.22 - - - - - - - - - 15.94 -
12545.86 901.39 9.29 1534 12550.93 done 1.41 - - 2656.00 - 2.59 0.025 2188.31 -446.7 82.73 - - 2429.94 - - - - - - - - - 15.98 -
12856.30 876.62 7.69 1566 12861.20 done 1.43 - - 2655.75 - 2.82 0.091 3346.38 410.7 82.73 - - 2428.94 - - - - - - - - - 16.01 -
12920.57 870.50 9.17 1579 12926.44 done 1.43 - - 2655.50 - 2.58 0.025 2187.50 -449.2 82.73 - - 2429.97 - - - - - - - - - 16.01 -
13235.95 844.97 8.10 1611 13241.01 done 1.43 - - 2654.38 - 2.55 0.080 1130.12 -414.7 82.73 - - 2428.81 - - - - - - - - - 16.03 -
13275.97 841.97 7.93 1619 13281.03 done 1.44 - - 2655.44 - 2.58 0.032 2274.69 443.6 82.73 - - 2428.88 - - - - - - - - - 16.00 -
13586.40 818.53 7.42 1651 13587.73 VBD 1.46 - - 2656.44 - - - 2274.38 - 82.73 - - 2428.25 - - - - - - - - - - -
13896.44 797.20 6.54 1682 13901.19 1.50 0.16 0.098 2696.75 251.9 2.77 0.076 1131.38 -412.6 82.73 - - 2428.75 - - - - - - - - 16.04 16.04 -
14126.08 777.65 8.60 1728 14131.16 done 1.50 - - 2697.75 - 2.56 0.032 2273.62 446.2 82.73 - - 2428.19 - - - - - - - - - 16.09 -
14436.55 754.41 7.26 1760 14441.22 done 1.52 - - 2697.44 - 2.60 0.096 3348.62 413.5 82.73 - - 2429.41 - - - - - - - - - 16.06 -
14496.18 749.41 8.92 1772 14501.24 done 1.52 - - 2697.94 - 2.58 0.026 2189.38 -449.3 82.73 - - 2429.34 - - - - - - - - - 16.08 -
14806.88 725.58 7.76 1804 14808.21 VBD 1.53 - - 2697.81 - - - 2189.12 - 82.73 - - 2427.28 - - - - - - - - - - -
15116.71 701.63 7.77 1835 15121.38 done 1.55 - - 2697.62 - 2.57 0.080 1130.38 -412.0 82.73 - - 2427.81 - - - - - - - - - 16.10 -
15216.34 693.33 8.50 1855 15221.41 done 1.55 - - 2696.19 - 2.57 0.033 2273.75 444.9 82.73 - - 2428.66 - - - - - - - - - 16.08 -
15526.81 671.59 6.70 1887 15531.52 done 1.58 - - 2697.94 - 2.77 0.076 1131.31 -412.4 82.73 - - 2427.25 - - - - - - - - - 16.10 -
15651.00 662.27 7.52 1912 15656.98 done 1.60 - - 2697.25 - 2.56 0.033 2274.31 446.5 82.73 - - 2426.56 - - - - - - - - - 16.09 -
15966.91 642.24 5.96 1944 15997.15 1.67 0.17 0.089 2737.88 239.0 - - 2274.69 - 119.43 28.41 1.943 2288.41 -4.9 0.265 - - - - - - 16.08 - 12.38
16306.57 609.71 10.96 1979 16307.90 no move 1.67 - - 2738.56 - - - 2274.25 - 119.43 - - 2282.81 - - - - - - - - - - -
16617.04 576.82 10.30 2010 16618.37 no move 1.67 - - 2738.06 - - - 2274.81 - 119.43 - - 2282.22 - - - - - - - - - - -
16927.09 545.79 9.87 2041 16931.81 roll 1.67 - - 2738.56 - 2.76 0.076 1130.12 -414.7 119.43 - - 2282.84 - - - - - - - - - 16.05 -
17051.29 533.26 10.11 2066 17057.46 roll 1.67 - - 2738.94 - 2.58 0.033 2272.12 442.6 119.43 - - 2284.00 - - - - - - - - - 16.06 -
17366.92 505.00 8.67 2098 17371.90 roll 1.67 - - 2739.25 - 2.61 0.095 3345.25 411.2 119.43 - - 2283.50 - - - - - - - - - 16.05 -
17436.83 498.26 9.95 2112 17441.90 roll 1.67 - - 2739.62 - 2.57 0.025 2188.81 -450.0 119.43 - - 2282.06 - - - - - - - - - 16.07 -
17747.25 470.73 8.78 2144 17748.58 no move 1.67 - - 2739.81 - - - 2189.12 - 119.43 - - 2281.38 - - - - - - - - - - -
18057.29 443.33 9.30 2175 18061.97 roll 1.67 - - 2739.00 - 2.55 0.080 1129.94 -415.4 119.43 - - 2282.22 - - - - - - - - - 16.08 -
18121.45 437.45 9.12 2188 18128.04 roll 1.67 - - 2739.75 - 2.57 0.032 2272.62 444.6 119.43 - - 2283.06 - - - - - - - - - 16.09 -
18436.95 410.09 8.66 2220 18438.27 no move 1.67 - - 2739.94 - - - 2272.50 - 119.43 - - 2281.41 - - - - - - - - - - -
18747.37 383.64 8.30 2251 18748.70 no move 1.67 - - 2739.00 - - - 2273.19 - 119.43 - - 2281.47 - - - - - - - - - - -
19057.43 358.90 7.52 2282 19058.76 no move 1.69 - - 2739.75 - - - 2272.69 - 119.43 - - 2281.59 - - - - - - - - - - -
19367.63 334.60 7.77 2313 19372.16 roll 1.71 - - 2739.69 - 2.76 0.075 1128.94 -414.4 119.43 - - 2282.88 - - - - - - - - - 16.09 -
19451.62 327.43 8.53 2330 19457.79 roll 1.71 - - 2739.62 - 2.57 0.031 2273.50 445.4 119.43 - - 2282.16 - - - - - - - - - 16.09 -
19767.31 300.42 8.67 2362 19768.64 no move 1.71 - - 2739.62 - - - 2273.44 - 119.43 - - 2281.22 - - - - - - - - - - -
20077.59 272.86 8.94 2393 20078.92 no move 1.71 - - 2740.25 - - - 2273.56 - 119.43 - - 2281.38 - - - - - - - - - - -
20387.67 248.23 7.17 2424 20389.00 no move 1.73 - - 2739.31 - - - 2273.38 - 119.43 - - 2281.69 - - - - - - - - - - -
20697.74 225.12 7.71 2455 20702.40 roll 1.75 - - 2739.50 - 2.60 0.093 3347.44 413.1 119.43 - - 2283.59 - - - - - - - - - 16.07 -
20771.90 218.78 8.48 2470 20777.89 roll 1.75 - - 2739.38 - 2.57 0.024 2186.56 -451.7 119.43 - - 2282.22 - - - - - - - - - 16.08 -
21087.83 194.02 7.59 2502 21089.16 no move 1.77 - - 2739.94 - - - 2186.44 - 119.43 - - 2281.81 - - - - - - - - - - -
21397.89 172.15 6.61 2533 21402.56 roll 1.80 - - 2739.94 - 2.53 0.078 1130.25 -417.5 119.43 - - 2282.69 - - - - - - - - - 16.03 -
21517.54 164.14 6.46 2557 21545.48 1.86 0.19 0.086 2786.12 243.1 2.56 0.030 2273.44 446.6 148.76 22.91 1.340 2167.75 -5.0 0.101 - - - - - - 16.03 16.03 12.41
21852.60 137.48 7.66 2593 21857.67 roll 1.88 - - 2786.94 - 2.60 0.091 3348.38 413.4 148.76 - - 2164.59 - - - - - - - - - 16.01 -
21977.35 126.13 9.15 2618 21983.22 roll 1.88 - - 2788.06 - 2.58 0.024 2186.56 -450.3 148.76 - - 2164.97 - - - - - - - - - 16.05 -
22293.09 103.21 6.29 2650 22324.08 done 1.94 - - 2788.75 - 2.56 0.079 1128.56 -413.3 180.59 24.89 1.258 2038.03 -5.1 0.069 - - - - - - - 15.92 12.57
22547.79 82.16 8.20 2701 22553.32 roll 1.94 - - 2788.12 - 2.58 0.030 2275.75 444.6 180.59 - - 2033.56 - - - - - - - - - 15.95 -
22737.85 72.82 3.42 2739 22800.23 2.09 0.24 0.074 2842.06 224.8 2.62 0.092 3347.50 409.1 254.43 54.93 1.257 1736.72 -5.4 0.052 - - - - - - 15.94 15.74 12.61
22803.83 69.15 5.89 2752 22839.68 done 2.16 - - 2842.25 - 2.60 0.023 2184.19 -447.4 292.06 29.39 1.185 1583.69 -5.2 0.050 - - - - - - - 15.83 12.82
23023.29 47.58 9.68 2796 23029.00 done 2.16 - - 2841.62 - 2.58 0.077 1130.19 -408.5 292.06 - - 1574.81 - - - - - - - - - 15.83 -
23098.42 39.72 10.86 2811 23103.85 done 2.16 - - 2843.00 - 2.60 0.030 2275.25 440.4 292.06 - - 1572.97 - - - - - - - - - 15.83 -
23288.38 22.31 8.60 2849 23293.96 done 2.16 - - 2842.19 - 2.78 0.073 1131.12 -411.6 292.06 - - 1571.03 - - - - - - - - - 15.86 -
23353.43 19.02 5.19 2862 23395.04 2.26 0.16 0.092 2882.94 254.7 2.57 0.028 2277.81 446.2 339.97 35.67 1.147 1389.56 -5.1 0.014 - - - - - - 15.87 15.91 12.51
23578.50 12.17 3.80 2907 23635.75 done 2.40 - - 2882.81 - 2.63 0.091 3347.38 406.7 408.29 51.56 1.137 1111.03 -5.4 0.010 - - - - - - - 15.65 12.58
23673.91 5.71 9.08 2926 23679.29 roll 2.40 - - 2883.31 - 2.62 0.023 2185.75 -443.4 408.29 - - 1107.94 - - - - - - - - - 15.74 -
23718 end climb: SURFACE_DEPTH_REACHED
23719 begin surface coast
23749 end surface coast: CONTROL_FINISHED_OK
23749 begin surface
SM 2.77 - - - - 179.6 13.89 1.021 1042.7 75.1 16.69 0.051 1015.4 60.8 - 0.34 0.071 1070.0 3139.4 -12.518 - - 12.62 15.76 15.78 -