NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 344 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 109.58 of 550.00 AH used of 24V (80.08% remains)
• Surface angle -65.0 deg, depth 1.53 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 424.94 (SM_CC=425)
• GPS1 time: 48 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
6.83 - - - 57.16 VBD -1.37 - - 180.81 - - - 2243.44 - -82.73 49.12 0.005 2324.72 - - - - - - - - - - 15.59
57.89 3.14 -3.62 9 101.20 -1.37 14.05 0.250 1988.94 128.7 2.94 0.083 3427.25 402.7 -82.73 18.99 0.006 3111.44 41.4 -3.577 - - - - - - 15.66 15.57 15.64
329.26 54.02 -16.04 63 334.94 roll -1.37 - - 1988.88 - 2.60 0.020 2249.69 -452.9 -82.73 - - 3112.38 - - - - - - - - - 15.89 -
519.45 80.96 -13.31 101 524.85 roll -1.37 - - 1988.94 - 2.89 0.079 3427.94 407.7 -82.73 - - 3113.97 - - - - - - - - - 15.91 -
564.29 87.38 -14.60 110 569.81 roll -1.37 - - 1988.56 - 2.59 0.020 2246.56 -456.1 -82.73 - - 3113.47 - - - - - - - - - 15.93 -
759.32 108.03 -9.35 141 764.43 roll -1.37 - - 1987.38 - 2.89 0.079 3426.88 408.4 -82.73 - - 3113.97 - - - - - - - - - 15.95 -
793.87 111.66 -10.39 148 799.86 roll -1.37 - - 1988.62 - 2.58 0.021 2241.81 -459.3 -82.73 - - 3112.53 - - - - - - - - - 15.97 -
1109.37 139.17 -8.51 180 1114.48 roll -1.37 - - 1988.88 - 2.89 0.080 3427.38 410.2 -82.73 - - 3113.38 - - - - - - - - - 15.99 -
1189.38 147.31 -10.27 196 1194.45 roll -1.37 - - 1988.44 - 2.58 0.021 2244.31 -458.6 -82.73 - - 3112.97 - - - - - - - - - 16.00 -
1499.42 175.30 -8.32 228 1504.07 roll -1.37 - - 1988.69 - 2.49 0.065 1208.56 -416.0 -82.73 - - 3113.75 - - - - - - - - - 16.03 -
1539.42 178.93 -9.08 236 1544.50 roll -1.37 - - 1988.44 - 2.61 0.028 2356.38 439.8 -82.73 - - 3112.00 - - - - - - - - - 16.02 -
1849.47 208.15 -9.51 268 1854.73 roll -1.37 - - 1988.75 - 2.77 0.060 1208.19 -414.5 -82.73 - - 3113.97 - - - - - - - - - 16.05 -
1899.58 212.74 -9.44 278 1904.55 roll -1.37 - - 1989.06 - 2.61 0.028 2354.69 439.3 -82.73 - - 3112.06 - - - - - - - - - 16.04 -
2209.55 242.77 -9.71 310 2214.62 roll -1.37 - - 1988.69 - 2.62 0.086 3426.81 409.2 -82.73 - - 3112.47 - - - - - - - - - 16.03 -
2264.10 248.89 -11.70 321 2270.08 roll -1.37 - - 1988.56 - 2.57 0.021 2244.12 -460.2 -82.73 - - 3112.00 - - - - - - - - - 16.07 -
2579.63 279.51 -9.49 353 2580.96 no move -1.37 - - 1988.44 - - - 2243.88 - -82.73 - - 3110.25 - - - - - - - - - - -
2890.08 308.20 -9.36 384 2891.41 no move -1.37 - - 1988.50 - - - 2244.25 - -82.73 - - 3109.12 - - - - - - - - - - -
3200.15 337.32 -9.71 415 3201.47 no move -1.37 - - 1988.81 - - - 2244.50 - -82.73 - - 3108.59 - - - - - - - - - - -
3510.22 366.54 -9.47 446 3514.48 roll -1.37 - - 1987.12 - 2.48 0.068 1208.50 -417.7 -82.73 - - 3110.31 - - - - - - - - - 16.09 -
3564.38 371.72 -9.59 457 3570.39 roll -1.37 - - 1989.00 - 2.61 0.029 2353.62 438.7 -82.73 - - 3108.38 - - - - - - - - - 16.10 -
3879.92 400.80 -8.93 489 3885.01 roll -1.37 - - 1988.31 - 2.76 0.062 1208.44 -414.9 -82.73 - - 3107.69 - - - - - - - - - 16.11 -
3919.92 404.37 -8.93 497 3925.01 roll -1.37 - - 1989.06 - 2.62 0.029 2355.00 437.6 -82.73 - - 3107.66 - - - - - - - - - 16.09 -
4230.00 432.36 -8.97 529 4235.27 roll -1.37 - - 1987.69 - 2.76 0.062 1208.88 -415.3 -82.73 - - 3107.41 - - - - - - - - - 16.10 -
4294.66 438.16 -9.01 542 4300.54 roll -1.37 - - 1988.25 - 2.60 0.029 2354.38 440.6 -82.73 - - 3108.69 - - - - - - - - - 16.11 -
4610.09 465.99 -8.83 574 4615.18 roll -1.37 - - 1987.62 - 2.75 0.063 1208.44 -416.7 -82.73 - - 3107.06 - - - - - - - - - 16.11 -
4750.12 479.37 -9.42 602 4755.19 roll -1.37 - - 1988.50 - 2.60 0.030 2353.56 440.4 -82.73 - - 3105.81 - - - - - - - - - 16.11 -
5060.19 507.27 -8.73 634 5065.28 roll -1.37 - - 1988.56 - 2.76 0.063 1208.75 -414.8 -82.73 - - 3106.09 - - - - - - - - - 16.12 -
5094.74 510.17 -8.56 641 5100.72 roll -1.37 - - 1988.50 - 2.60 0.029 2356.12 441.3 -82.73 - - 3104.97 - - - - - - - - - 16.10 -
5410.24 538.08 -8.76 673 5415.33 roll -1.37 - - 1988.12 - 2.74 0.063 1208.69 -418.8 -82.73 - - 3105.56 - - - - - - - - - 16.10 -
5490.25 545.15 -9.23 689 5495.32 roll -1.37 - - 1988.31 - 2.60 0.030 2352.56 439.9 -82.73 - - 3104.69 - - - - - - - - - 16.12 -
5800.29 571.97 -8.85 721 5801.62 no move -1.37 - - 1988.56 - - - 2353.38 - -82.73 - - 3102.69 - - - - - - - - - - -
6110.71 599.98 -8.84 752 6115.60 roll -1.37 - - 1987.94 - 2.73 0.063 1208.81 -419.3 -82.73 - - 3103.47 - - - - - - - - - 16.10 -
6184.99 606.78 -9.25 767 6190.86 roll -1.37 - - 1988.25 - 2.60 0.030 2351.19 439.4 -82.73 - - 3102.53 - - - - - - - - - 16.12 -
6500.38 634.47 -8.55 799 6505.47 roll -1.37 - - 1988.31 - 2.73 0.064 1206.12 -419.4 -82.73 - - 3102.06 - - - - - - - - - 16.10 -
6540.37 637.70 -8.46 807 6545.44 roll -1.37 - - 1988.50 - 2.60 0.030 2352.62 441.0 -82.73 - - 3101.69 - - - - - - - - - 16.12 -
6850.42 662.49 -7.39 839 6851.75 no move -1.37 - - 1988.62 - - - 2353.69 - -82.73 - - 3100.50 - - - - - - - - - - -
7160.84 686.24 -7.73 870 7165.55 roll -1.37 - - 1988.81 - 2.74 0.064 1207.31 -418.4 -82.73 - - 3101.12 - - - - - - - - - 16.11 -
7240.46 692.43 -7.70 886 7245.53 roll -1.37 - - 1988.62 - 2.59 0.030 2351.75 441.9 -82.73 - - 3101.19 - - - - - - - - - 16.11 -
7550.53 716.59 -7.71 918 7555.62 roll -1.37 - - 1988.75 - 2.74 0.064 1209.56 -416.9 -82.73 - - 3100.78 - - - - - - - - - 16.11 -
7635.09 723.36 -7.90 935 7641.08 roll -1.37 - - 1987.44 - 2.60 0.030 2351.50 439.2 -82.73 - - 3102.09 - - - - - - - - - 16.11 -
7950.62 748.60 -8.24 967 7951.95 no move -1.37 - - 1988.31 - - - 2352.62 - -82.73 - - 3099.53 - - - - - - - - - - -
8261.07 774.94 -8.71 998 8265.97 roll -1.37 - - 1988.81 - 2.72 0.064 1209.56 -420.2 -82.73 - - 3100.59 - - - - - - - - - 16.10 -
8305.41 778.86 -8.06 1007 8311.22 roll -1.37 - - 1987.75 - 2.59 0.030 2352.88 441.4 -82.73 - - 3100.00 - - - - - - - - - 16.11 -
8620.77 807.58 -9.14 1039 8622.09 no move -1.37 - - 1988.38 - - - 2353.06 - -82.73 - - 3097.66 - - - - - - - - - - -
8931.22 834.61 -8.15 1070 8935.93 roll -1.37 - - 1988.12 - 2.73 0.065 1208.88 -419.1 -82.73 - - 3099.31 - - - - - - - - - 16.10 -
8990.84 839.41 -7.99 1082 8995.92 roll -1.37 - - 1988.56 - 2.59 0.031 2353.06 441.8 -82.73 - - 3098.56 - - - - - - - - - 16.11 -
9300.92 863.50 -7.29 1114 9302.25 no move -1.37 - - 1988.25 - - - 2352.50 - -82.73 - - 3097.06 - - - - - - - - - - -
9611.38 884.72 -6.73 1145 9616.08 roll -1.37 - - 1988.88 - 2.74 0.065 1207.56 -417.9 -82.73 - - 3098.56 - - - - - - - - - 16.09 -
9701.01 891.06 -7.12 1163 9706.08 roll -1.37 - - 1988.06 - 2.59 0.031 2351.50 441.7 -82.73 - - 3099.09 - - - - - - - - - 16.09 -
10011.48 911.33 -6.38 1195 10016.18 roll -1.37 - - 1988.50 - 2.72 0.065 1208.50 -420.2 -82.73 - - 3097.34 - - - - - - - - - 16.11 -
10105.83 917.58 -6.49 1214 10111.63 roll -1.37 - - 1987.62 - 2.59 0.031 2352.44 441.7 -82.73 - - 3097.44 - - - - - - - - - 16.11 -
10421.36 938.21 -6.76 1246 10426.33 roll -1.37 - - 1988.75 - 2.74 0.065 1208.44 -417.5 -82.73 - - 3097.91 - - - - - - - - - 16.09 -
10511.20 944.61 -7.20 1264 10516.27 roll -1.37 - - 1988.44 - 2.59 0.031 2352.38 441.7 -82.73 - - 3097.84 - - - - - - - - - 16.09 -
10821.24 966.50 -7.29 1296 10822.57 no move -1.37 - - 1988.56 - - - 2352.25 - -82.73 - - 3095.81 - - - - - - - - - - -
11131.67 987.73 -6.52 1327 11136.37 roll -1.37 - - 1988.44 - 2.73 0.066 1208.62 -418.9 -82.73 - - 3096.53 - - - - - - - - - 16.11 -
11165 end dive: TARGET_DEPTH_EXCEEDED
11165 begin apogee
11169.54 990.02 -6.58 1334 11234.85 -0.28 1.83 0.156 2254.00 145.1 0.12 0.194 2165.25 7971.9 - 60.08 2.434 2774.16 -5.4 0.360 - - - - - - 16.00 15.68 12.22
11244 end apogee: CONTROL_FINISHED_OK
11244 begin climb
11245.33 991.53 - 1341 11316.02 1.37 2.66 0.100 2654.38 150.5 - - 2166.12 - 82.73 65.93 2.360 2437.34 -5.1 0.354 - - - - - - 15.70 - 12.82
11619.16 963.13 8.53 1379 11620.49 no move 1.37 - - 2655.69 - - - 2166.25 - 82.73 - - 2430.66 - - - - - - - - - - -
11929.84 937.42 8.18 1410 11934.35 roll 1.37 - - 2656.12 - 2.94 0.091 3346.44 401.4 82.73 - - 2430.00 - - - - - - - - - 15.86 -
11993.77 931.72 9.09 1423 11999.76 roll 1.37 - - 2655.56 - 2.60 0.024 2188.56 -445.3 82.73 - - 2431.34 - - - - - - - - - 15.87 -
12309.67 907.89 6.83 1455 12314.33 done 1.40 - - 2656.00 - 2.59 0.079 1130.94 -408.3 82.73 - - 2431.19 - - - - - - - - - 15.94 -
12353.83 904.74 6.80 1464 12359.83 done 1.43 - - 2654.31 - 2.62 0.031 2273.38 436.0 82.73 - - 2430.44 - - - - - - - - - 15.94 -
12669.72 883.27 6.74 1496 12674.41 done 1.47 - - 2656.25 - 2.80 0.074 1131.25 -407.9 82.73 - - 2430.09 - - - - - - - - - 15.98 -
12763.89 876.91 6.73 1515 12769.93 roll back 1.50 0.17 0.098 2699.00 251.5 2.61 0.031 2272.81 437.4 82.73 - - 2430.84 - - - - - - - - 15.93 15.99 -
13079.38 853.28 7.56 1547 13080.71 VBD 1.52 - - 2698.19 - - - 2272.75 - 82.73 - - 2428.03 - - - - - - - - - - -
13389.80 829.02 8.33 1578 13394.49 done 1.52 - - 2696.81 - 2.77 0.074 1129.88 -412.6 82.73 - - 2429.91 - - - - - - - - - 16.02 -
13459.42 822.62 9.26 1592 13464.68 done 1.52 - - 2697.88 - 2.61 0.031 2272.00 437.6 82.73 - - 2430.75 - - - - - - - - - 16.02 -
13769.95 795.99 8.84 1624 13774.53 done 1.52 - - 2697.56 - 2.64 0.094 3346.19 406.9 82.73 - - 2430.03 - - - - - - - - - 16.02 -
13809.46 792.39 8.99 1632 13814.52 done 1.52 - - 2698.88 - 2.59 0.024 2184.56 -448.5 82.73 - - 2430.59 - - - - - - - - - 16.05 -
14119.52 765.92 8.13 1664 14120.86 VBD 1.52 - - 2698.88 - - - 2184.00 - 82.73 - - 2427.06 - - - - - - - - - - -
14429.98 739.76 8.11 1695 14434.70 done 1.52 - - 2698.12 - 2.86 0.090 3345.75 406.2 82.73 - - 2429.56 - - - - - - - - - 16.05 -
14479.61 735.47 9.20 1705 14484.68 done 1.52 - - 2699.94 - 2.58 0.024 2185.50 -449.7 82.73 - - 2427.81 - - - - - - - - - 16.06 -
14790.08 710.52 7.94 1737 14791.41 VBD 1.53 - - 2699.75 - - - 2186.44 - 82.73 - - 2426.97 - - - - - - - - - - -
15100.14 686.98 7.46 1768 15101.48 VBD 1.55 - - 2699.06 - - - 2186.19 - 82.73 - - 2426.06 - - - - - - - - - - -
15410.20 666.61 6.14 1799 15441.26 done 1.62 - - 2699.12 - 2.88 0.093 3344.56 402.2 116.77 26.56 1.957 2298.00 -4.8 0.271 - - - - - - - 15.92 12.35
15524.38 657.20 9.53 1822 15530.36 roll 1.62 - - 2699.00 - 2.60 0.025 2188.31 -444.7 116.77 - - 2295.94 - - - - - - - - - 15.97 -
15840.09 630.83 8.11 1854 15841.42 no move 1.62 - - 2699.06 - - - 2188.19 - 116.77 - - 2293.62 - - - - - - - - - - -
16150.47 605.73 8.31 1885 16151.80 no move 1.62 - - 2699.19 - - - 2188.75 - 116.77 - - 2292.59 - - - - - - - - - - -
16460.42 578.82 8.75 1916 16461.75 no move 1.62 - - 2699.06 - - - 2187.94 - 116.77 - - 2292.47 - - - - - - - - - - -
16770.48 552.48 8.35 1947 16771.81 no move 1.62 - - 2699.12 - - - 2187.69 - 116.77 - - 2292.22 - - - - - - - - - - -
17080.55 526.14 8.35 1978 17081.88 no move 1.62 - - 2699.38 - - - 2188.25 - 116.77 - - 2292.91 - - - - - - - - - - -
17390.62 500.88 7.64 2009 17395.33 roll 1.63 - - 2699.38 - 2.85 0.090 3346.81 406.5 116.77 - - 2293.91 - - - - - - - - - 16.04 -
17424.78 497.99 7.86 2016 17430.77 roll 1.65 - - 2699.31 - 2.59 0.024 2187.12 -447.8 116.77 - - 2293.66 - - - - - - - - - 16.05 -
17740.66 474.27 7.12 2048 17742.09 pitch 1.67 0.17 0.098 2736.44 218.4 - - 2186.81 - 116.77 - - 2291.97 - - - - - - - - 16.03 - -
18050.29 449.11 8.27 2079 18051.62 no move 1.67 - - 2736.00 - - - 2187.06 - 116.77 - - 2292.41 - - - - - - - - - - -
18360.73 423.35 8.22 2110 18362.06 no move 1.67 - - 2735.94 - - - 2186.19 - 116.77 - - 2292.59 - - - - - - - - - - -
18670.76 397.64 8.29 2141 18675.49 roll 1.67 - - 2736.94 - 2.84 0.088 3346.62 408.6 116.77 - - 2293.50 - - - - - - - - - 16.06 -
18710.38 394.06 8.94 2149 18715.44 roll 1.67 - - 2736.50 - 2.59 0.025 2187.44 -447.6 116.77 - - 2293.69 - - - - - - - - - 16.06 -
19020.72 367.82 8.33 2181 19022.04 no move 1.67 - - 2736.25 - - - 2188.06 - 116.77 - - 2293.09 - - - - - - - - - - -
19331.03 343.92 7.32 2212 19332.36 no move 1.70 - - 2736.38 - - - 2188.31 - 116.77 - - 2292.19 - - - - - - - - - - -
19640.91 320.40 7.38 2243 19645.62 roll 1.72 - - 2735.06 - 2.85 0.088 3346.81 406.5 116.77 - - 2294.09 - - - - - - - - - 16.07 -
19680.53 317.36 7.48 2251 19685.59 roll 1.74 - - 2736.94 - 2.59 0.024 2187.12 -447.8 116.77 - - 2293.47 - - - - - - - - - 16.06 -
19990.99 295.30 6.84 2283 19992.32 no move 1.77 - - 2735.94 - - - 2186.62 - 116.77 - - 2292.47 - - - - - - - - - - -
20301.23 274.00 7.07 2314 20302.56 no move 1.80 - - 2736.88 - - - 2186.44 - 116.77 - - 2292.59 - - - - - - - - - - -
20611.12 252.13 7.32 2345 20615.89 roll back 1.82 0.15 0.100 2776.06 261.2 2.86 0.086 3345.50 405.3 116.77 - - 2294.38 - - - - - - - - 16.03 16.02 -
20705.29 243.56 9.33 2364 20711.28 roll 1.82 - - 2776.19 - 2.57 0.024 2188.25 -450.3 116.77 - - 2294.47 - - - - - - - - - 16.07 -
21020.82 217.43 8.57 2396 21025.88 roll 1.82 - - 2776.06 - 2.57 0.078 1131.44 -411.2 116.77 - - 2295.00 - - - - - - - - - 16.06 -
21155.40 205.99 8.18 2423 21161.38 roll 1.82 - - 2775.81 - 2.60 0.030 2274.88 439.8 116.77 - - 2293.97 - - - - - - - - - 16.06 -
21471.11 181.66 8.36 2455 21476.07 roll 1.82 - - 2775.69 - 2.63 0.089 3348.12 408.1 116.77 - - 2294.91 - - - - - - - - - 16.04 -
21545.49 174.95 8.95 2470 21551.47 roll 1.82 - - 2776.00 - 2.59 0.023 2183.94 -449.5 116.77 - - 2294.34 - - - - - - - - - 16.07 -
21861.40 154.11 5.53 2502 21898.06 done 1.91 - - 2775.06 - 2.56 0.079 1131.50 -411.1 159.70 32.42 1.347 2121.75 -5.3 0.100 - - - - - - - 15.93 12.31
21970.61 146.06 8.42 2524 21976.58 roll 1.91 - - 2776.06 - 2.60 0.030 2275.44 440.0 159.70 - - 2119.66 - - - - - - - - - 15.94 -
22286.13 119.97 8.60 2556 22287.46 no move 1.91 - - 2775.75 - - - 2275.75 - 159.70 - - 2117.16 - - - - - - - - - - -
22596.60 103.15 3.56 2587 22655.14 2.05 0.25 0.071 2831.31 222.2 2.82 0.073 1130.06 -406.3 231.53 53.33 1.294 1830.56 -5.4 0.071 - - - - - - 15.98 15.80 12.40
22773.17 91.81 7.19 2622 22778.71 done 2.08 - - 2831.50 - 2.62 0.029 2274.56 436.8 231.53 - - 1823.19 - - - - - - - - - 15.88 -
22963.29 79.37 7.20 2660 22968.78 done 2.10 - - 2831.06 - 2.79 0.070 1129.88 -410.3 231.53 - - 1821.12 - - - - - - - - - 15.89 -
23028.25 74.47 7.53 2673 23033.78 done 2.12 - - 2831.38 - 2.61 0.028 2276.88 439.5 231.53 - - 1820.59 - - - - - - - - - 15.91 -
23218.29 61.93 6.66 2711 23219.62 VBD 2.16 - - 2831.69 - - - 2277.00 - 231.53 - - 1818.59 - - - - - - - - - - -
23403.33 47.95 7.76 2748 23404.67 VBD 2.17 - - 2832.06 - - - 2276.88 - 231.53 - - 1818.31 - - - - - - - - - - -
23588.37 35.53 5.72 2785 23624.96 2.25 0.20 0.076 2881.94 249.4 2.81 0.072 1130.25 -408.1 271.65 29.58 1.172 1667.12 -5.1 0.026 - - - - - - 15.95 15.85 12.42
23673.38 29.15 8.32 2802 23678.92 roll 2.25 - - 2881.75 - 2.63 0.028 2277.44 436.2 271.65 - - 1662.84 - - - - - - - - - 15.91 -
23863.42 21.50 2.56 2840 23935.22 2.42 0.16 0.090 2922.62 255.4 2.67 0.087 3348.25 401.1 358.14 64.19 1.171 1315.19 -5.4 0.016 - - - - - - 15.91 15.68 12.43
24108.62 5.18 9.24 2889 24114.00 roll 2.42 - - 2922.56 - 2.62 0.022 2184.69 -444.1 358.14 - - 1307.59 - - - - - - - - - 15.81 -
24158 end climb: SURFACE_DEPTH_REACHED
24158 begin surface coast
24193 end surface coast: CONTROL_FINISHED_OK
24193 begin surface
SM 3.85 - - - - 180.6 48.85 1.143 1042.7 21.3 16.94 0.053 1000.6 59.1 - 0.34 0.059 1084.7 3182.6 -21.226 - - 12.50 15.80 15.85 -