NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 350 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 111.45 of 550.00 AH used of 24V (79.74% remains)
• Surface angle -66.2 deg, depth 1.56 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.75 (SM_CC=425)
• GPS1 time: 76 s
• GPS2 time: 5 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
6.76 - - - 51.67 VBD -1.37 - - 183.25 - - - 2367.38 - -82.73 44.08 0.005 2154.81 - - - - - - - - - - 15.58
52.78 3.17 -3.96 8 101.15 -1.37 14.16 0.255 1988.06 127.5 2.78 0.064 1207.75 -417.1 -82.73 23.94 0.006 3112.38 40.0 -3.531 - - - - - - 15.65 15.57 15.59
239.17 36.15 -14.74 45 244.72 roll -1.37 - - 1988.69 - 2.64 0.029 2351.75 433.3 -82.73 - - 3114.09 - - - - - - - - - 15.85 -
429.63 61.05 -12.95 83 434.98 roll -1.37 - - 1989.69 - 2.65 0.084 3428.31 406.2 -82.73 - - 3113.50 - - - - - - - - - 15.87 -
574.43 81.56 -13.30 112 580.85 roll -1.37 - - 1988.38 - 2.57 0.020 2245.12 -460.4 -82.73 - - 3114.75 - - - - - - - - - 15.92 -
769.79 102.21 -9.95 149 771.12 no move -1.37 - - 1989.75 - - - 2245.19 - -82.73 - - 3113.12 - - - - - - - - - - -
1079.84 128.39 -7.84 180 1084.59 roll -1.37 - - 1989.25 - 2.90 0.080 3425.81 407.1 -82.73 - - 3114.75 - - - - - - - - - 15.97 -
1239.90 142.28 -8.47 212 1244.58 roll -1.37 - - 1989.94 - 2.57 0.021 2243.06 -460.2 -82.73 - - 3114.56 - - - - - - - - - 15.99 -
1549.59 165.74 -8.62 244 1554.71 roll -1.37 - - 1989.75 - 2.91 0.080 3427.75 407.1 -82.73 - - 3114.50 - - - - - - - - - 16.01 -
1704.55 180.87 -9.30 275 1710.15 roll -1.37 - - 1989.94 - 2.56 0.021 2244.25 -462.3 -82.73 - - 3115.69 - - - - - - - - - 16.03 -
2019.88 207.75 -8.17 307 2024.35 roll -1.37 - - 1989.56 - 2.44 0.067 1207.38 -424.9 -82.73 - - 3114.59 - - - - - - - - - 16.04 -
2059.70 211.15 -8.51 315 2064.78 roll -1.37 - - 1990.00 - 2.61 0.028 2354.62 439.6 -82.73 - - 3115.06 - - - - - - - - - 16.04 -
2369.77 238.65 -9.12 347 2375.04 roll -1.37 - - 1989.69 - 2.63 0.086 3429.38 408.7 -82.73 - - 3113.97 - - - - - - - - - 16.04 -
2444.51 246.18 -10.08 362 2450.32 roll -1.37 - - 1990.06 - 2.55 0.021 2243.50 -465.1 -82.73 - - 3114.09 - - - - - - - - - 16.05 -
2759.86 275.09 -9.07 394 2764.50 roll -1.37 - - 1989.88 - 2.44 0.067 1207.31 -424.7 -82.73 - - 3114.72 - - - - - - - - - 16.06 -
2789.84 277.89 -9.11 400 2794.93 roll -1.37 - - 1989.44 - 2.61 0.029 2354.06 439.4 -82.73 - - 3114.09 - - - - - - - - - 16.06 -
3100.21 306.91 -8.86 432 3104.97 roll -1.37 - - 1988.94 - 2.63 0.088 3426.69 407.8 -82.73 - - 3114.47 - - - - - - - - - 16.05 -
3214.45 318.24 -9.80 455 3220.44 roll -1.37 - - 1989.81 - 2.55 0.022 2246.44 -462.8 -82.73 - - 3113.38 - - - - - - - - - 16.08 -
3529.95 345.81 -8.61 487 3535.06 roll -1.37 - - 1988.75 - 2.89 0.084 3428.56 409.0 -82.73 - - 3114.41 - - - - - - - - - 16.06 -
3559.95 348.88 -9.41 493 3565.02 roll -1.37 - - 1990.12 - 2.55 0.022 2246.88 -463.4 -82.73 - - 3112.84 - - - - - - - - - 16.07 -
3870.00 377.32 -9.02 525 3875.11 roll -1.37 - - 1990.25 - 2.88 0.084 3427.25 409.9 -82.73 - - 3112.31 - - - - - - - - - 16.06 -
4054.57 396.36 -10.36 562 4060.75 roll -1.37 - - 1989.06 - 2.55 0.022 2248.88 -462.1 -82.73 - - 3113.25 - - - - - - - - - 16.09 -
4370.19 424.92 -9.24 594 4375.18 roll -1.37 - - 1989.44 - 2.87 0.085 3427.69 410.7 -82.73 - - 3112.25 - - - - - - - - - 16.08 -
4514.65 439.70 -10.40 623 4520.63 roll -1.37 - - 1989.75 - 2.55 0.022 2248.50 -462.4 -82.73 - - 3111.44 - - - - - - - - - 16.07 -
4830.17 467.62 -8.55 655 4835.28 roll -1.37 - - 1989.56 - 2.88 0.085 3428.25 409.6 -82.73 - - 3110.78 - - - - - - - - - 16.07 -
4954.76 479.37 -9.07 680 4960.75 roll -1.37 - - 1990.00 - 2.55 0.023 2249.12 -462.4 -82.73 - - 3112.12 - - - - - - - - - 16.09 -
5270.28 503.95 -7.30 712 5275.40 roll -1.37 - - 1989.44 - 2.89 0.086 3427.75 407.8 -82.73 - - 3111.03 - - - - - - - - - 16.08 -
5404.87 515.64 -8.51 739 5410.86 roll -1.37 - - 1988.62 - 2.55 0.023 2248.38 -462.5 -82.73 - - 3112.16 - - - - - - - - - 16.08 -
5720.39 539.58 -8.10 771 5725.50 roll -1.37 - - 1988.50 - 2.88 0.086 3427.06 409.3 -82.73 - - 3110.94 - - - - - - - - - 16.08 -
5810.42 547.96 -9.17 789 5815.67 roll -1.37 - - 1989.62 - 2.55 0.023 2250.75 -461.3 -82.73 - - 3110.59 - - - - - - - - - 16.10 -
6120.60 573.26 -8.37 821 6125.60 roll -1.37 - - 1989.50 - 2.89 0.087 3426.44 406.8 -82.73 - - 3109.44 - - - - - - - - - 16.08 -
6235.06 583.75 -8.89 844 6241.04 roll -1.37 - - 1990.00 - 2.55 0.023 2249.44 -461.6 -82.73 - - 3109.09 - - - - - - - - - 16.10 -
6550.58 608.66 -8.01 876 6555.70 roll -1.37 - - 1990.50 - 2.89 0.087 3428.31 407.9 -82.73 - - 3108.22 - - - - - - - - - 16.09 -
6721.02 623.81 -8.72 910 6725.70 roll -1.37 - - 1989.94 - 2.55 0.023 2250.25 -462.0 -82.73 - - 3108.06 - - - - - - - - - 16.09 -
7030.70 647.60 -7.90 942 7035.81 roll -1.37 - - 1989.44 - 2.88 0.087 3425.69 408.1 -82.73 - - 3108.28 - - - - - - - - - 16.09 -
7145.28 657.78 -8.55 965 7151.26 roll -1.37 - - 1989.12 - 2.54 0.023 2249.25 -463.2 -82.73 - - 3108.06 - - - - - - - - - 16.08 -
7460.81 682.53 -7.82 997 7465.92 roll -1.37 - - 1989.06 - 2.90 0.088 3427.44 406.3 -82.73 - - 3108.31 - - - - - - - - - 16.07 -
7535.36 689.34 -9.07 1012 7541.35 roll -1.37 - - 1989.81 - 2.54 0.023 2249.75 -463.7 -82.73 - - 3107.56 - - - - - - - - - 16.08 -
7851.05 713.52 -7.58 1044 7856.04 roll -1.37 - - 1989.62 - 2.89 0.088 3427.19 407.4 -82.73 - - 3106.44 - - - - - - - - - 16.09 -
7915.42 719.03 -8.29 1057 7921.40 roll -1.37 - - 1990.06 - 2.54 0.023 2249.06 -463.8 -82.73 - - 3106.41 - - - - - - - - - 16.10 -
8230.92 741.61 -6.99 1089 8236.03 roll -1.37 - - 1989.75 - 2.88 0.088 3427.00 409.0 -82.73 - - 3106.12 - - - - - - - - - 16.10 -
8285.47 746.21 -8.11 1100 8291.45 roll -1.37 - - 1989.81 - 2.54 0.023 2248.31 -464.1 -82.73 - - 3105.94 - - - - - - - - - 16.09 -
8600.96 769.03 -7.34 1132 8602.29 no move -1.37 - - 1989.75 - - - 2248.31 - -82.73 - - 3104.78 - - - - - - - - - - -
8911.38 792.63 -7.59 1163 8916.11 roll -1.37 - - 1989.94 - 2.88 0.089 3426.62 409.1 -82.73 - - 3105.31 - - - - - - - - - 16.07 -
9115.58 809.99 -8.24 1204 9121.56 roll -1.37 - - 1989.50 - 2.54 0.023 2248.75 -463.7 -82.73 - - 3105.03 - - - - - - - - - 16.10 -
9431.08 833.16 -7.39 1236 9435.74 roll -1.37 - - 1989.88 - 2.46 0.071 1207.31 -423.3 -82.73 - - 3105.38 - - - - - - - - - 16.09 -
9491.08 837.55 -7.95 1248 9496.15 roll -1.37 - - 1989.94 - 2.60 0.031 2354.12 441.1 -82.73 - - 3104.72 - - - - - - - - - 16.10 -
9801.35 858.61 -6.39 1280 9806.29 roll -1.37 - - 1989.19 - 2.64 0.094 3426.88 406.3 -82.73 - - 3105.38 - - - - - - - - - 16.06 -
9895.73 865.47 -7.22 1299 9901.71 roll -1.37 - - 1988.38 - 2.54 0.023 2246.69 -464.6 -82.73 - - 3104.31 - - - - - - - - - 16.08 -
10211.65 883.71 -5.72 1331 10216.38 roll -1.37 - - 1988.12 - 2.91 0.089 3428.00 405.9 -82.73 - - 3105.06 - - - - - - - - - 16.08 -
10421.34 898.44 -7.14 1373 10426.40 roll -1.37 - - 1988.50 - 2.54 0.023 2249.44 -464.0 -82.73 - - 3104.62 - - - - - - - - - 16.09 -
10731.80 916.92 -6.12 1405 10733.13 no move -1.37 - - 1989.81 - - - 2248.31 - -82.73 - - 3101.53 - - - - - - - - - - -
11041.87 935.26 -5.87 1436 11046.61 roll -1.37 - - 1989.69 - 2.91 0.090 3427.12 405.1 -82.73 - - 3103.34 - - - - - - - - - 16.07 -
11101.50 939.25 -6.85 1448 11106.56 roll -1.37 - - 1989.50 - 2.56 0.023 2247.75 -460.7 -82.73 - - 3102.91 - - - - - - - - - 16.08 -
11411.95 957.91 -6.17 1480 11416.69 roll -1.37 - - 1990.00 - 2.91 0.089 3426.19 405.0 -82.73 - - 3103.41 - - - - - - - - - 16.09 -
11461.57 961.58 -7.34 1490 11466.82 roll -1.37 - - 1988.31 - 2.55 0.024 2247.19 -462.4 -82.73 - - 3103.88 - - - - - - - - - 16.07 -
11771.81 981.89 -6.64 1522 11776.77 roll -1.37 - - 1989.81 - 2.90 0.090 3427.38 407.0 -82.73 - - 3102.28 - - - - - - - - - 16.08 -
11836.19 987.23 -8.20 1535 11842.17 roll -1.37 - - 1989.62 - 2.55 0.024 2248.31 -462.4 -82.73 - - 3103.59 - - - - - - - - - 16.07 -
11881 end dive: TARGET_DEPTH_EXCEEDED
11882 begin apogee
11883.44 990.25 -6.76 1540 11948.00 -0.28 1.81 0.154 2253.56 145.8 0.16 0.173 2285.25 230.9 - 60.84 2.450 2773.94 -5.4 0.366 - - - - - - 16.00 15.65 12.13
11950 end apogee: CONTROL_FINISHED_OK
11950 begin climb
11950.55 991.88 - 1546 12025.80 1.37 2.64 0.101 2655.50 152.2 2.76 0.097 3344.62 383.8 82.73 65.50 2.373 2436.44 -5.2 0.360 - - - - - - 15.68 15.32 12.75
12029.37 988.80 4.35 1557 12086.66 1.49 0.15 0.096 2692.38 245.9 2.66 0.024 2186.44 -435.4 142.99 50.17 2.309 2191.16 -4.9 0.350 - - - - - - 15.42 15.43 12.61
12394.34 954.52 10.11 1599 12399.49 done 1.49 - - 2693.12 - 2.94 0.091 3345.75 394.3 142.99 - - 2182.88 - - - - - - - - - 15.72 -
12508.92 941.66 10.97 1622 12514.92 done 1.49 - - 2691.50 - 2.61 0.025 2192.81 -441.7 142.99 - - 2182.41 - - - - - - - - - 15.78 -
12824.84 909.77 9.91 1654 12829.56 done 1.49 - - 2692.25 - 2.89 0.091 3343.56 398.2 142.99 - - 2180.75 - - - - - - - - - 15.88 -
12924.49 898.60 11.33 1674 12929.54 done 1.49 - - 2693.50 - 2.58 0.026 2191.50 -446.5 142.99 - - 2180.69 - - - - - - - - - 15.89 -
13234.55 868.74 9.80 1706 13239.66 done 1.49 - - 2692.31 - 2.88 0.091 3345.56 400.7 142.99 - - 2180.41 - - - - - - - - - 15.93 -
13399.14 850.82 11.14 1739 13405.14 done 1.49 - - 2693.06 - 2.57 0.026 2191.50 -449.1 142.99 - - 2178.94 - - - - - - - - - 15.95 -
13714.67 817.70 10.43 1771 13719.79 done 1.49 - - 2692.69 - 2.87 0.091 3345.31 402.0 142.99 - - 2178.78 - - - - - - - - - 15.98 -
13849.26 801.49 12.50 1798 13855.42 done 1.49 - - 2693.25 - 2.57 0.026 2191.25 -449.1 142.99 - - 2178.72 - - - - - - - - - 16.00 -
14164.91 768.39 10.16 1830 14169.89 done 1.49 - - 2693.38 - 2.87 0.091 3346.31 402.5 142.99 - - 2179.31 - - - - - - - - - 16.01 -
14274.82 755.51 11.62 1852 14279.88 done 1.49 - - 2692.06 - 2.57 0.026 2191.38 -449.4 142.99 - - 2179.28 - - - - - - - - - 16.01 -
14584.86 722.56 10.60 1884 14589.98 done 1.49 - - 2692.94 - 2.86 0.091 3345.81 403.6 142.99 - - 2178.97 - - - - - - - - - 16.01 -
14724.90 706.36 11.54 1912 14729.96 done 1.49 - - 2693.12 - 2.56 0.026 2191.56 -450.9 142.99 - - 2178.03 - - - - - - - - - 16.04 -
15035.31 675.95 9.39 1944 15040.04 done 1.49 - - 2692.62 - 2.86 0.091 3346.94 404.0 142.99 - - 2178.19 - - - - - - - - - 16.02 -
15114.94 667.81 10.38 1960 15120.01 done 1.49 - - 2692.81 - 2.58 0.026 2189.75 -448.5 142.99 - - 2177.94 - - - - - - - - - 16.03 -
15424.99 640.72 8.68 1992 15430.10 done 1.49 - - 2693.00 - 2.87 0.091 3345.38 402.7 142.99 - - 2177.94 - - - - - - - - - 16.04 -
15615.06 622.71 9.40 2030 15620.27 done 1.49 - - 2692.19 - 2.56 0.026 2191.38 -450.8 142.99 - - 2177.16 - - - - - - - - - 16.06 -
15925.18 597.40 8.20 2062 15930.18 done 1.49 - - 2691.75 - 2.86 0.090 3346.06 403.7 142.99 - - 2178.00 - - - - - - - - - 16.05 -
16035.08 587.31 9.38 2084 16040.16 done 1.49 - - 2692.81 - 2.56 0.026 2191.62 -451.0 142.99 - - 2176.94 - - - - - - - - - 16.06 -
16345.54 562.77 7.81 2116 16350.25 done 1.50 - - 2692.75 - 2.87 0.090 3345.81 402.2 142.99 - - 2176.81 - - - - - - - - - 16.04 -
16469.73 551.30 9.03 2141 16475.71 done 1.50 - - 2693.44 - 2.57 0.026 2190.38 -449.6 142.99 - - 2176.44 - - - - - - - - - 16.07 -
16785.25 525.95 8.05 2173 16790.37 done 1.50 - - 2691.50 - 2.87 0.090 3346.00 402.7 142.99 - - 2178.19 - - - - - - - - - 16.06 -
16875.28 517.25 9.59 2191 16880.35 done 1.50 - - 2692.69 - 2.57 0.026 2189.38 -450.0 142.99 - - 2177.84 - - - - - - - - - 16.06 -
17185.74 489.72 8.88 2223 17190.46 done 1.50 - - 2691.38 - 2.86 0.090 3346.56 404.6 142.99 - - 2177.66 - - - - - - - - - 16.05 -
17355.39 472.50 10.36 2257 17360.46 done 1.50 - - 2693.00 - 2.56 0.026 2191.12 -451.3 142.99 - - 2177.81 - - - - - - - - - 16.06 -
17665.65 444.50 8.90 2289 17670.58 done 1.50 - - 2692.56 - 2.87 0.089 3346.75 402.7 142.99 - - 2177.03 - - - - - - - - - 16.05 -
17745.49 436.63 9.87 2305 17750.56 done 1.50 - - 2693.19 - 2.56 0.026 2189.56 -452.0 142.99 - - 2176.69 - - - - - - - - - 16.06 -
18055.56 409.95 8.65 2337 18060.67 done 1.50 - - 2693.50 - 2.86 0.089 3345.94 404.3 142.99 - - 2177.72 - - - - - - - - - 16.05 -
18250.15 391.75 9.43 2376 18256.15 done 1.50 - - 2693.25 - 2.56 0.025 2189.75 -451.6 142.99 - - 2176.53 - - - - - - - - - 16.07 -
18566.07 364.81 8.43 2408 18567.40 VBD 1.50 - - 2693.12 - - - 2189.88 - 142.99 - - 2176.06 - - - - - - - - - - -
18876.15 340.29 7.37 2439 18880.87 done 1.52 - - 2692.31 - 2.88 0.089 3347.19 401.8 142.99 - - 2178.06 - - - - - - - - - 16.05 -
18975.78 332.02 8.34 2459 18980.84 done 1.52 - - 2693.38 - 2.57 0.025 2188.50 -450.9 142.99 - - 2177.59 - - - - - - - - - 16.06 -
19286.24 309.94 7.14 2491 19290.96 done 1.55 - - 2692.44 - 2.87 0.088 3345.88 403.3 142.99 - - 2177.19 - - - - - - - - - 16.07 -
19436.26 297.25 8.31 2521 19441.12 done 1.55 - - 2693.25 - 2.57 0.025 2189.25 -450.1 142.99 - - 2177.22 - - - - - - - - - 16.00 -
19746.49 273.50 7.53 2553 19751.02 done 1.57 - - 2692.81 - 2.87 0.088 3345.19 402.8 142.99 - - 2178.16 - - - - - - - - - 16.05 -
19840.48 265.52 8.51 2572 19846.47 done 1.57 - - 2693.31 - 2.56 0.025 2187.56 -452.2 142.99 - - 2176.94 - - - - - - - - - 16.04 -
20156.37 243.26 7.30 2604 20161.08 done 1.59 - - 2693.50 - 2.88 0.087 3346.50 402.4 142.99 - - 2177.00 - - - - - - - - - 15.98 -
20296.00 231.68 8.50 2632 20301.07 done 1.59 - - 2693.50 - 2.57 0.025 2187.75 -450.9 142.99 - - 2177.06 - - - - - - - - - 16.05 -
20606.44 208.38 7.48 2664 20611.15 done 1.61 - - 2692.81 - 2.88 0.087 3346.94 402.5 142.99 - - 2177.31 - - - - - - - - - 15.99 -
20786.06 193.06 8.85 2700 20791.15 done 1.61 - - 2693.31 - 2.58 0.024 2186.62 -449.7 142.99 - - 2176.69 - - - - - - - - - 16.00 -
21096.53 169.49 7.22 2732 21101.25 done 1.64 - - 2692.81 - 2.88 0.086 3346.88 402.9 142.99 - - 2176.44 - - - - - - - - - 16.04 -
21251.37 157.95 7.10 2763 21256.78 1.66 0.18 0.093 2733.06 223.6 2.57 0.024 2185.44 -451.9 142.99 - - 2177.09 - - - - - - - - 15.97 16.05 -
21566.26 136.97 6.61 2795 21567.60 VBD 1.70 - - 2732.69 - - - 2185.75 - 142.99 - - 2176.09 - - - - - - - - - - -
21876.72 116.07 6.48 2826 21878.05 VBD 1.74 - - 2732.19 - - - 2185.38 - 142.99 - - 2176.53 - - - - - - - - - - -
22186.78 103.92 2.89 2857 22252.62 1.90 0.28 0.073 2793.88 220.3 2.56 0.079 1130.12 -412.2 224.67 58.40 1.309 1857.47 -5.5 0.072 - - - - - - 16.00 15.83 12.17
22326.40 93.72 10.22 2885 22331.97 roll 1.90 - - 2793.38 - 2.64 0.029 2274.00 433.3 224.67 - - 1853.41 - - - - - - - - - 15.87 -
22516.50 78.51 6.79 2923 22522.02 done 1.94 - - 2793.25 - 2.68 0.088 3347.06 400.4 224.67 - - 1850.53 - - - - - - - - - 15.85 -
22576.53 74.19 7.26 2935 22582.03 done 1.96 - - 2794.31 - 2.59 0.023 2184.06 -449.0 224.67 - - 1849.47 - - - - - - - - - 15.87 -
22766.98 64.69 5.36 2973 22808.43 done 2.05 - - 2795.12 - 2.91 0.085 3347.19 399.7 270.13 33.72 1.216 1673.22 -5.2 0.046 - - - - - - - 15.79 12.32
22986.67 47.90 7.82 3017 22992.24 roll back 2.06 0.15 0.096 2829.50 229.2 2.59 0.024 2185.88 -448.4 270.13 - - 1668.75 - - - - - - - - 15.83 15.83 -
23176.74 34.67 5.82 3055 23213.20 done 2.14 - - 2830.31 - 2.56 0.079 1130.12 -412.4 308.87 29.85 1.170 1516.28 -5.1 0.025 - - - - - - - 15.76 12.48
23226.74 31.65 6.02 3065 23262.53 2.21 0.16 0.091 2871.81 259.4 2.64 0.028 2276.94 434.4 344.64 28.60 1.142 1369.84 -5.1 0.024 - - - - - - 15.80 15.82 12.68
23446.81 18.37 4.60 3109 23494.55 done 2.33 - - 2871.88 - 2.81 0.074 1130.00 -408.2 401.24 42.88 1.145 1138.50 -5.4 0.014 - - - - - - - 15.66 12.50
23612.69 7.54 7.75 3142 23618.41 roll 2.34 - - 2872.50 - 2.64 0.028 2275.12 433.8 401.24 - - 1134.12 - - - - - - - - - 15.76 -
23682 end climb: SURFACE_DEPTH_REACHED
23683 begin surface coast
23713 end surface coast: CONTROL_FINISHED_OK
23713 begin surface
SM 3.99 - - - - 190.9 18.82 1.083 1043.4 55.4 16.62 0.052 1013.4 61.0 - 0.12 0.134 1073.4 8923.0 -27.156 - - 12.49 15.78 15.80 -