NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 397 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 124.57 of 550.00 AH used of 24V (77.35% remains)
• Surface angle -63.8 deg, depth 0.67 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 424.81 (SM_CC=425)
• GPS1 time: 38 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.05 - - - 66.93 VBD -1.37 - - 179.19 - - - 2254.50 - -82.73 60.78 0.005 2506.06 - - - - - - - - - - 15.55
67.66 3.59 -6.48 11 104.92 -1.37 13.94 0.254 1988.50 129.8 2.88 0.086 3425.12 406.5 -82.73 12.79 0.007 3112.56 47.4 -4.028 - - - - - - 15.68 15.52 15.60
327.05 57.39 -16.48 63 332.91 roll -1.37 - - 1988.69 - 2.56 0.021 2252.62 -458.0 -82.73 - - 3113.31 - - - - - - - - - 15.88 -
517.49 83.89 -13.54 101 518.82 no move -1.37 - - 1989.06 - - - 2250.62 - -82.73 - - 3112.69 - - - - - - - - - - -
702.29 103.28 -10.05 138 703.62 no move -1.37 - - 1988.44 - - - 2250.94 - -82.73 - - 3112.56 - - - - - - - - - - -
1007.25 132.89 -10.03 199 1012.37 roll -1.37 - - 1988.75 - 2.44 0.067 1206.38 -428.1 -82.73 - - 3115.09 - - - - - - - - - 15.98 -
1067.25 139.02 -10.31 211 1072.79 roll -1.37 - - 1988.38 - 2.59 0.029 2356.00 443.9 -82.73 - - 3115.06 - - - - - - - - - 15.99 -
1377.30 168.31 -9.77 273 1382.85 roll -1.37 - - 1987.19 - 2.70 0.061 1208.00 -425.2 -82.73 - - 3116.00 - - - - - - - - - 16.02 -
1477.31 179.47 -11.32 293 1482.84 roll -1.37 - - 1988.19 - 2.59 0.029 2354.44 442.6 -82.73 - - 3114.88 - - - - - - - - - 16.02 -
1787.35 211.99 -10.20 355 1792.89 roll -1.37 - - 1988.50 - 2.69 0.061 1208.75 -425.9 -82.73 - - 3114.66 - - - - - - - - - 16.04 -
1977.36 232.20 -10.65 393 1982.91 roll -1.37 - - 1987.69 - 2.58 0.029 2352.75 443.4 -82.73 - - 3116.44 - - - - - - - - - 16.05 -
2287.42 264.97 -10.28 455 2293.13 roll -1.37 - - 1988.81 - 2.60 0.088 3428.31 413.7 -82.73 - - 3114.22 - - - - - - - - - 16.04 -
2342.54 271.09 -11.20 466 2347.95 roll -1.37 - - 1988.62 - 2.54 0.022 2246.62 -465.2 -82.73 - - 3115.09 - - - - - - - - - 16.05 -
2667.00 302.78 -9.32 527 2671.59 roll -1.37 - - 1988.81 - 2.44 0.068 1207.50 -425.9 -82.73 - - 3114.47 - - - - - - - - - 16.07 -
2705.53 306.38 -9.50 533 2720.45 roll -1.37 - - 1988.69 - 2.58 0.030 2352.94 444.0 -82.73 - - 3114.19 - - - - - - - - - 16.08 -
3021.63 336.29 -9.76 562 3032.70 no move -1.37 - - 1988.62 - - - 2353.31 - -82.73 - - 3114.38 - - - - - - - - - - -
3334.59 367.03 -10.19 591 3339.21 roll -1.37 - - 1988.25 - 2.69 0.063 1206.50 -426.3 -82.73 - - 3112.72 - - - - - - - - - 16.09 -
3467.52 380.36 -10.00 609 3482.43 roll -1.37 - - 1988.56 - 2.58 0.030 2353.19 444.5 -82.73 - - 3113.09 - - - - - - - - - 16.08 -
3783.60 409.12 -8.68 638 3788.20 roll -1.37 - - 1988.44 - 2.60 0.091 3428.56 413.6 -82.73 - - 3111.59 - - - - - - - - - 16.06 -
3836.53 414.40 -9.64 645 3841.13 roll -1.37 - - 1988.31 - 2.53 0.022 2248.19 -466.5 -82.73 - - 3112.84 - - - - - - - - - 16.08 -
4147.71 442.65 -9.15 674 4158.77 no move -1.37 - - 1988.56 - - - 2246.56 - -82.73 - - 3111.88 - - - - - - - - - - -
4460.57 470.46 -8.86 703 4465.16 roll -1.37 - - 1988.62 - 2.44 0.069 1207.25 -425.9 -82.73 - - 3110.72 - - - - - - - - - 16.09 -
4578.10 480.93 -8.83 719 4593.01 roll -1.37 - - 1989.25 - 2.58 0.031 2352.75 444.0 -82.73 - - 3112.69 - - - - - - - - - 16.10 -
4902.63 509.91 -9.03 746 4907.25 roll -1.37 - - 1988.75 - 2.69 0.064 1208.75 -425.3 -82.73 - - 3109.75 - - - - - - - - - 16.10 -
4961.90 515.25 -9.16 755 4967.44 roll -1.37 - - 1988.12 - 2.57 0.030 2354.44 445.8 -82.73 - - 3110.88 - - - - - - - - - 16.10 -
5281.31 544.23 -9.33 777 5285.94 roll -1.37 - - 1986.50 - 2.69 0.064 1208.56 -426.0 -82.73 - - 3109.59 - - - - - - - - - 16.09 -
5443.11 560.34 -10.12 800 5447.72 roll -1.37 - - 1988.75 - 2.57 0.031 2352.06 444.9 -82.73 - - 3112.44 - - - - - - - - - 16.09 -
5759.58 591.64 -9.75 822 5764.21 roll -1.37 - - 1989.25 - 2.69 0.064 1208.62 -425.1 -82.73 - - 3107.78 - - - - - - - - - 16.10 -
5844.59 599.36 -9.80 835 5859.52 roll -1.37 - - 1988.69 - 2.58 0.031 2352.75 443.5 -82.73 - - 3110.38 - - - - - - - - - 16.10 -
6174.02 628.48 -8.47 857 6178.65 roll -1.37 - - 1988.56 - 2.70 0.064 1207.31 -424.2 -82.73 - - 3107.25 - - - - - - - - - 16.10 -
6252.86 635.40 -8.76 868 6257.53 roll -1.37 - - 1986.38 - 2.57 0.031 2351.56 445.2 -82.73 - - 3108.09 - - - - - - - - - 16.10 -
6569.50 659.91 -7.66 890 6570.83 no move -1.37 - - 1988.06 - - - 2352.31 - -82.73 - - 3106.47 - - - - - - - - - - -
6884.34 683.68 -7.42 911 6888.97 roll -1.37 - - 1989.12 - 2.69 0.065 1207.38 -425.6 -82.73 - - 3106.66 - - - - - - - - - 16.10 -
6943.62 688.08 -7.55 920 6949.16 roll -1.37 - - 1987.75 - 2.58 0.031 2351.31 443.4 -82.73 - - 3108.12 - - - - - - - - - 16.10 -
7263.05 713.04 -8.08 942 7267.68 roll -1.37 - - 1988.56 - 2.69 0.065 1207.44 -425.2 -82.73 - - 3105.78 - - - - - - - - - 16.10 -
7320.98 717.94 -8.35 950 7325.59 roll -1.37 - - 1987.94 - 2.57 0.031 2349.62 444.4 -82.73 - - 3107.94 - - - - - - - - - 16.09 -
7637.45 742.54 -7.47 972 7638.78 no move -1.37 - - 1988.56 - - - 2349.44 - -82.73 - - 3105.28 - - - - - - - - - - -
7952.69 764.60 -6.70 993 7957.31 roll -1.37 - - 1986.69 - 2.68 0.065 1208.50 -425.7 -82.73 - - 3107.22 - - - - - - - - - 16.09 -
8136.37 777.68 -7.33 1020 8141.90 roll -1.37 - - 1988.19 - 2.57 0.032 2352.06 445.0 -82.73 - - 3105.94 - - - - - - - - - 16.10 -
8455.77 801.29 -7.53 1042 8460.39 roll -1.37 - - 1988.94 - 2.69 0.065 1208.69 -425.0 -82.73 - - 3103.97 - - - - - - - - - 16.10 -
8556.49 809.28 -8.05 1057 8562.21 roll -1.37 - - 1988.81 - 2.57 0.032 2351.88 444.8 -82.73 - - 3104.88 - - - - - - - - - 16.10 -
8876.00 833.70 -7.80 1079 8880.63 roll -1.37 - - 1988.12 - 2.69 0.065 1207.38 -425.5 -82.73 - - 3104.78 - - - - - - - - - 16.09 -
8976.73 841.71 -8.05 1094 8982.26 roll -1.37 - - 1988.44 - 2.58 0.032 2351.81 443.6 -82.73 - - 3105.91 - - - - - - - - - 16.10 -
9296.16 865.74 -7.48 1116 9300.78 roll -1.37 - - 1988.38 - 2.69 0.065 1207.38 -425.4 -82.73 - - 3103.94 - - - - - - - - - 16.08 -
9376.15 871.60 -7.42 1128 9381.69 roll -1.37 - - 1988.31 - 2.58 0.032 2351.69 443.5 -82.73 - - 3107.50 - - - - - - - - - 16.10 -
9695.56 894.66 -7.40 1150 9700.19 roll -1.37 - - 1988.44 - 2.67 0.065 1208.31 -428.2 -82.73 - - 3103.66 - - - - - - - - - 16.09 -
9801.28 902.55 -7.95 1166 9816.20 roll -1.37 - - 1988.44 - 2.58 0.032 2351.50 443.1 -82.73 - - 3103.84 - - - - - - - - - 16.10 -
10130.69 928.61 -7.55 1188 10132.02 no move -1.37 - - 1988.19 - - - 2351.75 - -82.73 - - 3102.22 - - - - - - - - - - -
10445.71 951.47 -7.35 1209 10450.33 roll -1.37 - - 1988.75 - 2.69 0.066 1208.81 -424.9 -82.73 - - 3101.94 - - - - - - - - - 16.09 -
10530.71 957.49 -7.62 1222 10545.63 roll -1.37 - - 1988.56 - 2.58 0.032 2351.25 442.8 -82.73 - - 3103.12 - - - - - - - - - 16.09 -
10860.74 982.02 -7.35 1244 10865.39 roll -1.37 - - 1988.44 - 2.69 0.066 1208.69 -424.7 -82.73 - - 3101.31 - - - - - - - - - 16.08 -
10961.61 989.66 -7.68 1259 10967.03 roll -1.37 - - 1988.69 - 2.57 0.032 2350.25 444.2 -82.73 - - 3103.47 - - - - - - - - - 16.09 -
10980 end dive: TARGET_DEPTH_EXCEEDED
10980 begin apogee
10982.70 991.16 -7.59 1261 11057.96 -0.28 1.82 0.152 2254.38 146.0 0.22 0.136 2281.75 -311.4 - 60.83 2.423 2775.38 -5.4 0.365 - - - - - - 16.00 15.66 11.98
11059 end apogee: CONTROL_FINISHED_OK
11059 begin climb
11059.80 992.78 - 1266 11136.53 1.37 2.64 0.099 2655.94 152.1 - - 2281.69 - 82.73 66.28 2.414 2437.91 -5.1 0.347 - - - - - - 15.69 - 12.77
11448.54 965.33 7.74 1297 11449.87 no move 1.38 - - 2656.12 - - - 2281.81 - 82.73 - - 2429.50 - - - - - - - - - - -
11763.57 941.16 7.23 1318 11768.20 roll 1.41 - - 2655.38 - 2.64 0.094 3346.69 403.4 82.73 - - 2428.91 - - - - - - - - - 15.84 -
11843.59 935.06 7.68 1330 11849.11 roll 1.42 - - 2656.50 - 2.58 0.024 2188.25 -449.0 82.73 - - 2430.03 - - - - - - - - - 15.88 -
12163.00 912.03 7.24 1352 12167.85 done 1.45 - - 2655.88 - 2.87 0.088 3348.19 404.2 82.73 - - 2428.97 - - - - - - - - - 15.91 -
12263.93 904.23 7.86 1367 12269.27 done 1.46 - - 2654.19 - 2.57 0.025 2187.81 -451.5 82.73 - - 2429.81 - - - - - - - - - 15.94 -
12583.18 880.46 7.42 1389 12587.79 done 1.48 - - 2655.31 - 2.54 0.080 1130.19 -416.4 82.73 - - 2427.88 - - - - - - - - - 15.97 -
12663.19 873.84 8.33 1401 12668.73 done 1.48 - - 2655.69 - 2.60 0.031 2273.31 439.7 82.73 - - 2429.88 - - - - - - - - - 15.99 -
12982.61 849.02 7.53 1423 12987.30 1.50 0.16 0.097 2699.81 275.7 2.63 0.093 3347.12 408.3 82.73 - - 2428.06 - - - - - - - - 15.96 15.92 -
13150.97 834.38 9.21 1448 13165.50 done 1.50 - - 2698.88 - 2.55 0.025 2188.12 -454.5 82.73 - - 2429.69 - - - - - - - - - 16.02 -
13480.00 807.55 7.68 1470 13484.62 done 1.51 - - 2698.56 - 2.52 0.079 1130.00 -419.9 82.73 - - 2427.16 - - - - - - - - - 16.00 -
13643.12 794.28 8.23 1494 13648.49 done 1.51 - - 2697.38 - 2.58 0.032 2274.06 443.4 82.73 - - 2430.38 - - - - - - - - - 16.04 -
13962.37 770.57 7.30 1516 13967.00 done 1.54 - - 2699.50 - 2.62 0.093 3346.56 409.4 82.73 - - 2428.56 - - - - - - - - - 16.01 -
14083.86 760.75 8.23 1534 14089.57 done 1.54 - - 2700.25 - 2.54 0.025 2188.31 -456.0 82.73 - - 2427.53 - - - - - - - - - 16.04 -
14403.73 738.20 6.89 1556 14408.35 done 1.57 - - 2699.31 - 2.52 0.080 1129.81 -420.0 82.73 - - 2426.91 - - - - - - - - - 16.03 -
14607.21 723.64 6.97 1585 14611.82 done 1.60 - - 2699.12 - 2.59 0.032 2275.56 442.4 82.73 - - 2425.94 - - - - - - - - - 16.05 -
14923.69 703.19 6.69 1607 14928.32 done 1.63 - - 2699.62 - 2.62 0.092 3346.62 408.8 82.73 - - 2425.97 - - - - - - - - - 16.04 -
15045.19 694.02 7.74 1625 15050.71 done 1.65 - - 2699.19 - 2.54 0.025 2186.50 -456.7 82.73 - - 2427.78 - - - - - - - - - 16.06 -
15364.60 670.50 7.30 1647 15369.33 1.67 0.15 0.095 2736.88 251.3 2.84 0.088 3345.25 408.0 82.73 - - 2429.34 - - - - - - - - 16.03 15.98 -
15484.75 659.62 9.22 1664 15489.36 done 1.67 - - 2738.38 - 2.54 0.025 2186.56 -456.2 82.73 - - 2427.25 - - - - - - - - - 16.07 -
15801.43 635.31 7.47 1686 15806.09 done 1.69 - - 2737.81 - 2.84 0.088 3347.25 408.7 82.73 - - 2426.22 - - - - - - - - - 16.05 -
15860.72 630.68 7.79 1695 15866.24 done 1.70 - - 2738.38 - 2.56 0.025 2185.31 -453.9 82.73 - - 2428.25 - - - - - - - - - 16.06 -
16180.33 608.17 6.56 1717 16185.00 done 1.74 - - 2738.19 - 2.52 0.080 1130.06 -418.8 82.73 - - 2427.38 - - - - - - - - - 16.05 -
16281.09 601.40 6.81 1732 16286.61 done 1.78 - - 2738.19 - 2.58 0.031 2274.44 443.6 82.73 - - 2427.91 - - - - - - - - - 16.07 -
16600.50 582.40 5.83 1754 16644.26 1.85 0.19 0.086 2782.44 232.9 2.63 0.095 3347.12 407.9 121.22 29.57 1.870 2279.97 -5.0 0.258 - - - - - - 16.03 15.91 11.92
16667.08 577.12 7.61 1764 16672.61 roll 1.87 - - 2781.19 - 2.57 0.025 2187.94 -451.0 121.22 - - 2278.31 - - - - - - - - - 15.98 -
16986.47 544.67 10.42 1786 16991.08 roll 1.87 - - 2781.94 - 2.53 0.079 1131.31 -417.6 121.22 - - 2275.78 - - - - - - - - - 15.96 -
17107.95 531.92 10.62 1804 17113.48 roll 1.87 - - 2782.56 - 2.59 0.032 2273.31 440.9 121.22 - - 2276.34 - - - - - - - - - 15.98 -
17427.36 498.78 10.55 1826 17432.00 roll 1.87 - - 2782.38 - 2.62 0.092 3347.00 409.8 121.22 - - 2274.38 - - - - - - - - - 15.98 -
17575.53 482.02 11.30 1845 17580.13 roll 1.87 - - 2781.81 - 2.55 0.025 2189.62 -453.9 121.22 - - 2275.19 - - - - - - - - - 16.01 -
17887.29 452.64 9.32 1874 17891.95 roll 1.87 - - 2782.56 - 2.83 0.088 3346.94 408.9 121.22 - - 2275.03 - - - - - - - - - 16.01 -
17910.08 450.42 9.71 1878 17925.00 roll 1.87 - - 2782.19 - 2.55 0.025 2188.19 -454.4 121.22 - - 2275.62 - - - - - - - - - 16.02 -
18226.46 421.66 8.76 1907 18237.54 no move 1.87 - - 2782.44 - - - 2187.81 - 121.22 - - 2275.94 - - - - - - - - - - -
18539.04 392.61 8.91 1936 18550.11 no move 1.87 - - 2782.50 - - - 2187.88 - 121.22 - - 2275.41 - - - - - - - - - - -
18851.61 362.95 9.47 1965 18856.27 roll 1.87 - - 2780.62 - 2.82 0.087 3347.75 411.3 121.22 - - 2275.53 - - - - - - - - - 16.03 -
18920.48 355.51 10.57 1974 18925.10 roll 1.87 - - 2782.44 - 2.55 0.025 2188.00 -454.8 121.22 - - 2274.66 - - - - - - - - - 16.04 -
19232.01 324.86 9.32 2003 19236.67 roll 1.87 - - 2782.56 - 2.83 0.088 3350.12 410.6 121.22 - - 2273.81 - - - - - - - - - 16.04 -
19317.74 316.13 10.27 2015 19332.64 roll 1.87 - - 2781.12 - 2.55 0.025 2187.31 -456.0 121.22 - - 2275.97 - - - - - - - - - 16.05 -
19637.16 287.88 8.51 2058 19642.69 roll 1.87 - - 2782.25 - 2.52 0.079 1129.94 -419.6 121.22 - - 2276.19 - - - - - - - - - 16.03 -
19747.20 277.61 9.28 2080 19752.92 roll 1.87 - - 2782.25 - 2.57 0.031 2273.69 445.0 121.22 - - 2274.91 - - - - - - - - - 16.05 -
20057.27 252.76 8.00 2142 20062.83 roll 1.87 - - 2782.38 - 2.73 0.073 1128.81 -419.4 121.22 - - 2275.06 - - - - - - - - - 16.05 -
20167.28 243.34 8.77 2164 20172.82 roll 1.87 - - 2782.12 - 2.58 0.031 2274.94 444.2 121.22 - - 2275.12 - - - - - - - - - 16.04 -
20477.33 217.91 8.37 2226 20482.86 roll 1.87 - - 2780.88 - 2.60 0.090 3346.56 412.2 121.22 - - 2275.19 - - - - - - - - - 16.02 -
20712.36 194.59 9.79 2273 20717.88 roll 1.87 - - 2782.44 - 2.54 0.024 2186.44 -456.7 121.22 - - 2276.16 - - - - - - - - - 16.05 -
21022.42 172.33 6.92 2335 21027.98 roll 1.90 - - 2780.81 - 2.82 0.085 3347.06 411.6 121.22 - - 2276.88 - - - - - - - - - 16.05 -
21257.44 153.25 7.90 2382 21262.96 roll 1.91 - - 2781.81 - 2.53 0.024 2183.88 -459.8 121.22 - - 2275.91 - - - - - - - - - 16.05 -
21567.54 135.65 5.22 2444 21609.04 done 2.01 - - 2782.56 - 2.52 0.081 1129.94 -418.2 168.72 35.76 1.342 2086.41 -5.3 0.089 - - - - - - - 15.94 12.00
21662.65 128.34 8.98 2463 21668.01 roll 2.01 - - 2781.62 - 2.59 0.030 2274.25 441.8 168.72 - - 2083.00 - - - - - - - - - 15.98 -
21972.54 100.74 7.72 2525 21973.97 pitch 2.02 0.17 0.087 2822.62 241.2 - - 2274.38 - 168.72 - - 2080.44 - - - - - - - - 15.95 - -
22277.95 84.36 3.94 2586 22328.90 VBD 2.15 - - 2823.75 - - - 2275.19 - 234.96 49.26 1.268 1816.72 -5.4 0.059 - - - - - - - - 12.30
22512.59 70.59 6.86 2633 22514.03 2.19 0.16 0.089 2864.44 254.3 - - 2274.75 - 234.96 - - 1807.53 - - - - - - - - 15.86 - -
22697.62 57.29 6.70 2670 22703.15 done 2.22 - - 2865.88 - 2.62 0.088 3347.31 409.4 234.96 - - 1807.03 - - - - - - - - - 15.89 -
22752.87 53.45 7.04 2681 22758.33 done 2.25 - - 2864.94 - 2.56 0.023 2184.25 -454.3 234.96 - - 1807.78 - - - - - - - - - 15.92 -
22942.69 42.10 5.83 2719 22976.14 done 2.33 - - 2864.38 - 2.53 0.079 1131.38 -416.2 273.58 28.74 1.170 1660.50 -5.1 0.031 - - - - - - - 15.82 12.36
23163.27 26.83 5.65 2763 23199.84 2.41 0.24 0.077 2917.06 219.5 2.59 0.028 2276.06 442.0 314.81 31.81 1.150 1491.50 -5.3 0.021 - - - - - - 15.84 15.91 12.53
23383.31 14.02 7.42 2807 23388.86 roll 2.43 - - 2917.12 - 2.75 0.071 1130.19 -416.7 314.81 - - 1484.75 - - - - - - - - - 15.87 -
23618.33 4.35 2.29 2854 23690.89 2.61 0.22 0.082 2964.56 215.6 2.59 0.028 2276.44 442.6 405.18 66.68 1.130 1124.22 -5.4 0.003 - - - - - - 15.86 15.91 12.39
23694 end climb: SURFACE_DEPTH_REACHED
23694 begin surface coast
23773 end surface coast: CONTROL_FINISHED_OK
23774 begin surface
SM 2.09 - - - - 179.7 16.08 1.038 1043.2 60.7 17.19 0.050 1011.1 58.8 - 0.12 0.131 1075.3 8939.2 -14.577 - - 12.52 15.75 15.76 -