NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 400 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 125.77 of 550.00 AH used of 24V (77.13% remains)
• Surface angle -63.8 deg, depth 0.61 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.87 (SM_CC=425)
• GPS1 time: 57 s
• GPS2 time: 3 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
5.07 - - - 66.95 VBD -1.37 - - 184.56 - - - 2233.25 - -82.73 60.73 0.005 2637.81 - - - - - - - - - - 15.54
67.69 3.70 -6.08 11 100.49 -1.37 13.89 0.254 1988.06 129.8 2.93 0.084 3428.00 407.8 -82.73 9.48 0.007 3112.00 50.0 -4.391 - - - - - - 15.67 15.51 15.59
267.60 47.00 -16.01 51 273.15 roll -1.37 - - 1988.31 - 2.57 0.021 2251.50 -457.8 -82.73 - - 3113.28 - - - - - - - - - 15.85 -
458.28 73.10 -13.73 89 459.60 no move -1.37 - - 1988.00 - - - 2249.81 - -82.73 - - 3111.94 - - - - - - - - - - -
642.67 96.41 -12.10 126 647.78 roll -1.37 - - 1987.88 - 2.45 0.064 1207.50 -425.4 -82.73 - - 3115.69 - - - - - - - - - 15.93 -
707.67 103.30 -10.20 139 713.21 roll -1.37 - - 1988.75 - 2.60 0.028 2356.12 441.8 -82.73 - - 3112.94 - - - - - - - - - 15.95 -
1017.72 131.13 -8.66 201 1019.04 no move -1.37 - - 1988.06 - - - 2355.56 - -82.73 - - 3112.72 - - - - - - - - - - -
1322.77 156.37 -8.49 262 1328.32 roll -1.37 - - 1987.25 - 2.70 0.059 1208.50 -424.8 -82.73 - - 3114.62 - - - - - - - - - 16.02 -
1557.79 178.43 -9.75 309 1563.33 roll -1.37 - - 1987.69 - 2.59 0.029 2354.38 442.4 -82.73 - - 3114.75 - - - - - - - - - 16.03 -
1867.84 206.64 -8.98 371 1873.39 roll -1.37 - - 1988.50 - 2.70 0.060 1207.38 -424.8 -82.73 - - 3115.38 - - - - - - - - - 16.03 -
2002.86 220.59 -10.96 398 2008.38 roll -1.37 - - 1988.44 - 2.59 0.029 2353.12 442.4 -82.73 - - 3114.00 - - - - - - - - - 16.04 -
2312.96 253.93 -10.31 460 2318.44 roll -1.37 - - 1987.12 - 2.61 0.088 3426.50 411.3 -82.73 - - 3113.28 - - - - - - - - - 16.03 -
2367.90 260.12 -11.44 471 2373.44 roll -1.37 - - 1988.62 - 2.53 0.021 2244.12 -467.3 -82.73 - - 3115.53 - - - - - - - - - 16.06 -
2677.95 292.85 -10.16 533 2683.07 roll -1.37 - - 1987.44 - 2.43 0.066 1207.38 -426.6 -82.73 - - 3113.44 - - - - - - - - - 16.06 -
2778.68 303.14 -10.15 552 2793.60 roll -1.37 - - 1988.62 - 2.58 0.030 2353.56 444.3 -82.73 - - 3112.78 - - - - - - - - - 16.08 -
3095.01 330.88 -8.38 581 3099.63 roll -1.37 - - 1988.50 - 2.68 0.061 1207.44 -427.7 -82.73 - - 3111.69 - - - - - - - - - 16.08 -
3133.54 334.15 -8.66 587 3148.45 roll -1.37 - - 1988.50 - 2.58 0.030 2354.00 444.4 -82.73 - - 3113.22 - - - - - - - - - 16.08 -
3449.64 362.54 -9.44 616 3454.26 roll -1.37 - - 1988.31 - 2.67 0.061 1208.56 -429.0 -82.73 - - 3110.09 - - - - - - - - - 16.08 -
3502.74 367.64 -9.57 623 3507.34 roll -1.37 - - 1987.62 - 2.58 0.029 2352.94 443.6 -82.73 - - 3110.75 - - - - - - - - - 16.09 -
3814.25 397.05 -9.29 652 3819.06 roll -1.37 - - 1988.81 - 2.68 0.061 1207.12 -427.5 -82.73 - - 3109.94 - - - - - - - - - 16.09 -
3868.63 402.04 -9.36 660 3883.43 roll -1.37 - - 1988.06 - 2.58 0.030 2351.44 443.5 -82.73 - - 3110.88 - - - - - - - - - 16.09 -
4184.60 431.58 -9.33 689 4189.23 roll -1.37 - - 1986.88 - 2.67 0.062 1207.25 -428.5 -82.73 - - 3110.59 - - - - - - - - - 16.08 -
4238.88 436.78 -9.72 697 4253.79 roll -1.37 - - 1988.38 - 2.58 0.030 2352.19 443.8 -82.73 - - 3109.25 - - - - - - - - - 16.10 -
4555.30 466.76 -9.58 726 4559.92 roll -1.37 - - 1988.44 - 2.67 0.062 1207.19 -428.8 -82.73 - - 3107.28 - - - - - - - - - 16.08 -
4593.83 470.54 -9.98 732 4608.75 roll -1.37 - - 1988.62 - 2.58 0.030 2351.25 443.4 -82.73 - - 3108.84 - - - - - - - - - 16.10 -
4914.19 502.12 -9.34 761 4918.81 roll -1.37 - - 1988.50 - 2.68 0.063 1208.25 -426.5 -82.73 - - 3107.28 - - - - - - - - - 16.09 -
4952.72 505.69 -9.49 767 4958.25 roll -1.37 - - 1987.06 - 2.58 0.030 2354.44 444.3 -82.73 - - 3108.06 - - - - - - - - - 16.09 -
5272.30 533.05 -8.00 789 5276.92 roll -1.37 - - 1988.31 - 2.68 0.063 1207.38 -428.0 -82.73 - - 3106.16 - - - - - - - - - 16.10 -
5352.30 539.62 -8.33 801 5357.84 roll -1.37 - - 1988.56 - 2.58 0.031 2351.62 443.5 -82.73 - - 3107.88 - - - - - - - - - 16.09 -
5671.89 564.62 -7.94 823 5673.22 no move -1.37 - - 1988.44 - - - 2352.25 - -82.73 - - 3105.84 - - - - - - - - - - -
5986.84 590.69 -8.28 844 5991.46 roll -1.37 - - 1988.56 - 2.69 0.063 1206.19 -426.0 -82.73 - - 3106.12 - - - - - - - - - 16.10 -
6046.45 595.93 -8.83 853 6051.98 roll -1.37 - - 1988.44 - 2.58 0.031 2350.56 443.6 -82.73 - - 3105.53 - - - - - - - - - 16.10 -
6365.85 624.11 -8.57 875 6367.18 no move -1.37 - - 1988.38 - - - 2350.88 - -82.73 - - 3104.09 - - - - - - - - - - -
6680.86 650.65 -8.33 896 6685.49 roll -1.37 - - 1988.69 - 2.68 0.064 1208.62 -426.2 -82.73 - - 3104.72 - - - - - - - - - 16.09 -
6781.62 659.70 -9.11 911 6787.16 roll -1.37 - - 1988.50 - 2.57 0.031 2352.88 445.2 -82.73 - - 3105.09 - - - - - - - - - 16.11 -
7101.03 685.46 -7.86 933 7105.66 roll -1.37 - - 1988.44 - 2.69 0.063 1208.62 -425.4 -82.73 - - 3103.47 - - - - - - - - - 16.09 -
7206.79 693.53 -8.12 949 7221.70 roll -1.37 - - 1988.69 - 2.58 0.031 2351.00 442.8 -82.73 - - 3104.06 - - - - - - - - - 16.10 -
7536.38 717.94 -6.98 971 7537.71 no move -1.37 - - 1989.12 - - - 2351.00 - -82.73 - - 3102.19 - - - - - - - - - - -
7851.21 743.22 -8.49 992 7855.84 roll -1.37 - - 1988.19 - 2.68 0.064 1207.12 -426.8 -82.73 - - 3102.28 - - - - - - - - - 16.10 -
7993.43 756.46 -9.53 1013 7998.95 roll -1.37 - - 1988.12 - 2.59 0.032 2350.38 441.4 -82.73 - - 3102.72 - - - - - - - - - 16.11 -
8313.00 784.94 -8.71 1035 8317.69 roll -1.37 - - 1988.50 - 2.69 0.064 1208.38 -424.5 -82.73 - - 3101.59 - - - - - - - - - 16.09 -
8434.48 795.82 -9.06 1053 8440.01 roll -1.37 - - 1987.44 - 2.59 0.032 2352.56 441.8 -82.73 - - 3102.84 - - - - - - - - - 16.10 -
8753.89 823.09 -8.48 1075 8758.51 roll -1.37 - - 1988.38 - 2.69 0.064 1208.81 -425.2 -82.73 - - 3103.31 - - - - - - - - - 16.08 -
8854.61 831.73 -8.69 1090 8860.14 roll -1.37 - - 1988.50 - 2.58 0.032 2351.94 443.1 -82.73 - - 3102.50 - - - - - - - - - 16.10 -
9174.01 855.44 -7.06 1112 9175.34 no move -1.37 - - 1988.44 - - - 2351.75 - -82.73 - - 3100.38 - - - - - - - - - - -
9489.26 875.71 -6.29 1133 9490.59 no move -1.37 - - 1988.06 - - - 2351.94 - -82.73 - - 3100.09 - - - - - - - - - - -
9804.07 895.25 -6.27 1154 9808.69 roll -1.37 - - 1987.69 - 2.69 0.065 1207.25 -425.5 -82.73 - - 3099.78 - - - - - - - - - 16.08 -
9884.08 900.60 -6.76 1166 9889.63 roll -1.37 - - 1988.44 - 2.59 0.032 2353.06 442.4 -82.73 - - 3100.78 - - - - - - - - - 16.09 -
10203.51 921.62 -6.61 1188 10208.14 roll -1.37 - - 1987.62 - 2.70 0.065 1207.56 -424.3 -82.73 - - 3099.62 - - - - - - - - - 16.08 -
10267.79 925.72 -6.93 1198 10282.71 roll -1.37 - - 1987.62 - 2.59 0.032 2351.44 441.7 -82.73 - - 3099.78 - - - - - - - - - 16.09 -
10597.39 948.86 -6.77 1220 10602.07 roll -1.37 - - 1987.19 - 2.68 0.065 1208.50 -426.5 -82.73 - - 3100.12 - - - - - - - - - 16.07 -
10703.12 955.82 -6.99 1236 10718.06 roll -1.37 - - 1988.56 - 2.58 0.032 2352.50 443.4 -82.73 - - 3099.62 - - - - - - - - - 16.10 -
11032.55 977.84 -6.49 1258 11037.18 roll -1.37 - - 1988.44 - 2.68 0.065 1208.38 -426.9 -82.73 - - 3098.25 - - - - - - - - - 16.07 -
11173.40 987.30 -6.74 1278 11178.01 roll -1.37 - - 1986.75 - 2.58 0.032 2350.19 442.6 -82.73 - - 3099.53 - - - - - - - - - 16.08 -
11220 end dive: TARGET_DEPTH_EXCEEDED
11220 begin apogee
11221.68 990.39 -6.77 1282 11296.93 -0.28 1.79 0.148 2252.81 148.6 0.22 0.135 2281.75 -311.1 - 60.47 2.419 2775.31 -5.4 0.365 - - - - - - 15.98 15.66 11.86
11298 end apogee: CONTROL_FINISHED_OK
11298 begin climb
11298.76 991.96 - 1287 11373.72 1.37 2.62 0.099 2656.06 153.9 2.86 0.076 1131.19 -402.3 82.73 66.36 2.418 2435.84 -5.1 0.349 - - - - - - 15.70 15.33 12.71
11417.96 986.01 5.84 1305 11459.47 done 1.44 - - 2655.25 - 2.68 0.030 2273.38 426.2 121.18 32.89 2.308 2280.31 -4.7 0.336 - - - - - - - 15.54 12.57
11772.92 955.15 8.87 1331 11777.56 roll 1.44 - - 2655.81 - 2.77 0.074 1131.31 -412.3 121.18 - - 2276.25 - - - - - - - - - 15.73 -
11830.84 949.70 9.30 1339 11835.47 roll 1.44 - - 2655.81 - 2.62 0.031 2271.19 435.1 121.18 - - 2272.94 - - - - - - - - - 15.76 -
12147.31 921.71 8.92 1361 12148.64 VBD 1.44 - - 2656.50 - - - 2271.00 - 121.18 - - 2272.19 - - - - - - - - - - -
12462.49 893.13 8.91 1382 12463.82 VBD 1.44 - - 2655.75 - - - 2270.94 - 121.18 - - 2270.50 - - - - - - - - - - -
12777.32 865.59 8.68 1403 12778.65 VBD 1.44 - - 2655.62 - - - 2270.38 - 121.18 - - 2270.47 - - - - - - - - - - -
13092.35 840.44 7.94 1424 13093.68 VBD 1.45 - - 2655.50 - - - 2270.50 - 121.18 - - 2270.44 - - - - - - - - - - -
13407.36 815.48 7.86 1445 13408.70 VBD 1.47 - - 2656.25 - - - 2270.44 - 121.18 - - 2269.34 - - - - - - - - - - -
13722.35 789.78 8.29 1466 13727.00 done 1.47 - - 2655.25 - 2.73 0.075 1130.00 -417.7 121.18 - - 2270.72 - - - - - - - - - 16.01 -
13801.02 782.48 9.20 1477 13805.63 done 1.47 - - 2655.75 - 2.59 0.031 2272.06 440.9 121.18 - - 2270.00 - - - - - - - - - 16.02 -
14117.69 755.50 7.90 1499 14119.03 VBD 1.48 - - 2656.19 - - - 2272.12 - 121.18 - - 2269.41 - - - - - - - - - - -
14432.56 732.62 6.93 1520 14433.99 1.51 0.18 0.094 2701.31 250.7 - - 2271.69 - 121.18 - - 2267.59 - - - - - - - - 16.00 - -
14747.76 705.82 8.69 1541 14749.09 VBD 1.51 - - 2701.25 - - - 2272.44 - 121.18 - - 2267.62 - - - - - - - - - - -
15062.72 679.12 8.42 1562 15064.05 VBD 1.51 - - 2701.44 - - - 2271.69 - 121.18 - - 2268.59 - - - - - - - - - - -
15377.64 652.24 8.35 1583 15382.27 done 1.51 - - 2701.38 - 2.65 0.095 3348.12 406.2 121.18 - - 2268.81 - - - - - - - - - 16.03 -
15436.91 646.97 8.87 1592 15442.45 done 1.51 - - 2701.62 - 2.56 0.025 2187.19 -453.5 121.18 - - 2268.91 - - - - - - - - - 16.06 -
15756.32 618.97 8.71 1614 15757.65 VBD 1.51 - - 2701.50 - - - 2187.38 - 121.18 - - 2268.03 - - - - - - - - - - -
16071.33 591.45 8.82 1635 16075.99 done 1.51 - - 2701.31 - 2.87 0.090 3347.94 404.4 121.18 - - 2269.59 - - - - - - - - - 16.05 -
16114.86 587.90 9.21 1642 16129.78 done 1.51 - - 2701.56 - 2.55 0.025 2186.44 -455.5 121.18 - - 2268.59 - - - - - - - - - 16.06 -
16444.28 558.05 8.71 1664 16445.61 VBD 1.51 - - 2701.50 - - - 2186.00 - 121.18 - - 2267.50 - - - - - - - - - - -
16759.30 531.26 8.50 1685 16763.96 done 1.51 - - 2702.25 - 2.87 0.089 3346.69 404.4 121.18 - - 2267.47 - - - - - - - - - 16.05 -
16818.97 525.69 9.33 1694 16824.33 done 1.51 - - 2700.38 - 2.54 0.025 2186.69 -456.7 121.18 - - 2268.84 - - - - - - - - - 16.07 -
17138.22 499.14 8.11 1716 17149.30 VBD 1.51 - - 2701.94 - - - 2187.00 - 121.18 - - 2268.53 - - - - - - - - - - -
17450.83 474.90 7.58 1745 17455.49 done 1.53 - - 2701.62 - 2.87 0.089 3346.31 403.9 121.18 - - 2268.81 - - - - - - - - - 16.06 -
17503.92 470.40 8.28 1752 17508.59 done 1.53 - - 2701.88 - 2.54 0.025 2188.06 -456.0 121.18 - - 2266.66 - - - - - - - - - 16.06 -
17815.79 446.76 7.47 1781 17826.87 VBD 1.55 - - 2702.12 - - - 2188.38 - 121.18 - - 2268.50 - - - - - - - - - - -
18128.38 424.48 6.84 1810 18139.45 VBD 1.58 - - 2701.75 - - - 2188.19 - 121.18 - - 2268.38 - - - - - - - - - - -
18441.20 403.66 6.91 1839 18445.82 done 1.61 - - 2700.00 - 2.53 0.078 1131.19 -417.8 121.18 - - 2267.66 - - - - - - - - - 16.05 -
18479.76 400.81 7.38 1845 18494.66 done 1.63 - - 2701.19 - 2.59 0.030 2273.88 441.2 121.18 - - 2269.94 - - - - - - - - - 16.07 -
18795.80 376.92 7.61 1874 18800.45 done 1.65 - - 2701.00 - 2.74 0.073 1130.31 -417.4 121.18 - - 2267.84 - - - - - - - - - 16.06 -
18911.68 367.75 7.92 1889 18916.30 done 1.66 - - 2701.25 - 2.59 0.030 2270.75 440.3 121.18 - - 2267.91 - - - - - - - - - 16.06 -
19223.44 344.53 7.72 1918 19228.08 done 1.67 - - 2700.56 - 2.73 0.073 1128.75 -418.3 121.18 - - 2267.81 - - - - - - - - - 16.06 -
19277.71 340.11 8.17 1926 19292.64 done 1.67 - - 2701.44 - 2.59 0.031 2272.81 441.7 121.18 - - 2268.25 - - - - - - - - - 16.06 -
19593.77 316.75 7.21 1955 19604.94 1.70 0.19 0.085 2745.88 233.9 - - 2273.12 - 121.18 - - 2270.41 - - - - - - - - 16.03 - -
19906.92 291.41 7.94 1994 19908.25 VBD 1.71 - - 2745.88 - - - 2273.38 - 121.18 - - 2267.88 - - - - - - - - - - -
20211.90 268.38 7.33 2055 20213.23 VBD 1.73 - - 2745.75 - - - 2273.31 - 121.18 - - 2267.22 - - - - - - - - - - -
20516.92 246.00 7.38 2116 20522.47 done 1.75 - - 2744.50 - 2.76 0.072 1130.12 -414.2 121.18 - - 2268.91 - - - - - - - - - 16.05 -
20581.92 240.75 8.27 2129 20587.45 done 1.75 - - 2746.00 - 2.59 0.030 2273.50 441.5 121.18 - - 2268.66 - - - - - - - - - 16.05 -
20892.15 218.45 6.82 2191 20893.48 VBD 1.79 - - 2745.88 - - - 2274.19 - 121.18 - - 2267.91 - - - - - - - - - - -
21197.00 196.87 7.10 2252 21202.55 done 1.81 - - 2745.38 - 2.72 0.072 1128.75 -421.1 121.18 - - 2268.44 - - - - - - - - - 16.05 -
21277.01 191.19 7.05 2268 21282.53 done 1.84 - - 2745.94 - 2.58 0.030 2275.12 444.3 121.18 - - 2268.97 - - - - - - - - - 16.06 -
21587.30 169.86 6.72 2330 21588.73 1.88 0.17 0.091 2788.94 252.9 - - 2274.06 - 121.18 - - 2268.12 - - - - - - - - 16.02 - -
21892.77 150.09 6.15 2391 21923.61 done 1.94 - - 2789.94 - 2.73 0.074 1129.12 -419.4 155.12 24.77 1.325 2142.00 -5.1 0.096 - - - - - - - 15.99 11.90
21927.21 147.71 6.56 2398 21933.08 roll 1.98 - - 2789.81 - 2.60 0.029 2276.81 441.4 155.12 - - 2142.25 - - - - - - - - - 16.04 -
22237.32 122.64 7.69 2460 22242.85 roll 2.00 - - 2790.12 - 2.63 0.090 3348.31 407.4 155.12 - - 2140.41 - - - - - - - - - 15.98 -
22357.35 113.44 7.65 2484 22362.87 roll 2.01 - - 2791.06 - 2.54 0.023 2184.06 -458.4 155.12 - - 2138.69 - - - - - - - - - 16.00 -
22667.45 96.87 4.42 2546 22719.00 2.13 0.28 0.071 2852.50 219.4 2.52 0.078 1130.00 -418.3 214.32 44.42 1.290 1899.44 -5.4 0.067 - - - - - - 15.98 15.85 12.39
22837.66 84.93 7.97 2580 22843.08 roll 2.13 - - 2852.75 - 2.62 0.029 2274.62 436.9 214.32 - - 1894.66 - - - - - - - - - 15.91 -
23027.54 71.34 6.13 2618 23058.97 done 2.20 - - 2852.50 - 2.76 0.072 1130.06 -414.7 248.50 26.00 1.201 1761.12 -5.1 0.051 - - - - - - - 15.81 12.46
23187.75 58.51 8.37 2650 23193.13 roll 2.20 - - 2851.25 - 2.62 0.029 2276.00 437.4 248.50 - - 1756.19 - - - - - - - - - 15.88 -
23377.64 43.40 7.77 2688 23383.18 roll 2.21 - - 2852.75 - 2.63 0.088 3345.12 406.5 248.50 - - 1754.12 - - - - - - - - - 15.90 -
23427.64 39.25 8.52 2698 23433.18 roll 2.21 - - 2853.06 - 2.56 0.023 2181.31 -454.6 248.50 - - 1754.25 - - - - - - - - - 15.93 -
23617.68 28.02 4.24 2736 23669.95 2.34 0.20 0.080 2901.19 240.7 2.90 0.084 3347.38 402.1 310.42 45.69 1.176 1509.62 -5.4 0.021 - - - - - - 15.91 15.79 12.31
23897.89 17.86 3.00 2792 23962.21 2.50 0.16 0.094 2938.94 235.9 2.58 0.022 2177.44 -453.5 390.42 59.28 1.148 1182.62 -5.5 0.014 - - - - - - 15.82 15.88 12.42
24144.47 3.82 7.21 2841 24150.05 roll 2.52 - - 2938.25 - 2.92 0.081 3346.81 400.5 390.42 - - 1175.94 - - - - - - - - - 15.81 -
24174 end climb: SURFACE_DEPTH_REACHED
24175 begin surface coast
24210 end surface coast: CONTROL_FINISHED_OK
24210 begin surface
SM 1.51 - - - - 180.9 26.22 1.095 1042.9 39.8 17.00 0.051 1012.9 59.6 - 2.37 0.024 1072.9 451.5 -2.903 - - 12.42 15.79 15.82 -