NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 65 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 29.19 of 550.00 AH used of 24V (94.69% remains)
• Surface angle -63.2 deg, depth 1.63 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 374.82 (SM_CC=375)
• 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
6.41 - - - 64.62 VBD -1.37 - - 180.81 - - - 2253.31 - -82.73 57.03 0.005 2604.12 - - - - - - - - - - 15.76
65.36 3.04 -3.17 11 103.48 -1.37 13.90 0.258 1988.88 130.1 2.56 0.071 1209.44 -407.8 -82.73 13.37 0.006 3112.34 38.0 -3.173 - - - - - - 15.73 15.76 15.80
236.46 35.97 -19.49 45 242.02 roll -1.37 - - 1989.19 - 2.64 0.034 2349.31 431.8 -82.73 - - 3113.44 - - - - - - - - - 15.87 -
427.27 68.06 -16.14 83 432.09 roll -1.37 - - 1989.31 - 2.79 0.065 1209.81 -408.4 -82.73 - - 3112.41 - - - - - - - - - 15.93 -
451.53 71.79 -14.92 88 457.07 roll -1.37 - - 1988.75 - 2.62 0.033 2352.62 436.2 -82.73 - - 3114.69 - - - - - - - - - 15.94 -
641.96 96.51 -11.95 126 647.13 roll -1.37 - - 1989.62 - 2.78 0.065 1210.88 -410.7 -82.73 - - 3113.28 - - - - - - - - - 15.98 -
726.12 106.80 -12.82 143 732.14 roll -1.37 - - 1989.31 - 2.61 0.033 2350.62 436.7 -82.73 - - 3113.75 - - - - - - - - - 15.97 -
1041.65 139.05 -9.47 175 1046.74 roll -1.37 - - 1990.06 - 2.63 0.091 3426.56 409.1 -82.73 - - 3113.72 - - - - - - - - - 16.02 -
1146.23 150.02 -10.52 196 1152.22 roll -1.37 - - 1988.44 - 2.59 0.025 2250.38 -454.1 -82.73 - - 3114.12 - - - - - - - - - 16.04 -
1461.76 179.92 -9.84 228 1466.88 roll -1.37 - - 1989.44 - 2.87 0.086 3426.00 409.6 -82.73 - - 3113.31 - - - - - - - - - 16.08 -
1501.77 184.11 -10.63 236 1506.85 roll -1.37 - - 1989.81 - 2.59 0.025 2251.88 -453.3 -82.73 - - 3114.12 - - - - - - - - - 16.07 -
1811.85 213.87 -9.51 268 1816.95 roll -1.37 - - 1989.81 - 2.88 0.086 3427.25 408.1 -82.73 - - 3115.66 - - - - - - - - - 16.10 -
1886.58 222.09 -11.09 283 1892.46 roll -1.37 - - 1989.56 - 2.58 0.026 2254.06 -454.7 -82.73 - - 3113.62 - - - - - - - - - 16.10 -
2201.93 253.39 -9.79 315 2203.25 no move -1.37 - - 1989.69 - - - 2254.12 - -82.73 - - 3112.75 - - - - - - - - - - -
2512.38 284.13 -10.36 346 2517.06 roll -1.37 - - 1989.88 - 2.52 0.073 1208.19 -415.1 -82.73 - - 3113.06 - - - - - - - - - 16.13 -
2556.53 288.85 -11.18 355 2562.54 roll -1.37 - - 1989.44 - 2.60 0.033 2352.50 440.1 -82.73 - - 3113.72 - - - - - - - - - 16.15 -
2872.07 322.25 -10.47 387 2877.16 roll -1.37 - - 1990.06 - 2.76 0.068 1208.19 -414.6 -82.73 - - 3114.66 - - - - - - - - - 16.15 -
2952.08 330.37 -10.15 403 2957.16 roll -1.37 - - 1989.88 - 2.60 0.034 2352.38 440.1 -82.73 - - 3114.03 - - - - - - - - - 16.15 -
3262.36 359.39 -8.94 435 3263.69 no move -1.37 - - 1989.44 - - - 2352.38 - -82.73 - - 3112.72 - - - - - - - - - - -
3572.60 385.52 -8.20 466 3577.32 roll -1.37 - - 1989.38 - 2.76 0.068 1209.56 -414.1 -82.73 - - 3114.25 - - - - - - - - - 16.19 -
3642.23 391.15 -8.07 480 3647.30 roll -1.37 - - 1989.69 - 2.59 0.034 2352.06 441.1 -82.73 - - 3115.44 - - - - - - - - - 16.18 -
3952.30 416.42 -8.41 512 3957.37 roll -1.37 - - 1989.75 - 2.61 0.095 3425.88 411.4 -82.73 - - 3114.84 - - - - - - - - - 16.19 -
4037.04 424.70 -9.82 529 4042.90 roll -1.37 - - 1989.69 - 2.56 0.026 2253.88 -457.8 -82.73 - - 3113.31 - - - - - - - - - 16.18 -
4352.35 452.01 -8.74 561 4353.68 no move -1.37 - - 1990.31 - - - 2253.19 - -82.73 - - 3111.66 - - - - - - - - - - -
4662.77 480.15 -9.17 592 4667.50 roll -1.37 - - 1989.88 - 2.86 0.091 3425.56 409.9 -82.73 - - 3112.97 - - - - - - - - - 16.19 -
4756.95 490.30 -10.62 611 4762.94 roll -1.37 - - 1989.62 - 2.55 0.027 2254.44 -459.3 -82.73 - - 3111.47 - - - - - - - - - 16.21 -
5072.44 518.61 -8.56 643 5073.77 no move -1.37 - - 1989.38 - - - 2254.56 - -82.73 - - 3110.34 - - - - - - - - - - -
5382.86 546.86 -9.12 674 5384.18 no move -1.37 - - 1989.69 - - - 2254.00 - -82.73 - - 3110.34 - - - - - - - - - - -
5692.90 572.24 -7.68 705 5697.62 roll -1.37 - - 1989.56 - 2.86 0.092 3427.00 410.1 -82.73 - - 3111.00 - - - - - - - - - 16.20 -
5752.52 577.65 -8.56 717 5757.58 roll -1.37 - - 1989.69 - 2.55 0.027 2255.56 -459.4 -82.73 - - 3112.91 - - - - - - - - - 16.22 -
6062.55 602.99 -8.47 749 6063.88 no move -1.37 - - 1989.75 - - - 2253.81 - -82.73 - - 3109.50 - - - - - - - - - - -
6372.98 629.35 -8.20 780 6377.70 roll -1.37 - - 1989.56 - 2.85 0.093 3426.88 411.6 -82.73 - - 3111.84 - - - - - - - - - 16.22 -
6432.59 634.93 -8.89 792 6437.85 roll -1.37 - - 1989.38 - 2.54 0.028 2255.50 -461.2 -82.73 - - 3109.81 - - - - - - - - - 16.23 -
6742.77 660.24 -7.87 824 6744.10 no move -1.37 - - 1989.44 - - - 2254.25 - -82.73 - - 3108.94 - - - - - - - - - - -
7053.12 684.55 -7.81 855 7054.44 no move -1.37 - - 1989.56 - - - 2253.88 - -82.73 - - 3108.25 - - - - - - - - - - -
7363.18 707.91 -7.65 886 7364.50 no move -1.37 - - 1989.56 - - - 2254.38 - -82.73 - - 3107.47 - - - - - - - - - - -
7673.23 730.95 -7.44 917 7677.50 roll -1.37 - - 1989.81 - 2.48 0.076 1209.25 -421.4 -82.73 - - 3108.91 - - - - - - - - - 16.23 -
7732.87 735.67 -7.81 929 7737.93 roll -1.37 - - 1987.75 - 2.58 0.035 2353.12 443.4 -82.73 - - 3109.25 - - - - - - - - - 16.25 -
8042.93 759.20 -7.51 961 8048.03 roll -1.37 - - 1989.38 - 2.73 0.071 1209.62 -418.9 -82.73 - - 3107.97 - - - - - - - - - 16.24 -
8167.50 769.56 -8.37 986 8173.49 roll -1.37 - - 1989.44 - 2.58 0.035 2350.69 442.3 -82.73 - - 3109.62 - - - - - - - - - 16.24 -
8483.03 794.35 -8.05 1018 8488.13 roll -1.37 - - 1989.69 - 2.71 0.071 1209.94 -420.9 -82.73 - - 3107.81 - - - - - - - - - 16.24 -
8553.04 800.16 -8.52 1032 8558.12 roll -1.37 - - 1989.88 - 2.58 0.036 2351.94 442.6 -82.73 - - 3108.94 - - - - - - - - - 16.23 -
8863.12 825.63 -8.13 1064 8868.41 roll -1.37 - - 1989.62 - 2.72 0.070 1209.81 -419.9 -82.73 - - 3109.28 - - - - - - - - - 16.23 -
8913.30 829.74 -8.69 1074 8918.20 roll -1.37 - - 1989.88 - 2.57 0.036 2350.94 444.0 -82.73 - - 3108.97 - - - - - - - - - 16.24 -
9223.20 855.55 -8.28 1106 9228.28 roll -1.37 - - 1989.56 - 2.70 0.071 1209.62 -422.7 -82.73 - - 3106.69 - - - - - - - - - 16.24 -
9293.22 861.31 -8.54 1120 9298.30 roll -1.37 - - 1989.75 - 2.58 0.036 2352.44 443.0 -82.73 - - 3107.16 - - - - - - - - - 16.23 -
9603.29 885.91 -7.96 1152 9608.38 roll -1.37 - - 1988.12 - 2.72 0.071 1208.62 -420.5 -82.73 - - 3107.62 - - - - - - - - - 16.23 -
9663.30 890.46 -7.94 1164 9668.37 roll -1.37 - - 1990.12 - 2.57 0.036 2350.19 444.2 -82.73 - - 3107.50 - - - - - - - - - 16.24 -
9973.35 914.13 -7.54 1196 9978.44 roll -1.37 - - 1988.50 - 2.71 0.071 1209.88 -420.8 -82.73 - - 3107.19 - - - - - - - - - 16.24 -
10048.61 919.94 -8.71 1211 10053.89 roll -1.37 - - 1989.19 - 2.57 0.036 2351.25 444.1 -82.73 - - 3107.44 - - - - - - - - - 16.25 -
10363.40 943.10 -6.77 1243 10364.73 no move -1.37 - - 1989.44 - - - 2351.75 - -82.73 - - 3105.00 - - - - - - - - - - -
10673.83 963.30 -6.16 1274 10678.54 roll -1.37 - - 1989.38 - 2.71 0.071 1209.75 -421.4 -82.73 - - 3106.09 - - - - - - - - - 16.25 -
10768.18 969.43 -6.25 1293 10774.04 roll -1.37 - - 1989.56 - 2.57 0.036 2351.00 444.1 -82.73 - - 3107.59 - - - - - - - - - 16.24 -
11083.89 987.05 -5.38 1325 11085.21 no move -1.37 - - 1989.31 - - - 2351.69 - -82.73 - - 3104.94 - - - - - - - - - - -
11143 end dive: TARGET_DEPTH_EXCEEDED
11143 begin apogee
11145.31 990.29 -5.42 1331 11210.83 -0.28 1.76 0.156 2251.75 149.1 0.19 0.153 2280.25 -376.0 - 61.21 2.409 2774.72 -5.4 0.365 - - - - - - 16.19 15.68 13.08
11211 end apogee: CONTROL_FINISHED_OK
11212 begin climb
11212.65 990.59 - 1337 11288.32 1.37 2.63 0.106 2654.25 153.0 2.76 0.101 3345.12 385.8 82.73 64.82 2.339 2437.94 -5.2 0.362 - - - - - - 15.73 15.32 12.86
11296.99 984.59 7.52 1352 11301.90 roll 1.39 - - 2653.81 - 2.68 0.028 2192.62 -430.0 82.73 - - 2435.38 - - - - - - - - - 15.44 -
11607.26 954.99 9.54 1384 11612.00 roll 1.39 - - 2655.62 - 2.89 0.094 3345.19 398.8 82.73 - - 2432.78 - - - - - - - - - 15.79 -
11651.43 950.14 10.14 1393 11657.62 roll 1.39 - - 2654.88 - 2.62 0.029 2191.75 -440.2 82.73 - - 2430.12 - - - - - - - - - 15.82 -
11967.46 921.47 8.50 1425 11968.79 VBD 1.39 - - 2654.94 - - - 2191.50 - 82.73 - - 2428.81 - - - - - - - - - - -
12277.43 896.77 7.45 1456 12278.76 no move 1.41 - - 2655.00 - - - 2191.75 - 82.73 - - 2427.84 - - - - - - - - - - -
12587.49 874.39 7.07 1487 12588.82 VBD 1.43 - - 2654.62 - - - 2191.25 - 82.73 - - 2427.78 - - - - - - - - - - -
12897.56 852.11 7.17 1518 12902.27 done 1.46 - - 2654.88 - 2.84 0.095 3346.56 406.8 82.73 - - 2429.88 - - - - - - - - - 16.06 -
12977.18 845.62 7.97 1534 12982.25 done 1.46 - - 2655.44 - 2.58 0.029 2192.25 -447.4 82.73 - - 2429.84 - - - - - - - - - 16.07 -
13287.64 822.97 7.53 1566 13288.98 VBD 1.48 - - 2654.75 - - - 2192.81 - 82.73 - - 2426.81 - - - - - - - - - - -
13597.72 800.20 7.33 1597 13599.15 1.50 0.17 0.096 2697.94 254.1 - - 2191.88 - 82.73 - - 2426.25 - - - - - - - - 16.11 - -
13907.34 773.99 8.85 1628 13912.46 done 1.50 - - 2697.88 - 2.83 0.095 3346.56 408.0 82.73 - - 2428.12 - - - - - - - - - 16.12 -
13977.36 767.75 9.73 1642 13982.66 done 1.50 - - 2698.50 - 2.57 0.029 2191.56 -449.4 82.73 - - 2427.22 - - - - - - - - - 16.14 -
14287.40 740.28 8.80 1674 14288.74 VBD 1.50 - - 2698.38 - - - 2191.44 - 82.73 - - 2426.25 - - - - - - - - - - -
14598.06 713.72 8.91 1705 14599.40 VBD 1.50 - - 2698.81 - - - 2192.12 - 82.73 - - 2426.16 - - - - - - - - - - -
14907.85 687.90 8.10 1736 14912.58 done 1.50 - - 2698.62 - 2.83 0.095 3345.00 407.4 82.73 - - 2427.56 - - - - - - - - - 16.16 -
15042.04 675.56 9.18 1763 15048.03 done 1.50 - - 2697.62 - 2.56 0.029 2192.38 -450.2 82.73 - - 2427.69 - - - - - - - - - 16.17 -
15357.94 651.83 7.20 1795 15359.27 VBD 1.53 - - 2697.94 - - - 2193.12 - 82.73 - - 2426.16 - - - - - - - - - - -
15667.98 630.63 6.42 1826 15692.08 VBD 1.59 - - 2698.62 - - - 2192.88 - 112.60 23.18 1.906 2315.59 -4.8 0.260 - - - - - - - - 13.09
15998.03 604.65 8.10 1859 16002.75 roll 1.59 - - 2698.81 - 2.84 0.095 3347.06 406.4 112.60 - - 2313.12 - - - - - - - - - 16.08 -
16042.19 600.72 8.75 1868 16048.18 roll 1.59 - - 2699.38 - 2.59 0.029 2191.31 -446.2 112.60 - - 2312.88 - - - - - - - - - 16.09 -
16358.13 575.82 7.72 1900 16362.84 roll 1.60 - - 2699.81 - 2.83 0.094 3346.19 408.1 112.60 - - 2312.03 - - - - - - - - - 16.11 -
16422.29 570.34 8.77 1913 16428.29 roll 1.60 - - 2698.94 - 2.58 0.029 2192.19 -447.3 112.60 - - 2311.59 - - - - - - - - - 16.12 -
16738.20 544.33 8.28 1945 16743.11 roll 1.60 - - 2699.06 - 2.83 0.094 3347.06 408.1 112.60 - - 2312.31 - - - - - - - - - 16.13 -
16812.55 537.36 9.67 1960 16818.36 roll 1.60 - - 2698.69 - 2.58 0.029 2191.44 -447.9 112.60 - - 2311.78 - - - - - - - - - 16.14 -
17127.92 509.64 8.83 1992 17129.25 no move 1.60 - - 2699.25 - - - 2191.81 - 112.60 - - 2310.75 - - - - - - - - - - -
17438.37 481.72 8.92 2023 17443.09 roll 1.60 - - 2699.19 - 2.82 0.094 3345.50 409.1 112.60 - - 2312.62 - - - - - - - - - 16.16 -
17487.99 476.73 9.99 2033 17493.06 roll 1.60 - - 2698.88 - 2.56 0.029 2191.50 -450.8 112.60 - - 2311.62 - - - - - - - - - 16.15 -
17798.06 450.39 8.22 2065 17803.12 roll 1.60 - - 2699.44 - 2.54 0.084 1131.38 -417.4 112.60 - - 2311.81 - - - - - - - - - 16.17 -
17848.06 445.95 8.91 2075 17853.14 roll 1.60 - - 2699.31 - 2.58 0.035 2272.50 442.3 112.60 - - 2313.59 - - - - - - - - - 16.18 -
18158.54 421.67 7.71 2107 18163.23 roll 1.62 - - 2699.25 - 2.61 0.097 3346.31 411.4 112.60 - - 2311.56 - - - - - - - - - 16.17 -
18238.17 414.95 8.36 2123 18243.24 roll 1.62 - - 2699.50 - 2.58 0.028 2190.50 -448.0 112.60 - - 2311.28 - - - - - - - - - 16.18 -
18548.62 391.81 7.25 2155 18553.47 roll 1.64 - - 2698.88 - 2.55 0.083 1131.75 -415.2 112.60 - - 2311.72 - - - - - - - - - 16.18 -
18713.33 378.70 7.70 2188 18718.81 roll 1.66 - - 2698.81 - 2.58 0.036 2273.19 442.4 112.60 - - 2311.28 - - - - - - - - - 16.19 -
19028.74 355.63 7.16 2220 19030.17 pitch 1.68 0.18 0.088 2742.62 243.4 - - 2271.88 - 112.60 - - 2310.16 - - - - - - - - 16.18 - -
19338.34 331.17 8.25 2251 19343.43 roll 1.68 - - 2742.62 - 2.61 0.097 3347.81 412.2 112.60 - - 2311.72 - - - - - - - - - 16.18 -
19492.92 316.90 9.42 2282 19498.90 roll 1.68 - - 2742.19 - 2.57 0.028 2190.50 -450.3 112.60 - - 2313.12 - - - - - - - - - 16.20 -
19808.58 291.29 8.20 2314 19809.92 no move 1.68 - - 2742.00 - - - 2190.38 - 112.60 - - 2310.38 - - - - - - - - - - -
20119.03 266.09 7.39 2345 20120.37 no move 1.70 - - 2742.25 - - - 2189.88 - 112.60 - - 2310.25 - - - - - - - - - - -
20428.89 244.04 6.65 2376 20433.61 roll 1.74 - - 2742.31 - 2.81 0.092 3345.94 411.4 112.60 - - 2311.44 - - - - - - - - - 16.17 -
20493.05 239.40 7.36 2389 20499.02 roll 1.76 - - 2742.31 - 2.56 0.028 2189.19 -451.9 112.60 - - 2312.66 - - - - - - - - - 16.20 -
20808.93 216.41 7.61 2421 20813.61 roll 1.78 - - 2742.75 - 2.53 0.082 1128.88 -419.1 112.60 - - 2311.47 - - - - - - - - - 16.18 -
20923.29 207.10 8.33 2444 20929.15 roll 1.78 - - 2743.31 - 2.58 0.035 2273.88 443.8 112.60 - - 2311.94 - - - - - - - - - 16.19 -
21238.61 181.31 7.98 2476 21239.94 no move 1.78 - - 2743.19 - - - 2273.94 - 112.60 - - 2311.19 - - - - - - - - - - -
21549.06 160.93 6.33 2507 21580.08 done 1.84 - - 2742.88 - 2.76 0.079 1130.50 -414.3 143.85 24.34 1.385 2187.69 -5.1 0.097 - - - - - - - 16.01 13.11
21628.69 154.78 8.41 2523 21633.75 roll 1.84 - - 2742.56 - 2.59 0.034 2271.62 440.6 143.85 - - 2185.75 - - - - - - - - - 16.07 -
21939.15 131.23 7.38 2555 21943.91 roll back 1.86 0.17 0.087 2787.00 261.4 2.74 0.076 1130.31 -416.5 143.85 - - 2185.94 - - - - - - - - 16.10 16.10 -
21993.31 126.73 8.08 2566 21999.31 roll 1.86 - - 2788.00 - 2.59 0.034 2274.00 441.6 143.85 - - 2185.00 - - - - - - - - - 16.11 -
22309.24 104.31 6.28 2598 22340.47 done 1.93 - - 2788.06 - 2.77 0.077 1130.00 -413.0 175.76 24.70 1.311 2056.69 -5.2 0.068 - - - - - - - 15.96 13.06
22398.87 97.87 7.77 2616 22404.57 roll 1.94 - - 2787.31 - 2.60 0.034 2273.50 439.8 175.76 - - 2054.50 - - - - - - - - - 16.02 -
22589.51 87.23 3.72 2654 22645.39 2.08 0.22 0.076 2840.31 240.9 - - 2274.00 - 245.20 51.64 1.316 1774.78 -5.4 0.059 - - - - - - 16.03 - 13.06
22829.03 71.06 7.61 2702 22830.36 VBD 2.10 - - 2840.25 - - - 2274.12 - 245.20 - - 1765.62 - - - - - - - - - - -
23014.10 56.96 7.73 2739 23015.43 VBD 2.11 - - 2840.19 - - - 2273.75 - 245.20 - - 1763.16 - - - - - - - - - - -
23199.18 42.76 7.61 2776 23204.71 done 2.13 - - 2840.12 - 2.62 0.094 3346.88 409.6 245.20 - - 1762.62 - - - - - - - - - 15.96 -
23299.22 35.21 6.96 2796 23304.74 done 2.16 - - 2841.06 - 2.58 0.027 2186.81 -449.6 245.20 - - 1762.16 - - - - - - - - - 15.97 -
23489.69 25.69 5.05 2834 23530.94 2.26 0.16 0.091 2882.44 258.6 2.57 0.082 1129.94 -411.2 295.14 36.57 1.215 1572.25 -5.2 0.018 - - - - - - 15.99 15.81 13.03
23639.32 13.07 10.21 2864 23644.88 roll 2.26 - - 2882.75 - 2.63 0.033 2273.00 434.6 295.14 - - 1566.56 - - - - - - - - - 15.89 -
23759 end climb: SURFACE_DEPTH_REACHED
23759 begin surface coast
23784 end surface coast: CONTROL_FINISHED_OK
23785 begin surface
SM 1.92 - - - - 184.9 59.01 1.192 1247.0 21.1 16.56 0.049 1220.3 73.7 - 0.12 0.129 1273.7 10592.2 -16.113 - - 12.92 15.93 15.94 -