NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1124 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 399.38 of 550.00 AH used of 24V (27.39% remains)
• Surface angle -62.6 deg, depth 0.74 m • Intended pitch -24.0 deg, speed -8.462 cm/s
VBD pumped to 400.05 (SM_CC=400)
• GPS1 time: 22 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
5.91 - - - 77.14 VBD -1.50 - - 177.00 - - - 2251.81 - -82.73 70.08 0.005 2845.69 - - - - - - - - - - 14.78
78.25 3.41 -4.80 13 110.00 -1.50 14.56 0.232 1955.94 122.2 3.10 0.084 3425.19 378.5 -82.73 6.18 0.008 3114.44 43.5 -3.262 - - - - - - 15.28 14.80 14.97
257.08 32.98 -15.14 49 262.64 roll -1.50 - - 1957.12 - 2.63 0.017 2256.44 -444.4 -82.73 - - 3111.47 - - - - - - - - - 15.77 -
447.76 58.76 -13.58 87 449.09 no move -1.50 - - 1957.19 - - - 2254.00 - -82.73 - - 3111.06 - - - - - - - - - - -
632.15 77.60 -8.81 124 637.77 roll -1.50 - - 1957.50 - 3.05 0.077 3426.19 384.3 -82.73 - - 3112.41 - - - - - - - - - 15.76 -
662.16 80.43 -9.21 130 667.70 roll -1.50 - - 1956.88 - 2.61 0.017 2249.25 -450.9 -82.73 - - 3112.88 - - - - - - - - - 15.86 -
852.58 96.03 -7.83 168 857.79 roll -1.50 - - 1957.12 - 3.05 0.077 3427.38 386.3 -82.73 - - 3113.69 - - - - - - - - - 15.77 -
867.18 97.29 -8.00 171 872.71 roll -1.50 - - 1957.19 - 2.59 0.018 2250.00 -454.6 -82.73 - - 3113.91 - - - - - - - - - 15.87 -
1057.20 112.50 -7.96 209 1058.53 no move -1.50 - - 1957.19 - - - 2248.88 - -82.73 - - 3111.72 - - - - - - - - - - -
1362.26 137.50 -8.49 270 1367.87 roll -1.50 - - 1957.00 - 3.04 0.077 3427.12 387.6 -82.73 - - 3113.12 - - - - - - - - - 15.80 -
1437.26 144.66 -9.69 285 1442.80 roll -1.50 - - 1957.00 - 2.58 0.018 2252.56 -455.3 -82.73 - - 3112.50 - - - - - - - - - 15.91 -
1747.35 172.14 -8.89 347 1748.68 no move -1.50 - - 1956.69 - - - 2250.69 - -82.73 - - 3112.28 - - - - - - - - - - -
2052.50 198.08 -8.41 408 2053.83 no move -1.50 - - 1957.12 - - - 2250.62 - -82.73 - - 3112.38 - - - - - - - - - - -
2357.53 224.35 -8.65 469 2358.86 no move -1.50 - - 1956.94 - - - 2251.12 - -82.73 - - 3112.22 - - - - - - - - - - -
2662.63 251.27 -8.55 530 2663.96 no move -1.50 - - 1956.81 - - - 2251.31 - -82.73 - - 3112.81 - - - - - - - - - - -
2967.72 277.57 -8.50 591 2969.05 no move -1.50 - - 1956.94 - - - 2250.94 - -82.73 - - 3112.97 - - - - - - - - - - -
3272.16 302.69 -8.07 648 3283.23 no move -1.50 - - 1957.06 - - - 2251.38 - -82.73 - - 3112.97 - - - - - - - - - - -
3585.22 327.70 -8.19 677 3589.83 roll -1.50 - - 1956.81 - 2.56 0.064 1210.12 -406.7 -82.73 - - 3111.81 - - - - - - - - - 15.90 -
3639.50 332.35 -8.59 685 3654.44 roll -1.50 - - 1956.88 - 2.68 0.026 2361.12 429.5 -82.73 - - 3113.25 - - - - - - - - - 15.99 -
3955.66 358.15 -7.82 714 3960.32 roll -1.50 - - 1957.00 - 2.86 0.059 1207.75 -403.3 -82.73 - - 3115.12 - - - - - - - - - 15.90 -
4024.31 363.82 -8.24 723 4028.95 roll -1.50 - - 1957.12 - 2.68 0.026 2357.75 429.1 -82.73 - - 3111.34 - - - - - - - - - 15.98 -
4336.51 388.20 -7.91 752 4347.58 no move -1.50 - - 1957.38 - - - 2357.75 - -82.73 - - 3113.16 - - - - - - - - - - -
4649.29 414.07 -8.47 781 4653.95 roll -1.50 - - 1956.69 - 2.85 0.059 1209.19 -403.0 -82.73 - - 3114.69 - - - - - - - - - 15.89 -
4735.04 421.37 -8.61 793 4749.98 roll -1.50 - - 1957.25 - 2.66 0.026 2350.25 429.0 -82.73 - - 3112.81 - - - - - - - - - 15.99 -
5052.06 446.90 -7.66 822 5063.13 no move -1.50 - - 1957.06 - - - 2350.44 - -82.73 - - 3112.91 - - - - - - - - - - -
5364.85 471.10 -7.58 851 5369.52 roll -1.50 - - 1956.56 - 2.83 0.060 1211.19 -402.6 -82.73 - - 3110.84 - - - - - - - - - 15.89 -
5419.12 475.37 -7.93 859 5434.06 roll -1.50 - - 1957.31 - 2.66 0.026 2351.38 428.6 -82.73 - - 3113.94 - - - - - - - - - 15.99 -
5735.62 499.84 -7.77 888 5746.69 no move -1.50 - - 1957.38 - - - 2351.44 - -82.73 - - 3112.62 - - - - - - - - - - -
6062.08 524.65 -7.49 910 6066.74 roll -1.50 - - 1956.94 - 2.83 0.060 1209.19 -403.6 -82.73 - - 3111.81 - - - - - - - - - 15.89 -
6100.62 527.56 -7.68 916 6106.17 roll -1.50 - - 1957.12 - 2.65 0.026 2348.69 430.0 -82.73 - - 3113.31 - - - - - - - - - 15.99 -
6420.04 550.07 -6.70 938 6421.36 no move -1.50 - - 1957.44 - - - 2348.88 - -82.73 - - 3110.81 - - - - - - - - - - -
6735.05 569.21 -5.83 959 6739.71 roll -1.50 - - 1957.25 - 2.83 0.061 1211.50 -401.9 -82.73 - - 3110.59 - - - - - - - - - 15.88 -
6799.53 572.85 -6.18 969 6814.32 roll -1.50 - - 1956.19 - 2.65 0.027 2346.25 428.2 -82.73 - - 3111.81 - - - - - - - - - 15.98 -
7128.77 592.58 -5.92 991 7133.44 roll -1.50 - - 1957.12 - 2.82 0.061 1210.31 -402.8 -82.73 - - 3109.44 - - - - - - - - - 15.88 -
7188.06 596.30 -6.31 1000 7193.60 roll -1.50 - - 1956.69 - 2.63 0.027 2341.25 430.0 -82.73 - - 3110.91 - - - - - - - - - 16.00 -
7507.57 616.77 -6.68 1022 7512.22 roll -1.50 - - 1957.25 - 2.80 0.062 1209.00 -404.4 -82.73 - - 3109.97 - - - - - - - - - 15.87 -
7565.51 621.01 -7.17 1030 7570.14 roll -1.50 - - 1956.56 - 2.63 0.027 2340.88 430.4 -82.73 - - 3109.19 - - - - - - - - - 15.98 -
7881.98 644.05 -7.21 1052 7886.64 roll -1.50 - - 1957.06 - 2.82 0.088 3425.31 384.5 -82.73 - - 3109.06 - - - - - - - - - 15.82 -
7919.18 647.00 -7.58 1057 7923.80 roll -1.50 - - 1957.25 - 2.63 0.019 2236.00 -452.2 -82.73 - - 3109.84 - - - - - - - - - 15.98 -
8235.67 668.81 -6.76 1079 8236.99 no move -1.50 - - 1957.00 - - - 2234.75 - -82.73 - - 3109.28 - - - - - - - - - - -
8550.69 689.82 -6.63 1100 8552.02 no move -1.50 - - 1957.31 - - - 2234.56 - -82.73 - - 3108.66 - - - - - - - - - - -
8865.72 710.67 -6.67 1121 8867.05 no move -1.50 - - 1956.69 - - - 2234.69 - -82.73 - - 3107.81 - - - - - - - - - - -
9180.77 730.70 -6.34 1142 9185.47 roll -1.50 - - 1957.31 - 3.10 0.084 3427.25 384.7 -82.73 - - 3107.69 - - - - - - - - - 15.80 -
9260.98 736.36 -7.10 1154 9266.41 roll -1.50 - - 1956.44 - 2.62 0.019 2239.69 -453.3 -82.73 - - 3107.81 - - - - - - - - - 15.98 -
9580.21 756.95 -6.41 1176 9581.54 no move -1.50 - - 1956.88 - - - 2238.38 - -82.73 - - 3108.09 - - - - - - - - - - -
9895.23 777.03 -6.39 1197 9896.56 no move -1.50 - - 1957.19 - - - 2238.56 - -82.73 - - 3106.34 - - - - - - - - - - -
10210.23 798.38 -6.83 1218 10214.92 roll -1.50 - - 1957.25 - 3.07 0.084 3424.44 386.3 -82.73 - - 3106.94 - - - - - - - - - 15.80 -
10248.77 801.15 -7.14 1224 10254.30 roll -1.50 - - 1957.06 - 2.60 0.019 2242.00 -454.8 -82.73 - - 3107.03 - - - - - - - - - 15.97 -
10568.19 821.77 -6.20 1246 10569.52 no move -1.50 - - 1956.81 - - - 2242.06 - -82.73 - - 3105.78 - - - - - - - - - - -
10883.20 842.86 -6.77 1267 10884.53 no move -1.50 - - 1957.19 - - - 2241.94 - -82.73 - - 3106.06 - - - - - - - - - - -
11198.22 864.35 -6.69 1288 11199.55 no move -1.50 - - 1956.56 - - - 2242.00 - -82.73 - - 3106.12 - - - - - - - - - - -
11513.23 884.37 -6.06 1309 11517.85 roll -1.50 - - 1957.44 - 2.57 0.069 1210.38 -401.4 -82.73 - - 3105.81 - - - - - - - - - 15.83 -
11572.51 888.14 -6.39 1318 11578.05 roll -1.50 - - 1957.25 - 2.66 0.028 2348.69 427.9 -82.73 - - 3107.66 - - - - - - - - - 15.98 -
11892.11 907.52 -6.05 1340 11896.77 roll -1.50 - - 1957.00 - 2.83 0.063 1211.88 -401.7 -82.73 - - 3105.78 - - - - - - - - - 15.84 -
11930.65 909.87 -6.18 1346 11936.37 roll -1.50 - - 1956.69 - 2.66 0.027 2344.88 425.9 -82.73 - - 3108.91 - - - - - - - - - 15.98 -
12250.24 928.51 -5.69 1368 12251.57 no move -1.50 - - 1956.88 - - - 2345.31 - -82.73 - - 3104.72 - - - - - - - - - - -
12565.06 946.25 -5.71 1389 12569.73 roll -1.50 - - 1957.25 - 2.83 0.063 1210.69 -400.9 -82.73 - - 3105.59 - - - - - - - - - 15.83 -
12645.09 951.04 -6.03 1401 12650.63 roll -1.50 - - 1955.81 - 2.66 0.028 2343.56 425.9 -82.73 - - 3105.75 - - - - - - - - - 15.97 -
12964.50 970.41 -6.16 1423 12965.83 no move -1.50 - - 1956.94 - - - 2344.06 - -82.73 - - 3104.44 - - - - - - - - - - -
13279 end dive: TARGET_DEPTH_EXCEEDED
13280 begin apogee
13281.62 990.27 -6.50 1444 13357.02 -0.28 2.15 0.140 2253.38 137.9 0.16 0.162 2156.69 -1171.1 - 67.50 2.409 2774.25 -4.9 0.354 - - - - - - 15.66 15.09 10.01
13359 end apogee: CONTROL_FINISHED_OK
13359 begin climb
13359.68 992.35 - 1449 13447.58 1.50 3.09 0.124 2686.44 140.1 2.79 0.081 3208.38 376.9 82.73 72.06 2.381 2436.88 -4.7 0.343 - - - - - - 15.38 15.52 11.53
13470.69 989.08 3.88 1465 13597.92 1.77 0.40 0.060 2758.94 181.2 2.73 0.024 2059.06 -421.0 216.12 118.47 2.386 1893.44 -4.6 0.335 - - - - - - 15.32 15.41 11.46
13910.08 947.78 10.31 1503 13911.41 VBD 1.77 - - 2759.38 - - - 2058.38 - 216.12 - - 1880.41 - - - - - - - - - - -
14225.11 916.22 9.90 1524 14226.44 VBD 1.77 - - 2759.00 - - - 2058.38 - 216.12 - - 1878.56 - - - - - - - - - - -
14539.94 884.38 10.24 1545 14544.62 done 1.77 - - 2760.19 - 2.98 0.079 3205.31 384.9 216.12 - - 1880.28 - - - - - - - - - 15.78 -
14599.23 877.97 10.85 1554 14604.78 done 1.77 - - 2759.69 - 2.64 0.026 2064.38 -432.2 216.12 - - 1878.62 - - - - - - - - - 15.87 -
14918.65 844.78 10.28 1576 14923.29 done 1.77 - - 2758.75 - 2.77 0.087 994.69 -386.2 216.12 - - 1877.25 - - - - - - - - - 15.79 -
15004.01 836.16 10.83 1589 15018.94 done 1.77 - - 2760.50 - 2.67 0.024 2136.75 427.7 216.12 - - 1877.44 - - - - - - - - - 15.92 -
15333.42 802.77 9.84 1611 15334.75 VBD 1.77 - - 2759.81 - - - 2136.69 - 216.12 - - 1875.12 - - - - - - - - - - -
15648.60 772.36 9.60 1632 15653.31 done 1.77 - - 2760.00 - 2.77 0.083 3204.00 385.3 216.12 - - 1874.28 - - - - - - - - - 15.82 -
15687.14 768.52 9.97 1638 15692.69 done 1.77 - - 2760.44 - 2.63 0.025 2058.94 -435.4 216.12 - - 1875.91 - - - - - - - - - 15.94 -
16006.55 737.84 9.59 1660 16007.88 VBD 1.77 - - 2760.12 - - - 2059.06 - 216.12 - - 1874.44 - - - - - - - - - - -
16321.56 707.71 9.55 1681 16322.89 VBD 1.77 - - 2761.00 - - - 2058.81 - 216.12 - - 1874.59 - - - - - - - - - - -
16636.56 677.37 9.47 1702 16641.25 done 1.77 - - 2760.44 - 2.98 0.079 3209.00 386.0 216.12 - - 1876.62 - - - - - - - - - 15.81 -
16700.85 671.45 10.02 1712 16715.79 done 1.77 - - 2759.75 - 2.64 0.026 2062.19 -434.4 216.12 - - 1875.72 - - - - - - - - - 15.96 -
17030.25 639.78 9.42 1734 17031.58 VBD 1.77 - - 2760.38 - - - 2062.75 - 216.12 - - 1873.88 - - - - - - - - - - -
17345.27 610.09 9.29 1755 17349.96 done 1.77 - - 2760.06 - 2.96 0.079 3205.12 385.9 216.12 - - 1873.56 - - - - - - - - - 15.81 -
17383.82 606.51 9.45 1761 17389.37 done 1.77 - - 2760.25 - 2.63 0.026 2064.88 -433.6 216.12 - - 1875.97 - - - - - - - - - 15.95 -
17703.23 578.54 8.78 1783 17704.56 VBD 1.77 - - 2760.06 - - - 2064.81 - 216.12 - - 1873.53 - - - - - - - - - - -
18018.41 551.04 8.66 1804 18023.10 done 1.77 - - 2759.44 - 2.95 0.079 3206.25 386.9 216.12 - - 1873.34 - - - - - - - - - 15.80 -
18077.87 545.73 9.00 1813 18083.30 done 1.77 - - 2759.69 - 2.62 0.025 2069.50 -433.9 216.12 - - 1875.88 - - - - - - - - - 15.96 -
18397.10 518.41 8.33 1835 18401.75 done 1.77 - - 2760.56 - 2.77 0.087 996.25 -387.5 216.12 - - 1873.62 - - - - - - - - - 15.77 -
18435.64 514.99 8.79 1841 18441.20 done 1.77 - - 2760.25 - 2.67 0.025 2145.69 430.5 216.12 - - 1874.72 - - - - - - - - - 15.96 -
18749.18 487.54 8.56 1866 18753.83 done 1.77 - - 2760.00 - 2.75 0.083 3207.25 386.0 216.12 - - 1873.56 - - - - - - - - - 15.79 -
18786.38 484.13 8.93 1871 18791.01 done 1.77 - - 2760.00 - 2.62 0.025 2068.69 -434.6 216.12 - - 1874.81 - - - - - - - - - 15.95 -
19098.01 458.09 8.29 1900 19109.08 VBD 1.77 - - 2760.31 - - - 2068.94 - 216.12 - - 1873.81 - - - - - - - - - - -
19410.92 431.03 8.80 1929 19422.00 VBD 1.77 - - 2760.69 - - - 2068.50 - 216.12 - - 1872.66 - - - - - - - - - - -
19723.62 403.01 8.91 1958 19728.26 done 1.77 - - 2760.25 - 2.77 0.086 995.88 -387.2 216.12 - - 1874.25 - - - - - - - - - 15.76 -
19762.16 399.38 9.39 1964 19777.10 done 1.77 - - 2759.62 - 2.67 0.024 2146.06 430.8 216.12 - - 1873.19 - - - - - - - - - 15.96 -
20078.72 370.50 8.97 1993 20083.62 done 1.77 - - 2760.06 - 2.97 0.081 993.25 -388.2 216.12 - - 1871.72 - - - - - - - - - 15.76 -
20133.17 365.37 9.48 2001 20147.99 done 1.77 - - 2760.44 - 2.67 0.024 2139.50 429.3 216.12 - - 1872.25 - - - - - - - - - 15.96 -
20449.34 337.88 8.50 2030 20453.99 done 1.77 - - 2760.50 - 2.77 0.082 3205.00 384.7 216.12 - - 1872.22 - - - - - - - - - 15.78 -
20518.00 331.64 9.02 2039 20522.63 done 1.77 - - 2760.31 - 2.62 0.025 2063.00 -435.9 216.12 - - 1873.31 - - - - - - - - - 15.96 -
20829.26 306.75 7.65 2068 20833.91 done 1.78 - - 2759.88 - 2.72 0.085 994.56 -392.8 216.12 - - 1872.25 - - - - - - - - - 15.76 -
20925.78 298.58 8.63 2081 20931.32 done 1.78 - - 2760.12 - 2.67 0.024 2143.62 430.4 216.12 - - 1872.28 - - - - - - - - - 15.94 -
21235.88 275.55 7.15 2143 21241.42 done 1.81 - - 2761.25 - 2.76 0.082 3206.31 385.0 216.12 - - 1873.19 - - - - - - - - - 15.77 -
21305.90 270.08 7.90 2157 21311.44 done 1.82 - - 2759.94 - 2.61 0.024 2065.44 -437.1 216.12 - - 1872.25 - - - - - - - - - 15.94 -
21616.12 246.99 7.65 2219 21621.50 done 1.84 - - 2760.56 - 2.75 0.084 994.69 -389.4 216.12 - - 1872.75 - - - - - - - - - 15.75 -
21656.05 243.57 8.55 2227 21661.48 done 1.84 - - 2760.50 - 2.67 0.024 2146.69 431.5 216.12 - - 1871.66 - - - - - - - - - 15.94 -
21966.00 219.02 7.63 2289 21971.54 done 1.85 - - 2760.38 - 2.73 0.081 3204.19 387.4 216.12 - - 1872.16 - - - - - - - - - 15.77 -
22025.99 214.21 8.12 2301 22031.51 done 1.85 - - 2760.25 - 2.60 0.024 2066.75 -437.5 216.12 - - 1872.41 - - - - - - - - - 15.93 -
22336.04 191.53 7.30 2363 22341.59 done 1.88 - - 2760.69 - 2.74 0.083 993.25 -391.8 216.12 - - 1873.91 - - - - - - - - - 15.75 -
22406.03 185.79 8.37 2377 22411.58 done 1.88 - - 2760.62 - 2.68 0.024 2147.00 430.5 216.12 - - 1872.31 - - - - - - - - - 15.93 -
22716.08 160.63 8.40 2439 22721.64 done 1.88 - - 2760.50 - 2.73 0.081 3206.00 387.9 216.12 - - 1873.69 - - - - - - - - - 15.77 -
22781.08 154.74 9.12 2452 22786.61 done 1.88 - - 2760.81 - 2.59 0.024 2070.06 -438.6 216.12 - - 1873.41 - - - - - - - - - 15.94 -
23091.25 131.22 6.75 2514 23096.69 done 1.91 - - 2760.75 - 2.75 0.082 993.44 -391.5 216.12 - - 1872.50 - - - - - - - - - 15.75 -
23186.15 124.17 7.47 2533 23191.74 1.93 0.17 0.088 2801.38 239.0 2.69 0.023 2148.06 429.2 216.12 - - 1872.22 - - - - - - - - 15.74 15.94 -
23496.56 99.66 7.93 2595 23501.72 done 1.94 - - 2801.94 - 2.73 0.080 3206.56 387.7 216.12 - - 1872.97 - - - - - - - - - 15.76 -
23551.17 95.08 8.43 2606 23556.72 done 1.94 - - 2802.19 - 2.61 0.023 2070.62 -435.2 216.12 - - 1873.00 - - - - - - - - - 15.94 -
23741.20 82.20 6.72 2644 23742.53 VBD 1.98 - - 2803.12 - - - 2070.25 - 216.12 - - 1872.25 - - - - - - - - - - -
23926.22 71.54 5.71 2681 23993.76 2.14 0.22 0.080 2851.25 218.8 2.98 0.077 3205.12 380.8 296.15 61.38 1.258 1567.91 -5.0 0.050 - - - - - - 15.89 15.26 10.32
24051.22 61.69 8.67 2706 24056.96 roll 2.14 - - 2850.94 - 2.61 0.023 2077.00 -432.2 296.15 - - 1564.41 - - - - - - - - - 15.75 -
24241.26 49.56 6.02 2744 24299.71 VBD 2.28 - - 2850.81 - - - 2076.75 - 367.17 56.60 1.196 1278.47 -5.1 0.037 - - - - - - - - 11.14
24481.86 31.59 7.58 2792 24487.50 roll back 2.29 0.16 0.089 2889.12 239.4 2.95 0.075 3206.44 382.9 367.17 - - 1273.09 - - - - - - - - 15.70 15.63 -
24511.86 29.13 7.93 2798 24517.38 roll 2.31 - - 2889.50 - 2.58 0.022 2083.31 -435.3 367.17 - - 1271.75 - - - - - - - - - 15.74 -
24701.91 12.37 8.97 2836 24707.49 done 2.31 - - 2889.88 - 2.81 0.082 994.56 -387.5 367.17 - - 1270.03 - - - - - - - - - 15.70 -
24731.90 9.55 9.38 2842 24737.48 done 2.31 - - 2890.56 - 2.76 0.023 2169.75 425.8 367.17 - - 1269.28 - - - - - - - - - 15.81 -
24787 end climb: SURFACE_DEPTH_REACHED
24787 begin surface coast
24832 end surface coast: CONTROL_FINISHED_OK
24832 begin surface
SM 0.47 - - - - 179.6 26.37 1.119 1144.2 43.4 16.97 0.056 1114.9 65.7 - 0.38 0.061 1173.4 3080.6 -2.426 - - 11.04 15.75 15.81 -