NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 261 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 85.04 of 550.00 AH used of 24V (84.54% remains)
• Surface angle -62.6 deg, depth 1.38 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 425.00 (SM_CC=425)
• GPS1 time: 48 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.50 - - - 56.07 VBD -1.37 - - 175.94 - - - 2249.06 - -82.73 48.40 0.005 2254.16 - - - - - - - - - - 15.68
56.81 3.19 -3.32 9 100.03 -1.37 13.76 0.251 1988.31 131.7 2.56 0.066 1208.56 -406.4 -82.73 21.01 0.006 3111.53 40.8 -3.577 - - - - - - 15.69 15.68 15.72
173.01 27.97 -22.13 32 178.56 roll -1.37 - - 1988.31 - 2.68 0.029 2350.25 426.0 -82.73 - - 3113.12 - - - - - - - - - 15.85 -
363.43 57.58 -14.48 70 368.80 roll -1.37 - - 1987.81 - 2.71 0.085 3424.94 396.6 -82.73 - - 3113.50 - - - - - - - - - 15.89 -
448.20 71.16 -16.63 87 453.64 roll -1.37 - - 1988.25 - 2.63 0.021 2252.12 -445.9 -82.73 - - 3112.84 - - - - - - - - - 15.94 -
638.70 94.70 -11.39 125 643.66 roll -1.37 - - 1988.25 - 2.56 0.063 1208.94 -407.5 -82.73 - - 3113.66 - - - - - - - - - 15.97 -
698.14 101.85 -11.68 137 703.22 roll -1.37 - - 1988.38 - 2.65 0.028 2351.31 431.1 -82.73 - - 3113.59 - - - - - - - - - 15.98 -
1008.17 132.48 -10.85 169 1013.28 roll -1.37 - - 1989.12 - 2.82 0.059 1208.75 -405.2 -82.73 - - 3114.09 - - - - - - - - - 16.01 -
1148.21 148.11 -10.85 197 1153.29 roll -1.37 - - 1988.31 - 2.64 0.028 2354.19 433.9 -82.73 - - 3115.03 - - - - - - - - - 16.03 -
1458.27 174.77 -8.11 229 1463.37 roll -1.37 - - 1988.75 - 2.81 0.059 1208.31 -407.8 -82.73 - - 3114.50 - - - - - - - - - 16.06 -
1538.29 181.37 -8.59 245 1543.37 roll -1.37 - - 1988.25 - 2.64 0.028 2352.94 433.6 -82.73 - - 3115.00 - - - - - - - - - 16.06 -
1848.36 207.17 -8.43 277 1849.68 no move -1.37 - - 1988.31 - - - 2353.06 - -82.73 - - 3113.50 - - - - - - - - - - -
2158.81 234.57 -8.65 308 2160.14 no move -1.37 - - 1987.94 - - - 2353.56 - -82.73 - - 3113.84 - - - - - - - - - - -
2469.11 261.50 -8.57 339 2470.44 no move -1.37 - - 1988.56 - - - 2353.31 - -82.73 - - 3113.38 - - - - - - - - - - -
2778.93 290.30 -9.47 370 2783.66 roll -1.37 - - 1988.19 - 2.81 0.062 1208.69 -407.3 -82.73 - - 3115.41 - - - - - - - - - 16.12 -
2833.09 295.68 -10.08 381 2839.11 roll -1.37 - - 1988.19 - 2.63 0.029 2351.44 434.5 -82.73 - - 3114.78 - - - - - - - - - 16.11 -
3148.63 327.45 -9.92 413 3153.74 roll -1.37 - - 1988.69 - 2.81 0.061 1208.88 -406.6 -82.73 - - 3112.84 - - - - - - - - - 16.12 -
3238.66 336.69 -10.84 431 3243.74 roll -1.37 - - 1989.06 - 2.63 0.030 2351.88 434.6 -82.73 - - 3113.69 - - - - - - - - - 16.13 -
3548.72 368.05 -9.80 463 3553.81 roll -1.37 - - 1988.88 - 2.80 0.062 1209.88 -407.9 -82.73 - - 3113.22 - - - - - - - - - 16.12 -
3648.74 378.18 -10.70 483 3653.83 roll -1.37 - - 1988.56 - 2.62 0.030 2352.50 436.1 -82.73 - - 3112.25 - - - - - - - - - 16.13 -
3958.82 408.45 -9.67 515 3963.92 roll -1.37 - - 1988.75 - 2.82 0.062 1208.75 -405.6 -82.73 - - 3112.09 - - - - - - - - - 16.14 -
4018.82 414.05 -9.94 527 4023.91 roll -1.37 - - 1988.19 - 2.62 0.030 2351.88 436.3 -82.73 - - 3112.78 - - - - - - - - - 16.13 -
4329.07 441.91 -8.36 559 4334.06 roll -1.37 - - 1988.44 - 2.81 0.062 1209.75 -406.5 -82.73 - - 3111.88 - - - - - - - - - 16.15 -
4388.90 446.99 -8.85 571 4393.99 roll -1.37 - - 1988.75 - 2.62 0.030 2351.50 435.8 -82.73 - - 3111.50 - - - - - - - - - 16.14 -
4698.96 473.85 -8.66 603 4704.07 roll -1.37 - - 1988.62 - 2.81 0.063 1210.00 -406.2 -82.73 - - 3110.31 - - - - - - - - - 16.14 -
4748.97 478.02 -8.42 613 4754.05 roll -1.37 - - 1988.81 - 2.62 0.030 2351.44 435.7 -82.73 - - 3110.66 - - - - - - - - - 16.13 -
5059.01 503.83 -8.42 645 5064.10 roll -1.37 - - 1988.69 - 2.80 0.063 1209.62 -407.8 -82.73 - - 3109.91 - - - - - - - - - 16.14 -
5113.55 508.32 -8.38 656 5119.57 roll -1.37 - - 1988.31 - 2.62 0.030 2351.50 435.8 -82.73 - - 3111.06 - - - - - - - - - 16.14 -
5429.06 534.44 -8.25 688 5434.15 roll -1.37 - - 1988.31 - 2.80 0.063 1209.88 -407.7 -82.73 - - 3109.66 - - - - - - - - - 16.15 -
5489.06 539.44 -8.66 700 5494.16 roll -1.37 - - 1988.25 - 2.61 0.030 2351.50 437.4 -82.73 - - 3110.19 - - - - - - - - - 16.16 -
5799.11 565.00 -7.94 732 5800.44 no move -1.37 - - 1988.12 - - - 2350.81 - -82.73 - - 3108.22 - - - - - - - - - - -
6109.52 590.60 -9.18 763 6114.43 roll -1.37 - - 1989.06 - 2.80 0.064 1211.06 -407.1 -82.73 - - 3108.38 - - - - - - - - - 16.17 -
6189.26 597.81 -9.51 779 6194.24 roll -1.37 - - 1987.44 - 2.62 0.031 2351.31 435.2 -82.73 - - 3110.12 - - - - - - - - - 16.15 -
6499.19 625.94 -8.98 811 6500.52 no move -1.37 - - 1988.12 - - - 2351.75 - -82.73 - - 3107.09 - - - - - - - - - - -
6809.62 652.07 -8.33 842 6814.35 roll -1.37 - - 1988.38 - 2.82 0.064 1210.12 -404.8 -82.73 - - 3106.50 - - - - - - - - - 16.16 -
6919.28 661.39 -8.47 864 6924.36 roll -1.37 - - 1988.31 - 2.62 0.031 2352.00 435.8 -82.73 - - 3107.00 - - - - - - - - - 16.16 -
7229.34 687.39 -8.41 896 7234.46 roll -1.37 - - 1988.25 - 2.81 0.064 1209.69 -406.5 -82.73 - - 3107.41 - - - - - - - - - 16.15 -
7369.39 699.55 -8.90 924 7374.49 roll -1.37 - - 1988.94 - 2.62 0.031 2352.25 436.1 -82.73 - - 3105.97 - - - - - - - - - 16.16 -
7679.47 726.52 -8.48 956 7680.79 no move -1.37 - - 1988.25 - - - 2352.88 - -82.73 - - 3104.34 - - - - - - - - - - -
7989.91 752.63 -8.50 987 7994.60 roll -1.37 - - 1987.69 - 2.69 0.094 3426.06 399.0 -82.73 - - 3105.44 - - - - - - - - - 16.14 -
8069.54 760.26 -9.36 1003 8074.63 roll -1.37 - - 1988.44 - 2.62 0.023 2250.44 -448.7 -82.73 - - 3105.56 - - - - - - - - - 16.16 -
8379.79 785.49 -8.24 1035 8381.12 no move -1.37 - - 1988.31 - - - 2249.12 - -82.73 - - 3104.06 - - - - - - - - - - -
8690.23 810.12 -7.79 1066 8694.74 roll -1.37 - - 1988.06 - 2.57 0.070 1209.88 -404.4 -82.73 - - 3105.56 - - - - - - - - - 16.15 -
8749.69 814.99 -7.89 1078 8754.79 roll -1.37 - - 1988.31 - 2.63 0.031 2351.62 434.1 -82.73 - - 3105.25 - - - - - - - - - 16.15 -
9059.76 838.56 -7.37 1110 9061.09 no move -1.37 - - 1988.06 - - - 2351.12 - -82.73 - - 3103.00 - - - - - - - - - - -
9370.22 861.85 -7.17 1141 9374.94 roll -1.37 - - 1987.75 - 2.83 0.065 1210.44 -403.1 -82.73 - - 3104.25 - - - - - - - - - 16.17 -
9409.83 864.78 -7.06 1149 9414.93 roll -1.37 - - 1988.50 - 2.63 0.031 2351.75 434.0 -82.73 - - 3103.09 - - - - - - - - - 16.15 -
9719.91 886.71 -6.98 1181 9721.24 no move -1.37 - - 1988.00 - - - 2351.50 - -82.73 - - 3102.44 - - - - - - - - - - -
10030.51 907.96 -6.79 1212 10031.84 no move -1.37 - - 1988.62 - - - 2352.00 - -82.73 - - 3102.97 - - - - - - - - - - -
10340.39 928.64 -6.55 1243 10345.11 roll -1.37 - - 1988.50 - 2.83 0.065 1211.00 -403.2 -82.73 - - 3103.25 - - - - - - - - - 16.15 -
10380.01 931.15 -6.57 1251 10385.09 roll -1.37 - - 1988.06 - 2.63 0.031 2351.88 433.8 -82.73 - - 3102.69 - - - - - - - - - 16.15 -
10690.44 950.94 -6.14 1283 10695.33 roll -1.37 - - 1988.06 - 2.83 0.066 1211.00 -403.1 -82.73 - - 3103.25 - - - - - - - - - 16.16 -
10774.71 956.61 -7.12 1300 10780.61 roll -1.37 - - 1988.44 - 2.63 0.032 2349.00 432.7 -82.73 - - 3102.59 - - - - - - - - - 16.15 -
11090.50 977.11 -6.15 1332 11095.22 roll -1.37 - - 1987.31 - 2.81 0.066 1211.31 -404.9 -82.73 - - 3104.53 - - - - - - - - - 16.15 -
11160.11 981.91 -6.93 1346 11165.20 roll -1.37 - - 1988.50 - 2.63 0.032 2351.62 433.6 -82.73 - - 3102.16 - - - - - - - - - 16.14 -
11280 end dive: TARGET_DEPTH_EXCEEDED
11280 begin apogee
11281.96 990.05 -6.66 1359 11346.47 -0.28 1.78 0.152 2254.25 149.3 0.22 0.135 2280.56 -323.0 - 60.73 2.416 2772.44 -5.4 0.367 - - - - - - 16.06 15.68 12.49
11356 end apogee: CONTROL_FINISHED_OK
11356 begin climb
11356.81 991.37 - 1365 11426.50 1.37 2.61 0.095 2656.69 154.2 - - 2281.12 - 82.73 65.14 2.345 2435.66 -5.2 0.360 - - - - - - 15.71 - 12.90
11729.88 963.66 8.41 1403 11735.01 roll 1.37 - - 2655.38 - 2.93 0.075 1131.44 -392.4 82.73 - - 2431.16 - - - - - - - - - 15.80 -
11784.73 958.71 9.31 1414 11790.50 roll 1.37 - - 2656.75 - 2.68 0.031 2273.31 426.1 82.73 - - 2430.38 - - - - - - - - - 15.82 -
12100.35 933.85 8.06 1446 12101.67 no move 1.37 - - 2656.38 - - - 2273.31 - 82.73 - - 2428.94 - - - - - - - - - - -
12410.39 910.11 7.48 1477 12411.72 no move 1.39 - - 2656.31 - - - 2273.12 - 82.73 - - 2428.44 - - - - - - - - - - -
12720.43 886.68 7.30 1508 12725.14 done 1.41 - - 2656.19 - 2.88 0.074 1132.50 -396.0 82.73 - - 2428.81 - - - - - - - - - 16.02 -
12754.58 884.03 7.34 1515 12760.58 done 1.43 - - 2656.44 - 2.64 0.031 2272.62 431.9 82.73 - - 2429.19 - - - - - - - - - 16.02 -
13070.47 860.85 7.52 1547 13075.18 done 1.45 - - 2656.38 - 2.86 0.074 1132.38 -398.7 82.73 - - 2428.62 - - - - - - - - - 16.04 -
13134.62 855.77 8.11 1560 13140.63 done 1.45 - - 2656.38 - 2.63 0.032 2272.25 433.4 82.73 - - 2429.34 - - - - - - - - - 16.05 -
13450.52 831.60 7.88 1592 13455.22 done 1.46 - - 2656.19 - 2.71 0.094 3346.50 396.4 82.73 - - 2428.47 - - - - - - - - - 16.04 -
13504.67 826.92 8.81 1603 13510.68 done 1.46 - - 2656.00 - 2.63 0.024 2189.44 -439.9 82.73 - - 2429.94 - - - - - - - - - 16.07 -
13820.57 803.53 7.68 1635 13821.90 VBD 1.48 - - 2656.06 - - - 2188.62 - 82.73 - - 2428.19 - - - - - - - - - - -
14130.83 779.91 8.00 1666 14132.16 VBD 1.48 - - 2656.00 - - - 2189.12 - 82.73 - - 2427.41 - - - - - - - - - - -
14440.66 755.60 7.50 1697 14442.09 1.50 0.16 0.095 2697.75 260.9 - - 2188.00 - 82.73 - - 2427.50 - - - - - - - - 16.08 - -
14750.33 730.62 7.48 1728 14755.45 done 1.52 - - 2697.50 - 2.93 0.089 3346.81 395.5 82.73 - - 2429.19 - - - - - - - - - 16.11 -
14840.36 723.48 8.01 1746 14845.44 done 1.52 - - 2697.62 - 2.63 0.025 2188.56 -440.4 82.73 - - 2428.09 - - - - - - - - - 16.11 -
15150.82 702.69 6.47 1778 15155.50 done 1.56 - - 2697.62 - 2.64 0.079 1129.06 -401.3 82.73 - - 2428.94 - - - - - - - - - 16.10 -
15250.46 695.75 6.76 1798 15255.53 done 1.59 - - 2697.88 - 2.63 0.031 2274.25 435.4 82.73 - - 2429.38 - - - - - - - - - 16.11 -
15560.92 674.51 7.43 1830 15565.63 done 1.61 - - 2697.31 - 2.87 0.074 1132.44 -397.8 82.73 - - 2428.28 - - - - - - - - - 16.13 -
15630.55 668.92 7.75 1844 15635.62 done 1.63 - - 2697.88 - 2.62 0.031 2271.25 434.7 82.73 - - 2429.66 - - - - - - - - - 16.12 -
15941.01 644.47 7.94 1876 15945.91 done 1.64 - - 2697.62 - 2.85 0.074 1131.00 -400.1 82.73 - - 2429.47 - - - - - - - - - 16.12 -
16080.77 632.33 8.79 1904 16085.73 done 1.64 - - 2697.62 - 2.62 0.031 2270.88 435.1 82.73 - - 2428.81 - - - - - - - - - 16.13 -
16391.11 609.79 7.10 1936 16392.54 1.66 0.15 0.091 2736.62 260.0 - - 2270.81 - 82.73 - - 2428.19 - - - - - - - - 16.10 - -
16700.77 585.45 7.99 1967 16705.89 done 1.66 - - 2735.94 - 2.84 0.074 1131.19 -401.3 82.73 - - 2427.50 - - - - - - - - - 16.13 -
16805.35 576.07 8.66 1988 16811.35 done 1.66 - - 2737.06 - 2.61 0.031 2273.81 437.8 82.73 - - 2428.00 - - - - - - - - - 16.13 -
17121.28 551.81 7.91 2020 17122.61 VBD 1.67 - - 2737.38 - - - 2273.38 - 82.73 - - 2426.41 - - - - - - - - - - -
17431.33 528.06 7.68 2051 17436.05 done 1.69 - - 2736.56 - 2.85 0.073 1131.00 -400.8 82.73 - - 2429.12 - - - - - - - - - 16.13 -
17475.48 524.33 8.30 2060 17481.48 done 1.69 - - 2737.31 - 2.60 0.031 2272.19 438.9 82.73 - - 2427.62 - - - - - - - - - 16.12 -
17791.38 501.03 7.11 2092 17796.10 done 1.72 - - 2737.31 - 2.83 0.073 1130.50 -403.4 82.73 - - 2427.47 - - - - - - - - - 16.13 -
17855.55 495.84 7.72 2105 17861.55 done 1.73 - - 2736.81 - 2.61 0.031 2271.75 437.3 82.73 - - 2427.28 - - - - - - - - - 16.13 -
18171.67 475.41 6.18 2137 18202.44 done 1.80 - - 2737.06 - 2.70 0.096 3345.69 397.8 116.15 25.45 1.715 2301.38 -4.9 0.226 - - - - - - - 15.95 12.58
18231.06 471.10 7.33 2149 18236.13 roll 1.82 - - 2737.06 - 2.64 0.024 2187.88 -438.6 116.15 - - 2299.25 - - - - - - - - - 16.03 -
18541.48 447.67 7.17 2181 18542.91 pitch 1.85 0.19 0.084 2783.06 242.1 - - 2187.31 - 116.15 - - 2296.00 - - - - - - - - 16.00 - -
18851.11 420.89 8.74 2212 18856.25 roll 1.85 - - 2782.69 - 2.91 0.087 3344.00 397.5 116.15 - - 2298.25 - - - - - - - - - 16.05 -
18971.13 408.70 10.33 2236 18976.23 roll 1.85 - - 2782.62 - 2.63 0.024 2188.81 -439.2 116.15 - - 2297.06 - - - - - - - - - 16.08 -
19281.56 377.67 10.15 2268 19286.25 roll 1.85 - - 2783.00 - 2.63 0.078 1131.00 -402.2 116.15 - - 2297.22 - - - - - - - - - 16.05 -
19351.35 370.02 10.81 2282 19356.27 roll 1.85 - - 2782.94 - 2.62 0.031 2271.94 435.5 116.15 - - 2297.47 - - - - - - - - - 16.07 -
19661.62 340.64 8.93 2314 19662.95 no move 1.85 - - 2783.25 - - - 2272.00 - 116.15 - - 2296.28 - - - - - - - - - - -
19971.68 313.32 9.17 2345 19973.01 no move 1.85 - - 2783.00 - - - 2271.69 - 116.15 - - 2296.34 - - - - - - - - - - -
20281.93 285.01 9.03 2376 20283.26 no move 1.85 - - 2782.56 - - - 2271.38 - 116.15 - - 2295.81 - - - - - - - - - - -
20591.81 258.05 8.62 2407 20593.14 no move 1.85 - - 2783.00 - - - 2271.38 - 116.15 - - 2296.16 - - - - - - - - - - -
20901.88 233.77 8.06 2438 20906.61 roll 1.85 - - 2783.00 - 2.85 0.072 1131.06 -400.1 116.15 - - 2296.41 - - - - - - - - - 16.08 -
21076.10 219.65 7.76 2473 21082.09 roll 1.86 - - 2783.12 - 2.62 0.030 2273.00 435.9 116.15 - - 2297.22 - - - - - - - - - 16.09 -
21392.02 194.37 7.96 2505 21393.35 no move 1.87 - - 2782.81 - - - 2272.81 - 116.15 - - 2296.34 - - - - - - - - - - -
21702.09 171.19 6.73 2536 21703.42 no move 1.91 - - 2783.44 - - - 2272.69 - 116.15 - - 2296.78 - - - - - - - - - - -
22012.15 152.02 5.51 2567 22049.87 done 1.99 - - 2783.25 - 2.85 0.074 1131.12 -400.6 159.41 32.81 1.350 2123.34 -5.3 0.098 - - - - - - - 15.94 12.58
22092.40 145.93 8.68 2583 22098.40 roll 1.99 - - 2782.88 - 2.63 0.030 2273.00 434.2 159.41 - - 2122.53 - - - - - - - - - 15.99 -
22408.32 121.92 7.22 2615 22413.10 roll back 2.02 0.15 0.084 2824.38 276.7 2.86 0.071 1131.50 -399.1 159.41 - - 2118.97 - - - - - - - - 16.01 16.01 -
22643.04 98.44 8.88 2662 22648.53 roll 2.02 - - 2823.94 - 2.63 0.030 2272.44 433.8 159.41 - - 2120.53 - - - - - - - - - 16.04 -
22833.03 87.98 5.24 2700 22869.75 VBD 2.11 - - 2824.38 - - - 2272.75 - 206.65 35.65 1.261 1930.59 -5.3 0.061 - - - - - - - - 12.59
23053.08 74.75 5.22 2744 23093.12 2.21 0.19 0.077 2871.50 248.0 - - 2271.75 - 254.20 36.10 1.229 1738.03 -5.3 0.053 - - - - - - 15.94 - 12.64
23278.12 58.55 6.85 2789 23279.46 VBD 2.24 - - 2871.62 - - - 2272.75 - 254.20 - - 1729.66 - - - - - - - - - - -
23463.17 43.91 8.80 2826 23468.71 done 2.24 - - 2872.12 - 2.71 0.088 3345.50 395.8 254.20 - - 1728.56 - - - - - - - - - 15.92 -
23588.19 32.79 7.63 2851 23593.72 done 2.26 - - 2871.19 - 2.63 0.022 2182.69 -442.1 254.20 - - 1728.44 - - - - - - - - - 15.96 -
23778.23 27.58 2.10 2889 23852.09 2.44 0.24 0.072 2925.12 224.7 2.66 0.077 1131.50 -395.2 347.36 68.27 1.190 1358.50 -5.4 0.021 - - - - - - 15.97 15.69 12.62
24080.67 6.70 7.66 2949 24086.21 done 2.46 - - 2925.56 - 2.66 0.028 2273.94 429.5 347.36 - - 1350.38 - - - - - - - - - 15.85 -
24165 end climb: SURFACE_DEPTH_REACHED
24165 begin surface coast
24205 end surface coast: CONTROL_FINISHED_OK
24206 begin surface
SM 2.78 - - - - 176.9 56.61 1.147 1042.4 18.4 16.81 0.048 990.6 58.9 - 0.13 0.118 1094.3 8397.2 -20.220 - - 12.62 15.86 15.89 -