NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 500 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 161.53 of 550.00 AH used of 24V (70.63% remains)
• Surface angle -65.7 deg, depth 0.68 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 424.81 (SM_CC=425)
• GPS1 time: 55 s
• GPS2 time: 5 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
5.17 - - - 61.87 VBD -1.37 - - 179.50 - - - 2355.44 - -82.73 55.48 0.005 2452.28 - - - - - - - - - - 15.41
62.60 3.16 -5.93 10 99.16 -1.37 14.56 0.258 1999.06 125.0 - - 2355.38 - -82.73 15.23 0.006 3110.50 43.2 -3.796 - - - - - - 15.54 - 15.45
281.26 40.62 -13.12 54 286.80 roll -1.37 - - 1999.12 - 2.64 0.086 3429.06 406.7 -82.73 - - 3112.25 - - - - - - - - - 15.78 -
376.26 55.45 -16.35 73 381.81 roll -1.37 - - 1999.56 - 2.58 0.021 2251.12 -456.6 -82.73 - - 3112.62 - - - - - - - - - 15.81 -
566.92 82.28 -12.82 111 571.42 roll -1.37 - - 1998.88 - 2.47 0.065 1208.31 -422.2 -82.73 - - 3111.56 - - - - - - - - - 15.85 -
626.30 90.33 -13.39 123 631.84 roll -1.37 - - 1997.75 - 2.60 0.029 2351.62 439.7 -82.73 - - 3113.62 - - - - - - - - - 15.86 -
816.72 111.07 -10.30 161 821.88 roll -1.37 - - 1999.25 - 2.62 0.087 3427.25 410.5 -82.73 - - 3112.41 - - - - - - - - - 15.87 -
856.33 115.14 -10.25 169 861.87 roll -1.37 - - 1999.81 - 2.55 0.021 2242.38 -464.7 -82.73 - - 3113.09 - - - - - - - - - 15.89 -
1166.39 142.54 -8.90 231 1171.99 roll -1.37 - - 1999.81 - 2.91 0.083 3428.06 407.5 -82.73 - - 3112.34 - - - - - - - - - 15.92 -
1226.39 148.31 -9.81 243 1231.92 roll -1.37 - - 1999.62 - 2.56 0.021 2243.62 -462.7 -82.73 - - 3114.81 - - - - - - - - - 15.92 -
1536.45 177.27 -9.34 305 1537.78 no move -1.37 - - 1999.50 - - - 2242.81 - -82.73 - - 3111.88 - - - - - - - - - - -
1841.50 204.06 -9.07 366 1846.62 roll -1.37 - - 2000.06 - 2.45 0.066 1208.38 -422.2 -82.73 - - 3113.62 - - - - - - - - - 15.97 -
1871.49 206.92 -9.41 372 1877.21 roll -1.37 - - 1999.88 - 2.59 0.029 2355.12 442.8 -82.73 - - 3113.41 - - - - - - - - - 15.97 -
2181.56 237.10 -10.06 434 2182.89 no move -1.37 - - 1999.50 - - - 2355.56 - -82.73 - - 3111.78 - - - - - - - - - - -
2486.60 266.21 -9.69 495 2492.16 roll -1.37 - - 1999.62 - 2.70 0.061 1208.50 -424.8 -82.73 - - 3112.75 - - - - - - - - - 15.99 -
2551.60 272.71 -10.08 508 2557.13 roll -1.37 - - 1999.69 - 2.57 0.029 2353.12 445.4 -82.73 - - 3112.84 - - - - - - - - - 15.99 -
2862.22 300.94 -8.97 569 2863.55 no move -1.37 - - 1999.75 - - - 2353.50 - -82.73 - - 3111.38 - - - - - - - - - - -
3171.15 329.02 -9.00 597 3175.78 roll -1.37 - - 1998.38 - 2.68 0.062 1208.38 -427.3 -82.73 - - 3112.28 - - - - - - - - - 16.01 -
3224.07 334.07 -9.47 604 3228.69 roll -1.37 - - 1999.50 - 2.57 0.030 2354.75 446.1 -82.73 - - 3111.31 - - - - - - - - - 16.01 -
3535.28 362.10 -8.75 633 3546.35 no move -1.37 - - 1999.75 - - - 2354.56 - -82.73 - - 3112.03 - - - - - - - - - - -
3848.13 389.40 -9.04 662 3852.77 roll -1.37 - - 1999.31 - 2.71 0.062 1207.25 -423.4 -82.73 - - 3109.59 - - - - - - - - - 16.01 -
4012.55 404.63 -9.30 684 4027.66 roll -1.37 - - 1999.81 - 2.57 0.030 2353.06 445.8 -82.73 - - 3112.34 - - - - - - - - - 16.03 -
4329.15 430.20 -7.88 713 4340.22 no move -1.37 - - 1999.69 - - - 2353.75 - -82.73 - - 3110.72 - - - - - - - - - - -
4642.13 455.29 -8.06 742 4646.76 roll -1.37 - - 1999.56 - 2.69 0.063 1207.19 -426.2 -82.73 - - 3110.28 - - - - - - - - - 16.02 -
4759.35 465.46 -8.87 758 4774.27 roll -1.37 - - 1999.31 - 2.58 0.030 2352.62 444.0 -82.73 - - 3109.94 - - - - - - - - - 16.03 -
5075.55 491.61 -8.12 787 5086.62 no move -1.37 - - 2000.00 - - - 2352.38 - -82.73 - - 3109.72 - - - - - - - - - - -
5394.78 517.56 -8.06 811 5396.11 no move -1.37 - - 1999.50 - - - 2352.69 - -82.73 - - 3108.44 - - - - - - - - - - -
5709.63 542.12 -7.54 832 5714.26 roll -1.37 - - 1999.38 - 2.70 0.063 1208.44 -423.8 -82.73 - - 3109.78 - - - - - - - - - 16.02 -
5768.90 546.71 -7.79 841 5774.44 roll -1.37 - - 1999.31 - 2.58 0.031 2354.00 444.0 -82.73 - - 3107.94 - - - - - - - - - 16.04 -
6088.31 570.34 -7.36 863 6092.95 roll -1.37 - - 2000.00 - 2.72 0.063 1208.56 -421.1 -82.73 - - 3108.88 - - - - - - - - - 16.02 -
6168.31 576.45 -7.72 875 6173.85 roll -1.37 - - 1999.81 - 2.59 0.031 2352.44 441.7 -82.73 - - 3108.41 - - - - - - - - - 16.03 -
6487.71 600.84 -7.72 897 6492.36 roll -1.37 - - 1999.56 - 2.74 0.063 1208.44 -417.5 -82.73 - - 3107.12 - - - - - - - - - 16.02 -
6566.56 607.32 -8.19 908 6571.23 roll -1.37 - - 1999.50 - 2.59 0.031 2350.88 441.1 -82.73 - - 3108.50 - - - - - - - - - 16.04 -
6883.55 630.92 -7.24 930 6884.88 no move -1.37 - - 1999.31 - - - 2350.88 - -82.73 - - 3106.75 - - - - - - - - - - -
7198.07 654.20 -7.36 951 7202.71 roll -1.37 - - 1999.31 - 2.74 0.063 1208.75 -416.8 -82.73 - - 3108.06 - - - - - - - - - 16.01 -
7262.35 658.76 -7.74 961 7277.27 roll -1.37 - - 1999.81 - 2.59 0.031 2352.00 441.4 -82.73 - - 3106.88 - - - - - - - - - 16.04 -
7591.76 683.74 -7.46 983 7593.09 no move -1.37 - - 1999.31 - - - 2352.00 - -82.73 - - 3105.81 - - - - - - - - - - -
7906.76 705.81 -6.71 1004 7911.42 roll -1.37 - - 1999.94 - 2.75 0.063 1209.88 -415.3 -82.73 - - 3104.56 - - - - - - - - - 16.01 -
7985.42 711.43 -7.10 1015 7990.04 roll -1.37 - - 1998.81 - 2.60 0.031 2351.56 439.1 -82.73 - - 3103.84 - - - - - - - - - 16.03 -
8301.89 732.76 -6.79 1037 8306.53 roll -1.37 - - 1999.75 - 2.75 0.064 1210.19 -415.0 -82.73 - - 3104.50 - - - - - - - - - 16.00 -
8361.17 736.89 -7.03 1046 8366.70 roll -1.37 - - 1999.50 - 2.59 0.030 2351.19 440.5 -82.73 - - 3104.88 - - - - - - - - - 16.03 -
8680.57 758.69 -6.62 1068 8685.21 roll -1.37 - - 1999.56 - 2.75 0.064 1207.31 -416.0 -82.73 - - 3103.62 - - - - - - - - - 16.00 -
8781.52 765.79 -7.14 1083 8787.24 roll -1.37 - - 1999.00 - 2.60 0.031 2351.88 440.2 -82.73 - - 3105.16 - - - - - - - - - 16.03 -
9101.11 787.57 -6.90 1105 9105.75 roll -1.37 - - 1999.44 - 2.74 0.064 1209.81 -416.8 -82.73 - - 3103.31 - - - - - - - - - 16.00 -
9144.64 790.32 -7.20 1112 9159.56 roll -1.37 - - 1999.25 - 2.60 0.031 2350.44 438.7 -82.73 - - 3104.16 - - - - - - - - - 16.03 -
9474.07 814.54 -7.20 1134 9478.71 roll -1.37 - - 1999.69 - 2.76 0.064 1208.38 -413.8 -82.73 - - 3103.38 - - - - - - - - - 15.99 -
9554.40 820.56 -7.57 1146 9559.94 roll -1.37 - - 1999.56 - 2.60 0.031 2352.31 440.0 -82.73 - - 3104.53 - - - - - - - - - 16.03 -
9873.80 843.82 -7.27 1168 9878.44 roll -1.37 - - 1999.50 - 2.74 0.064 1208.62 -417.4 -82.73 - - 3102.66 - - - - - - - - - 15.98 -
9917.33 846.62 -7.40 1175 9932.26 roll -1.37 - - 1999.75 - 2.59 0.031 2350.06 440.7 -82.73 - - 3103.59 - - - - - - - - - 16.03 -
10246.74 870.36 -7.12 1197 10248.07 no move -1.37 - - 1999.69 - - - 2350.06 - -82.73 - - 3101.94 - - - - - - - - - - -
10561.76 892.63 -7.16 1218 10566.41 roll -1.37 - - 1999.50 - 2.73 0.065 1208.31 -418.2 -82.73 - - 3101.19 - - - - - - - - - 15.98 -
10621.04 896.89 -7.29 1227 10626.58 roll -1.37 - - 1999.12 - 2.60 0.031 2351.31 439.6 -82.73 - - 3102.34 - - - - - - - - - 16.03 -
10940.44 918.70 -6.74 1249 10945.26 roll -1.37 - - 1999.25 - 2.73 0.065 1209.38 -418.3 -82.73 - - 3101.53 - - - - - - - - - 15.97 -
11041.30 925.96 -7.32 1264 11046.72 roll -1.37 - - 1999.56 - 2.60 0.031 2351.81 439.4 -82.73 - - 3102.22 - - - - - - - - - 16.02 -
11360.59 947.34 -6.48 1286 11361.92 no move -1.37 - - 1999.69 - - - 2350.94 - -82.73 - - 3100.69 - - - - - - - - - - -
11675.63 967.60 -6.39 1307 11680.27 roll -1.37 - - 1997.44 - 2.73 0.065 1208.44 -418.5 -82.73 - - 3100.94 - - - - - - - - - 15.97 -
11797.10 975.39 -6.51 1325 11802.64 roll -1.37 - - 1999.38 - 2.60 0.031 2351.38 439.6 -82.73 - - 3102.03 - - - - - - - - - 16.02 -
12056 end dive: TARGET_DEPTH_EXCEEDED
12056 begin apogee
12058.33 990.77 -5.82 1343 12133.86 -0.28 1.86 0.146 2262.44 141.4 0.22 0.137 2282.88 -311.4 - 61.84 2.451 2775.09 -5.3 0.356 - - - - - - 15.84 15.60 11.16
12135 end apogee: CONTROL_FINISHED_OK
12135 begin climb
12135.82 991.92 - 1348 12210.00 1.37 2.64 0.091 2666.00 152.9 - - 2282.94 - 82.73 67.17 2.422 2436.91 -5.0 0.344 - - - - - - 15.64 - 12.48
12522.32 965.96 7.26 1374 12523.65 no move 1.39 - - 2665.50 - - - 2282.88 - 82.73 - - 2429.97 - - - - - - - - - - -
12837.53 945.01 6.29 1395 12868.89 done 1.45 - - 2665.75 - 2.86 0.077 1130.38 -403.0 114.52 26.26 2.260 2308.38 -4.6 0.323 - - - - - - - 15.63 11.86
12938.30 938.30 7.00 1411 12953.22 roll 1.48 - - 2665.06 - 2.65 0.031 2269.44 429.8 114.52 - - 2306.84 - - - - - - - - - 15.71 -
13267.70 914.37 7.16 1433 13269.14 pitch 1.51 0.18 0.085 2710.81 254.2 - - 2269.50 - 114.52 - - 2303.31 - - - - - - - - 15.77 - -
13582.70 887.18 9.00 1454 13584.03 no move 1.51 - - 2711.12 - - - 2270.00 - 114.52 - - 2303.09 - - - - - - - - - - -
13897.73 858.31 9.50 1475 13899.06 no move 1.51 - - 2710.69 - - - 2269.81 - 114.52 - - 2302.28 - - - - - - - - - - -
14213.66 828.10 9.72 1496 14218.32 roll 1.51 - - 2710.94 - 2.81 0.074 1130.00 -405.6 114.52 - - 2303.59 - - - - - - - - - 15.90 -
14292.32 819.56 10.63 1507 14296.95 roll 1.51 - - 2708.50 - 2.61 0.031 2272.06 437.6 114.52 - - 2303.16 - - - - - - - - - 15.92 -
14608.80 787.03 10.26 1529 14610.12 no move 1.51 - - 2710.56 - - - 2271.75 - 114.52 - - 2301.53 - - - - - - - - - - -
14923.82 754.86 9.93 1550 14925.15 no move 1.51 - - 2711.00 - - - 2272.06 - 114.52 - - 2301.59 - - - - - - - - - - -
15238.85 725.39 8.85 1571 15243.51 roll 1.51 - - 2710.56 - 2.81 0.073 1132.69 -405.5 114.52 - - 2302.47 - - - - - - - - - 15.94 -
15358.99 714.31 9.26 1588 15363.61 roll 1.51 - - 2709.94 - 2.61 0.031 2272.06 436.5 114.52 - - 2302.53 - - - - - - - - - 15.96 -
15675.65 689.08 7.93 1610 15676.98 no move 1.52 - - 2710.69 - - - 2271.94 - 114.52 - - 2300.69 - - - - - - - - - - -
15990.58 663.98 8.26 1631 15995.23 roll 1.52 - - 2710.00 - 2.80 0.074 1131.12 -407.4 114.52 - - 2300.56 - - - - - - - - - 15.94 -
16069.24 657.03 8.78 1642 16073.85 roll 1.52 - - 2710.38 - 2.60 0.031 2272.38 438.9 114.52 - - 2301.00 - - - - - - - - - 15.98 -
16385.71 630.77 8.63 1664 16387.03 no move 1.52 - - 2710.81 - - - 2272.12 - 114.52 - - 2300.72 - - - - - - - - - - -
16700.72 601.23 9.89 1685 16702.05 no move 1.52 - - 2710.69 - - - 2272.44 - 114.52 - - 2301.00 - - - - - - - - - - -
17015.75 570.82 9.41 1706 17020.41 roll 1.52 - - 2710.69 - 2.81 0.074 1131.12 -406.2 114.52 - - 2300.47 - - - - - - - - - 15.95 -
17075.01 565.07 9.78 1715 17080.55 roll 1.52 - - 2710.56 - 2.60 0.031 2272.00 438.8 114.52 - - 2301.78 - - - - - - - - - 16.00 -
17394.42 536.64 8.38 1737 17395.75 no move 1.52 - - 2710.50 - - - 2272.38 - 114.52 - - 2300.47 - - - - - - - - - - -
17709.46 511.72 7.58 1758 17710.79 no move 1.54 - - 2710.69 - - - 2272.25 - 114.52 - - 2300.16 - - - - - - - - - - -
18014.57 488.85 7.34 1782 18019.23 roll 1.56 - - 2710.69 - 2.81 0.073 1131.25 -406.0 114.52 - - 2299.81 - - - - - - - - - 15.94 -
18084.58 483.27 7.99 1792 18099.51 roll 1.56 - - 2710.75 - 2.60 0.031 2273.12 439.2 114.52 - - 2303.97 - - - - - - - - - 16.00 -
18401.65 460.47 6.98 1821 18412.72 no move 1.59 - - 2710.75 - - - 2272.94 - 114.52 - - 2301.62 - - - - - - - - - - -
18715.08 438.87 6.75 1850 18726.15 no move 1.62 - - 2710.94 - - - 2273.44 - 114.52 - - 2301.59 - - - - - - - - - - -
19027.80 418.04 6.97 1879 19032.46 roll 1.65 - - 2710.56 - 2.81 0.073 1129.88 -407.0 114.52 - - 2300.47 - - - - - - - - - 15.94 -
19159.39 408.48 7.29 1896 19164.10 roll back 1.68 0.16 0.093 2751.00 252.8 2.61 0.030 2274.06 438.4 114.52 - - 2301.50 - - - - - - - - 15.82 15.99 -
19471.32 385.15 7.45 1925 19482.39 no move 1.70 - - 2750.75 - - - 2273.31 - 114.52 - - 2301.97 - - - - - - - - - - -
19783.92 361.55 7.41 1954 19794.99 no move 1.72 - - 2750.69 - - - 2273.62 - 114.52 - - 2301.69 - - - - - - - - - - -
20096.75 338.24 7.50 1983 20107.82 no move 1.74 - - 2750.81 - - - 2272.94 - 114.52 - - 2301.69 - - - - - - - - - - -
20409.36 316.17 6.73 2012 20420.43 no move 1.77 - - 2751.19 - - - 2273.31 - 114.52 - - 2301.81 - - - - - - - - - - -
20722.88 293.75 7.03 2050 20728.66 roll 1.80 - - 2751.38 - 2.80 0.072 1131.25 -407.9 114.52 - - 2302.47 - - - - - - - - - 15.92 -
20777.90 289.71 7.41 2061 20783.43 roll 1.82 - - 2751.50 - 2.59 0.030 2273.50 441.0 114.52 - - 2301.78 - - - - - - - - - 15.98 -
21088.00 268.18 6.60 2123 21089.44 pitch 1.86 0.16 0.082 2796.50 281.2 - - 2273.06 - 114.52 - - 2303.28 - - - - - - - - 15.96 - -
21393.54 245.50 7.57 2184 21398.65 roll 1.88 - - 2796.31 - 2.79 0.071 1131.25 -409.3 114.52 - - 2302.56 - - - - - - - - - 15.91 -
21478.28 238.52 8.28 2201 21483.65 roll 1.88 - - 2796.38 - 2.59 0.030 2274.19 441.3 114.52 - - 2303.47 - - - - - - - - - 15.99 -
21788.22 216.09 6.73 2263 21789.55 no move 1.91 - - 2796.81 - - - 2274.31 - 114.52 - - 2300.62 - - - - - - - - - - -
22093.29 193.62 7.47 2324 22098.83 roll 1.93 - - 2796.00 - 2.77 0.071 1129.81 -413.2 114.52 - - 2302.47 - - - - - - - - - 15.92 -
22193.29 185.82 7.83 2344 22198.81 roll 1.95 - - 2796.56 - 2.59 0.029 2275.50 442.4 114.52 - - 2302.75 - - - - - - - - - 15.99 -
22503.34 164.65 6.54 2406 22508.87 roll 1.98 - - 2797.12 - 2.63 0.090 3347.06 407.4 114.52 - - 2302.81 - - - - - - - - - 15.90 -
22583.35 158.99 6.96 2422 22588.86 roll 2.01 - - 2795.06 - 2.56 0.023 2181.44 -455.3 114.52 - - 2302.91 - - - - - - - - - 15.97 -
22893.91 142.30 5.42 2484 22934.36 2.10 0.26 0.069 2855.56 232.7 2.54 0.078 1130.19 -413.9 159.02 33.62 1.357 2125.16 -5.3 0.092 - - - - - - 15.95 15.88 11.28
22983.96 135.70 8.43 2502 22988.92 roll 2.10 - - 2855.69 - 2.60 0.029 2275.12 440.4 159.02 - - 2122.31 - - - - - - - - - 15.92 -
23293.43 109.54 8.99 2564 23294.76 no move 2.10 - - 2855.38 - - - 2274.62 - 159.02 - - 2119.53 - - - - - - - - - - -
23598.72 90.33 3.70 2625 23655.73 done 2.24 - - 2855.88 - 2.64 0.091 3346.81 406.1 228.76 51.99 1.288 1842.66 -5.3 0.062 - - - - - - - 15.76 11.94
23698.50 85.03 6.97 2645 23704.08 roll back 2.27 0.14 0.092 2893.81 270.9 2.59 0.023 2183.56 -449.1 228.76 - - 1839.34 - - - - - - - - 15.76 15.81 -
23888.50 66.79 9.91 2683 23894.22 roll 2.27 - - 2894.06 - 2.56 0.075 1130.12 -411.5 228.76 - - 1835.88 - - - - - - - - - 15.80 -
23958.62 60.31 9.00 2697 23964.07 done 2.27 - - 2892.62 - 2.61 0.028 2273.31 438.0 228.76 - - 1834.03 - - - - - - - - - 15.82 -
24148.54 49.08 5.77 2735 24184.40 done 2.35 - - 2894.00 - 2.63 0.089 3348.94 409.0 268.17 29.80 1.189 1681.69 -5.1 0.035 - - - - - - - 15.81 11.97
24218.71 43.30 9.17 2749 24224.08 roll 2.35 - - 2892.69 - 2.58 0.023 2185.75 -450.8 268.17 - - 1679.06 - - - - - - - - - 15.82 -
24408.58 32.99 3.69 2787 24464.43 2.49 0.25 0.073 2947.25 218.2 - - 2186.31 - 338.14 52.52 1.185 1396.84 -5.4 0.025 - - - - - - 15.78 - 12.06
24648.61 16.70 9.18 2835 24654.19 roll 2.49 - - 2948.19 - 2.88 0.084 3347.06 403.0 338.14 - - 1390.25 - - - - - - - - - 15.75 -
24828 end climb: SURFACE_DEPTH_REACHED
24828 begin surface coast
24928 end surface coast: CONTROL_FINISHED_OK
24928 begin surface
SM 1.16 - - - - 180.6 63.42 1.150 1043.2 16.4 16.95 0.042 992.8 58.6 - 2.38 0.025 1093.7 458.3 -2.174 - - 11.91 15.77 15.81 -