NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 315 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 100.38 of 550.00 AH used of 24V (81.75% remains)
• Surface angle -60.1 deg, depth 1.53 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 425.07 (SM_CC=425)
• GPS1 time: 31 s
• GPS2 time: 6 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
6.90 - - - 62.02 VBD -1.37 - - 176.31 - - - 2244.62 - -82.73 53.97 0.005 2405.81 - - - - - - - - - - 15.63
62.76 3.46 -3.60 10 101.99 -1.37 13.77 0.247 1989.06 131.6 2.99 0.084 3427.88 395.7 -82.73 16.94 0.006 3110.50 41.6 -3.995 - - - - - - 15.66 15.60 15.64
330.05 55.85 -15.31 63 335.58 roll -1.37 - - 1988.81 - 2.61 0.021 2254.50 -449.6 -82.73 - - 3113.91 - - - - - - - - - 15.89 -
520.50 81.48 -12.97 101 524.10 no move -1.37 - - 1989.06 - - - 2252.56 - -82.73 - - 3113.16 - - - - - - - - - - -
710.83 105.31 -12.16 135 715.33 roll -1.37 - - 1988.50 - 2.95 0.079 3427.19 398.2 -82.73 - - 3113.88 - - - - - - - - - 15.94 -
754.75 110.80 -12.35 144 760.74 roll -1.37 - - 1988.62 - 2.60 0.021 2245.62 -454.5 -82.73 - - 3113.69 - - - - - - - - - 15.96 -
1070.29 140.87 -8.77 176 1075.42 roll -1.37 - - 1988.69 - 2.96 0.079 3426.94 399.1 -82.73 - - 3115.94 - - - - - - - - - 16.00 -
1184.86 152.30 -9.99 199 1190.84 roll -1.37 - - 1988.81 - 2.59 0.021 2246.50 -455.8 -82.73 - - 3114.28 - - - - - - - - - 16.02 -
1500.37 183.12 -10.22 231 1505.42 roll -1.37 - - 1987.88 - 2.52 0.067 1208.56 -411.9 -82.73 - - 3115.22 - - - - - - - - - 16.03 -
1544.90 187.91 -10.66 240 1550.91 roll -1.37 - - 1988.94 - 2.67 0.028 2352.06 428.3 -82.73 - - 3116.59 - - - - - - - - - 16.05 -
1860.41 218.79 -9.26 272 1865.50 roll -1.37 - - 1988.69 - 2.78 0.061 1208.69 -411.3 -82.73 - - 3115.47 - - - - - - - - - 16.06 -
1970.42 229.20 -9.42 294 1975.51 roll -1.37 - - 1988.50 - 2.65 0.029 2351.75 431.3 -82.73 - - 3114.53 - - - - - - - - - 16.06 -
2280.46 257.96 -9.81 326 2285.96 roll -1.37 - - 1988.94 - 2.79 0.062 1208.50 -409.8 -82.73 - - 3114.22 - - - - - - - - - 16.07 -
2380.66 268.58 -10.77 346 2385.56 roll -1.37 - - 1988.62 - 2.65 0.029 2353.12 431.9 -82.73 - - 3115.66 - - - - - - - - - 16.08 -
2690.52 300.56 -10.23 378 2695.62 roll -1.37 - - 1988.62 - 2.77 0.062 1208.44 -413.2 -82.73 - - 3114.78 - - - - - - - - - 16.09 -
2740.53 305.96 -11.18 388 2745.61 roll -1.37 - - 1988.25 - 2.65 0.030 2352.69 431.8 -82.73 - - 3113.47 - - - - - - - - - 16.09 -
3050.57 336.94 -9.61 420 3055.66 roll -1.37 - - 1988.25 - 2.77 0.062 1209.50 -412.7 -82.73 - - 3114.50 - - - - - - - - - 16.10 -
3105.11 342.24 -9.97 431 3111.11 roll -1.37 - - 1988.88 - 2.65 0.030 2352.00 431.1 -82.73 - - 3113.69 - - - - - - - - - 16.10 -
3420.63 370.87 -8.84 463 3421.96 no move -1.37 - - 1988.94 - - - 2352.00 - -82.73 - - 3112.31 - - - - - - - - - - -
3731.08 396.49 -7.90 494 3732.41 no move -1.37 - - 1988.56 - - - 2351.75 - -82.73 - - 3111.69 - - - - - - - - - - -
4041.15 422.36 -8.36 525 4045.84 roll -1.37 - - 1989.31 - 2.68 0.089 3426.56 401.0 -82.73 - - 3111.56 - - - - - - - - - 16.09 -
4130.79 430.86 -9.88 543 4135.86 roll -1.37 - - 1989.50 - 2.58 0.023 2249.75 -456.1 -82.73 - - 3111.28 - - - - - - - - - 16.11 -
4441.05 457.85 -8.55 575 4446.05 roll -1.37 - - 1988.31 - 2.96 0.085 3426.50 397.6 -82.73 - - 3112.75 - - - - - - - - - 16.10 -
4595.84 473.14 -9.55 606 4601.44 roll -1.37 - - 1990.00 - 2.58 0.023 2249.19 -456.3 -82.73 - - 3111.12 - - - - - - - - - 16.11 -
4910.98 499.89 -8.31 638 4912.31 no move -1.37 - - 1989.69 - - - 2248.81 - -82.73 - - 3109.12 - - - - - - - - - - -
5221.44 525.46 -8.11 669 5222.77 no move -1.37 - - 1990.31 - - - 2248.25 - -82.73 - - 3108.78 - - - - - - - - - - -
5531.50 550.88 -8.05 700 5536.25 roll -1.37 - - 1989.56 - 2.97 0.086 3426.12 396.6 -82.73 - - 3109.09 - - - - - - - - - 16.08 -
5601.13 557.45 -9.25 714 5606.20 roll -1.37 - - 1989.50 - 2.57 0.023 2250.06 -457.6 -82.73 - - 3108.69 - - - - - - - - - 16.11 -
5911.20 582.47 -7.79 746 5915.85 roll -1.37 - - 1989.81 - 2.50 0.070 1208.38 -416.7 -82.73 - - 3108.19 - - - - - - - - - 16.12 -
5971.22 587.42 -8.25 758 5976.31 roll -1.37 - - 1989.56 - 2.65 0.030 2351.44 431.3 -82.73 - - 3109.84 - - - - - - - - - 16.13 -
6281.28 611.72 -7.34 790 6282.61 no move -1.37 - - 1989.38 - - - 2351.75 - -82.73 - - 3106.34 - - - - - - - - - - -
6591.72 635.24 -7.87 821 6596.44 roll -1.37 - - 1989.81 - 2.77 0.065 1208.81 -412.6 -82.73 - - 3107.19 - - - - - - - - - 16.11 -
6676.20 642.28 -8.25 838 6681.96 roll -1.37 - - 1989.69 - 2.66 0.031 2353.19 430.2 -82.73 - - 3107.84 - - - - - - - - - 16.14 -
6991.40 666.75 -7.72 870 6996.50 roll -1.37 - - 1989.62 - 2.76 0.064 1208.81 -414.6 -82.73 - - 3106.75 - - - - - - - - - 16.14 -
7105.97 676.41 -8.40 893 7111.96 roll -1.37 - - 1988.94 - 2.66 0.031 2351.62 429.6 -82.73 - - 3106.38 - - - - - - - - - 16.13 -
7421.48 699.92 -7.44 925 7426.55 roll -1.37 - - 1989.75 - 2.77 0.064 1208.69 -412.6 -82.73 - - 3105.69 - - - - - - - - - 16.13 -
7501.48 706.19 -7.83 941 7506.57 roll -1.37 - - 1989.62 - 2.66 0.031 2350.81 429.4 -82.73 - - 3105.47 - - - - - - - - - 16.13 -
7811.52 728.68 -7.21 973 7812.85 no move -1.37 - - 1989.38 - - - 2350.62 - -82.73 - - 3104.28 - - - - - - - - - - -
8121.93 750.82 -7.02 1004 8126.64 roll -1.37 - - 1989.25 - 2.78 0.064 1208.69 -410.8 -82.73 - - 3106.66 - - - - - - - - - 16.13 -
8166.09 754.28 -7.67 1013 8172.10 roll -1.37 - - 1989.56 - 2.66 0.031 2350.50 429.3 -82.73 - - 3104.41 - - - - - - - - - 16.12 -
8481.59 776.25 -6.76 1045 8486.69 roll -1.37 - - 1988.69 - 2.79 0.064 1208.81 -409.2 -82.73 - - 3106.44 - - - - - - - - - 16.11 -
8541.61 780.97 -7.62 1057 8546.88 roll -1.37 - - 1989.31 - 2.66 0.031 2350.75 429.3 -82.73 - - 3104.75 - - - - - - - - - 16.12 -
8851.85 803.55 -7.22 1089 8856.78 roll -1.37 - - 1989.75 - 2.72 0.094 3426.75 395.6 -82.73 - - 3103.94 - - - - - - - - - 16.10 -
8936.25 810.53 -8.40 1106 8942.24 roll -1.37 - - 1989.69 - 2.60 0.024 2250.50 -452.4 -82.73 - - 3103.72 - - - - - - - - - 16.12 -
9252.17 831.57 -6.37 1138 9256.84 roll -1.37 - - 1989.81 - 2.53 0.070 1209.94 -411.3 -82.73 - - 3103.97 - - - - - - - - - 16.11 -
9316.34 836.15 -6.91 1151 9322.34 roll -1.37 - - 1989.56 - 2.66 0.031 2350.50 428.8 -82.73 - - 3103.69 - - - - - - - - - 16.12 -
9631.87 857.57 -7.05 1183 9636.97 roll -1.37 - - 1989.62 - 2.71 0.094 3427.25 397.3 -82.73 - - 3102.75 - - - - - - - - - 16.11 -
9721.89 865.22 -8.52 1201 9726.95 roll -1.37 - - 1989.44 - 2.60 0.024 2254.50 -451.1 -82.73 - - 3103.81 - - - - - - - - - 16.12 -
10032.13 888.43 -7.55 1233 10037.09 roll -1.37 - - 1989.75 - 2.96 0.089 3425.81 395.7 -82.73 - - 3103.12 - - - - - - - - - 16.08 -
10076.51 892.09 -8.14 1242 10082.49 roll -1.37 - - 1989.56 - 2.59 0.024 2248.38 -454.6 -82.73 - - 3102.47 - - - - - - - - - 16.11 -
10392.22 915.48 -7.53 1274 10397.17 roll -1.37 - - 1989.06 - 2.53 0.071 1210.00 -410.4 -82.73 - - 3103.09 - - - - - - - - - 16.11 -
10436.59 919.09 -8.01 1283 10442.59 roll -1.37 - - 1990.12 - 2.66 0.031 2350.69 428.8 -82.73 - - 3102.53 - - - - - - - - - 16.13 -
10752.51 942.30 -7.26 1315 10753.83 no move -1.37 - - 1989.56 - - - 2350.50 - -82.73 - - 3100.75 - - - - - - - - - - -
11062.58 964.95 -7.43 1346 11067.29 roll -1.37 - - 1989.31 - 2.78 0.067 1209.81 -410.3 -82.73 - - 3101.84 - - - - - - - - - 16.11 -
11182.23 974.45 -7.54 1370 11187.30 roll -1.37 - - 1989.50 - 2.66 0.032 2350.81 428.9 -82.73 - - 3102.44 - - - - - - - - - 16.11 -
11401 end dive: TARGET_DEPTH_EXCEEDED
11402 begin apogee
11404.10 990.13 -7.33 1393 11469.65 -0.28 1.81 0.151 2254.62 146.5 0.21 0.137 2278.88 -342.5 - 61.17 2.440 2774.03 -5.4 0.363 - - - - - - 16.02 15.66 12.20
11471 end apogee: CONTROL_FINISHED_OK
11471 begin climb
11471.91 991.75 - 1399 11546.64 1.37 2.62 0.097 2656.25 153.3 2.86 0.097 3344.50 372.6 82.73 65.82 2.359 2436.06 -5.1 0.359 - - - - - - 15.69 15.34 12.89
11555.42 988.01 4.74 1409 11607.03 done 1.48 - - 2656.81 - 2.71 0.025 2189.25 -426.3 137.18 45.73 2.291 2217.00 -4.8 0.344 - - - - - - - 15.46 12.72
11915.42 956.50 9.15 1450 11920.39 done 1.48 - - 2656.44 - 2.67 0.080 1132.44 -395.8 137.18 - - 2207.88 - - - - - - - - - 15.74 -
11949.85 953.28 9.21 1457 11955.87 done 1.48 - - 2655.38 - 2.71 0.032 2268.12 419.1 137.18 - - 2207.31 - - - - - - - - - 15.77 -
12265.75 925.22 8.69 1489 12270.47 done 1.48 - - 2656.12 - 2.83 0.076 1132.31 -401.3 137.18 - - 2205.12 - - - - - - - - - 15.89 -
12315.37 920.74 9.63 1499 12320.45 done 1.48 - - 2656.50 - 2.69 0.032 2269.69 422.8 137.18 - - 2206.53 - - - - - - - - - 15.89 -
12625.79 893.11 8.67 1531 12627.12 VBD 1.48 - - 2656.00 - - - 2269.81 - 137.18 - - 2202.66 - - - - - - - - - - -
12935.83 867.00 8.38 1562 12937.16 VBD 1.48 - - 2656.19 - - - 2269.50 - 137.18 - - 2202.16 - - - - - - - - - - -
13245.87 839.86 9.06 1593 13247.20 VBD 1.48 - - 2656.19 - - - 2268.94 - 137.18 - - 2201.97 - - - - - - - - - - -
13556.14 811.82 8.58 1624 13560.63 done 1.48 - - 2656.25 - 2.82 0.076 1132.31 -403.1 137.18 - - 2202.06 - - - - - - - - - 16.02 -
13615.52 806.47 9.50 1636 13620.61 done 1.48 - - 2656.75 - 2.68 0.033 2269.50 424.3 137.18 - - 2202.50 - - - - - - - - - 16.03 -
13925.95 778.14 9.46 1668 13927.28 VBD 1.48 - - 2656.31 - - - 2269.19 - 137.18 - - 2200.84 - - - - - - - - - - -
14235.99 748.82 9.61 1699 14237.32 VBD 1.48 - - 2656.12 - - - 2269.00 - 137.18 - - 2200.31 - - - - - - - - - - -
14546.05 719.81 9.20 1730 14550.78 done 1.48 - - 2656.38 - 2.83 0.077 1132.69 -401.5 137.18 - - 2202.44 - - - - - - - - - 16.07 -
14595.68 715.39 9.33 1740 14600.77 done 1.48 - - 2656.38 - 2.66 0.032 2269.00 427.2 137.18 - - 2201.66 - - - - - - - - - 16.07 -
14906.14 688.20 8.48 1772 14907.47 VBD 1.48 - - 2656.94 - - - 2269.12 - 137.18 - - 2200.03 - - - - - - - - - - -
15216.22 663.67 7.73 1803 15220.99 1.49 0.14 0.103 2696.00 279.0 2.83 0.077 1131.31 -402.1 137.18 - - 2200.25 - - - - - - - - 16.05 16.05 -
15275.83 658.30 9.60 1815 15280.92 done 1.49 - - 2696.69 - 2.62 0.033 2270.88 435.0 137.18 - - 2201.34 - - - - - - - - - 16.08 -
15586.28 630.96 8.57 1847 15587.62 VBD 1.49 - - 2696.94 - - - 2271.00 - 137.18 - - 2199.34 - - - - - - - - - - -
15896.34 602.67 9.49 1878 15901.22 done 1.49 - - 2697.00 - 2.70 0.096 3345.06 397.8 137.18 - - 2200.53 - - - - - - - - - 16.06 -
15936.14 598.44 10.26 1886 15941.05 done 1.49 - - 2696.75 - 2.61 0.026 2190.44 -442.4 137.18 - - 2202.66 - - - - - - - - - 16.08 -
16246.43 568.64 9.74 1918 16247.76 VBD 1.49 - - 2697.06 - - - 2190.38 - 137.18 - - 2199.06 - - - - - - - - - - -
16556.49 538.34 9.79 1949 16561.18 done 1.49 - - 2696.62 - 2.62 0.081 1131.31 -404.2 137.18 - - 2201.19 - - - - - - - - - 16.09 -
16621.00 531.71 10.40 1962 16626.67 done 1.49 - - 2696.31 - 2.64 0.033 2270.31 431.4 137.18 - - 2200.38 - - - - - - - - - 16.09 -
16936.58 502.28 8.86 1994 16941.31 done 1.49 - - 2696.75 - 2.84 0.076 1131.94 -400.8 137.18 - - 2199.75 - - - - - - - - - 16.09 -
16986.20 497.69 9.32 2004 16991.28 done 1.49 - - 2696.75 - 2.65 0.033 2271.50 430.0 137.18 - - 2202.12 - - - - - - - - - 16.09 -
17296.67 471.80 7.92 2036 17301.40 done 1.50 - - 2696.75 - 2.82 0.076 1131.12 -404.4 137.18 - - 2199.75 - - - - - - - - - 16.08 -
17346.29 467.81 7.50 2046 17351.36 done 1.52 - - 2696.94 - 2.64 0.032 2271.44 431.9 137.18 - - 2200.66 - - - - - - - - - 16.09 -
17656.74 444.72 7.51 2078 17661.62 done 1.54 - - 2696.81 - 2.71 0.095 3346.06 396.5 137.18 - - 2201.94 - - - - - - - - - 16.06 -
17706.46 440.42 8.75 2088 17711.41 done 1.54 - - 2697.19 - 2.60 0.026 2190.69 -444.4 137.18 - - 2200.19 - - - - - - - - - 16.09 -
18016.38 415.14 8.55 2120 18017.72 VBD 1.54 - - 2696.75 - - - 2189.38 - 137.18 - - 2199.72 - - - - - - - - - - -
18326.80 388.29 8.45 2151 18331.50 done 1.54 - - 2696.38 - 2.62 0.080 1130.38 -404.2 137.18 - - 2199.75 - - - - - - - - - 16.09 -
18386.42 382.93 8.95 2163 18391.51 done 1.54 - - 2696.50 - 2.61 0.032 2271.25 437.1 137.18 - - 2201.66 - - - - - - - - - 16.08 -
18696.85 357.13 8.18 2195 18701.55 done 1.54 - - 2696.88 - 2.68 0.094 3344.00 400.3 137.18 - - 2200.44 - - - - - - - - - 16.06 -
18776.48 349.92 8.90 2211 18781.55 done 1.54 - - 2696.69 - 2.60 0.026 2190.38 -443.7 137.18 - - 2201.50 - - - - - - - - - 16.09 -
19086.53 323.71 8.57 2243 19087.86 VBD 1.54 - - 2696.75 - - - 2190.25 - 137.18 - - 2199.03 - - - - - - - - - - -
19396.96 298.34 7.87 2274 19401.68 done 1.55 - - 2695.69 - 2.93 0.090 3346.69 394.7 137.18 - - 2202.72 - - - - - - - - - 16.06 -
19446.74 293.87 8.82 2284 19451.63 done 1.55 - - 2696.25 - 2.60 0.026 2189.00 -445.3 137.18 - - 2202.34 - - - - - - - - - 16.08 -
19757.26 269.86 7.77 2316 19761.74 done 1.57 - - 2697.38 - 2.60 0.080 1132.19 -406.5 137.18 - - 2202.38 - - - - - - - - - 16.07 -
19821.18 264.52 8.35 2329 19827.19 done 1.57 - - 2696.94 - 2.64 0.031 2271.81 431.7 137.18 - - 2200.88 - - - - - - - - - 16.07 -
20137.11 239.66 7.54 2361 20138.44 VBD 1.58 - - 2697.25 - - - 2272.06 - 137.18 - - 2199.72 - - - - - - - - - - -
20447.19 217.30 6.90 2392 20451.90 done 1.61 - - 2696.88 - 2.82 0.075 1131.00 -404.6 137.18 - - 2200.25 - - - - - - - - - 16.07 -
20591.75 206.36 8.00 2421 20597.37 done 1.61 - - 2697.00 - 2.64 0.031 2271.31 431.9 137.18 - - 2202.00 - - - - - - - - - 16.08 -
20907.29 183.63 7.05 2453 20908.63 VBD 1.64 - - 2696.38 - - - 2271.44 - 137.18 - - 2200.12 - - - - - - - - - - -
21217.36 163.39 6.83 2484 21222.10 1.68 0.17 0.083 2740.56 259.9 2.70 0.092 3345.75 397.9 137.18 - - 2203.28 - - - - - - - - 16.05 16.02 -
21266.97 159.08 8.89 2494 21272.04 done 1.68 - - 2741.38 - 2.60 0.025 2187.12 -445.6 137.18 - - 2202.50 - - - - - - - - - 16.02 -
21577.44 134.37 6.92 2526 21582.12 done 1.71 - - 2741.06 - 2.58 0.078 1131.38 -409.2 137.18 - - 2202.34 - - - - - - - - - 16.06 -
21717.28 125.13 6.31 2554 21745.06 done 1.77 - - 2740.69 - 2.64 0.030 2273.56 432.6 168.76 22.98 1.272 2084.69 -5.1 0.084 - - - - - - - 16.02 12.30
22052.56 104.59 5.36 2590 22093.79 1.86 0.18 0.084 2786.94 256.9 2.71 0.093 3346.88 396.1 214.26 34.99 1.275 1902.09 -5.2 0.071 - - - - - - 16.00 15.86 12.75
22292.24 86.54 7.31 2638 22297.77 roll 1.88 - - 2787.56 - 2.62 0.025 2187.31 -442.6 214.26 - - 1895.34 - - - - - - - - - 15.94 -
22482.31 76.11 4.66 2676 22529.00 done 2.00 - - 2786.94 - 2.63 0.079 1132.69 -401.0 270.02 41.88 1.237 1673.59 -5.3 0.054 - - - - - - - 15.77 12.60
22727.38 59.21 7.41 2725 22732.90 done 2.02 - - 2787.38 - 2.67 0.030 2273.62 427.3 270.02 - - 1665.22 - - - - - - - - - 15.85 -
22917.40 48.12 5.65 2763 22952.55 2.10 0.25 0.071 2844.56 228.7 - - 2273.56 - 311.18 31.17 1.175 1505.75 -5.1 0.035 - - - - - - 15.87 - 12.56
23137.43 28.11 9.95 2807 23138.76 no move 2.10 - - 2843.94 - - - 2273.88 - 311.18 - - 1499.25 - - - - - - - - - - -
23322.48 17.03 3.75 2844 23379.93 done 2.24 - - 2844.62 - 2.88 0.074 1132.56 -396.3 380.26 51.92 1.154 1225.84 -5.3 0.013 - - - - - - - 15.71 12.54
23572 end climb: SURFACE_DEPTH_REACHED
23572 begin surface coast
23593 end surface coast: CONTROL_FINISHED_OK
23593 begin surface
SM 1.18 - - - - 180.9 33.81 1.123 1042.2 29.3 16.38 0.050 1019.4 62.2 - 2.85 0.030 1064.9 372.6 -1.498 - - 12.61 15.84 15.85 -