NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 341 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 108.61 of 550.00 AH used of 24V (80.25% remains)
• Surface angle -63.0 deg, depth 1.50 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.94 (SM_CC=425)
• GPS1 time: 60 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.74 - - - 57.05 VBD -1.37 - - 180.75 - - - 2246.19 - -82.73 49.13 0.005 2272.75 - - - - - - - - - - 15.61
57.78 3.04 -3.42 9 102.07 -1.37 14.09 0.249 1988.69 128.3 2.54 0.068 1208.62 -408.5 -82.73 21.26 0.006 3112.72 39.5 -3.329 - - - - - - 15.65 15.59 15.64
330.09 51.33 -15.99 63 335.63 roll -1.37 - - 1988.44 - 2.62 0.030 2352.06 436.4 -82.73 - - 3113.94 - - - - - - - - - 15.87 -
520.54 79.15 -14.59 101 525.93 roll -1.37 - - 1987.56 - 2.77 0.059 1208.69 -412.8 -82.73 - - 3113.91 - - - - - - - - - 15.91 -
560.30 85.35 -15.95 109 565.74 roll -1.37 - - 1988.75 - 2.62 0.029 2353.19 436.8 -82.73 - - 3114.47 - - - - - - - - - 15.93 -
750.26 109.78 -11.73 139 751.59 no move -1.37 - - 1988.31 - - - 2353.38 - -82.73 - - 3112.34 - - - - - - - - - - -
1060.71 139.17 -9.87 170 1062.04 no move -1.37 - - 1988.69 - - - 2353.56 - -82.73 - - 3112.97 - - - - - - - - - - -
1370.78 169.40 -9.42 201 1375.47 roll -1.37 - - 1989.00 - 2.61 0.089 3426.69 411.2 -82.73 - - 3114.47 - - - - - - - - - 15.97 -
1440.41 176.44 -9.91 215 1445.47 roll -1.37 - - 1989.31 - 2.58 0.022 2243.69 -458.5 -82.73 - - 3115.31 - - - - - - - - - 16.02 -
1750.48 204.36 -9.85 247 1755.12 roll -1.37 - - 1988.75 - 2.48 0.065 1207.69 -417.7 -82.73 - - 3115.22 - - - - - - - - - 16.03 -
1800.48 209.33 -10.30 257 1805.55 roll -1.37 - - 1988.88 - 2.60 0.029 2352.94 440.5 -82.73 - - 3115.62 - - - - - - - - - 16.03 -
2110.73 240.95 -9.98 289 2115.65 roll -1.37 - - 1988.25 - 2.74 0.061 1209.12 -417.5 -82.73 - - 3114.66 - - - - - - - - - 16.05 -
2145.10 244.44 -9.96 296 2151.08 roll -1.37 - - 1989.19 - 2.58 0.029 2353.56 443.6 -82.73 - - 3114.72 - - - - - - - - - 16.05 -
2460.63 275.11 -9.50 328 2461.96 no move -1.37 - - 1989.00 - - - 2353.50 - -82.73 - - 3113.59 - - - - - - - - - - -
2771.32 303.16 -8.74 359 2775.78 roll -1.37 - - 1989.19 - 2.74 0.062 1208.19 -418.0 -82.73 - - 3114.22 - - - - - - - - - 16.07 -
2845.24 309.82 -9.07 374 2851.23 roll -1.37 - - 1989.38 - 2.58 0.030 2352.81 443.7 -82.73 - - 3114.00 - - - - - - - - - 16.08 -
3160.78 338.43 -8.97 406 3162.10 no move -1.37 - - 1988.94 - - - 2352.44 - -82.73 - - 3112.44 - - - - - - - - - - -
3471.22 365.90 -8.40 437 3476.25 roll -1.37 - - 1989.44 - 2.74 0.062 1208.62 -417.5 -82.73 - - 3113.84 - - - - - - - - - 16.08 -
3495.37 367.94 -8.29 442 3501.37 roll -1.37 - - 1989.62 - 2.59 0.029 2353.44 442.0 -82.73 - - 3113.09 - - - - - - - - - 16.10 -
3810.87 396.24 -9.02 474 3815.96 roll -1.37 - - 1988.00 - 2.75 0.062 1208.44 -416.4 -82.73 - - 3113.00 - - - - - - - - - 16.09 -
3850.87 399.81 -8.92 482 3855.95 roll -1.37 - - 1988.94 - 2.58 0.030 2353.38 443.8 -82.73 - - 3113.44 - - - - - - - - - 16.10 -
4160.91 428.31 -9.12 514 4166.00 roll -1.37 - - 1989.19 - 2.75 0.062 1208.44 -416.3 -82.73 - - 3112.75 - - - - - - - - - 16.09 -
4205.45 432.22 -9.39 523 4211.44 roll -1.37 - - 1989.38 - 2.58 0.030 2352.00 443.2 -82.73 - - 3111.94 - - - - - - - - - 16.10 -
4520.96 460.62 -8.37 555 4526.22 roll -1.37 - - 1989.62 - 2.62 0.092 3426.38 410.1 -82.73 - - 3112.16 - - - - - - - - - 16.07 -
4601.14 468.31 -9.78 571 4606.03 roll -1.37 - - 1989.69 - 2.57 0.023 2248.19 -458.4 -82.73 - - 3111.97 - - - - - - - - - 16.10 -
4911.01 494.39 -8.56 603 4912.34 no move -1.37 - - 1989.94 - - - 2246.25 - -82.73 - - 3110.06 - - - - - - - - - - -
5221.43 521.34 -8.79 634 5226.15 roll -1.37 - - 1989.56 - 2.88 0.088 3428.31 410.4 -82.73 - - 3110.75 - - - - - - - - - 16.09 -
5301.06 529.86 -11.02 650 5306.12 roll -1.37 - - 1988.06 - 2.57 0.023 2248.81 -458.9 -82.73 - - 3110.84 - - - - - - - - - 16.11 -
5611.10 557.10 -8.99 682 5612.43 no move -1.37 - - 1990.00 - - - 2248.75 - -82.73 - - 3108.88 - - - - - - - - - - -
5921.55 584.95 -8.91 713 5922.87 no move -1.37 - - 1989.56 - - - 2248.31 - -82.73 - - 3107.72 - - - - - - - - - - -
6231.61 613.26 -9.44 744 6236.34 roll -1.37 - - 1989.25 - 2.88 0.089 3426.44 409.1 -82.73 - - 3108.06 - - - - - - - - - 16.10 -
6321.26 622.71 -10.70 762 6326.32 roll -1.37 - - 1989.31 - 2.56 0.023 2249.75 -459.6 -82.73 - - 3108.16 - - - - - - - - - 16.10 -
6631.32 650.03 -8.07 794 6636.44 roll -1.37 - - 1989.94 - 2.87 0.089 3426.69 410.1 -82.73 - - 3107.50 - - - - - - - - - 16.10 -
6665.87 653.56 -9.39 801 6671.86 roll -1.37 - - 1989.62 - 2.57 0.023 2249.19 -458.2 -82.73 - - 3108.44 - - - - - - - - - 16.10 -
6981.59 679.58 -8.20 833 6982.91 no move -1.37 - - 1989.25 - - - 2249.56 - -82.73 - - 3105.66 - - - - - - - - - - -
7292.02 703.92 -7.81 864 7293.35 no move -1.37 - - 1989.38 - - - 2249.38 - -82.73 - - 3105.34 - - - - - - - - - - -
7601.91 728.43 -8.12 895 7606.58 roll -1.37 - - 1988.75 - 2.51 0.070 1208.81 -414.6 -82.73 - - 3107.59 - - - - - - - - - 16.10 -
7641.53 731.58 -7.88 903 7646.60 roll -1.37 - - 1989.62 - 2.59 0.031 2351.94 441.4 -82.73 - - 3106.28 - - - - - - - - - 16.11 -
7951.60 756.26 -7.65 935 7956.69 roll -1.37 - - 1989.56 - 2.76 0.064 1208.56 -414.3 -82.73 - - 3106.62 - - - - - - - - - 16.11 -
8006.15 760.76 -8.42 946 8012.13 roll -1.37 - - 1988.56 - 2.59 0.031 2351.69 441.4 -82.73 - - 3106.09 - - - - - - - - - 16.09 -
8321.68 785.56 -7.68 978 8323.00 no move -1.37 - - 1989.50 - - - 2351.81 - -82.73 - - 3104.44 - - - - - - - - - - -
8632.13 807.54 -6.93 1009 8633.46 no move -1.37 - - 1989.62 - - - 2352.06 - -82.73 - - 3103.44 - - - - - - - - - - -
8942.20 828.39 -6.65 1040 8943.53 no move -1.37 - - 1989.69 - - - 2352.00 - -82.73 - - 3103.19 - - - - - - - - - - -
9252.24 849.43 -6.90 1071 9256.95 roll -1.37 - - 1989.69 - 2.74 0.065 1208.38 -417.4 -82.73 - - 3105.03 - - - - - - - - - 16.11 -
9316.40 854.01 -7.31 1084 9322.40 roll -1.37 - - 1989.56 - 2.59 0.031 2351.31 441.3 -82.73 - - 3103.84 - - - - - - - - - 16.12 -
9632.09 876.40 -7.08 1116 9637.06 roll -1.37 - - 1989.69 - 2.77 0.064 1208.25 -412.7 -82.73 - - 3103.69 - - - - - - - - - 16.11 -
9691.92 881.12 -8.03 1128 9696.99 roll -1.37 - - 1989.31 - 2.59 0.031 2352.00 441.6 -82.73 - - 3104.38 - - - - - - - - - 16.12 -
10001.96 905.22 -7.57 1160 10007.06 roll -1.37 - - 1989.94 - 2.78 0.064 1209.81 -410.9 -82.73 - - 3103.59 - - - - - - - - - 16.11 -
10091.97 912.68 -8.37 1178 10097.04 roll -1.37 - - 1989.56 - 2.60 0.032 2351.88 439.3 -82.73 - - 3104.75 - - - - - - - - - 16.10 -
10402.01 937.43 -7.98 1210 10403.34 no move -1.37 - - 1989.00 - - - 2351.62 - -82.73 - - 3102.09 - - - - - - - - - - -
10712.61 962.58 -7.95 1241 10717.15 roll -1.37 - - 1989.62 - 2.78 0.065 1208.69 -411.1 -82.73 - - 3102.47 - - - - - - - - - 16.11 -
10836.61 972.79 -8.24 1266 10842.60 roll -1.37 - - 1989.12 - 2.60 0.032 2353.12 440.2 -82.73 - - 3103.44 - - - - - - - - - 16.10 -
11072 end dive: TARGET_DEPTH_EXCEEDED
11072 begin apogee
11073.94 990.51 -7.49 1290 11139.48 -0.28 1.84 0.152 2254.25 144.1 0.22 0.138 2282.25 -322.1 - 61.26 2.434 2772.84 -5.4 0.365 - - - - - - 16.02 15.65 12.26
11141 end apogee: CONTROL_FINISHED_OK
11141 begin climb
11141.96 992.11 - 1296 11217.49 1.37 2.68 0.100 2656.69 150.2 2.95 0.076 1131.19 -390.2 82.73 65.96 2.357 2437.94 -5.1 0.355 - - - - - - 15.68 15.33 12.77
11240.31 987.57 5.09 1315 11287.30 done 1.47 - - 2657.19 - 2.71 0.030 2271.56 420.8 132.19 41.79 2.279 2234.81 -4.9 0.350 - - - - - - - 15.50 12.68
11595.65 954.70 9.79 1355 11596.98 VBD 1.47 - - 2657.19 - - - 2272.00 - 132.19 - - 2226.88 - - - - - - - - - - -
11906.10 925.29 9.74 1386 11910.83 done 1.47 - - 2657.06 - 2.82 0.074 1131.12 -404.6 132.19 - - 2227.22 - - - - - - - - - 15.85 -
11980.45 917.92 9.82 1401 11986.28 done 1.47 - - 2657.31 - 2.62 0.032 2270.94 435.0 132.19 - - 2225.91 - - - - - - - - - 15.89 -
12296.19 889.13 8.99 1433 12300.92 done 1.47 - - 2656.75 - 2.82 0.075 1132.50 -403.7 132.19 - - 2225.66 - - - - - - - - - 15.93 -
12340.35 885.01 9.22 1442 12346.53 done 1.47 - - 2656.88 - 2.62 0.032 2273.38 435.5 132.19 - - 2226.66 - - - - - - - - - 15.95 -
12656.42 856.38 9.28 1474 12657.75 VBD 1.47 - - 2657.00 - - - 2272.44 - 132.19 - - 2223.62 - - - - - - - - - - -
12966.28 828.11 9.70 1505 12971.01 done 1.47 - - 2656.88 - 2.82 0.075 1131.31 -404.7 132.19 - - 2225.28 - - - - - - - - - 16.00 -
13005.90 824.61 8.75 1513 13010.98 done 1.47 - - 2655.31 - 2.61 0.032 2271.75 437.0 132.19 - - 2224.66 - - - - - - - - - 16.01 -
13316.33 796.54 8.70 1545 13321.02 done 1.47 - - 2654.81 - 2.65 0.097 3345.50 405.2 132.19 - - 2224.47 - - - - - - - - - 16.00 -
13350.48 793.20 9.39 1552 13356.47 done 1.47 - - 2656.81 - 2.60 0.025 2188.56 -445.0 132.19 - - 2226.03 - - - - - - - - - 16.03 -
13666.37 765.47 8.83 1584 13667.70 VBD 1.47 - - 2657.12 - - - 2187.00 - 132.19 - - 2222.09 - - - - - - - - - - -
13976.40 736.82 9.51 1615 13981.12 done 1.47 - - 2656.69 - 2.86 0.092 3346.44 405.4 132.19 - - 2223.44 - - - - - - - - - 16.04 -
14030.56 730.90 10.57 1626 14036.55 done 1.47 - - 2657.00 - 2.59 0.025 2190.06 -446.5 132.19 - - 2223.56 - - - - - - - - - 16.05 -
14346.45 700.61 9.52 1658 14347.78 VBD 1.47 - - 2656.38 - - - 2189.50 - 132.19 - - 2221.78 - - - - - - - - - - -
14656.50 672.61 8.71 1689 14661.35 done 1.47 - - 2657.50 - 2.60 0.080 1131.12 -407.1 132.19 - - 2223.72 - - - - - - - - - 16.07 -
14710.78 667.77 8.94 1700 14716.66 done 1.47 - - 2656.38 - 2.61 0.032 2273.25 437.6 132.19 - - 2223.28 - - - - - - - - - 16.07 -
15026.60 642.79 7.62 1732 15031.28 done 1.48 - - 2657.06 - 2.65 0.096 3345.69 404.7 132.19 - - 2222.72 - - - - - - - - - 16.04 -
15060.76 639.90 7.88 1739 15066.79 1.49 0.15 0.101 2695.31 255.0 2.60 0.025 2189.31 -444.8 132.19 - - 2224.09 - - - - - - - - 16.00 16.08 -
15376.66 613.15 8.57 1771 15378.00 VBD 1.49 - - 2694.69 - - - 2188.44 - 132.19 - - 2221.19 - - - - - - - - - - -
15686.73 585.77 9.12 1802 15691.45 done 1.49 - - 2694.50 - 2.85 0.092 3346.94 406.5 132.19 - - 2223.66 - - - - - - - - - 16.06 -
15736.35 580.76 10.49 1812 15741.42 done 1.49 - - 2695.75 - 2.59 0.025 2189.06 -447.1 132.19 - - 2222.59 - - - - - - - - - 16.08 -
16046.82 554.23 7.95 1844 16051.48 done 1.50 - - 2694.50 - 2.57 0.080 1129.88 -412.1 132.19 - - 2223.62 - - - - - - - - - 16.06 -
16126.45 547.01 9.08 1860 16131.51 done 1.50 - - 2696.00 - 2.60 0.032 2273.00 439.7 132.19 - - 2222.53 - - - - - - - - - 16.08 -
16436.52 520.81 8.58 1892 16441.79 done 1.50 - - 2695.75 - 2.75 0.076 1130.06 -415.6 132.19 - - 2222.22 - - - - - - - - - 16.06 -
16496.70 515.16 9.44 1904 16501.60 done 1.50 - - 2695.19 - 2.60 0.032 2273.69 439.9 132.19 - - 2222.31 - - - - - - - - - 16.06 -
16806.60 487.00 9.37 1936 16807.94 VBD 1.50 - - 2695.25 - - - 2273.06 - 132.19 - - 2221.59 - - - - - - - - - - -
17117.04 458.82 8.90 1967 17121.75 done 1.50 - - 2695.56 - 2.65 0.095 3347.00 405.3 132.19 - - 2222.50 - - - - - - - - - 16.05 -
17161.22 454.39 9.91 1976 17167.21 done 1.50 - - 2695.56 - 2.60 0.024 2187.38 -446.0 132.19 - - 2222.69 - - - - - - - - - 16.09 -
17477.13 426.11 9.06 2008 17481.86 done 1.50 - - 2695.56 - 2.84 0.091 3347.50 408.5 132.19 - - 2223.31 - - - - - - - - - 16.08 -
17571.32 416.83 10.05 2027 17577.30 done 1.50 - - 2695.38 - 2.58 0.025 2189.12 -449.0 132.19 - - 2222.44 - - - - - - - - - 16.07 -
17886.84 389.17 8.30 2059 17888.17 VBD 1.50 - - 2696.19 - - - 2188.25 - 132.19 - - 2221.00 - - - - - - - - - - -
18197.27 364.66 7.48 2090 18201.98 done 1.52 - - 2694.44 - 2.85 0.090 3345.56 406.1 132.19 - - 2222.84 - - - - - - - - - 16.08 -
18256.88 359.75 8.23 2102 18261.96 done 1.52 - - 2695.44 - 2.58 0.025 2186.69 -449.2 132.19 - - 2222.12 - - - - - - - - - 16.07 -
18567.56 337.68 6.70 2134 18568.90 VBD 1.56 - - 2695.56 - - - 2187.00 - 132.19 - - 2221.25 - - - - - - - - - - -
18877.35 317.01 7.02 2165 18882.06 done 1.59 - - 2695.31 - 2.85 0.089 3345.62 406.5 132.19 - - 2223.31 - - - - - - - - - 16.08 -
18951.51 310.96 7.97 2180 18957.49 done 1.59 - - 2695.44 - 2.59 0.025 2188.12 -446.9 132.19 - - 2222.69 - - - - - - - - - 16.07 -
19267.41 287.21 7.46 2212 19272.11 done 1.61 - - 2694.88 - 2.86 0.089 3346.69 405.1 132.19 - - 2222.34 - - - - - - - - - 16.05 -
19317.01 283.02 8.31 2222 19322.08 done 1.61 - - 2695.69 - 2.59 0.025 2188.00 -447.4 132.19 - - 2224.03 - - - - - - - - - 16.02 -
19627.45 260.13 7.12 2254 19628.78 VBD 1.64 - - 2695.88 - - - 2187.94 - 132.19 - - 2221.28 - - - - - - - - - - -
19937.67 239.50 6.57 2285 19942.22 1.67 0.19 0.088 2738.19 222.7 2.57 0.079 1130.06 -411.6 132.19 - - 2222.50 - - - - - - - - 16.02 16.02 -
20031.67 231.52 8.45 2304 20037.66 done 1.67 - - 2737.75 - 2.60 0.030 2275.00 440.4 132.19 - - 2222.84 - - - - - - - - - 16.07 -
20347.59 207.77 7.70 2336 20348.92 VBD 1.69 - - 2737.38 - - - 2274.62 - 132.19 - - 2221.66 - - - - - - - - - - -
20657.66 183.40 7.51 2367 20662.35 done 1.71 - - 2737.88 - 2.77 0.073 1130.06 -413.2 132.19 - - 2222.56 - - - - - - - - - 16.06 -
20812.48 170.75 7.98 2398 20817.83 done 1.71 - - 2737.44 - 2.60 0.030 2273.69 439.9 132.19 - - 2222.62 - - - - - - - - - 16.05 -
21127.78 148.51 6.70 2430 21129.12 VBD 1.74 - - 2737.81 - - - 2274.31 - 132.19 - - 2221.44 - - - - - - - - - - -
21437.85 130.13 5.75 2461 21473.48 done 1.82 - - 2738.06 - 2.81 0.074 1130.69 -407.0 171.91 28.94 1.306 2073.41 -5.1 0.085 - - - - - - - 15.95 12.26
21557.66 122.55 6.85 2485 21562.61 roll back 1.85 0.19 0.082 2785.56 250.0 2.62 0.030 2273.38 436.1 171.91 - - 2070.75 - - - - - - - - 15.95 16.00 -
21867.55 101.24 7.29 2517 21872.63 roll 1.88 - - 2785.81 - 2.64 0.090 3347.75 407.0 171.91 - - 2068.44 - - - - - - - - - 15.93 -
21937.58 95.88 7.34 2531 21943.10 roll 1.90 - - 2786.88 - 2.60 0.023 2179.62 -449.3 171.91 - - 2070.06 - - - - - - - - - 15.95 -
22127.66 90.69 2.07 2569 22201.45 2.09 0.25 0.070 2843.56 226.7 2.60 0.078 1131.31 -403.2 265.50 68.52 1.280 1690.88 -5.5 0.065 - - - - - - 15.94 15.73 12.39
22430.19 69.05 8.85 2629 22435.73 done 2.09 - - 2843.12 - 2.64 0.029 2274.12 432.9 265.50 - - 1682.28 - - - - - - - - - 15.85 -
22620.26 52.95 8.45 2667 22625.84 done 2.09 - - 2842.94 - 2.81 0.071 1131.38 -406.7 265.50 - - 1680.47 - - - - - - - - - 15.89 -
22855.38 32.48 7.76 2714 22860.90 done 2.10 - - 2843.31 - 2.62 0.029 2272.94 435.7 265.50 - - 1678.97 - - - - - - - - - 15.93 -
23045.44 22.40 3.64 2752 23101.08 VBD 2.24 - - 2843.56 - - - 2273.31 - 336.08 51.76 1.173 1404.34 -5.3 0.017 - - - - - - - - 12.42
23285.51 14.76 4.36 2800 23337.75 2.36 0.30 0.064 2906.69 210.4 2.86 0.073 1131.25 -399.3 396.21 45.27 1.134 1160.00 -5.4 0.012 - - - - - - 15.84 15.68 12.62
23445 end climb: SURFACE_DEPTH_REACHED
23446 begin surface coast
23466 end surface coast: CONTROL_FINISHED_OK
23467 begin surface
SM 3.00 - - - - 183.3 22.48 1.093 1042.7 44.4 16.87 0.052 1009.1 59.8 - 2.81 0.029 1076.2 382.0 -4.039 - - 12.63 15.77 15.81 -