NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 811 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 278.03 of 550.00 AH used of 24V (49.45% remains)
• Surface angle -62.6 deg, depth 0.72 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.71 (SM_CC=425)
• GPS1 time: 29 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
5.59 - - - 77.12 VBD -1.35 - - 178.06 - - - 2249.81 - -82.73 70.37 0.005 2790.50 - - - - - - - - - - 15.00
78.23 3.60 -5.17 13 110.00 -1.35 14.74 0.242 1994.00 123.2 3.07 0.085 3424.81 382.7 -82.73 6.95 0.008 3112.94 46.4 -3.589 - - - - - - 15.41 15.01 15.14
337.10 50.20 -17.38 65 342.85 roll -1.35 - - 1994.06 - 2.64 0.020 2251.75 -444.3 -82.73 - - 3113.59 - - - - - - - - - 15.80 -
527.65 73.55 -10.53 103 532.68 roll -1.35 - - 1994.44 - 2.58 0.062 1208.38 -404.4 -82.73 - - 3112.97 - - - - - - - - - 15.82 -
562.14 77.11 -10.18 110 567.70 roll -1.35 - - 1993.69 - 2.68 0.027 2349.62 425.8 -82.73 - - 3113.09 - - - - - - - - - 15.84 -
752.57 93.50 -8.74 148 757.74 roll -1.35 - - 1993.56 - 2.77 0.085 3426.88 388.9 -82.73 - - 3114.03 - - - - - - - - - 15.81 -
852.19 104.00 -10.17 168 857.73 roll -1.35 - - 1994.19 - 2.59 0.019 2250.75 -454.1 -82.73 - - 3113.41 - - - - - - - - - 15.87 -
1162.26 131.13 -8.22 230 1163.59 no move -1.35 - - 1993.88 - - - 2249.19 - -82.73 - - 3112.91 - - - - - - - - - - -
1467.55 155.56 -8.29 291 1472.95 roll -1.35 - - 1993.94 - 3.02 0.081 3427.44 390.1 -82.73 - - 3113.84 - - - - - - - - - 15.86 -
1512.35 159.71 -9.34 300 1517.88 roll -1.35 - - 1993.88 - 2.57 0.020 2251.38 -457.6 -82.73 - - 3114.28 - - - - - - - - - 15.92 -
1822.46 187.64 -9.24 362 1823.79 no move -1.35 - - 1993.62 - - - 2250.94 - -82.73 - - 3113.03 - - - - - - - - - - -
2127.61 214.27 -8.55 423 2133.08 roll -1.35 - - 1993.38 - 2.54 0.064 1209.44 -410.0 -82.73 - - 3114.84 - - - - - - - - - 15.94 -
2157.55 216.94 -8.83 429 2163.12 roll -1.35 - - 1993.81 - 2.68 0.027 2363.88 430.8 -82.73 - - 3113.75 - - - - - - - - - 15.97 -
2467.66 243.93 -8.69 491 2473.23 roll -1.35 - - 1994.38 - 2.71 0.087 3424.88 391.5 -82.73 - - 3114.38 - - - - - - - - - 15.90 -
2512.67 248.20 -9.59 500 2518.20 roll -1.35 - - 1994.25 - 2.56 0.020 2252.75 -457.9 -82.73 - - 3114.16 - - - - - - - - - 15.96 -
2822.80 274.48 -8.29 562 2824.13 no move -1.35 - - 1994.50 - - - 2252.00 - -82.73 - - 3113.47 - - - - - - - - - - -
3127.90 298.31 -7.79 623 3133.50 roll -1.35 - - 1994.12 - 3.00 0.083 3426.44 391.5 -82.73 - - 3113.69 - - - - - - - - - 15.90 -
3177.28 302.64 -8.98 631 3181.89 roll -1.35 - - 1994.25 - 2.55 0.020 2255.69 -459.1 -82.73 - - 3112.53 - - - - - - - - - 15.98 -
3488.78 326.48 -7.61 660 3499.85 no move -1.35 - - 1994.38 - - - 2254.88 - -82.73 - - 3113.84 - - - - - - - - - - -
3801.67 350.02 -7.68 689 3812.74 no move -1.35 - - 1994.31 - - - 2255.00 - -82.73 - - 3113.81 - - - - - - - - - - -
4114.80 374.85 -7.85 718 4125.88 no move -1.35 - - 1994.19 - - - 2254.56 - -82.73 - - 3113.41 - - - - - - - - - - -
4427.95 399.29 -7.75 747 4439.02 no move -1.35 - - 1994.56 - - - 2254.12 - -82.73 - - 3112.88 - - - - - - - - - - -
4740.67 423.14 -7.74 776 4751.74 no move -1.35 - - 1994.12 - - - 2254.06 - -82.73 - - 3112.94 - - - - - - - - - - -
5054.37 446.79 -7.79 805 5065.44 no move -1.35 - - 1994.44 - - - 2254.25 - -82.73 - - 3112.34 - - - - - - - - - - -
5367.21 470.49 -7.63 834 5378.28 no move -1.35 - - 1994.19 - - - 2254.19 - -82.73 - - 3112.50 - - - - - - - - - - -
5679.94 494.58 -8.10 863 5691.02 no move -1.35 - - 1994.56 - - - 2254.38 - -82.73 - - 3111.53 - - - - - - - - - - -
6000.41 520.69 -7.94 886 6001.74 no move -1.35 - - 1994.44 - - - 2254.12 - -82.73 - - 3110.47 - - - - - - - - - - -
6315.43 544.75 -7.43 907 6320.11 roll -1.35 - - 1994.06 - 2.99 0.084 3427.56 392.5 -82.73 - - 3109.12 - - - - - - - - - 15.91 -
6352.62 547.85 -7.87 912 6357.24 roll -1.35 - - 1993.88 - 2.54 0.020 2262.88 -458.5 -82.73 - - 3109.53 - - - - - - - - - 16.00 -
6669.10 570.93 -7.45 934 6670.43 no move -1.35 - - 1994.06 - - - 2262.12 - -82.73 - - 3109.94 - - - - - - - - - - -
6984.11 595.80 -8.01 955 6985.44 no move -1.35 - - 1993.62 - - - 2261.75 - -82.73 - - 3109.06 - - - - - - - - - - -
7299.32 620.74 -7.94 976 7300.65 no move -1.35 - - 1994.00 - - - 2261.62 - -82.73 - - 3109.84 - - - - - - - - - - -
7614.14 644.77 -7.49 997 7615.47 no move -1.35 - - 1994.31 - - - 2261.00 - -82.73 - - 3108.41 - - - - - - - - - - -
7929.16 668.29 -7.34 1018 7930.49 no move -1.35 - - 1994.38 - - - 2261.62 - -82.73 - - 3107.66 - - - - - - - - - - -
8244.17 689.63 -6.48 1039 8245.50 no move -1.35 - - 1993.94 - - - 2261.44 - -82.73 - - 3107.69 - - - - - - - - - - -
8559.40 709.36 -6.00 1060 8560.73 no move -1.35 - - 1993.75 - - - 2261.50 - -82.73 - - 3107.34 - - - - - - - - - - -
8874.33 728.82 -6.13 1081 8879.01 roll -1.35 - - 1993.75 - 2.99 0.086 3427.06 389.8 -82.73 - - 3106.25 - - - - - - - - - 15.88 -
8953.33 734.21 -6.73 1092 8957.95 roll -1.35 - - 1994.25 - 2.55 0.021 2264.25 -456.0 -82.73 - - 3107.06 - - - - - - - - - 15.99 -
9269.83 754.44 -6.82 1114 9274.44 roll -1.35 - - 1994.25 - 2.58 0.069 1210.00 -408.6 -82.73 - - 3108.06 - - - - - - - - - 15.92 -
9292.63 755.62 -6.92 1118 9307.58 roll -1.35 - - 1994.06 - 2.69 0.029 2367.44 430.3 -82.73 - - 3107.50 - - - - - - - - - 16.01 -
9622.05 779.09 -7.18 1140 9626.72 roll -1.35 - - 1993.38 - 2.85 0.063 1210.88 -405.8 -82.73 - - 3106.84 - - - - - - - - - 15.92 -
9723.04 786.74 -7.70 1155 9728.60 roll -1.35 - - 1993.62 - 2.68 0.030 2363.44 430.1 -82.73 - - 3106.81 - - - - - - - - - 16.01 -
10042.44 811.45 -7.46 1177 10047.10 roll -1.35 - - 1994.06 - 2.84 0.063 1210.69 -405.9 -82.73 - - 3109.38 - - - - - - - - - 15.91 -
10168.94 820.95 -7.95 1196 10183.89 roll -1.35 - - 1993.94 - 2.66 0.030 2357.19 431.0 -82.73 - - 3106.22 - - - - - - - - - 16.01 -
10498.34 846.57 -7.57 1218 10503.00 roll -1.35 - - 1993.81 - 2.83 0.063 1210.75 -405.1 -82.73 - - 3104.91 - - - - - - - - - 15.91 -
10577.19 852.57 -7.60 1229 10581.88 roll -1.35 - - 1994.00 - 2.65 0.030 2355.38 431.9 -82.73 - - 3105.31 - - - - - - - - - 16.00 -
10893.69 873.58 -6.50 1251 10895.02 no move -1.35 - - 1993.62 - - - 2355.50 - -82.73 - - 3105.25 - - - - - - - - - - -
11208.74 893.34 -6.03 1272 11210.07 no move -1.35 - - 1993.94 - - - 2355.38 - -82.73 - - 3105.31 - - - - - - - - - - -
11524.39 913.97 -6.38 1293 11529.06 roll -1.35 - - 1993.56 - 2.84 0.063 1210.44 -403.1 -82.73 - - 3104.38 - - - - - - - - - 15.90 -
11588.67 918.24 -7.09 1303 11603.61 roll -1.35 - - 1994.19 - 2.65 0.030 2351.38 430.5 -82.73 - - 3105.09 - - - - - - - - - 16.00 -
11918.08 944.10 -7.52 1325 11919.41 no move -1.35 - - 1993.88 - - - 2351.88 - -82.73 - - 3104.50 - - - - - - - - - - -
12233.09 966.40 -6.86 1346 12237.75 roll -1.35 - - 1993.81 - 2.83 0.064 1211.12 -403.1 -82.73 - - 3103.62 - - - - - - - - - 15.90 -
12271.62 968.98 -6.92 1352 12277.18 roll -1.35 - - 1994.62 - 2.64 0.030 2351.81 432.1 -82.73 - - 3104.28 - - - - - - - - - 16.00 -
12591 end dive: TARGET_DEPTH_EXCEEDED
12591 begin apogee
12592.92 990.33 -6.41 1374 12668.44 -0.28 1.85 0.137 2254.38 140.4 0.15 0.166 2156.94 -1299.1 - 65.75 2.408 2773.84 -5.0 0.355 - - - - - - 15.77 15.34 10.28
12670 end apogee: CONTROL_FINISHED_OK
12670 begin climb
12670.94 992.06 - 1379 12758.68 1.35 2.79 0.127 2648.94 141.4 2.73 0.084 3206.12 384.3 82.73 69.89 2.333 2436.50 -4.8 0.353 - - - - - - 15.48 15.59 11.97
12802.51 985.89 5.53 1398 12865.46 done 1.46 - - 2649.25 - 2.71 0.025 2058.94 -423.3 137.50 48.10 2.267 2215.59 -4.6 0.343 - - - - - - - 15.45 11.70
13178.42 956.89 8.06 1427 13179.75 no move 1.46 - - 2649.25 - - - 2058.69 - 137.50 - - 2205.56 - - - - - - - - - - -
13493.25 931.49 8.23 1448 13497.95 done 1.46 - - 2648.75 - 2.95 0.082 3204.12 388.3 137.50 - - 2207.00 - - - - - - - - - 15.77 -
13552.53 926.39 8.65 1457 13558.08 done 1.46 - - 2648.44 - 2.62 0.026 2062.00 -435.9 137.50 - - 2207.22 - - - - - - - - - 15.81 -
13871.96 902.11 7.37 1479 13873.40 1.48 0.18 0.089 2691.88 241.3 - - 2062.75 - 137.50 - - 2204.88 - - - - - - - - 15.82 - -
14186.96 872.73 9.64 1500 14191.64 done 1.48 - - 2691.94 - 2.92 0.082 3204.31 390.9 137.50 - - 2203.00 - - - - - - - - - 15.84 -
14267.84 864.33 10.47 1512 14273.21 done 1.48 - - 2692.31 - 2.61 0.026 2067.94 -435.4 137.50 - - 2203.50 - - - - - - - - - 15.90 -
14587.06 835.00 8.35 1534 14588.39 VBD 1.48 - - 2692.12 - - - 2067.94 - 137.50 - - 2201.72 - - - - - - - - - - -
14902.08 809.16 8.43 1555 14903.41 VBD 1.48 - - 2691.75 - - - 2068.06 - 137.50 - - 2201.00 - - - - - - - - - - -
15217.10 782.77 8.23 1576 15218.44 VBD 1.48 - - 2692.06 - - - 2067.75 - 137.50 - - 2200.94 - - - - - - - - - - -
15532.11 756.70 8.02 1597 15533.45 VBD 1.48 - - 2692.00 - - - 2067.75 - 137.50 - - 2200.69 - - - - - - - - - - -
15847.14 733.76 7.13 1618 15851.83 done 1.50 - - 2690.50 - 2.91 0.082 3205.88 391.1 137.50 - - 2202.41 - - - - - - - - - 15.87 -
15946.58 725.98 7.83 1632 15951.19 done 1.52 - - 2692.62 - 2.60 0.026 2071.44 -436.3 137.50 - - 2201.78 - - - - - - - - - 15.96 -
16263.05 701.87 7.97 1654 16267.70 done 1.52 - - 2693.19 - 2.71 0.087 993.81 -397.6 137.50 - - 2200.94 - - - - - - - - - 15.86 -
16341.73 694.80 8.90 1665 16346.37 done 1.52 - - 2693.25 - 2.68 0.027 2149.25 431.1 137.50 - - 2201.50 - - - - - - - - - 15.96 -
16658.23 668.02 8.48 1687 16659.56 VBD 1.52 - - 2692.50 - - - 2149.44 - 137.50 - - 2199.44 - - - - - - - - - - -
16973.24 642.41 7.87 1708 16977.93 done 1.53 - - 2691.81 - 2.92 0.082 992.50 -396.2 137.50 - - 2201.81 - - - - - - - - - 15.85 -
17032.53 637.44 8.42 1717 17038.27 done 1.53 - - 2693.12 - 2.65 0.027 2143.88 434.5 137.50 - - 2200.09 - - - - - - - - - 15.98 -
17352.06 613.87 7.34 1739 17353.39 VBD 1.55 - - 2692.75 - - - 2143.62 - 137.50 - - 2199.84 - - - - - - - - - - -
17666.96 592.14 6.76 1760 17668.29 VBD 1.59 - - 2691.94 - - - 2144.12 - 137.50 - - 2198.84 - - - - - - - - - - -
17981.98 570.82 6.80 1781 17986.67 done 1.62 - - 2692.69 - 2.91 0.081 994.88 -394.9 137.50 - - 2199.47 - - - - - - - - - 15.85 -
18041.29 566.38 7.43 1790 18046.88 1.64 0.14 0.098 2730.44 269.6 2.64 0.026 2139.81 433.7 137.50 - - 2200.12 - - - - - - - - 15.81 15.99 -
18360.71 542.24 7.29 1812 18365.36 done 1.66 - - 2730.19 - 2.71 0.084 3206.31 393.5 137.50 - - 2198.41 - - - - - - - - - 15.87 -
18399.28 539.23 7.71 1818 18404.81 done 1.68 - - 2730.12 - 2.60 0.026 2063.94 -439.4 137.50 - - 2201.31 - - - - - - - - - 15.99 -
18718.72 514.59 7.79 1840 18720.05 VBD 1.69 - - 2730.25 - - - 2063.88 - 137.50 - - 2199.06 - - - - - - - - - - -
19021.48 491.79 7.41 1863 19026.13 done 1.71 - - 2730.62 - 2.71 0.085 993.50 -395.0 137.50 - - 2199.59 - - - - - - - - - 15.85 -
19058.69 488.74 7.89 1868 19063.33 done 1.72 - - 2729.88 - 2.65 0.026 2140.12 432.7 137.50 - - 2198.31 - - - - - - - - - 15.98 -
19370.38 467.05 6.86 1897 19381.46 VBD 1.76 - - 2729.75 - - - 2139.75 - 137.50 - - 2200.28 - - - - - - - - - - -
19683.59 445.51 6.65 1926 19688.25 done 1.79 - - 2730.12 - 2.72 0.084 3203.50 391.1 137.50 - - 2199.62 - - - - - - - - - 15.86 -
19737.88 441.28 7.63 1934 19752.87 1.81 0.17 0.091 2771.94 246.0 2.61 0.025 2058.31 -438.8 137.50 - - 2199.59 - - - - - - - - 15.80 15.98 -
20054.47 415.56 7.84 1963 20059.10 done 1.82 - - 2772.44 - 2.67 0.085 993.94 -398.6 137.50 - - 2202.00 - - - - - - - - - 15.84 -
20138.87 408.36 8.46 1974 20143.51 done 1.82 - - 2772.81 - 2.64 0.026 2140.88 434.4 137.50 - - 2200.91 - - - - - - - - - 15.97 -
20450.81 383.26 7.89 2003 20461.88 VBD 1.83 - - 2772.88 - - - 2141.00 - 137.50 - - 2200.31 - - - - - - - - - - -
20763.45 358.76 7.75 2032 20768.14 done 1.85 - - 2773.44 - 2.91 0.080 992.44 -394.7 137.50 - - 2201.09 - - - - - - - - - 15.84 -
20926.51 344.74 8.69 2053 20931.14 done 1.85 - - 2772.94 - 2.64 0.026 2136.44 433.3 137.50 - - 2202.03 - - - - - - - - - 15.98 -
21238.27 320.22 7.83 2082 21249.34 VBD 1.86 - - 2773.25 - - - 2137.00 - 137.50 - - 2200.41 - - - - - - - - - - -
21554.83 295.84 7.58 2116 21560.42 done 1.88 - - 2772.75 - 2.90 0.079 992.19 -394.8 137.50 - - 2200.09 - - - - - - - - - 15.82 -
21645.03 288.03 8.96 2134 21650.46 done 1.88 - - 2772.81 - 2.63 0.026 2133.62 434.0 137.50 - - 2201.16 - - - - - - - - - 15.96 -
21955.12 264.95 7.51 2196 21956.45 VBD 1.90 - - 2772.88 - - - 2133.75 - 137.50 - - 2198.91 - - - - - - - - - - -
22259.98 243.32 7.04 2257 22265.56 done 1.92 - - 2772.69 - 2.89 0.079 993.75 -394.5 137.50 - - 2200.22 - - - - - - - - - 15.82 -
22374.99 234.90 7.06 2280 22380.53 done 1.95 - - 2773.00 - 2.62 0.025 2133.56 435.0 137.50 - - 2201.34 - - - - - - - - - 15.96 -
22685.06 214.23 6.54 2342 22686.50 1.99 0.19 0.085 2816.00 226.3 - - 2133.56 - 137.50 - - 2199.91 - - - - - - - - 15.93 - -
22990.49 193.37 6.96 2403 22995.67 done 2.02 - - 2816.75 - 2.88 0.078 992.31 -396.3 137.50 - - 2201.44 - - - - - - - - - 15.81 -
23215.12 175.76 7.72 2448 23220.66 done 2.04 - - 2817.12 - 2.63 0.025 2137.31 435.4 137.50 - - 2201.38 - - - - - - - - - 15.97 -
23525.30 153.48 7.20 2510 23530.74 done 2.06 - - 2816.62 - 2.88 0.077 992.75 -397.4 137.50 - - 2200.94 - - - - - - - - - 15.82 -
23585.16 148.77 8.00 2522 23590.70 done 2.06 - - 2816.38 - 2.60 0.025 2132.56 438.4 137.50 - - 2201.62 - - - - - - - - - 15.97 -
23895.23 130.09 5.61 2584 23941.98 2.17 0.19 0.084 2861.00 234.8 2.87 0.079 992.25 -397.3 190.78 40.78 1.314 1997.50 -5.0 0.085 - - - - - - 15.92 15.53 10.54
24040.22 116.94 9.59 2613 24045.76 roll 2.17 - - 2859.88 - 2.59 0.024 2120.00 435.4 190.78 - - 1991.62 - - - - - - - - - 15.85 -
24350.28 93.14 5.96 2675 24391.91 done 2.26 - - 2860.69 - 2.76 0.082 3207.00 393.8 237.39 37.11 1.247 1808.00 -4.9 0.064 - - - - - - - 15.56 11.35
24395.89 90.41 6.08 2684 24436.93 2.35 0.17 0.084 2901.62 240.8 2.67 0.024 2037.06 -438.2 281.76 35.92 1.214 1627.34 -5.0 0.064 - - - - - - 15.70 15.78 12.13
24620.34 71.70 8.57 2729 24625.94 done 2.35 - - 2902.25 - 2.99 0.075 3204.88 390.6 281.76 - - 1616.44 - - - - - - - - - 15.71 -
24695.35 64.14 10.52 2744 24700.91 done 2.35 - - 2901.88 - 2.63 0.024 2057.69 -436.2 281.76 - - 1615.44 - - - - - - - - - 15.75 -
24885.42 47.22 10.30 2782 24886.75 VBD 2.35 - - 2901.69 - - - 2057.69 - 281.76 - - 1612.38 - - - - - - - - - - -
25070.49 35.87 4.17 2819 25138.00 2.51 0.16 0.090 2940.06 239.8 2.97 0.077 3204.50 386.1 361.83 60.88 1.173 1299.69 -5.1 0.027 - - - - - - 15.79 15.49 11.27
25275.52 18.61 10.47 2860 25281.07 roll 2.51 - - 2940.56 - 2.62 0.024 2068.00 -433.8 361.83 - - 1295.12 - - - - - - - - - 15.73 -
25420 end climb: SURFACE_DEPTH_REACHED
25420 begin surface coast
25465 end surface coast: CONTROL_FINISHED_OK
25466 begin surface
SM 0.99 - - - - 179.3 47.71 1.141 1043.6 21.9 17.16 0.054 998.4 58.2 - 0.61 0.044 1088.8 1780.6 -4.095 - - 11.34 15.71 15.79 -