NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 307 * Raw log
prev dive * next dive * dive
• Previous call tries 4 • 97.72 of 550.00 AH used of 24V (82.23% remains)
• Surface angle -64.7 deg, depth 1.52 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 557.87 (beyond SM_CC=425)
• GPS1 time: 51 s
• GPS2 time: 4 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
6.86 - - - 61.93 VBD -1.37 - - 176.00 - - - 2360.50 - -82.73 53.92 0.005 2463.69 - - - - - - - - - - 15.61
62.66 3.45 -3.62 10 100.83 -1.37 13.82 0.252 1988.44 131.1 2.62 0.087 3429.00 407.8 -82.73 15.05 0.006 3112.28 43.1 -4.085 - - - - - - 15.67 15.59 15.64
204.48 35.26 -22.07 38 209.38 roll -1.37 - - 1988.75 - 2.58 0.021 2255.12 -455.0 -82.73 - - 3113.97 - - - - - - - - - 15.85 -
394.31 61.74 -13.40 76 399.04 roll -1.37 - - 1989.00 - 2.49 0.064 1207.31 -420.8 -82.73 - - 3113.31 - - - - - - - - - 15.90 -
453.95 70.10 -14.36 88 459.50 roll -1.37 - - 1988.50 - 2.62 0.029 2352.69 437.2 -82.73 - - 3113.16 - - - - - - - - - 15.90 -
644.41 96.54 -12.37 126 648.00 no move -1.37 - - 1989.00 - - - 2352.75 - -82.73 - - 3113.66 - - - - - - - - - - -
829.07 116.12 -9.99 148 834.15 roll -1.37 - - 1988.56 - 2.61 0.083 3429.38 412.5 -82.73 - - 3113.66 - - - - - - - - - 15.96 -
969.11 130.90 -10.24 176 974.17 roll -1.37 - - 1987.62 - 2.55 0.021 2244.56 -464.6 -82.73 - - 3114.09 - - - - - - - - - 16.00 -
1279.17 159.75 -9.31 208 1283.82 roll -1.37 - - 1988.25 - 2.44 0.066 1207.50 -425.0 -82.73 - - 3114.09 - - - - - - - - - 16.02 -
1353.73 166.81 -9.25 223 1359.73 roll -1.37 - - 1988.75 - 2.60 0.028 2355.25 441.4 -82.73 - - 3113.44 - - - - - - - - - 16.03 -
1669.26 193.85 -8.43 255 1670.59 no move -1.37 - - 1988.50 - - - 2354.94 - -82.73 - - 3113.12 - - - - - - - - - - -
1979.70 222.39 -9.66 286 1981.03 no move -1.37 - - 1989.06 - - - 2354.56 - -82.73 - - 3113.03 - - - - - - - - - - -
2289.74 251.74 -9.28 317 2291.07 no move -1.37 - - 1988.44 - - - 2354.25 - -82.73 - - 3112.22 - - - - - - - - - - -
2600.00 280.27 -8.87 348 2604.45 roll -1.37 - - 1988.19 - 2.70 0.063 1208.94 -424.2 -82.73 - - 3113.38 - - - - - - - - - 16.09 -
2703.94 290.07 -9.49 369 2709.93 roll -1.37 - - 1987.25 - 2.59 0.030 2353.62 442.0 -82.73 - - 3113.47 - - - - - - - - - 16.08 -
3019.43 320.79 -10.21 401 3020.76 no move -1.37 - - 1988.38 - - - 2354.62 - -82.73 - - 3110.19 - - - - - - - - - - -
3329.85 351.83 -9.49 432 3334.56 roll -1.37 - - 1988.38 - 2.70 0.063 1207.31 -424.9 -82.73 - - 3112.00 - - - - - - - - - 16.11 -
3484.04 366.55 -9.38 463 3490.03 roll -1.37 - - 1988.50 - 2.60 0.030 2354.62 441.3 -82.73 - - 3110.34 - - - - - - - - - 16.11 -
3799.54 395.10 -9.14 495 3800.87 no move -1.37 - - 1988.44 - - - 2354.31 - -82.73 - - 3109.94 - - - - - - - - - - -
4109.95 423.98 -9.48 526 4111.28 no move -1.37 - - 1988.94 - - - 2354.75 - -82.73 - - 3108.69 - - - - - - - - - - -
4420.02 452.86 -9.55 557 4424.71 roll -1.37 - - 1988.38 - 2.70 0.064 1208.69 -424.5 -82.73 - - 3109.75 - - - - - - - - - 16.12 -
4474.19 458.27 -9.89 568 4480.18 roll -1.37 - - 1988.38 - 2.59 0.030 2353.38 442.0 -82.73 - - 3108.38 - - - - - - - - - 16.12 -
4789.73 485.44 -8.07 600 4791.06 no move -1.37 - - 1988.75 - - - 2353.19 - -82.73 - - 3107.00 - - - - - - - - - - -
5100.41 509.84 -7.85 631 5104.86 roll -1.37 - - 1988.69 - 2.70 0.064 1207.00 -424.5 -82.73 - - 3107.22 - - - - - - - - - 16.13 -
5280.22 524.38 -8.40 667 5284.91 roll -1.37 - - 1988.25 - 2.60 0.031 2355.88 441.9 -82.73 - - 3105.94 - - - - - - - - - 16.13 -
5589.90 549.10 -8.21 699 5591.23 no move -1.37 - - 1988.69 - - - 2355.50 - -82.73 - - 3104.34 - - - - - - - - - - -
5900.35 574.43 -8.37 730 5905.05 roll -1.37 - - 1988.88 - 2.69 0.065 1208.31 -426.5 -82.73 - - 3105.16 - - - - - - - - - 16.12 -
6064.95 588.53 -8.46 763 6070.54 roll -1.37 - - 1987.94 - 2.60 0.031 2354.06 440.7 -82.73 - - 3105.28 - - - - - - - - - 16.13 -
6380.09 615.07 -8.82 795 6385.19 roll -1.37 - - 1987.75 - 2.71 0.065 1208.50 -422.7 -82.73 - - 3103.88 - - - - - - - - - 16.13 -
6440.10 620.38 -9.03 807 6445.17 roll -1.37 - - 1988.25 - 2.60 0.031 2352.94 440.2 -82.73 - - 3104.88 - - - - - - - - - 16.13 -
6750.17 646.21 -8.06 839 6755.27 roll -1.37 - - 1988.50 - 2.70 0.065 1207.44 -424.3 -82.73 - - 3104.06 - - - - - - - - - 16.14 -
6854.74 655.27 -8.66 860 6860.73 roll -1.37 - - 1988.38 - 2.59 0.031 2352.44 442.1 -82.73 - - 3103.38 - - - - - - - - - 16.15 -
7170.46 680.05 -8.24 892 7175.44 roll -1.37 - - 1988.62 - 2.70 0.065 1207.94 -423.9 -82.73 - - 3103.34 - - - - - - - - - 16.13 -
7254.84 687.61 -8.90 909 7260.82 roll -1.37 - - 1988.56 - 2.60 0.031 2353.31 440.5 -82.73 - - 3102.69 - - - - - - - - - 16.14 -
7570.35 713.66 -7.87 941 7575.42 roll -1.37 - - 1988.38 - 2.70 0.065 1207.50 -424.4 -82.73 - - 3102.31 - - - - - - - - - 16.13 -
7644.90 719.84 -8.38 956 7650.88 roll -1.37 - - 1988.38 - 2.60 0.031 2353.56 440.8 -82.73 - - 3102.16 - - - - - - - - - 16.14 -
7960.39 743.79 -7.44 988 7965.49 roll -1.37 - - 1988.25 - 2.70 0.065 1208.69 -424.0 -82.73 - - 3101.25 - - - - - - - - - 16.13 -
8120.81 756.39 -7.57 1020 8125.50 roll -1.37 - - 1988.75 - 2.60 0.031 2352.94 440.1 -82.73 - - 3101.66 - - - - - - - - - 16.14 -
8430.47 778.63 -7.64 1052 8435.55 roll -1.37 - - 1988.50 - 2.69 0.065 1208.62 -425.4 -82.73 - - 3100.91 - - - - - - - - - 16.12 -
8510.50 784.73 -7.47 1068 8515.55 roll -1.37 - - 1988.56 - 2.60 0.031 2352.94 440.1 -82.73 - - 3101.12 - - - - - - - - - 16.14 -
8820.52 805.75 -6.76 1100 8825.78 roll -1.37 - - 1988.31 - 2.70 0.065 1207.19 -424.4 -82.73 - - 3101.12 - - - - - - - - - 16.12 -
9035.10 821.21 -6.95 1143 9041.09 roll -1.37 - - 1987.12 - 2.60 0.032 2350.88 439.9 -82.73 - - 3100.94 - - - - - - - - - 16.14 -
9350.62 841.71 -6.50 1175 9355.70 roll -1.37 - - 1988.19 - 2.70 0.065 1207.81 -423.4 -82.73 - - 3100.41 - - - - - - - - - 16.12 -
9540.70 855.39 -7.25 1213 9545.80 roll -1.37 - - 1988.69 - 2.61 0.032 2353.56 439.0 -82.73 - - 3099.28 - - - - - - - - - 16.13 -
9850.95 876.26 -6.83 1245 9855.88 roll -1.37 - - 1988.50 - 2.72 0.065 1207.38 -421.4 -82.73 - - 3098.88 - - - - - - - - - 16.13 -
9930.79 882.33 -7.54 1261 9935.86 roll -1.37 - - 1988.31 - 2.60 0.031 2351.56 440.1 -82.73 - - 3099.53 - - - - - - - - - 16.13 -
10240.86 903.70 -6.59 1293 10245.94 roll -1.37 - - 1987.38 - 2.70 0.066 1208.38 -423.4 -82.73 - - 3099.56 - - - - - - - - - 16.12 -
10390.90 915.18 -7.78 1323 10395.99 roll -1.37 - - 1988.25 - 2.61 0.032 2352.06 438.2 -82.73 - - 3099.16 - - - - - - - - - 16.12 -
10701.54 937.58 -7.16 1355 10706.11 roll -1.37 - - 1988.12 - 2.69 0.066 1207.81 -425.4 -82.73 - - 3097.81 - - - - - - - - - 16.12 -
10815.55 946.35 -7.38 1378 10821.52 roll -1.37 - - 1987.50 - 2.60 0.032 2351.88 440.0 -82.73 - - 3098.59 - - - - - - - - - 16.12 -
11131.08 967.91 -6.67 1410 11136.17 roll -1.37 - - 1988.62 - 2.71 0.066 1208.69 -421.8 -82.73 - - 3097.56 - - - - - - - - - 16.12 -
11205.64 973.56 -7.56 1425 11211.65 roll -1.37 - - 1988.56 - 2.61 0.032 2352.75 438.3 -82.73 - - 3099.78 - - - - - - - - - 16.12 -
11440 end dive: TARGET_DEPTH_EXCEEDED
11441 begin apogee
11442.97 990.05 -6.99 1449 11507.49 -0.28 1.77 0.149 2254.38 150.2 0.22 0.135 2282.69 -318.5 - 60.26 2.417 2774.38 -5.4 0.365 - - - - - - 16.03 15.68 12.30
11509 end apogee: CONTROL_FINISHED_OK
11509 begin climb
11509.72 991.25 - 1455 11585.05 1.37 2.61 0.097 2654.81 153.4 2.76 0.097 3345.25 385.0 82.73 65.46 2.344 2437.62 -5.1 0.359 - - - - - - 15.70 15.34 12.89
11668.22 981.37 8.14 1486 11674.12 roll 1.37 - - 2656.00 - 2.64 0.024 2189.25 -437.9 82.73 - - 2433.78 - - - - - - - - - 15.63 -
11984.02 956.59 8.74 1518 11985.35 no move 1.37 - - 2655.75 - - - 2188.56 - 82.73 - - 2429.06 - - - - - - - - - - -
12294.10 933.12 7.59 1549 12298.81 done 1.38 - - 2656.00 - 2.90 0.090 3346.88 399.4 82.73 - - 2431.06 - - - - - - - - - 15.90 -
12438.68 920.96 8.36 1578 12444.28 done 1.38 - - 2655.75 - 2.59 0.025 2188.94 -447.1 82.73 - - 2430.25 - - - - - - - - - 15.95 -
12754.22 897.51 7.38 1610 12755.55 VBD 1.41 - - 2655.94 - - - 2188.69 - 82.73 - - 2428.22 - - - - - - - - - - -
13064.28 875.45 7.23 1641 13069.00 done 1.43 - - 2655.94 - 2.87 0.090 3347.44 403.7 82.73 - - 2429.44 - - - - - - - - - 16.00 -
13193.93 865.19 8.23 1667 13198.99 done 1.43 - - 2656.44 - 2.57 0.025 2188.06 -451.1 82.73 - - 2429.12 - - - - - - - - - 16.02 -
13504.39 842.20 7.49 1699 13509.10 done 1.45 - - 2656.12 - 2.87 0.090 3345.38 403.2 82.73 - - 2428.28 - - - - - - - - - 16.02 -
13548.54 838.49 8.25 1708 13554.72 done 1.45 - - 2655.38 - 2.57 0.025 2187.62 -450.5 82.73 - - 2428.25 - - - - - - - - - 16.04 -
13864.24 813.69 8.02 1740 13869.14 done 1.45 - - 2656.25 - 2.54 0.080 1130.06 -416.4 82.73 - - 2427.84 - - - - - - - - - 16.04 -
13924.08 808.83 8.66 1752 13929.15 done 1.45 - - 2655.12 - 2.60 0.032 2272.62 439.4 82.73 - - 2429.03 - - - - - - - - - 16.06 -
14234.55 783.45 7.57 1784 14235.88 VBD 1.47 - - 2655.88 - - - 2272.25 - 82.73 - - 2427.34 - - - - - - - - - - -
14544.61 760.83 7.35 1815 14549.35 1.49 0.14 0.097 2698.94 307.6 2.65 0.094 3346.25 405.3 82.73 - - 2429.09 - - - - - - - - 16.05 16.04 -
14604.23 756.11 8.22 1827 14609.30 done 1.49 - - 2697.62 - 2.56 0.025 2186.31 -453.1 82.73 - - 2428.97 - - - - - - - - - 16.08 -
14914.69 734.70 6.30 1859 14945.73 done 1.55 - - 2698.56 - 2.89 0.093 3345.50 401.1 114.44 24.93 2.009 2308.19 -4.8 0.292 - - - - - - - 15.93 12.32
14988.85 729.04 9.07 1874 14994.83 roll 1.55 - - 2698.88 - 2.58 0.025 2189.06 -448.2 114.44 - - 2306.50 - - - - - - - - - 15.98 -
15304.34 703.21 8.14 1906 15305.67 no move 1.55 - - 2698.94 - - - 2188.38 - 114.44 - - 2303.03 - - - - - - - - - - -
15614.77 677.01 8.58 1937 15619.68 roll 1.55 - - 2698.25 - 2.88 0.090 3346.88 402.3 114.44 - - 2303.22 - - - - - - - - - 16.02 -
15689.05 670.11 9.87 1952 15694.92 roll 1.55 - - 2698.75 - 2.58 0.026 2189.31 -448.7 114.44 - - 2303.56 - - - - - - - - - 16.02 -
16004.43 642.91 8.39 1984 16009.56 roll 1.55 - - 2699.31 - 2.88 0.090 3346.56 401.8 114.44 - - 2304.12 - - - - - - - - - 16.03 -
16089.00 635.34 9.23 2001 16094.98 roll 1.55 - - 2698.50 - 2.57 0.026 2188.62 -450.6 114.44 - - 2302.69 - - - - - - - - - 16.06 -
16404.89 609.84 7.59 2033 16406.22 no move 1.57 - - 2699.19 - - - 2188.44 - 114.44 - - 2301.72 - - - - - - - - - - -
16714.94 587.19 7.38 2064 16719.64 roll 1.59 - - 2699.31 - 2.88 0.089 3348.12 402.7 114.44 - - 2302.75 - - - - - - - - - 16.07 -
16859.48 575.31 8.18 2093 16865.08 roll 1.59 - - 2699.19 - 2.57 0.025 2189.00 -451.0 114.44 - - 2302.66 - - - - - - - - - 16.08 -
17175.01 553.68 6.68 2125 17176.34 no move 1.63 - - 2699.38 - - - 2189.25 - 114.44 - - 2301.88 - - - - - - - - - - -
17485.08 531.64 7.27 2156 17489.79 roll 1.65 - - 2698.31 - 2.87 0.089 3345.62 402.9 114.44 - - 2303.47 - - - - - - - - - 16.09 -
17579.26 523.52 9.34 2175 17585.43 roll 1.65 - - 2699.25 - 2.55 0.025 2187.69 -454.1 114.44 - - 2302.19 - - - - - - - - - 16.08 -
17895.29 498.50 7.87 2207 17899.90 roll 1.66 - - 2698.81 - 2.87 0.089 3346.12 403.6 114.44 - - 2303.69 - - - - - - - - - 16.08 -
17954.80 493.20 9.22 2219 17959.87 roll 1.66 - - 2699.38 - 2.56 0.025 2187.62 -452.5 114.44 - - 2302.59 - - - - - - - - - 16.08 -
18264.87 467.64 8.04 2251 18266.30 pitch 1.66 0.16 0.097 2736.25 230.4 - - 2187.00 - 114.44 - - 2301.00 - - - - - - - - 16.05 - -
18574.92 441.49 8.26 2282 18576.25 no move 1.66 - - 2736.19 - - - 2187.19 - 114.44 - - 2301.59 - - - - - - - - - - -
18885.57 417.10 7.83 2313 18890.12 roll 1.68 - - 2736.44 - 2.88 0.088 3347.38 402.8 114.44 - - 2302.28 - - - - - - - - - 16.09 -
18969.57 409.54 9.23 2330 18975.55 roll 1.68 - - 2737.06 - 2.56 0.025 2189.06 -452.5 114.44 - - 2303.56 - - - - - - - - - 16.09 -
19285.66 384.17 7.74 2362 19286.99 no move 1.69 - - 2736.12 - - - 2188.56 - 114.44 - - 2301.31 - - - - - - - - - - -
19595.56 359.97 7.91 2393 19600.27 roll 1.70 - - 2736.25 - 2.87 0.087 3346.81 403.6 114.44 - - 2302.38 - - - - - - - - - 16.08 -
19750.13 345.75 9.15 2424 19755.74 roll 1.70 - - 2736.44 - 2.56 0.025 2188.88 -452.3 114.44 - - 2302.34 - - - - - - - - - 16.09 -
20065.90 319.31 7.97 2456 20070.34 roll 1.70 - - 2736.81 - 2.54 0.080 1130.12 -416.8 114.44 - - 2302.69 - - - - - - - - - 16.09 -
20279.89 301.91 7.91 2499 20285.90 roll 1.71 - - 2736.50 - 2.61 0.031 2274.31 438.4 114.44 - - 2303.69 - - - - - - - - - 16.10 -
20595.77 278.63 7.28 2531 20597.10 no move 1.74 - - 2736.69 - - - 2275.12 - 114.44 - - 2302.03 - - - - - - - - - - -
20905.80 257.06 7.05 2562 20907.13 no move 1.77 - - 2736.69 - - - 2274.69 - 114.44 - - 2302.34 - - - - - - - - - - -
21215.83 236.22 6.73 2593 21220.55 roll 1.80 - - 2736.56 - 2.74 0.074 1130.38 -417.6 114.44 - - 2303.34 - - - - - - - - - 16.09 -
21440.04 220.17 7.08 2638 21446.07 roll back 1.83 0.16 0.092 2781.81 282.8 2.60 0.031 2274.44 440.0 114.44 - - 2304.06 - - - - - - - - 16.02 16.09 -
21755.53 196.57 7.74 2670 21760.61 roll 1.84 - - 2781.31 - 2.63 0.089 3347.50 408.0 114.44 - - 2303.81 - - - - - - - - - 16.08 -
21790.07 193.60 8.14 2677 21796.06 roll 1.84 - - 2782.25 - 2.56 0.024 2184.00 -454.5 114.44 - - 2303.66 - - - - - - - - - 16.07 -
22105.96 170.96 6.81 2709 22110.87 roll 1.87 - - 2782.00 - 2.87 0.084 3346.94 405.2 114.44 - - 2303.69 - - - - - - - - - 16.03 -
22150.24 167.64 7.23 2718 22156.11 roll 1.90 - - 2782.12 - 2.56 0.024 2182.12 -455.0 114.44 - - 2303.56 - - - - - - - - - 16.08 -
22466.03 148.70 5.53 2750 22499.30 VBD 1.99 - - 2782.19 - - - 2182.44 - 157.34 32.22 1.340 2131.56 -5.3 0.098 - - - - - - - - 12.45
22805.71 120.61 7.75 2784 22810.82 roll 2.00 - - 2782.12 - 2.88 0.084 3347.12 404.4 157.34 - - 2128.59 - - - - - - - - - 16.00 -
22970.31 108.97 6.33 2817 23001.03 2.06 0.22 0.077 2832.81 230.4 2.57 0.024 2184.38 -452.4 188.59 24.42 1.254 2006.38 -5.0 0.072 - - - - - - 15.95 16.01 12.55
23305.90 87.46 5.69 2875 23342.38 done 2.14 - - 2833.25 - 2.57 0.078 1130.12 -410.2 229.15 31.24 1.239 1839.78 -5.3 0.062 - - - - - - - 15.80 12.58
23410.92 81.11 6.25 2896 23442.51 done 2.21 - - 2832.94 - 2.63 0.028 2276.81 436.0 261.63 25.43 1.194 1708.75 -5.2 0.058 - - - - - - - 15.89 12.71
23626.31 64.08 8.27 2939 23631.53 done 2.21 - - 2833.44 - 2.79 0.071 1128.94 -411.4 261.63 - - 1700.03 - - - - - - - - - 15.84 -
23670.99 60.36 8.28 2948 23676.54 done 2.21 - - 2832.50 - 2.64 0.029 2276.00 434.5 261.63 - - 1700.00 - - - - - - - - - 15.89 -
23861.06 45.12 8.62 2986 23866.61 done 2.21 - - 2833.12 - 2.65 0.087 3348.06 404.6 261.63 - - 1698.84 - - - - - - - - - 15.91 -
23911.08 40.15 10.08 2996 23916.60 done 2.21 - - 2832.50 - 2.60 0.023 2184.00 -447.7 261.63 - - 1698.53 - - - - - - - - - 15.92 -
24101.17 26.17 6.36 3034 24131.92 2.27 0.22 0.071 2887.38 249.5 2.90 0.083 3347.62 401.2 292.43 23.43 1.123 1582.28 -5.0 0.019 - - - - - - 15.93 15.83 12.57
24361.27 22.51 -0.73 3086 24413.69 2.54 0.29 0.073 2949.38 213.8 2.59 0.022 2176.38 -452.2 427.06 47.33 1.155 1328.78 -5.4 0.017 - - - - - - 15.88 15.93 12.64
24414 end climb: NO_VERTICAL_VELOCITY
24414 begin surface
SM 1.54 - - - - 179.4 - - 496.4 - 17.80 0.078 446.8 25.1 - 0.38 0.063 546.1 1430.3 -3.573 - - 30.00 15.54 15.59 -