NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 312 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 99.74 of 550.00 AH used of 24V (81.87% remains)
• Surface angle -60.9 deg, depth 1.49 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.81 (SM_CC=425)
• GPS1 time: 54 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
4 end surface: CONTROL_FINISHED_OK
5 begin dive
6.76 - - - 61.86 VBD -1.37 - - 176.81 - - - 2248.00 - -82.73 53.92 0.005 2416.19 - - - - - - - - - - 15.64
62.60 3.31 -3.51 10 101.82 -1.37 13.74 0.248 1989.31 131.9 2.98 0.084 3428.69 396.2 -82.73 16.97 0.006 3112.03 41.0 -3.732 - - - - - - 15.66 15.61 15.65
330.07 55.23 -15.40 63 335.46 roll -1.37 - - 1988.75 - 2.60 0.021 2253.44 -452.0 -82.73 - - 3113.91 - - - - - - - - - 15.90 -
520.36 82.84 -13.67 101 525.56 roll -1.37 - - 1989.69 - 2.96 0.079 3428.75 397.1 -82.73 - - 3113.00 - - - - - - - - - 15.92 -
590.00 93.48 -14.82 115 595.52 roll -1.37 - - 1990.06 - 2.59 0.021 2249.75 -455.2 -82.73 - - 3112.97 - - - - - - - - - 15.94 -
785.05 115.84 -10.08 140 786.38 no move -1.37 - - 1989.50 - - - 2248.50 - -82.73 - - 3113.22 - - - - - - - - - - -
1095.50 141.22 -7.47 171 1096.83 no move -1.37 - - 1989.38 - - - 2247.69 - -82.73 - - 3112.38 - - - - - - - - - - -
1405.57 169.00 -9.55 202 1410.31 roll -1.37 - - 1990.31 - 2.95 0.079 3425.62 399.3 -82.73 - - 3112.91 - - - - - - - - - 16.02 -
1429.72 171.59 -10.03 207 1435.70 roll -1.37 - - 1989.50 - 2.58 0.022 2246.19 -457.1 -82.73 - - 3114.06 - - - - - - - - - 16.02 -
1745.22 201.53 -9.64 239 1746.55 no move -1.37 - - 1989.44 - - - 2246.25 - -82.73 - - 3113.22 - - - - - - - - - - -
2055.64 232.32 -10.28 270 2059.91 roll -1.37 - - 1989.94 - 2.48 0.068 1207.75 -418.8 -82.73 - - 3113.22 - - - - - - - - - 16.06 -
2135.27 240.90 -10.76 286 2140.36 roll -1.37 - - 1989.62 - 2.64 0.029 2353.19 433.9 -82.73 - - 3114.38 - - - - - - - - - 16.06 -
2445.31 272.95 -9.71 318 2446.64 no move -1.37 - - 1989.69 - - - 2353.19 - -82.73 - - 3112.06 - - - - - - - - - - -
2755.97 303.41 -9.99 349 2760.44 roll -1.37 - - 1989.56 - 2.73 0.062 1207.38 -419.7 -82.73 - - 3113.47 - - - - - - - - - 16.09 -
2845.36 312.83 -10.70 367 2850.44 roll -1.37 - - 1989.38 - 2.66 0.030 2352.44 430.5 -82.73 - - 3112.84 - - - - - - - - - 16.08 -
3155.39 343.05 -9.72 399 3156.72 no move -1.37 - - 1989.94 - - - 2351.81 - -82.73 - - 3111.78 - - - - - - - - - - -
3465.81 371.63 -9.07 430 3470.52 roll -1.37 - - 1989.50 - 2.74 0.063 1207.50 -417.6 -82.73 - - 3111.75 - - - - - - - - - 16.08 -
3565.45 380.76 -9.11 450 3570.53 roll -1.37 - - 1989.94 - 2.65 0.030 2351.00 431.5 -82.73 - - 3111.66 - - - - - - - - - 16.11 -
3875.48 408.09 -8.75 482 3880.58 roll -1.37 - - 1989.31 - 2.70 0.089 3426.75 398.4 -82.73 - - 3111.06 - - - - - - - - - 16.08 -
3915.49 412.11 -10.26 490 3920.56 roll -1.37 - - 1989.50 - 2.58 0.022 2249.88 -456.2 -82.73 - - 3111.44 - - - - - - - - - 16.10 -
4225.56 439.56 -9.00 522 4226.89 no move -1.37 - - 1989.44 - - - 2248.69 - -82.73 - - 3109.50 - - - - - - - - - - -
4536.00 467.22 -9.08 553 4540.75 roll -1.37 - - 1989.56 - 2.97 0.085 3427.75 397.0 -82.73 - - 3109.22 - - - - - - - - - 16.09 -
4585.64 472.37 -10.63 563 4590.89 roll -1.37 - - 1989.62 - 2.56 0.023 2250.81 -459.7 -82.73 - - 3108.81 - - - - - - - - - 16.12 -
4895.82 500.32 -9.00 595 4900.35 roll -1.37 - - 1989.31 - 2.48 0.069 1208.38 -420.3 -82.73 - - 3109.44 - - - - - - - - - 16.10 -
4955.71 506.08 -9.77 607 4960.80 roll -1.37 - - 1989.19 - 2.65 0.030 2351.56 431.4 -82.73 - - 3109.28 - - - - - - - - - 16.11 -
5265.79 532.69 -8.35 639 5267.12 no move -1.37 - - 1989.75 - - - 2351.75 - -82.73 - - 3107.22 - - - - - - - - - - -
5576.24 559.82 -8.73 670 5580.96 roll -1.37 - - 1989.62 - 2.76 0.064 1208.25 -414.3 -82.73 - - 3108.09 - - - - - - - - - 16.11 -
5655.88 567.34 -9.60 686 5660.96 roll -1.37 - - 1989.19 - 2.65 0.030 2350.56 431.1 -82.73 - - 3108.09 - - - - - - - - - 16.13 -
5965.95 595.09 -9.08 718 5971.04 roll -1.37 - - 1989.81 - 2.75 0.063 1208.62 -415.3 -82.73 - - 3107.19 - - - - - - - - - 16.13 -
6020.50 600.27 -9.52 729 6026.50 roll -1.37 - - 1989.56 - 2.65 0.030 2351.25 431.2 -82.73 - - 3108.12 - - - - - - - - - 16.12 -
6336.02 628.00 -8.74 761 6337.35 no move -1.37 - - 1989.50 - - - 2351.50 - -82.73 - - 3105.09 - - - - - - - - - - -
6646.48 653.56 -7.98 792 6651.18 roll -1.37 - - 1989.44 - 2.77 0.064 1208.25 -412.7 -82.73 - - 3106.12 - - - - - - - - - 16.12 -
6690.64 657.39 -8.51 801 6696.83 roll -1.37 - - 1989.38 - 2.64 0.030 2350.81 432.8 -82.73 - - 3105.09 - - - - - - - - - 16.13 -
7006.29 681.59 -7.76 833 7007.62 no move -1.37 - - 1989.62 - - - 2350.81 - -82.73 - - 3103.97 - - - - - - - - - - -
7316.60 706.61 -8.38 864 7321.31 roll -1.37 - - 1988.94 - 2.75 0.065 1209.88 -414.9 -82.73 - - 3105.12 - - - - - - - - - 16.12 -
7430.78 716.11 -7.89 887 7436.78 roll -1.37 - - 1989.50 - 2.65 0.031 2350.50 430.4 -82.73 - - 3103.75 - - - - - - - - - 16.12 -
7746.28 739.87 -7.58 919 7751.37 roll -1.37 - - 1989.69 - 2.73 0.065 1207.94 -418.5 -82.73 - - 3104.03 - - - - - - - - - 16.08 -
7796.28 744.16 -9.05 929 7801.37 roll -1.37 - - 1989.50 - 2.64 0.031 2350.19 432.7 -82.73 - - 3103.69 - - - - - - - - - 16.12 -
8106.08 767.57 -7.14 961 8107.41 no move -1.37 - - 1989.31 - - - 2350.50 - -82.73 - - 3103.06 - - - - - - - - - - -
8416.94 790.70 -7.17 992 8421.46 roll -1.37 - - 1988.81 - 2.74 0.065 1208.56 -416.8 -82.73 - - 3104.00 - - - - - - - - - 16.12 -
8510.92 798.12 -7.90 1011 8516.92 roll -1.37 - - 1989.25 - 2.65 0.031 2349.56 430.6 -82.73 - - 3102.69 - - - - - - - - - 16.12 -
8826.42 821.29 -7.12 1043 8831.52 roll -1.37 - - 1988.31 - 2.72 0.094 3425.62 395.6 -82.73 - - 3104.12 - - - - - - - - - 16.06 -
8901.15 827.56 -8.56 1058 8907.01 roll -1.37 - - 1989.62 - 2.57 0.024 2249.25 -457.7 -82.73 - - 3101.84 - - - - - - - - - 16.11 -
9216.47 850.39 -7.31 1090 9221.60 roll -1.37 - - 1989.31 - 2.96 0.089 3424.00 396.9 -82.73 - - 3102.62 - - - - - - - - - 16.11 -
9261.02 854.22 -8.52 1099 9267.01 roll -1.37 - - 1989.69 - 2.56 0.024 2249.88 -458.6 -82.73 - - 3102.16 - - - - - - - - - 16.12 -
9576.55 876.36 -6.85 1131 9577.88 no move -1.37 - - 1989.56 - - - 2249.25 - -82.73 - - 3100.59 - - - - - - - - - - -
9887.00 897.66 -6.61 1162 9888.33 no move -1.37 - - 1989.50 - - - 2249.94 - -82.73 - - 3100.66 - - - - - - - - - - -
10197.08 917.29 -6.29 1193 10198.41 no move -1.37 - - 1990.06 - - - 2249.94 - -82.73 - - 3101.25 - - - - - - - - - - -
10507.32 935.76 -6.07 1224 10508.65 no move -1.37 - - 1989.81 - - - 2249.38 - -82.73 - - 3099.72 - - - - - - - - - - -
10817.21 954.60 -5.95 1255 10821.88 roll -1.37 - - 1989.12 - 2.51 0.072 1208.38 -414.7 -82.73 - - 3100.50 - - - - - - - - - 16.10 -
10861.38 957.57 -6.23 1264 10867.37 roll -1.37 - - 1989.62 - 2.62 0.032 2350.69 436.0 -82.73 - - 3099.72 - - - - - - - - - 16.11 -
11177.29 976.38 -6.25 1296 11178.62 no move -1.37 - - 1989.44 - - - 2351.12 - -82.73 - - 3098.19 - - - - - - - - - - -
11406 end dive: TARGET_DEPTH_EXCEEDED
11406 begin apogee
11408.77 990.22 -6.16 1319 11473.52 -0.28 1.77 0.150 2254.50 149.8 0.20 0.142 2280.62 -352.5 - 60.74 2.427 2772.19 -5.4 0.361 - - - - - - 16.02 15.67 12.20
11475 end apogee: CONTROL_FINISHED_OK
11475 begin climb
11475.90 991.09 - 1325 11546.53 1.37 2.62 0.098 2656.44 153.4 - - 2282.00 - 82.73 65.78 2.353 2435.41 -5.1 0.356 - - - - - - 15.70 - 12.89
11849.69 962.47 8.29 1363 11854.81 roll 1.37 - - 2655.88 - 2.86 0.075 1132.44 -401.9 82.73 - - 2430.75 - - - - - - - - - 15.78 -
11894.24 958.59 8.48 1372 11900.25 roll 1.37 - - 2656.62 - 2.68 0.031 2269.62 424.3 82.73 - - 2430.41 - - - - - - - - - 15.80 -
12210.16 933.14 8.15 1404 12214.89 done 1.37 - - 2655.94 - 2.82 0.074 1129.75 -404.2 82.73 - - 2430.16 - - - - - - - - - 15.89 -
12289.80 926.39 9.17 1420 12294.88 done 1.37 - - 2656.56 - 2.69 0.031 2269.38 423.7 82.73 - - 2429.16 - - - - - - - - - 15.92 -
12600.25 901.01 8.26 1452 12601.58 VBD 1.37 - - 2655.75 - - - 2268.88 - 82.73 - - 2427.50 - - - - - - - - - - -
12910.56 874.70 8.54 1483 12911.89 VBD 1.37 - - 2656.25 - - - 2269.62 - 82.73 - - 2427.66 - - - - - - - - - - -
13220.39 847.42 8.91 1514 13221.72 VBD 1.37 - - 2656.00 - - - 2269.56 - 82.73 - - 2427.38 - - - - - - - - - - -
13530.46 821.65 7.93 1545 13531.79 VBD 1.38 - - 2656.75 - - - 2269.56 - 82.73 - - 2427.34 - - - - - - - - - - -
13840.51 798.93 7.08 1576 13841.85 VBD 1.41 - - 2655.69 - - - 2269.38 - 82.73 - - 2427.03 - - - - - - - - - - -
14150.59 777.99 6.90 1607 14155.28 done 1.44 - - 2656.31 - 2.80 0.076 1131.38 -406.4 82.73 - - 2427.69 - - - - - - - - - 16.07 -
14315.17 766.69 6.80 1640 14320.77 done 1.47 - - 2656.19 - 2.63 0.032 2270.81 433.2 82.73 - - 2427.59 - - - - - - - - - 16.07 -
14630.66 747.10 6.29 1672 14656.88 1.53 0.20 0.088 2705.19 245.0 - - 2271.31 - 114.50 25.10 2.045 2306.81 -4.8 0.290 - - - - - - 16.04 - 12.38
14960.29 717.10 9.92 1705 14961.62 no move 1.53 - - 2706.06 - - - 2271.12 - 114.50 - - 2302.91 - - - - - - - - - - -
15270.72 687.05 9.84 1736 15272.05 no move 1.53 - - 2705.94 - - - 2271.31 - 114.50 - - 2302.62 - - - - - - - - - - -
15580.76 657.37 9.38 1767 15585.50 roll 1.53 - - 2705.50 - 2.81 0.076 1131.19 -405.7 114.50 - - 2303.44 - - - - - - - - - 16.03 -
15680.39 647.80 9.91 1787 15685.66 roll 1.53 - - 2705.94 - 2.66 0.032 2270.75 428.4 114.50 - - 2302.72 - - - - - - - - - 16.05 -
15990.92 618.42 9.58 1819 15992.25 no move 1.53 - - 2705.88 - - - 2270.38 - 114.50 - - 2301.75 - - - - - - - - - - -
16300.85 587.37 10.52 1850 16302.17 no move 1.53 - - 2705.25 - - - 2269.94 - 114.50 - - 2301.69 - - - - - - - - - - -
16610.90 555.54 10.02 1881 16612.23 no move 1.53 - - 2705.38 - - - 2270.69 - 114.50 - - 2301.62 - - - - - - - - - - -
16920.96 526.29 9.12 1912 16925.70 roll 1.53 - - 2706.25 - 2.81 0.075 1131.44 -405.4 114.50 - - 2302.81 - - - - - - - - - 16.08 -
16970.59 521.75 9.48 1922 16975.67 roll 1.53 - - 2705.12 - 2.64 0.032 2271.56 431.9 114.50 - - 2303.47 - - - - - - - - - 16.07 -
17281.06 496.85 7.68 1954 17282.39 no move 1.55 - - 2705.88 - - - 2271.81 - 114.50 - - 2301.16 - - - - - - - - - - -
17591.13 475.00 7.02 1985 17595.84 roll 1.58 - - 2705.56 - 2.82 0.075 1129.81 -405.0 114.50 - - 2302.16 - - - - - - - - - 16.09 -
17700.78 466.55 7.88 2007 17705.84 roll 1.59 - - 2705.62 - 2.64 0.031 2271.00 432.3 114.50 - - 2302.00 - - - - - - - - - 16.08 -
18011.21 442.52 8.26 2039 18012.54 no move 1.59 - - 2706.38 - - - 2271.38 - 114.50 - - 2301.12 - - - - - - - - - - -
18321.28 416.84 8.06 2070 18326.02 roll 1.59 - - 2706.19 - 2.81 0.074 1131.19 -405.8 114.50 - - 2302.38 - - - - - - - - - 16.09 -
18395.64 410.50 8.42 2085 18401.52 roll 1.59 - - 2705.75 - 2.64 0.031 2272.69 432.4 114.50 - - 2302.31 - - - - - - - - - 16.09 -
18711.38 386.03 7.31 2117 18716.08 roll 1.61 - - 2706.00 - 2.79 0.074 1131.25 -409.1 114.50 - - 2303.69 - - - - - - - - - 16.10 -
18791.00 379.74 8.16 2133 18796.09 roll 1.61 - - 2705.88 - 2.63 0.031 2272.94 434.1 114.50 - - 2302.66 - - - - - - - - - 16.09 -
19101.47 357.53 6.88 2165 19102.80 no move 1.64 - - 2706.00 - - - 2273.50 - 114.50 - - 2301.62 - - - - - - - - - - -
19411.71 335.33 7.46 2196 19413.03 no move 1.66 - - 2705.88 - - - 2273.12 - 114.50 - - 2301.28 - - - - - - - - - - -
19721.60 313.79 6.91 2227 19723.03 pitch 1.70 0.15 0.094 2745.75 265.8 - - 2273.81 - 114.50 - - 2300.94 - - - - - - - - 16.06 - -
20031.23 288.06 8.00 2258 20036.35 roll 1.70 - - 2745.94 - 2.81 0.073 1129.88 -407.1 114.50 - - 2302.41 - - - - - - - - - 16.10 -
20101.26 282.11 8.48 2272 20106.34 roll 1.70 - - 2745.62 - 2.65 0.030 2274.12 431.8 114.50 - - 2302.62 - - - - - - - - - 16.05 -
20411.84 256.41 8.07 2304 20416.38 roll 1.70 - - 2745.62 - 2.80 0.073 1129.19 -408.9 114.50 - - 2303.84 - - - - - - - - - 16.08 -
20481.33 250.90 8.02 2318 20486.68 roll 1.70 - - 2745.88 - 2.62 0.030 2274.31 437.1 114.50 - - 2302.44 - - - - - - - - - 16.08 -
20791.91 229.58 6.74 2350 20796.45 roll 1.73 - - 2745.06 - 2.81 0.072 1129.75 -407.3 114.50 - - 2303.56 - - - - - - - - - 16.04 -
20875.91 223.73 6.99 2367 20881.90 roll 1.76 - - 2745.81 - 2.64 0.030 2274.31 433.5 114.50 - - 2302.62 - - - - - - - - - 16.07 -
21191.79 204.41 5.82 2399 21227.43 done 1.84 - - 2745.81 - 2.71 0.094 3346.00 395.5 153.18 29.55 1.405 2150.06 -5.2 0.124 - - - - - - - 15.95 12.40
21341.81 191.62 9.73 2429 21346.50 roll 1.84 - - 2745.88 - 2.61 0.024 2188.88 -443.3 153.18 - - 2147.31 - - - - - - - - - 15.99 -
21651.84 164.56 8.86 2461 21656.57 roll 1.84 - - 2745.62 - 2.89 0.087 3345.94 400.4 153.18 - - 2146.28 - - - - - - - - - 16.00 -
21736.02 156.56 9.33 2478 21742.04 roll 1.84 - - 2746.38 - 2.62 0.024 2189.00 -441.6 153.18 - - 2145.22 - - - - - - - - - 16.01 -
22051.94 132.91 6.81 2510 22053.37 pitch 1.87 0.16 0.090 2784.56 238.6 - - 2187.19 - 153.18 - - 2145.22 - - - - - - - - 15.96 - -
22361.62 109.16 6.78 2541 22366.93 roll 1.90 - - 2786.06 - 2.92 0.085 3346.81 397.1 153.18 - - 2145.06 - - - - - - - - - 16.03 -
22446.37 103.25 6.93 2558 22452.19 roll 1.93 - - 2786.88 - 2.61 0.024 2185.75 -444.9 153.18 - - 2144.81 - - - - - - - - - 16.05 -
22756.77 89.14 3.50 2614 22818.43 2.08 0.23 0.079 2837.62 220.6 2.94 0.084 3346.00 394.6 225.93 53.63 1.281 1854.38 -5.4 0.062 - - - - - - 16.01 15.83 12.49
23006.84 69.21 8.34 2664 23012.38 roll 2.08 - - 2838.25 - 2.62 0.024 2187.69 -442.1 225.93 - - 1846.84 - - - - - - - - - 15.91 -
23196.92 56.56 6.35 2702 23227.57 done 2.14 - - 2837.94 - 2.62 0.078 1130.38 -403.6 256.87 23.45 1.172 1726.94 -5.1 0.041 - - - - - - - 15.82 12.57
23341.97 45.90 7.49 2731 23347.50 roll 2.16 - - 2838.50 - 2.67 0.028 2274.00 428.3 256.87 - - 1721.53 - - - - - - - - - 15.85 -
23532.11 32.26 6.99 2769 23535.69 VBD 2.19 - - 2838.00 - - - 2274.00 - 256.87 - - 1719.75 - - - - - - - - - - -
23717.12 22.50 3.69 2806 23774.46 2.33 0.28 0.065 2898.56 216.3 2.83 0.072 1130.38 -404.1 326.85 51.67 1.169 1443.22 -5.4 0.017 - - - - - - 15.93 15.73 12.57
24002.52 11.64 5.53 2863 24040.06 done 2.42 - - 2898.50 - 2.66 0.028 2274.12 430.0 369.86 32.62 1.113 1267.44 -5.4 0.009 - - - - - - - 15.84 12.65
24152 end climb: SURFACE_DEPTH_REACHED
24153 begin surface coast
24188 end surface coast: CONTROL_FINISHED_OK
24188 begin surface
SM 1.84 - - - - 186.8 41.09 1.118 1043.2 24.6 16.62 0.043 1012.6 60.9 - 0.12 0.119 1073.8 8926.2 -14.106 - - 12.52 15.80 15.84 -