NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 319 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 101.68 of 550.00 AH used of 24V (81.51% remains)
• Surface angle -57.9 deg, depth 1.38 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 425.01 (SM_CC=425)
• GPS1 time: 20 s
• GPS2 time: 3 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
6.77 - - - 82.67 VBD -1.37 - - 178.38 - - - 2268.62 - -82.73 74.42 0.005 2419.03 - - - - - - - - - - 15.64
83.40 3.03 -2.63 14 122.60 -1.37 13.73 0.248 1986.56 131.7 2.90 0.086 3427.00 399.4 -82.73 16.92 0.006 3112.12 41.0 -3.412 - - - - - - 15.69 15.62 15.65
320.65 47.78 -15.98 61 326.21 roll -1.37 - - 1988.38 - 2.63 0.022 2257.38 -444.7 -82.73 - - 3113.50 - - - - - - - - - 15.88 -
511.37 74.92 -14.22 99 516.27 roll -1.37 - - 1988.75 - 2.56 0.065 1207.44 -410.1 -82.73 - - 3112.84 - - - - - - - - - 15.92 -
535.74 78.58 -14.66 104 541.29 roll -1.37 - - 1987.25 - 2.64 0.028 2351.81 433.5 -82.73 - - 3112.81 - - - - - - - - - 15.91 -
731.21 104.86 -12.07 139 735.93 roll -1.37 - - 1987.94 - 2.81 0.060 1208.50 -406.9 -82.73 - - 3113.03 - - - - - - - - - 15.97 -
830.85 116.11 -10.89 159 835.93 roll -1.37 - - 1988.56 - 2.64 0.029 2353.19 433.6 -82.73 - - 3113.03 - - - - - - - - - 15.96 -
1140.92 144.40 -9.19 191 1146.01 roll -1.37 - - 1988.25 - 2.80 0.060 1209.81 -408.4 -82.73 - - 3114.22 - - - - - - - - - 16.02 -
1220.93 151.83 -9.42 207 1226.03 roll -1.37 - - 1989.00 - 2.63 0.028 2353.31 434.8 -82.73 - - 3113.47 - - - - - - - - - 16.01 -
1531.00 181.04 -9.76 239 1532.33 no move -1.37 - - 1988.62 - - - 2353.12 - -82.73 - - 3112.28 - - - - - - - - - - -
1841.46 211.33 -9.56 270 1846.14 roll -1.37 - - 1988.19 - 2.64 0.087 3425.94 406.4 -82.73 - - 3113.47 - - - - - - - - - 16.04 -
1941.09 221.98 -11.11 290 1946.16 roll -1.37 - - 1988.00 - 2.60 0.022 2250.50 -452.1 -82.73 - - 3112.31 - - - - - - - - - 16.07 -
2251.34 251.19 -9.56 322 2252.67 no move -1.37 - - 1988.94 - - - 2248.44 - -82.73 - - 3111.00 - - - - - - - - - - -
2561.71 279.18 -8.54 353 2563.04 no move -1.37 - - 1988.62 - - - 2248.81 - -82.73 - - 3111.47 - - - - - - - - - - -
2871.63 305.30 -8.04 384 2876.31 roll -1.37 - - 1988.31 - 2.56 0.067 1209.62 -405.9 -82.73 - - 3113.19 - - - - - - - - - 16.06 -
2945.80 311.92 -8.98 399 2951.80 roll -1.37 - - 1988.75 - 2.63 0.030 2354.50 435.3 -82.73 - - 3111.03 - - - - - - - - - 16.10 -
3261.30 341.04 -9.56 431 3262.63 no move -1.37 - - 1988.81 - - - 2354.00 - -82.73 - - 3109.81 - - - - - - - - - - -
3571.72 372.00 -9.81 462 3573.05 no move -1.37 - - 1988.44 - - - 2354.31 - -82.73 - - 3109.53 - - - - - - - - - - -
3881.76 401.15 -9.16 493 3886.48 roll -1.37 - - 1987.31 - 2.82 0.063 1209.62 -405.9 -82.73 - - 3111.22 - - - - - - - - - 16.13 -
3975.93 410.23 -9.66 512 3981.93 roll -1.37 - - 1988.25 - 2.62 0.030 2353.44 436.6 -82.73 - - 3110.00 - - - - - - - - - 16.11 -
4291.43 438.50 -8.56 544 4292.76 no move -1.37 - - 1988.25 - - - 2353.75 - -82.73 - - 3107.56 - - - - - - - - - - -
4601.85 466.38 -9.16 575 4606.57 roll -1.37 - - 1988.62 - 2.82 0.063 1209.94 -405.6 -82.73 - - 3107.81 - - - - - - - - - 16.13 -
4726.04 478.00 -9.24 600 4732.04 roll -1.37 - - 1988.31 - 2.61 0.030 2351.94 437.5 -82.73 - - 3107.06 - - - - - - - - - 16.11 -
5041.77 506.92 -9.48 632 5046.75 roll -1.37 - - 1988.94 - 2.82 0.063 1209.81 -405.0 -82.73 - - 3107.62 - - - - - - - - - 16.13 -
5101.59 512.66 -9.77 644 5106.67 roll -1.37 - - 1988.12 - 2.62 0.031 2353.31 436.5 -82.73 - - 3108.53 - - - - - - - - - 16.12 -
5411.66 541.20 -8.90 676 5412.99 no move -1.37 - - 1988.75 - - - 2353.62 - -82.73 - - 3104.88 - - - - - - - - - - -
5722.11 567.44 -7.99 707 5723.44 no move -1.37 - - 1988.81 - - - 2353.12 - -82.73 - - 3104.56 - - - - - - - - - - -
6032.17 591.49 -7.56 738 6036.91 roll -1.37 - - 1988.50 - 2.82 0.064 1210.19 -405.3 -82.73 - - 3104.34 - - - - - - - - - 16.14 -
6116.35 598.49 -8.14 755 6122.36 roll -1.37 - - 1988.25 - 2.62 0.031 2352.88 436.1 -82.73 - - 3105.41 - - - - - - - - - 16.12 -
6431.88 622.05 -7.48 787 6433.21 no move -1.37 - - 1988.50 - - - 2353.56 - -82.73 - - 3103.22 - - - - - - - - - - -
6742.33 645.37 -7.61 818 6743.66 no move -1.37 - - 1988.56 - - - 2353.12 - -82.73 - - 3102.62 - - - - - - - - - - -
7052.39 670.10 -8.30 849 7057.12 roll -1.37 - - 1988.62 - 2.83 0.065 1209.88 -404.0 -82.73 - - 3102.94 - - - - - - - - - 16.14 -
7156.57 679.04 -8.45 870 7162.58 roll -1.37 - - 1988.56 - 2.61 0.031 2351.56 437.4 -82.73 - - 3103.19 - - - - - - - - - 16.13 -
7472.28 704.75 -8.24 902 7473.61 no move -1.37 - - 1988.44 - - - 2351.38 - -82.73 - - 3101.41 - - - - - - - - - - -
7782.72 729.49 -7.77 933 7787.27 roll -1.37 - - 1988.38 - 2.81 0.065 1209.94 -406.2 -82.73 - - 3103.50 - - - - - - - - - 16.13 -
7852.18 735.45 -8.22 947 7857.26 roll -1.37 - - 1988.38 - 2.61 0.031 2352.12 437.6 -82.73 - - 3103.03 - - - - - - - - - 16.14 -
8162.23 758.49 -7.15 979 8163.56 no move -1.37 - - 1988.38 - - - 2351.81 - -82.73 - - 3100.81 - - - - - - - - - - -
8472.64 780.32 -7.02 1010 8477.36 roll -1.37 - - 1988.56 - 2.80 0.066 1209.81 -407.9 -82.73 - - 3101.03 - - - - - - - - - 16.13 -
8586.83 789.34 -7.89 1033 8592.83 roll -1.37 - - 1988.38 - 2.61 0.032 2351.75 437.5 -82.73 - - 3101.47 - - - - - - - - - 16.14 -
8902.32 812.81 -7.62 1065 8907.41 roll -1.37 - - 1988.62 - 2.65 0.095 3424.56 404.8 -82.73 - - 3101.66 - - - - - - - - - 16.11 -
8946.87 816.61 -8.43 1074 8952.88 roll -1.37 - - 1988.69 - 2.61 0.024 2250.56 -449.8 -82.73 - - 3101.69 - - - - - - - - - 16.13 -
9262.37 840.32 -7.61 1106 9267.43 roll -1.37 - - 1988.44 - 2.56 0.071 1210.81 -406.2 -82.73 - - 3100.56 - - - - - - - - - 16.14 -
9332.38 846.39 -8.50 1120 9337.65 roll -1.37 - - 1988.88 - 2.62 0.031 2351.81 435.5 -82.73 - - 3100.00 - - - - - - - - - 16.13 -
9642.60 872.32 -8.91 1152 9647.54 roll -1.37 - - 1988.12 - 2.82 0.066 1209.88 -404.9 -82.73 - - 3101.62 - - - - - - - - - 16.12 -
9692.42 877.21 -9.54 1162 9697.51 roll -1.37 - - 1988.38 - 2.62 0.032 2351.38 435.7 -82.73 - - 3100.47 - - - - - - - - - 16.13 -
10002.47 904.19 -8.62 1194 10007.55 roll -1.37 - - 1988.38 - 2.68 0.095 3425.81 400.9 -82.73 - - 3099.66 - - - - - - - - - 16.10 -
10082.49 911.83 -9.60 1210 10087.57 roll -1.37 - - 1988.69 - 2.61 0.024 2250.56 -450.3 -82.73 - - 3098.62 - - - - - - - - - 16.12 -
10393.12 936.03 -7.70 1242 10397.63 roll -1.37 - - 1988.62 - 2.56 0.071 1210.88 -406.1 -82.73 - - 3098.47 - - - - - - - - - 16.12 -
10447.12 940.36 -7.60 1253 10453.12 roll -1.37 - - 1988.38 - 2.61 0.031 2352.12 437.3 -82.73 - - 3099.50 - - - - - - - - - 16.12 -
10763.05 961.03 -6.31 1285 10767.77 roll -1.37 - - 1988.50 - 2.81 0.066 1211.00 -406.1 -82.73 - - 3097.78 - - - - - - - - - 16.11 -
10817.21 964.75 -6.65 1296 10823.21 roll -1.37 - - 1988.31 - 2.61 0.032 2351.94 437.1 -82.73 - - 3098.41 - - - - - - - - - 16.12 -
11133.12 983.03 -5.78 1328 11138.03 roll -1.37 - - 1988.81 - 2.82 0.067 1209.50 -405.1 -82.73 - - 3099.28 - - - - - - - - - 16.13 -
11242 end dive: TARGET_DEPTH_EXCEEDED
11242 begin apogee
11246.59 990.18 -6.10 1350 11311.08 -0.28 1.76 0.153 2250.69 148.8 0.11 0.205 2172.50 8754.5 - 60.13 2.422 2774.31 -5.4 0.364 - - - - - - 16.02 15.69 12.23
11312 end apogee: CONTROL_FINISHED_OK
11313 begin climb
11313.46 990.67 - 1356 11384.13 1.37 2.60 0.097 2656.06 155.9 - - 2172.50 - 82.73 65.87 2.344 2438.38 -5.1 0.356 - - - - - - 15.70 - 12.90
11687.25 960.64 8.97 1394 11692.34 roll 1.37 - - 2655.94 - 2.68 0.079 1132.50 -388.1 82.73 - - 2430.78 - - - - - - - - - 15.77 -
11781.83 952.13 9.66 1413 11787.82 roll 1.37 - - 2656.62 - 2.66 0.032 2270.25 427.7 82.73 - - 2430.72 - - - - - - - - - 15.83 -
12097.72 926.47 7.93 1445 12102.43 done 1.38 - - 2655.81 - 2.87 0.075 1132.56 -396.4 82.73 - - 2430.19 - - - - - - - - - 15.91 -
12172.05 920.56 8.39 1460 12177.94 done 1.38 - - 2655.50 - 2.65 0.032 2271.19 429.7 82.73 - - 2429.19 - - - - - - - - - 15.93 -
12487.77 898.32 6.74 1492 12492.48 done 1.41 - - 2655.44 - 2.88 0.075 1131.56 -395.7 82.73 - - 2430.03 - - - - - - - - - 15.99 -
12527.38 895.59 6.92 1500 12532.46 done 1.44 - - 2656.12 - 2.64 0.032 2270.25 431.3 82.73 - - 2429.31 - - - - - - - - - 15.98 -
12837.81 873.78 7.36 1532 12842.49 done 1.46 - - 2655.75 - 2.69 0.096 3345.56 399.7 82.73 - - 2430.53 - - - - - - - - - 15.97 -
12897.76 868.84 8.47 1544 12902.51 done 1.46 - - 2655.94 - 2.64 0.026 2189.56 -437.9 82.73 - - 2428.44 - - - - - - - - - 16.03 -
13207.84 843.52 8.46 1576 13209.17 VBD 1.46 - - 2655.56 - - - 2188.69 - 82.73 - - 2426.66 - - - - - - - - - - -
13517.91 817.96 7.97 1607 13519.24 VBD 1.46 - - 2654.94 - - - 2188.94 - 82.73 - - 2426.44 - - - - - - - - - - -
13827.98 794.03 6.93 1638 13829.41 1.50 0.16 0.094 2699.75 280.1 - - 2189.25 - 82.73 - - 2425.62 - - - - - - - - 16.02 - -
14137.66 769.68 7.50 1669 14138.99 VBD 1.51 - - 2699.25 - - - 2188.81 - 82.73 - - 2426.00 - - - - - - - - - - -
14448.11 746.03 7.39 1700 14449.44 VBD 1.54 - - 2699.38 - - - 2188.75 - 82.73 - - 2426.16 - - - - - - - - - - -
14758.18 723.04 7.52 1731 14759.51 VBD 1.56 - - 2699.62 - - - 2188.88 - 82.73 - - 2425.81 - - - - - - - - - - -
15068.49 699.77 7.76 1762 15072.94 done 1.57 - - 2699.50 - 2.66 0.079 1132.56 -397.1 82.73 - - 2426.66 - - - - - - - - - 16.09 -
15127.86 694.73 8.14 1774 15132.94 done 1.57 - - 2698.94 - 2.63 0.032 2272.69 433.5 82.73 - - 2426.75 - - - - - - - - - 16.09 -
15438.32 670.92 7.93 1806 15439.66 VBD 1.58 - - 2699.56 - - - 2272.62 - 82.73 - - 2425.72 - - - - - - - - - - -
15748.40 647.80 7.50 1837 15753.11 done 1.60 - - 2699.50 - 2.87 0.075 1132.56 -397.2 82.73 - - 2427.16 - - - - - - - - - 16.10 -
15838.03 640.59 7.27 1855 15843.11 done 1.62 - - 2699.50 - 2.62 0.032 2271.00 434.5 82.73 - - 2426.25 - - - - - - - - - 16.08 -
16148.49 619.65 6.95 1887 16149.82 VBD 1.65 - - 2699.25 - - - 2270.75 - 82.73 - - 2425.41 - - - - - - - - - - -
16458.55 598.09 6.58 1918 16459.98 1.69 0.18 0.083 2745.62 257.6 - - 2271.00 - 82.73 - - 2424.56 - - - - - - - - 16.06 - -
16768.22 574.80 7.24 1949 16773.33 done 1.71 - - 2746.44 - 2.86 0.075 1131.31 -398.5 82.73 - - 2425.97 - - - - - - - - - 16.10 -
16848.24 568.48 7.73 1965 16853.31 done 1.73 - - 2746.25 - 2.63 0.032 2271.69 433.6 82.73 - - 2427.22 - - - - - - - - - 16.09 -
17158.66 547.75 6.70 1997 17160.00 VBD 1.76 - - 2746.75 - - - 2272.38 - 82.73 - - 2425.25 - - - - - - - - - - -
17468.95 528.64 5.88 2028 17498.89 VBD 1.84 - - 2746.94 - - - 2271.62 - 120.50 28.67 1.797 2284.78 -4.9 0.238 - - - - - - - - 12.36
17808.34 501.04 9.06 2062 17813.46 roll 1.84 - - 2746.94 - 2.89 0.075 1132.50 -394.2 120.50 - - 2278.72 - - - - - - - - - 16.00 -
17898.36 492.11 9.65 2080 17903.78 roll 1.84 - - 2746.81 - 2.65 0.032 2270.75 429.5 120.50 - - 2278.78 - - - - - - - - - 16.02 -
18208.78 462.49 9.84 2112 18210.11 no move 1.84 - - 2747.44 - - - 2270.69 - 120.50 - - 2277.66 - - - - - - - - - - -
18518.82 433.82 8.79 2143 18523.55 roll 1.84 - - 2746.94 - 2.88 0.074 1131.31 -395.6 120.50 - - 2278.03 - - - - - - - - - 16.05 -
18653.00 421.17 9.72 2170 18659.01 roll 1.84 - - 2746.00 - 2.63 0.032 2271.06 433.4 120.50 - - 2278.09 - - - - - - - - - 16.05 -
18968.91 393.91 8.40 2202 18970.24 no move 1.84 - - 2747.50 - - - 2270.94 - 120.50 - - 2277.12 - - - - - - - - - - -
19279.15 366.83 8.87 2233 19280.48 no move 1.84 - - 2746.44 - - - 2270.75 - 120.50 - - 2277.22 - - - - - - - - - - -
19589.04 340.04 8.22 2264 19593.77 roll 1.84 - - 2746.81 - 2.85 0.074 1131.75 -399.6 120.50 - - 2278.94 - - - - - - - - - 16.08 -
19683.41 331.37 9.30 2283 19689.29 roll 1.84 - - 2746.94 - 2.62 0.032 2271.50 435.0 120.50 - - 2277.44 - - - - - - - - - 16.08 -
19999.31 305.29 8.24 2315 20003.83 roll 1.84 - - 2746.19 - 2.67 0.093 3345.62 402.3 120.50 - - 2278.38 - - - - - - - - - 16.07 -
20063.31 299.51 9.04 2328 20069.31 roll 1.84 - - 2746.81 - 2.62 0.025 2187.81 -441.9 120.50 - - 2278.53 - - - - - - - - - 16.07 -
20379.24 274.06 7.81 2360 20380.57 no move 1.85 - - 2747.00 - - - 2187.69 - 120.50 - - 2277.84 - - - - - - - - - - -
20689.29 249.51 7.97 2391 20693.99 roll 1.85 - - 2746.56 - 2.63 0.078 1132.62 -401.2 120.50 - - 2277.84 - - - - - - - - - 16.02 -
20723.45 246.75 8.06 2398 20729.45 roll 1.85 - - 2745.94 - 2.62 0.031 2274.00 435.6 120.50 - - 2279.84 - - - - - - - - - 16.08 -
21039.37 224.49 7.01 2430 21040.81 pitch 1.88 0.17 0.084 2793.75 281.2 - - 2274.31 - 120.50 - - 2277.47 - - - - - - - - 16.05 - -
21349.05 201.60 7.12 2461 21354.16 roll 1.91 - - 2793.75 - 2.85 0.073 1130.31 -401.4 120.50 - - 2278.16 - - - - - - - - - 16.04 -
21519.09 187.20 8.47 2495 21524.18 roll 1.91 - - 2794.62 - 2.61 0.030 2273.81 438.1 120.50 - - 2277.78 - - - - - - - - - 16.08 -
21829.80 165.07 7.16 2527 21834.25 roll 1.94 - - 2794.19 - 2.65 0.090 3348.19 405.4 120.50 - - 2278.94 - - - - - - - - - 16.00 -
21949.21 155.39 7.82 2551 21954.28 roll 1.95 - - 2793.81 - 2.61 0.024 2185.62 -445.4 120.50 - - 2279.50 - - - - - - - - - 16.03 -
22259.64 134.65 5.61 2583 22295.29 done 2.03 - - 2791.06 - 2.63 0.078 1131.56 -400.8 162.26 31.39 1.312 2112.25 -5.3 0.090 - - - - - - - 15.94 12.43
22439.26 121.14 8.50 2619 22444.35 roll 2.03 - - 2794.06 - 2.62 0.030 2272.88 435.6 162.26 - - 2109.06 - - - - - - - - - 15.99 -
22749.70 99.57 5.77 2651 22785.88 2.11 0.22 0.076 2847.75 244.0 2.67 0.091 3346.25 402.0 201.70 30.22 1.254 1952.84 -5.2 0.068 - - - - - - 15.97 15.85 12.48
23014.76 81.74 6.94 2704 23019.91 roll 2.14 - - 2848.06 - 2.64 0.024 2185.62 -439.6 201.70 - - 1947.38 - - - - - - - - - 15.94 -
23204.42 72.01 4.29 2742 23256.86 done 2.26 - - 2848.38 - 2.92 0.085 3346.12 397.4 262.88 45.38 1.231 1702.50 -5.4 0.052 - - - - - - - 15.76 12.58
23420.40 54.80 9.74 2785 23425.56 roll 2.26 - - 2848.00 - 2.68 0.024 2189.88 -431.4 262.88 - - 1697.69 - - - - - - - - - 15.85 -
23610.11 38.98 7.72 2823 23615.67 done 2.28 - - 2848.19 - 2.89 0.084 3345.62 399.9 262.88 - - 1692.88 - - - - - - - - - 15.87 -
23665.14 34.78 7.70 2834 23670.71 2.29 0.16 0.097 2888.81 253.9 2.65 0.024 2186.00 -437.6 262.88 - - 1693.19 - - - - - - - - 15.87 15.92 -
23855.20 22.64 5.07 2872 23896.79 done 2.39 - - 2888.56 - 2.66 0.077 1130.12 -396.9 312.50 36.78 1.149 1501.03 -5.2 0.017 - - - - - - - 15.77 12.51
23975.21 18.84 3.20 2896 24037.66 2.55 0.29 0.066 2951.94 218.6 2.64 0.028 2277.38 434.6 389.59 57.17 1.145 1186.81 -5.5 0.015 - - - - - - 15.82 15.84 12.68
24175 end climb: SURFACE_DEPTH_REACHED
24175 begin surface coast
24195 end surface coast: CONTROL_FINISHED_OK
24196 begin surface
SM 1.62 - - - - 181.8 26.93 1.097 1042.4 36.6 17.44 0.072 1014.0 58.1 - 0.12 0.121 1070.8 8901.3 -12.180 - - 12.61 15.79 15.80 -