NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 329 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 104.85 of 550.00 AH used of 24V (80.94% remains)
• Surface angle -64.8 deg, depth 1.53 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.78 (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
6.79 - - - 67.17 VBD -1.37 - - 181.38 - - - 2249.75 - -82.73 59.24 0.005 2567.31 - - - - - - - - - - 15.61
67.91 3.33 -3.87 11 105.37 -1.37 13.91 0.249 1988.44 129.9 2.91 0.083 3428.94 405.2 -82.73 12.71 0.007 3112.03 42.9 -3.386 - - - - - - 15.66 15.57 15.62
333.39 55.02 -16.62 64 338.91 roll -1.37 - - 1988.00 - 2.57 0.021 2251.62 -458.1 -82.73 - - 3112.97 - - - - - - - - - 15.86 -
524.07 81.21 -13.73 102 529.01 roll -1.37 - - 1988.62 - 2.88 0.080 3427.75 408.4 -82.73 - - 3112.97 - - - - - - - - - 15.90 -
723.49 106.35 -10.46 142 728.56 roll -1.37 - - 1988.31 - 2.56 0.021 2244.94 -462.0 -82.73 - - 3113.50 - - - - - - - - - 15.95 -
1033.56 135.86 -9.37 174 1038.67 roll -1.37 - - 1988.56 - 2.88 0.080 3429.25 411.2 -82.73 - - 3113.09 - - - - - - - - - 15.97 -
1063.56 139.01 -10.06 180 1068.62 roll -1.37 - - 1987.62 - 2.53 0.021 2243.19 -468.8 -82.73 - - 3114.19 - - - - - - - - - 15.99 -
1373.63 166.94 -9.25 212 1378.74 roll -1.37 - - 1988.12 - 2.87 0.080 3427.56 412.7 -82.73 - - 3114.06 - - - - - - - - - 16.01 -
1534.09 184.34 -10.36 244 1538.74 roll -1.37 - - 1989.06 - 2.54 0.022 2246.88 -464.8 -82.73 - - 3114.25 - - - - - - - - - 16.02 -
1843.75 213.72 -9.40 276 1848.40 roll -1.37 - - 1988.88 - 2.43 0.067 1207.25 -427.8 -82.73 - - 3113.19 - - - - - - - - - 16.04 -
1958.32 225.29 -9.87 299 1964.31 roll -1.37 - - 1989.06 - 2.58 0.029 2354.88 444.8 -82.73 - - 3113.25 - - - - - - - - - 16.06 -
2274.04 257.49 -10.14 331 2278.99 roll -1.37 - - 1988.94 - 2.68 0.061 1207.88 -428.0 -82.73 - - 3114.19 - - - - - - - - - 16.05 -
2333.87 263.80 -10.44 343 2338.94 roll -1.37 - - 1988.44 - 2.58 0.029 2354.81 444.5 -82.73 - - 3114.03 - - - - - - - - - 16.07 -
2643.94 293.50 -9.60 375 2645.26 no move -1.37 - - 1989.19 - - - 2354.88 - -82.73 - - 3111.53 - - - - - - - - - - -
2954.38 323.69 -9.64 406 2959.08 roll -1.37 - - 1988.44 - 2.69 0.062 1207.19 -426.7 -82.73 - - 3112.28 - - - - - - - - - 16.08 -
3054.03 333.73 -10.02 426 3059.10 roll -1.37 - - 1989.06 - 2.59 0.030 2355.06 443.2 -82.73 - - 3111.22 - - - - - - - - - 16.10 -
3364.10 362.43 -9.10 458 3369.18 roll -1.37 - - 1989.31 - 2.69 0.063 1207.25 -426.7 -82.73 - - 3111.31 - - - - - - - - - 16.09 -
3418.64 367.74 -9.79 469 3424.64 roll -1.37 - - 1988.88 - 2.57 0.030 2354.12 446.3 -82.73 - - 3111.34 - - - - - - - - - 16.09 -
3734.18 397.48 -8.98 501 3735.51 no move -1.37 - - 1989.50 - - - 2354.69 - -82.73 - - 3109.59 - - - - - - - - - - -
4044.62 425.63 -9.16 532 4045.95 no move -1.37 - - 1988.88 - - - 2354.81 - -82.73 - - 3108.88 - - - - - - - - - - -
4354.62 453.63 -8.85 563 4359.32 roll -1.37 - - 1989.50 - 2.69 0.064 1208.44 -426.2 -82.73 - - 3109.22 - - - - - - - - - 16.11 -
4398.78 457.65 -9.22 572 4405.07 roll -1.37 - - 1989.25 - 2.59 0.030 2355.50 442.9 -82.73 - - 3108.75 - - - - - - - - - 16.10 -
4714.40 484.37 -8.36 604 4715.73 no move -1.37 - - 1989.56 - - - 2355.88 - -82.73 - - 3107.00 - - - - - - - - - - -
5024.72 509.01 -7.86 635 5029.41 roll -1.37 - - 1989.25 - 2.69 0.064 1208.75 -426.4 -82.73 - - 3107.31 - - - - - - - - - 16.11 -
5088.89 514.48 -8.67 648 5094.88 roll -1.37 - - 1989.25 - 2.57 0.031 2352.69 445.1 -82.73 - - 3107.66 - - - - - - - - - 16.12 -
5404.39 539.16 -7.88 680 5409.46 roll -1.37 - - 1989.12 - 2.69 0.064 1208.88 -425.2 -82.73 - - 3106.50 - - - - - - - - - 16.12 -
5488.94 546.21 -8.37 697 5494.93 roll -1.37 - - 1989.56 - 2.56 0.031 2353.12 447.0 -82.73 - - 3107.47 - - - - - - - - - 16.12 -
5804.43 570.22 -7.78 729 5805.76 no move -1.37 - - 1989.38 - - - 2352.88 - -82.73 - - 3105.12 - - - - - - - - - - -
6114.85 596.09 -8.46 760 6119.55 roll -1.37 - - 1989.50 - 2.70 0.064 1208.50 -423.8 -82.73 - - 3105.16 - - - - - - - - - 16.11 -
6214.50 605.35 -9.36 780 6219.56 roll -1.37 - - 1989.56 - 2.57 0.031 2351.75 444.8 -82.73 - - 3105.25 - - - - - - - - - 16.14 -
6524.57 631.76 -8.54 812 6525.90 no move -1.37 - - 1989.31 - - - 2352.25 - -82.73 - - 3103.62 - - - - - - - - - - -
6835.02 658.00 -8.48 843 6839.90 roll -1.37 - - 1989.31 - 2.69 0.065 1208.56 -425.2 -82.73 - - 3104.22 - - - - - - - - - 16.11 -
6944.85 667.68 -8.64 865 6949.74 roll -1.37 - - 1989.44 - 2.58 0.031 2352.12 443.2 -82.73 - - 3103.56 - - - - - - - - - 16.12 -
7254.74 693.37 -8.51 897 7259.81 roll -1.37 - - 1989.81 - 2.70 0.065 1208.88 -423.4 -82.73 - - 3104.22 - - - - - - - - - 16.12 -
7319.29 699.31 -9.14 910 7325.28 roll -1.37 - - 1989.44 - 2.58 0.031 2352.44 443.2 -82.73 - - 3102.91 - - - - - - - - - 16.12 -
7634.82 725.29 -8.31 942 7636.15 no move -1.37 - - 1989.12 - - - 2352.44 - -82.73 - - 3102.44 - - - - - - - - - - -
7945.27 749.23 -7.27 973 7949.97 roll -1.37 - - 1989.62 - 2.70 0.065 1208.69 -423.6 -82.73 - - 3102.47 - - - - - - - - - 16.11 -
7984.89 752.49 -7.42 981 7989.96 roll -1.37 - - 1989.12 - 2.57 0.031 2352.50 445.1 -82.73 - - 3103.50 - - - - - - - - - 16.12 -
8294.97 774.94 -7.15 1013 8300.06 roll -1.37 - - 1989.31 - 2.70 0.065 1208.38 -423.7 -82.73 - - 3102.12 - - - - - - - - - 16.11 -
8364.99 780.58 -7.83 1027 8370.05 roll -1.37 - - 1989.38 - 2.56 0.032 2351.56 446.6 -82.73 - - 3102.97 - - - - - - - - - 16.12 -
8675.05 802.99 -7.44 1059 8676.38 no move -1.37 - - 1989.12 - - - 2352.06 - -82.73 - - 3100.88 - - - - - - - - - - -
8985.50 825.74 -7.05 1090 8990.39 roll -1.37 - - 1989.19 - 2.69 0.066 1207.56 -425.5 -82.73 - - 3101.94 - - - - - - - - - 16.10 -
9089.80 834.14 -7.97 1111 9095.68 roll -1.37 - - 1989.31 - 2.58 0.032 2354.62 444.6 -82.73 - - 3100.94 - - - - - - - - - 16.10 -
9405.21 858.14 -7.68 1143 9406.54 no move -1.37 - - 1988.81 - - - 2354.56 - -82.73 - - 3099.41 - - - - - - - - - - -
9715.63 882.08 -7.56 1174 9716.96 no move -1.37 - - 1988.94 - - - 2354.69 - -82.73 - - 3099.34 - - - - - - - - - - -
10025.67 905.05 -7.68 1205 10027.00 no move -1.37 - - 1989.00 - - - 2354.31 - -82.73 - - 3099.31 - - - - - - - - - - -
10335.88 928.00 -7.57 1236 10340.43 roll -1.37 - - 1988.12 - 2.72 0.066 1209.19 -421.0 -82.73 - - 3101.53 - - - - - - - - - 16.11 -
10429.88 935.50 -7.53 1255 10435.87 roll -1.37 - - 1988.56 - 2.59 0.032 2352.00 441.2 -82.73 - - 3099.78 - - - - - - - - - 16.11 -
10745.38 957.71 -7.28 1287 10750.47 roll -1.37 - - 1989.06 - 2.70 0.066 1208.56 -423.5 -82.73 - - 3099.72 - - - - - - - - - 16.12 -
10805.39 962.41 -7.56 1299 10810.46 roll -1.37 - - 1988.69 - 2.59 0.032 2353.62 442.1 -82.73 - - 3100.09 - - - - - - - - - 16.12 -
11115.43 983.07 -6.86 1331 11116.76 no move -1.37 - - 1989.06 - - - 2353.12 - -82.73 - - 3097.53 - - - - - - - - - - -
11225 end dive: TARGET_DEPTH_EXCEEDED
11225 begin apogee
11227.27 990.20 -6.55 1342 11292.03 -0.28 1.80 0.148 2254.75 147.6 0.21 0.140 2281.31 -342.0 - 60.51 2.435 2772.72 -5.4 0.363 - - - - - - 16.03 15.67 12.28
11293 end apogee: CONTROL_FINISHED_OK
11294 begin climb
11294.56 991.18 - 1348 11369.25 1.37 2.61 0.097 2654.69 153.2 2.73 0.098 3344.38 389.4 82.73 65.79 2.359 2436.94 -5.1 0.356 - - - - - - 15.70 15.33 12.84
11377.92 986.50 5.94 1358 11414.42 done 1.44 - - 2655.38 - 2.67 0.024 2187.38 -433.3 119.62 31.66 2.234 2285.41 -4.8 0.351 - - - - - - - 15.47 12.70
11722.39 953.68 9.62 1396 11723.72 no move 1.44 - - 2656.69 - - - 2186.88 - 119.62 - - 2279.25 - - - - - - - - - - -
12032.81 923.81 9.90 1427 12037.48 done 1.44 - - 2655.69 - 2.58 0.081 1130.38 -409.5 119.62 - - 2279.28 - - - - - - - - - 15.87 -
12086.98 918.42 9.96 1438 12092.99 done 1.44 - - 2655.19 - 2.62 0.032 2270.06 435.0 119.62 - - 2278.69 - - - - - - - - - 15.89 -
12402.86 889.53 9.04 1470 12407.76 done 1.44 - - 2656.00 - 2.77 0.076 1131.62 -411.0 119.62 - - 2277.44 - - - - - - - - - 15.94 -
12452.68 884.84 9.56 1480 12457.57 done 1.44 - - 2655.56 - 2.61 0.032 2271.50 436.7 119.62 - - 2277.12 - - - - - - - - - 15.94 -
12762.94 857.57 8.82 1512 12767.64 done 1.44 - - 2655.62 - 2.64 0.096 3344.19 406.3 119.62 - - 2277.34 - - - - - - - - - 15.96 -
12812.57 852.34 10.32 1522 12817.64 done 1.44 - - 2655.69 - 2.57 0.026 2189.25 -449.4 119.62 - - 2277.50 - - - - - - - - - 15.99 -
13122.64 824.02 9.31 1554 13123.98 VBD 1.44 - - 2656.00 - - - 2189.25 - 119.62 - - 2274.97 - - - - - - - - - - -
13433.09 796.53 8.37 1585 13434.43 VBD 1.44 - - 2655.69 - - - 2188.44 - 119.62 - - 2274.44 - - - - - - - - - - -
13743.16 769.93 8.74 1616 13744.50 VBD 1.44 - - 2655.75 - - - 2188.44 - 119.62 - - 2274.34 - - - - - - - - - - -
14053.24 743.19 8.97 1647 14054.57 VBD 1.44 - - 2656.00 - - - 2188.19 - 119.62 - - 2274.00 - - - - - - - - - - -
14363.29 715.15 9.59 1678 14364.62 VBD 1.44 - - 2656.25 - - - 2188.12 - 119.62 - - 2273.97 - - - - - - - - - - -
14673.37 687.70 8.60 1709 14674.70 VBD 1.44 - - 2656.00 - - - 2188.69 - 119.62 - - 2273.75 - - - - - - - - - - -
14983.45 661.40 7.91 1740 14988.11 done 1.45 - - 2655.88 - 2.54 0.081 1130.12 -416.8 119.62 - - 2274.44 - - - - - - - - - 16.06 -
15033.05 657.14 8.65 1750 15038.32 done 1.45 - - 2655.50 - 2.59 0.032 2272.50 441.1 119.62 - - 2274.22 - - - - - - - - - 16.07 -
15343.63 630.76 8.49 1782 15348.22 done 1.45 - - 2655.94 - 2.74 0.077 1131.31 -416.5 119.62 - - 2273.38 - - - - - - - - - 16.07 -
15407.68 624.88 9.29 1795 15413.67 done 1.45 - - 2655.50 - 2.60 0.032 2271.25 438.4 119.62 - - 2273.72 - - - - - - - - - 16.09 -
15723.59 596.57 8.95 1827 15728.28 done 1.45 - - 2655.19 - 2.64 0.096 3346.62 407.3 119.62 - - 2273.81 - - - - - - - - - 16.06 -
15783.22 590.57 9.73 1839 15788.29 done 1.45 - - 2654.69 - 2.56 0.026 2187.62 -452.7 119.62 - - 2274.16 - - - - - - - - - 16.09 -
16093.78 565.67 7.44 1871 16095.11 VBD 1.47 - - 2655.75 - - - 2187.56 - 119.62 - - 2271.97 - - - - - - - - - - -
16403.69 544.69 6.52 1902 16405.12 1.51 0.18 0.087 2702.88 261.8 - - 2186.56 - 119.62 - - 2272.50 - - - - - - - - 16.05 - -
16713.34 521.44 7.57 1933 16714.67 VBD 1.53 - - 2702.12 - - - 2187.12 - 119.62 - - 2272.00 - - - - - - - - - - -
17023.75 496.71 8.24 1964 17025.08 VBD 1.53 - - 2703.00 - - - 2186.12 - 119.62 - - 2271.56 - - - - - - - - - - -
17333.79 470.62 8.66 1995 17338.52 done 1.53 - - 2702.88 - 2.85 0.091 3345.69 406.9 119.62 - - 2274.25 - - - - - - - - - 16.07 -
17397.95 464.49 9.28 2008 17403.94 done 1.53 - - 2703.38 - 2.56 0.025 2186.00 -453.0 119.62 - - 2272.62 - - - - - - - - - 16.08 -
17714.08 439.25 8.30 2040 17718.57 done 1.53 - - 2703.31 - 2.86 0.090 3345.25 405.3 119.62 - - 2272.78 - - - - - - - - - 16.09 -
17808.03 430.47 9.55 2059 17814.02 done 1.53 - - 2703.31 - 2.56 0.026 2187.94 -452.1 119.62 - - 2273.97 - - - - - - - - - 16.09 -
18123.96 405.87 7.34 2091 18125.29 VBD 1.55 - - 2703.62 - - - 2187.75 - 119.62 - - 2272.28 - - - - - - - - - - -
18434.02 384.32 6.53 2122 18438.70 done 1.59 - - 2703.81 - 2.54 0.080 1129.81 -416.5 119.62 - - 2272.94 - - - - - - - - - 16.07 -
18538.22 376.77 7.41 2143 18544.19 done 1.61 - - 2703.56 - 2.59 0.032 2273.81 441.7 119.62 - - 2272.62 - - - - - - - - - 16.08 -
18854.13 355.81 6.71 2175 18858.81 done 1.65 - - 2703.00 - 2.63 0.094 3346.69 407.9 119.62 - - 2273.06 - - - - - - - - - 16.06 -
18928.30 350.09 7.79 2190 18934.29 done 1.66 - - 2703.25 - 2.56 0.026 2187.81 -452.7 119.62 - - 2273.59 - - - - - - - - - 16.07 -
19244.21 329.46 6.78 2222 19245.65 1.69 0.17 0.089 2742.94 233.5 - - 2186.56 - 119.62 - - 2273.34 - - - - - - - - 16.04 - -
19553.87 303.57 8.74 2253 19555.20 VBD 1.69 - - 2743.88 - - - 2186.44 - 119.62 - - 2271.97 - - - - - - - - - - -
19864.51 277.45 8.39 2284 19865.85 VBD 1.69 - - 2743.94 - - - 2185.94 - 119.62 - - 2272.38 - - - - - - - - - - -
20174.58 252.94 7.54 2315 20179.12 done 1.71 - - 2743.25 - 2.85 0.089 3345.31 406.8 119.62 - - 2274.47 - - - - - - - - - 16.01 -
20298.59 242.42 8.40 2340 20304.57 done 1.71 - - 2743.69 - 2.56 0.025 2186.81 -452.5 119.62 - - 2273.47 - - - - - - - - - 16.07 -
20614.52 219.65 7.09 2372 20615.85 VBD 1.74 - - 2743.50 - - - 2186.75 - 119.62 - - 2272.91 - - - - - - - - - - -
20924.58 197.20 6.99 2403 20925.92 VBD 1.77 - - 2744.56 - - - 2186.81 - 119.62 - - 2273.22 - - - - - - - - - - -
21234.62 176.75 6.03 2434 21265.61 done 1.84 - - 2743.69 - 2.53 0.082 1130.19 -417.6 155.18 25.79 1.366 2142.41 -5.1 0.109 - - - - - - - 15.96 12.24
21304.24 171.78 7.74 2448 21309.36 roll back 1.85 0.15 0.090 2787.12 289.5 2.59 0.030 2276.12 442.4 155.18 - - 2139.69 - - - - - - - - 15.96 16.02 -
21614.29 145.43 7.40 2480 21619.36 roll 1.88 - - 2787.06 - 2.62 0.091 3346.44 408.5 155.18 - - 2138.12 - - - - - - - - - 15.95 -
21658.84 142.13 7.18 2489 21664.82 roll 1.90 - - 2786.94 - 2.56 0.024 2184.44 -453.9 155.18 - - 2138.75 - - - - - - - - - 16.01 -
21974.91 122.13 6.95 2521 21979.44 roll 1.93 - - 2788.19 - 2.51 0.078 1130.19 -420.0 155.18 - - 2137.75 - - - - - - - - - 15.97 -
22208.92 108.92 4.47 2568 22259.97 2.05 0.17 0.082 2831.38 254.1 2.59 0.029 2275.50 442.2 213.67 44.03 1.304 1904.28 -5.3 0.074 - - - - - - 15.99 16.04 12.47
22564.45 82.72 7.89 2630 22569.99 done 2.06 - - 2832.69 - 2.76 0.072 1129.88 -415.1 213.67 - - 1895.41 - - - - - - - - - 15.89 -
22724.87 72.04 6.24 2662 22755.85 done 2.12 - - 2833.00 - 2.60 0.029 2275.19 440.5 246.26 24.91 1.199 1770.59 -5.0 0.050 - - - - - - - 15.92 12.48
22939.56 57.81 7.09 2705 22945.11 roll 2.15 - - 2833.44 - 2.76 0.072 1128.75 -415.4 246.26 - - 1765.03 - - - - - - - - - 15.90 -
23044.61 49.95 7.61 2726 23050.17 roll 2.17 - - 2832.69 - 2.62 0.030 2274.94 437.5 246.26 - - 1765.12 - - - - - - - - - 15.89 -
23234.73 36.97 6.73 2764 23240.21 roll 2.20 - - 2832.00 - 2.62 0.090 3347.00 409.2 246.26 - - 1764.38 - - - - - - - - - 15.90 -
23279.69 33.68 7.34 2773 23285.26 roll back 2.23 0.17 0.088 2872.81 240.1 2.58 0.024 2182.62 -451.3 246.26 - - 1764.28 - - - - - - - - 15.91 15.94 -
23469.77 23.65 3.46 2811 23531.33 done 2.37 - - 2872.88 - 2.55 0.077 1130.19 -412.7 319.47 54.21 1.179 1471.84 -5.4 0.018 - - - - - - - 15.76 12.43
23759.87 9.43 5.28 2869 23801.52 2.47 0.28 0.067 2934.81 221.2 2.61 0.029 2275.44 438.8 366.05 35.22 1.120 1282.50 -5.4 0.008 - - - - - - 15.83 15.87 12.63
23854 end climb: SURFACE_DEPTH_REACHED
23854 begin surface coast
23879 end surface coast: CONTROL_FINISHED_OK
23880 begin surface
SM 1.80 - - - - 184.3 43.99 1.128 1043.3 22.9 16.91 0.044 1003.0 59.3 - 0.12 0.129 1083.7 9009.1 -12.848 - - 12.64 15.80 15.81 -