NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 330 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 105.15 of 550.00 AH used of 24V (80.88% remains)
• Surface angle -61.2 deg, depth 1.42 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.92 (SM_CC=425)
• GPS1 time: 15 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.72 - - - 67.10 VBD -1.37 - - 183.19 - - - 2238.81 - -82.73 59.22 0.005 2518.81 - - - - - - - - - - 15.64
67.84 3.55 -3.70 11 106.07 -1.37 14.07 0.253 1988.62 128.3 2.93 0.087 3427.50 405.7 -82.73 13.70 0.006 3112.47 43.3 -4.235 - - - - - - 15.66 15.59 15.64
149.04 22.01 -25.12 27 154.56 roll -1.37 - - 1988.88 - 2.58 0.022 2252.88 -455.3 -82.73 - - 3112.84 - - - - - - - - - 15.82 -
339.45 53.49 -14.50 65 344.21 roll -1.37 - - 1987.19 - 2.46 0.065 1208.44 -424.6 -82.73 - - 3113.78 - - - - - - - - - 15.87 -
449.31 68.79 -13.61 87 454.73 roll -1.37 - - 1989.00 - 2.61 0.030 2352.19 438.2 -82.73 - - 3112.97 - - - - - - - - - 15.90 -
639.60 93.58 -12.92 125 643.19 no move -1.37 - - 1988.69 - - - 2351.88 - -82.73 - - 3113.22 - - - - - - - - - - -
829.26 115.63 -11.30 149 830.59 no move -1.37 - - 1988.94 - - - 2352.69 - -82.73 - - 3112.78 - - - - - - - - - - -
1139.71 146.49 -9.99 180 1144.42 roll -1.37 - - 1987.50 - 2.70 0.061 1207.44 -424.2 -82.73 - - 3115.16 - - - - - - - - - 15.99 -
1304.30 162.94 -9.63 213 1309.90 roll -1.37 - - 1988.75 - 2.58 0.029 2353.06 444.0 -82.73 - - 3114.44 - - - - - - - - - 16.02 -
1619.44 191.37 -8.71 245 1624.52 roll -1.37 - - 1987.69 - 2.68 0.061 1206.81 -427.7 -82.73 - - 3115.66 - - - - - - - - - 16.02 -
1679.64 197.34 -10.09 257 1684.53 roll -1.37 - - 1988.56 - 2.59 0.029 2355.75 443.6 -82.73 - - 3114.19 - - - - - - - - - 16.04 -
1989.52 226.57 -9.57 289 1990.85 no move -1.37 - - 1988.56 - - - 2355.94 - -82.73 - - 3114.09 - - - - - - - - - - -
2299.97 254.32 -9.18 320 2304.68 roll -1.37 - - 1988.75 - 2.70 0.062 1209.19 -424.7 -82.73 - - 3115.78 - - - - - - - - - 16.05 -
2349.92 258.97 -9.55 330 2354.66 roll -1.37 - - 1988.38 - 2.59 0.030 2353.44 441.8 -82.73 - - 3115.03 - - - - - - - - - 16.06 -
2659.86 287.37 -9.47 362 2661.18 no move -1.37 - - 1988.25 - - - 2353.88 - -82.73 - - 3113.75 - - - - - - - - - - -
2970.22 316.80 -9.45 393 2974.80 roll -1.37 - - 1988.44 - 2.67 0.062 1208.94 -428.8 -82.73 - - 3114.97 - - - - - - - - - 16.07 -
3014.27 321.29 -10.16 402 3020.26 roll -1.37 - - 1988.44 - 2.58 0.030 2353.12 443.5 -82.73 - - 3113.97 - - - - - - - - - 16.08 -
3329.80 351.44 -9.96 434 3334.88 roll -1.37 - - 1988.75 - 2.68 0.062 1208.38 -427.1 -82.73 - - 3114.66 - - - - - - - - - 16.08 -
3360.12 354.32 -9.82 440 3364.87 roll -1.37 - - 1988.56 - 2.57 0.030 2353.19 445.5 -82.73 - - 3114.53 - - - - - - - - - 16.08 -
3669.86 383.27 -9.38 472 3674.93 roll -1.37 - - 1987.44 - 2.68 0.063 1208.31 -427.2 -82.73 - - 3114.12 - - - - - - - - - 16.09 -
3699.86 386.20 -9.55 478 3704.93 roll -1.37 - - 1988.38 - 2.57 0.030 2353.81 445.7 -82.73 - - 3113.88 - - - - - - - - - 16.09 -
4009.90 415.40 -9.22 510 4014.98 roll -1.37 - - 1989.00 - 2.69 0.063 1208.56 -425.7 -82.73 - - 3113.41 - - - - - - - - - 16.10 -
4099.91 424.27 -9.81 528 4104.98 roll -1.37 - - 1986.94 - 2.57 0.031 2352.94 445.3 -82.73 - - 3113.09 - - - - - - - - - 16.10 -
4409.95 452.75 -9.17 560 4411.27 no move -1.37 - - 1988.62 - - - 2353.19 - -82.73 - - 3110.81 - - - - - - - - - - -
4720.61 480.86 -8.51 591 4725.06 roll -1.37 - - 1988.62 - 2.69 0.064 1208.44 -425.6 -82.73 - - 3111.84 - - - - - - - - - 16.11 -
4854.54 492.64 -8.88 618 4860.53 roll -1.37 - - 1988.12 - 2.58 0.031 2351.81 443.2 -82.73 - - 3111.91 - - - - - - - - - 16.11 -
5170.04 518.09 -8.09 650 5171.37 no move -1.37 - - 1988.69 - - - 2352.12 - -82.73 - - 3109.47 - - - - - - - - - - -
5480.47 542.70 -8.21 681 5481.80 no move -1.37 - - 1988.44 - - - 2352.06 - -82.73 - - 3108.53 - - - - - - - - - - -
5790.54 567.72 -8.09 712 5795.22 roll -1.37 - - 1988.44 - 2.69 0.065 1207.25 -425.6 -82.73 - - 3109.00 - - - - - - - - - 16.11 -
5864.69 574.12 -8.70 727 5870.68 roll -1.37 - - 1988.50 - 2.58 0.031 2350.88 443.3 -82.73 - - 3109.53 - - - - - - - - - 16.12 -
6180.23 601.29 -8.78 759 6185.30 roll -1.37 - - 1988.69 - 2.68 0.065 1208.50 -426.3 -82.73 - - 3108.75 - - - - - - - - - 16.10 -
6220.23 604.85 -8.91 767 6225.30 roll -1.37 - - 1987.50 - 2.58 0.031 2353.12 443.7 -82.73 - - 3109.31 - - - - - - - - - 16.12 -
6530.31 633.07 -9.33 799 6535.41 roll -1.37 - - 1988.81 - 2.70 0.064 1208.62 -423.9 -82.73 - - 3107.94 - - - - - - - - - 16.12 -
6584.86 638.44 -9.77 810 6591.03 roll -1.37 - - 1988.94 - 2.57 0.031 2354.19 445.7 -82.73 - - 3108.38 - - - - - - - - - 16.12 -
6900.51 666.96 -8.67 842 6901.83 no move -1.37 - - 1988.38 - - - 2354.12 - -82.73 - - 3106.69 - - - - - - - - - - -
7210.85 693.81 -8.61 873 7215.56 roll -1.37 - - 1988.38 - 2.70 0.065 1208.62 -424.3 -82.73 - - 3107.50 - - - - - - - - - 16.12 -
7340.50 705.59 -8.91 899 7345.57 roll -1.37 - - 1988.62 - 2.58 0.032 2353.19 443.6 -82.73 - - 3106.56 - - - - - - - - - 16.11 -
7650.56 730.86 -8.32 931 7655.64 roll -1.37 - - 1988.19 - 2.69 0.065 1208.50 -425.5 -82.73 - - 3107.06 - - - - - - - - - 16.11 -
7700.58 735.02 -8.91 941 7705.65 roll -1.37 - - 1988.44 - 2.57 0.032 2352.19 445.0 -82.73 - - 3106.25 - - - - - - - - - 16.12 -
8010.65 757.96 -6.99 973 8011.97 no move -1.37 - - 1988.12 - - - 2351.38 - -82.73 - - 3104.28 - - - - - - - - - - -
8321.10 779.65 -6.58 1004 8325.79 roll -1.37 - - 1988.94 - 2.69 0.065 1208.50 -424.9 -82.73 - - 3105.25 - - - - - - - - - 16.10 -
8380.72 784.03 -6.95 1016 8385.80 roll -1.37 - - 1988.50 - 2.58 0.032 2351.81 443.1 -82.73 - - 3105.00 - - - - - - - - - 16.10 -
8691.19 804.39 -6.44 1048 8692.52 no move -1.37 - - 1988.00 - - - 2351.88 - -82.73 - - 3104.12 - - - - - - - - - - -
9001.25 823.99 -6.25 1079 9002.58 no move -1.37 - - 1988.38 - - - 2351.56 - -82.73 - - 3103.84 - - - - - - - - - - -
9311.51 845.19 -7.13 1110 9315.99 roll -1.37 - - 1988.44 - 2.71 0.066 1208.44 -421.8 -82.73 - - 3104.28 - - - - - - - - - 16.11 -
9390.89 851.25 -7.51 1126 9395.97 roll -1.37 - - 1988.75 - 2.58 0.032 2351.75 443.1 -82.73 - - 3104.09 - - - - - - - - - 16.12 -
9700.94 874.59 -7.60 1158 9706.03 roll -1.37 - - 1988.62 - 2.71 0.065 1208.69 -421.8 -82.73 - - 3103.41 - - - - - - - - - 16.10 -
9840.97 886.45 -8.31 1186 9846.03 roll -1.37 - - 1989.00 - 2.58 0.032 2352.19 443.2 -82.73 - - 3103.50 - - - - - - - - - 16.11 -
10151.00 911.11 -8.07 1218 10152.33 no move -1.37 - - 1988.69 - - - 2352.50 - -82.73 - - 3101.88 - - - - - - - - - - -
10461.59 935.23 -7.62 1249 10466.12 roll -1.37 - - 1988.25 - 2.62 0.097 3427.06 410.1 -82.73 - - 3102.88 - - - - - - - - - 16.08 -
10565.60 944.55 -8.58 1270 10571.59 roll -1.37 - - 1988.88 - 2.54 0.024 2248.00 -464.2 -82.73 - - 3102.94 - - - - - - - - - 16.12 -
10881.49 968.28 -7.20 1302 10886.15 roll -1.37 - - 1988.81 - 2.46 0.071 1208.44 -422.6 -82.73 - - 3102.41 - - - - - - - - - 16.09 -
10921.10 971.72 -8.60 1310 10926.18 roll -1.37 - - 1988.88 - 2.58 0.032 2351.44 443.0 -82.73 - - 3102.25 - - - - - - - - - 16.11 -
11181 end dive: TARGET_DEPTH_EXCEEDED
11181 begin apogee
11183.23 990.43 -7.04 1337 11248.54 -0.28 1.83 0.150 2254.44 145.1 0.22 0.138 2282.94 -311.4 - 61.07 2.442 2772.56 -5.4 0.362 - - - - - - 16.01 15.66 12.25
11250 end apogee: CONTROL_FINISHED_OK
11250 begin climb
11250.96 991.78 - 1343 11323.90 1.37 2.65 0.095 2655.12 151.2 - - 2283.12 - 82.73 65.88 2.361 2437.69 -5.1 0.353 - - - - - - 15.69 - 12.85
11627.67 966.33 7.43 1387 11632.60 roll 1.39 - - 2656.25 - 2.83 0.076 1129.81 -407.5 82.73 - - 2430.88 - - - - - - - - - 15.77 -
11687.50 961.74 8.11 1399 11692.59 roll 1.39 - - 2655.69 - 2.62 0.032 2271.88 435.9 82.73 - - 2430.69 - - - - - - - - - 15.79 -
11997.96 939.17 7.23 1431 11999.29 no move 1.41 - - 2655.56 - - - 2271.75 - 82.73 - - 2429.06 - - - - - - - - - - -
12308.03 916.86 7.14 1462 12312.71 done 1.44 - - 2656.06 - 2.64 0.097 3346.06 406.9 82.73 - - 2429.34 - - - - - - - - - 15.93 -
12372.18 911.49 8.25 1475 12378.35 done 1.44 - - 2656.00 - 2.58 0.025 2186.31 -449.5 82.73 - - 2429.69 - - - - - - - - - 15.96 -
12688.29 887.54 7.65 1507 12689.62 VBD 1.45 - - 2655.44 - - - 2185.69 - 82.73 - - 2427.50 - - - - - - - - - - -
12998.18 863.50 7.93 1538 13002.84 done 1.47 - - 2655.62 - 2.56 0.080 1131.31 -411.9 82.73 - - 2428.19 - - - - - - - - - 15.99 -
13117.83 853.78 7.92 1562 13122.90 done 1.48 - - 2656.06 - 2.61 0.032 2272.19 437.1 82.73 - - 2429.66 - - - - - - - - - 16.02 -
13428.25 829.28 7.61 1594 13429.69 1.49 0.16 0.094 2697.94 261.8 - - 2272.31 - 82.73 - - 2427.47 - - - - - - - - 16.01 - -
13737.88 803.48 8.57 1625 13739.21 VBD 1.49 - - 2697.69 - - - 2271.44 - 82.73 - - 2427.88 - - - - - - - - - - -
14048.32 779.82 7.35 1656 14049.65 VBD 1.52 - - 2698.19 - - - 2271.81 - 82.73 - - 2427.66 - - - - - - - - - - -
14358.35 757.93 6.74 1687 14363.05 done 1.55 - - 2697.69 - 2.75 0.076 1131.31 -414.7 82.73 - - 2428.16 - - - - - - - - - 16.06 -
14407.98 754.18 7.03 1697 14413.04 done 1.58 - - 2697.69 - 2.60 0.032 2272.62 439.0 82.73 - - 2428.41 - - - - - - - - - 16.06 -
14718.40 733.07 6.86 1729 14719.73 VBD 1.61 - - 2698.06 - - - 2272.69 - 82.73 - - 2427.59 - - - - - - - - - - -
15028.66 711.09 7.34 1760 15029.99 VBD 1.63 - - 2698.31 - - - 2273.19 - 82.73 - - 2426.97 - - - - - - - - - - -
15338.72 688.05 7.52 1791 15343.18 done 1.65 - - 2698.06 - 2.76 0.075 1130.31 -414.1 82.73 - - 2427.91 - - - - - - - - - 16.06 -
15418.09 681.49 7.90 1807 15423.21 1.66 0.16 0.093 2738.69 253.9 2.60 0.032 2272.94 439.5 82.73 - - 2427.28 - - - - - - - - 16.00 16.08 -
15728.14 655.24 8.39 1839 15729.47 VBD 1.66 - - 2739.00 - - - 2272.19 - 82.73 - - 2426.44 - - - - - - - - - - -
16038.60 628.69 8.63 1870 16043.30 done 1.66 - - 2737.88 - 2.64 0.095 3346.00 406.7 82.73 - - 2428.41 - - - - - - - - - 16.06 -
16088.23 624.13 9.67 1880 16093.31 done 1.66 - - 2739.50 - 2.56 0.025 2187.69 -452.5 82.73 - - 2426.94 - - - - - - - - - 16.08 -
16398.68 597.28 8.41 1912 16403.37 done 1.66 - - 2739.62 - 2.53 0.079 1131.69 -417.4 82.73 - - 2426.97 - - - - - - - - - 16.08 -
16472.86 590.62 8.47 1927 16478.85 done 1.66 - - 2739.50 - 2.60 0.032 2273.94 439.3 82.73 - - 2428.47 - - - - - - - - - 16.10 -
16788.79 565.01 7.93 1959 16793.49 done 1.67 - - 2739.50 - 2.76 0.075 1129.00 -414.8 82.73 - - 2427.88 - - - - - - - - - 16.08 -
16888.44 556.76 7.73 1979 16893.49 done 1.69 - - 2739.44 - 2.59 0.032 2274.00 442.1 82.73 - - 2426.41 - - - - - - - - - 16.08 -
17199.13 534.08 7.10 2011 17203.59 done 1.72 - - 2738.94 - 2.77 0.074 1128.69 -413.5 82.73 - - 2427.91 - - - - - - - - - 16.07 -
17273.06 528.46 7.11 2026 17279.04 done 1.74 - - 2739.44 - 2.60 0.032 2274.38 440.7 82.73 - - 2426.91 - - - - - - - - - 16.07 -
17588.98 506.78 7.01 2058 17590.31 VBD 1.77 - - 2739.31 - - - 2274.44 - 82.73 - - 2425.75 - - - - - - - - - - -
17899.05 485.69 7.03 2089 17900.38 VBD 1.80 - - 2739.44 - - - 2274.38 - 82.73 - - 2425.97 - - - - - - - - - - -
18209.12 465.02 6.47 2120 18210.55 1.84 0.16 0.084 2781.00 259.7 - - 2274.38 - 82.73 - - 2427.06 - - - - - - - - 16.06 - -
18518.79 443.55 6.87 2151 18523.88 done 1.87 - - 2782.50 - 2.76 0.075 1130.06 -414.6 82.73 - - 2426.78 - - - - - - - - - 16.07 -
18679.21 431.38 8.02 2183 18683.90 done 1.87 - - 2782.19 - 2.60 0.032 2274.94 440.3 82.73 - - 2426.56 - - - - - - - - - 16.08 -
18989.27 411.38 6.36 2215 19014.38 VBD 1.93 - - 2782.12 - - - 2273.94 - 113.56 23.45 1.650 2309.88 -5.0 0.205 - - - - - - - - 12.27
19319.29 384.58 8.42 2248 19323.99 roll 1.93 - - 2782.31 - 2.66 0.093 3346.75 403.3 113.56 - - 2309.19 - - - - - - - - - 16.00 -
19448.94 372.77 8.85 2274 19454.18 roll 1.93 - - 2781.25 - 2.56 0.024 2187.75 -452.7 113.56 - - 2309.06 - - - - - - - - - 16.03 -
19759.15 346.91 8.40 2306 19764.04 roll 1.93 - - 2782.12 - 2.55 0.078 1130.12 -414.8 113.56 - - 2307.47 - - - - - - - - - 16.03 -
19963.55 328.99 8.48 2347 19969.57 roll 1.93 - - 2782.38 - 2.61 0.031 2274.31 438.4 113.56 - - 2307.69 - - - - - - - - - 16.04 -
20279.46 304.37 7.71 2379 20280.79 no move 1.95 - - 2782.31 - - - 2274.69 - 113.56 - - 2307.03 - - - - - - - - - - -
20589.48 278.98 8.40 2410 20594.20 roll 1.95 - - 2782.56 - 2.78 0.073 1129.81 -411.8 113.56 - - 2307.84 - - - - - - - - - 16.05 -
20823.91 258.68 7.94 2457 20829.73 roll 1.96 - - 2782.62 - 2.61 0.031 2273.25 438.1 113.56 - - 2306.94 - - - - - - - - - 16.04 -
21139.64 233.85 8.28 2489 21144.36 roll 1.96 - - 2782.38 - 2.75 0.072 1130.62 -415.5 113.56 - - 2308.12 - - - - - - - - - 16.06 -
21224.17 227.19 8.01 2506 21229.83 roll 1.96 - - 2782.88 - 2.60 0.030 2274.31 439.9 113.56 - - 2307.38 - - - - - - - - - 16.06 -
21539.75 204.19 7.08 2538 21544.63 roll 1.99 - - 2781.94 - 2.75 0.072 1130.25 -416.0 113.56 - - 2308.66 - - - - - - - - - 16.01 -
21684.57 193.35 7.50 2567 21689.94 roll 2.01 - - 2783.00 - 2.59 0.031 2275.19 442.1 113.56 - - 2308.03 - - - - - - - - - 16.05 -
21999.87 171.13 6.80 2599 22001.30 pitch 2.04 0.19 0.079 2827.81 235.8 - - 2275.31 - 113.56 - - 2306.88 - - - - - - - - 16.03 - -
22309.54 148.67 6.91 2630 22314.64 roll 2.07 - - 2829.00 - 2.74 0.071 1129.81 -418.1 113.56 - - 2308.97 - - - - - - - - - 16.05 -
22474.13 137.28 6.38 2663 22504.76 done 2.13 - - 2829.31 - 2.59 0.030 2273.62 441.6 143.98 23.76 1.313 2187.12 -5.1 0.089 - - - - - - - 16.05 12.33
22810.05 110.52 7.95 2700 22811.38 no move 2.14 - - 2828.81 - - - 2273.38 - 143.98 - - 2183.41 - - - - - - - - - - -
23114.74 95.22 3.92 2742 23172.04 2.27 0.25 0.065 2888.56 239.0 2.80 0.072 1130.06 -408.3 210.47 49.67 1.296 1916.19 -5.4 0.065 - - - - - - 16.00 15.81 12.40
23400.08 73.73 7.17 2799 23405.61 done 2.30 - - 2888.75 - 2.61 0.028 2273.56 438.1 210.47 - - 1908.38 - - - - - - - - - 15.86 -
23590.14 62.13 6.33 2837 23620.77 done 2.36 - - 2888.81 - 2.66 0.091 3347.12 403.6 241.69 23.80 1.187 1789.62 -5.0 0.043 - - - - - - - 15.78 12.53
23750.18 48.73 8.81 2869 23755.71 roll 2.36 - - 2888.19 - 2.59 0.023 2185.62 -448.5 241.69 - - 1786.12 - - - - - - - - - 15.84 -
23940.27 35.21 6.33 2907 23971.69 done 2.43 - - 2887.44 - 2.88 0.085 3347.00 403.3 272.95 24.19 1.154 1662.53 -5.1 0.026 - - - - - - - 15.79 12.50
24200.37 26.58 0.02 2959 24298.78 2.67 0.50 0.053 2982.75 190.6 2.58 0.022 2175.62 -454.0 396.69 90.56 1.175 1158.03 -5.6 0.021 - - - - - - 15.86 15.87 12.57
24481.83 7.26 11.70 3015 24487.42 done 2.67 - - 2982.19 - 2.91 0.083 3346.12 402.2 396.69 - - 1150.19 - - - - - - - - - 15.76 -
24527 end climb: SURFACE_DEPTH_REACHED
24527 begin surface coast
24543 end surface coast: CONTROL_FINISHED_OK
24543 begin surface
SM 3.18 - - - - 177.0 21.60 1.087 1042.8 48.3 17.25 0.047 1012.9 58.7 - 2.38 0.022 1072.6 449.4 -6.640 - - 12.57 15.78 15.81 -