NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 321 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 102.29 of 550.00 AH used of 24V (81.40% remains)
• Surface angle -60.9 deg, depth 1.54 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 425.13 (SM_CC=425)
• GPS1 time: 57 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.70 - - - 67.02 VBD -1.37 - - 178.38 - - - 2363.69 - -82.73 59.15 0.005 2541.88 - - - - - - - - - - 15.62
67.76 3.57 -3.94 11 105.13 -1.37 13.76 0.251 1987.00 131.4 2.65 0.089 3426.94 401.2 -82.73 13.18 0.006 3113.06 43.3 -4.257 - - - - - - 15.64 15.59 15.64
208.15 32.50 -17.35 39 213.68 roll -1.37 - - 1988.56 - 2.63 0.021 2254.50 -445.8 -82.73 - - 3112.88 - - - - - - - - - 15.85 -
398.60 60.99 -14.29 77 403.95 roll -1.37 - - 1987.88 - 2.56 0.065 1208.56 -408.6 -82.73 - - 3113.84 - - - - - - - - - 15.89 -
508.39 77.05 -14.61 99 513.82 roll -1.37 - - 1989.00 - 2.63 0.029 2353.06 435.2 -82.73 - - 3112.84 - - - - - - - - - 15.91 -
698.76 101.33 -11.58 136 700.09 no move -1.37 - - 1988.81 - - - 2353.31 - -82.73 - - 3112.84 - - - - - - - - - - -
1008.81 136.31 -9.96 167 1013.52 roll -1.37 - - 1989.06 - 2.78 0.061 1208.81 -411.7 -82.73 - - 3114.06 - - - - - - - - - 15.99 -
1042.97 139.92 -10.32 174 1048.98 roll -1.37 - - 1988.50 - 2.62 0.029 2354.44 437.3 -82.73 - - 3114.84 - - - - - - - - - 16.01 -
1358.50 170.44 -9.63 206 1363.60 roll -1.37 - - 1987.25 - 2.79 0.061 1208.44 -410.8 -82.73 - - 3115.31 - - - - - - - - - 16.02 -
1468.53 181.19 -9.81 228 1473.62 roll -1.37 - - 1989.12 - 2.62 0.029 2353.12 436.9 -82.73 - - 3115.22 - - - - - - - - - 16.03 -
1778.60 209.53 -9.27 260 1783.69 roll -1.37 - - 1988.69 - 2.78 0.061 1209.50 -411.4 -82.73 - - 3116.34 - - - - - - - - - 16.06 -
1853.15 217.02 -10.29 275 1859.14 roll -1.37 - - 1988.69 - 2.60 0.029 2353.00 439.8 -82.73 - - 3114.69 - - - - - - - - - 16.05 -
2168.68 247.17 -9.50 307 2170.01 no move -1.37 - - 1988.44 - - - 2353.12 - -82.73 - - 3113.72 - - - - - - - - - - -
2479.37 277.77 -10.21 338 2480.70 no move -1.37 - - 1988.62 - - - 2353.38 - -82.73 - - 3113.22 - - - - - - - - - - -
2789.19 311.22 -10.76 369 2793.91 roll -1.37 - - 1987.62 - 2.79 0.062 1208.19 -410.5 -82.73 - - 3114.41 - - - - - - - - - 16.08 -
2908.84 324.52 -10.79 393 2913.93 roll -1.37 - - 1988.75 - 2.61 0.030 2353.19 438.7 -82.73 - - 3114.16 - - - - - - - - - 16.09 -
3218.88 355.11 -9.29 425 3223.98 roll -1.37 - - 1988.50 - 2.78 0.062 1209.69 -411.3 -82.73 - - 3113.59 - - - - - - - - - 16.10 -
3253.42 358.40 -9.23 432 3259.40 roll -1.37 - - 1987.88 - 2.60 0.030 2352.88 439.7 -82.73 - - 3112.97 - - - - - - - - - 16.09 -
3568.92 388.27 -9.53 464 3574.01 roll -1.37 - - 1988.19 - 2.76 0.063 1208.62 -414.6 -82.73 - - 3112.69 - - - - - - - - - 16.10 -
3653.47 396.65 -9.95 481 3659.47 roll -1.37 - - 1988.56 - 2.62 0.030 2352.69 436.7 -82.73 - - 3112.31 - - - - - - - - - 16.11 -
3968.97 428.55 -10.36 513 3974.07 roll -1.37 - - 1988.75 - 2.78 0.063 1208.62 -411.5 -82.73 - - 3111.72 - - - - - - - - - 16.11 -
4028.97 434.94 -11.06 525 4034.04 roll -1.37 - - 1988.62 - 2.60 0.030 2353.00 440.1 -82.73 - - 3112.69 - - - - - - - - - 16.11 -
4339.02 466.82 -10.07 557 4340.35 no move -1.37 - - 1988.19 - - - 2352.81 - -82.73 - - 3110.69 - - - - - - - - - - -
4649.69 496.48 -9.30 588 4654.15 roll -1.37 - - 1989.12 - 2.78 0.064 1208.12 -411.8 -82.73 - - 3110.84 - - - - - - - - - 16.11 -
4723.60 503.56 -9.61 603 4729.61 roll -1.37 - - 1988.44 - 2.62 0.030 2352.94 437.0 -82.73 - - 3112.06 - - - - - - - - - 16.12 -
5039.10 531.90 -9.05 635 5044.19 roll -1.37 - - 1988.00 - 2.77 0.064 1210.00 -412.6 -82.73 - - 3110.75 - - - - - - - - - 16.12 -
5123.67 539.73 -9.40 652 5129.66 roll -1.37 - - 1988.56 - 2.59 0.031 2352.00 440.9 -82.73 - - 3109.69 - - - - - - - - - 16.12 -
5439.19 567.29 -8.82 684 5444.29 roll -1.37 - - 1988.50 - 2.78 0.064 1208.31 -411.4 -82.73 - - 3110.06 - - - - - - - - - 16.13 -
5549.24 577.66 -9.56 706 5554.32 roll -1.37 - - 1988.50 - 2.62 0.031 2351.19 436.2 -82.73 - - 3109.44 - - - - - - - - - 16.12 -
5859.31 604.50 -8.66 738 5864.40 roll -1.37 - - 1988.19 - 2.79 0.064 1209.62 -409.2 -82.73 - - 3108.75 - - - - - - - - - 16.13 -
5969.34 614.26 -9.09 760 5974.42 roll -1.37 - - 1988.38 - 2.62 0.031 2351.75 435.9 -82.73 - - 3108.78 - - - - - - - - - 16.12 -
6279.40 640.06 -8.07 792 6284.68 roll -1.37 - - 1988.31 - 2.79 0.064 1209.31 -409.5 -82.73 - - 3108.25 - - - - - - - - - 16.13 -
6349.59 646.03 -8.60 806 6354.49 roll -1.37 - - 1988.50 - 2.60 0.031 2350.88 439.1 -82.73 - - 3108.06 - - - - - - - - - 16.11 -
6659.49 669.74 -7.38 838 6660.82 no move -1.37 - - 1988.81 - - - 2350.50 - -82.73 - - 3106.84 - - - - - - - - - - -
6969.94 692.87 -7.39 869 6974.65 roll -1.37 - - 1988.44 - 2.79 0.065 1209.62 -408.9 -82.73 - - 3106.28 - - - - - - - - - 16.14 -
7084.13 702.01 -7.71 892 7090.13 roll -1.37 - - 1988.31 - 2.61 0.031 2352.25 437.8 -82.73 - - 3107.19 - - - - - - - - - 16.12 -
7399.66 725.96 -7.74 924 7404.75 roll -1.37 - - 1988.44 - 2.74 0.065 1209.81 -416.9 -82.73 - - 3106.56 - - - - - - - - - 16.12 -
7469.67 731.68 -7.86 938 7474.76 roll -1.37 - - 1988.38 - 2.61 0.031 2351.00 437.2 -82.73 - - 3106.09 - - - - - - - - - 16.12 -
7779.74 755.33 -7.57 970 7781.07 no move -1.37 - - 1988.25 - - - 2351.88 - -82.73 - - 3104.59 - - - - - - - - - - -
8090.19 777.96 -7.15 1001 8094.90 roll -1.37 - - 1988.62 - 2.78 0.065 1210.06 -410.7 -82.73 - - 3104.78 - - - - - - - - - 16.12 -
8139.81 782.08 -7.61 1011 8144.91 roll -1.37 - - 1988.62 - 2.61 0.032 2352.38 437.7 -82.73 - - 3104.75 - - - - - - - - - 16.12 -
8450.05 805.21 -7.30 1043 8455.02 roll -1.37 - - 1988.62 - 2.80 0.065 1208.81 -408.4 -82.73 - - 3104.31 - - - - - - - - - 16.12 -
8529.88 811.80 -8.10 1059 8534.96 roll -1.37 - - 1988.44 - 2.62 0.032 2350.88 435.9 -82.73 - - 3105.44 - - - - - - - - - 16.14 -
8839.92 834.57 -7.33 1091 8845.01 roll -1.37 - - 1988.25 - 2.79 0.065 1208.50 -409.5 -82.73 - - 3103.94 - - - - - - - - - 16.13 -
8929.93 842.05 -8.15 1109 8935.01 roll -1.37 - - 1986.75 - 2.62 0.032 2351.31 436.2 -82.73 - - 3104.81 - - - - - - - - - 16.12 -
9239.98 867.29 -8.52 1141 9241.31 no move -1.37 - - 1988.19 - - - 2351.75 - -82.73 - - 3102.34 - - - - - - - - - - -
9550.40 893.43 -8.22 1172 9555.12 roll -1.37 - - 1988.56 - 2.79 0.065 1208.50 -409.8 -82.73 - - 3103.44 - - - - - - - - - 16.13 -
9640.03 901.59 -8.90 1190 9645.11 roll -1.37 - - 1988.31 - 2.61 0.032 2351.81 438.0 -82.73 - - 3104.47 - - - - - - - - - 16.13 -
9950.25 925.87 -7.46 1222 9951.58 no move -1.37 - - 1988.12 - - - 2351.88 - -82.73 - - 3101.94 - - - - - - - - - - -
10260.51 947.70 -6.58 1253 10265.22 roll -1.37 - - 1988.69 - 2.78 0.066 1211.06 -410.4 -82.73 - - 3103.38 - - - - - - - - - 16.13 -
10410.57 958.37 -6.87 1283 10415.45 roll -1.37 - - 1988.75 - 2.62 0.032 2352.38 435.6 -82.73 - - 3102.97 - - - - - - - - - 16.12 -
10720.81 977.63 -6.73 1315 10722.14 no move -1.37 - - 1988.38 - - - 2351.88 - -82.73 - - 3101.31 - - - - - - - - - - -
10920 end dive: TARGET_DEPTH_EXCEEDED
10920 begin apogee
10922.12 990.80 -6.70 1335 10987.64 -0.28 1.76 0.147 2253.88 150.9 0.21 0.139 2280.75 -338.7 - 61.10 2.438 2773.41 -5.4 0.360 - - - - - - 16.02 15.67 12.30
10997 end apogee: CONTROL_FINISHED_OK
10998 begin climb
10998.07 992.12 - 1341 11073.34 1.37 2.60 0.094 2655.94 154.6 2.80 0.098 3346.06 380.5 82.73 65.39 2.367 2437.75 -5.1 0.355 - - - - - - 15.70 15.35 12.87
11126.57 984.54 7.39 1366 11132.40 roll 1.39 - - 2656.81 - 2.71 0.025 2191.69 -426.0 82.73 - - 2434.03 - - - - - - - - - 15.57 -
11442.28 960.31 7.43 1398 11443.61 no move 1.41 - - 2656.62 - - - 2192.06 - 82.73 - - 2430.19 - - - - - - - - - - -
11752.31 938.47 6.73 1429 11753.64 no move 1.44 - - 2655.94 - - - 2191.56 - 82.73 - - 2429.38 - - - - - - - - - - -
12062.61 917.09 6.87 1460 12063.94 VBD 1.48 - - 2656.25 - - - 2191.38 - 82.73 - - 2428.59 - - - - - - - - - - -
12372.38 894.91 7.85 1491 12373.82 1.49 0.14 0.098 2696.75 289.3 - - 2191.12 - 82.73 - - 2427.69 - - - - - - - - 15.96 - -
12682.02 867.99 8.94 1522 12683.35 VBD 1.49 - - 2696.62 - - - 2190.25 - 82.73 - - 2428.09 - - - - - - - - - - -
12992.44 841.30 8.54 1553 12993.77 VBD 1.49 - - 2696.38 - - - 2190.88 - 82.73 - - 2428.03 - - - - - - - - - - -
13302.47 815.83 8.28 1584 13303.81 VBD 1.49 - - 2696.25 - - - 2190.94 - 82.73 - - 2428.06 - - - - - - - - - - -
13612.55 791.41 7.63 1615 13613.89 VBD 1.50 - - 2696.19 - - - 2191.12 - 82.73 - - 2427.62 - - - - - - - - - - -
13922.61 767.45 8.03 1646 13923.94 VBD 1.50 - - 2696.44 - - - 2190.50 - 82.73 - - 2427.88 - - - - - - - - - - -
14232.68 743.96 7.09 1677 14237.40 done 1.53 - - 2697.12 - 2.87 0.092 3345.50 402.4 82.73 - - 2427.91 - - - - - - - - - 16.05 -
14336.86 734.69 8.72 1698 14342.86 done 1.53 - - 2697.06 - 2.62 0.026 2190.50 -440.8 82.73 - - 2430.25 - - - - - - - - - 16.08 -
14652.79 709.38 7.69 1730 14654.12 VBD 1.55 - - 2697.00 - - - 2190.56 - 82.73 - - 2427.78 - - - - - - - - - - -
14962.85 686.21 7.24 1761 14964.18 VBD 1.57 - - 2696.88 - - - 2190.31 - 82.73 - - 2427.22 - - - - - - - - - - -
15272.91 662.67 7.65 1792 15274.24 VBD 1.59 - - 2696.75 - - - 2189.06 - 82.73 - - 2426.97 - - - - - - - - - - -
15583.16 639.14 7.71 1823 15587.75 done 1.60 - - 2697.12 - 2.88 0.091 3343.88 401.0 82.73 - - 2428.19 - - - - - - - - - 16.08 -
15617.14 636.49 7.60 1830 15623.12 done 1.62 - - 2697.19 - 2.62 0.026 2188.75 -440.9 82.73 - - 2427.62 - - - - - - - - - 16.11 -
15933.40 613.76 6.91 1862 15934.73 VBD 1.65 - - 2696.62 - - - 2189.44 - 82.73 - - 2426.62 - - - - - - - - - - -
16243.13 593.29 6.64 1893 16244.56 1.69 0.19 0.081 2739.50 225.7 - - 2188.31 - 82.73 - - 2427.19 - - - - - - - - 16.07 - -
16552.80 571.70 6.94 1924 16557.87 done 1.72 - - 2741.69 - 2.63 0.080 1131.50 -401.8 82.73 - - 2429.31 - - - - - - - - - 16.10 -
16662.84 563.47 7.40 1946 16667.91 done 1.74 - - 2742.12 - 2.63 0.032 2273.19 434.1 82.73 - - 2429.16 - - - - - - - - - 16.09 -
16973.27 541.13 7.14 1978 16974.60 VBD 1.77 - - 2741.75 - - - 2272.69 - 82.73 - - 2426.38 - - - - - - - - - - -
17283.31 520.04 6.97 2009 17284.65 VBD 1.80 - - 2742.50 - - - 2273.56 - 82.73 - - 2426.53 - - - - - - - - - - -
17593.34 499.37 6.94 2040 17594.67 VBD 1.83 - - 2742.12 - - - 2272.88 - 82.73 - - 2426.81 - - - - - - - - - - -
17903.37 479.48 6.35 2071 17934.42 1.89 0.21 0.075 2796.81 260.4 2.67 0.095 3345.19 401.6 113.67 23.64 1.709 2312.56 -4.8 0.224 - - - - - - 16.06 15.98 12.31
17963.28 474.60 8.54 2083 17968.13 roll 1.89 - - 2796.81 - 2.63 0.025 2190.25 -439.1 113.67 - - 2308.88 - - - - - - - - - 16.02 -
18273.40 442.07 10.45 2115 18278.09 roll 1.89 - - 2795.75 - 2.65 0.078 1130.25 -400.0 113.67 - - 2308.03 - - - - - - - - - 16.02 -
18353.03 433.00 11.29 2131 18358.11 roll 1.89 - - 2796.56 - 2.63 0.031 2272.88 434.5 113.67 - - 2307.50 - - - - - - - - - 16.02 -
18663.46 400.92 10.35 2163 18668.19 roll 1.89 - - 2797.12 - 2.84 0.073 1131.31 -402.0 113.67 - - 2306.91 - - - - - - - - - 16.05 -
18723.08 394.03 11.33 2175 18728.16 roll 1.89 - - 2796.75 - 2.63 0.031 2270.75 433.2 113.67 - - 2306.97 - - - - - - - - - 16.04 -
19033.51 361.67 10.01 2207 19034.84 no move 1.89 - - 2796.38 - - - 2271.19 - 113.67 - - 2306.28 - - - - - - - - - - -
19343.58 332.23 9.07 2238 19348.27 roll 1.89 - - 2796.88 - 2.67 0.092 3346.62 402.8 113.67 - - 2307.25 - - - - - - - - - 16.04 -
19443.24 322.14 10.21 2258 19448.32 roll 1.89 - - 2797.12 - 2.62 0.025 2188.94 -441.9 113.67 - - 2307.00 - - - - - - - - - 16.06 -
19753.88 296.23 7.75 2290 19755.21 no move 1.90 - - 2797.50 - - - 2189.50 - 113.67 - - 2305.81 - - - - - - - - - - -
20063.76 272.07 8.09 2321 20068.63 roll 1.90 - - 2796.62 - 2.62 0.077 1131.44 -403.8 113.67 - - 2308.38 - - - - - - - - - 16.07 -
20148.10 264.61 8.67 2338 20153.94 roll 1.90 - - 2796.81 - 2.62 0.031 2271.56 435.2 113.67 - - 2308.38 - - - - - - - - - 16.07 -
20463.85 238.48 7.98 2370 20468.58 roll 1.90 - - 2796.69 - 2.83 0.072 1130.19 -403.3 113.67 - - 2306.88 - - - - - - - - - 16.03 -
20654.24 223.02 7.95 2408 20658.61 roll 1.91 - - 2796.81 - 2.62 0.031 2272.31 435.9 113.67 - - 2307.09 - - - - - - - - - 16.07 -
20964.00 201.56 6.94 2440 20965.33 no move 1.94 - - 2796.88 - - - 2272.31 - 113.67 - - 2306.06 - - - - - - - - - - -
21274.05 180.88 7.32 2471 21278.73 roll 1.97 - - 2797.31 - 2.64 0.090 3347.38 407.2 113.67 - - 2307.75 - - - - - - - - - 16.01 -
21338.22 175.81 7.92 2484 21344.19 roll 1.98 - - 2797.06 - 2.60 0.024 2185.31 -447.0 113.67 - - 2307.91 - - - - - - - - - 16.07 -
21654.14 154.56 6.62 2516 21658.82 roll 2.01 - - 2797.38 - 2.61 0.076 1131.56 -403.7 113.67 - - 2307.75 - - - - - - - - - 16.06 -
21678.29 152.68 7.05 2521 21684.28 roll 2.04 - - 2797.19 - 2.62 0.029 2274.25 436.1 113.67 - - 2308.31 - - - - - - - - - 16.07 -
21994.47 131.99 6.00 2553 22029.14 2.11 0.22 0.077 2850.00 240.0 2.65 0.091 3347.62 405.0 149.77 27.64 1.299 2163.06 -5.3 0.088 - - - - - - 15.99 15.94 12.32
22254.20 108.35 9.09 2605 22258.95 roll 2.11 - - 2850.19 - 2.64 0.024 2188.06 -439.2 149.77 - - 2162.84 - - - - - - - - - 16.00 -
22563.93 95.82 1.70 2656 22642.01 2.31 0.18 0.083 2896.19 255.6 2.69 0.077 1132.69 -392.3 248.84 72.14 1.293 1760.72 -5.6 0.068 - - - - - - 15.95 15.72 12.54
22715.17 86.95 10.61 2686 22720.55 done 2.31 - - 2895.31 - 2.65 0.029 2273.31 430.4 248.84 - - 1752.75 - - - - - - - - - 15.79 -
22905.04 69.68 8.88 2724 22910.63 done 2.31 - - 2896.75 - 2.88 0.071 1130.94 -396.7 248.84 - - 1749.19 - - - - - - - - - 15.87 -
23070.07 53.42 9.86 2757 23075.80 done 2.31 - - 2895.38 - 2.63 0.030 2272.88 434.2 248.84 - - 1745.59 - - - - - - - - - 15.91 -
23260.13 36.88 8.13 2795 23265.68 done 2.31 - - 2897.19 - 2.66 0.088 3346.88 403.8 248.84 - - 1744.72 - - - - - - - - - 15.90 -
23365.19 29.38 6.09 2816 23396.61 done 2.38 - - 2896.88 - 2.64 0.023 2182.25 -441.1 283.52 25.11 1.141 1618.22 -5.0 0.021 - - - - - - - 15.95 12.50
23580.28 23.78 1.54 2859 23657.53 2.58 0.31 0.062 2962.19 210.7 - - 2182.19 - 384.93 74.78 1.169 1206.22 -5.5 0.019 - - - - - - 15.89 - 12.60
23840.58 2.56 11.05 2911 23846.17 done 2.58 - - 2961.94 - 2.90 0.081 3345.56 401.2 384.93 - - 1197.75 - - - - - - - - - 15.76 -
23850 end climb: SURFACE_DEPTH_REACHED
23850 begin surface coast
23875 end surface coast: CONTROL_FINISHED_OK
23876 begin surface
SM 1.30 - - - - 184.2 29.96 1.110 1041.9 34.8 17.08 0.044 1015.5 59.5 - 2.43 0.024 1068.3 438.4 -2.427 - - 12.60 15.80 15.83 -