NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 399 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 125.38 of 550.00 AH used of 24V (77.20% remains)
• Surface angle -60.9 deg, depth 0.53 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.76 (SM_CC=425)
• GPS1 time: 32 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.06 - - - 82.58 VBD -1.37 - - 180.62 - - - 2238.50 - -82.73 75.99 0.005 2604.97 - - - - - - - - - - 15.56
83.32 3.38 -4.69 14 116.57 -1.37 13.88 0.250 1988.50 130.3 2.93 0.082 3428.94 406.3 -82.73 10.31 0.007 3110.31 49.0 -3.920 - - - - - - 15.67 15.53 15.60
343.86 49.15 -13.25 66 349.27 roll -1.37 - - 1988.81 - 2.56 0.020 2247.06 -461.7 -82.73 - - 3110.94 - - - - - - - - - 15.88 -
534.08 71.84 -11.55 104 539.27 roll -1.37 - - 1988.94 - 2.88 0.077 3428.94 410.4 -82.73 - - 3112.72 - - - - - - - - - 15.92 -
558.69 74.89 -12.02 109 564.23 roll -1.37 - - 1988.81 - 2.55 0.020 2246.50 -463.7 -82.73 - - 3111.69 - - - - - - - - - 15.93 -
749.11 95.69 -9.14 147 754.29 roll -1.37 - - 1988.62 - 2.87 0.077 3428.62 411.9 -82.73 - - 3112.91 - - - - - - - - - 15.95 -
823.73 102.80 -9.71 162 829.26 roll -1.37 - - 1989.00 - 2.53 0.020 2243.19 -468.5 -82.73 - - 3110.50 - - - - - - - - - 15.98 -
1133.78 132.54 -9.42 224 1138.89 roll -1.37 - - 1988.81 - 2.43 0.066 1207.50 -426.2 -82.73 - - 3110.53 - - - - - - - - - 16.01 -
1188.78 137.88 -9.57 235 1194.31 roll -1.37 - - 1987.25 - 2.59 0.028 2354.75 443.0 -82.73 - - 3111.31 - - - - - - - - - 16.01 -
1498.83 162.59 -7.83 297 1500.16 no move -1.37 - - 1988.25 - - - 2355.25 - -82.73 - - 3110.22 - - - - - - - - - - -
1804.08 187.48 -8.53 358 1805.41 no move -1.37 - - 1988.44 - - - 2355.44 - -82.73 - - 3108.94 - - - - - - - - - - -
2109.00 213.66 -8.99 419 2114.57 roll -1.37 - - 1988.69 - 2.70 0.061 1207.06 -425.3 -82.73 - - 3109.38 - - - - - - - - - 16.06 -
2194.03 221.88 -9.75 436 2199.56 roll -1.37 - - 1988.44 - 2.59 0.029 2353.25 442.5 -82.73 - - 3108.56 - - - - - - - - - 16.06 -
2504.14 249.28 -8.21 498 2509.68 roll -1.37 - - 1988.56 - 2.69 0.061 1207.50 -425.9 -82.73 - - 3108.12 - - - - - - - - - 16.08 -
2629.17 260.58 -8.83 523 2634.70 roll -1.37 - - 1988.44 - 2.58 0.029 2355.44 444.9 -82.73 - - 3107.69 - - - - - - - - - 16.08 -
2939.28 285.47 -8.52 585 2940.61 no move -1.37 - - 1988.25 - - - 2355.06 - -82.73 - - 3104.84 - - - - - - - - - - -
3246.02 312.54 -9.02 631 3257.09 no move -1.37 - - 1988.69 - - - 2355.06 - -82.73 - - 3105.53 - - - - - - - - - - -
3559.48 340.65 -8.83 660 3564.11 roll -1.37 - - 1988.44 - 2.69 0.062 1207.50 -426.6 -82.73 - - 3104.91 - - - - - - - - - 16.10 -
3708.16 354.44 -9.36 680 3723.26 roll -1.37 - - 1988.25 - 2.58 0.030 2353.88 444.3 -82.73 - - 3104.28 - - - - - - - - - 16.10 -
4024.75 384.24 -9.25 709 4029.37 roll -1.37 - - 1988.44 - 2.69 0.062 1208.50 -425.8 -82.73 - - 3101.22 - - - - - - - - - 16.10 -
4093.72 390.84 -9.50 718 4098.33 roll -1.37 - - 1989.12 - 2.56 0.030 2354.25 447.6 -82.73 - - 3101.22 - - - - - - - - - 16.10 -
4404.92 418.73 -8.35 747 4409.55 roll -1.37 - - 1988.50 - 2.68 0.062 1208.44 -427.5 -82.73 - - 3101.00 - - - - - - - - - 16.10 -
4457.84 423.27 -8.51 754 4462.45 roll -1.37 - - 1988.38 - 2.57 0.030 2354.50 445.9 -82.73 - - 3101.09 - - - - - - - - - 16.11 -
4769.05 448.54 -8.36 783 4780.13 no move -1.37 - - 1988.88 - - - 2354.88 - -82.73 - - 3100.69 - - - - - - - - - - -
5082.44 475.79 -8.86 812 5093.51 no move -1.37 - - 1988.94 - - - 2354.19 - -82.73 - - 3099.50 - - - - - - - - - - -
5408.00 504.58 -8.62 841 5412.63 roll -1.37 - - 1989.06 - 2.70 0.064 1208.75 -424.2 -82.73 - - 3098.44 - - - - - - - - - 16.10 -
5430.80 506.06 -8.64 845 5445.72 roll -1.37 - - 1987.12 - 2.57 0.030 2353.25 445.3 -82.73 - - 3099.28 - - - - - - - - - 16.11 -
5760.21 534.33 -8.44 867 5764.83 roll -1.37 - - 1988.38 - 2.69 0.064 1208.44 -425.6 -82.73 - - 3099.78 - - - - - - - - - 16.10 -
5798.75 537.49 -8.44 873 5804.47 roll -1.37 - - 1988.44 - 2.56 0.030 2353.06 447.1 -82.73 - - 3098.97 - - - - - - - - - 16.11 -
6118.32 562.56 -7.53 895 6122.95 roll -1.37 - - 1987.94 - 2.69 0.064 1207.19 -426.0 -82.73 - - 3096.31 - - - - - - - - - 16.11 -
6177.59 567.43 -8.19 904 6183.13 roll -1.37 - - 1989.06 - 2.58 0.031 2352.00 443.7 -82.73 - - 3098.22 - - - - - - - - - 16.10 -
6497.33 591.64 -7.01 926 6501.96 roll -1.37 - - 1988.75 - 2.70 0.064 1208.31 -423.6 -82.73 - - 3094.50 - - - - - - - - - 16.10 -
6561.61 596.07 -7.42 936 6576.52 roll -1.37 - - 1989.00 - 2.57 0.031 2350.31 444.4 -82.73 - - 3098.09 - - - - - - - - - 16.12 -
6891.02 621.74 -7.78 958 6892.34 no move -1.37 - - 1988.06 - - - 2350.44 - -82.73 - - 3095.22 - - - - - - - - - - -
7206.03 646.48 -8.19 979 7210.65 roll -1.37 - - 1988.62 - 2.69 0.065 1208.94 -424.3 -82.73 - - 3094.72 - - - - - - - - - 16.11 -
7311.79 655.26 -8.85 995 7326.93 roll -1.37 - - 1988.44 - 2.57 0.031 2350.44 444.2 -82.73 - - 3095.59 - - - - - - - - - 16.12 -
7641.37 683.18 -8.26 1017 7642.70 no move -1.37 - - 1988.50 - - - 2350.62 - -82.73 - - 3093.84 - - - - - - - - - - -
7956.21 709.41 -8.17 1038 7960.84 roll -1.37 - - 1989.50 - 2.70 0.065 1208.69 -422.9 -82.73 - - 3095.09 - - - - - - - - - 16.11 -
8061.96 717.99 -8.64 1054 8076.88 roll -1.37 - - 1988.94 - 2.57 0.031 2352.81 445.2 -82.73 - - 3095.75 - - - - - - - - - 16.11 -
8391.38 745.91 -8.14 1076 8392.71 no move -1.37 - - 1988.44 - - - 2353.00 - -82.73 - - 3092.00 - - - - - - - - - - -
8706.59 771.29 -7.81 1097 8711.29 roll -1.37 - - 1988.06 - 2.70 0.065 1209.69 -423.4 -82.73 - - 3092.31 - - - - - - - - - 16.10 -
8764.52 776.04 -8.06 1105 8769.13 roll -1.37 - - 1989.12 - 2.57 0.031 2352.50 444.7 -82.73 - - 3093.59 - - - - - - - - - 16.09 -
9080.99 799.56 -7.22 1127 9082.32 no move -1.37 - - 1988.44 - - - 2352.75 - -82.73 - - 3090.84 - - - - - - - - - - -
9396.01 822.91 -7.42 1148 9397.34 no move -1.37 - - 1988.56 - - - 2352.62 - -82.73 - - 3090.78 - - - - - - - - - - -
9711.03 846.28 -7.58 1169 9715.67 roll -1.37 - - 1988.56 - 2.70 0.065 1208.75 -423.7 -82.73 - - 3090.59 - - - - - - - - - 16.09 -
9796.03 852.61 -8.01 1182 9810.95 roll -1.37 - - 1988.81 - 2.58 0.031 2352.62 443.4 -82.73 - - 3090.88 - - - - - - - - - 16.10 -
10125.45 876.92 -6.86 1204 10126.78 no move -1.37 - - 1988.75 - - - 2352.56 - -82.73 - - 3090.31 - - - - - - - - - - -
10440.50 898.67 -6.75 1225 10445.12 roll -1.37 - - 1988.50 - 2.69 0.065 1208.44 -425.3 -82.73 - - 3092.38 - - - - - - - - - 16.09 -
10525.51 904.26 -7.04 1238 10540.43 roll -1.37 - - 1987.50 - 2.58 0.031 2353.19 443.7 -82.73 - - 3091.38 - - - - - - - - - 16.10 -
10854.92 927.73 -7.15 1260 10856.25 no move -1.37 - - 1988.00 - - - 2353.75 - -82.73 - - 3089.28 - - - - - - - - - - -
11169.93 949.36 -6.62 1281 11171.26 no move -1.37 - - 1988.25 - - - 2353.94 - -82.73 - - 3089.06 - - - - - - - - - - -
11484.95 970.18 -6.75 1302 11486.28 no move -1.37 - - 1988.69 - - - 2354.38 - -82.73 - - 3088.16 - - - - - - - - - - -
11785 end dive: TARGET_DEPTH_EXCEEDED
11785 begin apogee
11787.20 990.06 -6.69 1322 11850.33 -0.28 1.79 0.150 2254.69 148.6 0.21 0.138 2283.94 -335.4 - 58.67 2.421 2775.16 -5.3 0.361 - - - - - - 15.98 15.68 11.90
11852 end apogee: CONTROL_FINISHED_OK
11852 begin climb
11852.28 991.43 - 1326 11927.22 1.37 2.62 0.101 2654.81 152.7 2.74 0.097 3347.19 388.0 82.73 65.91 2.415 2436.38 -5.1 0.350 - - - - - - 15.70 15.33 12.78
11976.43 984.98 6.36 1345 12012.83 done 1.43 - - 2655.25 - 2.64 0.024 2189.62 -438.5 113.45 26.64 2.259 2311.34 -4.7 0.339 - - - - - - - 15.56 12.55
12326.42 953.85 8.95 1370 12331.03 roll 1.43 - - 2652.44 - 2.59 0.080 1131.19 -408.7 113.45 - - 2305.75 - - - - - - - - - 15.74 -
12405.10 946.33 9.49 1381 12409.73 done 1.43 - - 2655.06 - 2.63 0.031 2273.44 434.3 113.45 - - 2303.44 - - - - - - - - - 15.79 -
12721.56 919.07 8.66 1403 12722.89 VBD 1.43 - - 2655.19 - - - 2273.38 - 113.45 - - 2302.53 - - - - - - - - - - -
13036.77 893.00 7.76 1424 13038.10 VBD 1.44 - - 2655.38 - - - 2273.69 - 113.45 - - 2302.75 - - - - - - - - - - -
13351.71 870.10 7.13 1445 13356.36 done 1.47 - - 2655.56 - 2.77 0.076 1130.12 -412.8 113.45 - - 2300.78 - - - - - - - - - 15.96 -
13452.47 862.57 7.57 1460 13458.05 1.49 0.15 0.103 2693.69 254.2 2.60 0.032 2272.75 439.5 113.45 - - 2303.28 - - - - - - - - 15.90 15.98 -
13772.03 836.78 8.34 1482 13776.68 done 1.49 - - 2694.38 - 2.76 0.076 1130.06 -414.0 113.45 - - 2300.97 - - - - - - - - - 15.99 -
13894.35 825.68 9.25 1500 13899.76 done 1.49 - - 2695.00 - 2.59 0.032 2270.50 440.3 113.45 - - 2302.19 - - - - - - - - - 16.01 -
14213.58 798.29 8.60 1522 14214.91 VBD 1.49 - - 2694.69 - - - 2269.69 - 113.45 - - 2300.75 - - - - - - - - - - -
14528.60 770.41 9.24 1543 14529.93 VBD 1.49 - - 2694.00 - - - 2269.94 - 113.45 - - 2300.69 - - - - - - - - - - -
14843.62 741.25 9.13 1564 14848.26 done 1.49 - - 2693.12 - 2.73 0.076 1129.75 -417.7 113.45 - - 2301.84 - - - - - - - - - 16.03 -
14907.89 735.64 9.52 1574 14922.83 done 1.49 - - 2694.62 - 2.59 0.032 2271.25 440.7 113.45 - - 2301.62 - - - - - - - - - 16.05 -
15237.32 706.34 8.53 1596 15238.66 VBD 1.49 - - 2694.69 - - - 2271.44 - 113.45 - - 2300.19 - - - - - - - - - - -
15552.38 681.79 7.23 1617 15557.02 done 1.51 - - 2694.31 - 2.74 0.076 1129.88 -416.6 113.45 - - 2301.25 - - - - - - - - - 16.05 -
15699.79 671.18 7.55 1639 15714.57 done 1.53 - - 2695.25 - 2.59 0.032 2273.38 441.5 113.45 - - 2301.31 - - - - - - - - - 16.06 -
16029.00 647.16 7.53 1661 16033.66 done 1.55 - - 2694.75 - 2.74 0.075 1130.00 -417.3 113.45 - - 2300.72 - - - - - - - - - 16.06 -
16088.28 642.19 8.35 1670 16093.82 done 1.55 - - 2694.12 - 2.59 0.032 2271.06 440.6 113.45 - - 2301.38 - - - - - - - - - 16.07 -
16407.69 615.66 8.30 1692 16412.33 done 1.55 - - 2694.50 - 2.73 0.075 1129.06 -418.3 113.45 - - 2300.31 - - - - - - - - - 16.06 -
16487.70 608.72 8.76 1704 16493.24 done 1.55 - - 2695.06 - 2.59 0.032 2273.75 442.0 113.45 - - 2300.62 - - - - - - - - - 16.07 -
16807.11 582.78 8.19 1726 16811.76 done 1.55 - - 2692.38 - 2.73 0.075 1131.19 -418.5 113.45 - - 2299.66 - - - - - - - - - 16.06 -
16892.13 575.89 8.69 1739 16907.05 done 1.55 - - 2694.00 - 2.59 0.032 2274.44 441.4 113.45 - - 2303.09 - - - - - - - - - 16.07 -
17221.55 550.02 7.65 1761 17226.20 done 1.56 - - 2695.06 - 2.73 0.075 1129.50 -419.4 113.45 - - 2299.28 - - - - - - - - - 16.06 -
17320.96 541.86 8.22 1775 17325.58 done 1.56 - - 2694.69 - 2.58 0.032 2273.62 443.5 113.45 - - 2298.56 - - - - - - - - - 16.07 -
17637.65 518.77 7.13 1797 17638.99 VBD 1.59 - - 2694.44 - - - 2273.62 - 113.45 - - 2298.88 - - - - - - - - - - -
17944.16 498.13 6.67 1818 17955.24 VBD 1.63 - - 2694.62 - - - 2273.56 - 113.45 - - 2300.12 - - - - - - - - - - -
18257.28 477.21 6.61 1847 18261.99 1.66 0.17 0.094 2733.75 230.2 2.72 0.076 1131.31 -419.9 113.45 - - 2299.56 - - - - - - - - 16.02 15.99 -
18327.31 471.88 7.55 1857 18342.22 done 1.68 - - 2735.94 - 2.58 0.031 2273.12 442.6 113.45 - - 2301.62 - - - - - - - - - 16.07 -
18643.38 447.10 7.54 1886 18648.03 done 1.70 - - 2736.19 - 2.73 0.075 1130.12 -418.7 113.45 - - 2300.19 - - - - - - - - - 16.06 -
18776.32 436.10 8.48 1904 18791.23 done 1.70 - - 2735.88 - 2.58 0.031 2273.38 443.1 113.45 - - 2300.09 - - - - - - - - - 16.07 -
19092.38 412.56 7.35 1933 19097.03 done 1.72 - - 2736.12 - 2.73 0.075 1128.50 -419.4 113.45 - - 2299.62 - - - - - - - - - 16.06 -
19209.59 403.45 7.93 1949 19224.51 done 1.73 - - 2736.00 - 2.57 0.031 2272.38 445.1 113.45 - - 2299.75 - - - - - - - - - 16.08 -
19526.25 378.90 7.93 1978 19537.33 VBD 1.74 - - 2736.19 - - - 2271.94 - 113.45 - - 2300.31 - - - - - - - - - - -
19838.84 354.36 8.02 2007 19843.48 done 1.74 - - 2734.94 - 2.74 0.075 1129.12 -417.1 113.45 - - 2299.38 - - - - - - - - - 16.06 -
19940.48 345.72 8.64 2021 19955.28 done 1.74 - - 2736.06 - 2.57 0.031 2273.38 445.2 113.45 - - 2299.94 - - - - - - - - - 16.07 -
20256.88 319.98 8.02 2050 20267.95 VBD 1.74 - - 2736.50 - - - 2273.69 - 113.45 - - 2300.31 - - - - - - - - - - -
20572.55 295.58 7.53 2085 20578.10 done 1.76 - - 2736.62 - 2.73 0.074 1130.81 -418.6 113.45 - - 2300.72 - - - - - - - - - 16.05 -
20747.57 282.61 7.35 2120 20753.10 done 1.78 - - 2736.19 - 2.57 0.031 2274.00 444.8 113.45 - - 2300.91 - - - - - - - - - 16.06 -
21057.62 261.63 6.93 2182 21063.16 done 1.82 - - 2736.56 - 2.72 0.074 1130.00 -420.6 113.45 - - 2301.25 - - - - - - - - - 16.06 -
21142.80 255.14 7.77 2199 21148.21 1.83 0.16 0.097 2779.44 268.0 2.57 0.031 2274.94 445.5 113.45 - - 2300.66 - - - - - - - - 15.95 16.05 -
21452.67 230.08 7.74 2261 21454.00 VBD 1.84 - - 2779.12 - - - 2274.81 - 113.45 - - 2299.91 - - - - - - - - - - -
21757.70 204.86 8.84 2322 21763.41 done 1.84 - - 2779.69 - 2.60 0.090 3347.19 412.5 113.45 - - 2301.34 - - - - - - - - - 16.03 -
21832.81 197.46 10.20 2337 21838.24 done 1.84 - - 2779.94 - 2.55 0.024 2183.69 -456.3 113.45 - - 2300.91 - - - - - - - - - 16.06 -
22142.76 172.66 7.01 2399 22148.27 done 1.87 - - 2778.94 - 2.51 0.078 1129.81 -419.9 113.45 - - 2300.62 - - - - - - - - - 16.04 -
22377.79 156.86 6.43 2446 22403.73 done 1.93 - - 2780.00 - 2.57 0.030 2275.69 445.9 143.16 22.17 1.327 2190.03 -5.0 0.098 - - - - - - - 16.05 11.94
22707.83 133.05 6.91 2512 22713.38 roll 1.96 - - 2778.25 - 2.73 0.073 1129.88 -419.7 143.16 - - 2188.19 - - - - - - - - - 16.01 -
22877.84 121.73 6.47 2546 22883.66 roll back 2.00 0.15 0.095 2820.31 280.4 2.57 0.030 2275.75 445.9 143.16 - - 2187.06 - - - - - - - - 15.93 16.02 -
23187.89 100.31 6.79 2608 23189.22 no move 2.04 - - 2819.31 - - - 2276.44 - 143.16 - - 2186.56 - - - - - - - - - - -
23493.05 88.92 2.15 2669 23564.09 2.22 0.22 0.076 2872.75 242.9 - - 2275.81 - 235.67 67.55 1.293 1814.59 -5.5 0.063 - - - - - - 16.00 - 12.21
23748.43 71.71 8.61 2720 23753.60 done 2.22 - - 2872.69 - 2.77 0.072 1130.12 -413.6 235.67 - - 1805.31 - - - - - - - - - 15.86 -
23983.12 51.89 8.70 2767 23988.67 done 2.22 - - 2873.06 - 2.60 0.029 2276.19 440.8 235.67 - - 1802.25 - - - - - - - - - 15.90 -
24173.19 37.94 6.94 2805 24178.75 done 2.25 - - 2873.00 - 2.75 0.071 1129.44 -417.0 235.67 - - 1801.25 - - - - - - - - - 15.93 -
24408.26 22.89 4.65 2852 24454.29 done 2.36 - - 2873.12 - 2.58 0.028 2276.94 444.8 291.58 40.32 1.174 1587.25 -5.3 0.017 - - - - - - - 15.97 12.30
24638.41 18.56 1.10 2898 24720.69 2.58 0.46 0.064 2959.75 188.3 - - 2276.19 - 399.44 79.08 1.157 1146.78 -5.6 0.015 - - - - - - 15.87 - 12.51
24898 end climb: SURFACE_DEPTH_REACHED
24899 begin surface coast
24929 end surface coast: CONTROL_FINISHED_OK
24929 begin surface
SM 0.93 - - - - 193.0 19.66 1.067 1043.4 49.0 17.13 0.050 1020.8 59.6 - 0.12 0.120 1066.1 8884.2 -7.037 - - 12.43 15.75 15.78 -