NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 322 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 102.60 of 550.00 AH used of 24V (81.35% remains)
• Surface angle -59.3 deg, depth 1.50 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.86 (SM_CC=425)
• GPS1 time: 92 s
• GPS2 time: 2 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
6.90 - - - 57.01 VBD -1.37 - - 183.00 - - - 2371.62 - -82.73 48.94 0.005 2272.09 - - - - - - - - - - 15.64
57.74 3.27 -3.95 9 100.95 -1.37 13.66 0.248 1988.38 132.2 2.62 0.086 3427.44 403.0 -82.73 19.97 0.006 3112.06 42.1 -3.784 - - - - - - 15.66 15.60 15.66
319.00 57.52 -17.13 61 324.55 roll -1.37 - - 1988.25 - 2.61 0.022 2253.94 -449.6 -82.73 - - 3113.50 - - - - - - - - - 15.88 -
509.46 85.91 -13.82 99 514.91 roll -1.37 - - 1988.81 - 2.55 0.065 1208.56 -410.0 -82.73 - - 3112.62 - - - - - - - - - 15.93 -
569.22 94.67 -14.32 111 574.66 roll -1.37 - - 1989.00 - 2.63 0.029 2353.31 435.3 -82.73 - - 3113.00 - - - - - - - - - 15.94 -
764.17 115.89 -10.17 135 769.26 roll -1.37 - - 1988.56 - 2.79 0.060 1208.38 -410.4 -82.73 - - 3113.44 - - - - - - - - - 15.97 -
818.72 121.65 -10.62 146 824.72 roll -1.37 - - 1988.25 - 2.62 0.028 2355.06 437.7 -82.73 - - 3113.50 - - - - - - - - - 15.97 -
1134.42 151.41 -8.89 178 1135.75 no move -1.37 - - 1988.69 - - - 2354.75 - -82.73 - - 3113.12 - - - - - - - - - - -
1444.69 180.82 -9.40 209 1446.02 no move -1.37 - - 1988.50 - - - 2354.38 - -82.73 - - 3113.44 - - - - - - - - - - -
1754.74 208.70 -8.70 240 1756.07 no move -1.37 - - 1988.31 - - - 2354.62 - -82.73 - - 3113.28 - - - - - - - - - - -
2064.77 236.90 -9.54 271 2069.50 roll -1.37 - - 1988.31 - 2.81 0.062 1209.38 -407.6 -82.73 - - 3114.84 - - - - - - - - - 16.07 -
2124.39 242.54 -9.51 283 2129.47 roll -1.37 - - 1988.62 - 2.62 0.029 2354.88 437.2 -82.73 - - 3115.44 - - - - - - - - - 16.05 -
2434.45 271.63 -9.79 315 2435.77 no move -1.37 - - 1988.81 - - - 2354.25 - -82.73 - - 3113.03 - - - - - - - - - - -
2744.85 301.95 -9.75 346 2749.56 roll -1.37 - - 1988.75 - 2.78 0.062 1208.56 -412.1 -82.73 - - 3115.06 - - - - - - - - - 16.09 -
2874.68 315.02 -10.18 372 2879.62 roll -1.37 - - 1988.88 - 2.60 0.030 2353.38 440.3 -82.73 - - 3113.53 - - - - - - - - - 16.09 -
3184.53 342.57 -8.86 404 3185.86 no move -1.37 - - 1989.06 - - - 2353.06 - -82.73 - - 3111.66 - - - - - - - - - - -
3494.95 369.35 -8.51 435 3496.27 no move -1.37 - - 1989.00 - - - 2353.38 - -82.73 - - 3111.22 - - - - - - - - - - -
3804.98 396.93 -9.42 466 3809.69 roll -1.37 - - 1987.25 - 2.79 0.063 1208.50 -410.4 -82.73 - - 3112.50 - - - - - - - - - 16.10 -
3884.63 404.61 -9.65 482 3889.72 roll -1.37 - - 1988.81 - 2.61 0.030 2354.00 438.9 -82.73 - - 3111.44 - - - - - - - - - 16.11 -
4194.70 434.75 -10.03 514 4199.79 roll -1.37 - - 1988.75 - 2.77 0.063 1210.00 -413.0 -82.73 - - 3110.81 - - - - - - - - - 16.11 -
4304.74 445.97 -10.04 536 4309.79 roll -1.37 - - 1988.81 - 2.60 0.030 2352.88 439.6 -82.73 - - 3112.50 - - - - - - - - - 16.11 -
4614.80 473.56 -8.59 568 4616.12 no move -1.37 - - 1988.62 - - - 2353.81 - -82.73 - - 3109.56 - - - - - - - - - - -
4925.25 500.06 -8.57 599 4929.97 roll -1.37 - - 1988.44 - 2.79 0.064 1208.56 -410.5 -82.73 - - 3110.47 - - - - - - - - - 16.12 -
5064.91 512.26 -9.09 627 5069.99 roll -1.37 - - 1986.94 - 2.62 0.031 2351.75 436.3 -82.73 - - 3110.16 - - - - - - - - - 16.12 -
5375.39 539.28 -8.55 659 5376.72 no move -1.37 - - 1988.75 - - - 2352.00 - -82.73 - - 3108.09 - - - - - - - - - - -
5685.55 567.03 -9.10 690 5686.88 no move -1.37 - - 1988.62 - - - 2351.88 - -82.73 - - 3107.03 - - - - - - - - - - -
5995.51 597.03 -10.09 721 6000.22 roll -1.37 - - 1988.25 - 2.79 0.065 1210.06 -409.3 -82.73 - - 3107.69 - - - - - - - - - 16.12 -
6049.67 602.56 -10.31 732 6055.65 roll -1.37 - - 1987.62 - 2.60 0.031 2353.19 439.7 -82.73 - - 3108.28 - - - - - - - - - 16.12 -
6365.20 632.89 -9.32 764 6370.29 roll -1.37 - - 1988.19 - 2.79 0.064 1208.69 -410.2 -82.73 - - 3108.00 - - - - - - - - - 16.13 -
6419.75 638.22 -10.06 775 6425.73 roll -1.37 - - 1988.50 - 2.60 0.031 2354.25 440.6 -82.73 - - 3106.59 - - - - - - - - - 16.12 -
6735.28 666.13 -8.45 807 6740.37 roll -1.37 - - 1986.94 - 2.79 0.064 1209.50 -410.3 -82.73 - - 3107.22 - - - - - - - - - 16.13 -
6789.83 670.91 -8.59 818 6795.84 roll -1.37 - - 1988.19 - 2.61 0.031 2353.00 438.1 -82.73 - - 3106.50 - - - - - - - - - 16.12 -
7105.34 695.53 -7.66 850 7106.67 no move -1.37 - - 1988.06 - - - 2353.62 - -82.73 - - 3104.66 - - - - - - - - - - -
7415.97 717.96 -7.25 881 7417.29 no move -1.37 - - 1988.19 - - - 2353.06 - -82.73 - - 3104.41 - - - - - - - - - - -
7725.79 741.13 -7.67 912 7730.69 roll -1.37 - - 1988.50 - 2.79 0.065 1210.00 -409.7 -82.73 - - 3105.62 - - - - - - - - - 16.11 -
7795.60 747.27 -8.53 926 7800.51 roll -1.37 - - 1988.62 - 2.61 0.031 2352.06 437.6 -82.73 - - 3105.50 - - - - - - - - - 16.13 -
8105.46 773.48 -8.67 958 8106.78 no move -1.37 - - 1988.06 - - - 2352.19 - -82.73 - - 3103.22 - - - - - - - - - - -
8415.88 799.68 -8.30 989 8420.59 roll -1.37 - - 1988.19 - 2.79 0.065 1209.69 -409.5 -82.73 - - 3104.66 - - - - - - - - - 16.12 -
8475.51 804.85 -8.44 1001 8480.59 roll -1.37 - - 1988.38 - 2.62 0.032 2351.81 435.9 -82.73 - - 3104.25 - - - - - - - - - 16.11 -
8785.54 829.40 -7.71 1033 8790.64 roll -1.37 - - 1988.31 - 2.79 0.065 1209.81 -409.3 -82.73 - - 3103.16 - - - - - - - - - 16.13 -
8880.10 837.10 -7.74 1052 8886.10 roll -1.37 - - 1988.50 - 2.61 0.032 2351.88 437.6 -82.73 - - 3103.31 - - - - - - - - - 16.13 -
9195.60 859.43 -6.86 1084 9200.70 roll -1.37 - - 1988.75 - 2.78 0.065 1211.25 -410.3 -82.73 - - 3102.47 - - - - - - - - - 16.13 -
9255.61 863.95 -7.40 1096 9260.71 roll -1.37 - - 1988.50 - 2.61 0.032 2353.12 437.5 -82.73 - - 3103.09 - - - - - - - - - 16.12 -
9565.68 884.70 -7.00 1128 9567.01 no move -1.37 - - 1988.06 - - - 2352.69 - -82.73 - - 3101.62 - - - - - - - - - - -
9876.38 906.94 -7.14 1159 9880.84 roll -1.37 - - 1988.56 - 2.64 0.095 3426.38 406.7 -82.73 - - 3103.22 - - - - - - - - - 16.10 -
9920.30 910.61 -8.17 1168 9926.30 roll -1.37 - - 1988.06 - 2.58 0.024 2249.38 -456.2 -82.73 - - 3104.03 - - - - - - - - - 16.12 -
10235.84 931.99 -6.78 1200 10240.90 roll -1.37 - - 1988.56 - 2.55 0.071 1211.25 -407.1 -82.73 - - 3102.00 - - - - - - - - - 16.10 -
10320.58 937.84 -6.78 1217 10326.41 roll -1.37 - - 1988.38 - 2.61 0.031 2353.25 437.5 -82.73 - - 3101.59 - - - - - - - - - 16.12 -
10636.32 959.42 -6.77 1249 10641.03 roll -1.37 - - 1988.88 - 2.79 0.066 1211.06 -409.4 -82.73 - - 3103.53 - - - - - - - - - 16.12 -
10670.48 961.92 -7.18 1256 10676.48 roll -1.37 - - 1988.44 - 2.61 0.032 2352.94 437.5 -82.73 - - 3102.81 - - - - - - - - - 16.12 -
10986.40 982.63 -6.38 1288 10991.09 roll -1.37 - - 1988.75 - 2.66 0.096 3425.44 403.2 -82.73 - - 3101.09 - - - - - - - - - 16.09 -
11036.02 986.44 -7.61 1298 11041.08 roll -1.37 - - 1989.25 - 2.60 0.024 2250.31 -452.0 -82.73 - - 3101.12 - - - - - - - - - 16.10 -
11095 end dive: TARGET_DEPTH_EXCEEDED
11095 begin apogee
11097.82 990.46 -6.93 1305 11162.59 -0.28 1.78 0.150 2254.19 148.8 0.16 0.173 2278.06 173.4 - 60.90 2.428 2774.00 -5.4 0.362 - - - - - - 16.02 15.66 12.28
11172 end apogee: CONTROL_FINISHED_OK
11172 begin climb
11173.14 991.37 - 1311 11243.81 1.37 2.60 0.096 2656.06 154.6 - - 2286.75 - 82.73 65.62 2.358 2437.50 -5.1 0.356 - - - - - - 15.71 - 12.87
11546.95 963.18 8.43 1349 11548.28 no move 1.37 - - 2655.31 - - - 2286.69 - 82.73 - - 2430.34 - - - - - - - - - - -
11857.41 937.80 7.85 1380 11858.74 no move 1.38 - - 2656.06 - - - 2286.50 - 82.73 - - 2429.28 - - - - - - - - - - -
12167.49 913.37 7.82 1411 12172.21 done 1.39 - - 2656.12 - 2.91 0.077 1132.69 -396.5 82.73 - - 2431.19 - - - - - - - - - 15.94 -
12277.35 904.77 7.90 1433 12282.21 done 1.40 - - 2654.62 - 2.64 0.032 2270.12 430.8 82.73 - - 2430.44 - - - - - - - - - 15.94 -
12587.58 882.38 7.00 1465 12588.91 VBD 1.43 - - 2655.69 - - - 2269.88 - 82.73 - - 2428.34 - - - - - - - - - - -
12897.64 860.65 7.02 1496 12902.32 done 1.46 - - 2655.56 - 2.69 0.096 3346.56 400.3 82.73 - - 2428.75 - - - - - - - - - 15.99 -
13021.83 850.89 7.84 1521 13028.00 done 1.47 - - 2655.75 - 2.62 0.026 2190.69 -441.2 82.73 - - 2429.66 - - - - - - - - - 16.04 -
13337.84 829.06 7.24 1553 13342.47 1.50 0.16 0.094 2699.31 272.2 2.65 0.079 1131.81 -399.6 82.73 - - 2428.62 - - - - - - - - 16.01 16.02 -
13421.89 821.37 8.20 1570 13427.89 done 1.50 - - 2700.38 - 2.64 0.032 2271.00 431.5 82.73 - - 2431.69 - - - - - - - - - 16.04 -
13737.77 793.77 8.85 1602 13742.50 done 1.50 - - 2700.69 - 2.84 0.075 1131.50 -401.2 82.73 - - 2428.38 - - - - - - - - - 16.06 -
13791.94 788.09 10.39 1613 13797.94 done 1.50 - - 2699.62 - 2.63 0.032 2270.31 433.0 82.73 - - 2428.34 - - - - - - - - - 16.06 -
14107.82 759.67 8.58 1645 14112.55 done 1.50 - - 2700.38 - 2.84 0.075 1132.19 -400.7 82.73 - - 2430.22 - - - - - - - - - 16.06 -
14197.45 750.98 8.90 1663 14202.54 done 1.50 - - 2700.25 - 2.62 0.032 2270.88 434.6 82.73 - - 2428.47 - - - - - - - - - 16.06 -
14507.88 724.00 8.57 1695 14509.21 VBD 1.50 - - 2700.56 - - - 2271.25 - 82.73 - - 2427.25 - - - - - - - - - - -
14817.91 697.92 8.33 1726 14819.24 VBD 1.50 - - 2700.81 - - - 2270.81 - 82.73 - - 2426.84 - - - - - - - - - - -
15127.97 673.73 7.55 1757 15129.30 VBD 1.52 - - 2700.06 - - - 2271.06 - 82.73 - - 2426.91 - - - - - - - - - - -
15438.25 651.99 6.70 1788 15442.73 done 1.55 - - 2700.12 - 2.85 0.075 1131.31 -399.9 82.73 - - 2429.25 - - - - - - - - - 16.10 -
15522.20 645.70 7.20 1805 15528.20 done 1.58 - - 2700.00 - 2.62 0.032 2272.06 435.4 82.73 - - 2427.12 - - - - - - - - - 16.10 -
15838.11 623.89 7.07 1837 15842.83 done 1.60 - - 2700.88 - 2.84 0.075 1132.38 -401.3 82.73 - - 2427.84 - - - - - - - - - 16.08 -
15892.29 619.51 7.79 1848 15898.27 done 1.62 - - 2700.50 - 2.62 0.032 2272.00 435.0 82.73 - - 2427.12 - - - - - - - - - 16.08 -
16208.20 597.51 7.07 1880 16209.54 VBD 1.65 - - 2700.69 - - - 2272.69 - 82.73 - - 2426.25 - - - - - - - - - - -
16518.27 576.37 6.83 1911 16519.71 1.68 0.17 0.088 2742.38 245.2 - - 2271.75 - 82.73 - - 2425.56 - - - - - - - - 16.07 - -
16827.95 553.62 7.18 1942 16829.28 VBD 1.70 - - 2742.56 - - - 2272.06 - 82.73 - - 2425.97 - - - - - - - - - - -
17138.39 530.16 7.97 1973 17143.13 done 1.70 - - 2743.44 - 2.85 0.075 1131.44 -400.2 82.73 - - 2426.59 - - - - - - - - - 16.09 -
17292.98 516.79 8.56 2004 17298.59 done 1.70 - - 2742.75 - 2.62 0.032 2273.31 435.8 82.73 - - 2426.81 - - - - - - - - - 16.07 -
17608.76 493.20 7.40 2036 17610.10 VBD 1.73 - - 2743.56 - - - 2273.00 - 82.73 - - 2426.22 - - - - - - - - - - -
17918.58 471.73 6.58 2067 17919.92 VBD 1.76 - - 2743.25 - - - 2273.31 - 82.73 - - 2425.94 - - - - - - - - - - -
18228.65 451.15 6.54 2098 18229.98 VBD 1.80 - - 2743.31 - - - 2273.06 - 82.73 - - 2426.41 - - - - - - - - - - -
18538.71 431.82 5.64 2129 18574.42 1.88 0.20 0.078 2795.31 260.0 2.69 0.097 3345.56 398.7 124.04 31.08 1.709 2269.81 -5.0 0.210 - - - - - - 16.06 15.93 12.31
18608.93 426.15 9.18 2143 18613.41 roll 1.88 - - 2795.38 - 2.62 0.025 2190.25 -441.0 124.04 - - 2267.31 - - - - - - - - - 15.99 -
18918.75 393.77 10.53 2175 18923.45 roll 1.88 - - 2795.06 - 2.64 0.078 1132.25 -400.8 124.04 - - 2264.84 - - - - - - - - - 15.99 -
19028.39 381.55 10.89 2197 19033.48 roll 1.88 - - 2794.81 - 2.63 0.032 2271.50 433.2 124.04 - - 2266.00 - - - - - - - - - 16.00 -
19338.81 350.80 9.89 2229 19340.14 no move 1.88 - - 2794.69 - - - 2271.50 - 124.04 - - 2263.12 - - - - - - - - - - -
19648.87 319.68 10.13 2260 19653.58 roll 1.88 - - 2795.12 - 2.84 0.074 1131.12 -401.5 124.04 - - 2263.59 - - - - - - - - - 16.04 -
19818.50 301.01 11.28 2294 19823.60 roll 1.88 - - 2795.56 - 2.63 0.032 2271.44 433.6 124.04 - - 2263.66 - - - - - - - - - 16.04 -
20129.04 270.49 9.45 2326 20130.37 no move 1.88 - - 2795.00 - - - 2270.94 - 124.04 - - 2262.81 - - - - - - - - - - -
20438.95 242.42 9.05 2357 20440.28 no move 1.88 - - 2795.25 - - - 2271.00 - 124.04 - - 2262.94 - - - - - - - - - - -
20749.03 218.59 7.69 2388 20750.36 no move 1.90 - - 2795.12 - - - 2270.81 - 124.04 - - 2263.06 - - - - - - - - - - -
21059.09 194.37 7.93 2419 21063.80 roll 1.91 - - 2794.88 - 2.85 0.072 1131.25 -399.8 124.04 - - 2265.75 - - - - - - - - - 16.06 -
21168.74 185.21 7.97 2441 21173.82 roll 1.91 - - 2795.19 - 2.62 0.031 2272.19 435.5 124.04 - - 2264.28 - - - - - - - - - 16.07 -
21479.20 163.39 7.06 2473 21483.92 roll 1.94 - - 2795.88 - 2.84 0.071 1131.38 -401.7 124.04 - - 2263.59 - - - - - - - - - 16.07 -
21713.42 144.43 7.16 2520 21719.42 roll 1.96 - - 2795.25 - 2.61 0.030 2273.12 437.4 124.04 - - 2265.62 - - - - - - - - - 16.05 -
22029.34 130.28 4.45 2552 22080.72 2.08 0.17 0.082 2842.88 280.2 2.69 0.092 3348.44 399.7 182.77 43.69 1.338 2029.78 -5.4 0.087 - - - - - - 15.99 15.88 12.38
22193.85 114.50 12.31 2585 22199.85 roll 2.08 - - 2843.06 - 2.62 0.024 2188.19 -442.8 182.77 - - 2025.22 - - - - - - - - - 15.95 -
22504.38 93.41 3.45 2631 22565.94 done 2.23 - - 2843.56 - 2.67 0.078 1131.44 -395.8 256.14 54.17 1.280 1728.53 -5.5 0.066 - - - - - - - 15.74 12.61
22794.46 70.10 9.79 2689 22799.96 done 2.23 - - 2843.31 - 2.65 0.030 2273.75 431.1 256.14 - - 1719.16 - - - - - - - - - 15.87 -
22984.47 54.69 7.58 2727 22990.04 done 2.25 - - 2843.50 - 2.87 0.071 1131.94 -397.8 256.14 - - 1717.66 - - - - - - - - - 15.90 -
23084.48 46.18 8.81 2747 23090.02 done 2.25 - - 2842.56 - 2.64 0.029 2273.38 432.4 256.14 - - 1717.16 - - - - - - - - - 15.93 -
23274.51 29.85 7.97 2785 23275.85 VBD 2.25 - - 2843.38 - - - 2274.00 - 256.14 - - 1715.84 - - - - - - - - - - -
23459.63 18.46 5.26 2822 23501.21 2.34 0.26 0.068 2902.31 226.7 2.67 0.091 3346.81 401.8 303.11 34.38 1.158 1539.31 -5.1 0.014 - - - - - - 15.91 15.80 12.53
23730.04 8.39 6.08 2876 23762.10 done 2.41 - - 2902.44 - 2.63 0.023 2186.06 -441.3 338.06 27.42 1.116 1396.19 -5.2 0.006 - - - - - - - 15.90 12.60
23849 end climb: SURFACE_DEPTH_REACHED
23849 begin surface coast
23895 end surface coast: CONTROL_FINISHED_OK
23895 begin surface
SM 1.30 - - - - 183.1 63.92 1.148 1043.0 15.9 16.58 0.041 1001.4 60.4 - 0.35 0.074 1084.6 3091.3 -5.551 - - 12.52 15.86 15.87 -