NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 402 * Raw log
prev dive * next dive * dive
• Previous call tries 5 • 126.53 of 550.00 AH used of 24V (76.99% remains)
• Surface angle -64.5 deg, depth 0.69 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 557.90 (SM_CC=558.0575)
• GPS1 time: 44 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 - - - 61.86 VBD -1.37 - - 180.75 - - - 2237.06 - -82.73 55.62 0.005 2508.94 - - - - - - - - - - 15.61
62.59 3.15 -5.61 10 99.94 -1.37 14.03 0.254 1989.44 128.9 2.90 0.083 3428.94 411.0 -82.73 12.90 0.007 3112.22 46.8 -3.519 - - - - - - 15.78 15.57 15.64
297.07 50.82 -14.99 57 302.61 roll -1.37 - - 1987.38 - 2.55 0.020 2248.06 -463.1 -82.73 - - 3112.78 - - - - - - - - - 15.95 -
487.77 75.15 -11.92 95 492.26 roll -1.37 - - 1989.00 - 2.44 0.063 1206.31 -426.9 -82.73 - - 3113.16 - - - - - - - - - 15.97 -
512.14 78.23 -12.28 100 517.67 roll -1.37 - - 1987.50 - 2.59 0.028 2355.12 443.6 -82.73 - - 3114.12 - - - - - - - - - 15.97 -
702.60 97.49 -10.30 138 703.92 no move -1.37 - - 1988.94 - - - 2354.62 - -82.73 - - 3113.00 - - - - - - - - - - -
887.25 117.15 -10.28 175 892.81 roll -1.37 - - 1989.06 - 2.61 0.085 3430.06 412.0 -82.73 - - 3113.59 - - - - - - - - - 15.98 -
972.26 127.35 -12.38 192 977.80 roll -1.37 - - 1989.56 - 2.54 0.021 2242.75 -467.4 -82.73 - - 3113.88 - - - - - - - - - 16.01 -
1282.33 155.45 -8.30 254 1287.44 roll -1.37 - - 1989.44 - 2.42 0.064 1207.25 -427.9 -82.73 - - 3114.62 - - - - - - - - - 16.02 -
1367.33 163.75 -9.83 271 1372.86 roll -1.37 - - 1989.50 - 2.59 0.029 2355.75 443.4 -82.73 - - 3114.94 - - - - - - - - - 16.04 -
1677.38 190.31 -7.64 333 1682.93 roll -1.37 - - 1990.00 - 2.69 0.059 1207.69 -426.8 -82.73 - - 3114.75 - - - - - - - - - 16.04 -
1737.39 195.25 -8.19 345 1743.11 roll -1.37 - - 1988.12 - 2.58 0.029 2354.31 444.4 -82.73 - - 3115.19 - - - - - - - - - 16.05 -
2047.44 223.69 -9.57 407 2048.77 no move -1.37 - - 1989.50 - - - 2354.75 - -82.73 - - 3113.41 - - - - - - - - - - -
2352.50 255.24 -10.63 468 2358.05 roll -1.37 - - 1989.31 - 2.69 0.060 1208.62 -426.1 -82.73 - - 3114.84 - - - - - - - - - 16.07 -
2452.50 265.82 -10.49 488 2458.03 roll -1.37 - - 1989.62 - 2.59 0.029 2353.19 441.9 -82.73 - - 3113.28 - - - - - - - - - 16.07 -
2762.56 296.23 -9.80 550 2763.89 no move -1.37 - - 1989.50 - - - 2353.56 - -82.73 - - 3112.00 - - - - - - - - - - -
3068.90 325.69 -9.58 582 3073.53 roll -1.37 - - 1989.50 - 2.70 0.061 1207.62 -424.4 -82.73 - - 3110.59 - - - - - - - - - 16.08 -
3186.10 337.58 -10.33 598 3201.02 roll -1.37 - - 1989.62 - 2.58 0.030 2353.00 443.9 -82.73 - - 3112.56 - - - - - - - - - 16.08 -
3502.21 368.84 -9.65 627 3513.28 no move -1.37 - - 1989.50 - - - 2352.75 - -82.73 - - 3111.38 - - - - - - - - - - -
3815.07 398.86 -9.71 656 3819.70 roll -1.37 - - 1989.38 - 2.70 0.062 1208.50 -423.8 -82.73 - - 3111.69 - - - - - - - - - 16.09 -
3869.33 404.01 -9.65 664 3884.43 roll -1.37 - - 1988.56 - 2.57 0.030 2353.06 445.4 -82.73 - - 3110.94 - - - - - - - - - 16.09 -
4185.91 433.34 -9.16 693 4196.98 no move -1.37 - - 1989.81 - - - 2353.00 - -82.73 - - 3110.09 - - - - - - - - - - -
4498.88 462.83 -9.50 722 4503.52 roll -1.37 - - 1988.88 - 2.70 0.062 1208.56 -423.9 -82.73 - - 3107.66 - - - - - - - - - 16.09 -
4537.43 466.39 -9.47 728 4552.34 roll -1.37 - - 1989.69 - 2.57 0.030 2353.31 445.4 -82.73 - - 3108.72 - - - - - - - - - 16.11 -
4853.54 494.36 -8.70 757 4858.16 roll -1.37 - - 1989.25 - 2.69 0.062 1207.25 -426.0 -82.73 - - 3109.38 - - - - - - - - - 16.09 -
4965.03 504.04 -9.27 773 4979.95 roll -1.37 - - 1988.44 - 2.58 0.031 2351.44 443.5 -82.73 - - 3108.12 - - - - - - - - - 16.10 -
5294.61 531.94 -7.89 795 5299.25 roll -1.37 - - 1988.25 - 2.70 0.063 1208.50 -423.3 -82.73 - - 3107.31 - - - - - - - - - 16.09 -
5352.53 536.66 -8.03 803 5357.14 roll -1.37 - - 1988.69 - 2.58 0.031 2352.69 443.5 -82.73 - - 3106.72 - - - - - - - - - 16.10 -
5669.02 563.09 -8.67 825 5670.35 no move -1.37 - - 1989.44 - - - 2353.25 - -82.73 - - 3105.44 - - - - - - - - - - -
5984.05 590.32 -8.77 846 5988.69 roll -1.37 - - 1989.31 - 2.70 0.063 1208.75 -423.9 -82.73 - - 3106.16 - - - - - - - - - 16.10 -
6131.63 603.62 -9.45 868 6146.73 roll -1.37 - - 1988.31 - 2.59 0.031 2352.62 441.6 -82.73 - - 3106.28 - - - - - - - - - 16.10 -
6461.17 633.84 -9.19 890 6465.80 roll -1.37 - - 1989.31 - 2.70 0.063 1207.62 -424.1 -82.73 - - 3104.00 - - - - - - - - - 16.09 -
6504.71 637.23 -9.11 897 6519.63 roll -1.37 - - 1989.62 - 2.57 0.031 2354.19 446.1 -82.73 - - 3105.09 - - - - - - - - - 16.10 -
6834.30 665.77 -8.80 919 6835.63 no move -1.37 - - 1989.88 - - - 2354.12 - -82.73 - - 3103.69 - - - - - - - - - - -
7149.17 692.87 -8.50 940 7150.50 no move -1.37 - - 1989.94 - - - 2353.81 - -82.73 - - 3102.47 - - - - - - - - - - -
7464.20 721.15 -9.11 961 7468.85 roll -1.37 - - 1988.25 - 2.70 0.064 1208.50 -424.2 -82.73 - - 3105.06 - - - - - - - - - 16.09 -
7584.34 732.58 -9.49 978 7588.96 roll -1.37 - - 1989.62 - 2.57 0.031 2351.75 444.8 -82.73 - - 3101.81 - - - - - - - - - 16.09 -
7900.81 759.07 -8.24 1000 7902.14 no move -1.37 - - 1989.62 - - - 2352.00 - -82.73 - - 3102.72 - - - - - - - - - - -
8215.82 784.67 -7.82 1021 8220.45 roll -1.37 - - 1989.69 - 2.69 0.064 1208.62 -425.0 -82.73 - - 3103.22 - - - - - - - - - 16.09 -
8378.79 797.93 -8.18 1045 8384.32 roll -1.37 - - 1989.19 - 2.58 0.031 2352.19 443.2 -82.73 - - 3102.75 - - - - - - - - - 16.10 -
8698.21 822.97 -7.87 1067 8702.83 roll -1.37 - - 1989.94 - 2.63 0.095 3428.44 409.2 -82.73 - - 3100.75 - - - - - - - - - 16.06 -
8757.48 827.96 -8.43 1076 8763.20 roll -1.37 - - 1989.31 - 2.52 0.023 2247.38 -468.7 -82.73 - - 3101.56 - - - - - - - - - 16.09 -
9077.06 850.41 -6.65 1098 9078.39 no move -1.37 - - 1989.19 - - - 2246.31 - -82.73 - - 3100.53 - - - - - - - - - - -
9391.92 870.23 -6.31 1119 9396.51 roll -1.37 - - 1989.81 - 2.42 0.070 1208.56 -428.8 -82.73 - - 3100.34 - - - - - - - - - 16.07 -
9470.57 875.64 -6.79 1130 9475.19 roll -1.37 - - 1989.44 - 2.57 0.031 2352.00 444.9 -82.73 - - 3101.16 - - - - - - - - - 16.08 -
9787.06 898.09 -7.41 1152 9788.39 no move -1.37 - - 1989.75 - - - 2351.38 - -82.73 - - 3100.16 - - - - - - - - - - -
10102.09 921.42 -7.38 1173 10106.72 roll -1.37 - - 1989.62 - 2.69 0.065 1208.75 -424.8 -82.73 - - 3099.84 - - - - - - - - - 16.07 -
10161.37 925.84 -7.58 1182 10166.91 roll -1.37 - - 1989.88 - 2.57 0.032 2351.31 444.6 -82.73 - - 3099.75 - - - - - - - - - 16.10 -
10480.77 948.80 -7.36 1204 10485.40 roll -1.37 - - 1988.25 - 2.67 0.065 1208.50 -428.0 -82.73 - - 3099.47 - - - - - - - - - 16.07 -
10559.64 955.04 -7.87 1215 10564.26 roll -1.37 - - 1989.88 - 2.57 0.032 2351.75 444.8 -82.73 - - 3099.84 - - - - - - - - - 16.08 -
10876.14 977.67 -7.02 1237 10877.47 no move -1.37 - - 1989.06 - - - 2351.75 - -82.73 - - 3098.94 - - - - - - - - - - -
11055 end dive: TARGET_DEPTH_EXCEEDED
11056 begin apogee
11058.17 990.02 -6.77 1249 11133.43 -0.28 1.82 0.149 2253.12 145.1 0.22 0.135 2283.94 -308.2 - 60.35 2.417 2775.59 -5.4 0.367 - - - - - - 15.99 15.66 11.84
11134 end apogee: CONTROL_FINISHED_OK
11135 begin climb
11135.56 991.53 - 1254 11211.38 1.37 2.64 0.099 2656.44 152.8 2.71 0.098 3343.44 391.0 82.73 66.42 2.410 2436.97 -5.1 0.351 - - - - - - 15.71 15.33 12.71
11214.17 988.46 4.98 1263 11261.78 done 1.47 - - 2656.50 - 2.63 0.024 2184.88 -440.5 133.78 43.40 2.333 2229.94 -4.8 0.338 - - - - - - - 15.44 12.55
11574.44 954.80 9.58 1291 11575.77 VBD 1.47 - - 2656.62 - - - 2185.00 - 133.78 - - 2219.75 - - - - - - - - - - -
11889.45 924.97 9.41 1312 11894.07 done 1.47 - - 2656.31 - 2.53 0.079 1130.06 -417.0 133.78 - - 2217.94 - - - - - - - - - 15.82 -
11948.73 919.20 9.82 1321 11954.27 done 1.47 - - 2656.12 - 2.60 0.032 2270.75 438.7 133.78 - - 2218.66 - - - - - - - - - 15.86 -
12268.15 890.77 8.77 1343 12269.48 VBD 1.47 - - 2656.44 - - - 2271.50 - 133.78 - - 2217.12 - - - - - - - - - - -
12583.18 862.82 9.18 1364 12584.52 VBD 1.47 - - 2656.62 - - - 2270.75 - 133.78 - - 2216.69 - - - - - - - - - - -
12898.22 833.93 8.99 1385 12903.06 done 1.47 - - 2656.06 - 2.72 0.075 1130.00 -419.4 133.78 - - 2215.47 - - - - - - - - - 15.97 -
12957.67 828.37 9.43 1394 12963.04 done 1.47 - - 2656.00 - 2.59 0.031 2272.19 441.0 133.78 - - 2217.38 - - - - - - - - - 15.99 -
13277.24 798.12 9.50 1416 13278.57 VBD 1.47 - - 2656.00 - - - 2272.06 - 133.78 - - 2215.81 - - - - - - - - - - -
13591.92 768.64 8.94 1437 13593.25 VBD 1.47 - - 2656.00 - - - 2271.94 - 133.78 - - 2214.91 - - - - - - - - - - -
13906.92 741.57 8.29 1458 13911.57 done 1.47 - - 2656.06 - 2.72 0.075 1131.31 -419.3 133.78 - - 2215.09 - - - - - - - - - 16.01 -
13986.94 734.65 8.76 1470 13992.47 done 1.47 - - 2656.44 - 2.58 0.032 2273.12 442.6 133.78 - - 2216.50 - - - - - - - - - 16.03 -
14306.51 707.50 8.35 1492 14307.84 VBD 1.47 - - 2656.44 - - - 2273.44 - 133.78 - - 2214.19 - - - - - - - - - - -
14621.37 681.57 7.93 1513 14626.01 done 1.48 - - 2656.38 - 2.70 0.075 1131.25 -423.0 133.78 - - 2215.41 - - - - - - - - - 16.03 -
14679.31 676.81 8.11 1521 14683.93 done 1.48 - - 2656.38 - 2.57 0.032 2273.75 444.6 133.78 - - 2213.47 - - - - - - - - - 16.03 -
14995.79 651.82 8.00 1543 15000.44 done 1.48 - - 2656.38 - 2.71 0.075 1128.62 -422.6 133.78 - - 2214.22 - - - - - - - - - 16.04 -
15053.71 646.94 8.29 1551 15058.32 done 1.48 - - 2656.50 - 2.56 0.032 2274.31 447.5 133.78 - - 2214.94 - - - - - - - - - 16.05 -
15370.22 623.38 7.50 1573 15371.65 1.50 0.16 0.101 2695.00 240.6 - - 2274.00 - 133.78 - - 2213.53 - - - - - - - - 16.01 - -
15685.41 595.50 9.18 1594 15690.07 done 1.50 - - 2696.19 - 2.71 0.075 1130.19 -422.1 133.78 - - 2213.66 - - - - - - - - - 16.05 -
15765.44 587.80 9.71 1606 15770.97 done 1.50 - - 2695.69 - 2.57 0.031 2271.06 443.9 133.78 - - 2215.97 - - - - - - - - - 16.06 -
16084.84 559.01 9.12 1628 16086.17 VBD 1.50 - - 2695.88 - - - 2271.31 - 133.78 - - 2213.75 - - - - - - - - - - -
16399.85 531.69 9.47 1649 16404.50 done 1.50 - - 2695.75 - 2.71 0.075 1129.94 -421.2 133.78 - - 2216.09 - - - - - - - - - 16.04 -
16499.27 521.52 10.25 1663 16503.89 done 1.50 - - 2696.31 - 2.57 0.031 2270.81 443.9 133.78 - - 2213.53 - - - - - - - - - 16.06 -
16805.15 493.35 8.93 1686 16809.80 done 1.50 - - 2695.62 - 2.71 0.074 1128.81 -421.4 133.78 - - 2215.19 - - - - - - - - - 16.05 -
16874.03 486.80 9.44 1695 16878.65 done 1.50 - - 2695.75 - 2.57 0.031 2272.75 445.1 133.78 - - 2213.28 - - - - - - - - - 16.06 -
17185.62 460.60 8.31 1724 17190.27 done 1.50 - - 2693.62 - 2.72 0.074 1129.94 -420.2 133.78 - - 2215.56 - - - - - - - - - 16.05 -
17270.01 453.46 8.43 1735 17274.63 done 1.50 - - 2696.00 - 2.58 0.031 2274.88 443.8 133.78 - - 2214.72 - - - - - - - - - 16.07 -
17582.01 428.87 8.24 1764 17593.09 VBD 1.50 - - 2696.00 - - - 2274.38 - 133.78 - - 2215.16 - - - - - - - - - - -
17894.72 402.73 8.36 1793 17905.79 VBD 1.50 - - 2695.94 - - - 2274.81 - 133.78 - - 2215.41 - - - - - - - - - - -
18207.30 376.31 8.08 1822 18218.38 VBD 1.50 - - 2696.44 - - - 2275.00 - 133.78 - - 2215.31 - - - - - - - - - - -
18520.24 350.88 8.07 1851 18524.89 done 1.50 - - 2695.94 - 2.73 0.074 1128.88 -419.8 133.78 - - 2213.19 - - - - - - - - - 16.05 -
18543.04 349.09 8.13 1855 18557.97 done 1.50 - - 2696.00 - 2.58 0.030 2274.31 444.0 133.78 - - 2215.34 - - - - - - - - - 16.07 -
18859.50 325.30 7.05 1884 18864.13 done 1.53 - - 2696.00 - 2.61 0.093 3344.06 409.9 133.78 - - 2213.91 - - - - - - - - - 16.04 -
18976.70 315.37 8.76 1900 18991.62 done 1.53 - - 2696.75 - 2.53 0.024 2186.12 -457.7 133.78 - - 2215.25 - - - - - - - - - 16.07 -
19293.31 291.96 7.51 1939 19298.89 done 1.55 - - 2696.31 - 2.83 0.088 3347.44 410.4 133.78 - - 2215.22 - - - - - - - - - 16.05 -
19343.31 287.98 8.02 1949 19348.84 done 1.55 - - 2696.62 - 2.53 0.024 2185.25 -459.4 133.78 - - 2215.69 - - - - - - - - - 16.04 -
19653.36 265.40 7.24 2011 19659.11 done 1.57 - - 2696.38 - 2.83 0.088 3347.62 410.7 133.78 - - 2216.88 - - - - - - - - - 16.05 -
19708.52 261.08 8.02 2022 19713.88 done 1.57 - - 2696.19 - 2.53 0.024 2183.94 -460.0 133.78 - - 2215.62 - - - - - - - - - 16.05 -
20018.40 239.13 7.06 2084 20023.97 done 1.60 - - 2696.94 - 2.82 0.088 3348.00 412.8 133.78 - - 2215.50 - - - - - - - - - 16.04 -
20068.40 235.22 7.90 2094 20073.92 done 1.61 - - 2697.06 - 2.53 0.024 2185.06 -459.7 133.78 - - 2216.00 - - - - - - - - - 16.05 -
20378.44 215.20 6.13 2156 20409.93 1.68 0.19 0.093 2736.62 208.2 2.81 0.090 3343.00 412.1 167.96 25.07 1.409 2089.38 -5.1 0.129 - - - - - - 16.01 15.97 11.92
20463.44 208.00 9.51 2173 20468.97 roll 1.68 - - 2736.62 - 2.54 0.024 2185.19 -455.8 167.96 - - 2088.12 - - - - - - - - - 16.01 -
20773.48 182.63 8.42 2235 20779.06 roll 1.68 - - 2737.31 - 2.83 0.087 3347.25 410.6 167.96 - - 2085.25 - - - - - - - - - 15.99 -
20818.48 178.47 9.39 2244 20824.21 roll 1.68 - - 2737.25 - 2.55 0.024 2185.31 -455.7 167.96 - - 2085.22 - - - - - - - - - 15.99 -
21128.53 151.83 7.97 2306 21129.87 no move 1.68 - - 2736.81 - - - 2184.88 - 167.96 - - 2084.16 - - - - - - - - - - -
21433.60 127.67 7.63 2367 21439.16 roll 1.69 - - 2736.12 - 2.83 0.087 3347.38 410.8 167.96 - - 2085.19 - - - - - - - - - 16.01 -
21573.59 115.88 8.63 2395 21579.12 roll 1.69 - - 2736.31 - 2.54 0.024 2185.38 -457.5 167.96 - - 2085.69 - - - - - - - - - 16.03 -
21883.68 97.78 5.27 2457 21924.61 done 1.79 - - 2736.50 - 2.52 0.080 1131.38 -418.3 214.65 35.35 1.277 1901.97 -5.2 0.067 - - - - - - - 15.91 12.21
22153.75 79.61 6.15 2511 22185.24 1.86 0.20 0.085 2784.12 238.1 2.58 0.029 2275.06 443.3 248.48 26.69 1.214 1762.09 -5.2 0.057 - - - - - - 15.88 15.96 12.45
22368.93 65.32 6.55 2554 22374.33 roll 1.89 - - 2785.88 - 2.60 0.090 3347.38 412.4 248.48 - - 1756.03 - - - - - - - - - 15.89 -
22418.83 61.90 6.84 2564 22424.35 roll 1.93 - - 2785.75 - 2.56 0.023 2182.50 -455.0 248.48 - - 1756.38 - - - - - - - - - 15.91 -
22608.88 50.59 5.48 2602 22644.56 VBD 2.01 - - 2785.62 - - - 2182.19 - 292.20 33.12 1.191 1584.34 -5.2 0.037 - - - - - - - - 12.33
22828.95 36.32 7.19 2646 22830.39 pitch 2.04 0.17 0.090 2825.62 235.3 - - 2181.88 - 292.20 - - 1577.25 - - - - - - - - 15.87 - -
23014.01 25.22 4.28 2683 23065.81 done 2.16 - - 2825.81 - 2.87 0.086 3348.56 406.5 353.43 46.13 1.166 1335.06 -5.3 0.019 - - - - - - - 15.75 12.37
23134.20 20.13 4.87 2707 23180.76 2.27 0.27 0.075 2880.81 203.7 2.58 0.023 2181.62 -452.3 406.07 40.42 1.132 1120.06 -5.3 0.016 - - - - - - 15.79 15.82 12.58
23364.78 9.02 5.50 2753 23402.73 done 2.35 - - 2881.38 - 2.88 0.087 3345.75 404.2 449.43 33.07 1.095 942.44 -5.4 0.007 - - - - - - - 15.67 12.43
23454 end climb: SURFACE_DEPTH_REACHED
23454 begin surface coast
23484 end surface coast: CONTROL_FINISHED_OK
23485 begin surface
SM 0.69 - - - - 186.8 77.84 1.124 500.7 6.0 16.66 0.049 421.8 25.3 - 2.36 0.022 579.6 244.4 -0.783 - - 12.42 15.75 15.77 -