NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 110 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 40.68 of 550.00 AH used of 24V (92.60% remains)
• Surface angle -64.8 deg, depth 1.56 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 375.12 (SM_CC=375)
• GPS1 time: 48 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
4 end surface: CONTROL_FINISHED_OK
5 begin dive
6.46 - - - 59.95 VBD -1.37 - - 179.50 - - - 2248.44 - -82.73 52.35 0.005 2500.06 - - - - - - - - - - 15.77
60.69 3.28 -3.58 10 99.92 -1.37 13.81 0.253 1989.44 131.1 2.99 0.090 3427.44 394.3 -82.73 16.04 0.006 3112.41 38.2 -3.443 - - - - - - 15.73 15.75 15.79
187.91 29.34 -21.57 35 193.46 roll -1.37 - - 1990.56 - 2.62 0.024 2260.56 -445.4 -82.73 - - 3112.91 - - - - - - - - - 15.87 -
378.38 63.26 -16.07 73 381.97 no move -1.37 - - 1989.50 - - - 2257.75 - -82.73 - - 3113.25 - - - - - - - - - - -
563.73 88.40 -11.19 110 568.62 roll -1.37 - - 1989.12 - 2.57 0.069 1209.00 -408.1 -82.73 - - 3113.72 - - - - - - - - - 15.98 -
623.11 95.75 -12.33 122 628.66 roll -1.37 - - 1989.56 - 2.64 0.031 2351.25 432.7 -82.73 - - 3114.78 - - - - - - - - - 15.98 -
813.16 117.28 -10.85 145 818.23 roll -1.37 - - 1989.50 - 2.68 0.090 3425.81 401.0 -82.73 - - 3113.28 - - - - - - - - - 15.99 -
903.19 127.07 -10.65 163 908.25 roll -1.37 - - 1989.69 - 2.59 0.024 2252.75 -452.9 -82.73 - - 3114.84 - - - - - - - - - 16.02 -
1213.26 155.55 -9.03 195 1214.59 no move -1.37 - - 1989.50 - - - 2251.06 - -82.73 - - 3113.81 - - - - - - - - - - -
1523.82 186.24 -9.82 226 1525.15 no move -1.37 - - 1989.38 - - - 2250.56 - -82.73 - - 3113.12 - - - - - - - - - - -
1833.74 217.75 -10.32 257 1835.07 no move -1.37 - - 1991.00 - - - 2251.06 - -82.73 - - 3113.22 - - - - - - - - - - -
2143.78 249.02 -9.89 288 2145.10 no move -1.37 - - 1989.88 - - - 2250.50 - -82.73 - - 3113.56 - - - - - - - - - - -
2453.81 277.55 -8.89 319 2458.55 roll -1.37 - - 1989.88 - 2.91 0.086 3427.12 404.3 -82.73 - - 3115.34 - - - - - - - - - 16.13 -
2523.43 284.35 -10.14 333 2528.49 roll -1.37 - - 1990.25 - 2.57 0.024 2251.88 -457.3 -82.73 - - 3115.66 - - - - - - - - - 16.14 -
2833.47 311.73 -9.08 365 2834.80 no move -1.37 - - 1990.12 - - - 2250.75 - -82.73 - - 3113.47 - - - - - - - - - - -
3144.13 338.61 -8.45 396 3148.15 roll -1.37 - - 1989.94 - 2.49 0.071 1209.62 -418.1 -82.73 - - 3114.09 - - - - - - - - - 16.16 -
3223.51 345.59 -8.40 412 3228.59 roll -1.37 - - 1989.88 - 2.61 0.032 2351.94 437.7 -82.73 - - 3113.97 - - - - - - - - - 16.17 -
3533.54 372.68 -9.20 444 3538.62 roll -1.37 - - 1990.00 - 2.65 0.092 3426.31 405.4 -82.73 - - 3113.88 - - - - - - - - - 16.17 -
3668.11 386.70 -10.22 471 3674.09 roll -1.37 - - 1990.12 - 2.56 0.024 2250.88 -459.2 -82.73 - - 3114.66 - - - - - - - - - 16.16 -
3983.65 413.40 -8.08 503 3984.98 no move -1.37 - - 1990.44 - - - 2250.75 - -82.73 - - 3112.44 - - - - - - - - - - -
4294.06 439.80 -8.46 534 4298.33 roll -1.37 - - 1989.94 - 2.50 0.071 1209.81 -416.4 -82.73 - - 3114.59 - - - - - - - - - 16.19 -
4358.23 445.70 -9.13 547 4364.45 roll -1.37 - - 1990.50 - 2.61 0.032 2353.19 438.1 -82.73 - - 3114.50 - - - - - - - - - 16.19 -
4673.76 473.96 -9.00 579 4675.09 no move -1.37 - - 1990.31 - - - 2353.25 - -82.73 - - 3112.34 - - - - - - - - - - -
4984.22 502.82 -9.17 610 4985.55 no move -1.37 - - 1990.62 - - - 2353.56 - -82.73 - - 3111.97 - - - - - - - - - - -
5294.28 530.22 -8.33 641 5295.60 no move -1.37 - - 1990.69 - - - 2352.81 - -82.73 - - 3111.53 - - - - - - - - - - -
5604.34 556.96 -8.56 672 5605.67 no move -1.37 - - 1990.50 - - - 2353.06 - -82.73 - - 3111.47 - - - - - - - - - - -
5914.65 582.31 -8.09 703 5915.98 no move -1.37 - - 1990.00 - - - 2352.88 - -82.73 - - 3111.16 - - - - - - - - - - -
6224.47 607.52 -8.53 734 6229.19 roll -1.37 - - 1990.56 - 2.78 0.068 1209.62 -411.2 -82.73 - - 3111.31 - - - - - - - - - 16.23 -
6288.64 612.87 -8.50 747 6294.64 roll -1.37 - - 1989.12 - 2.62 0.032 2350.75 435.5 -82.73 - - 3112.56 - - - - - - - - - 16.22 -
6604.17 636.86 -7.00 779 6605.49 no move -1.37 - - 1990.50 - - - 2351.12 - -82.73 - - 3110.38 - - - - - - - - - - -
6914.61 660.03 -8.09 810 6919.33 roll -1.37 - - 1990.25 - 2.79 0.068 1210.19 -408.9 -82.73 - - 3110.38 - - - - - - - - - 16.22 -
6984.25 665.80 -8.15 824 6989.32 roll -1.37 - - 1990.12 - 2.62 0.033 2351.06 435.4 -82.73 - - 3112.03 - - - - - - - - - 16.23 -
7294.31 690.59 -9.04 856 7299.39 roll -1.37 - - 1989.94 - 2.67 0.094 3425.12 402.3 -82.73 - - 3111.91 - - - - - - - - - 16.21 -
7338.86 694.81 -9.71 865 7344.86 roll -1.37 - - 1989.81 - 2.57 0.025 2250.31 -457.1 -82.73 - - 3110.47 - - - - - - - - - 16.22 -
7654.36 721.49 -8.14 897 7659.49 roll -1.37 - - 1990.69 - 2.92 0.089 3424.81 402.2 -82.73 - - 3109.47 - - - - - - - - - 16.21 -
7774.38 733.07 -9.97 921 7779.63 roll -1.37 - - 1990.81 - 2.56 0.025 2254.25 -457.2 -82.73 - - 3109.38 - - - - - - - - - 16.22 -
8084.53 758.92 -8.36 953 8085.86 no move -1.37 - - 1990.62 - - - 2253.38 - -82.73 - - 3108.19 - - - - - - - - - - -
8394.83 784.00 -7.56 984 8399.51 roll -1.37 - - 1988.94 - 2.52 0.073 1209.94 -414.1 -82.73 - - 3109.97 - - - - - - - - - 16.22 -
8459.00 789.48 -8.30 997 8465.01 roll -1.37 - - 1991.00 - 2.62 0.033 2350.62 435.4 -82.73 - - 3108.84 - - - - - - - - - 16.24 -
8774.50 813.62 -7.38 1029 8779.60 roll -1.37 - - 1990.88 - 2.74 0.068 1211.25 -415.8 -82.73 - - 3108.31 - - - - - - - - - 16.23 -
8824.51 817.84 -8.44 1039 8829.60 roll -1.37 - - 1991.25 - 2.62 0.033 2351.56 435.2 -82.73 - - 3108.72 - - - - - - - - - 16.23 -
9134.55 839.83 -6.98 1071 9139.65 roll -1.37 - - 1990.62 - 2.74 0.068 1208.50 -417.2 -82.73 - - 3110.16 - - - - - - - - - 16.22 -
9189.09 843.93 -7.51 1082 9195.10 roll -1.37 - - 1990.69 - 2.62 0.033 2351.38 436.2 -82.73 - - 3109.88 - - - - - - - - - 16.24 -
9505.00 865.19 -6.35 1114 9506.33 no move -1.37 - - 1990.31 - - - 2351.19 - -82.73 - - 3107.00 - - - - - - - - - - -
9815.05 885.93 -7.03 1145 9816.38 no move -1.37 - - 1990.62 - - - 2351.69 - -82.73 - - 3107.31 - - - - - - - - - - -
10125.11 906.25 -6.57 1176 10126.44 no move -1.37 - - 1990.94 - - - 2351.31 - -82.73 - - 3106.88 - - - - - - - - - - -
10435.43 926.79 -6.44 1207 10439.89 roll -1.37 - - 1990.56 - 2.75 0.069 1209.75 -415.1 -82.73 - - 3109.06 - - - - - - - - - 16.24 -
10494.98 931.14 -7.04 1219 10499.90 roll -1.37 - - 1990.81 - 2.62 0.033 2350.31 435.3 -82.73 - - 3107.41 - - - - - - - - - 16.22 -
10805.26 952.20 -6.93 1251 10809.96 roll -1.37 - - 1990.44 - 2.69 0.096 3426.69 400.1 -82.73 - - 3108.41 - - - - - - - - - 16.22 -
10854.89 956.22 -7.79 1261 10859.96 roll -1.37 - - 1990.69 - 2.58 0.025 2251.75 -455.4 -82.73 - - 3106.56 - - - - - - - - - 16.23 -
11165.36 975.90 -6.17 1293 11166.69 no move -1.37 - - 1990.25 - - - 2251.56 - -82.73 - - 3106.03 - - - - - - - - - - -
11404 end dive: TARGET_DEPTH_EXCEEDED
11404 begin apogee
11406.80 990.10 -5.96 1317 11472.36 -0.28 1.76 0.155 2252.00 148.7 0.14 0.188 2285.44 242.0 - 61.42 2.403 2773.50 -5.4 0.368 - - - - - - 16.17 15.68 12.98
11474 end apogee: CONTROL_FINISHED_OK
11474 begin climb
11475.48 991.16 - 1323 11547.15 1.37 2.61 0.102 2654.94 154.4 - - 2285.88 - 82.73 64.83 2.328 2437.50 -5.2 0.364 - - - - - - 15.72 - 12.84
11850.30 962.70 8.14 1366 11851.62 no move 1.37 - - 2654.56 - - - 2285.56 - 82.73 - - 2430.19 - - - - - - - - - - -
12160.73 938.13 8.15 1397 12165.44 roll 1.37 - - 2654.94 - 2.73 0.094 3344.75 388.0 82.73 - - 2430.69 - - - - - - - - - 15.90 -
12234.90 931.44 9.39 1412 12240.90 roll 1.37 - - 2653.88 - 2.63 0.027 2192.69 -438.0 82.73 - - 2430.62 - - - - - - - - - 15.94 -
12550.79 904.19 8.75 1444 12552.12 VBD 1.37 - - 2655.50 - - - 2192.69 - 82.73 - - 2428.88 - - - - - - - - - - -
12860.83 878.22 8.49 1475 12865.56 done 1.37 - - 2655.00 - 2.94 0.091 3345.25 392.0 82.73 - - 2430.00 - - - - - - - - - 16.05 -
13095.02 855.32 9.50 1522 13101.03 done 1.37 - - 2655.25 - 2.61 0.028 2193.62 -441.2 82.73 - - 2429.12 - - - - - - - - - 16.07 -
13410.92 831.04 7.28 1554 13415.65 done 1.39 - - 2654.94 - 2.92 0.091 3345.12 394.3 82.73 - - 2430.34 - - - - - - - - - 16.10 -
13530.54 820.79 8.86 1578 13535.62 done 1.39 - - 2654.50 - 2.61 0.028 2193.12 -441.4 82.73 - - 2428.25 - - - - - - - - - 16.11 -
13841.21 797.35 7.65 1610 13845.70 done 1.41 - - 2655.06 - 2.90 0.091 3345.12 397.2 82.73 - - 2427.91 - - - - - - - - - 16.12 -
13925.20 789.89 8.69 1627 13931.13 done 1.41 - - 2654.75 - 2.60 0.028 2191.81 -443.6 82.73 - - 2428.22 - - - - - - - - - 16.12 -
14241.07 766.90 7.46 1659 14242.41 VBD 1.43 - - 2655.44 - - - 2192.06 - 82.73 - - 2427.00 - - - - - - - - - - -
14551.14 745.62 7.07 1690 14555.86 done 1.45 - - 2655.25 - 2.90 0.091 3347.19 398.3 82.73 - - 2427.31 - - - - - - - - - 16.14 -
14680.79 735.22 8.15 1716 14685.85 done 1.45 - - 2655.00 - 2.59 0.028 2193.06 -445.6 82.73 - - 2427.34 - - - - - - - - - 16.16 -
14991.26 714.43 6.46 1748 15022.14 1.51 0.19 0.089 2701.94 247.1 2.93 0.094 3344.81 393.1 112.04 23.15 1.977 2318.16 -4.7 0.281 - - - - - - 16.14 15.93 13.05
15170.90 697.55 10.12 1784 15175.99 roll 1.51 - - 2701.56 - 2.61 0.028 2192.75 -441.4 112.04 - - 2314.72 - - - - - - - - - 16.03 -
15481.36 670.31 8.75 1816 15482.69 no move 1.51 - - 2701.69 - - - 2192.81 - 112.04 - - 2313.41 - - - - - - - - - - -
15791.43 642.58 9.57 1847 15796.35 roll 1.51 - - 2701.25 - 2.92 0.091 3346.69 395.2 112.04 - - 2313.84 - - - - - - - - - 16.10 -
15931.58 627.59 10.62 1875 15936.18 roll 1.51 - - 2701.50 - 2.61 0.028 2192.75 -442.1 112.04 - - 2313.91 - - - - - - - - - 16.12 -
16241.53 600.21 8.79 1907 16246.29 roll 1.51 - - 2701.50 - 2.90 0.090 3345.06 397.3 112.04 - - 2313.88 - - - - - - - - - 16.13 -
16415.74 583.23 9.93 1942 16421.75 roll 1.51 - - 2701.25 - 2.61 0.027 2193.31 -441.3 112.04 - - 2315.66 - - - - - - - - - 16.14 -
16731.65 556.14 8.54 1974 16736.40 roll 1.51 - - 2701.88 - 2.90 0.090 3345.81 397.4 112.04 - - 2313.12 - - - - - - - - - 16.15 -
16851.30 544.23 9.34 1998 16856.38 roll 1.51 - - 2701.06 - 2.61 0.027 2194.00 -441.3 112.04 - - 2312.97 - - - - - - - - - 16.16 -
17161.73 517.55 8.35 2030 17166.46 roll 1.51 - - 2701.56 - 2.89 0.090 3346.75 398.9 112.04 - - 2312.84 - - - - - - - - - 16.16 -
17225.90 511.47 9.47 2043 17231.91 roll 1.51 - - 2700.69 - 2.61 0.027 2192.75 -442.1 112.04 - - 2313.56 - - - - - - - - - 16.16 -
17541.79 485.56 7.90 2075 17543.12 no move 1.52 - - 2701.75 - - - 2192.88 - 112.04 - - 2311.94 - - - - - - - - - - -
17852.06 460.47 8.18 2106 17856.54 roll 1.52 - - 2702.06 - 2.89 0.090 3346.94 399.3 112.04 - - 2312.84 - - - - - - - - - 16.17 -
18086.02 437.74 9.46 2153 18092.02 roll 1.52 - - 2700.12 - 2.62 0.027 2192.44 -440.6 112.04 - - 2313.72 - - - - - - - - - 16.17 -
18401.91 411.10 7.91 2185 18406.63 roll 1.54 - - 2701.38 - 2.89 0.089 3345.69 399.0 112.04 - - 2312.47 - - - - - - - - - 16.18 -
18636.11 390.72 8.59 2232 18642.11 roll 1.54 - - 2701.81 - 2.62 0.027 2191.69 -440.5 112.04 - - 2313.03 - - - - - - - - - 16.18 -
18952.04 366.24 7.96 2264 18956.75 roll 1.55 - - 2701.56 - 2.89 0.089 3345.19 399.1 112.04 - - 2312.69 - - - - - - - - - 16.17 -
19036.21 358.89 8.87 2281 19042.21 roll 1.55 - - 2702.31 - 2.61 0.027 2194.06 -441.0 112.04 - - 2313.53 - - - - - - - - - 16.19 -
19352.31 334.30 7.62 2313 19356.85 roll 1.56 - - 2701.94 - 2.89 0.089 3345.44 398.4 112.04 - - 2314.97 - - - - - - - - - 16.18 -
19571.81 314.41 9.07 2357 19576.90 roll 1.56 - - 2701.94 - 2.61 0.027 2192.69 -441.7 112.04 - - 2313.28 - - - - - - - - - 16.19 -
19882.33 290.82 7.15 2389 19883.66 no move 1.59 - - 2701.56 - - - 2192.19 - 112.04 - - 2312.25 - - - - - - - - - - -
20192.35 268.89 7.11 2420 20197.06 roll 1.62 - - 2701.25 - 2.89 0.088 3346.94 399.6 112.04 - - 2313.16 - - - - - - - - - 16.18 -
20346.92 256.11 8.61 2451 20352.54 roll 1.62 - - 2701.81 - 2.62 0.027 2191.50 -441.0 112.04 - - 2312.78 - - - - - - - - - 16.18 -
20662.46 233.13 6.92 2483 20667.18 roll 1.65 - - 2701.56 - 2.89 0.088 3345.12 399.2 112.04 - - 2313.59 - - - - - - - - - 16.15 -
20736.64 227.36 7.82 2498 20742.61 roll 1.66 - - 2702.06 - 2.60 0.027 2189.19 -444.6 112.04 - - 2312.88 - - - - - - - - - 16.19 -
21052.55 206.42 6.48 2530 21053.99 pitch 1.70 0.19 0.087 2744.50 223.4 - - 2188.94 - 112.04 - - 2312.66 - - - - - - - - 16.14 - -
21362.22 184.33 7.13 2561 21367.33 roll 1.73 - - 2744.44 - 2.88 0.087 3346.00 401.8 112.04 - - 2313.19 - - - - - - - - - 16.18 -
21472.27 176.36 7.26 2583 21477.50 roll 1.75 - - 2744.25 - 2.60 0.026 2189.62 -444.8 112.04 - - 2313.06 - - - - - - - - - 16.16 -
21782.83 155.23 6.47 2615 21784.16 no move 1.79 - - 2744.69 - - - 2190.00 - 112.04 - - 2312.53 - - - - - - - - - - -
22092.75 136.04 6.60 2646 22094.08 no move 1.83 - - 2745.00 - - - 2189.56 - 112.04 - - 2312.31 - - - - - - - - - - -
22402.79 117.48 5.99 2677 22434.92 1.90 0.21 0.079 2794.81 237.2 2.62 0.081 1132.38 -403.5 148.32 27.51 1.334 2167.91 -5.2 0.076 - - - - - - 16.14 16.00 13.10
22572.50 105.39 6.97 2711 22578.49 roll 1.93 - - 2795.25 - 2.65 0.031 2275.38 431.3 148.32 - - 2167.66 - - - - - - - - - 16.08 -
22883.08 86.92 5.26 2765 22924.67 done 2.02 - - 2794.88 - 2.71 0.091 3347.75 395.7 195.22 35.35 1.296 1978.72 -5.3 0.059 - - - - - - - 15.89 12.94
23153.17 68.29 5.53 2819 23190.77 2.11 0.22 0.082 2844.25 224.4 2.63 0.025 2185.19 -442.0 238.11 32.68 1.252 1803.12 -5.4 0.048 - - - - - - 15.96 15.97 12.92
23373.99 52.35 9.49 2863 23379.48 done 2.11 - - 2844.12 - 2.64 0.078 1131.69 -399.1 238.11 - - 1795.56 - - - - - - - - - 15.92 -
23554.02 35.99 7.79 2899 23559.56 done 2.12 - - 2844.12 - 2.65 0.030 2275.12 431.5 238.11 - - 1794.09 - - - - - - - - - 15.97 -
23744.10 25.93 3.63 2937 23799.73 VBD 2.26 - - 2844.44 - - - 2275.25 - 308.84 51.98 1.210 1515.84 -5.4 0.019 - - - - - - - - 12.92
23984.16 12.87 7.98 2985 23985.49 VBD 2.26 - - 2843.81 - - - 2275.88 - 308.84 - - 1507.22 - - - - - - - - - - -
24113 end climb: SURFACE_DEPTH_REACHED
24114 begin surface coast
24144 end surface coast: CONTROL_FINISHED_OK
24144 begin surface
SM 1.12 - - - - 181.9 48.94 1.175 1245.8 25.5 16.34 0.052 1228.2 75.2 - 0.12 0.123 1263.4 10528.3 -9.798 - - 12.85 15.91 15.92 -