NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 112 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 41.26 of 550.00 AH used of 24V (92.50% remains)
• Surface angle -63.8 deg, depth 1.53 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 375.17 (SM_CC=375)
• GPS1 time: 34 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
6.46 - - - 59.87 VBD -1.37 - - 181.75 - - - 2244.62 - -82.73 52.24 0.005 2494.34 - - - - - - - - - - 15.77
60.62 3.35 -3.68 10 98.83 -1.37 13.73 0.252 1990.00 131.7 3.03 0.089 3427.56 390.4 -82.73 15.91 0.006 3111.50 38.8 -3.573 - - - - - - 15.70 15.76 15.79
172.20 25.65 -22.51 32 177.37 roll -1.37 - - 1990.06 - 2.65 0.024 2261.75 -439.9 -82.73 - - 3112.72 - - - - - - - - - 15.87 -
362.55 59.73 -16.83 70 367.51 roll -1.37 - - 1990.12 - 2.97 0.085 3425.81 391.9 -82.73 - - 3113.62 - - - - - - - - - 15.89 -
502.16 82.83 -14.20 98 507.51 roll -1.37 - - 1989.38 - 2.62 0.023 2256.75 -446.2 -82.73 - - 3113.38 - - - - - - - - - 15.96 -
697.42 105.31 -10.29 132 702.17 roll -1.37 - - 1990.00 - 2.94 0.084 3426.75 398.0 -82.73 - - 3113.19 - - - - - - - - - 15.98 -
731.59 109.20 -11.11 139 737.57 roll -1.37 - - 1989.44 - 2.59 0.024 2250.62 -454.1 -82.73 - - 3113.00 - - - - - - - - - 16.00 -
1047.11 140.82 -9.79 171 1052.17 roll -1.37 - - 1990.00 - 2.53 0.070 1208.50 -411.9 -82.73 - - 3114.50 - - - - - - - - - 16.02 -
1097.12 146.01 -10.50 181 1102.21 roll -1.37 - - 1989.81 - 2.64 0.031 2351.44 432.9 -82.73 - - 3113.06 - - - - - - - - - 16.05 -
1407.19 175.68 -9.43 213 1408.52 no move -1.37 - - 1990.25 - - - 2351.69 - -82.73 - - 3113.25 - - - - - - - - - - -
1717.64 205.02 -10.48 244 1722.36 roll -1.37 - - 1989.62 - 2.79 0.065 1209.94 -409.2 -82.73 - - 3114.44 - - - - - - - - - 16.10 -
1837.29 217.44 -10.00 268 1842.37 roll -1.37 - - 1989.69 - 2.63 0.031 2351.38 434.0 -82.73 - - 3113.91 - - - - - - - - - 16.11 -
2147.72 247.53 -9.58 300 2152.60 roll -1.37 - - 1990.00 - 2.67 0.091 3427.81 403.2 -82.73 - - 3113.66 - - - - - - - - - 16.10 -
2177.51 250.75 -10.31 306 2182.40 roll -1.37 - - 1988.75 - 2.60 0.024 2251.50 -452.4 -82.73 - - 3115.34 - - - - - - - - - 16.13 -
2487.38 279.84 -9.39 338 2492.44 roll -1.37 - - 1989.00 - 2.52 0.069 1209.94 -413.3 -82.73 - - 3114.72 - - - - - - - - - 16.13 -
2521.92 283.27 -9.80 345 2527.93 roll -1.37 - - 1989.56 - 2.63 0.031 2352.25 434.3 -82.73 - - 3115.41 - - - - - - - - - 16.12 -
2837.42 313.31 -9.28 377 2842.50 roll -1.37 - - 1989.62 - 2.67 0.091 3427.44 402.7 -82.73 - - 3114.00 - - - - - - - - - 16.13 -
2917.45 321.64 -10.46 393 2922.49 roll -1.37 - - 1989.62 - 2.58 0.024 2253.12 -455.2 -82.73 - - 3115.25 - - - - - - - - - 16.15 -
3227.47 350.04 -9.33 425 3232.60 roll -1.37 - - 1989.50 - 2.92 0.086 3426.25 401.8 -82.73 - - 3114.19 - - - - - - - - - 16.15 -
3307.48 358.88 -11.33 441 3312.55 roll -1.37 - - 1989.44 - 2.58 0.024 2253.50 -454.6 -82.73 - - 3114.62 - - - - - - - - - 16.16 -
3617.52 389.70 -10.30 473 3618.85 no move -1.37 - - 1989.88 - - - 2252.12 - -82.73 - - 3112.78 - - - - - - - - - - -
3927.94 420.24 -9.71 504 3929.26 no move -1.37 - - 1989.69 - - - 2251.88 - -82.73 - - 3112.62 - - - - - - - - - - -
4238.21 450.31 -9.58 535 4242.71 roll -1.37 - - 1989.88 - 2.92 0.087 3426.00 402.1 -82.73 - - 3114.44 - - - - - - - - - 16.17 -
4297.60 456.57 -10.62 547 4302.67 roll -1.37 - - 1989.88 - 2.58 0.025 2255.81 -453.6 -82.73 - - 3113.25 - - - - - - - - - 16.18 -
4607.66 483.89 -8.47 579 4608.99 no move -1.37 - - 1989.94 - - - 2254.38 - -82.73 - - 3111.47 - - - - - - - - - - -
4918.12 509.48 -8.58 610 4922.87 roll -1.37 - - 1989.75 - 2.91 0.088 3426.88 402.9 -82.73 - - 3112.47 - - - - - - - - - 16.19 -
4972.28 514.91 -9.85 621 4978.27 roll -1.37 - - 1989.69 - 2.59 0.025 2252.81 -453.3 -82.73 - - 3112.88 - - - - - - - - - 16.19 -
5287.81 541.92 -8.42 653 5292.95 roll -1.37 - - 1989.88 - 2.91 0.088 3426.44 403.3 -82.73 - - 3112.06 - - - - - - - - - 16.19 -
5322.36 545.25 -9.16 660 5328.34 roll -1.37 - - 1989.31 - 2.57 0.025 2252.75 -456.7 -82.73 - - 3112.50 - - - - - - - - - 16.21 -
5637.89 572.38 -8.59 692 5639.22 no move -1.37 - - 1989.31 - - - 2252.88 - -82.73 - - 3110.81 - - - - - - - - - - -
5948.33 599.13 -8.89 723 5953.08 roll -1.37 - - 1989.81 - 2.91 0.088 3425.94 403.1 -82.73 - - 3112.69 - - - - - - - - - 16.20 -
6002.50 604.93 -10.21 734 6008.49 roll -1.37 - - 1989.75 - 2.56 0.025 2254.25 -457.7 -82.73 - - 3111.28 - - - - - - - - - 16.21 -
6318.22 632.48 -8.71 766 6319.55 no move -1.37 - - 1989.19 - - - 2253.94 - -82.73 - - 3110.50 - - - - - - - - - - -
6628.60 659.94 -8.66 797 6633.23 roll -1.37 - - 1989.75 - 2.92 0.088 3427.19 401.8 -82.73 - - 3111.78 - - - - - - - - - 16.22 -
6698.11 666.86 -9.78 811 6703.18 roll -1.37 - - 1989.31 - 2.56 0.025 2255.50 -457.7 -82.73 - - 3110.00 - - - - - - - - - 16.21 -
7008.18 691.64 -8.76 843 7009.51 no move -1.37 - - 1989.44 - - - 2254.00 - -82.73 - - 3109.22 - - - - - - - - - - -
7318.64 718.65 -8.69 874 7323.52 roll -1.37 - - 1989.44 - 2.51 0.074 1210.00 -415.9 -82.73 - - 3110.09 - - - - - - - - - 16.21 -
7382.80 724.68 -9.13 887 7388.82 roll -1.37 - - 1989.25 - 2.62 0.033 2351.94 435.9 -82.73 - - 3110.56 - - - - - - - - - 16.23 -
7698.33 750.00 -7.26 919 7699.65 no move -1.37 - - 1989.38 - - - 2351.75 - -82.73 - - 3108.38 - - - - - - - - - - -
8008.74 772.54 -6.63 950 8010.07 no move -1.37 - - 1989.75 - - - 2351.75 - -82.73 - - 3108.00 - - - - - - - - - - -
8318.78 794.85 -7.05 981 8320.11 no move -1.37 - - 1989.44 - - - 2351.75 - -82.73 - - 3107.91 - - - - - - - - - - -
8628.81 816.31 -7.46 1012 8630.14 no move -1.37 - - 1989.38 - - - 2351.94 - -82.73 - - 3107.78 - - - - - - - - - - -
8938.85 839.75 -7.61 1043 8943.56 roll -1.37 - - 1989.25 - 2.75 0.070 1210.62 -415.0 -82.73 - - 3108.62 - - - - - - - - - 16.24 -
9053.02 848.84 -7.62 1066 9059.21 roll -1.37 - - 1989.06 - 2.62 0.033 2350.25 435.0 -82.73 - - 3108.03 - - - - - - - - - 16.24 -
9368.63 870.55 -6.99 1098 9373.82 roll -1.37 - - 1989.88 - 2.74 0.069 1211.00 -415.8 -82.73 - - 3109.31 - - - - - - - - - 16.23 -
9448.53 876.34 -7.04 1114 9453.62 roll -1.37 - - 1989.69 - 2.63 0.034 2351.38 433.6 -82.73 - - 3107.66 - - - - - - - - - 16.22 -
9758.57 898.01 -6.96 1146 9763.67 roll -1.37 - - 1989.88 - 2.77 0.069 1209.38 -412.3 -82.73 - - 3107.09 - - - - - - - - - 16.23 -
9843.12 904.48 -7.38 1163 9849.12 roll -1.37 - - 1989.38 - 2.62 0.034 2350.50 435.5 -82.73 - - 3107.34 - - - - - - - - - 16.23 -
10159.04 922.87 -5.70 1195 10163.75 roll -1.37 - - 1989.62 - 2.70 0.095 3426.81 398.6 -82.73 - - 3106.84 - - - - - - - - - 16.21 -
10188.66 924.97 -6.01 1201 10193.74 roll -1.37 - - 1989.94 - 2.61 0.025 2250.88 -450.5 -82.73 - - 3106.97 - - - - - - - - - 16.23 -
10499.29 942.77 -5.97 1233 10503.79 roll -1.37 - - 1989.94 - 2.54 0.074 1211.00 -409.4 -82.73 - - 3107.00 - - - - - - - - - 16.23 -
10533.28 945.34 -6.41 1240 10539.28 roll -1.37 - - 1989.06 - 2.62 0.033 2352.25 435.6 -82.73 - - 3107.06 - - - - - - - - - 16.23 -
10849.43 966.39 -6.58 1272 10850.76 no move -1.37 - - 1989.62 - - - 2350.88 - -82.73 - - 3105.56 - - - - - - - - - - -
11159.26 987.03 -6.70 1303 11163.96 roll -1.37 - - 1988.00 - 2.80 0.069 1209.44 -407.7 -82.73 - - 3107.44 - - - - - - - - - 16.23 -
11203 end dive: TARGET_DEPTH_EXCEEDED
11203 begin apogee
11207.13 990.40 -7.27 1312 11272.45 -0.28 1.78 0.162 2252.19 148.4 0.12 0.192 2170.94 8012.5 - 61.32 2.407 2774.53 -5.4 0.369 - - - - - - 16.16 15.69 12.98
11273 end apogee: CONTROL_FINISHED_OK
11273 begin climb
11274.31 991.27 - 1319 11343.73 1.37 2.62 0.103 2655.25 153.8 - - 2171.19 - 82.73 64.64 2.329 2435.47 -5.2 0.368 - - - - - - 15.73 - 12.81
11650.20 962.76 7.63 1357 11651.53 no move 1.38 - - 2655.00 - - - 2171.19 - 82.73 - - 2430.19 - - - - - - - - - - -
11960.65 938.71 7.90 1388 11965.40 roll 1.39 - - 2655.38 - 3.04 0.092 3346.31 386.6 82.73 - - 2430.22 - - - - - - - - - 15.90 -
12020.27 933.28 9.36 1400 12025.53 roll 1.39 - - 2653.81 - 2.67 0.027 2192.50 -432.1 82.73 - - 2430.59 - - - - - - - - - 15.93 -
12330.83 908.42 8.34 1432 12335.46 done 1.39 - - 2654.31 - 2.95 0.091 3345.06 390.7 82.73 - - 2430.41 - - - - - - - - - 16.00 -
12380.34 903.94 9.22 1442 12385.42 done 1.39 - - 2654.75 - 2.63 0.027 2194.25 -437.6 82.73 - - 2430.19 - - - - - - - - - 16.01 -
12690.76 878.06 8.40 1474 12692.09 VBD 1.39 - - 2654.81 - - - 2193.88 - 82.73 - - 2428.28 - - - - - - - - - - -
13000.80 852.34 8.16 1505 13005.49 done 1.39 - - 2655.00 - 2.65 0.081 1131.12 -401.0 82.73 - - 2429.97 - - - - - - - - - 16.07 -
13070.42 846.08 9.33 1519 13075.51 done 1.39 - - 2655.12 - 2.67 0.033 2269.94 426.5 82.73 - - 2431.16 - - - - - - - - - 16.08 -
13380.85 820.66 8.25 1551 13385.58 done 1.39 - - 2654.88 - 2.86 0.076 1131.19 -398.2 82.73 - - 2428.66 - - - - - - - - - 16.10 -
13425.01 817.02 8.21 1560 13431.02 done 1.39 - - 2654.62 - 2.65 0.033 2272.31 430.6 82.73 - - 2428.91 - - - - - - - - - 16.11 -
13740.91 792.15 7.64 1592 13742.24 VBD 1.41 - - 2655.00 - - - 2272.88 - 82.73 - - 2428.00 - - - - - - - - - - -
14050.95 769.89 6.85 1623 14055.66 done 1.44 - - 2653.50 - 2.87 0.076 1131.25 -397.8 82.73 - - 2429.25 - - - - - - - - - 16.15 -
14105.29 766.05 7.66 1634 14111.17 done 1.46 - - 2654.81 - 2.63 0.033 2270.06 433.0 82.73 - - 2428.38 - - - - - - - - - 16.14 -
14421.01 746.41 6.06 1666 14453.15 1.53 0.21 0.085 2705.25 240.2 2.75 0.098 3345.12 390.9 117.95 27.43 2.043 2295.53 -4.8 0.292 - - - - - - 16.13 15.89 12.98
14496.15 740.13 9.94 1681 14501.23 roll 1.53 - - 2704.81 - 2.67 0.027 2193.94 -431.2 117.95 - - 2293.22 - - - - - - - - - 15.98 -
14806.59 709.85 9.96 1713 14807.92 no move 1.53 - - 2705.44 - - - 2193.62 - 117.95 - - 2290.19 - - - - - - - - - - -
15116.89 678.88 10.67 1744 15121.36 roll 1.53 - - 2704.00 - 2.68 0.082 1131.19 -396.4 117.95 - - 2291.03 - - - - - - - - - 16.07 -
15240.86 664.37 11.79 1769 15246.87 roll 1.53 - - 2705.00 - 2.67 0.034 2269.50 426.3 117.95 - - 2289.50 - - - - - - - - - 16.08 -
15556.75 630.32 10.55 1801 15561.45 roll 1.53 - - 2704.00 - 2.74 0.095 3344.50 392.3 117.95 - - 2290.62 - - - - - - - - - 16.10 -
15630.91 621.89 11.60 1816 15636.92 roll 1.53 - - 2705.00 - 2.65 0.027 2192.25 -434.8 117.95 - - 2291.91 - - - - - - - - - 16.12 -
15947.20 589.39 9.67 1848 15951.59 roll 1.53 - - 2705.56 - 2.93 0.090 3345.69 393.7 117.95 - - 2289.47 - - - - - - - - - 16.13 -
16010.96 582.55 10.53 1861 16016.97 roll 1.53 - - 2705.69 - 2.64 0.027 2191.44 -437.2 117.95 - - 2292.06 - - - - - - - - - 16.14 -
16326.85 552.00 9.86 1893 16331.54 roll 1.53 - - 2705.44 - 2.66 0.082 1132.31 -398.2 117.95 - - 2288.94 - - - - - - - - - 16.14 -
16366.46 548.02 9.83 1901 16371.55 roll 1.53 - - 2705.81 - 2.64 0.033 2271.62 431.6 117.95 - - 2288.84 - - - - - - - - - 16.15 -
16676.89 517.81 9.90 1933 16681.62 roll 1.53 - - 2704.75 - 2.87 0.077 1132.12 -397.0 117.95 - - 2289.09 - - - - - - - - - 16.17 -
16896.56 494.36 10.79 1977 16901.63 roll 1.53 - - 2705.31 - 2.62 0.034 2271.31 434.8 117.95 - - 2289.50 - - - - - - - - - 16.16 -
17206.97 463.29 9.56 2009 17211.66 roll 1.53 - - 2705.25 - 2.70 0.095 3346.19 398.1 117.95 - - 2288.88 - - - - - - - - - 16.16 -
17251.13 458.60 10.85 2018 17257.15 roll 1.53 - - 2705.50 - 2.63 0.027 2190.50 -439.4 117.95 - - 2288.75 - - - - - - - - - 16.17 -
17567.05 427.96 9.44 2050 17568.38 no move 1.53 - - 2705.38 - - - 2189.88 - 117.95 - - 2288.25 - - - - - - - - - - -
17877.35 401.42 8.38 2081 17878.68 no move 1.53 - - 2705.44 - - - 2189.31 - 117.95 - - 2288.25 - - - - - - - - - - -
18187.37 376.33 7.89 2112 18188.70 no move 1.54 - - 2705.69 - - - 2190.19 - 117.95 - - 2287.84 - - - - - - - - - - -
18497.26 353.29 7.19 2143 18498.59 no move 1.57 - - 2705.50 - - - 2190.19 - 117.95 - - 2287.88 - - - - - - - - - - -
18807.33 331.59 7.15 2174 18808.65 no move 1.59 - - 2704.94 - - - 2190.06 - 117.95 - - 2288.19 - - - - - - - - - - -
19117.39 309.57 7.15 2205 19122.12 roll 1.62 - - 2705.56 - 2.91 0.090 3347.00 397.6 117.95 - - 2289.22 - - - - - - - - - 16.17 -
19257.42 297.84 8.38 2233 19262.12 roll 1.62 - - 2705.12 - 2.62 0.027 2191.00 -441.2 117.95 - - 2289.47 - - - - - - - - - 16.19 -
19567.49 275.79 6.90 2265 19572.18 roll 1.65 - - 2704.81 - 2.61 0.081 1132.44 -405.6 117.95 - - 2289.44 - - - - - - - - - 16.15 -
19627.29 271.56 7.19 2277 19632.19 roll 1.68 - - 2705.12 - 2.62 0.032 2271.88 434.9 117.95 - - 2289.44 - - - - - - - - - 16.16 -
19937.58 250.61 6.95 2309 19939.02 pitch 1.71 0.17 0.091 2747.56 249.6 - - 2272.50 - 117.95 - - 2288.41 - - - - - - - - 16.17 - -
20247.24 227.74 7.49 2340 20252.33 roll 1.73 - - 2746.69 - 2.70 0.093 3347.00 398.0 117.95 - - 2289.53 - - - - - - - - - 16.16 -
20307.26 222.57 9.28 2352 20312.53 roll 1.73 - - 2746.75 - 2.63 0.026 2190.00 -439.9 117.95 - - 2290.84 - - - - - - - - - 16.19 -
20617.84 198.36 7.44 2384 20619.17 no move 1.75 - - 2746.75 - - - 2190.12 - 117.95 - - 2288.88 - - - - - - - - - - -
20927.75 175.86 7.13 2415 20932.44 roll 1.77 - - 2746.81 - 2.63 0.079 1132.25 -402.2 117.95 - - 2290.69 - - - - - - - - - 16.18 -
21157.41 156.51 8.53 2461 21162.49 roll 1.77 - - 2747.31 - 2.63 0.032 2273.94 434.1 117.95 - - 2290.88 - - - - - - - - - 16.16 -
21467.85 134.40 6.94 2493 21472.53 roll 1.80 - - 2747.19 - 2.69 0.091 3345.50 398.3 117.95 - - 2292.03 - - - - - - - - - 16.16 -
21602.02 123.81 8.01 2520 21608.03 roll 1.80 - - 2746.81 - 2.61 0.025 2187.75 -443.6 117.95 - - 2290.06 - - - - - - - - - 16.18 -
21917.91 106.60 4.61 2552 21961.40 1.92 0.22 0.077 2798.69 235.8 - - 2188.25 - 174.45 41.62 1.340 2063.81 -5.4 0.071 - - - - - - 16.17 - 12.99
22262.59 81.33 7.69 2610 22268.34 roll 1.93 - - 2798.06 - 2.95 0.086 3344.88 392.1 174.45 - - 2057.69 - - - - - - - - - 16.04 -
22302.77 78.41 7.20 2618 22308.12 roll 1.96 - - 2799.25 - 2.64 0.025 2188.38 -438.1 174.45 - - 2057.31 - - - - - - - - - 16.05 -
22492.66 68.27 4.81 2656 22539.37 done 2.06 - - 2798.19 - 2.96 0.087 3347.25 391.5 228.00 39.81 1.270 1845.12 -5.3 0.047 - - - - - - - 15.84 13.02
22767.76 51.64 6.19 2711 22799.25 2.13 0.22 0.082 2848.19 227.3 2.65 0.025 2189.12 -437.0 261.26 25.56 1.207 1709.44 -5.3 0.037 - - - - - - 15.94 15.94 12.89
22982.84 35.72 8.45 2754 22988.38 roll 2.13 - - 2848.94 - 2.66 0.077 1132.81 -397.1 261.26 - - 1702.00 - - - - - - - - - 15.91 -
23217.94 17.84 6.38 2801 23248.59 done 2.19 - - 2848.88 - 2.67 0.030 2272.00 426.7 291.71 23.50 1.151 1585.31 -5.0 0.013 - - - - - - - 15.96 12.94
23433.12 2.91 8.67 2844 23438.59 roll 2.19 - - 2849.25 - 2.88 0.075 1132.62 -395.6 291.71 - - 1580.44 - - - - - - - - - 15.94 -
23447 end climb: SURFACE_DEPTH_REACHED
23447 begin surface coast
23472 end surface coast: CONTROL_FINISHED_OK
23473 begin surface
SM 2.07 - - - - 183.2 61.72 1.177 1245.6 20.2 16.35 0.051 1214.9 74.3 - 2.83 0.032 1276.2 449.9 -2.975 - - 12.91 15.92 15.95 -