NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 151 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 52.75 of 550.00 AH used of 24V (90.41% remains)
• Surface angle -64.3 deg, depth 1.52 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 375.14 (SM_CC=375)
• GPS1 time: 17 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
6.55 - - - 60.30 VBD -1.37 - - 186.62 - - - 2256.44 - -82.73 52.59 0.005 2518.81 - - - - - - - - - - 15.77
61.04 3.25 -3.58 10 99.21 -1.37 13.66 0.260 1988.81 131.9 2.97 0.086 3425.94 393.8 -82.73 14.97 0.006 3111.94 39.6 -3.569 - - - - - - 15.74 15.75 15.78
327.26 56.20 -17.54 63 332.81 roll -1.37 - - 1988.19 - 2.62 0.022 2257.69 -445.9 -82.73 - - 3112.41 - - - - - - - - - 15.91 -
517.91 81.60 -11.69 101 521.51 no move -1.37 - - 1988.44 - - - 2255.25 - -82.73 - - 3112.97 - - - - - - - - - - -
702.36 101.57 -10.95 137 707.50 roll -1.37 - - 1988.56 - 2.95 0.082 3427.75 397.5 -82.73 - - 3114.09 - - - - - - - - - 15.99 -
792.39 112.32 -11.63 155 797.47 roll -1.37 - - 1988.00 - 2.61 0.022 2250.94 -450.9 -82.73 - - 3114.47 - - - - - - - - - 16.00 -
1102.42 142.46 -9.92 187 1107.48 roll -1.37 - - 1988.56 - 2.51 0.068 1209.44 -414.9 -82.73 - - 3114.72 - - - - - - - - - 16.04 -
1222.44 155.36 -11.02 211 1227.52 roll -1.37 - - 1987.12 - 2.63 0.030 2353.00 434.8 -82.73 - - 3115.31 - - - - - - - - - 16.05 -
1532.48 186.33 -9.50 243 1533.81 no move -1.37 - - 1988.81 - - - 2353.06 - -82.73 - - 3113.09 - - - - - - - - - - -
1842.90 215.07 -8.98 274 1847.61 roll -1.37 - - 1986.88 - 2.76 0.063 1208.62 -414.7 -82.73 - - 3115.34 - - - - - - - - - 16.11 -
2027.08 232.35 -9.56 311 2033.09 roll -1.37 - - 1987.12 - 2.62 0.030 2353.12 436.8 -82.73 - - 3115.41 - - - - - - - - - 16.12 -
2342.58 259.35 -8.77 343 2343.91 no move -1.37 - - 1988.62 - - - 2353.81 - -82.73 - - 3113.72 - - - - - - - - - - -
2653.03 286.06 -8.68 374 2657.92 roll -1.37 - - 1988.31 - 2.75 0.063 1207.06 -417.0 -82.73 - - 3115.22 - - - - - - - - - 16.14 -
2757.38 295.77 -9.60 395 2763.22 roll -1.37 - - 1988.50 - 2.64 0.030 2356.06 435.2 -82.73 - - 3114.69 - - - - - - - - - 16.14 -
3072.74 325.49 -9.22 427 3074.07 no move -1.37 - - 1988.62 - - - 2355.75 - -82.73 - - 3112.97 - - - - - - - - - - -
3383.19 354.14 -9.17 458 3384.52 no move -1.37 - - 1988.06 - - - 2355.81 - -82.73 - - 3113.06 - - - - - - - - - - -
3693.26 382.33 -8.74 489 3694.58 no move -1.37 - - 1988.50 - - - 2355.94 - -82.73 - - 3112.72 - - - - - - - - - - -
4003.32 409.91 -9.25 520 4008.03 roll -1.37 - - 1988.31 - 2.76 0.065 1208.12 -415.9 -82.73 - - 3114.12 - - - - - - - - - 16.17 -
4127.50 422.06 -10.19 545 4133.51 roll -1.37 - - 1988.38 - 2.64 0.031 2352.75 433.6 -82.73 - - 3113.41 - - - - - - - - - 16.17 -
4443.04 451.27 -9.25 577 4444.36 no move -1.37 - - 1988.44 - - - 2353.50 - -82.73 - - 3112.25 - - - - - - - - - - -
4753.49 478.41 -8.58 608 4758.20 roll -1.37 - - 1988.62 - 2.76 0.065 1208.81 -414.7 -82.73 - - 3113.22 - - - - - - - - - 16.19 -
4807.65 482.90 -8.76 619 4813.65 roll -1.37 - - 1987.25 - 2.63 0.031 2351.88 434.6 -82.73 - - 3112.94 - - - - - - - - - 16.19 -
5123.18 507.48 -7.78 651 5124.51 no move -1.37 - - 1988.81 - - - 2352.69 - -82.73 - - 3111.09 - - - - - - - - - - -
5433.64 532.44 -8.15 682 5438.52 roll -1.37 - - 1986.94 - 2.77 0.065 1208.69 -413.0 -82.73 - - 3112.56 - - - - - - - - - 16.20 -
5517.98 539.51 -8.57 699 5523.81 roll -1.37 - - 1988.62 - 2.62 0.031 2350.50 435.8 -82.73 - - 3111.16 - - - - - - - - - 16.20 -
5833.33 565.94 -8.44 731 5838.42 roll -1.37 - - 1988.62 - 2.76 0.065 1208.88 -413.6 -82.73 - - 3111.47 - - - - - - - - - 16.21 -
5937.88 574.79 -8.79 752 5943.89 roll -1.37 - - 1988.56 - 2.63 0.031 2352.00 434.6 -82.73 - - 3110.84 - - - - - - - - - 16.20 -
6253.39 600.06 -7.88 784 6258.48 roll -1.37 - - 1988.19 - 2.78 0.065 1208.88 -411.2 -82.73 - - 3110.81 - - - - - - - - - 16.19 -
6307.93 604.23 -8.09 795 6313.94 roll -1.37 - - 1987.75 - 2.62 0.031 2351.94 436.3 -82.73 - - 3110.75 - - - - - - - - - 16.21 -
6623.43 628.95 -7.94 827 6628.52 roll -1.37 - - 1988.44 - 2.79 0.065 1208.69 -409.8 -82.73 - - 3110.28 - - - - - - - - - 16.21 -
6693.44 634.63 -8.44 841 6698.52 roll -1.37 - - 1987.50 - 2.64 0.031 2351.62 432.9 -82.73 - - 3110.47 - - - - - - - - - 16.22 -
7003.48 661.22 -8.76 873 7004.81 no move -1.37 - - 1988.00 - - - 2351.88 - -82.73 - - 3107.94 - - - - - - - - - - -
7313.91 687.53 -8.20 904 7315.23 no move -1.37 - - 1988.12 - - - 2351.62 - -82.73 - - 3107.22 - - - - - - - - - - -
7624.17 711.57 -7.45 935 7628.63 roll -1.37 - - 1988.38 - 2.69 0.094 3425.19 399.1 -82.73 - - 3108.66 - - - - - - - - - 16.21 -
7678.09 716.17 -8.88 946 7684.11 roll -1.37 - - 1988.06 - 2.62 0.024 2250.88 -448.2 -82.73 - - 3108.19 - - - - - - - - - 16.22 -
7993.60 738.33 -7.21 978 7994.93 no move -1.37 - - 1988.62 - - - 2251.06 - -82.73 - - 3106.75 - - - - - - - - - - -
8304.04 760.72 -7.38 1009 8305.37 no move -1.37 - - 1988.56 - - - 2251.00 - -82.73 - - 3106.19 - - - - - - - - - - -
8614.11 784.78 -7.89 1040 8618.78 roll -1.37 - - 1988.38 - 2.55 0.072 1211.25 -407.7 -82.73 - - 3108.00 - - - - - - - - - 16.22 -
8673.74 789.61 -8.39 1052 8678.83 roll -1.37 - - 1988.50 - 2.63 0.032 2350.69 433.2 -82.73 - - 3107.41 - - - - - - - - - 16.22 -
8983.82 813.72 -7.74 1084 8985.15 no move -1.37 - - 1988.00 - - - 2350.31 - -82.73 - - 3106.09 - - - - - - - - - - -
9294.27 836.03 -6.94 1115 9295.59 no move -1.37 - - 1988.19 - - - 2350.69 - -82.73 - - 3105.56 - - - - - - - - - - -
9604.33 857.27 -6.74 1146 9609.05 roll -1.37 - - 1988.38 - 2.80 0.067 1210.50 -407.2 -82.73 - - 3107.00 - - - - - - - - - 16.22 -
9708.51 864.68 -7.27 1167 9714.52 roll -1.37 - - 1988.06 - 2.64 0.032 2351.00 432.0 -82.73 - - 3107.25 - - - - - - - - - 16.22 -
10024.05 885.47 -6.86 1199 10025.38 no move -1.37 - - 1988.69 - - - 2351.62 - -82.73 - - 3105.12 - - - - - - - - - - -
10334.70 905.65 -6.20 1230 10336.03 no move -1.37 - - 1988.44 - - - 2351.56 - -82.73 - - 3104.09 - - - - - - - - - - -
10644.58 925.29 -6.34 1261 10645.91 no move -1.37 - - 1988.75 - - - 2351.56 - -82.73 - - 3104.03 - - - - - - - - - - -
10954.63 946.46 -7.52 1292 10959.34 roll -1.37 - - 1988.94 - 2.71 0.095 3425.50 396.3 -82.73 - - 3105.47 - - - - - - - - - 16.19 -
11004.25 950.65 -8.42 1302 11009.33 roll -1.37 - - 1988.56 - 2.62 0.025 2252.75 -447.6 -82.73 - - 3106.53 - - - - - - - - - 16.22 -
11314.70 973.20 -7.52 1334 11319.38 roll -1.37 - - 1988.50 - 2.57 0.072 1209.81 -405.8 -82.73 - - 3105.97 - - - - - - - - - 16.21 -
11358.86 976.54 -7.41 1343 11364.87 roll -1.37 - - 1986.81 - 2.64 0.032 2351.00 432.3 -82.73 - - 3106.75 - - - - - - - - - 16.23 -
11544 end dive: TARGET_DEPTH_EXCEEDED
11544 begin apogee
11546.17 990.32 -7.32 1362 11611.70 -0.28 1.77 0.156 2254.62 151.3 0.20 0.140 2280.94 -350.3 - 61.44 2.404 2772.69 -5.4 0.372 - - - - - - 16.15 15.69 12.89
11612 end apogee: CONTROL_FINISHED_OK
11613 begin climb
11613.66 991.96 - 1368 11689.30 1.37 2.63 0.105 2655.12 152.3 2.88 0.096 3344.94 369.4 82.73 65.27 2.336 2438.88 -5.1 0.361 - - - - - - 15.72 15.33 12.82
11712.51 987.10 5.40 1384 11754.98 done 1.46 - - 2655.56 - 2.75 0.025 2193.31 -418.8 127.59 37.71 2.249 2252.44 -4.9 0.361 - - - - - - - 15.50 12.67
12062.86 954.80 10.15 1423 12067.95 done 1.46 - - 2655.81 - 2.74 0.080 1132.38 -387.2 127.59 - - 2246.22 - - - - - - - - - 15.77 -
12097.40 951.07 10.39 1430 12103.43 done 1.46 - - 2654.12 - 2.73 0.032 2269.81 416.6 127.59 - - 2246.72 - - - - - - - - - 15.79 -
12413.33 921.61 9.37 1462 12418.03 done 1.46 - - 2656.19 - 2.79 0.095 3345.50 385.6 127.59 - - 2245.62 - - - - - - - - - 15.91 -
12462.96 916.22 10.84 1472 12468.04 done 1.46 - - 2655.38 - 2.67 0.026 2192.38 -431.9 127.59 - - 2244.97 - - - - - - - - - 15.92 -
12773.41 887.07 9.21 1504 12778.15 done 1.46 - - 2654.44 - 2.97 0.091 3343.12 387.5 127.59 - - 2245.38 - - - - - - - - - 15.99 -
12837.58 879.85 10.73 1517 12843.76 done 1.46 - - 2654.56 - 2.66 0.026 2194.00 -432.0 127.59 - - 2244.88 - - - - - - - - - 16.00 -
13153.60 850.30 9.42 1549 13154.94 VBD 1.46 - - 2655.81 - - - 2194.25 - 127.59 - - 2242.72 - - - - - - - - - - -
13463.56 821.24 9.15 1580 13464.90 VBD 1.46 - - 2655.31 - - - 2193.69 - 127.59 - - 2242.00 - - - - - - - - - - -
13773.62 793.39 8.66 1611 13778.36 done 1.46 - - 2654.62 - 2.97 0.091 3344.06 387.3 127.59 - - 2243.78 - - - - - - - - - 16.09 -
13833.25 787.15 10.41 1623 13838.34 done 1.46 - - 2655.62 - 2.64 0.026 2191.62 -436.5 127.59 - - 2243.91 - - - - - - - - - 16.11 -
14143.83 760.34 8.39 1655 14145.16 VBD 1.46 - - 2655.31 - - - 2191.25 - 127.59 - - 2241.69 - - - - - - - - - - -
14453.76 735.09 7.56 1686 14458.49 done 1.47 - - 2655.50 - 2.95 0.091 3344.19 390.8 127.59 - - 2241.97 - - - - - - - - - 16.13 -
14507.91 729.93 9.17 1697 14513.91 done 1.47 - - 2654.31 - 2.64 0.027 2190.56 -437.0 127.59 - - 2243.62 - - - - - - - - - 16.14 -
14823.80 706.63 7.18 1729 14828.57 1.50 0.17 0.096 2698.94 262.5 2.94 0.091 3345.69 392.9 127.59 - - 2243.12 - - - - - - - - 16.12 16.13 -
14877.95 701.66 9.27 1740 14883.95 done 1.50 - - 2699.94 - 2.61 0.027 2191.25 -442.3 127.59 - - 2242.59 - - - - - - - - - 16.15 -
15193.83 674.77 8.62 1772 15195.16 VBD 1.50 - - 2699.75 - - - 2191.31 - 127.59 - - 2240.06 - - - - - - - - - - -
15504.12 647.83 9.09 1803 15505.45 VBD 1.50 - - 2700.56 - - - 2191.56 - 127.59 - - 2240.28 - - - - - - - - - - -
15813.91 620.52 8.84 1834 15815.24 VBD 1.50 - - 2700.19 - - - 2190.56 - 127.59 - - 2240.09 - - - - - - - - - - -
16123.94 592.42 9.43 1865 16128.63 done 1.50 - - 2700.81 - 2.63 0.081 1131.56 -402.7 127.59 - - 2240.75 - - - - - - - - - 16.16 -
16158.10 589.00 9.61 1872 16164.10 done 1.50 - - 2699.38 - 2.64 0.032 2270.94 431.6 127.59 - - 2241.47 - - - - - - - - - 16.17 -
16474.00 558.51 10.14 1904 16475.33 VBD 1.50 - - 2700.19 - - - 2271.00 - 127.59 - - 2239.50 - - - - - - - - - - -
16784.07 527.76 9.50 1935 16788.79 done 1.50 - - 2700.56 - 2.84 0.076 1131.25 -401.3 127.59 - - 2242.03 - - - - - - - - - 16.18 -
16828.23 523.40 9.51 1944 16834.24 done 1.50 - - 2699.81 - 2.63 0.032 2272.19 433.8 127.59 - - 2241.97 - - - - - - - - - 16.18 -
17144.15 494.36 9.12 1976 17148.86 done 1.50 - - 2700.69 - 2.72 0.094 3344.50 394.2 127.59 - - 2240.78 - - - - - - - - - 16.16 -
17198.32 489.03 10.16 1987 17204.33 done 1.50 - - 2700.50 - 2.62 0.026 2188.38 -441.3 127.59 - - 2240.59 - - - - - - - - - 16.18 -
17514.25 462.15 7.93 2019 17515.58 VBD 1.51 - - 2700.00 - - - 2188.31 - 127.59 - - 2239.94 - - - - - - - - - - -
17824.55 437.52 8.12 2050 17825.88 VBD 1.51 - - 2700.12 - - - 2187.81 - 127.59 - - 2239.72 - - - - - - - - - - -
18134.38 413.11 7.76 2081 18139.05 done 1.53 - - 2699.50 - 2.62 0.080 1130.00 -403.7 127.59 - - 2241.53 - - - - - - - - - 16.19 -
18184.01 409.00 7.84 2091 18189.07 done 1.54 - - 2699.94 - 2.63 0.032 2272.06 434.2 127.59 - - 2241.97 - - - - - - - - - 16.18 -
18494.44 383.70 8.38 2123 18499.16 done 1.54 - - 2700.75 - 2.72 0.093 3345.31 394.6 127.59 - - 2240.94 - - - - - - - - - 16.18 -
18574.08 376.18 9.55 2139 18579.17 done 1.54 - - 2699.88 - 2.62 0.026 2190.06 -440.9 127.59 - - 2241.22 - - - - - - - - - 16.20 -
18884.55 351.02 7.85 2171 18885.88 VBD 1.55 - - 2700.88 - - - 2189.69 - 127.59 - - 2239.69 - - - - - - - - - - -
19194.62 327.21 7.68 2202 19195.95 VBD 1.57 - - 2700.19 - - - 2190.31 - 127.59 - - 2239.53 - - - - - - - - - - -
19504.68 304.13 7.46 2233 19506.02 VBD 1.59 - - 2700.38 - - - 2189.44 - 127.59 - - 2239.69 - - - - - - - - - - -
19814.74 280.02 7.75 2264 19819.46 done 1.60 - - 2699.19 - 2.93 0.089 3346.75 395.0 127.59 - - 2242.28 - - - - - - - - - 16.18 -
19858.88 276.15 8.70 2273 19864.89 done 1.60 - - 2700.62 - 2.62 0.026 2190.31 -441.4 127.59 - - 2241.66 - - - - - - - - - 16.19 -
20174.95 252.54 7.62 2305 20176.28 VBD 1.62 - - 2700.38 - - - 2189.81 - 127.59 - - 2239.72 - - - - - - - - - - -
20485.06 229.71 7.09 2336 20486.39 VBD 1.64 - - 2700.25 - - - 2189.94 - 127.59 - - 2240.12 - - - - - - - - - - -
20794.86 207.53 7.58 2367 20796.19 VBD 1.66 - - 2700.44 - - - 2189.00 - 127.59 - - 2240.38 - - - - - - - - - - -
21104.90 182.59 7.88 2398 21106.23 VBD 1.67 - - 2700.75 - - - 2188.06 - 127.59 - - 2239.78 - - - - - - - - - - -
21414.93 160.23 7.38 2429 21419.65 1.69 0.19 0.085 2746.38 240.2 2.61 0.079 1131.06 -405.0 127.59 - - 2242.62 - - - - - - - - 16.17 16.16 -
21479.10 155.14 7.82 2442 21485.08 done 1.71 - - 2747.00 - 2.62 0.031 2273.88 436.2 127.59 - - 2242.41 - - - - - - - - - 16.19 -
21794.99 132.32 7.03 2474 21796.32 VBD 1.74 - - 2747.19 - - - 2274.00 - 127.59 - - 2240.91 - - - - - - - - - - -
22105.06 113.14 5.26 2505 22146.04 done 1.83 - - 2747.25 - 2.72 0.092 3345.44 393.9 174.48 33.84 1.321 2062.78 -5.3 0.075 - - - - - - - 15.96 12.95
22374.76 91.06 8.68 2559 22380.29 roll 1.83 - - 2746.69 - 2.63 0.025 2188.88 -439.8 174.48 - - 2059.53 - - - - - - - - - 16.04 -
22564.84 81.87 3.61 2597 22623.56 1.97 0.31 0.068 2814.50 218.7 2.66 0.079 1131.25 -397.6 245.61 53.24 1.291 1771.66 -5.4 0.057 - - - - - - 16.03 15.79 12.91
22666.68 76.18 6.90 2617 22672.21 roll 2.00 - - 2812.94 - 2.67 0.029 2270.94 426.9 245.61 - - 1767.78 - - - - - - - - - 15.88 -
22856.76 62.57 6.99 2655 22862.31 done 2.03 - - 2814.38 - 2.74 0.088 3345.44 392.2 245.61 - - 1764.00 - - - - - - - - - 15.92 -
22936.80 56.97 6.95 2671 22942.32 done 2.06 - - 2813.62 - 2.64 0.024 2187.38 -438.7 245.61 - - 1763.53 - - - - - - - - - 15.96 -
23126.87 46.23 5.01 2709 23169.60 2.16 0.19 0.086 2858.00 233.6 2.99 0.085 3345.56 387.4 296.21 37.62 1.216 1566.69 -5.2 0.033 - - - - - - 15.97 15.77 12.79
23227.64 38.85 8.24 2729 23233.15 roll 2.16 - - 2858.81 - 2.66 0.024 2186.75 -435.6 296.21 - - 1563.72 - - - - - - - - - 15.88 -
23417.67 25.80 7.34 2767 23423.39 done 2.19 - - 2859.12 - 2.64 0.076 1132.56 -399.3 296.21 - - 1559.88 - - - - - - - - - 15.92 -
23652.76 6.55 8.68 2814 23658.31 done 2.19 - - 2857.56 - 2.66 0.029 2274.50 429.3 296.21 - - 1557.19 - - - - - - - - - 15.98 -
23712 end climb: SURFACE_DEPTH_REACHED
23712 begin surface coast
23742 end surface coast: CONTROL_FINISHED_OK
23742 begin surface
SM 1.43 - - - - 185.5 58.01 1.188 1245.7 21.5 16.42 0.057 1231.9 75.0 - 0.12 0.123 1259.5 10473.7 -12.445 - - 12.81 15.97 15.98 -