NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 168 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 57.81 of 550.00 AH used of 24V (89.49% remains)
• Surface angle -63.3 deg, depth 1.60 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 375.16 (SM_CC=375)
• GPS1 time: 52 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
6.56 - - - 55.30 VBD -1.37 - - 180.56 - - - 2249.56 - -82.73 47.56 0.005 2416.41 - - - - - - - - - - 15.76
56.04 3.48 -4.28 9 95.21 -1.37 13.61 0.255 1988.75 132.9 2.60 0.068 1208.88 -400.3 -82.73 17.15 0.006 3110.41 40.5 -3.872 - - - - - - 15.74 15.73 15.78
323.26 52.23 -16.80 62 328.79 roll -1.37 - - 1988.75 - 2.64 0.030 2350.81 432.5 -82.73 - - 3114.03 - - - - - - - - - 15.94 -
513.88 81.27 -13.42 100 518.93 roll -1.37 - - 1988.56 - 2.69 0.086 3426.94 400.0 -82.73 - - 3114.31 - - - - - - - - - 15.95 -
568.33 89.24 -14.37 111 573.88 roll -1.37 - - 1989.38 - 2.63 0.022 2252.19 -446.7 -82.73 - - 3113.22 - - - - - - - - - 15.98 -
763.36 111.40 -10.98 140 764.69 no move -1.37 - - 1988.88 - - - 2249.88 - -82.73 - - 3112.59 - - - - - - - - - - -
1073.78 139.64 -9.26 171 1078.45 roll -1.37 - - 1988.94 - 2.58 0.066 1209.94 -403.1 -82.73 - - 3115.78 - - - - - - - - - 16.04 -
1133.40 145.59 -10.02 183 1138.49 roll -1.37 - - 1988.75 - 2.64 0.029 2353.81 433.3 -82.73 - - 3113.41 - - - - - - - - - 16.06 -
1443.44 174.68 -8.77 215 1444.78 no move -1.37 - - 1988.81 - - - 2353.50 - -82.73 - - 3113.34 - - - - - - - - - - -
1753.87 201.38 -8.46 246 1758.59 roll -1.37 - - 1988.75 - 2.83 0.061 1208.12 -404.7 -82.73 - - 3113.88 - - - - - - - - - 16.11 -
1888.04 214.14 -9.70 273 1894.65 roll -1.37 - - 1989.25 - 2.62 0.029 2352.31 436.7 -82.73 - - 3115.12 - - - - - - - - - 16.11 -
2203.55 244.94 -10.10 305 2204.88 no move -1.37 - - 1988.94 - - - 2352.31 - -82.73 - - 3113.94 - - - - - - - - - - -
2513.96 275.41 -9.73 336 2518.66 roll -1.37 - - 1989.12 - 2.67 0.087 3427.31 402.6 -82.73 - - 3114.56 - - - - - - - - - 16.12 -
2603.59 285.09 -10.90 354 2608.86 roll -1.37 - - 1989.62 - 2.61 0.022 2251.12 -450.6 -82.73 - - 3115.00 - - - - - - - - - 16.13 -
2913.83 313.49 -9.23 386 2915.16 no move -1.37 - - 1989.69 - - - 2249.44 - -82.73 - - 3113.31 - - - - - - - - - - -
3224.11 341.32 -9.16 417 3228.79 roll -1.37 - - 1989.38 - 2.55 0.068 1209.38 -407.9 -82.73 - - 3114.53 - - - - - - - - - 16.16 -
3288.28 347.59 -10.12 430 3294.29 roll -1.37 - - 1989.69 - 2.61 0.031 2353.50 438.4 -82.73 - - 3114.06 - - - - - - - - - 16.15 -
3603.82 378.99 -9.92 462 3605.15 no move -1.37 - - 1989.50 - - - 2352.69 - -82.73 - - 3112.97 - - - - - - - - - - -
3914.27 409.37 -9.53 493 3915.60 no move -1.37 - - 1989.88 - - - 2352.88 - -82.73 - - 3112.06 - - - - - - - - - - -
4224.34 436.97 -8.32 524 4229.04 roll -1.37 - - 1990.31 - 2.80 0.063 1209.69 -408.3 -82.73 - - 3113.34 - - - - - - - - - 16.19 -
4273.95 440.93 -7.89 534 4279.02 roll -1.37 - - 1989.69 - 2.60 0.031 2353.06 439.8 -82.73 - - 3112.53 - - - - - - - - - 16.19 -
4584.03 466.54 -8.31 566 4585.36 no move -1.37 - - 1989.69 - - - 2352.69 - -82.73 - - 3111.34 - - - - - - - - - - -
4894.47 492.28 -8.38 597 4895.80 no move -1.37 - - 1989.31 - - - 2353.00 - -82.73 - - 3110.53 - - - - - - - - - - -
5204.54 517.02 -8.21 628 5209.26 roll -1.37 - - 1989.88 - 2.81 0.064 1210.69 -406.5 -82.73 - - 3111.41 - - - - - - - - - 16.19 -
5254.16 520.97 -8.04 638 5259.41 roll -1.37 - - 1988.62 - 2.60 0.031 2351.31 438.7 -82.73 - - 3112.81 - - - - - - - - - 16.19 -
5564.34 546.24 -8.52 670 5569.33 roll -1.37 - - 1990.12 - 2.76 0.064 1209.56 -413.7 -82.73 - - 3110.81 - - - - - - - - - 16.19 -
5694.26 557.97 -9.18 696 5699.33 roll -1.37 - - 1989.44 - 2.60 0.031 2352.06 439.4 -82.73 - - 3110.47 - - - - - - - - - 16.20 -
6004.32 585.86 -9.39 728 6005.65 no move -1.37 - - 1989.31 - - - 2351.62 - -82.73 - - 3109.06 - - - - - - - - - - -
6314.74 615.72 -9.95 759 6319.44 roll -1.37 - - 1989.56 - 2.66 0.092 3426.12 403.9 -82.73 - - 3109.84 - - - - - - - - - 16.19 -
6364.57 620.92 -10.36 769 6369.43 roll -1.37 - - 1989.38 - 2.60 0.024 2250.62 -452.1 -82.73 - - 3111.31 - - - - - - - - - 16.20 -
6674.40 648.34 -8.24 801 6675.73 no move -1.37 - - 1989.62 - - - 2248.75 - -82.73 - - 3107.78 - - - - - - - - - - -
6984.82 672.88 -7.53 832 6986.15 no move -1.37 - - 1989.75 - - - 2249.19 - -82.73 - - 3107.81 - - - - - - - - - - -
7294.85 695.70 -7.24 863 7299.59 roll -1.37 - - 1989.69 - 2.92 0.089 3425.50 402.8 -82.73 - - 3108.59 - - - - - - - - - 16.19 -
7354.47 700.64 -8.22 875 7359.54 roll -1.37 - - 1990.19 - 2.60 0.024 2253.44 -450.8 -82.73 - - 3108.25 - - - - - - - - - 16.20 -
7664.51 723.54 -7.91 907 7665.84 no move -1.37 - - 1989.62 - - - 2252.81 - -82.73 - - 3106.50 - - - - - - - - - - -
7975.17 746.07 -6.93 938 7976.50 no move -1.37 - - 1989.31 - - - 2252.06 - -82.73 - - 3106.78 - - - - - - - - - - -
8284.96 767.33 -6.51 969 8289.71 roll -1.37 - - 1989.38 - 2.92 0.088 3425.38 401.8 -82.73 - - 3107.12 - - - - - - - - - 16.21 -
8359.15 773.30 -8.21 984 8365.13 roll -1.37 - - 1989.62 - 2.58 0.024 2253.50 -454.2 -82.73 - - 3107.69 - - - - - - - - - 16.21 -
8674.67 793.66 -6.47 1016 8679.73 roll -1.37 - - 1989.12 - 2.55 0.072 1210.75 -408.9 -82.73 - - 3107.62 - - - - - - - - - 16.20 -
8739.23 798.00 -7.01 1029 8745.24 roll -1.37 - - 1989.25 - 2.60 0.032 2353.19 439.4 -82.73 - - 3106.41 - - - - - - - - - 16.21 -
9054.78 817.92 -6.31 1061 9056.11 no move -1.37 - - 1989.75 - - - 2353.25 - -82.73 - - 3104.84 - - - - - - - - - - -
9365.23 837.44 -6.42 1092 9366.56 no move -1.37 - - 1989.75 - - - 2352.44 - -82.73 - - 3104.31 - - - - - - - - - - -
9675.28 859.98 -7.59 1123 9676.61 no move -1.37 - - 1989.69 - - - 2352.25 - -82.73 - - 3104.44 - - - - - - - - - - -
9985.34 883.26 -7.26 1154 9986.67 no move -1.37 - - 1990.38 - - - 2353.50 - -82.73 - - 3104.09 - - - - - - - - - - -
10295.41 905.71 -7.31 1185 10296.74 no move -1.37 - - 1989.56 - - - 2352.56 - -82.73 - - 3103.38 - - - - - - - - - - -
10605.65 928.86 -7.54 1216 10610.19 roll -1.37 - - 1989.94 - 2.80 0.067 1211.12 -407.7 -82.73 - - 3104.69 - - - - - - - - - 16.19 -
10659.64 933.00 -7.82 1227 10665.84 roll -1.37 - - 1989.00 - 2.61 0.032 2350.00 436.4 -82.73 - - 3105.09 - - - - - - - - - 16.22 -
10975.66 955.76 -7.01 1259 10976.99 no move -1.37 - - 1989.44 - - - 2350.38 - -82.73 - - 3103.12 - - - - - - - - - - -
11285.62 977.12 -6.65 1290 11290.33 roll -1.37 - - 1989.25 - 2.80 0.067 1209.56 -407.4 -82.73 - - 3104.81 - - - - - - - - - 16.21 -
11325.25 979.52 -6.42 1298 11330.31 roll -1.37 - - 1989.81 - 2.60 0.032 2352.56 439.6 -82.73 - - 3105.03 - - - - - - - - - 16.21 -
11484 end dive: TARGET_DEPTH_EXCEEDED
11485 begin apogee
11487.10 990.07 -6.31 1315 11552.62 -0.28 1.76 0.156 2254.56 150.4 0.20 0.142 2282.25 -351.5 - 61.10 2.403 2773.56 -5.4 0.369 - - - - - - 16.14 15.68 12.82
11553 end apogee: CONTROL_FINISHED_OK
11554 begin climb
11554.60 991.12 - 1321 11624.22 1.37 2.60 0.099 2655.62 154.3 - - 2282.69 - 82.73 65.17 2.328 2438.75 -5.1 0.361 - - - - - - 15.72 - 12.86
11927.67 960.67 8.87 1359 11932.80 roll 1.37 - - 2655.88 - 2.93 0.076 1132.69 -392.5 82.73 - - 2431.22 - - - - - - - - - 15.80 -
11982.41 955.26 10.05 1370 11988.30 roll 1.37 - - 2656.38 - 2.65 0.032 2270.94 429.5 82.73 - - 2431.09 - - - - - - - - - 15.83 -
12298.14 927.07 8.71 1402 12299.47 no move 1.37 - - 2655.56 - - - 2271.12 - 82.73 - - 2429.31 - - - - - - - - - - -
12608.20 901.40 8.01 1433 12609.53 VBD 1.37 - - 2656.50 - - - 2270.12 - 82.73 - - 2428.25 - - - - - - - - - - -
12918.28 877.20 7.92 1464 12919.61 VBD 1.38 - - 2655.88 - - - 2272.25 - 82.73 - - 2427.91 - - - - - - - - - - -
13228.35 852.84 7.59 1495 13229.68 VBD 1.40 - - 2655.38 - - - 2270.88 - 82.73 - - 2427.28 - - - - - - - - - - -
13538.41 829.34 7.77 1526 13539.75 VBD 1.41 - - 2656.00 - - - 2271.38 - 82.73 - - 2427.97 - - - - - - - - - - -
13848.48 805.15 7.95 1557 13853.19 done 1.42 - - 2655.62 - 2.85 0.076 1132.38 -399.6 82.73 - - 2430.84 - - - - - - - - - 16.12 -
13898.08 800.76 8.93 1567 13903.17 done 1.42 - - 2655.94 - 2.61 0.032 2272.88 437.0 82.73 - - 2431.12 - - - - - - - - - 16.11 -
14208.56 776.46 7.65 1599 14209.90 VBD 1.44 - - 2655.19 - - - 2272.38 - 82.73 - - 2426.53 - - - - - - - - - - -
14518.63 752.62 7.34 1630 14519.97 VBD 1.46 - - 2656.12 - - - 2272.62 - 82.73 - - 2426.28 - - - - - - - - - - -
14828.69 730.32 6.89 1661 14830.13 1.49 0.15 0.101 2695.44 262.1 - - 2272.50 - 82.73 - - 2426.69 - - - - - - - - 16.13 - -
15138.34 706.10 7.69 1692 15139.67 VBD 1.50 - - 2695.25 - - - 2272.38 - 82.73 - - 2426.16 - - - - - - - - - - -
15449.01 683.80 7.24 1723 15453.44 done 1.53 - - 2695.69 - 2.68 0.093 3345.19 400.3 82.73 - - 2428.75 - - - - - - - - - 16.15 -
15508.39 679.17 8.41 1735 15513.47 done 1.53 - - 2696.00 - 2.62 0.025 2190.06 -440.9 82.73 - - 2429.72 - - - - - - - - - 16.16 -
15818.82 656.97 7.07 1767 15820.16 VBD 1.56 - - 2696.44 - - - 2190.44 - 82.73 - - 2426.06 - - - - - - - - - - -
16128.86 633.70 7.73 1798 16130.19 VBD 1.57 - - 2695.81 - - - 2189.62 - 82.73 - - 2425.59 - - - - - - - - - - -
16438.90 610.90 7.09 1829 16440.23 VBD 1.60 - - 2695.94 - - - 2190.25 - 82.73 - - 2425.81 - - - - - - - - - - -
16748.94 588.65 7.12 1860 16753.61 done 1.63 - - 2694.06 - 2.61 0.080 1130.12 -406.2 82.73 - - 2429.22 - - - - - - - - - 16.19 -
16908.96 575.98 7.71 1892 16913.65 done 1.64 - - 2696.44 - 2.61 0.032 2273.81 438.2 82.73 - - 2426.44 - - - - - - - - - 16.18 -
17219.02 553.41 7.17 1924 17223.76 1.67 0.17 0.092 2737.62 242.2 2.67 0.093 3345.31 401.3 82.73 - - 2428.88 - - - - - - - - 16.15 16.16 -
17318.66 544.72 9.18 1944 17323.73 done 1.67 - - 2737.69 - 2.59 0.026 2187.31 -447.1 82.73 - - 2427.00 - - - - - - - - - 16.20 -
17629.13 519.96 7.72 1976 17634.03 done 1.68 - - 2738.50 - 2.88 0.088 3345.56 402.2 82.73 - - 2427.31 - - - - - - - - - 16.18 -
17723.42 512.15 8.50 1995 17729.30 done 1.68 - - 2738.00 - 2.59 0.026 2187.69 -447.1 82.73 - - 2426.84 - - - - - - - - - 16.19 -
18039.23 488.46 7.48 2027 18043.90 done 1.70 - - 2738.56 - 2.56 0.080 1131.31 -412.6 82.73 - - 2426.66 - - - - - - - - - 16.18 -
18078.84 485.20 7.98 2035 18083.93 done 1.70 - - 2737.94 - 2.61 0.031 2275.12 438.2 82.73 - - 2427.94 - - - - - - - - - 16.19 -
18389.31 462.87 7.03 2067 18390.65 VBD 1.73 - - 2738.00 - - - 2275.75 - 82.73 - - 2426.34 - - - - - - - - - - -
18699.38 442.58 6.72 2098 18700.71 VBD 1.76 - - 2738.00 - - - 2275.56 - 82.73 - - 2425.81 - - - - - - - - - - -
19009.44 421.87 6.62 2129 19014.13 done 1.80 - - 2738.56 - 2.80 0.074 1131.06 -408.8 82.73 - - 2429.16 - - - - - - - - - 16.19 -
19133.63 412.79 7.31 2154 19139.60 done 1.82 - - 2737.94 - 2.60 0.031 2274.94 440.0 82.73 - - 2428.03 - - - - - - - - - 16.19 -
19449.54 390.25 7.40 2186 19454.28 1.85 0.17 0.086 2783.50 268.0 2.65 0.091 3347.88 404.9 82.73 - - 2427.59 - - - - - - - - 16.17 16.16 -
19519.16 384.15 9.01 2200 19524.42 done 1.85 - - 2783.44 - 2.60 0.025 2186.06 -446.9 82.73 - - 2429.38 - - - - - - - - - 16.18 -
19829.81 358.88 7.84 2232 19834.35 done 1.86 - - 2783.56 - 2.88 0.086 3345.81 402.7 82.73 - - 2427.19 - - - - - - - - - 16.17 -
19949.27 348.49 8.44 2256 19954.33 done 1.86 - - 2783.69 - 2.58 0.025 2186.00 -449.5 82.73 - - 2427.12 - - - - - - - - - 16.18 -
20259.90 326.22 7.17 2288 20261.23 VBD 1.88 - - 2783.81 - - - 2186.62 - 82.73 - - 2426.16 - - - - - - - - - - -
20569.76 306.70 5.87 2319 20604.68 done 1.96 - - 2784.06 - 2.91 0.088 3347.75 399.0 120.77 28.37 1.542 2282.06 -5.1 0.167 - - - - - - - 15.98 12.83
20664.09 299.05 9.28 2338 20669.92 roll 1.96 - - 2783.88 - 2.59 0.025 2190.25 -446.9 120.77 - - 2280.03 - - - - - - - - - 16.06 -
20979.79 270.52 8.47 2370 20984.47 roll 1.96 - - 2784.38 - 2.57 0.078 1129.75 -412.6 120.77 - - 2278.69 - - - - - - - - - 16.08 -
21073.96 262.09 8.93 2389 21079.97 roll 1.96 - - 2783.62 - 2.62 0.031 2274.62 437.0 120.77 - - 2280.00 - - - - - - - - - 16.08 -
21389.85 236.02 8.46 2421 21394.55 roll 1.96 - - 2782.94 - 2.77 0.073 1130.12 -413.2 120.77 - - 2280.41 - - - - - - - - - 16.11 -
21574.09 218.74 9.40 2458 21580.02 roll 1.96 - - 2784.50 - 2.60 0.031 2273.94 439.9 120.77 - - 2279.28 - - - - - - - - - 16.11 -
21889.53 191.66 8.66 2490 21894.61 roll 1.96 - - 2784.00 - 2.65 0.090 3347.44 405.1 120.77 - - 2278.53 - - - - - - - - - 16.08 -
22024.10 178.98 9.37 2517 22030.09 roll 1.96 - - 2784.81 - 2.58 0.025 2185.06 -450.5 120.77 - - 2278.47 - - - - - - - - - 16.12 -
22340.02 153.89 7.70 2549 22341.35 no move 1.97 - - 2784.06 - - - 2184.94 - 120.77 - - 2277.00 - - - - - - - - - - -
22650.08 131.59 6.83 2580 22651.42 no move 2.01 - - 2784.19 - - - 2184.94 - 120.77 - - 2277.44 - - - - - - - - - - -
22960.15 110.66 6.65 2611 22961.59 pitch 2.04 0.19 0.084 2827.06 225.6 - - 2183.44 - 120.77 - - 2277.62 - - - - - - - - 16.12 - -
23264.85 93.94 4.19 2655 23316.60 done 2.17 - - 2826.94 - 2.56 0.077 1131.62 -410.9 183.40 46.28 1.295 2026.47 -5.4 0.065 - - - - - - - 15.88 12.80
23495.45 76.72 7.92 2701 23500.80 roll 2.18 - - 2826.56 - 2.62 0.029 2274.50 436.2 183.40 - - 2019.75 - - - - - - - - - 15.99 -
23685.13 65.15 4.77 2739 23731.91 2.29 0.29 0.066 2891.38 223.5 2.81 0.071 1130.06 -407.3 237.53 40.26 1.232 1805.34 -5.3 0.046 - - - - - - 16.00 15.80 12.78
23960.35 47.62 7.95 2794 23965.90 done 2.30 - - 2891.06 - 2.61 0.029 2275.19 438.7 237.53 - - 1797.84 - - - - - - - - - 15.92 -
24150.39 33.88 6.30 2832 24181.06 done 2.36 - - 2891.19 - 2.80 0.069 1129.88 -409.0 269.26 23.94 1.150 1676.47 -5.1 0.025 - - - - - - - 15.83 12.85
24230.41 29.23 6.22 2848 24261.86 done 2.43 - - 2891.00 - 2.62 0.028 2277.44 438.0 302.07 26.01 1.135 1543.12 -5.1 0.022 - - - - - - - 15.88 12.70
24445.44 14.83 7.79 2891 24450.99 roll 2.44 - - 2891.19 - 2.65 0.087 3346.69 403.5 302.07 - - 1536.72 - - - - - - - - - 15.88 -
24620 end climb: SURFACE_DEPTH_REACHED
24621 begin surface coast
24655 end surface coast: CONTROL_FINISHED_OK
24655 begin surface
SM 3.35 - - - - 181.8 53.12 1.159 1245.6 23.4 16.54 0.046 1210.4 73.2 - 2.38 0.022 1280.8 537.0 -8.358 - - 12.75 15.93 15.95 -