NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 169 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 58.10 of 550.00 AH used of 24V (89.44% remains)
• Surface angle -63.8 deg, depth 1.54 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 374.93 (SM_CC=375)
• GPS1 time: 96 s
• GPS2 time: 4 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
6.29 - - - 55.02 VBD -1.37 - - 178.06 - - - 2353.38 - -82.73 47.53 0.005 2422.50 - - - - - - - - - - 15.76
55.76 3.35 -4.29 9 94.96 -1.37 13.75 0.260 1987.50 131.6 2.67 0.089 3425.31 401.5 -82.73 17.02 0.006 3114.34 40.6 -3.744 - - - - - - 15.73 15.71 15.77
322.98 58.47 -18.17 62 328.50 roll -1.37 - - 1988.75 - 2.57 0.022 2254.06 -455.7 -82.73 - - 3114.09 - - - - - - - - - 15.91 -
513.21 84.73 -11.66 100 518.13 roll -1.37 - - 1989.06 - 2.50 0.065 1208.75 -418.1 -82.73 - - 3115.41 - - - - - - - - - 15.95 -
648.04 99.91 -11.36 127 653.59 roll -1.37 - - 1989.75 - 2.62 0.029 2354.25 437.2 -82.73 - - 3114.62 - - - - - - - - - 15.99 -
843.07 120.67 -10.65 147 844.40 no move -1.37 - - 1989.12 - - - 2354.12 - -82.73 - - 3113.09 - - - - - - - - - - -
1153.66 148.55 -8.77 178 1158.20 roll -1.37 - - 1989.25 - 2.73 0.060 1207.69 -419.9 -82.73 - - 3114.75 - - - - - - - - - 16.05 -
1247.65 157.73 -9.74 197 1253.64 roll -1.37 - - 1989.62 - 2.60 0.029 2353.62 440.7 -82.73 - - 3114.75 - - - - - - - - - 16.07 -
1563.15 187.71 -9.42 229 1568.24 roll -1.37 - - 1989.12 - 2.63 0.088 3426.69 408.0 -82.73 - - 3114.28 - - - - - - - - - 16.07 -
1717.72 204.43 -10.68 260 1723.71 roll -1.37 - - 1989.50 - 2.56 0.023 2246.62 -461.0 -82.73 - - 3114.91 - - - - - - - - - 16.10 -
2033.24 234.67 -9.59 292 2037.88 roll -1.37 - - 1989.69 - 2.47 0.065 1207.69 -420.6 -82.73 - - 3116.38 - - - - - - - - - 16.11 -
2097.79 241.08 -10.07 305 2103.79 roll -1.37 - - 1989.88 - 2.60 0.030 2354.94 441.2 -82.73 - - 3114.78 - - - - - - - - - 16.12 -
2413.32 270.00 -9.14 337 2418.60 roll -1.37 - - 1990.00 - 2.71 0.061 1207.19 -423.5 -82.73 - - 3114.41 - - - - - - - - - 16.12 -
2543.55 281.96 -9.22 363 2548.44 roll -1.37 - - 1989.56 - 2.59 0.030 2353.56 442.6 -82.73 - - 3115.59 - - - - - - - - - 16.14 -
2853.44 310.18 -9.37 395 2854.77 no move -1.37 - - 1989.69 - - - 2353.31 - -82.73 - - 3113.69 - - - - - - - - - - -
3163.89 339.71 -9.31 426 3168.58 roll -1.37 - - 1989.81 - 2.64 0.090 3426.69 406.6 -82.73 - - 3116.41 - - - - - - - - - 16.14 -
3213.51 345.04 -11.18 436 3218.79 roll -1.37 - - 1990.12 - 2.54 0.023 2247.19 -464.4 -82.73 - - 3115.50 - - - - - - - - - 16.16 -
3523.58 375.95 -9.71 468 3528.22 roll -1.37 - - 1989.56 - 2.45 0.067 1208.06 -424.1 -82.73 - - 3114.97 - - - - - - - - - 16.16 -
3578.12 381.21 -9.85 479 3584.12 roll -1.37 - - 1989.94 - 2.59 0.030 2353.19 442.1 -82.73 - - 3114.12 - - - - - - - - - 16.16 -
3893.66 410.57 -9.01 511 3898.75 roll -1.37 - - 1989.31 - 2.70 0.063 1207.12 -424.5 -82.73 - - 3114.59 - - - - - - - - - 16.17 -
3953.68 416.13 -9.45 523 3958.74 roll -1.37 - - 1989.19 - 2.58 0.031 2352.44 443.9 -82.73 - - 3115.31 - - - - - - - - - 16.18 -
4263.74 444.35 -9.05 555 4268.81 roll -1.37 - - 1989.44 - 2.69 0.063 1207.19 -425.7 -82.73 - - 3113.94 - - - - - - - - - 16.17 -
4313.93 448.67 -9.02 565 4318.88 roll -1.37 - - 1989.62 - 2.59 0.031 2352.69 442.3 -82.73 - - 3115.03 - - - - - - - - - 16.18 -
4623.82 475.66 -8.37 597 4625.15 no move -1.37 - - 1989.31 - - - 2352.56 - -82.73 - - 3111.91 - - - - - - - - - - -
4934.27 502.67 -8.66 628 4938.97 roll -1.37 - - 1989.19 - 2.68 0.063 1207.38 -427.3 -82.73 - - 3111.56 - - - - - - - - - 16.20 -
5013.90 510.13 -9.52 644 5018.97 roll -1.37 - - 1989.56 - 2.59 0.031 2352.75 442.2 -82.73 - - 3112.22 - - - - - - - - - 16.19 -
5323.95 538.10 -9.03 676 5329.04 roll -1.37 - - 1989.75 - 2.64 0.093 3425.06 406.2 -82.73 - - 3111.41 - - - - - - - - - 16.18 -
5398.51 545.72 -10.57 691 5404.50 roll -1.37 - - 1989.38 - 2.54 0.024 2247.69 -463.5 -82.73 - - 3112.00 - - - - - - - - - 16.19 -
5714.00 573.97 -9.00 723 5718.65 roll -1.37 - - 1989.56 - 2.44 0.069 1208.44 -425.9 -82.73 - - 3111.53 - - - - - - - - - 16.19 -
5838.55 585.60 -9.26 748 5844.55 roll -1.37 - - 1989.19 - 2.60 0.031 2353.31 440.3 -82.73 - - 3110.72 - - - - - - - - - 16.21 -
6154.06 612.29 -8.16 780 6155.39 no move -1.37 - - 1989.69 - - - 2352.69 - -82.73 - - 3109.25 - - - - - - - - - - -
6464.47 637.14 -7.92 811 6465.80 no move -1.37 - - 1989.88 - - - 2352.81 - -82.73 - - 3108.47 - - - - - - - - - - -
6774.74 660.85 -7.44 842 6776.07 no move -1.37 - - 1990.12 - - - 2353.06 - -82.73 - - 3107.94 - - - - - - - - - - -
7084.54 684.13 -7.63 873 7089.24 roll -1.37 - - 1989.19 - 2.70 0.065 1208.31 -424.0 -82.73 - - 3108.84 - - - - - - - - - 16.20 -
7148.70 689.12 -8.20 886 7154.70 roll -1.37 - - 1989.69 - 2.59 0.031 2352.94 441.9 -82.73 - - 3109.03 - - - - - - - - - 16.22 -
7464.20 712.13 -7.22 918 7465.53 no move -1.37 - - 1989.69 - - - 2352.81 - -82.73 - - 3107.00 - - - - - - - - - - -
7774.65 734.97 -7.74 949 7775.98 no move -1.37 - - 1989.44 - - - 2353.50 - -82.73 - - 3106.41 - - - - - - - - - - -
8084.71 757.69 -7.48 980 8086.03 no move -1.37 - - 1989.94 - - - 2353.19 - -82.73 - - 3105.75 - - - - - - - - - - -
8394.78 780.21 -6.99 1011 8399.48 roll -1.37 - - 1989.56 - 2.71 0.066 1207.38 -422.8 -82.73 - - 3107.88 - - - - - - - - - 16.22 -
8438.93 783.44 -7.09 1020 8444.92 roll -1.37 - - 1988.00 - 2.60 0.031 2353.94 441.0 -82.73 - - 3108.09 - - - - - - - - - 16.21 -
8754.48 805.92 -7.25 1052 8759.58 roll -1.37 - - 1990.25 - 2.71 0.065 1208.62 -422.6 -82.73 - - 3106.66 - - - - - - - - - 16.21 -
8859.04 813.79 -7.74 1073 8865.03 roll -1.37 - - 1989.81 - 2.59 0.032 2351.69 441.3 -82.73 - - 3106.78 - - - - - - - - - 16.21 -
9174.57 837.01 -7.51 1105 9179.83 roll -1.37 - - 1989.94 - 2.69 0.066 1208.25 -425.1 -82.73 - - 3106.12 - - - - - - - - - 16.20 -
9259.30 843.30 -7.39 1122 9265.11 roll -1.37 - - 1988.62 - 2.59 0.032 2352.44 441.8 -82.73 - - 3106.56 - - - - - - - - - 16.21 -
9574.66 865.31 -7.16 1154 9575.99 no move -1.37 - - 1989.69 - - - 2352.81 - -82.73 - - 3104.50 - - - - - - - - - - -
9885.10 887.16 -6.89 1185 9889.81 roll -1.37 - - 1988.69 - 2.69 0.065 1208.50 -425.4 -82.73 - - 3107.12 - - - - - - - - - 16.21 -
9974.74 893.81 -7.75 1203 9979.82 roll -1.37 - - 1989.38 - 2.59 0.032 2351.69 441.4 -82.73 - - 3106.03 - - - - - - - - - 16.22 -
10284.99 915.79 -6.82 1235 10289.91 roll -1.37 - - 1989.25 - 2.64 0.096 3426.56 407.1 -82.73 - - 3104.44 - - - - - - - - - 16.19 -
10334.83 919.73 -7.48 1245 10339.90 roll -1.37 - - 1989.44 - 2.53 0.024 2247.50 -466.0 -82.73 - - 3105.94 - - - - - - - - - 16.20 -
10645.28 939.83 -6.58 1277 10649.94 roll -1.37 - - 1989.31 - 2.44 0.071 1207.62 -426.2 -82.73 - - 3105.53 - - - - - - - - - 16.20 -
10694.90 943.28 -6.90 1287 10699.98 roll -1.37 - - 1989.44 - 2.59 0.032 2351.38 441.6 -82.73 - - 3106.78 - - - - - - - - - 16.22 -
11005.67 964.14 -6.69 1319 11010.03 roll -1.37 - - 1989.94 - 2.68 0.066 1208.44 -426.5 -82.73 - - 3105.12 - - - - - - - - - 16.19 -
11075.15 968.98 -7.36 1333 11080.10 roll -1.37 - - 1989.25 - 2.59 0.032 2352.88 441.9 -82.73 - - 3105.38 - - - - - - - - - 16.21 -
11385.01 989.62 -6.59 1365 11390.09 roll -1.37 - - 1990.25 - 2.68 0.065 1209.44 -426.7 -82.73 - - 3103.66 - - - - - - - - - 16.20 -
11395 end dive: TARGET_DEPTH_EXCEEDED
11395 begin apogee
11398.72 990.04 -6.28 1367 11466.61 -0.28 1.77 0.160 2254.12 149.1 0.11 0.207 2169.06 8723.8 - 61.11 2.414 2775.78 -5.4 0.363 - - - - - - 16.13 15.68 12.84
11468 end apogee: CONTROL_FINISHED_OK
11468 begin climb
11468.59 991.76 - 1374 11544.55 1.37 2.62 0.101 2656.19 153.5 3.04 0.094 3344.25 386.6 82.73 64.79 2.334 2437.16 -5.2 0.366 - - - - - - 15.71 15.34 12.78
11587.39 984.28 7.95 1397 11593.20 roll 1.38 - - 2656.06 - 2.62 0.025 2189.44 -440.8 82.73 - - 2433.41 - - - - - - - - - 15.55 -
11903.13 958.78 7.72 1429 11904.46 no move 1.39 - - 2655.25 - - - 2189.06 - 82.73 - - 2430.22 - - - - - - - - - - -
12213.44 935.29 7.05 1460 12214.77 no move 1.42 - - 2655.69 - - - 2189.31 - 82.73 - - 2429.56 - - - - - - - - - - -
12523.26 911.72 7.24 1491 12524.59 no move 1.44 - - 2655.69 - - - 2188.88 - 82.73 - - 2427.88 - - - - - - - - - - -
12833.31 886.97 8.42 1522 12838.04 done 1.44 - - 2655.50 - 2.87 0.092 3344.44 402.6 82.73 - - 2430.22 - - - - - - - - - 16.03 -
12882.93 882.46 9.29 1532 12888.00 done 1.44 - - 2654.81 - 2.55 0.026 2188.94 -453.1 82.73 - - 2431.28 - - - - - - - - - 16.04 -
13192.98 857.22 8.04 1564 13194.31 VBD 1.44 - - 2656.31 - - - 2189.25 - 82.73 - - 2427.28 - - - - - - - - - - -
13503.40 830.21 8.67 1595 13508.12 done 1.44 - - 2655.56 - 2.86 0.091 3347.06 404.8 82.73 - - 2429.25 - - - - - - - - - 16.09 -
13543.01 826.23 9.95 1603 13548.09 done 1.44 - - 2655.56 - 2.55 0.026 2188.25 -454.4 82.73 - - 2430.56 - - - - - - - - - 16.10 -
13853.45 800.77 8.40 1635 13854.78 VBD 1.44 - - 2655.19 - - - 2187.50 - 82.73 - - 2427.81 - - - - - - - - - - -
14163.48 775.03 8.46 1666 14168.15 done 1.44 - - 2655.56 - 2.54 0.079 1128.94 -416.8 82.73 - - 2429.34 - - - - - - - - - 16.12 -
14223.10 769.93 8.44 1678 14228.17 done 1.44 - - 2655.94 - 2.60 0.032 2271.50 439.4 82.73 - - 2429.94 - - - - - - - - - 16.12 -
14533.78 745.77 7.35 1710 14535.12 VBD 1.47 - - 2655.69 - - - 2271.12 - 82.73 - - 2426.06 - - - - - - - - - - -
14843.57 723.47 6.92 1741 14845.01 1.50 0.16 0.094 2699.00 270.7 - - 2271.12 - 82.73 - - 2426.62 - - - - - - - - 16.13 - -
15153.23 700.86 6.70 1772 15154.56 VBD 1.53 - - 2699.00 - - - 2270.69 - 82.73 - - 2426.62 - - - - - - - - - - -
15463.69 677.85 7.58 1803 15465.02 VBD 1.55 - - 2698.88 - - - 2271.19 - 82.73 - - 2426.06 - - - - - - - - - - -
15773.76 656.17 6.55 1834 15775.09 VBD 1.59 - - 2698.94 - - - 2271.12 - 82.73 - - 2426.22 - - - - - - - - - - -
16083.82 634.80 7.36 1865 16088.50 done 1.61 - - 2698.38 - 2.65 0.096 3346.38 405.8 82.73 - - 2429.38 - - - - - - - - - 16.16 -
16137.99 630.68 7.92 1876 16143.97 done 1.62 - - 2699.44 - 2.55 0.026 2186.25 -455.0 82.73 - - 2427.53 - - - - - - - - - 16.18 -
16453.91 608.69 7.21 1908 16458.62 done 1.65 - - 2700.00 - 2.86 0.091 3347.06 405.9 82.73 - - 2427.06 - - - - - - - - - 16.17 -
16488.07 606.24 7.23 1915 16494.10 1.67 0.16 0.091 2737.94 237.1 2.56 0.026 2185.56 -453.7 82.73 - - 2428.03 - - - - - - - - 16.15 16.18 -
16803.98 582.10 7.77 1947 16808.65 done 1.69 - - 2739.19 - 2.51 0.078 1129.94 -420.6 82.73 - - 2426.53 - - - - - - - - - 16.17 -
16903.60 573.48 8.51 1967 16908.86 done 1.69 - - 2738.81 - 2.59 0.031 2273.88 441.7 82.73 - - 2427.47 - - - - - - - - - 16.18 -
17214.26 548.71 7.83 1999 17215.59 VBD 1.70 - - 2739.00 - - - 2274.19 - 82.73 - - 2425.22 - - - - - - - - - - -
17524.15 524.74 7.42 2030 17528.83 done 1.72 - - 2738.62 - 2.66 0.094 3346.25 403.0 82.73 - - 2426.53 - - - - - - - - - 16.18 -
17598.31 518.45 8.70 2045 17604.33 done 1.72 - - 2738.25 - 2.56 0.026 2185.12 -453.6 82.73 - - 2426.78 - - - - - - - - - 16.17 -
17913.83 492.91 8.05 2077 17918.90 done 1.72 - - 2738.75 - 2.53 0.078 1129.81 -417.1 82.73 - - 2426.44 - - - - - - - - - 16.19 -
18148.46 473.55 7.69 2124 18154.43 done 1.73 - - 2738.50 - 2.60 0.031 2272.38 439.5 82.73 - - 2428.25 - - - - - - - - - 16.20 -
18464.35 451.69 6.90 2156 18465.69 VBD 1.77 - - 2738.31 - - - 2272.12 - 82.73 - - 2426.00 - - - - - - - - - - -
18774.40 430.66 6.77 2187 18775.73 VBD 1.80 - - 2738.88 - - - 2272.25 - 82.73 - - 2425.94 - - - - - - - - - - -
19084.42 410.29 6.18 2218 19113.89 1.87 0.19 0.079 2787.69 256.9 - - 2271.94 - 116.16 25.34 1.649 2300.25 -5.0 0.204 - - - - - - 16.17 - 12.85
19424.05 378.98 9.82 2252 19429.16 roll 1.87 - - 2788.12 - 2.76 0.073 1130.06 -413.7 116.16 - - 2298.41 - - - - - - - - - 16.08 -
19518.80 369.58 9.85 2271 19524.69 roll 1.87 - - 2788.25 - 2.62 0.031 2273.38 436.4 116.16 - - 2297.38 - - - - - - - - - 16.10 -
19834.68 340.11 9.00 2303 19839.21 roll 1.87 - - 2787.19 - 2.74 0.072 1128.88 -417.7 116.16 - - 2297.34 - - - - - - - - - 16.11 -
19944.14 329.76 9.42 2325 19949.23 roll 1.87 - - 2788.56 - 2.61 0.031 2272.88 438.3 116.16 - - 2296.97 - - - - - - - - - 16.13 -
20254.57 302.19 9.23 2357 20259.26 roll 1.87 - - 2788.94 - 2.66 0.092 3347.38 403.9 116.16 - - 2298.16 - - - - - - - - - 16.13 -
20308.73 296.80 9.89 2368 20314.72 roll 1.87 - - 2787.94 - 2.55 0.025 2185.00 -455.8 116.16 - - 2296.75 - - - - - - - - - 16.12 -
20624.64 268.50 9.06 2400 20625.97 no move 1.87 - - 2789.38 - - - 2184.94 - 116.16 - - 2295.88 - - - - - - - - - - -
20934.90 243.27 7.85 2431 20939.43 roll 1.88 - - 2787.69 - 2.87 0.087 3345.94 404.5 116.16 - - 2297.25 - - - - - - - - - 16.13 -
21068.92 231.36 9.04 2458 21074.90 roll 1.88 - - 2789.00 - 2.56 0.025 2185.25 -453.4 116.16 - - 2299.19 - - - - - - - - - 16.15 -
21384.44 203.58 9.55 2490 21389.68 roll 1.88 - - 2788.44 - 2.52 0.075 1129.88 -418.8 116.16 - - 2296.97 - - - - - - - - - 16.12 -
21619.04 181.84 8.54 2537 21625.04 roll 1.88 - - 2789.50 - 2.60 0.030 2275.06 440.5 116.16 - - 2298.84 - - - - - - - - - 16.14 -
21934.98 158.24 7.40 2569 21936.31 no move 1.90 - - 2789.50 - - - 2274.81 - 116.16 - - 2296.75 - - - - - - - - - - -
22245.04 136.70 6.52 2600 22249.73 roll 1.94 - - 2789.12 - 2.64 0.089 3346.94 406.1 116.16 - - 2297.25 - - - - - - - - - 16.12 -
22314.66 131.14 8.15 2614 22319.73 roll 1.94 - - 2788.94 - 2.55 0.024 2183.81 -456.1 116.16 - - 2299.78 - - - - - - - - - 16.15 -
22625.13 111.73 4.75 2646 22670.98 2.05 0.17 0.092 2828.69 233.8 2.55 0.076 1130.44 -413.1 170.60 40.56 1.322 2078.31 -5.5 0.076 - - - - - - 16.11 15.91 12.91
22714.75 106.35 7.37 2664 22719.83 roll 2.07 - - 2829.62 - 2.62 0.029 2274.56 436.7 170.60 - - 2075.09 - - - - - - - - - 15.98 -
23024.87 79.92 7.11 2719 23030.39 roll 2.10 - - 2828.62 - 2.66 0.088 3346.94 403.2 170.60 - - 2074.69 - - - - - - - - - 16.00 -
23260.01 70.89 2.05 2766 23333.55 2.28 0.27 0.072 2887.19 216.9 2.57 0.023 2175.31 -455.9 264.55 68.26 1.265 1696.31 -5.5 0.051 - - - - - - 16.02 16.04 12.81
23517.63 50.89 8.73 2817 23522.66 done 2.28 - - 2887.56 - 2.93 0.083 3347.19 400.0 264.55 - - 1686.34 - - - - - - - - - 15.88 -
23652.10 37.17 11.11 2844 23657.63 done 2.28 - - 2887.69 - 2.60 0.024 2185.50 -446.8 264.55 - - 1685.00 - - - - - - - - - 15.92 -
23842.54 23.39 5.38 2882 23882.94 done 2.37 - - 2887.81 - 2.56 0.075 1129.00 -412.7 309.74 33.35 1.156 1511.56 -5.2 0.017 - - - - - - - 15.77 12.78
23912.15 18.94 6.87 2896 23917.69 roll 2.41 - - 2887.44 - 2.63 0.027 2275.19 435.8 309.74 - - 1508.69 - - - - - - - - - 15.87 -
24102.19 7.97 4.54 2934 24153.90 2.52 0.27 0.071 2947.00 220.6 2.80 0.070 1130.44 -408.8 367.19 43.61 1.136 1277.06 -5.3 0.006 - - - - - - 15.90 15.71 12.70
24172 end climb: SURFACE_DEPTH_REACHED
24172 begin surface coast
24197 end surface coast: CONTROL_FINISHED_OK
24197 begin surface
SM 2.60 - - - - 183.2 7.36 0.853 1246.6 163.4 17.00 0.045 1239.6 72.9 - 2.81 0.030 1253.5 445.1 -3.943 - - 12.72 15.78 15.81 -