NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 202 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 66.70 of 550.00 AH used of 24V (87.87% remains)
• Surface angle -57.6 deg, depth 1.27 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.93 (SM_CC=425)
• GPS1 time: 28 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
6.66 - - - 65.88 VBD -1.37 - - 181.56 - - - 2269.12 - -82.73 58.01 0.005 2455.50 - - - - - - - - - - 15.71
66.62 3.35 -4.16 11 105.85 -1.37 13.96 0.264 1988.25 129.4 2.62 0.066 1210.06 -404.2 -82.73 16.56 0.006 3111.12 39.6 -3.644 - - - - - - 15.71 15.69 15.74
268.88 38.21 -15.36 51 274.44 roll -1.37 - - 1988.88 - 2.62 0.030 2350.31 435.2 -82.73 - - 3113.00 - - - - - - - - - 15.89 -
459.61 68.45 -15.97 89 464.57 roll -1.37 - - 1989.25 - 2.83 0.060 1208.38 -403.5 -82.73 - - 3113.22 - - - - - - - - - 15.93 -
499.00 74.74 -15.91 97 504.54 roll -1.37 - - 1988.44 - 2.63 0.030 2351.69 434.7 -82.73 - - 3113.59 - - - - - - - - - 15.94 -
689.46 99.32 -10.51 135 694.64 roll -1.37 - - 1988.75 - 2.82 0.059 1208.81 -405.3 -82.73 - - 3114.00 - - - - - - - - - 15.97 -
719.08 102.28 -10.00 141 724.16 roll -1.37 - - 1988.44 - 2.63 0.029 2354.69 435.7 -82.73 - - 3113.78 - - - - - - - - - 15.99 -
1029.15 133.75 -9.41 173 1034.23 roll -1.37 - - 1990.50 - 2.66 0.088 3428.31 403.6 -82.73 - - 3113.25 - - - - - - - - - 16.01 -
1213.73 152.08 -10.20 210 1219.73 roll -1.37 - - 1988.69 - 2.62 0.022 2249.25 -450.0 -82.73 - - 3114.53 - - - - - - - - - 16.03 -
1529.27 182.52 -9.19 242 1530.59 no move -1.37 - - 1989.69 - - - 2249.62 - -82.73 - - 3112.94 - - - - - - - - - - -
1839.71 211.15 -9.47 273 1844.38 roll -1.37 - - 1989.69 - 2.57 0.065 1208.56 -405.1 -82.73 - - 3113.53 - - - - - - - - - 16.08 -
1903.87 217.52 -10.04 286 1909.88 roll -1.37 - - 1989.56 - 2.62 0.029 2352.25 436.5 -82.73 - - 3114.16 - - - - - - - - - 16.10 -
2219.55 247.52 -9.62 318 2224.51 roll -1.37 - - 1989.38 - 2.66 0.089 3426.19 403.7 -82.73 - - 3113.81 - - - - - - - - - 16.09 -
2259.58 251.70 -10.79 326 2264.46 roll -1.37 - - 1988.31 - 2.62 0.022 2249.00 -449.3 -82.73 - - 3114.62 - - - - - - - - - 16.10 -
2569.41 280.22 -9.28 358 2574.54 roll -1.37 - - 1990.00 - 2.93 0.085 3428.19 402.5 -82.73 - - 3114.19 - - - - - - - - - 16.11 -
2633.96 287.16 -10.99 371 2639.95 roll -1.37 - - 1989.81 - 2.60 0.023 2249.88 -453.2 -82.73 - - 3113.88 - - - - - - - - - 16.12 -
2949.46 318.49 -10.07 403 2954.52 roll -1.37 - - 1989.44 - 2.55 0.067 1209.62 -407.9 -82.73 - - 3114.00 - - - - - - - - - 16.13 -
3024.01 326.22 -10.48 418 3030.02 roll -1.37 - - 1989.88 - 2.62 0.031 2350.50 435.5 -82.73 - - 3113.22 - - - - - - - - - 16.13 -
3339.51 355.71 -9.03 450 3340.83 no move -1.37 - - 1989.31 - - - 2350.38 - -82.73 - - 3111.50 - - - - - - - - - - -
3649.92 383.77 -8.62 481 3651.25 no move -1.37 - - 1989.75 - - - 2350.56 - -82.73 - - 3111.47 - - - - - - - - - - -
3959.95 409.09 -7.95 512 3961.28 no move -1.37 - - 1989.62 - - - 2350.62 - -82.73 - - 3110.69 - - - - - - - - - - -
4269.99 434.84 -8.52 543 4274.69 roll -1.37 - - 1989.50 - 2.79 0.063 1208.69 -409.3 -82.73 - - 3112.66 - - - - - - - - - 16.17 -
4334.16 440.94 -9.67 556 4340.34 roll -1.37 - - 1989.88 - 2.62 0.030 2350.50 435.8 -82.73 - - 3111.53 - - - - - - - - - 16.16 -
4649.86 471.00 -9.89 588 4651.19 no move -1.37 - - 1989.50 - - - 2350.31 - -82.73 - - 3109.97 - - - - - - - - - - -
4960.13 501.16 -9.36 619 4961.46 no move -1.37 - - 1989.69 - - - 2350.56 - -82.73 - - 3110.03 - - - - - - - - - - -
5270.20 530.22 -8.80 650 5274.93 roll -1.37 - - 1990.12 - 2.81 0.063 1210.00 -405.9 -82.73 - - 3110.09 - - - - - - - - - 16.17 -
5389.86 540.60 -8.64 674 5394.94 roll -1.37 - - 1989.94 - 2.62 0.031 2351.81 435.8 -82.73 - - 3110.06 - - - - - - - - - 16.18 -
5699.91 565.94 -8.18 706 5701.24 no move -1.37 - - 1989.62 - - - 2352.44 - -82.73 - - 3109.06 - - - - - - - - - - -
6010.36 592.25 -8.90 737 6015.09 roll -1.37 - - 1989.94 - 2.81 0.063 1210.69 -406.3 -82.73 - - 3109.25 - - - - - - - - - 16.18 -
6070.00 597.81 -9.35 749 6075.08 roll -1.37 - - 1989.50 - 2.62 0.031 2351.94 435.6 -82.73 - - 3108.88 - - - - - - - - - 16.19 -
6380.07 625.76 -9.18 781 6381.40 no move -1.37 - - 1989.62 - - - 2351.81 - -82.73 - - 3107.59 - - - - - - - - - - -
6690.51 653.29 -8.68 812 6695.24 roll -1.37 - - 1989.81 - 2.82 0.064 1210.06 -404.9 -82.73 - - 3107.97 - - - - - - - - - 16.19 -
6754.68 659.34 -9.26 825 6760.88 roll -1.37 - - 1988.94 - 2.62 0.031 2353.25 436.3 -82.73 - - 3107.97 - - - - - - - - - 16.20 -
7070.33 685.38 -8.17 857 7075.33 roll -1.37 - - 1988.50 - 2.82 0.064 1209.81 -405.5 -82.73 - - 3108.97 - - - - - - - - - 16.19 -
7114.76 689.24 -8.52 866 7120.77 roll -1.37 - - 1989.81 - 2.62 0.031 2350.56 435.4 -82.73 - - 3109.16 - - - - - - - - - 16.19 -
7430.30 714.11 -7.52 898 7431.63 no move -1.37 - - 1990.31 - - - 2350.75 - -82.73 - - 3106.66 - - - - - - - - - - -
7740.72 737.70 -7.76 929 7742.05 no move -1.37 - - 1989.50 - - - 2350.50 - -82.73 - - 3106.03 - - - - - - - - - - -
8050.75 762.30 -7.96 960 8055.49 roll -1.37 - - 1990.12 - 2.83 0.064 1209.94 -403.0 -82.73 - - 3106.44 - - - - - - - - - 16.19 -
8110.38 767.50 -8.41 972 8115.47 roll -1.37 - - 1989.94 - 2.63 0.032 2350.62 433.7 -82.73 - - 3106.50 - - - - - - - - - 16.20 -
8420.41 793.55 -8.58 1004 8421.74 no move -1.37 - - 1989.88 - - - 2350.62 - -82.73 - - 3105.03 - - - - - - - - - - -
8730.82 819.83 -8.58 1035 8735.56 roll -1.37 - - 1988.31 - 2.83 0.064 1209.62 -403.2 -82.73 - - 3106.94 - - - - - - - - - 16.19 -
8805.00 826.47 -8.53 1050 8811.01 roll -1.37 - - 1989.62 - 2.63 0.031 2350.19 433.7 -82.73 - - 3105.47 - - - - - - - - - 16.20 -
9120.50 852.09 -7.68 1082 9121.83 no move -1.37 - - 1989.44 - - - 2350.44 - -82.73 - - 3104.31 - - - - - - - - - - -
9431.17 874.99 -6.94 1113 9432.50 no move -1.37 - - 1989.50 - - - 2350.44 - -82.73 - - 3104.31 - - - - - - - - - - -
9740.97 894.76 -6.35 1144 9742.30 no move -1.37 - - 1989.94 - - - 2350.44 - -82.73 - - 3104.19 - - - - - - - - - - -
10051.01 915.62 -6.76 1175 10052.34 no move -1.37 - - 1989.75 - - - 2349.81 - -82.73 - - 3104.12 - - - - - - - - - - -
10361.08 937.50 -7.10 1206 10362.41 no move -1.37 - - 1988.94 - - - 2350.94 - -82.73 - - 3103.91 - - - - - - - - - - -
10671.38 960.55 -7.28 1237 10672.71 no move -1.37 - - 1988.94 - - - 2350.00 - -82.73 - - 3103.44 - - - - - - - - - - -
10981.21 981.25 -6.58 1268 10985.95 roll -1.37 - - 1988.25 - 2.82 0.066 1210.94 -403.9 -82.73 - - 3105.03 - - - - - - - - - 16.19 -
11090.86 989.42 -7.21 1290 11095.94 roll -1.37 - - 1989.75 - 2.62 0.032 2350.50 434.9 -82.73 - - 3104.31 - - - - - - - - - 16.20 -
11110 end dive: TARGET_DEPTH_EXCEEDED
11110 begin apogee
11112.68 990.59 -6.81 1293 11178.22 -0.28 1.77 0.156 2253.69 149.1 0.22 0.133 2280.00 -320.5 - 60.89 2.398 2773.59 -5.4 0.370 - - - - - - 16.12 15.69 12.74
11179 end apogee: CONTROL_FINISHED_OK
11179 begin climb
11180.28 992.07 - 1299 11252.06 1.37 2.61 0.101 2655.12 153.8 - - 2280.44 - 82.73 64.57 2.330 2437.53 -5.2 0.365 - - - - - - 15.72 - 12.87
11555.79 966.43 7.27 1343 11560.80 roll 1.39 - - 2654.19 - 2.95 0.073 1132.75 -389.0 82.73 - - 2432.50 - - - - - - - - - 15.80 -
11645.70 959.27 8.78 1361 11650.78 roll 1.39 - - 2654.56 - 2.67 0.031 2270.12 426.0 82.73 - - 2432.12 - - - - - - - - - 15.85 -
11956.15 934.15 8.42 1393 11960.87 roll 1.39 - - 2654.31 - 2.74 0.095 3344.19 392.0 82.73 - - 2431.25 - - - - - - - - - 15.93 -
12015.78 928.32 9.76 1405 12020.87 roll 1.39 - - 2653.25 - 2.68 0.024 2191.19 -430.2 82.73 - - 2431.97 - - - - - - - - - 15.96 -
12326.25 901.35 8.74 1437 12327.58 no move 1.39 - - 2654.94 - - - 2190.75 - 82.73 - - 2429.53 - - - - - - - - - - -
12636.32 875.82 7.80 1468 12641.05 done 1.40 - - 2654.25 - 2.93 0.091 3344.38 393.7 82.73 - - 2429.53 - - - - - - - - - 16.04 -
12760.50 864.29 9.09 1493 12766.52 done 1.40 - - 2655.00 - 2.66 0.025 2190.75 -433.7 82.73 - - 2429.34 - - - - - - - - - 16.05 -
13076.41 838.38 8.14 1525 13077.74 VBD 1.40 - - 2654.88 - - - 2191.50 - 82.73 - - 2428.34 - - - - - - - - - - -
13386.48 813.75 7.97 1556 13387.81 VBD 1.40 - - 2654.12 - - - 2191.19 - 82.73 - - 2427.91 - - - - - - - - - - -
13696.80 789.93 7.76 1587 13698.13 VBD 1.42 - - 2654.31 - - - 2191.44 - 82.73 - - 2427.59 - - - - - - - - - - -
14006.62 768.06 7.03 1618 14007.95 VBD 1.45 - - 2654.56 - - - 2191.38 - 82.73 - - 2427.66 - - - - - - - - - - -
14316.68 746.99 6.47 1649 14321.47 1.49 0.15 0.101 2695.38 272.1 2.91 0.090 3346.56 397.0 82.73 - - 2429.56 - - - - - - - - 16.10 16.11 -
14380.84 741.55 8.33 1662 14386.84 done 1.49 - - 2695.75 - 2.63 0.025 2191.38 -439.2 82.73 - - 2428.41 - - - - - - - - - 16.14 -
14696.75 717.40 7.30 1694 14701.48 done 1.51 - - 2695.75 - 2.91 0.090 3345.31 396.5 82.73 - - 2428.81 - - - - - - - - - 16.13 -
14756.36 712.35 8.82 1706 14761.45 done 1.51 - - 2695.62 - 2.64 0.025 2192.31 -436.7 82.73 - - 2428.66 - - - - - - - - - 16.14 -
15066.80 687.35 7.92 1738 15068.13 VBD 1.52 - - 2695.81 - - - 2191.62 - 82.73 - - 2427.62 - - - - - - - - - - -
15376.83 663.96 6.70 1769 15378.17 VBD 1.56 - - 2695.31 - - - 2191.94 - 82.73 - - 2427.47 - - - - - - - - - - -
15686.87 641.02 7.29 1800 15691.60 done 1.58 - - 2693.94 - 2.90 0.089 3345.50 397.8 82.73 - - 2429.28 - - - - - - - - - 16.15 -
15761.02 635.10 8.48 1815 15767.04 done 1.58 - - 2695.38 - 2.63 0.025 2190.50 -439.2 82.73 - - 2428.69 - - - - - - - - - 16.15 -
16077.16 612.81 6.90 1847 16081.60 done 1.61 - - 2695.75 - 2.65 0.078 1131.50 -399.6 82.73 - - 2428.41 - - - - - - - - - 16.16 -
16166.54 605.62 8.39 1865 16171.62 done 1.61 - - 2694.94 - 2.62 0.031 2272.38 435.5 82.73 - - 2429.56 - - - - - - - - - 16.17 -
16476.97 583.06 7.20 1897 16478.30 VBD 1.64 - - 2695.56 - - - 2272.31 - 82.73 - - 2427.94 - - - - - - - - - - -
16787.02 561.77 6.82 1928 16788.46 1.67 0.17 0.087 2738.38 251.9 - - 2272.50 - 82.73 - - 2427.69 - - - - - - - - 16.14 - -
17096.70 538.36 7.38 1959 17101.80 done 1.69 - - 2737.38 - 2.86 0.073 1129.88 -399.5 82.73 - - 2429.38 - - - - - - - - - 16.16 -
17161.26 532.99 7.89 1972 17167.26 done 1.70 - - 2737.44 - 2.62 0.031 2272.88 436.3 82.73 - - 2429.28 - - - - - - - - - 16.17 -
17477.17 508.53 7.82 2004 17481.90 done 1.71 - - 2738.62 - 2.85 0.072 1129.75 -401.1 82.73 - - 2428.81 - - - - - - - - - 16.16 -
17571.35 500.25 8.49 2023 17577.34 done 1.71 - - 2738.88 - 2.62 0.031 2273.94 436.7 82.73 - - 2428.97 - - - - - - - - - 16.18 -
17887.28 478.04 6.91 2055 17888.61 VBD 1.75 - - 2738.94 - - - 2273.62 - 82.73 - - 2427.72 - - - - - - - - - - -
18197.58 459.20 5.69 2086 18229.57 VBD 1.83 - - 2738.94 - - - 2274.06 - 123.34 30.70 1.717 2271.44 -5.1 0.224 - - - - - - - - 12.75
18537.00 431.06 9.04 2120 18542.12 roll 1.83 - - 2737.69 - 2.87 0.073 1131.44 -398.1 123.34 - - 2268.62 - - - - - - - - - 16.05 -
18637.21 421.91 8.84 2140 18642.13 roll 1.83 - - 2739.00 - 2.64 0.031 2272.88 432.4 123.34 - - 2267.41 - - - - - - - - - 16.05 -
18947.50 396.89 7.76 2172 18948.94 pitch 1.84 0.17 0.087 2782.00 252.9 - - 2272.75 - 123.34 - - 2265.44 - - - - - - - - 16.04 - -
19257.17 368.70 9.97 2203 19262.29 roll 1.84 - - 2782.94 - 2.83 0.071 1130.19 -403.7 123.34 - - 2267.44 - - - - - - - - - 16.10 -
19331.73 360.52 11.07 2218 19337.73 roll 1.84 - - 2781.44 - 2.63 0.031 2271.06 433.8 123.34 - - 2267.91 - - - - - - - - - 16.11 -
19647.65 327.83 10.75 2250 19652.38 roll 1.84 - - 2783.31 - 2.85 0.071 1131.19 -400.0 123.34 - - 2267.16 - - - - - - - - - 16.09 -
19741.83 316.94 11.40 2269 19747.83 roll 1.84 - - 2782.25 - 2.63 0.031 2271.75 433.7 123.34 - - 2267.66 - - - - - - - - - 16.11 -
20057.90 287.31 8.33 2301 20062.44 roll 1.84 - - 2782.62 - 2.69 0.091 3345.50 399.2 123.34 - - 2267.88 - - - - - - - - - 16.10 -
20152.01 278.21 9.80 2320 20157.91 roll 1.84 - - 2783.25 - 2.65 0.024 2187.81 -436.9 123.34 - - 2267.00 - - - - - - - - - 16.11 -
20467.78 250.50 8.64 2352 20472.47 roll 1.84 - - 2781.06 - 2.65 0.076 1131.50 -398.6 123.34 - - 2267.91 - - - - - - - - - 16.09 -
20537.41 243.78 9.48 2366 20542.50 roll 1.84 - - 2782.69 - 2.64 0.030 2273.75 432.7 123.34 - - 2267.09 - - - - - - - - - 16.14 -
20847.85 218.51 8.06 2398 20852.56 roll 1.84 - - 2781.56 - 2.88 0.071 1131.69 -396.5 123.34 - - 2267.78 - - - - - - - - - 16.08 -
20912.00 212.89 8.67 2411 20918.00 roll 1.84 - - 2783.12 - 2.64 0.030 2272.69 432.2 123.34 - - 2267.44 - - - - - - - - - 16.14 -
21227.88 187.75 8.65 2443 21229.21 no move 1.84 - - 2783.06 - - - 2272.31 - 123.34 - - 2266.03 - - - - - - - - - - -
21537.92 159.12 9.64 2474 21539.25 no move 1.84 - - 2783.12 - - - 2272.75 - 123.34 - - 2266.25 - - - - - - - - - - -
21848.00 137.00 5.58 2505 21881.22 VBD 1.93 - - 2782.94 - - - 2272.88 - 165.53 31.89 1.331 2099.88 -5.2 0.089 - - - - - - - - 12.77
22187.63 110.98 7.19 2539 22192.92 roll 1.95 - - 2783.25 - 2.89 0.070 1131.44 -395.0 165.53 - - 2095.25 - - - - - - - - - 16.04 -
22282.38 104.71 6.73 2558 22288.21 roll 1.99 - - 2782.06 - 2.65 0.028 2275.38 431.7 165.53 - - 2094.84 - - - - - - - - - 16.06 -
22592.77 95.44 1.42 2610 22675.95 2.19 0.41 0.057 2867.38 208.1 2.77 0.089 3346.06 386.5 268.63 75.67 1.303 1680.28 -5.5 0.066 - - - - - - 16.05 15.70 12.77
22689.11 91.91 4.79 2629 22735.63 done 2.30 - - 2867.38 - 2.70 0.023 2188.00 -428.9 322.46 41.25 1.231 1460.12 -5.3 0.066 - - - - - - - 15.79 12.73
22919.00 65.46 12.46 2675 22924.59 done 2.30 - - 2867.75 - 2.99 0.084 3346.81 387.6 322.46 - - 1450.47 - - - - - - - - - 15.79 -
23154.09 32.79 12.43 2722 23159.65 done 2.30 - - 2868.06 - 2.68 0.023 2191.75 -431.0 322.46 - - 1448.31 - - - - - - - - - 15.89 -
23344.22 14.77 8.81 2760 23349.77 done 2.30 - - 2867.38 - 2.94 0.087 3345.75 392.5 322.46 - - 1446.03 - - - - - - - - - 15.93 -
23484 end climb: SURFACE_DEPTH_REACHED
23484 begin surface coast
23514 end surface coast: CONTROL_FINISHED_OK
23514 begin surface
SM 1.08 - - - - 180.7 74.38 1.177 1042.7 14.0 16.40 0.049 996.0 60.7 - 2.45 0.023 1089.4 443.5 -2.128 - - 12.73 15.94 15.97 -