NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 224 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 73.54 of 550.00 AH used of 24V (86.63% remains)
• Surface angle -64.7 deg, depth 1.58 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.86 (SM_CC=425)
• GPS1 time: 44 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
6.58 - - - 60.96 VBD -1.37 - - 180.81 - - - 2243.88 - -82.73 53.15 0.005 2386.00 - - - - - - - - - - 15.73
61.69 3.12 -3.36 10 104.94 -1.37 13.80 0.255 1988.19 131.0 2.92 0.084 3428.12 405.6 -82.73 18.34 0.006 3112.59 39.6 -3.424 - - - - - - 15.73 15.74 15.76
172.93 25.20 -23.30 32 178.49 roll -1.37 - - 1989.00 - 2.62 0.021 2256.81 -447.1 -82.73 - - 3112.25 - - - - - - - - - 15.88 -
363.66 60.60 -14.94 70 367.25 no move -1.37 - - 1988.94 - - - 2255.31 - -82.73 - - 3112.38 - - - - - - - - - - -
548.49 85.52 -11.13 107 552.08 no move -1.37 - - 1988.81 - - - 2255.94 - -82.73 - - 3112.78 - - - - - - - - - - -
738.55 106.09 -11.28 140 743.28 roll -1.37 - - 1987.62 - 2.87 0.081 3427.56 408.2 -82.73 - - 3114.44 - - - - - - - - - 15.99 -
838.20 117.24 -11.12 160 843.28 roll -1.37 - - 1989.31 - 2.62 0.020 2245.31 -451.2 -82.73 - - 3113.12 - - - - - - - - - 16.01 -
1148.23 146.91 -9.66 192 1149.56 no move -1.37 - - 1989.00 - - - 2244.75 - -82.73 - - 3113.06 - - - - - - - - - - -
1458.64 173.85 -8.20 223 1459.97 no move -1.37 - - 1989.12 - - - 2244.00 - -82.73 - - 3112.72 - - - - - - - - - - -
1768.67 199.99 -8.90 254 1773.40 roll -1.37 - - 1988.38 - 2.88 0.082 3427.00 410.8 -82.73 - - 3114.00 - - - - - - - - - 16.07 -
1878.32 211.26 -10.52 276 1883.40 roll -1.37 - - 1988.94 - 2.62 0.021 2249.25 -449.5 -82.73 - - 3114.09 - - - - - - - - - 16.09 -
2188.35 240.53 -9.59 308 2193.41 roll -1.37 - - 1989.25 - 2.57 0.067 1208.56 -404.9 -82.73 - - 3113.66 - - - - - - - - - 16.11 -
2248.36 246.37 -9.87 320 2253.43 roll -1.37 - - 1988.75 - 2.59 0.029 2353.38 442.0 -82.73 - - 3114.06 - - - - - - - - - 16.10 -
2558.40 275.78 -9.19 352 2559.73 no move -1.37 - - 1989.12 - - - 2352.81 - -82.73 - - 3113.03 - - - - - - - - - - -
2869.05 303.96 -8.80 383 2873.54 roll -1.37 - - 1988.75 - 2.81 0.062 1209.94 -406.7 -82.73 - - 3113.94 - - - - - - - - - 16.12 -
2962.99 312.87 -9.64 402 2968.97 roll -1.37 - - 1989.75 - 2.58 0.030 2354.94 443.8 -82.73 - - 3113.31 - - - - - - - - - 16.13 -
3278.50 344.52 -10.39 434 3283.61 roll -1.37 - - 1988.81 - 2.82 0.062 1209.44 -406.2 -82.73 - - 3113.72 - - - - - - - - - 16.14 -
3338.51 351.15 -11.29 446 3343.58 roll -1.37 - - 1989.38 - 2.60 0.030 2353.50 440.0 -82.73 - - 3113.06 - - - - - - - - - 16.14 -
3648.58 384.14 -10.10 478 3649.91 no move -1.37 - - 1989.00 - - - 2354.19 - -82.73 - - 3110.88 - - - - - - - - - - -
3959.03 414.62 -9.48 509 3960.36 no move -1.37 - - 1989.38 - - - 2354.69 - -82.73 - - 3110.34 - - - - - - - - - - -
4269.09 442.16 -8.84 540 4270.41 no move -1.37 - - 1989.50 - - - 2354.62 - -82.73 - - 3110.19 - - - - - - - - - - -
4579.15 469.30 -8.76 571 4583.88 roll -1.37 - - 1989.06 - 2.83 0.063 1210.19 -404.4 -82.73 - - 3110.31 - - - - - - - - - 16.16 -
4623.31 473.26 -9.05 580 4629.30 roll -1.37 - - 1989.44 - 2.59 0.030 2353.44 441.4 -82.73 - - 3110.94 - - - - - - - - - 16.16 -
4938.84 500.06 -8.55 612 4940.17 no move -1.37 - - 1989.06 - - - 2353.19 - -82.73 - - 3108.91 - - - - - - - - - - -
5249.53 526.16 -8.50 643 5254.02 roll -1.37 - - 1988.75 - 2.83 0.063 1210.06 -403.9 -82.73 - - 3109.75 - - - - - - - - - 16.16 -
5308.92 531.33 -8.78 655 5314.00 roll -1.37 - - 1988.75 - 2.59 0.031 2353.31 441.4 -82.73 - - 3109.62 - - - - - - - - - 16.17 -
5618.99 556.87 -8.16 687 5624.10 roll -1.37 - - 1988.06 - 2.82 0.063 1209.69 -405.5 -82.73 - - 3109.03 - - - - - - - - - 16.17 -
5689.01 562.96 -8.81 701 5694.08 roll -1.37 - - 1989.12 - 2.58 0.031 2351.38 442.5 -82.73 - - 3108.28 - - - - - - - - - 16.17 -
5999.08 588.41 -7.83 733 6004.19 roll -1.37 - - 1989.12 - 2.81 0.064 1209.62 -406.3 -82.73 - - 3107.44 - - - - - - - - - 16.17 -
6073.64 594.72 -8.55 748 6079.65 roll -1.37 - - 1989.19 - 2.58 0.031 2354.56 443.8 -82.73 - - 3106.91 - - - - - - - - - 16.16 -
6389.16 619.29 -7.77 780 6394.25 roll -1.37 - - 1989.94 - 2.61 0.094 3426.50 410.7 -82.73 - - 3107.66 - - - - - - - - - 16.14 -
6463.72 625.91 -8.66 795 6469.73 roll -1.37 - - 1989.62 - 2.61 0.022 2249.81 -450.8 -82.73 - - 3106.50 - - - - - - - - - 16.17 -
6779.23 648.89 -7.36 827 6784.34 roll -1.37 - - 1989.69 - 2.86 0.088 3427.94 411.9 -82.73 - - 3107.00 - - - - - - - - - 16.16 -
6839.42 653.99 -8.23 839 6844.38 roll -1.37 - - 1989.62 - 2.61 0.023 2251.19 -450.9 -82.73 - - 3105.94 - - - - - - - - - 16.17 -
7149.27 676.52 -7.22 871 7154.39 roll -1.37 - - 1989.56 - 2.88 0.088 3427.69 408.5 -82.73 - - 3105.56 - - - - - - - - - 16.16 -
7193.82 680.33 -8.47 880 7199.81 roll -1.37 - - 1989.75 - 2.58 0.023 2250.06 -456.4 -82.73 - - 3104.97 - - - - - - - - - 16.17 -
7509.31 702.19 -6.82 912 7510.64 no move -1.37 - - 1989.69 - - - 2250.25 - -82.73 - - 3103.84 - - - - - - - - - - -
7819.73 724.58 -7.67 943 7824.41 roll -1.37 - - 1989.75 - 2.53 0.071 1209.06 -411.5 -82.73 - - 3104.72 - - - - - - - - - 16.18 -
7869.35 728.61 -8.09 953 7874.42 roll -1.37 - - 1989.12 - 2.57 0.031 2354.38 445.6 -82.73 - - 3105.31 - - - - - - - - - 16.18 -
8179.39 751.23 -7.29 985 8180.72 no move -1.37 - - 1989.44 - - - 2354.38 - -82.73 - - 3102.91 - - - - - - - - - - -
8489.83 774.18 -7.40 1016 8494.53 roll -1.37 - - 1989.44 - 2.79 0.066 1208.44 -410.7 -82.73 - - 3104.34 - - - - - - - - - 16.18 -
8539.42 778.28 -8.01 1026 8544.50 roll -1.37 - - 1989.88 - 2.57 0.031 2354.12 445.8 -82.73 - - 3104.53 - - - - - - - - - 16.19 -
8849.46 802.00 -7.88 1058 8850.79 no move -1.37 - - 1989.06 - - - 2354.50 - -82.73 - - 3102.41 - - - - - - - - - - -
9159.92 824.88 -6.99 1089 9164.81 roll -1.37 - - 1989.31 - 2.78 0.065 1209.75 -411.8 -82.73 - - 3103.22 - - - - - - - - - 16.17 -
9264.23 832.95 -7.53 1110 9270.10 roll -1.37 - - 1989.44 - 2.57 0.032 2353.00 444.8 -82.73 - - 3103.16 - - - - - - - - - 16.18 -
9579.64 855.58 -7.17 1142 9580.97 no move -1.37 - - 1989.19 - - - 2353.00 - -82.73 - - 3101.34 - - - - - - - - - - -
9890.09 877.84 -7.11 1173 9891.42 no move -1.37 - - 1989.38 - - - 2352.75 - -82.73 - - 3101.75 - - - - - - - - - - -
10200.17 899.15 -7.15 1204 10201.50 no move -1.37 - - 1989.62 - - - 2353.06 - -82.73 - - 3101.38 - - - - - - - - - - -
10510.40 921.26 -6.96 1235 10514.96 roll -1.37 - - 1989.44 - 2.81 0.065 1210.88 -406.5 -82.73 - - 3103.06 - - - - - - - - - 16.16 -
10584.41 926.93 -7.25 1250 10590.40 roll -1.37 - - 1989.69 - 2.56 0.032 2353.06 446.2 -82.73 - - 3101.88 - - - - - - - - - 16.17 -
10900.33 947.08 -6.18 1282 10905.04 roll -1.37 - - 1989.38 - 2.80 0.065 1210.69 -408.0 -82.73 - - 3101.50 - - - - - - - - - 16.17 -
10999.97 954.14 -6.70 1302 11005.04 roll -1.37 - - 1989.25 - 2.58 0.032 2351.81 442.3 -82.73 - - 3102.16 - - - - - - - - - 16.17 -
11310.47 974.54 -6.44 1334 11311.80 no move -1.37 - - 1989.62 - - - 2351.50 - -82.73 - - 3100.44 - - - - - - - - - - -
11549 end dive: TARGET_DEPTH_EXCEEDED
11550 begin apogee
11551.90 990.56 -6.69 1358 11616.66 -0.28 1.79 0.154 2253.50 147.4 0.21 0.140 2281.94 -331.2 - 60.61 2.419 2773.47 -5.4 0.367 - - - - - - 16.08 15.68 12.58
11626 end apogee: CONTROL_FINISHED_OK
11626 begin climb
11627.03 991.75 - 1364 11700.91 1.37 2.62 0.095 2656.62 153.9 2.75 0.097 3344.81 386.5 82.73 65.00 2.351 2435.19 -5.2 0.365 - - - - - - 15.73 15.35 12.85
11709.59 987.30 5.66 1374 11750.60 done 1.45 - - 2656.12 - 2.72 0.023 2188.31 -425.2 123.80 34.53 2.243 2269.97 -4.8 0.350 - - - - - - - 15.46 12.68
12059.07 952.60 10.73 1413 12060.40 VBD 1.45 - - 2656.00 - - - 2188.50 - 123.80 - - 2261.47 - - - - - - - - - - -
12369.53 919.44 10.77 1444 12374.22 done 1.45 - - 2655.44 - 2.67 0.079 1132.75 -395.4 123.80 - - 2261.69 - - - - - - - - - 15.90 -
12423.70 913.21 11.50 1455 12429.71 done 1.45 - - 2655.31 - 2.62 0.032 2272.06 434.9 123.80 - - 2260.03 - - - - - - - - - 15.92 -
12739.84 881.77 9.70 1487 12741.17 VBD 1.45 - - 2656.31 - - - 2271.81 - 123.80 - - 2258.81 - - - - - - - - - - -
13049.64 852.89 8.75 1518 13050.97 VBD 1.45 - - 2656.00 - - - 2271.88 - 123.80 - - 2259.50 - - - - - - - - - - -
13359.67 826.21 8.63 1549 13364.40 done 1.45 - - 2656.19 - 2.86 0.076 1131.44 -398.8 123.80 - - 2259.34 - - - - - - - - - 16.05 -
13409.30 821.59 9.50 1559 13414.36 done 1.45 - - 2655.00 - 2.60 0.032 2273.56 439.3 123.80 - - 2259.00 - - - - - - - - - 16.06 -
13719.33 795.42 8.75 1591 13724.41 done 1.45 - - 2656.62 - 2.64 0.095 3346.50 406.4 123.80 - - 2258.59 - - - - - - - - - 16.05 -
13759.33 791.56 9.65 1599 13764.42 done 1.45 - - 2656.81 - 2.62 0.025 2189.94 -441.4 123.80 - - 2259.00 - - - - - - - - - 16.09 -
14069.77 765.34 8.56 1631 14071.10 VBD 1.45 - - 2656.44 - - - 2189.31 - 123.80 - - 2256.56 - - - - - - - - - - -
14379.79 737.81 8.90 1662 14381.12 VBD 1.45 - - 2656.25 - - - 2189.25 - 123.80 - - 2256.41 - - - - - - - - - - -
14689.83 710.87 8.33 1693 14691.17 VBD 1.45 - - 2656.00 - - - 2189.06 - 123.80 - - 2256.50 - - - - - - - - - - -
14999.88 683.69 8.67 1724 15001.22 VBD 1.45 - - 2656.06 - - - 2189.06 - 123.80 - - 2256.16 - - - - - - - - - - -
15309.96 658.32 8.19 1755 15311.29 VBD 1.45 - - 2656.00 - - - 2188.69 - 123.80 - - 2255.91 - - - - - - - - - - -
15620.20 634.87 7.49 1786 15621.53 VBD 1.47 - - 2655.62 - - - 2188.75 - 123.80 - - 2256.31 - - - - - - - - - - -
15930.33 610.80 7.44 1817 15931.77 1.49 0.14 0.098 2698.19 304.1 - - 2188.88 - 123.80 - - 2254.97 - - - - - - - - 16.10 - -
16239.75 583.20 8.94 1848 16241.08 VBD 1.49 - - 2698.06 - - - 2189.00 - 123.80 - - 2255.50 - - - - - - - - - - -
16550.21 555.06 9.24 1879 16554.91 done 1.49 - - 2698.31 - 2.62 0.080 1131.38 -403.7 123.80 - - 2256.75 - - - - - - - - - 16.14 -
16649.85 545.42 9.80 1899 16654.91 done 1.49 - - 2698.00 - 2.59 0.032 2273.25 440.9 123.80 - - 2257.50 - - - - - - - - - 16.15 -
16959.91 518.30 8.95 1931 16965.03 done 1.49 - - 2699.06 - 2.84 0.075 1130.25 -402.5 123.80 - - 2257.00 - - - - - - - - - 16.15 -
17039.94 511.05 9.27 1947 17045.00 done 1.49 - - 2698.00 - 2.58 0.032 2274.12 443.4 123.80 - - 2256.91 - - - - - - - - - 16.14 -
17350.00 484.92 8.57 1979 17355.08 done 1.49 - - 2698.12 - 2.62 0.094 3345.94 409.1 123.80 - - 2256.75 - - - - - - - - - 16.12 -
17384.54 481.63 9.31 1986 17390.56 done 1.49 - - 2698.50 - 2.61 0.024 2189.62 -443.0 123.80 - - 2256.84 - - - - - - - - - 16.14 -
17700.48 456.29 7.60 2018 17705.15 done 1.51 - - 2699.19 - 2.62 0.078 1131.12 -404.0 123.80 - - 2256.31 - - - - - - - - - 16.14 -
17784.64 449.22 8.83 2035 17790.82 done 1.51 - - 2698.88 - 2.58 0.031 2273.56 442.8 123.80 - - 2256.22 - - - - - - - - - 16.16 -
18100.74 424.97 7.80 2067 18102.07 VBD 1.52 - - 2699.50 - - - 2273.88 - 123.80 - - 2255.81 - - - - - - - - - - -
18410.60 400.13 8.31 2098 18411.94 VBD 1.52 - - 2698.75 - - - 2274.19 - 123.80 - - 2255.38 - - - - - - - - - - -
18720.64 374.69 8.01 2129 18725.34 done 1.52 - - 2698.75 - 2.62 0.093 3346.81 409.4 123.80 - - 2256.72 - - - - - - - - - 16.13 -
18790.27 368.59 8.78 2143 18795.35 done 1.52 - - 2699.25 - 2.61 0.024 2188.38 -443.8 123.80 - - 2256.38 - - - - - - - - - 16.15 -
19100.71 344.77 7.85 2175 19105.38 done 1.53 - - 2699.88 - 2.59 0.078 1131.38 -408.1 123.80 - - 2256.59 - - - - - - - - - 16.14 -
19170.32 338.68 9.08 2189 19175.38 done 1.53 - - 2697.44 - 2.58 0.031 2274.31 443.0 123.80 - - 2257.62 - - - - - - - - - 16.14 -
19480.36 312.12 8.60 2221 19481.69 VBD 1.53 - - 2698.62 - - - 2274.00 - 123.80 - - 2255.75 - - - - - - - - - - -
19790.78 285.14 8.33 2252 19792.12 VBD 1.53 - - 2699.06 - - - 2274.75 - 123.80 - - 2256.28 - - - - - - - - - - -
20100.83 261.25 7.18 2283 20105.54 done 1.56 - - 2699.44 - 2.83 0.073 1131.25 -404.1 123.80 - - 2256.94 - - - - - - - - - 16.10 -
20150.63 257.42 7.60 2293 20155.51 done 1.57 - - 2699.50 - 2.58 0.030 2273.88 442.9 123.80 - - 2257.31 - - - - - - - - - 16.14 -
20460.99 236.89 6.62 2325 20465.57 done 1.61 - - 2699.38 - 2.62 0.092 3346.31 409.3 123.80 - - 2257.28 - - - - - - - - - 16.08 -
20535.06 231.33 7.39 2340 20541.06 done 1.63 - - 2699.19 - 2.61 0.024 2186.94 -444.2 123.80 - - 2256.69 - - - - - - - - - 16.14 -
20850.98 210.25 6.77 2372 20852.41 1.67 0.16 0.092 2738.06 242.9 - - 2186.75 - 123.80 - - 2255.94 - - - - - - - - 16.08 - -
21160.65 187.47 7.41 2403 21165.72 done 1.69 - - 2737.75 - 2.61 0.076 1131.25 -404.4 123.80 - - 2258.22 - - - - - - - - - 16.12 -
21305.63 175.96 7.92 2432 21311.22 done 1.70 - - 2736.88 - 2.59 0.030 2274.62 441.5 123.80 - - 2258.38 - - - - - - - - - 16.13 -
21621.15 153.06 7.25 2464 21625.84 done 1.72 - - 2737.88 - 2.62 0.090 3348.31 409.8 123.80 - - 2258.22 - - - - - - - - - 16.11 -
21685.32 147.64 8.48 2477 21691.32 done 1.72 - - 2738.38 - 2.62 0.023 2185.75 -443.7 123.80 - - 2258.53 - - - - - - - - - 16.12 -
22001.24 127.20 5.78 2509 22031.42 VBD 1.80 - - 2737.69 - - - 2185.94 - 163.01 28.40 1.319 2110.69 -5.2 0.083 - - - - - - - - 12.65
22340.97 104.35 6.50 2545 22342.40 pitch 1.84 0.16 0.085 2781.50 273.8 - - 2185.69 - 163.01 - - 2106.06 - - - - - - - - 16.04 - -
22646.02 83.54 5.94 2600 22681.75 done 1.91 - - 2782.00 - 2.64 0.077 1130.25 -399.8 199.99 28.55 1.249 1958.22 -5.2 0.058 - - - - - - - 15.90 12.67
22721.15 80.14 4.55 2615 22772.06 2.03 0.17 0.085 2828.19 271.7 2.61 0.028 2277.50 439.6 257.33 43.58 1.256 1726.25 -5.3 0.056 - - - - - - 15.94 15.94 12.74
22956.50 64.11 7.08 2662 22961.68 done 2.06 - - 2828.38 - 2.88 0.070 1131.25 -398.0 257.33 - - 1716.12 - - - - - - - - - 15.89 -
23146.18 50.30 7.06 2700 23151.72 done 2.08 - - 2829.31 - 2.61 0.029 2274.62 438.1 257.33 - - 1713.59 - - - - - - - - - 15.93 -
23336.24 37.81 6.67 2738 23337.57 VBD 2.12 - - 2829.31 - - - 2274.69 - 257.33 - - 1711.75 - - - - - - - - - - -
23521.28 28.51 4.03 2775 23574.78 2.25 0.22 0.071 2883.69 247.2 2.67 0.089 3347.06 401.6 322.20 47.75 1.188 1460.22 -5.3 0.021 - - - - - - 15.93 15.75 12.57
23608.06 24.68 4.79 2792 23654.57 done 2.36 - - 2883.56 - 2.63 0.022 2181.56 -443.2 375.92 41.30 1.153 1242.78 -5.3 0.019 - - - - - - - 15.84 12.75
23837.96 5.37 9.72 2838 23843.49 done 2.36 - - 2883.31 - 2.65 0.075 1131.44 -396.3 375.92 - - 1234.84 - - - - - - - - - 15.82 -
23872 end climb: SURFACE_DEPTH_REACHED
23872 begin surface coast
23888 end surface coast: CONTROL_FINISHED_OK
23888 begin surface
SM 1.72 - - - - 183.1 36.74 1.133 1043.0 28.4 16.53 0.044 1002.9 60.7 - 2.79 0.033 1083.1 387.3 -2.063 - - 12.63 15.83 15.85 -