NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 226 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 74.16 of 550.00 AH used of 24V (86.52% remains)
• Surface angle -63.2 deg, depth 1.58 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 424.79 (SM_CC=425)
• GPS1 time: 31 s
• GPS2 time: 2 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
6.70 - - - 66.16 VBD -1.37 - - 178.06 - - - 2278.62 - -82.73 58.24 0.005 2479.62 - - - - - - - - - - 15.69
66.90 3.23 -3.38 11 105.08 -1.37 13.74 0.253 1988.06 131.7 2.85 0.087 3427.38 403.1 -82.73 15.65 0.006 3111.75 40.4 -3.585 - - - - - - 15.69 15.66 15.73
333.13 58.97 -16.85 64 338.68 roll -1.37 - - 1988.25 - 2.64 0.020 2254.88 -444.1 -82.73 - - 3112.88 - - - - - - - - - 15.91 -
523.85 86.18 -12.71 102 528.79 roll -1.37 - - 1988.12 - 2.87 0.080 3428.19 408.8 -82.73 - - 3113.56 - - - - - - - - - 15.92 -
578.25 93.19 -12.97 113 583.79 roll -1.37 - - 1988.25 - 2.62 0.021 2249.06 -450.0 -82.73 - - 3113.59 - - - - - - - - - 15.95 -
773.29 112.34 -8.92 139 778.36 roll -1.37 - - 1988.31 - 2.55 0.065 1208.56 -408.0 -82.73 - - 3113.25 - - - - - - - - - 15.99 -
817.84 116.61 -9.59 148 823.83 roll -1.37 - - 1988.75 - 2.59 0.029 2355.94 443.0 -82.73 - - 3113.19 - - - - - - - - - 15.99 -
1133.34 143.98 -8.54 180 1138.45 roll -1.37 - - 1988.56 - 2.83 0.059 1208.69 -405.4 -82.73 - - 3116.00 - - - - - - - - - 16.03 -
1198.07 149.56 -8.62 193 1203.89 roll -1.37 - - 1988.81 - 2.61 0.028 2355.50 439.4 -82.73 - - 3114.78 - - - - - - - - - 16.04 -
1513.38 179.40 -9.75 225 1514.71 no move -1.37 - - 1988.31 - - - 2355.88 - -82.73 - - 3113.28 - - - - - - - - - - -
1823.80 209.46 -9.61 256 1825.13 no move -1.37 - - 1988.31 - - - 2355.81 - -82.73 - - 3113.69 - - - - - - - - - - -
2133.84 240.87 -10.25 287 2138.56 roll -1.37 - - 1988.50 - 2.81 0.061 1209.75 -407.9 -82.73 - - 3114.78 - - - - - - - - - 16.09 -
2258.02 254.20 -10.47 312 2264.00 roll -1.37 - - 1988.12 - 2.59 0.030 2353.44 441.6 -82.73 - - 3114.66 - - - - - - - - - 16.10 -
2573.69 285.97 -9.62 344 2575.02 no move -1.37 - - 1988.75 - - - 2353.19 - -82.73 - - 3112.81 - - - - - - - - - - -
2884.10 315.05 -9.18 375 2888.66 roll -1.37 - - 1988.69 - 2.81 0.062 1209.81 -406.9 -82.73 - - 3113.62 - - - - - - - - - 16.11 -
2938.09 320.29 -9.78 386 2944.08 roll -1.37 - - 1988.31 - 2.58 0.030 2354.25 443.6 -82.73 - - 3114.19 - - - - - - - - - 16.12 -
3253.59 348.51 -9.28 418 3258.66 roll -1.37 - - 1988.12 - 2.61 0.090 3427.25 411.1 -82.73 - - 3114.09 - - - - - - - - - 16.11 -
3333.61 356.65 -10.14 434 3338.69 roll -1.37 - - 1988.56 - 2.62 0.022 2250.69 -449.1 -82.73 - - 3112.84 - - - - - - - - - 16.13 -
3643.69 384.93 -9.13 466 3648.74 roll -1.37 - - 1988.50 - 2.55 0.068 1210.00 -408.1 -82.73 - - 3114.25 - - - - - - - - - 16.13 -
3738.25 394.09 -9.55 485 3744.25 roll -1.37 - - 1988.62 - 2.58 0.030 2353.44 443.2 -82.73 - - 3113.19 - - - - - - - - - 16.15 -
4053.79 424.06 -9.58 517 4055.11 no move -1.37 - - 1988.19 - - - 2353.44 - -82.73 - - 3111.50 - - - - - - - - - - -
4364.24 453.32 -9.15 548 4365.57 no move -1.37 - - 1988.50 - - - 2353.12 - -82.73 - - 3110.44 - - - - - - - - - - -
4674.30 481.31 -8.86 579 4675.63 no move -1.37 - - 1988.06 - - - 2353.25 - -82.73 - - 3110.34 - - - - - - - - - - -
4984.36 509.17 -8.91 610 4985.69 no move -1.37 - - 1988.06 - - - 2353.06 - -82.73 - - 3109.38 - - - - - - - - - - -
5294.66 536.11 -8.68 641 5299.15 roll -1.37 - - 1988.81 - 2.81 0.064 1211.25 -406.3 -82.73 - - 3110.56 - - - - - - - - - 16.17 -
5378.60 543.91 -9.36 658 5384.58 roll -1.37 - - 1988.00 - 2.59 0.031 2353.31 440.9 -82.73 - - 3110.25 - - - - - - - - - 16.17 -
5694.13 571.18 -8.57 690 5699.25 roll -1.37 - - 1988.38 - 2.82 0.063 1210.06 -405.4 -82.73 - - 3109.03 - - - - - - - - - 16.17 -
5794.16 580.45 -9.39 710 5799.24 roll -1.37 - - 1988.44 - 2.59 0.031 2352.94 441.3 -82.73 - - 3109.41 - - - - - - - - - 16.17 -
6104.23 607.72 -8.51 742 6109.31 roll -1.37 - - 1988.69 - 2.62 0.093 3428.44 410.5 -82.73 - - 3107.88 - - - - - - - - - 16.15 -
6148.78 612.07 -9.64 751 6154.79 roll -1.37 - - 1987.38 - 2.62 0.023 2249.50 -450.0 -82.73 - - 3108.78 - - - - - - - - - 16.17 -
6464.31 636.83 -7.92 783 6465.65 no move -1.37 - - 1988.56 - - - 2249.69 - -82.73 - - 3106.50 - - - - - - - - - - -
6774.73 660.31 -7.56 814 6779.46 roll -1.37 - - 1988.31 - 2.88 0.089 3427.25 408.9 -82.73 - - 3107.41 - - - - - - - - - 16.16 -
6828.90 665.13 -8.87 825 6834.90 roll -1.37 - - 1988.69 - 2.61 0.023 2252.19 -450.2 -82.73 - - 3107.41 - - - - - - - - - 16.16 -
7144.58 688.69 -7.36 857 7145.91 no move -1.37 - - 1988.50 - - - 2252.12 - -82.73 - - 3106.06 - - - - - - - - - - -
7454.93 712.15 -7.70 888 7459.53 roll -1.37 - - 1987.06 - 2.88 0.089 3427.69 408.2 -82.73 - - 3107.38 - - - - - - - - - 16.17 -
7514.44 717.36 -8.61 900 7519.50 roll -1.37 - - 1987.88 - 2.60 0.023 2251.88 -452.2 -82.73 - - 3107.34 - - - - - - - - - 16.18 -
7824.47 740.58 -7.38 932 7829.53 roll -1.37 - - 1988.25 - 2.58 0.071 1209.81 -403.9 -82.73 - - 3106.22 - - - - - - - - - 16.17 -
7884.49 745.43 -8.03 944 7889.56 roll -1.37 - - 1988.69 - 2.60 0.031 2352.94 439.7 -82.73 - - 3106.59 - - - - - - - - - 16.18 -
8194.52 768.42 -7.37 976 8199.64 roll -1.37 - - 1988.50 - 2.83 0.065 1210.06 -403.8 -82.73 - - 3104.91 - - - - - - - - - 16.17 -
8264.53 774.13 -8.00 990 8269.61 roll -1.37 - - 1988.62 - 2.60 0.031 2353.06 439.6 -82.73 - - 3105.62 - - - - - - - - - 16.18 -
8574.58 797.70 -7.76 1022 8575.91 no move -1.37 - - 1988.88 - - - 2353.06 - -82.73 - - 3104.41 - - - - - - - - - - -
8885.02 822.29 -7.97 1053 8886.35 no move -1.37 - - 1988.31 - - - 2352.88 - -82.73 - - 3103.03 - - - - - - - - - - -
9195.08 846.28 -7.58 1084 9196.41 no move -1.37 - - 1988.25 - - - 2352.94 - -82.73 - - 3103.22 - - - - - - - - - - -
9505.14 870.35 -7.61 1115 9510.05 roll -1.37 - - 1988.25 - 2.82 0.066 1209.94 -405.3 -82.73 - - 3104.91 - - - - - - - - - 16.17 -
9559.43 874.84 -8.06 1126 9565.31 roll -1.37 - - 1988.62 - 2.60 0.031 2351.69 439.1 -82.73 - - 3103.97 - - - - - - - - - 16.18 -
9874.85 897.92 -7.26 1158 9876.17 no move -1.37 - - 1987.88 - - - 2351.56 - -82.73 - - 3102.53 - - - - - - - - - - -
10185.30 921.34 -7.67 1189 10190.03 roll -1.37 - - 1988.38 - 2.83 0.066 1209.81 -403.4 -82.73 - - 3104.62 - - - - - - - - - 16.17 -
10229.47 924.95 -8.03 1198 10235.45 roll -1.37 - - 1988.06 - 2.60 0.032 2351.44 439.1 -82.73 - - 3104.47 - - - - - - - - - 16.16 -
10545.17 947.50 -7.11 1230 10546.50 no move -1.37 - - 1988.38 - - - 2351.81 - -82.73 - - 3102.66 - - - - - - - - - - -
10855.45 968.87 -6.99 1261 10856.78 no move -1.37 - - 1988.00 - - - 2351.50 - -82.73 - - 3101.94 - - - - - - - - - - -
11165 end dive: TARGET_DEPTH_EXCEEDED
11165 begin apogee
11167.35 990.07 -7.06 1292 11232.45 -0.28 1.78 0.151 2254.25 149.6 0.20 0.140 2282.38 -345.6 - 60.71 2.413 2774.75 -5.4 0.365 - - - - - - 16.09 15.68 12.61
11242 end apogee: CONTROL_FINISHED_OK
11242 begin climb
11242.71 991.37 - 1298 11317.98 1.37 2.60 0.094 2656.81 154.8 2.78 0.097 3343.94 381.9 82.73 64.80 2.349 2437.62 -5.2 0.362 - - - - - - 15.73 15.35 12.77
11356.60 984.51 7.56 1320 11361.57 roll 1.39 - - 2656.44 - 2.75 0.023 2192.62 -418.7 82.73 - - 2435.06 - - - - - - - - - 15.56 -
11666.90 958.31 8.47 1352 11671.61 roll 1.39 - - 2655.81 - 2.74 0.078 1131.31 -387.3 82.73 - - 2432.12 - - - - - - - - - 15.82 -
11731.07 952.48 9.76 1365 11737.07 roll 1.39 - - 2655.56 - 2.65 0.031 2272.94 430.8 82.73 - - 2432.00 - - - - - - - - - 15.85 -
12046.95 924.69 8.68 1397 12048.28 no move 1.39 - - 2655.75 - - - 2272.56 - 82.73 - - 2429.75 - - - - - - - - - - -
12357.01 897.51 8.42 1428 12358.34 no move 1.39 - - 2656.31 - - - 2272.94 - 82.73 - - 2429.06 - - - - - - - - - - -
12667.06 871.20 8.43 1459 12668.40 VBD 1.39 - - 2656.00 - - - 2272.06 - 82.73 - - 2428.25 - - - - - - - - - - -
12977.14 845.51 8.27 1490 12978.47 VBD 1.39 - - 2655.75 - - - 2272.62 - 82.73 - - 2428.34 - - - - - - - - - - -
13287.21 821.10 7.62 1521 13288.54 VBD 1.40 - - 2656.38 - - - 2272.62 - 82.73 - - 2427.66 - - - - - - - - - - -
13597.28 797.58 7.74 1552 13601.99 done 1.42 - - 2655.00 - 2.89 0.075 1131.06 -395.0 82.73 - - 2429.62 - - - - - - - - - 16.08 -
13661.63 792.26 8.76 1565 13667.50 done 1.42 - - 2656.06 - 2.61 0.032 2273.88 437.9 82.73 - - 2429.50 - - - - - - - - - 16.10 -
13977.37 768.50 7.70 1597 13982.09 done 1.43 - - 2655.56 - 2.88 0.074 1131.44 -396.7 82.73 - - 2429.38 - - - - - - - - - 16.11 -
14046.99 762.76 8.71 1611 14052.06 done 1.43 - - 2656.12 - 2.60 0.032 2274.44 439.6 82.73 - - 2428.56 - - - - - - - - - 16.10 -
14357.46 738.84 7.85 1643 14362.14 done 1.44 - - 2656.81 - 2.66 0.095 3346.56 403.1 82.73 - - 2429.81 - - - - - - - - - 16.10 -
14391.60 735.89 8.13 1650 14397.62 done 1.44 - - 2657.00 - 2.65 0.024 2187.62 -437.3 82.73 - - 2429.47 - - - - - - - - - 16.11 -
14707.53 712.25 7.37 1682 14712.22 done 1.47 - - 2655.31 - 2.67 0.078 1132.62 -395.1 82.73 - - 2429.88 - - - - - - - - - 16.12 -
14781.70 706.43 8.23 1697 14787.69 done 1.47 - - 2656.00 - 2.60 0.032 2273.88 438.9 82.73 - - 2429.53 - - - - - - - - - 16.11 -
15097.62 683.72 6.84 1729 15099.06 1.50 0.16 0.091 2700.12 275.7 - - 2274.06 - 82.73 - - 2427.53 - - - - - - - - 16.10 - -
15407.29 660.12 7.71 1760 15408.62 VBD 1.51 - - 2700.31 - - - 2274.06 - 82.73 - - 2428.00 - - - - - - - - - - -
15717.74 638.52 6.94 1791 15719.07 VBD 1.54 - - 2700.25 - - - 2273.44 - 82.73 - - 2428.03 - - - - - - - - - - -
16028.01 616.39 7.08 1822 16029.34 VBD 1.57 - - 2700.31 - - - 2273.81 - 82.73 - - 2427.75 - - - - - - - - - - -
16337.81 594.22 7.24 1853 16339.14 VBD 1.60 - - 2700.62 - - - 2273.50 - 82.73 - - 2427.72 - - - - - - - - - - -
16647.85 571.37 7.14 1884 16652.56 done 1.62 - - 2700.31 - 2.89 0.074 1131.25 -395.2 82.73 - - 2427.88 - - - - - - - - - 16.16 -
16792.42 560.35 7.29 1913 16798.01 done 1.65 - - 2699.06 - 2.60 0.031 2272.38 438.9 82.73 - - 2428.75 - - - - - - - - - 16.13 -
17107.91 538.94 6.77 1945 17112.66 1.68 0.16 0.088 2744.81 285.9 2.66 0.093 3346.62 403.8 82.73 - - 2428.16 - - - - - - - - 16.12 16.12 -
17172.07 533.37 8.60 1958 17178.07 done 1.68 - - 2746.06 - 2.66 0.024 2187.75 -435.7 82.73 - - 2428.59 - - - - - - - - - 16.16 -
17487.96 510.10 6.99 1990 17492.65 done 1.71 - - 2746.00 - 2.67 0.078 1131.25 -395.7 82.73 - - 2428.06 - - - - - - - - - 16.15 -
17617.61 500.22 7.27 2016 17622.68 done 1.73 - - 2745.94 - 2.61 0.031 2272.69 437.3 82.73 - - 2428.88 - - - - - - - - - 16.14 -
17928.06 479.00 6.53 2048 17929.40 VBD 1.77 - - 2745.81 - - - 2272.12 - 82.73 - - 2427.25 - - - - - - - - - - -
18238.38 457.70 6.99 2079 18242.85 done 1.80 - - 2745.62 - 2.89 0.073 1131.25 -394.8 82.73 - - 2427.97 - - - - - - - - - 16.16 -
18392.73 446.25 7.19 2110 18398.32 done 1.83 - - 2745.69 - 2.60 0.031 2274.25 439.6 82.73 - - 2427.69 - - - - - - - - - 16.15 -
18708.25 426.13 6.13 2142 18739.32 1.89 0.19 0.075 2797.62 273.3 2.67 0.094 3346.88 401.7 116.81 25.74 1.682 2298.19 -5.0 0.210 - - - - - - 16.13 15.97 12.68
18852.82 411.97 11.83 2171 18858.43 roll 1.89 - - 2797.44 - 2.67 0.024 2190.19 -433.2 116.81 - - 2296.50 - - - - - - - - - 16.05 -
19168.35 378.09 10.33 2203 19173.05 roll 1.89 - - 2797.62 - 2.68 0.077 1132.50 -394.7 116.81 - - 2296.03 - - - - - - - - - 16.05 -
19288.00 364.57 11.61 2227 19293.08 roll 1.89 - - 2796.88 - 2.62 0.031 2271.31 434.7 116.81 - - 2295.56 - - - - - - - - - 16.07 -
19598.46 333.88 9.96 2259 19603.17 roll 1.89 - - 2797.12 - 2.88 0.072 1131.31 -395.8 116.81 - - 2295.69 - - - - - - - - - 16.10 -
19698.09 323.39 9.81 2279 19703.92 roll 1.89 - - 2797.62 - 2.61 0.031 2271.25 436.8 116.81 - - 2294.09 - - - - - - - - - 16.09 -
20008.65 296.14 8.23 2311 20009.99 no move 1.89 - - 2797.38 - - - 2271.75 - 116.81 - - 2293.50 - - - - - - - - - - -
20318.79 268.44 9.54 2342 20323.33 roll 1.89 - - 2797.81 - 2.89 0.072 1130.12 -395.0 116.81 - - 2294.41 - - - - - - - - - 16.11 -
20402.78 260.09 9.81 2359 20408.79 roll 1.89 - - 2797.62 - 2.62 0.031 2274.12 436.6 116.81 - - 2295.06 - - - - - - - - - 16.10 -
20718.70 230.15 9.65 2391 20723.39 roll 1.89 - - 2797.44 - 2.65 0.090 3345.25 404.2 116.81 - - 2294.91 - - - - - - - - - 16.05 -
20862.89 214.64 10.84 2420 20868.88 roll 1.89 - - 2797.00 - 2.65 0.023 2188.81 -436.4 116.81 - - 2295.38 - - - - - - - - - 16.11 -
21178.76 187.43 8.33 2452 21180.09 no move 1.89 - - 2798.00 - - - 2188.94 - 116.81 - - 2294.16 - - - - - - - - - - -
21488.81 162.33 7.87 2483 21493.52 roll 1.91 - - 2797.94 - 2.87 0.085 3347.06 403.5 116.81 - - 2294.72 - - - - - - - - - 16.11 -
21723.02 143.21 7.82 2530 21729.01 roll 1.92 - - 2798.06 - 2.65 0.023 2187.88 -437.4 116.81 - - 2295.06 - - - - - - - - - 16.11 -
22039.14 122.09 6.07 2562 22070.98 done 1.99 - - 2798.19 - 2.88 0.086 3348.31 402.9 151.87 27.06 1.312 2153.72 -5.2 0.080 - - - - - - - 15.96 12.68
22134.09 115.19 8.03 2581 22139.17 roll 1.99 - - 2797.94 - 2.66 0.023 2186.69 -436.7 151.87 - - 2152.12 - - - - - - - - - 16.04 -
22444.18 94.51 6.04 2621 22476.66 done 2.06 - - 2797.62 - 2.89 0.085 3346.94 401.5 187.31 27.27 1.268 2009.66 -5.2 0.064 - - - - - - - 15.88 12.68
22549.69 87.54 7.29 2642 22555.27 roll back 2.08 0.17 0.094 2836.88 230.9 2.66 0.023 2185.38 -436.7 187.31 - - 2008.59 - - - - - - - - 15.92 15.94 -
22739.76 78.54 3.44 2680 22801.32 done 2.23 - - 2837.25 - 2.70 0.077 1131.38 -390.4 260.88 54.50 1.268 1710.06 -5.5 0.056 - - - - - - - 15.73 12.68
23029.84 57.46 8.79 2738 23035.56 done 2.23 - - 2837.12 - 2.64 0.029 2274.25 432.9 260.88 - - 1700.75 - - - - - - - - - 15.85 -
23219.94 42.56 7.66 2776 23221.37 2.25 0.17 0.082 2880.50 255.2 - - 2273.81 - 260.88 - - 1697.88 - - - - - - - - 15.91 - -
23405.02 27.03 6.88 2813 23410.93 done 2.28 - - 2880.44 - 2.91 0.069 1131.50 -392.5 260.88 - - 1698.75 - - - - - - - - - 15.93 -
23640.11 21.68 1.52 2860 23719.20 2.48 0.24 0.073 2935.06 227.6 2.61 0.027 2278.56 439.5 362.53 73.71 1.194 1297.38 -5.4 0.016 - - - - - - 15.96 15.98 12.67
23896 end climb: SURFACE_DEPTH_REACHED
23897 begin surface coast
23922 end surface coast: CONTROL_FINISHED_OK
23922 begin surface
SM 1.93 - - - - 178.3 46.33 1.145 1043.3 20.9 16.90 0.046 998.1 59.0 - 0.12 0.122 1088.4 9048.3 -14.630 - - 12.67 15.83 15.84 -