NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 267 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 86.91 of 550.00 AH used of 24V (84.20% remains)
• Surface angle -65.2 deg, depth 1.45 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 425.05 (SM_CC=425)
• GPS1 time: 89 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
6.79 - - - 56.42 VBD -1.37 - - 174.75 - - - 2359.06 - -82.73 48.45 0.005 2272.03 - - - - - - - - - - 15.69
57.16 3.27 -4.07 9 100.40 -1.37 13.80 0.249 1988.62 131.4 2.73 0.089 3427.56 391.4 -82.73 20.06 0.006 3112.88 41.9 -3.766 - - - - - - 15.70 15.66 15.71
328.42 55.45 -16.51 63 333.97 roll -1.37 - - 1989.00 - 2.62 0.021 2252.69 -448.4 -82.73 - - 3113.41 - - - - - - - - - 15.90 -
519.10 81.04 -12.86 101 524.07 roll -1.37 - - 1988.31 - 2.96 0.081 3425.75 396.3 -82.73 - - 3114.78 - - - - - - - - - 15.93 -
698.51 104.76 -12.03 137 703.60 roll -1.37 - - 1987.81 - 2.61 0.021 2246.62 -451.8 -82.73 - - 3114.59 - - - - - - - - - 15.97 -
1008.55 130.01 -7.90 169 1013.20 roll -1.37 - - 1988.69 - 2.49 0.067 1208.88 -416.8 -82.73 - - 3115.25 - - - - - - - - - 16.01 -
1178.59 146.27 -9.64 203 1183.66 roll -1.37 - - 1987.94 - 2.64 0.029 2353.19 433.5 -82.73 - - 3116.53 - - - - - - - - - 16.03 -
1488.65 171.04 -7.56 235 1489.98 no move -1.37 - - 1988.56 - - - 2353.38 - -82.73 - - 3114.16 - - - - - - - - - - -
1799.10 197.20 -8.92 266 1800.42 no move -1.37 - - 1988.81 - - - 2353.19 - -82.73 - - 3114.34 - - - - - - - - - - -
2109.16 223.71 -8.54 297 2113.88 roll -1.37 - - 1988.88 - 2.77 0.062 1208.81 -413.1 -82.73 - - 3114.41 - - - - - - - - - 16.08 -
2168.79 228.83 -8.77 309 2173.88 roll -1.37 - - 1988.31 - 2.64 0.029 2353.25 433.5 -82.73 - - 3114.62 - - - - - - - - - 16.08 -
2478.86 255.94 -8.31 341 2483.95 roll -1.37 - - 1988.31 - 2.77 0.062 1208.06 -413.4 -82.73 - - 3114.75 - - - - - - - - - 16.09 -
2533.41 260.61 -8.93 352 2539.61 roll -1.37 - - 1988.62 - 2.62 0.029 2352.88 437.0 -82.73 - - 3114.62 - - - - - - - - - 16.09 -
2849.12 286.62 -8.38 384 2854.04 roll -1.37 - - 1988.62 - 2.75 0.062 1208.38 -416.2 -82.73 - - 3114.25 - - - - - - - - - 16.11 -
2963.52 296.70 -9.19 407 2969.53 roll -1.37 - - 1989.00 - 2.63 0.030 2353.00 435.2 -82.73 - - 3114.00 - - - - - - - - - 16.10 -
3279.05 325.04 -9.28 439 3280.38 no move -1.37 - - 1988.31 - - - 2353.12 - -82.73 - - 3112.00 - - - - - - - - - - -
3589.50 352.93 -8.77 470 3594.21 roll -1.37 - - 1988.25 - 2.74 0.063 1209.69 -417.3 -82.73 - - 3114.34 - - - - - - - - - 16.13 -
3683.68 361.14 -8.89 489 3689.69 roll -1.37 - - 1988.50 - 2.63 0.030 2352.19 434.4 -82.73 - - 3112.75 - - - - - - - - - 16.11 -
3999.21 386.55 -7.15 521 4004.32 roll -1.37 - - 1987.56 - 2.75 0.063 1208.88 -415.7 -82.73 - - 3113.38 - - - - - - - - - 16.13 -
4089.23 393.44 -7.87 539 4094.32 roll -1.37 - - 1988.62 - 2.64 0.030 2353.75 433.7 -82.73 - - 3111.69 - - - - - - - - - 16.14 -
4399.30 416.05 -7.35 571 4404.39 roll -1.37 - - 1988.75 - 2.75 0.063 1209.81 -416.0 -82.73 - - 3110.94 - - - - - - - - - 16.14 -
4483.86 422.56 -7.85 588 4490.05 roll -1.37 - - 1988.69 - 2.63 0.030 2351.50 434.1 -82.73 - - 3111.09 - - - - - - - - - 16.13 -
4799.53 447.53 -7.57 620 4800.86 no move -1.37 - - 1988.31 - - - 2351.69 - -82.73 - - 3110.19 - - - - - - - - - - -
5109.77 471.85 -7.77 651 5114.47 roll -1.37 - - 1987.19 - 2.67 0.092 3428.25 403.2 -82.73 - - 3111.59 - - - - - - - - - 16.13 -
5179.41 478.21 -9.09 665 5184.47 roll -1.37 - - 1988.62 - 2.59 0.023 2247.88 -455.7 -82.73 - - 3109.97 - - - - - - - - - 16.14 -
5489.45 503.60 -7.98 697 5490.78 no move -1.37 - - 1988.81 - - - 2247.44 - -82.73 - - 3107.88 - - - - - - - - - - -
5799.87 528.78 -8.22 728 5801.19 no move -1.37 - - 1988.62 - - - 2246.94 - -82.73 - - 3108.22 - - - - - - - - - - -
6109.90 558.23 -9.74 759 6111.23 no move -1.37 - - 1988.62 - - - 2246.88 - -82.73 - - 3108.47 - - - - - - - - - - -
6419.94 588.35 -9.37 790 6421.26 no move -1.37 - - 1988.62 - - - 2246.75 - -82.73 - - 3106.81 - - - - - - - - - - -
6729.97 614.82 -8.50 821 6731.30 no move -1.37 - - 1989.06 - - - 2246.81 - -82.73 - - 3106.56 - - - - - - - - - - -
7040.01 640.09 -8.45 852 7041.34 no move -1.37 - - 1988.62 - - - 2246.94 - -82.73 - - 3106.56 - - - - - - - - - - -
7350.07 665.26 -8.04 883 7351.40 no move -1.37 - - 1988.19 - - - 2246.81 - -82.73 - - 3104.94 - - - - - - - - - - -
7660.15 690.01 -8.01 914 7661.48 no move -1.37 - - 1988.56 - - - 2246.19 - -82.73 - - 3104.72 - - - - - - - - - - -
7970.22 714.71 -7.91 945 7974.88 roll -1.37 - - 1988.00 - 2.52 0.071 1208.75 -411.7 -82.73 - - 3106.41 - - - - - - - - - 16.15 -
8004.54 717.50 -8.19 952 8010.43 roll -1.37 - - 1987.88 - 2.64 0.031 2353.25 433.5 -82.73 - - 3105.19 - - - - - - - - - 16.15 -
8319.90 742.70 -7.79 984 8325.00 roll -1.37 - - 1988.69 - 2.78 0.066 1210.12 -411.2 -82.73 - - 3105.19 - - - - - - - - - 16.15 -
8419.92 751.10 -8.65 1004 8425.00 roll -1.37 - - 1988.25 - 2.63 0.032 2350.50 433.6 -82.73 - - 3105.47 - - - - - - - - - 16.16 -
8729.99 773.98 -7.11 1036 8735.07 roll -1.37 - - 1988.31 - 2.69 0.094 3424.69 399.3 -82.73 - - 3105.06 - - - - - - - - - 16.13 -
8790.00 778.83 -8.29 1048 8795.07 roll -1.37 - - 1988.50 - 2.59 0.023 2250.50 -453.4 -82.73 - - 3104.41 - - - - - - - - - 16.16 -
9100.07 800.46 -6.72 1080 9101.40 no move -1.37 - - 1988.69 - - - 2249.06 - -82.73 - - 3103.38 - - - - - - - - - - -
9410.52 822.42 -7.06 1111 9411.85 no move -1.37 - - 1988.06 - - - 2249.06 - -82.73 - - 3102.94 - - - - - - - - - - -
9720.58 843.64 -6.68 1142 9721.92 no move -1.37 - - 1988.56 - - - 2249.06 - -82.73 - - 3102.22 - - - - - - - - - - -
10030.65 865.68 -7.03 1173 10035.40 roll -1.37 - - 1988.31 - 2.96 0.090 3425.88 397.6 -82.73 - - 3103.69 - - - - - - - - - 16.14 -
10235.04 883.45 -8.97 1214 10240.87 roll -1.37 - - 1989.00 - 2.58 0.024 2251.88 -455.0 -82.73 - - 3102.97 - - - - - - - - - 16.14 -
10550.48 907.50 -7.52 1246 10555.43 roll -1.37 - - 1988.81 - 2.53 0.072 1209.75 -411.9 -82.73 - - 3104.56 - - - - - - - - - 16.15 -
10670.39 916.72 -7.90 1270 10675.48 roll -1.37 - - 1989.06 - 2.63 0.032 2351.75 434.2 -82.73 - - 3102.81 - - - - - - - - - 16.14 -
10980.82 939.87 -7.79 1302 10982.15 no move -1.37 - - 1989.06 - - - 2351.50 - -82.73 - - 3101.22 - - - - - - - - - - -
11290.85 961.93 -7.40 1333 11295.56 roll -1.37 - - 1989.06 - 2.78 0.067 1210.81 -410.3 -82.73 - - 3102.81 - - - - - - - - - 16.14 -
11445.42 973.61 -7.32 1364 11451.04 roll -1.37 - - 1989.19 - 2.63 0.031 2349.19 432.8 -82.73 - - 3102.09 - - - - - - - - - 16.15 -
11670 end dive: TARGET_DEPTH_EXCEEDED
11670 begin apogee
11672.34 990.10 -7.58 1387 11737.85 -0.28 1.79 0.147 2254.50 148.2 0.22 0.132 2280.81 -310.8 - 60.84 2.413 2772.94 -5.4 0.366 - - - - - - 16.06 15.67 12.42
11739 end apogee: CONTROL_FINISHED_OK
11739 begin climb
11740.03 991.63 - 1393 11815.83 1.37 2.62 0.094 2655.75 153.1 2.82 0.097 3342.31 376.4 82.73 65.32 2.337 2437.16 -5.1 0.360 - - - - - - 15.71 15.35 12.83
11868.67 984.38 7.31 1418 11874.49 roll 1.39 - - 2655.56 - 2.69 0.024 2191.25 -427.9 82.73 - - 2434.38 - - - - - - - - - 15.57 -
12184.41 961.47 6.79 1450 12189.15 roll 1.42 - - 2656.12 - 2.97 0.090 3345.69 388.7 82.73 - - 2431.69 - - - - - - - - - 15.81 -
12324.46 951.01 7.57 1478 12329.15 roll 1.44 - - 2656.12 - 2.64 0.025 2191.06 -437.4 82.73 - - 2430.09 - - - - - - - - - 15.87 -
12634.52 928.72 7.10 1510 12639.25 roll 1.47 - - 2656.38 - 2.95 0.089 3344.69 391.1 82.73 - - 2430.22 - - - - - - - - - 15.94 -
12684.16 924.80 7.86 1520 12689.23 roll 1.48 - - 2656.25 - 2.63 0.025 2189.62 -439.2 82.73 - - 2431.59 - - - - - - - - - 15.95 -
12994.60 902.70 7.21 1552 12999.38 1.51 0.17 0.088 2702.12 269.8 2.93 0.090 3344.06 394.0 82.73 - - 2429.41 - - - - - - - - 15.97 15.97 -
13044.22 898.27 9.59 1562 13049.49 done 1.51 - - 2702.69 - 2.61 0.026 2191.62 -441.5 82.73 - - 2429.38 - - - - - - - - - 16.01 -
13354.84 871.13 8.39 1594 13356.17 VBD 1.51 - - 2702.19 - - - 2191.69 - 82.73 - - 2427.84 - - - - - - - - - - -
13664.73 844.36 8.79 1625 13669.47 done 1.51 - - 2701.88 - 2.92 0.090 3345.81 395.2 82.73 - - 2429.06 - - - - - - - - - 16.04 -
13828.91 827.80 10.31 1658 13834.92 done 1.51 - - 2702.31 - 2.62 0.026 2191.44 -440.6 82.73 - - 2429.31 - - - - - - - - - 16.06 -
14144.80 798.86 8.93 1690 14149.54 done 1.51 - - 2703.00 - 2.93 0.090 3345.75 394.0 82.73 - - 2428.38 - - - - - - - - - 16.07 -
14248.98 788.49 10.09 1711 14254.97 done 1.51 - - 2702.62 - 2.60 0.026 2190.94 -444.2 82.73 - - 2429.25 - - - - - - - - - 16.10 -
14564.48 760.64 8.23 1743 14569.60 done 1.51 - - 2702.62 - 2.93 0.089 3347.31 394.7 82.73 - - 2428.34 - - - - - - - - - 16.08 -
14679.04 750.13 9.32 1766 14685.04 done 1.51 - - 2702.69 - 2.60 0.026 2191.62 -444.5 82.73 - - 2428.00 - - - - - - - - - 16.08 -
14994.53 723.30 8.81 1798 14999.61 done 1.51 - - 2702.38 - 2.61 0.081 1131.06 -406.3 82.73 - - 2428.41 - - - - - - - - - 16.08 -
15029.08 720.00 9.08 1805 15035.27 done 1.51 - - 2703.50 - 2.62 0.032 2273.31 436.0 82.73 - - 2428.25 - - - - - - - - - 16.11 -
15345.08 692.80 8.60 1837 15346.41 VBD 1.51 - - 2703.25 - - - 2272.69 - 82.73 - - 2427.34 - - - - - - - - - - -
15655.02 666.25 8.24 1868 15656.35 VBD 1.51 - - 2702.69 - - - 2272.69 - 82.73 - - 2427.19 - - - - - - - - - - -
15965.09 640.56 8.39 1899 15969.81 done 1.51 - - 2701.56 - 2.72 0.094 3347.25 395.1 82.73 - - 2430.34 - - - - - - - - - 16.11 -
16044.74 633.57 8.80 1915 16049.81 done 1.51 - - 2701.56 - 2.59 0.025 2189.62 -447.0 82.73 - - 2430.06 - - - - - - - - - 16.10 -
16355.20 609.72 7.39 1947 16359.93 done 1.53 - - 2703.31 - 2.92 0.089 3345.62 395.9 82.73 - - 2428.12 - - - - - - - - - 16.11 -
16394.82 606.79 7.22 1955 16399.89 done 1.55 - - 2703.00 - 2.59 0.025 2188.00 -447.0 82.73 - - 2428.28 - - - - - - - - - 16.13 -
16705.28 584.30 7.00 1987 16706.61 VBD 1.58 - - 2702.69 - - - 2187.88 - 82.73 - - 2427.06 - - - - - - - - - - -
17015.34 564.56 6.18 2018 17046.36 done 1.65 - - 2702.75 - 2.61 0.085 1130.62 -405.1 116.14 25.73 1.836 2300.84 -4.9 0.249 - - - - - - - 15.95 12.55
17144.98 554.87 8.32 2044 17150.25 roll 1.65 - - 2702.88 - 2.66 0.032 2270.88 428.7 116.14 - - 2298.03 - - - - - - - - - 16.02 -
17455.54 529.36 8.49 2076 17460.15 roll 1.65 - - 2703.00 - 2.73 0.093 3343.75 393.0 116.14 - - 2297.78 - - - - - - - - - 16.01 -
17595.09 515.62 9.82 2104 17600.16 roll 1.65 - - 2702.38 - 2.60 0.025 2190.06 -443.7 116.14 - - 2297.09 - - - - - - - - - 16.05 -
17905.54 488.07 8.74 2136 17906.87 no move 1.65 - - 2703.19 - - - 2190.50 - 116.14 - - 2295.69 - - - - - - - - - - -
18215.60 462.25 8.24 2167 18216.93 no move 1.65 - - 2702.94 - - - 2191.19 - 116.14 - - 2295.94 - - - - - - - - - - -
18525.69 437.54 7.69 2198 18527.02 no move 1.66 - - 2702.75 - - - 2190.19 - 116.14 - - 2295.12 - - - - - - - - - - -
18835.74 414.25 7.67 2229 18837.07 no move 1.68 - - 2702.62 - - - 2189.44 - 116.14 - - 2295.25 - - - - - - - - - - -
19145.80 390.90 7.71 2260 19147.24 pitch 1.69 0.17 0.086 2744.38 245.6 - - 2189.00 - 116.14 - - 2295.44 - - - - - - - - 16.08 - -
19455.40 364.62 8.48 2291 19460.54 roll 1.69 - - 2744.38 - 2.91 0.088 3347.12 398.0 116.14 - - 2296.59 - - - - - - - - - 16.10 -
19519.96 358.70 9.34 2304 19525.95 roll 1.69 - - 2744.50 - 2.59 0.025 2189.38 -447.0 116.14 - - 2296.28 - - - - - - - - - 16.09 -
19835.63 330.35 9.19 2336 19836.96 no move 1.69 - - 2744.81 - - - 2190.00 - 116.14 - - 2295.38 - - - - - - - - - - -
20145.88 302.61 8.23 2367 20147.21 no move 1.69 - - 2744.38 - - - 2189.44 - 116.14 - - 2295.16 - - - - - - - - - - -
20456.16 277.03 8.35 2398 20457.49 no move 1.69 - - 2744.69 - - - 2189.19 - 116.14 - - 2295.31 - - - - - - - - - - -
20765.95 252.20 8.24 2429 20767.28 no move 1.69 - - 2744.38 - - - 2188.44 - 116.14 - - 2295.81 - - - - - - - - - - -
21076.00 227.79 7.81 2460 21080.73 roll 1.71 - - 2744.44 - 2.91 0.087 3344.81 397.4 116.14 - - 2298.56 - - - - - - - - - 16.09 -
21270.21 210.79 8.55 2499 21276.21 roll 1.71 - - 2744.94 - 2.60 0.024 2186.69 -445.4 116.14 - - 2296.56 - - - - - - - - - 16.10 -
21586.13 190.29 5.68 2531 21621.79 done 1.79 - - 2744.75 - 2.61 0.082 1131.62 -404.2 156.82 31.24 1.413 2136.56 -5.1 0.114 - - - - - - - 15.94 12.53
21680.31 182.98 9.03 2550 21686.31 roll 1.79 - - 2743.81 - 2.66 0.030 2272.44 428.9 156.82 - - 2133.47 - - - - - - - - - 16.01 -
21996.23 159.20 7.48 2582 22000.95 roll 1.81 - - 2745.06 - 2.83 0.074 1130.94 -403.4 156.82 - - 2130.16 - - - - - - - - - 16.03 -
22100.63 150.20 8.57 2603 22106.41 roll 1.81 - - 2744.50 - 2.64 0.030 2272.94 432.6 156.82 - - 2129.75 - - - - - - - - - 16.02 -
22416.56 124.94 8.31 2635 22417.89 no move 1.81 - - 2744.25 - - - 2272.94 - 156.82 - - 2128.44 - - - - - - - - - - -
22726.40 104.02 4.89 2666 22772.28 1.91 0.23 0.077 2798.88 237.5 2.72 0.090 3345.25 394.2 209.08 39.44 1.300 1921.16 -5.3 0.069 - - - - - - 16.03 15.86 12.62
22971.08 91.07 5.45 2715 23011.90 done 2.00 - - 2799.75 - 2.62 0.024 2186.00 -442.5 253.19 33.95 1.253 1742.06 -5.3 0.063 - - - - - - - 15.95 12.65
23196.16 76.56 7.73 2760 23201.68 done 2.02 - - 2798.88 - 2.62 0.078 1131.19 -402.6 253.19 - - 1734.34 - - - - - - - - - 15.85 -
23266.17 70.64 8.42 2774 23271.71 done 2.02 - - 2799.00 - 2.64 0.029 2275.12 433.3 253.19 - - 1733.03 - - - - - - - - - 15.87 -
23456.25 55.64 7.63 2812 23457.59 VBD 2.03 - - 2798.75 - - - 2274.81 - 253.19 - - 1731.53 - - - - - - - - - - -
23641.33 42.40 7.16 2849 23646.89 done 2.06 - - 2799.12 - 2.82 0.073 1130.12 -405.9 253.19 - - 1731.44 - - - - - - - - - 15.97 -
23716.54 36.73 7.49 2864 23721.94 done 2.08 - - 2799.31 - 2.65 0.029 2274.75 431.9 253.19 - - 1730.69 - - - - - - - - - 15.95 -
23906.39 27.97 3.15 2902 23969.86 2.23 0.38 0.058 2879.19 210.2 2.74 0.088 3347.06 391.4 331.07 57.52 1.190 1424.56 -5.3 0.021 - - - - - - 15.94 15.74 12.60
24023.77 21.61 7.12 2925 24028.40 roll 2.26 - - 2878.62 - 2.66 0.023 2186.50 -436.3 331.07 - - 1421.94 - - - - - - - - - 15.83 -
24212.94 9.90 4.60 2963 24260.65 done 2.37 - - 2878.94 - 2.65 0.078 1131.38 -398.2 387.61 42.74 1.131 1194.28 -5.3 0.008 - - - - - - - 15.70 12.62
24353 end climb: SURFACE_DEPTH_REACHED
24353 begin surface coast
24383 end surface coast: CONTROL_FINISHED_OK
24383 begin surface
SM 3.80 - - - - 186.8 28.83 1.110 1042.2 34.7 16.58 0.048 1000.9 60.4 - 2.82 0.030 1083.5 383.3 -4.962 - - 12.68 15.81 15.83 -