NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 292 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 92.87 of 550.00 AH used of 24V (83.11% remains)
• Surface angle -61.9 deg, depth 1.46 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.87 (SM_CC=425)
• GPS1 time: 57 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
6.84 - - - 56.69 VBD -1.37 - - 181.81 - - - 2233.00 - -82.73 48.65 0.005 2259.03 - - - - - - - - - - 15.68
57.43 3.21 -3.70 9 100.70 -1.37 13.61 0.249 1987.44 132.7 2.99 0.085 3425.50 398.8 -82.73 21.09 0.006 3114.38 40.6 -3.572 - - - - - - 15.68 15.66 15.70
328.76 50.94 -14.54 63 334.28 roll -1.37 - - 1988.88 - 2.59 0.021 2252.69 -452.8 -82.73 - - 3114.00 - - - - - - - - - 15.92 -
519.21 75.46 -11.43 101 524.62 roll -1.37 - - 1988.44 - 2.94 0.080 3427.31 399.5 -82.73 - - 3114.12 - - - - - - - - - 15.93 -
674.40 93.13 -11.08 132 679.43 roll -1.37 - - 1988.19 - 2.58 0.021 2249.94 -456.3 -82.73 - - 3115.53 - - - - - - - - - 15.98 -
868.97 113.24 -10.00 158 874.09 roll -1.37 - - 1988.69 - 2.92 0.080 3427.00 403.1 -82.73 - - 3114.75 - - - - - - - - - 15.98 -
948.99 121.59 -10.29 174 954.05 roll -1.37 - - 1987.69 - 2.56 0.021 2247.69 -460.7 -82.73 - - 3117.12 - - - - - - - - - 16.00 -
1259.05 148.92 -8.93 206 1260.38 no move -1.37 - - 1988.50 - - - 2246.50 - -82.73 - - 3114.62 - - - - - - - - - - -
1569.50 178.91 -10.20 237 1570.82 no move -1.37 - - 1988.62 - - - 2246.75 - -82.73 - - 3115.19 - - - - - - - - - - -
1879.55 211.05 -10.66 268 1880.88 no move -1.37 - - 1988.75 - - - 2246.56 - -82.73 - - 3114.84 - - - - - - - - - - -
2189.61 241.72 -9.07 299 2193.88 roll -1.37 - - 1988.56 - 2.46 0.068 1208.56 -422.0 -82.73 - - 3116.12 - - - - - - - - - 16.09 -
2243.78 246.79 -9.48 310 2249.78 roll -1.37 - - 1989.00 - 2.62 0.029 2353.06 436.8 -82.73 - - 3116.00 - - - - - - - - - 16.09 -
2559.30 275.45 -9.18 342 2560.63 no move -1.37 - - 1988.44 - - - 2353.31 - -82.73 - - 3114.88 - - - - - - - - - - -
2869.73 302.20 -8.38 373 2874.62 roll -1.37 - - 1988.38 - 2.74 0.063 1208.62 -417.8 -82.73 - - 3116.19 - - - - - - - - - 16.10 -
2914.00 306.02 -8.97 382 2919.89 roll -1.37 - - 1988.19 - 2.62 0.029 2353.38 436.9 -82.73 - - 3114.88 - - - - - - - - - 16.12 -
3229.39 333.75 -8.91 414 3230.72 no move -1.37 - - 1988.56 - - - 2353.31 - -82.73 - - 3113.78 - - - - - - - - - - -
3539.80 360.89 -8.87 445 3541.13 no move -1.37 - - 1988.25 - - - 2353.19 - -82.73 - - 3112.84 - - - - - - - - - - -
3849.83 388.79 -9.36 476 3854.55 roll -1.37 - - 1988.38 - 2.73 0.064 1209.25 -419.0 -82.73 - - 3113.22 - - - - - - - - - 16.13 -
3924.00 396.08 -9.94 491 3930.01 roll -1.37 - - 1988.25 - 2.61 0.030 2352.75 438.1 -82.73 - - 3114.25 - - - - - - - - - 16.12 -
4239.50 426.07 -9.69 523 4244.59 roll -1.37 - - 1988.44 - 2.72 0.063 1208.38 -420.7 -82.73 - - 3113.34 - - - - - - - - - 16.14 -
4279.50 430.00 -10.62 531 4284.59 roll -1.37 - - 1988.25 - 2.61 0.030 2353.00 438.6 -82.73 - - 3114.09 - - - - - - - - - 16.14 -
4589.54 458.93 -9.43 563 4590.87 no move -1.37 - - 1988.44 - - - 2352.88 - -82.73 - - 3112.00 - - - - - - - - - - -
4899.95 486.19 -8.87 594 4904.66 roll -1.37 - - 1988.69 - 2.73 0.064 1207.50 -419.6 -82.73 - - 3111.62 - - - - - - - - - 16.14 -
4969.58 492.77 -9.45 608 4974.66 roll -1.37 - - 1987.62 - 2.62 0.030 2351.12 436.5 -82.73 - - 3114.19 - - - - - - - - - 16.13 -
5279.82 520.25 -8.68 640 5284.79 roll -1.37 - - 1988.56 - 2.73 0.064 1207.25 -419.0 -82.73 - - 3112.47 - - - - - - - - - 16.14 -
5334.19 525.23 -9.25 651 5340.20 roll -1.37 - - 1987.81 - 2.62 0.030 2353.31 437.4 -82.73 - - 3110.91 - - - - - - - - - 16.15 -
5649.72 551.69 -8.58 683 5651.05 no move -1.37 - - 1988.25 - - - 2352.62 - -82.73 - - 3109.94 - - - - - - - - - - -
5960.17 578.00 -8.68 714 5964.88 roll -1.37 - - 1988.50 - 2.74 0.064 1207.19 -418.0 -82.73 - - 3111.00 - - - - - - - - - 16.15 -
6104.36 590.93 -8.82 743 6110.38 roll -1.37 - - 1988.25 - 2.63 0.031 2351.44 435.1 -82.73 - - 3110.78 - - - - - - - - - 16.15 -
6419.89 617.00 -8.02 775 6421.22 no move -1.37 - - 1988.44 - - - 2352.12 - -82.73 - - 3109.03 - - - - - - - - - - -
6730.34 643.77 -8.76 806 6731.67 no move -1.37 - - 1988.31 - - - 2351.94 - -82.73 - - 3108.44 - - - - - - - - - - -
7040.40 669.96 -8.63 837 7041.73 no move -1.37 - - 1988.88 - - - 2351.38 - -82.73 - - 3108.22 - - - - - - - - - - -
7350.46 695.43 -8.03 868 7351.79 no move -1.37 - - 1988.06 - - - 2352.00 - -82.73 - - 3107.00 - - - - - - - - - - -
7660.52 719.45 -7.43 899 7665.23 roll -1.37 - - 1988.31 - 2.76 0.065 1208.69 -414.2 -82.73 - - 3109.06 - - - - - - - - - 16.15 -
7720.15 724.41 -8.29 911 7725.23 roll -1.37 - - 1987.25 - 2.63 0.031 2351.31 434.5 -82.73 - - 3109.16 - - - - - - - - - 16.15 -
8030.40 746.74 -7.10 943 8035.37 roll -1.37 - - 1988.62 - 2.75 0.065 1208.56 -415.5 -82.73 - - 3106.97 - - - - - - - - - 16.14 -
8064.76 749.34 -7.30 950 8070.77 roll -1.37 - - 1988.06 - 2.61 0.030 2351.50 437.9 -82.73 - - 3107.75 - - - - - - - - - 16.16 -
8380.29 772.17 -7.51 982 8385.37 roll -1.37 - - 1988.25 - 2.67 0.093 3425.56 402.3 -82.73 - - 3106.41 - - - - - - - - - 16.12 -
8420.50 775.69 -8.79 990 8425.36 roll -1.37 - - 1988.31 - 2.57 0.023 2248.56 -458.0 -82.73 - - 3107.41 - - - - - - - - - 16.13 -
8730.34 799.38 -7.56 1022 8735.48 roll -1.37 - - 1988.75 - 2.94 0.089 3425.12 400.2 -82.73 - - 3106.66 - - - - - - - - - 16.13 -
8760.34 801.88 -8.13 1028 8765.41 roll -1.37 - - 1988.50 - 2.57 0.023 2248.88 -457.7 -82.73 - - 3106.56 - - - - - - - - - 16.13 -
9070.39 824.48 -7.28 1060 9071.72 no move -1.37 - - 1988.81 - - - 2248.38 - -82.73 - - 3105.16 - - - - - - - - - - -
9180 end dive: TARGET_DEPTH_EXCEEDED
9180 begin apogee
9182.18 832.47 -7.24 1071 9246.72 -0.28 1.76 0.148 2254.12 150.7 0.15 0.171 2286.50 254.1 - 60.01 2.222 2772.50 -5.5 0.342 - - - - - - 16.05 15.72 12.55
9248 end apogee: CONTROL_FINISHED_OK
9248 begin climb
9248.95 833.92 - 1077 9324.09 1.37 2.59 0.099 2655.94 155.1 2.93 0.078 1131.44 -394.2 82.73 63.64 2.146 2436.34 -5.3 0.338 - - - - - - 15.74 15.43 12.95
9407.28 824.74 7.34 1108 9413.18 roll 1.39 - - 2655.62 - 2.71 0.030 2271.38 420.6 82.73 - - 2433.75 - - - - - - - - - 15.67 -
9723.07 801.08 7.33 1140 9724.40 no move 1.41 - - 2656.06 - - - 2271.88 - 82.73 - - 2430.59 - - - - - - - - - - -
10033.14 777.69 7.63 1171 10034.47 no move 1.43 - - 2655.38 - - - 2271.69 - 82.73 - - 2429.78 - - - - - - - - - - -
10343.20 754.11 7.76 1202 10344.53 VBD 1.44 - - 2655.50 - - - 2271.62 - 82.73 - - 2428.94 - - - - - - - - - - -
10653.45 729.55 7.33 1233 10654.78 VBD 1.47 - - 2656.44 - - - 2271.88 - 82.73 - - 2428.91 - - - - - - - - - - -
10963.34 707.28 7.06 1264 10964.77 1.49 0.15 0.094 2699.00 283.7 - - 2271.81 - 82.73 - - 2428.69 - - - - - - - - 16.02 - -
11273.01 683.36 7.83 1295 11278.11 done 1.51 - - 2699.00 - 2.78 0.075 1131.69 -410.1 82.73 - - 2429.34 - - - - - - - - - 16.06 -
11387.58 673.44 8.38 1318 11393.77 done 1.51 - - 2698.88 - 2.63 0.031 2273.94 434.3 82.73 - - 2428.41 - - - - - - - - - 16.06 -
11703.67 648.80 8.00 1350 11705.00 VBD 1.51 - - 2698.56 - - - 2273.88 - 82.73 - - 2427.69 - - - - - - - - - - -
12013.58 625.45 7.39 1381 12018.28 done 1.53 - - 2698.75 - 2.79 0.075 1130.06 -410.0 82.73 - - 2429.78 - - - - - - - - - 16.10 -
12173.62 612.55 8.22 1413 12178.31 done 1.53 - - 2698.94 - 2.63 0.031 2272.94 434.6 82.73 - - 2428.94 - - - - - - - - - 16.09 -
12483.69 593.35 5.45 1445 12517.97 VBD 1.62 - - 2698.81 - - - 2273.06 - 126.89 33.62 1.895 2255.44 -5.2 0.266 - - - - - - - - 12.57
12823.34 567.52 8.59 1479 12828.46 roll 1.62 - - 2698.81 - 2.82 0.075 1131.75 -404.7 126.89 - - 2252.53 - - - - - - - - - 16.00 -
12933.37 557.62 9.21 1501 12938.45 roll 1.62 - - 2699.06 - 2.65 0.031 2271.81 430.2 126.89 - - 2252.56 - - - - - - - - - 16.00 -
13243.79 531.19 8.38 1533 13248.51 roll 1.62 - - 2699.12 - 2.81 0.075 1131.19 -405.9 126.89 - - 2251.78 - - - - - - - - - 16.03 -
13303.41 525.64 9.56 1545 13308.50 roll 1.62 - - 2699.50 - 2.64 0.031 2273.25 432.6 126.89 - - 2251.56 - - - - - - - - - 16.05 -
13614.08 499.30 8.47 1577 13615.41 no move 1.62 - - 2699.06 - - - 2273.81 - 126.89 - - 2251.00 - - - - - - - - - - -
13923.87 471.99 8.87 1608 13925.20 no move 1.62 - - 2699.44 - - - 2274.00 - 126.89 - - 2250.12 - - - - - - - - - - -
14233.91 445.82 8.53 1639 14238.64 roll 1.62 - - 2699.06 - 2.81 0.075 1131.25 -406.7 126.89 - - 2251.56 - - - - - - - - - 16.08 -
14318.08 438.10 9.31 1656 14324.08 roll 1.62 - - 2699.06 - 2.62 0.031 2272.00 435.4 126.89 - - 2250.78 - - - - - - - - - 16.09 -
14633.98 411.88 7.91 1688 14635.30 no move 1.63 - - 2699.38 - - - 2271.94 - 126.89 - - 2250.09 - - - - - - - - - - -
14944.03 386.97 7.98 1719 14948.74 roll 1.63 - - 2699.75 - 2.80 0.075 1131.38 -407.3 126.89 - - 2251.03 - - - - - - - - - 16.10 -
15073.80 375.83 8.55 1745 15078.78 roll 1.63 - - 2699.56 - 2.62 0.031 2272.38 435.5 126.89 - - 2250.81 - - - - - - - - - 16.10 -
15384.14 351.13 8.12 1777 15385.47 no move 1.63 - - 2699.00 - - - 2271.81 - 126.89 - - 2250.19 - - - - - - - - - - -
15694.21 326.63 7.99 1808 15695.54 no move 1.63 - - 2698.88 - - - 2272.00 - 126.89 - - 2249.84 - - - - - - - - - - -
16004.29 302.42 7.79 1839 16008.99 roll 1.64 - - 2699.31 - 2.80 0.074 1131.19 -407.4 126.89 - - 2250.88 - - - - - - - - - 16.11 -
16053.93 298.54 7.74 1849 16059.17 roll 1.65 - - 2698.75 - 2.62 0.030 2274.00 436.2 126.89 - - 2250.41 - - - - - - - - - 16.11 -
16364.54 276.89 6.88 1881 16369.11 roll back 1.69 0.19 0.085 2744.81 242.4 2.67 0.092 3345.25 401.2 126.89 - - 2250.78 - - - - - - - - 16.08 16.07 -
16423.98 271.41 9.56 1893 16429.06 roll 1.69 - - 2744.69 - 2.58 0.025 2186.62 -449.1 126.89 - - 2250.94 - - - - - - - - - 16.10 -
16734.06 245.07 8.46 1925 16739.12 roll 1.69 - - 2744.94 - 2.57 0.078 1130.75 -410.8 126.89 - - 2251.03 - - - - - - - - - 16.05 -
16824.08 236.99 9.38 1943 16829.18 roll 1.69 - - 2745.62 - 2.62 0.030 2274.94 436.7 126.89 - - 2251.00 - - - - - - - - - 16.07 -
17134.56 212.63 7.50 1975 17139.24 roll 1.71 - - 2743.88 - 2.79 0.073 1129.81 -410.4 126.89 - - 2251.38 - - - - - - - - - 16.10 -
17294.60 200.25 7.50 2007 17299.29 roll 1.72 - - 2744.88 - 2.62 0.030 2275.00 437.1 126.89 - - 2250.56 - - - - - - - - - 16.10 -
17604.66 177.90 7.47 2039 17605.99 no move 1.74 - - 2745.19 - - - 2274.50 - 126.89 - - 2250.38 - - - - - - - - - - -
17914.72 154.69 6.88 2070 17919.41 roll 1.78 - - 2744.62 - 2.65 0.090 3346.62 404.6 126.89 - - 2252.88 - - - - - - - - - 16.09 -
18069.54 144.13 6.48 2101 18074.89 roll 1.82 - - 2745.31 - 2.57 0.024 2185.69 -451.7 126.89 - - 2250.81 - - - - - - - - - 16.10 -
18384.79 123.25 7.13 2133 18389.45 roll 1.84 - - 2744.94 - 2.55 0.077 1129.81 -414.1 126.89 - - 2251.31 - - - - - - - - - 16.05 -
18514.43 114.26 6.64 2159 18519.56 roll back 1.88 0.17 0.083 2793.00 282.7 2.62 0.029 2276.00 437.5 126.89 - - 2251.25 - - - - - - - - 16.04 16.10 -
18824.46 98.16 4.12 2195 18876.23 done 2.01 - - 2792.88 - 2.67 0.090 3344.75 400.3 190.53 46.41 1.300 1997.78 -5.5 0.068 - - - - - - - 15.89 12.48
18899.63 94.11 5.96 2210 18935.41 2.08 0.19 0.081 2838.94 242.4 2.61 0.023 2184.69 -444.5 227.15 28.41 1.235 1848.28 -5.3 0.066 - - - - - - 15.92 15.94 12.84
19119.71 73.28 9.35 2254 19121.04 no move 2.08 - - 2839.50 - - - 2184.12 - 227.15 - - 1840.72 - - - - - - - - - - -
19304.77 58.03 7.50 2291 19306.10 VBD 2.10 - - 2839.50 - - - 2184.62 - 227.15 - - 1838.56 - - - - - - - - - - -
19489.91 45.79 6.71 2328 19495.38 done 2.13 - - 2838.88 - 2.58 0.077 1130.62 -408.5 227.15 - - 1838.50 - - - - - - - - - 15.95 -
19724.95 31.49 5.35 2375 19765.77 done 2.22 - - 2839.50 - 2.62 0.028 2274.31 436.5 272.69 33.42 1.173 1662.47 -5.3 0.023 - - - - - - - 15.96 12.50
19950.02 19.49 4.23 2420 20002.28 2.35 0.30 0.062 2904.31 216.0 2.71 0.088 3348.31 396.3 334.70 46.58 1.161 1410.72 -5.4 0.015 - - - - - - 15.90 15.72 12.71
20210 end climb: SURFACE_DEPTH_REACHED
20210 begin surface coast
20255 end surface coast: CONTROL_FINISHED_OK
20255 begin surface
SM 0.90 - - - - 184.2 65.87 1.152 1043.0 15.1 16.79 0.055 1002.4 59.7 - 2.41 0.024 1083.6 448.5 -1.719 - - 12.61 15.85 15.89 -