NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 123 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 44.50 of 550.00 AH used of 24V (91.91% remains)
• Surface angle -63.6 deg, depth 1.53 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 374.90 (SM_CC=375)
• GPS1 time: 33 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
6.21 - - - 59.71 VBD -1.37 - - 180.94 - - - 2244.31 - -82.73 52.35 0.005 2503.56 - - - - - - - - - - 15.76
60.44 3.27 -3.72 10 99.68 -1.37 13.77 0.253 1988.62 131.3 3.09 0.089 3424.88 382.1 -82.73 16.12 0.006 3112.22 37.8 -3.395 - - - - - - 15.72 15.75 15.78
327.79 59.33 -19.20 63 333.26 roll -1.37 - - 1988.75 - 2.60 0.023 2256.62 -449.3 -82.73 - - 3112.53 - - - - - - - - - 15.92 -
518.45 85.38 -10.97 101 522.04 no move -1.37 - - 1988.75 - - - 2254.12 - -82.73 - - 3112.91 - - - - - - - - - - -
703.27 107.10 -10.74 132 704.60 no move -1.37 - - 1989.00 - - - 2254.25 - -82.73 - - 3112.69 - - - - - - - - - - -
1013.33 137.83 -10.36 163 1018.02 roll -1.37 - - 1988.06 - 2.54 0.067 1208.56 -411.7 -82.73 - - 3113.69 - - - - - - - - - 16.03 -
1147.69 151.72 -10.19 190 1153.52 roll -1.37 - - 1988.81 - 2.65 0.030 2350.31 430.8 -82.73 - - 3114.59 - - - - - - - - - 16.05 -
1463.02 180.77 -8.68 222 1468.11 roll -1.37 - - 1988.56 - 2.77 0.062 1208.38 -412.2 -82.73 - - 3114.34 - - - - - - - - - 16.09 -
1563.04 190.59 -10.01 242 1568.12 roll -1.37 - - 1988.56 - 2.66 0.030 2350.81 429.5 -82.73 - - 3113.50 - - - - - - - - - 16.10 -
1873.08 219.89 -9.23 274 1878.17 roll -1.37 - - 1988.69 - 2.77 0.062 1208.56 -412.4 -82.73 - - 3114.09 - - - - - - - - - 16.10 -
1973.09 228.71 -8.75 294 1978.18 roll -1.37 - - 1987.38 - 2.65 0.030 2350.44 430.9 -82.73 - - 3115.00 - - - - - - - - - 16.12 -
2283.14 256.85 -9.18 326 2288.44 roll -1.37 - - 1988.88 - 2.79 0.062 1208.81 -409.2 -82.73 - - 3114.69 - - - - - - - - - 16.13 -
2517.89 280.73 -10.24 373 2523.77 roll -1.37 - - 1987.62 - 2.64 0.030 2351.75 432.9 -82.73 - - 3114.88 - - - - - - - - - 16.15 -
2833.21 310.67 -9.52 405 2838.31 roll -1.37 - - 1988.31 - 2.79 0.063 1209.75 -409.3 -82.73 - - 3113.56 - - - - - - - - - 16.15 -
3003.66 327.17 -9.63 439 3008.36 roll -1.37 - - 1988.38 - 2.64 0.031 2350.88 432.2 -82.73 - - 3115.25 - - - - - - - - - 16.15 -
3313.34 353.88 -8.41 471 3314.67 no move -1.37 - - 1988.56 - - - 2351.31 - -82.73 - - 3113.34 - - - - - - - - - - -
3623.79 381.52 -9.21 502 3628.51 roll -1.37 - - 1986.62 - 2.78 0.064 1211.00 -410.2 -82.73 - - 3115.03 - - - - - - - - - 16.17 -
3747.99 393.73 -10.25 527 3753.99 roll -1.37 - - 1988.12 - 2.64 0.031 2350.50 431.6 -82.73 - - 3114.09 - - - - - - - - - 16.18 -
4063.51 424.51 -9.39 559 4068.61 roll -1.37 - - 1988.50 - 2.78 0.064 1210.94 -409.9 -82.73 - - 3114.47 - - - - - - - - - 16.18 -
4163.55 434.16 -9.56 579 4168.63 roll -1.37 - - 1988.31 - 2.64 0.031 2353.00 432.6 -82.73 - - 3114.34 - - - - - - - - - 16.19 -
4473.61 460.50 -8.36 611 4478.90 roll -1.37 - - 1988.31 - 2.80 0.064 1210.12 -408.2 -82.73 - - 3113.78 - - - - - - - - - 16.19 -
4533.80 465.95 -9.06 623 4538.71 roll -1.37 - - 1988.31 - 2.63 0.031 2350.88 433.7 -82.73 - - 3115.12 - - - - - - - - - 16.20 -
4843.70 491.95 -8.22 655 4848.79 roll -1.37 - - 1988.38 - 2.79 0.064 1209.69 -409.0 -82.73 - - 3113.34 - - - - - - - - - 16.20 -
4888.24 495.97 -9.34 664 4894.24 roll -1.37 - - 1988.50 - 2.63 0.031 2352.62 434.6 -82.73 - - 3113.94 - - - - - - - - - 16.21 -
5203.77 522.89 -8.47 696 5208.87 roll -1.37 - - 1987.19 - 2.80 0.064 1208.88 -408.5 -82.73 - - 3113.66 - - - - - - - - - 16.20 -
5263.78 528.37 -8.82 708 5268.87 roll -1.37 - - 1988.69 - 2.65 0.032 2351.75 431.3 -82.73 - - 3112.84 - - - - - - - - - 16.19 -
5573.85 555.60 -8.73 740 5578.95 roll -1.37 - - 1988.31 - 2.78 0.065 1211.00 -410.3 -82.73 - - 3112.06 - - - - - - - - - 16.20 -
5633.87 561.29 -9.83 752 5638.95 roll -1.37 - - 1988.25 - 2.64 0.032 2351.12 431.9 -82.73 - - 3113.00 - - - - - - - - - 16.21 -
5943.94 589.79 -9.45 784 5949.03 roll -1.37 - - 1988.44 - 2.78 0.065 1209.69 -410.6 -82.73 - - 3111.62 - - - - - - - - - 16.22 -
6023.95 597.49 -9.59 800 6029.04 roll -1.37 - - 1988.50 - 2.63 0.032 2350.31 433.7 -82.73 - - 3111.69 - - - - - - - - - 16.21 -
6334.17 625.14 -9.32 832 6339.14 roll -1.37 - - 1986.62 - 2.77 0.065 1209.75 -411.8 -82.73 - - 3112.12 - - - - - - - - - 16.22 -
6434.00 634.98 -10.24 852 6439.10 roll -1.37 - - 1988.31 - 2.63 0.032 2351.38 434.1 -82.73 - - 3111.50 - - - - - - - - - 16.21 -
6744.04 663.82 -8.83 884 6749.14 roll -1.37 - - 1989.00 - 2.79 0.065 1210.12 -409.1 -82.73 - - 3111.00 - - - - - - - - - 16.21 -
6858.60 675.74 -9.89 907 6864.60 roll -1.37 - - 1987.31 - 2.65 0.032 2350.19 430.2 -82.73 - - 3111.25 - - - - - - - - - 16.22 -
7174.10 704.47 -8.42 939 7175.43 no move -1.37 - - 1988.25 - - - 2350.56 - -82.73 - - 3109.34 - - - - - - - - - - -
7484.53 730.15 -7.87 970 7489.23 roll -1.37 - - 1987.06 - 2.78 0.066 1209.19 -410.6 -82.73 - - 3110.78 - - - - - - - - - 16.22 -
7554.14 736.12 -8.56 984 7559.23 roll -1.37 - - 1988.38 - 2.63 0.032 2349.81 433.7 -82.73 - - 3110.16 - - - - - - - - - 16.22 -
7864.19 760.21 -7.55 1016 7869.27 roll -1.37 - - 1988.56 - 2.78 0.066 1211.00 -409.6 -82.73 - - 3110.25 - - - - - - - - - 16.22 -
7928.73 766.01 -8.63 1029 7934.73 roll -1.37 - - 1988.25 - 2.64 0.032 2348.75 431.0 -82.73 - - 3108.91 - - - - - - - - - 16.22 -
8244.42 789.26 -7.45 1061 8249.39 roll -1.37 - - 1988.44 - 2.77 0.066 1209.88 -411.1 -82.73 - - 3108.88 - - - - - - - - - 16.22 -
8288.78 792.79 -7.84 1070 8294.80 roll -1.37 - - 1988.25 - 2.64 0.032 2350.38 432.0 -82.73 - - 3109.25 - - - - - - - - - 16.23 -
8604.33 814.35 -6.92 1102 8605.66 no move -1.37 - - 1988.44 - - - 2350.25 - -82.73 - - 3108.12 - - - - - - - - - - -
8914.77 837.40 -7.45 1133 8919.49 roll -1.37 - - 1988.12 - 2.78 0.066 1211.12 -409.8 -82.73 - - 3107.91 - - - - - - - - - 16.23 -
8974.40 842.43 -8.22 1145 8979.49 roll -1.37 - - 1988.44 - 2.65 0.032 2350.44 429.9 -82.73 - - 3108.34 - - - - - - - - - 16.22 -
9284.48 864.60 -7.05 1177 9289.58 roll -1.37 - - 1988.44 - 2.78 0.066 1209.88 -410.3 -82.73 - - 3107.91 - - - - - - - - - 16.22 -
9414.51 874.85 -7.70 1203 9419.60 roll -1.37 - - 1987.31 - 2.66 0.033 2350.38 428.8 -82.73 - - 3108.06 - - - - - - - - - 16.24 -
9724.76 895.80 -6.89 1235 9729.68 roll -1.37 - - 1988.44 - 2.79 0.066 1211.06 -408.4 -82.73 - - 3108.69 - - - - - - - - - 16.23 -
9814.60 902.37 -7.24 1253 9819.69 roll -1.37 - - 1988.50 - 2.66 0.033 2349.62 428.0 -82.73 - - 3107.03 - - - - - - - - - 16.22 -
10125.31 923.42 -6.40 1285 10129.77 roll -1.37 - - 1988.25 - 2.77 0.066 1211.38 -410.9 -82.73 - - 3108.28 - - - - - - - - - 16.22 -
10199.23 928.95 -7.08 1300 10205.24 roll -1.37 - - 1987.19 - 2.64 0.033 2350.19 431.4 -82.73 - - 3107.91 - - - - - - - - - 16.23 -
10515.15 949.06 -6.39 1332 10519.86 roll -1.37 - - 1988.31 - 2.79 0.066 1210.75 -408.4 -82.73 - - 3106.75 - - - - - - - - - 16.23 -
10594.78 954.65 -6.71 1348 10599.87 roll -1.37 - - 1988.50 - 2.66 0.033 2350.38 428.4 -82.73 - - 3106.56 - - - - - - - - - 16.22 -
10905.24 973.59 -6.17 1380 10906.57 no move -1.37 - - 1988.50 - - - 2350.50 - -82.73 - - 3105.53 - - - - - - - - - - -
11195 end dive: TARGET_DEPTH_EXCEEDED
11195 begin apogee
11197.11 990.59 -5.96 1409 11262.25 -0.28 1.78 0.153 2254.50 149.4 0.21 0.138 2276.69 -351.5 - 61.38 2.411 2772.72 -5.4 0.367 - - - - - - 16.17 15.68 13.00
11271 end apogee: CONTROL_FINISHED_OK
11272 begin climb
11272.31 991.63 - 1415 11348.40 1.37 2.61 0.101 2652.75 152.6 2.92 0.097 3341.50 364.7 82.73 64.83 2.340 2437.00 -5.2 0.362 - - - - - - 15.73 15.33 12.89
11381.21 984.58 8.38 1436 11387.40 roll 1.37 - - 2654.00 - 2.71 0.025 2191.38 -424.4 82.73 - - 2433.78 - - - - - - - - - 15.54 -
11696.96 957.10 8.88 1468 11701.72 roll 1.37 - - 2654.62 - 3.06 0.091 3344.31 376.8 82.73 - - 2431.56 - - - - - - - - - 15.81 -
11781.13 948.86 9.29 1485 11787.14 roll 1.37 - - 2654.19 - 2.64 0.027 2192.62 -436.2 82.73 - - 2432.09 - - - - - - - - - 15.86 -
12097.06 924.15 7.56 1517 12098.39 no move 1.39 - - 2654.56 - - - 2191.38 - 82.73 - - 2429.16 - - - - - - - - - - -
12407.12 900.40 7.77 1548 12408.45 VBD 1.40 - - 2654.31 - - - 2192.00 - 82.73 - - 2429.19 - - - - - - - - - - -
12717.18 873.87 8.88 1579 12721.94 done 1.40 - - 2654.25 - 3.01 0.092 3344.44 382.9 82.73 - - 2429.78 - - - - - - - - - 16.04 -
12781.34 867.38 9.80 1592 12787.33 done 1.40 - - 2652.81 - 2.60 0.027 2191.56 -443.4 82.73 - - 2429.88 - - - - - - - - - 16.06 -
13096.88 839.37 8.82 1624 13098.21 VBD 1.40 - - 2654.44 - - - 2191.00 - 82.73 - - 2428.50 - - - - - - - - - - -
13407.35 813.01 7.95 1655 13412.28 done 1.41 - - 2654.69 - 3.01 0.091 3345.62 383.6 82.73 - - 2428.75 - - - - - - - - - 16.11 -
13511.62 803.81 8.16 1676 13517.53 done 1.41 - - 2654.44 - 2.61 0.027 2192.50 -441.8 82.73 - - 2429.19 - - - - - - - - - 16.12 -
13827.40 780.59 7.52 1708 13828.73 VBD 1.43 - - 2654.44 - - - 2192.38 - 82.73 - - 2428.12 - - - - - - - - - - -
14137.44 758.21 7.22 1739 14138.77 VBD 1.45 - - 2654.12 - - - 2192.38 - 82.73 - - 2426.75 - - - - - - - - - - -
14447.48 736.20 7.04 1770 14448.91 1.48 0.14 0.099 2694.69 289.8 - - 2190.81 - 82.73 - - 2426.16 - - - - - - - - 16.13 - -
14757.12 712.36 7.34 1801 14762.27 done 1.50 - - 2695.88 - 3.02 0.091 3344.50 382.0 82.73 - - 2428.41 - - - - - - - - - 16.15 -
14861.68 703.30 8.90 1822 14867.68 done 1.50 - - 2695.62 - 2.61 0.027 2191.25 -441.9 82.73 - - 2427.97 - - - - - - - - - 16.17 -
15177.57 679.75 7.13 1854 15182.30 done 1.53 - - 2695.06 - 2.99 0.090 3344.19 385.6 82.73 - - 2428.66 - - - - - - - - - 16.18 -
15231.94 675.67 8.31 1865 15237.72 done 1.53 - - 2694.62 - 2.60 0.027 2190.38 -443.8 82.73 - - 2428.06 - - - - - - - - - 16.18 -
15547.63 651.95 7.71 1897 15548.96 VBD 1.55 - - 2695.00 - - - 2189.88 - 82.73 - - 2426.00 - - - - - - - - - - -
15857.95 628.38 7.34 1928 15859.29 VBD 1.57 - - 2695.19 - - - 2190.00 - 82.73 - - 2426.50 - - - - - - - - - - -
16167.76 606.06 7.30 1959 16169.09 VBD 1.59 - - 2695.50 - - - 2190.19 - 82.73 - - 2426.09 - - - - - - - - - - -
16477.83 583.52 7.33 1990 16482.58 done 1.61 - - 2695.44 - 3.01 0.091 3343.94 383.3 82.73 - - 2427.00 - - - - - - - - - 16.19 -
16562.00 576.50 8.65 2007 16568.00 done 1.61 - - 2695.94 - 2.61 0.026 2189.94 -442.1 82.73 - - 2426.81 - - - - - - - - - 16.20 -
16877.92 553.26 6.89 2039 16879.25 VBD 1.65 - - 2695.31 - - - 2189.69 - 82.73 - - 2426.28 - - - - - - - - - - -
17187.98 531.94 6.78 2070 17192.72 1.68 0.19 0.085 2740.88 239.8 2.63 0.081 1131.38 -402.4 82.73 - - 2427.28 - - - - - - - - 16.18 16.18 -
17237.60 527.80 8.44 2080 17242.68 done 1.68 - - 2741.12 - 2.68 0.032 2270.75 425.1 82.73 - - 2427.53 - - - - - - - - - 16.20 -
17548.06 503.74 7.24 2112 17552.76 done 1.70 - - 2739.31 - 2.77 0.094 3344.56 387.7 82.73 - - 2428.56 - - - - - - - - - 16.19 -
17747.71 486.88 8.59 2152 17752.79 done 1.70 - - 2739.06 - 2.59 0.026 2188.25 -446.5 82.73 - - 2428.47 - - - - - - - - - 16.20 -
18058.38 464.08 7.01 2184 18059.71 VBD 1.73 - - 2740.44 - - - 2187.94 - 82.73 - - 2427.09 - - - - - - - - - - -
18368.37 442.50 6.92 2215 18369.71 VBD 1.76 - - 2741.00 - - - 2188.56 - 82.73 - - 2426.16 - - - - - - - - - - -
18678.33 420.68 7.35 2246 18679.66 VBD 1.79 - - 2740.62 - - - 2187.88 - 82.73 - - 2427.25 - - - - - - - - - - -
18988.38 399.07 6.69 2277 18989.71 VBD 1.82 - - 2740.56 - - - 2187.75 - 82.73 - - 2427.16 - - - - - - - - - - -
19298.59 379.63 6.19 2308 19327.89 1.89 0.21 0.079 2791.62 243.1 - - 2187.38 - 116.03 25.08 1.615 2301.47 -5.0 0.194 - - - - - - 16.18 - 13.00
19638.05 347.38 9.79 2342 19639.38 no move 1.89 - - 2791.81 - - - 2187.62 - 116.03 - - 2297.22 - - - - - - - - - - -
19948.47 317.16 9.22 2373 19953.23 roll 1.89 - - 2791.94 - 3.03 0.089 3343.56 381.5 116.03 - - 2297.88 - - - - - - - - - 16.12 -
20042.65 307.22 10.53 2392 20048.65 roll 1.89 - - 2793.00 - 2.61 0.026 2189.94 -442.0 116.03 - - 2297.72 - - - - - - - - - 16.12 -
20358.54 277.68 9.52 2424 20359.87 no move 1.89 - - 2792.25 - - - 2189.94 - 116.03 - - 2297.03 - - - - - - - - - - -
20668.56 248.69 8.88 2455 20669.90 no move 1.89 - - 2792.31 - - - 2190.50 - 116.03 - - 2296.75 - - - - - - - - - - -
20978.77 221.53 9.10 2486 20983.34 roll 1.89 - - 2792.44 - 3.00 0.087 3345.75 385.1 116.03 - - 2299.19 - - - - - - - - - 16.15 -
21068.53 212.71 9.95 2504 21073.37 roll 1.89 - - 2792.31 - 2.60 0.025 2188.44 -445.1 116.03 - - 2298.06 - - - - - - - - - 16.16 -
21378.71 188.35 7.12 2536 21383.39 roll 1.91 - - 2792.00 - 2.61 0.077 1131.56 -404.9 116.03 - - 2298.12 - - - - - - - - - 16.15 -
21448.33 182.62 8.17 2550 21453.42 roll 1.91 - - 2792.69 - 2.69 0.030 2272.19 424.0 116.03 - - 2297.41 - - - - - - - - - 16.14 -
21758.80 157.72 8.71 2582 21763.50 roll 1.91 - - 2792.69 - 2.77 0.090 3346.31 387.8 116.03 - - 2298.75 - - - - - - - - - 16.15 -
21973.02 139.58 7.53 2625 21979.02 roll 1.93 - - 2793.12 - 2.61 0.025 2185.31 -444.8 116.03 - - 2297.75 - - - - - - - - - 16.17 -
22288.94 118.66 5.39 2657 22329.91 done 2.02 - - 2792.38 - 2.62 0.079 1131.44 -402.2 160.98 33.76 1.339 2118.34 -5.3 0.078 - - - - - - - 15.95 13.03
22388.56 111.46 8.80 2677 22393.66 roll 2.02 - - 2793.19 - 2.71 0.030 2270.81 420.4 160.98 - - 2114.62 - - - - - - - - - 16.03 -
22698.67 86.09 6.69 2727 22704.47 roll back 2.06 0.16 0.089 2832.88 248.1 2.85 0.071 1130.12 -400.2 160.98 - - 2113.34 - - - - - - - - 16.04 16.04 -
22793.82 81.21 4.86 2746 22840.35 done 2.16 - - 2833.62 - 2.69 0.029 2275.00 425.6 213.81 39.60 1.289 1903.91 -5.3 0.055 - - - - - - - 16.07 12.94
23023.78 70.30 5.73 2792 23060.37 2.24 0.19 0.074 2880.62 247.4 2.81 0.090 3344.31 380.5 253.85 30.38 1.242 1738.91 -5.4 0.051 - - - - - - 15.95 15.77 12.86
23218.83 51.46 10.75 2831 23224.37 roll 2.24 - - 2880.69 - 2.62 0.025 2189.06 -440.9 253.85 - - 1734.06 - - - - - - - - - 15.87 -
23408.90 35.07 8.16 2869 23414.45 done 2.24 - - 2880.38 - 2.62 0.075 1130.06 -404.2 253.85 - - 1731.06 - - - - - - - - - 15.92 -
23643.98 16.77 5.66 2916 23680.69 done 2.33 - - 2880.31 - 2.70 0.028 2273.94 423.7 294.86 31.02 1.171 1573.38 -5.1 0.012 - - - - - - - 15.99 12.84
23849 end climb: SURFACE_DEPTH_REACHED
23849 begin surface coast
23879 end surface coast: CONTROL_FINISHED_OK
23879 begin surface
SM 1.73 - - - - 184.2 59.25 1.177 1246.7 20.5 16.53 0.050 1223.1 74.0 - 0.14 0.117 1270.2 9053.6 -13.682 - - 12.84 15.90 15.93 -