NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 111 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 40.97 of 550.00 AH used of 24V (92.55% remains)
• Surface angle -64.0 deg, depth 1.58 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 374.90 (SM_CC=375)
• GPS1 time: 45 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.23 - - - 59.62 VBD -1.37 - - 181.88 - - - 2248.12 - -82.73 52.22 0.005 2499.44 - - - - - - - - - - 15.75
60.36 3.35 -3.68 10 98.57 -1.37 13.76 0.252 1988.25 131.3 2.99 0.087 3426.88 394.2 -82.73 15.93 0.006 3111.69 38.4 -3.540 - - - - - - 15.72 15.73 15.78
326.62 58.52 -16.64 63 332.16 roll -1.37 - - 1988.19 - 2.63 0.023 2255.62 -445.3 -82.73 - - 3114.38 - - - - - - - - - 15.88 -
517.34 84.20 -12.47 101 522.30 roll -1.37 - - 1988.94 - 2.95 0.084 3425.88 396.7 -82.73 - - 3113.22 - - - - - - - - - 15.95 -
677.27 105.91 -13.61 133 681.83 roll -1.37 - - 1988.94 - 2.59 0.024 2255.50 -451.9 -82.73 - - 3114.78 - - - - - - - - - 15.97 -
986.83 137.23 -9.09 165 991.89 roll -1.37 - - 1988.62 - 2.52 0.069 1208.62 -415.4 -82.73 - - 3114.19 - - - - - - - - - 16.03 -
1071.39 144.93 -9.03 182 1077.39 roll -1.37 - - 1989.12 - 2.64 0.031 2352.06 433.1 -82.73 - - 3116.38 - - - - - - - - - 16.03 -
1386.92 173.12 -9.05 214 1388.25 no move -1.37 - - 1989.12 - - - 2351.81 - -82.73 - - 3113.47 - - - - - - - - - - -
1697.34 205.04 -10.15 245 1702.06 roll -1.37 - - 1988.94 - 2.78 0.064 1208.75 -411.2 -82.73 - - 3114.34 - - - - - - - - - 16.09 -
1791.52 214.91 -10.22 264 1797.52 roll -1.37 - - 1988.31 - 2.62 0.031 2350.38 435.7 -82.73 - - 3115.25 - - - - - - - - - 16.10 -
2107.01 244.42 -9.17 296 2108.34 no move -1.37 - - 1989.25 - - - 2350.56 - -82.73 - - 3113.75 - - - - - - - - - - -
2417.43 273.25 -9.57 327 2422.14 roll -1.37 - - 1989.25 - 2.75 0.065 1209.94 -414.8 -82.73 - - 3116.44 - - - - - - - - - 16.13 -
2471.59 278.65 -9.94 338 2477.78 roll -1.37 - - 1990.00 - 2.62 0.031 2352.75 436.2 -82.73 - - 3114.53 - - - - - - - - - 16.14 -
2787.26 306.96 -9.08 370 2788.59 no move -1.37 - - 1988.88 - - - 2353.25 - -82.73 - - 3113.75 - - - - - - - - - - -
3097.51 336.66 -9.64 401 3098.84 no move -1.37 - - 1988.88 - - - 2352.94 - -82.73 - - 3113.81 - - - - - - - - - - -
3407.55 366.62 -9.83 432 3412.25 roll -1.37 - - 1990.19 - 2.76 0.065 1208.62 -414.6 -82.73 - - 3115.50 - - - - - - - - - 16.16 -
3461.71 372.22 -10.18 443 3467.71 roll -1.37 - - 1990.38 - 2.62 0.032 2352.94 436.8 -82.73 - - 3115.12 - - - - - - - - - 16.16 -
3777.20 401.87 -9.08 475 3778.53 no move -1.37 - - 1989.50 - - - 2353.38 - -82.73 - - 3113.78 - - - - - - - - - - -
4087.64 429.21 -8.82 506 4088.97 no move -1.37 - - 1989.50 - - - 2353.25 - -82.73 - - 3113.66 - - - - - - - - - - -
4397.71 457.74 -9.12 537 4402.42 roll -1.37 - - 1989.69 - 2.74 0.066 1208.31 -417.9 -82.73 - - 3114.81 - - - - - - - - - 16.20 -
4461.88 464.11 -10.18 550 4467.88 roll -1.37 - - 1989.38 - 2.62 0.032 2349.31 435.5 -82.73 - - 3114.31 - - - - - - - - - 16.19 -
4777.40 492.78 -8.78 582 4782.48 roll -1.37 - - 1989.69 - 2.67 0.094 3426.56 403.5 -82.73 - - 3115.66 - - - - - - - - - 16.18 -
4847.42 499.67 -10.23 596 4852.48 roll -1.37 - - 1989.88 - 2.56 0.025 2251.88 -458.9 -82.73 - - 3113.34 - - - - - - - - - 16.20 -
5157.67 526.11 -8.63 628 5159.00 no move -1.37 - - 1989.69 - - - 2250.69 - -82.73 - - 3111.91 - - - - - - - - - - -
5468.32 553.04 -8.85 659 5469.65 no move -1.37 - - 1989.12 - - - 2251.06 - -82.73 - - 3111.66 - - - - - - - - - - -
5778.01 576.20 -7.32 690 5782.28 roll -1.37 - - 1989.81 - 2.49 0.072 1208.44 -418.7 -82.73 - - 3111.84 - - - - - - - - - 16.21 -
5832.18 580.49 -8.00 701 5838.19 roll -1.37 - - 1989.44 - 2.62 0.032 2353.69 437.1 -82.73 - - 3113.19 - - - - - - - - - 16.21 -
6147.71 605.34 -8.16 733 6152.81 roll -1.37 - - 1989.19 - 2.75 0.067 1210.06 -415.9 -82.73 - - 3113.34 - - - - - - - - - 16.22 -
6222.27 611.60 -8.40 748 6228.28 roll -1.37 - - 1989.69 - 2.62 0.033 2352.06 435.9 -82.73 - - 3111.81 - - - - - - - - - 16.22 -
6537.80 636.84 -7.91 780 6539.13 no move -1.37 - - 1989.69 - - - 2351.94 - -82.73 - - 3110.69 - - - - - - - - - - -
6848.25 661.62 -8.56 811 6849.58 no move -1.37 - - 1989.81 - - - 2351.62 - -82.73 - - 3110.78 - - - - - - - - - - -
7158.31 687.81 -8.26 842 7159.64 no move -1.37 - - 1989.38 - - - 2351.94 - -82.73 - - 3110.00 - - - - - - - - - - -
7468.35 711.86 -7.49 873 7469.69 no move -1.37 - - 1989.38 - - - 2351.44 - -82.73 - - 3108.84 - - - - - - - - - - -
7778.38 733.91 -6.98 904 7779.71 no move -1.37 - - 1989.56 - - - 2351.94 - -82.73 - - 3109.66 - - - - - - - - - - -
8088.41 755.81 -6.67 935 8089.74 no move -1.37 - - 1989.50 - - - 2351.62 - -82.73 - - 3108.56 - - - - - - - - - - -
8398.45 778.15 -7.09 966 8403.34 roll -1.37 - - 1989.81 - 2.76 0.068 1210.06 -413.6 -82.73 - - 3109.25 - - - - - - - - - 16.23 -
8508.20 786.60 -7.14 988 8513.17 roll -1.37 - - 1989.62 - 2.61 0.033 2350.38 436.9 -82.73 - - 3109.12 - - - - - - - - - 16.23 -
8818.11 806.96 -6.95 1020 8819.44 no move -1.37 - - 1989.81 - - - 2350.19 - -82.73 - - 3108.47 - - - - - - - - - - -
9128.55 827.26 -6.32 1051 9129.88 no move -1.37 - - 1989.94 - - - 2350.56 - -82.73 - - 3107.50 - - - - - - - - - - -
9438.59 846.08 -6.14 1082 9439.92 no move -1.37 - - 1989.38 - - - 2350.19 - -82.73 - - 3107.56 - - - - - - - - - - -
9748.62 865.81 -6.34 1113 9749.95 no move -1.37 - - 1989.75 - - - 2350.69 - -82.73 - - 3107.16 - - - - - - - - - - -
10058.68 886.91 -7.31 1144 10063.39 roll -1.37 - - 1989.50 - 2.74 0.069 1209.50 -416.5 -82.73 - - 3108.16 - - - - - - - - - 16.24 -
10162.88 895.29 -7.89 1165 10168.88 roll -1.37 - - 1989.31 - 2.63 0.033 2351.81 434.3 -82.73 - - 3108.72 - - - - - - - - - 16.22 -
10478.79 918.24 -7.36 1197 10480.11 no move -1.37 - - 1989.94 - - - 2351.12 - -82.73 - - 3106.91 - - - - - - - - - - -
10789.04 938.95 -6.32 1228 10793.55 roll -1.37 - - 1989.81 - 2.69 0.096 3424.75 399.1 -82.73 - - 3108.09 - - - - - - - - - 16.21 -
10848.49 943.34 -6.85 1240 10853.56 roll -1.37 - - 1989.62 - 2.58 0.025 2251.88 -454.6 -82.73 - - 3106.88 - - - - - - - - - 16.24 -
11159.19 961.23 -5.67 1272 11160.52 no move -1.37 - - 1989.25 - - - 2250.62 - -82.73 - - 3105.78 - - - - - - - - - - -
11469.02 979.59 -5.89 1303 11473.68 roll -1.37 - - 1989.81 - 2.51 0.074 1211.19 -414.1 -82.73 - - 3107.44 - - - - - - - - - 16.23 -
11573.20 986.38 -6.39 1324 11579.19 roll -1.37 - - 1989.75 - 2.62 0.033 2351.31 435.2 -82.73 - - 3108.53 - - - - - - - - - 16.22 -
11648 end dive: TARGET_DEPTH_EXCEEDED
11648 begin apogee
11650.49 990.44 -5.37 1332 11716.02 -0.28 1.77 0.153 2254.00 149.3 0.20 0.140 2279.06 -361.2 - 61.55 2.411 2773.31 -5.4 0.369 - - - - - - 16.17 15.68 13.00
11717 end apogee: CONTROL_FINISHED_OK
11717 begin climb
11717.89 991.30 - 1338 11787.61 1.37 2.64 0.103 2654.25 151.6 - - 2279.50 - 82.73 64.92 2.336 2437.38 -5.2 0.362 - - - - - - 15.72 - 12.79
12090.95 960.35 9.05 1376 12096.07 roll 1.37 - - 2656.06 - 2.88 0.077 1131.94 -398.5 82.73 - - 2432.34 - - - - - - - - - 15.79 -
12180.98 951.32 10.78 1394 12186.24 roll 1.37 - - 2655.62 - 2.69 0.033 2270.00 423.1 82.73 - - 2431.62 - - - - - - - - - 15.84 -
12491.56 922.27 9.18 1426 12492.89 no move 1.37 - - 2655.44 - - - 2270.25 - 82.73 - - 2429.31 - - - - - - - - - - -
12801.45 897.08 7.73 1457 12802.78 VBD 1.38 - - 2655.69 - - - 2269.62 - 82.73 - - 2428.75 - - - - - - - - - - -
13111.47 872.23 8.29 1488 13112.80 VBD 1.38 - - 2655.00 - - - 2269.75 - 82.73 - - 2428.41 - - - - - - - - - - -
13421.52 849.31 6.77 1519 13422.85 VBD 1.42 - - 2655.50 - - - 2269.69 - 82.73 - - 2427.91 - - - - - - - - - - -
13731.55 828.37 6.66 1550 13732.89 VBD 1.45 - - 2655.88 - - - 2269.56 - 82.73 - - 2428.28 - - - - - - - - - - -
14041.58 807.84 6.54 1581 14046.35 1.49 0.15 0.102 2697.50 277.5 2.74 0.095 3345.44 392.7 82.73 - - 2428.59 - - - - - - - - 16.10 16.10 -
14101.20 802.41 9.11 1593 14106.26 done 1.49 - - 2698.19 - 2.59 0.027 2189.69 -446.2 82.73 - - 2428.59 - - - - - - - - - 16.12 -
14411.65 778.37 7.40 1625 14416.31 done 1.51 - - 2696.25 - 2.59 0.082 1131.19 -408.7 82.73 - - 2429.31 - - - - - - - - - 16.13 -
14495.82 770.90 9.05 1642 14501.83 done 1.51 - - 2696.62 - 2.66 0.033 2271.25 428.6 82.73 - - 2428.06 - - - - - - - - - 16.14 -
14811.74 745.25 8.68 1674 14813.07 VBD 1.51 - - 2698.56 - - - 2271.62 - 82.73 - - 2428.00 - - - - - - - - - - -
15122.05 719.03 7.61 1705 15123.39 VBD 1.53 - - 2697.62 - - - 2271.88 - 82.73 - - 2427.38 - - - - - - - - - - -
15431.88 694.81 7.91 1736 15433.21 VBD 1.54 - - 2697.31 - - - 2271.50 - 82.73 - - 2427.41 - - - - - - - - - - -
15741.96 671.43 7.40 1767 15746.66 done 1.56 - - 2697.81 - 2.80 0.077 1130.88 -407.4 82.73 - - 2429.34 - - - - - - - - - 16.16 -
15796.10 666.96 8.07 1778 15802.10 done 1.56 - - 2697.56 - 2.65 0.033 2270.44 430.0 82.73 - - 2428.56 - - - - - - - - - 16.17 -
16112.03 645.52 7.17 1810 16113.36 VBD 1.59 - - 2697.38 - - - 2271.75 - 82.73 - - 2427.44 - - - - - - - - - - -
16422.09 621.29 8.10 1841 16423.42 VBD 1.59 - - 2698.19 - - - 2271.50 - 82.73 - - 2427.78 - - - - - - - - - - -
16732.15 595.63 8.08 1872 16736.86 done 1.59 - - 2697.69 - 2.80 0.076 1131.38 -407.2 82.73 - - 2429.44 - - - - - - - - - 16.20 -
16966.38 575.58 8.78 1919 16972.38 done 1.59 - - 2696.81 - 2.64 0.033 2270.50 431.5 82.73 - - 2429.09 - - - - - - - - - 16.19 -
17282.30 552.24 6.79 1951 17287.00 done 1.62 - - 2697.88 - 2.71 0.094 3346.56 397.1 82.73 - - 2427.84 - - - - - - - - - 16.17 -
17386.71 544.61 6.99 1972 17392.46 done 1.65 - - 2697.50 - 2.60 0.027 2188.62 -445.4 82.73 - - 2428.66 - - - - - - - - - 16.19 -
17702.61 524.86 6.15 2004 17733.51 1.72 0.23 0.077 2750.75 231.5 2.95 0.092 3345.94 392.3 116.63 25.91 1.786 2299.12 -5.0 0.242 - - - - - - 16.18 15.97 12.97
17816.92 514.68 9.93 2026 17822.54 roll 1.72 - - 2750.31 - 2.64 0.027 2190.94 -437.5 116.63 - - 2297.28 - - - - - - - - - 16.07 -
18132.41 484.61 9.99 2058 18137.16 roll 1.72 - - 2750.81 - 2.92 0.089 3345.50 395.4 116.63 - - 2295.69 - - - - - - - - - 16.09 -
18162.03 481.48 10.33 2064 18167.12 roll 1.72 - - 2750.88 - 2.62 0.027 2191.75 -440.4 116.63 - - 2297.66 - - - - - - - - - 16.10 -
18472.46 449.15 10.72 2096 18477.15 roll 1.72 - - 2750.44 - 2.62 0.081 1132.19 -404.4 116.63 - - 2295.81 - - - - - - - - - 16.11 -
18592.09 435.74 10.93 2120 18597.18 roll 1.72 - - 2749.25 - 2.62 0.033 2270.94 434.6 116.63 - - 2296.09 - - - - - - - - - 16.11 -
18902.52 403.19 10.57 2152 18903.85 no move 1.72 - - 2750.44 - - - 2270.94 - 116.63 - - 2293.88 - - - - - - - - - - -
19212.55 373.38 8.60 2183 19217.29 roll 1.72 - - 2750.56 - 2.82 0.076 1131.31 -404.1 116.63 - - 2295.66 - - - - - - - - - 16.15 -
19302.37 364.90 9.61 2201 19307.34 roll 1.72 - - 2750.75 - 2.65 0.033 2271.19 430.1 116.63 - - 2296.88 - - - - - - - - - 16.15 -
19612.61 337.51 9.42 2233 19617.35 roll 1.72 - - 2751.06 - 2.82 0.075 1131.31 -404.2 116.63 - - 2295.75 - - - - - - - - - 16.15 -
19762.68 322.51 9.53 2263 19767.38 roll 1.72 - - 2750.38 - 2.63 0.033 2271.25 433.4 116.63 - - 2294.34 - - - - - - - - - 16.16 -
20072.93 296.17 7.45 2295 20074.26 no move 1.74 - - 2750.44 - - - 2271.62 - 116.63 - - 2294.03 - - - - - - - - - - -
20382.99 270.21 8.54 2326 20384.32 no move 1.74 - - 2750.94 - - - 2271.12 - 116.63 - - 2294.09 - - - - - - - - - - -
20692.88 246.44 7.56 2357 20694.21 no move 1.76 - - 2750.62 - - - 2270.88 - 116.63 - - 2293.84 - - - - - - - - - - -
21002.95 222.73 7.52 2388 21004.28 no move 1.77 - - 2751.00 - - - 2271.06 - 116.63 - - 2294.12 - - - - - - - - - - -
21313.02 200.02 6.85 2419 21317.73 roll 1.81 - - 2750.88 - 2.80 0.074 1131.38 -407.0 116.63 - - 2295.22 - - - - - - - - - 16.15 -
21412.66 192.57 7.49 2439 21417.74 roll 1.83 - - 2750.50 - 2.62 0.032 2273.81 436.0 116.63 - - 2295.81 - - - - - - - - - 16.18 -
21723.11 169.15 7.50 2471 21724.44 no move 1.85 - - 2751.00 - - - 2273.69 - 116.63 - - 2294.22 - - - - - - - - - - -
22033.42 145.82 6.74 2502 22034.86 pitch 1.88 0.14 0.097 2790.88 284.9 - - 2274.25 - 116.63 - - 2293.72 - - - - - - - - 16.13 - -
22342.86 126.26 6.54 2533 22344.19 no move 1.92 - - 2790.00 - - - 2274.06 - 116.63 - - 2294.25 - - - - - - - - - - -
22653.31 106.73 5.74 2564 22688.43 done 2.00 - - 2790.38 - 2.83 0.075 1131.44 -403.8 156.52 30.00 1.324 2136.25 -5.3 0.070 - - - - - - - 15.98 13.03
22696.42 103.79 6.36 2572 22727.87 2.06 0.17 0.089 2832.88 250.0 2.63 0.031 2274.81 434.7 187.33 24.55 1.275 2011.34 -5.1 0.068 - - - - - - 16.02 16.05 13.01
23031.54 72.47 8.00 2637 23037.11 roll 2.06 - - 2832.19 - 2.82 0.073 1131.38 -405.5 187.33 - - 2003.62 - - - - - - - - - 15.98 -
23266.65 61.21 3.72 2684 23323.88 done 2.20 - - 2832.50 - 2.63 0.030 2275.38 435.0 256.74 50.81 1.263 1727.44 -5.4 0.043 - - - - - - - 16.04 12.80
23506.99 46.03 7.44 2732 23510.58 VBD 2.22 - - 2833.12 - - - 2276.31 - 256.74 - - 1719.03 - - - - - - - - - - -
23691.96 31.33 8.32 2769 23697.53 done 2.22 - - 2833.44 - 2.72 0.090 3346.12 393.3 256.74 - - 1717.16 - - - - - - - - - 15.92 -
23791.99 22.01 8.76 2789 23797.53 done 2.22 - - 2833.12 - 2.64 0.025 2189.31 -438.2 256.74 - - 1716.97 - - - - - - - - - 15.95 -
23982.04 11.81 4.84 2827 24028.78 2.32 0.31 0.064 2898.44 210.7 2.65 0.079 1131.50 -399.2 309.87 39.29 1.183 1510.97 -5.2 0.009 - - - - - - 15.96 15.79 12.88
24102 end climb: SURFACE_DEPTH_REACHED
24102 begin surface coast
24127 end surface coast: CONTROL_FINISHED_OK
24127 begin surface
SM 1.00 - - - - 181.7 48.92 1.174 1246.7 24.7 16.85 0.061 1218.2 72.3 - 2.85 0.032 1275.1 446.5 -1.426 - - 12.84 15.88 15.89 -