NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 149 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 52.16 of 550.00 AH used of 24V (90.52% remains)
• Surface angle -64.5 deg, depth 1.60 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 374.83 (SM_CC=375)
• GPS1 time: 61 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
6.54 - - - 60.26 VBD -1.37 - - 184.38 - - - 2253.69 - -82.73 52.54 0.005 2518.19 - - - - - - - - - - 15.76
61.00 3.41 -3.93 10 99.13 -1.37 13.69 0.257 1987.94 131.7 2.63 0.068 1208.62 -397.4 -82.73 15.05 0.006 3111.81 39.4 -3.698 - - - - - - 15.73 15.76 15.78
142.12 19.14 -22.45 26 147.68 roll -1.37 - - 1988.44 - 2.72 0.030 2349.44 419.4 -82.73 - - 3111.72 - - - - - - - - - 15.86 -
332.56 55.65 -16.41 64 336.15 no move -1.37 - - 1988.56 - - - 2349.81 - -82.73 - - 3112.62 - - - - - - - - - - -
517.90 84.14 -12.89 101 522.83 roll -1.37 - - 1987.62 - 2.79 0.088 3427.06 386.1 -82.73 - - 3114.66 - - - - - - - - - 15.95 -
562.29 90.08 -13.30 110 567.83 roll -1.37 - - 1988.19 - 2.65 0.022 2252.31 -443.3 -82.73 - - 3113.94 - - - - - - - - - 15.97 -
757.33 111.70 -10.16 138 762.39 roll -1.37 - - 1988.62 - 2.59 0.065 1209.75 -402.5 -82.73 - - 3113.44 - - - - - - - - - 16.00 -
851.88 121.42 -10.26 157 857.89 roll -1.37 - - 1988.31 - 2.68 0.029 2351.19 425.9 -82.73 - - 3115.25 - - - - - - - - - 16.02 -
1167.38 150.23 -9.42 189 1168.71 no move -1.37 - - 1988.38 - - - 2351.12 - -82.73 - - 3112.56 - - - - - - - - - - -
1477.92 178.89 -9.57 220 1482.53 roll -1.37 - - 1988.50 - 2.84 0.061 1209.81 -401.9 -82.73 - - 3115.00 - - - - - - - - - 16.08 -
1527.41 183.90 -10.27 230 1532.51 roll -1.37 - - 1988.69 - 2.68 0.029 2351.62 426.0 -82.73 - - 3114.28 - - - - - - - - - 16.07 -
1837.46 214.18 -9.86 262 1842.57 roll -1.37 - - 1989.06 - 2.84 0.061 1209.62 -402.1 -82.73 - - 3114.03 - - - - - - - - - 16.10 -
1891.99 219.49 -9.74 273 1898.01 roll -1.37 - - 1988.81 - 2.67 0.029 2351.25 427.6 -82.73 - - 3114.91 - - - - - - - - - 16.10 -
2207.50 249.41 -9.84 305 2212.80 roll -1.37 - - 1988.00 - 2.83 0.062 1211.00 -402.9 -82.73 - - 3114.19 - - - - - - - - - 16.13 -
2252.21 253.92 -10.36 314 2258.04 roll -1.37 - - 1988.06 - 2.66 0.030 2350.62 428.4 -82.73 - - 3114.31 - - - - - - - - - 16.13 -
2567.54 283.38 -9.03 346 2568.87 no move -1.37 - - 1988.19 - - - 2350.69 - -82.73 - - 3113.62 - - - - - - - - - - -
2877.96 313.35 -9.86 377 2879.29 no move -1.37 - - 1988.31 - - - 2351.31 - -82.73 - - 3113.38 - - - - - - - - - - -
3188.00 342.04 -8.91 408 3192.73 roll -1.37 - - 1987.69 - 2.83 0.063 1209.94 -403.3 -82.73 - - 3115.25 - - - - - - - - - 16.16 -
3247.63 347.64 -9.61 420 3252.72 roll -1.37 - - 1988.50 - 2.68 0.030 2352.25 426.2 -82.73 - - 3114.03 - - - - - - - - - 16.16 -
3557.70 375.92 -9.08 452 3559.03 no move -1.37 - - 1988.06 - - - 2352.00 - -82.73 - - 3113.16 - - - - - - - - - - -
3868.14 404.88 -9.62 483 3872.87 roll -1.37 - - 1988.06 - 2.83 0.063 1210.62 -403.3 -82.73 - - 3114.38 - - - - - - - - - 16.18 -
3982.33 416.05 -9.93 506 3988.35 roll -1.37 - - 1988.69 - 2.66 0.031 2350.56 428.5 -82.73 - - 3113.66 - - - - - - - - - 16.17 -
4297.86 445.30 -8.73 538 4302.98 roll -1.37 - - 1987.88 - 2.82 0.063 1209.81 -404.5 -82.73 - - 3114.22 - - - - - - - - - 16.19 -
4377.88 452.26 -8.19 554 4383.15 roll -1.37 - - 1988.56 - 2.65 0.031 2349.25 430.0 -82.73 - - 3113.47 - - - - - - - - - 16.19 -
4688.12 479.24 -8.25 586 4689.45 no move -1.37 - - 1988.75 - - - 2349.44 - -82.73 - - 3111.28 - - - - - - - - - - -
4998.40 502.70 -7.22 617 4999.73 no move -1.37 - - 1988.81 - - - 2349.50 - -82.73 - - 3110.84 - - - - - - - - - - -
5308.46 524.91 -7.43 648 5313.19 roll -1.37 - - 1987.88 - 2.82 0.064 1208.88 -404.5 -82.73 - - 3112.56 - - - - - - - - - 16.19 -
5542.68 544.18 -8.58 695 5548.72 roll -1.37 - - 1988.44 - 2.66 0.031 2349.06 428.6 -82.73 - - 3111.84 - - - - - - - - - 16.21 -
5858.21 569.07 -7.75 727 5863.32 roll -1.37 - - 1988.31 - 2.83 0.064 1209.69 -402.6 -82.73 - - 3111.56 - - - - - - - - - 16.21 -
6072.80 587.56 -8.71 770 6078.82 roll -1.37 - - 1987.69 - 2.67 0.031 2349.88 427.0 -82.73 - - 3111.41 - - - - - - - - - 16.21 -
6388.33 612.98 -7.68 802 6393.45 roll -1.37 - - 1988.94 - 2.81 0.064 1209.75 -405.7 -82.73 - - 3109.69 - - - - - - - - - 16.21 -
6618.37 631.40 -7.69 848 6623.46 roll -1.37 - - 1988.81 - 2.67 0.031 2350.00 427.1 -82.73 - - 3110.22 - - - - - - - - - 16.21 -
6928.60 655.46 -7.67 880 6933.57 roll -1.37 - - 1988.44 - 2.80 0.064 1210.06 -407.1 -82.73 - - 3109.09 - - - - - - - - - 16.21 -
7162.99 673.36 -7.41 927 7169.00 roll -1.37 - - 1987.12 - 2.66 0.032 2347.94 427.8 -82.73 - - 3110.50 - - - - - - - - - 16.21 -
7478.90 694.21 -6.11 959 7483.61 roll -1.37 - - 1988.19 - 2.81 0.065 1208.25 -405.6 -82.73 - - 3109.22 - - - - - - - - - 16.22 -
7713.08 710.03 -6.39 1006 7719.09 roll -1.37 - - 1988.44 - 2.67 0.032 2350.25 427.7 -82.73 - - 3108.41 - - - - - - - - - 16.22 -
8028.97 730.18 -6.46 1038 8033.68 roll -1.37 - - 1988.62 - 2.81 0.065 1211.00 -405.4 -82.73 - - 3108.78 - - - - - - - - - 16.21 -
8193.53 741.17 -6.87 1071 8199.17 roll -1.37 - - 1987.19 - 2.66 0.032 2351.12 428.6 -82.73 - - 3108.81 - - - - - - - - - 16.21 -
8509.06 761.26 -6.56 1103 8513.80 roll -1.37 - - 1988.19 - 2.81 0.065 1209.88 -406.1 -82.73 - - 3108.12 - - - - - - - - - 16.21 -
8743.49 776.88 -6.79 1150 8749.39 roll -1.37 - - 1988.19 - 2.67 0.032 2349.12 426.7 -82.73 - - 3108.09 - - - - - - - - - 16.23 -
9059.24 797.15 -6.45 1182 9063.96 roll -1.37 - - 1988.56 - 2.81 0.065 1209.88 -405.4 -82.73 - - 3108.59 - - - - - - - - - 16.21 -
9293.63 814.20 -7.43 1229 9299.46 roll -1.37 - - 1988.69 - 2.67 0.032 2349.44 426.8 -82.73 - - 3107.00 - - - - - - - - - 16.21 -
9608.98 837.48 -7.06 1261 9614.09 roll -1.37 - - 1988.69 - 2.82 0.065 1209.94 -404.1 -82.73 - - 3106.69 - - - - - - - - - 16.21 -
9843.59 855.62 -7.13 1308 9849.60 roll -1.37 - - 1988.31 - 2.68 0.032 2349.12 425.1 -82.73 - - 3106.56 - - - - - - - - - 16.23 -
10159.13 878.57 -7.09 1340 10164.25 roll -1.37 - - 1988.44 - 2.82 0.065 1209.94 -404.0 -82.73 - - 3106.78 - - - - - - - - - 16.23 -
10339.16 891.08 -6.64 1376 10344.27 roll -1.37 - - 1987.69 - 2.67 0.032 2349.38 426.8 -82.73 - - 3107.41 - - - - - - - - - 16.21 -
10649.65 910.80 -6.16 1408 10654.54 roll -1.37 - - 1988.75 - 2.81 0.065 1211.19 -405.0 -82.73 - - 3106.25 - - - - - - - - - 16.22 -
10853.86 923.66 -6.16 1449 10859.85 roll -1.37 - - 1988.44 - 2.67 0.032 2350.38 426.7 -82.73 - - 3105.84 - - - - - - - - - 16.21 -
11169.75 941.96 -5.84 1481 11174.47 roll -1.37 - - 1988.69 - 2.82 0.066 1209.56 -404.5 -82.73 - - 3106.44 - - - - - - - - - 16.21 -
11383.94 954.89 -5.87 1524 11389.94 roll -1.37 - - 1987.69 - 2.66 0.032 2348.88 428.3 -82.73 - - 3107.12 - - - - - - - - - 16.23 -
11700.05 974.14 -6.09 1556 11704.55 roll -1.37 - - 1988.56 - 2.81 0.066 1209.62 -405.4 -82.73 - - 3105.47 - - - - - - - - - 16.21 -
11929.49 988.43 -5.77 1602 11934.57 roll -1.37 - - 1988.62 - 2.67 0.032 2349.56 426.9 -82.73 - - 3104.88 - - - - - - - - - 16.23 -
11949 end dive: TARGET_DEPTH_EXCEEDED
11949 begin apogee
11951.31 990.22 -6.51 1605 12016.84 -0.28 1.77 0.158 2254.44 150.2 0.23 0.128 2277.00 -315.5 - 61.38 2.401 2773.44 -5.4 0.367 - - - - - - 16.15 15.68 12.94
12026 end apogee: CONTROL_FINISHED_OK
12026 begin climb
12027.14 991.32 - 1611 12096.75 1.37 2.62 0.102 2655.31 153.0 - - 2277.06 - 82.73 64.96 2.334 2436.28 -5.2 0.364 - - - - - - 15.73 - 12.83
12400.22 965.37 7.54 1649 12405.32 roll 1.39 - - 2655.00 - 2.83 0.094 3343.19 376.7 82.73 - - 2431.41 - - - - - - - - - 15.79 -
12490.23 957.56 8.61 1667 12495.32 roll 1.39 - - 2655.94 - 2.68 0.026 2191.12 -429.9 82.73 - - 2430.66 - - - - - - - - - 15.84 -
12800.70 933.54 7.71 1699 12805.45 roll 1.40 - - 2655.81 - 3.02 0.090 3344.38 381.9 82.73 - - 2430.09 - - - - - - - - - 15.93 -
12945.26 920.27 9.48 1728 12950.87 roll 1.40 - - 2654.44 - 2.66 0.026 2192.38 -433.1 82.73 - - 2431.47 - - - - - - - - - 15.98 -
13260.75 893.99 8.42 1760 13265.50 roll 1.40 - - 2655.56 - 2.99 0.090 3343.69 385.1 82.73 - - 2430.16 - - - - - - - - - 16.02 -
13410.78 880.15 9.36 1790 13415.48 done 1.40 - - 2654.44 - 2.65 0.026 2192.56 -434.4 82.73 - - 2430.69 - - - - - - - - - 16.05 -
13721.08 856.13 7.73 1822 13725.57 done 1.42 - - 2655.69 - 2.99 0.090 3344.88 385.4 82.73 - - 2429.59 - - - - - - - - - 16.06 -
13870.85 842.92 8.63 1852 13875.55 done 1.42 - - 2655.31 - 2.64 0.026 2192.44 -436.5 82.73 - - 2429.12 - - - - - - - - - 16.10 -
14180.91 818.86 7.95 1884 14185.64 done 1.43 - - 2655.88 - 2.98 0.090 3345.06 386.8 82.73 - - 2429.06 - - - - - - - - - 16.10 -
14310.53 807.73 8.68 1910 14315.63 done 1.43 - - 2655.19 - 2.65 0.026 2191.62 -435.3 82.73 - - 2429.47 - - - - - - - - - 16.11 -
14620.97 784.07 7.38 1942 14625.70 done 1.45 - - 2654.56 - 2.98 0.090 3345.38 387.2 82.73 - - 2430.19 - - - - - - - - - 16.12 -
14790.62 770.16 8.36 1976 14795.70 done 1.45 - - 2654.19 - 2.64 0.026 2192.56 -436.7 82.73 - - 2429.84 - - - - - - - - - 16.14 -
15101.09 748.01 7.03 2008 15105.83 done 1.48 - - 2655.19 - 2.96 0.090 3343.81 388.9 82.73 - - 2428.22 - - - - - - - - - 16.14 -
15315.51 731.07 7.72 2051 15321.50 1.49 0.15 0.105 2693.75 257.1 2.64 0.027 2191.19 -436.6 82.73 - - 2428.88 - - - - - - - - 16.12 16.15 -
15630.86 707.79 6.94 2083 15635.98 done 1.52 - - 2694.19 - 2.97 0.089 3344.19 388.2 82.73 - - 2427.81 - - - - - - - - - 16.13 -
15795.43 693.61 8.74 2116 15801.44 done 1.52 - - 2694.44 - 2.62 0.027 2192.62 -439.5 82.73 - - 2428.94 - - - - - - - - - 16.17 -
16111.36 671.10 6.73 2148 16116.09 done 1.56 - - 2694.62 - 2.96 0.089 3346.12 389.7 82.73 - - 2428.16 - - - - - - - - - 16.16 -
16191.00 665.06 7.70 2164 16196.06 done 1.57 - - 2693.56 - 2.63 0.026 2192.25 -438.7 82.73 - - 2429.12 - - - - - - - - - 16.16 -
16501.44 643.49 6.61 2196 16506.17 done 1.61 - - 2694.06 - 2.94 0.089 3346.00 392.4 82.73 - - 2428.19 - - - - - - - - - 16.18 -
16535.61 640.95 6.77 2203 16541.82 done 1.64 - - 2693.69 - 2.63 0.026 2190.19 -439.5 82.73 - - 2428.62 - - - - - - - - - 16.17 -
16851.52 619.26 6.94 2235 16852.96 1.67 0.19 0.091 2735.00 217.4 - - 2189.75 - 82.73 - - 2427.91 - - - - - - - - 16.16 - -
17161.19 594.53 7.66 2266 17166.50 done 1.69 - - 2737.25 - 2.94 0.089 3345.25 393.0 82.73 - - 2427.78 - - - - - - - - - 16.18 -
17316.33 581.03 8.98 2297 17321.77 done 1.69 - - 2736.62 - 2.62 0.027 2189.94 -441.0 82.73 - - 2428.62 - - - - - - - - - 16.17 -
17631.87 557.16 7.31 2329 17636.43 done 1.71 - - 2737.50 - 2.93 0.089 3346.88 394.9 82.73 - - 2428.59 - - - - - - - - - 16.17 -
17861.35 538.15 8.62 2375 17866.44 done 1.71 - - 2737.31 - 2.62 0.026 2190.31 -441.4 82.73 - - 2427.62 - - - - - - - - - 16.18 -
18171.80 515.63 6.85 2407 18176.53 done 1.74 - - 2737.56 - 2.94 0.088 3346.38 393.2 82.73 - - 2428.06 - - - - - - - - - 16.19 -
18231.76 511.27 7.42 2419 18236.49 done 1.76 - - 2737.38 - 2.62 0.026 2188.94 -441.8 82.73 - - 2428.44 - - - - - - - - - 16.20 -
18541.85 489.21 7.00 2451 18546.57 done 1.79 - - 2737.56 - 2.93 0.088 3344.88 394.5 82.73 - - 2429.41 - - - - - - - - - 16.18 -
18711.49 475.81 7.93 2485 18716.56 done 1.80 - - 2736.56 - 2.61 0.026 2190.06 -442.5 82.73 - - 2429.03 - - - - - - - - - 16.18 -
19022.16 453.19 6.85 2517 19026.70 1.84 0.17 0.095 2779.94 255.2 2.93 0.088 3344.38 394.0 82.73 - - 2429.28 - - - - - - - - 16.17 16.18 -
19156.08 441.49 8.86 2544 19162.09 done 1.84 - - 2779.75 - 2.61 0.026 2190.00 -442.3 82.73 - - 2428.44 - - - - - - - - - 16.18 -
19472.00 416.53 7.82 2576 19473.33 VBD 1.85 - - 2780.56 - - - 2190.31 - 82.73 - - 2426.78 - - - - - - - - - - -
19782.05 390.95 8.20 2607 19783.38 VBD 1.85 - - 2780.50 - - - 2190.38 - 82.73 - - 2427.03 - - - - - - - - - - -
20092.13 367.69 7.15 2638 20096.86 done 1.88 - - 2780.06 - 2.92 0.087 3345.56 395.6 82.73 - - 2428.69 - - - - - - - - - 16.19 -
20326.37 350.32 6.93 2685 20332.37 done 1.91 - - 2780.75 - 2.61 0.026 2188.38 -443.4 82.73 - - 2429.00 - - - - - - - - - 16.20 -
20642.29 332.31 5.54 2717 20679.00 done 1.99 - - 2779.38 - 2.98 0.090 3345.44 388.3 125.59 31.99 1.581 2262.88 -5.2 0.180 - - - - - - - 15.95 12.97
20767.00 321.94 9.74 2742 20772.44 roll 1.99 - - 2779.81 - 2.63 0.026 2191.25 -438.9 125.59 - - 2260.41 - - - - - - - - - 16.04 -
21077.71 292.31 10.34 2774 21079.04 no move 1.99 - - 2780.00 - - - 2191.38 - 125.59 - - 2257.38 - - - - - - - - - - -
21387.53 262.83 9.52 2805 21388.86 no move 1.99 - - 2780.81 - - - 2191.69 - 125.59 - - 2256.84 - - - - - - - - - - -
21697.60 234.68 9.28 2836 21702.35 roll 1.99 - - 2780.38 - 2.96 0.087 3346.69 390.2 125.59 - - 2258.22 - - - - - - - - - 16.08 -
21751.77 229.01 10.44 2847 21757.79 roll 1.99 - - 2780.06 - 2.62 0.026 2192.25 -440.6 125.59 - - 2258.75 - - - - - - - - - 16.11 -
22067.67 201.97 8.28 2879 22072.42 roll 1.99 - - 2780.50 - 2.94 0.087 3346.56 392.6 125.59 - - 2258.31 - - - - - - - - - 16.12 -
22301.89 179.51 9.55 2926 22307.90 roll 1.99 - - 2780.38 - 2.62 0.026 2190.06 -441.4 125.59 - - 2258.09 - - - - - - - - - 16.11 -
22617.79 153.93 7.83 2958 22622.52 roll back 2.00 0.15 0.099 2816.88 243.3 2.62 0.078 1131.69 -404.0 125.59 - - 2259.66 - - - - - - - - 16.10 16.12 -
22707.40 145.54 9.55 2976 22712.50 roll 2.00 - - 2817.62 - 2.65 0.031 2273.81 431.0 125.59 - - 2258.47 - - - - - - - - - 16.13 -
23017.83 118.08 8.17 3008 23022.72 roll 2.00 - - 2817.25 - 2.71 0.089 3345.25 395.4 125.59 - - 2258.81 - - - - - - - - - 16.10 -
23082.17 112.22 9.09 3021 23088.00 roll 2.00 - - 2818.25 - 2.62 0.025 2187.50 -441.9 125.59 - - 2257.59 - - - - - - - - - 16.15 -
23392.86 94.00 5.16 3063 23434.17 done 2.10 - - 2817.94 - 2.97 0.086 3347.12 390.4 173.96 36.33 1.314 2065.22 -5.3 0.062 - - - - - - - 15.92 12.97
23662.96 72.61 7.41 3117 23668.10 roll 2.12 - - 2818.12 - 2.63 0.025 2188.00 -440.7 173.96 - - 2061.16 - - - - - - - - - 16.02 -
23852.63 65.17 2.75 3155 23920.20 2.29 0.35 0.070 2889.25 203.2 3.01 0.085 3347.06 385.1 257.67 61.92 1.275 1723.97 -5.4 0.046 - - - - - - 16.02 15.72 12.92
23998.20 57.81 7.99 3184 24003.76 roll 2.29 - - 2888.44 - 2.65 0.025 2190.06 -436.6 257.67 - - 1717.84 - - - - - - - - - 15.82 -
24188.46 40.19 9.51 3222 24193.90 done 2.29 - - 2889.12 - 2.65 0.077 1130.19 -400.0 257.67 - - 1713.06 - - - - - - - - - 15.89 -
24243.29 34.43 10.38 3233 24248.85 done 2.29 - - 2888.31 - 2.68 0.029 2271.88 426.0 257.67 - - 1712.53 - - - - - - - - - 15.91 -
24433.35 21.35 4.98 3271 24476.35 done 2.39 - - 2888.19 - 2.88 0.072 1131.31 -396.0 308.75 38.03 1.184 1515.84 -5.2 0.015 - - - - - - - 15.77 12.86
24679 end climb: SURFACE_DEPTH_REACHED
24679 begin surface coast
24704 end surface coast: CONTROL_FINISHED_OK
24704 begin surface
SM 1.14 - - - - 184.4 49.65 1.177 1247.0 24.3 16.78 0.061 1213.9 72.3 - 2.86 0.031 1280.0 446.5 -1.678 - - 12.77 15.87 15.91 -