NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 154 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 53.70 of 550.00 AH used of 24V (90.24% remains)
• Surface angle -65.1 deg, depth 1.60 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 374.94 (SM_CC=375)
• GPS1 time: 54 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
6.55 - - - 55.20 VBD -1.37 - - 180.69 - - - 2255.50 - -82.73 47.47 0.005 2386.06 - - - - - - - - - - 15.77
55.94 3.11 -3.44 9 99.22 -1.37 13.87 0.267 1989.62 130.4 2.98 0.088 3425.94 392.8 -82.73 19.47 0.006 3113.22 37.3 -3.211 - - - - - - 15.71 15.73 15.78
127.57 14.70 -20.30 23 132.74 roll -1.37 - - 1989.56 - 2.66 0.023 2260.50 -438.1 -82.73 - - 3113.06 - - - - - - - - - 15.85 -
317.65 49.37 -16.31 61 323.06 roll -1.37 - - 1989.88 - 2.95 0.084 3426.06 395.1 -82.73 - - 3113.47 - - - - - - - - - 15.90 -
552.34 90.07 -14.93 108 557.88 roll -1.37 - - 1989.81 - 2.63 0.023 2256.06 -444.9 -82.73 - - 3112.78 - - - - - - - - - 15.96 -
742.37 113.37 -11.17 135 747.50 roll -1.37 - - 1989.12 - 2.94 0.083 3426.88 398.2 -82.73 - - 3113.16 - - - - - - - - - 16.00 -
966.97 139.70 -11.52 180 972.98 roll -1.37 - - 1989.62 - 2.63 0.023 2253.62 -446.1 -82.73 - - 3114.09 - - - - - - - - - 16.02 -
1282.64 172.50 -9.65 212 1287.60 roll -1.37 - - 1989.75 - 2.92 0.083 3427.25 401.9 -82.73 - - 3113.84 - - - - - - - - - 16.05 -
1377.02 182.77 -10.90 231 1383.03 roll -1.37 - - 1989.69 - 2.62 0.023 2251.62 -448.7 -82.73 - - 3113.75 - - - - - - - - - 16.08 -
1692.53 211.34 -8.77 263 1697.58 roll -1.37 - - 1988.25 - 2.55 0.068 1208.44 -409.1 -82.73 - - 3115.22 - - - - - - - - - 16.08 -
1782.53 219.57 -9.51 281 1787.62 roll -1.37 - - 1989.50 - 2.62 0.030 2352.56 436.7 -82.73 - - 3114.47 - - - - - - - - - 16.10 -
2092.58 245.28 -8.66 313 2097.87 roll -1.37 - - 1988.75 - 2.81 0.063 1208.94 -407.0 -82.73 - - 3114.88 - - - - - - - - - 16.12 -
2187.25 254.10 -9.32 332 2193.14 roll -1.37 - - 1989.44 - 2.63 0.030 2352.38 434.8 -82.73 - - 3114.19 - - - - - - - - - 16.12 -
2502.66 282.31 -9.26 364 2503.99 no move -1.37 - - 1989.94 - - - 2352.81 - -82.73 - - 3113.12 - - - - - - - - - - -
2813.12 312.56 -10.23 395 2817.84 roll -1.37 - - 1990.00 - 2.81 0.063 1208.38 -407.3 -82.73 - - 3115.22 - - - - - - - - - 16.14 -
2872.79 318.63 -10.51 407 2877.83 roll -1.37 - - 1989.69 - 2.62 0.031 2352.00 436.5 -82.73 - - 3114.28 - - - - - - - - - 16.16 -
3182.82 349.50 -9.60 439 3184.15 no move -1.37 - - 1989.38 - - - 2353.00 - -82.73 - - 3112.47 - - - - - - - - - - -
3493.27 377.08 -8.51 470 3494.60 no move -1.37 - - 1990.00 - - - 2352.38 - -82.73 - - 3112.25 - - - - - - - - - - -
3803.33 404.05 -9.02 501 3804.66 no move -1.37 - - 1990.12 - - - 2352.69 - -82.73 - - 3111.84 - - - - - - - - - - -
4113.39 432.58 -9.57 532 4118.14 roll -1.37 - - 1989.50 - 2.81 0.064 1210.00 -406.7 -82.73 - - 3112.31 - - - - - - - - - 16.17 -
4237.58 445.25 -10.39 557 4243.58 roll -1.37 - - 1989.69 - 2.62 0.032 2351.81 435.8 -82.73 - - 3112.72 - - - - - - - - - 16.18 -
4553.11 475.31 -9.25 589 4554.44 no move -1.37 - - 1990.12 - - - 2351.88 - -82.73 - - 3110.94 - - - - - - - - - - -
4863.57 501.91 -8.55 620 4864.90 no move -1.37 - - 1990.00 - - - 2351.62 - -82.73 - - 3110.62 - - - - - - - - - - -
5173.87 527.57 -7.95 651 5178.36 roll -1.37 - - 1989.88 - 2.81 0.065 1209.69 -406.4 -82.73 - - 3111.09 - - - - - - - - - 16.20 -
5213.26 530.70 -7.77 659 5218.54 roll -1.37 - - 1989.50 - 2.62 0.031 2350.56 435.4 -82.73 - - 3111.00 - - - - - - - - - 16.19 -
5523.32 555.76 -7.88 691 5524.65 no move -1.37 - - 1990.00 - - - 2350.31 - -82.73 - - 3109.19 - - - - - - - - - - -
5833.53 579.55 -7.14 722 5838.48 roll -1.37 - - 1989.75 - 2.81 0.065 1210.88 -405.5 -82.73 - - 3111.47 - - - - - - - - - 16.21 -
5953.37 589.05 -7.66 746 5958.47 roll -1.37 - - 1988.12 - 2.62 0.032 2352.25 435.6 -82.73 - - 3110.72 - - - - - - - - - 16.20 -
6263.42 613.73 -8.04 778 6264.75 no move -1.37 - - 1990.12 - - - 2353.12 - -82.73 - - 3108.72 - - - - - - - - - - -
6573.84 639.58 -8.65 809 6578.56 roll -1.37 - - 1989.94 - 2.82 0.066 1209.69 -405.5 -82.73 - - 3110.31 - - - - - - - - - 16.21 -
6663.47 647.20 -8.73 827 6668.55 roll -1.37 - - 1988.12 - 2.61 0.032 2352.69 437.9 -82.73 - - 3110.53 - - - - - - - - - 16.21 -
6973.51 674.64 -8.97 859 6974.84 no move -1.37 - - 1990.06 - - - 2352.94 - -82.73 - - 3107.50 - - - - - - - - - - -
7283.93 702.23 -8.88 890 7285.25 no move -1.37 - - 1989.50 - - - 2353.12 - -82.73 - - 3107.00 - - - - - - - - - - -
7594.20 728.86 -8.42 921 7598.69 roll -1.37 - - 1989.44 - 2.82 0.066 1209.69 -405.5 -82.73 - - 3109.00 - - - - - - - - - 16.22 -
7673.60 735.48 -8.59 937 7678.69 roll -1.37 - - 1989.38 - 2.62 0.032 2351.62 435.9 -82.73 - - 3108.94 - - - - - - - - - 16.22 -
7983.67 759.27 -7.51 969 7988.78 roll -1.37 - - 1989.75 - 2.81 0.067 1211.25 -405.8 -82.73 - - 3108.50 - - - - - - - - - 16.21 -
8028.22 762.56 -7.31 978 8034.23 roll -1.37 - - 1989.88 - 2.61 0.032 2352.88 437.4 -82.73 - - 3107.25 - - - - - - - - - 16.22 -
8343.75 784.53 -6.68 1010 8348.83 roll -1.37 - - 1989.94 - 2.66 0.095 3426.00 403.4 -82.73 - - 3106.50 - - - - - - - - - 16.19 -
8398.31 789.08 -7.99 1021 8404.31 roll -1.37 - - 1989.94 - 2.62 0.024 2252.62 -447.9 -82.73 - - 3108.50 - - - - - - - - - 16.22 -
8714.24 810.08 -6.45 1053 8715.57 no move -1.37 - - 1989.12 - - - 2253.25 - -82.73 - - 3105.97 - - - - - - - - - - -
9024.29 831.16 -7.05 1084 9028.97 roll -1.37 - - 1989.94 - 2.57 0.072 1211.06 -405.5 -82.73 - - 3107.75 - - - - - - - - - 16.21 -
9148.48 840.68 -7.67 1109 9154.49 roll -1.37 - - 1989.50 - 2.61 0.032 2351.69 437.0 -82.73 - - 3107.75 - - - - - - - - - 16.22 -
9464.02 864.77 -7.89 1141 9465.34 no move -1.37 - - 1989.56 - - - 2352.12 - -82.73 - - 3105.09 - - - - - - - - - - -
9774.71 888.52 -7.58 1172 9776.04 no move -1.37 - - 1989.56 - - - 2351.75 - -82.73 - - 3104.78 - - - - - - - - - - -
10084.53 911.89 -7.71 1203 10089.27 roll -1.37 - - 1989.81 - 2.82 0.067 1210.69 -404.6 -82.73 - - 3105.84 - - - - - - - - - 16.21 -
10164.34 918.23 -8.34 1219 10169.26 roll -1.37 - - 1989.56 - 2.62 0.033 2352.31 435.7 -82.73 - - 3106.53 - - - - - - - - - 16.21 -
10474.62 942.17 -7.63 1251 10475.96 no move -1.37 - - 1989.44 - - - 2352.38 - -82.73 - - 3103.81 - - - - - - - - - - -
10784.69 967.03 -7.88 1282 10789.42 roll -1.37 - - 1989.56 - 2.82 0.067 1209.88 -405.1 -82.73 - - 3105.12 - - - - - - - - - 16.23 -
10894.34 975.84 -8.36 1304 10899.42 roll -1.37 - - 1988.25 - 2.62 0.033 2351.62 435.8 -82.73 - - 3105.84 - - - - - - - - - 16.21 -
11084 end dive: TARGET_DEPTH_EXCEEDED
11084 begin apogee
11086.18 990.63 -7.83 1324 11151.69 -0.28 1.77 0.160 2254.00 150.1 0.20 0.143 2281.06 -352.8 - 61.29 2.407 2774.75 -5.4 0.369 - - - - - - 16.15 15.68 12.85
11154 end apogee: CONTROL_FINISHED_OK
11154 begin climb
11154.72 992.57 - 1330 11230.78 1.37 2.62 0.105 2654.00 152.7 3.03 0.078 1133.12 -378.9 82.73 65.17 2.338 2438.44 -5.2 0.363 - - - - - - 15.72 15.34 12.84
11279.07 986.44 5.44 1354 11320.51 done 1.46 - - 2654.00 - 2.71 0.032 2270.56 419.7 127.05 36.71 2.248 2256.62 -5.0 0.360 - - - - - - - 15.56 12.72
11628.95 955.92 8.94 1393 11630.28 no move 1.46 - - 2654.69 - - - 2271.50 - 127.05 - - 2248.22 - - - - - - - - - - -
11939.40 927.18 9.33 1424 11940.73 VBD 1.46 - - 2654.44 - - - 2270.81 - 127.05 - - 2246.84 - - - - - - - - - - -
12249.47 896.60 10.15 1455 12250.80 VBD 1.46 - - 2653.88 - - - 2271.38 - 127.05 - - 2245.62 - - - - - - - - - - -
12559.54 866.25 9.32 1486 12560.87 VBD 1.46 - - 2654.88 - - - 2271.88 - 127.05 - - 2245.62 - - - - - - - - - - -
12869.60 836.67 9.93 1517 12874.32 done 1.46 - - 2654.12 - 2.88 0.077 1133.12 -395.4 127.05 - - 2246.84 - - - - - - - - - 16.08 -
12983.79 825.32 9.77 1540 12990.01 done 1.46 - - 2653.06 - 2.64 0.033 2270.88 431.0 127.05 - - 2246.34 - - - - - - - - - 16.07 -
13299.70 797.10 8.88 1572 13304.60 done 1.46 - - 2654.44 - 2.88 0.076 1132.38 -395.3 127.05 - - 2245.69 - - - - - - - - - 16.10 -
13369.43 790.56 9.38 1586 13374.40 done 1.46 - - 2655.19 - 2.63 0.033 2270.31 432.7 127.05 - - 2246.81 - - - - - - - - - 16.10 -
13679.76 763.15 8.91 1618 13681.09 VBD 1.46 - - 2654.75 - - - 2270.00 - 127.05 - - 2243.91 - - - - - - - - - - -
13989.79 734.65 9.55 1649 13991.12 VBD 1.46 - - 2654.06 - - - 2270.12 - 127.05 - - 2244.16 - - - - - - - - - - -
14300.00 706.29 8.85 1680 14301.33 VBD 1.46 - - 2654.25 - - - 2269.69 - 127.05 - - 2243.47 - - - - - - - - - - -
14609.86 679.59 8.73 1711 14614.59 done 1.46 - - 2654.69 - 2.88 0.077 1132.25 -394.9 127.05 - - 2244.38 - - - - - - - - - 16.16 -
14694.03 671.98 9.05 1728 14700.03 done 1.46 - - 2654.19 - 2.63 0.033 2271.19 433.1 127.05 - - 2246.78 - - - - - - - - - 16.15 -
15009.92 645.21 8.57 1760 15014.65 done 1.46 - - 2654.50 - 2.88 0.077 1131.19 -395.8 127.05 - - 2245.75 - - - - - - - - - 16.16 -
15089.55 637.92 9.19 1776 15094.63 done 1.46 - - 2654.31 - 2.62 0.032 2270.50 434.9 127.05 - - 2245.47 - - - - - - - - - 16.17 -
15399.99 610.97 8.27 1808 15404.71 done 1.46 - - 2654.50 - 2.87 0.076 1132.94 -396.4 127.05 - - 2245.91 - - - - - - - - - 16.17 -
15469.81 604.61 9.26 1822 15474.77 done 1.46 - - 2654.38 - 2.62 0.032 2271.38 434.5 127.05 - - 2245.69 - - - - - - - - - 16.17 -
15780.09 579.06 7.91 1854 15781.42 VBD 1.47 - - 2654.56 - - - 2271.25 - 127.05 - - 2242.88 - - - - - - - - - - -
16090.16 556.34 7.07 1885 16091.59 1.49 0.16 0.099 2697.00 265.3 - - 2271.31 - 127.05 - - 2243.19 - - - - - - - - 16.16 - -
16399.81 530.81 8.42 1916 16404.90 done 1.49 - - 2698.75 - 2.70 0.095 3346.69 398.3 127.05 - - 2244.47 - - - - - - - - - 16.17 -
16429.82 527.89 8.85 1922 16434.91 done 1.49 - - 2697.88 - 2.65 0.026 2190.06 -436.5 127.05 - - 2244.09 - - - - - - - - - 16.19 -
16740.28 500.03 9.18 1954 16741.62 VBD 1.49 - - 2697.56 - - - 2190.38 - 127.05 - - 2242.56 - - - - - - - - - - -
17050.36 471.30 9.29 1985 17051.69 VBD 1.49 - - 2697.75 - - - 2190.06 - 127.05 - - 2243.12 - - - - - - - - - - -
17360.42 444.03 8.71 2016 17361.76 VBD 1.49 - - 2697.56 - - - 2190.00 - 127.05 - - 2243.19 - - - - - - - - - - -
17670.49 418.02 8.71 2047 17671.82 VBD 1.49 - - 2697.44 - - - 2190.12 - 127.05 - - 2243.09 - - - - - - - - - - -
17980.55 391.11 8.67 2078 17985.31 done 1.49 - - 2697.75 - 2.90 0.090 3346.62 398.8 127.05 - - 2243.94 - - - - - - - - - 16.18 -
18030.18 386.29 9.75 2088 18035.27 done 1.49 - - 2697.25 - 2.64 0.026 2190.94 -437.8 127.05 - - 2244.16 - - - - - - - - - 16.19 -
18340.63 360.01 8.21 2120 18341.97 VBD 1.49 - - 2697.38 - - - 2191.38 - 127.05 - - 2243.34 - - - - - - - - - - -
18650.94 334.70 8.26 2151 18655.44 done 1.49 - - 2696.25 - 2.90 0.089 3346.44 398.3 127.05 - - 2245.47 - - - - - - - - - 16.18 -
18720.33 328.26 9.28 2165 18725.41 done 1.49 - - 2697.81 - 2.64 0.026 2190.06 -438.0 127.05 - - 2245.06 - - - - - - - - - 16.19 -
19030.77 303.58 7.90 2197 19035.45 done 1.51 - - 2698.12 - 2.64 0.079 1132.19 -400.7 127.05 - - 2244.16 - - - - - - - - - 16.18 -
19070.37 300.13 8.11 2205 19075.46 done 1.51 - - 2697.62 - 2.63 0.031 2272.94 433.7 127.05 - - 2244.31 - - - - - - - - - 16.20 -
19380.79 274.97 8.23 2237 19382.13 VBD 1.51 - - 2697.81 - - - 2274.06 - 127.05 - - 2242.88 - - - - - - - - - - -
19690.83 249.44 8.07 2268 19695.56 done 1.51 - - 2698.19 - 2.86 0.075 1131.25 -399.6 127.05 - - 2244.94 - - - - - - - - - 16.19 -
19760.47 243.59 8.46 2282 19765.55 done 1.51 - - 2698.06 - 2.63 0.032 2274.38 434.7 127.05 - - 2244.03 - - - - - - - - - 16.17 -
20071.08 219.27 7.72 2314 20072.41 VBD 1.52 - - 2698.00 - - - 2273.50 - 127.05 - - 2242.94 - - - - - - - - - - -
20380.94 195.67 7.56 2345 20385.62 done 1.54 - - 2698.06 - 2.69 0.092 3345.50 398.5 127.05 - - 2245.16 - - - - - - - - - 16.17 -
20551.20 182.05 8.18 2379 20555.65 done 1.54 - - 2698.31 - 2.63 0.025 2188.75 -439.8 127.05 - - 2245.25 - - - - - - - - - 16.15 -
20861.04 161.53 6.64 2411 20865.78 done 1.57 - - 2698.25 - 2.92 0.086 3346.81 396.6 127.05 - - 2244.59 - - - - - - - - - 16.18 -
20905.21 158.05 7.73 2420 20911.20 done 1.59 - - 2698.56 - 2.62 0.025 2187.75 -442.4 127.05 - - 2245.56 - - - - - - - - - 16.17 -
21221.13 138.27 6.08 2452 21250.53 VBD 1.66 - - 2698.44 - - - 2187.81 - 161.91 25.60 1.332 2113.75 -5.1 0.089 - - - - - - - - 12.94
21561.20 114.15 6.59 2486 21565.95 roll back 1.70 0.21 0.083 2745.62 224.7 2.64 0.078 1131.25 -400.2 161.91 - - 2110.38 - - - - - - - - 16.08 16.09 -
21660.84 106.27 7.76 2506 21665.91 roll 1.71 - - 2745.06 - 2.64 0.030 2273.62 432.7 161.91 - - 2110.94 - - - - - - - - - 16.08 -
21970.98 89.16 5.57 2558 22008.54 done 1.80 - - 2745.81 - 2.73 0.092 3347.19 393.2 204.34 32.56 1.277 1940.16 -5.2 0.061 - - - - - - - 15.90 12.81
22237.04 67.64 6.61 2611 22241.87 roll 1.83 - - 2745.81 - 2.67 0.024 2187.75 -434.2 204.34 - - 1935.84 - - - - - - - - - 16.01 -
22426.64 59.27 3.65 2649 22485.06 1.97 0.32 0.068 2812.06 207.0 2.98 0.085 3346.00 388.7 274.83 52.31 1.250 1653.12 -5.4 0.043 - - - - - - 16.01 15.77 12.89
22658.11 41.03 9.75 2695 22663.65 roll 1.97 - - 2811.31 - 2.67 0.024 2190.62 -432.7 274.83 - - 1647.56 - - - - - - - - - 15.90 -
22848.19 25.82 6.66 2733 22853.72 done 2.01 - - 2811.31 - 2.67 0.076 1131.69 -396.6 274.83 - - 1643.53 - - - - - - - - - 15.94 -
23053.27 15.11 5.01 2774 23095.89 done 2.11 - - 2812.12 - 2.65 0.029 2275.56 431.6 325.44 37.87 1.168 1447.72 -5.2 0.011 - - - - - - - 15.99 12.85
23248 end climb: SURFACE_DEPTH_REACHED
23248 begin surface coast
23278 end surface coast: CONTROL_FINISHED_OK
23279 begin surface
SM 2.64 - - - - 185.4 37.65 1.160 1246.5 32.1 16.16 0.052 1226.6 75.9 - 0.12 0.122 1266.4 10531.2 -23.292 - - 12.81 15.89 15.90 -