NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 155 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 54.00 of 550.00 AH used of 24V (90.18% remains)
• Surface angle -62.0 deg, depth 1.52 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 374.90 (SM_CC=375)
• GPS1 time: 60 s
• GPS2 time: 4 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
6.56 - - - 61.37 VBD -1.37 - - 184.56 - - - 2245.69 - -82.73 53.64 0.005 2570.03 - - - - - - - - - - 15.77
62.10 3.39 -3.80 10 99.48 -1.37 13.70 0.261 1988.88 131.7 2.61 0.069 1210.06 -396.8 -82.73 13.01 0.007 3112.81 41.7 -3.333 - - - - - - 15.73 15.76 15.78
117.44 14.63 -19.82 21 123.00 roll -1.37 - - 1989.25 - 2.68 0.030 2350.88 425.7 -82.73 - - 3112.72 - - - - - - - - - 15.84 -
308.13 51.06 -16.43 59 313.05 roll -1.37 - - 1989.50 - 2.71 0.087 3425.00 396.4 -82.73 - - 3114.09 - - - - - - - - - 15.91 -
542.75 89.63 -13.07 106 548.08 roll -1.37 - - 1988.25 - 2.66 0.022 2253.94 -440.2 -82.73 - - 3114.44 - - - - - - - - - 15.97 -
737.58 107.86 -8.41 136 742.71 roll -1.37 - - 1989.62 - 2.95 0.081 3426.25 397.4 -82.73 - - 3113.72 - - - - - - - - - 15.99 -
972.20 136.08 -12.46 183 978.21 roll -1.37 - - 1990.00 - 2.63 0.023 2253.06 -446.1 -82.73 - - 3114.19 - - - - - - - - - 16.03 -
1287.73 167.96 -9.94 215 1293.08 roll -1.37 - - 1990.00 - 2.94 0.082 3427.06 399.3 -82.73 - - 3113.78 - - - - - - - - - 16.06 -
1397.78 179.92 -10.96 237 1402.86 roll -1.37 - - 1989.69 - 2.62 0.022 2252.50 -448.3 -82.73 - - 3114.25 - - - - - - - - - 16.08 -
1707.84 209.26 -9.50 269 1712.98 roll -1.37 - - 1989.19 - 2.93 0.082 3427.00 400.9 -82.73 - - 3114.19 - - - - - - - - - 16.09 -
1782.40 217.21 -10.40 284 1788.40 roll -1.37 - - 1988.50 - 2.62 0.023 2250.81 -448.9 -82.73 - - 3115.12 - - - - - - - - - 16.10 -
2098.11 247.02 -9.52 316 2099.44 no move -1.37 - - 1989.62 - - - 2252.19 - -82.73 - - 3113.41 - - - - - - - - - - -
2408.49 277.20 -9.96 347 2409.82 no move -1.37 - - 1989.88 - - - 2252.12 - -82.73 - - 3112.69 - - - - - - - - - - -
2718.44 308.53 -10.15 378 2723.11 roll -1.37 - - 1989.12 - 2.57 0.070 1209.88 -405.5 -82.73 - - 3114.81 - - - - - - - - - 16.14 -
2832.62 320.28 -10.21 401 2838.64 roll -1.37 - - 1989.62 - 2.64 0.031 2351.06 432.3 -82.73 - - 3114.84 - - - - - - - - - 16.16 -
3148.15 349.04 -8.98 433 3149.48 no move -1.37 - - 1989.62 - - - 2350.38 - -82.73 - - 3113.09 - - - - - - - - - - -
3458.59 376.01 -8.37 464 3463.33 roll -1.37 - - 1989.50 - 2.82 0.064 1209.88 -404.4 -82.73 - - 3113.72 - - - - - - - - - 16.17 -
3548.23 384.05 -9.20 482 3553.32 roll -1.37 - - 1989.19 - 2.65 0.031 2352.69 431.2 -82.73 - - 3113.66 - - - - - - - - - 16.17 -
3858.30 411.66 -9.00 514 3859.63 no move -1.37 - - 1989.75 - - - 2352.75 - -82.73 - - 3111.94 - - - - - - - - - - -
4168.94 439.07 -8.75 545 4170.27 no move -1.37 - - 1989.75 - - - 2353.38 - -82.73 - - 3111.81 - - - - - - - - - - -
4478.77 465.92 -8.84 576 4480.10 no move -1.37 - - 1989.19 - - - 2352.94 - -82.73 - - 3110.81 - - - - - - - - - - -
4788.79 492.96 -8.57 607 4793.52 roll -1.37 - - 1988.69 - 2.82 0.065 1209.75 -405.4 -82.73 - - 3112.53 - - - - - - - - - 16.19 -
4822.95 495.91 -8.46 614 4829.14 roll -1.37 - - 1990.56 - 2.65 0.031 2350.56 430.5 -82.73 - - 3111.69 - - - - - - - - - 16.19 -
5138.60 525.19 -9.53 646 5139.93 no move -1.37 - - 1989.50 - - - 2350.94 - -82.73 - - 3110.47 - - - - - - - - - - -
5448.87 555.43 -9.81 677 5453.59 roll -1.37 - - 1988.19 - 2.82 0.066 1210.69 -404.3 -82.73 - - 3111.81 - - - - - - - - - 16.19 -
5518.50 562.40 -10.53 691 5523.58 roll -1.37 - - 1989.75 - 2.65 0.031 2351.75 430.6 -82.73 - - 3111.53 - - - - - - - - - 16.20 -
5828.53 592.90 -9.92 723 5829.86 no move -1.37 - - 1989.25 - - - 2352.06 - -82.73 - - 3109.41 - - - - - - - - - - -
6138.95 622.53 -9.04 754 6140.27 no move -1.37 - - 1990.00 - - - 2351.62 - -82.73 - - 3108.59 - - - - - - - - - - -
6448.98 649.32 -8.62 785 6450.31 no move -1.37 - - 1989.69 - - - 2351.75 - -82.73 - - 3107.69 - - - - - - - - - - -
6759.05 674.06 -7.97 816 6760.38 no move -1.37 - - 1990.12 - - - 2351.44 - -82.73 - - 3107.69 - - - - - - - - - - -
7069.11 697.66 -7.09 847 7070.44 no move -1.37 - - 1989.69 - - - 2352.44 - -82.73 - - 3107.28 - - - - - - - - - - -
7379.18 720.59 -7.37 878 7383.91 roll -1.37 - - 1989.62 - 2.82 0.067 1211.19 -404.7 -82.73 - - 3108.41 - - - - - - - - - 16.21 -
7539.22 732.83 -8.00 910 7543.93 roll -1.37 - - 1989.81 - 2.66 0.032 2350.06 428.1 -82.73 - - 3107.41 - - - - - - - - - 16.22 -
7848.90 755.42 -7.33 942 7850.23 no move -1.37 - - 1989.56 - - - 2350.31 - -82.73 - - 3106.25 - - - - - - - - - - -
8159.60 777.69 -6.93 973 8164.09 roll -1.37 - - 1989.62 - 2.82 0.066 1210.75 -404.1 -82.73 - - 3108.34 - - - - - - - - - 16.23 -
8299.01 788.14 -7.49 1001 8304.11 roll -1.37 - - 1989.69 - 2.66 0.032 2350.31 428.4 -82.73 - - 3106.62 - - - - - - - - - 16.22 -
8609.08 809.71 -6.98 1033 8610.41 no move -1.37 - - 1989.06 - - - 2350.88 - -82.73 - - 3105.59 - - - - - - - - - - -
8919.53 831.49 -7.00 1064 8924.26 roll -1.37 - - 1989.75 - 2.73 0.094 3425.25 393.5 -82.73 - - 3106.03 - - - - - - - - - 16.21 -
9023.72 840.34 -8.23 1085 9029.73 roll -1.37 - - 1989.56 - 2.62 0.024 2252.75 -447.5 -82.73 - - 3106.09 - - - - - - - - - 16.20 -
9339.25 862.24 -6.95 1117 9340.57 no move -1.37 - - 1990.00 - - - 2252.69 - -82.73 - - 3104.94 - - - - - - - - - - -
9649.69 883.47 -7.07 1148 9654.45 roll -1.37 - - 1989.88 - 2.97 0.090 3425.88 395.0 -82.73 - - 3105.25 - - - - - - - - - 16.20 -
9794.28 894.84 -7.66 1177 9799.90 roll -1.37 - - 1990.00 - 2.62 0.025 2255.69 -446.6 -82.73 - - 3106.47 - - - - - - - - - 16.22 -
10109.79 914.08 -5.81 1209 10111.12 no move -1.37 - - 1989.19 - - - 2255.62 - -82.73 - - 3103.91 - - - - - - - - - - -
10420.01 932.52 -6.15 1240 10424.27 roll -1.37 - - 1989.44 - 2.58 0.073 1209.75 -405.4 -82.73 - - 3106.28 - - - - - - - - - 16.21 -
10529.57 940.08 -7.12 1262 10534.55 roll -1.37 - - 1989.62 - 2.65 0.033 2351.62 430.9 -82.73 - - 3104.25 - - - - - - - - - 16.22 -
10839.88 961.44 -6.81 1294 10844.59 roll -1.37 - - 1989.94 - 2.72 0.095 3425.44 394.8 -82.73 - - 3104.38 - - - - - - - - - 16.21 -
10919.51 967.64 -7.62 1310 10924.60 roll -1.37 - - 1988.94 - 2.62 0.025 2252.50 -447.7 -82.73 - - 3104.81 - - - - - - - - - 16.22 -
11229.93 988.99 -7.28 1342 11234.61 roll -1.37 - - 1989.88 - 2.57 0.073 1211.00 -405.3 -82.73 - - 3104.22 - - - - - - - - - 16.21 -
11249 end dive: TARGET_DEPTH_EXCEEDED
11249 begin apogee
11253.27 990.35 -6.83 1346 11321.15 -0.28 1.77 0.162 2255.00 149.8 0.12 0.200 2172.50 8012.5 - 61.14 2.405 2773.91 -5.4 0.367 - - - - - - 16.15 15.69 12.89
11330 end apogee: CONTROL_FINISHED_OK
11330 begin climb
11331.27 992.56 - 1353 11400.95 1.37 2.60 0.102 2655.25 153.9 - - 2171.94 - 82.73 65.00 2.335 2437.09 -5.2 0.363 - - - - - - 15.74 - 12.63
11704.34 968.51 7.60 1391 11709.41 roll 1.38 - - 2654.81 - 2.66 0.080 1133.00 -390.6 82.73 - - 2431.78 - - - - - - - - - 15.81 -
11758.88 964.12 8.15 1402 11764.89 roll 1.38 - - 2655.25 - 2.69 0.032 2270.38 422.8 82.73 - - 2430.62 - - - - - - - - - 15.83 -
12074.78 939.99 7.72 1434 12076.11 no move 1.40 - - 2654.62 - - - 2270.69 - 82.73 - - 2429.03 - - - - - - - - - - -
12384.81 915.96 7.54 1465 12389.53 done 1.42 - - 2654.94 - 2.88 0.076 1132.50 -395.2 82.73 - - 2430.84 - - - - - - - - - 16.01 -
12524.45 904.06 8.44 1493 12529.53 done 1.42 - - 2655.38 - 2.65 0.032 2270.25 429.3 82.73 - - 2428.53 - - - - - - - - - 16.02 -
12834.88 879.69 7.81 1525 12836.22 VBD 1.43 - - 2654.44 - - - 2269.75 - 82.73 - - 2427.78 - - - - - - - - - - -
13144.92 855.79 7.71 1556 13149.62 done 1.45 - - 2654.50 - 2.73 0.095 3345.94 394.2 82.73 - - 2429.19 - - - - - - - - - 16.08 -
13189.08 852.21 7.94 1565 13195.07 done 1.46 - - 2654.69 - 2.64 0.026 2191.62 -437.2 82.73 - - 2429.50 - - - - - - - - - 16.09 -
13504.96 829.89 6.91 1597 13509.88 1.49 0.14 0.099 2696.69 300.0 2.66 0.080 1132.19 -398.3 82.73 - - 2428.69 - - - - - - - - 16.09 16.10 -
13574.70 824.06 7.93 1611 13579.66 done 1.50 - - 2696.44 - 2.64 0.032 2272.62 432.0 82.73 - - 2429.62 - - - - - - - - - 16.10 -
13885.03 799.53 8.23 1643 13886.36 VBD 1.50 - - 2696.75 - - - 2272.38 - 82.73 - - 2427.06 - - - - - - - - - - -
14195.10 774.60 7.60 1674 14199.81 done 1.51 - - 2696.50 - 2.87 0.076 1130.19 -398.0 82.73 - - 2429.22 - - - - - - - - - 16.14 -
14404.78 756.20 8.72 1716 14409.87 done 1.51 - - 2697.44 - 2.64 0.032 2271.56 432.3 82.73 - - 2427.59 - - - - - - - - - 16.15 -
14715.25 731.60 7.94 1748 14719.97 done 1.53 - - 2696.81 - 2.86 0.075 1132.25 -398.4 82.73 - - 2427.94 - - - - - - - - - 16.16 -
14789.42 724.92 8.14 1763 14795.42 done 1.53 - - 2695.88 - 2.62 0.032 2271.06 434.7 82.73 - - 2427.84 - - - - - - - - - 16.16 -
15105.34 700.95 7.56 1795 15110.05 done 1.54 - - 2697.06 - 2.84 0.075 1131.25 -401.3 82.73 - - 2428.03 - - - - - - - - - 16.17 -
15189.52 693.99 7.69 1812 15195.51 done 1.56 - - 2696.56 - 2.63 0.032 2271.81 433.7 82.73 - - 2427.50 - - - - - - - - - 16.17 -
15505.68 671.38 7.14 1844 15507.01 VBD 1.59 - - 2696.94 - - - 2271.31 - 82.73 - - 2426.59 - - - - - - - - - - -
15815.50 648.71 7.23 1875 15820.21 done 1.61 - - 2696.25 - 2.70 0.094 3345.56 397.9 82.73 - - 2428.09 - - - - - - - - - 16.16 -
15875.12 643.95 8.32 1887 15880.22 done 1.61 - - 2697.06 - 2.64 0.026 2190.62 -437.5 82.73 - - 2427.19 - - - - - - - - - 16.18 -
16185.59 620.27 7.51 1919 16186.92 VBD 1.63 - - 2696.81 - - - 2190.38 - 82.73 - - 2426.25 - - - - - - - - - - -
16495.65 597.86 7.33 1950 16496.99 VBD 1.65 - - 2696.50 - - - 2190.25 - 82.73 - - 2425.72 - - - - - - - - - - -
16805.72 576.21 6.77 1981 16810.51 1.69 0.19 0.085 2742.19 240.5 2.92 0.090 3344.69 395.4 82.73 - - 2427.66 - - - - - - - - 16.16 16.16 -
16900.28 568.74 7.87 2000 16905.88 done 1.70 - - 2742.00 - 2.62 0.026 2190.12 -440.7 82.73 - - 2426.50 - - - - - - - - - 16.18 -
17215.78 546.24 6.81 2032 17220.45 done 1.73 - - 2742.62 - 2.65 0.080 1132.38 -399.1 82.73 - - 2428.31 - - - - - - - - - 16.19 -
17285.40 541.43 7.03 2046 17290.47 done 1.76 - - 2742.06 - 2.65 0.032 2271.88 430.0 82.73 - - 2427.25 - - - - - - - - - 16.19 -
17595.83 519.60 7.30 2078 17597.17 VBD 1.78 - - 2742.69 - - - 2272.00 - 82.73 - - 2426.12 - - - - - - - - - - -
17906.12 496.39 7.66 2109 17907.46 VBD 1.80 - - 2742.19 - - - 2271.88 - 82.73 - - 2425.03 - - - - - - - - - - -
18215.90 473.84 7.08 2140 18217.23 VBD 1.83 - - 2742.38 - - - 2271.50 - 82.73 - - 2425.38 - - - - - - - - - - -
18525.94 452.29 6.80 2171 18530.70 1.86 0.17 0.087 2785.06 251.1 2.87 0.075 1131.25 -397.3 82.73 - - 2426.94 - - - - - - - - 16.17 16.19 -
18640.10 442.96 8.05 2194 18646.10 done 1.86 - - 2786.38 - 2.65 0.032 2271.88 430.4 82.73 - - 2426.75 - - - - - - - - - 16.18 -
18956.00 419.31 7.39 2226 18960.70 done 1.88 - - 2786.06 - 2.72 0.092 3345.81 394.8 82.73 - - 2427.59 - - - - - - - - - 16.18 -
19030.16 413.09 8.46 2241 19036.16 done 1.88 - - 2785.88 - 2.63 0.025 2188.50 -440.0 82.73 - - 2426.50 - - - - - - - - - 16.19 -
19346.09 389.91 7.09 2273 19350.77 done 1.91 - - 2786.62 - 2.64 0.079 1131.56 -400.4 82.73 - - 2426.75 - - - - - - - - - 16.18 -
19475.99 379.63 7.61 2299 19480.83 done 1.92 - - 2786.56 - 2.65 0.032 2270.94 430.0 82.73 - - 2428.62 - - - - - - - - - 16.19 -
19786.21 359.52 6.40 2331 19814.00 done 1.99 - - 2786.38 - 2.72 0.095 3345.81 395.2 112.91 22.88 1.581 2312.88 -5.1 0.190 - - - - - - - 15.99 12.98
19962.53 343.64 9.97 2366 19967.23 roll 1.99 - - 2786.62 - 2.65 0.026 2189.81 -436.2 112.91 - - 2313.75 - - - - - - - - - 16.10 -
20272.59 315.96 8.67 2398 20273.92 no move 1.99 - - 2786.44 - - - 2190.06 - 112.91 - - 2310.12 - - - - - - - - - - -
20582.66 287.70 9.08 2429 20583.99 no move 1.99 - - 2786.19 - - - 2190.12 - 112.91 - - 2310.28 - - - - - - - - - - -
20892.74 260.52 7.82 2460 20897.46 roll 2.00 - - 2786.31 - 2.95 0.087 3346.69 392.1 112.91 - - 2313.22 - - - - - - - - - 16.12 -
21012.38 249.89 8.84 2484 21017.45 roll 2.00 - - 2787.00 - 2.65 0.026 2190.50 -436.3 112.91 - - 2310.88 - - - - - - - - - 16.14 -
21322.90 222.53 8.65 2516 21327.52 roll 2.00 - - 2786.94 - 2.93 0.086 3346.88 394.7 112.91 - - 2310.88 - - - - - - - - - 16.12 -
21392.40 216.10 9.14 2530 21397.50 roll 2.00 - - 2786.19 - 2.64 0.025 2188.50 -438.8 112.91 - - 2311.25 - - - - - - - - - 16.15 -
21702.85 191.51 7.58 2562 21707.53 roll 2.02 - - 2786.88 - 2.63 0.078 1131.12 -402.0 112.91 - - 2310.66 - - - - - - - - - 16.15 -
21837.31 180.24 8.32 2589 21843.08 roll 2.02 - - 2786.50 - 2.65 0.031 2271.12 430.2 112.91 - - 2310.84 - - - - - - - - - 16.14 -
22152.96 156.64 7.58 2621 22154.39 pitch 2.03 0.16 0.090 2826.94 252.8 - - 2271.69 - 112.91 - - 2310.50 - - - - - - - - 16.14 - -
22462.55 132.58 7.63 2652 22467.66 roll 2.05 - - 2826.94 - 2.85 0.072 1131.81 -400.0 112.91 - - 2310.97 - - - - - - - - - 16.14 -
22542.56 126.15 8.03 2668 22547.65 roll 2.05 - - 2826.75 - 2.65 0.031 2272.25 430.4 112.91 - - 2311.41 - - - - - - - - - 16.14 -
22853.01 111.66 3.21 2700 22915.04 2.20 0.17 0.087 2869.44 251.1 2.89 0.073 1130.94 -394.9 189.89 56.81 1.345 2000.94 -5.5 0.075 - - - - - - 16.12 15.84 12.85
23063.08 94.70 10.49 2742 23068.63 roll 2.20 - - 2869.38 - 2.69 0.030 2271.69 424.1 189.89 - - 1993.03 - - - - - - - - - 15.94 -
23253.17 79.34 6.65 2780 23258.72 done 2.24 - - 2869.19 - 2.75 0.088 3345.94 390.6 189.89 - - 1990.91 - - - - - - - - - 15.95 -
23488.38 68.71 2.69 2827 23555.77 2.41 0.20 0.085 2912.94 218.8 2.65 0.023 2179.62 -440.1 274.47 61.66 1.273 1655.59 -5.4 0.048 - - - - - - 15.99 16.01 12.88
23738.94 48.08 11.83 2877 23744.55 done 2.41 - - 2912.88 - 3.02 0.083 3345.00 385.9 274.47 - - 1647.00 - - - - - - - - - 15.85 -
23974.05 22.27 6.95 2924 23979.58 done 2.44 - - 2913.88 - 2.67 0.024 2187.81 -433.4 274.47 - - 1644.44 - - - - - - - - - 15.93 -
24164.12 11.10 6.25 2962 24195.57 done 2.50 - - 2914.25 - 2.99 0.084 3346.81 387.6 306.81 24.20 1.143 1523.75 -5.0 0.008 - - - - - - - 15.82 12.81
24273 end climb: SURFACE_DEPTH_REACHED
24274 begin surface coast
24299 end surface coast: CONTROL_FINISHED_OK
24299 begin surface
SM 1.21 - - - - 183.2 51.37 1.176 1246.7 23.8 16.77 0.052 1216.2 72.5 - 2.47 0.024 1277.2 515.9 -2.658 - - 12.77 15.90 15.92 -