NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 156 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 54.29 of 550.00 AH used of 24V (90.13% remains)
• Surface angle -64.5 deg, depth 1.61 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 374.76 (SM_CC=375)
• GPS1 time: 73 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
6.27 - - - 60.04 VBD -1.37 - - 183.06 - - - 2360.31 - -82.73 52.56 0.005 2531.09 - - - - - - - - - - 15.74
60.78 3.51 -4.13 10 98.93 -1.37 13.64 0.259 1988.38 132.4 2.88 0.066 1209.69 -399.5 -82.73 14.38 0.006 3111.53 40.4 -3.895 - - - - - - 15.73 15.73 15.78
197.30 31.26 -21.26 37 202.50 roll -1.37 - - 1988.81 - 2.71 0.031 2348.62 420.3 -82.73 - - 3112.62 - - - - - - - - - 15.87 -
387.35 64.21 -16.93 75 392.74 roll -1.37 - - 1988.75 - 2.84 0.061 1210.12 -400.9 -82.73 - - 3113.53 - - - - - - - - - 15.92 -
452.11 75.11 -16.22 88 457.54 roll -1.37 - - 1988.56 - 2.69 0.030 2349.81 423.7 -82.73 - - 3113.78 - - - - - - - - - 15.95 -
642.60 100.02 -12.58 126 647.13 roll -1.37 - - 1988.56 - 2.73 0.087 3425.81 394.1 -82.73 - - 3114.50 - - - - - - - - - 15.95 -
766.60 116.87 -12.40 151 772.60 roll -1.37 - - 1988.62 - 2.65 0.022 2249.62 -443.8 -82.73 - - 3113.62 - - - - - - - - - 15.98 -
1082.10 143.76 -8.23 183 1087.23 roll -1.37 - - 1988.62 - 2.99 0.083 3427.12 393.8 -82.73 - - 3114.03 - - - - - - - - - 16.03 -
1132.11 148.45 -9.58 193 1137.18 roll -1.37 - - 1987.38 - 2.65 0.023 2252.44 -443.3 -82.73 - - 3115.00 - - - - - - - - - 16.03 -
1442.15 174.99 -8.62 225 1443.48 no move -1.37 - - 1988.94 - - - 2250.56 - -82.73 - - 3113.22 - - - - - - - - - - -
1752.56 201.23 -8.76 256 1757.24 roll -1.37 - - 1989.25 - 2.57 0.068 1210.00 -404.9 -82.73 - - 3115.84 - - - - - - - - - 16.07 -
1836.72 209.02 -9.05 273 1842.74 roll -1.37 - - 1989.06 - 2.67 0.030 2352.69 428.0 -82.73 - - 3114.69 - - - - - - - - - 16.10 -
2152.25 237.84 -9.31 305 2153.58 no move -1.37 - - 1989.06 - - - 2352.88 - -82.73 - - 3113.09 - - - - - - - - - - -
2463.05 268.61 -10.25 336 2467.44 roll -1.37 - - 1988.94 - 2.84 0.063 1209.31 -402.7 -82.73 - - 3114.62 - - - - - - - - - 16.13 -
2506.86 273.02 -9.83 345 2512.88 roll -1.37 - - 1989.31 - 2.66 0.030 2351.62 429.4 -82.73 - - 3114.50 - - - - - - - - - 16.11 -
2822.39 303.93 -9.49 377 2827.50 roll -1.37 - - 1988.94 - 2.71 0.090 3425.75 396.4 -82.73 - - 3115.09 - - - - - - - - - 16.13 -
2912.42 313.37 -10.58 395 2917.51 roll -1.37 - - 1988.44 - 2.63 0.023 2252.62 -446.1 -82.73 - - 3115.16 - - - - - - - - - 16.14 -
3222.49 341.61 -8.98 427 3223.82 no move -1.37 - - 1989.44 - - - 2251.88 - -82.73 - - 3113.53 - - - - - - - - - - -
3532.94 370.01 -9.39 458 3534.27 no move -1.37 - - 1989.81 - - - 2251.38 - -82.73 - - 3112.88 - - - - - - - - - - -
3843.01 397.93 -8.44 489 3844.33 no move -1.37 - - 1989.69 - - - 2251.56 - -82.73 - - 3112.25 - - - - - - - - - - -
4153.06 424.40 -8.74 520 4157.81 roll -1.37 - - 1989.50 - 2.99 0.085 3425.69 392.7 -82.73 - - 3113.53 - - - - - - - - - 16.18 -
4207.23 429.59 -9.89 531 4213.24 roll -1.37 - - 1989.56 - 2.62 0.023 2253.44 -447.4 -82.73 - - 3113.19 - - - - - - - - - 16.17 -
4522.76 456.82 -8.60 563 4524.09 no move -1.37 - - 1989.31 - - - 2253.88 - -82.73 - - 3112.19 - - - - - - - - - - -
4833.20 484.93 -9.18 594 4838.06 roll -1.37 - - 1989.88 - 2.58 0.070 1209.31 -404.9 -82.73 - - 3112.25 - - - - - - - - - 16.20 -
4893.04 490.40 -9.53 606 4897.92 roll -1.37 - - 1989.12 - 2.66 0.031 2351.25 429.3 -82.73 - - 3114.19 - - - - - - - - - 16.19 -
5202.90 517.95 -8.78 638 5204.23 no move -1.37 - - 1989.62 - - - 2351.81 - -82.73 - - 3110.69 - - - - - - - - - - -
5513.34 544.59 -8.70 669 5518.07 roll -1.37 - - 1988.38 - 2.81 0.066 1209.31 -406.6 -82.73 - - 3112.09 - - - - - - - - - 16.19 -
5632.98 555.46 -8.90 693 5638.06 roll -1.37 - - 1989.88 - 2.66 0.032 2349.44 428.6 -82.73 - - 3111.22 - - - - - - - - - 16.21 -
5943.02 583.07 -8.39 725 5944.34 no move -1.37 - - 1989.31 - - - 2349.19 - -82.73 - - 3109.34 - - - - - - - - - - -
6253.43 609.19 -8.76 756 6258.15 roll -1.37 - - 1989.44 - 2.81 0.066 1209.88 -405.4 -82.73 - - 3110.50 - - - - - - - - - 16.20 -
6327.59 615.35 -8.78 771 6333.60 roll -1.37 - - 1989.38 - 2.66 0.032 2351.94 429.3 -82.73 - - 3110.53 - - - - - - - - - 16.21 -
6643.10 642.37 -8.13 803 6648.20 roll -1.37 - - 1989.50 - 2.83 0.066 1209.94 -403.5 -82.73 - - 3110.00 - - - - - - - - - 16.19 -
6747.65 651.24 -8.47 824 6753.66 roll -1.37 - - 1989.81 - 2.65 0.032 2349.12 429.9 -82.73 - - 3111.50 - - - - - - - - - 16.20 -
7063.33 678.22 -8.30 856 7064.66 no move -1.37 - - 1989.94 - - - 2349.56 - -82.73 - - 3108.59 - - - - - - - - - - -
7373.69 703.76 -7.84 887 7375.01 no move -1.37 - - 1989.56 - - - 2350.75 - -82.73 - - 3108.44 - - - - - - - - - - -
7683.60 729.09 -7.99 918 7684.93 no move -1.37 - - 1989.44 - - - 2349.81 - -82.73 - - 3107.56 - - - - - - - - - - -
7993.66 754.79 -8.10 949 7994.99 no move -1.37 - - 1989.56 - - - 2349.81 - -82.73 - - 3107.25 - - - - - - - - - - -
8303.73 779.98 -8.08 980 8305.06 no move -1.37 - - 1989.44 - - - 2349.69 - -82.73 - - 3106.69 - - - - - - - - - - -
8613.80 805.54 -8.32 1011 8618.52 roll -1.37 - - 1989.44 - 2.82 0.067 1209.75 -404.2 -82.73 - - 3107.72 - - - - - - - - - 16.21 -
8743.44 816.46 -8.39 1037 8748.54 roll -1.37 - - 1988.88 - 2.65 0.033 2350.31 430.4 -82.73 - - 3108.94 - - - - - - - - - 16.22 -
9053.52 839.65 -7.04 1069 9054.85 no move -1.37 - - 1989.62 - - - 2350.81 - -82.73 - - 3106.00 - - - - - - - - - - -
9363.97 861.00 -6.73 1100 9368.69 roll -1.37 - - 1989.75 - 2.82 0.067 1210.00 -404.5 -82.73 - - 3106.91 - - - - - - - - - 16.22 -
9443.61 866.66 -7.36 1116 9448.70 roll -1.37 - - 1990.00 - 2.65 0.033 2351.50 430.8 -82.73 - - 3106.47 - - - - - - - - - 16.22 -
9753.67 887.33 -6.61 1148 9758.80 roll -1.37 - - 1989.75 - 2.82 0.066 1210.56 -404.6 -82.73 - - 3107.25 - - - - - - - - - 16.22 -
9818.22 891.70 -7.18 1161 9824.42 roll -1.37 - - 1989.62 - 2.65 0.032 2351.62 430.6 -82.73 - - 3105.97 - - - - - - - - - 16.21 -
10133.93 913.24 -6.79 1193 10138.86 roll -1.37 - - 1988.00 - 2.72 0.092 3425.62 394.9 -82.73 - - 3107.31 - - - - - - - - - 16.20 -
10238.33 921.66 -7.70 1214 10245.09 roll -1.37 - - 1989.56 - 2.62 0.023 2255.31 -446.7 -82.73 - - 3106.06 - - - - - - - - - 16.21 -
10554.24 944.71 -7.77 1246 10558.93 roll -1.37 - - 1989.44 - 2.58 0.072 1210.62 -404.9 -82.73 - - 3106.62 - - - - - - - - - 16.20 -
10683.90 955.18 -8.22 1272 10688.99 roll -1.37 - - 1989.38 - 2.65 0.032 2350.25 430.0 -82.73 - - 3105.62 - - - - - - - - - 16.22 -
10994.34 979.69 -7.82 1304 10995.67 no move -1.37 - - 1989.81 - - - 2350.56 - -82.73 - - 3104.25 - - - - - - - - - - -
11134 end dive: TARGET_DEPTH_EXCEEDED
11134 begin apogee
11135.79 990.24 -7.23 1318 11201.32 -0.28 1.76 0.156 2252.69 149.4 0.20 0.134 2281.75 -344.0 - 61.30 2.396 2774.72 -5.4 0.367 - - - - - - 16.15 15.69 12.81
11202 end apogee: CONTROL_FINISHED_OK
11203 begin climb
11203.26 992.16 - 1324 11273.13 1.37 2.61 0.103 2654.00 153.8 - - 2281.56 - 82.73 65.00 2.324 2436.31 -5.2 0.367 - - - - - - 15.71 - 12.77
11576.34 966.23 7.83 1362 11577.67 no move 1.38 - - 2655.56 - - - 2281.19 - 82.73 - - 2430.06 - - - - - - - - - - -
11886.78 941.11 8.28 1393 11888.11 no move 1.38 - - 2655.75 - - - 2281.69 - 82.73 - - 2428.72 - - - - - - - - - - -
12196.85 915.04 8.38 1424 12201.57 done 1.38 - - 2655.44 - 2.89 0.077 1132.44 -397.7 82.73 - - 2430.94 - - - - - - - - - 16.00 -
12236.47 911.53 8.54 1432 12241.90 done 1.38 - - 2655.81 - 2.68 0.031 2270.81 424.8 82.73 - - 2429.22 - - - - - - - - - 16.00 -
12546.93 884.82 8.71 1464 12551.64 done 1.38 - - 2655.94 - 2.76 0.092 3345.69 389.4 82.73 - - 2428.94 - - - - - - - - - 16.03 -
12591.09 880.66 9.53 1473 12597.10 done 1.38 - - 2656.06 - 2.65 0.025 2190.19 -436.0 82.73 - - 2429.06 - - - - - - - - - 16.05 -
12907.03 855.04 7.53 1505 12908.36 VBD 1.40 - - 2655.75 - - - 2189.94 - 82.73 - - 2427.94 - - - - - - - - - - -
13217.08 831.27 7.48 1536 13221.82 done 1.42 - - 2655.56 - 2.96 0.088 3345.88 390.5 82.73 - - 2431.12 - - - - - - - - - 16.09 -
13266.70 827.05 8.09 1546 13271.97 done 1.42 - - 2655.62 - 2.64 0.026 2190.38 -437.7 82.73 - - 2428.91 - - - - - - - - - 16.11 -
13577.34 805.10 7.01 1578 13578.67 VBD 1.45 - - 2655.81 - - - 2190.00 - 82.73 - - 2427.66 - - - - - - - - - - -
13887.23 784.26 6.97 1609 13891.96 done 1.48 - - 2655.94 - 2.95 0.088 3345.12 391.6 82.73 - - 2430.56 - - - - - - - - - 16.12 -
13921.39 781.31 7.51 1616 13927.46 1.50 0.16 0.101 2695.75 248.8 2.64 0.026 2189.94 -437.6 82.73 - - 2428.78 - - - - - - - - 16.10 16.13 -
14237.23 756.33 8.18 1648 14242.04 done 1.50 - - 2695.69 - 2.94 0.088 3345.62 393.1 82.73 - - 2428.31 - - - - - - - - - 16.15 -
14341.48 746.59 9.39 1669 14347.49 done 1.50 - - 2696.56 - 2.64 0.026 2191.31 -437.2 82.73 - - 2428.34 - - - - - - - - - 16.13 -
14657.36 719.46 8.60 1701 14658.69 VBD 1.50 - - 2696.44 - - - 2191.38 - 82.73 - - 2426.66 - - - - - - - - - - -
14967.41 693.49 7.87 1732 14968.75 VBD 1.51 - - 2696.25 - - - 2191.75 - 82.73 - - 2426.16 - - - - - - - - - - -
15277.42 668.04 8.08 1763 15278.76 VBD 1.51 - - 2696.56 - - - 2191.75 - 82.73 - - 2426.56 - - - - - - - - - - -
15587.47 642.10 8.43 1794 15588.80 VBD 1.51 - - 2696.12 - - - 2191.62 - 82.73 - - 2426.34 - - - - - - - - - - -
15897.50 616.51 8.13 1825 15902.18 done 1.51 - - 2696.19 - 2.64 0.081 1132.62 -401.1 82.73 - - 2428.81 - - - - - - - - - 16.17 -
15961.66 610.88 8.77 1838 15967.86 done 1.51 - - 2696.19 - 2.64 0.032 2274.75 432.6 82.73 - - 2427.28 - - - - - - - - - 16.19 -
16277.68 585.86 7.54 1870 16282.27 done 1.53 - - 2696.81 - 2.72 0.092 3345.50 393.7 82.73 - - 2427.28 - - - - - - - - - 16.18 -
16407.20 575.26 8.24 1896 16412.29 done 1.53 - - 2696.25 - 2.62 0.025 2188.75 -441.5 82.73 - - 2427.81 - - - - - - - - - 16.19 -
16717.65 554.16 6.42 1928 16745.18 done 1.59 - - 2696.19 - 2.64 0.084 1131.88 -400.3 112.61 23.08 1.794 2312.81 -5.0 0.254 - - - - - - - 15.98 12.92
16783.16 549.02 8.49 1941 16788.25 roll 1.59 - - 2696.62 - 2.67 0.031 2272.75 427.3 112.61 - - 2313.44 - - - - - - - - - 16.06 -
17093.59 522.32 8.95 1973 17098.31 roll 1.59 - - 2696.94 - 2.86 0.076 1132.69 -398.6 112.61 - - 2312.38 - - - - - - - - - 16.09 -
17163.22 515.65 9.50 1987 17168.31 roll 1.59 - - 2697.06 - 2.66 0.032 2271.38 428.1 112.61 - - 2312.81 - - - - - - - - - 16.10 -
17473.69 489.63 8.33 2019 17475.01 no move 1.59 - - 2696.44 - - - 2270.75 - 112.61 - - 2310.53 - - - - - - - - - - -
17783.75 463.75 8.15 2050 17785.08 no move 1.59 - - 2696.56 - - - 2270.88 - 112.61 - - 2310.28 - - - - - - - - - - -
18094.06 438.79 8.08 2081 18095.39 no move 1.59 - - 2696.69 - - - 2270.38 - 112.61 - - 2310.16 - - - - - - - - - - -
18403.88 413.17 8.06 2112 18405.21 no move 1.59 - - 2696.62 - - - 2270.56 - 112.61 - - 2310.16 - - - - - - - - - - -
18713.97 389.52 7.58 2143 18718.68 roll 1.60 - - 2696.44 - 2.84 0.076 1131.50 -401.1 112.61 - - 2312.41 - - - - - - - - - 16.15 -
18798.13 382.51 8.24 2160 18804.14 roll 1.60 - - 2696.25 - 2.65 0.032 2273.25 430.8 112.61 - - 2311.59 - - - - - - - - - 16.16 -
19114.06 359.55 7.02 2192 19115.39 no move 1.63 - - 2696.06 - - - 2273.38 - 112.61 - - 2310.44 - - - - - - - - - - -
19424.13 337.54 6.81 2223 19425.56 pitch 1.67 0.17 0.094 2737.50 243.8 - - 2272.88 - 112.61 - - 2309.88 - - - - - - - - 16.14 - -
19733.80 313.57 7.85 2254 19735.12 no move 1.68 - - 2737.19 - - - 2273.00 - 112.61 - - 2310.47 - - - - - - - - - - -
20044.25 289.08 7.86 2285 20045.58 no move 1.69 - - 2737.06 - - - 2273.12 - 112.61 - - 2310.66 - - - - - - - - - - -
20354.50 266.97 7.12 2316 20359.03 roll 1.72 - - 2737.94 - 2.85 0.075 1132.12 -400.4 112.61 - - 2311.38 - - - - - - - - - 16.18 -
20463.96 258.40 7.51 2338 20469.03 roll 1.74 - - 2737.12 - 2.64 0.031 2271.56 431.6 112.61 - - 2312.19 - - - - - - - - - 16.17 -
20774.56 234.77 7.77 2370 20775.89 no move 1.75 - - 2737.94 - - - 2272.06 - 112.61 - - 2310.78 - - - - - - - - - - -
21085.01 211.75 7.24 2401 21089.12 roll 1.77 - - 2737.69 - 2.72 0.091 3345.44 394.6 112.61 - - 2314.00 - - - - - - - - - 16.13 -
21134.03 207.86 8.08 2411 21139.12 roll 1.77 - - 2737.62 - 2.63 0.024 2186.31 -440.7 112.61 - - 2311.91 - - - - - - - - - 16.17 -
21444.47 185.53 7.26 2443 21449.21 roll 1.80 - - 2736.75 - 2.92 0.086 3347.00 397.5 112.61 - - 2313.34 - - - - - - - - - 16.14 -
21558.65 176.05 8.53 2466 21564.64 roll 1.80 - - 2737.62 - 2.64 0.025 2188.94 -438.7 112.61 - - 2313.56 - - - - - - - - - 16.17 -
21874.56 154.70 6.23 2498 21905.60 1.86 0.20 0.085 2785.12 237.5 2.65 0.080 1130.50 -399.4 145.30 25.44 1.356 2181.28 -5.2 0.098 - - - - - - 16.15 15.98 12.92
21958.68 147.46 9.50 2515 21964.70 roll 1.86 - - 2785.75 - 2.66 0.030 2272.88 429.5 145.30 - - 2179.06 - - - - - - - - - 16.06 -
22274.59 122.05 7.28 2547 22279.28 roll 1.89 - - 2785.44 - 2.71 0.088 3347.25 396.4 145.30 - - 2179.50 - - - - - - - - - 16.08 -
22348.73 115.72 8.40 2562 22354.74 roll 1.89 - - 2785.56 - 2.65 0.024 2188.12 -437.4 145.30 - - 2178.44 - - - - - - - - - 16.08 -
22659.34 91.53 7.65 2605 22664.80 roll 1.90 - - 2785.19 - 2.60 0.076 1130.00 -407.0 145.30 - - 2178.53 - - - - - - - - - 16.10 -
22894.38 79.68 3.27 2652 22956.76 2.06 0.19 0.084 2831.81 245.4 2.64 0.029 2275.69 434.0 221.34 56.31 1.296 1871.25 -5.5 0.055 - - - - - - 16.08 16.09 12.81
23139.82 70.39 4.31 2701 23191.62 done 2.18 - - 2832.06 - 2.91 0.073 1131.69 -393.1 282.18 45.19 1.245 1624.84 -5.5 0.051 - - - - - - - 15.73 12.73
23200.11 66.98 5.80 2713 23236.70 2.25 0.20 0.078 2882.56 252.5 2.70 0.028 2273.56 422.9 321.21 30.64 1.193 1465.44 -5.2 0.048 - - - - - - 15.75 15.77 12.77
23420.15 40.17 13.40 2757 23425.90 done 2.25 - - 2883.44 - 2.76 0.087 3345.69 388.5 321.21 - - 1455.88 - - - - - - - - - 15.81 -
23440.27 37.37 13.84 2761 23445.70 done 2.25 - - 2882.88 - 2.68 0.024 2190.19 -431.2 321.21 - - 1455.62 - - - - - - - - - 15.83 -
23630.19 18.06 8.82 2799 23631.52 VBD 2.25 - - 2882.38 - - - 2189.88 - 321.21 - - 1452.69 - - - - - - - - - - -
23815.25 2.16 8.57 2836 23820.79 done 2.25 - - 2883.19 - 2.64 0.075 1131.31 -401.0 321.21 - - 1451.91 - - - - - - - - - 15.93 -
23825 end climb: SURFACE_DEPTH_REACHED
23825 begin surface coast
23850 end surface coast: CONTROL_FINISHED_OK
23850 begin surface
SM 3.96 - - - - 188.2 39.56 1.169 1247.2 31.5 16.56 0.052 1228.1 74.2 - 2.84 0.031 1266.4 445.0 -5.810 - - 12.84 15.92 15.95 -