NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 157 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 54.58 of 550.00 AH used of 24V (90.08% remains)
• Surface angle -64.5 deg, depth 1.60 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 374.88 (SM_CC=375)
• GPS1 time: 90 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
6.56 - - - 55.26 VBD -1.37 - - 186.75 - - - 2255.81 - -82.73 47.49 0.005 2410.09 - - - - - - - - - - 15.75
56.00 3.49 -4.45 9 98.41 -1.37 13.70 0.260 1988.94 131.5 2.60 0.069 1208.75 -402.7 -82.73 17.82 0.006 3111.94 39.4 -3.792 - - - - - - 15.72 15.73 15.78
226.39 37.30 -20.96 43 231.96 roll -1.37 - - 1989.25 - 2.70 0.031 2349.19 422.4 -82.73 - - 3113.28 - - - - - - - - - 15.86 -
416.82 69.49 -15.91 81 422.21 roll -1.37 - - 1988.81 - 2.82 0.060 1208.81 -404.4 -82.73 - - 3113.66 - - - - - - - - - 15.92 -
426.56 70.99 -15.85 83 432.00 roll -1.37 - - 1987.81 - 2.69 0.030 2350.44 424.4 -82.73 - - 3113.78 - - - - - - - - - 15.92 -
616.89 97.94 -10.58 121 620.48 no move -1.37 - - 1988.56 - - - 2350.94 - -82.73 - - 3113.56 - - - - - - - - - - -
806.53 117.61 -10.03 142 811.61 roll -1.37 - - 1987.06 - 2.80 0.061 1208.38 -408.1 -82.73 - - 3115.12 - - - - - - - - - 16.01 -
951.08 134.01 -11.74 171 957.08 roll -1.37 - - 1988.44 - 2.67 0.030 2352.00 428.3 -82.73 - - 3115.75 - - - - - - - - - 16.01 -
1266.58 163.66 -8.90 203 1271.68 roll -1.37 - - 1986.62 - 2.71 0.087 3425.62 396.2 -82.73 - - 3115.22 - - - - - - - - - 16.04 -
1381.16 175.78 -10.67 226 1387.15 roll -1.37 - - 1989.19 - 2.59 0.022 2247.62 -454.8 -82.73 - - 3114.50 - - - - - - - - - 16.07 -
1696.68 205.54 -9.37 258 1701.83 roll -1.37 - - 1988.81 - 2.97 0.083 3427.50 397.3 -82.73 - - 3114.72 - - - - - - - - - 16.07 -
1736.69 209.77 -10.63 266 1741.76 roll -1.37 - - 1989.12 - 2.60 0.023 2249.31 -453.1 -82.73 - - 3114.72 - - - - - - - - - 16.08 -
2046.77 240.08 -10.19 298 2048.09 no move -1.37 - - 1988.81 - - - 2247.81 - -82.73 - - 3112.97 - - - - - - - - - - -
2357.45 272.21 -10.31 329 2361.89 roll -1.37 - - 1988.94 - 2.52 0.068 1209.94 -411.9 -82.73 - - 3115.69 - - - - - - - - - 16.10 -
2386.83 275.30 -10.41 335 2391.91 roll -1.37 - - 1988.88 - 2.65 0.030 2351.75 430.9 -82.73 - - 3116.75 - - - - - - - - - 16.11 -
2696.90 306.87 -9.54 367 2701.99 roll -1.37 - - 1988.00 - 2.79 0.063 1208.44 -409.8 -82.73 - - 3115.06 - - - - - - - - - 16.14 -
2761.45 313.38 -10.43 380 2767.46 roll -1.37 - - 1989.31 - 2.64 0.030 2350.81 432.7 -82.73 - - 3114.22 - - - - - - - - - 16.15 -
3076.99 343.15 -9.34 412 3078.32 no move -1.37 - - 1988.94 - - - 2351.44 - -82.73 - - 3113.91 - - - - - - - - - - -
3387.44 373.35 -9.81 443 3392.15 roll -1.37 - - 1987.88 - 2.79 0.063 1208.25 -409.7 -82.73 - - 3114.69 - - - - - - - - - 16.15 -
3431.60 377.77 -10.46 452 3437.60 roll -1.37 - - 1988.25 - 2.64 0.030 2352.31 433.4 -82.73 - - 3114.38 - - - - - - - - - 16.15 -
3747.13 407.64 -9.20 484 3752.23 roll -1.37 - - 1988.75 - 2.80 0.064 1208.69 -408.4 -82.73 - - 3115.22 - - - - - - - - - 16.17 -
3787.13 411.30 -9.15 492 3792.22 roll -1.37 - - 1989.31 - 2.63 0.031 2350.69 434.2 -82.73 - - 3114.50 - - - - - - - - - 16.17 -
4097.21 439.28 -9.07 524 4102.30 roll -1.37 - - 1989.12 - 2.80 0.064 1208.62 -407.9 -82.73 - - 3113.53 - - - - - - - - - 16.18 -
4177.41 446.88 -9.93 540 4182.38 roll -1.37 - - 1988.56 - 2.64 0.031 2351.62 433.0 -82.73 - - 3114.53 - - - - - - - - - 16.18 -
4487.30 475.17 -8.57 572 4492.40 roll -1.37 - - 1989.50 - 2.81 0.064 1209.62 -406.4 -82.73 - - 3113.56 - - - - - - - - - 16.19 -
4537.30 479.59 -10.11 582 4542.39 roll -1.37 - - 1989.06 - 2.63 0.031 2350.56 433.8 -82.73 - - 3114.03 - - - - - - - - - 16.19 -
4847.35 506.60 -8.59 614 4848.68 no move -1.37 - - 1989.50 - - - 2350.44 - -82.73 - - 3111.12 - - - - - - - - - - -
5157.77 532.58 -8.01 645 5159.10 no move -1.37 - - 1989.38 - - - 2350.44 - -82.73 - - 3110.62 - - - - - - - - - - -
5467.80 557.95 -8.44 676 5472.52 roll -1.37 - - 1989.12 - 2.80 0.065 1208.75 -407.7 -82.73 - - 3111.88 - - - - - - - - - 16.19 -
5591.98 568.45 -8.37 701 5597.99 roll -1.37 - - 1989.25 - 2.64 0.032 2351.94 433.0 -82.73 - - 3111.62 - - - - - - - - - 16.20 -
5907.48 594.50 -8.20 733 5908.81 no move -1.37 - - 1988.94 - - - 2352.12 - -82.73 - - 3109.88 - - - - - - - - - - -
6217.90 620.65 -8.77 764 6219.23 no move -1.37 - - 1989.06 - - - 2352.00 - -82.73 - - 3110.06 - - - - - - - - - - -
6527.94 647.55 -9.18 795 6529.26 no move -1.37 - - 1988.69 - - - 2351.88 - -82.73 - - 3110.03 - - - - - - - - - - -
6837.96 674.58 -8.65 826 6842.86 roll -1.37 - - 1989.31 - 2.80 0.066 1210.56 -407.6 -82.73 - - 3109.91 - - - - - - - - - 16.20 -
6887.76 679.12 -9.55 836 6892.67 roll -1.37 - - 1987.88 - 2.64 0.031 2350.25 431.7 -82.73 - - 3111.06 - - - - - - - - - 16.21 -
7197.66 706.10 -8.90 868 7198.98 no move -1.37 - - 1988.75 - - - 2350.44 - -82.73 - - 3108.78 - - - - - - - - - - -
7508.11 731.50 -8.33 899 7512.82 roll -1.37 - - 1988.94 - 2.78 0.065 1209.44 -410.4 -82.73 - - 3109.06 - - - - - - - - - 16.22 -
7622.30 740.70 -8.52 922 7628.30 roll -1.37 - - 1988.00 - 2.63 0.031 2351.31 434.2 -82.73 - - 3109.12 - - - - - - - - - 16.21 -
7937.83 765.00 -7.70 954 7939.16 no move -1.37 - - 1988.56 - - - 2351.50 - -82.73 - - 3107.34 - - - - - - - - - - -
8248.28 788.77 -7.44 985 8253.20 roll -1.37 - - 1988.69 - 2.78 0.066 1208.38 -411.2 -82.73 - - 3108.56 - - - - - - - - - 16.21 -
8312.44 793.94 -7.94 998 8318.45 roll -1.37 - - 1989.19 - 2.64 0.031 2352.00 433.2 -82.73 - - 3107.69 - - - - - - - - - 16.21 -
8627.98 817.44 -7.24 1030 8633.08 roll -1.37 - - 1989.06 - 2.71 0.093 3424.81 395.9 -82.73 - - 3107.44 - - - - - - - - - 16.20 -
8712.54 825.19 -8.98 1047 8718.54 roll -1.37 - - 1989.31 - 2.61 0.024 2251.69 -449.5 -82.73 - - 3108.12 - - - - - - - - - 16.21 -
9028.07 848.94 -7.45 1079 9029.40 no move -1.37 - - 1989.69 - - - 2251.75 - -82.73 - - 3105.41 - - - - - - - - - - -
9338.75 871.95 -7.20 1110 9340.08 no move -1.37 - - 1989.44 - - - 2251.56 - -82.73 - - 3105.66 - - - - - - - - - - -
9648.59 894.78 -7.38 1141 9653.26 roll -1.37 - - 1989.44 - 2.53 0.072 1210.50 -411.5 -82.73 - - 3106.03 - - - - - - - - - 16.20 -
9698.20 898.78 -8.50 1151 9703.30 roll -1.37 - - 1989.44 - 2.65 0.032 2351.50 430.6 -82.73 - - 3106.28 - - - - - - - - - 16.21 -
10008.28 922.23 -7.47 1183 10009.61 no move -1.37 - - 1989.19 - - - 2351.75 - -82.73 - - 3104.97 - - - - - - - - - - -
10318.90 944.19 -7.09 1214 10323.43 roll -1.37 - - 1989.62 - 2.79 0.067 1210.50 -409.1 -82.73 - - 3106.38 - - - - - - - - - 16.23 -
10402.89 950.31 -7.38 1231 10408.90 roll -1.37 - - 1989.88 - 2.65 0.032 2351.81 430.7 -82.73 - - 3106.03 - - - - - - - - - 16.23 -
10718.77 971.98 -6.51 1263 10723.49 roll -1.37 - - 1989.75 - 2.78 0.067 1209.88 -410.8 -82.73 - - 3106.03 - - - - - - - - - 16.23 -
10772.94 975.58 -6.77 1274 10778.94 roll -1.37 - - 1988.19 - 2.65 0.032 2351.25 430.7 -82.73 - - 3106.41 - - - - - - - - - 16.21 -
10998 end dive: TARGET_DEPTH_EXCEEDED
10998 begin apogee
11000.25 990.34 -6.47 1297 11066.02 -0.28 1.76 0.155 2254.31 151.2 0.21 0.136 2278.81 -345.0 - 61.37 2.393 2773.06 -5.4 0.372 - - - - - - 16.16 15.68 12.88
11067 end apogee: CONTROL_FINISHED_OK
11067 begin climb
11068.09 991.79 - 1303 11144.42 1.37 2.62 0.103 2655.56 153.1 2.88 0.095 3345.00 370.2 82.73 65.25 2.328 2437.03 -5.1 0.363 - - - - - - 15.71 15.33 12.73
11172.70 985.88 6.44 1323 11203.96 done 1.43 - - 2655.56 - 2.73 0.025 2191.50 -422.5 112.32 25.34 2.171 2316.78 -4.7 0.357 - - - - - - - 15.51 12.61
11512.55 954.36 9.55 1360 11517.63 roll 1.43 - - 2655.75 - 2.68 0.081 1133.44 -394.8 112.32 - - 2311.62 - - - - - - - - - 15.79 -
11582.57 947.01 10.42 1374 11587.67 roll 1.43 - - 2655.81 - 2.71 0.032 2268.81 419.0 112.32 - - 2310.59 - - - - - - - - - 15.83 -
11893.01 917.22 9.71 1406 11894.34 VBD 1.43 - - 2656.06 - - - 2268.81 - 112.32 - - 2308.12 - - - - - - - - - - -
12203.08 886.93 9.52 1437 12204.42 VBD 1.43 - - 2655.69 - - - 2268.19 - 112.32 - - 2307.00 - - - - - - - - - - -
12513.39 857.94 9.74 1468 12514.72 VBD 1.43 - - 2655.25 - - - 2268.75 - 112.32 - - 2306.75 - - - - - - - - - - -
12823.21 827.66 9.62 1499 12827.94 done 1.43 - - 2655.25 - 2.85 0.077 1132.50 -398.7 112.32 - - 2308.66 - - - - - - - - - 16.08 -
12887.38 820.62 10.61 1512 12893.39 done 1.43 - - 2655.56 - 2.67 0.032 2268.81 425.6 112.32 - - 2306.84 - - - - - - - - - 16.08 -
13203.30 789.07 9.80 1544 13204.63 VBD 1.43 - - 2655.19 - - - 2268.94 - 112.32 - - 2305.59 - - - - - - - - - - -
13513.36 758.63 10.12 1575 13518.07 done 1.43 - - 2655.62 - 2.77 0.093 3345.25 388.6 112.32 - - 2306.62 - - - - - - - - - 16.11 -
13552.98 754.17 11.06 1583 13558.07 done 1.43 - - 2655.19 - 2.64 0.026 2191.31 -437.1 112.32 - - 2306.72 - - - - - - - - - 16.12 -
13863.44 724.25 9.27 1615 13864.77 VBD 1.43 - - 2655.50 - - - 2190.56 - 112.32 - - 2305.50 - - - - - - - - - - -
14173.50 696.84 8.72 1646 14178.25 done 1.43 - - 2655.44 - 2.96 0.090 3344.19 389.7 112.32 - - 2306.03 - - - - - - - - - 16.15 -
14227.67 691.45 9.70 1657 14233.68 done 1.43 - - 2655.69 - 2.63 0.026 2192.69 -437.8 112.32 - - 2307.75 - - - - - - - - - 16.16 -
14543.60 666.18 7.55 1689 14548.28 done 1.44 - - 2655.94 - 2.67 0.081 1132.56 -397.1 112.32 - - 2305.94 - - - - - - - - - 16.16 -
14627.96 659.57 7.58 1706 14633.84 done 1.46 - - 2655.56 - 2.65 0.032 2268.94 428.8 112.32 - - 2306.34 - - - - - - - - - 16.17 -
14943.69 636.89 6.92 1738 14948.45 1.49 0.15 0.098 2698.00 282.9 2.76 0.094 3344.38 389.7 112.32 - - 2306.47 - - - - - - - - 16.15 16.14 -
14987.85 632.75 9.11 1747 14993.85 done 1.49 - - 2697.44 - 2.63 0.026 2190.56 -438.7 112.32 - - 2308.16 - - - - - - - - - 16.18 -
15303.73 605.30 8.78 1779 15308.48 done 1.49 - - 2697.88 - 2.94 0.089 3345.06 392.7 112.32 - - 2306.50 - - - - - - - - - 16.15 -
15377.91 598.10 9.77 1794 15383.91 done 1.49 - - 2697.75 - 2.63 0.026 2191.31 -438.7 112.32 - - 2306.53 - - - - - - - - - 16.17 -
15693.78 569.81 9.07 1826 15695.12 VBD 1.49 - - 2697.56 - - - 2190.75 - 112.32 - - 2305.12 - - - - - - - - - - -
16003.82 543.45 8.41 1857 16005.16 VBD 1.49 - - 2698.00 - - - 2190.56 - 112.32 - - 2304.72 - - - - - - - - - - -
16313.86 516.64 8.23 1888 16315.19 VBD 1.49 - - 2698.25 - - - 2190.44 - 112.32 - - 2304.47 - - - - - - - - - - -
16623.89 490.62 8.48 1919 16625.22 VBD 1.49 - - 2698.00 - - - 2190.44 - 112.32 - - 2304.59 - - - - - - - - - - -
16933.93 465.81 8.05 1950 16935.26 VBD 1.49 - - 2698.00 - - - 2190.31 - 112.32 - - 2304.41 - - - - - - - - - - -
17243.96 440.34 8.57 1981 17248.89 done 1.49 - - 2697.75 - 2.95 0.089 3345.06 391.4 112.32 - - 2305.56 - - - - - - - - - 16.17 -
17308.25 434.18 9.49 1994 17314.14 done 1.49 - - 2698.62 - 2.62 0.026 2192.50 -439.9 112.32 - - 2305.69 - - - - - - - - - 16.19 -
17624.06 408.18 7.89 2026 17628.79 done 1.50 - - 2698.00 - 2.93 0.088 3347.69 394.3 112.32 - - 2306.84 - - - - - - - - - 16.19 -
17708.23 400.55 8.94 2043 17714.24 done 1.50 - - 2698.38 - 2.63 0.026 2188.62 -440.7 112.32 - - 2306.88 - - - - - - - - - 16.20 -
18024.16 376.59 7.33 2075 18028.88 done 1.53 - - 2696.56 - 2.94 0.088 3345.19 393.4 112.32 - - 2306.94 - - - - - - - - - 16.19 -
18073.78 372.31 8.25 2085 18078.85 done 1.53 - - 2697.25 - 2.62 0.025 2190.38 -440.8 112.32 - - 2306.53 - - - - - - - - - 16.19 -
18384.41 349.67 7.35 2117 18385.74 VBD 1.55 - - 2698.31 - - - 2190.81 - 112.32 - - 2304.66 - - - - - - - - - - -
18694.30 326.28 7.48 2148 18695.63 VBD 1.57 - - 2698.19 - - - 2190.31 - 112.32 - - 2304.69 - - - - - - - - - - -
19004.37 303.28 7.32 2179 19005.70 VBD 1.59 - - 2697.94 - - - 2189.75 - 112.32 - - 2304.72 - - - - - - - - - - -
19314.43 281.80 6.77 2210 19319.11 done 1.63 - - 2698.19 - 2.62 0.081 1131.19 -404.0 112.32 - - 2307.84 - - - - - - - - - 16.18 -
19404.07 275.35 7.25 2228 19409.33 done 1.65 - - 2698.31 - 2.64 0.032 2272.00 432.1 112.32 - - 2306.03 - - - - - - - - - 16.17 -
19714.70 253.82 7.04 2260 19716.13 1.68 0.17 0.087 2739.44 241.9 - - 2271.69 - 112.32 - - 2305.22 - - - - - - - - 16.15 - -
20024.18 229.07 8.04 2291 20025.51 VBD 1.68 - - 2738.94 - - - 2271.38 - 112.32 - - 2305.16 - - - - - - - - - - -
20334.65 205.59 6.78 2322 20335.99 VBD 1.71 - - 2739.25 - - - 2271.88 - 112.32 - - 2305.12 - - - - - - - - - - -
20644.71 184.22 7.13 2353 20649.42 done 1.74 - - 2740.31 - 2.83 0.074 1128.44 -404.0 112.32 - - 2306.38 - - - - - - - - - 16.16 -
20708.88 179.27 7.51 2366 20714.88 done 1.76 - - 2740.56 - 2.63 0.031 2272.81 435.1 112.32 - - 2306.62 - - - - - - - - - 16.17 -
21024.76 157.34 6.76 2398 21029.44 done 1.79 - - 2739.75 - 2.69 0.091 3345.56 398.8 112.32 - - 2308.53 - - - - - - - - - 16.17 -
21224.40 141.77 8.14 2438 21229.50 done 1.79 - - 2739.94 - 2.61 0.025 2187.62 -443.7 112.32 - - 2306.16 - - - - - - - - - 16.18 -
21534.84 124.87 5.26 2470 21570.21 1.89 0.22 0.078 2793.00 241.2 - - 2187.25 - 159.23 34.08 1.324 2126.94 -5.3 0.082 - - - - - - 16.16 - 12.91
21874.68 100.78 6.40 2504 21900.03 VBD 1.95 - - 2792.94 - - - 2188.06 - 189.38 23.78 1.257 2001.59 -5.3 0.070 - - - - - - - - 12.83
22084.54 85.78 6.66 2544 22090.12 roll 1.98 - - 2792.94 - 2.97 0.084 3345.81 389.8 189.38 - - 1997.50 - - - - - - - - - 15.97 -
22319.59 76.70 3.32 2591 22381.97 2.13 0.26 0.073 2852.25 228.1 2.63 0.024 2185.44 -441.2 264.64 55.84 1.274 1695.78 -5.4 0.054 - - - - - - 16.00 16.03 12.81
22565.03 59.07 8.68 2640 22570.57 done 2.13 - - 2852.38 - 2.64 0.077 1131.00 -399.4 264.64 - - 1687.62 - - - - - - - - - 15.86 -
22800.11 37.39 8.32 2687 22805.67 done 2.13 - - 2852.88 - 2.66 0.030 2273.69 429.6 264.64 - - 1684.69 - - - - - - - - - 15.95 -
22990.20 26.21 4.68 2725 23037.10 done 2.24 - - 2852.31 - 2.87 0.073 1131.50 -398.0 319.99 41.06 1.187 1469.88 -5.2 0.019 - - - - - - - 15.76 12.89
23230.31 7.65 8.66 2773 23235.86 roll 2.24 - - 2852.44 - 2.67 0.030 2273.94 427.9 319.99 - - 1463.59 - - - - - - - - - 15.91 -
23300 end climb: SURFACE_DEPTH_REACHED
23300 begin surface coast
23330 end surface coast: CONTROL_FINISHED_OK
23330 begin surface
SM 1.94 - - - - 186.6 41.31 1.162 1246.8 30.2 16.36 0.050 1220.9 74.6 - 0.13 0.115 1272.6 9768.7 -16.843 - - 12.77 15.90 15.93 -