NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 167 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 57.53 of 550.00 AH used of 24V (89.54% remains)
• Surface angle -66.0 deg, depth 1.60 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 374.76 (SM_CC=375)
• GPS1 time: 39 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
6.29 - - - 55.00 VBD -1.37 - - 178.19 - - - 2253.56 - -82.73 47.51 0.005 2411.06 - - - - - - - - - - 15.76
55.73 3.17 -4.21 9 98.18 -1.37 13.62 0.250 1988.50 132.9 2.61 0.069 1209.75 -399.9 -82.73 17.92 0.006 3112.66 39.2 -3.435 - - - - - - 15.74 15.74 15.78
326.18 54.73 -17.08 63 331.74 roll -1.37 - - 1988.38 - 2.63 0.030 2350.75 433.8 -82.73 - - 3113.81 - - - - - - - - - 15.90 -
516.88 81.77 -12.68 101 521.83 roll -1.37 - - 1988.62 - 2.86 0.060 1209.75 -399.0 -82.73 - - 3116.03 - - - - - - - - - 15.96 -
651.30 98.43 -10.66 128 656.85 roll -1.37 - - 1987.88 - 2.62 0.029 2353.06 436.4 -82.73 - - 3116.09 - - - - - - - - - 16.00 -
846.36 117.46 -9.43 149 851.46 roll -1.37 - - 1987.56 - 2.85 0.060 1209.75 -401.2 -82.73 - - 3115.69 - - - - - - - - - 16.02 -
941.10 126.33 -9.21 168 946.93 roll -1.37 - - 1988.62 - 2.62 0.029 2355.19 437.2 -82.73 - - 3114.78 - - - - - - - - - 16.03 -
1256.45 154.61 -8.68 200 1257.79 no move -1.37 - - 1988.38 - - - 2355.19 - -82.73 - - 3113.69 - - - - - - - - - - -
1566.89 182.79 -9.42 231 1568.22 no move -1.37 - - 1988.69 - - - 2354.75 - -82.73 - - 3113.53 - - - - - - - - - - -
1876.95 211.27 -8.98 262 1881.69 roll -1.37 - - 1988.19 - 2.85 0.061 1210.00 -401.7 -82.73 - - 3115.09 - - - - - - - - - 16.09 -
1926.58 215.93 -9.53 272 1931.67 roll -1.37 - - 1988.25 - 2.62 0.030 2353.38 436.4 -82.73 - - 3114.72 - - - - - - - - - 16.12 -
2236.65 245.82 -9.75 304 2237.98 no move -1.37 - - 1988.69 - - - 2353.25 - -82.73 - - 3114.19 - - - - - - - - - - -
2547.10 275.85 -9.32 335 2551.83 roll -1.37 - - 1988.44 - 2.85 0.062 1211.31 -400.7 -82.73 - - 3116.03 - - - - - - - - - 16.14 -
2581.25 279.12 -9.47 342 2587.43 roll -1.37 - - 1987.38 - 2.59 0.029 2354.00 441.2 -82.73 - - 3116.47 - - - - - - - - - 16.14 -
2896.97 308.67 -9.38 374 2901.91 roll -1.37 - - 1988.62 - 2.82 0.062 1209.00 -406.0 -82.73 - - 3114.47 - - - - - - - - - 16.15 -
2991.35 317.78 -9.51 393 2997.35 roll -1.37 - - 1988.69 - 2.61 0.030 2352.56 438.1 -82.73 - - 3115.00 - - - - - - - - - 16.16 -
3306.88 345.22 -9.06 425 3308.21 no move -1.37 - - 1988.94 - - - 2353.00 - -82.73 - - 3113.88 - - - - - - - - - - -
3617.32 372.53 -8.56 456 3622.05 roll -1.37 - - 1989.00 - 2.83 0.063 1209.06 -404.2 -82.73 - - 3114.06 - - - - - - - - - 16.17 -
3691.49 379.28 -9.11 471 3697.50 roll -1.37 - - 1988.75 - 2.61 0.030 2351.56 437.7 -82.73 - - 3114.66 - - - - - - - - - 16.17 -
4007.00 407.42 -8.78 503 4008.33 no move -1.37 - - 1989.06 - - - 2351.50 - -82.73 - - 3112.88 - - - - - - - - - - -
4317.40 436.26 -8.99 534 4318.73 no move -1.37 - - 1989.00 - - - 2352.38 - -82.73 - - 3111.78 - - - - - - - - - - -
4627.44 465.23 -10.14 565 4632.17 roll -1.37 - - 1989.00 - 2.85 0.064 1210.06 -400.8 -82.73 - - 3113.53 - - - - - - - - - 16.19 -
4661.59 468.45 -9.61 572 4667.59 roll -1.37 - - 1988.88 - 2.61 0.031 2352.06 437.5 -82.73 - - 3113.59 - - - - - - - - - 16.19 -
4977.10 499.86 -9.77 604 4982.39 roll -1.37 - - 1988.88 - 2.84 0.064 1210.69 -401.9 -82.73 - - 3112.38 - - - - - - - - - 16.18 -
5027.27 504.75 -10.03 614 5032.18 roll -1.37 - - 1988.25 - 2.62 0.031 2353.50 436.2 -82.73 - - 3114.22 - - - - - - - - - 16.19 -
5337.14 534.98 -9.60 646 5342.24 roll -1.37 - - 1988.44 - 2.81 0.064 1209.62 -407.1 -82.73 - - 3113.00 - - - - - - - - - 16.20 -
5397.14 540.72 -9.77 658 5402.23 roll -1.37 - - 1988.75 - 2.61 0.031 2352.00 437.7 -82.73 - - 3112.50 - - - - - - - - - 16.19 -
5707.19 568.89 -8.61 690 5708.52 no move -1.37 - - 1988.75 - - - 2351.88 - -82.73 - - 3110.28 - - - - - - - - - - -
6017.60 596.13 -8.55 721 6022.32 roll -1.37 - - 1988.56 - 2.83 0.065 1210.38 -403.4 -82.73 - - 3111.50 - - - - - - - - - 16.19 -
6091.77 602.69 -9.16 736 6097.77 roll -1.37 - - 1989.00 - 2.60 0.031 2351.81 439.0 -82.73 - - 3110.59 - - - - - - - - - 16.20 -
6407.31 630.11 -8.67 768 6408.64 no move -1.37 - - 1988.69 - - - 2351.75 - -82.73 - - 3108.38 - - - - - - - - - - -
6717.76 657.51 -8.65 799 6719.09 no move -1.37 - - 1989.25 - - - 2351.81 - -82.73 - - 3108.47 - - - - - - - - - - -
7027.82 683.84 -8.64 830 7032.56 roll -1.37 - - 1989.00 - 2.84 0.065 1210.81 -401.8 -82.73 - - 3109.09 - - - - - - - - - 16.22 -
7087.45 689.17 -9.31 842 7092.72 roll -1.37 - - 1989.19 - 2.62 0.032 2352.75 435.9 -82.73 - - 3111.66 - - - - - - - - - 16.22 -
7397.70 715.85 -8.67 874 7402.64 roll -1.37 - - 1988.81 - 2.85 0.065 1209.44 -401.2 -82.73 - - 3109.72 - - - - - - - - - 16.22 -
7432.06 718.69 -8.37 881 7438.08 roll -1.37 - - 1989.12 - 2.61 0.031 2354.06 438.6 -82.73 - - 3108.69 - - - - - - - - - 16.22 -
7747.60 745.41 -8.65 913 7748.93 no move -1.37 - - 1989.00 - - - 2354.38 - -82.73 - - 3107.03 - - - - - - - - - - -
8058.06 771.44 -8.37 944 8062.78 roll -1.37 - - 1987.62 - 2.85 0.065 1211.75 -400.9 -82.73 - - 3109.19 - - - - - - - - - 16.22 -
8137.69 778.28 -8.44 960 8142.78 roll -1.37 - - 1989.31 - 2.62 0.032 2353.38 435.7 -82.73 - - 3107.50 - - - - - - - - - 16.22 -
8447.75 802.66 -7.49 992 8449.08 no move -1.37 - - 1988.75 - - - 2353.62 - -82.73 - - 3105.84 - - - - - - - - - - -
8758.21 824.63 -6.89 1023 8759.54 no move -1.37 - - 1989.25 - - - 2353.25 - -82.73 - - 3105.56 - - - - - - - - - - -
9068.28 845.23 -6.37 1054 9069.61 no move -1.37 - - 1988.81 - - - 2353.25 - -82.73 - - 3105.38 - - - - - - - - - - -
9378.35 862.93 -5.62 1085 9379.68 no move -1.37 - - 1988.81 - - - 2352.62 - -82.73 - - 3104.69 - - - - - - - - - - -
9688.39 880.26 -5.78 1116 9693.10 roll -1.37 - - 1989.25 - 2.85 0.066 1211.06 -400.5 -82.73 - - 3105.44 - - - - - - - - - 16.21 -
9762.56 884.77 -6.32 1131 9768.73 roll -1.37 - - 1988.81 - 2.62 0.032 2352.94 435.8 -82.73 - - 3106.72 - - - - - - - - - 16.22 -
10078.61 904.01 -6.13 1163 10079.94 no move -1.37 - - 1988.75 - - - 2352.94 - -82.73 - - 3104.69 - - - - - - - - - - -
10388.48 923.55 -6.34 1194 10389.81 no move -1.37 - - 1988.50 - - - 2353.06 - -82.73 - - 3103.75 - - - - - - - - - - -
10698.67 943.61 -6.64 1225 10703.23 roll -1.37 - - 1988.44 - 2.86 0.066 1212.12 -398.9 -82.73 - - 3105.22 - - - - - - - - - 16.21 -
10748.13 946.81 -6.25 1235 10753.20 roll -1.37 - - 1988.50 - 2.61 0.032 2352.44 436.9 -82.73 - - 3106.19 - - - - - - - - - 16.22 -
11058.56 966.76 -6.35 1267 11059.89 no move -1.37 - - 1988.31 - - - 2352.00 - -82.73 - - 3103.69 - - - - - - - - - - -
11368.60 986.56 -6.33 1298 11369.93 no move -1.37 - - 1988.75 - - - 2352.94 - -82.73 - - 3102.75 - - - - - - - - - - -
11428 end dive: TARGET_DEPTH_EXCEEDED
11428 begin apogee
11430.02 990.58 -6.70 1304 11495.56 -0.28 1.77 0.151 2254.25 150.0 0.20 0.138 2282.56 -351.9 - 61.24 2.399 2774.22 -5.4 0.368 - - - - - - 16.14 15.69 12.78
11505 end apogee: CONTROL_FINISHED_OK
11505 begin climb
11505.71 991.58 - 1310 11581.37 1.37 2.61 0.099 2656.06 154.0 2.84 0.095 3345.62 374.3 82.73 65.00 2.335 2438.66 -5.2 0.364 - - - - - - 15.73 15.35 12.84
11590.21 987.00 6.06 1324 11626.08 done 1.44 - - 2656.25 - 2.77 0.024 2192.06 -416.4 117.98 29.89 2.200 2294.94 -4.8 0.358 - - - - - - - 15.47 12.67
11930.07 954.08 10.17 1362 11931.40 no move 1.44 - - 2656.06 - - - 2191.44 - 117.98 - - 2286.03 - - - - - - - - - - -
12240.49 923.66 9.73 1393 12245.24 done 1.44 - - 2656.25 - 2.97 0.090 3345.06 388.4 117.98 - - 2285.94 - - - - - - - - - 15.90 -
12304.66 916.38 11.36 1406 12310.66 done 1.44 - - 2655.94 - 2.69 0.026 2194.38 -427.8 117.98 - - 2287.53 - - - - - - - - - 15.94 -
12620.53 887.16 9.13 1438 12621.87 VBD 1.44 - - 2655.38 - - - 2194.31 - 117.98 - - 2283.78 - - - - - - - - - - -
12930.57 858.51 8.82 1469 12931.91 VBD 1.44 - - 2655.62 - - - 2194.38 - 117.98 - - 2282.66 - - - - - - - - - - -
13240.61 831.27 8.90 1500 13241.94 VBD 1.44 - - 2655.62 - - - 2193.94 - 117.98 - - 2282.38 - - - - - - - - - - -
13550.67 805.08 8.28 1531 13552.00 VBD 1.44 - - 2655.75 - - - 2193.88 - 117.98 - - 2281.62 - - - - - - - - - - -
13860.74 779.76 8.34 1562 13862.07 VBD 1.44 - - 2656.12 - - - 2193.75 - 117.98 - - 2281.62 - - - - - - - - - - -
14170.81 754.18 8.26 1593 14175.72 done 1.44 - - 2655.56 - 2.92 0.090 3346.69 394.8 117.98 - - 2284.97 - - - - - - - - - 16.11 -
14195.13 751.78 8.80 1598 14200.97 done 1.44 - - 2656.06 - 2.67 0.026 2191.25 -432.7 117.98 - - 2282.91 - - - - - - - - - 16.13 -
14510.88 726.01 8.36 1630 14515.62 done 1.44 - - 2656.38 - 2.92 0.090 3344.94 395.1 117.98 - - 2282.53 - - - - - - - - - 16.14 -
14560.50 721.03 9.84 1640 14565.92 done 1.44 - - 2656.00 - 2.65 0.026 2192.56 -434.9 117.98 - - 2284.66 - - - - - - - - - 16.14 -
14870.95 695.21 8.24 1672 14872.28 VBD 1.44 - - 2655.69 - - - 2192.50 - 117.98 - - 2281.19 - - - - - - - - - - -
15181.02 670.51 8.18 1703 15185.76 done 1.44 - - 2655.38 - 2.92 0.090 3346.62 395.2 117.98 - - 2281.75 - - - - - - - - - 16.15 -
15225.18 666.69 8.41 1712 15231.20 done 1.44 - - 2655.56 - 2.64 0.026 2193.31 -436.9 117.98 - - 2281.72 - - - - - - - - - 16.15 -
15541.12 643.01 7.30 1744 15542.45 VBD 1.46 - - 2655.75 - - - 2192.88 - 117.98 - - 2280.12 - - - - - - - - - - -
15851.18 620.54 7.17 1775 15852.51 VBD 1.49 - - 2656.81 - - - 2193.06 - 117.98 - - 2279.88 - - - - - - - - - - -
16161.25 597.74 7.45 1806 16162.68 1.51 0.17 0.099 2699.25 249.6 - - 2192.12 - 117.98 - - 2280.03 - - - - - - - - 16.15 - -
16470.95 570.89 8.32 1837 16476.22 done 1.51 - - 2699.19 - 2.91 0.090 3345.12 396.2 117.98 - - 2281.78 - - - - - - - - - 16.17 -
16495.62 568.51 9.00 1842 16501.50 done 1.51 - - 2699.12 - 2.64 0.026 2193.38 -436.3 117.98 - - 2281.06 - - - - - - - - - 16.19 -
16811.35 542.04 8.57 1874 16816.04 done 1.51 - - 2699.31 - 2.67 0.080 1132.69 -397.3 117.98 - - 2281.12 - - - - - - - - - 16.18 -
16855.51 537.95 8.86 1883 16861.50 done 1.51 - - 2698.38 - 2.60 0.032 2272.00 438.2 117.98 - - 2282.75 - - - - - - - - - 16.19 -
17171.18 512.06 8.71 1915 17176.12 done 1.51 - - 2699.31 - 2.88 0.075 1132.81 -395.6 117.98 - - 2280.97 - - - - - - - - - 16.19 -
17251.02 504.57 9.83 1931 17256.10 done 1.51 - - 2699.50 - 2.61 0.032 2271.81 436.4 117.98 - - 2281.06 - - - - - - - - - 16.18 -
17561.44 475.59 9.45 1963 17562.78 VBD 1.51 - - 2699.56 - - - 2271.56 - 117.98 - - 2279.50 - - - - - - - - - - -
17871.48 448.43 8.06 1994 17876.17 done 1.51 - - 2699.19 - 2.69 0.094 3347.50 400.0 117.98 - - 2281.03 - - - - - - - - - 16.16 -
17991.12 436.99 9.83 2018 17996.20 done 1.51 - - 2698.88 - 2.63 0.026 2190.31 -440.0 117.98 - - 2282.06 - - - - - - - - - 16.18 -
18301.57 412.80 7.69 2050 18306.41 done 1.52 - - 2698.88 - 2.66 0.079 1131.38 -398.1 117.98 - - 2281.50 - - - - - - - - - 16.17 -
18361.33 407.87 8.24 2062 18366.25 done 1.52 - - 2699.44 - 2.62 0.031 2273.69 436.0 117.98 - - 2281.88 - - - - - - - - - 16.19 -
18671.60 384.58 7.46 2094 18676.32 done 1.54 - - 2699.19 - 2.87 0.074 1132.19 -397.7 117.98 - - 2283.66 - - - - - - - - - 16.18 -
18751.23 378.24 8.06 2110 18756.32 done 1.54 - - 2698.88 - 2.62 0.031 2273.94 435.8 117.98 - - 2281.34 - - - - - - - - - 16.18 -
19061.71 355.77 7.40 2142 19066.42 done 1.56 - - 2699.50 - 2.86 0.074 1131.44 -399.5 117.98 - - 2281.47 - - - - - - - - - 16.19 -
19125.87 350.52 8.17 2155 19131.88 done 1.56 - - 2699.81 - 2.61 0.032 2273.62 437.6 117.98 - - 2282.12 - - - - - - - - - 16.17 -
19441.80 326.03 7.94 2187 19446.48 done 1.57 - - 2699.06 - 2.69 0.093 3345.62 398.5 117.98 - - 2281.50 - - - - - - - - - 16.17 -
19491.42 321.68 8.85 2197 19496.50 done 1.57 - - 2698.88 - 2.64 0.025 2189.06 -438.1 117.98 - - 2281.47 - - - - - - - - - 16.18 -
19801.87 298.18 7.96 2229 19803.20 VBD 1.57 - - 2698.69 - - - 2188.56 - 117.98 - - 2280.00 - - - - - - - - - - -
20111.95 275.48 7.10 2260 20116.69 done 1.60 - - 2699.38 - 2.93 0.088 3346.31 395.1 117.98 - - 2281.28 - - - - - - - - - 16.15 -
20171.76 270.57 8.41 2272 20176.71 done 1.60 - - 2699.62 - 2.63 0.025 2189.12 -440.0 117.98 - - 2282.66 - - - - - - - - - 16.16 -
20482.21 247.91 7.24 2304 20486.77 done 1.63 - - 2699.69 - 2.92 0.087 3346.19 396.3 117.98 - - 2282.38 - - - - - - - - - 16.18 -
20551.66 242.33 8.08 2318 20556.76 done 1.63 - - 2699.19 - 2.64 0.025 2188.81 -438.4 117.98 - - 2281.34 - - - - - - - - - 16.18 -
20862.13 220.05 6.55 2350 20863.47 VBD 1.66 - - 2698.88 - - - 2189.19 - 117.98 - - 2281.06 - - - - - - - - - - -
21172.20 200.24 6.89 2381 21176.93 1.70 0.19 0.086 2743.12 232.8 2.65 0.077 1131.44 -399.2 117.98 - - 2282.22 - - - - - - - - 16.15 16.15 -
21306.76 189.14 8.32 2408 21312.38 done 1.70 - - 2743.25 - 2.62 0.031 2275.50 436.7 117.98 - - 2283.81 - - - - - - - - - 16.17 -
21622.30 164.00 7.92 2440 21627.02 done 1.71 - - 2743.38 - 2.84 0.072 1129.94 -403.4 117.98 - - 2281.78 - - - - - - - - - 16.18 -
21676.46 159.59 8.31 2451 21682.46 done 1.71 - - 2743.38 - 2.61 0.030 2276.06 439.1 117.98 - - 2282.16 - - - - - - - - - 16.17 -
21992.37 139.14 6.78 2483 21997.26 done 1.74 - - 2743.06 - 2.85 0.071 1129.81 -402.2 117.98 - - 2283.31 - - - - - - - - - 16.17 -
22066.65 133.55 7.61 2498 22072.53 done 1.76 - - 2742.44 - 2.61 0.030 2274.56 438.6 117.98 - - 2283.78 - - - - - - - - - 16.17 -
22382.41 118.44 4.12 2530 22434.25 1.88 0.19 0.080 2791.88 260.2 2.87 0.073 1130.00 -398.8 181.63 45.71 1.315 2033.47 -5.5 0.082 - - - - - - 16.15 15.92 12.81
22552.28 105.67 8.43 2564 22557.37 roll 1.88 - - 2792.94 - 2.64 0.030 2273.12 433.0 181.63 - - 2028.22 - - - - - - - - - 16.00 -
22862.58 82.23 6.68 2620 22866.17 VBD 1.92 - - 2792.81 - - - 2273.50 - 181.63 - - 2026.41 - - - - - - - - - - -
23047.48 74.96 3.13 2657 23109.91 2.08 0.19 0.084 2839.69 246.7 2.72 0.089 3345.62 394.2 259.76 57.25 1.252 1715.44 -5.4 0.054 - - - - - - 16.04 15.77 12.85
23323.14 51.57 9.65 2712 23328.56 done 2.08 - - 2840.06 - 2.67 0.024 2188.12 -433.5 259.76 - - 1707.06 - - - - - - - - - 15.91 -
23513.00 35.17 9.05 2750 23518.60 done 2.08 - - 2839.69 - 2.91 0.083 3347.31 398.3 259.76 - - 1704.59 - - - - - - - - - 15.95 -
23548.01 32.08 8.73 2757 23553.55 done 2.08 - - 2839.38 - 2.67 0.024 2187.50 -434.4 259.76 - - 1704.78 - - - - - - - - - 15.94 -
23738.06 21.68 4.02 2795 23790.84 done 2.21 - - 2840.25 - 2.69 0.077 1131.31 -392.6 324.84 47.98 1.166 1450.19 -5.3 0.016 - - - - - - - 15.76 12.81
24009 end climb: SURFACE_DEPTH_REACHED
24009 begin surface coast
24029 end surface coast: CONTROL_FINISHED_OK
24029 begin surface
SM 3.55 - - - - 180.8 37.47 1.137 1247.2 32.0 16.31 0.051 1217.7 74.7 - 2.82 0.030 1276.8 451.8 -5.464 - - 12.72 15.89 15.92 -