NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 215 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 70.77 of 550.00 AH used of 24V (87.13% remains)
• Surface angle -62.9 deg, depth 1.46 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 425.01 (SM_CC=425)
• GPS1 time: 46 s
• GPS2 time: 5 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
6.41 - - - 65.77 VBD -1.37 - - 181.81 - - - 2256.06 - -82.73 58.17 0.005 2478.81 - - - - - - - - - - 15.73
66.50 3.39 -3.54 11 104.65 -1.37 13.74 0.255 1988.19 131.5 2.61 0.068 1208.69 -401.3 -82.73 15.60 0.006 3111.56 40.6 -3.778 - - - - - - 15.71 15.70 15.74
272.70 43.80 -17.50 52 278.23 roll -1.37 - - 1988.25 - 2.65 0.030 2353.06 431.8 -82.73 - - 3112.81 - - - - - - - - - 15.85 -
463.41 74.05 -16.18 90 467.00 no move -1.37 - - 1988.56 - - - 2353.06 - -82.73 - - 3112.91 - - - - - - - - - - -
648.23 98.42 -11.33 127 651.82 no move -1.37 - - 1988.75 - - - 2352.81 - -82.73 - - 3113.03 - - - - - - - - - - -
832.89 118.11 -10.06 147 834.22 no move -1.37 - - 1988.19 - - - 2353.31 - -82.73 - - 3112.19 - - - - - - - - - - -
1143.51 147.93 -8.20 178 1148.04 roll -1.37 - - 1987.69 - 2.78 0.059 1209.00 -411.6 -82.73 - - 3115.38 - - - - - - - - - 16.00 -
1237.51 156.54 -9.04 197 1243.50 roll -1.37 - - 1988.62 - 2.60 0.029 2354.94 440.7 -82.73 - - 3114.03 - - - - - - - - - 16.03 -
1553.01 185.03 -9.34 229 1558.09 roll -1.37 - - 1988.62 - 2.63 0.086 3426.94 407.6 -82.73 - - 3113.97 - - - - - - - - - 16.06 -
1627.56 192.84 -10.72 244 1633.55 roll -1.37 - - 1989.06 - 2.58 0.021 2245.75 -457.8 -82.73 - - 3113.81 - - - - - - - - - 16.08 -
1943.06 222.61 -9.43 276 1948.17 roll -1.37 - - 1988.19 - 2.89 0.082 3426.25 408.5 -82.73 - - 3113.72 - - - - - - - - - 16.08 -
2007.61 229.71 -11.16 289 2013.60 roll -1.37 - - 1988.56 - 2.58 0.022 2248.12 -456.6 -82.73 - - 3114.50 - - - - - - - - - 16.08 -
2323.12 260.69 -9.74 321 2324.45 no move -1.37 - - 1988.06 - - - 2248.31 - -82.73 - - 3113.06 - - - - - - - - - - -
2633.52 289.24 -9.16 352 2634.85 no move -1.37 - - 1988.62 - - - 2248.12 - -82.73 - - 3113.03 - - - - - - - - - - -
2943.80 318.82 -9.74 383 2945.12 no move -1.37 - - 1988.56 - - - 2248.62 - -82.73 - - 3113.34 - - - - - - - - - - -
3253.59 347.46 -8.79 414 3258.26 roll -1.37 - - 1988.44 - 2.52 0.067 1208.38 -412.8 -82.73 - - 3113.88 - - - - - - - - - 16.13 -
3373.24 358.63 -9.49 438 3378.30 roll -1.37 - - 1987.88 - 2.60 0.030 2353.38 440.4 -82.73 - - 3114.44 - - - - - - - - - 16.14 -
3683.31 386.04 -8.89 470 3688.39 roll -1.37 - - 1987.62 - 2.63 0.089 3427.12 408.3 -82.73 - - 3114.22 - - - - - - - - - 16.13 -
3757.87 393.43 -9.84 485 3763.87 roll -1.37 - - 1988.56 - 2.58 0.022 2248.06 -457.0 -82.73 - - 3112.69 - - - - - - - - - 16.14 -
4073.40 420.37 -8.67 517 4074.73 no move -1.37 - - 1988.75 - - - 2247.38 - -82.73 - - 3112.31 - - - - - - - - - - -
4383.86 448.18 -9.34 548 4388.55 roll -1.37 - - 1988.38 - 2.54 0.068 1209.50 -408.6 -82.73 - - 3111.94 - - - - - - - - - 16.16 -
4433.48 452.93 -9.63 558 4438.57 roll -1.37 - - 1988.25 - 2.61 0.030 2351.75 437.6 -82.73 - - 3112.12 - - - - - - - - - 16.15 -
4743.56 481.56 -9.06 590 4748.64 roll -1.37 - - 1988.69 - 2.65 0.091 3427.06 405.8 -82.73 - - 3111.81 - - - - - - - - - 16.15 -
4783.57 485.61 -10.17 598 4788.63 roll -1.37 - - 1988.69 - 2.59 0.023 2249.94 -454.5 -82.73 - - 3110.84 - - - - - - - - - 16.16 -
5093.81 514.82 -9.42 630 5098.76 roll -1.37 - - 1988.44 - 2.56 0.069 1208.56 -406.8 -82.73 - - 3111.66 - - - - - - - - - 16.17 -
5203.66 526.04 -10.15 652 5208.75 roll -1.37 - - 1988.38 - 2.62 0.031 2351.50 436.2 -82.73 - - 3111.72 - - - - - - - - - 16.17 -
5513.73 555.74 -9.47 684 5515.06 no move -1.37 - - 1988.56 - - - 2351.69 - -82.73 - - 3109.69 - - - - - - - - - - -
5824.19 582.74 -8.55 715 5828.92 roll -1.37 - - 1988.62 - 2.81 0.064 1209.88 -406.3 -82.73 - - 3110.09 - - - - - - - - - 16.18 -
5873.81 587.30 -8.86 725 5878.89 roll -1.37 - - 1988.81 - 2.61 0.031 2352.56 437.8 -82.73 - - 3110.16 - - - - - - - - - 16.19 -
6183.88 614.55 -9.01 757 6188.98 roll -1.37 - - 1988.50 - 2.78 0.064 1208.75 -411.4 -82.73 - - 3108.69 - - - - - - - - - 16.18 -
6233.89 618.87 -8.95 767 6238.98 roll -1.37 - - 1988.12 - 2.61 0.031 2351.88 438.0 -82.73 - - 3109.94 - - - - - - - - - 16.17 -
6543.96 645.36 -8.72 799 6549.03 roll -1.37 - - 1988.56 - 2.66 0.093 3426.69 404.1 -82.73 - - 3108.06 - - - - - - - - - 16.16 -
6618.50 652.50 -9.51 814 6624.49 roll -1.37 - - 1988.62 - 2.58 0.023 2249.69 -456.2 -82.73 - - 3108.38 - - - - - - - - - 16.16 -
6934.00 678.87 -8.61 846 6935.32 no move -1.37 - - 1988.25 - - - 2249.94 - -82.73 - - 3106.75 - - - - - - - - - - -
7244.66 703.98 -8.00 877 7249.09 roll -1.37 - - 1988.62 - 2.54 0.070 1208.88 -409.9 -82.73 - - 3108.09 - - - - - - - - - 16.17 -
7304.05 709.10 -8.58 889 7309.12 roll -1.37 - - 1988.44 - 2.61 0.031 2353.06 438.4 -82.73 - - 3107.50 - - - - - - - - - 16.18 -
7614.08 734.21 -8.18 921 7615.41 no move -1.37 - - 1988.75 - - - 2353.06 - -82.73 - - 3106.56 - - - - - - - - - - -
7924.50 759.54 -7.66 952 7929.21 roll -1.37 - - 1988.88 - 2.80 0.065 1209.50 -408.4 -82.73 - - 3106.41 - - - - - - - - - 16.19 -
7964.12 763.02 -8.48 960 7969.21 roll -1.37 - - 1988.75 - 2.61 0.031 2353.44 438.3 -82.73 - - 3106.31 - - - - - - - - - 16.17 -
8274.37 787.54 -8.29 992 8279.27 roll -1.37 - - 1988.88 - 2.79 0.065 1210.50 -409.7 -82.73 - - 3106.03 - - - - - - - - - 16.19 -
8368.73 795.58 -8.24 1011 8374.73 roll -1.37 - - 1988.50 - 2.61 0.031 2351.56 437.2 -82.73 - - 3105.69 - - - - - - - - - 16.18 -
8684.23 819.77 -7.49 1043 8689.34 roll -1.37 - - 1988.75 - 2.79 0.065 1210.81 -408.9 -82.73 - - 3106.72 - - - - - - - - - 16.17 -
8754.25 825.45 -7.84 1057 8759.33 roll -1.37 - - 1988.56 - 2.60 0.032 2351.75 438.8 -82.73 - - 3105.56 - - - - - - - - - 16.18 -
9064.51 848.35 -7.28 1089 9065.84 no move -1.37 - - 1988.31 - - - 2351.56 - -82.73 - - 3104.09 - - - - - - - - - - -
9374.89 870.78 -7.51 1120 9379.50 roll -1.37 - - 1988.81 - 2.80 0.065 1211.25 -407.3 -82.73 - - 3104.81 - - - - - - - - - 16.18 -
9414.40 874.00 -8.25 1128 9419.49 roll -1.37 - - 1988.44 - 2.61 0.031 2350.56 436.5 -82.73 - - 3105.22 - - - - - - - - - 16.19 -
9724.48 896.76 -7.19 1160 9729.57 roll -1.37 - - 1988.56 - 2.65 0.094 3428.62 406.8 -82.73 - - 3104.53 - - - - - - - - - 16.16 -
9789.04 902.17 -8.26 1173 9795.03 roll -1.37 - - 1988.19 - 2.58 0.023 2250.00 -456.8 -82.73 - - 3105.03 - - - - - - - - - 16.18 -
10104.58 925.12 -7.63 1205 10109.63 roll -1.37 - - 1988.31 - 2.55 0.071 1210.00 -407.8 -82.73 - - 3104.69 - - - - - - - - - 16.19 -
10179.30 931.19 -7.93 1220 10185.12 roll -1.37 - - 1987.44 - 2.60 0.032 2351.44 439.0 -82.73 - - 3105.31 - - - - - - - - - 16.17 -
10495.04 955.09 -7.49 1252 10496.37 no move -1.37 - - 1988.19 - - - 2351.31 - -82.73 - - 3102.66 - - - - - - - - - - -
10805.11 977.70 -7.45 1283 10806.44 no move -1.37 - - 1988.19 - - - 2351.62 - -82.73 - - 3102.88 - - - - - - - - - - -
10974 end dive: TARGET_DEPTH_EXCEEDED
10975 begin apogee
10976.58 990.38 -7.52 1300 11042.34 -0.28 1.77 0.154 2254.31 150.4 0.20 0.142 2283.38 -341.2 - 60.92 2.419 2773.56 -5.4 0.365 - - - - - - 16.09 15.68 12.66
11044 end apogee: CONTROL_FINISHED_OK
11044 begin climb
11044.53 992.22 - 1306 11113.66 1.37 2.61 0.097 2656.12 154.0 - - 2283.31 - 82.73 64.46 2.338 2435.94 -5.2 0.366 - - - - - - 15.72 - 12.84
11417.30 966.51 8.11 1349 11422.32 roll 1.37 - - 2656.25 - 2.94 0.075 1132.50 -391.4 82.73 - - 2432.66 - - - - - - - - - 15.80 -
11487.20 960.33 8.96 1363 11492.27 roll 1.37 - - 2655.69 - 2.66 0.031 2271.31 428.1 82.73 - - 2432.12 - - - - - - - - - 15.83 -
11797.64 935.55 7.79 1395 11798.97 no move 1.38 - - 2656.88 - - - 2271.75 - 82.73 - - 2429.25 - - - - - - - - - - -
12107.71 911.65 7.41 1426 12112.43 roll 1.40 - - 2656.06 - 2.88 0.074 1131.38 -396.0 82.73 - - 2431.00 - - - - - - - - - 15.98 -
12201.90 904.38 7.61 1445 12207.89 done 1.42 - - 2655.75 - 2.63 0.031 2272.25 433.8 82.73 - - 2430.69 - - - - - - - - - 16.01 -
12517.81 882.04 7.03 1477 12519.14 VBD 1.45 - - 2656.62 - - - 2272.50 - 82.73 - - 2429.03 - - - - - - - - - - -
12828.12 859.66 7.85 1508 12829.45 VBD 1.46 - - 2655.88 - - - 2272.25 - 82.73 - - 2428.53 - - - - - - - - - - -
13138.28 836.40 7.60 1539 13139.61 VBD 1.48 - - 2656.06 - - - 2272.19 - 82.73 - - 2428.38 - - - - - - - - - - -
13448.01 813.63 7.41 1570 13449.44 1.50 0.15 0.094 2698.94 285.9 - - 2272.12 - 82.73 - - 2428.69 - - - - - - - - 16.08 - -
13757.67 786.65 8.55 1601 13762.79 done 1.50 - - 2699.56 - 2.87 0.074 1132.12 -397.2 82.73 - - 2429.84 - - - - - - - - - 16.11 -
13912.65 772.74 8.19 1632 13918.26 done 1.50 - - 2700.62 - 2.62 0.032 2272.25 435.2 82.73 - - 2429.66 - - - - - - - - - 16.12 -
14228.19 746.54 7.74 1664 14232.87 done 1.51 - - 2700.12 - 2.67 0.094 3346.06 402.2 82.73 - - 2428.88 - - - - - - - - - 16.10 -
14287.80 741.63 8.61 1676 14292.89 done 1.51 - - 2700.62 - 2.63 0.024 2188.31 -440.2 82.73 - - 2429.12 - - - - - - - - - 16.14 -
14598.26 718.24 7.37 1708 14602.95 done 1.53 - - 2699.62 - 2.65 0.079 1132.50 -398.4 82.73 - - 2430.03 - - - - - - - - - 16.12 -
14662.43 712.89 8.64 1721 14668.44 done 1.53 - - 2700.81 - 2.61 0.032 2271.81 436.5 82.73 - - 2428.94 - - - - - - - - - 16.13 -
14978.75 691.40 6.94 1753 14980.09 VBD 1.56 - - 2700.25 - - - 2272.06 - 82.73 - - 2428.34 - - - - - - - - - - -
15288.50 669.39 6.78 1784 15289.83 VBD 1.60 - - 2700.44 - - - 2272.12 - 82.73 - - 2427.97 - - - - - - - - - - -
15598.41 646.86 7.36 1815 15603.10 done 1.62 - - 2700.19 - 2.67 0.093 3345.62 402.1 82.73 - - 2428.97 - - - - - - - - - 16.13 -
15728.05 635.95 8.58 1841 15733.13 done 1.62 - - 2700.44 - 2.61 0.025 2187.50 -443.7 82.73 - - 2428.88 - - - - - - - - - 16.15 -
16038.49 611.70 7.72 1873 16039.82 VBD 1.63 - - 2700.88 - - - 2187.62 - 82.73 - - 2427.97 - - - - - - - - - - -
16348.53 588.50 7.42 1904 16353.21 done 1.66 - - 2700.69 - 2.63 0.078 1131.25 -401.7 82.73 - - 2428.62 - - - - - - - - - 16.15 -
16418.14 582.89 7.74 1918 16423.20 done 1.67 - - 2700.38 - 2.60 0.031 2271.50 438.6 82.73 - - 2428.19 - - - - - - - - - 16.16 -
16728.57 562.71 6.30 1950 16759.67 1.73 0.25 0.069 2758.56 232.7 2.87 0.076 1130.06 -397.7 114.34 24.43 1.807 2307.50 -4.9 0.254 - - - - - - 16.14 15.98 12.73
16822.73 554.25 10.59 1969 16828.74 roll 1.73 - - 2759.19 - 2.62 0.031 2272.75 436.1 114.34 - - 2305.31 - - - - - - - - - 16.05 -
17138.87 524.36 9.84 2001 17143.35 roll 1.73 - - 2758.94 - 2.85 0.073 1132.50 -400.1 114.34 - - 2305.94 - - - - - - - - - 16.07 -
17178.25 520.22 10.15 2009 17183.35 roll 1.73 - - 2759.12 - 2.61 0.031 2271.69 436.5 114.34 - - 2305.50 - - - - - - - - - 16.07 -
17488.71 491.70 9.34 2041 17493.45 roll 1.73 - - 2759.88 - 2.85 0.073 1132.00 -399.9 114.34 - - 2304.38 - - - - - - - - - 16.08 -
17662.93 474.63 9.71 2076 17668.95 roll 1.73 - - 2759.12 - 2.61 0.032 2272.19 436.9 114.34 - - 2304.34 - - - - - - - - - 16.09 -
17978.84 446.80 8.43 2108 17980.17 no move 1.73 - - 2759.88 - - - 2271.81 - 114.34 - - 2303.50 - - - - - - - - - - -
18288.91 420.54 8.62 2139 18290.24 no move 1.73 - - 2759.62 - - - 2271.62 - 114.34 - - 2303.38 - - - - - - - - - - -
18598.97 393.88 9.61 2170 18600.30 no move 1.73 - - 2759.38 - - - 2271.94 - 114.34 - - 2302.88 - - - - - - - - - - -
18909.04 365.70 9.20 2201 18913.74 roll 1.73 - - 2759.44 - 2.66 0.092 3346.69 404.0 114.34 - - 2304.00 - - - - - - - - - 16.12 -
18968.66 359.74 10.22 2213 18973.75 roll 1.73 - - 2758.81 - 2.62 0.024 2188.25 -442.2 114.34 - - 2305.16 - - - - - - - - - 16.12 -
19279.12 333.01 8.02 2245 19284.02 roll 1.73 - - 2759.62 - 2.62 0.078 1131.44 -403.4 114.34 - - 2304.03 - - - - - - - - - 16.13 -
19443.83 318.69 8.46 2278 19449.33 roll 1.73 - - 2759.38 - 2.61 0.031 2274.31 437.9 114.34 - - 2305.31 - - - - - - - - - 16.14 -
19759.36 292.68 8.40 2310 19763.96 roll 1.73 - - 2759.12 - 2.84 0.072 1131.50 -402.4 114.34 - - 2304.62 - - - - - - - - - 16.14 -
19813.41 287.98 8.71 2321 19819.41 roll 1.73 - - 2759.06 - 2.61 0.031 2273.12 437.4 114.34 - - 2305.34 - - - - - - - - - 16.14 -
20129.31 262.11 8.00 2353 20130.65 no move 1.73 - - 2759.19 - - - 2273.50 - 114.34 - - 2304.00 - - - - - - - - - - -
20439.37 238.28 7.30 2384 20444.09 roll 1.76 - - 2759.81 - 2.82 0.072 1131.38 -405.0 114.34 - - 2305.41 - - - - - - - - - 16.13 -
20489.00 234.42 7.62 2394 20494.07 roll 1.77 - - 2759.44 - 2.61 0.030 2273.38 437.5 114.34 - - 2305.25 - - - - - - - - - 16.10 -
20799.42 211.48 7.72 2426 20804.14 roll 1.79 - - 2759.44 - 2.84 0.071 1130.44 -402.4 114.34 - - 2305.59 - - - - - - - - - 16.14 -
20949.44 199.26 8.03 2456 20954.14 roll 1.79 - - 2758.88 - 2.61 0.030 2272.81 437.7 114.34 - - 2305.94 - - - - - - - - - 16.12 -
21259.48 176.47 6.78 2488 21264.35 roll 1.82 - - 2759.19 - 2.64 0.089 3346.31 406.6 114.34 - - 2306.62 - - - - - - - - - 16.12 -
21309.23 173.11 6.70 2498 21314.16 roll 1.86 - - 2760.00 - 2.60 0.023 2183.75 -447.1 114.34 - - 2306.00 - - - - - - - - - 16.12 -
21619.54 154.04 6.21 2530 21650.64 1.92 0.16 0.089 2804.56 278.5 2.89 0.086 3347.19 402.6 147.36 25.52 1.339 2172.53 -5.2 0.099 - - - - - - 16.11 15.98 12.65
21749.55 143.01 9.75 2556 21754.24 roll 1.92 - - 2803.12 - 2.63 0.024 2188.06 -440.7 147.36 - - 2171.56 - - - - - - - - - 16.02 -
22059.58 116.30 8.32 2588 22064.28 roll 1.92 - - 2804.31 - 2.63 0.075 1130.25 -402.2 147.36 - - 2170.06 - - - - - - - - - 16.06 -
22233.81 103.91 5.99 2623 22266.25 done 2.00 - - 2803.62 - 2.61 0.029 2277.00 439.4 183.58 27.65 1.267 2026.25 -5.2 0.070 - - - - - - - 16.08 12.73
22569.39 83.39 4.75 2686 22611.23 2.10 0.16 0.087 2847.38 273.5 - - 2277.56 - 238.00 40.88 1.258 1803.28 -5.5 0.060 - - - - - - 15.96 - 12.73
22794.97 67.54 7.63 2731 22798.61 no move 2.12 - - 2847.81 - - - 2277.19 - 238.00 - - 1797.72 - - - - - - - - - - -
22979.54 53.44 7.93 2768 22980.87 VBD 2.13 - - 2847.62 - - - 2277.25 - 238.00 - - 1795.12 - - - - - - - - - - -
23164.62 39.01 7.55 2805 23165.95 VBD 2.15 - - 2847.38 - - - 2277.00 - 238.00 - - 1794.12 - - - - - - - - - - -
23349.69 29.30 3.34 2842 23406.16 2.30 0.17 0.083 2895.50 283.1 - - 2277.69 - 313.03 54.76 1.189 1499.28 -5.4 0.022 - - - - - - 15.96 - 12.68
23589.78 16.36 7.89 2890 23595.30 done 2.31 - - 2895.69 - 2.67 0.087 3347.00 400.5 313.03 - - 1490.94 - - - - - - - - - 15.84 -
23729 end climb: SURFACE_DEPTH_REACHED
23730 begin surface coast
23750 end surface coast: CONTROL_FINISHED_OK
23750 begin surface
SM 1.13 - - - - 180.8 80.79 1.160 1042.4 12.9 16.80 0.064 992.6 59.1 - 2.42 0.022 1092.1 450.2 -2.363 - - 12.73 15.88 15.93 -