NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 220 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 72.30 of 550.00 AH used of 24V (86.85% remains)
• Surface angle -65.0 deg, depth 1.58 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 425.11 (SM_CC=425)
• GPS1 time: 53 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
6.41 - - - 60.72 VBD -1.37 - - 180.62 - - - 2244.31 - -82.73 53.10 0.005 2357.94 - - - - - - - - - - 15.70
61.45 3.11 -3.10 10 104.66 -1.37 13.70 0.254 1988.81 132.0 2.54 0.066 1209.94 -407.2 -82.73 19.61 0.006 3112.06 38.5 -3.286 - - - - - - 15.72 15.71 15.73
222.67 33.23 -17.66 42 228.21 roll -1.37 - - 1988.00 - 2.63 0.031 2351.56 434.1 -82.73 - - 3112.91 - - - - - - - - - 15.87 -
413.40 63.45 -15.48 80 416.99 no move -1.37 - - 1988.94 - - - 2352.12 - -82.73 - - 3112.91 - - - - - - - - - - -
598.22 89.34 -13.19 117 603.39 roll -1.37 - - 1987.25 - 2.79 0.059 1210.06 -409.3 -82.73 - - 3113.97 - - - - - - - - - 15.97 -
657.85 97.12 -12.20 129 663.39 roll -1.37 - - 1988.56 - 2.60 0.029 2354.81 440.3 -82.73 - - 3112.97 - - - - - - - - - 15.98 -
853.08 117.94 -10.09 151 854.40 no move -1.37 - - 1988.88 - - - 2354.50 - -82.73 - - 3112.84 - - - - - - - - - - -
1163.34 147.03 -8.91 182 1168.05 roll -1.37 - - 1988.38 - 2.77 0.060 1208.88 -413.6 -82.73 - - 3113.34 - - - - - - - - - 16.03 -
1297.52 160.87 -10.43 209 1303.50 roll -1.37 - - 1987.94 - 2.58 0.029 2354.00 443.8 -82.73 - - 3114.84 - - - - - - - - - 16.04 -
1613.01 188.50 -8.33 241 1618.10 roll -1.37 - - 1988.38 - 2.77 0.060 1210.06 -413.0 -82.73 - - 3114.88 - - - - - - - - - 16.06 -
1663.02 192.80 -8.61 251 1668.09 roll -1.37 - - 1988.81 - 2.58 0.029 2355.12 443.8 -82.73 - - 3114.31 - - - - - - - - - 16.07 -
1973.06 219.72 -9.47 283 1978.15 roll -1.37 - - 1989.00 - 2.76 0.061 1208.75 -415.4 -82.73 - - 3115.00 - - - - - - - - - 16.08 -
2063.07 228.30 -9.68 301 2068.14 roll -1.37 - - 1988.38 - 2.58 0.030 2353.06 443.5 -82.73 - - 3113.75 - - - - - - - - - 16.10 -
2373.29 256.71 -8.60 333 2374.62 no move -1.37 - - 1988.88 - - - 2353.19 - -82.73 - - 3113.88 - - - - - - - - - - -
2683.65 284.18 -9.31 364 2688.24 roll -1.37 - - 1988.69 - 2.77 0.062 1208.25 -413.3 -82.73 - - 3114.56 - - - - - - - - - 16.12 -
2733.15 288.77 -9.28 374 2738.22 roll -1.37 - - 1988.69 - 2.58 0.030 2354.31 444.2 -82.73 - - 3114.69 - - - - - - - - - 16.12 -
3043.20 317.99 -9.56 406 3044.53 no move -1.37 - - 1988.38 - - - 2354.50 - -82.73 - - 3112.88 - - - - - - - - - - -
3353.63 348.30 -9.87 437 3358.35 roll -1.37 - - 1988.62 - 2.75 0.062 1207.62 -417.0 -82.73 - - 3113.22 - - - - - - - - - 16.14 -
3427.81 356.19 -10.65 452 3433.80 roll -1.37 - - 1989.00 - 2.58 0.031 2354.81 444.6 -82.73 - - 3112.62 - - - - - - - - - 16.13 -
3743.34 387.78 -9.75 484 3744.67 no move -1.37 - - 1988.44 - - - 2354.75 - -82.73 - - 3111.50 - - - - - - - - - - -
4053.79 417.15 -9.32 515 4058.50 roll -1.37 - - 1988.44 - 2.74 0.062 1208.69 -418.3 -82.73 - - 3111.78 - - - - - - - - - 16.16 -
4123.42 423.79 -9.78 529 4128.49 roll -1.37 - - 1988.62 - 2.57 0.031 2352.69 445.1 -82.73 - - 3112.38 - - - - - - - - - 16.14 -
4433.49 452.00 -8.94 561 4438.58 roll -1.37 - - 1988.62 - 2.73 0.062 1209.69 -418.7 -82.73 - - 3111.53 - - - - - - - - - 16.15 -
4493.68 457.63 -9.57 573 4498.63 roll -1.37 - - 1987.88 - 2.56 0.031 2353.31 446.7 -82.73 - - 3111.44 - - - - - - - - - 16.16 -
4803.58 486.28 -9.03 605 4804.91 no move -1.37 - - 1988.56 - - - 2353.25 - -82.73 - - 3110.00 - - - - - - - - - - -
5114.03 514.07 -8.68 636 5115.35 no move -1.37 - - 1987.94 - - - 2352.94 - -82.73 - - 3109.47 - - - - - - - - - - -
5424.09 540.41 -8.21 667 5425.42 no move -1.37 - - 1988.31 - - - 2353.06 - -82.73 - - 3109.09 - - - - - - - - - - -
5734.15 565.71 -8.35 698 5735.48 no move -1.37 - - 1988.19 - - - 2352.81 - -82.73 - - 3108.44 - - - - - - - - - - -
6044.22 591.16 -8.26 729 6048.93 roll -1.37 - - 1988.12 - 2.77 0.064 1208.81 -413.0 -82.73 - - 3108.53 - - - - - - - - - 16.17 -
6183.88 603.16 -8.59 757 6188.94 roll -1.37 - - 1988.50 - 2.57 0.031 2354.81 445.9 -82.73 - - 3109.19 - - - - - - - - - 16.17 -
6493.94 630.13 -8.85 789 6495.27 no move -1.37 - - 1988.12 - - - 2354.62 - -82.73 - - 3106.59 - - - - - - - - - - -
6804.36 657.82 -8.65 820 6809.05 roll -1.37 - - 1988.00 - 2.61 0.095 3425.38 410.3 -82.73 - - 3107.81 - - - - - - - - - 16.15 -
6848.52 662.19 -9.98 829 6854.51 roll -1.37 - - 1988.94 - 2.57 0.023 2247.88 -458.2 -82.73 - - 3107.47 - - - - - - - - - 16.18 -
7164.02 689.30 -8.61 861 7169.08 roll -1.37 - - 1988.56 - 2.51 0.070 1209.88 -413.5 -82.73 - - 3107.91 - - - - - - - - - 16.17 -
7208.74 693.52 -9.53 870 7214.61 roll -1.37 - - 1988.69 - 2.57 0.031 2354.44 445.4 -82.73 - - 3106.53 - - - - - - - - - 16.17 -
7524.06 718.55 -7.99 902 7525.40 no move -1.37 - - 1988.50 - - - 2354.06 - -82.73 - - 3106.12 - - - - - - - - - - -
7834.48 743.78 -7.83 933 7839.20 roll -1.37 - - 1988.12 - 2.79 0.065 1208.25 -410.7 -82.73 - - 3106.53 - - - - - - - - - 16.18 -
7874.10 747.04 -7.81 941 7879.17 roll -1.37 - - 1988.81 - 2.58 0.032 2351.56 443.1 -82.73 - - 3106.12 - - - - - - - - - 16.16 -
8184.14 770.27 -7.26 973 8185.47 no move -1.37 - - 1988.06 - - - 2351.88 - -82.73 - - 3105.22 - - - - - - - - - - -
8494.56 792.96 -7.88 1004 8495.89 no move -1.37 - - 1988.69 - - - 2351.50 - -82.73 - - 3104.28 - - - - - - - - - - -
8804.60 817.30 -7.89 1035 8809.32 roll -1.37 - - 1988.62 - 2.79 0.066 1210.06 -409.1 -82.73 - - 3105.06 - - - - - - - - - 16.17 -
8904.25 826.08 -8.76 1055 8909.32 roll -1.37 - - 1988.25 - 2.58 0.032 2352.88 443.0 -82.73 - - 3105.09 - - - - - - - - - 16.17 -
9214.32 851.87 -8.26 1087 9215.65 no move -1.37 - - 1988.44 - - - 2353.00 - -82.73 - - 3103.62 - - - - - - - - - - -
9524.77 877.89 -8.20 1118 9529.48 roll -1.37 - - 1988.44 - 2.80 0.065 1211.25 -407.8 -82.73 - - 3105.12 - - - - - - - - - 16.18 -
9574.40 882.37 -8.10 1128 9579.67 roll -1.37 - - 1988.31 - 2.59 0.032 2351.62 440.3 -82.73 - - 3106.12 - - - - - - - - - 16.17 -
9884.65 906.44 -7.58 1160 9885.98 no move -1.37 - - 1988.38 - - - 2351.50 - -82.73 - - 3102.78 - - - - - - - - - - -
10194.93 929.72 -7.32 1191 10199.64 roll -1.37 - - 1987.19 - 2.80 0.066 1211.06 -407.3 -82.73 - - 3104.19 - - - - - - - - - 16.17 -
10289.11 937.13 -7.36 1210 10295.09 roll -1.37 - - 1988.62 - 2.59 0.032 2351.50 440.3 -82.73 - - 3105.09 - - - - - - - - - 16.19 -
10604.82 959.07 -6.86 1242 10606.15 no move -1.37 - - 1988.12 - - - 2352.25 - -82.73 - - 3102.81 - - - - - - - - - - -
10915.09 980.91 -7.28 1273 10916.42 no move -1.37 - - 1988.19 - - - 2351.50 - -82.73 - - 3102.34 - - - - - - - - - - -
11044 end dive: TARGET_DEPTH_EXCEEDED
11045 begin apogee
11046.56 990.06 -7.11 1286 11111.07 -0.28 1.76 0.153 2254.19 151.1 0.21 0.139 2282.25 -329.8 - 60.75 2.411 2773.75 -5.4 0.366 - - - - - - 16.10 15.68 12.61
11112 end apogee: CONTROL_FINISHED_OK
11113 begin climb
11113.16 991.38 - 1292 11182.82 1.37 2.60 0.100 2655.75 154.4 - - 2282.19 - 82.73 64.71 2.336 2435.72 -5.2 0.365 - - - - - - 15.72 - 12.83
11486.39 964.86 7.74 1330 11487.72 no move 1.38 - - 2656.12 - - - 2282.38 - 82.73 - - 2430.47 - - - - - - - - - - -
11796.83 940.20 8.42 1361 11801.40 roll 1.38 - - 2655.69 - 2.92 0.075 1132.38 -393.8 82.73 - - 2430.78 - - - - - - - - - 15.92 -
11866.29 933.96 9.17 1375 11871.38 roll 1.38 - - 2656.25 - 2.62 0.031 2271.06 434.6 82.73 - - 2430.66 - - - - - - - - - 15.93 -
12176.75 907.92 8.48 1407 12181.47 roll 1.38 - - 2656.19 - 2.85 0.074 1132.50 -399.5 82.73 - - 2430.12 - - - - - - - - - 16.00 -
12220.91 903.69 8.24 1416 12226.90 roll 1.38 - - 2656.88 - 2.60 0.031 2271.50 438.1 82.73 - - 2430.94 - - - - - - - - - 15.99 -
12536.44 875.35 9.02 1448 12537.77 no move 1.38 - - 2655.25 - - - 2270.94 - 82.73 - - 2428.72 - - - - - - - - - - -
12846.89 848.18 8.81 1479 12851.62 done 1.38 - - 2655.75 - 2.86 0.074 1132.44 -398.1 82.73 - - 2429.19 - - - - - - - - - 16.06 -
12926.52 840.76 9.45 1495 12931.59 done 1.38 - - 2656.00 - 2.60 0.032 2274.00 439.1 82.73 - - 2429.41 - - - - - - - - - 16.06 -
13236.60 814.69 8.05 1527 13237.93 VBD 1.38 - - 2655.75 - - - 2273.31 - 82.73 - - 2428.69 - - - - - - - - - - -
13547.06 790.43 7.77 1558 13548.39 VBD 1.40 - - 2655.25 - - - 2273.25 - 82.73 - - 2428.34 - - - - - - - - - - -
13857.13 767.64 7.05 1589 13858.46 VBD 1.42 - - 2656.00 - - - 2274.25 - 82.73 - - 2427.94 - - - - - - - - - - -
14167.43 746.48 6.51 1620 14168.76 VBD 1.46 - - 2655.69 - - - 2273.88 - 82.73 - - 2428.03 - - - - - - - - - - -
14477.25 726.08 6.85 1651 14482.03 1.49 0.16 0.098 2696.75 256.6 2.85 0.075 1131.06 -401.0 82.73 - - 2428.88 - - - - - - - - 16.10 16.11 -
14556.88 719.54 8.18 1667 14561.94 done 1.49 - - 2696.69 - 2.60 0.032 2272.19 438.9 82.73 - - 2430.28 - - - - - - - - - 16.13 -
14867.33 697.18 7.15 1699 14868.67 VBD 1.52 - - 2697.31 - - - 2272.50 - 82.73 - - 2428.12 - - - - - - - - - - -
15177.38 674.50 7.02 1730 15178.71 VBD 1.55 - - 2697.44 - - - 2272.88 - 82.73 - - 2428.38 - - - - - - - - - - -
15487.41 654.75 6.24 1761 15518.46 done 1.62 - - 2696.62 - 2.88 0.077 1131.31 -396.4 115.23 25.25 1.918 2305.41 -4.9 0.274 - - - - - - - 15.95 12.74
15611.57 645.15 8.27 1786 15617.58 roll 1.62 - - 2697.31 - 2.62 0.032 2272.56 435.6 115.23 - - 2302.53 - - - - - - - - - 16.02 -
15927.45 620.45 8.29 1818 15932.14 roll 1.62 - - 2698.00 - 2.66 0.095 3346.94 403.9 115.23 - - 2302.06 - - - - - - - - - 16.03 -
15991.62 614.24 9.89 1831 15997.81 roll 1.62 - - 2697.56 - 2.63 0.025 2190.50 -439.7 115.23 - - 2302.78 - - - - - - - - - 16.05 -
16307.62 587.15 8.61 1863 16312.20 roll 1.62 - - 2698.44 - 2.63 0.079 1131.12 -402.8 115.23 - - 2301.50 - - - - - - - - - 16.08 -
16387.14 579.44 9.88 1879 16392.21 roll 1.62 - - 2698.62 - 2.60 0.032 2272.56 439.0 115.23 - - 2300.94 - - - - - - - - - 16.09 -
16697.57 549.97 9.58 1911 16698.90 no move 1.62 - - 2697.44 - - - 2273.00 - 115.23 - - 2300.28 - - - - - - - - - - -
17007.60 520.20 9.59 1942 17008.93 no move 1.62 - - 2697.81 - - - 2272.38 - 115.23 - - 2299.94 - - - - - - - - - - -
17317.67 492.41 8.45 1973 17319.00 no move 1.62 - - 2697.38 - - - 2272.56 - 115.23 - - 2300.22 - - - - - - - - - - -
17627.75 467.27 7.72 2004 17629.08 no move 1.63 - - 2698.19 - - - 2273.31 - 115.23 - - 2300.03 - - - - - - - - - - -
17937.82 443.63 7.08 2035 17942.51 roll 1.66 - - 2697.69 - 2.63 0.094 3346.69 408.1 115.23 - - 2300.97 - - - - - - - - - 16.12 -
18001.98 438.54 8.15 2048 18007.98 roll 1.66 - - 2697.81 - 2.61 0.025 2188.00 -443.9 115.23 - - 2301.31 - - - - - - - - - 16.13 -
18317.92 414.77 7.83 2080 18319.35 pitch 1.67 0.17 0.093 2736.38 226.9 - - 2186.31 - 115.23 - - 2299.19 - - - - - - - - 16.11 - -
18627.56 386.86 8.77 2111 18628.89 no move 1.67 - - 2736.81 - - - 2186.69 - 115.23 - - 2299.91 - - - - - - - - - - -
18938.03 359.96 8.44 2142 18942.95 roll 1.67 - - 2737.81 - 2.84 0.089 3347.00 408.6 115.23 - - 2300.69 - - - - - - - - - 16.13 -
19027.78 351.91 9.22 2160 19032.74 roll 1.67 - - 2737.81 - 2.59 0.025 2189.38 -447.0 115.23 - - 2301.19 - - - - - - - - - 16.13 -
19338.13 327.74 7.70 2192 19339.46 no move 1.69 - - 2737.94 - - - 2188.12 - 115.23 - - 2299.84 - - - - - - - - - - -
19648.37 304.52 7.62 2223 19649.70 no move 1.70 - - 2738.12 - - - 2188.56 - 115.23 - - 2299.81 - - - - - - - - - - -
19958.24 280.05 7.98 2254 19962.97 roll 1.70 - - 2737.81 - 2.84 0.088 3346.88 407.9 115.23 - - 2300.91 - - - - - - - - - 16.13 -
20027.88 273.77 9.25 2268 20032.95 roll 1.70 - - 2736.06 - 2.60 0.024 2187.56 -445.9 115.23 - - 2301.66 - - - - - - - - - 16.14 -
20338.52 248.93 7.76 2300 20339.85 no move 1.72 - - 2738.25 - - - 2187.94 - 115.23 - - 2300.28 - - - - - - - - - - -
20648.38 226.01 6.91 2331 20653.09 roll 1.75 - - 2737.94 - 2.84 0.087 3347.50 408.3 115.23 - - 2301.28 - - - - - - - - - 16.13 -
20772.56 216.26 7.80 2356 20778.54 roll 1.76 - - 2737.81 - 2.60 0.024 2188.00 -446.0 115.23 - - 2302.34 - - - - - - - - - 16.13 -
21088.44 195.06 7.44 2388 21093.12 roll 1.78 - - 2736.62 - 2.62 0.077 1130.38 -403.7 115.23 - - 2303.44 - - - - - - - - - 16.10 -
21212.79 184.84 8.50 2413 21218.66 roll 1.78 - - 2738.25 - 2.58 0.030 2274.69 443.5 115.23 - - 2302.16 - - - - - - - - - 16.12 -
21528.51 162.85 6.32 2445 21559.56 1.84 0.17 0.088 2781.50 254.4 2.62 0.092 3346.94 409.3 146.55 24.53 1.352 2177.00 -5.1 0.101 - - - - - - 16.11 15.98 12.71
21688.52 149.29 9.37 2477 21693.22 roll 1.84 - - 2782.06 - 2.61 0.024 2188.50 -443.8 146.55 - - 2175.50 - - - - - - - - - 16.03 -
21998.57 127.62 6.49 2509 21999.90 no move 1.88 - - 2782.00 - - - 2188.31 - 146.55 - - 2172.62 - - - - - - - - - - -
22308.62 103.97 6.85 2540 22313.34 roll 1.92 - - 2781.81 - 2.83 0.085 3347.06 409.5 146.55 - - 2173.72 - - - - - - - - - 16.07 -
22413.27 97.46 6.26 2561 22444.67 done 1.98 - - 2782.06 - 2.62 0.023 2184.38 -443.8 178.87 25.17 1.263 2044.72 -5.1 0.065 - - - - - - - 16.09 12.69
22628.34 84.62 5.70 2604 22665.11 2.06 0.22 0.079 2831.69 225.6 2.65 0.078 1131.38 -397.4 219.30 31.38 1.251 1880.38 -5.2 0.058 - - - - - - 15.97 15.84 12.78
22893.44 69.08 6.97 2657 22898.97 roll 2.09 - - 2831.81 - 2.61 0.029 2275.62 438.4 219.30 - - 1875.44 - - - - - - - - - 15.94 -
23083.52 57.57 5.80 2695 23120.00 done 2.17 - - 2830.62 - 2.65 0.090 3346.88 404.2 258.22 29.56 1.209 1722.53 -5.2 0.041 - - - - - - - 15.81 12.75
23178.56 51.01 7.67 2714 23184.08 roll 2.18 - - 2830.50 - 2.65 0.023 2186.31 -438.0 258.22 - - 1719.16 - - - - - - - - - 15.87 -
23368.62 36.88 7.92 2752 23374.16 roll 2.20 - - 2831.75 - 2.62 0.075 1131.50 -402.6 258.22 - - 1715.19 - - - - - - - - - 15.90 -
23433.65 32.16 7.01 2765 23439.23 2.22 0.17 0.088 2873.81 247.4 2.59 0.028 2277.69 442.5 258.22 - - 1713.84 - - - - - - - - 15.91 15.95 -
23623.73 25.92 2.67 2803 23692.40 2.39 0.15 0.092 2913.75 266.3 2.65 0.088 3349.62 404.5 343.04 62.78 1.194 1376.91 -5.4 0.019 - - - - - - 15.95 15.70 12.62
23755.51 18.52 8.33 2829 23761.06 roll 2.39 - - 2913.19 - 2.65 0.023 2187.44 -438.6 343.04 - - 1372.31 - - - - - - - - - 15.78 -
23926 end climb: SURFACE_DEPTH_REACHED
23926 begin surface coast
23950 end surface coast: CONTROL_FINISHED_OK
23951 begin surface
SM 2.08 - - - - 179.3 60.21 1.155 1042.0 17.3 16.75 0.050 994.9 59.4 - 0.34 0.067 1089.0 3195.1 -10.138 - - 12.72 15.84 15.88 -