NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 221 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 72.61 of 550.00 AH used of 24V (86.80% remains)
• Surface angle -63.2 deg, depth 1.62 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 424.91 (SM_CC=425)
• GPS1 time: 31 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
6.68 - - - 66.05 VBD -1.37 - - 179.31 - - - 2242.12 - -82.73 58.19 0.005 2494.00 - - - - - - - - - - 15.70
66.79 3.33 -3.37 11 105.00 -1.37 13.73 0.256 1988.50 131.8 2.92 0.086 3428.25 406.2 -82.73 15.11 0.006 3112.19 40.9 -3.743 - - - - - - 15.70 15.68 15.73
253.03 42.67 -17.91 48 258.57 roll -1.37 - - 1988.69 - 2.62 0.021 2255.75 -447.5 -82.73 - - 3113.22 - - - - - - - - - 15.88 -
443.75 71.50 -14.82 86 448.69 roll -1.37 - - 1988.38 - 2.88 0.081 3427.38 406.8 -82.73 - - 3114.03 - - - - - - - - - 15.91 -
498.14 79.97 -15.51 97 503.68 roll -1.37 - - 1988.38 - 2.61 0.021 2253.62 -449.7 -82.73 - - 3114.56 - - - - - - - - - 15.93 -
688.60 102.71 -11.19 133 693.27 roll -1.37 - - 1988.12 - 2.55 0.065 1208.56 -409.8 -82.73 - - 3114.84 - - - - - - - - - 15.97 -
802.78 114.91 -11.01 156 808.76 roll -1.37 - - 1987.81 - 2.59 0.029 2353.12 441.9 -82.73 - - 3113.62 - - - - - - - - - 15.99 -
1118.31 144.47 -9.96 188 1123.38 roll -1.37 - - 1988.38 - 2.60 0.087 3428.06 413.4 -82.73 - - 3115.31 - - - - - - - - - 16.00 -
1238.54 157.35 -11.26 212 1243.40 roll -1.37 - - 1988.31 - 2.60 0.021 2246.12 -454.6 -82.73 - - 3114.84 - - - - - - - - - 16.04 -
1548.37 186.68 -9.73 244 1553.48 roll -1.37 - - 1986.88 - 2.87 0.082 3427.62 411.7 -82.73 - - 3115.84 - - - - - - - - - 16.05 -
1642.93 197.17 -11.25 263 1648.92 roll -1.37 - - 1988.50 - 2.59 0.021 2246.44 -456.1 -82.73 - - 3114.34 - - - - - - - - - 16.07 -
1958.42 226.77 -9.48 295 1963.49 roll -1.37 - - 1988.38 - 2.53 0.067 1209.38 -409.9 -82.73 - - 3116.50 - - - - - - - - - 16.09 -
2053.16 236.18 -10.12 314 2059.03 roll -1.37 - - 1988.50 - 2.58 0.030 2354.88 444.0 -82.73 - - 3114.91 - - - - - - - - - 16.09 -
2368.48 265.96 -9.53 346 2369.81 no move -1.37 - - 1988.50 - - - 2354.00 - -82.73 - - 3113.97 - - - - - - - - - - -
2678.89 296.33 -9.95 377 2683.63 roll -1.37 - - 1989.06 - 2.82 0.062 1209.75 -405.8 -82.73 - - 3114.69 - - - - - - - - - 16.11 -
2748.52 303.60 -10.29 391 2753.59 roll -1.37 - - 1988.81 - 2.59 0.030 2353.81 441.7 -82.73 - - 3114.34 - - - - - - - - - 16.12 -
3058.56 334.35 -9.91 423 3063.67 roll -1.37 - - 1988.25 - 2.82 0.062 1209.88 -405.6 -82.73 - - 3113.91 - - - - - - - - - 16.13 -
3118.56 340.53 -10.46 435 3123.63 roll -1.37 - - 1988.44 - 2.58 0.030 2353.00 443.1 -82.73 - - 3114.97 - - - - - - - - - 16.13 -
3428.62 371.59 -9.81 467 3433.71 roll -1.37 - - 1987.25 - 2.80 0.062 1209.44 -408.4 -82.73 - - 3114.56 - - - - - - - - - 16.14 -
3513.19 380.22 -10.42 484 3519.18 roll -1.37 - - 1988.31 - 2.57 0.031 2353.44 445.1 -82.73 - - 3113.31 - - - - - - - - - 16.13 -
3828.72 411.22 -9.34 516 3833.78 roll -1.37 - - 1988.62 - 2.60 0.091 3427.75 413.2 -82.73 - - 3114.31 - - - - - - - - - 16.12 -
3858.73 414.25 -9.69 522 3863.97 roll -1.37 - - 1988.38 - 2.59 0.022 2249.31 -455.0 -82.73 - - 3112.69 - - - - - - - - - 16.14 -
4168.91 442.20 -8.90 554 4170.24 no move -1.37 - - 1988.25 - - - 2248.25 - -82.73 - - 3111.75 - - - - - - - - - - -
4479.25 468.61 -8.59 585 4480.58 no move -1.37 - - 1988.50 - - - 2248.38 - -82.73 - - 3111.41 - - - - - - - - - - -
4789.31 495.23 -9.13 616 4794.00 roll -1.37 - - 1988.56 - 2.55 0.069 1209.81 -407.3 -82.73 - - 3112.16 - - - - - - - - - 16.16 -
4838.94 499.85 -9.49 626 4844.01 roll -1.37 - - 1988.50 - 2.56 0.031 2354.31 447.1 -82.73 - - 3111.28 - - - - - - - - - 16.16 -
5149.01 527.05 -8.96 658 5150.34 no move -1.37 - - 1988.06 - - - 2354.75 - -82.73 - - 3109.94 - - - - - - - - - - -
5459.46 555.04 -8.92 689 5464.19 roll -1.37 - - 1988.88 - 2.81 0.064 1210.62 -407.2 -82.73 - - 3110.34 - - - - - - - - - 16.18 -
5539.10 562.43 -9.36 705 5544.16 roll -1.37 - - 1986.81 - 2.58 0.031 2354.25 443.3 -82.73 - - 3111.12 - - - - - - - - - 16.17 -
5849.16 589.51 -8.38 737 5850.49 no move -1.37 - - 1988.50 - - - 2354.75 - -82.73 - - 3108.59 - - - - - - - - - - -
6159.61 615.91 -8.62 768 6164.32 roll -1.37 - - 1987.38 - 2.80 0.064 1210.00 -408.8 -82.73 - - 3109.56 - - - - - - - - - 16.16 -
6233.78 622.72 -9.04 783 6239.77 roll -1.37 - - 1988.50 - 2.57 0.031 2352.12 444.4 -82.73 - - 3109.75 - - - - - - - - - 16.17 -
6549.49 649.38 -8.39 815 6550.82 no move -1.37 - - 1988.44 - - - 2352.19 - -82.73 - - 3107.94 - - - - - - - - - - -
6859.85 676.63 -8.94 846 6864.44 roll -1.37 - - 1988.19 - 2.80 0.065 1210.81 -407.6 -82.73 - - 3108.03 - - - - - - - - - 16.18 -
6933.90 683.77 -9.12 861 6939.90 roll -1.37 - - 1988.50 - 2.57 0.031 2352.62 444.3 -82.73 - - 3108.25 - - - - - - - - - 16.17 -
7249.40 711.39 -8.62 893 7254.50 roll -1.37 - - 1988.56 - 2.79 0.064 1210.12 -409.5 -82.73 - - 3107.72 - - - - - - - - - 16.19 -
7323.95 718.27 -9.09 908 7329.93 roll -1.37 - - 1988.50 - 2.58 0.032 2353.12 443.0 -82.73 - - 3108.03 - - - - - - - - - 16.18 -
7639.45 743.52 -7.73 940 7644.54 roll -1.37 - - 1988.25 - 2.80 0.065 1209.88 -408.3 -82.73 - - 3108.97 - - - - - - - - - 16.18 -
7699.46 748.56 -8.45 952 7704.52 roll -1.37 - - 1988.56 - 2.57 0.032 2351.62 444.3 -82.73 - - 3106.69 - - - - - - - - - 16.17 -
8009.49 772.46 -7.55 984 8010.82 no move -1.37 - - 1988.69 - - - 2351.81 - -82.73 - - 3105.69 - - - - - - - - - - -
8319.91 795.28 -7.37 1015 8324.62 roll -1.37 - - 1988.69 - 2.80 0.065 1209.75 -407.9 -82.73 - - 3106.16 - - - - - - - - - 16.18 -
8379.53 800.13 -7.87 1027 8384.78 roll -1.37 - - 1988.38 - 2.59 0.032 2351.69 440.9 -82.73 - - 3106.25 - - - - - - - - - 16.17 -
8689.74 823.11 -7.57 1059 8691.07 no move -1.37 - - 1988.75 - - - 2351.56 - -82.73 - - 3104.72 - - - - - - - - - - -
9000.00 846.57 -7.36 1090 9004.72 roll -1.37 - - 1988.50 - 2.80 0.065 1210.12 -407.7 -82.73 - - 3106.03 - - - - - - - - - 16.17 -
9064.18 852.05 -8.03 1103 9070.38 roll -1.37 - - 1988.50 - 2.58 0.031 2352.62 442.8 -82.73 - - 3106.91 - - - - - - - - - 16.17 -
9379.72 875.26 -7.26 1135 9381.05 no move -1.37 - - 1987.94 - - - 2352.94 - -82.73 - - 3103.78 - - - - - - - - - - -
9690.16 898.03 -7.35 1166 9691.49 no move -1.37 - - 1988.19 - - - 2353.06 - -82.73 - - 3104.00 - - - - - - - - - - -
10000.23 920.51 -7.44 1197 10004.96 roll -1.37 - - 1988.50 - 2.83 0.065 1209.88 -404.0 -82.73 - - 3104.91 - - - - - - - - - 16.17 -
10064.40 925.58 -7.93 1210 10070.38 roll -1.37 - - 1988.56 - 2.59 0.032 2353.06 441.4 -82.73 - - 3104.34 - - - - - - - - - 16.16 -
10380.50 945.49 -6.32 1242 10381.83 no move -1.37 - - 1988.19 - - - 2352.69 - -82.73 - - 3103.66 - - - - - - - - - - -
10690.40 964.94 -6.18 1273 10695.11 roll -1.37 - - 1988.75 - 2.82 0.065 1211.38 -404.7 -82.73 - - 3103.97 - - - - - - - - - 16.17 -
10780.02 971.25 -6.83 1291 10785.09 roll -1.37 - - 1987.88 - 2.58 0.032 2353.06 442.5 -82.73 - - 3104.69 - - - - - - - - - 16.17 -
11079 end dive: TARGET_DEPTH_EXCEEDED
11079 begin apogee
11082.53 990.29 -6.69 1322 11147.43 -0.28 1.77 0.156 2254.69 150.7 0.21 0.140 2282.88 -334.2 - 60.88 2.430 2773.88 -5.4 0.365 - - - - - - 16.09 15.67 12.61
11157 end apogee: CONTROL_FINISHED_OK
11157 begin climb
11157.79 991.53 - 1328 11233.69 1.37 2.59 0.095 2655.25 154.7 3.02 0.077 1132.38 -381.0 82.73 64.82 2.354 2436.06 -5.2 0.362 - - - - - - 15.72 15.35 12.83
11276.52 983.99 7.65 1351 11282.34 roll 1.38 - - 2654.69 - 2.68 0.030 2271.19 424.9 82.73 - - 2433.88 - - - - - - - - - 15.55 -
11592.25 956.67 8.93 1383 11593.57 no move 1.38 - - 2654.62 - - - 2270.88 - 82.73 - - 2430.72 - - - - - - - - - - -
11902.32 930.10 8.64 1414 11907.06 roll 1.38 - - 2654.94 - 2.90 0.074 1133.62 -392.2 82.73 - - 2433.00 - - - - - - - - - 15.93 -
11961.94 924.80 9.60 1426 11967.03 roll 1.38 - - 2654.75 - 2.62 0.031 2272.69 434.8 82.73 - - 2430.47 - - - - - - - - - 15.94 -
12272.65 899.89 7.65 1458 12273.99 VBD 1.40 - - 2654.69 - - - 2273.12 - 82.73 - - 2428.66 - - - - - - - - - - -
12582.08 876.40 7.50 1489 12583.41 VBD 1.42 - - 2654.94 - - - 2273.31 - 82.73 - - 2428.59 - - - - - - - - - - -
12892.55 852.23 7.87 1520 12893.88 VBD 1.43 - - 2655.75 - - - 2272.81 - 82.73 - - 2428.53 - - - - - - - - - - -
13202.60 827.24 7.95 1551 13207.32 done 1.44 - - 2654.88 - 2.88 0.075 1131.44 -396.3 82.73 - - 2429.84 - - - - - - - - - 16.08 -
13286.77 820.07 8.89 1568 13292.75 done 1.44 - - 2655.00 - 2.59 0.031 2272.31 440.5 82.73 - - 2430.69 - - - - - - - - - 16.09 -
13602.30 795.04 8.01 1600 13607.41 done 1.44 - - 2655.31 - 2.87 0.074 1132.25 -397.2 82.73 - - 2429.06 - - - - - - - - - 16.10 -
13642.32 791.94 7.70 1608 13647.38 done 1.46 - - 2654.75 - 2.59 0.031 2272.19 440.1 82.73 - - 2428.78 - - - - - - - - - 16.11 -
13952.75 767.98 7.52 1640 13954.08 VBD 1.47 - - 2654.50 - - - 2272.62 - 82.73 - - 2428.31 - - - - - - - - - - -
14262.79 745.29 7.15 1671 14267.52 1.50 0.17 0.092 2699.38 264.0 2.63 0.095 3346.81 408.4 82.73 - - 2429.44 - - - - - - - - 16.09 16.09 -
14312.40 740.89 8.81 1681 14317.49 done 1.50 - - 2701.50 - 2.62 0.025 2189.81 -441.6 82.73 - - 2429.06 - - - - - - - - - 16.11 -
14623.06 714.68 8.03 1713 14624.39 VBD 1.50 - - 2701.19 - - - 2189.12 - 82.73 - - 2427.94 - - - - - - - - - - -
14932.86 689.28 8.00 1744 14934.19 VBD 1.50 - - 2700.94 - - - 2188.88 - 82.73 - - 2429.34 - - - - - - - - - - -
15242.92 665.72 7.29 1775 15247.59 done 1.52 - - 2701.25 - 2.65 0.078 1131.06 -399.2 82.73 - - 2428.97 - - - - - - - - - 16.14 -
15332.53 658.27 8.27 1793 15337.59 done 1.52 - - 2701.69 - 2.60 0.032 2274.56 439.8 82.73 - - 2428.66 - - - - - - - - - 16.13 -
15642.96 636.32 7.08 1825 15644.29 VBD 1.55 - - 2701.06 - - - 2274.50 - 82.73 - - 2427.94 - - - - - - - - - - -
15953.02 614.01 7.16 1856 15954.35 VBD 1.58 - - 2701.31 - - - 2274.38 - 82.73 - - 2427.72 - - - - - - - - - - -
16263.08 592.21 7.39 1887 16267.77 done 1.60 - - 2701.69 - 2.64 0.094 3347.56 406.5 82.73 - - 2429.16 - - - - - - - - - 16.14 -
16347.26 585.12 8.42 1904 16353.26 done 1.60 - - 2701.00 - 2.64 0.024 2188.12 -439.2 82.73 - - 2430.25 - - - - - - - - - 16.13 -
16663.18 561.40 7.22 1936 16667.87 done 1.62 - - 2701.31 - 2.65 0.078 1131.38 -398.8 82.73 - - 2427.59 - - - - - - - - - 16.14 -
16747.35 554.36 8.30 1953 16753.33 done 1.62 - - 2701.44 - 2.59 0.031 2271.12 440.1 82.73 - - 2428.62 - - - - - - - - - 16.14 -
17063.54 531.81 6.93 1985 17064.87 VBD 1.66 - - 2701.25 - - - 2271.31 - 82.73 - - 2427.00 - - - - - - - - - - -
17373.40 512.40 6.03 2016 17405.50 1.73 0.23 0.075 2753.00 225.0 2.89 0.077 1131.69 -394.3 118.31 27.19 1.781 2290.66 -5.0 0.238 - - - - - - 16.13 15.97 12.69
17493.04 501.70 9.54 2040 17499.06 roll 1.73 - - 2753.75 - 2.62 0.032 2273.69 435.9 118.31 - - 2290.06 - - - - - - - - - 16.02 -
17808.93 472.33 9.47 2072 17813.65 roll 1.73 - - 2753.94 - 2.87 0.073 1132.50 -397.6 118.31 - - 2289.84 - - - - - - - - - 16.05 -
17963.50 456.39 10.24 2103 17969.12 roll 1.73 - - 2753.56 - 2.61 0.032 2272.88 436.9 118.31 - - 2289.09 - - - - - - - - - 16.08 -
18279.02 427.39 8.89 2135 18283.72 roll 1.73 - - 2752.75 - 2.65 0.093 3345.81 404.9 118.31 - - 2288.47 - - - - - - - - - 16.06 -
18353.20 419.77 10.38 2150 18359.21 roll 1.73 - - 2754.38 - 2.62 0.024 2189.75 -441.2 118.31 - - 2287.91 - - - - - - - - - 16.09 -
18669.12 391.29 8.55 2182 18670.45 no move 1.73 - - 2753.81 - - - 2189.88 - 118.31 - - 2287.41 - - - - - - - - - - -
18979.43 363.76 8.72 2213 18983.92 roll 1.73 - - 2754.12 - 2.85 0.088 3345.44 405.5 118.31 - - 2289.22 - - - - - - - - - 16.11 -
19048.82 357.18 9.52 2227 19053.90 roll 1.73 - - 2753.25 - 2.62 0.024 2188.50 -441.6 118.31 - - 2288.44 - - - - - - - - - 16.11 -
19359.45 330.93 8.01 2259 19360.78 no move 1.73 - - 2755.06 - - - 2189.25 - 118.31 - - 2287.44 - - - - - - - - - - -
19669.36 306.32 7.79 2290 19674.86 roll 1.74 - - 2753.38 - 2.63 0.077 1131.31 -402.3 118.31 - - 2288.25 - - - - - - - - - 16.12 -
19738.97 300.21 8.69 2304 19744.04 roll 1.74 - - 2754.12 - 2.59 0.031 2271.62 440.3 118.31 - - 2289.94 - - - - - - - - - 16.12 -
20049.04 275.03 8.01 2336 20050.37 no move 1.74 - - 2753.81 - - - 2271.00 - 118.31 - - 2287.38 - - - - - - - - - - -
20359.49 250.56 8.06 2367 20360.82 no move 1.74 - - 2754.31 - - - 2271.12 - 118.31 - - 2287.62 - - - - - - - - - - -
20669.89 225.14 8.07 2398 20671.22 no move 1.74 - - 2754.00 - - - 2271.56 - 118.31 - - 2287.47 - - - - - - - - - - -
20979.62 200.30 8.18 2429 20984.34 roll 1.74 - - 2753.75 - 2.86 0.071 1131.25 -398.7 118.31 - - 2288.03 - - - - - - - - - 16.10 -
21053.79 194.00 8.57 2444 21059.78 roll 1.74 - - 2754.69 - 2.59 0.030 2274.25 441.3 118.31 - - 2288.59 - - - - - - - - - 16.12 -
21369.72 168.14 7.60 2476 21371.05 no move 1.76 - - 2754.56 - - - 2274.12 - 118.31 - - 2287.59 - - - - - - - - - - -
21680.11 148.45 5.85 2507 21715.39 done 1.83 - - 2754.12 - 2.65 0.093 3346.75 404.8 156.51 29.24 1.345 2135.97 -5.2 0.094 - - - - - - - 15.94 12.73
21783.92 140.70 8.35 2528 21789.93 roll 1.83 - - 2754.69 - 2.63 0.024 2188.94 -440.2 156.51 - - 2133.62 - - - - - - - - - 16.03 -
22099.81 115.81 8.19 2560 22104.49 roll 1.83 - - 2754.06 - 2.65 0.076 1132.19 -398.8 156.51 - - 2132.72 - - - - - - - - - 16.02 -
22259.85 103.86 7.03 2592 22264.52 roll 1.86 - - 2754.12 - 2.60 0.029 2274.62 439.4 156.51 - - 2132.06 - - - - - - - - - 16.05 -
22569.52 88.49 3.81 2648 22626.88 2.00 0.30 0.065 2820.56 221.5 2.90 0.072 1132.56 -393.8 224.59 50.53 1.289 1858.88 -5.4 0.061 - - - - - - 16.02 15.81 12.66
22854.97 64.85 7.59 2705 22860.51 done 2.02 - - 2820.12 - 2.62 0.029 2275.88 436.4 224.59 - - 1850.72 - - - - - - - - - 15.95 -
23045.03 54.68 5.28 2743 23086.65 done 2.11 - - 2820.62 - 2.93 0.071 1130.06 -391.1 271.22 34.80 1.217 1668.50 -5.2 0.039 - - - - - - - 15.78 12.69
23235.08 40.35 8.67 2781 23240.62 roll 2.11 - - 2819.69 - 2.62 0.029 2275.75 437.3 271.22 - - 1662.31 - - - - - - - - - 15.89 -
23425.17 27.01 6.71 2819 23426.49 VBD 2.14 - - 2819.62 - - - 2275.50 - 271.22 - - 1659.81 - - - - - - - - - - -
23610.24 19.99 3.02 2856 23677.78 2.30 0.35 0.058 2896.00 218.2 2.90 0.071 1131.38 -394.5 350.91 59.31 1.184 1344.50 -5.3 0.015 - - - - - - 15.93 15.70 12.67
23735.78 12.11 8.56 2881 23741.33 roll 2.30 - - 2895.88 - 2.62 0.028 2275.25 436.6 350.91 - - 1339.25 - - - - - - - - - 15.79 -
23860 end climb: SURFACE_DEPTH_REACHED
23860 begin surface coast
23891 end surface coast: CONTROL_FINISHED_OK
23891 begin surface
SM 1.89 - - - - 187.2 54.65 1.152 1042.8 19.1 16.58 0.045 996.2 60.1 - 0.12 0.129 1089.4 9056.5 -13.562 - - 12.64 15.85 15.86 -