NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 230 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 75.39 of 550.00 AH used of 24V (86.29% remains)
• Surface angle -62.8 deg, depth 1.48 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 424.83 (SM_CC=425)
• GPS1 time: 20 s
• GPS2 time: 4 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
6.44 - - - 65.92 VBD -1.37 - - 177.88 - - - 2238.44 - -82.73 58.34 0.005 2493.75 - - - - - - - - - - 15.70
66.66 3.62 -3.75 11 104.84 -1.37 13.73 0.253 1988.62 131.9 2.96 0.085 3426.81 401.5 -82.73 14.61 0.006 3112.47 42.3 -4.209 - - - - - - 15.70 15.69 15.74
152.82 22.36 -24.37 28 158.37 roll -1.37 - - 1988.81 - 2.62 0.021 2257.12 -446.4 -82.73 - - 3113.09 - - - - - - - - - 15.84 -
343.28 55.09 -15.09 66 348.62 roll -1.37 - - 1987.88 - 2.56 0.063 1208.38 -409.7 -82.73 - - 3114.84 - - - - - - - - - 15.90 -
423.06 67.39 -15.37 82 428.48 roll -1.37 - - 1987.31 - 2.62 0.029 2354.75 437.5 -82.73 - - 3114.50 - - - - - - - - - 15.90 -
613.37 94.43 -12.51 120 616.96 no move -1.37 - - 1988.69 - - - 2354.38 - -82.73 - - 3114.12 - - - - - - - - - - -
803.00 114.56 -9.73 144 808.10 roll -1.37 - - 1989.00 - 2.78 0.058 1208.50 -412.2 -82.73 - - 3114.84 - - - - - - - - - 15.99 -
943.21 127.76 -9.40 172 948.16 roll -1.37 - - 1988.19 - 2.59 0.028 2354.44 442.4 -82.73 - - 3115.25 - - - - - - - - - 16.01 -
1253.07 156.56 -8.96 204 1258.15 roll -1.37 - - 1988.31 - 2.62 0.086 3427.25 409.5 -82.73 - - 3114.69 - - - - - - - - - 16.03 -
1383.11 169.81 -10.72 230 1388.16 roll -1.37 - - 1988.62 - 2.59 0.020 2244.44 -456.7 -82.73 - - 3115.78 - - - - - - - - - 16.06 -
1693.16 199.28 -8.99 262 1698.20 roll -1.37 - - 1988.19 - 2.51 0.065 1208.38 -412.8 -82.73 - - 3114.91 - - - - - - - - - 16.07 -
1783.16 207.99 -9.88 280 1788.22 roll -1.37 - - 1988.31 - 2.59 0.029 2356.06 443.1 -82.73 - - 3114.75 - - - - - - - - - 16.07 -
2093.19 237.50 -9.35 312 2098.59 roll -1.37 - - 1988.50 - 2.77 0.060 1209.00 -414.1 -82.73 - - 3115.81 - - - - - - - - - 16.09 -
2203.32 248.08 -9.92 334 2208.27 roll -1.37 - - 1989.25 - 2.59 0.029 2353.25 441.8 -82.73 - - 3114.78 - - - - - - - - - 16.09 -
2513.27 278.16 -9.88 366 2518.35 roll -1.37 - - 1988.00 - 2.62 0.088 3427.56 410.0 -82.73 - - 3115.06 - - - - - - - - - 16.08 -
2597.84 287.72 -11.46 383 2603.83 roll -1.37 - - 1988.38 - 2.59 0.021 2245.44 -456.4 -82.73 - - 3114.62 - - - - - - - - - 16.10 -
2913.36 319.76 -9.93 415 2918.43 roll -1.37 - - 1988.94 - 2.51 0.066 1209.94 -412.5 -82.73 - - 3114.59 - - - - - - - - - 16.12 -
2987.94 327.68 -10.49 430 2993.93 roll -1.37 - - 1988.25 - 2.58 0.029 2353.31 443.2 -82.73 - - 3114.38 - - - - - - - - - 16.11 -
3303.46 357.96 -9.40 462 3304.79 no move -1.37 - - 1988.50 - - - 2353.25 - -82.73 - - 3113.25 - - - - - - - - - - -
3613.90 387.06 -9.39 493 3618.61 roll -1.37 - - 1988.31 - 2.77 0.062 1209.94 -412.7 -82.73 - - 3114.88 - - - - - - - - - 16.14 -
3708.08 396.44 -9.82 512 3714.06 roll -1.37 - - 1987.31 - 2.58 0.030 2354.19 443.5 -82.73 - - 3114.22 - - - - - - - - - 16.13 -
4023.61 426.52 -9.49 544 4028.88 roll -1.37 - - 1988.25 - 2.62 0.091 3427.81 409.8 -82.73 - - 3112.56 - - - - - - - - - 16.12 -
4073.74 431.93 -11.07 554 4078.69 roll -1.37 - - 1987.62 - 2.58 0.022 2247.62 -457.4 -82.73 - - 3113.56 - - - - - - - - - 16.15 -
4383.70 460.57 -8.87 586 4385.02 no move -1.37 - - 1988.88 - - - 2247.06 - -82.73 - - 3111.31 - - - - - - - - - - -
4694.13 487.59 -8.44 617 4695.46 no move -1.37 - - 1988.69 - - - 2246.44 - -82.73 - - 3110.34 - - - - - - - - - - -
5004.20 514.12 -8.24 648 5005.53 no move -1.37 - - 1988.31 - - - 2246.69 - -82.73 - - 3110.41 - - - - - - - - - - -
5314.27 540.32 -8.63 679 5318.99 roll -1.37 - - 1988.62 - 2.89 0.087 3427.19 408.5 -82.73 - - 3110.59 - - - - - - - - - 16.14 -
5383.90 547.25 -9.87 693 5388.96 roll -1.37 - - 1989.19 - 2.59 0.022 2249.69 -454.6 -82.73 - - 3110.50 - - - - - - - - - 16.17 -
5693.96 574.60 -8.95 725 5695.29 no move -1.37 - - 1988.62 - - - 2248.38 - -82.73 - - 3109.12 - - - - - - - - - - -
6004.37 602.09 -8.89 756 6009.10 roll -1.37 - - 1988.38 - 2.88 0.088 3427.00 409.2 -82.73 - - 3110.56 - - - - - - - - - 16.15 -
6078.75 609.68 -10.19 771 6084.52 roll -1.37 - - 1988.56 - 2.58 0.022 2251.19 -455.7 -82.73 - - 3109.72 - - - - - - - - - 16.17 -
6394.04 637.73 -8.62 803 6399.10 roll -1.37 - - 1987.75 - 2.52 0.070 1208.44 -413.8 -82.73 - - 3109.62 - - - - - - - - - 16.17 -
6464.06 643.78 -8.34 817 6469.30 roll -1.37 - - 1988.00 - 2.60 0.031 2354.06 440.6 -82.73 - - 3109.06 - - - - - - - - - 16.17 -
6774.20 668.23 -7.55 849 6775.53 no move -1.37 - - 1988.50 - - - 2354.38 - -82.73 - - 3106.78 - - - - - - - - - - -
7084.50 690.90 -7.50 880 7089.44 roll -1.37 - - 1989.06 - 2.79 0.064 1209.38 -410.4 -82.73 - - 3108.28 - - - - - - - - - 16.17 -
7204.14 700.59 -8.35 904 7209.21 roll -1.37 - - 1988.88 - 2.60 0.031 2354.25 440.3 -82.73 - - 3107.47 - - - - - - - - - 16.17 -
7514.18 724.10 -7.86 936 7515.51 no move -1.37 - - 1988.88 - - - 2354.12 - -82.73 - - 3106.03 - - - - - - - - - - -
7824.61 749.01 -8.01 967 7829.32 roll -1.37 - - 1989.06 - 2.79 0.065 1209.94 -410.1 -82.73 - - 3106.56 - - - - - - - - - 16.17 -
7914.25 756.87 -8.58 985 7919.31 roll -1.37 - - 1989.12 - 2.59 0.031 2352.94 441.3 -82.73 - - 3107.47 - - - - - - - - - 16.16 -
8224.33 782.23 -8.27 1017 8225.66 no move -1.37 - - 1989.06 - - - 2353.06 - -82.73 - - 3104.72 - - - - - - - - - - -
8534.77 806.88 -7.68 1048 8539.48 roll -1.37 - - 1988.44 - 2.64 0.094 3427.44 407.0 -82.73 - - 3105.44 - - - - - - - - - 16.15 -
8608.95 813.55 -8.98 1063 8614.94 roll -1.37 - - 1989.44 - 2.59 0.023 2249.94 -454.6 -82.73 - - 3105.28 - - - - - - - - - 16.19 -
8924.66 836.88 -7.16 1095 8925.99 no move -1.37 - - 1988.44 - - - 2250.00 - -82.73 - - 3104.38 - - - - - - - - - - -
9235.05 858.15 -6.60 1126 9236.38 no move -1.37 - - 1989.12 - - - 2249.81 - -82.73 - - 3103.97 - - - - - - - - - - -
9545.01 878.02 -6.15 1157 9546.34 no move -1.37 - - 1989.06 - - - 2250.00 - -82.73 - - 3103.62 - - - - - - - - - - -
9855.08 897.05 -6.29 1188 9859.75 roll -1.37 - - 1989.06 - 2.53 0.071 1211.25 -410.6 -82.73 - - 3104.44 - - - - - - - - - 16.17 -
9909.23 900.67 -6.59 1199 9915.22 roll -1.37 - - 1988.12 - 2.58 0.031 2351.56 442.0 -82.73 - - 3105.78 - - - - - - - - - 16.16 -
10224.94 920.71 -6.61 1231 10226.27 no move -1.37 - - 1988.75 - - - 2351.88 - -82.73 - - 3103.38 - - - - - - - - - - -
10535.21 942.02 -6.78 1262 10539.92 roll -1.37 - - 1989.38 - 2.79 0.066 1208.44 -409.8 -82.73 - - 3104.53 - - - - - - - - - 16.17 -
10629.39 948.93 -7.35 1281 10635.38 roll -1.37 - - 1989.31 - 2.59 0.031 2352.81 441.8 -82.73 - - 3104.09 - - - - - - - - - 16.17 -
10944.93 970.59 -7.08 1313 10946.26 no move -1.37 - - 1988.88 - - - 2352.75 - -82.73 - - 3102.72 - - - - - - - - - - -
11255 end dive: TARGET_DEPTH_EXCEEDED
11255 begin apogee
11257.19 990.54 -6.47 1344 11322.49 -0.28 1.77 0.150 2254.31 150.0 0.21 0.137 2282.62 -334.0 - 60.79 2.414 2775.38 -5.4 0.364 - - - - - - 16.09 15.68 12.61
11332 end apogee: CONTROL_FINISHED_OK
11332 begin climb
11333.04 991.55 - 1350 11404.93 1.37 2.59 0.094 2654.69 154.6 - - 2282.19 - 82.73 64.93 2.345 2437.88 -5.2 0.362 - - - - - - 15.72 - 12.83
11708.55 961.58 9.00 1394 11713.69 roll 1.37 - - 2656.69 - 2.93 0.075 1133.81 -391.9 82.73 - - 2431.06 - - - - - - - - - 15.80 -
11773.10 955.56 10.00 1407 11779.12 roll 1.37 - - 2656.00 - 2.64 0.030 2271.88 431.1 82.73 - - 2431.94 - - - - - - - - - 15.83 -
12089.01 928.45 8.43 1439 12093.71 roll 1.37 - - 2654.81 - 2.69 0.093 3345.25 399.0 82.73 - - 2431.44 - - - - - - - - - 15.91 -
12143.18 923.51 9.31 1450 12149.19 roll 1.37 - - 2655.81 - 2.63 0.024 2189.06 -439.6 82.73 - - 2430.53 - - - - - - - - - 15.93 -
12459.11 897.44 7.89 1482 12463.79 done 1.38 - - 2656.06 - 2.62 0.078 1131.44 -403.7 82.73 - - 2429.81 - - - - - - - - - 15.99 -
12513.27 892.71 8.83 1493 12519.28 done 1.38 - - 2655.38 - 2.61 0.031 2274.44 437.9 82.73 - - 2430.69 - - - - - - - - - 15.99 -
12829.44 868.44 7.35 1525 12830.77 VBD 1.40 - - 2655.69 - - - 2274.38 - 82.73 - - 2428.53 - - - - - - - - - - -
13139.26 846.53 6.77 1556 13140.59 VBD 1.43 - - 2656.00 - - - 2274.19 - 82.73 - - 2427.53 - - - - - - - - - - -
13449.32 824.82 7.19 1587 13454.04 done 1.46 - - 2655.00 - 2.84 0.075 1131.38 -402.4 82.73 - - 2429.50 - - - - - - - - - 16.07 -
13528.95 818.54 8.32 1603 13534.02 done 1.46 - - 2656.56 - 2.59 0.031 2273.94 441.1 82.73 - - 2429.06 - - - - - - - - - 16.09 -
13839.39 794.88 7.49 1635 13844.07 done 1.48 - - 2656.69 - 2.64 0.093 3346.69 406.3 82.73 - - 2428.81 - - - - - - - - - 16.06 -
13913.76 788.44 8.77 1650 13919.55 done 1.48 - - 2655.94 - 2.61 0.024 2186.06 -444.7 82.73 - - 2429.91 - - - - - - - - - 16.10 -
14229.44 764.88 7.51 1682 14230.88 1.50 0.16 0.093 2700.00 275.4 - - 2186.31 - 82.73 - - 2427.75 - - - - - - - - 16.08 - -
14539.07 738.32 8.04 1713 14540.41 VBD 1.50 - - 2700.25 - - - 2186.19 - 82.73 - - 2428.03 - - - - - - - - - - -
14849.50 712.63 7.98 1744 14850.83 VBD 1.50 - - 2700.88 - - - 2185.12 - 82.73 - - 2428.19 - - - - - - - - - - -
15159.55 688.45 7.20 1775 15160.88 VBD 1.52 - - 2699.81 - - - 2184.75 - 82.73 - - 2427.91 - - - - - - - - - - -
15469.58 666.01 7.57 1806 15474.45 done 1.54 - - 2701.00 - 2.62 0.079 1131.56 -402.0 82.73 - - 2428.56 - - - - - - - - - 16.12 -
15553.91 659.56 8.07 1823 15559.74 done 1.54 - - 2701.19 - 2.58 0.031 2273.12 442.5 82.73 - - 2428.53 - - - - - - - - - 16.14 -
15869.65 636.75 7.26 1855 15870.99 VBD 1.57 - - 2701.12 - - - 2273.12 - 82.73 - - 2428.09 - - - - - - - - - - -
16179.72 613.98 6.72 1886 16184.41 done 1.60 - - 2701.75 - 2.64 0.092 3346.00 406.4 82.73 - - 2428.25 - - - - - - - - - 16.13 -
16263.90 607.06 8.56 1903 16269.88 done 1.60 - - 2701.38 - 2.60 0.024 2186.38 -446.0 82.73 - - 2429.06 - - - - - - - - - 16.14 -
16579.81 584.04 7.26 1935 16581.15 VBD 1.62 - - 2701.62 - - - 2186.62 - 82.73 - - 2427.22 - - - - - - - - - - -
16889.88 561.17 7.44 1966 16894.55 done 1.64 - - 2701.56 - 2.59 0.079 1129.81 -408.0 82.73 - - 2429.03 - - - - - - - - - 16.14 -
16974.06 554.44 7.92 1983 16980.04 done 1.66 - - 2701.00 - 2.59 0.031 2275.00 442.2 82.73 - - 2428.69 - - - - - - - - - 16.14 -
17289.98 532.76 6.93 2015 17291.41 1.69 0.16 0.083 2743.38 264.9 - - 2274.94 - 82.73 - - 2428.25 - - - - - - - - 16.13 - -
17599.66 510.06 7.11 2046 17604.73 done 1.71 - - 2744.50 - 2.64 0.091 3346.19 405.8 82.73 - - 2428.97 - - - - - - - - - 16.13 -
17649.67 506.22 7.88 2056 17654.90 done 1.72 - - 2745.12 - 2.59 0.024 2184.56 -448.5 82.73 - - 2429.00 - - - - - - - - - 16.16 -
17960.24 484.33 7.09 2088 17964.85 done 1.75 - - 2745.06 - 2.86 0.087 3346.44 406.3 82.73 - - 2427.91 - - - - - - - - - 16.14 -
18044.28 477.82 7.96 2105 18050.28 done 1.75 - - 2744.69 - 2.59 0.024 2187.94 -447.3 82.73 - - 2428.25 - - - - - - - - - 16.15 -
18360.22 455.69 7.06 2137 18364.89 done 1.78 - - 2744.56 - 2.60 0.078 1130.00 -406.9 82.73 - - 2428.75 - - - - - - - - - 16.11 -
18540.26 441.86 8.32 2173 18544.95 done 1.78 - - 2745.50 - 2.59 0.031 2274.12 441.7 82.73 - - 2427.34 - - - - - - - - - 16.10 -
18850.34 419.73 7.22 2205 18851.67 VBD 1.80 - - 2745.00 - - - 2273.69 - 82.73 - - 2426.75 - - - - - - - - - - -
19160.38 397.73 6.89 2236 19165.06 done 1.84 - - 2744.44 - 2.63 0.091 3346.44 407.9 82.73 - - 2429.03 - - - - - - - - - 16.08 -
19200.00 394.76 6.89 2244 19205.11 1.87 0.16 0.090 2790.06 285.1 2.60 0.024 2183.56 -447.3 82.73 - - 2429.03 - - - - - - - - 16.10 16.12 -
19510.03 372.97 7.04 2276 19511.36 VBD 1.90 - - 2790.25 - - - 2184.12 - 82.73 - - 2427.16 - - - - - - - - - - -
19820.64 352.83 6.51 2307 19821.98 VBD 1.94 - - 2790.44 - - - 2183.81 - 82.73 - - 2427.28 - - - - - - - - - - -
20130.61 333.93 5.85 2338 20160.68 VBD 2.01 - - 2789.69 - - - 2184.12 - 120.93 28.60 1.562 2281.91 -5.1 0.179 - - - - - - - - 12.64
20470.12 305.27 9.57 2372 20475.25 roll 2.01 - - 2790.12 - 2.88 0.086 3346.62 403.6 120.93 - - 2278.56 - - - - - - - - - 16.03 -
20625.09 288.41 11.32 2403 20630.71 roll 2.01 - - 2791.06 - 2.62 0.024 2189.88 -441.5 120.93 - - 2278.44 - - - - - - - - - 16.06 -
20940.59 258.72 9.49 2435 20941.92 no move 2.01 - - 2790.94 - - - 2189.88 - 120.93 - - 2276.56 - - - - - - - - - - -
21250.65 230.02 8.92 2466 21255.35 roll 2.01 - - 2791.00 - 2.62 0.077 1129.75 -404.6 120.93 - - 2278.28 - - - - - - - - - 16.05 -
21320.31 223.28 9.71 2480 21325.36 roll 2.01 - - 2790.69 - 2.60 0.030 2272.00 439.3 120.93 - - 2276.78 - - - - - - - - - 16.04 -
21630.36 196.47 8.42 2512 21635.45 roll 2.01 - - 2790.25 - 2.64 0.089 3346.69 407.1 120.93 - - 2276.44 - - - - - - - - - 16.05 -
21714.93 188.61 9.11 2529 21720.94 roll 2.01 - - 2790.38 - 2.61 0.023 2186.25 -444.6 120.93 - - 2277.56 - - - - - - - - - 16.09 -
22031.10 164.57 7.27 2561 22032.42 no move 2.04 - - 2790.69 - - - 2186.88 - 120.93 - - 2276.41 - - - - - - - - - - -
22340.93 142.38 6.71 2592 22345.65 roll back 2.07 0.19 0.080 2836.94 243.4 2.59 0.076 1131.12 -407.6 120.93 - - 2277.22 - - - - - - - - 16.07 16.08 -
22480.97 132.68 6.48 2620 22485.64 roll 2.11 - - 2837.50 - 2.59 0.029 2274.69 441.5 120.93 - - 2277.78 - - - - - - - - - 16.06 -
22791.04 119.36 3.18 2652 22853.03 2.26 0.18 0.081 2886.50 272.2 2.67 0.089 3347.94 402.0 198.35 56.76 1.341 1965.47 -5.5 0.081 - - - - - - 16.08 15.82 12.59
23081.05 90.35 10.12 2710 23086.60 roll 2.26 - - 2887.25 - 2.64 0.023 2186.38 -440.0 198.35 - - 1958.66 - - - - - - - - - 15.92 -
23271.10 77.14 5.73 2748 23307.63 done 2.35 - - 2886.62 - 2.88 0.084 3347.88 403.3 238.44 30.15 1.241 1802.59 -5.2 0.053 - - - - - - - 15.80 12.65
23536.16 55.65 8.98 2801 23541.69 roll 2.35 - - 2886.50 - 2.63 0.023 2185.38 -442.0 238.44 - - 1798.06 - - - - - - - - - 15.92 -
23726.19 42.35 5.89 2839 23761.96 done 2.42 - - 2886.44 - 2.88 0.083 3348.19 403.8 276.18 28.73 1.183 1648.41 -5.2 0.031 - - - - - - - 15.81 12.66
23936.25 33.10 4.13 2881 23989.53 2.55 0.32 0.069 2950.81 201.2 2.62 0.022 2180.25 -445.8 339.59 47.90 1.188 1389.56 -5.4 0.025 - - - - - - 15.87 15.91 12.67
24172.58 13.45 9.99 2928 24173.91 VBD 2.55 - - 2951.38 - - - 2180.25 - 339.59 - - 1382.41 - - - - - - - - - - -
24302 end climb: SURFACE_DEPTH_REACHED
24302 begin surface coast
24327 end surface coast: CONTROL_FINISHED_OK
24328 begin surface
SM 1.70 - - - - 177.8 62.60 1.164 1043.1 16.7 17.05 0.054 1006.0 59.0 - 0.36 0.070 1080.2 3000.6 -7.448 - - 12.61 15.88 15.89 -