NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 265 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 86.29 of 550.00 AH used of 24V (84.31% remains)
• Surface angle -65.1 deg, depth 1.52 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.76 (SM_CC=425)
• GPS1 time: 54 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.50 - - - 56.14 VBD -1.37 - - 176.88 - - - 2256.38 - -82.73 48.46 0.005 2270.34 - - - - - - - - - - 15.68
56.87 3.37 -4.34 9 100.16 -1.37 13.73 0.244 1988.25 131.9 2.98 0.084 3427.12 392.9 -82.73 20.04 0.006 3112.34 42.0 -3.890 - - - - - - 15.67 15.66 15.71
328.18 52.89 -14.69 63 333.70 roll -1.37 - - 1988.69 - 2.58 0.021 2251.75 -455.6 -82.73 - - 3114.56 - - - - - - - - - 15.90 -
518.43 77.68 -13.68 101 522.03 no move -1.37 - - 1989.50 - - - 2250.75 - -82.73 - - 3113.62 - - - - - - - - - - -
703.82 99.06 -10.40 138 708.91 roll -1.37 - - 1988.06 - 2.95 0.079 3425.44 398.2 -82.73 - - 3114.69 - - - - - - - - - 15.96 -
853.77 115.42 -10.66 168 858.45 roll -1.37 - - 1988.12 - 2.56 0.020 2244.25 -461.4 -82.73 - - 3114.81 - - - - - - - - - 15.98 -
1163.45 142.50 -8.89 200 1168.58 roll -1.37 - - 1988.19 - 2.96 0.079 3426.25 399.3 -82.73 - - 3114.53 - - - - - - - - - 16.01 -
1238.00 150.21 -10.72 215 1244.20 roll -1.37 - - 1989.38 - 2.56 0.021 2245.50 -461.2 -82.73 - - 3115.88 - - - - - - - - - 16.03 -
1553.54 180.15 -9.03 247 1558.19 roll -1.37 - - 1989.31 - 2.47 0.068 1207.44 -420.3 -82.73 - - 3114.41 - - - - - - - - - 16.05 -
1663.56 190.45 -10.11 269 1668.65 roll -1.37 - - 1989.62 - 2.63 0.029 2354.38 436.1 -82.73 - - 3114.88 - - - - - - - - - 16.07 -
1973.63 218.21 -8.64 301 1978.71 roll -1.37 - - 1989.69 - 2.67 0.086 3426.81 401.7 -82.73 - - 3116.09 - - - - - - - - - 16.03 -
2063.66 227.00 -9.95 319 2068.72 roll -1.37 - - 1989.94 - 2.55 0.021 2245.62 -463.2 -82.73 - - 3114.38 - - - - - - - - - 16.06 -
2373.90 254.78 -9.32 351 2375.23 no move -1.37 - - 1989.31 - - - 2243.44 - -82.73 - - 3113.31 - - - - - - - - - - -
2684.34 285.17 -9.85 382 2688.43 roll -1.37 - - 1989.31 - 2.46 0.069 1208.31 -420.8 -82.73 - - 3113.72 - - - - - - - - - 16.09 -
2773.80 294.27 -10.07 400 2778.89 roll -1.37 - - 1989.38 - 2.63 0.029 2353.62 435.5 -82.73 - - 3114.38 - - - - - - - - - 16.10 -
3083.86 325.56 -10.03 432 3085.19 no move -1.37 - - 1989.19 - - - 2352.81 - -82.73 - - 3112.75 - - - - - - - - - - -
3394.31 355.22 -8.81 463 3399.02 roll -1.37 - - 1989.00 - 2.71 0.064 1208.12 -422.4 -82.73 - - 3114.47 - - - - - - - - - 16.11 -
3503.95 365.13 -9.11 485 3509.03 roll -1.37 - - 1989.62 - 2.63 0.030 2352.94 435.3 -82.73 - - 3112.59 - - - - - - - - - 16.13 -
3813.99 393.36 -9.22 517 3819.09 roll -1.37 - - 1989.75 - 2.71 0.063 1208.50 -422.3 -82.73 - - 3112.94 - - - - - - - - - 16.12 -
3918.54 403.40 -10.14 538 3924.55 roll -1.37 - - 1990.06 - 2.63 0.030 2353.44 435.3 -82.73 - - 3112.56 - - - - - - - - - 16.14 -
4234.04 432.48 -9.13 570 4235.37 no move -1.37 - - 1989.81 - - - 2353.00 - -82.73 - - 3110.62 - - - - - - - - - - -
4544.46 459.45 -8.48 601 4549.16 roll -1.37 - - 1989.94 - 2.68 0.090 3425.50 400.2 -82.73 - - 3111.75 - - - - - - - - - 16.11 -
4644.27 468.72 -9.30 621 4649.22 roll -1.37 - - 1990.06 - 2.56 0.022 2249.75 -459.3 -82.73 - - 3110.72 - - - - - - - - - 16.14 -
4954.12 494.79 -8.53 653 4955.45 no move -1.37 - - 1990.12 - - - 2248.06 - -82.73 - - 3109.28 - - - - - - - - - - -
5264.54 521.97 -8.58 684 5265.87 no move -1.37 - - 1989.81 - - - 2248.31 - -82.73 - - 3108.75 - - - - - - - - - - -
5574.58 548.78 -8.83 715 5575.91 no move -1.37 - - 1989.31 - - - 2248.56 - -82.73 - - 3108.41 - - - - - - - - - - -
5884.63 576.91 -8.87 746 5885.96 no move -1.37 - - 1989.94 - - - 2247.81 - -82.73 - - 3107.50 - - - - - - - - - - -
6194.69 603.98 -8.99 777 6196.02 no move -1.37 - - 1989.88 - - - 2248.19 - -82.73 - - 3107.53 - - - - - - - - - - -
6504.75 633.23 -9.79 808 6506.08 no move -1.37 - - 1989.94 - - - 2248.12 - -82.73 - - 3106.56 - - - - - - - - - - -
6814.82 661.36 -8.43 839 6816.15 no move -1.37 - - 1989.62 - - - 2248.06 - -82.73 - - 3106.19 - - - - - - - - - - -
7124.89 687.30 -7.97 870 7129.15 roll -1.37 - - 1989.56 - 2.48 0.072 1208.69 -419.1 -82.73 - - 3106.69 - - - - - - - - - 16.14 -
7194.52 692.95 -7.68 884 7199.60 roll -1.37 - - 1989.94 - 2.64 0.030 2351.44 432.9 -82.73 - - 3106.69 - - - - - - - - - 16.16 -
7504.59 716.73 -7.52 916 7505.92 no move -1.37 - - 1989.62 - - - 2352.00 - -82.73 - - 3105.28 - - - - - - - - - - -
7815.04 740.57 -7.78 947 7819.75 roll -1.37 - - 1989.81 - 2.74 0.066 1208.25 -417.4 -82.73 - - 3106.50 - - - - - - - - - 16.14 -
7869.20 744.97 -7.94 958 7875.39 roll -1.37 - - 1990.06 - 2.64 0.031 2350.94 432.8 -82.73 - - 3107.78 - - - - - - - - - 16.15 -
8184.84 769.41 -7.73 990 8186.17 no move -1.37 - - 1989.38 - - - 2352.00 - -82.73 - - 3104.59 - - - - - - - - - - -
8495.18 792.31 -6.94 1021 8499.89 roll -1.37 - - 1989.38 - 2.74 0.066 1208.75 -417.2 -82.73 - - 3105.31 - - - - - - - - - 16.15 -
8554.80 796.74 -7.37 1033 8559.89 roll -1.37 - - 1989.75 - 2.63 0.031 2350.44 434.1 -82.73 - - 3104.94 - - - - - - - - - 16.15 -
8864.87 817.45 -6.97 1065 8869.97 roll -1.37 - - 1989.31 - 2.73 0.065 1208.31 -418.4 -82.73 - - 3105.09 - - - - - - - - - 16.15 -
8954.90 823.67 -6.87 1083 8959.99 roll -1.37 - - 1989.62 - 2.62 0.031 2350.81 436.1 -82.73 - - 3104.84 - - - - - - - - - 16.15 -
9265.35 843.59 -6.22 1115 9270.05 roll -1.37 - - 1989.81 - 2.71 0.066 1209.75 -421.1 -82.73 - - 3104.41 - - - - - - - - - 16.15 -
9314.96 846.77 -6.59 1125 9320.05 roll -1.37 - - 1988.69 - 2.62 0.031 2350.69 435.5 -82.73 - - 3105.78 - - - - - - - - - 16.16 -
9625.00 868.04 -6.85 1157 9626.33 no move -1.37 - - 1990.00 - - - 2351.06 - -82.73 - - 3103.03 - - - - - - - - - - -
9935.45 887.79 -6.15 1188 9940.13 roll -1.37 - - 1989.94 - 2.71 0.066 1208.56 -421.6 -82.73 - - 3104.06 - - - - - - - - - 16.14 -
9975.24 890.25 -6.31 1196 9980.20 roll -1.37 - - 1989.56 - 2.63 0.031 2353.06 435.2 -82.73 - - 3103.56 - - - - - - - - - 16.15 -
10285.65 910.14 -6.49 1228 10286.98 no move -1.37 - - 1989.31 - - - 2352.88 - -82.73 - - 3102.03 - - - - - - - - - - -
10595.53 929.43 -6.25 1259 10600.23 roll -1.37 - - 1989.69 - 2.73 0.066 1208.31 -419.3 -82.73 - - 3103.00 - - - - - - - - - 16.14 -
10709.69 937.18 -6.91 1282 10715.69 roll -1.37 - - 1988.69 - 2.63 0.031 2348.88 433.7 -82.73 - - 3105.41 - - - - - - - - - 16.15 -
11025.59 956.13 -6.41 1314 11030.29 roll -1.37 - - 1988.81 - 2.70 0.092 3424.94 398.5 -82.73 - - 3103.41 - - - - - - - - - 16.13 -
11079.74 960.36 -7.61 1325 11085.73 roll -1.37 - - 1988.88 - 2.54 0.023 2246.19 -464.1 -82.73 - - 3102.31 - - - - - - - - - 16.14 -
11395.26 982.15 -7.13 1357 11396.59 no move -1.37 - - 1989.75 - - - 2246.75 - -82.73 - - 3101.22 - - - - - - - - - - -
11515 end dive: TARGET_DEPTH_EXCEEDED
11515 begin apogee
11517.08 990.75 -7.28 1369 11581.60 -0.28 1.77 0.147 2254.12 149.4 0.16 0.172 2286.31 247.2 - 60.72 2.414 2774.22 -5.4 0.364 - - - - - - 16.07 15.68 12.44
11583 end apogee: CONTROL_FINISHED_OK
11583 begin climb
11583.78 992.31 - 1375 11654.49 1.37 2.61 0.093 2655.88 153.9 - - 2286.25 - 82.73 65.21 2.341 2436.06 -5.2 0.362 - - - - - - 15.70 - 12.94
11957.64 965.47 8.43 1413 11962.75 roll 1.37 - - 2656.94 - 2.87 0.077 1132.44 -402.0 82.73 - - 2431.22 - - - - - - - - - 15.79 -
12017.66 960.18 9.29 1425 12022.74 roll 1.37 - - 2656.75 - 2.70 0.031 2271.50 421.9 82.73 - - 2431.50 - - - - - - - - - 15.82 -
12328.11 933.84 8.23 1457 12329.44 no move 1.37 - - 2655.75 - - - 2271.19 - 82.73 - - 2429.25 - - - - - - - - - - -
12638.18 910.58 7.16 1488 12642.88 done 1.39 - - 2655.06 - 2.80 0.075 1131.19 -407.1 82.73 - - 2431.97 - - - - - - - - - 15.97 -
12777.84 899.81 7.93 1516 12782.91 done 1.40 - - 2655.94 - 2.67 0.031 2271.38 427.0 82.73 - - 2430.00 - - - - - - - - - 15.99 -
13088.29 875.82 7.65 1548 13089.62 VBD 1.42 - - 2656.31 - - - 2271.19 - 82.73 - - 2429.12 - - - - - - - - - - -
13398.35 851.61 7.91 1579 13399.68 VBD 1.43 - - 2656.12 - - - 2271.25 - 82.73 - - 2427.62 - - - - - - - - - - -
13708.39 828.10 7.13 1610 13713.26 done 1.46 - - 2655.94 - 2.80 0.075 1131.00 -407.2 82.73 - - 2428.16 - - - - - - - - - 16.07 -
13792.73 821.48 7.73 1627 13798.56 done 1.47 - - 2654.94 - 2.66 0.031 2272.38 429.1 82.73 - - 2429.97 - - - - - - - - - 16.07 -
14108.44 798.95 6.90 1659 14109.88 1.50 0.16 0.088 2702.69 298.4 - - 2272.75 - 82.73 - - 2427.81 - - - - - - - - 16.06 - -
14418.09 775.20 7.66 1690 14419.42 VBD 1.52 - - 2702.44 - - - 2272.69 - 82.73 - - 2428.09 - - - - - - - - - - -
14728.50 750.30 8.16 1721 14729.83 VBD 1.52 - - 2702.31 - - - 2272.62 - 82.73 - - 2427.34 - - - - - - - - - - -
15038.54 723.63 8.94 1752 15039.87 VBD 1.52 - - 2703.00 - - - 2272.38 - 82.73 - - 2427.44 - - - - - - - - - - -
15348.58 696.89 8.95 1783 15353.28 done 1.52 - - 2702.94 - 2.80 0.075 1131.25 -407.5 82.73 - - 2429.12 - - - - - - - - - 16.10 -
15452.75 687.19 9.40 1804 15458.77 done 1.52 - - 2703.31 - 2.65 0.031 2271.25 430.2 82.73 - - 2429.00 - - - - - - - - - 16.12 -
15768.68 661.15 7.54 1836 15773.37 done 1.54 - - 2702.75 - 2.79 0.074 1131.44 -408.5 82.73 - - 2429.22 - - - - - - - - - 16.10 -
15812.83 657.46 8.21 1845 15818.84 done 1.54 - - 2703.31 - 2.64 0.031 2271.19 431.7 82.73 - - 2428.34 - - - - - - - - - 16.11 -
16128.76 635.41 6.25 1877 16160.04 done 1.60 - - 2703.31 - 2.81 0.077 1131.19 -405.7 115.20 25.24 1.914 2304.59 -4.9 0.268 - - - - - - - 15.94 12.59
16218.38 628.27 8.09 1895 16223.47 roll 1.60 - - 2703.06 - 2.65 0.031 2271.19 430.2 115.20 - - 2302.53 - - - - - - - - - 16.02 -
16528.85 603.21 7.77 1927 16530.18 no move 1.62 - - 2703.06 - - - 2271.62 - 115.20 - - 2300.75 - - - - - - - - - - -
16838.92 579.65 7.67 1958 16843.60 roll 1.63 - - 2702.31 - 2.79 0.075 1130.12 -409.1 115.20 - - 2303.38 - - - - - - - - - 16.06 -
16928.53 571.99 8.50 1976 16933.63 roll 1.63 - - 2702.38 - 2.63 0.032 2272.19 434.2 115.20 - - 2302.78 - - - - - - - - - 16.05 -
17239.00 547.79 8.07 2008 17240.33 no move 1.63 - - 2702.69 - - - 2273.00 - 115.20 - - 2300.12 - - - - - - - - - - -
17549.07 524.27 7.88 2039 17550.40 no move 1.64 - - 2704.06 - - - 2273.00 - 115.20 - - 2299.44 - - - - - - - - - - -
17859.12 497.20 9.37 2070 17864.05 roll 1.64 - - 2702.81 - 2.78 0.076 1129.94 -411.2 115.20 - - 2301.81 - - - - - - - - - 16.11 -
17918.74 491.17 9.90 2082 17923.83 roll 1.64 - - 2702.62 - 2.63 0.031 2271.38 434.0 115.20 - - 2301.81 - - - - - - - - - 16.09 -
18229.20 461.62 9.48 2114 18230.53 no move 1.64 - - 2703.75 - - - 2271.81 - 115.20 - - 2300.09 - - - - - - - - - - -
18539.27 433.49 8.20 2145 18544.16 roll 1.64 - - 2703.12 - 2.78 0.075 1131.00 -410.4 115.20 - - 2301.53 - - - - - - - - - 16.10 -
18623.62 425.79 9.21 2162 18629.44 roll 1.64 - - 2702.31 - 2.63 0.031 2272.25 433.9 115.20 - - 2301.00 - - - - - - - - - 16.12 -
18939.35 398.20 8.67 2194 18940.68 no move 1.64 - - 2703.62 - - - 2272.38 - 115.20 - - 2299.66 - - - - - - - - - - -
19249.39 371.00 8.60 2225 19250.72 no move 1.64 - - 2702.75 - - - 2272.19 - 115.20 - - 2299.91 - - - - - - - - - - -
19559.42 345.05 8.26 2256 19564.13 roll 1.64 - - 2703.50 - 2.77 0.074 1130.19 -412.3 115.20 - - 2300.78 - - - - - - - - - 16.11 -
19693.61 333.55 8.19 2283 19700.33 roll 1.64 - - 2703.25 - 2.64 0.030 2273.12 432.9 115.20 - - 2300.62 - - - - - - - - - 16.11 -
20009.68 309.31 7.59 2315 20014.20 roll 1.66 - - 2703.50 - 2.72 0.091 3346.62 394.7 115.20 - - 2301.31 - - - - - - - - - 16.10 -
20093.67 302.21 8.44 2332 20099.69 roll 1.66 - - 2702.25 - 2.59 0.024 2185.94 -448.1 115.20 - - 2300.84 - - - - - - - - - 16.12 -
20409.55 280.28 6.63 2364 20410.99 pitch 1.70 0.17 0.081 2747.94 268.8 - - 2185.31 - 115.20 - - 2299.50 - - - - - - - - 16.08 - -
20719.20 259.15 6.88 2395 20724.44 roll 1.73 - - 2747.44 - 2.55 0.078 1130.06 -413.8 115.20 - - 2302.28 - - - - - - - - - 16.10 -
20789.40 253.82 7.68 2409 20794.30 roll 1.75 - - 2748.38 - 2.64 0.030 2273.69 433.2 115.20 - - 2301.62 - - - - - - - - - 16.07 -
21099.68 233.14 6.37 2441 21130.51 done 1.81 - - 2748.75 - 2.72 0.093 3347.06 394.6 145.87 24.20 1.419 2179.88 -5.0 0.136 - - - - - - - 15.97 12.49
21173.84 227.40 8.40 2456 21179.86 roll 1.81 - - 2748.62 - 2.61 0.024 2186.31 -444.7 145.87 - - 2178.25 - - - - - - - - - 16.02 -
21489.75 198.50 9.61 2488 21494.43 roll 1.81 - - 2748.69 - 2.59 0.078 1131.38 -407.3 145.87 - - 2175.56 - - - - - - - - - 16.03 -
21603.95 187.47 9.34 2511 21609.95 roll 1.81 - - 2748.31 - 2.64 0.030 2272.81 432.4 145.87 - - 2175.62 - - - - - - - - - 16.04 -
21919.88 161.89 7.95 2543 21924.58 roll 1.82 - - 2748.31 - 2.80 0.073 1130.25 -408.1 145.87 - - 2175.38 - - - - - - - - - 16.06 -
21954.02 158.99 8.14 2550 21960.03 roll 1.82 - - 2747.50 - 2.65 0.029 2275.06 432.0 145.87 - - 2175.50 - - - - - - - - - 16.06 -
22269.95 138.57 4.54 2582 22321.82 1.93 0.23 0.063 2808.12 263.6 2.84 0.074 1131.38 -402.7 203.30 43.34 1.343 1945.38 -5.3 0.090 - - - - - - 16.06 15.87 12.56
22410.06 126.95 9.74 2610 22415.03 roll 1.93 - - 2808.50 - 2.68 0.030 2271.06 425.3 203.30 - - 1940.53 - - - - - - - - - 15.91 -
22720.38 101.31 6.03 2642 22752.47 done 2.00 - - 2808.25 - 2.76 0.091 3347.25 389.9 238.92 27.43 1.253 1800.22 -5.1 0.068 - - - - - - - 15.83 12.60
22795.47 96.57 6.68 2657 22801.01 roll 2.04 - - 2808.50 - 2.62 0.023 2183.94 -444.0 238.92 - - 1799.22 - - - - - - - - - 15.89 -
22985.55 84.39 6.79 2695 22991.06 roll 2.07 - - 2808.69 - 2.58 0.077 1131.19 -408.0 238.92 - - 1794.97 - - - - - - - - - 15.93 -
23166.02 71.19 7.26 2731 23171.16 roll 2.10 - - 2807.75 - 2.65 0.029 2273.31 431.0 238.92 - - 1794.94 - - - - - - - - - 15.96 -
23355.71 57.62 7.07 2769 23357.14 pitch 2.12 0.16 0.081 2853.75 287.5 - - 2273.12 - 238.92 - - 1792.38 - - - - - - - - 15.97 - -
23540.78 44.94 5.61 2806 23577.56 done 2.21 - - 2855.50 - 2.74 0.090 3346.19 391.6 280.73 31.73 1.197 1630.38 -5.1 0.032 - - - - - - - 15.83 12.65
23610.80 40.37 7.26 2820 23616.33 roll 2.23 - - 2855.50 - 2.61 0.023 2186.56 -444.3 280.73 - - 1627.41 - - - - - - - - - 15.90 -
23800.86 26.48 6.37 2858 23826.37 VBD 2.29 - - 2853.94 - - - 2185.81 - 311.40 24.22 1.134 1506.16 -5.0 0.019 - - - - - - - - 12.66
24010.93 13.98 4.49 2900 24063.19 2.41 0.29 0.061 2920.38 229.1 2.99 0.085 3345.94 388.0 369.65 44.68 1.147 1268.41 -5.3 0.011 - - - - - - 15.86 15.72 12.67
24191 end climb: SURFACE_DEPTH_REACHED
24191 begin surface coast
24221 end surface coast: CONTROL_FINISHED_OK
24221 begin surface
SM 1.31 - - - - 187.8 41.81 1.134 1043.4 23.9 16.67 0.036 998.0 59.9 - 2.39 0.024 1088.8 454.3 -2.535 - - 12.61 15.82 15.85 -