NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 45 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 23.21 of 550.00 AH used of 24V (95.78% remains)
• Surface angle -61.9 deg, depth 1.48 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 375.11 (SM_CC=375)
• GPS1 time: 27 s
• GPS2 time: 3 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
6.12 - - - 68.97 VBD -1.37 - - 183.19 - - - 2257.00 - -82.73 61.68 0.005 2691.69 - - - - - - - - - - 15.74
69.70 3.19 -3.07 12 103.98 -1.37 14.23 0.264 1988.38 126.9 3.40 0.085 850.44 -413.7 -82.73 10.85 0.007 3110.53 38.6 -2.908 - - - - - - 15.73 15.74 15.78
131.95 13.91 -17.47 24 137.63 roll -1.37 - - 1989.12 - 3.42 0.035 2349.19 438.2 -82.73 - - 3112.78 - - - - - - - - - 15.81 -
322.06 47.31 -17.12 62 327.70 roll -1.37 - - 1989.00 - 3.60 0.079 849.06 -416.7 -82.73 - - 3113.62 - - - - - - - - - 15.88 -
362.01 54.61 -18.64 70 367.67 roll -1.37 - - 1989.00 - 3.40 0.035 2350.44 441.6 -82.73 - - 3113.94 - - - - - - - - - 15.89 -
552.04 82.46 -11.77 108 557.75 roll -1.37 - - 1988.94 - 3.59 0.080 850.00 -417.9 -82.73 - - 3113.62 - - - - - - - - - 15.93 -
617.06 90.72 -12.58 121 622.74 roll -1.37 - - 1988.94 - 3.38 0.034 2352.25 444.5 -82.73 - - 3112.88 - - - - - - - - - 15.96 -
807.08 110.85 -10.54 149 808.40 no move -1.37 - - 1988.94 - - - 2351.88 - -82.73 - - 3112.47 - - - - - - - - - - -
1117.50 144.00 -10.33 180 1123.37 roll -1.37 - - 1988.44 - 3.57 0.078 847.75 -421.3 -82.73 - - 3112.84 - - - - - - - - - 16.03 -
1172.13 149.98 -10.98 191 1177.33 roll -1.37 - - 1989.25 - 3.37 0.034 2352.00 446.4 -82.73 - - 3113.69 - - - - - - - - - 16.02 -
1482.15 179.26 -9.23 223 1487.38 roll -1.37 - - 1989.69 - 3.43 0.103 3788.69 418.9 -82.73 - - 3114.00 - - - - - - - - - 16.05 -
1536.70 185.55 -11.84 234 1543.02 roll -1.37 - - 1989.62 - 3.35 0.028 2255.38 -457.7 -82.73 - - 3113.88 - - - - - - - - - 16.08 -
1852.19 216.08 -9.27 266 1857.46 roll -1.37 - - 1989.31 - 3.66 0.099 3790.62 419.5 -82.73 - - 3115.00 - - - - - - - - - 16.09 -
1922.22 223.87 -11.47 280 1927.42 roll -1.37 - - 1989.56 - 3.34 0.028 2257.06 -459.1 -82.73 - - 3115.16 - - - - - - - - - 16.09 -
2232.28 251.21 -8.32 312 2233.61 no move -1.37 - - 1989.69 - - - 2255.62 - -82.73 - - 3113.47 - - - - - - - - - - -
2542.74 277.59 -8.88 343 2547.55 roll -1.37 - - 1989.44 - 3.33 0.085 848.44 -422.6 -82.73 - - 3114.97 - - - - - - - - - 16.11 -
2696.95 293.40 -10.21 374 2703.08 roll -1.37 - - 1989.62 - 3.35 0.035 2351.38 448.6 -82.73 - - 3115.22 - - - - - - - - - 16.14 -
3012.47 323.62 -9.39 406 3017.70 roll -1.37 - - 1989.12 - 3.42 0.104 3790.50 420.8 -82.73 - - 3114.38 - - - - - - - - - 16.14 -
3117.05 336.17 -12.24 427 3123.17 roll -1.37 - - 1989.44 - 3.34 0.029 2258.25 -458.8 -82.73 - - 3115.69 - - - - - - - - - 16.15 -
3432.56 366.66 -9.47 459 3437.95 roll -1.37 - - 1989.75 - 3.32 0.086 847.94 -424.8 -82.73 - - 3114.69 - - - - - - - - - 16.16 -
3472.69 370.71 -10.22 467 3477.79 roll -1.37 - - 1989.75 - 3.35 0.035 2352.31 449.1 -82.73 - - 3114.50 - - - - - - - - - 16.16 -
3782.64 401.06 -9.53 499 3783.97 no move -1.37 - - 1989.25 - - - 2352.44 - -82.73 - - 3113.12 - - - - - - - - - - -
4093.09 430.74 -9.30 530 4098.95 roll -1.37 - - 1989.50 - 3.55 0.081 847.50 -423.9 -82.73 - - 3112.62 - - - - - - - - - 16.18 -
4147.72 436.19 -10.24 541 4152.93 roll -1.37 - - 1989.94 - 3.35 0.035 2350.25 448.6 -82.73 - - 3114.16 - - - - - - - - - 16.19 -
4457.78 464.30 -8.71 573 4459.10 no move -1.37 - - 1989.19 - - - 2350.31 - -82.73 - - 3111.78 - - - - - - - - - - -
4768.23 489.42 -7.92 604 4774.09 roll -1.37 - - 1989.12 - 3.54 0.082 849.00 -424.1 -82.73 - - 3114.69 - - - - - - - - - 16.19 -
4812.86 493.18 -8.35 613 4818.06 roll -1.37 - - 1989.62 - 3.35 0.035 2351.75 448.6 -82.73 - - 3112.41 - - - - - - - - - 16.21 -
5122.91 517.87 -7.73 645 5128.14 roll -1.37 - - 1989.25 - 3.42 0.108 3790.69 420.7 -82.73 - - 3112.66 - - - - - - - - - 16.19 -
5177.48 523.25 -9.90 656 5183.78 roll -1.37 - - 1989.69 - 3.32 0.030 2255.31 -462.5 -82.73 - - 3112.09 - - - - - - - - - 16.20 -
5492.96 548.39 -8.36 688 5494.29 no move -1.37 - - 1989.81 - - - 2253.81 - -82.73 - - 3110.38 - - - - - - - - - - -
5803.40 573.07 -7.90 719 5809.28 roll -1.37 - - 1989.56 - 3.65 0.104 3787.94 420.3 -82.73 - - 3110.28 - - - - - - - - - 16.21 -
5848.02 577.50 -10.05 728 5853.22 roll -1.37 - - 1989.31 - 3.33 0.030 2256.56 -459.9 -82.73 - - 3112.78 - - - - - - - - - 16.20 -
6158.05 601.98 -7.61 760 6163.31 roll -1.37 - - 1989.00 - 3.65 0.104 3789.62 420.0 -82.73 - - 3113.53 - - - - - - - - - 16.21 -
6218.07 608.02 -10.01 772 6223.27 roll -1.37 - - 1989.50 - 3.33 0.030 2257.50 -460.1 -82.73 - - 3112.25 - - - - - - - - - 16.21 -
6528.09 631.53 -7.72 804 6529.42 no move -1.37 - - 1989.31 - - - 2257.12 - -82.73 - - 3110.09 - - - - - - - - - - -
6838.52 654.55 -7.46 835 6839.85 no move -1.37 - - 1988.94 - - - 2256.56 - -82.73 - - 3109.00 - - - - - - - - - - -
7148.55 678.54 -7.82 866 7149.88 no move -1.37 - - 1989.50 - - - 2256.75 - -82.73 - - 3109.06 - - - - - - - - - - -
7458.58 703.56 -8.24 897 7459.91 no move -1.37 - - 1989.44 - - - 2256.81 - -82.73 - - 3109.12 - - - - - - - - - - -
7768.63 729.15 -8.37 928 7769.96 no move -1.37 - - 1989.31 - - - 2256.69 - -82.73 - - 3108.38 - - - - - - - - - - -
8078.70 755.73 -8.78 959 8080.03 no move -1.37 - - 1989.50 - - - 2256.56 - -82.73 - - 3108.03 - - - - - - - - - - -
8389.00 781.82 -8.59 990 8390.33 no move -1.37 - - 1989.19 - - - 2256.69 - -82.73 - - 3107.66 - - - - - - - - - - -
8698.83 807.47 -8.07 1021 8700.16 no move -1.37 - - 1988.94 - - - 2257.00 - -82.73 - - 3107.62 - - - - - - - - - - -
9008.89 832.42 -7.82 1052 9014.77 roll -1.37 - - 1989.06 - 3.65 0.106 3788.25 419.5 -82.73 - - 3107.16 - - - - - - - - - 16.24 -
9073.53 838.57 -9.15 1065 9078.73 roll -1.37 - - 1989.44 - 3.33 0.030 2257.94 -459.6 -82.73 - - 3108.94 - - - - - - - - - 16.24 -
9383.58 861.59 -7.24 1097 9388.85 roll -1.37 - - 1989.69 - 3.66 0.106 3789.94 418.6 -82.73 - - 3108.50 - - - - - - - - - 16.24 -
9433.60 866.38 -9.85 1107 9438.82 roll -1.37 - - 1989.56 - 3.33 0.031 2257.75 -460.1 -82.73 - - 3107.09 - - - - - - - - - 16.24 -
9743.67 889.40 -7.56 1139 9748.93 roll -1.37 - - 1989.69 - 3.66 0.106 3788.75 418.3 -82.73 - - 3109.44 - - - - - - - - - 16.23 -
9783.69 893.41 -9.90 1147 9788.89 roll -1.37 - - 1988.88 - 3.33 0.031 2257.69 -459.8 -82.73 - - 3108.69 - - - - - - - - - 16.24 -
10093.75 915.82 -7.29 1179 10095.08 no move -1.37 - - 1989.19 - - - 2256.88 - -82.73 - - 3106.38 - - - - - - - - - - -
10404.45 938.78 -7.76 1210 10405.78 no move -1.37 - - 1989.44 - - - 2257.12 - -82.73 - - 3106.31 - - - - - - - - - - -
10714.44 961.82 -7.33 1241 10715.77 no move -1.37 - - 1989.25 - - - 2257.50 - -82.73 - - 3106.41 - - - - - - - - - - -
11024.33 984.78 -7.46 1272 11030.21 roll -1.37 - - 1989.50 - 3.66 0.107 3789.19 418.5 -82.73 - - 3106.88 - - - - - - - - - 16.24 -
11083 end dive: TARGET_DEPTH_EXCEEDED
11083 begin apogee
11089.28 990.39 -9.23 1284 11154.63 -0.28 1.82 0.168 2252.94 144.7 0.14 0.199 2286.00 -10737.1 - 61.33 2.438 2776.22 -5.4 0.362 - - - - - - 16.19 15.69 13.16
11156 end apogee: CONTROL_FINISHED_OK
11156 begin climb
11156.46 992.16 - 1291 11232.73 1.37 2.69 0.110 2654.94 149.4 3.83 0.097 770.88 -395.6 82.73 64.69 2.376 2436.56 -5.3 0.362 - - - - - - 15.72 15.32 12.89
11271.03 986.28 6.87 1313 11276.07 roll 1.40 - - 2654.12 - 3.49 0.036 2269.81 429.5 82.73 - - 2433.91 - - - - - - - - - 15.49 -
11580.91 962.54 7.73 1345 11582.23 no move 1.41 - - 2655.31 - - - 2270.00 - 82.73 - - 2429.69 - - - - - - - - - - -
11891.36 938.41 7.60 1376 11892.69 VBD 1.43 - - 2655.19 - - - 2270.00 - 82.73 - - 2429.19 - - - - - - - - - - -
12201.39 914.70 7.76 1407 12202.72 no move 1.44 - - 2655.12 - - - 2269.94 - 82.73 - - 2428.59 - - - - - - - - - - -
12511.42 890.08 8.08 1438 12512.75 VBD 1.44 - - 2654.19 - - - 2269.25 - 82.73 - - 2427.94 - - - - - - - - - - -
12821.44 864.90 8.46 1469 12822.78 VBD 1.44 - - 2655.38 - - - 2270.12 - 82.73 - - 2428.12 - - - - - - - - - - -
13131.49 839.25 8.23 1500 13132.82 VBD 1.44 - - 2654.44 - - - 2269.62 - 82.73 - - 2427.94 - - - - - - - - - - -
13441.52 813.77 8.00 1531 13442.85 VBD 1.44 - - 2654.81 - - - 2269.88 - 82.73 - - 2427.84 - - - - - - - - - - -
13751.56 789.32 7.99 1562 13752.89 VBD 1.44 - - 2655.00 - - - 2269.75 - 82.73 - - 2426.72 - - - - - - - - - - -
14061.60 765.59 7.29 1593 14062.94 VBD 1.47 - - 2654.56 - - - 2269.94 - 82.73 - - 2427.00 - - - - - - - - - - -
14371.68 744.14 6.62 1624 14377.58 1.51 0.17 0.094 2699.06 261.8 3.60 0.096 768.94 -416.9 82.73 - - 2428.12 - - - - - - - - 16.14 16.15 -
14420.84 739.96 8.63 1634 14426.96 done 1.51 - - 2699.44 - 3.37 0.038 2271.00 445.7 82.73 - - 2428.88 - - - - - - - - - 16.15 -
14736.43 715.63 7.51 1666 14737.76 VBD 1.52 - - 2699.12 - - - 2271.75 - 82.73 - - 2427.22 - - - - - - - - - - -
15046.83 692.97 7.01 1697 15048.16 VBD 1.55 - - 2699.75 - - - 2271.12 - 82.73 - - 2427.09 - - - - - - - - - - -
15356.90 669.14 7.80 1728 15358.23 VBD 1.57 - - 2699.31 - - - 2271.06 - 82.73 - - 2426.88 - - - - - - - - - - -
15666.96 644.62 7.69 1759 15668.29 VBD 1.58 - - 2698.62 - - - 2270.88 - 82.73 - - 2426.56 - - - - - - - - - - -
15977.01 619.27 8.42 1790 15982.87 done 1.58 - - 2699.44 - 3.60 0.095 769.50 -417.1 82.73 - - 2426.12 - - - - - - - - - 16.19 -
16016.18 615.67 8.87 1798 16022.30 done 1.58 - - 2699.81 - 3.36 0.038 2271.25 446.9 82.73 - - 2428.53 - - - - - - - - - 16.19 -
16331.70 589.32 8.33 1830 16333.03 VBD 1.58 - - 2699.62 - - - 2270.94 - 82.73 - - 2426.78 - - - - - - - - - - -
16642.17 564.48 7.65 1861 16643.51 VBD 1.60 - - 2699.62 - - - 2270.94 - 82.73 - - 2426.34 - - - - - - - - - - -
16952.23 541.86 7.28 1892 16958.07 done 1.62 - - 2698.56 - 3.59 0.094 767.69 -418.7 82.73 - - 2429.00 - - - - - - - - - 16.20 -
17001.41 537.79 7.62 1902 17007.52 done 1.64 - - 2699.50 - 3.35 0.038 2271.62 448.9 82.73 - - 2428.00 - - - - - - - - - 16.20 -
17316.92 516.49 6.77 1934 17322.39 1.67 0.16 0.100 2738.44 243.4 3.44 0.111 3708.00 417.6 82.73 - - 2428.34 - - - - - - - - 16.20 16.19 -
17397.50 509.17 9.50 1950 17403.15 done 1.67 - - 2738.62 - 3.36 0.032 2191.88 -451.2 82.73 - - 2427.75 - - - - - - - - - 16.21 -
17711.98 484.47 7.69 1982 17713.31 VBD 1.69 - - 2738.69 - - - 2191.25 - 82.73 - - 2426.44 - - - - - - - - - - -
18022.41 461.01 7.23 2013 18023.74 VBD 1.71 - - 2738.75 - - - 2191.31 - 82.73 - - 2426.34 - - - - - - - - - - -
18332.49 437.50 7.59 2044 18337.25 done 1.73 - - 2738.94 - 3.39 0.098 768.12 -419.8 82.73 - - 2428.41 - - - - - - - - - 16.21 -
18392.09 432.60 8.66 2056 18397.27 done 1.73 - - 2738.06 - 3.36 0.037 2273.25 448.0 82.73 - - 2426.91 - - - - - - - - - 16.20 -
18702.10 409.94 7.34 2088 18703.43 VBD 1.75 - - 2738.19 - - - 2273.62 - 82.73 - - 2426.69 - - - - - - - - - - -
19012.53 387.28 6.91 2119 19017.33 done 1.78 - - 2738.75 - 3.42 0.109 3708.56 419.6 82.73 - - 2428.41 - - - - - - - - - 16.21 -
19082.12 381.29 8.58 2133 19087.33 done 1.78 - - 2738.94 - 3.35 0.031 2190.31 -453.2 82.73 - - 2427.31 - - - - - - - - - 16.21 -
19392.17 360.34 6.64 2165 19393.50 VBD 1.82 - - 2738.94 - - - 2190.19 - 82.73 - - 2426.38 - - - - - - - - - - -
19702.84 339.17 6.74 2196 19704.27 1.85 0.19 0.095 2780.50 218.7 - - 2190.25 - 82.73 - - 2427.81 - - - - - - - - 16.18 - -
20012.27 317.07 7.01 2227 20017.46 done 1.88 - - 2780.50 - 3.39 0.097 766.81 -419.9 82.73 - - 2428.97 - - - - - - - - - 16.21 -
20102.31 310.20 7.67 2245 20107.50 done 1.90 - - 2780.75 - 3.36 0.036 2272.75 448.2 82.73 - - 2427.16 - - - - - - - - - 16.22 -
20412.38 289.10 6.71 2277 20413.71 VBD 1.93 - - 2780.06 - - - 2272.44 - 82.73 - - 2426.66 - - - - - - - - - - -
20723.00 268.22 7.20 2308 20728.65 done 1.96 - - 2780.62 - 3.42 0.107 3707.44 419.6 82.73 - - 2427.91 - - - - - - - - - 16.18 -
20787.44 262.84 8.55 2321 20792.64 done 1.96 - - 2781.00 - 3.34 0.031 2187.62 -455.0 82.73 - - 2427.88 - - - - - - - - - 16.21 -
21097.51 241.92 6.07 2353 21124.64 2.03 0.19 0.090 2822.81 220.1 - - 2186.25 - 117.73 25.88 1.521 2292.84 -5.2 0.137 - - - - - - 16.20 - 13.16
21432.56 211.55 9.75 2387 21438.17 roll 2.03 - - 2823.50 - 3.65 0.103 3709.38 417.3 117.73 - - 2290.75 - - - - - - - - - 16.09 -
21667.24 182.74 13.24 2434 21673.30 roll 2.03 - - 2823.06 - 3.36 0.031 2193.31 -451.2 117.73 - - 2291.12 - - - - - - - - - 16.10 -
21982.70 152.37 8.91 2466 21984.03 no move 2.03 - - 2822.88 - - - 2192.50 - 117.73 - - 2290.12 - - - - - - - - - - -
22293.51 127.63 7.78 2497 22298.99 roll 2.04 - - 2823.06 - 3.40 0.095 766.81 -419.3 117.73 - - 2289.91 - - - - - - - - - 16.10 -
22527.84 107.85 8.61 2544 22533.05 roll 2.04 - - 2822.38 - 3.36 0.036 2270.62 447.6 117.73 - - 2292.59 - - - - - - - - - 16.15 -
22837.95 93.87 2.61 2594 22907.03 2.21 0.22 0.084 2869.00 211.9 3.66 0.091 768.00 -410.6 203.49 62.43 1.374 1944.25 -5.6 0.063 - - - - - - 16.13 15.81 13.13
23135.06 66.23 6.36 2653 23166.58 done 2.28 - - 2869.44 - 3.38 0.035 2273.88 445.5 234.26 23.42 1.263 1818.69 -5.4 0.046 - - - - - - - 15.94 12.94
23350.11 52.08 7.60 2696 23355.81 done 2.29 - - 2869.12 - 3.65 0.087 768.12 -412.5 234.26 - - 1811.78 - - - - - - - - - 15.90 -
23585.14 30.36 8.69 2743 23590.81 done 2.29 - - 2869.12 - 3.39 0.036 2271.38 443.4 234.26 - - 1809.28 - - - - - - - - - 15.95 -
23775.17 15.74 8.87 2781 23780.89 done 2.29 - - 2869.19 - 3.61 0.087 766.75 -416.8 234.26 - - 1809.03 - - - - - - - - - 15.97 -
23930.23 2.25 7.58 2812 23935.88 done 2.31 - - 2869.25 - 3.38 0.036 2272.44 445.5 234.26 - - 1808.09 - - - - - - - - - 16.02 -
23940 end climb: SURFACE_DEPTH_REACHED
23940 begin surface coast
23970 end surface coast: CONTROL_FINISHED_OK
23970 begin surface
SM 1.49 - - - - 188.2 100.99 1.229 1245.8 12.3 16.77 0.068 1228.3 73.2 - 0.12 0.136 1263.3 10499.3 -11.757 - - 13.04 16.00 16.00 -