NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 74 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 31.90 of 550.00 AH used of 24V (94.20% remains)
• Surface angle -63.5 deg, depth 1.61 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 374.87 (SM_CC=375)
• GPS1 time: 47 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
6.42 - - - 64.62 VBD -1.37 - - 183.06 - - - 2257.38 - -82.73 57.05 0.005 2625.12 - - - - - - - - - - 15.79
65.36 3.40 -3.65 11 99.47 -1.37 13.85 0.256 1987.44 130.3 2.53 0.071 1209.56 -414.2 -82.73 12.24 0.007 3111.12 39.7 -3.177 - - - - - - 15.74 15.78 15.81
262.47 40.60 -17.29 50 268.01 roll -1.37 - - 1988.94 - 2.63 0.033 2349.31 433.4 -82.73 - - 3113.97 - - - - - - - - - 15.90 -
453.08 70.86 -13.53 88 458.07 roll -1.37 - - 1989.12 - 2.74 0.064 1208.62 -416.3 -82.73 - - 3112.41 - - - - - - - - - 15.93 -
497.51 76.57 -12.44 97 503.07 roll -1.37 - - 1988.38 - 2.62 0.032 2352.38 436.5 -82.73 - - 3112.56 - - - - - - - - - 15.96 -
687.95 100.18 -11.31 135 689.29 no move -1.37 - - 1987.94 - - - 2352.31 - -82.73 - - 3111.94 - - - - - - - - - - -
997.99 130.94 -10.24 166 1002.68 roll -1.37 - - 1988.38 - 2.64 0.089 3427.00 407.1 -82.73 - - 3112.31 - - - - - - - - - 16.02 -
1137.66 147.37 -12.06 194 1142.72 roll -1.37 - - 1988.12 - 2.57 0.025 2252.75 -456.9 -82.73 - - 3113.50 - - - - - - - - - 16.04 -
1447.72 178.73 -10.29 226 1452.37 roll -1.37 - - 1988.38 - 2.48 0.070 1208.25 -421.2 -82.73 - - 3112.56 - - - - - - - - - 16.08 -
1607.79 195.88 -10.85 258 1612.86 roll -1.37 - - 1988.69 - 2.60 0.033 2353.06 440.3 -82.73 - - 3113.25 - - - - - - - - - 16.09 -
1917.86 229.08 -10.22 290 1919.18 no move -1.37 - - 1988.75 - - - 2352.75 - -82.73 - - 3111.75 - - - - - - - - - - -
2228.31 261.33 -10.65 321 2233.01 roll -1.37 - - 1988.31 - 2.72 0.066 1208.81 -420.6 -82.73 - - 3113.00 - - - - - - - - - 16.12 -
2332.48 273.15 -11.39 342 2338.66 roll -1.37 - - 1987.69 - 2.60 0.033 2351.88 439.6 -82.73 - - 3113.91 - - - - - - - - - 16.13 -
2648.19 305.49 -9.35 374 2653.09 roll -1.37 - - 1988.62 - 2.62 0.091 3426.94 410.3 -82.73 - - 3113.31 - - - - - - - - - 16.13 -
2708.03 311.72 -10.62 386 2713.09 roll -1.37 - - 1988.12 - 2.56 0.024 2253.31 -458.4 -82.73 - - 3113.34 - - - - - - - - - 16.15 -
3018.09 341.23 -9.73 418 3022.75 roll -1.37 - - 1988.19 - 2.47 0.072 1208.62 -423.0 -82.73 - - 3113.81 - - - - - - - - - 16.16 -
3092.65 349.03 -10.96 433 3098.85 roll -1.37 - - 1988.06 - 2.59 0.033 2351.56 441.3 -82.73 - - 3114.56 - - - - - - - - - 16.16 -
3408.18 381.55 -10.15 465 3413.27 roll -1.37 - - 1988.62 - 2.71 0.067 1208.44 -421.8 -82.73 - - 3113.72 - - - - - - - - - 16.18 -
3488.20 389.89 -10.80 481 3493.27 roll -1.37 - - 1988.88 - 2.60 0.033 2352.44 440.0 -82.73 - - 3113.19 - - - - - - - - - 16.18 -
3798.28 421.46 -10.48 513 3799.60 no move -1.37 - - 1988.56 - - - 2352.44 - -82.73 - - 3112.12 - - - - - - - - - - -
4108.71 454.14 -10.85 544 4113.43 roll -1.37 - - 1987.88 - 2.71 0.067 1208.06 -422.3 -82.73 - - 3113.94 - - - - - - - - - 16.19 -
4142.87 457.81 -10.50 551 4148.86 roll -1.37 - - 1988.44 - 2.59 0.033 2352.69 441.9 -82.73 - - 3112.97 - - - - - - - - - 16.21 -
4458.55 490.61 -9.87 583 4463.52 roll -1.37 - - 1988.00 - 2.71 0.067 1208.38 -422.3 -82.73 - - 3113.47 - - - - - - - - - 16.19 -
4518.38 496.44 -9.48 595 4523.45 roll -1.37 - - 1988.69 - 2.59 0.034 2353.25 442.0 -82.73 - - 3113.03 - - - - - - - - - 16.21 -
4828.42 524.20 -8.34 627 4829.74 no move -1.37 - - 1988.56 - - - 2352.56 - -82.73 - - 3111.34 - - - - - - - - - - -
5138.84 547.99 -7.43 658 5143.55 roll -1.37 - - 1988.50 - 2.71 0.068 1208.50 -422.2 -82.73 - - 3111.75 - - - - - - - - - 16.21 -
5198.46 552.66 -7.73 670 5203.53 roll -1.37 - - 1988.56 - 2.59 0.034 2351.69 441.4 -82.73 - - 3111.91 - - - - - - - - - 16.22 -
5508.49 576.87 -8.04 702 5509.82 no move -1.37 - - 1988.31 - - - 2351.81 - -82.73 - - 3110.38 - - - - - - - - - - -
5818.91 601.08 -7.46 733 5823.63 roll -1.37 - - 1988.50 - 2.72 0.069 1209.50 -420.0 -82.73 - - 3110.91 - - - - - - - - - 16.22 -
5883.07 606.46 -8.03 746 5889.06 roll -1.37 - - 1988.00 - 2.59 0.034 2351.75 441.0 -82.73 - - 3110.53 - - - - - - - - - 16.23 -
6198.57 633.44 -8.77 778 6199.90 no move -1.37 - - 1988.38 - - - 2351.81 - -82.73 - - 3109.03 - - - - - - - - - - -
6509.00 661.34 -8.70 809 6510.33 no move -1.37 - - 1988.31 - - - 2351.69 - -82.73 - - 3109.00 - - - - - - - - - - -
6819.06 689.18 -9.09 840 6823.94 roll -1.37 - - 1988.38 - 2.64 0.097 3426.75 407.2 -82.73 - - 3109.38 - - - - - - - - - 16.21 -
6893.36 696.59 -9.43 855 6899.23 roll -1.37 - - 1988.62 - 2.55 0.027 2252.94 -460.3 -82.73 - - 3109.12 - - - - - - - - - 16.23 -
7208.78 721.73 -8.09 887 7210.11 no move -1.37 - - 1988.50 - - - 2252.50 - -82.73 - - 3107.94 - - - - - - - - - - -
7519.23 746.07 -7.66 918 7520.56 no move -1.37 - - 1988.12 - - - 2252.31 - -82.73 - - 3107.66 - - - - - - - - - - -
7829.29 769.44 -7.08 949 7834.03 roll -1.37 - - 1988.56 - 2.88 0.092 3425.50 407.4 -82.73 - - 3108.06 - - - - - - - - - 16.23 -
7893.47 774.82 -8.36 962 7899.46 roll -1.37 - - 1988.06 - 2.55 0.027 2252.88 -459.9 -82.73 - - 3109.44 - - - - - - - - - 16.23 -
8209.00 797.10 -7.09 994 8214.11 roll -1.37 - - 1988.12 - 2.88 0.092 3424.31 406.7 -82.73 - - 3108.97 - - - - - - - - - 16.23 -
8263.55 801.65 -8.21 1005 8269.54 roll -1.37 - - 1987.69 - 2.55 0.027 2252.31 -459.6 -82.73 - - 3107.75 - - - - - - - - - 16.23 -
8579.08 823.37 -6.89 1037 8584.20 roll -1.37 - - 1988.00 - 2.88 0.092 3426.38 407.7 -82.73 - - 3108.97 - - - - - - - - - 16.23 -
8639.10 828.30 -7.92 1049 8644.17 roll -1.37 - - 1988.31 - 2.54 0.027 2256.12 -460.7 -82.73 - - 3108.06 - - - - - - - - - 16.23 -
8949.17 850.53 -7.47 1081 8953.82 roll -1.37 - - 1988.75 - 2.48 0.076 1208.38 -422.5 -82.73 - - 3106.72 - - - - - - - - - 16.23 -
9033.84 856.72 -6.95 1098 9039.73 roll -1.37 - - 1988.31 - 2.60 0.035 2351.12 439.5 -82.73 - - 3106.41 - - - - - - - - - 16.24 -
9349.25 879.73 -7.10 1130 9350.58 no move -1.37 - - 1988.44 - - - 2350.06 - -82.73 - - 3105.75 - - - - - - - - - - -
9659.70 904.34 -8.25 1161 9661.03 no move -1.37 - - 1988.62 - - - 2350.12 - -82.73 - - 3105.12 - - - - - - - - - - -
9969.74 928.97 -7.89 1192 9974.46 roll -1.37 - - 1988.44 - 2.71 0.071 1210.06 -420.7 -82.73 - - 3106.06 - - - - - - - - - 16.24 -
10019.36 933.00 -7.76 1202 10025.15 roll -1.37 - - 1987.56 - 2.59 0.035 2349.31 439.9 -82.73 - - 3107.56 - - - - - - - - - 16.25 -
10329.41 955.91 -7.02 1234 10330.74 no move -1.37 - - 1988.00 - - - 2350.25 - -82.73 - - 3104.38 - - - - - - - - - - -
10639.82 977.23 -6.99 1265 10641.15 no move -1.37 - - 1988.19 - - - 2350.06 - -82.73 - - 3103.81 - - - - - - - - - - -
10829 end dive: TARGET_DEPTH_EXCEEDED
10829 begin apogee
10831.29 990.50 -7.09 1284 10896.79 -0.28 1.79 0.157 2252.88 147.9 0.19 0.152 2278.44 -376.9 - 61.06 2.405 2775.12 -5.4 0.365 - - - - - - 16.20 15.70 13.07
10897 end apogee: CONTROL_FINISHED_OK
10898 begin climb
10898.63 991.77 - 1290 10968.31 1.37 2.63 0.102 2655.31 153.0 - - 2279.19 - 82.73 64.71 2.339 2438.31 -5.2 0.364 - - - - - - 15.73 - 12.94
11271.70 962.56 9.17 1328 11273.03 no move 1.37 - - 2654.44 - - - 2278.75 - 82.73 - - 2429.34 - - - - - - - - - - -
11582.16 935.98 8.48 1359 11583.49 no move 1.37 - - 2654.88 - - - 2278.88 - 82.73 - - 2428.66 - - - - - - - - - - -
11892.22 910.16 8.37 1390 11893.55 VBD 1.37 - - 2655.50 - - - 2278.88 - 82.73 - - 2428.19 - - - - - - - - - - -
12202.31 885.74 7.90 1421 12207.01 done 1.38 - - 2655.06 - 2.81 0.081 1132.50 -408.0 82.73 - - 2429.53 - - - - - - - - - 16.03 -
12246.46 882.04 7.92 1430 12252.46 done 1.39 - - 2655.38 - 2.62 0.035 2270.25 434.3 82.73 - - 2429.09 - - - - - - - - - 16.06 -
12562.37 856.43 8.16 1462 12563.70 VBD 1.39 - - 2654.50 - - - 2269.00 - 82.73 - - 2427.16 - - - - - - - - - - -
12872.43 830.17 8.57 1493 12873.76 VBD 1.39 - - 2654.81 - - - 2269.69 - 82.73 - - 2427.78 - - - - - - - - - - -
13182.52 805.23 7.92 1524 13183.85 VBD 1.40 - - 2654.81 - - - 2270.19 - 82.73 - - 2427.06 - - - - - - - - - - -
13492.58 781.89 7.69 1555 13493.91 VBD 1.42 - - 2655.00 - - - 2269.62 - 82.73 - - 2427.28 - - - - - - - - - - -
13802.65 758.36 7.40 1586 13803.98 VBD 1.44 - - 2654.75 - - - 2269.69 - 82.73 - - 2426.84 - - - - - - - - - - -
14112.89 734.85 7.14 1617 14117.46 done 1.46 - - 2655.00 - 2.76 0.080 1131.50 -412.4 82.73 - - 2428.66 - - - - - - - - - 16.16 -
14166.88 730.85 6.87 1628 14172.92 1.50 0.16 0.096 2698.69 273.1 2.61 0.035 2271.06 436.6 82.73 - - 2428.16 - - - - - - - - 16.13 16.16 -
14482.36 704.58 8.19 1660 14483.69 VBD 1.50 - - 2698.56 - - - 2271.62 - 82.73 - - 2426.94 - - - - - - - - - - -
14792.78 679.35 8.01 1691 14794.11 VBD 1.50 - - 2699.00 - - - 2270.69 - 82.73 - - 2426.84 - - - - - - - - - - -
15102.83 654.63 7.88 1722 15104.17 VBD 1.51 - - 2699.25 - - - 2270.62 - 82.73 - - 2426.91 - - - - - - - - - - -
15412.85 629.35 8.25 1753 15417.56 done 1.51 - - 2699.25 - 2.75 0.080 1131.25 -414.3 82.73 - - 2427.38 - - - - - - - - - 16.19 -
15477.02 623.52 8.91 1766 15483.01 done 1.51 - - 2699.19 - 2.58 0.035 2271.25 441.9 82.73 - - 2429.06 - - - - - - - - - 16.20 -
15792.92 599.09 7.57 1798 15794.25 VBD 1.52 - - 2698.94 - - - 2270.44 - 82.73 - - 2426.34 - - - - - - - - - - -
16102.95 577.62 6.99 1829 16107.63 done 1.55 - - 2698.81 - 2.67 0.097 3346.50 403.0 82.73 - - 2427.78 - - - - - - - - - 16.18 -
16177.11 571.89 8.26 1844 16183.09 done 1.55 - - 2699.31 - 2.58 0.028 2190.25 -448.2 82.73 - - 2428.06 - - - - - - - - - 16.19 -
16493.02 551.15 6.23 1876 16524.25 done 1.62 - - 2699.00 - 2.59 0.087 1131.06 -409.0 115.43 25.17 1.812 2303.84 -4.9 0.247 - - - - - - - 15.98 13.11
16557.18 546.78 6.49 1887 16563.18 roll 1.66 - - 2698.62 - 2.62 0.035 2272.44 435.6 115.43 - - 2302.00 - - - - - - - - - 16.07 -
16873.10 522.31 7.70 1919 16874.53 pitch 1.67 0.17 0.090 2740.81 248.2 - - 2273.12 - 115.43 - - 2298.28 - - - - - - - - 16.09 - -
17182.76 495.50 8.55 1950 17184.09 no move 1.67 - - 2740.06 - - - 2273.06 - 115.43 - - 2298.84 - - - - - - - - - - -
17493.22 467.30 9.32 1981 17494.55 no move 1.67 - - 2741.12 - - - 2273.19 - 115.43 - - 2298.09 - - - - - - - - - - -
17803.30 439.48 8.91 2012 17808.00 roll 1.67 - - 2740.25 - 2.78 0.079 1131.12 -410.8 115.43 - - 2300.41 - - - - - - - - - 16.15 -
17877.47 432.26 9.51 2027 17883.48 roll 1.67 - - 2741.06 - 2.61 0.035 2272.62 437.4 115.43 - - 2298.69 - - - - - - - - - 16.16 -
18193.38 404.09 9.09 2059 18198.09 roll 1.67 - - 2739.94 - 2.76 0.078 1129.88 -414.0 115.43 - - 2300.56 - - - - - - - - - 16.16 -
18267.55 397.06 9.57 2074 18273.54 roll 1.67 - - 2740.69 - 2.60 0.035 2273.56 439.9 115.43 - - 2299.09 - - - - - - - - - 16.16 -
18583.09 368.85 8.99 2106 18584.42 no move 1.67 - - 2740.19 - - - 2273.62 - 115.43 - - 2297.94 - - - - - - - - - - -
18893.77 339.38 9.30 2137 18895.10 no move 1.67 - - 2741.19 - - - 2273.50 - 115.43 - - 2297.91 - - - - - - - - - - -
19203.61 311.64 8.44 2168 19208.31 roll 1.67 - - 2740.69 - 2.77 0.078 1130.12 -412.8 115.43 - - 2298.91 - - - - - - - - - 16.18 -
19287.78 304.21 8.90 2185 19293.77 roll 1.67 - - 2741.06 - 2.60 0.034 2272.06 439.2 115.43 - - 2298.91 - - - - - - - - - 16.19 -
19603.71 278.83 7.79 2217 19608.40 roll 1.69 - - 2740.06 - 2.76 0.078 1130.00 -413.8 115.43 - - 2298.88 - - - - - - - - - 16.17 -
19693.33 271.63 8.01 2235 19698.40 roll 1.69 - - 2740.38 - 2.60 0.035 2274.00 440.0 115.43 - - 2300.19 - - - - - - - - - 16.18 -
20003.95 249.10 7.21 2267 20008.45 roll 1.71 - - 2740.31 - 2.63 0.095 3345.44 407.4 115.43 - - 2299.72 - - - - - - - - - 16.16 -
20033.39 246.68 7.68 2273 20038.45 roll 1.73 - - 2740.31 - 2.56 0.027 2187.69 -452.2 115.43 - - 2298.81 - - - - - - - - - 16.17 -
20343.99 225.09 6.71 2305 20348.53 roll 1.76 - - 2740.62 - 2.86 0.090 3347.50 405.5 115.43 - - 2299.03 - - - - - - - - - 16.19 -
20403.45 220.87 7.32 2317 20408.49 roll 1.79 - - 2740.81 - 2.58 0.027 2188.50 -449.2 115.43 - - 2300.31 - - - - - - - - - 16.18 -
20714.09 201.22 6.38 2349 20739.02 1.85 0.16 0.093 2780.62 248.8 - - 2187.00 - 145.96 23.84 1.416 2179.06 -5.1 0.119 - - - - - - 16.17 - 13.03
21043.83 171.71 8.98 2382 21048.62 roll 1.85 - - 2780.88 - 2.86 0.089 3346.00 405.2 145.96 - - 2176.06 - - - - - - - - - 16.10 -
21093.51 166.82 10.17 2392 21098.58 roll 1.85 - - 2780.88 - 2.58 0.027 2188.81 -448.5 145.96 - - 2176.12 - - - - - - - - - 16.10 -
21403.55 135.70 10.17 2424 21408.60 roll 1.85 - - 2780.50 - 2.55 0.080 1130.12 -415.2 145.96 - - 2177.59 - - - - - - - - - 16.11 -
21523.57 124.17 9.44 2448 21528.64 roll 1.85 - - 2780.44 - 2.60 0.033 2274.56 440.2 145.96 - - 2175.41 - - - - - - - - - 16.12 -
21834.03 98.92 7.29 2481 21839.19 roll 1.87 - - 2780.94 - 2.75 0.074 1130.06 -416.2 145.96 - - 2175.22 - - - - - - - - - 16.12 -
22068.73 83.63 6.14 2528 22100.13 done 1.94 - - 2780.50 - 2.60 0.033 2274.75 440.3 180.02 26.22 1.280 2040.31 -5.1 0.055 - - - - - - - 16.14 13.08
22283.80 69.67 6.10 2571 22315.54 2.01 0.16 0.093 2820.81 251.9 2.79 0.075 1131.56 -409.7 214.66 26.92 1.248 1898.16 -5.3 0.049 - - - - - - 16.02 15.88 12.97
22409.35 63.07 5.43 2596 22449.66 done 2.10 - - 2819.69 - 2.62 0.032 2274.81 436.4 259.01 33.74 1.243 1719.94 -5.3 0.044 - - - - - - - 15.96 12.96
22633.92 46.42 8.29 2641 22639.45 done 2.10 - - 2820.75 - 2.68 0.092 3345.75 399.6 259.01 - - 1710.62 - - - - - - - - - 15.88 -
22693.94 40.88 9.32 2653 22699.48 done 2.10 - - 2820.62 - 2.61 0.027 2190.38 -442.7 259.01 - - 1710.31 - - - - - - - - - 15.91 -
22884.02 25.22 6.87 2691 22889.53 done 2.13 - - 2818.94 - 2.57 0.079 1131.38 -412.1 259.01 - - 1708.75 - - - - - - - - - 15.95 -
22909.03 23.90 5.91 2696 22944.83 2.20 0.20 0.078 2869.50 252.8 2.62 0.031 2276.25 437.0 296.39 28.12 1.179 1566.91 -5.0 0.017 - - - - - - 15.95 15.96 12.94
23129.10 8.34 8.09 2740 23134.64 roll 2.20 - - 2868.88 - 2.65 0.091 3344.94 403.3 296.39 - - 1560.56 - - - - - - - - - 15.91 -
23193 end climb: SURFACE_DEPTH_REACHED
23194 begin surface coast
23219 end surface coast: CONTROL_FINISHED_OK
23219 begin surface
SM 1.77 - - - - 185.6 58.01 1.185 1246.8 21.5 16.51 0.052 1234.2 74.8 - 2.38 0.025 1259.4 528.0 -3.821 - - 12.90 15.92 15.94 -