NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 217 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 71.38 of 550.00 AH used of 24V (87.02% remains)
• Surface angle -64.5 deg, depth 1.53 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.81 (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
6.67 - - - 60.95 VBD -1.37 - - 177.12 - - - 2241.00 - -82.73 53.08 0.005 2344.72 - - - - - - - - - - 15.72
61.69 3.01 -3.14 10 103.33 -1.37 13.82 0.254 1988.44 131.1 - - 2240.62 - -82.73 20.77 0.006 3112.59 37.0 -3.057 - - - - - - 15.68 - 15.74
286.35 43.33 -16.11 55 287.68 no move -1.37 - - 1988.44 - - - 2241.50 - -82.73 - - 3111.62 - - - - - - - - - - -
471.37 73.13 -15.39 92 472.70 no move -1.37 - - 1988.44 - - - 2240.75 - -82.73 - - 3112.12 - - - - - - - - - - -
656.41 99.36 -11.86 129 662.21 roll -1.37 - - 1987.25 - 2.95 0.083 3428.00 402.5 -82.73 - - 3114.22 - - - - - - - - - 15.94 -
711.15 106.11 -12.60 140 716.98 roll -1.37 - - 1989.06 - 2.63 0.022 2251.00 -447.5 -82.73 - - 3114.03 - - - - - - - - - 15.95 -
1026.47 137.00 -9.18 172 1027.80 no move -1.37 - - 1988.81 - - - 2250.00 - -82.73 - - 3112.81 - - - - - - - - - - -
1337.07 165.13 -8.32 203 1338.40 no move -1.37 - - 1988.88 - - - 2250.31 - -82.73 - - 3112.91 - - - - - - - - - - -
1646.93 190.64 -8.71 234 1648.26 no move -1.37 - - 1989.62 - - - 2250.06 - -82.73 - - 3113.22 - - - - - - - - - - -
1956.96 217.56 -8.69 265 1961.64 roll -1.37 - - 1989.12 - 2.57 0.066 1207.25 -405.8 -82.73 - - 3115.16 - - - - - - - - - 16.08 -
2016.60 223.13 -9.41 277 2021.67 roll -1.37 - - 1989.06 - 2.61 0.029 2352.81 438.9 -82.73 - - 3115.56 - - - - - - - - - 16.10 -
2326.66 252.39 -9.75 309 2331.77 roll -1.37 - - 1989.25 - 2.82 0.061 1209.88 -405.3 -82.73 - - 3114.47 - - - - - - - - - 16.08 -
2381.22 258.11 -10.61 320 2387.23 roll -1.37 - - 1989.06 - 2.61 0.029 2353.88 438.3 -82.73 - - 3115.16 - - - - - - - - - 16.09 -
2696.75 288.33 -9.32 352 2701.86 roll -1.37 - - 1988.12 - 2.81 0.061 1208.94 -407.5 -82.73 - - 3115.38 - - - - - - - - - 16.12 -
2811.33 299.15 -9.26 375 2817.52 roll -1.37 - - 1988.69 - 2.62 0.030 2354.62 437.3 -82.73 - - 3113.47 - - - - - - - - - 16.13 -
3126.97 327.97 -9.23 407 3128.30 no move -1.37 - - 1989.50 - - - 2354.50 - -82.73 - - 3112.31 - - - - - - - - - - -
3437.30 356.42 -9.07 438 3442.03 roll -1.37 - - 1988.81 - 2.82 0.062 1208.56 -406.4 -82.73 - - 3114.25 - - - - - - - - - 16.14 -
3521.49 364.20 -9.21 455 3527.48 roll -1.37 - - 1989.12 - 2.61 0.030 2353.25 438.6 -82.73 - - 3113.94 - - - - - - - - - 16.11 -
3837.01 392.37 -8.68 487 3838.34 no move -1.37 - - 1989.44 - - - 2353.31 - -82.73 - - 3111.38 - - - - - - - - - - -
4147.47 418.96 -8.63 518 4152.19 roll -1.37 - - 1988.94 - 2.77 0.062 1209.50 -412.9 -82.73 - - 3113.00 - - - - - - - - - 16.14 -
4237.11 426.94 -8.97 536 4242.20 roll -1.37 - - 1989.44 - 2.61 0.030 2353.06 438.1 -82.73 - - 3112.78 - - - - - - - - - 16.16 -
4547.18 452.60 -8.60 568 4552.27 roll -1.37 - - 1988.56 - 2.80 0.062 1208.44 -408.8 -82.73 - - 3112.97 - - - - - - - - - 16.17 -
4707.61 467.05 -8.82 600 4712.30 roll -1.37 - - 1989.38 - 2.60 0.031 2353.12 440.3 -82.73 - - 3111.34 - - - - - - - - - 16.16 -
5017.30 493.72 -8.39 632 5022.40 roll -1.37 - - 1989.25 - 2.80 0.062 1208.50 -408.8 -82.73 - - 3111.19 - - - - - - - - - 16.16 -
5082.03 499.61 -8.95 645 5087.92 roll -1.37 - - 1989.00 - 2.61 0.031 2352.69 438.4 -82.73 - - 3111.09 - - - - - - - - - 16.17 -
5397.35 526.37 -8.15 677 5402.45 roll -1.37 - - 1989.38 - 2.78 0.063 1208.50 -411.6 -82.73 - - 3111.22 - - - - - - - - - 16.18 -
5531.92 537.80 -8.58 704 5537.90 roll -1.37 - - 1989.69 - 2.60 0.031 2354.19 440.7 -82.73 - - 3110.28 - - - - - - - - - 16.17 -
5847.41 562.19 -7.81 736 5852.51 roll -1.37 - - 1989.00 - 2.79 0.063 1209.56 -410.3 -82.73 - - 3110.72 - - - - - - - - - 16.18 -
5951.97 571.02 -8.62 757 5957.97 roll -1.37 - - 1989.62 - 2.60 0.031 2352.12 439.4 -82.73 - - 3109.91 - - - - - - - - - 16.18 -
6267.46 596.84 -8.16 789 6272.56 roll -1.37 - - 1989.44 - 2.77 0.064 1209.88 -412.4 -82.73 - - 3110.44 - - - - - - - - - 16.16 -
6377.49 606.54 -8.75 811 6382.56 roll -1.37 - - 1989.38 - 2.59 0.031 2350.88 440.5 -82.73 - - 3109.47 - - - - - - - - - 16.17 -
6687.53 631.60 -8.03 843 6688.86 no move -1.37 - - 1989.31 - - - 2351.69 - -82.73 - - 3107.12 - - - - - - - - - - -
6997.96 657.21 -8.22 874 7002.66 roll -1.37 - - 1989.75 - 2.78 0.064 1209.94 -410.7 -82.73 - - 3108.38 - - - - - - - - - 16.17 -
7052.29 662.18 -8.93 885 7058.60 roll -1.37 - - 1990.00 - 2.59 0.031 2352.31 441.1 -82.73 - - 3108.75 - - - - - - - - - 16.18 -
7367.63 689.48 -9.19 917 7372.73 roll -1.37 - - 1989.62 - 2.80 0.064 1209.94 -408.0 -82.73 - - 3108.25 - - - - - - - - - 16.17 -
7528.08 704.58 -9.06 949 7532.76 roll -1.37 - - 1989.44 - 2.60 0.031 2351.88 439.2 -82.73 - - 3108.09 - - - - - - - - - 16.18 -
7837.77 730.83 -8.31 981 7842.86 roll -1.37 - - 1988.81 - 2.80 0.064 1208.31 -408.4 -82.73 - - 3107.50 - - - - - - - - - 16.17 -
7922.55 738.46 -8.61 998 7928.32 roll -1.37 - - 1989.12 - 2.60 0.031 2353.12 440.3 -82.73 - - 3107.09 - - - - - - - - - 16.17 -
8237.86 763.14 -7.51 1030 8239.18 no move -1.37 - - 1989.38 - - - 2353.00 - -82.73 - - 3105.34 - - - - - - - - - - -
8548.30 785.92 -7.60 1061 8553.03 roll -1.37 - - 1988.31 - 2.82 0.065 1209.62 -405.5 -82.73 - - 3107.44 - - - - - - - - - 16.18 -
8647.95 793.95 -7.73 1081 8653.02 roll -1.37 - - 1989.75 - 2.60 0.032 2350.81 438.9 -82.73 - - 3105.31 - - - - - - - - - 16.18 -
8958.02 817.44 -7.87 1113 8959.34 no move -1.37 - - 1990.00 - - - 2350.62 - -82.73 - - 3104.31 - - - - - - - - - - -
9268.47 842.37 -8.15 1144 9273.37 roll -1.37 - - 1989.62 - 2.78 0.065 1211.06 -409.9 -82.73 - - 3104.75 - - - - - - - - - 16.19 -
9358.28 850.33 -8.66 1162 9363.19 roll -1.37 - - 1989.75 - 2.60 0.032 2351.94 438.8 -82.73 - - 3105.97 - - - - - - - - - 16.17 -
9668.18 876.14 -8.61 1194 9673.28 roll -1.37 - - 1988.94 - 2.80 0.065 1210.06 -407.8 -82.73 - - 3105.62 - - - - - - - - - 16.19 -
9732.74 882.08 -8.69 1207 9738.73 roll -1.37 - - 1989.88 - 2.58 0.032 2354.00 443.4 -82.73 - - 3105.09 - - - - - - - - - 16.18 -
10048.44 908.11 -8.25 1239 10053.39 roll -1.37 - - 1989.31 - 2.82 0.065 1210.88 -405.4 -82.73 - - 3104.78 - - - - - - - - - 16.18 -
10132.83 915.55 -8.57 1256 10138.82 roll -1.37 - - 1989.38 - 2.60 0.032 2351.88 438.8 -82.73 - - 3103.91 - - - - - - - - - 16.17 -
10448.35 940.14 -7.60 1288 10449.68 no move -1.37 - - 1989.25 - - - 2352.06 - -82.73 - - 3103.22 - - - - - - - - - - -
10758.76 961.52 -6.67 1319 10763.46 roll -1.37 - - 1989.31 - 2.64 0.095 3427.25 407.3 -82.73 - - 3104.22 - - - - - - - - - 16.16 -
10802.93 965.18 -8.13 1328 10808.92 roll -1.37 - - 1989.94 - 2.60 0.023 2248.88 -453.2 -82.73 - - 3103.34 - - - - - - - - - 16.16 -
11118.43 986.15 -6.59 1360 11119.76 no move -1.37 - - 1989.69 - - - 2248.81 - -82.73 - - 3102.59 - - - - - - - - - - -
11188 end dive: TARGET_DEPTH_EXCEEDED
11188 begin apogee
11190.46 990.76 -6.47 1367 11255.81 -0.28 1.78 0.155 2253.56 148.2 0.14 0.181 2288.00 279.9 - 60.88 2.413 2774.94 -5.4 0.364 - - - - - - 16.11 15.68 12.60
11257 end apogee: CONTROL_FINISHED_OK
11257 begin climb
11258.09 991.89 - 1373 11327.76 1.37 2.61 0.099 2656.38 154.3 - - 2287.56 - 82.73 64.69 2.343 2435.28 -5.3 0.366 - - - - - - 15.71 - 12.76
11631.16 963.85 8.45 1411 11632.49 no move 1.37 - - 2655.88 - - - 2287.75 - 82.73 - - 2429.84 - - - - - - - - - - -
11941.62 938.40 7.74 1442 11942.95 no move 1.38 - - 2655.69 - - - 2287.69 - 82.73 - - 2430.16 - - - - - - - - - - -
12251.67 913.99 8.09 1473 12256.37 roll 1.38 - - 2655.75 - 2.65 0.094 3347.00 399.7 82.73 - - 2430.31 - - - - - - - - - 15.97 -
12305.84 909.13 8.86 1484 12311.85 roll 1.38 - - 2656.00 - 2.65 0.025 2190.25 -436.5 82.73 - - 2430.75 - - - - - - - - - 15.98 -
12621.75 884.62 7.45 1516 12623.08 VBD 1.40 - - 2655.81 - - - 2190.56 - 82.73 - - 2428.81 - - - - - - - - - - -
12931.78 860.94 7.35 1547 12936.68 done 1.42 - - 2656.00 - 2.88 0.090 3347.25 401.6 82.73 - - 2429.66 - - - - - - - - - 16.04 -
12991.56 855.63 8.42 1559 12996.47 done 1.42 - - 2655.38 - 2.63 0.025 2189.19 -440.3 82.73 - - 2429.97 - - - - - - - - - 16.05 -
13301.83 832.20 7.08 1591 13303.16 VBD 1.45 - - 2656.19 - - - 2189.25 - 82.73 - - 2428.00 - - - - - - - - - - -
13611.87 810.26 6.99 1622 13613.20 VBD 1.48 - - 2655.19 - - - 2188.81 - 82.73 - - 2427.53 - - - - - - - - - - -
13921.90 789.73 6.31 1653 13953.02 1.54 0.22 0.079 2710.31 250.5 2.91 0.093 3346.62 397.9 114.26 24.93 2.063 2308.44 -4.8 0.301 - - - - - - 16.08 15.89 12.79
14021.52 780.75 10.18 1673 14026.60 roll 1.54 - - 2710.38 - 2.64 0.025 2190.38 -438.0 114.26 - - 2307.72 - - - - - - - - - 15.98 -
14331.94 752.07 9.54 1705 14333.27 no move 1.54 - - 2710.44 - - - 2190.25 - 114.26 - - 2304.34 - - - - - - - - - - -
14641.98 721.22 10.37 1736 14643.31 no move 1.54 - - 2710.31 - - - 2189.94 - 114.26 - - 2304.19 - - - - - - - - - - -
14952.05 689.30 9.98 1767 14953.38 no move 1.54 - - 2709.75 - - - 2189.94 - 114.26 - - 2304.22 - - - - - - - - - - -
15262.11 658.55 9.88 1798 15263.44 no move 1.54 - - 2710.81 - - - 2189.38 - 114.26 - - 2303.66 - - - - - - - - - - -
15572.18 630.17 8.68 1829 15577.09 roll 1.54 - - 2709.94 - 2.89 0.090 3345.00 399.9 114.26 - - 2304.25 - - - - - - - - - 16.09 -
15646.47 622.93 10.08 1844 15652.37 roll 1.54 - - 2711.19 - 2.63 0.025 2191.69 -438.5 114.26 - - 2304.25 - - - - - - - - - 16.11 -
15962.27 595.30 8.85 1876 15963.60 no move 1.54 - - 2710.75 - - - 2191.06 - 114.26 - - 2303.19 - - - - - - - - - - -
16272.34 566.75 9.75 1907 16273.67 no move 1.54 - - 2711.25 - - - 2191.12 - 114.26 - - 2303.03 - - - - - - - - - - -
16582.41 537.07 9.29 1938 16587.14 roll 1.54 - - 2710.69 - 2.88 0.089 3347.06 401.4 114.26 - - 2303.81 - - - - - - - - - 16.13 -
16646.59 530.41 10.74 1951 16652.58 roll 1.54 - - 2710.31 - 2.62 0.025 2190.06 -441.6 114.26 - - 2304.19 - - - - - - - - - 16.15 -
16962.50 502.05 8.87 1983 16967.23 roll 1.54 - - 2709.38 - 2.88 0.089 3345.25 401.1 114.26 - - 2304.66 - - - - - - - - - 16.12 -
17012.12 497.46 9.38 1993 17017.21 roll 1.54 - - 2710.31 - 2.62 0.025 2188.69 -441.4 114.26 - - 2303.66 - - - - - - - - - 16.14 -
17322.58 471.24 8.61 2025 17327.27 roll 1.54 - - 2710.94 - 2.61 0.080 1131.38 -405.1 114.26 - - 2303.31 - - - - - - - - - 16.13 -
17436.77 460.87 8.88 2048 17442.77 roll 1.54 - - 2711.06 - 2.61 0.031 2273.31 437.5 114.26 - - 2304.75 - - - - - - - - - 16.15 -
17752.93 436.23 7.77 2080 17754.26 no move 1.56 - - 2710.69 - - - 2273.12 - 114.26 - - 2302.53 - - - - - - - - - - -
18062.74 412.07 7.32 2111 18067.42 roll 1.58 - - 2710.62 - 2.66 0.093 3345.56 403.2 114.26 - - 2304.00 - - - - - - - - - 16.13 -
18116.90 407.55 8.45 2122 18122.90 roll 1.58 - - 2711.00 - 2.62 0.025 2185.94 -442.6 114.26 - - 2303.50 - - - - - - - - - 16.15 -
18432.79 383.02 7.79 2154 18434.12 no move 1.59 - - 2710.00 - - - 2186.25 - 114.26 - - 2302.72 - - - - - - - - - - -
18742.81 358.75 8.03 2185 18744.14 no move 1.59 - - 2710.25 - - - 2186.12 - 114.26 - - 2303.19 - - - - - - - - - - -
19052.86 335.17 7.10 2216 19054.19 no move 1.62 - - 2710.81 - - - 2186.12 - 114.26 - - 2303.34 - - - - - - - - - - -
19363.07 315.05 6.36 2247 19388.02 VBD 1.68 - - 2710.25 - - - 2186.38 - 144.98 24.16 1.522 2181.91 -5.0 0.172 - - - - - - - - 12.71
19692.91 288.93 8.35 2280 19697.64 roll 1.68 - - 2710.94 - 2.90 0.089 3346.88 400.2 144.98 - - 2180.44 - - - - - - - - - 16.05 -
19777.26 280.90 9.62 2297 19783.10 roll 1.68 - - 2711.25 - 2.64 0.024 2189.00 -438.6 144.98 - - 2180.75 - - - - - - - - - 16.06 -
20092.99 256.10 7.61 2329 20094.32 no move 1.70 - - 2710.25 - - - 2188.56 - 144.98 - - 2179.47 - - - - - - - - - - -
20403.04 231.20 8.50 2360 20407.97 roll 1.70 - - 2710.88 - 2.91 0.088 3346.75 398.0 144.98 - - 2179.84 - - - - - - - - - 16.07 -
20487.40 223.42 9.49 2377 20493.23 roll 1.70 - - 2710.62 - 2.62 0.024 2189.19 -441.8 144.98 - - 2181.06 - - - - - - - - - 16.11 -
20803.16 199.24 6.83 2409 20804.59 pitch 1.73 0.17 0.087 2751.12 238.2 - - 2189.12 - 144.98 - - 2180.12 - - - - - - - - 16.09 - -
21112.81 173.07 9.50 2440 21114.15 no move 1.73 - - 2752.12 - - - 2189.06 - 144.98 - - 2178.75 - - - - - - - - - - -
21423.29 146.15 7.51 2471 21428.01 roll 1.75 - - 2752.31 - 2.88 0.087 3346.94 402.0 144.98 - - 2179.84 - - - - - - - - - 16.07 -
21517.48 138.62 7.96 2490 21523.48 roll 1.76 - - 2752.94 - 2.61 0.024 2185.62 -445.0 144.98 - - 2180.16 - - - - - - - - - 16.12 -
21833.38 120.49 5.25 2522 21874.61 done 1.86 - - 2753.12 - 2.90 0.087 3345.19 399.9 191.96 35.53 1.315 1992.41 -5.3 0.080 - - - - - - - 15.92 12.74
21897.73 116.22 6.96 2535 21903.54 roll 1.89 - - 2753.12 - 2.62 0.024 2186.62 -442.2 191.96 - - 1990.34 - - - - - - - - - 15.98 -
22208.09 93.24 5.77 2577 22244.90 1.96 0.26 0.072 2813.12 230.8 2.62 0.078 1131.44 -402.7 231.40 30.16 1.253 1831.38 -5.3 0.065 - - - - - - 16.00 15.85 12.68
22473.20 71.26 7.55 2630 22478.72 roll 1.98 - - 2812.25 - 2.62 0.029 2274.19 436.2 231.40 - - 1825.22 - - - - - - - - - 15.93 -
22663.27 59.74 5.15 2668 22704.89 done 2.08 - - 2813.00 - 2.87 0.072 1131.38 -398.2 279.93 36.31 1.215 1634.16 -5.3 0.043 - - - - - - - 15.80 12.68
22723.27 56.11 6.15 2680 22754.75 2.15 0.17 0.087 2858.25 266.2 2.64 0.028 2275.38 433.3 313.82 26.83 1.171 1495.91 -5.2 0.041 - - - - - - 15.83 15.84 12.65
22938.33 34.69 9.74 2723 22943.88 roll 2.15 - - 2857.12 - 2.69 0.088 3346.88 398.3 313.82 - - 1488.25 - - - - - - - - - 15.85 -
23173.38 12.88 9.07 2770 23178.92 done 2.15 - - 2857.50 - 2.64 0.023 2186.56 -439.5 313.82 - - 1486.38 - - - - - - - - - 15.89 -
23353 end climb: SURFACE_DEPTH_REACHED
23354 begin surface coast
23398 end surface coast: CONTROL_FINISHED_OK
23398 begin surface
SM 2.16 - - - - 178.2 80.92 1.166 1043.2 12.9 16.28 0.048 992.4 61.0 - 0.34 0.065 1094.0 3209.9 -10.902 - - 12.73 15.94 15.96 -