NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 80 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 33.64 of 550.00 AH used of 24V (93.88% remains)
• Surface angle -63.8 deg, depth 1.59 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 374.94 (SM_CC=375)
• GPS1 time: 41 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
6.41 - - - 64.61 VBD -1.37 - - 179.50 - - - 2387.38 - -82.73 57.03 0.005 2607.97 - - - - - - - - - - 15.76
65.35 3.26 -3.71 11 102.77 -1.37 13.90 0.260 1988.25 130.1 2.85 0.067 1208.69 -413.6 -82.73 12.73 0.007 3113.16 39.7 -3.047 - - - - - - 15.73 15.75 15.79
245.78 39.64 -19.17 47 251.33 roll -1.37 - - 1988.12 - 2.64 0.034 2349.31 432.1 -82.73 - - 3114.22 - - - - - - - - - 15.85 -
436.24 69.81 -14.42 85 441.61 roll -1.37 - - 1988.62 - 2.68 0.090 3424.50 401.2 -82.73 - - 3113.41 - - - - - - - - - 15.90 -
466.01 74.96 -17.69 91 471.42 roll -1.37 - - 1988.56 - 2.59 0.025 2255.75 -451.3 -82.73 - - 3112.78 - - - - - - - - - 15.93 -
656.36 98.73 -11.61 129 661.50 roll -1.37 - - 1988.62 - 2.51 0.069 1208.44 -417.3 -82.73 - - 3113.41 - - - - - - - - - 15.95 -
710.52 105.44 -12.43 140 716.54 roll -1.37 - - 1988.50 - 2.63 0.032 2349.62 433.9 -82.73 - - 3113.84 - - - - - - - - - 15.98 -
1026.05 136.51 -10.33 172 1031.15 roll -1.37 - - 1988.38 - 2.74 0.064 1208.44 -416.5 -82.73 - - 3113.50 - - - - - - - - - 16.01 -
1116.07 146.19 -10.80 190 1121.16 roll -1.37 - - 1988.38 - 2.62 0.032 2351.94 436.5 -82.73 - - 3114.28 - - - - - - - - - 16.03 -
1426.14 177.44 -9.14 222 1431.23 roll -1.37 - - 1988.00 - 2.74 0.064 1210.00 -416.8 -82.73 - - 3113.75 - - - - - - - - - 16.05 -
1476.14 182.18 -9.84 232 1481.23 roll -1.37 - - 1988.19 - 2.62 0.032 2352.50 436.1 -82.73 - - 3113.91 - - - - - - - - - 16.06 -
1786.21 210.49 -8.88 264 1791.31 roll -1.37 - - 1988.31 - 2.76 0.064 1208.94 -414.3 -82.73 - - 3113.69 - - - - - - - - - 16.07 -
1920.97 223.69 -10.09 291 1926.81 roll -1.37 - - 1988.44 - 2.62 0.033 2350.81 435.8 -82.73 - - 3114.09 - - - - - - - - - 16.10 -
2236.44 253.67 -9.53 323 2237.77 no move -1.37 - - 1988.38 - - - 2350.81 - -82.73 - - 3112.88 - - - - - - - - - - -
2546.74 282.06 -9.47 354 2551.45 roll -1.37 - - 1987.31 - 2.73 0.066 1209.94 -417.9 -82.73 - - 3115.28 - - - - - - - - - 16.14 -
2646.38 292.20 -10.31 374 2651.46 roll -1.37 - - 1988.44 - 2.61 0.034 2352.31 437.7 -82.73 - - 3113.97 - - - - - - - - - 16.14 -
2956.41 323.07 -10.00 406 2961.50 roll -1.37 - - 1988.12 - 2.74 0.066 1208.44 -417.5 -82.73 - - 3113.69 - - - - - - - - - 16.16 -
3010.95 328.33 -9.97 417 3016.95 roll -1.37 - - 1988.50 - 2.61 0.033 2351.94 438.1 -82.73 - - 3115.34 - - - - - - - - - 16.17 -
3326.46 358.88 -9.63 449 3331.54 roll -1.37 - - 1987.94 - 2.66 0.094 3427.06 404.2 -82.73 - - 3113.97 - - - - - - - - - 16.15 -
3401.01 367.57 -11.53 464 3407.00 roll -1.37 - - 1987.88 - 2.57 0.026 2250.31 -457.9 -82.73 - - 3115.38 - - - - - - - - - 16.18 -
3716.50 400.73 -10.42 496 3721.62 roll -1.37 - - 1988.94 - 2.89 0.089 3427.38 407.3 -82.73 - - 3114.44 - - - - - - - - - 16.16 -
3776.51 407.93 -12.13 508 3781.76 roll -1.37 - - 1987.88 - 2.56 0.026 2252.19 -459.1 -82.73 - - 3115.56 - - - - - - - - - 16.18 -
4086.66 439.77 -10.49 540 4087.99 no move -1.37 - - 1988.31 - - - 2251.75 - -82.73 - - 3112.88 - - - - - - - - - - -
4396.96 469.77 -8.98 571 4398.28 no move -1.37 - - 1988.56 - - - 2251.75 - -82.73 - - 3113.09 - - - - - - - - - - -
4707.01 496.65 -8.42 602 4711.75 roll -1.37 - - 1988.44 - 2.89 0.090 3426.62 406.5 -82.73 - - 3114.12 - - - - - - - - - 16.20 -
4801.21 505.97 -9.82 621 4807.20 roll -1.37 - - 1988.38 - 2.56 0.026 2254.06 -458.0 -82.73 - - 3113.03 - - - - - - - - - 16.19 -
5116.74 533.00 -8.41 653 5118.06 no move -1.37 - - 1988.38 - - - 2253.56 - -82.73 - - 3112.44 - - - - - - - - - - -
5427.18 558.22 -8.41 684 5431.45 roll -1.37 - - 1988.38 - 2.49 0.074 1209.19 -419.4 -82.73 - - 3113.50 - - - - - - - - - 16.21 -
5486.81 563.07 -8.44 696 5491.90 roll -1.37 - - 1988.31 - 2.61 0.034 2351.94 437.8 -82.73 - - 3112.28 - - - - - - - - - 16.21 -
5796.88 587.18 -7.45 728 5798.21 no move -1.37 - - 1988.69 - - - 2351.94 - -82.73 - - 3111.09 - - - - - - - - - - -
6107.33 609.44 -7.08 759 6112.03 roll -1.37 - - 1988.12 - 2.72 0.069 1209.94 -419.9 -82.73 - - 3112.50 - - - - - - - - - 16.22 -
6196.97 616.47 -8.29 777 6202.03 roll -1.37 - - 1988.25 - 2.60 0.034 2350.56 438.7 -82.73 - - 3112.03 - - - - - - - - - 16.23 -
6507.21 640.65 -7.75 809 6508.54 no move -1.37 - - 1988.06 - - - 2350.62 - -82.73 - - 3111.00 - - - - - - - - - - -
6817.59 663.97 -7.23 840 6822.19 roll -1.37 - - 1988.00 - 2.72 0.069 1208.31 -420.0 -82.73 - - 3112.38 - - - - - - - - - 16.24 -
6861.64 667.43 -7.57 849 6867.66 roll -1.37 - - 1987.44 - 2.61 0.034 2352.38 438.3 -82.73 - - 3112.50 - - - - - - - - - 16.24 -
7177.18 690.97 -7.52 881 7178.51 no move -1.37 - - 1988.31 - - - 2352.25 - -82.73 - - 3109.78 - - - - - - - - - - -
7487.63 715.42 -7.68 912 7488.96 no move -1.37 - - 1988.06 - - - 2352.50 - -82.73 - - 3109.06 - - - - - - - - - - -
7797.68 741.29 -8.36 943 7802.40 roll -1.37 - - 1988.38 - 2.73 0.069 1209.88 -418.5 -82.73 - - 3110.16 - - - - - - - - - 16.23 -
7861.85 746.87 -8.75 956 7867.84 roll -1.37 - - 1988.25 - 2.60 0.034 2351.38 439.0 -82.73 - - 3111.56 - - - - - - - - - 16.23 -
8177.35 773.36 -8.72 988 8178.68 no move -1.37 - - 1988.25 - - - 2352.25 - -82.73 - - 3107.88 - - - - - - - - - - -
8487.77 800.24 -8.28 1019 8489.10 no move -1.37 - - 1988.31 - - - 2351.25 - -82.73 - - 3109.16 - - - - - - - - - - -
8797.80 825.58 -8.04 1050 8802.51 roll -1.37 - - 1987.31 - 2.72 0.070 1209.62 -419.7 -82.73 - - 3110.84 - - - - - - - - - 16.23 -
8877.43 832.00 -8.19 1066 8882.51 roll -1.37 - - 1988.12 - 2.60 0.035 2349.75 438.5 -82.73 - - 3110.06 - - - - - - - - - 16.24 -
9187.65 854.96 -7.07 1098 9188.98 no move -1.37 - - 1988.31 - - - 2350.38 - -82.73 - - 3108.31 - - - - - - - - - - -
9498.04 877.11 -6.67 1129 9502.60 roll -1.37 - - 1988.56 - 2.72 0.070 1209.81 -419.3 -82.73 - - 3108.00 - - - - - - - - - 16.24 -
9582.05 883.51 -7.80 1146 9588.06 roll -1.37 - - 1988.12 - 2.60 0.035 2349.81 438.5 -82.73 - - 3109.91 - - - - - - - - - 16.25 -
9897.56 905.80 -7.08 1178 9902.65 roll -1.37 - - 1988.31 - 2.70 0.070 1210.81 -421.9 -82.73 - - 3108.81 - - - - - - - - - 16.24 -
9952.10 909.64 -7.21 1189 9958.09 roll -1.37 - - 1987.88 - 2.59 0.035 2349.69 439.7 -82.73 - - 3109.69 - - - - - - - - - 16.23 -
10267.79 932.22 -6.97 1221 10272.71 roll -1.37 - - 1988.31 - 2.65 0.097 3426.81 406.5 -82.73 - - 3107.88 - - - - - - - - - 16.23 -
10367.66 940.41 -8.43 1241 10372.73 roll -1.37 - - 1988.25 - 2.55 0.027 2253.88 -460.0 -82.73 - - 3108.25 - - - - - - - - - 16.23 -
10678.12 960.85 -6.25 1273 10679.45 no move -1.37 - - 1988.56 - - - 2252.25 - -82.73 - - 3106.56 - - - - - - - - - - -
10988.19 980.50 -6.40 1304 10989.52 no move -1.37 - - 1988.06 - - - 2252.56 - -82.73 - - 3105.41 - - - - - - - - - - -
11147 end dive: TARGET_DEPTH_EXCEEDED
11147 begin apogee
11149.61 990.47 -6.34 1320 11215.40 -0.28 1.78 0.156 2253.56 149.2 0.13 0.201 2283.88 240.9 - 61.49 2.404 2774.31 -5.4 0.366 - - - - - - 16.18 15.69 13.04
11216 end apogee: CONTROL_FINISHED_OK
11216 begin climb
11217.34 991.55 - 1326 11287.01 1.37 2.65 0.105 2655.25 151.6 - - 2283.69 - 82.73 64.66 2.343 2436.00 -5.2 0.365 - - - - - - 15.73 - 12.91
11590.38 962.32 8.45 1364 11595.50 roll 1.37 - - 2655.19 - 2.86 0.079 1132.75 -402.4 82.73 - - 2430.88 - - - - - - - - - 15.79 -
11620.38 959.81 8.20 1370 11625.47 roll 1.37 - - 2655.56 - 2.66 0.034 2270.31 427.7 82.73 - - 2430.56 - - - - - - - - - 15.80 -
11930.83 934.88 7.46 1402 11932.16 no move 1.39 - - 2654.56 - - - 2270.06 - 82.73 - - 2428.75 - - - - - - - - - - -
12240.86 911.64 7.13 1433 12242.19 no move 1.41 - - 2655.00 - - - 2269.75 - 82.73 - - 2428.44 - - - - - - - - - - -
12550.90 887.61 7.50 1464 12552.23 VBD 1.43 - - 2655.50 - - - 2269.81 - 82.73 - - 2427.62 - - - - - - - - - - -
12860.93 863.34 7.87 1495 12862.26 VBD 1.44 - - 2654.94 - - - 2269.75 - 82.73 - - 2427.78 - - - - - - - - - - -
13170.97 839.20 7.88 1526 13175.87 done 1.46 - - 2654.75 - 2.70 0.096 3345.38 398.4 82.73 - - 2428.84 - - - - - - - - - 16.09 -
13225.31 834.68 8.48 1537 13231.17 done 1.46 - - 2655.75 - 2.59 0.028 2192.62 -445.1 82.73 - - 2429.16 - - - - - - - - - 16.09 -
13541.06 811.48 7.47 1569 13542.39 VBD 1.48 - - 2655.25 - - - 2192.31 - 82.73 - - 2427.12 - - - - - - - - - - -
13851.11 786.11 8.17 1600 13855.78 done 1.48 - - 2654.75 - 2.59 0.084 1131.38 -409.6 82.73 - - 2430.31 - - - - - - - - - 16.13 -
13910.74 780.80 9.17 1612 13915.82 done 1.48 - - 2654.00 - 2.62 0.035 2272.56 435.6 82.73 - - 2429.50 - - - - - - - - - 16.14 -
14221.21 756.36 7.63 1644 14222.64 1.49 0.15 0.097 2697.88 292.5 - - 2272.12 - 82.73 - - 2427.16 - - - - - - - - 16.14 - -
14530.87 728.61 8.86 1675 14532.20 VBD 1.49 - - 2698.19 - - - 2272.19 - 82.73 - - 2427.34 - - - - - - - - - - -
14841.33 701.87 8.32 1706 14842.66 VBD 1.49 - - 2697.56 - - - 2272.62 - 82.73 - - 2427.19 - - - - - - - - - - -
15151.41 677.56 7.34 1737 15156.08 done 1.51 - - 2696.88 - 2.68 0.096 3344.75 400.0 82.73 - - 2429.41 - - - - - - - - - 16.18 -
15215.57 672.17 8.74 1750 15221.56 done 1.51 - - 2698.12 - 2.57 0.028 2192.56 -448.3 82.73 - - 2427.91 - - - - - - - - - 16.18 -
15531.50 649.57 6.97 1782 15536.16 done 1.54 - - 2698.50 - 2.56 0.083 1130.06 -415.0 82.73 - - 2427.94 - - - - - - - - - 16.17 -
15611.14 643.39 7.66 1798 15616.38 done 1.56 - - 2697.75 - 2.62 0.035 2271.62 435.7 82.73 - - 2428.41 - - - - - - - - - 16.20 -
15921.70 621.26 7.10 1830 15926.29 done 1.59 - - 2697.75 - 2.76 0.078 1130.31 -413.5 82.73 - - 2427.81 - - - - - - - - - 16.19 -
15981.20 616.34 8.48 1842 15986.28 done 1.59 - - 2697.56 - 2.62 0.035 2271.94 435.7 82.73 - - 2429.00 - - - - - - - - - 16.19 -
16291.67 595.66 6.29 1874 16322.66 done 1.65 - - 2697.62 - 2.70 0.099 3345.25 397.5 114.59 24.61 1.872 2306.91 -5.0 0.260 - - - - - - - 15.97 12.97
16341.28 591.80 7.63 1883 16346.40 roll back 1.67 0.16 0.097 2738.00 252.4 2.60 0.028 2189.31 -444.6 114.59 - - 2306.00 - - - - - - - - 16.02 16.04 -
16651.73 563.39 9.42 1915 16653.06 no move 1.67 - - 2737.44 - - - 2189.44 - 114.59 - - 2303.16 - - - - - - - - - - -
16961.75 532.12 10.40 1946 16963.08 no move 1.67 - - 2737.56 - - - 2188.75 - 114.59 - - 2302.34 - - - - - - - - - - -
17271.79 502.58 8.78 1977 17273.12 no move 1.67 - - 2737.38 - - - 2189.06 - 114.59 - - 2302.34 - - - - - - - - - - -
17581.83 474.91 8.69 2008 17586.50 roll 1.67 - - 2736.81 - 2.56 0.083 1132.50 -412.7 114.59 - - 2304.81 - - - - - - - - - 16.14 -
17661.46 466.80 10.07 2024 17666.84 roll 1.67 - - 2736.94 - 2.61 0.035 2270.62 436.1 114.59 - - 2304.62 - - - - - - - - - 16.15 -
17972.05 437.91 9.20 2056 17973.38 no move 1.67 - - 2737.00 - - - 2271.19 - 114.59 - - 2302.41 - - - - - - - - - - -
18281.91 409.94 8.61 2087 18283.24 no move 1.67 - - 2737.06 - - - 2271.38 - 114.59 - - 2302.16 - - - - - - - - - - -
18591.95 383.51 8.47 2118 18596.67 roll 1.67 - - 2737.56 - 2.76 0.077 1130.44 -413.4 114.59 - - 2302.94 - - - - - - - - - 16.18 -
18646.12 378.72 8.67 2129 18652.13 roll 1.67 - - 2737.75 - 2.61 0.034 2272.31 437.5 114.59 - - 2303.34 - - - - - - - - - 16.17 -
18962.04 354.50 7.62 2161 18963.37 no move 1.69 - - 2738.00 - - - 2273.00 - 114.59 - - 2302.19 - - - - - - - - - - -
19272.12 331.51 7.36 2192 19273.45 no move 1.71 - - 2737.12 - - - 2272.56 - 114.59 - - 2302.25 - - - - - - - - - - -
19582.18 308.21 7.54 2223 19583.51 no move 1.73 - - 2738.06 - - - 2272.50 - 114.59 - - 2302.06 - - - - - - - - - - -
19892.26 282.30 8.26 2254 19893.59 no move 1.73 - - 2737.50 - - - 2272.62 - 114.59 - - 2302.28 - - - - - - - - - - -
20202.53 256.00 8.22 2285 20207.01 roll 1.73 - - 2738.25 - 2.77 0.077 1129.75 -412.6 114.59 - - 2302.97 - - - - - - - - - 16.19 -
20316.49 245.93 8.93 2308 20322.48 roll 1.73 - - 2737.25 - 2.61 0.034 2274.06 438.4 114.59 - - 2305.41 - - - - - - - - - 16.19 -
20632.40 219.86 8.73 2340 20633.73 no move 1.73 - - 2738.69 - - - 2273.94 - 114.59 - - 2302.38 - - - - - - - - - - -
20942.71 194.19 8.22 2371 20944.04 no move 1.73 - - 2738.06 - - - 2273.75 - 114.59 - - 2302.56 - - - - - - - - - - -
21252.55 170.10 7.09 2402 21257.25 roll 1.75 - - 2736.62 - 2.76 0.076 1130.94 -414.1 114.59 - - 2304.53 - - - - - - - - - 16.19 -
21342.19 163.23 7.85 2420 21347.24 roll 1.77 - - 2737.94 - 2.60 0.033 2273.19 439.3 114.59 - - 2303.91 - - - - - - - - - 16.19 -
21652.64 142.67 6.98 2452 21657.32 roll 1.79 - - 2737.50 - 2.65 0.093 3345.81 404.8 114.59 - - 2305.03 - - - - - - - - - 16.18 -
21772.30 132.93 7.82 2476 21777.34 roll 1.81 - - 2737.88 - 2.57 0.027 2187.94 -450.5 114.59 - - 2305.44 - - - - - - - - - 16.19 -
22082.73 114.15 5.47 2508 22120.48 1.90 0.25 0.080 2791.31 213.7 2.56 0.081 1130.50 -413.1 158.44 32.97 1.344 2126.44 -5.4 0.076 - - - - - - 16.15 15.97 13.08
22193.00 106.47 8.20 2530 22199.01 roll 1.90 - - 2792.00 - 2.62 0.033 2271.56 435.5 158.44 - - 2124.50 - - - - - - - - - 16.05 -
22503.53 83.23 7.13 2583 22504.86 no move 1.92 - - 2791.31 - - - 2271.25 - 158.44 - - 2121.62 - - - - - - - - - - -
22688.63 71.82 5.29 2620 22724.25 VBD 2.02 - - 2790.94 - - - 2271.75 - 204.97 34.90 1.280 1939.88 -5.2 0.048 - - - - - - - - 13.00
22908.65 56.43 6.95 2664 22914.20 roll 2.05 - - 2791.38 - 2.75 0.074 1131.06 -414.8 204.97 - - 1932.31 - - - - - - - - - 15.97 -
23143.74 43.03 4.68 2711 23190.49 2.16 0.31 0.073 2854.19 202.6 2.62 0.032 2275.06 436.6 260.31 40.97 1.237 1714.31 -5.3 0.031 - - - - - - 15.99 16.02 12.92
23374.35 28.36 6.23 2757 23405.36 done 2.22 - - 2855.62 - 2.79 0.075 1130.12 -410.4 292.99 25.32 1.179 1579.91 -5.3 0.021 - - - - - - - 15.77 12.82
23634.04 9.63 6.53 2809 23639.79 done 2.26 - - 2855.56 - 2.62 0.031 2272.31 436.0 292.99 - - 1571.78 - - - - - - - - - 15.90 -
23733 end climb: SURFACE_DEPTH_REACHED
23733 begin surface coast
23763 end surface coast: CONTROL_FINISHED_OK
23764 begin surface
SM 1.58 - - - - 184.5 60.33 1.194 1246.5 20.7 16.44 0.055 1233.6 75.0 - 0.13 0.126 1259.4 9667.5 -12.390 - - 12.88 15.92 15.93 -