NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 345 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 109.89 of 550.00 AH used of 24V (80.02% remains)
• Surface angle -64.9 deg, depth 1.56 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 424.74 (SM_CC=425)
• GPS1 time: 64 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.75 - - - 57.08 VBD -1.37 - - 179.50 - - - 2241.94 - -82.73 49.13 0.005 2286.97 - - - - - - - - - - 15.60
57.82 3.06 -3.87 9 101.14 -1.37 14.09 0.250 1988.69 128.4 2.93 0.084 3428.50 405.0 -82.73 20.79 0.006 3111.94 39.7 -3.343 - - - - - - 15.64 15.56 15.61
329.21 52.95 -16.66 63 334.73 roll -1.37 - - 1988.75 - 2.59 0.020 2252.69 -454.0 -82.73 - - 3112.56 - - - - - - - - - 15.87 -
519.34 79.30 -13.70 101 525.05 roll -1.37 - - 1988.12 - 2.90 0.079 3427.31 405.0 -82.73 - - 3113.34 - - - - - - - - - 15.89 -
599.44 92.06 -16.77 117 604.86 roll -1.37 - - 1988.19 - 2.60 0.021 2249.06 -453.2 -82.73 - - 3112.97 - - - - - - - - - 15.91 -
789.38 115.30 -11.25 142 794.03 roll -1.37 - - 1988.62 - 2.47 0.065 1208.62 -421.2 -82.73 - - 3114.09 - - - - - - - - - 15.95 -
933.96 130.81 -10.42 171 939.97 roll -1.37 - - 1988.56 - 2.62 0.028 2352.88 436.7 -82.73 - - 3113.81 - - - - - - - - - 15.97 -
1249.49 160.02 -9.24 203 1254.58 roll -1.37 - - 1988.19 - 2.63 0.085 3427.31 408.5 -82.73 - - 3114.66 - - - - - - - - - 15.99 -
1329.52 168.25 -10.60 219 1334.58 roll -1.37 - - 1988.56 - 2.58 0.021 2244.88 -458.3 -82.73 - - 3113.59 - - - - - - - - - 16.01 -
1639.58 194.29 -7.86 251 1640.91 no move -1.37 - - 1988.56 - - - 2243.44 - -82.73 - - 3112.38 - - - - - - - - - - -
1950.04 220.92 -9.16 282 1951.37 no move -1.37 - - 1988.56 - - - 2243.00 - -82.73 - - 3113.09 - - - - - - - - - - -
2260.09 251.87 -10.33 313 2261.43 no move -1.37 - - 1988.81 - - - 2243.69 - -82.73 - - 3112.94 - - - - - - - - - - -
2570.16 283.68 -10.15 344 2571.49 no move -1.37 - - 1988.81 - - - 2243.00 - -82.73 - - 3112.34 - - - - - - - - - - -
2880.22 314.72 -10.15 375 2884.97 roll -1.37 - - 1988.75 - 2.90 0.083 3426.25 408.0 -82.73 - - 3112.56 - - - - - - - - - 16.06 -
2940.03 321.45 -11.53 387 2944.98 roll -1.37 - - 1988.75 - 2.58 0.021 2248.00 -456.7 -82.73 - - 3112.28 - - - - - - - - - 16.06 -
3249.89 352.93 -9.71 419 3251.22 no move -1.37 - - 1988.88 - - - 2246.38 - -82.73 - - 3111.16 - - - - - - - - - - -
3560.31 383.24 -9.68 450 3565.04 roll -1.37 - - 1989.19 - 2.90 0.084 3426.88 407.1 -82.73 - - 3111.06 - - - - - - - - - 16.07 -
3609.93 388.57 -10.90 460 3615.00 roll -1.37 - - 1988.56 - 2.57 0.022 2249.62 -458.1 -82.73 - - 3111.62 - - - - - - - - - 16.08 -
3919.97 416.14 -8.60 492 3924.62 roll -1.37 - - 1989.19 - 2.49 0.068 1208.31 -418.2 -82.73 - - 3112.06 - - - - - - - - - 16.09 -
3969.97 420.57 -8.84 502 3975.06 roll -1.37 - - 1988.00 - 2.61 0.029 2355.69 439.6 -82.73 - - 3111.75 - - - - - - - - - 16.10 -
4280.01 446.83 -8.29 534 4285.12 roll -1.37 - - 1988.44 - 2.71 0.063 1208.81 -423.2 -82.73 - - 3110.47 - - - - - - - - - 16.10 -
4354.57 453.31 -8.78 549 4360.55 roll -1.37 - - 1988.31 - 2.60 0.030 2353.44 440.2 -82.73 - - 3110.72 - - - - - - - - - 16.10 -
4670.07 477.92 -7.62 581 4671.40 no move -1.37 - - 1988.69 - - - 2352.88 - -82.73 - - 3108.53 - - - - - - - - - - -
4980.50 503.11 -7.97 612 4981.82 no move -1.37 - - 1988.62 - - - 2353.19 - -82.73 - - 3108.22 - - - - - - - - - - -
5290.81 529.65 -8.79 643 5295.28 roll -1.37 - - 1988.62 - 2.72 0.064 1207.69 -421.1 -82.73 - - 3108.66 - - - - - - - - - 16.09 -
5380.21 537.99 -9.68 661 5385.28 roll -1.37 - - 1988.75 - 2.60 0.030 2351.31 439.9 -82.73 - - 3109.88 - - - - - - - - - 16.10 -
5690.28 566.10 -9.22 693 5691.61 no move -1.37 - - 1988.25 - - - 2352.00 - -82.73 - - 3106.59 - - - - - - - - - - -
6000.73 594.70 -8.89 724 6005.44 roll -1.37 - - 1988.56 - 2.72 0.064 1208.69 -420.3 -82.73 - - 3108.75 - - - - - - - - - 16.12 -
6074.90 601.87 -9.82 739 6080.89 roll -1.37 - - 1988.88 - 2.59 0.030 2351.56 441.3 -82.73 - - 3107.16 - - - - - - - - - 16.11 -
6390.44 630.49 -8.51 771 6395.53 roll -1.37 - - 1988.25 - 2.73 0.064 1207.75 -419.0 -82.73 - - 3107.66 - - - - - - - - - 16.12 -
6465.00 637.16 -9.17 786 6470.98 roll -1.37 - - 1988.31 - 2.60 0.030 2350.25 439.4 -82.73 - - 3107.03 - - - - - - - - - 16.13 -
6780.53 664.05 -8.55 818 6781.85 no move -1.37 - - 1988.69 - - - 2350.94 - -82.73 - - 3104.59 - - - - - - - - - - -
7090.97 690.50 -8.25 849 7095.69 roll -1.37 - - 1988.25 - 2.72 0.065 1208.75 -419.9 -82.73 - - 3107.06 - - - - - - - - - 16.11 -
7185.15 698.80 -8.18 868 7191.14 roll -1.37 - - 1988.06 - 2.59 0.031 2351.38 441.2 -82.73 - - 3105.97 - - - - - - - - - 16.12 -
7500.87 725.06 -8.19 900 7505.82 roll -1.37 - - 1987.31 - 2.64 0.093 3425.88 407.0 -82.73 - - 3105.72 - - - - - - - - - 16.10 -
7550.70 729.64 -9.22 910 7555.76 roll -1.37 - - 1988.56 - 2.55 0.023 2246.75 -462.4 -82.73 - - 3105.69 - - - - - - - - - 16.10 -
7860.77 753.61 -7.52 942 7865.42 roll -1.37 - - 1988.62 - 2.47 0.071 1208.38 -420.4 -82.73 - - 3104.19 - - - - - - - - - 16.10 -
7955.33 760.95 -8.14 961 7961.34 roll -1.37 - - 1988.62 - 2.61 0.031 2351.00 437.8 -82.73 - - 3103.97 - - - - - - - - - 16.11 -
8270.85 783.41 -6.91 993 8275.95 roll -1.37 - - 1988.69 - 2.70 0.065 1208.75 -423.1 -82.73 - - 3104.03 - - - - - - - - - 16.11 -
8325.40 787.51 -7.95 1004 8331.38 roll -1.37 - - 1988.69 - 2.60 0.031 2353.38 440.2 -82.73 - - 3103.72 - - - - - - - - - 16.11 -
8640.90 811.02 -7.86 1036 8642.23 no move -1.37 - - 1988.50 - - - 2353.31 - -82.73 - - 3102.16 - - - - - - - - - - -
8951.32 834.70 -7.65 1067 8956.03 roll -1.37 - - 1988.88 - 2.73 0.065 1208.44 -419.4 -82.73 - - 3102.88 - - - - - - - - - 16.09 -
9005.48 839.32 -8.07 1078 9011.48 roll -1.37 - - 1988.38 - 2.61 0.031 2352.81 438.5 -82.73 - - 3103.09 - - - - - - - - - 16.11 -
9320.98 863.24 -7.60 1110 9322.31 no move -1.37 - - 1988.88 - - - 2353.25 - -82.73 - - 3101.28 - - - - - - - - - - -
9631.77 886.50 -7.57 1141 9633.10 no move -1.37 - - 1988.81 - - - 2352.88 - -82.73 - - 3100.91 - - - - - - - - - - -
9941.44 909.50 -7.54 1172 9946.15 roll -1.37 - - 1987.06 - 2.66 0.094 3425.81 403.4 -82.73 - - 3103.12 - - - - - - - - - 16.08 -
10015.61 916.10 -8.71 1187 10021.59 roll -1.37 - - 1988.44 - 2.56 0.023 2246.56 -460.6 -82.73 - - 3102.69 - - - - - - - - - 16.09 -
10331.30 940.51 -7.76 1219 10335.77 roll -1.37 - - 1988.31 - 2.48 0.071 1209.75 -418.1 -82.73 - - 3102.59 - - - - - - - - - 16.08 -
10471.18 952.03 -8.61 1247 10476.26 roll -1.37 - - 1987.06 - 2.62 0.031 2351.12 435.6 -82.73 - - 3102.12 - - - - - - - - - 16.11 -
10781.62 976.51 -8.07 1279 10782.95 no move -1.37 - - 1988.50 - - - 2351.88 - -82.73 - - 3099.78 - - - - - - - - - - -
10961 end dive: TARGET_DEPTH_EXCEEDED
10961 begin apogee
10963.11 990.28 -7.40 1297 11028.62 -0.28 1.83 0.156 2254.56 145.4 0.22 0.133 2282.69 -314.5 - 60.85 2.444 2773.50 -5.4 0.359 - - - - - - 16.00 15.66 12.19
11030 end apogee: CONTROL_FINISHED_OK
11030 begin climb
11030.94 991.76 - 1303 11101.64 1.37 2.66 0.101 2653.62 150.0 - - 2281.62 - 82.73 65.65 2.367 2436.44 -5.1 0.355 - - - - - - 15.69 - 12.81
11404.79 966.02 8.03 1341 11406.11 no move 1.37 - - 2655.06 - - - 2282.38 - 82.73 - - 2430.38 - - - - - - - - - - -
11715.23 940.04 8.57 1372 11719.96 roll 1.37 - - 2655.25 - 2.84 0.075 1131.25 -405.3 82.73 - - 2431.69 - - - - - - - - - 15.86 -
11789.40 933.31 9.33 1387 11795.41 roll 1.37 - - 2653.81 - 2.64 0.031 2270.88 431.7 82.73 - - 2430.62 - - - - - - - - - 15.88 -
12105.28 907.47 8.50 1419 12106.61 no move 1.37 - - 2654.50 - - - 2271.44 - 82.73 - - 2428.56 - - - - - - - - - - -
12415.34 882.91 7.75 1450 12416.67 VBD 1.38 - - 2655.38 - - - 2270.94 - 82.73 - - 2427.97 - - - - - - - - - - -
12725.38 860.16 7.25 1481 12726.71 VBD 1.41 - - 2655.25 - - - 2271.31 - 82.73 - - 2428.56 - - - - - - - - - - -
13035.40 838.45 6.83 1512 13040.09 done 1.44 - - 2654.81 - 2.68 0.095 3344.38 400.4 82.73 - - 2429.03 - - - - - - - - - 15.99 -
13085.03 834.75 7.10 1522 13090.08 done 1.47 - - 2655.19 - 2.57 0.025 2186.50 -450.5 82.73 - - 2429.56 - - - - - - - - - 16.01 -
13395.45 814.05 6.47 1554 13400.23 1.51 0.17 0.096 2699.56 261.0 2.89 0.090 3347.00 401.6 82.73 - - 2431.00 - - - - - - - - 16.00 15.99 -
13445.26 810.27 7.32 1564 13450.18 done 1.53 - - 2699.81 - 2.59 0.025 2187.44 -447.7 82.73 - - 2430.31 - - - - - - - - - 16.03 -
13755.50 786.59 7.57 1596 13760.15 done 1.55 - - 2699.81 - 2.56 0.079 1130.19 -413.0 82.73 - - 2429.38 - - - - - - - - - 16.02 -
13835.12 779.76 8.33 1612 13840.21 done 1.55 - - 2699.88 - 2.61 0.031 2273.50 438.0 82.73 - - 2429.62 - - - - - - - - - 16.05 -
14145.59 755.62 7.82 1644 14150.62 done 1.56 - - 2699.75 - 2.76 0.075 1130.19 -414.2 82.73 - - 2429.56 - - - - - - - - - 16.05 -
14259.78 745.73 8.71 1667 14265.78 done 1.56 - - 2700.00 - 2.62 0.031 2274.56 436.8 82.73 - - 2428.31 - - - - - - - - - 16.06 -
14575.71 721.87 7.50 1699 14577.04 VBD 1.58 - - 2699.31 - - - 2275.50 - 82.73 - - 2427.38 - - - - - - - - - - -
14885.77 697.95 7.66 1730 14887.10 VBD 1.59 - - 2699.25 - - - 2274.69 - 82.73 - - 2426.44 - - - - - - - - - - -
15195.84 674.54 7.71 1761 15200.52 done 1.61 - - 2699.44 - 2.66 0.094 3347.06 403.1 82.73 - - 2427.41 - - - - - - - - - 16.05 -
15230.00 671.82 7.80 1768 15235.97 done 1.62 - - 2699.31 - 2.56 0.024 2186.50 -453.3 82.73 - - 2427.78 - - - - - - - - - 16.06 -
15546.15 647.36 7.82 1800 15547.48 VBD 1.64 - - 2699.50 - - - 2186.62 - 82.73 - - 2426.25 - - - - - - - - - - -
15855.99 623.54 7.46 1831 15857.32 VBD 1.66 - - 2699.94 - - - 2187.00 - 82.73 - - 2426.28 - - - - - - - - - - -
16166.04 601.87 7.02 1862 16167.48 1.68 0.17 0.091 2739.69 233.8 - - 2184.94 - 82.73 - - 2426.25 - - - - - - - - 16.05 - -
16475.72 578.92 7.15 1893 16477.05 VBD 1.71 - - 2740.00 - - - 2185.31 - 82.73 - - 2425.88 - - - - - - - - - - -
16786.18 556.88 6.82 1924 16787.51 VBD 1.74 - - 2739.94 - - - 2185.19 - 82.73 - - 2426.09 - - - - - - - - - - -
17096.24 535.99 6.84 1955 17100.95 done 1.78 - - 2739.44 - 2.88 0.088 3346.81 403.3 82.73 - - 2428.41 - - - - - - - - - 16.06 -
17140.40 532.60 7.35 1964 17146.37 done 1.80 - - 2740.12 - 2.57 0.024 2186.31 -451.6 82.73 - - 2428.66 - - - - - - - - - 16.08 -
17456.28 511.97 6.52 1996 17461.05 1.84 0.15 0.096 2780.69 270.5 2.87 0.087 3347.12 404.5 82.73 - - 2428.53 - - - - - - - - 16.05 16.04 -
17500.45 508.77 7.23 2005 17506.41 done 1.86 - - 2781.00 - 2.57 0.024 2184.69 -452.3 82.73 - - 2427.72 - - - - - - - - - 16.09 -
17816.33 486.37 7.22 2037 17817.66 VBD 1.89 - - 2780.75 - - - 2185.19 - 82.73 - - 2425.94 - - - - - - - - - - -
18126.36 464.24 7.18 2068 18127.70 VBD 1.91 - - 2780.06 - - - 2185.62 - 82.73 - - 2426.22 - - - - - - - - - - -
18436.40 441.92 7.14 2099 18441.29 done 1.94 - - 2780.81 - 2.87 0.087 3346.00 404.3 82.73 - - 2427.91 - - - - - - - - - 16.07 -
18506.18 436.45 8.05 2113 18511.07 done 1.94 - - 2780.75 - 2.57 0.024 2186.25 -451.3 82.73 - - 2427.94 - - - - - - - - - 16.06 -
18816.45 413.91 7.16 2145 18817.78 VBD 1.96 - - 2780.25 - - - 2185.94 - 82.73 - - 2426.38 - - - - - - - - - - -
19126.49 392.94 6.91 2176 19131.15 done 2.00 - - 2780.81 - 2.55 0.079 1129.94 -414.1 82.73 - - 2427.84 - - - - - - - - - 16.06 -
19270.69 382.21 7.13 2205 19276.73 2.02 0.18 0.087 2825.31 247.2 2.61 0.030 2275.38 438.9 82.73 - - 2427.69 - - - - - - - - 15.99 16.06 -
19586.20 362.24 6.11 2237 19617.63 done 2.09 - - 2825.75 - 2.78 0.076 1130.19 -411.9 117.13 25.88 1.596 2297.34 -5.0 0.189 - - - - - - - 15.96 12.18
19740.79 348.98 9.47 2268 19746.79 roll 2.09 - - 2826.06 - 2.62 0.031 2272.50 436.0 117.13 - - 2295.59 - - - - - - - - - 16.00 -
20056.88 320.41 9.62 2300 20061.41 roll 2.09 - - 2826.38 - 2.76 0.073 1128.69 -414.4 117.13 - - 2295.38 - - - - - - - - - 16.01 -
20176.36 308.16 10.04 2324 20181.62 roll 2.09 - - 2824.31 - 2.62 0.031 2274.81 437.5 117.13 - - 2294.06 - - - - - - - - - 16.02 -
20486.92 280.00 9.16 2356 20488.25 no move 2.09 - - 2826.12 - - - 2275.06 - 117.13 - - 2292.28 - - - - - - - - - - -
20796.88 251.00 9.24 2387 20798.21 no move 2.09 - - 2825.88 - - - 2275.06 - 117.13 - - 2292.50 - - - - - - - - - - -
21106.94 222.84 9.26 2418 21108.27 no move 2.09 - - 2826.94 - - - 2274.88 - 117.13 - - 2292.16 - - - - - - - - - - -
21417.02 197.46 7.73 2449 21421.71 roll 2.11 - - 2825.88 - 2.76 0.072 1129.81 -414.9 117.13 - - 2292.78 - - - - - - - - - 16.04 -
21641.22 177.81 8.40 2494 21647.24 roll 2.11 - - 2826.69 - 2.61 0.030 2273.75 438.3 117.13 - - 2295.28 - - - - - - - - - 16.03 -
21957.15 154.23 7.57 2526 21961.84 roll 2.12 - - 2826.56 - 2.77 0.071 1128.69 -413.4 117.13 - - 2293.62 - - - - - - - - - 16.04 -
22191.38 136.71 6.73 2573 22197.37 roll 2.16 - - 2827.06 - 2.62 0.029 2274.81 437.5 117.13 - - 2294.56 - - - - - - - - - 16.05 -
22507.27 117.64 5.37 2605 22548.50 2.25 0.24 0.071 2882.88 232.6 2.79 0.073 1130.44 -410.2 162.36 34.00 1.308 2111.84 -5.4 0.080 - - - - - - 16.02 15.92 12.27
22777.31 92.36 8.12 2659 22782.47 roll 2.25 - - 2881.25 - 2.62 0.029 2273.94 436.5 162.36 - - 2107.56 - - - - - - - - - 15.93 -
22966.97 81.23 4.00 2697 23023.44 done 2.38 - - 2882.44 - 2.67 0.088 3347.06 401.9 227.75 48.60 1.270 1846.19 -5.4 0.057 - - - - - - - 15.77 12.50
23251.79 62.61 7.67 2754 23257.55 roll 2.40 - - 2883.50 - 2.59 0.023 2183.56 -449.2 227.75 - - 1839.34 - - - - - - - - - 15.88 -
23442.07 49.47 6.88 2792 23447.70 2.43 0.16 0.093 2922.00 240.6 2.90 0.081 3348.69 401.8 227.75 - - 1837.16 - - - - - - - - 15.89 15.88 -
23677.13 28.90 8.88 2839 23682.65 done 2.43 - - 2922.06 - 2.60 0.023 2185.75 -447.3 227.75 - - 1836.47 - - - - - - - - - 15.90 -
23867.84 21.69 2.38 2877 23939.74 2.60 0.18 0.084 2965.12 239.2 2.58 0.077 1130.25 -409.1 316.79 64.58 1.184 1482.50 -5.5 0.017 - - - - - - 15.92 15.71 12.46
24127.88 12.81 4.05 2929 24181.09 done 2.73 - - 2964.25 - 2.64 0.027 2277.50 434.6 381.36 48.01 1.138 1220.78 -5.5 0.010 - - - - - - - 15.81 12.58
24299 end climb: SURFACE_DEPTH_REACHED
24299 begin surface coast
24329 end surface coast: CONTROL_FINISHED_OK
24330 begin surface
SM 4.47 - - - - 178.2 32.72 1.122 1043.5 30.4 17.33 0.057 1004.6 58.0 - 0.12 0.125 1082.4 8998.0 -32.887 - - 12.41 15.78 15.78 -