NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 133 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 47.43 of 550.00 AH used of 24V (91.38% remains)
• Surface angle -64.8 deg, depth 1.50 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 375.07 (SM_CC=375)
• GPS1 time: 35 s
• GPS2 time: 4 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
6.50 - - - 60.09 VBD -1.37 - - 183.06 - - - 2358.44 - -82.73 52.42 0.005 2500.22 - - - - - - - - - - 15.76
60.83 3.25 -3.41 10 99.01 -1.37 13.82 0.258 1988.69 130.7 2.77 0.091 3426.19 385.5 -82.73 15.81 0.006 3112.34 38.7 -3.460 - - - - - - 15.74 15.75 15.79
212.03 37.49 -26.30 40 217.57 roll -1.37 - - 1987.25 - 2.65 0.023 2257.62 -441.0 -82.73 - - 3114.88 - - - - - - - - - 15.89 -
402.49 71.99 -17.04 78 407.92 roll -1.37 - - 1987.69 - 3.02 0.084 3424.69 386.4 -82.73 - - 3114.97 - - - - - - - - - 15.93 -
452.25 80.64 -16.87 88 457.67 roll -1.37 - - 1988.06 - 2.62 0.022 2254.31 -446.7 -82.73 - - 3114.28 - - - - - - - - - 15.95 -
642.58 103.67 -11.39 123 647.28 roll -1.37 - - 1988.38 - 2.61 0.066 1210.12 -400.1 -82.73 - - 3115.25 - - - - - - - - - 15.98 -
686.75 108.82 -11.61 132 692.75 roll -1.37 - - 1987.50 - 2.67 0.029 2350.50 427.1 -82.73 - - 3114.78 - - - - - - - - - 15.99 -
1002.28 138.81 -9.11 164 1007.37 roll -1.37 - - 1987.62 - 2.70 0.087 3426.19 398.4 -82.73 - - 3115.31 - - - - - - - - - 16.02 -
1107.02 149.63 -10.57 185 1112.85 roll -1.37 - - 1988.31 - 2.62 0.023 2249.62 -449.1 -82.73 - - 3115.69 - - - - - - - - - 16.04 -
1422.93 179.78 -9.89 217 1427.40 roll -1.37 - - 1988.19 - 2.60 0.067 1209.94 -399.9 -82.73 - - 3115.88 - - - - - - - - - 16.07 -
1502.36 188.14 -10.58 233 1507.44 roll -1.37 - - 1988.19 - 2.65 0.029 2352.44 431.1 -82.73 - - 3116.06 - - - - - - - - - 16.07 -
1812.40 220.79 -10.94 265 1817.51 roll -1.37 - - 1988.25 - 2.85 0.062 1209.81 -400.9 -82.73 - - 3114.78 - - - - - - - - - 16.11 -
1922.61 232.92 -10.81 287 1927.56 roll -1.37 - - 1988.50 - 2.64 0.030 2351.69 432.5 -82.73 - - 3114.47 - - - - - - - - - 16.11 -
2232.46 263.50 -9.42 319 2237.55 roll -1.37 - - 1988.31 - 2.72 0.090 3426.44 395.1 -82.73 - - 3115.94 - - - - - - - - - 16.11 -
2297.00 270.27 -10.69 332 2302.99 roll -1.37 - - 1988.50 - 2.59 0.023 2249.81 -454.3 -82.73 - - 3115.00 - - - - - - - - - 16.11 -
2612.51 300.24 -9.73 364 2613.84 no move -1.37 - - 1988.75 - - - 2249.94 - -82.73 - - 3114.56 - - - - - - - - - - -
2922.92 330.52 -10.05 395 2924.25 no move -1.37 - - 1988.25 - - - 2249.81 - -82.73 - - 3114.22 - - - - - - - - - - -
3232.95 360.36 -9.31 426 3237.70 roll -1.37 - - 1988.25 - 2.98 0.086 3427.25 395.1 -82.73 - - 3116.06 - - - - - - - - - 16.15 -
3352.60 373.65 -11.00 450 3357.68 roll -1.37 - - 1988.69 - 2.61 0.024 2254.19 -449.4 -82.73 - - 3114.62 - - - - - - - - - 16.17 -
3662.66 403.84 -9.66 482 3667.72 roll -1.37 - - 1988.31 - 2.58 0.069 1211.31 -404.2 -82.73 - - 3115.00 - - - - - - - - - 16.16 -
3717.21 409.32 -10.24 493 3723.21 roll -1.37 - - 1988.38 - 2.64 0.031 2351.81 432.0 -82.73 - - 3114.91 - - - - - - - - - 16.17 -
4032.75 441.08 -9.86 525 4034.08 no move -1.37 - - 1988.31 - - - 2350.94 - -82.73 - - 3114.06 - - - - - - - - - - -
4343.44 471.64 -9.63 556 4344.77 no move -1.37 - - 1988.69 - - - 2352.25 - -82.73 - - 3112.53 - - - - - - - - - - -
4653.25 499.71 -8.82 587 4657.97 roll -1.37 - - 1988.50 - 2.72 0.092 3424.06 394.0 -82.73 - - 3113.69 - - - - - - - - - 16.18 -
4707.42 505.10 -10.13 598 4713.44 roll -1.37 - - 1988.88 - 2.61 0.024 2253.00 -448.7 -82.73 - - 3112.75 - - - - - - - - - 16.19 -
5022.94 531.33 -8.23 630 5024.27 no move -1.37 - - 1988.56 - - - 2253.06 - -82.73 - - 3112.34 - - - - - - - - - - -
5333.39 556.38 -8.62 661 5338.07 roll -1.37 - - 1988.69 - 2.59 0.071 1211.31 -402.2 -82.73 - - 3112.53 - - - - - - - - - 16.20 -
5403.03 562.68 -8.98 675 5408.12 roll -1.37 - - 1988.69 - 2.66 0.032 2350.75 428.4 -82.73 - - 3113.00 - - - - - - - - - 16.20 -
5713.09 588.77 -8.32 707 5718.20 roll -1.37 - - 1988.50 - 2.83 0.066 1209.69 -403.2 -82.73 - - 3113.78 - - - - - - - - - 16.22 -
5787.65 595.28 -8.74 722 5793.66 roll -1.37 - - 1988.50 - 2.66 0.032 2352.12 429.5 -82.73 - - 3111.75 - - - - - - - - - 16.21 -
6103.18 622.29 -8.74 754 6104.51 no move -1.37 - - 1988.69 - - - 2351.62 - -82.73 - - 3111.59 - - - - - - - - - - -
6413.62 648.55 -8.54 785 6414.95 no move -1.37 - - 1988.62 - - - 2351.50 - -82.73 - - 3110.16 - - - - - - - - - - -
6723.68 674.92 -8.20 816 6725.01 no move -1.37 - - 1988.75 - - - 2351.81 - -82.73 - - 3109.91 - - - - - - - - - - -
7033.97 702.11 -8.87 847 7038.45 roll -1.37 - - 1988.88 - 2.82 0.067 1211.25 -404.5 -82.73 - - 3109.97 - - - - - - - - - 16.22 -
7073.35 705.88 -9.42 855 7078.43 roll -1.37 - - 1988.44 - 2.64 0.032 2351.06 431.7 -82.73 - - 3110.44 - - - - - - - - - 16.23 -
7383.38 733.12 -8.68 887 7388.48 roll -1.37 - - 1988.31 - 2.83 0.067 1209.50 -403.4 -82.73 - - 3110.53 - - - - - - - - - 16.22 -
7463.39 740.28 -8.61 903 7468.47 roll -1.37 - - 1988.12 - 2.65 0.032 2349.19 430.1 -82.73 - - 3110.38 - - - - - - - - - 16.22 -
7773.43 766.27 -8.57 935 7774.76 no move -1.37 - - 1988.19 - - - 2349.12 - -82.73 - - 3108.59 - - - - - - - - - - -
8083.85 791.83 -7.87 966 8085.18 no move -1.37 - - 1988.69 - - - 2349.25 - -82.73 - - 3108.41 - - - - - - - - - - -
8393.91 815.68 -7.76 997 8395.23 no move -1.37 - - 1988.19 - - - 2349.19 - -82.73 - - 3107.81 - - - - - - - - - - -
8703.92 839.22 -7.45 1028 8708.66 roll -1.37 - - 1988.50 - 2.83 0.067 1209.94 -402.6 -82.73 - - 3109.06 - - - - - - - - - 16.23 -
8833.57 849.90 -8.47 1054 8838.65 roll -1.37 - - 1988.06 - 2.65 0.033 2349.44 430.0 -82.73 - - 3108.56 - - - - - - - - - 16.22 -
9143.62 873.88 -7.43 1086 9148.73 roll -1.37 - - 1988.50 - 2.74 0.095 3424.19 392.2 -82.73 - - 3108.47 - - - - - - - - - 16.19 -
9203.82 879.26 -8.88 1098 9208.77 roll -1.37 - - 1987.88 - 2.60 0.025 2254.19 -450.0 -82.73 - - 3108.28 - - - - - - - - - 16.22 -
9513.72 902.49 -7.27 1130 9518.86 roll -1.37 - - 1988.19 - 3.01 0.090 3426.56 389.5 -82.73 - - 3107.56 - - - - - - - - - 16.22 -
9603.75 909.81 -7.85 1148 9608.83 roll -1.37 - - 1988.44 - 2.62 0.024 2252.62 -448.1 -82.73 - - 3108.12 - - - - - - - - - 16.21 -
9913.82 931.16 -6.85 1180 9918.88 roll -1.37 - - 1988.38 - 2.59 0.073 1211.94 -401.8 -82.73 - - 3107.69 - - - - - - - - - 16.22 -
9968.37 935.27 -7.55 1191 9974.38 roll -1.37 - - 1988.75 - 2.64 0.032 2351.75 431.7 -82.73 - - 3107.03 - - - - - - - - - 16.22 -
10284.47 955.78 -6.35 1223 10289.01 roll -1.37 - - 1989.00 - 2.84 0.067 1210.12 -402.0 -82.73 - - 3107.69 - - - - - - - - - 16.21 -
10343.91 960.03 -6.96 1235 10349.00 roll -1.37 - - 1988.50 - 2.65 0.032 2351.25 430.6 -82.73 - - 3107.16 - - - - - - - - - 16.23 -
10654.38 979.86 -6.41 1267 10659.10 roll -1.37 - - 1988.38 - 2.83 0.067 1212.00 -402.6 -82.73 - - 3106.75 - - - - - - - - - 16.22 -
10714.00 984.12 -7.07 1279 10719.08 roll -1.37 - - 1988.25 - 2.63 0.032 2350.62 432.9 -82.73 - - 3107.66 - - - - - - - - - 16.22 -
10813 end dive: TARGET_DEPTH_EXCEEDED
10813 begin apogee
10816.08 990.03 -6.18 1290 10881.39 -0.28 1.79 0.155 2253.62 148.3 0.22 0.134 2279.81 -321.9 - 61.46 2.389 2772.38 -5.5 0.373 - - - - - - 16.16 15.68 12.95
10882 end apogee: CONTROL_FINISHED_OK
10882 begin climb
10883.42 990.75 - 1296 10954.61 1.37 2.62 0.100 2655.56 153.4 - - 2279.81 - 82.73 64.57 2.320 2436.69 -5.2 0.366 - - - - - - 15.74 - 12.86
11258.21 960.18 8.97 1340 11263.35 roll 1.37 - - 2654.94 - 2.97 0.075 1134.12 -385.8 82.73 - - 2431.34 - - - - - - - - - 15.79 -
11318.23 954.68 9.55 1352 11323.32 roll 1.37 - - 2655.06 - 2.73 0.031 2270.94 416.4 82.73 - - 2431.38 - - - - - - - - - 15.83 -
11628.67 927.84 8.13 1384 11630.00 no move 1.37 - - 2654.50 - - - 2270.56 - 82.73 - - 2429.09 - - - - - - - - - - -
11938.73 902.90 8.21 1415 11943.45 done 1.37 - - 2654.00 - 2.90 0.075 1131.25 -392.9 82.73 - - 2429.75 - - - - - - - - - 16.01 -
12032.90 894.86 8.61 1434 12039.11 done 1.37 - - 2654.69 - 2.71 0.032 2272.56 421.1 82.73 - - 2430.69 - - - - - - - - - 16.03 -
12348.91 870.05 7.81 1466 12353.49 done 1.38 - - 2655.12 - 2.80 0.094 3344.00 382.7 82.73 - - 2429.19 - - - - - - - - - 16.03 -
12428.41 862.45 10.29 1482 12433.49 done 1.38 - - 2653.31 - 2.65 0.026 2192.12 -434.7 82.73 - - 2430.38 - - - - - - - - - 16.07 -
12738.86 839.32 7.55 1514 12740.19 VBD 1.40 - - 2654.75 - - - 2191.56 - 82.73 - - 2427.62 - - - - - - - - - - -
13048.89 816.30 7.76 1545 13053.57 done 1.41 - - 2653.88 - 2.69 0.080 1132.44 -393.7 82.73 - - 2429.84 - - - - - - - - - 16.10 -
13118.51 810.29 8.63 1559 13123.61 done 1.41 - - 2654.56 - 2.70 0.032 2271.38 421.8 82.73 - - 2429.94 - - - - - - - - - 16.13 -
13428.94 787.13 7.68 1591 13433.63 done 1.43 - - 2655.38 - 2.79 0.094 3345.06 384.8 82.73 - - 2428.38 - - - - - - - - - 16.11 -
13513.10 780.24 8.35 1608 13519.11 done 1.43 - - 2654.75 - 2.64 0.026 2191.38 -437.0 82.73 - - 2428.53 - - - - - - - - - 16.14 -
13829.01 756.91 7.43 1640 13830.34 VBD 1.45 - - 2655.00 - - - 2191.25 - 82.73 - - 2427.28 - - - - - - - - - - -
14139.08 733.86 6.89 1671 14144.00 done 1.48 - - 2655.12 - 3.00 0.090 3345.12 384.6 82.73 - - 2427.94 - - - - - - - - - 16.15 -
14213.42 727.59 8.28 1686 14219.26 done 1.48 - - 2655.75 - 2.64 0.026 2191.00 -437.2 82.73 - - 2427.81 - - - - - - - - - 16.16 -
14529.17 705.20 6.86 1718 14530.60 1.51 0.19 0.086 2700.19 233.9 - - 2190.81 - 82.73 - - 2429.41 - - - - - - - - 16.15 - -
14838.84 680.58 7.91 1749 14840.17 VBD 1.52 - - 2701.44 - - - 2190.69 - 82.73 - - 2427.56 - - - - - - - - - - -
15149.30 657.05 6.51 1780 15154.02 done 1.56 - - 2701.69 - 2.97 0.090 3343.31 388.1 82.73 - - 2428.03 - - - - - - - - - 16.17 -
15233.46 650.36 8.00 1797 15239.47 done 1.56 - - 2701.56 - 2.63 0.026 2191.81 -437.8 82.73 - - 2427.69 - - - - - - - - - 16.18 -
15549.38 629.14 6.44 1829 15573.50 VBD 1.62 - - 2701.81 - - - 2191.88 - 112.40 23.10 1.880 2314.72 -4.9 0.270 - - - - - - - - 12.90
15879.44 603.29 8.47 1862 15880.77 no move 1.62 - - 2701.12 - - - 2191.50 - 112.40 - - 2312.69 - - - - - - - - - - -
16189.10 576.29 8.69 1893 16190.43 no move 1.62 - - 2701.69 - - - 2191.56 - 112.40 - - 2311.91 - - - - - - - - - - -
16499.56 548.44 9.10 1924 16504.31 roll 1.62 - - 2700.69 - 3.00 0.090 3345.00 384.5 112.40 - - 2313.28 - - - - - - - - - 16.12 -
16569.22 541.08 11.03 1938 16574.46 roll 1.62 - - 2700.69 - 2.65 0.026 2192.62 -434.9 112.40 - - 2314.09 - - - - - - - - - 16.14 -
16879.76 510.66 9.28 1970 16881.10 no move 1.62 - - 2701.38 - - - 2192.94 - 112.40 - - 2311.12 - - - - - - - - - - -
17189.71 483.03 8.95 2001 17194.46 roll 1.62 - - 2701.62 - 2.99 0.089 3344.31 385.1 112.40 - - 2311.84 - - - - - - - - - 16.14 -
17303.89 472.65 9.20 2024 17309.90 roll 1.62 - - 2701.56 - 2.63 0.026 2191.50 -438.3 112.40 - - 2311.84 - - - - - - - - - 16.15 -
17619.78 448.72 7.42 2056 17624.47 roll 1.64 - - 2701.56 - 2.67 0.080 1132.38 -396.7 112.40 - - 2311.91 - - - - - - - - - 16.15 -
17719.41 440.77 8.12 2076 17724.48 roll 1.64 - - 2700.88 - 2.68 0.032 2271.12 424.9 112.40 - - 2313.69 - - - - - - - - - 16.16 -
18029.84 416.98 7.72 2108 18031.17 no move 1.66 - - 2701.75 - - - 2270.94 - 112.40 - - 2310.81 - - - - - - - - - - -
18339.87 391.27 8.38 2139 18341.19 no move 1.66 - - 2701.69 - - - 2271.19 - 112.40 - - 2310.66 - - - - - - - - - - -
18649.90 366.28 8.12 2170 18654.62 roll 1.66 - - 2702.19 - 2.74 0.093 3345.62 392.1 112.40 - - 2311.94 - - - - - - - - - 16.15 -
18699.53 362.21 8.27 2180 18704.83 roll 1.66 - - 2702.00 - 2.62 0.026 2189.00 -441.5 112.40 - - 2312.25 - - - - - - - - - 16.17 -
19010.21 338.74 7.38 2212 19011.64 pitch 1.68 0.15 0.091 2740.62 257.5 - - 2189.12 - 112.40 - - 2310.56 - - - - - - - - 16.14 - -
19319.63 313.73 7.86 2243 19320.96 no move 1.69 - - 2741.00 - - - 2189.00 - 112.40 - - 2310.97 - - - - - - - - - - -
19630.08 288.39 8.15 2274 19631.41 no move 1.69 - - 2740.94 - - - 2187.69 - 112.40 - - 2311.03 - - - - - - - - - - -
19940.26 263.81 7.51 2305 19941.59 no move 1.71 - - 2741.25 - - - 2187.88 - 112.40 - - 2311.28 - - - - - - - - - - -
20250.22 242.97 6.59 2336 20251.55 no move 1.75 - - 2740.62 - - - 2187.56 - 112.40 - - 2311.56 - - - - - - - - - - -
20560.30 220.82 7.48 2367 20564.97 roll 1.77 - - 2741.00 - 2.65 0.079 1132.56 -398.1 112.40 - - 2311.94 - - - - - - - - - 16.16 -
20694.47 209.88 8.28 2394 20700.48 roll 1.77 - - 2740.50 - 2.67 0.031 2273.44 427.3 112.40 - - 2312.16 - - - - - - - - - 16.19 -
21010.39 186.32 6.98 2426 21015.09 roll 1.80 - - 2740.25 - 2.72 0.091 3347.12 394.7 112.40 - - 2312.47 - - - - - - - - - 16.14 -
21154.58 174.97 8.00 2455 21160.59 roll 1.80 - - 2740.81 - 2.62 0.025 2188.94 -442.1 112.40 - - 2312.66 - - - - - - - - - 16.17 -
21470.50 154.42 6.15 2487 21499.99 1.86 0.18 0.082 2786.88 255.9 - - 2187.81 - 146.33 26.23 1.352 2177.78 -5.1 0.097 - - - - - - 16.15 - 13.00
21810.21 125.75 8.60 2521 21815.29 roll 1.86 - - 2787.12 - 2.96 0.086 3346.81 391.6 146.33 - - 2175.59 - - - - - - - - - 16.10 -
21890.19 117.97 9.85 2537 21895.27 roll 1.86 - - 2785.81 - 2.64 0.025 2188.25 -438.8 146.33 - - 2175.91 - - - - - - - - - 16.08 -
22200.26 97.08 5.79 2574 22230.86 VBD 1.94 - - 2787.50 - - - 2188.38 - 185.45 29.83 1.289 2017.41 -5.3 0.066 - - - - - - - - 13.00
22415.34 82.99 7.14 2617 22420.86 roll 1.97 - - 2785.56 - 2.65 0.077 1131.56 -398.8 185.45 - - 2015.50 - - - - - - - - - 16.01 -
22650.42 73.74 2.03 2664 22727.69 2.16 0.35 0.063 2858.12 207.3 2.66 0.029 2277.50 430.8 279.70 69.20 1.284 1634.56 -5.5 0.052 - - - - - - 16.01 16.02 12.79
22910.74 55.40 10.86 2716 22916.35 done 2.16 - - 2857.50 - 2.91 0.073 1132.12 -393.6 279.70 - - 1625.88 - - - - - - - - - 15.84 -
23100.81 34.82 9.49 2754 23106.38 done 2.16 - - 2858.75 - 2.69 0.030 2273.94 424.5 279.70 - - 1621.34 - - - - - - - - - 15.91 -
23290.90 20.16 6.08 2792 23322.36 done 2.23 - - 2858.44 - 2.88 0.073 1132.75 -396.2 314.54 26.11 1.158 1493.00 -4.9 0.014 - - - - - - - 15.81 12.86
23485.96 4.61 9.46 2831 23491.52 roll 2.23 - - 2858.50 - 2.66 0.030 2273.81 429.0 314.54 - - 1486.69 - - - - - - - - - 15.92 -
23530 end climb: SURFACE_DEPTH_REACHED
23530 begin surface coast
23565 end surface coast: CONTROL_FINISHED_OK
23566 begin surface
SM 0.89 - - - - 180.7 45.62 1.177 1246.0 27.3 16.31 0.046 1221.1 74.9 - 0.13 0.121 1270.8 9754.9 -7.333 - - 12.90 15.92 15.93 -