NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 333 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 106.09 of 550.00 AH used of 24V (80.71% remains)
• Surface angle -64.4 deg, depth 1.51 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.84 (SM_CC=425)
• GPS1 time: 44 s
• GPS2 time: 5 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
6.74 - - - 62.07 VBD -1.37 - - 177.00 - - - 2252.88 - -82.73 54.17 0.005 2401.59 - - - - - - - - - - 15.61
62.81 3.41 -3.88 10 105.37 -1.37 14.06 0.246 1987.56 128.8 2.90 0.083 3428.88 405.5 -82.73 17.00 0.006 3113.19 41.9 -3.930 - - - - - - 15.66 15.60 15.64
133.71 18.05 -24.46 24 138.87 roll -1.37 - - 1988.38 - 2.58 0.020 2256.06 -454.6 -82.73 - - 3113.47 - - - - - - - - - 15.83 -
323.79 54.87 -15.76 62 328.99 roll -1.37 - - 1988.81 - 2.88 0.079 3429.94 407.6 -82.73 - - 3113.66 - - - - - - - - - 15.87 -
433.65 73.48 -16.75 84 439.05 roll -1.37 - - 1988.81 - 2.57 0.020 2251.06 -458.7 -82.73 - - 3113.84 - - - - - - - - - 15.91 -
623.94 99.84 -13.38 122 628.66 roll -1.37 - - 1987.75 - 2.47 0.065 1207.44 -422.5 -82.73 - - 3114.47 - - - - - - - - - 15.94 -
698.11 108.94 -11.93 137 704.10 roll -1.37 - - 1988.62 - 2.60 0.028 2353.44 440.8 -82.73 - - 3114.00 - - - - - - - - - 15.94 -
1013.65 141.35 -9.65 169 1014.98 no move -1.37 - - 1988.69 - - - 2353.44 - -82.73 - - 3113.84 - - - - - - - - - - -
1324.09 170.61 -8.98 200 1328.80 roll -1.37 - - 1988.12 - 2.76 0.060 1207.81 -415.1 -82.73 - - 3115.19 - - - - - - - - - 16.00 -
1473.75 184.33 -8.87 230 1478.82 roll -1.37 - - 1989.06 - 2.60 0.028 2354.62 441.1 -82.73 - - 3115.16 - - - - - - - - - 16.01 -
1783.99 212.77 -9.56 262 1788.92 roll -1.37 - - 1988.81 - 2.72 0.060 1207.25 -421.8 -82.73 - - 3114.56 - - - - - - - - - 16.04 -
1868.38 221.50 -10.35 279 1874.36 roll -1.37 - - 1987.00 - 2.58 0.028 2354.12 444.5 -82.73 - - 3115.56 - - - - - - - - - 16.05 -
2183.87 252.29 -9.90 311 2185.20 no move -1.37 - - 1988.62 - - - 2354.50 - -82.73 - - 3114.44 - - - - - - - - - - -
2494.29 284.15 -10.51 342 2495.62 no move -1.37 - - 1988.75 - - - 2354.50 - -82.73 - - 3113.38 - - - - - - - - - - -
2804.56 316.41 -10.06 373 2809.04 roll -1.37 - - 1988.62 - 2.76 0.062 1209.00 -415.0 -82.73 - - 3114.44 - - - - - - - - - 16.07 -
2868.49 323.13 -10.33 386 2874.47 roll -1.37 - - 1987.12 - 2.59 0.029 2354.69 442.4 -82.73 - - 3114.28 - - - - - - - - - 16.09 -
3183.98 352.11 -8.86 418 3189.07 roll -1.37 - - 1987.31 - 2.76 0.062 1208.62 -415.2 -82.73 - - 3114.81 - - - - - - - - - 16.09 -
3294.34 362.28 -9.40 440 3299.08 roll -1.37 - - 1988.62 - 2.59 0.029 2352.94 441.8 -82.73 - - 3114.06 - - - - - - - - - 16.09 -
3604.04 389.08 -8.43 472 3605.37 no move -1.37 - - 1988.31 - - - 2353.69 - -82.73 - - 3111.56 - - - - - - - - - - -
3914.46 415.24 -8.49 503 3919.18 roll -1.37 - - 1988.62 - 2.77 0.063 1209.81 -413.0 -82.73 - - 3112.69 - - - - - - - - - 16.10 -
4028.65 425.04 -8.53 526 4034.64 roll -1.37 - - 1988.81 - 2.59 0.030 2353.12 441.4 -82.73 - - 3112.66 - - - - - - - - - 16.11 -
4344.17 451.05 -8.60 558 4345.50 no move -1.37 - - 1988.62 - - - 2353.38 - -82.73 - - 3110.44 - - - - - - - - - - -
4654.62 478.07 -8.74 589 4659.33 roll -1.37 - - 1988.94 - 2.74 0.063 1208.50 -417.8 -82.73 - - 3111.50 - - - - - - - - - 16.10 -
4734.27 485.50 -9.35 605 4739.51 roll -1.37 - - 1988.56 - 2.58 0.030 2353.19 443.7 -82.73 - - 3112.12 - - - - - - - - - 16.11 -
5044.51 513.84 -9.43 637 5049.48 roll -1.37 - - 1988.56 - 2.71 0.064 1209.88 -421.9 -82.73 - - 3111.59 - - - - - - - - - 16.12 -
5114.35 520.76 -9.89 651 5119.41 roll -1.37 - - 1988.25 - 2.59 0.030 2353.31 441.5 -82.73 - - 3110.94 - - - - - - - - - 16.12 -
5424.42 549.48 -9.06 683 5429.51 roll -1.37 - - 1988.75 - 2.77 0.064 1208.69 -413.2 -82.73 - - 3110.72 - - - - - - - - - 16.12 -
5474.43 554.22 -9.66 693 5479.51 roll -1.37 - - 1987.56 - 2.59 0.030 2353.00 441.8 -82.73 - - 3110.50 - - - - - - - - - 16.13 -
5784.50 581.50 -8.56 725 5789.59 roll -1.37 - - 1988.06 - 2.76 0.063 1208.44 -414.7 -82.73 - - 3109.56 - - - - - - - - - 16.12 -
5869.07 588.90 -8.74 742 5875.05 roll -1.37 - - 1988.62 - 2.59 0.030 2353.56 442.1 -82.73 - - 3108.72 - - - - - - - - - 16.11 -
6184.60 615.15 -8.38 774 6185.93 no move -1.37 - - 1988.56 - - - 2354.25 - -82.73 - - 3106.53 - - - - - - - - - - -
6495.05 640.53 -8.25 805 6499.76 roll -1.37 - - 1987.62 - 2.74 0.064 1208.81 -418.0 -82.73 - - 3108.81 - - - - - - - - - 16.13 -
6599.23 649.87 -8.88 826 6605.39 roll -1.37 - - 1988.00 - 2.59 0.031 2352.00 441.4 -82.73 - - 3107.66 - - - - - - - - - 16.12 -
6914.87 676.20 -8.63 858 6916.20 no move -1.37 - - 1988.38 - - - 2351.62 - -82.73 - - 3105.59 - - - - - - - - - - -
7225.20 702.52 -8.32 889 7229.91 roll -1.37 - - 1988.19 - 2.75 0.065 1210.19 -415.1 -82.73 - - 3107.44 - - - - - - - - - 16.11 -
7299.38 709.41 -8.89 904 7305.35 roll -1.37 - - 1987.62 - 2.58 0.031 2353.12 443.0 -82.73 - - 3107.47 - - - - - - - - - 16.12 -
7614.87 734.58 -7.86 936 7619.96 roll -1.37 - - 1988.56 - 2.77 0.064 1208.81 -413.1 -82.73 - - 3105.75 - - - - - - - - - 16.11 -
7659.41 738.31 -8.29 945 7665.40 roll -1.37 - - 1987.56 - 2.60 0.031 2352.19 439.8 -82.73 - - 3106.62 - - - - - - - - - 16.11 -
7974.92 761.67 -7.17 977 7976.24 no move -1.37 - - 1988.88 - - - 2352.69 - -82.73 - - 3105.00 - - - - - - - - - - -
8285.33 783.49 -6.85 1008 8290.04 roll -1.37 - - 1988.81 - 2.79 0.065 1208.50 -410.1 -82.73 - - 3104.78 - - - - - - - - - 16.11 -
8344.95 787.87 -7.23 1020 8350.02 roll -1.37 - - 1988.75 - 2.59 0.031 2351.69 441.4 -82.73 - - 3104.66 - - - - - - - - - 16.12 -
8655.00 809.57 -7.43 1052 8660.10 roll -1.37 - - 1988.12 - 2.75 0.065 1211.38 -414.7 -82.73 - - 3105.03 - - - - - - - - - 16.12 -
8729.55 815.51 -7.82 1067 8735.72 roll -1.37 - - 1988.62 - 2.59 0.031 2352.31 440.5 -82.73 - - 3103.69 - - - - - - - - - 16.11 -
9045.22 838.67 -7.55 1099 9046.55 no move -1.37 - - 1988.38 - - - 2351.88 - -82.73 - - 3102.81 - - - - - - - - - - -
9355.47 861.40 -7.40 1130 9360.18 roll -1.37 - - 1988.44 - 2.76 0.065 1208.81 -414.2 -82.73 - - 3104.00 - - - - - - - - - 16.10 -
9409.63 865.79 -7.85 1141 9415.62 roll -1.37 - - 1988.69 - 2.60 0.031 2353.19 440.1 -82.73 - - 3103.50 - - - - - - - - - 16.11 -
9725.16 888.54 -7.30 1173 9730.25 roll -1.37 - - 1987.62 - 2.73 0.065 1208.69 -419.2 -82.73 - - 3103.97 - - - - - - - - - 16.11 -
9819.73 895.97 -7.75 1192 9825.72 roll -1.37 - - 1989.06 - 2.59 0.031 2351.75 441.3 -82.73 - - 3103.19 - - - - - - - - - 16.10 -
10135.44 918.60 -7.00 1224 10140.35 roll -1.37 - - 1986.31 - 2.73 0.065 1208.31 -418.8 -82.73 - - 3103.47 - - - - - - - - - 16.10 -
10195.27 923.32 -7.54 1236 10200.34 roll -1.37 - - 1988.06 - 2.59 0.031 2352.06 441.6 -82.73 - - 3103.44 - - - - - - - - - 16.10 -
10505.35 945.61 -7.03 1268 10510.45 roll -1.37 - - 1988.62 - 2.77 0.065 1209.69 -412.4 -82.73 - - 3101.91 - - - - - - - - - 16.10 -
10549.90 949.06 -7.67 1277 10556.07 roll -1.37 - - 1988.50 - 2.60 0.031 2352.12 439.4 -82.73 - - 3102.28 - - - - - - - - - 16.10 -
10865.54 970.66 -6.89 1309 10870.51 roll -1.37 - - 1988.62 - 2.64 0.094 3426.62 407.0 -82.73 - - 3101.81 - - - - - - - - - 16.07 -
10935.45 976.37 -8.03 1323 10940.51 roll -1.37 - - 1987.81 - 2.56 0.023 2246.75 -460.9 -82.73 - - 3102.62 - - - - - - - - - 16.11 -
11135 end dive: TARGET_DEPTH_EXCEEDED
11135 begin apogee
11137.29 990.34 -7.27 1344 11202.84 -0.28 1.82 0.152 2253.75 146.1 0.16 0.174 2289.38 266.4 - 61.05 2.438 2774.72 -5.4 0.360 - - - - - - 16.02 15.66 12.26
11213 end apogee: CONTROL_FINISHED_OK
11213 begin climb
11213.29 991.71 - 1350 11289.03 1.37 2.64 0.093 2657.12 152.8 2.95 0.078 1132.62 -392.1 82.73 65.79 2.360 2436.25 -5.1 0.357 - - - - - - 15.70 15.33 12.79
11367.35 983.14 7.81 1380 11372.24 roll 1.38 - - 2657.50 - 2.68 0.030 2270.00 424.4 82.73 - - 2432.50 - - - - - - - - - 15.60 -
11677.86 959.21 7.93 1412 11682.30 roll 1.39 - - 2656.94 - 2.70 0.094 3344.19 397.8 82.73 - - 2432.50 - - - - - - - - - 15.77 -
11761.79 951.97 8.79 1429 11767.81 roll 1.39 - - 2657.00 - 2.62 0.024 2190.69 -440.3 82.73 - - 2430.22 - - - - - - - - - 15.82 -
12077.72 927.71 7.90 1461 12082.39 roll 1.40 - - 2657.06 - 2.59 0.079 1130.12 -409.5 82.73 - - 2431.34 - - - - - - - - - 15.90 -
12147.34 922.02 8.35 1475 12152.43 roll 1.40 - - 2656.88 - 2.62 0.032 2272.88 436.2 82.73 - - 2430.94 - - - - - - - - - 15.92 -
12457.81 897.92 7.73 1507 12462.51 done 1.42 - - 2656.38 - 2.78 0.075 1130.12 -411.1 82.73 - - 2430.47 - - - - - - - - - 15.97 -
12527.43 892.10 8.50 1521 12532.51 done 1.42 - - 2656.81 - 2.61 0.031 2271.81 437.4 82.73 - - 2429.47 - - - - - - - - - 15.98 -
12837.90 868.35 7.24 1553 12842.60 done 1.44 - - 2657.00 - 2.77 0.075 1130.25 -412.1 82.73 - - 2430.41 - - - - - - - - - 16.00 -
12912.09 862.40 7.90 1568 12918.06 done 1.45 - - 2656.88 - 2.61 0.032 2271.75 437.4 82.73 - - 2430.84 - - - - - - - - - 16.02 -
13227.99 839.83 6.85 1600 13229.32 VBD 1.48 - - 2656.88 - - - 2272.00 - 82.73 - - 2428.66 - - - - - - - - - - -
13538.29 818.28 6.85 1631 13542.81 1.52 0.18 0.087 2703.12 256.9 2.77 0.075 1131.50 -411.7 82.73 - - 2429.34 - - - - - - - - 16.00 16.01 -
13607.69 812.61 7.08 1645 13612.74 done 1.54 - - 2703.00 - 2.60 0.032 2272.25 438.8 82.73 - - 2430.28 - - - - - - - - - 16.04 -
13917.74 787.19 8.09 1677 13919.07 VBD 1.54 - - 2703.06 - - - 2272.19 - 82.73 - - 2428.19 - - - - - - - - - - -
14228.18 761.05 8.50 1708 14232.90 done 1.54 - - 2702.69 - 2.77 0.075 1131.62 -411.8 82.73 - - 2428.28 - - - - - - - - - 16.04 -
14297.82 754.63 9.33 1722 14302.89 done 1.54 - - 2702.38 - 2.60 0.032 2271.62 438.5 82.73 - - 2429.53 - - - - - - - - - 16.06 -
14607.87 729.27 8.29 1754 14609.20 VBD 1.54 - - 2702.38 - - - 2271.38 - 82.73 - - 2427.59 - - - - - - - - - - -
14918.30 705.04 7.60 1785 14923.00 done 1.56 - - 2701.12 - 2.78 0.075 1130.06 -410.5 82.73 - - 2428.84 - - - - - - - - - 16.06 -
14987.92 699.33 8.18 1799 14993.00 done 1.56 - - 2702.50 - 2.61 0.032 2272.25 437.6 82.73 - - 2428.88 - - - - - - - - - 16.07 -
15298.36 676.28 7.63 1831 15299.69 VBD 1.58 - - 2703.25 - - - 2272.31 - 82.73 - - 2427.03 - - - - - - - - - - -
15608.39 652.70 7.40 1862 15613.27 done 1.60 - - 2702.69 - 2.78 0.075 1130.31 -410.8 82.73 - - 2427.69 - - - - - - - - - 16.07 -
15668.13 648.23 7.28 1874 15673.07 done 1.62 - - 2702.81 - 2.60 0.031 2273.94 439.9 82.73 - - 2427.66 - - - - - - - - - 16.07 -
15978.44 625.90 7.21 1906 15979.77 VBD 1.65 - - 2702.94 - - - 2273.62 - 82.73 - - 2426.66 - - - - - - - - - - -
16288.49 603.60 7.30 1937 16289.82 VBD 1.67 - - 2703.25 - - - 2274.19 - 82.73 - - 2426.88 - - - - - - - - - - -
16598.53 580.58 7.24 1968 16599.97 1.70 0.17 0.082 2744.62 243.4 - - 2273.88 - 82.73 - - 2426.31 - - - - - - - - 16.05 - -
16908.19 555.71 8.26 1999 16909.52 VBD 1.70 - - 2744.62 - - - 2274.00 - 82.73 - - 2426.69 - - - - - - - - - - -
17218.66 531.83 7.65 2030 17223.36 done 1.71 - - 2745.06 - 2.79 0.075 1131.44 -409.5 82.73 - - 2428.38 - - - - - - - - - 16.09 -
17368.72 519.64 7.14 2060 17373.39 done 1.74 - - 2743.94 - 2.59 0.032 2273.12 440.8 82.73 - - 2427.59 - - - - - - - - - 16.09 -
17678.78 498.78 6.28 2092 17709.80 done 1.80 - - 2744.69 - 2.82 0.077 1130.38 -405.2 114.68 24.62 1.747 2306.50 -4.9 0.232 - - - - - - - 15.97 12.21
17718.39 496.12 6.20 2098 17751.09 1.87 0.17 0.089 2789.50 263.6 2.62 0.031 2274.75 436.8 147.84 27.49 1.735 2170.62 -4.9 0.233 - - - - - - 15.98 16.01 12.94
18054.30 458.12 11.67 2135 18059.40 roll 1.87 - - 2789.56 - 2.80 0.075 1131.12 -408.4 147.84 - - 2166.09 - - - - - - - - - 15.92 -
18094.31 452.94 12.86 2143 18099.41 roll 1.87 - - 2789.62 - 2.62 0.032 2271.06 435.1 147.84 - - 2165.81 - - - - - - - - - 15.92 -
18404.77 414.98 12.54 2175 18409.48 roll 1.87 - - 2789.62 - 2.79 0.075 1130.19 -408.9 147.84 - - 2165.22 - - - - - - - - - 15.97 -
18474.41 405.59 13.35 2189 18479.83 done 1.87 - - 2789.38 - 2.62 0.032 2273.75 436.5 147.84 - - 2164.09 - - - - - - - - - 15.97 -
18784.86 367.40 12.00 2221 18786.20 VBD 1.87 - - 2789.06 - - - 2273.31 - 147.84 - - 2163.12 - - - - - - - - - - -
19094.92 331.80 11.36 2252 19096.26 VBD 1.87 - - 2788.88 - - - 2273.75 - 147.84 - - 2163.09 - - - - - - - - - - -
19405.00 297.54 10.80 2283 19409.70 done 1.87 - - 2787.62 - 2.79 0.074 1131.19 -409.5 147.84 - - 2164.19 - - - - - - - - - 16.04 -
19474.79 289.70 11.38 2297 19479.71 done 1.87 - - 2788.69 - 2.61 0.031 2270.88 436.7 147.84 - - 2163.47 - - - - - - - - - 15.98 -
19785.08 258.01 9.79 2329 19789.79 done 1.87 - - 2789.38 - 2.78 0.074 1130.38 -410.3 147.84 - - 2163.78 - - - - - - - - - 16.03 -
19889.45 246.73 10.98 2350 19895.31 done 1.87 - - 2789.44 - 2.60 0.031 2272.12 439.1 147.84 - - 2164.28 - - - - - - - - - 16.04 -
20204.80 214.54 9.36 2382 20206.13 VBD 1.87 - - 2789.00 - - - 2271.94 - 147.84 - - 2162.62 - - - - - - - - - - -
20515.23 186.83 8.66 2413 20516.56 VBD 1.87 - - 2789.25 - - - 2272.44 - 147.84 - - 2162.34 - - - - - - - - - - -
20825.26 159.70 8.50 2444 20829.97 done 1.87 - - 2788.25 - 2.65 0.090 3348.31 406.0 147.84 - - 2164.31 - - - - - - - - - 15.98 -
20979.84 143.98 10.46 2475 20985.44 done 1.87 - - 2789.31 - 2.60 0.023 2186.25 -446.9 147.84 - - 2163.91 - - - - - - - - - 16.05 -
21295.57 117.22 7.28 2507 21300.02 done 1.89 - - 2788.19 - 2.57 0.077 1130.44 -410.8 147.84 - - 2164.22 - - - - - - - - - 16.00 -
21505.00 104.04 4.76 2549 21551.20 done 2.00 - - 2789.12 - 2.61 0.029 2275.00 438.5 202.06 40.28 1.306 1950.31 -5.3 0.070 - - - - - - - 16.04 12.33
21855.06 85.74 5.35 2615 21896.97 2.09 0.23 0.073 2840.81 224.7 2.83 0.074 1131.75 -404.0 247.67 34.92 1.256 1764.44 -5.3 0.060 - - - - - - 15.90 15.80 12.64
22125.51 62.69 8.72 2669 22130.66 done 2.09 - - 2841.19 - 2.62 0.029 2274.00 436.0 247.67 - - 1757.38 - - - - - - - - - 15.86 -
22315.20 49.71 6.49 2707 22320.77 done 2.13 - - 2840.81 - 2.81 0.071 1131.31 -406.7 247.67 - - 1755.03 - - - - - - - - - 15.88 -
22550.30 36.10 4.10 2754 22603.54 2.26 0.17 0.088 2882.31 244.1 2.61 0.028 2277.12 439.0 311.60 47.47 1.200 1504.22 -5.3 0.026 - - - - - - 15.90 15.96 12.50
22786.60 26.01 3.45 2801 22843.04 VBD 2.41 - - 2884.50 - - - 2277.25 - 385.09 55.11 1.170 1205.22 -5.4 0.020 - - - - - - - - 12.60
23026.72 9.66 8.12 2849 23030.31 no move 2.41 - - 2883.62 - - - 2277.25 - 385.09 - - 1197.94 - - - - - - - - - - -
23116 end climb: SURFACE_DEPTH_REACHED
23117 begin surface coast
23142 end surface coast: CONTROL_FINISHED_OK
23142 begin surface
SM 1.04 - - - - 184.7 30.00 1.120 1043.1 34.8 16.52 0.045 1012.6 61.3 - 0.12 0.129 1073.5 8945.8 -7.371 - - 12.53 15.81 15.84 -