NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 493 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 158.87 of 550.00 AH used of 24V (71.11% remains)
• Surface angle -62.0 deg, depth 0.61 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 425.01 (SM_CC=425)
• GPS1 time: 73 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.16 - - - 66.94 VBD -1.37 - - 177.19 - - - 2385.00 - -82.73 60.63 0.005 2585.81 - - - - - - - - - - 15.42
67.68 3.39 -5.87 11 102.62 -1.37 14.68 0.258 1998.19 124.0 2.62 0.086 3430.06 398.9 -82.73 11.44 0.007 3110.97 45.9 -3.705 - - - - - - 15.56 15.35 15.46
284.72 47.99 -15.89 54 290.26 roll -1.37 - - 1998.25 - 2.62 0.020 2252.25 -449.5 -82.73 - - 3113.28 - - - - - - - - - 15.80 -
475.10 69.73 -9.90 92 476.43 no move -1.37 - - 1998.44 - - - 2250.06 - -82.73 - - 3112.34 - - - - - - - - - - -
659.81 87.60 -9.26 129 665.36 roll -1.37 - - 1998.56 - 2.93 0.079 3427.44 401.8 -82.73 - - 3114.53 - - - - - - - - - 15.86 -
789.78 102.51 -12.28 155 795.31 roll -1.37 - - 1998.44 - 2.59 0.020 2246.75 -455.9 -82.73 - - 3113.72 - - - - - - - - - 15.89 -
1099.83 132.27 -8.60 217 1101.16 no move -1.37 - - 1998.81 - - - 2245.06 - -82.73 - - 3113.03 - - - - - - - - - - -
1404.89 159.56 -9.68 278 1410.47 roll -1.37 - - 1998.81 - 2.93 0.080 3427.06 403.4 -82.73 - - 3114.75 - - - - - - - - - 15.93 -
1514.89 171.92 -11.17 300 1520.42 roll -1.37 - - 1998.88 - 2.57 0.020 2248.88 -458.4 -82.73 - - 3115.31 - - - - - - - - - 15.95 -
1824.95 201.36 -9.72 362 1826.28 no move -1.37 - - 1999.19 - - - 2247.31 - -82.73 - - 3112.81 - - - - - - - - - - -
2130.00 229.75 -9.65 423 2131.32 no move -1.37 - - 1999.06 - - - 2247.50 - -82.73 - - 3113.19 - - - - - - - - - - -
2435.10 257.94 -9.17 484 2440.88 roll -1.37 - - 1998.88 - 2.92 0.081 3425.81 403.5 -82.73 - - 3114.47 - - - - - - - - - 15.98 -
2575.26 272.19 -10.26 512 2580.67 roll -1.37 - - 1999.12 - 2.57 0.021 2249.12 -457.9 -82.73 - - 3113.50 - - - - - - - - - 15.99 -
2890.43 301.08 -9.10 574 2891.76 no move -1.37 - - 1998.75 - - - 2248.50 - -82.73 - - 3112.06 - - - - - - - - - - -
3199.70 329.18 -8.87 602 3210.77 no move -1.37 - - 1999.44 - - - 2248.44 - -82.73 - - 3113.06 - - - - - - - - - - -
3512.35 356.67 -9.23 631 3517.03 roll -1.37 - - 1998.44 - 2.92 0.083 3427.75 403.9 -82.73 - - 3112.38 - - - - - - - - - 16.00 -
3628.23 369.02 -10.74 646 3632.84 roll -1.37 - - 1998.69 - 2.56 0.021 2252.88 -458.9 -82.73 - - 3111.03 - - - - - - - - - 16.02 -
3939.64 396.20 -8.54 675 3944.32 roll -1.37 - - 1999.50 - 2.91 0.083 3427.62 403.7 -82.73 - - 3110.91 - - - - - - - - - 16.00 -
4025.38 404.33 -9.60 687 4040.30 roll -1.37 - - 1999.19 - 2.56 0.021 2251.00 -459.6 -82.73 - - 3111.47 - - - - - - - - - 16.03 -
4341.67 432.07 -8.80 716 4346.35 roll -1.37 - - 1999.06 - 2.91 0.084 3427.31 404.2 -82.73 - - 3111.25 - - - - - - - - - 16.00 -
4380.22 435.69 -9.36 722 4395.31 roll -1.37 - - 1998.69 - 2.57 0.021 2249.75 -458.2 -82.73 - - 3112.22 - - - - - - - - - 16.02 -
4697.11 463.86 -8.97 751 4701.72 roll -1.37 - - 1998.00 - 2.53 0.072 1209.44 -411.2 -82.73 - - 3109.53 - - - - - - - - - 16.02 -
4765.78 470.34 -9.37 760 4770.39 roll -1.37 - - 1997.69 - 2.60 0.030 2353.00 439.8 -82.73 - - 3111.00 - - - - - - - - - 16.03 -
5077.01 499.57 -9.50 789 5081.64 roll -1.37 - - 1998.88 - 2.66 0.090 3428.88 404.5 -82.73 - - 3109.12 - - - - - - - - - 16.00 -
5182.94 509.87 -10.35 805 5197.68 roll -1.37 - - 1998.19 - 2.57 0.021 2249.88 -458.8 -82.73 - - 3109.75 - - - - - - - - - 16.04 -
5512.17 541.07 -9.05 827 5513.50 no move -1.37 - - 1998.56 - - - 2249.62 - -82.73 - - 3108.69 - - - - - - - - - - -
5827.19 567.58 -8.09 848 5828.52 no move -1.37 - - 1999.00 - - - 2249.75 - -82.73 - - 3107.97 - - - - - - - - - - -
6142.20 593.58 -8.33 869 6146.88 roll -1.37 - - 1999.25 - 2.91 0.086 3427.88 404.9 -82.73 - - 3108.03 - - - - - - - - - 15.99 -
6283.10 606.59 -9.29 889 6287.71 roll -1.37 - - 1998.94 - 2.58 0.022 2251.38 -456.0 -82.73 - - 3107.00 - - - - - - - - - 16.03 -
6599.58 631.47 -8.02 911 6600.91 no move -1.37 - - 1998.12 - - - 2250.25 - -82.73 - - 3106.03 - - - - - - - - - - -
6914.62 657.55 -8.32 932 6915.95 no move -1.37 - - 1998.94 - - - 2249.88 - -82.73 - - 3106.16 - - - - - - - - - - -
7229.65 684.80 -8.80 953 7230.97 no move -1.37 - - 1999.06 - - - 2250.50 - -82.73 - - 3105.81 - - - - - - - - - - -
7544.84 711.54 -8.20 974 7546.17 no move -1.37 - - 1998.44 - - - 2250.00 - -82.73 - - 3105.28 - - - - - - - - - - -
7859.84 735.12 -7.20 995 7861.17 no move -1.37 - - 1998.62 - - - 2249.88 - -82.73 - - 3104.69 - - - - - - - - - - -
8174.68 758.39 -7.33 1016 8176.01 no move -1.37 - - 1998.62 - - - 2249.75 - -82.73 - - 3104.81 - - - - - - - - - - -
8489.88 779.99 -6.71 1037 8491.21 no move -1.37 - - 1998.25 - - - 2249.81 - -82.73 - - 3103.91 - - - - - - - - - - -
8804.73 799.87 -6.27 1058 8806.06 no move -1.37 - - 1998.88 - - - 2249.75 - -82.73 - - 3103.31 - - - - - - - - - - -
9119.73 820.53 -6.66 1079 9121.06 no move -1.37 - - 1999.19 - - - 2249.94 - -82.73 - - 3103.19 - - - - - - - - - - -
9434.75 842.37 -7.07 1100 9439.43 roll -1.37 - - 1999.06 - 2.93 0.088 3425.88 401.3 -82.73 - - 3104.56 - - - - - - - - - 15.95 -
9473.28 845.32 -7.51 1106 9478.82 roll -1.37 - - 1999.06 - 2.58 0.022 2250.75 -455.5 -82.73 - - 3103.41 - - - - - - - - - 16.02 -
9792.69 868.32 -7.05 1128 9797.36 roll -1.37 - - 1997.88 - 2.93 0.088 3426.88 401.4 -82.73 - - 3103.94 - - - - - - - - - 15.95 -
9851.95 872.78 -7.49 1137 9857.49 roll -1.37 - - 1998.88 - 2.59 0.022 2251.19 -453.9 -82.73 - - 3103.44 - - - - - - - - - 16.03 -
10171.38 894.23 -6.45 1159 10172.71 no move -1.37 - - 1998.62 - - - 2250.44 - -82.73 - - 3102.38 - - - - - - - - - - -
10486.42 913.71 -5.96 1180 10487.75 no move -1.37 - - 1998.31 - - - 2251.00 - -82.73 - - 3102.66 - - - - - - - - - - -
10801.47 932.82 -6.13 1201 10806.14 roll -1.37 - - 1998.62 - 2.93 0.088 3426.19 401.1 -82.73 - - 3101.50 - - - - - - - - - 15.94 -
10860.74 936.69 -6.55 1210 10866.46 roll -1.37 - - 1999.12 - 2.58 0.022 2251.88 -455.2 -82.73 - - 3102.16 - - - - - - - - - 16.03 -
11180.28 956.21 -5.89 1232 11181.60 no move -1.37 - - 1998.94 - - - 2251.81 - -82.73 - - 3101.09 - - - - - - - - - - -
11495.18 975.52 -6.04 1253 11499.86 roll -1.37 - - 1998.62 - 2.92 0.088 3425.75 402.0 -82.73 - - 3100.84 - - - - - - - - - 15.93 -
11595.92 982.44 -6.98 1268 11601.45 roll -1.37 - - 1998.81 - 2.58 0.022 2253.38 -454.4 -82.73 - - 3101.66 - - - - - - - - - 16.03 -
11720 end dive: TARGET_DEPTH_EXCEEDED
11720 begin apogee
11722.10 990.88 -6.69 1277 11797.66 -0.28 1.87 0.143 2263.25 141.4 0.14 0.184 2288.00 247.3 - 61.38 2.449 2773.69 -5.3 0.360 - - - - - - 15.86 15.61 11.19
11799 end apogee: CONTROL_FINISHED_OK
11799 begin climb
11799.60 992.46 - 1282 11871.61 1.37 2.67 0.092 2666.00 150.8 - - 2287.81 - 82.73 66.94 2.417 2436.47 -5.0 0.345 - - - - - - 15.65 - 12.53
12183.20 966.64 7.67 1311 12187.88 roll 1.38 - - 2666.81 - 2.91 0.079 1132.75 -396.9 82.73 - - 2430.94 - - - - - - - - - 15.67 -
12221.76 963.73 7.70 1317 12227.48 roll 1.40 - - 2667.19 - 2.65 0.030 2272.44 430.1 82.73 - - 2431.28 - - - - - - - - - 15.69 -
12541.34 940.40 7.31 1339 12542.67 no move 1.42 - - 2667.06 - - - 2272.88 - 82.73 - - 2428.88 - - - - - - - - - - -
12856.20 917.99 6.91 1360 12857.53 no move 1.45 - - 2666.50 - - - 2272.38 - 82.73 - - 2428.91 - - - - - - - - - - -
13171.23 896.11 7.09 1381 13175.89 done 1.48 - - 2666.31 - 2.85 0.078 1133.44 -399.6 82.73 - - 2429.16 - - - - - - - - - 15.86 -
13395.00 877.64 8.58 1413 13399.64 done 1.48 - - 2666.75 - 2.62 0.032 2272.88 434.9 82.73 - - 2430.66 - - - - - - - - - 15.90 -
13711.51 853.43 8.08 1435 13712.84 VBD 1.48 - - 2666.25 - - - 2272.81 - 82.73 - - 2427.88 - - - - - - - - - - -
14026.56 828.81 7.89 1456 14028.00 1.49 0.16 0.090 2707.06 255.1 - - 2272.75 - 82.73 - - 2427.03 - - - - - - - - 15.92 - -
14341.99 804.43 7.44 1477 14346.65 done 1.51 - - 2707.00 - 2.84 0.078 1132.94 -401.3 82.73 - - 2427.94 - - - - - - - - - 15.91 -
14463.48 794.78 8.10 1495 14469.04 done 1.51 - - 2707.38 - 2.62 0.032 2273.62 435.4 82.73 - - 2428.44 - - - - - - - - - 15.97 -
14783.07 769.74 7.79 1517 14784.41 VBD 1.53 - - 2707.19 - - - 2273.19 - 82.73 - - 2427.09 - - - - - - - - - - -
15097.93 747.61 6.74 1538 15102.60 done 1.56 - - 2707.25 - 2.84 0.077 1132.50 -401.7 82.73 - - 2426.94 - - - - - - - - - 15.92 -
15198.68 740.33 7.33 1553 15204.40 done 1.58 - - 2707.56 - 2.61 0.032 2273.25 437.1 82.73 - - 2427.66 - - - - - - - - - 15.99 -
15518.22 719.05 6.69 1575 15522.88 done 1.62 - - 2705.31 - 2.84 0.076 1131.44 -402.0 82.73 - - 2428.25 - - - - - - - - - 15.93 -
15639.71 709.79 7.80 1593 15645.26 done 1.63 - - 2705.75 - 2.61 0.031 2273.00 437.4 82.73 - - 2428.78 - - - - - - - - - 15.99 -
15959.11 685.38 7.64 1615 15960.44 VBD 1.65 - - 2707.44 - - - 2273.12 - 82.73 - - 2426.62 - - - - - - - - - - -
16274.13 661.03 7.66 1636 16275.57 1.66 0.17 0.086 2746.94 232.4 - - 2273.19 - 82.73 - - 2427.31 - - - - - - - - 15.97 - -
16589.65 635.55 7.75 1657 16594.31 done 1.68 - - 2747.31 - 2.85 0.076 1132.62 -400.2 82.73 - - 2426.50 - - - - - - - - - 15.92 -
16778.72 621.38 7.53 1685 16793.26 done 1.70 - - 2746.94 - 2.61 0.032 2274.44 437.5 82.73 - - 2428.22 - - - - - - - - - 16.00 -
17107.97 598.85 6.67 1707 17109.30 VBD 1.73 - - 2747.12 - - - 2274.88 - 82.73 - - 2426.16 - - - - - - - - - - -
17422.76 577.87 6.94 1728 17424.09 VBD 1.76 - - 2747.31 - - - 2274.38 - 82.73 - - 2426.88 - - - - - - - - - - -
17737.79 555.38 7.02 1749 17739.12 VBD 1.79 - - 2746.88 - - - 2274.75 - 82.73 - - 2426.56 - - - - - - - - - - -
18052.79 533.66 6.76 1770 18054.23 1.83 0.15 0.090 2788.56 277.9 - - 2275.00 - 82.73 - - 2426.06 - - - - - - - - 15.98 - -
18368.20 511.89 7.22 1791 18372.87 done 1.85 - - 2788.00 - 2.86 0.076 1132.62 -399.4 82.73 - - 2426.06 - - - - - - - - - 15.93 -
18467.80 504.32 7.60 1805 18472.49 done 1.87 - - 2786.44 - 2.61 0.031 2274.94 437.7 82.73 - - 2427.59 - - - - - - - - - 15.99 -
18776.45 482.66 7.05 1833 18781.08 done 1.90 - - 2787.31 - 2.64 0.090 3347.56 406.3 82.73 - - 2426.97 - - - - - - - - - 15.92 -
18893.65 473.23 8.29 1849 18908.57 done 1.90 - - 2787.62 - 2.59 0.024 2188.06 -447.7 82.73 - - 2428.19 - - - - - - - - - 16.00 -
19209.73 450.45 6.89 1878 19214.36 done 1.93 - - 2787.94 - 2.61 0.080 1131.25 -404.9 82.73 - - 2427.72 - - - - - - - - - 15.92 -
19451.93 434.37 6.36 1909 19485.53 done 1.99 - - 2787.69 - 2.61 0.031 2274.69 438.1 113.45 23.68 1.676 2311.09 -4.9 0.213 - - - - - - - 16.00 11.45
19787.58 408.72 8.05 1941 19792.24 roll 1.99 - - 2787.06 - 2.85 0.075 1133.19 -400.5 113.45 - - 2308.88 - - - - - - - - - 15.90 -
19903.43 398.18 9.15 1956 19908.06 roll 1.99 - - 2787.56 - 2.61 0.031 2276.06 437.9 113.45 - - 2307.06 - - - - - - - - - 15.93 -
20215.19 373.12 8.15 1985 20220.00 roll 1.99 - - 2788.19 - 2.66 0.090 3345.19 401.9 113.45 - - 2306.12 - - - - - - - - - 15.90 -
20268.21 368.09 9.12 1992 20272.83 roll 1.99 - - 2788.31 - 2.59 0.024 2188.75 -446.5 113.45 - - 2306.59 - - - - - - - - - 15.94 -
20579.75 340.95 8.27 2021 20584.38 roll 1.99 - - 2786.75 - 2.62 0.079 1131.62 -403.5 113.45 - - 2309.78 - - - - - - - - - 15.91 -
20727.08 327.47 9.46 2040 20731.71 roll 1.99 - - 2788.38 - 2.61 0.031 2277.25 438.9 113.45 - - 2307.62 - - - - - - - - - 15.95 -
21038.95 300.27 8.53 2069 21043.58 roll 1.99 - - 2788.00 - 2.65 0.090 3345.38 403.1 113.45 - - 2307.72 - - - - - - - - - 15.91 -
21112.51 293.09 10.13 2082 21118.06 roll 1.99 - - 2788.19 - 2.59 0.024 2187.56 -447.0 113.45 - - 2308.09 - - - - - - - - - 15.95 -
21422.63 267.00 7.82 2144 21424.06 pitch 2.00 0.15 0.091 2825.75 250.4 - - 2187.81 - 113.45 - - 2307.47 - - - - - - - - 15.92 - -
21728.23 242.62 7.61 2205 21733.21 roll 2.02 - - 2827.25 - 2.62 0.078 1132.31 -402.9 113.45 - - 2307.88 - - - - - - - - - 15.90 -
21962.68 222.64 8.35 2252 21968.42 roll 2.02 - - 2826.50 - 2.61 0.030 2274.31 437.5 113.45 - - 2308.53 - - - - - - - - - 15.97 -
22272.75 197.89 7.55 2314 22274.08 no move 2.04 - - 2826.69 - - - 2274.38 - 113.45 - - 2307.34 - - - - - - - - - - -
22577.79 175.90 6.88 2375 22579.12 no move 2.07 - - 2826.44 - - - 2274.38 - 113.45 - - 2307.53 - - - - - - - - - - -
22882.82 154.68 6.34 2436 22908.33 VBD 2.13 - - 2827.19 - - - 2274.94 - 144.54 24.52 1.340 2185.25 -5.0 0.096 - - - - - - - - 11.57
23212.85 126.00 8.94 2502 23218.41 roll 2.13 - - 2826.31 - 2.67 0.088 3344.38 400.5 144.54 - - 2182.66 - - - - - - - - - 15.90 -
23292.86 118.37 9.54 2518 23298.40 roll 2.13 - - 2826.56 - 2.60 0.023 2187.88 -444.8 144.54 - - 2181.59 - - - - - - - - - 15.92 -
23602.91 96.74 6.16 2580 23634.59 2.20 0.22 0.071 2880.50 245.2 2.61 0.079 1129.94 -405.3 178.31 26.18 1.259 2049.00 -5.1 0.065 - - - - - - 15.91 15.88 11.96
23862.93 72.15 10.19 2632 23868.48 roll 2.20 - - 2879.38 - 2.62 0.030 2273.56 436.5 178.31 - - 2044.38 - - - - - - - - - 15.89 -
24052.97 62.93 3.11 2670 24117.39 done 2.35 - - 2880.44 - 2.87 0.074 1129.94 -398.5 256.73 58.65 1.245 1726.72 -5.4 0.046 - - - - - - - 15.73 12.04
24344.55 39.94 10.07 2728 24350.09 done 2.35 - - 2880.12 - 2.64 0.029 2273.06 433.0 256.73 - - 1718.16 - - - - - - - - - 15.79 -
24534.61 28.51 3.85 2766 24591.33 2.49 0.34 0.058 2948.62 201.5 2.88 0.072 1131.31 -396.4 324.31 49.99 1.175 1452.69 -5.3 0.021 - - - - - - 15.82 15.68 12.06
24819.65 11.77 8.34 2823 24825.20 done 2.49 - - 2948.12 - 2.63 0.029 2274.50 434.7 324.31 - - 1445.16 - - - - - - - - - 15.78 -
24940 end climb: SURFACE_DEPTH_REACHED
24940 begin surface coast
25010 end surface coast: CONTROL_FINISHED_OK
25010 begin surface
SM 0.48 - - - - 182.1 72.98 1.156 1042.4 14.3 16.98 0.043 991.8 58.4 - 0.12 0.130 1093.0 9086.4 -3.429 - - 12.02 15.77 15.79 -