NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 495 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 159.62 of 550.00 AH used of 24V (70.98% remains)
• Surface angle -64.4 deg, depth 0.58 m • Intended pitch -21.6 deg, speed -8.462 cm/s
• VBD pumped to 424.92 (SM_CC=425)
• GPS1 time: 26 s
• GPS2 time: 3 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
5.17 - - - 72.03 VBD -1.37 - - 180.81 - - - 2240.38 - -82.73 65.72 0.005 2690.59 - - - - - - - - - - 15.39
72.77 3.75 -6.08 12 105.59 -1.37 14.59 0.255 1997.50 124.5 2.98 0.086 3424.75 397.4 -82.73 8.94 0.007 3113.34 47.3 -4.222 - - - - - - 15.55 15.34 15.45
198.06 30.90 -17.59 37 203.24 roll -1.37 - - 1998.81 - 2.59 0.021 2253.56 -452.2 -82.73 - - 3113.34 - - - - - - - - - 15.77 -
388.12 59.84 -13.53 75 393.55 roll -1.37 - - 1999.06 - 2.95 0.082 3427.69 398.0 -82.73 - - 3113.59 - - - - - - - - - 15.81 -
407.88 62.48 -13.26 79 413.29 roll -1.37 - - 1997.50 - 2.60 0.021 2247.62 -453.9 -82.73 - - 3114.72 - - - - - - - - - 15.81 -
598.22 86.67 -11.58 117 599.54 no move -1.37 - - 1999.25 - - - 2246.25 - -82.73 - - 3113.47 - - - - - - - - - - -
782.89 106.62 -10.19 154 788.49 roll -1.37 - - 1998.94 - 2.94 0.082 3426.19 401.3 -82.73 - - 3114.72 - - - - - - - - - 15.87 -
847.91 113.64 -10.85 167 853.45 roll -1.37 - - 1998.81 - 2.59 0.021 2246.19 -455.6 -82.73 - - 3115.06 - - - - - - - - - 15.89 -
1158.02 142.50 -9.31 229 1163.62 roll -1.37 - - 1998.94 - 2.94 0.083 3426.25 401.4 -82.73 - - 3114.56 - - - - - - - - - 15.90 -
1253.05 152.33 -10.59 248 1258.58 roll -1.37 - - 1999.19 - 2.58 0.021 2248.56 -456.5 -82.73 - - 3115.25 - - - - - - - - - 15.92 -
1563.16 181.02 -8.91 310 1568.69 roll -1.37 - - 1998.81 - 2.53 0.067 1211.06 -410.1 -82.73 - - 3115.41 - - - - - - - - - 15.94 -
1608.16 185.23 -9.42 319 1613.72 roll -1.37 - - 1999.19 - 2.61 0.029 2354.00 437.9 -82.73 - - 3116.16 - - - - - - - - - 15.95 -
1918.37 212.27 -9.28 381 1919.70 no move -1.37 - - 1998.81 - - - 2354.31 - -82.73 - - 3114.53 - - - - - - - - - - -
2223.31 241.57 -9.73 442 2228.85 roll -1.37 - - 1998.75 - 2.65 0.089 3426.38 404.6 -82.73 - - 3115.50 - - - - - - - - - 15.95 -
2283.49 247.93 -10.72 454 2288.84 roll -1.37 - - 1999.00 - 2.58 0.021 2247.81 -456.8 -82.73 - - 3115.41 - - - - - - - - - 15.97 -
2593.36 276.81 -8.96 516 2598.96 roll -1.37 - - 1999.31 - 2.93 0.084 3427.31 402.6 -82.73 - - 3114.84 - - - - - - - - - 15.97 -
2623.36 279.78 -9.65 522 2628.90 roll -1.37 - - 1999.50 - 2.58 0.021 2246.94 -457.5 -82.73 - - 3115.12 - - - - - - - - - 15.98 -
2937.15 308.97 -9.10 574 2948.22 no move -1.37 - - 1999.19 - - - 2245.69 - -82.73 - - 3114.72 - - - - - - - - - - -
3250.04 338.98 -10.19 603 3254.71 roll -1.37 - - 1997.44 - 2.93 0.085 3426.25 402.9 -82.73 - - 3114.16 - - - - - - - - - 15.99 -
3335.79 348.29 -10.96 615 3350.70 roll -1.37 - - 1999.50 - 2.57 0.022 2249.62 -457.8 -82.73 - - 3113.94 - - - - - - - - - 16.01 -
3651.93 379.36 -9.71 644 3663.01 no move -1.37 - - 1999.75 - - - 2249.19 - -82.73 - - 3113.53 - - - - - - - - - - -
3965.06 408.60 -9.10 673 3969.74 roll -1.37 - - 1998.69 - 2.92 0.086 3427.50 403.5 -82.73 - - 3111.53 - - - - - - - - - 15.99 -
4049.45 417.17 -10.03 684 4054.06 roll -1.37 - - 1997.00 - 2.57 0.022 2250.31 -458.1 -82.73 - - 3112.88 - - - - - - - - - 16.01 -
4361.29 446.79 -9.56 713 4372.37 no move -1.37 - - 1999.31 - - - 2249.56 - -82.73 - - 3112.53 - - - - - - - - - - -
4674.39 475.50 -8.92 742 4679.06 roll -1.37 - - 1999.81 - 2.91 0.086 3427.75 404.9 -82.73 - - 3113.56 - - - - - - - - - 15.99 -
4774.53 485.53 -10.16 755 4779.14 roll -1.37 - - 1999.31 - 2.56 0.022 2252.94 -458.9 -82.73 - - 3111.50 - - - - - - - - - 16.02 -
5081.25 511.65 -7.82 780 5082.58 no move -1.37 - - 1999.62 - - - 2252.44 - -82.73 - - 3110.72 - - - - - - - - - - -
5396.43 535.90 -7.60 801 5397.76 no move -1.37 - - 1999.19 - - - 2251.88 - -82.73 - - 3109.84 - - - - - - - - - - -
5711.26 561.47 -8.52 822 5715.92 roll -1.37 - - 1999.50 - 2.89 0.086 3425.12 406.0 -82.73 - - 3109.97 - - - - - - - - - 15.99 -
5810.66 570.75 -9.36 836 5815.27 roll -1.37 - - 1997.94 - 2.56 0.022 2250.19 -459.0 -82.73 - - 3109.66 - - - - - - - - - 16.02 -
6127.15 595.71 -7.59 858 6128.48 no move -1.37 - - 1999.00 - - - 2249.62 - -82.73 - - 3109.38 - - - - - - - - - - -
6442.18 620.72 -8.27 879 6447.04 roll -1.37 - - 1999.38 - 2.93 0.087 3425.56 401.3 -82.73 - - 3110.41 - - - - - - - - - 15.98 -
6541.77 630.07 -9.42 893 6546.39 roll -1.37 - - 1999.31 - 2.56 0.022 2253.75 -457.7 -82.73 - - 3110.53 - - - - - - - - - 16.02 -
6858.24 657.76 -8.71 915 6859.57 no move -1.37 - - 1999.44 - - - 2251.56 - -82.73 - - 3108.25 - - - - - - - - - - -
7173.26 684.40 -8.43 936 7177.94 roll -1.37 - - 1999.31 - 2.92 0.087 3425.69 402.1 -82.73 - - 3108.72 - - - - - - - - - 15.97 -
7237.53 689.60 -8.79 946 7252.46 roll -1.37 - - 1999.69 - 2.56 0.022 2249.75 -459.4 -82.73 - - 3108.62 - - - - - - - - - 16.02 -
7566.93 715.69 -7.27 968 7568.26 no move -1.37 - - 1999.50 - - - 2250.00 - -82.73 - - 3107.69 - - - - - - - - - - -
7881.94 739.18 -7.71 989 7883.27 no move -1.37 - - 1999.31 - - - 2250.25 - -82.73 - - 3106.62 - - - - - - - - - - -
8196.97 762.65 -7.38 1010 8198.30 no move -1.37 - - 1999.31 - - - 2250.06 - -82.73 - - 3106.81 - - - - - - - - - - -
8512.15 786.18 -7.37 1031 8516.83 roll -1.37 - - 1999.50 - 2.93 0.088 3426.12 401.4 -82.73 - - 3106.09 - - - - - - - - - 15.96 -
8592.15 793.07 -8.61 1043 8597.69 roll -1.37 - - 1999.12 - 2.56 0.023 2253.00 -458.2 -82.73 - - 3107.12 - - - - - - - - - 16.02 -
8911.56 818.43 -7.59 1065 8916.17 roll -1.37 - - 1999.00 - 2.53 0.073 1209.75 -412.4 -82.73 - - 3105.12 - - - - - - - - - 15.98 -
8950.41 821.42 -7.80 1071 8955.97 roll -1.37 - - 1999.31 - 2.61 0.031 2351.81 437.6 -82.73 - - 3107.94 - - - - - - - - - 16.02 -
9269.83 845.95 -7.21 1093 9271.15 no move -1.37 - - 1999.62 - - - 2351.50 - -82.73 - - 3106.09 - - - - - - - - - - -
9585.02 868.54 -6.81 1114 9589.73 roll -1.37 - - 1999.06 - 2.74 0.067 1209.50 -416.8 -82.73 - - 3105.22 - - - - - - - - - 15.98 -
9706.49 877.31 -7.29 1132 9712.04 roll -1.37 - - 1999.31 - 2.62 0.031 2352.94 436.4 -82.73 - - 3106.38 - - - - - - - - - 16.03 -
10025.90 900.61 -7.40 1154 10030.54 roll -1.37 - - 1999.00 - 2.74 0.066 1210.94 -416.8 -82.73 - - 3104.75 - - - - - - - - - 15.97 -
10126.64 908.32 -7.76 1169 10132.21 roll -1.37 - - 1999.62 - 2.61 0.031 2351.31 436.9 -82.73 - - 3105.22 - - - - - - - - - 16.02 -
10446.07 931.25 -7.00 1191 10447.40 no move -1.37 - - 1999.31 - - - 2351.88 - -82.73 - - 3105.31 - - - - - - - - - - -
10761.34 951.28 -5.98 1212 10762.67 no move -1.37 - - 1999.31 - - - 2351.44 - -82.73 - - 3104.53 - - - - - - - - - - -
11076.17 970.36 -6.73 1233 11080.82 roll -1.37 - - 1998.00 - 2.76 0.067 1209.56 -413.7 -82.73 - - 3105.03 - - - - - - - - - 15.96 -
11176.92 977.69 -7.38 1248 11182.48 roll -1.37 - - 1999.56 - 2.62 0.032 2349.25 435.0 -82.73 - - 3104.47 - - - - - - - - - 16.02 -
11361 end dive: TARGET_DEPTH_EXCEEDED
11361 begin apogee
11363.14 991.00 -7.10 1261 11438.88 -0.28 1.87 0.143 2263.00 140.9 0.22 0.133 2281.44 -308.2 - 62.13 2.443 2773.66 -5.3 0.360 - - - - - - 15.86 15.60 11.17
11440 end apogee: CONTROL_FINISHED_OK
11440 begin climb
11441.11 992.71 - 1266 11513.40 1.37 2.67 0.091 2667.56 151.5 - - 2282.06 - 82.73 66.85 2.408 2436.59 -5.0 0.346 - - - - - - 15.65 - 12.58
11819.14 966.94 7.68 1294 11820.47 no move 1.38 - - 2666.88 - - - 2281.69 - 82.73 - - 2430.38 - - - - - - - - - - -
12134.17 941.61 8.14 1315 12138.84 roll 1.38 - - 2666.62 - 2.84 0.077 1132.88 -404.5 82.73 - - 2429.12 - - - - - - - - - 15.78 -
12318.24 925.90 8.69 1342 12323.41 roll 1.38 - - 2667.19 - 2.63 0.032 2273.44 433.7 82.73 - - 2430.56 - - - - - - - - - 15.82 -
12637.28 900.13 7.70 1364 12641.95 roll 1.40 - - 2666.25 - 2.81 0.076 1132.38 -406.1 82.73 - - 2429.53 - - - - - - - - - 15.85 -
12696.56 895.20 8.28 1373 12702.12 roll 1.40 - - 2667.19 - 2.62 0.031 2272.12 435.0 82.73 - - 2430.03 - - - - - - - - - 15.87 -
13015.98 871.29 7.40 1395 13020.64 roll 1.42 - - 2666.88 - 2.82 0.076 1131.06 -404.6 82.73 - - 2430.97 - - - - - - - - - 15.88 -
13158.21 860.28 7.75 1416 13163.93 done 1.43 - - 2667.25 - 2.62 0.031 2272.25 435.6 82.73 - - 2429.78 - - - - - - - - - 15.92 -
13477.73 836.44 7.55 1438 13479.06 VBD 1.45 - - 2667.19 - - - 2272.38 - 82.73 - - 2428.44 - - - - - - - - - - -
13792.62 812.20 7.53 1459 13793.95 VBD 1.47 - - 2666.38 - - - 2272.62 - 82.73 - - 2428.00 - - - - - - - - - - -
14107.64 790.23 6.93 1480 14112.36 1.50 0.17 0.089 2709.44 253.3 2.78 0.076 1132.25 -410.2 82.73 - - 2429.53 - - - - - - - - 15.92 15.84 -
14229.89 780.16 8.45 1498 14235.26 done 1.50 - - 2708.44 - 2.61 0.031 2272.00 436.7 82.73 - - 2429.28 - - - - - - - - - 15.97 -
14549.16 755.30 7.31 1520 14550.50 VBD 1.52 - - 2709.75 - - - 2272.81 - 82.73 - - 2427.69 - - - - - - - - - - -
14864.21 733.31 6.93 1541 14868.85 done 1.55 - - 2708.00 - 2.78 0.076 1132.50 -410.2 82.73 - - 2428.78 - - - - - - - - - 15.92 -
14944.24 727.67 7.15 1553 14949.78 done 1.58 - - 2709.06 - 2.61 0.031 2273.25 437.1 82.73 - - 2427.62 - - - - - - - - - 15.99 -
15263.64 706.75 6.62 1575 15264.98 VBD 1.62 - - 2709.19 - - - 2272.88 - 82.73 - - 2426.66 - - - - - - - - - - -
15578.66 685.02 7.29 1596 15579.99 VBD 1.64 - - 2709.50 - - - 2273.75 - 82.73 - - 2427.25 - - - - - - - - - - -
15893.68 660.97 7.86 1617 15895.01 VBD 1.65 - - 2709.19 - - - 2273.00 - 82.73 - - 2427.09 - - - - - - - - - - -
16208.81 636.87 7.72 1638 16213.53 1.67 0.15 0.087 2748.38 261.3 2.79 0.076 1130.19 -409.6 82.73 - - 2426.81 - - - - - - - - 15.96 15.86 -
16335.48 626.38 8.82 1657 16350.29 done 1.67 - - 2748.06 - 2.61 0.031 2274.94 438.6 82.73 - - 2428.75 - - - - - - - - - 16.00 -
16664.70 600.03 7.70 1679 16669.35 done 1.68 - - 2747.62 - 2.79 0.076 1130.81 -410.1 82.73 - - 2428.72 - - - - - - - - - 15.93 -
16744.72 593.66 8.05 1691 16750.25 done 1.68 - - 2748.94 - 2.60 0.031 2273.31 439.4 82.73 - - 2428.19 - - - - - - - - - 16.00 -
17064.16 570.93 7.06 1713 17065.49 VBD 1.71 - - 2749.25 - - - 2273.81 - 82.73 - - 2427.22 - - - - - - - - - - -
17379.20 549.18 6.86 1734 17383.83 done 1.74 - - 2749.88 - 2.68 0.091 3347.00 400.4 82.73 - - 2426.19 - - - - - - - - - 15.92 -
17459.23 543.11 7.63 1746 17464.76 done 1.76 - - 2749.44 - 2.58 0.024 2187.50 -449.4 82.73 - - 2427.69 - - - - - - - - - 16.00 -
17778.63 522.28 6.30 1768 17807.84 done 1.82 - - 2748.75 - 2.57 0.084 1131.56 -410.9 114.33 24.66 1.792 2310.19 -4.8 0.231 - - - - - - - 15.90 11.41
17868.69 515.95 7.40 1782 17883.66 roll back 1.84 0.17 0.085 2793.19 261.4 2.62 0.031 2272.88 435.6 114.33 - - 2306.75 - - - - - - - - 15.84 15.93 -
18187.97 487.36 8.95 1807 18199.05 no move 1.84 - - 2793.94 - - - 2273.50 - 114.33 - - 2305.66 - - - - - - - - - - -
18500.76 456.92 9.98 1836 18511.83 no move 1.84 - - 2793.75 - - - 2273.81 - 114.33 - - 2305.34 - - - - - - - - - - -
18814.06 425.55 9.75 1865 18825.13 no move 1.84 - - 2793.81 - - - 2273.50 - 114.33 - - 2304.53 - - - - - - - - - - -
19126.79 395.94 9.53 1894 19131.43 roll 1.84 - - 2794.50 - 2.78 0.076 1131.44 -410.8 114.33 - - 2303.19 - - - - - - - - - 15.91 -
19228.59 386.33 9.58 1908 19243.18 roll 1.84 - - 2793.25 - 2.61 0.031 2273.31 437.5 114.33 - - 2305.06 - - - - - - - - - 15.97 -
19544.34 358.23 8.68 1937 19548.99 roll 1.84 - - 2794.56 - 2.80 0.075 1132.62 -407.4 114.33 - - 2302.47 - - - - - - - - - 15.91 -
19661.55 347.21 9.62 1953 19676.48 roll 1.84 - - 2793.88 - 2.61 0.031 2273.75 437.2 114.33 - - 2304.72 - - - - - - - - - 15.97 -
19977.87 319.25 8.52 1982 19988.94 no move 1.84 - - 2794.00 - - - 2274.25 - 114.33 - - 2304.47 - - - - - - - - - - -
20290.67 291.43 8.76 2021 20296.21 roll 1.84 - - 2794.75 - 2.66 0.090 3347.31 403.4 114.33 - - 2304.91 - - - - - - - - - 15.90 -
20325.67 288.13 9.34 2028 20331.21 roll 1.84 - - 2794.44 - 2.57 0.024 2186.75 -451.6 114.33 - - 2304.16 - - - - - - - - - 15.97 -
20635.77 261.85 8.41 2090 20641.30 roll 1.84 - - 2793.12 - 2.57 0.079 1131.44 -410.6 114.33 - - 2305.22 - - - - - - - - - 15.92 -
20870.96 240.99 8.62 2137 20876.40 roll 1.84 - - 2794.19 - 2.61 0.031 2275.69 438.4 114.33 - - 2304.25 - - - - - - - - - 15.97 -
21181.13 217.65 6.97 2199 21182.46 no move 1.87 - - 2794.56 - - - 2275.44 - 114.33 - - 2303.62 - - - - - - - - - - -
21486.05 195.44 7.68 2260 21491.60 roll 1.89 - - 2793.94 - 2.79 0.073 1129.69 -410.7 114.33 - - 2306.44 - - - - - - - - - 15.92 -
21626.07 183.59 8.61 2288 21631.61 roll 1.89 - - 2794.12 - 2.59 0.030 2275.00 442.2 114.33 - - 2304.94 - - - - - - - - - 15.97 -
21936.18 162.04 7.18 2350 21941.71 roll 1.92 - - 2793.19 - 2.65 0.089 3348.25 405.0 114.33 - - 2305.22 - - - - - - - - - 15.91 -
22171.26 144.06 7.46 2397 22176.78 roll 1.94 - - 2794.25 - 2.57 0.023 2185.12 -452.6 114.33 - - 2305.22 - - - - - - - - - 15.97 -
22481.48 129.17 3.60 2459 22539.70 2.08 0.24 0.070 2848.75 227.1 2.57 0.080 1131.12 -410.1 185.57 53.10 1.356 2017.38 -5.4 0.086 - - - - - - 15.95 15.82 11.52
22651.93 114.83 10.69 2493 22657.48 roll 2.08 - - 2850.81 - 2.62 0.030 2274.81 436.5 185.57 - - 2012.81 - - - - - - - - - 15.84 -
22962.02 82.75 9.31 2555 22967.60 done 2.08 - - 2850.81 - 2.81 0.073 1130.12 -407.4 185.57 - - 2009.69 - - - - - - - - - 15.86 -
23197.10 65.51 5.63 2602 23233.63 done 2.16 - - 2851.00 - 2.61 0.028 2274.50 438.5 227.08 31.48 1.222 1848.88 -5.1 0.046 - - - - - - - 15.88 12.00
23417.17 52.83 6.31 2646 23447.93 done 2.22 - - 2850.94 - 2.66 0.089 3347.50 403.4 258.57 24.93 1.173 1720.59 -5.1 0.039 - - - - - - - 15.74 12.20
23477.16 48.13 8.20 2658 23482.90 roll 2.22 - - 2850.50 - 2.61 0.023 2182.50 -446.4 258.57 - - 1718.81 - - - - - - - - - 15.81 -
23667.23 34.80 6.11 2696 23698.71 2.29 0.22 0.073 2899.19 221.3 2.57 0.079 1131.56 -408.9 293.06 26.94 1.150 1580.62 -5.1 0.026 - - - - - - 15.79 15.73 12.10
23927.28 13.73 7.25 2748 23932.82 roll 2.32 - - 2899.69 - 2.63 0.028 2276.56 435.4 293.06 - - 1573.66 - - - - - - - - - 15.81 -
24107 end climb: SURFACE_DEPTH_REACHED
24107 begin surface coast
24192 end surface coast: CONTROL_FINISHED_OK
24192 begin surface
SM 0.66 - - - - 182.1 95.89 1.168 1042.8 10.9 16.80 0.051 982.5 58.5 - 0.12 0.126 1103.0 9169.8 -4.909 - - 12.03 15.80 15.83 -