NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 502 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 162.29 of 550.00 AH used of 24V (70.49% remains)
• Surface angle -63.3 deg, depth 0.68 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.96 (SM_CC=425)
• GPS1 time: 34 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.18 - - - 61.87 VBD -1.37 - - 178.31 - - - 2372.94 - -82.73 55.49 0.005 2484.41 - - - - - - - - - - 15.40
62.59 3.80 -7.61 10 99.97 -1.37 14.48 0.258 1998.31 125.7 2.61 0.087 3426.25 403.6 -82.73 13.14 0.007 3113.50 47.9 -4.340 - - - - - - 15.55 15.32 15.45
172.44 30.14 -23.20 32 177.60 roll -1.37 - - 1998.38 - 2.58 0.020 2253.06 -454.7 -82.73 - - 3113.00 - - - - - - - - - 15.76 -
362.50 59.72 -14.58 70 363.83 no move -1.37 - - 1998.50 - - - 2250.94 - -82.73 - - 3111.53 - - - - - - - - - - -
547.37 85.79 -12.72 107 552.83 roll -1.37 - - 1998.19 - 2.89 0.079 3429.00 407.6 -82.73 - - 3113.38 - - - - - - - - - 15.84 -
582.20 90.53 -13.84 114 587.73 roll -1.37 - - 1998.69 - 2.56 0.020 2245.31 -462.4 -82.73 - - 3114.16 - - - - - - - - - 15.86 -
772.63 111.14 -10.31 152 773.96 no move -1.37 - - 1998.50 - - - 2244.00 - -82.73 - - 3112.41 - - - - - - - - - - -
1077.29 139.20 -8.83 213 1082.87 roll -1.37 - - 1998.69 - 2.88 0.079 3428.06 411.1 -82.73 - - 3115.31 - - - - - - - - - 15.91 -
1127.28 144.46 -10.79 223 1132.82 roll -1.37 - - 1997.50 - 2.55 0.020 2244.75 -464.0 -82.73 - - 3115.50 - - - - - - - - - 15.92 -
1437.34 172.54 -8.67 285 1442.93 roll -1.37 - - 1998.94 - 2.88 0.079 3428.38 411.0 -82.73 - - 3114.69 - - - - - - - - - 15.93 -
1517.35 180.29 -10.05 301 1522.89 roll -1.37 - - 1999.19 - 2.55 0.020 2244.12 -464.4 -82.73 - - 3114.28 - - - - - - - - - 15.95 -
1827.40 208.87 -9.71 363 1828.73 no move -1.37 - - 1998.94 - - - 2243.00 - -82.73 - - 3113.44 - - - - - - - - - - -
2132.45 238.23 -9.32 424 2138.21 roll -1.37 - - 1999.06 - 2.88 0.081 3428.62 411.7 -82.73 - - 3115.34 - - - - - - - - - 15.96 -
2222.57 247.61 -10.65 442 2227.99 roll -1.37 - - 1999.06 - 2.54 0.020 2246.06 -465.6 -82.73 - - 3114.56 - - - - - - - - - 15.98 -
2532.51 275.67 -9.16 504 2538.09 roll -1.37 - - 1998.62 - 2.88 0.081 3428.44 410.5 -82.73 - - 3113.88 - - - - - - - - - 15.97 -
2562.51 278.75 -10.10 510 2568.04 roll -1.37 - - 1997.56 - 2.54 0.021 2245.44 -465.7 -82.73 - - 3115.03 - - - - - - - - - 15.98 -
2870.02 306.98 -9.17 563 2874.68 roll -1.37 - - 1999.00 - 2.87 0.082 3425.69 411.2 -82.73 - - 3112.12 - - - - - - - - - 15.99 -
2908.54 310.70 -9.66 569 2923.47 roll -1.37 - - 1999.44 - 2.53 0.021 2243.12 -467.4 -82.73 - - 3113.97 - - - - - - - - - 16.00 -
3224.98 340.29 -9.41 598 3229.64 roll -1.37 - - 1999.06 - 2.88 0.082 3426.12 410.8 -82.73 - - 3112.12 - - - - - - - - - 15.99 -
3279.25 345.82 -10.22 606 3294.17 roll -1.37 - - 1999.06 - 2.53 0.021 2244.69 -467.0 -82.73 - - 3115.56 - - - - - - - - - 16.01 -
3595.27 375.24 -9.57 635 3600.11 roll -1.37 - - 1997.69 - 2.88 0.083 3427.44 410.7 -82.73 - - 3112.12 - - - - - - - - - 15.99 -
3650.44 382.07 -10.42 643 3664.87 roll -1.37 - - 1999.44 - 2.54 0.021 2248.31 -464.2 -82.73 - - 3113.03 - - - - - - - - - 16.01 -
3966.06 412.88 -9.17 672 3970.72 roll -1.37 - - 1998.94 - 2.87 0.084 3425.44 410.1 -82.73 - - 3112.94 - - - - - - - - - 16.00 -
4081.91 424.71 -10.29 687 4086.51 roll -1.37 - - 1998.75 - 2.53 0.021 2248.81 -465.1 -82.73 - - 3112.59 - - - - - - - - - 16.01 -
4393.32 451.81 -8.40 716 4404.39 no move -1.37 - - 1999.00 - - - 2248.19 - -82.73 - - 3111.38 - - - - - - - - - - -
4705.97 478.01 -8.37 745 4710.62 roll -1.37 - - 1997.25 - 2.88 0.085 3429.12 410.0 -82.73 - - 3111.28 - - - - - - - - - 15.99 -
4775.98 484.57 -9.40 755 4790.89 roll -1.37 - - 1998.88 - 2.53 0.022 2248.44 -466.7 -82.73 - - 3110.12 - - - - - - - - - 16.02 -
5094.06 510.79 -8.42 781 5098.65 roll -1.37 - - 1998.19 - 2.47 0.071 1209.56 -420.6 -82.73 - - 3110.41 - - - - - - - - - 16.01 -
5133.35 514.16 -8.72 787 5138.76 roll -1.37 - - 1998.50 - 2.58 0.030 2353.19 443.3 -82.73 - - 3109.44 - - - - - - - - - 16.03 -
5452.57 541.84 -8.56 809 5453.90 no move -1.37 - - 1999.00 - - - 2353.69 - -82.73 - - 3108.69 - - - - - - - - - - -
5767.58 567.56 -8.09 830 5772.23 roll -1.37 - - 1998.06 - 2.72 0.065 1208.44 -421.0 -82.73 - - 3108.50 - - - - - - - - - 16.01 -
5827.05 572.55 -8.49 839 5832.46 roll -1.37 - - 1999.19 - 2.59 0.030 2352.81 441.8 -82.73 - - 3108.72 - - - - - - - - - 16.04 -
6146.27 597.84 -7.75 861 6147.60 no move -1.37 - - 1998.75 - - - 2353.38 - -82.73 - - 3107.97 - - - - - - - - - - -
6461.29 621.93 -7.56 882 6462.62 no move -1.37 - - 1999.31 - - - 2353.44 - -82.73 - - 3106.72 - - - - - - - - - - -
6776.48 646.86 -8.06 903 6781.13 roll -1.37 - - 1998.38 - 2.72 0.065 1208.38 -421.0 -82.73 - - 3107.44 - - - - - - - - - 16.00 -
6835.75 651.74 -8.31 912 6841.28 roll -1.37 - - 1998.75 - 2.58 0.030 2353.38 443.8 -82.73 - - 3107.47 - - - - - - - - - 16.04 -
7155.18 677.05 -7.84 934 7156.51 no move -1.37 - - 1998.62 - - - 2353.56 - -82.73 - - 3106.31 - - - - - - - - - - -
7470.21 700.82 -7.49 955 7474.85 roll -1.37 - - 1998.94 - 2.73 0.064 1209.38 -419.1 -82.73 - - 3106.97 - - - - - - - - - 16.00 -
7529.49 705.34 -7.68 964 7535.02 roll -1.37 - - 1998.88 - 2.58 0.030 2354.62 443.9 -82.73 - - 3107.03 - - - - - - - - - 16.03 -
7848.89 727.94 -6.90 986 7850.21 no move -1.37 - - 1999.19 - - - 2354.88 - -82.73 - - 3104.97 - - - - - - - - - - -
8163.90 748.78 -6.54 1007 8168.55 roll -1.37 - - 1998.88 - 2.73 0.065 1209.62 -419.5 -82.73 - - 3105.12 - - - - - - - - - 15.99 -
8243.92 754.60 -7.32 1019 8249.46 roll -1.37 - - 1998.69 - 2.59 0.031 2353.31 441.6 -82.73 - - 3105.00 - - - - - - - - - 16.03 -
8563.32 777.84 -7.12 1041 8564.65 no move -1.37 - - 1998.31 - - - 2353.06 - -82.73 - - 3104.34 - - - - - - - - - - -
8878.53 800.96 -7.34 1062 8879.86 no move -1.37 - - 1999.25 - - - 2352.88 - -82.73 - - 3103.34 - - - - - - - - - - -
9193.48 825.04 -7.58 1083 9198.12 roll -1.37 - - 1999.19 - 2.73 0.065 1208.50 -419.2 -82.73 - - 3105.19 - - - - - - - - - 15.98 -
9294.20 832.98 -7.98 1098 9299.74 roll -1.37 - - 1998.75 - 2.58 0.031 2352.06 443.2 -82.73 - - 3105.66 - - - - - - - - - 16.04 -
9613.61 857.95 -7.74 1120 9614.94 no move -1.37 - - 1999.06 - - - 2352.25 - -82.73 - - 3102.75 - - - - - - - - - - -
9928.63 881.75 -7.49 1141 9929.96 no move -1.37 - - 1999.50 - - - 2351.56 - -82.73 - - 3102.56 - - - - - - - - - - -
10243.65 903.84 -6.71 1162 10248.29 roll -1.37 - - 1999.12 - 2.73 0.065 1208.75 -418.6 -82.73 - - 3102.28 - - - - - - - - - 15.97 -
10307.92 907.96 -6.99 1172 10322.85 roll -1.37 - - 1999.12 - 2.59 0.031 2351.75 441.3 -82.73 - - 3103.38 - - - - - - - - - 16.03 -
10637.34 929.76 -6.21 1194 10638.67 no move -1.37 - - 1998.50 - - - 2352.12 - -82.73 - - 3102.53 - - - - - - - - - - -
10952.54 948.46 -5.79 1215 10957.18 roll -1.37 - - 1998.88 - 2.73 0.066 1208.69 -418.8 -82.73 - - 3101.41 - - - - - - - - - 15.96 -
11031.20 953.32 -6.11 1226 11035.82 roll -1.37 - - 1998.56 - 2.59 0.031 2353.00 441.8 -82.73 - - 3101.69 - - - - - - - - - 16.01 -
11347.69 971.29 -5.71 1248 11349.02 no move -1.37 - - 1998.62 - - - 2352.62 - -82.73 - - 3100.94 - - - - - - - - - - -
11662.71 989.83 -6.03 1269 11664.04 no move -1.37 - - 1998.56 - - - 2353.50 - -82.73 - - 3101.56 - - - - - - - - - - -
11677 end dive: TARGET_DEPTH_EXCEEDED
11677 begin apogee
11679.53 990.75 -6.06 1270 11755.30 -0.28 1.84 0.142 2264.44 144.5 0.21 0.140 2283.00 -335.7 - 61.90 2.452 2774.84 -5.3 0.356 - - - - - - 15.85 15.59 11.10
11756 end apogee: CONTROL_FINISHED_OK
11756 begin climb
11757.38 991.98 - 1275 11831.50 1.37 2.62 0.088 2667.81 154.0 - - 2283.44 - 82.73 67.07 2.425 2436.47 -5.0 0.345 - - - - - - 15.64 - 12.48
12143.89 964.66 7.90 1301 12145.22 no move 1.38 - - 2668.12 - - - 2282.44 - 82.73 - - 2430.59 - - - - - - - - - - -
12458.91 940.10 7.65 1322 12463.57 roll 1.39 - - 2666.69 - 2.83 0.075 1131.25 -406.8 82.73 - - 2430.03 - - - - - - - - - 15.78 -
12558.31 931.60 8.56 1336 12562.94 roll 1.39 - - 2666.56 - 2.62 0.031 2272.44 435.6 82.73 - - 2429.78 - - - - - - - - - 15.80 -
12874.81 906.51 7.79 1358 12876.14 VBD 1.41 - - 2667.75 - - - 2271.69 - 82.73 - - 2428.59 - - - - - - - - - - -
13189.82 881.85 7.77 1379 13194.48 done 1.42 - - 2668.44 - 2.81 0.075 1131.31 -405.8 82.73 - - 2430.00 - - - - - - - - - 15.86 -
13316.29 872.17 8.10 1398 13331.21 done 1.42 - - 2668.12 - 2.61 0.031 2270.81 436.6 82.73 - - 2430.41 - - - - - - - - - 15.90 -
13645.89 847.41 6.95 1420 13647.23 VBD 1.45 - - 2668.31 - - - 2270.75 - 82.73 - - 2427.94 - - - - - - - - - - -
13960.84 825.57 6.93 1441 13965.49 done 1.48 - - 2668.44 - 2.78 0.075 1131.25 -409.9 82.73 - - 2427.66 - - - - - - - - - 15.90 -
14061.60 818.49 7.11 1456 14067.19 1.51 0.17 0.087 2711.00 250.4 2.61 0.031 2272.62 437.3 82.73 - - 2430.03 - - - - - - - - 15.79 15.94 -
14381.02 796.65 6.59 1478 14382.36 VBD 1.55 - - 2711.56 - - - 2273.25 - 82.73 - - 2428.50 - - - - - - - - - - -
14696.25 775.26 6.55 1499 14700.89 done 1.59 - - 2712.62 - 2.79 0.075 1129.88 -409.8 82.73 - - 2426.88 - - - - - - - - - 15.92 -
14880.33 762.03 7.24 1526 14885.49 done 1.61 - - 2711.94 - 2.61 0.031 2272.44 437.8 82.73 - - 2429.34 - - - - - - - - - 15.98 -
15199.35 739.33 7.41 1548 15200.68 VBD 1.63 - - 2713.06 - - - 2273.00 - 82.73 - - 2426.69 - - - - - - - - - - -
15514.37 714.58 8.08 1569 15519.02 done 1.63 - - 2713.19 - 2.79 0.075 1130.88 -409.4 82.73 - - 2427.69 - - - - - - - - - 15.92 -
15593.02 707.89 8.44 1580 15597.64 done 1.63 - - 2712.81 - 2.60 0.031 2273.44 439.4 82.73 - - 2426.78 - - - - - - - - - 15.98 -
15909.51 682.57 8.24 1602 15914.15 done 1.63 - - 2712.56 - 2.78 0.074 1130.06 -411.3 82.73 - - 2427.16 - - - - - - - - - 15.92 -
16009.08 674.11 8.51 1616 16013.75 done 1.63 - - 2712.50 - 2.60 0.031 2274.50 440.2 82.73 - - 2427.16 - - - - - - - - - 15.98 -
16325.73 649.21 7.78 1638 16327.07 VBD 1.64 - - 2712.88 - - - 2275.19 - 82.73 - - 2426.16 - - - - - - - - - - -
16640.58 627.40 6.64 1659 16645.23 done 1.68 - - 2712.62 - 2.78 0.074 1129.81 -412.0 82.73 - - 2426.59 - - - - - - - - - 15.92 -
16740.01 620.49 6.96 1673 16744.69 1.71 0.19 0.081 2760.50 252.0 2.60 0.031 2274.56 440.3 82.73 - - 2427.44 - - - - - - - - 15.81 15.99 -
17056.89 597.24 7.58 1695 17061.53 done 1.73 - - 2761.19 - 2.78 0.074 1130.00 -411.7 82.73 - - 2426.88 - - - - - - - - - 15.92 -
17245.97 581.48 8.78 1723 17260.50 done 1.73 - - 2761.31 - 2.60 0.031 2274.50 440.2 82.73 - - 2427.94 - - - - - - - - - 15.99 -
17575.01 554.08 8.07 1745 17579.64 done 1.73 - - 2761.38 - 2.64 0.092 3346.12 405.9 82.73 - - 2426.75 - - - - - - - - - 15.91 -
17634.28 549.12 8.40 1754 17639.81 done 1.73 - - 2761.50 - 2.56 0.024 2184.62 -453.7 82.73 - - 2427.38 - - - - - - - - - 15.99 -
17953.70 525.75 6.94 1776 17958.31 done 1.76 - - 2761.44 - 2.55 0.079 1129.75 -413.7 82.73 - - 2426.28 - - - - - - - - - 15.91 -
18115.31 514.70 6.72 1799 18120.12 done 1.79 - - 2760.56 - 2.58 0.031 2272.31 442.9 82.73 - - 2427.72 - - - - - - - - - 15.99 -
18425.58 496.06 6.05 1822 18459.10 VBD 1.86 - - 2760.69 - - - 2271.75 - 118.11 27.28 1.771 2294.12 -4.9 0.229 - - - - - - - - 11.37
18761.14 468.74 8.90 1853 18765.79 roll 1.86 - - 2759.94 - 2.78 0.074 1131.06 -410.3 118.11 - - 2289.50 - - - - - - - - - 15.88 -
18846.87 460.70 9.52 1865 18861.78 roll 1.86 - - 2761.50 - 2.60 0.031 2274.88 439.9 118.11 - - 2288.88 - - - - - - - - - 15.91 -
19162.92 433.64 8.64 1894 19167.57 roll 1.86 - - 2760.81 - 2.77 0.074 1129.75 -413.4 118.11 - - 2288.22 - - - - - - - - - 15.89 -
19263.27 424.38 9.26 1907 19267.88 roll 1.86 - - 2761.06 - 2.58 0.031 2273.25 443.2 118.11 - - 2287.38 - - - - - - - - - 15.93 -
19574.81 400.25 7.17 1936 19585.99 pitch 1.89 0.16 0.085 2806.31 282.8 - - 2273.38 - 118.11 - - 2289.03 - - - - - - - - 15.91 - -
19887.51 374.32 8.53 1965 19892.16 roll 1.89 - - 2805.50 - 2.77 0.074 1129.75 -412.9 118.11 - - 2287.44 - - - - - - - - - 15.90 -
20082.03 356.23 9.36 1990 20086.64 roll 1.89 - - 2805.44 - 2.59 0.031 2273.44 441.6 118.11 - - 2287.47 - - - - - - - - - 15.95 -
20393.80 329.59 8.36 2019 20398.44 roll 1.89 - - 2804.56 - 2.77 0.073 1130.25 -412.7 118.11 - - 2289.81 - - - - - - - - - 15.91 -
20542.45 316.48 8.99 2039 20557.38 roll 1.89 - - 2804.75 - 2.59 0.031 2274.88 441.9 118.11 - - 2288.88 - - - - - - - - - 15.98 -
20862.97 289.56 8.01 2081 20864.29 no move 1.89 - - 2806.00 - - - 2274.44 - 118.11 - - 2287.66 - - - - - - - - - - -
21168.06 266.07 7.98 2142 21169.39 no move 1.89 - - 2805.38 - - - 2274.38 - 118.11 - - 2288.53 - - - - - - - - - - -
21473.34 240.34 8.95 2203 21474.67 no move 1.89 - - 2805.69 - - - 2274.38 - 118.11 - - 2287.75 - - - - - - - - - - -
21778.25 214.26 8.14 2264 21779.58 no move 1.89 - - 2805.12 - - - 2274.69 - 118.11 - - 2288.19 - - - - - - - - - - -
22083.31 191.81 7.57 2325 22084.63 no move 1.91 - - 2805.62 - - - 2274.56 - 118.11 - - 2287.59 - - - - - - - - - - -
22388.34 170.43 6.38 2386 22413.83 VBD 1.97 - - 2805.81 - - - 2275.12 - 148.56 23.88 1.360 2168.81 -5.0 0.104 - - - - - - - - 11.53
22718.44 143.43 8.39 2452 22723.94 roll 1.97 - - 2805.94 - 2.78 0.073 1129.81 -412.0 148.56 - - 2165.53 - - - - - - - - - 15.90 -
22953.42 123.00 7.27 2499 22958.94 roll 1.99 - - 2805.31 - 2.59 0.030 2274.50 442.0 148.56 - - 2165.62 - - - - - - - - - 15.92 -
23263.46 104.45 5.12 2561 23306.14 2.09 0.18 0.079 2852.75 263.6 2.76 0.074 1130.31 -414.6 197.45 37.22 1.297 1968.84 -5.3 0.071 - - - - - - 15.91 15.85 11.94
23483.46 86.02 8.80 2605 23489.01 roll 2.09 - - 2853.50 - 2.61 0.028 2273.81 438.1 197.45 - - 1964.91 - - - - - - - - - 15.84 -
23673.49 78.48 3.05 2643 23738.09 done 2.25 - - 2851.94 - 2.80 0.073 1129.94 -408.5 276.74 59.01 1.263 1647.50 -5.4 0.056 - - - - - - - 15.70 12.09
23925.36 58.17 9.92 2693 23930.92 done 2.25 - - 2853.06 - 2.62 0.029 2274.81 437.0 276.74 - - 1636.41 - - - - - - - - - 15.76 -
24115.38 41.12 8.89 2731 24120.93 done 2.25 - - 2853.06 - 2.65 0.087 3347.06 404.6 276.74 - - 1635.59 - - - - - - - - - 15.78 -
24150.38 37.86 9.27 2738 24155.92 done 2.25 - - 2853.62 - 2.57 0.022 2181.44 -453.5 276.74 - - 1635.59 - - - - - - - - - 15.80 -
24340.42 26.67 3.82 2776 24397.09 2.39 0.34 0.063 2921.44 199.5 2.55 0.077 1131.25 -411.8 344.78 50.37 1.178 1369.50 -5.3 0.020 - - - - - - 15.82 15.69 11.89
24625.45 11.17 6.22 2833 24656.86 done 2.45 - - 2921.81 - 2.62 0.028 2276.06 437.0 377.61 25.80 1.104 1236.28 -5.2 0.009 - - - - - - - 15.78 12.12
24730 end climb: SURFACE_DEPTH_REACHED
24730 begin surface coast
24790 end surface coast: CONTROL_FINISHED_OK
24791 begin surface
SM 2.01 - - - - 179.5 36.15 1.126 1042.6 28.1 16.95 0.051 997.5 58.8 - 0.12 0.136 1087.7 9042.3 -13.659 - - 12.13 15.72 15.74 -