NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 503 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 162.66 of 550.00 AH used of 24V (70.43% remains)
• Surface angle -63.7 deg, depth 0.67 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.90 (SM_CC=425)
• GPS1 time: 15 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
5.18 - - - 61.87 VBD -1.37 - - 178.50 - - - 2254.62 - -82.73 55.51 0.005 2484.91 - - - - - - - - - - 15.40
62.61 3.37 -5.94 10 100.68 -1.37 14.64 0.255 1998.56 124.3 2.89 0.083 3426.94 405.6 -82.73 13.19 0.007 3112.16 47.6 -3.820 - - - - - - 15.54 15.32 15.44
328.14 60.29 -16.51 63 333.35 roll -1.37 - - 1998.25 - 2.56 0.020 2248.06 -460.5 -82.73 - - 3112.25 - - - - - - - - - 15.81 -
518.25 84.41 -13.49 101 523.01 roll -1.37 - - 1998.31 - 2.47 0.064 1208.44 -420.9 -82.73 - - 3113.69 - - - - - - - - - 15.85 -
653.04 102.49 -11.79 128 658.48 roll -1.37 - - 1998.62 - 2.61 0.028 2354.00 438.9 -82.73 - - 3113.84 - - - - - - - - - 15.87 -
963.05 131.69 -9.76 190 964.38 no move -1.37 - - 1998.38 - - - 2353.81 - -82.73 - - 3112.97 - - - - - - - - - - -
1268.16 159.10 -8.23 251 1269.49 no move -1.37 - - 1998.44 - - - 2353.88 - -82.73 - - 3114.16 - - - - - - - - - - -
1573.25 187.31 -10.30 312 1574.58 no move -1.37 - - 1998.25 - - - 2354.25 - -82.73 - - 3113.34 - - - - - - - - - - -
1878.30 216.09 -9.14 373 1883.87 roll -1.37 - - 1998.75 - 2.73 0.061 1208.31 -419.8 -82.73 - - 3114.53 - - - - - - - - - 15.97 -
1938.30 221.79 -9.52 385 1943.84 roll -1.37 - - 1998.50 - 2.59 0.028 2356.06 443.1 -82.73 - - 3114.81 - - - - - - - - - 15.98 -
2248.36 250.16 -9.34 447 2249.68 no move -1.37 - - 1998.69 - - - 2355.56 - -82.73 - - 3113.25 - - - - - - - - - - -
2553.40 277.67 -9.07 508 2554.73 no move -1.37 - - 1998.56 - - - 2355.38 - -82.73 - - 3114.06 - - - - - - - - - - -
2859.38 304.62 -8.93 563 2870.45 no move -1.37 - - 1998.75 - - - 2356.38 - -82.73 - - 3114.03 - - - - - - - - - - -
3172.47 332.71 -9.02 592 3177.10 roll -1.37 - - 1998.12 - 2.61 0.089 3425.81 409.7 -82.73 - - 3112.31 - - - - - - - - - 15.99 -
3211.01 336.46 -9.66 598 3225.93 roll -1.37 - - 1998.75 - 2.54 0.021 2243.88 -465.3 -82.73 - - 3112.66 - - - - - - - - - 16.02 -
3527.14 364.90 -8.99 627 3538.21 no move -1.37 - - 1998.31 - - - 2243.38 - -82.73 - - 3112.62 - - - - - - - - - - -
3840.00 394.04 -9.30 656 3851.07 no move -1.37 - - 1998.44 - - - 2244.25 - -82.73 - - 3112.16 - - - - - - - - - - -
4152.68 424.19 -9.66 685 4163.75 no move -1.37 - - 1998.75 - - - 2243.81 - -82.73 - - 3111.62 - - - - - - - - - - -
4465.34 456.07 -10.12 714 4470.00 roll -1.37 - - 1998.31 - 2.89 0.086 3426.88 409.4 -82.73 - - 3110.59 - - - - - - - - - 15.99 -
4565.68 467.23 -11.16 727 4570.29 roll -1.37 - - 1998.06 - 2.54 0.022 2249.31 -463.6 -82.73 - - 3110.31 - - - - - - - - - 16.02 -
4876.91 495.71 -8.92 756 4887.98 no move -1.37 - - 1998.81 - - - 2248.38 - -82.73 - - 3110.16 - - - - - - - - - - -
5201.64 523.64 -8.32 779 5206.30 roll -1.37 - - 1998.12 - 2.88 0.086 3425.69 408.8 -82.73 - - 3108.78 - - - - - - - - - 15.98 -
5266.67 529.11 -9.17 789 5281.42 roll -1.37 - - 1997.69 - 2.54 0.022 2246.19 -464.4 -82.73 - - 3110.81 - - - - - - - - - 16.02 -
5596.00 556.22 -7.65 811 5600.66 roll -1.37 - - 1998.25 - 2.88 0.086 3430.31 411.2 -82.73 - - 3107.47 - - - - - - - - - 15.98 -
5676.01 563.19 -8.73 823 5681.55 roll -1.37 - - 1998.75 - 2.55 0.022 2249.38 -463.1 -82.73 - - 3108.16 - - - - - - - - - 16.03 -
5995.41 589.20 -8.24 845 5996.74 no move -1.37 - - 1998.12 - - - 2248.62 - -82.73 - - 3107.22 - - - - - - - - - - -
6310.43 614.34 -7.86 866 6315.08 roll -1.37 - - 1998.31 - 2.89 0.087 3427.94 408.1 -82.73 - - 3106.69 - - - - - - - - - 15.97 -
6389.09 621.24 -8.66 877 6393.71 roll -1.37 - - 1998.69 - 2.54 0.022 2248.19 -464.5 -82.73 - - 3106.34 - - - - - - - - - 16.02 -
6705.73 646.98 -8.17 899 6707.05 no move -1.37 - - 1998.00 - - - 2247.25 - -82.73 - - 3106.03 - - - - - - - - - - -
7020.57 672.56 -8.14 920 7021.90 no move -1.37 - - 1999.00 - - - 2246.75 - -82.73 - - 3105.19 - - - - - - - - - - -
7335.58 697.45 -7.78 941 7340.24 roll -1.37 - - 1997.44 - 2.88 0.088 3425.81 409.4 -82.73 - - 3106.62 - - - - - - - - - 15.96 -
7374.12 700.61 -8.15 947 7379.65 roll -1.37 - - 1998.62 - 2.54 0.022 2246.12 -464.4 -82.73 - - 3107.25 - - - - - - - - - 16.03 -
7693.52 725.82 -8.00 969 7694.85 no move -1.37 - - 1998.50 - - - 2246.38 - -82.73 - - 3104.22 - - - - - - - - - - -
8008.53 751.41 -8.21 990 8009.86 no move -1.37 - - 1997.75 - - - 2246.12 - -82.73 - - 3103.97 - - - - - - - - - - -
8323.55 775.63 -7.22 1011 8328.41 roll -1.37 - - 1997.31 - 2.90 0.088 3426.12 406.9 -82.73 - - 3105.75 - - - - - - - - - 15.95 -
8403.74 782.08 -8.10 1023 8409.09 roll -1.37 - - 1998.62 - 2.55 0.022 2248.31 -461.9 -82.73 - - 3104.16 - - - - - - - - - 16.03 -
8722.97 805.49 -7.16 1045 8724.29 no move -1.37 - - 1998.25 - - - 2247.44 - -82.73 - - 3103.31 - - - - - - - - - - -
9038.35 828.40 -7.41 1066 9043.03 roll -1.37 - - 1998.31 - 2.91 0.089 3426.94 405.3 -82.73 - - 3102.44 - - - - - - - - - 15.94 -
9096.28 833.11 -7.88 1074 9100.89 roll -1.37 - - 1997.31 - 2.54 0.022 2248.44 -464.0 -82.73 - - 3104.75 - - - - - - - - - 16.01 -
9412.75 856.41 -7.56 1096 9417.34 roll -1.37 - - 1998.25 - 2.48 0.072 1208.31 -419.4 -82.73 - - 3101.94 - - - - - - - - - 15.97 -
9491.40 862.51 -7.73 1107 9496.01 roll -1.37 - - 1998.00 - 2.58 0.030 2350.81 442.8 -82.73 - - 3101.41 - - - - - - - - - 16.02 -
9807.87 885.91 -7.35 1129 9809.19 no move -1.37 - - 1998.44 - - - 2350.38 - -82.73 - - 3101.66 - - - - - - - - - - -
10122.90 909.04 -7.11 1150 10127.54 roll -1.37 - - 1998.62 - 2.74 0.066 1208.31 -416.8 -82.73 - - 3101.00 - - - - - - - - - 15.97 -
10187.17 913.27 -7.24 1160 10202.09 roll -1.37 - - 1998.44 - 2.59 0.031 2351.75 441.5 -82.73 - - 3102.53 - - - - - - - - - 16.03 -
10516.57 935.83 -6.50 1182 10517.90 no move -1.37 - - 1998.44 - - - 2351.75 - -82.73 - - 3100.88 - - - - - - - - - - -
10831.59 956.70 -6.71 1203 10836.42 roll -1.37 - - 1998.12 - 2.74 0.066 1209.94 -416.7 -82.73 - - 3100.62 - - - - - - - - - 15.96 -
10890.50 960.84 -7.00 1211 10895.12 roll -1.37 - - 1998.38 - 2.60 0.031 2352.00 439.3 -82.73 - - 3102.03 - - - - - - - - - 16.01 -
11206.99 981.91 -6.61 1233 11208.32 no move -1.37 - - 1998.12 - - - 2352.31 - -82.73 - - 3100.28 - - - - - - - - - - -
11341 end dive: TARGET_DEPTH_EXCEEDED
11341 begin apogee
11343.84 990.70 -6.57 1242 11419.38 -0.28 1.85 0.144 2262.62 143.0 0.22 0.138 2283.88 -311.0 - 61.58 2.458 2775.06 -5.3 0.355 - - - - - - 15.85 15.59 11.09
11420 end apogee: CONTROL_FINISHED_OK
11420 begin climb
11421.34 992.27 - 1247 11495.50 1.37 2.65 0.090 2666.94 152.6 - - 2284.38 - 82.73 66.82 2.427 2437.84 -5.0 0.344 - - - - - - 15.64 - 12.54
11807.85 965.36 7.86 1273 11812.51 roll 1.38 - - 2666.19 - 2.86 0.075 1132.38 -402.8 82.73 - - 2433.16 - - - - - - - - - 15.67 -
11892.86 958.72 8.37 1286 11907.79 roll 1.38 - - 2666.12 - 2.64 0.031 2271.06 431.3 82.73 - - 2431.12 - - - - - - - - - 15.71 -
12222.28 932.44 7.79 1308 12226.94 roll 1.39 - - 2664.81 - 2.81 0.075 1130.88 -405.8 82.73 - - 2432.41 - - - - - - - - - 15.80 -
12302.47 925.87 8.29 1320 12307.90 roll 1.39 - - 2667.50 - 2.62 0.031 2271.94 435.5 82.73 - - 2430.56 - - - - - - - - - 15.83 -
12621.71 900.39 7.89 1342 12626.35 done 1.40 - - 2667.44 - 2.80 0.075 1131.56 -407.3 82.73 - - 2429.94 - - - - - - - - - 15.85 -
12665.25 897.34 8.05 1349 12680.52 done 1.40 - - 2665.31 - 2.61 0.031 2272.38 437.1 82.73 - - 2430.62 - - - - - - - - - 15.87 -
12994.66 871.43 7.41 1371 12999.32 done 1.43 - - 2666.50 - 2.79 0.075 1130.25 -409.4 82.73 - - 2428.31 - - - - - - - - - 15.87 -
13038.21 868.54 7.59 1378 13053.14 done 1.44 - - 2666.75 - 2.61 0.031 2273.00 437.8 82.73 - - 2429.41 - - - - - - - - - 15.91 -
13367.62 842.48 7.75 1400 13372.26 done 1.46 - - 2666.88 - 2.79 0.075 1131.12 -409.3 82.73 - - 2427.97 - - - - - - - - - 15.89 -
13447.63 835.92 8.28 1412 13453.17 done 1.46 - - 2665.75 - 2.60 0.031 2274.06 439.6 82.73 - - 2430.22 - - - - - - - - - 15.93 -
13767.08 810.71 7.85 1434 13768.41 VBD 1.47 - - 2666.94 - - - 2274.19 - 82.73 - - 2428.12 - - - - - - - - - - -
14082.12 786.10 7.75 1455 14086.77 done 1.48 - - 2667.19 - 2.79 0.075 1129.75 -410.2 82.73 - - 2429.84 - - - - - - - - - 15.91 -
14146.40 781.40 7.99 1465 14161.50 done 1.48 - - 2666.56 - 2.60 0.031 2274.25 440.2 82.73 - - 2430.31 - - - - - - - - - 15.96 -
14476.00 757.54 7.00 1487 14480.71 1.51 0.17 0.084 2709.19 250.8 2.79 0.075 1131.19 -409.7 82.73 - - 2427.97 - - - - - - - - 15.93 15.84 -
14556.89 750.87 8.24 1499 14562.25 done 1.51 - - 2709.62 - 2.59 0.031 2272.56 440.7 82.73 - - 2429.84 - - - - - - - - - 15.96 -
14876.16 726.44 7.96 1521 14880.80 done 1.52 - - 2709.81 - 2.77 0.075 1131.12 -412.1 82.73 - - 2427.75 - - - - - - - - - 15.92 -
14997.63 716.63 8.17 1539 15003.16 done 1.52 - - 2710.19 - 2.59 0.031 2274.31 441.4 82.73 - - 2428.81 - - - - - - - - - 15.97 -
15317.08 692.46 7.23 1561 15318.41 VBD 1.55 - - 2710.62 - - - 2274.38 - 82.73 - - 2427.03 - - - - - - - - - - -
15632.12 670.08 6.86 1582 15636.76 done 1.58 - - 2708.81 - 2.79 0.075 1130.44 -410.0 82.73 - - 2429.53 - - - - - - - - - 15.92 -
15795.08 658.67 7.05 1606 15800.59 done 1.61 - - 2709.31 - 2.59 0.031 2273.00 441.1 82.73 - - 2428.16 - - - - - - - - - 16.00 -
16114.65 638.57 6.43 1628 16144.57 VBD 1.67 - - 2709.19 - - - 2273.50 - 112.49 23.57 1.922 2316.22 -4.7 0.263 - - - - - - - - 11.46
16459.47 611.39 8.10 1651 16464.12 roll 1.67 - - 2710.62 - 2.79 0.075 1130.19 -409.8 112.49 - - 2312.03 - - - - - - - - - 15.89 -
16539.68 604.53 8.65 1663 16545.12 roll 1.67 - - 2710.69 - 2.61 0.031 2271.94 437.5 112.49 - - 2312.88 - - - - - - - - - 15.92 -
16858.90 578.11 8.31 1685 16860.23 no move 1.67 - - 2710.56 - - - 2272.19 - 112.49 - - 2311.44 - - - - - - - - - - -
17173.92 552.72 8.50 1706 17178.57 roll 1.67 - - 2710.56 - 2.77 0.075 1131.38 -411.8 112.49 - - 2311.59 - - - - - - - - - 15.90 -
17279.67 543.62 9.17 1722 17294.61 roll 1.67 - - 2711.25 - 2.61 0.031 2273.44 437.6 112.49 - - 2312.00 - - - - - - - - - 15.95 -
17609.10 515.59 7.84 1744 17610.54 pitch 1.68 0.15 0.093 2746.69 236.3 - - 2273.38 - 112.49 - - 2313.44 - - - - - - - - 15.94 - -
17912.04 489.82 8.36 1767 17916.69 roll 1.68 - - 2748.06 - 2.77 0.075 1130.19 -412.7 112.49 - - 2310.09 - - - - - - - - - 15.92 -
18029.25 479.46 8.92 1783 18044.17 roll 1.68 - - 2748.00 - 2.60 0.031 2275.00 440.3 112.49 - - 2311.34 - - - - - - - - - 15.98 -
18345.93 453.03 8.40 1812 18357.00 no move 1.68 - - 2748.56 - - - 2275.12 - 112.49 - - 2311.88 - - - - - - - - - - -
18659.00 426.70 8.50 1841 18663.64 roll 1.68 - - 2747.81 - 2.78 0.074 1130.88 -411.6 112.49 - - 2309.44 - - - - - - - - - 15.92 -
18760.48 417.81 8.85 1855 18775.39 roll 1.68 - - 2748.62 - 2.59 0.031 2274.38 441.5 112.49 - - 2311.94 - - - - - - - - - 15.98 -
19076.74 393.12 7.79 1884 19087.81 no move 1.69 - - 2748.62 - - - 2274.25 - 112.49 - - 2311.56 - - - - - - - - - - -
19389.99 369.26 7.73 1913 19394.62 roll 1.71 - - 2747.56 - 2.63 0.092 3346.81 407.8 112.49 - - 2310.22 - - - - - - - - - 15.91 -
19475.72 361.86 8.68 1925 19490.64 roll 1.71 - - 2748.06 - 2.55 0.024 2186.38 -455.1 112.49 - - 2311.06 - - - - - - - - - 15.99 -
19791.81 337.26 7.55 1954 19796.47 roll 1.73 - - 2748.56 - 2.86 0.087 3344.50 404.9 112.49 - - 2309.81 - - - - - - - - - 15.91 -
19861.81 331.71 8.01 1964 19876.72 roll 1.73 - - 2747.94 - 2.56 0.023 2185.00 -452.9 112.49 - - 2311.72 - - - - - - - - - 15.99 -
20178.12 308.61 7.41 1993 20189.19 no move 1.75 - - 2748.25 - - - 2185.81 - 112.49 - - 2311.84 - - - - - - - - - - -
20490.11 286.61 7.19 2041 20491.44 no move 1.77 - - 2748.44 - - - 2185.38 - 112.49 - - 2312.06 - - - - - - - - - - -
20795.21 264.75 7.09 2102 20800.72 roll 1.80 - - 2748.19 - 2.54 0.078 1131.25 -415.0 112.49 - - 2312.31 - - - - - - - - - 15.90 -
20985.25 251.37 6.92 2140 20990.83 roll back 1.83 0.15 0.089 2791.12 286.2 2.59 0.030 2276.50 442.2 112.49 - - 2311.56 - - - - - - - - 15.81 15.98 -
21295.41 230.07 7.02 2202 21296.74 no move 1.86 - - 2791.12 - - - 2276.44 - 112.49 - - 2311.25 - - - - - - - - - - -
21600.33 207.24 7.18 2263 21605.86 roll 1.88 - - 2791.62 - 2.63 0.089 3346.25 406.8 112.49 - - 2312.78 - - - - - - - - - 15.90 -
21690.34 200.92 7.07 2281 21695.86 roll 1.91 - - 2791.25 - 2.54 0.023 2182.88 -458.0 112.49 - - 2312.25 - - - - - - - - - 15.98 -
22000.38 181.17 6.18 2343 22027.92 VBD 1.98 - - 2791.88 - - - 2182.38 - 145.86 25.95 1.380 2178.59 -5.2 0.113 - - - - - - - - 11.35
22330.42 155.66 7.12 2409 22336.29 roll 2.01 - - 2792.19 - 2.53 0.077 1130.19 -415.9 145.86 - - 2177.31 - - - - - - - - - 15.90 -
22400.41 149.69 8.73 2423 22405.96 roll 2.01 - - 2790.88 - 2.60 0.029 2276.19 440.8 145.86 - - 2177.69 - - - - - - - - - 15.92 -
22710.48 127.04 7.71 2485 22711.92 pitch 2.02 0.17 0.081 2836.19 266.5 - - 2276.62 - 145.86 - - 2175.50 - - - - - - - - 15.90 - -
23015.96 108.26 5.05 2546 23059.16 done 2.12 - - 2836.94 - 2.76 0.073 1130.31 -415.3 195.80 37.94 1.300 1975.69 -5.3 0.073 - - - - - - - 15.84 11.92
23156.38 99.85 7.05 2574 23161.92 roll 2.15 - - 2836.88 - 2.61 0.029 2277.50 439.5 195.80 - - 1972.66 - - - - - - - - - 15.85 -
23346.41 86.97 6.55 2612 23351.96 roll 2.19 - - 2836.62 - 2.78 0.071 1128.88 -413.2 195.80 - - 1970.66 - - - - - - - - - 15.86 -
23581.42 72.26 5.07 2659 23624.10 2.29 0.28 0.062 2901.19 230.6 2.60 0.028 2275.94 441.2 245.50 37.65 1.231 1774.53 -5.2 0.051 - - - - - - 15.77 15.88 12.02
23806.47 57.31 7.03 2704 23812.02 roll 2.32 - - 2900.62 - 2.79 0.070 1129.81 -410.8 245.50 - - 1768.50 - - - - - - - - - 15.82 -
24031.67 39.32 7.70 2749 24037.06 done 2.33 - - 2899.94 - 2.59 0.028 2276.75 442.8 245.50 - - 1766.03 - - - - - - - - - 15.85 -
24221.51 34.36 1.34 2787 24304.66 2.54 0.27 0.062 2962.88 233.1 2.65 0.087 3348.88 404.6 349.80 76.38 1.191 1348.81 -5.5 0.026 - - - - - - 15.85 15.65 11.98
24417.16 22.10 9.20 2826 24422.31 roll 2.54 - - 2962.19 - 2.59 0.022 2185.44 -449.2 349.80 - - 1343.22 - - - - - - - - - 15.73 -
24606.86 6.86 7.21 2864 24612.38 done 2.56 - - 2962.31 - 2.55 0.076 1130.56 -413.7 349.80 - - 1339.50 - - - - - - - - - 15.76 -
24651 end climb: SURFACE_DEPTH_REACHED
24651 begin surface coast
24696 end surface coast: CONTROL_FINISHED_OK
24697 begin surface
SM 0.62 - - - - 182.9 54.63 1.140 1042.8 19.1 17.01 0.040 1005.6 59.1 - 2.77 0.030 1080.1 389.0 -0.822 - - 12.00 15.73 15.79 -