NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 506 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 163.86 of 550.00 AH used of 24V (70.21% remains)
• Surface angle -61.6 deg, depth 0.66 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 557.80 (beyond SM_CC=425)
• GPS1 time: 128 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 - - 180.88 - - - 2228.38 - -82.73 55.52 0.005 2538.34 - - - - - - - - - - 15.43
62.59 3.64 -6.92 10 97.64 -1.37 14.45 0.252 1998.50 125.8 2.96 0.083 3427.50 405.1 -82.73 11.62 0.007 3111.62 49.3 -4.281 - - - - - - 15.57 15.36 15.48
324.76 62.67 -13.75 62 330.28 roll -1.37 - - 1998.88 - 2.55 0.020 2244.19 -464.0 -82.73 - - 3113.69 - - - - - - - - - 15.82 -
515.14 86.66 -12.32 100 520.54 roll -1.37 - - 1998.25 - 2.90 0.078 3430.00 408.9 -82.73 - - 3114.22 - - - - - - - - - 15.85 -
584.91 95.18 -11.84 114 590.33 roll -1.37 - - 1998.88 - 2.54 0.019 2242.56 -467.5 -82.73 - - 3113.59 - - - - - - - - - 15.86 -
775.21 114.21 -9.70 152 780.40 roll -1.37 - - 1998.19 - 2.89 0.078 3428.19 410.3 -82.73 - - 3113.97 - - - - - - - - - 15.88 -
884.85 127.06 -11.83 174 890.37 roll -1.37 - - 1998.50 - 2.54 0.020 2240.19 -467.7 -82.73 - - 3115.75 - - - - - - - - - 15.90 -
1194.89 154.08 -8.51 236 1200.48 roll -1.37 - - 1998.25 - 2.88 0.078 3430.19 413.2 -82.73 - - 3114.38 - - - - - - - - - 15.92 -
1269.90 161.35 -9.63 251 1275.43 roll -1.37 - - 1998.69 - 2.53 0.020 2241.56 -469.8 -82.73 - - 3114.88 - - - - - - - - - 15.93 -
1579.95 189.01 -9.04 313 1581.28 no move -1.37 - - 1998.00 - - - 2240.00 - -82.73 - - 3114.50 - - - - - - - - - - -
1885.00 218.15 -9.56 374 1890.11 roll -1.37 - - 1997.50 - 2.41 0.068 1208.56 -428.0 -82.73 - - 3116.03 - - - - - - - - - 15.97 -
1960.02 225.57 -9.84 389 1965.73 roll -1.37 - - 1999.12 - 2.58 0.028 2355.25 444.5 -82.73 - - 3115.56 - - - - - - - - - 15.97 -
2270.14 253.90 -8.72 451 2275.67 roll -1.37 - - 1998.38 - 2.60 0.085 3426.69 412.1 -82.73 - - 3114.62 - - - - - - - - - 15.96 -
2325.15 259.40 -10.30 462 2330.68 roll -1.37 - - 1999.19 - 2.52 0.020 2242.38 -470.0 -82.73 - - 3113.94 - - - - - - - - - 15.98 -
2635.26 288.27 -9.29 524 2640.38 roll -1.37 - - 1999.38 - 2.41 0.067 1208.50 -429.0 -82.73 - - 3113.56 - - - - - - - - - 15.98 -
2695.28 293.93 -9.49 536 2700.81 roll -1.37 - - 1999.50 - 2.57 0.029 2354.38 445.9 -82.73 - - 3113.75 - - - - - - - - - 15.99 -
3009.68 322.71 -9.07 572 3020.96 no move -1.37 - - 1999.19 - - - 2354.81 - -82.73 - - 3113.38 - - - - - - - - - - -
3322.54 352.01 -9.45 601 3333.61 no move -1.37 - - 1999.25 - - - 2354.94 - -82.73 - - 3112.41 - - - - - - - - - - -
3635.20 380.96 -9.01 630 3646.27 no move -1.37 - - 1999.31 - - - 2355.06 - -82.73 - - 3111.81 - - - - - - - - - - -
3948.05 408.25 -8.57 659 3959.12 no move -1.37 - - 1999.25 - - - 2355.00 - -82.73 - - 3111.31 - - - - - - - - - - -
4261.30 435.20 -8.51 688 4265.94 roll -1.37 - - 1999.12 - 2.71 0.064 1207.38 -423.5 -82.73 - - 3108.34 - - - - - - - - - 16.02 -
4299.84 438.50 -8.67 694 4314.94 roll -1.37 - - 1999.31 - 2.58 0.029 2353.69 444.3 -82.73 - - 3109.94 - - - - - - - - - 16.03 -
4616.75 463.98 -7.47 723 4621.38 roll -1.37 - - 1998.75 - 2.61 0.089 3427.75 411.5 -82.73 - - 3108.31 - - - - - - - - - 15.99 -
4671.02 468.38 -8.10 731 4685.94 roll -1.37 - - 1999.00 - 2.52 0.021 2244.81 -469.4 -82.73 - - 3108.91 - - - - - - - - - 16.02 -
4987.13 493.66 -8.28 760 4991.80 roll -1.37 - - 1998.81 - 2.88 0.084 3427.12 410.5 -82.73 - - 3107.84 - - - - - - - - - 15.98 -
5071.53 501.44 -9.19 771 5076.16 roll -1.37 - - 1999.25 - 2.53 0.021 2245.81 -466.9 -82.73 - - 3109.22 - - - - - - - - - 16.01 -
5388.18 527.25 -8.33 793 5392.77 roll -1.37 - - 1999.69 - 2.44 0.070 1208.38 -425.2 -82.73 - - 3106.75 - - - - - - - - - 16.01 -
5425.37 530.51 -8.55 798 5429.98 roll -1.37 - - 1998.88 - 2.57 0.030 2353.44 445.5 -82.73 - - 3106.66 - - - - - - - - - 16.03 -
5741.83 559.20 -9.47 820 5743.16 no move -1.37 - - 1998.38 - - - 2353.25 - -82.73 - - 3106.50 - - - - - - - - - - -
6056.85 588.29 -9.21 841 6058.18 no move -1.37 - - 1999.25 - - - 2353.88 - -82.73 - - 3105.59 - - - - - - - - - - -
6371.87 615.50 -8.19 862 6373.20 no move -1.37 - - 1998.75 - - - 2353.50 - -82.73 - - 3104.88 - - - - - - - - - - -
6686.87 639.68 -7.26 883 6691.51 roll -1.37 - - 1998.75 - 2.72 0.065 1208.44 -421.0 -82.73 - - 3104.59 - - - - - - - - - 16.00 -
6765.54 645.90 -7.84 894 6770.33 roll -1.37 - - 1998.94 - 2.59 0.030 2354.56 442.5 -82.73 - - 3104.53 - - - - - - - - - 16.02 -
7082.12 669.64 -7.60 916 7083.45 no move -1.37 - - 1999.25 - - - 2354.69 - -82.73 - - 3103.44 - - - - - - - - - - -
7397.02 694.13 -7.79 937 7398.35 no move -1.37 - - 1998.62 - - - 2354.19 - -82.73 - - 3103.09 - - - - - - - - - - -
7712.04 718.76 -7.71 958 7713.37 no move -1.37 - - 1998.62 - - - 2354.25 - -82.73 - - 3102.56 - - - - - - - - - - -
8027.05 743.67 -7.63 979 8031.69 roll -1.37 - - 1998.62 - 2.72 0.065 1208.56 -421.2 -82.73 - - 3103.22 - - - - - - - - - 15.98 -
8148.52 753.51 -8.22 997 8154.06 roll -1.37 - - 1998.69 - 2.58 0.031 2354.50 444.2 -82.73 - - 3103.25 - - - - - - - - - 16.02 -
8468.10 777.96 -7.58 1019 8469.43 no move -1.37 - - 1998.75 - - - 2354.38 - -82.73 - - 3101.97 - - - - - - - - - - -
8782.94 801.48 -7.36 1040 8784.27 no move -1.37 - - 1998.62 - - - 2354.44 - -82.73 - - 3101.00 - - - - - - - - - - -
9097.96 823.49 -6.80 1061 9102.60 roll -1.37 - - 1998.75 - 2.73 0.065 1208.56 -419.7 -82.73 - - 3099.69 - - - - - - - - - 15.97 -
9203.70 830.39 -6.94 1077 9218.63 roll -1.37 - - 1999.19 - 2.58 0.031 2352.44 443.4 -82.73 - - 3101.38 - - - - - - - - - 16.03 -
9533.11 852.82 -6.73 1099 9537.75 roll -1.37 - - 1998.69 - 2.71 0.065 1207.00 -422.7 -82.73 - - 3101.38 - - - - - - - - - 15.97 -
9591.02 856.95 -7.01 1107 9595.64 roll -1.37 - - 1998.38 - 2.59 0.031 2352.00 442.1 -82.73 - - 3101.03 - - - - - - - - - 16.01 -
9907.70 879.20 -7.17 1129 9912.40 roll -1.37 - - 1999.19 - 2.72 0.065 1207.75 -420.7 -82.73 - - 3101.53 - - - - - - - - - 15.96 -
10007.08 886.69 -7.53 1143 10011.69 roll -1.37 - - 1999.00 - 2.59 0.031 2353.31 442.3 -82.73 - - 3100.53 - - - - - - - - - 16.02 -
10323.58 909.21 -7.18 1165 10324.91 no move -1.37 - - 1998.81 - - - 2353.19 - -82.73 - - 3099.59 - - - - - - - - - - -
10638.63 931.33 -6.93 1186 10643.28 roll -1.37 - - 1997.88 - 2.72 0.065 1208.06 -421.0 -82.73 - - 3101.28 - - - - - - - - - 15.96 -
10677.16 934.05 -7.12 1192 10682.70 roll -1.37 - - 1998.62 - 2.57 0.031 2352.75 445.4 -82.73 - - 3099.75 - - - - - - - - - 16.01 -
10996.60 955.17 -6.16 1214 11001.24 roll -1.37 - - 1998.62 - 2.71 0.065 1208.56 -422.2 -82.73 - - 3099.06 - - - - - - - - - 15.95 -
11081.63 960.26 -6.43 1227 11096.54 roll -1.37 - - 1998.38 - 2.58 0.031 2352.44 443.4 -82.73 - - 3099.16 - - - - - - - - - 16.02 -
11411.03 979.46 -5.63 1249 11415.66 roll -1.37 - - 1998.50 - 2.64 0.095 3425.56 406.5 -82.73 - - 3098.38 - - - - - - - - - 15.90 -
11449.57 981.90 -6.14 1255 11455.11 roll -1.37 - - 1998.81 - 2.54 0.022 2244.62 -464.9 -82.73 - - 3098.94 - - - - - - - - - 16.01 -
11589 end dive: TARGET_DEPTH_EXCEEDED
11589 begin apogee
11590.75 990.17 -5.77 1265 11666.55 -0.28 1.87 0.147 2264.19 141.9 0.16 0.175 2289.00 277.4 - 61.47 2.443 2774.38 -5.3 0.357 - - - - - - 15.82 15.59 10.99
11668 end apogee: CONTROL_FINISHED_OK
11668 begin climb
11668.62 990.95 - 1270 11741.01 1.37 2.65 0.091 2666.69 151.9 - - 2289.31 - 82.73 67.46 2.412 2437.44 -5.0 0.342 - - - - - - 15.64 - 12.50
12042.76 963.06 8.44 1300 12047.42 roll 1.37 - - 2665.75 - 2.84 0.075 1129.69 -408.3 82.73 - - 2431.00 - - - - - - - - - 15.66 -
12121.42 956.10 8.80 1311 12126.05 roll 1.37 - - 2666.12 - 2.63 0.031 2273.56 434.9 82.73 - - 2429.34 - - - - - - - - - 15.69 -
12437.91 931.10 7.61 1333 12442.55 done 1.38 - - 2665.31 - 2.77 0.074 1129.69 -412.9 82.73 - - 2429.62 - - - - - - - - - 15.79 -
12539.00 923.31 7.85 1348 12544.20 done 1.40 - - 2666.56 - 2.61 0.031 2271.88 437.6 82.73 - - 2430.56 - - - - - - - - - 15.82 -
12858.07 899.48 7.44 1370 12859.40 VBD 1.42 - - 2667.25 - - - 2271.75 - 82.73 - - 2427.66 - - - - - - - - - - -
13173.09 875.72 7.66 1391 13177.92 done 1.43 - - 2665.94 - 2.73 0.075 1129.81 -418.3 82.73 - - 2429.44 - - - - - - - - - 15.87 -
13237.53 871.02 8.02 1401 13252.28 done 1.43 - - 2666.88 - 2.59 0.031 2273.31 441.5 82.73 - - 2428.22 - - - - - - - - - 15.90 -
13566.78 844.94 7.64 1423 13571.43 done 1.45 - - 2665.62 - 2.75 0.075 1131.12 -415.3 82.73 - - 2428.47 - - - - - - - - - 15.88 -
13667.53 837.02 7.97 1438 13673.06 done 1.45 - - 2667.06 - 2.58 0.031 2271.94 442.2 82.73 - - 2427.62 - - - - - - - - - 15.93 -
13986.95 814.08 7.31 1460 13988.28 VBD 1.47 - - 2666.56 - - - 2272.25 - 82.73 - - 2426.47 - - - - - - - - - - -
14301.96 791.86 7.14 1481 14306.68 1.50 0.16 0.094 2706.38 248.9 2.76 0.075 1129.75 -413.9 82.73 - - 2426.56 - - - - - - - - 15.91 15.82 -
14423.64 781.56 8.69 1499 14428.99 done 1.50 - - 2706.81 - 2.59 0.031 2272.00 441.0 82.73 - - 2427.19 - - - - - - - - - 15.96 -
14742.88 756.15 7.80 1521 14744.22 VBD 1.51 - - 2707.69 - - - 2272.31 - 82.73 - - 2425.47 - - - - - - - - - - -
15057.90 732.02 7.55 1542 15062.54 done 1.53 - - 2707.19 - 2.76 0.074 1131.12 -413.5 82.73 - - 2426.12 - - - - - - - - - 15.91 -
15117.18 727.41 7.82 1551 15122.70 done 1.54 - - 2706.56 - 2.59 0.031 2274.56 441.5 82.73 - - 2426.97 - - - - - - - - - 15.98 -
15436.61 703.70 7.45 1573 15437.94 VBD 1.56 - - 2706.94 - - - 2274.88 - 82.73 - - 2425.47 - - - - - - - - - - -
15751.65 681.13 7.24 1594 15752.99 VBD 1.59 - - 2706.75 - - - 2274.50 - 82.73 - - 2426.16 - - - - - - - - - - -
16066.86 657.88 7.20 1615 16071.56 done 1.61 - - 2705.56 - 2.75 0.075 1131.25 -415.7 82.73 - - 2427.34 - - - - - - - - - 15.91 -
16147.49 651.92 7.48 1627 16152.84 done 1.63 - - 2707.06 - 2.58 0.031 2275.06 443.3 82.73 - - 2426.31 - - - - - - - - - 15.99 -
16466.73 630.86 6.25 1649 16497.32 1.70 0.21 0.078 2755.94 232.8 - - 2274.38 - 115.09 25.35 1.921 2304.66 -4.8 0.263 - - - - - - 15.96 - 11.50
16811.73 600.25 9.45 1672 16813.06 no move 1.70 - - 2756.25 - - - 2274.50 - 115.09 - - 2300.28 - - - - - - - - - - -
17127.09 570.74 9.47 1693 17128.42 no move 1.70 - - 2756.56 - - - 2274.75 - 115.09 - - 2301.09 - - - - - - - - - - -
17441.77 539.92 9.68 1714 17443.10 no move 1.70 - - 2756.12 - - - 2274.75 - 115.09 - - 2299.75 - - - - - - - - - - -
17756.78 511.10 8.97 1735 17761.43 roll 1.70 - - 2757.06 - 2.76 0.075 1131.38 -414.3 115.09 - - 2299.88 - - - - - - - - - 15.90 -
17987.27 489.09 9.03 1766 17991.88 roll 1.70 - - 2757.00 - 2.58 0.031 2272.94 442.5 115.09 - - 2300.47 - - - - - - - - - 15.95 -
18299.40 462.47 8.20 1795 18310.47 no move 1.70 - - 2756.94 - - - 2273.12 - 115.09 - - 2301.00 - - - - - - - - - - -
18612.12 438.50 7.47 1824 18623.19 no move 1.72 - - 2757.00 - - - 2273.25 - 115.09 - - 2301.19 - - - - - - - - - - -
18925.05 415.13 7.67 1853 18929.88 roll 1.73 - - 2757.19 - 2.73 0.074 1130.19 -418.7 115.09 - - 2298.84 - - - - - - - - - 15.91 -
19119.70 398.44 8.55 1878 19124.31 roll 1.73 - - 2756.88 - 2.58 0.031 2272.75 442.9 115.09 - - 2299.28 - - - - - - - - - 15.97 -
19431.58 372.39 8.84 1907 19436.23 roll 1.73 - - 2756.62 - 2.75 0.074 1129.88 -415.6 115.09 - - 2300.25 - - - - - - - - - 15.91 -
19627.43 354.37 9.17 1933 19642.35 roll 1.73 - - 2756.56 - 2.58 0.031 2273.62 443.3 115.09 - - 2301.72 - - - - - - - - - 15.98 -
19943.88 328.49 7.90 1962 19954.96 no move 1.74 - - 2756.62 - - - 2273.38 - 115.09 - - 2301.22 - - - - - - - - - - -
20256.72 306.16 6.40 1991 20290.19 VBD 1.80 - - 2757.00 - - - 2272.94 - 145.24 24.21 1.533 2182.09 -4.9 0.164 - - - - - - - - 11.49
20591.71 279.58 8.25 2048 20593.04 no move 1.80 - - 2757.00 - - - 2273.25 - 145.24 - - 2177.94 - - - - - - - - - - -
20896.93 253.62 8.91 2109 20902.31 roll 1.80 - - 2756.62 - 2.74 0.074 1129.88 -417.3 145.24 - - 2179.53 - - - - - - - - - 15.89 -
21071.77 236.80 9.65 2144 21077.49 roll 1.80 - - 2756.56 - 2.58 0.030 2273.75 443.4 145.24 - - 2177.53 - - - - - - - - - 15.92 -
21381.98 210.37 8.22 2206 21387.37 roll 1.80 - - 2756.25 - 2.74 0.073 1130.62 -417.2 145.24 - - 2178.50 - - - - - - - - - 15.90 -
21436.81 205.64 8.65 2217 21442.35 roll 1.80 - - 2757.25 - 2.59 0.029 2275.56 442.1 145.24 - - 2177.78 - - - - - - - - - 15.94 -
21746.87 179.99 7.61 2279 21752.42 roll 1.82 - - 2757.38 - 2.62 0.090 3345.94 408.5 145.24 - - 2177.47 - - - - - - - - - 15.89 -
21851.89 171.94 7.59 2300 21857.41 roll 1.84 - - 2757.25 - 2.56 0.023 2184.44 -453.7 145.24 - - 2177.47 - - - - - - - - - 15.94 -
22161.92 149.87 7.44 2362 22163.25 no move 1.86 - - 2757.19 - - - 2183.62 - 145.24 - - 2176.59 - - - - - - - - - - -
22466.97 129.70 4.84 2423 22508.83 1.97 0.29 0.065 2818.81 212.5 - - 2183.75 - 198.35 40.28 1.333 1965.22 -5.2 0.085 - - - - - - 15.94 - 11.61
22812.06 105.53 5.54 2492 22847.67 VBD 2.05 - - 2818.88 - - - 2183.00 - 241.18 33.13 1.271 1791.69 -5.2 0.073 - - - - - - - - 12.08
23152.10 80.90 7.73 2560 23153.43 no move 2.07 - - 2818.81 - - - 2181.88 - 241.18 - - 1783.44 - - - - - - - - - - -
23337.16 67.17 7.37 2597 23342.68 done 2.09 - - 2819.19 - 2.55 0.077 1129.94 -412.5 241.18 - - 1783.00 - - - - - - - - - 15.86 -
23417.19 60.89 7.85 2613 23422.71 done 2.10 - - 2819.12 - 2.59 0.028 2275.44 442.3 241.18 - - 1783.22 - - - - - - - - - 15.86 -
23607.24 49.37 5.44 2651 23645.87 2.19 0.25 0.068 2876.94 231.3 2.62 0.089 3349.19 409.8 285.43 33.10 1.195 1611.28 -5.2 0.036 - - - - - - 15.86 15.78 11.88
23873.38 28.58 5.07 2704 23916.62 done 2.29 - - 2876.44 - 2.57 0.021 2176.50 -456.3 335.07 38.40 1.161 1408.16 -5.3 0.022 - - - - - - - 15.83 12.08
24084 end climb: NO_VERTICAL_VELOCITY
24084 begin surface
SM 0.66 - - - - 183.2 - - 495.5 - 17.05 0.066 457.6 26.8 - 0.37 0.063 533.3 1434.4 -1.536 - - 30.00 15.57 15.63 -