NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 497 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 160.37 of 550.00 AH used of 24V (70.84% remains)
• Surface angle -64.8 deg, depth 0.62 m • Intended pitch -21.6 deg, speed -8.462 cm/s
VBD pumped to 424.85 (SM_CC=425)
• GPS1 time: 15 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
5.17 - - - 66.94 VBD -1.37 - - 181.88 - - - 2241.19 - -82.73 60.62 0.005 2566.59 - - - - - - - - - - 15.40
67.68 3.53 -6.18 11 102.59 -1.37 14.57 0.257 1998.44 124.7 2.52 0.068 1208.62 -409.8 -82.73 12.15 0.007 3112.19 44.9 -3.774 - - - - - - 15.54 15.36 15.47
154.67 22.01 -18.57 28 160.23 roll -1.37 - - 1998.50 - 2.63 0.030 2351.81 434.7 -82.73 - - 3113.59 - - - - - - - - - 15.75 -
345.44 52.39 -15.05 66 350.50 roll -1.37 - - 1998.06 - 2.77 0.059 1209.88 -412.2 -82.73 - - 3113.56 - - - - - - - - - 15.81 -
429.88 66.12 -16.01 83 435.32 roll -1.37 - - 1998.94 - 2.62 0.030 2352.25 436.0 -82.73 - - 3113.59 - - - - - - - - - 15.83 -
620.21 91.97 -12.17 121 621.54 no move -1.37 - - 1998.31 - - - 2352.44 - -82.73 - - 3112.88 - - - - - - - - - - -
804.89 111.38 -10.49 158 806.22 no move -1.37 - - 1998.06 - - - 2352.44 - -82.73 - - 3112.94 - - - - - - - - - - -
1110.00 140.52 -9.36 219 1111.32 no move -1.37 - - 1998.06 - - - 2352.25 - -82.73 - - 3114.16 - - - - - - - - - - -
1415.10 168.72 -8.03 280 1420.66 roll -1.37 - - 1997.12 - 2.76 0.060 1208.69 -414.3 -82.73 - - 3115.19 - - - - - - - - - 15.94 -
1495.12 175.82 -9.15 296 1500.65 roll -1.37 - - 1998.31 - 2.60 0.029 2353.19 440.2 -82.73 - - 3114.72 - - - - - - - - - 15.95 -
1805.24 204.45 -9.97 358 1810.80 roll -1.37 - - 1998.94 - 2.76 0.060 1209.88 -414.2 -82.73 - - 3114.88 - - - - - - - - - 15.96 -
1885.25 212.96 -10.56 374 1890.78 roll -1.37 - - 1998.69 - 2.60 0.029 2352.31 439.4 -82.73 - - 3115.16 - - - - - - - - - 15.96 -
2195.48 244.79 -10.34 436 2200.92 roll -1.37 - - 1998.69 - 2.76 0.061 1208.25 -414.5 -82.73 - - 3114.56 - - - - - - - - - 15.98 -
2230.29 248.56 -10.78 443 2235.83 roll -1.37 - - 1998.50 - 2.59 0.029 2352.00 441.6 -82.73 - - 3114.84 - - - - - - - - - 15.98 -
2540.35 278.70 -9.38 505 2545.92 roll -1.37 - - 1997.94 - 2.75 0.061 1208.44 -415.8 -82.73 - - 3114.88 - - - - - - - - - 15.99 -
2595.35 284.04 -9.70 516 2600.89 roll -1.37 - - 1998.69 - 2.59 0.029 2353.62 442.2 -82.73 - - 3115.41 - - - - - - - - - 15.99 -
2907.08 313.62 -9.60 563 2911.72 roll -1.37 - - 1998.38 - 2.75 0.061 1208.56 -416.4 -82.73 - - 3114.50 - - - - - - - - - 16.00 -
2960.00 318.80 -9.74 570 2964.61 roll -1.37 - - 1997.75 - 2.59 0.030 2352.38 441.6 -82.73 - - 3114.25 - - - - - - - - - 16.01 -
3271.53 348.30 -9.41 599 3276.17 roll -1.37 - - 1998.75 - 2.74 0.062 1208.06 -417.6 -82.73 - - 3112.75 - - - - - - - - - 16.01 -
3355.91 356.62 -9.85 610 3360.52 roll -1.37 - - 1998.62 - 2.58 0.030 2350.81 442.9 -82.73 - - 3115.22 - - - - - - - - - 16.00 -
3667.11 383.62 -8.27 639 3678.18 no move -1.37 - - 1998.62 - - - 2350.31 - -82.73 - - 3113.75 - - - - - - - - - - -
3980.21 407.35 -7.08 668 3991.30 no move -1.37 - - 1998.94 - - - 2350.75 - -82.73 - - 3113.34 - - - - - - - - - - -
4292.99 430.69 -7.82 697 4297.63 roll -1.37 - - 1998.69 - 2.76 0.062 1207.38 -414.3 -82.73 - - 3112.03 - - - - - - - - - 16.02 -
4331.52 433.84 -8.19 703 4346.44 roll -1.37 - - 1998.25 - 2.59 0.030 2350.69 441.4 -82.73 - - 3112.03 - - - - - - - - - 16.02 -
4647.95 460.01 -8.34 732 4659.01 no move -1.37 - - 1999.12 - - - 2350.38 - -82.73 - - 3112.62 - - - - - - - - - - -
4960.59 485.17 -7.59 761 4971.66 no move -1.37 - - 1998.50 - - - 2350.56 - -82.73 - - 3111.59 - - - - - - - - - - -
5285.93 508.54 -7.05 788 5287.26 no move -1.37 - - 1998.31 - - - 2350.75 - -82.73 - - 3110.22 - - - - - - - - - - -
5600.72 530.24 -6.76 809 5605.36 roll -1.37 - - 1998.62 - 2.74 0.063 1209.94 -416.4 -82.73 - - 3111.66 - - - - - - - - - 16.01 -
5644.27 532.98 -7.06 816 5659.18 roll -1.37 - - 1998.94 - 2.59 0.031 2351.62 440.8 -82.73 - - 3111.47 - - - - - - - - - 16.03 -
5972.76 558.96 -8.33 838 5974.09 no move -1.37 - - 1998.88 - - - 2352.44 - -82.73 - - 3109.38 - - - - - - - - - - -
6288.69 586.26 -8.68 859 6290.02 no move -1.37 - - 1998.81 - - - 2352.12 - -82.73 - - 3109.56 - - - - - - - - - - -
6603.88 611.88 -7.94 880 6608.52 roll -1.37 - - 1998.62 - 2.76 0.064 1208.75 -414.3 -82.73 - - 3110.12 - - - - - - - - - 16.01 -
6688.90 618.36 -8.18 893 6703.81 roll -1.37 - - 1998.25 - 2.59 0.031 2350.88 441.0 -82.73 - - 3109.94 - - - - - - - - - 16.03 -
7018.48 643.76 -7.55 915 7023.18 roll -1.37 - - 1999.00 - 2.74 0.064 1209.88 -416.4 -82.73 - - 3108.56 - - - - - - - - - 16.01 -
7082.76 648.36 -7.84 925 7097.68 roll -1.37 - - 1999.50 - 2.59 0.031 2350.50 440.4 -82.73 - - 3109.25 - - - - - - - - - 16.04 -
7412.20 672.85 -7.26 947 7413.52 no move -1.37 - - 1999.38 - - - 2350.19 - -82.73 - - 3108.06 - - - - - - - - - - -
7727.21 696.04 -7.49 968 7731.85 roll -1.37 - - 1998.75 - 2.74 0.064 1209.75 -416.2 -82.73 - - 3107.25 - - - - - - - - - 16.00 -
7807.22 702.06 -7.63 980 7812.77 roll -1.37 - - 1998.88 - 2.59 0.031 2351.62 440.9 -82.73 - - 3108.28 - - - - - - - - - 16.04 -
8126.62 726.12 -7.75 1002 8127.95 no move -1.37 - - 1999.12 - - - 2352.25 - -82.73 - - 3106.56 - - - - - - - - - - -
8441.63 750.93 -7.91 1023 8446.27 roll -1.37 - - 1998.88 - 2.76 0.064 1208.62 -414.4 -82.73 - - 3108.59 - - - - - - - - - 16.00 -
8521.65 757.72 -8.56 1035 8527.19 roll -1.37 - - 1998.25 - 2.58 0.031 2350.62 442.6 -82.73 - - 3107.28 - - - - - - - - - 16.03 -
8841.08 782.46 -7.32 1057 8845.72 roll -1.37 - - 1997.56 - 2.76 0.064 1208.44 -413.8 -82.73 - - 3106.91 - - - - - - - - - 15.99 -
8899.01 786.90 -7.52 1065 8903.62 roll -1.37 - - 1997.38 - 2.59 0.031 2351.25 441.2 -82.73 - - 3107.53 - - - - - - - - - 16.03 -
9215.49 809.18 -6.61 1087 9220.32 roll -1.37 - - 1998.56 - 2.76 0.064 1208.56 -414.0 -82.73 - - 3108.31 - - - - - - - - - 15.99 -
9273.52 813.22 -6.83 1095 9278.14 roll -1.37 - - 1999.12 - 2.59 0.031 2350.69 441.0 -82.73 - - 3106.62 - - - - - - - - - 16.02 -
9590.03 832.74 -6.02 1117 9594.67 roll -1.37 - - 1998.88 - 2.76 0.064 1209.06 -413.6 -82.73 - - 3106.69 - - - - - - - - - 15.98 -
9710.15 840.50 -6.48 1134 9714.76 roll -1.37 - - 1998.62 - 2.58 0.032 2349.94 442.2 -82.73 - - 3106.72 - - - - - - - - - 16.02 -
10026.63 859.01 -6.01 1156 10031.27 roll -1.37 - - 1998.94 - 2.74 0.064 1208.50 -416.6 -82.73 - - 3105.81 - - - - - - - - - 15.98 -
10085.91 862.64 -6.18 1165 10091.43 roll -1.37 - - 1999.12 - 2.59 0.032 2351.56 441.3 -82.73 - - 3106.75 - - - - - - - - - 16.02 -
10405.31 882.59 -6.40 1187 10406.64 no move -1.37 - - 1998.12 - - - 2351.19 - -82.73 - - 3105.44 - - - - - - - - - - -
10720.32 903.83 -7.08 1208 10724.97 roll -1.37 - - 1998.88 - 2.76 0.064 1209.88 -413.5 -82.73 - - 3105.97 - - - - - - - - - 15.97 -
10862.01 914.63 -7.65 1228 10866.62 roll -1.37 - - 1998.88 - 2.59 0.032 2351.75 440.9 -82.73 - - 3104.28 - - - - - - - - - 16.02 -
11178.48 936.66 -6.57 1250 11183.12 roll -1.37 - - 1998.75 - 2.75 0.064 1208.31 -415.8 -82.73 - - 3105.72 - - - - - - - - - 15.97 -
11299.96 944.69 -6.69 1268 11305.67 roll -1.37 - - 1998.94 - 2.59 0.032 2351.06 441.2 -82.73 - - 3104.78 - - - - - - - - - 16.02 -
11619.49 963.75 -5.91 1290 11620.82 no move -1.37 - - 1998.94 - - - 2351.12 - -82.73 - - 3103.81 - - - - - - - - - - -
11934.40 981.21 -5.31 1311 11935.73 no move -1.37 - - 1998.69 - - - 2351.00 - -82.73 - - 3104.31 - - - - - - - - - - -
12114 end dive: TARGET_DEPTH_EXCEEDED
12114 begin apogee
12116.23 990.78 -5.36 1323 12191.76 -0.28 1.86 0.146 2264.19 142.7 0.22 0.137 2281.56 -315.6 - 61.81 2.435 2775.62 -5.3 0.361 - - - - - - 15.84 15.60 11.08
12193 end apogee: CONTROL_FINISHED_OK
12193 begin climb
12193.72 991.37 - 1328 12267.88 1.37 2.66 0.093 2667.00 151.4 - - 2281.62 - 82.73 66.96 2.401 2437.75 -5.0 0.347 - - - - - - 15.65 - 12.50
12580.23 959.75 9.29 1354 12581.56 no move 1.37 - - 2666.94 - - - 2281.62 - 82.73 - - 2429.84 - - - - - - - - - - -
12895.27 931.47 8.52 1375 12899.90 roll 1.37 - - 2666.56 - 2.66 0.097 3343.31 399.1 82.73 - - 2430.50 - - - - - - - - - 15.75 -
12994.67 922.14 9.40 1389 12999.28 roll 1.37 - - 2666.56 - 2.60 0.024 2189.81 -443.7 82.73 - - 2430.56 - - - - - - - - - 15.80 -
13311.16 896.66 8.06 1411 13315.97 done 1.37 - - 2666.69 - 2.61 0.078 1131.12 -405.6 82.73 - - 2428.19 - - - - - - - - - 15.84 -
13438.09 886.17 8.77 1430 13452.91 roll 1.37 - - 2666.75 - 2.61 0.031 2271.00 436.7 82.73 - - 2429.97 - - - - - - - - - 15.87 -
13767.39 860.50 7.26 1452 13772.04 done 1.39 - - 2664.81 - 2.79 0.074 1131.19 -408.5 82.73 - - 2429.91 - - - - - - - - - 15.88 -
13826.68 855.96 7.71 1461 13832.20 done 1.41 - - 2666.38 - 2.60 0.031 2274.25 439.6 82.73 - - 2430.16 - - - - - - - - - 15.91 -
14146.10 835.00 6.02 1483 14176.68 VBD 1.48 - - 2665.31 - - - 2273.69 - 118.56 28.92 2.178 2291.34 -4.8 0.307 - - - - - - - - 11.77
14491.38 811.63 6.62 1506 14492.82 pitch 1.51 0.18 0.091 2708.56 240.3 - - 2273.75 - 118.56 - - 2288.25 - - - - - - - - 15.81 - -
14806.57 788.01 7.66 1527 14807.90 no move 1.53 - - 2707.81 - - - 2274.38 - 118.56 - - 2285.69 - - - - - - - - - - -
15121.20 763.22 8.06 1548 15122.53 no move 1.53 - - 2707.94 - - - 2273.94 - 118.56 - - 2285.91 - - - - - - - - - - -
15436.24 737.04 8.41 1569 15440.88 roll 1.53 - - 2706.19 - 2.80 0.074 1130.06 -408.5 118.56 - - 2285.16 - - - - - - - - - 15.91 -
15495.52 731.77 8.91 1578 15501.07 roll 1.53 - - 2708.38 - 2.59 0.032 2270.62 440.4 118.56 - - 2285.66 - - - - - - - - - 15.93 -
15814.94 704.33 8.68 1600 15816.27 no move 1.53 - - 2708.50 - - - 2271.31 - 118.56 - - 2284.41 - - - - - - - - - - -
16129.94 675.11 9.46 1621 16131.27 no move 1.53 - - 2708.88 - - - 2270.94 - 118.56 - - 2284.56 - - - - - - - - - - -
16445.16 646.83 8.90 1642 16446.49 no move 1.53 - - 2708.50 - - - 2270.75 - 118.56 - - 2284.22 - - - - - - - - - - -
16760.19 618.46 8.79 1663 16764.84 roll 1.53 - - 2707.88 - 2.79 0.074 1130.31 -408.8 118.56 - - 2283.81 - - - - - - - - - 15.94 -
16840.21 611.05 9.32 1675 16845.75 roll 1.53 - - 2708.94 - 2.59 0.031 2271.44 440.6 118.56 - - 2286.22 - - - - - - - - - 15.98 -
17159.62 584.47 8.13 1697 17160.95 no move 1.53 - - 2708.81 - - - 2271.31 - 118.56 - - 2283.72 - - - - - - - - - - -
17474.64 558.24 8.10 1718 17475.97 no move 1.53 - - 2708.75 - - - 2271.31 - 118.56 - - 2283.69 - - - - - - - - - - -
17789.67 533.13 7.52 1739 17791.00 no move 1.55 - - 2709.31 - - - 2270.88 - 118.56 - - 2284.12 - - - - - - - - - - -
18104.69 510.77 6.99 1760 18106.02 no move 1.58 - - 2709.06 - - - 2270.62 - 118.56 - - 2283.66 - - - - - - - - - - -
18409.58 489.52 6.98 1784 18420.65 no move 1.61 - - 2709.06 - - - 2271.00 - 118.56 - - 2285.19 - - - - - - - - - - -
18722.35 468.53 6.77 1813 18733.42 no move 1.64 - - 2709.44 - - - 2271.12 - 118.56 - - 2284.81 - - - - - - - - - - -
19035.41 446.99 7.12 1842 19046.59 pitch 1.67 0.16 0.094 2745.75 226.9 - - 2271.25 - 118.56 - - 2285.16 - - - - - - - - 15.96 - -
19348.12 421.79 8.26 1871 19352.77 roll 1.67 - - 2746.44 - 2.77 0.074 1131.44 -411.5 118.56 - - 2283.97 - - - - - - - - - 15.94 -
19448.25 412.90 8.95 1884 19452.87 roll 1.67 - - 2744.62 - 2.58 0.031 2274.31 443.0 118.56 - - 2284.25 - - - - - - - - - 15.99 -
19759.39 385.80 8.63 1913 19770.46 no move 1.67 - - 2746.06 - - - 2275.25 - 118.56 - - 2285.00 - - - - - - - - - - -
20072.22 359.47 8.48 1942 20076.87 roll 1.67 - - 2745.81 - 2.77 0.073 1131.38 -412.9 118.56 - - 2283.50 - - - - - - - - - 15.94 -
20219.53 346.42 8.80 1961 20224.14 roll 1.67 - - 2745.69 - 2.58 0.031 2271.56 441.9 118.56 - - 2284.12 - - - - - - - - - 16.00 -
20531.42 323.43 7.19 1990 20542.49 no move 1.69 - - 2745.88 - - - 2271.56 - 118.56 - - 2285.31 - - - - - - - - - - -
20844.03 300.96 7.04 2019 20848.67 roll 1.72 - - 2745.62 - 2.78 0.073 1131.56 -410.1 118.56 - - 2286.28 - - - - - - - - - 15.93 -
20892.61 297.16 7.61 2027 20898.13 roll 1.74 - - 2746.31 - 2.58 0.030 2274.44 443.0 118.56 - - 2285.22 - - - - - - - - - 15.99 -
21202.70 275.12 7.07 2089 21204.03 no move 1.77 - - 2745.69 - - - 2274.50 - 118.56 - - 2284.06 - - - - - - - - - - -
21507.80 251.83 7.71 2150 21509.13 no move 1.78 - - 2746.00 - - - 2274.31 - 118.56 - - 2284.12 - - - - - - - - - - -
21813.06 228.54 7.51 2211 21818.43 roll 1.80 - - 2746.06 - 2.79 0.072 1131.12 -409.7 118.56 - - 2285.00 - - - - - - - - - 15.92 -
21893.08 222.26 7.79 2227 21898.48 roll 1.82 - - 2745.81 - 2.60 0.030 2274.94 439.9 118.56 - - 2285.09 - - - - - - - - - 15.98 -
22202.99 204.10 5.34 2289 22243.99 1.91 0.28 0.070 2807.25 219.4 2.62 0.094 3347.81 409.5 164.24 34.74 1.433 2104.91 -5.2 0.123 - - - - - - 15.95 15.88 11.38
22278.55 197.45 10.69 2304 22283.51 roll 1.91 - - 2807.81 - 2.57 0.024 2185.06 -452.4 164.24 - - 2103.72 - - - - - - - - - 15.92 -
22588.10 159.45 11.96 2366 22589.43 no move 1.91 - - 2807.50 - - - 2185.00 - 164.24 - - 2099.03 - - - - - - - - - - -
22893.19 128.98 9.59 2427 22898.78 roll 1.91 - - 2808.44 - 2.86 0.086 3347.19 406.4 164.24 - - 2098.56 - - - - - - - - - 15.88 -
23083.24 109.53 9.82 2465 23088.79 roll 1.91 - - 2808.12 - 2.56 0.023 2185.50 -453.8 164.24 - - 2099.09 - - - - - - - - - 15.91 -
23393.47 90.66 5.95 2527 23426.85 done 1.98 - - 2808.69 - 2.83 0.087 3346.06 410.1 201.06 28.40 1.259 1953.72 -5.1 0.061 - - - - - - - 15.87 11.86
23429.06 88.67 5.53 2534 23467.59 done 2.07 - - 2808.00 - 2.56 0.023 2181.00 -455.1 243.95 33.78 1.240 1779.88 -5.1 0.061 - - - - - - - 15.94 12.68
23649.75 72.68 6.84 2578 23655.36 roll back 2.10 0.19 0.087 2850.56 224.0 2.85 0.085 3347.06 409.1 243.95 - - 1773.25 - - - - - - - - 15.76 15.73 -
23884.79 46.90 9.54 2625 23890.56 done 2.10 - - 2851.38 - 2.58 0.023 2185.44 -450.2 243.95 - - 1771.41 - - - - - - - - - 15.83 -
24074.87 31.37 6.64 2663 24080.44 done 2.14 - - 2851.25 - 2.83 0.084 3348.56 411.0 243.95 - - 1769.50 - - - - - - - - - 15.85 -
24109.88 29.22 6.20 2670 24140.63 done 2.20 - - 2851.88 - 2.57 0.023 2182.38 -453.8 277.01 24.83 1.145 1645.81 -5.0 0.021 - - - - - - - 15.86 12.03
24324.94 18.13 5.05 2713 24365.96 2.30 0.22 0.081 2898.94 213.9 - - 2181.88 - 327.00 38.71 1.156 1442.22 -5.3 0.014 - - - - - - 15.81 - 12.18
24524 end climb: SURFACE_DEPTH_REACHED
24524 begin surface coast
24585 end surface coast: CONTROL_FINISHED_OK
24585 begin surface
SM 1.12 - - - - 179.6 72.22 1.162 1043.0 13.9 16.89 0.055 987.6 58.5 - 0.35 0.065 1098.5 3138.6 -5.527 - - 12.12 15.76 15.78 -