NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 534 * Raw log
prev dive * next dive * dive
• Previous call tries 4 • 174.48 of 550.00 AH used of 24V (68.28% remains)
• Surface angle -65.7 deg, depth 0.60 m • Intended pitch -20.3 deg, speed -8.462 cm/s
• No surface pump (final VBD was 874.5, SM_CC=425)
• GPS1 time: 66 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
5.21 - - - 61.86 VBD -1.29 - - 175.88 - - - 2241.75 - -82.73 55.47 0.005 2520.56 - - - - - - - - - - 15.38
62.58 3.54 -6.77 10 97.63 -1.29 14.73 0.247 2016.50 125.0 2.45 0.066 1206.19 -422.7 -82.73 12.03 0.007 3112.38 49.2 -4.166 - - - - - - 15.52 15.29 15.44
324.77 53.86 -14.08 62 330.29 roll -1.29 - - 2015.00 - 2.60 0.029 2353.38 441.2 -82.73 - - 3113.94 - - - - - - - - - 15.79 -
515.48 80.20 -13.24 100 520.39 roll -1.29 - - 2015.12 - 2.70 0.058 1207.56 -424.4 -82.73 - - 3114.56 - - - - - - - - - 15.83 -
629.88 94.59 -12.42 123 635.40 roll -1.29 - - 2016.50 - 2.58 0.028 2353.88 444.3 -82.73 - - 3113.59 - - - - - - - - - 15.85 -
820.33 112.50 -7.86 161 825.49 roll -1.29 - - 2016.25 - 2.69 0.058 1206.44 -426.6 -82.73 - - 3114.12 - - - - - - - - - 15.87 -
894.96 118.65 -8.17 176 900.49 roll -1.29 - - 2016.12 - 2.58 0.028 2356.19 445.6 -82.73 - - 3114.31 - - - - - - - - - 15.88 -
1205.05 144.77 -9.10 238 1210.56 roll -1.29 - - 2016.38 - 2.59 0.085 3429.00 414.2 -82.73 - - 3113.97 - - - - - - - - - 15.89 -
1240.04 148.33 -10.16 245 1245.58 roll -1.29 - - 2015.94 - 2.53 0.021 2237.38 -471.0 -82.73 - - 3114.31 - - - - - - - - - 15.90 -
1550.09 174.09 -7.49 307 1551.42 no move -1.29 - - 2016.44 - - - 2238.25 - -82.73 - - 3113.16 - - - - - - - - - - -
1855.12 198.91 -8.44 368 1856.45 no move -1.29 - - 2016.44 - - - 2237.62 - -82.73 - - 3112.97 - - - - - - - - - - -
2160.55 224.46 -8.33 429 2165.80 roll -1.29 - - 2016.75 - 2.87 0.081 3429.31 415.2 -82.73 - - 3113.78 - - - - - - - - - 15.92 -
2230.16 231.38 -10.23 443 2235.69 roll -1.29 - - 2016.81 - 2.54 0.021 2242.56 -467.2 -82.73 - - 3114.53 - - - - - - - - - 15.95 -
2540.21 261.05 -9.57 505 2545.78 roll -1.29 - - 2016.25 - 2.88 0.082 3429.31 412.1 -82.73 - - 3113.62 - - - - - - - - - 15.94 -
2610.21 268.45 -10.68 519 2615.74 roll -1.29 - - 2016.56 - 2.53 0.021 2244.94 -468.1 -82.73 - - 3113.12 - - - - - - - - - 15.97 -
2920.26 297.56 -8.91 581 2925.38 roll -1.29 - - 2016.19 - 2.42 0.067 1208.25 -428.4 -82.73 - - 3114.06 - - - - - - - - - 15.97 -
2980.99 303.08 -9.34 592 2995.91 roll -1.29 - - 2015.75 - 2.57 0.029 2354.69 446.1 -82.73 - - 3114.47 - - - - - - - - - 16.00 -
3297.14 330.14 -8.18 621 3308.21 no move -1.29 - - 2016.44 - - - 2355.38 - -82.73 - - 3111.84 - - - - - - - - - - -
3610.03 357.20 -8.87 650 3614.65 roll -1.29 - - 2017.12 - 2.69 0.063 1208.44 -426.4 -82.73 - - 3111.38 - - - - - - - - - 15.98 -
3680.03 363.46 -9.04 660 3694.95 roll -1.29 - - 2016.94 - 2.57 0.030 2354.56 446.0 -82.73 - - 3111.09 - - - - - - - - - 16.00 -
3996.38 390.48 -8.36 689 4007.44 no move -1.29 - - 2016.44 - - - 2354.56 - -82.73 - - 3110.12 - - - - - - - - - - -
4309.61 416.99 -8.41 718 4320.69 no move -1.29 - - 2016.69 - - - 2354.31 - -82.73 - - 3109.59 - - - - - - - - - - -
4622.29 442.89 -8.05 747 4626.92 roll -1.29 - - 2017.06 - 2.69 0.064 1208.56 -425.9 -82.73 - - 3107.94 - - - - - - - - - 15.97 -
4722.43 451.20 -8.30 760 4727.04 roll -1.29 - - 2016.94 - 2.57 0.030 2354.75 446.0 -82.73 - - 3107.59 - - - - - - - - - 16.00 -
5033.67 475.22 -7.53 789 5045.31 no move -1.29 - - 2016.62 - - - 2354.62 - -82.73 - - 3107.72 - - - - - - - - - - -
5346.84 497.97 -7.22 818 5351.48 roll -1.29 - - 2016.38 - 2.70 0.064 1208.44 -424.5 -82.73 - - 3106.44 - - - - - - - - - 15.97 -
5431.86 504.14 -7.80 831 5446.78 roll -1.29 - - 2017.19 - 2.57 0.031 2354.31 445.9 -82.73 - - 3106.91 - - - - - - - - - 16.01 -
5761.26 530.73 -7.85 853 5762.59 no move -1.29 - - 2016.38 - - - 2354.88 - -82.73 - - 3105.59 - - - - - - - - - - -
6076.28 556.33 -8.38 874 6077.61 no move -1.29 - - 2016.56 - - - 2354.56 - -82.73 - - 3104.66 - - - - - - - - - - -
6391.29 583.27 -8.60 895 6395.93 roll -1.29 - - 2016.69 - 2.70 0.065 1208.31 -424.5 -82.73 - - 3106.16 - - - - - - - - - 15.96 -
6492.04 591.74 -8.51 910 6497.58 roll -1.29 - - 2015.44 - 2.58 0.031 2353.00 443.7 -82.73 - - 3106.25 - - - - - - - - - 16.01 -
6811.44 616.71 -7.55 932 6812.77 no move -1.29 - - 2016.75 - - - 2352.75 - -82.73 - - 3103.53 - - - - - - - - - - -
7126.64 640.34 -7.31 953 7127.97 no move -1.29 - - 2016.75 - - - 2353.31 - -82.73 - - 3102.28 - - - - - - - - - - -
7441.59 663.76 -7.51 974 7446.23 roll -1.29 - - 2016.62 - 2.72 0.065 1208.62 -420.8 -82.73 - - 3102.56 - - - - - - - - - 15.95 -
7500.88 668.36 -7.82 983 7506.42 roll -1.29 - - 2015.56 - 2.58 0.031 2353.06 443.6 -82.73 - - 3105.12 - - - - - - - - - 16.01 -
7820.28 693.08 -7.79 1005 7821.61 no move -1.29 - - 2016.62 - - - 2353.25 - -82.73 - - 3101.94 - - - - - - - - - - -
8135.49 716.56 -7.14 1026 8140.13 roll -1.29 - - 2016.69 - 2.72 0.065 1208.38 -420.9 -82.73 - - 3101.66 - - - - - - - - - 15.94 -
8215.51 722.10 -7.00 1038 8221.04 roll -1.29 - - 2016.62 - 2.59 0.031 2354.31 442.4 -82.73 - - 3102.62 - - - - - - - - - 16.01 -
8534.95 742.49 -6.33 1060 8539.58 roll -1.29 - - 2016.56 - 2.63 0.094 3429.56 408.8 -82.73 - - 3101.62 - - - - - - - - - 15.89 -
8573.49 745.15 -6.78 1066 8579.02 roll -1.29 - - 2016.69 - 2.55 0.022 2245.31 -464.4 -82.73 - - 3102.34 - - - - - - - - - 16.01 -
8892.92 766.03 -6.55 1088 8894.25 no move -1.29 - - 2016.56 - - - 2244.88 - -82.73 - - 3099.94 - - - - - - - - - - -
9207.97 786.80 -6.38 1109 9209.30 no move -1.29 - - 2016.94 - - - 2245.19 - -82.73 - - 3100.50 - - - - - - - - - - -
9523.00 806.43 -6.31 1130 9524.33 no move -1.29 - - 2016.50 - - - 2245.25 - -82.73 - - 3099.78 - - - - - - - - - - -
9838.03 827.55 -6.78 1151 9839.36 no move -1.29 - - 2016.38 - - - 2245.50 - -82.73 - - 3099.41 - - - - - - - - - - -
10153.05 848.81 -6.55 1172 10157.91 roll -1.29 - - 2016.88 - 2.90 0.089 3427.94 407.7 -82.73 - - 3099.59 - - - - - - - - - 15.87 -
10238.23 854.77 -7.46 1185 10252.97 roll -1.29 - - 2016.25 - 2.55 0.023 2248.88 -462.4 -82.73 - - 3101.28 - - - - - - - - - 16.00 -
10567.48 877.29 -6.38 1207 10568.81 no move -1.29 - - 2017.00 - - - 2248.88 - -82.73 - - 3099.16 - - - - - - - - - - -
10882.49 896.90 -6.24 1228 10883.82 no move -1.29 - - 2017.12 - - - 2248.19 - -82.73 - - 3098.53 - - - - - - - - - - -
11197.52 915.61 -5.76 1249 11198.85 no move -1.29 - - 2016.62 - - - 2248.94 - -82.73 - - 3099.16 - - - - - - - - - - -
11512.52 933.37 -5.65 1270 11513.86 no move -1.29 - - 2017.44 - - - 2248.88 - -82.73 - - 3098.00 - - - - - - - - - - -
11827.54 951.13 -5.74 1291 11828.87 no move -1.29 - - 2017.12 - - - 2248.69 - -82.73 - - 3098.47 - - - - - - - - - - -
12142.56 968.85 -5.58 1312 12143.89 no move -1.29 - - 2016.25 - - - 2248.88 - -82.73 - - 3097.62 - - - - - - - - - - -
12457.77 987.62 -6.16 1333 12459.09 no move -1.29 - - 2017.06 - - - 2248.62 - -82.73 - - 3097.09 - - - - - - - - - - -
12502 end dive: TARGET_DEPTH_EXCEEDED
12502 begin apogee
12504.36 990.42 -6.20 1336 12579.92 -0.28 1.76 0.144 2262.69 139.6 0.14 0.199 2288.19 282.6 - 61.10 2.456 2775.00 -5.3 0.356 - - - - - - 15.77 15.57 10.74
12581 end apogee: CONTROL_FINISHED_OK
12581 begin climb
12581.91 992.06 - 1341 12656.07 1.29 2.59 0.092 2648.12 148.8 - - 2287.75 - 82.73 67.75 2.416 2437.84 -5.0 0.342 - - - - - - 15.62 - 12.31
12968.46 966.33 8.02 1367 12973.12 roll 1.29 - - 2648.75 - 2.85 0.077 1130.00 -406.2 82.73 - - 2430.22 - - - - - - - - - 15.65 -
13069.20 958.09 8.29 1382 13074.75 roll 1.29 - - 2648.44 - 2.64 0.031 2272.00 432.6 82.73 - - 2432.66 - - - - - - - - - 15.71 -
13388.62 935.03 6.96 1404 13393.27 roll 1.32 - - 2649.44 - 2.80 0.075 1131.25 -407.4 82.73 - - 2428.84 - - - - - - - - - 15.76 -
13473.65 929.22 7.35 1417 13488.56 roll 1.35 - - 2647.69 - 2.62 0.031 2273.06 435.8 82.73 - - 2432.91 - - - - - - - - - 15.80 -
13803.06 906.82 6.86 1439 13807.70 done 1.38 - - 2648.25 - 2.79 0.075 1131.00 -409.3 82.73 - - 2428.75 - - - - - - - - - 15.81 -
13862.35 902.45 7.40 1448 13867.89 done 1.40 - - 2649.25 - 2.62 0.031 2272.69 435.8 82.73 - - 2429.44 - - - - - - - - - 15.86 -
14181.75 878.62 7.53 1470 14186.40 done 1.42 - - 2648.81 - 2.79 0.076 1131.06 -409.2 82.73 - - 2428.19 - - - - - - - - - 15.83 -
14282.50 870.65 8.02 1485 14288.10 1.42 0.16 0.099 2688.56 248.4 2.61 0.032 2272.88 437.5 82.73 - - 2431.12 - - - - - - - - 15.73 15.89 -
14602.10 844.26 8.04 1507 14603.44 VBD 1.42 - - 2689.50 - - - 2273.44 - 82.73 - - 2428.47 - - - - - - - - - - -
14916.99 820.19 7.61 1528 14921.81 done 1.44 - - 2689.56 - 2.78 0.075 1131.06 -410.9 82.73 - - 2428.78 - - - - - - - - - 15.86 -
14997.16 813.78 8.08 1540 15002.52 done 1.44 - - 2688.81 - 2.60 0.031 2272.69 439.1 82.73 - - 2431.03 - - - - - - - - - 15.94 -
15316.41 789.06 7.90 1562 15321.05 done 1.45 - - 2689.44 - 2.79 0.075 1130.12 -409.5 82.73 - - 2429.44 - - - - - - - - - 15.87 -
15417.14 780.63 8.49 1577 15422.68 done 1.45 - - 2689.50 - 2.59 0.031 2272.88 441.2 82.73 - - 2428.56 - - - - - - - - - 15.95 -
15736.56 756.36 7.37 1599 15741.21 done 1.47 - - 2689.44 - 2.78 0.075 1131.19 -410.7 82.73 - - 2427.34 - - - - - - - - - 15.87 -
15856.70 746.95 7.89 1616 15861.31 done 1.48 - - 2688.44 - 2.59 0.032 2273.06 440.9 82.73 - - 2427.72 - - - - - - - - - 15.95 -
16173.42 723.26 7.54 1638 16178.06 done 1.50 - - 2688.88 - 2.77 0.075 1129.88 -412.7 82.73 - - 2428.16 - - - - - - - - - 15.87 -
16258.42 716.90 8.01 1651 16273.34 done 1.50 - - 2689.38 - 2.59 0.032 2274.25 441.8 82.73 - - 2427.84 - - - - - - - - - 15.96 -
16587.85 694.73 5.76 1673 16633.19 1.60 0.18 0.084 2732.38 238.9 2.77 0.078 1131.38 -412.6 133.49 40.21 2.072 2230.56 -4.9 0.275 - - - - - - 15.93 15.75 11.37
16693.76 686.17 8.18 1689 16699.20 roll 1.60 - - 2731.75 - 2.62 0.032 2271.06 435.0 133.49 - - 2227.66 - - - - - - - - - 15.79 -
17013.05 657.37 9.04 1711 17014.38 no move 1.60 - - 2732.75 - - - 2270.94 - 133.49 - - 2223.59 - - - - - - - - - - -
17328.07 627.44 9.96 1732 17332.71 roll 1.60 - - 2733.12 - 2.77 0.075 1130.12 -411.8 133.49 - - 2223.78 - - - - - - - - - 15.82 -
17387.34 621.41 10.31 1741 17392.89 roll 1.60 - - 2732.44 - 2.61 0.032 2272.25 437.6 133.49 - - 2225.09 - - - - - - - - - 15.88 -
17706.74 590.70 9.41 1763 17708.07 no move 1.60 - - 2732.56 - - - 2271.56 - 133.49 - - 2222.81 - - - - - - - - - - -
18021.76 562.59 8.95 1784 18026.40 roll 1.60 - - 2732.12 - 2.76 0.075 1131.00 -413.2 133.49 - - 2222.91 - - - - - - - - - 15.85 -
18127.52 553.06 9.60 1800 18142.44 roll 1.60 - - 2733.19 - 2.60 0.032 2271.25 438.6 133.49 - - 2223.19 - - - - - - - - - 15.92 -
18456.96 523.54 8.88 1822 18458.28 no move 1.60 - - 2732.12 - - - 2270.88 - 133.49 - - 2222.16 - - - - - - - - - - -
18759.18 497.18 8.63 1843 18763.83 roll 1.60 - - 2732.88 - 2.76 0.075 1128.56 -413.9 133.49 - - 2221.22 - - - - - - - - - 15.86 -
18843.80 488.95 9.69 1854 18848.43 roll 1.60 - - 2732.94 - 2.62 0.031 2272.12 436.5 133.49 - - 2222.25 - - - - - - - - - 15.94 -
19155.57 459.52 9.10 1883 19160.19 roll 1.60 - - 2732.69 - 2.67 0.093 3345.94 402.2 133.49 - - 2222.16 - - - - - - - - - 15.85 -
19194.11 455.75 9.64 1889 19209.03 roll 1.60 - - 2733.00 - 2.57 0.024 2186.62 -451.1 133.49 - - 2222.97 - - - - - - - - - 15.95 -
19510.50 428.15 8.31 1918 19521.57 no move 1.60 - - 2733.19 - - - 2186.44 - 133.49 - - 2222.94 - - - - - - - - - - -
19823.09 401.00 8.61 1947 19827.69 roll 1.60 - - 2732.62 - 2.55 0.079 1129.88 -414.3 133.49 - - 2221.00 - - - - - - - - - 15.87 -
19891.74 394.77 8.97 1956 19896.35 done 1.60 - - 2732.56 - 2.60 0.031 2274.38 440.2 133.49 - - 2222.25 - - - - - - - - - 15.96 -
20203.09 368.76 8.14 1985 20207.72 roll 1.60 - - 2732.19 - 2.67 0.092 3346.31 401.5 133.49 - - 2224.41 - - - - - - - - - 15.85 -
20257.37 364.08 8.68 1993 20272.28 done 1.60 - - 2731.81 - 2.57 0.024 2186.25 -451.4 133.49 - - 2223.47 - - - - - - - - - 15.96 -
20573.73 339.57 7.30 2022 20584.80 VBD 1.62 - - 2732.50 - - - 2185.69 - 133.49 - - 2222.62 - - - - - - - - - - -
20886.64 316.82 7.87 2051 20897.72 VBD 1.63 - - 2732.88 - - - 2185.50 - 133.49 - - 2223.38 - - - - - - - - - - -
21199.01 290.61 8.74 2091 21204.61 done 1.63 - - 2732.75 - 2.89 0.088 3345.69 401.4 133.49 - - 2223.31 - - - - - - - - - 15.84 -
21254.03 285.52 9.36 2102 21259.74 roll 1.63 - - 2732.69 - 2.56 0.024 2185.62 -453.2 133.49 - - 2223.50 - - - - - - - - - 15.95 -
21564.10 260.90 7.62 2164 21565.43 no move 1.65 - - 2732.69 - - - 2184.94 - 133.49 - - 2221.72 - - - - - - - - - - -
21869.33 238.84 6.98 2225 21874.66 roll 1.68 - - 2732.12 - 2.56 0.079 1131.12 -411.6 133.49 - - 2224.28 - - - - - - - - - 15.85 -
21904.15 236.25 7.29 2232 21909.67 roll 1.70 - - 2732.88 - 2.60 0.030 2276.31 440.5 133.49 - - 2222.88 - - - - - - - - - 15.96 -
22214.21 214.49 7.09 2294 22215.54 no move 1.73 - - 2732.38 - - - 2276.50 - 133.49 - - 2222.00 - - - - - - - - - - -
22519.25 192.85 7.16 2355 22524.81 roll 1.76 - - 2732.31 - 2.78 0.073 1131.19 -412.0 133.49 - - 2225.12 - - - - - - - - - 15.86 -
22754.28 174.77 7.69 2402 22759.86 roll back 1.77 0.17 0.086 2778.31 270.6 2.60 0.030 2275.31 440.0 133.49 - - 2223.16 - - - - - - - - 15.77 15.96 -
23064.52 150.97 7.55 2464 23069.93 roll 1.79 - - 2777.06 - 2.78 0.072 1129.75 -412.1 133.49 - - 2224.56 - - - - - - - - - 15.86 -
23139.34 145.77 6.92 2479 23144.86 roll 1.82 - - 2778.56 - 2.60 0.030 2275.75 440.8 133.49 - - 2223.59 - - - - - - - - - 15.96 -
23449.37 127.77 5.37 2541 23497.11 done 1.94 - - 2778.19 - 2.77 0.074 1129.75 -413.7 191.40 43.34 1.347 1992.84 -5.3 0.085 - - - - - - - 15.84 11.22
23534.36 120.93 9.22 2558 23539.92 roll 1.94 - - 2778.62 - 2.61 0.030 2274.56 438.6 191.40 - - 1991.44 - - - - - - - - - 15.87 -
23844.46 94.95 7.55 2620 23845.90 pitch 1.96 0.16 0.083 2819.19 253.6 - - 2274.75 - 191.40 - - 1987.59 - - - - - - - - 15.83 - -
24029.51 84.80 4.21 2657 24096.28 done 2.12 - - 2819.00 - 2.66 0.091 3347.50 403.3 271.19 59.87 1.274 1668.31 -5.3 0.059 - - - - - - - 15.68 11.81
24294.69 64.87 9.11 2710 24300.10 done 2.12 - - 2819.38 - 2.60 0.023 2185.56 -446.9 271.19 - - 1660.97 - - - - - - - - - 15.76 -
24485.03 49.69 8.39 2748 24490.17 done 2.12 - - 2819.31 - 2.57 0.077 1129.88 -410.8 271.19 - - 1657.22 - - - - - - - - - 15.78 -
24564.67 42.66 9.03 2764 24570.21 done 2.12 - - 2818.56 - 2.62 0.029 2273.75 436.6 271.19 - - 1657.56 - - - - - - - - - 15.80 -
24754.73 30.57 4.75 2802 24808.21 2.26 0.37 0.058 2891.75 197.8 - - 2273.69 - 340.72 51.74 1.181 1386.66 -5.2 0.023 - - - - - - 15.81 - 11.78
24990.33 25.38 1.66 2849 25087.91 2.51 0.28 0.064 2954.31 223.4 - - 2274.38 - 468.28 94.06 1.157 866.19 -5.5 0.020 - - - - - - 15.72 - 11.99
25250 end climb: SURFACE_DEPTH_REACHED
25250 begin surface coast
25290 end surface coast: CONTROL_FINISHED_OK
25290 begin surface
SM 0.52 - - - - 177.0 - - 857.8 - 17.23 0.047 841.2 48.8 - 0.12 0.123 874.5 7287.5 -3.149 - - 30.00 15.63 15.65 -