NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 549 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 180.47 of 550.00 AH used of 24V (67.19% remains)
• Surface angle -66.4 deg, depth 0.58 m • Intended pitch -20.3 deg, speed -8.462 cm/s
VBD pumped to 425.07 (SM_CC=425)
• GPS1 time: 86 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
5.22 - - - 61.85 VBD -1.29 - - 179.38 - - - 2250.44 - -82.73 55.49 0.005 2512.91 - - - - - - - - - - 15.35
62.58 3.71 -7.51 10 100.07 -1.29 14.83 0.249 2016.62 123.9 2.92 0.084 3428.81 403.6 -82.73 12.18 0.007 3112.78 49.3 -4.374 - - - - - - 15.49 15.26 15.41
272.16 44.45 -13.97 52 277.69 roll -1.29 - - 2015.06 - 2.59 0.020 2249.25 -455.4 -82.73 - - 3114.16 - - - - - - - - - 15.78 -
462.51 68.22 -12.05 90 463.84 no move -1.29 - - 2015.62 - - - 2247.44 - -82.73 - - 3112.94 - - - - - - - - - - -
647.22 86.63 -10.60 127 652.81 roll -1.29 - - 2015.81 - 2.91 0.080 3427.62 405.6 -82.73 - - 3114.97 - - - - - - - - - 15.84 -
672.22 89.44 -11.15 132 677.76 roll -1.29 - - 2016.44 - 2.57 0.020 2244.00 -460.6 -82.73 - - 3113.31 - - - - - - - - - 15.85 -
862.65 106.47 -8.03 170 863.98 no move -1.29 - - 2016.12 - - - 2242.38 - -82.73 - - 3113.03 - - - - - - - - - - -
1167.29 129.35 -7.36 231 1172.88 roll -1.29 - - 2016.56 - 2.92 0.081 3428.50 406.2 -82.73 - - 3114.25 - - - - - - - - - 15.89 -
1232.30 134.68 -8.22 244 1237.83 roll -1.29 - - 2016.31 - 2.57 0.021 2241.31 -461.9 -82.73 - - 3114.53 - - - - - - - - - 15.90 -
1542.35 158.44 -8.29 306 1547.46 roll -1.29 - - 2016.00 - 2.47 0.067 1208.38 -418.2 -82.73 - - 3113.91 - - - - - - - - - 15.93 -
1562.34 160.17 -8.45 310 1567.87 roll -1.29 - - 2016.25 - 2.60 0.029 2354.81 440.9 -82.73 - - 3114.19 - - - - - - - - - 15.93 -
1872.38 185.11 -8.32 372 1873.71 no move -1.29 - - 2016.00 - - - 2354.75 - -82.73 - - 3112.84 - - - - - - - - - - -
2177.64 210.55 -8.17 433 2183.08 roll -1.29 - - 2015.88 - 2.76 0.063 1208.31 -415.4 -82.73 - - 3113.62 - - - - - - - - - 15.95 -
2297.50 220.84 -8.91 457 2303.03 roll -1.29 - - 2015.81 - 2.60 0.029 2352.88 440.2 -82.73 - - 3114.31 - - - - - - - - - 15.97 -
2607.59 249.38 -9.64 519 2613.14 roll -1.29 - - 2016.25 - 2.64 0.088 3428.50 407.4 -82.73 - - 3112.84 - - - - - - - - - 15.92 -
2687.62 257.99 -10.72 535 2693.15 roll -1.29 - - 2016.25 - 2.56 0.021 2245.31 -462.2 -82.73 - - 3113.50 - - - - - - - - - 15.97 -
2997.73 288.01 -9.49 597 3002.85 roll -1.29 - - 2015.75 - 2.48 0.068 1209.62 -417.6 -82.73 - - 3112.03 - - - - - - - - - 15.95 -
3037.74 291.99 -9.99 605 3043.28 roll -1.29 - - 2016.12 - 2.60 0.030 2352.06 439.4 -82.73 - - 3113.97 - - - - - - - - - 15.98 -
3345.71 322.16 -9.97 642 3350.36 roll -1.29 - - 2015.94 - 2.74 0.063 1207.94 -417.6 -82.73 - - 3110.22 - - - - - - - - - 15.96 -
3384.45 326.08 -10.25 648 3399.16 roll -1.29 - - 2016.38 - 2.60 0.030 2353.31 440.5 -82.73 - - 3112.47 - - - - - - - - - 15.99 -
3700.57 357.51 -9.26 677 3711.64 no move -1.29 - - 2016.50 - - - 2353.25 - -82.73 - - 3111.44 - - - - - - - - - - -
4013.51 386.15 -9.14 706 4018.16 roll -1.29 - - 2016.06 - 2.74 0.063 1210.00 -417.2 -82.73 - - 3109.91 - - - - - - - - - 15.96 -
4131.04 396.79 -9.11 722 4145.96 roll -1.29 - - 2015.81 - 2.59 0.030 2352.50 441.1 -82.73 - - 3109.44 - - - - - - - - - 16.00 -
4447.17 423.30 -8.20 751 4451.81 roll -1.29 - - 2016.31 - 2.74 0.063 1209.69 -417.1 -82.73 - - 3108.88 - - - - - - - - - 15.96 -
4532.91 430.25 -8.26 763 4547.82 roll -1.29 - - 2016.12 - 2.59 0.030 2353.00 441.4 -82.73 - - 3108.69 - - - - - - - - - 16.01 -
4849.79 454.53 -7.71 792 4860.86 no move -1.29 - - 2016.31 - - - 2352.50 - -82.73 - - 3109.03 - - - - - - - - - - -
5162.56 479.02 -8.35 821 5173.63 no move -1.29 - - 2016.00 - - - 2352.50 - -82.73 - - 3108.50 - - - - - - - - - - -
5477.31 504.22 -7.88 849 5481.94 roll -1.29 - - 2016.12 - 2.76 0.064 1207.06 -415.0 -82.73 - - 3108.16 - - - - - - - - - 15.96 -
5536.58 509.12 -8.28 858 5542.12 roll -1.29 - - 2015.94 - 2.61 0.031 2352.94 439.0 -82.73 - - 3108.22 - - - - - - - - - 16.01 -
5856.01 534.92 -7.88 880 5857.34 no move -1.29 - - 2016.06 - - - 2352.75 - -82.73 - - 3105.62 - - - - - - - - - - -
6171.04 558.91 -7.34 901 6172.37 no move -1.29 - - 2015.81 - - - 2352.56 - -82.73 - - 3105.62 - - - - - - - - - - -
6486.05 580.71 -6.76 922 6490.87 roll -1.29 - - 2016.12 - 2.77 0.064 1209.75 -412.6 -82.73 - - 3105.97 - - - - - - - - - 15.95 -
6566.58 586.43 -7.22 934 6572.00 roll -1.29 - - 2016.12 - 2.59 0.031 2350.88 440.6 -82.73 - - 3106.81 - - - - - - - - - 16.01 -
6885.89 608.14 -6.60 956 6887.21 no move -1.29 - - 2016.00 - - - 2350.75 - -82.73 - - 3104.72 - - - - - - - - - - -
7200.93 628.35 -6.34 977 7202.26 no move -1.29 - - 2016.00 - - - 2351.62 - -82.73 - - 3103.31 - - - - - - - - - - -
7515.97 648.02 -6.41 998 7517.30 no move -1.29 - - 2016.00 - - - 2351.50 - -82.73 - - 3102.94 - - - - - - - - - - -
7831.16 669.15 -6.67 1019 7835.80 roll -1.29 - - 2015.50 - 2.77 0.065 1210.75 -411.8 -82.73 - - 3104.69 - - - - - - - - - 15.93 -
7909.83 674.67 -6.95 1030 7914.44 roll -1.29 - - 2016.38 - 2.60 0.031 2351.94 438.9 -82.73 - - 3105.72 - - - - - - - - - 16.00 -
8226.30 697.25 -7.33 1052 8230.94 roll -1.29 - - 2016.25 - 2.76 0.065 1209.75 -413.8 -82.73 - - 3103.09 - - - - - - - - - 15.93 -
8285.58 701.67 -7.53 1061 8291.11 roll -1.29 - - 2014.69 - 2.60 0.031 2352.12 439.4 -82.73 - - 3103.62 - - - - - - - - - 16.02 -
8605.00 724.98 -7.18 1083 8606.33 no move -1.29 - - 2015.94 - - - 2352.00 - -82.73 - - 3102.03 - - - - - - - - - - -
8920.04 747.56 -7.22 1104 8924.68 roll -1.29 - - 2015.75 - 2.77 0.066 1210.69 -412.0 -82.73 - - 3102.41 - - - - - - - - - 15.92 -
9000.07 753.51 -7.51 1116 9005.60 roll -1.29 - - 2016.38 - 2.60 0.032 2352.00 439.0 -82.73 - - 3102.62 - - - - - - - - - 16.01 -
9319.66 776.69 -7.11 1138 9324.34 roll -1.29 - - 2016.12 - 2.67 0.094 3426.00 402.2 -82.73 - - 3100.25 - - - - - - - - - 15.87 -
9419.06 784.83 -8.20 1152 9423.67 roll -1.29 - - 2014.06 - 2.57 0.023 2249.88 -457.6 -82.73 - - 3102.22 - - - - - - - - - 16.00 -
9735.53 809.08 -7.35 1174 9736.86 no move -1.29 - - 2016.25 - - - 2249.00 - -82.73 - - 3100.28 - - - - - - - - - - -
10050.56 831.99 -7.31 1195 10055.23 roll -1.29 - - 2015.94 - 2.93 0.089 3425.56 401.6 -82.73 - - 3100.00 - - - - - - - - - 15.87 -
10170.68 841.81 -8.21 1212 10175.30 roll -1.29 - - 2015.81 - 2.56 0.023 2248.62 -459.7 -82.73 - - 3099.91 - - - - - - - - - 15.99 -
10487.15 865.56 -7.22 1234 10491.76 roll -1.29 - - 2015.88 - 2.52 0.071 1209.94 -412.2 -82.73 - - 3102.59 - - - - - - - - - 15.91 -
10572.16 871.33 -7.31 1247 10587.08 roll -1.29 - - 2014.25 - 2.61 0.031 2350.50 437.0 -82.73 - - 3101.53 - - - - - - - - - 16.01 -
10901.57 895.16 -6.84 1269 10902.89 no move -1.29 - - 2015.81 - - - 2351.50 - -82.73 - - 3099.12 - - - - - - - - - - -
11216.59 915.24 -6.20 1290 11221.24 roll -1.29 - - 2015.69 - 2.77 0.066 1209.56 -412.3 -82.73 - - 3099.28 - - - - - - - - - 15.90 -
11280.86 919.19 -6.68 1300 11295.80 roll -1.29 - - 2015.88 - 2.61 0.032 2351.81 437.6 -82.73 - - 3100.00 - - - - - - - - - 16.01 -
11610.26 941.35 -6.63 1322 11611.59 no move -1.29 - - 2015.81 - - - 2351.56 - -82.73 - - 3098.75 - - - - - - - - - - -
11925.47 962.36 -6.48 1343 11926.80 no move -1.29 - - 2015.69 - - - 2352.12 - -82.73 - - 3098.84 - - - - - - - - - - -
12240.43 982.82 -5.91 1364 12245.06 roll -1.29 - - 2016.12 - 2.70 0.098 3424.94 397.3 -82.73 - - 3098.38 - - - - - - - - - 15.82 -
12283.99 982.93 -3.74 1371 12298.89 roll -1.29 - - 2016.06 - 2.56 0.023 2239.69 -463.0 -82.73 - - 3101.81 - - - - - - - - - 15.99 -
12613.40 983.03 -1.01 1393 12617.98 roll -1.29 - - 2015.56 - 2.49 0.073 1208.44 -414.2 -82.73 - - 3099.34 - - - - - - - - - 15.88 -
12754 end dive: NO_VERTICAL_VELOCITY
12754 begin apogee
12757.97 983.03 - 1413 12831.77 -0.28 1.69 0.111 2265.44 147.9 0.12 0.194 2171.38 8024.5 - 62.24 2.437 2774.38 -5.2 0.353 - - - - - - 15.83 15.56 10.64
12833 end apogee: CONTROL_FINISHED_OK
12833 begin climb
12833.78 983.15 - 1418 12921.42 1.29 2.53 0.081 2649.06 151.6 3.05 0.094 3343.44 384.3 82.73 67.52 2.364 2438.25 -5.0 0.347 - - - - - - 15.62 15.24 12.34
13150.85 963.57 7.48 1463 13155.48 roll 1.31 - - 2647.12 - 2.62 0.024 2190.19 -440.2 82.73 - - 2432.78 - - - - - - - - - 15.61 -
13467.34 939.91 7.65 1485 13472.01 roll 1.33 - - 2646.94 - 2.92 0.090 3343.94 395.1 82.73 - - 2429.59 - - - - - - - - - 15.71 -
13650.74 923.61 9.02 1511 13655.35 roll 1.33 - - 2648.88 - 2.59 0.025 2188.56 -446.1 82.73 - - 2430.53 - - - - - - - - - 15.79 -
13967.23 899.04 7.71 1533 13971.84 done 1.35 - - 2648.88 - 2.60 0.080 1131.50 -406.6 82.73 - - 2428.78 - - - - - - - - - 15.80 -
14047.25 892.73 7.96 1545 14052.79 done 1.36 - - 2649.06 - 2.63 0.031 2274.56 434.6 82.73 - - 2429.16 - - - - - - - - - 15.85 -
14366.65 869.40 7.13 1567 14371.32 done 1.38 - - 2648.62 - 2.83 0.075 1131.00 -404.1 82.73 - - 2428.53 - - - - - - - - - 15.82 -
14466.39 861.69 7.75 1581 14471.02 done 1.40 - - 2648.88 - 2.62 0.032 2270.69 435.0 82.73 - - 2430.22 - - - - - - - - - 15.88 -
14782.90 840.84 6.20 1603 14828.65 1.48 0.24 0.078 2702.69 224.2 - - 2270.50 - 125.19 34.26 2.212 2264.19 -4.8 0.309 - - - - - - 15.88 - 11.51
15142.92 809.81 8.99 1627 15144.25 no move 1.48 - - 2701.88 - - - 2270.62 - 125.19 - - 2259.50 - - - - - - - - - - -
15457.98 782.31 8.93 1648 15459.30 no move 1.48 - - 2702.25 - - - 2270.94 - 125.19 - - 2258.84 - - - - - - - - - - -
15773.00 754.88 8.91 1669 15777.66 roll 1.48 - - 2702.44 - 2.84 0.076 1131.44 -401.2 125.19 - - 2258.50 - - - - - - - - - 15.83 -
15830.92 749.37 9.36 1677 15835.55 roll 1.48 - - 2702.56 - 2.63 0.032 2272.12 433.7 125.19 - - 2261.09 - - - - - - - - - 15.88 -
16147.40 723.00 8.08 1699 16148.73 no move 1.48 - - 2702.38 - - - 2272.31 - 125.19 - - 2257.53 - - - - - - - - - - -
16462.41 698.04 8.03 1720 16467.07 roll 1.48 - - 2702.88 - 2.83 0.075 1133.56 -402.4 125.19 - - 2256.69 - - - - - - - - - 15.85 -
16542.44 691.03 8.84 1732 16547.98 roll 1.48 - - 2702.38 - 2.62 0.032 2271.56 434.4 125.19 - - 2259.09 - - - - - - - - - 15.93 -
16861.86 662.96 8.83 1754 16863.19 no move 1.48 - - 2702.75 - - - 2271.69 - 125.19 - - 2257.22 - - - - - - - - - - -
17176.90 635.29 8.78 1775 17178.23 no move 1.48 - - 2703.00 - - - 2271.31 - 125.19 - - 2256.66 - - - - - - - - - - -
17491.93 608.73 8.47 1796 17496.59 roll 1.48 - - 2702.69 - 2.83 0.075 1131.12 -402.9 125.19 - - 2257.88 - - - - - - - - - 15.87 -
17597.66 599.66 9.13 1812 17612.59 roll 1.48 - - 2702.44 - 2.62 0.032 2273.50 436.0 125.19 - - 2259.59 - - - - - - - - - 15.96 -
17927.07 570.88 9.01 1834 17928.40 no move 1.48 - - 2702.81 - - - 2273.56 - 125.19 - - 2256.75 - - - - - - - - - - -
18242.26 543.33 8.35 1855 18246.94 roll 1.48 - - 2703.12 - 2.69 0.094 3346.75 399.0 125.19 - - 2257.41 - - - - - - - - - 15.85 -
18322.27 536.59 8.50 1867 18327.80 roll 1.48 - - 2702.25 - 2.58 0.024 2187.19 -449.4 125.19 - - 2257.94 - - - - - - - - - 15.97 -
18641.67 511.46 8.03 1889 18646.28 roll 1.48 - - 2702.81 - 2.58 0.079 1129.94 -409.8 125.19 - - 2258.75 - - - - - - - - - 15.87 -
18742.41 503.33 8.18 1904 18747.96 roll 1.48 - - 2703.00 - 2.61 0.032 2273.19 438.0 125.19 - - 2258.50 - - - - - - - - - 15.97 -
19050.04 479.93 7.71 1932 19061.11 no move 1.50 - - 2703.25 - - - 2273.38 - 125.19 - - 2257.69 - - - - - - - - - - -
19363.23 457.29 7.30 1961 19374.30 no move 1.52 - - 2703.00 - - - 2273.69 - 125.19 - - 2257.28 - - - - - - - - - - -
19676.27 435.26 7.32 1990 19680.92 roll 1.54 - - 2702.94 - 2.78 0.074 1131.25 -410.9 125.19 - - 2256.09 - - - - - - - - - 15.87 -
19746.28 429.94 7.61 2000 19761.19 roll 1.56 - - 2701.62 - 2.61 0.031 2272.75 437.4 125.19 - - 2258.34 - - - - - - - - - 15.98 -
20062.31 407.02 7.29 2029 20066.95 roll 1.58 - - 2703.12 - 2.80 0.074 1129.69 -408.2 125.19 - - 2257.00 - - - - - - - - - 15.86 -
20162.42 398.78 8.31 2042 20167.22 roll 1.58 - - 2702.81 - 2.61 0.031 2273.44 438.2 125.19 - - 2255.69 - - - - - - - - - 15.97 -
20474.45 376.37 6.98 2071 20485.52 no move 1.61 - - 2702.50 - - - 2273.06 - 125.19 - - 2257.62 - - - - - - - - - - -
20787.03 355.68 6.72 2100 20798.21 pitch 1.65 0.17 0.088 2741.19 227.6 - - 2273.19 - 125.19 - - 2257.25 - - - - - - - - 15.93 - -
21099.95 332.27 7.51 2129 21104.57 roll 1.67 - - 2742.62 - 2.66 0.092 3344.00 402.6 125.19 - - 2256.16 - - - - - - - - - 15.84 -
21137.12 329.17 8.05 2134 21141.73 roll 1.67 - - 2742.12 - 2.57 0.024 2185.38 -450.8 125.19 - - 2256.91 - - - - - - - - - 15.97 -
21448.65 304.71 7.63 2163 21459.73 no move 1.68 - - 2742.31 - - - 2185.31 - 125.19 - - 2257.56 - - - - - - - - - - -
21761.40 281.06 7.59 2218 21766.74 roll 1.70 - - 2741.81 - 2.58 0.078 1131.81 -408.3 125.19 - - 2257.91 - - - - - - - - - 15.84 -
21791.23 278.67 7.82 2224 21796.74 roll 1.71 - - 2742.31 - 2.60 0.030 2273.44 439.1 125.19 - - 2257.38 - - - - - - - - - 15.96 -
22101.26 254.46 8.38 2286 22106.84 roll 1.71 - - 2742.31 - 2.81 0.073 1131.38 -406.4 125.19 - - 2258.00 - - - - - - - - - 15.84 -
22221.28 244.06 8.78 2310 22227.00 roll 1.71 - - 2742.75 - 2.60 0.031 2276.19 440.3 125.19 - - 2257.59 - - - - - - - - - 15.96 -
22531.34 220.76 7.10 2372 22536.87 roll 1.74 - - 2742.25 - 2.67 0.091 3347.00 401.1 125.19 - - 2257.25 - - - - - - - - - 15.82 -
22576.34 217.21 7.88 2381 22581.87 roll 1.75 - - 2741.88 - 2.57 0.023 2185.19 -452.1 125.19 - - 2257.53 - - - - - - - - - 15.96 -
22886.39 195.36 7.21 2443 22891.96 roll 1.78 - - 2741.88 - 2.89 0.087 3346.81 401.9 125.19 - - 2257.97 - - - - - - - - - 15.82 -
23021.40 184.40 8.45 2470 23026.92 roll 1.78 - - 2740.94 - 2.57 0.024 2185.00 -452.1 125.19 - - 2258.34 - - - - - - - - - 15.95 -
23331.51 163.38 5.80 2532 23374.19 1.88 0.25 0.073 2796.44 222.0 2.58 0.080 1129.94 -408.9 175.16 37.87 1.392 2058.84 -5.3 0.104 - - - - - - 15.93 15.83 11.10
23426.51 155.68 9.37 2551 23432.05 roll 1.88 - - 2795.56 - 2.61 0.030 2273.50 438.1 175.16 - - 2059.19 - - - - - - - - - 15.87 -
23736.67 128.06 9.13 2613 23742.16 roll 1.88 - - 2797.00 - 2.66 0.090 3346.94 403.5 175.16 - - 2056.09 - - - - - - - - - 15.80 -
23851.65 116.08 10.44 2636 23857.17 roll 1.88 - - 2797.19 - 2.59 0.024 2187.88 -447.5 175.16 - - 2055.19 - - - - - - - - - 15.87 -
24161.76 92.50 7.23 2698 24167.27 roll 1.90 - - 2796.88 - 2.57 0.077 1132.38 -410.7 175.16 - - 2055.12 - - - - - - - - - 15.83 -
24311.80 79.70 8.66 2728 24317.34 roll 1.90 - - 2796.56 - 2.61 0.029 2274.88 437.7 175.16 - - 2053.94 - - - - - - - - - 15.90 -
24501.86 68.35 4.50 2766 24564.25 2.05 0.18 0.084 2841.38 249.0 2.80 0.074 1131.56 -408.3 249.49 55.72 1.259 1757.19 -5.3 0.048 - - - - - - 15.88 15.75 11.72
24776.92 50.14 8.69 2821 24782.46 done 2.05 - - 2840.56 - 2.62 0.030 2273.31 435.8 249.49 - - 1748.66 - - - - - - - - - 15.79 -
24967.05 35.98 7.28 2859 24972.55 done 2.07 - - 2840.81 - 2.78 0.071 1130.00 -411.3 249.49 - - 1747.50 - - - - - - - - - 15.79 -
25001.99 32.99 8.31 2866 25007.53 done 2.07 - - 2840.62 - 2.61 0.029 2274.12 438.4 249.49 - - 1747.25 - - - - - - - - - 15.82 -
25192.05 19.33 5.42 2904 25237.24 VBD 2.19 - - 2841.44 - - - 2274.94 - 306.49 42.66 1.162 1525.44 -5.2 0.014 - - - - - - - - 11.69
25422.08 8.63 2.82 2950 25507.33 2.40 0.44 0.058 2926.00 192.2 2.69 0.091 3347.00 398.5 412.22 79.21 1.139 1094.22 -5.4 0.007 - - - - - - 15.75 15.54 11.94
25554 end climb: SURFACE_DEPTH_REACHED
25554 begin surface coast
25604 end surface coast: CONTROL_FINISHED_OK
25604 begin surface
SM 3.06 - - - - 179.4 11.15 0.967 1042.2 86.4 17.20 0.052 1013.2 58.9 - 2.38 0.022 1071.1 448.9 -6.382 - - 12.22 15.61 15.65 -