NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 516 * Raw log
prev dive * next dive * dive
• Previous call tries 5 • 167.38 of 550.00 AH used of 24V (69.57% remains)
• Surface angle -63.1 deg, depth 0.57 m • Intended pitch -20.3 deg, speed -8.462 cm/s
VBD pumped to 424.97 (SM_CC=425)
• GPS1 time: 1 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
4 begin dive
5.49 - - - 67.18 VBD -1.29 - - 178.50 - - - 2249.62 - -82.73 60.56 0.005 2655.81 - - - - - - - - - - 15.39
67.92 3.22 -5.55 11 100.82 -1.29 14.50 0.245 2016.44 126.8 2.97 0.080 3429.06 397.1 -82.73 9.30 0.007 3112.06 49.1 -3.768 - - - - - - 15.52 15.35 15.45
323.12 55.21 -14.06 62 328.52 roll -1.29 - - 2016.31 - 2.60 0.018 2246.25 -454.9 -82.73 - - 3112.12 - - - - - - - - - 15.80 -
513.36 77.18 -10.65 100 514.68 no move -1.29 - - 2015.88 - - - 2244.50 - -82.73 - - 3111.19 - - - - - - - - - - -
697.99 98.67 -12.16 137 699.32 no move -1.29 - - 2016.00 - - - 2243.56 - -82.73 - - 3110.94 - - - - - - - - - - -
883.02 118.99 -9.61 174 888.61 roll -1.29 - - 2015.81 - 2.93 0.075 3426.69 403.8 -82.73 - - 3112.69 - - - - - - - - - 15.90 -
1018.04 132.63 -9.59 201 1023.57 roll -1.29 - - 2016.06 - 2.57 0.019 2242.88 -460.6 -82.73 - - 3112.94 - - - - - - - - - 15.92 -
1328.12 156.95 -7.62 263 1333.23 roll -1.29 - - 2015.75 - 2.47 0.066 1207.81 -419.1 -82.73 - - 3113.03 - - - - - - - - - 15.95 -
1388.13 162.02 -8.56 275 1393.68 roll -1.29 - - 2016.69 - 2.62 0.027 2356.94 438.6 -82.73 - - 3113.03 - - - - - - - - - 15.95 -
1698.24 187.81 -8.75 337 1703.78 roll -1.29 - - 2016.25 - 2.66 0.081 3427.69 402.5 -82.73 - - 3112.12 - - - - - - - - - 15.95 -
1788.27 196.99 -10.21 355 1793.98 roll -1.29 - - 2016.06 - 2.57 0.019 2243.75 -460.7 -82.73 - - 3112.53 - - - - - - - - - 15.97 -
2098.37 224.68 -8.48 417 2099.70 no move -1.29 - - 2016.19 - - - 2242.50 - -82.73 - - 3108.50 - - - - - - - - - - -
2403.49 253.25 -9.68 478 2409.08 roll -1.29 - - 2015.94 - 2.96 0.078 3424.69 399.4 -82.73 - - 3107.94 - - - - - - - - - 15.98 -
2478.50 261.49 -11.16 493 2484.04 roll -1.29 - - 2016.06 - 2.57 0.020 2246.69 -458.4 -82.73 - - 3107.72 - - - - - - - - - 15.99 -
2788.61 290.27 -8.61 555 2789.94 no move -1.29 - - 2016.00 - - - 2245.19 - -82.73 - - 3106.38 - - - - - - - - - - -
3100.11 317.26 -8.55 595 3111.18 no move -1.29 - - 2016.00 - - - 2244.75 - -82.73 - - 3106.12 - - - - - - - - - - -
3412.77 343.61 -8.59 624 3423.84 no move -1.29 - - 2015.75 - - - 2245.25 - -82.73 - - 3104.19 - - - - - - - - - - -
3725.92 370.16 -8.56 653 3730.59 roll -1.29 - - 2016.06 - 2.95 0.081 3427.06 400.6 -82.73 - - 3101.50 - - - - - - - - - 16.01 -
3874.61 385.02 -10.24 673 3889.52 roll -1.29 - - 2016.12 - 2.57 0.021 2247.88 -458.8 -82.73 - - 3102.50 - - - - - - - - - 16.03 -
4190.73 412.92 -8.51 702 4195.52 roll -1.29 - - 2016.00 - 2.51 0.070 1210.75 -413.2 -82.73 - - 3099.69 - - - - - - - - - 16.02 -
4243.77 417.57 -8.72 709 4248.40 roll -1.29 - - 2016.06 - 2.61 0.029 2354.88 438.4 -82.73 - - 3101.66 - - - - - - - - - 16.02 -
4555.69 443.37 -8.02 738 4566.76 no move -1.29 - - 2016.06 - - - 2354.81 - -82.73 - - 3100.69 - - - - - - - - - - -
4868.35 467.11 -7.29 767 4872.99 roll -1.29 - - 2016.31 - 2.78 0.065 1210.75 -411.5 -82.73 - - 3099.97 - - - - - - - - - 16.01 -
4954.09 473.62 -7.67 779 4969.02 roll -1.29 - - 2015.94 - 2.61 0.029 2353.31 437.8 -82.73 - - 3099.78 - - - - - - - - - 16.04 -
5270.97 497.46 -7.75 808 5275.61 roll -1.29 - - 2015.94 - 2.76 0.065 1208.50 -414.8 -82.73 - - 3097.66 - - - - - - - - - 16.01 -
5349.65 503.98 -8.23 819 5354.28 roll -1.29 - - 2015.56 - 2.61 0.030 2352.69 438.4 -82.73 - - 3096.81 - - - - - - - - - 16.03 -
5666.12 528.99 -8.03 841 5667.45 no move -1.29 - - 2015.81 - - - 2353.19 - -82.73 - - 3096.69 - - - - - - - - - - -
5981.13 555.79 -8.71 862 5982.46 no move -1.29 - - 2015.81 - - - 2353.69 - -82.73 - - 3094.84 - - - - - - - - - - -
6296.14 582.58 -8.52 883 6300.78 roll -1.29 - - 2015.19 - 2.77 0.065 1209.50 -413.1 -82.73 - - 3096.66 - - - - - - - - - 16.00 -
6360.43 587.79 -8.87 893 6375.36 roll -1.29 - - 2016.06 - 2.61 0.030 2351.94 437.7 -82.73 - - 3095.81 - - - - - - - - - 16.04 -
6690.02 614.96 -7.80 915 6691.35 no move -1.29 - - 2015.94 - - - 2351.88 - -82.73 - - 3094.25 - - - - - - - - - - -
7004.97 638.14 -6.94 936 7009.61 roll -1.29 - - 2016.19 - 2.76 0.065 1208.25 -414.4 -82.73 - - 3095.62 - - - - - - - - - 16.00 -
7062.89 642.37 -7.18 944 7067.51 roll -1.29 - - 2015.88 - 2.62 0.030 2351.31 436.3 -82.73 - - 3093.00 - - - - - - - - - 16.03 -
7379.55 662.76 -6.26 966 7384.24 roll -1.29 - - 2016.38 - 2.78 0.065 1208.69 -411.0 -82.73 - - 3092.31 - - - - - - - - - 15.99 -
7443.82 666.67 -6.59 976 7458.77 roll -1.29 - - 2016.06 - 2.61 0.030 2354.38 439.0 -82.73 - - 3093.28 - - - - - - - - - 16.03 -
7773.23 688.66 -6.62 998 7774.55 no move -1.29 - - 2016.19 - - - 2354.25 - -82.73 - - 3091.94 - - - - - - - - - - -
8088.24 709.91 -6.86 1019 8092.87 roll -1.29 - - 2016.38 - 2.79 0.065 1209.62 -410.3 -82.73 - - 3092.53 - - - - - - - - - 15.98 -
8147.49 714.15 -7.20 1028 8153.02 roll -1.29 - - 2015.94 - 2.60 0.030 2351.75 439.3 -82.73 - - 3094.31 - - - - - - - - - 16.03 -
8466.90 737.05 -7.33 1050 8468.23 no move -1.29 - - 2015.69 - - - 2351.69 - -82.73 - - 3090.72 - - - - - - - - - - -
8781.93 760.10 -7.22 1071 8786.79 roll -1.29 - - 2015.94 - 2.77 0.065 1209.38 -412.4 -82.73 - - 3090.09 - - - - - - - - - 15.98 -
8846.19 764.48 -7.48 1081 8861.12 roll -1.29 - - 2015.88 - 2.61 0.030 2353.00 438.2 -82.73 - - 3091.19 - - - - - - - - - 16.03 -
9175.80 788.07 -7.05 1103 9180.51 roll -1.29 - - 2015.62 - 2.76 0.065 1209.88 -414.2 -82.73 - - 3090.25 - - - - - - - - - 15.97 -
9255.80 794.06 -7.55 1115 9261.35 roll -1.29 - - 2015.94 - 2.62 0.031 2352.06 435.9 -82.73 - - 3091.62 - - - - - - - - - 16.03 -
9575.20 816.48 -6.88 1137 9576.53 no move -1.29 - - 2015.81 - - - 2351.94 - -82.73 - - 3089.47 - - - - - - - - - - -
9890.23 838.21 -6.83 1158 9891.55 no move -1.29 - - 2015.81 - - - 2352.12 - -82.73 - - 3088.59 - - - - - - - - - - -
10205.25 859.35 -6.55 1179 10209.89 roll -1.29 - - 2015.88 - 2.78 0.066 1209.88 -410.9 -82.73 - - 3089.69 - - - - - - - - - 15.96 -
10290.24 864.75 -6.83 1192 10305.17 roll -1.29 - - 2015.94 - 2.61 0.031 2352.31 437.7 -82.73 - - 3089.97 - - - - - - - - - 16.02 -
10619.68 885.43 -6.01 1214 10624.32 roll -1.29 - - 2016.62 - 2.75 0.065 1209.88 -415.4 -82.73 - - 3087.09 - - - - - - - - - 15.96 -
10678.96 889.09 -6.22 1223 10684.50 roll -1.29 - - 2016.06 - 2.61 0.031 2352.19 437.7 -82.73 - - 3088.88 - - - - - - - - - 16.02 -
10998.36 907.43 -5.81 1245 11003.01 roll -1.29 - - 2016.06 - 2.77 0.065 1210.31 -412.2 -82.73 - - 3089.84 - - - - - - - - - 15.95 -
11057.64 911.02 -6.12 1254 11063.18 roll -1.29 - - 2016.44 - 2.62 0.031 2353.19 436.2 -82.73 - - 3088.53 - - - - - - - - - 16.02 -
11377.03 930.93 -6.49 1276 11381.86 roll -1.29 - - 2016.25 - 2.78 0.065 1208.44 -411.8 -82.73 - - 3090.88 - - - - - - - - - 15.95 -
11436.75 934.86 -6.71 1285 11441.85 roll -1.29 - - 2016.31 - 2.61 0.031 2352.00 438.1 -82.73 - - 3088.97 - - - - - - - - - 16.02 -
11755.89 955.87 -6.50 1307 11757.22 no move -1.29 - - 2016.25 - - - 2351.62 - -82.73 - - 3086.44 - - - - - - - - - - -
12070.75 976.22 -6.37 1328 12072.08 no move -1.29 - - 2015.69 - - - 2351.81 - -82.73 - - 3086.19 - - - - - - - - - - -
12296 end dive: TARGET_DEPTH_EXCEEDED
12296 begin apogee
12297.58 990.36 -6.35 1343 12361.07 -0.28 1.72 0.142 2263.38 144.0 0.20 0.142 2282.62 -346.0 - 59.24 2.441 2773.81 -5.3 0.357 - - - - - - 15.83 15.60 10.95
12362 end apogee: CONTROL_FINISHED_OK
12363 begin climb
12363.05 991.80 - 1347 12437.21 1.29 2.56 0.095 2649.19 150.7 - - 2283.06 - 82.73 67.44 2.414 2437.97 -5.0 0.342 - - - - - - 15.66 - 12.59
12749.58 967.18 7.41 1373 12750.91 no move 1.32 - - 2648.81 - - - 2282.75 - 82.73 - - 2430.19 - - - - - - - - - - -
13064.61 944.12 7.49 1394 13069.28 done 1.34 - - 2649.12 - 2.85 0.074 1132.31 -403.7 82.73 - - 2432.28 - - - - - - - - - 15.77 -
13144.62 937.90 7.85 1406 13150.34 done 1.35 - - 2649.38 - 2.64 0.031 2271.81 431.6 82.73 - - 2431.31 - - - - - - - - - 15.81 -
13464.15 913.48 7.81 1428 13468.80 done 1.36 - - 2648.81 - 2.79 0.074 1132.69 -408.3 82.73 - - 2427.56 - - - - - - - - - 15.83 -
13544.14 906.91 8.28 1440 13549.70 done 1.36 - - 2649.44 - 2.62 0.030 2272.06 434.9 82.73 - - 2429.22 - - - - - - - - - 15.87 -
13863.58 883.15 7.13 1462 13868.24 done 1.39 - - 2649.38 - 2.82 0.074 1131.62 -404.4 82.73 - - 2429.22 - - - - - - - - - 15.86 -
13927.86 878.69 7.55 1472 13942.78 done 1.40 - - 2649.12 - 2.62 0.031 2271.06 434.9 82.73 - - 2428.84 - - - - - - - - - 15.91 -
14257.26 856.72 6.33 1494 14301.71 1.48 0.25 0.086 2701.31 208.8 2.83 0.078 1130.88 -402.9 122.72 32.15 2.228 2273.81 -4.8 0.310 - - - - - - 15.87 15.74 11.61
14366.66 847.50 8.58 1510 14372.21 roll 1.48 - - 2701.94 - 2.65 0.031 2270.88 430.2 122.72 - - 2271.44 - - - - - - - - - 15.78 -
14686.07 817.94 9.20 1532 14687.40 no move 1.48 - - 2701.50 - - - 2270.88 - 122.72 - - 2268.56 - - - - - - - - - - -
15001.08 787.71 9.77 1553 15005.73 roll 1.48 - - 2701.31 - 2.81 0.075 1132.38 -405.2 122.72 - - 2270.97 - - - - - - - - - 15.86 -
15102.16 777.39 10.39 1568 15107.89 roll 1.48 - - 2701.50 - 2.63 0.031 2272.50 433.5 122.72 - - 2269.03 - - - - - - - - - 15.89 -
15421.75 745.80 9.99 1590 15423.08 no move 1.48 - - 2702.00 - - - 2272.19 - 122.72 - - 2267.72 - - - - - - - - - - -
15736.61 714.23 10.02 1611 15737.94 no move 1.48 - - 2701.31 - - - 2272.25 - 122.72 - - 2267.38 - - - - - - - - - - -
16051.65 683.93 9.47 1632 16056.28 roll 1.48 - - 2701.88 - 2.80 0.075 1129.94 -408.0 122.72 - - 2268.72 - - - - - - - - - 15.90 -
16131.66 676.01 10.01 1644 16137.22 roll 1.48 - - 2701.62 - 2.61 0.031 2271.94 437.5 122.72 - - 2268.06 - - - - - - - - - 15.96 -
16451.07 647.81 8.74 1666 16455.71 roll 1.48 - - 2701.44 - 2.80 0.075 1131.50 -407.3 122.72 - - 2266.25 - - - - - - - - - 15.91 -
16509.00 642.51 9.04 1674 16513.64 roll 1.48 - - 2701.06 - 2.61 0.031 2272.50 437.2 122.72 - - 2267.22 - - - - - - - - - 15.95 -
16825.50 616.77 7.84 1696 16826.83 no move 1.50 - - 2701.25 - - - 2272.69 - 122.72 - - 2266.53 - - - - - - - - - - -
17140.53 591.52 8.00 1717 17145.19 roll 1.50 - - 2701.88 - 2.81 0.074 1132.56 -405.7 122.72 - - 2266.00 - - - - - - - - - 15.91 -
17225.52 584.64 8.67 1730 17240.45 roll 1.50 - - 2701.75 - 2.61 0.031 2271.88 436.5 122.72 - - 2267.28 - - - - - - - - - 15.98 -
17554.93 557.64 7.72 1752 17556.26 no move 1.51 - - 2701.81 - - - 2272.25 - 122.72 - - 2266.78 - - - - - - - - - - -
17870.18 532.97 7.49 1773 17875.00 roll 1.53 - - 2700.81 - 2.79 0.074 1131.06 -409.0 122.72 - - 2269.12 - - - - - - - - - 15.91 -
17934.58 528.28 7.89 1783 17949.36 roll 1.54 - - 2701.31 - 2.60 0.031 2273.31 439.3 122.72 - - 2266.91 - - - - - - - - - 15.98 -
18263.87 503.41 7.19 1805 18265.20 no move 1.57 - - 2701.62 - - - 2273.31 - 122.72 - - 2266.25 - - - - - - - - - - -
18571.02 480.91 7.25 1832 18582.09 no move 1.59 - - 2701.94 - - - 2273.50 - 122.72 - - 2267.25 - - - - - - - - - - -
18884.54 458.20 7.52 1861 18889.18 roll 1.61 - - 2701.62 - 2.79 0.074 1131.06 -409.5 122.72 - - 2269.38 - - - - - - - - - 15.91 -
19001.72 448.66 8.32 1877 19016.65 done 1.61 - - 2701.94 - 2.61 0.031 2273.44 437.7 122.72 - - 2267.66 - - - - - - - - - 15.99 -
19317.76 422.68 8.24 1906 19322.40 roll 1.61 - - 2701.81 - 2.80 0.074 1131.12 -408.0 122.72 - - 2266.50 - - - - - - - - - 15.91 -
19372.01 418.17 8.46 1914 19386.95 roll 1.61 - - 2701.50 - 2.61 0.030 2274.94 438.2 122.72 - - 2267.06 - - - - - - - - - 15.99 -
19688.47 394.30 7.08 1943 19693.16 roll back 1.64 0.16 0.098 2738.19 229.3 2.68 0.091 3347.62 400.3 122.72 - - 2266.00 - - - - - - - - 15.94 15.80 -
19758.48 388.44 8.29 1953 19773.40 roll 1.64 - - 2738.69 - 2.58 0.024 2187.94 -449.5 122.72 - - 2266.75 - - - - - - - - - 15.99 -
20074.93 364.52 7.84 1982 20079.60 roll 1.65 - - 2738.56 - 2.57 0.079 1129.56 -411.8 122.72 - - 2264.97 - - - - - - - - - 15.90 -
20160.66 357.60 8.16 1994 20175.59 roll 1.65 - - 2738.56 - 2.61 0.030 2274.75 438.8 122.72 - - 2267.06 - - - - - - - - - 15.98 -
20477.11 333.98 7.53 2023 20481.75 roll 1.67 - - 2738.69 - 2.78 0.074 1130.19 -411.7 122.72 - - 2265.69 - - - - - - - - - 15.90 -
20562.85 327.29 7.88 2035 20577.75 roll 1.68 - - 2738.44 - 2.60 0.030 2274.50 440.1 122.72 - - 2266.81 - - - - - - - - - 15.99 -
20879.22 304.57 6.75 2064 20883.86 roll 1.72 - - 2738.00 - 2.67 0.091 3349.81 402.7 122.72 - - 2266.41 - - - - - - - - - 15.88 -
20917.77 301.97 6.83 2070 20932.68 roll 1.75 - - 2737.88 - 2.57 0.024 2186.25 -452.7 122.72 - - 2267.91 - - - - - - - - - 16.00 -
21237.00 279.71 7.38 2129 21242.57 roll 1.77 - - 2738.31 - 2.90 0.087 3345.81 399.8 122.72 - - 2268.00 - - - - - - - - - 15.87 -
21281.99 276.00 8.25 2138 21287.53 roll 1.77 - - 2738.94 - 2.55 0.024 2187.12 -454.4 122.72 - - 2268.62 - - - - - - - - - 15.97 -
21592.13 253.73 7.19 2200 21593.57 pitch 1.80 0.16 0.094 2775.94 231.2 - - 2186.81 - 122.72 - - 2266.12 - - - - - - - - 15.93 - -
21897.12 229.74 8.33 2261 21898.45 no move 1.80 - - 2776.62 - - - 2186.94 - 122.72 - - 2265.88 - - - - - - - - - - -
22202.23 203.77 8.13 2322 22207.76 roll 1.80 - - 2777.00 - 2.57 0.078 1131.19 -410.8 122.72 - - 2267.88 - - - - - - - - - 15.88 -
22357.27 190.54 8.48 2353 22362.80 roll 1.80 - - 2776.88 - 2.59 0.030 2275.12 441.7 122.72 - - 2267.81 - - - - - - - - - 15.97 -
22667.40 168.95 6.72 2415 22668.73 no move 1.83 - - 2776.69 - - - 2274.69 - 122.72 - - 2266.91 - - - - - - - - - - -
22972.50 149.19 5.44 2476 23019.44 done 1.94 - - 2777.00 - 2.79 0.075 1129.94 -410.3 179.46 42.35 1.384 2044.22 -5.3 0.095 - - - - - - - 15.86 11.05
23033.06 145.35 6.63 2488 23038.10 roll back 1.98 0.21 0.081 2824.12 224.4 2.62 0.029 2276.62 437.7 179.46 - - 2042.91 - - - - - - - - 15.86 15.91 -
23343.06 116.90 7.87 2550 23348.15 roll 1.99 - - 2825.62 - 2.67 0.089 3348.44 401.4 179.46 - - 2038.09 - - - - - - - - - 15.83 -
23532.66 102.04 6.08 2588 23571.23 done 2.08 - - 2824.56 - 2.57 0.023 2181.12 -454.2 224.07 34.26 1.283 1862.69 -5.1 0.068 - - - - - - - 15.87 11.92
23873.42 85.50 5.35 2656 23919.74 2.20 0.23 0.077 2875.69 222.3 - - 2180.88 - 282.41 44.33 1.260 1624.09 -5.4 0.061 - - - - - - 15.80 - 12.02
24103.47 65.35 8.99 2702 24104.80 VBD 2.20 - - 2876.38 - - - 2180.94 - 282.41 - - 1614.03 - - - - - - - - - - -
24288.54 47.14 10.04 2739 24294.06 done 2.20 - - 2876.62 - 2.56 0.077 1129.94 -410.5 282.41 - - 1612.22 - - - - - - - - - 15.79 -
24523.62 33.71 3.37 2786 24600.87 2.39 0.20 0.084 2922.69 230.4 2.62 0.027 2279.06 438.6 377.88 70.37 1.198 1235.34 -5.4 0.025 - - - - - - 15.74 15.84 11.92
24784.07 20.41 7.97 2838 24789.26 roll 2.39 - - 2922.06 - 2.83 0.072 1131.12 -405.6 377.88 - - 1227.91 - - - - - - - - - 15.73 -
24979 end climb: SURFACE_DEPTH_REACHED
24979 begin surface coast
25029 end surface coast: CONTROL_FINISHED_OK
25029 begin surface
SM 2.23 - - - - 178.2 34.96 1.131 1042.5 29.8 16.90 0.048 1007.2 59.6 - 2.81 0.032 1077.8 382.6 -2.725 - - 11.90 15.74 15.78 -