NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 524 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 170.53 of 550.00 AH used of 24V (68.99% remains)
• Surface angle -58.5 deg, depth 0.63 m • Intended pitch -20.3 deg, speed -8.462 cm/s
• No surface pump (final VBD was 973.2, SM_CC=425)
• GPS1 time: 39 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
2 end surface: CONTROL_FINISHED_OK
3 begin dive
5.20 - - - 61.86 VBD -1.29 - - 180.56 - - - 2237.38 - -82.73 55.47 0.005 2393.31 - - - - - - - - - - 15.39
62.60 3.18 -6.29 10 101.67 -1.29 14.69 0.249 2016.00 124.9 2.52 0.069 1209.94 -407.7 -82.73 15.44 0.006 3113.41 46.6 -4.136 - - - - - - 15.53 15.31 15.44
243.76 44.63 -19.09 46 249.31 roll -1.29 - - 2016.31 - 2.64 0.028 2351.75 432.5 -82.73 - - 3112.91 - - - - - - - - - 15.79 -
434.17 69.50 -11.82 84 439.53 roll -1.29 - - 2015.69 - 2.69 0.082 3427.06 399.7 -82.73 - - 3113.78 - - - - - - - - - 15.81 -
528.95 81.91 -12.36 103 534.36 roll -1.29 - - 2016.19 - 2.58 0.019 2240.88 -459.8 -82.73 - - 3113.25 - - - - - - - - - 15.84 -
719.28 100.37 -9.32 141 724.42 roll -1.29 - - 2016.31 - 2.47 0.063 1208.00 -418.2 -82.73 - - 3113.34 - - - - - - - - - 15.87 -
813.93 109.10 -8.80 160 819.47 roll -1.29 - - 2016.44 - 2.62 0.026 2356.12 438.2 -82.73 - - 3114.28 - - - - - - - - - 15.88 -
1124.03 133.52 -8.23 222 1129.57 roll -1.29 - - 2015.62 - 2.64 0.082 3425.69 405.1 -82.73 - - 3114.59 - - - - - - - - - 15.89 -
1164.04 137.10 -8.93 230 1169.57 roll -1.29 - - 2015.19 - 2.56 0.019 2234.88 -465.2 -82.73 - - 3115.81 - - - - - - - - - 15.91 -
1474.14 161.32 -7.51 292 1475.46 no move -1.29 - - 2015.81 - - - 2235.00 - -82.73 - - 3114.25 - - - - - - - - - - -
1779.23 184.60 -7.63 353 1784.35 roll -1.29 - - 2015.94 - 2.46 0.065 1208.31 -417.4 -82.73 - - 3116.09 - - - - - - - - - 15.94 -
1839.24 189.59 -8.40 365 1844.98 roll -1.29 - - 2016.12 - 2.61 0.027 2355.69 439.6 -82.73 - - 3114.81 - - - - - - - - - 15.95 -
2149.34 215.24 -8.96 427 2150.67 no move -1.29 - - 2015.94 - - - 2355.62 - -82.73 - - 3113.62 - - - - - - - - - - -
2454.42 243.89 -9.42 488 2459.99 roll -1.29 - - 2016.06 - 2.77 0.061 1207.06 -414.6 -82.73 - - 3114.50 - - - - - - - - - 15.97 -
2514.43 249.80 -9.95 500 2520.59 roll -1.29 - - 2016.06 - 2.61 0.028 2353.94 439.4 -82.73 - - 3114.03 - - - - - - - - - 15.98 -
2824.49 277.83 -8.73 562 2825.81 no move -1.29 - - 2016.12 - - - 2354.06 - -82.73 - - 3112.50 - - - - - - - - - - -
3135.35 304.68 -8.58 618 3146.41 no move -1.29 - - 2016.50 - - - 2354.38 - -82.73 - - 3112.41 - - - - - - - - - - -
3448.02 331.15 -8.25 647 3459.09 no move -1.29 - - 2016.69 - - - 2353.69 - -82.73 - - 3111.69 - - - - - - - - - - -
3760.91 357.79 -8.40 676 3771.98 no move -1.29 - - 2015.75 - - - 2354.19 - -82.73 - - 3111.25 - - - - - - - - - - -
4073.59 383.90 -8.31 705 4084.66 no move -1.29 - - 2016.38 - - - 2354.19 - -82.73 - - 3110.25 - - - - - - - - - - -
4387.18 410.22 -8.54 734 4391.82 roll -1.29 - - 2016.19 - 2.79 0.063 1209.88 -410.1 -82.73 - - 3108.28 - - - - - - - - - 16.00 -
4457.18 416.43 -8.93 744 4472.30 roll -1.29 - - 2016.38 - 2.62 0.029 2351.06 435.6 -82.73 - - 3109.75 - - - - - - - - - 16.03 -
4773.82 443.59 -8.25 773 4778.44 roll -1.29 - - 2016.25 - 2.68 0.089 3424.44 400.5 -82.73 - - 3108.94 - - - - - - - - - 15.96 -
4843.83 449.86 -8.98 783 4858.74 roll -1.29 - - 2015.75 - 2.57 0.021 2245.56 -458.7 -82.73 - - 3108.31 - - - - - - - - - 16.02 -
5160.83 475.25 -7.62 812 5165.42 roll -1.29 - - 2016.50 - 2.49 0.069 1207.56 -416.9 -82.73 - - 3106.88 - - - - - - - - - 15.98 -
5245.23 482.32 -8.34 823 5249.85 roll -1.29 - - 2015.81 - 2.61 0.029 2353.06 438.9 -82.73 - - 3108.56 - - - - - - - - - 16.01 -
5560.99 508.00 -8.06 850 5565.62 roll -1.29 - - 2016.88 - 2.67 0.090 3425.94 401.8 -82.73 - - 3107.75 - - - - - - - - - 15.95 -
5639.66 515.20 -8.98 861 5644.27 roll -1.29 - - 2013.62 - 2.55 0.021 2247.12 -462.3 -82.73 - - 3106.88 - - - - - - - - - 16.01 -
5956.13 540.66 -7.94 883 5960.81 roll -1.29 - - 2015.81 - 2.94 0.086 3426.81 401.3 -82.73 - - 3104.56 - - - - - - - - - 15.95 -
6020.41 545.87 -8.72 893 6035.33 roll -1.29 - - 2016.06 - 2.55 0.022 2246.38 -462.9 -82.73 - - 3107.31 - - - - - - - - - 16.01 -
6349.81 574.41 -8.43 915 6354.39 roll -1.29 - - 2014.06 - 2.49 0.069 1207.50 -417.2 -82.73 - - 3105.56 - - - - - - - - - 15.97 -
6471.48 585.05 -8.91 933 6476.90 roll -1.29 - - 2016.06 - 2.61 0.030 2352.19 438.6 -82.73 - - 3105.44 - - - - - - - - - 16.02 -
6790.69 611.72 -7.87 955 6792.02 no move -1.29 - - 2015.75 - - - 2351.44 - -82.73 - - 3103.81 - - - - - - - - - - -
7105.71 635.04 -7.15 976 7107.04 no move -1.29 - - 2016.00 - - - 2352.00 - -82.73 - - 3103.53 - - - - - - - - - - -
7420.73 656.64 -6.55 997 7422.06 no move -1.29 - - 2016.38 - - - 2351.44 - -82.73 - - 3102.34 - - - - - - - - - - -
7735.76 675.79 -5.92 1018 7737.09 no move -1.29 - - 2015.75 - - - 2352.06 - -82.73 - - 3101.97 - - - - - - - - - - -
8050.77 694.55 -6.20 1039 8055.42 roll -1.29 - - 2016.25 - 2.75 0.065 1209.56 -415.5 -82.73 - - 3101.09 - - - - - - - - - 15.96 -
8108.70 698.41 -6.53 1047 8113.31 roll -1.29 - - 2016.44 - 2.60 0.030 2352.38 439.5 -82.73 - - 3102.94 - - - - - - - - - 16.01 -
8425.37 719.13 -6.86 1069 8426.70 no move -1.29 - - 2016.19 - - - 2352.62 - -82.73 - - 3100.78 - - - - - - - - - - -
8740.23 741.72 -7.28 1090 8744.87 roll -1.29 - - 2016.19 - 2.76 0.065 1208.88 -414.4 -82.73 - - 3100.56 - - - - - - - - - 15.95 -
8825.23 747.76 -7.64 1103 8840.17 roll -1.29 - - 2016.25 - 2.61 0.030 2352.75 438.3 -82.73 - - 3102.75 - - - - - - - - - 16.02 -
9154.64 772.32 -7.25 1125 9155.97 no move -1.29 - - 2015.62 - - - 2352.88 - -82.73 - - 3100.59 - - - - - - - - - - -
9469.66 795.66 -7.38 1146 9474.52 roll -1.29 - - 2016.50 - 2.79 0.065 1208.31 -410.2 -82.73 - - 3100.47 - - - - - - - - - 15.94 -
9549.65 801.70 -7.63 1158 9555.38 roll -1.29 - - 2016.19 - 2.60 0.030 2351.06 439.5 -82.73 - - 3100.78 - - - - - - - - - 16.02 -
9869.17 823.93 -6.60 1180 9870.50 no move -1.29 - - 2015.69 - - - 2351.38 - -82.73 - - 3099.94 - - - - - - - - - - -
10184.10 843.87 -6.10 1201 10188.74 roll -1.29 - - 2015.75 - 2.71 0.093 3429.06 397.7 -82.73 - - 3098.88 - - - - - - - - - 15.89 -
10227.62 846.42 -6.47 1208 10242.55 roll -1.29 - - 2016.31 - 2.57 0.022 2246.88 -460.0 -82.73 - - 3100.16 - - - - - - - - - 16.01 -
10557.06 866.17 -5.86 1230 10558.39 no move -1.29 - - 2016.12 - - - 2246.69 - -82.73 - - 3099.34 - - - - - - - - - - -
10872.07 884.45 -5.76 1251 10873.40 no move -1.29 - - 2015.88 - - - 2246.44 - -82.73 - - 3098.88 - - - - - - - - - - -
11187.08 903.65 -6.27 1272 11188.41 no move -1.29 - - 2015.75 - - - 2246.69 - -82.73 - - 3098.50 - - - - - - - - - - -
11502.32 923.84 -6.42 1293 11507.00 roll -1.29 - - 2015.94 - 2.96 0.089 3426.12 398.5 -82.73 - - 3098.12 - - - - - - - - - 15.88 -
11561.60 928.06 -7.05 1302 11567.12 roll -1.29 - - 2016.31 - 2.56 0.022 2248.75 -459.9 -82.73 - - 3099.94 - - - - - - - - - 16.00 -
11881.01 947.71 -5.95 1324 11882.34 no move -1.29 - - 2016.12 - - - 2249.06 - -82.73 - - 3098.25 - - - - - - - - - - -
12196.04 965.87 -5.55 1345 12197.37 no move -1.29 - - 2016.19 - - - 2248.38 - -82.73 - - 3097.75 - - - - - - - - - - -
12511.27 982.08 -4.99 1366 12512.60 no move -1.29 - - 2016.19 - - - 2248.56 - -82.73 - - 3097.88 - - - - - - - - - - -
12676 end dive: TARGET_DEPTH_EXCEEDED
12676 begin apogee
12678.51 990.43 -5.01 1377 12753.60 -0.28 1.76 0.145 2263.62 140.6 0.14 0.191 2290.88 302.3 - 61.19 2.465 2775.59 -5.3 0.354 - - - - - - 15.77 15.58 10.78
12754 end apogee: CONTROL_FINISHED_OK
12755 begin climb
12755.70 991.13 - 1382 12842.40 1.29 2.57 0.094 2648.56 149.8 2.98 0.078 1133.69 -388.3 82.73 67.44 2.434 2436.75 -5.0 0.342 - - - - - - 15.64 15.26 12.36
12865.89 984.85 6.53 1398 12871.26 roll 1.33 - - 2648.88 - 2.70 0.029 2271.31 421.3 82.73 - - 2433.00 - - - - - - - - - 15.45 -
13185.11 958.00 8.38 1420 13189.77 roll 1.33 - - 2648.62 - 2.87 0.074 1132.44 -396.8 82.73 - - 2431.59 - - - - - - - - - 15.67 -
13243.03 952.87 8.73 1428 13247.66 roll 1.33 - - 2649.06 - 2.64 0.030 2271.69 431.5 82.73 - - 2429.22 - - - - - - - - - 15.70 -
13559.50 926.63 8.18 1450 13560.83 VBD 1.33 - - 2648.88 - - - 2271.62 - 82.73 - - 2428.44 - - - - - - - - - - -
13874.53 903.06 7.14 1471 13879.20 done 1.36 - - 2648.75 - 2.85 0.074 1132.38 -399.7 82.73 - - 2429.53 - - - - - - - - - 15.81 -
13973.94 895.53 7.58 1485 13978.57 done 1.38 - - 2648.19 - 2.63 0.030 2269.62 432.4 82.73 - - 2427.25 - - - - - - - - - 15.85 -
14290.62 874.58 6.33 1507 14324.17 1.46 0.20 0.087 2695.50 236.5 - - 2269.75 - 122.70 32.27 2.246 2274.88 -4.7 0.308 - - - - - - 15.86 - 11.70
14635.74 845.25 8.81 1530 14640.40 roll 1.46 - - 2695.00 - 2.82 0.075 1132.25 -403.4 122.70 - - 2270.16 - - - - - - - - - 15.79 -
14695.01 839.90 9.08 1539 14700.56 roll 1.46 - - 2695.69 - 2.63 0.030 2269.94 432.6 122.70 - - 2271.34 - - - - - - - - - 15.81 -
15014.42 812.23 8.51 1561 15015.75 no move 1.46 - - 2696.00 - - - 2269.50 - 122.70 - - 2268.28 - - - - - - - - - - -
15329.44 785.23 8.79 1582 15330.76 no move 1.46 - - 2696.06 - - - 2269.19 - 122.70 - - 2268.16 - - - - - - - - - - -
15644.45 757.95 8.47 1603 15649.09 roll 1.46 - - 2696.06 - 2.79 0.075 1131.75 -407.7 122.70 - - 2268.91 - - - - - - - - - 15.87 -
15724.47 750.83 8.99 1615 15730.02 roll 1.46 - - 2695.44 - 2.61 0.031 2272.31 437.0 122.70 - - 2268.66 - - - - - - - - - 15.92 -
16043.88 722.80 8.82 1637 16048.51 roll 1.46 - - 2695.25 - 2.79 0.075 1132.12 -408.7 122.70 - - 2268.28 - - - - - - - - - 15.88 -
16122.55 715.44 9.30 1648 16127.17 roll 1.46 - - 2696.44 - 2.61 0.031 2270.94 436.3 122.70 - - 2268.72 - - - - - - - - - 15.93 -
16439.01 688.12 8.59 1670 16443.84 roll 1.46 - - 2695.62 - 2.80 0.075 1131.12 -407.1 122.70 - - 2266.75 - - - - - - - - - 15.88 -
16497.12 682.61 9.31 1678 16501.76 roll 1.46 - - 2696.25 - 2.61 0.031 2271.44 436.9 122.70 - - 2267.41 - - - - - - - - - 15.95 -
16813.60 654.21 8.97 1700 16814.93 no move 1.46 - - 2695.88 - - - 2271.62 - 122.70 - - 2266.75 - - - - - - - - - - -
17128.61 626.79 8.43 1721 17133.26 roll 1.46 - - 2695.81 - 2.82 0.074 1131.19 -404.4 122.70 - - 2267.09 - - - - - - - - - 15.90 -
17167.15 623.50 8.64 1727 17172.70 roll 1.46 - - 2696.06 - 2.61 0.030 2272.00 437.1 122.70 - - 2267.56 - - - - - - - - - 15.96 -
17486.55 596.56 8.39 1749 17491.17 roll 1.46 - - 2696.12 - 2.70 0.093 3344.50 397.2 122.70 - - 2266.47 - - - - - - - - - 15.88 -
17545.82 591.05 9.26 1758 17551.35 roll 1.46 - - 2695.56 - 2.58 0.024 2186.25 -448.9 122.70 - - 2267.50 - - - - - - - - - 15.97 -
17865.24 565.12 7.97 1780 17869.08 roll 1.46 - - 2695.81 - 2.59 0.080 1131.12 -407.4 122.70 - - 2269.72 - - - - - - - - - 15.89 -
18007.46 553.26 8.43 1801 18013.01 roll 1.46 - - 2696.38 - 2.62 0.030 2273.19 435.9 122.70 - - 2268.09 - - - - - - - - - 15.97 -
18326.87 529.33 6.98 1823 18331.50 roll 1.49 - - 2696.31 - 2.70 0.093 3346.25 397.4 122.70 - - 2267.00 - - - - - - - - - 15.88 -
18391.16 524.84 7.50 1833 18406.24 roll 1.51 - - 2695.56 - 2.59 0.024 2188.50 -447.0 122.70 - - 2267.09 - - - - - - - - - 15.98 -
18720.74 501.37 7.02 1855 18722.07 no move 1.53 - - 2695.44 - - - 2188.50 - 122.70 - - 2266.03 - - - - - - - - - - -
19029.92 478.93 7.36 1883 19034.55 roll 1.56 - - 2694.94 - 2.61 0.079 1132.19 -404.7 122.70 - - 2268.22 - - - - - - - - - 15.89 -
19162.87 468.57 7.86 1901 19177.80 roll 1.57 - - 2695.94 - 2.62 0.030 2273.69 435.7 122.70 - - 2267.00 - - - - - - - - - 15.98 -
19479.67 446.20 7.31 1930 19490.74 no move 1.59 - - 2696.31 - - - 2273.44 - 122.70 - - 2267.38 - - - - - - - - - - -
19792.26 423.78 7.00 1959 19797.00 roll back 1.62 0.17 0.087 2735.06 227.9 2.81 0.075 1131.31 -406.5 122.70 - - 2265.31 - - - - - - - - 15.94 15.82 -
19909.47 413.80 8.83 1975 19924.38 roll 1.62 - - 2734.75 - 2.60 0.030 2273.19 439.2 122.70 - - 2267.41 - - - - - - - - - 15.98 -
20225.74 387.73 7.98 2004 20236.81 no move 1.62 - - 2735.44 - - - 2273.50 - 122.70 - - 2267.50 - - - - - - - - - - -
20538.32 364.86 6.87 2033 20542.95 roll 1.65 - - 2735.31 - 2.69 0.092 3347.31 399.2 122.70 - - 2266.25 - - - - - - - - - 15.87 -
20639.80 357.00 7.95 2047 20654.71 roll 1.66 - - 2735.31 - 2.60 0.024 2186.94 -446.3 122.70 - - 2267.34 - - - - - - - - - 15.99 -
20956.08 334.55 7.08 2076 20967.15 no move 1.69 - - 2735.38 - - - 2186.81 - 122.70 - - 2267.31 - - - - - - - - - - -
21268.91 311.88 6.92 2105 21279.98 no move 1.72 - - 2735.62 - - - 2186.12 - 122.70 - - 2267.28 - - - - - - - - - - -
21584.62 291.65 6.08 2148 21620.36 1.81 0.20 0.082 2782.06 232.2 - - 2186.38 - 167.44 34.62 1.565 2092.41 -5.1 0.158 - - - - - - 15.94 - 11.29
21924.63 262.74 8.91 2216 21925.97 no move 1.81 - - 2781.88 - - - 2185.31 - 167.44 - - 2085.34 - - - - - - - - - - -
22229.67 236.68 8.50 2277 22231.00 no move 1.81 - - 2781.75 - - - 2184.88 - 167.44 - - 2084.97 - - - - - - - - - - -
22534.69 209.23 9.32 2338 22536.02 no move 1.81 - - 2781.69 - - - 2185.62 - 167.44 - - 2084.44 - - - - - - - - - - -
22839.74 180.46 9.79 2399 22845.33 roll 1.81 - - 2780.81 - 2.93 0.086 3346.38 396.2 167.44 - - 2085.50 - - - - - - - - - 15.85 -
22964.76 166.62 11.29 2424 22970.29 roll 1.81 - - 2782.12 - 2.61 0.023 2188.31 -443.7 167.44 - - 2086.09 - - - - - - - - - 15.91 -
23275.02 136.67 8.27 2486 23276.35 no move 1.81 - - 2781.44 - - - 2188.38 - 167.44 - - 2083.94 - - - - - - - - - - -
23579.95 117.22 5.87 2547 23621.54 done 1.91 - - 2780.69 - 2.60 0.081 1130.38 -406.9 216.02 37.10 1.331 1895.41 -5.1 0.075 - - - - - - - 15.83 11.58
23624.96 114.17 6.71 2556 23630.48 roll 1.94 - - 2781.88 - 2.62 0.028 2277.56 437.9 216.02 - - 1894.47 - - - - - - - - - 15.92 -
23935.05 90.46 6.62 2618 23940.66 roll back 1.98 0.17 0.085 2820.75 228.6 2.80 0.073 1129.94 -409.9 216.02 - - 1888.88 - - - - - - - - 15.83 15.77 -
24015.08 84.49 7.62 2634 24020.62 roll 2.00 - - 2822.19 - 2.61 0.028 2276.12 439.1 216.02 - - 1888.03 - - - - - - - - - 15.86 -
24205.14 73.45 5.77 2672 24248.81 done 2.10 - - 2820.81 - 2.81 0.074 1129.62 -408.0 266.43 38.58 1.253 1687.62 -5.2 0.051 - - - - - - - 15.78 11.97
24310.93 66.30 7.30 2693 24316.48 roll 2.12 - - 2822.62 - 2.62 0.028 2277.19 438.0 266.43 - - 1683.69 - - - - - - - - - 15.81 -
24500.99 54.32 6.26 2731 24538.60 2.20 0.26 0.070 2878.94 216.6 2.67 0.090 3347.25 400.8 307.78 32.10 1.205 1519.91 -5.1 0.038 - - - - - - 15.79 15.70 11.96
24581.38 47.22 10.27 2747 24586.55 roll 2.20 - - 2877.88 - 2.61 0.022 2185.31 -445.2 307.78 - - 1518.06 - - - - - - - - - 15.77 -
24771.07 35.36 5.78 2785 24814.69 done 2.30 - - 2879.31 - 2.56 0.078 1131.00 -411.8 358.00 38.85 1.176 1316.03 -5.2 0.026 - - - - - - - 15.65 11.96
25041.85 21.02 3.97 2839 25110.41 2.47 0.31 0.065 2941.31 200.0 2.62 0.027 2276.88 437.4 442.19 63.21 1.159 972.50 -5.4 0.016 - - - - - - 15.67 15.75 12.04
25242 end climb: SURFACE_DEPTH_REACHED
25242 begin surface coast
25282 end surface coast: CONTROL_FINISHED_OK
25282 begin surface
SM 0.38 - - - - 178.2 - - 965.6 - 17.15 0.048 958.0 55.8 - 0.12 0.123 973.2 8088.2 -2.554 - - 30.00 15.65 15.68 -