NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 532 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 173.71 of 550.00 AH used of 24V (68.42% remains)
• Surface angle -63.9 deg, depth 0.62 m • Intended pitch -20.3 deg, speed -8.462 cm/s
VBD pumped to 424.97 (SM_CC=425)
• GPS1 time: 22 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
2 end surface: CONTROL_FINISHED_OK
3 begin dive
5.22 - - - 72.04 VBD -1.29 - - 177.12 - - - 2227.06 - -82.73 65.61 0.005 2633.00 - - - - - - - - - - 15.38
72.78 3.92 -6.36 12 101.71 -1.29 14.63 0.246 2015.25 125.6 - - 2226.69 - -82.73 9.44 0.007 3110.94 50.6 -4.747 - - - - - - 15.53 - 15.42
283.84 48.78 -12.96 54 288.96 roll -1.29 - - 2015.88 - 2.42 0.062 1206.88 -421.4 -82.73 - - 3112.75 - - - - - - - - - 15.80 -
363.86 59.35 -12.84 70 369.38 roll -1.29 - - 2016.31 - 2.60 0.028 2354.56 441.4 -82.73 - - 3112.94 - - - - - - - - - 15.81 -
554.55 82.98 -11.98 108 555.88 no move -1.29 - - 2016.19 - - - 2354.38 - -82.73 - - 3112.28 - - - - - - - - - - -
738.98 101.11 -8.59 145 744.53 roll -1.29 - - 2015.56 - 2.62 0.084 3428.62 410.0 -82.73 - - 3114.06 - - - - - - - - - 15.85 -
753.98 102.41 -8.45 148 759.51 roll -1.29 - - 2015.88 - 2.54 0.020 2234.31 -470.2 -82.73 - - 3114.47 - - - - - - - - - 15.86 -
1064.10 130.14 -10.05 210 1065.43 no move -1.29 - - 2015.88 - - - 2233.12 - -82.73 - - 3112.97 - - - - - - - - - - -
1369.20 156.54 -8.00 271 1374.78 roll -1.29 - - 2015.88 - 2.90 0.080 3426.81 411.6 -82.73 - - 3114.47 - - - - - - - - - 15.91 -
1499.24 168.94 -9.12 297 1504.77 roll -1.29 - - 2015.25 - 2.54 0.020 2239.81 -467.3 -82.73 - - 3114.88 - - - - - - - - - 15.93 -
1809.34 194.31 -8.24 359 1814.45 roll -1.29 - - 2016.62 - 2.43 0.065 1207.00 -425.0 -82.73 - - 3114.25 - - - - - - - - - 15.94 -
1899.36 202.43 -9.08 377 1904.90 roll -1.29 - - 2016.12 - 2.58 0.028 2355.94 445.3 -82.73 - - 3114.59 - - - - - - - - - 15.95 -
2209.61 227.55 -8.25 439 2215.01 roll -1.29 - - 2016.06 - 2.60 0.086 3427.31 412.1 -82.73 - - 3113.88 - - - - - - - - - 15.94 -
2244.43 230.65 -8.75 446 2249.96 roll -1.29 - - 2016.00 - 2.53 0.021 2238.88 -469.7 -82.73 - - 3115.03 - - - - - - - - - 15.96 -
2554.48 256.09 -8.36 508 2559.59 roll -1.29 - - 2016.44 - 2.43 0.066 1206.75 -424.7 -82.73 - - 3113.94 - - - - - - - - - 15.97 -
2589.47 259.22 -8.86 515 2595.01 roll -1.29 - - 2015.94 - 2.58 0.028 2356.44 445.6 -82.73 - - 3114.00 - - - - - - - - - 15.98 -
2899.52 285.91 -8.69 577 2900.84 no move -1.29 - - 2015.94 - - - 2356.00 - -82.73 - - 3112.84 - - - - - - - - - - -
3211.95 313.23 -8.80 623 3216.59 roll -1.29 - - 2015.75 - 2.70 0.061 1208.50 -425.0 -82.73 - - 3112.78 - - - - - - - - - 15.99 -
3266.22 318.19 -9.28 631 3281.15 roll -1.29 - - 2015.88 - 2.57 0.029 2354.19 445.8 -82.73 - - 3112.22 - - - - - - - - - 16.01 -
3582.69 345.82 -8.56 660 3587.31 roll -1.29 - - 2016.00 - 2.69 0.061 1207.19 -426.4 -82.73 - - 3110.66 - - - - - - - - - 16.00 -
3621.22 349.23 -8.93 666 3636.14 roll -1.29 - - 2016.06 - 2.57 0.029 2354.12 446.3 -82.73 - - 3111.69 - - - - - - - - - 16.00 -
3937.55 377.23 -8.88 695 3948.62 no move -1.29 - - 2016.62 - - - 2354.50 - -82.73 - - 3111.25 - - - - - - - - - - -
4250.84 404.20 -8.38 724 4255.46 roll -1.29 - - 2015.88 - 2.69 0.062 1208.25 -426.1 -82.73 - - 3110.59 - - - - - - - - - 16.00 -
4289.37 407.56 -8.74 730 4304.29 roll -1.29 - - 2016.06 - 2.57 0.030 2354.75 446.1 -82.73 - - 3110.25 - - - - - - - - - 16.02 -
4606.12 431.99 -7.13 759 4610.76 roll -1.29 - - 2016.25 - 2.70 0.062 1207.31 -425.0 -82.73 - - 3108.84 - - - - - - - - - 16.00 -
4676.13 437.22 -7.52 769 4691.04 roll -1.29 - - 2015.38 - 2.58 0.030 2354.31 444.6 -82.73 - - 3111.31 - - - - - - - - - 16.02 -
4993.13 460.19 -7.21 798 5004.20 no move -1.29 - - 2015.94 - - - 2354.62 - -82.73 - - 3108.62 - - - - - - - - - - -
5305.92 483.79 -7.81 827 5317.00 no move -1.29 - - 2015.81 - - - 2354.69 - -82.73 - - 3107.84 - - - - - - - - - - -
5631.28 509.85 -7.84 854 5635.91 roll -1.29 - - 2015.88 - 2.72 0.064 1208.50 -421.4 -82.73 - - 3107.75 - - - - - - - - - 15.98 -
5690.88 514.63 -8.09 863 5696.08 roll -1.29 - - 2016.19 - 2.59 0.030 2354.06 442.3 -82.73 - - 3108.00 - - - - - - - - - 16.02 -
6009.95 539.67 -7.76 885 6014.59 roll -1.29 - - 2015.81 - 2.72 0.063 1209.69 -420.7 -82.73 - - 3105.78 - - - - - - - - - 15.98 -
6089.97 546.12 -8.13 897 6095.69 roll -1.29 - - 2016.44 - 2.58 0.030 2353.00 443.1 -82.73 - - 3106.19 - - - - - - - - - 16.02 -
6409.56 571.57 -7.93 919 6410.89 no move -1.29 - - 2015.81 - - - 2352.38 - -82.73 - - 3104.56 - - - - - - - - - - -
6724.42 597.27 -8.21 940 6725.74 no move -1.29 - - 2016.25 - - - 2352.50 - -82.73 - - 3104.16 - - - - - - - - - - -
7039.44 622.75 -7.94 961 7040.76 no move -1.29 - - 2015.88 - - - 2352.75 - -82.73 - - 3103.06 - - - - - - - - - - -
7354.44 647.96 -8.06 982 7359.08 roll -1.29 - - 2015.69 - 2.74 0.064 1208.31 -417.7 -82.73 - - 3104.91 - - - - - - - - - 15.96 -
7392.98 651.01 -8.13 988 7398.51 roll -1.29 - - 2016.44 - 2.59 0.030 2353.44 442.1 -82.73 - - 3104.00 - - - - - - - - - 16.01 -
7712.41 675.83 -7.53 1010 7713.73 no move -1.29 - - 2016.31 - - - 2353.81 - -82.73 - - 3102.31 - - - - - - - - - - -
8027.42 698.41 -6.99 1031 8032.06 roll -1.29 - - 2016.19 - 2.76 0.065 1208.44 -415.0 -82.73 - - 3102.66 - - - - - - - - - 15.95 -
8070.96 701.12 -7.17 1038 8085.89 roll -1.29 - - 2015.69 - 2.60 0.030 2350.94 439.4 -82.73 - - 3102.84 - - - - - - - - - 16.02 -
8400.56 724.25 -6.69 1060 8405.20 roll -1.29 - - 2016.00 - 2.73 0.065 1208.31 -418.5 -82.73 - - 3101.72 - - - - - - - - - 15.95 -
8444.10 726.92 -6.92 1067 8459.02 roll -1.29 - - 2015.81 - 2.60 0.031 2351.75 439.8 -82.73 - - 3102.31 - - - - - - - - - 16.02 -
8773.53 749.12 -6.38 1089 8778.15 roll -1.29 - - 2015.75 - 2.64 0.094 3426.81 407.2 -82.73 - - 3103.22 - - - - - - - - - 15.90 -
8817.06 751.80 -6.81 1096 8832.17 roll -1.29 - - 2015.94 - 2.55 0.022 2247.38 -462.5 -82.73 - - 3101.91 - - - - - - - - - 16.01 -
9146.60 772.56 -5.94 1118 9147.93 no move -1.29 - - 2015.75 - - - 2247.88 - -82.73 - - 3100.84 - - - - - - - - - - -
9461.51 791.52 -6.16 1139 9462.84 no move -1.29 - - 2015.94 - - - 2247.69 - -82.73 - - 3100.50 - - - - - - - - - - -
9776.51 812.23 -6.55 1160 9777.84 no move -1.29 - - 2015.88 - - - 2247.44 - -82.73 - - 3100.34 - - - - - - - - - - -
10091.54 832.88 -6.50 1181 10096.21 roll -1.29 - - 2015.62 - 2.90 0.089 3426.88 406.7 -82.73 - - 3100.22 - - - - - - - - - 15.88 -
10192.27 840.08 -7.25 1196 10197.81 roll -1.29 - - 2016.19 - 2.55 0.023 2248.06 -462.3 -82.73 - - 3101.25 - - - - - - - - - 16.01 -
10511.69 859.58 -6.02 1218 10513.02 no move -1.29 - - 2016.38 - - - 2248.19 - -82.73 - - 3099.59 - - - - - - - - - - -
10826.71 877.21 -5.57 1239 10828.04 no move -1.29 - - 2015.94 - - - 2247.94 - -82.73 - - 3099.12 - - - - - - - - - - -
11141.73 894.71 -5.54 1260 11146.42 roll -1.29 - - 2016.62 - 2.92 0.089 3424.12 402.8 -82.73 - - 3099.59 - - - - - - - - - 15.87 -
11242.47 901.21 -6.56 1275 11248.00 roll -1.29 - - 2016.31 - 2.54 0.022 2247.50 -463.2 -82.73 - - 3099.66 - - - - - - - - - 16.00 -
11561.88 921.53 -6.51 1297 11566.47 roll -1.29 - - 2016.50 - 2.46 0.072 1209.44 -422.0 -82.73 - - 3100.34 - - - - - - - - - 15.91 -
11619.80 925.46 -6.71 1305 11624.40 roll -1.29 - - 2015.44 - 2.58 0.031 2353.19 443.3 -82.73 - - 3099.00 - - - - - - - - - 15.99 -
11936.49 945.67 -6.43 1327 11937.82 no move -1.29 - - 2015.44 - - - 2352.75 - -82.73 - - 3099.22 - - - - - - - - - - -
12251.51 965.17 -6.01 1348 12256.15 roll -1.29 - - 2015.06 - 2.71 0.066 1208.50 -422.2 -82.73 - - 3099.12 - - - - - - - - - 15.90 -
12290.06 967.52 -6.16 1354 12295.57 roll -1.29 - - 2015.94 - 2.59 0.031 2351.44 441.3 -82.73 - - 3099.78 - - - - - - - - - 16.00 -
12609.47 985.96 -5.78 1376 12610.80 no move -1.29 - - 2015.88 - - - 2351.44 - -82.73 - - 3097.78 - - - - - - - - - - -
12684 end dive: TARGET_DEPTH_EXCEEDED
12684 begin apogee
12686.29 990.21 -5.67 1381 12761.71 -0.28 1.75 0.141 2262.12 140.7 0.21 0.141 2283.12 -325.3 - 60.76 2.458 2776.38 -5.3 0.357 - - - - - - 15.78 15.57 10.75
12763 end apogee: CONTROL_FINISHED_OK
12763 begin climb
12763.81 991.18 - 1386 12837.97 1.29 2.58 0.092 2649.38 150.1 - - 2283.50 - 82.73 67.70 2.410 2436.88 -5.0 0.345 - - - - - - 15.62 - 12.33
13150.33 963.98 7.91 1412 13155.00 roll 1.31 - - 2648.88 - 2.81 0.075 1130.69 -410.3 82.73 - - 2431.50 - - - - - - - - - 15.65 -
13214.60 959.12 8.27 1422 13229.53 roll 1.31 - - 2648.56 - 2.64 0.031 2271.69 432.2 82.73 - - 2430.94 - - - - - - - - - 15.69 -
13544.20 933.80 7.17 1444 13548.90 roll 1.33 - - 2648.50 - 2.79 0.074 1129.50 -409.4 82.73 - - 2431.38 - - - - - - - - - 15.77 -
13602.14 929.38 7.47 1452 13606.78 roll 1.35 - - 2648.25 - 2.63 0.031 2272.56 434.6 82.73 - - 2430.34 - - - - - - - - - 15.80 -
13918.62 908.97 6.02 1474 13962.57 1.44 0.19 0.087 2694.50 243.4 2.82 0.077 1131.38 -404.7 128.44 37.47 2.299 2251.72 -4.8 0.316 - - - - - - 15.81 15.61 11.55
14026.07 900.35 8.03 1489 14030.69 roll 1.44 - - 2695.06 - 2.64 0.031 2270.88 431.6 128.44 - - 2246.38 - - - - - - - - - 15.68 -
14342.71 872.49 8.86 1511 14344.04 no move 1.44 - - 2695.25 - - - 2270.56 - 128.44 - - 2244.16 - - - - - - - - - - -
14657.55 844.62 8.77 1532 14662.20 roll 1.44 - - 2695.00 - 2.77 0.075 1129.88 -411.8 128.44 - - 2244.38 - - - - - - - - - 15.81 -
14696.09 841.11 9.12 1538 14701.64 roll 1.44 - - 2695.62 - 2.62 0.031 2271.62 435.8 128.44 - - 2244.44 - - - - - - - - - 15.84 -
15015.49 811.11 9.34 1560 15016.82 no move 1.44 - - 2695.12 - - - 2271.31 - 128.44 - - 2243.19 - - - - - - - - - - -
15330.51 781.56 9.36 1581 15331.84 no move 1.44 - - 2695.31 - - - 2271.31 - 128.44 - - 2242.75 - - - - - - - - - - -
15645.52 751.19 9.72 1602 15650.17 roll 1.44 - - 2695.12 - 2.76 0.075 1131.06 -413.1 128.44 - - 2241.88 - - - - - - - - - 15.87 -
15725.72 743.12 10.18 1614 15731.13 done 1.44 - - 2695.00 - 2.60 0.032 2271.88 438.8 128.44 - - 2243.69 - - - - - - - - - 15.92 -
16044.95 713.38 9.03 1636 16046.28 VBD 1.44 - - 2695.31 - - - 2272.06 - 128.44 - - 2242.38 - - - - - - - - - - -
16359.97 684.64 8.99 1657 16364.62 done 1.44 - - 2696.00 - 2.74 0.075 1129.94 -416.8 128.44 - - 2241.59 - - - - - - - - - 15.89 -
16438.64 677.01 9.61 1668 16443.25 done 1.44 - - 2693.69 - 2.60 0.032 2274.06 440.0 128.44 - - 2243.84 - - - - - - - - - 15.94 -
16755.11 647.65 9.34 1690 16759.74 done 1.44 - - 2695.50 - 2.65 0.095 3342.75 403.3 128.44 - - 2241.50 - - - - - - - - - 15.87 -
16792.30 643.99 9.56 1695 16796.92 done 1.44 - - 2695.25 - 2.54 0.025 2187.06 -455.0 128.44 - - 2240.69 - - - - - - - - - 15.95 -
17108.77 616.77 8.15 1717 17113.38 done 1.44 - - 2695.56 - 2.53 0.079 1129.75 -417.9 128.44 - - 2240.97 - - - - - - - - - 15.89 -
17187.45 609.81 8.78 1728 17192.06 done 1.44 - - 2695.25 - 2.60 0.031 2273.19 439.8 128.44 - - 2241.53 - - - - - - - - - 15.96 -
17503.92 583.37 8.15 1750 17505.25 VBD 1.44 - - 2695.12 - - - 2273.44 - 128.44 - - 2241.09 - - - - - - - - - - -
17818.94 557.15 8.53 1771 17823.58 done 1.44 - - 2695.25 - 2.74 0.075 1129.75 -417.4 128.44 - - 2240.62 - - - - - - - - - 15.89 -
17918.57 548.50 8.68 1785 17923.36 done 1.44 - - 2694.94 - 2.60 0.031 2273.75 440.0 128.44 - - 2242.44 - - - - - - - - - 15.97 -
18235.22 525.12 7.35 1807 18236.56 VBD 1.46 - - 2695.81 - - - 2273.81 - 128.44 - - 2240.75 - - - - - - - - - - -
18550.25 502.89 6.61 1828 18551.58 VBD 1.50 - - 2694.94 - - - 2273.56 - 128.44 - - 2241.53 - - - - - - - - - - -
18857.58 482.72 6.70 1855 18868.65 VBD 1.54 - - 2695.50 - - - 2273.69 - 128.44 - - 2242.31 - - - - - - - - - - -
19170.17 461.49 7.10 1884 19181.25 VBD 1.56 - - 2695.75 - - - 2273.62 - 128.44 - - 2242.09 - - - - - - - - - - -
19483.00 440.33 6.74 1913 19487.64 done 1.60 - - 2695.12 - 2.75 0.074 1128.50 -416.4 128.44 - - 2240.88 - - - - - - - - - 15.88 -
19551.66 435.21 7.34 1922 19556.34 1.62 0.17 0.089 2736.81 245.2 2.60 0.030 2274.25 440.7 128.44 - - 2243.19 - - - - - - - - 15.79 15.97 -
19863.21 409.76 8.64 1951 19874.29 VBD 1.62 - - 2737.81 - - - 2275.19 - 128.44 - - 2242.12 - - - - - - - - - - -
20175.79 383.27 8.23 1980 20187.10 VBD 1.62 - - 2737.81 - - - 2274.50 - 128.44 - - 2241.94 - - - - - - - - - - -
20488.61 358.86 7.55 2009 20493.24 done 1.64 - - 2737.94 - 2.65 0.093 3346.88 404.7 128.44 - - 2240.59 - - - - - - - - - 15.86 -
20511.42 357.09 7.82 2013 20526.32 done 1.65 - - 2738.56 - 2.55 0.024 2186.25 -455.1 128.44 - - 2241.97 - - - - - - - - - 15.98 -
20827.47 333.31 7.41 2042 20832.26 done 1.67 - - 2738.31 - 2.53 0.078 1130.00 -417.5 128.44 - - 2240.03 - - - - - - - - - 15.88 -
20913.72 326.55 7.95 2054 20928.50 done 1.68 - - 2738.44 - 2.59 0.031 2275.50 442.3 128.44 - - 2241.88 - - - - - - - - - 15.98 -
21229.33 301.64 7.93 2083 21233.98 done 1.69 - - 2737.81 - 2.75 0.073 1129.56 -416.7 128.44 - - 2242.94 - - - - - - - - - 15.88 -
21292.90 296.48 8.08 2094 21298.43 done 1.69 - - 2738.69 - 2.60 0.030 2276.31 441.1 128.44 - - 2241.75 - - - - - - - - - 15.96 -
21603.03 273.14 7.38 2156 21608.56 done 1.72 - - 2738.38 - 2.64 0.092 3346.00 405.2 128.44 - - 2241.72 - - - - - - - - - 15.84 -
21653.02 269.04 8.31 2166 21658.56 done 1.72 - - 2738.75 - 2.54 0.024 2183.94 -457.5 128.44 - - 2242.06 - - - - - - - - - 15.97 -
21963.15 245.46 7.46 2228 21964.49 VBD 1.74 - - 2738.56 - - - 2184.19 - 128.44 - - 2241.75 - - - - - - - - - - -
22268.26 224.05 6.50 2289 22269.59 VBD 1.78 - - 2737.88 - - - 2184.12 - 128.44 - - 2241.19 - - - - - - - - - - -
22573.36 205.39 5.42 2350 22621.84 1.89 0.31 0.065 2804.62 215.3 2.86 0.089 3346.75 406.5 185.52 43.01 1.460 2019.28 -5.2 0.122 - - - - - - 15.92 15.81 11.19
22669.22 196.98 10.70 2369 22674.59 roll 1.89 - - 2804.25 - 2.57 0.024 2188.81 -450.6 185.52 - - 2016.06 - - - - - - - - - 15.85 -
22979.16 163.04 11.06 2431 22984.69 roll 1.89 - - 2804.56 - 2.54 0.077 1130.94 -416.5 185.52 - - 2011.47 - - - - - - - - - 15.82 -
23039.17 155.86 11.90 2443 23044.71 roll 1.89 - - 2804.62 - 2.60 0.030 2275.12 440.1 185.52 - - 2011.28 - - - - - - - - - 15.86 -
23349.26 124.68 9.98 2505 23354.83 done 1.89 - - 2804.25 - 2.75 0.072 1131.06 -416.0 185.52 - - 2010.56 - - - - - - - - - 15.84 -
23474.30 112.49 10.04 2530 23479.83 done 1.89 - - 2804.44 - 2.59 0.030 2273.75 441.2 185.52 - - 2010.28 - - - - - - - - - 15.88 -
23784.42 89.41 6.40 2592 23820.50 done 1.97 - - 2804.25 - 2.61 0.092 3346.50 411.0 224.11 29.83 1.265 1861.50 -5.0 0.059 - - - - - - - 15.81 11.68
23994.43 73.61 7.52 2634 23999.96 roll 1.99 - - 2804.44 - 2.56 0.023 2184.44 -453.9 224.11 - - 1857.12 - - - - - - - - - 15.84 -
24184.86 64.29 4.22 2672 24251.33 2.14 0.28 0.070 2863.81 212.0 2.88 0.086 3346.94 403.6 303.70 59.95 1.244 1536.47 -5.3 0.046 - - - - - - 15.83 15.68 11.90
24259.65 59.54 7.12 2687 24265.00 roll 2.17 - - 2864.19 - 2.59 0.023 2186.62 -448.0 303.70 - - 1534.66 - - - - - - - - - 15.75 -
24449.87 40.36 10.27 2725 24451.20 VBD 2.17 - - 2863.81 - - - 2187.19 - 303.70 - - 1527.31 - - - - - - - - - - -
24634.51 24.99 6.38 2762 24670.40 done 2.25 - - 2863.69 - 2.85 0.086 3344.62 406.1 342.65 29.88 1.145 1378.00 -5.0 0.018 - - - - - - - 15.69 11.90
24704.53 21.87 4.49 2776 24767.16 2.40 0.29 0.067 2925.19 212.1 2.58 0.022 2177.38 -452.4 417.08 56.74 1.155 1074.97 -5.3 0.017 - - - - - - 15.71 15.76 12.31
24949.55 7.41 7.92 2825 24955.06 roll 2.41 - - 2925.00 - 2.54 0.077 1131.44 -411.8 417.08 - - 1067.84 - - - - - - - - - 15.68 -
24989 end climb: SURFACE_DEPTH_REACHED
24989 begin surface coast
25039 end surface coast: CONTROL_FINISHED_OK
25039 begin surface
SM 2.59 - - - - 181.1 7.14 0.847 1042.6 146.0 17.00 0.050 1028.1 60.5 - 2.78 0.029 1057.1 379.3 -3.463 - - 11.92 15.68 15.72 -