NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 536 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 175.30 of 550.00 AH used of 24V (68.13% remains)
• Surface angle -66.5 deg, depth 0.70 m • Intended pitch -20.3 deg, speed -8.462 cm/s
• No surface pump (final VBD was 947.9, SM_CC=425)
• GPS1 time: 74 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 - - - 56.78 VBD -1.29 - - 177.25 - - - 2245.00 - -82.73 50.35 0.005 2354.28 - - - - - - - - - - 15.38
57.50 3.23 -6.84 9 97.65 -1.29 14.59 0.247 2016.12 126.0 2.49 0.067 1208.69 -416.2 -82.73 16.72 0.006 3110.53 45.2 -4.108 - - - - - - 15.50 15.28 15.42
324.80 50.82 -12.61 62 330.34 roll -1.29 - - 2015.94 - 2.62 0.029 2352.19 436.5 -82.73 - - 3112.09 - - - - - - - - - 15.79 -
515.23 75.60 -12.40 100 520.61 roll -1.29 - - 2015.56 - 2.73 0.059 1208.50 -418.9 -82.73 - - 3114.19 - - - - - - - - - 15.82 -
580.00 83.86 -12.54 113 585.44 roll -1.29 - - 2016.12 - 2.62 0.029 2353.69 437.1 -82.73 - - 3113.00 - - - - - - - - - 15.83 -
770.34 103.34 -9.68 151 771.67 no move -1.29 - - 2015.81 - - - 2353.19 - -82.73 - - 3112.88 - - - - - - - - - - -
1075.04 133.44 -8.76 212 1080.60 roll -1.29 - - 2015.31 - 2.73 0.060 1208.56 -419.3 -82.73 - - 3115.72 - - - - - - - - - 15.90 -
1205.06 145.05 -9.14 238 1210.61 roll -1.29 - - 2015.94 - 2.62 0.028 2356.50 438.1 -82.73 - - 3114.34 - - - - - - - - - 15.90 -
1515.10 169.35 -8.68 300 1516.43 no move -1.29 - - 2015.94 - - - 2355.94 - -82.73 - - 3113.78 - - - - - - - - - - -
1820.15 198.69 -10.04 361 1821.47 no move -1.29 - - 2016.25 - - - 2356.31 - -82.73 - - 3113.41 - - - - - - - - - - -
2125.20 227.18 -8.83 422 2130.75 roll -1.29 - - 2016.00 - 2.74 0.061 1206.94 -419.5 -82.73 - - 3114.56 - - - - - - - - - 15.95 -
2230.20 236.66 -8.97 443 2235.75 roll -1.29 - - 2016.00 - 2.62 0.029 2353.38 437.6 -82.73 - - 3114.75 - - - - - - - - - 15.96 -
2540.36 261.34 -8.55 505 2545.81 roll -1.29 - - 2015.81 - 2.72 0.061 1208.69 -420.8 -82.73 - - 3114.00 - - - - - - - - - 15.96 -
2675.26 273.44 -8.84 532 2680.81 roll -1.29 - - 2015.56 - 2.61 0.029 2355.56 439.4 -82.73 - - 3114.31 - - - - - - - - - 15.97 -
2990.32 300.90 -8.96 594 2991.65 no move -1.29 - - 2015.94 - - - 2355.81 - -82.73 - - 3111.66 - - - - - - - - - - -
3299.44 326.25 -7.57 622 3304.08 roll -1.29 - - 2015.81 - 2.74 0.062 1207.44 -419.1 -82.73 - - 3111.34 - - - - - - - - - 15.97 -
3353.72 330.48 -7.89 630 3368.66 roll -1.29 - - 2016.44 - 2.61 0.029 2353.12 439.0 -82.73 - - 3112.06 - - - - - - - - - 16.00 -
3670.08 355.35 -7.97 659 3681.15 no move -1.29 - - 2015.75 - - - 2353.00 - -82.73 - - 3111.75 - - - - - - - - - - -
3982.74 381.10 -8.42 688 3987.38 roll -1.29 - - 2015.62 - 2.73 0.063 1208.38 -419.3 -82.73 - - 3112.44 - - - - - - - - - 15.97 -
4035.67 385.76 -8.68 695 4040.30 roll -1.29 - - 2015.56 - 2.61 0.029 2354.56 439.1 -82.73 - - 3111.12 - - - - - - - - - 16.00 -
4347.40 412.35 -8.31 724 4358.47 no move -1.29 - - 2016.06 - - - 2354.62 - -82.73 - - 3110.88 - - - - - - - - - - -
4660.41 438.02 -8.07 753 4665.05 roll -1.29 - - 2015.69 - 2.73 0.063 1209.94 -419.3 -82.73 - - 3110.94 - - - - - - - - - 15.97 -
4760.53 446.33 -8.27 766 4765.14 roll -1.29 - - 2016.00 - 2.60 0.030 2353.19 439.7 -82.73 - - 3109.22 - - - - - - - - - 16.00 -
5072.63 470.37 -7.95 795 5083.71 no move -1.29 - - 2015.88 - - - 2353.19 - -82.73 - - 3109.75 - - - - - - - - - - -
5385.42 494.98 -7.83 824 5396.49 no move -1.29 - - 2016.06 - - - 2352.56 - -82.73 - - 3109.19 - - - - - - - - - - -
5705.89 520.79 -8.03 847 5710.53 roll -1.29 - - 2015.75 - 2.75 0.064 1208.44 -416.0 -82.73 - - 3107.75 - - - - - - - - - 15.96 -
5785.92 527.29 -8.22 859 5791.46 roll -1.29 - - 2016.31 - 2.61 0.030 2353.12 438.6 -82.73 - - 3109.47 - - - - - - - - - 16.02 -
6105.32 550.93 -7.14 881 6106.65 no move -1.29 - - 2016.12 - - - 2353.50 - -82.73 - - 3106.84 - - - - - - - - - - -
6420.33 571.47 -6.56 902 6424.95 roll -1.29 - - 2015.88 - 2.67 0.089 3424.56 401.1 -82.73 - - 3105.94 - - - - - - - - - 15.93 -
6479.61 575.99 -7.56 911 6485.15 roll -1.29 - - 2016.00 - 2.56 0.021 2245.00 -460.8 -82.73 - - 3106.97 - - - - - - - - - 16.01 -
6799.03 599.80 -7.26 933 6803.70 roll -1.29 - - 2016.19 - 2.94 0.085 3426.88 402.0 -82.73 - - 3106.06 - - - - - - - - - 15.92 -
6877.71 606.58 -8.48 944 6882.32 roll -1.29 - - 2016.06 - 2.56 0.022 2248.12 -460.5 -82.73 - - 3106.81 - - - - - - - - - 16.00 -
7194.36 629.92 -7.23 966 7195.69 no move -1.29 - - 2016.12 - - - 2246.75 - -82.73 - - 3104.59 - - - - - - - - - - -
7509.30 652.83 -7.06 987 7510.63 no move -1.29 - - 2015.94 - - - 2247.44 - -82.73 - - 3105.09 - - - - - - - - - - -
7824.21 674.33 -6.76 1008 7825.54 no move -1.29 - - 2016.12 - - - 2247.19 - -82.73 - - 3104.22 - - - - - - - - - - -
8139.40 694.81 -6.60 1029 8140.73 no move -1.29 - - 2016.00 - - - 2246.94 - -82.73 - - 3103.00 - - - - - - - - - - -
8454.26 715.93 -6.39 1050 8458.85 roll -1.29 - - 2015.88 - 2.48 0.071 1209.62 -418.3 -82.73 - - 3103.59 - - - - - - - - - 15.93 -
8513.53 719.75 -6.50 1059 8519.08 roll -1.29 - - 2016.00 - 2.61 0.030 2350.50 437.1 -82.73 - - 3104.22 - - - - - - - - - 16.02 -
8832.97 738.96 -6.13 1081 8837.60 roll -1.29 - - 2016.00 - 2.67 0.091 3425.94 402.8 -82.73 - - 3103.59 - - - - - - - - - 15.89 -
8892.25 743.05 -6.80 1090 8897.79 roll -1.29 - - 2015.81 - 2.56 0.022 2246.50 -460.7 -82.73 - - 3103.16 - - - - - - - - - 16.01 -
9211.67 764.05 -6.35 1112 9213.00 no move -1.29 - - 2015.62 - - - 2245.94 - -82.73 - - 3102.78 - - - - - - - - - - -
9526.68 784.90 -6.47 1133 9528.00 no move -1.29 - - 2016.62 - - - 2246.12 - -82.73 - - 3101.75 - - - - - - - - - - -
9841.72 804.60 -6.33 1154 9843.05 no move -1.29 - - 2015.88 - - - 2246.25 - -82.73 - - 3101.34 - - - - - - - - - - -
10156.72 826.52 -6.81 1175 10161.40 roll -1.29 - - 2016.12 - 2.95 0.087 3424.75 399.5 -82.73 - - 3103.75 - - - - - - - - - 15.88 -
10220.99 830.90 -7.35 1185 10235.92 roll -1.29 - - 2015.94 - 2.55 0.022 2249.62 -460.8 -82.73 - - 3102.22 - - - - - - - - - 16.00 -
10550.60 852.49 -6.27 1207 10555.27 roll -1.29 - - 2016.06 - 2.51 0.072 1209.81 -414.3 -82.73 - - 3101.66 - - - - - - - - - 15.90 -
10614.86 856.52 -6.77 1217 10629.79 roll -1.29 - - 2014.94 - 2.62 0.032 2353.06 436.4 -82.73 - - 3103.22 - - - - - - - - - 16.01 -
10944.26 880.29 -6.85 1239 10945.59 no move -1.29 - - 2016.44 - - - 2352.62 - -82.73 - - 3100.41 - - - - - - - - - - -
11259.29 902.34 -7.08 1260 11263.94 roll -1.29 - - 2016.50 - 2.77 0.066 1209.50 -412.7 -82.73 - - 3100.75 - - - - - - - - - 15.90 -
11358.68 909.16 -6.87 1274 11363.31 roll -1.29 - - 2015.62 - 2.62 0.031 2351.00 435.7 -82.73 - - 3101.34 - - - - - - - - - 16.00 -
11675.17 929.32 -6.30 1296 11676.50 no move -1.29 - - 2015.88 - - - 2351.19 - -82.73 - - 3099.97 - - - - - - - - - - -
11990.18 949.03 -5.95 1317 11994.83 roll -1.29 - - 2016.44 - 2.77 0.067 1209.88 -412.0 -82.73 - - 3100.12 - - - - - - - - - 15.89 -
12049.46 952.60 -6.09 1326 12055.01 roll -1.29 - - 2016.00 - 2.62 0.031 2351.75 435.8 -82.73 - - 3100.66 - - - - - - - - - 16.00 -
12369.49 970.75 -5.90 1348 12370.82 no move -1.29 - - 2015.94 - - - 2352.06 - -82.73 - - 3099.38 - - - - - - - - - - -
12668 end dive: TARGET_DEPTH_EXCEEDED
12669 begin apogee
12670.74 990.52 -6.63 1368 12746.45 -0.28 1.76 0.141 2264.44 141.2 0.21 0.140 2282.75 -330.0 - 61.90 2.452 2774.25 -5.3 0.358 - - - - - - 15.77 15.56 10.78
12748 end apogee: CONTROL_FINISHED_OK
12748 begin climb
12748.73 992.35 - 1373 12835.40 1.29 2.56 0.091 2649.50 150.4 2.80 0.096 3344.25 379.1 82.73 67.69 2.409 2436.84 -5.0 0.346 - - - - - - 15.61 15.24 12.38
12863.89 987.72 5.10 1390 12923.26 done 1.42 - - 2650.12 - 2.68 0.024 2188.75 -431.2 145.84 53.92 2.375 2180.31 -4.8 0.334 - - - - - - - 15.43 12.17
13225.92 955.36 9.18 1419 13230.60 done 1.42 - - 2650.00 - 2.97 0.090 3344.56 389.2 145.84 - - 2171.06 - - - - - - - - - 15.62 -
13248.72 953.69 9.29 1423 13263.65 done 1.42 - - 2650.19 - 2.63 0.025 2190.56 -438.8 145.84 - - 2171.25 - - - - - - - - - 15.65 -
13578.12 924.56 8.49 1445 13579.45 VBD 1.42 - - 2649.81 - - - 2190.12 - 145.84 - - 2168.25 - - - - - - - - - - -
13893.13 897.39 8.68 1466 13894.46 VBD 1.42 - - 2649.62 - - - 2189.88 - 145.84 - - 2167.66 - - - - - - - - - - -
14208.14 869.66 8.90 1487 14213.00 done 1.42 - - 2649.25 - 2.93 0.090 3345.38 394.4 145.84 - - 2168.84 - - - - - - - - - 15.82 -
14246.82 866.09 9.24 1493 14252.24 done 1.42 - - 2649.81 - 2.59 0.025 2189.81 -446.2 145.84 - - 2168.44 - - - - - - - - - 15.88 -
14566.29 839.10 7.98 1515 14567.62 VBD 1.42 - - 2650.50 - - - 2189.19 - 145.84 - - 2166.44 - - - - - - - - - - -
14881.12 812.61 8.08 1536 14882.46 VBD 1.42 - - 2650.38 - - - 2188.38 - 145.84 - - 2166.22 - - - - - - - - - - -
15196.15 788.22 7.54 1557 15200.90 1.44 0.17 0.093 2694.06 256.9 2.92 0.090 3346.31 396.6 145.84 - - 2166.06 - - - - - - - - 15.89 15.78 -
15260.79 782.50 9.26 1567 15275.71 done 1.44 - - 2694.19 - 2.58 0.025 2190.06 -448.2 145.84 - - 2168.78 - - - - - - - - - 15.93 -
15590.19 751.72 8.90 1589 15591.52 VBD 1.44 - - 2693.88 - - - 2189.50 - 145.84 - - 2166.38 - - - - - - - - - - -
15905.21 722.16 9.59 1610 15909.88 done 1.44 - - 2693.94 - 2.91 0.090 3346.00 397.4 145.84 - - 2168.09 - - - - - - - - - 15.86 -
15964.49 716.15 10.16 1619 15970.02 done 1.44 - - 2693.75 - 2.59 0.025 2189.75 -446.4 145.84 - - 2168.44 - - - - - - - - - 15.96 -
16283.92 686.21 9.18 1641 16288.53 done 1.44 - - 2693.88 - 2.59 0.081 1131.50 -408.6 145.84 - - 2166.69 - - - - - - - - - 15.88 -
16322.46 682.57 9.49 1647 16328.01 done 1.44 - - 2693.50 - 2.61 0.032 2271.81 436.9 145.84 - - 2167.50 - - - - - - - - - 15.95 -
16641.89 652.97 8.92 1669 16643.22 VBD 1.44 - - 2694.19 - - - 2272.38 - 145.84 - - 2164.78 - - - - - - - - - - -
16957.12 625.25 8.70 1690 16961.83 done 1.44 - - 2693.94 - 2.81 0.076 1130.50 -406.4 145.84 - - 2165.97 - - - - - - - - - 15.88 -
16995.66 621.82 8.96 1696 17001.21 done 1.44 - - 2693.25 - 2.62 0.032 2271.19 435.4 145.84 - - 2165.81 - - - - - - - - - 15.97 -
17315.25 594.13 8.49 1718 17316.58 VBD 1.44 - - 2694.44 - - - 2271.62 - 145.84 - - 2164.19 - - - - - - - - - - -
17630.09 566.07 9.00 1739 17631.42 VBD 1.44 - - 2694.62 - - - 2271.25 - 145.84 - - 2164.12 - - - - - - - - - - -
17945.11 537.01 9.60 1760 17946.44 VBD 1.44 - - 2694.69 - - - 2270.75 - 145.84 - - 2163.81 - - - - - - - - - - -
18260.11 507.67 9.36 1781 18264.75 done 1.44 - - 2694.75 - 2.80 0.076 1131.00 -407.1 145.84 - - 2164.69 - - - - - - - - - 15.88 -
18318.05 502.08 9.57 1789 18322.68 done 1.44 - - 2694.06 - 2.62 0.031 2273.38 436.0 145.84 - - 2163.66 - - - - - - - - - 15.97 -
18628.95 473.58 8.82 1818 18633.58 done 1.44 - - 2694.06 - 2.69 0.094 3344.25 398.1 145.84 - - 2163.62 - - - - - - - - - 15.86 -
18667.48 470.02 9.23 1824 18682.41 done 1.44 - - 2693.88 - 2.58 0.025 2189.00 -447.8 145.84 - - 2164.75 - - - - - - - - - 15.98 -
18983.86 442.16 8.31 1853 18988.47 done 1.44 - - 2693.56 - 2.59 0.079 1133.25 -407.6 145.84 - - 2167.00 - - - - - - - - - 15.87 -
19038.14 437.41 8.83 1861 19053.08 done 1.44 - - 2694.81 - 2.61 0.031 2272.75 436.6 145.84 - - 2164.84 - - - - - - - - - 15.98 -
19354.49 412.23 7.77 1890 19365.57 VBD 1.45 - - 2694.12 - - - 2273.00 - 145.84 - - 2164.72 - - - - - - - - - - -
19667.76 387.58 7.58 1919 19678.84 VBD 1.47 - - 2694.25 - - - 2273.31 - 145.84 - - 2164.94 - - - - - - - - - - -
19980.46 364.41 7.23 1948 19985.11 done 1.49 - - 2694.81 - 2.80 0.075 1131.88 -407.7 145.84 - - 2164.78 - - - - - - - - - 15.87 -
20064.88 357.64 7.96 1959 20069.51 done 1.51 - - 2694.12 - 2.62 0.031 2270.94 434.8 145.84 - - 2163.47 - - - - - - - - - 15.98 -
20376.74 333.33 7.80 1988 20387.82 VBD 1.52 - - 2694.50 - - - 2271.00 - 145.84 - - 2164.81 - - - - - - - - - - -
20689.36 309.16 7.51 2017 20694.02 done 1.54 - - 2694.12 - 2.81 0.075 1131.19 -405.6 145.84 - - 2163.44 - - - - - - - - - 15.87 -
20742.29 304.89 7.90 2024 20746.92 done 1.55 - - 2694.12 - 2.61 0.031 2273.62 437.7 145.84 - - 2163.03 - - - - - - - - - 15.98 -
21049.76 282.40 7.43 2077 21055.13 done 1.57 - - 2694.12 - 2.80 0.074 1130.00 -408.4 145.84 - - 2165.22 - - - - - - - - - 15.86 -
21099.59 278.49 7.90 2087 21105.13 done 1.58 - - 2694.00 - 2.61 0.030 2273.31 438.0 145.84 - - 2165.59 - - - - - - - - - 15.97 -
21409.77 256.67 6.67 2149 21415.32 1.62 0.17 0.088 2735.12 241.9 2.80 0.074 1130.44 -408.2 145.84 - - 2164.84 - - - - - - - - 15.93 15.81 -
21454.72 253.17 7.78 2158 21460.26 done 1.63 - - 2735.56 - 2.61 0.030 2273.44 437.9 145.84 - - 2164.91 - - - - - - - - - 15.96 -
21765.00 229.80 7.34 2220 21770.35 done 1.65 - - 2735.00 - 2.68 0.091 3346.19 400.3 145.84 - - 2165.34 - - - - - - - - - 15.84 -
21824.82 224.78 8.66 2232 21830.35 done 1.65 - - 2734.94 - 2.58 0.024 2185.88 -449.7 145.84 - - 2166.66 - - - - - - - - - 15.96 -
22134.94 199.70 7.99 2294 22140.53 done 1.65 - - 2735.00 - 2.90 0.086 3345.06 399.7 145.84 - - 2165.00 - - - - - - - - - 15.84 -
22184.95 195.33 8.94 2304 22190.49 done 1.65 - - 2735.69 - 2.58 0.024 2187.19 -448.8 145.84 - - 2164.94 - - - - - - - - - 15.97 -
22495.06 171.61 7.56 2366 22500.58 done 1.67 - - 2735.12 - 2.58 0.078 1130.06 -409.7 145.84 - - 2165.56 - - - - - - - - - 15.85 -
22610.23 162.33 8.01 2389 22615.65 done 1.67 - - 2735.50 - 2.60 0.030 2275.06 440.4 145.84 - - 2165.94 - - - - - - - - - 15.96 -
22920.11 141.64 6.65 2451 22925.66 done 1.71 - - 2736.19 - 2.80 0.073 1130.38 -408.8 145.84 - - 2165.97 - - - - - - - - - 15.85 -
23060.13 132.84 5.95 2479 23101.11 1.80 0.19 0.080 2782.94 246.1 2.60 0.029 2276.25 440.7 192.98 34.47 1.331 1989.09 -5.1 0.086 - - - - - - 15.77 15.97 11.18
23405.17 104.96 8.56 2548 23410.72 roll 1.80 - - 2783.12 - 2.65 0.090 3346.06 403.7 192.98 - - 1982.84 - - - - - - - - - 15.83 -
23450.17 100.97 8.96 2557 23455.71 roll 1.80 - - 2783.81 - 2.59 0.023 2185.06 -448.3 192.98 - - 1982.62 - - - - - - - - - 15.88 -
23760.24 81.02 4.29 2619 23821.73 VBD 1.96 - - 2783.56 - - - 2184.94 - 271.26 58.88 1.269 1669.31 -5.3 0.057 - - - - - - - - 11.87
24005.27 66.29 6.58 2668 24010.90 1.99 0.19 0.081 2827.12 229.3 2.89 0.085 3347.19 402.2 271.26 - - 1659.94 - - - - - - - - 15.75 15.69 -
24045.27 63.20 7.57 2676 24050.79 done 2.01 - - 2827.88 - 2.60 0.023 2186.56 -446.4 271.26 - - 1660.44 - - - - - - - - - 15.77 -
24235.30 49.56 7.16 2714 24240.87 done 2.04 - - 2828.00 - 2.86 0.084 3348.00 406.1 271.26 - - 1657.75 - - - - - - - - - 15.78 -
24260.30 47.80 7.04 2719 24265.82 done 2.07 - - 2828.44 - 2.59 0.023 2184.19 -449.3 271.26 - - 1657.78 - - - - - - - - - 15.81 -
24450.33 35.77 6.44 2757 24483.78 done 2.14 - - 2827.06 - 2.57 0.080 1130.00 -410.2 309.13 28.90 1.167 1515.22 -4.9 0.026 - - - - - - - 15.75 11.86
24710.94 22.96 3.40 2809 24789.20 2.33 0.43 0.056 2909.00 190.6 2.61 0.028 2280.00 440.6 403.99 71.61 1.167 1129.19 -5.4 0.018 - - - - - - 15.70 15.80 11.98
24971.52 11.31 6.10 2861 25010.13 done 2.42 - - 2909.75 - 2.84 0.074 1132.50 -404.0 448.32 34.12 1.099 947.06 -5.3 0.009 - - - - - - - 15.59 11.98
25062 end climb: SURFACE_DEPTH_REACHED
25062 begin surface coast
25112 end surface coast: CONTROL_FINISHED_OK
25112 begin surface
SM 0.61 - - - - 178.2 - - 942.0 - 16.95 0.048 936.1 55.2 - 2.81 0.029 947.9 336.3 -0.723 - - 30.00 15.64 15.68 -