NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 538 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 176.09 of 550.00 AH used of 24V (67.98% remains)
• Surface angle -65.7 deg, depth 0.68 m • Intended pitch -20.3 deg, speed -8.462 cm/s
VBD pumped to 424.83 (SM_CC=425)
• GPS1 time: 22 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
3 begin dive
5.22 - - - 61.87 VBD -1.29 - - 180.62 - - - 2244.06 - -82.73 55.45 0.005 2392.53 - - - - - - - - - - 15.34
62.61 3.32 -6.23 10 100.64 -1.29 14.68 0.247 2016.31 125.0 2.55 0.067 1208.44 -406.1 -82.73 15.24 0.006 3111.00 47.1 -4.368 - - - - - - 15.48 15.27 15.41
328.12 53.23 -13.97 63 333.34 roll -1.29 - - 2016.19 - 2.65 0.029 2350.12 430.8 -82.73 - - 3112.41 - - - - - - - - - 15.78 -
518.49 76.67 -12.27 101 523.43 roll -1.29 - - 2015.94 - 2.78 0.059 1208.62 -410.6 -82.73 - - 3112.69 - - - - - - - - - 15.81 -
597.88 87.36 -13.35 117 603.44 roll -1.29 - - 2016.25 - 2.64 0.029 2353.50 433.7 -82.73 - - 3112.69 - - - - - - - - - 15.83 -
787.93 107.69 -9.43 155 793.50 roll -1.29 - - 2016.25 - 2.77 0.059 1207.38 -413.8 -82.73 - - 3113.84 - - - - - - - - - 15.87 -
1012.97 129.00 -9.03 200 1018.51 roll -1.29 - - 2015.50 - 2.62 0.028 2351.62 436.7 -82.73 - - 3114.91 - - - - - - - - - 15.88 -
1323.03 156.16 -9.02 262 1328.57 roll -1.29 - - 2016.25 - 2.68 0.087 3427.56 401.5 -82.73 - - 3113.72 - - - - - - - - - 15.88 -
1418.03 165.65 -10.33 281 1423.57 roll -1.29 - - 2016.31 - 2.58 0.021 2241.44 -459.7 -82.73 - - 3113.34 - - - - - - - - - 15.91 -
1728.08 192.86 -8.31 343 1729.41 no move -1.29 - - 2015.75 - - - 2240.44 - -82.73 - - 3112.66 - - - - - - - - - - -
2033.12 217.23 -8.03 404 2038.23 roll -1.29 - - 2016.19 - 2.47 0.066 1208.81 -417.7 -82.73 - - 3113.62 - - - - - - - - - 15.94 -
2173.25 229.76 -9.26 432 2178.68 roll -1.29 - - 2016.25 - 2.62 0.030 2352.19 436.4 -82.73 - - 3114.50 - - - - - - - - - 15.96 -
2483.20 257.38 -8.53 494 2488.72 roll -1.29 - - 2015.44 - 2.68 0.089 3425.81 400.6 -82.73 - - 3114.69 - - - - - - - - - 15.92 -
2538.19 262.59 -9.67 505 2543.73 roll -1.29 - - 2016.38 - 2.56 0.021 2242.38 -462.3 -82.73 - - 3113.12 - - - - - - - - - 15.96 -
2848.24 290.51 -8.83 567 2849.57 no move -1.29 - - 2016.44 - - - 2242.12 - -82.73 - - 3111.53 - - - - - - - - - - -
3154.01 316.29 -8.41 607 3158.61 roll -1.29 - - 2016.38 - 2.46 0.068 1207.38 -420.6 -82.73 - - 3111.75 - - - - - - - - - 15.97 -
3255.48 325.59 -9.42 621 3270.42 roll -1.29 - - 2016.69 - 2.63 0.030 2352.00 435.2 -82.73 - - 3111.88 - - - - - - - - - 15.99 -
3572.57 352.15 -8.27 650 3577.19 roll -1.29 - - 2015.38 - 2.68 0.090 3427.50 401.3 -82.73 - - 3111.69 - - - - - - - - - 15.93 -
3688.43 362.95 -9.45 665 3693.04 roll -1.29 - - 2017.06 - 2.56 0.021 2248.06 -460.7 -82.73 - - 3110.34 - - - - - - - - - 15.99 -
3999.83 387.17 -7.57 694 4004.48 roll -1.29 - - 2016.81 - 2.48 0.068 1210.88 -418.2 -82.73 - - 3109.59 - - - - - - - - - 15.97 -
4068.49 392.69 -7.97 703 4073.12 roll -1.29 - - 2016.81 - 2.61 0.030 2349.69 436.3 -82.73 - - 3109.50 - - - - - - - - - 16.00 -
4380.05 415.88 -7.23 732 4384.69 roll -1.29 - - 2016.75 - 2.74 0.063 1209.88 -416.0 -82.73 - - 3109.22 - - - - - - - - - 15.97 -
4465.80 422.52 -7.86 744 4480.74 roll -1.29 - - 2016.75 - 2.62 0.030 2351.44 435.7 -82.73 - - 3111.19 - - - - - - - - - 16.01 -
4781.95 447.47 -7.93 773 4786.59 roll -1.29 - - 2016.38 - 2.75 0.064 1209.50 -415.3 -82.73 - - 3109.34 - - - - - - - - - 15.97 -
4851.95 453.21 -8.32 783 4866.89 roll -1.29 - - 2016.62 - 2.62 0.030 2352.31 436.2 -82.73 - - 3110.66 - - - - - - - - - 16.02 -
5168.85 478.53 -7.81 812 5179.91 no move -1.29 - - 2016.44 - - - 2352.44 - -82.73 - - 3108.75 - - - - - - - - - - -
5483.71 503.96 -8.32 840 5488.35 roll -1.29 - - 2016.00 - 2.75 0.064 1209.69 -415.5 -82.73 - - 3108.25 - - - - - - - - - 15.96 -
5568.74 510.90 -8.72 853 5583.67 roll -1.29 - - 2016.50 - 2.61 0.031 2351.44 437.5 -82.73 - - 3107.72 - - - - - - - - - 16.01 -
5898.14 537.14 -7.90 875 5899.47 no move -1.29 - - 2016.62 - - - 2351.75 - -82.73 - - 3106.59 - - - - - - - - - - -
6213.34 561.26 -7.67 896 6218.04 roll -1.29 - - 2015.38 - 2.76 0.064 1208.50 -414.2 -82.73 - - 3108.19 - - - - - - - - - 15.96 -
6298.35 567.68 -8.09 909 6313.29 roll -1.29 - - 2017.06 - 2.61 0.031 2351.38 437.9 -82.73 - - 3106.62 - - - - - - - - - 16.01 -
6628.11 593.49 -7.77 931 6629.44 no move -1.29 - - 2016.75 - - - 2351.62 - -82.73 - - 3104.94 - - - - - - - - - - -
6942.81 617.75 -7.59 952 6944.14 no move -1.29 - - 2016.75 - - - 2351.81 - -82.73 - - 3104.84 - - - - - - - - - - -
7257.84 640.96 -7.23 973 7262.48 roll -1.29 - - 2016.75 - 2.76 0.065 1208.69 -414.2 -82.73 - - 3104.12 - - - - - - - - - 15.94 -
7301.37 643.80 -7.43 980 7316.31 roll -1.29 - - 2016.38 - 2.62 0.031 2351.62 436.2 -82.73 - - 3105.25 - - - - - - - - - 16.01 -
7630.96 668.46 -7.44 1002 7632.29 no move -1.29 - - 2016.69 - - - 2352.00 - -82.73 - - 3103.91 - - - - - - - - - - -
7945.83 692.83 -8.06 1023 7950.47 roll -1.29 - - 2016.62 - 2.76 0.065 1211.00 -413.4 -82.73 - - 3103.34 - - - - - - - - - 15.94 -
8003.76 697.75 -8.40 1031 8008.39 roll -1.29 - - 2015.44 - 2.62 0.031 2350.50 434.9 -82.73 - - 3105.97 - - - - - - - - - 16.01 -
8320.24 722.50 -7.64 1053 8321.57 no move -1.29 - - 2016.94 - - - 2350.62 - -82.73 - - 3102.78 - - - - - - - - - - -
8635.25 744.78 -6.82 1074 8636.58 no move -1.29 - - 2016.38 - - - 2350.94 - -82.73 - - 3102.81 - - - - - - - - - - -
8950.27 764.81 -6.27 1095 8954.92 roll -1.29 - - 2016.56 - 2.76 0.065 1209.62 -413.5 -82.73 - - 3103.19 - - - - - - - - - 15.93 -
9051.18 771.29 -6.53 1110 9056.61 roll -1.29 - - 2016.62 - 2.62 0.031 2351.81 436.0 -82.73 - - 3102.75 - - - - - - - - - 16.00 -
9370.42 790.18 -5.80 1132 9371.75 no move -1.29 - - 2016.62 - - - 2352.19 - -82.73 - - 3101.28 - - - - - - - - - - -
9685.44 807.55 -5.30 1153 9690.08 roll -1.29 - - 2017.00 - 2.76 0.065 1210.38 -413.7 -82.73 - - 3101.75 - - - - - - - - - 15.92 -
9806.94 814.70 -6.00 1171 9812.47 roll -1.29 - - 2016.94 - 2.61 0.032 2351.06 437.0 -82.73 - - 3102.12 - - - - - - - - - 16.01 -
10126.33 831.68 -5.30 1193 10127.67 no move -1.29 - - 2016.38 - - - 2350.62 - -82.73 - - 3100.78 - - - - - - - - - - -
10441.58 849.47 -5.79 1214 10446.23 roll -1.29 - - 2016.56 - 2.77 0.066 1208.44 -412.3 -82.73 - - 3100.97 - - - - - - - - - 15.91 -
10505.87 853.10 -6.12 1224 10520.79 roll -1.29 - - 2016.81 - 2.62 0.032 2352.56 436.7 -82.73 - - 3101.62 - - - - - - - - - 16.01 -
10835.28 873.71 -6.45 1246 10839.92 roll -1.29 - - 2016.62 - 2.76 0.065 1209.62 -414.1 -82.73 - - 3101.19 - - - - - - - - - 15.91 -
10915.28 879.20 -6.92 1258 10920.83 roll -1.29 - - 2016.81 - 2.61 0.032 2351.44 437.5 -82.73 - - 3101.19 - - - - - - - - - 16.00 -
11234.70 901.16 -6.98 1280 11236.03 no move -1.29 - - 2016.38 - - - 2351.44 - -82.73 - - 3099.94 - - - - - - - - - - -
11549.75 924.45 -7.86 1301 11554.57 roll -1.29 - - 2016.25 - 2.76 0.066 1209.44 -413.8 -82.73 - - 3100.97 - - - - - - - - - 15.90 -
11712.79 937.42 -8.00 1325 11718.23 roll -1.29 - - 2015.62 - 2.62 0.032 2349.88 435.3 -82.73 - - 3102.06 - - - - - - - - - 16.00 -
12032.26 959.96 -6.90 1347 12033.59 no move -1.29 - - 2016.19 - - - 2349.69 - -82.73 - - 3099.03 - - - - - - - - - - -
12347.13 980.09 -5.92 1368 12348.46 no move -1.29 - - 2016.62 - - - 2350.12 - -82.73 - - 3099.12 - - - - - - - - - - -
12527 end dive: TARGET_DEPTH_EXCEEDED
12527 begin apogee
12528.96 990.88 -6.14 1380 12604.47 -0.28 1.75 0.144 2263.56 141.1 0.21 0.141 2280.38 -332.1 - 61.54 2.445 2775.56 -5.3 0.357 - - - - - - 15.76 15.56 10.69
12606 end apogee: CONTROL_FINISHED_OK
12606 begin climb
12606.47 992.30 - 1385 12680.65 1.29 2.57 0.094 2649.19 150.1 - - 2280.56 - 82.73 68.06 2.401 2436.94 -5.0 0.344 - - - - - - 15.62 - 12.32
12992.96 966.03 7.97 1411 12997.62 roll 1.29 - - 2648.88 - 2.88 0.075 1132.62 -398.6 82.73 - - 2430.34 - - - - - - - - - 15.65 -
13015.76 964.70 7.99 1415 13030.69 roll 1.29 - - 2648.75 - 2.67 0.031 2269.69 425.9 82.73 - - 2430.19 - - - - - - - - - 15.68 -
13345.18 939.49 7.59 1437 13346.51 VBD 1.31 - - 2648.94 - - - 2269.56 - 82.73 - - 2428.38 - - - - - - - - - - -
13660.39 915.35 7.59 1458 13665.11 done 1.33 - - 2648.12 - 2.83 0.075 1132.12 -401.9 82.73 - - 2428.16 - - - - - - - - - 15.80 -
13745.42 909.06 7.92 1471 13760.35 done 1.34 - - 2649.06 - 2.63 0.032 2271.00 433.0 82.73 - - 2429.22 - - - - - - - - - 15.85 -
14074.84 883.30 7.78 1493 14079.50 done 1.35 - - 2649.06 - 2.81 0.075 1132.50 -405.2 82.73 - - 2428.25 - - - - - - - - - 15.83 -
14202.01 873.15 8.46 1512 14216.78 done 1.35 - - 2649.25 - 2.62 0.032 2272.00 434.9 82.73 - - 2428.88 - - - - - - - - - 15.89 -
14531.26 847.01 7.75 1534 14535.92 done 1.37 - - 2649.38 - 2.81 0.075 1131.19 -406.0 82.73 - - 2426.84 - - - - - - - - - 15.85 -
14652.72 837.19 8.21 1552 14658.27 done 1.37 - - 2649.12 - 2.62 0.032 2272.12 435.5 82.73 - - 2428.22 - - - - - - - - - 15.92 -
14972.15 813.61 7.25 1574 14973.48 VBD 1.39 - - 2648.81 - - - 2272.31 - 82.73 - - 2427.12 - - - - - - - - - - -
15287.16 792.52 6.39 1595 15331.01 1.47 0.22 0.085 2699.19 229.0 2.83 0.079 1130.69 -403.4 121.53 31.12 2.152 2279.75 -4.7 0.292 - - - - - - 15.90 15.77 11.38
15442.33 779.56 9.28 1618 15457.29 roll 1.47 - - 2698.56 - 2.64 0.032 2270.62 431.8 121.53 - - 2278.03 - - - - - - - - - 15.80 -
15771.87 750.50 8.47 1640 15773.20 no move 1.47 - - 2699.94 - - - 2270.88 - 121.53 - - 2273.84 - - - - - - - - - - -
16086.79 724.72 8.13 1661 16091.45 roll 1.47 - - 2697.50 - 2.81 0.075 1130.12 -406.0 121.53 - - 2275.22 - - - - - - - - - 15.83 -
16151.08 719.57 8.70 1671 16166.00 roll 1.47 - - 2699.69 - 2.62 0.032 2271.94 435.8 121.53 - - 2275.25 - - - - - - - - - 15.90 -
16480.50 693.66 7.66 1693 16485.12 roll 1.49 - - 2698.50 - 2.69 0.096 3345.94 399.3 121.53 - - 2273.88 - - - - - - - - - 15.83 -
16519.03 690.55 8.04 1699 16524.57 roll 1.49 - - 2699.44 - 2.58 0.025 2188.12 -448.8 121.53 - - 2273.97 - - - - - - - - - 15.91 -
16838.46 666.02 7.59 1721 16839.79 no move 1.50 - - 2699.56 - - - 2186.62 - 121.53 - - 2273.25 - - - - - - - - - - -
17153.47 642.19 7.84 1742 17154.81 no move 1.52 - - 2699.62 - - - 2186.56 - 121.53 - - 2272.44 - - - - - - - - - - -
17468.49 617.72 7.66 1763 17469.82 no move 1.53 - - 2699.38 - - - 2186.38 - 121.53 - - 2272.53 - - - - - - - - - - -
17783.49 592.92 8.01 1784 17784.82 no move 1.53 - - 2699.69 - - - 2186.50 - 121.53 - - 2272.06 - - - - - - - - - - -
18098.52 567.22 8.19 1805 18099.85 no move 1.53 - - 2699.38 - - - 2187.31 - 121.53 - - 2272.59 - - - - - - - - - - -
18413.55 541.91 7.73 1826 18418.21 roll 1.55 - - 2699.31 - 2.90 0.091 3345.94 399.5 121.53 - - 2271.91 - - - - - - - - - 15.85 -
18477.81 536.75 8.57 1836 18492.92 roll 1.55 - - 2699.69 - 2.57 0.025 2188.75 -450.3 121.53 - - 2274.31 - - - - - - - - - 15.97 -
18807.34 510.43 7.80 1858 18811.94 roll 1.56 - - 2699.44 - 2.59 0.080 1132.38 -407.9 121.53 - - 2272.06 - - - - - - - - - 15.87 -
18887.35 503.85 8.29 1870 18892.88 roll 1.56 - - 2699.50 - 2.60 0.031 2272.31 438.4 121.53 - - 2273.16 - - - - - - - - - 15.98 -
19194.27 479.23 7.91 1898 19198.90 roll 1.57 - - 2699.19 - 2.79 0.075 1131.06 -409.1 121.53 - - 2272.41 - - - - - - - - - 15.88 -
19262.91 473.43 8.37 1907 19266.75 roll 1.57 - - 2699.56 - 2.60 0.031 2266.06 436.5 121.53 - - 2273.22 - - - - - - - - - 15.96 -
19574.64 447.17 8.17 1936 19585.71 no move 1.57 - - 2699.19 - - - 2273.88 - 121.53 - - 2272.72 - - - - - - - - - - -
19887.33 423.29 7.36 1965 19898.40 no move 1.59 - - 2700.00 - - - 2274.50 - 121.53 - - 2272.97 - - - - - - - - - - -
20200.26 401.51 7.04 1994 20211.33 no move 1.62 - - 2700.25 - - - 2274.00 - 121.53 - - 2273.03 - - - - - - - - - - -
20512.83 379.73 6.92 2023 20517.56 roll back 1.65 0.19 0.084 2742.06 220.1 2.81 0.075 1132.38 -406.3 121.53 - - 2272.62 - - - - - - - - 15.94 15.81 -
20535.67 378.01 7.44 2027 20550.56 roll 1.67 - - 2741.56 - 2.60 0.031 2273.31 438.8 121.53 - - 2273.62 - - - - - - - - - 15.97 -
20851.92 354.29 7.40 2056 20863.00 no move 1.69 - - 2742.75 - - - 2273.31 - 121.53 - - 2272.97 - - - - - - - - - - -
21164.75 330.93 7.35 2085 21175.81 no move 1.72 - - 2742.50 - - - 2273.75 - 121.53 - - 2273.16 - - - - - - - - - - -
21477.45 308.65 6.89 2114 21482.09 roll 1.75 - - 2742.50 - 2.79 0.074 1131.38 -409.5 121.53 - - 2272.81 - - - - - - - - - 15.87 -
21640.76 296.05 7.96 2138 21646.31 roll 1.75 - - 2742.44 - 2.62 0.031 2273.38 435.9 121.53 - - 2273.12 - - - - - - - - - 15.97 -
21951.05 274.22 7.05 2200 21952.38 no move 1.78 - - 2742.81 - - - 2273.25 - 121.53 - - 2271.94 - - - - - - - - - - -
22255.96 254.00 6.55 2261 22257.39 pitch 1.81 0.16 0.089 2783.31 253.1 - - 2273.38 - 121.53 - - 2272.00 - - - - - - - - 15.93 - -
22561.39 233.02 6.94 2322 22562.72 no move 1.84 - - 2783.00 - - - 2273.81 - 121.53 - - 2272.06 - - - - - - - - - - -
22866.06 212.03 7.05 2383 22871.60 roll 1.87 - - 2783.62 - 2.79 0.072 1132.44 -409.1 121.53 - - 2272.84 - - - - - - - - - 15.86 -
23026.45 198.62 8.62 2415 23031.60 roll 1.87 - - 2783.94 - 2.62 0.030 2276.31 436.6 121.53 - - 2272.91 - - - - - - - - - 15.95 -
23336.17 173.48 8.10 2477 23341.69 roll 1.87 - - 2783.31 - 2.81 0.071 1131.12 -407.5 121.53 - - 2273.12 - - - - - - - - - 15.86 -
23416.11 166.39 9.02 2493 23421.67 roll 1.87 - - 2783.75 - 2.61 0.030 2276.19 438.7 121.53 - - 2273.00 - - - - - - - - - 15.96 -
23726.18 146.10 5.81 2555 23768.82 done 1.97 - - 2783.06 - 2.79 0.074 1131.19 -410.4 171.17 37.63 1.358 2077.12 -5.2 0.094 - - - - - - - 15.85 11.14
23786.35 142.33 6.34 2567 23822.76 2.05 0.26 0.067 2844.88 237.8 2.61 0.030 2275.25 438.3 210.88 31.83 1.310 1914.84 -5.1 0.093 - - - - - - 15.85 15.91 12.46
24126.21 102.44 10.43 2635 24131.78 done 2.05 - - 2844.62 - 2.81 0.072 1132.12 -406.8 210.88 - - 1905.94 - - - - - - - - - 15.79 -
24196.21 96.45 8.25 2649 24201.77 done 2.05 - - 2845.69 - 2.62 0.030 2273.38 435.6 210.88 - - 1905.59 - - - - - - - - - 15.81 -
24386.32 83.25 6.67 2687 24391.80 done 2.09 - - 2845.75 - 2.79 0.071 1131.19 -409.4 210.88 - - 1904.47 - - - - - - - - - 15.81 -
24621.28 67.62 6.23 2734 24657.80 done 2.17 - - 2846.06 - 2.61 0.029 2274.69 438.1 252.75 31.55 1.217 1744.72 -5.1 0.047 - - - - - - - 15.85 11.75
24841.32 54.33 7.14 2778 24842.65 no move 2.20 - - 2845.50 - - - 2274.62 - 252.75 - - 1737.53 - - - - - - - - - - -
25026.39 41.39 5.84 2815 25069.10 2.30 0.25 0.070 2900.62 220.5 2.80 0.073 1129.94 -408.8 301.92 37.53 1.187 1544.19 -5.2 0.030 - - - - - - 15.80 15.72 11.91
25121.38 34.26 8.97 2834 25127.29 roll 2.30 - - 2900.62 - 2.62 0.029 2276.56 437.6 301.92 - - 1540.47 - - - - - - - - - 15.77 -
25311.46 23.10 6.21 2872 25349.19 done 2.38 - - 2900.94 - 2.65 0.089 3346.12 403.6 344.08 32.76 1.144 1372.75 -5.1 0.017 - - - - - - - 15.69 11.95
25351.63 21.50 4.76 2880 25409.82 2.52 0.25 0.072 2954.44 214.0 2.60 0.022 2173.06 -451.2 413.43 53.24 1.139 1089.25 -5.3 0.017 - - - - - - 15.72 15.77 12.46
25591.94 4.30 9.31 2928 25593.26 no move 2.52 - - 2954.56 - - - 2172.94 - 413.43 - - 1082.03 - - - - - - - - - - -
25597 end climb: SURFACE_DEPTH_REACHED
25597 begin surface coast
25647 end surface coast: CONTROL_FINISHED_OK
25647 begin surface
SM 3.14 - - - - 180.7 9.73 0.944 1043.1 107.2 17.30 0.053 1020.4 59.0 - 0.38 0.065 1065.9 2805.0 -13.849 - - 11.94 15.65 15.69 -