NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 540 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 176.91 of 550.00 AH used of 24V (67.83% remains)
• Surface angle -62.4 deg, depth 0.56 m • Intended pitch -20.3 deg, speed -8.462 cm/s
VBD pumped to 424.96 (SM_CC=425)
• GPS1 time: 31 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
5.23 - - - 82.60 VBD -1.29 - - 178.31 - - - 2244.38 - -82.73 75.87 0.005 2586.22 - - - - - - - - - - 15.30
83.33 3.75 -5.60 14 116.67 -1.29 14.82 0.250 2016.12 124.0 2.48 0.067 1207.19 -418.2 -82.73 10.40 0.007 3111.66 50.5 -4.554 - - - - - - 15.48 15.26 15.35
148.75 20.06 -22.23 27 154.29 roll -1.29 - - 2016.31 - 2.62 0.030 2352.38 437.1 -82.73 - - 3112.16 - - - - - - - - - 15.71 -
339.45 46.63 -11.74 65 340.78 no move -1.29 - - 2016.31 - - - 2352.25 - -82.73 - - 3110.66 - - - - - - - - - - -
524.27 71.81 -14.41 102 529.44 roll -1.29 - - 2016.31 - 2.72 0.059 1208.69 -420.4 -82.73 - - 3112.38 - - - - - - - - - 15.82 -
613.90 83.80 -12.23 120 619.43 roll -1.29 - - 2015.75 - 2.60 0.028 2355.25 441.0 -82.73 - - 3112.62 - - - - - - - - - 15.83 -
804.32 101.07 -9.10 158 809.49 roll -1.29 - - 2016.25 - 2.72 0.059 1208.44 -421.6 -82.73 - - 3113.97 - - - - - - - - - 15.87 -
1018.96 121.93 -9.10 201 1024.50 roll -1.29 - - 2016.19 - 2.59 0.029 2353.06 441.9 -82.73 - - 3113.22 - - - - - - - - - 15.88 -
1329.00 148.39 -8.17 263 1334.54 roll -1.29 - - 2016.31 - 2.61 0.087 3427.81 411.8 -82.73 - - 3113.62 - - - - - - - - - 15.88 -
1499.40 164.10 -9.83 297 1504.55 roll -1.29 - - 2016.00 - 2.55 0.021 2243.38 -464.5 -82.73 - - 3113.84 - - - - - - - - - 15.92 -
1809.07 191.51 -8.64 359 1810.40 no move -1.29 - - 2016.56 - - - 2241.25 - -82.73 - - 3111.34 - - - - - - - - - - -
2114.17 217.39 -7.88 420 2119.22 roll -1.29 - - 2017.00 - 2.45 0.067 1208.88 -421.4 -82.73 - - 3114.66 - - - - - - - - - 15.95 -
2159.11 221.07 -8.19 429 2164.65 roll -1.29 - - 2016.75 - 2.58 0.029 2353.62 443.7 -82.73 - - 3112.88 - - - - - - - - - 15.96 -
2469.14 245.38 -8.44 491 2474.71 roll -1.29 - - 2017.12 - 2.71 0.062 1207.25 -423.0 -82.73 - - 3111.41 - - - - - - - - - 15.96 -
2529.16 251.28 -9.26 503 2534.69 roll -1.29 - - 2017.06 - 2.58 0.029 2355.06 444.9 -82.73 - - 3110.12 - - - - - - - - - 15.96 -
2839.19 279.55 -8.99 565 2840.52 no move -1.29 - - 2017.00 - - - 2354.44 - -82.73 - - 3108.91 - - - - - - - - - - -
3150.79 304.92 -7.86 620 3161.86 no move -1.29 - - 2016.75 - - - 2354.50 - -82.73 - - 3108.66 - - - - - - - - - - -
3463.68 329.43 -7.69 649 3474.75 no move -1.29 - - 2017.00 - - - 2354.25 - -82.73 - - 3107.81 - - - - - - - - - - -
3776.95 353.91 -7.98 678 3781.59 roll -1.29 - - 2016.38 - 2.72 0.063 1208.56 -421.2 -82.73 - - 3105.91 - - - - - - - - - 15.98 -
3829.86 358.51 -8.48 685 3834.47 roll -1.29 - - 2016.75 - 2.58 0.030 2354.62 444.2 -82.73 - - 3109.12 - - - - - - - - - 16.00 -
4141.27 384.58 -8.40 714 4145.97 roll -1.29 - - 2017.19 - 2.73 0.063 1208.81 -419.7 -82.73 - - 3106.72 - - - - - - - - - 15.98 -
4180.14 387.77 -8.48 720 4194.73 roll -1.29 - - 2017.19 - 2.58 0.030 2354.31 444.0 -82.73 - - 3106.06 - - - - - - - - - 16.01 -
4495.94 412.70 -7.82 749 4507.00 no move -1.29 - - 2017.38 - - - 2354.25 - -82.73 - - 3105.06 - - - - - - - - - - -
4808.61 438.79 -8.37 778 4813.26 roll -1.29 - - 2016.94 - 2.74 0.063 1207.19 -418.6 -82.73 - - 3103.09 - - - - - - - - - 15.98 -
4862.88 443.51 -8.73 786 4877.79 roll -1.29 - - 2017.00 - 2.59 0.030 2353.12 442.4 -82.73 - - 3106.22 - - - - - - - - - 16.01 -
5179.76 469.57 -8.02 815 5190.84 no move -1.29 - - 2016.88 - - - 2353.44 - -82.73 - - 3104.31 - - - - - - - - - - -
5492.55 494.74 -7.95 844 5497.18 roll -1.29 - - 2017.44 - 2.74 0.064 1210.12 -417.3 -82.73 - - 3102.78 - - - - - - - - - 15.97 -
5561.22 500.44 -8.22 853 5565.84 roll -1.29 - - 2016.44 - 2.58 0.031 2353.19 443.1 -82.73 - - 3101.81 - - - - - - - - - 16.01 -
5872.72 525.62 -8.06 874 5874.05 no move -1.29 - - 2017.00 - - - 2352.81 - -82.73 - - 3101.25 - - - - - - - - - - -
6187.75 550.46 -7.74 895 6192.39 roll -1.29 - - 2017.62 - 2.74 0.064 1208.31 -417.7 -82.73 - - 3101.31 - - - - - - - - - 15.97 -
6231.29 553.45 -7.89 902 6246.22 roll -1.29 - - 2017.19 - 2.58 0.031 2352.38 443.4 -82.73 - - 3101.22 - - - - - - - - - 16.02 -
6560.90 578.95 -7.31 924 6562.23 no move -1.29 - - 2016.88 - - - 2352.06 - -82.73 - - 3099.84 - - - - - - - - - - -
6875.88 600.77 -6.98 945 6880.52 roll -1.29 - - 2017.06 - 2.74 0.064 1208.69 -417.3 -82.73 - - 3100.59 - - - - - - - - - 15.96 -
6960.89 606.70 -7.48 958 6975.81 roll -1.29 - - 2016.69 - 2.59 0.031 2352.50 441.6 -82.73 - - 3100.56 - - - - - - - - - 16.02 -
7290.47 631.24 -7.61 980 7291.80 no move -1.29 - - 2016.81 - - - 2352.25 - -82.73 - - 3098.41 - - - - - - - - - - -
7605.31 653.88 -6.99 1001 7610.28 roll -1.29 - - 2017.12 - 2.74 0.064 1208.38 -417.5 -82.73 - - 3098.56 - - - - - - - - - 15.96 -
7685.33 659.65 -7.30 1013 7690.87 roll -1.29 - - 2016.81 - 2.59 0.031 2352.00 441.6 -82.73 - - 3098.66 - - - - - - - - - 16.02 -
8004.75 682.78 -7.48 1035 8009.38 roll -1.29 - - 2017.06 - 2.65 0.095 3430.06 406.8 -82.73 - - 3099.03 - - - - - - - - - 15.90 -
8089.78 689.31 -8.22 1048 8104.70 roll -1.29 - - 2017.38 - 2.58 0.023 2244.31 -459.6 -82.73 - - 3098.12 - - - - - - - - - 16.01 -
8419.19 714.27 -7.46 1070 8423.78 roll -1.29 - - 2017.44 - 2.49 0.070 1209.94 -415.4 -82.73 - - 3097.19 - - - - - - - - - 15.95 -
8504.44 720.71 -8.11 1083 8519.35 roll -1.29 - - 2017.06 - 2.59 0.031 2351.69 440.8 -82.73 - - 3099.31 - - - - - - - - - 16.01 -
8833.87 746.32 -7.42 1105 8835.20 no move -1.29 - - 2016.94 - - - 2351.94 - -82.73 - - 3095.91 - - - - - - - - - - -
9149.10 769.38 -7.38 1126 9153.80 roll -1.29 - - 2016.81 - 2.77 0.065 1208.75 -412.7 -82.73 - - 3097.09 - - - - - - - - - 15.94 -
9213.37 773.74 -7.46 1136 9228.27 roll -1.29 - - 2017.00 - 2.60 0.031 2352.00 439.7 -82.73 - - 3096.84 - - - - - - - - - 16.01 -
9542.81 796.03 -6.29 1158 9544.14 no move -1.29 - - 2016.81 - - - 2351.81 - -82.73 - - 3095.53 - - - - - - - - - - -
9857.85 815.98 -6.43 1179 9859.18 no move -1.29 - - 2017.31 - - - 2351.81 - -82.73 - - 3095.44 - - - - - - - - - - -
10172.88 836.70 -6.83 1200 10177.52 roll -1.29 - - 2017.19 - 2.77 0.065 1209.69 -412.3 -82.73 - - 3095.97 - - - - - - - - - 15.92 -
10315.31 846.62 -6.98 1221 10320.83 roll -1.29 - - 2017.12 - 2.60 0.032 2353.38 439.9 -82.73 - - 3095.53 - - - - - - - - - 16.02 -
10634.74 866.52 -6.18 1243 10636.07 no move -1.29 - - 2017.06 - - - 2353.06 - -82.73 - - 3094.28 - - - - - - - - - - -
10949.77 887.01 -6.76 1264 10954.41 roll -1.29 - - 2017.44 - 2.77 0.066 1208.31 -413.3 -82.73 - - 3093.88 - - - - - - - - - 15.92 -
11029.76 892.49 -6.96 1276 11035.29 roll -1.29 - - 2017.31 - 2.60 0.032 2350.44 439.3 -82.73 - - 3096.66 - - - - - - - - - 16.00 -
11349.17 914.23 -6.82 1298 11350.50 no move -1.29 - - 2017.56 - - - 2350.75 - -82.73 - - 3093.50 - - - - - - - - - - -
11664.79 935.55 -6.82 1319 11666.12 no move -1.29 - - 2017.06 - - - 2350.75 - -82.73 - - 3093.31 - - - - - - - - - - -
11979.20 957.26 -6.79 1340 11984.01 roll -1.29 - - 2016.94 - 2.67 0.096 3426.69 403.0 -82.73 - - 3094.47 - - - - - - - - - 15.85 -
12038.65 961.66 -7.40 1349 12044.00 roll -1.29 - - 2017.12 - 2.57 0.023 2246.50 -459.2 -82.73 - - 3095.47 - - - - - - - - - 16.00 -
12357.90 983.07 -6.52 1371 12359.23 no move -1.29 - - 2017.25 - - - 2245.56 - -82.73 - - 3092.72 - - - - - - - - - - -
12478 end dive: TARGET_DEPTH_EXCEEDED
12478 begin apogee
12479.70 990.60 -6.20 1379 12554.95 -0.28 1.75 0.144 2263.38 140.6 0.14 0.183 2289.81 316.1 - 60.76 2.428 2778.72 -5.2 0.355 - - - - - - 15.78 15.58 10.67
12556 end apogee: CONTROL_FINISHED_OK
12556 begin climb
12556.95 992.13 - 1384 12645.15 1.29 2.55 0.091 2648.69 151.1 2.96 0.078 1130.31 -391.7 82.73 68.09 2.393 2436.00 -5.0 0.351 - - - - - - 15.63 15.25 12.39
12687.63 985.67 5.70 1402 12738.00 done 1.40 - - 2648.50 - 2.68 0.030 2272.19 426.1 134.57 44.62 2.342 2225.91 -4.7 0.333 - - - - - - - 15.45 12.15
13050.70 955.01 8.92 1431 13052.03 no move 1.40 - - 2648.62 - - - 2272.12 - 134.57 - - 2218.62 - - - - - - - - - - -
13365.80 926.54 9.03 1452 13367.13 VBD 1.40 - - 2648.50 - - - 2272.38 - 134.57 - - 2216.97 - - - - - - - - - - -
13680.80 898.23 8.95 1473 13685.46 done 1.40 - - 2648.50 - 2.82 0.076 1132.56 -404.2 134.57 - - 2214.91 - - - - - - - - - 15.82 -
13738.74 892.71 9.36 1481 13743.37 done 1.40 - - 2648.50 - 2.61 0.032 2271.50 436.4 134.57 - - 2216.22 - - - - - - - - - 15.83 -
14055.38 865.01 8.75 1503 14056.71 VBD 1.40 - - 2649.12 - - - 2271.25 - 134.57 - - 2214.34 - - - - - - - - - - -
14370.22 837.97 8.61 1524 14374.86 done 1.40 - - 2649.19 - 2.80 0.076 1131.31 -407.1 134.57 - - 2213.97 - - - - - - - - - 15.86 -
14450.23 830.69 9.20 1536 14455.79 done 1.40 - - 2649.44 - 2.61 0.032 2270.81 436.6 134.57 - - 2214.91 - - - - - - - - - 15.91 -
14769.64 801.78 9.02 1558 14770.97 VBD 1.40 - - 2648.44 - - - 2270.62 - 134.57 - - 2213.53 - - - - - - - - - - -
15084.68 772.73 9.30 1579 15089.33 done 1.40 - - 2649.00 - 2.80 0.076 1131.25 -406.9 134.57 - - 2214.03 - - - - - - - - - 15.88 -
15142.62 766.79 10.06 1587 15147.24 done 1.40 - - 2648.94 - 2.60 0.032 2271.06 438.4 134.57 - - 2216.53 - - - - - - - - - 15.93 -
15459.10 736.76 9.22 1609 15463.75 done 1.40 - - 2649.75 - 2.78 0.076 1132.25 -409.6 134.57 - - 2213.09 - - - - - - - - - 15.89 -
15497.64 733.15 9.45 1615 15503.17 done 1.40 - - 2648.75 - 2.60 0.032 2272.00 438.4 134.57 - - 2215.25 - - - - - - - - - 15.96 -
15817.23 705.02 8.24 1637 15818.57 VBD 1.40 - - 2648.62 - - - 2272.25 - 134.57 - - 2212.72 - - - - - - - - - - -
16132.18 678.33 8.52 1658 16136.82 done 1.40 - - 2648.94 - 2.80 0.076 1131.31 -407.5 134.57 - - 2214.72 - - - - - - - - - 15.89 -
16274.40 665.71 8.89 1679 16279.95 done 1.40 - - 2649.06 - 2.61 0.032 2271.50 436.9 134.57 - - 2213.41 - - - - - - - - - 15.96 -
16594.18 640.22 7.64 1701 16595.51 VBD 1.41 - - 2649.50 - - - 2271.94 - 134.57 - - 2211.97 - - - - - - - - - - -
16908.87 616.47 7.53 1722 16913.58 1.43 0.17 0.092 2691.38 246.4 2.78 0.076 1132.38 -409.9 134.57 - - 2211.84 - - - - - - - - 15.93 15.83 -
16926.70 615.09 7.72 1725 16932.21 done 1.45 - - 2691.56 - 2.59 0.031 2271.12 439.7 134.57 - - 2214.81 - - - - - - - - - 15.97 -
17246.27 587.85 8.46 1747 17250.91 done 1.45 - - 2691.88 - 2.77 0.075 1131.44 -411.4 134.57 - - 2212.53 - - - - - - - - - 15.89 -
17284.81 584.65 8.51 1753 17290.34 done 1.45 - - 2691.81 - 2.60 0.031 2273.38 439.2 134.57 - - 2213.81 - - - - - - - - - 15.98 -
17604.23 559.74 7.31 1775 17605.57 VBD 1.47 - - 2692.44 - - - 2273.56 - 134.57 - - 2212.03 - - - - - - - - - - -
17919.25 537.41 7.33 1796 17920.59 VBD 1.49 - - 2691.81 - - - 2273.19 - 134.57 - - 2211.38 - - - - - - - - - - -
18234.27 514.58 7.40 1817 18238.92 done 1.51 - - 2691.50 - 2.79 0.075 1128.75 -410.2 134.57 - - 2211.25 - - - - - - - - - 15.89 -
18335.20 506.40 8.24 1832 18340.63 done 1.51 - - 2692.12 - 2.61 0.031 2273.56 438.6 134.57 - - 2212.22 - - - - - - - - - 15.98 -
18650.89 480.44 8.56 1860 18661.97 VBD 1.51 - - 2691.75 - - - 2273.00 - 134.57 - - 2212.59 - - - - - - - - - - -
18963.57 454.28 8.22 1889 18968.22 done 1.51 - - 2691.62 - 2.78 0.075 1131.31 -410.7 134.57 - - 2212.06 - - - - - - - - - 15.88 -
19033.59 448.25 8.66 1899 19048.50 done 1.51 - - 2691.88 - 2.60 0.031 2274.75 439.8 134.57 - - 2213.06 - - - - - - - - - 15.99 -
19349.90 422.67 7.89 1928 19360.97 VBD 1.53 - - 2691.94 - - - 2275.06 - 134.57 - - 2212.25 - - - - - - - - - - -
19662.49 399.90 7.01 1957 19667.14 done 1.56 - - 2691.44 - 2.78 0.074 1129.94 -411.9 134.57 - - 2212.38 - - - - - - - - - 15.88 -
19701.04 397.10 7.28 1963 19715.95 done 1.58 - - 2692.00 - 2.60 0.031 2273.56 439.9 134.57 - - 2212.53 - - - - - - - - - 15.99 -
20017.31 374.54 7.38 1992 20028.49 1.60 0.17 0.089 2731.81 234.2 - - 2273.50 - 134.57 - - 2212.50 - - - - - - - - 15.94 - -
20330.00 348.10 8.65 2021 20334.65 done 1.60 - - 2731.12 - 2.79 0.074 1130.31 -409.7 134.57 - - 2210.81 - - - - - - - - - 15.87 -
20445.85 337.83 8.83 2036 20450.46 done 1.60 - - 2731.25 - 2.60 0.031 2273.25 439.6 134.57 - - 2211.78 - - - - - - - - - 15.97 -
20758.23 312.67 7.78 2065 20762.85 done 1.61 - - 2732.19 - 2.66 0.093 3348.12 404.1 134.57 - - 2214.72 - - - - - - - - - 15.85 -
20795.42 309.40 8.27 2070 20800.03 done 1.61 - - 2732.00 - 2.56 0.024 2185.62 -454.1 134.57 - - 2210.91 - - - - - - - - - 15.98 -
21101.33 286.17 7.85 2117 21106.85 done 1.63 - - 2731.81 - 2.57 0.079 1129.94 -410.8 134.57 - - 2214.41 - - - - - - - - - 15.86 -
21171.34 280.14 8.74 2131 21176.88 done 1.63 - - 2732.06 - 2.58 0.030 2273.00 443.0 134.57 - - 2212.81 - - - - - - - - - 15.96 -
21482.20 255.47 7.49 2193 21483.53 VBD 1.65 - - 2732.31 - - - 2272.88 - 134.57 - - 2211.31 - - - - - - - - - - -
21786.58 233.29 7.27 2254 21787.92 VBD 1.67 - - 2732.69 - - - 2273.25 - 134.57 - - 2211.62 - - - - - - - - - - -
22091.68 210.23 8.14 2315 22093.01 VBD 1.67 - - 2732.19 - - - 2272.81 - 134.57 - - 2211.41 - - - - - - - - - - -
22396.80 185.83 7.57 2376 22398.13 VBD 1.69 - - 2732.25 - - - 2273.12 - 134.57 - - 2211.59 - - - - - - - - - - -
22702.09 163.73 6.88 2437 22707.51 done 1.72 - - 2732.94 - 2.78 0.073 1131.12 -410.8 134.57 - - 2213.22 - - - - - - - - - 15.86 -
22791.93 157.13 7.37 2455 22797.44 done 1.74 - - 2732.50 - 2.58 0.030 2275.31 443.5 134.57 - - 2214.50 - - - - - - - - - 15.96 -
23101.97 138.91 5.61 2517 23142.81 1.85 0.28 0.070 2792.00 212.5 - - 2275.19 - 188.00 39.43 1.350 2007.56 -5.2 0.091 - - - - - - 15.94 - 11.11
23447.01 107.87 9.03 2586 23452.57 roll 1.85 - - 2792.38 - 2.79 0.073 1131.25 -410.0 188.00 - - 2001.41 - - - - - - - - - 15.83 -
23667.04 88.54 6.95 2630 23672.57 done 1.88 - - 2792.19 - 2.60 0.029 2273.38 439.3 188.00 - - 2000.69 - - - - - - - - - 15.88 -
23857.06 77.96 5.85 2668 23898.68 done 1.98 - - 2792.62 - 2.63 0.092 3347.56 408.4 236.90 37.23 1.247 1809.53 -5.1 0.054 - - - - - - - 15.79 11.82
23987.53 69.16 6.73 2694 23992.60 roll 2.01 - - 2792.19 - 2.59 0.023 2182.56 -449.8 236.90 - - 1807.12 - - - - - - - - - 15.81 -
24177.50 59.39 5.31 2732 24229.35 2.13 0.34 0.067 2858.81 195.9 2.89 0.086 3348.81 403.5 296.08 44.87 1.219 1568.06 -5.3 0.044 - - - - - - 15.80 15.68 11.93
24272.12 51.22 10.45 2751 24277.63 roll 2.13 - - 2858.31 - 2.60 0.023 2184.44 -447.8 296.08 - - 1564.59 - - - - - - - - - 15.74 -
24462.13 35.17 7.24 2789 24463.46 VBD 2.15 - - 2858.88 - - - 2184.81 - 296.08 - - 1558.97 - - - - - - - - - - -
24647.16 25.67 4.40 2826 24705.69 2.31 0.17 0.089 2897.94 229.8 - - 2185.44 - 372.18 57.26 1.172 1258.91 -5.2 0.019 - - - - - - 15.77 - 11.89
24887.85 12.78 6.48 2874 24893.36 roll 2.35 - - 2898.38 - 2.59 0.077 1131.25 -407.0 372.18 - - 1250.81 - - - - - - - - - 15.73 -
25012 end climb: SURFACE_DEPTH_REACHED
25013 begin surface coast
25073 end surface coast: CONTROL_FINISHED_OK
25073 begin surface
SM 2.80 - - - - 180.4 39.22 1.136 1042.6 26.6 16.86 0.055 1007.6 59.8 - 2.77 0.031 1077.6 388.1 -3.583 - - 11.90 15.72 15.77 -