NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 546 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 179.28 of 550.00 AH used of 24V (67.40% remains)
• Surface angle -65.6 deg, depth 0.65 m • Intended pitch -20.3 deg, speed -8.462 cm/s
VBD pumped to 424.81 (SM_CC=425)
• GPS1 time: 61 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
5.23 - - - 61.86 VBD -1.29 - - 178.19 - - - 2241.69 - -82.73 55.47 0.005 2487.97 - - - - - - - - - - 15.33
62.59 3.53 -7.15 10 100.60 -1.29 14.66 0.245 2015.06 125.3 2.48 0.068 1208.38 -416.7 -82.73 13.52 0.006 3110.16 46.0 -4.537 - - - - - - 15.49 15.25 15.37
312.70 46.19 -13.90 60 318.23 roll -1.29 - - 2014.62 - 2.60 0.029 2350.94 439.4 -82.73 - - 3112.47 - - - - - - - - - 15.77 -
502.93 67.50 -9.25 98 508.36 roll -1.29 - - 2015.12 - 2.72 0.060 1208.62 -420.0 -82.73 - - 3111.59 - - - - - - - - - 15.82 -
683.15 85.01 -10.51 134 688.29 roll -1.29 - - 2014.81 - 2.58 0.029 2353.12 443.6 -82.73 - - 3112.75 - - - - - - - - - 15.85 -
873.17 103.35 -9.72 172 878.32 roll -1.29 - - 2015.06 - 2.60 0.086 3428.88 413.8 -82.73 - - 3112.22 - - - - - - - - - 15.83 -
1002.83 115.68 -9.01 198 1008.35 roll -1.29 - - 2014.62 - 2.56 0.021 2240.12 -464.4 -82.73 - - 3114.03 - - - - - - - - - 15.88 -
1312.92 140.86 -9.05 260 1318.04 roll -1.29 - - 2015.12 - 2.43 0.066 1207.56 -424.9 -82.73 - - 3112.19 - - - - - - - - - 15.90 -
1362.94 145.44 -9.17 270 1368.46 roll -1.29 - - 2014.75 - 2.58 0.029 2354.50 444.6 -82.73 - - 3113.06 - - - - - - - - - 15.91 -
1673.03 173.75 -8.58 332 1674.36 no move -1.29 - - 2014.69 - - - 2354.69 - -82.73 - - 3111.38 - - - - - - - - - - -
1978.13 199.61 -8.78 393 1979.46 no move -1.29 - - 2015.12 - - - 2354.50 - -82.73 - - 3111.22 - - - - - - - - - - -
2283.35 227.38 -9.01 454 2288.79 roll -1.29 - - 2015.12 - 2.71 0.062 1208.50 -422.9 -82.73 - - 3111.69 - - - - - - - - - 15.95 -
2333.24 231.97 -9.23 464 2338.77 roll -1.29 - - 2014.75 - 2.58 0.029 2356.00 444.8 -82.73 - - 3113.16 - - - - - - - - - 15.96 -
2643.34 260.42 -9.13 526 2644.67 no move -1.29 - - 2014.94 - - - 2355.88 - -82.73 - - 3110.19 - - - - - - - - - - -
2948.43 286.09 -8.23 587 2949.76 no move -1.29 - - 2014.75 - - - 2355.50 - -82.73 - - 3109.84 - - - - - - - - - - -
3255.15 311.29 -7.89 633 3266.22 no move -1.29 - - 2014.69 - - - 2355.75 - -82.73 - - 3110.81 - - - - - - - - - - -
3568.22 337.45 -8.47 662 3572.86 roll -1.29 - - 2014.75 - 2.72 0.063 1208.62 -421.7 -82.73 - - 3111.56 - - - - - - - - - 15.97 -
3684.09 347.71 -8.79 677 3688.70 roll -1.29 - - 2014.81 - 2.57 0.030 2354.38 445.8 -82.73 - - 3108.62 - - - - - - - - - 15.99 -
3995.35 371.54 -7.24 706 4006.43 no move -1.29 - - 2014.88 - - - 2353.88 - -82.73 - - 3109.59 - - - - - - - - - - -
4308.37 394.23 -7.56 735 4313.01 roll -1.29 - - 2014.88 - 2.71 0.064 1207.44 -423.0 -82.73 - - 3109.44 - - - - - - - - - 15.97 -
4394.11 400.96 -7.92 747 4409.21 roll -1.29 - - 2015.25 - 2.57 0.030 2353.19 445.8 -82.73 - - 3108.47 - - - - - - - - - 16.01 -
4710.74 426.54 -8.17 776 4721.81 no move -1.29 - - 2015.12 - - - 2353.19 - -82.73 - - 3108.59 - - - - - - - - - - -
5024.28 451.96 -8.26 805 5035.35 no move -1.29 - - 2014.69 - - - 2353.19 - -82.73 - - 3107.56 - - - - - - - - - - -
5337.09 476.49 -7.34 834 5341.73 roll -1.29 - - 2014.50 - 2.72 0.064 1208.31 -420.9 -82.73 - - 3106.25 - - - - - - - - - 15.96 -
5422.83 483.20 -7.91 846 5437.76 roll -1.29 - - 2015.00 - 2.57 0.031 2352.88 445.4 -82.73 - - 3108.53 - - - - - - - - - 16.01 -
5738.90 506.10 -7.17 873 5743.54 roll -1.29 - - 2015.19 - 2.71 0.064 1209.81 -421.8 -82.73 - - 3107.62 - - - - - - - - - 15.96 -
5798.17 510.39 -7.34 882 5803.70 roll -1.29 - - 2014.75 - 2.57 0.031 2353.12 444.9 -82.73 - - 3107.66 - - - - - - - - - 16.00 -
6117.59 533.07 -7.19 904 6118.92 no move -1.29 - - 2014.94 - - - 2352.88 - -82.73 - - 3104.91 - - - - - - - - - - -
6432.60 556.20 -7.36 925 6437.24 roll -1.29 - - 2015.00 - 2.71 0.064 1209.69 -421.8 -82.73 - - 3103.88 - - - - - - - - - 15.95 -
6496.88 560.78 -7.78 935 6511.79 roll -1.29 - - 2015.19 - 2.57 0.031 2352.94 444.8 -82.73 - - 3105.19 - - - - - - - - - 16.01 -
6826.30 586.27 -7.54 957 6827.63 no move -1.29 - - 2014.88 - - - 2352.19 - -82.73 - - 3103.50 - - - - - - - - - - -
7141.33 611.38 -8.02 978 7142.66 no move -1.29 - - 2014.81 - - - 2352.88 - -82.73 - - 3102.59 - - - - - - - - - - -
7456.55 636.87 -8.14 999 7457.88 no move -1.29 - - 2014.75 - - - 2353.06 - -82.73 - - 3102.56 - - - - - - - - - - -
7771.58 663.60 -8.56 1020 7772.91 no move -1.29 - - 2015.00 - - - 2352.38 - -82.73 - - 3102.59 - - - - - - - - - - -
8086.61 689.79 -8.14 1041 8091.25 roll -1.29 - - 2014.62 - 2.73 0.065 1208.88 -418.9 -82.73 - - 3102.44 - - - - - - - - - 15.93 -
8145.89 694.67 -8.35 1050 8151.43 roll -1.29 - - 2015.00 - 2.59 0.031 2352.25 441.5 -82.73 - - 3104.81 - - - - - - - - - 16.01 -
8465.32 718.88 -7.24 1072 8466.65 no move -1.29 - - 2014.88 - - - 2352.88 - -82.73 - - 3101.38 - - - - - - - - - - -
8780.35 740.61 -6.70 1093 8785.00 roll -1.29 - - 2015.12 - 2.72 0.066 1209.75 -420.3 -82.73 - - 3101.03 - - - - - - - - - 15.92 -
8881.13 747.76 -7.19 1108 8886.66 roll -1.29 - - 2014.62 - 2.58 0.032 2352.00 442.7 -82.73 - - 3101.94 - - - - - - - - - 16.01 -
9200.55 768.76 -6.46 1130 9201.88 no move -1.29 - - 2014.88 - - - 2352.12 - -82.73 - - 3100.69 - - - - - - - - - - -
9515.79 787.98 -6.26 1151 9517.12 no move -1.29 - - 2014.81 - - - 2351.88 - -82.73 - - 3099.84 - - - - - - - - - - -
9830.58 807.60 -6.33 1172 9835.23 roll -1.29 - - 2014.69 - 2.74 0.066 1209.81 -416.8 -82.73 - - 3100.56 - - - - - - - - - 15.91 -
9992.19 817.65 -6.25 1195 9996.80 roll -1.29 - - 2014.94 - 2.58 0.032 2351.12 442.4 -82.73 - - 3099.53 - - - - - - - - - 15.99 -
10308.67 838.08 -6.83 1217 10310.00 no move -1.29 - - 2014.38 - - - 2350.56 - -82.73 - - 3099.19 - - - - - - - - - - -
10623.68 859.59 -6.56 1238 10625.01 no move -1.29 - - 2014.56 - - - 2350.44 - -82.73 - - 3098.84 - - - - - - - - - - -
10938.88 880.33 -6.58 1259 10940.21 no move -1.29 - - 2014.94 - - - 2350.31 - -82.73 - - 3098.88 - - - - - - - - - - -
11253.83 901.06 -6.51 1280 11258.47 roll -1.29 - - 2014.75 - 2.74 0.067 1208.38 -416.8 -82.73 - - 3099.38 - - - - - - - - - 15.90 -
11313.10 905.19 -6.97 1289 11318.63 roll -1.29 - - 2014.81 - 2.59 0.032 2351.31 441.3 -82.73 - - 3103.56 - - - - - - - - - 16.00 -
11632.50 927.41 -6.76 1311 11637.14 roll -1.29 - - 2014.75 - 2.74 0.066 1211.38 -416.0 -82.73 - - 3099.56 - - - - - - - - - 15.89 -
11711.32 933.06 -7.14 1322 11715.93 roll -1.29 - - 2014.25 - 2.59 0.032 2351.44 440.2 -82.73 - - 3098.81 - - - - - - - - - 15.99 -
12027.79 954.46 -6.78 1344 12029.12 no move -1.29 - - 2014.88 - - - 2351.69 - -82.73 - - 3098.47 - - - - - - - - - - -
12342.82 975.27 -6.38 1365 12347.80 roll -1.29 - - 2014.62 - 2.74 0.067 1208.25 -417.3 -82.73 - - 3097.84 - - - - - - - - - 15.88 -
12407.10 979.09 -6.53 1375 12422.01 roll -1.29 - - 2014.56 - 2.59 0.032 2350.81 441.1 -82.73 - - 3099.00 - - - - - - - - - 16.00 -
12586 end dive: TARGET_DEPTH_EXCEEDED
12586 begin apogee
12588.33 990.45 -6.03 1387 12663.84 -0.28 1.76 0.141 2264.31 141.9 0.21 0.141 2283.38 -321.1 - 61.74 2.432 2774.16 -5.3 0.359 - - - - - - 15.76 15.55 10.76
12665 end apogee: CONTROL_FINISHED_OK
12665 begin climb
12665.85 991.88 - 1392 12740.02 1.29 2.55 0.088 2649.44 151.0 - - 2283.56 - 82.73 67.89 2.379 2438.44 -4.9 0.345 - - - - - - 15.62 - 12.30
13052.38 966.54 7.38 1418 13057.04 roll 1.32 - - 2649.88 - 2.84 0.075 1130.94 -405.9 82.73 - - 2429.56 - - - - - - - - - 15.65 -
13132.39 960.38 7.80 1430 13137.93 roll 1.33 - - 2649.06 - 2.63 0.032 2273.12 434.3 82.73 - - 2431.69 - - - - - - - - - 15.68 -
13451.80 937.93 7.37 1452 13456.45 roll 1.35 - - 2650.19 - 2.80 0.075 1130.25 -408.2 82.73 - - 2431.84 - - - - - - - - - 15.76 -
13509.73 933.56 7.48 1460 13514.35 done 1.37 - - 2650.38 - 2.61 0.032 2271.25 437.2 82.73 - - 2427.91 - - - - - - - - - 15.79 -
13826.24 912.22 6.75 1482 13827.57 VBD 1.41 - - 2650.00 - - - 2270.94 - 82.73 - - 2428.28 - - - - - - - - - - -
14141.28 889.82 7.17 1503 14145.99 1.43 0.16 0.095 2690.75 254.7 2.78 0.075 1130.00 -410.4 82.73 - - 2428.16 - - - - - - - - 15.83 15.74 -
14282.76 877.66 8.71 1523 14287.38 done 1.43 - - 2690.62 - 2.60 0.032 2272.00 439.2 82.73 - - 2429.97 - - - - - - - - - 15.88 -
14599.45 852.43 7.39 1545 14604.13 done 1.45 - - 2690.75 - 2.66 0.095 3346.25 403.9 82.73 - - 2427.59 - - - - - - - - - 15.83 -
14657.38 847.47 8.25 1553 14662.00 done 1.45 - - 2690.44 - 2.58 0.025 2187.62 -449.1 82.73 - - 2429.84 - - - - - - - - - 15.90 -
14973.86 824.43 7.17 1575 14975.20 VBD 1.48 - - 2690.50 - - - 2186.62 - 82.73 - - 2427.50 - - - - - - - - - - -
15288.47 802.82 7.31 1596 15293.14 done 1.50 - - 2690.75 - 2.88 0.091 3345.94 402.5 82.73 - - 2429.75 - - - - - - - - - 15.84 -
15353.16 796.71 8.10 1606 15368.08 done 1.50 - - 2690.69 - 2.57 0.025 2187.81 -450.6 82.73 - - 2427.56 - - - - - - - - - 15.94 -
15682.58 773.01 6.83 1628 15687.20 done 1.53 - - 2690.00 - 2.57 0.080 1132.56 -410.6 82.73 - - 2429.00 - - - - - - - - - 15.86 -
15829.83 762.80 7.29 1650 15844.72 done 1.56 - - 2690.75 - 2.59 0.032 2273.25 440.4 82.73 - - 2429.62 - - - - - - - - - 15.95 -
16159.26 740.83 6.57 1672 16160.70 1.60 0.17 0.090 2728.62 222.8 - - 2273.50 - 82.73 - - 2427.22 - - - - - - - - 15.93 - -
16474.30 720.20 6.45 1693 16518.02 done 1.67 - - 2728.88 - 2.78 0.080 1131.19 -410.9 120.42 29.95 2.059 2283.22 -4.8 0.282 - - - - - - - 15.80 11.37
16566.75 713.40 7.76 1707 16581.51 roll 1.68 - - 2729.44 - 2.61 0.032 2270.94 436.7 120.42 - - 2283.72 - - - - - - - - - 15.83 -
16896.09 684.10 8.77 1729 16900.74 roll 1.68 - - 2729.31 - 2.79 0.076 1131.19 -408.5 120.42 - - 2281.16 - - - - - - - - - 15.82 -
16996.83 674.95 9.21 1744 17002.38 roll 1.68 - - 2729.44 - 2.61 0.033 2273.25 437.6 120.42 - - 2280.88 - - - - - - - - - 15.87 -
17316.27 647.96 8.45 1766 17317.60 no move 1.68 - - 2729.62 - - - 2273.50 - 120.42 - - 2278.41 - - - - - - - - - - -
17631.30 621.65 8.43 1787 17632.63 no move 1.68 - - 2729.56 - - - 2273.25 - 120.42 - - 2278.50 - - - - - - - - - - -
17946.34 595.51 8.53 1808 17947.67 no move 1.68 - - 2729.94 - - - 2273.25 - 120.42 - - 2278.09 - - - - - - - - - - -
18261.38 567.43 9.34 1829 18262.71 no move 1.68 - - 2729.69 - - - 2273.44 - 120.42 - - 2277.81 - - - - - - - - - - -
18576.43 536.41 9.47 1850 18581.08 roll 1.68 - - 2729.44 - 2.79 0.075 1131.25 -409.4 120.42 - - 2277.38 - - - - - - - - - 15.86 -
18656.67 528.70 9.73 1862 18662.20 roll 1.68 - - 2729.69 - 2.59 0.032 2274.62 441.5 120.42 - - 2279.44 - - - - - - - - - 15.95 -
18976.08 499.57 8.83 1884 18987.16 no move 1.68 - - 2729.62 - - - 2274.94 - 120.42 - - 2278.94 - - - - - - - - - - -
19288.71 473.34 7.75 1913 19293.35 roll 1.70 - - 2730.56 - 2.79 0.075 1131.12 -410.0 120.42 - - 2277.31 - - - - - - - - - 15.86 -
19437.39 461.07 8.40 1933 19452.31 roll 1.70 - - 2729.94 - 2.59 0.032 2272.06 440.5 120.42 - - 2278.75 - - - - - - - - - 15.97 -
19753.65 437.40 7.83 1962 19758.34 roll 1.71 - - 2729.88 - 2.64 0.093 3345.75 406.7 120.42 - - 2279.53 - - - - - - - - - 15.84 -
19839.39 430.16 8.53 1974 19854.31 roll 1.71 - - 2729.81 - 2.57 0.024 2187.69 -450.6 120.42 - - 2279.50 - - - - - - - - - 15.97 -
20155.81 405.72 7.67 2003 20160.47 roll 1.73 - - 2729.75 - 2.87 0.088 3345.81 403.5 120.42 - - 2277.75 - - - - - - - - - 15.85 -
20210.07 401.33 8.14 2011 20224.99 roll 1.73 - - 2729.56 - 2.55 0.024 2187.19 -454.4 120.42 - - 2279.34 - - - - - - - - - 15.97 -
20526.74 376.27 8.23 2040 20531.40 roll 1.73 - - 2729.81 - 2.87 0.088 3347.75 404.4 120.42 - - 2276.91 - - - - - - - - - 15.84 -
20565.28 372.95 8.68 2046 20580.19 roll 1.73 - - 2729.94 - 2.55 0.025 2186.25 -455.5 120.42 - - 2280.38 - - - - - - - - - 15.97 -
20881.69 347.11 7.88 2075 20886.35 roll 1.74 - - 2728.69 - 2.87 0.088 3347.06 404.5 120.42 - - 2279.69 - - - - - - - - - 15.84 -
20998.89 337.33 8.46 2091 21013.81 roll 1.74 - - 2730.12 - 2.56 0.024 2186.38 -453.4 120.42 - - 2278.72 - - - - - - - - - 15.97 -
21314.97 315.11 7.22 2120 21326.15 pitch 1.76 0.18 0.092 2768.75 214.6 - - 2187.00 - 120.42 - - 2278.50 - - - - - - - - 15.93 - -
21628.28 292.88 7.10 2159 21629.61 no move 1.79 - - 2769.69 - - - 2186.31 - 120.42 - - 2277.41 - - - - - - - - - - -
21933.37 271.09 6.70 2220 21938.71 roll 1.83 - - 2769.56 - 2.55 0.078 1131.56 -413.6 120.42 - - 2278.84 - - - - - - - - - 15.85 -
22118.24 258.08 7.48 2257 22123.77 roll 1.85 - - 2770.75 - 2.59 0.031 2274.94 441.5 120.42 - - 2278.56 - - - - - - - - - 15.96 -
22428.34 235.11 7.19 2319 22429.67 no move 1.87 - - 2770.69 - - - 2274.75 - 120.42 - - 2277.50 - - - - - - - - - - -
22733.43 213.91 6.50 2380 22734.76 no move 1.91 - - 2770.06 - - - 2274.69 - 120.42 - - 2277.44 - - - - - - - - - - -
23038.47 195.94 5.42 2441 23084.80 2.02 0.32 0.066 2836.31 207.0 - - 2275.25 - 177.39 43.46 1.443 2052.34 -5.2 0.118 - - - - - - 15.93 - 11.17
23388.50 160.97 11.38 2511 23394.24 roll 2.02 - - 2835.88 - 2.78 0.074 1129.81 -412.0 177.39 - - 2047.22 - - - - - - - - - 15.80 -
23483.63 149.67 11.85 2530 23489.04 roll 2.02 - - 2837.06 - 2.60 0.031 2272.69 439.6 177.39 - - 2045.03 - - - - - - - - - 15.85 -
23793.56 117.05 11.33 2592 23799.12 roll 2.02 - - 2836.44 - 2.77 0.072 1132.25 -411.7 177.39 - - 2045.91 - - - - - - - - - 15.82 -
23963.58 99.30 9.11 2626 23969.12 roll 2.02 - - 2837.06 - 2.59 0.030 2275.94 441.6 177.39 - - 2044.09 - - - - - - - - - 15.89 -
24154.01 85.33 6.59 2664 24159.15 done 2.06 - - 2837.31 - 2.64 0.090 3347.50 405.9 177.39 - - 2045.56 - - - - - - - - - 15.81 -
24388.65 74.96 3.20 2711 24467.75 2.26 0.25 0.073 2891.06 215.0 2.57 0.023 2177.56 -455.2 276.08 73.20 1.279 1648.69 -5.4 0.053 - - - - - - 15.77 15.90 11.66
24649.88 53.43 10.63 2763 24655.50 done 2.26 - - 2891.88 - 2.91 0.084 3347.69 402.1 276.08 - - 1638.59 - - - - - - - - - 15.72 -
24710.01 46.33 12.51 2775 24715.44 done 2.26 - - 2891.88 - 2.59 0.024 2187.94 -447.8 276.08 - - 1638.25 - - - - - - - - - 15.74 -
24900.35 27.08 8.55 2813 24905.50 done 2.26 - - 2892.81 - 2.56 0.077 1130.31 -413.1 276.08 - - 1636.31 - - - - - - - - - 15.77 -
25135.04 16.63 2.28 2860 25227.72 2.49 0.26 0.072 2947.31 209.6 2.60 0.028 2278.06 441.4 392.10 85.74 1.176 1177.50 -5.4 0.013 - - - - - - 15.70 15.82 11.81
25374 end climb: SURFACE_DEPTH_REACHED
25374 begin surface coast
25435 end surface coast: CONTROL_FINISHED_OK
25435 begin surface
SM 2.65 - - - - 178.8 25.17 1.102 1043.2 38.0 17.22 0.051 1007.8 58.5 - 0.12 0.127 1078.6 8966.7 -19.123 - - 11.88 15.65 15.67 -