NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 643 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 215.44 of 550.00 AH used of 24V (60.83% remains)
• Surface angle -65.8 deg, depth 0.67 m • Intended pitch -21.3 deg, speed -8.462 cm/s
• No surface pump (final VBD was 932.6, SM_CC=425)
• GPS1 time: 49 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
5.35 - - - 61.89 VBD -1.35 - - 179.25 - - - 2249.25 - -82.73 55.38 0.005 2490.19 - - - - - - - - - - 15.23
62.61 3.77 -7.36 10 100.70 -1.35 14.71 0.251 2003.38 124.0 2.97 0.084 3428.75 397.1 -82.73 12.95 0.006 3112.62 48.1 -5.106 - - - - - - 15.43 15.16 15.32
197.79 35.67 -22.09 37 203.34 roll -1.35 - - 2003.56 - 2.60 0.020 2250.88 -453.0 -82.73 - - 3113.97 - - - - - - - - - 15.76 -
388.23 60.30 -11.88 75 393.67 roll -1.35 - - 2003.31 - 2.94 0.079 3430.06 401.1 -82.73 - - 3112.59 - - - - - - - - - 15.78 -
423.00 64.93 -13.43 82 428.41 roll -1.35 - - 2003.69 - 2.57 0.020 2245.25 -461.0 -82.73 - - 3112.84 - - - - - - - - - 15.81 -
613.32 88.44 -12.42 120 618.53 roll -1.35 - - 2003.50 - 2.95 0.079 3427.25 400.7 -82.73 - - 3114.16 - - - - - - - - - 15.81 -
702.97 99.14 -11.68 138 708.49 roll -1.35 - - 2003.19 - 2.56 0.019 2244.38 -462.1 -82.73 - - 3113.94 - - - - - - - - - 15.85 -
893.41 117.46 -9.11 176 898.13 roll -1.35 - - 2003.56 - 2.48 0.064 1208.31 -417.8 -82.73 - - 3113.78 - - - - - - - - - 15.87 -
1128.05 138.75 -8.53 223 1133.60 roll -1.35 - - 2003.31 - 2.62 0.027 2356.38 438.2 -82.73 - - 3115.00 - - - - - - - - - 15.90 -
1438.10 162.25 -7.82 285 1443.66 roll -1.35 - - 2003.50 - 2.75 0.059 1208.12 -417.5 -82.73 - - 3114.41 - - - - - - - - - 15.92 -
1538.11 170.35 -8.04 305 1543.66 roll -1.35 - - 2003.38 - 2.61 0.027 2355.38 439.6 -82.73 - - 3114.84 - - - - - - - - - 15.92 -
1848.33 196.08 -8.36 367 1853.77 roll -1.35 - - 2003.81 - 2.76 0.059 1206.94 -416.1 -82.73 - - 3114.47 - - - - - - - - - 15.93 -
1938.15 203.89 -8.74 385 1943.71 roll -1.35 - - 2003.44 - 2.61 0.028 2354.25 439.6 -82.73 - - 3114.16 - - - - - - - - - 15.94 -
2248.19 231.17 -9.06 447 2253.75 roll -1.35 - - 2003.31 - 2.75 0.059 1208.38 -416.7 -82.73 - - 3114.00 - - - - - - - - - 15.94 -
2288.19 234.91 -9.35 455 2293.75 roll -1.35 - - 2003.31 - 2.61 0.028 2353.00 438.6 -82.73 - - 3113.94 - - - - - - - - - 15.96 -
2598.23 263.18 -9.15 517 2599.56 no move -1.35 - - 2003.31 - - - 2352.69 - -82.73 - - 3113.03 - - - - - - - - - - -
2903.27 289.12 -8.28 578 2908.83 roll -1.35 - - 2003.44 - 2.75 0.060 1208.31 -416.1 -82.73 - - 3113.59 - - - - - - - - - 15.95 -
2953.27 293.45 -8.74 588 2958.82 roll -1.35 - - 2003.62 - 2.61 0.028 2354.25 439.1 -82.73 - - 3113.50 - - - - - - - - - 15.97 -
3261.41 318.62 -8.27 625 3272.49 no move -1.35 - - 2003.50 - - - 2354.00 - -82.73 - - 3113.00 - - - - - - - - - - -
3574.57 344.31 -8.14 654 3579.52 roll -1.35 - - 2003.88 - 2.75 0.061 1208.56 -416.5 -82.73 - - 3111.75 - - - - - - - - - 15.96 -
3643.47 350.26 -8.55 663 3648.11 roll -1.35 - - 2002.94 - 2.61 0.029 2353.44 438.7 -82.73 - - 3111.28 - - - - - - - - - 15.99 -
3955.13 374.16 -7.26 692 3959.78 roll -1.35 - - 2003.19 - 2.76 0.061 1208.56 -414.8 -82.73 - - 3110.66 - - - - - - - - - 15.96 -
4009.40 378.23 -7.53 700 4024.34 roll -1.35 - - 2003.19 - 2.61 0.029 2352.62 438.3 -82.73 - - 3113.16 - - - - - - - - - 16.00 -
4325.93 401.75 -7.51 729 4330.58 roll -1.35 - - 2002.62 - 2.77 0.061 1209.81 -412.6 -82.73 - - 3111.59 - - - - - - - - - 15.95 -
4410.33 408.23 -7.67 740 4414.97 roll -1.35 - - 2003.25 - 2.61 0.029 2354.81 438.7 -82.73 - - 3110.66 - - - - - - - - - 16.00 -
4721.98 431.67 -7.91 769 4726.63 roll -1.35 - - 2002.88 - 2.76 0.062 1209.88 -414.8 -82.73 - - 3110.66 - - - - - - - - - 15.95 -
4774.92 436.10 -8.23 776 4779.56 roll -1.35 - - 2002.31 - 2.61 0.029 2353.50 438.2 -82.73 - - 3110.31 - - - - - - - - - 16.00 -
5087.32 460.61 -8.07 805 5098.40 no move -1.35 - - 2003.56 - - - 2353.19 - -82.73 - - 3109.94 - - - - - - - - - - -
5400.16 486.42 -8.62 834 5404.81 roll -1.35 - - 2003.38 - 2.76 0.062 1208.31 -414.8 -82.73 - - 3108.44 - - - - - - - - - 15.95 -
5484.75 494.14 -9.10 845 5489.44 roll -1.35 - - 2003.62 - 2.62 0.029 2353.19 437.0 -82.73 - - 3109.78 - - - - - - - - - 16.00 -
5799.93 520.85 -8.22 868 5801.26 no move -1.35 - - 2003.19 - - - 2352.81 - -82.73 - - 3108.59 - - - - - - - - - - -
6114.95 546.54 -8.12 889 6119.60 roll -1.35 - - 2003.12 - 2.77 0.062 1209.31 -412.8 -82.73 - - 3109.38 - - - - - - - - - 15.94 -
6215.72 555.04 -8.57 904 6221.26 roll -1.35 - - 2002.31 - 2.62 0.030 2351.00 435.8 -82.73 - - 3107.44 - - - - - - - - - 16.00 -
6535.12 580.60 -7.66 926 6536.44 no move -1.35 - - 2003.00 - - - 2351.62 - -82.73 - - 3107.16 - - - - - - - - - - -
6850.31 603.43 -7.11 947 6854.96 roll -1.35 - - 2003.75 - 2.75 0.063 1208.44 -415.7 -82.73 - - 3105.72 - - - - - - - - - 15.93 -
6930.34 609.22 -7.30 959 6935.89 roll -1.35 - - 2004.00 - 2.61 0.030 2350.94 437.7 -82.73 - - 3106.84 - - - - - - - - - 16.01 -
7249.74 631.76 -7.05 981 7254.39 roll -1.35 - - 2001.62 - 2.75 0.063 1210.56 -414.7 -82.73 - - 3107.34 - - - - - - - - - 15.93 -
7309.03 635.90 -7.10 990 7314.58 roll -1.35 - - 2003.75 - 2.62 0.029 2351.62 435.5 -82.73 - - 3106.62 - - - - - - - - - 16.01 -
7628.43 658.43 -7.10 1012 7629.76 no move -1.35 - - 2003.12 - - - 2351.94 - -82.73 - - 3104.97 - - - - - - - - - - -
7943.45 681.60 -7.48 1033 7944.77 no move -1.35 - - 2003.00 - - - 2351.25 - -82.73 - - 3103.84 - - - - - - - - - - -
8258.47 704.79 -7.45 1054 8263.30 roll -1.35 - - 2003.25 - 2.77 0.063 1209.69 -412.1 -82.73 - - 3103.25 - - - - - - - - - 15.92 -
8359.36 712.66 -7.92 1069 8364.79 roll -1.35 - - 2003.12 - 2.62 0.030 2352.88 436.3 -82.73 - - 3104.66 - - - - - - - - - 16.01 -
8678.65 736.31 -7.28 1091 8679.98 no move -1.35 - - 2003.19 - - - 2352.69 - -82.73 - - 3104.34 - - - - - - - - - - -
8993.66 758.07 -6.66 1112 8998.31 roll -1.35 - - 2003.88 - 2.79 0.063 1209.62 -409.7 -82.73 - - 3102.88 - - - - - - - - - 15.91 -
9073.68 763.64 -7.03 1124 9079.23 roll -1.35 - - 2002.44 - 2.63 0.030 2352.06 434.4 -82.73 - - 3105.34 - - - - - - - - - 16.01 -
9393.08 785.39 -6.81 1146 9394.42 no move -1.35 - - 2003.31 - - - 2352.69 - -82.73 - - 3102.66 - - - - - - - - - - -
9708.11 806.49 -6.49 1167 9709.44 no move -1.35 - - 2003.06 - - - 2352.75 - -82.73 - - 3102.81 - - - - - - - - - - -
10023.15 826.80 -6.36 1188 10024.48 no move -1.35 - - 2003.38 - - - 2352.38 - -82.73 - - 3102.00 - - - - - - - - - - -
10338.16 846.43 -6.31 1209 10339.49 no move -1.35 - - 2002.88 - - - 2352.50 - -82.73 - - 3102.50 - - - - - - - - - - -
10653.17 865.99 -6.16 1230 10657.82 roll -1.35 - - 2002.25 - 2.80 0.064 1211.06 -407.7 -82.73 - - 3103.22 - - - - - - - - - 15.89 -
10717.46 869.75 -6.39 1240 10732.38 roll -1.35 - - 2002.31 - 2.62 0.030 2351.00 435.1 -82.73 - - 3103.31 - - - - - - - - - 16.01 -
11046.90 890.37 -6.09 1262 11048.22 no move -1.35 - - 2003.25 - - - 2351.62 - -82.73 - - 3101.66 - - - - - - - - - - -
11362.10 910.19 -6.47 1283 11366.76 roll -1.35 - - 2003.00 - 2.80 0.065 1209.62 -407.9 -82.73 - - 3101.62 - - - - - - - - - 15.88 -
11442.58 915.78 -7.01 1295 11448.01 roll -1.35 - - 2002.94 - 2.63 0.031 2350.12 433.7 -82.73 - - 3102.25 - - - - - - - - - 16.00 -
11761.89 938.69 -7.20 1317 11763.22 no move -1.35 - - 2003.12 - - - 2350.06 - -82.73 - - 3100.16 - - - - - - - - - - -
12076.93 961.60 -7.24 1338 12078.26 no move -1.35 - - 2003.56 - - - 2349.88 - -82.73 - - 3100.31 - - - - - - - - - - -
12391.98 983.38 -6.68 1359 12396.64 roll -1.35 - - 2002.38 - 2.79 0.065 1209.56 -408.7 -82.73 - - 3100.62 - - - - - - - - - 15.87 -
12491 end dive: TARGET_DEPTH_EXCEEDED
12491 begin apogee
12495.11 990.12 -6.79 1373 12568.97 -0.28 1.85 0.144 2263.19 141.0 0.12 0.198 2168.81 7993.8 - 63.65 2.447 2774.28 -5.1 0.351 - - - - - - 15.71 15.48 10.34
12570 end apogee: CONTROL_FINISHED_OK
12570 begin climb
12571.08 991.61 - 1378 12647.56 1.35 2.65 0.092 2661.00 150.1 - - 2169.12 - 82.73 68.76 2.366 2437.03 -4.9 0.348 - - - - - - 15.58 - 12.12
12960.03 964.43 8.01 1409 12964.67 roll 1.35 - - 2661.25 - 2.62 0.077 1132.25 -395.8 82.73 - - 2430.19 - - - - - - - - - 15.66 -
13019.43 959.36 8.53 1418 13024.87 roll 1.35 - - 2660.69 - 2.66 0.030 2270.88 428.1 82.73 - - 2430.56 - - - - - - - - - 15.70 -
13338.73 933.65 7.87 1440 13340.06 no move 1.36 - - 2660.75 - - - 2271.19 - 82.73 - - 2428.94 - - - - - - - - - - -
13653.75 909.91 7.18 1461 13655.08 no move 1.38 - - 2660.69 - - - 2271.00 - 82.73 - - 2429.97 - - - - - - - - - - -
13968.78 887.75 6.82 1482 13973.45 done 1.42 - - 2660.50 - 2.83 0.074 1131.94 -402.5 82.73 - - 2427.56 - - - - - - - - - 15.84 -
14070.28 880.93 6.86 1497 14075.07 done 1.45 - - 2661.31 - 2.64 0.031 2272.12 431.9 82.73 - - 2428.97 - - - - - - - - - 15.89 -
14388.97 862.12 5.73 1519 14434.85 1.55 0.28 0.073 2720.25 210.5 - - 2272.06 - 133.64 41.87 2.257 2229.59 -4.8 0.307 - - - - - - 15.88 - 11.33
14749.00 829.89 9.58 1543 14753.66 roll 1.55 - - 2720.31 - 2.86 0.074 1132.50 -398.4 133.64 - - 2224.69 - - - - - - - - - 15.77 -
14827.67 821.79 10.22 1554 14832.31 roll 1.55 - - 2719.94 - 2.66 0.031 2271.00 428.0 133.64 - - 2223.88 - - - - - - - - - 15.79 -
15144.14 791.40 9.38 1576 15145.47 no move 1.55 - - 2720.25 - - - 2270.94 - 133.64 - - 2223.53 - - - - - - - - - - -
15459.16 761.96 9.12 1597 15460.49 no move 1.55 - - 2720.38 - - - 2270.94 - 133.64 - - 2222.38 - - - - - - - - - - -
15774.17 733.01 9.22 1618 15779.01 roll 1.55 - - 2719.06 - 2.84 0.074 1131.38 -401.3 133.64 - - 2224.72 - - - - - - - - - 15.85 -
15853.01 725.42 9.59 1629 15857.66 roll 1.55 - - 2720.50 - 2.64 0.031 2269.62 431.2 133.64 - - 2221.19 - - - - - - - - - 15.91 -
16169.49 696.05 9.49 1651 16170.82 VBD 1.55 - - 2720.56 - - - 2269.56 - 133.64 - - 2221.31 - - - - - - - - - - -
16484.52 666.86 9.13 1672 16485.85 VBD 1.55 - - 2721.12 - - - 2269.31 - 133.64 - - 2220.94 - - - - - - - - - - -
16799.53 638.37 9.07 1693 16804.19 done 1.55 - - 2719.44 - 2.82 0.074 1131.62 -403.4 133.64 - - 2221.84 - - - - - - - - - 15.87 -
16879.56 631.00 9.33 1705 16885.11 done 1.55 - - 2719.81 - 2.63 0.031 2271.06 433.2 133.64 - - 2223.34 - - - - - - - - - 15.95 -
17198.99 602.72 9.01 1727 17203.67 done 1.55 - - 2720.38 - 2.82 0.073 1132.12 -403.9 133.64 - - 2219.88 - - - - - - - - - 15.87 -
17256.94 597.27 9.29 1735 17261.59 done 1.55 - - 2719.31 - 2.63 0.031 2269.69 432.5 133.64 - - 2223.44 - - - - - - - - - 15.96 -
17573.43 571.01 7.90 1757 17574.77 VBD 1.56 - - 2719.69 - - - 2270.12 - 133.64 - - 2220.66 - - - - - - - - - - -
17888.44 546.93 7.56 1778 17893.11 done 1.58 - - 2719.69 - 2.82 0.073 1131.44 -403.8 133.64 - - 2221.56 - - - - - - - - - 15.88 -
18070.83 530.98 8.92 1804 18075.65 done 1.58 - - 2720.56 - 2.63 0.031 2272.00 433.7 133.64 - - 2220.97 - - - - - - - - - 15.97 -
18387.48 505.33 8.12 1826 18388.81 VBD 1.58 - - 2720.69 - - - 2272.44 - 133.64 - - 2220.56 - - - - - - - - - - -
18699.10 478.99 8.40 1853 18703.78 done 1.58 - - 2720.25 - 2.83 0.073 1132.56 -402.8 133.64 - - 2219.81 - - - - - - - - - 15.87 -
18816.48 469.07 8.51 1869 18831.24 done 1.58 - - 2720.12 - 2.62 0.031 2271.94 434.9 133.64 - - 2221.50 - - - - - - - - - 15.98 -
19132.92 444.50 7.46 1898 19137.59 done 1.60 - - 2720.19 - 2.84 0.073 1129.69 -402.2 133.64 - - 2221.03 - - - - - - - - - 15.87 -
19201.59 438.97 7.94 1907 19205.57 done 1.61 - - 2720.44 - 2.62 0.030 2271.31 435.7 133.64 - - 2219.62 - - - - - - - - - 15.98 -
19513.15 414.74 8.08 1936 19524.22 VBD 1.61 - - 2720.75 - - - 2270.81 - 133.64 - - 2221.16 - - - - - - - - - - -
19825.77 389.71 8.12 1965 19836.85 VBD 1.61 - - 2720.75 - - - 2271.06 - 133.64 - - 2221.22 - - - - - - - - - - -
20138.65 364.97 7.54 1994 20143.32 done 1.63 - - 2720.25 - 2.84 0.073 1131.44 -401.3 133.64 - - 2220.88 - - - - - - - - - 15.86 -
20177.21 361.99 7.76 2000 20192.13 done 1.64 - - 2720.62 - 2.62 0.030 2272.50 435.5 133.64 - - 2220.84 - - - - - - - - - 15.98 -
20493.70 339.38 6.66 2029 20504.77 VBD 1.68 - - 2721.50 - - - 2272.31 - 133.64 - - 2221.09 - - - - - - - - - - -
20806.81 319.03 6.51 2058 20811.54 1.72 0.17 0.091 2761.44 234.9 2.81 0.073 1130.88 -406.2 133.64 - - 2219.78 - - - - - - - - 15.94 15.80 -
20845.38 316.24 7.04 2064 20860.31 done 1.75 - - 2761.25 - 2.62 0.030 2273.19 436.0 133.64 - - 2222.56 - - - - - - - - - 15.98 -
21161.31 291.54 7.72 2104 21162.64 VBD 1.76 - - 2761.06 - - - 2273.69 - 133.64 - - 2220.75 - - - - - - - - - - -
21466.34 268.23 7.77 2165 21471.91 done 1.78 - - 2761.69 - 2.84 0.072 1130.12 -402.7 133.64 - - 2220.97 - - - - - - - - - 15.85 -
21586.34 258.51 8.30 2189 21591.89 done 1.78 - - 2761.75 - 2.62 0.030 2273.81 436.5 133.64 - - 2221.31 - - - - - - - - - 15.95 -
21896.39 233.75 7.91 2251 21897.73 VBD 1.79 - - 2762.06 - - - 2273.25 - 133.64 - - 2220.47 - - - - - - - - - - -
22201.47 209.25 7.96 2312 22207.03 done 1.79 - - 2761.06 - 2.72 0.090 3346.06 394.4 133.64 - - 2221.31 - - - - - - - - - 15.82 -
22246.47 205.34 8.81 2321 22252.01 done 1.79 - - 2761.56 - 2.59 0.023 2182.75 -449.2 133.64 - - 2221.12 - - - - - - - - - 15.95 -
22556.65 182.52 7.04 2383 22557.99 VBD 1.81 - - 2761.06 - - - 2182.75 - 133.64 - - 2220.25 - - - - - - - - - - -
22861.70 160.54 7.26 2444 22863.03 VBD 1.84 - - 2761.38 - - - 2182.50 - 133.64 - - 2220.81 - - - - - - - - - - -
23166.79 141.64 5.26 2505 23214.14 1.96 0.25 0.072 2817.06 222.7 - - 2181.25 - 193.39 45.20 1.361 1984.31 -5.2 0.092 - - - - - - 15.92 - 10.80
23516.89 110.67 9.24 2575 23522.50 roll 1.96 - - 2816.62 - 2.97 0.085 3346.19 392.2 193.39 - - 1980.59 - - - - - - - - - 15.79 -
23666.95 97.66 7.54 2605 23672.47 roll 1.98 - - 2816.88 - 2.60 0.022 2182.56 -447.6 193.39 - - 1980.84 - - - - - - - - - 15.86 -
23857.00 88.16 4.45 2643 23915.71 2.13 0.17 0.086 2858.88 247.1 - - 2182.38 - 268.22 56.56 1.272 1682.19 -5.3 0.062 - - - - - - 15.84 - 11.58
24097.97 69.03 8.76 2691 24103.57 done 2.13 - - 2860.00 - 2.99 0.083 3345.69 389.1 268.22 - - 1673.09 - - - - - - - - - 15.73 -
24203.01 59.72 8.35 2712 24208.55 done 2.13 - - 2860.19 - 2.61 0.022 2183.50 -445.3 268.22 - - 1672.50 - - - - - - - - - 15.77 -
24393.04 48.23 5.10 2750 24444.84 done 2.25 - - 2860.50 - 2.62 0.078 1132.62 -401.1 330.93 47.68 1.192 1425.06 -5.2 0.035 - - - - - - - 15.60 11.55
24658.07 39.04 2.07 2803 24753.51 2.49 0.47 0.058 2946.12 182.2 2.66 0.026 2277.62 430.5 450.23 89.21 1.170 940.19 -5.4 0.031 - - - - - - 15.64 15.76 11.62
24935.96 16.36 11.89 2858 24941.41 roll 2.49 - - 2947.44 - 2.87 0.070 1132.06 -399.1 450.23 - - 932.69 - - - - - - - - - 15.66 -
24985.79 10.37 11.79 2868 24991.33 roll 2.49 - - 2947.31 - 2.67 0.029 2270.88 426.5 450.23 - - 931.78 - - - - - - - - - 15.69 -
25040 end climb: SURFACE_DEPTH_REACHED
25040 begin surface coast
25076 end surface coast: CONTROL_FINISHED_OK
25076 begin surface
SM 0.49 - - - - 179.5 - - 930.3 - 17.38 0.054 928.1 53.4 - 0.14 0.117 932.6 6642.4 -2.843 - - 30.00 15.68 15.70 -