NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 541 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 177.30 of 550.00 AH used of 24V (67.76% remains)
• Surface angle -64.8 deg, depth 0.65 m • Intended pitch -20.3 deg, speed -8.462 cm/s
VBD pumped to 424.94 (SM_CC=425)
• GPS1 time: 99 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
2 end surface: CONTROL_FINISHED_OK
3 begin dive
5.23 - - - 61.87 VBD -1.29 - - 179.38 - - - 2248.06 - -82.73 55.46 0.005 2512.12 - - - - - - - - - - 15.35
62.59 3.91 -7.67 10 97.65 -1.29 14.75 0.250 2016.75 124.6 2.52 0.066 1208.81 -412.4 -82.73 12.24 0.007 3111.38 49.0 -4.620 - - - - - - 15.52 15.29 15.40
129.72 19.12 -18.70 23 135.27 roll -1.29 - - 2016.31 - 2.61 0.029 2353.56 438.6 -82.73 - - 3113.00 - - - - - - - - - 15.74 -
320.12 51.12 -14.01 61 325.31 roll -1.29 - - 2015.94 - 2.77 0.059 1208.44 -413.4 -82.73 - - 3115.03 - - - - - - - - - 15.79 -
374.94 58.88 -14.05 72 380.35 roll -1.29 - - 2016.31 - 2.60 0.029 2355.00 441.0 -82.73 - - 3113.38 - - - - - - - - - 15.81 -
565.20 83.23 -11.46 110 570.36 roll -1.29 - - 2016.06 - 2.76 0.059 1208.31 -415.5 -82.73 - - 3115.56 - - - - - - - - - 15.84 -
599.81 87.18 -11.28 117 605.35 roll -1.29 - - 2016.25 - 2.59 0.028 2354.25 442.4 -82.73 - - 3114.06 - - - - - - - - - 15.85 -
790.27 106.31 -9.63 155 795.42 roll -1.29 - - 2015.75 - 2.61 0.087 3427.12 411.1 -82.73 - - 3114.00 - - - - - - - - - 15.84 -
879.91 114.21 -8.72 173 885.44 roll -1.29 - - 2016.06 - 2.57 0.020 2237.69 -462.8 -82.73 - - 3113.72 - - - - - - - - - 15.88 -
1190.01 139.91 -8.93 235 1195.12 roll -1.29 - - 2016.38 - 2.45 0.065 1208.12 -420.2 -82.73 - - 3115.19 - - - - - - - - - 15.90 -
1315.05 151.56 -9.20 260 1320.57 roll -1.29 - - 2016.50 - 2.59 0.028 2355.56 443.0 -82.73 - - 3114.09 - - - - - - - - - 15.91 -
1625.15 178.79 -8.83 322 1626.48 no move -1.29 - - 2015.88 - - - 2356.25 - -82.73 - - 3113.53 - - - - - - - - - - -
1930.44 204.39 -8.06 383 1935.88 roll -1.29 - - 2016.00 - 2.73 0.060 1207.38 -420.8 -82.73 - - 3114.22 - - - - - - - - - 15.95 -
2010.28 211.11 -8.47 399 2015.81 roll -1.29 - - 2016.44 - 2.59 0.029 2354.81 443.0 -82.73 - - 3114.22 - - - - - - - - - 15.95 -
2320.55 236.61 -8.79 461 2325.95 roll -1.29 - - 2016.25 - 2.74 0.061 1207.31 -418.8 -82.73 - - 3114.62 - - - - - - - - - 15.96 -
2430.41 247.04 -9.65 483 2435.94 roll -1.29 - - 2016.44 - 2.60 0.029 2353.12 440.7 -82.73 - - 3114.94 - - - - - - - - - 15.97 -
2740.46 275.06 -9.11 545 2746.03 roll -1.29 - - 2016.62 - 2.75 0.061 1208.69 -416.2 -82.73 - - 3113.31 - - - - - - - - - 15.97 -
2845.47 285.13 -9.41 566 2850.99 roll -1.29 - - 2015.94 - 2.60 0.030 2352.31 439.9 -82.73 - - 3113.19 - - - - - - - - - 15.98 -
3152.57 312.40 -9.10 612 3157.21 roll -1.29 - - 2016.44 - 2.75 0.062 1208.50 -415.9 -82.73 - - 3115.06 - - - - - - - - - 15.98 -
3206.84 317.35 -9.30 620 3221.75 roll -1.29 - - 2016.38 - 2.60 0.030 2354.50 440.8 -82.73 - - 3113.53 - - - - - - - - - 15.99 -
3523.35 343.58 -7.85 649 3534.41 no move -1.29 - - 2016.31 - - - 2354.75 - -82.73 - - 3112.03 - - - - - - - - - - -
3836.29 367.95 -7.75 678 3847.37 no move -1.29 - - 2016.19 - - - 2354.25 - -82.73 - - 3111.53 - - - - - - - - - - -
4148.95 393.22 -8.02 707 4153.59 roll -1.29 - - 2016.50 - 2.73 0.063 1209.50 -419.3 -82.73 - - 3110.44 - - - - - - - - - 15.98 -
4265.30 403.47 -8.85 722 4269.91 roll -1.29 - - 2016.12 - 2.59 0.030 2352.31 441.2 -82.73 - - 3110.16 - - - - - - - - - 16.00 -
4576.53 430.88 -8.92 751 4587.60 no move -1.29 - - 2016.44 - - - 2351.75 - -82.73 - - 3110.16 - - - - - - - - - - -
4889.20 458.35 -8.59 780 4893.84 roll -1.29 - - 2016.00 - 2.74 0.063 1207.75 -417.5 -82.73 - - 3112.03 - - - - - - - - - 15.97 -
4957.86 464.31 -8.63 789 4962.46 roll -1.29 - - 2016.12 - 2.60 0.030 2353.12 440.5 -82.73 - - 3111.53 - - - - - - - - - 16.00 -
5269.84 488.35 -7.42 818 5280.91 no move -1.29 - - 2016.00 - - - 2353.25 - -82.73 - - 3109.03 - - - - - - - - - - -
5582.00 512.62 -8.01 843 5586.64 roll -1.29 - - 2014.75 - 2.75 0.063 1208.38 -416.3 -82.73 - - 3110.38 - - - - - - - - - 15.97 -
5662.02 519.27 -8.40 855 5667.55 roll -1.29 - - 2016.06 - 2.60 0.031 2351.81 439.8 -82.73 - - 3109.16 - - - - - - - - - 16.01 -
5981.42 544.41 -7.82 877 5982.75 no move -1.29 - - 2016.19 - - - 2351.44 - -82.73 - - 3106.59 - - - - - - - - - - -
6296.63 567.97 -7.36 898 6301.32 roll -1.29 - - 2016.12 - 2.73 0.064 1208.50 -418.7 -82.73 - - 3106.25 - - - - - - - - - 15.96 -
6375.28 574.12 -7.75 909 6379.89 roll -1.29 - - 2016.12 - 2.60 0.031 2351.38 439.6 -82.73 - - 3106.69 - - - - - - - - - 16.00 -
6692.09 598.37 -7.75 931 6693.42 no move -1.29 - - 2015.81 - - - 2351.31 - -82.73 - - 3105.56 - - - - - - - - - - -
7006.77 622.16 -7.30 952 7008.10 no move -1.29 - - 2015.81 - - - 2351.50 - -82.73 - - 3104.75 - - - - - - - - - - -
7321.80 644.13 -6.72 973 7323.13 no move -1.29 - - 2016.06 - - - 2351.50 - -82.73 - - 3105.25 - - - - - - - - - - -
7636.80 664.75 -6.65 994 7641.44 roll -1.29 - - 2015.88 - 2.74 0.065 1210.00 -416.6 -82.73 - - 3107.16 - - - - - - - - - 15.95 -
7696.29 668.94 -7.08 1003 7701.84 roll -1.29 - - 2016.25 - 2.60 0.031 2352.06 439.3 -82.73 - - 3105.47 - - - - - - - - - 16.02 -
8015.71 690.78 -6.67 1025 8020.33 roll -1.29 - - 2016.31 - 2.66 0.095 3427.25 404.2 -82.73 - - 3106.34 - - - - - - - - - 15.89 -
8116.46 698.38 -7.66 1040 8121.99 roll -1.29 - - 2016.06 - 2.57 0.023 2245.19 -459.9 -82.73 - - 3104.91 - - - - - - - - - 16.01 -
8436.05 720.90 -7.17 1062 8437.38 no move -1.29 - - 2015.94 - - - 2245.31 - -82.73 - - 3103.44 - - - - - - - - - - -
8750.88 744.23 -7.54 1083 8755.47 roll -1.29 - - 2015.62 - 2.49 0.071 1211.00 -415.4 -82.73 - - 3103.41 - - - - - - - - - 15.93 -
8835.90 750.54 -7.96 1096 8851.01 roll -1.29 - - 2016.50 - 2.61 0.031 2351.88 437.1 -82.73 - - 3103.91 - - - - - - - - - 16.01 -
9165.50 775.27 -7.30 1118 9170.13 roll -1.29 - - 2015.62 - 2.67 0.095 3424.69 401.8 -82.73 - - 3103.00 - - - - - - - - - 15.88 -
9224.77 780.06 -7.99 1127 9230.30 roll -1.29 - - 2015.75 - 2.56 0.023 2244.31 -461.1 -82.73 - - 3105.47 - - - - - - - - - 16.00 -
9544.20 803.97 -7.35 1149 9545.53 no move -1.29 - - 2016.12 - - - 2244.69 - -82.73 - - 3101.75 - - - - - - - - - - -
9859.23 825.56 -6.57 1170 9863.91 roll -1.29 - - 2016.31 - 2.96 0.089 3427.12 399.5 -82.73 - - 3103.91 - - - - - - - - - 15.88 -
9923.51 829.83 -7.14 1180 9938.43 roll -1.29 - - 2016.06 - 2.57 0.023 2249.50 -458.2 -82.73 - - 3105.34 - - - - - - - - - 16.00 -
10252.93 851.07 -5.98 1202 10254.26 no move -1.29 - - 2016.00 - - - 2249.12 - -82.73 - - 3101.88 - - - - - - - - - - -
10567.95 868.45 -5.39 1223 10569.28 no move -1.29 - - 2016.38 - - - 2248.50 - -82.73 - - 3100.84 - - - - - - - - - - -
10882.98 885.07 -5.36 1244 10884.30 no move -1.29 - - 2016.06 - - - 2248.50 - -82.73 - - 3100.41 - - - - - - - - - - -
11198.00 902.77 -5.73 1265 11202.67 roll -1.29 - - 2016.00 - 2.95 0.089 3425.56 399.0 -82.73 - - 3101.44 - - - - - - - - - 15.86 -
11278.01 908.02 -6.58 1277 11283.54 roll -1.29 - - 2016.00 - 2.56 0.023 2248.56 -459.8 -82.73 - - 3101.62 - - - - - - - - - 15.99 -
11597.43 927.02 -5.69 1299 11598.76 no move -1.29 - - 2016.19 - - - 2248.69 - -82.73 - - 3099.72 - - - - - - - - - - -
11912.45 945.86 -5.81 1320 11913.78 no move -1.29 - - 2016.44 - - - 2248.12 - -82.73 - - 3100.06 - - - - - - - - - - -
12227.67 964.43 -6.25 1341 12232.33 roll -1.29 - - 2016.31 - 2.51 0.072 1208.88 -414.0 -82.73 - - 3100.62 - - - - - - - - - 15.89 -
12286.94 968.13 -6.34 1350 12292.47 roll -1.29 - - 2015.94 - 2.62 0.031 2350.44 435.7 -82.73 - - 3100.56 - - - - - - - - - 16.00 -
12606.52 988.61 -6.75 1372 12611.15 roll -1.29 - - 2015.94 - 2.69 0.095 3425.44 399.6 -82.73 - - 3101.62 - - - - - - - - - 15.84 -
12643 end dive: TARGET_DEPTH_EXCEEDED
12643 begin apogee
12648.38 991.33 -7.04 1377 12722.19 -0.28 1.76 0.144 2264.31 141.1 0.16 0.170 2288.31 -7107.1 - 62.03 2.441 2773.78 -5.3 0.363 - - - - - - 15.74 15.58 10.81
12723 end apogee: CONTROL_FINISHED_OK
12723 begin climb
12724.19 993.33 - 1382 12800.65 1.29 2.56 0.092 2648.38 150.0 2.93 0.078 1131.38 -394.9 82.73 67.65 2.397 2438.81 -5.0 0.347 - - - - - - 15.62 15.25 12.30
12833.52 988.87 4.94 1394 12898.91 1.43 0.17 0.091 2690.94 250.4 2.70 0.030 2273.56 423.0 148.74 56.44 2.374 2168.28 -4.8 0.337 - - - - - - 15.38 15.42 12.21
13211.50 952.35 10.03 1424 13212.83 VBD 1.43 - - 2690.31 - - - 2273.62 - 148.74 - - 2158.16 - - - - - - - - - - -
13526.52 921.83 9.59 1445 13531.18 done 1.43 - - 2690.62 - 2.81 0.076 1132.62 -406.0 148.74 - - 2156.00 - - - - - - - - - 15.75 -
13606.54 913.63 10.33 1457 13612.09 done 1.43 - - 2690.62 - 2.63 0.032 2268.50 431.9 148.74 - - 2156.84 - - - - - - - - - 15.78 -
13925.94 881.09 10.46 1479 13927.28 VBD 1.43 - - 2690.50 - - - 2268.56 - 148.74 - - 2154.91 - - - - - - - - - - -
14241.14 847.81 10.41 1500 14245.78 done 1.43 - - 2690.25 - 2.80 0.076 1131.12 -406.2 148.74 - - 2155.75 - - - - - - - - - 15.84 -
14300.42 841.44 10.81 1509 14305.97 done 1.43 - - 2690.88 - 2.62 0.032 2270.75 435.0 148.74 - - 2155.78 - - - - - - - - - 15.88 -
14619.82 808.29 10.10 1531 14621.16 VBD 1.43 - - 2690.44 - - - 2271.06 - 148.74 - - 2153.28 - - - - - - - - - - -
14934.84 777.10 9.77 1552 14936.18 VBD 1.43 - - 2690.50 - - - 2270.81 - 148.74 - - 2153.31 - - - - - - - - - - -
15249.85 747.50 9.56 1573 15254.50 done 1.43 - - 2690.25 - 2.78 0.076 1132.31 -409.5 148.74 - - 2152.91 - - - - - - - - - 15.87 -
15328.52 739.51 10.10 1584 15333.33 done 1.43 - - 2689.75 - 2.62 0.032 2269.44 434.0 148.74 - - 2154.66 - - - - - - - - - 15.93 -
15645.16 709.19 9.86 1606 15649.80 done 1.43 - - 2690.25 - 2.78 0.076 1132.50 -409.0 148.74 - - 2151.59 - - - - - - - - - 15.88 -
15688.70 705.34 10.11 1613 15703.64 done 1.43 - - 2690.31 - 2.61 0.032 2269.00 435.4 148.74 - - 2153.00 - - - - - - - - - 15.95 -
16018.10 672.97 9.87 1635 16022.74 done 1.43 - - 2690.25 - 2.70 0.095 3345.00 398.5 148.74 - - 2151.78 - - - - - - - - - 15.86 -
16061.65 668.96 10.37 1642 16076.56 done 1.43 - - 2690.56 - 2.57 0.025 2187.56 -450.4 148.74 - - 2154.25 - - - - - - - - - 15.96 -
16391.06 637.10 8.86 1664 16392.39 VBD 1.43 - - 2691.00 - - - 2186.62 - 148.74 - - 2151.56 - - - - - - - - - - -
16706.07 609.29 8.58 1685 16710.74 done 1.43 - - 2690.88 - 2.91 0.090 3344.50 397.9 148.74 - - 2152.59 - - - - - - - - - 15.86 -
16744.61 605.71 9.14 1691 16750.14 done 1.43 - - 2690.62 - 2.57 0.025 2190.06 -449.2 148.74 - - 2153.16 - - - - - - - - - 15.96 -
17064.01 577.64 8.37 1713 17065.35 VBD 1.43 - - 2690.31 - - - 2189.06 - 148.74 - - 2151.31 - - - - - - - - - - -
17379.21 551.69 8.31 1734 17380.54 VBD 1.43 - - 2690.62 - - - 2189.00 - 148.74 - - 2151.22 - - - - - - - - - - -
17694.04 526.08 8.13 1755 17695.38 VBD 1.43 - - 2691.00 - - - 2188.50 - 148.74 - - 2151.38 - - - - - - - - - - -
18009.05 499.08 8.58 1776 18013.74 done 1.43 - - 2690.50 - 2.90 0.090 3345.25 398.9 148.74 - - 2153.44 - - - - - - - - - 15.86 -
18047.60 495.44 9.17 1782 18062.70 done 1.43 - - 2689.50 - 2.57 0.025 2188.88 -449.9 148.74 - - 2154.41 - - - - - - - - - 15.98 -
18364.15 466.58 8.92 1811 18368.77 done 1.43 - - 2691.25 - 2.59 0.080 1132.44 -407.9 148.74 - - 2152.47 - - - - - - - - - 15.87 -
18417.07 461.67 9.15 1818 18421.70 done 1.43 - - 2690.19 - 2.61 0.031 2271.75 436.5 148.74 - - 2154.38 - - - - - - - - - 15.97 -
18729.03 433.74 8.93 1847 18733.67 done 1.43 - - 2691.00 - 2.78 0.075 1131.44 -410.2 148.74 - - 2152.94 - - - - - - - - - 15.88 -
18829.17 424.51 9.19 1860 18833.79 done 1.43 - - 2691.38 - 2.61 0.031 2270.06 436.3 148.74 - - 2153.91 - - - - - - - - - 15.97 -
19140.79 399.74 7.76 1889 19151.86 VBD 1.44 - - 2691.12 - - - 2270.69 - 148.74 - - 2152.78 - - - - - - - - - - -
19453.70 376.05 7.55 1918 19458.34 done 1.46 - - 2691.06 - 2.70 0.093 3345.69 398.1 148.74 - - 2152.34 - - - - - - - - - 15.84 -
19492.27 372.99 7.90 1924 19507.17 done 1.47 - - 2691.31 - 2.57 0.024 2187.44 -450.7 148.74 - - 2152.72 - - - - - - - - - 15.98 -
19808.40 349.46 7.41 1953 19819.47 VBD 1.49 - - 2691.12 - - - 2186.56 - 148.74 - - 2152.75 - - - - - - - - - - -
20121.33 327.58 6.53 1982 20132.40 VBD 1.53 - - 2690.69 - - - 2186.19 - 148.74 - - 2152.78 - - - - - - - - - - -
20434.19 306.91 6.62 2011 20438.94 done 1.57 - - 2690.62 - 2.93 0.089 3344.94 395.5 148.74 - - 2152.09 - - - - - - - - - 15.85 -
20504.22 301.69 7.40 2021 20519.12 done 1.59 - - 2690.62 - 2.56 0.024 2187.88 -452.0 148.74 - - 2153.56 - - - - - - - - - 15.99 -
20822.73 278.20 7.61 2081 20828.30 1.60 0.17 0.094 2729.88 230.9 2.58 0.079 1130.25 -409.9 148.74 - - 2154.19 - - - - - - - - 15.91 15.80 -
20887.73 272.16 9.56 2094 20893.27 done 1.60 - - 2730.19 - 2.61 0.031 2274.19 438.3 148.74 - - 2153.00 - - - - - - - - - 15.96 -
21197.77 245.73 8.38 2156 21203.33 done 1.60 - - 2730.31 - 2.80 0.074 1131.19 -408.2 148.74 - - 2153.88 - - - - - - - - - 15.86 -
21242.78 241.79 8.84 2165 21248.34 done 1.60 - - 2730.50 - 2.61 0.030 2272.81 437.4 148.74 - - 2154.78 - - - - - - - - - 15.96 -
21552.88 215.62 8.18 2227 21558.43 done 1.60 - - 2730.69 - 2.69 0.091 3346.44 399.1 148.74 - - 2153.38 - - - - - - - - - 15.83 -
21633.51 208.57 8.87 2243 21638.45 done 1.60 - - 2730.56 - 2.56 0.024 2185.94 -453.3 148.74 - - 2154.69 - - - - - - - - - 15.95 -
21943.03 184.63 7.43 2305 21948.56 done 1.63 - - 2730.31 - 2.56 0.077 1131.25 -412.0 148.74 - - 2152.88 - - - - - - - - - 15.86 -
22008.05 179.70 7.62 2318 22013.57 done 1.64 - - 2731.75 - 2.60 0.030 2273.44 439.3 148.74 - - 2154.50 - - - - - - - - - 15.96 -
22318.16 157.94 7.66 2380 22319.49 VBD 1.66 - - 2730.50 - - - 2273.50 - 148.74 - - 2151.94 - - - - - - - - - - -
22623.27 134.85 7.24 2441 22624.60 VBD 1.68 - - 2730.56 - - - 2273.56 - 148.74 - - 2152.38 - - - - - - - - - - -
22928.38 116.77 6.14 2502 22963.42 1.77 0.17 0.092 2773.38 251.9 - - 2273.56 - 192.33 31.92 1.304 1991.69 -5.0 0.076 - - - - - - 15.93 - 11.11
23268.44 90.82 8.23 2570 23273.97 roll 1.77 - - 2773.38 - 2.68 0.090 3345.25 399.9 192.33 - - 1987.53 - - - - - - - - - 15.83 -
23403.46 80.38 6.89 2597 23409.17 roll 1.80 - - 2774.69 - 2.57 0.023 2181.06 -453.0 192.33 - - 1986.66 - - - - - - - - - 15.90 -
23593.99 71.16 4.48 2635 23652.01 1.95 0.17 0.088 2815.38 239.4 - - 2181.06 - 266.97 56.03 1.253 1687.62 -5.3 0.051 - - - - - - 15.87 - 11.92
23834.16 54.39 8.08 2683 23839.68 done 1.95 - - 2815.44 - 2.57 0.077 1131.12 -408.5 266.97 - - 1678.03 - - - - - - - - - 15.77 -
24069.24 35.16 7.80 2730 24074.78 done 1.96 - - 2815.31 - 2.62 0.029 2275.12 436.6 266.97 - - 1675.16 - - - - - - - - - 15.81 -
24259.52 24.34 5.08 2768 24312.09 done 2.09 - - 2816.06 - 2.68 0.091 3345.75 399.5 330.37 47.48 1.168 1427.91 -5.2 0.018 - - - - - - - 15.69 11.77
24539.60 9.75 3.76 2824 24612.45 2.27 0.41 0.065 2891.94 185.1 2.60 0.022 2179.12 -448.7 418.54 66.30 1.138 1069.31 -5.4 0.008 - - - - - - 15.68 15.78 11.81
24664 end climb: SURFACE_DEPTH_REACHED
24664 begin surface coast
24744 end surface coast: CONTROL_FINISHED_OK
24744 begin surface
SM 2.56 - - - - 179.2 6.26 0.783 1042.7 156.0 16.92 0.055 1024.6 60.5 - 0.37 0.064 1060.8 2860.0 -11.692 - - 12.02 15.64 15.67 -