NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 545 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 178.88 of 550.00 AH used of 24V (67.48% remains)
• Surface angle -62.7 deg, depth 0.61 m • Intended pitch -20.3 deg, speed -8.462 cm/s
VBD pumped to 424.87 (SM_CC=425)
• GPS1 time: 95 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
5.24 - - - 61.87 VBD -1.29 - - 177.00 - - - 2248.38 - -82.73 55.46 0.005 2489.66 - - - - - - - - - - 15.30
62.59 3.72 -7.09 10 100.68 -1.29 14.60 0.246 2016.12 126.0 2.91 0.087 3428.31 405.5 -82.73 13.32 0.006 3112.03 46.7 -4.854 - - - - - - 15.51 15.29 15.39
312.82 50.74 -15.69 60 318.35 roll -1.29 - - 2016.00 - 2.59 0.021 2249.38 -455.2 -82.73 - - 3114.06 - - - - - - - - - 15.78 -
502.90 76.00 -13.63 98 508.65 roll -1.29 - - 2015.94 - 2.88 0.081 3428.75 409.5 -82.73 - - 3113.31 - - - - - - - - - 15.80 -
558.02 83.75 -13.87 109 563.45 roll -1.29 - - 2016.50 - 2.57 0.021 2246.75 -459.9 -82.73 - - 3113.50 - - - - - - - - - 15.83 -
748.37 101.60 -7.91 147 753.10 roll -1.29 - - 2016.38 - 2.48 0.065 1208.69 -418.6 -82.73 - - 3113.88 - - - - - - - - - 15.85 -
918.04 115.72 -8.70 181 923.57 roll -1.29 - - 2016.19 - 2.59 0.029 2355.62 442.8 -82.73 - - 3115.12 - - - - - - - - - 15.87 -
1228.15 142.67 -9.23 243 1229.48 no move -1.29 - - 2016.06 - - - 2355.31 - -82.73 - - 3112.84 - - - - - - - - - - -
1533.25 171.59 -9.14 304 1538.82 roll -1.29 - - 2016.38 - 2.74 0.061 1207.56 -418.9 -82.73 - - 3113.97 - - - - - - - - - 15.93 -
1693.85 186.37 -9.30 336 1698.82 roll -1.29 - - 2016.75 - 2.57 0.029 2353.25 445.8 -82.73 - - 3115.84 - - - - - - - - - 15.94 -
2003.35 213.34 -8.80 398 2004.68 no move -1.29 - - 2016.06 - - - 2353.44 - -82.73 - - 3113.34 - - - - - - - - - - -
2308.57 242.12 -9.80 459 2314.00 roll -1.29 - - 2016.25 - 2.74 0.062 1208.44 -417.9 -82.73 - - 3115.09 - - - - - - - - - 15.96 -
2418.40 253.49 -10.42 481 2423.94 roll -1.29 - - 2016.25 - 2.58 0.030 2352.69 443.5 -82.73 - - 3114.31 - - - - - - - - - 15.96 -
2728.46 283.01 -9.43 543 2729.79 no move -1.29 - - 2016.31 - - - 2352.31 - -82.73 - - 3113.09 - - - - - - - - - - -
3038.71 309.84 -8.09 592 3049.78 no move -1.29 - - 2016.12 - - - 2351.75 - -82.73 - - 3113.44 - - - - - - - - - - -
3351.36 333.93 -7.52 621 3362.44 no move -1.29 - - 2015.94 - - - 2352.00 - -82.73 - - 3113.34 - - - - - - - - - - -
3664.22 357.22 -7.55 650 3668.86 roll -1.29 - - 2016.31 - 2.74 0.063 1208.31 -417.4 -82.73 - - 3111.84 - - - - - - - - - 15.97 -
3734.23 362.90 -8.14 660 3749.15 roll -1.29 - - 2016.50 - 2.58 0.030 2353.25 443.8 -82.73 - - 3112.28 - - - - - - - - - 16.00 -
4050.97 388.63 -8.03 689 4055.61 roll -1.29 - - 2016.31 - 2.73 0.063 1208.50 -419.3 -82.73 - - 3111.72 - - - - - - - - - 15.97 -
4119.63 394.48 -8.39 698 4124.24 roll -1.29 - - 2016.19 - 2.57 0.030 2351.81 444.9 -82.73 - - 3113.66 - - - - - - - - - 15.99 -
4431.18 418.93 -7.58 727 4436.01 roll -1.29 - - 2015.31 - 2.74 0.063 1208.06 -417.4 -82.73 - - 3113.41 - - - - - - - - - 15.97 -
4501.35 424.53 -8.07 737 4516.09 roll -1.29 - - 2016.00 - 2.59 0.030 2354.12 442.5 -82.73 - - 3111.28 - - - - - - - - - 16.01 -
4817.31 449.99 -7.73 766 4821.93 roll -1.29 - - 2016.19 - 2.62 0.092 3425.56 408.9 -82.73 - - 3114.19 - - - - - - - - - 15.93 -
4885.98 455.90 -8.48 775 4890.58 roll -1.29 - - 2016.19 - 2.55 0.022 2246.12 -462.5 -82.73 - - 3110.34 - - - - - - - - - 16.00 -
5198.07 480.42 -7.80 804 5202.66 roll -1.29 - - 2016.06 - 2.46 0.069 1207.12 -422.4 -82.73 - - 3110.03 - - - - - - - - - 15.96 -
5299.54 488.70 -8.32 818 5314.46 roll -1.29 - - 2015.75 - 2.58 0.031 2352.75 444.0 -82.73 - - 3109.50 - - - - - - - - - 16.00 -
5623.96 515.39 -8.28 843 5625.29 no move -1.29 - - 2016.44 - - - 2352.88 - -82.73 - - 3107.94 - - - - - - - - - - -
5938.98 540.26 -7.80 864 5943.62 roll -1.29 - - 2015.69 - 2.72 0.064 1208.75 -420.6 -82.73 - - 3108.97 - - - - - - - - - 15.96 -
6018.99 546.67 -8.09 876 6024.52 roll -1.29 - - 2016.25 - 2.58 0.031 2352.75 443.4 -82.73 - - 3108.75 - - - - - - - - - 16.00 -
6338.41 570.91 -7.17 898 6339.73 no move -1.29 - - 2015.62 - - - 2352.44 - -82.73 - - 3107.16 - - - - - - - - - - -
6653.41 592.43 -6.74 919 6658.06 roll -1.29 - - 2015.56 - 2.72 0.064 1208.62 -420.5 -82.73 - - 3106.91 - - - - - - - - - 15.96 -
6717.87 596.72 -7.23 929 6733.11 roll -1.29 - - 2015.94 - 2.58 0.031 2352.25 443.3 -82.73 - - 3107.72 - - - - - - - - - 16.02 -
7047.11 620.70 -6.99 951 7048.43 no move -1.29 - - 2015.62 - - - 2352.00 - -82.73 - - 3106.81 - - - - - - - - - - -
7362.14 642.58 -7.09 972 7366.78 roll -1.29 - - 2016.12 - 2.74 0.064 1209.69 -416.9 -82.73 - - 3107.22 - - - - - - - - - 15.95 -
7461.54 650.12 -7.59 986 7466.16 roll -1.29 - - 2015.81 - 2.58 0.031 2352.69 443.0 -82.73 - - 3107.28 - - - - - - - - - 16.00 -
7778.02 673.16 -7.27 1008 7779.35 no move -1.29 - - 2015.88 - - - 2352.88 - -82.73 - - 3105.22 - - - - - - - - - - -
8093.19 695.11 -6.94 1029 8094.52 no move -1.29 - - 2015.88 - - - 2352.75 - -82.73 - - 3104.72 - - - - - - - - - - -
8408.04 717.56 -7.16 1050 8412.69 roll -1.29 - - 2015.56 - 2.74 0.065 1208.56 -417.6 -82.73 - - 3104.84 - - - - - - - - - 15.93 -
8486.71 723.33 -7.29 1061 8491.33 roll -1.29 - - 2015.75 - 2.58 0.032 2350.56 442.6 -82.73 - - 3109.03 - - - - - - - - - 16.00 -
8803.20 745.36 -7.22 1083 8807.84 roll -1.29 - - 2015.56 - 2.73 0.065 1209.62 -417.9 -82.73 - - 3104.81 - - - - - - - - - 15.93 -
8881.87 751.26 -7.45 1094 8886.49 roll -1.29 - - 2016.06 - 2.58 0.031 2351.94 442.8 -82.73 - - 3107.03 - - - - - - - - - 16.00 -
9198.35 773.62 -7.18 1116 9202.98 roll -1.29 - - 2015.50 - 2.63 0.094 3425.94 408.4 -82.73 - - 3105.88 - - - - - - - - - 15.88 -
9257.80 778.26 -7.80 1125 9263.21 roll -1.29 - - 2015.81 - 2.55 0.022 2245.12 -463.1 -82.73 - - 3105.09 - - - - - - - - - 16.01 -
9577.03 801.40 -7.06 1147 9578.36 no move -1.29 - - 2016.00 - - - 2244.69 - -82.73 - - 3103.19 - - - - - - - - - - -
9892.05 823.21 -6.87 1168 9893.38 no move -1.29 - - 2015.44 - - - 2244.81 - -82.73 - - 3102.88 - - - - - - - - - - -
10207.09 843.95 -6.56 1189 10208.42 no move -1.29 - - 2016.44 - - - 2244.81 - -82.73 - - 3102.78 - - - - - - - - - - -
10522.36 864.78 -6.47 1210 10526.96 roll -1.29 - - 2016.31 - 2.47 0.071 1208.50 -419.6 -82.73 - - 3103.34 - - - - - - - - - 15.91 -
10623.11 871.79 -7.05 1225 10628.65 roll -1.29 - - 2015.38 - 2.59 0.031 2352.38 441.7 -82.73 - - 3103.44 - - - - - - - - - 16.00 -
10942.51 894.09 -7.15 1247 10943.84 no move -1.29 - - 2015.75 - - - 2353.06 - -82.73 - - 3101.94 - - - - - - - - - - -
11257.54 915.63 -6.72 1268 11258.87 no move -1.29 - - 2016.12 - - - 2352.44 - -82.73 - - 3101.75 - - - - - - - - - - -
11572.55 936.64 -6.74 1289 11577.19 roll -1.29 - - 2016.06 - 2.73 0.066 1209.75 -418.6 -82.73 - - 3101.59 - - - - - - - - - 15.90 -
11652.54 942.22 -7.07 1301 11658.08 roll -1.29 - - 2015.94 - 2.58 0.032 2351.31 442.5 -82.73 - - 3102.25 - - - - - - - - - 15.99 -
11971.95 964.28 -7.14 1323 11976.58 roll -1.29 - - 2016.12 - 2.65 0.096 3426.31 405.7 -82.73 - - 3102.19 - - - - - - - - - 15.84 -
12050.60 970.58 -7.94 1334 12055.21 roll -1.29 - - 2015.44 - 2.55 0.023 2246.25 -462.8 -82.73 - - 3102.69 - - - - - - - - - 15.99 -
12336 end dive: TARGET_DEPTH_EXCEEDED
12337 begin apogee
12339.14 991.02 -7.05 1354 12414.43 -0.28 1.71 0.142 2263.62 145.1 0.14 0.190 2291.06 320.1 - 62.56 2.433 2776.59 -5.2 0.356 - - - - - - 15.76 15.55 10.77
12415 end apogee: CONTROL_FINISHED_OK
12416 begin climb
12416.55 993.24 - 1359 12490.72 1.29 2.53 0.091 2649.69 152.6 - - 2290.19 - 82.73 67.60 2.400 2436.84 -5.0 0.349 - - - - - - 15.61 - 12.35
12803.07 972.97 6.34 1385 12846.88 done 1.37 - - 2648.69 - 2.88 0.080 1131.50 -402.3 122.45 33.76 2.304 2277.06 -4.7 0.335 - - - - - - - 15.45 11.69
12895.55 966.19 7.74 1399 12910.46 roll 1.39 - - 2648.62 - 2.65 0.031 2270.81 429.9 122.45 - - 2272.88 - - - - - - - - - 15.57 -
13224.94 937.83 8.40 1421 13228.90 roll 1.39 - - 2648.56 - 2.70 0.095 3345.69 398.1 122.45 - - 2268.75 - - - - - - - - - 15.70 -
13263.48 934.50 8.66 1427 13269.02 roll 1.39 - - 2648.31 - 2.60 0.024 2189.06 -444.9 122.45 - - 2269.91 - - - - - - - - - 15.74 -
13583.07 906.70 8.81 1449 13584.40 no move 1.39 - - 2648.50 - - - 2188.81 - 122.45 - - 2268.47 - - - - - - - - - - -
13898.02 879.37 8.45 1470 13899.35 no move 1.39 - - 2649.12 - - - 2187.69 - 122.45 - - 2267.78 - - - - - - - - - - -
14213.08 853.94 7.82 1491 14217.69 roll 1.40 - - 2647.69 - 2.58 0.080 1130.12 -409.9 122.45 - - 2270.09 - - - - - - - - - 15.85 -
14250.27 850.82 8.09 1496 14254.90 done 1.40 - - 2648.94 - 2.61 0.032 2271.00 437.1 122.45 - - 2267.41 - - - - - - - - - 15.88 -
14566.75 824.99 8.24 1518 14568.08 VBD 1.40 - - 2648.62 - - - 2271.38 - 122.45 - - 2266.75 - - - - - - - - - - -
14881.75 798.24 8.60 1539 14883.08 VBD 1.40 - - 2648.62 - - - 2271.44 - 122.45 - - 2266.28 - - - - - - - - - - -
15196.76 772.29 8.13 1560 15198.09 VBD 1.40 - - 2649.19 - - - 2271.56 - 122.45 - - 2265.97 - - - - - - - - - - -
15511.79 747.14 7.71 1581 15513.12 VBD 1.42 - - 2649.06 - - - 2271.44 - 122.45 - - 2265.59 - - - - - - - - - - -
15826.79 721.95 8.09 1602 15831.43 done 1.42 - - 2648.81 - 2.77 0.076 1131.06 -411.7 122.45 - - 2265.12 - - - - - - - - - 15.88 -
15884.72 717.07 8.33 1610 15889.33 done 1.42 - - 2648.75 - 2.60 0.032 2273.44 439.4 122.45 - - 2266.16 - - - - - - - - - 15.95 -
16201.22 692.49 7.75 1632 16202.66 1.43 0.17 0.094 2689.19 237.9 - - 2273.75 - 122.45 - - 2264.75 - - - - - - - - 15.92 - -
16516.24 666.03 8.34 1653 16520.88 done 1.43 - - 2690.56 - 2.77 0.076 1129.88 -412.9 122.45 - - 2266.41 - - - - - - - - - 15.88 -
16596.25 658.91 9.00 1665 16601.97 done 1.43 - - 2690.50 - 2.59 0.032 2270.69 440.5 122.45 - - 2267.00 - - - - - - - - - 15.98 -
16915.83 631.76 8.60 1687 16917.16 VBD 1.43 - - 2690.56 - - - 2270.81 - 122.45 - - 2264.97 - - - - - - - - - - -
17230.67 604.57 8.47 1708 17232.00 VBD 1.43 - - 2690.38 - - - 2270.81 - 122.45 - - 2265.34 - - - - - - - - - - -
17545.69 578.24 8.21 1729 17547.03 VBD 1.43 - - 2690.56 - - - 2270.81 - 122.45 - - 2265.94 - - - - - - - - - - -
17860.91 553.38 7.66 1750 17862.24 VBD 1.45 - - 2690.44 - - - 2271.12 - 122.45 - - 2264.47 - - - - - - - - - - -
18175.74 529.75 7.41 1771 18177.08 VBD 1.47 - - 2690.56 - - - 2270.94 - 122.45 - - 2264.56 - - - - - - - - - - -
18490.76 507.45 7.05 1792 18495.40 done 1.50 - - 2691.00 - 2.77 0.075 1129.56 -412.1 122.45 - - 2265.00 - - - - - - - - - 15.88 -
18550.04 502.94 7.60 1801 18555.55 done 1.51 - - 2690.69 - 2.59 0.031 2271.19 440.8 122.45 - - 2266.38 - - - - - - - - - 15.98 -
18856.92 480.21 7.63 1829 18868.00 VBD 1.53 - - 2690.25 - - - 2270.88 - 122.45 - - 2265.62 - - - - - - - - - - -
19169.72 457.15 7.13 1858 19174.35 done 1.56 - - 2690.69 - 2.65 0.094 3344.12 405.0 122.45 - - 2267.09 - - - - - - - - - 15.85 -
19208.27 454.25 7.50 1864 19223.17 done 1.58 - - 2690.25 - 2.55 0.024 2187.56 -453.6 122.45 - - 2267.22 - - - - - - - - - 15.97 -
19524.29 430.17 7.93 1893 19535.37 VBD 1.59 - - 2690.69 - - - 2186.88 - 122.45 - - 2265.88 - - - - - - - - - - -
19837.09 404.91 8.44 1922 19841.70 done 1.59 - - 2690.62 - 2.56 0.079 1130.31 -412.7 122.45 - - 2265.12 - - - - - - - - - 15.86 -
19938.73 396.21 8.69 1936 19953.52 done 1.59 - - 2690.00 - 2.59 0.031 2273.31 441.3 122.45 - - 2266.97 - - - - - - - - - 15.97 -
20254.75 370.37 8.04 1965 20259.38 done 1.59 - - 2690.38 - 2.66 0.093 3347.00 403.6 122.45 - - 2265.72 - - - - - - - - - 15.84 -
20291.93 367.10 8.54 1970 20296.54 done 1.59 - - 2690.62 - 2.57 0.024 2185.94 -451.8 122.45 - - 2263.62 - - - - - - - - - 15.97 -
20603.79 343.69 7.40 1999 20608.47 1.61 0.18 0.089 2731.56 227.4 2.56 0.079 1131.50 -411.9 122.45 - - 2263.78 - - - - - - - - 15.94 15.79 -
20642.34 340.57 7.97 2005 20657.26 done 1.61 - - 2731.94 - 2.58 0.031 2274.19 442.9 122.45 - - 2266.78 - - - - - - - - - 15.97 -
20958.48 316.88 7.41 2034 20963.10 done 1.63 - - 2730.31 - 2.65 0.092 3347.75 405.1 122.45 - - 2267.12 - - - - - - - - - 15.84 -
21013.40 312.51 7.89 2042 21028.08 done 1.64 - - 2731.38 - 2.57 0.024 2185.19 -452.4 122.45 - - 2265.97 - - - - - - - - - 15.99 -
21331.15 288.60 7.27 2087 21336.67 done 1.66 - - 2731.62 - 2.55 0.078 1132.38 -412.9 122.45 - - 2265.78 - - - - - - - - - 15.84 -
21471.43 277.98 7.42 2115 21476.90 done 1.68 - - 2731.50 - 2.58 0.031 2274.62 442.7 122.45 - - 2266.81 - - - - - - - - - 15.95 -
21781.31 256.94 6.85 2177 21786.86 done 1.72 - - 2731.56 - 2.76 0.073 1130.94 -414.4 122.45 - - 2267.41 - - - - - - - - - 15.84 -
21906.44 247.54 7.50 2202 21911.85 done 1.74 - - 2731.50 - 2.58 0.031 2274.88 443.4 122.45 - - 2265.97 - - - - - - - - - 15.95 -
22216.36 227.95 5.98 2264 22253.13 1.83 0.25 0.076 2786.38 219.5 - - 2275.19 - 169.02 35.24 1.458 2087.25 -5.1 0.133 - - - - - - 15.92 - 11.04
22556.41 196.82 9.42 2332 22557.74 no move 1.83 - - 2786.44 - - - 2274.75 - 169.02 - - 2080.03 - - - - - - - - - - -
22861.46 166.59 9.81 2393 22867.01 roll 1.83 - - 2787.00 - 2.77 0.073 1131.31 -412.8 169.02 - - 2079.56 - - - - - - - - - 15.82 -
22961.46 156.47 10.14 2413 22966.99 roll 1.83 - - 2786.69 - 2.59 0.031 2273.19 440.9 169.02 - - 2080.88 - - - - - - - - - 15.88 -
23271.69 128.47 8.64 2475 23277.58 roll 1.83 - - 2787.31 - 2.76 0.073 1130.88 -413.9 169.02 - - 2078.97 - - - - - - - - - 15.83 -
23336.51 122.11 10.08 2488 23342.05 roll 1.83 - - 2786.88 - 2.58 0.031 2273.50 442.9 169.02 - - 2078.75 - - - - - - - - - 15.90 -
23646.57 95.77 7.83 2550 23647.90 no move 1.84 - - 2787.25 - - - 2273.75 - 169.02 - - 2077.78 - - - - - - - - - - -
23831.59 82.84 6.29 2587 23868.10 done 1.92 - - 2787.50 - 2.63 0.093 3349.69 409.1 209.80 31.25 1.259 1920.06 -5.0 0.056 - - - - - - - 15.82 11.64
23921.76 76.03 8.62 2605 23927.12 roll 1.92 - - 2786.44 - 2.58 0.024 2184.62 -451.6 209.80 - - 1917.09 - - - - - - - - - 15.86 -
24112.02 62.22 7.73 2643 24117.15 roll 1.94 - - 2787.31 - 2.54 0.077 1131.19 -414.7 209.80 - - 1914.31 - - - - - - - - - 15.83 -
24301.65 53.09 3.73 2681 24374.41 2.12 0.34 0.066 2856.88 204.6 2.58 0.029 2276.12 443.8 298.62 66.65 1.232 1557.34 -5.4 0.039 - - - - - - 15.73 15.87 11.88
24556.73 32.84 9.58 2732 24562.30 done 2.12 - - 2856.19 - 2.79 0.073 1131.31 -410.3 298.62 - - 1547.12 - - - - - - - - - 15.74 -
24641.76 25.08 9.01 2749 24647.28 done 2.12 - - 2856.19 - 2.60 0.029 2273.81 439.4 298.62 - - 1545.56 - - - - - - - - - 15.76 -
24832.21 12.70 5.39 2787 24880.56 done 2.23 - - 2856.50 - 2.78 0.073 1128.44 -412.0 356.22 43.39 1.151 1322.75 -5.1 0.009 - - - - - - - 15.67 11.85
25072 end climb: SURFACE_DEPTH_REACHED
25073 begin surface coast
25187 end surface coast: CONTROL_FINISHED_OK
25187 begin surface
SM 2.25 - - - - 182.3 51.12 1.155 1042.9 19.6 16.54 0.049 996.0 60.2 - 2.77 0.033 1089.9 392.5 -2.735 - - 11.82 15.74 15.77 -