NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 588 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 192.96 of 550.00 AH used of 24V (64.92% remains)
• Surface angle -60.5 deg, depth 0.40 m • Intended pitch -20.3 deg, speed -8.462 cm/s
• No surface pump (final VBD was 988.4, SM_CC=425)
• GPS1 time: 30 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
5.29 - - - 77.13 VBD -1.29 - - 178.25 - - - 2246.88 - -82.73 70.68 0.005 2696.91 - - - - - - - - - - 15.29
77.86 4.07 -9.08 13 110.57 -1.29 14.66 0.247 2015.94 125.4 2.52 0.067 1207.31 -412.5 -82.73 8.15 0.007 3111.62 50.9 -5.012 - - - - - - 15.45 15.24 15.37
197.65 34.60 -18.66 37 203.21 roll -1.29 - - 2016.69 - 2.65 0.029 2351.00 431.6 -82.73 - - 3113.06 - - - - - - - - - 15.76 -
388.06 59.47 -13.48 75 389.38 no move -1.29 - - 2016.31 - - - 2350.75 - -82.73 - - 3111.88 - - - - - - - - - - -
572.78 82.21 -11.81 112 574.10 no move -1.29 - - 2015.88 - - - 2350.75 - -82.73 - - 3112.53 - - - - - - - - - - -
757.74 100.98 -10.30 149 763.32 roll -1.29 - - 2015.69 - 2.75 0.059 1208.88 -415.2 -82.73 - - 3113.81 - - - - - - - - - 15.85 -
792.74 104.51 -10.10 156 798.30 roll -1.29 - - 2016.56 - 2.62 0.027 2353.31 436.8 -82.73 - - 3112.75 - - - - - - - - - 15.87 -
1102.83 129.77 -7.77 218 1104.15 no move -1.29 - - 2015.81 - - - 2353.69 - -82.73 - - 3112.88 - - - - - - - - - - -
1407.92 154.61 -8.28 279 1413.47 roll -1.29 - - 2015.75 - 2.66 0.085 3427.44 403.7 -82.73 - - 3113.78 - - - - - - - - - 15.87 -
1473.06 160.36 -8.86 292 1478.47 roll -1.29 - - 2016.12 - 2.56 0.020 2242.50 -462.9 -82.73 - - 3113.78 - - - - - - - - - 15.91 -
1783.05 184.22 -7.63 354 1788.64 roll -1.29 - - 2016.50 - 2.94 0.081 3428.62 403.4 -82.73 - - 3113.66 - - - - - - - - - 15.88 -
1833.06 188.37 -8.38 364 1838.60 roll -1.29 - - 2016.31 - 2.55 0.020 2245.06 -464.1 -82.73 - - 3113.97 - - - - - - - - - 15.93 -
2143.36 210.90 -7.37 426 2144.69 no move -1.29 - - 2016.00 - - - 2244.00 - -82.73 - - 3113.34 - - - - - - - - - - -
2448.27 234.57 -8.01 487 2449.60 no move -1.29 - - 2015.88 - - - 2244.06 - -82.73 - - 3111.78 - - - - - - - - - - -
2753.37 258.63 -8.13 548 2754.70 no move -1.29 - - 2016.00 - - - 2244.00 - -82.73 - - 3111.22 - - - - - - - - - - -
3058.43 282.70 -7.90 609 3064.04 roll -1.29 - - 2016.69 - 2.94 0.083 3429.50 403.2 -82.73 - - 3112.19 - - - - - - - - - 15.90 -
3088.43 285.38 -8.74 615 3093.97 roll -1.29 - - 2016.25 - 2.55 0.021 2244.25 -464.8 -82.73 - - 3112.66 - - - - - - - - - 15.96 -
3405.37 311.43 -7.97 663 3416.44 no move -1.29 - - 2016.38 - - - 2243.75 - -82.73 - - 3112.06 - - - - - - - - - - -
3718.09 336.68 -7.95 692 3722.68 roll -1.29 - - 2016.44 - 2.49 0.069 1208.31 -415.8 -82.73 - - 3114.28 - - - - - - - - - 15.94 -
3786.75 342.46 -8.30 701 3791.38 roll -1.29 - - 2016.69 - 2.61 0.029 2353.38 438.7 -82.73 - - 3111.09 - - - - - - - - - 15.99 -
4098.90 365.93 -7.00 730 4109.97 no move -1.29 - - 2016.31 - - - 2353.31 - -82.73 - - 3110.72 - - - - - - - - - - -
4411.71 390.78 -8.01 759 4416.54 roll -1.29 - - 2016.25 - 2.76 0.063 1207.06 -415.3 -82.73 - - 3109.97 - - - - - - - - - 15.94 -
4529.11 400.44 -8.26 775 4543.87 roll -1.29 - - 2016.69 - 2.62 0.029 2353.12 437.4 -82.73 - - 3109.88 - - - - - - - - - 16.01 -
4846.00 425.80 -7.67 804 4850.64 roll -1.29 - - 2016.25 - 2.77 0.063 1209.50 -412.9 -82.73 - - 3109.69 - - - - - - - - - 15.94 -
4931.75 432.31 -7.69 816 4946.70 roll -1.29 - - 2016.56 - 2.61 0.029 2352.62 438.0 -82.73 - - 3110.19 - - - - - - - - - 16.01 -
5247.97 455.74 -7.63 845 5252.62 roll -1.29 - - 2016.94 - 2.76 0.063 1209.69 -414.1 -82.73 - - 3107.91 - - - - - - - - - 15.93 -
5302.25 460.10 -8.09 853 5317.18 roll -1.29 - - 2016.75 - 2.60 0.029 2353.44 439.9 -82.73 - - 3108.62 - - - - - - - - - 16.00 -
5618.77 485.04 -7.83 882 5623.41 roll -1.29 - - 2016.62 - 2.77 0.063 1209.69 -412.9 -82.73 - - 3109.22 - - - - - - - - - 15.93 -
5688.78 490.92 -8.47 892 5703.70 roll -1.29 - - 2016.44 - 2.60 0.029 2351.88 439.3 -82.73 - - 3107.84 - - - - - - - - - 16.00 -
6011.02 519.02 -8.92 916 6012.35 no move -1.29 - - 2016.62 - - - 2352.00 - -82.73 - - 3107.38 - - - - - - - - - - -
6326.03 546.36 -8.58 937 6330.68 roll -1.29 - - 2014.56 - 2.77 0.064 1209.69 -412.4 -82.73 - - 3106.84 - - - - - - - - - 15.92 -
6385.53 551.72 -9.06 946 6391.27 roll -1.29 - - 2017.00 - 2.61 0.030 2352.00 437.7 -82.73 - - 3107.25 - - - - - - - - - 16.00 -
6705.11 580.22 -8.56 968 6706.44 no move -1.29 - - 2016.81 - - - 2352.44 - -82.73 - - 3105.41 - - - - - - - - - - -
7019.95 605.15 -7.82 989 7024.59 roll -1.29 - - 2016.38 - 2.77 0.064 1209.62 -412.6 -82.73 - - 3108.38 - - - - - - - - - 15.92 -
7079.24 609.91 -8.13 998 7084.78 roll -1.29 - - 2016.88 - 2.60 0.029 2350.44 438.8 -82.73 - - 3106.31 - - - - - - - - - 16.00 -
7398.64 634.02 -7.39 1020 7399.97 no move -1.29 - - 2016.56 - - - 2351.00 - -82.73 - - 3104.25 - - - - - - - - - - -
7713.67 658.15 -7.56 1041 7718.32 roll -1.29 - - 2016.56 - 2.77 0.064 1209.44 -412.1 -82.73 - - 3106.16 - - - - - - - - - 15.91 -
7813.08 665.85 -7.75 1055 7817.69 roll -1.29 - - 2016.75 - 2.60 0.030 2352.75 439.7 -82.73 - - 3103.94 - - - - - - - - - 15.99 -
8129.72 687.77 -6.69 1077 8131.05 no move -1.29 - - 2016.81 - - - 2352.50 - -82.73 - - 3104.06 - - - - - - - - - - -
8444.56 708.78 -6.85 1098 8449.20 roll -1.29 - - 2016.12 - 2.77 0.065 1209.81 -412.5 -82.73 - - 3103.88 - - - - - - - - - 15.90 -
8524.58 714.40 -7.10 1110 8530.13 roll -1.29 - - 2016.50 - 2.61 0.030 2352.94 438.0 -82.73 - - 3103.66 - - - - - - - - - 16.00 -
8844.00 735.27 -6.27 1132 8845.33 no move -1.29 - - 2016.62 - - - 2353.56 - -82.73 - - 3102.31 - - - - - - - - - - -
9159.02 755.02 -6.30 1153 9163.85 roll -1.29 - - 2016.12 - 2.78 0.065 1209.62 -411.5 -82.73 - - 3103.53 - - - - - - - - - 15.89 -
9218.49 758.93 -6.64 1162 9223.87 roll -1.29 - - 2016.44 - 2.62 0.030 2350.38 435.4 -82.73 - - 3103.12 - - - - - - - - - 16.00 -
9537.71 780.05 -6.63 1184 9539.04 no move -1.29 - - 2016.44 - - - 2350.81 - -82.73 - - 3101.47 - - - - - - - - - - -
9852.73 801.04 -6.54 1205 9857.37 roll -1.29 - - 2016.88 - 2.76 0.065 1208.25 -414.0 -82.73 - - 3102.75 - - - - - - - - - 15.89 -
9953.46 807.85 -6.85 1220 9959.01 roll -1.29 - - 2016.88 - 2.61 0.030 2351.69 438.1 -82.73 - - 3101.50 - - - - - - - - - 15.99 -
10272.88 828.06 -6.37 1242 10274.21 no move -1.29 - - 2016.44 - - - 2351.56 - -82.73 - - 3100.53 - - - - - - - - - - -
10587.89 848.18 -6.32 1263 10592.54 roll -1.29 - - 2016.06 - 2.77 0.065 1211.00 -411.8 -82.73 - - 3102.53 - - - - - - - - - 15.87 -
10652.18 851.87 -6.34 1273 10667.10 roll -1.29 - - 2016.50 - 2.61 0.030 2350.62 436.6 -82.73 - - 3101.28 - - - - - - - - - 16.01 -
10981.80 871.15 -5.29 1295 10986.44 roll -1.29 - - 2017.00 - 2.76 0.065 1209.88 -413.3 -82.73 - - 3099.84 - - - - - - - - - 15.87 -
11041.09 874.34 -5.44 1304 11046.63 roll -1.29 - - 2016.88 - 2.62 0.030 2353.31 436.4 -82.73 - - 3100.88 - - - - - - - - - 16.00 -
11360.49 891.14 -5.33 1326 11365.14 roll -1.29 - - 2014.94 - 2.78 0.065 1209.19 -411.6 -82.73 - - 3100.22 - - - - - - - - - 15.87 -
11439.36 895.57 -5.59 1337 11444.05 roll -1.29 - - 2016.81 - 2.61 0.031 2349.44 436.9 -82.73 - - 3100.75 - - - - - - - - - 15.99 -
11755.85 912.40 -5.31 1359 11757.18 no move -1.29 - - 2016.62 - - - 2349.62 - -82.73 - - 3099.28 - - - - - - - - - - -
12070.88 930.28 -5.69 1380 12072.21 no move -1.29 - - 2016.12 - - - 2349.69 - -82.73 - - 3099.69 - - - - - - - - - - -
12386.06 949.48 -6.27 1401 12390.71 roll -1.29 - - 2017.00 - 2.74 0.066 1209.75 -416.0 -82.73 - - 3098.31 - - - - - - - - - 15.85 -
12486.81 956.07 -6.63 1416 12492.35 roll -1.29 - - 2016.50 - 2.62 0.031 2351.56 435.8 -82.73 - - 3101.06 - - - - - - - - - 15.99 -
12806.25 976.37 -6.24 1438 12810.90 roll -1.29 - - 2016.44 - 2.76 0.066 1210.75 -413.3 -82.73 - - 3100.91 - - - - - - - - - 15.85 -
12885.25 981.64 -6.63 1449 12889.88 roll -1.29 - - 2016.06 - 2.61 0.031 2351.19 437.0 -82.73 - - 3099.09 - - - - - - - - - 15.99 -
13021 end dive: TARGET_DEPTH_EXCEEDED
13021 begin apogee
13023.54 990.34 -6.30 1459 13099.06 -0.28 1.74 0.138 2263.75 142.4 0.22 0.133 2282.81 -310.8 - 61.90 2.458 2774.31 -5.2 0.358 - - - - - - 15.73 15.52 10.45
13100 end apogee: CONTROL_FINISHED_OK
13100 begin climb
13101.11 991.89 - 1464 13188.91 1.29 2.56 0.091 2648.94 150.5 2.93 0.077 1131.12 -393.1 82.73 68.01 2.364 2434.84 -5.0 0.355 - - - - - - 15.58 15.21 12.28
13212.00 987.10 5.17 1480 13275.00 done 1.42 - - 2648.00 - 2.70 0.029 2271.69 422.4 144.53 52.64 2.313 2185.66 -4.7 0.342 - - - - - - - 15.42 12.05
13587.90 955.28 9.10 1509 13592.63 1.42 0.14 0.098 2686.50 275.0 2.82 0.074 1133.62 -403.6 144.53 - - 2175.09 - - - - - - - - 15.60 15.56 -
13648.05 949.01 10.23 1518 13653.43 done 1.42 - - 2687.12 - 2.64 0.030 2271.06 430.8 144.53 - - 2175.78 - - - - - - - - - 15.67 -
13967.30 915.36 10.57 1540 13968.63 VBD 1.42 - - 2686.50 - - - 2270.75 - 144.53 - - 2173.78 - - - - - - - - - - -
14282.34 881.13 10.90 1561 14283.67 VBD 1.42 - - 2687.25 - - - 2271.06 - 144.53 - - 2173.75 - - - - - - - - - - -
14597.39 847.74 10.25 1582 14602.03 done 1.42 - - 2686.56 - 2.78 0.075 1130.88 -410.1 144.53 - - 2172.38 - - - - - - - - - 15.82 -
14676.06 838.92 11.12 1593 14680.90 done 1.42 - - 2686.56 - 2.62 0.031 2272.31 435.7 144.53 - - 2171.75 - - - - - - - - - 15.87 -
14992.71 809.01 8.79 1615 14994.04 VBD 1.42 - - 2686.50 - - - 2272.12 - 144.53 - - 2171.50 - - - - - - - - - - -
15307.55 780.70 8.79 1636 15312.20 done 1.42 - - 2686.75 - 2.78 0.075 1131.00 -410.5 144.53 - - 2170.56 - - - - - - - - - 15.85 -
15387.92 773.27 9.38 1648 15393.48 done 1.42 - - 2686.56 - 2.61 0.031 2270.00 436.4 144.53 - - 2172.12 - - - - - - - - - 15.92 -
15707.34 745.28 8.68 1670 15708.67 VBD 1.42 - - 2686.69 - - - 2270.25 - 144.53 - - 2170.97 - - - - - - - - - - -
16022.38 717.80 8.77 1691 16023.72 VBD 1.42 - - 2686.62 - - - 2270.62 - 144.53 - - 2170.31 - - - - - - - - - - -
16337.41 690.90 8.38 1712 16338.74 VBD 1.42 - - 2687.06 - - - 2270.25 - 144.53 - - 2170.72 - - - - - - - - - - -
16652.42 663.58 8.82 1733 16653.75 VBD 1.42 - - 2686.88 - - - 2270.25 - 144.53 - - 2169.59 - - - - - - - - - - -
16967.44 635.65 8.93 1754 16968.77 VBD 1.42 - - 2687.19 - - - 2270.25 - 144.53 - - 2169.62 - - - - - - - - - - -
17282.46 608.28 8.66 1775 17287.11 done 1.42 - - 2686.56 - 2.78 0.075 1130.75 -409.9 144.53 - - 2171.47 - - - - - - - - - 15.86 -
17340.40 602.84 9.20 1783 17344.24 done 1.42 - - 2686.62 - 2.60 0.030 2263.75 435.8 144.53 - - 2170.12 - - - - - - - - - 15.95 -
17657.48 575.18 8.63 1805 17658.81 VBD 1.42 - - 2686.88 - - - 2271.25 - 144.53 - - 2170.00 - - - - - - - - - - -
17971.89 547.78 8.42 1826 17973.22 VBD 1.42 - - 2686.69 - - - 2270.88 - 144.53 - - 2169.28 - - - - - - - - - - -
18286.92 522.76 7.76 1847 18291.57 done 1.43 - - 2686.75 - 2.79 0.074 1133.31 -407.7 144.53 - - 2169.12 - - - - - - - - - 15.86 -
18346.74 517.85 8.23 1856 18352.15 done 1.43 - - 2686.81 - 2.59 0.030 2270.88 439.2 144.53 - - 2171.75 - - - - - - - - - 15.98 -
18655.38 494.01 7.72 1879 18666.46 VBD 1.45 - - 2686.31 - - - 2271.00 - 144.53 - - 2170.88 - - - - - - - - - - -
18968.12 470.22 7.60 1908 18979.19 VBD 1.46 - - 2687.31 - - - 2270.81 - 144.53 - - 2170.94 - - - - - - - - - - -
19281.19 446.19 7.68 1937 19292.26 VBD 1.48 - - 2687.62 - - - 2270.88 - 144.53 - - 2170.84 - - - - - - - - - - -
19593.93 423.32 7.41 1966 19598.58 done 1.50 - - 2686.94 - 2.79 0.074 1129.81 -409.0 144.53 - - 2170.91 - - - - - - - - - 15.85 -
19663.94 417.62 8.18 1976 19678.88 done 1.50 - - 2686.38 - 2.62 0.030 2272.88 436.3 144.53 - - 2170.97 - - - - - - - - - 15.98 -
19980.19 393.91 7.35 2005 19991.27 VBD 1.52 - - 2687.06 - - - 2272.62 - 144.53 - - 2170.81 - - - - - - - - - - -
20292.94 371.24 7.28 2034 20297.59 done 1.55 - - 2685.69 - 2.78 0.073 1131.00 -410.7 144.53 - - 2170.53 - - - - - - - - - 15.85 -
20393.11 363.45 7.79 2047 20397.75 done 1.56 - - 2686.88 - 2.61 0.030 2273.44 437.7 144.53 - - 2171.06 - - - - - - - - - 15.97 -
20705.02 339.37 7.78 2076 20709.66 done 1.57 - - 2687.12 - 2.69 0.092 3345.31 398.5 144.53 - - 2170.16 - - - - - - - - - 15.82 -
20791.08 331.76 8.91 2088 20805.82 1.57 0.14 0.099 2720.44 238.0 2.57 0.023 2185.75 -451.2 144.53 - - 2171.25 - - - - - - - - 15.79 15.98 -
21107.49 304.20 8.41 2117 21112.11 done 1.57 - - 2720.12 - 2.57 0.078 1132.31 -409.9 144.53 - - 2170.31 - - - - - - - - - 15.84 -
21171.17 298.55 8.73 2125 21175.80 done 1.57 - - 2722.06 - 2.60 0.029 2272.75 438.6 144.53 - - 2174.00 - - - - - - - - - 15.94 -
21478.53 272.49 8.18 2187 21479.86 VBD 1.57 - - 2722.19 - - - 2274.44 - 144.53 - - 2169.56 - - - - - - - - - - -
21783.44 248.00 7.82 2248 21788.99 done 1.59 - - 2722.50 - 2.80 0.073 1130.81 -408.4 144.53 - - 2170.69 - - - - - - - - - 15.82 -
21838.42 243.41 8.48 2259 21843.98 done 1.59 - - 2722.25 - 2.61 0.029 2273.56 437.8 144.53 - - 2171.47 - - - - - - - - - 15.96 -
22148.49 220.12 7.44 2321 22149.82 VBD 1.61 - - 2722.56 - - - 2273.69 - 144.53 - - 2170.41 - - - - - - - - - - -
22453.51 198.63 6.99 2382 22459.07 done 1.64 - - 2722.38 - 2.81 0.073 1131.00 -406.7 144.53 - - 2172.25 - - - - - - - - - 15.82 -
22518.70 193.92 7.28 2395 22524.09 done 1.66 - - 2722.06 - 2.60 0.029 2272.88 439.2 144.53 - - 2171.19 - - - - - - - - - 15.95 -
22828.56 173.11 6.86 2457 22834.10 done 1.69 - - 2721.94 - 2.80 0.072 1131.50 -407.6 144.53 - - 2171.16 - - - - - - - - - 15.83 -
22883.55 169.14 7.29 2468 22889.08 done 1.72 - - 2722.94 - 2.60 0.029 2273.81 439.3 144.53 - - 2170.97 - - - - - - - - - 15.95 -
23193.58 148.99 6.21 2530 23230.18 1.80 0.28 0.073 2781.88 210.5 2.65 0.093 3348.81 405.7 186.81 31.22 1.365 2013.28 -5.1 0.093 - - - - - - 15.92 15.79 10.98
23248.60 144.79 7.94 2541 23254.11 roll 1.81 - - 2781.88 - 2.56 0.023 2184.44 -454.8 186.81 - - 2012.97 - - - - - - - - - 15.90 -
23558.62 118.07 9.36 2603 23564.14 roll 1.81 - - 2780.88 - 2.56 0.076 1130.12 -411.8 186.81 - - 2008.72 - - - - - - - - - 15.83 -
23613.62 112.76 9.60 2614 23619.35 roll 1.81 - - 2781.88 - 2.61 0.029 2275.06 438.7 186.81 - - 2007.78 - - - - - - - - - 15.88 -
23923.68 88.03 7.90 2676 23925.01 no move 1.82 - - 2781.81 - - - 2275.12 - 186.81 - - 2006.53 - - - - - - - - - - -
24108.70 77.05 5.28 2713 24160.45 done 1.94 - - 2782.06 - 2.67 0.089 3346.19 401.1 246.53 45.69 1.278 1770.06 -5.2 0.053 - - - - - - - 15.75 11.65
24293.89 64.35 7.62 2750 24299.25 roll 1.96 - - 2782.25 - 2.60 0.022 2184.81 -446.7 246.53 - - 1765.50 - - - - - - - - - 15.79 -
24483.74 52.10 6.45 2788 24519.71 2.03 0.26 0.072 2835.69 205.5 2.89 0.086 3346.31 401.9 284.24 29.39 1.193 1616.03 -5.1 0.038 - - - - - - 15.78 15.69 11.87
24573.75 43.64 10.58 2806 24579.27 roll 2.03 - - 2835.25 - 2.59 0.023 2185.38 -448.2 284.24 - - 1612.91 - - - - - - - - - 15.76 -
24763.76 26.26 8.33 2844 24769.31 roll 2.03 - - 2836.25 - 2.57 0.077 1131.38 -410.1 284.24 - - 1608.84 - - - - - - - - - 15.78 -
24998.92 19.66 0.30 2891 25118.08 2.34 0.38 0.061 2909.38 192.4 2.62 0.027 2278.12 437.7 437.40 113.60 1.177 992.81 -5.4 0.015 - - - - - - 15.69 15.83 11.73
25244 end climb: SURFACE_DEPTH_REACHED
25245 begin surface coast
25290 end surface coast: CONTROL_FINISHED_OK
25290 begin surface
SM 0.48 - - - - 190.3 - - 983.5 - 17.15 0.053 978.6 57.0 - 0.12 0.128 988.4 8214.8 -3.149 - - 30.00 15.61 15.63 -