NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 649 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 217.92 of 550.00 AH used of 24V (60.38% remains)
• Surface angle -60.6 deg, depth 0.47 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.71 (SM_CC=425)
• GPS1 time: 26 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
5.34 - - - 87.68 VBD -1.35 - - 184.44 - - - 2231.44 - -82.73 80.80 0.005 2618.25 - - - - - - - - - - 15.13
88.42 3.58 -4.69 15 122.83 -1.35 14.87 0.252 2001.88 122.2 3.06 0.082 3427.19 390.8 -82.73 9.98 0.007 3112.81 49.6 -4.287 - - - - - - 15.44 15.12 15.25
209.90 34.37 -24.79 39 215.66 roll -1.35 - - 2003.12 - 2.62 0.019 2256.38 -446.9 -82.73 - - 3112.56 - - - - - - - - - 15.75 -
400.45 60.78 -11.16 77 401.78 no move -1.35 - - 2003.38 - - - 2254.69 - -82.73 - - 3112.19 - - - - - - - - - - -
584.98 81.54 -10.52 114 586.31 no move -1.35 - - 2003.06 - - - 2254.62 - -82.73 - - 3111.78 - - - - - - - - - - -
770.01 102.86 -11.12 151 771.34 no move -1.35 - - 2003.56 - - - 2254.94 - -82.73 - - 3112.12 - - - - - - - - - - -
1075.06 132.96 -8.19 212 1080.65 roll -1.35 - - 2003.50 - 2.95 0.078 3425.56 396.8 -82.73 - - 3114.62 - - - - - - - - - 15.86 -
1180.08 142.60 -8.96 233 1185.62 roll -1.35 - - 2004.19 - 2.56 0.019 2243.12 -461.9 -82.73 - - 3114.69 - - - - - - - - - 15.89 -
1490.13 167.14 -8.12 295 1495.73 roll -1.35 - - 2004.06 - 2.98 0.079 3427.06 397.3 -82.73 - - 3114.75 - - - - - - - - - 15.89 -
1520.13 169.95 -9.09 301 1525.68 roll -1.35 - - 2004.00 - 2.56 0.019 2244.12 -462.1 -82.73 - - 3114.22 - - - - - - - - - 15.91 -
1830.17 198.73 -9.24 363 1831.50 no move -1.35 - - 2004.12 - - - 2242.81 - -82.73 - - 3113.12 - - - - - - - - - - -
2135.22 224.62 -8.06 424 2140.34 roll -1.35 - - 2003.75 - 2.48 0.066 1208.62 -417.0 -82.73 - - 3113.53 - - - - - - - - - 15.93 -
2210.34 231.01 -8.62 439 2215.78 roll -1.35 - - 2003.75 - 2.62 0.028 2354.69 437.4 -82.73 - - 3113.81 - - - - - - - - - 15.95 -
2520.30 256.56 -8.04 501 2525.88 roll -1.35 - - 2004.25 - 2.76 0.061 1208.31 -415.4 -82.73 - - 3112.75 - - - - - - - - - 15.94 -
2590.32 262.46 -8.48 515 2595.88 roll -1.35 - - 2003.62 - 2.62 0.028 2354.69 437.5 -82.73 - - 3113.16 - - - - - - - - - 15.95 -
2900.44 287.35 -8.09 577 2906.22 roll -1.35 - - 2004.06 - 2.77 0.061 1209.62 -413.4 -82.73 - - 3112.66 - - - - - - - - - 15.94 -
2965.46 292.85 -8.52 590 2971.01 roll -1.35 - - 2003.38 - 2.62 0.028 2352.75 436.3 -82.73 - - 3112.25 - - - - - - - - - 15.97 -
3278.47 318.70 -8.35 628 3283.13 roll -1.35 - - 2004.00 - 2.76 0.061 1209.31 -414.3 -82.73 - - 3110.31 - - - - - - - - - 15.95 -
3348.49 324.78 -8.80 638 3363.43 roll -1.35 - - 2003.75 - 2.62 0.028 2353.31 436.6 -82.73 - - 3112.19 - - - - - - - - - 16.00 -
3665.09 351.11 -8.20 667 3676.17 no move -1.35 - - 2004.38 - - - 2353.00 - -82.73 - - 3110.94 - - - - - - - - - - -
3978.20 377.66 -8.62 696 3982.84 roll -1.35 - - 2003.81 - 2.79 0.062 1209.69 -409.8 -82.73 - - 3108.62 - - - - - - - - - 15.95 -
4032.48 382.53 -8.99 704 4047.42 roll -1.35 - - 2003.56 - 2.62 0.029 2353.06 436.4 -82.73 - - 3109.72 - - - - - - - - - 16.00 -
4349.02 409.50 -8.30 733 4353.67 roll -1.35 - - 2004.00 - 2.79 0.062 1210.00 -409.7 -82.73 - - 3107.84 - - - - - - - - - 15.95 -
4464.11 419.59 -8.85 748 4468.74 roll -1.35 - - 2004.25 - 2.63 0.029 2351.88 434.2 -82.73 - - 3109.00 - - - - - - - - - 16.01 -
4775.79 443.98 -7.60 777 4786.87 no move -1.35 - - 2004.19 - - - 2351.56 - -82.73 - - 3108.47 - - - - - - - - - - -
5089.29 467.25 -7.28 806 5093.96 roll -1.35 - - 2003.81 - 2.81 0.062 1209.50 -406.4 -82.73 - - 3109.09 - - - - - - - - - 15.94 -
5159.30 472.62 -7.70 816 5174.24 roll -1.35 - - 2003.88 - 2.64 0.029 2351.69 432.6 -82.73 - - 3109.12 - - - - - - - - - 16.01 -
5475.52 496.12 -7.29 845 5486.60 no move -1.35 - - 2004.00 - - - 2351.38 - -82.73 - - 3107.44 - - - - - - - - - - -
5800.27 520.99 -7.87 868 5804.91 roll -1.35 - - 2003.81 - 2.79 0.063 1209.56 -409.3 -82.73 - - 3105.69 - - - - - - - - - 15.94 -
5838.80 524.16 -8.24 874 5844.36 roll -1.35 - - 2004.25 - 2.63 0.029 2351.19 434.1 -82.73 - - 3107.03 - - - - - - - - - 16.01 -
6158.40 550.15 -8.18 896 6163.10 roll -1.35 - - 2004.12 - 2.79 0.063 1210.94 -408.7 -82.73 - - 3104.81 - - - - - - - - - 15.94 -
6259.16 558.87 -8.77 911 6264.73 roll -1.35 - - 2003.75 - 2.64 0.029 2351.25 431.9 -82.73 - - 3105.59 - - - - - - - - - 16.01 -
6578.91 585.42 -8.04 933 6580.24 no move -1.35 - - 2004.00 - - - 2351.25 - -82.73 - - 3103.66 - - - - - - - - - - -
6893.59 610.05 -7.77 954 6898.25 roll -1.35 - - 2004.00 - 2.81 0.063 1209.31 -406.4 -82.73 - - 3102.91 - - - - - - - - - 15.93 -
6952.87 614.81 -8.09 963 6958.42 roll -1.35 - - 2004.00 - 2.64 0.030 2351.62 432.7 -82.73 - - 3104.53 - - - - - - - - - 16.02 -
7272.88 638.57 -7.08 985 7277.52 roll -1.35 - - 2003.69 - 2.79 0.063 1209.94 -409.2 -82.73 - - 3103.44 - - - - - - - - - 15.93 -
7378.64 645.94 -7.38 1001 7393.59 roll -1.35 - - 2003.81 - 2.63 0.030 2350.44 433.7 -82.73 - - 3103.59 - - - - - - - - - 16.01 -
7708.04 669.30 -7.04 1023 7709.37 no move -1.35 - - 2003.75 - - - 2350.31 - -82.73 - - 3102.47 - - - - - - - - - - -
8023.06 690.86 -6.69 1044 8024.38 no move -1.35 - - 2003.62 - - - 2349.88 - -82.73 - - 3102.34 - - - - - - - - - - -
8338.06 712.38 -6.84 1065 8342.71 roll -1.35 - - 2003.69 - 2.80 0.064 1209.50 -407.3 -82.73 - - 3103.59 - - - - - - - - - 15.91 -
8397.58 716.53 -7.07 1074 8403.32 roll -1.35 - - 2004.00 - 2.65 0.030 2351.69 431.0 -82.73 - - 3102.62 - - - - - - - - - 16.01 -
8717.11 737.65 -6.40 1096 8721.75 roll -1.35 - - 2004.06 - 2.80 0.064 1210.19 -407.7 -82.73 - - 3100.50 - - - - - - - - - 15.92 -
8816.53 744.28 -6.66 1110 8821.16 roll -1.35 - - 2003.62 - 2.65 0.030 2351.38 430.6 -82.73 - - 3102.00 - - - - - - - - - 16.00 -
9133.01 763.89 -6.21 1132 9134.34 no move -1.35 - - 2003.19 - - - 2350.75 - -82.73 - - 3100.88 - - - - - - - - - - -
9448.02 783.48 -6.29 1153 9449.35 no move -1.35 - - 2003.00 - - - 2350.94 - -82.73 - - 3100.38 - - - - - - - - - - -
9763.03 803.29 -6.22 1174 9767.69 roll -1.35 - - 2003.31 - 2.82 0.064 1210.75 -404.3 -82.73 - - 3101.94 - - - - - - - - - 15.90 -
9820.98 807.08 -6.43 1182 9825.61 roll -1.35 - - 2003.81 - 2.64 0.030 2349.75 431.4 -82.73 - - 3099.38 - - - - - - - - - 16.00 -
10137.45 827.11 -6.39 1204 10142.12 roll -1.35 - - 2003.38 - 2.82 0.064 1209.62 -404.3 -82.73 - - 3100.53 - - - - - - - - - 15.90 -
10201.73 831.09 -6.73 1214 10216.67 roll -1.35 - - 2003.75 - 2.64 0.030 2350.38 432.1 -82.73 - - 3100.12 - - - - - - - - - 16.01 -
10531.15 852.67 -6.38 1236 10532.48 no move -1.35 - - 2003.50 - - - 2350.00 - -82.73 - - 3099.56 - - - - - - - - - - -
10846.14 873.77 -6.82 1257 10850.79 roll -1.35 - - 2003.62 - 2.80 0.065 1209.38 -407.4 -82.73 - - 3101.06 - - - - - - - - - 15.89 -
10926.16 879.44 -7.16 1269 10931.90 roll -1.35 - - 2004.12 - 2.64 0.030 2350.38 432.2 -82.73 - - 3101.53 - - - - - - - - - 16.00 -
11245.68 901.46 -6.93 1291 11250.32 roll -1.35 - - 2003.56 - 2.79 0.065 1209.62 -408.9 -82.73 - - 3100.03 - - - - - - - - - 15.88 -
11282.87 904.16 -7.09 1296 11287.50 roll -1.35 - - 2003.06 - 2.63 0.030 2349.69 433.5 -82.73 - - 3099.69 - - - - - - - - - 15.99 -
11599.33 925.92 -6.66 1318 11600.66 no move -1.35 - - 2003.69 - - - 2349.69 - -82.73 - - 3097.97 - - - - - - - - - - -
11914.55 946.41 -6.29 1339 11915.88 no move -1.35 - - 2003.62 - - - 2349.75 - -82.73 - - 3098.00 - - - - - - - - - - -
12229.36 966.78 -6.65 1360 12230.70 no move -1.35 - - 2003.81 - - - 2349.62 - -82.73 - - 3097.31 - - - - - - - - - - -
12544.39 987.28 -6.48 1381 12549.05 roll -1.35 - - 2003.38 - 2.81 0.065 1210.81 -405.3 -82.73 - - 3098.03 - - - - - - - - - 15.87 -
12602 end dive: TARGET_DEPTH_EXCEEDED
12602 begin apogee
12606.03 991.37 -6.90 1389 12679.89 -0.28 1.88 0.144 2263.00 138.1 0.12 0.196 2168.69 7982.3 - 63.49 2.431 2776.12 -5.1 0.350 - - - - - - 15.70 15.48 10.40
12681 end apogee: CONTROL_FINISHED_OK
12681 begin climb
12682.01 993.37 - 1394 12756.23 1.35 2.67 0.090 2660.94 149.0 - - 2168.94 - 82.73 68.76 2.360 2436.69 -4.9 0.352 - - - - - - 15.58 - 12.19
13068.51 972.64 5.99 1420 13114.28 VBD 1.44 - - 2661.75 - - - 2169.62 - 128.76 39.66 2.298 2249.09 -4.7 0.339 - - - - - - - - 11.48
13428.53 946.93 7.57 1444 13429.86 no move 1.46 - - 2662.12 - - - 2169.19 - 128.76 - - 2242.12 - - - - - - - - - - -
13743.55 922.89 7.71 1465 13748.32 roll back 1.47 0.15 0.096 2701.69 263.8 3.03 0.091 3344.25 387.8 128.76 - - 2241.00 - - - - - - - - 15.76 15.69 -
13822.24 915.28 9.46 1476 13826.87 roll 1.47 - - 2701.62 - 2.62 0.024 2189.88 -440.6 128.76 - - 2243.97 - - - - - - - - - 15.80 -
14139.49 885.74 9.47 1498 14144.13 done 1.47 - - 2701.56 - 2.64 0.078 1132.50 -400.5 128.76 - - 2239.53 - - - - - - - - - 15.83 -
14218.17 877.70 10.07 1509 14222.82 done 1.47 - - 2701.19 - 2.64 0.031 2271.12 431.3 128.76 - - 2239.66 - - - - - - - - - 15.86 -
14534.66 846.84 9.86 1531 14536.00 VBD 1.47 - - 2701.25 - - - 2270.88 - 128.76 - - 2239.72 - - - - - - - - - - -
14849.70 816.53 9.28 1552 14854.37 done 1.47 - - 2701.94 - 2.85 0.074 1130.94 -400.0 128.76 - - 2240.03 - - - - - - - - - 15.86 -
14908.98 810.83 9.67 1561 14914.72 done 1.47 - - 2701.19 - 2.64 0.031 2270.75 431.7 128.76 - - 2240.41 - - - - - - - - - 15.92 -
15228.50 782.31 8.45 1583 15229.83 VBD 1.47 - - 2701.62 - - - 2270.62 - 128.76 - - 2238.88 - - - - - - - - - - -
15543.41 755.77 8.32 1604 15544.74 VBD 1.47 - - 2701.44 - - - 2271.31 - 128.76 - - 2239.25 - - - - - - - - - - -
15858.43 729.64 8.50 1625 15863.09 done 1.47 - - 2701.62 - 2.86 0.074 1132.38 -398.2 128.76 - - 2238.53 - - - - - - - - - 15.88 -
15922.95 724.30 9.03 1635 15937.67 done 1.47 - - 2701.69 - 2.64 0.031 2270.50 431.1 128.76 - - 2239.38 - - - - - - - - - 15.96 -
16252.12 695.85 8.55 1657 16253.46 VBD 1.47 - - 2701.44 - - - 2271.00 - 128.76 - - 2238.59 - - - - - - - - - - -
16567.14 668.38 8.68 1678 16568.47 VBD 1.47 - - 2701.25 - - - 2271.06 - 128.76 - - 2237.91 - - - - - - - - - - -
16882.15 641.10 8.73 1699 16883.49 VBD 1.47 - - 2701.69 - - - 2270.56 - 128.76 - - 2238.00 - - - - - - - - - - -
17197.18 613.83 8.44 1720 17201.85 done 1.47 - - 2702.25 - 2.86 0.073 1132.62 -397.9 128.76 - - 2241.28 - - - - - - - - - 15.88 -
17318.69 603.18 8.92 1738 17324.26 done 1.47 - - 2701.50 - 2.64 0.031 2272.12 431.6 128.76 - - 2238.88 - - - - - - - - - 15.98 -
17638.28 578.39 7.27 1760 17639.62 VBD 1.50 - - 2701.81 - - - 2272.44 - 128.76 - - 2237.66 - - - - - - - - - - -
17953.13 556.88 6.57 1781 17957.79 done 1.53 - - 2701.38 - 2.87 0.073 1131.31 -397.6 128.76 - - 2238.09 - - - - - - - - - 15.87 -
18058.90 549.85 7.08 1797 18074.01 done 1.56 - - 2701.94 - 2.62 0.030 2271.06 435.0 128.76 - - 2239.94 - - - - - - - - - 15.98 -
18388.48 527.52 6.64 1819 18389.81 VBD 1.60 - - 2701.69 - - - 2271.19 - 128.76 - - 2237.69 - - - - - - - - - - -
18703.33 504.75 7.82 1840 18704.66 VBD 1.61 - - 2701.44 - - - 2270.75 - 128.76 - - 2237.75 - - - - - - - - - - -
19014.81 479.63 8.51 1867 19019.47 done 1.61 - - 2701.38 - 2.85 0.073 1132.81 -399.3 128.76 - - 2237.94 - - - - - - - - - 15.86 -
19116.29 470.45 9.22 1881 19131.23 done 1.61 - - 2702.19 - 2.63 0.030 2273.88 433.9 128.76 - - 2238.97 - - - - - - - - - 15.98 -
19432.66 442.56 8.61 1910 19437.32 done 1.61 - - 2701.38 - 2.85 0.072 1131.31 -400.9 128.76 - - 2240.22 - - - - - - - - - 15.86 -
19502.91 436.37 8.93 1920 19517.84 done 1.61 - - 2701.94 - 2.63 0.030 2273.94 434.5 128.76 - - 2240.06 - - - - - - - - - 15.98 -
19819.43 410.43 7.90 1949 19830.51 VBD 1.62 - - 2701.50 - - - 2274.31 - 128.76 - - 2238.59 - - - - - - - - - - -
20132.09 386.78 7.21 1978 20137.06 1.65 0.17 0.087 2740.88 231.6 2.87 0.073 1131.44 -398.2 128.76 - - 2237.66 - - - - - - - - 15.93 15.81 -
20186.38 382.48 7.86 1986 20201.32 done 1.66 - - 2741.06 - 2.63 0.030 2274.94 434.8 128.76 - - 2238.84 - - - - - - - - - 15.98 -
20502.90 358.40 7.19 2015 20513.98 VBD 1.68 - - 2741.81 - - - 2275.12 - 128.76 - - 2238.62 - - - - - - - - - - -
20815.81 336.76 6.76 2044 20826.88 VBD 1.72 - - 2741.19 - - - 2274.88 - 128.76 - - 2238.69 - - - - - - - - - - -
21128.92 315.44 6.92 2073 21133.59 done 1.75 - - 2740.75 - 2.87 0.072 1131.00 -398.6 128.76 - - 2238.84 - - - - - - - - - 15.85 -
21215.28 309.15 7.37 2085 21230.03 done 1.77 - - 2741.75 - 2.63 0.030 2273.56 434.4 128.76 - - 2238.78 - - - - - - - - - 15.98 -
21531.05 287.60 6.64 2133 21536.67 1.81 0.16 0.091 2783.25 259.4 2.72 0.090 3344.44 393.7 128.76 - - 2238.59 - - - - - - - - 15.93 15.77 -
21591.04 282.49 8.94 2145 21596.59 done 1.81 - - 2782.94 - 2.59 0.023 2186.38 -447.1 128.76 - - 2239.06 - - - - - - - - - 15.96 -
21901.27 257.81 8.15 2207 21906.65 done 1.81 - - 2783.19 - 2.62 0.077 1131.50 -402.6 128.76 - - 2239.75 - - - - - - - - - 15.83 -
21966.10 252.33 8.57 2220 21971.66 done 1.81 - - 2783.75 - 2.62 0.029 2275.25 436.5 128.76 - - 2239.47 - - - - - - - - - 15.95 -
22276.18 229.14 7.32 2282 22277.51 VBD 1.83 - - 2783.06 - - - 2275.62 - 128.76 - - 2238.41 - - - - - - - - - - -
22581.40 206.17 7.29 2343 22582.74 VBD 1.85 - - 2782.75 - - - 2274.88 - 128.76 - - 2237.88 - - - - - - - - - - -
22886.26 183.69 7.97 2404 22891.84 done 1.85 - - 2783.44 - 2.84 0.072 1130.94 -402.8 128.76 - - 2239.88 - - - - - - - - - 15.83 -
22956.27 177.89 8.34 2418 22961.82 done 1.85 - - 2783.44 - 2.62 0.029 2273.62 436.1 128.76 - - 2238.75 - - - - - - - - - 15.96 -
23266.38 156.39 6.52 2480 23267.71 VBD 1.89 - - 2783.00 - - - 2273.75 - 128.76 - - 2237.84 - - - - - - - - - - -
23571.47 137.61 5.88 2541 23613.15 1.99 0.17 0.082 2826.88 258.1 2.85 0.073 1129.81 -401.4 176.84 36.48 1.333 2054.06 -5.0 0.088 - - - - - - 15.93 15.74 10.72
23696.49 126.97 9.55 2566 23702.03 roll 1.99 - - 2827.06 - 2.63 0.029 2273.81 435.0 176.84 - - 2050.03 - - - - - - - - - 15.85 -
24006.61 102.99 5.60 2628 24053.57 done 2.09 - - 2827.31 - 2.86 0.072 1131.12 -399.5 230.23 41.49 1.280 1836.22 -5.2 0.070 - - - - - - - 15.67 11.62
24106.62 97.36 6.36 2648 24143.20 2.17 0.18 0.084 2871.81 247.2 2.62 0.028 2274.19 436.3 269.41 31.30 1.234 1676.84 -5.1 0.068 - - - - - - 15.67 15.76 12.14
24326.68 76.73 8.84 2692 24332.26 done 2.17 - - 2872.25 - 2.87 0.071 1131.12 -398.3 269.41 - - 1668.28 - - - - - - - - - 15.74 -
24391.70 70.94 9.01 2705 24397.26 done 2.17 - - 2871.88 - 2.64 0.028 2275.44 433.5 269.41 - - 1667.09 - - - - - - - - - 15.76 -
24581.77 55.59 7.30 2743 24587.33 done 2.20 - - 2872.31 - 2.71 0.087 3347.06 395.4 269.41 - - 1665.00 - - - - - - - - - 15.76 -
24636.78 51.07 8.38 2754 24642.33 done 2.20 - - 2872.81 - 2.62 0.022 2184.25 -443.8 269.41 - - 1667.09 - - - - - - - - - 15.80 -
24826.84 42.87 3.44 2792 24904.56 2.38 0.22 0.074 2922.25 224.7 2.95 0.083 3346.00 393.8 363.07 70.10 1.198 1294.59 -5.3 0.032 - - - - - - 15.80 15.55 11.53
25131.92 25.31 7.59 2853 25137.47 roll 2.40 - - 2922.56 - 2.62 0.022 2183.88 -443.6 363.07 - - 1287.81 - - - - - - - - - 15.73 -
25321.94 12.12 7.39 2891 25327.53 done 2.42 - - 2922.19 - 2.92 0.080 3346.00 398.0 363.07 - - 1285.81 - - - - - - - - - 15.77 -
25422.02 4.49 7.62 2911 25427.49 done 2.44 - - 2923.38 - 2.61 0.022 2186.50 -444.3 363.07 - - 1285.81 - - - - - - - - - 15.81 -
25432 end climb: SURFACE_DEPTH_REACHED
25432 begin surface coast
25492 end surface coast: CONTROL_FINISHED_OK
25492 begin surface
SM 0.30 - - - - 180.8 45.65 1.133 1043.6 22.9 17.01 0.046 1009.5 59.3 - 0.35 0.066 1077.7 3071.7 -1.427 - - 11.46 15.77 15.79 -