NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 582 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 190.56 of 550.00 AH used of 24V (65.35% remains)
• Surface angle -64.2 deg, depth 0.67 m • Intended pitch -20.3 deg, speed -8.462 cm/s
VBD pumped to 425.08 (SM_CC=425)
• GPS1 time: 34 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
5.28 - - - 66.96 VBD -1.29 - - 178.00 - - - 2250.31 - -82.73 60.51 0.005 2526.84 - - - - - - - - - - 15.28
67.70 3.56 -6.05 11 105.11 -1.29 14.81 0.248 2016.25 124.1 2.99 0.087 3426.12 393.2 -82.73 12.26 0.007 3111.84 47.7 -4.080 - - - - - - 15.45 15.21 15.37
192.18 32.53 -16.96 36 197.74 roll -1.29 - - 2016.19 - 2.61 0.020 2250.50 -450.4 -82.73 - - 3113.06 - - - - - - - - - 15.74 -
382.60 53.51 -10.62 74 387.94 roll -1.29 - - 2016.12 - 2.54 0.064 1208.38 -410.3 -82.73 - - 3113.09 - - - - - - - - - 15.79 -
512.36 66.17 -9.24 100 517.80 roll -1.29 - - 2016.44 - 2.64 0.027 2353.44 433.7 -82.73 - - 3113.59 - - - - - - - - - 15.81 -
702.67 81.49 -7.62 138 707.84 roll -1.29 - - 2016.12 - 2.78 0.058 1208.50 -411.8 -82.73 - - 3113.81 - - - - - - - - - 15.84 -
842.30 93.40 -8.39 166 847.85 roll -1.29 - - 2016.88 - 2.62 0.027 2353.44 437.0 -82.73 - - 3113.94 - - - - - - - - - 15.86 -
1032.32 109.00 -8.26 204 1037.88 roll -1.29 - - 2016.19 - 2.77 0.058 1207.94 -413.5 -82.73 - - 3114.12 - - - - - - - - - 15.88 -
1067.32 111.94 -8.35 211 1072.87 roll -1.29 - - 2016.56 - 2.62 0.027 2354.31 437.5 -82.73 - - 3114.94 - - - - - - - - - 15.88 -
1377.36 137.85 -7.66 273 1382.93 roll -1.29 - - 2016.50 - 2.78 0.059 1207.56 -412.5 -82.73 - - 3115.88 - - - - - - - - - 15.90 -
1492.37 146.98 -8.07 296 1497.93 roll -1.29 - - 2015.19 - 2.62 0.028 2353.75 437.5 -82.73 - - 3115.22 - - - - - - - - - 15.91 -
1802.62 174.06 -8.32 358 1808.06 roll -1.29 - - 2016.44 - 2.79 0.059 1208.12 -410.6 -82.73 - - 3115.03 - - - - - - - - - 15.91 -
1842.45 177.62 -8.88 366 1848.00 roll -1.29 - - 2016.50 - 2.62 0.028 2353.19 437.0 -82.73 - - 3115.53 - - - - - - - - - 15.94 -
2152.54 204.92 -8.77 428 2158.09 roll -1.29 - - 2016.12 - 2.69 0.088 3426.38 399.0 -82.73 - - 3114.91 - - - - - - - - - 15.89 -
2207.56 210.46 -10.32 439 2213.09 roll -1.29 - - 2014.69 - 2.59 0.021 2244.25 -456.4 -82.73 - - 3114.50 - - - - - - - - - 15.94 -
2517.66 237.42 -8.26 501 2523.19 roll -1.29 - - 2016.25 - 2.52 0.065 1208.44 -411.0 -82.73 - - 3114.81 - - - - - - - - - 15.93 -
2567.67 241.84 -8.88 511 2573.21 roll -1.29 - - 2016.00 - 2.62 0.028 2351.19 436.2 -82.73 - - 3116.53 - - - - - - - - - 15.95 -
2877.76 268.94 -8.77 573 2883.32 roll -1.29 - - 2016.19 - 2.79 0.061 1208.38 -409.6 -82.73 - - 3113.66 - - - - - - - - - 15.94 -
2917.77 272.62 -9.18 581 2923.32 roll -1.29 - - 2016.31 - 2.62 0.028 2353.94 437.2 -82.73 - - 3114.09 - - - - - - - - - 15.96 -
3227.93 299.95 -8.52 643 3233.43 roll -1.29 - - 2016.50 - 2.78 0.061 1209.62 -411.6 -82.73 - - 3113.41 - - - - - - - - - 15.93 -
3290.05 305.37 -8.95 652 3305.31 roll -1.29 - - 2016.38 - 2.62 0.029 2351.81 436.0 -82.73 - - 3112.78 - - - - - - - - - 15.99 -
3606.56 329.60 -7.18 681 3617.64 no move -1.29 - - 2016.19 - - - 2352.06 - -82.73 - - 3112.50 - - - - - - - - - - -
3919.88 352.11 -7.37 710 3924.52 roll -1.29 - - 2016.25 - 2.78 0.062 1209.62 -410.9 -82.73 - - 3110.94 - - - - - - - - - 15.95 -
4005.63 358.94 -8.02 722 4020.56 roll -1.29 - - 2016.12 - 2.62 0.029 2351.38 435.8 -82.73 - - 3113.44 - - - - - - - - - 16.00 -
4322.13 385.92 -8.77 751 4326.78 roll -1.29 - - 2015.25 - 2.77 0.062 1209.50 -412.2 -82.73 - - 3113.16 - - - - - - - - - 15.95 -
4392.15 392.12 -9.00 761 4407.09 roll -1.29 - - 2016.19 - 2.62 0.029 2351.81 436.0 -82.73 - - 3111.94 - - - - - - - - - 16.00 -
4708.33 419.39 -8.44 790 4712.98 roll -1.29 - - 2016.00 - 2.78 0.062 1209.50 -410.9 -82.73 - - 3109.66 - - - - - - - - - 15.94 -
4763.36 424.12 -8.83 798 4778.14 roll -1.29 - - 2016.25 - 2.62 0.030 2351.75 436.0 -82.73 - - 3111.53 - - - - - - - - - 16.00 -
5079.50 450.77 -8.19 827 5084.33 roll -1.29 - - 2016.12 - 2.77 0.062 1208.56 -412.7 -82.73 - - 3111.81 - - - - - - - - - 15.94 -
5132.60 455.09 -8.14 834 5137.22 roll -1.29 - - 2016.31 - 2.62 0.030 2350.50 435.9 -82.73 - - 3112.09 - - - - - - - - - 16.00 -
5444.25 477.71 -7.41 863 5448.90 roll -1.29 - - 2016.12 - 2.70 0.092 3429.19 399.5 -82.73 - - 3108.91 - - - - - - - - - 15.89 -
5497.19 482.13 -8.09 870 5501.80 roll -1.29 - - 2016.44 - 2.57 0.022 2248.00 -459.6 -82.73 - - 3107.66 - - - - - - - - - 15.99 -
5808.33 505.84 -7.55 897 5809.66 no move -1.29 - - 2015.88 - - - 2246.75 - -82.73 - - 3108.44 - - - - - - - - - - -
6123.35 529.36 -7.30 918 6124.68 no move -1.29 - - 2016.19 - - - 2246.19 - -82.73 - - 3107.84 - - - - - - - - - - -
6438.58 551.06 -6.49 939 6439.91 no move -1.29 - - 2015.81 - - - 2246.25 - -82.73 - - 3106.81 - - - - - - - - - - -
6753.39 570.81 -6.07 960 6757.99 roll -1.29 - - 2016.25 - 2.52 0.069 1208.12 -412.0 -82.73 - - 3106.25 - - - - - - - - - 15.93 -
6832.06 575.94 -6.48 971 6836.69 roll -1.29 - - 2015.94 - 2.64 0.030 2351.88 433.2 -82.73 - - 3106.03 - - - - - - - - - 16.00 -
7148.53 596.65 -6.79 993 7149.86 no move -1.29 - - 2016.44 - - - 2350.81 - -82.73 - - 3105.84 - - - - - - - - - - -
7463.54 619.69 -7.40 1014 7468.18 roll -1.29 - - 2016.25 - 2.78 0.064 1210.00 -410.4 -82.73 - - 3107.47 - - - - - - - - - 15.92 -
7564.31 627.59 -7.96 1029 7570.05 roll -1.29 - - 2016.56 - 2.63 0.030 2351.12 433.9 -82.73 - - 3106.56 - - - - - - - - - 16.01 -
7883.83 652.48 -7.93 1051 7885.16 no move -1.29 - - 2015.81 - - - 2350.75 - -82.73 - - 3105.31 - - - - - - - - - - -
8198.74 676.59 -7.56 1072 8200.07 no move -1.29 - - 2016.38 - - - 2351.12 - -82.73 - - 3105.00 - - - - - - - - - - -
8513.75 700.68 -7.52 1093 8518.41 roll -1.29 - - 2016.56 - 2.81 0.064 1210.19 -406.0 -82.73 - - 3104.06 - - - - - - - - - 15.91 -
8660.98 711.32 -7.50 1115 8675.92 roll -1.29 - - 2015.94 - 2.64 0.031 2349.25 431.5 -82.73 - - 3106.00 - - - - - - - - - 16.02 -
8990.37 735.30 -6.99 1137 8991.70 no move -1.29 - - 2016.06 - - - 2349.69 - -82.73 - - 3104.47 - - - - - - - - - - -
9305.40 755.73 -6.34 1158 9306.73 no move -1.29 - - 2016.31 - - - 2349.50 - -82.73 - - 3103.94 - - - - - - - - - - -
9620.42 774.81 -5.86 1179 9621.75 no move -1.29 - - 2016.12 - - - 2349.50 - -82.73 - - 3103.19 - - - - - - - - - - -
9935.44 792.81 -5.72 1200 9936.77 no move -1.29 - - 2015.94 - - - 2350.38 - -82.73 - - 3102.72 - - - - - - - - - - -
10250.44 811.09 -5.96 1221 10251.77 no move -1.29 - - 2015.88 - - - 2350.75 - -82.73 - - 3102.41 - - - - - - - - - - -
10565.46 829.29 -5.80 1242 10570.12 roll -1.29 - - 2015.31 - 2.81 0.065 1209.94 -406.0 -82.73 - - 3104.59 - - - - - - - - - 15.88 -
10691.95 837.02 -6.46 1261 10706.89 roll -1.29 - - 2016.12 - 2.64 0.031 2350.00 431.8 -82.73 - - 3103.19 - - - - - - - - - 16.00 -
11021.36 856.81 -6.03 1283 11026.01 roll -1.29 - - 2015.88 - 2.80 0.065 1210.88 -406.8 -82.73 - - 3101.91 - - - - - - - - - 15.88 -
11143.26 864.82 -6.71 1301 11148.68 roll -1.29 - - 2016.25 - 2.63 0.031 2350.19 433.2 -82.73 - - 3102.81 - - - - - - - - - 16.00 -
11462.48 885.12 -6.24 1323 11463.81 no move -1.29 - - 2015.75 - - - 2349.88 - -82.73 - - 3101.03 - - - - - - - - - - -
11777.51 903.26 -5.51 1344 11778.84 no move -1.29 - - 2016.06 - - - 2349.94 - -82.73 - - 3101.53 - - - - - - - - - - -
12092.52 919.49 -5.12 1365 12097.17 roll -1.29 - - 2016.19 - 2.78 0.066 1209.50 -410.2 -82.73 - - 3100.16 - - - - - - - - - 15.86 -
12255.07 929.06 -6.06 1388 12259.70 roll -1.29 - - 2016.31 - 2.64 0.031 2349.81 431.9 -82.73 - - 3099.75 - - - - - - - - - 15.98 -
12571.56 947.13 -5.65 1410 12576.20 roll -1.29 - - 2015.56 - 2.74 0.096 3426.00 392.8 -82.73 - - 3102.19 - - - - - - - - - 15.80 -
12630.83 950.87 -6.24 1419 12636.35 roll -1.29 - - 2016.44 - 2.57 0.022 2247.94 -458.4 -82.73 - - 3101.34 - - - - - - - - - 15.99 -
12950.24 968.12 -5.22 1441 12951.57 no move -1.29 - - 2015.94 - - - 2247.31 - -82.73 - - 3100.16 - - - - - - - - - - -
13265.25 987.22 -6.20 1462 13269.93 roll -1.29 - - 2014.19 - 3.00 0.090 3422.81 391.8 -82.73 - - 3101.09 - - - - - - - - - 15.79 -
13323 end dive: TARGET_DEPTH_EXCEEDED
13323 begin apogee
13327.85 991.19 -6.67 1470 13401.90 -0.28 1.77 0.144 2263.69 141.0 0.16 0.170 2288.88 -7087.1 - 62.81 2.444 2776.34 -5.2 0.353 - - - - - - 15.69 15.52 10.48
13403 end apogee: CONTROL_FINISHED_OK
13403 begin climb
13404.06 992.74 - 1475 13478.24 1.29 2.56 0.091 2649.38 150.7 - - 2289.00 - 82.73 67.71 2.369 2436.62 -5.0 0.353 - - - - - - 15.60 - 12.23
13790.57 966.55 7.89 1501 13791.90 no move 1.31 - - 2648.94 - - - 2288.81 - 82.73 - - 2430.00 - - - - - - - - - - -
14105.77 942.98 7.18 1522 14107.10 no move 1.33 - - 2648.88 - - - 2289.06 - 82.73 - - 2428.53 - - - - - - - - - - -
14420.62 921.55 6.69 1543 14425.26 roll 1.37 - - 2648.50 - 2.72 0.093 3345.75 388.5 82.73 - - 2428.69 - - - - - - - - - 15.76 -
14459.17 918.82 7.02 1549 14464.71 roll 1.40 - - 2648.94 - 2.62 0.024 2189.31 -441.4 82.73 - - 2430.53 - - - - - - - - - 15.82 -
14778.58 897.82 6.35 1571 14822.42 1.47 0.23 0.077 2701.25 227.4 2.64 0.083 1132.56 -400.3 122.33 32.51 2.243 2274.72 -4.8 0.323 - - - - - - 15.81 15.63 11.36
14887.21 888.55 8.68 1587 14892.44 roll 1.47 - - 2701.69 - 2.67 0.031 2270.06 426.0 122.33 - - 2272.97 - - - - - - - - - 15.72 -
15206.28 859.39 9.39 1609 15207.61 no move 1.47 - - 2701.62 - - - 2270.50 - 122.33 - - 2270.62 - - - - - - - - - - -
15521.13 828.72 9.75 1630 15525.79 roll 1.47 - - 2701.00 - 2.86 0.075 1130.88 -398.5 122.33 - - 2270.75 - - - - - - - - - 15.81 -
15601.15 820.68 10.16 1642 15606.71 roll 1.47 - - 2701.75 - 2.64 0.031 2270.12 431.5 122.33 - - 2269.66 - - - - - - - - - 15.86 -
15920.56 790.21 9.35 1664 15921.89 no move 1.47 - - 2701.69 - - - 2270.19 - 122.33 - - 2268.50 - - - - - - - - - - -
16235.58 762.05 8.74 1685 16236.91 no move 1.47 - - 2701.25 - - - 2270.06 - 122.33 - - 2268.03 - - - - - - - - - - -
16550.58 734.97 8.41 1706 16551.91 no move 1.47 - - 2700.94 - - - 2270.38 - 122.33 - - 2268.34 - - - - - - - - - - -
16865.59 705.65 9.10 1727 16870.26 roll 1.47 - - 2701.88 - 2.83 0.075 1133.00 -401.9 122.33 - - 2267.41 - - - - - - - - - 15.85 -
16950.62 698.33 9.25 1740 16965.57 roll 1.47 - - 2701.44 - 2.62 0.031 2272.38 434.9 122.33 - - 2270.34 - - - - - - - - - 15.94 -
17280.03 668.55 9.04 1762 17281.36 no move 1.47 - - 2701.69 - - - 2272.06 - 122.33 - - 2268.41 - - - - - - - - - - -
17595.05 639.24 9.15 1783 17599.72 roll 1.47 - - 2702.12 - 2.84 0.074 1132.44 -401.3 122.33 - - 2268.47 - - - - - - - - - 15.86 -
17694.45 629.66 9.66 1797 17699.08 roll 1.47 - - 2701.25 - 2.62 0.031 2273.25 435.4 122.33 - - 2269.03 - - - - - - - - - 15.95 -
18011.13 601.07 8.72 1819 18012.46 VBD 1.47 - - 2701.75 - - - 2273.31 - 122.33 - - 2267.66 - - - - - - - - - - -
18326.17 577.00 7.20 1840 18327.50 no move 1.50 - - 2701.69 - - - 2273.44 - 122.33 - - 2267.12 - - - - - - - - - - -
18641.03 555.24 7.32 1861 18642.36 VBD 1.52 - - 2702.06 - - - 2273.81 - 122.33 - - 2267.12 - - - - - - - - - - -
18956.05 534.55 6.63 1882 18957.38 VBD 1.56 - - 2702.00 - - - 2273.50 - 122.33 - - 2268.22 - - - - - - - - - - -
19271.24 512.71 6.94 1903 19272.58 VBD 1.59 - - 2702.00 - - - 2273.12 - 122.33 - - 2267.19 - - - - - - - - - - -
19584.51 491.05 6.96 1927 19595.59 no move 1.62 - - 2701.94 - - - 2273.38 - 122.33 - - 2268.44 - - - - - - - - - - -
19897.49 469.09 7.26 1956 19908.67 pitch 1.64 0.17 0.086 2742.06 236.0 - - 2273.38 - 122.33 - - 2268.28 - - - - - - - - 15.93 - -
20210.22 444.05 8.15 1985 20221.29 no move 1.64 - - 2742.12 - - - 2273.62 - 122.33 - - 2268.28 - - - - - - - - - - -
20523.06 418.82 8.22 2014 20527.73 roll 1.64 - - 2742.31 - 2.83 0.074 1132.56 -403.2 122.33 - - 2267.88 - - - - - - - - - 15.84 -
20624.53 409.98 8.80 2028 20639.47 done 1.64 - - 2741.69 - 2.61 0.030 2271.69 436.4 122.33 - - 2269.19 - - - - - - - - - 15.97 -
20941.02 385.55 7.83 2057 20952.10 VBD 1.66 - - 2742.25 - - - 2271.25 - 122.33 - - 2268.28 - - - - - - - - - - -
21253.87 359.30 8.47 2086 21264.95 VBD 1.66 - - 2742.19 - - - 2271.88 - 122.33 - - 2268.53 - - - - - - - - - - -
21566.49 334.23 8.24 2115 21577.56 no move 1.66 - - 2742.56 - - - 2271.81 - 122.33 - - 2268.62 - - - - - - - - - - -
21879.34 310.63 7.29 2144 21884.19 done 1.68 - - 2742.06 - 2.83 0.073 1131.25 -403.0 122.33 - - 2268.56 - - - - - - - - - 15.84 -
21965.20 303.69 8.16 2156 21980.03 done 1.68 - - 2742.12 - 2.62 0.030 2271.19 435.1 122.33 - - 2268.31 - - - - - - - - - 15.99 -
22285.79 278.92 7.75 2214 22290.65 roll 1.69 - - 2742.19 - 2.83 0.072 1131.38 -402.8 122.33 - - 2268.41 - - - - - - - - - 15.81 -
22400.10 269.97 7.74 2237 22405.65 done 1.71 - - 2742.44 - 2.63 0.030 2274.31 434.6 122.33 - - 2268.69 - - - - - - - - - 15.96 -
22710.14 248.81 6.86 2299 22715.72 roll 1.74 - - 2741.50 - 2.81 0.072 1131.25 -406.8 122.33 - - 2268.12 - - - - - - - - - 15.83 -
22770.14 244.40 7.47 2311 22775.68 done 1.76 - - 2742.75 - 2.62 0.030 2273.69 436.0 122.33 - - 2270.03 - - - - - - - - - 15.96 -
23080.17 225.79 5.48 2373 23125.84 1.87 0.25 0.067 2801.06 233.2 - - 2273.75 - 178.24 42.37 1.484 2049.12 -5.2 0.133 - - - - - - 15.92 - 11.00
23430.33 191.22 11.34 2443 23435.79 roll 1.87 - - 2801.25 - 2.85 0.072 1130.75 -401.1 178.24 - - 2043.06 - - - - - - - - - 15.79 -
23470.21 186.48 11.88 2451 23475.76 roll 1.87 - - 2801.44 - 2.63 0.029 2271.00 433.6 178.24 - - 2042.09 - - - - - - - - - 15.84 -
23780.27 151.90 10.99 2513 23785.85 roll 1.87 - - 2801.69 - 2.81 0.072 1129.88 -406.1 178.24 - - 2041.19 - - - - - - - - - 15.80 -
23855.27 143.84 10.77 2528 23860.82 roll 1.87 - - 2801.88 - 2.63 0.029 2271.69 434.1 178.24 - - 2041.78 - - - - - - - - - 15.88 -
24165.33 111.68 10.06 2590 24170.89 done 1.87 - - 2801.69 - 2.72 0.089 3346.62 395.2 178.24 - - 2040.38 - - - - - - - - - 15.80 -
24270.33 99.98 11.42 2611 24275.87 done 1.87 - - 2801.94 - 2.58 0.023 2186.06 -449.8 178.24 - - 2040.47 - - - - - - - - - 15.89 -
24460.35 79.90 9.39 2649 24465.89 done 1.87 - - 2801.94 - 2.58 0.076 1129.81 -409.4 178.24 - - 2039.34 - - - - - - - - - 15.82 -
24636.02 64.30 7.66 2684 24640.98 done 1.89 - - 2802.38 - 2.62 0.028 2273.50 436.5 178.24 - - 2039.41 - - - - - - - - - 15.92 -
24825.42 53.33 5.67 2722 24871.46 done 1.99 - - 2802.19 - 2.69 0.090 3347.06 399.1 230.64 39.64 1.235 1834.25 -5.2 0.038 - - - - - - - 15.77 11.57
24940.43 44.05 10.39 2745 24945.98 roll 1.99 - - 2802.12 - 2.60 0.023 2187.31 -446.1 230.64 - - 1831.03 - - - - - - - - - 15.82 -
25130.51 28.55 6.77 2783 25136.04 roll 2.03 - - 2802.69 - 2.61 0.076 1131.00 -404.7 230.64 - - 1828.31 - - - - - - - - - 15.80 -
25365.59 20.45 1.28 2830 25471.58 2.30 0.53 0.052 2902.00 187.4 2.63 0.027 2276.50 435.6 365.42 99.89 1.189 1286.03 -5.4 0.016 - - - - - - 15.71 15.85 11.77
25653.80 6.23 5.95 2887 25689.43 done 2.39 - - 2902.50 - - - 2276.38 - 412.61 34.92 1.102 1100.34 -5.3 0.005 - - - - - - - - 11.87
25690 end climb: SURFACE_DEPTH_REACHED
25690 begin surface coast
25758 end surface coast: CONTROL_FINISHED_OK
25759 begin surface
SM 2.63 - - - - 181.9 12.47 1.004 1042.1 80.8 17.00 0.049 1014.5 59.7 - 0.12 0.123 1069.7 8914.2 -19.481 - - 12.09 15.61 15.64 -