NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 584 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 191.36 of 550.00 AH used of 24V (65.21% remains)
• Surface angle -65.6 deg, depth 0.61 m • Intended pitch -20.3 deg, speed -8.462 cm/s
VBD pumped to 424.84 (SM_CC=425)
• GPS1 time: 95 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
5.28 - - - 61.88 VBD -1.29 - - 182.94 - - - 2363.75 - -82.73 55.41 0.005 2481.78 - - - - - - - - - - 15.29
62.61 3.68 -7.06 10 100.70 -1.29 14.78 0.247 2016.06 124.0 2.84 0.065 1208.38 -406.8 -82.73 13.15 0.007 3112.03 47.9 -4.236 - - - - - - 15.47 15.23 15.36
133.14 20.65 -21.81 24 138.32 roll -1.29 - - 2016.38 - 2.65 0.029 2350.50 431.0 -82.73 - - 3113.00 - - - - - - - - - 15.74 -
323.22 48.38 -11.36 62 328.60 roll -1.29 - - 2015.25 - 2.80 0.060 1208.56 -407.8 -82.73 - - 3114.84 - - - - - - - - - 15.79 -
372.98 53.98 -10.96 72 378.42 roll -1.29 - - 2016.12 - 2.63 0.028 2352.00 434.8 -82.73 - - 3114.59 - - - - - - - - - 15.80 -
563.33 71.50 -8.80 110 568.50 roll -1.29 - - 2016.38 - 2.79 0.059 1208.44 -409.9 -82.73 - - 3114.56 - - - - - - - - - 15.83 -
612.95 76.24 -9.61 120 618.51 roll -1.29 - - 2016.75 - 2.62 0.028 2353.62 437.1 -82.73 - - 3113.66 - - - - - - - - - 15.84 -
803.40 92.45 -8.20 158 808.57 roll -1.29 - - 2016.31 - 2.77 0.059 1208.56 -413.4 -82.73 - - 3115.38 - - - - - - - - - 15.86 -
848.02 96.46 -8.99 167 853.55 roll -1.29 - - 2016.75 - 2.60 0.028 2355.75 441.2 -82.73 - - 3113.88 - - - - - - - - - 15.86 -
1038.08 111.63 -7.52 205 1039.41 no move -1.29 - - 2016.75 - - - 2356.12 - -82.73 - - 3113.44 - - - - - - - - - - -
1343.19 134.31 -7.22 266 1344.52 no move -1.29 - - 2016.50 - - - 2356.06 - -82.73 - - 3113.69 - - - - - - - - - - -
1648.29 158.84 -8.51 327 1653.84 roll -1.29 - - 2016.69 - 2.78 0.060 1208.75 -412.7 -82.73 - - 3114.12 - - - - - - - - - 15.92 -
1763.33 169.52 -9.39 350 1769.04 roll -1.29 - - 2016.50 - 2.60 0.029 2354.62 440.7 -82.73 - - 3115.41 - - - - - - - - - 15.93 -
2073.40 196.90 -8.40 412 2074.73 no move -1.29 - - 2016.44 - - - 2355.06 - -82.73 - - 3114.41 - - - - - - - - - - -
2378.43 222.29 -8.55 473 2384.00 roll -1.29 - - 2016.44 - 2.78 0.061 1208.81 -412.3 -82.73 - - 3114.84 - - - - - - - - - 15.93 -
2433.44 227.30 -9.20 484 2438.98 roll -1.29 - - 2016.75 - 2.60 0.029 2353.00 440.1 -82.73 - - 3115.31 - - - - - - - - - 15.96 -
2743.48 254.21 -8.69 546 2744.81 no move -1.29 - - 2016.75 - - - 2353.06 - -82.73 - - 3113.12 - - - - - - - - - - -
3048.51 280.68 -8.25 607 3054.06 roll -1.29 - - 2016.62 - 2.78 0.062 1209.56 -411.3 -82.73 - - 3114.81 - - - - - - - - - 15.94 -
3108.51 285.58 -8.19 619 3114.04 roll -1.29 - - 2016.94 - 2.60 0.029 2352.62 439.6 -82.73 - - 3114.47 - - - - - - - - - 15.97 -
3420.45 311.94 -8.76 666 3425.10 roll -1.29 - - 2017.25 - 2.77 0.062 1208.38 -413.1 -82.73 - - 3111.28 - - - - - - - - - 15.94 -
3473.38 316.80 -9.09 673 3478.18 roll -1.29 - - 2016.62 - 2.60 0.030 2352.19 439.9 -82.73 - - 3114.56 - - - - - - - - - 15.98 -
3784.83 340.40 -6.84 702 3795.91 no move -1.29 - - 2017.06 - - - 2352.56 - -82.73 - - 3113.00 - - - - - - - - - - -
4097.88 362.02 -7.50 731 4102.52 roll -1.29 - - 2016.94 - 2.77 0.063 1209.62 -412.6 -82.73 - - 3111.28 - - - - - - - - - 15.95 -
4167.90 367.60 -8.02 741 4182.81 roll -1.29 - - 2017.25 - 2.60 0.030 2352.88 439.7 -82.73 - - 3113.78 - - - - - - - - - 16.01 -
4484.23 393.78 -8.61 770 4495.30 no move -1.29 - - 2017.25 - - - 2353.38 - -82.73 - - 3111.62 - - - - - - - - - - -
4797.04 420.64 -8.07 799 4801.56 roll -1.29 - - 2016.88 - 2.77 0.063 1209.81 -412.8 -82.73 - - 3111.22 - - - - - - - - - 15.94 -
4914.28 430.16 -8.19 815 4929.20 roll -1.29 - - 2017.31 - 2.59 0.030 2351.56 440.8 -82.73 - - 3110.53 - - - - - - - - - 16.00 -
5230.44 453.86 -7.32 844 5241.51 no move -1.29 - - 2017.19 - - - 2351.62 - -82.73 - - 3110.50 - - - - - - - - - - -
5543.48 477.12 -7.84 873 5554.56 no move -1.29 - - 2017.44 - - - 2351.56 - -82.73 - - 3110.00 - - - - - - - - - - -
5864.73 503.40 -8.44 902 5869.37 roll -1.29 - - 2017.25 - 2.77 0.064 1209.75 -412.2 -82.73 - - 3107.81 - - - - - - - - - 15.93 -
5943.40 510.36 -8.76 913 5948.01 roll -1.29 - - 2016.88 - 2.59 0.030 2352.31 441.1 -82.73 - - 3108.62 - - - - - - - - - 16.00 -
6260.06 535.91 -7.84 935 6261.38 no move -1.29 - - 2017.19 - - - 2352.12 - -82.73 - - 3107.56 - - - - - - - - - - -
6575.08 559.76 -7.31 956 6579.73 roll -1.29 - - 2016.75 - 2.77 0.064 1210.75 -412.0 -82.73 - - 3107.56 - - - - - - - - - 15.93 -
6618.62 562.50 -7.30 963 6633.53 roll -1.29 - - 2017.19 - 2.60 0.031 2351.25 438.7 -82.73 - - 3108.03 - - - - - - - - - 16.01 -
6948.03 585.92 -6.82 985 6952.67 roll -1.29 - - 2017.31 - 2.77 0.064 1208.69 -412.5 -82.73 - - 3109.59 - - - - - - - - - 15.92 -
7007.31 589.93 -6.87 994 7012.85 roll -1.29 - - 2017.00 - 2.60 0.031 2352.31 439.9 -82.73 - - 3107.34 - - - - - - - - - 16.01 -
7326.72 610.18 -6.22 1016 7328.05 no move -1.29 - - 2017.56 - - - 2351.88 - -82.73 - - 3105.94 - - - - - - - - - - -
7641.73 629.11 -5.87 1037 7646.38 roll -1.29 - - 2017.06 - 2.78 0.064 1208.62 -411.2 -82.73 - - 3105.91 - - - - - - - - - 15.92 -
7706.03 633.03 -6.59 1047 7720.95 roll -1.29 - - 2017.19 - 2.60 0.031 2351.81 439.7 -82.73 - - 3107.31 - - - - - - - - - 16.00 -
8035.43 655.10 -6.64 1069 8036.76 no move -1.29 - - 2017.12 - - - 2351.94 - -82.73 - - 3105.41 - - - - - - - - - - -
8350.56 676.51 -6.76 1090 8351.89 no move -1.29 - - 2016.88 - - - 2352.00 - -82.73 - - 3105.38 - - - - - - - - - - -
8665.46 698.34 -7.06 1111 8666.78 no move -1.29 - - 2016.69 - - - 2352.38 - -82.73 - - 3104.19 - - - - - - - - - - -
8980.47 720.39 -6.92 1132 8985.11 roll -1.29 - - 2016.38 - 2.77 0.065 1209.44 -412.6 -82.73 - - 3106.56 - - - - - - - - - 15.90 -
9044.76 724.51 -7.05 1142 9059.89 roll -1.29 - - 2017.12 - 2.61 0.031 2350.94 437.4 -82.73 - - 3105.06 - - - - - - - - - 16.01 -
9374.30 746.90 -6.65 1164 9375.62 no move -1.29 - - 2017.31 - - - 2350.56 - -82.73 - - 3103.62 - - - - - - - - - - -
9689.22 767.58 -6.25 1185 9693.87 roll -1.29 - - 2017.25 - 2.77 0.065 1208.44 -412.3 -82.73 - - 3103.31 - - - - - - - - - 15.89 -
9810.69 775.75 -6.84 1203 9816.25 roll -1.29 - - 2017.00 - 2.61 0.032 2352.19 438.2 -82.73 - - 3105.62 - - - - - - - - - 16.00 -
10130.10 797.04 -6.74 1225 10134.72 roll -1.29 - - 2016.75 - 2.70 0.095 3426.69 398.0 -82.73 - - 3103.38 - - - - - - - - - 15.84 -
10215.10 802.99 -7.46 1238 10230.02 roll -1.29 - - 2017.00 - 2.57 0.022 2247.38 -458.9 -82.73 - - 3104.41 - - - - - - - - - 16.00 -
10544.50 826.52 -7.06 1260 10545.83 no move -1.29 - - 2017.25 - - - 2247.56 - -82.73 - - 3102.94 - - - - - - - - - - -
10859.52 849.03 -7.08 1281 10864.20 roll -1.29 - - 2015.94 - 2.96 0.090 3425.88 398.1 -82.73 - - 3105.06 - - - - - - - - - 15.82 -
10918.80 853.49 -7.55 1290 10924.34 roll -1.29 - - 2016.38 - 2.57 0.022 2247.44 -458.5 -82.73 - - 3104.91 - - - - - - - - - 15.99 -
11238.23 875.56 -6.81 1312 11242.83 roll -1.29 - - 2016.88 - 2.53 0.071 1209.56 -410.2 -82.73 - - 3102.12 - - - - - - - - - 15.87 -
11297.50 879.76 -7.12 1321 11303.25 roll -1.29 - - 2017.62 - 2.61 0.031 2352.88 438.1 -82.73 - - 3102.56 - - - - - - - - - 16.00 -
11617.11 900.03 -5.81 1343 11621.75 roll -1.29 - - 2015.19 - 2.79 0.066 1209.69 -409.7 -82.73 - - 3101.78 - - - - - - - - - 15.87 -
11676.40 903.46 -5.84 1352 11681.94 roll -1.29 - - 2017.56 - 2.62 0.031 2350.75 435.5 -82.73 - - 3102.56 - - - - - - - - - 16.00 -
11995.81 920.71 -5.57 1374 11997.14 no move -1.29 - - 2017.12 - - - 2350.75 - -82.73 - - 3100.94 - - - - - - - - - - -
12310.83 939.31 -6.02 1395 12312.16 no move -1.29 - - 2016.81 - - - 2351.00 - -82.73 - - 3102.03 - - - - - - - - - - -
12625.85 958.94 -6.40 1416 12630.49 roll -1.29 - - 2016.88 - 2.80 0.066 1209.56 -407.7 -82.73 - - 3101.06 - - - - - - - - - 15.85 -
12705.10 964.34 -6.80 1427 12709.73 roll -1.29 - - 2017.12 - 2.62 0.031 2349.75 435.2 -82.73 - - 3102.72 - - - - - - - - - 15.98 -
13021.57 985.13 -6.62 1449 13026.21 roll -1.29 - - 2017.38 - 2.78 0.066 1209.62 -410.1 -82.73 - - 3103.03 - - - - - - - - - 15.85 -
13099 end dive: TARGET_DEPTH_EXCEEDED
13100 begin apogee
13103.94 990.63 -6.95 1460 13177.76 -0.28 1.77 0.144 2264.25 139.5 0.12 0.199 2168.88 7993.8 - 62.33 2.453 2774.00 -5.3 0.358 - - - - - - 15.69 15.54 10.52
13179 end apogee: CONTROL_FINISHED_OK
13179 begin climb
13180.00 992.56 - 1465 13254.10 1.29 2.59 0.091 2648.62 148.4 - - 2168.88 - 82.73 67.79 2.359 2437.22 -5.0 0.351 - - - - - - 15.59 - 12.19
13566.50 969.41 7.02 1491 13571.13 roll 1.32 - - 2648.12 - 2.62 0.078 1131.50 -395.9 82.73 - - 2431.41 - - - - - - - - - 15.64 -
13651.53 963.58 7.36 1504 13666.46 roll 1.35 - - 2649.25 - 2.65 0.031 2269.88 429.6 82.73 - - 2430.47 - - - - - - - - - 15.70 -
13981.10 942.96 5.80 1526 14026.79 1.44 0.19 0.086 2693.00 230.3 - - 2270.00 - 132.56 41.19 2.284 2233.66 -4.8 0.332 - - - - - - 15.75 - 11.51
14340.94 912.54 8.93 1550 14342.27 no move 1.44 - - 2693.25 - - - 2270.38 - 132.56 - - 2227.81 - - - - - - - - - - -
14655.96 885.40 8.79 1571 14657.29 no move 1.44 - - 2692.69 - - - 2270.38 - 132.56 - - 2226.91 - - - - - - - - - - -
14970.98 854.48 10.33 1592 14975.64 roll 1.44 - - 2692.88 - 2.83 0.075 1130.50 -402.8 132.56 - - 2227.19 - - - - - - - - - 15.81 -
15030.25 848.01 10.96 1601 15035.80 roll 1.44 - - 2693.38 - 2.63 0.031 2268.50 432.7 132.56 - - 2228.47 - - - - - - - - - 15.86 -
15349.66 813.80 10.62 1623 15354.49 done 1.44 - - 2692.44 - 2.72 0.095 3344.06 395.4 132.56 - - 2224.97 - - - - - - - - - 15.81 -
15409.10 807.03 11.41 1632 15414.47 roll 1.44 - - 2693.31 - 2.60 0.024 2188.31 -444.5 132.56 - - 2226.47 - - - - - - - - - 15.88 -
15728.35 772.88 10.14 1654 15729.69 VBD 1.44 - - 2692.06 - - - 2188.06 - 132.56 - - 2225.25 - - - - - - - - - - -
16043.38 742.46 9.57 1675 16048.01 done 1.44 - - 2691.31 - 2.61 0.079 1131.12 -405.0 132.56 - - 2225.28 - - - - - - - - - 15.85 -
16122.07 734.69 9.83 1686 16126.71 done 1.44 - - 2692.88 - 2.62 0.031 2272.00 435.5 132.56 - - 2225.66 - - - - - - - - - 15.93 -
16438.54 706.24 8.85 1708 16443.21 done 1.44 - - 2692.62 - 2.84 0.074 1132.25 -401.3 132.56 - - 2227.00 - - - - - - - - - 15.86 -
16497.83 700.73 9.33 1717 16503.39 done 1.44 - - 2692.62 - 2.62 0.031 2272.38 435.2 132.56 - - 2225.72 - - - - - - - - - 15.94 -
16817.26 671.73 8.96 1739 16818.59 VBD 1.44 - - 2693.00 - - - 2272.00 - 132.56 - - 2224.66 - - - - - - - - - - -
17132.29 644.32 8.96 1760 17133.63 VBD 1.44 - - 2693.12 - - - 2272.38 - 132.56 - - 2223.88 - - - - - - - - - - -
17447.33 615.11 9.26 1781 17452.00 done 1.44 - - 2693.00 - 2.82 0.074 1131.38 -404.6 132.56 - - 2223.41 - - - - - - - - - 15.86 -
17505.49 609.48 9.55 1789 17510.12 done 1.44 - - 2693.38 - 2.62 0.031 2273.31 435.9 132.56 - - 2223.50 - - - - - - - - - 15.96 -
17821.97 583.91 7.28 1811 17823.31 VBD 1.47 - - 2692.94 - - - 2272.94 - 132.56 - - 2223.28 - - - - - - - - - - -
18137.17 560.45 7.78 1832 18138.50 VBD 1.48 - - 2692.62 - - - 2273.44 - 132.56 - - 2223.38 - - - - - - - - - - -
18452.12 536.75 7.50 1853 18456.78 done 1.50 - - 2692.81 - 2.82 0.074 1131.00 -405.1 132.56 - - 2225.72 - - - - - - - - - 15.86 -
18530.80 530.70 7.63 1864 18535.44 done 1.52 - - 2692.94 - 2.61 0.031 2274.00 437.9 132.56 - - 2225.22 - - - - - - - - - 15.96 -
18847.29 505.91 8.44 1886 18851.93 done 1.52 - - 2693.75 - 2.69 0.094 3342.19 397.1 132.56 - - 2223.31 - - - - - - - - - 15.83 -
18906.58 500.36 9.35 1895 18912.12 done 1.52 - - 2693.38 - 2.57 0.024 2187.31 -449.4 132.56 - - 2227.03 - - - - - - - - - 15.97 -
19215.74 474.06 8.15 1924 19220.35 done 1.52 - - 2693.50 - 2.60 0.078 1132.50 -405.7 132.56 - - 2227.12 - - - - - - - - - 15.85 -
19333.17 463.85 8.94 1940 19348.10 done 1.52 - - 2692.75 - 2.62 0.031 2273.50 435.5 132.56 - - 2225.56 - - - - - - - - - 15.97 -
19649.64 438.73 7.31 1969 19654.27 done 1.54 - - 2692.94 - 2.68 0.093 3343.00 399.1 132.56 - - 2224.19 - - - - - - - - - 15.82 -
19718.30 433.07 8.07 1978 19722.92 done 1.54 - - 2693.69 - 2.59 0.024 2186.19 -446.6 132.56 - - 2223.72 - - - - - - - - - 15.97 -
20030.35 410.45 7.00 2007 20041.42 VBD 1.57 - - 2692.50 - - - 2185.88 - 132.56 - - 2224.59 - - - - - - - - - - -
20343.09 390.04 6.71 2036 20347.79 1.61 0.16 0.094 2728.94 227.8 2.62 0.078 1132.94 -401.9 132.56 - - 2222.72 - - - - - - - - 15.93 15.78 -
20458.97 381.02 7.86 2051 20463.61 done 1.62 - - 2730.25 - 2.61 0.031 2274.12 437.2 132.56 - - 2224.16 - - - - - - - - - 15.97 -
20770.86 356.17 8.39 2080 20781.93 VBD 1.62 - - 2729.81 - - - 2274.00 - 132.56 - - 2224.44 - - - - - - - - - - -
21083.47 331.08 7.79 2109 21094.56 VBD 1.63 - - 2730.25 - - - 2274.06 - 132.56 - - 2224.53 - - - - - - - - - - -
21396.10 308.63 7.14 2138 21407.40 VBD 1.66 - - 2730.25 - - - 2274.56 - 132.56 - - 2224.66 - - - - - - - - - - -
21708.32 287.55 6.58 2186 21709.65 VBD 1.69 - - 2729.69 - - - 2274.44 - 132.56 - - 2223.47 - - - - - - - - - - -
22013.41 265.58 7.40 2247 22014.74 VBD 1.72 - - 2729.94 - - - 2274.06 - 132.56 - - 2223.78 - - - - - - - - - - -
22318.43 240.90 8.24 2308 22324.01 done 1.72 - - 2730.19 - 2.84 0.073 1129.00 -403.2 132.56 - - 2225.06 - - - - - - - - - 15.83 -
22373.43 236.05 8.97 2319 22378.99 done 1.72 - - 2730.00 - 2.62 0.030 2275.19 437.5 132.56 - - 2225.44 - - - - - - - - - 15.96 -
22683.59 211.98 7.33 2381 22689.05 done 1.74 - - 2730.50 - 2.83 0.072 1131.06 -404.3 132.56 - - 2226.16 - - - - - - - - - 15.83 -
22823.88 201.52 7.26 2409 22829.09 1.76 0.17 0.092 2770.75 236.8 2.62 0.029 2274.56 436.5 132.56 - - 2225.06 - - - - - - - - 15.72 15.95 -
23133.70 179.59 6.62 2471 23135.04 VBD 1.80 - - 2770.38 - - - 2274.75 - 132.56 - - 2224.38 - - - - - - - - - - -
23438.56 160.34 6.66 2532 23444.11 done 1.84 - - 2771.19 - 2.70 0.090 3347.44 397.3 132.56 - - 2225.44 - - - - - - - - - 15.80 -
23603.95 146.01 9.62 2565 23609.11 done 1.84 - - 2771.19 - 2.59 0.023 2186.56 -448.2 132.56 - - 2225.00 - - - - - - - - - 15.94 -
23913.61 119.52 8.64 2627 23919.15 done 1.84 - - 2771.25 - 2.60 0.076 1130.50 -406.2 132.56 - - 2225.06 - - - - - - - - - 15.83 -
24133.83 101.89 7.08 2671 24139.25 done 1.86 - - 2771.50 - 2.61 0.029 2276.00 438.9 132.56 - - 2227.03 - - - - - - - - - 15.95 -
24443.69 85.64 4.41 2733 24501.22 2.02 0.29 0.069 2832.38 209.9 - - 2276.44 - 208.56 56.03 1.298 1924.66 -5.4 0.060 - - - - - - 15.92 - 10.89
24683.70 66.09 8.09 2781 24689.26 roll 2.02 - - 2832.62 - 2.69 0.089 3346.44 397.8 208.56 - - 1917.47 - - - - - - - - - 15.76 -
24818.72 53.86 9.39 2808 24824.25 roll 2.02 - - 2833.00 - 2.60 0.023 2187.75 -445.7 208.56 - - 1917.31 - - - - - - - - - 15.82 -
25008.76 39.72 7.39 2846 25014.34 done 2.04 - - 2832.94 - 2.91 0.083 3345.81 398.0 208.56 - - 1915.97 - - - - - - - - - 15.78 -
25073.77 34.93 7.31 2859 25079.29 done 2.06 - - 2832.75 - 2.59 0.022 2184.50 -448.4 208.56 - - 1915.16 - - - - - - - - - 15.85 -
25263.83 28.00 2.63 2897 25351.75 2.28 0.31 0.067 2894.81 200.2 2.93 0.084 3346.12 396.5 317.95 80.48 1.199 1478.91 -5.4 0.021 - - - - - - 15.83 15.61 11.65
25579.20 11.41 3.29 2960 25657.11 2.47 0.22 0.077 2942.50 216.8 2.61 0.022 2181.44 -446.2 414.92 72.37 1.143 1083.94 -5.5 0.009 - - - - - - 15.63 15.72 11.79
25708 end climb: SURFACE_DEPTH_REACHED
25709 begin surface coast
25759 end surface coast: CONTROL_FINISHED_OK
25759 begin surface
SM 2.41 - - - - 182.0 8.97 0.918 1043.1 108.2 17.53 0.062 1016.1 58.0 - 0.36 0.064 1070.1 2965.2 -11.412 - - 12.02 15.59 15.61 -