NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 585 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 191.75 of 550.00 AH used of 24V (65.14% remains)
• Surface angle -62.2 deg, depth 0.51 m • Intended pitch -20.3 deg, speed -8.462 cm/s
VBD pumped to 425.07 (SM_CC=425)
• GPS1 time: 66 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
5.28 - - - 61.88 VBD -1.29 - - 180.50 - - - 2243.50 - -82.73 55.41 0.005 2439.94 - - - - - - - - - - 15.31
62.62 3.12 -6.08 10 100.65 -1.29 14.67 0.241 2016.62 125.2 2.53 0.071 1208.62 -409.0 -82.73 14.75 0.006 3111.56 45.5 -4.003 - - - - - - 15.46 15.22 15.36
187.72 27.20 -14.23 35 193.29 roll -1.29 - - 2016.12 - 2.65 0.029 2350.94 431.1 -82.73 - - 3112.03 - - - - - - - - - 15.74 -
378.15 49.13 -10.75 73 383.53 roll -1.29 - - 2016.44 - 2.69 0.087 3426.38 399.8 -82.73 - - 3112.62 - - - - - - - - - 15.76 -
457.92 58.12 -11.46 89 463.35 roll -1.29 - - 2015.81 - 2.59 0.020 2245.19 -456.1 -82.73 - - 3114.62 - - - - - - - - - 15.80 -
648.26 74.88 -8.46 127 649.59 no move -1.29 - - 2016.50 - - - 2243.56 - -82.73 - - 3111.84 - - - - - - - - - - -
832.92 90.88 -8.42 164 838.52 roll -1.29 - - 2016.75 - 2.94 0.080 3428.38 403.0 -82.73 - - 3113.59 - - - - - - - - - 15.82 -
922.96 99.28 -9.48 182 928.49 roll -1.29 - - 2017.25 - 2.58 0.020 2247.25 -457.8 -82.73 - - 3112.38 - - - - - - - - - 15.86 -
1113.01 115.31 -8.62 220 1118.54 roll -1.29 - - 2017.50 - 2.51 0.064 1207.38 -414.3 -82.73 - - 3113.03 - - - - - - - - - 15.88 -
1183.03 121.34 -8.65 234 1188.58 roll -1.29 - - 2016.62 - 2.61 0.028 2353.94 439.3 -82.73 - - 3114.81 - - - - - - - - - 15.89 -
1493.25 150.14 -8.64 296 1498.70 roll -1.29 - - 2016.88 - 2.77 0.059 1208.44 -413.5 -82.73 - - 3114.31 - - - - - - - - - 15.90 -
1538.14 154.10 -8.85 305 1543.68 roll -1.29 - - 2017.25 - 2.60 0.028 2353.56 440.4 -82.73 - - 3114.12 - - - - - - - - - 15.91 -
1848.43 180.70 -8.61 367 1853.91 roll -1.29 - - 2015.38 - 2.65 0.087 3426.19 404.8 -82.73 - - 3114.50 - - - - - - - - - 15.88 -
1933.27 189.19 -10.10 384 1938.80 roll -1.29 - - 2017.56 - 2.57 0.021 2244.00 -460.0 -82.73 - - 3115.06 - - - - - - - - - 15.93 -
2243.37 217.74 -9.05 446 2244.70 no move -1.29 - - 2017.25 - - - 2242.62 - -82.73 - - 3113.03 - - - - - - - - - - -
2548.63 244.64 -8.31 507 2553.54 roll -1.29 - - 2017.38 - 2.49 0.066 1208.44 -415.3 -82.73 - - 3113.75 - - - - - - - - - 15.93 -
2593.43 248.70 -9.12 516 2598.96 roll -1.29 - - 2017.62 - 2.60 0.029 2353.06 440.2 -82.73 - - 3113.16 - - - - - - - - - 15.96 -
2903.46 276.06 -8.68 578 2904.79 no move -1.29 - - 2017.44 - - - 2353.12 - -82.73 - - 3112.12 - - - - - - - - - - -
3212.86 302.53 -8.44 636 3217.50 roll -1.29 - - 2017.38 - 2.78 0.061 1208.44 -411.8 -82.73 - - 3111.06 - - - - - - - - - 15.94 -
3281.52 308.53 -8.65 645 3286.13 roll -1.29 - - 2017.25 - 2.60 0.029 2352.75 440.1 -82.73 - - 3111.47 - - - - - - - - - 15.98 -
3593.19 333.51 -7.46 674 3597.89 roll -1.29 - - 2016.94 - 2.77 0.061 1210.12 -412.5 -82.73 - - 3111.25 - - - - - - - - - 15.94 -
3724.80 343.82 -7.90 691 3729.41 roll -1.29 - - 2017.44 - 2.60 0.030 2351.88 439.1 -82.73 - - 3115.50 - - - - - - - - - 15.98 -
4036.09 366.33 -7.83 720 4040.73 roll -1.29 - - 2017.44 - 2.78 0.061 1208.75 -411.2 -82.73 - - 3109.66 - - - - - - - - - 15.94 -
4120.99 373.14 -8.04 731 4125.60 roll -1.29 - - 2015.69 - 2.60 0.029 2350.94 439.3 -82.73 - - 3110.31 - - - - - - - - - 15.99 -
4432.27 397.67 -8.04 760 4443.35 no move -1.29 - - 2017.62 - - - 2351.75 - -82.73 - - 3111.00 - - - - - - - - - - -
4744.99 425.40 -8.75 789 4756.06 no move -1.29 - - 2017.75 - - - 2351.62 - -82.73 - - 3110.31 - - - - - - - - - - -
5058.47 452.03 -8.06 818 5063.11 roll -1.29 - - 2017.00 - 2.77 0.062 1208.88 -412.5 -82.73 - - 3108.78 - - - - - - - - - 15.94 -
5144.23 458.93 -8.11 830 5159.16 roll -1.29 - - 2016.94 - 2.61 0.030 2353.19 438.4 -82.73 - - 3109.72 - - - - - - - - - 16.01 -
5460.43 481.92 -7.06 859 5465.07 roll -1.29 - - 2017.50 - 2.78 0.062 1210.19 -411.2 -82.73 - - 3108.34 - - - - - - - - - 15.93 -
5529.10 487.15 -7.58 868 5533.71 roll -1.29 - - 2017.12 - 2.60 0.029 2351.62 439.0 -82.73 - - 3108.28 - - - - - - - - - 15.99 -
5847.11 510.49 -7.59 894 5848.44 no move -1.29 - - 2017.50 - - - 2351.56 - -82.73 - - 3107.25 - - - - - - - - - - -
6162.04 533.81 -7.60 915 6163.37 no move -1.29 - - 2017.44 - - - 2351.81 - -82.73 - - 3106.78 - - - - - - - - - - -
6476.94 559.57 -8.50 936 6481.59 roll -1.29 - - 2016.31 - 2.79 0.063 1208.31 -409.9 -82.73 - - 3108.06 - - - - - - - - - 15.92 -
6520.48 562.86 -8.68 943 6535.42 roll -1.29 - - 2017.00 - 2.61 0.030 2350.44 437.6 -82.73 - - 3107.78 - - - - - - - - - 16.01 -
6849.89 589.83 -7.62 965 6851.22 no move -1.29 - - 2017.06 - - - 2350.62 - -82.73 - - 3106.44 - - - - - - - - - - -
7164.90 611.14 -6.75 986 7169.55 roll -1.29 - - 2017.50 - 2.78 0.063 1209.38 -410.5 -82.73 - - 3108.97 - - - - - - - - - 15.92 -
7270.67 618.33 -7.24 1002 7285.59 roll -1.29 - - 2017.50 - 2.60 0.030 2351.19 439.2 -82.73 - - 3107.00 - - - - - - - - - 16.00 -
7600.07 640.94 -6.84 1024 7604.72 roll -1.29 - - 2017.25 - 2.78 0.063 1210.00 -410.5 -82.73 - - 3104.66 - - - - - - - - - 15.91 -
7659.36 644.99 -6.94 1033 7664.90 roll -1.29 - - 2017.06 - 2.60 0.030 2353.31 439.7 -82.73 - - 3108.25 - - - - - - - - - 16.00 -
7979.37 666.31 -6.48 1055 7984.01 roll -1.29 - - 2017.44 - 2.77 0.063 1210.75 -412.5 -82.73 - - 3106.03 - - - - - - - - - 15.91 -
8100.89 674.71 -7.02 1073 8106.43 roll -1.29 - - 2017.19 - 2.60 0.031 2351.75 438.8 -82.73 - - 3105.28 - - - - - - - - - 16.00 -
8420.49 696.79 -7.15 1095 8421.82 no move -1.29 - - 2017.50 - - - 2352.31 - -82.73 - - 3104.47 - - - - - - - - - - -
8735.52 719.83 -7.67 1116 8740.16 roll -1.29 - - 2017.38 - 2.79 0.064 1209.31 -409.7 -82.73 - - 3106.22 - - - - - - - - - 15.90 -
8820.54 726.14 -7.97 1129 8835.47 roll -1.29 - - 2017.12 - 2.61 0.031 2351.81 437.7 -82.73 - - 3104.44 - - - - - - - - - 16.00 -
9149.95 749.38 -6.70 1151 9151.27 no move -1.29 - - 2017.38 - - - 2352.25 - -82.73 - - 3103.19 - - - - - - - - - - -
9464.95 770.32 -6.57 1172 9469.59 roll -1.29 - - 2015.19 - 2.78 0.064 1208.44 -411.4 -82.73 - - 3104.59 - - - - - - - - - 15.89 -
9524.23 774.42 -6.95 1181 9529.76 roll -1.29 - - 2017.00 - 2.60 0.031 2349.50 438.9 -82.73 - - 3104.56 - - - - - - - - - 16.00 -
9843.63 796.49 -7.06 1203 9848.29 roll -1.29 - - 2017.25 - 2.76 0.064 1209.44 -413.1 -82.73 - - 3103.88 - - - - - - - - - 15.89 -
9928.64 802.34 -7.40 1216 9943.58 roll -1.29 - - 2017.31 - 2.62 0.031 2352.00 436.1 -82.73 - - 3103.00 - - - - - - - - - 16.00 -
10258.06 824.38 -6.60 1238 10262.70 roll -1.29 - - 2017.38 - 2.79 0.064 1208.31 -409.9 -82.73 - - 3103.34 - - - - - - - - - 15.88 -
10378.20 832.87 -7.11 1255 10382.84 roll -1.29 - - 2016.88 - 2.62 0.031 2349.69 435.6 -82.73 - - 3101.97 - - - - - - - - - 15.98 -
10694.87 853.25 -6.22 1277 10696.20 no move -1.29 - - 2017.00 - - - 2350.38 - -82.73 - - 3101.28 - - - - - - - - - - -
11009.81 873.55 -6.72 1298 11011.13 no move -1.29 - - 2016.81 - - - 2350.38 - -82.73 - - 3101.28 - - - - - - - - - - -
11324.73 893.17 -6.22 1319 11326.06 no move -1.29 - - 2017.25 - - - 2349.75 - -82.73 - - 3100.47 - - - - - - - - - - -
11639.72 913.77 -6.67 1340 11641.05 no move -1.29 - - 2016.56 - - - 2350.00 - -82.73 - - 3101.44 - - - - - - - - - - -
11954.75 933.31 -5.94 1361 11956.08 no move -1.29 - - 2016.88 - - - 2350.06 - -82.73 - - 3100.38 - - - - - - - - - - -
12269.77 952.79 -6.11 1382 12274.41 roll -1.29 - - 2017.25 - 2.78 0.065 1211.12 -409.7 -82.73 - - 3101.34 - - - - - - - - - 15.85 -
12375.53 959.15 -6.41 1398 12390.44 roll -1.29 - - 2017.56 - 2.62 0.031 2350.50 434.9 -82.73 - - 3100.78 - - - - - - - - - 16.00 -
12705.10 978.00 -5.63 1420 12706.43 no move -1.29 - - 2017.19 - - - 2350.50 - -82.73 - - 3099.94 - - - - - - - - - - -
12929 end dive: TARGET_DEPTH_EXCEEDED
12929 begin apogee
12931.75 990.25 -5.38 1435 13007.27 -0.28 1.75 0.141 2264.25 141.2 0.22 0.136 2281.31 -314.5 - 61.94 2.463 2774.31 -5.3 0.357 - - - - - - 15.71 15.53 10.40
13008 end apogee: CONTROL_FINISHED_OK
13008 begin climb
13009.31 991.23 - 1440 13096.11 1.29 2.55 0.091 2647.88 150.4 2.80 0.097 3343.25 379.3 82.73 67.61 2.369 2436.28 -5.0 0.354 - - - - - - 15.59 15.20 12.13
13120.18 985.68 5.85 1456 13168.23 done 1.39 - - 2647.94 - 2.65 0.023 2188.25 -435.8 131.65 42.02 2.291 2237.91 -4.7 0.343 - - - - - - - 15.41 12.06
13481.08 955.53 8.29 1484 13482.41 no move 1.39 - - 2647.44 - - - 2187.75 - 131.65 - - 2229.75 - - - - - - - - - - -
13795.92 930.22 8.04 1505 13797.25 VBD 1.39 - - 2648.69 - - - 2187.75 - 131.65 - - 2229.34 - - - - - - - - - - -
14111.11 904.48 8.23 1526 14112.45 VBD 1.39 - - 2648.06 - - - 2187.44 - 131.65 - - 2228.38 - - - - - - - - - - -
14425.97 880.56 7.57 1547 14427.30 VBD 1.41 - - 2647.56 - - - 2187.69 - 131.65 - - 2227.56 - - - - - - - - - - -
14740.98 856.90 7.67 1568 14745.72 1.43 0.17 0.095 2690.88 254.8 2.91 0.090 3346.69 398.3 131.65 - - 2227.78 - - - - - - - - 15.84 15.74 -
14779.54 853.43 8.54 1574 14785.08 done 1.43 - - 2691.31 - 2.60 0.024 2188.19 -445.6 131.65 - - 2229.56 - - - - - - - - - 15.89 -
15098.95 823.68 9.16 1596 15100.28 VBD 1.43 - - 2691.38 - - - 2188.44 - 131.65 - - 2226.41 - - - - - - - - - - -
15413.96 795.37 9.00 1617 15418.59 done 1.43 - - 2690.69 - 2.62 0.079 1132.31 -403.1 131.65 - - 2229.34 - - - - - - - - - 15.85 -
15498.98 787.90 9.42 1630 15514.10 done 1.43 - - 2691.75 - 2.62 0.031 2272.12 435.0 131.65 - - 2228.06 - - - - - - - - - 15.94 -
15828.52 757.09 9.45 1652 15829.86 VBD 1.43 - - 2691.50 - - - 2272.38 - 131.65 - - 2225.22 - - - - - - - - - - -
16143.42 729.25 8.57 1673 16144.75 VBD 1.43 - - 2691.62 - - - 2271.56 - 131.65 - - 2225.50 - - - - - - - - - - -
16458.43 702.77 8.18 1694 16463.10 done 1.43 - - 2691.88 - 2.83 0.074 1132.44 -402.5 131.65 - - 2228.31 - - - - - - - - - 15.86 -
16559.21 694.07 8.76 1709 16564.75 done 1.43 - - 2690.12 - 2.61 0.031 2270.94 436.2 131.65 - - 2225.72 - - - - - - - - - 15.96 -
16878.62 668.50 7.90 1731 16883.27 done 1.44 - - 2691.62 - 2.71 0.093 3345.62 396.6 131.65 - - 2226.12 - - - - - - - - - 15.84 -
16917.17 665.22 8.42 1737 16922.71 done 1.44 - - 2691.69 - 2.59 0.024 2189.56 -446.4 131.65 - - 2226.22 - - - - - - - - - 15.96 -
17236.59 640.61 7.62 1759 17241.23 done 1.45 - - 2691.50 - 2.62 0.078 1131.12 -404.0 131.65 - - 2224.88 - - - - - - - - - 15.86 -
17275.13 637.53 7.99 1765 17280.69 done 1.45 - - 2690.50 - 2.62 0.030 2271.62 435.3 131.65 - - 2225.00 - - - - - - - - - 15.97 -
17594.55 612.29 7.84 1787 17595.88 VBD 1.47 - - 2691.88 - - - 2272.25 - 131.65 - - 2224.91 - - - - - - - - - - -
17909.74 587.69 7.77 1808 17911.07 VBD 1.48 - - 2691.88 - - - 2272.44 - 131.65 - - 2224.00 - - - - - - - - - - -
18224.58 563.19 7.33 1829 18225.92 VBD 1.50 - - 2692.00 - - - 2272.00 - 131.65 - - 2224.31 - - - - - - - - - - -
18539.59 541.57 6.52 1850 18544.44 done 1.54 - - 2691.81 - 2.83 0.074 1131.25 -403.1 131.65 - - 2224.06 - - - - - - - - - 15.86 -
18640.90 533.90 7.70 1865 18646.33 done 1.56 - - 2692.06 - 2.61 0.031 2271.81 437.0 131.65 - - 2225.06 - - - - - - - - - 15.97 -
18960.20 511.08 7.13 1887 18961.53 VBD 1.58 - - 2692.00 - - - 2271.56 - 131.65 - - 2224.19 - - - - - - - - - - -
19271.60 487.51 7.65 1912 19282.78 1.60 0.16 0.088 2731.44 246.5 - - 2271.81 - 131.65 - - 2224.69 - - - - - - - - 15.94 - -
19584.56 459.93 9.45 1941 19595.65 VBD 1.60 - - 2731.50 - - - 2271.62 - 131.65 - - 2225.16 - - - - - - - - - - -
19897.19 431.09 8.79 1970 19908.26 VBD 1.60 - - 2731.94 - - - 2271.62 - 131.65 - - 2225.28 - - - - - - - - - - -
20210.05 405.10 7.91 1999 20214.72 done 1.61 - - 2730.62 - 2.83 0.073 1131.00 -403.0 131.65 - - 2227.91 - - - - - - - - - 15.85 -
20280.05 399.14 8.55 2009 20294.99 done 1.61 - - 2731.62 - 2.61 0.030 2273.31 437.7 131.65 - - 2225.50 - - - - - - - - - 15.98 -
20596.56 373.47 7.96 2038 20601.24 done 1.62 - - 2731.50 - 2.82 0.073 1131.19 -405.0 131.65 - - 2223.75 - - - - - - - - - 15.84 -
20680.96 366.44 8.29 2049 20685.59 done 1.62 - - 2731.12 - 2.61 0.030 2274.44 438.0 131.65 - - 2223.94 - - - - - - - - - 15.97 -
20992.76 343.40 7.59 2078 20997.57 done 1.64 - - 2730.25 - 2.69 0.091 3345.94 398.3 131.65 - - 2224.41 - - - - - - - - - 15.82 -
21157.28 329.58 8.44 2100 21172.09 done 1.64 - - 2732.12 - 2.58 0.023 2188.44 -448.6 131.65 - - 2225.06 - - - - - - - - - 15.97 -
21474.24 306.91 7.25 2129 21478.85 done 1.66 - - 2729.56 - 2.60 0.077 1131.69 -406.4 131.65 - - 2224.50 - - - - - - - - - 15.84 -
21544.61 301.75 7.39 2139 21559.52 done 1.68 - - 2731.88 - 2.61 0.030 2275.00 438.0 131.65 - - 2226.81 - - - - - - - - - 15.97 -
21863.17 279.56 7.23 2199 21864.50 VBD 1.71 - - 2731.56 - - - 2275.12 - 131.65 - - 2224.69 - - - - - - - - - - -
22168.26 256.70 7.27 2260 22169.59 VBD 1.73 - - 2731.69 - - - 2274.88 - 131.65 - - 2223.97 - - - - - - - - - - -
22473.35 235.15 7.07 2321 22478.98 1.76 0.15 0.090 2772.69 273.3 2.81 0.072 1132.44 -406.6 131.65 - - 2227.25 - - - - - - - - 15.91 15.79 -
22583.38 226.10 8.38 2343 22588.92 done 1.76 - - 2772.31 - 2.61 0.030 2275.56 438.0 131.65 - - 2225.69 - - - - - - - - - 15.95 -
22893.62 202.84 7.01 2405 22894.96 VBD 1.79 - - 2772.56 - - - 2275.56 - 131.65 - - 2224.59 - - - - - - - - - - -
23198.46 180.42 8.03 2466 23204.05 done 1.79 - - 2772.56 - 2.82 0.071 1130.12 -406.2 131.65 - - 2225.66 - - - - - - - - - 15.82 -
23354.10 167.31 8.23 2497 23359.03 done 1.79 - - 2772.25 - 2.61 0.029 2276.06 439.1 131.65 - - 2226.12 - - - - - - - - - 15.95 -
23663.55 144.44 7.42 2559 23669.07 done 1.81 - - 2772.50 - 2.69 0.089 3345.38 397.5 131.65 - - 2226.31 - - - - - - - - - 15.80 -
23743.54 137.95 8.21 2575 23749.08 done 1.81 - - 2772.06 - 2.58 0.023 2183.62 -450.3 131.65 - - 2225.78 - - - - - - - - - 15.95 -
24053.59 119.76 5.24 2637 24099.89 1.93 0.15 0.089 2813.19 274.2 - - 2183.94 - 192.11 44.60 1.335 1991.00 -5.3 0.080 - - - - - - 15.92 - 10.86
24403.63 87.59 9.23 2707 24409.40 roll 1.93 - - 2813.38 - 2.93 0.084 3347.25 397.0 192.11 - - 1984.56 - - - - - - - - - 15.79 -
24448.74 83.44 9.33 2716 24454.17 roll 1.93 - - 2813.06 - 2.59 0.022 2183.06 -449.5 192.11 - - 1984.56 - - - - - - - - - 15.84 -
24638.66 70.76 4.94 2754 24695.32 done 2.06 - - 2813.69 - 2.92 0.086 3346.44 398.4 258.24 50.05 1.258 1721.53 -5.3 0.050 - - - - - - - 15.68 11.81
24923.69 47.48 9.08 2811 24929.22 roll 2.06 - - 2813.31 - 2.59 0.023 2187.31 -447.5 258.24 - - 1713.91 - - - - - - - - - 15.77 -
25113.72 34.28 6.25 2849 25150.34 2.15 0.23 0.075 2863.50 218.2 2.89 0.085 3348.00 401.6 299.73 31.59 1.164 1553.41 -5.1 0.025 - - - - - - 15.77 15.68 11.68
25213.71 25.91 9.23 2869 25219.26 roll 2.15 - - 2863.19 - 2.58 0.022 2186.38 -450.2 299.73 - - 1550.94 - - - - - - - - - 15.75 -
25403.76 20.22 2.19 2907 25498.36 2.38 0.27 0.071 2921.31 215.3 2.94 0.084 3347.06 394.8 417.30 88.19 1.168 1074.03 -5.4 0.016 - - - - - - 15.75 15.51 11.81
25625 end climb: SURFACE_DEPTH_REACHED
25625 begin surface coast
25665 end surface coast: CONTROL_FINISHED_OK
25665 begin surface
SM 1.74 - - - - 184.2 7.15 0.845 1042.1 133.4 17.05 0.044 1019.7 59.8 - 2.40 0.023 1064.6 442.4 -3.420 - - 11.87 15.58 15.65 -