NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 586 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 192.15 of 550.00 AH used of 24V (65.06% remains)
• Surface angle -65.7 deg, depth 0.55 m • Intended pitch -20.3 deg, speed -8.462 cm/s
VBD pumped to 424.98 (SM_CC=425)
• GPS1 time: 56 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 - - 180.69 - - - 2359.81 - -82.73 55.42 0.005 2452.81 - - - - - - - - - - 15.32
62.61 3.35 -6.97 10 96.85 -1.29 14.82 0.250 2016.06 123.8 - - 2359.88 - -82.73 14.22 0.006 3109.38 46.2 -4.334 - - - - - - 15.46 - 15.38
279.16 40.12 -13.10 53 284.53 roll -1.29 - - 2016.12 - 2.69 0.085 3427.12 396.7 -82.73 - - 3112.22 - - - - - - - - - 15.74 -
394.02 56.14 -13.91 76 399.55 roll -1.29 - - 2016.31 - 2.58 0.020 2246.62 -457.6 -82.73 - - 3111.69 - - - - - - - - - 15.79 -
584.72 77.75 -11.08 114 589.68 roll -1.29 - - 2016.19 - 2.95 0.080 3426.44 399.9 -82.73 - - 3113.81 - - - - - - - - - 15.79 -
664.11 86.22 -10.35 130 669.64 roll -1.29 - - 2014.94 - 2.58 0.020 2245.38 -457.8 -82.73 - - 3112.47 - - - - - - - - - 15.84 -
854.57 104.13 -8.68 168 859.29 roll -1.29 - - 2015.88 - 2.49 0.065 1208.38 -416.5 -82.73 - - 3115.62 - - - - - - - - - 15.86 -
984.23 115.82 -8.88 194 989.77 roll -1.29 - - 2016.19 - 2.62 0.028 2355.06 437.7 -82.73 - - 3112.78 - - - - - - - - - 15.87 -
1294.33 141.82 -8.89 256 1299.88 roll -1.29 - - 2015.94 - 2.66 0.086 3425.19 402.3 -82.73 - - 3113.09 - - - - - - - - - 15.86 -
1384.36 150.41 -9.46 274 1389.88 roll -1.29 - - 2015.94 - 2.56 0.020 2242.81 -461.9 -82.73 - - 3113.94 - - - - - - - - - 15.90 -
1694.43 176.06 -8.93 336 1700.02 roll -1.29 - - 2016.12 - 2.95 0.082 3427.44 401.6 -82.73 - - 3112.91 - - - - - - - - - 15.87 -
1754.43 182.09 -10.21 348 1760.15 roll -1.29 - - 2016.19 - 2.56 0.021 2245.81 -461.6 -82.73 - - 3113.25 - - - - - - - - - 15.92 -
2064.48 208.45 -8.61 410 2069.59 roll -1.29 - - 2016.38 - 2.49 0.066 1207.88 -416.8 -82.73 - - 3112.34 - - - - - - - - - 15.92 -
2119.48 213.44 -9.12 421 2125.03 roll -1.29 - - 2016.12 - 2.62 0.028 2353.25 437.2 -82.73 - - 3113.00 - - - - - - - - - 15.94 -
2429.52 239.63 -8.53 483 2430.85 no move -1.29 - - 2015.69 - - - 2354.06 - -82.73 - - 3112.34 - - - - - - - - - - -
2734.55 265.48 -8.41 544 2740.11 roll -1.29 - - 2016.31 - 2.75 0.061 1209.75 -416.1 -82.73 - - 3113.41 - - - - - - - - - 15.92 -
2864.58 276.51 -8.44 570 2870.11 roll -1.29 - - 2016.06 - 2.61 0.029 2353.69 438.3 -82.73 - - 3111.62 - - - - - - - - - 15.96 -
3188.97 302.61 -8.04 631 3200.04 no move -1.29 - - 2016.56 - - - 2353.00 - -82.73 - - 3110.91 - - - - - - - - - - -
3501.87 328.13 -8.32 660 3506.51 roll -1.29 - - 2014.38 - 2.75 0.062 1208.62 -416.1 -82.73 - - 3110.75 - - - - - - - - - 15.94 -
3571.89 334.30 -8.87 670 3586.99 roll -1.29 - - 2016.25 - 2.60 0.029 2351.00 439.4 -82.73 - - 3111.53 - - - - - - - - - 15.99 -
3888.79 360.09 -7.91 699 3899.86 no move -1.29 - - 2016.50 - - - 2351.94 - -82.73 - - 3110.19 - - - - - - - - - - -
4201.93 384.64 -7.69 728 4206.58 roll -1.29 - - 2015.81 - 2.76 0.062 1209.88 -413.8 -82.73 - - 3108.09 - - - - - - - - - 15.94 -
4270.60 390.16 -7.92 737 4275.21 roll -1.29 - - 2015.06 - 2.60 0.029 2351.69 439.2 -82.73 - - 3109.53 - - - - - - - - - 15.99 -
4581.86 412.42 -6.50 766 4592.94 no move -1.29 - - 2016.19 - - - 2351.81 - -82.73 - - 3108.94 - - - - - - - - - - -
4894.57 433.19 -7.05 795 4899.22 roll -1.29 - - 2016.00 - 2.76 0.063 1208.75 -414.2 -82.73 - - 3106.91 - - - - - - - - - 15.94 -
4948.25 437.21 -7.37 802 4952.93 roll -1.29 - - 2015.56 - 2.61 0.030 2352.19 438.1 -82.73 - - 3109.34 - - - - - - - - - 16.00 -
5259.90 461.62 -8.21 831 5270.96 no move -1.29 - - 2016.81 - - - 2352.00 - -82.73 - - 3107.91 - - - - - - - - - - -
5572.58 487.55 -8.22 860 5577.23 roll -1.29 - - 2016.19 - 2.77 0.063 1209.38 -412.5 -82.73 - - 3106.53 - - - - - - - - - 15.93 -
5642.59 493.53 -8.61 870 5657.52 roll -1.29 - - 2016.12 - 2.61 0.030 2352.31 437.9 -82.73 - - 3107.47 - - - - - - - - - 16.00 -
5962.98 520.19 -8.39 893 5964.31 no move -1.29 - - 2016.44 - - - 2352.62 - -82.73 - - 3106.41 - - - - - - - - - - -
6278.00 546.29 -8.17 914 6279.33 no move -1.29 - - 2016.06 - - - 2352.06 - -82.73 - - 3105.28 - - - - - - - - - - -
6593.19 571.14 -7.70 935 6597.89 roll -1.29 - - 2015.75 - 2.77 0.064 1209.56 -412.5 -82.73 - - 3104.38 - - - - - - - - - 15.92 -
6693.94 579.30 -8.21 950 6699.48 roll -1.29 - - 2016.06 - 2.61 0.030 2350.44 437.1 -82.73 - - 3105.78 - - - - - - - - - 16.00 -
7013.36 604.35 -7.52 972 7018.00 roll -1.29 - - 2016.19 - 2.79 0.064 1211.00 -408.4 -82.73 - - 3105.94 - - - - - - - - - 15.92 -
7050.54 607.26 -7.65 977 7055.17 roll -1.29 - - 2016.00 - 2.61 0.030 2351.81 437.1 -82.73 - - 3103.69 - - - - - - - - - 15.99 -
7367.01 630.55 -7.31 999 7368.34 no move -1.29 - - 2016.19 - - - 2351.12 - -82.73 - - 3103.94 - - - - - - - - - - -
7682.14 653.13 -7.04 1020 7686.78 roll -1.29 - - 2015.56 - 2.79 0.064 1209.62 -409.1 -82.73 - - 3105.19 - - - - - - - - - 15.91 -
7762.16 658.87 -7.26 1032 7767.72 roll -1.29 - - 2016.25 - 2.61 0.030 2350.00 436.9 -82.73 - - 3104.06 - - - - - - - - - 16.01 -
8081.57 681.00 -6.89 1054 8082.90 no move -1.29 - - 2016.38 - - - 2349.81 - -82.73 - - 3102.12 - - - - - - - - - - -
8396.58 702.33 -6.56 1075 8397.91 no move -1.29 - - 2016.25 - - - 2350.12 - -82.73 - - 3102.16 - - - - - - - - - - -
8711.59 724.01 -7.04 1096 8716.24 roll -1.29 - - 2016.00 - 2.79 0.064 1209.62 -408.8 -82.73 - - 3102.19 - - - - - - - - - 15.89 -
8769.53 728.42 -7.46 1104 8774.16 roll -1.29 - - 2016.12 - 2.62 0.031 2352.38 436.2 -82.73 - - 3101.94 - - - - - - - - - 16.00 -
9086.17 752.62 -7.91 1126 9087.50 no move -1.29 - - 2016.56 - - - 2352.50 - -82.73 - - 3101.78 - - - - - - - - - - -
9401.19 776.79 -7.78 1147 9405.84 roll -1.29 - - 2016.19 - 2.80 0.065 1210.88 -407.7 -82.73 - - 3100.78 - - - - - - - - - 15.89 -
9465.46 781.47 -7.99 1157 9480.40 roll -1.29 - - 2016.44 - 2.62 0.031 2350.25 434.9 -82.73 - - 3103.00 - - - - - - - - - 16.00 -
9794.86 804.93 -6.66 1179 9796.19 no move -1.29 - - 2015.94 - - - 2350.38 - -82.73 - - 3101.38 - - - - - - - - - - -
10109.90 825.49 -6.40 1200 10111.23 no move -1.29 - - 2016.19 - - - 2350.25 - -82.73 - - 3100.44 - - - - - - - - - - -
10424.92 845.34 -6.30 1221 10429.79 roll -1.29 - - 2015.94 - 2.80 0.065 1210.31 -407.1 -82.73 - - 3099.56 - - - - - - - - - 15.88 -
10463.47 847.79 -6.45 1227 10469.01 roll -1.29 - - 2016.00 - 2.62 0.031 2350.38 435.1 -82.73 - - 3101.66 - - - - - - - - - 15.99 -
10782.86 868.93 -6.96 1249 10784.19 no move -1.29 - - 2016.19 - - - 2350.75 - -82.73 - - 3099.22 - - - - - - - - - - -
11097.88 891.77 -7.32 1270 11102.52 roll -1.29 - - 2015.81 - 2.79 0.065 1210.69 -408.6 -82.73 - - 3099.50 - - - - - - - - - 15.87 -
11177.88 898.06 -7.92 1282 11183.43 roll -1.29 - - 2016.00 - 2.63 0.031 2350.69 433.5 -82.73 - - 3100.59 - - - - - - - - - 16.00 -
11497.31 922.06 -7.20 1304 11498.64 no move -1.29 - - 2016.19 - - - 2351.75 - -82.73 - - 3098.72 - - - - - - - - - - -
11812.36 943.13 -6.40 1325 11817.01 roll -1.29 - - 2015.50 - 2.73 0.095 3426.50 393.7 -82.73 - - 3099.56 - - - - - - - - - 15.80 -
11871.81 947.29 -6.98 1334 11877.22 roll -1.29 - - 2015.75 - 2.58 0.022 2248.81 -456.5 -82.73 - - 3099.16 - - - - - - - - - 15.99 -
12191.22 966.20 -5.61 1356 12192.55 no move -1.29 - - 2015.81 - - - 2247.88 - -82.73 - - 3098.19 - - - - - - - - - - -
12506.07 983.65 -5.39 1377 12507.40 no move -1.29 - - 2015.44 - - - 2248.50 - -82.73 - - 3098.03 - - - - - - - - - - -
12625 end dive: TARGET_DEPTH_EXCEEDED
12625 begin apogee
12627.86 990.67 -5.93 1385 12703.41 -0.28 1.75 0.142 2263.50 141.7 0.14 0.188 2287.06 275.4 - 61.83 2.448 2776.47 -5.2 0.354 - - - - - - 15.71 15.52 10.44
12704 end apogee: CONTROL_FINISHED_OK
12704 begin climb
12705.45 991.98 - 1390 12779.62 1.29 2.56 0.088 2649.81 150.9 - - 2286.56 - 82.73 67.57 2.362 2437.25 -5.0 0.354 - - - - - - 15.59 - 12.18
13091.97 966.48 7.53 1416 13096.65 roll 1.31 - - 2648.88 - 2.90 0.075 1132.00 -398.1 82.73 - - 2431.75 - - - - - - - - - 15.65 -
13212.10 957.21 7.73 1433 13216.73 roll 1.33 - - 2650.25 - 2.66 0.030 2269.69 427.7 82.73 - - 2429.84 - - - - - - - - - 15.71 -
13528.58 933.94 7.53 1455 13533.43 roll 1.35 - - 2650.12 - 2.86 0.073 1132.12 -397.8 82.73 - - 2428.75 - - - - - - - - - 15.76 -
13565.91 931.03 7.68 1460 13570.55 roll 1.36 - - 2649.75 - 2.64 0.030 2271.50 431.6 82.73 - - 2428.72 - - - - - - - - - 15.79 -
13882.42 908.21 7.55 1482 13883.75 VBD 1.38 - - 2649.62 - - - 2271.50 - 82.73 - - 2428.41 - - - - - - - - - - -
14197.45 885.23 6.96 1503 14202.12 done 1.41 - - 2649.62 - 2.84 0.074 1132.44 -401.1 82.73 - - 2430.66 - - - - - - - - - 15.82 -
14339.86 875.19 7.08 1524 14345.28 1.44 0.17 0.090 2695.38 269.2 2.63 0.031 2272.19 433.4 82.73 - - 2428.91 - - - - - - - - 15.72 15.89 -
14659.10 853.25 6.67 1546 14660.43 VBD 1.47 - - 2695.38 - - - 2272.19 - 82.73 - - 2427.09 - - - - - - - - - - -
14974.12 833.40 6.21 1567 15013.18 done 1.56 - - 2695.44 - 2.85 0.077 1132.38 -399.9 124.91 33.99 2.188 2262.62 -4.8 0.310 - - - - - - - 15.70 11.41
15036.17 829.25 6.74 1575 15041.54 roll 1.59 - - 2696.12 - 2.64 0.030 2271.81 431.6 124.91 - - 2264.59 - - - - - - - - - 15.78 -
15355.41 804.26 8.03 1597 15360.07 roll 1.59 - - 2696.44 - 2.84 0.073 1132.38 -401.2 124.91 - - 2261.97 - - - - - - - - - 15.79 -
15419.68 799.08 8.74 1607 15434.80 roll 1.59 - - 2696.50 - 2.63 0.031 2269.88 432.5 124.91 - - 2261.88 - - - - - - - - - 15.83 -
15749.27 768.88 9.28 1629 15750.59 no move 1.59 - - 2695.69 - - - 2269.88 - 124.91 - - 2259.09 - - - - - - - - - - -
16064.10 739.49 9.28 1650 16065.43 no move 1.59 - - 2695.75 - - - 2270.19 - 124.91 - - 2258.81 - - - - - - - - - - -
16379.12 712.37 8.52 1671 16383.78 roll 1.59 - - 2694.56 - 2.81 0.074 1131.00 -405.4 124.91 - - 2258.75 - - - - - - - - - 15.84 -
16479.89 702.95 9.50 1686 16485.43 roll 1.59 - - 2694.00 - 2.62 0.031 2271.50 435.3 124.91 - - 2259.62 - - - - - - - - - 15.91 -
16799.32 676.19 7.86 1708 16800.65 no move 1.60 - - 2696.06 - - - 2271.25 - 124.91 - - 2257.75 - - - - - - - - - - -
17114.34 650.15 8.20 1729 17118.99 roll 1.60 - - 2696.38 - 2.71 0.094 3344.81 396.1 124.91 - - 2258.00 - - - - - - - - - 15.83 -
17137.15 648.75 8.28 1733 17152.07 roll 1.60 - - 2694.62 - 2.57 0.024 2188.31 -450.0 124.91 - - 2259.84 - - - - - - - - - 15.94 -
17466.54 621.01 8.58 1755 17467.88 no move 1.60 - - 2695.88 - - - 2187.81 - 124.91 - - 2258.06 - - - - - - - - - - -
17781.56 592.36 9.11 1776 17782.89 no move 1.60 - - 2696.06 - - - 2187.50 - 124.91 - - 2257.56 - - - - - - - - - - -
18096.58 562.94 9.05 1797 18097.91 no move 1.60 - - 2695.56 - - - 2187.00 - 124.91 - - 2257.62 - - - - - - - - - - -
18411.59 535.54 8.52 1818 18412.92 no move 1.60 - - 2695.94 - - - 2187.94 - 124.91 - - 2257.22 - - - - - - - - - - -
18726.61 511.28 7.16 1839 18731.29 roll back 1.63 0.19 0.083 2739.56 229.6 2.59 0.079 1131.12 -408.0 124.91 - - 2257.16 - - - - - - - - 15.92 15.79 -
18827.60 502.72 8.64 1854 18833.34 roll 1.63 - - 2739.19 - 2.61 0.031 2272.75 437.4 124.91 - - 2258.75 - - - - - - - - - 15.97 -
19141.55 477.05 8.11 1883 19146.19 roll 1.63 - - 2740.06 - 2.70 0.091 3346.69 397.8 124.91 - - 2257.31 - - - - - - - - - 15.83 -
19195.83 472.33 8.62 1891 19210.74 roll 1.63 - - 2739.44 - 2.56 0.024 2185.94 -453.4 124.91 - - 2259.03 - - - - - - - - - 15.96 -
19512.08 445.77 8.44 1920 19523.15 no move 1.63 - - 2740.81 - - - 2186.50 - 124.91 - - 2258.91 - - - - - - - - - - -
19825.16 420.82 7.83 1949 19829.77 roll 1.64 - - 2740.12 - 2.58 0.078 1131.25 -409.0 124.91 - - 2257.06 - - - - - - - - - 15.84 -
19879.43 416.45 8.09 1957 19894.37 roll 1.64 - - 2739.88 - 2.61 0.030 2272.25 437.2 124.91 - - 2259.97 - - - - - - - - - 15.97 -
20195.52 391.84 8.11 1986 20206.60 no move 1.64 - - 2740.44 - - - 2272.38 - 124.91 - - 2258.88 - - - - - - - - - - -
20508.38 367.20 7.85 2015 20513.03 roll 1.66 - - 2740.31 - 2.79 0.073 1132.25 -408.6 124.91 - - 2258.66 - - - - - - - - - 15.84 -
20672.79 354.33 7.61 2037 20687.71 roll 1.67 - - 2740.12 - 2.61 0.030 2273.19 437.1 124.91 - - 2259.34 - - - - - - - - - 15.98 -
20989.48 332.83 6.73 2066 21000.56 no move 1.71 - - 2739.88 - - - 2273.44 - 124.91 - - 2258.88 - - - - - - - - - - -
21302.29 311.71 6.95 2095 21313.36 no move 1.74 - - 2740.38 - - - 2273.12 - 124.91 - - 2259.06 - - - - - - - - - - -
21616.60 288.43 7.38 2140 21622.14 roll 1.76 - - 2740.50 - 2.68 0.090 3345.75 400.2 124.91 - - 2258.62 - - - - - - - - - 15.80 -
21701.59 281.27 8.70 2157 21707.13 roll 1.76 - - 2740.00 - 2.57 0.023 2184.62 -451.8 124.91 - - 2259.94 - - - - - - - - - 15.96 -
22011.83 258.03 7.35 2219 22013.16 no move 1.78 - - 2739.81 - - - 2185.06 - 124.91 - - 2257.69 - - - - - - - - - - -
22317.03 237.30 6.60 2280 22322.33 roll back 1.82 0.19 0.081 2788.00 253.6 2.91 0.085 3347.50 399.5 124.91 - - 2258.81 - - - - - - - - 15.91 15.79 -
22386.67 231.73 8.19 2294 22392.21 roll 1.82 - - 2786.44 - 2.57 0.023 2184.81 -452.4 124.91 - - 2258.75 - - - - - - - - - 15.95 -
22696.71 207.86 8.00 2356 22702.24 roll 1.82 - - 2787.25 - 2.56 0.076 1129.94 -412.1 124.91 - - 2258.97 - - - - - - - - - 15.82 -
22801.72 199.10 8.45 2377 22807.27 roll 1.82 - - 2787.31 - 2.61 0.029 2276.25 439.2 124.91 - - 2259.31 - - - - - - - - - 15.95 -
23111.90 175.51 7.49 2439 23117.33 roll 1.84 - - 2786.81 - 2.80 0.070 1131.25 -408.9 124.91 - - 2260.50 - - - - - - - - - 15.83 -
23206.80 168.27 7.52 2458 23212.34 roll 1.86 - - 2787.25 - 2.61 0.029 2275.19 438.3 124.91 - - 2258.75 - - - - - - - - - 15.95 -
23516.90 146.95 7.51 2520 23522.46 roll 1.88 - - 2786.75 - 2.79 0.070 1131.12 -410.1 124.91 - - 2259.06 - - - - - - - - - 15.83 -
23561.91 143.54 7.58 2529 23567.42 roll 1.89 - - 2787.25 - 2.60 0.028 2275.00 440.0 124.91 - - 2261.50 - - - - - - - - - 15.96 -
23872.01 123.26 5.98 2591 23908.70 VBD 1.99 - - 2786.44 - - - 2274.88 - 171.40 35.44 1.328 2075.84 -5.2 0.082 - - - - - - - - 10.96
24212.09 95.97 7.71 2659 24213.53 pitch 2.00 0.17 0.080 2832.06 268.4 - - 2274.81 - 171.40 - - 2070.53 - - - - - - - - 15.84 - -
24397.14 82.68 5.82 2696 24438.08 VBD 2.10 - - 2832.62 - - - 2274.94 - 221.03 38.02 1.261 1875.00 -5.1 0.057 - - - - - - - - 11.76
24622.21 64.96 7.80 2741 24627.78 roll 2.11 - - 2832.31 - 2.83 0.070 1130.12 -404.5 221.03 - - 1869.03 - - - - - - - - - 15.78 -
24662.21 62.31 6.72 2749 24667.75 roll 2.15 - - 2832.12 - 2.62 0.027 2275.00 437.0 221.03 - - 1868.47 - - - - - - - - - 15.80 -
24852.26 51.12 5.63 2787 24894.13 2.25 0.28 0.063 2895.12 225.0 - - 2275.00 - 274.20 40.45 1.210 1656.38 -5.2 0.037 - - - - - - 15.80 - 11.75
25077.87 31.78 10.45 2832 25082.89 roll 2.25 - - 2895.00 - 2.82 0.071 1132.12 -405.3 274.20 - - 1650.59 - - - - - - - - - 15.75 -
25312.40 18.99 2.53 2879 25400.66 2.48 0.22 0.071 2946.81 235.5 2.62 0.026 2277.50 437.2 385.53 82.94 1.176 1203.50 -5.4 0.015 - - - - - - 15.68 15.80 11.64
25572 end climb: SURFACE_DEPTH_REACHED
25572 begin surface coast
25622 end surface coast: CONTROL_FINISHED_OK
25622 begin surface
SM 0.26 - - - - 185.6 29.93 1.116 1042.5 32.1 17.07 0.038 1007.2 59.0 - 0.12 0.124 1077.8 8959.8 -1.920 - - 11.79 15.65 15.68 -