NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 589 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 193.37 of 550.00 AH used of 24V (64.84% remains)
• Surface angle -59.5 deg, depth 0.49 m • Intended pitch -20.3 deg, speed -8.462 cm/s
VBD pumped to 424.95 (SM_CC=425)
• GPS1 time: 20 s
• GPS2 time: 4 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
5.29 - - - 66.96 VBD -1.29 - - 178.19 - - - 2246.81 - -82.73 60.47 0.005 2518.16 - - - - - - - - - - 15.27
67.70 3.17 -5.88 11 100.77 -1.29 14.69 0.246 2017.38 125.2 - - 2247.31 - -82.73 12.85 0.007 3113.22 46.3 -3.528 - - - - - - 15.43 - 15.33
282.90 42.88 -11.85 54 288.41 roll -1.29 - - 2017.56 - 2.52 0.065 1208.44 -412.2 -82.73 - - 3114.09 - - - - - - - - - 15.76 -
397.92 57.20 -12.58 77 403.47 roll -1.29 - - 2017.44 - 2.63 0.028 2353.75 435.5 -82.73 - - 3113.22 - - - - - - - - - 15.78 -
588.61 77.88 -8.95 115 589.93 no move -1.29 - - 2017.56 - - - 2353.62 - -82.73 - - 3112.41 - - - - - - - - - - -
772.98 96.37 -10.69 152 778.53 roll -1.29 - - 2017.44 - 2.65 0.081 3426.25 404.8 -82.73 - - 3114.06 - - - - - - - - - 15.83 -
878.00 107.59 -10.37 173 883.54 roll -1.29 - - 2017.50 - 2.57 0.018 2244.00 -460.0 -82.73 - - 3113.94 - - - - - - - - - 15.86 -
1188.05 134.61 -8.94 235 1193.16 roll -1.29 - - 2017.38 - 2.48 0.065 1207.44 -418.0 -82.73 - - 3114.88 - - - - - - - - - 15.88 -
1258.06 141.18 -9.55 249 1263.62 roll -1.29 - - 2017.75 - 2.61 0.027 2355.75 440.0 -82.73 - - 3114.69 - - - - - - - - - 15.89 -
1568.11 168.88 -9.00 311 1569.44 no move -1.29 - - 2017.44 - - - 2355.38 - -82.73 - - 3112.88 - - - - - - - - - - -
1873.16 195.46 -8.09 372 1878.72 roll -1.29 - - 2017.81 - 2.76 0.061 1208.50 -415.5 -82.73 - - 3113.97 - - - - - - - - - 15.91 -
1933.16 200.44 -8.37 384 1938.69 roll -1.29 - - 2015.88 - 2.60 0.027 2355.56 441.2 -82.73 - - 3114.72 - - - - - - - - - 15.93 -
2243.32 224.32 -7.45 446 2244.65 no move -1.29 - - 2017.06 - - - 2354.56 - -82.73 - - 3112.81 - - - - - - - - - - -
2548.24 249.71 -9.05 507 2553.80 roll -1.29 - - 2017.94 - 2.75 0.061 1208.19 -416.9 -82.73 - - 3113.47 - - - - - - - - - 15.93 -
2603.25 254.92 -9.51 518 2608.78 roll -1.29 - - 2017.75 - 2.60 0.028 2354.75 441.0 -82.73 - - 3113.47 - - - - - - - - - 15.96 -
2913.28 282.17 -8.53 580 2918.84 roll -1.29 - - 2017.31 - 2.74 0.061 1209.69 -417.9 -82.73 - - 3113.28 - - - - - - - - - 15.93 -
2998.31 289.66 -8.84 597 3003.84 roll -1.29 - - 2017.31 - 2.59 0.028 2353.44 441.6 -82.73 - - 3113.50 - - - - - - - - - 15.96 -
3308.36 314.86 -8.04 639 3319.43 no move -1.29 - - 2017.44 - - - 2353.69 - -82.73 - - 3111.97 - - - - - - - - - - -
3621.44 341.32 -8.97 668 3626.08 roll -1.29 - - 2017.12 - 2.73 0.062 1208.00 -419.7 -82.73 - - 3110.88 - - - - - - - - - 15.94 -
3707.19 349.61 -9.72 680 3722.11 roll -1.29 - - 2017.38 - 2.60 0.029 2354.69 441.0 -82.73 - - 3113.06 - - - - - - - - - 15.99 -
4023.33 378.75 -8.97 709 4034.40 no move -1.29 - - 2017.75 - - - 2354.69 - -82.73 - - 3110.81 - - - - - - - - - - -
4336.69 406.35 -8.48 738 4341.34 roll -1.29 - - 2017.00 - 2.73 0.063 1208.44 -419.9 -82.73 - - 3108.56 - - - - - - - - - 15.94 -
4438.18 415.24 -8.80 752 4453.10 roll -1.29 - - 2017.69 - 2.60 0.029 2354.62 440.8 -82.73 - - 3111.31 - - - - - - - - - 16.00 -
4754.32 440.36 -7.93 781 4758.97 roll -1.29 - - 2017.19 - 2.73 0.063 1209.50 -419.5 -82.73 - - 3108.16 - - - - - - - - - 15.94 -
4840.96 447.30 -8.22 793 4855.69 roll -1.29 - - 2017.19 - 2.58 0.029 2353.31 443.3 -82.73 - - 3109.44 - - - - - - - - - 16.00 -
5157.04 472.11 -7.50 822 5161.69 roll -1.29 - - 2017.38 - 2.71 0.063 1208.44 -422.5 -82.73 - - 3110.31 - - - - - - - - - 15.94 -
5225.71 477.40 -7.67 831 5230.33 roll -1.29 - - 2017.25 - 2.59 0.029 2352.12 441.6 -82.73 - - 3108.84 - - - - - - - - - 15.99 -
5536.96 499.63 -7.27 860 5548.03 no move -1.29 - - 2017.19 - - - 2352.06 - -82.73 - - 3108.34 - - - - - - - - - - -
5863.44 523.19 -7.37 882 5864.76 no move -1.29 - - 2017.12 - - - 2352.00 - -82.73 - - 3106.53 - - - - - - - - - - -
6178.45 547.55 -7.89 903 6179.77 no move -1.29 - - 2017.12 - - - 2352.12 - -82.73 - - 3105.66 - - - - - - - - - - -
6493.46 571.74 -7.51 924 6498.11 roll -1.29 - - 2016.75 - 2.72 0.064 1209.31 -420.2 -82.73 - - 3105.81 - - - - - - - - - 15.93 -
6578.48 577.95 -7.85 937 6593.58 roll -1.29 - - 2017.19 - 2.59 0.030 2353.69 441.8 -82.73 - - 3106.06 - - - - - - - - - 16.00 -
6908.09 603.02 -7.19 959 6912.74 roll -1.29 - - 2017.44 - 2.72 0.064 1207.31 -421.5 -82.73 - - 3104.44 - - - - - - - - - 15.92 -
6967.36 607.23 -7.17 968 6972.90 roll -1.29 - - 2017.00 - 2.60 0.030 2353.06 440.7 -82.73 - - 3106.94 - - - - - - - - - 16.01 -
7286.81 628.15 -6.37 990 7291.45 roll -1.29 - - 2017.38 - 2.72 0.063 1209.44 -420.4 -82.73 - - 3105.53 - - - - - - - - - 15.92 -
7330.52 630.73 -6.65 997 7345.26 roll -1.29 - - 2016.94 - 2.59 0.030 2353.56 441.7 -82.73 - - 3105.75 - - - - - - - - - 16.00 -
7659.78 654.03 -7.11 1019 7664.43 roll -1.29 - - 2017.44 - 2.71 0.064 1209.62 -422.1 -82.73 - - 3104.09 - - - - - - - - - 15.91 -
7779.94 662.92 -7.42 1036 7784.56 roll -1.29 - - 2017.88 - 2.59 0.030 2352.62 441.3 -82.73 - - 3105.78 - - - - - - - - - 15.99 -
8096.41 686.24 -7.82 1058 8097.74 no move -1.29 - - 2016.88 - - - 2352.38 - -82.73 - - 3103.03 - - - - - - - - - - -
8411.44 710.44 -7.57 1079 8416.08 roll -1.29 - - 2017.12 - 2.71 0.064 1207.06 -422.6 -82.73 - - 3104.47 - - - - - - - - - 15.91 -
8449.98 713.41 -7.78 1085 8455.51 roll -1.29 - - 2017.38 - 2.57 0.030 2353.44 446.1 -82.73 - - 3105.09 - - - - - - - - - 16.00 -
8769.38 737.32 -7.28 1107 8774.21 roll -1.29 - - 2015.94 - 2.71 0.064 1208.38 -422.5 -82.73 - - 3103.09 - - - - - - - - - 15.90 -
8828.85 741.74 -7.53 1116 8834.20 roll -1.29 - - 2017.56 - 2.59 0.030 2351.88 441.5 -82.73 - - 3103.19 - - - - - - - - - 16.00 -
9148.07 764.96 -7.33 1138 9152.71 roll -1.29 - - 2017.50 - 2.72 0.064 1209.88 -419.9 -82.73 - - 3102.53 - - - - - - - - - 15.89 -
9207.35 769.33 -7.51 1147 9212.88 roll -1.29 - - 2017.00 - 2.59 0.030 2352.44 441.1 -82.73 - - 3104.66 - - - - - - - - - 15.99 -
9526.77 792.69 -7.42 1169 9531.42 roll -1.29 - - 2017.25 - 2.71 0.064 1208.44 -422.1 -82.73 - - 3101.44 - - - - - - - - - 15.89 -
9591.04 797.18 -7.67 1179 9605.96 roll -1.29 - - 2017.31 - 2.59 0.030 2350.12 440.8 -82.73 - - 3102.97 - - - - - - - - - 15.99 -
9920.44 821.83 -7.17 1201 9921.77 no move -1.29 - - 2017.12 - - - 2350.62 - -82.73 - - 3101.19 - - - - - - - - - - -
10235.46 844.46 -7.22 1222 10240.11 roll -1.29 - - 2016.81 - 2.72 0.065 1209.88 -419.4 -82.73 - - 3101.38 - - - - - - - - - 15.88 -
10336.20 851.57 -7.16 1237 10341.73 roll -1.29 - - 2017.50 - 2.60 0.030 2353.12 439.7 -82.73 - - 3101.69 - - - - - - - - - 16.00 -
10655.62 872.32 -6.22 1259 10656.96 no move -1.29 - - 2017.69 - - - 2353.69 - -82.73 - - 3100.41 - - - - - - - - - - -
10970.63 892.27 -6.26 1280 10975.28 roll -1.29 - - 2017.19 - 2.73 0.065 1208.50 -419.5 -82.73 - - 3100.94 - - - - - - - - - 15.87 -
11076.77 899.13 -6.89 1296 11091.56 roll -1.29 - - 2017.44 - 2.60 0.030 2351.81 439.7 -82.73 - - 3100.75 - - - - - - - - - 15.99 -
11405.99 920.99 -6.54 1318 11407.32 no move -1.29 - - 2017.38 - - - 2352.12 - -82.73 - - 3099.56 - - - - - - - - - - -
11721.19 942.50 -6.97 1339 11725.84 roll -1.29 - - 2017.19 - 2.77 0.065 1211.12 -411.9 -82.73 - - 3099.94 - - - - - - - - - 15.86 -
11820.59 949.91 -7.44 1353 11825.23 roll -1.29 - - 2017.44 - 2.61 0.030 2351.06 436.8 -82.73 - - 3099.16 - - - - - - - - - 15.99 -
12137.07 971.88 -6.91 1375 12138.40 no move -1.29 - - 2017.25 - - - 2350.75 - -82.73 - - 3099.34 - - - - - - - - - - -
12407 end dive: TARGET_DEPTH_EXCEEDED
12407 begin apogee
12408.93 990.18 -6.75 1393 12484.46 -0.28 1.75 0.140 2264.00 141.0 0.22 0.133 2283.44 -306.0 - 62.33 2.447 2775.38 -5.2 0.354 - - - - - - 15.73 15.52 10.47
12486 end apogee: CONTROL_FINISHED_OK
12486 begin climb
12486.52 992.13 - 1398 12561.13 1.29 2.56 0.091 2649.00 150.4 - - 2283.69 - 82.73 68.02 2.361 2436.78 -5.0 0.352 - - - - - - 15.59 - 12.15
12873.03 971.00 6.32 1424 12916.86 done 1.37 - - 2649.50 - 2.89 0.078 1132.62 -398.3 122.97 34.14 2.257 2273.69 -4.8 0.346 - - - - - - - 15.42 11.68
12944.81 966.38 6.89 1435 12959.72 roll 1.41 - - 2648.88 - 2.68 0.029 2271.12 424.8 122.97 - - 2272.56 - - - - - - - - - 15.55 -
13274.21 941.94 7.12 1457 13275.64 pitch 1.43 0.19 0.091 2692.25 228.3 - - 2270.69 - 122.97 - - 2266.72 - - - - - - - - 15.69 - -
13589.38 915.56 8.59 1478 13590.71 no move 1.43 - - 2692.00 - - - 2271.12 - 122.97 - - 2265.34 - - - - - - - - - - -
13905.08 888.85 8.46 1499 13906.41 no move 1.43 - - 2691.19 - - - 2270.75 - 122.97 - - 2265.47 - - - - - - - - - - -
14219.24 861.07 8.96 1520 14223.90 roll 1.43 - - 2692.12 - 2.81 0.075 1130.56 -405.8 122.97 - - 2264.34 - - - - - - - - - 15.83 -
14277.17 855.53 9.40 1528 14281.81 done 1.43 - - 2691.38 - 2.62 0.030 2271.69 435.5 122.97 - - 2264.47 - - - - - - - - - 15.88 -
14593.65 826.80 9.19 1550 14594.98 VBD 1.43 - - 2691.25 - - - 2271.62 - 122.97 - - 2264.38 - - - - - - - - - - -
14908.67 797.94 8.83 1571 14910.01 VBD 1.43 - - 2691.56 - - - 2271.44 - 122.97 - - 2263.50 - - - - - - - - - - -
15223.71 770.97 8.44 1592 15228.37 done 1.43 - - 2691.94 - 2.80 0.074 1132.50 -406.8 122.97 - - 2263.38 - - - - - - - - - 15.86 -
15303.74 764.21 8.55 1604 15309.29 done 1.43 - - 2691.94 - 2.61 0.031 2272.25 436.7 122.97 - - 2264.31 - - - - - - - - - 15.94 -
15623.14 738.18 8.37 1626 15624.47 VBD 1.43 - - 2692.00 - - - 2272.06 - 122.97 - - 2263.28 - - - - - - - - - - -
15938.36 712.75 7.92 1647 15939.70 VBD 1.44 - - 2691.94 - - - 2272.00 - 122.97 - - 2262.97 - - - - - - - - - - -
16253.31 688.03 7.85 1668 16254.64 VBD 1.46 - - 2691.56 - - - 2271.88 - 122.97 - - 2262.72 - - - - - - - - - - -
16568.20 664.10 7.58 1689 16572.88 done 1.47 - - 2691.94 - 2.81 0.074 1131.62 -405.8 122.97 - - 2262.53 - - - - - - - - - 15.87 -
16646.87 657.55 8.27 1700 16651.51 done 1.47 - - 2692.50 - 2.61 0.030 2271.62 436.8 122.97 - - 2266.03 - - - - - - - - - 15.96 -
16963.36 633.41 7.44 1722 16968.01 done 1.49 - - 2691.19 - 2.80 0.074 1130.94 -407.4 122.97 - - 2262.62 - - - - - - - - - 15.86 -
17006.93 630.44 7.72 1729 17021.85 done 1.51 - - 2690.88 - 2.61 0.030 2272.81 437.5 122.97 - - 2263.69 - - - - - - - - - 15.97 -
17336.34 604.79 7.88 1751 17337.67 VBD 1.52 - - 2691.38 - - - 2273.38 - 122.97 - - 2263.22 - - - - - - - - - - -
17651.35 579.83 8.11 1772 17656.01 done 1.52 - - 2692.06 - 2.81 0.074 1131.19 -406.5 122.97 - - 2265.25 - - - - - - - - - 15.86 -
17757.09 571.26 8.64 1788 17771.99 done 1.52 - - 2691.81 - 2.60 0.030 2272.38 438.9 122.97 - - 2263.66 - - - - - - - - - 15.98 -
18086.68 544.13 7.94 1810 18088.01 VBD 1.53 - - 2691.69 - - - 2273.19 - 122.97 - - 2263.19 - - - - - - - - - - -
18401.58 519.19 7.74 1831 18406.26 done 1.55 - - 2691.25 - 2.82 0.074 1131.44 -404.9 122.97 - - 2261.94 - - - - - - - - - 15.86 -
18459.70 514.43 8.03 1839 18464.40 done 1.55 - - 2691.75 - 2.61 0.030 2273.69 437.6 122.97 - - 2263.31 - - - - - - - - - 15.96 -
18768.15 491.91 7.27 1863 18779.22 VBD 1.57 - - 2692.38 - - - 2273.75 - 122.97 - - 2263.50 - - - - - - - - - - -
19080.74 468.78 7.55 1892 19085.42 done 1.59 - - 2691.69 - 2.82 0.074 1131.25 -405.1 122.97 - - 2264.19 - - - - - - - - - 15.85 -
19196.60 459.54 7.98 1907 19201.24 done 1.59 - - 2692.69 - 2.61 0.030 2274.94 438.2 122.97 - - 2263.62 - - - - - - - - - 15.98 -
19508.37 438.69 6.69 1936 19519.54 1.62 0.19 0.084 2735.56 225.6 - - 2274.62 - 122.97 - - 2264.12 - - - - - - - - 15.93 - -
19821.08 414.66 7.69 1965 19832.15 VBD 1.64 - - 2735.25 - - - 2274.50 - 122.97 - - 2263.78 - - - - - - - - - - -
20133.92 390.81 7.56 1994 20138.58 done 1.66 - - 2734.69 - 2.82 0.073 1132.81 -404.9 122.97 - - 2262.06 - - - - - - - - - 15.84 -
20235.38 382.68 8.14 2008 20250.29 done 1.66 - - 2735.19 - 2.60 0.030 2272.25 438.2 122.97 - - 2263.94 - - - - - - - - - 15.98 -
20551.43 358.93 7.59 2037 20556.08 done 1.67 - - 2735.38 - 2.80 0.073 1131.38 -407.5 122.97 - - 2262.16 - - - - - - - - - 15.84 -
20637.17 352.25 7.91 2049 20652.26 done 1.68 - - 2735.06 - 2.60 0.030 2273.25 439.2 122.97 - - 2264.44 - - - - - - - - - 15.98 -
20954.41 329.92 6.87 2078 20965.48 VBD 1.72 - - 2734.81 - - - 2273.50 - 122.97 - - 2263.47 - - - - - - - - - - -
21267.01 309.63 6.38 2107 21302.17 1.79 0.18 0.086 2779.50 248.3 2.64 0.093 3347.12 406.7 161.98 30.25 1.558 2113.41 -5.0 0.166 - - - - - - 15.94 15.80 10.90
21347.98 302.89 8.41 2118 21362.72 roll 1.79 - - 2779.56 - 2.59 0.023 2186.31 -448.2 161.98 - - 2111.16 - - - - - - - - - 15.88 -
21667.55 272.89 9.19 2177 21668.88 no move 1.79 - - 2779.81 - - - 2186.56 - 161.98 - - 2108.94 - - - - - - - - - - -
21972.64 244.15 9.55 2238 21973.97 no move 1.79 - - 2779.44 - - - 2186.38 - 161.98 - - 2108.12 - - - - - - - - - - -
22277.74 213.85 10.06 2299 22279.07 no move 1.79 - - 2779.19 - - - 2184.56 - 161.98 - - 2108.19 - - - - - - - - - - -
22582.85 185.87 8.44 2360 22584.17 no move 1.79 - - 2779.75 - - - 2184.44 - 161.98 - - 2107.84 - - - - - - - - - - -
22887.93 161.11 8.23 2421 22893.71 roll 1.79 - - 2779.56 - 2.91 0.085 3345.94 399.1 161.98 - - 2109.81 - - - - - - - - - 15.82 -
22948.10 155.69 9.34 2433 22953.46 roll 1.79 - - 2779.62 - 2.58 0.023 2187.50 -449.0 161.98 - - 2108.56 - - - - - - - - - 15.92 -
23257.99 127.92 9.03 2495 23263.52 roll 1.79 - - 2779.12 - 2.59 0.077 1129.94 -408.3 161.98 - - 2108.12 - - - - - - - - - 15.83 -
23323.00 122.11 8.77 2508 23328.54 roll 1.79 - - 2780.31 - 2.61 0.029 2277.38 439.6 161.98 - - 2107.53 - - - - - - - - - 15.93 -
23633.05 99.71 6.41 2570 23664.65 VBD 1.87 - - 2780.12 - - - 2277.62 - 200.42 29.98 1.298 1956.34 -5.0 0.065 - - - - - - - - 11.40
23848.07 84.74 5.72 2613 23894.40 1.97 0.18 0.083 2820.38 223.7 2.67 0.090 3345.62 400.0 251.93 40.21 1.273 1748.94 -5.2 0.058 - - - - - - 15.84 15.69 11.98
23953.07 75.76 10.04 2634 23958.63 roll 1.97 - - 2821.88 - 2.61 0.022 2188.81 -443.2 251.93 - - 1744.50 - - - - - - - - - 15.76 -
24143.16 60.30 7.36 2672 24148.65 roll 2.00 - - 2822.38 - 2.61 0.076 1132.19 -404.8 251.93 - - 1740.66 - - - - - - - - - 15.78 -
24268.11 50.23 8.03 2697 24273.66 done 2.00 - - 2821.94 - 2.62 0.028 2275.06 436.2 251.93 - - 1738.59 - - - - - - - - - 15.81 -
24458.15 37.80 5.40 2735 24503.99 VBD 2.11 - - 2821.94 - - - 2274.81 - 309.37 43.41 1.202 1514.00 -5.2 0.027 - - - - - - - - 11.63
24688.57 24.93 3.71 2781 24762.24 2.29 0.41 0.060 2898.88 187.7 2.71 0.087 3346.12 395.3 398.45 67.29 1.177 1150.34 -5.4 0.019 - - - - - - 15.74 15.54 11.79
24989.39 4.52 9.75 2841 24994.94 roll 2.29 - - 2897.50 - 2.62 0.023 2187.44 -442.2 398.45 - - 1144.69 - - - - - - - - - 15.70 -
24999 end climb: SURFACE_DEPTH_REACHED
24999 begin surface coast
25044 end surface coast: CONTROL_FINISHED_OK
25044 begin surface
SM 0.37 - - - - 179.2 20.97 1.089 1042.6 49.7 16.82 0.043 1016.1 60.4 - 0.34 0.067 1069.2 3137.0 -1.771 - - 11.75 15.68 15.71 -