NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 591 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 194.18 of 550.00 AH used of 24V (64.70% remains)
• Surface angle -59.4 deg, depth 0.49 m • Intended pitch -20.3 deg, speed -8.462 cm/s
VBD pumped to 424.78 (SM_CC=425)
• GPS1 time: 40 s
• GPS2 time: 5 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
5.27 - - - 66.95 VBD -1.29 - - 178.56 - - - 2241.12 - -82.73 60.46 0.005 2533.22 - - - - - - - - - - 15.31
67.69 3.49 -6.39 11 102.60 -1.29 14.69 0.246 2015.88 125.1 2.49 0.067 1208.50 -414.7 -82.73 12.12 0.007 3112.28 47.8 -4.008 - - - - - - 15.47 15.23 15.37
119.67 15.69 -19.61 21 125.23 roll -1.29 - - 2016.50 - 2.64 0.028 2352.44 433.3 -82.73 - - 3113.00 - - - - - - - - - 15.74 -
310.07 46.60 -12.29 59 311.40 no move -1.29 - - 2016.19 - - - 2352.19 - -82.73 - - 3111.41 - - - - - - - - - - -
494.79 69.27 -12.11 96 496.12 no move -1.29 - - 2015.88 - - - 2352.12 - -82.73 - - 3112.00 - - - - - - - - - - -
679.76 89.00 -9.71 133 685.33 roll -1.29 - - 2016.19 - 2.76 0.059 1208.62 -414.3 -82.73 - - 3114.12 - - - - - - - - - 15.84 -
729.77 93.81 -9.64 143 735.32 roll -1.29 - - 2016.31 - 2.61 0.027 2354.88 439.2 -82.73 - - 3113.62 - - - - - - - - - 15.85 -
919.83 109.34 -7.67 181 921.15 no move -1.29 - - 2016.31 - - - 2354.88 - -82.73 - - 3112.88 - - - - - - - - - - -
1224.94 133.36 -8.23 242 1230.51 roll -1.29 - - 2016.19 - 2.77 0.059 1208.75 -413.8 -82.73 - - 3114.25 - - - - - - - - - 15.90 -
1404.99 148.34 -8.07 278 1410.53 roll -1.29 - - 2015.88 - 2.61 0.028 2353.25 438.5 -82.73 - - 3114.34 - - - - - - - - - 15.91 -
1715.09 173.80 -8.17 340 1720.66 roll -1.29 - - 2016.12 - 2.77 0.059 1208.00 -413.4 -82.73 - - 3114.38 - - - - - - - - - 15.92 -
1770.11 178.57 -8.77 351 1775.65 roll -1.29 - - 2015.88 - 2.61 0.028 2353.81 439.0 -82.73 - - 3114.12 - - - - - - - - - 15.93 -
2080.38 206.45 -8.80 413 2081.71 no move -1.29 - - 2015.94 - - - 2354.31 - -82.73 - - 3112.59 - - - - - - - - - - -
2385.29 233.04 -8.60 474 2386.62 no move -1.29 - - 2015.75 - - - 2354.38 - -82.73 - - 3112.69 - - - - - - - - - - -
2690.38 258.83 -8.59 535 2695.95 roll -1.29 - - 2016.25 - 2.76 0.060 1209.44 -414.8 -82.73 - - 3113.44 - - - - - - - - - 15.94 -
2780.40 267.17 -9.49 553 2785.94 roll -1.29 - - 2015.81 - 2.60 0.029 2353.25 439.9 -82.73 - - 3114.44 - - - - - - - - - 15.97 -
3090.44 294.95 -8.77 615 3091.77 no move -1.29 - - 2016.06 - - - 2353.12 - -82.73 - - 3112.41 - - - - - - - - - - -
3399.88 320.48 -8.37 650 3404.52 roll -1.29 - - 2015.94 - 2.77 0.061 1208.25 -413.3 -82.73 - - 3111.81 - - - - - - - - - 15.95 -
3485.62 327.72 -8.57 662 3500.54 roll -1.29 - - 2016.44 - 2.60 0.029 2353.50 440.5 -82.73 - - 3112.41 - - - - - - - - - 16.00 -
3801.79 355.04 -8.61 691 3806.44 roll -1.29 - - 2016.25 - 2.76 0.061 1208.25 -414.9 -82.73 - - 3110.62 - - - - - - - - - 15.95 -
3840.34 358.32 -8.71 697 3855.28 roll -1.29 - - 2016.06 - 2.61 0.029 2354.31 439.1 -82.73 - - 3111.25 - - - - - - - - - 16.00 -
4157.22 385.07 -8.22 726 4168.28 no move -1.29 - - 2016.25 - - - 2354.19 - -82.73 - - 3111.12 - - - - - - - - - - -
4470.21 409.72 -8.01 755 4474.85 roll -1.29 - - 2016.00 - 2.77 0.062 1208.19 -413.7 -82.73 - - 3111.03 - - - - - - - - - 15.95 -
4555.96 416.72 -8.23 767 4570.88 roll -1.29 - - 2016.00 - 2.59 0.029 2352.38 441.8 -82.73 - - 3111.00 - - - - - - - - - 16.00 -
4873.00 442.70 -8.14 796 4884.07 no move -1.29 - - 2016.25 - - - 2351.88 - -82.73 - - 3109.81 - - - - - - - - - - -
5185.89 468.27 -8.65 825 5190.53 roll -1.29 - - 2015.88 - 2.77 0.062 1209.56 -412.4 -82.73 - - 3109.16 - - - - - - - - - 15.94 -
5286.02 477.00 -8.65 838 5290.65 roll -1.29 - - 2015.81 - 2.61 0.030 2351.94 437.7 -82.73 - - 3108.12 - - - - - - - - - 16.00 -
5600.07 503.87 -8.53 866 5601.40 no move -1.29 - - 2015.94 - - - 2351.56 - -82.73 - - 3107.84 - - - - - - - - - - -
5914.39 529.83 -8.25 887 5919.03 roll -1.29 - - 2015.56 - 2.75 0.063 1209.62 -415.3 -82.73 - - 3108.50 - - - - - - - - - 15.93 -
5994.40 536.62 -8.60 899 5999.94 roll -1.29 - - 2016.12 - 2.60 0.030 2353.00 439.8 -82.73 - - 3108.03 - - - - - - - - - 16.01 -
6313.81 561.86 -7.47 921 6318.45 roll -1.29 - - 2014.38 - 2.76 0.063 1210.25 -414.0 -82.73 - - 3107.16 - - - - - - - - - 15.93 -
6352.35 564.73 -7.57 927 6358.07 roll -1.29 - - 2016.19 - 2.59 0.030 2351.38 440.6 -82.73 - - 3106.91 - - - - - - - - - 16.00 -
6671.86 588.38 -7.52 949 6673.19 no move -1.29 - - 2015.62 - - - 2351.81 - -82.73 - - 3105.59 - - - - - - - - - - -
6986.77 611.43 -7.33 970 6991.41 roll -1.29 - - 2015.88 - 2.76 0.063 1210.19 -413.6 -82.73 - - 3106.53 - - - - - - - - - 15.93 -
7106.91 620.98 -8.02 987 7111.52 roll -1.29 - - 2016.31 - 2.60 0.031 2353.00 439.5 -82.73 - - 3107.00 - - - - - - - - - 15.99 -
7423.39 645.53 -7.50 1009 7424.72 no move -1.29 - - 2016.12 - - - 2352.69 - -82.73 - - 3104.28 - - - - - - - - - - -
7738.41 668.94 -7.40 1030 7743.06 roll -1.29 - - 2015.88 - 2.76 0.064 1210.06 -414.0 -82.73 - - 3105.09 - - - - - - - - - 15.91 -
7823.44 674.99 -7.66 1043 7838.37 roll -1.29 - - 2015.75 - 2.59 0.031 2351.94 440.9 -82.73 - - 3105.66 - - - - - - - - - 16.00 -
8153.02 698.01 -6.73 1065 8157.67 roll -1.29 - - 2015.94 - 2.76 0.064 1208.50 -414.3 -82.73 - - 3103.38 - - - - - - - - - 15.91 -
8238.04 703.72 -7.20 1078 8252.96 roll -1.29 - - 2015.94 - 2.60 0.030 2350.19 439.1 -82.73 - - 3104.81 - - - - - - - - - 16.01 -
8567.45 726.19 -6.54 1100 8572.09 roll -1.29 - - 2015.56 - 2.77 0.064 1211.12 -411.2 -82.73 - - 3103.03 - - - - - - - - - 15.91 -
8626.72 730.11 -6.71 1109 8632.25 roll -1.29 - - 2016.12 - 2.60 0.031 2351.50 438.6 -82.73 - - 3104.41 - - - - - - - - - 16.00 -
8946.33 750.34 -6.16 1131 8951.01 roll -1.29 - - 2016.56 - 2.67 0.093 3426.62 402.7 -82.73 - - 3102.47 - - - - - - - - - 15.86 -
8983.54 752.85 -6.41 1136 8988.15 roll -1.29 - - 2016.12 - 2.56 0.022 2245.69 -461.3 -82.73 - - 3104.31 - - - - - - - - - 15.99 -
9300.02 771.88 -6.18 1158 9301.35 no move -1.29 - - 2015.56 - - - 2244.50 - -82.73 - - 3102.03 - - - - - - - - - - -
9615.04 791.48 -6.16 1179 9616.37 no move -1.29 - - 2016.25 - - - 2244.12 - -82.73 - - 3100.94 - - - - - - - - - - -
9930.04 812.39 -6.84 1200 9934.66 roll -1.29 - - 2015.81 - 2.51 0.070 1211.50 -411.4 -82.73 - - 3101.16 - - - - - - - - - 15.89 -
9989.31 816.61 -7.17 1209 9994.85 roll -1.29 - - 2016.06 - 2.60 0.031 2354.75 439.7 -82.73 - - 3102.00 - - - - - - - - - 16.00 -
10308.71 838.58 -6.60 1231 10310.04 no move -1.29 - - 2015.75 - - - 2354.50 - -82.73 - - 3101.47 - - - - - - - - - - -
10623.74 858.83 -6.27 1252 10625.07 no move -1.29 - - 2015.38 - - - 2354.56 - -82.73 - - 3100.94 - - - - - - - - - - -
10938.75 878.09 -5.80 1273 10943.39 roll -1.29 - - 2015.69 - 2.78 0.065 1209.75 -411.8 -82.73 - - 3101.25 - - - - - - - - - 15.88 -
11003.04 881.55 -5.89 1283 11017.97 roll -1.29 - - 2016.06 - 2.61 0.031 2351.75 437.5 -82.73 - - 3101.62 - - - - - - - - - 16.00 -
11332.45 900.86 -5.93 1305 11337.10 roll -1.29 - - 2016.75 - 2.77 0.065 1209.69 -412.3 -82.73 - - 3100.12 - - - - - - - - - 15.87 -
11417.46 906.01 -6.49 1318 11432.55 roll -1.29 - - 2015.25 - 2.60 0.031 2350.50 438.8 -82.73 - - 3102.25 - - - - - - - - - 16.00 -
11747.02 927.79 -6.76 1340 11751.67 roll -1.29 - - 2014.75 - 2.77 0.065 1210.38 -411.6 -82.73 - - 3100.06 - - - - - - - - - 15.87 -
11811.30 931.78 -6.83 1350 11826.22 roll -1.29 - - 2015.81 - 2.59 0.031 2350.56 440.2 -82.73 - - 3100.53 - - - - - - - - - 15.99 -
12140.71 953.00 -6.09 1372 12142.04 no move -1.29 - - 2015.56 - - - 2350.19 - -82.73 - - 3099.50 - - - - - - - - - - -
12455.74 971.56 -5.66 1393 12457.07 no move -1.29 - - 2015.94 - - - 2349.88 - -82.73 - - 3098.59 - - - - - - - - - - -
12770.91 988.92 -5.55 1414 12775.56 roll -1.29 - - 2015.81 - 2.77 0.065 1209.50 -411.7 -82.73 - - 3098.41 - - - - - - - - - 15.86 -
12807 end dive: TARGET_DEPTH_EXCEEDED
12807 begin apogee
12811.80 991.12 -5.74 1419 12885.62 -0.28 1.75 0.145 2261.62 140.5 0.12 0.201 2167.00 7979.2 - 62.67 2.444 2775.12 -5.2 0.352 - - - - - - 15.68 15.52 10.40
12886 end apogee: CONTROL_FINISHED_OK
12887 begin climb
12887.68 992.31 - 1424 12961.84 1.29 2.55 0.093 2647.50 151.3 - - 2167.88 - 82.73 68.00 2.359 2436.97 -5.0 0.352 - - - - - - 15.59 - 12.06
13274.32 966.46 7.62 1450 13275.65 no move 1.31 - - 2647.50 - - - 2167.69 - 82.73 - - 2429.78 - - - - - - - - - - -
13589.26 943.90 7.08 1471 13593.94 roll 1.34 - - 2647.31 - 2.96 0.090 3345.31 397.8 82.73 - - 2429.84 - - - - - - - - - 15.72 -
13709.39 934.41 7.97 1488 13714.00 roll 1.34 - - 2648.00 - 2.59 0.024 2187.88 -446.9 82.73 - - 2430.09 - - - - - - - - - 15.78 -
14026.05 913.23 6.49 1510 14027.38 VBD 1.38 - - 2647.81 - - - 2187.56 - 82.73 - - 2428.69 - - - - - - - - - - -
14340.95 892.94 6.45 1531 14373.60 1.45 0.20 0.090 2693.31 227.5 - - 2187.50 - 120.46 31.10 2.222 2282.44 -4.7 0.318 - - - - - - 15.83 - 11.45
14685.89 863.56 8.86 1554 14687.22 no move 1.45 - - 2692.81 - - - 2187.38 - 120.46 - - 2278.97 - - - - - - - - - - -
15000.91 837.10 8.20 1575 15005.94 roll 1.45 - - 2693.50 - 2.93 0.090 3346.88 395.7 120.46 - - 2277.88 - - - - - - - - - 15.79 -
15058.87 831.78 8.92 1583 15063.48 roll 1.45 - - 2693.62 - 2.59 0.024 2190.00 -446.7 120.46 - - 2279.31 - - - - - - - - - 15.84 -
15375.35 806.15 8.16 1605 15379.98 roll 1.45 - - 2693.75 - 2.61 0.079 1131.44 -405.6 120.46 - - 2279.56 - - - - - - - - - 15.83 -
15460.38 799.40 8.51 1618 15475.32 roll 1.45 - - 2693.50 - 2.62 0.031 2272.12 435.4 120.46 - - 2278.88 - - - - - - - - - 15.89 -
15789.99 773.00 7.92 1640 15791.32 no move 1.46 - - 2693.69 - - - 2271.94 - 120.46 - - 2276.56 - - - - - - - - - - -
16104.91 747.24 8.47 1661 16109.56 roll 1.46 - - 2693.75 - 2.79 0.074 1131.12 -408.9 120.46 - - 2276.25 - - - - - - - - - 15.85 -
16164.19 741.95 8.95 1670 16169.75 roll 1.46 - - 2693.81 - 2.62 0.031 2273.56 436.0 120.46 - - 2278.28 - - - - - - - - - 15.92 -
16483.59 715.30 8.23 1692 16488.24 roll 1.46 - - 2694.44 - 2.79 0.074 1131.00 -409.5 120.46 - - 2277.81 - - - - - - - - - 15.86 -
16542.88 710.21 8.64 1701 16548.42 roll 1.46 - - 2693.44 - 2.60 0.031 2272.44 439.0 120.46 - - 2277.34 - - - - - - - - - 15.94 -
16862.31 684.45 8.03 1723 16863.64 no move 1.46 - - 2693.88 - - - 2272.25 - 120.46 - - 2276.19 - - - - - - - - - - -
17177.35 658.14 8.28 1744 17178.68 no move 1.46 - - 2693.75 - - - 2272.75 - 120.46 - - 2275.84 - - - - - - - - - - -
17492.42 633.52 7.67 1765 17497.06 roll 1.48 - - 2693.50 - 2.80 0.074 1131.19 -407.7 120.46 - - 2278.75 - - - - - - - - - 15.86 -
17591.80 625.18 8.41 1779 17596.43 roll 1.48 - - 2693.75 - 2.61 0.031 2273.31 437.6 120.46 - - 2276.69 - - - - - - - - - 15.95 -
17908.30 600.71 7.95 1801 17909.63 no move 1.49 - - 2693.81 - - - 2273.19 - 120.46 - - 2276.25 - - - - - - - - - - -
18223.33 575.56 8.12 1822 18224.66 no move 1.49 - - 2694.19 - - - 2273.44 - 120.46 - - 2275.72 - - - - - - - - - - -
18538.38 550.08 8.13 1843 18539.71 no move 1.49 - - 2694.75 - - - 2273.31 - 120.46 - - 2275.75 - - - - - - - - - - -
18853.59 525.38 8.04 1864 18858.26 roll 1.49 - - 2692.69 - 2.81 0.074 1131.50 -406.3 120.46 - - 2276.97 - - - - - - - - - 15.85 -
18975.06 514.84 8.80 1882 18980.62 roll 1.49 - - 2693.12 - 2.61 0.030 2273.19 437.4 120.46 - - 2277.31 - - - - - - - - - 15.98 -
19281.80 491.28 7.54 1906 19286.44 roll 1.51 - - 2694.06 - 2.68 0.093 3344.62 399.8 120.46 - - 2274.72 - - - - - - - - - 15.83 -
19382.28 482.86 8.51 1919 19386.89 roll 1.51 - - 2692.00 - 2.57 0.024 2184.94 -451.2 120.46 - - 2276.88 - - - - - - - - - 15.97 -
19693.85 460.97 6.71 1948 19704.92 no move 1.54 - - 2694.44 - - - 2184.75 - 120.46 - - 2276.34 - - - - - - - - - - -
20006.48 440.80 6.35 1977 20045.15 1.62 0.19 0.091 2733.50 205.6 - - 2185.38 - 160.00 31.75 1.739 2122.62 -4.8 0.206 - - - - - - 15.93 - 11.07
20347.02 411.51 9.11 2009 20351.63 roll 1.62 - - 2733.44 - 2.60 0.079 1131.19 -405.5 160.00 - - 2117.12 - - - - - - - - - 15.82 -
20385.72 407.93 9.46 2015 20400.48 roll 1.62 - - 2733.81 - 2.62 0.030 2272.12 435.5 160.00 - - 2117.91 - - - - - - - - - 15.88 -
20701.86 379.36 9.06 2044 20712.93 no move 1.62 - - 2734.81 - - - 2272.69 - 160.00 - - 2116.88 - - - - - - - - - - -
21014.90 351.22 8.84 2073 21019.74 roll 1.62 - - 2734.88 - 2.81 0.074 1130.12 -406.6 160.00 - - 2116.69 - - - - - - - - - 15.84 -
21116.55 341.62 9.64 2087 21131.31 roll 1.62 - - 2734.25 - 2.61 0.031 2272.88 437.8 160.00 - - 2116.53 - - - - - - - - - 15.91 -
21432.58 312.59 9.01 2116 21437.22 roll 1.62 - - 2732.81 - 2.80 0.073 1130.31 -408.1 160.00 - - 2114.94 - - - - - - - - - 15.84 -
21502.59 305.95 9.59 2126 21517.89 roll 1.62 - - 2734.44 - 2.61 0.030 2275.31 438.7 160.00 - - 2115.84 - - - - - - - - - 15.94 -
21819.43 277.41 9.15 2181 21820.76 no move 1.62 - - 2734.12 - - - 2274.88 - 160.00 - - 2114.62 - - - - - - - - - - -
22124.48 250.14 9.10 2242 22130.07 roll 1.62 - - 2735.06 - 2.81 0.073 1130.00 -407.4 160.00 - - 2115.81 - - - - - - - - - 15.83 -
22189.49 244.05 9.31 2255 22195.04 roll 1.62 - - 2734.44 - 2.61 0.030 2275.06 438.7 160.00 - - 2115.78 - - - - - - - - - 15.93 -
22499.53 217.76 8.13 2317 22500.86 no move 1.62 - - 2734.38 - - - 2274.81 - 160.00 - - 2114.41 - - - - - - - - - - -
22804.75 192.01 8.31 2378 22810.21 roll 1.62 - - 2734.56 - 2.80 0.072 1130.19 -408.8 160.00 - - 2115.00 - - - - - - - - - 15.84 -
22849.58 188.12 8.70 2387 22855.10 roll 1.62 - - 2733.19 - 2.60 0.029 2276.38 440.8 160.00 - - 2115.22 - - - - - - - - - 15.94 -
23159.63 163.09 7.66 2449 23160.96 no move 1.64 - - 2734.81 - - - 2276.50 - 160.00 - - 2114.53 - - - - - - - - - - -
23464.67 142.35 6.51 2510 23466.00 no move 1.68 - - 2735.12 - - - 2275.69 - 160.00 - - 2114.22 - - - - - - - - - - -
23769.72 122.35 6.48 2571 23771.05 no move 1.72 - - 2735.00 - - - 2276.00 - 160.00 - - 2114.56 - - - - - - - - - - -
24074.76 104.05 4.76 2632 24133.13 1.86 0.28 0.074 2793.12 207.6 2.79 0.073 1131.62 -410.2 229.36 52.51 1.314 1838.66 -5.3 0.070 - - - - - - 15.91 15.76 11.24
24190.42 95.15 10.15 2655 24195.78 roll 1.86 - - 2792.44 - 2.62 0.029 2275.25 436.5 229.36 - - 1835.31 - - - - - - - - - 15.81 -
24380.35 78.73 8.60 2693 24381.68 no move 1.86 - - 2792.12 - - - 2274.75 - 229.36 - - 1831.75 - - - - - - - - - - -
24565.36 64.60 6.53 2730 24570.91 done 1.89 - - 2793.44 - 2.67 0.087 3347.56 401.8 229.36 - - 1831.34 - - - - - - - - - 15.79 -
24595.37 62.62 6.42 2736 24631.21 done 1.97 - - 2792.94 - 2.59 0.022 2181.62 -450.2 267.62 29.57 1.202 1684.19 -5.0 0.044 - - - - - - - 15.84 11.68
24815.42 48.95 6.17 2780 24854.04 2.06 0.22 0.079 2840.00 213.9 2.57 0.077 1132.56 -408.2 310.67 33.76 1.179 1507.97 -5.2 0.036 - - - - - - 15.77 15.67 11.86
24906.53 42.16 8.18 2798 24911.69 roll 2.06 - - 2839.69 - 2.63 0.028 2275.69 434.7 310.67 - - 1504.69 - - - - - - - - - 15.74 -
25096.21 27.11 6.58 2836 25097.54 no move 2.10 - - 2840.94 - - - 2276.25 - 310.67 - - 1500.62 - - - - - - - - - - -
25281.26 19.42 2.83 2873 25366.75 2.31 0.29 0.070 2901.06 207.3 2.85 0.072 1131.25 -401.8 416.38 79.12 1.159 1077.03 -5.4 0.015 - - - - - - 15.78 15.56 11.66
25414.16 13.07 6.78 2899 25419.53 roll 2.34 - - 2901.44 - 2.65 0.027 2276.94 432.3 416.38 - - 1073.94 - - - - - - - - - 15.65 -
25528 end climb: SURFACE_DEPTH_REACHED
25528 begin surface coast
25578 end surface coast: CONTROL_FINISHED_OK
25579 begin surface
SM 2.20 - - - - 178.1 7.84 0.873 1043.3 133.1 16.83 0.045 1026.5 61.0 - 0.12 0.134 1060.1 8812.1 -14.787 - - 11.78 15.65 15.68 -