NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 575 * Raw log
prev dive * next dive * dive
• Previous call tries 4 • 187.75 of 550.00 AH used of 24V (65.86% remains)
• Surface angle -64.7 deg, depth 0.68 m • Intended pitch -20.3 deg, speed -8.462 cm/s
VBD pumped to 424.87 (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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
5.27 - - - 61.87 VBD -1.29 - - 179.38 - - - 2371.62 - -82.73 55.42 0.005 2497.75 - - - - - - - - - - 15.34
62.60 3.64 -6.90 10 100.05 -1.29 14.69 0.246 2017.69 125.1 2.84 0.063 1208.38 -409.6 -82.73 12.69 0.007 3111.78 48.4 -4.225 - - - - - - 15.48 15.30 15.38
232.13 37.38 -14.72 44 237.69 roll -1.29 - - 2016.94 - 2.66 0.029 2352.06 430.0 -82.73 - - 3112.56 - - - - - - - - - 15.78 -
422.80 61.83 -11.84 82 424.13 no move -1.29 - - 2017.12 - - - 2352.44 - -82.73 - - 3112.44 - - - - - - - - - - -
607.20 78.63 -7.46 119 612.75 roll -1.29 - - 2017.38 - 2.70 0.085 3427.62 398.2 -82.73 - - 3113.59 - - - - - - - - - 15.82 -
657.20 83.35 -9.77 129 662.74 roll -1.29 - - 2017.56 - 2.59 0.020 2243.88 -457.0 -82.73 - - 3114.72 - - - - - - - - - 15.85 -
847.62 97.92 -7.92 167 848.95 no move -1.29 - - 2017.00 - - - 2242.94 - -82.73 - - 3113.19 - - - - - - - - - - -
1032.25 112.81 -7.79 204 1037.85 roll -1.29 - - 2016.12 - 2.97 0.080 3427.44 398.8 -82.73 - - 3114.41 - - - - - - - - - 15.86 -
1237.28 130.85 -9.13 245 1242.83 roll -1.29 - - 2017.31 - 2.57 0.020 2246.88 -459.4 -82.73 - - 3114.50 - - - - - - - - - 15.89 -
1547.32 154.85 -7.77 307 1552.84 roll -1.29 - - 2016.50 - 2.52 0.067 1208.75 -412.0 -82.73 - - 3114.44 - - - - - - - - - 15.91 -
1632.33 162.18 -8.79 324 1637.89 roll -1.29 - - 2017.88 - 2.62 0.029 2352.88 436.7 -82.73 - - 3114.09 - - - - - - - - - 15.93 -
1942.38 190.29 -9.37 386 1943.71 no move -1.29 - - 2017.50 - - - 2352.81 - -82.73 - - 3113.38 - - - - - - - - - - -
2247.55 217.98 -9.22 447 2253.00 roll -1.29 - - 2017.75 - 2.80 0.062 1209.81 -408.2 -82.73 - - 3113.78 - - - - - - - - - 15.93 -
2357.47 228.22 -9.03 469 2363.02 roll -1.29 - - 2017.31 - 2.62 0.029 2352.81 436.3 -82.73 - - 3113.66 - - - - - - - - - 15.95 -
2667.56 255.51 -8.81 531 2668.89 no move -1.29 - - 2018.19 - - - 2352.69 - -82.73 - - 3112.94 - - - - - - - - - - -
2972.66 281.11 -8.88 592 2973.99 no move -1.29 - - 2017.44 - - - 2352.94 - -82.73 - - 3111.59 - - - - - - - - - - -
3280.76 306.91 -7.88 644 3285.40 roll -1.29 - - 2017.50 - 2.80 0.063 1210.06 -408.2 -82.73 - - 3110.75 - - - - - - - - - 15.95 -
3445.40 320.51 -8.47 666 3460.35 roll -1.29 - - 2017.62 - 2.62 0.030 2352.81 436.2 -82.73 - - 3112.97 - - - - - - - - - 16.00 -
3761.60 344.35 -7.16 695 3772.67 no move -1.29 - - 2017.69 - - - 2353.12 - -82.73 - - 3111.22 - - - - - - - - - - -
4074.47 367.66 -7.23 724 4079.11 roll -1.29 - - 2016.12 - 2.70 0.090 3424.50 396.8 -82.73 - - 3111.59 - - - - - - - - - 15.92 -
4174.95 375.89 -8.23 737 4179.75 roll -1.29 - - 2016.81 - 2.58 0.021 2248.44 -455.8 -82.73 - - 3110.09 - - - - - - - - - 15.99 -
4486.38 398.69 -7.26 766 4497.44 no move -1.29 - - 2017.25 - - - 2246.25 - -82.73 - - 3110.25 - - - - - - - - - - -
4799.08 423.63 -8.13 795 4810.15 no move -1.29 - - 2017.44 - - - 2246.62 - -82.73 - - 3109.66 - - - - - - - - - - -
5112.69 449.95 -8.53 824 5117.30 roll -1.29 - - 2017.00 - 2.54 0.070 1209.75 -408.2 -82.73 - - 3110.22 - - - - - - - - - 15.94 -
5165.61 454.53 -8.52 831 5170.25 roll -1.29 - - 2017.19 - 2.62 0.030 2352.81 436.3 -82.73 - - 3107.62 - - - - - - - - - 16.00 -
5477.25 479.28 -7.81 860 5488.32 no move -1.29 - - 2017.12 - - - 2352.56 - -82.73 - - 3109.38 - - - - - - - - - - -
5796.62 504.83 -8.05 888 5801.28 roll -1.29 - - 2016.94 - 2.81 0.065 1210.75 -406.3 -82.73 - - 3107.19 - - - - - - - - - 15.93 -
5896.03 513.00 -8.19 902 5900.66 roll -1.29 - - 2017.25 - 2.62 0.030 2353.44 436.1 -82.73 - - 3108.94 - - - - - - - - - 16.00 -
6212.50 537.51 -7.69 924 6217.15 roll -1.29 - - 2017.50 - 2.79 0.065 1208.44 -410.4 -82.73 - - 3107.00 - - - - - - - - - 15.93 -
6313.26 545.22 -7.75 939 6318.81 roll -1.29 - - 2017.69 - 2.62 0.030 2351.25 436.2 -82.73 - - 3107.25 - - - - - - - - - 16.02 -
6632.67 568.81 -7.26 961 6637.49 roll -1.29 - - 2017.06 - 2.79 0.064 1208.50 -409.6 -82.73 - - 3104.97 - - - - - - - - - 15.93 -
6692.06 573.08 -7.32 970 6697.49 roll -1.29 - - 2016.69 - 2.64 0.030 2351.19 432.8 -82.73 - - 3107.34 - - - - - - - - - 16.01 -
7011.35 595.41 -7.05 992 7015.99 roll -1.29 - - 2016.88 - 2.78 0.064 1209.31 -410.7 -82.73 - - 3106.75 - - - - - - - - - 15.93 -
7091.36 601.43 -7.60 1004 7096.92 roll -1.29 - - 2016.12 - 2.63 0.030 2351.00 434.1 -82.73 - - 3106.34 - - - - - - - - - 16.01 -
7410.77 624.35 -7.21 1026 7412.09 no move -1.29 - - 2017.19 - - - 2351.50 - -82.73 - - 3104.09 - - - - - - - - - - -
7725.80 646.68 -7.14 1047 7727.13 no move -1.29 - - 2017.12 - - - 2351.81 - -82.73 - - 3104.06 - - - - - - - - - - -
8041.01 668.41 -6.77 1068 8045.65 roll -1.29 - - 2017.12 - 2.80 0.065 1210.88 -407.5 -82.73 - - 3103.72 - - - - - - - - - 15.92 -
8146.78 675.57 -7.19 1084 8161.72 roll -1.29 - - 2017.56 - 2.62 0.031 2349.44 434.6 -82.73 - - 3104.00 - - - - - - - - - 16.01 -
8476.18 698.32 -6.70 1106 8477.51 no move -1.29 - - 2017.44 - - - 2349.50 - -82.73 - - 3102.97 - - - - - - - - - - -
8791.21 720.24 -7.05 1127 8792.53 no move -1.29 - - 2017.06 - - - 2349.94 - -82.73 - - 3102.47 - - - - - - - - - - -
9106.21 742.65 -7.37 1148 9110.85 roll -1.29 - - 2017.62 - 2.79 0.065 1212.25 -407.8 -82.73 - - 3101.72 - - - - - - - - - 15.90 -
9186.24 748.56 -7.48 1160 9191.79 roll -1.29 - - 2017.12 - 2.63 0.031 2350.38 432.7 -82.73 - - 3103.44 - - - - - - - - - 16.02 -
9505.83 770.04 -6.51 1182 9507.16 no move -1.29 - - 2016.88 - - - 2350.88 - -82.73 - - 3101.88 - - - - - - - - - - -
9820.83 789.74 -6.55 1203 9825.49 roll -1.29 - - 2017.12 - 2.81 0.065 1209.00 -406.4 -82.73 - - 3103.59 - - - - - - - - - 15.90 -
9900.84 795.26 -6.97 1215 9906.39 roll -1.29 - - 2016.69 - 2.64 0.031 2352.00 433.0 -82.73 - - 3102.75 - - - - - - - - - 16.00 -
10220.26 815.48 -6.33 1237 10224.92 roll -1.29 - - 2016.88 - 2.82 0.065 1210.81 -404.7 -82.73 - - 3102.25 - - - - - - - - - 15.89 -
10279.53 819.42 -6.66 1246 10285.08 roll -1.29 - - 2017.06 - 2.63 0.031 2351.38 433.7 -82.73 - - 3102.06 - - - - - - - - - 16.00 -
10598.99 839.79 -6.18 1268 10600.32 no move -1.29 - - 2017.00 - - - 2351.31 - -82.73 - - 3101.16 - - - - - - - - - - -
10914.00 860.51 -6.59 1289 10918.66 roll -1.29 - - 2017.50 - 2.82 0.065 1210.06 -404.7 -82.73 - - 3100.81 - - - - - - - - - 15.89 -
10994.00 865.93 -6.84 1301 10999.77 roll -1.29 - - 2017.31 - 2.64 0.031 2350.12 431.8 -82.73 - - 3102.22 - - - - - - - - - 16.00 -
11313.42 885.52 -5.89 1323 11314.75 no move -1.29 - - 2017.06 - - - 2350.00 - -82.73 - - 3100.03 - - - - - - - - - - -
11628.44 904.19 -6.20 1344 11633.10 roll -1.29 - - 2017.31 - 2.81 0.066 1210.12 -405.7 -82.73 - - 3099.56 - - - - - - - - - 15.87 -
11692.71 908.01 -6.50 1354 11707.82 roll -1.29 - - 2016.94 - 2.63 0.031 2351.12 433.8 -82.73 - - 3101.56 - - - - - - - - - 16.00 -
12022.24 928.38 -5.84 1376 12023.58 no move -1.29 - - 2017.00 - - - 2351.56 - -82.73 - - 3099.59 - - - - - - - - - - -
12337.32 946.69 -5.82 1397 12341.99 roll -1.29 - - 2017.69 - 2.81 0.066 1210.62 -406.0 -82.73 - - 3100.03 - - - - - - - - - 15.87 -
12417.35 951.42 -5.98 1409 12422.88 roll -1.29 - - 2016.94 - 2.63 0.031 2350.25 433.3 -82.73 - - 3101.75 - - - - - - - - - 16.00 -
12736.76 970.66 -6.19 1431 12738.08 no move -1.29 - - 2017.12 - - - 2350.56 - -82.73 - - 3099.28 - - - - - - - - - - -
13051.79 989.69 -5.91 1452 13056.44 roll -1.29 - - 2017.12 - 2.80 0.066 1210.88 -407.0 -82.73 - - 3098.78 - - - - - - - - - 15.86 -
13068 end dive: TARGET_DEPTH_EXCEEDED
13068 begin apogee
13071.97 990.72 -5.93 1454 13145.78 -0.28 1.76 0.143 2264.06 140.3 0.12 0.196 2171.81 8007.7 - 62.02 2.448 2773.97 -5.2 0.356 - - - - - - 15.70 15.55 10.59
13147 end apogee: CONTROL_FINISHED_OK
13147 begin climb
13147.82 992.05 - 1459 13221.99 1.29 2.56 0.090 2649.31 150.5 - - 2171.38 - 82.73 67.11 2.365 2437.16 -5.0 0.353 - - - - - - 15.59 - 12.27
13534.33 965.10 7.77 1485 13539.02 roll 1.31 - - 2648.50 - 3.05 0.092 3344.50 384.6 82.73 - - 2431.56 - - - - - - - - - 15.62 -
13577.86 961.94 8.16 1492 13592.80 roll 1.31 - - 2647.88 - 2.63 0.024 2188.19 -439.7 82.73 - - 2432.47 - - - - - - - - - 15.67 -
13907.28 936.58 7.57 1514 13908.61 no move 1.33 - - 2649.25 - - - 2188.38 - 82.73 - - 2429.22 - - - - - - - - - - -
14222.48 913.75 7.32 1535 14227.17 done 1.35 - - 2649.50 - 2.97 0.091 3344.00 389.1 82.73 - - 2429.25 - - - - - - - - - 15.76 -
14266.03 910.75 7.68 1542 14280.96 done 1.36 - - 2649.44 - 2.61 0.024 2186.62 -443.4 82.73 - - 2429.53 - - - - - - - - - 15.84 -
14595.44 887.96 6.56 1564 14596.77 VBD 1.40 - - 2650.06 - - - 2187.25 - 82.73 - - 2427.88 - - - - - - - - - - -
14910.46 868.31 6.15 1585 14956.22 1.49 0.26 0.077 2704.44 209.2 - - 2187.19 - 126.00 34.99 2.217 2261.16 -4.8 0.313 - - - - - - 15.86 - 11.27
15270.46 836.51 9.21 1609 15275.14 roll 1.49 - - 2704.50 - 2.97 0.091 3343.38 389.3 126.00 - - 2255.66 - - - - - - - - - 15.75 -
15314.00 832.69 9.81 1616 15328.94 roll 1.49 - - 2703.00 - 2.62 0.025 2192.00 -439.5 126.00 - - 2257.47 - - - - - - - - - 15.80 -
15643.40 801.22 9.34 1638 15648.21 roll 1.49 - - 2704.25 - 2.65 0.080 1132.38 -399.9 126.00 - - 2255.59 - - - - - - - - - 15.80 -
15682.05 797.49 9.71 1644 15687.48 roll 1.49 - - 2705.00 - 2.64 0.031 2271.25 431.4 126.00 - - 2255.94 - - - - - - - - - 15.85 -
16001.34 766.74 9.27 1666 16006.01 roll 1.49 - - 2702.50 - 2.86 0.076 1132.31 -398.2 126.00 - - 2254.84 - - - - - - - - - 15.82 -
16060.63 761.12 9.55 1675 16066.17 roll 1.49 - - 2704.38 - 2.63 0.031 2271.44 433.1 126.00 - - 2256.00 - - - - - - - - - 15.90 -
16380.04 732.33 9.20 1697 16381.37 no move 1.49 - - 2704.62 - - - 2271.25 - 126.00 - - 2253.75 - - - - - - - - - - -
16695.06 703.97 8.58 1718 16699.71 roll 1.49 - - 2703.19 - 2.84 0.075 1131.00 -401.5 126.00 - - 2255.00 - - - - - - - - - 15.84 -
16754.33 698.69 8.97 1727 16759.89 roll 1.49 - - 2704.19 - 2.64 0.031 2271.06 431.8 126.00 - - 2254.56 - - - - - - - - - 15.93 -
17073.75 673.10 7.90 1749 17078.42 roll 1.50 - - 2704.06 - 2.83 0.075 1132.50 -402.3 126.00 - - 2252.44 - - - - - - - - - 15.85 -
17131.68 668.19 8.32 1757 17136.31 roll 1.50 - - 2703.31 - 2.62 0.031 2270.75 434.4 126.00 - - 2253.00 - - - - - - - - - 15.93 -
17448.17 643.03 7.96 1779 17449.49 no move 1.51 - - 2704.69 - - - 2271.12 - 126.00 - - 2252.75 - - - - - - - - - - -
17763.17 617.28 8.22 1800 17767.83 roll 1.51 - - 2703.38 - 2.84 0.075 1131.00 -401.5 126.00 - - 2252.91 - - - - - - - - - 15.86 -
17864.12 608.43 8.92 1815 17869.55 roll 1.51 - - 2702.94 - 2.64 0.031 2272.12 432.2 126.00 - - 2255.03 - - - - - - - - - 15.96 -
18183.35 582.31 8.02 1837 18184.69 VBD 1.51 - - 2703.88 - - - 2271.88 - 126.00 - - 2252.44 - - - - - - - - - - -
18498.35 557.24 8.33 1858 18503.02 done 1.51 - - 2704.75 - 2.86 0.075 1132.44 -398.4 126.00 - - 2252.97 - - - - - - - - - 15.86 -
18578.72 550.05 9.02 1870 18584.26 done 1.51 - - 2704.25 - 2.62 0.031 2270.31 434.3 126.00 - - 2253.66 - - - - - - - - - 15.97 -
18898.13 523.21 7.94 1892 18899.47 VBD 1.52 - - 2704.00 - - - 2270.06 - 126.00 - - 2252.16 - - - - - - - - - - -
19213.16 499.13 7.57 1913 19217.82 done 1.54 - - 2703.00 - 2.73 0.094 3343.94 393.4 126.00 - - 2253.47 - - - - - - - - - 15.83 -
19298.93 492.02 8.40 1925 19314.45 done 1.54 - - 2704.75 - 2.58 0.024 2189.75 -447.4 126.00 - - 2252.91 - - - - - - - - - 15.97 -
19616.07 468.64 7.50 1954 19620.75 done 1.56 - - 2704.56 - 2.93 0.089 3345.38 394.4 126.00 - - 2252.91 - - - - - - - - - 15.83 -
19670.34 464.16 8.24 1962 19685.25 done 1.56 - - 2705.19 - 2.59 0.024 2186.75 -447.3 126.00 - - 2253.66 - - - - - - - - - 15.97 -
19986.40 440.50 7.37 1991 19997.47 VBD 1.58 - - 2705.19 - - - 2187.00 - 126.00 - - 2253.53 - - - - - - - - - - -
20299.24 417.84 7.30 2020 20310.31 VBD 1.60 - - 2705.12 - - - 2187.06 - 126.00 - - 2253.19 - - - - - - - - - - -
20612.09 394.56 7.87 2049 20616.73 done 1.61 - - 2704.31 - 2.61 0.080 1131.06 -404.6 126.00 - - 2252.72 - - - - - - - - - 15.84 -
20682.08 388.79 8.26 2059 20697.02 done 1.61 - - 2705.12 - 2.63 0.030 2274.56 434.8 126.00 - - 2254.16 - - - - - - - - - 15.98 -
20998.91 363.52 7.74 2088 21009.98 VBD 1.63 - - 2705.56 - - - 2274.75 - 126.00 - - 2253.22 - - - - - - - - - - -
21311.51 342.25 6.73 2117 21322.69 1.66 0.19 0.082 2746.88 217.5 - - 2274.69 - 126.00 - - 2252.81 - - - - - - - - 15.93 - -
21624.46 318.96 7.26 2146 21629.12 done 1.69 - - 2746.81 - 2.85 0.075 1132.31 -400.8 126.00 - - 2251.75 - - - - - - - - - 15.84 -
21850.86 301.90 7.71 2175 21855.49 done 1.70 - - 2747.00 - 2.62 0.030 2273.25 435.5 126.00 - - 2251.72 - - - - - - - - - 15.97 -
22160.36 280.35 7.12 2233 22165.74 done 1.73 - - 2747.12 - 2.71 0.091 3344.94 395.5 126.00 - - 2254.66 - - - - - - - - - 15.81 -
22255.19 272.74 8.09 2252 22260.72 done 1.73 - - 2746.56 - 2.58 0.024 2187.38 -448.7 126.00 - - 2252.88 - - - - - - - - - 15.95 -
22565.43 249.61 7.28 2314 22566.76 VBD 1.75 - - 2747.19 - - - 2187.69 - 126.00 - - 2252.59 - - - - - - - - - - -
22870.28 227.55 7.40 2375 22871.62 VBD 1.77 - - 2747.12 - - - 2188.38 - 126.00 - - 2252.47 - - - - - - - - - - -
23175.33 205.77 6.61 2436 23180.86 done 1.81 - - 2746.69 - 2.62 0.078 1132.12 -403.2 126.00 - - 2253.97 - - - - - - - - - 15.83 -
23270.33 198.60 7.72 2455 23275.94 1.83 0.15 0.089 2789.75 287.1 2.63 0.029 2275.12 434.6 126.00 - - 2253.00 - - - - - - - - 15.74 15.95 -
23580.76 174.69 7.76 2517 23582.09 VBD 1.84 - - 2788.94 - - - 2274.81 - 126.00 - - 2252.06 - - - - - - - - - - -
23885.62 150.48 8.03 2578 23890.94 done 1.84 - - 2789.12 - 2.69 0.089 3344.56 397.7 126.00 - - 2253.62 - - - - - - - - - 15.81 -
24005.42 140.09 8.92 2602 24010.96 done 1.84 - - 2789.12 - 2.59 0.023 2185.06 -447.7 126.00 - - 2253.31 - - - - - - - - - 15.95 -
24315.72 121.49 4.57 2664 24374.88 done 1.99 - - 2789.62 - 2.59 0.080 1132.44 -406.4 198.97 54.40 1.338 1964.34 -5.3 0.081 - - - - - - - 15.76 10.97
24467.27 109.03 10.36 2694 24472.64 roll 1.99 - - 2789.75 - 2.65 0.029 2272.62 430.3 198.97 - - 1958.38 - - - - - - - - - 15.80 -
24777.15 84.19 5.92 2756 24814.94 2.08 0.28 0.064 2850.31 216.3 - - 2273.12 - 246.62 36.53 1.254 1768.91 -5.2 0.058 - - - - - - 15.80 - 11.78
24997.17 63.57 9.85 2800 25002.74 roll 2.08 - - 2850.88 - 2.86 0.072 1132.50 -398.8 246.62 - - 1763.72 - - - - - - - - - 15.75 -
25192.19 45.66 8.78 2839 25197.75 done 2.08 - - 2850.62 - 2.64 0.029 2275.31 432.9 246.62 - - 1760.22 - - - - - - - - - 15.80 -
25382.22 33.39 6.10 2877 25421.00 done 2.17 - - 2848.44 - 2.84 0.073 1129.81 -403.3 290.92 33.76 1.180 1588.66 -5.1 0.024 - - - - - - - 15.72 11.70
25433.38 30.12 6.36 2887 25469.78 done 2.25 - - 2850.69 - 2.63 0.028 2276.62 436.0 330.43 31.64 1.148 1427.75 -5.1 0.022 - - - - - - - 15.80 12.38
25653.35 14.75 5.85 2931 25697.03 2.35 0.30 0.061 2914.44 212.5 2.87 0.073 1131.12 -399.1 379.33 37.92 1.131 1228.22 -5.3 0.012 - - - - - - 15.70 15.59 11.90
25799 end climb: SURFACE_DEPTH_REACHED
25799 begin surface coast
25859 end surface coast: CONTROL_FINISHED_OK
25860 begin surface
SM 3.45 - - - - 179.4 35.03 1.133 1042.9 28.7 16.98 0.049 998.4 58.8 - 2.82 0.028 1087.4 384.6 -4.843 - - 11.88 15.66 15.70 -