NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 577 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 188.54 of 550.00 AH used of 24V (65.72% remains)
• Surface angle -65.0 deg, depth 0.68 m • Intended pitch -20.3 deg, speed -8.462 cm/s
VBD pumped to 425.00 (SM_CC=425)
• GPS1 time: 72 s
• GPS2 time: 6 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 - - 178.31 - - - 2360.88 - -82.73 55.44 0.005 2488.19 - - - - - - - - - - 15.30
62.60 3.52 -6.93 10 100.67 -1.29 14.77 0.244 2015.00 124.4 2.67 0.089 3426.00 398.9 -82.73 13.25 0.006 3111.28 47.0 -4.664 - - - - - - 15.49 15.22 15.39
247.75 34.63 -14.65 47 253.29 roll -1.29 - - 2015.19 - 2.59 0.020 2253.31 -452.8 -82.73 - - 3111.75 - - - - - - - - - 15.76 -
438.19 59.45 -14.42 85 439.51 no move -1.29 - - 2015.38 - - - 2250.94 - -82.73 - - 3111.44 - - - - - - - - - - -
622.94 80.53 -10.54 122 628.47 roll -1.29 - - 2014.94 - 2.93 0.080 3428.56 401.9 -82.73 - - 3114.34 - - - - - - - - - 15.82 -
667.89 85.41 -11.06 131 673.42 roll -1.29 - - 2015.12 - 2.58 0.020 2244.75 -458.8 -82.73 - - 3112.97 - - - - - - - - - 15.83 -
858.36 102.87 -9.01 169 863.50 roll -1.29 - - 2015.06 - 2.51 0.066 1208.62 -412.8 -82.73 - - 3112.53 - - - - - - - - - 15.86 -
1018.02 118.23 -9.98 201 1023.58 roll -1.29 - - 2015.25 - 2.62 0.028 2354.75 437.5 -82.73 - - 3113.09 - - - - - - - - - 15.88 -
1328.12 146.58 -8.56 263 1329.45 no move -1.29 - - 2014.75 - - - 2355.19 - -82.73 - - 3113.50 - - - - - - - - - - -
1633.21 172.20 -8.81 324 1638.77 roll -1.29 - - 2015.06 - 2.77 0.062 1209.69 -413.5 -82.73 - - 3114.41 - - - - - - - - - 15.91 -
1743.26 182.24 -9.14 346 1748.81 roll -1.29 - - 2014.88 - 2.61 0.029 2352.00 437.7 -82.73 - - 3113.16 - - - - - - - - - 15.94 -
2053.35 209.19 -8.68 408 2054.68 no move -1.29 - - 2015.12 - - - 2352.12 - -82.73 - - 3111.94 - - - - - - - - - - -
2358.48 234.02 -8.02 469 2363.99 roll -1.29 - - 2015.06 - 2.77 0.062 1209.69 -412.4 -82.73 - - 3112.88 - - - - - - - - - 15.93 -
2443.44 241.14 -8.42 486 2448.98 roll -1.29 - - 2014.69 - 2.62 0.029 2353.81 436.7 -82.73 - - 3112.78 - - - - - - - - - 15.96 -
2753.47 266.90 -8.15 548 2754.80 no move -1.29 - - 2015.00 - - - 2353.25 - -82.73 - - 3110.72 - - - - - - - - - - -
3058.51 291.84 -8.69 609 3064.07 roll -1.29 - - 2015.38 - 2.79 0.062 1208.50 -410.3 -82.73 - - 3112.53 - - - - - - - - - 15.94 -
3193.64 304.42 -9.54 633 3198.26 roll -1.29 - - 2014.62 - 2.62 0.029 2353.69 437.1 -82.73 - - 3112.50 - - - - - - - - - 15.98 -
3505.50 331.44 -8.00 662 3510.12 roll -1.29 - - 2015.00 - 2.67 0.090 3426.06 401.6 -82.73 - - 3109.81 - - - - - - - - - 15.92 -
3544.03 334.76 -8.55 668 3558.95 roll -1.29 - - 2015.44 - 2.56 0.021 2245.00 -461.4 -82.73 - - 3110.94 - - - - - - - - - 15.99 -
3860.20 357.27 -7.01 697 3871.28 no move -1.29 - - 2015.00 - - - 2244.88 - -82.73 - - 3110.38 - - - - - - - - - - -
4173.84 381.58 -8.37 726 4178.63 roll -1.29 - - 2012.81 - 2.51 0.068 1210.56 -412.1 -82.73 - - 3109.50 - - - - - - - - - 15.95 -
4242.68 387.83 -8.93 735 4247.29 roll -1.29 - - 2012.25 - 2.60 0.029 2349.62 438.1 -82.73 - - 3110.34 - - - - - - - - - 15.99 -
4553.94 415.80 -9.26 764 4565.01 no move -1.29 - - 2015.25 - - - 2350.25 - -82.73 - - 3109.12 - - - - - - - - - - -
4866.63 443.51 -8.72 793 4871.27 roll -1.29 - - 2014.50 - 2.77 0.063 1207.12 -412.7 -82.73 - - 3108.22 - - - - - - - - - 15.94 -
4951.20 450.67 -8.45 804 4955.83 roll -1.29 - - 2015.00 - 2.61 0.030 2353.31 439.2 -82.73 - - 3107.38 - - - - - - - - - 16.00 -
5262.84 475.38 -7.87 833 5273.91 no move -1.29 - - 2015.38 - - - 2352.50 - -82.73 - - 3108.16 - - - - - - - - - - -
5575.53 499.78 -7.51 862 5580.18 roll -1.29 - - 2015.44 - 2.78 0.063 1208.38 -411.6 -82.73 - - 3107.19 - - - - - - - - - 15.94 -
5655.02 506.09 -7.95 874 5660.57 roll -1.29 - - 2013.88 - 2.62 0.030 2351.62 436.4 -82.73 - - 3106.22 - - - - - - - - - 16.00 -
5974.44 530.31 -7.30 896 5979.09 roll -1.29 - - 2015.00 - 2.76 0.063 1209.62 -413.8 -82.73 - - 3105.66 - - - - - - - - - 15.93 -
6038.73 534.66 -7.44 906 6053.67 roll -1.29 - - 2014.81 - 2.61 0.030 2351.62 437.5 -82.73 - - 3106.12 - - - - - - - - - 16.01 -
6368.13 558.30 -7.04 928 6372.95 roll -1.29 - - 2014.81 - 2.68 0.092 3424.69 400.4 -82.73 - - 3106.09 - - - - - - - - - 15.89 -
6427.51 563.05 -7.90 937 6432.94 roll -1.29 - - 2014.81 - 2.57 0.022 2248.88 -457.5 -82.73 - - 3106.38 - - - - - - - - - 16.00 -
6746.81 586.32 -7.25 959 6748.14 no move -1.29 - - 2014.81 - - - 2248.06 - -82.73 - - 3104.16 - - - - - - - - - - -
7061.83 609.59 -7.57 980 7063.16 no move -1.29 - - 2014.81 - - - 2247.81 - -82.73 - - 3105.12 - - - - - - - - - - -
7376.84 632.35 -6.98 1001 7378.17 no move -1.29 - - 2014.81 - - - 2247.75 - -82.73 - - 3102.81 - - - - - - - - - - -
7691.88 653.41 -6.45 1022 7693.20 no move -1.29 - - 2015.31 - - - 2247.31 - -82.73 - - 3102.50 - - - - - - - - - - -
8006.88 673.45 -6.28 1043 8011.49 roll -1.29 - - 2014.88 - 2.53 0.070 1208.38 -410.6 -82.73 - - 3104.94 - - - - - - - - - 15.91 -
8085.55 678.80 -6.75 1054 8090.17 roll -1.29 - - 2014.50 - 2.62 0.031 2352.25 436.6 -82.73 - - 3102.69 - - - - - - - - - 15.99 -
8402.19 700.38 -7.06 1076 8403.52 no move -1.29 - - 2015.12 - - - 2352.31 - -82.73 - - 3102.56 - - - - - - - - - - -
8717.03 722.26 -6.80 1097 8721.68 roll -1.29 - - 2014.94 - 2.79 0.065 1210.31 -409.3 -82.73 - - 3102.97 - - - - - - - - - 15.90 -
8776.32 726.44 -7.11 1106 8781.87 roll -1.29 - - 2014.75 - 2.62 0.031 2350.38 435.1 -82.73 - - 3102.78 - - - - - - - - - 16.00 -
9095.73 749.20 -7.18 1128 9097.06 no move -1.29 - - 2014.75 - - - 2351.00 - -82.73 - - 3101.28 - - - - - - - - - - -
9410.74 771.66 -7.08 1149 9415.60 roll -1.29 - - 2012.69 - 2.79 0.065 1208.56 -409.5 -82.73 - - 3102.16 - - - - - - - - - 15.90 -
9511.66 779.31 -7.71 1164 9517.08 roll -1.29 - - 2014.69 - 2.61 0.031 2352.31 438.2 -82.73 - - 3104.62 - - - - - - - - - 16.00 -
9830.88 802.49 -7.01 1186 9835.52 roll -1.29 - - 2014.94 - 2.80 0.065 1209.62 -408.1 -82.73 - - 3100.88 - - - - - - - - - 15.89 -
9909.53 808.18 -7.21 1197 9914.16 roll -1.29 - - 2014.50 - 2.61 0.031 2352.00 437.7 -82.73 - - 3100.06 - - - - - - - - - 15.99 -
10226.00 830.37 -7.21 1219 10227.33 no move -1.29 - - 2014.75 - - - 2351.62 - -82.73 - - 3099.59 - - - - - - - - - - -
10541.03 851.92 -6.66 1240 10542.36 no move -1.29 - - 2015.00 - - - 2352.44 - -82.73 - - 3099.44 - - - - - - - - - - -
10856.06 872.02 -6.35 1261 10860.71 roll -1.29 - - 2014.88 - 2.79 0.066 1209.31 -409.7 -82.73 - - 3100.03 - - - - - - - - - 15.88 -
10941.08 877.32 -6.69 1274 10956.02 roll -1.29 - - 2014.75 - 2.62 0.031 2351.25 435.9 -82.73 - - 3099.88 - - - - - - - - - 16.00 -
11270.48 899.78 -6.93 1296 11275.12 roll -1.29 - - 2014.75 - 2.79 0.065 1209.81 -409.1 -82.73 - - 3099.25 - - - - - - - - - 15.88 -
11376.22 906.91 -7.18 1312 11391.15 roll -1.29 - - 2014.94 - 2.61 0.031 2349.25 436.6 -82.73 - - 3100.16 - - - - - - - - - 16.00 -
11705.63 928.49 -6.18 1334 11706.96 no move -1.29 - - 2014.56 - - - 2349.44 - -82.73 - - 3098.69 - - - - - - - - - - -
12020.65 947.99 -6.22 1355 12025.48 roll -1.29 - - 2012.88 - 2.79 0.066 1209.62 -408.5 -82.73 - - 3100.25 - - - - - - - - - 15.87 -
12105.79 952.95 -6.29 1368 12120.61 roll -1.29 - - 2015.00 - 2.61 0.031 2351.62 437.5 -82.73 - - 3099.06 - - - - - - - - - 16.00 -
12435.10 973.26 -6.24 1390 12436.43 no move -1.29 - - 2014.50 - - - 2351.50 - -82.73 - - 3098.00 - - - - - - - - - - -
12704 end dive: TARGET_DEPTH_EXCEEDED
12704 begin apogee
12707.11 990.94 -6.63 1408 12782.47 -0.28 1.75 0.138 2263.44 142.3 0.21 0.138 2281.94 -331.2 - 62.28 2.445 2776.50 -5.2 0.354 - - - - - - 15.74 15.54 10.53
12783 end apogee: CONTROL_FINISHED_OK
12783 begin climb
12784.51 992.69 - 1413 12871.83 1.29 2.57 0.090 2649.50 150.2 2.80 0.097 3344.12 379.3 82.73 67.80 2.364 2436.44 -5.0 0.356 - - - - - - 15.60 15.23 12.27
12900.32 988.06 5.02 1430 12960.10 1.42 0.16 0.086 2692.00 265.6 2.67 0.023 2186.56 -433.5 147.29 54.97 2.310 2174.06 -4.8 0.345 - - - - - - 15.37 15.42 12.15
13262.11 952.19 10.47 1459 13266.74 done 1.42 - - 2692.06 - 2.63 0.079 1132.44 -400.8 147.29 - - 2164.56 - - - - - - - - - 15.61 -
13321.39 945.88 10.74 1468 13326.96 done 1.42 - - 2692.19 - 2.66 0.031 2270.06 427.7 147.29 - - 2164.19 - - - - - - - - - 15.66 -
13640.80 913.56 10.08 1490 13642.13 VBD 1.42 - - 2691.75 - - - 2270.31 - 147.29 - - 2162.41 - - - - - - - - - - -
13955.99 882.26 9.69 1511 13960.66 done 1.42 - - 2692.19 - 2.83 0.075 1133.56 -401.7 147.29 - - 2160.81 - - - - - - - - - 15.80 -
14034.67 873.96 10.44 1522 14039.31 done 1.42 - - 2691.12 - 2.64 0.032 2271.38 431.0 147.29 - - 2159.91 - - - - - - - - - 15.84 -
14351.15 842.52 9.79 1544 14355.80 done 1.42 - - 2691.00 - 2.71 0.096 3343.56 395.6 147.29 - - 2159.69 - - - - - - - - - 15.81 -
14410.43 836.34 10.42 1553 14415.96 done 1.42 - - 2691.50 - 2.60 0.024 2189.81 -443.8 147.29 - - 2162.50 - - - - - - - - - 15.89 -
14730.17 805.51 9.50 1575 14734.80 done 1.42 - - 2690.06 - 2.61 0.080 1132.25 -405.2 147.29 - - 2160.19 - - - - - - - - - 15.85 -
14768.71 801.71 9.86 1581 14774.27 done 1.42 - - 2691.81 - 2.62 0.031 2272.00 435.0 147.29 - - 2162.12 - - - - - - - - - 15.91 -
15088.11 771.64 9.17 1603 15092.96 done 1.42 - - 2691.44 - 2.83 0.076 1131.00 -403.2 147.29 - - 2161.84 - - - - - - - - - 15.85 -
15189.04 761.58 10.13 1618 15194.42 done 1.42 - - 2691.44 - 2.62 0.032 2271.25 435.2 147.29 - - 2159.53 - - - - - - - - - 15.93 -
15508.29 732.17 9.63 1640 15512.93 done 1.42 - - 2691.75 - 2.69 0.095 3344.31 398.9 147.29 - - 2158.16 - - - - - - - - - 15.84 -
15567.57 725.74 10.75 1649 15573.11 done 1.42 - - 2691.88 - 2.59 0.025 2189.75 -445.8 147.29 - - 2159.56 - - - - - - - - - 15.93 -
15886.98 693.99 9.54 1671 15888.31 VBD 1.42 - - 2692.56 - - - 2189.69 - 147.29 - - 2159.22 - - - - - - - - - - -
16202.00 664.97 8.86 1692 16206.68 done 1.42 - - 2692.31 - 2.92 0.091 3348.56 396.9 147.29 - - 2159.56 - - - - - - - - - 15.84 -
16266.28 659.36 9.45 1702 16281.21 done 1.42 - - 2691.50 - 2.58 0.025 2189.56 -449.2 147.29 - - 2159.50 - - - - - - - - - 15.95 -
16595.71 631.40 7.89 1724 16600.32 done 1.44 - - 2691.44 - 2.58 0.080 1129.88 -410.7 147.29 - - 2158.75 - - - - - - - - - 15.86 -
16634.25 628.26 8.16 1730 16639.80 done 1.44 - - 2691.75 - 2.62 0.031 2272.06 435.9 147.29 - - 2162.19 - - - - - - - - - 15.96 -
16953.67 601.68 8.44 1752 16958.33 done 1.44 - - 2691.81 - 2.77 0.076 1131.12 -411.9 147.29 - - 2157.22 - - - - - - - - - 15.87 -
17033.69 594.64 8.89 1764 17039.41 done 1.44 - - 2691.94 - 2.60 0.031 2270.00 438.0 147.29 - - 2159.75 - - - - - - - - - 15.97 -
17353.27 568.19 8.18 1786 17357.92 done 1.44 - - 2691.88 - 2.71 0.095 3348.06 397.8 147.29 - - 2156.59 - - - - - - - - - 15.84 -
17391.81 564.82 8.61 1792 17397.36 done 1.44 - - 2692.19 - 2.58 0.025 2188.56 -449.4 147.29 - - 2158.03 - - - - - - - - - 15.96 -
17711.24 538.25 8.54 1814 17712.57 VBD 1.44 - - 2691.88 - - - 2188.50 - 147.29 - - 2156.72 - - - - - - - - - - -
18026.27 510.07 8.77 1835 18027.60 VBD 1.44 - - 2691.62 - - - 2188.44 - 147.29 - - 2156.81 - - - - - - - - - - -
18329.49 484.60 8.24 1860 18340.56 VBD 1.44 - - 2691.88 - - - 2188.25 - 147.29 - - 2158.16 - - - - - - - - - - -
18642.19 458.86 8.40 1889 18653.27 VBD 1.44 - - 2692.25 - - - 2187.62 - 147.29 - - 2158.22 - - - - - - - - - - -
18954.91 433.64 7.98 1918 18959.82 done 1.44 - - 2691.88 - 2.92 0.090 3344.25 396.1 147.29 - - 2158.53 - - - - - - - - - 15.83 -
19070.78 422.92 9.34 1933 19075.39 done 1.44 - - 2691.75 - 2.58 0.024 2189.12 -447.7 147.29 - - 2159.66 - - - - - - - - - 15.96 -
19382.43 396.66 8.37 1962 19387.05 done 1.44 - - 2692.50 - 2.60 0.080 1132.06 -406.6 147.29 - - 2158.09 - - - - - - - - - 15.85 -
19452.44 390.51 8.85 1972 19467.38 done 1.44 - - 2691.56 - 2.62 0.030 2273.38 435.6 147.29 - - 2158.09 - - - - - - - - - 15.98 -
19769.05 364.89 8.00 2001 19773.74 done 1.44 - - 2691.75 - 2.69 0.093 3345.81 398.7 147.29 - - 2158.97 - - - - - - - - - 15.83 -
19823.32 360.21 8.63 2009 19838.26 done 1.44 - - 2692.50 - 2.58 0.024 2188.56 -448.5 147.29 - - 2157.75 - - - - - - - - - 15.97 -
20139.92 336.21 7.23 2038 20144.59 done 1.46 - - 2691.81 - 2.89 0.089 3345.75 400.4 147.29 - - 2156.78 - - - - - - - - - 15.82 -
20209.95 330.58 8.04 2048 20224.86 done 1.46 - - 2691.19 - 2.58 0.024 2188.50 -448.5 147.29 - - 2159.09 - - - - - - - - - 15.97 -
20526.47 307.67 7.20 2077 20531.09 done 1.48 - - 2690.00 - 2.59 0.080 1130.06 -408.7 147.29 - - 2157.75 - - - - - - - - - 15.84 -
20637.37 299.09 7.84 2091 20642.03 done 1.50 - - 2691.81 - 2.61 0.031 2273.56 438.1 147.29 - - 2157.72 - - - - - - - - - 15.95 -
20944.52 277.74 6.85 2153 20945.85 VBD 1.53 - - 2692.44 - - - 2273.44 - 147.29 - - 2156.97 - - - - - - - - - - -
21249.73 255.92 7.26 2214 21255.13 done 1.55 - - 2692.06 - 2.81 0.075 1131.12 -406.5 147.29 - - 2158.19 - - - - - - - - - 15.82 -
21439.75 241.49 7.69 2252 21445.17 done 1.57 - - 2691.50 - 2.61 0.030 2273.62 437.7 147.29 - - 2158.69 - - - - - - - - - 15.96 -
21749.62 218.78 7.38 2314 21755.17 done 1.59 - - 2691.81 - 2.70 0.092 3347.12 397.6 147.29 - - 2158.47 - - - - - - - - - 15.81 -
21859.79 209.25 8.94 2336 21865.17 done 1.59 - - 2691.62 - 2.58 0.024 2186.19 -450.0 147.29 - - 2159.19 - - - - - - - - - 15.94 -
22169.68 186.63 6.85 2398 22175.33 1.62 0.19 0.084 2735.69 231.9 2.91 0.087 3347.19 399.0 147.29 - - 2158.53 - - - - - - - - 15.91 15.79 -
22244.68 180.39 8.61 2413 22250.21 done 1.62 - - 2735.44 - 2.56 0.024 2185.44 -453.8 147.29 - - 2159.19 - - - - - - - - - 15.95 -
22554.74 157.17 6.92 2475 22560.25 done 1.65 - - 2735.25 - 2.54 0.078 1131.19 -415.1 147.29 - - 2157.97 - - - - - - - - - 15.82 -
22639.74 150.97 7.12 2492 22645.50 done 1.68 - - 2735.19 - 2.60 0.030 2276.75 440.6 147.29 - - 2158.44 - - - - - - - - - 15.96 -
22949.83 129.51 7.99 2554 22955.34 done 1.68 - - 2735.19 - 2.76 0.073 1130.06 -415.5 147.29 - - 2158.81 - - - - - - - - - 15.83 -
22989.77 126.16 8.33 2562 22995.31 done 1.68 - - 2733.94 - 2.60 0.029 2275.12 440.4 147.29 - - 2158.97 - - - - - - - - - 15.95 -
23299.88 103.03 6.83 2624 23301.21 VBD 1.71 - - 2735.00 - - - 2275.75 - 147.29 - - 2157.94 - - - - - - - - - - -
23604.98 84.47 4.37 2685 23667.39 1.87 0.29 0.067 2796.75 212.9 2.80 0.074 1130.12 -409.2 224.08 55.86 1.291 1863.00 -5.3 0.058 - - - - - - 15.92 15.75 10.92
23895.06 64.49 7.28 2743 23900.59 roll 1.89 - - 2797.25 - 2.62 0.029 2273.56 436.4 224.08 - - 1854.62 - - - - - - - - - 15.81 -
24085.11 51.30 6.91 2781 24090.67 done 1.92 - - 2797.06 - 2.80 0.071 1131.25 -408.0 224.08 - - 1852.56 - - - - - - - - - 15.79 -
24230.78 42.75 5.12 2810 24283.41 2.05 0.17 0.086 2840.88 257.8 2.62 0.028 2277.56 437.5 286.77 47.16 1.212 1604.62 -5.3 0.031 - - - - - - 15.67 15.85 11.81
24465.62 24.12 8.62 2857 24471.19 roll 2.05 - - 2840.94 - 2.80 0.071 1131.38 -409.3 286.77 - - 1598.09 - - - - - - - - - 15.75 -
24700.66 11.73 3.04 2904 24783.88 2.25 0.21 0.077 2890.69 236.9 2.61 0.027 2277.38 439.1 388.41 76.32 1.163 1192.25 -5.3 0.009 - - - - - - 15.67 15.80 11.78
24915 end climb: SURFACE_DEPTH_REACHED
24915 begin surface coast
25010 end surface coast: CONTROL_FINISHED_OK
25011 begin surface
SM 1.78 - - - - 183.4 28.13 1.116 1042.4 34.3 16.92 0.051 1003.7 59.3 - 0.12 0.126 1081.2 8988.3 -12.978 - - 11.85 15.66 15.69 -