NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 578 * Raw log
prev dive * next dive * dive
• Previous call tries 5 • 188.96 of 550.00 AH used of 24V (65.64% remains)
• Surface angle -59.7 deg, depth 0.62 m • Intended pitch -20.3 deg, speed -8.462 cm/s
• No surface pump (final VBD was 811.4, SM_CC=425)
• GPS1 time: 90 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
5.28 - - - 61.88 VBD -1.29 - - 183.25 - - - 2239.50 - -82.73 55.42 0.005 2521.59 - - - - - - - - - - 15.30
62.62 3.21 -6.16 10 100.06 -1.29 14.73 0.244 2017.44 124.5 2.99 0.085 3429.88 398.1 -82.73 12.43 0.006 3111.56 47.5 -4.266 - - - - - - 15.47 15.23 15.38
227.14 34.74 -15.17 43 232.88 roll -1.29 - - 2017.38 - 2.59 0.020 2249.31 -455.8 -82.73 - - 3112.84 - - - - - - - - - 15.76 -
417.68 59.53 -12.47 81 422.30 roll -1.29 - - 2017.50 - 2.50 0.064 1207.25 -416.8 -82.73 - - 3113.31 - - - - - - - - - 15.80 -
562.21 77.18 -11.33 110 567.75 roll -1.29 - - 2017.44 - 2.63 0.027 2354.62 436.3 -82.73 - - 3114.78 - - - - - - - - - 15.83 -
752.63 93.02 -6.54 148 757.79 roll -1.29 - - 2017.31 - 2.65 0.084 3429.00 405.4 -82.73 - - 3113.34 - - - - - - - - - 15.83 -
767.25 94.00 -6.43 151 772.77 roll -1.29 - - 2017.44 - 2.56 0.020 2234.62 -466.6 -82.73 - - 3114.91 - - - - - - - - - 15.85 -
957.66 106.64 -7.51 189 962.39 roll -1.29 - - 2017.50 - 2.45 0.064 1208.56 -418.8 -82.73 - - 3113.59 - - - - - - - - - 15.87 -
1057.31 115.33 -8.93 209 1063.07 roll -1.29 - - 2017.44 - 2.62 0.027 2355.75 437.9 -82.73 - - 3113.06 - - - - - - - - - 15.89 -
1367.41 140.38 -8.47 271 1372.97 roll -1.29 - - 2017.25 - 2.76 0.059 1208.75 -415.6 -82.73 - - 3113.81 - - - - - - - - - 15.91 -
1477.45 150.51 -9.24 293 1483.00 roll -1.29 - - 2017.75 - 2.61 0.028 2353.31 438.5 -82.73 - - 3113.47 - - - - - - - - - 15.93 -
1787.60 177.66 -9.01 355 1793.10 roll -1.29 - - 2017.69 - 2.74 0.059 1207.19 -418.3 -82.73 - - 3113.03 - - - - - - - - - 15.93 -
1857.56 184.19 -9.42 369 1863.10 roll -1.29 - - 2017.19 - 2.60 0.028 2354.94 441.4 -82.73 - - 3113.47 - - - - - - - - - 15.94 -
2167.65 211.39 -8.58 431 2168.98 no move -1.29 - - 2016.88 - - - 2354.62 - -82.73 - - 3111.44 - - - - - - - - - - -
2472.74 239.04 -9.18 492 2474.07 no move -1.29 - - 2017.00 - - - 2354.81 - -82.73 - - 3111.72 - - - - - - - - - - -
2777.84 266.43 -8.78 553 2779.17 no move -1.29 - - 2017.31 - - - 2354.56 - -82.73 - - 3110.53 - - - - - - - - - - -
3082.91 292.68 -8.53 614 3088.47 roll -1.29 - - 2017.94 - 2.76 0.061 1209.94 -414.7 -82.73 - - 3110.59 - - - - - - - - - 15.95 -
3203.64 302.79 -8.34 637 3218.58 roll -1.29 - - 2017.31 - 2.61 0.029 2353.31 438.1 -82.73 - - 3111.09 - - - - - - - - - 16.00 -
3520.64 327.68 -7.71 666 3531.71 no move -1.29 - - 2017.00 - - - 2352.75 - -82.73 - - 3110.31 - - - - - - - - - - -
3833.68 351.58 -7.95 695 3838.32 roll -1.29 - - 2017.06 - 2.76 0.062 1208.69 -414.5 -82.73 - - 3109.75 - - - - - - - - - 15.96 -
4013.86 367.29 -8.86 719 4028.79 roll -1.29 - - 2017.44 - 2.61 0.029 2352.06 438.1 -82.73 - - 3110.38 - - - - - - - - - 16.01 -
4330.34 394.68 -8.72 748 4341.41 no move -1.29 - - 2017.44 - - - 2352.12 - -82.73 - - 3108.16 - - - - - - - - - - -
4643.01 421.61 -8.63 777 4647.65 roll -1.29 - - 2017.19 - 2.77 0.062 1208.62 -412.8 -82.73 - - 3107.53 - - - - - - - - - 15.95 -
4743.15 430.50 -8.83 790 4747.80 roll -1.29 - - 2017.50 - 2.62 0.030 2352.06 436.4 -82.73 - - 3108.00 - - - - - - - - - 16.00 -
5055.54 454.82 -7.60 819 5060.18 roll -1.29 - - 2015.94 - 2.76 0.062 1209.62 -413.9 -82.73 - - 3106.06 - - - - - - - - - 15.95 -
5109.82 459.10 -7.89 827 5124.76 roll -1.29 - - 2017.62 - 2.61 0.030 2353.38 438.2 -82.73 - - 3106.56 - - - - - - - - - 16.01 -
5426.00 483.54 -7.41 856 5437.06 no move -1.29 - - 2017.69 - - - 2353.69 - -82.73 - - 3105.72 - - - - - - - - - - -
5747.43 507.62 -7.18 883 5752.07 roll -1.29 - - 2017.31 - 2.78 0.063 1208.38 -412.0 -82.73 - - 3105.66 - - - - - - - - - 15.94 -
5889.66 518.23 -7.56 904 5895.39 roll -1.29 - - 2017.50 - 2.62 0.030 2350.69 436.0 -82.73 - - 3104.34 - - - - - - - - - 16.01 -
6209.24 541.34 -7.22 926 6213.86 roll -1.29 - - 2017.25 - 2.69 0.091 3423.50 398.8 -82.73 - - 3103.41 - - - - - - - - - 15.90 -
6268.51 546.17 -8.06 935 6274.04 roll -1.29 - - 2017.25 - 2.57 0.021 2247.69 -457.5 -82.73 - - 3103.84 - - - - - - - - - 16.01 -
6587.92 571.55 -8.02 957 6589.24 no move -1.29 - - 2017.31 - - - 2247.88 - -82.73 - - 3101.94 - - - - - - - - - - -
6902.93 596.05 -7.73 978 6904.25 no move -1.29 - - 2016.81 - - - 2247.81 - -82.73 - - 3102.47 - - - - - - - - - - -
7217.94 620.96 -8.03 999 7219.27 no move -1.29 - - 2017.19 - - - 2247.12 - -82.73 - - 3101.81 - - - - - - - - - - -
7533.08 645.88 -7.50 1020 7537.69 roll -1.29 - - 2017.38 - 2.52 0.069 1209.62 -411.7 -82.73 - - 3100.69 - - - - - - - - - 15.92 -
7618.10 652.22 -7.95 1033 7633.05 roll -1.29 - - 2017.38 - 2.62 0.030 2351.69 435.9 -82.73 - - 3104.09 - - - - - - - - - 16.01 -
7947.51 676.06 -6.73 1055 7948.84 no move -1.29 - - 2017.62 - - - 2351.12 - -82.73 - - 3100.09 - - - - - - - - - - -
8262.53 697.72 -7.12 1076 8263.86 no move -1.29 - - 2017.31 - - - 2351.19 - -82.73 - - 3101.19 - - - - - - - - - - -
8577.54 721.78 -7.75 1097 8578.87 no move -1.29 - - 2017.06 - - - 2351.25 - -82.73 - - 3099.75 - - - - - - - - - - -
8892.56 744.90 -7.05 1118 8893.89 no move -1.29 - - 2016.88 - - - 2351.50 - -82.73 - - 3099.16 - - - - - - - - - - -
9207.56 767.52 -7.24 1139 9212.21 roll -1.29 - - 2017.12 - 2.79 0.065 1209.50 -409.3 -82.73 - - 3098.25 - - - - - - - - - 15.91 -
9348.41 778.33 -7.67 1159 9353.22 roll -1.29 - - 2017.12 - 2.62 0.031 2352.75 436.4 -82.73 - - 3099.12 - - - - - - - - - 16.00 -
9665.07 800.26 -6.79 1181 9666.40 no move -1.29 - - 2017.88 - - - 2352.50 - -82.73 - - 3098.12 - - - - - - - - - - -
9979.93 820.06 -5.96 1202 9984.57 roll -1.29 - - 2017.38 - 2.79 0.065 1209.44 -409.7 -82.73 - - 3097.97 - - - - - - - - - 15.90 -
10106.77 827.53 -6.26 1221 10121.36 roll -1.29 - - 2017.56 - 2.63 0.031 2351.25 434.1 -82.73 - - 3099.75 - - - - - - - - - 16.00 -
10435.86 846.10 -5.40 1243 10437.19 no move -1.29 - - 2016.94 - - - 2350.50 - -82.73 - - 3097.75 - - - - - - - - - - -
10750.90 863.16 -5.63 1264 10755.55 roll -1.29 - - 2017.00 - 2.77 0.065 1209.62 -411.9 -82.73 - - 3098.44 - - - - - - - - - 15.88 -
10815.18 866.72 -6.02 1274 10830.10 roll -1.29 - - 2017.44 - 2.63 0.031 2351.00 434.0 -82.73 - - 3098.72 - - - - - - - - - 16.00 -
11144.60 887.01 -6.45 1296 11145.93 no move -1.29 - - 2017.19 - - - 2350.88 - -82.73 - - 3097.56 - - - - - - - - - - -
11459.59 909.06 -7.05 1317 11464.25 roll -1.29 - - 2017.31 - 2.78 0.065 1209.50 -410.6 -82.73 - - 3098.28 - - - - - - - - - 15.88 -
11539.61 914.82 -7.29 1329 11545.16 roll -1.29 - - 2017.19 - 2.63 0.031 2352.00 434.4 -82.73 - - 3097.66 - - - - - - - - - 16.01 -
11859.19 936.52 -6.81 1351 11863.83 roll -1.29 - - 2017.06 - 2.77 0.065 1211.06 -411.9 -82.73 - - 3098.25 - - - - - - - - - 15.87 -
11923.47 940.59 -6.95 1361 11938.58 roll -1.29 - - 2017.25 - 2.63 0.031 2350.94 433.4 -82.73 - - 3098.59 - - - - - - - - - 15.99 -
12253.03 962.33 -6.04 1383 12257.67 roll -1.29 - - 2017.38 - 2.78 0.065 1209.81 -410.5 -82.73 - - 3096.34 - - - - - - - - - 15.87 -
12333.04 967.34 -6.31 1395 12338.58 roll -1.29 - - 2016.62 - 2.63 0.031 2351.50 434.1 -82.73 - - 3097.66 - - - - - - - - - 15.99 -
12652.45 986.03 -5.66 1417 12653.78 no move -1.29 - - 2017.06 - - - 2351.75 - -82.73 - - 3095.59 - - - - - - - - - - -
12727 end dive: TARGET_DEPTH_EXCEEDED
12727 begin apogee
12729.26 990.14 -5.50 1422 12804.78 -0.28 1.76 0.141 2263.25 139.9 0.21 0.139 2280.88 -337.5 - 61.90 2.447 2775.62 -5.2 0.351 - - - - - - 15.73 15.53 10.47
12806 end apogee: CONTROL_FINISHED_OK
12806 begin climb
12806.82 991.14 - 1427 12881.00 1.29 2.58 0.093 2649.38 149.7 - - 2280.56 - 82.73 67.79 2.364 2437.50 -5.0 0.351 - - - - - - 15.60 - 12.27
13193.33 964.68 7.70 1453 13194.66 no move 1.31 - - 2648.81 - - - 2280.12 - 82.73 - - 2429.59 - - - - - - - - - - -
13508.35 941.19 7.54 1474 13509.68 no move 1.33 - - 2648.88 - - - 2280.81 - 82.73 - - 2428.69 - - - - - - - - - - -
13823.38 918.09 7.12 1495 13828.22 done 1.35 - - 2649.94 - 2.86 0.075 1132.44 -401.5 82.73 - - 2427.75 - - - - - - - - - 15.78 -
13903.58 912.17 7.49 1507 13908.94 done 1.37 - - 2648.69 - 2.64 0.031 2272.69 431.9 82.73 - - 2430.22 - - - - - - - - - 15.84 -
14222.83 892.28 5.69 1529 14268.72 1.48 0.25 0.079 2701.19 210.0 - - 2272.44 - 134.65 42.28 2.268 2226.72 -4.8 0.318 - - - - - - 15.84 - 11.49
14582.85 860.72 9.22 1553 14587.51 roll 1.48 - - 2701.19 - 2.86 0.074 1132.25 -398.7 134.65 - - 2220.34 - - - - - - - - - 15.74 -
14621.40 856.98 9.64 1559 14626.95 roll 1.48 - - 2701.31 - 2.66 0.031 2270.19 427.8 134.65 - - 2219.53 - - - - - - - - - 15.77 -
14940.82 826.70 9.39 1581 14942.15 no move 1.48 - - 2701.75 - - - 2269.69 - 134.65 - - 2217.91 - - - - - - - - - - -
15255.85 796.83 9.20 1602 15260.51 roll 1.48 - - 2701.19 - 2.86 0.074 1132.94 -397.5 134.65 - - 2219.75 - - - - - - - - - 15.82 -
15355.27 786.99 9.91 1616 15359.90 done 1.48 - - 2702.19 - 2.63 0.032 2273.31 433.6 134.65 - - 2216.47 - - - - - - - - - 15.87 -
15671.75 758.36 9.25 1638 15673.08 VBD 1.48 - - 2701.25 - - - 2273.06 - 134.65 - - 2216.31 - - - - - - - - - - -
15986.79 729.96 8.98 1659 15988.12 VBD 1.48 - - 2702.06 - - - 2272.62 - 134.65 - - 2216.75 - - - - - - - - - - -
16301.82 701.66 9.25 1680 16306.67 done 1.48 - - 2702.06 - 2.85 0.074 1132.56 -400.0 134.65 - - 2219.66 - - - - - - - - - 15.85 -
16387.02 694.05 9.65 1693 16401.79 done 1.48 - - 2700.19 - 2.62 0.031 2271.94 434.9 134.65 - - 2217.72 - - - - - - - - - 15.94 -
16716.26 663.30 9.06 1715 16720.93 done 1.48 - - 2701.69 - 2.84 0.074 1131.00 -401.7 134.65 - - 2216.34 - - - - - - - - - 15.86 -
16774.20 657.52 9.75 1723 16778.83 done 1.48 - - 2701.50 - 2.63 0.031 2270.75 433.4 134.65 - - 2215.84 - - - - - - - - - 15.94 -
17090.69 628.38 9.19 1745 17095.34 done 1.48 - - 2701.50 - 2.71 0.094 3345.88 396.7 134.65 - - 2215.53 - - - - - - - - - 15.84 -
17113.49 626.81 9.25 1749 17128.41 done 1.48 - - 2702.00 - 2.59 0.024 2187.88 -447.1 134.65 - - 2218.22 - - - - - - - - - 15.95 -
17442.91 596.83 8.84 1771 17447.54 done 1.48 - - 2701.25 - 2.62 0.078 1131.25 -403.3 134.65 - - 2216.31 - - - - - - - - - 15.86 -
17507.42 591.29 9.37 1781 17522.36 done 1.48 - - 2700.56 - 2.63 0.031 2270.62 433.2 134.65 - - 2217.47 - - - - - - - - - 15.95 -
17836.85 563.34 8.19 1803 17841.49 done 1.48 - - 2701.62 - 2.70 0.093 3344.06 397.6 134.65 - - 2217.66 - - - - - - - - - 15.84 -
17901.14 558.03 8.90 1813 17916.07 done 1.48 - - 2700.94 - 2.59 0.024 2187.25 -446.6 134.65 - - 2216.41 - - - - - - - - - 15.97 -
18230.86 530.99 7.95 1835 18232.19 VBD 1.49 - - 2702.00 - - - 2186.94 - 134.65 - - 2215.50 - - - - - - - - - - -
18545.69 506.98 7.60 1856 18547.02 VBD 1.51 - - 2701.12 - - - 2186.56 - 134.65 - - 2216.25 - - - - - - - - - - -
18855.10 484.62 7.18 1882 18866.17 VBD 1.53 - - 2701.31 - - - 2186.12 - 134.65 - - 2216.53 - - - - - - - - - - -
19167.92 460.94 8.31 1911 19172.54 done 1.53 - - 2699.44 - 2.62 0.079 1131.12 -402.7 134.65 - - 2216.06 - - - - - - - - - 15.85 -
19253.67 452.81 9.53 1923 19268.61 done 1.53 - - 2701.31 - 2.62 0.031 2271.38 435.2 134.65 - - 2217.50 - - - - - - - - - 15.97 -
19569.76 423.55 8.95 1952 19574.41 done 1.53 - - 2701.75 - 2.71 0.093 3345.00 396.2 134.65 - - 2216.94 - - - - - - - - - 15.83 -
19639.76 416.74 9.80 1962 19654.69 done 1.53 - - 2702.44 - 2.58 0.024 2188.25 -448.4 134.65 - - 2216.50 - - - - - - - - - 15.97 -
19956.06 390.15 8.10 1991 19967.13 VBD 1.53 - - 2701.75 - - - 2188.25 - 134.65 - - 2216.56 - - - - - - - - - - -
20268.69 366.73 7.13 2020 20273.31 done 1.56 - - 2702.25 - 2.60 0.078 1130.19 -406.9 134.65 - - 2217.19 - - - - - - - - - 15.85 -
20337.35 361.60 7.39 2029 20341.99 done 1.58 - - 2701.62 - 2.63 0.030 2273.62 434.8 134.65 - - 2215.72 - - - - - - - - - 15.97 -
20649.13 341.42 6.40 2058 20684.53 1.66 0.19 0.081 2742.88 217.2 2.68 0.095 3345.50 400.0 173.41 30.26 1.601 2067.41 -4.9 0.176 - - - - - - 15.94 15.81 11.11
20730.09 334.64 8.47 2069 20744.84 roll 1.66 - - 2742.31 - 2.59 0.024 2190.06 -446.1 173.41 - - 2065.97 - - - - - - - - - 15.88 -
21046.19 306.04 9.04 2098 21050.82 roll 1.66 - - 2742.38 - 2.61 0.078 1132.25 -405.3 173.41 - - 2061.44 - - - - - - - - - 15.83 -
21100.46 301.01 9.35 2106 21115.40 roll 1.66 - - 2741.62 - 2.63 0.030 2272.06 433.4 173.41 - - 2063.53 - - - - - - - - - 15.89 -
21418.26 272.04 9.59 2167 21423.84 roll 1.66 - - 2742.94 - 2.84 0.073 1131.19 -401.7 173.41 - - 2063.03 - - - - - - - - - 15.82 -
21533.28 260.06 10.26 2190 21538.83 roll 1.66 - - 2742.56 - 2.63 0.030 2272.31 433.9 173.41 - - 2061.50 - - - - - - - - - 15.90 -
21843.37 231.36 9.36 2252 21844.70 no move 1.66 - - 2742.69 - - - 2272.19 - 173.41 - - 2060.16 - - - - - - - - - - -
22148.47 203.78 8.46 2313 22154.24 roll 1.66 - - 2742.94 - 2.83 0.073 1132.38 -402.8 173.41 - - 2061.19 - - - - - - - - - 15.83 -
22223.67 196.59 9.96 2328 22229.03 roll 1.66 - - 2741.94 - 2.63 0.030 2272.56 433.5 173.41 - - 2062.34 - - - - - - - - - 15.91 -
22533.58 167.71 8.72 2390 22534.91 no move 1.66 - - 2742.50 - - - 2272.19 - 173.41 - - 2060.62 - - - - - - - - - - -
22838.70 144.56 6.83 2451 22840.03 no move 1.69 - - 2742.81 - - - 2272.44 - 173.41 - - 2060.59 - - - - - - - - - - -
23143.80 121.93 7.10 2512 23145.12 no move 1.72 - - 2742.50 - - - 2272.44 - 173.41 - - 2060.28 - - - - - - - - - - -
23448.90 102.08 6.43 2573 23484.75 done 1.79 - - 2742.94 - 2.68 0.092 3347.50 401.1 211.57 29.76 1.290 1911.91 -5.0 0.066 - - - - - - - 15.82 11.22
23493.90 99.01 6.79 2582 23499.47 roll back 1.83 0.18 0.087 2783.25 223.9 2.59 0.023 2181.56 -450.2 211.57 - - 1911.19 - - - - - - - - 15.87 15.92 -
23683.92 83.94 6.95 2620 23689.44 roll 1.86 - - 2783.25 - 2.59 0.076 1131.12 -405.6 211.57 - - 1907.00 - - - - - - - - - 15.84 -
23744.11 79.89 6.72 2632 23749.52 roll 1.89 - - 2783.31 - 2.62 0.028 2275.00 436.6 211.57 - - 1907.44 - - - - - - - - - 15.88 -
23933.96 67.52 7.13 2670 23939.53 roll 1.92 - - 2782.94 - 2.81 0.071 1131.12 -407.1 211.57 - - 1908.59 - - - - - - - - - 15.84 -
24169.00 53.77 5.23 2717 24221.23 2.04 0.25 0.071 2839.06 224.5 2.61 0.028 2275.81 438.6 272.19 45.91 1.225 1666.16 -5.3 0.039 - - - - - - 15.74 15.90 11.72
24404.01 37.08 6.66 2764 24409.59 roll 2.08 - - 2839.81 - 2.83 0.070 1131.88 -404.2 272.19 - - 1657.62 - - - - - - - - - 15.79 -
24639.06 18.91 7.22 2811 24644.59 done 2.10 - - 2839.81 - 2.63 0.028 2274.94 434.6 272.19 - - 1655.19 - - - - - - - - - 15.83 -
24829.08 18.27 -0.61 2849 24961.16 2.44 0.52 0.056 2937.94 188.7 2.71 0.088 3345.31 395.0 442.27 125.00 1.171 971.84 -5.5 0.014 - - - - - - 15.82 15.48 11.70
25003.55 11.86 6.20 2883 25040.92 done 2.53 - - 2938.31 - 2.62 0.022 2185.56 -442.7 484.61 32.33 1.077 799.12 -5.3 0.010 - - - - - - - 15.60 12.28
25083 end climb: SURFACE_DEPTH_REACHED
25083 begin surface coast
25119 end surface coast: CONTROL_FINISHED_OK
25119 begin surface
SM 0.69 - - - - 178.4 - - 794.4 - 17.38 0.053 777.4 44.7 - 0.35 0.068 811.4 2310.8 -2.397 - - 30.00 15.56 15.58 -