NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 579 * Raw log
prev dive * next dive * dive
• Previous call tries 4 • 189.36 of 550.00 AH used of 24V (65.57% remains)
• Surface angle -58.3 deg, depth 0.61 m • Intended pitch -20.3 deg, speed -8.462 cm/s
VBD pumped to 424.74 (SM_CC=425)
• GPS1 time: 18 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 - - - 72.05 VBD -1.29 - - 177.69 - - - 2258.88 - -82.73 65.57 0.005 2537.38 - - - - - - - - - - 15.30
72.79 3.27 -5.16 12 110.10 -1.29 14.78 0.242 2016.50 124.4 2.94 0.085 3428.75 397.9 -82.73 12.12 0.007 3111.34 47.4 -3.712 - - - - - - 15.45 15.23 15.38
317.23 43.69 -12.78 61 322.99 roll -1.29 - - 2016.25 - 2.61 0.020 2249.06 -452.0 -82.73 - - 3112.75 - - - - - - - - - 15.77 -
507.80 63.29 -9.96 99 512.82 roll -1.29 - - 2016.31 - 2.53 0.064 1208.56 -411.3 -82.73 - - 3112.53 - - - - - - - - - 15.81 -
582.31 71.03 -10.00 114 587.86 roll -1.29 - - 2016.62 - 2.63 0.027 2353.31 435.3 -82.73 - - 3113.06 - - - - - - - - - 15.84 -
772.73 90.47 -10.25 152 777.90 roll -1.29 - - 2016.50 - 2.79 0.059 1208.56 -410.3 -82.73 - - 3112.84 - - - - - - - - - 15.85 -
917.35 105.58 -9.64 181 922.91 roll -1.29 - - 2016.56 - 2.62 0.027 2354.75 437.5 -82.73 - - 3112.78 - - - - - - - - - 15.88 -
1227.39 131.82 -8.01 243 1232.97 roll -1.29 - - 2016.06 - 2.81 0.059 1208.44 -407.9 -82.73 - - 3113.66 - - - - - - - - - 15.90 -
1322.40 139.83 -8.45 262 1327.95 roll -1.29 - - 2016.44 - 2.63 0.028 2354.94 435.9 -82.73 - - 3114.12 - - - - - - - - - 15.91 -
1632.46 165.27 -8.32 324 1638.01 roll -1.29 - - 2016.50 - 2.80 0.059 1208.25 -409.5 -82.73 - - 3112.62 - - - - - - - - - 15.92 -
1707.65 171.85 -8.80 339 1713.08 roll -1.29 - - 2016.00 - 2.62 0.028 2353.62 437.2 -82.73 - - 3112.97 - - - - - - - - - 15.94 -
2017.51 198.36 -8.66 401 2018.84 no move -1.29 - - 2015.88 - - - 2353.56 - -82.73 - - 3111.84 - - - - - - - - - - -
2322.55 225.16 -8.78 462 2323.88 no move -1.29 - - 2016.38 - - - 2353.44 - -82.73 - - 3111.66 - - - - - - - - - - -
2627.59 251.05 -8.65 523 2633.15 roll -1.29 - - 2015.19 - 2.79 0.061 1208.31 -410.4 -82.73 - - 3113.88 - - - - - - - - - 15.94 -
2682.60 255.95 -8.91 534 2688.14 roll -1.29 - - 2016.25 - 2.63 0.028 2352.25 435.0 -82.73 - - 3112.28 - - - - - - - - - 15.97 -
2992.65 280.62 -7.47 596 2998.21 roll -1.29 - - 2016.19 - 2.80 0.061 1208.44 -408.5 -82.73 - - 3110.91 - - - - - - - - - 15.94 -
3082.67 288.00 -8.45 614 3088.22 roll -1.29 - - 2016.31 - 2.62 0.029 2352.25 436.6 -82.73 - - 3110.06 - - - - - - - - - 15.97 -
3391.50 313.50 -8.35 658 3402.57 no move -1.29 - - 2015.94 - - - 2352.31 - -82.73 - - 3109.84 - - - - - - - - - - -
3704.38 339.59 -8.71 687 3709.04 roll -1.29 - - 2015.62 - 2.78 0.062 1208.88 -411.3 -82.73 - - 3108.72 - - - - - - - - - 15.96 -
3788.90 347.14 -8.88 698 3793.53 roll -1.29 - - 2016.19 - 2.62 0.029 2351.81 436.2 -82.73 - - 3107.75 - - - - - - - - - 15.99 -
4100.87 373.61 -8.17 727 4105.51 roll -1.29 - - 2016.31 - 2.80 0.062 1210.69 -407.5 -82.73 - - 3109.84 - - - - - - - - - 15.96 -
4153.80 378.32 -8.65 734 4158.43 roll -1.29 - - 2015.75 - 2.62 0.030 2352.25 435.7 -82.73 - - 3107.88 - - - - - - - - - 16.00 -
4465.47 404.62 -8.71 763 4470.12 roll -1.29 - - 2015.88 - 2.80 0.062 1210.25 -407.9 -82.73 - - 3106.88 - - - - - - - - - 15.96 -
4549.88 412.48 -9.27 774 4554.50 roll -1.29 - - 2016.31 - 2.61 0.029 2353.38 438.0 -82.73 - - 3108.53 - - - - - - - - - 16.00 -
4862.28 440.94 -9.02 803 4873.35 no move -1.29 - - 2016.25 - - - 2354.00 - -82.73 - - 3107.12 - - - - - - - - - - -
5175.12 465.65 -7.45 832 5186.19 no move -1.29 - - 2016.19 - - - 2354.12 - -82.73 - - 3106.38 - - - - - - - - - - -
5487.85 487.52 -6.77 861 5492.50 roll -1.29 - - 2015.81 - 2.80 0.063 1209.62 -408.8 -82.73 - - 3105.59 - - - - - - - - - 15.95 -
5605.08 496.10 -7.48 877 5620.02 roll -1.29 - - 2015.88 - 2.61 0.030 2351.88 437.6 -82.73 - - 3105.91 - - - - - - - - - 16.00 -
5933.97 520.31 -7.68 900 5935.30 no move -1.29 - - 2016.56 - - - 2351.81 - -82.73 - - 3103.12 - - - - - - - - - - -
6248.86 544.57 -7.83 921 6253.52 roll -1.29 - - 2016.00 - 2.81 0.063 1208.38 -406.9 -82.73 - - 3105.06 - - - - - - - - - 15.94 -
6308.14 549.32 -8.10 930 6313.69 roll -1.29 - - 2015.94 - 2.61 0.030 2351.81 438.1 -82.73 - - 3103.81 - - - - - - - - - 16.01 -
6627.55 573.93 -7.66 952 6628.88 no move -1.29 - - 2016.19 - - - 2352.12 - -82.73 - - 3102.75 - - - - - - - - - - -
6942.56 597.72 -7.59 973 6947.21 roll -1.29 - - 2016.25 - 2.78 0.064 1209.56 -411.0 -82.73 - - 3101.72 - - - - - - - - - 15.94 -
7041.98 605.70 -8.04 987 7046.61 roll -1.29 - - 2016.75 - 2.62 0.030 2351.31 435.8 -82.73 - - 3101.38 - - - - - - - - - 16.00 -
7358.56 630.65 -7.94 1009 7359.90 no move -1.29 - - 2016.12 - - - 2351.50 - -82.73 - - 3100.97 - - - - - - - - - - -
7673.46 656.36 -8.10 1030 7674.79 no move -1.29 - - 2016.50 - - - 2351.50 - -82.73 - - 3101.03 - - - - - - - - - - -
7988.48 681.40 -7.77 1051 7993.13 roll -1.29 - - 2016.00 - 2.77 0.064 1209.62 -412.2 -82.73 - - 3100.38 - - - - - - - - - 15.92 -
8170.84 696.42 -8.10 1077 8175.47 roll -1.29 - - 2014.12 - 2.61 0.031 2349.94 436.9 -82.73 - - 3101.66 - - - - - - - - - 16.01 -
8487.31 720.52 -7.77 1099 8488.64 no move -1.29 - - 2015.69 - - - 2350.62 - -82.73 - - 3099.41 - - - - - - - - - - -
8802.32 745.04 -7.46 1120 8803.65 no move -1.29 - - 2015.69 - - - 2350.75 - -82.73 - - 3099.53 - - - - - - - - - - -
9117.33 767.71 -6.96 1141 9122.16 roll -1.29 - - 2015.50 - 2.78 0.065 1211.25 -409.9 -82.73 - - 3099.03 - - - - - - - - - 15.91 -
9196.11 773.36 -7.15 1152 9200.74 roll -1.29 - - 2015.81 - 2.61 0.031 2349.94 436.3 -82.73 - - 3099.06 - - - - - - - - - 16.00 -
9512.58 795.42 -6.86 1174 9517.22 roll -1.29 - - 2015.19 - 2.79 0.065 1209.56 -408.7 -82.73 - - 3101.34 - - - - - - - - - 15.90 -
9597.58 801.09 -7.17 1187 9612.51 roll -1.29 - - 2015.12 - 2.62 0.031 2349.69 435.2 -82.73 - - 3099.56 - - - - - - - - - 16.01 -
9926.98 824.89 -7.26 1209 9928.31 no move -1.29 - - 2015.62 - - - 2350.38 - -82.73 - - 3098.16 - - - - - - - - - - -
10242.00 848.18 -7.28 1230 10246.65 roll -1.29 - - 2015.44 - 2.80 0.065 1210.56 -407.1 -82.73 - - 3099.09 - - - - - - - - - 15.89 -
10322.01 854.47 -7.92 1242 10327.56 roll -1.29 - - 2016.00 - 2.62 0.031 2350.81 435.2 -82.73 - - 3097.94 - - - - - - - - - 16.00 -
10641.42 878.01 -7.16 1264 10646.06 roll -1.29 - - 2015.94 - 2.77 0.065 1209.62 -412.0 -82.73 - - 3098.06 - - - - - - - - - 15.89 -
10720.09 883.82 -7.34 1275 10724.72 roll -1.29 - - 2016.12 - 2.62 0.031 2351.38 435.8 -82.73 - - 3096.62 - - - - - - - - - 15.99 -
11036.57 904.94 -6.33 1297 11037.90 no move -1.29 - - 2015.69 - - - 2351.38 - -82.73 - - 3096.53 - - - - - - - - - - -
11351.58 924.87 -6.29 1318 11352.91 no move -1.29 - - 2016.38 - - - 2351.12 - -82.73 - - 3096.75 - - - - - - - - - - -
11666.79 944.22 -6.13 1339 11668.12 no move -1.29 - - 2015.75 - - - 2351.12 - -82.73 - - 3096.25 - - - - - - - - - - -
11981.73 963.77 -6.06 1360 11983.06 no move -1.29 - - 2016.06 - - - 2350.94 - -82.73 - - 3096.53 - - - - - - - - - - -
12296.63 982.93 -6.05 1381 12297.96 no move -1.29 - - 2016.00 - - - 2351.44 - -82.73 - - 3096.00 - - - - - - - - - - -
12416 end dive: TARGET_DEPTH_EXCEEDED
12416 begin apogee
12418.45 990.13 -5.95 1389 12493.97 -0.28 1.76 0.139 2263.31 140.5 0.21 0.139 2281.44 -333.3 - 61.93 2.431 2776.47 -5.2 0.353 - - - - - - 15.75 15.54 10.55
12495 end apogee: CONTROL_FINISHED_OK
12495 begin climb
12496.01 991.47 - 1394 12570.18 1.29 2.57 0.090 2649.38 150.2 - - 2281.94 - 82.73 67.67 2.354 2437.75 -5.0 0.354 - - - - - - 15.61 - 12.21
12882.51 966.06 7.55 1420 12883.84 no move 1.31 - - 2649.31 - - - 2281.88 - 82.73 - - 2430.03 - - - - - - - - - - -
13197.52 943.35 7.02 1441 13198.86 no move 1.34 - - 2649.88 - - - 2281.81 - 82.73 - - 2428.78 - - - - - - - - - - -
13512.54 921.36 7.04 1462 13513.87 VBD 1.37 - - 2649.38 - - - 2281.69 - 82.73 - - 2428.84 - - - - - - - - - - -
13827.55 900.66 6.29 1483 13873.00 1.45 0.19 0.085 2695.56 243.1 - - 2281.81 - 123.37 33.21 2.236 2272.19 -4.7 0.319 - - - - - - 15.84 - 11.49
14187.55 871.69 8.27 1507 14188.88 no move 1.45 - - 2695.12 - - - 2282.06 - 123.37 - - 2266.75 - - - - - - - - - - -
14502.75 846.39 8.02 1528 14504.08 no move 1.45 - - 2695.44 - - - 2281.62 - 123.37 - - 2265.72 - - - - - - - - - - -
14817.70 820.39 8.24 1549 14822.37 roll 1.45 - - 2695.88 - 2.85 0.076 1132.62 -403.2 123.37 - - 2264.78 - - - - - - - - - 15.83 -
14897.73 813.37 8.83 1561 14903.28 roll 1.45 - - 2695.50 - 2.64 0.032 2269.62 430.7 123.37 - - 2267.28 - - - - - - - - - 15.88 -
15217.16 785.79 8.89 1583 15221.81 roll 1.45 - - 2695.44 - 2.73 0.094 3346.69 394.5 123.37 - - 2264.12 - - - - - - - - - 15.83 -
15260.70 782.16 9.39 1590 15275.65 roll 1.45 - - 2696.00 - 2.61 0.024 2189.44 -443.4 123.37 - - 2266.03 - - - - - - - - - 15.90 -
15590.13 750.99 9.28 1612 15591.46 no move 1.45 - - 2696.12 - - - 2188.50 - 123.37 - - 2264.41 - - - - - - - - - - -
15905.40 723.05 8.93 1633 15910.08 roll 1.45 - - 2696.12 - 2.94 0.090 3344.69 393.3 123.37 - - 2264.00 - - - - - - - - - 15.84 -
15985.42 715.28 9.75 1645 15990.96 roll 1.45 - - 2695.75 - 2.59 0.024 2189.75 -445.9 123.37 - - 2265.66 - - - - - - - - - 15.95 -
16304.83 687.24 8.82 1667 16309.46 roll 1.45 - - 2695.88 - 2.62 0.079 1133.62 -403.1 123.37 - - 2265.72 - - - - - - - - - 15.86 -
16364.12 681.90 9.10 1676 16369.67 roll 1.45 - - 2695.25 - 2.63 0.031 2272.50 433.0 123.37 - - 2264.62 - - - - - - - - - 15.95 -
16683.71 654.75 8.50 1698 16685.04 no move 1.45 - - 2695.88 - - - 2271.38 - 123.37 - - 2263.62 - - - - - - - - - - -
16998.65 627.10 8.98 1719 17003.31 roll 1.45 - - 2695.75 - 2.83 0.075 1132.69 -402.4 123.37 - - 2265.41 - - - - - - - - - 15.87 -
17062.94 621.60 9.32 1729 17077.89 roll 1.45 - - 2695.50 - 2.62 0.031 2272.62 435.1 123.37 - - 2265.94 - - - - - - - - - 15.96 -
17392.34 592.23 8.51 1751 17393.67 no move 1.45 - - 2696.00 - - - 2272.12 - 123.37 - - 2263.38 - - - - - - - - - - -
17707.37 567.54 7.73 1772 17708.70 no move 1.47 - - 2696.00 - - - 2272.00 - 123.37 - - 2264.09 - - - - - - - - - - -
18022.39 544.86 7.10 1793 18023.72 no move 1.49 - - 2696.00 - - - 2272.25 - 123.37 - - 2262.75 - - - - - - - - - - -
18337.58 521.72 7.59 1814 18342.25 done 1.51 - - 2695.44 - 2.85 0.074 1132.12 -400.0 123.37 - - 2262.31 - - - - - - - - - 15.86 -
18396.88 517.19 7.71 1823 18402.42 roll 1.53 - - 2695.62 - 2.63 0.031 2272.25 433.5 123.37 - - 2263.94 - - - - - - - - - 15.97 -
18712.49 493.52 7.55 1847 18717.13 done 1.54 - - 2695.75 - 2.71 0.093 3344.75 395.8 123.37 - - 2264.84 - - - - - - - - - 15.84 -
18781.14 487.64 8.46 1856 18785.76 done 1.54 - - 2696.81 - 2.58 0.024 2187.69 -448.5 123.37 - - 2263.03 - - - - - - - - - 15.96 -
19092.73 464.44 7.42 1885 19097.36 roll 1.56 - - 2695.69 - 2.62 0.079 1131.31 -403.2 123.37 - - 2264.75 - - - - - - - - - 15.86 -
19177.34 457.76 7.89 1896 19182.03 done 1.58 - - 2696.12 - 2.63 0.030 2271.50 433.5 123.37 - - 2262.50 - - - - - - - - - 15.97 -
19489.26 433.74 7.68 1925 19493.91 done 1.59 - - 2695.94 - 2.71 0.093 3344.88 396.1 123.37 - - 2262.06 - - - - - - - - - 15.83 -
19527.79 430.63 8.06 1931 19542.71 done 1.59 - - 2695.88 - 2.59 0.024 2186.62 -447.2 123.37 - - 2265.44 - - - - - - - - - 15.97 -
19843.88 405.27 8.06 1960 19848.49 done 1.59 - - 2696.75 - 2.60 0.078 1131.12 -406.0 123.37 - - 2262.28 - - - - - - - - - 15.85 -
19929.62 398.10 8.48 1972 19944.56 done 1.59 - - 2695.06 - 2.62 0.030 2275.00 436.6 123.37 - - 2264.12 - - - - - - - - - 15.98 -
20246.34 373.61 7.36 2001 20257.42 VBD 1.61 - - 2696.75 - - - 2274.75 - 123.37 - - 2264.31 - - - - - - - - - - -
20558.98 352.67 6.28 2030 20596.24 1.70 0.29 0.069 2753.94 197.2 2.81 0.077 1132.31 -406.6 164.36 32.07 1.621 2105.53 -5.0 0.181 - - - - - - 15.93 15.82 11.11
20677.56 342.23 9.48 2046 20692.50 roll 1.70 - - 2754.75 - 2.64 0.031 2271.19 431.4 164.36 - - 2101.62 - - - - - - - - - 15.87 -
20994.22 310.90 10.11 2075 20999.05 roll 1.70 - - 2754.94 - 2.72 0.092 3344.56 394.6 164.36 - - 2099.94 - - - - - - - - - 15.81 -
21047.27 304.99 10.93 2082 21051.88 roll 1.70 - - 2755.56 - 2.59 0.024 2190.06 -445.8 164.36 - - 2099.91 - - - - - - - - - 15.88 -
21353.12 274.30 9.27 2137 21354.45 no move 1.70 - - 2755.00 - - - 2189.75 - 164.36 - - 2097.75 - - - - - - - - - - -
21658.41 247.67 8.15 2198 21663.83 roll 1.70 - - 2755.19 - 2.95 0.088 3345.69 391.8 164.36 - - 2098.41 - - - - - - - - - 15.80 -
21698.24 243.92 9.37 2206 21703.76 roll 1.70 - - 2754.88 - 2.60 0.024 2188.94 -444.9 164.36 - - 2099.91 - - - - - - - - - 15.90 -
22008.33 218.93 7.90 2268 22009.67 no move 1.71 - - 2754.94 - - - 2188.31 - 164.36 - - 2096.88 - - - - - - - - - - -
22313.36 193.19 8.61 2329 22314.69 no move 1.71 - - 2755.25 - - - 2187.88 - 164.36 - - 2097.09 - - - - - - - - - - -
22618.42 167.37 8.81 2390 22619.75 no move 1.71 - - 2755.81 - - - 2186.56 - 164.36 - - 2097.56 - - - - - - - - - - -
22923.46 141.36 8.03 2451 22929.19 roll 1.71 - - 2755.56 - 2.62 0.078 1132.38 -402.4 164.36 - - 2098.47 - - - - - - - - - 15.84 -
23038.58 131.04 9.03 2474 23044.01 roll 1.71 - - 2755.19 - 2.62 0.030 2273.75 435.6 164.36 - - 2098.34 - - - - - - - - - 15.94 -
23348.52 107.90 7.10 2536 23354.09 roll 1.73 - - 2755.81 - 2.82 0.072 1131.75 -405.0 164.36 - - 2098.41 - - - - - - - - - 15.84 -
23458.54 99.33 7.45 2558 23464.07 roll 1.75 - - 2755.12 - 2.63 0.029 2275.06 434.7 164.36 - - 2099.78 - - - - - - - - - 15.95 -
23648.55 86.30 7.59 2596 23649.88 no move 1.77 - - 2755.62 - - - 2274.75 - 164.36 - - 2097.12 - - - - - - - - - - -
23833.57 74.26 5.38 2633 23882.79 1.89 0.19 0.080 2801.62 242.1 2.84 0.074 1129.69 -403.2 222.20 43.82 1.275 1867.25 -5.2 0.051 - - - - - - 15.92 15.80 11.36
23884.89 71.53 5.25 2643 23936.66 done 2.01 - - 2801.69 - 2.64 0.027 2275.25 433.9 282.48 46.09 1.237 1623.84 -5.3 0.051 - - - - - - - 15.91 12.49
24120.45 48.92 10.98 2690 24121.78 VBD 2.01 - - 2801.44 - - - 2275.50 - 282.48 - - 1613.50 - - - - - - - - - - -
24305.00 31.66 8.21 2727 24310.58 done 2.01 - - 2802.00 - 2.84 0.073 1131.00 -403.0 282.48 - - 1611.00 - - - - - - - - - 15.75 -
24360.03 27.50 7.54 2738 24365.57 done 2.03 - - 2801.69 - 2.64 0.029 2274.00 433.0 282.48 - - 1610.72 - - - - - - - - - 15.78 -
24550.08 15.49 5.77 2776 24593.80 2.13 0.27 0.070 2859.69 214.8 2.70 0.090 3347.56 397.6 333.05 38.20 1.160 1418.19 -5.0 0.011 - - - - - - 15.78 15.67 11.74
24606.28 12.63 5.10 2787 24660.12 done 2.25 - - 2859.31 - 2.61 0.022 2179.44 -447.6 396.04 49.10 1.141 1162.12 -5.2 0.010 - - - - - - - 15.77 12.38
24817 end climb: SURFACE_DEPTH_REACHED
24818 begin surface coast
24912 end surface coast: CONTROL_FINISHED_OK
24912 begin surface
SM 2.02 - - - - 177.8 22.67 1.104 1043.5 43.9 16.68 0.049 1013.3 60.7 - 0.37 0.063 1073.7 2894.8 -9.487 - - 11.83 15.67 15.69 -