NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 647 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 217.08 of 550.00 AH used of 24V (60.53% remains)
• Surface angle -59.4 deg, depth 0.36 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.76 (SM_CC=425)
• GPS1 time: 24 s
• GPS2 time: 2 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
5.34 - - - 87.67 VBD -1.35 - - 181.88 - - - 2250.88 - -82.73 80.84 0.005 2612.31 - - - - - - - - - - 15.15
88.39 3.71 -6.82 15 121.69 -1.35 14.74 0.247 2003.50 123.6 2.57 0.064 1208.19 -405.7 -82.73 9.95 0.007 3111.25 50.1 -4.537 - - - - - - 15.46 15.14 15.26
348.82 54.48 -13.13 67 354.57 roll -1.35 - - 2003.62 - 2.65 0.028 2353.69 432.3 -82.73 - - 3112.44 - - - - - - - - - 15.78 -
539.45 77.60 -12.23 105 540.77 no move -1.35 - - 2003.56 - - - 2353.69 - -82.73 - - 3112.25 - - - - - - - - - - -
723.91 98.74 -11.46 142 729.47 roll -1.35 - - 2002.38 - 2.79 0.057 1208.38 -410.5 -82.73 - - 3113.97 - - - - - - - - - 15.85 -
783.92 105.41 -10.85 154 789.47 roll -1.35 - - 2004.12 - 2.62 0.026 2355.62 437.9 -82.73 - - 3112.84 - - - - - - - - - 15.87 -
1093.96 134.34 -8.17 216 1099.53 roll -1.35 - - 2004.25 - 2.79 0.058 1208.44 -411.2 -82.73 - - 3113.28 - - - - - - - - - 15.89 -
1148.97 138.59 -7.77 227 1154.52 roll -1.35 - - 2004.06 - 2.62 0.027 2355.44 437.8 -82.73 - - 3113.66 - - - - - - - - - 15.90 -
1459.01 161.91 -7.59 289 1464.56 roll -1.35 - - 2003.69 - 2.67 0.082 3427.50 401.5 -82.73 - - 3113.25 - - - - - - - - - 15.89 -
1554.02 170.26 -9.08 308 1559.55 roll -1.35 - - 2003.44 - 2.58 0.019 2242.69 -459.2 -82.73 - - 3113.91 - - - - - - - - - 15.93 -
1864.08 197.63 -9.03 370 1869.79 roll -1.35 - - 2004.19 - 2.51 0.065 1209.56 -411.6 -82.73 - - 3113.88 - - - - - - - - - 15.93 -
1959.25 206.30 -9.12 389 1964.63 roll -1.35 - - 2004.12 - 2.62 0.027 2353.06 436.5 -82.73 - - 3113.38 - - - - - - - - - 15.94 -
2269.12 233.15 -8.78 451 2274.69 roll -1.35 - - 2004.00 - 2.78 0.060 1208.44 -411.7 -82.73 - - 3112.88 - - - - - - - - - 15.94 -
2354.13 240.80 -9.00 468 2359.68 roll -1.35 - - 2003.94 - 2.63 0.027 2354.25 435.7 -82.73 - - 3112.56 - - - - - - - - - 15.96 -
2664.18 267.78 -8.61 530 2665.51 no move -1.35 - - 2003.81 - - - 2355.00 - -82.73 - - 3111.03 - - - - - - - - - - -
2969.20 293.40 -8.39 591 2974.76 roll -1.35 - - 2003.62 - 2.78 0.060 1210.06 -411.8 -82.73 - - 3112.62 - - - - - - - - - 15.94 -
3064.20 301.27 -8.67 610 3079.13 roll -1.35 - - 2003.38 - 2.62 0.028 2354.44 436.8 -82.73 - - 3112.81 - - - - - - - - - 16.00 -
3380.39 326.12 -7.40 639 3385.03 roll -1.35 - - 2003.38 - 2.80 0.061 1209.75 -408.8 -82.73 - - 3111.00 - - - - - - - - - 15.96 -
3450.61 331.69 -8.02 649 3465.74 roll -1.35 - - 2003.94 - 2.62 0.028 2352.56 436.2 -82.73 - - 3111.31 - - - - - - - - - 16.00 -
3767.53 356.74 -7.91 678 3778.60 no move -1.35 - - 2003.62 - - - 2352.69 - -82.73 - - 3110.12 - - - - - - - - - - -
4080.33 381.49 -7.95 707 4084.97 roll -1.35 - - 2003.25 - 2.78 0.061 1210.06 -411.0 -82.73 - - 3110.59 - - - - - - - - - 15.96 -
4118.88 384.58 -8.17 713 4133.82 roll -1.35 - - 2003.88 - 2.62 0.028 2353.31 436.4 -82.73 - - 3109.47 - - - - - - - - - 16.00 -
4435.38 409.67 -7.79 742 4440.02 roll -1.35 - - 2004.12 - 2.79 0.061 1208.19 -410.4 -82.73 - - 3108.28 - - - - - - - - - 15.96 -
4521.13 416.57 -8.17 754 4536.07 roll -1.35 - - 2003.75 - 2.62 0.028 2353.00 437.0 -82.73 - - 3108.25 - - - - - - - - - 16.01 -
4837.33 442.83 -8.45 783 4841.98 roll -1.35 - - 2003.69 - 2.77 0.061 1209.75 -412.7 -82.73 - - 3106.72 - - - - - - - - - 15.95 -
4875.87 446.18 -8.83 789 4891.55 roll -1.35 - - 2004.12 - 2.63 0.028 2353.50 434.9 -82.73 - - 3107.84 - - - - - - - - - 16.01 -
5192.92 473.77 -8.65 818 5203.99 no move -1.35 - - 2004.00 - - - 2352.56 - -82.73 - - 3107.25 - - - - - - - - - - -
5509.88 501.42 -8.67 847 5514.52 roll -1.35 - - 2003.62 - 2.80 0.062 1208.38 -408.6 -82.73 - - 3106.47 - - - - - - - - - 15.95 -
5589.90 508.52 -8.95 859 5595.63 roll -1.35 - - 2003.88 - 2.63 0.029 2352.12 434.9 -82.73 - - 3107.09 - - - - - - - - - 16.01 -
5909.42 534.61 -8.01 881 5914.06 roll -1.35 - - 2003.00 - 2.78 0.062 1210.50 -410.7 -82.73 - - 3104.69 - - - - - - - - - 15.95 -
5947.95 537.79 -8.28 887 5953.52 roll -1.35 - - 2002.69 - 2.62 0.029 2350.44 435.1 -82.73 - - 3107.16 - - - - - - - - - 16.02 -
6267.36 563.45 -7.88 909 6272.00 roll -1.35 - - 2003.56 - 2.79 0.062 1209.56 -408.9 -82.73 - - 3104.41 - - - - - - - - - 15.94 -
6347.37 569.94 -8.22 921 6352.93 roll -1.35 - - 2004.19 - 2.63 0.029 2352.62 434.6 -82.73 - - 3104.91 - - - - - - - - - 16.01 -
6666.79 593.90 -7.31 943 6668.12 no move -1.35 - - 2004.25 - - - 2352.62 - -82.73 - - 3104.03 - - - - - - - - - - -
6981.83 617.13 -7.49 964 6986.49 roll -1.35 - - 2003.44 - 2.81 0.063 1209.44 -406.8 -82.73 - - 3104.19 - - - - - - - - - 15.94 -
7061.86 623.45 -7.98 976 7067.42 roll -1.35 - - 2003.12 - 2.63 0.029 2351.81 434.4 -82.73 - - 3104.75 - - - - - - - - - 16.01 -
7381.44 648.88 -8.15 998 7382.77 no move -1.35 - - 2003.44 - - - 2351.88 - -82.73 - - 3102.38 - - - - - - - - - - -
7696.28 673.56 -7.65 1019 7700.93 roll -1.35 - - 2003.44 - 2.80 0.063 1210.50 -407.6 -82.73 - - 3101.62 - - - - - - - - - 15.93 -
7734.82 676.46 -7.72 1025 7740.38 roll -1.35 - - 2003.81 - 2.62 0.029 2351.25 435.4 -82.73 - - 3102.72 - - - - - - - - - 16.01 -
8054.41 699.14 -6.82 1047 8059.11 roll -1.35 - - 2002.75 - 2.79 0.063 1208.44 -409.6 -82.73 - - 3105.56 - - - - - - - - - 15.92 -
8118.69 703.40 -7.19 1057 8133.62 roll -1.35 - - 2003.62 - 2.63 0.030 2352.44 435.0 -82.73 - - 3102.12 - - - - - - - - - 16.01 -
8448.09 726.19 -6.60 1079 8449.42 no move -1.35 - - 2003.56 - - - 2353.25 - -82.73 - - 3100.84 - - - - - - - - - - -
8763.10 746.80 -6.51 1100 8767.75 roll -1.35 - - 2003.62 - 2.80 0.063 1211.25 -407.9 -82.73 - - 3100.78 - - - - - - - - - 15.92 -
8868.89 753.97 -7.23 1116 8883.81 roll -1.35 - - 2003.88 - 2.62 0.030 2349.56 434.5 -82.73 - - 3101.88 - - - - - - - - - 16.01 -
9198.28 777.53 -7.17 1138 9199.61 no move -1.35 - - 2004.44 - - - 2349.69 - -82.73 - - 3100.12 - - - - - - - - - - -
9513.30 800.07 -7.11 1159 9514.63 no move -1.35 - - 2004.06 - - - 2349.38 - -82.73 - - 3099.62 - - - - - - - - - - -
9828.33 822.45 -7.20 1180 9832.97 roll -1.35 - - 2003.50 - 2.80 0.064 1209.44 -407.1 -82.73 - - 3101.25 - - - - - - - - - 15.90 -
9906.98 828.51 -7.65 1191 9911.60 roll -1.35 - - 2002.75 - 2.63 0.030 2353.06 434.8 -82.73 - - 3102.38 - - - - - - - - - 16.00 -
10223.45 851.55 -7.18 1213 10224.77 no move -1.35 - - 2003.69 - - - 2352.88 - -82.73 - - 3098.19 - - - - - - - - - - -
10538.48 874.10 -7.20 1234 10539.81 no move -1.35 - - 2004.19 - - - 2353.12 - -82.73 - - 3098.38 - - - - - - - - - - -
10853.49 896.74 -7.03 1255 10858.34 roll -1.35 - - 2002.81 - 2.82 0.064 1209.81 -405.4 -82.73 - - 3098.78 - - - - - - - - - 15.89 -
10892.20 899.47 -7.21 1261 10897.58 roll -1.35 - - 2004.12 - 2.63 0.030 2351.12 434.0 -82.73 - - 3098.81 - - - - - - - - - 16.00 -
11211.43 922.26 -7.04 1283 11212.76 no move -1.35 - - 2003.69 - - - 2351.50 - -82.73 - - 3097.62 - - - - - - - - - - -
11526.45 944.66 -7.11 1304 11527.78 no move -1.35 - - 2003.31 - - - 2351.31 - -82.73 - - 3097.19 - - - - - - - - - - -
11841.67 965.60 -6.40 1325 11846.34 roll -1.35 - - 2003.81 - 2.82 0.064 1210.81 -404.4 -82.73 - - 3096.41 - - - - - - - - - 15.88 -
11921.69 970.91 -6.68 1337 11927.24 roll -1.35 - - 2003.38 - 2.64 0.030 2352.12 432.3 -82.73 - - 3098.38 - - - - - - - - - 16.01 -
12226 end dive: TARGET_DEPTH_EXCEEDED
12226 begin apogee
12227.92 990.02 -6.06 1358 12303.50 -0.28 1.85 0.140 2263.94 140.8 0.22 0.134 2280.94 -323.5 - 63.13 2.436 2774.09 -5.1 0.356 - - - - - - 15.75 15.48 10.40
12305 end apogee: CONTROL_FINISHED_OK
12305 begin climb
12305.62 991.31 - 1363 12390.75 1.35 2.66 0.089 2661.94 149.6 2.85 0.094 3344.44 373.2 82.73 68.52 2.363 2435.81 -4.9 0.354 - - - - - - 15.58 15.18 12.20
12393.56 987.94 4.85 1371 12457.61 1.48 0.17 0.087 2700.25 225.4 2.69 0.022 2187.38 -430.1 150.08 58.52 2.353 2162.97 -4.7 0.334 - - - - - - 15.32 15.37 12.04
12759.57 949.25 11.14 1401 12764.21 done 1.48 - - 2700.25 - 2.67 0.078 1132.50 -395.1 150.08 - - 2151.56 - - - - - - - - - 15.63 -
12838.24 940.11 11.58 1412 12842.87 done 1.48 - - 2700.75 - 2.68 0.030 2269.88 424.4 150.08 - - 2150.25 - - - - - - - - - 15.68 -
13154.73 906.81 10.26 1434 13156.06 VBD 1.48 - - 2700.56 - - - 2269.69 - 150.08 - - 2149.47 - - - - - - - - - - -
13469.76 875.76 9.64 1455 13471.09 VBD 1.48 - - 2700.88 - - - 2269.62 - 150.08 - - 2149.12 - - - - - - - - - - -
13784.80 845.61 9.49 1476 13789.47 done 1.48 - - 2699.19 - 2.86 0.074 1132.38 -397.6 150.08 - - 2149.03 - - - - - - - - - 15.84 -
13849.09 839.73 9.97 1486 13864.03 done 1.48 - - 2700.19 - 2.65 0.031 2269.81 429.2 150.08 - - 2148.47 - - - - - - - - - 15.89 -
14178.67 809.10 8.79 1508 14180.00 VBD 1.48 - - 2700.25 - - - 2269.81 - 150.08 - - 2146.94 - - - - - - - - - - -
14493.51 781.28 9.07 1529 14498.17 done 1.48 - - 2699.75 - 2.85 0.074 1132.56 -399.0 150.08 - - 2146.19 - - - - - - - - - 15.87 -
14551.43 775.60 9.65 1537 14556.25 done 1.48 - - 2700.69 - 2.64 0.030 2270.06 430.9 150.08 - - 2146.75 - - - - - - - - - 15.93 -
14868.02 746.32 9.37 1559 14869.35 VBD 1.48 - - 2700.56 - - - 2270.88 - 150.08 - - 2146.50 - - - - - - - - - - -
15182.92 716.90 9.41 1580 15187.58 done 1.48 - - 2700.44 - 2.85 0.074 1132.19 -399.5 150.08 - - 2146.09 - - - - - - - - - 15.87 -
15261.60 709.11 9.84 1591 15266.23 done 1.48 - - 2700.31 - 2.65 0.030 2270.81 429.7 150.08 - - 2147.53 - - - - - - - - - 15.95 -
15578.09 679.33 9.57 1613 15582.73 done 1.48 - - 2700.56 - 2.75 0.092 3346.00 391.0 150.08 - - 2145.19 - - - - - - - - - 15.86 -
15656.77 671.09 10.38 1624 15661.41 done 1.48 - - 2700.56 - 2.61 0.023 2187.06 -444.0 150.08 - - 2145.66 - - - - - - - - - 15.95 -
15973.24 641.13 9.48 1646 15977.87 done 1.48 - - 2699.44 - 2.64 0.078 1132.25 -399.5 150.08 - - 2145.84 - - - - - - - - - 15.88 -
16058.26 633.26 9.95 1659 16073.18 done 1.48 - - 2700.31 - 2.64 0.030 2271.06 431.4 150.08 - - 2146.38 - - - - - - - - - 15.97 -
16387.67 602.99 8.78 1681 16392.33 done 1.48 - - 2698.75 - 2.76 0.092 3346.38 389.6 150.08 - - 2147.09 - - - - - - - - - 15.86 -
16445.61 597.41 9.40 1689 16450.23 done 1.48 - - 2700.56 - 2.60 0.023 2187.19 -445.8 150.08 - - 2145.09 - - - - - - - - - 15.96 -
16762.28 569.62 8.76 1711 16766.97 done 1.48 - - 2699.31 - 2.62 0.078 1132.25 -402.6 150.08 - - 2145.50 - - - - - - - - - 15.87 -
16884.39 558.06 9.65 1729 16889.78 done 1.48 - - 2700.19 - 2.63 0.030 2273.12 433.8 150.08 - - 2145.25 - - - - - - - - - 15.98 -
17203.62 529.99 8.55 1751 17204.96 VBD 1.48 - - 2700.88 - - - 2273.25 - 150.08 - - 2144.16 - - - - - - - - - - -
17518.66 503.49 8.09 1772 17519.99 VBD 1.48 - - 2700.31 - - - 2273.25 - 150.08 - - 2144.88 - - - - - - - - - - -
17821.66 478.65 8.42 1799 17826.32 done 1.48 - - 2700.12 - 2.85 0.074 1132.00 -400.4 150.08 - - 2145.88 - - - - - - - - - 15.87 -
17937.54 468.46 8.75 1814 17942.17 done 1.48 - - 2699.75 - 2.62 0.030 2272.44 435.3 150.08 - - 2143.94 - - - - - - - - - 15.97 -
18249.41 442.23 8.37 1843 18254.07 done 1.48 - - 2699.69 - 2.84 0.073 1132.19 -401.5 150.08 - - 2146.31 - - - - - - - - - 15.87 -
18303.69 437.44 8.86 1851 18318.62 done 1.48 - - 2699.88 - 2.63 0.030 2274.50 434.3 150.08 - - 2145.22 - - - - - - - - - 15.99 -
18619.87 410.83 8.09 1880 18630.94 VBD 1.48 - - 2700.75 - - - 2275.00 - 150.08 - - 2145.69 - - - - - - - - - - -
18942.10 384.90 7.94 1910 18946.77 done 1.49 - - 2700.12 - 2.84 0.073 1132.12 -402.4 150.08 - - 2143.94 - - - - - - - - - 15.87 -
19012.30 379.31 8.07 1920 19027.12 done 1.49 - - 2700.25 - 2.62 0.030 2272.44 435.2 150.08 - - 2145.62 - - - - - - - - - 15.98 -
19328.88 356.51 7.29 1949 19333.54 done 1.51 - - 2700.38 - 2.84 0.072 1132.31 -401.5 150.08 - - 2144.97 - - - - - - - - - 15.86 -
19398.91 351.17 7.66 1959 19413.83 done 1.53 - - 2700.50 - 2.63 0.030 2273.62 434.0 150.08 - - 2145.50 - - - - - - - - - 15.98 -
19715.82 329.81 6.47 1988 19726.89 VBD 1.57 - - 2700.38 - - - 2273.69 - 150.08 - - 2145.84 - - - - - - - - - - -
20028.56 309.81 6.48 2017 20033.22 done 1.61 - - 2698.75 - 2.84 0.072 1132.44 -401.8 150.08 - - 2146.31 - - - - - - - - - 15.86 -
20130.06 302.68 7.18 2031 20145.04 1.64 0.17 0.092 2738.94 236.4 2.61 0.029 2272.88 437.0 150.08 - - 2145.56 - - - - - - - - 15.76 15.98 -
20449.83 278.38 7.72 2090 20451.16 VBD 1.65 - - 2738.12 - - - 2272.69 - 150.08 - - 2145.12 - - - - - - - - - - -
20754.53 253.89 8.29 2151 20755.86 VBD 1.65 - - 2738.88 - - - 2272.06 - 150.08 - - 2144.94 - - - - - - - - - - -
21059.78 227.20 8.99 2212 21065.18 done 1.65 - - 2739.50 - 2.71 0.089 3347.00 396.7 150.08 - - 2145.47 - - - - - - - - - 15.82 -
21109.73 222.37 9.87 2222 21115.16 done 1.65 - - 2739.88 - 2.58 0.022 2185.00 -450.4 150.08 - - 2146.03 - - - - - - - - - 15.95 -
21419.71 196.08 8.07 2284 21421.04 VBD 1.65 - - 2739.75 - - - 2185.19 - 150.08 - - 2145.12 - - - - - - - - - - -
21724.81 173.96 6.84 2345 21730.34 done 1.68 - - 2739.31 - 2.61 0.076 1132.25 -403.4 150.08 - - 2145.62 - - - - - - - - - 15.84 -
21764.82 171.02 7.25 2353 21770.37 done 1.71 - - 2739.69 - 2.62 0.029 2275.81 436.5 150.08 - - 2145.50 - - - - - - - - - 15.96 -
22074.91 149.00 6.91 2415 22080.46 done 1.74 - - 2739.94 - 2.70 0.088 3345.38 396.1 150.08 - - 2147.50 - - - - - - - - - 15.82 -
22159.92 142.48 7.76 2432 22165.44 done 1.75 - - 2739.75 - 2.59 0.022 2185.00 -448.0 150.08 - - 2145.84 - - - - - - - - - 15.95 -
22469.96 124.49 5.49 2494 22516.95 1.86 0.26 0.073 2794.62 211.0 2.59 0.077 1130.94 -407.0 205.61 41.19 1.312 1936.69 -5.1 0.082 - - - - - - 15.92 15.72 10.82
22594.97 113.84 9.54 2519 22600.51 roll 1.86 - - 2795.19 - 2.64 0.028 2274.81 433.3 205.61 - - 1932.44 - - - - - - - - - 15.84 -
22905.01 91.73 5.33 2581 22956.17 done 1.98 - - 2795.62 - 2.84 0.072 1130.44 -402.9 264.06 45.08 1.267 1696.75 -5.2 0.065 - - - - - - - 15.65 11.56
23035.20 83.63 6.75 2607 23040.55 roll 2.02 - - 2794.81 - 2.65 0.028 2276.00 432.3 264.06 - - 1692.25 - - - - - - - - - 15.75 -
23225.04 72.49 6.05 2645 23261.80 2.10 0.28 0.073 2853.06 208.0 - - 2275.75 - 308.98 34.89 1.207 1514.88 -5.1 0.052 - - - - - - 15.76 - 11.66
23445.06 52.92 9.29 2689 23450.63 roll 2.10 - - 2852.25 - 2.86 0.070 1131.06 -400.2 308.98 - - 1508.53 - - - - - - - - - 15.75 -
23535.27 45.85 7.01 2707 23540.68 done 2.13 - - 2852.00 - 2.64 0.026 2277.38 434.2 308.98 - - 1507.47 - - - - - - - - - 15.78 -
23725.10 40.16 2.55 2745 23813.36 2.35 0.30 0.068 2914.88 209.6 2.74 0.087 3346.69 390.3 419.25 82.79 1.182 1066.16 -5.3 0.031 - - - - - - 15.78 15.50 11.56
24000.51 20.39 10.79 2800 24006.06 roll 2.35 - - 2913.69 - 2.63 0.021 2185.94 -441.3 419.25 - - 1061.12 - - - - - - - - - 15.69 -
24166 end climb: SURFACE_DEPTH_REACHED
24166 begin surface coast
24210 end surface coast: CONTROL_FINISHED_OK
24211 begin surface
SM 1.82 - - - - 183.1 5.37 0.707 1043.4 194.3 16.99 0.046 1042.8 61.4 - 0.35 0.062 1044.1 2975.6 -8.928 - - 11.57 15.72 15.74 -