NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 651 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 218.71 of 550.00 AH used of 24V (60.24% remains)
• Surface angle -57.6 deg, depth 0.58 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.97 (SM_CC=425)
• GPS1 time: 42 s
• GPS2 time: 4 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
5.40 - - - 61.93 VBD -1.35 - - 183.38 - - - 2259.44 - -82.73 55.34 0.005 2400.78 - - - - - - - - - - 15.21
62.66 3.17 -5.98 10 102.81 -1.35 14.69 0.246 2003.81 123.9 2.93 0.083 3424.81 397.7 -82.73 16.07 0.006 3110.81 44.2 -3.949 - - - - - - 15.46 15.13 15.30
259.93 48.05 -20.38 49 265.48 roll -1.35 - - 2004.19 - 2.61 0.019 2253.50 -448.8 -82.73 - - 3112.66 - - - - - - - - - 15.79 -
450.36 72.14 -12.39 87 451.69 no move -1.35 - - 2004.44 - - - 2251.88 - -82.73 - - 3112.38 - - - - - - - - - - -
635.10 94.59 -12.47 124 640.57 roll -1.35 - - 2004.31 - 2.55 0.064 1209.19 -408.9 -82.73 - - 3113.84 - - - - - - - - - 15.85 -
685.05 100.86 -12.65 134 690.91 roll -1.35 - - 2003.81 - 2.62 0.027 2353.88 436.9 -82.73 - - 3114.16 - - - - - - - - - 15.86 -
995.11 129.32 -8.16 196 1000.65 roll -1.35 - - 2004.19 - 2.69 0.084 3426.25 398.7 -82.73 - - 3114.91 - - - - - - - - - 15.86 -
1110.12 139.19 -9.14 219 1115.65 roll -1.35 - - 2003.94 - 2.58 0.019 2244.56 -458.0 -82.73 - - 3114.66 - - - - - - - - - 15.90 -
1420.18 163.28 -7.91 281 1425.72 roll -1.35 - - 2005.06 - 2.52 0.065 1209.81 -410.6 -82.73 - - 3114.69 - - - - - - - - - 15.91 -
1510.19 171.04 -8.69 299 1515.75 roll -1.35 - - 2004.62 - 2.61 0.027 2354.19 438.5 -82.73 - - 3115.91 - - - - - - - - - 15.93 -
1820.25 196.56 -8.38 361 1825.82 roll -1.35 - - 2004.50 - 2.78 0.060 1208.56 -412.1 -82.73 - - 3117.34 - - - - - - - - - 15.93 -
1865.26 200.48 -8.75 370 1870.98 roll -1.35 - - 2004.06 - 2.63 0.027 2353.31 435.3 -82.73 - - 3116.16 - - - - - - - - - 15.95 -
2175.31 226.16 -8.29 432 2176.64 no move -1.35 - - 2004.56 - - - 2352.88 - -82.73 - - 3114.22 - - - - - - - - - - -
2480.36 252.04 -8.47 493 2485.93 roll -1.35 - - 2004.56 - 2.80 0.061 1208.44 -408.7 -82.73 - - 3115.62 - - - - - - - - - 15.94 -
2580.37 260.92 -8.91 513 2585.92 roll -1.35 - - 2004.62 - 2.63 0.028 2353.12 435.2 -82.73 - - 3114.12 - - - - - - - - - 15.97 -
2890.48 287.14 -8.57 575 2896.04 roll -1.35 - - 2004.06 - 2.79 0.061 1211.00 -409.4 -82.73 - - 3114.25 - - - - - - - - - 15.94 -
2990.51 296.12 -8.96 595 2996.06 roll -1.35 - - 2004.50 - 2.63 0.028 2353.62 434.5 -82.73 - - 3114.12 - - - - - - - - - 15.98 -
3301.44 323.06 -8.74 628 3306.10 roll -1.35 - - 2004.69 - 2.78 0.061 1209.00 -411.7 -82.73 - - 3114.97 - - - - - - - - - 15.96 -
3387.19 331.00 -9.35 640 3402.12 roll -1.35 - - 2003.06 - 2.63 0.029 2351.81 434.5 -82.73 - - 3113.97 - - - - - - - - - 16.00 -
3703.61 359.84 -9.06 669 3714.68 no move -1.35 - - 2004.56 - - - 2352.81 - -82.73 - - 3112.44 - - - - - - - - - - -
4016.58 387.61 -8.80 698 4021.22 roll -1.35 - - 2004.50 - 2.80 0.061 1209.31 -408.4 -82.73 - - 3110.00 - - - - - - - - - 15.96 -
4133.82 398.23 -9.12 714 4148.76 roll -1.35 - - 2004.44 - 2.63 0.029 2350.69 434.0 -82.73 - - 3111.66 - - - - - - - - - 16.00 -
4450.52 424.94 -8.19 743 4455.17 roll -1.35 - - 2004.38 - 2.79 0.062 1209.75 -408.9 -82.73 - - 3110.25 - - - - - - - - - 15.95 -
4504.80 429.42 -8.40 751 4519.73 roll -1.35 - - 2003.38 - 2.62 0.029 2352.88 436.3 -82.73 - - 3110.94 - - - - - - - - - 16.01 -
4821.01 454.37 -7.66 780 4825.65 roll -1.35 - - 2004.25 - 2.79 0.062 1209.81 -409.7 -82.73 - - 3110.19 - - - - - - - - - 15.95 -
4875.29 458.59 -7.88 788 4890.23 roll -1.35 - - 2003.81 - 2.61 0.029 2351.50 437.4 -82.73 - - 3111.66 - - - - - - - - - 16.01 -
5192.37 481.80 -6.93 817 5197.02 roll -1.35 - - 2004.81 - 2.80 0.062 1208.31 -408.3 -82.73 - - 3108.16 - - - - - - - - - 15.95 -
5246.65 485.72 -7.28 825 5261.59 roll -1.35 - - 2004.38 - 2.63 0.029 2351.88 434.8 -82.73 - - 3109.50 - - - - - - - - - 16.00 -
5575.52 508.32 -6.64 852 5576.85 no move -1.35 - - 2004.00 - - - 2351.50 - -82.73 - - 3107.84 - - - - - - - - - - -
5890.55 530.26 -7.23 873 5895.38 roll -1.35 - - 2004.69 - 2.80 0.063 1208.38 -408.3 -82.73 - - 3107.59 - - - - - - - - - 15.94 -
5970.73 536.32 -7.67 885 5976.11 roll -1.35 - - 2004.12 - 2.63 0.030 2352.06 434.9 -82.73 - - 3108.56 - - - - - - - - - 16.01 -
6289.98 561.23 -7.87 907 6294.63 roll -1.35 - - 2004.56 - 2.79 0.062 1208.62 -409.8 -82.73 - - 3106.25 - - - - - - - - - 15.94 -
6347.92 566.04 -8.20 915 6352.55 roll -1.35 - - 2004.12 - 2.62 0.030 2351.12 436.1 -82.73 - - 3107.31 - - - - - - - - - 16.01 -
6664.39 589.54 -7.29 937 6665.72 no move -1.35 - - 2004.44 - - - 2352.12 - -82.73 - - 3106.06 - - - - - - - - - - -
6979.40 611.92 -7.07 958 6984.05 roll -1.35 - - 2004.50 - 2.79 0.063 1208.75 -409.8 -82.73 - - 3105.28 - - - - - - - - - 15.93 -
7080.18 619.28 -7.42 973 7085.74 roll -1.35 - - 2004.50 - 2.63 0.030 2351.56 434.5 -82.73 - - 3106.28 - - - - - - - - - 16.01 -
7399.59 641.16 -6.58 995 7404.24 roll -1.35 - - 2003.94 - 2.80 0.063 1208.50 -408.2 -82.73 - - 3107.41 - - - - - - - - - 15.93 -
7499.01 648.13 -7.02 1009 7503.65 roll -1.35 - - 2004.50 - 2.63 0.030 2350.00 434.0 -82.73 - - 3105.28 - - - - - - - - - 16.00 -
7815.50 668.71 -6.43 1031 7820.15 roll -1.35 - - 2004.69 - 2.73 0.094 3426.50 394.3 -82.73 - - 3105.59 - - - - - - - - - 15.87 -
7852.69 671.46 -6.94 1036 7857.49 roll -1.35 - - 2004.62 - 2.58 0.021 2246.62 -457.3 -82.73 - - 3105.41 - - - - - - - - - 16.00 -
8169.33 693.87 -7.21 1058 8170.66 no move -1.35 - - 2004.62 - - - 2245.88 - -82.73 - - 3103.97 - - - - - - - - - - -
8484.29 717.57 -7.66 1079 8485.62 no move -1.35 - - 2003.88 - - - 2245.44 - -82.73 - - 3103.88 - - - - - - - - - - -
8799.19 742.84 -8.14 1100 8800.52 no move -1.35 - - 2004.44 - - - 2245.56 - -82.73 - - 3103.31 - - - - - - - - - - -
9114.21 767.68 -7.83 1121 9115.54 no move -1.35 - - 2004.62 - - - 2245.38 - -82.73 - - 3102.59 - - - - - - - - - - -
9429.21 791.88 -7.43 1142 9430.54 no move -1.35 - - 2004.38 - - - 2245.62 - -82.73 - - 3103.25 - - - - - - - - - - -
9744.23 814.82 -7.20 1163 9745.56 no move -1.35 - - 2004.06 - - - 2245.75 - -82.73 - - 3101.84 - - - - - - - - - - -
10059.24 836.79 -6.85 1184 10060.57 no move -1.35 - - 2004.50 - - - 2245.75 - -82.73 - - 3100.81 - - - - - - - - - - -
10374.26 858.02 -6.83 1205 10375.59 no move -1.35 - - 2004.44 - - - 2245.31 - -82.73 - - 3102.06 - - - - - - - - - - -
10689.26 879.53 -6.88 1226 10690.59 no move -1.35 - - 2004.38 - - - 2245.75 - -82.73 - - 3100.84 - - - - - - - - - - -
11004.27 900.95 -6.73 1247 11005.60 no move -1.35 - - 2004.12 - - - 2245.56 - -82.73 - - 3100.56 - - - - - - - - - - -
11319.28 922.52 -6.75 1268 11320.61 no move -1.35 - - 2004.38 - - - 2246.06 - -82.73 - - 3100.44 - - - - - - - - - - -
11634.31 942.76 -6.25 1289 11635.64 no move -1.35 - - 2004.50 - - - 2245.75 - -82.73 - - 3100.28 - - - - - - - - - - -
11949.32 962.02 -6.08 1310 11954.02 roll -1.35 - - 2003.00 - 3.03 0.090 3425.69 389.4 -82.73 - - 3101.59 - - - - - - - - - 15.81 -
12029.32 967.56 -6.94 1322 12034.87 roll -1.35 - - 2004.38 - 2.60 0.022 2250.06 -452.2 -82.73 - - 3101.72 - - - - - - - - - 15.99 -
12348.73 986.84 -5.90 1344 12350.06 no move -1.35 - - 2004.31 - - - 2249.94 - -82.73 - - 3099.94 - - - - - - - - - - -
12408 end dive: TARGET_DEPTH_EXCEEDED
12408 begin apogee
12410.51 990.37 -5.89 1348 12486.37 -0.28 1.86 0.141 2262.94 139.0 0.16 0.173 2287.56 235.1 - 64.07 2.437 2773.59 -5.1 0.350 - - - - - - 15.74 15.47 10.43
12488 end apogee: CONTROL_FINISHED_OK
12488 begin climb
12488.61 991.52 - 1353 12562.27 1.35 2.66 0.092 2662.12 150.1 - - 2286.88 - 82.73 68.86 2.364 2437.47 -4.9 0.346 - - - - - - 15.57 - 12.10
12873.88 966.30 7.41 1382 12878.57 roll 1.37 - - 2662.50 - 2.90 0.076 1129.69 -399.0 82.73 - - 2429.50 - - - - - - - - - 15.66 -
12953.91 960.28 7.62 1394 12959.45 roll 1.38 - - 2662.06 - 2.68 0.030 2273.62 426.8 82.73 - - 2430.72 - - - - - - - - - 15.71 -
13273.31 938.21 6.81 1416 13274.64 no move 1.42 - - 2661.88 - - - 2273.62 - 82.73 - - 2429.03 - - - - - - - - - - -
13588.31 916.43 7.03 1437 13592.96 roll 1.45 - - 2662.25 - 2.77 0.093 3344.00 386.4 82.73 - - 2428.56 - - - - - - - - - 15.79 -
13647.60 911.90 7.61 1446 13653.14 done 1.46 - - 2661.69 - 2.61 0.023 2186.00 -443.7 82.73 - - 2429.69 - - - - - - - - - 15.86 -
13967.21 889.18 7.27 1468 13971.97 1.49 0.17 0.090 2704.75 253.3 2.62 0.079 1132.19 -402.2 82.73 - - 2428.12 - - - - - - - - 15.84 15.75 -
14026.50 884.24 8.17 1477 14032.05 done 1.49 - - 2704.19 - 2.64 0.030 2273.94 432.5 82.73 - - 2428.75 - - - - - - - - - 15.90 -
14346.09 856.90 8.36 1499 14350.75 done 1.49 - - 2704.94 - 2.84 0.074 1131.25 -402.4 82.73 - - 2430.31 - - - - - - - - - 15.85 -
14424.77 849.86 8.86 1510 14429.40 done 1.49 - - 2701.75 - 2.64 0.030 2274.00 432.9 82.73 - - 2427.84 - - - - - - - - - 15.91 -
14741.24 823.40 8.21 1532 14742.57 VBD 1.49 - - 2704.19 - - - 2273.62 - 82.73 - - 2427.25 - - - - - - - - - - -
15056.26 798.18 7.91 1553 15060.92 done 1.50 - - 2704.19 - 2.84 0.074 1130.94 -402.4 82.73 - - 2426.34 - - - - - - - - - 15.86 -
15120.54 793.42 8.12 1563 15135.82 done 1.50 - - 2702.94 - 2.63 0.030 2273.25 434.3 82.73 - - 2428.78 - - - - - - - - - 15.95 -
15449.98 769.20 6.89 1585 15451.31 VBD 1.53 - - 2703.88 - - - 2273.81 - 82.73 - - 2427.22 - - - - - - - - - - -
15765.01 748.12 6.62 1606 15769.69 done 1.57 - - 2704.25 - 2.83 0.074 1131.25 -403.7 82.73 - - 2426.69 - - - - - - - - - 15.87 -
15865.78 741.00 7.18 1621 15871.32 done 1.59 - - 2703.06 - 2.63 0.031 2272.69 434.0 82.73 - - 2427.75 - - - - - - - - - 15.96 -
16185.36 719.91 6.56 1643 16186.69 VBD 1.63 - - 2703.75 - - - 2272.62 - 82.73 - - 2425.94 - - - - - - - - - - -
16500.37 700.00 6.11 1664 16544.29 1.72 0.26 0.076 2760.44 218.0 2.84 0.078 1131.12 -401.9 126.59 35.26 2.054 2258.09 -4.8 0.274 - - - - - - 15.93 15.69 11.08
16613.57 690.89 8.51 1681 16628.51 roll 1.72 - - 2760.88 - 2.66 0.031 2270.88 428.5 126.59 - - 2258.28 - - - - - - - - - 15.82 -
16943.00 658.79 9.80 1703 16944.33 no move 1.72 - - 2760.44 - - - 2271.19 - 126.59 - - 2253.94 - - - - - - - - - - -
17258.03 628.56 9.50 1724 17262.69 roll 1.72 - - 2760.38 - 2.83 0.074 1132.62 -402.3 126.59 - - 2254.75 - - - - - - - - - 15.83 -
17358.79 618.05 10.59 1739 17364.34 roll 1.72 - - 2760.38 - 2.65 0.031 2271.50 429.8 126.59 - - 2256.06 - - - - - - - - - 15.90 -
17678.19 585.58 10.15 1761 17682.84 roll 1.72 - - 2758.94 - 2.80 0.074 1131.38 -407.2 126.59 - - 2253.12 - - - - - - - - - 15.85 -
17756.86 577.13 10.68 1772 17761.49 roll 1.72 - - 2760.06 - 2.63 0.031 2271.12 433.4 126.59 - - 2255.31 - - - - - - - - - 15.91 -
18073.33 546.86 9.45 1794 18077.98 roll 1.72 - - 2760.31 - 2.80 0.074 1131.00 -407.2 126.59 - - 2252.31 - - - - - - - - - 15.85 -
18153.33 539.03 9.89 1806 18159.07 roll 1.72 - - 2760.38 - 2.62 0.031 2272.44 435.7 126.59 - - 2252.59 - - - - - - - - - 15.94 -
18472.91 510.57 8.70 1828 18474.24 no move 1.72 - - 2760.25 - - - 2272.50 - 126.59 - - 2251.88 - - - - - - - - - - -
18775.91 483.89 8.40 1853 18780.55 roll 1.72 - - 2760.06 - 2.79 0.074 1131.12 -409.1 126.59 - - 2251.12 - - - - - - - - - 15.86 -
18861.65 476.20 9.03 1865 18876.60 roll 1.72 - - 2760.12 - 2.62 0.031 2273.50 436.0 126.59 - - 2253.94 - - - - - - - - - 15.96 -
19177.78 449.34 8.68 1894 19188.86 no move 1.72 - - 2760.31 - - - 2273.75 - 126.59 - - 2252.66 - - - - - - - - - - -
19490.64 423.25 8.32 1923 19495.31 roll 1.72 - - 2761.62 - 2.81 0.074 1128.38 -407.6 126.59 - - 2251.53 - - - - - - - - - 15.86 -
19622.23 411.61 8.78 1940 19626.87 roll 1.72 - - 2760.88 - 2.63 0.030 2273.19 435.3 126.59 - - 2251.47 - - - - - - - - - 15.96 -
19933.82 387.75 7.56 1969 19938.49 roll 1.74 - - 2760.00 - 2.81 0.073 1131.38 -406.3 126.59 - - 2253.19 - - - - - - - - - 15.86 -
20035.32 379.76 7.95 1983 20050.24 roll 1.75 - - 2760.25 - 2.62 0.030 2273.69 436.0 126.59 - - 2254.91 - - - - - - - - - 15.96 -
20351.82 356.45 7.43 2012 20362.90 no move 1.77 - - 2760.69 - - - 2273.81 - 126.59 - - 2252.56 - - - - - - - - - - -
20664.67 333.13 7.35 2041 20675.75 no move 1.79 - - 2760.38 - - - 2273.31 - 126.59 - - 2252.66 - - - - - - - - - - -
20977.78 310.65 7.34 2070 20988.86 no move 1.81 - - 2760.31 - - - 2273.25 - 126.59 - - 2252.81 - - - - - - - - - - -
21291.22 287.28 7.74 2116 21296.80 roll 1.83 - - 2760.88 - 2.83 0.073 1131.00 -403.6 126.59 - - 2252.22 - - - - - - - - - 15.84 -
21361.21 281.45 8.46 2130 21366.76 roll 1.83 - - 2759.25 - 2.62 0.029 2273.50 436.1 126.59 - - 2252.62 - - - - - - - - - 15.95 -
21671.26 256.59 8.05 2192 21677.43 roll 1.83 - - 2761.38 - 2.82 0.073 1130.12 -405.5 126.59 - - 2252.88 - - - - - - - - - 15.84 -
21711.26 253.20 8.43 2200 21716.82 roll 1.83 - - 2760.69 - 2.62 0.030 2274.75 436.9 126.59 - - 2252.59 - - - - - - - - - 15.95 -
22021.33 229.97 7.06 2262 22022.66 no move 1.85 - - 2760.06 - - - 2275.12 - 126.59 - - 2252.25 - - - - - - - - - - -
22326.37 208.80 7.01 2323 22332.00 roll back 1.88 0.15 0.097 2798.50 256.3 2.82 0.072 1131.25 -405.6 126.59 - - 2252.19 - - - - - - - - 15.92 15.79 -
22401.38 203.03 7.73 2338 22407.22 roll 1.90 - - 2798.88 - 2.61 0.029 2273.69 437.7 126.59 - - 2254.78 - - - - - - - - - 15.96 -
22711.48 182.34 6.34 2400 22744.12 VBD 1.98 - - 2798.81 - - - 2273.75 - 166.13 31.08 1.397 2097.94 -5.0 0.111 - - - - - - - - 10.96
23046.56 152.35 8.67 2467 23052.15 roll 1.98 - - 2799.81 - 2.82 0.072 1131.50 -405.1 166.13 - - 2093.97 - - - - - - - - - 15.83 -
23216.62 138.29 8.44 2501 23222.17 roll 1.98 - - 2799.25 - 2.62 0.029 2273.62 435.9 166.13 - - 2092.88 - - - - - - - - - 15.89 -
23526.75 117.43 6.16 2563 23567.78 2.06 0.19 0.084 2841.69 223.4 2.81 0.074 1131.19 -406.6 208.98 34.12 1.308 1922.19 -5.0 0.076 - - - - - - 15.87 15.71 11.56
23711.79 104.28 6.54 2600 23717.34 roll 2.10 - - 2841.62 - 2.64 0.028 2274.88 433.2 208.98 - - 1918.44 - - - - - - - - - 15.81 -
24022.01 86.21 4.76 2662 24077.72 2.24 0.19 0.084 2884.31 224.7 - - 2274.94 - 278.04 52.78 1.263 1642.44 -5.2 0.060 - - - - - - 15.82 - 11.60
24261.95 66.08 8.45 2710 24263.28 VBD 2.24 - - 2885.38 - - - 2275.06 - 278.04 - - 1632.75 - - - - - - - - - - -
24447.00 51.28 8.16 2747 24452.58 done 2.24 - - 2885.88 - 2.72 0.087 3344.50 393.2 278.04 - - 1631.28 - - - - - - - - - 15.76 -
24537.03 43.86 8.09 2765 24542.56 done 2.24 - - 2886.12 - 2.60 0.022 2183.69 -446.5 278.04 - - 1630.25 - - - - - - - - - 15.81 -
24727.06 38.48 1.66 2803 24826.55 2.49 0.31 0.068 2948.06 199.8 2.64 0.077 1130.12 -399.1 404.87 94.04 1.199 1124.06 -5.4 0.029 - - - - - - 15.80 15.49 11.50
25024.11 22.32 8.96 2862 25029.61 roll 2.49 - - 2948.25 - 2.65 0.027 2274.31 431.8 404.87 - - 1116.66 - - - - - - - - - 15.69 -
25214 end climb: SURFACE_DEPTH_REACHED
25214 begin surface coast
25264 end surface coast: CONTROL_FINISHED_OK
25264 begin surface
SM 0.82 - - - - 180.7 15.80 1.044 1042.6 66.0 17.20 0.044 1025.5 59.6 - 0.13 0.117 1059.6 8130.4 -5.824 - - 11.60 15.72 15.74 -