NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 666 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 224.69 of 550.00 AH used of 24V (59.15% remains)
• Surface angle -62.1 deg, depth 0.68 m • Intended pitch -21.3 deg, speed -8.462 cm/s
VBD pumped to 424.89 (SM_CC=425)
• GPS1 time: 50 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
5.38 - - - 66.97 VBD -1.35 - - 181.75 - - - 2389.81 - -82.73 60.40 0.005 2584.84 - - - - - - - - - - 15.14
67.71 3.35 -5.56 11 102.71 -1.35 14.81 0.251 2003.25 123.0 2.84 0.060 1206.81 -416.5 -82.73 11.43 0.007 3110.81 46.0 -3.731 - - - - - - 15.39 15.11 15.24
204.81 31.61 -17.13 38 210.37 roll -1.35 - - 2002.44 - 2.64 0.028 2353.12 434.2 -82.73 - - 3115.19 - - - - - - - - - 15.74 -
395.52 55.95 -11.13 76 400.44 roll -1.35 - - 2004.38 - 2.65 0.083 3427.81 405.5 -82.73 - - 3113.00 - - - - - - - - - 15.76 -
629.93 86.82 -12.18 123 635.47 roll -1.35 - - 2004.31 - 2.57 0.019 2246.94 -459.5 -82.73 - - 3113.44 - - - - - - - - - 15.83 -
820.35 105.12 -8.92 161 825.56 roll -1.35 - - 2003.69 - 2.91 0.077 3429.25 406.3 -82.73 - - 3114.03 - - - - - - - - - 15.83 -
854.97 108.28 -9.02 168 860.50 roll -1.35 - - 2003.81 - 2.57 0.019 2239.69 -462.9 -82.73 - - 3113.47 - - - - - - - - - 15.86 -
1165.02 135.18 -9.08 230 1166.35 no move -1.35 - - 2004.19 - - - 2239.00 - -82.73 - - 3113.06 - - - - - - - - - - -
1470.06 161.86 -9.16 291 1471.39 no move -1.35 - - 2004.19 - - - 2238.75 - -82.73 - - 3113.25 - - - - - - - - - - -
1775.11 188.58 -8.16 352 1780.22 roll -1.35 - - 2003.62 - 2.46 0.066 1208.25 -418.9 -82.73 - - 3114.66 - - - - - - - - - 15.92 -
1905.13 199.81 -8.41 378 1910.66 roll -1.35 - - 2003.94 - 2.60 0.028 2356.12 441.5 -82.73 - - 3115.31 - - - - - - - - - 15.94 -
2215.27 224.27 -8.09 440 2220.72 roll -1.35 - - 2004.00 - 2.74 0.061 1207.50 -419.2 -82.73 - - 3114.62 - - - - - - - - - 15.93 -
2285.17 230.37 -8.84 454 2290.70 roll -1.35 - - 2004.31 - 2.60 0.028 2356.44 441.9 -82.73 - - 3114.62 - - - - - - - - - 15.96 -
2595.21 255.66 -8.06 516 2596.54 no move -1.35 - - 2004.19 - - - 2356.06 - -82.73 - - 3112.81 - - - - - - - - - - -
2900.47 279.78 -7.98 577 2905.82 roll -1.35 - - 2004.19 - 2.73 0.061 1208.12 -420.5 -82.73 - - 3114.59 - - - - - - - - - 15.94 -
3030.28 291.14 -8.79 603 3035.81 roll -1.35 - - 2003.62 - 2.58 0.028 2353.12 443.8 -82.73 - - 3114.72 - - - - - - - - - 15.97 -
3336.80 316.98 -8.78 642 3341.44 roll -1.35 - - 2004.06 - 2.72 0.062 1208.12 -421.0 -82.73 - - 3113.25 - - - - - - - - - 15.95 -
3422.75 325.12 -9.59 654 3437.67 roll -1.35 - - 2003.81 - 2.60 0.029 2354.44 440.9 -82.73 - - 3112.28 - - - - - - - - - 15.99 -
3739.51 354.44 -9.11 683 3750.57 no move -1.35 - - 2004.44 - - - 2354.19 - -82.73 - - 3111.91 - - - - - - - - - - -
4052.30 382.26 -8.70 712 4057.12 roll -1.35 - - 2003.75 - 2.73 0.062 1208.75 -419.6 -82.73 - - 3111.44 - - - - - - - - - 15.95 -
4107.01 387.18 -9.10 720 4121.49 roll -1.35 - - 2003.94 - 2.59 0.029 2354.31 442.3 -82.73 - - 3111.25 - - - - - - - - - 16.00 -
4422.72 415.62 -9.01 749 4427.36 roll -1.35 - - 2003.75 - 2.72 0.062 1209.81 -420.8 -82.73 - - 3111.31 - - - - - - - - - 15.95 -
4477.00 420.46 -9.10 757 4491.92 roll -1.35 - - 2003.88 - 2.59 0.029 2352.00 441.0 -82.73 - - 3110.41 - - - - - - - - - 16.00 -
4793.15 447.99 -8.37 786 4804.22 no move -1.35 - - 2003.94 - - - 2352.50 - -82.73 - - 3110.53 - - - - - - - - - - -
5106.60 472.53 -7.43 815 5111.24 roll -1.35 - - 2003.75 - 2.72 0.063 1208.12 -420.7 -82.73 - - 3108.91 - - - - - - - - - 15.94 -
5222.46 481.44 -7.62 830 5227.07 roll -1.35 - - 2003.50 - 2.59 0.030 2353.81 442.4 -82.73 - - 3110.91 - - - - - - - - - 15.99 -
5535.79 503.67 -7.02 858 5537.12 no move -1.35 - - 2003.62 - - - 2353.25 - -82.73 - - 3108.31 - - - - - - - - - - -
5850.82 526.50 -7.22 879 5855.47 roll -1.35 - - 2002.38 - 2.73 0.063 1208.31 -419.4 -82.73 - - 3108.88 - - - - - - - - - 15.94 -
5910.10 530.87 -7.45 888 5915.64 roll -1.35 - - 2004.00 - 2.60 0.030 2355.00 441.0 -82.73 - - 3108.16 - - - - - - - - - 16.01 -
6229.51 555.19 -7.58 910 6230.84 no move -1.35 - - 2003.75 - - - 2354.12 - -82.73 - - 3106.56 - - - - - - - - - - -
6544.53 579.55 -7.86 931 6549.58 roll -1.35 - - 2003.75 - 2.74 0.064 1209.44 -417.8 -82.73 - - 3106.25 - - - - - - - - - 15.93 -
6609.14 584.16 -7.89 941 6623.95 roll -1.35 - - 2004.06 - 2.59 0.030 2352.12 441.2 -82.73 - - 3107.97 - - - - - - - - - 16.01 -
6938.45 610.12 -7.57 963 6939.77 no move -1.35 - - 2004.12 - - - 2352.31 - -82.73 - - 3105.72 - - - - - - - - - - -
7253.45 634.12 -7.76 984 7258.09 roll -1.35 - - 2003.94 - 2.73 0.064 1207.69 -419.3 -82.73 - - 3104.88 - - - - - - - - - 15.92 -
7339.07 640.40 -7.91 997 7353.81 roll -1.35 - - 2004.06 - 2.59 0.030 2352.88 442.2 -82.73 - - 3105.97 - - - - - - - - - 16.00 -
7668.30 665.07 -7.09 1019 7669.63 no move -1.35 - - 2004.25 - - - 2352.62 - -82.73 - - 3104.97 - - - - - - - - - - -
7983.31 687.76 -7.14 1040 7987.96 roll -1.35 - - 2004.00 - 2.73 0.064 1208.56 -419.1 -82.73 - - 3107.00 - - - - - - - - - 15.91 -
8063.33 693.50 -7.26 1052 8068.87 roll -1.35 - - 2003.94 - 2.59 0.030 2353.00 441.9 -82.73 - - 3106.78 - - - - - - - - - 16.00 -
8382.75 714.73 -6.58 1074 8384.08 no move -1.35 - - 2004.00 - - - 2352.81 - -82.73 - - 3103.75 - - - - - - - - - - -
8697.78 736.67 -7.25 1095 8702.42 roll -1.35 - - 2002.56 - 2.73 0.064 1208.00 -419.3 -82.73 - - 3106.03 - - - - - - - - - 15.91 -
8797.21 744.28 -7.66 1109 8801.82 roll -1.35 - - 2003.81 - 2.60 0.030 2352.50 440.2 -82.73 - - 3104.50 - - - - - - - - - 15.99 -
9113.69 767.13 -7.42 1131 9118.51 roll -1.35 - - 2003.19 - 2.66 0.092 3424.50 403.0 -82.73 - - 3106.34 - - - - - - - - - 15.86 -
9173.14 771.85 -7.98 1140 9178.50 roll -1.35 - - 2003.75 - 2.55 0.022 2245.69 -462.3 -82.73 - - 3104.34 - - - - - - - - - 16.00 -
9492.37 794.40 -6.94 1162 9496.96 roll -1.35 - - 2004.00 - 2.48 0.071 1209.69 -417.7 -82.73 - - 3102.72 - - - - - - - - - 15.89 -
9530.90 797.17 -7.22 1168 9536.43 roll -1.35 - - 2003.19 - 2.60 0.030 2351.94 439.3 -82.73 - - 3105.88 - - - - - - - - - 15.99 -
9850.32 818.45 -6.23 1190 9854.96 roll -1.35 - - 2003.69 - 2.74 0.065 1209.19 -417.1 -82.73 - - 3104.19 - - - - - - - - - 15.89 -
9928.97 823.73 -6.67 1201 9933.58 roll -1.35 - - 2004.12 - 2.60 0.030 2352.44 439.7 -82.73 - - 3104.81 - - - - - - - - - 15.99 -
10245.45 842.71 -5.90 1223 10246.78 no move -1.35 - - 2004.06 - - - 2352.81 - -82.73 - - 3101.50 - - - - - - - - - - -
10560.47 862.42 -6.46 1244 10565.11 roll -1.35 - - 2003.62 - 2.74 0.065 1208.44 -417.7 -82.73 - - 3101.66 - - - - - - - - - 15.89 -
10619.74 866.47 -6.86 1253 10625.27 roll -1.35 - - 2003.75 - 2.60 0.031 2351.81 439.8 -82.73 - - 3103.81 - - - - - - - - - 15.99 -
10939.15 887.10 -6.51 1275 10940.48 no move -1.35 - - 2003.38 - - - 2351.94 - -82.73 - - 3101.12 - - - - - - - - - - -
11254.17 908.62 -6.91 1296 11258.82 roll -1.35 - - 2004.12 - 2.74 0.065 1209.50 -416.9 -82.73 - - 3101.56 - - - - - - - - - 15.88 -
11396.57 918.87 -7.21 1317 11401.98 roll -1.35 - - 2004.31 - 2.60 0.031 2352.06 439.4 -82.73 - - 3103.12 - - - - - - - - - 16.00 -
11715.82 939.26 -6.10 1339 11720.47 roll -1.35 - - 2004.00 - 2.73 0.065 1209.19 -418.6 -82.73 - - 3100.50 - - - - - - - - - 15.87 -
11794.67 944.20 -6.25 1350 11799.29 roll -1.35 - - 2003.38 - 2.59 0.031 2350.19 440.5 -82.73 - - 3100.88 - - - - - - - - - 15.98 -
12111.16 962.96 -6.09 1372 12112.49 no move -1.35 - - 2003.69 - - - 2350.38 - -82.73 - - 3099.44 - - - - - - - - - - -
12426.17 982.38 -6.02 1393 12427.50 no move -1.35 - - 2003.62 - - - 2350.38 - -82.73 - - 3099.69 - - - - - - - - - - -
12546 end dive: TARGET_DEPTH_EXCEEDED
12546 begin apogee
12547.99 990.01 -6.38 1401 12623.56 -0.28 1.86 0.139 2263.56 139.8 0.22 0.135 2281.88 -311.4 - 63.28 2.449 2776.31 -5.1 0.350 - - - - - - 15.74 15.46 10.26
12625 end apogee: CONTROL_FINISHED_OK
12625 begin climb
12625.70 991.43 - 1406 12699.92 1.35 2.67 0.091 2661.62 149.1 - - 2282.12 - 82.73 68.88 2.361 2437.34 -4.9 0.350 - - - - - - 15.57 - 12.13
13012.21 968.27 6.66 1432 13013.54 no move 1.38 - - 2662.19 - - - 2282.19 - 82.73 - - 2429.53 - - - - - - - - - - -
13327.40 947.68 6.35 1453 13371.26 done 1.46 - - 2661.75 - 2.85 0.079 1132.44 -403.4 122.16 33.59 2.288 2275.81 -4.6 0.321 - - - - - - - 15.49 11.46
13394.20 943.07 6.84 1463 13399.79 roll back 1.49 0.18 0.089 2704.81 239.2 2.65 0.030 2272.50 430.2 122.16 - - 2274.03 - - - - - - - - 15.56 15.63 -
13714.18 914.31 8.91 1485 13718.83 roll 1.49 - - 2704.69 - 2.80 0.074 1131.19 -407.6 122.16 - - 2270.81 - - - - - - - - - 15.75 -
13794.19 906.65 9.57 1497 13799.76 roll 1.49 - - 2704.81 - 2.63 0.031 2271.25 433.5 122.16 - - 2272.47 - - - - - - - - - 15.78 -
14113.77 877.31 8.57 1519 14115.10 no move 1.49 - - 2704.25 - - - 2271.50 - 122.16 - - 2269.28 - - - - - - - - - - -
14428.62 851.71 7.78 1540 14433.26 roll 1.51 - - 2704.25 - 2.79 0.075 1129.75 -409.2 122.16 - - 2269.38 - - - - - - - - - 15.84 -
14487.90 846.76 8.33 1549 14493.45 roll 1.51 - - 2704.44 - 2.61 0.031 2271.25 437.4 122.16 - - 2270.50 - - - - - - - - - 15.89 -
14807.30 820.49 8.40 1571 14808.63 no move 1.51 - - 2704.62 - - - 2271.25 - 122.16 - - 2267.91 - - - - - - - - - - -
15122.32 794.57 8.21 1592 15123.65 no move 1.51 - - 2704.31 - - - 2271.12 - 122.16 - - 2267.50 - - - - - - - - - - -
15437.32 768.23 8.53 1613 15441.97 done 1.51 - - 2704.44 - 2.78 0.075 1131.06 -410.1 122.16 - - 2267.84 - - - - - - - - - 15.87 -
15517.53 760.97 9.17 1625 15522.94 done 1.51 - - 2704.38 - 2.60 0.032 2272.31 438.9 122.16 - - 2268.75 - - - - - - - - - 15.95 -
15836.78 734.31 7.91 1647 15838.11 VBD 1.52 - - 2704.50 - - - 2272.00 - 122.16 - - 2267.28 - - - - - - - - - - -
16151.80 709.23 8.53 1668 16153.13 VBD 1.52 - - 2704.25 - - - 2272.25 - 122.16 - - 2267.16 - - - - - - - - - - -
16466.83 680.96 9.28 1689 16471.48 done 1.52 - - 2704.19 - 2.78 0.075 1132.12 -410.1 122.16 - - 2268.47 - - - - - - - - - 15.88 -
16588.32 668.33 10.63 1707 16593.85 done 1.52 - - 2704.38 - 2.60 0.031 2271.50 438.2 122.16 - - 2267.66 - - - - - - - - - 15.97 -
16907.75 636.94 9.55 1729 16909.08 VBD 1.52 - - 2704.31 - - - 2271.38 - 122.16 - - 2266.69 - - - - - - - - - - -
17222.80 608.02 9.02 1750 17227.44 done 1.52 - - 2703.88 - 2.77 0.075 1131.56 -411.5 122.16 - - 2270.94 - - - - - - - - - 15.87 -
17261.34 604.50 9.24 1756 17266.88 done 1.52 - - 2704.12 - 2.58 0.031 2274.25 442.9 122.16 - - 2269.44 - - - - - - - - - 15.97 -
17581.01 578.04 7.83 1778 17582.34 VBD 1.53 - - 2704.88 - - - 2273.19 - 122.16 - - 2266.31 - - - - - - - - - - -
17895.83 553.91 7.54 1799 17900.48 done 1.55 - - 2704.75 - 2.77 0.074 1132.25 -411.9 122.16 - - 2267.31 - - - - - - - - - 15.87 -
17960.10 549.11 8.09 1809 17975.03 done 1.55 - - 2704.38 - 2.58 0.031 2273.69 442.4 122.16 - - 2268.88 - - - - - - - - - 15.98 -
18289.70 523.02 7.74 1831 18291.04 VBD 1.56 - - 2704.38 - - - 2273.75 - 122.16 - - 2266.03 - - - - - - - - - - -
18604.66 499.75 7.06 1852 18609.33 done 1.59 - - 2704.69 - 2.79 0.074 1129.56 -410.1 122.16 - - 2270.00 - - - - - - - - - 15.87 -
18689.07 493.47 7.41 1863 18693.69 done 1.61 - - 2703.62 - 2.59 0.031 2272.44 441.3 122.16 - - 2269.19 - - - - - - - - - 15.97 -
19000.62 472.85 6.53 1892 19011.80 1.65 0.16 0.093 2742.06 240.3 - - 2272.38 - 122.16 - - 2267.41 - - - - - - - - 15.93 - -
19313.57 449.91 7.13 1921 19318.22 done 1.68 - - 2741.38 - 2.78 0.074 1131.06 -410.5 122.16 - - 2268.34 - - - - - - - - - 15.86 -
19383.59 444.55 7.74 1931 19398.49 done 1.69 - - 2742.06 - 2.59 0.030 2274.81 441.6 122.16 - - 2268.22 - - - - - - - - - 15.98 -
19699.65 422.80 6.70 1960 19704.30 done 1.73 - - 2742.69 - 2.78 0.073 1131.06 -411.4 122.16 - - 2267.03 - - - - - - - - - 15.86 -
19785.40 416.78 7.12 1972 19800.31 done 1.75 - - 2742.19 - 2.58 0.030 2274.62 443.2 122.16 - - 2267.19 - - - - - - - - - 15.98 -
20101.69 396.19 6.49 2001 20112.76 VBD 1.79 - - 2742.25 - - - 2275.19 - 122.16 - - 2267.44 - - - - - - - - - - -
20414.30 372.55 7.76 2030 20419.01 1.81 0.16 0.093 2780.50 239.1 2.77 0.073 1132.25 -412.6 122.16 - - 2268.38 - - - - - - - - 15.94 15.80 -
20468.77 367.85 8.58 2038 20483.56 done 1.81 - - 2781.25 - 2.57 0.030 2274.56 444.5 122.16 - - 2268.03 - - - - - - - - - 15.98 -
20785.18 341.45 7.93 2067 20796.25 VBD 1.82 - - 2780.69 - - - 2274.69 - 122.16 - - 2267.31 - - - - - - - - - - -
21097.78 315.09 8.05 2096 21102.42 done 1.82 - - 2781.38 - 2.76 0.073 1130.12 -414.7 122.16 - - 2266.94 - - - - - - - - - 15.85 -
21213.63 305.11 8.73 2111 21218.25 done 1.82 - - 2780.69 - 2.58 0.030 2274.88 443.7 122.16 - - 2266.25 - - - - - - - - - 15.97 -
21520.93 281.94 7.29 2164 21522.26 VBD 1.84 - - 2781.19 - - - 2275.12 - 122.16 - - 2265.94 - - - - - - - - - - -
21826.13 260.52 7.21 2225 21831.51 done 1.87 - - 2781.19 - 2.77 0.073 1132.25 -412.6 122.16 - - 2267.25 - - - - - - - - - 15.83 -
21905.95 254.06 8.23 2241 21911.49 done 1.87 - - 2781.31 - 2.57 0.030 2275.69 444.9 122.16 - - 2267.56 - - - - - - - - - 15.95 -
22216.01 231.25 7.04 2303 22221.57 done 1.90 - - 2781.06 - 2.78 0.072 1129.50 -412.3 122.16 - - 2269.12 - - - - - - - - - 15.83 -
22276.01 226.56 7.95 2315 22281.72 done 1.91 - - 2780.62 - 2.57 0.030 2274.94 445.7 122.16 - - 2268.22 - - - - - - - - - 15.94 -
22586.06 205.72 6.38 2377 22617.72 1.98 0.18 0.086 2822.62 233.3 - - 2275.12 - 161.08 30.00 1.437 2116.62 -5.1 0.123 - - - - - - 15.92 - 10.65
22921.09 175.66 9.40 2444 22926.66 roll 1.98 - - 2822.88 - 2.77 0.072 1129.69 -413.5 161.08 - - 2114.22 - - - - - - - - - 15.83 -
23031.10 165.02 9.50 2466 23036.64 roll 1.98 - - 2822.06 - 2.58 0.030 2274.69 443.8 161.08 - - 2114.47 - - - - - - - - - 15.88 -
23341.16 136.93 8.38 2528 23346.70 roll 1.98 - - 2824.12 - 2.62 0.089 3347.50 409.5 161.08 - - 2113.78 - - - - - - - - - 15.82 -
23406.16 131.39 8.58 2541 23411.70 roll 1.98 - - 2823.69 - 2.56 0.023 2183.88 -454.5 161.08 - - 2114.03 - - - - - - - - - 15.90 -
23716.22 108.38 6.16 2603 23754.93 done 2.07 - - 2823.81 - 2.53 0.079 1129.62 -416.7 203.97 33.96 1.300 1942.06 -5.1 0.072 - - - - - - - 15.72 11.50
23822.31 100.34 9.02 2624 23827.67 roll 2.07 - - 2824.06 - 2.58 0.030 2275.00 443.9 203.97 - - 1940.62 - - - - - - - - - 15.82 -
24132.18 78.81 5.26 2686 24184.43 2.19 0.23 0.076 2875.31 222.8 2.62 0.090 3347.69 409.4 263.64 46.05 1.262 1700.34 -5.2 0.055 - - - - - - 15.82 15.62 11.63
24412.21 53.32 11.02 2742 24417.75 roll 2.19 - - 2876.38 - 2.58 0.023 2184.94 -450.7 263.64 - - 1692.59 - - - - - - - - - 15.78 -
24602.25 38.06 5.53 2780 24648.91 done 2.30 - - 2876.19 - 2.55 0.078 1129.88 -413.7 318.37 41.74 1.190 1476.88 -5.2 0.028 - - - - - - - 15.59 11.46
24867.88 24.10 3.97 2833 24937.06 2.47 0.34 0.064 2941.12 191.0 2.59 0.027 2278.44 443.5 402.26 63.60 1.165 1135.75 -5.4 0.019 - - - - - - 15.65 15.75 11.52
25119.28 4.93 8.87 2883 25124.87 roll 2.47 - - 2940.94 - 2.80 0.074 1130.94 -409.8 402.26 - - 1128.53 - - - - - - - - - 15.69 -
25129 end climb: SURFACE_DEPTH_REACHED
25129 begin surface coast
25179 end surface coast: CONTROL_FINISHED_OK
25179 begin surface
SM 1.58 - - - - 180.6 18.08 1.070 1042.9 57.7 17.24 0.052 1014.4 58.8 - 2.76 0.028 1071.3 387.1 -2.233 - - 11.58 15.67 15.70 -